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ESPNow comunication ability added
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1. bump dap version to 139
2. add the ESP_bridge code as the bride for ESPNow comunication only
3. DAP_action, DAP_config,DAP_basic_state now can be read/ write via ESPNow
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@tcfshcrw
tcfshcrw committed Aug 13, 2024
1 parent d49f8e8 commit 0eae429
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Showing 37 changed files with 4,787 additions and 237 deletions.
5 changes: 4 additions & 1 deletion ESP32/include/DiyActivePedal_types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
#include <stdint.h>

// define the payload revision
#define DAP_VERSION_CONFIG 138
#define DAP_VERSION_CONFIG 139

// define the payload types
#define DAP_PAYLOAD_TYPE_CONFIG 100
Expand All @@ -22,6 +22,9 @@ struct payloadHeader {
// store to EEPROM flag
uint8_t storeToEeprom;

//pedal tag
uint8_t PedalTag;

};

struct payloadPedalAction {
Expand Down
237 changes: 217 additions & 20 deletions ESP32/include/ESPNOW_lib.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,8 @@ uint8_t esp_master[] = {0x36, 0x33, 0x33, 0x33, 0x33, 0x31};
uint8_t Clu_mac[] = {0x36, 0x33, 0x33, 0x33, 0x33, 0x32};
uint8_t Gas_mac[] = {0x36, 0x33, 0x33, 0x33, 0x33, 0x33};
uint8_t Brk_mac[] = {0x36, 0x33, 0x33, 0x33, 0x33, 0x34};

uint8_t broadcast_mac[]={0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
uint8_t esp_Host[] = {0x36, 0x33, 0x33, 0x33, 0x33, 0x35};
uint8_t* Recv_mac;
uint16_t ESPNow_send=0;
uint16_t ESPNow_recieve=0;
Expand All @@ -18,6 +19,7 @@ bool ESPNOW_status =false;
bool ESPNow_initial_status=false;
bool ESPNow_update= false;
bool ESPNow_no_device=false;
bool ESPNow_config_request=false;
//https://github.com/nickgammon/I2C_Anything/tree/master
struct ESPNow_Send_Struct
{
Expand All @@ -37,7 +39,7 @@ struct_message myData;

ESPNow_Send_Struct _ESPNow_Recv;
ESPNow_Send_Struct _ESPNow_Send;
bool sendMessageToMaster(int32_t controllerValue)
void sendMessageToMaster(int32_t controllerValue)
{

myData.cycleCnt_u64++;
Expand All @@ -58,23 +60,8 @@ bool sendMessageToMaster(int32_t controllerValue)
{
myData.pedal_status=0;
}
// Send message via ESP-NOW
if(ESPNOW_status)
{
esp_err_t result = esp_now_send(esp_master, (uint8_t *) &myData, sizeof(myData));
if(result == ESP_OK)
{
return true;
}
else
{
return false;
}
}
else
{
return false;
}
esp_now_send(broadcast_mac, (uint8_t *) &myData, sizeof(myData));



//esp_now_send(esp_master, (uint8_t *) &myData, sizeof(myData));
Expand Down Expand Up @@ -112,6 +99,206 @@ void onRecv(const uint8_t *mac_addr, const uint8_t *data, int data_len)
{
memcpy(&_ESPNow_Recv, data, sizeof(_ESPNow_Recv));
ESPNow_update=true;
}

if(data_len==sizeof(dap_config_st))
{

if(mac_addr[5]==esp_Host[5])
{
Serial.println("dap_config_st ESPNow recieved");
if(semaphore_updateConfig!=NULL)
{
if(xSemaphoreTake(semaphore_updateConfig, (TickType_t)1)==pdTRUE)
{
bool structChecker = true;
uint16_t crc;
DAP_config_st * dap_config_st_local_ptr;
dap_config_st_local_ptr = &dap_config_st_local;
//Serial.readBytes((char*)dap_config_st_local_ptr, sizeof(DAP_config_st));
memcpy(dap_config_st_local_ptr, data, sizeof(DAP_config_st));
//debug
Serial.print("Config version expected: ");
Serial.print(DAP_VERSION_CONFIG);
Serial.print(", Config version received: ");
Serial.println(dap_config_st_local.payLoadHeader_.version);
Serial.print("minimun position: ");
Serial.println(dap_config_st_local.payLoadPedalConfig_.pedalStartPosition);

