uas-ugv/main/ugv_main.c

#define U8X8_USE_PINS
#include <driver/uart.h>
#include <esp_log.h>
#include <string.h>
#include <u8g2.h>

#include "sx127x_driver.h"
#include "sx127x_registers.h"
#include "u8g2_esp32_hal.h"
#include "ugv_comms.h"
#include "ugv_config.h"

static const char *TAG = "ugv_main";

u8g2_t u8g2;

sx127x_hndl lora;

void comms_task(void *params);

sx127x_rx_packet_t rx_packet;

void setup_oled(void) {
  u8g2_esp32_hal_t u8g2_hal_config = {
      .scl   = 15,
      .sda   = 4,
      .reset = 16,
  };
  u8g2_esp32_hal_init(u8g2_hal_config);

  u8g2_Setup_ssd1306_i2c_128x64_noname_f(&u8g2, U8G2_R0, u8g2_esp32_i2c_byte_cb,
                                         u8g2_esp32_gpio_and_delay_cb);
  u8g2_InitDisplay(&u8g2);
  u8g2_ClearDisplay(&u8g2);
  u8g2_SetPowerSave(&u8g2, false);
}

const size_t GPS_BUF_SIZE = 1024;

const char NMEA_OUTPUT_RMCGGA[] =
    "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n";
const char NMEA_SET_UPDATE_1HZ[] = "$PMTK220,1000*1F\r\n";
const char NMEA_Q_RELEASE[]      = "$PMTK605*31\r\n";

static void gps_task(void *arg) {
  ESP_LOGI(TAG, "gps_task start");
  uint8_t * data = malloc(GPS_BUF_SIZE);
  size_t    read_bytes;
  esp_err_t ret;
  uart_write_bytes(GPS_UART, NMEA_OUTPUT_RMCGGA, sizeof(NMEA_OUTPUT_RMCGGA));
  ret = uart_wait_tx_done(GPS_UART, 1000);
  ESP_LOGI(TAG, "sent output rmc and gga: %d", ret);
  uart_write_bytes(GPS_UART, NMEA_SET_UPDATE_1HZ, sizeof(NMEA_SET_UPDATE_1HZ));
  ret = uart_wait_tx_done(GPS_UART, 1000);
  ESP_LOGI(TAG, "sent update 1hz: %d", ret);
  vTaskDelay(pdMS_TO_TICKS(100));
  uart_write_bytes(GPS_UART, NMEA_Q_RELEASE, sizeof(NMEA_Q_RELEASE));
  ret = uart_wait_tx_done(GPS_UART, 1000);
  ESP_LOGI(TAG, "sent q release: %d", ret);
  while (true) {
    read_bytes =
        uart_read_bytes(GPS_UART, data, GPS_BUF_SIZE, pdMS_TO_TICKS(100));
    if (read_bytes > 0) {
      ESP_LOGI(TAG, "gps data: %.*s", read_bytes, data);
    }
  }
}

void setup_gps(void) {
  uart_config_t gps_uart_config;
  esp_err_t     ret;
  // gps_uart_config.baud_rate = 9600;
  gps_uart_config.baud_rate           = 57600;
  gps_uart_config.data_bits           = UART_DATA_8_BITS;
  gps_uart_config.parity              = UART_PARITY_DISABLE;
  gps_uart_config.stop_bits           = UART_STOP_BITS_1;
  gps_uart_config.flow_ctrl           = UART_HW_FLOWCTRL_DISABLE;
  gps_uart_config.rx_flow_ctrl_thresh = 122;
  gps_uart_config.use_ref_tick        = false;
  ret = uart_param_config(GPS_UART, &gps_uart_config);
  if (ret != ESP_OK) {
    ESP_LOGE(TAG, "uart_param_config: %d", ret);
    return;
  }
  uart_set_pin(GPS_UART, 17, 23, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
  ret = uart_driver_install(GPS_UART, 1024, 0, 8, NULL, 0);
  if (ret != ESP_OK) {
    ESP_LOGE(TAG, "uart_driver_install: %d", ret);
    return;
  }
  ESP_LOGI(TAG, "gps uart configured");
  xTaskCreate(&gps_task, "gps_task", 2 * 1024, NULL, 1, NULL);
}

void setup(void) {
  ESP_LOGI(TAG, "setup");

  setup_gps();
  setup_oled();
  ugv_comms_init();

  memset(&rx_packet, 0, sizeof(rx_packet));
}

int32_t lora_rssi;
uint8_t lora_lna_gain;

void loop(void) {
  u8g2_FirstPage(&u8g2);
  sx127x_recv_packet(lora, &rx_packet, 0);
  sx127x_read_rssi(lora, &lora_rssi);
  sx127x_read_lna_gain(lora, &lora_lna_gain);
  do {
    u8g2_DrawRFrame(&u8g2, 0, 0, OLED_W, OLED_H, 4);

    multi_heap_info_t heap_info;
    heap_caps_get_info(&heap_info, MALLOC_CAP_DEFAULT);
    u8g2_SetFont(&u8g2, u8g2_font_4x6_tr);
    u8g2_DrawStr(&u8g2, 4, 8, "=====UAS UGV=====");
    char buf[32];
    memset(buf, 0, 32);
    snprintf(buf, 32, "heap allc/free %d/%d", heap_info.total_allocated_bytes,
             heap_info.total_free_bytes);
    u8g2_DrawStr(&u8g2, 4, 2 * 8, buf);

    if (rx_packet.data_len) {
      ESP_LOGI(TAG, "lora received packet (len %d, rssi: %d, snr: %f): %.*s\n",
               rx_packet.data_len, rx_packet.rssi, rx_packet.snr * 0.25f,
               rx_packet.data_len, rx_packet.data);
      u8g2_SetFont(&u8g2, u8g2_font_4x6_tr);
      snprintf(buf, 40, "lora pkt(rssi: %d, snr: %f)", rx_packet.rssi,
               rx_packet.snr * 0.25f);
      u8g2_DrawStr(&u8g2, 4, 3 * 8, buf);
      snprintf(buf, 40, "%.*s", rx_packet.data_len, rx_packet.data);
      u8g2_DrawStr(&u8g2, 4, 4 * 8, buf);
    }
    snprintf(buf, 40, "rssi: %d lna gain: %d", lora_rssi, lora_lna_gain);
    u8g2_DrawStr(&u8g2, 4, 5 * 8, buf);
  } while (u8g2_NextPage(&u8g2));
  vTaskDelay(pdMS_TO_TICKS(1000));
}

void loopTask(void *pvUser) {
  setup();
  while (1) {
    loop();
  }
}

void app_main() {
  xTaskCreatePinnedToCore(loopTask, "loopTask", 8192, NULL, 1, NULL, 1);
}