amikhalev/uas-ugv
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add ticks_to_wait parameter for send_packet

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This commit is contained in:
Alex Mikhalev 2018-12-30 19:27:58 -07:00
parent 6f15b96a79
commit 62e4b286db
3 changed files with 11 additions and 11 deletions
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4
components/sx127x_driver/sx127x_driver.c
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@ -280,14 +280,14 @@ esp_err_t sx127x_stop(sx127x_t *handle) {
return ESP_OK; return ESP_OK;
} }
esp_err_t sx127x_send_packet(sx127x_t *handle, char *data, size_t data_len) { esp_err_t sx127x_send_packet(sx127x_t *handle, char *data, size_t data_len, TickType_t ticks_to_wait) {
SX127X_CHECK(data_len < SX127_MAX_PACKET_LEN, "packet len too long: %d", ESP_FAIL, data_len); SX127X_CHECK(data_len < SX127_MAX_PACKET_LEN, "packet len too long: %d", ESP_FAIL, data_len);
sx127x_packet_t packet; sx127x_packet_t packet;
packet.data_len = data_len; packet.data_len = data_len;
packet.data = heap_caps_malloc(data_len, MALLOC_CAP_DMA); packet.data = heap_caps_malloc(data_len, MALLOC_CAP_DMA);
SX127X_CHECK(packet.data != NULL, "malloc error", ESP_ERR_NO_MEM); SX127X_CHECK(packet.data != NULL, "malloc error", ESP_ERR_NO_MEM);
memcpy(packet.data, data, data_len); memcpy(packet.data, data, data_len);
BaseType_t pdRet = xQueueSend(handle->tx_packet_queue, &packet, 0); BaseType_t pdRet = xQueueSend(handle->tx_packet_queue, &packet, ticks_to_wait);
SX127X_CHECK(pdRet == pdTRUE, "tx queue full", ESP_FAIL); SX127X_CHECK(pdRet == pdTRUE, "tx queue full", ESP_FAIL);
return ESP_OK; return ESP_OK;
} }

2
components/sx127x_driver/sx127x_driver.h
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@ -80,4 +80,4 @@ esp_err_t sx127x_start(sx127x_t *handle);
esp_err_t sx127x_stop(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); esp_err_t sx127x_send_packet(sx127x_t *handle, char *data, size_t data_len, TickType_t ticks_to_wait);

16
main/ugv_main.c
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@ -111,8 +111,8 @@ void loraOnReceive(int packetSize) {
} }
void loraTask(void *params) { void loraTask(void *params) {
char outBuf[20]; char tx_buf[20];
const size_t outBufLen = (sizeof(outBuf) / sizeof(uint8_t)); const size_t tx_buf_len = (sizeof(tx_buf) / sizeof(tx_buf[0]));
int packet_len; int packet_len;
TickType_t send_period = pdMS_TO_TICKS(2000); TickType_t send_period = pdMS_TO_TICKS(2000);
TickType_t current_time = xTaskGetTickCount(); TickType_t current_time = xTaskGetTickCount();
@ -134,17 +134,17 @@ void loraTask(void *params) {
} }
current_time = xTaskGetTickCount(); current_time = xTaskGetTickCount();
if (current_time >= next_send) { if (current_time >= next_send) {
int len = sprintf(outBuf, "hello world %d", packet_num); int written_bytes = snprintf(tx_buf, tx_buf_len, "hello world %d", packet_num);
if (len < 0) { if (written_bytes < 0) {
ESP_LOGE(TAG, "sprintf error: %d", len); ESP_LOGE(TAG, "snprintf error: %d", written_bytes);
continue; continue;
} }
packet_num++; packet_num++;
esp_err_t ret = sx127x_send_packet(lora, outBuf, len); esp_err_t ret = sx127x_send_packet(lora, tx_buf, written_bytes, 0); // 0 means error if queue full
if (ret != ESP_OK) { if (ret != ESP_OK) {
ESP_LOGE(TAG, "error sending packet: %d", ret); ESP_LOGE(TAG, "error sending packet: %d", ret);
} else { } else {
ESP_LOGI(TAG, "lora wrote %d bytes\n", len); ESP_LOGI(TAG, "lora wrote %d bytes\n", written_bytes);
} }
current_time = xTaskGetTickCount(); current_time = xTaskGetTickCount();
@ -156,7 +156,7 @@ void loraTask(void *params) {
void loop(void) { void loop(void) {
ESP_LOGI(TAG, "loop"); ESP_LOGI(TAG, "loop");
u8g2_FirstPage(&u8g2); u8g2_FirstPage(&u8g2);
bool recieved_packet = xQueueReceive(lora_packet_recv_queue, &packet, 10); xQueueReceive(lora_packet_recv_queue, &packet, 10);
do { do {
u8g2_DrawRFrame(&u8g2, 0, 0, OLED_W, OLED_H, 4); u8g2_DrawRFrame(&u8g2, 0, 0, OLED_W, OLED_H, 4);