503 lines
14 KiB
C
503 lines
14 KiB
C
#include "main.h"
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#include "usb_device.h"
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#include <stdbool.h>
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#define MODE_INACTIVE 0
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#define MODE_MASTER 1
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#define MODE_MODULE 2
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#define DMA_BUFFER_SIZE 16
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#define MODULE_HANDSHAKE_REQUEST 0x000F0000
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typedef struct{
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uint8_t data[4];
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} Packet;
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typedef struct {
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Packet buffer[DMA_BUFFER_SIZE];
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volatile uint16_t head;
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volatile uint16_t tail;
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} DMA_QUEUE;
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DMA_QUEUE RxQueue;
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I2C_HandleTypeDef hi2c1;
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TIM_HandleTypeDef htim3;
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UART_HandleTypeDef huart4;
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UART_HandleTypeDef huart5;
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UART_HandleTypeDef huart1;
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UART_HandleTypeDef huart2;
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UART_HandleTypeDef* UART_PORTS[] = { &huart4, &huart5, &huart1, &huart2 };
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UART_HandleTypeDef* PARENT;
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DMA_HandleTypeDef hdma_uart4_rx;
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DMA_HandleTypeDef hdma_uart5_rx;
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DMA_HandleTypeDef hdma_usart1_rx;
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DMA_HandleTypeDef hdma_usart2_rx;
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uint8_t CURRENT_MODE;
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void SystemClock_Config(void);
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static void MX_GPIO_Init(void);
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static void MX_DMA_Init(void);
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static void MX_I2C1_Init(void);
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static void MX_TIM3_Init(void);
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static void MX_UART4_Init(void);
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static void MX_UART5_Init(void);
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static void MX_USART1_UART_Init(void);
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static void MX_USART2_UART_Init(void);
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void DMA_Queue_Init(DMA_QUEUE* q);
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int main(void)
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{
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* Configure the system clock */
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SystemClock_Config();
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_I2C1_Init();
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MX_TIM3_Init();
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MX_UART4_Init();
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MX_UART5_Init();
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MX_USART1_UART_Init();
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MX_USART2_UART_Init();
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MX_USB_DEVICE_Init();
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CURRENT_MODE = MODE_INACTIVE;
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while (1)
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{
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switch(CURRENT_MODE){
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case MODE_INACTIVE:
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uint8_t candidates_depth[] = {0xFF, 0xFF, 0xFF, 0xFF};
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//Poll all UART Ports
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for(uint8_t i = 0; i<4; i++){
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uint8_t rxBuffer[4] = {0};
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HAL_UART_Transmit(UART_PORTS[i], MODULE_HANDSHAKE_REQUEST, 4, HAL_MAX_DELAY);
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if (HAL_UART_Receive(UART_PORTS[i], rxBuffer, 4, 500) == HAL_OK) {
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//Is a type of confirmation message
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if(rxBuffer[1] == 0xFF){
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candidates_depth[i] = rxBuffer[0];
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}else{
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candidates_depth[i] = 0xFF;
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}
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} else {
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// Timeout or error
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candidates_depth[i] = 0xFF;
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}
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}
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// Arbitration: 0xFF means invalid
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uint8_t min = 0xFF; // start with invalid value
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uint8_t best_parent = 0xFF; // invalid index by default
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for(uint8_t i = 0; i < 4; i++){
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if(candidates_depth[i] != 0xFF && candidates_depth[i] < min){
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min = candidates_depth[i];
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best_parent = i;
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}
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}
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if(best_parent != 0xFF){ // found a valid parent
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PARENT = UART_PORTS[best_parent]; // assign UART handle pointer
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DMA_Queue_Init(&RxQueue);
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CURRENT_MODE = MODE_MODULE;
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}
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break;
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case MODE_MODULE:
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break;
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case MODE_MASTER:
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break;
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}
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}
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}
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void DMA_Queue_Init(DMA_QUEUE* q){
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q->head = 0;
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q->tail = 0;
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//Activate DMA to all ports
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for(uint8_t i = 0; i<4; i++){
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HAL_UART_Receive_DMA(&UART_PORTS[i], RxQueue.buffer, 4);
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}
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}
