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ESP32-CAN
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communication issues when using bi directional in radio

This commit is contained in:
franchioping 2026-04-19 15:50:02 +01:00
parent 23c73c6e91
commit ead80f3361
11 changed files with 55 additions and 44 deletions
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2
components/DShotRMT

@ -1 +1 @@
Subproject commit 4f731edaead51a644270d2bf183a8a43cae33454
Subproject commit 86d682313234556720dc63ad53aace47ab3d190c

2
components/RFM69_LowPowerLab

@ -1 +1 @@
Subproject commit 034caf2f11a15c67a8a1985b9a02ac3d5026671b
Subproject commit 9b083db90723c4911ac79edb6c1aa35c4c127cb8

2
components/drone_comms

@ -1 +1 @@
Subproject commit d58740e83368c9f2cc2b641ff729d04e7033d007
Subproject commit bb38f95e0de4868b2f84b3fa8ab3025f3496e37b

2
components/drone_controller

@ -1 +1 @@
Subproject commit ac127154714cf9ce781757d7203651fed214b5ff
Subproject commit 3504bc479075bbc363697edc4123978e4342c823

2
components/esp32_Adafruit_GPS

@ -1 +1 @@
Subproject commit 3df2e79d866d1a46fe79f9094a8647a3fd8c5c40
Subproject commit 06ee1eea5a5073337591edc713a755306cea1331

7
main/drone.cpp
View File

@ -18,8 +18,7 @@
#include "nav.h"
#include "packet_handler.h"
#include "sens_fus.h"
#include "soc/gpio_num.h"
#include <cstdint>
#include "soc/gpio_num.h" #include < cstdint>
#include <cstring>
#include <optional>
#include <stdlib.h>
@ -103,7 +102,7 @@ void motor_throttles_task(void *params) {
motor_throttles = (float *)malloc(sizeof(float) * 4);
for (int i = 0; i < 4; i++) {
motor_throttles[i] = 0;
motor_throttles[i] = 0.02;
motors[i] = new DShotRMT(motor_pins[i], DSHOT300, false);
motors[i]->begin();
}
@ -123,7 +122,7 @@ void motor_throttles_task(void *params) {
if (atomic_load(&killswitch_active)) {
throttle = 0.0;
}
motors[i]->sendThrottlePercent(motor_throttles[i] * 100.0f * 0.7f);
motors[i]->sendThrottlePercent(throttle);
}
vTaskDelay(2);
}

38
main/main.cpp
View File

@ -3,8 +3,7 @@
#include "drone.h"
#include "drone_comms.h"
#include "drone_controller.h"
#include "esp32-hal.h"
#include "esp_log.h"
#include "esp32-hal.h" #include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/idf_additions.h"
#include "freertos/projdefs.h"
@ -21,10 +20,11 @@
#include "packet_handler.h"
#include "radio.h"
#include "sens_fus.h"
#include "servo.h"
static const char *TAG = "MAIN";
#define TIME_RELEASE_QUEUE_TO_ACTIVATION 1000
#define TIME_RELEASE_QUEUE_TO_ACTIVATION 500
extern "C" void app_main(void) {
@ -59,16 +59,17 @@ extern "C" void app_main(void) {
// 1 // Core ID
// );
// xTaskCreatePinnedToCore(motor_throttles_task, // Function name
// "motor_throttles_task", // Name for debugging
// 1024 * 4, // Stack size in bytes
// NULL, // Parameters
// 24, // Priority (higher = more urgent)
// NULL, // Task handle
// 1 // Core ID
// );
xTaskCreatePinnedToCore(motor_throttles_task, // Function name
"motor_throttles_task", // Name for debugging
1024 * 4, // Stack size in bytes
NULL, // Parameters
24, // Priority (higher = more urgent)
NULL, // Task handle
1 // Core ID
);
setup_imu();
servo_init();
ESP_LOGI("MAIN", "All tasks spawned. Main loop free.");
Eigen::Vector3f local_pos = {0, 0, 0};
@ -83,7 +84,7 @@ extern "C" void app_main(void) {
while (true) {
while (packet_rx_queue &&
xQueueReceive(packet_rx_queue, &packet_data[0], 1)) {
xQueueReceive(packet_rx_queue, &packet_data[0], 20)) {
handle_packet(&packet_data[0]);
}
@ -124,15 +125,20 @@ extern "C" void app_main(void) {
time_activation_queue = millis();
}
if (released &&
if (released && drone_cont &&
std::atomic_load(&drone_cont->current_input_mode) ==
INPUT_TYPE::AUTO_NAV &&
millis() - time_activation_queue > TIME_RELEASE_QUEUE_TO_ACTIVATION) {
dcont::reset_pid_states(drone_cont->drone_controller);
servo_set(SERVO_OPTIONS::UP);
xTaskCreate(
[](void *pvParameters) {
vTaskDelay(pdMS_TO_TICKS(700));
std::atomic_store(&killswitch_active, false);
// std::atomic_store(&drone_cont->current_input_mode,
// INPUT_TYPE::AUTO_NAV);
},
"lambda_task", 2048, NULL, 5, NULL);
}
// Logging
@ -203,6 +209,6 @@ extern "C" void app_main(void) {
// imu_state_var.rot_euler.y(), imu_state_var.rot_euler.z());
}
vTaskDelay(pdMS_TO_TICKS(50));
vTaskDelay(pdMS_TO_TICKS(5));
}
}

