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

@@ -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 ==================================== */

Inc/mpu6050.h

@@ -23,6 +23,7 @@
 // Define to prevent recursive inclusion
 #ifndef MPU6050_H
 #define MPU6050_H
+#ifdef  MPU_SENSOR_ENABLE
 
 #include <stdint.h>
 #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 // MPU_SENSOR_ENABLE
-#endif
+#endif // MPU6050_H

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 <stdint.h>
 
@@ -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 // MPU_SENSOR_ENABLE
-#endif
+#endif // MPU6050_DMP_H
 

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__

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

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 if you have definded the variant in [config.h](/Inc/config.h) type:
-- open a terminal in the repo check-out folder and type:
 ```
 make
 ```
+or you can set the variant like this
+```
+make -e VARIANT=VARIANT_####
+```
 - flash the firmware by typing:
 ```
 make flash

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));					
 				}

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
 

Src/mpu6050_dmp.c

@@ -23,11 +23,13 @@
 #include <stdio.h>
 #include <string.h>
 #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
+
 /**
  *  @}
  */

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(roll));
-  rotateZ(radians(-pitch));
+  rotateX(radians(pitch));
   rotateY(radians(yaw));
   
   // 3D 0bject