412 lines
13 KiB
C
412 lines
13 KiB
C
/* TFLuna3.c
|
|
* Jonathan Valvano
|
|
* Date: 10/23/2025
|
|
TF Luna TOF distance sensor
|
|
*/
|
|
|
|
|
|
#include <ti/devices/msp/msp.h>
|
|
#include "../RTOS_Labs_common/TFLuna3.h"
|
|
#include "../inc/Clock.h"
|
|
#include "../inc/LaunchPad.h"
|
|
|
|
// There are four possible sets of UART3 pins that can be used
|
|
// Select the TFLuna3_RX/TFLuna3_TX for the UART3 pins to use
|
|
// overhead of TFLuna will be 17us/measurement at 100 measurements/sec
|
|
// UART3 is shared between LD19 and TFLuna3 (can have either but not both)
|
|
|
|
|
|
// SJ-PM-TF-Luna+A01 on RTOS sensor board
|
|
// Pin
|
|
// 1 Red 5V
|
|
// 2 Serial TxD: PB12 is UART3 Tx (MSPM0 to TFLuna3)
|
|
// 3 Serial RxD: PB13 is UART3 Rx (TFLuna3 to MSPM0)
|
|
// 4 black ground
|
|
#define TFLUNA3_RX PB13INDEX
|
|
#define TFLUNA3_TX PB12INDEX
|
|
|
|
// Can use PA13 and PA14, but different PINCH values
|
|
|
|
// SJ-PM-TF-Luna+A01
|
|
// Pin
|
|
// 1 Red 5V
|
|
// 2 Serial TxD: PA26 is UART3 Tx (MSPM0 to TFLuna3)
|
|
// 3 Serial RxD: PA25 is UART3 Rx (TFLuna3 to MSPM0)
|
|
// 4 black ground
|
|
//#define TFLUNA3_RX PA25INDEX
|
|
//#define TFLUNA3_TX PA26INDEX
|
|
|
|
// SJ-PM-TF-Luna+A01
|
|
// Pin
|
|
// 1 Red 5V
|
|
// 2 Serial TxD: PB2 is UART3 Tx (MSPM0 to TFLuna3)
|
|
// 3 Serial RxD: PB3 is UART3 Rx (TFLuna3 to MSPM0)
|
|
// 4 black ground
|
|
//#define TFLUNA3_RX PB3INDEX
|
|
//#define TFLUNA3_TX PB2INDEX
|
|
|
|
uint32_t LostData3;
|
|
#define FIFO3_SIZE 16 // usable size is 15
|
|
// prototypes for private functions
|
|
void Tx3Fifo_Init(void);
|
|
uint32_t Tx3Fifo_Put(uint8_t data);
|
|
uint32_t Tx3Fifo_Get(uint8_t *datapt);
|
|
void Rx3Fifo_Init(void);
|
|
uint32_t Rx3Fifo_Put(uint8_t data);
|
|
uint32_t Rx3Fifo_Get(uint8_t *datapt);
|
|
int TFLuna3Index;
|
|
// 0 for looking for two 59s
|
|
// 2-8 filling the TFLunaDataMessage with 9-byte message
|
|
void (*TFLuna3Function)(uint32_t); // data in mm
|
|
uint8_t TFLuna3LastByte;
|
|
uint32_t TFLuna3Distance; // in mm
|
|
uint8_t TFLuna3DataMessage[12]; // 9 byte fixed size message
|
|
int BadCheckSum3; // errors
|
|
|
|
|
|
// defined in TFLunaCommon
|
|
extern const uint8_t ObtainFirmware[4];
|
|
// expected response is 0x5A,0x07,0x01,a,b,c,SU version c.b.a
|
|
extern const uint8_t System_Reset[4];
|
|
// expected response is 0x5A,0x05,0x02,0x00, 0x60 for success
|
|
// expected response is 0x5A,0x05,0x02,0x01, 0x61 for failed
|
|
extern const uint8_t Frame_Rate[6];
|
|
extern const uint8_t Trigger[4];
|
|
extern const uint8_t Format_Standard_cm[5];
|
|
extern const uint8_t Format_Pixhawk[5];
|
|
extern const uint8_t Format_Standard_mm[5];
|
|
extern const uint8_t Output_Enable[5];
|
|
