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view Small_CPU/Src/uart.c @ 935:f2494a708f52 Evo_2_23

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Added unit files for GPIO: The new gpios need to be accessed from severall units. That's why the current, static implementation in the baseCPU did not fit. To enable global usage of the function they have been moved into new source / header file
author Ideenmodellierer
date Sun, 08 Dec 2024 21:59:22 +0100
parents 43055e069bd1
children 3029f0332f4f
line wrap: on
line source

/**
  ******************************************************************************
  * @file    uart.c 
  * @author  heinrichs weikamp gmbh
  * @version V0.0.1
  * @date    27-March-2014
  * @brief   button control
  *           
  @verbatim                 
  ============================================================================== 
                        ##### How to use #####
  ============================================================================== 
  @endverbatim
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; COPYRIGHT(c) 2015 heinrichs weikamp</center></h2>
  *
  ******************************************************************************
  */ 
/* Includes ------------------------------------------------------------------*/
#include "uart.h"
#include "uartProtocol_O2.h"
#include "uartProtocol_Co2.h"
#include "uartProtocol_Sentinel.h"
#include "uartProtocol_GNSS.h"
#include "externalInterface.h"
#include "data_exchange.h"
#include <string.h>	/* memset */

#ifdef ENABLE_GPIO_V2
extern UART_HandleTypeDef huart6;
extern sUartComCtrl Uart6Ctrl;
#endif

/* Private variables ---------------------------------------------------------*/

DMA_HandleTypeDef  hdma_usart1_rx, hdma_usart1_tx;

uint8_t rxBuffer[CHUNK_SIZE * CHUNKS_PER_BUFFER];		/* The complete buffer has a X * chunk size to allow variations in buffer read time */
uint8_t txBuffer[CHUNK_SIZE];							/* tx uses less bytes */
uint8_t txBufferQue[TX_BUF_SIZE];						/* In MUX mode command may be send shortly after each other => allow q 1 entry que */


static uint8_t lastCmdIndex;							/* Index of last command which has not been completely received */

sUartComCtrl Uart1Ctrl;
static  sUartComCtrl* pGnssCtrl = NULL;

static uint32_t LastCmdRequestTick = 0;					/* Used by ADC handler to avoid interferance with UART communication */

/* Exported functions --------------------------------------------------------*/


void UART_SetGnssCtrl(sUartComCtrl* pTarget)
{
	pGnssCtrl = pTarget;
}

sUartComCtrl* UART_GetGnssCtrl()
{
	return pGnssCtrl;
}


void UART_clearRxBuffer(sUartComCtrl* pUartCtrl)
{
	uint16_t index = 0;
	do
	{
		pUartCtrl->pRxBuffer[index++] = BUFFER_NODATA_LOW;
		pUartCtrl->pRxBuffer[index++] = BUFFER_NODATA_HIGH;
	} while (index < sizeof(rxBuffer));

	pUartCtrl->rxReadIndex = 0;
	pUartCtrl->rxWriteIndex = 0;
}

void MX_USART1_UART_Init(void)
{
/* regular init */	
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 19200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;

  HAL_UART_Init(&huart1);

  MX_USART1_DMA_Init();

  UART_clearRxBuffer(&Uart1Ctrl);
  lastCmdIndex = 0;

  Uart1Ctrl.pHandle = &huart1;
  Uart1Ctrl.rxWriteIndex = 0;
  Uart1Ctrl.rxReadIndex = 0;
  Uart1Ctrl.dmaRxActive = 0;
  Uart1Ctrl.dmaTxActive = 0;
  Uart1Ctrl.pRxBuffer = rxBuffer;
  Uart1Ctrl.pTxBuffer = txBuffer;
  Uart1Ctrl.txBufferQueLen = 0;

#ifndef ENABLE_GPIO_V2
  UART_SetGnssCtrl(&Uart1Ctrl);
#endif
}



void MX_USART1_UART_DeInit(void)
{
	HAL_DMA_Abort(&hdma_usart1_rx);
	HAL_DMA_DeInit(&hdma_usart1_rx);
	HAL_DMA_Abort(&hdma_usart1_tx);
	HAL_DMA_DeInit(&hdma_usart1_tx);
	HAL_UART_DeInit(&huart1);
	Uart1Ctrl.dmaRxActive = 0;
	Uart1Ctrl.dmaTxActive = 0;
	Uart1Ctrl.txBufferQueLen = 0;
}

void  MX_USART1_DMA_Init()
{
  /* DMA controller clock enable */
  __DMA2_CLK_ENABLE();

