You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
51 lines
968 B
51 lines
968 B
6 years ago
|
#pragma once
|
||
|
|
|
||
|
|
#include <freertos/FreeRTOS.h>
|
||
|
|
#include <freertos/semphr.h>
|
||
|
|
#include <freertos/task.h>
|
||
|
|
|
||
|
|
#include "messages.pb.h"
|
||
|
|
#include "sx127x_driver.h"
|
||
|
|
|
||
|
|
namespace ugv {
|
||
|
|
namespace comms {
|
||
|
|
|
||
|
|
namespace messages = uas::ugv::messages;
|
||
|
|
|
||
|
|
class CommsClass {
|
||
|
|
public:
|
||
|
|
CommsClass();
|
||
|
|
|
||
|
|
void Init();
|
||
|
|
|
||
|
|
void Lock(TickType_t ticks_to_wait = pdMS_TO_TICKS(1000));
|
||
|
|
void Unlock();
|
||
|
|
|
||
|
|
int32_t ReadRssi();
|
||
|
|
uint8_t ReadLnaGain();
|
||
|
|
|
||
|
|
public:
|
||
|
|
SemaphoreHandle_t mutex;
|
||
|
|
messages::Location location;
|
||
|
|
messages::UGV_State ugv_state;
|
||
|
|
TickType_t last_packet_tick;
|
||
|
|
int32_t last_packet_rssi;
|
||
|
|
int8_t last_packet_snr;
|
||
|
|
|
||
|
|
private:
|
||
|
|
sx127x_hndl lora;
|
||
|
|
TaskHandle_t task_handle;
|
||
|
|
uint16_t packet_num;
|
||
|
|
|
||
|
|
void RunTask();
|
||
|
|
void HandlePacket(sx127x_rx_packet_t* packet);
|
||
|
|
void HandleCommand(const messages::GroundCommand& command);
|
||
|
|
|
||
|
|
static void CommsTask(void* arg);
|
||
|
|
};
|
||
|
|
|
||
|
|
extern CommsClass Comms;
|
||
|
|
|
||
|
|
} // namespace comms
|
||
|
|
} // namespace ugv
|