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This commit is contained in:
Bruno Rybársky
2025-04-22 20:35:29 +02:00
parent 9104869ecf
commit 5853bf849f
17 changed files with 1704 additions and 941 deletions
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2
main/CMakeLists.txt
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@@ -21,6 +21,8 @@ idf_component_register(SRCS
"hw/sx1262.h"
"components/sensors.c"
"components/sensors.h"
"components/servocontroller.c"
"components/servocontroller.h"
"components/radio.c"
"components/radio.h"
"main.c"

88
main/components/packets.h
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@@ -0,0 +1,88 @@
#ifndef PACKETS_STRUCTS
#define PACKETS_STRUCTS
#include "stdint.h"
typedef struct __attribute__((packed))
{
uint32_t packetIndex;
uint8_t packetType;
uint32_t missionTimer;
} 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;
// CCS data
uint16_t eCO2;
uint16_t tvoc;
uint8_t currentCCS;
uint16_t rawCCSData;
// INA data
uint16_t volts;
uint16_t current;
uint16_t power;
// 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;
// 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)
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
// ADC DATA
int32_t NH3;
int32_t CO;
int32_t NO2;
int32_t UVC;
int16_t currentServoA;
int16_t targetServoA;
int16_t currentServoB;
int16_t targetServoB;
} TelemetryPacket;
typedef struct __attribute__((packed))
{
uint32_t packetIndex;
uint8_t packetType;
} UplinkPacket;
typedef struct __attribute__((packed))
{
uint8_t powerMode;
uint8_t controlMode;
uint16_t servoA;
uint16_t servoB;
} SystemControlPacket;
#endif

