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ugv_io
Alex Mikhalev 6 years ago
parent
594c16ed41
commit
1c5fbd725a
5 changed files with 52 additions and 50 deletions
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  1. 8
      main/sx127x_driver/sx127x_driver.c
  2. 2
      main/sx127x_driver/sx127x_driver.h
  3. 72
      main/u8g2_esp32_hal.c
  4. 2
      main/u8g2_esp32_hal.h
  5. 18
      main/ugv_main.c

8
main/sx127x_driver/sx127x_driver.c
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@ -432,12 +432,12 @@ esp_err_t sx127x_start(sx127x_t *handle) {
SX127X_ERROR_CHECK(ret); SX127X_ERROR_CHECK(ret);
gpio_config_t irq_io_config; gpio_config_t irq_io_config;
irq_io_config.intr_type = GPIO_INTR_POSEDGE; irq_io_config.intr_type = GPIO_INTR_POSEDGE;
irq_io_config.mode = GPIO_MODE_INPUT; irq_io_config.mode = GPIO_MODE_INPUT;
irq_io_config.pin_bit_mask = (1ULL << handle->config.irq_io_num); irq_io_config.pin_bit_mask = (1ULL << handle->config.irq_io_num);
irq_io_config.pull_down_en = 0; irq_io_config.pull_down_en = 0;
irq_io_config.pull_up_en = 0; irq_io_config.pull_up_en = 0;
ret = gpio_config(&irq_io_config); ret = gpio_config(&irq_io_config);
SX127X_ERROR_CHECK2(ret, gpio_config) SX127X_ERROR_CHECK2(ret, gpio_config)
ret = gpio_install_isr_service(ESP_INTR_FLAG_LEVEL1); ret = gpio_install_isr_service(ESP_INTR_FLAG_LEVEL1);

2
main/sx127x_driver/sx127x_driver.h
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@ -1,7 +1,7 @@
#pragma once #pragma once
#include <driver/spi_master.h>
#include <driver/gpio.h> #include <driver/gpio.h>
#include <driver/spi_master.h>
#include <stdint.h> #include <stdint.h>
#define SX127X_MAX_TRANSFER (256) #define SX127X_MAX_TRANSFER (256)

72
main/u8g2_esp32_hal.c
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@ -9,12 +9,12 @@
#include "u8g2_esp32_hal.h" #include "u8g2_esp32_hal.h"
static const char *TAG = "u8g2_hal"; static const char * TAG = "u8g2_hal";
static const unsigned int I2C_TIMEOUT_MS = 1000; static const unsigned int I2C_TIMEOUT_MS = 1000;
static spi_device_handle_t handle_spi; // SPI handle. static spi_device_handle_t handle_spi; // SPI handle.
static i2c_cmd_handle_t handle_i2c; // I2C handle. static i2c_cmd_handle_t handle_i2c; // I2C handle.
static u8g2_esp32_hal_t u8g2_esp32_hal; // HAL state data. static u8g2_esp32_hal_t u8g2_esp32_hal; // HAL state data.
