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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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363
board_control/main/main.cpp
View File

@ -12,127 +12,138 @@ extern "C"
#include "esp_spiffs.h" #include "esp_spiffs.h"
//custom C files //custom C files
//#include "wifi.h" //#include "wifi.h"
} }
//custom C++ files
//#include "config.hpp"
//#include "control.hpp"
//#include "button.hpp"
//#include "http.hpp"
#include "uart.hpp" #include "uart.hpp"
//=========================
//======= UART TEST =======
//=========================
//only run uart test code at the end
//disables other functionality
#define UART_TEST_ONLY
//tag for logging //tag for logging
static const char * TAG = "main"; static const char * TAG = "main";
#ifndef UART_TEST_ONLY
//custom C++ files
#include "config.hpp"
#include "control.hpp"
#include "button.hpp"
#include "http.hpp"
// //====================================== //======================================
// //============ buzzer task ============= //============ buzzer task =============
// //====================================== //======================================
// //TODO: move the task creation to buzzer class (buzzer.cpp) //TODO: move the task creation to buzzer class (buzzer.cpp)
// //e.g. only have function buzzer.createTask() in app_main //e.g. only have function buzzer.createTask() in app_main
// void task_buzzer( void * pvParameters ){ void task_buzzer( void * pvParameters ){
// ESP_LOGI("task_buzzer", "Start of buzzer task..."); ESP_LOGI("task_buzzer", "Start of buzzer task...");
// //run function that waits for a beep events to arrive in the queue //run function that waits for a beep events to arrive in the queue
// //and processes them //and processes them
// buzzer.processQueue(); buzzer.processQueue();
// } }
//
//
//
// //======================================= //=======================================
// //============ control task ============= //============ control task =============
// //======================================= //=======================================
// //task that controls the armchair modes and initiates commands generation and applies them to driver //task that controls the armchair modes and initiates commands generation and applies them to driver
// void task_control( void * pvParameters ){ void task_control( void * pvParameters ){
// ESP_LOGI(TAG, "Initializing controlledArmchair and starting handle loop"); ESP_LOGI(TAG, "Initializing controlledArmchair and starting handle loop");
// //start handle loop (control object declared in config.hpp) //start handle loop (control object declared in config.hpp)
// control.startHandleLoop(); control.startHandleLoop();
// } }
//
//
//
// //====================================== //======================================
// //============ button task ============= //============ button task =============
// //====================================== //======================================
// //task that handles the button interface/commands //task that handles the button interface/commands
// void task_button( void * pvParameters ){ void task_button( void * pvParameters ){
// ESP_LOGI(TAG, "Initializing command-button and starting handle loop"); ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
// //create button instance //create button instance
// buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer, &motorLeft, &motorRight); buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer, &motorLeft, &motorRight);
// //start handle loop //start handle loop
// commandButton.startHandleLoop(); commandButton.startHandleLoop();
// } }
//
//
//
// //======================================= //=======================================
// //============== fan task =============== //============== fan task ===============
// //======================================= //=======================================
// //task that controlls fans for cooling the drivers //task that controlls fans for cooling the drivers
// void task_fans( void * pvParameters ){ void task_fans( void * pvParameters ){
// ESP_LOGI(TAG, "Initializing fans and starting fan handle loop"); ESP_LOGI(TAG, "Initializing fans and starting fan handle loop");
// //create fan instances with config defined in config.cpp //create fan instances with config defined in config.cpp
// controlledFan fan(configCooling, &motorLeft, &motorRight); controlledFan fan(configCooling, &motorLeft, &motorRight);
// //repeatedly run fan handle function in a slow loop //repeatedly run fan handle function in a slow loop
// while(1){ while(1){
// fan.handle(); fan.handle();
// vTaskDelay(500 / portTICK_PERIOD_MS); vTaskDelay(500 / portTICK_PERIOD_MS);
// } }
// } }
//
//
//
// //================================= //=================================
// //========== init spiffs ========== //========== init spiffs ==========
// //================================= //=================================
// //initialize spi flash filesystem (used for webserver) //initialize spi flash filesystem (used for webserver)
// void init_spiffs(){ void init_spiffs(){
// ESP_LOGI(TAG, "init spiffs"); ESP_LOGI(TAG, "init spiffs");
// esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = { esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = {
// .base_path = "/spiffs", .base_path = "/spiffs",
// .partition_label = NULL, .partition_label = NULL,
// .max_files = 5, .max_files = 5,
// .format_if_mount_failed = true}; .format_if_mount_failed = true};
// esp_vfs_spiffs_register(&esp_vfs_spiffs_conf); esp_vfs_spiffs_register(&esp_vfs_spiffs_conf);
//
// size_t total = 0; size_t total = 0;
// size_t used = 0; size_t used = 0;
// esp_spiffs_info(NULL, &total, &used); esp_spiffs_info(NULL, &total, &used);
//
// ESP_LOGI(TAG, "SPIFFS: total %d, used %d", total, used); ESP_LOGI(TAG, "SPIFFS: total %d, used %d", total, used);
// esp_vfs_spiffs_unregister(NULL); esp_vfs_spiffs_unregister(NULL);
// } }
// #endif
//
//
// //==================================
// //======== define loglevels ======== //==================================
// //================================== //======== define loglevels ========
// void setLoglevels(void){ //==================================
// //set loglevel for all tags: void setLoglevels(void){
// esp_log_level_set("*", ESP_LOG_WARN); //set loglevel for all tags:
// esp_log_level_set("*", ESP_LOG_WARN);
// //--- set loglevel for individual tags ---
// esp_log_level_set("main", ESP_LOG_INFO); //--- set loglevel for individual tags ---
// esp_log_level_set("buzzer", ESP_LOG_ERROR); esp_log_level_set("main", ESP_LOG_INFO);
