cleanup

Author: mbober1

ESP32/src/serial.hpp

@@ -0,0 +1,65 @@
+#include "driver/uart.h"
+#include <string>
+
+QueueHandle_t cpuQueue, gpuQueue;
+
+const uart_port_t uart = UART_NUM_0; 
+
+void uartRX(void* sock) {
+    const int bufferSize = 1024;
+    uint8_t data[bufferSize];
+
+    uart_config_t uart_config;
+    uart_config.baud_rate = 115200;
+    uart_config.data_bits = UART_DATA_8_BITS;
+    uart_config.parity = UART_PARITY_DISABLE;
+    uart_config.stop_bits = UART_STOP_BITS_1;
+    uart_config.flow_ctrl = UART_HW_FLOWCTRL_DISABLE;
+    uart_config.source_clk = UART_SCLK_APB;
+
+    uart_driver_install(uart, 1024 * 2, 0, 0, NULL, 0);
+    uart_param_config(uart, &uart_config);
+
+    int length;
+    static std::string bufferString;
+    int separator;
+
+
+    while (true)
+    {
+        uart_get_buffered_data_len(uart, (size_t*)&length);
+        length = uart_read_bytes(uart, data, length, 20 / portTICK_RATE_MS);
+
+        if(length > 0) {
+            std::string dataString((char*)data, length);
+            bufferString.append(dataString);
+        }
+
+        separator = bufferString.find(';');
+        while(separator != std::string::npos) {
+            std::string parse = bufferString.substr(0, separator);
+            bufferString.erase(0, separator + 1);
+            separator = bufferString.find(';');
+
+            switch (parse.at(0))
+            {
+                case 'P': { // set pwm1 percentage
+                    parse.erase(0, 1);
+                    int speed = std::atoi(parse.c_str());
+                    xQueueSendToBack(cpuQueue, &speed, 0);
+                    break;
+                }
+
+                case 'W': { // set pwm2 percentage
+                    parse.erase(0, 1);
+                    int speed = std::atoi(parse.c_str());
+                    xQueueSendToBack(gpuQueue, &speed, 0);
+                    break;
+                }
+            }
+        }
+
+        vTaskDelay(50 / portTICK_PERIOD_MS);
+    }
+    
+}