/* USART3 init function */
void MX_USART3_UART_Init(void)
{
huart3.Instance = USART3;
huart3.Init.BaudRate = 1000000;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE;
huart3.Init.Mode = UART_MODE_TX_RX;
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart3.Init.OverSampling = UART_OVERSAMPLING_16;
HAL_HalfDuplex_Init(&huart3);
HAL_HalfDuplex_EnableTransmitter( &huart3 );
}
int main(void)
{
/* USER CODE BEGIN 1 */
// create pointer to MX_SPI_Init() function in order to use it in utility functions
MX_SPI1_Init_Pointer = &MX_SPI1_Init;
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
//MX_SPI1_Init();
MX_TIM16_Init();
MX_TIM17_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_WWDG_Init();
/* USER CODE BEGIN 2 */
// delete MX_SPI1_Init(); up there after regenerating code with mx cube
//=================================================================================
/// some basic setups
//=================================================================================
// input is up
// output is down
uart_queue_initialize(&uart_input_queue);
uart_queue_initialize(&uart_output_queue);
uart_queue_initialize(&uart_command_queue);
// load setup_data from flash to struct: config_data_flash_struct setup_data;
get_from_Flash();
LED_init();
if(setup_data.initied_0xAA!=0xAA)
{
reset_joint();
}
part_init();
/// FIND DIRECTION = WAIT FOR FIRST 'R'
DIRECTION_SET = 0;
PROGRAMM_SENSOR = 0;
SET_FLASH = 0;
UP_STATE = IDLE;
DOWN_STATE = IDLE;
// init some huart stuff
huart_DOWN = &huart1;
huart_UP = &huart2;
uint16_t si = 0;
data_mode = 0;
HAL_StatusTypeDef status;
// create empty messages
Line empty_command_line;
empty_command_line.text[0] = empty;
for(si=1; si < DOWN_MESSAGE_LENGTH-1; si++)
{
empty_command_line.text[si] = si;
}
empty_command_line.text[DOWN_MESSAGE_LENGTH-1] = ComputeCRCN(empty_command_line.text, DOWN_MESSAGE_LENGTH-1);
empty_command_line.length = DOWN_MESSAGE_LENGTH;
Line empty_up_line;
empty_up_line.text[0] = empty;
for(si=1; si < UP_MESSAGE_LENGTH-1; si++)
{
empty_up_line.text[si] = si;
}
empty_up_line.text[UP_MESSAGE_LENGTH-1] = ComputeCRCN(empty_up_line.text, UP_MESSAGE_LENGTH-1);
empty_up_line.length = UP_MESSAGE_LENGTH;
// start timer
HAL_TIM_Base_Start(&htim16);
HAL_TIM_Base_Start(&htim17);
// send some initial init messages
uart_queue_push_line(&uart_input_queue, &init_message_line);
if(is_splitter(setup_data.type))
{
for(si = 0; si < 8; si++)
{
if(setup_data.splitter_outputs[si]==1)
{
uart_queue_push_line(&uart_input_queue, &splitter_message_lines[si]);
skc[si] = 1;
}
}
}
int redled_timeout_timer = __HAL_TIM_GetCounter(&htim16);
int init_timout_timer = __HAL_TIM_GetCounter(&htim16);
interrupt_up_timeout_time = __HAL_TIM_GetCounter(&htim16);
interrupt_down_timeout_time = __HAL_TIM_GetCounter(&htim16);
int new_sensor_timer = __HAL_TIM_GetCounter(&htim16);
int up_timeout_timer = __HAL_TIM_GetCounter(&htim16);
int kids_timer[] = {-1,-1,-1,-1,-1,-1,-1,-1};
transmittedUP=0;
receivedUP=0;
transmittedDOWN=0;
receivedDOWN=0;
uint8_t TIMEDOUT = 0;
update_sensor_messages();
HAL_HalfDuplex_EnableTransmitterReceiver(huart_DOWN);
HAL_HalfDuplex_EnableTransmitterReceiver(huart_UP);
HAL_UART_Receive_DMA(huart_UP, up_buffer, DOWN_MESSAGE_LENGTH + 1);
HAL_UART_Receive_DMA(huart_DOWN, down_buffer, DOWN_MESSAGE_LENGTH + 1);
led_set(1, 1, 0);
//while(1);
//if(is_splitter(setup_data.type))
HAL_WWDG_Start(&hwwdg);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
get_up_time = __HAL_TIM_GetCounter(&htim16);
uint8_t WDGO = 0;
uint8_t WDSET = 0;
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
// if((WD_UP && WD_DOWN) || DIRECTION_SET==0)
// {
// WD_UP = 0;
// WD_DOWN = 0;
// // for up and dwn we have own flags
//
// HAL_WWDG_Refresh(&hwwdg, 127);
// }
if(DIRECTION_SET && WDSET==0)
{
HAL_WWDG_Start(&hwwdg);
WDSET = 1;
up_timeout_timer = __HAL_TIM_GetCounter(&htim16);
}
if(WDGO==0 || is_splitter(setup_data.type)==0)
{
HAL_WWDG_Refresh(&hwwdg, 127);
}
// if there was no poll from above a certain time = reset!
