botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 17:47:21 +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

35
components/rmt/include/RMTManager.h
View File

@@ -33,12 +33,21 @@ typedef struct {
size_t byte_index; //which byte is currently being encoded when transmitting
uint8_t bit_index; //which bit in the `byte_index` is currently being encoded (into high/low waveforms)
size_t num_symbols; //temp
#ifdef NRZ_INVERTED
bool current_level;
uint8_t zero_count;
#endif //NRZ_INVERTED
} rmt_encoder_context_t;
//will need to keep the data alive until it has been transmitted (not working or being used atm)
struct TxCallbackContext{
SemaphoreHandle_t tx_done_sem;
QueueHandle_t transmit_queue;
rmt_encoder_context_t* tx_context;
QueueHandle_t free_mem_queue;
};
typedef struct {
uint8_t* data;
size_t length;
} TxBuffer;
typedef struct _rmt_channel{
//TX
uint8_t tx_gpio;
@@ -47,6 +56,7 @@ typedef struct _rmt_channel{
QueueHandle_t tx_queue;
rmt_encoder_handle_t encoder; //encoder config
rmt_encoder_context_t encoder_context;
TxCallbackContext tx_context;
//RX
uint8_t rx_gpio;
@@ -85,6 +95,8 @@ class RMTManager{
esp_err_t init_rx_channel();
int decode_symbols(rmt_symbol_word_t* symbols, size_t num, rmt_symbol_word_t* decoded, size_t output_num);
int convert_symbols_to_char(rmt_symbol_word_t* symbols, size_t num, uint8_t* string, size_t output_num);
[[noreturn]] static void freeMemory(void* args);
rmt_channel channels[MAX_CHANNELS] = {0};
//=====================TX=====================
@@ -102,7 +114,7 @@ class RMTManager{
//will be used to temporarily hold the bits that are being wait to be sent -- not working
// QueueHandle_t transmit_queue = NULL;
// TxCallbackContext tx_context;
QueueHandle_t memory_to_free;
//=====================RX=====================
rmt_channel_handle_t rx_chan;
@@ -124,19 +136,6 @@ class RMTManager{
// bool ready_to_receive = false;
};
//will need to keep the data alive until it has been transmitted (not working or being used atm)
struct TxCallbackContext{
SemaphoreHandle_t tx_done_sem;
QueueHandle_t transmit_queue;
rmt_encoder_context_t* tx_context;
};
typedef struct {
const uint8_t* data;
size_t length;
} TxBuffer;
typedef struct _gpio_channel_pair {
gpio_num_t tx_pin;
gpio_num_t rx_pin;