Improved UART error recovery
- In case of an Rx error instead of stopping the complete UART, only the Rx DMA is aborted and restarted.
This commit is contained in:
EmanuelFeru
parent
ac90ed1b6b
commit
5f2eb196af
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@ -396,8 +396,8 @@
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#if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || \
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defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
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#define SERIAL_START_FRAME 0xABCD // [-] Start frame definition for serial commands
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#define SERIAL_TIMEOUT 160 // [-] Serial timeout duration for the received data. 160 ~= 0.8 sec. Calculation: 0.8 sec / 0.005 sec
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#define SERIAL_BUFFER_SIZE 64 // [bytes] Size of Serial Rx buffer. Make sure it is always larger than the structure size
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#define SERIAL_TIMEOUT 160 // [-] Serial timeout duration for the received data. 160 ~= 0.8 sec. Calculation: 0.8 sec / 0.005 sec
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#endif
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#if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
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#ifndef USART2_BAUD
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@ -24,6 +24,7 @@
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#define DEFINES_H
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#include "stm32f1xx_hal.h"
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#include "config.h"
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#define LEFT_HALL_U_PIN GPIO_PIN_5
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#define LEFT_HALL_V_PIN GPIO_PIN_6
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@ -188,5 +189,5 @@ void PWM_ISR_CH2_Callback(void);
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#define SENSOR2_SET (0x02)
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#define SENSOR_MPU (0x04)
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#endif
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#endif // DEFINES_H
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@ -23,6 +23,8 @@
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#include <stdint.h>
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// Rx Structures USART
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#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
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#ifdef CONTROL_IBUS
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typedef struct{
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@ -66,6 +68,7 @@ void calcAvgSpeed(void);
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void adcCalibLim(void);
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void updateCurSpdLim(void);
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void saveConfig(void);
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int addDeadBand(int16_t u, int16_t deadBand, int16_t min, int16_t max);
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// Poweroff Functions
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void poweroff(void);
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@ -84,7 +87,7 @@ void usart_process_command(SerialCommand *command_in, SerialCommand *command_out
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#if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
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void usart_process_sideboard(SerialSideboard *Sideboard_in, SerialSideboard *Sideboard_out, uint8_t usart_idx);
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#endif
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int addDeadBand(int16_t u, int16_t deadBand, int16_t min, int16_t max);
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void UART_EndRxTransfer(UART_HandleTypeDef *huart);
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// Sideboard functions
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void sideboardLeds(uint8_t *leds);
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61
Src/util.c
61
Src/util.c
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@ -156,6 +156,7 @@ static int16_t timeoutCntADC = 0; // Timeout counter for ADC Protection
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#if defined(DEBUG_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
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static uint8_t rx_buffer_L[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
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static uint32_t rx_buffer_L_len = ARRAY_LEN(rx_buffer_L);
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static uint32_t old_pos;
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#endif
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#if defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
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static uint16_t timeoutCntSerial_L = 0; // Timeout counter for Rx Serial command
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@ -170,6 +171,7 @@ static uint32_t Sideboard_L_len = sizeof(Sideboard_L);
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#if defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
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static uint8_t rx_buffer_R[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
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static uint32_t rx_buffer_R_len = ARRAY_LEN(rx_buffer_R);
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static uint32_t old_pos;
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#endif
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#if defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
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static uint16_t timeoutCntSerial_R = 0; // Timeout counter for Rx Serial command
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@ -548,6 +550,26 @@ void saveConfig() {
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#endif
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}
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/*
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* Add Dead-band to a signal
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* This function realizes a dead-band around 0 and scales the input within a min and a max
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*/
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int addDeadBand(int16_t u, int16_t deadBand, int16_t min, int16_t max) {
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#if defined(CONTROL_PPM) || defined(CONTROL_PWM)
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int outVal = 0;
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if(u > -deadBand && u < deadBand) {
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outVal = 0;
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} else if(u > 0) {
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outVal = (INPUT_MAX * CLAMP(u - deadBand, 0, max - deadBand)) / (max - deadBand);
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} else {
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outVal = (INPUT_MIN * CLAMP(u + deadBand, min + deadBand, 0)) / (min + deadBand);
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}
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return outVal;
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#else
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return 0;
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#endif
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}
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/* =========================== Poweroff Functions =========================== */
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@ -777,7 +799,6 @@ void readCommand(void) {
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void usart2_rx_check(void)
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{
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#if defined(DEBUG_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
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static uint32_t old_pos;
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uint32_t pos;
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pos = rx_buffer_L_len - __HAL_DMA_GET_COUNTER(huart2.hdmarx); // Calculate current position in buffer
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#endif
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@ -847,7 +868,6 @@ void usart2_rx_check(void)
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void usart3_rx_check(void)
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{
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#if defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
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static uint32_t old_pos;
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uint32_t pos;
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pos = rx_buffer_R_len - __HAL_DMA_GET_COUNTER(huart3.hdmarx); // Calculate current position in buffer
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#endif
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@ -1014,35 +1034,36 @@ void usart_process_sideboard(SerialSideboard *Sideboard_in, SerialSideboard *Sid
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void HAL_UART_ErrorCallback(UART_HandleTypeDef *uartHandle) {
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#if defined(DEBUG_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
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if(uartHandle->Instance == USART2) {
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HAL_DMA_Abort(uartHandle->hdmarx);
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UART_EndRxTransfer(uartHandle);
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HAL_UART_Receive_DMA(uartHandle, (uint8_t *)rx_buffer_L, sizeof(rx_buffer_L));
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old_pos = 0;
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}
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#endif
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#if defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
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if(uartHandle->Instance == USART3) {
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HAL_DMA_Abort(uartHandle->hdmarx);
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UART_EndRxTransfer(uartHandle);
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HAL_UART_Receive_DMA(uartHandle, (uint8_t *)rx_buffer_R, sizeof(rx_buffer_R));
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old_pos = 0;
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}
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#endif
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}
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/*
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* Add Dead-band to a signal
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* This function realizes a dead-band around 0 and scales the input within a min and a max
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/**
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* @brief End ongoing Rx transfer on UART peripheral (following error detection or Reception completion).
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* @param huart: UART handle.
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* @retval None
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*/
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int addDeadBand(int16_t u, int16_t deadBand, int16_t min, int16_t max) {
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#if defined(CONTROL_PPM) || defined(CONTROL_PWM)
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int outVal = 0;
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if(u > -deadBand && u < deadBand) {
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outVal = 0;
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} else if(u > 0) {
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outVal = (INPUT_MAX * CLAMP(u - deadBand, 0, max - deadBand)) / (max - deadBand);
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} else {
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outVal = (INPUT_MIN * CLAMP(u + deadBand, min + deadBand, 0)) / (min + deadBand);
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}
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return outVal;
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#else
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return 0;
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#endif
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void UART_EndRxTransfer(UART_HandleTypeDef *huart)
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{
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/* Disable RXNE (Interrupt Enable) and PE (Parity Error) interrupts */
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CLEAR_BIT(huart->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE));
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/* Disable EIE (Frame error, noise error, overrun error) interrupts */
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CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE);
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/* At end of Rx process, restore huart->RxState to Ready */
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huart->RxState = HAL_UART_STATE_READY;
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}
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