mirror of
https://github.com/alexandrebobkov/ESP-Nodes.git
synced 2025-11-04 10:01:05 +00:00
450 lines
17 KiB
C
450 lines
17 KiB
C
#include "esp_log.h"
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#include "esp_mac.h"
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#include "esp_now.h"
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#include "esp_crc.h"
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#include "freertos/FreeRTOS.h"
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#include "common.h"
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#include "config.h"
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static const char *TAG = "RC";
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void onDataSent (uint8_t *mac_addr, esp_now_send_status_t status) {
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//status == ESP_NOW_SEND_SUCCESS ? "Delivery Success" : "Delivery Fail");
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ESP_LOGW(TAG, "Packet send status: %i", status);
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}
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void sensors_data_prepare(espnow_data_packet_t *send_packet) {
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//sensors_data_t *buffer;
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//malloc(sizeof(sensors_data_t));
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//send_packet->buffer = &buffer;
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//sensors_data_t *buffer = (sensors_data_t *)send_packet->buffer;
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sensors_data_t *buffer = (sensors_data_t *)send_packet->buffer;
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assert(send_packet->len >= sizeof(sensors_data_t));
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buffer->type = 1;
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buffer->crc = 0;
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buffer->x_axis = 0;
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buffer->y_axis = 0;
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buffer->nav_bttn = 0;
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buffer->motor1_rpm_pcm = 0;
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buffer->motor2_rpm_pcm = 0;
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buffer->motor3_rpm_pcm = 0;
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buffer->motor4_rpm_pcm = 0;
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ESP_LOGW(TAG, "x-axis: %x", (uint8_t)buffer->x_axis);
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buffer->crc = esp_crc16_le(UINT16_MAX, (uint8_t const *)buffer, send_packet->len);
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}
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static void rc_send_data_task2 (void *pvParameter) {
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espnow_data_packet_t *send_packet = (espnow_data_packet_t *)pvParameter;
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while (true) {
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//memcpy(send_packet->dest_mac, receiver_mac, ESP_NOW_ETH_ALEN);
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esp_err_t r = esp_now_send(receiver_mac, send_packet->buffer, sizeof(sensors_data_t));//send_packet->len);
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//esp_now_send(send_packet->dest_mac, send_packet->buffer, send_packet->len);
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if (r != ESP_OK) {
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ESP_LOGE(TAG, "Send error.");
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vTaskDelete(NULL);
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break;
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}
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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}
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}
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static void rc_send_data_task (void *arg) {
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while (true) {
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flagToSend = !flagToSend;
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if (esp_now_is_peer_exist(receiver_mac)) {
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sendData();
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}
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vTaskDelay (1000 / portTICK_PERIOD_MS);
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}
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}
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void sendData (void) {
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// Send data, specify receiver MAC address, pointer to the data being sent, and length of data being sent.
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sensors_data_t buffer;
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buffer.type = 1;
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buffer.crc = 0;
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buffer.x_axis = 240;
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buffer.y_axis = 2040;
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buffer.nav_bttn = 0;
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buffer.motor1_rpm_pcm = 10;
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buffer.motor2_rpm_pcm = 0;
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buffer.motor3_rpm_pcm = 0;
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buffer.motor4_rpm_pcm = 0;
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ESP_LOGI(TAG, "x-axis: 0x%04X", (uint8_t)buffer.x_axis);
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ESP_LOGI(TAG, "y-axis: 0x%04X", (uint8_t)buffer.y_axis);
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ESP_LOGI(TAG, "pcm 1: 0x%04X", buffer.motor1_rpm_pcm);
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ESP_LOGI(TAG, "pcm 2: 0x%04X", (uint8_t)buffer.motor2_rpm_pcm);
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ESP_LOGI(TAG, "pcm 3: 0x%04X", (uint8_t)buffer.motor3_rpm_pcm);
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ESP_LOGI(TAG, "pcm 4: 0x%04X", (uint8_t)buffer.motor4_rpm_pcm);
