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. Issue #1

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

@@ -45,6 +45,7 @@
 
 
 /* ==================================== 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
@@ -73,7 +74,7 @@
   #define USART_MAIN_BAUD					38400				// [bit/s] MAIN Serial Tx/Rx baud rate
 #endif
 #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
 
 
 /* ==================================== VALIDATE SETTINGS ==================================== */

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"
@@ -143,4 +144,5 @@ void mpu_handle_input(char c);
 void mpu_print_to_console(void);
 
 
-#endif
+#endif // MPU_SENSOR_ENABLE
+#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>
 
@@ -103,5 +104,6 @@ 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
 

Inc/mpu6050_dmpKey.h

@@ -5,6 +5,7 @@
  */
 #ifndef DMPKEY_H__
 #define DMPKEY_H__
+#ifdef  MPU_SENSOR_ENABLE
 
 
 #define KEY_CFG_25                  (0)
@@ -492,4 +493,5 @@ typedef struct {
 
 
 
+#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
 
 - open the folder in the IDE of choice (vscode or Atom)
 - press the 'PlatformIO:Build' or the 'PlatformIO:Upload' button (bottom left in vscode).
@@ -55,14 +55,17 @@ To build and flash choose one of the following methods:
 - 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

Src/main.c

@@ -170,6 +170,8 @@ 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;
 		HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);  // Turn on RED LED
@@ -179,6 +181,9 @@ int main(void)
 		HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);  // Turn on GREEN LED
 	}
 	mpu_handle_input('h'); 						  // Print the User Help commands to serial
+  #else
+		HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);  // Turn on GREEN LED
+	#endif
 
   /* USER CODE END 2 */
 
@@ -201,7 +206,7 @@ int main(void)
 		#endif
 
 		// ==================================== USER Handling ====================================
-		#ifdef SERIAL_DEBUG
+		#if defined(MPU_SENSOR_ENABLE) && defined(SERIAL_DEBUG)
       // Get the user Input as one character from Serial
       if (userCommand != 0) { 					// Check the availability of a user command set by the UART DMA
         log_i("Command = %c\n", userCommand);						
@@ -212,6 +217,7 @@ int main(void)
       
 		
 		// ==================================== MPU-6050 Handling ====================================
+    #if defined(MPU_SENSOR_ENABLE) && defined(SERIAL_DEBUG)
 		// 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();
@@ -222,6 +228,7 @@ int main(void)
 		if (main_loop_counter % 50 == 0) {
 			mpu_print_to_console();
 		}	
+    #endif
 		
 
 		// ==================================== SENSORS Handling ====================================
@@ -293,7 +300,7 @@ 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) { 
           HAL_UART_DMAStop(&huart2);
           HAL_UART_Receive_DMA(&huart2, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
         }

Src/mpu6050.c

@@ -44,7 +44,11 @@
  */
 
 
-static signed char MPU_ORIENTATION[9] = {1, 0, 0,    // [-] MPU Sensor orientation matrix: set this according to the sensor installation
+MPU_Data mpu;                                       // holds the MPU-6050 data
+
+#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};
 
@@ -3469,8 +3473,6 @@ int mpu_config(void)
 
 /* =========================== MPU-6050 Get Packet Data =========================== */
 
-MPU_Data mpu;
-
 void mpu_get_data(void)
 {
 	
@@ -3952,5 +3954,5 @@ void mpu_print_to_console(void)
 	#endif	
 }
 
-
+#endif // MPU_SENSOR_ENABLE
 

Src/mpu6050_dmp.c

@@ -22,12 +22,15 @@
 // Includes
 #include <stdio.h>
 #include <string.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,
  *      unsigned char length, unsigned char const *data)
@@ -1328,6 +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(-pitch));
+  rotateZ(radians(roll));
+  rotateX(radians(pitch));
   rotateY(radians(yaw));
   
   // 3D 0bject