--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Small_CPU/Src/uart_Internal.c	Tue Feb 11 18:12:00 2025 +0100
@@ -0,0 +1,223 @@
+/**
+  ******************************************************************************
+  * @file    uart_Internal.c
+  * @author  heinrichs weikamp gmbh
+  * @version V0.0.1
+  * @date    03-November-2044
+  * @brief   Control functions for devices connected to the internal UART
+  *           
+  @verbatim                 
+  ============================================================================== 
+                        ##### How to use #####
+  ============================================================================== 
+  @endverbatim
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2015 heinrichs weikamp</center></h2>
+  *
+  ******************************************************************************
+  */ 
+/* Includes ------------------------------------------------------------------*/
+#include "uart.h"
+#include "uart_Internal.h"
+#include "uartProtocol_GNSS.h"
+#include "GNSS.h"
+#include "externalInterface.h"
+#include "data_exchange.h"
+#include <string.h>	/* memset */
+
+
+/* Private variables ---------------------------------------------------------*/
+
+#define REQUEST_INT_SENSOR_MS	(1500)		/* Minimum time interval for cyclic sensor data requests per sensor (UART mux) */
+#define COMMAND_TX_DELAY		(30u)		/* The time the sensor needs to recover from a invalid command request */
+#define TIMEOUT_SENSOR_ANSWER	(300)		/* Time till a request is repeated if no answer was received */
+
+DMA_HandleTypeDef  hdma_usart6_rx, hdma_usart6_tx;
+
+uint8_t tx6Buffer[CHUNK_SIZE];							/* tx uses less bytes */
+
+uint8_t rxBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER];		/* The complete buffer has a X * chunk size to allow variations in buffer read time */
+uint8_t txBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER];		/* The complete buffer has a X * chunk size to allow variations in buffer read time */
+
+sUartComCtrl Uart6Ctrl;
+
+/* Exported functions --------------------------------------------------------*/
+
+void GNSS_IO_init() {
+
+	GPIO_InitTypeDef GPIO_InitStruct = { 0 };
+	/* Peripheral clock enable */
+	__HAL_RCC_USART6_CLK_ENABLE()
+	;
+
+	__HAL_RCC_GPIOA_CLK_ENABLE()
+	;
+	/**USART6 GPIO Configuration
+	 PA11     ------> USART6_TX
+	 PA12     ------> USART6_RX
+	 */
+	GPIO_InitStruct.Pin = GPIO_PIN_11 | GPIO_PIN_12;
+	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
+	GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
+	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+	/* USART6 DMA Init */
+	/* USART6_RX Init */
+	hdma_usart6_rx.Instance = DMA2_Stream2;
+	hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;
+	hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+	hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+	hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
+	hdma_usart6_rx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
+	hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+	hdma_usart6_rx.Init.Mode = DMA_NORMAL;
+	hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW;
+	hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+	HAL_DMA_Init(&hdma_usart6_rx);
+
+	__HAL_LINKDMA(&huart6, hdmarx, hdma_usart6_rx);
+
+	/* USART6_TX Init */
+	hdma_usart6_tx.Instance = DMA2_Stream6;
+	hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5;
+	hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+	hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+	hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;
+	hdma_usart6_tx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
+	hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+	hdma_usart6_tx.Init.Mode = DMA_NORMAL;
+	hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW;
+	hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+	HAL_DMA_Init(&hdma_usart6_tx);