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//uint8_t result = esp_now_send(receiver_mac, &flagToSend, sizeof(flagToSend));
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uint8_t result = esp_now_send(receiver_mac, &buffer, sizeof(buffer));
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//uint8_t result = esp_now_send(receiver_mac, (sensors_data_t *)&buffer, sizeof(buffer));
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if (result != 0) {
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ESP_LOGE("ESP-NOW", "Error sending data!");
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deletePeer();
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}
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else
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ESP_LOGW("ESP-NOW", "Data was sent.");
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}
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/*
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ESP-NOW
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*/
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/* Prepare ESPNOW data to be sent. */
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void sensors_data_prepare(espnow_data_packet_t *send_packet)
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{
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//sensors_data_t *buffer;
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//malloc(sizeof(sensors_data_t));
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//send_packet->buffer = &buffer;
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//sensors_data_t *buffer = (sensors_data_t *)send_packet->buffer;
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sensors_data_t *buffer = (sensors_data_t *)send_packet->buffer;
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assert(send_packet->len >= sizeof(sensors_data_t));
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buffer->type = 1;
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buffer->crc = 0;
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buffer->x_axis = 0;
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buffer->y_axis = 0;
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buffer->nav_bttn = 0;
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buffer->motor1_rpm_pcm = 0;
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buffer->motor2_rpm_pcm = 0;
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buffer->motor3_rpm_pcm = 0;
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buffer->motor4_rpm_pcm = 0;
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ESP_LOGW(TAG, "x-axis: %x", (uint8_t)buffer->x_axis);
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buffer->crc = esp_crc16_le(UINT16_MAX, (uint8_t const *)buffer, send_packet->len);
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}
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void deletePeer (void) {
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uint8_t delStatus = esp_now_del_peer(receiver_mac);
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if (delStatus != 0) {
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ESP_LOGE("ESP-NOW", "Could not delete peer");
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}
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}
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/* ESPNOW sending or receiving callback function is called in WiFi task.
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* Users should not do lengthy operations from this task. Instead, post
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* necessary data to a queue and handle it from a lower priority task. */
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static void example_espnow_send_cb(const uint8_t *mac_addr, esp_now_send_status_t status)
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{
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example_espnow_event_t evt;
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example_espnow_event_send_cb_t *send_cb = &evt.info.send_cb;
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if (mac_addr == NULL) {
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ESP_LOGE(TAG, "Send cb arg error");
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return;
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}
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evt.id = EXAMPLE_ESPNOW_SEND_CB;
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memcpy(send_cb->mac_addr, mac_addr, ESP_NOW_ETH_ALEN);
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send_cb->status = status;
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if (xQueueSend(s_example_espnow_queue, &evt, ESPNOW_MAXDELAY) != pdTRUE) {
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ESP_LOGW(TAG, "Send send queue fail");
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}
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}
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static void example_espnow_recv_cb(const esp_now_recv_info_t *recv_info, const uint8_t *data, int len)
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{
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example_espnow_event_t evt;
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example_espnow_event_recv_cb_t *recv_cb = &evt.info.recv_cb;
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uint8_t * mac_addr = recv_info->src_addr;
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uint8_t * des_addr = recv_info->des_addr;
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if (mac_addr == NULL || data == NULL || len <= 0) {
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ESP_LOGE(TAG, "Receive cb arg error");
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return;
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}
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if (IS_BROADCAST_ADDR(des_addr)) {
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/* If added a peer with encryption before, the receive packets may be
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* encrypted as peer-to-peer message or unencrypted over the broadcast channel.
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* Users can check the destination address to distinguish it.
