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radio tx

This commit is contained in:
franchioping 2026-03-31 17:39:22 +01:00
parent 5be19b3f11
commit 9184b142f2
2 changed files with 19 additions and 16 deletions
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28
main/radio.cpp
View File

@ -1,4 +1,5 @@
#include "radio.h" #include "radio.h"
#include "Esp.h"
#include "esp32-hal-gpio.h" #include "esp32-hal-gpio.h"
#include "esp_log.h" #include "esp_log.h"
#include "freertos/idf_additions.h" #include "freertos/idf_additions.h"
@ -19,25 +20,25 @@
#define FREQUENCY RF69_433MHZ #define FREQUENCY RF69_433MHZ
#define NODEID 1 #define NODEID 1
#define GROUNDID 99
#define NETWORKID 100 #define NETWORKID 100
static const char *TAG = "RADIO_TASK"; static const char *TAG = "RADIO_TASK";
#define PACKET_QUEUE_CAP 10 #define PACKET_QUEUE_CAP 10
void radio_rx_task(void *pvParameters) { void radio_task(void *pvParameters) {
ESP_LOGI(TAG, "Radio Task Started on Core %d", xPortGetCoreID()); ESP_LOGI(TAG, "Radio Task Started on Core %d", xPortGetCoreID());
packet_queue = xQueueCreate(PACKET_QUEUE_CAP, MAX_PACKET_SIZE); packet_rx_queue = xQueueCreate(PACKET_QUEUE_CAP, MAX_PACKET_SIZE);
packet_tx_queue = xQueueCreate(PACKET_QUEUE_CAP, MAX_PACKET_SIZE);
controller_input_semaphore = xSemaphoreCreateMutex(); controller_input_semaphore = xSemaphoreCreateMutex();
pinMode(RFM69_CS, OUTPUT); pinMode(RFM69_CS, OUTPUT);
pinMode(RFM69_INT, INPUT); pinMode(RFM69_INT, INPUT);
// 1. Setup SPI for this task
SPIClass vspi(VSPI); SPIClass vspi(VSPI);
vspi.begin(SPI_SCLK, SPI_MISO, SPI_MOSI, 34); vspi.begin(SPI_SCLK, SPI_MISO, SPI_MOSI, 34);
// 3. Hardware Reset
pinMode(RFM69_RST, OUTPUT); pinMode(RFM69_RST, OUTPUT);
digitalWrite(RFM69_RST, HIGH); digitalWrite(RFM69_RST, HIGH);
vTaskDelay(pdMS_TO_TICKS(10)); vTaskDelay(pdMS_TO_TICKS(10));
@ -50,11 +51,10 @@ void radio_rx_task(void *pvParameters) {
radio.setHighPower(true); radio.setHighPower(true);
ESP_LOGI(TAG, "Radio Initialized. Version: 0x%02X", radio.readReg(0x10)); ESP_LOGI(TAG, "Radio Initialized. Version: 0x%02X", radio.readReg(0x10));
} else { } else {
ESP_LOGE(TAG, "Radio Init FAILED! Deleting Task."); ESP_LOGE(TAG, "Radio Init FAILED! Restarting.");
vTaskDelete(NULL); ESP.restart();
} }
// 4. Polling Loop
while (1) { while (1) {
if (radio.receiveDone()) { if (radio.receiveDone()) {
// ESP_LOGD(TAG, "Packet [ID:%d] RSSI:%d LEN:%d", radio.SENDERID, // ESP_LOGD(TAG, "Packet [ID:%d] RSSI:%d LEN:%d", radio.SENDERID,
@ -67,8 +67,8 @@ void radio_rx_task(void *pvParameters) {
PACKET_TYPE packet_type = *((PACKET_TYPE *)&packet_data[0]); PACKET_TYPE packet_type = *((PACKET_TYPE *)&packet_data[0]);
if (packet_type == CONTROLLER_INPUT) { if (packet_type == CONTROLLER_INPUT) {
controller_input *inp = packet_controller_input *inp =
(controller_input *)(&packet_data[0] + sizeof(PACKET_TYPE)); (packet_controller_input *)(&packet_data[0] + sizeof(PACKET_TYPE));
if (xSemaphoreTake(controller_input_semaphore, (TickType_t)50) == if (xSemaphoreTake(controller_input_semaphore, (TickType_t)50) ==
pdTRUE) { pdTRUE) {
@ -77,16 +77,18 @@ void radio_rx_task(void *pvParameters) {
} }
} else { } else {
xQueueSend(packet_queue, &packet_data, portMAX_DELAY); xQueueSend(packet_rx_queue, &packet_data[0], portMAX_DELAY);
} }
if (radio.ACKRequested()) { if (radio.ACKRequested()) {
radio.sendACK(); radio.sendACK();
} }
} }
if (xQueueReceive(packet_tx_queue, &packet_data[0], 1)) {
PACKET_TYPE packet_type = *((PACKET_TYPE *)&packet_data[0]);
radio.send(GROUNDID, &packet_data[0], get_packet_size(packet_type));
}
// Small delay to prevent Watchdog trigger and allow other tasks to run vTaskDelay(pdMS_TO_TICKS(10));
// 1ms is usually enough for high-speed polling
vTaskDelay(pdMS_TO_TICKS(1));
} }
} }

7
main/radio.h
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@ -3,8 +3,9 @@
#include "drone_comms.h" #include "drone_comms.h"
#include "freertos/idf_additions.h" #include "freertos/idf_additions.h"
inline QueueHandle_t packet_queue = NULL; inline QueueHandle_t packet_rx_queue = NULL;
inline QueueHandle_t packet_tx_queue = NULL;
inline SemaphoreHandle_t controller_input_semaphore = NULL; inline SemaphoreHandle_t controller_input_semaphore = NULL;
inline controller_input current_controller_input; inline packet_controller_input current_controller_input;
void radio_rx_task(void *pvParameters); void radio_task(void *pvParameters);