mirror of
https://github.com/BotChain-Robots/firmware.git
synced 2026-07-08 17:47:21 +02:00
rmt + some of link layer
This commit is contained in:
Justin Chow
733
components/rmt/RMTManager.cpp
Normal file
733
components/rmt/RMTManager.cpp
Normal file
@@ -0,0 +1,733 @@
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#include "RMTManager.h"
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#include "driver/rmt_tx.h"
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#include "driver/rmt_rx.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/semphr.h"
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#include "esp_log.h"
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RMTManager::RMTManager(){
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esp_err_t res = init();
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if (res != ESP_OK){
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//failed
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ESP_LOGE(DEBUG_TAG, "Failed to initialize the RMTManager");
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return;
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}
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ESP_LOGD(DEBUG_TAG, "RMTManager has been initialized");
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}
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esp_err_t RMTManager::init_tx_channel(){
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esp_err_t res_tx = ESP_FAIL;
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//setup encoder config
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for (uint8_t i = 0; i < MAX_CHANNELS; i++){
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reset_encoder_context(&channels[i].encoder_context); //ensure the encoder context is initialized
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rmt_simple_encoder_config_t encoder_config = {
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.callback = encoder_callback,
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.arg = &channels[i].encoder_context
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};
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//create encoder
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res_tx = rmt_new_simple_encoder(&encoder_config, &channels[i].encoder);
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if (res_tx != ESP_OK){
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// printf("Failed to create encoder\n");
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ESP_LOGE(DEBUG_TAG, "Failed to create encoder");
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channels[i].encoder = NULL;
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return ESP_FAIL;
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}
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//enable the callback
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rmt_tx_event_callbacks_t tx_cbs = {
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.on_trans_done = RMTManager::rmt_tx_done_callback
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};
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rmt_tx_channel_config_t tx_channel_config_template = {
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.gpio_num = tx_gpio[i],
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.clk_src = RMT_CLK_SRC_DEFAULT,
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.resolution_hz = RMT_RESOLUTION_HZ,
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.mem_block_symbols = RMT_SYMBOL_BLOCK_SIZE, //giving each channel ~192B of memory
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.trans_queue_depth = 4,
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.flags = {
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.invert_out = 0,
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.with_dma = 0,
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}
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};
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channels[i].tx_gpio = tx_gpio[i];
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channels[i].status = CHANNEL_NOT_READY_STATUS;
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if (channels[i].tx_rmt_handle != NULL) {
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rmt_disable(channels[i].tx_rmt_handle);
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rmt_del_channel(channels[i].tx_rmt_handle);
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channels[i].tx_rmt_handle = NULL;
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}
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if (channels[i].tx_done_semaphore != NULL) {
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vSemaphoreDelete(channels[i].tx_done_semaphore);
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channels[i].tx_done_semaphore = NULL;
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}
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channels[i].tx_queue = xQueueCreate(QUEUE_SIZE, sizeof(TxBuffer)); //can store up to 10 queued transmissions (each transmission size being 192B; based ont he RMT_SYMBOL_BLOCK_SIZE)
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res_tx = rmt_new_tx_channel(&tx_channel_config_template, &channels[i].tx_rmt_handle);
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//init tx channel
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if (res_tx != ESP_OK) {
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// printf("Failed to init TX channel\n");
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ESP_LOGE(DEBUG_TAG, "Failed to init TX channel %d", i);
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continue;
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}
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if (channels[i].tx_rmt_handle == NULL) {
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// printf("TX channel handle is NULL\n");
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ESP_LOGE(DEBUG_TAG, "TX channel handle is NULL on channel %d", i);
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continue;
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}
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channels[i].tx_done_semaphore = xSemaphoreCreateBinary(); //create a binary sem
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TxCallbackContext* tx_callback_ctx = new TxCallbackContext {
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.tx_done_sem = channels[i].tx_done_semaphore,
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.transmit_queue = channels[i].tx_queue,
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.tx_context = &channels[i].encoder_context
