diff --git a/quad/scripts/test_uart_comm.py b/quad/scripts/test_uart_comm.py
index 324f73b1f7dde43b0701ee57ab19c759751cf41a..c3e2fef063aa5926dd63708e1dc7d338f322cd3f 100755
--- a/quad/scripts/test_uart_comm.py
+++ b/quad/scripts/test_uart_comm.py
@@ -1,9 +1,8 @@
-#!/usr/bin/python
+#!/usr/local/bin/python3.6
import sys
import time
-print(sys.version_info)
import serial
def create_msg(main_type, subtype, msg_id, data):
@@ -46,9 +45,9 @@ def query_received(ser):
if __name__ == '__main__':
with serial.Serial('/dev/ttyUSB0', 921600, timeout=5) as ser:
ser.reset_input_buffer()
- ser.write(create_test_packet(40))
- time.sleep(0.05)
- #while ser.in_waiting != 0:
+ ser.write(create_test_packet(8))
+ # time.sleep(0.05)
+ # while ser.in_waiting != 0:
# resp = read_packet(ser)
# elapsed = int.from_bytes(resp, byteorder='little')
# print(f"Took {elapsed} cycles, {elapsed / 100} us")
diff --git a/quad/scripts/uart_comm_listen.py b/quad/scripts/uart_comm_listen.py
new file mode 100755
index 0000000000000000000000000000000000000000..c41209f442caab84c26c7aefb55410022a158588
--- /dev/null
+++ b/quad/scripts/uart_comm_listen.py
@@ -0,0 +1,38 @@
+#!/usr/local/bin/python3.6
+
+import sys
+import time
+
+import serial
+
+def read_packet(ser):
+ header = ser.read(7)
+ length = int.from_bytes(header[5:7], byteorder='little')
+ data = ser.read(length)
+ checksum = ser.read()
+ return data
+
+def query_received(ser):
+ # Send request
+ query_msg = create_msg(0, 3, 0, b'')
+ ser.write(query_msg)
+ ser.flush()
+
+ resp = read_packet(ser)
+ received_str = resp[:-1].decode()
+
+ return tuple(map(int, received_str.split(',')))
+
+if __name__ == '__main__':
+ with serial.Serial('/dev/ttyUSB0', 921600, timeout=5) as ser:
+ i = 0
+ while True:
+ ser.reset_input_buffer()
+ time.sleep(0.05)
+ while ser.in_waiting != 0:
+ resp = read_packet(ser)
+ elapsed = int.from_bytes(resp, byteorder='little')
+ print("{} {}".format(i, elapsed))
+ i += 1
+ ser.flush()
+
diff --git a/quad/scripts/uart_comm_send.py b/quad/scripts/uart_comm_send.py
new file mode 100755
index 0000000000000000000000000000000000000000..c6528f041694d8f7fcdb7a38217bd2331bac727a
--- /dev/null
+++ b/quad/scripts/uart_comm_send.py
@@ -0,0 +1,33 @@
+#!/usr/local/bin/python3.6
+
+import sys
+import time
+
+import serial
+
+def create_msg(main_type, subtype, msg_id, data):
+ msg = bytes()
+ msg += b'\xBE'
+ msg += main_type.to_bytes(1, 'little')
+ msg += subtype.to_bytes(1, 'little')
+ msg += msg_id.to_bytes(2, 'little')
+ msg += len(data).to_bytes(2, 'little')
+ msg += data
+
+ checksum = 0
+ for b in msg:
+ checksum ^= b
+ msg += checksum.to_bytes(1, 'little')
+ return msg
+
+def create_test_packet(size=8):
+ data = bytes((i % 256 for i in range(size)))
+ return create_msg(0, 2, 0, data)
+
+if __name__ == '__main__':
+ with serial.Serial('/dev/ttyUSB0', 921600, timeout=5) as ser:
+ for i in range(0, 1):
+ time.sleep(0.5)
+ ser.reset_input_buffer()
+ ser.write(create_test_packet(8))
+ ser.flush()
diff --git a/quad/sw/modular_quad_pid/.gitignore b/quad/sw/modular_quad_pid/.gitignore
index 06a1484bb54b84d2fb2054a167cd183be528bfa7..e09df2b7841f50ade27e462a4a8c87ecd4b230f0 100644
--- a/quad/sw/modular_quad_pid/.gitignore
+++ b/quad/sw/modular_quad_pid/.gitignore
@@ -1,2 +1,3 @@
Debug/
+Release/
bootimage/
diff --git a/quad/sw/modular_quad_pid/src/communication.c b/quad/sw/modular_quad_pid/src/communication.c
index 2a428909adfd53c1ccad7564b9a6b7ebbb3cb7d7..ea86526aa05632dd408ab32fc32749c8a9cdc7e2 100644
