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fabiankufferfabiankuffer
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Merge pull request #2 from SimLinkModule/uart
Uart
2 parents 8a25d02 + 4b41fb2 commit 20f252a

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10 files changed

+509
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‎.vscode/settings.json‎

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"string": "c",
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"string_view": "c",
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"ble_svc_gap.h": "c",
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"console.h": "c"
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"console.h": "c",
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"esp_nimble_hci.h": "c"
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}
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}

‎components/crsf/CMakeLists.txt‎

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set(srcs "crsf.c")
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idf_component_register(SRCS "${srcs}"
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INCLUDE_DIRS "include")

‎components/crsf/crsf.c‎

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#include "crsf.h"
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uint8_t crcSingleChar(uint8_t crc, uint8_t a)
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{
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crc ^= a;
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//zeichen wird acht mal nach links geschoben und jedes mal geschaut ob höchste stelle eine 1 ist, wenn dann polynom xor --> klassisches crc rechnen
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for (int i = 0; i < 8; i++) {
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crc = (crc << 1) ^ ((crc & 0x80) ? 0xD5 : 0);
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}
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return crc;
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}
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//get crc from message
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uint8_t crcMessage(uint8_t message[], uint8_t length)
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{
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uint8_t crc = 0;
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for (int i = 0; i < length; i++) {
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crc = crcSingleChar(crc, message[i]);
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}
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return crc;
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}
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void initCRSF_read(){
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/* Configure parameters of an UART driver,
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* communication pins and install the driver */
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//uart driver erstellt eigene interrupts
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uart_config_t uart_config = {
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.baud_rate = 420000,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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.source_clk = UART_SCLK_APB,
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};
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//UART 2 verwenden, da uart 0 für console benötigt wird und uart1 hab ich gelesen für spi oder irgendetwas anderes
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ESP_ERROR_CHECK(uart_driver_install(UART_NUM_2, 1024 * 2, 0, 0, NULL, 0));
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uart_set_line_inverse(UART_NUM_2,UART_SIGNAL_RXD_INV);
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ESP_ERROR_CHECK(uart_param_config(UART_NUM_2, &uart_config));
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ESP_ERROR_CHECK(uart_set_pin(UART_NUM_2, UART_PIN_NO_CHANGE, 16, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
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//interrupt auslösen bei timeout (primär) und bei überlauf eines thresholds
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uart_intr_config_t uart_intr = {
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.intr_enable_mask = UART_INTR_RXFIFO_TOUT | UART_INTR_RXFIFO_FULL,
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.rx_timeout_thresh = 10,
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.rxfifo_full_thresh = 200,
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};
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//diese interrupt schwellwellen speichern
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ESP_ERROR_CHECK(uart_intr_config(UART_NUM_2, &uart_intr));
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ESP_ERROR_CHECK(uart_enable_rx_intr(UART_NUM_2));
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}
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void crsf_get_ChannelData_task(void *arg)
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{
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// Configure a temporary buffer for the incoming data
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uint8_t *data = (uint8_t *) malloc(1024);
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while (1) {
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// get size in uart buffer
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int length = 0;
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ESP_ERROR_CHECK(uart_get_buffered_data_len(UART_NUM_2, (size_t*)&length));
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//mit daten arbeiten, wenn welche vorhanden sind
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if(length){
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//read uart data
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int len = uart_read_bytes(UART_NUM_2, data, length, 20 / portTICK_RATE_MS);
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//RX Buffer leeren wenn Frame im temporären buffer
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uart_flush(UART_NUM_2);
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//len of data read from rx buffer
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if(len > 0){
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//daten durchgehen
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for(int i = 0; i < len; i++){
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//Paketaufbau: 0xEE (Addresse) + 0x18 (Länge in Byte) + 0x16 (Typenfeld: Kanaldaten)
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if((data[i] == 0xEE) && (i+25)<len){
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if(data[i+2] == 0x16){
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//CRC überprüfen ob kein rest rauskommst
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if(crcMessage(data+i+2, data[i+1]) == 0){
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//used = wie viel Bits bereits in einen Byte verwendet wurden
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int used = 0;
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//dataIndex = Index des Datenbytes im Buffer
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int dataIndex = i+3;
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//Da 16 kanäle vorhanden sind muss es 16 mal durchgegangen werden
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for(int j = 0; j<16; j++){
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//Die restlichen vorhandenen Daten eines Bytes an LSB setzen
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uint16_t value = data[dataIndex] >> used;
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//ein neues Byte muss verwendet werden
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dataIndex++;
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//Anzahl der noch vorhanden Bits eines Bytes im angefangenen Byte
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uint8_t availableBits = 8-used;
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if(11-availableBits > 8){
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//3Bytes werden benötigt, wenn für ein Kanal (11Bit) noch mehr als 8 Bit benötigt werden
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//komplettes zweites Byte verwenden
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value = value | (data[dataIndex] << availableBits);
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//ein neues Byte muss verwendet werden
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dataIndex++;
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//vom dritten Byte noch die benötigten Bits in die MSB stellen schieben
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value = value | ((data[dataIndex]&((1U << (11-(8+availableBits))) - 1U)) << (8+availableBits));
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//Anzahl der verwendeten Bits im akutellen Byte neu berechnen
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used = 11-(8+availableBits);
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} else {
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//Wenn nur ein zweites Byte für 11Bit-Daten benötigt wird
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//Aus dem zweiten Byte noch die fehlenden Bits an die MSB stellen schieben von 11 Bit
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value = value | ((data[dataIndex]&((1U << (11-availableBits)) - 1U)) << availableBits);
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//berechnen wie viele Bits im aktuellen Byte schon verwendet wurden
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used = 11-availableBits;
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}
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//Kanaldaten abspeichern
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channelData[j] = value;
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}
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//Kanaldaten ausgeben
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//wenn esp_logi ausgegeben wird dann kann es sein das watchdog timer für den task nicht zurückgesetzt wird ist aber nicht so schlimm solang der output einfach weggelassen wird in stpäteren code
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//ESP_LOGI("Channel-Data","%4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d", channelData[0], channelData[1], channelData[2], channelData[3], channelData[4], channelData[5], channelData[6], channelData[7], channelData[8], channelData[9], channelData[10], channelData[11], channelData[12], channelData[13], channelData[14], channelData[15]);
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break;
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}
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}
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}
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}
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}
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} else {
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vTaskDelay(10 / portTICK_PERIOD_MS);
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}
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}
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}

