mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-STM.git
synced 2025-08-17 00:56:10 +00:00
Major UART communication improvement
- 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
139
Src/main.c
139
Src/main.c
@@ -49,24 +49,7 @@
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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extern UART_HandleTypeDef huart2;
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uint8_t rxBuffer, userCommand = 0; // holds the user command input
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void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
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{
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}
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void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
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{
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__HAL_UART_FLUSH_DRREGISTER(&huart2); // Clear the buffer to prevent overrun
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#ifdef SERIAL_DEBUG
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if (rxBuffer != '\n' && rxBuffer != '\r') { // Do not accept 'new line' (ascii 10) and 'carriage return' (ascii 13) commands
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userCommand = rxBuffer;
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}
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#endif
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}
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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@@ -83,44 +66,25 @@ void SystemClock_Config(void);
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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extern UART_HandleTypeDef huart2;
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#ifdef SERIAL_CONTROL
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typedef struct{
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uint16_t start;
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int16_t roll;
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int16_t pitch;
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int16_t yaw;
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uint16_t sensors;
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uint16_t checksum;
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} SerialSideboard;
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SerialSideboard Sideboard;
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extern SerialSideboard Sideboard;
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#endif
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#ifdef SERIAL_FEEDBACK
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typedef struct{
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uint16_t start;
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int16_t cmd1;
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int16_t cmd2;
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int16_t speedR_meas;
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int16_t speedL_meas;
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int16_t batVoltage;
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int16_t boardTemp;
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uint16_t cmdLed;
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uint16_t checksum;
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} SerialFeedback;
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SerialFeedback Feedback;
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SerialFeedback NewFeedback;
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static int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
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static uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
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extern SerialFeedback Feedback;
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extern uint16_t timeoutCntSerial; // Timeout counter for Rx Serial command
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extern uint8_t timeoutFlagSerial; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
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#endif
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extern MPU_Data mpu; // holds the MPU-6050 data
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ErrorStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
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extern MPU_Data mpu; // holds the MPU-6050 data
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extern ErrorStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
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GPIO_PinState sensor1, sensor2; // holds the sensor1 and sensor 2 values
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GPIO_PinState sensor1_read, sensor2_read; // holds the instantaneous Read for sensor1 and sensor 2
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GPIO_PinState sensor1, sensor2; // holds the sensor1 and sensor 2 values
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GPIO_PinState sensor1_read, sensor2_read; // holds the instantaneous Read for sensor1 and sensor 2
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static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
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static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
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/* USER CODE END 0 */
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/**
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@@ -155,36 +119,7 @@ int main(void)
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MX_USART2_UART_Init();
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MX_I2C1_Init();
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/* USER CODE BEGIN 2 */
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#ifdef SERIAL_DEBUG
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__HAL_UART_FLUSH_DRREGISTER(&huart2);
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HAL_UART_Receive_DMA (&huart2, (uint8_t *)&rxBuffer, sizeof(rxBuffer));
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#endif
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#ifdef SERIAL_CONTROL
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__HAL_UART_FLUSH_DRREGISTER(&huart2);
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HAL_UART_Transmit_DMA(&huart2, (uint8_t *)&Sideboard, sizeof(Sideboard));
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#endif
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#ifdef SERIAL_FEEDBACK
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__HAL_UART_FLUSH_DRREGISTER(&huart2);
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HAL_UART_Receive_DMA (&huart2, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
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#endif
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intro_demo_led(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to power-up.
