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ESP-Nodes/ESP-IDF_Robot/main/blink_example_main.c
Alexander Bobkov cccbdfcc0b ESP32-C3 RC
2025-01-02 01:43:30 -05:00

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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/temperature_sensor.h"
//#include "driver/mcpwm.h"
#include "esp_log.h"
#include "led_strip.h"
#include "sdkconfig.h"
/* ADC */
#include "rc.h"
/* Motors Controls */
#include "motor_controls.h"
/* System-wide controls */
#include "controls.h"
//#include "driver/adc.h"
//#include "esp_adc_cal.h"
//#include "esp_adc/adc_oneshot.h"
//#include "esp_adc/adc_cali.h"
//#include "esp_adc/adc_cali_scheme.h"
#include "esp_adc/adc_continuous.h"
/* ESP-NOW */
#include <string.h>
#include <assert.h>
#include "freertos/semphr.h"
#include "freertos/timers.h"
#include "nvs_flash.h"
#include "esp_random.h"
#include "esp_event.h"
#include "esp_log.h"
#include "esp_crc.h"
#include "esp_netif.h"
#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";
// MOTORS PWM CONFIG
#define MTR_FREQUENCY (5000)
#define MTR_MODE LEDC_LOW_SPEED_MODE
#define MTR_DUTY_RES LEDC_TIMER_13_BIT
// LEFT SIDE MOTORS, FORWARD
#define MTR_FRONT_LEFT_IO (6)
#define MTR_FRONT_LEFT_TMR LEDC_TIMER_0
#define MTR_FRONT_LEFT LEDC_CHANNEL_1
#define MTR_FRONT_LEFT_DUTY (3361)
// RIGHT SIDE MOTORS, FORWARD
#define MTR_FRONT_RIGHT_IO (5)
#define MTR_FRONT_RIGHT_TMR LEDC_TIMER_1
#define MTR_FRONT_RIGHT LEDC_CHANNEL_0
#define MTR_FRONT_RIGHT_DUTY (3361)
// LEFT SIDE MOTORS, REVERSE
#define MTR_FRONT_LEFT_REV_IO (4)
#define MTR_FRONT_LEFT_REV_TMR LEDC_TIMER_2
#define MTR_FRONT_LEFT_REV LEDC_CHANNEL_2
#define MTR_FRONT_LEFT_REV_DUTY (3361)
// RIGHT SIDE MOTORS, REVERSE
#define MTR_FRONT_RIGHT_REV_IO (7)
#define MTR_FRONT_RIGHT_REV_TMR LEDC_TIMER_3
#define MTR_FRONT_RIGHT_REV LEDC_CHANNEL_3
#define MTR_FRONT_RIGHT_REV_DUTY (3361)
#define LEDC_DUTY (3361)//7820) // 8068, 7944, 7820, 7696, 7572, *7680*, 7424, 7168, 6144, 512, 768
#define LEDC_FREQUENCY (5000)//8192)//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
// ADC
#define ADC_ATTEN ADC_ATTEN_DB_11
#define ADC_BIT_WIDTH SOC_ADC_DIGI_MAX_BITWIDTH
#define ADC_UNIT ADC_UNIT_1
#define ADC_CONV_MODE ADC_CONV_BOTH_UNIT// ADC_CONV_SINGLE_UNIT_1
#define ADC_OUTPUT_TYPE ADC_DIGI_OUTPUT_FORMAT_TYPE2 // ESP32C3
#define READ_LEN 1024//256
#define ADC_GET_CHANNEL(p_data) ((p_data)->type2.channel)
#define ADC_GET_DATA(p_data) ((p_data)->type2.data)
#define PROJ_X (1) // ADC1_CH1; 0 GPIO joystick, x-axis
#define PROJ_Y (0) // ADC1_CH0; 1 GPIO joystick, y-axis
#define NAV_BTN (8) // 8 GPIO joystick button
#define _ADC_UNIT_STR(unit) #unit
#define ADC_UNIT_STR(unit) _ADC_UNIT_STR(unit)
uint32_t x_avg = 0, y_avg = 0;
static TaskHandle_t s_task_handle;
static TaskHandle_t m_task_handle; // Task for controlling motors PWMs
