Hello,
I have a bit of a problem with UART communication, it works without problems to send commands to teency but from teency the tx2 sometimes gets the wrong data, what could this be due to? All help is welcome!
Components:
- TX2 dev board
- Tenncy 4.0 from (pjrc)
Teency sending code (simple sending)
--115200 serial speed--
byte buffer[3] = { 0x7e, 0x6e, 0x00 };
void loop()
{
serial_jetson.write(buffer, sizeof(buffer)+1);
delay(50);
}Jetson TX2 code
The process runs in a separate thread so as not to lock the main thread that handles image processing, the problem is that sometimes received is right sometimes and wrong sometimes a little random, what can the cause be for that?
SerialCommunication serial;
serial.open_connection("/dev/ttyS0");
std::thread serialThread(&SerialCommunication::process, &serial);#define VMINX 1
#define BAUDRATE B115200
void SerialCommunication::open_connection(const char* device)
{
struct termios port_options; // Create the structure
tcgetattr(serial_, &port_options); // Get the current attributes of the Serial port
/* open serial port */
serial_ = open(device, O_RDWR | O_NOCTTY);
tcflush(serial_, TCIFLUSH);
tcflush(serial_, TCIOFLUSH);
usleep(1000000); // 1 sec delay
if (serial_ == -1)
{
printf("Error - Unable to open UART. Ensure it is not in use by another application\n");
}
port_options.c_cflag &= ~PARENB; // Disables the Parity Enable bit(PARENB),So No Parity
port_options.c_cflag &= ~CSTOPB; // CSTOPB = 2 Stop bits,here it is cleared so 1 Stop bit
port_options.c_cflag &= ~CSIZE; // Clears the mask for setting the data size
port_options.c_cflag |= CS8; // Set the data bits = 8
port_options.c_cflag &= ~CRTSCTS; // No Hardware flow Control
port_options.c_cflag |= CREAD | CLOCAL; // Enable receiver,Ignore Modem Control lines
port_options.c_iflag &= ~(IXON | IXOFF | IXANY); // Disable XON/XOFF flow control both input & output
port_options.c_iflag &= ~(ICANON | ECHO | ECHOE | ISIG); // Non Cannonical mode
port_options.c_oflag &= ~OPOST; // No Output Processing
port_options.c_lflag = 0; // enable raw input instead of canonical,
port_options.c_cc[VMIN] = VMINX; // Read at least 1 character
port_options.c_cc[VTIME] = 0; // Wait indefinetly
cfsetispeed(&port_options,BAUDRATE); // Set Read Speed
cfsetospeed(&port_options,BAUDRATE); // Set Write Speed
// Set the attributes to the termios structure
int att = tcsetattr(serial_, TCSANOW, &port_options);
if (att != 0 )
{
printf("\nERROR in Setting port attributes");
}
else
{
printf("\nSERIAL Port Good to Go.\n");
}
// Flush Buffers
tcflush(serial_, TCIFLUSH);
tcflush(serial_, TCIOFLUSH);
usleep(500000); // 0.5 sec delay
}
void SerialCommunication::process()
{
while(true)
{
unsigned char buffer[VMINX];
int size = read(serial_, (void*)buffer, VMINX);
if (size > 0)
{
if (buffer[0] == 0x7e)
{
std::lock_guard<std::mutex> lockguard(mutex_);
cameras_.swap();
}
}
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
}Best regards!