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};
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if (channels[i].tx_done_semaphore == NULL){
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ESP_LOGE(DEBUG_TAG, "Failed to create TX done semaphore on channel %d", i);
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continue;
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}
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// res_tx = rmt_tx_register_event_callbacks(channels[i].tx_rmt_handle, &tx_cbs, channels[i].tx_done_semaphore);
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res_tx = rmt_tx_register_event_callbacks(channels[i].tx_rmt_handle, &tx_cbs, static_cast<void*>(tx_callback_ctx));
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if (res_tx != ESP_OK) {
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// printf("Failed to register TX callback\n");
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ESP_LOGE(DEBUG_TAG, "Failed to register TX callback on channel %d", i);
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continue;
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}
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//enable tx channels
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res_tx = rmt_enable(channels[i].tx_rmt_handle);
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if (res_tx != ESP_OK) {
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// printf("Failed to enable TX channel\n");
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ESP_LOGE(DEBUG_TAG, "Failed to enable TX channel %d", i);
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continue;
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}
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printf("Successfully enabled TX channel %d\n", i);
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}
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return ESP_OK;
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}
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bool RMTManager::rmt_tx_done_callback(rmt_channel_handle_t channel, const rmt_tx_done_event_data_t *edata, void *user_data){
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BaseType_t high_task_wakeup = pdFALSE;
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// SemaphoreHandle_t sem = (SemaphoreHandle_t)user_data;
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TxCallbackContext* args = static_cast<TxCallbackContext*>(user_data);
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SemaphoreHandle_t sem = args->tx_done_sem;
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QueueHandle_t queue = args->transmit_queue;
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rmt_encoder_context_t* encoder_context = args->tx_context;
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TxBuffer buf = {};
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BaseType_t xTaskWokenByReceive = pdFALSE;
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xQueueReceiveFromISR(queue, static_cast<TxBuffer*>(&buf), &xTaskWokenByReceive); //remove from the queue
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if (buf.data != nullptr){
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vPortFree((void*)buf.data);
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}
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if (encoder_context != nullptr){
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encoder_context->bit_index = 0;
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encoder_context->byte_index = 0;
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encoder_context->num_symbols = 0;
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}
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xSemaphoreGiveFromISR(sem, &high_task_wakeup);
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return high_task_wakeup == pdTRUE;
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}
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esp_err_t RMTManager::wait_until_send_complete(uint8_t channel_num){
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if (channel_num >= MAX_CHANNELS){
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ESP_LOGE(DEBUG_TAG, "Invalid channel number");
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return ESP_FAIL;
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}
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if(this->channels[channel_num].tx_done_semaphore == NULL){
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return ESP_FAIL;
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}
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if (xSemaphoreTake(this->channels[channel_num].tx_done_semaphore, pdMS_TO_TICKS(10000)) == pdTRUE){
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return ESP_OK;
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}
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ESP_LOGE(DEBUG_TAG, "Timeout of 10000 ms when waiting for RMT TX to complete");
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return ESP_FAIL;
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}
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bool RMTManager::rmt_rx_done_callback(rmt_channel_handle_t channel, const rmt_rx_done_event_data_t *edata, void *user_data){
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BaseType_t high_task_wakeup = pdFALSE;
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QueueHandle_t receive_queue = (QueueHandle_t)user_data;
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// send the received RMT symbols to the parser task
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BaseType_t res = xQueueSendFromISR(receive_queue, edata, &high_task_wakeup);
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if (res != pdTRUE){
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// printf("RX Callback: Failed to enqueue received data\n");
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ESP_LOGE(DEBUG_TAG, "RX Callback: Failed to enqueue received data");
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}
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// return whether any task is woken up
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return high_task_wakeup == pdTRUE;
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}
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esp_err_t RMTManager::init_rx_channel(){
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for (uint8_t i = 0; i < MAX_CHANNELS; i++){
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rmt_rx_channel_config_t rx_channel_config = {
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.gpio_num = rx_gpio[i],
