mirror of
https://github.com/eddyem/stm32samples.git
synced 2025-12-06 10:45:11 +03:00
366 lines
11 KiB
C
366 lines
11 KiB
C
/*
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* This file is part of the chronometer project.
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* Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "stm32f1.h"
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#include "usart.h"
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#include "lidar.h"
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extern volatile uint32_t Tms;
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static volatile int idatalen[4][2] = {0}; // received data line length (including '\n')
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static volatile int odatalen[4][2] = {0};
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volatile int linerdy[4] = {0}, // received data ready
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dlen[4] = {0}, // length of data (including '\n') in current buffer
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bufovr[4] = {0}, // input buffer overfull
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txrdy[4] = {0,1,1,1} // transmission done
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;
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int rbufno[4] = {0}, tbufno[4] = {0}; // current rbuf/tbuf numbers
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static char rbuf[4][2][UARTBUFSZ], tbuf[4][2][UARTBUFSZ]; // receive & transmit buffers
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static char *recvdata[4] = {0};
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/**
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* return length of received data (without trailing zero)
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*/
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int usart_getline(int n, char **line){
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if(bufovr[n]){
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bufovr[n] = 0;
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linerdy[n] = 0;
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return 0;
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}
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*line = recvdata[n];
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linerdy[n] = 0;
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return dlen[n];
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}
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// transmit current tbuf and swap buffers
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void transmit_tbuf(int n){
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if(n < 1 || n > 3) return;
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uint32_t tmout = 72000;
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while(!txrdy[n]){if(--tmout == 0) return;}; // wait for previos buffer transmission
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register int l = odatalen[n][tbufno[n]];
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if(!l) return;
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txrdy[n] = 0;
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odatalen[n][tbufno[n]] = 0;
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DMA_Channel_TypeDef *DMA;
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IWDG->KR = IWDG_REFRESH;
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switch(n){
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case 1:
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DMA = DMA1_Channel4;
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break;
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case 2:
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DMA = DMA1_Channel7;
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break;
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case 3:
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DMA = DMA1_Channel2;
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break;
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}
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DMA->CCR &= ~DMA_CCR_EN;
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DMA->CMAR = (uint32_t) tbuf[n][tbufno[n]]; // mem
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DMA->CNDTR = l;
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DMA->CCR |= DMA_CCR_EN;
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tbufno[n] = !tbufno[n];
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}
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void usart_putchar(int n, char ch){
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for(int i = 0; odatalen[n][tbufno[n]] == UARTBUFSZ && i < 1024; ++i) transmit_tbuf(n);
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tbuf[n][tbufno[n]][odatalen[n][tbufno[n]]++] = ch;
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}
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void usart_send(int n, const char *str){
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uint32_t x = 512;
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while(*str && --x){
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if(odatalen[n][tbufno[n]] == UARTBUFSZ){
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transmit_tbuf(n);
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continue;
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}
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tbuf[n][tbufno[n]][odatalen[n][tbufno[n]]++] = *str++;
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}
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}
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#if defined EBUG || defined USART1PROXY
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// only for USART1
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void newline(){
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usart_putchar(1, '\n');
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transmit_tbuf(1);
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}
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#endif
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/*
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* USART speed: baudrate = Fck/(USARTDIV)
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* USARTDIV stored in USART->BRR
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*
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* for 72MHz USARTDIV=72000/f(kboud); so for 115200 USARTDIV=72000/115.2=625 -> BRR=0x271
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* 9600: BRR = 7500 (0x1D4C)
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*/
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static void usart_setup(int n, uint32_t BRR){
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DMA_Channel_TypeDef *DMA;
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IRQn_Type DMAirqN, USARTirqN;
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USART_TypeDef *USART;
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switch(n){
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case 1:
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// USART1 Tx DMA - Channel4 (Rx - channel 5)
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DMA = DMA1_Channel4;
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DMAirqN = DMA1_Channel4_IRQn;
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USARTirqN = USART1_IRQn;
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// PA9 - Tx, PA10 - Rx
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RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_USART1EN;
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GPIOA->CRH |= CRH(9, CNF_AFPP|MODE_NORMAL) | CRH(10, CNF_FLINPUT|MODE_INPUT);
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USART = USART1;
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break;
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case 2:
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// USART2 Tx DMA - Channel7
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DMA = DMA1_Channel7;
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DMAirqN = DMA1_Channel7_IRQn;
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USARTirqN = USART2_IRQn;
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// PA2 - Tx, PA3 - Rx
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RCC->APB2ENR |= RCC_APB2ENR_IOPAEN;