+
+	__HAL_LINKDMA(&huart6, hdmatx, hdma_usart6_tx);
+
+	/* USART6 interrupt Init */
+	HAL_NVIC_SetPriority(USART6_IRQn, 0, 0);
+	HAL_NVIC_EnableIRQ(USART6_IRQn);
+
+	MX_USART6_DMA_Init();
+
+}
+
+void MX_USART6_DMA_Init() {
+	  /* DMA controller clock enable */
+	  __HAL_RCC_DMA2_CLK_ENABLE();
+
+	  /* DMA interrupt init */
+	  /* DMA2_Stream2_IRQn interrupt configuration */
+	  HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);
+	  HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
+	  /* DMA2_Stream6_IRQn interrupt configuration */
+	  HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 0, 0);
+	  HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
+}
+
+
+void MX_USART6_UART_DeInit(void)
+{
+	HAL_DMA_Abort(&hdma_usart6_rx);
+	HAL_DMA_DeInit(&hdma_usart6_rx);
+	HAL_DMA_Abort(&hdma_usart6_tx);
+	HAL_DMA_DeInit(&hdma_usart6_tx);
+	HAL_UART_DeInit(&huart6);
+	HAL_UART_DeInit(&huart6);
+}
+
+void MX_USART6_UART_Init(void) {
+	huart6.Instance = USART6;
+	huart6.Init.BaudRate = 9600;
+	huart6.Init.WordLength = UART_WORDLENGTH_8B;
+	huart6.Init.StopBits = UART_STOPBITS_1;
+	huart6.Init.Parity = UART_PARITY_NONE;
+	huart6.Init.Mode = UART_MODE_TX_RX;
+	huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+	huart6.Init.OverSampling = UART_OVERSAMPLING_16;
+	HAL_UART_Init(&huart6);
+
+	UART_clearRxBuffer(&Uart6Ctrl);
+
+	Uart6Ctrl.pHandle = &huart6;
+	Uart6Ctrl.dmaRxActive = 0;
+	Uart6Ctrl.dmaTxActive = 0;
+	Uart6Ctrl.pRxBuffer = rxBufferUart6;
+	Uart6Ctrl.pTxBuffer = txBufferUart6;
+	Uart6Ctrl.rxReadIndex = 0;
+	Uart6Ctrl.rxWriteIndex = 0;
+	Uart6Ctrl.txBufferQueLen = 0;
+
+	UART_SetGnssCtrl(&Uart6Ctrl);
+}
+
+void UART6_HandleUART()
+{
+	static uint8_t retryRequest = 0;
+	static uint32_t lastRequestTick = 0;
+	static uint32_t TriggerTick = 0;
+	static uint16_t timeToTrigger = 0;
+	uint32_t tick =  HAL_GetTick();
+
+	uartGnssStatus_t gnssState = uartGnss_GetState();
+
+		if(gnssState != UART_GNSS_INIT)
+		{
+			UART_ReadData(SENSOR_GNSS, 0);
+			UART_WriteData(&Uart6Ctrl);
+		}
+		if(gnssState == UART_GNSS_INIT)
+		{
+			lastRequestTick = tick;
+			TriggerTick = tick - 10;	/* just to make sure control is triggered */
+			timeToTrigger = 1;
+			retryRequest = 0;
+		}
+		else if((gnssState == UART_GNSS_INACTIVE) && (!uartGnss_isPowerDownRequested()))		/* send dummy bytes to wakeup receiver */
+		{
+			txBufferUart6[0] = 0xFF;
+			txBufferUart6[1] = 0xFF;
+			HAL_UART_Transmit_DMA(Uart6Ctrl.pHandle, Uart6Ctrl.pTxBuffer,2);
+			timeToTrigger = 500;						/* receiver needs 500ms for wakeup */
+			lastRequestTick = tick;
+			gnssState = UART_GNSS_PWRUP;
+			uartGnss_SetState(gnssState);
+		}
+		else if(((retryRequest == 0)		/* timeout or error */
+				&& (((time_elapsed_ms(lastRequestTick,tick) > (TIMEOUT_SENSOR_ANSWER)) && (gnssState != UART_GNSS_IDLE))	/* retry if no answer after half request interval */
+					|| (gnssState == UART_GNSS_ERROR))))
+		{
+			/* The channel switch will cause the sensor to respond with an error message. */
+			/* The sensor needs ~30ms to recover before he is ready to receive the next command => transmission delay needed */
+
+			TriggerTick = tick;
+			timeToTrigger = COMMAND_TX_DELAY;
+			retryRequest = 1;
+		}
+
+		else if(time_elapsed_ms(lastRequestTick,tick) > 1000)	/* switch sensor and / or trigger next request */
+		{
+			lastRequestTick = tick;
+			TriggerTick = tick;
+			retryRequest = 0;
+			timeToTrigger = 1;
+
+			if((gnssState == UART_GNSS_GET_SAT) || (gnssState == UART_GNSS_GET_PVT) || (gnssState == UART_GNSS_PWRUP))	/* timeout */
+			{
+				gnssState = UART_GNSS_IDLE;
+				uartGnss_SetState(gnssState);
+			}
+			timeToTrigger = 1;
+		}
+		if((timeToTrigger != 0) && (time_elapsed_ms(TriggerTick,tick) > timeToTrigger))
+		{
+			timeToTrigger = 0;
+			uartGnss_Control();
+		}
+
+}
+
+
+/************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/