#undef ESP_ERROR_CHECK #undef ESP_ERROR_CHECK
#define ESP_ERROR_CHECK(x) \ #define ESP_ERROR_CHECK(x) \
@ -54,28 +54,28 @@ uint8_t u8g2_esp32_spi_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void
spi_bus_config_t bus_config; spi_bus_config_t bus_config;
memset(&bus_config, 0, sizeof(spi_bus_config_t)); memset(&bus_config, 0, sizeof(spi_bus_config_t));
bus_config.sclk_io_num = u8g2_esp32_hal.clk; // CLK bus_config.sclk_io_num = u8g2_esp32_hal.clk; // CLK
bus_config.mosi_io_num = u8g2_esp32_hal.mosi; // MOSI bus_config.mosi_io_num = u8g2_esp32_hal.mosi; // MOSI
bus_config.miso_io_num = -1; // MISO bus_config.miso_io_num = -1; // MISO
bus_config.quadwp_io_num = -1; // Not used bus_config.quadwp_io_num = -1; // Not used
bus_config.quadhd_io_num = -1; // Not used bus_config.quadhd_io_num = -1; // Not used
// ESP_LOGI(TAG, "... Initializing bus."); // ESP_LOGI(TAG, "... Initializing bus.");
ESP_ERROR_CHECK(spi_bus_initialize(HSPI_HOST, &bus_config, 1)); ESP_ERROR_CHECK(spi_bus_initialize(HSPI_HOST, &bus_config, 1));
spi_device_interface_config_t dev_config; spi_device_interface_config_t dev_config;
dev_config.address_bits = 0; dev_config.address_bits = 0;
dev_config.command_bits = 0; dev_config.command_bits = 0;
dev_config.dummy_bits = 0; dev_config.dummy_bits = 0;
dev_config.mode = 0; dev_config.mode = 0;
dev_config.duty_cycle_pos = 0; dev_config.duty_cycle_pos = 0;
dev_config.cs_ena_posttrans = 0; dev_config.cs_ena_posttrans = 0;
dev_config.cs_ena_pretrans = 0; dev_config.cs_ena_pretrans = 0;
dev_config.clock_speed_hz = 10000; dev_config.clock_speed_hz = 10000;
dev_config.spics_io_num = u8g2_esp32_hal.cs; dev_config.spics_io_num = u8g2_esp32_hal.cs;
dev_config.flags = 0; dev_config.flags = 0;
dev_config.queue_size = 200; dev_config.queue_size = 200;
dev_config.pre_cb = NULL; dev_config.pre_cb = NULL;
dev_config.post_cb = NULL; dev_config.post_cb = NULL;
// ESP_LOGI(TAG, "... Adding device bus."); // ESP_LOGI(TAG, "... Adding device bus.");
ESP_ERROR_CHECK(spi_bus_add_device(HSPI_HOST, &dev_config, &handle_spi)); ESP_ERROR_CHECK(spi_bus_add_device(HSPI_HOST, &dev_config, &handle_spi));
@ -84,11 +84,11 @@ uint8_t u8g2_esp32_spi_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void
case U8X8_MSG_BYTE_SEND: { case U8X8_MSG_BYTE_SEND: {
spi_transaction_t trans_desc; spi_transaction_t trans_desc;
trans_desc.addr = 0; trans_desc.addr = 0;
trans_desc.cmd = 0; trans_desc.cmd = 0;
trans_desc.flags = 0; trans_desc.flags = 0;
trans_desc.length = 8 * arg_int; // Number of bits NOT number of bytes. trans_desc.length = 8 * arg_int; // Number of bits NOT number of bytes.
trans_desc.rxlength = 0; trans_desc.rxlength = 0;
trans_desc.tx_buffer = arg_ptr; trans_desc.tx_buffer = arg_ptr;
trans_desc.rx_buffer = NULL; trans_desc.rx_buffer = NULL;
@ -106,7 +106,7 @@ uint8_t u8g2_esp32_spi_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void
*/ */
uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void *arg_ptr) { uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void *arg_ptr) {
#define TXBUF_SIZE 32 #define TXBUF_SIZE 32
static uint8_t txbuf[TXBUF_SIZE]; static uint8_t txbuf[TXBUF_SIZE];
static uint8_t *txbuf_ptr; static uint8_t *txbuf_ptr;
