update peripheral

CMakeLists.txt

@@ -19,7 +19,7 @@ if(USE_PLATFORM_UBUNTU)
     set(CAN_PLATFORM socketcan)
     set(APP_PLATFORM ubuntu)
     set(PLATFORM_NAME sitl)
-    elseif(USE_PLATFORM_NODE_V2)
+elseif(USE_PLATFORM_NODE_V2)
     set(LIBPARAMS_PLATFORM stm32f103)
     set(CAN_PLATFORM bxcan)
     set(APP_PLATFORM stm32f103)

Src/modules/system/CMakeLists.txt

@@ -18,3 +18,5 @@ list(APPEND APPLICATION_SOURCES
 list(APPEND LIBPARAMS_PARAMS
     ${CMAKE_CURRENT_LIST_DIR}/params.yaml
 )
+
+include(${ROOT_DIR}/Src/peripheral/led/CMakeLists.txt)

Src/peripheral/led/CMakeLists.txt

@@ -0,0 +1,20 @@
+# Copyright (C) 2023-2024 Dmitry Ponomarev <ponomarevda96@gmail.com>
+# Distributed under the terms of the GPL v3 license, available in the file LICENSE.
+
+# Include guard
+if(PERIPHERAL_LED_CMAKE)
+    return()
+endif()
+set(PERIPHERAL_LED_CMAKE ${CMAKE_CURRENT_LIST_DIR})
+
+if(NOT APP_PLATFORM)
+  message(SEND_ERROR "APP_PLATFORM is not specified or unsupported! Options: stm32f103, stm32g0b1, ubuntu.")
+endif()
+
+if(APP_PLATFORM STREQUAL "stm32f103" OR APP_PLATFORM STREQUAL "stm32g0b1")
+    list(APPEND PERIPHERAL_SOURCES ${CMAKE_CURRENT_LIST_DIR}/led_stm32.cpp)
+elseif(APP_PLATFORM STREQUAL "ubuntu")
+    list(APPEND PERIPHERAL_SOURCES ${CMAKE_CURRENT_LIST_DIR}/led_ubuntu.cpp)
+else()
+    message(SEND_ERROR "APP_PLATFORM is unknown.")
+endif()

Src/platform/stm32f103/led.cpp → Src/peripheral/led/led_stm32.cpp

@@ -4,7 +4,7 @@
  * Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
  */
 
-#include "peripheral/led/led.hpp"
+#include "led.hpp"
 #include <cstddef>
 #include "main.h"
 
@@ -22,14 +22,26 @@ namespace Board {
 static void write_red(bool enabled) {
     GPIO_PinState state = enabled ? GPIO_PIN_RESET : GPIO_PIN_SET;
     HAL_GPIO_WritePin(INTERNAL_LED_RED_GPIO_Port, INTERNAL_LED_RED_Pin, state);
+
+#ifdef EXT_RGB_LED_RED_GPIO_Port
+    HAL_GPIO_WritePin(EXT_RGB_LED_RED_GPIO_Port, EXT_RGB_LED_RED_Pin, state);
+#endif
 }
 static void write_green(bool enabled) {
     GPIO_PinState state = enabled ? GPIO_PIN_RESET : GPIO_PIN_SET;
     HAL_GPIO_WritePin(INTERNAL_LED_GREEN_GPIO_Port, INTERNAL_LED_GREEN_Pin, state);
+
+#ifdef EXT_RGB_LED_GREEN_GPIO_Port
+    HAL_GPIO_WritePin(EXT_RGB_LED_GREEN_GPIO_Port, EXT_RGB_LED_GREEN_Pin, state);
+#endif
 }
 static void write_blue(bool enabled) {
     GPIO_PinState state = enabled ? GPIO_PIN_RESET : GPIO_PIN_SET;
     HAL_GPIO_WritePin(INTERNAL_LED_BLUE_GPIO_Port, INTERNAL_LED_BLUE_Pin, state);
+
+#ifdef EXT_RGB_LED_BLUE_GPIO_Port
+    HAL_GPIO_WritePin(EXT_RGB_LED_BLUE_GPIO_Port, EXT_RGB_LED_BLUE_Pin, state);
+#endif
 }
 
