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Latest fixes from Andy

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This commit is contained in:
Daniel 2023-11-24 00:01:36 +02:00
parent 6fd2ca52db
commit 744db66f49
10 changed files with 97 additions and 45 deletions
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33
Software/src/lib/mackelec-SerialDataLink/SerialDataLink.cpp
View file

@ -49,9 +49,12 @@ union Convert
};
}convert;
/*
#define SET_PA6() (GPIOA->BSRR = GPIO_BSRR_BS6)
#define CLEAR_PA6() (GPIOA->BSRR = GPIO_BSRR_BR6)
// Macro to toggle PA6
#define TOGGLE_PA6() (GPIOA->ODR ^= GPIO_ODR_ODR6)
*/
// Constructor
SerialDataLink::SerialDataLink(Stream &serial, uint8_t transmitID, uint8_t receiveID, uint8_t maxIndexTX, uint8_t maxIndexRX, bool enableRetransmit)
@ -167,10 +170,9 @@ void SerialDataLink::run()
}
else
{
constructPacket(); // Construct a new packet if not currently transmitting
if (muteAcknowledgement)
if (muteAcknowledgement && (needToACK || needToNACK))
{
needToACK = false;
needToNACK = false;
@ -269,13 +271,11 @@ void SerialDataLink::constructPacket()
{
lastTransmissionTime = millis();
txBufferIndex = 0; // Reset the TX buffer index
addToTxBuffer(headerChar);
addToTxBuffer(transmitID);
addToTxBuffer(0); // EOT position - place holder
unsigned long currentTime = millis();
int count = txBufferIndex;
for (uint8_t i = 0; i < maxIndexTX; i++)
{
if (dataUpdated[i] || (currentTime - lastSent[i] >= updateInterval))
@ -289,13 +289,13 @@ void SerialDataLink::constructPacket()
lastSent[i] = currentTime; // Update the last sent time for this index
}
}
if (count == txBufferIndex)
{
// No data was added to the buffer, so no need to send a packet
return;
}
addToTxBuffer(eotChar);
//----- assign EOT position
txBuffer[2] = txBufferIndex - 1;
@ -352,6 +352,7 @@ bool SerialDataLink::ackReceived()
if (nextByte == headerChar)
{
requestToSend = true;
transmissionError = true;
return false;
}
@ -372,12 +373,11 @@ bool SerialDataLink::ackReceived()
requestToSend = true;
case NACK_CODE:
transmissionError = true;
return false;
return true;
default:
break;
}
}
return false; // No ACK, NACK, or new packet received
@ -386,7 +386,9 @@ bool SerialDataLink::ackReceived()
bool SerialDataLink::ackTimeout()
{
// Check if the current time has exceeded the last transmission time by the ACK timeout period
if (millis() - lastTransmissionTime > ACK_TIMEOUT) {
if (millis() - lastTransmissionTime > ACK_TIMEOUT)
{
return true; // Timeout occurred
}
return false; // No timeout
@ -397,9 +399,10 @@ bool SerialDataLink::ackTimeout()
void SerialDataLink::read()
{
if (maxIndexRX < 1) return;
if (serial.available())
int count = 0;
while (serial.available() && count < 10)
{
//Serial.print(".");
count++;
if (millis() - lastHeaderTime > PACKET_TIMEOUT && rxBufferIndex > 0)
{
// Timeout occurred, reset buffer and pointer

10
Software/src/lib/mackelec-SerialDataLink/SerialDataLink.h
View file

@ -50,6 +50,8 @@
#include <Arduino.h>
class SerialDataLink {
public:
// Constructor
@ -128,12 +130,12 @@ private:
bool dataUpdated[dataArraySizeTX];
unsigned long lastSent[dataArraySizeTX];
unsigned long updateInterval = 500;
unsigned long ACK_TIMEOUT = 100;
unsigned long PACKET_TIMEOUT = 100; // Timeout in milliseconds
unsigned long updateInterval = 1000;
unsigned long ACK_TIMEOUT = 200;
unsigned long PACKET_TIMEOUT = 200; // Timeout in milliseconds
unsigned long lastStateChangeTime = 0;
unsigned long stateChangeTimeout = 200;
unsigned long stateChangeTimeout = 300;
// Special characters for packet framing
char headerChar = '<';