diff --git a/Firmware/Board/v3/Inc/stm32f4xx_it.h b/Firmware/Board/v3/Inc/stm32f4xx_it.h index 784a3333..3bdb143f 100644 --- a/Firmware/Board/v3/Inc/stm32f4xx_it.h +++ b/Firmware/Board/v3/Inc/stm32f4xx_it.h @@ -58,11 +58,14 @@ void DMA1_Stream0_IRQHandler(void); void DMA1_Stream2_IRQHandler(void); void DMA1_Stream4_IRQHandler(void); void DMA1_Stream5_IRQHandler(void); +void DMA1_Stream6_IRQHandler(void); +void DMA1_Stream7_IRQHandler(void); void ADC_IRQHandler(void); void CAN1_TX_IRQHandler(void); void CAN1_RX0_IRQHandler(void); void CAN1_RX1_IRQHandler(void); void CAN1_SCE_IRQHandler(void); +void USART2_IRQHandler(void); void TIM8_TRG_COM_TIM14_IRQHandler(void); void TIM5_IRQHandler(void); void SPI3_IRQHandler(void); diff --git a/Firmware/Board/v3/Inc/usart.h b/Firmware/Board/v3/Inc/usart.h index c987f7f2..ff3d48b8 100644 --- a/Firmware/Board/v3/Inc/usart.h +++ b/Firmware/Board/v3/Inc/usart.h @@ -62,6 +62,7 @@ /* USER CODE END Includes */ extern UART_HandleTypeDef huart4; +extern UART_HandleTypeDef huart2; /* USER CODE BEGIN Private defines */ @@ -70,6 +71,7 @@ extern UART_HandleTypeDef huart4; extern void _Error_Handler(char *, int); void MX_UART4_Init(void); +void MX_USART2_UART_Init(void); /* USER CODE BEGIN Prototypes */ diff --git a/Firmware/Board/v3/Src/dma.c b/Firmware/Board/v3/Src/dma.c index 813c735a..969827c7 100644 --- a/Firmware/Board/v3/Src/dma.c +++ b/Firmware/Board/v3/Src/dma.c @@ -83,6 +83,12 @@ void MX_DMA_Init(void) /* DMA1_Stream5_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn); + /* DMA1_Stream6_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn); + /* DMA1_Stream7_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA1_Stream7_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(DMA1_Stream7_IRQn); /* DMA2_Stream0_IRQn interrupt configuration */ // Dear STM, no we _don't_ want to fire an interrupt for this DMA // (it's not possible to deselect this in CubeMX) diff --git a/Firmware/Board/v3/Src/spi.c b/Firmware/Board/v3/Src/spi.c index a3a3311e..42aae784 100644 --- a/Firmware/Board/v3/Src/spi.c +++ b/Firmware/Board/v3/Src/spi.c @@ -110,7 +110,7 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) /* SPI3 DMA Init */ /* SPI3_TX Init */ - hdma_spi3_tx.Instance = DMA1_Stream5; + hdma_spi3_tx.Instance = DMA1_Stream7; hdma_spi3_tx.Init.Channel = DMA_CHANNEL_0; hdma_spi3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; hdma_spi3_tx.Init.PeriphInc = DMA_PINC_DISABLE; diff --git a/Firmware/Board/v3/Src/stm32f4xx_it.c b/Firmware/Board/v3/Src/stm32f4xx_it.c index 1e69bcb9..eb578ec2 100644 --- a/Firmware/Board/v3/Src/stm32f4xx_it.c +++ b/Firmware/Board/v3/Src/stm32f4xx_it.c @@ -53,7 +53,10 @@ extern TIM_HandleTypeDef htim5; extern TIM_HandleTypeDef htim8; extern DMA_HandleTypeDef hdma_uart4_rx; extern DMA_HandleTypeDef hdma_uart4_tx; +extern DMA_HandleTypeDef hdma_usart2_rx; +extern DMA_HandleTypeDef hdma_usart2_tx; extern UART_HandleTypeDef huart4; +extern UART_HandleTypeDef huart2; extern TIM_HandleTypeDef htim14; @@ -242,12 +245,40 @@ void DMA1_Stream5_IRQHandler(void) /* USER CODE BEGIN DMA1_Stream5_IRQn 0 */ COUNT_IRQ(DMA1_Stream5_IRQn); /* USER CODE END DMA1_Stream5_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_spi3_tx); + HAL_DMA_IRQHandler(&hdma_usart2_rx); /* USER CODE BEGIN DMA1_Stream5_IRQn 1 */ /* USER CODE END DMA1_Stream5_IRQn 1 */ } +/** +* @brief This function handles DMA1 stream6 global interrupt. +*/ +void DMA1_Stream6_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream6_IRQn 0 */ + COUNT_IRQ(DMA1_Stream6_IRQn); + /* USER CODE END DMA1_Stream6_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart2_tx); + /* USER CODE BEGIN DMA1_Stream6_IRQn 1 */ + + /* USER CODE END DMA1_Stream6_IRQn 1 */ +} + +/** +* @brief This function handles DMA1 stream7 global interrupt. +*/ +void DMA1_Stream7_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */ + COUNT_IRQ(DMA1_Stream7_IRQn); + /* USER CODE END DMA1_Stream7_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_spi3_tx); + /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */ + + /* USER CODE END DMA1_Stream7_IRQn 1 */ +} + /** * @brief This function handles CAN1 TX interrupts. */ @@ -304,6 +335,20 @@ void CAN1_SCE_IRQHandler(void) /* USER CODE END CAN1_SCE_IRQn 1 */ } +/** + * @brief This function handles USART2 global interrupt. + */ +void USART2_IRQHandler(void) +{ + /* USER CODE BEGIN USART2_IRQn 0 */ + + /* USER CODE END USART2_IRQn 0 */ + HAL_UART_IRQHandler(&huart2); + /* USER CODE BEGIN USART2_IRQn 1 */ + + /* USER CODE END USART2_IRQn 1 */ +} + /** * @brief This function handles TIM8 trigger and commutation interrupts and TIM14 global interrupt. */ diff --git a/Firmware/Board/v3/Src/usart.c b/Firmware/Board/v3/Src/usart.c index 93bac536..b2c8e461 100644 --- a/Firmware/Board/v3/Src/usart.c +++ b/Firmware/Board/v3/Src/usart.c @@ -58,15 +58,18 @@ /* USER CODE END 0 */ UART_HandleTypeDef huart4; +UART_HandleTypeDef huart2; DMA_HandleTypeDef hdma_uart4_rx; DMA_HandleTypeDef hdma_uart4_tx; +DMA_HandleTypeDef hdma_usart2_rx; +DMA_HandleTypeDef hdma_usart2_tx; /* UART4 init function */ void MX_UART4_Init(void) { huart4.Instance = UART4; - huart4.Init.BaudRate = 115200; // Provisionally this can be changed to 921600 for faster transfers, the low power Arduinos will not keep up. + //huart4.Init.BaudRate = 115200; // Provisionally this can be changed to 921600 for faster transfers, the low power Arduinos will not keep up. huart4.Init.WordLength = UART_WORDLENGTH_8B; huart4.Init.StopBits = UART_STOPBITS_1; huart4.Init.Parity = UART_PARITY_NONE; @@ -78,6 +81,25 @@ void MX_UART4_Init(void) _Error_Handler(__FILE__, __LINE__); } +} +/* USART2 init function */ + +void MX_USART2_UART_Init(void) +{ + + huart2.Instance = USART2; + //huart2.Init.BaudRate = 115200; + huart2.Init.WordLength = UART_WORDLENGTH_8B; + huart2.Init.StopBits = UART_STOPBITS_1; + huart2.Init.Parity = UART_PARITY_NONE; + huart2.Init.Mode = UART_MODE_TX_RX; + huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE; + huart2.Init.OverSampling = UART_OVERSAMPLING_16; + if (HAL_UART_Init(&huart2) != HAL_OK) + { + Error_Handler(); + } + } void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) @@ -135,6 +157,58 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) /* USER CODE END UART4_MspInit 1 */ } + else if(uartHandle->Instance==USART2) + { + /* USER CODE BEGIN USART2_MspInit 0 */ + + /* USER CODE END USART2_MspInit 0 */ + /* USART2 clock enable */ + __HAL_RCC_USART2_CLK_ENABLE(); + + /* USART2 DMA Init */ + /* USART2_RX Init */ + hdma_usart2_rx.Instance = DMA1_Stream5; + hdma_usart2_rx.Init.Channel = DMA_CHANNEL_4; + hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; + hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE; + hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_usart2_rx.Init.Mode = DMA_CIRCULAR; + hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW; + hdma_usart2_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK) + { + _Error_Handler(__FILE__, __LINE__); + } + + __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx); + + /* USART2_TX Init */ + hdma_usart2_tx.Instance = DMA1_Stream6; + hdma_usart2_tx.Init.Channel = DMA_CHANNEL_4; + hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; + hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE; + hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_usart2_tx.Init.Mode = DMA_NORMAL; + hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW; + hdma_usart2_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + if (HAL_DMA_Init(&hdma_usart2_tx) != HAL_OK) + { + _Error_Handler(__FILE__, __LINE__); + } + + __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx); + + /* USART2 interrupt Init */ + HAL_NVIC_SetPriority(USART2_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(USART2_IRQn); + /* USER CODE BEGIN USART2_MspInit 1 */ + + /* USER CODE END USART2_MspInit 1 */ + } } void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) @@ -147,12 +221,6 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) /* USER CODE END UART4_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_UART4_CLK_DISABLE(); - - /**UART4 GPIO Configuration - PA0-WKUP ------> UART4_TX - PA1 ------> UART4_RX - */ - HAL_GPIO_DeInit(GPIOA, GPIO_1_Pin|GPIO_2_Pin); /* UART4 DMA DeInit */ HAL_DMA_DeInit(uartHandle->hdmarx); @@ -164,6 +232,24 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) /* USER CODE END UART4_MspDeInit 1 */ } + else if(uartHandle->Instance==USART2) + { + /* USER CODE BEGIN USART2_MspDeInit 0 */ + + /* USER CODE END USART2_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_USART2_CLK_DISABLE(); + + /* UART4 DMA DeInit */ + HAL_DMA_DeInit(uartHandle->hdmarx); + HAL_DMA_DeInit(uartHandle->hdmatx); + + /* USART2 interrupt Deinit */ + HAL_NVIC_DisableIRQ(USART2_IRQn); + /* USER CODE BEGIN USART2_MspDeInit 1 */ + + /* USER CODE END USART2_MspDeInit 1 */ + } } /* USER CODE BEGIN 1 */