269
main/components/radio.c
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@@ -2,206 +2,107 @@
#include "freertos/task.h"
#include "../hw/sx1262.h"
#include "radio.h"
#include "esp_log.h"
#include "string.h"
#include "esp_timer.h"
const char *msg = "Testing 123 test why is this not on air";
#define TAG "LoRa"
uint32_t packetIndex = 0;
TelemetryPacket telemetryPacket;
uint8_t packetReadiness = 0;
void lora_comms_task(void *pvParameters)
{
sx1262_init();
sx1262_resetStats();
ESP_LOGI(TAG_RADIO, "Setting standby RC");
sx1262_setStandby(SX1262_STANDBY_RC);
ESP_LOGI(TAG_RADIO, "Getting version");
unsigned char versDat[16];
sx1262_readRegister(0x0320, versDat, 16);
ESP_LOGI(TAG_RADIO, "Version: %s", versDat);
const int64_t interval_us = 100000; // 100 ms
int64_t start_time, end_time, elapsed;
LoRaInit();
int8_t txPowerInDbm = 20;
sx1262_get_status();
uint32_t frequencyInHz = 0;
frequencyInHz = 869525000;
ESP_LOGW(TAG, "Enable TCXO");
float tcxoVoltage = 2.2; // use TCXO
bool useRegulatorLDO = true; // use DCDC + LDO
// Read status
sx1262_get_status();
// LoRaDebugPrint(true);
if (LoRaBegin(frequencyInHz, txPowerInDbm, tcxoVoltage, useRegulatorLDO) != 0)
{
ESP_LOGE(TAG, "Does not recognize the module");
while (1)
{
vTaskDelay(1);
}
}
ESP_LOGI(TAG_RADIO, "Setting TCXO");
sx1262_setDIO3AsTCXOCtrl(SX1262_TCXO_VOLTAGE22dV, 320);
uint8_t spreadingFactor = 7;
uint8_t bandwidth = SX126X_LORA_BW_250_0;
uint8_t codingRate = SX126X_LORA_CR_4_8;
uint16_t preambleLength = 8;
uint8_t payloadLen = 0;
bool crcOn = true;
bool invertIrq = false;
LoRaConfig(spreadingFactor, bandwidth, codingRate, preambleLength, payloadLen, crcOn, invertIrq);
uint8_t bufIn[256]; // Maximum Payload size of SX1261/62/68 is 255
uint8_t bufOut[256]; // Maximum Payload size of SX1261/62/68 is 255
sx1262_get_status();
DownBoundPacket downboundPacket;
UplinkPacket uplinkPacket;
SystemControlPacket systemControlPacket;
ESP_LOGI(TAG_RADIO, "Setting Buffer base address");
sx1262_setBufferBaseAddress(0, 0);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Setting packet Type");
sx1262_setPacketType(SX1262_PACKET_TYPE_LORA);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Setting RXTX fallback mode");
sx1262_setRxTXFallbackMode(SX1262_FALLBACK_RC);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Setting CAD params");
sx1262_setCadParams(0x03, 0x16, 0x0A, 0, 0);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Clearing IRQ status");
sx1262_clearIrqStatus(0x43FF);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Setting Image rejection");
sx1262_calibrateImage(0xD7, 0xDB);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Calibrating Image rejection");
sx1262_calibrate(SX1262_CALIBRATION_ALL);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Setting regulator");
sx1262_setRegulatorMode(SX1262_REGULATOR_DC_DC_LDO);
sx1262_get_status();
uint8_t modType;
modType = sx1262_getPacketType();
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "ModType %d", modType);
sx1262_LoRaModulationParams_t loraModParams;
loraModParams.bandwidth = SX1262_LORA_BW_125;
loraModParams.codingRate = SX1262_LORA_CR_4_5;
loraModParams.lowDataRateOpt = 1;
loraModParams.spreadingFactor = SX1262_LORA_SF7;
ESP_LOGI(TAG_RADIO, "Setting modulation params");
sx1262_setLoRaModulationParams(&loraModParams);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Setting Sync word");
uint8_t syncWord[2] = {0x14, 0x24};
sx1262_writeRegister(SX1262_LORA_SYNC_WORD_MSB, syncWord, 2);
sx1262_get_status();
uint8_t ocpBuf[1] = {SX126X_OCP_LEVEL_SX1262};
ESP_LOGI(TAG_RADIO, "Setting overcurrent protection");
sx1262_writeRegister(SX126X_OCP_CONFIGURATION, ocpBuf, 1);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Setting RF Switch out");
sx1262_setDIO2AsRfSwitchCtrl(1);
sx1262_get_status();
sx1262_LoRaPacketParams_t loraPacketParams;
loraPacketParams.preambleLength = 10;
