From e9d74bea2949a5514f87384fd8ccf6a18188dec0 Mon Sep 17 00:00:00 2001 From: EmanuelFeru Date: Mon, 1 Jun 2020 20:26:20 +0200 Subject: [PATCH] Improved UART Timeout Major: - Improved UART Timeout: Apparently, the UART data Rx/Tx is quite unreliable (especially under motor load) leading to very often out-of-sync issues. This change allows to reset the DMA more often, leading to a faster re-sync of the UART transmission and thus avoiding UART timeout Minor: - added #define MPU_SENSOR_ENABLE to allow to enable/disable the MPU6050 sensor and save code size if the sensors is not needed - fixed the orientation in the Processing sketch - updated ReadMe --- Inc/config.h | 3 ++- Inc/mpu6050.h | 5 +++-- Inc/mpu6050_dmp.h | 5 +++-- Inc/mpu6050_dmpKey.h | 3 ++- Inc/mpu6050_dmpmap.h | 3 +++ README.md | 11 +++++++---- Src/main.c | 13 +++++++++---- Src/mpu6050.c | 9 +++++---- Src/mpu6050_dmp.c | 4 ++++ docs/sketch_processing/sketch_processing.pde | 4 ++-- 10 files changed, 40 insertions(+), 20 deletions(-) diff --git a/Inc/config.h b/Inc/config.h index c0367ca..848cca3 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -42,6 +42,7 @@ /* ==================================== SETTINGS MPU-6050 ==================================== */ +#define MPU_SENSOR_ENABLE // [-] Enable flag for MPU-6050 sensor. Comment-out this flag to Disable the MPU sensor and reduce code size. #define MPU_DMP_ENABLE // [-] Enable flag for MPU-6050 DMP (Digital Motion Processing) functionality. #define MPU_DEFAULT_HZ 20 // [Hz] Default MPU frequecy: must be between 1Hz and 200Hz. #define TEMP_READ_MS 500 // [ms] Temperature read time interval @@ -68,7 +69,7 @@ #endif #define USART_MAIN_BAUD 38400 // [bit/s] MAIN Serial Tx/Rx baud rate #define SERIAL_START_FRAME 0xABCD // [-] Start frame definition for reliable serial communication -#define SERIAL_TIMEOUT 500 // [-] Numer of wrong received data for Serial timeout detection +#define SERIAL_TIMEOUT 800 // [-] Numer of wrong received data for Serial timeout detection /* ==================================== SETTINGS AUX ==================================== */ diff --git a/Inc/mpu6050.h b/Inc/mpu6050.h index eca3f07..7faaa10 100644 --- a/Inc/mpu6050.h +++ b/Inc/mpu6050.h @@ -23,6 +23,7 @@ // Define to prevent recursive inclusion #ifndef MPU6050_H #define MPU6050_H +#ifdef MPU_SENSOR_ENABLE #include #include "defines.h" @@ -142,5 +143,5 @@ void mpu_android_orient_func(unsigned char orientation); void mpu_handle_input(char c); void mpu_print_to_console(void); - -#endif +#endif // MPU_SENSOR_ENABLE +#endif // MPU6050_H diff --git a/Inc/mpu6050_dmp.h b/Inc/mpu6050_dmp.h index cdfdd55..83342f3 100644 --- a/Inc/mpu6050_dmp.h +++ b/Inc/mpu6050_dmp.h @@ -23,6 +23,7 @@ // Define to prevent recursive inclusion #ifndef MPU6050_DMP_H #define MPU6050_DMP_H +#ifdef MPU_SENSOR_ENABLE #include @@ -102,6 +103,6 @@ int dmp_enable_gyro_cal(unsigned char enable); int dmp_read_fifo(short *gyro, short *accel, long *quat, unsigned long *timestamp, short *sensors, unsigned char *more); - -#endif +#endif // MPU_SENSOR_ENABLE +#endif // MPU6050_DMP_H diff --git a/Inc/mpu6050_dmpKey.h b/Inc/mpu6050_dmpKey.h index a67896c..483c344 100644 --- a/Inc/mpu6050_dmpKey.h +++ b/Inc/mpu6050_dmpKey.h @@ -5,6 +5,7 @@ */ #ifndef DMPKEY_H__ #define DMPKEY_H__ +#ifdef MPU_SENSOR_ENABLE #define KEY_CFG_25 (0) @@ -491,5 +492,5 @@ typedef struct { #define DINBC6 0xc6 - +#endif // MPU_SENSOR_ENABLE #endif // DMPKEY_H__ diff --git a/Inc/mpu6050_dmpmap.h b/Inc/mpu6050_dmpmap.h index 391ba14..9f4813e 100644 --- a/Inc/mpu6050_dmpmap.h +++ b/Inc/mpu6050_dmpmap.h @@ -5,6 +5,7 @@ */ #ifndef DMPMAP_H #define DMPMAP_H +#ifdef MPU_SENSOR_ENABLE #ifdef __cplusplus extern "C" @@ -261,4 +262,6 @@ extern "C" #ifdef __cplusplus } #endif + +#endif // MPU_SENSOR_ENABLE #endif // DMPMAP_H diff --git a/README.md b/README.md index eba7b01..b50280b 100644 --- a/README.md +++ b/README.md @@ -43,7 +43,7 @@ If you have never flashed your sideboard before, the MCU is probably locked. To To build and flash choose one of the following methods: -### Method 1: Using PlatformIO +### Method 1: Using Platformio IDE Because the [GD32F130C6T6](/docs/GD32F130xx-Datasheet_Rev3.3.pdf) is