add support for packet tx

components/sx127x_driver/sx127x_driver.c

@@ -7,12 +7,18 @@
 
 const char *SX127X_TAG = "sx127x";
 
+typedef struct sx127x_packet {
+  char * data;
+  size_t data_len;
+} sx127x_packet_t;
+
 esp_err_t sx127x_init(sx127x_config_t *config, sx127x_t **handle_ptr) {
   esp_err_t ret;
   sx127x_t *handle = malloc(sizeof(sx127x_t));
   SX127X_CHECK(handle != NULL, "malloc error", ESP_ERR_NO_MEM);
 
   handle->task_handle = NULL;
+  handle->task_state  = SX127X_TASK_STOPPED;
   memcpy(&handle->config, config, sizeof(sx127x_config_t));
 
   ret = gpio_set_direction(config->rst_io_num, GPIO_MODE_OUTPUT);
@@ -24,13 +30,16 @@ esp_err_t sx127x_init(sx127x_config_t *config, sx127x_t **handle_ptr) {
   gpio_set_level(config->rst_io_num, 1);
   vTaskDelay(RESET_DELAY);
 
-  spi_bus_config_t bus_config = {.mosi_io_num     = config->mosi_io_num,
-                                 .miso_io_num     = config->miso_io_num,
-                                 .sclk_io_num     = config->sck_io_num,
-                                 .quadhd_io_num   = -1,
-                                 .quadwp_io_num   = -1,
-                                 .max_transfer_sz = SX127X_MAX_TRANSFER};
-  ret                         = spi_bus_initialize(config->spi_host, &bus_config, 1);
+  spi_bus_config_t bus_config = {
+      .mosi_io_num     = config->mosi_io_num,
+      .miso_io_num     = config->miso_io_num,
+      .sclk_io_num     = config->sck_io_num,
+      .quadhd_io_num   = -1,
+      .quadwp_io_num   = -1,
+      .max_transfer_sz = SX127X_MAX_TRANSFER,
+  };
+
+  ret = spi_bus_initialize(config->spi_host, &bus_config, 1);
   SX127X_ERROR_CHECK2(ret, spi_bus_initialize)
 
   spi_device_interface_config_t device_config = {
@@ -120,14 +129,90 @@ esp_err_t sx127x_free(sx127x_t *handle) {
 
 void sx127x_isr(void *arg) {
   sx127x_t *handle = (sx127x_t *)arg;
-  ESP_LOGI(SX127X_TAG, "sx127x_isr");
+  ESP_LOGV(SX127X_TAG, "sx127x_isr");
+  BaseType_t hpTaskWoken;
+  xSemaphoreGiveFromISR(handle->intr_semaphore, &hpTaskWoken);
+  if (hpTaskWoken) {
+    portYIELD_FROM_ISR();
+  }
+}
+
+void sx127x_do_tx(sx127x_t *handle, sx127x_packet_t *packet) {
+  uint8_t op_mode, irq_flags, config_2;
+  while (handle->task_state == SX127X_TASK_RUNNING) {
+    sx127x_read_register(handle, REG_OP_MODE, &op_mode);
+    uint8_t mode = op_mode & SX127X_MODE;
+    if (mode != SX127X_MODE_TX && mode != SX127X_MODE_FS_TX) {
+      break;
+    }
+    vTaskDelay(1); // wait for finish transmitting
+  }
+
+  sx127x_standby(handle);
+
+  sx127x_read_register(handle, REG_IRQ_FLAGS, &irq_flags);
+  if (irq_flags & IRQ_TX_DONE_MASK) {
+    // clear tx done bit
+    sx127x_write_register(handle, REG_IRQ_FLAGS, IRQ_TX_DONE_MASK);
+  }
+
+  sx127x_read_register(handle, REG_MODEM_CONFIG_2, &config_2);
+  config_2 &= ~0x01; // set explicit header mode TODO: implicit header?
+  sx127x_write_register(handle, REG_MODEM_CONFIG_2, config_2);
+
+  sx127x_write_register(handle, REG_FIFO_ADDR_PTR, 0);
+  sx127x_write_register(handle, REG_PAYLOAD_LENGTH, 0);
+
+  sx127x_write_fifo(handle, packet->data, packet->data_len);
+  sx127x_write_register(handle, REG_PAYLOAD_LENGTH, packet->data_len);
+
+  sx127x_write_register(handle, REG_OP_MODE, SX127X_LONG_RANGE | SX127X_MODE_FS_TX);
+  vTaskDelay(pdMS_TO_TICKS(1));
+  sx127x_write_register(handle, REG_OP_MODE, SX127X_LONG_RANGE | SX127X_MODE_TX);
+
+  // wait for transmission to finish
+  while (true) {
+    sx127x_read_register(handle, REG_IRQ_FLAGS, &irq_flags);
+    if (irq_flags & IRQ_TX_DONE_MASK) { // if the transmission is done
+      break;
+    }
+    vTaskDelay(1);
+  }
+  // clear tx done bit
+  sx127x_write_register(handle, REG_IRQ_FLAGS, IRQ_TX_DONE_MASK);
+
+  // go back to rx mode
+  sx127x_write_register(handle, REG_OP_MODE, SX127X_LONG_RANGE | SX127X_MODE_RX_CONT);
 }
 
