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Motor-Controller
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fixed issue with receiving data. the interrupt overhead was too high so i switch to an interrupt/polling hybrid. idk how im going to do the queue but i have the library finished

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stable
Penguin 3 years ago
parent 4bc852b44a
commit 9f0877c746
11 changed files with 9204 additions and 1247 deletions
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318
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@ -1,150 +1,3 @@
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b p_serial_mgr.c:43 if rxc == 0x7D
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b p_serial_mgr.c:44
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b p_serial_mgr.c:44 if rxc == 0x7D
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b p_serial_mgr.c:44 if rxc == 0x7D
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b p_serial_mgr.c:44 if (rxc == 0x7D)
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p serial_pkt_cb.buffer[2]
p serial_pkt_cb.buffer[3]
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b p_serial_mgr_service if serial_pkt_cb.buffer[0].frame_data[0] != 0
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50
Core/Src/main.c
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@ -133,8 +133,22 @@ int main(void)
/* Infinite loop */ /* Infinite loop */
/* USER CODE BEGIN WHILE */ /* USER CODE BEGIN WHILE */
uint8_t rxb[256] = {0};
while (1) while (1)
{ {
if (p_serial_mgr_service())
{
volatile HAL_StatusTypeDef ret;
ret = HAL_UART_Receive(&huart1, rxb, 256, 5);
for (int ind = 0; ind < 20; ind++)
{
p_uart_async_write_byte(rxb[ind]);
}
PDEBUG("\n\n\n\n");
memset(rxb, 0, 256);
p_serial_mgr_start();
}
// if (b_timer_struck) // if (b_timer_struck)
// { // {
// // PDEBUG("%d\n", sys_time); // // PDEBUG("%d\n", sys_time);
@ -142,24 +156,24 @@ int main(void)
// motor_degrees = (motor_degrees + 1) % 360; // motor_degrees = (motor_degrees + 1) % 360;
// mc_service(motor_degrees, 50); // mc_service(motor_degrees, 50);
// } // }
serial_pkt_t *pkt = NULL; // serial_pkt_t *pkt = NULL;
if ((pkt = p_serial_mgr_service()) != NULL) // if ((pkt = p_serial_mgr_service()) != NULL)
{ // {
PDEBUG("Source: %02x\n" // PDEBUG("Source: %02x\n"
"Destination: %02x\n", // "Destination: %02x\n",
pkt->src_addr, pkt->dest_addr); // pkt->src_addr, pkt->dest_addr);
PDEBUG("Frame Data: \n"); // PDEBUG("Frame Data: \n");
for (int ind = 0; ind < pkt->len; pkt++) // for (int ind = 0; ind < pkt->len; pkt++)
{ // {
if (ind % 8 == 0) // if (ind % 8 == 0)
{ // {
PDEBUG("\n"); // PDEBUG("\n");
} // }
PDEBUG("%02x ", pkt->frame_data[ind]); // PDEBUG("%02x ", pkt->frame_data[ind]);
} // }
PDEBUG("\nChecksum: %02x\n\n"); // PDEBUG("\nChecksum: %02x\n\n");
memset(pkt, 0, sizeof(serial_pkt_t)); // memset(pkt, 0, sizeof(serial_pkt_t));
} // }
/* USER CODE END WHILE */ /* USER CODE END WHILE */
/* USER CODE BEGIN 3 */ /* USER CODE BEGIN 3 */