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bool DMA_Queue_IsFull(DMA_QUEUE* q){
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return ((q->head + 1)%DMA_BUFFER_SIZE) == q->tail;
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}
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bool DMA_Queue_IsEmpty(DMA_QUEUE* q){
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return (q->head == q->tail);
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}
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bool DMA_Queue_Push(DMA_QUEUE* q, Packet* data) {
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if (DMA_Queue_IsFull(q)) {
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return false;
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}
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q->buffer[q->head] = *data;
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q->head = (q->head + 1) % DMA_BUFFER_SIZE;
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return true;
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}
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bool PacketQueue_Pop(DMA_QUEUE* q, Packet* pkt) {
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if (DMA_Queue_IsEmpty(q)) {
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return false;
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}
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*pkt = q->buffer[q->tail];
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q->tail = (q->tail + 1) % DMA_BUFFER_SIZE;
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return true;
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}
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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__HAL_RCC_PWR_CLK_ENABLE();
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 4;
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RCC_OscInitStruct.PLL.PLLN = 72;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = 3;
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RCC_OscInitStruct.PLL.PLLR = 2;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
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{
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Error_Handler();
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}
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}
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//For I2C Devices
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static void MX_I2C1_Init(void)
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{
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/* USER CODE BEGIN I2C1_Init 0 */
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/* USER CODE END I2C1_Init 0 */
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/* USER CODE BEGIN I2C1_Init 1 */
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/* USER CODE END I2C1_Init 1 */
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hi2c1.Instance = I2C1;
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hi2c1.Init.ClockSpeed = 100000;
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hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
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hi2c1.Init.OwnAddress1 = 0;
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hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
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hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
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hi2c1.Init.OwnAddress2 = 0;
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hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
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hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
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if (HAL_I2C_Init(&hi2c1) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN I2C1_Init 2 */
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/* USER CODE END I2C1_Init 2 */
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}
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//Rotary Encoder
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static void MX_TIM3_Init(void)
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{
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/* USER CODE BEGIN TIM3_Init 0 */
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/* USER CODE END TIM3_Init 0 */
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TIM_Encoder_InitTypeDef sConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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/* USER CODE BEGIN TIM3_Init 1 */
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/* USER CODE END TIM3_Init 1 */
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htim3.Instance = TIM3;
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htim3.Init.Prescaler = 0;
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htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim3.Init.Period = 65535;
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htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
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sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
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sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
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sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
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sConfig.IC1Filter = 0;
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sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
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sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
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sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
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sConfig.IC2Filter = 0;
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if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN TIM3_Init 2 */
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/* USER CODE END TIM3_Init 2 */
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}
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static void MX_UART4_Init(void)
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{
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/* USER CODE BEGIN UART4_Init 0 */
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/* USER CODE END UART4_Init 0 */
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/* USER CODE BEGIN UART4_Init 1 */
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/* USER CODE END UART4_Init 1 */
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huart4.Instance = UART4;
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huart4.Init.BaudRate = 115200;
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huart4.Init.WordLength = UART_WORDLENGTH_8B;
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huart4.Init.StopBits = UART_STOPBITS_1;
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huart4.Init.Parity = UART_PARITY_NONE;
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huart4.Init.Mode = UART_MODE_TX_RX;
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huart4.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart4.Init.OverSampling = UART_OVERSAMPLING_16;
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if (HAL_UART_Init(&huart4) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN UART4_Init 2 */
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/* USER CODE END UART4_Init 2 */
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}
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static void MX_UART5_Init(void)
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{
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/* USER CODE BEGIN UART5_Init 0 */
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/* USER CODE END UART5_Init 0 */