 void sx127x_task(void *arg) {
-  sx127x_t *handle = (sx127x_t *)arg;
-  while (handle->task_running) {
-    vTaskDelay(pdMS_TO_TICKS(10));
+  sx127x_t *       handle     = (sx127x_t *)arg;
+  TickType_t       delay_time = 0;
+  QueueSetHandle_t qSet       = xQueueCreateSet(8);
+  xQueueAddToSet(handle->intr_semaphore, qSet);
+  xQueueAddToSet(handle->tx_packet_queue, qSet);
+  sx127x_packet_t packet;
+  while (handle->task_state == SX127X_TASK_RUNNING) {
+    QueueSetMemberHandle_t queue = xQueueSelectFromSet(qSet, delay_time);
+    if (queue == handle->intr_semaphore) {
+      BaseType_t didRecv = xSemaphoreTake(handle->intr_semaphore, 0);
+      if (didRecv) {
+        ESP_LOGI(SX127X_TAG, "recv from isr: %d", didRecv);
+      }
+    } else if (queue == handle->tx_packet_queue) {
+      BaseType_t didRecv = xQueueReceive(handle->tx_packet_queue, &packet, 0);
+      if (didRecv) {
+        ESP_LOGI(SX127X_TAG, "tx packet: %.*s", packet.data_len, packet.data);
+
+        sx127x_do_tx(handle, &packet);
+
+        free(packet.data);
+      }
+    }
   }
+  ESP_LOGI(SX127X_TAG, "sx127x_task exiting");
+  handle->task_state = SX127X_TASK_STOPPED;
+  vTaskDelete(NULL); // must delete own task
 }
 
 esp_err_t sx127x_start(sx127x_t *handle) {
@@ -135,6 +220,15 @@ esp_err_t sx127x_start(sx127x_t *handle) {
 
   SX127X_CHECK(handle->task_handle == NULL, "task already running", ESP_ERR_INVALID_STATE);
 
+  handle->intr_semaphore = xSemaphoreCreateBinary();
+  // handle->recv_packet_queue = xQueueCreate(8, 10);
+  handle->tx_packet_queue = xQueueCreate(4, sizeof(sx127x_packet_t));
+
+  handle->task_state = SX127X_TASK_RUNNING;
+  BaseType_t pdRet =
+      xTaskCreate(sx127x_task, "sx127x_task", TASK_STACK_SIZE, (void *)handle, TASK_PRIORITY, &handle->task_handle);
+  SX127X_CHECK(pdRet == pdPASS, "failed to create task", ESP_FAIL);
+
   ret = sx127x_write_register(handle, REG_DIO_MAPPING_1, 0x00);
   SX127X_ERROR_CHECK(ret);
 
