Issue #18: ECU STM32 Implement Communication Hub

.cproject

@@ -80,7 +80,7 @@
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.2032300559" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.1428656477" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script.227955233" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F407VGTX_FLASH.ld}" valueType="string"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script.227955233" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F407VGTX_FLASH_custom.ld}" valueType="string"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input.296230319" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
 									<additionalInput kind="additionalinput" paths="$(LIBS)"/>

Core/Inc/stm32f4xx_hal_conf.h

@@ -190,7 +190,7 @@
 #define  USE_HAL_SMBUS_REGISTER_CALLBACKS       0U /* SMBUS register callback disabled     */
 #define  USE_HAL_SPI_REGISTER_CALLBACKS         0U /* SPI register callback disabled       */
 #define  USE_HAL_TIM_REGISTER_CALLBACKS         0U /* TIM register callback disabled       */
-#define  USE_HAL_UART_REGISTER_CALLBACKS        0U /* UART register callback disabled      */
+#define  USE_HAL_UART_REGISTER_CALLBACKS        1U /* UART register callback enabled       */
 #define  USE_HAL_USART_REGISTER_CALLBACKS       0U /* USART register callback disabled     */
 #define  USE_HAL_WWDG_REGISTER_CALLBACKS        0U /* WWDG register callback disabled      */
 

Core/Src/main.c

@@ -64,7 +64,7 @@ UART_HandleTypeDef huart3;
 osThreadId_t defaultTaskHandle;
 const osThreadAttr_t defaultTask_attributes = {
   .name = "defaultTask",
-  .stack_size = 128 * 4,
+  .stack_size = 512 * 4,
   .priority = (osPriority_t) osPriorityNormal,
 };
 /* USER CODE BEGIN PV */

Core/Src/stm32f4xx_it.c

@@ -59,7 +59,9 @@ extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
 extern TIM_HandleTypeDef htim7;
 
 /* USER CODE BEGIN EV */
-
+extern UART_HandleTypeDef huart3;
+extern DMA_HandleTypeDef hdma_usart3_rx;
+extern DMA_HandleTypeDef hdma_usart3_tx;
 /* USER CODE END EV */
 
 /******************************************************************************/
@@ -189,5 +191,36 @@ void OTG_FS_IRQHandler(void)
 }
 
 /* USER CODE BEGIN 1 */
+void USART3_IRQHandler(void)
+{
+	HAL_UART_IRQHandler(&huart3);
+}
+
+/**
+  * @brief This function handles DMA1 stream1 global interrupt.
+  */
+void DMA1_Stream1_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream1_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart3_rx);
+  /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
 
+  /* USER CODE END DMA1_Stream1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA1 stream3 global interrupt.
+  */
+void DMA1_Stream3_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream3_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart3_tx);
+  /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream3_IRQn 1 */
+}
 /* USER CODE END 1 */

