Fix turn direction and add interrupt prio (87a85ccd) · Commits · Ján Labuda / NXP_CUP

esp_wifi_firmware/main/esp_wifi.c

+3 −1

Original line number	Diff line number	Diff line
		@@ -17,7 +17,7 @@
		#define UART_RX_PIN 16
		#define RX_BUF_SIZE 64
		#define TX_BUF_SIZE 1024
		#define STRUCT_SIZE_FROM_MCU 566
		#define STRUCT_SIZE_FROM_MCU 576
		#define BAUDRATE 2000000

		volatile bool udp_client_running = false;
		@@ -55,6 +55,8 @@ void udp_server_task(void *pvParameters) {
		rx_buffer[len] = '\0';
		ESP_LOGI(TAG, "Received[%d]: %d, %d, %d", len, rx_buffer[0], rx_buffer[1], rx_buffer[2]);
		uart_write_bytes(UART_NUM, rx_buffer, len); // Send to UART
		} else {
		ESP_LOGI(TAG, "recv len: %d", len);
		}
		}

remote_gui/config.h

+1 −0

Original line number	Diff line number	Diff line
		@@ -28,6 +28,7 @@ typedef struct {
		struct Servo {
		uint16_t pulse_width_us; // SET
		uint16_t midpoint_us; // CFG
		uint16_t side_range_us; // CFG
		uint16_t c_lin; // CFG
		uint16_t c_sq; // CFG
		uint16_t c_thresh; // CFG

remote_gui/config_module.py

+10 −7

Original line number	Diff line number	Diff line
		@@ -51,14 +51,15 @@ class Camera:
		class Servo:
		pulse_width_us: int = 0
		midpoint_us: int = 0
		side_range_us: int = 0
		c_lin: int = 0
		c_sq: int = 0
		c_thresh: int = 0

		cfg_members: List[str] = field(init=False)
		cfg_format: str = 'HHHH'
		cfg_format: str = 'HHHHH'
		def __post_init__(self):
		self.cfg_members: List[str] = ['midpoint_us', 'c_lin', 'c_sq', 'c_thresh']
		self.cfg_members: List[str] = ['midpoint_us', 'side_range_us', 'c_lin', 'c_sq', 'c_thresh']

		@dataclass
		class Regl:
		@@ -101,15 +102,17 @@ class ConfigStruct:

		@staticmethod
		def deserialize(data: bytes) -> "ConfigStruct":
		fmt = "128H 128H B B B B B B B B H H B B B B B B H H H H H H H H H H H H H H H H H H H H H H "
		fmt = "128H 128H B B B B B B B B H H B B B B B B H H H H H H H H H H H H H H H H H H H H H H H "
		unpacked = struct.unpack(fmt, data)
		return ConfigStruct(
		camera_1_frame=list(unpacked[0:128]),
		camera_2_frame=list(unpacked[128:256]),
		general=General(*unpacked[256:266]),
		camera=Camera(*unpacked[266:276]),
		servo=Servo(*unpacked[276:281]),
		regl=Regl(*unpacked[281:289]),
		sonic=Sonic(*unpacked[289:293]),
		separator=unpacked[293],
		servo=Servo(*unpacked[276:282]),
		regl=Regl(*unpacked[282:290]),
		sonic=Sonic(*unpacked[290:294]),
		separator=unpacked[294],
		)

		print(struct.calcsize("128H 128H B B B B B B B B H H B B B B B B H H H H H H H H H H H H H H H H H H H H H H H "))
		No newline at end of file

remote_gui/gui.py

+2 −2

Original line number	Diff line number	Diff line
		@@ -13,7 +13,7 @@ from keyboard import Keyboard
		# Wifi
		UDP_IP = "0.0.0.0" # Listen on all available interfaces
		UDP_PORT = 3333
		BYTES_BRCAST = 574
		BYTES_BRCAST = 576
		car_ip = "0.0.0.0"

