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Fixed MAVLINK support for settings except for string parameters. Push…
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… to esp-idf 5.2.2

Fixed partition table, updated sdkconfig files, increase FreeRTOS Tick rate to 1000Hz
Code refractoring and code cleanup
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@seeul8er
seeul8er committed Jul 14, 2024
1 parent 224b0ec commit 824fb02
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Showing 21 changed files with 1,497 additions and 664 deletions.
1 change: 1 addition & 0 deletions .gitignore
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Expand Up @@ -17,3 +17,4 @@ managed_components/espressif__mdns/.component_hash
dependencies.lock
.openocd_setup.ps1
frontend/node_modules
*.old
4 changes: 2 additions & 2 deletions flashing_instructions.txt
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Expand Up @@ -7,12 +7,12 @@

ESP32S2:
-------
esptool.py -p (PORT) -b 115200 --before default_reset --after hard_reset --chip esp32s2 write_flash --flash_mode dio --flash_size 2MB --flash_freq 80m 0x1000 bootloader.bin 0x8000 partition-table.bin 0x10000 db_esp32.bin 0x110000 www.bin
esptool --chip esp32s2 -b 460800 --before default_reset --after hard_reset write_flash --flash_mode dio --flash_size 2MB --flash_freq 80m 0x1000 bootloader.bin 0x8000 partition-table.bin 0x10000 db_esp32.bin 0x190000 www.bin


ESP32S3:
-------
esptool.py -p (PORT) -b 115200 --before default_reset --after hard_reset --chip esp32s3 write_flash --flash_mode dio --flash_size 2MB --flash_freq 80m 0x0 bootloader.bin 0x8000 partition-table.bin 0x10000 db_esp32.bin 0x110000 www.bin
esptool --chip esp32s3 -b 460800 --before default_reset --after hard_reset write_flash --flash_mode dio --flash_size 2MB --flash_freq 80m 0x0 bootloader.bin 0x8000 partition-table.bin 0x10000 db_esp32.bin 0x190000 www.bin


ESP32C3:
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3 changes: 3 additions & 0 deletions frontend/dronebridge.js
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Expand Up @@ -38,14 +38,17 @@ function change_uart_visibility() {
var tx_rx_div = document.getElementById("tx_rx_div");
var rts_cts_div = document.getElementById("rts_cts_div");
var rts_thresh_div = document.getElementById("rts_thresh_div");
var baud_div = document.getElementById("baud_div");
if (serial_via_JTAG === 0) {
rts_cts_div.style.display = "block";
tx_rx_div.style.display = "block";
rts_thresh_div.style.display = "block";
baud_div.style.display = "block";
} else {
rts_cts_div.style.display = "none";
tx_rx_div.style.display = "none";
rts_thresh_div.style.display = "none";
baud_div.style.display = "none";
}
}

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2 changes: 1 addition & 1 deletion frontend/index.html
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Expand Up @@ -124,7 +124,7 @@ <h3>Serial</h3>
<option value="5">Transparent</option>
</select>
</div>
<div class="six columns">
<div class="six columns" id="baud_div">
<label for="baud">UART baud</label>
<select name="baud" id="baud" form="settings_form">
<option value="5000000">5000000</option>
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70 changes: 48 additions & 22 deletions main/db_esp32_control.c
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Expand Up @@ -152,16 +152,20 @@ int db_open_int_telemetry_udp_socket() {
return sock;
}

/**
* Sends data to all clients that are part of the udp connection list. No resending of packets in case of failure.
* @param n_udp_conn_list List of known UDP clients/connections
* @param data Buffer with the data to send
* @param data_length Length of the data in the buffer
*/
void send_to_all_udp_clients(udp_conn_list_t *n_udp_conn_list, const uint8_t *data, uint data_length) {
for (int i = 0; i < n_udp_conn_list->size; i++) { // send to all UDP clients
resend:;
int sent = sendto(n_udp_conn_list->udp_socket, data, data_length, 0,
(struct sockaddr *) &n_udp_conn_list->db_udp_clients[i].udp_client,
sizeof(n_udp_conn_list->db_udp_clients[i].udp_client));
if (sent != data_length) {
ESP_LOGE(TAG, "UDP - Error sending (%i/%i) because of %d - trying again!", sent, data_length, errno);
vTaskDelay(200 / portTICK_PERIOD_MS);
goto resend;
int err = errno;
ESP_LOGE(TAG, "UDP - Error sending (%i/%i) to because of %d", sent, data_length, err);
}
}
}
Expand Down Expand Up @@ -306,7 +310,7 @@ bool remove_from_known_udp_clients(udp_conn_list_t *n_udp_conn_list, struct db_u
}