KPI_Rover/Communication/ProtocolHandler.c

@@ -0,0 +1,104 @@
+#include "UARTTransport.h"
+
+#include <string.h>
+#include <stdint.h>
+#include "cmsis_os2.h"
+
+#define SEND_BUFFER_SIZE 64
+#define RECV_BUFFER_SIZE 32
+
+static uint8_t sendBuffer[SEND_BUFFER_SIZE];
+static uint8_t recvBuffer[RECV_BUFFER_SIZE];
+static uint8_t recvSize;
+
+static void (*dispatch_table[256])(void);
+
+static osThreadAttr_t ta = {
+	.stack_size = 64 * 4
+};
+
+static void dispatch_unsupported(void)
+{
+	sendBuffer[0] = 0xFF;
+	UARTTransport_send(sendBuffer, 1);
+}
+
+static void dispatch_01(void)
+{
+	sendBuffer[0] = 0x01;
+	sendBuffer[1] = 0x01;
+	UARTTransport_send(sendBuffer, 2);
+}
+
+static void dispatch_02(void)
+{
+	sendBuffer[0] = 0x02;
+
+	switch (recvBuffer[1]) {
+	case 0:
+		sendBuffer[1] = 0x0;
+		break;
+	case 1:
+		sendBuffer[1] = 0x0;
+		break;
+	case 2:
+		sendBuffer[1] = 0x0;
+		break;
+	case 3:
+		sendBuffer[1] = 0x0;
+		break;
+	default:
+		sendBuffer[1] = 0x01;
+		break;
+	}
+
+	UARTTransport_send(sendBuffer, 2);
+}
+
+static void dispatch_03(void)
+{
+	sendBuffer[0] = 0x03;
+	sendBuffer[1] = 0x00;
+	UARTTransport_send(sendBuffer, 2);
+}
+
+static void dispatch_05(void)
+{
+	sendBuffer[0] = 0x05;
+	memset(sendBuffer + 1, 0xBB, 16);
+	UARTTransport_send(sendBuffer, 17);
+}
+
+static void dispatch_06(void)
+{
+	sendBuffer[0] = 0x06;
+	memset(sendBuffer + 1, 0xCC, 52);
+	UARTTransport_send(sendBuffer, 53);
+}
+
+void ProtocolHandler_processTask(void *d)
+{
+	(void) d;
+
+	UARTTransport_init();
+
+	for ( ; ; ) {
+		UARTTransport_receive(recvBuffer, &recvSize);
+		dispatch_table[recvBuffer[0]]();
+	}
+}
+
+void ProtocolHandler_init(void)
+{
+	for (uint32_t i = 0; i < 256; i++) {
+		dispatch_table[i] = dispatch_unsupported;
+	}
+
+	dispatch_table[1] = dispatch_01;
+	dispatch_table[2] = dispatch_02;
+	dispatch_table[3] = dispatch_03;
+	dispatch_table[5] = dispatch_05;
+	dispatch_table[6] = dispatch_06;
+
+	(void) osThreadNew(ProtocolHandler_processTask, NULL, &ta);
+}

KPI_Rover/Communication/ProtocolHandler.h

@@ -0,0 +1,8 @@
+#ifndef __PROTOCOL_HANDLER_H
+#define __PROTOCOL_HANDLER_H
+
+
+void ProtocolHandler_init(void);
+
+
+#endif /* __PROTOCOL_HANDLER_H */

KPI_Rover/Communication/UARTTransport.c

@@ -0,0 +1,78 @@
+#include <string.h>
+
+#include "UARTTransport.h"
+#include "cmsis_os2.h"
+
+#include "drvUart.h"
+
+#define FLAG_TRANSMIT_FINISH 0x1
+
+static osMessageQueueId_t sendQ;
+static osMessageQueueId_t recvQ;
+
+static osEventFlagsId_t ef;
+
+static osThreadAttr_t ta = {
+	.stack_size = 64 * 4
+};
+
+void UARTTransport_sendTask(void *d)
+{
+	(void) d;
+
+	static uint8_t sendMessageBuffer[UART_TRANSPORT_SEND_BUFFER_SIZE];
+
+	for ( ; ; ) {
+		if (osMessageQueueGet(sendQ, sendMessageBuffer, NULL, osWaitForever))
+			continue;
+
+		drvUart_send(sendMessageBuffer);
+
+		osEventFlagsWait(ef, FLAG_TRANSMIT_FINISH, 0, osWaitForever);
+	}
+}
+
+void UARTTransport_onRxCplt(const uint8_t * const buffer)
+{
+	(void) osMessageQueuePut(recvQ, buffer, 0, 0);
+}
+
+void UARTTransport_onTxCplt(void)
+{
+	(void) osEventFlagsSet(ef, FLAG_TRANSMIT_FINISH);
+}
+
+void UARTTransport_init(void)
+{
+	(void) drvUart_on_rx_cplt(UARTTransport_onRxCplt);
+	(void) drvUart_on_tx_cplt(UARTTransport_onTxCplt);
+
+	(void) drvUart_start();
+
+	ef = osEventFlagsNew(NULL);
+
+	sendQ = osMessageQueueNew(16, UART_TRANSPORT_SEND_BUFFER_SIZE, NULL);
+	recvQ = osMessageQueueNew(16, UART_TRANSPORT_RECV_BUFFER_SIZE, NULL);
+
+	(void) osThreadNew(UARTTransport_sendTask, NULL, &ta);
+}
+
+void UARTTransport_receive(uint8_t * const buf, uint8_t * const size)
+{
+	static uint8_t recvBuffer[UART_TRANSPORT_RECV_BUFFER_SIZE];
+
+	(void) osMessageQueueGet(recvQ, recvBuffer, NULL, osWaitForever);
+
+	*size = recvBuffer[0] - 1;
+	memcpy(buf, recvBuffer + 1, *size);
+}
+
+void UARTTransport_send(const uint8_t * const buf, const uint8_t size)
+{
+	static uint8_t sendEncodingBuffer[UART_TRANSPORT_SEND_BUFFER_SIZE];
+
+	sendEncodingBuffer[0] = size + 1;
+	memcpy(sendEncodingBuffer + 1, buf, size);
+
+	(void) osMessageQueuePut(sendQ, sendEncodingBuffer, 0, osWaitForever);
+}

