Updated MS/TP for the PIC project. Fixed some state transistions, and optimized to be able to return the token promptly.
This commit is contained in:
skarg
+263
-274
@@ -29,86 +29,27 @@
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#include <stddef.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <string.h>
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#include "hardware.h"
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#include "mstp.h"
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#include "comm.h"
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#include "eeprom.h"
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/* public port info */
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extern volatile struct mstp_port_struct_t MSTP_Port;
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static uint32_t RS485_Baud_Rate = 9600;
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/* the baud rate is adjustable */
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uint32_t RS485_Baud_Rate = 9600;
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/* the ISR and other use this for status and control */
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COMSTAT RS485_Comstat;
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//#pragma udata MSTPPortData
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/* the buffer for receiving characters */
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volatile uint8_t RS485_Rx_Buffer[MAX_MPDU];
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/* UART transmission buffer and index */
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static volatile uint8_t RS485_Tx_Buffer[MAX_MPDU];
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static volatile uint8_t RS485_Tx_Index = 0;
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static volatile uint8_t RS485_Tx_Length = 0;
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static volatile char RS485_Tx_Postdrive_Delay = 0;
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static struct {
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unsigned TransmitStart:1; /* TRUE if we are requested to transmit */
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unsigned TransmitComplete:1; /* TRUE if we are finished transmitting frame */
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} RS485_Flags;
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/* Duplicate of the RCSTA reg used due to the double buffering of the */
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/* fifo. Reading the RCREG reg will cause the second RCSTA reg to be */
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/* loaded if there is one. */
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struct _rcstabits {
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unsigned char RX9D:1;
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unsigned char OERR:1;
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unsigned char FERR:1;
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unsigned char ADDEN:1;
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unsigned char CREN:1;
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unsigned char SREN:1;
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unsigned char RX9:1;
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unsigned char SPEN:1;
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};
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volatile static enum {
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RS485_STATE_IDLE = 0,
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RS485_STATE_RX_DATA = 1,
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RS485_STATE_RX_CHECKSUM = 2,
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RS485_STATE_RX_PROCESS = 3,
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RS485_STATE_TX_DATA = 4,
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RS485_STATE_WAIT_FOR_ACK = 5,
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RS485_STATE_WAIT_COMPLETE = 6,
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RS485_STATE_TX_GLOBAL_ACK = 7,
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RS485_STATE_TX_POSTDRIVE_DELAY = 8,
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RS485_STATE_ERROR = 9,
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RS485_STATE_RX_TEST = 10,
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RS485_STATE_RX_TEST_EEPROM = 11,
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RS485_STATE_RX_TEST_DELAY = 12,
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RS485_STATE_TX_TEST_WAIT = 13,
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RS485_STATE_TX_TEST = 14
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} RS485_State;
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/****************************************************************************
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* DESCRIPTION: Processes the RS485 message to be sent
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* RETURN: none
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* ALGORITHM: none
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* NOTES: none
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*****************************************************************************/
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void RS485_Process_Tx_Message(void)
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{
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if (RS485_Flags.TransmitComplete)
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RS485_Flags.TransmitComplete = FALSE;
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/* start a new transmisstion if we are ready */
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if (RS485_Flags.TransmitStart && (RS485_State == RS485_STATE_IDLE)) {
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/* Disable the receiver */
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USART_RX_INT_DISABLE();
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USART_CONTINUOUS_RX_DISABLE();
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/* Enable the transmit line driver and interrupts */
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RS485_TRANSMIT_ENABLE();
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RS485_State = RS485_STATE_TX_DATA;
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/* Configure the ISR handler for an outgoing message */
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RS485_Tx_Index = 0;
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/* update the flags for beginning a send */
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RS485_Flags.TransmitComplete = FALSE;
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RS485_Flags.TransmitStart = FALSE;
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/* send the first byte */
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USART_TRANSMIT(RS485_Tx_Buffer[0]);
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USART_TX_SETUP();
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}
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return;
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}
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volatile uint8_t RS485_Tx_Buffer[MAX_MPDU];
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/****************************************************************************
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* DESCRIPTION: Transmits a frame using the UART
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@@ -118,106 +59,53 @@ void RS485_Process_Tx_Message(void)
