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Major UART communication improvement

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- the UART communication is improved based on UART Idle line detection interrupt
- both Tx and Rx are efficiently handled using DMA

Other:
- minor visual improvements
This commit is contained in:
EmanuelFeru
2020-06-21 23:07:01 +02:00
parent e9d74bea29
commit 1e7bf7cd90
11 changed files with 312 additions and 183 deletions
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133
Src/main.c
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@@ -30,76 +30,33 @@
#include "mpu6050_dmp.h"
#ifdef SERIAL_CONTROL
typedef struct{
uint16_t start;
int16_t roll;
int16_t pitch;
int16_t yaw;
uint16_t sensors;
uint16_t checksum;
} SerialSideboard;
SerialSideboard Sideboard;
extern SerialSideboard Sideboard;
#endif
#ifdef SERIAL_FEEDBACK
typedef struct{
uint16_t start;
int16_t cmd1;
int16_t cmd2;
int16_t speedR_meas;
int16_t speedL_meas;
int16_t batVoltage;
int16_t boardTemp;
uint16_t cmdLed;
uint16_t checksum;
} SerialFeedback;
SerialFeedback Feedback;
SerialFeedback NewFeedback;
static int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
static uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
extern SerialFeedback Feedback;
extern uint16_t timeoutCntSerial; // Timeout counter for Rx Serial command
extern uint8_t timeoutFlagSerial; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
#endif
extern MPU_Data mpu; // holds the MPU-6050 data
ErrStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
extern MPU_Data mpu; // holds the MPU-6050 data
extern ErrStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
uint8_t userCommand; // holds the user command input
FlagStatus sensor1, sensor2; // holds the sensor1 and sensor 2 values
FlagStatus sensor1_read, sensor2_read; // holds the instantaneous Read for sensor1 and sensor 2
FlagStatus sensor1, sensor2; // holds the sensor1 and sensor 2 values
FlagStatus sensor1_read, sensor2_read; // holds the instantaneous Read for sensor1 and sensor 2
static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
int main(void)
{
systick_config(); // SysTick config
gpio_config(); // GPIO config
usart_config(USART_MAIN, USART_MAIN_BAUD); // USART config
gpio_config(); // GPIO config
usart_nvic_config(); // USART interrupt configuration
usart_config(USART_MAIN, USART_MAIN_BAUD); // USART config
i2c_config(); // I2C config
i2c_nvic_config(); // NVIC peripheral config
#ifdef SERIAL_CONTROL
usart_Tx_DMA_config(USART_MAIN, (uint8_t *)&Sideboard, sizeof(Sideboard));
#endif
#ifdef SERIAL_FEEDBACK
usart_Rx_DMA_config(USART_MAIN, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
#endif
intro_demo_led(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to power-up.
#ifdef MPU_SENSOR_ENABLE
if(mpu_config()) { // IMU MPU-6050 config
mpuStatus = ERROR;
gpio_bit_set(LED1_GPIO_Port, LED1_Pin); // Turn on RED LED
}
else {
mpuStatus = SUCCESS;
gpio_bit_set(LED2_GPIO_Port, LED2_Pin); // Turn on GREEN LED
}
mpu_handle_input('h'); // Print the User Help commands to serial
#else
gpio_bit_set(LED2_GPIO_Port, LED2_Pin); // Turn on GREEN LED
#endif
i2c_nvic_config(); // I2C interrupt configuration
input_init(); // Input initialization
while(1) {
@@ -116,22 +73,9 @@ int main(void)
if (Feedback.cmdLed & LED5_SET) { gpio_bit_set(LED5_GPIO_Port, LED5_Pin); } else { gpio_bit_reset(LED5_GPIO_Port, LED5_Pin); }
if (Feedback.cmdLed & LED4_SET) { gpio_bit_set(AUX3_GPIO_Port, AUX3_Pin); } else { gpio_bit_reset(AUX3_GPIO_Port, AUX3_Pin); }
}
#endif
// ==================================== USER Handling ====================================
#if defined(MPU_SENSOR_ENABLE) && defined(SERIAL_DEBUG)
// Get the user Input as one character from Serial
if(SET == usart_flag_get(USART_MAIN, USART_FLAG_RBNE)) { // Check if Read Buffer Not Empty meanind Serial data is available