// check if data is plausible
if ( dap_config_st_local.payLoadHeader_.payloadType != DAP_PAYLOAD_TYPE_CONFIG )
{
structChecker = false;
Serial.print("Payload type expected: ");
Serial.print(DAP_PAYLOAD_TYPE_CONFIG);
Serial.print(", Payload type received: ");
Serial.println(dap_config_st_local.payLoadHeader_.payloadType);
}
if ( dap_config_st_local.payLoadHeader_.version != DAP_VERSION_CONFIG )
{
structChecker = false;
Serial.print("Config version expected: ");
Serial.print(DAP_VERSION_CONFIG);
Serial.print(", Config version received: ");
Serial.println(dap_config_st_local.payLoadHeader_.version);
}
// checksum validation
crc = checksumCalculator((uint8_t*)(&(dap_config_st_local.payLoadHeader_)), sizeof(dap_config_st_local.payLoadHeader_) + sizeof(dap_config_st_local.payLoadPedalConfig_));
if (crc != dap_config_st_local.payloadFooter_.checkSum)
{
structChecker = false;
Serial.print("CRC expected: ");
Serial.print(crc);
Serial.print(", CRC received: ");
Serial.println(dap_config_st_local.payloadFooter_.checkSum);
}


// if checks are successfull, overwrite global configuration struct
if (structChecker == true)
{
Serial.println("Updating pedal config");
configUpdateAvailable = true;
}
xSemaphoreGive(semaphore_updateConfig);
}
}
}

}

DAP_actions_st dap_actions_st;
if(data_len==sizeof(dap_actions_st))
{

memcpy(&dap_actions_st, data, sizeof(dap_actions_st));
//Serial.readBytes((char*)&dap_actions_st, sizeof(DAP_actions_st));
if(dap_actions_st.payLoadHeader_.PedalTag==dap_config_st.payLoadPedalConfig_.pedal_type)
{
bool structChecker = true;
uint16_t crc;
if ( dap_actions_st.payLoadHeader_.payloadType != DAP_PAYLOAD_TYPE_ACTION )
{
structChecker = false;
Serial.print("Payload type expected: ");
Serial.print(DAP_PAYLOAD_TYPE_ACTION);
Serial.print(", Payload type received: ");
Serial.println(dap_config_st_local.payLoadHeader_.payloadType);
}
if ( dap_actions_st.payLoadHeader_.version != DAP_VERSION_CONFIG ){
structChecker = false;
Serial.print("Config version expected: ");
Serial.print(DAP_VERSION_CONFIG);
Serial.print(", Config version received: ");
Serial.println(dap_config_st_local.payLoadHeader_.version);
}
crc = checksumCalculator((uint8_t*)(&(dap_actions_st.payLoadHeader_)), sizeof(dap_actions_st.payLoadHeader_) + sizeof(dap_actions_st.payloadPedalAction_));
if (crc != dap_actions_st.payloadFooter_.checkSum){
structChecker = false;
Serial.print("CRC expected: ");
Serial.print(crc);
Serial.print(", CRC received: ");
Serial.println(dap_actions_st.payloadFooter_.checkSum);
}


if (structChecker == true)
{

// trigger reset pedal position
if (dap_actions_st.payloadPedalAction_.resetPedalPos_u8)
{
resetPedalPosition = true;
}

