get mostly one directional comms working
This commit is contained in:
@@ -5,104 +5,330 @@
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#include "esp_log.h"
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#include "string.h"
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#include "esp_timer.h"
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const char *msg = "Testing 123 test why is this not on air";
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#include "esp_rom_crc.h"
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#define TAG "LoRa"
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uint32_t packetIndex = 0;
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#define ACK_TIMEOUT_MS 500 // Wait 300ms for ACK
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#define MAX_RETRIES 3
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uint32_t packetIndexTX = 0;
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uint32_t packetIndexRX = 0;
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TelemetryPacket telemetryPacket;
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uint8_t packetReadiness = 0;
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void lora_comms_task(void *pvParameters)
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volatile bool ackReceived = false;
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uint32_t lastAckIndex = 0;
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SemaphoreHandle_t loraRadioMutex;
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void setup_lora(void)
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{
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const int64_t interval_us = 100000; // 100 ms
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int64_t start_time, end_time, elapsed;
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LoRaInit();
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int8_t txPowerInDbm = 20;
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uint32_t frequencyInHz = 869525000;
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float tcxoVoltage = 2.2;
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bool useRegulatorLDO = true;
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uint32_t frequencyInHz = 0;
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frequencyInHz = 869525000;
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ESP_LOGW(TAG, "Enable TCXO");
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float tcxoVoltage = 2.2; // use TCXO
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bool useRegulatorLDO = true; // use DCDC + LDO
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LoRaDebugPrint(false);
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// LoRaDebugPrint(true);
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if (LoRaBegin(frequencyInHz, txPowerInDbm, tcxoVoltage, useRegulatorLDO) != 0)
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{
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ESP_LOGE(TAG, "Does not recognize the module");
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ESP_LOGE(TAG, "LoRa module not recognized. Halting.");
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while (1)
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{
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vTaskDelay(1);
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}
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}
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uint8_t spreadingFactor = 7;
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uint8_t spreadingFactor = 6;
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uint8_t bandwidth = SX126X_LORA_BW_250_0;
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uint8_t codingRate = SX126X_LORA_CR_4_8;
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uint16_t preambleLength = 8;
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uint8_t payloadLen = 0;
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bool crcOn = true;
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bool invertIrq = false;
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LoRaConfig(spreadingFactor, bandwidth, codingRate, preambleLength, payloadLen, crcOn, invertIrq);
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uint8_t bufIn[256]; // Maximum Payload size of SX1261/62/68 is 255
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uint8_t bufOut[256]; // Maximum Payload size of SX1261/62/68 is 255
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DownBoundPacket downboundPacket;
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UplinkPacket uplinkPacket;
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SystemControlPacket systemControlPacket;
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LoRaConfig(spreadingFactor, bandwidth, codingRate, preambleLength, 0, crcOn, invertIrq);
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}
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while (1)
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static void prepare_downbound_packet(DownBoundPacket *packet, uint8_t type, uint64_t missionTimer)
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{
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memset(packet, 0, sizeof(DownBoundPacket));
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packet->missionTimer = missionTimer;
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packet->packetIndex = packetIndexTX++;
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ESP_LOGI(TAG_RADIO, "Sending downbound packet with index %ld", packetIndexTX - 1);
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packet->packetType = type;
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strcpy(packet->syncPhrase, "PlechDole");
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}
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static void send_packet_with_retries(uint8_t *data, uint16_t size)
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{
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for (int retry = 0; retry <= MAX_RETRIES; retry++)
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{
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start_time = esp_timer_get_time(); // µs since boot
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if (packetReadiness == 1)
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if (xSemaphoreTake(loraRadioMutex, portMAX_DELAY) == pdTRUE)
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{
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uint8_t downPacketSize = 0;
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memset(bufOut, 0, sizeof(bufOut));
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downboundPacket.missionTimer = start_time;
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downboundPacket.packetIndex = packetIndex++;
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downboundPacket.packetType = 1;
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memcpy(bufOut, &downboundPacket, sizeof(downboundPacket));
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downPacketSize += sizeof(downboundPacket);
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memcpy(((uint8_t *)bufOut) + downPacketSize, &telemetryPacket, sizeof(telemetryPacket));
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downPacketSize += sizeof(telemetryPacket);
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ESP_LOGI(pcTaskGetName(NULL), "%d byte packet sent...", downPacketSize);
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// Wait for transmission to complete
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if (LoRaSend(bufOut, downPacketSize, SX126x_TXMODE_SYNC) == false)
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if (!LoRaSend(data, size, SX126x_TXMODE_SYNC))
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{
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ESP_LOGE(pcTaskGetName(NULL), "LoRaSend fail");
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} else {
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packetReadiness = 0;
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ESP_LOGW(TAG, "LoRaSend failed, retry %d", retry);
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xSemaphoreGive(loraRadioMutex);
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}
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else
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{
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ESP_LOGI(TAG, "%d byte packet sent (attempt %d)", size, retry + 1);
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xSemaphoreGive(loraRadioMutex);
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// Wait for ACK
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ackReceived = false;