userCommand = usart_data_receive(USART_MAIN);
if (userCommand != 10 && userCommand != 13) { // Do not accept 'new line' (ascii 10) and 'carriage return' (ascii 13) commands
log_i("Command = %c\n", userCommand);
mpu_handle_input(userCommand);
}
}
#endif
#endif
// ==================================== MPU-6050 Handling ====================================
#ifdef MPU_SENSOR_ENABLE
// Get MPU data. Because the MPU-6050 interrupt pin is not wired we have to check DMP data by pooling periodically
@@ -152,26 +96,28 @@ int main(void)
// SENSOR1
if (sensor1 == RESET && sensor1_read == SET) {
sensor1 = SET;
// Sensor ACTIVE: Do something here (one time task on activation)
sensor1 = SET;
gpio_bit_set(LED4_GPIO_Port, LED4_Pin);
consoleLog("-- SENSOR 1 Active --\n");
consoleLog("-- SENSOR 1 Active --\n");
} else if(sensor1 == SET && sensor1_read == RESET) {
// Sensor DEACTIVE: Do something here (one time task on deactivation)
sensor1 = RESET;
gpio_bit_reset(LED4_GPIO_Port, LED4_Pin);
consoleLog("-- SENSOR 1 Deactive --\n");
consoleLog("-- SENSOR 1 Deactive --\n");
}
// SENSOR2
if (sensor2 == RESET && sensor2_read == SET) {
sensor2 = SET;
// Sensor ACTIVE: Do something here (one time task on activation)
sensor2 = SET;
gpio_bit_set(LED5_GPIO_Port, LED5_Pin);
consoleLog("-- SENSOR 2 Active --\n");
consoleLog("-- SENSOR 2 Active --\n");
} else if (sensor2 == SET && sensor2_read == RESET) {
// Sensor DEACTIVE: Do something here (one time task on deactivation)
sensor2 = RESET;
gpio_bit_reset(LED5_GPIO_Port, LED5_Pin);
consoleLog("-- SENSOR 2 Deactive --\n");
consoleLog("-- SENSOR 2 Deactive --\n");
}
if (sensor1 == SET) {
@@ -181,10 +127,11 @@ int main(void)
// Sensor ACTIVE: Do something here (continuous task)
}
// ==================================== SERIAL Tx/Rx Handling ====================================
#ifdef SERIAL_CONTROL
// To transmit on USART
if (main_loop_counter % 5 == 0 && SET == dma_flag_get(DMA_CH3, DMA_FLAG_FTF)) { // check if DMA channel transfer complete (Full Transfer Finish flag == 1)
if (main_loop_counter % 5 == 0 && dma_transfer_number_get(DMA_CH3) == 0) { // Check if DMA channel counter is 0 (meaning all data has been transferred)
Sideboard.start = (uint16_t)SERIAL_START_FRAME;
Sideboard.roll = (int16_t)mpu.euler.roll;
Sideboard.pitch = (int16_t)mpu.euler.pitch;
@@ -200,33 +147,13 @@ int main(void)
#endif
#ifdef SERIAL_FEEDBACK
uint16_t checksum;
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
if (NewFeedback.start == SERIAL_START_FRAME && NewFeedback.checksum == checksum) {
if (timeoutFlagSerial) { // Check for previous timeout flag
if (timeoutCntSerial-- <= 0) // Timeout de-qualification
timeoutFlagSerial = 0; // Timeout flag cleared
} else {
memcpy(&Feedback, &NewFeedback, sizeof(Feedback)); // Copy the new data
NewFeedback.start = 0xFFFF; // Change the Start Frame for timeout detection in the next cycle
timeoutCntSerial = 0; // Reset the timeout counter
}
} else {
if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
timeoutFlagSerial = 1; // Timeout detected
timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
}
// Most probably we are out-of-sync. Try to re-sync by reseting the DMA
if (NewFeedback.start != SERIAL_START_FRAME && NewFeedback.start != 0xFFFF && main_loop_counter % 5 == 0) {
dma_channel_disable(DMA_CH4);
usart_Rx_DMA_config(USART_MAIN, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
}
if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
timeoutFlagSerial = 1; // Timeout detected
timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
}
if (timeoutFlagSerial && main_loop_counter % 100 == 0) { // In case of timeout bring the system to a Safe State and indicate error if desired
toggle_led(LED3_GPIO_Port, LED3_Pin); // Toggle the Yellow LED every 100 ms
}
}
#endif
main_loop_counter++;