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Add uart templates, send and receive tasks with templates work

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both boards compile and send/receive example data using new templates in
common uart code
common/uart_common.hpp
This commit is contained in:
jonny_jr9
2023-08-29 11:11:29 +02:00
parent 76e8bac113
commit 3722b0af74
15 changed files with 854 additions and 305 deletions
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10
common/CMakeLists.txt Normal file
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idf_component_register(
SRCS
"wifi.c"
"buzzer.cpp"
"uart_common.cpp"
INCLUDE_DIRS
"."
PRIV_REQUIRES nvs_flash
)

94
common/buzzer.cpp Normal file
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#include "buzzer.hpp"
static const char *TAG_BUZZER = "buzzer";
//============================
//========== init ============
//============================
//define gpio pin as output, initialize queue
void buzzer_t::init(){
//define buzzer pin as output
gpio_pad_select_gpio(gpio_pin);
gpio_set_direction(gpio_pin, GPIO_MODE_OUTPUT);
//create queue
beepQueue = xQueueCreate( 20, sizeof( struct beepEntry ) );
}
//=============================
//======== constructor ========
//=============================
//copy provided config parameters to private variables, run init function
buzzer_t::buzzer_t(gpio_num_t gpio_pin_f, uint16_t msGap_f){
ESP_LOGI(TAG_BUZZER, "Initializing buzzer");
//copy configuration parameters to variables
gpio_pin = gpio_pin_f;
msGap = msGap_f;
//run init function to initialize gpio and queue
init();
};
//============================
//=========== beep ===========
//============================
//function to add a beep command to the queue
void buzzer_t::beep(uint8_t count, uint16_t msOn, uint16_t msOff){
//create entry struct with provided data
struct beepEntry entryInsert = {
count = count,
msOn = msOn,
msOff = msOff
};
// Send a pointer to a struct AMessage object. Don't block if the
// queue is already full.
//struct beepEntry *entryInsertPointer;
//entryInsertPointer = &entryInsertData;
ESP_LOGW(TAG_BUZZER, "Inserted object to queue - count=%d, msOn=%d, msOff=%d", entryInsert.count, entryInsert.msOn, entryInsert.msOff);
//xQueueGenericSend( beepQueue, ( void * ) &entryInsertPointer, ( TickType_t ) 0, queueSEND_TO_BACK );
xQueueSend( beepQueue, ( void * )&entryInsert, ( TickType_t ) 0 );
}
//==============================
//======== processQueue ========
//==============================
void buzzer_t::processQueue(){
//struct for receiving incomming events
struct beepEntry entryRead = { };
//loop forever
while(1){
ESP_LOGD(TAG_BUZZER, "processQueue: waiting for beep command");
//if queue is ready
if( beepQueue != 0 )
{
// wait for a queue entry to be available indefinetely if INCLUDE_vTaskSuspend is enabled in the FreeRTOS config
// otherwise waits for at least 7 weeks
if( xQueueReceive( beepQueue, &entryRead, portMAX_DELAY ) )
{
ESP_LOGW(TAG_BUZZER, "Read entry from queue: count=%d, msOn=%d, msOff=%d", entryRead.count, entryRead.msOn, entryRead.msOff);
//beep requested count with requested delays
for (int i = entryRead.count; i--;){
//turn on
ESP_LOGD(TAG_BUZZER, "turning buzzer on");
gpio_set_level(gpio_pin, 1);
vTaskDelay(entryRead.msOn / portTICK_PERIOD_MS);
//turn off
ESP_LOGD(TAG_BUZZER, "turning buzzer off");
gpio_set_level(gpio_pin, 0);
vTaskDelay(entryRead.msOff / portTICK_PERIOD_MS);
}
//wait for minimum gap between beep events
vTaskDelay(msGap / portTICK_PERIOD_MS);
}
}else{ //wait for queue to become available
vTaskDelay(50 / portTICK_PERIOD_MS);
}
}
}

56
common/buzzer.hpp Normal file
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#pragma once
#include <stdio.h>
extern "C"
{
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "esp_log.h"
}
#include "freertos/queue.h"
//===================================
//========= buzzer_t class ==========
//===================================
//class which blinks a gpio pin for the provided count and durations.
//- 'processQueue' has to be run in a separate task
//- uses a queue to queue up multiple beep commands
class buzzer_t {
public:
//--- constructor ---
buzzer_t(gpio_num_t gpio_pin_f, uint16_t msGap_f = 200);
//--- functions ---
void processQueue(); //has to be run once in a separate task, waits for and processes queued events
void beep(uint8_t count, uint16_t msOn, uint16_t msOff);
//void clear(); (TODO - not implemented yet)
//void createTask(); (TODO - not implemented yet)
//--- variables ---
uint16_t msGap; //gap between beep entries (when multiple queued)
private:
//--- functions ---
void init();
//--- variables ---
gpio_num_t gpio_pin;
struct beepEntry {
uint8_t count;
uint16_t msOn;
uint16_t msOff;
};
//queue for queueing up multiple events while one is still processing
QueueHandle_t beepQueue = NULL;
};

