view Small_CPU/Src/uart_Internal.c @ 967:9b418e63dbc2
Evo_2_23
Add a 'Reverse' action to the compass heading dive menu.
This allows the compass heading to be reversed for the return leg of the
dive - as a bonus the reversal will be logged, establishing at which
point in the log the dive was turned (mikeller)
author
heinrichsweikamp
date
Wed, 15 Jan 2025 16:38:27 +0100 (4 weeks ago)
parents
f41974734268
children
0b81ac558e89
line source
/**+ −
******************************************************************************+ −
* @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>© 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);+ −
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****/+ −