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#ifdef MPU_SENSOR_ENABLE
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if(mpu_config()) { // IMU MPU-6050 config
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mpuStatus = ERROR;
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HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on RED LED
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}
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else {
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mpuStatus = SUCCESS;
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HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on GREEN LED
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}
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mpu_handle_input('h'); // Print the User Help commands to serial
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#else
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HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on GREEN LED
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#endif
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input_init(); // Input initialization
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/* USER CODE END 2 */
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/* Infinite loop */
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@@ -203,19 +138,9 @@ int main(void)
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if (Feedback.cmdLed & LED4_SET) { HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET); }
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if (Feedback.cmdLed & LED5_SET) { HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET); }
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}
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#endif
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// ==================================== USER Handling ====================================
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#if defined(MPU_SENSOR_ENABLE) && defined(SERIAL_DEBUG)
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// Get the user Input as one character from Serial
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if (userCommand != 0) { // Check the availability of a user command set by the UART DMA
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log_i("Command = %c\n", userCommand);
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mpu_handle_input(userCommand);
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userCommand = 0;
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}
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#endif
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#endif
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// ==================================== MPU-6050 Handling ====================================
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#if defined(MPU_SENSOR_ENABLE) && defined(SERIAL_DEBUG)
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// Get MPU data. Because the MPU-6050 interrupt pin is not wired we have to check DMP data by pooling periodically
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@@ -242,6 +167,7 @@ int main(void)
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HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET);
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consoleLog("-- SENSOR 1 Active --\n");
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} else if(sensor1 == GPIO_PIN_SET && sensor1_read == GPIO_PIN_RESET) {
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// Sensor DEACTIVE: Do something here (one time task on deactivation)
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sensor1 = GPIO_PIN_RESET;
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HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET);
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consoleLog("-- SENSOR 1 Deactive --\n");
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@@ -254,6 +180,7 @@ int main(void)
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HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET);
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consoleLog("-- SENSOR 2 Active --\n");
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} else if (sensor2 == GPIO_PIN_SET && sensor2_read == GPIO_PIN_RESET) {
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// Sensor DEACTIVE: Do something here (one time task on deactivation)
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sensor2 = GPIO_PIN_RESET;
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HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET);
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consoleLog("-- SENSOR 2 Deactive --\n");
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@@ -269,7 +196,7 @@ int main(void)
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// ==================================== SERIAL Tx/Rx Handling ====================================
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#ifdef SERIAL_CONTROL
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if (main_loop_counter % 5 == 0) { // Transmit Tx data periodically using DMA
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if (main_loop_counter % 5 == 0 && __HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) { // Check if DMA channel counter is 0 (meaning all data has been transferred)
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Sideboard.start = (uint16_t)SERIAL_START_FRAME;
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Sideboard.roll = (int16_t)mpu.euler.roll;
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Sideboard.pitch = (int16_t)mpu.euler.pitch;
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@@ -282,32 +209,12 @@ int main(void)
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#endif
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#ifdef SERIAL_FEEDBACK
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uint16_t checksum;
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checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
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^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
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if (NewFeedback.start == SERIAL_START_FRAME && NewFeedback.checksum == checksum) {
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if (timeoutFlagSerial) { // Check for previous timeout flag
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if (timeoutCntSerial-- <= 0) // Timeout de-qualification
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timeoutFlagSerial = 0; // Timeout flag cleared
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} else {
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memcpy(&Feedback, &NewFeedback, sizeof(Feedback)); // Copy the new data
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NewFeedback.start = 0xFFFF; // Change the Start Frame for timeout detection in the next cycle
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timeoutCntSerial = 0; // Reset the timeout counter
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}
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} else {
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if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
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timeoutFlagSerial = 1; // Timeout detected
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timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
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}
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// Most probably we are out-of-sync. Try to re-sync by reseting the DMA
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if (NewFeedback.start != SERIAL_START_FRAME && NewFeedback.start != 0xFFFF && main_loop_counter % 5 == 0) {
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HAL_UART_DMAStop(&huart2);
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HAL_UART_Receive_DMA(&huart2, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
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}
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}
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if (timeoutFlagSerial && main_loop_counter % 100 == 0) { // In case of timeout bring the system to a Safe State and indicate error if desired
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HAL_GPIO_TogglePin(LED3_GPIO_Port, LED3_Pin); // Toggle the Yellow LED every 100 ms
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if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
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timeoutFlagSerial = 1; // Timeout detected
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timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
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}
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if (timeoutFlagSerial && main_loop_counter % 100 == 0) { // In case of timeout bring the system to a Safe State and indicate error if desired
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HAL_GPIO_TogglePin(LED3_GPIO_Port, LED3_Pin); // Toggle the Yellow LED every 100 ms
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}
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#endif
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@@ -3714,10 +3714,11 @@ void mpu_android_orient_func(unsigned char orientation)
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/* =========================== User Input Handling =========================== */
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void mpu_handle_input(char c)
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{
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#ifdef SERIAL_DEBUG
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switch (c) {
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/* This command prints the Help text. */
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case 'h':
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consoleLog("=================== HELP COMMANDS ===================\n");
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consoleLog("====== HELP COMMANDS ======\n");
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consoleLog("h: Print Help commands\n");
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consoleLog("8: Set Accelerometer sensor on/off\n");
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consoleLog("9: Set Gyroscope sensor on/off\n");
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@@ -3730,17 +3731,15 @@ void mpu_handle_input(char c)
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consoleLog("p: Print Pedometer data\n");
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consoleLog("0: Reset Pedometer\n");
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consoleLog("1: Set DMP/MPU frequency 10 Hz\n");
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consoleLog("2: Set DMP/MPU frequency 20 Hz\n");
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consoleLog("3: Set DMP/MPU frequency 40 Hz\n");
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consoleLog("4: Set DMP/MPU frequency 50 Hz\n");
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consoleLog("5: Set DMP/MPU frequency 100 Hz\n");
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consoleLog("2: Set DMP/MPU frequency 50 Hz\n");
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consoleLog("3: Set DMP/MPU frequency 100 Hz\n");
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consoleLog(",: Set DMP interrupt to gesture event only\n");
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consoleLog(".: Set DMP interrupt to continuous\n");
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consoleLog("f: Set DMP on/off\n");
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consoleLog("v: Set Quaternion on/off\n");
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consoleLog("w: Test out low-power accel mode\n");
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consoleLog("w: Test low-power accel mode\n");
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consoleLog("s: Run self-test (device must be facing up or down)\n");
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consoleLog("=====================================================\n");
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consoleLog("===========================\n");
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break;
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/* These commands turn off individual sensors. */
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@@ -3793,33 +3792,21 @@ void mpu_handle_input(char c)
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*/
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case '1':
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if (hal.dmp_on) {
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if (0 == dmp_set_fifo_rate(10)) {consoleLog("DMP set to 10 Hz.\n");}
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if (0 == dmp_set_fifo_rate(10)) {consoleLog("DMP: 10 Hz\n");}
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} else
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if (0 == mpu_set_sample_rate(10)) {consoleLog("MPU set to 10 Hz.\n");}
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if (0 == mpu_set_sample_rate(10)) {consoleLog("MPU: 10 Hz\n");}
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break;
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case '2':
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if (hal.dmp_on) {
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if (0 == dmp_set_fifo_rate(20)) {consoleLog("DMP set to 20 Hz.\n");}
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if (0 == dmp_set_fifo_rate(50)) {consoleLog("DMP: 50 Hz\n");}
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} else
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if (0 == mpu_set_sample_rate(20)) {consoleLog("MPU set to 20 Hz.\n");}
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if (0 == mpu_set_sample_rate(50)) {consoleLog("MPU: 50 Hz\n");}
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break;
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case '3':
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if (hal.dmp_on) {
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if (0 == dmp_set_fifo_rate(40)) {consoleLog("DMP set to 40 Hz.\n");}
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if (0 == dmp_set_fifo_rate(100)) {consoleLog("DMP: 100 Hz\n");}
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} else
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if (0 == mpu_set_sample_rate(40)) {consoleLog("MPU set to 40 Hz.\n");}
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break;
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case '4':
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if (hal.dmp_on) {
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if (0 == dmp_set_fifo_rate(50)) {consoleLog("DMP set to 50 Hz.\n");}
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} else
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if (0 == mpu_set_sample_rate(50)) {consoleLog("MPU set to 50 Hz.\n");}
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break;
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case '5':
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if (hal.dmp_on) {
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if (0 == dmp_set_fifo_rate(100)) {consoleLog("DMP set to 100 Hz.\n");}
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} else
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if (0 == mpu_set_sample_rate(100)) {consoleLog("MPU set to 100 Hz.\n");}
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if (0 == mpu_set_sample_rate(100)) {consoleLog("MPU: 100 Hz\n");}
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break;
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/* Set hardware to interrupt on gesture event only. This feature is
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@@ -3918,7 +3905,7 @@ void mpu_handle_input(char c)
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default:
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break;
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}
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#endif // SERIAL_DEBUG
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}
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@@ -23,7 +23,7 @@
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#include "stm32f1xx_it.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "util.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@@ -267,7 +267,10 @@ void USART2_IRQHandler(void)
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/* USER CODE END USART2_IRQn 0 */
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HAL_UART_IRQHandler(&huart2);
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/* USER CODE BEGIN USART2_IRQn 1 */
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if(RESET != __HAL_UART_GET_IT_SOURCE(&huart2, UART_IT_IDLE)) { // Check for IDLE line interrupt
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__HAL_UART_CLEAR_IDLEFLAG(&huart2); // Clear IDLE line flag (otherwise it will continue to enter interrupt)
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usart_rx_check(); // Check for data to process
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}
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/* USER CODE END USART2_IRQn 1 */
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}
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@@ -112,9 +112,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
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HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(USART2_IRQn);
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/* USER CODE BEGIN USART2_MspInit 1 */
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// DMA1_Channel7->CPAR = (uint32_t) & (USART2->DR);
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// DMA1_Channel7->CNDTR = 0;
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// DMA1->IFCR = DMA_IFCR_CTCIF7 | DMA_IFCR_CHTIF7 | DMA_IFCR_CGIF7;
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__HAL_UART_ENABLE_IT (uartHandle, UART_IT_IDLE); // Enable the USART IDLE line detection interrupt
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/* USER CODE END USART2_MspInit 1 */
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}
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}
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155
Src/util.c
155
Src/util.c
@@ -26,10 +26,32 @@
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#include "defines.h"
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#include "config.h"
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#include "util.h"
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#include "mpu6050.h"
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extern UART_HandleTypeDef huart2;
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extern I2C_HandleTypeDef hi2c1;
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// USART variables
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#ifdef SERIAL_CONTROL
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SerialSideboard Sideboard;
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#endif
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#if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
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static uint8_t rx_buffer[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
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static uint32_t rx_buffer_len = ARRAY_LEN(rx_buffer);
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#endif
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#ifdef SERIAL_FEEDBACK
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SerialFeedback Feedback;
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SerialFeedback FeedbackRaw;
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uint16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
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uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
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static uint32_t Feedback_len = sizeof(Feedback);
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#endif
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// MPU variables
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ErrorStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
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/* =========================== General Functions =========================== */
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void consoleLog(char *message)
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@@ -97,6 +119,139 @@ void intro_demo_led(uint32_t tDelay)
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}
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/* =========================== Input Initialization Function =========================== */
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void input_init(void) {
