void USART_Open(USART * serial, unsigned char port, unsigned char baud_rate, unsigned short tx_buf, unsigned short rx_buf, bool use_rs485, bool isSerialProtocol) {
serial->ref = 0;
serial->CharacterReceived = 0;
serial->CharacterTransmitted = 0;
serial->charCtr = 0;
serial->port_num = port;
serial->port = usart_ports[port];
serial->baud_rate = baud_rate;
serial->use_rs485 = use_rs485;
if (isSerialProtocol) {
serial->isSerialProtocol=true;
}
else {
serial->isSerialProtocol=false;
RingBufferInit(&serial->tx_buffer, tx_buf);
RingBufferInit(&serial->rx_buffer, rx_buf);
}
USART_Table[port] = serial;
serial->port.gpio_port->DIRSET = serial->port.tx_pin_bm;
serial->port.gpio_port->DIRCLR = serial->port.rx_pin_bm;
#ifdef USE_RS485
if (use_rs485) {
serial->port.gpio_port->DIRSET = serial->port.txen_pin_bm;
serial->port.gpio_port->OUTCLR = serial->port.txen_pin_bm;
}
#endif
cli();
USART_Format_Set(serial->port.usart_port, USART_CHSIZE_8BIT_gc,
USART_PMODE_DISABLED_gc, false); // 8 bits, no parity, one stop bit
serial->port.usart_port->CTRLA = ((serial->port.usart_port)->CTRLA & ~USART_RXCINTLVL_gm) | USART_RXCINTLVL_LO_gc;
if (use_rs485 || isSerialProtocol) { // only enable the TXC interrupt if we're in RS485 mode, as it's only used to clear the TXEN line
serial->port.usart_port->CTRLA = ((serial->port.usart_port)->CTRLA & ~USART_TXCINTLVL_gm) | USART_TXCINTLVL_LO_gc;
}
if (isSerialProtocol) {
// serial->port.usart_port->CTRLA = ((serial->port.usart_port)->CTRLA & ~USART_DREINTLVL_gm) | USART_DREINTLVL_LO_gc;
}
serial->port.usart_port->BAUDCTRLA = USART_BAUD_TABLE[baud_rate] & 0xFF;
serial->port.usart_port->BAUDCTRLB = (USART_BAUD_TABLE[baud_rate] >> 8);
serial->port.usart_port->BAUDCTRLB |= ((USART_BSCALE_TABLE[baud_rate]&0x0F) << USART_BSCALE0_bp);
USART_Rx_Enable(serial->port.usart_port);
USART_Tx_Enable(serial->port.usart_port);
PMIC.CTRL |= PMIC_LOLVLEX_bm;
sei();
}
void UartMockDriverStateInit(UartMockDriverState *ms) {
mock_state = ms;
RingBufferInit(&ms->comm_state.uart_in_ringbuffer,
ms->comm_state.uart_in_data,
UART_MOCK_DRIVER_BUFFER_SIZE);
RingBufferInit(&ms->comm_state.uart_out_ringbuffer,
ms->comm_state.uart_out_data,
UART_MOCK_DRIVER_BUFFER_SIZE);
ms->int_handler = 0;
ms->int_flags = 0;
}
void SerialStartup()
{
RingBufferInit( SerialInputBuffer, BUFFER_SIZE, &SerialInputRing );
RingBufferInit( SerialOutputBuffer, BUFFER_SIZE, &SerialOutputRing );
ReadGenerationCount=0;
GenerationInit(&ReadGeneration, ReadGenerationCount);
HandlerInit(&ReadGenerationCritObject);
IsrRegisterHandler( SendBytesInterrupt, (void *) HAL_ISR_SERIAL_WRITE, IRQ_LEVEL_SERIAL_WRITE);
IsrRegisterHandler( GetBytesInterrupt, (void *) HAL_ISR_SERIAL_READ, IRQ_LEVEL_SERIAL_READ);
HalStartSerial();
}
/*
* Initializes a pipe
*/
void PipeInit( char * buff, COUNT size, struct PIPE * pipe )
{
SemaphoreInit( & pipe->Mutex, 1 );
SemaphoreInit( & pipe->ReaderLock, 0 ); //Buffer starts empty, to it is not readable. Semaphore starts locked
SemaphoreInit( & pipe->WriterLock, 1 );//Buffer starts empty, so it is writable. Semaphore started unlocked.
