From c3fbbab4850ccb2d4e65dfdacd9386a3c787e81c Mon Sep 17 00:00:00 2001
From: Elliot Williams <elliot@pre.postero.us>
Date: Wed, 18 Dec 2019 15:42:51 +0100
Subject: [PATCH] a periodic usart reset works much better

tying the usart buffer clear to the 25*5 ms system tick makes sense
---
 Src/main.c | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/Src/main.c b/Src/main.c
index 8c53302..7ae3098 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -225,8 +225,11 @@ int main(void) {
 		  cmd1 = CLAMP((int16_t)command.steer, -1000, 1000);
 		  cmd2 = CLAMP((int16_t)command.speed, -1000, 1000);
 	  } else {                                  // restart DMA to hopefully get back in sync
-		  HAL_UART_DMAStop(&huart2);
-		  HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, sizeof(command));
+		  // Try a periodic reset
+		  if (main_loop_counter % 25 == 0) {
+			  HAL_UART_DMAStop(&huart2);
+			  HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, sizeof(command));
+		  }
 	  }
 	  timeout = 0;
 #endif