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.clk_src = RMT_CLK_SRC_DEFAULT,
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.resolution_hz = RMT_RESOLUTION_HZ,
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.mem_block_symbols = RMT_SYMBOL_BLOCK_SIZE,
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.flags = {
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.invert_in = false,
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.with_dma = 0
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}
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}; //temp for one rx channel
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//temp
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channels[i].rx_gpio = rx_gpio[i];
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esp_err_t res_rx = rmt_new_rx_channel(&rx_channel_config, &channels[i].rx_rmt_handle);
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if (res_rx != ESP_OK) {
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// printf("Failed to init RX channel - reason %s\n", esp_err_to_name(res_rx));
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ESP_LOGE(DEBUG_TAG, "Failed to init RX channel - reason %s", esp_err_to_name(res_rx));
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return ESP_FAIL;
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}
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if (channels[i].rx_rmt_handle == NULL) {
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// printf("RX channel handle is NULL\n");
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ESP_LOGE(DEBUG_TAG, "RX channel handle is NULL");
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return ESP_FAIL;
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}
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channels[i].rx_queue = xQueueCreate(QUEUE_SIZE, sizeof(rmt_rx_done_event_data_t)); //creating queue with some random size
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rmt_rx_event_callbacks_t cbs = {
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.on_recv_done = RMTManager::rmt_rx_done_callback
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};
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rmt_rx_register_event_callbacks(channels[i].rx_rmt_handle, &cbs, channels[i].rx_queue);
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res_rx = rmt_enable(channels[i].rx_rmt_handle);
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if (res_rx != ESP_OK) {
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// printf("Failed to enable RX channel\n");
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ESP_LOGE(DEBUG_TAG, "Failed to enable RX channel");
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return ESP_FAIL;
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}
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}
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return ESP_OK;
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}
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esp_err_t RMTManager::init(){
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esp_err_t res = this->init_tx_channel();
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if (res != ESP_OK) {
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// printf("Failed to init TX channel\n");
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ESP_LOGE(DEBUG_TAG, "Failed to init TX channel");
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return ESP_FAIL;
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}
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res = this->init_rx_channel();
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if (res != ESP_OK) {
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// printf("Failed to init RX channel\n");
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ESP_LOGE(DEBUG_TAG, "Failed to init RX channel");
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return ESP_FAIL;
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}
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for (uint8_t i = 0; i < MAX_CHANNELS; i++){
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if (channels[i].tx_rmt_handle != NULL && channels[i].rx_rmt_handle != NULL && channels[i].tx_done_semaphore != NULL && channels[i].rx_queue != NULL){
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channels[i].status = CHANNEL_READY_STATUS;
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}
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}
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// printf("Free heap before encoder creation: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_DEFAULT));
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// heap_caps_print_heap_info(MALLOC_CAP_DEFAULT);
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// printf("Free DMA-capable heap before encoder creation: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_DMA));
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// heap_caps_print_heap_info(MALLOC_CAP_DMA);
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return ESP_OK;
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}
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/**
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* @brief This is a callback function called by RMT when transmitting. This function will encode the user data `data` with rising and falling edges based on the bit.a64l
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* The symbols are defined in `RMTManager.h`, where a bit 1 is transmitted as a `RMT_SYMBOL_ONE` and a bit 0 is transmitted as a `RMT_SYMBOL_ZERO`
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*
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* @param data
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* @param data_size
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* @param symbols_written
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* @param symbols_free
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* @param symbols
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* @param done
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* @param arg
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*/
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size_t RMTManager::encoder_callback(const void* data, size_t data_size, size_t symbols_written,
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size_t symbols_free, rmt_symbol_word_t* symbols, bool* done, void* arg){
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rmt_encoder_context_t* ctx = (rmt_encoder_context_t*) arg; //get the current context