loraPacketParams.crcType = SX1262_CRC_ON;
loraPacketParams.headerType = SX1262_HEADER_TYPE_VARIABLE;
loraPacketParams.invertIQ = SX1262_STANDARD_IQ;
loraPacketParams.payloadLength = sizeof(msg);
ESP_LOGI(TAG_RADIO, "Setting packet params");
sx1262_setLoRaPacketParams(&loraPacketParams);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Setting frequency");
sx1262_setFrequency(869525000);
uint8_t clampConfig[1] = {0xDE};
ESP_LOGI(TAG_RADIO, "Setting TX clamp");
sx1262_writeRegister(SX126X_TX_CLAMP_CONFIG, clampConfig, 1);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Setting TX power");
sx1262_configure_tx_power(0x04, 0x07, 0x01, LORA_TX_POWER, SX1262_Ramp_200U);
sx1262_get_status();
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Setting standby XOSC");
sx1262_setStandby(SX1262_STANDBY_XOSC);
sx1262_get_status();
sx1262_setDioIrqParams(SX1262_IRQ_ALL, SX1262_IRQ_TXDone, 0, 0);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Setting buffer base address");
sx1262_setBufferBaseAddress(0, 0);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Writing message");
sx1262_writeBuffer(0, (uint8_t *)msg, sizeof(msg));
ESP_LOGI(TAG_RADIO, "Clearing IRQs");
sx1262_clearIrqStatus(SX1262_IRQ_ALL);
// sx1262_setTxContinuousWave();
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Getting modulation type...");
modType = sx1262_getPacketType();
ESP_LOGI(TAG_RADIO, "ModType %d", modType);
sx1262_get_status();
// ESP_LOGI(TAG_RADIO, "Enabling CW...");
// sx1262_setTxContinuousWave();
// sx1262_get_status();
uint8_t txModulation[1] = {0x04};
ESP_LOGI(TAG_RADIO, "Setting modulation thing");
sx1262_writeRegister(SX126X_TX_MODULATION, txModulation, 1);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Clearing IRQs");
sx1262_clearIrqStatus(SX1262_IRQ_ALL);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Enabling TX...");
sx1262_setMode(SX1262_TRANSMIT_MODE, 0);
sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Waiting for TX finish");
while (1)
{
if (gpio_get_level(LORA_DIO1))
start_time = esp_timer_get_time(); // µs since boot
if (packetReadiness == 1)
{
ESP_LOGI(TAG_RADIO, "Got IRQin");
uint16_t irqS = sx1262_getIrqStatus();
if (irqS & SX1262_IRQ_TXDone)
uint8_t downPacketSize = 0;
memset(bufOut, 0, sizeof(bufOut));
downboundPacket.missionTimer = start_time;
downboundPacket.packetIndex = packetIndex++;
downboundPacket.packetType = 1;
memcpy(bufOut, &downboundPacket, sizeof(downboundPacket));
downPacketSize += sizeof(downboundPacket);
memcpy(((uint8_t *)bufOut) + downPacketSize, &telemetryPacket, sizeof(telemetryPacket));
downPacketSize += sizeof(telemetryPacket);
ESP_LOGI(pcTaskGetName(NULL), "%d byte packet sent...", downPacketSize);
// Wait for transmission to complete
if (LoRaSend(bufOut, downPacketSize, SX126x_TXMODE_SYNC) == false)
{
break;
ESP_LOGE(pcTaskGetName(NULL), "LoRaSend fail");
} else {
packetReadiness = 0;
}
}
vTaskDelay(pdMS_TO_TICKS(10));
uint8_t rxLen = LoRaReceive(bufIn, sizeof(bufIn));
if (rxLen > 0)
{
ESP_LOGI(pcTaskGetName(NULL), "%d byte packet received:[%.*s]", rxLen, rxLen, bufIn);
int8_t rssi, snr;
GetPacketStatus(&rssi, &snr);
ESP_LOGI(pcTaskGetName(NULL), "rssi=%d[dBm] snr=%d[dB]", rssi, snr);
}
int lost = GetPacketLost();
if (lost != 0)
{
ESP_LOGW(pcTaskGetName(NULL), "%d packets lost", lost);
}
end_time = esp_timer_get_time();
elapsed = end_time - start_time;
if (elapsed < interval_us)
{
vTaskDelay(pdMS_TO_TICKS((interval_us - elapsed) / 1000));
}
}
// vTaskDelay(pdMS_TO_TICKS(2000));
// ESP_LOGI(TAG_RADIO, "Returning back to sleep");
// sx1262_setStandby(SX1262_STANDBY_XOSC);
// sx1262_get_status();
ESP_LOGI(TAG_RADIO, "Clearing IRQs");
sx1262_clearIrqStatus(SX1262_IRQ_TXDone);
sx1262_get_status();
while (1)
{
vTaskDelay(pdMS_TO_TICKS(1000));
}
// Set frequency to 868 MHz
// Set TX power to 22 dBm
// sx1262_setTxContinuousWave();
}

