MotorDriver/: add option to send data by RS485

MotorDriver/Drivers/bus/bus_driver.c

@@ -6,7 +6,12 @@
 #include <stdbool.h>
 #include "bus_driver.h"
 
-
+//! Free bus flag
+static volatile bool _BusFree = true;
+//! Message is pending to send
+static volatile bool _TxPending = false;
+//! Tranmission ongoing
+static volatile bool _TxOngoing = false;
 //! Receive buffer
 static uint8_t _RxBuff[BUS_BUFF_NUM][BUS_BUFF_LEN];
 //! Rx message index
@@ -15,8 +20,12 @@ static uint8_t _RxMsg = 0;
 static uint8_t _RxData = 0;
 //! Rx overflowed
 static bool _RxOverflow = false;
-
-static uint8_t _TempDR;
+//! Transmit buffer
+static uint8_t _TxBuff[BUS_BUFF_LEN];
+//! Tx data index
+static uint8_t _TxData = 0;
+//! Tx data to send
+static uint8_t _TxLen = 0;
 
 uint16_t _sr;
 
@@ -43,6 +52,15 @@ void BUS_Init(void)
 	BUS_GPIO->CRH &= ~(GPIO_CRH_CNF10 | GPIO_CRH_CNF11 | GPIO_CRH_MODE11);
 	BUS_GPIO->CRH |= GPIO_CRH_CNF11_0 | GPIO_CRH_MODE10_1;
 
+	#ifdef BUS_TIM_USED
+	//1÷(72000000÷65535÷3) ~~ 2.7ms
+	BUS_TIM->PSC = 3;
+	BUS_TIM->DIER |= TIM_DIER_UIE;
+	NVIC_EnableIRQ(TIM2_IRQn);
+	// enable BUS_TIM module
+	BUS_TIM->CR1 |= OPM;
+	#endif
+
 	//! Calculated on asap:
 	//! 36000000 / (16 * 38400) = 585.9375
 	//! DIV_Mantissa = 585
@@ -54,20 +72,38 @@ void BUS_Init(void)
 	NVIC_EnableIRQ(USART3_IRQn);
 }
 
+#ifdef BUS_TIM_USED
+void TIM2_IRQHandler(void)
+	{
+		//! Send message if was pending
+		if(_TxPending)
+		{
+			_TxOngoing = true;
+			_TxPending = false;
+			// Set interupt on clearing TX register.
+			BUS_UART->CR1 |= USART_CR1_TXEIE;
+			// start uart transmission
+			BUS_UART->DR = _TxBuff[_TxData++]; 
+		}
+		else _BusFree = true;
+	}
+#endif
 
 void USART3_IRQHandler(void)
 {
+	uint8_t _TempDR;
 	_sr = BUS_UART->SR;
 	if(_sr & USART_SR_RXNE)
 	{
+		_BusFree = false;
 		if(_RxData < BUS_BUFF_LEN) _RxBuff[_RxMsg][_RxData++] = BUS_UART->DR;
 		else _RxOverflow = true;
 	}
 	if(_sr & USART_SR_IDLE)
 	{
 		//! Read DR to clear flag
 		_TempDR = BUS_UART->DR;
-
+		
 		uint8_t temp_RxMsg = _RxMsg;
 		uint8_t temp_RxData = _RxData;
 		bool temp_RxOverflow = _RxOverflow;
@@ -78,10 +114,74 @@ void USART3_IRQHandler(void)
 
