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Add uart test - send and receive struct works

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board_control currently sends a scruct with incrementing values
board_motorctl receives the struct and logs it

also test code for sending, receiving and returning single value
This commit is contained in:
jonny_jr9 2023-08-28 16:35:58 +02:00
parent b03baa4687
commit 8ef71082dc
5 changed files with 316 additions and 150 deletions
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1
board_control/main/CMakeLists.txt
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@ -13,6 +13,7 @@ idf_component_register(
"http.cpp"
"auto.cpp"
"currentsensor.cpp"
"uart.cpp"
INCLUDE_DIRS
"."
)

44
board_control/main/main.cpp
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@ -11,8 +11,6 @@ extern "C"
#include "sdkconfig.h"
#include "esp_spiffs.h"
#include "driver/uart.h"
//custom C files
//#include "wifi.h"
@ -24,6 +22,8 @@ extern "C"
//#include "button.hpp"
//#include "http.hpp"
#include "uart.hpp"
//tag for logging
static const char * TAG = "main";
@ -137,41 +137,6 @@ static const char * TAG = "main";
static void uart_task(void *arg)
{
uart_config_t uart1_config = {
.baud_rate = 115200,
.data_bits = UART_DATA_8_BITS,
.parity = UART_PARITY_DISABLE,
.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));
uint8_t *data = (uint8_t *) malloc(1024);
//SEND data to motorctl board
uint8_t count = 0;
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 data %d", *data);
*data = 99;
uart_write_bytes(UART_NUM_1, (const char *) &count, 1);
ESP_LOGW(TAG, "sent data %d", count);
count++;
}
}
//=================================
@ -245,7 +210,10 @@ extern "C" void app_main(void) {
//TESTING UART
xTaskCreate(uart_task, "uart_task", 4096, NULL, 10, NULL);
//xTaskCreate(uart_task_testing, "uart_task", 4096, NULL, 10, NULL);
uart_init();
xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL);
xTaskCreate(task_uartSend, "task_uartSend", 5*4096, NULL, 10, NULL);
while(1){
vTaskDelay(1000 / portTICK_PERIOD_MS);

129
board_control/main/uart.cpp Normal file
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@ -0,0 +1,129 @@
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"
}
#include "uart.hpp"
static const char * TAG = "uart";
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));
}
void uart_task_testing(void *arg){
//repeatedly send 8 bit count and log received 1 byte
uint8_t *data = (uint8_t *) malloc(1024);
uint8_t count = 0;
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){
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) {
vTaskDelay(200 / portTICK_PERIOD_MS);
}
}
// //send incrementing count
// void task_uartSend(void *arg){
// static const char * TAG = "uart-send";
// //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...");
// }
typedef struct {
uint32_t timestamp;
int id;
float value;
} uartDataStruct;
//send struct
void task_uartSend(void *arg){
static const char * TAG = "uart-send";
uartDataStruct data = {123, 0, 1.1};
uint8_t serialData[sizeof(uartDataStruct)];
char count = 0;
ESP_LOGW(TAG, "startloop...");
while (1) {
vTaskDelay(500 / portTICK_PERIOD_MS);
memcpy(serialData, &data, sizeof(uartDataStruct));
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
data.timestamp = esp_log_timestamp();
data.id++;
data.value += 0.6;
}
ESP_LOGE(TAG, "loop exit...");
}

5
board_control/main/uart.hpp Normal file
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@ -0,0 +1,5 @@
void uart_init(void);
void uart_task_testing(void *arg);
void task_uartReceive(void *arg);
void task_uartSend(void *arg);

