Add AMDS firmware changes to implement the DCP

Mainboard/Firmware/motherboard_v1/.settings/stm32cubeide.project.prefs

@@ -0,0 +1,4 @@
+2F62501ED4689FB349E356AB974DBE57=DB4D67F16CA069769A3F87733D593AF2
+8DF89ED150041C4CBC7CB9A9CAA90856=DB4D67F16CA069769A3F87733D593AF2
+DC22A860405A8BF2F2C095E5B6529F12=D1E96F3EE32E2AB2CF91940507FB3624
+eclipse.preferences.version=1

Mainboard/Firmware/motherboard_v1/Core/Inc/adc.h

@@ -18,5 +18,6 @@ void adc_init(void);
 // but if it is called in the middle of an conversion,
 // one sample old data will be returned.
 void adc_latest_bits(uint16_t *output);
+void adc_latest_amds(uint16_t *output);
 
 #endif // ADC_H

Mainboard/Firmware/motherboard_v1/Core/Inc/drv_uart.h

@@ -3,9 +3,54 @@
 
 #include "platform.h"
 #include <stdint.h>
+#include <stdbool.h>
 
 void drv_uart_init(void);
 
+extern UART_HandleTypeDef huart2;
+extern UART_HandleTypeDef huart3;
+
+// 16-byte accumulator
+// Layout: [UART4 pkt0-3 | UART5 pkt0-3][UART4 pkt4-7 | UART5 pkt4-7]
+extern volatile uint16_t latest_valid_amds_samples[2][8];
+extern volatile bool amds_samples_ready[2];
+extern volatile uint8_t uart4_amds_sample_count;
+extern volatile uint8_t uart5_amds_sample_count;
+
+
+typedef enum {
+    STATE_IDLE,
+    STATE_GOT_HEADER,
+    STATE_GOT_BYTE1
+} rx_state_t;
+
+typedef struct {
+    rx_state_t state;
+    uint8_t header;
+    uint8_t data[2];
+    uint32_t read_index;
+} uart_rx_tracker_t;
+
+extern uart_rx_tracker_t tracker4;
+extern uart_rx_tracker_t tracker5;
+
+#define AMDS_RX_BUF_SIZE 256
+extern uint8_t UART4_DMA_Pool[AMDS_RX_BUF_SIZE];
+extern uint8_t UART5_DMA_Pool[AMDS_RX_BUF_SIZE];
+
+// Define large buffers for outgoing data
+#define TX_BUF_SIZE 512
+extern uint8_t usart2_tx_ring[TX_BUF_SIZE];
+extern uint8_t usart3_tx_ring[TX_BUF_SIZE];
+
+extern uint32_t usart2_tx_write_idx;
+extern uint32_t usart3_tx_write_idx;
+
+
+void process_uart_fifo(uint8_t *pool, uart_rx_tracker_t *track, uint8_t uart_id);
+
+void dma_send(uint8_t uart_id, uint8_t *data, uint8_t len);
+
 static inline void drv_uart_putc_fast(USART_TypeDef *uart, uint8_t data)
 {
     // Wait until UART is ready to accept next character
@@ -17,6 +62,17 @@ static inline void drv_uart_putc_fast(USART_TypeDef *uart, uint8_t data)
     uart->TDR = data;
 }
 
+static inline void drv_uart_putc_dma(USART_TypeDef *uart, uint8_t data)
+{
+    if (uart == USART2) {
+        usart2_tx_ring[usart2_tx_write_idx] = data;
+        usart2_tx_write_idx = (usart2_tx_write_idx + 1) % TX_BUF_SIZE;
+    } else if (uart == USART3) {
+        usart3_tx_ring[usart3_tx_write_idx] = data;
+        usart3_tx_write_idx = (usart3_tx_write_idx + 1) % TX_BUF_SIZE;
+    }
+}
+
 static inline void drv_uart_wait_TC(USART_TypeDef *uart)
 {
     // After done sending characters, must wait for TC flag!!

