Mercurial > public > ostc4
changeset 889:cf3967fe6924 Evo_2_23
GNSS work in progress
author | heinrichsweikamp |
---|---|
date | Fri, 06 Sep 2024 16:46:22 +0200 |
parents | 07af9efd7c13 |
children | 651d21777b61 |
files | Small_CPU/Inc/uart.h Small_CPU/Src/baseCPU2.c Small_CPU/Src/uart.c |
diffstat | 3 files changed, 139 insertions(+), 4 deletions(-) [+] |
line wrap: on
line diff
--- a/Small_CPU/Inc/uart.h Tue Sep 03 20:46:42 2024 +0200 +++ b/Small_CPU/Inc/uart.h Fri Sep 06 16:46:22 2024 +0200 @@ -28,9 +28,17 @@ #define BUFFER_NODATA (7u) /* The read function needs a byte which indicated that no data for processing is available.*/ /* This byte shall never appear in a normal data steam */ + +UART_HandleTypeDef huart1, huart6; + void MX_USART1_UART_Init(void); void MX_USART1_UART_DeInit(void); void MX_USART1_DMA_Init(void); + +void MX_USART6_UART_Init(void); +void MX_USART6_DMA_Init(void); +void GNSS_IO_init(void); + uint8_t UART_ButtonAdjust(uint8_t *array); void UART_StartDMA_Receiption(void); #ifdef ENABLE_CO2_SUPPORT
--- a/Small_CPU/Src/baseCPU2.c Tue Sep 03 20:46:42 2024 +0200 +++ b/Small_CPU/Src/baseCPU2.c Fri Sep 06 16:46:22 2024 +0200 @@ -143,6 +143,8 @@ #include "tm_stm32f4_otp.h" #include "externalInterface.h" #include "uart.h" +#include "GNSS.h" + // From Common/Inc: #include "calc_crush.h" @@ -150,9 +152,9 @@ #include "FirmwareData.h" // From Common/Drivers/ -#include "stm32f4xx_hal.h" #include <stdio.h> + uint8_t coldstart __attribute__((section (".noinit"))); uint8_t hasExternalClock(void) { @@ -415,7 +417,7 @@ GPIO_LED_GREEN_OFF(); GPIO_LED_RED_ON(); - GPIO_VIBRATION_ON(); + //GPIO_VIBRATION_ON(); HAL_Delay(100); GPIO_LED_RED_OFF(); GPIO_VIBRATION_OFF(); @@ -427,6 +429,21 @@ MX_SPI1_Init(); SPI_Start_single_TxRx_with_Master(); /* be prepared for the first data exchange */ Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD); + + // GNSS tests + GNSS_IO_init(); + MX_USART6_UART_Init(); + GNSS_Init(&GNSS_Handle, &huart6); + HAL_Delay(1000); + GNSS_LoadConfig(&GNSS_Handle); + HAL_Delay(10); + GNSS_GetUniqID(&GNSS_Handle); + GNSS_ParseBuffer(&GNSS_Handle); + HAL_Delay(10); + GNSS_GetPVTData(&GNSS_Handle); + GNSS_ParseBuffer(&GNSS_Handle); + + global.mode = MODE_SURFACE; break;
--- a/Small_CPU/Src/uart.c Tue Sep 03 20:46:42 2024 +0200 +++ b/Small_CPU/Src/uart.c Fri Sep 06 16:46:22 2024 +0200 @@ -27,6 +27,7 @@ #include "data_exchange.h" #include <string.h> /* memset */ + /* Private variables ---------------------------------------------------------*/ @@ -34,17 +35,22 @@ #define CHUNK_SIZE (25u) /* the DMA will handle chunk size transfers */ #define CHUNKS_PER_BUFFER (5u) -UART_HandleTypeDef huart1; + -DMA_HandleTypeDef hdma_usart1_rx; +DMA_HandleTypeDef hdma_usart1_rx, hdma_usart6_rx, hdma_usart6_tx; uint8_t rxBuffer[CHUNK_SIZE * CHUNKS_PER_BUFFER]; /* The complete buffer has a X * chunk size to allow fariations in buffer read time */ +uint8_t rxBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER]; /* The complete buffer has a X * chunk size to allow fariations in buffer read time */ +uint8_t txBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER]; /* The complete buffer has a X * chunk size to allow fariations in buffer read time */ + static uint8_t rxWriteIndex; /* Index of the data item which is analysed */ static uint8_t rxReadIndex; /* Index at which new data is stared */ static uint8_t lastCmdIndex; /* Index of last command which has not been completly received */ static uint8_t dmaActive; /* Indicator if DMA reception needs to be started */ + + /* Exported functions --------------------------------------------------------*/ @@ -72,6 +78,8 @@ dmaActive = 0; } + + void MX_USART1_UART_DeInit(void) { HAL_DMA_Abort(&hdma_usart1_rx); @@ -105,6 +113,108 @@ HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn); } +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_FREQ_VERY_HIGH; + 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_PDATAALIGN_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_PDATAALIGN_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); + /* USER CODE BEGIN USART6_MspInit 1 */ + + /* USER CODE END USART6_MspInit 1 */ + + 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); +} + +/** + * @brief USART6 Initialization Function + * @param None + * @retval None + */ +void MX_USART6_UART_Init(void) +{ + /* USER CODE BEGIN USART6_Init 0 */ + + /* USER CODE END USART6_Init 0 */ + + /* USER CODE BEGIN USART6_Init 1 */ + + /* USER CODE END USART6_Init 1 */ + 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); + + /* USER CODE BEGIN USART6_Init 2 */ + + /* USER CODE END USART6_Init 2 */ +} + void UART_MUX_SelectAddress(uint8_t muxAddress) { uint8_t indexstr[4];