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common/types.hpp Normal file
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#pragma once
extern "C"
{
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "esp_timer.h"
#include <driver/adc.h>
}
//=======================================
//====== struct/type declarations ======
//=======================================
//global structs and types that need to be available for all boards
//===============================
//==== from motordrivers.hpp ====
//===============================
enum class motorstate_t {IDLE, FWD, REV, BRAKE};
//definition of string array to be able to convert state enum to readable string (defined in motordrivers.cpp)
const char* motorstateStr[] = {"IDLE", "FWD", "REV", "BRAKE"};
//===========================
//==== from motorctl.hpp ====
//===========================
//struct for sending command for one motor in the queue
struct motorCommand_t {
motorstate_t state;
float duty;
};
//struct containing commands for two motors
typedef struct motorCommands_t {
motorCommand_t left;
motorCommand_t right;
} motorCommands_t;
//struct with all config parameters for a motor regarding ramp and current limit
typedef struct motorctl_config_t {
uint32_t msFadeAccel; //acceleration of the motor (ms it takes from 0% to 100%)
uint32_t msFadeDecel; //deceleration of the motor (ms it takes from 100% to 0%)
bool currentLimitEnabled;
adc1_channel_t currentSensor_adc;
float currentSensor_ratedCurrent;
float currentMax;
uint32_t deadTimeMs; //time motor stays in IDLE before direction change
} motorctl_config_t;
//enum fade type (acceleration, deceleration)
//e.g. used for specifying which fading should be modified with setFade, togleFade functions
enum class fadeType_t {ACCEL, DECEL};

29
common/uart_common.cpp Normal file
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#include "uart_common.hpp"
static const char * TAG = "uart-common";
//===========================
//======== uart_init =======
//===========================
//initial struct on given pins
//TODO add pins and baud rate to config?
void uart_init(void){
uart_config_t uart1_config = {
.baud_rate = 115198,
.data_bits = UART_DATA_8_BITS,
.parity = UART_PARITY_EVEN,
.stop_bits = UART_STOP_BITS_1,
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
};
ESP_LOGI(TAG, "configure...");
ESP_ERROR_CHECK(uart_param_config(UART_NUM_1, &uart1_config));
ESP_LOGI(TAG, "setpins...");
ESP_ERROR_CHECK(uart_set_pin(UART_NUM_1, 23, 22, 0, 0));
ESP_LOGI(TAG, "init...");
ESP_ERROR_CHECK(uart_driver_install(UART_NUM_1, 1024, 1024, 10, NULL, 0));
}

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common/uart_common.hpp Normal file
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#pragma once
extern "C"
{
#include <stdio.h>
#include <esp_system.h>
#include <esp_event.h>
#include <nvs_flash.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "esp_log.h"
#include "sdkconfig.h"
#include <string.h>
#include "freertos/queue.h"
#include "driver/uart.h"
}
//struct for testin uart
typedef struct {
uint32_t timestamp;
int id;
float value;
} uartData_test_t;
//===== uart_init =====
//should be run once at startup
void uart_init(void);
//============================
//====== uart_sendStruct =====
//============================
//send and struct via uart
template <typename T> void uart_sendStruct(T dataStruct) {
static const char * TAG = "uart-common";
//TODO check if initialized?
uint8_t dataSerial[sizeof(T)];
memcpy(dataSerial, &dataStruct, sizeof(T));
uart_write_bytes(UART_NUM_1, (const char *)dataSerial, sizeof(T));
ESP_LOGW(TAG, "sent data struct with len %d", sizeof(T));
//ESP_LOGW(TAG, "sent DATA: timestamp=%d, id=%d, value=%.1f", data.timestamp, data.id, data.value);
}
//==============================
//====== serialData2Struct =====
//==============================
//convert serial data (byte array) to given struct and return it
//note check whether serial data length actually matches size of struct is necessary before
template <typename T> T serialData2Struct(uint8_t *dataSerial){
static const char * TAG = "uart-common";
T dataStruct;
memcpy(&dataStruct, dataSerial, sizeof(T));
ESP_LOGW(TAG, "converted serial data len=%d to struct", sizeof(T));
return dataStruct;
}

