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
237
main/main_rmt_timing.cpp
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237
main/main_rmt_timing.cpp
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#include <cstdio>
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#include <memory>
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#include "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_flash.h"
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#include "nvs_flash.h"
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#include "RMTManager.h"
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#include <esp_netif.h>
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#include <esp_event.h>
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#include <freertos/semphr.h>
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#define BOARD_A_MESSAGE "MESSAGE FROM BOARD A"
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#define BOARD_B_MESSAGE "MESSAGE FROM BOARD B"
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#ifdef TIME_TEST
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#include <inttypes.h>
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#include "driver/gptimer.h"
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#endif //TIME_TEST
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// void rmt_task(void* arg) {
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// vTaskDelay(pdMS_TO_TICKS(3000)); // wait 3 seconds to stabilize heap
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// const auto obj = std::make_unique<RMTManager>();
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// const char* message = "THIS IS A SAMPLE TEXT MESSAGE";
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// rmt_transmit_config_t tx_config = {
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// .loop_count = 0,
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// .flags = {
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// .eot_level = 0 // typically 0 or 1, depending on your output idle level
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// }
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// };
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// int res = obj->send(message, strlen(message), &tx_config);
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// if (res == ESP_OK){
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// printf("Successfully sent '%s'\n", message);
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// } else{
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// printf("Failed to send '%s'\n", message);
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// }
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// vTaskDelete(NULL);
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// }
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void print_binary(unsigned char c) {
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for (int i = 7; i >= 0; i--) {
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printf("%d", (c >> i) & 1);
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}
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}
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void print_string_binary(const char *str) {
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while (*str) {
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print_binary((unsigned char)*str);
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printf(" "); // space between bytes for readability
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str++;
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}
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printf("\n");
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}
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/**
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* @brief This main function shows the RMT TX and RX working by sending a message string in `message` over a GPIO pin and receiving on another pin
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*
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*/
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extern "C" [[noreturn]] void app_main(void) {
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esp_err_t ret = nvs_flash_init();
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if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
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ESP_ERROR_CHECK(nvs_flash_erase());
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ret = nvs_flash_init();
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}
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ESP_ERROR_CHECK(ret);
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esp_netif_init();
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esp_event_loop_create_default();
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printf("finished esp init\n");
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printf("Hello world!\n");
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const auto obj = std::make_unique<RMTManager>();
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#ifdef TIME_TEST
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gptimer_handle_t gptimer = NULL;
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gptimer_config_t timer_config = {
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.clk_src = GPTIMER_CLK_SRC_DEFAULT,
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.direction = GPTIMER_COUNT_UP,
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.resolution_hz = 1 * 1000 * 1000, // 1MHz, 1 tick = 1us
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};
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ESP_ERROR_CHECK(gptimer_new_timer(&timer_config, &gptimer));
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ESP_ERROR_CHECK(gptimer_enable(gptimer));
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ESP_ERROR_CHECK(gptimer_start(gptimer));
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uint64_t start_count = 0, end_count = 0;
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uint64_t sum = 0; //used to calculate the average send time
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uint64_t num_iterations = 0;
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#endif //TIME_TEST
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#ifdef BOARD_A
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const char* message = BOARD_A_MESSAGE;
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#elif BOARD_B
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const char* message = BOARD_B_MESSAGE;
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#else
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const char* message = "THIS IS A SAMPLE TEXT MESSAGE";
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#endif
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#ifdef VERIFY_RECEIVE
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uint64_t num_received = 0;
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uint64_t num_corrupted = 0;
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#endif //VERIFY_RECEIVE
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// const char* message = "t";
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rmt_transmit_config_t tx_config = {
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.loop_count = 0,
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.flags = {
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.eot_level = 0 // typically 0 or 1, depending on your output idle level
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}
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};
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int res = ESP_OK;
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char recv_message[256];
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// xTaskCreate(rmt_task, "rmt_task", 4096, NULL, 5, NULL);
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while(true){
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#ifndef TIME_TEST
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printf("Starting RX receive\n");
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res = obj->start_receiving();
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if (res != ESP_OK){
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printf("Something went wrong... terminating..\n");
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continue;
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}
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#endif //TIME_TEST
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printf("sending message %s - binary:\n", message);
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print_string_binary(message);
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#ifdef TIME_TEST
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ESP_ERROR_CHECK(gptimer_get_raw_count(gptimer, &start_count));
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#endif //TIME_TEST
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res = obj->send(message, strlen(message), &tx_config);
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if (res == ESP_OK){
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// printf("Successfully started send job for message '%s'\n", message);
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} else{
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printf("Failed to start send job for message '%s'\n", message);
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// continue; //do not continue on
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}
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res = obj->wait_until_send_complete(); //will wait until the the message is sent
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#ifdef TIME_TEST
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ESP_ERROR_CHECK(gptimer_get_raw_count(gptimer, &end_count));
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#endif //TIME_TEST
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if (res == ESP_OK){
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#ifndef TIME_TEST
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printf("Successfully sent message '%s'\n", message);
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#else
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printf("Sent %zu B sized message %s in %" PRIu64 " us on iteration %" PRIu64 "\n", strlen(message), message, end_count-start_count, num_iterations);
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sum += (end_count - start_count);
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#endif //TIME_TEST
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} else{
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printf("Failed to send '%s'\n", message);
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continue;
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}
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#ifndef TIME_TEST
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res = obj->receive(recv_message, sizeof(recv_message));
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if (res != 0){
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printf("Failed to receive message\n");
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} else {
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printf("Received message %s\n", recv_message);
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}
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#ifdef VERIFY_RECEIVE
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printf("Checking message for corruption on iteration %lld\n", num_received);
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#ifdef BOARD_A
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//check if BOARD_B_MESSAGE was received correctly
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if (strcmp(recv_message, BOARD_B_MESSAGE) != 0){
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num_corrupted++;
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}
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#elif BOARD_B
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if (strcmp(recv_message, BOARD_A_MESSAGE) != 0){
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num_corrupted++;
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}
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#endif //BOARD_B
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num_received++;
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#endif //VERIFY_RECEIVE
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memset(recv_message, 0, sizeof(recv_message));
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#endif //TIME_TEST
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vTaskDelay(2000 / portTICK_PERIOD_MS);
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#ifdef TIME_TEST
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num_iterations++;
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if (num_iterations > 100){
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break;
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}
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#endif //TIME_TEST
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#ifdef VERIFY_RECEIVE
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if (num_received > 100){
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break;
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}
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#endif //VERIFY_RECEIVE
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}
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#ifdef TIME_TEST
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float avg = (sum/num_iterations) / 1e6; //avg send time us to s
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printf("Average Transmission Rate is: %.9f bits per second\n", (float)((strlen(message) * 8)/avg));
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printf("Average sent time is: %.9f seconds\n", avg);
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#endif //TIME_TEST
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#ifdef VERIFY_RECEIVE
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float avg_received_corrupted = (num_corrupted * 100) / (num_received-1);
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printf("Average corruption rate is: %.6f %% \n", avg_received_corrupted);
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printf("Total number of corrupted messages over %lld iterations is: %lld\n", num_received-1, num_corrupted);
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#endif //VERIFY_RECEIVE
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for (int i = 5; i >= 0; i--) {
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printf("Restarting in %d seconds...\n", i);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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}
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printf("Restarting now.\n");
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fflush(stdout);
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esp_restart();
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while(true){
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//dummy wait
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vTaskDelay(2000 / portTICK_PERIOD_MS);
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}
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}
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