// ESP_LOGV(TAG, "i2c_cb: Received a msg: %d, arg_int: %d, arg_ptr: %p", msg, // ESP_LOGV(TAG, "i2c_cb: Received a msg: %d, arg_int: %d, arg_ptr: %p", msg,
// arg_int, arg_ptr); // arg_int, arg_ptr);
@ -126,10 +126,10 @@ uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void
i2c_config_t conf; i2c_config_t conf;
conf.mode = I2C_MODE_MASTER; conf.mode = I2C_MODE_MASTER;
ESP_LOGD(TAG, "sda_io_num %d", u8g2_esp32_hal.sda); ESP_LOGD(TAG, "sda_io_num %d", u8g2_esp32_hal.sda);
conf.sda_io_num = u8g2_esp32_hal.sda; conf.sda_io_num = u8g2_esp32_hal.sda;
conf.sda_pullup_en = GPIO_PULLUP_ENABLE; conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
ESP_LOGD(TAG, "scl_io_num %d", u8g2_esp32_hal.scl); ESP_LOGD(TAG, "scl_io_num %d", u8g2_esp32_hal.scl);
conf.scl_io_num = u8g2_esp32_hal.scl; conf.scl_io_num = u8g2_esp32_hal.scl;
conf.scl_pullup_en = GPIO_PULLUP_ENABLE; conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
ESP_LOGD(TAG, "clk_speed %d", I2C_MASTER_FREQ_HZ); ESP_LOGD(TAG, "clk_speed %d", I2C_MASTER_FREQ_HZ);
conf.master.clk_speed = I2C_MASTER_FREQ_HZ; conf.master.clk_speed = I2C_MASTER_FREQ_HZ;
@ -143,7 +143,7 @@ uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void
case U8X8_MSG_BYTE_SEND: { case U8X8_MSG_BYTE_SEND: {
uint8_t *data_ptr = (uint8_t *)arg_ptr; uint8_t *data_ptr = (uint8_t *)arg_ptr;
size_t data_len = (size_t)arg_int; size_t data_len = (size_t)arg_int;
// ESP_LOGV(TAG, "U8x8_MSG_BYTE_SEND. txbuf len: %d", txbuf_ptr - txbuf); // ESP_LOGV(TAG, "U8x8_MSG_BYTE_SEND. txbuf len: %d", txbuf_ptr - txbuf);
// ESP_LOG_BUFFER_HEXDUMP(TAG, data_ptr, data_len, ESP_LOG_VERBOSE); // ESP_LOG_BUFFER_HEXDUMP(TAG, data_ptr, data_len, ESP_LOG_VERBOSE);
@ -158,7 +158,7 @@ uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void
case U8X8_MSG_BYTE_START_TRANSFER: { case U8X8_MSG_BYTE_START_TRANSFER: {
uint8_t i2c_address = u8x8_GetI2CAddress(u8x8); uint8_t i2c_address = u8x8_GetI2CAddress(u8x8);
handle_i2c = i2c_cmd_link_create(); handle_i2c = i2c_cmd_link_create();
// ESP_LOGV(TAG, "Start I2C transfer to %02X.", i2c_address >> 1); // ESP_LOGV(TAG, "Start I2C transfer to %02X.", i2c_address >> 1);
ESP_ERROR_CHECK(i2c_master_start(handle_i2c)); ESP_ERROR_CHECK(i2c_master_start(handle_i2c));
ESP_ERROR_CHECK(i2c_master_write_byte(handle_i2c, i2c_address | I2C_MASTER_WRITE, ACK_CHECK_EN)); ESP_ERROR_CHECK(i2c_master_write_byte(handle_i2c, i2c_address | I2C_MASTER_WRITE, ACK_CHECK_EN));
@ -206,10 +206,10 @@ uint8_t u8g2_esp32_gpio_and_delay_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
} }
gpio_config_t gpioConfig; gpio_config_t gpioConfig;
gpioConfig.pin_bit_mask = bitmask; gpioConfig.pin_bit_mask = bitmask;
gpioConfig.mode = GPIO_MODE_OUTPUT; gpioConfig.mode = GPIO_MODE_OUTPUT;
gpioConfig.pull_up_en = GPIO_PULLUP_DISABLE; gpioConfig.pull_up_en = GPIO_PULLUP_DISABLE;
gpioConfig.pull_down_en = GPIO_PULLDOWN_ENABLE; gpioConfig.pull_down_en = GPIO_PULLDOWN_ENABLE;
gpioConfig.intr_type = GPIO_INTR_DISABLE; gpioConfig.intr_type = GPIO_INTR_DISABLE;
gpio_config(&gpioConfig); gpio_config(&gpioConfig);
break; break;
} }
@ -242,9 +242,7 @@ uint8_t u8g2_esp32_gpio_and_delay_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int,
break; break;
// Delay for the number of milliseconds passed in through arg_int. // Delay for the number of milliseconds passed in through arg_int.