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if (symbols_free == 0){ //no space in the tx buffer; don't encode any more bytes until there is space left
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*done = (ctx->byte_index >= data_size);
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return 0;
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}
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const uint8_t* bytes = (const uint8_t*)data; //get the user data as an array of bytes
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size_t symbols_used = 0; //number of symbols used
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while (ctx->byte_index < data_size && symbols_used < symbols_free){ //loop until we have reached the end of the data or filled the RMT symbol buffer (`symbols_free`)
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uint8_t byte = bytes[ctx->byte_index]; //get the byte from the data
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uint8_t bit = (byte >> (7 - ctx->bit_index)) & 0x01; //get the current bit, as determined from the bit index (MSB first)
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#ifndef NRZ_INVERTED
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//Manchester (Ethernet Standard) Encoding
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symbols[symbols_used++] = bit ? RMT_SYMBOL_ONE : RMT_SYMBOL_ZERO; //if the bit is a 1, transmit a 1 symbol; otherwise, transmit 0 symbol
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ctx->num_symbols++;
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#else
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//NRZ-I encoding. Must change the voltage level whenever a bit 1 is detected
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if (ctx->byte_index == 0 && ctx->bit_index == 0){
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//MSB of the first byte - send a rising edge 1 to allow any succeeding 0s to be detected by the receiver
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symbols[symbols_used++] = RMT_SYMBOL_ONE_RISING;
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ctx->current_level = !ctx->current_level; //current level is high
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ctx->num_symbols++;
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}
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if (ctx->zero_count == CONSEC_ZERO_THRESHOLD){
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ctx->current_level = !ctx->current_level;
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symbols[symbols_used++] = ctx->current_level ? RMT_SYMBOL_ONE_RISING : RMT_SYMBOL_ONE_FALLING;
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ctx->num_symbols++;
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ctx->zero_count = 0;
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// Don't advance to next bit – reprocess the current bit
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continue;
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}
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if (bit == 1){
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ctx->current_level = !ctx->current_level; //invert current level
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symbols[symbols_used++] = ctx->current_level ? RMT_SYMBOL_ONE_RISING : RMT_SYMBOL_ONE_FALLING; //if current level is 0 (low), it must be a falling edge. otherwise, it is a rising edge
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ctx->num_symbols++;
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ctx->zero_count = 0;
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} else {
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//bit 0s, maintain current level
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if (ctx->current_level){
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//check if the previous symbol was RMT_SYMBOL_ZERO_HIGH. if it is, simply add another RMT_DURATION_MAX on duration1 (this is a slight optimization to send less symbols)
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if (symbols[symbols_used-1].level0 == 1 && symbols[symbols_used-1].level1 == 1){
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symbols[symbols_used-1].duration1 += RMT_DURATION_MAX;
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} else {
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//previous symbol was not RMT_SYMBOL_ZERO_HIGH
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symbols[symbols_used++] = RMT_SYMBOL_ZERO_HIGH;
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ctx->num_symbols++;
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}
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} else {
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if (symbols[symbols_used-1].level0 == 0 && symbols[symbols_used-1].level1 == 0){
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symbols[symbols_used-1].duration1 += RMT_DURATION_MAX;
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} else {
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symbols[symbols_used++] = ctx->current_level ? RMT_SYMBOL_ZERO_HIGH : RMT_SYMBOL_ZERO_LOW;
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ctx->num_symbols++;
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}
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}
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ctx->zero_count++;
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}
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#endif //NRZ_INVERTED
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ctx->bit_index++;
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if (ctx->bit_index >= 8) {
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//reached the end of the byte; go to the next byte
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ctx->bit_index = 0;
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ctx->byte_index++;
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}
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}
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*done = (ctx->byte_index >= data_size); //if the transmit is done, set the `done` flag to true (all bytes have been encoded)
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return symbols_used;
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}
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void RMTManager::reset_encoder_context(rmt_encoder_context_t* ctx){
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ctx->bit_index = 0;
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ctx->byte_index = 0;
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ctx->num_symbols = 0;
