Multithreading 结构化xqueue freeRTOS示例
我来找你是因为我对我的问题感到绝望。我已经发表了一篇前一篇文章（），但是我已经尝试过了，但是没有得到预期的结果 结果: len:-1184515756 数据：Multithreading 结构化xqueue freeRTOS示例,multithreading,queue,esp32,freertos,Multithreading,Queue,Esp32,Freertos,我来找你是因为我对我的问题感到绝望。我已经发表了一篇前一篇文章（），但是我已经尝试过了，但是没有得到预期的结果 结果: len:-1184515756 数据： #include <stdio.h> #include <freertos/FreeRTOS.h> #include <freertos/task.h> #include <freertos/queue.h> #include <esp_system.h> #include &l
#include <stdio.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <freertos/queue.h>
#include <esp_system.h>
#include <string.h>
#include <errno.h>
#include <stdlib.h>
#include <driver/uart.h>
#define COMMAND_DEVICE_LIST 0x15
#define COMMAND_STATUS 0x00
#define COMMAND_DESCRIPTION 0x43
#define COMMAND_UNRECOGNIZED 0x11
#define COMMAND_ADDGROUP 0x60
#define COMMAND_BIND 0x30
#define SIZE_TYPE_DEVICE 2
#define SIZE_CLUSTER 2
#define SIZE_SHORT_ADD 2
#define SIZE_IEEE_ADD 8
#define START_DATA 7
#define SIZE_MIN_NB_DEVICE 2
#define CHAR_END_FRAME 0x03
#define CHAR_CONFIG_FRAME 0x02
#define CHAR_VAL_MAX_CONFIG_FRAME 0x10
#define STACK_SIZE 2048
//storage info
struct device{
char type_id[SIZE_TYPE_DEVICE];
char manufacturer[32]; //attribute 4
char name[32]; // attribute 5
char short_add[SIZE_SHORT_ADD];
char ieee_add[SIZE_IEEE_ADD];
char cluster_input[32][SIZE_CLUSTER];
char cluster_output[32][SIZE_CLUSTER];
};
struct get_device_list{
int len;
struct device device[];
}dev_list;
//list device type
char list_device_type[2][SIZE_TYPE_DEVICE]={{0x01,0x0C},{0x08,0x20}};
// Setup UART buffered IO with event queue
const int uart_buffer_size = 2048;
// Queue used to send and receive complete struct message structures.
QueueHandle_t uart_queue = NULL;
const int uart_num = UART_NUM_2;
struct message{
char cmd[128];
int len;
};
SemaphoreHandle_t xMutexUart;
/************************************************CONFIG***********************************************/
/**
* @brief Configuraiton of UART and set pin that uart use.
*
* @return [int] 0 if is successed
*/
int uart_setup()
{
uart_config_t uart_config = {
.baud_rate = 115200,
.data_bits = UART_DATA_8_BITS,
.parity = UART_PARITY_DISABLE,
.stop_bits = UART_STOP_BITS_1,
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE
};
// Configure UART parameters
ESP_ERROR_CHECK(uart_param_config(uart_num, &uart_config));
ESP_ERROR_CHECK(uart_set_pin(UART_NUM_2, 18, 19, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
// Install UART driver using an event queue here
ESP_ERROR_CHECK(uart_driver_install(UART_NUM_2, uart_buffer_size, \
uart_buffer_size, 20, &uart_queue, 0));
return 0;
}
/************************************************UTILS***********************************************/
int cmdlen(char* cmd){
int i = 0;
while(cmd[i]!='\n'){
i++;
}
return i+1;
}
int device_shortadd_compare(char* search_add){
int res=-1,val=0;
for(int i=0;i < dev_list.len;i++){
val = 0;
for(int l=0;l<SIZE_TYPE_DEVICE;l++){
if(search_add[l]==dev_list.device[i].short_add[l]){
val++;
}
}
if(val == 2){
res=i;
}
}
return res;
}
int parse_translate(char* data,int len,char res[][64]){
int i=0,j=0,end=0,index=0;
while(len - j != 0){
if (data[j]==CHAR_CONFIG_FRAME)
{
j++; //skip 02
data[j]^=0x10; //10xor10=00
res[end][i-index]= data[j];
