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@@ -89,11 +89,18 @@ static void MX_USART1_UART_Init(void);
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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#define MAX_SYSTICK 0xFFFFFFFF
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-uint8_t data[BUFF_SIZE]; // tmp read buffer
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+
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+uint8_t rx_ring_buffer[BUFF_SIZE];
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uint8_t *dataUART; // pointee for rx_buffer
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-volatile uint8_t dataL;
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-volatile uint8_t dataI;
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+
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+// UART DMA related variables
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volatile uint32_t uart_timeout = MAX_SYSTICK;
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+volatile uint16_t rx_read_pos = 0; // DAM UART CIRCULAR - tail
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+volatile uint8_t msg_len = 0;
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+volatile uint8_t msg_idx = 0;
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+
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+ProtocolState state = STATE_WAIT_LEN;
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+
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#if MODULE == MODULE_IMU || MODULE == MODULE_DMP
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volatile uint8_t icm_data_ready = 0;
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@@ -111,13 +118,12 @@ inline void uart_send(uint8_t *data, int n)
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inline void uart_receive(uint8_t *dataNBUS, int n)
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{
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dataUART = dataNBUS;
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- dataL = 0;
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- dataI = 0;
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- data[0] = 0;
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+ rx_ring_buffer[0] = 0;
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uart_timeout = HAL_GetTick();
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- HAL_UARTEx_ReceiveToIdle_DMA(&huart1, data, n);
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+ HAL_UART_Receive_DMA(&huart1, rx_ring_buffer, n);
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}
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+
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inline void led_on(){
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HAL_GPIO_WritePin(LD3_GPIO_Port, LD3_Pin, GPIO_PIN_SET);
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}
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@@ -134,13 +140,73 @@ inline void app_delay(uint8_t ms){
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HAL_Delay(ms);
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}
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+
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+static uint8_t Parse_Protocol_Byte(uint8_t b) {
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+
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+ uint8_t packet_finished = 0;
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+ // Timeout reset logic
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+ if (state != STATE_WAIT_LEN) {
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+ if ((HAL_GetTick() - uart_timeout) > NBUS_UART_FRAME_TIMEOUT){
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+ state = STATE_WAIT_LEN;
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+ msg_len = 0;
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+ msg_idx = 0;
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+ }
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+ }
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+
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+ switch (state) {
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+ case STATE_WAIT_LEN:
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+ // Validácia dĺžky (max 128 bajtov, min 4 bajty)
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+ if (b > 3 && b < PAYLOAD_SIZE) {
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+ msg_len = b;
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+ msg_idx = 0;
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+ state = STATE_PAYLOAD;
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+ uart_timeout = HAL_GetTick(); // Reset timeoutu
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+ }
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+ break;
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+
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+
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+ case STATE_PAYLOAD:
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+ dataUART[msg_idx++] = b;
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+ uart_timeout = HAL_GetTick(); // Aktualizácia timeoutu pri každom bajte
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+
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+ if (msg_idx >= msg_len) { // Koniec paketu (podľa definície dĺžky)
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+ nbus_cb_UART_RX(msg_idx); // callback to nBus, notify message length
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+ state = STATE_WAIT_LEN;
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+ packet_finished = 1;
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+ }
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+ break;
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+ }
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+
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+ return packet_finished;
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+
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+
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+}
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+
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+static void Process_UART_RingBuffer(void) {
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+ // Zistíme, kde sa aktuálne nachádza DMA (Head)
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+ // CNDTR register obsahuje počet ZOSTÁVAJÚCICH bajtov do konca buffra
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+ uint16_t rx_dma_pos = BUFF_SIZE - __HAL_DMA_GET_COUNTER(huart1.hdmarx);
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+
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+ while (rx_read_pos != rx_dma_pos) {
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+ uint8_t byte = rx_ring_buffer[rx_read_pos];
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+ rx_read_pos++;
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+ if (rx_read_pos >= BUFF_SIZE) {
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+ rx_read_pos = 0;
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+ }
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+
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+ if( Parse_Protocol_Byte(byte) != 0){
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+ return;
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+ }
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+ }
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+}
