bms/Application/bsp/uart.c

#include "uart.h"
#include "bsp/shark_bsp.h"
#include "bsp/gpio.h"
#include "libs/shark_libs.h"

#define SHARK_UART_BAUDRATE				38400

#define SHARK_UART0_com					USART0
#define SHARK_UART0_tx_port				GPIOB
#define SHARK_UART0_tx_pin				GPIO_PIN_6
#define SHARK_UART0_rx_port				GPIOB
#define SHARK_UART0_rx_pin				GPIO_PIN_7
#define SHARK_UART0_irq					USART0_IRQn
#define SHARK_UART0_clk					RCU_USART0
#define SHARK_UART0_tx_gpio_clk			RCU_GPIOB
#define SHARK_UART0_rx_gpio_clk			RCU_GPIOB
#define SHARK_UART0_tx_dma				DMA
#define SHARK_UART0_tx_dma_ch			DMA_CH1
#define SHARK_UART0_tx_dma_clk			RCU_DMA
#define SHARK_UART0_rx_dma				DMA
#define SHARK_UART0_rx_dma_ch			DMA_CH2
#define SHARK_UART0_rx_dma_clk			RCU_DMA

#define SHARK_UART1_com					USART1
#define SHARK_UART1_tx_port				GPIOA
#define SHARK_UART1_tx_pin				GPIO_PIN_2
#define SHARK_UART1_rx_port				GPIOA
#define SHARK_UART1_rx_pin				GPIO_PIN_3
#define SHARK_UART1_irq					USART1_IRQn
#define SHARK_UART1_clk					RCU_USART1
#define SHARK_UART1_tx_gpio_clk			RCU_GPIOA
#define SHARK_UART1_rx_gpio_clk			RCU_GPIOA
#define SHARK_UART1_tx_dma				DMA
#define SHARK_UART1_tx_dma_ch			DMA_CH3
#define SHARK_UART1_tx_dma_clk			RCU_DMA
#define SHARK_UART1_rx_dma				DMA
#define SHARK_UART1_rx_dma_ch			DMA_CH4
#define SHARK_UART1_rx_dma_clk			RCU_DMA

// ================================================================================

static u8 shark_uart0_tx_cache[SHARK_UART_TX_MEM_SIZE];
static u8 shark_uart1_tx_cache[SHARK_UART_TX_MEM_SIZE];
static u8 shark_uart_rx_cache[SHARK_UART_RX_MEM_SIZE];
static shark_uart_t _shark_uart[SHARK_UART_COUNT];
static shark_task_t _uart_task;
static bool new_prococol = false;
static u64 _rx_time;
#define update_dma_w_pos(uart) circle_update_write_position(&uart->rx_queue, SHARK_UART_RX_MEM_SIZE - DMA_CHCNT(uart->rx_dma_ch))
extern void protocol_recv_frame(uart_enum_t uart_no, char *data, int len);
extern void protocol_notify_old_frame(uart_enum_t uart_no);
// ================================================================================
static uart_enum_t _uart_index(uint32_t com){
	return com == SHARK_UART0_com?SHARK_UART0:SHARK_UART1;
}
static bool shark_uart_on_rx_frame(shark_uart_t *uart)
{
	u16 crc0 = shark_decode_u16(uart->rx_frame + uart->rx_length);
	u16 crc1 = shark_crc16_check(uart->rx_frame, uart->rx_length);

	if (crc0 != crc1) {
		return false;
	}
	new_prococol = true;
	protocol_recv_frame(_uart_index(uart->uart_com), (char *)uart->rx_frame, uart->rx_length);
	return true;
}

static void shark_uart_rx(shark_uart_t *uart){
	while(1) {
		u8 data;
		update_dma_w_pos(uart);
		if (circle_get_one_data(&uart->rx_queue, &data) != 1) {
			if (!new_prococol){//通过老协议发送过来的，需要回复一个信息，告知使用新协议,霍尔移除，通信超时需要reset new_protocol
				if (shark_get_mseconds() >= (30 + _rx_time)) {
					_rx_time = 0xFFFFFFFFFFFFL;
					protocol_notify_old_frame(_uart_index(uart->uart_com));
				}
			}
			break;
		}
		_rx_time = shark_get_mseconds();
		switch(data){
			case CH_START:
				uart->rx_length = 0;
				uart->escape = false;
				break;
			case CH_END:
				if (uart->rx_length > 2 && uart->rx_length != 0xFF){
					shark_uart_on_rx_frame(uart);
				}
				uart->rx_length = 0xFF;
				break;
			case CH_ESC:
				uart->escape = true;
				break;
			default:
				if (uart->escape) {
					uart->escape = false;
					switch (data) {
						case CH_ESC_START:
							data = CH_START;
							break;