--- a/quad/sw/modular_quad_pid/src/communication.c
+++ b/quad/sw/modular_quad_pid/src/communication.c
@@ -119,7 +119,11 @@ void restore_interrupts(u32 intr_state) {
void process_received(modular_structs_t *structs) {
// Parse as many packets as possible
while (uart_buff_packet_ready()) {
+ u32 start = timer_get_count();
process_packet(structs);
+ u32 end = timer_get_count();
+ u32 duration = end - start;
+ send_data(0, 0, 0, (char *) &duration, 4);
}
}
diff --git a/quad/sw/modular_quad_pid/src/main.c b/quad/sw/modular_quad_pid/src/main.c
index 6b6d9e0735425e1ee8e37888f9d30c2765dc2644..712afda89d621ea65b1c3d2ecc05a3954f7e1b44 100644
--- a/quad/sw/modular_quad_pid/src/main.c
+++ b/quad/sw/modular_quad_pid/src/main.c
@@ -52,6 +52,7 @@ int main()
// Process all received data
process_received(&structs);
+
#ifndef BENCH_TEST
// Get the user input and put it into user_input_struct
get_user_input(&(structs.log_struct), &(structs.user_input_struct));
diff --git a/quad/sw/modular_quad_pid/src/uart_buff.c b/quad/sw/modular_quad_pid/src/uart_buff.c
index fab7e464f6a7f49d4edff46c6678d3e2b2ff5f55..c2b1579021cdc3369cac3984fa82fe0935c1ea38 100644
--- a/quad/sw/modular_quad_pid/src/uart_buff.c
+++ b/quad/sw/modular_quad_pid/src/uart_buff.c
@@ -2,10 +2,10 @@
#include "uart_buff.h"
#include <stdlib.h>
-#define UART_MAX_BUFF_SIZE 2048
-#define UART_MAX_PACKET_SIZE 256
+#define UART_MAX_BUFF_SIZE 20
+#define UART_MAX_PACKET_SIZE 10
-static volatile unsigned char buff[UART_MAX_BUFF_SIZE];
+static volatile u8 buff[UART_MAX_BUFF_SIZE];
static size_t start = UART_MAX_BUFF_SIZE;
static size_t packet_data_length = 0;
static volatile size_t end = 0;
@@ -97,12 +97,12 @@ u8 uart_buff_get_u8(size_t offset) {
}
/**
- * Retrieve a 16-bit from the buffer according to the given offset with respect
- * to the start index of the buffer.
+ * Retrieve a 16-bit unsigned integer from the buffer according to the given
+ * offset with respect to the start index of the buffer.
*/
u16 uart_buff_get_u16(size_t offset) {
- return uart_buff_data_get_u8(offset + 1) << 8 |
- uart_buff_data_get_u8(offset);
+ return uart_buff_get_u8(offset + 1) << 8 |
+ uart_buff_get_u8(offset);
}
/**
@@ -110,10 +110,10 @@ u16 uart_buff_get_u16(size_t offset) {
* to the start index of the buffer.
*/
u32 uart_buff_get_u32(size_t offset) {
- return uart_buff_data_get_u8(offset + 3) << 24 |
- uart_buff_data_get_u8(offset + 2) << 16 |
- uart_buff_data_get_u8(offset + 1) << 8 |
- uart_buff_data_get_u8(offset);
+ return uart_buff_get_u8(offset + 3) << 24 |
+ uart_buff_get_u8(offset + 2) << 16 |
+ uart_buff_get_u8(offset + 1) << 8 |
+ uart_buff_get_u8(offset);
}
/**
@@ -151,7 +151,7 @@ u32 uart_buff_data_get_u32(size_t offset) {
/**
* Retrieve a 32-bit floating point number from the buffer according to the
- * given offset with respect to the start of the data portion of the current
+ * given offset with respect to the start of the data portion of the current
* packet.
*
* This has undefined behavior if a packet is not ready.
diff --git a/quad/sw/modular_quad_pid/src/uart_buff.h b/quad/sw/modular_quad_pid/src/uart_buff.h
index cdf4298f2018bb80de6a169d131338cf3baca13b..184d7cb40edd5d0ccc2102e514d8384396a3b82b 100644
--- a/quad/sw/modular_quad_pid/src/uart_buff.h
+++ b/quad/sw/modular_quad_pid/src/uart_buff.h
@@ -26,5 +26,4 @@ size_t uart_buff_calc_index(int);
char * uart_buff_get_packet();
void uart_buff_print();
-
#endif