printf("%02x ",res[end][i-index]);
i++;
}else if (data[j]==CHAR_END_FRAME)
{
res[end][i-index]=data[j];
res[end][i+1-index]='\n';
res[end][i+2-index]='\0';
printf("%02x\n",res[end][i-index]);
i=i+2;
index=i;
end++;
}else{
res[end][i-index]= data[j];
printf("%02x ",res[end][i-index]);
i++;
}
j++;
}
return end;
}
/************************************************COMMUNICATION***********************************************/
/**
* @brief [Thread]Send commande to Zigbee module by UART
*
*/
void vTaskSend( void * pvParameters )
{
while(1){
int err;
struct message rx_msg;
if (xQueueReceive(uart_queue, &rx_msg, portMAX_DELAY) == pdPASS){
printf("len : %d\n", rx_msg.len);
for(int i=0;i< rx_msg.len;i++){
printf("%02x ", rx_msg.cmd[i]);
}
printf("\n");
xSemaphoreTake(xMutexUart, portMAX_DELAY);
err = uart_write_bytes(uart_num, (const char *) rx_msg.cmd, rx_msg.len); // Write data to UART.
ESP_ERROR_CHECK(uart_wait_tx_done(uart_num, 5000)); // wait timeout is 5000 RTOS ticks (TickType_t)
xSemaphoreGive(xMutexUart);
if(err != rx_msg.len){
printf("Err, not all bytes send : %d/%d\n",err, rx_msg.len);
}
//vPortFree(rx_msg); // free the structure memory*/
vTaskDelay(100 / portTICK_RATE_MS);
//taskYIELD();
}
xSemaphoreGive(xMutexUart);
vTaskDelay(100 / portTICK_RATE_MS);
}
}
/**
* @brief [Thread]Read response from UART
*
*/
void vTaskRead( void * pvParameters )
{
char data[512];
int length = 0;
while(1){
xSemaphoreTake(xMutexUart, portMAX_DELAY);
ESP_ERROR_CHECK(uart_get_buffered_data_len(uart_num, (size_t*)&length));
length = uart_read_bytes(uart_num, (uint8_t*)data, length, 100);
xSemaphoreGive(xMutexUart);
if(length>0){
printf("[R] message size : %d\n ",length);
char res[8][64];
int nb_cmd=parse_translate(data,length,res);
for(int i=0;i<nb_cmd;i++){
switch(res[i][2]){
case COMMAND_STATUS:
if(res[6]==COMMAND_STATUS){
printf("Command status success\n");
}
break;
case COMMAND_DEVICE_LIST:
dev_list.len=(cmdlen(res[i])-8)/13;
printf("Nb device find : %d\n",dev_list.len);
int start = START_DATA; //start of device info in frame
for(int j=0;j<dev_list.len;j++){
struct device dev;
printf("short: ");
for(int j=0;j<SIZE_SHORT_ADD;j++){
dev.short_add[j] = res[i][start+j];
printf("%02x ",dev.short_add[j]);
}
printf("\n");
printf("ieee: ");
for(int l=0;l<SIZE_IEEE_ADD;l++){
dev.ieee_add[l]=res[i][start+2+l];
printf("%02x ",dev.ieee_add[l]);
}
printf("\n");
dev_list.device[j]=dev;
vTaskDelay(100 / portTICK_RATE_MS);
start=start+SIZE_SHORT_ADD+SIZE_IEEE_ADD+2+1; //info of device 1 not used + id device 2 not used
}
break;
case COMMAND_DESCRIPTION:
printf(" ");
char add[SIZE_TYPE_DEVICE];
for(int j=0;j<SIZE_TYPE_DEVICE;j++){
add[j]=res[i][8+j];
}
int id = device_shortadd_compare(add);
if(id != -1){
printf("type: ");
for(int j=0;j<SIZE_TYPE_DEVICE;j++){
dev_list.device[id].type_id[j]=res[i][14+j];
printf("%02x ",dev_list.device[id].type_id[j]);
}
printf("\n");
if(dev_list.device[id].type_id[0]==0x00 && dev_list.device[id].type_id[1] ==0x00){
printf("Device %d not found, if it's a button press it\n",i);
}
}
break;
case COMMAND_ADDGROUP:
printf("Device add to group!\n");
break;
case COMMAND_BIND:
printf("Press the button, hurry up!!\n");
break;
}
}
}
vTaskDelay(100 / portTICK_RATE_MS);
//taskYIELD();
