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ESP-Nodes/ESP-IDF_Robot/main/blink_example_main.c

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/* Robot Controls
Generate PWM signals to control motors.
By: Alexander Bobkov
Date: Dec 21, 2024
built-in LED GPIO: 10
build-in push button GPIO: 3
*/
#include <stdio.h>
#include <stdlib.h>
#include <inttypes.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "driver/gpio.h"
#include "driver/ledc.h"
//#include "driver/mcpwm.h"
#include "esp_log.h"
#include "led_strip.h"
#include "sdkconfig.h"
/* ESP-NOW */
#include "esp_now.h"
#include "esp_mac.h"
//#include "espnow_utils.h"
#include "esp_wifi.h"
#include "esp_system.h"
#include "espnow_config.h"
static const char *TAG = "ESP IDF Robot";
// LED
#define LEDC_TIMER LEDC_TIMER_0
#define LEDC_MODE LEDC_LOW_SPEED_MODE // LEDC_LOW_SPEED_MODE
#define LEDC_OUTPUT_IO (5) // Define the output GPIO
#define LEDC_CHANNEL LEDC_CHANNEL_0
#define LEDC_DUTY_RES LEDC_TIMER_13_BIT //
/*
TIMER RESOLUTION MAX VALUE HALF-DUTY
10 1023 511
13 8191 4095
*/
#define LEDC_DUTY (7820) // 8068, 7944, 7820, 7696, 7572, *7680*, 7424, 7168, 6144, 512, 768
#define LEDC_FREQUENCY (4000) // For LED the freuqncy of 500Hz seems to be sufficient. // Frequency in Hertz. For DC motor, set frequency at 5 kHz
/* Use project configuration menu (idf.py menuconfig) to choose the GPIO to blink,
or you can edit the following line and set a number here.
*/
// Retrieve values from configuration menu
#define BLINK_GPIO CONFIG_BLINK_GPIO // 10 GPIO of on-board LED
#define PUSH_BTN_GPIO CONFIG_BUTTON_GPIO // 3 GPIO of on-board push-button
#define MTR_FL_GPIO 0 //CONFIG_MOTOR_FRONT_LEFT_GPIO
#define ESP_INTR_FLAG_DEFAULT 0
#define GPIO_INPUT_PIN_SEL ((1ULL<<PUSH_BTN_GPIO))
#define GPIO_OUTPUT_PIN_SEL ((1ULL<<BLINK_GPIO))
/* ESPNOW can work in both station and softap mode. It is configured in menuconfig. */
#if CONFIG_ESPNOW_WIFI_MODE_STATION
#define ESPNOW_WIFI_MODE WIFI_MODE_STA
#define ESPNOW_WIFI_IF ESP_IF_WIFI_STA
#else
#define ESPNOW_WIFI_MODE WIFI_MODE_AP
#define ESPNOW_WIFI_IF ESP_IF_WIFI_AP
#endif
static QueueHandle_t gpio_evt_queue = NULL;
static uint8_t s_led_state = 0;
/* ESP NOW*/
#define ESPNOW_MAXDELAY 512
static QueueHandle_t espnow_queue;
static uint8_t broadcast_mac[ESP_NOW_ETH_ALEN] = {};
static uint8_t espnow_seq[ESPNOW_DATA_MAX] = {0, 0};
static uint8_t espnow_broadcast_mac[ESP_NOW_ETH_ALEN] = {};
typedef struct struct_message {
char node[32];
uint8_t motor_a_pwm;
} struct_message;
uint8_t broadcastAddress[] = {};
struct_message controlData;
esp_now_peer_info_t peerInfo;
#ifdef CONFIG_BLINK_LED_STRIP
static led_strip_handle_t led_strip;
static void blink_led(void)
{
/* If the addressable LED is enabled */
if (s_led_state) {
/* Set the LED pixel using RGB from 0 (0%) to 255 (100%) for each color */
led_strip_set_pixel(led_strip, 0, 16, 16, 16);
/* Refresh the strip to send data */
led_strip_refresh(led_strip);
} else {
/* Set all LED off to clear all pixels */
led_strip_clear(led_strip);
}
}
static void configure_led(void)
{
ESP_LOGI(TAG, "Example configured to blink addressable LED!");
/* LED strip initialization with the GPIO and pixels number*/
led_strip_config_t strip_config = {
.strip_gpio_num = BLINK_GPIO,
.max_leds = 1, // at least one LED on board
};
#if CONFIG_BLINK_LED_STRIP_BACKEND_RMT
led_strip_rmt_config_t rmt_config = {
.resolution_hz = 10 * 1000 * 1000, // 10MHz
.flags.with_dma = false,
};
ESP_ERROR_CHECK(led_strip_new_rmt_device(&strip_config, &rmt_config, &led_strip));
#elif CONFIG_BLINK_LED_STRIP_BACKEND_SPI
