Got USART3_TX DMA working.

bin/uros_nucleo_install.sh

@@ -131,5 +131,13 @@ echo "To flash the firmware to the microcontroller run the following commands:"
 echo "    cd $WS_DIR"
 echo "    source /opt/ros/foxy/setup.bash"
 echo "    source install/local_setup.bash"
-echo "    ros2 run micro_ros_setup flash_firmware."
+echo "    ros2 run micro_ros_setup flash_firmware.sh"
+echo ""
+echo "To start the agent:"
+echo "    cd $WS_DIR"
+echo "    source /opt/ros/foxy/setup.bash"
+echo "    source install/local_setup.bash"
+echo "    sudo adduser $(whoami) dailout  # Only need to do once"
+echo "    # Logout log back in to get groups to stick.  Verify with 'groups' command"
+echo "    ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyAMA0"
 echo ""

electrical/master_board/rev_a/issues.md

@@ -45,20 +45,57 @@
 24. The motor driver needs a .1µF capacitor between pin-11 (VCP) and pin-12 (VM).
 25. The ESTOP LED is inverted.  It should be ON for an ESTOP not OFF.
 26. The RxD and TxD pins on U19 are swapped.
-27. There is something weird going on with power coming in from the STLink USB connector
+27. There is something weird going on with power coming in from the ST-Link USB connector
     event when the Nucleo is powered by E5V jumper.
 28. The right encoder is rotated 180 degrees along the Z-axis  and is incompatible with the
     associated encoder.
 29. The labels on the encoder signals are swapped.  LQUAD_A/LQUAD_B are connected to the
     right motor/encoder and RQUAD_A/RQUAD_B are connected to the left encoder.
-30. The serial port on the microcontroll is connected to the console pins on the RasPi4.
+30. The serial port on the microcontroller is connected to the console pins on the RasPi4.
     This is a mistake.  Instead, use UART5 on the RasPi4.  
 31. The Motor controller will start with motors at full speed on power-up.  Add pull-down/pull-up
     resistors to the two CTL pins for each motor to force them into a known (and safe) state when
     starting up.  Likewise the SLEEP pin needs a power-up pull-up/down resistor to put it into a
     known state on power up.
+32. UART3 can be connected to either the ST-LINK or the Morpho Pins:
+    * STLK_TX (Nucleo Scehmatic Name):
+      * ST-Link:
+        * U2-Pin 12
+	* CN5:TX (Upper)
+      * Nucleo:
+        * PD9
+        * U8B-Pin 78
+	* USART3_RX
+        * SB6 Closed=>ST-Link    <==== Open SB6
+        * SB4 Closed=>Morpho CN11-69
+      * Pi4
+        * TXD3: Pin 7
+    * STLK_RX (Nucleo Scehmatic Name):
+      * ST-Link:
+        * U2-Pin 13:
+	* CN5: RX (Lower)
+      * Nucleo:
+        * PD8
+        * U8B-Pin 77
+	* USART3_TX
+	* SB5 Closed=>ST-Link
+	* SB7 Closed=>Morpho CN12-10
+      * Pi 4
+        * RXD3 Pin 29
 
 <!--
+7: TXD3(Pi4)             Avail
+8: TXD0 or TXD1(Pi4)     SBC_TX
+10: RXD0 or RXD1(Pi4)    SBC_RX
+21: RXD4 (Pi4)           Avail
+24: TXD4 (Pi4)           SBC_ALIVE
+27: TXD2 (Pi4)           ID_SDA
+28: RXD2 (Pi4)           ID_SCL
+29: RXD3 (Pi4)           Avail
+32: TXD5 (Pi4)           Avail (Wired to USART1)
+33: RXD5 (Pi4)           Avail (Wired to USART1)
+
+
 RasPi4:
 * Pin 8  => TXD1
 * Pin 10 <= RXD1

software/.gitignore

@@ -0,0 +1 @@
+uros_ws/

software/README.md

@@ -2110,6 +2110,26 @@ Now run `stm33cubemx`:
 
 This completes all of the steps needed to run the Blinky program.
 
+<!--
+To configure a Raspberry Pi 4 UART:
+edit the `/boot/firmare/usercfg.txt`
+
+     #dtoverlay=uart1
+     #dtoverlay=uart2
+     #dtoverlay=uart3
+     #dtoverlay=uart4
+     #dtoverlay=uart5
+     dtoverlay=disable-bt
+
+Remove the comment for the uarts you want enabled.
+The are allocated as `/dev/ttyAMAx`, where `x` is is `0`, `1` in the order of the
+the uarts enabled.
+
+     
+file `
+
+..>
+
 ## Next steps:
 
 ### Microcode download
@@ -2273,4 +2293,87 @@ To copy an Eclipse project.
    * Use the file browser to locate the empty directory you created and select it.
    * Hit [OK] (or whatever it is called.)
 