}
vTaskDelay(1000 / portTICK_RATE_MS);
ESP_ERROR_CHECK(uart_flush(uart_num));
}
/************************************************ZIGBEE***********************************************/
/**
* @brief Configuration of Zigbee module (channel,type) and start network
*
*/
void zigbee_config_with_pemit_join(){
struct message *ptx_msg =pvPortMalloc(sizeof (struct message));
//Set Channel
sprintf(ptx_msg->cmd,"%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c\n",0x01, 0x02, 0x10, 0x21, 0x02, 0x10, 0x02, 0x14, 0x2D, 0x02, 0x10, 0x02, 0x10, 0x02, 0x18, 0x02, 0x10, 0x03);
ptx_msg->len = strlen(ptx_msg->cmd);
printf("len : %d\n", ptx_msg->len);
for(int i=0;i<ptx_msg->len;i++){
printf("%02x ",ptx_msg->cmd[i]);
}
xQueueSend(uart_queue, (void*)ptx_msg, portMAX_DELAY);
printf("[S] Set channel to 11\n");
vTaskDelay(100 / portTICK_RATE_MS);
//Set Type
//ptx_msg = pvPortMalloc(sizeof (struct message));
sprintf(ptx_msg->cmd,"%c%c%c%c%c%c%c%c%c%c%c%c\n",0x01, 0x02, 0x10, 0x23, 0x02, 0x10, 0x02, 0x11, 0x22, 0x02, 0x10, 0x03);
ptx_msg->len =strlen(ptx_msg->cmd);
xQueueSend(uart_queue, (void*)ptx_msg, portMAX_DELAY);
printf("[S] Set as Coordinator\n");
vTaskDelay(100 / portTICK_RATE_MS);
//Start Network
//ptx_msg =pvPortMalloc(sizeof (struct message));
sprintf(ptx_msg->cmd,"%c%c%c%c%c%c%c%c%c%c\n",0x01, 0x02, 0x10, 0x24, 0x02, 0x10, 0x02, 0x10, 0x24, 0x03);
ptx_msg->len =strlen(ptx_msg->cmd);
xQueueSend(uart_queue, (void*)ptx_msg, portMAX_DELAY);
printf("[S] Start Network\n");
//Permit join
//ptx_msg =pvPortMalloc(sizeof (struct message));
sprintf(ptx_msg->cmd,"%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c\n",0x01, 0x02, 0x10, 0x49, 0x02, 0x10, 0x02, 0x14, 0xB0, 0xFF, 0xFC, 0xFF, 0x02, 0x10, 0x03);
ptx_msg->len =strlen(ptx_msg->cmd);
xQueueSend(uart_queue, (void*)ptx_msg, portMAX_DELAY);
printf("[S] Permit join: If you have button press it 2sec.\n");
vTaskDelay(6000 / portTICK_RATE_MS);
}
void vTaskZigbee( void * pvParameters )
{
if (uart_setup() == -1){
printf("Err during uart setup\n");
}
zigbee_config_with_pemit_join();
//taskYIELD();
while(1){
vTaskDelay(100000 / portTICK_RATE_MS);
}
}
/************************************************MAIN***********************************************/
void app_main() {
/* Create the queue used to send complete struct message structures. */
uart_queue = xQueueCreate(20, sizeof(struct message ));
xMutexUart = xSemaphoreCreateMutex();
BaseType_t xReturned;
TaskHandle_t xHandle = NULL;
/* Create the task, storing the handle. */
xReturned = xTaskCreate(
vTaskZigbee, /* Function that implements the task. */
"Zigbee", /* Text name for the task. */
STACK_SIZE, /* Stack size in words, not bytes. */
NULL, /* Parameter passed into the task. */
tskIDLE_PRIORITY,/* Priority at which the task is created. */
&xHandle); /* Used to pass out the created task's handle. */
xReturned = xTaskCreate( vTaskSend, "Send", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle);
xReturned = xTaskCreate( vTaskRead, "Read", STACK_SIZE*2, NULL, tskIDLE_PRIORITY, &xHandle);
}
void app_main() {
/* Create the queue used to send complete struct message structures. */
uart_queue = xQueueCreate(20, sizeof(struct message));
xMutexUart = xSemaphoreCreateMutex();
....
