CanSat/EmbeddedESP
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add another crc to make sure we don't get corrupt data

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This commit is contained in:
Bruno Rybársky
2025-04-27 02:23:21 +02:00
parent 3457b76938
commit 0c71409c30
3 changed files with 84 additions and 62 deletions
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116
main/components/packets.h
View File

@@ -15,80 +15,83 @@
typedef struct __attribute__((packed))
{
char syncPhrase[10];
uint32_t packetIndex;
uint8_t packetType;
uint32_t missionTimer;
char syncPhrase[10]; //10
uint32_t packetIndex; //14
uint8_t packetType; //15
uint32_t missionTimer; //19
uint32_t CRCCheck;
} DownBoundPacket;
typedef struct __attribute__((packed))
{
// MPU data
int16_t accelerationX;
int16_t accelerationY;
int16_t accelerationZ;
int16_t gyroX;
int16_t gyroY;
int16_t gyroZ;
int16_t magnetX;
int16_t magnetY;
int16_t magnetZ;
int16_t accelerometer_temperature;
int16_t accelerationX;//21
int16_t accelerationY; //23
int16_t accelerationZ;//25
int16_t gyroX;//27
int16_t gyroY;//29
int16_t gyroZ;//31
int16_t magnetX;//33
int16_t magnetY;//35
int16_t magnetZ;//37
int16_t accelerometer_temperature;//39
// CCS data
uint16_t eCO2;
uint16_t tvoc;
uint8_t currentCCS;
uint16_t rawCCSData;
uint16_t eCO2;//41
uint16_t tvoc;//43
uint8_t currentCCS;//44
uint16_t rawCCSData;//46
// INA data
uint16_t volts;
uint16_t current;
uint16_t power;
uint16_t volts;//48
uint16_t current;//50
uint16_t power;//52
// BME DATA
uint32_t temperature;
uint16_t humidity;
uint32_t pressure;
uint16_t gas;
bool gas_valid;
bool heater_stable;
uint8_t gas_range;
uint8_t gas_index;
uint32_t temperature;//56
uint16_t humidity;//58
uint32_t pressure;//62
uint16_t gas;//64
bool gas_valid;//later
bool heater_stable;//later
uint8_t gas_range;//65
uint8_t gas_index;//66
float air_temperature; /*!< air temperature in degrees celsius */
float relative_humidity; /*!< relative humidity in percent */
float barometric_pressure; /*!< barometric pressure in hecto-pascal */
float gas_resistance; /*!< gas resistance in ohms */
uint16_t iaq_score; /*!< air quality index (0..500) */
float temperature_score;
float humidity_score;
float gas_score;
float air_temperature; /*!< air temperature in degrees celsius */ //70
float relative_humidity; /*!< relative humidity in percent */ //74
float barometric_pressure; /*!< barometric pressure in hecto-pascal */ //78
float gas_resistance; /*!< gas resistance in ohms */ //82
uint16_t iaq_score; /*!< air quality index (0..500) */ //84
float temperature_score; //88
float humidity_score; //92
float gas_score; //96
// GPS DATA
uint32_t time_seconds; // Seconds since start of day
int32_t latitude_centi_degrees; // Latitude * 10,000
int32_t longitude_centi_degrees; // Longitude * 10,000
int16_t altitude_centi_meters; // Altitude * 100
uint8_t fix_quality;
uint8_t num_satellites;
uint16_t date_yyddmm; // YYDDMM (from GPRMC)
uint16_t speed_centi_knots; // Speed * 100 (from GPRMC)
uint32_t time_seconds; // Seconds since start of day //100
int32_t latitude_centi_degrees; // Latitude * 10,000 //104
int32_t longitude_centi_degrees; // Longitude * 10,000 //108
int16_t altitude_centi_meters; // Altitude * 100 //110
uint8_t fix_quality; //111
uint8_t num_satellites; //112
uint16_t date_yyddmm; // YYDDMM (from GPRMC) //114
uint16_t speed_centi_knots; // Speed * 100 (from GPRMC) //116
int32_t predicted_latitude_centi_degrees; // Latitude * 10,000
int32_t predicted_longitude_centi_degrees; // Longitude * 10,000
int16_t predicted_altitude_centi_meters; // Altitude * 100
int32_t predicted_latitude_centi_degrees; // Latitude * 10,000 //120
int32_t predicted_longitude_centi_degrees; // Longitude * 10,000 //124
int16_t predicted_altitude_centi_meters; // Altitude * 100 //126
// ADC DATA
int32_t NH3;
int32_t CO;
int32_t NO2;
int32_t UVC;
int32_t NH3; //130
int32_t CO; //134
int32_t NO2; //138
int32_t UVC; //142
int16_t currentServoA;
int16_t targetServoA;
int16_t currentServoB;
int16_t targetServoB;
int16_t currentServoA; //144
int16_t targetServoA; //146
int16_t currentServoB; //148
int16_t targetServoB; //150
uint8_t telemetryIndex; //151
} TelemetryPacket;
@@ -97,6 +100,7 @@ typedef struct __attribute__((packed))
char syncPhrase[10];
uint32_t packetIndex;
uint8_t packetType;
uint32_t CRCCheck;
} UplinkPacket;
typedef struct __attribute__((packed))

