From 86e63f4dbc42f0ccc1d6fc073392d88db44959bd Mon Sep 17 00:00:00 2001
From: EmilioCorigliano <emilio.corigliano@mail.polimi.it>
Date: Tue, 4 Apr 2023 13:35:35 +0200
Subject: [PATCH] [VN100] Fixed self test failing for reading wrong data
---
src/shared/sensors/VN100/VN100.cpp | 31 +++++++++++-------------------
src/shared/sensors/VN100/VN100.h | 3 +--
src/tests/sensors/test-vn100.cpp | 26 +++++++++++++++++++------
3 files changed, 32 insertions(+), 28 deletions(-)
diff --git a/src/shared/sensors/VN100/VN100.cpp b/src/shared/sensors/VN100/VN100.cpp
index cd8d8c270..69a4f9e3b 100644
--- a/src/shared/sensors/VN100/VN100.cpp
+++ b/src/shared/sensors/VN100/VN100.cpp
@@ -27,8 +27,7 @@
namespace Boardcore
{
-VN100::VN100(USART &usart, int baudRate, CRCOptions crc,
- uint16_t samplePeriod)
+VN100::VN100(USART &usart, int baudRate, CRCOptions crc, uint16_t samplePeriod)
: usart(usart), baudRate(baudRate), samplePeriod(samplePeriod), crc(crc)
{
}
@@ -108,12 +107,6 @@ bool VN100::init()
return false;
}
- if (!this->start())
- {
- LOG_ERR(logger, "Unable to start the sampling thread");
- return false;
- }
-
// Set the isInit flag true
isInit = true;
@@ -128,11 +121,11 @@ void VN100::run()
while (!shouldStop())
{
long long initialTime = miosix::getTick();
-
- // Sample the data locking the mutex
- miosix::Lock<FastMutex> l(mutex);
- threadSample = sampleData();
-
+ {
+ // Sample the data locking the mutex
+ miosix::Lock<FastMutex> l(mutex);
+ threadSample = sampleData();
+ }
// Sleep for the sampling period
miosix::Thread::sleepUntil(initialTime + samplePeriod);
}
@@ -418,20 +411,18 @@ bool VN100::selfTestImpl()
return false;
}
- // I check the model number (I perform the procedure twice to delete junk
- // problems)
- sendStringCommand("VNRRG,01");
- miosix::Thread::sleep(
- 100); // These sleep are important at very high baud rates
- recvStringCommand(recvString, recvStringMaxDimension);
- miosix::Thread::sleep(100);
+ // removing junk
+ usart.clearQueue();
+ // I check the model number
if (!sendStringCommand("VNRRG,01"))
{
LOG_WARN(logger, "Unable to send string command");
return false;
}
+ miosix::Thread::sleep(100);
+
if (!recvStringCommand(recvString, recvStringMaxDimension))
{
LOG_WARN(logger, "Unable to receive string command");
diff --git a/src/shared/sensors/VN100/VN100.h b/src/shared/sensors/VN100/VN100.h
index e6880433f..64886b774 100644
--- a/src/shared/sensors/VN100/VN100.h
+++ b/src/shared/sensors/VN100/VN100.h
@@ -86,8 +86,7 @@ public:
* @param Redundancy check option.
* @param samplePeriod Sampling period in ms
*/
- VN100(USART &usart, int baudrate,
- CRCOptions crc = CRCOptions::CRC_ENABLE_8,
+ VN100(USART &usart, int baudrate, CRCOptions crc = CRCOptions::CRC_ENABLE_8,
uint16_t samplePeriod = 20);
bool init() override;
diff --git a/src/tests/sensors/test-vn100.cpp b/src/tests/sensors/test-vn100.cpp
index 7b46b4cb8..ad20fc12d 100644
--- a/src/tests/sensors/test-vn100.cpp
+++ b/src/tests/sensors/test-vn100.cpp
@@ -31,28 +31,42 @@ int main()
{
VN100Data sample;
string sampleRaw;
+
+ GpioPin u2tx1(GPIOA_BASE, 2);
+ GpioPin u2rx1(GPIOA_BASE, 3);
+
+ u2rx1.alternateFunction(7);
+ u2rx1.mode(Mode::ALTERNATE);
+ u2tx1.alternateFunction(7);
+ u2tx1.mode(Mode::ALTERNATE);
+
USART usart(USART1, 921600);
- VN100 sensor{usart, 921600,
- VN100::CRCOptions::CRC_ENABLE_16};
+ VN100 sensor{usart, 921600, VN100::CRCOptions::CRC_ENABLE_16};
// Let the sensor start up
Thread::sleep(1000);
+ printf("Initializing sensor\n");
if (!sensor.init())
{
printf("Error initializing the sensor!\n");
return 0;
}
- printf("Sensor init successful!\n");
-
+ printf("Running self-test\n");
if (!sensor.selfTest())
{
- printf("Error self test check!\n");
+ printf("Unable to execute self-test\n");
+ return 0;
+ }
+
+ if (!sensor.start())
+ {
+ printf("Unable to start the sampling thread\n");
return 0;
}
- printf("Sensor self test successful!\n");
+ printf("Sensor sampling thread started!\n");
// Sample and print 100 samples
for (int i = 0; i < 100; i++)
--
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