946
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@ -1,109 +1,4 @@
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"shared/util/putil.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "shared/util/putil.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
"-mfloat-abi=hard",
"-DUSE_HAL_DRIVER",
"-DSTM32L432xx",
"-ICore/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy",
"-IDrivers/CMSIS/Device/ST/STM32L4xx/Include",
"-IDrivers/CMSIS/Include",
"-Ishared",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_dma_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_dma_ex.lst",
"-o",
"build/stm32l4xx_hal_dma_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma_ex.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma_ex.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
"-mfloat-abi=hard",
"-DUSE_HAL_DRIVER",
"-DSTM32L432xx",
"-ICore/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy",
"-IDrivers/CMSIS/Device/ST/STM32L4xx/Include",
"-IDrivers/CMSIS/Include",
"-Ishared",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
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"-Wall",
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"-ffunction-sections",
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_tim_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_tim_ex.lst",
"-o",
"build/stm32l4xx_hal_tim_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim_ex.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim_ex.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
"-mfloat-abi=hard",
"-DUSE_HAL_DRIVER",
"-DSTM32L432xx",
"-ICore/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy",
"-IDrivers/CMSIS/Device/ST/STM32L4xx/Include",
"-IDrivers/CMSIS/Include",
"-Ishared",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_pwr.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_pwr.lst",
"-o",
"build/stm32l4xx_hal_pwr.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
"-mfloat-abi=hard",
"-DUSE_HAL_DRIVER",
"-DSTM32L432xx",
"-ICore/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy",
"-IDrivers/CMSIS/Device/ST/STM32L4xx/Include",
"-IDrivers/CMSIS/Include",
"-Ishared",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/motor_controller.d",
"-Wa,-a,-ad,-alms=build/motor_controller.lst",
"-o",
"build/motor_controller.o",
"shared/devices/motor_controller.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "shared/devices/motor_controller.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
"-mfloat-abi=hard",
"-DUSE_HAL_DRIVER",
"-DSTM32L432xx",
"-ICore/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy",
"-IDrivers/CMSIS/Device/ST/STM32L4xx/Include",
"-IDrivers/CMSIS/Include",
"-Ishared",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
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"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_exti.lst",
"-o",
"build/stm32l4xx_hal_exti.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_exti.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_exti.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
"-mfloat-abi=hard",
"-DUSE_HAL_DRIVER",
"-DSTM32L432xx",
"-ICore/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy",
"-IDrivers/CMSIS/Device/ST/STM32L4xx/Include",
"-IDrivers/CMSIS/Include",
"-Ishared",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/system_stm32l4xx.d",
"-Wa,-a,-ad,-alms=build/system_stm32l4xx.lst",
"-o",
"build/system_stm32l4xx.o",
"Core/Src/system_stm32l4xx.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Core/Src/system_stm32l4xx.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
"-mfloat-abi=hard",
"-DUSE_HAL_DRIVER",
"-DSTM32L432xx",
"-ICore/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy",
"-IDrivers/CMSIS/Device/ST/STM32L4xx/Include",
"-IDrivers/CMSIS/Include",
"-Ishared",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_flash_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_flash_ex.lst",
"-o",
"build/stm32l4xx_hal_flash_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ex.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ex.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
"-mfloat-abi=hard",
"-DUSE_HAL_DRIVER",
"-DSTM32L432xx",
"-ICore/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy",
"-IDrivers/CMSIS/Device/ST/STM32L4xx/Include",
"-IDrivers/CMSIS/Include",
"-Ishared",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_uart_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_uart_ex.lst",
"-o",
"build/stm32l4xx_hal_uart_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart_ex.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart_ex.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
"-mfloat-abi=hard",
"-DUSE_HAL_DRIVER",
"-DSTM32L432xx",
"-ICore/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy",
"-IDrivers/CMSIS/Device/ST/STM32L4xx/Include",
"-IDrivers/CMSIS/Include",
"-Ishared",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_uart.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_uart.lst",
"-o",
"build/stm32l4xx_hal_uart.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-x",
"assembler-with-cpp",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
"-mfloat-abi=hard",
"-DUSE_HAL_DRIVER",
"-DSTM32L432xx",
"-ICore/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy",
"-IDrivers/CMSIS/Device/ST/STM32L4xx/Include",
"-IDrivers/CMSIS/Include",
"-Ishared",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/startup_stm32l432xx.d",
"-o",
"build/startup_stm32l432xx.o",
"startup_stm32l432xx.s"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "startup_stm32l432xx.s"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
"-mfloat-abi=hard",
"-DUSE_HAL_DRIVER",
"-DSTM32L432xx",
"-ICore/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy",
"-IDrivers/CMSIS/Device/ST/STM32L4xx/Include",
"-IDrivers/CMSIS/Include",
"-Ishared",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/PCircularBuffer.d",
"-Wa,-a,-ad,-alms=build/PCircularBuffer.lst",
"-o",
"build/PCircularBuffer.o",
"shared/util/PCircularBuffer.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "shared/util/PCircularBuffer.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
"-mfloat-abi=hard",
"-DUSE_HAL_DRIVER",
"-DSTM32L432xx",
"-ICore/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy",
"-IDrivers/CMSIS/Device/ST/STM32L4xx/Include",
"-IDrivers/CMSIS/Include",
"-Ishared",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_rcc.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_rcc.lst",
"-o",
"build/stm32l4xx_hal_rcc.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc.c"
},
{
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
"-mfloat-abi=hard",
"-DUSE_HAL_DRIVER",
"-DSTM32L432xx",
"-ICore/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc",
"-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy",
"-IDrivers/CMSIS/Device/ST/STM32L4xx/Include",
"-IDrivers/CMSIS/Include",
"-Ishared",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_i2c_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_i2c_ex.lst",
"-o",
"build/stm32l4xx_hal_i2c_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c_ex.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c_ex.c"
} }
] ]