// //esp_log_level_set("motordriver", ESP_LOG_INFO); esp_log_level_set("buzzer", ESP_LOG_ERROR);
// //esp_log_level_set("motor-control", ESP_LOG_DEBUG); //esp_log_level_set("motordriver", ESP_LOG_INFO);
// //esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG); //esp_log_level_set("motor-control", ESP_LOG_DEBUG);
// //esp_log_level_set("joystickCommands", ESP_LOG_DEBUG); //esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
// esp_log_level_set("button", ESP_LOG_INFO); //esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
// esp_log_level_set("control", ESP_LOG_INFO); esp_log_level_set("button", ESP_LOG_INFO);
// esp_log_level_set("fan-control", ESP_LOG_INFO); esp_log_level_set("control", ESP_LOG_INFO);
// esp_log_level_set("wifi", ESP_LOG_INFO); esp_log_level_set("fan-control", ESP_LOG_INFO);
// esp_log_level_set("http", ESP_LOG_INFO); esp_log_level_set("wifi", ESP_LOG_INFO);
// esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG); esp_log_level_set("http", ESP_LOG_INFO);
// //esp_log_level_set("current-sensors", ESP_LOG_INFO); esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
// } //esp_log_level_set("current-sensors", ESP_LOG_INFO);
}
@ -143,81 +154,77 @@ static const char * TAG = "main";
//=========== app_main ============ //=========== app_main ============
//================================= //=================================
extern "C" void app_main(void) { extern "C" void app_main(void) {
// //enable 5V volate regulator #ifndef UART_TEST_ONLY
// gpio_pad_select_gpio(GPIO_NUM_17); //enable 5V volate regulator
// gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT); gpio_pad_select_gpio(GPIO_NUM_17);
// gpio_set_level(GPIO_NUM_17, 1); gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
// gpio_set_level(GPIO_NUM_17, 1);
// //---- define log levels ----
// setLoglevels(); //---- define log levels ----
// setLoglevels();
// //------------------------------
// //--- create task for buzzer --- //------------------------------
// //------------------------------ //--- create task for buzzer ---
// xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL); //------------------------------
// xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
// //-------------------------------
// //--- create task for control --- //-------------------------------
// //------------------------------- //--- create task for control ---
// //task that generates motor commands depending on the current mode and sends those to motorctl task //-------------------------------
// xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL); //task that generates motor commands depending on the current mode and sends those to motorctl task
// xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
// //------------------------------
// //--- create task for button --- //------------------------------
// //------------------------------ //--- create task for button ---
// //task that evaluates and processes the button input and runs the configured commands //------------------------------
// xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL); //task that evaluates and processes the button input and runs the configured commands
// xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
// //-----------------------------------
// //--- create task for fan control --- //-----------------------------------
// //----------------------------------- //--- create task for fan control ---
// //task that evaluates and processes the button input and runs the configured commands //-----------------------------------
// xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL); //task that evaluates and processes the button input and runs the configured commands
// xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
//
// //beep at startup
// buzzer.beep(3, 70, 50);
//
// //--- initialize nvs-flash and netif (needed for wifi) ---
// wifi_initNvs_initNetif();
//
// //--- initialize spiffs ---
// init_spiffs();
//
// //--- initialize and start wifi ---
// //FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state
// //currently commented out because of error "assert failed: xQueueSemaphoreTake queue.c:1549 (pxQueue->uxItemSize == 0)" when calling control->changeMode from button.cpp
// //when calling control.changeMode(http) from main.cpp it worked without error for some reason?
// ESP_LOGI(TAG,"starting wifi...");
// //wifi_init_client(); //connect to existing wifi
// wifi_init_ap(); //start access point
// ESP_LOGI(TAG,"done starting wifi");
//
//
// //--- testing http server ---
// // wifi_init_client(); //connect to existing wifi
// // vTaskDelay(2000 / portTICK_PERIOD_MS);
// // ESP_LOGI(TAG, "initializing http server");
// // http_init_server();
//
//
// //--- testing force http mode after startup ---
// //control.changeMode(controlMode_t::HTTP);
//
//
// //--- main loop ---
// //does nothing except for testing things
//TESTING UART //beep at startup
//xTaskCreate(uart_task_testing, "uart_task", 4096, NULL, 10, NULL); buzzer.beep(3, 70, 50);
//--- initialize nvs-flash and netif (needed for wifi) ---
wifi_initNvs_initNetif();
//--- initialize spiffs ---
init_spiffs();
//--- initialize and start wifi ---
//FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state
//currently commented out because of error "assert failed: xQueueSemaphoreTake queue.c:1549 (pxQueue->uxItemSize == 0)" when calling control->changeMode from button.cpp
//when calling control.changeMode(http) from main.cpp it worked without error for some reason?
ESP_LOGI(TAG,"starting wifi...");
//wifi_init_client(); //connect to existing wifi
wifi_init_ap(); //start access point
ESP_LOGI(TAG,"done starting wifi");
//--- testing http server ---
// wifi_init_client(); //connect to existing wifi
// vTaskDelay(2000 / portTICK_PERIOD_MS);
// ESP_LOGI(TAG, "initializing http server");
// http_init_server();
//--- testing force http mode after startup ---
//control.changeMode(controlMode_t::HTTP);
#endif
uart_init(); uart_init();
xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL); xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL);
xTaskCreate(task_uartSend, "task_uartSend", 5*4096, NULL, 10, NULL); xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL);
//--- main loop ---
//does nothing except for testing things
while(1){ while(1){
vTaskDelay(1000 / portTICK_PERIOD_MS); vTaskDelay(1000 / portTICK_PERIOD_MS);
//--------------------------------- //---------------------------------
//-------- TESTING section -------- //-------- TESTING section --------
//--------------------------------- //---------------------------------