struct message *ptx_msg =pvPortMalloc(sizeof (struct message));
//Set Channel
sprintf(ptx_msg->cmd,"%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c\n",0x01, 0x02, 0x10, 0x21, 0x02, 0x10, 0x02, 0x14, 0x2D, 0x02, 0x10, 0x02, 0x10, 0x02, 0x18, 0x02, 0x10, 0x03);
ptx_msg->len = strlen(ptx_msg->cmd);
printf("len : %d\n", ptx_msg->len);
for(int i=0;i<ptx_msg->len;i++){
printf("%02x ",ptx_msg->cmd[i]);
}
xSemaphoreTake(xMutexUart, portMAX_DELAY);
xQueueSend(uart_queue, (void*)&ptx_msg, portMAX_DELAY);
xSemaphoreGive(xMutexUart);
//repeat X time
....
}
void app_main（）{
/*创建用于发送完整结构消息结构的队列*/
uart_queue=xQueueCreate（20，sizeof（结构消息））；
xMutexUart=xSemaphoreCreateMutex（）；
....
结构消息*ptx_msg=pvPortMalloc（sizeof（结构消息））；
//设置频道
sprintf（ptx_msg->cmd，“%c%c%c%c%c%c%c%c%c%c%c%c%c\n”，0x01，0x02，0x10，0x21，0x02，0x10，0x02，0x14，0x2D，0x02，0x10，0x02，0x02，0x10，0x02，0x18，0x02，0x10，0x03）；
ptx_msg->len=strlen（ptx_msg->cmd）；
printf（“len:%d\n”，ptx\u msg->len）；
for（int i=0；ilen；i++）{
printf（“%02x”，ptx_msg->cmd[i]）；
}
xSemaphoreTake（xMutexUart，端口最大延迟）；
xQueueSend（uart_队列，（void*）和ptx_消息，端口最大延迟）；
xSemaphoreGive（xMutexUart）；
//重复X次
....