						case CH_ESC_END:
							data = CH_END;
							break;

						case CH_ESC_ESC:
							data = CH_ESC;
							break;

						default:
							data = 0xFF;
					}
				}

				if (uart->rx_length < sizeof(uart->rx_frame)) {
					uart->rx_frame[uart->rx_length] = data;
					uart->rx_length++;
				} else {
					uart->rx_length = 0xFF;
				}			
		}
	}
}


static void shark_uart_dma_tx(shark_uart_t *uart)
{
	u32 value = DMA_CHCTL(uart->tx_dma_ch);

	if (value & DMA_CHXCTL_CHEN) {
		if (SET != dma_flag_get(uart->tx_dma_ch, DMA_FLAG_FTF)) {
			return;
		}

		byte_queue_skip(&uart->tx_queue, uart->tx_length);
		DMA_CHCTL(uart->tx_dma_ch) = value & (~DMA_CHXCTL_CHEN);
	}

	uart->tx_length = byte_queue_peek(&uart->tx_queue);
	if (uart->tx_length > 0) {
		DMA_CHCNT(uart->tx_dma_ch) = uart->tx_length;
		DMA_CHMADDR(uart->tx_dma_ch) = (u32) byte_queue_head(&uart->tx_queue);

		dma_flag_clear(uart->tx_dma_ch, DMA_FLAG_FTF);
		DMA_CHCTL(uart->tx_dma_ch) = value | DMA_CHXCTL_CHEN;
	}
}



static void shark_uart_write(shark_uart_t *uart, const u8 *buff, u16 size)
{
	while (size > 0) {
		u16 length = byte_queue_write(&uart->tx_queue, buff, size);

		if (length == size) {
			break;
		}

		shark_uart_dma_tx(uart);
		buff += length;
		size -= length;
	}
}

static void shark_uart_write_byte(shark_uart_t *uart, u8 value)
{
	shark_uart_write(uart, &value, 1);
}


static void shark_uart_tx_dma_init(shark_uart_t *uart){
	dma_parameter_struct dma_init_struct;
	rcu_periph_clock_enable(_uart_index(uart->uart_com)== SHARK_UART0?SHARK_UART0_tx_dma_clk:SHARK_UART1_tx_dma_clk);
	dma_deinit(uart->tx_dma_ch);
	dma_init_struct.direction = DMA_MEMORY_TO_PERIPHERAL;
	dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
	dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT;
	dma_init_struct.periph_addr = (u32) &USART_TDATA(uart->uart_com);
	dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
	dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT;
	dma_init_struct.priority = DMA_PRIORITY_ULTRA_HIGH;
	dma_init(uart->tx_dma_ch, &dma_init_struct);
	dma_circulation_disable(uart->tx_dma_ch);
	dma_memory_to_memory_disable(uart->tx_dma_ch);
	usart_dma_transmit_config(uart->uart_com, USART_DENT_ENABLE);
}


static void shark_uart_rx_dma_init(shark_uart_t *uart){
	dma_parameter_struct dma_init_struct;
	rcu_periph_clock_enable(_uart_index(uart->uart_com)== SHARK_UART0?SHARK_UART0_rx_dma_clk:SHARK_UART1_rx_dma_clk);
	dma_deinit(uart->rx_dma_ch);
	dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY;
	dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
	dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT;
	dma_init_struct.memory_addr = (u32)uart->rx_queue.buffer;
	dma_init_struct.number = uart->rx_queue.buffer_len;
	dma_init_struct.periph_addr = (u32) &USART_RDATA(uart->uart_com);
	dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
	dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT;
	dma_init_struct.priority = DMA_PRIORITY_ULTRA_HIGH;
	dma_init(uart->rx_dma_ch, &dma_init_struct);
	dma_circulation_enable(uart->rx_dma_ch);
	dma_memory_to_memory_disable(uart->rx_dma_ch);
	dma_channel_enable(uart->rx_dma_ch);
	usart_dma_receive_config(uart->uart_com, USART_DENR_ENABLE);
}

