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update link layer manager + rip + rmt

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This commit is contained in:
Justin Chow
2025-07-10 00:48:37 -04:00
committed by Johnathon Slightham
parent 3691ca4697
commit 732f141e45
9 changed files with 342 additions and 271 deletions
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6
main/CMakeLists.txt
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@@ -1,5 +1,5 @@
idf_component_register(SRCS "main.cpp" "LoopManager.cpp"
PRIV_REQUIRES esp_psram spi_flash nvs_flash esp_event rpc constants config rmt esp_driver_gptimer dataLink flatbuffers
idf_component_register(SRCS "main.cpp" "LoopManager.cpp"
PRIV_REQUIRES esp_psram spi_flash nvs_flash esp_event rpc constants config rmt esp_driver_gptimer dataLink
INCLUDE_DIRS "")
if(DEFINED BOARD_NAME AND BOARD_NAME)
@@ -37,4 +37,4 @@ endif()
if(DEFINED VERIFY_RECEIVE AND VERIFY_RECEIVE)
message(STATUS "Building with VERIFY_RECEIVE: " ${VERIFY_RECEIVE})
idf_build_set_property(COMPILE_DEFINITIONS VERIFY_RECEIVE APPEND)
endif()
endif()

57
main/link_layer_main.cpp
View File

@@ -17,6 +17,8 @@
#include "driver/gptimer.h"
#include "esp_log.h"
#define DATA_SIZE_TEST 270
struct TaskArgs{
DataLinkManager* link_layer_obj;
uint8_t task_id;
@@ -46,8 +48,8 @@ void receive_frames(void* arg){
printf("RX JOB for task %d starting...\n", curr_channel);
esp_err_t res;
uint8_t recv_buf[256];
memset(recv_buf, 0, 256);
uint8_t recv_buf[DATA_SIZE_TEST];
memset(recv_buf, 0, DATA_SIZE_TEST);
size_t recv_len = 0;
ReceviedFrame recv_frame = {};
@@ -101,10 +103,10 @@ void multi_transceiver(void* arg) {
QueueHandle_t shared_queue = (QueueHandle_t)args->receive_queue;
uint8_t send_buf[256];
uint8_t recv_buf[256];
memset(recv_buf, 0, 256);
memset(send_buf, 0, 256);
uint8_t send_buf[DATA_SIZE_TEST];
uint8_t recv_buf[DATA_SIZE_TEST];
memset(recv_buf, 0, DATA_SIZE_TEST);
memset(send_buf, 0, DATA_SIZE_TEST);
size_t recv_len = 0;
uint8_t iteration = 0;
@@ -126,24 +128,25 @@ void multi_transceiver(void* arg) {
ReceviedFrame recv_frame = {};
printf("task %d starting...\n", curr_channel);
vTaskDelay(3000 / portTICK_PERIOD_MS);
while(true){
vTaskDelay(1000 / portTICK_PERIOD_MS); // wait 1 second before trying to send again
while(1){
// vTaskDelay(1000 / portTICK_PERIOD_MS); // wait 1 second before trying to send again
snprintf(reinterpret_cast<char*>(send_buf), sizeof(send_buf), "%s %d CH. %d", message, iteration, curr_channel);
// snprintf(reinterpret_cast<char*>(send_buf), sizeof(send_buf), "%s %d CH. %d", message, iteration, curr_channel);
ESP_ERROR_CHECK(gptimer_get_raw_count(gptimer, &start_count));
res = obj->send(dest_board_id, send_buf, strlen(reinterpret_cast<char*>(send_buf)), FrameType::DEBUG_CONTROL_TYPE, curr_channel);
ESP_ERROR_CHECK(gptimer_get_raw_count(gptimer, &end_count));
// ESP_ERROR_CHECK(gptimer_get_raw_count(gptimer, &start_count));
// res = obj->send(dest_board_id, send_buf, strlen(reinterpret_cast<char*>(send_buf)), FrameType::DEBUG_CONTROL_TYPE, curr_channel);
// ESP_ERROR_CHECK(gptimer_get_raw_count(gptimer, &end_count));
snprintf(reinterpret_cast<char*>(send_buf), sizeof(send_buf), "%s RANDOM", message); //modifying the data while it transmits shouldn't affect the actual transmission here
// snprintf(reinterpret_cast<char*>(send_buf), sizeof(send_buf), "%s RANDOM", message); //modifying the data while it transmits shouldn't affect the actual transmission here
if (res != ESP_OK){
ESP_LOGE("thread", "Failed to send message on thread %d", curr_channel);
} else {
printf("Successfully sent message\n");
// printf("Sent %zu B sized in %" PRIu64 " us\n", strlen(reinterpret_cast<char*>(send_buf)) + CONTROL_FRAME_OVERHEAD, end_count-start_count);
}
// if (res != ESP_OK){
// ESP_LOGE("thread", "Failed to send message on thread %d", curr_channel);
// } else {
// printf("Successfully sent message\n");
// // printf("Sent %zu B sized in %" PRIu64 " us\n", strlen(reinterpret_cast<char*>(send_buf)) + CONTROL_FRAME_OVERHEAD, end_count-start_count);
// }
//wait on a queue for a few ms (if there's nothing, just send another frame. otherwise pop from queue and read it)
if (xQueueReceive(shared_queue, (void*)&recv_frame, (TickType_t) 50) != pdPASS){
@@ -169,8 +172,12 @@ void multi_transceiver(void* arg) {
// vTaskDelay(1000 / portTICK_PERIOD_MS); // wait 1 second before trying to send again
//reset temp buffers
memset(recv_buf, 0, 256);
memset(send_buf, 0, 256);
memset(recv_buf, 0, DATA_SIZE_TEST);
memset(send_buf, 0, DATA_SIZE_TEST);
}
while(true){
vTaskDelay(2000 / portTICK_PERIOD_MS);
}
}
@@ -207,9 +214,9 @@ extern "C" [[noreturn]] void app_main(void) {
// uint8_t iteration = 0;
// const char* message = "THIS IS A TEXT MESSAGE";
uint8_t num_channels = 1;
uint8_t board_id = 69;
std::unique_ptr<DataLinkManager> obj = std::make_unique<DataLinkManager>(board_id);
std::unique_ptr<DataLinkManager> obj = std::make_unique<DataLinkManager>(board_id, num_channels);
// uint8_t dest_board_id = 2; //using a dummy number for now - there is no board with id 2 right now
@@ -225,10 +232,10 @@ extern "C" [[noreturn]] void app_main(void) {
TaskArgs args[4] = {};
for (uint8_t i = 0; i < MAX_CHANNELS; i++){
for (uint8_t i = 0; i < num_channels; i++){
args[i].link_layer_obj = obj_to_send;
args[i].task_id = i;
args[i].receiver_id = i+1;
args[i].receiver_id = 1;
args[i].receive_queue = xQueueCreate(10, sizeof(ReceviedFrame)); //queue storing up to 10 control frames
xTaskCreate(multi_transceiver, "multi_transceiver", 4096, static_cast<void*>(&args[i]), 5, NULL);
vTaskDelay(500 / portTICK_PERIOD_MS);