  /* Peripheral DMA init*/
  hdma_usart1_rx.Instance = DMA2_Stream5;
  hdma_usart1_rx.Init.Channel = DMA_CHANNEL_4;
  hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; //DMA_MEMORY_TO_PERIPH;
  hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
  hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE;
  hdma_usart1_rx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
  hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
  hdma_usart1_rx.Init.Mode = DMA_NORMAL;
  hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
  hdma_usart1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
  HAL_DMA_Init(&hdma_usart1_rx);

  __HAL_LINKDMA(&huart1,hdmarx,hdma_usart1_rx);

  hdma_usart1_tx.Instance = DMA2_Stream7;
  hdma_usart1_tx.Init.Channel = DMA_CHANNEL_4;
  hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
  hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
  hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
  hdma_usart1_tx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
  hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
  hdma_usart1_tx.Init.Mode = DMA_NORMAL;
  hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
  hdma_usart1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
  HAL_DMA_Init(&hdma_usart1_tx);

  __HAL_LINKDMA(&huart1,hdmatx,hdma_usart1_tx);


  /* DMA interrupt init */
  HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 2, 2);
  HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn);
  HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 2, 1);
  HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn);
}

void UART_MUX_SelectAddress(uint8_t muxAddress)
{
	uint8_t indexstr[4];

	if(muxAddress <= MAX_MUX_CHANNEL)
	{
		indexstr[0] = '~';
		indexstr[1] = muxAddress;
		indexstr[2] = 0x0D;
		indexstr[3] = 0x0A;
		if(!Uart1Ctrl.dmaTxActive)
		{
			memcpy(txBuffer, indexstr, 4);
			 Uart1Ctrl.dmaTxActive = 0;
			if(HAL_OK == HAL_UART_Transmit_DMA(&huart1,txBuffer,4))
			{
				 Uart1Ctrl.dmaTxActive = 1;
				while(Uart1Ctrl.dmaTxActive)
				{
					HAL_Delay(1);
				}
			}
		}
		else
		{
			memcpy(txBufferQue, indexstr, 4);
			Uart1Ctrl.txBufferQueLen = 4;
		}
	}
}


void UART_SendCmdString(uint8_t *cmdString)
{
	uint8_t cmdLength = strlen((char*)cmdString);

	if(Uart1Ctrl.dmaTxActive == 0)
	{
		if(cmdLength < TX_BUF_SIZE)		/* A longer string is an indication for a missing 0 termination */
		{
			if(Uart1Ctrl.dmaRxActive == 0)
			{
				UART_StartDMA_Receiption(&Uart1Ctrl);
			}
			memcpy(txBuffer, cmdString, cmdLength);
			if(HAL_OK == HAL_UART_Transmit_DMA(&huart1,txBuffer,cmdLength))
			{
				Uart1Ctrl.dmaTxActive = 1;
				LastCmdRequestTick = HAL_GetTick();
			}
		}
	}
	else
	{
		memcpy(txBufferQue, cmdString, cmdLength);
		Uart1Ctrl.txBufferQueLen = cmdLength;
	}
}

void UART_AddFletcher(uint8_t* pBuffer, uint8_t length)
{
	uint8_t ck_A = 0;
	uint8_t ck_B = 0;
	uint8_t index = 0;


	pBuffer += 2; /* skip sync chars */
	for(index = 2; index < length; index++)
	{
		ck_A += *pBuffer++;
		ck_B += ck_A;
	}
	*pBuffer++ = ck_A;
	*pBuffer++ = ck_B;
}

void UART_SendCmdUbx(const uint8_t *cmd, uint8_t len)
{
	if(len < TX_BUF_SIZE)		/* A longer string is an indication for a missing 0 termination */
	{
		if(pGnssCtrl != NULL)
		{
			if(pGnssCtrl->dmaRxActive == 0)
			{
				UART_StartDMA_Receiption(pGnssCtrl);
			}
			memcpy(pGnssCtrl->pTxBuffer, cmd, len);
			UART_AddFletcher(pGnssCtrl->pTxBuffer, len);
			len += 2;
			if(HAL_OK == HAL_UART_Transmit_DMA(pGnssCtrl->pHandle,pGnssCtrl->pTxBuffer,len))
			{
				pGnssCtrl->dmaTxActive = 1;
				LastCmdRequestTick = HAL_GetTick();
			}
		}
	}
}