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/* USER CODE BEGIN UART5_Init 1 */
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/* USER CODE END UART5_Init 1 */
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huart5.Instance = UART5;
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huart5.Init.BaudRate = 115200;
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huart5.Init.WordLength = UART_WORDLENGTH_8B;
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huart5.Init.StopBits = UART_STOPBITS_1;
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huart5.Init.Parity = UART_PARITY_NONE;
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huart5.Init.Mode = UART_MODE_TX_RX;
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huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart5.Init.OverSampling = UART_OVERSAMPLING_16;
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if (HAL_UART_Init(&huart5) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN UART5_Init 2 */
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/* USER CODE END UART5_Init 2 */
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}
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static void MX_USART1_UART_Init(void)
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{
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/* USER CODE BEGIN USART1_Init 0 */
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/* USER CODE END USART1_Init 0 */
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/* USER CODE BEGIN USART1_Init 1 */
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/* USER CODE END USART1_Init 1 */
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huart1.Instance = USART1;
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huart1.Init.BaudRate = 115200;
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huart1.Init.WordLength = UART_WORDLENGTH_8B;
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huart1.Init.StopBits = UART_STOPBITS_1;
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huart1.Init.Parity = UART_PARITY_NONE;
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huart1.Init.Mode = UART_MODE_TX_RX;
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huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart1.Init.OverSampling = UART_OVERSAMPLING_16;
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if (HAL_UART_Init(&huart1) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN USART1_Init 2 */
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/* USER CODE END USART1_Init 2 */
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}
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static void MX_USART2_UART_Init(void)
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{
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/* USER CODE BEGIN USART2_Init 0 */
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/* USER CODE END USART2_Init 0 */
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/* USER CODE BEGIN USART2_Init 1 */
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/* USER CODE END USART2_Init 1 */
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huart2.Instance = USART2;
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huart2.Init.BaudRate = 115200;
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huart2.Init.WordLength = UART_WORDLENGTH_8B;
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huart2.Init.StopBits = UART_STOPBITS_1;
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huart2.Init.Parity = UART_PARITY_NONE;
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huart2.Init.Mode = UART_MODE_TX_RX;
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huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart2.Init.OverSampling = UART_OVERSAMPLING_16;
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if (HAL_UART_Init(&huart2) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN USART2_Init 2 */
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/* USER CODE END USART2_Init 2 */
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}
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static void MX_DMA_Init(void)
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{
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/* DMA controller clock enable */
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__HAL_RCC_DMA1_CLK_ENABLE();
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__HAL_RCC_DMA2_CLK_ENABLE();
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/* DMA interrupt init */
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/* DMA1_Stream0_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
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/* DMA1_Stream2_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);
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/* DMA1_Stream5_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
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/* DMA2_Stream2_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
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}
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static void MX_GPIO_Init(void)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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/* USER CODE BEGIN MX_GPIO_Init_1 */
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/* USER CODE END MX_GPIO_Init_1 */
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/* GPIO Ports Clock Enable */
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__HAL_RCC_GPIOH_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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__HAL_RCC_GPIOD_CLK_ENABLE();
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOC, GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9, GPIO_PIN_RESET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOB, GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);
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/*Configure GPIO pins : PC4 PC5 */
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GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_PULLDOWN;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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/*Configure GPIO pins : PB0 PB1 PB2 PB10 */
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GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_PULLDOWN;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/*Configure GPIO pins : PC7 PC8 PC9 */
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GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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/*Configure GPIO pin : PA8 */
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GPIO_InitStruct.Pin = GPIO_PIN_8;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/*Configure GPIO pins : PB4 PB5 PB6 PB7 */
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GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/* USER CODE BEGIN MX_GPIO_Init_2 */
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/* USER CODE END MX_GPIO_Init_2 */
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}
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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|
* @retval None
|
|
*/
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|
void assert_failed(uint8_t *file, uint32_t line)
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|
{
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|
/* USER CODE BEGIN 6 */
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|
/* User can add his own implementation to report the file name and line number,
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|
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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|
/* USER CODE END 6 */
|
|
}
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|
#endif /* USE_FULL_ASSERT */
|