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*****************************************************************************/
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void RS485_Send_Frame(volatile struct mstp_port_struct_t *mstp_port, /* port specific data */
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uint8_t * buffer, /* frame to send (up to 501 bytes of data) */
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uint16_t nbytes)
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{ /* number of bytes of data (up to 501) */
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/* do we check for tx buffer in-use? */
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/* Or do we just stop the in-progress transmission? */
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/* Drop any transmission in progress, but don't worry about */
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/* cleaning up the hardware - the start routine will handle that */
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/* Disable the interrupt since it depends on the global transmit buffer. */
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USART_TX_INT_DISABLE();
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switch (RS485_State) {
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case RS485_STATE_TX_DATA:
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case RS485_STATE_WAIT_FOR_ACK:
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case RS485_STATE_WAIT_COMPLETE:
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case RS485_STATE_TX_GLOBAL_ACK:
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RS485_State = RS485_STATE_IDLE;
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break;
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}
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/* load the frame */
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RS485_Tx_Length = 0;
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while (buffer && nbytes) {
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RS485_Tx_Buffer[RS485_Tx_Length] = *buffer;
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buffer++;
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nbytes--;
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RS485_Tx_Length++;
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/* check bounds - should this error be indicated somehow? */
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/* perhaps not send the message? */
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if (RS485_Tx_Length >= MAX_MPDU)
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break;
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}
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/* signal the task to start sending when it is ready */
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RS485_Flags.TransmitStart = TRUE;
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mstp_port->SilenceTimer = 0;
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return;
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}
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/****************************************************************************
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* DESCRIPTION: Processes the next RS485 byte for transmit
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* RETURN: none
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* ALGORITHM: none
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* NOTES: Called by interrupt service routine (ISR)
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*****************************************************************************/
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void RS485_Transmit_Interrupt(void)
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uint16_t nbytes) /* number of bytes of data (up to 501) */
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{
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uint8_t data; /* data byte to send */
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switch (RS485_State) {
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case RS485_STATE_TX_DATA:
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RS485_Tx_Index++;
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if (RS485_Tx_Index < RS485_Tx_Length) {
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data = RS485_Tx_Buffer[RS485_Tx_Index];
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USART_TRANSMIT(data);
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MSTP_Port.SilenceTimer = 0;
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} else {
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/* wait until the last bit is sent */
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while (!USART_TX_EMPTY());
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RS485_TRANSMIT_DISABLE();
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/* wait 2 characters after sending (min=15 bit times) */
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RS485_Tx_Postdrive_Delay = 2;
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RS485_State = RS485_STATE_TX_POSTDRIVE_DELAY;
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USART_TRANSMIT(0);
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}
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break;
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case RS485_STATE_TX_POSTDRIVE_DELAY:
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/* after the message is sent, we wait a certain */
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/* number of character times to get a delay */
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if (RS485_Tx_Postdrive_Delay) {
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RS485_Tx_Postdrive_Delay--;
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if (RS485_Tx_Postdrive_Delay == 0)
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RS485_State = RS485_STATE_WAIT_COMPLETE;
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USART_TRANSMIT(0);
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} else
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RS485_State = RS485_STATE_WAIT_COMPLETE;
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break;
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case RS485_STATE_WAIT_COMPLETE:
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/* wait until the last delay bit is shifted */
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while (!USART_TX_EMPTY());
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USART_TX_INT_DISABLE();
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RS485_Flags.TransmitComplete = TRUE;
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RS485_State = RS485_STATE_IDLE;
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USART_RX_SETUP();
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break;
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default:
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break;
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}
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uint16_t i = 0; /* loop counter */
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uint8_t turnaround_time;
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if (!buffer)
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return;
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}
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/****************************************************************************
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* DESCRIPTION: Returns the value of Transmit Complete flag.
