2014-08-10 12:51:13 -07:00
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/*
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Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
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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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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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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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/*
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* app_uartcomm.c
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*
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* Created on: 2 jul 2014
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* Author: benjamin
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*/
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#include "app.h"
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#include "ch.h"
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#include "hal.h"
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#include "stm32f4xx_conf.h"
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#include "servo_dec.h"
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#include "mcpwm.h"
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#include "utils.h"
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#include "packet.h"
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#include "buffer.h"
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2014-08-13 15:23:32 -07:00
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#include "hw.h"
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2014-08-10 12:51:13 -07:00
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#include <stdint.h>
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// Settings
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#define TIMEOUT_MSEC 1000
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#define BAUDRATE 115200
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#define PACKET_HANDLER 1
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#define SERIAL_RX_BUFFER_SIZE 1024
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// Threads
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static msg_t uart_thread(void *arg);
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static msg_t packet_process_thread(void *arg);
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static WORKING_AREA(uart_thread_wa, 1024);
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static WORKING_AREA(packet_process_thread_wa, 1024);
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static Thread *process_tp;
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// Variables
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static volatile systime_t last_uart_update_time;
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static uint8_t serial_rx_buffer[SERIAL_RX_BUFFER_SIZE];
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static int serial_rx_read_pos = 0;
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static int serial_rx_write_pos = 0;
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// Private functions
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static void process_packet(unsigned char *buffer, unsigned char len);
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static void send_packet(unsigned char *buffer, unsigned char len);
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typedef enum {
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UARTCOMM_CMD_SET_DUTY = 0,
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UARTCOMM_CMD_SET_CURRENT,
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UARTCOMM_CMD_SET_CURRENT_BRAKE,
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UARTCOMM_CMD_SET_RPM
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} UARTCOMM_CMD;
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/*
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* This callback is invoked when a transmission buffer has been completely
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* read by the driver.
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*/
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static void txend1(UARTDriver *uartp) {
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(void)uartp;
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}
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/*
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* This callback is invoked when a transmission has physically completed.
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*/
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static void txend2(UARTDriver *uartp) {
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(void)uartp;
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}
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/*
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* This callback is invoked on a receive error, the errors mask is passed
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* as parameter.
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*/
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static void rxerr(UARTDriver *uartp, uartflags_t e) {
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(void)uartp;
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(void)e;
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}
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/*
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* This callback is invoked when a character is received but the application
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* was not ready to receive it, the character is passed as parameter.
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*/
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static void rxchar(UARTDriver *uartp, uint16_t c) {
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(void)uartp;
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serial_rx_buffer[serial_rx_write_pos++] = c;
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if (serial_rx_write_pos == SERIAL_RX_BUFFER_SIZE) {
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serial_rx_write_pos = 0;
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}
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chEvtSignal(process_tp, (eventmask_t) 1);
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}
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/*
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* This callback is invoked when a receive buffer has been completely written.
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*/
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static void rxend(UARTDriver *uartp) {
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(void)uartp;
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}
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/*
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* UART driver configuration structure.
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*/
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static UARTConfig uart_cfg = {
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txend1,
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txend2,
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rxend,
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rxchar,
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rxerr,
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BAUDRATE,
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0,
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USART_CR2_LINEN,
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0
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};
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static void process_packet(unsigned char *buffer, unsigned char len) {
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if (!len) {
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return;
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}
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int32_t ind = 1;
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switch (buffer[0]) {
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case UARTCOMM_CMD_SET_DUTY:
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2014-08-10 13:48:31 -07:00
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mcpwm_set_duty((float)buffer_get_int32(buffer, &ind) / 100000.0);
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2014-08-10 12:51:13 -07:00
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last_uart_update_time = chTimeNow();
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break;
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case UARTCOMM_CMD_SET_CURRENT:
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mcpwm_set_current((float)buffer_get_int32(buffer, &ind) / 1000.0);
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last_uart_update_time = chTimeNow();
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break;
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case UARTCOMM_CMD_SET_CURRENT_BRAKE:
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mcpwm_set_brake_current((float)buffer_get_int32(buffer, &ind) / 1000.0);
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last_uart_update_time = chTimeNow();
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break;
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case UARTCOMM_CMD_SET_RPM:
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mcpwm_set_pid_speed((float)buffer_get_int32(buffer, &ind));
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last_uart_update_time = chTimeNow();
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break;
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default:
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break;
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}
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}
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static void send_packet(unsigned char *buffer, unsigned char len) {
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2014-08-13 15:23:32 -07:00
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uartStartSend(&HW_UART_DEV, len, buffer);
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2014-08-10 12:51:13 -07:00
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}
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void app_uartcomm_init(void) {
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packet_init(send_packet, process_packet, PACKET_HANDLER);
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chThdCreateStatic(uart_thread_wa, sizeof(uart_thread_wa), NORMALPRIO - 1, uart_thread, NULL);
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chThdCreateStatic(packet_process_thread_wa, sizeof(packet_process_thread_wa), NORMALPRIO, packet_process_thread, NULL);
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}
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static msg_t uart_thread(void *arg) {
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(void)arg;
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chRegSetThreadName("UARTCOMM");
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2014-08-13 15:23:32 -07:00
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uartStart(&HW_UART_DEV, &uart_cfg);
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palSetPadMode(HW_UART_TX_PORT, HW_UART_TX_PIN, PAL_MODE_ALTERNATE(HW_UART_GPIO_AF) |
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2014-08-10 12:51:13 -07:00
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_PULLUP);
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2014-08-13 15:23:32 -07:00
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palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_ALTERNATE(HW_UART_GPIO_AF) |
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2014-08-10 12:51:13 -07:00
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_PULLUP);
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systime_t time = chTimeNow();
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for(;;) {
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time += MS2ST(40);
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if (chTimeElapsedSince(last_uart_update_time) > MS2ST(TIMEOUT_MSEC)) {
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mcpwm_set_duty(0.0);
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}
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chThdSleepUntil(time);
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}
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return 0;
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}
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static msg_t packet_process_thread(void *arg) {
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(void)arg;
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chRegSetThreadName("uartcomm process");
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process_tp = chThdSelf();
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for(;;) {
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chEvtWaitAny((eventmask_t) 1);
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while (serial_rx_read_pos != serial_rx_write_pos) {
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packet_process_byte(serial_rx_buffer[serial_rx_read_pos++], PACKET_HANDLER);
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if (serial_rx_read_pos == SERIAL_RX_BUFFER_SIZE) {
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serial_rx_read_pos = 0;
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}
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}
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}
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return 0;
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}
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