botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 09:37:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

decrease freq resolution for rmt to hopefully make it more reliable

Browse Source
This commit is contained in:
Justin Chow
2025-09-28 13:35:50 -04:00
committed by Johnathon Slightham
parent 10ce40b5b5
commit 6086413851
6 changed files with 485 additions and 344 deletions
Download Patch File Download Diff File Expand all files Collapse all files

80
components/dataLink/DataLinkManager.cpp
View File

@@ -176,12 +176,18 @@ esp_err_t DataLinkManager::send(uint8_t dest_board, uint8_t* data, uint16_t data
}
};
ESP_LOGI(DEBUG_LINK_TAG, "Sending %d bytes", offset);
// print_buffer_binary(send_data, frame_size);
// ESP_LOGI(DEBUG_LINK_TAG, "Sending %d bytes", offset);
// printf("Sending Frame Information:\n");
// printf("%-10s %-12s %-13s %-15s %-12s %-10s %-6s\n",
// "Preamble", "Sender ID", "Receiver ID", "Sequence Num", "Type+Flag", "Data Len", "CRC");
// printf("0x%02X %-12d %-13d %-15d 0x%02X %-10d 0x%04X\n",
// new_frame.preamble, new_frame.sender_id, new_frame.receiver_id, new_frame.seq_num, new_frame.type_flag, new_frame.data_len, new_frame.crc_16);
uint8_t channel_to_route = MAX_CHANNELS;
if (new_frame.receiver_id == BROADCAST_ADDR){
for (uint8_t i = 0; i < num_channels; i++){
// printf("Sending on channel %d\n", i);
phys_comms->send(send_data, offset, &config, i);
}
@@ -189,16 +195,12 @@ esp_err_t DataLinkManager::send(uint8_t dest_board, uint8_t* data, uint16_t data
res = route_frame(new_frame.receiver_id, &channel_to_route);
if (res != ESP_OK){
ESP_LOGE(DEBUG_LINK_TAG, "Failed to find entry for %d", new_frame.receiver_id);
// ESP_LOGE(DEBUG_LINK_TAG, "Failed to find entry for %d", new_frame.receiver_id);
return ESP_FAIL;
}
ESP_LOGI(DEBUG_LINK_TAG, "Sending message to %d", new_frame.receiver_id);
// ESP_LOGI(DEBUG_LINK_TAG, "Sending message to %d", new_frame.receiver_id);
phys_comms->send(send_data, offset, &config, channel_to_route);
}
//can wait for the rmt to finish
// esp_err_t res = phys_comms->wait_until_send_complete(curr_channel); //this cannot be here in deployment but until the RMT manager can hold this copy of data this will have to be here
// if (res != ESP_OK){
// ESP_LOGE(DEBUG_LINK_TAG, "Failed to send message");
// return ESP_FAIL;
@@ -209,6 +211,7 @@ esp_err_t DataLinkManager::send(uint8_t dest_board, uint8_t* data, uint16_t data
} else {
//generic frame
printf("not implemented yet\n");
return ESP_ERR_NOT_SUPPORTED;
}
return ESP_OK;
@@ -241,20 +244,29 @@ esp_err_t DataLinkManager::start_receive_frames(uint8_t curr_channel){
return phys_comms->start_receiving(curr_channel);
}
/**
* @brief
*
* @param data
* @param data_len
* @param recv_len
* @param curr_channel
* @return esp_err_t
*/
esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_len, uint8_t curr_channel){
if (data == NULL){
ESP_LOGE(DEBUG_LINK_TAG, "Invalid data array");
return ESP_FAIL;
return ESP_ERR_INVALID_ARG;
}
if (curr_channel >= num_channels){
ESP_LOGE(DEBUG_LINK_TAG, "Invalid channel");
return ESP_FAIL;
return ESP_ERR_INVALID_ARG;
}
if (data_len < MAX_CONTROL_DATA_LEN + CONTROL_FRAME_OVERHEAD){
ESP_LOGE(DEBUG_LINK_TAG, "Receive data buffer len is too small");
return ESP_FAIL;
return ESP_ERR_INVALID_ARG;
}
// uint8_t recv_buf[256];
@@ -263,38 +275,39 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_
if (res != ESP_OK){
ESP_LOGE(DEBUG_LINK_TAG, "RMT Failed to receive");
return ESP_FAIL;
return ESP_ERR_TIMEOUT;
}
if (*recv_len > MAX_CONTROL_DATA_LEN + CONTROL_FRAME_OVERHEAD){
ESP_LOGE(DEBUG_LINK_TAG, "Invalid control frame");
return ESP_FAIL;
return ESP_ERR_INVALID_RESPONSE;
}
if (*recv_len < CONTROL_FRAME_OVERHEAD) {
return ESP_FAIL;
return ESP_ERR_INVALID_RESPONSE;
}
uint8_t* message = (uint8_t*)pvPortMalloc(CONTROL_FRAME_OVERHEAD + MAX_CONTROL_DATA_LEN);
if (message == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "Failed to malloc for receive");