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* RETURN: none
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* ALGORITHM: none
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* NOTES: none
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*****************************************************************************/
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bool RS485_Tx_Complete(void)
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{
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return RS485_Flags.TransmitComplete;
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/* bounds check */
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if (nbytes >= sizeof(RS485_Tx_Buffer))
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return;
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/* buffer is full. Wait for ISR to transmit. */
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while (RS485_Comstat.Tx_Bytes) {};
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/* wait 40 bit times since reception */
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if (RS485_Baud_Rate == 9600)
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turnaround_time = 4;
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else if (RS485_Baud_Rate == 19200)
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turnaround_time = 2;
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else
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turnaround_time = 1;
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while (mstp_port->SilenceTimer < turnaround_time) {};
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RS485_Comstat.TxHead = 0;
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memcpy((void *)&RS485_Tx_Buffer[0], (void *)buffer, nbytes);
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//for (i = 0; i < nbytes; i++) {
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// /* put the data into the buffer */
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// RS485_Tx_Buffer[i] = *buffer;
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// buffer++;
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//}
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RS485_Comstat.Tx_Bytes = nbytes;
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/* disable the receiver */
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PIE3bits.RC2IE = 0;
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RCSTA2bits.CREN = 0;
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/* enable the transceiver */
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RS485_TX_ENABLE = 1;
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RS485_RX_DISABLE = 1;
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/* enable the transmitter */
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TXSTA2bits.TXEN = 1;
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PIE3bits.TX2IE = 1;
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/* per MSTP spec, sort of */
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mstp_port->SilenceTimer = 0;
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return;
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}
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/****************************************************************************
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@@ -226,58 +114,101 @@ bool RS485_Tx_Complete(void)
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* ALGORITHM: none
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* NOTES: none
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*****************************************************************************/
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void RS485_Check_UART_Data(volatile struct mstp_port_struct_t *mstp_port)
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uint8_t RS485_Check_UART_Data(volatile struct mstp_port_struct_t *mstp_port)
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{
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struct _rcstabits rcstabits; /* reading it more than once gets wrong data */
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/* check for data */
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if (USART_RX_COMPLETE()) {
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/* Read the data and the Rx status reg */
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rcstabits = USART_RX_STATUS();
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mstp_port->DataRegister = USART_RECEIVE();
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/* Check for buffer overrun error */
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if (rcstabits.OERR) {
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/* clear the error */
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USART_CONTINUOUS_RX_DISABLE();
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USART_CONTINUOUS_RX_ENABLE();
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/* let the state machine know */
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mstp_port->ReceiveError = TRUE;
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}
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/* Check for framing errors */
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else if (USART_RX_FRAME_ERROR()) {
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/* let the state machine know */
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mstp_port->FramingError = TRUE;
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mstp_port->ReceiveError = TRUE;
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}
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/* We read a good byte */
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else {
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/* state machine will clear this */
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mstp_port->DataAvailable = TRUE;
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}
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if (RS485_Comstat.Rx_Bytes)
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{
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mstp_port->DataRegister = RS485_Rx_Buffer[RS485_Comstat.RxTail];
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if (RS485_Comstat.RxTail >= (sizeof(RS485_Rx_Buffer)-1))
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RS485_Comstat.RxTail = 0;
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else
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RS485_Comstat.RxTail++;
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RS485_Comstat.Rx_Bytes--;
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/* errors? let the state machine know */
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if (RS485_Comstat.Rx_Bufferoverrun)
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{
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RS485_Comstat.Rx_Bufferoverrun = FALSE;
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mstp_port->ReceiveError = TRUE;
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}
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/* We read a good byte */
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else
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mstp_port->DataAvailable = TRUE;
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}
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return;
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return RS485_Comstat.Rx_Bytes;
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}
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/* *************************************************************************
