415 lines
13 KiB
C
415 lines
13 KiB
C
/* TFLuna2.c
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* Jonathan Valvano
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* Date: 12/12/2025
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TF Luna TOF distance sensor
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*/
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#include <ti/devices/msp/msp.h>
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#include "../RTOS_Labs_common/TFLuna2.h"
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#include "../inc/Clock.h"
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#include "../inc/LaunchPad.h"
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// There are four possible sets of UART2 pins that can be used
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// Select the TFLUNA2_RX/TFLUNA2_TX for the UART2 pins to use
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// overhead of TFLuna will be 17us/measurement at 100 measurements/sec
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// SJ-PM-TF-Luna+A01 on RTOS sensor board
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// Pin
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// 1 Red 5V
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// 2 Serial TxD: PB17 is UART2 Tx (MSPM0 to TFLuna2)
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// 3 Serial RxD: PB18 is UART2 Rx (TFLuna2 to MSPM0)
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// 4 black ground
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#define TFLUNA2_RX PB18INDEX
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#define TFLUNA2_TX PB17INDEX
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// SJ-PM-TF-Luna+A01
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// Pin
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// 1 Red 5V
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// 2 Serial TxD: PA21 is UART2 Tx (MSPM0 to TFLuna2)
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// 3 Serial RxD: PA22 is UART2 Rx (TFLuna2 to MSPM0)
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// 4 black ground
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//#define TFLUNA2_RX PA22INDEX
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//#define TFLUNA2_TX PA21INDEX
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// SJ-PM-TF-Luna+A01
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// Pin
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// 1 Red 5V
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// 2 Serial TxD: PA23 is UART2 Tx (MSPM0 to TFLuna2)
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// 3 Serial RxD: PA24 is UART2 Rx (TFLuna2 to MSPM0)
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// 4 black ground
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//#define TFLUNA2_RX PA24INDEX
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//#define TFLUNA2_TX PA23INDEX
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// SJ-PM-TF-Luna+A01
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// Pin
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// 1 Red 5V
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// 2 Serial TxD: PB15 is UART2 Tx (MSPM0 to TFLuna2)
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// 3 Serial RxD: PB16 is UART2 Rx (TFLuna2 to MSPM0)
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// 4 black ground
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//#define TFLUNA2_RX PB16INDEX
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//#define TFLUNA2_TX PB15INDEX
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uint32_t LostData2;
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#define FIFO2_SIZE 16 // usable size is 15
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// prototypes for private functions
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void Tx2Fifo_Init(void);
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uint32_t Tx2Fifo_Put(uint8_t data);
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uint32_t Tx2Fifo_Get(uint8_t *datapt);
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void Rx2Fifo_Init(void);
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uint32_t Rx2Fifo_Put(uint8_t data);
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uint32_t Rx2Fifo_Get(uint8_t *datapt);
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int TFLuna2Index;
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// 0 for looking for two 59s
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// 2-8 filling the TFLunaDataMessage with 9-byte message
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void (*TFLuna2Function)(uint32_t); // data in mm
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uint8_t TFLuna2LastByte;
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uint32_t TFLuna2Distance; // in mm
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uint8_t TFLuna2DataMessage[12]; // 9 byte fixed size message
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int BadCheckSum2; // errors
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// defined in TFLunaCommon
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extern const uint8_t ObtainFirmware[4];
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// expected response is 0x5A,0x07,0x01,a,b,c,SU version c.b.a
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extern const uint8_t System_Reset[4];
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// expected response is 0x5A,0x05,0x02,0x00, 0x60 for success
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// expected response is 0x5A,0x05,0x02,0x01, 0x61 for failed
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extern const uint8_t Frame_Rate[6];
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extern const uint8_t Trigger[4];
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extern const uint8_t Format_Standard_cm[5];
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extern const uint8_t Format_Pixhawk[5];
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extern const uint8_t Format_Standard_mm[5];
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extern const uint8_t Output_Enable[5];
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extern const uint8_t Output_Disable[5];
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extern const uint8_t SaveSettings[4];
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// power Domain PD0
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// for 80MHz bus clock, UART clock is ULPCLK 40MHz
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//------------TFLuna_Init------------
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// Initialize the UART2 for 115,200 baud rate (assuming 80 MHz clock),
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// 8 bit word length, no parity bits, one stop bit, FIFOs enabled
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// Input: function 0 for debug, user function for real time
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// Output: none
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void TFLuna2_Init(void (*function)(uint32_t)){
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// do not reset or activate PortA, already done in LaunchPad_Init
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// RSTCLR to GPIOA and UART2 peripherals
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// bits 31-24 unlock key 0xB1
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// bit 1 is Clear reset sticky bit
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// bit 0 is reset gpio port
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// GPIOA->GPRCM.RSTCTL = (uint32_t)0xB1000003; // called previously
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UART2->GPRCM.RSTCTL = 0xB1000003;
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// Enable power to GPIOA and UART2 peripherals
