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Major UART communication improvement

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- the UART communication is improved based on UART Idle line detection interrupt
- an Rx ring buffer is used to manage the UART incoming data
- both Tx and Rx are efficiently handled using DMA
- fixed #1

Other:
- minor visual improvements
This commit is contained in:
EmanuelFeru
2020-06-21 23:09:27 +02:00
parent 9edd22b6b7
commit ee6ab3a886
9 changed files with 273 additions and 185 deletions
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59
Inc/config.h
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@@ -27,54 +27,54 @@
// Ubuntu: define the desired build variant here if you want to use make in console
// or use VARIANT environment variable for example like "make -e VARIANT=VARIANT_DEBUG". Select only one at a time.
#if !defined(PLATFORMIO)
// #define VARIANT_DEBUG // Variant for debugging and checking the capabilities of the side-board
// #define VARIANT_HOVERBOARD // Variant for using the side-boards connected to the Hoverboard mainboard
// #define VARIANT_DEBUG // Variant for debugging and checking the capabilities of the side-board
// #define VARIANT_HOVERBOARD // Variant for using the side-boards connected to the Hoverboard mainboard
#endif
/* ==================================== DO NOT TOUCH SETTINGS ==================================== */
#define BYPASS_CUBEMX_DEFINES // [-] Use this flag to bypass the Ports definitions generated by CUBE MX in main.h and use the ones in defines.h
#define MPU6050 // [-] Define IMU sensor type
#define MPU_GYRO_FSR 2000 // [deg/s] Set Gyroscope Full Scale Range: 250 deg/s, 500 deg/s, 1000 deg/s, 2000 deg/s. !! DMP sensor fusion works only with 2000 deg/s !!
#define MPU_ACCEL_FSR 2 // [g] Set Acceleromenter Full Scale Range: 2g, 4g, 8g, 16g. !! DMP sensor fusion works only with 2g !!
#define MPU6050 // [-] Define IMU sensor type
#define MPU_GYRO_FSR 2000 // [deg/s] Set Gyroscope Full Scale Range: 250 deg/s, 500 deg/s, 1000 deg/s, 2000 deg/s. !! DMP sensor fusion works only with 2000 deg/s !!
#define MPU_ACCEL_FSR 2 // [g] Set Acceleromenter Full Scale Range: 2g, 4g, 8g, 16g. !! DMP sensor fusion works only with 2g !!
#ifdef BYPASS_CUBEMX_DEFINES
#define MPU_I2C_SPEED 400000 // [bit/s] Define I2C speed for communicating with the MPU6050
#define MPU_I2C_SPEED 400000 // [bit/s] Define I2C speed for communicating with the MPU6050
#endif
#define DELAY_IN_MAIN_LOOP 1 // [ms] Delay in the main loop
// #define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it!
#define DELAY_IN_MAIN_LOOP 1 // [ms] Delay in the main loop
// #define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it!
/* =============================================================================================== */
/* ==================================== 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
#define PEDO_READ_MS 1000 // [ms] Pedometer read time interval
// #define USE_CAL_HW_REGISTERS // [-] Uncommnent this to SAVE the sensor calibration to the MPU-6050 registers after the Self-test was run
#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
#define PEDO_READ_MS 1000 // [ms] Pedometer read time interval
// #define USE_CAL_HW_REGISTERS // [-] Uncommnent this to SAVE the sensor calibration to the MPU-6050 registers after the Self-test was run
// DMP Tap Detection Settings
#define DMP_TAP_AXES TAP_XYZ // [-] Set which axes will register a tap: TAP_XYZ, TAP_X, TAP_Y, TAP_Z
#define DMP_TAP_THRESH 250 // [mg/ms] Set tap threshold for the selected axis.
#define DMP_TAP_COUNT 1 // [-] Set minimum number of taps needed for an interrupt. Minimum consecutive taps: 1 to 4
#define DMP_TAP_TIME 100 // [ms] Set time length between valid taps.
#define DMP_TAP_TIME_MULTI 500 // [ms] Set max time between taps to register as a multi-tap.
#define DMP_SHAKE_REJECT_THRESH 200 // [deg/s] Set shake rejection threshold in degree per second (dps). If the DMP detects a gyro sample larger than the thresh, taps are rejected.
#define DMP_SHAKE_REJECT_TIME 40 // [ms] Set shake rejection time. Sets the length of time that the gyro must be outside of the DMP_SHAKE_REJECT_THRESH before taps are rejected. A mandatory 60 ms is added to this parameter.
#define DMP_SHAKE_REJECT_TIMEOUT 10 // [ms] Set shake rejection timeout. Sets the length of time after a shake rejection that the gyro must stay inside of the threshold before taps can be detected again. A mandatory 60 ms is added to this parameter.
#define DMP_TAP_AXES TAP_XYZ // [-] Set which axes will register a tap: TAP_XYZ, TAP_X, TAP_Y, TAP_Z
#define DMP_TAP_THRESH 250 // [mg/ms] Set tap threshold for the selected axis.
#define DMP_TAP_COUNT 1 // [-] Set minimum number of taps needed for an interrupt. Minimum consecutive taps: 1 to 4
#define DMP_TAP_TIME 100 // [ms] Set time length between valid taps.
#define DMP_TAP_TIME_MULTI 500 // [ms] Set max time between taps to register as a multi-tap.
#define DMP_SHAKE_REJECT_THRESH 200 // [deg/s] Set shake rejection threshold in degree per second (dps). If the DMP detects a gyro sample larger than the thresh, taps are rejected.
#define DMP_SHAKE_REJECT_TIME 40 // [ms] Set shake rejection time. Sets the length of time that the gyro must be outside of the DMP_SHAKE_REJECT_THRESH before taps are rejected. A mandatory 60 ms is added to this parameter.
#define DMP_SHAKE_REJECT_TIMEOUT 10 // [ms] Set shake rejection timeout. Sets the length of time after a shake rejection that the gyro must stay inside of the threshold before taps can be detected again. A mandatory 60 ms is added to this parameter.
/* ==================================== SETTINGS USART ==================================== */
#if defined(VARIANT_DEBUG)
#define SERIAL_DEBUG // [-] Define for Serial Debug via the serial port
#define SERIAL_DEBUG // [-] Define for Serial Debug via the serial port
#elif defined(VARIANT_HOVERBOARD)
#define SERIAL_CONTROL // [-] Define for Serial Control via the serial port
#define SERIAL_FEEDBACK // [-] Define for Serial Feedback via the serial port
#define SERIAL_CONTROL // [-] Define for Serial Control via the serial port
#define SERIAL_FEEDBACK // [-] Define for Serial Feedback via the serial port
#endif
#ifdef BYPASS_CUBEMX_DEFINES
#define USART_MAIN_BAUD 38400 // [bit/s] MAIN Serial Tx/Rx baud rate
#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 800 // [-] Numer of wrong received data for Serial timeout detection
#define SERIAL_START_FRAME 0xABCD // [-] Start frame definition for reliable serial communication
#define SERIAL_TIMEOUT 500 // [-] Number of wrong received data for Serial timeout detection. Depends on DELAY_IN_MAIN_LOOP
#define SERIAL_BUFFER_SIZE 64 // [bytes] Size of Serial Rx buffer. Make sure it is always larger than the 'Feedback' structure size
/* ==================================== VALIDATE SETTINGS ==================================== */
@@ -82,6 +82,9 @@
#error SERIAL_DEBUG and SERIAL_CONTROL not allowed. It is on the same cable.
#endif
#if defined(SERIAL_DEBUG) && defined(SERIAL_FEEDBACK)
#error SERIAL_DEBUG and SERIAL_FEEDBACK not allowed. It is on the same cable.
#endif
#endif

