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
63 lines
2.0 KiB
C++
63 lines
2.0 KiB
C++
#include "uart.hpp"
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#include "config.hpp"
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#include "types.hpp"
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//===== uart board MOTORCTL =====
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static const char * TAG = "uart";
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//==============================
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//====== task_uartReceive ======
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//==============================
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void task_uartReceive(void *arg){
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ESP_LOGW(TAG, "receive task started");
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//receive data from uart, detect associated struct and copy/handle the data
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//TODO use queue instead of check interval?
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uartData_test_t dataTest;
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motorCommands_t dataMotorCommands;
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uint8_t receivedData[1024-1];
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while(1){
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//note: check has to be more frequent than pause time between sending
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vTaskDelay(50 / portTICK_PERIOD_MS);
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//read bytes (max 1023) until 20ms pause is happening
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int len = uart_read_bytes(UART_NUM_1, receivedData, sizeof(receivedData), 20 / portTICK_PERIOD_MS);
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uart_flush_input(UART_NUM_1);
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if (len < 1) continue;
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switch (len){
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case sizeof(uartData_test_t):
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dataTest = serialData2Struct<uartData_test_t>(receivedData);
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ESP_LOGW(TAG, "received uartDataStruct len=%d DATA: timestamp=%d, id=%d, value=%.1f", len, dataTest.timestamp, dataTest.id, dataTest.value);
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break;
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case sizeof(motorCommands_t):
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dataMotorCommands = serialData2Struct<motorCommands_t>(receivedData);
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ESP_LOGI(TAG, "received motorCommands struct len=%d left=%.2f%% right=%.2f%%, update target...", len, dataMotorCommands.left.duty, dataMotorCommands.right.duty);
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//update target motor state and duty
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motorLeft.setTarget(dataMotorCommands.left.state,
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dataMotorCommands.left.duty);
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motorRight.setTarget(dataMotorCommands.right.state,
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dataMotorCommands.right.duty);
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break;
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//TODO add other received structs here
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default:
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ESP_LOGE(TAG, "received data len=%d cant be associated with configures struct", len);
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break;
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}
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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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//TODO copy send task from board_control/uart.cpp
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void task_uartSend(void *arg){
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ESP_LOGW(TAG, "send task started");
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while (1) {
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vTaskDelay(500 / portTICK_PERIOD_MS);
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}
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}
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