extern const uint8_t Output_Disable[5];
|
|
extern const uint8_t SaveSettings[4];
|
|
|
|
// power Domain PD1
|
|
// for 32MHz bus clock, UART clock is 32MHz
|
|
// for 40MHz bus clock, UART clock is MCLK 40MHz
|
|
// for 80MHz bus clock, UART clock is MCLK 80MHz
|
|
//------------TFLuna_Init------------
|
|
// Initialize the UART3 for 115,200 baud rate (assuming 80 MHz clock),
|
|
// 8 bit word length, no parity bits, one stop bit, FIFOs enabled
|
|
// Input: function 0 for debug, user function for real time
|
|
// Output: none
|
|
void TFLuna3_Init(void (*function)(uint32_t)){
|
|
// do not reset or activate PortA, already done in LaunchPad_Init
|
|
// RSTCLR to GPIOA and UART3 peripherals
|
|
// bits 31-24 unlock key 0xB1
|
|
// bit 1 is Clear reset sticky bit
|
|
// bit 0 is reset gpio port
|
|
// GPIOA->GPRCM.RSTCTL = (uint32_t)0xB1000003; // called previously
|
|
UART3->GPRCM.RSTCTL = 0xB1000003;
|
|
// Enable power to GPIOA and UART3 peripherals
|
|
// PWREN
|
|
// bits 31-24 unlock key 0x26
|
|
// bit 0 is Enable Power
|
|
// GPIOA->GPRCM.PWREN = (uint32_t)0x26000001; // called previously
|
|
UART3->GPRCM.PWREN = 0x26000001;
|
|
Clock_Delay(24); // time for uart to power up
|
|
|
|
// the following code selects which pins to use
|
|
IOMUX->SECCFG.PINCM[TFLUNA3_RX] = 0x00040082;
|
|
//bit 18 INENA input enable
|
|
//bit 7 PC connected
|
|
//bits 5-0=2 for UART3_Rx
|
|
|
|
// configure alternate UART3 transmit function
|
|
IOMUX->SECCFG.PINCM[TFLUNA3_TX] = 0x00000082;
|
|
//bit 7 PC connected
|
|
//bits 5-0=2 for UART3_Tx
|
|
|
|
UART3->CLKSEL = 0x08; // bus clock
|
|
UART3->CLKDIV = 0x00; // no divide
|
|
UART3->CTL0 &= ~0x01; // disable UART3
|
|
UART3->CTL0 = 0x00020018;
|
|
// bit 17 FEN=1 enable FIFO
|
|
// bits 16-15 HSE=00 16x oversampling
|
|
// bit 14 CTSEN=0 no CTS hardware
|
|
// bit 13 RTSEN=0 no RTS hardware
|
|
// bit 12 RTS=0 not RTS
|
|
// bits 10-8 MODE=000 normal
|
|
// bits 6-4 TXE=001 enable TxD
|
|
// bit 3 RXE=1 enable TxD
|
|
// bit 2 LBE=0 no loop back
|
|
// bit 0 ENABLE 0 is disable, 1 to enable
|
|
if(Clock_Freq() == 40000000){
|
|
// 40000000/16 = 2,500,000 Hz
|
|
// Baud = 115200
|
|
// 2,500,000/115200 = 21.701388888
|
|
// divider = 21+45/64 = 21.703125
|
|
UART3->IBRD = 21;
|
|
UART3->FBRD = 45; // baud =2,500,000/10.84375 = 115,273.77
|
|
}else if (Clock_Freq() == 32000000){
|
|
// 32000000/16 = 2,000,000
|
|
// Baud = 115200
|
|
// 2,000,000/115200 = 17.3611111
|
|
// divider = 21+23/64 = 17.359375
|
|
UART3->IBRD = 17;
|
|
UART3->FBRD = 23; // 115,211.52
|
|
}else if (Clock_Freq() == 80000000){
|
|
// 80000000/16 = 5,000,000 Hz
|
|
// Baud = 115200
|
|
// 5,000,000/115200 = 43.4027777
|
|
// divider = 43+26/64 = 43.40625
|
|
UART3->IBRD = 43;