		# Fps
		@@ -165,7 +165,7 @@ def set_servo(time_us):
		if CarState(config_struct.general.state) != CarState.MANUAL:
		logging.debug("Cannot set servo - not in state: manual")
		return
		elif time_us < 1300 or time_us > 1700:
		elif time_us < 1100 or time_us > 1900:
		logging.debug("Wont set servo - out of range value: %dus", time_us)
		return
		else:

src/firmware/board/peripherals.c

+11 −5

Original line number	Diff line number	Diff line
		@@ -133,8 +133,8 @@ instance:
		- interrupt_channel:
		- IRQn: 'EDMA_0_CH0_IRQn'
		- enable_interrrupt: 'noInit'
		- enable_priority: 'false'
		- priority: '0'
		- enable_priority: 'true'
		- priority: '2'
		- enable_custom_name: 'false'
		* BE CAREFUL MODIFYING THIS COMMENT - IT IS YAML SETTINGS FOR TOOLS **********/
		/* clang-format on */
		@@ -151,6 +151,8 @@ static void DMA0_init(void) {
		/* Channel CH0 initialization */
		/* Set the kDma0RequestMuxAdc0FifoARequest request */
		EDMA_SetChannelMux(DMA0_DMA_BASEADDR, DMA0_CH0_DMA_CHANNEL, DMA0_CH0_DMA_REQUEST);
		/* Interrupt vector EDMA_0_CH0_IRQn priority settings in the NVIC. */
		NVIC_SetPriority(DMA0_DMA_CH_INT_DONE_0_IRQN, DMA0_DMA_CH_INT_DONE_0_IRQ_PRIORITY);
		/* Interrupt DMA0_DMA_CH_INT_DONE_0_IRQN request in the NVIC is not initialized (disabled by default). */
		/* It can be enabled later by EnableIRQ(DMA0_DMA_CH_INT_DONE_0_IRQN); function call. */
		/* DMA0 hardware channel 0 request auto stop */
		@@ -581,8 +583,8 @@ instance:
		- common_interrupt:
		- IRQn: 'FLEXPWM1_SUBMODULE2_IRQn'
		- enable_interrrupt: 'enabled'
		- enable_priority: 'false'
		- priority: '0'
		- enable_priority: 'true'
		- priority: '1'
		- enable_custom_name: 'false'
		- faultChannels:
		- 0:
		@@ -721,6 +723,8 @@ static void PWM1_init(void) {
		PWM_OutputTriggerEnable(PWM1_PERIPHERAL, PWM1_SM2, kPWM_ValueRegister_3, true);
		/* Enable interrupts from main config of the submodule SM2 */
		PWM_EnableInterrupts(PWM1_PERIPHERAL, PWM1_SM2, (kPWM_CompareVal0InterruptEnable));
		/* Interrupt vector FLEXPWM1_SUBMODULE2_IRQn priority settings in the NVIC. */
		NVIC_SetPriority(PWM1_COMMON_SM_2_IRQN, PWM1_COMMON_SM_2_IRQ_PRIORITY);
		/* Enable interrupt PWM1_COMMON_SM_2_IRQN request in the NVIC */
		EnableIRQ(PWM1_COMMON_SM_2_IRQN);
		}
		@@ -797,7 +801,7 @@ instance:
		- user_data: ''
		- interrupt_rx_tx:
		- IRQn: 'LP_FLEXCOMM1_IRQn'
		- enable_priority: 'false'
		- enable_priority: 'true'
		- priority: '0'
		- fsl_lpuart:
		- lpuartConfig:
		@@ -899,6 +903,8 @@ lpuart_transfer_t LP_FLEXCOMM1_rxTransfer = {
		static void LP_FLEXCOMM1_init(void) {
		LPUART_Init(LP_FLEXCOMM1_PERIPHERAL, &LP_FLEXCOMM1_config, LP_FLEXCOMM1_CLOCK_SOURCE);
		LPUART_TransferCreateHandle(LP_FLEXCOMM1_PERIPHERAL, &LP_FLEXCOMM1_handle, LPUART_UserCallback, NULL);
		/* Interrupt vector LP_FLEXCOMM1_IRQn priority settings in the NVIC. */
		NVIC_SetPriority(LP_FLEXCOMM1_FLEXCOMM_IRQN, LP_FLEXCOMM1_FLEXCOMM_IRQ_PRIORITY);
		}

		/***********************************************************************************************************************