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#ifdef NRZ_INVERTED
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ctx->current_level = false;
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#endif //NRZ_INVERTED
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}
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/**
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* @brief Sends the string `data` of size `size`, with config `config`
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*
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* @param data
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* @param size
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* @param config
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* @return int
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*/
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int RMTManager::send(uint8_t* data, size_t size, rmt_transmit_config_t* config, uint8_t channel_num){
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if (channel_num >= MAX_CHANNELS){
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ESP_LOGE(DEBUG_TAG, "send() error: invalid channel number");
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}
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if (channels[channel_num].status == CHANNEL_NOT_READY_STATUS){
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ESP_LOGE(DEBUG_TAG, "send() error: Channel %d is not ready", channel_num);
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}
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if (this->channels[channel_num].tx_rmt_handle == nullptr) {
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// printf("send() error: tx_chan is NULL\n");
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ESP_LOGE(DEBUG_TAG, "send() error: tx_chan is NULL");
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return ESP_FAIL;
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}
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if (this->channels[channel_num].encoder == nullptr) {
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// printf("send() error: encoder is NULL\n");
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ESP_LOGE(DEBUG_TAG, "send() error: encoder is NULL");
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return ESP_FAIL;
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}
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if (data == nullptr || size == 0 || size > (RMT_SYMBOL_BLOCK_SIZE*4)) {
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// printf("send() error: data pointer NULL or size 0\n");
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ESP_LOGE(DEBUG_TAG, "send() error: data pointer NULL or size 0");
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return ESP_FAIL;
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}
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if (config == nullptr) {
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// printf("send() error: config pointer is NULL\n");
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ESP_LOGE(DEBUG_TAG, "send() error: config pointer is NULL");
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return ESP_FAIL;
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}
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TxBuffer new_data_to_send_buf = {
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.data = (uint8_t*)pvPortMalloc(size), //this may not be thread safe but each channel should be on its own thread so maybe it's ok???
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.length = size
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};
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if (new_data_to_send_buf.data == nullptr){
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ESP_LOGE(DEBUG_TAG, "failed to malloc");
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return ESP_FAIL;
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}
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||||
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memcpy((void*)(new_data_to_send_buf.data), data, size);
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||||
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if (xQueueSendToBack(channels[channel_num].tx_queue, (void*)&new_data_to_send_buf, (TickType_t) 10) != pdPASS){ //note this may not work very well since im not checking the return value; this function can fail if the queue is full
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||||
vPortFree((void*)new_data_to_send_buf.data);
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ESP_LOGE(DEBUG_TAG, "Failed to queue data");
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return ESP_FAIL;
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||||
}
|
||||
|
||||
esp_err_t res = rmt_transmit(this->channels[channel_num].tx_rmt_handle, this->channels[channel_num].encoder, new_data_to_send_buf.data, new_data_to_send_buf.length, config);
|
||||
|
||||
if (res != ESP_OK){
|
||||
// printf("Failed to send %s\n", data);
|
||||
vPortFree((void*)new_data_to_send_buf.data);
|
||||
ESP_LOGE(DEBUG_TAG, "Failed to send %s", data);
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function, given the `symbols` and the length `num`, will convert the received symbols into the symbols defined in `RMTSymbols.h`
|
||||
* this somehow works first try????? (tested with 't', 'O', and 'THIS IS A SAMPLE TEXT MESSAGE')
|
||||
* @param symbols received symbols
|
||||
* @param num number of received symbols
|
||||
* @param decoded decoded symbol string
|
||||
* @param output_num size of `decoded`
|
||||
* @return int - returns the number of symbols written to the buffer
|
||||
*/
|
||||
int RMTManager::decode_symbols(rmt_symbol_word_t* symbols, size_t num, rmt_symbol_word_t* decoded, size_t output_num){
|
||||
if (symbols == NULL || decoded == NULL || num == 0 || output_num == 0){
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
size_t output_index = 0;
|
||||
size_t i = 0;
|
||||
bool curr_high_low = true; //flag to maintain where we are (either high or low)
|
||||
|
||||
#ifdef NRZ_INVERTED
|
||||
uint32_t num_0_symbols_duration = 0, num_0_symbols = 0;
|
||||
uint8_t consecutive_zeros = 0;
|
||||
#endif //NRZ_INVERTED
|
||||
while (output_index < output_num && i < num){
|
||||
// printf("duration0 %d level0 %d duration1 %d level1 %d\n", symbols[i].duration0, symbols[i].level0, symbols[i].duration1, symbols[i].level1); //dummy print receive
|
||||
#ifndef NRZ_INVERTED
|
||||
//manchester encoding
|
||||
/*there are two cases in the beginning:
|
||||
1. if duration0 = 20, then we are in between two symbols (low to high and high to low).
