long lSerialPutString( long lPort, const char * const pcString, unsigned long ulStringLength )
{
long lReturn;
unsigned long ul;
if( lPort < serNUM_COM_PORTS )
{
lReturn = pdPASS;
for( ul = 0; ul < ulStringLength; ul++ )
{
if( xQueueSend( xCharsForTx[ lPort ], &( pcString[ ul ] ), serPUT_STRING_CHAR_DELAY ) != pdPASS )
{
/* Cannot fit any more in the queue. Try turning the Tx on to
clear some space. */
usart_enable_tx_interrupt(xUSART[lPort]);
vTaskDelay( serPUT_STRING_CHAR_DELAY );
ul--;
/* Go back and try again. */
continue;
}
}
usart_enable_tx_interrupt(xUSART[lPort]);
}
else
{
lReturn = pdFAIL;
}
return lReturn;
}
void serial_rxint(void)
{
uint8_t data = usart_recv(USART2);;
uint32_t next_head;
// Pick off realtime command characters directly from the serial stream. These characters are
// not passed into the buffer, but these set system state flag bits for realtime execution.
switch (data) {
case CMD_STATUS_REPORT: bit_true_atomic(sys.rt_exec_state, EXEC_STATUS_REPORT); break; // Set as true
case CMD_CYCLE_START: bit_true_atomic(sys.rt_exec_state, EXEC_CYCLE_START); break; // Set as true
case CMD_FEED_HOLD: bit_true_atomic(sys.rt_exec_state, EXEC_FEED_HOLD); break; // Set as true
case CMD_SAFETY_DOOR: bit_true_atomic(sys.rt_exec_state, EXEC_SAFETY_DOOR); break; // Set as true
case CMD_RESET: mc_reset(); break; // Call motion control reset routine.
default: // Write character to buffer
next_head = serial_rx_buffer_head + 1;
if (next_head == RX_BUFFER_SIZE) { next_head = 0; }
// Write data to buffer unless it is full.
if (next_head != serial_rx_buffer_tail) {
serial_rx_buffer[serial_rx_buffer_head] = data;
serial_rx_buffer_head = next_head;
#ifdef ENABLE_XONXOFF
if ((serial_get_rx_buffer_count() >= RX_BUFFER_FULL) && flow_ctrl == XON_SENT) {
flow_ctrl = SEND_XOFF;
usart_enable_tx_interrupt(USART2);
}
#endif
}
//TODO: else alarm on overflow?
}
}
void usart2_isr(void)
{
static u8 data = 'A';
/* Check if we were called because of RXNE. */
if (((USART_CR1(USART2) & USART_CR1_RXNEIE) != 0) &&
((USART_SR(USART2) & USART_SR_RXNE) != 0)) {
/* Indicate that we got data. */
gpio_toggle(GPIOD, GPIO12);
/* Retrieve the data from the peripheral. */
data = usart_recv(USART2);
/* Enable transmit interrupt so it sends back the data. */
usart_enable_tx_interrupt(USART2);
}
/* Check if we were called because of TXE. */
if (((USART_CR1(USART2) & USART_CR1_TXEIE) != 0) &&
((USART_SR(USART2) & USART_SR_TXE) != 0)) {
/* Put data into the transmit register. */
usart_send(USART2, data);
/* Disable the TXE interrupt as we don't need it anymore. */
usart_disable_tx_interrupt(USART2);
}
}
/* ----------------------- Enable USART interrupts -----------------------------*/
void
vMBPortSerialEnable( BOOL xRxEnable, BOOL xTxEnable )
{
/* If xRXEnable enable serial receive interrupts. If xTxENable enable
* transmitter empty interrupts.