if(__HAL_TIM_GetCounter(&htim16) - interrupt_up_timeout_time > 250)
{
WDGO = 1;
get_up(1);
interrupt_up_timeout_time = __HAL_TIM_GetCounter(&htim16);
UP_STATE = IDLE;
}
// if there was no interrupt call for data from below
if(__HAL_TIM_GetCounter(&htim16) - interrupt_down_timeout_time > 250)
{
WDGO = 1;
HAL_UART_DMAStop(huart_DOWN);
HAL_UART_DMAResume(huart_DOWN);
if(!DIRECTION_SET)
{
HAL_HalfDuplex_EnableTransmitterReceiver(huart_DOWN);
HAL_UART_Receive_DMA(huart_DOWN, down_buffer, DOWN_MESSAGE_LENGTH + 1);
}
interrupt_down_timeout_time = __HAL_TIM_GetCounter(&htim16);
DOWN_STATE = IDLE;
}
// wait for directions to be set
if(!DIRECTION_SET)
{
led_set(8, 1, 8);
continue;
}
led_set(8, 0, 8);
if(__HAL_TIM_GetCounter(&htim16) - get_up_time > 20 && receivedUP == 0)
{
get_up(0);
}
// red blinking led
if(__HAL_TIM_GetCounter(&htim16) - redled_timeout_timer > 250)
{
HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_0);
redled_timeout_timer = __HAL_TIM_GetCounter(&htim16);
}
if(__HAL_TIM_GetCounter(&htim16) - up_timeout_timer > 500)
{
WDGO = 1;
}
// sent init messages
if(__HAL_TIM_GetCounter(&htim16) - init_timout_timer > 1000)
{
uart_queue_replace_push_line(&uart_input_queue, &init_message_line, setup_data.id);
if(is_splitter(setup_data.type))
{
for(si = 0; si < 8; si++)
{
if(setup_data.splitter_outputs[si]==1)
{
uart_queue_push_line(&uart_input_queue, &splitter_message_lines[si]);
}
}
}
init_timout_timer = __HAL_TIM_GetCounter(&htim16);
}
if(SET_FLASH && UP_STATE == IDLE && DOWN_STATE == IDLE)
{
HAL_HalfDuplex_EnableTransmitter(huart_UP);
set_in_Flash(&setup_data);
SET_FLASH = 0;
get_up(1);
}
if(PROGRAMM_SENSOR && UP_STATE == IDLE && DOWN_STATE == IDLE)
{
HAL_HalfDuplex_EnableTransmitter(huart_UP);
if(setup_data.hardware == 2)
init_2D(hspi1, GPIOA, GPIO_PIN_3);
else
init_2D(hspi1, GPIOB, GPIO_PIN_1);
PROGRAMM_SENSOR = 0;
get_up(1);
}
/// UP_STATE_MACHINE
switch(UP_STATE)
{
case IDLE:
if(SET_FLASH || PROGRAMM_SENSOR)
{
UP_STATE = IDLE;
break;
}
if(receivedUP)
{
receivedUP = 0;
if(up_buffer[0] == poll_receive /*&& __HAL_TIM_GetCounter(&htim16) - receivedUPtime < 5*/)
{
if(UP_RESEND_MESSAGE==0)
{
//update_sensor_messages();
uint8_t n_up_messages = 0;
while(uart_queue_is_empty(&uart_input_queue)==0 && (n_up_messages < UP_MESSAGES_MAX))
{
uart_queue_pop_line(&uart_input_queue, &send_up_line);
memcpy(&poll_up_buffer[n_up_messages*(UP_MESSAGE_LENGTH)], send_up_line.text, UP_MESSAGE_LENGTH);
n_up_messages++;
}
while(n_up_messages < UP_MESSAGES_MAX)
{
memcpy(&poll_up_buffer[n_up_messages*(UP_MESSAGE_LENGTH)], empty_up_line.text, UP_MESSAGE_LENGTH);
n_up_messages++;
}
poll_up_size = n_up_messages*UP_MESSAGE_LENGTH;
}
UP_RESEND_MESSAGE = 0;
UP_STATE = SENDING;