‎components/crsf/include/crsf.h‎

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#ifndef CRSF_H
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#define CRSF_H
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#include "hal/uart_hal.h"
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#include "driver/uart.h"
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#include "freertos/task.h"
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#include "esp_log.h"
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//store channel data in array
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static uint16_t channelData[16] = {0};
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uint8_t crcSingleChar(uint8_t crc, uint8_t a);
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uint8_t crcMessage(uint8_t message[], uint8_t length);
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void initCRSF_read();
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void crsf_get_ChannelData_task(void *arg);
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#endif

‎components/ssd1306/CMakeLists.txt‎

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set(srcs "ssd1306.c")
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idf_component_register(SRCS "${srcs}"
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INCLUDE_DIRS "include")

‎components/ssd1306/include/ssd1306.h‎

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#ifndef SSD1306_H
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#define SSD1306_H
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//credits: https://github.com/nopnop2002/esp-idf-ssd1306
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// http://robotcantalk.blogspot.com/2015/03/interfacing-arduino-with-ssd1306-driven.html
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#include "driver/i2c.h"
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#include "esp_log.h"
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#include <string.h>
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#include <stdbool.h>
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//SLA (0x3C) + WRITE_MODE (0x00) = 0x78 (0b01111000)
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#define SSD1306_ADDRESS 0x3C
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//allgemeine infos
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//startup des ssd1306 wird durch Kondensatoren auf dem PCB geregelt --> beachten bei pcb design
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#define SSD1306_WIDTH 128
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#define SSD1306_HEIGHT 32
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#define SSD1306_PAGES 8
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#define SSD1306_TAG "SSD1306"
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#define SSD1306_I2C_NUM_CON I2C_NUM_0
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//setzen des controllbytes für die art der daten die folgend kommen
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#define SSD1306_CONTROL_BYTE_CMD_STREAM 0x00
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#define SSD1306_CONTROL_BYTE_CMD_SINGLE 0x80
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#define SSD1306_CONTROL_BYTE_DATA_SINGLE 0xC0
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#define SSD1306_CONTROL_BYTE_DATA_STREAM 0x40
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//grundbefehle
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#define SSD1306_CMD_SET_CONTRAST 0x81 // gefolgt von 0x7F
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#define SSD1306_CMD_DISPLAY_RAM 0xA4
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#define SSD1306_CMD_DISPLAY_ALLON 0xA5
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#define SSD1306_CMD_DISPLAY_NORMAL 0xA6
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#define SSD1306_CMD_DISPLAY_INVERTED 0xA7
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#define SSD1306_CMD_DISPLAY_OFF 0xAE
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#define SSD1306_CMD_DISPLAY_ON 0xAF
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//GDDRAM (Graphic Display Data RAM) adressierung
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#define SSD1306_CMD_SET_MEMORY_ADDR_MODE 0x20
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#define SSD1306_CMD_SET_HORI_ADDR_MODE 0x00 // horizontaler adressierungsmodus
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#define SSD1306_CMD_SET_VERT_ADDR_MODE 0x01 // vertikaler adressierungsmodus
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#define SSD1306_CMD_SET_PAGE_ADDR_MODE 0x02 // page adressierungsmodus
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#define SSD1306_CMD_SET_COLUMN_RANGE 0x21 // can be used only in HORZ/VERT mode - follow with 0x00 and 0x7F = COL127
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#define SSD1306_CMD_SET_PAGE_RANGE 0x22 // can be used only in HORZ/VERT mode - follow with 0x00 and 0x07 = PAGE7
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//Hardwarekonfiguration
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#define SSD1306_CMD_SET_DISPLAY_START_LINE 0x40
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#define SSD1306_CMD_SET_SEGMENT_REMAP_0 0xA0
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#define SSD1306_CMD_SET_SEGMENT_REMAP_1 0xA1
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#define SSD1306_CMD_SET_MUX_RATIO 0xA8 // follow with 0x3F = 64 MUX
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#define SSD1306_CMD_SET_COM_SCAN_MODE_1 0xC8
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#define SSD1306_CMD_SET_COM_SCAN_MODE_0 0xC0
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#define SSD1306_CMD_SET_DISPLAY_OFFSET 0xD3 // follow with 0x00
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#define SSD1306_CMD_SET_COM_PIN_MAP 0xDA // follow with 0x12
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#define SSD1306_CMD_NOP 0xE3 // NOP
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// Timing and Driving Scheme
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#define SSD1306_CMD_SET_DISPLAY_CLK_DIV 0xD5 // follow with 0x80
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#define SSD1306_CMD_SET_PRECHARGE 0xD9 // follow with 0xF1
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#define SSD1306_CMD_SET_VCOMH_DESELECT 0xDB // follow with 0x30
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// Charge Pump
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#define SSD1306_CMD_SET_CHARGE_PUMP 0x8D // follow with 0x14
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// Scrolling Befehle
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#define SSD1306_CMD_DEACTIVE_SCROLL 0x2E
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//buffer damit der aktuelle Output auch im Speicher des ESP vorhanden ist
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uint8_t* ssd1306_buffer;
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void ssd1306_init();
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void I2C_master_init();
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void ssd1306_clear();
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void ssd1306_display();
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void ssd1306_setPixel(uint8_t x, uint8_t y, bool status);
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void ssd1306_setChar(char c, uint8_t x, uint8_t y);
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void ssd1306_setString(const char* str, uint8_t x, uint8_t y);
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#endif