 void Led::set(Color color) {

Src/platform/ubuntu/led.cpp → Src/peripheral/led/led_ubuntu.cpp

@@ -4,7 +4,7 @@
  * Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
  */
 
-#include "peripheral/led/led.hpp"
+#include "led.hpp"
 
 namespace Board {
 

Src/peripheral/spi/CMakeLists.txt

@@ -0,0 +1,20 @@
+# Copyright (C) 2023-2024 Dmitry Ponomarev <ponomarevda96@gmail.com>
+# Distributed under the terms of the GPL v3 license, available in the file LICENSE.
+
+# Include guard
+if(PERIPHERAL_SPI_CMAKE)
+    return()
+endif()
+set(PERIPHERAL_SPI_CMAKE ${CMAKE_CURRENT_LIST_DIR})
+
+if(NOT APP_PLATFORM)
+  message(SEND_ERROR "APP_PLATFORM is not specified or unsupported! Options: stm32f103, stm32g0b1, ubuntu.")
+endif()
+
+if(APP_PLATFORM STREQUAL "stm32f103" OR APP_PLATFORM STREQUAL "stm32g0b1")
+    list(APPEND PERIPHERAL_SOURCES ${CMAKE_CURRENT_LIST_DIR}/spi_stm32.cpp)
+elseif(APP_PLATFORM STREQUAL "ubuntu")
+    list(APPEND PERIPHERAL_SOURCES ${CMAKE_CURRENT_LIST_DIR}/spi_ubuntu.cpp)
+else()
+    message(SEND_ERROR "APP_PLATFORM is unknown.")
+endif()

Src/platform/stm32g0b1/spi.cpp → Src/peripheral/spi/spi_stm32.cpp

@@ -21,6 +21,9 @@ static void spi_set_nss(bool nss_state) {
 #ifdef SPI2_NSS_GPIO_Port
     auto state = nss_state ? GPIO_PIN_SET : GPIO_PIN_RESET;
     HAL_GPIO_WritePin(SPI2_NSS_GPIO_Port, SPI2_NSS_Pin, state);
+#elif defined(SPI_SS_GPIO_Port)
+    auto state = nss_state ? GPIO_PIN_SET : GPIO_PIN_RESET;
+    HAL_GPIO_WritePin(SPI_SS_GPIO_Port, SPI_SS_Pin, state);
 #endif
 }
 

Src/peripheral/uart/CMakeLists.txt

@@ -0,0 +1,20 @@
+# Copyright (C) 2023-2024 Dmitry Ponomarev <ponomarevda96@gmail.com>
+# Distributed under the terms of the GPL v3 license, available in the file LICENSE.
+
+# Include guard
+if(PERIPHERAL_UART_CMAKE)
+    return()
+endif()
+set(PERIPHERAL_UART_CMAKE ${CMAKE_CURRENT_LIST_DIR})
+
+if(NOT APP_PLATFORM)
+  message(SEND_ERROR "APP_PLATFORM is not specified or unsupported! Options: stm32f103, stm32g0b1, ubuntu.")
+endif()
+
+if(APP_PLATFORM STREQUAL "stm32f103" OR APP_PLATFORM STREQUAL "stm32g0b1")
+    list(APPEND PERIPHERAL_SOURCES ${CMAKE_CURRENT_LIST_DIR}/uart_stm32.cpp)
+elseif(APP_PLATFORM STREQUAL "ubuntu")
+    list(APPEND PERIPHERAL_SOURCES ${CMAKE_CURRENT_LIST_DIR}/uart_ubuntu.cpp)
+else()
+    message(SEND_ERROR "APP_PLATFORM is unknown.")
+endif()

Src/peripheral/uart/uart.hpp

@@ -1,7 +1,50 @@
-// Copyright (C) 2023 Dmitry Ponomarev <ponomarevda96@gmail.com>
-// Distributed under the terms of the GPL v3 license, available in the file LICENSE.
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ * Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
+ */
 