KPI_Rover/Communication/UARTTransport.h

@@ -0,0 +1,13 @@
+#ifndef __UART_TRANSPORT_H
+#define __UART_TRANSPORT_H
+
+#include <stdint.h>
+
+#define UART_TRANSPORT_RECV_BUFFER_SIZE 32
+#define UART_TRANSPORT_SEND_BUFFER_SIZE 64
+
+void UARTTransport_init(void);
+void UARTTransport_receive(uint8_t * const buf, uint8_t * const size);
+void UARTTransport_send(const uint8_t * const buf, const uint8_t size);
+
+#endif /* __UART_TRANSPORT_H */

KPI_Rover/Communication/crc16.c

@@ -0,0 +1,60 @@
+#include "crc16.h"
+
+static uint16_t crc_table[UINT8_MAX + 1];
+
+uint16_t crc16( const unsigned char *buf, unsigned int len )
+{
+	uint16_t crc = 0xFFFF;
+	char i = 0;
+
+	while(len--)
+	{
+		crc ^= (*buf++);
+
+		for(i = 0; i < 8; i++)
+		{
+			if( crc & 1 )
+			{
+				crc >>= 1;
+				crc ^= 0xA001;
+			}
+			else
+			{
+				crc >>= 1;
+			}
+		}
+	}
+
+	return crc;
+}
+
+uint16_t crc16_tmp1(uint8_t const * data, size_t size)
+{
+	uint16_t crc = 0xFFFF;
+	while (size--) {
+		/* XOR-in next input byte into MSB of crc, that's our new intermediate dividend */
+		uint8_t pos = (uint8_t)( (crc >> 8) ^ *data++); /* equal: ((crc ^ (b << 8)) >> 8) */
+		/* Shift out the MSB used for division per lookuptable and XOR with the remainder */
+		crc = (uint16_t)((crc << 8) ^ (uint16_t)(crc_table[pos]));
+	}
+	return crc;
+}
+
+void crc16_fillTable()
+{
+	const uint16_t generator = 0x8005;
+	for (int dividend = 0; dividend < UINT8_MAX + 1; ++dividend) {
+		uint16_t current_byte = dividend << 8;
+
+		for (uint8_t bit = 0; bit < 8; ++bit) {
+			if ((current_byte & 0x8000) != 0) {
+				current_byte <<= 1;
+				current_byte ^= generator;
+			}
+			else {
+				current_byte <<= 1;
+			}
+		}
+		crc_table[dividend] = current_byte;
+	}
+}

KPI_Rover/Communication/crc16.h

@@ -0,0 +1,10 @@
+#ifndef COMMUNICATION_CRC16_H_
+#define COMMUNICATION_CRC16_H_
+
+#include <stdint.h>
+#include <stddef.h>
+
+uint16_t crc16(uint8_t const *data, size_t size);
+void crc16_fillTable(void);
+
+#endif /* COMMUNICATION_CRC16_H_ */