car_hw: add gitignored usart lib for sonar driver

2016-08-22 10:25:18 +03:00
parent 89c9710423
commit 478337c4c5
5 changed files with 288 additions and 0 deletions
@@ -0,0 +1,9 @@
+LIB_USART_OBJ_PREFIX=libusart_
+
+$(LIB_USART_OBJ): \
+	    $(call dircs_to_prefxd_objs,$(LIB_USART_DIR),$(LIB_USART_OBJ_PREFIX))
+	    $(LD_ALL_DEPS)
+
+$(BIN_DIR)/$(LIB_USART_OBJ_PREFIX)%.o: $(LIB_USART_DIR)/%.c \
+	    $(call dirhs,$(LIB_USART_DIR))
+	    $(CC_ALL_DEPS)
@@ -0,0 +1,229 @@
+/*
+ * Reworker but not completely refactored lib from
+ * http://microtechnics.ru/biblioteka-dlya-raboty-s-usart-v-stm32/
+ */
+#include "usart.h"
+#include <stdbool.h>
+#include <stm32f4xx_rcc.h>
+#include <stm32f4xx_usart.h>
+
+// Variables for GPIO and USART configuration
+GPIO_InitTypeDef MT_USART_CfgGPIO;
+USART_InitTypeDef MT_USART_CfgUSART;
+
+typedef struct {
+    USART_TypeDef *usart;
+    // Ready to transmit and ready to receive flags
+    volatile bool MT_USART_ReadyToExchange;
+    // Number of bytes to send
+    uint8_t MT_USART_NumOfDataToSend;
+    // Number of bytes to receive
+    uint8_t MT_USART_NumOfDataToReceive;
+    // Pointer to the data that will be sent
+    uint8_t *MT_USART_SendDataPtr;
+    // Pointer to the buffer where received data will be saved
+    uint8_t *MT_USART_ReceivedDataPtr;
+    // Number of sended bytes
+    volatile uint8_t MT_USART_NumOfDataSended;
+    // Number of received bytes
+    volatile uint8_t MT_USART_NumOfDataReceived;
+} usart_state_t;
+
+static usart_state_t usart_states[3] = {
+    {
+        .usart = USART1,
+        .MT_USART_ReadyToExchange = true
+    },
+    {
+        .usart = USART2,
+        .MT_USART_ReadyToExchange = true
+    },
+    {
+        .usart = USART3,
+        .MT_USART_ReadyToExchange = true
+    }
+};
+
+static void usart1_init(void)
+{
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
+	
+	GPIO_StructInit(&MT_USART_CfgGPIO);
+	MT_USART_CfgGPIO.GPIO_Mode = GPIO_Mode_AF;
+	MT_USART_CfgGPIO.GPIO_Pin = GPIO_Pin_9;
+	MT_USART_CfgGPIO.GPIO_Speed = GPIO_Speed_50MHz;
+	MT_USART_CfgGPIO.GPIO_OType = GPIO_OType_PP;
+	MT_USART_CfgGPIO.GPIO_PuPd = GPIO_PuPd_UP;
+ 	GPIO_Init(GPIOA, &MT_USART_CfgGPIO);
+	
+	MT_USART_CfgGPIO.GPIO_Mode = GPIO_Mode_AF;
+	MT_USART_CfgGPIO.GPIO_Pin = GPIO_Pin_10;
+	MT_USART_CfgGPIO.GPIO_Speed = GPIO_Speed_50MHz;
+	MT_USART_CfgGPIO.GPIO_OType = GPIO_OType_PP;
+	MT_USART_CfgGPIO.GPIO_PuPd = GPIO_PuPd_UP;
+    GPIO_Init(GPIOA, &MT_USART_CfgGPIO);
+	
+	GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_USART1);
+	GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_USART1);
+	
+	USART_StructInit(&MT_USART_CfgUSART);
+	MT_USART_CfgUSART.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
+	MT_USART_CfgUSART.USART_BaudRate = MT_USART_BAUDRATE;
+	USART_Init(USART1, &MT_USART_CfgUSART);	
+	
+	//NVIC_EnableIRQ(USART1_IRQn);
+	USART_Cmd(USART1, ENABLE);
+}
+
+static void usart2_init(void)
+{
+    RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
+	
+	GPIO_StructInit(&MT_USART_CfgGPIO);
+	MT_USART_CfgGPIO.GPIO_Mode = GPIO_Mode_AF;
+	MT_USART_CfgGPIO.GPIO_Pin = GPIO_Pin_2;
