uas-ugv/components/sx127x_driver/sx127x_internal.h

#include <esp_log.h>
#include <freertos/FreeRTOS.h>
#include <freertos/queue.h>
#include <freertos/semphr.h>
#include <freertos/task.h>
#include <stdatomic.h>

#include "sdkconfig.h"

#define SX127X_TASK_STACK_SIZE CONFIG_SX127X_TASK_STACK_SIZE
#define SX127X_TASK_PRIORITY CONFIG_SX127X_TASK_PRIORITY
#define SX127X_RX_QUEUE_LEN CONFIG_SX127X_RX_QUEUE_LEN
#define SX127X_TX_QUEUE_LEN CONFIG_SX127X_TX_QUEUE_LEN
#define SX127X_SPI_QUEUE_SIZE CONFIG_SX127X_SPI_QUEUE_SIZE
#define SX127X_SPI_DMA_CHAN CONFIG_SX127X_SPI_DMA_CHAN
#define SX127X_SPI_CLOCK_HZ CONFIG_SX127X_SPI_CLOCK_HZ

#define SX127X_MAX_TRANSFER (256)
#define SX127X_RESET_DELAY (pdMS_TO_TICKS(15))
#define SX127X_MUTEX_TIMOUT (pdMS_TO_TICKS(100))


#ifdef NODEBUG
#define SX127X_CHECK(check, str, ret_val, ...) \
  if (!(check)) {                              \
    ESP_LOGE(SX127X_TAG, str, ##__VA_ARGS__);  \
    return (ret_val);                          \
  }
#define SX127X_ERROR_CHECK(ret)    \
  {                                \
    esp_err_t _error_code = (ret); \
    if (_error_code != ESP_OK) {   \
      return _error_code;          \
    }                              \
  }
#define SX127X_ERROR_CHECK2(ret, fun) SX127X_CHECK(ret)
#else
#define SX127X_CHECK(check, str, ret_val, ...)                         \
  if (!(check)) {                                                      \
    ESP_LOGE(SX127X_TAG, "%s:%d: check %s failed: " str, __FUNCTION__, \
             __LINE__, #check, ##__VA_ARGS__);                         \
    return (ret_val);                                                  \
  }
#define SX127X_ERROR_CHECK(ret)                                      \
  {                                                                  \
    esp_err_t _error_code = (ret);                                   \
    if (_error_code != ESP_OK) {                                     \
      const char *_error_name = esp_err_to_name(_error_code);        \
      ESP_LOGE(SX127X_TAG, "%s:%d: %s (%d)", __FUNCTION__, __LINE__, \
               _error_name, _error_code);                            \
      return _error_code;                                            \
    }                                                                \
  }
#define SX127X_ERROR_CHECK2(ret, fun)                                 \
  {                                                                   \
    esp_err_t _error_code = (ret);                                    \
    if (_error_code != ESP_OK) {                                      \
      const char *_error_name = esp_err_to_name(_error_code);         \
      ESP_LOGE(SX127X_TAG, "%s:%d: %s failed: %s (%d)", __FUNCTION__, \
               __LINE__, #fun, _error_name, _error_code);             \
      return _error_code;                                             \
    }                                                                 \
  }
#endif

typedef enum sx127x_task_state {
  SX127X_TASK_STOPPED  = 0,
  SX127X_TASK_RUNNING  = 1,
  SX127X_TASK_STOPPING = 2,
} sx127x_task_state_t;

typedef struct sx127x {
  sx127x_config_t     config;
  spi_device_handle_t device_handle;
  SemaphoreHandle_t   spi_mutex;
  TaskHandle_t        task_handle;
  _Atomic(sx127x_task_state_t) task_state;
  // binary semaphore which is given when an interrupt is received from the
  // radio
  SemaphoreHandle_t intr_semaphore;
  // queue of packets received from the radio
  QueueHandle_t rx_packet_queue;
  // queue of packets to send to the radio
  QueueHandle_t tx_packet_queue;
} sx127x_t;

const char *SX127X_TAG;