18
Inc/defines.h
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@@ -35,14 +35,15 @@
#endif
/* =========================== Defines General =========================== */
// #define _BV(bit) (1 << (bit))
// #define ARRAYNUM(arr_nanme) (uint32_t)(sizeof(arr_nanme) / sizeof(*(arr_nanme)))
#define min(a, b) (((a) < (b)) ? (a) : (b))
#define max(a, b) (((a) > (b)) ? (a) : (b))
#define i2c_write i2c_writeBytes
#define i2c_read i2c_readBytes
#define delay_ms HAL_Delay
#define get_ms get_tick_count_ms
// #define _BV(bit) (1 << (bit))
#define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
#define min(a, b) (((a) < (b)) ? (a) : (b))
#define max(a, b) (((a) > (b)) ? (a) : (b))
#define i2c_write i2c_writeBytes
#define i2c_read i2c_readBytes
#define delay_ms HAL_Delay
#define get_ms get_tick_count_ms
#define log_i printf // redirect the log_i debug function to printf
#ifdef BYPASS_CUBEMX_DEFINES
@@ -88,7 +89,6 @@
#endif
/* =========================== Defines MPU-6050 =========================== */
#define log_i printf // redirect the log_i debug function to printf
#define RAD2DEG 57.295779513082323 // RAD2DEG = 180/pi. Example: angle[deg] = angle[rad] * RAD2DEG
#define q30 1073741824 // 1073741824 = 2^30
#define ACCEL_ON (0x01)

35
Inc/util.h
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@@ -29,6 +29,41 @@ void consoleLog(char *message);
void get_tick_count_ms(unsigned long *count);
void intro_demo_led(uint32_t tDelay);
/* input initialization function */
void input_init(void);
/* usart read functions */
void usart_rx_check(void);
#ifdef SERIAL_DEBUG
void usart_process_debug(uint8_t *userCommand, uint32_t len);
#endif
#ifdef SERIAL_CONTROL
typedef struct{
uint16_t start;
int16_t roll;
int16_t pitch;
int16_t yaw;
uint16_t sensors;
uint16_t checksum;
} SerialSideboard;
#endif
#ifdef SERIAL_FEEDBACK
typedef struct{
uint16_t start;
int16_t cmd1;
int16_t cmd2;
int16_t speedR_meas;
int16_t speedL_meas;
int16_t batVoltage;
int16_t boardTemp;
uint16_t cmdLed;
uint16_t checksum;
} SerialFeedback;
void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out);
#endif
/* i2c write/read functions */
int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
int8_t i2c_writeByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t data);