+	MT_USART_CfgGPIO.GPIO_Speed = GPIO_Speed_50MHz;
+	MT_USART_CfgGPIO.GPIO_OType = GPIO_OType_PP;
+	MT_USART_CfgGPIO.GPIO_PuPd = GPIO_PuPd_UP;
+ 	GPIO_Init(GPIOA, &MT_USART_CfgGPIO);
+	
+	GPIO_StructInit(&MT_USART_CfgGPIO);
+	MT_USART_CfgGPIO.GPIO_Mode = GPIO_Mode_AF;
+	MT_USART_CfgGPIO.GPIO_Pin = GPIO_Pin_3;
+	MT_USART_CfgGPIO.GPIO_Speed = GPIO_Speed_50MHz;
+	MT_USART_CfgGPIO.GPIO_OType = GPIO_OType_PP;
+	MT_USART_CfgGPIO.GPIO_PuPd = GPIO_PuPd_UP;
+    GPIO_Init(GPIOA, &MT_USART_CfgGPIO);
+	
+	GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_USART2);
+	GPIO_PinAFConfig(GPIOA, GPIO_PinSource3, GPIO_AF_USART2);
+	
+	USART_StructInit(&MT_USART_CfgUSART);
+	MT_USART_CfgUSART.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
+	MT_USART_CfgUSART.USART_BaudRate = MT_USART_BAUDRATE;
+	USART_Init(USART2, &MT_USART_CfgUSART);	
+
+	//NVIC_EnableIRQ(USART2_IRQn);
+	USART_Cmd(USART2, ENABLE);
+
+}
+
+static void usart3_init(void)
+{
+    RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
+	
+	GPIO_StructInit(&MT_USART_CfgGPIO);
+	MT_USART_CfgGPIO.GPIO_Mode = GPIO_Mode_AF;
+	MT_USART_CfgGPIO.GPIO_Pin = GPIO_Pin_10;
+	MT_USART_CfgGPIO.GPIO_Speed = GPIO_Speed_50MHz;
+	MT_USART_CfgGPIO.GPIO_OType = GPIO_OType_PP;
+	MT_USART_CfgGPIO.GPIO_PuPd = GPIO_PuPd_UP;
+ 	GPIO_Init(GPIOC, &MT_USART_CfgGPIO);
+	
+	MT_USART_CfgGPIO.GPIO_Mode = GPIO_Mode_AF;
+	MT_USART_CfgGPIO.GPIO_Pin = GPIO_Pin_11;
+	MT_USART_CfgGPIO.GPIO_Speed = GPIO_Speed_50MHz;
+	MT_USART_CfgGPIO.GPIO_OType = GPIO_OType_PP;
+	MT_USART_CfgGPIO.GPIO_PuPd = GPIO_PuPd_UP;
+    GPIO_Init(GPIOC, &MT_USART_CfgGPIO);
+	
+	GPIO_PinAFConfig(GPIOC, GPIO_PinSource10, GPIO_AF_USART3);
+	GPIO_PinAFConfig(GPIOC, GPIO_PinSource11, GPIO_AF_USART3);
+	
+	USART_StructInit(&MT_USART_CfgUSART);
+	MT_USART_CfgUSART.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
+	MT_USART_CfgUSART.USART_BaudRate = MT_USART_BAUDRATE;
+	USART_Init(USART3, &MT_USART_CfgUSART);	
+	
+	//NVIC_EnableIRQ(USART3_IRQn);
+	USART_Cmd(USART3, ENABLE);
+}
+
+void usart_init(enum usart_id_t usart_id)
+{
+    switch(usart_id) {
+        case USART1_ID:
+            usart1_init();
+            break;
+        case USART2_ID:
+            usart2_init();
+            break;
+        case USART3_ID:
+            usart3_init();
+            break;
+    }
+}
+
+void usart_send_data(enum usart_id_t usart_id, uint8_t *data, size_t size)
+{
+    usart_state_t *usart = &usart_states[usart_id];
+    while (!usart->MT_USART_ReadyToExchange);
+
+    usart->MT_USART_SendDataPtr = data;
+	usart->MT_USART_NumOfDataToSend = size;
+	usart->MT_USART_NumOfDataSended = 0;
+	usart->MT_USART_ReadyToExchange = false;
+	//USART_ITConfig(usart->usart, USART_IT_TC, ENABLE);
+
+    while (usart->MT_USART_NumOfDataSended != size) {
+		USART_SendData(usart->usart, (uint8_t)*usart->MT_USART_SendDataPtr);
+        while (USART_GetFlagStatus(usart->usart, USART_FLAG_TC) == RESET);
+		usart->MT_USART_SendDataPtr++;
+		usart->MT_USART_NumOfDataSended++;
+    }
+	usart->MT_USART_ReadyToExchange = true;
+}
+
+void usart_rcv_data(enum usart_id_t usart_id, uint8_t *data, size_t size)