}
void vTaskSend（void*pvParameters）
{
结构消息*rx_消息；
INTERR；
而(1){
xSemaphoreTake（xMutexUart，端口最大延迟）；
if（xQueueReceive（uart\U队列和rx\U消息，端口最大延迟）=pdPASS）{
printf（“len:%d\n”，rx\u msg->len）；
for（int i=0；ilen；i++）{
printf（“%02x”，rx_msg->cmd[i]）；
}
printf（“\n”）；
err=uart_write_字节（uart_num，（const char*）rx_msg->cmd，rx_msg->len）；//将数据写入uart。
ESP_ERROR_CHECK（uart_wait_tx_done（uart_num，5000））；//等待超时为5000个RTOS时钟（TickType_t）
如果（错误！=rx\u msg->len）{
printf（“Err，并非所有字节发送：%d/%d\n”，Err，rx\u msg->len）；
}
vPortFree（rx_msg）；//释放结构内存*/
vTaskDelay（100/门滴答率）；
//taskYIELD（）；
}
xSemaphoreGive（xMutexUart）；
vTaskDelay（100/门滴答率）；
}
}
#include <stdio.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <freertos/queue.h>
#include <esp_system.h>
#include <string.h>
#include <errno.h>
#include <stdlib.h>
#include <driver/uart.h>
#define COMMAND_DEVICE_LIST 0x15
#define COMMAND_STATUS 0x00
#define COMMAND_DESCRIPTION 0x43
#define COMMAND_UNRECOGNIZED 0x11
#define COMMAND_ADDGROUP 0x60
#define COMMAND_BIND 0x30
#define SIZE_TYPE_DEVICE 2
#define SIZE_CLUSTER 2
#define SIZE_SHORT_ADD 2
#define SIZE_IEEE_ADD 8
#define START_DATA 7
#define SIZE_MIN_NB_DEVICE 2
#define CHAR_END_FRAME 0x03
#define CHAR_CONFIG_FRAME 0x02
#define CHAR_VAL_MAX_CONFIG_FRAME 0x10
#define STACK_SIZE 2048
//storage info
struct device{
char type_id[SIZE_TYPE_DEVICE];
char manufacturer[32]; //attribute 4
char name[32]; // attribute 5
char short_add[SIZE_SHORT_ADD];
char ieee_add[SIZE_IEEE_ADD];
char cluster_input[32][SIZE_CLUSTER];
char cluster_output[32][SIZE_CLUSTER];
};
struct get_device_list{
int len;
struct device device[];
}dev_list;
//list device type
char list_device_type[2][SIZE_TYPE_DEVICE]={{0x01,0x0C},{0x08,0x20}};
// Setup UART buffered IO with event queue
const int uart_buffer_size = 2048;
// Queue used to send and receive complete struct message structures.
QueueHandle_t uart_queue = NULL;
const int uart_num = UART_NUM_2;
struct message{
char cmd[128];
int len;
};
SemaphoreHandle_t xMutexUart;
/************************************************CONFIG***********************************************/
/**
* @brief Configuraiton of UART and set pin that uart use.
*
* @return [int] 0 if is successed
*/
int uart_setup()
{
uart_config_t uart_config = {
.baud_rate = 115200,
.data_bits = UART_DATA_8_BITS,
.parity = UART_PARITY_DISABLE,
.stop_bits = UART_STOP_BITS_1,
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE
};
// Configure UART parameters
ESP_ERROR_CHECK(uart_param_config(uart_num, &uart_config));
ESP_ERROR_CHECK(uart_set_pin(UART_NUM_2, 18, 19, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
// Install UART driver using an event queue here
ESP_ERROR_CHECK(uart_driver_install(UART_NUM_2, uart_buffer_size, \
uart_buffer_size, 20, &uart_queue, 0));
return 0;
}
/************************************************UTILS***********************************************/
int cmdlen(char* cmd){
int i = 0;
while(cmd[i]!='\n'){
i++;
}
return i+1;
}
int device_shortadd_compare(char* search_add){
int res=-1,val=0;
for(int i=0;i < dev_list.len;i++){
val = 0;
for(int l=0;l<SIZE_TYPE_DEVICE;l++){
if(search_add[l]==dev_list.device[i].short_add[l]){
val++;
}
}
if(val == 2){
res=i;
}
}
return res;
}
int parse_translate(char* data,int len,char res[][64]){
int i=0,j=0,end=0,index=0;
while(len - j != 0){
if (data[j]==CHAR_CONFIG_FRAME)
{
j++; //skip 02
data[j]^=0x10; //10xor10=00
res[end][i-index]= data[j];
printf("%02x ",res[end][i-index]);
i++;
}else if (data[j]==CHAR_END_FRAME)
{
res[end][i-index]=data[j];
res[end][i+1-index]='\n';
res[end][i+2-index]='\0';
printf("%02x\n",res[end][i-index]);
i=i+2;
index=i;
end++;
}else{
res[end][i-index]= data[j];
printf("%02x ",res[end][i-index]);
i++;
}
j++;
}
return end;
}
/************************************************COMMUNICATION***********************************************/
/**
* @brief [Thread]Send commande to Zigbee module by UART
*
*/
void vTaskSend( void * pvParameters )
{
while(1){
int err;
struct message rx_msg;
if (xQueueReceive(uart_queue, &rx_msg, portMAX_DELAY) == pdPASS){
printf("len : %d\n", rx_msg.len);
for(int i=0;i< rx_msg.len;i++){
printf("%02x ", rx_msg.cmd[i]);
}
printf("\n");
xSemaphoreTake(xMutexUart, portMAX_DELAY);
err = uart_write_bytes(uart_num, (const char *) rx_msg.cmd, rx_msg.len); // Write data to UART.