case U8X8_MSG_DELAY_MILLI: case U8X8_MSG_DELAY_MILLI: vTaskDelay(arg_int / portTICK_PERIOD_MS); break;
vTaskDelay(arg_int / portTICK_PERIOD_MS);
break;
} }
return 0; return 0;
} // u8g2_esp32_gpio_and_delay_cb } // u8g2_esp32_gpio_and_delay_cb

2
main/u8g2_esp32_hal.h
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@ -38,7 +38,7 @@ typedef struct {
U8G2_ESP32_HAL_UNDEFINED, U8G2_ESP32_HAL_UNDEFINED, U8G2_ESP32_HAL_UNDEFINED \ U8G2_ESP32_HAL_UNDEFINED, U8G2_ESP32_HAL_UNDEFINED, U8G2_ESP32_HAL_UNDEFINED \
} }
void u8g2_esp32_hal_init(u8g2_esp32_hal_t u8g2_esp32_hal_param); void u8g2_esp32_hal_init(u8g2_esp32_hal_t u8g2_esp32_hal_param);
uint8_t u8g2_esp32_spi_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void *arg_ptr); uint8_t u8g2_esp32_spi_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void *arg_ptr);
uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void *arg_ptr); uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void *arg_ptr);
uint8_t u8g2_esp32_gpio_and_delay_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void *arg_ptr); uint8_t u8g2_esp32_gpio_and_delay_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void *arg_ptr);

18
main/ugv_main.c
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@ -89,14 +89,14 @@ void setup(void) {
configASSERT(lora_packet_recv_queue != 0); configASSERT(lora_packet_recv_queue != 0);
configASSERT(lora_packet_isr_queue != 0); configASSERT(lora_packet_isr_queue != 0);
sx127x_config_t lora_config = SX127X_CONFIG_DEFAULT; sx127x_config_t lora_config = SX127X_CONFIG_DEFAULT;
lora_config.tx_power = 17; lora_config.tx_power = 17;
lora_config.spreading_factor = 11; lora_config.spreading_factor = 11;
lora_config.signal_bandwidth = 125E3; lora_config.signal_bandwidth = 125E3;
lora_config.sync_word = 0x34; lora_config.sync_word = 0x34;
lora_config.crc = SX127X_CRC_ENABLED; lora_config.crc = SX127X_CRC_ENABLED;
sx127x_t* lora; sx127x_t *lora;
esp_err_t ret = sx127x_init(&lora_config, &lora); esp_err_t ret = sx127x_init(&lora_config, &lora);
if (ret != ESP_OK) { if (ret != ESP_OK) {
const char *err_name = esp_err_to_name(ret); const char *err_name = esp_err_to_name(ret);
@ -178,8 +178,12 @@ void loop(void) {
u8g2_DrawStr(&u8g2, 4, 8 + 8, buf); u8g2_DrawStr(&u8g2, 4, 8 + 8, buf);
if (packet.buffer_len) { if (packet.buffer_len) {
ESP_LOGI(TAG, "lora received packet (len %d, rssi: %d, snr: %f): %s\n", packet.buffer_len, packet.rssi, ESP_LOGI(TAG,
packet.snr, packet.buffer); "lora received packet (len %d, rssi: %d, snr: %f): %s\n",
packet.buffer_len,
packet.rssi,
packet.snr,
packet.buffer);
u8g2_SetFont(&u8g2, u8g2_font_4x6_mf); u8g2_SetFont(&u8g2, u8g2_font_4x6_mf);
snprintf(buf, 40, "lora pkt(rssi: %d, snr: %f)", packet.rssi, packet.snr); snprintf(buf, 40, "lora pkt(rssi: %d, snr: %f)", packet.rssi, packet.snr);
u8g2_DrawStr(&u8g2, 4, 8 + 8 + 8, buf); u8g2_DrawStr(&u8g2, 4, 8 + 8 + 8, buf);

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