*/
if (xRxEnable)
{
txen = false;
usart_enable_rx_interrupt(MB_USART);
}
else
{
usart_disable_rx_interrupt(MB_USART);
}
if (xTxEnable)
{
txen = true;
gpio_set(MB_USART_TXEN_PORT, MB_USART_TXEN_PIN);
usart_enable_tx_interrupt(MB_USART);
}
else
{
txen = false;
usart_disable_tx_interrupt(MB_USART);
}
}
int main(void)
{
clock_setup();
gpio_setup();
usart_setup();
spi_setup();
buffer_init(send_buffer,BUFFER_SIZE);
buffer_init(receive_buffer,BUFFER_SIZE);
usart_enable_tx_interrupt(USART1);
/* Send a greeting message on USART1. */
usart_print_string("SD Card SPI Mode Test\r\n");
while (1)
{
/* Command interface */
if (buffer_input_available(receive_buffer))
{
char character = buffer_get(receive_buffer);
if (character == 0x0D)
{
line[characterPosition] = 0;
characterPosition = 0;
parseCommand(line);
}
else line[characterPosition++] = character;
}
}
return 0;
}
void Serial_stm32::flush(void)
{
usart_enable_tx_interrupt(config_.device);
// Wait until the transmit buffer is empty
while (!tx_buffer_.empty())
{
;
}
}
/*
* uart_putc
*
* This pushes a character into the transmit buffer for
* the channel and turns on TX interrupts (which will fire
* because initially the register will be empty.) If the
* ISR sends out the last character it turns off the transmit
* interrupt flag, so that it won't keep firing on an empty
* transmit buffer.
*/
void
uart_putc(int chan, char c) {
uint32_t usart = channel_to_uart_map[chan];
/* block if the transmit buffer is full */
while (((nxt_xmit_ndx[chan] + 1) % UART_BUF_SIZE) == cur_xmit_ndx[chan]) {
__asm__("NOP");
}
xmit_buf[chan][nxt_xmit_ndx[chan]] = c;
nxt_xmit_ndx[chan] = (nxt_xmit_ndx[chan] + 1) % UART_BUF_SIZE;
usart_enable_tx_interrupt(usart);
}
void tty_put(u8 ch)
{
#ifdef BUFFERED
//put char to the buffer
buffer_put(&u1tx, ch);
//enable Transmit Data Register empty interrupt
usart_enable_tx_interrupt(USART1);
#else
usart_send_blocking(USART1, ch);
#endif
}
static void prvUsartTask( void *pvParameters )
{
for( ;; )
{
uint16_t data = buffer_get(receive_buffer);
if (data == BUFFER_EMPTY) taskYIELD();
else
{
buffer_put(send_buffer, data);
usart_enable_tx_interrupt(USART1);
}
}
}
int uart_putchar(char c)
{
if( c == '\n')
uart_putchar('\r');
if(!queue_is_full(&uart_tx_buf)) {
queue_enqueue(&uart_tx_buf, &c);
} else {
return -ENOMEM;
}
usart_enable_tx_interrupt(USART1);
return 0;
}
unsigned char canSend(CAN_PORT notused, Message *m)
{
unsigned char i;
/* Send the message as raw bytes (note little-endianness of Cortex M3) */
buffer_put(send_buffer, (m->cob_id) & 0xFF);
buffer_put(send_buffer, (m->cob_id) >> 8);
buffer_put(send_buffer, (m->rtr));
buffer_put(send_buffer, (m->len));
for (i= 0; i < (m->len); i++)
buffer_put(send_buffer, m->data[i]);
/* Start sending by enabling the interrupt */
usart_enable_tx_interrupt(USART1);
return 1; // successful
}
unsigned int usart_putc(char c)
{
cm_disable_interrupts();
unsigned int next = (tx_head + 1) % sizeof(tx_buf);
if (waiting_tx_bytes() == sizeof(tx_buf)) {
cm_enable_interrupts();
return 0;
}
tx_buf[tx_head] = c;
tx_head = next;
cm_enable_interrupts();
usart_enable_tx_interrupt(USART1);
return 1;
}
signed long xSerialPutChar( long lPort, signed char cOutChar, portTickType xBlockTime )
{
long lReturn;
if( xQueueSend( xCharsForTx[ lPort ], &cOutChar, xBlockTime ) == pdPASS )
{
lReturn = pdPASS;
usart_enable_tx_interrupt(xUSART[lPort]);
}
else
{
lReturn = pdFAIL;
}
return lReturn;
}
int dbg_serial_write( unsigned char *d, unsigned short n )
{
int res = 0;
cm_disable_interrupts();
res = dbg_fifo_write( &usart_tx_buf, d, n );
if( res && !(USART_CR1(DBG_USART) & USART_CR1_TXEIE) )
{
if( dbg_fifo_read_byte( &usart_tx_buf, &usart_data ) )
{
while( !(USART_SR(DBG_USART) & USART_SR_TXE) );///пока буфер не пуст
usart_send(DBG_USART, usart_data);
usart_enable_tx_interrupt(DBG_USART);
}
}
cm_enable_interrupts();
return res;
}
void tty_puts(const char * string)
{
#ifdef BUFFERED
while(*string)
{
buffer_put(&u1tx, *string);
usart_enable_tx_interrupt(USART1);
string++;
}
#else
while(*string)
{
tty_put(*string);
string++;
}
#endif
}
// Writes one byte to the TX serial buffer. Called by main program.