/**
* Reads UART transparently or parsing MSP/LTM protocol.
* Reads serial (UART/USB/JTAG) transparently or parsing MAVLink/MSP/LTM protocol.
* Then sends read data to all connected clients via TCP/UDP or ESP-NOW.
* Non-Blocking function
*
Expand All @@ -317,8 +321,8 @@ bool remove_from_known_udp_clients(udp_conn_list_t *n_udp_conn_list, struct db_u
* @param serial_buffer Destination-buffer for the serial data
* @param db_msp_ltm_port Pointer to structure containing MSP/LTM parser information
*/
void read_process_uart(int *tcp_clients, uint *transparent_buff_pos, uint *msp_ltm_buff_pos, uint8_t *msp_message_buffer,
uint8_t *serial_buffer, msp_ltm_port_t *db_msp_ltm_port) {
void read_process_serial_link(int *tcp_clients, uint *transparent_buff_pos, uint *msp_ltm_buff_pos, uint8_t *msp_message_buffer,
uint8_t *serial_buffer, msp_ltm_port_t *db_msp_ltm_port) {
switch (DB_SERIAL_PROTOCOL) {
case 0:
case 2:
Expand Down Expand Up @@ -364,17 +368,23 @@ _Noreturn void control_module_esp_now(){

ESP_LOGI(TAG, "Started control module (ESP-NOW)");
while (1) {
read_process_uart(NULL, &transparent_buff_pos, &msp_ltm_buff_pos, msp_message_buffer, serial_buffer,
&db_msp_ltm_port);
// read UART (and split into packets & process MAVLink if desired); send to ESP-NOW queue to be processed by esp-now task
read_process_serial_link(NULL, &transparent_buff_pos, &msp_ltm_buff_pos, msp_message_buffer, serial_buffer,
&db_msp_ltm_port);
// read queue that was filled by esp-now task to check for data that needs to be sent via serial link
if (db_uart_write_queue != NULL && xQueueReceive(db_uart_write_queue, &db_espnow_uart_evt, 0) == pdTRUE) {
write_to_serial(db_espnow_uart_evt.data, db_espnow_uart_evt.data_len);
if (DB_SERIAL_PROTOCOL == DB_SERIAL_PROTOCOL_MAVLINK) {
// Parse, so we can listen in and react to certain messages - function will send parsed messages to serial link.
// We can not write to serial first since we might inject packets and do not know when to do so to not "destroy" an existign packet
db_parse_mavlink_from_radio(NULL, NULL, db_espnow_uart_evt.data, db_espnow_uart_evt.data_len);
} // only parse in mavlink mode
} else {
// no parsing with any other protocol - transparent here - just pass through
write_to_serial(db_espnow_uart_evt.data, db_espnow_uart_evt.data_len);
}
free(db_espnow_uart_evt.data);
} else {
if (db_uart_write_queue == NULL) ESP_LOGE(TAG, "db_uart_write_queue is NULL!");
// no new data available do nothing
// no new data available to be sent via serial link do nothing
}
if (delay_timer_cnt == 5000) {
/* all actions are non-blocking so allow some delay so that the IDLE task of FreeRTOS and the watchdog can run
Expand Down Expand Up @@ -450,7 +460,7 @@ void db_send_internal_telemetry_to_stations(int tel_sock, wifi_sta_list_t *sta_l
* Receive and process internal telemetry (ESP32 AP to ESP32 Station) sent by ESP32 LR access point.
* Matches with db_send_internal_telemetry_to_stations()
* Sets station_rssi_ap based on the received value
* [NUM_Entries, (MAC + RSSI), (MAC + RSSI), (MAC + RSSI), ...]
* Packet format: [NUM_Entries, (MAC + RSSI), (MAC + RSSI), (MAC + RSSI), ...]
*
* @param tel_sock Socket listening for internal telemetry
*/
Expand Down Expand Up @@ -532,9 +542,13 @@ _Noreturn void control_module_udp_tcp() {
if (tcp_clients[i] > 0) {
ssize_t recv_length = recv(tcp_clients[i], tcp_client_buffer, TCP_BUFF_SIZ, 0);
if (recv_length > 0) {
write_to_serial(tcp_client_buffer, recv_length);
if (DB_SERIAL_PROTOCOL == DB_SERIAL_PROTOCOL_MAVLINK) {
// Parse, so we can listen in and react to certain messages - function will send parsed messages to serial link.
// We can not write to serial first since we might inject packets and do not know when to do so to not "destroy" an existign packet
db_parse_mavlink_from_radio(tcp_clients, udp_conn_list, tcp_client_buffer, recv_length);
} else {
// no parsing with any other protocol - transparent here
write_to_serial(tcp_client_buffer, recv_length);
}
} else if (recv_length == 0) {
shutdown(tcp_clients[i], 0);
Expand All @@ -552,28 +566,37 @@ _Noreturn void control_module_udp_tcp() {
}
}
// handle incoming UDP data - Read UDP and forward to UART
// all devices that send us UDP data will be added to the list of MAVLink UDP receivers
ssize_t recv_length = recvfrom(udp_conn_list->udp_socket, udp_buffer, UDP_BUF_SIZE, 0,
(struct sockaddr *) &new_db_udp_client.udp_client, &udp_socklen);
if (recv_length > 0) {
write_to_serial(udp_buffer, recv_length);
if (DB_SERIAL_PROTOCOL == DB_SERIAL_PROTOCOL_MAVLINK) {
// Parse, so we can listen in and react to certain messages - function will send parsed messages to serial link.
// We can not write to serial first since we might inject packets and do not know when to do so to not "destroy" an existign packet
db_parse_mavlink_from_radio(tcp_clients, udp_conn_list, udp_buffer, recv_length);
} else {
// no parsing with any other protocol - transparent here
write_to_serial(udp_buffer, recv_length);
}
// all devices that send us UDP data will be added to the list of MAVLink UDP receivers
// Allows to register new app on different port. Used e.g. for UDP conn setup in sta-mode.
// Devices/Ports added this way cannot be removed in sta-mode since UDP is connectionless, and we cannot
// determine if the client is still existing. This will blow up the list connected devices.
// In AP-Mode the devices can be removed based on the IP/MAC address
add_to_known_udp_clients(udp_conn_list, new_db_udp_client);
if (DB_SERIAL_PROTOCOL == DB_SERIAL_PROTOCOL_MAVLINK) {
db_parse_mavlink_from_radio(tcp_clients, udp_conn_list, udp_buffer, recv_length);
} // no parsing with any other protocol
} else {
// received nothing, keep on going
}