+{
+    usart_state_t *usart = &usart_states[usart_id];
+    while (!usart->MT_USART_ReadyToExchange);
+
+	usart->MT_USART_ReceivedDataPtr = data;
+	usart->MT_USART_NumOfDataToReceive = size;
+	usart->MT_USART_NumOfDataReceived = 0;
+	usart->MT_USART_ReadyToExchange = false;
+	//USART_ITConfig(usart->usart, USART_IT_RXNE, ENABLE);
+
+    while (usart->MT_USART_NumOfDataReceived != size) {
+        while (USART_GetFlagStatus(usart->usart, USART_FLAG_RXNE) == RESET);
+		*usart->MT_USART_ReceivedDataPtr = USART_ReceiveData(usart->usart);	
+		usart->MT_USART_ReceivedDataPtr++;
+		usart->MT_USART_NumOfDataReceived++;
+    }
+    usart->MT_USART_ReadyToExchange = true;
+}
+
+void USART_IRQHandler(enum usart_id_t usart_id)
+{
+    usart_state_t *usart = &usart_states[usart_id];
+
+    if (USART_GetITStatus(usart->usart, USART_IT_RXNE) != RESET)
+	{	
+		USART_ClearITPendingBit(usart->usart, USART_IT_RXNE);
+		*usart->MT_USART_ReceivedDataPtr = USART_ReceiveData(usart->usart);	
+		usart->MT_USART_ReceivedDataPtr++;
+		usart->MT_USART_NumOfDataReceived++;
+		if (usart->MT_USART_NumOfDataReceived == usart->MT_USART_NumOfDataToReceive)
+		{
+			USART_ITConfig(usart->usart, USART_IT_RXNE, DISABLE);
+			usart->MT_USART_ReadyToExchange = true;
+		}
+	}
+	
+	if (USART_GetITStatus(usart->usart, USART_IT_TC) != RESET)
+	{
+		USART_ClearITPendingBit(usart->usart, USART_IT_TC);
+		USART_SendData(usart->usart, (uint8_t)*usart->MT_USART_SendDataPtr);	
+		usart->MT_USART_SendDataPtr++;
+		usart->MT_USART_NumOfDataSended++;
+		if (usart->MT_USART_NumOfDataSended == usart->MT_USART_NumOfDataToSend)
+		{
+			USART_ITConfig(usart->usart, USART_IT_TC, DISABLE);
+			usart->MT_USART_ReadyToExchange = true;
+		}		
+	}
+}
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <stdint.h>
+#include <stddef.h>
+
+// Warning: USART1 doesn't pass uarts_test
+enum usart_id_t {
+    USART1_ID = 0, // PA9: TX, PA10: RX
+    USART2_ID = 1, // PA2: TX, PA3: RX
+    USART3_ID = 2, // PC10: TX, PC11: RX
+};
+
+void usart_init(enum usart_id_t usart_id);
+void usart_send_data(enum usart_id_t usart_id, uint8_t *data, size_t size);
+void usart_rcv_data(enum usart_id_t usart_id, uint8_t *data, size_t size);
+
+#define MT_USART_BAUDRATE 9600
@@ -0,0 +1,28 @@
+#include <car_time.h>
+#include <car_leds.h>
+
+#include <usart.h>
+#include <usart_test.h>
+// 2, 1 - ok
+// 2, 2 - ok
+// 3, 3 - ok
+// 2, 3 - ok
+// 3, 2 - ok
+void usart_test(enum usart_id_t src_usart_id, enum usart_id_t dst_usart_id)
+{
+    uint8_t byte_sent = 0;
+    uint8_t byte_rcvd = 0;
+    while (1) {
+        car_leds_clear_all();
+        car_time_wait(500);
+
+        usart_send_data(src_usart_id, &byte_sent, 1);
+        usart_rcv_data(dst_usart_id, &byte_rcvd, 1);
+        if (byte_rcvd == byte_sent)
+            car_led_set(CAR_LED_GREEN, true);
+        else
+            car_led_set(CAR_LED_RED, true);
+        ++byte_sent;
+        car_time_wait(500);
+    }
+}
@@ -0,0 +1,5 @@
+#pragma once
+
+#include "usart.h"
+
+void usart_test(enum usart_id_t src_usart_id, enum usart_id_t dst_usart_id);