|
|
UART3->FBRD = 26; // baud =5,000,000/43.40625 = 115,190.78
|
|
}else return;
|
|
TFLuna3Function = function;
|
|
TFLuna3Index = 0; // looking for two 59s
|
|
TFLuna3LastByte = 0;
|
|
TFLuna3DataMessage[0] = 0x59;
|
|
TFLuna3DataMessage[1] = 0x59;
|
|
BadCheckSum3 = 0;
|
|
Tx3Fifo_Init();
|
|
Rx3Fifo_Init();
|
|
LostData3 = 0;
|
|
UART3->LCRH = 0x00000030;
|
|
// bits 5-4 WLEN=11 8 bits
|
|
// bit 3 STP2=0 1 stop
|
|
// bit 2 EPS=0 parity select
|
|
// bit 1 PEN=0 no parity
|
|
// bit 0 BRK=0 no break
|
|
UART3->CPU_INT.IMASK = 0x0C01;
|
|
// bit 11 TXINT
|
|
// bit 10 RXINT yes
|
|
// bit 0 Receive timeout, yes
|
|
UART3->IFLS = 0x0422;
|
|
// bits 11-8 RXTOSEL receiver timeout select 4 (0xF highest)
|
|
// bits 6-4 RXIFLSEL 2 is greater than or equal to half
|
|
// bits 2-0 TXIFLSEL 2 is less than or equal to half
|
|
NVIC->ICPR[0] = 1<<3; // UART3 is IRQ 3
|
|
NVIC->ISER[0] = 1<<3;
|
|
NVIC->IP[0] = (NVIC->IP[0]&(~0xFF000000))|(1<<30); // set priority (bits 31-30) IRQ 3
|
|
UART3->CTL0 |= 0x01; // enable UART3
|
|
}
|
|
|
|
|
|
// copy from hardware RX FIFO to software RX FIFO
|
|
// stop when hardware RX FIFO is empty or software RX FIFO is full
|
|
void static copyHardwareToSoftware3(void){
|
|
uint8_t letter;
|
|
if(TFLuna3Function==0){ // raw data mode
|
|
while(((UART3->STAT&0x04) == 0)&&(TFLuna3_InStatus() < (FIFO3_SIZE - 1))){
|
|
letter = UART3->RXDATA;
|
|
Rx3Fifo_Put(letter);
|
|
}
|
|
}else{
|
|
while((UART3->STAT&0x04)==0){
|
|
letter = UART3->RXDATA;
|
|
if(TFLuna3Index == 0){
|
|
if((letter == 0x59)&&(TFLuna3LastByte == 0x59)){
|
|
TFLuna3Index = 2; // looking for message
|
|
}
|
|
TFLuna3LastByte = letter;
|
|
}else{
|
|
TFLuna3DataMessage[TFLuna3Index] = letter;
|
|
TFLuna3Index++;
|
|
if(TFLuna3Index == 9){
|
|
TFLuna3LastByte = 0; // get ready for next message
|
|
TFLuna3Index = 0;
|
|
uint8_t check=0;
|
|
for(int i=0;i<8;i++){
|
|
check += TFLuna3DataMessage[i];
|
|
}
|
|
if(check == TFLuna3DataMessage[8]){
|
|
TFLuna3Distance = TFLuna3DataMessage[3]*256+TFLuna3DataMessage[2];
|
|
// call back
|
|
(*TFLuna3Function)(TFLuna3Distance); // pass distance back to higher level
|
|
}else{
|
|
BadCheckSum3++; // error
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
//------------TFLuna3_InChar------------
|
|
// Wait for new serial port input
|
|
// Input: none
|
|
// Output: ASCII code for key typed
|
|
uint8_t TFLuna3_InChar(void){uint32_t status;
|
|
uint8_t letter;
|
|
do{
|
|
status = Rx3Fifo_Get(&letter);
|
|
}while(status==0);
|
|
return(letter);
|
|
}
|
|
// copy from software TX FIFO to hardware TX FIFO
|
|
// stop when software TX FIFO is empty or hardware TX FIFO is full
|
|
void static copySoftwareToHardware3(void){
|
|