ESP_ERROR_CHECK(uart_wait_tx_done(uart_num, 5000)); // wait timeout is 5000 RTOS ticks (TickType_t)
xSemaphoreGive(xMutexUart);
if(err != rx_msg.len){
printf("Err, not all bytes send : %d/%d\n",err, rx_msg.len);
}
//vPortFree(rx_msg); // free the structure memory*/
vTaskDelay(100 / portTICK_RATE_MS);
//taskYIELD();
}
xSemaphoreGive(xMutexUart);
vTaskDelay(100 / portTICK_RATE_MS);
}
}
/**
* @brief [Thread]Read response from UART
*
*/
void vTaskRead( void * pvParameters )
{
char data[512];
int length = 0;
while(1){
xSemaphoreTake(xMutexUart, portMAX_DELAY);
ESP_ERROR_CHECK(uart_get_buffered_data_len(uart_num, (size_t*)&length));
length = uart_read_bytes(uart_num, (uint8_t*)data, length, 100);
xSemaphoreGive(xMutexUart);
if(length>0){
printf("[R] message size : %d\n ",length);
char res[8][64];
int nb_cmd=parse_translate(data,length,res);
for(int i=0;i<nb_cmd;i++){
switch(res[i][2]){
case COMMAND_STATUS:
if(res[6]==COMMAND_STATUS){
printf("Command status success\n");
}
break;
case COMMAND_DEVICE_LIST:
dev_list.len=(cmdlen(res[i])-8)/13;
printf("Nb device find : %d\n",dev_list.len);
int start = START_DATA; //start of device info in frame
for(int j=0;j<dev_list.len;j++){
struct device dev;
printf("short: ");
for(int j=0;j<SIZE_SHORT_ADD;j++){
dev.short_add[j] = res[i][start+j];
printf("%02x ",dev.short_add[j]);
}
printf("\n");
printf("ieee: ");
for(int l=0;l<SIZE_IEEE_ADD;l++){
dev.ieee_add[l]=res[i][start+2+l];
printf("%02x ",dev.ieee_add[l]);
}
printf("\n");
dev_list.device[j]=dev;
vTaskDelay(100 / portTICK_RATE_MS);
start=start+SIZE_SHORT_ADD+SIZE_IEEE_ADD+2+1; //info of device 1 not used + id device 2 not used
}
break;
case COMMAND_DESCRIPTION:
printf(" ");
char add[SIZE_TYPE_DEVICE];
for(int j=0;j<SIZE_TYPE_DEVICE;j++){
add[j]=res[i][8+j];
}
int id = device_shortadd_compare(add);
if(id != -1){
printf("type: ");
for(int j=0;j<SIZE_TYPE_DEVICE;j++){
dev_list.device[id].type_id[j]=res[i][14+j];
printf("%02x ",dev_list.device[id].type_id[j]);
}
printf("\n");
if(dev_list.device[id].type_id[0]==0x00 && dev_list.device[id].type_id[1] ==0x00){
printf("Device %d not found, if it's a button press it\n",i);
}
}
break;
case COMMAND_ADDGROUP:
printf("Device add to group!\n");
break;
case COMMAND_BIND:
printf("Press the button, hurry up!!\n");
break;
}
}
}
vTaskDelay(100 / portTICK_RATE_MS);
//taskYIELD();
}
vTaskDelay(1000 / portTICK_RATE_MS);
ESP_ERROR_CHECK(uart_flush(uart_num));
}
