+ initial wifi interface

Firmware/ESP32/Hardware_bringup/src/APP/app_wifi.c

@@ -0,0 +1,176 @@
+/**
+ * @file    app_wifi.c
+ * @author  Dong-Jae (Alex) Park
+ * @date    17 Feb 2021
+ * @brief   Wifi initialization with router
+ *
+ * This document contains wifi initialization with router
+ */
+
+#include "app_wifi.h"
+
+// Std. Lib
+#include <string.h>
+
+// TableUV Lib
+
+// External Library
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/event_groups.h"
+#include "esp_system.h"
+#include "esp_wifi.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "nvs_flash.h"
+#include "lwip/err.h"
+#include "lwip/sys.h"
+
+/////////////////////////////////
+///////   DEFINITION     ////////
+/////////////////////////////////
+#define EXAMPLE_ESP_WIFI_SSID      "TP-LINK_B2C7EE"
+#define EXAMPLE_ESP_WIFI_PASS      "EDB2C7EE"
+#define EXAMPLE_ESP_MAXIMUM_RETRY  10
+
+/* The event group allows multiple bits for each event, but we only care about two events:
+ * - we are connected to the AP with an IP
+ * - we failed to connect after the maximum amount of retries */
+#define WIFI_CONNECTED_BIT BIT0
+#define WIFI_FAIL_BIT      BIT1
+
+typedef struct {
+    EventGroupHandle_t wifi_event_group;
+    const char *TAG;
+    int wifi_reconnect_num ;
+} app_wifi_data_S;
+
+/////////////////////////////////////////
+///////   PRIVATE PROTOTYPE     /////////
+/////////////////////////////////////////
+static void app_wifi_event_handler(void*, esp_event_base_t, int32_t, void*);
+static void app_wifi_init_sta(void);
+
+///////////////////////////
+///////   DATA     ////////
+///////////////////////////
+static app_wifi_data_S wifi_data;
+
+////////////////////////////////////////
+///////   PRIVATE FUNCTION     /////////
+////////////////////////////////////////
+static void app_wifi_event_handler(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data)
+{
+    if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
+        esp_wifi_connect();
+    } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
+        if (wifi_data.wifi_reconnect_num < EXAMPLE_ESP_MAXIMUM_RETRY) {
+            esp_wifi_connect();
+            wifi_data.wifi_reconnect_num++;
+            ESP_LOGI(wifi_data.TAG, "retry to connect to the AP");
+        } else {
+            xEventGroupSetBits(wifi_data.wifi_event_group, WIFI_FAIL_BIT);
+        }
+        ESP_LOGI(wifi_data.TAG,"connect to the AP fail");
+    } else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
+        ip_event_got_ip_t* event = (ip_event_got_ip_t*) event_data;
+        ESP_LOGI(wifi_data.TAG, "got ip:" IPSTR, IP2STR(&event->ip_info.ip));
+        wifi_data.wifi_reconnect_num = 0;
+        xEventGroupSetBits(wifi_data.wifi_event_group, WIFI_CONNECTED_BIT);
+    }
+}
+
+static void app_wifi_init_sta(void)
+{
+    wifi_data.wifi_event_group = xEventGroupCreate();
+
+    ESP_ERROR_CHECK(esp_netif_init());
+
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+    esp_netif_create_default_wifi_sta();
+
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+
+    esp_event_handler_instance_t instance_any_id;
+    esp_event_handler_instance_t instance_got_ip;
+    ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT,
+                                                        ESP_EVENT_ANY_ID,
+                                                        &app_wifi_event_handler,
+                                                        NULL,
+                                                        &instance_any_id));
+    ESP_ERROR_CHECK(esp_event_handler_instance_register(IP_EVENT,
+                                                        IP_EVENT_STA_GOT_IP,
+                                                        &app_wifi_event_handler,
+                                                        NULL,
+                                                        &instance_got_ip));
+
+    wifi_config_t wifi_config = {
+        .sta = {
+            .ssid = EXAMPLE_ESP_WIFI_SSID,
+            .password = EXAMPLE_ESP_WIFI_PASS,
+            /* Setting a password implies station will connect to all security modes including WEP/WPA.
+             * However these modes are deprecated and not advisable to be used. Incase your Access point
+             * doesn't support WPA2, these mode can be enabled by commenting below line */
+	     .threshold.authmode = WIFI_AUTH_WPA2_PSK,
+
+            .pmf_cfg = {
+                .capable = true,
+                .required = false
+            },
+        },
+    };
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) );
+    ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config) );
+    ESP_ERROR_CHECK(esp_wifi_start() );
+
+    ESP_LOGI(wifi_data.TAG, "wifi_init_sta finished.");
+
+    /* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum
+     * number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */
+    EventBits_t bits = xEventGroupWaitBits(wifi_data.wifi_event_group,
+            WIFI_CONNECTED_BIT | WIFI_FAIL_BIT,
+            pdFALSE,
+            pdFALSE,
+            portMAX_DELAY);
+
+    /* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually
+     * happened. */
+    if (bits & WIFI_CONNECTED_BIT) {
+        ESP_LOGI(wifi_data.TAG, "connected to ap SSID:%s password:%s",
+                 EXAMPLE_ESP_WIFI_SSID, EXAMPLE_ESP_WIFI_PASS);
+    } else if (bits & WIFI_FAIL_BIT) {
+        ESP_LOGI(wifi_data.TAG, "Failed to connect to SSID:%s, password:%s",
+                 EXAMPLE_ESP_WIFI_SSID, EXAMPLE_ESP_WIFI_PASS);
+    } else {
+        ESP_LOGE(wifi_data.TAG, "UNEXPECTED EVENT");
+    }
+
+    /* The event will not be processed after unregister */
+    ESP_ERROR_CHECK(esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, instance_got_ip));
+    ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id));
+    vEventGroupDelete(wifi_data.wifi_event_group);
+}
+
+
+///////////////////////////////////////
+///////   PUBLIC FUNCTION     /////////
+///////////////////////////////////////
+void app_wifi_init(void)
+{
+    memset(&wifi_data, 0x00, sizeof(app_wifi_data_S));
+
+    wifi_data.TAG = "WIFI";
+    wifi_data.wifi_reconnect_num = 0;
+
+    //Initialize NVS
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+      ESP_ERROR_CHECK(nvs_flash_erase());
+      ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
+
+    ESP_LOGI(wifi_data.TAG, "ESP_WIFI_MODE_STA");
+    app_wifi_init_sta();
+}

Firmware/ESP32/Hardware_bringup/src/APP/app_wifi.h

@@ -0,0 +1,15 @@
+/**
+ * @file    app_wifi.h
+ * @author  Dong-Jae (Alex) Park
+ * @date    17 Feb 2021
+ * @brief   Wifi initialization with router
+ * 
+ * Wifi initialization with router
+ */
+
+#ifndef APP_WIFI_H
+#define APP_WIFI_H
+
+void app_wifi_init(void);
+
+#endif //APP_WIFI_H

Firmware/ESP32/Hardware_bringup/src/main.c

@@ -15,6 +15,7 @@
 #include "io_ping_map.h"
 #include "APP/app_slam.h"
 #include "APP/app_supervisor.h"
+#include "APP/app_wifi.h"
 
 // SDK config 
 #include "sdkconfig.h"
@@ -189,6 +190,7 @@ void app_main()
     esp32_task_init();
 
     // app level init
+    app_wifi_init();
     app_slam_init();
     app_supervisor_init();