|
||||
in this case, we need to insert a low in the beginning and "split" the current symbol into 2
|
||||
2. if duration0 = 10, then the first symbol should be high to low
|
||||
*/
|
||||
if (symbols[i].duration0 != RMT_DURATION_SYMBOL){
|
||||
if (i != 0){
|
||||
if (curr_high_low){
|
||||
decoded[output_index++] = RMT_SYMBOL_ONE;
|
||||
} else {
|
||||
decoded[output_index++] = RMT_SYMBOL_ZERO;
|
||||
}
|
||||
curr_high_low = !curr_high_low;
|
||||
} else {
|
||||
//need to insert a 0 before received symbols
|
||||
decoded[output_index++] = RMT_SYMBOL_ZERO;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (curr_high_low){
|
||||
decoded[output_index++] = RMT_SYMBOL_ONE;
|
||||
} else {
|
||||
decoded[output_index++] = RMT_SYMBOL_ZERO;
|
||||
}
|
||||
|
||||
//if duration1 = 20, then we are starting low
|
||||
if (symbols[i].duration1 != RMT_DURATION_SYMBOL){
|
||||
curr_high_low = !curr_high_low;
|
||||
}
|
||||
#else
|
||||
//nrz-i encoding - bit stuffing doesn't work
|
||||
//there is always a rising edge (period of RMT_DURATION_SYMBOL on high as the first half isn't captured)
|
||||
// if (i == 0){
|
||||
// curr_high_low = true;
|
||||
// if (symbols[i].duration0 == RMT_DURATION_MAX){
|
||||
// //next symbol is a 1 - can continue (first RMT_DURATION is from the first symbol (init rising edge). second RMT_DURATION is second symbol)
|
||||
// i++;
|
||||
// continue;
|
||||
// }
|
||||
// }
|
||||
|
||||
//need to "split"
|
||||
if (symbols[i].duration0 % (RMT_DURATION_SYMBOL * 2) != 0){
|
||||
num_0_symbols_duration = symbols[i].duration0 - RMT_DURATION_SYMBOL; //last waveform has duration0 with some duration that's only a multiple of RMT_DURATION_SYMBOL
|
||||
}else {
|
||||
num_0_symbols_duration = symbols[i].duration0 - RMT_DURATION_SYMBOL * 2; //one from the rising edge, one from the falling edge
|
||||
}
|
||||
|
||||
|
||||
num_0_symbols = num_0_symbols_duration / RMT_DURATION_MAX; //should be the number of 0 symbols
|
||||
for (int j = 0; j < num_0_symbols && output_index < output_num; j++){
|
||||
decoded[output_index++] = curr_high_low ? RMT_SYMBOL_ZERO_HIGH : RMT_SYMBOL_ZERO_LOW;
|
||||
consecutive_zeros++;
|
||||
}
|
||||
|
||||
curr_high_low = !curr_high_low;
|
||||
if (output_index >= output_num){
|
||||
break;
|
||||
}
|
||||
|
||||
if (!curr_high_low){
|
||||
decoded[output_index++] = RMT_SYMBOL_ONE_FALLING;
|
||||
} else {
|
||||
decoded[output_index++] = RMT_SYMBOL_ONE_RISING;
|
||||
}
|
||||
|
||||
// if (consecutive_zeros == MAX_ZER){
|
||||
// consecutive_zeros = 0;
|
||||
// } else {
|
||||
// if (!curr_high_low) {
|
||||
// decoded[output_index++] = RMT_SYMBOL_ONE_FALLING;
|
||||
// } else {
|
||||
// decoded[output_index++] = RMT_SYMBOL_ONE_RISING;
|
||||
// }
|
||||
// consecutive_zeros = 0; // reset zero count after a real 1 bit
|
||||
// }
|
||||
|
||||
if (symbols[i].duration1 == 0){
|
||||
break; //last waveform has duration1 = 0
|
||||
}
|
||||
|
||||
num_0_symbols_duration = symbols[i].duration1 - RMT_DURATION_SYMBOL * 2; //one from the falling edge, one from the rising edge
|
||||
num_0_symbols = num_0_symbols_duration / RMT_DURATION_MAX; //should be the number of 0 symbols
|
||||
|
||||
for (int j = 0; j < num_0_symbols && output_index < output_num; j++){
|
||||