287
board_motorctl/main/main.cpp
View File

@ -10,21 +10,33 @@ extern "C"
#include "esp_log.h"
#include "sdkconfig.h"
#include "esp_spiffs.h"
#include <string.h>
#include "driver/ledc.h"
#include "driver/uart.h"
//custom C files
//custom C files
#include "wifi.h"
}
//=========================
//======= UART TEST =======
//=========================
//only run uart test code at the end
//disables other functionality
#define UART_TEST_ONLY
//tag for logging
static const char * TAG = "main";
#ifndef UART_TEST_ONLY
//custom C++ files
#include "config.hpp"
#include "control.hpp"
#include "button.hpp"
#include "http.hpp"
//tag for logging
static const char * TAG = "main";
@ -33,13 +45,13 @@ static const char * TAG = "main";
//====================================
//task for handling the motors (ramp, current limit, driver)
void task_motorctl( void * pvParameters ){
ESP_LOGI(TAG, "starting handle loop...");
while(1){
motorRight.handle();
motorLeft.handle();
//10khz -> T=100us
vTaskDelay(10 / portTICK_PERIOD_MS);
}
ESP_LOGI(TAG, "starting handle loop...");
while(1){
motorRight.handle();
motorLeft.handle();
//10khz -> T=100us
vTaskDelay(10 / portTICK_PERIOD_MS);
}
}
@ -50,10 +62,10 @@ void task_motorctl( void * pvParameters ){
//TODO: move the task creation to buzzer class (buzzer.cpp)
//e.g. only have function buzzer.createTask() in app_main
void task_buzzer( void * pvParameters ){
ESP_LOGI("task_buzzer", "Start of buzzer task...");
//run function that waits for a beep events to arrive in the queue
//and processes them
buzzer.processQueue();
ESP_LOGI("task_buzzer", "Start of buzzer task...");
//run function that waits for a beep events to arrive in the queue
//and processes them
buzzer.processQueue();
}
@ -63,9 +75,9 @@ void task_buzzer( void * pvParameters ){
//=======================================
//task that controls the armchair modes and initiates commands generation and applies them to driver
void task_control( void * pvParameters ){
ESP_LOGI(TAG, "Initializing controlledArmchair and starting handle loop");
//start handle loop (control object declared in config.hpp)
control.startHandleLoop();
ESP_LOGI(TAG, "Initializing controlledArmchair and starting handle loop");
//start handle loop (control object declared in config.hpp)
control.startHandleLoop();
}
@ -75,11 +87,11 @@ void task_control( void * pvParameters ){
//======================================
//task that handles the button interface/commands
void task_button( void * pvParameters ){
ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
//create button instance
buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer, &motorLeft, &motorRight);
//start handle loop
commandButton.startHandleLoop();
ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
//create button instance
buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer, &motorLeft, &motorRight);
//start handle loop
commandButton.startHandleLoop();
}
@ -89,14 +101,14 @@ void task_button( void * pvParameters ){
//=======================================
//task that controlls fans for cooling the drivers
void task_fans( void * pvParameters ){
ESP_LOGI(TAG, "Initializing fans and starting fan handle loop");
//create fan instances with config defined in config.cpp
controlledFan fan(configCooling, &motorLeft, &motorRight);
//repeatedly run fan handle function in a slow loop
while(1){
fan.handle();
vTaskDelay(500 / portTICK_PERIOD_MS);
}
ESP_LOGI(TAG, "Initializing fans and starting fan handle loop");
//create fan instances with config defined in config.cpp
controlledFan fan(configCooling, &motorLeft, &motorRight);
//repeatedly run fan handle function in a slow loop
while(1){
fan.handle();
vTaskDelay(500 / portTICK_PERIOD_MS);
}
}
@ -106,20 +118,20 @@ void task_fans( void * pvParameters ){
//=================================
//initialize spi flash filesystem (used for webserver)
void init_spiffs(){
ESP_LOGI(TAG, "init spiffs");
esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = {
.base_path = "/spiffs",
.partition_label = NULL,
.max_files = 5,
.format_if_mount_failed = true};
esp_vfs_spiffs_register(&esp_vfs_spiffs_conf);
ESP_LOGI(TAG, "init spiffs");
esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = {
.base_path = "/spiffs",
.partition_label = NULL,
.max_files = 5,
.format_if_mount_failed = true};
esp_vfs_spiffs_register(&esp_vfs_spiffs_conf);
size_t total = 0;
size_t used = 0;
esp_spiffs_info(NULL, &total, &used);
size_t total = 0;
size_t used = 0;
esp_spiffs_info(NULL, &total, &used);
ESP_LOGI(TAG, "SPIFFS: total %d, used %d", total, used);
esp_vfs_spiffs_unregister(NULL);
ESP_LOGI(TAG, "SPIFFS: total %d, used %d", total, used);