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// PWREN
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// bits 31-24 unlock key 0x26
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// bit 0 is Enable Power
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// GPIOA->GPRCM.PWREN = (uint32_t)0x26000001; // called previously
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UART2->GPRCM.PWREN = 0x26000001;
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Clock_Delay(24); // time for uart to power up
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// the following code selects which pins to use
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IOMUX->SECCFG.PINCM[TFLUNA2_RX] = 0x00040082;
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//bit 18 INENA input enable
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//bit 7 PC connected
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//bits 5-0=2 for UART2_Rx
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// configure alternate UART2 transmit function
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IOMUX->SECCFG.PINCM[TFLUNA2_TX] = 0x00000082;
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//bit 7 PC connected
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//bits 5-0=2 for UART2_Tx
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UART2->CLKSEL = 0x08; // bus clock
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UART2->CLKDIV = 0x00; // no divide
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UART2->CTL0 &= ~0x01; // disable UART2
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UART2->CTL0 = 0x00020018;
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// bit 17 FEN=1 enable FIFO
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// bits 16-15 HSE=00 16x oversampling
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// bit 14 CTSEN=0 no CTS hardware
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// bit 13 RTSEN=0 no RTS hardware
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// bit 12 RTS=0 not RTS
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// bits 10-8 MODE=000 normal
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// bits 6-4 TXE=001 enable TxD
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// bit 3 RXE=1 enable TxD
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// bit 2 LBE=0 no loop back
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// bit 0 ENABLE 0 is disable, 1 to enable
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if(Clock_Freq() == 40000000){
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// 20000000/16 = 1,250,000 Hz
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// Baud = 115200
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// 1,250,000/115200 = 10.8506944444
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// divider = 10+54/64 = 10.84375
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UART2->IBRD = 10;
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UART2->FBRD = 54; // baud =1,250,000/10.84375 = 115,273.77
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}else if (Clock_Freq() == 32000000){
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// 32000000/16 = 2,000,000
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// Baud = 115200
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// 2,000,000/115200 = 17.3611111
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// divider = 21+23/64 = 17.359375
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UART2->IBRD = 17;
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UART2->FBRD = 23; // 115,211.52
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}else if (Clock_Freq() == 80000000){
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// 40000000/16 = 2,500,000 Hz
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// Baud = 115200
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// 2,500,000/115200 = 21.701388
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// divider = 21+45/64 = 21.703125
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UART2->IBRD = 21;
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UART2->FBRD = 45; // baud =2,500,000/21.703125 = 115,191
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}else return;
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TFLuna2Function = function;
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TFLuna2Index = 0; // looking for two 59s
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TFLuna2LastByte = 0;
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TFLuna2DataMessage[0] = 0x59;
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TFLuna2DataMessage[1] = 0x59;
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BadCheckSum2 = 0;
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Tx2Fifo_Init();
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Rx2Fifo_Init();
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LostData2 = 0;
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UART2->LCRH = 0x00000030;
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// bits 5-4 WLEN=11 8 bits
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// bit 3 STP2=0 1 stop
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// bit 2 EPS=0 parity select
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// bit 1 PEN=0 no parity
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// bit 0 BRK=0 no break
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UART2->CPU_INT.IMASK = 0x0C01;
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// bit 11 TXINT yes
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// bit 10 RXINT yes
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// bit 0 Receive timeout, yes
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UART2->IFLS = 0x0422;
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// bits 11-8 RXTOSEL receiver timeout select 4 (0xF highest)
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// bits 6-4 RXIFLSEL 2 is greater than or equal to half
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// bits 2-0 TXIFLSEL 2 is less than or equal to half
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NVIC->ICPR[0] = 1<<14; // UART2 is IRQ 13
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NVIC->ISER[0] = 1<<14;
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NVIC->IP[3] = (NVIC->IP[3]&(~0x00FF0000))|(1<<22); // set priority (bits 23-22) IRQ 14
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UART2->CTL0 |= 0x01; // enable UART2
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}
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// copy from hardware RX FIFO to software RX FIFO
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// stop when hardware RX FIFO is empty or software RX FIFO is full
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void static copyHardwareToSoftware2(void){
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uint8_t letter;
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if(TFLuna2Function==0){ // raw data mode
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while(((UART2->STAT&0x04) == 0)&&(TFLuna2_InStatus() < (FIFO2_SIZE - 1))){
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letter = UART2->RXDATA;
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Rx2Fifo_Put(letter);
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}
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}else{
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while((UART2->STAT&0x04)==0){
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letter = UART2->RXDATA;
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if(TFLuna2Index == 0){
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if((letter == 0x59)&&(TFLuna2LastByte == 0x59)){
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TFLuna2Index = 2; // looking for message
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}