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DESCRIPTION: Receives RS485 data stream
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RETURN: none
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ALGORITHM: none
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NOTES: none
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*************************************************************************** */
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void RS485_Interrupt_Rx(void)
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{
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char dummy;
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if ((RCSTA2bits.FERR) || (RCSTA2bits.OERR))
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{
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/* Clear the error */
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RCSTA2bits.CREN = 0;
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RCSTA2bits.CREN = 1;
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RS485_Comstat.Rx_Bufferoverrun = TRUE;
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dummy = RCREG2;
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}
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else if (RS485_Comstat.Rx_Bytes < sizeof(RS485_Rx_Buffer))
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{
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RS485_Rx_Buffer[RS485_Comstat.RxHead] = RCREG2;
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if (RS485_Comstat.RxHead >= (sizeof(RS485_Rx_Buffer)-1))
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RS485_Comstat.RxHead = 0;
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else
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RS485_Comstat.RxHead++;
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RS485_Comstat.Rx_Bytes++;
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}
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else
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{
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RS485_Comstat.Rx_Bufferoverrun = TRUE;
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dummy = RCREG2;
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(void)dummy;
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}
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}
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/****************************************************************************
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* DESCRIPTION: Receives a data byte from the USART
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* RETURN: none
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* ALGORITHM: none
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* NOTES: none
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*****************************************************************************/
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void RS485_Receive_Interrupt(void)
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{
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/* get as many bytes as we can get */
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for (;;) {
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RS485_Check_UART_Data(&MSTP_Port);
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if (MSTP_Port.ReceiveError || MSTP_Port.DataAvailable)
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MSTP_Receive_Frame_FSM(&MSTP_Port);
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else
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break;
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}
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/* *************************************************************************
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DESCRIPTION: Transmits a byte using the UART out the RS485 port
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return;
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RETURN: none
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ALGORITHM: none
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NOTES: none
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*************************************************************************** */
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void RS485_Interrupt_Tx(void)
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{
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if (RS485_Comstat.Tx_Bytes)
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{
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/* Get the data byte */
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TXREG2 = RS485_Tx_Buffer[RS485_Comstat.TxHead];
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/* point to the next byte */
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RS485_Comstat.TxHead++;
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/* reduce the buffer size */
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RS485_Comstat.Tx_Bytes--;
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}
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else
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{
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/* wait for the USART to be empty */
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while (!TXSTA2bits.TRMT);
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/* disable this interrupt */
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PIE3bits.TX2IE = 0;
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/* enable the receiver */
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RS485_TX_ENABLE = 0;
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RS485_RX_DISABLE = 0;
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// FIXME: might not be necessary
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PIE3bits.RC2IE = 1;
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RCSTA2bits.CREN = 1;
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}
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}
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/****************************************************************************
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@@ -312,56 +243,11 @@ void RS485_Set_Baud_Rate(uint32_t baud)
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else
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RS485_Baud_Rate = 115200;
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}
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void RS485_Initialize_Baud(void)
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{
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/* setup USART Baud Rate Generator */
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/* see BAUD RATES FOR ASYNCHRONOUS MODE in Data Book */
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/* Fosc=20MHz
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BRGH=1 BRGH=0
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Rate SPBRG Rate SPBRG
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------- ----- ------- -----
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9615 129 9469 32
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19230 64 19530 15
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37878 32 78130 3
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56818 21 104200 2
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113630 10 312500 0
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250000 4
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625000 1
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1250000 0