RingBufferInit( buff, size, & pipe->Ring );
}
/**
* \brief TmqhPacketpoolRegister
* \initonly
*/
void TmqhPacketpoolRegister (void) {
tmqh_table[TMQH_PACKETPOOL].name = "packetpool";
tmqh_table[TMQH_PACKETPOOL].InHandler = TmqhInputPacketpool;
tmqh_table[TMQH_PACKETPOOL].OutHandler = TmqhOutputPacketpool;
ringbuffer = RingBufferInit();
if (ringbuffer == NULL) {
SCLogError(SC_ERR_FATAL, "Error registering Packet pool handler (at ring buffer init)");
exit(EXIT_FAILURE);
}
}
/*
* Initializes a pipe
*/
void PipeInit( char * buff, COUNT size, struct PIPE * pipe, PIPE_READ * pr, PIPE_WRITE * pw )
{
SemaphoreInit( & pipe->Mutex, 1 );
SemaphoreInit( & pipe->EmptyLock, 0 ); //Buffer starts empty, block reads.
SemaphoreInit( & pipe->FullLock, 1 );//Buffer starts empty, allow writes.
SemaphoreInit( & pipe->ReadLock, 1 );
SemaphoreInit( & pipe->WriteLock, 1 );
RingBufferInit( buff, size, & pipe->Ring );
* pr = pipe;
* pw = pipe;
}
void CommunicationInit(CommunicationState *com) {
RingBufferInit(&com->uart_in_ringbuffer, com->uart_in_data,
COMMUNICATION_UART_IN_BUFF_SIZE);
BufferInit(&com->deframed_buffer, com->deframed_data,
COMMUNICATION_UART_IN_BUFF_SIZE);
RingBufferInit(&com->uart_out_ringbuffer, com->uart_out_data,
COMMUNICATION_UART_OUT_BUFF_SIZE);
_communicationState = com;
CommunicationIntRegisterHandler(CommunicationISR);
LogCString(LOG_LEVEL_DEBUG, "Initializing communication");
// Initialize UART peripheral
CommunicationHwInit();
// Enable UART read interrupts
CommunicationIntEnableRead();
LogCString(LOG_LEVEL_DEBUG, "Communication initialized");
}
void USART_Open(USART * serial, unsigned char port, unsigned char baud_rate, unsigned short tx_buf, unsigned short rx_buf, bool use_rs485) {
serial->ref = 0;
serial->CharacterReceived = 0;
serial->port_num = port;
serial->port = usart_ports[port];
serial->baud_rate = baud_rate;
serial->use_rs485 = use_rs485;
//if (port==1){
RingBufferInit(&serial->tx_buffer, tx_buf);
RingBufferInit(&serial->rx_buffer, rx_buf);
//}
USART_Table[port] = serial;
*(serial->port.GPIODDR) |= serial->port.tx_pin_bm;
*(serial->port.GPIODDR) &= ~(serial->port.rx_pin_bm);
if (use_rs485) {
*(serial->port.GPIODDR) |= serial->port.txen_pin_bm;
*(serial->port.GPIO) &= ~(serial->port.txen_pin_bm); // put RS485 transceiver in receive mode by default
}
cli();
*(serial->port.UBRRH) = (USART_BAUD_TABLE[baud_rate] >> 8);
*(serial->port.UBRRL) = USART_BAUD_TABLE[baud_rate] & 0xFF;
USART_Tx_Enable(serial->port);
USART_Rx_Enable(serial->port);
USART_RxdInterrupt_Enable(serial->port);
USART_UdeInterrupt_Enable(serial->port);
if (use_rs485) { // only enable the TXC interrupt if in RS485 mode, since it's only used to clear the TXEN line
USART_TxdInterrupt_Enable(serial->port);
//*(serial->port.GPIO) |= serial->port.txen_pin_bm;
}
sei();
}
/*********************************************************************//**
* @brief Client Field Initialize
* @param[in] None
* @return None
***********************************************************************/
void ClientParserStructInit(void)
{
// Reset from client ring buffer
RingBufferInit(&(client_parser.buffer));
// Initialize events
client_parser.event = OSMboxCreate(NULL);
// CMD Parse
client_parser.mode = CLIENT_CFG_MODE;
client_parser.data.current = CLIENT_RECV_HEADER_1;
client_parser.parser[CLIENT_CFG_MODE] = CfgParser;
