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
69 lines
1.7 KiB
C++
69 lines
1.7 KiB
C++
#pragma once
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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 "types.hpp"
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//struct for testing uart
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typedef struct {
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uint32_t timestamp;
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int id;
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float value;
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} uartData_test_t;
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//unnecessary, using commands struct directly
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typedef struct {
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uint32_t timestamp;
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motorCommands_t commands;
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} uartData_motorCommands_t;
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//===== uart_init =====
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//should be run once at startup
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void uart_init(void);
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//============================
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//====== uart_sendStruct =====
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//============================
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//send and struct via uart
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template <typename T> void uart_sendStruct(T dataStruct) {
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static const char * TAG = "uart-common";
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//TODO check if initialized?
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uint8_t dataSerial[sizeof(T)];
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memcpy(dataSerial, &dataStruct, sizeof(T));
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uart_write_bytes(UART_NUM_1, (const char *)dataSerial, sizeof(T));
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ESP_LOGW(TAG, "sent data struct with len %d", sizeof(T));
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//ESP_LOGW(TAG, "sent DATA: timestamp=%d, id=%d, value=%.1f", data.timestamp, data.id, data.value);
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}
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//==============================
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//====== serialData2Struct =====
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//==============================
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//convert serial data (byte array) to given struct and return it
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//note check whether serial data length actually matches size of struct is necessary before
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template <typename T> T serialData2Struct(uint8_t *dataSerial){
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static const char * TAG = "uart-common";
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T dataStruct;
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memcpy(&dataStruct, dataSerial, sizeof(T));
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ESP_LOGW(TAG, "converted serial data len=%d to struct", sizeof(T));
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return dataStruct;
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}
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