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Improved UART Timeout

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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
This commit is contained in:
EmanuelFeru
2020-06-01 20:26:20 +02:00
parent c703b30930
commit e9d74bea29
10 changed files with 40 additions and 20 deletions
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13
Src/main.c
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@@ -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));
}