diff --git a/Makefile b/Makefile index e6d05bc8..4513b37c 100644 --- a/Makefile +++ b/Makefile @@ -133,6 +133,7 @@ SOURCES += src/version.c SOURCES += src/syscalls.c SOURCES += shared/crc8.c +SOURCES += shared/crc.c SOURCES += shared/yaskawa_crc16.c SOURCES += shared/endat.c SOURCES += shared/angle.c diff --git a/inc/crc.h b/inc/crc.h new file mode 100644 index 00000000..fbac6815 --- /dev/null +++ b/inc/crc.h @@ -0,0 +1,4 @@ +#include + +void calc_crc8_table(uint8_t* crc_table, uint8_t poly); +uint8_t calc_crc8(uint8_t* data, uint32_t len, uint8_t* crc_table); \ No newline at end of file diff --git a/shared/crc.c b/shared/crc.c new file mode 100644 index 00000000..93e5d747 --- /dev/null +++ b/shared/crc.c @@ -0,0 +1,25 @@ +#include "crc.h" + +void calc_crc8_table(uint8_t* crc_table, uint8_t poly){ + for(int i = 0; i < 256; i++){ + uint8_t byte = i; + for(int bit = 0; bit < 8; bit++){ + if((byte & 0x80) != 0){ + byte <<= 1; + byte ^= poly; + } + else{ + byte <<= 1; + } + } + crc_table[i] = byte; + } +} + +uint8_t calc_crc8(uint8_t* data, uint32_t len, uint8_t* crc_table){ + uint8_t crc = 0; + for(int i = 0; i < len; i++){ + crc = crc_table[data[i] ^ crc]; + } + return crc; +} \ No newline at end of file diff --git a/src/comps/smartabs.c b/src/comps/smartabs.c index 7d263509..d75449ea 100644 --- a/src/comps/smartabs.c +++ b/src/comps/smartabs.c @@ -12,18 +12,58 @@ HAL_COMP(smartabs); HAL_PIN(pos); HAL_PIN(error); HAL_PIN(state); -HAL_PIN(dma); //dma transfers left -HAL_PIN(a0); -HAL_PIN(a1); -HAL_PIN(a2); -HAL_PIN(a3); -HAL_PIN(a4); -HAL_PIN(a5); -//TODO: state, error + +#pragma pack(push, 1) +typedef struct{ + uint8_t sink : 3; + uint8_t data_id : 4; + uint8_t data_parity : 1; +} smartabs_cf_t; + +typedef struct{ + uint8_t info : 4; + uint8_t cnt_err : 1; + uint8_t err : 1; + uint8_t parity_err : 1; + uint8_t delim_err : 1; +} smartabs_sf_t; + +typedef struct{ + uint8_t req; + smartabs_cf_t cf; + smartabs_sf_t sf; + uint8_t pos[3]; + uint8_t crc; +} smartabs_reply_read_0_t; +#pragma pack(pop) + +const uint8_t smartabs_crc8_table[] = { + 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F, + 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, + 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F, + 0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F, + 0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4A, 0x4B, 0x4C, 0x4D, 0x4E, 0x4F, + 0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5A, 0x5B, 0x5C, 0x5D, 0x5E, 0x5F, + 0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69, 0x6A, 0x6B, 0x6C, 0x6D, 0x6E, 0x6F, + 0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7A, 0x7B, 0x7C, 0x7D, 0x7E, 0x7F, + 0x80, 0x81, 0x82, 0x83, 0x84, 0x85, 0x86, 0x87, 0x88, 0x89, 0x8A, 0x8B, 0x8C, 0x8D, 0x8E, 0x8F, + 0x90, 0x91, 0x92, 0x93, 0x94, 0x95, 0x96, 0x97, 0x98, 0x99, 0x9A, 0x9B, 0x9C, 0x9D, 0x9E, 0x9F, + 0xA0, 0xA1, 0xA2, 0xA3, 0xA4, 0xA5, 0xA6, 