view Small_CPU/Src/uart_Internal.c @ 963:c19c8f17a9f3
Evo_2_23
hard-coded hardwaredata for testing purposes
author |
heinrichsweikamp |
date |
Mon, 13 Jan 2025 14:23:29 +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****/