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car_hw: add gitignored usart lib for sonar driver

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This commit is contained in:
Eugene Batalov
2016-08-22 10:25:18 +03:00
parent 89c9710423
commit 478337c4c5
5 changed files with 288 additions and 0 deletions
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car_hw/src/lib/usart/Makefile
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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)
car_hw/src/lib/usart/usart.c
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/*
* 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;
}
}
}
car_hw/src/lib/usart/usart.h
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#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
car_hw/src/lib/usart/usart_test.c
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#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);
}
}
car_hw/src/lib/usart/usart_test.h
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#pragma once
#include "usart.h"
void usart_test(enum usart_id_t src_usart_id, enum usart_id_t dst_usart_id);