8ef71082dc
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
130 lines
3.7 KiB
C++
130 lines
3.7 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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void uart_init(void){
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uart_config_t uart1_config = {
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.baud_rate = 115198,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_EVEN,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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};
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ESP_LOGW(TAG, "config...");
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ESP_ERROR_CHECK(uart_param_config(UART_NUM_1, &uart1_config));
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ESP_LOGW(TAG, "setpins...");
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ESP_ERROR_CHECK(uart_set_pin(UART_NUM_1, 23, 22, 0, 0));
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ESP_LOGW(TAG, "init...");
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ESP_ERROR_CHECK(uart_driver_install(UART_NUM_1, 1024, 1024, 10, NULL, 0));
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}
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void uart_task_testing(void *arg){
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//repeatedly send 8 bit count and log received 1 byte
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uint8_t *data = (uint8_t *) malloc(1024);
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uint8_t count = 0;
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ESP_LOGW(TAG, "startloop...");
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while (1) {
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vTaskDelay(500 / portTICK_PERIOD_MS);
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int len = uart_read_bytes(UART_NUM_1, data, (1024 - 1), 20 / portTICK_PERIOD_MS);
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//uart_flush_input(UART_NUM_1);
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//uart_flush(UART_NUM_1);
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ESP_LOGW(TAG, "received len=%d data=%d", len, *data);
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*data = 99; //set to 99 (indicates no new data received)
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uart_write_bytes(UART_NUM_1, (const char *) &count, 1);
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ESP_LOGW(TAG, "sent data %d", count);
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count++;
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}
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}
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void task_uartReceive(void *arg){
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static const char * TAG = "uart-receive";
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//repeatedly send 8 bit count and log received 1 byte
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char *data = (char *) malloc(1024);
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char count = 0;
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ESP_LOGW(TAG, "startloop...");
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while (1) {
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vTaskDelay(200 / portTICK_PERIOD_MS);
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int len = uart_read_bytes(UART_NUM_1, data, (1024 - 1), 20 / portTICK_PERIOD_MS);
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if (len>0) ESP_LOGW(TAG, "received len=%d data=%d", len, *data);
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}
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}
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void task_uartReceiveQueue(void *arg){
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static const char * TAG = "uart-receive";
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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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// //send incrementing count
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// void task_uartSend(void *arg){
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// static const char * TAG = "uart-send";
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// //repeatedly send 8 bit count and log received 1 byte
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// char *data = (char *) malloc(1024);
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// char count = 0;
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// ESP_LOGW(TAG, "startloop...");
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// while (1) {
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// vTaskDelay(200 / portTICK_PERIOD_MS);
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// uart_write_bytes(UART_NUM_1, (const char *) &count, 1);
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// ESP_LOGW(TAG, "sent data %d", (int)count);
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// count++;
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// }
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// ESP_LOGE(TAG, "loop exit...");
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// }
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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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} uartDataStruct;
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//send struct
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void task_uartSend(void *arg){
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static const char * TAG = "uart-send";
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uartDataStruct data = {123, 0, 1.1};
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uint8_t serialData[sizeof(uartDataStruct)];
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char count = 0;
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ESP_LOGW(TAG, "startloop...");
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while (1) {
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vTaskDelay(500 / portTICK_PERIOD_MS);
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memcpy(serialData, &data, sizeof(uartDataStruct));
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uart_write_bytes(UART_NUM_1, (const char *)serialData, sizeof(uartDataStruct));
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ESP_LOGW(TAG, "sent data struct with len %d", sizeof(uartDataStruct));
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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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//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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