orin comm tested

src/app/inc/robot_tasks.h

@@ -110,7 +110,7 @@ void Robot_Tasks_Jetson_Orin(void const *argument)
 {
     portTickType xLastWakeTime;
     xLastWakeTime = xTaskGetTickCount();
-    const TickType_t TimeIncrement = pdMS_TO_TICKS(10);
+    const TickType_t TimeIncrement = pdMS_TO_TICKS(JETSON_ORIN_PERIOD);
     while (1)
     {
         Jetson_Orin_Send_Data();

src/app/src/debug_task.c

@@ -9,6 +9,7 @@
 #include "robot.h"
 #include "referee_system.h"
 #include "jetson_orin.h"
+#include "bsp_daemon.h"
 
 extern Robot_State_t g_robot_state;
 extern DJI_Motor_Handle_t *g_yaw;
@@ -17,11 +18,13 @@ extern Swerve_Module_t g_swerve_fl;
 extern Remote_t g_remote; 
 extern Launch_Target_t g_launch_target;
 extern uint64_t t;
+extern Daemon_Instance_t *g_daemon_instances[3];
+
 void Debug_Task_Loop(void)
 {
     static uint32_t counter = 0;
-    // DEBUG_PRINTF(&huart6, "time=%.1f,a=%f,b=%f,c=%f,d=%d\r\n", (float) counter / 1000.0f * DEBUG_PERIOD, 
-    //             g_imu.deg.yaw, g_imu.deg.pitch, g_imu.deg.roll, counter);
+    // DEBUG_PRINTF(&huart6, "time=%.1f,a=%d,b=%d,c=%f,d=%d\r\n", (float) counter / 1000.0f * DEBUG_PERIOD, 
+    //             g_daemon_instances[1]->counter, g_daemon_instances[0]->counter, g_imu.deg.roll, counter);
     counter++;
     if (counter > 0xFFFFFFFF) {
         counter = 0;

src/devices/inc/jetson_orin.h

@@ -2,14 +2,19 @@
 #define JETSON_ORIN_H
 
 #include <stdint.h>
-#include "usart.h"
+#include "bsp_uart.h"
+
+#define ORIN_DATA_RX_BUFER_SIZE (20)
+#define ORIN_DATA_TX_BUFER_SIZE (33)
+
+#define ORIN_TIMEOUT_MS (3000)
+#define JETSON_ORIN_PERIOD (100)
 
 typedef struct
 {
-    UART_HandleTypeDef *huartx;
 
-    uint8_t rx_buffer[20];
-    uint8_t tx_buffer[33];
+    uint8_t rx_buffer[ORIN_DATA_RX_BUFER_SIZE];
+    uint8_t tx_buffer[ORIN_DATA_TX_BUFER_SIZE];
 
     struct
     {
@@ -67,7 +72,6 @@ typedef struct
 
 extern Jetson_Orin_Data_t g_orin_data;
 void Jetson_Orin_Init(UART_HandleTypeDef *huartx);
-void Jetson_Orin_Decode(void);
 void Jetson_Orin_Send_Data(void);
 
 #endif

src/devices/src/jetson_orin.c

@@ -3,14 +3,23 @@
 #include <string.h>
 
 #include "imu_task.h"
-#include "bsp_uart.h"
+#include "bsp_daemon.h"
 
 Jetson_Orin_Data_t g_orin_data;
 
-void Jetson_Orin_Decode(void)
+UART_Instance_t *g_orin_uart_instance_ptr;
+Daemon_Instance_t *g_orin_daemon_instance_ptr;
+
+void Jetson_Orin_Rx_Callback(UART_Instance_t *uart_instance)
 {
+	UNUSED(uart_instance);
+	// TODO: update buffer reference from uart_instance
 	if(g_orin_data.rx_buffer[0] == 0xAA)
 	{
+		// If matching frame header, reload Daemon
+		Daemon_Reload(g_orin_daemon_instance_ptr);
+
+		// Decode data
 		g_orin_data.receiving.frame_id = g_orin_data.rx_buffer[0];
 		g_orin_data.receiving.frame_type = g_orin_data.rx_buffer[1];
 		switch(g_orin_data.receiving.frame_type)
@@ -42,14 +51,37 @@ void Jetson_Orin_Decode(void)
 	}
 }
 
+/**
+ * @brief Callback function for timeout of Jetson Orin used by Daemon
+ * @details When not receiving data from Orin for a certain time, will try 
+ * 			to reinitialize the UART service. Daemon is reloaded to prevent
+ * 			continuous reinitialization at high frequency. 
+ * @param void
+*/
+void Jetson_Orin_Timeout_Callback()
+{
+	// Attemp to reinitialize UART service
+	UART_Service_Init(g_orin_uart_instance_ptr);
+
+	// Reload Daemon to prevent continuous reinitialization
+	Daemon_Reload(g_orin_daemon_instance_ptr);
+}
+
 void Jetson_Orin_Init(UART_HandleTypeDef *huartx)
 {
-	g_orin_data.huartx = huartx;
-	HAL_UART_Receive_DMA(huartx, g_orin_data.rx_buffer, sizeof(g_orin_data.rx_buffer));
+	// register UART instance
+	g_orin_uart_instance_ptr = UART_Register(huartx, g_orin_data.rx_buffer, ORIN_DATA_RX_BUFER_SIZE, Jetson_Orin_Rx_Callback);
+
+	// register Daemon instance
+	// timeout is defined in the header file
+	uint16_t reload_value = ORIN_TIMEOUT_MS / DAEMON_PERIOD;
+	uint16_t initial_counter = reload_value;
+	g_orin_daemon_instance_ptr = Daemon_Register(reload_value, initial_counter, Jetson_Orin_Timeout_Callback);
 }
 
 void Jetson_Orin_Send_Data(void)
 {
+	// update data to be sent
 	g_orin_data.sending.pitch_angle = g_imu.rad.pitch;
 	g_orin_data.sending.pitch_angular_rate = g_imu.bmi088_raw.gyro[1];
 	g_orin_data.sending.yaw_angular_rate = g_imu.bmi088_raw.gyro[2];
@@ -59,6 +91,7 @@ void Jetson_Orin_Send_Data(void)
 	g_orin_data.sending.velocity_x = 0;
 	g_orin_data.sending.velocity_y = 0;
 
+	// float to byte conversion
 	g_orin_data.sending.float_byte.data[0] = g_orin_data.sending.pitch_angle;
 	g_orin_data.sending.float_byte.data[1] = g_orin_data.sending.pitch_angular_rate;
 	g_orin_data.sending.float_byte.data[2] = g_orin_data.sending.yaw_angular_rate;
@@ -71,5 +104,5 @@ void Jetson_Orin_Send_Data(void)
 	g_orin_data.tx_buffer[0] = 0xAA;
 	memcpy(&g_orin_data.tx_buffer[1],&g_orin_data.sending.float_byte.data_bytes[0], 32*sizeof(uint8_t));
 
-	HAL_UART_Transmit_DMA(g_orin_data.huartx, g_orin_data.tx_buffer, sizeof(g_orin_data.tx_buffer));
+	//UART_Transmit(g_orin_uart_instance_ptr, g_orin_data.tx_buffer, sizeof(g_orin_data.tx_buffer), UART_DMA);
 }