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*/
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switch (RS485_Baud_Rate) {
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case 19200:
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SPBRG = 64;
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TXSTAbits.BRGH = 1;
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break;
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case 38400:
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SPBRG = 32;
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TXSTAbits.BRGH = 1;
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break;
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case 57600:
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SPBRG = 21;
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TXSTAbits.BRGH = 1;
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break;
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case 76800:
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SPBRG = 3;
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TXSTAbits.BRGH = 0;
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break;
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case 115200:
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SPBRG = 10;
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TXSTAbits.BRGH = 1;
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break;
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case 9600:
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default:
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SPBRG = 129;
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TXSTAbits.BRGH = 1;
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break;
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}
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/* select async mode */
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TXSTAbits.SYNC = 0;
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/* serial port enable */
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RCSTAbits.SPEN = 1;
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I2C_Write_Block(
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EEPROM_DEVICE_ADDRESS,
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(char *)&RS485_Baud_Rate,
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sizeof(RS485_Baud_Rate),
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EEPROM_MSTP_BAUD_RATE_ADDR);
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}
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/****************************************************************************
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@@ -371,17 +257,120 @@ void RS485_Initialize_Baud(void)
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* ALGORITHM: none
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* NOTES: none
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*****************************************************************************/
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void RS485_Initialize_Port(void)
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{
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/* Reset USART registers to POR state */
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TXSTA2 = 0;
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RCSTA2 = 0;
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/* configure USART for receiving */
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/* since the TX will handle setting up for transmit */
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RCSTA2bits.CREN = 1;
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/* Interrupt on receipt */
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PIE3bits.RC2IE = 1;
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/* enable the transmitter, disable its interrupt */
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TXSTA2bits.TXEN = 1;
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PIE3bits.TX2IE = 0;
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/* setup USART Baud Rate Generator */
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/* see BAUD RATES FOR ASYNCHRONOUS MODE in Data Book */
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/* Fosc=20MHz
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BRGH=1 BRGH=0
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Rate SPBRG Rate SPBRG
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------- ----- ------- -----
|
||||
9615 129 9469 32
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19230 64 19530 15
|
||||
37878 32 78130 3
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||||
56818 21 104200 2
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||||
113630 10 312500 0
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250000 4
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625000 1
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||||
1250000 0
|
||||
*/
|
||||
switch (RS485_Baud_Rate)
|
||||
{
|
||||
case 19200:
|
||||
SPBRG2 = 64;
|
||||
TXSTA2bits.BRGH = 1;
|
||||
break;
|
||||
case 38400:
|
||||
SPBRG2 = 32;
|
||||
TXSTA2bits.BRGH = 1;
|
||||
break;
|
||||
case 57600:
|
||||
SPBRG2 = 21;
|
||||
TXSTA2bits.BRGH = 1;
|
||||
break;
|
||||
case 76800:
|
||||
SPBRG2 = 3;
|
||||
TXSTA2bits.BRGH = 0;
|
||||
break;
|
||||
case 115200:
|
||||
SPBRG2 = 10;
|
||||
TXSTA2bits.BRGH = 1;
|
||||
break;
|
||||
case 9600:
|
||||
SPBRG2 = 129;
|
||||
TXSTA2bits.BRGH = 1;
|
||||
break;
|
||||
default:
|
||||
SPBRG2 = 129;
|
||||
TXSTA2bits.BRGH = 1;
|
||||
RS485_Set_Baud_Rate(9600);
|
||||
break;
|
||||
}
|
||||
/* select async mode */
|
||||
TXSTA2bits.SYNC = 0;
|
||||
/* enable transmitter */
|
||||
TXSTA2bits.TXEN = 1;
|
||||
/* serial port enable */
|
||||
RCSTA2bits.SPEN = 1;
|
||||
/* since we are using RS485,
|
||||
we need to explicitly say
|
||||
transmit enable or not */
|
||||
RS485_RX_DISABLE = 0;
|
||||
RS485_TX_ENABLE = 0;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* DESCRIPTION: Disables the RS485 hardware
|
||||
* RETURN: none
|
||||
* ALGORITHM: none
|
||||
* NOTES: none
|
||||
*****************************************************************************/
|
||||
void RS485_Disable_Port(void)
|
||||
{
|
||||
RCSTA2 &= 0x4F; /* Disable the receiver */
|
||||
TXSTA2bits.TXEN = 0; /* and transmitter */
|
||||
PIE3 &= 0xCF; /* Disable both interrupts */
|
||||
}
|
||||
|
||||
void RS485_Reinit(void)
|
||||
{
|
||||
RS485_Set_Baud_Rate(9600);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* DESCRIPTION: Initializes the data and the port
|
||||
* RETURN: none
|
||||
* ALGORITHM: none
|
||||
* NOTES: none
|
||||
*****************************************************************************/
|
||||
void RS485_Initialize(void)
|
||||
{
|
||||
RS485_Initialize_Baud();
|
||||
/* configure interrupts */
|
||||
USART_TX_INT_DISABLE();
|
||||
USART_RX_INT_ENABLE();
|
||||
/* configure USART for receiving */
|
||||
/* since the TX will handle setting up for transmit */
|
||||
USART_CONTINUOUS_RX_ENABLE();
|
||||
/* since we are using RS485,
|
||||
we need to explicitly say
|
||||
transmit enable or not */
|
||||
RS485_TRANSMIT_DISABLE();
|
||||
/* Init the Rs485 buffers */
|
||||
RS485_Comstat.RxHead = 0;
|
||||
RS485_Comstat.RxTail = 0;
|
||||
RS485_Comstat.Rx_Bytes = 0;
|
||||
RS485_Comstat.Rx_Bufferoverrun = FALSE;
|
||||
RS485_Comstat.TxHead = 0;
|
||||
RS485_Comstat.TxTail = 0;
|
||||
RS485_Comstat.Tx_Bytes = 0;
|
||||
|
||||
I2C_Read_Block(
|
||||
EEPROM_DEVICE_ADDRESS,
|
||||
(char *)&RS485_Baud_Rate,
|
||||
sizeof(RS485_Baud_Rate),
|
||||
EEPROM_MSTP_BAUD_RATE_ADDR);
|
||||
|
||||
RS485_Initialize_Port();
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user