HAL_HalfDuplex_EnableTransmitter(huart_UP);
HAL_UART_Transmit_DMA(huart_UP, poll_up_buffer, poll_up_size);
int something_else = __HAL_TIM_GetCounter(&htim16);
if(up_buffer[1]!=empty)
{
memcpy(command_in_line.text, &up_buffer[1], DOWN_MESSAGE_LENGTH);
command_in_line.length = DOWN_MESSAGE_LENGTH;
uint8_t checksum = ComputeCRCN(command_in_line.text, DOWN_MESSAGE_LENGTH-1);
if(checksum == command_in_line.text[DOWN_MESSAGE_LENGTH-1])
{
if(command_in_line.text[0] == poll_direct || getIDfromMessage(command_in_line.text)==setup_data.id)
{
uart_queue_push_line(&uart_command_queue, &command_in_line);
if((command_in_line.text[0] == poll_send) && (setup_data.type==NODE_JOINT_TUT_TU))
uart_queue_push_line(&uart_output_queue, &command_in_line);
}
else if(getIDfromMessage(command_in_line.text)==BROADCAST_ID)
{
uart_queue_push_line(&uart_command_queue, &command_in_line);
uart_queue_push_line(&uart_output_queue, &command_in_line);
}
else
{
uart_queue_push_line(&uart_output_queue, &command_in_line);
}
}
}
if(is_splitter(setup_data.type))
{
/*__disable_irq();
delayUS(10000);
__enable_irq();*/
}
else
{
update_sensor_messages();
}
up_timeout_time = __HAL_TIM_GetCounter(&htim16);
}
else
{
//HAL_UART_DMAStop(huart_UP);
//HAL_UART_DMAResume(huart_UP);
// HAL_UART_Receive(huart_UP, &up_buffer[1], DOWN_MESSAGE_LENGTH, 2);
get_up(1);
}
}
break;
case SENDING:
if(transmittedUP)
{
UP_STATE = END;
transmittedUP = 0;
}
else if(__HAL_TIM_GetCounter(&htim16) - up_timeout_time > 10)
{
HAL_UART_DMAStop(huart_UP);
HAL_UART_DMAResume(huart_UP);
UP_STATE = END;
}
break;
case END:
WD_UP = 1;
up_timeout_timer = __HAL_TIM_GetCounter(&htim16);
// work on commands
UP_STATE = IDLE;
get_up(1);
break;
}
uint8_t s=0;
switch(DOWN_STATE)
{
case DELAY:
if(is_splitter(setup_data.type) || (__HAL_TIM_GetCounter(&htim16) - down_timeout_time > 7) /* && TIMEDOUT==0 */)
DOWN_STATE = IDLE;
/*else if (__HAL_TIM_GetCounter(&htim16) - down_timeout_time > 5)
DOWN_STATE = IDLE;*/
break;
case IDLE:
// do nothing
if(SET_FLASH || PROGRAMM_SENSOR)
{
DOWN_STATE = IDLE;
break;
}
if(is_splitter(setup_data.type))
{
if(splitter_kids_counter[i_p_splitter] > 10)
{
splitter_kids_counter[i_p_splitter] = 9;
kids_timer[i_p_splitter] = __HAL_TIM_GetCounter(&htim16) + 200;
}
if(kids_timer[i_p_splitter]!=-1 && kids_timer[i_p_splitter] > __HAL_TIM_GetCounter(&htim16))
{
interrupt_down_timeout_time = __HAL_TIM_GetCounter(&htim16);
DOWN_STATE = END;
break;
}
if(skc[i_p_splitter] == 0)
{
send_down_line = send_down_line_now;
}
else
{
send_down_line = empty_command_line;
}
}
if(skc[0]+skc[1]+skc[2]+skc[3]+skc[4]+skc[5]+skc[6]+skc[7] >= n_splitter)
{
if(uart_queue_is_empty(&uart_output_queue)==0)
{
uart_queue_pop_line(&uart_output_queue, &send_down_line_now);