@@ -152,11 +246,6 @@ esp_err_t sx127x_start(sx127x_t *handle) {
   ret = gpio_isr_handler_add(handle->config.irq_io_num, sx127x_isr, (void *)handle);
   SX127X_ERROR_CHECK2(ret, gpio_isr_handler_add);
 
-  handle->task_running = true;
-
-  BaseType_t pdRet =
-      xTaskCreate(sx127x_task, "sx127x_task", TASK_STACK_SIZE, (void *)handle, TASK_PRIORITY, &handle->task_handle);
-  SX127X_CHECK(pdRet == pdPASS, "failed to create task", ESP_FAIL);
   return ESP_OK;
 }
 
@@ -164,12 +253,29 @@ esp_err_t sx127x_stop(sx127x_t *handle) {
   esp_err_t ret;
 
   SX127X_CHECK(handle->task_handle != NULL, "task has not been started", ESP_ERR_INVALID_STATE);
-  handle->task_running = false;
-  xTaskNotify(handle->task_handle, 0, eNoAction);
+  handle->task_state = SX127X_TASK_STOPPING;
+  xTaskNotifyGive(handle->task_handle);
 
   ret = gpio_isr_handler_remove(handle->config.irq_io_num);
   SX127X_ERROR_CHECK2(ret, gpio_isr_handler_remove);
   gpio_uninstall_isr_service();
 
+  while (handle->task_state != SX127X_TASK_STOPPED) {
+    vTaskDelay(10);
+  }
+  handle->task_handle = NULL;
+
+  return ESP_OK;
+}
+
+esp_err_t sx127x_send_packet(sx127x_t *handle, char *data, size_t data_len) {
+  SX127X_CHECK(data_len < SX127_MAX_PACKET_LEN, "packet len too long: %d", ESP_FAIL, data_len);
+  sx127x_packet_t packet;
+  packet.data_len = data_len;
+  packet.data     = heap_caps_malloc(data_len, MALLOC_CAP_DMA);
+  SX127X_CHECK(packet.data != NULL, "malloc error", ESP_ERR_NO_MEM);
+  memcpy(packet.data, data, data_len);
+  BaseType_t pdRet = xQueueSend(handle->tx_packet_queue, &packet, 0);
+  SX127X_CHECK(pdRet == pdTRUE, "tx queue full", ESP_FAIL);
   return ESP_OK;
 }

components/sx127x_driver/sx127x_driver.h

@@ -4,7 +4,7 @@
 #include <driver/spi_master.h>
 #include <stdint.h>
 
-#define SX127X_MAX_TRANSFER (256)
+#define SX127_MAX_PACKET_LEN 255
 
 // carrier frequency type
 typedef uint64_t sx127x_freq_t;
@@ -76,10 +76,8 @@ esp_err_t sx127x_init(sx127x_config_t *config, sx127x_t **handle_ptr);
 
 esp_err_t sx127x_free(sx127x_t *handle);
 
-esp_err_t sx127x_sleep(sx127x_t *handle);
-
-esp_err_t sx127x_standby(sx127x_t *handle);
-
 esp_err_t sx127x_start(sx127x_t *handle);
 
 esp_err_t sx127x_stop(sx127x_t *handle);
+
+esp_err_t sx127x_send_packet(sx127x_t *handle, char *data, size_t data_len);

components/sx127x_driver/sx127x_internal.h

@@ -1,7 +1,10 @@
 #include <esp_log.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
+#include <freertos/semphr.h>
 #include <freertos/task.h>
 