5
main/components/radio.h
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@@ -9,6 +9,11 @@
#define TAG_RADIO "RADIO"
#include "packets.h"
void lora_comms_task(void *pvParameters);
extern TelemetryPacket telemetryPacket;
extern uint8_t packetReadiness;
#endif

111
main/components/sensors.c
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@@ -1,4 +1,8 @@
#include "sensors.h"
#include "esp_timer.h"
#include "radio.h"
#include "../hw/gps.h"
#include "servocontroller.h"
#define BLINK_GPIO 2
@@ -13,8 +17,9 @@ static void configure_led(void)
void i2c_sensors_task(void *pvParameters)
{
// initialize the xLastWakeTime variable with the current time.
TickType_t last_wake_time = xTaskGetTickCount();
const TickType_t I2C0_TASK_SAMPLING_RATE = 5;
const int64_t interval_us = 100000; // 100 ms
int64_t start_time, end_time, elapsed;
//
// initialize i2c device configuration
@@ -26,8 +31,8 @@ void i2c_sensors_task(void *pvParameters)
mcp3550_spi_init();
configure_led();
int16_t accel[3], gyro[3], temp;
float accel_f[3], gyro_f[3], temp_f;
int16_t accel[3], gyro[3], temp, magnet[3];
float accel_f[3], gyro_f[3], temp_f, magnet_f[3];
uint16_t eCO2;
uint16_t tvoc;
@@ -38,30 +43,32 @@ void i2c_sensors_task(void *pvParameters)
uint16_t current;
uint16_t power;
bme680_data_t bmeData;
// task loop entry point
for (;;)
{
packetReadiness = 2;
start_time = esp_timer_get_time(); // µs since boot
//
// handle sensor
if (BME680_DEV_HANDLE)
{
bme680_data_t data;
esp_err_t result = bme680_get_data(BME680_DEV_HANDLE, &data);
esp_err_t result = bme680_get_data(BME680_DEV_HANDLE, &bmeData);
if (result != ESP_OK)
{
ESP_LOGE(TAG_BME, "bme680 device read failed (%s)", esp_err_to_name(result));
}
else
{
data.barometric_pressure = data.barometric_pressure / 100;
ESP_LOGI(TAG_BME, "dewpoint temperature:%.2f °C", data.dewpoint_temperature);
ESP_LOGI(TAG_BME, "air temperature: %.2f °C", data.air_temperature);
ESP_LOGI(TAG_BME, "relative humidity: %.2f %%", data.relative_humidity);
ESP_LOGI(TAG_BME, "barometric pressure: %.2f hPa", data.barometric_pressure);
ccs811_set_env_data(data.air_temperature, data.relative_humidity);
ESP_LOGI(TAG_BME, "gas resistance: %.2f kOhms", data.gas_resistance / 1000);
ESP_LOGI(TAG_BME, "iaq score: %u (%s)", data.iaq_score, bme680_air_quality_to_string(data.iaq_score));
bmeData.barometric_pressure = bmeData.barometric_pressure / 100;
ESP_LOGI(TAG_BME, "dewpoint temperature:%.2f °C", bmeData.dewpoint_temperature);
ESP_LOGI(TAG_BME, "air temperature: %.2f °C", bmeData.air_temperature);
ESP_LOGI(TAG_BME, "relative humidity: %.2f %%", bmeData.relative_humidity);
ESP_LOGI(TAG_BME, "barometric pressure: %.2f hPa", bmeData.barometric_pressure);
ccs811_set_env_data(bmeData.air_temperature, bmeData.relative_humidity);
ESP_LOGI(TAG_BME, "gas resistance: %.2f kOhms", bmeData.gas_resistance / 1000);
ESP_LOGI(TAG_BME, "iaq score: %u (%s)", bmeData.iaq_score, bme680_air_quality_to_string(bmeData.iaq_score));
}
}
else
@@ -73,12 +80,13 @@ void i2c_sensors_task(void *pvParameters)
ESP_LOGI(TAG_CCS, "eCO₂: %d ppm, TVOC: %d ppb", eCO2, tvoc);
ESP_LOGI(TAG_CCS, "Current: %d μA, Raw voltage: %d V", currentCCS, rawData);
if (mpu9250_read_sensor_data(MPU9250_DEV_HANDLE, accel, gyro, &temp) == ESP_OK)
if (mpu9250_read_sensor_data(MPU9250_DEV_HANDLE, accel, gyro, &temp, magnet) == ESP_OK)
{
mpu9250_convert_data(accel, gyro, temp, accel_f, gyro_f, &temp_f);
mpu9250_convert_data(accel, gyro, temp, magnet, accel_f, gyro_f, &temp_f, magnet_f);
ESP_LOGI(TAG_MPU, "Accel: X=%.2f g, Y=%.2f g, Z=%.2f g", accel_f[0], accel_f[1], accel_f[2]);
ESP_LOGI(TAG_MPU, "Gyro: X=%.2f°/s, Y=%.2f°/s, Z=%.2f°/s", gyro_f[0], gyro_f[1], gyro_f[2]);