decoded[output_index++] = curr_high_low ? RMT_SYMBOL_ZERO_HIGH : RMT_SYMBOL_ZERO_LOW;
|
||||
}
|
||||
|
||||
curr_high_low = !curr_high_low;
|
||||
if (output_index >= output_num){
|
||||
break;
|
||||
}
|
||||
if (!curr_high_low){
|
||||
decoded[output_index++] = RMT_SYMBOL_ONE_FALLING;
|
||||
} else {
|
||||
decoded[output_index++] = RMT_SYMBOL_ONE_RISING;
|
||||
}
|
||||
|
||||
// if (consecutive_zeros == 5){
|
||||
// consecutive_zeros = 0;
|
||||
// } else {
|
||||
// if (!curr_high_low) {
|
||||
// decoded[output_index++] = RMT_SYMBOL_ONE_FALLING;
|
||||
// } else {
|
||||
// decoded[output_index++] = RMT_SYMBOL_ONE_RISING;
|
||||
// }
|
||||
// consecutive_zeros = 0; // reset zero count after a real 1 bit
|
||||
// }
|
||||
|
||||
#endif //NRZ_INVERTED
|
||||
|
||||
i++;
|
||||
|
||||
}
|
||||
|
||||
return (int)output_index;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This converts the parsed symbols into a string of size `output_index`
|
||||
*
|
||||
* @param symbols Parsed received symbols (see `RMTSymbols.h` for the definitions of the symbols)
|
||||
* @param num Length of `symbols`
|
||||
* @param string Output string encoded by the symbols
|
||||
* @param output_num `length of the char array`
|
||||
* @return int - length of the output string (-1 if failure)
|
||||
*/
|
||||
int RMTManager::convert_symbols_to_char(rmt_symbol_word_t* symbols, size_t num, uint8_t* string, size_t output_num){
|
||||
if (symbols == NULL || string == NULL || num == 0 || output_num == 0){
|
||||
return ESP_FAIL;
|
||||
}
|
||||
size_t bit_count = 0;
|
||||
char byte = 0;
|
||||
size_t output_index = 0;
|
||||
int i = 0;
|
||||
|
||||
while (i < num && output_index < output_num){
|
||||
#ifndef NRZ_INVERTED
|
||||
if (symbols[i].level0 == 0 && symbols[i].level1 == 1){
|
||||
//zero
|
||||
byte = byte << 1;
|
||||
}else if (symbols[i].level0 == 1 && symbols[i].level1 == 0) {
|
||||
byte = (byte << 1) + 1;
|
||||
} else {
|
||||
return ESP_FAIL;
|
||||
}
|
||||
#else
|
||||
//nrz-i
|
||||
|
||||
if (symbols[i].level0 != symbols[i].level1){
|
||||
//bit 1
|
||||
byte = (byte << 1) + 1;
|
||||
} else if (symbols[i].level0 == symbols[i].level1){
|
||||
//bit 0
|
||||
byte = byte << 1;
|
||||
} else {
|
||||
return ESP_FAIL;
|
||||
}
|
||||
#endif //NRZ_INVERTED
|
||||
|
||||
bit_count++;
|
||||
if (bit_count == 8){
|
||||
//a byte has been parsed
|
||||
// printf("inserting %b\n", byte);
|
||||
string[output_index++] = byte;
|
||||
byte = 0;
|
||||
bit_count = 0;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
printf("output_index %d\n", output_index);
|
||||
return (int)output_index;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Start async RX job
|
||||
*
|
||||
* @return esp_err_t
|
||||
*/
|
||||
esp_err_t RMTManager::start_receiving(uint8_t channel_num){
|
||||
if (channel_num >= MAX_CHANNELS){
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
if (channels[channel_num].status == CHANNEL_LISTENING){
|
||||
return ESP_OK; //failed to receive earlier; no need to start the async rx job again (alreayd running)
|
||||
}
|
||||
|
||||
if (channels[channel_num].status == CHANNEL_NOT_READY_STATUS){
|
||||
ESP_LOGE(DEBUG_TAG, "RX Channel is not ready");
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