-#define MAX_PKT_LENGTH 255
+#define SX127X_MAX_TRANSFER (256)
 #define RESET_DELAY (pdMS_TO_TICKS(15))
 // 8mhz
 #define SPI_CLOCK_HZ (8 * 1000 * 1000)
@@ -43,13 +46,18 @@
 #define REG_VERSION 0x42
 #define REG_PA_DAC 0x4d
 
-// modes
-#define MODE_LONG_RANGE_MODE 0x80
-#define MODE_SLEEP 0x00
-#define MODE_STDBY 0x01
-#define MODE_TX 0x03
-#define MODE_RX_CONTINUOUS 0x05
-#define MODE_RX_SINGLE 0x06
+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
@@ -65,7 +73,7 @@
 #ifdef NODEBUG
 #define SX127X_CHECK(check, str, ret_val, ...)                                                                         \
   if (!(check)) {                                                                                                      \
-    ESP_LOGE(SX127X_TAG, "%s(%d): " str, __FUNCTION__, __LINE__, ##__VA_ARGS__);                                              \
+    ESP_LOGE(SX127X_TAG, str, ##__VA_ARGS__);                                       \
     return (ret_val);                                                                                                  \
   }
 #define SX127X_ERROR_CHECK(ret)                                                                                        \
@@ -79,7 +87,7 @@
 #else
 #define SX127X_CHECK(check, str, ret_val, ...)                                                                         \
   if (!(check)) {                                                                                                      \
-    ESP_LOGE(SX127X_TAG, "%s(%d): " #check ": " str, __FUNCTION__, __LINE__, ##__VA_ARGS__);                                  \
+    ESP_LOGE(SX127X_TAG, "%s:%d: " #check ": " str, __FUNCTION__, __LINE__, ##__VA_ARGS__);                           \
     return (ret_val);                                                                                                  \
   }
 #define SX127X_ERROR_CHECK(ret)                                                                                        \
@@ -87,7 +95,7 @@
     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);                              \
+      ESP_LOGE(SX127X_TAG, "%s:%d: %s (%d)", __FUNCTION__, __LINE__, _error_name, _error_code);                       \
       return _error_code;                                                                                              \
     }                                                                                                                  \
   }
@@ -96,17 +104,29 @@
     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);                    \
+      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;
-  bool                task_running;
+  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;

components/sx127x_driver/sx127x_registers.c

@@ -30,11 +30,11 @@ esp_err_t sx127x_single_transfer(sx127x_t *handle, uint8_t addr, uint8_t to_slav
 }
 
 esp_err_t sx127x_sleep(sx127x_t *handle) {
-  return sx127x_write_register(handle, REG_OP_MODE, MODE_LONG_RANGE_MODE | MODE_SLEEP);
+  return sx127x_write_register(handle, REG_OP_MODE, SX127X_LONG_RANGE | SX127X_MODE_SLEEP);
 }
 
 esp_err_t sx127x_standby(sx127x_t *handle) {
-  return sx127x_write_register(handle, REG_OP_MODE, MODE_LONG_RANGE_MODE | MODE_STDBY);
+  return sx127x_write_register(handle, REG_OP_MODE, SX127X_LONG_RANGE | SX127X_MODE_STDBY);
 }
 
 esp_err_t sx127x_set_frequency(sx127x_t *handle, uint64_t frequency) {
@@ -182,3 +182,18 @@ esp_err_t sx127x_set_crc(sx127x_t *handle, sx127x_crc_t crc) {
   handle->config.crc = crc;
   return ESP_OK;
 }
+
+esp_err_t sx127x_write_fifo(sx127x_t *handle, char *data, size_t data_len) {
+  spi_transaction_t trans;
+  memset(&trans, 0, sizeof(trans));
+  trans.flags     = SPI_TRANS_USE_RXDATA;
+  trans.addr      = REG_FIFO;
+  trans.length    = 8 * data_len;
+  trans.rxlength  = 0;
+  trans.tx_buffer = data;
+
+  esp_err_t ret = spi_device_transmit(handle->device_handle, &trans);
+  SX127X_ERROR_CHECK2(ret, spi_device_transmit);
+  ESP_LOGV(SX127X_TAG, "sx127x_write_fifo(%.*s)", data_len, data);
+  return ESP_OK;
+}

