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documentation and inactive mode code

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This commit is contained in:
Oliver "Kim" Avecilla Cabral
2025-08-24 19:09:53 -07:00
parent 45f5553763
commit 25a5afe219
5 changed files with 215 additions and 30 deletions
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55
firmware/core/Core/Src/main.c
View File

@@ -7,6 +7,8 @@
#define MODE_MODULE 2
#define DMA_BUFFER_SIZE 16
#define MODULE_HANDSHAKE_REQUEST 0x000F0000
typedef struct{
uint8_t data[4];
} Packet;
@@ -26,6 +28,8 @@ UART_HandleTypeDef huart4;
UART_HandleTypeDef huart5;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
UART_HandleTypeDef* UART_PORTS[] = { &huart4, &huart5, &huart1, &huart2 };
UART_HandleTypeDef* PARENT;
DMA_HandleTypeDef hdma_uart4_rx;
DMA_HandleTypeDef hdma_uart5_rx;
DMA_HandleTypeDef hdma_usart1_rx;
@@ -70,13 +74,64 @@ int main(void)
while (1)
{
switch(CURRENT_MODE){
case MODE_INACTIVE:
uint8_t candidates_depth[] = {0xFF, 0xFF, 0xFF, 0xFF};
//Poll all UART Ports
for(uint8_t i = 0; i<4; i++){
uint8_t rxBuffer[4] = {0};
HAL_UART_Transmit(UART_PORTS[i], MODULE_HANDSHAKE_REQUEST, 4, HAL_MAX_DELAY);
if (HAL_UART_Receive(UART_PORTS[i], rxBuffer, 4, 500) == HAL_OK) {
//Is a type of confirmation message
if(rxBuffer[1] == 0xFF){
candidates_depth[i] = rxBuffer[0];
}else{
candidates_depth[i] = 0xFF;
}
} else {
// Timeout or error
candidates_depth[i] = 0xFF;
}
}
// Arbitration: 0xFF means invalid
uint8_t min = 0xFF; // start with invalid value
uint8_t best_parent = 0xFF; // invalid index by default
for(uint8_t i = 0; i < 4; i++){
if(candidates_depth[i] != 0xFF && candidates_depth[i] < min){
min = candidates_depth[i];
best_parent = i;
}
}
if(best_parent != 0xFF){ // found a valid parent
PARENT = UART_PORTS[best_parent]; // assign UART handle pointer
DMA_Queue_Init(&RxQueue);
CURRENT_MODE = MODE_MODULE;
}
break;
case MODE_MODULE:
break;
case MODE_MASTER:
break;
}
}
}
void DMA_Queue_Init(DMA_QUEUE* q){
q->head = 0;
q->tail = 0;
//Activate DMA to all ports
for(uint8_t i = 0; i<4; i++){
HAL_UART_Receive_DMA(&UART_PORTS[i], RxQueue.buffer, 4);
}
}
bool DMA_Queue_IsFull(DMA_QUEUE* q){

0
firmware/core/build/Debug/.cmake/api/v1/reply/index-2025-08-24T22-46-03-0622.json → firmware/core/build/Debug/.cmake/api/v1/reply/index-2025-08-25T00-55-58-0523.json
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BIN
firmware/core/build/Debug/.ninja_deps
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58
firmware/core/build/Debug/.ninja_log
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