diff --git a/quad/scripts/uart_comm_listen.py b/quad/scripts/uart_comm_listen.py
index c41209f442caab84c26c7aefb55410022a158588..0a251b5df409f1ffcb1dfc121b8efc793a1ee220 100755
--- a/quad/scripts/uart_comm_listen.py
+++ b/quad/scripts/uart_comm_listen.py
@@ -12,17 +12,6 @@ def read_packet(ser):
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
@@ -31,8 +20,9 @@ if __name__ == '__main__':
time.sleep(0.05)
while ser.in_waiting != 0:
resp = read_packet(ser)
- elapsed = int.from_bytes(resp, byteorder='little')
- print("{} {}".format(i, elapsed))
+ elapsed = int.from_bytes(resp[0:3], byteorder='little')
+ processed = int.from_bytes(resp[4:7], byteorder='little')
+ print("{} {} {}".format(i, elapsed, processed))
i += 1
ser.flush()
diff --git a/quad/scripts/uart_comm_send.py b/quad/scripts/uart_comm_send.py
index c6528f041694d8f7fcdb7a38217bd2331bac727a..d915278e81cdcacdd172f7155a540c5e69b98e77 100755
--- a/quad/scripts/uart_comm_send.py
+++ b/quad/scripts/uart_comm_send.py
@@ -26,8 +26,8 @@ def create_test_packet(size=8):
if __name__ == '__main__':
with serial.Serial('/dev/ttyUSB0', 921600, timeout=5) as ser:
- for i in range(0, 1):
- time.sleep(0.5)
+ for i in range(0, 12):
ser.reset_input_buffer()
ser.write(create_test_packet(8))
- ser.flush()
+ #ser.flush()
+ #time.sleep(0.5)
diff --git a/quad/sw/modular_quad_pid/src/communication.c b/quad/sw/modular_quad_pid/src/communication.c
index ea86526aa05632dd408ab32fc32749c8a9cdc7e2..c4e166b20bbfc56ae9b44312b23be205a4da95f2 100644
--- a/quad/sw/modular_quad_pid/src/communication.c
+++ b/quad/sw/modular_quad_pid/src/communication.c
@@ -93,7 +93,7 @@ int process_packet(modular_structs_t *structs) {
// Call appropriate function for packet
(* (MessageTypes[meta_data.msg_type].subtypes[meta_data.msg_subtype].functionPtr))(structs);
- uart_buff_flush_packet();
+ uart_buff_consume_packet();
return 0;
@@ -119,11 +119,7 @@ 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 712afda89d621ea65b1c3d2ecc05a3954f7e1b44..43a9b9dd30fd2b6927378a4b9bb94c18e56605b4 100644
--- a/quad/sw/modular_quad_pid/src/main.c
+++ b/quad/sw/modular_quad_pid/src/main.c
@@ -17,6 +17,7 @@
#include "update_gui.h"
#define BENCH_TEST
+#define UART_BENCHMARK
int main()
{
@@ -50,8 +51,23 @@ int main()
timer_start_loop();
// Process all received data
+
+#ifdef UART_BENCHMARK
+ usleep(500000);
+ u32 start_time = timer_get_count();
+#endif
+
process_received(&structs);
+#ifdef UART_BENCHMARK
+ u32 end_time = timer_get_count();
+ u32 duration = end_time - start_time;
+ u32 packets_processed = uart_buff_packets_processed();
+ u32 data[2];
+ data[0] = duration;
+ data[1] = packets_processed;
+ send_data(0, 0, 0, (char *) &data, 8);
+#endif
#ifndef BENCH_TEST
// Get the user input and put it into 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 c2b1579021cdc3369cac3984fa82fe0935c1ea38..a7a28e509ee8b8e6b0a9565b38e90a7fed1f4602 100644
--- a/quad/sw/modular_quad_pid/src/uart_buff.c
+++ b/quad/sw/modular_quad_pid/src/uart_buff.c
@@ -2,16 +2,17 @@
#include "uart_buff.h"
#include <stdlib.h>
-#define UART_MAX_BUFF_SIZE 20
-#define UART_MAX_PACKET_SIZE 10
+#define UART_MAX_BUFF_SIZE 2048
+#define UART_MAX_PACKET_SIZE 256
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;
-static int packet_start_found = 0;
-static int packet_size_found = 0;
-static int packet_ready = 0;
+static u8 packet_start_found = 0;
+static u8 packet_size_found = 0;
+static u8 packet_ready = 0;
+static u32 packets_processed = 0;
/**
* Put a byte into the buffer.
@@ -172,20 +173,21 @@ float uart_buff_data_get_float(size_t offset) {
* Move the start index of the buffer to the end of the current packet.
* If a packet is not ready, this function does nothing.
*/
-void uart_buff_flush_packet() {
+void uart_buff_consume_packet() {
if (!packet_ready) {
return;
}
start = uart_buff_calc_index(start + uart_buff_packet_size() + 1);
uart_buff_reset_flags();
+ packets_processed += 1;
}
/**
* Return the current number of bytes held in the buffer.
*/
size_t uart_buff_size() {
- return uart_buff_calc_index(end - start);
+ return uart_buff_calc_index(end - start - 1);
}
/**
@@ -290,3 +292,7 @@ void uart_buff_print() {
puts("| |");
puts("'--'");
}
+
+u32 uart_buff_packets_processed() {
+ return packets_processed;
+}
diff --git a/quad/sw/modular_quad_pid/src/uart_buff.h b/quad/sw/modular_quad_pid/src/uart_buff.h
index 184d7cb40edd5d0ccc2102e514d8384396a3b82b..58dfa0040abacf623b0706d094f94e2f28f1212b 100644
--- a/quad/sw/modular_quad_pid/src/uart_buff.h
+++ b/quad/sw/modular_quad_pid/src/uart_buff.h
@@ -15,7 +15,7 @@ u8 uart_buff_data_get_u8(size_t);
u16 uart_buff_data_get_u16(size_t);
u32 uart_buff_data_get_u32(size_t);
float uart_buff_data_get_float(size_t);
-void uart_buff_flush_packet();
+void uart_buff_consume_packet();
size_t uart_buff_size();
size_t uart_buff_data_length();
size_t uart_buff_packet_size();
@@ -25,5 +25,6 @@ int uart_buff_full();
size_t uart_buff_calc_index(int);
char * uart_buff_get_packet();
void uart_buff_print();
+u32 uart_buff_packets_processed();
#endif