uint8_t letter;
|
|
while(((UART3->STAT&0x80) == 0) && (TFLuna3_OutStatus() > 0)){
|
|
Tx3Fifo_Get(&letter);
|
|
UART3->TXDATA = letter;
|
|
}
|
|
}
|
|
//------------UART3_OutChar------------
|
|
// Output 8-bit to serial port
|
|
// Input: letter is an 8-bit ASCII character to be transferred
|
|
// Output: none
|
|
void TFLuna3_OutChar(uint8_t data){
|
|
while(Tx3Fifo_Put(data) == 0){};
|
|
UART3->CPU_INT.IMASK &= ~0x0800; // disarm TX FIFO interrupt
|
|
copySoftwareToHardware3();
|
|
UART3->CPU_INT.IMASK |= 0x0800; // rearm TX FIFO interrupt
|
|
}
|
|
//------------TFLuna_OutString------------
|
|
// Output String (NULL termination)
|
|
// Input: pointer to a NULL-terminated string to be transferred
|
|
// Output: none
|
|
void TFLuna3_OutString(uint8_t *pt){
|
|
while(*pt){
|
|
TFLuna3_OutChar(*pt);
|
|
pt++;
|
|
}
|
|
}
|
|
|
|
|
|
//------------TFLuna3_SendMessage------------
|
|
// Output message, msg[1] is length
|
|
// Input: pointer to message to be transferred
|
|
// Output: none
|
|
void TFLuna3_SendMessage(const uint8_t msg[]){
|
|
for(int i=0; i<msg[1]; i++){
|
|
TFLuna3_OutChar(msg[i]);
|
|
}
|
|
}
|
|
void TFLuna3_Format_Standard_mm(void){
|
|
TFLuna3_SendMessage(Format_Standard_mm);
|
|
}
|
|
void TFLuna3_Format_Standard_cm(void){
|
|
TFLuna3_SendMessage(Format_Standard_cm);
|
|
}
|
|
void TFLuna3_Format_Pixhawk(void){
|
|
TFLuna3_SendMessage(Format_Pixhawk);
|
|
}
|
|
void TFLuna3_Output_Enable(void){
|
|
TFLuna3_SendMessage(Output_Enable);
|
|
}
|
|
void TFLuna3_Output_Disable(void){
|
|
TFLuna3_SendMessage(Output_Disable);
|
|
}
|
|
void TFLuna3_Frame_Rate(void){
|
|
TFLuna3_SendMessage(Frame_Rate);
|
|
}
|
|
void TFLuna3_SaveSettings(void){
|
|
TFLuna3_SendMessage(SaveSettings);
|
|
}
|
|
void TFLuna3_System_Reset(void){
|
|
TFLuna3_SendMessage(System_Reset);
|
|
}
|
|
|
|
void UART3_IRQHandler(void){ uint32_t status;
|
|
status = UART3->CPU_INT.IIDX; // reading clears bit in RIS
|
|
if(status == 0x01){ // 0x01 receive timeout
|
|
copyHardwareToSoftware3();
|
|
}else if(status == 0x0B){ // 0x0B receive
|
|
copyHardwareToSoftware3();
|
|
}else if(status == 0x0C){ // 0x0C transmit
|
|
copySoftwareToHardware3();
|
|
if(TFLuna3_OutStatus() == 0){ // software TX FIFO is empty
|
|
UART3->CPU_INT.IMASK &= ~0x0800; // disable TX FIFO interrupt
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
// Declare state variables for FiFo
|
|
// size, buffer, put and get indexes
|
|
int32_t static Tx3PutI; // Index to put new
|
|
int32_t static Tx3GetI; // Index of oldest
|
|
uint8_t static Tx3Fifo[FIFO3_SIZE];
|
|
|
|
// *********** Tx3Fifo_Init**********
|
|
// Initializes a software Tx3FIFO of a
|
|
// fixed size and sets up indexes for
|
|
// put and get operations
