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77 lines
2.3 KiB
77 lines
2.3 KiB
#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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