73
board_control/main/uart.cpp
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@ -21,43 +21,11 @@ static const char * TAG = "uart";
void uart_task_testing(void *arg){ //==============================
//repeatedly send 8 bit count and log received 1 byte //====== task_uartReceive ======
uint8_t *data = (uint8_t *) malloc(1024); //==============================
uint8_t count = 0; //TODO copy receive task from board_motorctl/uart.cpp
ESP_LOGW(TAG, "startloop...");
while (1) {
vTaskDelay(500 / portTICK_PERIOD_MS);
int len = uart_read_bytes(UART_NUM_1, data, (1024 - 1), 20 / portTICK_PERIOD_MS);
//uart_flush_input(UART_NUM_1);
//uart_flush(UART_NUM_1);
ESP_LOGW(TAG, "received len=%d data=%d", len, *data);
*data = 99; //set to 99 (indicates no new data received)
uart_write_bytes(UART_NUM_1, (const char *) &count, 1);
ESP_LOGW(TAG, "sent data %d", count);
count++;
}
}
void task_uartReceive(void *arg){ void task_uartReceive(void *arg){
static const char * TAG = "uart-receive";
//repeatedly send 8 bit count and log received 1 byte
char *data = (char *) malloc(1024);
char count = 0;
ESP_LOGW(TAG, "startloop...");
while (1) {
vTaskDelay(200 / portTICK_PERIOD_MS);
int len = uart_read_bytes(UART_NUM_1, data, (1024 - 1), 20 / portTICK_PERIOD_MS);
if (len>0) ESP_LOGW(TAG, "received len=%d data=%d", len, *data);
}
}
void task_uartReceiveQueue(void *arg){
static const char * TAG = "uart-receive";
while (1) { while (1) {
vTaskDelay(200 / portTICK_PERIOD_MS); vTaskDelay(200 / portTICK_PERIOD_MS);
} }
@ -65,38 +33,17 @@ void task_uartReceiveQueue(void *arg){
//=============================
// //send incrementing count //======= task_uartSend =======
// void task_uartSend(void *arg){ //=============================
// static const char * TAG = "uart-send"; //repeatedly send structs to uart
// //repeatedly send 8 bit count and log received 1 byte
// char *data = (char *) malloc(1024);
// char count = 0;
// ESP_LOGW(TAG, "startloop...");
// while (1) {
// vTaskDelay(200 / portTICK_PERIOD_MS);
// uart_write_bytes(UART_NUM_1, (const char *) &count, 1);
// ESP_LOGW(TAG, "sent data %d", (int)count);
// count++;
// }
// ESP_LOGE(TAG, "loop exit...");
// }
//send struct
void task_uartSend(void *arg){ void task_uartSend(void *arg){
static const char * TAG = "uart-send"; static const char * TAG = "uart-send";
uartDataStruct data = {123, 0, 1.1}; uartData_test_t data = {123, 0, 1.1};
uint8_t serialData[sizeof(uartDataStruct)];
char count = 0;
ESP_LOGW(TAG, "startloop..."); ESP_LOGW(TAG, "startloop...");
while (1) { while (1) {
vTaskDelay(500 / portTICK_PERIOD_MS); vTaskDelay(500 / portTICK_PERIOD_MS);
memcpy(serialData, &data, sizeof(uartDataStruct)); uart_sendStruct<uartData_test_t>(data);
uart_write_bytes(UART_NUM_1, (const char *)serialData, sizeof(uartDataStruct));
ESP_LOGW(TAG, "sent data struct with len %d", sizeof(uartDataStruct));
ESP_LOGW(TAG, "sent DATA: timestamp=%d, id=%d, value=%.1f", data.timestamp, data.id, data.value);
//change data values //change data values
data.timestamp = esp_log_timestamp(); data.timestamp = esp_log_timestamp();