0xA7, 0xA8, 0xA9, 0xAA, 0xAB, 0xAC, 0xAD, 0xAE, 0xAF, + 0xB0, 0xB1, 0xB2, 0xB3, 0xB4, 0xB5, 0xB6, 0xB7, 0xB8, 0xB9, 0xBA, 0xBB, 0xBC, 0xBD, 0xBE, 0xBF, + 0xC0, 0xC1, 0xC2, 0xC3, 0xC4, 0xC5, 0xC6, 0xC7, 0xC8, 0xC9, 0xCA, 0xCB, 0xCC, 0xCD, 0xCE, 0xCF, + 0xD0, 0xD1, 0xD2, 0xD3, 0xD4, 0xD5, 0xD6, 0xD7, 0xD8, 0xD9, 0xDA, 0xDB, 0xDC, 0xDD, 0xDE, 0xDF, + 0xE0, 0xE1, 0xE2, 0xE3, 0xE4, 0xE5, 0xE6, 0xE7, 0xE8, 0xE9, 0xEA, 0xEB, 0xEC, 0xED, 0xEE, 0xEF, + 0xF0, 0xF1, 0xF2, 0xF3, 0xF4, 0xF5, 0xF6, 0xF7, 0xF8, 0xF9, 0xFA, 0xFB, 0xFC, 0xFD, 0xFE, 0xFF, +}; + struct smartabs_ctx_t { uint32_t error; - uint8_t rxbuf[15]; + union{ + smartabs_reply_read_0_t reply; + uint8_t bytes[sizeof(smartabs_reply_read_0_t)]; + }rxbuf; + //uint8_t rxbuf[15] }; static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) { @@ -78,7 +118,7 @@ static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) { DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t) & (USART6->DR); DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ctx->rxbuf; DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory; - DMA_InitStructure.DMA_BufferSize = ARRAY_SIZE(ctx->rxbuf); + DMA_InitStructure.DMA_BufferSize = sizeof(ctx->rxbuf); DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; @@ -94,37 +134,40 @@ static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) { USART_DMACmd(USART6, USART_DMAReq_Rx, ENABLE); } + static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) { struct smartabs_ctx_t *ctx = (struct smartabs_ctx_t *)ctx_ptr; struct smartabs_pin_ctx_t *pins = (struct smartabs_pin_ctx_t *)pin_ptr; - PIN(dma) = DMA_GetCurrDataCounter(DMA2_Stream1); - if((sizeof(ctx->rxbuf) - DMA_GetCurrDataCounter(DMA2_Stream1)) == 6) { - PIN(a0) = ctx->rxbuf[0]; - PIN(a1) = ctx->rxbuf[1]; - PIN(a2) = ctx->rxbuf[2]; - PIN(a3) = ctx->rxbuf[3]; - PIN(a4) = ctx->rxbuf[4]; - PIN(a5) = ctx->rxbuf[5]; - uint32_t tpos = ((ctx->rxbuf[4] & 0x01) << 16) + (ctx->rxbuf[3] << 8) + ctx->rxbuf[2]; + + //stop rx dma + DMA_Cmd(DMA2_Stream1, DISABLE); + DMA_ClearFlag(DMA2_Stream1, DMA_FLAG_TCIF1); + + uint8_t crc = calc_crc8(&ctx->rxbuf.reply.cf, 6, smartabs_crc8_table); + + if(!crc){ + uint32_t tpos = ((ctx->rxbuf.reply.pos[2] & 0x01) << 16) + (ctx->rxbuf.reply.pos[1] << 8) + ctx->rxbuf.reply.pos[0]; PIN(pos) = (tpos * M_PI * 2.0 / 131072.0) - M_PI; PIN(state) = 3; PIN(error) = 0; - } else { + } + else{ ctx->error++; //TODO: overflow... PIN(error) = ctx->error; PIN(state) = 0.0; } - //TODO: irq here will cause problems + // destroy old package + ctx->rxbuf.reply.cf.data_id = 0; + __disable_irq(); GPIO_SetBits(GPIOD, GPIO_Pin_15); //tx enable USART_SendData(USART6, 0x02); while(USART_GetFlagStatus(USART6, USART_FLAG_TC) == RESET) ; GPIO_ResetBits(GPIOD, GPIO_Pin_15); //tx disable + //start rx dma - DMA_Cmd(DMA2_Stream1, DISABLE); - DMA_ClearFlag(DMA2_Stream1, DMA_FLAG_TCIF1); DMA_Cmd(DMA2_Stream1, ENABLE); __enable_irq(); }