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uint64_t start_wait = esp_timer_get_time();
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while ((esp_timer_get_time() - start_wait) < (ACK_TIMEOUT_MS * 1000))
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{
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if (ackReceived)
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{
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ESP_LOGI(TAG, "ACK received for packet.");
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return;
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}
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vTaskDelay(pdMS_TO_TICKS(10));
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}
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ESP_LOGW(TAG, "ACK timeout, retrying...");
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}
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}
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}
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uint8_t rxLen = LoRaReceive(bufIn, sizeof(bufIn));
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if (rxLen > 0)
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ESP_LOGE(TAG, "Failed to send packet after %d retries", MAX_RETRIES);
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}
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void prepare_and_send_telemetry(uint64_t missionTimer)
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{
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uint8_t bufOut[256] = {0};
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DownBoundPacket downboundPacket;
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prepare_downbound_packet(&downboundPacket, DownlinkPacketType_Telemetry, missionTimer);
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uint16_t offset = 0;
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memcpy(bufOut + offset, &downboundPacket, sizeof(downboundPacket));
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offset += sizeof(downboundPacket);
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memcpy(bufOut + offset, &telemetryPacket, sizeof(telemetryPacket));
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offset += sizeof(telemetryPacket);
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send_packet_with_retries(bufOut, offset);
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packetReadiness = 0;
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}
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static void build_and_send_ack(uint32_t ackIndex, uint32_t crc32Checksum, uint64_t missionTimer)
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{
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uint8_t bufOut[256] = {0};
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DownBoundPacket downboundPacket;
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prepare_downbound_packet(&downboundPacket, DownlinkPacketType_ACK, missionTimer);
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ACKPacket ackPacket = {
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.packetIndex = ackIndex,
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.crc32Checksum = crc32Checksum,
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};
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uint16_t offset = 0;
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memcpy(bufOut + offset, &downboundPacket, sizeof(downboundPacket));
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offset += sizeof(downboundPacket);
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memcpy(bufOut + offset, &ackPacket, sizeof(ackPacket));
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offset += sizeof(ackPacket);
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if (xSemaphoreTake(loraRadioMutex, portMAX_DELAY) == pdTRUE)
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{
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if (!LoRaSend(bufOut, offset, SX126x_TXMODE_SYNC))
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{
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ESP_LOGI(pcTaskGetName(NULL), "%d byte packet received:[%.*s]", rxLen, rxLen, bufIn);
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ESP_LOGE(TAG, "Failed to send ACK");
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}
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else
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{
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ESP_LOGI(TAG, "%d byte ACK sent", offset);
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}
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xSemaphoreGive(loraRadioMutex);
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}
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}
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int8_t rssi, snr;
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GetPacketStatus(&rssi, &snr);
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ESP_LOGI(pcTaskGetName(NULL), "rssi=%d[dBm] snr=%d[dB]", rssi, snr);
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void process_uplink_packet(uint8_t *data, uint8_t len, uint64_t missionTimer)
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{
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if (len < sizeof(UplinkPacket))
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{
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ESP_LOGW(TAG, "Uplink packet too small: %d bytes", len);
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return;
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}
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UplinkPacket uplinkPacket;
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memcpy(&uplinkPacket, data, sizeof(UplinkPacket));
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if (strcmp(UplinkSync, uplinkPacket.syncPhrase) != 0)
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{
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ESP_LOGW(TAG, "Invalid sync phrase");
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return;
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}
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ESP_LOGI(TAG, "Got uplink packet of type %d, index %d", uplinkPacket.packetType, uplinkPacket.packetIndex);
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uint8_t payloadRXLen = len - sizeof(UplinkPacket);
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if (uplinkPacket.packetType == UplinkPacketType_ACK)
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{
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ESP_LOGI(TAG, "Received ACK for packet %d", uplinkPacket.packetIndex);
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ackReceived = true;
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lastAckIndex = uplinkPacket.packetIndex;
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return;
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}
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if (uplinkPacket.packetIndex == packetIndexRX + 1)
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{
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ESP_LOGI(TAG, "Packet arrived in correct order");
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packetIndexRX = uplinkPacket.packetIndex;
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uint32_t crc = esp_rom_crc32_le(0, data + sizeof(UplinkPacket), payloadRXLen);
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build_and_send_ack(packetIndexRX, crc, missionTimer);
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switch (uplinkPacket.packetType)
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{
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case UplinkPacketType_SystemControl:
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if (payloadRXLen == sizeof(SystemControlPacket))
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{
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SystemControlPacket sysCtrl;
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memcpy(&sysCtrl, data + sizeof(UplinkPacket), sizeof(SystemControlPacket));
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// TODO: Process sysCtrl
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}
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else
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{
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ESP_LOGW(TAG, "SystemControlPacket size mismatch");
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}
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break;
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case UplinkPacketType_Ping:
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// TODO: handle Ping
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break;
