UDP send and receive

Code/ESP8266_UDP_Telemetry/.gitignore

@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

Code/ESP8266_UDP_Telemetry/.vscode/extensions.json

@@ -0,0 +1,10 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

Code/ESP8266_UDP_Telemetry/include/README

@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

Code/ESP8266_UDP_Telemetry/lib/README

@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

Code/ESP8266_UDP_Telemetry/platformio.ini

@@ -0,0 +1,18 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp12e]
+platform = espressif8266
+board = esp12e
+framework = arduino
+upload_port = COM9
+upload_speed = 921600
+monitor_port = COM9
+monitor_speed = 921600

Code/ESP8266_UDP_Telemetry/src/main.cpp

@@ -0,0 +1,47 @@
+#include <Arduino.h>
+#include <ESP8266WiFi.h>
+#include <WiFiUdp.h>
+
+#define TX_BUFFER_SIZE 4096
+#define RX_BUFFER_SIZE 4096
+
+WiFiUDP udp;
+const IPAddress multicastIP(239, 0, 0, 1);
+const uint16_t remotePort = 10001;
+
+uint8_t txBuffer[TX_BUFFER_SIZE];
+uint8_t rxBuffer[RX_BUFFER_SIZE];
+
+void setup() {
+	// put your setup code here, to run once:
+	pinMode(1, OUTPUT);
+	pinMode(LED_BUILTIN_AUX, OUTPUT);
+	pinMode(LED_BUILTIN, OUTPUT);
+	Serial.begin(921600);
+	Serial.setTimeout(1);
+	WiFi.begin("RoboIME-HRR", "roboimehrr");
+	while (WiFi.status() != WL_CONNECTED) {
+		delay(100);
+		Serial.print(".");
+	}
+	Serial.println();
+	Serial.print("Connected! IP address: ");
+	Serial.println(WiFi.localIP());
+    delay(1000);
+    Serial.println(udp.beginMulticast(WiFi.localIP(), multicastIP, 11001));
+}
+
+void loop() {
+	// put your main code here, to run repeatedly:
+	int packetSize = udp.parsePacket();
+	if (packetSize) {
+		size_t receivedBytes = udp.readBytes(rxBuffer, packetSize);
+		Serial.write(rxBuffer, receivedBytes);
+	}
+	if(Serial.available()){
+		size_t bytesToSend = Serial.readBytes(txBuffer, TX_BUFFER_SIZE);
+    	udp.beginPacketMulticast(multicastIP, remotePort, WiFi.localIP());
+		udp.write(txBuffer, bytesToSend);
+		udp.endPacket();
+	}
+}

Code/ESP8266_UDP_Telemetry/test/README

@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Unit Testing and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/page/plus/unit-testing.html

Code/STM32/Core/Inc/stm32f1xx_it.h

@@ -55,6 +55,8 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void DMA1_Channel4_IRQHandler(void);
+void DMA1_Channel5_IRQHandler(void);
 void DMA1_Channel7_IRQHandler(void);
 void TIM4_IRQHandler(void);
 void USART1_IRQHandler(void);

Code/STM32/Core/Src/Components/BTS7960B.cpp

@@ -0,0 +1,31 @@
+/*
+ * BTS7960B.cpp
+ *
+ *  Created on: Dec 29, 2021
+ *      Author: Gabriel
+ */
+
+#include "BTS7960B.hpp"
+
+BTS7960B::BTS7960B(__IO uint32_t* ina_ccr, __IO uint32_t* inb_ccr, GPIO_TypeDef* inha_gpio_port, uint16_t inha_gpio_pin, GPIO_TypeDef* inhb_gpio_port, uint16_t inhb_gpio_pin)
+ : ina(ina_ccr), inb(inb_ccr), inha_port(inha_gpio_port), inha_pin(inha_gpio_pin), inhb_port(inhb_gpio_port), inhb_pin(inhb_gpio_pin){
+
+}
+
+void BTS7960B::setSpeed(int32_t speed){
+
+	if(speed > 0){
+		HAL_GPIO_WritePin(inha_port, inha_pin, GPIO_PIN_SET);
+		HAL_GPIO_WritePin(inhb_port, inhb_pin, GPIO_PIN_SET);
+		*ina = speed;
+		*inb = 0;
+	}else if(speed < 0){
+		HAL_GPIO_WritePin(inha_port, inha_pin, GPIO_PIN_SET);
+		HAL_GPIO_WritePin(inhb_port, inhb_pin, GPIO_PIN_SET);
+		*ina = 0;
+		*inb = -speed;
+	}else{
+		HAL_GPIO_WritePin(inha_port, inha_pin, GPIO_PIN_RESET);
+		HAL_GPIO_WritePin(inhb_port, inhb_pin, GPIO_PIN_RESET);
+	}
+}