5
board_control/main/uart.hpp
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@ -8,8 +8,3 @@ void task_uartSend(void *arg);
typedef struct {
uint32_t timestamp;
int id;
float value;
} uartDataStruct;

71
board_motorctl/main/main.cpp
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@ -13,11 +13,13 @@ extern "C"
#include <string.h> #include <string.h>
#include "driver/ledc.h" #include "driver/ledc.h"
#include "driver/uart.h"
//custom C files //custom C files
#include "wifi.h" #include "wifi.h"
} }
//custom C++ files
#include "config.hpp"
#include "uart.hpp"
//========================= //=========================
//======= UART TEST ======= //======= UART TEST =======
@ -30,13 +32,10 @@ extern "C"
//tag for logging //tag for logging
static const char * TAG = "main"; static const char * TAG = "main";
#ifndef UART_TEST_ONLY #ifndef UART_TEST_ONLY
//custom C++ files
#include "config.hpp"
#include "control.hpp" #include "control.hpp"
//==================================== //====================================
//========== motorctl task =========== //========== motorctl task ===========
//==================================== //====================================
@ -109,33 +108,6 @@ void setLoglevels(void){
#endif #endif
#ifdef UART_TEST_ONLY
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_LOGW(TAG, "config...");
ESP_ERROR_CHECK(uart_param_config(UART_NUM_1, &uart1_config));
ESP_LOGW(TAG, "setpins...");
ESP_ERROR_CHECK(uart_set_pin(UART_NUM_1, 23, 22, 0, 0));
ESP_LOGW(TAG, "init...");
ESP_ERROR_CHECK(uart_driver_install(UART_NUM_1, 1024, 1024, 10, NULL, 0));
}
//struct for testing uart
typedef struct {
uint32_t timestamp;
int id;
float value;
} uartDataStruct;
#endif
//================================= //=================================
//=========== app_main ============ //=========== app_main ============
//================================= //=================================
@ -170,36 +142,22 @@ extern "C" void app_main(void) {
//beep at startup //beep at startup
buzzer.beep(3, 70, 50); buzzer.beep(3, 70, 50);
//--- main loop ---
//does nothing except for testing things
while(1){
vTaskDelay(5000 / portTICK_PERIOD_MS);
}
#endif #endif
#ifdef UART_TEST_ONLY #ifdef UART_TEST_ONLY
uart_init(); uart_init();
uint8_t receivedData[sizeof(uartDataStruct)]; xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL);
uartDataStruct data; xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL);
ESP_LOGW(TAG, "startloop...");
while(1){
vTaskDelay(500 / portTICK_PERIOD_MS);
int len = uart_read_bytes(UART_NUM_1, receivedData, sizeof(uartDataStruct), 20 / portTICK_PERIOD_MS);
uart_flush_input(UART_NUM_1);
if (len > 0){
memcpy(&data, receivedData, sizeof(uartDataStruct));
//uart_write_bytes(UART_NUM_1, (const char *) data, 1);
//ESP_LOGW(TAG, "sent data back %d", *data);
ESP_LOGW(TAG, "received len=%d DATA: timestamp=%d, id=%d, value=%.1f", len, data.timestamp, data.id, data.value);
}
#endif #endif
//--- main loop ---
//does nothing except for testing things
while(1){
vTaskDelay(5000 / portTICK_PERIOD_MS);
//--- test controlledMotor --- (ramp) //--- test controlledMotor --- (ramp)
// //brake for 1 s // //brake for 1 s
// motorLeft.setTarget(motorstate_t::BRAKE); // motorLeft.setTarget(motorstate_t::BRAKE);
@ -210,5 +168,6 @@ extern "C" void app_main(void) {
// //command 100% - forward // //command 100% - forward
// motorLeft.setTarget(motorstate_t::FWD, 100); // motorLeft.setTarget(motorstate_t::FWD, 100);
// vTaskDelay(1000 / portTICK_PERIOD_MS); // vTaskDelay(1000 / portTICK_PERIOD_MS);
} }
} }

