Add UART implementation

implementation/software/Makefile

@@ -5,6 +5,7 @@ BOARD ?= nucleo-f411re
 RIOTBASE ?= /home/wouter/Development/RIOT/
 
 USEMODULE += xtimer
+USEMODULE += checksum
 
 
 include $(RIOTBASE)/Makefile.include

implementation/software/include/stepper.h

@@ -7,6 +7,11 @@
 #include "periph/gpio.h"
 #include "periph/uart.h"
 #include "sensor.h"
+#include "byteorder.h"
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -20,6 +25,31 @@ extern "C" {
 #define STEPPER_PARAM_ANGLE_DEFAULT (0)
 #define STEPPER_PARAM_HOMING_ANGLE_DEFAULT (20)
 
+#define STEPPER_UART_SLAVE_ADDR (0x0)
+#define STEPPER_UART_SYNC       (0x05)
+#define STEPPER_UART_REG_GCONF  (0x00)
+#define STEPPER_UART_REG_GSTAT  (0x01)
+#define STEPPER_UART_REG_IFCNT  (0x02)
+#define STEPPER_UART_REG_SLAVECONF (0x03)
+
+#define STEPPER_GCONF_BIT_I_SCALE_ANALOG (0x0 << 0)
+#define STEPPER_GCONF_BIT_INTERNAL_RSENSE (0x1 << 1) // 
+#define STEPPER_GCONF_BIT_SPREADCYCLE (0x1 << 2) // enable spreadcycle
+#define STEPPER_GCONF_BIT_SHAFT (0x0 << 3) // Non inverse
+#define STEPPER_GCONF_BIT_PDN_DISABLE (0x1 << 6) // Set to 1 when using UART
+#define STEPPER_GCONF_BIT_MSTEP_SELECT (0x1 << 7)
+
+    // default datagram => 05 ff 00 00 00 01 01 bb
+#define STEPPER_GCONF_ADDR (0x00) // 0x00
+#define STEPPER_GCONF_VALUES (0xC1000000UL) //(0x83800000UL) // 000001C1 set bit 0,6,7,8. 6: PDN disable is require for UART operation.
+
+    // default datagram => 05 ff 6c 17 01 00 53 3e
+#define STEPPER_CHOPCONF_ADDR (0x6c) // 6C
+#define STEPPER_CHOPCONF_VALUES (0xB5810132UL)//(0xCA00004CUL) // 32000053 set dedge=0x1, intpol=0x1, mres=0x2, hstrt=0x5, toff=0x3. others are 0x0.
+//#define STEPPER_CHOPCONF_VALUES [0x32,0x00,0x00,0x53] // set dedge=0x1, intpol=0x1, mres=0x2, hstrt=0x5, toff=0x3. others are 0x0.
+
+
+
 /**
  * @brief   Status and error codes
  */
@@ -70,7 +100,9 @@ int stepper_get_angle(stepper_t *dev, float *angle);
 
 int stepper_step(stepper_t *dev, stepper_direction_t *direction);
 
+int stepper_write(stepper_t *dev, uint8_t reg, le_uint32_t *data);
 
+int stepper_read(stepper_t *dev, uint8_t reg);
 
 #ifdef __cplusplus
 }

implementation/software/include/stepper_params.h

@@ -14,7 +14,7 @@ extern "C" {
 #define STEPPER_PARAM_DIR_PIN       GPIO_PIN(0, 1)
 #endif
 #ifndef STEPPER_PARAM_UART          
-#define STEPPER_PARAM_UART          UART_DEV(0)
+#define STEPPER_PARAM_UART          UART_DEV(1)
 #endif
 #ifndef STEPPER_PARAM_VEL_MAX       
 #define STEPPER_PARAM_VEL_MAX       STEPPER_PARAM_VEL_MAX_DEFAULT

implementation/software/main.c

@@ -11,8 +11,15 @@ int main(void)
     