24
main/components/radio.c
View File

@@ -44,7 +44,7 @@ void setup_lora(void)
}
}
uint8_t spreadingFactor = 6;
uint8_t spreadingFactor = 7;
uint8_t bandwidth = SX126X_LORA_BW_250_0;
uint8_t codingRate = SX126X_LORA_CR_4_8;
uint16_t preambleLength = 8;
@@ -54,13 +54,14 @@ void setup_lora(void)
LoRaConfig(spreadingFactor, bandwidth, codingRate, preambleLength, 0, crcOn, invertIrq);
}
static void prepare_downbound_packet(DownBoundPacket *packet, uint8_t type, uint64_t missionTimer)
static void prepare_downbound_packet(DownBoundPacket *packet, uint8_t type, uint64_t missionTimer, uint32_t crc)
{
memset(packet, 0, sizeof(DownBoundPacket));
packet->missionTimer = missionTimer;
packet->packetIndex = packetIndexTX++;
ESP_LOGI(TAG_RADIO, "Sending downbound packet with index %ld", packetIndexTX - 1);
packet->packetType = type;
packet->CRCCheck = crc;
strcpy(packet->syncPhrase, "PlechDole");
}
@@ -106,7 +107,8 @@ void prepare_and_send_telemetry(uint64_t missionTimer)
uint8_t bufOut[256] = {0};
DownBoundPacket downboundPacket;
prepare_downbound_packet(&downboundPacket, DownlinkPacketType_Telemetry, missionTimer);
uint32_t crc = esp_rom_crc32_le(0,(uint8_t *) &telemetryPacket, sizeof(telemetryPacket));
prepare_downbound_packet(&downboundPacket, DownlinkPacketType_Telemetry, missionTimer, crc);
uint16_t offset = 0;
memcpy(bufOut + offset, &downboundPacket, sizeof(downboundPacket));
@@ -122,14 +124,17 @@ static void build_and_send_ack(uint32_t ackIndex, uint32_t crc32Checksum, uint64
{
uint8_t bufOut[256] = {0};
DownBoundPacket downboundPacket;
prepare_downbound_packet(&downboundPacket, DownlinkPacketType_ACK, missionTimer);
ACKPacket ackPacket = {
.packetIndex = ackIndex,
.crc32Checksum = crc32Checksum,
};
uint32_t crc = esp_rom_crc32_le(0, (uint8_t *) &ackPacket, sizeof(ackPacket));
DownBoundPacket downboundPacket;
prepare_downbound_packet(&downboundPacket, DownlinkPacketType_ACK, missionTimer, crc);
uint16_t offset = 0;
memcpy(bufOut + offset, &downboundPacket, sizeof(downboundPacket));
offset += sizeof(downboundPacket);
@@ -169,8 +174,17 @@ void process_uplink_packet(uint8_t *data, uint8_t len, uint64_t missionTimer)
ESP_LOGI(TAG, "Got uplink packet of type %d, index %d", uplinkPacket.packetType, uplinkPacket.packetIndex);
uint8_t *payload = data + sizeof(UplinkPacket);
uint8_t payloadRXLen = len - sizeof(UplinkPacket);
uint32_t crc = esp_rom_crc32_le(0, payload, payloadRXLen);
if (crc != uplinkPacket.CRCCheck) {
ESP_LOGE(TAG, "Received BAD CRC for packet %d, crc is %ld, should be %ld", uplinkPacket.packetIndex, crc, uplinkPacket.CRCCheck);
return;
}
if (uplinkPacket.packetType == UplinkPacketType_ACK)
{
ESP_LOGI(TAG, "Received ACK for packet %d", uplinkPacket.packetIndex);

4
main/components/sensors.c
View File

@@ -8,6 +8,8 @@
static uint8_t s_led_state = 0;
uint8_t telemetryIndex = 1;
uint8_t foundDevices[128];
uint8_t prevDevices[128];
@@ -261,6 +263,8 @@ void i2c_sensors_task(void *pvParameters)
telemetryPacket.currentServoA = servoState.currentServoA;
telemetryPacket.currentServoB = servoState.currentServoB;
telemetryPacket.telemetryIndex = telemetryIndex++;
}
packetReadiness = 1;