6
env.sh
Unescape Escape View File

@ -0,0 +1,6 @@
elf="./build/motor_controller.elf"
alias pregen="make clean; rdos2unix"
alias ppush="make -j20; arm-none-eabi-gdb ${elf} -x generic_push.gdb"
alias pdebug="make -j20; arm-none-eabi-gdb ${elf} -x generic_debug.gdb"

8959
gdb.txt
View File

File diff suppressed because it is too large Load Diff

139
shared/drivers/p_serial_mgr.c
Unescape Escape View File

@ -26,144 +26,35 @@ typedef enum serial_state_t
} serial_state_t; } serial_state_t;
static UART_HandleTypeDef *_serial_huart_inst = NULL; static UART_HandleTypeDef *_serial_huart_inst = NULL;
static serial_state_t sstate = SS_IDLE;
static uint8_t rxc = '\0';
volatile serial_pkt_t pkt_bank[10];
volatile p_cb_serial_pkt_t serial_pkt_cb;
static volatile uint8_t start_index_tracker = 0;
static volatile uint8_t frame_index_tracker = 0;
#pragma message(Reminder "Move away from cirular buffer to a managed queue")
static uint8_t rxc = '\0';
static bool b_go = false;
void UART1_RxCpltCallback(UART_HandleTypeDef *huart) void UART1_RxCpltCallback(UART_HandleTypeDef *huart)
{ {
switch (sstate) b_go = true;
{
case SS_IDLE: // packet start
{
if (rxc == 0x7E)
{
sstate = SS_START;
}
}
break;
case SS_START:
{
switch (start_index_tracker)
{
case 0: // source addr
{
serial_pkt_cb.buffer[serial_pkt_cb.head].src_addr = rxc;
start_index_tracker++;
}
break;
case 1:
{
serial_pkt_cb.buffer[serial_pkt_cb.head].dest_addr = rxc;
start_index_tracker++;
}
break;
case 2:
{
start_index_tracker = 0;
frame_index_tracker = 0;
serial_pkt_cb.buffer[serial_pkt_cb.head].len = rxc;
sstate = SS_FRAME;
}
break;
default:
{
// shouldnt get here
asm volatile("nop");
}
};
}
break;
case SS_FRAME:
{
if (rxc == 0x7E)
{
asm volatile("nop");
// error occured. bail
#pragma message(Reminder "add a safe escape routine for this")
sstate = SS_IDLE;
memset(&serial_pkt_cb.buffer[serial_pkt_cb.head], 0, sizeof(serial_pkt_t));
}
else if (rxc == 0x7D)
{
sstate = SS_ESC;
}
else
{
serial_pkt_cb.buffer[serial_pkt_cb.head].frame_data[frame_index_tracker++] = rxc;
if (frame_index_tracker >= serial_pkt_cb.buffer[serial_pkt_cb.head].len)
{
sstate = SS_CHECKSUM;
}
}
}
break;
case SS_ESC:
{
serial_pkt_cb.buffer[serial_pkt_cb.head].frame_data[frame_index_tracker++] = rxc ^ 0x20;
if (frame_index_tracker >= serial_pkt_cb.buffer[serial_pkt_cb.head].len)
{
sstate = SS_CHECKSUM;
}
else
{
sstate = SS_FRAME;
}
}
break;
case SS_CHECKSUM:
{
frame_index_tracker = 0;
serial_pkt_cb.buffer[serial_pkt_cb.head].checksum = rxc;
serial_pkt_cb.buffer[serial_pkt_cb.head].b_ready = true;
serial_pkt_cb.head = (serial_pkt_cb.head + 1) % serial_pkt_cb.max_len;
sstate = SS_IDLE;
}
break;
default:
{
PDEBUG("Shouldn't have hit this!\n");
}
};
HAL_UART_Receive_IT(_serial_huart_inst, &rxc, 1);
