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@@ -88,6 +88,7 @@ uint8_t data[64]; // tmp read buffer
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uint8_t *dataUART; // pointee for rx_buffer
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volatile uint8_t dataL;
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volatile uint8_t dataI;
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+volatile uint32_t uart_timeout;
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volatile uint8_t icm_data_ready = 0;
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@@ -125,8 +126,16 @@ inline void app_delay(uint8_t ms){
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static inline uint8_t loop_callback() {
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if(icm_data_ready == 1){
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icm_data_ready = 0;
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- return 1;
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+ return 1; // interrupt from external sensor: data ready
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}
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+
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+ if(uart_timeout + 2 > HAL_GetTick()) {
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+ dataL = 0;
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+ dataI = 0;
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+ data[0] = 0;
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+ return 2; // UART receive timeout
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+ }
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+
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return 0;
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}
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@@ -135,6 +144,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
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HAL_UARTEx_ReceiveToIdle_DMA(huart, data, 64);
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uint8_t copy_offset = 0;
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if(dataL==0){
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+ uart_timeout = HAL_GetTick();
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dataL = data[0];
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dataI = 0;
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HAL_GPIO_TogglePin(LD3_GPIO_Port, LD3_Pin);
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