ESP_LOGI(TAG_MPU, "Magnet: X=%.2fμT, Y=%.2fμT, Z=%.2fμT", magnet_f[0], magnet_f[1], magnet_f[2]);
ESP_LOGI(TAG_MPU, "Temperature: %.2f °C", temp_f);
}
else
@@ -89,7 +97,7 @@ void i2c_sensors_task(void *pvParameters)
ina260_readParams(&volts, &current, &power);
ina260_printParams(volts, current, power);
float VREFVoltage = volts * 1.25 / 1000; //Mame vobec nieco na VREFE? Na scheme su len medzi sebou prepojene
float VREFVoltage = volts * 1.25 / 1000; // Mame vobec nieco na VREFE? Na scheme su len medzi sebou prepojene
mics_adc_data_t ADCData = mcp3550_read_all(5.0); // vref = 5.0V
log_mics_adc_values(&ADCData);
@@ -101,7 +109,74 @@ void i2c_sensors_task(void *pvParameters)
gpio_set_level(BLINK_GPIO, s_led_state);
/* Toggle the LED state */
s_led_state = !s_led_state;
vTaskDelaySecUntil(&last_wake_time, I2C0_TASK_SAMPLING_RATE);
end_time = esp_timer_get_time();
elapsed = end_time - start_time;
if (elapsed < interval_us)
{
vTaskDelay(pdMS_TO_TICKS((interval_us - elapsed) / 1000));
}
if (packetReadiness == 0) {
memset(&telemetryPacket, 0, sizeof(telemetryPacket));
telemetryPacket.accelerationX = accel[0];
telemetryPacket.accelerationY = accel[1];
telemetryPacket.accelerationZ = accel[2];
telemetryPacket.gyroX = gyro[0];
telemetryPacket.gyroX = gyro[1];
telemetryPacket.gyroX = gyro[2];
telemetryPacket.magnetX = gyro[0];
telemetryPacket.magnetX = gyro[1];
telemetryPacket.magnetX = gyro[2];
telemetryPacket.accelerometer_temperature = temp;
telemetryPacket.eCO2 = eCO2;
telemetryPacket.tvoc = tvoc;
telemetryPacket.currentCCS = currentCCS;
telemetryPacket.rawCCSData = rawData;
telemetryPacket.volts = volts;
telemetryPacket.current = current;
telemetryPacket.power = power;
telemetryPacket.temperature = bmeData.raw_data.temperature;
telemetryPacket.humidity = bmeData.raw_data.humidity;
telemetryPacket.pressure = bmeData.raw_data.pressure;
telemetryPacket.gas = bmeData.raw_data.gas;
telemetryPacket.gas_range = bmeData.raw_data.gas_range;
telemetryPacket.heater_stable = bmeData.raw_data.heater_stable;
telemetryPacket.gas_valid = bmeData.raw_data.gas_valid;
telemetryPacket.NH3 = ADCData.raw_nh3;
telemetryPacket.CO = ADCData.raw_co;
telemetryPacket.NO2 = ADCData.raw_no2;
telemetryPacket.UVC = ADCData.raw_uvc;
//TODO MOVE THIS TO A BETTER PLACE FOR SYNC
telemetryPacket.time_seconds = gpsDataOut.time_seconds;
telemetryPacket.latitude_centi_degrees = gpsDataOut.latitude_centi_degrees;
telemetryPacket.longitude_centi_degrees = gpsDataOut.longitude_centi_degrees;
telemetryPacket.fix_quality = gpsDataOut.fix_quality;
telemetryPacket.num_satellites = gpsDataOut.num_satellites;
telemetryPacket.altitude_centi_meters = gpsDataOut.altitude_centi_meters;
telemetryPacket.date_yyddmm = gpsDataOut.date_yyddmm;
telemetryPacket.speed_centi_knots = gpsDataOut.speed_centi_knots;
telemetryPacket.predicted_altitude_centi_meters = predictedPosition.altitude_centi_meters;
telemetryPacket.predicted_latitude_centi_degrees = predictedPosition.latitude_centi_degrees;
telemetryPacket.predicted_longitude_centi_degrees = predictedPosition.longitude_centi_degrees;
telemetryPacket.targetServoA = servoState.targetServoA;
telemetryPacket.targetServoB = servoState.targetServoB;
telemetryPacket.currentServoA = servoState.currentServoA;
telemetryPacket.currentServoB = servoState.currentServoB;
}
packetReadiness = 1;
}
//
// free resources

10
main/components/servocontroller.c Normal file
View File

@@ -0,0 +1,10 @@
#include "servocontroller.h"
#include "string.h"
ServoState servoState;
//TODO add a task and implement
void servoControllerInit() {
memset(&servoState, 0, sizeof(servoState));
}