esp_vfs_spiffs_unregister(NULL);
}
@ -128,103 +140,154 @@ void init_spiffs(){
//======== define loglevels ========
//==================================
void setLoglevels(void){
//set loglevel for all tags:
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);
esp_log_level_set("buzzer", ESP_LOG_ERROR);
//esp_log_level_set("motordriver", ESP_LOG_INFO);
//esp_log_level_set("motor-control", ESP_LOG_DEBUG);
//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
esp_log_level_set("button", ESP_LOG_INFO);
esp_log_level_set("control", ESP_LOG_INFO);
esp_log_level_set("fan-control", ESP_LOG_INFO);
esp_log_level_set("wifi", ESP_LOG_INFO);
esp_log_level_set("http", ESP_LOG_INFO);
esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
//esp_log_level_set("current-sensors", ESP_LOG_INFO);
}
#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));
//--- set loglevel for individual tags ---
esp_log_level_set("main", ESP_LOG_INFO);
esp_log_level_set("buzzer", ESP_LOG_ERROR);
//esp_log_level_set("motordriver", ESP_LOG_INFO);
//esp_log_level_set("motor-control", ESP_LOG_DEBUG);
//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
esp_log_level_set("button", ESP_LOG_INFO);
esp_log_level_set("control", ESP_LOG_INFO);
esp_log_level_set("fan-control", ESP_LOG_INFO);
esp_log_level_set("wifi", ESP_LOG_INFO);
esp_log_level_set("http", ESP_LOG_INFO);
esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
//esp_log_level_set("current-sensors", ESP_LOG_INFO);
}
//struct for testing uart
typedef struct {
uint32_t timestamp;
int id;
float value;
} uartDataStruct;
#endif
//=================================
//=========== app_main ============
//=================================
extern "C" void app_main(void) {
//enable 5V volate regulator
gpio_pad_select_gpio(GPIO_NUM_17);
gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
gpio_set_level(GPIO_NUM_17, 1);
#ifndef UART_TEST_ONLY
//enable 5V volate regulator
gpio_pad_select_gpio(GPIO_NUM_17);
gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
gpio_set_level(GPIO_NUM_17, 1);
//---- define log levels ----
//---- define log levels ----
setLoglevels();
//----------------------------------------------
//--- create task for controlling the motors ---
//----------------------------------------------
//task that receives commands, handles ramp and current limit and executes commands using the motordriver function
xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
//------------------------------
//--- create task for buzzer ---
//------------------------------
xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
//----------------------------------------------
//--- create task for controlling the motors ---
//----------------------------------------------
//task that receives commands, handles ramp and current limit and executes commands using the motordriver function
xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
//-------------------------------
//--- 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);
//------------------------------
//--- create task for buzzer ---
//------------------------------
xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
//------------------------------
//--- 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);
//-------------------------------
//--- 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);
//-----------------------------------
//--- 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);
//------------------------------
//--- 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);
//-----------------------------------
//--- 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);
//beep at startup
buzzer.beep(3, 70, 50);
//beep at startup
buzzer.beep(3, 70, 50);
//--- initialize nvs-flash and netif (needed for wifi) ---
wifi_initNvs_initNetif();
//--- initialize nvs-flash and netif (needed for wifi) ---
wifi_initNvs_initNetif();
//--- initialize spiffs ---
init_spiffs();
//--- 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");
//--- 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 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);
//--- testing force http mode after startup ---
//control.changeMode(controlMode_t::HTTP);
//--- main loop ---
//does nothing except for testing things
while(1){
vTaskDelay(1000 / portTICK_PERIOD_MS);
vTaskDelay(5000 / portTICK_PERIOD_MS);
}
#endif
#ifdef UART_TEST_ONLY
uart_init();
uint8_t receivedData[sizeof(uartDataStruct)];
uartDataStruct data;
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
//---------------------------------
//-------- TESTING section --------