13
main/packet_handler.cpp
View File

@ -13,6 +13,7 @@
#include "portmacro.h"
#include "radio.h"
#include "sens_fus.h"
#include <atomic>
#include <cstdint>
#include <sys/unistd.h>
@ -49,7 +50,10 @@ void handle_packet(uint8_t *packet_addr) {
} else if (packet_type == PACKET_TYPE::KILLSWITCH_TOGGLE) {
packet_killswitch_toggle *packet =
(packet_killswitch_toggle *)(packet_addr + sizeof(PACKET_TYPE));
killswitch_active = packet->killswitch_active;
std::atomic_store(&killswitch_active, packet->killswitch_active);
ESP_LOGI("RADIO_RX", "KILLSWITCH PAACKET");
ESP_LOGE("switch_set", "killswitch set to: %d, packet: %d",
atomic_load(&killswitch_active), packet->killswitch_active);
} else if (packet_type == PACKET_TYPE::MODE_INPUT) {
packet_mode_input *packet =
@ -106,9 +110,6 @@ void send_packet_getter(PACKET_TYPE requested_type) {
packet_info_drone_position{
.trans = {sens_fus.position.x(), sens_fus.position.y(),
sens_fus.position.z()},
.accel = {imu_state_var.lin_accel_global.x,
imu_state_var.lin_accel_global.y,
imu_state_var.lin_accel_global.z},
.vel = {local_vel.x(), local_vel.y(), local_vel.z()},
.rot = {imu_state_var.rot.w(), imu_state_var.rot.x(),
imu_state_var.rot.y(), imu_state_var.rot.z()},
@ -147,14 +148,16 @@ void send_packet_getter(PACKET_TYPE requested_type) {
uint8_t index = requested_type - PACKET_TYPE::DRONE_NAV_WAYPOINT_0;
Eigen::Vector3f coords;
bool land = false;
if (xSemaphoreTake(nav_mutex, portMAX_DELAY)) {
coords = nav_man.waypoints[index].coords;
land = nav_man.waypoints[index].landing;
xSemaphoreGive(nav_mutex);
}
resp_packet = create_packet_pooled(
requested_type,
packet_drone_nav_waypoint{{coords[0], coords[1], coords[2]}});
packet_drone_nav_waypoint{{coords[0], coords[1], coords[2]}, land});
}
if (resp_packet.first != nullptr) {

5
main/radio.cpp
View File

@ -61,7 +61,7 @@ void radio_task(void *pvParameters) {
if (radio.initialize(FREQUENCY, NODEID, NETWORKID)) {
radio.setPowerLevel(31);
radio.setHighPower(true);
radio.setCustomBitrate(DEFAULT_COMMS_BITRATE);
// radio.setCustomBitrate(DEFAULT_COMMS_BITRATE);
ESP_LOGI(TAG, "Radio Initialized. Version: 0x%02X", radio.readReg(0x10));
radio.readAllRegsCompact();
@ -102,6 +102,7 @@ void radio_task(void *pvParameters) {
ESP_LOGI(TAG, "Datarate change requested: %d. Switching in 100ms...",
target_bitrate);
} else {
ESP_LOGI(TAG, "RECVD PACKET");
xQueueSend(packet_rx_queue, &packet_data[0], portMAX_DELAY);
}
@ -139,6 +140,6 @@ void radio_task(void *pvParameters) {
confirmed_at_new_rate = false;
}
vTaskDelay(pdMS_TO_TICKS(10));
vTaskDelay(pdMS_TO_TICKS(1));
}
}

13
main/servo.cpp
View File

@ -1,11 +1,8 @@
#include "servo.h"
#include "driver/ledc.h"
#include "esp_log_level.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include <stdio.h>
#include "esp_log.h"
#define SERVO_PIN 7
#define LEDC_TIMER LEDC_TIMER_0
@ -39,13 +36,7 @@ void servo_init() {
#define DUTY_CYCLE_DOWN 2000
#define DUTY_CYCLE_UP 850
enum SERVO_OPTIONS {
UP,
DOWN,
OFF,
};
void set_servo(SERVO_OPTIONS opt) {
void servo_set(SERVO_OPTIONS opt) {
switch (opt) {
case UP:
ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, us_to_duty(DUTY_CYCLE_UP));

11
main/servo.h
View File

@ -0,0 +1,11 @@
#pragma once
enum SERVO_OPTIONS {
UP,
DOWN,
OFF,
};
void servo_init();
void servo_set(SERVO_OPTIONS opt);