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RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
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GPIOA->CRL |= CRL(2, CNF_AFPP|MODE_NORMAL) | CRL(3, CNF_FLINPUT|MODE_INPUT);
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USART = USART2;
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break;
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case 3:
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// USART3 Tx DMA - Channel2
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DMA = DMA1_Channel2;
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DMAirqN = DMA1_Channel2_IRQn;
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USARTirqN = USART3_IRQn;
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// PB10 - Tx, PB11 - Rx
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RCC->APB2ENR |= RCC_APB2ENR_IOPBEN;
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RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
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GPIOB->CRH |= CRH(10, CNF_AFPP|MODE_NORMAL) | CRH(11, CNF_FLINPUT|MODE_INPUT);
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USART = USART3;
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break;
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default:
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return;
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}
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DMA->CPAR = (uint32_t) &USART->DR; // periph
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DMA->CCR |= DMA_CCR_MINC | DMA_CCR_DIR | DMA_CCR_TCIE; // 8bit, mem++, mem->per, transcompl irq
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// setup usart(n)
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USART->BRR = BRR;
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USART->CR1 = USART_CR1_TE | USART_CR1_RE | USART_CR1_UE; // 1start,8data,nstop; enable Rx,Tx,USART
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uint32_t tmout = 16000000;
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while(!(USART->SR & USART_SR_TC)){if(--tmout == 0) break;} // polling idle frame Transmission
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USART->SR = 0; // clear flags
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USART->CR1 |= USART_CR1_RXNEIE; // allow Rx IRQ
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USART->CR3 = USART_CR3_DMAT; // enable DMA Tx
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// Tx CNDTR set @ each transmission due to data size
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NVIC_SetPriority(DMAirqN, n);
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NVIC_EnableIRQ(DMAirqN);
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NVIC_SetPriority(USARTirqN, n);
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NVIC_EnableIRQ(USARTirqN);
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}
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void usarts_setup(){
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RCC->AHBENR |= RCC_AHBENR_DMA1EN;
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#if defined EBUG || defined USART1PROXY
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usart_setup(1, 72000000 / 115200); // debug console or GPS proxy
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#endif
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usart_setup(2, 36000000 / 9600); // GPS
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usart_setup(3, 36000000 / 115200); // LIDAR
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}
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void usart_isr(int n, USART_TypeDef *USART){
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#ifdef CHECK_TMOUT
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static uint32_t tmout[n] = 0;
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#endif
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IWDG->KR = IWDG_REFRESH;
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if(USART->SR & USART_SR_RXNE){ // RX not emty - receive next char
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#ifdef CHECK_TMOUT
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if(tmout[n] && Tms >= tmout[n]){ // set overflow flag
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bufovr[n] = 1;
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idatalen[n][rbufno[n]] = 0;
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}
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tmout[n] = Tms + TIMEOUT_MS;
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if(!tmout[n]) tmout[n] = 1; // prevent 0
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#endif
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uint8_t rb = USART->DR;
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if(idatalen[n][rbufno[n]] < UARTBUFSZ){ // put next char into buf
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rbuf[n][rbufno[n]][idatalen[n][rbufno[n]]++] = rb;
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if(rb == '\n'){ // got newline - line ready
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linerdy[n] = 1;
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dlen[n] = idatalen[n][rbufno[n]];
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recvdata[n] = rbuf[n][rbufno[n]];
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// prepare other buffer
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rbufno[n] = !rbufno[n];
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idatalen[n][rbufno[n]] = 0;
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#ifdef CHECK_TMOUT
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// clear timeout at line end
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tmout[n] = 0;
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#endif
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}
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}else{ // buffer overrun
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bufovr[n] = 1;
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idatalen[n][rbufno[n]] = 0;
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#ifdef CHECK_TMOUT
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tmout[n] = 0;
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#endif
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}
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}
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}
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#if defined EBUG || defined USART1PROXY
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void usart1_isr(){
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usart_isr(1, USART1);
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}
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#endif
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// GPS_USART
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void usart2_isr(){
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usart_isr(2, USART2);
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}
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// LIDAR_USART
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void usart3_isr(){
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IWDG->KR = IWDG_REFRESH;
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if(USART3->SR & USART_SR_RXNE){ // RX not emty - receive next char
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uint8_t rb = USART3->DR, L = idatalen[3][rbufno[3]];
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if(rb != LIDAR_FRAME_HEADER && (L == 0 || L == 1)){ // bad starting sequence
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idatalen[3][rbufno[3]] = 0;
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return;
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}
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if(L < LIDAR_FRAME_LEN){ // put next char into buf
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rbuf[3][rbufno[3]][idatalen[3][rbufno[3]]++] = rb;
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if(L == LIDAR_FRAME_LEN-1){ // got LIDAR_FRAME_LEN bytes - line ready
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linerdy[3] = 1;
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dlen[3] = idatalen[3][rbufno[3]];
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recvdata[3] = rbuf[3][rbufno[3]];