Code/STM32/Core/Src/Components/BTS7960B.hpp

@@ -0,0 +1,32 @@
+/*
+ * BTS7960B.hpp
+ *
+ *  Created on: Dec 29, 2021
+ *      Author: Gabriel
+ */
+
+#ifndef SRC_COMPONENTS_BTS7960B_HPP_
+#define SRC_COMPONENTS_BTS7960B_HPP_
+
+#include "main.h"
+
+class BTS7960B {
+public:
+	BTS7960B(__IO uint32_t* ina_ccr, __IO uint32_t* inb_ccr, GPIO_TypeDef* inha_gpio_port, uint16_t inha_gpio_pin, GPIO_TypeDef* inhb_gpio_port, uint16_t inhb_gpio_pin);
+	void setSpeed(int32_t speed);
+private:
+	__IO uint32_t* ina;
+	__IO uint32_t* inb;
+	GPIO_TypeDef* inha_port;
+	uint16_t inha_pin;
+	GPIO_TypeDef* inhb_port;
+	uint16_t inhb_pin;
+};
+
+
+
+
+
+
+
+#endif /* SRC_COMPONENTS_BTS7960B_HPP_ */

Code/STM32/Core/Src/Components/Start.cpp

@@ -12,12 +12,12 @@ extern TIM_HandleTypeDef htim3;
 extern TIM_HandleTypeDef htim4;
 
 SerialDebug debug(&huart2, 32);
-ESP8266 esp0(&huart1);
+//ESP8266 esp0(&huart1);
 BTS7960B motor0(&(TIM2->CCR1), &(TIM2->CCR2), GPIOB, GPIO_PIN_4, GPIOB, GPIO_PIN_5);
 BTS7960B motor1(&(TIM2->CCR3), &(TIM2->CCR4), GPIOB, GPIO_PIN_0, GPIOB, GPIO_PIN_1);
 
 //Temporary variables begin
-char buf[64];
+uint8_t buf[1500];
 float error = 0;
 float lastError = 0;
 float derror = 0;
@@ -44,6 +44,11 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
 
 }
 
+void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
+	HAL_GPIO_TogglePin(LED_BUILTIN_GPIO_Port, LED_BUILTIN_Pin);
+	HAL_UARTEx_ReceiveToIdle_DMA(&huart1, buf, 256);
+}
+
 void pid(int32_t input){
 	lastError = error;
 	error = input - (int32_t)TIM3->CNT;
@@ -80,30 +85,10 @@ void start(){
 	debug.info("Init timers end");
 	debug.info("Init ESP8266 begin");
 	HAL_Delay(1000);
-	switch(esp0.command("ATE0\r\n")){
+	HAL_UARTEx_ReceiveToIdle_DMA(&huart1, buf, 256);
-	case ESP8266::STATUS_OK:
-		debug.debug("ATE0 OK");
-		break;
-	case ESP8266::STATUS_ERROR:
-		debug.debug("ATE0 ERROR");
-		break;
-	case ESP8266::STATUS_TIMEOUT:
-		debug.debug("ATE0 TIMEOUT");
-		break;
-	}
-	esp0.init();
-	//+IPD,0,14:Hello World 01\r\n
 	debug.info("Init ESP8266 end");
 	while(true){
-		esp0.send_uint32("TIM3->CNT", TIM3->CNT);
+
-		HAL_Delay(10);
-		uint64_t recv = esp0.receive_uint64();
-		//sprintf(buf, "recv: %llX", recv);
-		//debug.debug(buf);
-		//motor0.setSpeed(recv>>32);
-		//motor1.setSpeed(recv & 0x00000000FFFFFFFF);
-		pid(recv & 0x00000000FFFFFFFF);
-		HAL_Delay(10);
 	}
 }
 

Code/STM32/Core/Src/main.c

@@ -46,6 +46,8 @@ TIM_HandleTypeDef htim4;
 
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
+DMA_HandleTypeDef hdma_usart1_rx;
+DMA_HandleTypeDef hdma_usart1_tx;
 DMA_HandleTypeDef hdma_usart2_tx;
 
 PCD_HandleTypeDef hpcd_USB_FS;
@@ -402,7 +404,7 @@ static void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 2250000;
+  huart1.Init.BaudRate = 921600;
   huart1.Init.WordLength = UART_WORDLENGTH_8B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_NONE;
@@ -435,7 +437,7 @@ static void MX_USART2_UART_Init(void)
 
   /* USER CODE END USART2_Init 1 */
   huart2.Instance = USART2;
-  huart2.Init.BaudRate = 2250000;
+  huart2.Init.BaudRate = 921600;
   huart2.Init.WordLength = UART_WORDLENGTH_8B;
   huart2.Init.StopBits = UART_STOPBITS_1;
   huart2.Init.Parity = UART_PARITY_NONE;
@@ -493,6 +495,12 @@ static void MX_DMA_Init(void)
   __HAL_RCC_DMA1_CLK_ENABLE();
 
   /* DMA interrupt init */
+  /* DMA1_Channel4_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
+  /* DMA1_Channel5_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
   /* DMA1_Channel7_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Channel7_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(DMA1_Channel7_IRQn);