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*/
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ESP_LOGD(TAG, "Receive broadcast ESPNOW data");
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} else {
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ESP_LOGD(TAG, "Receive unicast ESPNOW data");
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}
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evt.id = EXAMPLE_ESPNOW_RECV_CB;
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memcpy(recv_cb->mac_addr, mac_addr, ESP_NOW_ETH_ALEN);
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recv_cb->data = malloc(len);
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if (recv_cb->data == NULL) {
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ESP_LOGE(TAG, "Malloc receive data fail");
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return;
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}
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memcpy(recv_cb->data, data, len);
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recv_cb->data_len = len;
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if (xQueueSend(s_example_espnow_queue, &evt, ESPNOW_MAXDELAY) != pdTRUE) {
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ESP_LOGW(TAG, "Send receive queue fail");
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free(recv_cb->data);
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}
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}
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/* Parse received ESPNOW data. */
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int example_espnow_data_parse(uint8_t *data, uint16_t data_len, uint8_t *state, uint16_t *seq, uint32_t *magic)
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{
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example_espnow_data_t *buf = (example_espnow_data_t *)data;
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uint16_t crc, crc_cal = 0;
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if (data_len < sizeof(example_espnow_data_t)) {
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ESP_LOGE(TAG, "Receive ESPNOW data too short, len:%d", data_len);
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return -1;
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}
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*state = buf->state;
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*seq = buf->seq_num;
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*magic = buf->magic;
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crc = buf->crc;
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buf->crc = 0;
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crc_cal = esp_crc16_le(UINT16_MAX, (uint8_t const *)buf, data_len);
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if (crc_cal == crc) {
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return buf->type;
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}
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return -1;
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}
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/* Prepare ESPNOW data to be sent. */
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void example_espnow_data_prepare(example_espnow_send_param_t *send_param)
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{
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example_espnow_data_t *buf = (example_espnow_data_t *)send_param->buffer;
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assert(send_param->len >= sizeof(example_espnow_data_t));
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buf->type = 1; // UNICAST IS_BROADCAST_ADDR(send_param->dest_mac) ? EXAMPLE_ESPNOW_DATA_BROADCAST : EXAMPLE_ESPNOW_DATA_UNICAST;
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buf->state = send_param->state;
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buf->seq_num = s_example_espnow_seq[buf->type]++;
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buf->crc = 0;
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buf->magic = send_param->magic;
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/* Fill all remaining bytes after the data with random values */
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//esp_fill_random(buf->payload, send_param->len - sizeof(example_espnow_data_t));
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//memcpy(buf->payload, (uint8_t)16, send_param->len - sizeof(example_espnow_data_t));
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//memcpy(buf->payload[0], (uint8_t)12, send_param->len - sizeof(example_espnow_data_t));
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//memcpy(buf->payload[0], 12, send_param->len - sizeof(example_espnow_data_t));
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buf->payload[0] = (uint8_t)12;
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buf->payload[1] = (uint8_t)10;
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ESP_LOGW(TAG, "Payload: %x", (uint8_t)buf->payload);
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ESP_LOGW(TAG, "payload[0]: %x", (uint8_t)buf->payload[0]);
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ESP_LOGW(TAG, "payload[1]: %x", (uint8_t)buf->payload[1]);
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buf->crc = esp_crc16_le(UINT16_MAX, (uint8_t const *)buf, send_param->len);
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}
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static void example_espnow_task(void *pvParameter)
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{
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example_espnow_event_t evt;
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uint8_t recv_state = 0;
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uint16_t recv_seq = 0;
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uint32_t recv_magic = 0;
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bool is_broadcast = false;
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int ret;
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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ESP_LOGI(TAG, "Start sending broadcast data");
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/* Start sending broadcast ESPNOW data. */
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example_espnow_send_param_t *send_param = (example_espnow_send_param_t *)pvParameter;
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if (esp_now_send(send_param->dest_mac, send_param->buffer, send_param->len) != ESP_OK) {