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+
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static inline uint8_t loop_callback(nBusStateCallbackType_t state_check) {
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-// traba kontrolovat kazdu stav (state_check) zvmlast. Moznost doplnit dalsie kontroly
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+// treba kontrolovat kazdy stav (state_check) zvlast. Moznost doplnit dalsie kontroly
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if (state_check == CallbackType_SENSOR) {
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#if MODULE == MODULE_IMU || MODULE == MODULE_DMP
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if(icm_data_ready == 1){
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icm_data_ready = 0;
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- return 1; // interrupt from external sensor: data ready
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+ return 0; // TODO!!!!!! TEMPORARY DISABLED STATE. interrupt from external sensor: data ready
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}
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#endif
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@@ -148,57 +214,23 @@ static inline uint8_t loop_callback(nBusStateCallbackType_t state_check) {
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}
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if (state_check == CallbackType_UART) {
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- // timemout: 1 - 2 ms
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- if(HAL_GetTick() - 1 > uart_timeout) {
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- dataL = 0;
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- dataI = 0;
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- data[0] = 0;
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- uart_timeout = MAX_SYSTICK;
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-// led_off();
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- HAL_UARTEx_ReceiveToIdle_DMA(&huart1, data, BUFF_SIZE);
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- return 1; // UART receive timeout
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- }
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- return 0;
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+ Process_UART_RingBuffer();
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}
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return 0;
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}
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// Application callbacks
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-void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
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- HAL_UARTEx_ReceiveToIdle_DMA(huart, data, BUFF_SIZE);
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- uint8_t copy_offset = 0;
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- if (dataL == 0) {
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- uart_timeout = HAL_GetTick();
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- dataL = data[0];
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- dataI = 0;
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- if (Size == 1) {
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- return;
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- }
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-
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- Size--;
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- copy_offset = 1;
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- }
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-
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- memcpy(&dataUART[dataI], &data[copy_offset], Size);
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-
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- dataI += Size;
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- if(dataI >= dataL){
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- nbus_cb_UART_RX(dataI);
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- dataL=0;
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- dataI=0;
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- data[0]=0;
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- uart_timeout = MAX_SYSTICK;
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- }
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-}
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-
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void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart){
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- HAL_UARTEx_ReceiveToIdle_DMA(huart, data, BUFF_SIZE);
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+ uart_timeout = MAX_SYSTICK;
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+ HAL_UART_Receive_DMA(huart, rx_ring_buffer, BUFF_SIZE);
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}
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void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
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#if MODULE == MODULE_IMU || MODULE == MODULE_DMP
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- icm_data_ready = 1;
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+ if (GPIO_Pin == SPI_INT_Pin) {
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+ icm_data_ready = 1;
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+ }
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#endif
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}
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@@ -239,8 +271,6 @@ int main(void)
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MX_SPI1_Init();
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MX_USART1_UART_Init();
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/* USER CODE BEGIN 2 */
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- dataI=0;
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- dataL=0;
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#ifdef MODULE_INIT_IP_ADC
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MX_ADC_Init();
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@@ -275,7 +305,6 @@ int main(void)
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#endif
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#if MODULE == MODULE_DMP
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-
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nbus_init(getImuDriver(), &hw_platform);
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nbus_init_app(NULL, NULL);
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#endif
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@@ -300,9 +329,10 @@ int main(void)
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config.mag.mode = mag_mode_power_down;
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nbus_init(getImuDriver(), &hw_platform);
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- nbus_init_app(&hspi1, &config);
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+ nbus_init_app(NULL, NULL);
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#endif
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+
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nBus_MemoryDriver memory_ec20 = {
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DS28EC20_init,
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DS28EC20_readData4B,
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