client_parser.parser[CLIENT_OBD_MODE] = ObdParser;
client_parser.cfg[CLIENT_RECV_HEADER_1] = CfgParserHeader1;
client_parser.cfg[CLIENT_RECV_HEADER_2] = CfgParserHeader2;
client_parser.cfg[CLIENT_RECV_LENGTH_1] = CfgParserLength1;
client_parser.cfg[CLIENT_RECV_LENGTH_2] = CfgParserLength2;
client_parser.cfg[CLIENT_RECV_DATA] = CfgParserData;
client_parser.cfg[CLIENT_RECV_CHECKSUM] = CfgParserChecksum;
client_parser.exe[CLIENT_CFG_GET_VERSION] = CfgExeGetVersion;
client_parser.exe[CLIENT_CFG_OBD_MODE] = CfgExeOBDMode;
client_parser.exe[CLIENT_CFG_SET_HEART_BEAT] = CfgExeSetHeartBeat;
client_parser.exe[CLIENT_CFG_EXIT_OBD] = CfgExeExitOBD;
client_parser.version[0] = 'D';
client_parser.version[1] = 'A';
client_parser.version[2] = '-';
client_parser.version[3] = 'V';
client_parser.version[4] = '0';
client_parser.version[5] = '.';
client_parser.version[6] = '0';
client_parser.version[7] = '.';
client_parser.version[8] = '1';
client_parser.version[9] = '\0';
}
int main(void)
{
InitClock();
SerialInit();
RingBufferInit(&location_buffer, 4, locations);
PORTC.DIRSET = 0xF3;
PORTE.DIRSET = 0xFF;
PORTD.DIRSET = 0x33;
PORTB.DIRCLR = 0xFF; /* PortB all inputs */
/* Timers */
//x_axis.step_timer = &TCC1;
x_axis.pwm_timer = &TCC0;
/* Limit Switches */
x_axis.limit_switch_port = &PORTB;
x_axis.limit_switch_mask = (1<<0); /* PORTB.0 */
/* DIR ports (for inverting the stepper motor driver polarity) */
x_axis.sign_select_port = &PORTC;
x_axis.sign_switch_mask1 = 0x20; /* PORTC.5 */
x_axis.sign_switch_mask2 = 0x10; /* PORTC.4 */
/* PWM outputs: outputs will be 90 degrees out of phase */
x_axis.phase_pwm_cmp1 = &(TCC0.CCB);
x_axis.phase_pwm_cmp2 = &(TCC0.CCA);
x_axis.compare_mask = TC0_CCBEN_bm | TC0_CCAEN_bm;
/* Power Controls change the period: a longer period means longer off time and lower duty cycle */
//x_axis.axis_idle_power = 60;
x_axis.axis_run_power = 31;
/* The minimum period of the PWM update timer/counter */
/* Stepper motor tick period = 32 * min_period / 16000000 */
//x_axis.min_period = 15;
AxisInit (&x_axis);
//y_axis.step_timer = &TCD1;
y_axis.pwm_timer = &TCD0;
y_axis.limit_switch_port = &PORTB;
y_axis.limit_switch_mask = (1<<1); /* PORTB.1 */
y_axis.sign_select_port = &PORTD;
y_axis.sign_switch_mask1 = 0x20;
y_axis.sign_switch_mask2 = 0x10;
y_axis.phase_pwm_cmp1 = &(TCD0.CCB);
y_axis.phase_pwm_cmp2 = &(TCD0.CCA);
y_axis.compare_mask = TC0_CCBEN_bm | TC0_CCAEN_bm;
//y_axis.axis_idle_power = 60;
y_axis.axis_run_power = 31;
//y_axis.min_period = 15;
AxisInit (&y_axis);
//z_axis.step_timer = &TCE1;
z_axis.pwm_timer = &TCE0;
z_axis.limit_switch_port = &PORTB;
z_axis.limit_switch_mask = (1<<2); /* PORTB.2 */
z_axis.sign_select_port = &PORTE;
z_axis.sign_switch_mask1 = 0x20; /* PORTE.5 */
z_axis.sign_switch_mask2 = 0x10; /* PORTE.4 */
z_axis.phase_pwm_cmp1 = &(TCE0.CCD);
z_axis.phase_pwm_cmp2 = &(TCE0.CCC);
z_axis.compare_mask = TC0_CCDEN_bm | TC0_CCCEN_bm;
//z_axis.axis_idle_power = 60;
z_axis.axis_run_power = 31; /* 33 unique waveform values: 0 (ground) to 33 (3.3v) */
//z_axis.min_period = 15;
AxisInit (&z_axis);
PMIC.CTRL |= PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
// Fire up the timer for incrementing/decrementing steps
TC0_t * step_timer = &TCC1;
step_timer->CTRLB = TC_WGMODE_SS_gc;
/* Overflow every 1 ms: 16Mhz / (64 * 250) = 1ms */