+* USART3
+  * Mode:
+    * Mode: Asynchronous
+    * Hardware Flow Control (RS232): Disable
+  * Configuration:
+    * Parameter Settings
+      * Basic Parameters
+        * Baud Rate: 115200
+        * Word Length 8 BIts (including Parity)
+        * Parity: None
+        * Stop Bits: 1
+      * Advanced Parameters:
+        * Data Direction: Receive and Transmit
+        * Oversampling: 16 Samples
+        * Single Sample: Disable
+      * Advance Features:
+        * Auto Baudrate: Disable
+        * TX Pin Active Level Inversion: Disable
+        * RX Pin Active Level Inversion: Disable
+        * Data Inversion: Disable
+        * TX and RX Pins Swapping: Disable
+        * Overrun: Enable
+        * DMA on RX Error: Enable
+        * MSB First: Disable
+    * User Constants:
+      * blank
+    * NVIC Settings:
+      * DMA stream 1 global interrupt:
+        * Enabled: False
+        * Preemption Priority: 5
+        * Sub-priority: 0
+      * DMA stream 1 global interrupt:
+        * Enabled: False
+        * Preemption Priority: 5
+        * Sub-priority: 0
+      * USART3 global interrupt
+        * Enabled: True
+        * Preemption Priority: 5
+        * Sub-priority: 0
+    * DMA Settings:
+      * USART3_TX:
+        * Stream: DMA1 Stream 3
+        * Direction: Memory To Peripheral
+        * Priority: Low
+        * DMA Request Settings:
+	  * Mode: Normal
+	    * Increment Address:
+	      * Peripheral: Disable
+	      * Memory: Enable
+	  * Use Fifo: Disable
+	    * Use Fifo: Disable
+            * Threshold: Not visible when fifo disabled
+ 	    * Data Width:
+	      * Peripheral: Byte
+	      * Memory: Byte
+	    * Burst Size:
+	      * Peripheral: Not visible when fifo disabled
+	      * Memory: Not visible when fifo disableda
+      * USART3_RX:
+        * Stream: DMA1 Stream 1
+        * Direction: Peripheral to Memory
+        * Priority: Low
+        * Datawidth:
+	  * Peripheral: Byte
+	  * Memory: Byte
+	* Use Fifo: Disable
+    * GPIO Settings:
+      * USART3_TX:
+        * Pin Name: PD8
+        * GPIO output level: n/a
+        * GPIO Mode: Alternate Function Pull Push
+        * GPIO Pull-up: No pull-up
+        * Maximum output speed: Very High
+        * User: Label: <blank>
+        * Modified True
+      * USART3_RX:
+        * Pin Name: PD9
+        * GPIO output level: n/a
+        * GPIO Mode: Alternate Function Pull Push
+        * GPIO Pull-up: No pull-up
+      * Maximum output speed: Very High
+        * User: Label: <blank>
+        * Modified True
 -->

software/hr2-usart3-test/Core/Inc/dma.h

@@ -0,0 +1,52 @@
+/**
+  ******************************************************************************
+  * @file    dma.h
+  * @brief   This file contains all the function prototypes for
+  *          the dma.c file
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __DMA_H__
+#define __DMA_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* DMA memory to memory transfer handles -------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_DMA_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __DMA_H__ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

software/hr2-usart3-test/Core/Inc/stm32f7xx_it.h

@@ -56,6 +56,7 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void DMA1_Stream3_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

software/hr2-usart3-test/Core/Src/dma.c

@@ -0,0 +1,55 @@
+/**
+  ******************************************************************************
+  * @file    dma.c
+  * @brief   This file provides code for the configuration
+  *          of all the requested memory to memory DMA transfers.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "dma.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/*----------------------------------------------------------------------------*/
+/* Configure DMA                                                              */
+/*----------------------------------------------------------------------------*/
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/**
+  * Enable DMA controller clock
+  */
+void MX_DMA_Init(void)
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA1_Stream3_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
+
+}
+
+/* USER CODE BEGIN 2 */
+
+/* USER CODE END 2 */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

software/hr2-usart3-test/Core/Src/main.c

@@ -19,6 +19,7 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+#include "dma.h"
 #include "lptim.h"
 #include "tim.h"
 #include "usart.h"
@@ -90,6 +91,7 @@ int main(void)
 
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
+  MX_DMA_Init();
   MX_USART3_UART_Init();
   MX_TIM8_Init();
   MX_LPTIM1_Init();
@@ -103,15 +105,23 @@ int main(void)
   HAL_TIM_Encoder_Start(&htim8,TIM_CHANNEL_ALL);
   HAL_LPTIM_Encoder_Start(&hlptim1,65535L);
   uint8_t c;
+  // uint8_t i = 0;
   while (1)
   {
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
-	    // Read right and left encoder counts
-		HAL_UART_Receive(&huart3, &c, 1, 0xffffffff);
-		HAL_UART_Transmit(&huart3, &c, 1, 100);
-		HAL_UART_Transmit(&huart3, &c, 1, 100);
+	// Read right and left encoder counts
+	HAL_UART_Receive(&huart3, &c, 1, 0xffffffff);
+	HAL_GPIO_TogglePin(LD1_GPIO_Port, LD1_Pin);
+	HAL_GPIO_TogglePin(LD2_GPIO_Port, LD2_Pin);
+	HAL_GPIO_TogglePin(LD3_GPIO_Port, LD3_Pin);
+	HAL_UART_Transmit(&huart3, &c, 1, 100);
+	HAL_UART_Transmit(&huart3, &c, 1, 100);
+	// c = (i == 0 ? '\r' : (i == 1 ? '\n' : ' ' + i));
+	// HAL_UART_Transmit(&huart3, &c, 1, 100);
+	// i = (i + 1) & 0x3f;
+	// HAL_Delay(100);
   }
   /* USER CODE END 3 */
 }

software/hr2-usart3-test/Core/Src/stm32f7xx_it.c

@@ -56,7 +56,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
-
+extern DMA_HandleTypeDef hdma_usart3_tx;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -199,6 +199,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f7xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles DMA1 stream3 global interrupt.
+  */
+void DMA1_Stream3_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream3_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart3_tx);
+  /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream3_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */