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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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139
Src/main.c
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@@ -49,24 +49,7 @@
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
extern UART_HandleTypeDef huart2;
uint8_t rxBuffer, userCommand = 0; // holds the user command input
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
{
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
__HAL_UART_FLUSH_DRREGISTER(&huart2); // Clear the buffer to prevent overrun
#ifdef SERIAL_DEBUG
if (rxBuffer != '\n' && rxBuffer != '\r') { // Do not accept 'new line' (ascii 10) and 'carriage return' (ascii 13) commands
userCommand = rxBuffer;
}
#endif
}
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
@@ -83,44 +66,25 @@ void SystemClock_Config(void);
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
extern UART_HandleTypeDef huart2;
#ifdef SERIAL_CONTROL
typedef struct{
uint16_t start;
int16_t roll;
int16_t pitch;
int16_t yaw;
uint16_t sensors;
uint16_t checksum;
} SerialSideboard;
SerialSideboard Sideboard;
extern SerialSideboard Sideboard;
#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;
SerialFeedback Feedback;
SerialFeedback NewFeedback;
static int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
static uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
extern SerialFeedback Feedback;
extern uint16_t timeoutCntSerial; // Timeout counter for Rx Serial command
extern uint8_t timeoutFlagSerial; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
#endif
extern MPU_Data mpu; // holds the MPU-6050 data
ErrorStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
extern MPU_Data mpu; // holds the MPU-6050 data
extern ErrorStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
GPIO_PinState sensor1, sensor2; // holds the sensor1 and sensor 2 values
GPIO_PinState sensor1_read, sensor2_read; // holds the instantaneous Read for sensor1 and sensor 2
GPIO_PinState sensor1, sensor2; // holds the sensor1 and sensor 2 values
GPIO_PinState sensor1_read, sensor2_read; // holds the instantaneous Read for sensor1 and sensor 2
static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
/* USER CODE END 0 */
/**
@@ -155,36 +119,7 @@ int main(void)
MX_USART2_UART_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
#ifdef SERIAL_DEBUG
__HAL_UART_FLUSH_DRREGISTER(&huart2);
HAL_UART_Receive_DMA (&huart2, (uint8_t *)&rxBuffer, sizeof(rxBuffer));
#endif
#ifdef SERIAL_CONTROL
__HAL_UART_FLUSH_DRREGISTER(&huart2);
HAL_UART_Transmit_DMA(&huart2, (uint8_t *)&Sideboard, sizeof(Sideboard));
#endif
#ifdef SERIAL_FEEDBACK
__HAL_UART_FLUSH_DRREGISTER(&huart2);
HAL_UART_Receive_DMA (&huart2, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
#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
}
else {
mpuStatus = SUCCESS;
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
input_init(); // Input initialization
/* USER CODE END 2 */
/* Infinite loop */
@@ -203,19 +138,9 @@ int main(void)
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); }
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); }
}
#endif
// ==================================== USER Handling ====================================
#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);
mpu_handle_input(userCommand);
userCommand = 0;
}
#endif
#endif
// ==================================== 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
@@ -242,6 +167,7 @@ int main(void)
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET);
consoleLog("-- SENSOR 1 Active --\n");
} else if(sensor1 == GPIO_PIN_SET && sensor1_read == GPIO_PIN_RESET) {
// Sensor DEACTIVE: Do something here (one time task on deactivation)
sensor1 = GPIO_PIN_RESET;
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET);
consoleLog("-- SENSOR 1 Deactive --\n");
@@ -254,6 +180,7 @@ int main(void)
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET);
consoleLog("-- SENSOR 2 Active --\n");
} else if (sensor2 == GPIO_PIN_SET && sensor2_read == GPIO_PIN_RESET) {
// Sensor DEACTIVE: Do something here (one time task on deactivation)
sensor2 = GPIO_PIN_RESET;
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET);
consoleLog("-- SENSOR 2 Deactive --\n");
@@ -269,7 +196,7 @@ int main(void)
// ==================================== SERIAL Tx/Rx Handling ====================================
#ifdef SERIAL_CONTROL
if (main_loop_counter % 5 == 0) { // Transmit Tx data periodically using DMA
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)
Sideboard.start = (uint16_t)SERIAL_START_FRAME;
Sideboard.roll = (int16_t)mpu.euler.roll;
Sideboard.pitch = (int16_t)mpu.euler.pitch;
@@ -282,32 +209,12 @@ int main(void)
#endif
#ifdef SERIAL_FEEDBACK
uint16_t checksum;
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
if (NewFeedback.start == SERIAL_START_FRAME && NewFeedback.checksum == checksum) {
if (timeoutFlagSerial) { // Check for previous timeout flag
if (timeoutCntSerial-- <= 0) // Timeout de-qualification
timeoutFlagSerial = 0; // Timeout flag cleared
} else {
memcpy(&Feedback, &NewFeedback, sizeof(Feedback)); // Copy the new data
NewFeedback.start = 0xFFFF; // Change the Start Frame for timeout detection in the next cycle
timeoutCntSerial = 0; // Reset the timeout counter
}
} else {
if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
timeoutFlagSerial = 1; // Timeout detected
timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
}
// Most probably we are out-of-sync. Try to re-sync by reseting the DMA
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));
}
}
if (timeoutFlagSerial && main_loop_counter % 100 == 0) { // In case of timeout bring the system to a Safe State and indicate error if desired
HAL_GPIO_TogglePin(LED3_GPIO_Port, LED3_Pin); // Toggle the Yellow LED every 100 ms
if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
timeoutFlagSerial = 1; // Timeout detected
timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
}
if (timeoutFlagSerial && main_loop_counter % 100 == 0) { // In case of timeout bring the system to a Safe State and indicate error if desired
HAL_GPIO_TogglePin(LED3_GPIO_Port, LED3_Pin); // Toggle the Yellow LED every 100 ms
}
#endif