1e544613ee
- board_control successfully sends motor commands to board_motorctl - board_motorctl receives and applies motor commands note: control pcb currently switches to HTTP mode after startup for testing with data from ui - partially commented in code that has to be reworked - control: send commands via uart instead of to motor objects - board motorctl handled motor: add timeout when no target data received (e.g. control pcb offline / uart bugged) - board motorctl uart: receive motorCommands_t struct and apply data to target state of handled motors - types: fix issue with global motorstateStr variable
62 lines
1.3 KiB
C++
62 lines
1.3 KiB
C++
extern "C"
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{
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#include <stdio.h>
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#include <esp_system.h>
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#include <esp_event.h>
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#include <nvs_flash.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "driver/gpio.h"
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#include "esp_log.h"
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#include "sdkconfig.h"
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#include <string.h>
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#include "freertos/queue.h"
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#include "driver/uart.h"
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}
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#include "uart.hpp"
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static const char * TAG = "uart";
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//TESTING
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#include "control.hpp"
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#include "config.hpp"
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//==============================
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//====== task_uartReceive ======
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//==============================
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//TODO copy receive task from board_motorctl/uart.cpp
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void task_uartReceive(void *arg){
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//--- testing force http mode after startup ---
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//TESTING
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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control.changeMode(controlMode_t::HTTP);
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while (1) {
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vTaskDelay(200 / portTICK_PERIOD_MS);
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}
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}
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//=============================
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//======= task_uartSend =======
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//=============================
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//repeatedly send structs to uart
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void task_uartSend(void *arg){
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static const char * TAG = "uart-send";
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uartData_test_t data = {123, 0, 1.1};
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ESP_LOGW(TAG, "startloop...");
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while (1) {
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vTaskDelay(10000 / portTICK_PERIOD_MS);
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uart_sendStruct<uartData_test_t>(data);
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//change data values
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data.timestamp = esp_log_timestamp();
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data.id++;
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data.value += 0.6;
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}
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ESP_LOGE(TAG, "loop exit...");
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}
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