aleks/hoverboard-sideboard-hack-GD
1
0
Fork 0
mirror of https://github.com/EFeru/hoverboard-sideboard-hack-GD.git synced 2025-08-18 01:26:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

Major UART communication improvement

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files

140
Src/util.c
View File

@@ -19,12 +19,35 @@
// Includes
#include <stdio.h>
#include <string.h>
#include "systick.h"
#include "gd32f1x0.h"
#include "defines.h"
#include "config.h"
#include "setup.h"
#include "util.h"
#include "mpu6050.h"
// USART variables
#ifdef SERIAL_CONTROL
SerialSideboard Sideboard;
#endif
#if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
static uint8_t rx_buffer[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
static uint32_t rx_buffer_len = ARRAY_LEN(rx_buffer);
#endif
#ifdef SERIAL_FEEDBACK
SerialFeedback Feedback;
SerialFeedback FeedbackRaw;
uint16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
static uint32_t Feedback_len = sizeof(Feedback);
#endif
// MPU variables
ErrStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
// MAIN I2C variables
volatile int8_t i2c_status;
@@ -120,6 +143,123 @@ void intro_demo_led(uint32_t tDelay)
}
/* =========================== Input Initialization Function =========================== */
void input_init(void) {
#ifdef SERIAL_CONTROL
usart_Tx_DMA_config(USART_MAIN, (uint8_t *)&Sideboard, sizeof(Sideboard));
#endif
#if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
usart_Rx_DMA_config(USART_MAIN, (uint8_t *)rx_buffer, sizeof(rx_buffer));
#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
}
/* =========================== USART READ Functions =========================== */
/*
* Check for new data received on USART with DMA: refactored function from https://github.com/MaJerle/stm32-usart-uart-dma-rx-tx
* - this function is called for every USART IDLE line detection, in the USART interrupt handler
*/
void usart_rx_check(void)
{
#ifdef SERIAL_DEBUG
static uint32_t old_pos;
uint32_t pos;
pos = rx_buffer_len - dma_transfer_number_get(DMA_CH4); // Calculate current position in buffer
if (pos != old_pos) { // Check change in received data
if (pos > old_pos) { // "Linear" buffer mode: check if current position is over previous one
usart_process_debug(&rx_buffer[old_pos], pos - old_pos); // Process data
} else { // "Overflow" buffer mode
usart_process_debug(&rx_buffer[old_pos], rx_buffer_len - old_pos); // First Process data from the end of buffer
if (pos > 0) { // Check and continue with beginning of buffer
usart_process_debug(&rx_buffer[0], pos); // Process remaining data
}
}
}
old_pos = pos; // Update old position
if (old_pos == rx_buffer_len) { // Check and manually update if we reached end of buffer
old_pos = 0;
}
#endif // SERIAL_DEBUG
#ifdef SERIAL_FEEDBACK
static uint32_t old_pos;
uint32_t pos;
uint8_t *ptr;
pos = rx_buffer_len - dma_transfer_number_get(DMA_CH4); // Calculate current position in buffer
if (pos != old_pos) { // Check change in received data
ptr = (uint8_t *)&FeedbackRaw; // Initialize the pointer with FeedbackRaw address
if (pos > old_pos && (pos - old_pos) == Feedback_len) { // "Linear" buffer mode: check if current position is over previous one AND data length equals expected length
memcpy(ptr, &rx_buffer[old_pos], Feedback_len); // Copy data. This is possible only if FeedbackRaw is contiguous! (meaning all the structure members have the same size)
usart_process_data(&FeedbackRaw, &Feedback); // Process data
} else if ((rx_buffer_len - old_pos + pos) == Feedback_len) { // "Overflow" buffer mode: check if data length equals expected length
memcpy(ptr, &rx_buffer[old_pos], rx_buffer_len - old_pos); // First copy data from the end of buffer
if (pos > 0) { // Check and continue with beginning of buffer
ptr += rx_buffer_len - old_pos; // Move to correct position in FeedbackRaw
memcpy(ptr, &rx_buffer[0], pos); // Copy remaining data
}
usart_process_data(&FeedbackRaw, &Feedback); // Process data
}
}
old_pos = pos; // Updated old position
if (old_pos == rx_buffer_len) { // Check and manually update if we reached end of buffer
old_pos = 0;
}
#endif // SERIAL_FEEDBACK
}
/*
* Process Rx debug user command input
*/
#ifdef SERIAL_DEBUG
void usart_process_debug(uint8_t *userCommand, uint32_t len)
{
for (; len > 0; len--, userCommand++) {
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
log_i("Command = %c\n", *userCommand);
mpu_handle_input(*userCommand);
}
}
}
#endif // SERIAL_DEBUG
/*
* Process Rx data
* - if the Feedback_in data is valid (correct START_FRAME and checksum) copy the Feedback_in to Feedback_out
*/
#ifdef SERIAL_FEEDBACK
void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out)
{
uint16_t checksum;
if (Feedback_in->start == SERIAL_START_FRAME) {
checksum = (uint16_t)(Feedback_in->start ^ Feedback_in->cmd1 ^ Feedback_in->cmd2 ^ Feedback_in->speedR_meas ^ Feedback_in->speedL_meas
^ Feedback_in->batVoltage ^ Feedback_in->boardTemp ^ Feedback_in->cmdLed);
if (Feedback_in->checksum == checksum) {
*Feedback_out = *Feedback_in;
timeoutCntSerial = 0; // Reset timeout counter
timeoutFlagSerial = 0; // Clear timeout flag
}
}
}
#endif // SERIAL_FEEDBACK
/* =========================== I2C WRITE Functions =========================== */
/*