19
main/components/servocontroller.h Normal file
View File

@@ -0,0 +1,19 @@
#ifndef SERVO_CONTROLLER_COMPONENT
#define SERVO_CONTROLLER_COMPONENT
#include "stdint.h"
typedef struct
{
int16_t currentServoA;
int16_t targetServoA;
int16_t currentServoB;
int16_t targetServoB;
} ServoState;
extern ServoState servoState;
void servoControllerInit();
#endif

108
main/hw/gps.c
View File

@@ -9,11 +9,15 @@
#define BUF_SIZE 1024
#define GPS_LINE_MAX_LEN 128
gps_binary_struct_t gpsDataOut;
static QueueHandle_t uart_queue;
predicted_binary_position_struct_t predictedPosition;
// Initializes UART for GPS
void gps_init()
{
memset(&gpsDataOut, 0, sizeof(gpsDataOut));
uart_config_t uart_config = {
.baud_rate = 9600,
.data_bits = UART_DATA_8_BITS,
@@ -49,9 +53,12 @@ void gps_task(void *arg)
if (strstr(line, "$GPGGA") == line) {
parse_gpgga(line);
parse_gpgga_to_struct(line, &gpsDataOut);
} else if (strstr(line, "$GPRMC") == line) {
parse_gprmc(line);
parse_gprmc_to_struct(line, &gpsDataOut);
}
}
line_pos = 0;
@@ -134,3 +141,104 @@ void parse_gprmc(const char *nmea)
date, utc_time, lat, lat_dir, lon, lon_dir, speed_knots, status);
}
// Function to convert time string (hhmmss.sss) to seconds since start of day
static uint32_t time_to_seconds_struct(const char *time_str) {
if (time_str == NULL || strlen(time_str) < 6) return 0;
uint32_t hours = (time_str[0] - '0') * 10 + (time_str[1] - '0');
uint32_t minutes = (time_str[2] - '0') * 10 + (time_str[3] - '0');
uint32_t seconds = (time_str[4] - '0') * 10 + (time_str[5] - '0');
return hours * 3600 + minutes * 60 + seconds;
}
// Function to convert DMS (degrees minutes.decimalminutes) to centi-degrees
static int32_t dms_to_centi_degrees_struct(const char *dms_str, const char *direction) {
if (dms_str == NULL || direction == NULL || strlen(dms_str) < 7) return 0;
char degrees_str[4] = {0};
char minutes_decimal_str[10] = {0};
strncpy(degrees_str, dms_str, 2);
strncpy(minutes_decimal_str, dms_str + 2, strlen(dms_str) - 2);
double degrees = atof(degrees_str);
double minutes = atof(minutes_decimal_str);
double decimal_degrees = degrees + (minutes / 60.0);
if (direction[0] == 'S' || direction[0] == 'W') {
decimal_degrees *= -1.0;
}
return (int32_t)(decimal_degrees * 10000);
}
// Function to convert altitude string to centi-meters
static int16_t altitude_to_centi_meters_struct(const char *alt_str) {
if (alt_str == NULL) return 0;
return (int16_t)(atof(alt_str) * 100);
}
// Function to convert speed from knots to centi-knots
static uint16_t speed_to_centi_knots_struct(const char *speed_str) {
if (speed_str == NULL) return 0;
return (uint16_t)(atof(speed_str) * 100);
}
// Function to convert date string (ddmmyy) to yymmdd integer
static uint16_t date_to_yyddmm_struct(const char *date_str) {
if (date_str == NULL || strlen(date_str) != 6) return 0;
uint16_t day = (date_str[0] - '0') * 10 + (date_str[1] - '0');
uint16_t month = (date_str[2] - '0') * 10 + (date_str[3] - '0');
uint16_t year_short = (date_str[4] - '0') * 10 + (date_str[5] - '0');
// Assuming year is in the 21st century for simplicity
return (2000 + year_short) * 10000 + month * 100 + day;
}
// Function to parse GPGGA NMEA string and return the struct
void parse_gpgga_to_struct(const char *nmea, gps_binary_struct_t *data)
{
char *fields[15];
char temp[GPS_LINE_MAX_LEN];
strncpy(temp, nmea, GPS_LINE_MAX_LEN);
temp[GPS_LINE_MAX_LEN - 1] = '\0';
int i = 0;
char *token = strtok(temp, ",");
while (token != NULL && i < 15) {
fields[i++] = token;
token = strtok(NULL, ",");
}
if (i >= 10) {
data->time_seconds = time_to_seconds_struct(fields[1]);
data->latitude_centi_degrees = dms_to_centi_degrees_struct(fields[2], fields[3]);
data->longitude_centi_degrees = dms_to_centi_degrees_struct(fields[4], fields[5]);
data->fix_quality = atoi(fields[6]);
data->num_satellites = atoi(fields[7]);
data->altitude_centi_meters = altitude_to_centi_meters_struct(fields[9]);
} else {
ESP_LOGW(TAG, "GPGGA: Not enough fields to parse struct");
}
}
// Function to parse GPRMC NMEA string and return the struct
void parse_gprmc_to_struct(const char *nmea, gps_binary_struct_t *data)
{
char *fields[13];
char temp[GPS_LINE_MAX_LEN];
strncpy(temp, nmea, GPS_LINE_MAX_LEN);
temp[GPS_LINE_MAX_LEN - 1] = '\0';
int i = 0;
char *token = strtok(temp, ",");
while (token != NULL && i < 13) {
fields[i++] = token;
token = strtok(NULL, ",");
}
if (i >= 12) {
data->time_seconds = time_to_seconds_struct(fields[1]);
data->latitude_centi_degrees = dms_to_centi_degrees_struct(fields[3], fields[4]);
data->longitude_centi_degrees = dms_to_centi_degrees_struct(fields[5], fields[6]);
data->date_yyddmm = date_to_yyddmm_struct(fields[9]);
data->speed_centi_knots = speed_to_centi_knots_struct(fields[7]);
// Fix quality and num_satellites are typically in GPGGA, so they might be 0 here.
} else {
ESP_LOGW(TAG, "GPRMC: Not enough fields to parse struct");
}
}