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common/wifi.c Normal file
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#include <string.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/event_groups.h"
#include "esp_system.h"
#include "esp_mac.h"
#include "esp_wifi.h"
#include "esp_event.h"
#include "esp_log.h"
#include "nvs_flash.h"
#include "lwip/err.h"
#include "lwip/sys.h"
#include "wifi.h"
//--- variables used for ap and wifi ---
static const char *TAG = "wifi";
static esp_event_handler_instance_t instance_any_id;
//============================================
//============ init nvs and netif ============
//============================================
//initialize nvs-flash and netif (needed for both AP and CLIENT)
//has to be run once at startup
void wifi_initNvs_initNetif(){
//Initialize NVS (needed for wifi)
esp_err_t ret = nvs_flash_init();
if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
ESP_ERROR_CHECK(nvs_flash_erase());
ret = nvs_flash_init();
}
ESP_ERROR_CHECK(esp_netif_init());
ESP_ERROR_CHECK(esp_event_loop_create_default());
}
//===========================================
//============ init access point ============
//===========================================
//--------------------------------------------
//------ configuration / declarations --------
//--------------------------------------------
#define EXAMPLE_ESP_WIFI_SSID_AP "armchair"
#define EXAMPLE_ESP_WIFI_PASS_AP ""
#define EXAMPLE_ESP_WIFI_CHANNEL_AP 1
#define EXAMPLE_MAX_STA_CONN_AP 4
static esp_netif_t *ap;
static void wifi_event_handler_ap(void* arg, esp_event_base_t event_base,
int32_t event_id, void* event_data)
{
if (event_id == WIFI_EVENT_AP_STACONNECTED) {
wifi_event_ap_staconnected_t* event = (wifi_event_ap_staconnected_t*) event_data;
ESP_LOGI(TAG, "station "MACSTR" join, AID=%d",
MAC2STR(event->mac), event->aid);
} else if (event_id == WIFI_EVENT_AP_STADISCONNECTED) {
wifi_event_ap_stadisconnected_t* event = (wifi_event_ap_stadisconnected_t*) event_data;
ESP_LOGI(TAG, "station "MACSTR" leave, AID=%d",
MAC2STR(event->mac), event->aid);
}
}
//-----------------------
//------ init ap --------
//-----------------------
void wifi_init_ap(void)
{
ap = esp_netif_create_default_wifi_ap();
wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
ESP_ERROR_CHECK(esp_wifi_init(&cfg));
ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT,
ESP_EVENT_ANY_ID,
&wifi_event_handler_ap,
NULL,
&instance_any_id));
wifi_config_t wifi_config = {
.ap = {
.ssid = EXAMPLE_ESP_WIFI_SSID_AP,
.ssid_len = strlen(EXAMPLE_ESP_WIFI_SSID_AP),
.channel = EXAMPLE_ESP_WIFI_CHANNEL_AP,
.password = EXAMPLE_ESP_WIFI_PASS_AP,
.max_connection = EXAMPLE_MAX_STA_CONN_AP,
.authmode = WIFI_AUTH_WPA_WPA2_PSK
},
};
if (strlen(EXAMPLE_ESP_WIFI_PASS_AP) == 0) {
wifi_config.ap.authmode = WIFI_AUTH_OPEN;
}
ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config));
ESP_ERROR_CHECK(esp_wifi_start());
ESP_LOGI(TAG, "wifi_init_softap finished. SSID:%s password:%s channel:%d",
EXAMPLE_ESP_WIFI_SSID_AP, EXAMPLE_ESP_WIFI_PASS_AP, EXAMPLE_ESP_WIFI_CHANNEL_AP);
}
//=============================
//========= deinit AP =========
//=============================
void wifi_deinit_ap(void)
{
ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id));
ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id));
esp_wifi_stop();
esp_wifi_deinit();
esp_netif_destroy_default_wifi(ap);
}
//===========================================
//=============== init client ===============
//===========================================
//--------------------------------------------
//------ configuration / declarations --------
//--------------------------------------------
#define EXAMPLE_ESP_WIFI_SSID_CLIENT "BKA-network"
#define EXAMPLE_ESP_WIFI_PASS_CLIENT "airwaveslogitech410"
#define EXAMPLE_ESP_MAXIMUM_RETRY_CLIENT 10
static esp_netif_t *sta;
static esp_event_handler_instance_t instance_got_ip;
/* FreeRTOS event group to signal when we are connected*/
static EventGroupHandle_t s_wifi_event_group;
/* The event group allows multiple bits for each event, but we only care about two events:
* - we are connected to the AP with an IP
* - we failed to connect after the maximum amount of retries */
#define WIFI_CONNECTED_BIT BIT0
#define WIFI_FAIL_BIT BIT1