step_timer->PER = 250;
step_timer->CTRLA = TC_CLKSEL_DIV64_gc;
step_timer->CTRLFSET = TC_CMD_RESTART_gc;
/* Enable the step overflow interrupt */
step_timer->INTCTRLA |= TC_OVFINTLVL_LO_gc;
// To Disable: axis->step_timer->INTCTRLA &= ~TC1_OVFINTLVL_gm;
char task = 0;
sei();
while(1)
{
//PORTE.OUTTGL = 0x02;
//_delay_ms (10);
//SerialData * s = SerialDataTransmitStruct();
//if (s != 0)
//{
// s->transmit_data[0] = 'a';
// s->transmit_data[1] = 'b';
// s->transmit_data[2] = 'c';
// SerialTransmit(s, 0x00, 3);
//}
SerialData * s = SerialDataAvailable();
if (s != 0)
{
switch (s->receive_data[0])
{
case 0x88: // Reset everything (all axis back to limit switches)
{
task = TASK_LIMIT_SWITCH_Y;
x_axis.state = 1;
y_axis.state = 1;
z_axis.state = 1;
s->transmit_data[0] = 0x88;
SerialTransmit (s, 0x00, 1); // Transmit to master device
break;
}
case 0x77: // Ping (and location/status information)
{
s->transmit_data[0] = 0x77;
// TODO: find a better way to do this
step_timer->INTCTRLA &= ~TC1_OVFINTLVL_gm; // Disable the step timer
int32_t x = AxisGetCurrentPosition(&x_axis);
int32_t y = AxisGetCurrentPosition(&y_axis);
int32_t z = AxisGetCurrentPosition(&z_axis);
step_timer->INTCTRLA |= TC_OVFINTLVL_LO_gc; // Enable the step timer
s->transmit_data[1] = x & 0xFF; x = x >> 8;
s->transmit_data[2] = x & 0xFF; x = x >> 8;
s->transmit_data[3] = x & 0xFF; x = x >> 8;
s->transmit_data[4] = x & 0xFF;
s->transmit_data[5] = y & 0xFF; y = y >> 8;
s->transmit_data[6] = y & 0xFF; y = y >> 8;
s->transmit_data[7] = y & 0xFF; y = y >> 8;
s->transmit_data[8] = y & 0xFF;
s->transmit_data[9] = z & 0xFF; z = z >> 8;
s->transmit_data[10] = z & 0xFF; z = z >> 8;
s->transmit_data[11] = z & 0xFF; z = z >> 8;
s->transmit_data[12] = z & 0xFF;
uint8_t status_bits = 0;
if (IsMoving (&x_axis))
{
status_bits |= 0x01;
}
if (IsMoving (&y_axis))
{
status_bits |= 0x02;
}
if (IsMoving (&z_axis))
{
status_bits |= 0x04;
}
s->transmit_data[13] = status_bits;
//step_timer->INTCTRLA &= ~TC1_OVFINTLVL_gm; // Disable the step timer
buffer_lock = 1;
s->transmit_data[14] = RingBufferCount(&location_buffer);
buffer_lock = 0;
//step_timer->INTCTRLA |= TC_OVFINTLVL_LO_gc; // Enable the step timer
//s->transmit_data[14] = location_buffer_size;
SerialTransmit (s, 0x00, 15); // Transmit to master device
break;
}
case 0x32: // Set Position + Speed
{
Location_t l;
/* Bytes 1:2 are time in milliseconds */
l.time = decode_uint16_t(&(s->receive_data[1]));
/* Bytes 3:14 are position */
l.x = decode_uint32_t(&(s->receive_data[3]));
l.y = decode_uint32_t(&(s->receive_data[7]));
l.z = decode_uint32_t(&(s->receive_data[11]));
// Add the new location to the buffer
//step_timer->INTCTRLA &= ~TC1_OVFINTLVL_gm; // Disable the step timer
buffer_lock = 1;
if (!RingBufferIsFull(&location_buffer))
{
RingBufferAdd(&location_buffer, l);
}
//if (location_buffer_size < 1)
//{
// nextLocation = l;
// location_buffer_size++;
//}
s->transmit_data[1] = RingBufferCount(&location_buffer);
buffer_lock = 0;
//step_timer->INTCTRLA |= TC_OVFINTLVL_LO_gc; // Enable the step timer
s->transmit_data[0] = 0x32;
//s->transmit_data[1] = location_buffer_size;
SerialTransmit(s, 0x00, 2);
break;
}
}
}
else if (task == TASK_LIMIT_SWITCH_Y)
{
uint8_t v = LimitSwitchHelper(&x_axis);
v &= LimitSwitchHelper(&y_axis);
v &= LimitSwitchHelper(&z_axis);
if (v)
{
task = 0;
}
}
}