static void shark_uart_pin_init(shark_uart_t *uart){
	if (_uart_index(uart->uart_com) == SHARK_UART0) {
		rcu_periph_clock_enable(SHARK_UART0_clk);
		rcu_periph_clock_enable(SHARK_UART0_rx_gpio_clk);
		rcu_periph_clock_enable(SHARK_UART0_tx_gpio_clk);
		gpio_af_set(SHARK_UART0_tx_port, GPIO_AF_0,SHARK_UART0_tx_pin);
		gpio_mode_set(SHARK_UART0_tx_port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, SHARK_UART0_tx_pin);
		gpio_output_options_set(SHARK_UART0_tx_port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, SHARK_UART0_tx_pin);
		gpio_af_set(SHARK_UART0_rx_port, GPIO_AF_0,SHARK_UART0_rx_pin);
		gpio_mode_set(SHARK_UART0_rx_port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, SHARK_UART0_rx_pin);
		gpio_output_options_set(SHARK_UART0_rx_port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,SHARK_UART0_rx_pin);
	}else {
		rcu_periph_clock_enable(SHARK_UART1_clk);
		rcu_periph_clock_enable(SHARK_UART1_rx_gpio_clk);
		rcu_periph_clock_enable(SHARK_UART1_tx_gpio_clk);
		gpio_af_set(SHARK_UART1_tx_port, GPIO_AF_1,SHARK_UART1_tx_pin);
		gpio_mode_set(SHARK_UART1_tx_port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, SHARK_UART1_tx_pin);
		gpio_output_options_set(SHARK_UART1_tx_port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, SHARK_UART1_tx_pin);
		gpio_af_set(SHARK_UART1_rx_port, GPIO_AF_1,SHARK_UART1_rx_pin);
		gpio_mode_set(SHARK_UART1_rx_port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, SHARK_UART1_rx_pin);
		gpio_output_options_set(SHARK_UART1_rx_port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,SHARK_UART1_rx_pin);
	}

}

static void shark_uart_device_init(shark_uart_t *uart){
	usart_deinit(uart->uart_com);
	usart_baudrate_set(uart->uart_com, SHARK_UART_BAUDRATE);

	usart_word_length_set(uart->uart_com, USART_WL_8BIT);
	usart_stop_bit_set(uart->uart_com, USART_STB_1BIT);
	usart_parity_config(uart->uart_com, USART_PM_NONE);
	usart_hardware_flow_rts_config(uart->uart_com, USART_RTS_DISABLE);
	usart_hardware_flow_cts_config(uart->uart_com, USART_CTS_DISABLE);
	usart_receive_config(uart->uart_com, USART_RECEIVE_ENABLE);
	usart_transmit_config(uart->uart_com, USART_TRANSMIT_ENABLE);
	
}

static u32 shark_uart_handler(void)
{
	shark_uart_t *uart = _shark_uart + SHARK_UART0;
	if (uart->uart_com != 0) {
		shark_uart_rx(uart);
		shark_uart_dma_tx(uart);
	}
	uart = _shark_uart + SHARK_UART1;
	if (uart->uart_com != 0) {
		shark_uart_rx(uart);
		shark_uart_dma_tx(uart);
	}
	return 0;
}

static u8 *tx_cache_addr(uart_enum_t uart_no){
	return (uart_no == SHARK_UART0)?shark_uart0_tx_cache:shark_uart1_tx_cache;
}

void shark_uart_deinit(uart_enum_t uart_no){
	shark_uart_t *uart = _shark_uart + uart_no;
	if (uart->uart_com != 0) {
		usart_disable(uart->uart_com);
		usart_deinit(uart->uart_com);
		rcu_periph_clock_enable(uart_no == SHARK_UART0?SHARK_UART0_clk:SHARK_UART1_clk);
		dma_channel_disable(uart->rx_dma_ch);
		dma_channel_disable(uart->tx_dma_ch);
		rcu_periph_clock_disable(uart_no == SHARK_UART0?SHARK_UART0_tx_dma_clk:SHARK_UART1_tx_dma_clk);
		rcu_periph_clock_disable(uart_no == SHARK_UART0?SHARK_UART0_rx_dma_clk:SHARK_UART1_rx_dma_clk);
	}
	if (uart_no == SHARK_UART0) {
		UART0_IR_EN(0);
	}else {
		UART1_IR_EN(0);
	}
	new_prococol = false;
}