/************************************************ZIGBEE***********************************************/
/**
* @brief Configuration of Zigbee module (channel,type) and start network
*
*/
void zigbee_config_with_pemit_join(){
struct message *ptx_msg =pvPortMalloc(sizeof (struct message));
//Set Channel
sprintf(ptx_msg->cmd,"%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c\n",0x01, 0x02, 0x10, 0x21, 0x02, 0x10, 0x02, 0x14, 0x2D, 0x02, 0x10, 0x02, 0x10, 0x02, 0x18, 0x02, 0x10, 0x03);
ptx_msg->len = strlen(ptx_msg->cmd);
printf("len : %d\n", ptx_msg->len);
for(int i=0;i<ptx_msg->len;i++){
printf("%02x ",ptx_msg->cmd[i]);
}
xQueueSend(uart_queue, (void*)ptx_msg, portMAX_DELAY);
printf("[S] Set channel to 11\n");
vTaskDelay(100 / portTICK_RATE_MS);
//Set Type
//ptx_msg = pvPortMalloc(sizeof (struct message));
sprintf(ptx_msg->cmd,"%c%c%c%c%c%c%c%c%c%c%c%c\n",0x01, 0x02, 0x10, 0x23, 0x02, 0x10, 0x02, 0x11, 0x22, 0x02, 0x10, 0x03);
ptx_msg->len =strlen(ptx_msg->cmd);
xQueueSend(uart_queue, (void*)ptx_msg, portMAX_DELAY);
printf("[S] Set as Coordinator\n");
vTaskDelay(100 / portTICK_RATE_MS);
//Start Network
//ptx_msg =pvPortMalloc(sizeof (struct message));
sprintf(ptx_msg->cmd,"%c%c%c%c%c%c%c%c%c%c\n",0x01, 0x02, 0x10, 0x24, 0x02, 0x10, 0x02, 0x10, 0x24, 0x03);
ptx_msg->len =strlen(ptx_msg->cmd);
xQueueSend(uart_queue, (void*)ptx_msg, portMAX_DELAY);
printf("[S] Start Network\n");
//Permit join
//ptx_msg =pvPortMalloc(sizeof (struct message));
sprintf(ptx_msg->cmd,"%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c\n",0x01, 0x02, 0x10, 0x49, 0x02, 0x10, 0x02, 0x14, 0xB0, 0xFF, 0xFC, 0xFF, 0x02, 0x10, 0x03);
ptx_msg->len =strlen(ptx_msg->cmd);
xQueueSend(uart_queue, (void*)ptx_msg, portMAX_DELAY);
printf("[S] Permit join: If you have button press it 2sec.\n");
vTaskDelay(6000 / portTICK_RATE_MS);
}
void vTaskZigbee( void * pvParameters )
{
if (uart_setup() == -1){
printf("Err during uart setup\n");
}
zigbee_config_with_pemit_join();
//taskYIELD();
while(1){
vTaskDelay(100000 / portTICK_RATE_MS);
}
}
/************************************************MAIN***********************************************/
void app_main() {
/* Create the queue used to send complete struct message structures. */
uart_queue = xQueueCreate(20, sizeof(struct message ));
xMutexUart = xSemaphoreCreateMutex();
BaseType_t xReturned;
TaskHandle_t xHandle = NULL;
/* Create the task, storing the handle. */
xReturned = xTaskCreate(