‎components/ssd1306/include/ssd1306_font.h‎

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#ifndef SSD1306_FONT_H
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#define SSD1306_FONT_H
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#define CHAR_WIDTH 10
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#define CHAR_HEIGHT 14
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//Ein Hex wert stellt eine Spalte eines Zeichen dar
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//lsb sind die unteren pixel des zeichens
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//die 2 msb werden immer übersprungen
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const uint16_t VCR_OSD_MONO[43][10] = {
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{0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000}, //
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{0x0038,0x00FE,0x19C7,0x1983,0x1983,0x1983,0x1983,0x1CC6,0x0FFF,0x07FF}, // a
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{0x3FFF,0x3FFF,0x01FC,0x038E,0x0707,0x0603,0x0707,0x038E,0x01FC,0x00F8}, // b
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{0x01FC,0x03FE,0x0707,0x0603,0x0603,0x0603,0x0603,0x0707,0x038E,0x018C}, // c
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{0x00F8,0x01FC,0x038E,0x0707,0x0603,0x0707,0x038E,0x01FC,0x3FFF,0x3FFF}, // d
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{0x01FC,0x03FE,0x0767,0x0663,0x0663,0x0663,0x0663,0x0767,0x03E6,0x01C4}, // e
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{0x0000,0x0300,0x0300,0x0300,0x1FFF,0x3FFF,0x3300,0x3300,0x3300,0x0000}, // f
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{0x0380,0x07C6,0x0EE7,0x0C63,0x0C63,0x0C63,0x0C63,0x0EC7,0x07FE,0x03FC}, // g
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{0x3FFF,0x3FFF,0x01C0,0x0380,0x0700,0x0600,0x0700,0x0380,0x01FF,0x00FF}, // h
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{0x0000,0x0000,0x0180,0x0180,0x19FC,0x19FE,0x0007,0x0003,0x0000,0x0000}, // i
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{0x0000,0x0000,0x0003,0x0003,0x0603,0x0607,0x37FE,0x37FC,0x0000,0x0000}, // j
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{0x3FFF,0x3FFF,0x001C,0x0038,0x0070,0x00F8,0x01DC,0x038E,0x0707,0x0603}, // k
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{0x0000,0x0000,0x0000,0x0000,0x3FFF,0x3FFF,0x0000,0x0000,0x0000,0x0000}, // l
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{0x07FF,0x07FF,0x0300,0x0600,0x07FF,0x07FF,0x0600,0x0700,0x03FF,0x01FF}, // m
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{0x07FF,0x07FF,0x0300,0x0600,0x0600,0x0600,0x0600,0x0700,0x03FF,0x01FF}, // n
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{0x01FC,0x03FE,0x0707,0x0603,0x0603,0x0603,0x0603,0x0707,0x03FE,0x01FC}, // o
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{0x0FFF,0x0FFF,0x07F0,0x0E38,0x0C18,0x0C18,0x0C18,0x0E38,0x07F0,0x03E0}, // p
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{0x03E0,0x07F0,0x0E38,0x0C18,0x0C18,0x0C18,0x0E38,0x07F0,0x0FFF,0x0FFF}, // q
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{0x07FF,0x07FF,0x01C0,0x0380,0x0700,0x0600,0x0600,0x0700,0x0380,0x0180}, // r