-#ifndef SRC_PERIPHERY_UART_UART_HPP_
-#define SRC_PERIPHERY_UART_UART_HPP_
+#ifndef SRC_PERIPHERAL_UART_UART_HPP_
+#define SRC_PERIPHERAL_UART_UART_HPP_
 
-#endif  // SRC_PERIPHERY_UART_UART_HPP_
+#include <cstdint>
+#include <cstddef>
+
+namespace HAL {
+
+class UART {
+public:
+    enum class Instance {
+        FIRST,
+        SECOND,
+        AMOUNT,
+    };
+
+    /**
+     * @brief Allocate resources, but not initialize yet
+     */
+    explicit UART(UART::Instance instance_) : instance(instance_) {}
+
+    /**
+     * @brief After updating the baudrate, you typically want to reinialize the driver 
+     */
+    void set_baudrate(uint32_t rate);
+
+    /**
+     * @brief RX DMA mode
+     * @return 0 on success, -1 on failure
+     */
+    int8_t init_rx_dma(uint8_t buffer[], uint16_t size);
+
+    /**
+     * @return a value in range [0, RX_DMA_BUFFER_SIZE - 1]
+     */
+    size_t get_last_received_index();
+
+private:
+    Instance instance;
+};
+
+}  // namespace HAL
+
+#endif  // SRC_PERIPHERAL_UART_UART_HPP_

Src/peripheral/uart/uart_stm32.cpp

@@ -0,0 +1,103 @@
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ * Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
+ */
+
+#include "peripheral/uart/uart.hpp"
+#include "main.h"
+
+extern UART_HandleTypeDef huart1;
+#define UART_1_PTR &huart1
+
+#if defined(SECOND_UART)
+    extern UART_HandleTypeDef huart2;
+    #define UART_2_PTR &huart2
+#else
+    #define UART_2_PTR NULL
+#endif
+
+typedef enum {
+    NO_FLAGS = 0,
+    HALF_RECEIVED_FLAG,
+    FULL_RECEIVED_FLAG,
+    BOTH_FLAGS,
+} UartRxStatus_t;
+
+typedef struct {
+    UART_HandleTypeDef* huart_ptr;
+    uint8_t* buffer;
+    uint16_t size;
+    UartRxStatus_t status;
+    void (*rx_callback)();
+    uint32_t rx_counter;
+} UartRxConfig_t;
+
+static UartRxConfig_t uart_rx[2] = {
+    {
+        .huart_ptr = UART_1_PTR,
+        .buffer = nullptr,
+        .size = 0,
+        .status = NO_FLAGS,
+        .rx_callback = nullptr,
+        .rx_counter = 0
+    },
+    {
+        .huart_ptr = UART_2_PTR,
+        .buffer = nullptr,
+        .size = 0,
+        .status = NO_FLAGS,
+        .rx_callback = nullptr,
+        .rx_counter = 0
+    },
+};
+
+namespace HAL {
+
+void UART::set_baudrate(uint32_t rate) {
+    if (instance == Instance::FIRST) {
+        huart1.Init.BaudRate = rate;
+        HAL_UART_Init(&huart1);
+    } else if (instance == Instance::SECOND) {
+#if defined(SECOND_UART)
+        huart2.Init.BaudRate = rate;
+        HAL_HalfDuplex_Init(&huart2);
+#endif
+    }
+}
+
+
+int8_t UART::init_rx_dma(uint8_t buffer[], uint16_t size) {
+    if (instance >= Instance::AMOUNT) {
+        return -1;
+    }
+
+    auto& uart_rx_config = uart_rx[static_cast<uint8_t>(instance)];
+
+    uart_rx_config.buffer = buffer;
+    uart_rx_config.size = size;
+    uart_rx_config.rx_counter = 0;
+    HAL_StatusTypeDef status = HAL_UART_Receive_DMA(uart_rx_config.huart_ptr, buffer, size);
+    return status == HAL_OK ? 0 : -1;
+}
+
+
+size_t UART:: get_last_received_index() {
+    if (instance >= Instance::AMOUNT) {
+        return 0;
+    }
+
+    auto uart_rx_config = &uart_rx[static_cast<uint8_t>(instance)];
+
+    if (uart_rx_config->huart_ptr == nullptr) {
+        return 0;
+    }
+
+    uint16_t remaining_data_units = __HAL_DMA_GET_COUNTER(uart_rx_config->huart_ptr->hdmarx);
+    if (remaining_data_units == uart_rx_config->size) {
+        return uart_rx_config->size - 1;
+    }
+    return uart_rx_config->size - remaining_data_units - 1;
+}
+
+}  // namespace HAL