vTaskZigbee, /* Function that implements the task. */
"Zigbee", /* Text name for the task. */
STACK_SIZE, /* Stack size in words, not bytes. */
NULL, /* Parameter passed into the task. */
tskIDLE_PRIORITY,/* Priority at which the task is created. */
&xHandle); /* Used to pass out the created task's handle. */
xReturned = xTaskCreate( vTaskSend, "Send", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle);
xReturned = xTaskCreate( vTaskRead, "Read", STACK_SIZE*2, NULL, tskIDLE_PRIORITY, &xHandle);
}
#包括
#包括
#包括
#包括
#包括
#包括
#包括
#包括
#包括
#定义命令\u设备\u列表0x15
#定义命令_状态0x00
#定义命令描述0x43
#定义命令\u无法识别的0x11
#定义命令\u ADDGROUP 0x60
#定义命令绑定0x30
#定义大小\u类型\u设备2
#定义集群2的大小
#定义大小\u短\u添加2
#定义大小\u IEEE\u添加8
#定义START_数据7
#定义大小\u最小\u NB\u设备2
#定义字符结束帧0x03
#定义字符配置帧0x02
#定义字符值最大配置帧0x10
#定义堆栈大小2048
//存储信息
结构设备{
字符类型标识[大小类型设备]；
字符制造商[32]；//属性4
字符名[32]；//属性5
字符短加[大小短加]；
字符ieee_添加[大小ieee_添加]；
char cluster_input[32][SIZE_cluster]；
char cluster_输出[32][SIZE_cluster]；
};
结构获取设备列表{
内伦；
结构设备设备[]；
}开发清单；
//列出设备类型
字符列表设备类型[2][SIZE设备类型]={{0x01,0x0C}，{0x08,0x20}；
//使用事件队列设置UART缓冲IO
常量整数缓冲区大小=2048；
//用于发送和接收完整结构消息结构的队列。
QueueHandle\u t uart\u queue=NULL；
常量int uart_num=uart_num_2；
结构消息{
char-cmd[128]；
内伦；
};
信号量处理；
/************************************************配置***********************************************/
/**
*@UART的简要配置和UART使用的设置引脚。
*
*@return[int]0如果成功
*/
int uart_设置（）
{
uart\U配置\U uart\U配置={
.波特率=115200，
.data\u位=UART\u数据\u 8位，
.parity=UART\u奇偶校验\u禁用，
.stop\u bits=UART\u stop\u bits\u 1，
.flow\u ctrl=UART\u HW\u flow ctrl\u禁用
};
//配置UART参数
ESP_错误检查（uart_参数配置（uart_数量和uart_配置））；
ESP_错误检查（uart_设置_引脚（uart_数量_2,18,19，uart_引脚未更改，uart_引脚未更改））；
//在此处使用事件队列安装UART驱动程序
ESP错误检查（uart驱动程序安装）（uart数量2，uart缓冲区大小\
uart_缓冲区大小为20，uart_队列大小为0）；
返回0；
}
/************************************************乌提尔斯***********************************************/
int cmdlen（char*cmd）{
int i=0；
while（cmd[i]！='\n'）{
i++；
}
返回i+1；
}
int设备\u短添加\u比较（字符*搜索\u添加）{
int res=-1，val=0；
for（int i=0；ilen=strlen（ptx_msg->cmd）；
xQueueSend（uart_队列，（void*）ptx_消息，端口最大延迟）；
printf（“[S]设置为协调器\n”）；
vTaskDelay（100/门滴答率）；
//启动网络
//ptx_msg=pvPortMalloc（sizeof（struct message））；
sprintf（ptx_msg->cmd，“%c%c%c%c%c%c%c%c\n”，0x01、0x02、0x10、0x24、0x02、0x10、0x02、0x10、0x10、0x24、0x03）；
ptx_msg->len=strlen（ptx_msg->cmd）；
xQueueSend（uart_队列，（void*）ptx_消息，端口最大延迟）；
printf（“[S]启动网络\n”）；
//允许加入
//ptx_msg=pvPortMalloc（sizeof（struct message））；
sprintf（ptx_msg->cmd，“%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c\n”，