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TFLuna2LastByte = letter;
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}else{
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TFLuna2DataMessage[TFLuna2Index] = letter;
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TFLuna2Index++;
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if(TFLuna2Index == 9){
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TFLuna2LastByte = 0; // get ready for next message
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TFLuna2Index = 0;
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uint8_t check=0;
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for(int i=0;i<8;i++){
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check += TFLuna2DataMessage[i];
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}
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if(check == TFLuna2DataMessage[8]){
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TFLuna2Distance = TFLuna2DataMessage[3]*256+TFLuna2DataMessage[2];
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// call back
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(*TFLuna2Function)(TFLuna2Distance); // pass distance back to higher level
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}else{
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BadCheckSum2++; // error
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}
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}
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}
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}
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}
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}
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//------------TFLuna2_InChar------------
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// Wait for new serial port input
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// Input: none
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// Output: ASCII code for key typed
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uint8_t TFLuna2_InChar(void){uint32_t status;
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uint8_t letter;
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do{
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status = Rx2Fifo_Get(&letter);
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}while(status==0);
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return(letter);
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}
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// copy from software TX FIFO to hardware TX FIFO
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// stop when software TX FIFO is empty or hardware TX FIFO is full
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void static copySoftwareToHardware2(void){
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uint8_t letter;
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while(((UART2->STAT&0x80) == 0) && (TFLuna2_OutStatus() > 0)){
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Tx2Fifo_Get(&letter);
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UART2->TXDATA = letter;
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}
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}
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//------------UART2_OutChar------------
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// Output 8-bit to serial port
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// Input: letter is an 8-bit ASCII character to be transferred
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// Output: none
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void TFLuna2_OutChar(uint8_t data){
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while(Tx2Fifo_Put(data) == 0){};
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UART2->CPU_INT.IMASK &= ~0x0800; // disarm TX FIFO interrupt
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copySoftwareToHardware2();
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UART2->CPU_INT.IMASK |= 0x0800; // rearm TX FIFO interrupt
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}
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//------------TFLuna_OutString------------
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// Output String (NULL termination)
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// Input: pointer to a NULL-terminated string to be transferred
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// Output: none
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void TFLuna2_OutString(uint8_t *pt){
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while(*pt){
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TFLuna2_OutChar(*pt);
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pt++;
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}
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}
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//------------TFLuna2_SendMessage------------
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// Output message, msg[1] is length
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// Input: pointer to message to be transferred
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// Output: none
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void TFLuna2_SendMessage(const uint8_t msg[]){
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for(int i=0; i<msg[1]; i++){
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TFLuna2_OutChar(msg[i]);
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}
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}
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void TFLuna2_Format_Standard_mm(void){
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TFLuna2_SendMessage(Format_Standard_mm);
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}
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void TFLuna2_Format_Standard_cm(void){
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TFLuna2_SendMessage(Format_Standard_cm);
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}
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void TFLuna2_Format_Pixhawk(void){
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TFLuna2_SendMessage(Format_Pixhawk);
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}
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void TFLuna2_Output_Enable(void){
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TFLuna2_SendMessage(Output_Enable);
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}
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void TFLuna2_Output_Disable(void){
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TFLuna2_SendMessage(Output_Disable);
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}
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void TFLuna2_Frame_Rate(void){
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TFLuna2_SendMessage(Frame_Rate);
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}
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void TFLuna2_SaveSettings(void){
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TFLuna2_SendMessage(SaveSettings);
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}
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void TFLuna2_System_Reset(void){
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TFLuna2_SendMessage(System_Reset);
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}
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void UART2_IRQHandler(void){ uint32_t status;
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status = UART2->CPU_INT.IIDX; // reading clears bit in RIS
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if(status == 0x01){ // 0x01 receive timeout
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copyHardwareToSoftware2();
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}else if(status == 0x0B){ // 0x0B receive