// TODO: Check if we can speed this up for writing strings, rather than single bytes.
void serial_write(uint8_t data) {
// Calculate next head
uint32_t next_head = serial_tx_buffer_head + 1;
if (next_head == TX_BUFFER_SIZE) { next_head = 0; }
// Wait until there is space in the buffer
while (next_head == serial_tx_buffer_tail) {
// TODO: Restructure st_prep_buffer() calls to be executed here during a long print.
if (sys.rt_exec_state & EXEC_RESET) { return; } // Only check for abort to avoid an endless loop.
}
// Store data and advance head
serial_tx_buffer[serial_tx_buffer_head] = data;
serial_tx_buffer_head = next_head;
// Enable Data Register Empty Interrupt to make sure tx-streaming is running
usart_enable_tx_interrupt(USART2);
}
void Serial_stm32::irq_handler(void)
{
uint8_t data = 0;
// Check if we were called because of RXNE
if (((USART_CR1(config_.device) & USART_CR1_RXNEIE) != 0) &&
((USART_SR(config_.device) & USART_SR_RXNE) != 0))
{
// Retrieve the data from the peripheral
data = usart_recv(config_.device);
rx_buffer_.put_lossy(data);
// Enable transmit interrupt so it sends back the data
usart_enable_tx_interrupt(config_.device);
}
// Check if we were called because of TXE
if (((USART_CR1(config_.device) & USART_CR1_TXEIE) != 0) &&
((USART_SR(config_.device) & USART_SR_TXE) != 0))
{
if (tx_buffer_.readable() > 0)
{
// Get data from output buffer
tx_buffer_.get(data);
// Put data into the transmit register
usart_send(config_.device, data);
}
else
{
// Disable the TXE interrupt as we don't need it anymore
usart_disable_tx_interrupt(config_.device);
}
}
// Call callback function if attached
if (irq_callback != 0)
{
irq_callback(this);
}
}
void
usart_init(int usart, int irq, int baudrate, int over8) {
/* Setup USART parameters. */
nvic_disable_irq(irq);
usart_disable_rx_interrupt(usart);
usart_disable_tx_interrupt(usart);
usart_disable(usart);
USART_CR1(usart) |= over8; /* This doubles the listed baudrate. */
usart_set_baudrate(usart, baudrate);
usart_set_databits(usart, 8);
usart_set_stopbits(usart, USART_STOPBITS_1);
usart_set_mode(usart, USART_MODE_TX_RX);
usart_set_parity(usart, USART_PARITY_NONE);
usart_set_flow_control(usart, USART_FLOWCONTROL_NONE);
/* Finally enable the USART. */
usart_enable(usart);
usart_enable_rx_interrupt(usart);
usart_enable_tx_interrupt(usart);
nvic_enable_irq(irq);
}
bool Serial_stm32::write(const uint8_t* bytes, const uint32_t size)
{
bool ret = false;
// Queue byte
if (writeable() >= size)
{
for (uint32_t i = 0; i < size; ++i)
{
tx_buffer_.put(bytes[i]);
}
ret = true;
