From d4f075d7875b14ed6c0fa371d597c2f60952455f Mon Sep 17 00:00:00 2001
From: Federica Di Lauro <federicadilauro1998@gmail.com>
Date: Thu, 12 Mar 2020 16:37:32 +0100
Subject: [PATCH] fix rx bug

---
 otto_controller/Core/Src/main.cpp           |  9 +++++++++
 otto_controller/Core/Src/usart.c            |  7 ++++---
 otto_controller/otto_controller.ioc         | 10 +++++-----
 utils/catkin_ws/launch/serial_bridge.launch |  4 ++--
 4 files changed, 20 insertions(+), 10 deletions(-)

diff --git a/otto_controller/Core/Src/main.cpp b/otto_controller/Core/Src/main.cpp
index cd22b80..a5bdc7c 100644
--- a/otto_controller/Core/Src/main.cpp
+++ b/otto_controller/Core/Src/main.cpp
@@ -114,6 +114,7 @@ ConfigCommand config_cmd;
 int otto_status = 0;
 
 int test = 0;
+int error = 0;
 
 /* USER CODE END PV */
 
@@ -195,6 +196,8 @@ int main(void)
   VelocityCommand_size);
 
   /* USER CODE END 2 */
+ 
+ 
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
@@ -358,6 +361,12 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
   VelocityCommand_size);
 }
 
+void HAL_UART_ErrorCallback(UART_HandleTypeDef *UartHandle){
+  error++;
+  HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx,
+    VelocityCommand_size);
+}
+
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
   //Blue user button on the NUCLEO board
   if (GPIO_Pin == user_button_Pin) {
diff --git a/otto_controller/Core/Src/usart.c b/otto_controller/Core/Src/usart.c
index 3217f9a..f5a2993 100644
--- a/otto_controller/Core/Src/usart.c
+++ b/otto_controller/Core/Src/usart.c
@@ -42,7 +42,8 @@ void MX_USART6_UART_Init(void)
   huart6.Init.HwFlowCtl = UART_HWCONTROL_RTS;
   huart6.Init.OverSampling = UART_OVERSAMPLING_16;
   huart6.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
-  huart6.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  huart6.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_DMADISABLEONERROR_INIT;
+  huart6.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
   if (HAL_UART_Init(&huart6) != HAL_OK)
   {
     Error_Handler();
@@ -92,7 +93,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;
     hdma_usart6_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_usart6_tx.Init.Mode = DMA_NORMAL;
+    hdma_usart6_tx.Init.Mode = DMA_CIRCULAR;
     hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW;
     hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_usart6_tx) != HAL_OK)
@@ -110,7 +111,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
     hdma_usart6_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_usart6_rx.Init.Mode = DMA_NORMAL;
+    hdma_usart6_rx.Init.Mode = DMA_CIRCULAR;
     hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW;
     hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK)
diff --git a/otto_controller/otto_controller.ioc b/otto_controller/otto_controller.ioc
index 337ab1d..dbdd3db 100644
--- a/otto_controller/otto_controller.ioc
+++ b/otto_controller/otto_controller.ioc
@@ -7,7 +7,7 @@ Dma.USART6_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
 Dma.USART6_RX.1.Instance=DMA2_Stream1
 Dma.USART6_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
 Dma.USART6_RX.1.MemInc=DMA_MINC_ENABLE
-Dma.USART6_RX.1.Mode=DMA_NORMAL
+Dma.USART6_RX.1.Mode=DMA_CIRCULAR
 Dma.USART6_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART6_RX.1.PeriphInc=DMA_PINC_DISABLE
 Dma.USART6_RX.1.Priority=DMA_PRIORITY_LOW
@@ -17,7 +17,7 @@ Dma.USART6_TX.0.FIFOMode=DMA_FIFOMODE_DISABLE
 Dma.USART6_TX.0.Instance=DMA2_Stream6
 Dma.USART6_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
 Dma.USART6_TX.0.MemInc=DMA_MINC_ENABLE
-Dma.USART6_TX.0.Mode=DMA_NORMAL
+Dma.USART6_TX.0.Mode=DMA_CIRCULAR
 Dma.USART6_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART6_TX.0.PeriphInc=DMA_PINC_DISABLE
 Dma.USART6_TX.0.Priority=DMA_PRIORITY_LOW
@@ -166,7 +166,7 @@ PF15.Signal=GPIO_Output
 PG8.Mode=RTS_Only
 PG8.Signal=USART6_RTS
 PinOutPanel.RotationAngle=0
-ProjectManager.AskForMigrate=true
+ProjectManager.AskForMigrate=false
 ProjectManager.BackupPrevious=false
 ProjectManager.CompilerOptimize=6
 ProjectManager.ComputerToolchain=false
@@ -259,7 +259,8 @@ TIM6.IPParameters=Prescaler,Period
 TIM6.Period=159
 TIM6.Prescaler=9999
 USART6.BaudRate=9600
-USART6.IPParameters=VirtualMode-Asynchronous,WordLength,Parity,BaudRate
+USART6.DMADisableonRxErrorParam=ADVFEATURE_DMA_DISABLEONRXERROR
+USART6.IPParameters=VirtualMode-Asynchronous,WordLength,Parity,BaudRate,DMADisableonRxErrorParam
 USART6.Parity=PARITY_NONE
 USART6.VirtualMode-Asynchronous=VM_ASYNC
 USART6.WordLength=WORDLENGTH_8B
@@ -272,4 +273,3 @@ VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
 VP_TIM6_VS_ClockSourceINT.Mode=Enable_Timer
 VP_TIM6_VS_ClockSourceINT.Signal=TIM6_VS_ClockSourceINT
 board=custom
-isbadioc=false
diff --git a/utils/catkin_ws/launch/serial_bridge.launch b/utils/catkin_ws/launch/serial_bridge.launch
index 71462a0..2d00cb6 100644
--- a/utils/catkin_ws/launch/serial_bridge.launch
+++ b/utils/catkin_ws/launch/serial_bridge.launch
@@ -4,8 +4,8 @@
   <node name="serial_receiver" pkg="serial_bridge" type="serial_receiver.py"/>
   
   <!-- Node used to slow down /cmd_vel transmission to 10Hz -->
-  <node name="cmd_vel_throttler" type="throttle" pkg="topic_tools" 
-    args="messages /cmd_vel 20 /cmd_vel_throttled" />
+  <!-- <node name="cmd_vel_throttler" type="throttle" pkg="topic_tools" 
+        args="messages /cmd_vel 10000 /cmd_vel_throttled" /> -->
   
   <!-- Serial port -->  
   <param name="serial_port" value="/dev/ttyUSB0"/>
-- 
2.52.0