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-rw-r--r--gm_platform/fw/serial.c2
-rw-r--r--gm_platform/fw/tw_test.py104
2 files changed, 53 insertions, 53 deletions
diff --git a/gm_platform/fw/serial.c b/gm_platform/fw/serial.c
index 25b86fc..2c80674 100644
--- a/gm_platform/fw/serial.c
+++ b/gm_platform/fw/serial.c
@@ -50,7 +50,7 @@ void usart_dma_reset() {
usart_tx_buf.wr_idx = 0;
usart_tx_buf.xfr_next = 0;
usart_tx_buf.wraparound = false;
- usart_tx_buf.ack = false;
+ usart_tx_buf.ack = true;
for (size_t i=0; i<ARRAY_LEN(usart_tx_buf.packet_end); i++)
usart_tx_buf.packet_end[i] = -1;
diff --git a/gm_platform/fw/tw_test.py b/gm_platform/fw/tw_test.py
index a05a44b..cde59f0 100644
--- a/gm_platform/fw/tw_test.py
+++ b/gm_platform/fw/tw_test.py
@@ -74,56 +74,56 @@ if __name__ == '__main__':
while True:
#ser.write(cobs.encode(b'\x01\xff') + b'\0')
data = ser.read_until(b'\0')
- if not data or data[-1] != 0x00:
- #print(f'{time():>7.3f} Timeout: resetting')
- #ser.write(cobs.encode(b'\x01\xff') + b'\0') # reset
- continue
-
- try:
- if len(data) <= 1: # delimiting zero for retransmission
- cur.execute('INSERT INTO errors(run_id, rx_ts, type) VALUES (?, ?, "retransmission")',
- (run_id, int(time()*1000)))
- continue
- crc32, payload = unpack_head('I', cobs.decode(data[:-1]))
- pid, seq, data = unpack_head('xBH', payload)
- ts = time()
-
- # Calculate byte-wise CRC32
- our_crc = zlib.crc32(bytes(b for x in payload for b in (0, 0, 0, x)))
- #log.append((time(), seq, crc32, our_crc, pid, data))
- print(f'{ts:>7.3f} {seq:05d} {crc32:08x} {our_crc:08x} {pid} {hexlify(data).decode()}', end='')
-
- error = False
- suppress_ack = False
- if crc32 != our_crc:
- print(' CRC ERROR', end='')
- suppress_ack = True
- error = True
-
- if last_pid is not None and pid != (last_pid+1)%8:
- print(' PID ERROR', end='')
- error = True
- else:
- last_pid = pid
-
- if not suppress_ack:
- ser.write(ctrl_ack(pid))
- ser.flushOutput()
-
- if not error:
- cur.execute('INSERT INTO measurements VALUES (?, ?, ?, ?)', (run_id, int(ts*1000), seq, data))
- else:
- cur.execute('INSERT INTO errors VALUES (?, ?, "pid", ?, ?, ?, ?, ?, ?)',
- (run_id, int(ts*1000), seq, pid, (last_pid+1)%8, crc32, our_crc, data))
-
- print()
- lines_written += 1
- if lines_written == 80:
- lines_written = 0
- print('\033[2J\033[H', end='')
- db.commit()
-
- except Exception as e:
- print(e, len(data))
- ser.write(ctrl_ack(0)) # FIXME delet this
+ for data in data.split(b'\0')[:-1]: # data always ends on \0 due to read_until, so split off the trailing empty bytes()
+ try:
+ if not data:
+ #print(f'{time():>7.3f} Timeout: resetting')
+ #ser.write(cobs.encode(b'\x01\xff') + b'\0') # reset
+ ser.write(ctrl_ack(0)) # FIXME delet this
+ cur.execute('INSERT INTO errors(run_id, rx_ts, type) VALUES (?, ?, "retransmission")',
+ (run_id, int(time()*1000)))
+ continue
+
+ crc32, payload = unpack_head('I', cobs.decode(data))
+ pid, seq, data = unpack_head('xBH', payload)
+ ts = time()
+
+ # Calculate byte-wise CRC32
+ our_crc = zlib.crc32(bytes(b for x in payload for b in (0, 0, 0, x)))
+ #log.append((time(), seq, crc32, our_crc, pid, data))
+ print(f'{ts:>7.3f} {seq:05d} {crc32:08x} {our_crc:08x} {pid} {hexlify(data).decode()}', end='')
+
+ error = False
+ suppress_ack = False
+ if crc32 != our_crc:
+ print(' CRC ERROR', end='')
+ suppress_ack = True
+ error = True
+
+ if last_pid is not None and pid != (last_pid+1)%8:
+ print(' PID ERROR', end='')
+ error = True
+ else:
+ last_pid = pid
+
+ if not suppress_ack:
+ ser.write(ctrl_ack(pid))
+ ser.flushOutput()
+
+ if not suppress_ack:
+ cur.execute('INSERT INTO measurements VALUES (?, ?, ?, ?)', (run_id, int(ts*1000), seq, data))
+ if error:
+ cur.execute('INSERT INTO errors VALUES (?, ?, "pid", ?, ?, ?, ?, ?, ?)',
+ (run_id, int(ts*1000), seq, pid, (last_pid+1)%8, crc32, our_crc, data))
+
+ print()
+ lines_written += 1
+ if lines_written == 80:
+ lines_written = 0
+ print('\033[2J\033[H', end='')
+ db.commit()
+
+ except Exception as e:
+ print(e, len(data))
+ ser.write(ctrl_ack(0)) # FIXME delet this