// trigger ABS effect
if (dap_actions_st.payloadPedalAction_.triggerAbs_u8)
{
absOscillation.trigger();
}
//RPM effect
_RPMOscillation.RPM_value=dap_actions_st.payloadPedalAction_.RPM_u8;
//G force effect
_G_force_effect.G_value=dap_actions_st.payloadPedalAction_.G_value-128;
//wheel slip
if (dap_actions_st.payloadPedalAction_.WS_u8)
{
_WSOscillation.trigger();
}
//Road impact
_Road_impact_effect.Road_Impact_value=dap_actions_st.payloadPedalAction_.impact_value_u8;
// trigger system identification
if (dap_actions_st.payloadPedalAction_.startSystemIdentification_u8)
{
systemIdentificationMode_b = true;
}
// trigger Custom effect effect 1
if (dap_actions_st.payloadPedalAction_.Trigger_CV_1)
{
CV1.trigger();
}
// trigger Custom effect effect 2
if (dap_actions_st.payloadPedalAction_.Trigger_CV_2)
{
CV2.trigger();
}
// trigger return pedal position
if (dap_actions_st.payloadPedalAction_.returnPedalConfig_u8)
{
ESPNow_config_request=true;
/*
DAP_config_st * dap_config_st_local_ptr;
dap_config_st_local_ptr = &dap_config_st;
//uint16_t crc = checksumCalculator((uint8_t*)(&(dap_config_st.payLoadHeader_)), sizeof(dap_config_st.payLoadHeader_) + sizeof(dap_config_st.payLoadPedalConfig_));
crc = checksumCalculator((uint8_t*)(&(dap_config_st.payLoadHeader_)), sizeof(dap_config_st.payLoadHeader_) + sizeof(dap_config_st.payLoadPedalConfig_));
dap_config_st_local_ptr->payloadFooter_.checkSum = crc;
Serial.write((char*)dap_config_st_local_ptr, sizeof(DAP_config_st));
Serial.print("\r\n");
*/
}
if(dap_actions_st.payloadPedalAction_.Rudder_action==1)
{
if(dap_calculationVariables_st.Rudder_status==false)
{
dap_calculationVariables_st.Rudder_status=true;
Serial.println("Rudder on");
moveSlowlyToPosition_b=true;
//Serial.print("status:");
//Serial.println(dap_calculationVariables_st.Rudder_status);
}
else
{
dap_calculationVariables_st.Rudder_status=false;
Serial.println("Rudder off");
moveSlowlyToPosition_b=true;
//Serial.print("status:");
//Serial.println(dap_calculationVariables_st.Rudder_status);
}
}
if(dap_actions_st.payloadPedalAction_.Rudder_brake_action==1)
{
if(dap_calculationVariables_st.rudder_brake_status==false&&dap_calculationVariables_st.Rudder_status==true)
{
dap_calculationVariables_st.rudder_brake_status=true;
Serial.println("Rudder brake on");
//Serial.print("status:");
//Serial.println(dap_calculationVariables_st.Rudder_status);
}
else
{
dap_calculationVariables_st.rudder_brake_status=false;
Serial.println("Rudder brake off");
//Serial.print("status:");
//Serial.println(dap_calculationVariables_st.Rudder_status);
}
}
}
}





}

}
Expand All @@ -125,7 +312,7 @@ void ESPNow_initialize()
{

WiFi.mode(WIFI_MODE_STA);
Serial.println("Initializing Rudder, please wait");
Serial.println("Initializing ESPNow, please wait");
Serial.print("Current MAC Address: ");
Serial.println(WiFi.macAddress());
if(dap_config_st.payLoadPedalConfig_.pedal_type==0)
Expand Down Expand Up @@ -172,6 +359,16 @@ void ESPNow_initialize()
ESPNOW_status=true;
Serial.println("Sucess to add host peer");
}
if(ESPNow.add_peer(esp_Host)== ESP_OK)
{
ESPNOW_status=true;
Serial.println("Sucess to add host peer");
}
if(ESPNow.add_peer(broadcast_mac)== ESP_OK)
{
ESPNOW_status=true;
Serial.println("Sucess to add broadcast peer");
}
ESPNow.reg_recv_cb(onRecv);
ESPNow.reg_send_cb(OnSent);
ESPNow_initial_status=true;
Expand Down
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