Protobuf rpc component (#2)

- base of protobuf rpc - method of pb ppc - refactor sub_bus_init with no global val
sfxfs · Dec 22, 2024 · 0e5e14b · 0e5e14b
1 parent 491e101
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diff --git a/TODO.md b/TODO.md
@@ -6,7 +6,8 @@
 - [x] pca9685 驱动
 - [x] Dshot 驱动
 - [ ] pca9685 测试
-- [ ] dshot 测试
+- [x] dshot 测试
+- [ ] protobuf rpc 相关方法实现
 
 ### 额外
 

diff --git a/components/aht30/aht30_intf.c b/components/aht30/aht30_intf.c
@@ -34,27 +34,15 @@
  * </table>
  */
 
-#include "driver/i2c_master.h" // esp_driver_i2c
-#include "sdkconfig.h"
-#include "esp_log.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 
-#include "aht30_intf.h"
-
-#if CONFIG_SUB_ENABLE_AHT30
+#include "esp_log.h"
+#include "driver/i2c_master.h" // esp_driver_i2c
 
-    #if (CONFIG_SUB_AHT30_IIC_PORT == 0) && CONFIG_SUB_ENABLE_I2C0
-    extern i2c_master_bus_handle_t i2c0_bus_handle;
-    #define AHT30_I2C_BUS i2c0_bus_handle
-    #elif (CONFIG_SUB_AHT30_IIC_PORT == 1) && CONFIG_SUB_ENABLE_I2C0
-    extern i2c_master_bus_handle_t i2c1_bus_handle;
-    #define AHT30_I2C_BUS i2c1_bus_handle
-    #else
-    #error certain i2c num not found or disabled
-    #endif
+#include "sdkconfig.h"
 
-#endif
+#include "aht30_intf.h"
 
 i2c_master_dev_handle_t aht30_i2c_dev_handle;
 
@@ -68,6 +56,18 @@ i2c_master_dev_handle_t aht30_i2c_dev_handle;
 uint8_t aht30_interface_iic_init(void)
 {
 #if CONFIG_SUB_ENABLE_AHT30
+    esp_err_t handle_ret;
+    i2c_master_bus_handle_t aht30_i2c_handle;
+    #if (CONFIG_SUB_AHT30_IIC_PORT == 0) && CONFIG_SUB_ENABLE_I2C0
+    handle_ret = i2c_master_get_bus_handle(0, &aht30_i2c_handle);
+    #elif (CONFIG_SUB_AHT30_IIC_PORT == 1) && CONFIG_SUB_ENABLE_I2C0
+    handle_ret = i2c_master_get_bus_handle(1, &aht30_i2c_handle);
+    #else
+    #error certain i2c num not found or disabled
+    #endif
+    if (ESP_OK != handle_ret)
+        return 1;   // interface not init
+
     i2c_device_config_t i2c_dev_conf = {
         .device_address = CONFIG_SUB_AHT30_IIC_ADDRESS,
         .scl_speed_hz = CONFIG_SUB_AHT30_IIC_FREQUENCY,

diff --git a/components/dshot/Kconfig.projbuild b/components/dshot/Kconfig.projbuild
@@ -3,7 +3,7 @@ menu "SUB:DSHOT"
 
     config SUB_DSHOT_RESOLUTION
         int "Resolution of Dshot"
-        default 32000000
+        default 40000000
         help
             Resolution of DSHOT, 32000000 is 32MHz.
 

diff --git a/components/dshot/dshot.c b/components/dshot/dshot.c
@@ -4,11 +4,13 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#include "driver/rmt_tx.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
+
 #include "esp_log.h"
 #include "esp_check.h"
+#include "driver/rmt_tx.h"
+
 #include "sdkconfig.h"
 
 #include "dshot.h"
@@ -216,6 +218,18 @@ int rmt_dshot_init(dshot_handle_t *handle, gpio_num_t gpio_num)
         return -1;
     }
 
+    rmt_transmit_config_t tx_config = {
+        .loop_count = -1, // infinite loop
+    };
+    dshot_esc_throttle_t throttle = {
+        .throttle = 0,
+        .telemetry_req = false, // telemetry is not supported in this example
+    };
+    if (ESP_OK != rmt_transmit(handle->channel, handle->encoder, &throttle, sizeof(throttle), &tx_config))
+    {
+        return -1;
+    }
+
     return 0;
 }
 

diff --git a/components/pca9685/include/pca9685_app.h b/components/pca9685/include/pca9685_app.h
@@ -65,7 +65,7 @@ extern "C"{
 #define PCA9685_APP_DEFAULT_SUBADDRESS_1                0xE2                                              /**< 0xE2 */
 #define PCA9685_APP_DEFAULT_SUBADDRESS_2                0xE4                                              /**< 0xE4 */
 #define PCA9685_APP_DEFAULT_SUBADDRESS_3                0xE8                                              /**< 0xE8 */
-#define PCA9685_APP_DEFAULT_OSCILLATOR_FREQUENCY        50000000                                          /**< 25MHz */
+#define PCA9685_APP_DEFAULT_OSCILLATOR_FREQUENCY        50000000                                          /**< 50MHz */
 
