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/*
* The MIT License (MIT)
*
* Copyright (c) 2020 Matthias P. Braendli, Maximilien Cuony
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include <stdio.h>
#include <stdarg.h>
#include <string.h>
#include <inttypes.h>
#include "Core/common.h"
#include "GPIO/usart.h"
#include "GPIO/analog.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
// The ISRs write into these buffer, for NMEA input and Coulomb counter
static char nmea_sentence[MAX_NMEA_SENTENCE_LEN];
static int nmea_sentence_last_written = 0;
static char ccounter_msg[MAX_CCOUNTER_SENTENCE_LEN];
static int ccounter_msg_last_written = 0;
// Once a completed NMEA sentence is received in the ISR,
// it is appended to this queue
static QueueHandle_t usart_nmea_queue;
// Once a full line (ending in \r\n) is received on USART2,
// it is appended to this queue
static QueueHandle_t usart_ccounter_queue;
void usart_gps_init() {
usart_nmea_queue = xQueueCreate(15, MAX_NMEA_SENTENCE_LEN);
if (usart_nmea_queue == 0) {
while(1); /* fatal error */
}
usart_ccounter_queue = xQueueCreate(5, MAX_CCOUNTER_SENTENCE_LEN);
if (usart_ccounter_queue == 0) {
while(1); /* fatal error */
}
usart_gps_specific_init();
}
void usart_gps_puts(const char* str) {
vTaskSuspendAll();
usart_puts(USART3, str);
xTaskResumeAll();
}
#define MAX_MSG_LEN 80
static char usart_debug_message[MAX_MSG_LEN];
void usart_debug_timestamp() {
// Don't call printf here, to reduce stack usage
uint64_t now = timestamp_now();
if (now == 0) {
usart_puts(USART2, "[0] ");
}
else {
char ts_str[64];
int i = 63;
ts_str[i--] = '\0';
ts_str[i--] = ' ';
ts_str[i--] = ']';
while (now > 0 && i >= 0) {
ts_str[i--] = '0' + (now % 10);
now /= 10;
}
ts_str[i] = '[';
usart_puts(USART2, &ts_str[i]);
}
}
void usart_debug(const char *format, ...) {
va_list list;
va_start(list, format);
vsnprintf(usart_debug_message, MAX_MSG_LEN-1, format, list);
vTaskSuspendAll();
usart_debug_timestamp();
usart_puts(USART2, usart_debug_message);
xTaskResumeAll();
va_end(list);
}
void usart_debug_puts(const char* str) {
#ifdef SIMULATOR
fprintf(stderr, "DEBUG: %s", str);
#endif
vTaskSuspendAll();
usart_debug_timestamp();
usart_puts(USART2, str);
xTaskResumeAll();
}
void usart_debug_puts_header(const char* hdr, const char* str) {
vTaskSuspendAll();
usart_debug_timestamp();
usart_puts(USART2, hdr);
usart_puts(USART2, str);
usart_puts(USART2, "\r\n");
xTaskResumeAll();
}
int usart_get_nmea_sentence(char *nmea) {
return xQueueReceive(usart_nmea_queue, nmea, portMAX_DELAY);
}
int usart_get_ccounter_msg(char *msg) {
return xQueueReceive(usart_ccounter_queue, msg, pdMS_TO_TICKS(2000));
}
static void usart_clear_ccounter_buffer(void) {
for (int i = 0; i < MAX_CCOUNTER_SENTENCE_LEN; i++) {
ccounter_msg[i] = '\0';
}
ccounter_msg_last_written = 0;
}
void usart_process_char(char c) {
// Warning: running in interrupt context
BaseType_t require_context_switch = pdFALSE;
if (ccounter_msg_last_written < MAX_CCOUNTER_SENTENCE_LEN) {
ccounter_msg[ccounter_msg_last_written] = c;
ccounter_msg_last_written++;
if (c == '\n') {
int success = xQueueSendToBackFromISR(
usart_ccounter_queue,
ccounter_msg,
&require_context_switch);
if (success == pdFALSE) {
trigger_fault(FAULT_SOURCE_USART);
}
usart_clear_ccounter_buffer();
}
}
else {
// Buffer overrun without a meaningful message.
usart_clear_ccounter_buffer();
}
portYIELD_FROM_ISR(require_context_switch);
}
static void usart_clear_nmea_buffer(void) {
for (int i = 0; i < MAX_NMEA_SENTENCE_LEN; i++) {
nmea_sentence[i] = '\0';
}
nmea_sentence_last_written = 0;
}
void usart_gps_process_char(char c)
{
// Warning: running in interrupt context
BaseType_t require_context_switch = pdFALSE;
if (nmea_sentence_last_written == 0) {
if (c == '$') {
// Likely new start of sentence
nmea_sentence[nmea_sentence_last_written] = c;
nmea_sentence_last_written++;
}
}
else if (nmea_sentence_last_written < MAX_NMEA_SENTENCE_LEN) {
nmea_sentence[nmea_sentence_last_written] = c;
nmea_sentence_last_written++;
if (c == '\n') {
int success = xQueueSendToBackFromISR(
usart_nmea_queue,
nmea_sentence,
&require_context_switch);
if (success == pdFALSE) {
trigger_fault(FAULT_SOURCE_USART);
}
usart_clear_nmea_buffer();
}
}
else {
// Buffer overrun without a meaningful NMEA message.
usart_clear_nmea_buffer();
}
portYIELD_FROM_ISR(require_context_switch);
}
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