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>

#define SX127X_MAX_TRANSFER (256)
#define RESET_DELAY (pdMS_TO_TICKS(15))
// 8mhz
#define SPI_CLOCK_HZ (8 * 1000 * 1000)
#define TASK_STACK_SIZE (2 * 1024)
#define TASK_PRIORITY 3

#define REG_FIFO 0x00
#define REG_OP_MODE 0x01
#define REG_FRF_MSB 0x06
#define REG_FRF_MID 0x07
#define REG_FRF_LSB 0x08
#define REG_PA_CONFIG 0x09
#define REG_OCP 0x0b
#define REG_LNA 0x0c
#define REG_FIFO_ADDR_PTR 0x0d
#define REG_FIFO_TX_BASE_ADDR 0x0e
#define REG_FIFO_RX_BASE_ADDR 0x0f
#define REG_FIFO_RX_CURRENT_ADDR 0x10
#define REG_IRQ_FLAGS 0x12
#define REG_RX_NB_BYTES 0x13
#define REG_PKT_SNR_VALUE 0x19
#define REG_PKT_RSSI_VALUE 0x1a
#define REG_MODEM_CONFIG_1 0x1d
#define REG_MODEM_CONFIG_2 0x1e
#define REG_PREAMBLE_MSB 0x20
#define REG_PREAMBLE_LSB 0x21
#define REG_PAYLOAD_LENGTH 0x22
#define REG_MODEM_CONFIG_3 0x26
#define REG_FREQ_ERROR_MSB 0x28
#define REG_FREQ_ERROR_MID 0x29
#define REG_FREQ_ERROR_LSB 0x2a
#define REG_RSSI_WIDEBAND 0x2c
#define REG_DETECTION_OPTIMIZE 0x31
#define REG_INVERTIQ 0x33
#define REG_DETECTION_THRESHOLD 0x37
#define REG_SYNC_WORD 0x39
#define REG_INVERTIQ2 0x3b
#define REG_DIO_MAPPING_1 0x40
#define REG_VERSION 0x42
#define REG_PA_DAC 0x4d

typedef enum sx127x_op_mode {
  SX127X_MODE_SLEEP     = 0x00,
  SX127X_MODE_STDBY     = 0x01,
  SX127X_MODE_FS_TX     = 0x02,
  SX127X_MODE_TX        = 0x03,
  SX127X_MODE_FS_RX     = 0x04,
  SX127X_MODE_RX_CONT   = 0x05,
  SX127X_MODE_RX_SINGLE = 0x06,
  SX127X_MODE_CAD       = 0x07,
  SX127X_MODE           = 0x07,
  SX127X_LONG_RANGE     = (1 << 7)
} sx127x_op_mode_t;

#define CONFIG2_CRC 0x04
#define CONFIG3_AUTO_AGC 0x04

// PA config
#define PA_BOOST 0x80

// IRQ masks
#define IRQ_TX_DONE_MASK 0x08
#define IRQ_PAYLOAD_CRC_ERROR_MASK 0x20
#define IRQ_RX_DONE_MASK 0x40

#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 ": " str, __FUNCTION__, __LINE__, ##__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: " #fun ": %s (%d)", __FUNCTION__, __LINE__, _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;

struct sx127x {
  sx127x_config_t     config;
  spi_device_handle_t device_handle;
  TaskHandle_t        task_handle;
  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;
};

const char *SX127X_TAG;