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{0x018C,0x03CE,0x07C7,0x0663,0x0663,0x0673,0x0633,0x073F,0x039E,0x018C}, // s
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{0x0000,0x0000,0x0600,0x0600,0x3FFC,0x3FFE,0x0607,0x0603,0x0000,0x0000}, // t
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{0x07FC,0x07FE,0x0007,0x0003,0x0003,0x0003,0x0003,0x0007,0x07FE,0x07FC}, // u
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{0x07F0,0x07F8,0x001C,0x000E,0x0007,0x0007,0x000E,0x001C,0x07F8,0x07F0}, // v
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{0x07FC,0x07FE,0x0007,0x0003,0x007E,0x007E,0x0003,0x0007,0x07FE,0x07FC}, // w
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{0x0603,0x0707,0x038E,0x01DC,0x00F8,0x00F8,0x01DC,0x038E,0x0707,0x0603}, // x
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{0x0FC0,0x0FE0,0x0073,0x0033,0x0033,0x0073,0x00E3,0x03C7,0x0FFE,0x0FFC}, // y
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{0x0603,0x0607,0x060F,0x061F,0x063B,0x0673,0x06E3,0x07C3,0x0783,0x0703}, // z
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{0x0FFC,0x1FFE,0x3837,0x3073,0x30E3,0x31C3,0x3383,0x3B07,0x1FFE,0x0FFC}, // 0
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{0x0000,0x0000,0x0C03,0x1C03,0x3FFF,0x3FFF,0x0003,0x0003,0x0000,0x0000}, // 1
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{0x0C3F,0x1C7F,0x38E3,0x30C3,0x30C3,0x30C3,0x30C3,0x39C3,0x1F83,0x0F03}, // 2
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{0x0C0C,0x1C0E,0x3807,0x3003,0x30C3,0x30C3,0x30C3,0x39E7,0x1FFE,0x0F3C}, // 3
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{0x00F0,0x01F0,0x03B0,0x0730,0x0E30,0x1C30,0x3FFF,0x3FFF,0x0030,0x0030}, // 4
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{0x3F0C,0x3F0E,0x3307,0x3303,0x3303,0x3303,0x3303,0x3387,0x31FE,0x30FC}, // 5
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{0x0FFC,0x1FFE,0x38C7,0x30C3,0x30C3,0x30C3,0x30C3,0x38E7,0x1C7E,0x0C3C}, // 6
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{0x3000,0x3000,0x3000,0x3000,0x307F,0x30FF,0x31C0,0x3380,0x3F00,0x3E00}, // 7
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{0x0F3C,0x1FFE,0x39E7,0x30C3,0x30C3,0x30C3,0x30C3,0x39E7,0x1FFE,0x0F3C}, // 8
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{0x0F0C,0x1F8E,0x39C7,0x30C3,0x30C3,0x30C3,0x30C3,0x38C7,0x1FFE,0x0FFC}, // 9
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{0x1E0F,0x3F1F,0x3338,0x3F70,0x1EE0,0x01DE,0x03BF,0x0733,0x3E3F,0x3C1E}, // %
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{0x0C00,0x1C00,0x3800,0x3000,0x3033,0x3073,0x30E0,0x39C0,0x1F80,0x0F00}, // ?
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{0x0000,0x0000,0x0000,0x0000,0x07F3,0x07F3,0x0000,0x0000,0x0000,0x0000}, // !
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{0x0000,0x0000,0x0000,0x0000,0x0003,0x0003,0x0000,0x0000,0x0000,0x0000}, // .
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{0x0000,0x00C0,0x00C0,0x00C0,0x00C0,0x00C0,0x00C0,0x00C0,0x00C0,0x0000}, // -
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{0x0000,0x3FFF,0x3FFF,0x3003,0x3003,0x3003,0x3003,0x3FFF,0x3FFF,0x0000}, // unknown
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};
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#endif

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