Src/peripheral/uart/uart_ubuntu.cpp

@@ -0,0 +1,26 @@
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ * Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
+ */
+
+#include "peripheral/uart/uart.hpp"
+#include "main.h"
+
+namespace HAL {
+
+void UART::set_baudrate(uint32_t rate) {
+    (void)rate;
+}
+
+int8_t UART::init_rx_dma(uint8_t buffer[], uint16_t size) {
+    (void)buffer;
+    (void)size;
+    return 0;
+}
+
+size_t UART:: get_last_received_index() {
+    return 0;
+}
+
+}  // namespace HAL

Src/platform/stm32f103/CMakeLists.txt

@@ -4,6 +4,7 @@
 set(EXECUTABLE ${PROJECT_NAME}.out)
 add_executable(${EXECUTABLE}
     ${APPLICATION_SOURCES}
+    ${PERIPHERAL_SOURCES}
     ${BUILD_SRC_DIR}/params.cpp
     ${ROOT_DIR}/Src/common/algorithms.cpp
     ${ROOT_DIR}/Src/common/logging.cpp
@@ -15,7 +16,6 @@ add_executable(${EXECUTABLE}
     ${ROOT_DIR}/Src/platform/stm32/pwm/pwm.cpp
     ${CMAKE_CURRENT_LIST_DIR}/pwm.cpp
     ${ROOT_DIR}/Src/platform/stm32/iwdg/iwdg.cpp
-    ${CMAKE_CURRENT_LIST_DIR}/led.cpp
     ${CMAKE_CURRENT_LIST_DIR}/temperature_sensor.cpp
     ${ROOT_DIR}/Src/platform/stm32/platform_specific.cpp
 

Src/platform/stm32g0b1/CMakeLists.txt

@@ -6,9 +6,12 @@ cmake_path(GET CMAKE_CURRENT_LIST_DIR PARENT_PATH PLATFORM_DIR)
 cmake_path(GET PLATFORM_DIR PARENT_PATH SRC_DIR)
 cmake_path(GET SRC_DIR PARENT_PATH ROOT_DIR)
 
+include(${ROOT_DIR}/Src/peripheral/spi/CMakeLists.txt)
+
 set(EXECUTABLE ${PROJECT_NAME}.out)
 add_executable(${EXECUTABLE}
     ${APPLICATION_SOURCES}
+    ${PERIPHERAL_SOURCES}
     ${BUILD_SRC_DIR}/params.cpp
     ${ROOT_DIR}/Src/common/algorithms.cpp
     ${ROOT_DIR}/Src/common/logging.cpp
@@ -20,9 +23,7 @@ add_executable(${EXECUTABLE}
     ${PLATFORM_DIR}/stm32f103/adc.cpp
     ${CMAKE_CURRENT_LIST_DIR}/gpio.cpp
     ${PLATFORM_DIR}/stm32g0b1/pwm.cpp
-    ${PLATFORM_DIR}/stm32g0b1/spi.cpp
     ${ROOT_DIR}/Src/platform/stm32/iwdg/iwdg.cpp
-    ${PLATFORM_DIR}/stm32f103/led.cpp
     ${PLATFORM_DIR}/stm32f103/temperature_sensor.cpp
     ${ROOT_DIR}/Src/platform/stm32/platform_specific.cpp