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ESP_LOGE(TAG, "Send error");
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example_espnow_deinit(send_param);
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vTaskDelete(NULL);
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}
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while (xQueueReceive(s_example_espnow_queue, &evt, portMAX_DELAY) == pdTRUE) {
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switch (evt.id) {
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case EXAMPLE_ESPNOW_SEND_CB:
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{
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example_espnow_event_send_cb_t *send_cb = &evt.info.send_cb;
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is_broadcast = IS_BROADCAST_ADDR(send_cb->mac_addr);
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ESP_LOGD(TAG, "Send data to "MACSTR", status1: %d", MAC2STR(send_cb->mac_addr), send_cb->status);
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if (is_broadcast && (send_param->broadcast == false)) {
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break;
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}
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if (!is_broadcast) {
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send_param->count--;
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if (send_param->count == 0) {
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ESP_LOGI(TAG, "Send done");
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example_espnow_deinit(send_param);
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vTaskDelete(NULL);
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}
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}
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/* Delay a while before sending the next data. */
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if (send_param->delay > 0) {
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vTaskDelay(send_param->delay/portTICK_PERIOD_MS);
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}
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ESP_LOGI(TAG, "send data to "MACSTR"", MAC2STR(send_cb->mac_addr));
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memcpy(send_param->dest_mac, send_cb->mac_addr, ESP_NOW_ETH_ALEN);
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example_espnow_data_prepare(send_param);
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/* Send the next data after the previous data is sent. */
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if (esp_now_send(send_param->dest_mac, send_param->buffer, send_param->len) != ESP_OK) {
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ESP_LOGE(TAG, "Send error");
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example_espnow_deinit(send_param);
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vTaskDelete(NULL);
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}
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break;
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}
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case EXAMPLE_ESPNOW_RECV_CB:
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{
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example_espnow_event_recv_cb_t *recv_cb = &evt.info.recv_cb;
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ret = example_espnow_data_parse(recv_cb->data, recv_cb->data_len, &recv_state, &recv_seq, &recv_magic);
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free(recv_cb->data);
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if (ret == EXAMPLE_ESPNOW_DATA_BROADCAST) {
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ESP_LOGI(TAG, "Receive %dth broadcast data from: "MACSTR", len: %d", recv_seq, MAC2STR(recv_cb->mac_addr), recv_cb->data_len);
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/* If MAC address does not exist in peer list, add it to peer list. */
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if (esp_now_is_peer_exist(recv_cb->mac_addr) == false) {
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esp_now_peer_info_t *peer = malloc(sizeof(esp_now_peer_info_t));
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if (peer == NULL) {
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ESP_LOGE(TAG, "Malloc peer information fail");
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example_espnow_deinit(send_param);
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vTaskDelete(NULL);
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}
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memset(peer, 0, sizeof(esp_now_peer_info_t));
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peer->channel = CONFIG_ESPNOW_CHANNEL;
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peer->ifidx = ESPNOW_WIFI_IF;
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peer->encrypt = true;
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memcpy(peer->lmk, CONFIG_ESPNOW_LMK, ESP_NOW_KEY_LEN);
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memcpy(peer->peer_addr, recv_cb->mac_addr, ESP_NOW_ETH_ALEN);
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ESP_ERROR_CHECK( esp_now_add_peer(peer) );
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free(peer);
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}
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/* Indicates that the device has received broadcast ESPNOW data. */
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if (send_param->state == 0) {
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send_param->state = 1;
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}
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/* If receive broadcast ESPNOW data which indicates that the other device has received
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* broadcast ESPNOW data and the local magic number is bigger than that in the received
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* broadcast ESPNOW data, stop sending broadcast ESPNOW data and start sending unicast
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* ESPNOW data.
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*/
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if (recv_state == 1) {
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/* The device which has the bigger magic number sends ESPNOW data, the other one
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* receives ESPNOW data.
