inital code for adc

rx_esp32/src/CMakeLists.txt

@@ -12,6 +12,7 @@ idf_component_register(
 		./servos.c
 		./logger.c
 		./ws.c
+		./adc.c
 	INCLUDE_DIRS "./"
 	PRIV_REQUIRES
 		# project components
@@ -19,6 +20,6 @@ idf_component_register(
 		# idf extra components
 		led_strip
 		# idf base components
-		esp_websocket_client
+		esp_websocket_client esp_adc
 		spi_flash driver nvs_flash esp_wifi
 )

rx_esp32/src/adc.c

@@ -0,0 +1,78 @@
+#include <stdint.h>
+#include <stdbool.h>
+
+#include <esp_adc/adc_continuous.h>
+
+#include "adc.h"
+#include "hal/adc_types.h"
+
+adc_digi_output_data_t ADC_Buffer[6][10];
+uint8_t ADC_conf_available = 0;
+adc_continuous_handle_t adc_handle;
+
+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);
+	ADC_conf_available++;
+	return true;
+}
+
+void adc_init()
+{
+	adc_continuous_handle_cfg_t adc_config = {
+		.max_store_buf_size = sizeof(ADC_Buffer),
+		.conv_frame_size = sizeof(adc_digi_output_data_t) * 6,
+	};
+	adc_continuous_new_handle(&adc_config, &adc_handle);
+
+	adc_continuous_config_t dig_cfg = {
+		.sample_freq_hz = 100 * 6,
+		.conv_mode = ADC_CONV_SINGLE_UNIT_1,
+		.format = ADC_DIGI_OUTPUT_FORMAT_TYPE2,
+	};
+
+	adc_digi_pattern_config_t adc_pattern[SOC_ADC_PATT_LEN_MAX] = {0};
+	dig_cfg.pattern_num = 6;
+	for (int i = 0; i < 6; i++) {
+		adc_pattern[i].atten = ADC_ATTEN_DB_12;
+		adc_pattern[i].unit = ADC_UNIT_1;
+		adc_pattern[i].bit_width = ADC_BITWIDTH_12;
+	}
+	adc_pattern[0].channel = ADC_CHANNEL_0 & 0x7;
+	adc_pattern[1].channel = ADC_CHANNEL_1 & 0x7;
+	adc_pattern[2].channel = ADC_CHANNEL_2 & 0x7;
+	adc_pattern[3].channel = ADC_CHANNEL_3 & 0x7;
+	adc_pattern[4].channel = ADC_CHANNEL_4 & 0x7;
+	adc_pattern[5].channel = ADC_CHANNEL_5 & 0x7;
+	dig_cfg.adc_pattern = adc_pattern;
+	adc_continuous_config(adc_handle, &dig_cfg);
+
+	adc_continuous_evt_cbs_t cbs = {
+		.on_conv_done = s_conv_done_cb,
+	};
+	adc_continuous_register_event_callbacks(adc_handle, &cbs, NULL);
+	adc_continuous_start(adc_handle);
+}
+
+bool adc_read(ADC_Data_t* out_data)
+{
+	adc_digi_output_data_t data[6];
+	uint32_t ret_num = 0;
+   esp_err_t ret = adc_continuous_read(
+							adc_handle,
+							(uint8_t*)&data,
+							sizeof(adc_digi_output_data_t) * 6,
+							&ret_num,
+							0
+	);
+	if (ret == ESP_OK)
+	{
+		for (int i=0; i<6; i++) {
+			out_data->value[i] = data[i].type2.data;
+		}
+	}
+	return (ret == ESP_OK);
+}

rx_esp32/src/adc.h

@@ -0,0 +1,14 @@
+#ifndef ADC_H
+#define ADC_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+typedef struct {
+	uint16_t value[6];
+} ADC_Data_t;
+
+void adc_init();
+bool adc_read(ADC_Data_t* data);
+
+#endif  // ADC_H

rx_esp32/src/config.h.j2

@@ -3,7 +3,9 @@
 
 #include <stdint.h>
 
-#define TARGET_DEV "{{ target }}"
+#define TARGET_TX 0
+#define TARGET_RX 1
+#define TARGET {% if target == "tx" %}TARGET_TX{% else %}TARGET_RX{% endif %}
 
 #define WIFI_SSID "MBCBootjes"
 #define WIFI_AUTH WIFI_AUTH_WPA_WPA2_PSK

rx_esp32/src/main.c

@@ -18,6 +18,9 @@
 #include "servos.h"
 #include "logger.h"
 #include "ws.h"
+#if TARGET == TARGET_TX
+#include "adc.h"
+#endif
 
 bool volatile running = true;
 CMDList_t* cmdList;
@@ -27,14 +30,33 @@ bool rxBuffer_overflow = false;
 typedef enum {
 	STATE_WIFI_CONNECTING,
 	STATE_WIFI_WAIT_CONNECTION,
+#if TARGET == TARGET_RX
 	STATE_WS_CONNECTING,
 	STATE_WS_WAIT_CONNECTION,
 	STATE_IDEL,
 	STATE_DRIVING
+#elif TARGET == TARGET_TX
+	STATE_WIFI_CONNECTED,
+#endif
 } MainState_t;
 MainState_t MainState = STATE_WIFI_CONNECTING;
 
+#if TARGET == TARGET_TX
+typedef enum {
+	STATE_WS_CONNECTING,
+	STATE_WS_WAIT_CONNECTION,
+	STATE_IDEL,
+	STATE_DRIVING
+} WSState_t;
+WSState_t WSStates[3] = {STATE_WS_CONNECTING, STATE_WS_CONNECTING, STATE_WS_CONNECTING};
+uint8_t WS_conn_proc = 0;
+#endif
+
+#if TARGET == TARGET_RX
 ws_client_t ws_client;
+#elif TARGET == TARGET_TX
+ws_client_t ws_client[3];
+#endif
 
 int charOut_uart(const char* c)
 {
@@ -42,23 +64,40 @@ int charOut_uart(const char* c)
 	return 0;
 }
 