// serial_cb.push(&serial_cb, serial_cb_rxc);
// HAL_GPIO_WritePin(USART1_DE_GPIO_Port, USART1_DE_Pin, 1);
// huart2_rxc = huart1_rxc;
// HAL_UART_Transmit(&huart2, &huart2_rxc, 1, 500);
// HAL_UART_Receive_IT(&huart1, &huart1_rxc, 1);
// HAL_GPIO_WritePin(USART1_DE_GPIO_Port, USART1_DE_Pin, 0);
} }
void p_serial_mgr_init(UART_HandleTypeDef *huart) void p_serial_mgr_init(UART_HandleTypeDef *huart)
{ {
_serial_huart_inst = huart; _serial_huart_inst = huart;
_serial_huart_inst->RxCpltCallback = UART1_RxCpltCallback; _serial_huart_inst->RxCpltCallback = UART1_RxCpltCallback;
b_go = false;
memset(pkt_bank, 0, sizeof(serial_pkt_t) * 10);
p_cb_serial_pkt_init(&serial_pkt_cb, pkt_bank, 10);
} }
serial_pkt_t *p_serial_mgr_service(void) bool p_serial_mgr_service(void)
{ {
// this will be less garbage when i switch to a queue // // this will be less garbage when i switch to a queue
for (int ind = 0; ind < serial_pkt_cb.max_len; ind++) // for (int ind = 0; ind < serial_pkt_cb.max_len; ind++)
{ // {
if (serial_pkt_cb.buffer[ind].b_ready) // if (serial_pkt_cb.buffer[ind].b_ready)
{ // {
return &serial_pkt_cb.buffer[ind]; // return &serial_pkt_cb.buffer[ind];
} // }
} // }
return NULL; return b_go;
} }
void p_serial_mgr_start() void p_serial_mgr_start()
{ {
b_go = false;
HAL_UART_Receive_IT(_serial_huart_inst, &rxc, 1); HAL_UART_Receive_IT(_serial_huart_inst, &rxc, 1);
} }

2
shared/drivers/p_serial_mgr.h
Unescape Escape View File

@ -16,7 +16,7 @@ typedef struct serial_pkt_t
void p_serial_mgr_init(UART_HandleTypeDef *huart); void p_serial_mgr_init(UART_HandleTypeDef *huart);
serial_pkt_t *p_serial_mgr_service(void); bool p_serial_mgr_service(void);
void p_serial_mgr_start(); void p_serial_mgr_start();

8
shared/util/PCircularBuffer.c
Unescape Escape View File

@ -109,14 +109,12 @@ PB_CB_STATUS p_cb_serial_pkt_init(p_cb_serial_pkt_t *inst, serial_pkt_t *buff, u
PB_CB_STATUS ret = PB_CB_GOOD; PB_CB_STATUS ret = PB_CB_GOOD;
do do
{ {
// Make sure the buffer isn't bad (null)
if (!buff) if (!buff)
{ {
ret = PB_CB_NULL_BUFFER; ret = PB_CB_NULL_BUFFER;
break; break;
} }
// Make sure the max buffer is a useable size
if (max_length > PB_CB_MAX_BUFFER_SIZE || max_length <= 0) if (max_length > PB_CB_MAX_BUFFER_SIZE || max_length <= 0)
{ {
ret = PB_CB_BAD_BUFFER_SIZE; ret = PB_CB_BAD_BUFFER_SIZE;
@ -126,6 +124,12 @@ PB_CB_STATUS p_cb_serial_pkt_init(p_cb_serial_pkt_t *inst, serial_pkt_t *buff, u
{ {
memset(inst->buffer[ind].frame_data, 0, 256); memset(inst->buffer[ind].frame_data, 0, 256);
} }
inst->buffer = buff;
inst->max_len = (uint16_t)max_length;
inst->head = 0;
inst->push = p_cb_serial_pkt_push;
inst->empty = p_cb_serial_pkt_empty;
inst->empty(inst);
} while (0); } while (0);
// Debugging // Debugging