}
// Start transmission
if (tx_buffer_.readable() >= 1)
{
usart_enable_tx_interrupt(config_.device);
}
return ret;
}
void
Board_FY20AP::com_tx_start()
{
usart_enable_tx_interrupt(USART1);
}
static void enable_usart1_tx_interrupt(void)
{
usart_enable_tx_interrupt(USART1);
}
void commsPrintChar(char *ch)
{
usart_disable_tx_interrupt(USART2);
buffer_put(sendBuffer,*ch);
usart_enable_tx_interrupt(USART2);
}
int main(void)
{
float voltage;
uint8_t skytraq_packet_id = 0;
clock_setup();
gpio_setup();
usart_setup();
adc_setup();
delay_ms(100);
gps_tx_queue.enqueue(binary_rate);
usart_enable_tx_interrupt(USART2); // enable GPS TX interrupt
while (1) {
voltage = get_voltage();
if (voltage < 6.2) {
// char buf[100];
// sprintf(buf, "%f\r\n", voltage);
// for(int i = 0; i < strlen(buf); ++i){
// usart_send_blocking(USART1, buf[i]);
// }
usart_disable_tx_interrupt(USART2);
usart_disable_rx_interrupt(USART2);
gpio_clear(GPIOB, GPIO2 | GPIO12); // hold both GPS and XBEE in reset
usart_disable_tx_interrupt(USART3);
usart_disable_rx_interrupt(USART3);
while(1); // and spin
}
xbee_packet_t xbee_pkt;
if (!gps_rx_queue.isEmpty()) {
gps_packet_t gps_pkt = gps_rx_queue.dequeue();
if (gps_pkt.payload[0] == GPS_ACK
|| gps_pkt.payload[0] == GPS_NACK) { // ignore ACK and NACK
continue;
}
++skytraq_packet_id;
// length/max_length + 1 more if remainder is bigger than 0
uint8_t fragments_needed = (gps_pkt.length / MAX_FRAG_LENGTH)
+ (((gps_pkt.length % MAX_FRAG_LENGTH) > 0) ? 1 : 0);
xbee_build_header(xbee_pkt);
//xbee_set_dest_addr(xbee_pkt, 0x0013A20040AD1B15, 0xFFFE);
xbee_set_dest_addr(xbee_pkt, 0x000000000000FFFF, 0xFFFE);
uint8_t current_fragment = 1;
char* src_ptr = &(gps_pkt.payload[0]);
while (current_fragment <= fragments_needed) {
xbee_pkt.payload[INDEX_TYPE] = TYPE_SKYTRAQ;
xbee_pkt.payload[INDEX_ID] = skytraq_packet_id;
xbee_pkt.payload[INDEX_X] = current_fragment;
xbee_pkt.payload[INDEX_Y] = fragments_needed;
size_t bytes_to_copy = (
(current_fragment == fragments_needed) ?
(gps_pkt.length % MAX_FRAG_LENGTH) :
MAX_FRAG_LENGTH);
memcpy(&(xbee_pkt.payload[INDEX_SKYTRAQ_START]), src_ptr,
bytes_to_copy);
if (current_fragment == fragments_needed) {
xbee_pkt.length = INDEX_SKYTRAQ_START
+ (gps_pkt.length % MAX_FRAG_LENGTH) + 1;
} else {
xbee_pkt.length = INDEX_SKYTRAQ_START + MAX_FRAG_LENGTH + 1;
}
xbee_tx_queue.enqueue(xbee_pkt);
usart_enable_tx_interrupt(USART3); // enable XBEE TX interrupt
++current_fragment;
src_ptr += bytes_to_copy;
}
}
if (!xbee_rx_queue.isEmpty()) {
xbee_rx_queue.dequeue();
}
} // while(1)
return 0;
}