if (channels[channel_num].rx_rmt_handle == NULL){
|
||||
ESP_LOGE(DEBUG_TAG, "RX Channel not ready");
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
esp_err_t res = rmt_receive(channels[channel_num].rx_rmt_handle, channels[channel_num].raw_symbols, sizeof(channels[channel_num].raw_symbols), &this->receive_config);
|
||||
|
||||
if (res != ESP_OK){
|
||||
// printf("Failed to start receive\n");
|
||||
ESP_LOGE(DEBUG_TAG, "Failed to start receive");
|
||||
}
|
||||
|
||||
channels[channel_num].status = CHANNEL_LISTENING;
|
||||
|
||||
return res;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Function to get the received messages
|
||||
*
|
||||
* @return int
|
||||
*/
|
||||
int RMTManager::receive(uint8_t* recv_buf, size_t size, size_t* output_size, uint8_t channel_num){
|
||||
if (channel_num >= MAX_CHANNELS){
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
if (channels[channel_num].status != CHANNEL_LISTENING){
|
||||
ESP_LOGE(DEBUG_TAG, "receive(): Receive channel %d is not ready to receive due to init fail or async job was not started", channel_num);
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
rmt_rx_done_event_data_t rx_data;
|
||||
if (xQueueReceive(channels[channel_num].rx_queue, &rx_data, pdMS_TO_TICKS(15000)) != pdTRUE){ //this will wait until a message has arrived or not
|
||||
// printf("Timeout occurred while waiting for RX event\n");
|
||||
ESP_LOGE(DEBUG_TAG, "Timeout occurred while waiting for RX event - didn't receive a message in time");
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
channels[channel_num].status = CHANNEL_READY_STATUS;
|
||||
|
||||
// printf("Got %d symbols\n", rx_data.num_symbols);
|
||||
// printf("raw symbols:\n");
|
||||
// for (int i = 0; i < rx_data.num_symbols; i++){
|
||||
// printf("duration0 %d level0 %d duration1 %d level1 %d\n", rx_data.received_symbols[i].duration0, rx_data.received_symbols[i].level0, rx_data.received_symbols[i].duration1, rx_data.received_symbols[i].level1);
|
||||
// }
|
||||
|
||||
int num = this->decode_symbols(rx_data.received_symbols, rx_data.num_symbols, channels[channel_num].decoded_recv_symbols, sizeof(channels[channel_num].decoded_recv_symbols));
|
||||
if (num < 0){
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
// printf("\n\nparsed symbols:\n");
|
||||
// for (int i = 0; i < num; i++){
|
||||
// printf("duration0 %d level0 %d duration1 %d level1 %d\n", decoded_recv_symbols[i].duration0, decoded_recv_symbols[i].level0, decoded_recv_symbols[i].duration1, decoded_recv_symbols[i].level1);
|
||||
// }
|
||||
|
||||
*output_size = this->convert_symbols_to_char(channels[channel_num].decoded_recv_symbols, num, recv_buf, size);
|
||||
if (*output_size < 0){
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
RMTManager::~RMTManager(){
|
||||
for (uint8_t i = 0; i < MAX_CHANNELS; i++){
|
||||
if (this->channels[i].tx_rmt_handle) {
|
||||
rmt_disable(this->channels[i].tx_rmt_handle);
|
||||
rmt_del_channel(this->channels[i].tx_rmt_handle);
|
||||
}
|
||||
if (channels[i].rx_rmt_handle) {
|
||||
rmt_disable(channels[i].rx_rmt_handle);
|
||||
rmt_del_channel(channels[i].rx_rmt_handle);
|
||||
}
|
||||
if (channels[i].rx_queue) {
|
||||
vQueueDelete(channels[i].rx_queue);
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user