3
board_motorctl/main/motordrivers.cpp
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@ -7,9 +7,6 @@
//Note fade functionality provided by LEDC would be very useful but unfortunately is not usable here because: //Note fade functionality provided by LEDC would be very useful but unfortunately is not usable here because:
//"Due to hardware limitations, there is no way to stop a fade before it reaches its target duty." //"Due to hardware limitations, there is no way to stop a fade before it reaches its target duty."
//definition of string array to be able to convert state enum to readable string
const char* motorstateStr[4] = {"IDLE", "FWD", "REV", "BRAKE"};
//tag for logging //tag for logging
static const char * TAG = "motordriver"; static const char * TAG = "motordriver";

44
board_motorctl/main/uart.cpp Normal file
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@ -0,0 +1,44 @@
#include "uart.hpp"
//===== uart board MOTORCTL =====
static const char * TAG = "uart";
//==============================
//====== task_uartReceive ======
//==============================
void task_uartReceive(void *arg){
//receive data from uart, detect associated struct and copy/handle the data
//TODO use queue instead of check interval?
uartData_test_t testData;
uint8_t receivedData[1024-1];
while(1){
//note: check has to be more frequent than pause time between sending
vTaskDelay(200 / portTICK_PERIOD_MS);
int len = uart_read_bytes(UART_NUM_1, receivedData, sizeof(uartData_test_t), 20 / portTICK_PERIOD_MS);
uart_flush_input(UART_NUM_1);
if (len < 1) continue;
switch (len){
case sizeof(uartData_test_t):
testData = serialData2Struct<uartData_test_t>(receivedData);
ESP_LOGW(TAG, "received uartDataStruct len=%d DATA: timestamp=%d, id=%d, value=%.1f", len, testData.timestamp, testData.id, testData.value);
break;
//TODO add other received structs here
default:
ESP_LOGW(TAG, "received data len=%d cant be associated with configures struct", len);
break;
}
}
}
//=============================
//======= task_uartSend =======
//=============================
//TODO copy send task from board_control/uart.cpp
void task_uartSend(void *arg){
while (1) {
vTaskDelay(500 / portTICK_PERIOD_MS);
}
}

9
board_motorctl/main/uart.hpp Normal file
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@ -0,0 +1,9 @@
#pragma once
#include "uart_common.hpp"
//===== uart board MOTORCTL =====
void task_uartReceive(void *arg);
void task_uartSend(void *arg);

10
common/CMakeLists.txt Normal file
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@ -0,0 +1,10 @@
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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@ -0,0 +1,94 @@
#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);
}
}
}

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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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#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};

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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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#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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#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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#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);