25
main/hw/gps.h
View File

@@ -5,10 +5,35 @@
#include "soc/uart_struct.h"
#include "buscfg.h"
// Structure to hold parsed GPS data in a compact binary format
typedef struct {
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
uint8_t fix_quality;
uint8_t num_satellites;
int16_t altitude_centi_meters; // Altitude * 100
uint16_t date_yyddmm; // YYDDMM (from GPRMC)
uint16_t speed_centi_knots; // Speed * 100 (from GPRMC)
} gps_binary_struct_t;
typedef struct {
int32_t latitude_centi_degrees; // Latitude * 10,000
int32_t longitude_centi_degrees; // Longitude * 10,000
int16_t altitude_centi_meters; // Altitude * 100
} predicted_binary_position_struct_t;
extern gps_binary_struct_t gpsDataOut;
extern predicted_binary_position_struct_t predictedPosition;
void gps_task(void *arg);
void parse_gpgga(const char *nmea);
void parse_gprmc(const char *nmea);
void parse_gprmc_to_struct(const char *nmea, gps_binary_struct_t *data);
void parse_gpgga_to_struct(const char *nmea, gps_binary_struct_t *data);
#endif

39
main/hw/mpu9250.c
View File

@@ -1,4 +1,5 @@
#include "mpu9250.h"
#include "esp_timer.h"
i2c_device_config_t MPU9250_DEV_CFG = {
.dev_addr_length = I2C_ADDR_BIT_LEN_7,
@@ -6,9 +7,11 @@ i2c_device_config_t MPU9250_DEV_CFG = {
.scl_speed_hz = 100000,
};
#define MAG_SCALE (4912.0f / 32760.0f)
i2c_master_dev_handle_t MPU9250_DEV_HANDLE;
esp_err_t mpu9250_read_sensor_data(i2c_master_dev_handle_t dev_handle, int16_t *accel, int16_t *gyro, int16_t *temp)
esp_err_t mpu9250_read_sensor_data(i2c_master_dev_handle_t dev_handle, int16_t *accel, int16_t *gyro, int16_t *temp, int16_t *magnet)
{
uint8_t buffer[14]; // 6 (Accel) + 2 (Temp) + 6 (Gyro)
esp_err_t ret = i2c_read_register(dev_handle, 0x3B, buffer, 14);
@@ -16,18 +19,28 @@ esp_err_t mpu9250_read_sensor_data(i2c_master_dev_handle_t dev_handle, int16_t *
return ret;
// Convert raw data (Big-Endian)
accel[0] = (((uint16_t)(buffer[0] & 0xFF)) << 8) | (buffer[1] & 0xFF); // Accel X
accel[1] = (((uint16_t)(buffer[2] & 0xFF)) << 8) | (buffer[3] & 0xFF); // Accel Y
accel[2] = (((uint16_t)(buffer[4] & 0xFF)) << 8) | (buffer[5] & 0xFF); // Accel Z
*temp = (((uint16_t)(buffer[6] & 0xFF)) << 8) | (buffer[7] & 0xFF); // Temperature
gyro[0] = (((uint16_t)(buffer[8] & 0xFF)) << 8) | (buffer[9] & 0xFF);; // Gyro X
gyro[1] = (((uint16_t)(buffer[10] & 0xFF)) << 8) | (buffer[11] & 0xFF);; // Gyro Y
gyro[2] = (((uint16_t)(buffer[12] & 0xFF)) << 8) | (buffer[13] & 0xFF);; // Gyro Z
accel[0] = (((uint16_t)(buffer[0] & 0xFF)) << 8) | (buffer[1] & 0xFF); // Accel X
accel[1] = (((uint16_t)(buffer[2] & 0xFF)) << 8) | (buffer[3] & 0xFF); // Accel Y
accel[2] = (((uint16_t)(buffer[4] & 0xFF)) << 8) | (buffer[5] & 0xFF); // Accel Z
*temp = (((uint16_t)(buffer[6] & 0xFF)) << 8) | (buffer[7] & 0xFF); // Temperature
gyro[0] = (((uint16_t)(buffer[8] & 0xFF)) << 8) | (buffer[9] & 0xFF);
; // Gyro X
gyro[1] = (((uint16_t)(buffer[10] & 0xFF)) << 8) | (buffer[11] & 0xFF);
; // Gyro Y
gyro[2] = (((uint16_t)(buffer[12] & 0xFF)) << 8) | (buffer[13] & 0xFF);
; // Gyro Z
ret = i2c_read_register(dev_handle, 0x03, buffer, 6);
if (ret != ESP_OK)
return ret;
magnet[0] = (((uint16_t)(buffer[0] & 0xFF)) << 8) | (buffer[1] & 0xFF); // Magnet X
magnet[1] = (((uint16_t)(buffer[2] & 0xFF)) << 8) | (buffer[3] & 0xFF); // Magnet Y
magnet[2] = (((uint16_t)(buffer[4] & 0xFF)) << 8) | (buffer[5] & 0xFF); // Magnet Z
return ESP_OK;
}
void mpu9250_convert_data(int16_t *accel, int16_t *gyro, int16_t temp, float *accel_out, float *gyro_out, float *temp_out)
void mpu9250_convert_data(int16_t *accel, int16_t *gyro, int16_t temp, int16_t *magnet, float *accel_out, float *gyro_out, float *temp_out, float *magnet_out)
{
accel_out[0] = accel[0] / 16384.0; // Accel X in g
accel_out[1] = accel[1] / 16384.0; // Accel Y in g
@@ -37,10 +50,16 @@ void mpu9250_convert_data(int16_t *accel, int16_t *gyro, int16_t temp, float *ac
gyro_out[1] = gyro[1] / 131.0; // Gyro Y in deg/s
gyro_out[2] = gyro[2] / 131.0; // Gyro Z in deg/s
magnet_out[0] = magnet[0] * MAG_SCALE; // Gyro X in deg/s
magnet_out[1] = magnet[1] * MAG_SCALE; // Gyro Y in deg/s
magnet_out[2] = magnet[2] * MAG_SCALE; // Gyro Z in deg/s
*temp_out = (temp / 333.87) + 21.0; // Temperature in °C
}
void mpu9250_init() {
void mpu9250_init()
{
ESP_ERROR_CHECK(i2c_master_bus_add_device(i2c0_bus_hdl, &MPU9250_DEV_CFG, &MPU9250_DEV_HANDLE));
i2c_write_register_16(MPU9250_DEV_HANDLE, 0x6B, 0x0001); // zapni uz tu hovadinu
i2c_write_register_16(MPU9250_DEV_HANDLE, 0x0A, 0x0012); // zapni uz tu hovadinu
}

