First of all, thanks for this RTOS! He matches exactly what I needed!
So! I have several issues with the serial driver. I can send data without too many problems but when I want to receive some, it doesn't do what I expected. I explain:
It seems working great the first time, but the next ones, the sdReadTimeout function begin fill my table at the second element (index 1) and shift all data. My goal is to send and receive as fast as I can. That's why I don't use interrupts. Then, I parse the received datas and send them to another task by mailboxes and memory pool.
An other problem I have is that after about 5 min, it stops sending (and receiving) datas. I think the program crashes but I'm not pretty sure. As I'm using XBees for the communication, I've checked their parameters but I don't think the problem come from them...
So, do you have any idea of what can be the problem? And can you confirm that I'm on the right way to use the serial driver and mailboxes with memory pools?
Here is my code:
Main.c
Code: Select all
#include "ch.h"
#include "hal.h"
#include "motor.h"
#include "gyro.h"
#include "XBee.h"
#include "alti.h"
#define MAILBOX_SIZE 1
static Mailbox mb_Comm;
static msg_t b_Comm[MAILBOX_SIZE];
MemoryPool comPool;
static WORKING_AREA(waMotor, 128);
static msg_t ThreadMotor( void *arg )
{
DATA_COMM *data;
initMotor();
while(TRUE)
{
chMBFetch(&mb_Comm, (msg_t*)&data, TIME_INFINITE);
data = (chPoolAlloc(&comPool));
setSpeed(data->battery, MOTOR_1);
setSpeed(data->battery, MOTOR_2);
setSpeed(data->battery, MOTOR_3);
setSpeed(data->battery, MOTOR_4);
}
}
static WORKING_AREA(waComSnd, 128);
static msg_t ThreadComSnd( void *arg )
{
DATA_COMM data;
while(TRUE)
{
data.tangage = 15;
data.roulis = 46;
data.lacet = 13;
data.altitude = 1245;
data.battery = 95;
data.signal = 51;
sendData ( &data );
chThdSleepMilliseconds( 100 );
}
}
static WORKING_AREA(waComRcv, 512);
static msg_t ThreadComRcv( void *arg )
{
while(TRUE)
{
DATA_COMM data __attribute__((aligned(sizeof(stkalign_t))));
data = rcvData();
chPoolFree(&comPool, &data);
chMBPost(&mb_Comm, (msg_t)&data, TIME_INFINITE);
chThdSleepMilliseconds( 100 );
}
}
/*
* Application entry point.
*/
int main(void) {
msg_t msg;
halInit();
chSysInit();
chPoolInit(&comPool, sizeof(DATA_COMM), NULL);
chMBInit(&mb_Comm, (msg_t*)msg, sizeof(msg));
chThdCreateStatic(waMotor, sizeof(waMotor), NORMALPRIO, ThreadMotor, NULL);
chThdCreateStatic(waComSnd, sizeof(waComSnd), NORMALPRIO, ThreadComSnd, NULL);
chThdCreateStatic(waComRcv, sizeof(waComRcv), NORMALPRIO, ThreadComRcv, NULL);
while(1)
{
chThdSleepMilliseconds( 500 );
}
}
XBee.c
Code: Select all
#include "XBee.h"
SerialConfig uartCfg=
{
BAUDRATE, /* Baudrate */
0, /* cr1 register values */
0, /* cr2 register values */
0 /* cr3 register values */
};
void initXBee()
{
//SD2
palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));
sdStart(&SD2, &uartCfg);
}
// Communication sans fils
void sendData ( DATA_COMM *data )
{
char bufSend[40]={0};
sprintf(bufSend, "T%03dR%03dL%03dA%05dB%03dS%03d", data->tangage, data->roulis, data->lacet, data->altitude, data->battery, data->signal);
sdWrite(&SD2, (uint8_t*)bufSend, strlen(bufSend));
}
DATA_COMM rcvData()
{
int i = 0;
int j = 0;
DATA_COMM data;
int retSscanf = 0;
char bufRead[] = {'T','0','1','5','R','0','4','6','L','0','1','3','A','0','1','2','4','5','B','0','9','5','S','0','5','1','\0'};
char bufFinalString[] = {'T','0','1','5','R','0','4','6','L','0','1','3','A','0','1','2','4','5','B','0','9','5','S','0','5','1','\0'};
sdReadTimeout(&SD2, (uint8_t*)bufRead, (size_t)strlen(bufRead), (systime_t)TIME_INFINITE);
i = 0;
while(bufRead[i] != 'T')
{
i++;
}
for ( j = 0; j<strlen(bufRead); j++)
{
bufFinalString[j] = bufRead[(j+i)%strlen(bufRead)];
}
sscanf(bufFinalString, "T%dR%dL%dA%dB%dS%d", &data.tangage, &data.roulis, &data.lacet, &data.altitude, &data.battery, &data.signal);
return data;
}
Thanks a lot for any help!
EDIT: I'm using STM32L152 discovery board with chibiOS 2.6.4 (if I upgrated well).
EDIT2: Redid the upgrade and seems to work well now! ( Having pass to much time on it for finally this kind of problem!
) But if you can ensure I'm using well the mailboxes, memPool and serial driver, I would be gratefull! 