Code/STM32/Core/Src/stm32f1xx_hal_msp.c

@@ -23,6 +23,10 @@
 /* USER CODE BEGIN Includes */
 
 /* USER CODE END Includes */
+extern DMA_HandleTypeDef hdma_usart1_rx;
+
+extern DMA_HandleTypeDef hdma_usart1_tx;
+
 extern DMA_HandleTypeDef hdma_usart2_tx;
 
 /* Private typedef -----------------------------------------------------------*/
@@ -327,6 +331,39 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 
     __HAL_AFIO_REMAP_USART1_ENABLE();
 
+    /* USART1 DMA Init */
+    /* USART1_RX Init */
+    hdma_usart1_rx.Instance = DMA1_Channel5;
+    hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart1_rx.Init.Mode = DMA_NORMAL;
+    hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(huart,hdmarx,hdma_usart1_rx);
+
+    /* USART1_TX Init */
+    hdma_usart1_tx.Instance = DMA1_Channel4;
+    hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart1_tx.Init.Mode = DMA_NORMAL;
+    hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(huart,hdmatx,hdma_usart1_tx);
+
     /* USART1 interrupt Init */
     HAL_NVIC_SetPriority(USART1_IRQn, 7, 0);
     HAL_NVIC_EnableIRQ(USART1_IRQn);
@@ -406,6 +443,10 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
     */
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6|GPIO_PIN_7);
 
+    /* USART1 DMA DeInit */
+    HAL_DMA_DeInit(huart->hdmarx);
+    HAL_DMA_DeInit(huart->hdmatx);
+
     /* USART1 interrupt DeInit */
     HAL_NVIC_DisableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspDeInit 1 */

Code/STM32/Core/Src/stm32f1xx_it.c

@@ -56,6 +56,8 @@
 
 /* External variables --------------------------------------------------------*/
 extern TIM_HandleTypeDef htim4;
+extern DMA_HandleTypeDef hdma_usart1_rx;
+extern DMA_HandleTypeDef hdma_usart1_tx;
 extern DMA_HandleTypeDef hdma_usart2_tx;
 extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
@@ -201,6 +203,34 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f1xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles DMA1 channel4 global interrupt.
+  */
+void DMA1_Channel4_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel4_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart1_tx);
+  /* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel4_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA1 channel5 global interrupt.
+  */
+void DMA1_Channel5_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel5_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart1_rx);
+  /* USER CODE BEGIN DMA1_Channel5_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel5_IRQn 1 */
+}
+
 /**
   * @brief This function handles DMA1 channel7 global interrupt.
   */

Code/STM32/F103C8-PFC.ioc

@@ -3,7 +3,27 @@ CAD.formats=
 CAD.pinconfig=
 CAD.provider=
 Dma.Request0=USART2_TX
-Dma.RequestsNb=1
+Dma.Request1=USART1_RX
+Dma.Request2=USART1_TX
+Dma.RequestsNb=3
+Dma.USART1_RX.1.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART1_RX.1.Instance=DMA1_Channel5
+Dma.USART1_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_RX.1.MemInc=DMA_MINC_ENABLE
+Dma.USART1_RX.1.Mode=DMA_NORMAL
+Dma.USART1_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_RX.1.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_RX.1.Priority=DMA_PRIORITY_LOW
+Dma.USART1_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
+Dma.USART1_TX.2.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART1_TX.2.Instance=DMA1_Channel4
+Dma.USART1_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_TX.2.MemInc=DMA_MINC_ENABLE
+Dma.USART1_TX.2.Mode=DMA_NORMAL
+Dma.USART1_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_TX.2.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_TX.2.Priority=DMA_PRIORITY_LOW
+Dma.USART1_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
 Dma.USART2_TX.0.Direction=DMA_MEMORY_TO_PERIPH
 Dma.USART2_TX.0.Instance=DMA1_Channel7
 Dma.USART2_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
@@ -68,6 +88,8 @@ Mcu.UserName=STM32F103C8Tx
 MxCube.Version=6.7.0
 MxDb.Version=DB.6.0.70
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.DMA1_Channel4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
+NVIC.DMA1_Channel5_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.DMA1_Channel7_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
@@ -166,6 +188,7 @@ ProjectManager.PreviousToolchain=
 ProjectManager.ProjectBuild=false
 ProjectManager.ProjectFileName=F103C8-PFC.ioc
 ProjectManager.ProjectName=F103C8-PFC
+ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=STM32CubeIDE
@@ -221,10 +244,10 @@ TIM2.Prescaler=63
 TIM4.IPParameters=Prescaler,Period
 TIM4.Period=9999
 TIM4.Prescaler=71
-USART1.BaudRate=2250000
+USART1.BaudRate=921600
 USART1.IPParameters=VirtualMode,BaudRate
 USART1.VirtualMode=VM_ASYNC
-USART2.BaudRate=2250000
+USART2.BaudRate=921600
 USART2.IPParameters=VirtualMode,BaudRate
 USART2.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick