skrueckenandCursor
92a13d7fd0
Master can speak the same framed protobuf protocol over NimBLE or UART; goTool gains -ble, ble-rtt, and ble-stream timing checks for ESP-NOW coexistence. Co-authored-by: Cursor <cursoragent@cursor.com>
126 lines
2.9 KiB
C
126 lines
2.9 KiB
C
#include "cmd_handler.h"
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#include "driver/uart.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "freertos/idf_additions.h"
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#include "hal/uart_types.h"
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#include "host_transport.h"
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#include "uart.h"
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#include <stdbool.h>
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#include <stdlib.h>
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#include <string.h>
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static const char *TAG = "[UART]";
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static esp_err_t uart_host_tx(const uint8_t *frame, size_t frame_len) {
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int written = uart_write_bytes(UART_NUM, frame, frame_len);
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if (written < 0 || (size_t)written != frame_len) {
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return ESP_FAIL;
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}
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return ESP_OK;
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}
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void init_uart(QueueHandle_t cmd_queue) {
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esp_err_t err;
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host_transport_set_cmd_queue(cmd_queue);
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host_transport_set_tx(uart_host_tx);
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uart_config_t uart_config = {
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.baud_rate = UART_BAUD_RATE,
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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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};
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err = uart_driver_install(UART_NUM, UART_DRIVER_RX_BUF_SIZE,
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UART_DRIVER_TX_BUF_SIZE, 0, NULL, 0);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "uart_driver_install failed: %s", esp_err_to_name(err));
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return;
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}
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err = uart_param_config(UART_NUM, &uart_config);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "uart_param_config failed: %s", esp_err_to_name(err));
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return;
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}
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err = uart_set_pin(UART_NUM, UART_TXD_PIN, UART_RXD_PIN, UART_PIN_NO_CHANGE,
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UART_PIN_NO_CHANGE);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "uart_set_pin failed: %s", esp_err_to_name(err));
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return;
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}
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if (xTaskCreate(uart_read_task, "uart_rx", 4096, NULL, 5, NULL) != pdPASS) {
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ESP_LOGE(TAG, "failed to create uart_read_task");
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}
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}
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void uart_read_task(void *param) {
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(void)param;
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uint8_t *data = (uint8_t *)malloc(UART_BUF_SIZE);
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if (data == NULL) {
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ESP_LOGE(TAG, "out of memory");
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vTaskDelete(NULL);
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return;
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}
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while (1) {
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int len = uart_read_bytes(UART_NUM, data, UART_BUF_SIZE, pdMS_TO_TICKS(20));
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if (len > 0) {
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host_rx_bytes(data, (size_t)len);
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}
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}
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}
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bool parse_uart_byte(uint8_t byte, uart_packet_t *p) {
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switch (p->state) {
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case STATE_START:
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if (byte == START_MARKER) {
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p->index = 0;
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p->checksum = 0;
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p->state = STATE_LEN;
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}
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break;
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case STATE_LEN:
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if (byte > MAX_PAYLOAD_SIZE || byte == 0) {
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p->state = STATE_START;
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} else {
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p->len = byte;
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p->state = STATE_DATA;
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}
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break;
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case STATE_DATA:
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p->payload[p->index++] = byte;
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p->checksum ^= byte;
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if (p->index >= p->len) {
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p->state = STATE_CHECKSUM;
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}
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break;
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case STATE_CHECKSUM:
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if (byte == p->checksum) {
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p->state = STATE_STOP;
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} else {
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p->state = STATE_START;
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}
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break;
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case STATE_STOP:
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p->state = STATE_START;
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if (byte == STOP_MARKER) {
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return true;
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}
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break;
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}
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return false;
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}
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esp_err_t uart_send_framed(const uint8_t *payload, size_t len) {
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return host_send_framed(payload, len);
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}
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