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// prepare other buffer
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rbufno[3] = !rbufno[3];
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idatalen[3][rbufno[3]] = 0;
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}
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}else{ // buffer overrun
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idatalen[3][rbufno[3]] = 0;
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}
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}
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}
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// return string buffer with val
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char *u2str(uint32_t val){
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static char bufa[11];
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char bufb[10];
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int l = 0, bpos = 0;
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IWDG->KR = IWDG_REFRESH;
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if(!val){
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bufa[0] = '0';
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l = 1;
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}else{
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while(val){
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bufb[l++] = val % 10 + '0';
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val /= 10;
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}
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int i;
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bpos += l;
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for(i = 0; i < l; ++i){
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bufa[--bpos] = bufb[i];
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}
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}
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bufa[l + bpos] = 0;
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return bufa;
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}
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// print 32bit unsigned int
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void printu(int n, uint32_t val){
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usart_send(n, u2str(val));
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}
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// print 32bit unsigned int as hex
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void printuhex(int n, uint32_t val){
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usart_send(n, "0x");
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uint8_t *ptr = (uint8_t*)&val + 3;
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int i, j;
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IWDG->KR = IWDG_REFRESH;
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for(i = 0; i < 4; ++i, --ptr){
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for(j = 1; j > -1; --j){
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register uint8_t half = (*ptr >> (4*j)) & 0x0f;
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if(half < 10) usart_putchar(n, half + '0');
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else usart_putchar(n, half - 10 + 'a');
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}
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}
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}
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#ifdef EBUG
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// dump memory buffer
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void hexdump(uint8_t *arr, uint16_t len){
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for(uint16_t l = 0; l < len; ++l, ++arr){
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IWDG->KR = IWDG_REFRESH;
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for(int16_t j = 1; j > -1; --j){
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register uint8_t half = (*arr >> (4*j)) & 0x0f;
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if(half < 10) usart_putchar(1, half + '0');
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else usart_putchar(1, half - 10 + 'a');
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}
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if(l % 16 == 15) usart_putchar(1, '\n');
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else if((l & 3) == 3) usart_putchar(1, ' ');
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}
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}
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#endif
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#if defined EBUG || defined USART1PROXY
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void dma1_channel4_isr(){ // USART1
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if(DMA1->ISR & DMA_ISR_TCIF4){ // Tx
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DMA1->IFCR = DMA_IFCR_CTCIF4; // clear TC flag
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txrdy[1] = 1;
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}
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}
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#endif
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void dma1_channel7_isr(){ // USART2
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if(DMA1->ISR & DMA_ISR_TCIF7){ // Tx
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DMA1->IFCR = DMA_IFCR_CTCIF7; // clear TC flag
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txrdy[2] = 1;
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}
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}
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void dma1_channel2_isr(){ // USART3
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if(DMA1->ISR & DMA_ISR_TCIF2){ // Tx
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DMA1->IFCR = DMA_IFCR_CTCIF2; // clear TC flag
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txrdy[3] = 1;
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}
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}
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// read `buf` and get first integer `N` in it
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// @return 0 if all OK or 1 if there's not a number; omit spaces and '='
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int getnum(const char *buf, int32_t *N){
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char c;
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int positive = -1;
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int32_t val = 0;
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while((c = *buf++)){
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if(c == '\t' || c == ' ' || c == '='){
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if(positive < 0) continue; // beginning spaces
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else break; // spaces after number
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}
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if(c == '-'){
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if(positive < 0){
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positive = 0;
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continue;
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}else break; // there already was `-` or number
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}
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if(c < '0' || c > '9') break;
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if(positive < 0) positive = 1;
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val = val * 10 + (int32_t)(c - '0');
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}
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if(positive != -1){
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if(positive == 0){
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if(val == 0) return 1; // single '-'
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val = -val;
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}
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*N = val;
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}else return 1;
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return 0;
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}
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