+#if TARGET == TARGET_RX
 int charOut_ws(const char* c)
 {
 	ws_putchar(ws_client, *c);
 	return 0;
 }
+#elif TARGET == TARGET_TX
+int charOut_ws0(const char* c)
+{
+   ws_putchar(ws_client[0], *c);
+   return 0;
+}
+int charOut_ws1(const char* c)
+{
+   ws_putchar(ws_client[1], *c);
+   return 0;
+}
+int charOut_ws2(const char* c)
+{
+   ws_putchar(ws_client[2], *c);
+   return 0;
+}
+
+CLI_charOutFn charOut_ws[3] = {
+	&charOut_ws0,
+	&charOut_ws1,
+	&charOut_ws2
+}
+#endif
 
 void app_main() {
 	// disable watchdog
 	ESP_ERROR_CHECK(esp_task_wdt_deinit());
 
-	// wait so I have time to open the serial monitor
-	// for (unsigned long i=0; i < 10000; i++)
-	// {
-	// 	printf(".");
-	// }
-	// printf("\n");
-
 	/* Initialize NVS — it is used to store PHY calibration data */
 	esp_err_t ret = nvs_flash_init();
 	if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND)
@@ -70,11 +109,16 @@ void app_main() {
 
 	printChipInfo();
 
+#if TARGET == TARGET_TX
 	led_init();
 	led_setRGB(0, 0, 20);
+#endif
 	servo_init();
 
 	wifiInit();
+#if TARGET == TARGET_TX
+	adc_init();
+#endif
 
 	running = true;
 
@@ -85,7 +129,12 @@ void app_main() {
 	uint8_t charIn = 0;
 	EventBits_t bits;
 	MainState_t lastMainState = MainState;
+#if TARGET == TARGET_RX
 	CLI_t cli_ws_client;
+#elif TARGET == TARGET_TX
+   CLI_t cli_ws_client[3];
+#endif
+
 	LOG_D("main: main loop starting in state %d", MainState);
 	while (running)
 	{
@@ -111,27 +160,71 @@ void app_main() {
 				bits = xEventGroupGetBits(s_wifi_event_group);
 				if ((bits & WIFI_CONNECTED_BIT) != 0)
 				{
+#if TARGET == TARGET_TX
 					led_setRGB(0, 20, 0);
+#endif
 					MainState = STATE_WS_CONNECTING;
 					LOG_I("main: connected to ap SSID '%s'", WIFI_SSID);
 				}
 				else if ((bits & WIFI_FAIL_BIT) != 0)
 				{
+#if TARGET == TARGET_TX
 					led_setRGB(2, 0, 0);
+#endif
 					MainState = STATE_WIFI_CONNECTING;
 					// wifi_reconnect();
 					LOG_E("main: Failed to connect to SSID '%s'", WIFI_SSID);
 				}
 				else if (bits != 0)
 				{
+#if TARGET == TARGET_TX
 					led_setRGB(2, 0, 0);
+#endif
 					// MainState = STATE_WIFI_CONNECTING;
 					LOG_C("main: UNEXPECTED EVENT (bits: 0x%04x)", bits);
 				}
 				break;
 
+#if TARGET == TARGET_TX
+      case STATE_WIFI_CONNECTED:
+			switch (WSStates[WS_conn_proc])
+			{
+				case STATE_WS_CONNECTING:
+					ws_client[WS_conn_proc] = ws_connect(WS_URL);
+					WSStates[WS_conn_proc] = STATE_WS_WAIT_CONNECTION;
+					break;
+				case STATE_WS_WAIT_CONNECTION:
+					if (ws_client[WS_conn_proc]->connected)
+					{
+						cli_ws_client[WS_conn_proc] = CLI_init((CLI_charOutFn)&charOut_ws[WS_conn_proc], cmdList);
+						cli_ws_client[WS_conn_proc].echo = false;
+						MainState = STATE_IDEL;
+					}
+					break;
 
+				case STATE_IDEL:
+				case STATE_DRIVING:
+					if (!ws_client[WS_conn_proc]->connected)
+					{
+						CLI_deinit(&cli_ws_client[WS_conn_proc]);
+						MainState = STATE_WS_WAIT_CONNECTION;
+					}
 
+					while ((charIn = ws_getchar(ws_client[WS_conn_proc])) != 255)
+					{
+						CLI_charIn(&cli_ws_client[WS_conn_proc], charIn);
+					}
+					ws_sendData(ws_client[WS_conn_proc]);
+					break;
+			}
+
+			ADC_Data_t data;
+			if (adc_read(&data))
+			{
+				LOG_D("ADC_DATA: %d, %d, %d, %d, %d, %d", data.value[0], data.value[1], data.value[2], data.value[3], data.value[4], data.value[5]);
+			}
+			break;
+#elif TARGET == TARGET_RX
 			case STATE_WS_CONNECTING:
 				ws_client = ws_connect(WS_URL);
 				MainState = STATE_WS_WAIT_CONNECTION;
@@ -145,7 +238,6 @@ void app_main() {
 				}
 				break;
 
-
 			case STATE_IDEL:
 			case STATE_DRIVING:
 				if (!ws_client->connected)
@@ -160,10 +252,13 @@ void app_main() {
 				}
 				ws_sendData(ws_client);
 				break;
+#endif
 		}
 	}
 
+#if TARGET == TARGET_TX
 	led_setRGB(0, 0, 0);
+#endif
 
 	servo_deinit();
 	CLI_deinit(&cli_uart);