 /**
  * @brief     basic example init
@@ -99,7 +99,7 @@ uint8_t pca9685_app_deinit(void);
  *            0.0 <= delay_percent <= 100.0
  *            0.0 <= high_duty_cycle_percent <= 100.0
  */
-uint8_t pca9685_app_write(pca9685_channel_t channel, float delay_percent, float high_duty_cycle_percent);
+uint8_t pca9685_app_write(pca9685_channel_t channel, uint16_t high_duty_cycle_us);
 
 /**
  * @}

diff --git a/components/pca9685/pca9685_app.c b/components/pca9685/pca9685_app.c
@@ -37,6 +37,7 @@
 #include "pca9685_app.h"
 
 static pca9685_handle_t gs_handle;        /**< pca9685 handle */
+static uint16_t g_output_freq_hz;
 
 /**
  * @brief     basic example init
@@ -111,6 +112,7 @@ uint8_t pca9685_app_init(pca9685_address_t addr, uint16_t hz)
 
         return 1;
     }
+    g_output_freq_hz = hz;
 
     /* set pre scale */
     res = pca9685_set_prescaler(&gs_handle, reg);
@@ -327,13 +329,19 @@ uint8_t pca9685_app_deinit(void)
  *            0.0 <= delay_percent <= 100.0
  *            0.0 <= high_duty_cycle_percent <= 100.0
  */
-uint8_t pca9685_app_write(pca9685_channel_t channel, float delay_percent, float high_duty_cycle_percent)
+uint8_t pca9685_app_write(pca9685_channel_t channel, uint16_t high_duty_cycle_us)
 {
     uint8_t res;
     uint16_t on_count, off_count;
-
+
+    if (g_output_freq_hz == 0)
+        return 1;
+    float high_duty_cycle_percent = 1.f / (float)g_output_freq_hz; // 周期 in s
+    high_duty_cycle_percent *= 1000.f * 1000.f; // s to us
+    high_duty_cycle_percent = (float)high_duty_cycle_us / high_duty_cycle_percent; // final val
+
     /* convert data */
-    res = pca9685_pwm_convert_to_register(&gs_handle, delay_percent, high_duty_cycle_percent, (uint16_t *)&on_count, (uint16_t *)&off_count);
+    res = pca9685_pwm_convert_to_register(&gs_handle, 0.f, high_duty_cycle_percent, (uint16_t *)&on_count, (uint16_t *)&off_count);
     if (res != 0)
     {
         return 1;

diff --git a/components/pca9685/pca9685_intf.c b/components/pca9685/pca9685_intf.c
@@ -34,28 +34,16 @@
  * </table>
  */
 
-#include "driver/i2c_master.h" // esp_driver_i2c
-#include "driver/gpio.h"
-#include "sdkconfig.h"
-#include "esp_log.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 
-#include "pca9685_intf.h"
-
-#if CONFIG_SUB_ENABLE_PCA9685
+#include "esp_log.h"
+#include "driver/gpio.h"
+#include "driver/i2c_master.h"
 
-    #if (CONFIG_SUB_PCA9685_IIC_PORT == 0) && CONFIG_SUB_ENABLE_I2C0
-    extern i2c_master_bus_handle_t i2c0_bus_handle;
-    #define PCA9685_I2C_BUS i2c0_bus_handle
-    #elif (CONFIG_SUB_PCA9685_IIC_PORT == 1) && CONFIG_SUB_ENABLE_I2C1
-    extern i2c_master_bus_handle_t i2c1_bus_handle;
-    #define PCA9685_I2C_BUS i2c1_bus_handle
-    #else
-    #error certain i2c num not found or disabled
-    #endif
+#include "sdkconfig.h"
 
-#endif
+#include "pca9685_intf.h"
 
 i2c_master_dev_handle_t pca9685_i2c_dev_handle;
 
