Mobility_Firmware: Roboclaw rx buffer filling up

npol / RoboCapstone

An autonomous weed eliminating robot

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Mobility_Firmware: Roboclaw rx buffer filling up #24

Closed npol closed 8 years ago

npol commented 8 years ago

FW reports warnings 0x8101 and 0x8002 when using m1 command

npol commented 8 years ago

Occurs when motors are active and reading from encoders. Possibly corrupted packets causing issues

npol commented 8 years ago

Two possible sources:

extra data being recieved after timeout, or wrong number of bytes recieved, causing junk bytes to accumulate in buffer. Resolution: clear buffer before sending new data
Concurrency issue: UART interrupt fires while struct parameters are changed. Resolution: disable interrupts during sections that handle RC_UART_data or DBG_UART_data.

npol commented 8 years ago

Seems to be resolved through fixing concurrency. Warning WARN_RC_RXBUF_NOT_EMPTY occurs 0x8113 when get pid is executed, however

npol commented 8 years ago

Bug source: wrong command used for getting PID. Position PID command was used instead of velocity PID command.

npol commented 8 years ago

'A' was printed indicating roboclaw rx buffer not empty before sending new data, but no warning was triggered. after rc gs1. Other issues seem to be fixed

npol commented 8 years ago

Issue not replicated during system test