led_strip_spi_config_t spi_config = {
.spi_bus = SPI2_HOST,
.flags.with_dma = true,
};
ESP_ERROR_CHECK(led_strip_new_spi_device(&strip_config, &spi_config, &led_strip));
#else
#error "unsupported LED strip backend"
#endif
/* Set all LED off to clear all pixels */
led_strip_clear(led_strip);
}
#elif CONFIG_BLINK_LED_GPIO
static void blink_led(void)
{
/* Set the GPIO level according to the state (LOW or HIGH)*/
gpio_set_level(BLINK_GPIO, s_led_state);
}
#else
#error "unsupported LED type"
#endif
static void IRAM_ATTR gpio_isr_handler (void* arg) {
uint32_t gpio_num = (uint32_t) arg;
xQueueSendFromISR(gpio_evt_queue, &gpio_num, NULL);
}
static void gpio_task (void* arg) {
uint32_t io_num;
for (;;) {
if (xQueueReceive(gpio_evt_queue, &io_num, portMAX_DELAY)) {
printf("GPIO[%"PRIu32"] intr, val: %d\n", io_num, gpio_get_level(io_num));
}
}
}
/*static void configure_led(void)
{
ESP_LOGI(TAG, "Configured to blink GPIO LED!");
gpio_reset_pin(BLINK_GPIO);
// Set the GPIO as a push/pull output
gpio_set_direction(BLINK_GPIO, GPIO_MODE_OUTPUT);
}*/
static void configure_button (void) {
ESP_LOGI(TAG, "Configured on-board push button");
//gpio_reset_pin(PUSH_BTN_GPIO);
//gpio_set_direction(PUSH_BTN_GPIO, GPIO_MODE_INPUT);
}
/*static void configure_dc_mc (void) {
mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, MTR_FL_GPIO);
mcpwm_config_t mcpwm_config;
mcpwm_config.frequency = 4000;
mcpwm_config.cmpr_a = 50;
mcpwm_config.counter_mode = MCPWM_UP_COUNTER;
mcpwm_config.duty_mode = MCPWM_DUTY_MODE_0;
ESP_ERROR_CHECK(mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &mcpwm_config));
ESP_ERROR_CHECK(mcpwm_set_duty_type(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, MCPWM_DUTY_MODE_0));
ESP_ERROR_CHECK(mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 50));
}*/
static void ledc_init (void) {
ledc_timer_config_t ledc_timer = {
.speed_mode = LEDC_MODE,
.duty_resolution = LEDC_DUTY_RES,
.timer_num = LEDC_TIMER,
.freq_hz = LEDC_FREQUENCY,
.clk_cfg = LEDC_APB_CLK
};
ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
ledc_channel_config_t ledc_channel = {
.speed_mode = LEDC_MODE,
.channel = LEDC_CHANNEL,
.timer_sel = LEDC_TIMER,
.intr_type = LEDC_INTR_DISABLE,
.gpio_num = LEDC_OUTPUT_IO,
.duty = LEDC_DUTY,
.hpoint = 0,
};
ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
//ESP_ERROR_CHECK(ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, LEDC_DUTY));
//ESP_ERROR_CHECK(ledc_update_duty(LEDC_MODE, LEDC_CHANNEL));
}
/* ESP-NOW */
// Wi-Fi should start before using ESP-NOW
static void wifi_init()
{
ESP_ERROR_CHECK(esp_netif_init());
ESP_ERROR_CHECK(esp_event_loop_create_default());
wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
ESP_ERROR_CHECK( esp_wifi_init(&cfg) );
ESP_ERROR_CHECK( esp_wifi_set_storage(WIFI_STORAGE_RAM) );
ESP_ERROR_CHECK( esp_wifi_set_mode(ESPNOW_WIFI_MODE) );
ESP_ERROR_CHECK( esp_wifi_start());
ESP_ERROR_CHECK( esp_wifi_set_channel(CONFIG_ESPNOW_CHANNEL, WIFI_SECOND_CHAN_NONE));
}
static void espnow_send_cb (const uint8_t *mac_addr, esp_now_send_status_t status) {
}
static void espnow_recv_cb (const esp_now_recv_info_t *recv_info, const uint8_t *data, int len) {
espnow_event_t evt;
espnow_event_recv_cb_t *recv_cb = &evt.info.recv_cb;
}
void espnow_data_prepare(espnow_send_param_t *send_param) {}
static void espnow_task (void *pvParameter) {}
static esp_err_t espnow_init(void) {
espnow_send_param_t *send_param;
espnow_queue = xQueueCreate(ESPNOW_QUEUE_SIZE, sizeof(espnow_event_t));
// Confirm that queue exists, and continue if so.