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copyHardwareToSoftware2();
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}else if(status == 0x0C){ // 0x0C transmit
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copySoftwareToHardware2();
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if(TFLuna2_OutStatus() == 0){ // software TX FIFO is empty
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UART2->CPU_INT.IMASK &= ~0x0800; // disable TX FIFO interrupt
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}
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}
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}
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// Declare state variables for FiFo
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// size, buffer, put and get indexes
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int32_t static Tx2PutI; // Index to put new
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int32_t static Tx2GetI; // Index of oldest
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uint8_t static Tx2Fifo[FIFO2_SIZE];
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// *********** Tx2Fifo_Init**********
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// Initializes a software Tx2FIFO of a
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// fixed size and sets up indexes for
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// put and get operations
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void Tx2Fifo_Init(void){
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Tx2PutI = Tx2GetI = 0;
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}
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// *********** Tx2Fifo_Put**********
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// Adds an element to the Tx2FIFO
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// Input: data is character to be inserted
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// Output: 1 for success, data properly saved
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// 0 for failure, TxFIFO is full
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uint32_t Tx2Fifo_Put(uint8_t data){
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if(((Tx2PutI+1)&(FIFO2_SIZE-1)) == Tx2GetI){
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return 0;
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}
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Tx2Fifo[Tx2PutI] = data;
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Tx2PutI = (Tx2PutI+1)&(FIFO2_SIZE-1);
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return 1; // success
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}
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// *********** Tx2Fifo_Get**********
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// Gets an element from the Tx2FIFO
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// Input: pointer to empty 8-bit variable
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// Output: If the Tx2FIFO is empty return 0
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// If the Tx2FIFO has data, remove it, and put in *datapt, return 1
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uint32_t Tx2Fifo_Get(uint8_t *datapt){
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if(Tx2GetI == Tx2PutI){
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return 0;
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}
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*datapt = Tx2Fifo[Tx2GetI];
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Tx2GetI = (Tx2GetI+1)&(FIFO2_SIZE-1);
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return 1; // success
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}
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//------------TFLuna2_OutStatus------------
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// Returns how much data available for reading from Tx2 FIFO
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// Input: none
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// Output: number of elements in receive FIFO
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uint32_t TFLuna2_OutStatus(void){
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return ((Tx2PutI - Tx2GetI)&(FIFO2_SIZE-1));
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}
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int32_t static Rx2PutI; // Index to put new
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int32_t static Rx2GetI; // Index of oldest
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uint8_t static Rx2Fifo[FIFO2_SIZE];
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// *********** Rx2Fifo_Init**********
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// Initializes a software RxFIFO of a
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// fixed size and sets up indexes for
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// put and get operations
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void Rx2Fifo_Init(void){
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Rx2PutI = Rx2GetI = 0;
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}
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// *********** Rx2Fifo_Put**********
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// Adds an element to the Rx2FIFO
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// Input: data is character to be inserted
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// Output: 1 for success, data properly saved
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// 0 for failure, RxFIFO is full
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uint32_t Rx2Fifo_Put(uint8_t data){
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if(((Rx2PutI+1)&(FIFO2_SIZE-1)) == Rx2GetI){
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return 0;
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}
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Rx2Fifo[Rx2PutI] = data;
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Rx2PutI = (Rx2PutI+1)&(FIFO2_SIZE-1);
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return 1;
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}
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// *********** Rx2Fifo_Get**********
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// Gets an element from the Rx2FIFO
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// Input: pointer to empty 8-bit variable
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// Output: If the Rx2FIFO is empty return 0
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// If the Rx2FIFO has data, remove it, and put in *datapt, return 1
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uint32_t Rx2Fifo_Get(uint8_t *datapt){
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if(Rx2GetI == Rx2PutI){
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return 0;
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}
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*datapt = Rx2Fifo[Rx2GetI];
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Rx2GetI = (Rx2GetI+1)&(FIFO2_SIZE-1);
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return 1;
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}
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//------------TFLuna2_InStatus------------
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// Returns how much data available for reading from Rx2 FIFO
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// Input: none
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// Output: number of elements in receive FIFO
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uint32_t TFLuna2_InStatus(void){
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return ((Rx2PutI - Rx2GetI)&(FIFO2_SIZE-1));
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}
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