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add sx127x nanopb send method

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This commit is contained in:
Alex Mikhalev 2019-01-03 15:52:52 -07:00
parent d837a9f40d
commit 541667b0f0
10 changed files with 88 additions and 25 deletions
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4
components/sx127x_driver/CMakeLists.txt
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@ -1,7 +1,9 @@
set(COMPONENT_SRCS
"sx127x_driver.c"
"sx127x_registers.c")
"sx127x_registers.c"
"sx127x_pb.c")
set(COMPONENT_ADD_INCLUDEDIRS ".")
set(COMPONENT_REQUIRES "nanopb")
register_component()

4
components/sx127x_driver/Kconfig.projbuild
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@ -38,4 +38,8 @@ config SX127X_SPI_DMA_CHAN
There are two DMA channels that can be used by the ESP32 SPI driver. One
which is not in use must be picked (1 or 2). Set to 0 to disable SPI DMA.
config SX127X_USE_NANOPB
bool "Use nanopb"
default true
endmenu

5
components/sx127x_driver/sx127x_driver.c
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@ -7,11 +7,6 @@
const char *SX127X_TAG = "sx127x";
typedef struct sx127x_packet {
char * data;
size_t data_len;
} sx127x_packet_t;
sx127x_config_t sx127x_config_default() {
sx127x_config_t config = SX127X_CONFIG_DEFAULT;
return config;

2
components/sx127x_driver/sx127x_driver.h
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@ -100,3 +100,5 @@ esp_err_t sx127x_recv_packet(sx127x_hndl hndl, sx127x_rx_packet_t *packet_out,
QueueHandle_t sx127x_get_recv_queue(sx127x_hndl hndl);
void sx127x_packet_rx_free(sx127x_rx_packet_t *packet);
#include "sx127x_pb.h"

5
components/sx127x_driver/sx127x_internal.h
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@ -69,6 +69,11 @@ typedef enum sx127x_task_state {
SX127X_TASK_STOPPING = 2,
} sx127x_task_state_t;
typedef struct sx127x_packet {
char * data;
size_t data_len;
} sx127x_packet_t;
typedef struct sx127x {
sx127x_config_t config;
spi_device_handle_t device_handle;

36
components/sx127x_driver/sx127x_pb.c Normal file
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@ -0,0 +1,36 @@
#include "sx127x_pb.h"
#include "sx127x_internal.h"
#include "sdkconfig.h"
#include <pb_encode.h>
#ifdef CONFIG_SX127X_USE_NANOPB
esp_err_t sx127x_send_packet_pb(sx127x_hndl hndl, const pb_field_t fields[],
void *src_struct, TickType_t ticks_to_wait) {
SX127X_CHECK(atomic_load(&hndl->task_state) == SX127X_TASK_RUNNING,
"task not running", ESP_ERR_INVALID_STATE);
size_t data_len;
bool pb_ret = pb_get_encoded_size(&data_len, fields, src_struct);
SX127X_CHECK(pb_ret == true, "pb_get_encoded_size fail", ESP_ERR_INVALID_ARG);
SX127X_CHECK(data_len < SX127_MAX_PACKET_LEN, "packet len too long: %d",
ESP_ERR_INVALID_ARG, data_len);
pb_byte_t *data = heap_caps_malloc(
data_len, MALLOC_CAP_8BIT | MALLOC_CAP_32BIT | MALLOC_CAP_DMA);
SX127X_CHECK(data != NULL, "malloc error", ESP_ERR_NO_MEM);
pb_ostream_t ostream = pb_ostream_from_buffer(data, data_len);
pb_encode(&ostream, fields, src_struct);
ESP_LOGV(SX127X_TAG, "encoded pb message %d bytes", data_len);
sx127x_packet_t packet;
packet.data_len = data_len;
packet.data = (char *)data;
BaseType_t pdRet = xQueueSend(hndl->tx_packet_queue, &packet, ticks_to_wait);
SX127X_CHECK(pdRet == pdTRUE, "tx queue full", ESP_ERR_TIMEOUT);
return ESP_OK;
}
#endif