void StringToInt(char *pstr, uint32_t *puInt32)
{
	uint8_t index = 0;
	uint32_t result = 0;
	while((pstr[index] >= '0') && (pstr[index] <= '9'))
	{
		result *=10;
		result += pstr[index] - '0';
		index++;
	}
	*puInt32 = result;
}

void StringToUInt64(char *pstr, uint64_t *puint64)
{
	uint8_t index = 0;
	uint64_t result = 0;
	while((pstr[index] >= '0') && (pstr[index] <= '9'))
	{
		result *=10;
		result += pstr[index] - '0';
		index++;
	}
	*puint64 = result;
}

void UART_StartDMA_Receiption(sUartComCtrl* pUartCtrl)
{
	if(pUartCtrl->dmaRxActive == 0)
	{
    	if(((pUartCtrl->rxWriteIndex / CHUNK_SIZE) != (pUartCtrl->rxReadIndex / CHUNK_SIZE)) || ((UART_isEndIndication(pUartCtrl, pUartCtrl->rxWriteIndex)) && (UART_isEndIndication(pUartCtrl, pUartCtrl->rxWriteIndex + 1))))	/* start next transfer if we did not catch up with read index */
    	{
			if(HAL_OK == HAL_UART_Receive_DMA (pUartCtrl->pHandle, &pUartCtrl->pRxBuffer[pUartCtrl->rxWriteIndex], CHUNK_SIZE))
			{
				pUartCtrl->dmaRxActive = 1;
			}
    	}
	}
}

void UART_ChangeBaudrate(uint32_t newBaudrate)
{
	MX_USART1_UART_DeInit();
	huart1.Init.BaudRate = newBaudrate;
	HAL_UART_Init(&huart1);
	MX_USART1_DMA_Init();
	HAL_NVIC_SetPriority(USART1_IRQn, 1, 3);
	HAL_NVIC_EnableIRQ(USART1_IRQn);

	UART_clearRxBuffer(&Uart1Ctrl);
	Uart1Ctrl.rxReadIndex = 0;
	Uart1Ctrl.rxWriteIndex = 0;
	Uart1Ctrl.dmaRxActive = 0;
	Uart1Ctrl.txBufferQueLen = 0;
}

void UART_HandleRxComplete(sUartComCtrl* pUartCtrl)
{
	pUartCtrl->dmaRxActive = 0;
	pUartCtrl->rxWriteIndex+=CHUNK_SIZE;
	if(pUartCtrl->rxWriteIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
	{
		pUartCtrl->rxWriteIndex = 0;
	}
	UART_StartDMA_Receiption(pUartCtrl);
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	if(huart == &huart1)
	{
		UART_HandleRxComplete(&Uart1Ctrl);
	}
#ifdef ENABLE_GPIO_V2
	if(huart == &huart6)
	{
		UART_HandleRxComplete(&Uart6Ctrl);
	}
#endif
}

void UART_HandleTxComplete(sUartComCtrl* pUartCtrl)
{
	pUartCtrl->dmaTxActive = 0;
	UART_WriteData(pUartCtrl);
	if(pUartCtrl->txBufferQueLen)
	{
		memcpy(pUartCtrl->pTxBuffer, pUartCtrl->pTxQue, pUartCtrl->txBufferQueLen);
		HAL_UART_Transmit_DMA(pUartCtrl->pHandle,pUartCtrl->pTxBuffer,pUartCtrl->txBufferQueLen);
		pUartCtrl->dmaTxActive = 1;
		pUartCtrl->txBufferQueLen = 0;
	}
}
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
{
	if(huart == &huart1)
	{
		UART_HandleTxComplete(&Uart1Ctrl);
	}
#ifdef ENABLE_GPIO_V2
	if(huart == &huart6)
	{
		UART_HandleTxComplete(&Uart6Ctrl);
	}
#endif
}

uint8_t UART_isEndIndication(sUartComCtrl* pCtrl, uint8_t index)
{
	uint8_t ret = 0;
	if(index % 2)
	{
		if(pCtrl->pRxBuffer[index] == BUFFER_NODATA_HIGH)
		{
			ret = 1;
		}
	}
	else
	{
		if(pCtrl->pRxBuffer[index] == BUFFER_NODATA_LOW)
		{
			ret = 1;
		}
	}

	return ret;
}
void UART_ReadData(uint8_t sensorType)
{
	uint8_t localRX;
	uint8_t futureIndex;
	uint8_t moreData = 0;

