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decrease freq resolution for rmt to hopefully make it more reliable

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This commit is contained in:
superkor
2025-09-28 13:35:50 -04:00
parent c445401148
commit b01747da0b
6 changed files with 485 additions and 344 deletions
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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;

25
components/dataLink/test_scripts/parse_bit_frame.py Normal file
View File

@@ -0,0 +1,25 @@
def parse(byte_message: list[str]):
print("got", len(byte_message), "bytes")
preamble = byte_message[0]
sender_id = int(byte_message[1], 2)
receiver_id = int(byte_message[2], 2)
seq_num = int(byte_message[4]+byte_message[3], 2)
type_flag = hex(int(byte_message[5], 2)).upper()
data_len = int(byte_message[7]+byte_message[6], 2)
message = ''
for x in range(8, 8+data_len):
message += chr(int(byte_message[x], 2))
crc_16 = int(byte_message[8+data_len+1]+byte_message[8+data_len], 2)
print("Preamble", preamble, "Sender ID", sender_id, "Receiver ID", receiver_id, \
"Sequence Number", seq_num, "Type + Flag", type_flag, "Message length (B)", data_len, \
"Message:\n", message, "\nCRC-16", crc_16)
if __name__ == "__main__":
message = "10101011 01000101 00000001 00010010 00000000 11000000 01101011 00000000 01010100 01101000 01101001 01110011 00100000 01101001 01110011 00100000 01100001 00100000 01101101 01100101 01110011 01110011 01100001 01100111 01100101 00100000 01100110 01110010 01101111 01101101 00100000 01100010 01101111 01100001 01110010 01100100 00100000 00110110 00111001 00100000 01110011 01100101 01101110 01100100 01101001 01101110 01100111 00100000 01101111 01101110 00100000 01100011 01101000 01100001 01101110 01101110 01100101 01101100 00100000 00110000 00101110 00100000 01110100 01101000 01101001 01110011 00100000 01101001 01110011 00100000 01110011 01101111 01101101 01100101 00100000 01101111 01110100 01101000 01100101 01110010 00100000 01100100 01100001 01110100 01100001 00100000 01110100 01101000 01100001 01110100 00100000 01110011 01101000 01101111 01110101 01101100 01100100 00100000 01101110 01101111 01110100 00100000 01100010 01100101 00100000 01100011 01101111 01110010 01110010 01110101 01110000 01110100 01100101 01100100 00101110 01000100 11001010"
parse(byte_message=message.split(" "))
message = "10101011 01000101 00000001 00010011 00000000 11000000 01101011 00000000 01010100 01101000 01101001 01110011 00100000 01101001 01110011 00100000 01100001 00100000 01101101 01100101 01110011 01110011 01100001 01100111 01100101 00100000 01100110 01110010 01101111 01101101 00100000 01100010 01101111 01100001 01110010 01100100 00100000 00110110 00111001 00100000 01110011 01100101 01101110 01100100 01101001 01101110 01100111 00100000 01101111 01101110 00100000 01100011 01101000 01100001 01101110 01101110 01100101 01101100 00100000 00110000 00101110 00100000 01110100 01101000 01101001 01110011 00100000 01101001 01110011 00100000 01110011 01101111 01101101 01100101 00100000 01101111 01110100 01101000 01100101 01110010 00100000 01100100 01100001 01110100 01100001 00100000 01110100 01101000 01100001 01110100 00100000 01110011 01101000 01101111 01110101 01101100 01100100 00100000 01101110 01101111 01110100 00100000 01100010 01100101 00100000 01100011 01101111 01110010 01110010 01110101 01110000 01110100 01100101 01100100 00101110 01100011 01100111"
parse(byte_message=message.split(" "))
message = "10101011 01000101 00000001 00010100 00000000 11000000 01101011 00000000 01010100 01101000 01101001 01110011 00100000 01101001 01110011 00100000 01100001 00100000 01101101 01100101 01110011 01110011 01100001 01100111 01100101 00100000 01100110 01110010 01101111 01101101 00100000 01100010 01101111 01100001 01110010 01100100 00100000 00110110 00111001 00100000 01110011 01100101 01101110 01100100 01101001 01101110 01100111 00100000 01101111 01101110 00100000 01100011 01101000 01100001 01101110 01101110 01101101 01001011 00001000 00001010 11111010 00111011 11110001 01110010 11110010 11010001 10011011 11110010 11010001 10011011 11110001 10010010 00010010 01010011 01011011 11110010 00010001 01110010 11110011 01010001 10111011 11110011 01110011 11010001 01110011 11011011 11110001 01110010 11110011 11010001 01111011 11110001 10010010 11110010 00010001 01010010 01110011 01111011 11110010 00110010 00010001 01111011 11110011 10110011 01011011 11110011 10010010 00010001 10110001 10110001 01010001 11110001 01110011 01010011 01111010 00100001 01011101"
parse(byte_message=message.split(" "))
message = "10101011 01000101 00000001 00010111 00000000 11000000 01101011 00000000 01010100 01101000 01101001 01110011 00100000 01101001 01110011 00100000 01100001 00100000 01101101 01100101 01110011 01110011 01100001 01100111 01100101 00100000 01100110 01110010 01101111 01101101 00100000 01100010 01101111 01100001 01110010 01100100 00100000 00110110 00111001 00100000 01110011 01100101 01101110 01100100 01101001 01101110 01100111 00100000 01101111 01101110 00100000 01100011 01101000 01100001 01101110 01101110 01100101 01101100 00100000 00110000 00101110 00100000 01110100 01101000 01101001 01110011 00100000 01101001 01110011 00100000 01110011 01101111 01101101 01100101 00100000 01101111 01110100 01101000 01100101 01110010 00100000 01100100 01100001 01110100 01100001 00100000 01110100 01101000 01100001 01110100 00100000 01110011 01101000 01101111 01110101 01101100 01100100 00100000 01101110 01101111 01110100 00100000 01100010 01100101 00100000 01100011 01101111 01110010 01110010 01110101 01110000 01110100 01100101 01100100 00101110 10111101 11110011"
parse(byte_message=message.split(" "))