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#ifdef SERIAL_CONTROL
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HAL_UART_Transmit_DMA(&huart2, (uint8_t *)&Sideboard, sizeof(Sideboard));
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#endif
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#if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
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HAL_UART_Receive_DMA (&huart2, (uint8_t *)rx_buffer, sizeof(rx_buffer));
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#endif
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intro_demo_led(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to power-up.
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#ifdef MPU_SENSOR_ENABLE
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if(mpu_config()) { // IMU MPU-6050 config
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mpuStatus = ERROR;
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HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET); // Turn on RED LED
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}
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else {
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mpuStatus = SUCCESS;
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HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on GREEN LED
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}
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mpu_handle_input('h'); // Print the User Help commands to serial
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#else
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HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on GREEN LED
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#endif
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}
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/* =========================== USART READ Functions =========================== */
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/*
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* Check for new data received on USART with DMA: refactored function from https://github.com/MaJerle/stm32-usart-uart-dma-rx-tx
|
||||
* - this function is called for every USART IDLE line detection, in the USART interrupt handler
|
||||
*/
|
||||
void usart_rx_check(void)
|
||||
{
|
||||
#ifdef SERIAL_DEBUG
|
||||
static uint32_t old_pos;
|
||||
uint32_t pos;
|
||||
|
||||
pos = rx_buffer_len - __HAL_DMA_GET_COUNTER(huart2.hdmarx); // Calculate current position in buffer, Rx: DMA1_Channel6->CNDTR, Tx: DMA1_Channel7
|
||||
if (pos != old_pos) { // Check change in received data
|
||||
if (pos > old_pos) { // "Linear" buffer mode: check if current position is over previous one
|
||||
usart_process_debug(&rx_buffer[old_pos], pos - old_pos); // Process data
|
||||
} else { // "Overflow" buffer mode
|
||||
usart_process_debug(&rx_buffer[old_pos], rx_buffer_len - old_pos); // First Process data from the end of buffer
|
||||
if (pos > 0) { // Check and continue with beginning of buffer
|
||||
usart_process_debug(&rx_buffer[0], pos); // Process remaining data
|
||||
}
|
||||
}
|
||||
}
|
||||
old_pos = pos; // Updated old position
|
||||
|
||||
if (old_pos == rx_buffer_len) { // Check and manually update if we reached end of buffer
|
||||
old_pos = 0;
|
||||
}
|
||||
#endif // SERIAL_DEBUG
|
||||
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
static uint32_t old_pos;
|
||||
uint32_t pos;
|
||||
uint8_t *ptr;
|
||||
pos = rx_buffer_len - __HAL_DMA_GET_COUNTER(huart2.hdmarx); // Calculate current position in buffer, Rx: DMA1_Channel6->CNDTR, Tx: DMA1_Channel7
|
||||
if (pos != old_pos) { // Check change in received data
|
||||
ptr = (uint8_t *)&FeedbackRaw; // Initialize the pointer with FeedbackRaw address
|
||||
if (pos > old_pos && (pos - old_pos) == Feedback_len) { // "Linear" buffer mode: check if current position is over previous one AND data length equals expected length
|
||||
memcpy(ptr, &rx_buffer[old_pos], Feedback_len); // Copy data. This is possible only if FeedbackRaw is contiguous! (meaning all the structure members have the same size)
|
||||
usart_process_data(&FeedbackRaw, &Feedback); // Process data
|
||||
} else if ((rx_buffer_len - old_pos + pos) == Feedback_len) { // "Overflow" buffer mode: check if data length equals expected length
|
||||
memcpy(ptr, &rx_buffer[old_pos], rx_buffer_len - old_pos); // First copy data from the end of buffer
|
||||
if (pos > 0) { // Check and continue with beginning of buffer
|
||||
ptr += rx_buffer_len - old_pos; // Move to correct position in FeedbackRaw
|
||||
memcpy(ptr, &rx_buffer[0], pos); // Copy remaining data
|
||||
}
|
||||
usart_process_data(&FeedbackRaw, &Feedback); // Process data
|
||||
}
|
||||
}
|
||||
old_pos = pos; // Update old position
|
||||
if (old_pos == rx_buffer_len) { // Check and manually update if we reached end of buffer
|
||||
old_pos = 0;
|
||||
}
|
||||
#endif // SERIAL_FEEDBACK
|
||||
}
|
||||
|
||||
/*
|
||||
* Process Rx debug user command input
|
||||
*/
|
||||
#ifdef SERIAL_DEBUG
|
||||
void usart_process_debug(uint8_t *userCommand, uint32_t len)
|
||||
{
|
||||
for (; len > 0; len--, userCommand++) {
|
||||
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
|
||||
log_i("Command = %c\n", *userCommand);
|
||||
mpu_handle_input(*userCommand);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif // SERIAL_DEBUG
|
||||
|
||||
/*
|
||||
* Process Rx data
|
||||
* - if the Feedback_in data is valid (correct START_FRAME and checksum) copy the Feedback_in to Feedback_out
|
||||
*/
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out)
|
||||
{
|
||||
uint16_t checksum;
|
||||
if (Feedback_in->start == SERIAL_START_FRAME) {
|
||||
checksum = (uint16_t)(Feedback_in->start ^ Feedback_in->cmd1 ^ Feedback_in->cmd2 ^ Feedback_in->speedR_meas ^ Feedback_in->speedL_meas
|
||||
^ Feedback_in->batVoltage ^ Feedback_in->boardTemp ^ Feedback_in->cmdLed);
|
||||
if (Feedback_in->checksum == checksum) {
|
||||
*Feedback_out = *Feedback_in;
|
||||
timeoutCntSerial = 0; // Reset timeout counter
|
||||
timeoutFlagSerial = 0; // Clear timeout flag
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif // SERIAL_FEEDBACK
|
||||
|
||||
/*
|
||||
* UART User Error Callback
|
||||
* - According to the STM documentation, when a DMA transfer error occurs during a DMA read or a write access,
|
||||
* the faulty channel is automatically disabled through a hardware clear of its EN bit
|
||||
* - For hoverboard applications, the UART communication can be unrealiable, disablind the DMA transfer
|
||||
* - therefore the DMA needs to be re-started
|
||||
*/
|
||||
void HAL_UART_ErrorCallback(UART_HandleTypeDef *uartHandle) {
|
||||
#if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
|
||||
if(uartHandle->Instance == USART2) {
|
||||
HAL_UART_Receive_DMA (uartHandle, (uint8_t *)rx_buffer, sizeof(rx_buffer));
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/* =========================== I2C WRITE Functions =========================== */
|
||||
|
||||
/*
|
||||
|
||||
Reference in New Issue
Block a user