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78 lines
2.3 KiB
78 lines
2.3 KiB
6 years ago
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#include "ugv_comms.h"
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#include "ugv_config.h"
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#include <esp_log.h>
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static const char *TAG = "ugv_comms";
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static void ugv_comms_task(void *arg);
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static uint16_t packet_num;
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void ugv_comms_init() {
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sx127x_config_t lora_config = SX127X_CONFIG_DEFAULT;
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lora_config.sck_io_num = LORA_SCK;
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lora_config.miso_io_num = LORA_MISO;
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lora_config.mosi_io_num = LORA_MOSI;
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lora_config.cs_io_num = LORA_CS;
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lora_config.rst_io_num = LORA_RST;
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lora_config.irq_io_num = LORA_IRQ;
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lora_config.frequency = LORA_FREQ;
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lora_config.tx_power = 17;
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lora_config.spreading_factor = 12;
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lora_config.signal_bandwidth = 10E3;
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lora_config.sync_word = 0x34;
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lora_config.crc = SX127X_CRC_ENABLED;
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esp_err_t ret;
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ret = sx127x_init(&lora_config, &lora);
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if (ret != ESP_OK) {
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const char *err_name = esp_err_to_name(ret);
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ESP_LOGE(TAG, "LoRa init failed: %s", err_name);
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return;
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}
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ESP_LOGI(TAG, "LoRa initialized");
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ret = sx127x_start(lora);
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if (ret != ESP_OK) {
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ESP_LOGI(TAG, "LoRa start failed: %d", ret);
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return;
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}
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packet_num = 0;
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xTaskCreate(ugv_comms_task, "ugv_comms", 2 * 1024, NULL, 2, &ugv_comms_task_hndl);
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}
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void ugv_comms_task(void *params) {
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char tx_buf[20];
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const size_t tx_buf_len = (sizeof(tx_buf) / sizeof(tx_buf[0]));
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TickType_t send_period = pdMS_TO_TICKS(2000);
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TickType_t current_time = xTaskGetTickCount();
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TickType_t next_send = current_time + send_period;
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while (true) {
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TickType_t delay_ticks = next_send - current_time;
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vTaskDelay(delay_ticks);
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current_time = xTaskGetTickCount();
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if (current_time < next_send) {
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continue;
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}
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int written_bytes =
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snprintf(tx_buf, tx_buf_len, "hello world %d", packet_num);
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if (written_bytes < 0) {
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ESP_LOGE(TAG, "snprintf error: %d", written_bytes);
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continue;
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}
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packet_num++;
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esp_err_t ret = sx127x_send_packet(lora, tx_buf, written_bytes,
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0); // 0 means error if queue full
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if (ret != ESP_OK) {
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ESP_LOGE(TAG, "error sending packet: %d", ret);
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} else {
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ESP_LOGI(TAG, "lora wrote %d bytes", written_bytes);
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}
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current_time = xTaskGetTickCount();
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next_send = current_time + send_period;
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}
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}
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