4
shared/util/PCircularBuffer.h
Unescape Escape View File

@ -80,8 +80,8 @@ typedef struct p_cb_serial_pkt_t
// Useful for knowing if data is being received // Useful for knowing if data is being received
bool b_empty; bool b_empty;
PB_CB_STATUS (*push)(struct p_cb_u8 *cbuffer, uint8_t value); PB_CB_STATUS (*push)(struct p_cb_serial_pkt_t *cbuffer, serial_pkt_t value);
PB_CB_STATUS (*empty)(struct p_cb_u8 *cbuffer); PB_CB_STATUS (*empty)(struct p_cb_serial_pkt_t *cbuffer);
} p_cb_serial_pkt_t; } p_cb_serial_pkt_t;
PB_CB_STATUS p_cb_serial_pkt_init(p_cb_serial_pkt_t *inst, serial_pkt_t *buff, uint32_t max_length); PB_CB_STATUS p_cb_serial_pkt_init(p_cb_serial_pkt_t *inst, serial_pkt_t *buff, uint32_t max_length);

18
shared/util/putil.c
Unescape Escape View File

@ -1,13 +1,14 @@
#include "putil.h" #include "putil.h"
#include <stdio.h>
#include <stdarg.h> #include <stdarg.h>
#include <stdio.h>
#include <string.h> #include <string.h>
#define MAX_PRINTF_BUFFER (256) #define MAX_PRINTF_BUFFER (256)
UART_HandleTypeDef* huart_inst = NULL; UART_HandleTypeDef *huart_inst = NULL;
int p_printf(const char* fmt, ...) static char send[10] = {'\0'};
int p_printf(const char *fmt, ...)
{ {
size_t size_str = strlen(fmt); size_t size_str = strlen(fmt);
if (size_str >= MAX_PRINTF_BUFFER) if (size_str >= MAX_PRINTF_BUFFER)
@ -18,16 +19,19 @@ int p_printf(const char* fmt, ...)
memset(printf_buffer, '\0', MAX_PRINTF_BUFFER); memset(printf_buffer, '\0', MAX_PRINTF_BUFFER);
va_list args; va_list args;
va_start(args, fmt); va_start(args, fmt);
vsprintf((char*)printf_buffer, fmt, args); vsprintf((char *)printf_buffer, fmt, args);
va_end(args); va_end(args);
HAL_UART_Transmit(huart_inst, printf_buffer, strlen(printf_buffer), 100); HAL_UART_Transmit(huart_inst, printf_buffer, strlen(printf_buffer), 100);
return 0; return 0;
} }
void p_uart_init(UART_HandleTypeDef* huart) void p_uart_init(UART_HandleTypeDef *huart)
{ {
huart_inst = huart; huart_inst = huart;
PDEBUG("...\n"); PDEBUG("...\n");
PDEBUG("UART2 Initialized\n"); PDEBUG("UART2 Initialized\n");
} }
void p_uart_async_write_byte(uint8_t byte)
{
sprintf(send, "%02x\n", byte);
HAL_UART_Transmit(huart_inst, send, 3, 100);
}

1
shared/util/putil.h
Unescape Escape View File

@ -5,6 +5,7 @@
int p_printf(const char *fmt, ...); int p_printf(const char *fmt, ...);
void p_uart_init(UART_HandleTypeDef *huart); void p_uart_init(UART_HandleTypeDef *huart);
void p_uart_async_write_byte(uint8_t byte);
#define Stringize(L) #L #define Stringize(L) #L
#define MakeString(M, L) M(L) #define MakeString(M, L) M(L)

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