14
components/sx127x_driver/sx127x_pb.h Normal file
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@ -0,0 +1,14 @@
#pragma once
#include "sdkconfig.h"
#ifdef CONFIG_SX127X_USE_NANOPB
#include "sx127x_driver.h"
#include <pb_common.h>
esp_err_t sx127x_send_packet_pb(sx127x_hndl hndl, const pb_field_t fields[],
void *src_struct, TickType_t ticks_to_wait);
#endif

2
main/messages.proto
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@ -1,5 +1,7 @@
syntax = "proto3";
package uas.ugv;
enum UGV_State {
IDLE = 0;
AQUIRING = 1;

38
main/ugv_comms.c
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@ -2,10 +2,14 @@
#include "ugv_config.h"
#include <esp_log.h>
#include <pb_decode.h>
#include <pb_encode.h>
#include "messages.pb.h"
static const char *TAG = "ugv_comms";
static void ugv_comms_task(void *arg);
static void ugv_comms_task(void *arg);
static uint16_t packet_num;
void ugv_comms_init() {
@ -40,15 +44,22 @@ void ugv_comms_init() {
packet_num = 0;
xTaskCreate(ugv_comms_task, "ugv_comms", 2 * 1024, NULL, 2, &ugv_comms_task_hndl);
xTaskCreate(ugv_comms_task, "ugv_comms", 2 * 1024, NULL, 2,
&ugv_comms_task_hndl);
}
void ugv_comms_task(void *params) {
char tx_buf[20];
const size_t tx_buf_len = (sizeof(tx_buf) / sizeof(tx_buf[0]));
TickType_t send_period = pdMS_TO_TICKS(2000);
TickType_t current_time = xTaskGetTickCount();
TickType_t next_send = current_time + send_period;
TickType_t send_period = pdMS_TO_TICKS(2000);
TickType_t current_time = xTaskGetTickCount();
TickType_t next_send = current_time + send_period;
uas_ugv_UGV_Message ugv_message = uas_ugv_UGV_Message_init_default;
ugv_message.which_ugv_message = uas_ugv_UGV_Message_status_tag;
ugv_message.ugv_message.status.location.fix_quality = 0;
ugv_message.ugv_message.status.location.latitude = 43.65;
ugv_message.ugv_message.status.location.longitude = -116.20;
ugv_message.ugv_message.status.location.altitude = 2730;
ugv_message.ugv_message.status.state = uas_ugv_UGV_State_IDLE;
while (true) {
TickType_t delay_ticks = next_send - current_time;
vTaskDelay(delay_ticks);
@ -56,19 +67,14 @@ void ugv_comms_task(void *params) {
if (current_time < next_send) {
continue;
}
int written_bytes =
snprintf(tx_buf, tx_buf_len, "hello world %d", packet_num);
if (written_bytes < 0) {
ESP_LOGE(TAG, "snprintf error: %d", written_bytes);
continue;
}
packet_num++;
esp_err_t ret = sx127x_send_packet(lora, tx_buf, written_bytes,
0); // 0 means error if queue full
esp_err_t ret =
sx127x_send_packet_pb(lora, uas_ugv_UGV_Message_fields, &ugv_message,
0); // 0 means error if queue full
if (ret != ESP_OK) {
ESP_LOGE(TAG, "error sending packet: %d", ret);
} else {
ESP_LOGI(TAG, "lora wrote %d bytes", written_bytes);
ESP_LOGI(TAG, "lora wrote UGV_Message packet");
}
current_time = xTaskGetTickCount();

3
main/ugv_main.c
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@ -9,9 +9,6 @@
#include "u8g2_esp32_hal.h"
#include "ugv_comms.h"
#include "ugv_config.h"
#include "messages.pb.h"
#include <pb_decode.h>
static const char *TAG = "ugv_main";