@@ -69,11 +57,23 @@ i2c_master_dev_handle_t pca9685_i2c_dev_handle;
 uint8_t pca9685_interface_iic_init(void)
 {
 #if CONFIG_SUB_ENABLE_PCA9685
+    esp_err_t handle_ret;
+    i2c_master_bus_handle_t pca9685_i2c_handle;
+    #if (CONFIG_SUB_PCA9685_IIC_PORT == 0) && CONFIG_SUB_ENABLE_I2C0
+    handle_ret = i2c_master_get_bus_handle(0, &pca9685_i2c_handle);
+    #elif (CONFIG_SUB_PCA9685_IIC_PORT == 1) && CONFIG_SUB_ENABLE_I2C1
+    handle_ret = i2c_master_get_bus_handle(1, &pca9685_i2c_handle);
+    #else
+    #error certain i2c num not found or disabled
+    #endif
+    if (ESP_OK != handle_ret)
+        return 1;   // interface not init
+
     i2c_device_config_t i2c_dev_conf = {
         .device_address = CONFIG_SUB_PCA9685_IIC_ADDRESS,
         .scl_speed_hz = CONFIG_SUB_PCA9685_IIC_FREQUENCY,
     };
-    if (ESP_OK == i2c_master_bus_add_device(PCA9685_I2C_BUS, &i2c_dev_conf, &pca9685_i2c_dev_handle))
+    if (ESP_OK == i2c_master_bus_add_device(pca9685_i2c_handle, &i2c_dev_conf, &pca9685_i2c_dev_handle))
         return 0;
     else
         return 1;   // NO_MEM

diff --git a/components/protobuf_rpc/CMakeLists.txt b/components/protobuf_rpc/CMakeLists.txt
@@ -0,0 +1,4 @@
+idf_component_register(SRCS "pb_rpc.c" "message_cmd.c" "navi_master.pb.c"
+                    INCLUDE_DIRS "include"
+                    PRIV_REQUIRES esp_driver_uart dshot pca9685
+                    REQUIRES nanopb)
diff --git a/components/protobuf_rpc/Kconfig.projbuild b/components/protobuf_rpc/Kconfig.projbuild
@@ -0,0 +1,92 @@
+menu "SUB:ProtoBuf-RPC"
+    menu "Interface"
+        config SUB_PROTOBUF_UART_PORT
+            int "Which UARTx will be used"
+            default 0
+            help
+                The interface that used to communicate with sub-navi.
+
+        config SUB_PROTOBUF_UART_BAUDRATE
+            int "Set UART baudrate"
+            default 115200
+            help
+                The baudrate of UARTx.
+
+        config SUB_PROTOBUF_UART_QUEUE_SIZE
+            int "Set UART queue size"
+            default 20
+            help
+                The queue size of UARTx.
+
+        config SUB_PROTOBUF_UART_CUSTOM_PINS
+            bool "Use custom pins"
+            default n
+            help
+                If you want to use custom pins for UARTx, enable this option.
+
+        if SUB_PROTOBUF_UART_CUSTOM_PINS
+            config SUB_PROTOBUF_UART_TX_PIN
+                int "UARTx TX pin"
+                default 17
+                help
+                    The TX pin of UARTx.
+
+            config SUB_PROTOBUF_UART_RX_PIN
+                int "UARTx RX pin"
+                default 16
+                help
+                    The RX pin of UARTx.
+        endif
+    endmenu
+
+    menu "Thruster"
+        config SUB_PROTOBUF_THRUSTER0_PIN
+            int "Thruster0 pin"
+            default 18
+            help
+                The pin of thruster channel 0.
+
+        config SUB_PROTOBUF_THRUSTER1_PIN
+            int "Thruster1 pin"
+            default 19
+            help
+                The pin of thruster channel 1.
+
+        config SUB_PROTOBUF_THRUSTER2_PIN
+            int "Thruster2 pin"
+            default 20
+            help
+                The pin of thruster channel 2.
+
+        config SUB_PROTOBUF_THRUSTER3_PIN
+            int "Thruster3 pin"
+            default 21
+            help
+                The pin of thruster channel 3.
+
+        config SUB_PROTOBUF_THRUSTER4_PIN
+            int "Thruster4 pin"
+            default 22
+            help
+                The pin of thruster channel 4.
+
+        config SUB_PROTOBUF_THRUSTER5_PIN
+            int "Thruster5 pin"
+            default 23
+            help
+                The pin of thruster channel 5.
+
+        config SUB_PROTOBUF_THRUSTER6_PIN
+            int "Thruster6 pin"
+            default 24
+            help
+                The pin of thruster channel 6.
+
+        config SUB_PROTOBUF_THRUSTER7_PIN
+            int "Thruster7 pin"
+            default 25
+            help
+                The pin of thruster channel 7.
+    endmenu
+
+endmenu
diff --git a/components/protobuf_rpc/include/message_cmd.h b/components/protobuf_rpc/include/message_cmd.h
@@ -0,0 +1,13 @@
+#ifndef SUB_PB_RPC_CMD_H
+#define SUB_PB_RPC_CMD_H
+
+#include "navi_master.pb.h"
+
+// for main
+int message_cmd_init(void);
+
+// for component itself
+void message_thruster_cmd(ThrusterCommand *msg);
+void message_pwmDev_cmd(PWMDevCommand *msg);
+
+#endif //SUB_PB_RPC_CMD_H