//static adc_channel_t channel[2] = {ADC_CHANNEL_2, ADC_CHANNEL_3};
static adc_channel_t channel[2] = {ADC_CHANNEL_0, ADC_CHANNEL_1};
#define ESP_INTR_FLAG_DEFAULT 0
#define GPIO_INPUT_PIN_SEL ((1ULL<<PUSH_BTN_GPIO) | (1ULL<<NAV_BTN))
#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
// Declare struct to hold motors RPMs
//Motors *m;
static temperature_sensor_handle_t temp_sensor;
static temperature_sensor_config_t temp_sensor_config;
static QueueHandle_t gpio_evt_queue = NULL;
static uint8_t s_led_state = 0;
/* ============================
ESP NOW
============================
ESP32-C3 Blue board MAC: 54:32:04:46:71:80
ESP32-C3 SuperMini MAC: 34:b7:da:f9:33:8d
ESP32-C3 Breadboard MAC: e4:b0:63:17:9e:45
*/
#define ESPNOW_MAXDELAY 512
static QueueHandle_t espnow_queue;
//static uint8_t broadcast_mac[ESP_NOW_ETH_ALEN] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
//static uint8_t broadcast_mac[ESP_NOW_ETH_ALEN] = {0x54, 0x32, 0x04, 0x46, 0x71, 0x80}; // MAC address of troubleshooting Dev board
static uint8_t broadcast_mac[ESP_NOW_ETH_ALEN] = {0xE4, 0xB0, 0x63, 0x17, 0x9E, 0x45};
static uint8_t robot_mac[ESP_NOW_ETH_ALEN] = {0xE4, 0xB0, 0x63, 0x17, 0x9E, 0x45}; // MAC address of Robot
static uint8_t rc_mac[ESP_NOW_ETH_ALEN] = {0x34, 0xB7, 0xDA, 0xF9, 0x33, 0x8D}; // MAC address of Remote Control
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;
static void espnow_deinit(espnow_send_param_t *send_param);
#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);
}
// Push button interrupt task
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 nav_key_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_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 motors_init (void) {
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
static void ledc_init (void) {
// MOTOR FRONT RIGHT, FORWARD
ledc_timer_config_t ledc_timer_1 = {
.speed_mode = MTR_MODE,// LEDC_MODE,
.duty_resolution = MTR_DUTY_RES,// LEDC_DUTY_RES,
.timer_num = MTR_FRONT_RIGHT_TMR,// LEDC_TIMER,
.freq_hz = MTR_FREQUENCY,// LEDC_FREQUENCY,
.clk_cfg = LEDC_APB_CLK
};
ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer_1));
ledc_channel_config_t ledc_channel_1 = {
.speed_mode = MTR_MODE,
.channel = MTR_FRONT_RIGHT,// LEDC_CHANNEL_0,// MTR_FRONT_RIGHT,
.timer_sel = MTR_FRONT_RIGHT_TMR,// LEDC_TIMER,
.intr_type = LEDC_INTR_DISABLE,
.gpio_num = MTR_FRONT_RIGHT_IO,
.duty = MTR_FRONT_RIGHT_DUTY,
.hpoint = 0,
};
ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel_1));
// MOTOR FRONT LEFT, FORWARD
ledc_timer_config_t ledc_timer_2 = {
.speed_mode = MTR_MODE,
.duty_resolution = MTR_DUTY_RES,
.timer_num = MTR_FRONT_LEFT_TMR,
.freq_hz = MTR_FREQUENCY,
.clk_cfg = LEDC_APB_CLK
};
ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer_2));
ledc_channel_config_t ledc_channel_2 = {