send_down_line = send_down_line_now;
for(s=0; s<n_splitter; s++)
skc[s] = 0;
}
else
{
send_down_line = empty_command_line;
for(s=0; s<n_splitter; s++)
skc[s] = 1;
}
}
//send_down_line = empty_command_line;
if(is_splitter(setup_data.type))
{
MPX_UART_Open(i_p_splitter);
}
DOWN_STATE = RECEIVING;
//__disable_irq();
HAL_HalfDuplex_EnableTransmitter(huart_DOWN);
status = HAL_UART_Transmit(huart_DOWN, "R", 1, 3);
status = HAL_UART_Transmit(huart_DOWN, send_down_line.text, DOWN_MESSAGE_LENGTH, 5);
//__enable_irq();
// DMA Receive for 3
HAL_HalfDuplex_EnableTransmitterReceiver(huart_DOWN);
HAL_UART_Receive_DMA(huart_DOWN, poll_down_buffer, UP_MESSAGE_LENGTH*UP_MESSAGES_MAX);
down_timeout_time = __HAL_TIM_GetCounter(&htim16);
break;
case RECEIVING:
if(receivedDOWN)
{
receivedDOWN = 0;
splitter_kids_counter[i_p_splitter] = 0;
skc[i_p_splitter] = 1;
kids_timer[i_p_splitter] = -1;
// no more transmitting checksum, only calculating
uint8_t checksum = ComputeCRCN(&poll_down_buffer[poll_down_size-UP_MESSAGE_LENGTH], UP_MESSAGE_LENGTH-1);
uint8_t i = 0;
for(i=0; i<UP_MESSAGES_MAX; i++)
{
// check checksum
if(1 /*checksum == poll_down_buffer[i*UP_MESSAGE_LENGTH-1]*/)
{
Line sensor_message_line;
memcpy(sensor_message_line.text, &poll_down_buffer[i*UP_MESSAGE_LENGTH], UP_MESSAGE_LENGTH);
sensor_message_line.length = UP_MESSAGE_LENGTH;
if(sensor_message_line.text[0]==empty)
break;
// delete messages from T joint but the answer_data, there update angles[3]
if(getIDfromMessage(sensor_message_line.text)==setup_data.id && setup_data.type == NODE_JOINT_TUT_TU && data_mode!=2)
{
if(sensor_message_line.text[0] == answer_data)
angles[3] = ((sensor_message_line.text[15] << 8) & 0xFF00) + sensor_message_line.text[16];
}
else // for the other kinds (splitter, init, data from other) replace them if already in queue, ack messages always add to queue
{
// if it's from own child, add own id
if(sensor_message_line.text[5]==0)
{
sensor_message_line.text[5] = (setup_data.id >> 24) & 0xFF;
sensor_message_line.text[6] = (setup_data.id >> 16) & 0xFF;
sensor_message_line.text[7] = (setup_data.id >> 8) & 0xFF;
sensor_message_line.text[8] = setup_data.id & 0xFF;
// add splitter branch number
if(is_splitter(setup_data.type))
sensor_message_line.text[5] |= ((i_p_splitter << 4) & 0xF0);
}
UpdateCRCLine(&sensor_message_line);
if(sensor_message_line.text[0] == answer_ack || sensor_message_line.text[0] == splitter)
uart_queue_push_line(&uart_input_queue, &sensor_message_line);
else
uart_queue_replace_push_line(&uart_input_queue, &sensor_message_line, getIDfromMessage(sensor_message_line.text));
}
}
}
DOWN_STATE = END;
TIMEDOUT = 0;
}
else if(__HAL_TIM_GetCounter(&htim16) - down_timeout_time > 13)
