Merge pull request odriverobotics#492 from madcowswe/uart1

Add support for UART_B on GPIO3/4

Author: samuelsadok

CHANGELOG.md

@@ -3,6 +3,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
 ### Added
 * [Mechanical brake support](docs/mechanical-brakes.md)
 * Added periodic sending of encoder position on CAN
+* Support for UART1 on GPIO3 and GPIO4. UART0 (on GPIO1/2) and UART1 can currently not be enabled at the same time.
 
 ### Changed
 * Modified encoder offset calibration to work correctly when calib_scan_distance is not a multiple of 4pi

Firmware/Board/v3/Inc/board.h

@@ -43,8 +43,8 @@
 
 #define DEFAULT_GPIO_MODES \
     ODriveIntf::GPIO_MODE_DIGITAL, \
-    ODriveIntf::GPIO_MODE_UART0, \
-    ODriveIntf::GPIO_MODE_UART0, \
+    ODriveIntf::GPIO_MODE_UART_A, \
+    ODriveIntf::GPIO_MODE_UART_A, \
     ODriveIntf::GPIO_MODE_ANALOG_IN, \
     ODriveIntf::GPIO_MODE_ANALOG_IN, \
     ODriveIntf::GPIO_MODE_ANALOG_IN, \
@@ -57,8 +57,8 @@
     ODriveIntf::GPIO_MODE_ENC1, \
     ODriveIntf::GPIO_MODE_ENC1, \
     ODriveIntf::GPIO_MODE_DIGITAL_PULL_DOWN, \
-    ODriveIntf::GPIO_MODE_CAN0, \
-    ODriveIntf::GPIO_MODE_CAN0,
+    ODriveIntf::GPIO_MODE_CAN_A, \
+    ODriveIntf::GPIO_MODE_CAN_A,
 
 #define TIM_TIME_BASE TIM14
 
@@ -89,9 +89,9 @@ extern USBD_HandleTypeDef& usb_dev_handle;
 
 extern Stm32SpiArbiter& ext_spi_arbiter;
 
-extern UART_HandleTypeDef* uart0;
-extern UART_HandleTypeDef* uart1;
-extern UART_HandleTypeDef* uart2;
+extern UART_HandleTypeDef* uart_a;
+extern UART_HandleTypeDef* uart_b;
+extern UART_HandleTypeDef* uart_c;
 
 extern PwmInput pwm0_input;
 #endif

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);

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 */
 

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)

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;

Firmware/Board/v3/Src/stm32f4xx_it.c

@@ -54,7 +54,10 @@ 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;
 
@@ -251,12 +254,40 @@ 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.
 */
@@ -313,6 +344,20 @@ 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.
 */

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 */