.speed_mode = MTR_MODE,
.channel = MTR_FRONT_LEFT,
.timer_sel = MTR_FRONT_LEFT_TMR,
.intr_type = LEDC_INTR_DISABLE,
.gpio_num = MTR_FRONT_LEFT_IO,
.duty = MTR_FRONT_LEFT_DUTY,
.hpoint = 0,
};
ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel_2));
// MOTOR FRONT RIGHT, REVERSE
ledc_timer_config_t ledc_timer_3 = {
.speed_mode = MTR_MODE,// LEDC_MODE,
.duty_resolution = MTR_DUTY_RES,// LEDC_DUTY_RES,
.timer_num = MTR_FRONT_RIGHT_REV_TMR,// LEDC_TIMER,
.freq_hz = MTR_FREQUENCY,// LEDC_FREQUENCY,
.clk_cfg = LEDC_APB_CLK
};
ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer_3));
ledc_channel_config_t ledc_channel_3 = {
.speed_mode = MTR_MODE,
.channel = MTR_FRONT_RIGHT_REV,// LEDC_CHANNEL_0,// MTR_FRONT_RIGHT,
.timer_sel = MTR_FRONT_RIGHT_REV_TMR,// LEDC_TIMER,
.intr_type = LEDC_INTR_DISABLE,
.gpio_num = MTR_FRONT_RIGHT_REV_IO,
.duty = MTR_FRONT_RIGHT_REV_DUTY,
.hpoint = 0,
};
ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel_3));
// MOTOR FRONT LEFT, REVERSE
ledc_timer_config_t ledc_timer_4 = {
.speed_mode = MTR_MODE,
.duty_resolution = MTR_DUTY_RES,
.timer_num = MTR_FRONT_LEFT_REV_TMR,
.freq_hz = MTR_FREQUENCY,
.clk_cfg = LEDC_APB_CLK
};
ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer_4));
ledc_channel_config_t ledc_channel_4 = {
.speed_mode = MTR_MODE,
.channel = MTR_FRONT_LEFT_REV,
.timer_sel = MTR_FRONT_LEFT_REV_TMR,
.intr_type = LEDC_INTR_DISABLE,
.gpio_num = MTR_FRONT_LEFT_REV_IO,
.duty = MTR_FRONT_LEFT_REV_DUTY,
.hpoint = 0,
};
ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel_4));
}
/* 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_set_mode(CONFIG_ESPNOW_WIFI_MODE_STATION_SOFTAP) );
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) {
espnow_event_t evt;
espnow_event_send_cb_t *send_cb = &evt.info.send_cb;
if (mac_addr == NULL) {
ESP_LOGE(TAG, "Send cb arg error");
return;
}
evt.id = ESPNOW_SEND_CB; //EXAMPLE_ESPNOW_SEND_CB;
memcpy(send_cb->mac_addr, mac_addr, ESP_NOW_ETH_ALEN);
send_cb->status = status;
if (xQueueSend(espnow_queue, &evt, ESPNOW_MAXDELAY) != pdTRUE) {
ESP_LOGW(TAG, "Send send queue fail");
}
}
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;
uint8_t * mac_addr = recv_info->src_addr;
uint8_t * des_addr = recv_info->des_addr;
if (mac_addr == NULL || data == NULL || len <= 0) {
ESP_LOGE(TAG, "Receive cb arg error");
return;
}
if (IS_BROADCAST_ADDR(des_addr)) {
/* If added a peer with encryption before, the receive packets may be
* encrypted as peer-to-peer message or unencrypted over the broadcast channel.
* Users can check the destination address to distinguish it.
*/
ESP_LOGD(TAG, "Receive broadcast ESPNOW data");
}
else {
ESP_LOGD(TAG, "Receive unicast ESPNOW data");
}
evt.id = ESPNOW_RECV_CB;
memcpy(recv_cb->mac_addr, mac_addr, ESP_NOW_ETH_ALEN);
recv_cb->data = malloc(len);
// Display payload received.
ESP_LOGW(TAG, "Received payload: %x", (unsigned int)recv_cb->data);
if (recv_cb->data == NULL) {
ESP_LOGE(TAG, "Malloc receive data fail");
return;
}
memcpy(recv_cb->data, data, len);
recv_cb->data_len = len;
if (xQueueSend(espnow_queue, &evt, ESPNOW_MAXDELAY) != pdTRUE) {
ESP_LOGW(TAG, "Send receive queue fail");
free(recv_cb->data);
}
}
/* Parse received ESPNOW data. */
int espnow_data_parse(uint8_t *data, uint16_t data_len, uint8_t *state, uint16_t *seq, uint32_t *magic)
{
espnow_data_t *buf = (espnow_data_t *)data;
uint16_t crc, crc_cal = 0;
if (data_len < sizeof(espnow_data_t)) {
ESP_LOGE(TAG, "Receive ESPNOW data too short, len:%d", data_len);
return -1;
}
*state = buf->state;
*seq = buf->seq_num;
*magic = buf->magic;
crc = buf->crc;
buf->crc = 0;
crc_cal = esp_crc16_le(UINT16_MAX, (uint8_t const *)buf, data_len);
// Display received data.
ESP_LOGW(TAG, "Received data size: %d", data_len);
ESP_LOGW(TAG, "Payload: %x", (uint8_t)buf->payload);
ESP_LOGW(TAG, "payload[0] = %x", (uint8_t)buf->payload[0]);
ESP_LOGW(TAG, "payload[1] = %x", (uint8_t)buf->payload[1]);
if (crc_cal == crc) {
return buf->type;
}
return -1;
}
void espnow_data_prepare(espnow_send_param_t *send_param) {
// Data struct
espnow_data_t *buf = (espnow_data_t *)send_param->buffer;
assert(send_param->len >= sizeof(espnow_data_t));
buf->type = IS_BROADCAST_ADDR(send_param->dest_mac) ? ESPNOW_DATA_BROADCAST : ESPNOW_DATA_UNICAST;
buf->state = send_param->state;
buf->seq_num = espnow_seq[buf->type]++;
buf->crc = 0;
buf->magic = send_param->magic;
/* Fill all remaining bytes after the data with random values */
buf->payload[0] = (uint8_t)3;
buf->payload[1] = (uint8_t)3;
//esp_fill_random(buf->payload, send_param->len - sizeof(espnow_data_t));
ESP_LOGW(TAG, "payload[0]: %x", buf->payload[0]);
ESP_LOGW(TAG, "payload[1]: %x", buf->payload[1]);
buf->crc = esp_crc16_le(UINT16_MAX, (uint8_t const *)buf, send_param->len);
}
static void espnow_task (void *pvParameter) {
espnow_event_t evt;
uint8_t recv_state = 0;
uint16_t recv_seq = 0;
uint32_t recv_magic = 0;
bool is_broadcast = false;
int ret;
esp_err_t task_status;
vTaskDelay(5000 / portTICK_PERIOD_MS);
ESP_LOGI(TAG, "Start sending broadcast data");
/* Start sending broadcast ESPNOW data. */
// Retrieve send parameters passed as reference.
espnow_send_param_t *send_param = (espnow_send_param_t *)pvParameter;
// Send data to the destination MAC address.
if (esp_now_send(send_param->dest_mac, send_param->buffer, send_param->len) != ESP_OK) {
ESP_LOGE(TAG, "Send error");
espnow_deinit(send_param);
vTaskDelete(NULL);
}
while (xQueueReceive(espnow_queue, &evt, portMAX_DELAY) == pdTRUE) {
switch (evt.id) {
// Send Callback
case ESPNOW_SEND_CB:
{
espnow_event_send_cb_t *send_cb = &evt.info.send_cb;
is_broadcast = IS_BROADCAST_ADDR(send_cb->mac_addr);
ESP_LOGD(TAG, "Send data to "MACSTR", status1: %d", MAC2STR(send_cb->mac_addr), send_cb->status);
if (is_broadcast && (send_param->broadcast == false)) {
break;
}
if (!is_broadcast) {
send_param->count--;
if (send_param->count == 0) {
ESP_LOGI(TAG, "Send done");
espnow_deinit(send_param);
vTaskDelete(NULL);
}
}
/* Delay a while before sending the next data. */
if (send_param->delay > 0) {
vTaskDelay(send_param->delay/portTICK_PERIOD_MS);
}
ESP_LOGI(TAG, "send data to "MACSTR"", MAC2STR(send_cb->mac_addr));
// Copy destination MAC address to the parameters struct.
memcpy(send_param->dest_mac, send_cb->mac_addr, ESP_NOW_ETH_ALEN);
// Append data struct to the parameters struct.
espnow_data_prepare(send_param);
/* Send the next data after the previous data is sent. */
if (esp_now_send(send_param->dest_mac, send_param->buffer, send_param->len) != ESP_OK) {
ESP_LOGE(TAG, "Send error");
espnow_deinit(send_param);
vTaskDelete(NULL);
}
/*
task_status = esp_now_send(send_param->dest_mac, send_param->buffer, send_param->len);
if (task_status != ESP_OK) {
ESP_LOGE(TAG, "Send error");
espnow_deinit(send_param);
vTaskDelete(NULL);
}*/
break;
}
// Receive callback.
case ESPNOW_RECV_CB:
{
espnow_event_recv_cb_t *recv_cb = &evt.info.recv_cb;
ret = espnow_data_parse(recv_cb->data, recv_cb->data_len, &recv_state, &recv_seq, &recv_magic);
free(recv_cb->data);
/*
======== BROADCAST ========
*/
// If data was sent to all devices (broadcast)
if (ret == ESPNOW_DATA_BROADCAST) {
ESP_LOGI(TAG, "Receive %dth broadcast data from: "MACSTR", len: %d", recv_seq, MAC2STR(recv_cb->mac_addr), recv_cb->data_len);
/* If MAC address does not exist in peer list, add it to peer list. */
if (esp_now_is_peer_exist(recv_cb->mac_addr) == false) {
esp_now_peer_info_t *peer = malloc(sizeof(esp_now_peer_info_t));
if (peer == NULL) {
ESP_LOGE(TAG, "Malloc peer information fail");
espnow_deinit(send_param);
vTaskDelete(NULL);
}
memset(peer, 0, sizeof(esp_now_peer_info_t));
peer->channel = CONFIG_ESPNOW_CHANNEL;
peer->ifidx = ESPNOW_WIFI_IF;
peer->encrypt = true;
memcpy(peer->lmk, CONFIG_ESPNOW_LMK, ESP_NOW_KEY_LEN);
memcpy(peer->peer_addr, recv_cb->mac_addr, ESP_NOW_ETH_ALEN);
ESP_ERROR_CHECK( esp_now_add_peer(peer) );
free(peer);
}
/* Indicates that the device has received broadcast ESPNOW data. */
if (send_param->state == 0) {
send_param->state = 1;
}
/* If receive broadcast ESPNOW data which indicates that the other device has received
* broadcast ESPNOW data and the local magic number is bigger than that in the received
* broadcast ESPNOW data, stop sending broadcast ESPNOW data and start sending unicast
* ESPNOW data.
*/
if (recv_state == 1) {
/* The device which has the bigger magic number sends ESPNOW data, the other one
* receives ESPNOW data.
*/
if (send_param->unicast == false && send_param->magic >= recv_magic) {
ESP_LOGI(TAG, "Start sending unicast data");
ESP_LOGI(TAG, "send data to "MACSTR"", MAC2STR(recv_cb->mac_addr));
/* Start sending unicast ESPNOW data. */
memcpy(send_param->dest_mac, recv_cb->mac_addr, ESP_NOW_ETH_ALEN);
espnow_data_prepare(send_param);
if (esp_now_send(send_param->dest_mac, send_param->buffer, send_param->len) != ESP_OK) {
ESP_LOGE(TAG, "Send error");
espnow_deinit(send_param);
vTaskDelete(NULL);
}
else {
send_param->broadcast = false;
send_param->unicast = true;
}
}
}
}
/*
======== UNICAST ========
*/
// If data was sent to the specific device (unicast)
else if (ret == ESPNOW_DATA_UNICAST) {
ESP_LOGI(TAG, "Receive %dth unicast data from: "MACSTR", len: %d", recv_seq, MAC2STR(recv_cb->mac_addr), recv_cb->data_len);
/* If receive unicast ESPNOW data, also stop sending broadcast ESPNOW data. */
send_param->broadcast = false;
}
else {
ESP_LOGI(TAG, "Receive error data from: "MACSTR"", MAC2STR(recv_cb->mac_addr));
}
break;
}
default:
ESP_LOGE(TAG, "Callback type error: %d", evt.id);
break;
}
}
}
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;
// The higher the magic number is, the lower the priority of the device is
// higher number -> receiver
send_param->magic = 55;//esp_random(); // Arbitrary number that determines which device is sender/receiver.
send_param->count = CONFIG_ESPNOW_SEND_COUNT;
send_param->delay = CONFIG_ESPNOW_SEND_DELAY;
send_param->len = CONFIG_ESPNOW_SEND_LEN;
// Maximum data length is ESP_NOW_MAX_DATA_LEN = 250
send_param->buffer = malloc(CONFIG_ESPNOW_SEND_LEN); // malloc(sizeof(message)); // malloc(CONFIG_ESPNOW_SEND_LEN); // Data to be sent?
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);
espnow_data_prepare(send_param);
xTaskCreate(espnow_task, "robot_espnow_task", 2048, send_param, 4, NULL);
return ESP_OK;
}
static void espnow_deinit(espnow_send_param_t *send_param)
{
free(send_param->buffer);
free(send_param);
vSemaphoreDelete(espnow_queue);
esp_now_deinit();
}
static bool IRAM_ATTR s_conv_done_cb(adc_continuous_handle_t handle, const adc_continuous_evt_data_t *edata, void *user_data)
{
BaseType_t mustYield = pdFALSE;
//Notify that ADC continuous driver has done enough number of conversions
vTaskNotifyGiveFromISR(s_task_handle, &mustYield);
return (mustYield == pdTRUE);
}
static void continuous_adc_init(adc_channel_t *channel, uint8_t channel_num, adc_continuous_handle_t *out_handle)
{
adc_continuous_handle_t handle = NULL;
adc_continuous_handle_cfg_t adc_config = {
.max_store_buf_size = 1024,
.conv_frame_size = READ_LEN,
};
ESP_ERROR_CHECK(adc_continuous_new_handle(&adc_config, &handle));
adc_continuous_config_t dig_cfg = {
.sample_freq_hz = 20 * 1000,
.conv_mode = ADC_CONV_MODE,
.format = ADC_OUTPUT_TYPE,
};
adc_digi_pattern_config_t adc_pattern[SOC_ADC_PATT_LEN_MAX] = {0};
dig_cfg.pattern_num = channel_num;
for (int i = 0; i < channel_num; i++) {
adc_pattern[i].atten = ADC_ATTEN;
adc_pattern[i].channel = channel[i] & 0x7;
adc_pattern[i].unit = ADC_UNIT;
adc_pattern[i].bit_width = ADC_BIT_WIDTH;
ESP_LOGI(TAG, "adc_pattern[%d].atten is :%"PRIx8, i, adc_pattern[i].atten);
ESP_LOGI(TAG, "adc_pattern[%d].channel is :%"PRIx8, i, adc_pattern[i].channel);