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default:
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ESP_LOGW(TAG, "Unknown uplink packet type %d", uplinkPacket.packetType);
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break;
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}
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}
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else if (uplinkPacket.packetIndex > packetIndexRX + 1)
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{
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ESP_LOGW(TAG, "Skipped %d packets", uplinkPacket.packetIndex - (packetIndexRX + 1));
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packetIndexRX = uplinkPacket.packetIndex;
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}
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else
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{
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ESP_LOGW(TAG, "Duplicate packet: %d", (packetIndexRX + 1) - uplinkPacket.packetIndex);
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}
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}
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void lora_receive_task(void *pvParameters)
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{
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ESP_LOGI(TAG, "lora_receive_task started");
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uint8_t bufIn[256];
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while (1)
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{
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// Wait to take the semaphore before accessing LoRa
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if (xSemaphoreTake(loraRadioMutex, 0) == pdTRUE)
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{
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uint8_t rxLen = LoRaReceive(bufIn, sizeof(bufIn));
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if (rxLen > 0)
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{
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ESP_LOGI(TAG, "%d byte packet received", rxLen);
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process_uplink_packet(bufIn, rxLen, esp_timer_get_time());
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int8_t rssi, snr;
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GetPacketStatus(&rssi, &snr);
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ESP_LOGI(TAG, "rssi=%d[dBm], snr=%d[dB]", rssi, snr);
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}
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// Release the semaphore when done with LoRa RX
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xSemaphoreGive(loraRadioMutex);
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}
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vTaskDelay(pdMS_TO_TICKS(10)); // Delay to prevent busy-waiting
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}
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}
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void lora_comms_task(void *pvParameters)
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{
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ESP_LOGI(TAG, "lora_comms_task started");
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// Initialize the semaphore for radio access (binary semaphore, 1 = available)
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loraRadioMutex = xSemaphoreCreateMutex();
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xSemaphoreGive(loraRadioMutex); // Set semaphore as available
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const int64_t interval_us = 400000; // 400 ms
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setup_lora();
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xTaskCreate(
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lora_receive_task,
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"LoraReceiveTask",
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8192,
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NULL,
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(tskIDLE_PRIORITY + 2),
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NULL);
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while (1)
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{
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int64_t start_time = esp_timer_get_time();
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if (packetReadiness)
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{
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ESP_LOGI(TAG, "Preparing telemetry");
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prepare_and_send_telemetry(start_time);
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}
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int lost = GetPacketLost();
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if (lost != 0)
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{
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ESP_LOGW(pcTaskGetName(NULL), "%d packets lost", lost);
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}
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end_time = esp_timer_get_time();
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elapsed = end_time - start_time;
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int64_t end_time = esp_timer_get_time();
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int64_t elapsed = end_time - start_time;
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if (elapsed < interval_us)
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{
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vTaskDelay(pdMS_TO_TICKS((interval_us - elapsed) / 1000));
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}
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}
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}
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}
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// void lora_comms_task(void *pvParameters)
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// {
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// const int64_t interval_us = 400000; // 100 ms
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// int64_t start_time, end_time, elapsed;
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// setup_lora();
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// uint8_t bufIn[256];
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// while (1)
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// {
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// start_time = esp_timer_get_time();
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// if (packetReadiness)
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// {
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// ESP_LOGI(TAG, "Preparing telemetry");
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// prepare_and_send_telemetry(start_time);
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// }
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// uint8_t rxLen = LoRaReceive(bufIn, sizeof(bufIn));
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// if (rxLen > 0)
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// {
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// ESP_LOGI(TAG, "%d byte packet received", rxLen);
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// process_uplink_packet(bufIn, rxLen, start_time);
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// int8_t rssi, snr;
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// GetPacketStatus(&rssi, &snr);
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// ESP_LOGI(TAG, "rssi=%d[dBm], snr=%d[dB]", rssi, snr);
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// }
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// int lost = GetPacketLost();
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// if (lost != 0)
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// {
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// ESP_LOGW(TAG, "%d packets lost", lost);
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// }
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// end_time = esp_timer_get_time();
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// elapsed = end_time - start_time;
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// if (elapsed < interval_us)
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// {
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// vTaskDelay(pdMS_TO_TICKS((interval_us - elapsed) / 1000));
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// }
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// }
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// }
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Block a user