components/sx127x_driver/sx127x_registers.h

@@ -4,8 +4,9 @@ esp_err_t sx127x_read_register(sx127x_t *handle, uint8_t reg, uint8_t *value);
 esp_err_t sx127x_write_register(sx127x_t *handle, uint8_t reg, uint8_t value);
 esp_err_t sx127x_single_transfer(sx127x_t *handle, uint8_t addr, uint8_t to_slave, uint8_t *from_slave);
 
-uint8_t  sx127x_bw_to_reg(uint64_t bandwidth);
-uint64_t sx127x_reg_to_bw(uint8_t bandwidth_reg);
+esp_err_t sx127x_sleep(sx127x_t *handle);
+
+esp_err_t sx127x_standby(sx127x_t *handle);
 
 esp_err_t sx127x_set_frequency(sx127x_t *handle, uint64_t frequency);
 
@@ -14,7 +15,12 @@ esp_err_t sx127x_set_tx_power(sx127x_t *handle, uint8_t tx_power, sx127x_pa_boos
 esp_err_t sx127x_set_spreading_factor(sx127x_t *handle, uint8_t spreading_factor);
 
 esp_err_t sx127x_set_signal_bandwidth(sx127x_t *handle, uint64_t signal_bandwidth);
+uint8_t   sx127x_bw_to_reg(uint64_t bandwidth);
+uint64_t  sx127x_reg_to_bw(uint8_t bandwidth_reg);
 
 esp_err_t sx127x_set_sync_word(sx127x_t *handle, uint8_t sync_word);
 
 esp_err_t sx127x_set_crc(sx127x_t *handle, sx127x_crc_t crc);
+
+esp_err_t sx127x_write_fifo(sx127x_t *handle, char *data, size_t data_len);
+esp_err_t sx127x_read_fifo(sx127x_t *handle, char *data_out, size_t *data_len_out);

main/ugv_main.c

@@ -38,8 +38,10 @@ struct Packet {
 
 uint16_t packet_num;
 
-void loraTask(void *params);
+sx127x_t *lora;
+
 void loraOnReceive(int packetSize);
+void loraTask(void *params);
 
 TaskHandle_t lora_task_hndl;
 // packets recieved (type Packet)
@@ -96,7 +98,6 @@ void setup(void) {
   lora_config.sync_word        = 0x34;
   lora_config.crc              = SX127X_CRC_ENABLED;
 
-  sx127x_t *lora;
   esp_err_t ret = sx127x_init(&lora_config, &lora);
   if (ret != ESP_OK) {
     const char *err_name = esp_err_to_name(ret);
@@ -149,13 +150,18 @@ void loraTask(void *params) {
     }
     current_time = xTaskGetTickCount();
     if (current_time >= next_send) {
-      sprintf(outBuf, "hello world %d", packet_num);
+      int len = sprintf(outBuf, "hello world %d", packet_num);
+      if (len < 0) {
+        ESP_LOGE(TAG, "sprintf error: %d", len);
+        continue;
+      }
       packet_num++;
-      // LoRa.beginPacket();
-      // size_t written = LoRa.write((uint8_t *)outBuf, outBufLen - 1);
-      // LoRa.endPacket();
-      // ESP_LOGI(TAG, "lora wrote %d bytes\n", written);
-      // LoRa.receive(0); // go back to receive mode
+      esp_err_t ret = sx127x_send_packet(lora, outBuf, len);
+      if (ret != ESP_OK) {
+        ESP_LOGE(TAG, "error sending packet: %d", ret);
+      } else {
+        ESP_LOGI(TAG, "lora wrote %d bytes\n", len);
+      }
 
       current_time = xTaskGetTickCount();
       next_send    = current_time + send_period;