Fixed issue with UART timeout interrupt not firing. Added BENCH_TEST mode for...

Fixed issue with UART timeout interrupt not firing. Added BENCH_TEST mode for testing communication.

quad/scripts/#send_raw.py#

+#!/
+
+import sys
+
+print(sys.version_info)
+import serial
+
+if __name__ == '__main__':
+    data = bytes.fromhex('be040002001c0002000000d80471be5732703f9d16093f8bf7a03d0586ab3d006d3a40c1')
+
+    with serial.Serial('/dev/ttyUSB0', 115200) as ser:
+        ser.write(data)

quad/scripts/send_raw.py

+#!/usr/bin/python
+
+import sys
+
+print(sys.version_info)
+import serial
+
+if __name__ == '__main__':
+    data = bytes.fromhex('be040002001c0002000000d80471be5732703f9d16093f8bf7a03d0586ab3d006d3a40c1')
+
+    with serial.Serial('/dev/ttyUSB0', 921600) as ser:
+        ser.write(data)

quad/scripts/send_raw.sh

+#!/bin/bash
+
+# Use the usb port on this machine that you are using for UART
+USB_UART=ttyUSB0
+
+MSG="\xbe\x04\x00\x02\x00\x1c\x00\x02\x00\x00\x00\xd8\x04\x71\xbe\x57\x32\x70\x3f\x9d\x16\x09\x3f\x8b\xf7\xa0\x3d\x05\x86\xab\x3d\x00\x6d\x3a\x40\xc1"
+#MSG="\xbe\x04\x00\x02\x00\x1c\x00\x02\x00\x00\x00"
+#MSG="hello"
+
+echo -en $MSG > /dev/$USB_UART
\ No newline at end of file

quad/scripts/setup_usb_uart.sh

+#!/bin/bash
+
+# The USB device that you are using for UART
+USB_DEV=ttyUSB0
+
+stty -F /dev/$USB_DEV raw speed 115200

quad/scripts/test_uart_comm.py

+#!/usr/bin/python
+
+import sys
+
+print(sys.version_info)
+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)
+
+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:
+        ser.write(create_test_packet(8))
+        ser.flush()
+        print(query_received(ser))
+

quad/scripts/test_uart_comm.py~

+#!/usr/bin/python
+
+import sys
+
+print(sys.version_info)
+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)
+
+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:
+        ser.write(create_test_packet(500))
+        ser.flush()
+        print(query_received(ser))
+

quad/sw/modular_quad_pid/src/communication.c

@@ -62,7 +62,7 @@ int initUartComms() {
 	 * Increase the time out value if baud rate is high, decrease it if
 	 * baud rate is low.
 	 */
-	XUartPs_SetRecvTimeout(uartInstPtr, 4);
+	XUartPs_SetRecvTimeout(uartInstPtr, 8);
 
 	// Second argument is the number of bytes to trigger an interrupt at
 	XUartPs_SetFifoThreshold(uartInstPtr, 48);
@@ -160,6 +160,7 @@ void process_received(modular_structs_t *structs) {
 	recv_buf_end = unprocessed_size;
 
 	restore_interrupts(intr_state);
+	//XUartPs_SetRecvTimeout(uartInstPtr, 8);
 	//unsigned char in_fifo = XUartPs_ReadReg(uartInstPtr->Config.BaseAddress, XUARTPS_FIFO_OFFSET);
 	return;
 }

quad/sw/modular_quad_pid/src/initialize_components.c

@@ -8,6 +8,8 @@
 #include "initialize_components.h"
 #include "communication.h"
 
+#define BENCH_TEST
+
 extern int Xil_AssertWait;
 
 int protection_loops(modular_structs_t *structs)
@@ -59,8 +61,6 @@ int initializeAllComponents(user_input_t * user_input_struct, log_t * log_struct
 		return -1;
 	}
 
-	uart0_clearFIFOs();
-
 	// Initialize I2C controller and start the sensor board
 	if (initI2C0() == -1) {
 		return -1;
@@ -77,9 +77,11 @@ int initializeAllComponents(user_input_t * user_input_struct, log_t * log_struct
 	//manual flight mode
 	user_defined_struct->flight_mode = MANUAL_FLIGHT_MODE;
 
+#ifndef BENCH_TEST
 	// Get the first loop data from accelerometer for the gyroscope to use
 	if(sensor_init(raw_sensor_struct, sensor_struct) == -1)
 		return -1;
+#endif
 
 	return 0;
 }

quad/sw/modular_quad_pid/src/main.c

@@ -16,6 +16,8 @@
 #include "send_actuator_commands.h"
 #include "update_gui.h"
 
+#define BENCH_TEST
+
 int main()
 {
 	// Structures to be used throughout
@@ -34,8 +36,10 @@ int main()
 		return -1;
 	}
 
+#ifndef BENCH_TEST
 	// Loops to make sure the quad is responding correctly before starting the control loop
 	protection_loops(&structs);
+#endif
 
 	printf("The quad loop is now beginning.\n");
 
@@ -45,6 +49,10 @@ int main()
 		// Processing of loop timer at the beginning of the control loop
 		timer_start_loop();
 
+		// 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));
 
@@ -66,7 +74,7 @@ int main()
 
 		// update the GUI
 		update_GUI(&(structs.log_struct));
-
+#endif
 		// Processing of loop timer at the end of the control loop
 		timer_end_loop(&(structs.log_struct));
 
@@ -94,7 +102,13 @@ int main()
 		if(structs.user_defined_struct.flight_mode == MANUAL_FLIGHT_MODE)
 			MIO7_led_on();
 
-	} while(!kill_condition(&(structs.user_input_struct)));
+	} while(
+#ifndef BENCH_TEST
+			!kill_condition(&(structs.user_input_struct))
+#else
+			1
+#endif
+			);
 
 	pwm_kill();