not yet supported by [PlatformIO](https://platformio.org/), we have to make two extra steps. These steps can be skipped once the board is supported (see [this thread](https://community.platformio.org/t/build-gd32-project-with-platformio/11944)). @@ -70,14 +70,17 @@ packages/ - click Build Target (or press F7) to build the firmware - click Load Code (or press F8) to flash the firmware. -### Method 3: Using Ubuntu +### Method 3: Using Linux CLI - prerequisites: install [ST-Flash utility](https://github.com/texane/stlink). - -- open a terminal in the repo check-out folder and type: +- open a terminal in the repo check-out folder and if you have definded the variant in [config.h](/Inc/config.h) type: ``` make ``` +or you can set the variant like this +``` +make -e VARIANT=VARIANT_#### +``` - flash the firmware by typing: ``` make flash diff --git a/Src/main.c b/Src/main.c index f8da735..7b331c4 100644 --- a/Src/main.c +++ b/Src/main.c @@ -86,6 +86,8 @@ int main(void) #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 @@ -95,6 +97,9 @@ int main(void) 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 while(1) { @@ -115,7 +120,7 @@ int main(void) // ==================================== USER Handling ==================================== - #ifdef SERIAL_DEBUG + #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); @@ -128,6 +133,7 @@ int main(void) // ==================================== 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 if (SUCCESS == mpuStatus) { mpu_get_data(); @@ -138,7 +144,7 @@ int main(void) if (main_loop_counter % 50 == 0) { mpu_print_to_console(); } - + #endif // ==================================== SENSORS Handling ==================================== sensor1_read = gpio_input_bit_get(SENSOR1_GPIO_Port, SENSOR1_Pin); @@ -175,7 +181,6 @@ int main(void) // Sensor ACTIVE: Do something here (continuous task) } - // ==================================== SERIAL Tx/Rx Handling ==================================== #ifdef SERIAL_CONTROL // To transmit on USART @@ -213,7 +218,7 @@ int main(void) timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value } // Most probably we are out-of-sync. Try to re-sync by reseting the DMA - if (main_loop_counter % 150 == 0) { + 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)); } diff --git a/Src/mpu6050.c b/Src/mpu6050.c index 6220b38..1e4f72e 100644 --- a/Src/mpu6050.c +++ b/Src/mpu6050.c @@ -44,8 +44,11 @@ * min(int a, int b) */ +MPU_Data mpu; // holds the MPU-6050 data -static signed char MPU_ORIENTATION[9] = {1, 0, 0, // [-] MPU Sensor orientation matrix: set this according to the sensor installation +#ifdef MPU_SENSOR_ENABLE + +static signed char MPU_ORIENTATION[9] = {1, 0, 0, // [-] MPU Sensor orientation matrix: set this according to the sensor installation 0, 1, 0, 0, 0, 1}; @@ -3470,8 +3473,6 @@ int mpu_config(void) /* =========================== MPU-6050 Get Packet Data =========================== */ -MPU_Data mpu; - void mpu_get_data(void) { @@ -3953,5 +3954,5 @@ void mpu_print_to_console(void) #endif } - +#endif // MPU_SENSOR_ENABLE diff --git a/Src/mpu6050_dmp.c b/Src/mpu6050_dmp.c index 0001a78..cd3b1b7 100644 --- a/Src/mpu6050_dmp.c +++ b/Src/mpu6050_dmp.c @@ -23,11 +23,13 @@ #include #include #include "systick.h" +#include "config.h" #include "mpu6050.h" #include "mpu6050_dmp.h" #include "mpu6050_dmpKey.h" #include "mpu6050_dmpmap.h" +#ifdef MPU_SENSOR_ENABLE /* The following functions must be defined for this platform: * i2c_write(unsigned char slave_addr, unsigned char reg_addr, @@ -1329,6 +1331,8 @@ int dmp_register_android_orient_cb(void (*func)(unsigned char)) return 0; } +#endif // MPU_SENSOR_ENABLE + /** * @} */ diff --git a/docs/sketch_processing/sketch_processing.pde b/docs/sketch_processing/sketch_processing.pde index 34a60e0..851b923 100644 --- a/docs/sketch_processing/sketch_processing.pde +++ b/docs/sketch_processing/sketch_processing.pde @@ -40,8 +40,8 @@ void draw() { text("Roll: " + roll + " Pitch: " + pitch + " Yaw: " + yaw, -200, 300); // Rotate the object - rotateX(radians(roll)); - rotateZ(radians(-pitch)); + rotateZ(radians(roll)); + rotateX(radians(pitch)); rotateY(radians(yaw)); // 3D 0bject