From d8a30bc72055d9ac641a010eada9884d75682aae Mon Sep 17 00:00:00 2001
From: RicardoEA <ricardo@focus.uy>
Date: Tue, 17 Jan 2023 23:20:58 -0300
Subject: [PATCH] Add uart comunication feature
---
Robotito/.vscode/settings.json | 4 ++-
Robotito/src/control/control.c | 5 +++
Robotito/src/main.c | 56 ++++++++++++++++++++++++++++++++++
3 files changed, 64 insertions(+), 1 deletion(-)
diff --git a/Robotito/.vscode/settings.json b/Robotito/.vscode/settings.json
index c60fb00..a3e5f72 100644
--- a/Robotito/.vscode/settings.json
+++ b/Robotito/.vscode/settings.json
@@ -3,6 +3,8 @@
"encoders.h": "c",
"motors.h": "c",
"mcpwm.h": "c",
- "control.h": "c"
+ "control.h": "c",
+ "queue.h": "c",
+ "uart.h": "c"
}
}
\ No newline at end of file
diff --git a/Robotito/src/control/control.c b/Robotito/src/control/control.c
index 46891b7..c6c2176 100644
--- a/Robotito/src/control/control.c
+++ b/Robotito/src/control/control.c
@@ -1,5 +1,7 @@
#include <stdio.h>
+#include <string.h>
#include "control.h"
+#include "driver/uart.h"
/*
* Helper functions
@@ -115,6 +117,9 @@ static void callback_odometry(){
o->y_dot = v->y;
o->phi += v->z * OMNI_ODOM_CTRL_TIMER;
o->phi_dot = v->z;
+ char* Txdata = (char*) malloc(100);
+ sprintf (Txdata, "Hello world index \r\n");
+ uart_write_bytes(UART_NUM_2, Txdata, strlen(Txdata));
free(v);
}
diff --git a/Robotito/src/main.c b/Robotito/src/main.c
index ab74e75..1d31831 100644
--- a/Robotito/src/main.c
+++ b/Robotito/src/main.c
@@ -13,18 +13,74 @@
#include "freertos/task.h"
#include "freertos/queue.h"
#include "driver/gpio.h"
+#include "driver/uart.h"
#include "motors.h"
#include "encoders.h"
#include "hwTimer.h"
#include "control.h"
+#include "esp_log.h"
#define OMNI_CTRL_TIMER 0.05 // s
#define MAX_OUTPUT 100.0
#define NMOTORS 3
#define OMNI_NRO_TIMER 0
+static const char *tag = "UART EVENT";
+#define UART_NUM UART_NUM_2
+#define BUF_SIZE 1024
+#define TASK_MEMORY 1024 * 2
+
+static QueueHandle_t uart_queue;
+
+static void uart_task(void *pvParameters)
+{
+ uart_event_t event;
+ uint8_t *data = (uint8_t *)malloc(BUF_SIZE);
+ int len;
+ while (1)
+ {
+ if (xQueueReceive(uart_queue, &event, portMAX_DELAY ) )
+ {
+ bzero(data,BUF_SIZE);
+ switch (event.type)
+ {
+ case UART_DATA:
+ len = uart_read_bytes(UART_NUM, data, event.size, portMAX_DELAY);
+ if (len > 0){
+ printf("%s \n",data);
+ }
+ // decodificar mensaje y hacer omni_drive
+ uart_flush(UART_NUM);
+ break;
+ default:
+ ESP_LOGI(tag, "uart event type: %d", event.type);
+ break;
+ }
+ }
+ }
+}
+
+static void init_uart(void)
+{
+ uart_config_t uart_config = {
+ .baud_rate = 9600,
+ .data_bits = UART_DATA_8_BITS,
+ .parity = UART_PARITY_DISABLE,
+ .stop_bits = UART_STOP_BITS_1,
+ .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+ .source_clk = UART_SCLK_APB,
+ };
+ uart_param_config(UART_NUM, &uart_config);
+
+ uart_set_pin(UART_NUM, 5, 4, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
+
+ uart_driver_install(UART_NUM, BUF_SIZE, BUF_SIZE, 5, &uart_queue, 0);
+ xTaskCreate(uart_task, "uart_task", TASK_MEMORY, NULL, 5, NULL);
+}
+
void app_main(void)
{
+ init_uart();
printf("Configuring Initial Parameters of mcpwm...\n");
omni_init();
omni_set_enable(true);
--
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