static int s_retry_num = 0;
static void event_handler(void* arg, esp_event_base_t event_base,
int32_t event_id, void* event_data)
{
if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
esp_wifi_connect();
} else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
if (s_retry_num < EXAMPLE_ESP_MAXIMUM_RETRY_CLIENT) {
esp_wifi_connect();
s_retry_num++;
ESP_LOGI(TAG, "retry to connect to the AP");
} else {
xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT);
}
ESP_LOGI(TAG,"connect to the AP fail");
} else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
ip_event_got_ip_t* event = (ip_event_got_ip_t*) event_data;
ESP_LOGI(TAG, "got ip:" IPSTR, IP2STR(&event->ip_info.ip));
s_retry_num = 0;
xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
}
}
//---------------------------
//------ init client --------
//---------------------------
void wifi_init_client(void)
{
s_wifi_event_group = xEventGroupCreate();
sta = esp_netif_create_default_wifi_sta();
//set static ip
esp_netif_dhcpc_stop(sta);
esp_netif_ip_info_t ip_info;
IP4_ADDR(&ip_info.ip, 10, 0, 0, 66);
IP4_ADDR(&ip_info.gw, 10, 0, 0, 1);
IP4_ADDR(&ip_info.netmask, 255, 255, 0, 0);
esp_netif_set_ip_info(sta, &ip_info);
wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
ESP_ERROR_CHECK(esp_wifi_init(&cfg));
ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT,
ESP_EVENT_ANY_ID,
&event_handler,
NULL,
&instance_any_id));
ESP_ERROR_CHECK(esp_event_handler_instance_register(IP_EVENT,
IP_EVENT_STA_GOT_IP,
&event_handler,
NULL,
&instance_got_ip));
wifi_config_t wifi_config = {
.sta = {
.ssid = EXAMPLE_ESP_WIFI_SSID_CLIENT,
.password = EXAMPLE_ESP_WIFI_PASS_CLIENT,
/* Setting a password implies station will connect to all security modes including WEP/WPA.
* However these modes are deprecated and not advisable to be used. Incase your Access point
* doesn't support WPA2, these mode can be enabled by commenting below line */
.threshold.authmode = WIFI_AUTH_WPA2_PSK,
},
};
ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) );
ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config) );
ESP_ERROR_CHECK(esp_wifi_start() );
ESP_LOGI(TAG, "wifi_init_sta finished.");
/* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum
* number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */
EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group,
WIFI_CONNECTED_BIT | WIFI_FAIL_BIT,
pdFALSE,
pdFALSE,
portMAX_DELAY);
/* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually
* happened. */
if (bits & WIFI_CONNECTED_BIT) {
ESP_LOGI(TAG, "connected to ap SSID:%s password:%s",
EXAMPLE_ESP_WIFI_SSID_CLIENT, EXAMPLE_ESP_WIFI_PASS_CLIENT);
} else if (bits & WIFI_FAIL_BIT) {
ESP_LOGI(TAG, "Failed to connect to SSID:%s, password:%s",
EXAMPLE_ESP_WIFI_SSID_CLIENT, EXAMPLE_ESP_WIFI_PASS_CLIENT);
} else {
ESP_LOGE(TAG, "UNEXPECTED EVENT");
}
// /* The event will not be processed after unregister */
// ESP_ERROR_CHECK(esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, instance_got_ip));
// ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id));
// vEventGroupDelete(s_wifi_event_group);
}
//=================================
//========= deinit client =========
//=================================
void wifi_deinit_client(void)
{
/* The event will not be processed after unregister */
ESP_ERROR_CHECK(esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, instance_got_ip));
ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id));
vEventGroupDelete(s_wifi_event_group);
esp_wifi_stop();
esp_wifi_deinit();
esp_netif_destroy_default_wifi(sta);
}

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common/wifi.h Normal file
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#pragma once
//TODO: currently wifi names and passwords are configured in wifi.c -> move this to config?
//initialize nvs-flash and netif (needed for both AP and CLIENT)
//has to be run once at startup
//Note: this cant be put in wifi_init functions because this may not be in deinit functions
void wifi_initNvs_initNetif();
//function to start an access point
void wifi_init_ap(void);
//function to disable/deinit access point
void wifi_deinit_ap(void);
//function to connect to existing wifi network
void wifi_init_client(void);
//function to disable/deinit client
void wifi_deinit_client(void);