Add uart test - send and receive struct works

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

board_control/main/CMakeLists.txt

@@ -13,6 +13,7 @@ idf_component_register(
         "http.cpp"
         "auto.cpp"
 		"currentsensor.cpp"
+		"uart.cpp"
     INCLUDE_DIRS 
         "."
     )

board_control/main/main.cpp

@@ -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);

board_control/main/uart.cpp

@@ -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...");
+}

board_control/main/uart.hpp

@@ -0,0 +1,5 @@
+
+void uart_init(void);
+void uart_task_testing(void *arg);
+void task_uartReceive(void *arg);
+void task_uartSend(void *arg);

board_motorctl/main/main.cpp

@@ -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
 #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";
 
 
 
@@ -146,13 +158,42 @@ void setLoglevels(void){
 	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));  
+
+}
+
+//struct for testing uart
+typedef struct {
+	uint32_t timestamp;
+	int id;
+	float value;
+} uartDataStruct;
+#endif
+
 //=================================
 //=========== app_main ============
 //=================================
 extern "C" void app_main(void) {
+#ifndef UART_TEST_ONLY
 	//enable 5V volate regulator
 	gpio_pad_select_gpio(GPIO_NUM_17);                                                  
 	gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
@@ -220,11 +261,33 @@ extern "C" void app_main(void) {
 	//--- 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 --------