     stepper_t dev;
     stepper_init(&dev, &stepper_params[0]);
+    xtimer_usleep(10000);
+    stepper_read(&dev, 0x0);
+    xtimer_usleep(10000);
+    stepper_read(&dev, 0x6C);
+    xtimer_usleep(10000);
+    stepper_read(&dev, 0x70);
+    xtimer_usleep(10000);
     while (1) {
-    xtimer_usleep(100000);
+    xtimer_usleep(100);
     stepper_step(&dev, STEPPER_FORWARD);
     }
 

implementation/software/stepper.c

@@ -1,7 +1,7 @@
 
 #include "periph/gpio.h"
 #include "periph/uart.h"
-
+#include "checksum/crc8.h"
 #include "include/stepper.h"
 #include "include/stepper_params.h"
 #include "include/sensor.h"
@@ -12,6 +12,7 @@
 
 #define STEP_PIN (dev->p.step_pin)
 #define DIR_PIN (dev->p.dir_pin)
+#define UART (dev->p.uart)
 
 int stepper_init(stepper_t *dev, const stepper_params_t *params)
 {
@@ -20,7 +21,15 @@ int stepper_init(stepper_t *dev, const stepper_params_t *params)
     dev->p = *params;
 
     gpio_init(STEP_PIN, GPIO_OUT);
-    
+
+    uart_init(UART, 38400, NULL, NULL);
+
+    le_uint32_t data;
+    data.u32 = STEPPER_GCONF_VALUES;
+
+    stepper_write(dev, STEPPER_GCONF_ADDR, &data);
+    data.u32 = STEPPER_CHOPCONF_VALUES;
+    stepper_write(dev, STEPPER_CHOPCONF_ADDR, &data);
 
 
     return STEPPER_OK;
@@ -35,6 +44,62 @@ int stepper_step(stepper_t *dev, stepper_direction_t *direction)
     return STEPPER_OK;
 }
 
+uint8_t stepper_crc8(const uint8_t *data, size_t len, uint8_t g_polynom, uint8_t crc){
+    for (size_t i=0; i < len; i++)
+    {
+        uint8_t current_byte = data[i];
+        for (size_t i=0; i < 8; i++)
+        {
+            bool xor = (crc >> 7) ^ (current_byte & 0x01);
+            crc = crc <<1;
+            crc = xor ? crc ^ g_polynom : crc;
+            current_byte = current_byte >> 1;
+        }
+    }
+    return crc;
+}
+    
+
+
+int stepper_write(stepper_t *dev, uint8_t reg, le_uint32_t *data)
+{
+    uint8_t* message;
+    uint32_t be_data;
+    be_data = byteorder_swapl(data->u32);
+    message = (uint8_t*) malloc(8 * sizeof(uint8_t));
+    message[0] = STEPPER_UART_SYNC;
+    message[1] = STEPPER_UART_SLAVE_ADDR;
+    message[2] = reg | 0x80;
+    memcpy(&message[3], data->u8, 4);
+    message[7] = 0x0;
+
+    printf(data);
+
+    uint8_t crc = stepper_crc8(message, 7, 0x07, 0x0);
+    message[7] = crc;
+
+    uart_write(UART, message, 8);
+    printf("\n");
+    for (int i = 0; i<8; i++)
+    {
+           printf("%0.2x",message[i]);
+    }
+    printf("\n");
+    return STEPPER_OK;
+}
+
+int stepper_read(stepper_t *dev, uint8_t reg)
+{
+    uint8_t* message;
+    message = (uint8_t*) malloc(4 * sizeof(uint8_t));
+    message[0] = STEPPER_UART_SYNC;
+    message[1] = STEPPER_UART_SLAVE_ADDR;
+    message[2] = reg;
+    message[3] = stepper_crc8(message, 3, 0x07, 0x0);
+
+    uart_write(UART, message, 4);
+}
+