fix timeout management on ROBUS protocol

Luos-io · May 6, 2024 · 8c199af · 8c199af
1 parent d03b7f3
commit 8c199af
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Showing 4 changed files with 28 additions and 15 deletions.
diff --git a/network/robus_network/HAL/STM32G4/robus_hal.c b/network/robus_network/HAL/STM32G4/robus_hal.c
@@ -198,7 +198,7 @@ _CRITICAL void RobusHAL_SetRxState(uint8_t Enable)
 _CRITICAL void ROBUS_COM_IRQHANDLER()
 {
     // Reset timeout to it's default value
-    RobusHAL_ResetTimeout(DEFAULT_TIMEOUT);
+    RobusHAL_ResetTimeout(true, 0);
     // reception management
     if ((LL_USART_IsActiveFlag_RXNE(ROBUS_COM) != RESET) && (LL_USART_IsEnabledIT_RXNE(ROBUS_COM) != RESET))
     {
@@ -305,7 +305,7 @@ _CRITICAL void RobusHAL_ComTransmit(uint8_t *data, uint16_t size)
         // Enable Transmission complete interrupt because we only have one.
         LL_USART_EnableIT_TC(ROBUS_COM);
     }
-    RobusHAL_ResetTimeout(DEFAULT_TIMEOUT);
+    RobusHAL_ResetTimeout(true, 0);
 }
 /******************************************************************************
  * @brief set state of Txlock detection pin
@@ -339,7 +339,7 @@ _CRITICAL uint8_t RobusHAL_GetTxLockState(void)
 #ifdef USART_ISR_BUSY
     if (LL_USART_IsActiveFlag_BUSY(ROBUS_COM) == true)
     {
-        RobusHAL_ResetTimeout(DEFAULT_TIMEOUT);
+        RobusHAL_ResetTimeout(true, 0);
         result = true;
     }
 #else
@@ -353,7 +353,7 @@ _CRITICAL uint8_t RobusHAL_GetTxLockState(void)
         {
             if (result == true)
             {
-                RobusHAL_ResetTimeout(DEFAULT_TIMEOUT);
+                RobusHAL_ResetTimeout(true, 0);
             }
         }
     }
@@ -388,15 +388,28 @@ static void RobusHAL_TimeoutInit(void)
  * @param None
  * @return None
  ******************************************************************************/
-_CRITICAL void RobusHAL_ResetTimeout(uint16_t nbrbit)
+_CRITICAL void RobusHAL_ResetTimeout(uint16_t enable, uint16_t nbrbit)
 {
-    LL_TIM_DisableCounter(ROBUS_TIMER);
-    NVIC_ClearPendingIRQ(ROBUS_TIMER_IRQ); // Clear IT pending NVIC
-    LL_TIM_ClearFlag_UPDATE(ROBUS_TIMER);
-    LL_TIM_SetCounter(ROBUS_TIMER, 0); // Reset counter
-    if (nbrbit != 0)
-    {
+    uint32_t arr_val, diff;
+    arr_val = LL_TIM_ReadReg(ROBUS_TIMER, ARR);  // Get actual timeout value
+    diff = arr_val-LL_TIM_ReadReg(ROBUS_TIMER, CNT);  // Compute remaining time before timeout 
+
+    if( diff < DEFAULT_TIMEOUT ){
+        // HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, SET);
+        LL_TIM_DisableCounter(ROBUS_TIMER);
+        NVIC_ClearPendingIRQ(ROBUS_TIMER_IRQ); // Clear IT pending NVIC
+        LL_TIM_ClearFlag_UPDATE(ROBUS_TIMER);
+
+        LL_TIM_SetAutoReload(ROBUS_TIMER, DEFAULT_TIMEOUT);
+        LL_TIM_SetCounter(ROBUS_TIMER, 0);
+        // HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, RESET);
+    }
+    if(nbrbit != 0){
         LL_TIM_SetAutoReload(ROBUS_TIMER, nbrbit); // reload value
+        LL_TIM_SetCounter(ROBUS_TIMER, 0); // Reset counter
+    }
+
+    if(enable){
         LL_TIM_EnableCounter(ROBUS_TIMER);
     }
 }
@@ -544,7 +557,7 @@ _CRITICAL void PINOUT_IRQHANDLER(uint16_t GPIO_Pin)
     if ((GPIO_Pin == TX_LOCK_DETECT_PIN) && (TX_LOCK_DETECT_IRQ != DISABLE))
     {
         ctx.tx.lock = true;
-        RobusHAL_ResetTimeout(DEFAULT_TIMEOUT);
+        RobusHAL_ResetTimeout(true, 0);
         EXTI->IMR1 &= ~TX_LOCK_DETECT_PIN;
     }
     else

diff --git a/network/robus_network/HAL/STM32G4/robus_hal.h b/network/robus_network/HAL/STM32G4/robus_hal.h
@@ -22,7 +22,7 @@ void RobusHAL_SetRxState(uint8_t Enable);
 void RobusHAL_ComTransmit(uint8_t *data, uint16_t size);
 uint8_t RobusHAL_GetTxLockState(void);
 void RobusHAL_SetRxDetecPin(uint8_t Enable);
-void RobusHAL_ResetTimeout(uint16_t nbrbit);
+void RobusHAL_ResetTimeout(uint16_t enable, uint16_t nbrbit);
 void RobusHAL_SetPTPDefaultState(uint8_t PTPNbr);
 void RobusHAL_SetPTPReverseState(uint8_t PTPNbr);
 void RobusHAL_PushPTP(uint8_t PTPNbr);

diff --git a/network/robus_network/src/reception.c b/network/robus_network/src/reception.c
@@ -243,7 +243,7 @@ _CRITICAL void Recep_GetCollision(luos_phy_t *phy_robus, volatile uint8_t *data)
             // Collision detection end
             data_count = 0;
             RobusHAL_SetRxState(false);
-            RobusHAL_ResetTimeout(0);
+            RobusHAL_ResetTimeout(false, 0);
             if (ctx.tx.status == TX_NOK)
             {
                 // Switch to catch Ack.

diff --git a/network/robus_network/src/transmission.c b/network/robus_network/src/transmission.c
@@ -256,7 +256,7 @@ _CRITICAL void Transmit_End(void)
         // A tx_task failed
         nbrRetry++;
         // compute a delay before retry
-        RobusHAL_ResetTimeout(20 * nbrRetry * (Phy_GetNodeId() + 1));
+        RobusHAL_ResetTimeout(true, 20 * nbrRetry * (Phy_GetNodeId() + 1));
         // Lock the trasmission to be sure no one can send something from this node until next timeout.
         ctx.tx.lock   = true;
         ctx.tx.status = TX_DISABLE;