ESP_LOGI(TAG, "adc_pattern[%d].unit is :%"PRIx8, i, adc_pattern[i].unit);
}
dig_cfg.adc_pattern = adc_pattern;
ESP_ERROR_CHECK(adc_continuous_config(handle, &dig_cfg));
*out_handle = handle;
}
static void motors_task (void *pvParameter) {}
/*
EXP32-C3 Chip built-in temprature sensor
*/
static void chip_sensor_init () {
temp_sensor = NULL;
temp_sensor_config = TEMPERATURE_SENSOR_CONFIG_DEFAULT(10, 50);
ESP_ERROR_CHECK(temperature_sensor_install(&temp_sensor_config, &temp_sensor));
ESP_LOGI(TAG, "Enable temperature sensor");
ESP_ERROR_CHECK(temperature_sensor_enable(temp_sensor));
}
static void display_chip_temperature () {
ESP_LOGI("ESP32-C3", "Reading sensor temperature");
float tsens_value;
ESP_ERROR_CHECK(temperature_sensor_get_celsius(temp_sensor, &tsens_value));
ESP_LOGI("ESP32-C3", "Temperature value %.02f ℃", tsens_value);
}
void app_main(void)
{
// Initialize internal temperature sensor
chip_sensor_init();
// Initialize LED
// Used to control the DC motor
ledc_init();
int var = 8191;
// 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 navigation button
io_conf.intr_type = GPIO_INTR_NEGEDGE;
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 navigation button interrupt
gpio_set_intr_type(NAV_BTN, GPIO_INTR_NEGEDGE);//ANYEDGE);
gpio_evt_queue = xQueueCreate(10, sizeof(uint32_t));
xTaskCreate(nav_key_task, "NAV Keys task", 2048, NULL, 10, NULL);
//gpio_install_isr_service(ESP_INTR_FLAG_DEFAULT);
gpio_isr_handler_add(NAV_BTN, gpio_isr_handler, (void*) NAV_BTN);
configure_button();
//configure_dc_mc();
printf("Added button interrupt");
// ESP-NOW
// Initialize NVS
esp_err_t ret = nvs_flash_init();
if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
ESP_ERROR_CHECK( nvs_flash_erase() );
ret = nvs_flash_init();
}
ESP_ERROR_CHECK( ret );
wifi_init(); // is it required when using ESP-NOW?
espnow_init();
//esp_now_add_peer(&peerInfo);
/*
ADC
*/
rc_adc_init();
/*
MOTORS
*/
motors_init();
//xTaskCreate(motors_task, "PWM task", 2048, NULL, 10, NULL);
while (1) {
ESP_LOGI(TAG, "Turning the LED %s!", s_led_state == true ? "ON" : "OFF");
// ADC
// Display GPIOs used
//ESP_LOGI(TAG, "ADC1_CH0: %d", ADC1_CHANNEL_0);
//ESP_LOGI(TAG, "ADC1_CH1: %d", ADC1_CHANNEL_1);
rc_get_raw_data();
vTaskDelay(CONFIG_BLINK_PERIOD / portTICK_PERIOD_MS);
// Gradually reduce DC motor rotation speed.
/*if (var >= 2048)
var -= 124;
else
var = 8091;
//update_pwm(var);
ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, var);
ledc_update_duty(LEDC_MODE, LEDC_CHANNEL);*/
ledc_set_duty(MTR_MODE, MTR_FRONT_LEFT, m.motor1_rpm_pcm);
ledc_update_duty(MTR_MODE, MTR_FRONT_LEFT);
ledc_set_duty(MTR_MODE, MTR_FRONT_RIGHT, m.motor2_rpm_pcm);
ledc_update_duty(MTR_MODE, MTR_FRONT_RIGHT);
ledc_set_duty(MTR_MODE, MTR_FRONT_LEFT_REV, m.motor3_rpm_pcm);
ledc_update_duty(MTR_MODE, MTR_FRONT_LEFT_REV);
ledc_set_duty(MTR_MODE, MTR_FRONT_RIGHT_REV, m.motor4_rpm_pcm);
ledc_update_duty(MTR_MODE, MTR_FRONT_RIGHT_REV);
ESP_LOGW(TAG, "Motor 1 PWM: %d", m.motor1_rpm_pcm);
ESP_LOGW(TAG, "Motor 2 PWM: %d", m.motor2_rpm_pcm);
ESP_LOGW(TAG, "Motor 3 PWM: %d", m.motor3_rpm_pcm);
ESP_LOGW(TAG, "Motor 4 PWM: %d", m.motor4_rpm_pcm);
}
}
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