void shark_uart_init(uart_enum_t uart_no)
{
	shark_uart_t *uart = _shark_uart + uart_no;
	uart->escape = false;
	uart->rx_length = 0;
	uart->tx_length = 0;
	uart->uart_com = (uart_no == SHARK_UART0)?SHARK_UART0_com:SHARK_UART1_com;

	circle_buffer_init(&uart->rx_queue, shark_uart_rx_cache, SHARK_UART_TX_MEM_SIZE);
	byte_queue_init(&uart->tx_queue,tx_cache_addr(uart_no), SHARK_UART_TX_MEM_SIZE);

	uart->rx_dma_ch = (uart_no == SHARK_UART0)?SHARK_UART0_rx_dma_ch:SHARK_UART1_rx_dma_ch;
	uart->tx_dma_ch = (uart_no == SHARK_UART0)?SHARK_UART0_tx_dma_ch:SHARK_UART1_tx_dma_ch;

	shark_uart_pin_init(uart);
	shark_uart_device_init(uart);
	shark_uart_rx_dma_init(uart);
	shark_uart_tx_dma_init(uart);
	usart_enable(uart->uart_com);
	
	if (_uart_task.handler == NULL) {
		_uart_task.handler = shark_uart_handler;
		shark_task_add(&_uart_task);
	}
	if (uart_no == SHARK_UART0) {
		UART0_IR_EN(1);
	}else {
		UART1_IR_EN(1);
	}
	_rx_time = 0xFFFFFFFFFFFFL;
}

static void shark_uart_write_byte_esc(shark_uart_t *uart, u8 value)
{
	switch (value) {
	case CH_START:
		shark_uart_write_byte(uart, CH_ESC);
		value = CH_ESC_START;
		break;

	case CH_END:
		shark_uart_write_byte(uart, CH_ESC);
		value = CH_ESC_END;
		break;

	case CH_ESC:
		shark_uart_write_byte(uart, CH_ESC);
		value = CH_ESC_ESC;
		break;
	}

	shark_uart_write_byte(uart, value);
}

static void shark_uart_write_esc(shark_uart_t *uart, const u8 *buff, u16 length)
{
	const u8 *buff_end;

	for (buff_end = buff + length; buff < buff_end; buff++) {
		shark_uart_write_byte_esc(uart, *buff);
	}
}

static void shark_uart_tx_start(shark_uart_t *uart)
{
	shark_uart_write_byte(uart, CH_START);
	uart->tx_crc16 = 0;
}

static void shark_uart_tx_continue(shark_uart_t *uart, const void *buff, u16 length)
{
	shark_uart_write_esc(uart, (const u8 *) buff, length);
	uart->tx_crc16 = shark_crc16_update(uart->tx_crc16, (const u8 *) buff, length);
}

static void shark_uart_tx_end(shark_uart_t *uart)
{
	shark_uart_write_esc(uart, (u8 *)&uart->tx_crc16, sizeof(uart->tx_crc16));
	shark_uart_write_byte(uart, CH_END);
}

void shark_uart_write_frame(uart_enum_t uart_no, uint8_t *bytes, int len){
	shark_uart_t *uart = _shark_uart + uart_no;
	shark_uart_tx_start(uart);
	shark_uart_tx_continue(uart, bytes, len);
	shark_uart_tx_end(uart);
}

void shark_uart_frame_start(uart_enum_t uart_no, uint8_t *bytes, int len){
	shark_uart_t *uart = _shark_uart + uart_no;
	shark_uart_tx_start(uart);
	shark_uart_tx_continue(uart, bytes, len);
}

void shark_uart_frame_continue(uart_enum_t uart_no, uint8_t *bytes, int len){
	shark_uart_t *uart = _shark_uart + uart_no;
	shark_uart_tx_continue(uart, bytes, len);
}

void shark_uart_frame_end(uart_enum_t uart_no){
	shark_uart_tx_end(_shark_uart + uart_no);
}