if (DB_WIFI_MODE == DB_WIFI_MODE_STA) {
handle_internal_telemetry(db_internal_telem_udp_sock, udp_buffer, &udp_socklen, &new_db_udp_client.udp_client);
} else {
// internal telemetry only received when in STA mode. Coming from the ESP32 AP. Nothing to do here
}

// Second check for incoming UART data and send it to TCP/UDP
read_process_uart(tcp_clients, &transparent_buff_pos, &msp_ltm_buff_pos, msp_message_buffer, serial_buffer,
&db_msp_ltm_port);
read_process_serial_link(tcp_clients, &transparent_buff_pos, &msp_ltm_buff_pos, msp_message_buffer,
serial_buffer,
&db_msp_ltm_port);

if (delay_timer_cnt == 6000) {
// all actions are non-blocking so allow some delay so that the IDLE task of FreeRTOS and the watchdog can run
Expand All @@ -592,6 +615,9 @@ _Noreturn void control_module_udp_tcp() {
} else {
// no way of getting RSSI here. Do nothing
}
// size_t free_dram = heap_caps_get_free_size(MALLOC_CAP_8BIT);
// size_t lowmark_dram = heap_caps_get_minimum_free_size(MALLOC_CAP_8BIT);
// ESP_LOGI(TAG, "Free heap: %i, low mark: %i", free_dram, lowmark_dram);
} else {
delay_timer_cnt++;
}
Expand All @@ -607,7 +633,7 @@ _Noreturn void control_module_udp_tcp() {
*/
void control_module() {
if (DB_WIFI_MODE != DB_WIFI_MODE_ESPNOW_GND && DB_WIFI_MODE != DB_WIFI_MODE_ESPNOW_AIR) {
xTaskCreate(&control_module_udp_tcp, "control_wifi", 40960, NULL, 5, NULL);
xTaskCreate(&control_module_udp_tcp, "control_wifi", 46080, NULL, 5, NULL);
} else {
xTaskCreate(&control_module_esp_now, "control_espnow", 40960, NULL, 5, NULL);
}
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