Safer logging through serial

scripts/notebooks/show_data.ipynb

@@ -45,30 +45,9 @@
     "df.columns = ['timestamp', 'front_left', 'front_right', 'side_left', 'side_right',\n",
     "              'linear_ideal', 'linear_measured', 'angular_ideal', 'angular_measured',\n",
     "              'pwm_left', 'pwm_right']\n",
-    "df.head()"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "diffs = df['timestamp'].diff().shift(-1)\n",
-    "df = df[(diffs > 0) & (diffs < 4)]\n",
-    "df.head()"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {
-    "scrolled": true
-   },
-   "outputs": [],
-   "source": [
     "df['timestamp'] /= 1000\n",
-    "df.set_index('timestamp')\n",
+    "df = df.set_index('timestamp')\n",
+    "df = df.sort_index()\n",
     "df.head()"
    ]
   },

src/clock.c

@@ -131,3 +131,23 @@ void each(uint32_t period, void (*function)(void), uint32_t during)
 		ticks_current = get_clock_ticks();
 	}
 }
+
+/**
+ * @brief Wait until the given function returns true, or timeout.
+ *
+ * @param[in] timeout Timeout duration, in ticks.
+ * @param[in] function Function to execute.
+ *
+ * @return False if the timeout occurred before the function returned true.
+ */
+bool wait_until(bool (*function)(void), uint32_t timeout)
+{
+	uint32_t ticks_initial;
+
+	ticks_initial = get_clock_ticks();
+	while (get_clock_ticks() - ticks_initial < timeout) {
+		if (function())
+			return true;
+	}
+	return false;
+}

src/clock.h

@@ -8,6 +8,7 @@
 #include "setup.h"
 
 void each(uint32_t period, void (*function)(void), uint32_t during);
+bool wait_until(bool (*function)(void), uint32_t timeout);
 uint32_t get_clock_ticks(void);
 uint32_t read_cycle_counter(void);
 void sleep_ticks(uint32_t ticks);

src/logging.h

@@ -27,16 +27,19 @@ static const char *const log_level_strings[] = {"DEBUG", "INFO", "WARNING",
 		sprintf(tx_buffer, "%" PRIu32 ",%s,%s:%d,%s," format "\n",     \
 			time, log_level_strings[level], __FILE__, __LINE__,    \
 			__func__, ##arg);                                      \
-		dma_write(tx_buffer, strlen(tx_buffer));                       \
+		serial_wait_send_available(10);                                \
+		serial_send(tx_buffer, strlen(tx_buffer));                     \
 	} while (0)
 
 #define LOG_DATA(format, arg...)                                               \
 	do {                                                                   \
 		uint32_t time = get_clock_ticks();                             \
 		static char tx_buffer[100];                                    \
+		if (!serial_transfer_complete())                               \
+			break;                                                 \
 		sprintf(tx_buffer, "%" PRIu32 ",DATA,,," format "\n", time,    \
 			##arg);                                                \
-		dma_write(tx_buffer, strlen(tx_buffer));                       \
+		serial_send(tx_buffer, strlen(tx_buffer));                     \
 	} while (0)
 
 #define LOG_DEBUG(format, arg...) LOG_MESSAGE(LOG_LEVEL_DEBUG, format, ##arg)

src/serial.c

@@ -13,13 +13,34 @@ static bool run_static_turn_right_profile_signal;
 static bool run_front_sensors_calibration_signal;
 static char run_movement_sequence_signal[BUFFER_SIZE];
 
-void dma_write(char *data, int size)
+/**
+ * @brief Check if the serial transfer is complete.
+ *
+ * @return Whether the transfer has been completed.
+ */
+bool serial_transfer_complete(void)
+{
+	return (bool)usart_get_flag(USART3, USART_SR_TC);
+}
+
+/**
+ * @brief Wait until able to send through serial, or timeout.
+ *
+ * @param[in] timeout Timeout duration, in ticks.
+ */
+void serial_wait_send_available(uint32_t timeout)
 {
-	/*
-	 * Using channel 2 for USART3_TX
-	 */
+	wait_until(serial_transfer_complete, timeout);
+}
 
-	/* Reset DMA channel*/
+/**
+ * @brief Send data through serial.
+ *
+ * @param[in] data Data to send.
+ * @param[in] size Size (number of bytes) to send.
+ */
+void serial_send(char *data, int size)
+{
 	dma_channel_reset(DMA1, DMA_CHANNEL2);
 
 	dma_set_peripheral_address(DMA1, DMA_CHANNEL2, (uint32_t)&USART3_DR);
@@ -40,13 +61,11 @@ void dma_write(char *data, int size)
 
 void dma1_channel2_isr(void)
 {
-	if ((DMA1_ISR & DMA_ISR_TCIF7) != 0)
-		DMA1_IFCR |= DMA_IFCR_CTCIF7;
+	if (dma_get_interrupt_flag(DMA1, DMA_CHANNEL2, DMA_TCIF))
+		dma_clear_interrupt_flags(DMA1, DMA_CHANNEL2, DMA_TCIF);
 
 	dma_disable_transfer_complete_interrupt(DMA1, DMA_CHANNEL2);
-
 	usart_disable_tx_dma(USART3);
-
 	dma_disable_channel(DMA1, DMA_CHANNEL2);
 }
 

src/serial.h

@@ -13,7 +13,9 @@
 #include "move.h"
 #include "speed.h"
 
-void dma_write(char *data, int size);
+bool serial_transfer_complete(void);
+void serial_wait_send_available(uint32_t timeout);
+void serial_send(char *data, int size);
 void execute_commands(void);
 
 #endif /* __SERIAL_H */