	sUartComCtrl* pUartCtrl;

	if(sensorType == SENSOR_GNSS)
	{
#ifdef ENABLE_GPIO_V2
		pUartCtrl = &Uart6Ctrl;
#else
		pUartCtrl = &Uart1Ctrl;
#endif
	}
	else
	{
		pUartCtrl = &Uart1Ctrl;
	}
	localRX = pUartCtrl->rxReadIndex;
	futureIndex = pUartCtrl->rxReadIndex + 1;
	if(futureIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
	{
		futureIndex = 0;
	}

	if(!UART_isEndIndication(pUartCtrl, futureIndex))
	{
		moreData = 1;
	}
	
	//if((!isEndIndication(pUartCtrl, localRX)) || (!isEndIndication(pUartCtrl,futureIndex)))	do
	if((!UART_isEndIndication(pUartCtrl, localRX)) || (moreData))
	do
	{
		while((!UART_isEndIndication(pUartCtrl, localRX)) || (moreData))
		{
			moreData = 0;
			switch (sensorType)
			{
				case SENSOR_MUX:
				case SENSOR_DIGO2:	uartO2_ProcessData(pUartCtrl->pRxBuffer[localRX]);
					break;
	#ifdef ENABLE_CO2_SUPPORT
				case SENSOR_CO2:	uartCo2_ProcessData(pUartCtrl->pRxBuffer[localRX]);
					break;
	#endif
	#if defined ENABLE_GNSS_SUPPORT || defined ENABLE_GPIO_V2
					case SENSOR_GNSS:	uartGnss_ProcessData(pUartCtrl->pRxBuffer[localRX]);
							break;
	#endif
	#ifdef ENABLE_SENTINEL_MODE
				case SENSOR_SENTINEL:	uartSentinel_ProcessData(pUartCtrl->pRxBuffer[localRX]);
					break;
	#endif
				default:
					break;
			}
			if(localRX % 2)
			{
				pUartCtrl->pRxBuffer[localRX] = BUFFER_NODATA_HIGH;
			}
			else
			{
				pUartCtrl->pRxBuffer[localRX] = BUFFER_NODATA_LOW;
			}

			localRX++;
			pUartCtrl->rxReadIndex++;
			if(pUartCtrl->rxReadIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
			{
				localRX = 0;
				pUartCtrl->rxReadIndex = 0;
			}
			futureIndex++;
			if(futureIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
			{
				futureIndex = 0;
			}
		}
		if(!UART_isEndIndication(pUartCtrl, futureIndex))
		{
			moreData = 1;
		}
	} while(moreData);
}

void UART_WriteData(sUartComCtrl* pUartCtrl)
{
	if(pUartCtrl->pHandle->hdmatx->State == HAL_DMA_STATE_READY)
	{
		pUartCtrl->pHandle->gState = HAL_UART_STATE_READY;
		pUartCtrl->dmaTxActive = 0;
	}
	if(pUartCtrl->pHandle->hdmarx->State == HAL_DMA_STATE_READY)
	{
		pUartCtrl->pHandle->RxState = HAL_UART_STATE_READY;
		pUartCtrl->dmaRxActive = 0;
	}
}

void UART_FlushRxBuffer(void)
{
	uint8_t futureIndex = Uart1Ctrl.rxReadIndex + 1;

	if(futureIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
	{
		futureIndex = 0;
	}
	while((rxBuffer[Uart1Ctrl.rxReadIndex] != BUFFER_NODATA_LOW) && (rxBuffer[futureIndex] != BUFFER_NODATA_HIGH))
	{
		if(Uart1Ctrl.rxReadIndex % 2)
		{
			rxBuffer[Uart1Ctrl.rxReadIndex++] = BUFFER_NODATA_HIGH;
		}
		else
		{
			rxBuffer[Uart1Ctrl.rxReadIndex++] = BUFFER_NODATA_LOW;
		}
		if(Uart1Ctrl.rxReadIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
		{
			Uart1Ctrl.rxReadIndex = 0;
		}
		futureIndex++;
		if(futureIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
		{
			futureIndex = 0;
		}
	}
}

uint8_t UART_isComActive(uint8_t sensorId)
{
	uint8_t active = 1;

	if(time_elapsed_ms(LastCmdRequestTick, HAL_GetTick()) > 300) /* UART activity should be inactive 300ms after last command */
	{
		active = 0;
	}
	return active;
}


/************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/