deleted

comm_uart.cpp

-/*
-	Copyright 2015 Benjamin Vedder	benjamin@vedder.se
-
-	This program is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-    */
-
-/*
- * comm_uart.c
- *
- *  Created on: 17 aug 2015
- *      Author: benjamin
- */
-
-#include "comm_uart.h"
-#include "ch.h"
-#include "hal.h"
-#include "bldc_interface_uart.h"
-
-#include <string.h>
-
-// Settings
-#define UART_BAUDRATE			115200
-#define UART_DEV				UARTD3
-#define UART_GPIO_AF			7
-#define UART_TX_PORT			GPIOB
-#define UART_TX_PIN				10
-#define UART_RX_PORT			GPIOB
-#define UART_RX_PIN				11
-#define SERIAL_RX_BUFFER_SIZE	1024
-
-// Private functions
-static void send_packet(unsigned char *data, unsigned int len);
-
-// Threads
-static THD_FUNCTION(timer_thread, arg);
-static THD_WORKING_AREA(timer_thread_wa, 512);
-static THD_FUNCTION(packet_process_thread, arg);
-static THD_WORKING_AREA(packet_process_thread_wa, 4096);
-static thread_t *process_tp;
-
-// Variables
-static uint8_t serial_rx_buffer[SERIAL_RX_BUFFER_SIZE];
-static int serial_rx_read_pos = 0;
-static int serial_rx_write_pos = 0;
-
-/*
- * This callback is invoked when a transmission buffer has been completely
- * read by the driver.
- */
-static void txend1(UARTDriver *uartp) {
-	(void)uartp;
-}
-
-/*
- * This callback is invoked when a transmission has physically completed.
- */
-static void txend2(UARTDriver *uartp) {
-	(void)uartp;
-}
-
-/*
- * This callback is invoked on a receive error, the errors mask is passed
- * as parameter.
- */
-static void rxerr(UARTDriver *uartp, uartflags_t e) {
-	(void)uartp;
-	(void)e;
-}
-
-/*
- * This callback is invoked when a character is received but the application
- * was not ready to receive it, the character is passed as parameter.
- */
-static void rxchar(UARTDriver *uartp, uint16_t c) {
-	(void)uartp;
-
-	/*
-	 * Put the character in a buffer and notify a thread that there is data
-	 * available. An alternative way is to use
-	 *
-	 * packet_process_byte(c);
-	 *
-	 * here directly and skip the thread. However, this could drop bytes if
-	 * processing packets takes a long time.
-	 */
-
-	serial_rx_buffer[serial_rx_write_pos++] = c;
-
-	if (serial_rx_write_pos == SERIAL_RX_BUFFER_SIZE) {
-		serial_rx_write_pos = 0;
-	}
-
-	chEvtSignalI(process_tp, (eventmask_t) 1);
-}
-
-/*
- * This callback is invoked when a receive buffer has been completely written.
- */
-static void rxend(UARTDriver *uartp) {
-	(void)uartp;
-}
-
-/*
- * UART driver configuration structure.
- */
-static UARTConfig uart_cfg = {
-		txend1,
-		txend2,
-		rxend,
-		rxchar,
-		rxerr,
-		UART_BAUDRATE,
-		0,
-		USART_CR2_LINEN,
-		0
-};
-
-static THD_FUNCTION(packet_process_thread, arg) {
-	(void)arg;
-
-	chRegSetThreadName("comm_uart");
-
-	process_tp = chThdGetSelfX();
-
-	for(;;) {
-		chEvtWaitAny((eventmask_t) 1);
-
-		/*
-		 * Wait for data to become available and process it as long as there is data.
-		 */
-
-		while (serial_rx_read_pos != serial_rx_write_pos) {
-			bldc_interface_uart_process_byte(serial_rx_buffer[serial_rx_read_pos++]);
-
-			if (serial_rx_read_pos == SERIAL_RX_BUFFER_SIZE) {
-				serial_rx_read_pos = 0;
-			}
-		}
-	}
-}
-
-/**
- * Callback that the packet handler uses to send an assembled packet.
- *
- * @param data
- * Data array pointer
- * @param len
- * Data array length
- */
-static void send_packet(unsigned char *data, unsigned int len) {
-	if (len > (PACKET_MAX_PL_LEN + 5)) {
-		return;
-	}
-
-	// Wait for the previous transmission to finish.
-	while (UART_DEV.txstate == UART_TX_ACTIVE) {
-		chThdSleep(1);
-	}
-
-	// Copy this data to a new buffer in case the provided one is re-used
-	// after this function returns.
-	static uint8_t buffer[PACKET_MAX_PL_LEN + 5];
-	memcpy(buffer, data, len);
-
-	// Send the data over UART
-	uartStartSend(&UART_DEV, len, buffer);
-}
-
-/**
- * This thread is only for calling the timer function once
- * per millisecond. Can also be implementer using interrupts
- * if no RTOS is available.
- */
-static THD_FUNCTION(timer_thread, arg) {
-	(void)arg;
-	chRegSetThreadName("packet timer");
-
-	for(;;) {
-		bldc_interface_uart_run_timer();
-		chThdSleepMilliseconds(1);
-	}
-}
-
-void comm_uart_init(void) {
-	// Initialize UART
-	uartStart(&UART_DEV, &uart_cfg);
-	palSetPadMode(UART_TX_PORT, UART_TX_PIN, PAL_MODE_ALTERNATE(UART_GPIO_AF) |
-			PAL_STM32_OSPEED_HIGHEST |
-			PAL_STM32_PUDR_PULLUP);
-	palSetPadMode(UART_RX_PORT, UART_RX_PIN, PAL_MODE_ALTERNATE(UART_GPIO_AF) |
-			PAL_STM32_OSPEED_HIGHEST |
-			PAL_STM32_PUDR_PULLUP);
-
-	// Initialize the bldc interface and provide a send function
-	bldc_interface_uart_init(send_packet);
-
-	// Start processing thread
-	chThdCreateStatic(packet_process_thread_wa, sizeof(packet_process_thread_wa),
-			NORMALPRIO, packet_process_thread, NULL);
-
-	// Start timer thread
-	chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa),
-			NORMALPRIO, timer_thread, NULL);
-}

comm_uart.h

-/*
- * comm_uart.h
- *
- *  Created on: 17 aug 2015
- *      Author: benjamin
- */
-
-#ifndef COMM_UART_H_
-#define COMM_UART_H_
-
-// Functions
-void comm_uart_init(void);
-
-#endif /* COMM_UART_H_ */