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*/
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if (send_param->unicast == false && send_param->magic >= recv_magic) {
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ESP_LOGI(TAG, "Start sending unicast data");
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ESP_LOGI(TAG, "send data to "MACSTR"", MAC2STR(recv_cb->mac_addr));
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/* Start sending unicast ESPNOW data. */
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memcpy(send_param->dest_mac, recv_cb->mac_addr, ESP_NOW_ETH_ALEN);
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example_espnow_data_prepare(send_param);
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if (esp_now_send(send_param->dest_mac, send_param->buffer, send_param->len) != ESP_OK) {
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ESP_LOGE(TAG, "Send error");
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example_espnow_deinit(send_param);
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vTaskDelete(NULL);
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}
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else {
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send_param->broadcast = false;
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send_param->unicast = true;
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}
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}
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}
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}
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else if (ret == EXAMPLE_ESPNOW_DATA_UNICAST) {
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ESP_LOGI(TAG, "Receive %dth unicast data from: "MACSTR", len: %d", recv_seq, MAC2STR(recv_cb->mac_addr), recv_cb->data_len);
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/* If receive unicast ESPNOW data, also stop sending broadcast ESPNOW data. */
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send_param->broadcast = false;
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}
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else {
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ESP_LOGI(TAG, "Receive error data from: "MACSTR"", MAC2STR(recv_cb->mac_addr));
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}
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break;
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}
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default:
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ESP_LOGE(TAG, "Callback type error: %d", evt.id);
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break;
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}
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}
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}
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static esp_err_t example_espnow_init(void)
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{
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example_espnow_send_param_t *send_param;
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s_example_espnow_queue = xQueueCreate(ESPNOW_QUEUE_SIZE, sizeof(example_espnow_event_t));
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if (s_example_espnow_queue == NULL) {
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ESP_LOGE(TAG, "Create mutex fail");
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return ESP_FAIL;
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}
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/* Initialize ESPNOW and register sending and receiving callback function. */
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ESP_ERROR_CHECK( esp_now_init() );
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ESP_ERROR_CHECK( esp_now_register_send_cb(example_espnow_send_cb) );
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ESP_ERROR_CHECK( esp_now_register_recv_cb(example_espnow_recv_cb) );
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#if CONFIG_ESPNOW_ENABLE_POWER_SAVE
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ESP_ERROR_CHECK( esp_now_set_wake_window(CONFIG_ESPNOW_WAKE_WINDOW) );
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ESP_ERROR_CHECK( esp_wifi_connectionless_module_set_wake_interval(CONFIG_ESPNOW_WAKE_INTERVAL) );
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#endif
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/* Set primary master key. */
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ESP_ERROR_CHECK( esp_now_set_pmk((uint8_t *)CONFIG_ESPNOW_PMK) );
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/* Add broadcast peer information to peer list. */
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esp_now_peer_info_t *peer = malloc(sizeof(esp_now_peer_info_t));
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if (peer == NULL) {
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ESP_LOGE(TAG, "Malloc peer information fail");
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vSemaphoreDelete(s_example_espnow_queue);
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esp_now_deinit();
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return ESP_FAIL;
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}
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memset(peer, 0, sizeof(esp_now_peer_info_t));
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peer->channel = CONFIG_ESPNOW_CHANNEL;
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peer->ifidx = ESPNOW_WIFI_IF;
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peer->encrypt = false;
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memcpy(peer->peer_addr, s_example_broadcast_mac, ESP_NOW_ETH_ALEN);
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ESP_ERROR_CHECK( esp_now_add_peer(peer) );
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free(peer);
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/* Initialize sending parameters. */
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send_param = malloc(sizeof(example_espnow_send_param_t));
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if (send_param == NULL) {
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ESP_LOGE(TAG, "Malloc send parameter fail");
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vSemaphoreDelete(s_example_espnow_queue);
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esp_now_deinit();
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return ESP_FAIL;
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}
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memset(send_param, 0, sizeof(example_espnow_send_param_t));
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send_param->unicast = true; //false;
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send_param->broadcast = false; //true;
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send_param->state = 0;
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//esp_random();
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send_param->magic = 50;//esp_random(); //(uint32_t)50;//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(s_example_espnow_queue);
|
|
esp_now_deinit();
|
|
return ESP_FAIL;
|
|
}
|
|
memcpy(send_param->dest_mac, s_example_broadcast_mac, ESP_NOW_ETH_ALEN);
|
|
example_espnow_data_prepare(send_param);
|
|
|
|
xTaskCreate(example_espnow_task, "example_espnow_task", 2048, send_param, 4, NULL);
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
static void example_espnow_deinit(example_espnow_send_param_t *send_param)
|
|
{
|
|
free(send_param->buffer);
|
|
free(send_param);
|
|
vSemaphoreDelete(s_example_espnow_queue);
|
|
esp_now_deinit();
|
|
} |