Mainboard/Firmware/motherboard_v1/Core/Inc/stm32f7xx_hal_conf.h

@@ -151,6 +151,7 @@
 #define  USE_RTOS                     0U
 #define  PREFETCH_ENABLE              0U
 #define  ART_ACCLERATOR_ENABLE        0U /* To enable instruction cache and prefetch */
+#define  USE_HAL_UART_REGISTER_CALLBACKS    1U /* UART register callback disabled    */
 
 /* ########################## Assert Selection ############################## */
 /**

Mainboard/Firmware/motherboard_v1/Core/Src/adc.c

@@ -1,4 +1,5 @@
 #include "adc.h"
+#include "drv_uart.h"
 #include "drv_spi.h"
 #include "platform.h"
 #include "tx.h"
@@ -23,6 +24,7 @@ static void setup_pin_CONVST(void);
 // clang-format on
 
 #define GPIO_SET_PIN(port, pin, x) port->BSRR = (x) ? pin : (pin << 16)
+#define GPIO_TOGGLE_PIN(port, pin) ((port)->BSRR = ((port)->ODR & (pin)) ? ((pin) << 16) : (pin))
 
 #define SET_PIN_CONVST12_HIGH GPIO_SET_PIN(GPIOE, GPIO_PIN_10, 1)
 #define SET_PIN_CONVST34_HIGH GPIO_SET_PIN(GPIOE, GPIO_PIN_11, 1)
@@ -43,6 +45,10 @@ static void setup_pin_CONVST(void);
 // Buffer of latest samples
 static volatile uint16_t latest_valid_adc_data[8] = { 0 };
 
+volatile uint16_t latest_valid_amds_samples[2][8] = { 0 };
+
+volatile bool amds_samples_ready[2] = { 0 };
+
 void adc_init(void)
 {
     // Setup output pin which starts ADC conversions
@@ -68,6 +74,33 @@ void adc_latest_bits(uint16_t *output)
     output[7] = data[7];
 }
 
+// NOTE: this function is called from the transmit function
+void adc_latest_amds(uint16_t *output)
+{
+    volatile uint16_t *data1 = latest_valid_amds_samples[0];
+    volatile uint16_t *data2 = latest_valid_amds_samples[1];
+
+	// Give user their data (unrolled for speed)
+	output[0] = data1[0];
+	output[1] = data1[1];
+	output[2] = data1[2];
+	output[3] = data1[3];
+	output[4] = data1[4];
+	output[5] = data1[5];
+	output[6] = data1[6];
+	output[7] = data1[7];
+
+	// Give user their data (unrolled for speed)
+	output[8]  = data2[0];
+	output[9]  = data2[1];
+	output[10] = data2[2];
+	output[11] = data2[3];
+	output[12] = data2[4];
+	output[13] = data2[5];
+	output[14] = data2[6];
+	output[15] = data2[7];
+}
+
 static void adc_sample_all_daughtercards(uint16_t *sample_data_out)
 {
     // This function has been optimized for very
@@ -147,7 +180,8 @@ static void adc_sample_all_daughtercards(uint16_t *sample_data_out)
 void EXTI3_IRQHandler(void)
 {
     // Perform the actual SPI transactions
-    uint16_t new_data[8] = { 0 };
+	GPIO_TOGGLE_PIN(GPIOD, GPIO_PIN_1);
+	uint16_t new_data[8] = { 0 };
     adc_sample_all_daughtercards(new_data);
 
     // Copy data into write buffer destination
@@ -214,9 +248,12 @@ static void setup_pin_SYNC_ADC(void)
     GPIO_InitTypeDef GPIO_InitStruct = { 0 };
 
     __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
 
     // Configure GPIO pin Output Level
     HAL_GPIO_WritePin(GPIOA, GPIO_PIN_3, GPIO_PIN_RESET);
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_1, GPIO_PIN_SET);
+
 
     // Configure GPIO pins
     GPIO_InitStruct.Pin = GPIO_PIN_3;
@@ -225,6 +262,12 @@ static void setup_pin_SYNC_ADC(void)
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    GPIO_InitStruct.Pin = GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+	HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
     // EXTI interrupt init
     HAL_NVIC_SetPriority(EXTI3_IRQn, 10, 0);
     HAL_NVIC_EnableIRQ(EXTI3_IRQn);

Mainboard/Firmware/motherboard_v1/Core/Src/drv_gpio.c

@@ -34,7 +34,7 @@ static void MX_GPIO_Init(void)
 
     // Configure GPIO pin Output Level
     HAL_GPIO_WritePin(GPIOD,
-                      GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2
+                      GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11
                           | GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7,
                       GPIO_PIN_RESET);
 
@@ -78,9 +78,9 @@ static void MX_GPIO_Init(void)
     HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
     // Configure GPIO pins : PD8 PD9 PD10 PD11
-    //                         PD0 PD1 PD2 PD3
+    //                                     PD3
     //                         PD4 PD5 PD6 PD7
-    GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2
+    GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11
         | GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7;
     GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;