 		//! Call receive function if receive buffer is not overflowed
 		if(!temp_RxOverflow) BUS_Received(_RxBuff[temp_RxMsg], temp_RxData);
+
+		#ifdef BUS_TIM_USED
+		BUS_TIM->CNT = 0; // just in case, it should be 0 already.
+		// timer enable
+		BUS_TIM->CR1 |= TIM_CR1_CEN; 
+		#else
+		//! Send message if was pending
+		if(_TxPending)
+		{
+			_TxOngoing = true;
+			_TxPending = false;
+			// Set interupt on clearing TX register.
+			BUS_UART->CR1 |= USART_CR1_TXEIE;
+			// start uart transmission
+			BUS_UART->DR = _TxBuff[_TxData++]; 
+		}
+		else _BusFree = true;
+		#endif
+	}
+	if(_sr & USART_SR_TXE && _TxOngoing)
+	{
+		if(_TxData < _TxLen) BUS_UART->DR = _TxBuff[_TxData++];
+		else
+		{
+			// clear interupt on clearing TX register.
+			BUS_UART->CR1 &= ~USART_CR1_TXEIE;
+			_BusFree = true;
+			_TxOngoing = false;
+		}
 	}
 	if(_sr & (USART_SR_ORE || USART_SR_FE || USART_SR_NE ))
 	{
-		_sr = BUS_UART->DR;
+		_TempDR = BUS_UART->DR;
+	}
+}
+
+void BUS_Send(uint8_t *buff, uint8_t len)
+{
+	//! Dump message if transmission is already ongoing or buffered
+	if(_TxOngoing || _TxPending) return;
+
+	if( len > BUS_BUFF_LEN) len = BUS_BUFF_LEN;
+
+	//! Copy passed message to internal buffer
+	for(uint8_t i=0; i<len; i++)
+		_TxBuff[i] = buff[i];
+	//! Set tx size and pointer
+	_TxLen = len;
+	_TxData = 0;
+
+	//! Start transmission if bus is free
+	if(_BusFree)
+	{
+		_BusFree = false;
+		_TxOngoing = true;
+		// Set interupt on clearing TX register.
+		BUS_UART->CR1 |= USART_CR1_TXEIE;
+		BUS_UART->DR = _TxBuff[_TxData++];
 	}
+	//! Pend message to be send after received frame
+	else _TxPending = true;
 }
 
+void BUS_SendBlocking(uint8_t *buff, uint8_t len)
+{
+	for(uint8_t i=0; i<len; i++)
+	{
+		while(!(USART1->SR & USART_SR_TXE));
+		BUS_UART->DR = buff[i];
+	}
+}

MotorDriver/Drivers/system/system_driver.c

@@ -5,6 +5,7 @@
 
 #include "system_driver.h"
 #include "stm32f10x.h"
+#include "hardware.h"
 
 
 uint32_t _Tick;
@@ -43,6 +44,9 @@ void SYS_Init(void)
 	RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN | RCC_APB2ENR_ADC1EN |
 					RCC_APB2ENR_TIM1EN | RCC_APB2ENR_AFIOEN;
 	RCC->APB1ENR |= RCC_APB1ENR_TIM3EN | RCC_APB1ENR_TIM4EN | RCC_APB1ENR_USART3EN;
+	#ifdef BUS_TIM_USED
+	RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
+	#endif
 	RCC->AHBENR |= RCC_AHBENR_DMA1EN;
 
 

MotorDriver/Inc/hardware.h

@@ -40,6 +40,8 @@
 #define BUS_TX_PIN	GPIO_PIN_10
 #define BUS_RX_PIN	GPIO_PIN_11
 #define BUS_UART	USART3
+#define BUS_TIM     TIM2
+//#define BUS_TIM_USED  // define to use TIMER
 
 //! ########################### ENCODER ########################### 
 #define ENC_GPIO	GPIOB

MotorDriver/Libraries/message/msg_lib.c

@@ -47,15 +47,35 @@ uint8_t MSG_CalculateCrc(uint8_t *data, uint8_t len)
 
 bool MSG_ValidateCrc(uint8_t *data, uint8_t len)
 {
-    if(MSG_CalculateCrc(data, len)) return false; //tu chyba len-1
+    if(MSG_CalculateCrc(data, len)) return false;
     else return true;
 }
 
-
 void BUS_Received(uint8_t *buff, uint8_t len)
 {
-	if(buff[0]==ADDRESS && MSG_ValidateCrc(&buff[0],buff[2]+4))
-		MSG_Received(&buff[3],len-4);
+    if(buff[0]==ADDRESS && MSG_ValidateCrc(&buff[0],buff[2]+4))
+        MSG_Received(&buff[3],len-4);
+}
 
+uint8_t MSG_Pack(MSG_Command cmd, uint8_t *data, uint8_t len, uint8_t *buff)
+{
+    MSG_Message *msg = (MSG_Message *) buff;
+    //! Set address and command
+    msg->Address = ADDRESS;
+    msg->Command = cmd;
+    msg->Length = len;
 
+    //! Copy passed data to buffer
+    for(uint8_t i=0; i<len; i++)
+        msg->Payload[i] =data[i];
+    //! Append CRC
+    msg->Payload[len] = MSG_CalculateCrc(buff, len + 3);
+    //! Return size of packed message
+    return len + 4;
 }
+
+uint8_t MSG_PackDriverState(uint8_t volt, uint8_t amp, uint8_t rpm, uint8_t *buff)
+{
+    uint8_t data[3] = {volt, amp, rpm};
+    return MSG_Pack(MSG_DRV_STATE, data, 3, buff);
+}

MotorDriver/Libraries/message/msg_lib.h

@@ -18,14 +18,15 @@ typedef enum
 {
     MSG_NOT_VALID,
     MSG_BTN_STATE,
+    MSG_DRV_STATE
 } MSG_Command;
 
 
 #pragma pack(1)
 typedef struct
 {
     uint8_t Address;
-    MSG_Command Command;
+    uint8_t Command;
     uint8_t Length;
     uint8_t Payload[];
 } MSG_Message;
@@ -36,5 +37,8 @@ uint8_t MSG_CalculateCrc(uint8_t *data, uint8_t len);
 bool MSG_ValidateCrc(uint8_t *data, uint8_t len);
 void __attribute__((weak)) MSG_Received(uint8_t *buff, uint8_t len);
 
+uint8_t MSG_Pack(MSG_Command cmd, uint8_t *data, uint8_t len, uint8_t *buff);
+uint8_t MSG_PackDriverState(uint8_t volt, uint8_t amp, uint8_t rpm, uint8_t *buff);
+
 
 #endif /* MSG_LIB_H_ */

MotorDriver/Src/main.c

@@ -24,6 +24,8 @@ bool _MotorState = false;
 uint8_t _ControllerState=0;
 uint8_t _MessageTimer = 0;
 
+uint8_t messageBuffer[7];
+
 
 const uint16_t _CurrentTable[120] = {2045, 2105, 2164, 2224, 2283, 2343, 2402, 2462, 2522, 2581, 2590, 2586, 2582, 2579, 2575, 2571, 2567, 2564, 2560, 2556, 2553, 2549, 2545, 2541, 2538, 2518, 2497, 2477, 2457, 2437, 2417, 2397, 2377, 2357, 2337, 2317, 2296, 2276, 2256, 2236, 2216, 2196, 2176, 2156, 2136, 2116, 2095, 2075, 2055, 2035, 2009, 2008, 2007, 2007, 2006, 2006, 2005, 2005, 2004, 2004, 2003, 2003, 2002, 2002, 2001, 2001, 2000, 2000, 1999, 1999, 1998, 1998, 1997, 1997, 1996, 1995, 1995, 1994, 1994, 1993, 1993, 1992, 1992, 1991, 1991, 1990, 1990, 1989, 1989, 1988, 1988, 1987, 1987, 1986, 1986, 1985, 1985, 1984, 1983, 1983, 1982, 1982, 1981, 1981, 1980, 1980, 1979, 1979, 1978, 1978, 1977, 1977, 1976, 1976, 1975, 1975, 1974, 1974, 1973, 1973};
 
@@ -100,6 +102,7 @@ int main(void)
 //! Systick handler called in interrupt
 void SYS_Tick(void)
 {
+
 	//! Read rpm value from encoder
 	_Rpm = ENC_ReadAndReset();
 	//! Calculate rpm to table index value
@@ -110,20 +113,18 @@ void SYS_Tick(void)
 	{
 		MTR_SetLimit(_CurrentTable1[_TableIndex]);
 	}
-
-
 	else MTR_SetLimit(_CurrentTable[_TableIndex]);
 
 	//! TODO: Handle events
 	if(_MessageTimer > 10)
 	{
-
 		_ControllerState=0;
-
-
-
 	}
 	else _MessageTimer++;
+
+	// send telemetry packet every 10ms.
+	uint8_t len = MSG_PackDriverState(4 /*volt*/, 2 /*amp*/, 0 /*rpm*/, messageBuffer);
+	BUS_Send(messageBuffer, len);
 }