|
|
void Tx3Fifo_Init(void){
|
|
Tx3PutI = Tx3GetI = 0;
|
|
}
|
|
|
|
// *********** Tx3Fifo_Put**********
|
|
// Adds an element to the Tx3FIFO
|
|
// Input: data is character to be inserted
|
|
// Output: 1 for success, data properly saved
|
|
// 0 for failure, TxFIFO is full
|
|
uint32_t Tx3Fifo_Put(uint8_t data){
|
|
if(((Tx3PutI+1)&(FIFO3_SIZE-1)) == Tx3GetI){
|
|
return 0;
|
|
}
|
|
Tx3Fifo[Tx3PutI] = data;
|
|
Tx3PutI = (Tx3PutI+1)&(FIFO3_SIZE-1);
|
|
return 1; // success
|
|
|
|
}
|
|
|
|
// *********** Tx3Fifo_Get**********
|
|
// Gets an element from the Tx3FIFO
|
|
// Input: pointer to empty 8-bit variable
|
|
// Output: If the Tx3FIFO is empty return 0
|
|
// If the Tx3FIFO has data, remove it, and put in *datapt, return 1
|
|
uint32_t Tx3Fifo_Get(uint8_t *datapt){
|
|
if(Tx3GetI == Tx3PutI){
|
|
return 0;
|
|
}
|
|
*datapt = Tx3Fifo[Tx3GetI];
|
|
Tx3GetI = (Tx3GetI+1)&(FIFO3_SIZE-1);
|
|
return 1; // success
|
|
}
|
|
//------------TFLuna3_OutStatus------------
|
|
// Returns how much data available for reading from Tx3 FIFO
|
|
// Input: none
|
|
// Output: number of elements in receive FIFO
|
|
uint32_t TFLuna3_OutStatus(void){
|
|
return ((Tx3PutI - Tx3GetI)&(FIFO3_SIZE-1));
|
|
}
|
|
int32_t static Rx3PutI; // Index to put new
|
|
int32_t static Rx3GetI; // Index of oldest
|
|
uint8_t static Rx3Fifo[FIFO3_SIZE];
|
|
|
|
// *********** Rx3Fifo_Init**********
|
|
// Initializes a software RxFIFO of a
|
|
// fixed size and sets up indexes for
|
|
// put and get operations
|
|
void Rx3Fifo_Init(void){
|
|
Rx3PutI = Rx3GetI = 0;
|
|
}
|
|
|
|
// *********** Rx3Fifo_Put**********
|
|
// Adds an element to the Rx3FIFO
|
|
// Input: data is character to be inserted
|
|
// Output: 1 for success, data properly saved
|
|
// 0 for failure, RxFIFO is full
|
|
uint32_t Rx3Fifo_Put(uint8_t data){
|
|
if(((Rx3PutI+1)&(FIFO3_SIZE-1)) == Rx3GetI){
|
|
return 0;
|
|
}
|
|
Rx3Fifo[Rx3PutI] = data;
|
|
Rx3PutI = (Rx3PutI+1)&(FIFO3_SIZE-1);
|
|
return 1;
|
|
}
|
|
|
|
// *********** Rx3Fifo_Get**********
|
|
// Gets an element from the Rx3FIFO
|
|
// Input: pointer to empty 8-bit variable
|
|
// Output: If the Rx3FIFO is empty return 0
|
|
// If the Rx3FIFO has data, remove it, and put in *datapt, return 1
|
|
uint32_t Rx3Fifo_Get(uint8_t *datapt){
|
|
if(Rx3GetI == Rx3PutI){
|
|
return 0;
|
|
}
|
|
*datapt = Rx3Fifo[Rx3GetI];
|
|
Rx3GetI = (Rx3GetI+1)&(FIFO3_SIZE-1);
|
|
return 1;
|
|
}
|
|
//------------TFLuna3_InStatus------------
|
|
// Returns how much data available for reading from Rx3 FIFO
|
|
// Input: none
|
|
// Output: number of elements in receive FIFO
|
|
uint32_t TFLuna3_InStatus(void){
|
|
return ((Rx3PutI - Rx3GetI)&(FIFO3_SIZE-1));
|
|
}
|
|
|