if (espnow_queue == NULL) {
ESP_LOGE(TAG, "Create ESP-NOW mutex failed.");
return ESP_FAIL;
}
/* Initialize ESPNOW and register sending and receiving callback function. */
ESP_ERROR_CHECK( esp_now_init() );
ESP_ERROR_CHECK( esp_now_register_send_cb(espnow_send_cb) );
ESP_ERROR_CHECK( esp_now_register_recv_cb(espnow_recv_cb) );
#if CONFIG_ESPNOW_ENABLE_POWER_SAVE
ESP_ERROR_CHECK( esp_now_set_wake_window(CONFIG_ESPNOW_WAKE_WINDOW) );
ESP_ERROR_CHECK( esp_wifi_connectionless_module_set_wake_interval(CONFIG_ESPNOW_WAKE_INTERVAL) );
#endif
/* Set primary master key in menuconfig. */
ESP_ERROR_CHECK( esp_now_set_pmk((uint8_t *)CONFIG_ESPNOW_PMK) );
/* Add broadcast peer information to peer list. */
esp_now_peer_info_t *peer = malloc(sizeof(esp_now_peer_info_t));
if (peer == NULL) {
ESP_LOGE(TAG, "Malloc peer information fail");
vSemaphoreDelete(espnow_queue);
esp_now_deinit();
return ESP_FAIL;
}
memset(peer, 0, sizeof(esp_now_peer_info_t));
peer->channel = CONFIG_ESPNOW_CHANNEL;
peer->ifidx = ESPNOW_WIFI_IF;
peer->encrypt = false;
memcpy(peer->peer_addr, broadcast_mac, ESP_NOW_ETH_ALEN);
ESP_ERROR_CHECK( esp_now_add_peer(peer) );
free(peer);
/* Initialize sending parameters. */
send_param = malloc(sizeof(espnow_send_param_t));
if (send_param == NULL) {
ESP_LOGE(TAG, "Malloc send parameter fail");
vSemaphoreDelete(espnow_queue);
esp_now_deinit();
return ESP_FAIL;
}
memset(send_param, 0, sizeof(espnow_send_param_t));
send_param->unicast = false;
send_param->broadcast = true;
send_param->state = 0;
send_param->magic = esp_random();
send_param->count = CONFIG_ESPNOW_SEND_COUNT;
send_param->delay = CONFIG_ESPNOW_SEND_DELAY;
send_param->len = CONFIG_ESPNOW_SEND_LEN;
send_param->buffer = malloc(CONFIG_ESPNOW_SEND_LEN);
if (send_param->buffer == NULL) {
ESP_LOGE(TAG, "Malloc send buffer fail");
free(send_param);
vSemaphoreDelete(espnow_queue);
esp_now_deinit();
return ESP_FAIL;
}
memcpy(send_param->dest_mac, broadcast_mac, ESP_NOW_ETH_ALEN);
example_espnow_data_prepare(send_param);
xTaskCreate(espnow_task, "example_espnow_task", 2048, send_param, 4, NULL);
return ESP_OK;
}
void app_main(void)
{
// Initialize LED
ledc_init();
// Initialize the config structure.
gpio_config_t io_conf = {};
/* Configure the peripheral according to the LED type */
//configure_led();
// Configure on-board LED
io_conf.intr_type = GPIO_INTR_DISABLE;
io_conf.mode = GPIO_MODE_OUTPUT;
io_conf.pin_bit_mask = GPIO_OUTPUT_PIN_SEL;
io_conf.pull_down_en = 0;
io_conf.pull_up_en = 0;
gpio_config(&io_conf);
// Configure on-board push button
io_conf.intr_type = GPIO_INTR_POSEDGE;
io_conf.pin_bit_mask = GPIO_INPUT_PIN_SEL;
io_conf.mode = GPIO_MODE_INPUT;
io_conf.pull_up_en = 1;
gpio_config(&io_conf);
// Set push button interrupt
gpio_set_intr_type(PUSH_BTN_GPIO, GPIO_INTR_NEGEDGE);//ANYEDGE);
gpio_evt_queue = xQueueCreate(10, sizeof(uint32_t));
xTaskCreate(gpio_task, "GPIO task", 2048, NULL, 10, NULL);
gpio_install_isr_service(ESP_INTR_FLAG_DEFAULT);
gpio_isr_handler_add(PUSH_BTN_GPIO, gpio_isr_handler, (void*) PUSH_BTN_GPIO);
configure_button();
//configure_dc_mc();
printf("Added button interrupt");
// ESP-NOW
wifi_init();
espnow_init();
//esp_now_add_peer(&peerInfo);
while (1) {
ESP_LOGI(TAG, "Turning the LED %s!", s_led_state == true ? "ON" : "OFF");
//blink_led();
/* Toggle the LED state */
gpio_set_level(BLINK_GPIO, s_led_state);
s_led_state = !s_led_state;
vTaskDelay(CONFIG_BLINK_PERIOD / portTICK_PERIOD_MS);
}
}
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