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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. 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
This commit is contained in:
EmanuelFeru
2020-06-01 20:27:38 +02:00
parent 03dd7f1187
commit 9edd22b6b7
10 changed files with 42 additions and 15 deletions
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11
Src/main.c
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@@ -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));
}