return ESP_FAIL;
return ESP_ERR_NO_MEM;
}
memset(message, 0, sizeof(message));
size_t message_size = 0;
frame_header header;
res = get_data_from_frame(data, *recv_len, message, &message_size, &header);
if (res != ESP_OK){
// print_buffer_binary(message, message_size);
vPortFree((void*)message);
return ESP_FAIL;
return res;
}
*recv_len = message_size;
memcpy(data, message, message_size);
ESP_LOGI(DEBUG_LINK_TAG, "Received frame of type 0x%X destined for board %d", GET_TYPE(header.type_flag), header.receiver_id);
// ESP_LOGI(DEBUG_LINK_TAG, "Received frame of type 0x%X destined for board %d", GET_TYPE(header.type_flag), header.receiver_id);
//check for a rip frame
if (static_cast<FrameType>(GET_TYPE(header.type_flag)) == FrameType::RIP_TABLE_CONTROL){
printf("Got a RIP frame\n");
// printf("Got a RIP frame\n");
for (size_t i = 0; i < message_size-1; i+=2){
uint8_t board_id = message[i];
@@ -361,19 +374,19 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_
esp_err_t DataLinkManager::get_data_from_frame(uint8_t* data, size_t data_len, uint8_t* message, size_t* message_size, frame_header* header){
if (data == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "Invalid data array");
return ESP_FAIL;
return ESP_ERR_INVALID_ARG;
}
if (message == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "Invalid message array");
return ESP_FAIL;
return ESP_ERR_INVALID_ARG;
}
if (message_size == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "Invalid message size ptr");
return ESP_FAIL;
return ESP_ERR_INVALID_ARG;
}
if (header == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "Invalid header ptr");
return ESP_FAIL;
return ESP_ERR_INVALID_ARG;
}
if (IS_CONTROL_FRAME(data[5])){
@@ -386,12 +399,12 @@ esp_err_t DataLinkManager::get_data_from_frame(uint8_t* data, size_t data_len, u
if (header->data_len > data_len){
ESP_LOGE(DEBUG_LINK_TAG, "Mismatch data length in control frame");
return ESP_FAIL;
return ESP_ERR_INVALID_RESPONSE;
}
if (header->data_len == 0){
ESP_LOGE(DEBUG_LINK_TAG, "Data len 0");
return ESP_FAIL;
return ESP_ERR_INVALID_SIZE;
}
*message_size = header->data_len;
@@ -399,19 +412,22 @@ esp_err_t DataLinkManager::get_data_from_frame(uint8_t* data, size_t data_len, u
memcpy(message, &data[8], header->data_len);
geneate_crc_16(data, 8*sizeof(uint8_t) + header->data_len, &header->crc_16);
uint16_t crc_calc = ((uint16_t)data[8 + header->data_len] | ((uint16_t)data[9 + header->data_len] << 8));
if (((uint16_t)data[8 + header->data_len] | ((uint16_t)data[9 + header->data_len] << 8)) != header->crc_16){
if (crc_calc != header->crc_16){
//CRC mismatch
ESP_LOGE(DEBUG_LINK_TAG, "CRC Mismatch");
return ESP_FAIL;
ESP_LOGE(DEBUG_LINK_TAG, "Got 0x%04X but calculated 0x%04X\n", crc_calc, header->crc_16);
return ESP_ERR_INVALID_CRC;
}
printf("Frame Information:\n");
printf("%-10s %-12s %-13s %-15s %-12s %-10s %-6s\n",
"Preamble", "Sender ID", "Receiver ID", "Sequence Num", "Type+Flag", "Data Len", "CRC");
// printf("Received Frame Information:\n");
// printf("%-10s %-12s %-13s %-15s %-12s %-10s %-6s\n",
// "Preamble", "Sender ID", "Receiver ID", "Sequence Num", "Type+Flag", "Data Len", "CRC");
printf("0x%02X %-12d %-13d %-15d 0x%02X %-10d 0x%04X\n",
header->preamble, header->sender_id, header->receiver_id, header->seq_num, header->type_flag, header->data_len, header->crc_16);
// printf("0x%02X %-12d %-13d %-15d 0x%02X %-10d 0x%04X\n",
// header->preamble, header->sender_id, header->receiver_id, header->seq_num, header->type_flag, header->data_len, header->crc_16);
} else {
//not implemented yet
}
@@ -448,7 +464,7 @@ esp_err_t DataLinkManager::geneate_crc_16(uint8_t* data, size_t data_len, uint16
}
esp_err_t DataLinkManager::print_frame_info(uint8_t* data, size_t data_len, uint8_t* message){
printf("Received frame of size %d:\n", data_len);
// printf("Received frame of size %d:\n", data_len);
size_t message_size;