4
main/hw/mpu9250.h
View File

@@ -8,8 +8,8 @@ extern i2c_device_config_t MPU9250_DEV_CFG;
extern i2c_master_dev_handle_t MPU9250_DEV_HANDLE;
esp_err_t mpu9250_read_sensor_data(i2c_master_dev_handle_t dev_handle, int16_t *accel, int16_t *gyro, int16_t *temp);
void mpu9250_convert_data(int16_t *accel, int16_t *gyro, int16_t temp, float *accel_out, float *gyro_out, float *temp_out);
esp_err_t mpu9250_read_sensor_data(i2c_master_dev_handle_t dev_handle, int16_t *accel, int16_t *gyro, int16_t *temp, int16_t *magnet);
void mpu9250_convert_data(int16_t *accel, int16_t *gyro, int16_t temp, int16_t *magnet, float *accel_out, float *gyro_out, float *temp_out, float *magnet_out);
void mpu9250_init();
#endif

1254
main/hw/sx1262.c
View File

File diff suppressed because it is too large Load Diff

672
main/hw/sx1262.h
View File

@@ -1,330 +1,434 @@
#ifndef SX1262_H
#define SX1262_H
#ifndef _RA01S_H
#define _RA01S_H
#include "driver/spi_master.h"
#include "driver/gpio.h"
#include <stdint.h>
#include "buscfg.h"
#include "mcp23018.h"
#include <string.h>
//return values
#define ERR_NONE 0
#define ERR_PACKET_TOO_LONG 1
#define ERR_UNKNOWN 2
#define ERR_TX_TIMEOUT 3
#define ERR_RX_TIMEOUT 4
#define ERR_CRC_MISMATCH 5
#define ERR_WRONG_MODEM 6
#define ERR_INVALID_BANDWIDTH 7
#define ERR_INVALID_SPREADING_FACTOR 8
#define ERR_INVALID_CODING_RATE 9
#define ERR_INVALID_FREQUENCY_DEVIATION 10
#define ERR_INVALID_BIT_RATE 11
#define ERR_INVALID_RX_BANDWIDTH 12
#define ERR_INVALID_DATA_SHAPING 13
#define ERR_INVALID_SYNC_WORD 14
#define ERR_INVALID_OUTPUT_POWER 15
#define ERR_INVALID_MODE 16
#define ERR_INVALID_TRANCEIVER 17
#define ERR_INVALID_SETRX_STATE 18
#define ERR_INVALID_SETTX_STATE 19
#define ERR_IDLE_TIMEOUT 20
#define ERR_SPI_TRANSACTION 21
#include "esp_task.h"
// SX126X physical layer properties
#define XTAL_FREQ ( double )32000000
#define FREQ_DIV ( double )pow( 2.0, 25.0 )
#define FREQ_STEP ( double )( XTAL_FREQ / FREQ_DIV )
#define TAG "SX1262"
#define LOW 0
#define HIGH 1
#define BUSY_WAIT 5000
#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG
#include "esp_log.h"
// SX126X Model
#define SX1261_TRANCEIVER 0x01
#define SX1262_TRANCEIVER 0x02
#define SX1268_TRANCEIVER 0x08
#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG
// SX126X SPI commands
// operational modes commands
#define SX126X_CMD_NOP 0x00
#define SX126X_CMD_SET_SLEEP 0x84
#define SX126X_CMD_SET_STANDBY 0x80
#define SX126X_CMD_SET_FS 0xC1
#define SX126X_CMD_SET_TX 0x83
#define SX126X_CMD_SET_RX 0x82
#define SX126X_CMD_STOP_TIMER_ON_PREAMBLE 0x9F
#define SX126X_CMD_SET_RX_DUTY_CYCLE 0x94
#define SX126X_CMD_SET_CAD 0xC5
#define SX126X_CMD_SET_TX_CONTINUOUS_WAVE 0xD1
#define SX126X_CMD_SET_TX_INFINITE_PREAMBLE 0xD2
#define SX126X_CMD_SET_REGULATOR_MODE 0x96
#define SX126X_CMD_CALIBRATE 0x89
#define SX126X_CMD_CALIBRATE_IMAGE 0x98
#define SX126X_CMD_SET_PA_CONFIG 0x95
#define SX126X_CMD_SET_RX_TX_FALLBACK_MODE 0x93
#define LORA_SPI_HOST SPI3_HOST
// register and buffer access commands
#define SX126X_CMD_WRITE_REGISTER 0x0D
#define SX126X_CMD_READ_REGISTER 0x1D
#define SX126X_CMD_WRITE_BUFFER 0x0E
#define SX126X_CMD_READ_BUFFER 0x1E
extern spi_device_handle_t spi;
// DIO and IRQ control
#define SX126X_CMD_SET_DIO_IRQ_PARAMS 0x08
#define SX126X_CMD_GET_IRQ_STATUS 0x12
#define SX126X_CMD_CLEAR_IRQ_STATUS 0x02
#define SX126X_CMD_SET_DIO2_AS_RF_SWITCH_CTRL 0x9D
#define SX126X_CMD_SET_DIO3_AS_TCXO_CTRL 0x97
typedef struct
{
uint8_t status;
uint16_t error;
} sx1262_status_t;
// RF, modulation and packet commands
#define SX126X_CMD_SET_RF_FREQUENCY 0x86
#define SX126X_CMD_SET_PACKET_TYPE 0x8A
#define SX126X_CMD_GET_PACKET_TYPE 0x11
#define SX126X_CMD_SET_TX_PARAMS 0x8E
#define SX126X_CMD_SET_MODULATION_PARAMS 0x8B
#define SX126X_CMD_SET_PACKET_PARAMS 0x8C
#define SX126X_CMD_SET_CAD_PARAMS 0x88
#define SX126X_CMD_SET_BUFFER_BASE_ADDRESS 0x8F
#define SX126X_CMD_SET_LORA_SYMB_NUM_TIMEOUT 0xA0
typedef struct
{
uint16_t preambleLength;
uint8_t headerType;
uint8_t payloadLength;
uint8_t crcType;
uint8_t invertIQ;
} sx1262_LoRaPacketParams_t;
#define SX126X_PA_CONFIG_SX1261 0x01
#define SX126X_PA_CONFIG_SX1262 0x00
#define SX126X_DIOX_OUTPUT_ENABLE 0x0580
#define SX126X_DIOX_INPUT_ENABLE 0x0583
#define SX126X_DIOX_PULL_UP_CONTROL 0x0584
#define SX126X_DIOX_PULL_DOWN_CONTROL 0x0585
// status commands
#define SX126X_CMD_GET_STATUS 0xC0
#define SX126X_CMD_GET_RSSI_INST 0x15
#define SX126X_CMD_GET_RX_BUFFER_STATUS 0x13
#define SX126X_CMD_GET_PACKET_STATUS 0x14
#define SX126X_CMD_GET_DEVICE_ERRORS 0x17
#define SX126X_CMD_CLEAR_DEVICE_ERRORS 0x07
#define SX126X_CMD_GET_STATS 0x10
#define SX126X_CMD_RESET_STATS 0x00
#define SX126X_WHITENING_INIT_MSB 0x06B8
#define SX126X_WHITENING_INIT_LSB 0x06B9
#define SX126X_CRC_INIT_MSB 0x06BC
#define SX126X_CRC_INIT_LSB 0x06BD
// SX126X register map
#define SX126X_REG_HOPPING_ENABLE 0x0385
#define SX126X_REG_PACKECT_LENGTH 0x0386
#define SX126X_REG_NB_HOPPING_BLOCKS 0x0387
#define SX126X_REG_NB_SYMBOLS0 0x0388
#define SX126X_REG_FREQ0 0x038A
#define SX126X_REG_NB_SYMBOLS15 0x03E2
#define SX126X_REG_FREQ15 0x03E4
#define SX126X_REG_DIOX_OUTPUT_ENABLE 0x0580
#define SX126X_REG_DIOX_INPUT_ENABLE 0x0583
#define SX126X_REG_DIOX_PILL_UP_CONTROL 0x0584
#define SX126X_REG_DIOX_PULL_DOWN_CONTROL 0x0585
#define SX126X_REG_WHITENING_INITIAL_MSB 0x06B8
#define SX126X_REG_WHITENING_INITIAL_LSB 0x06B9
#define SX126X_REG_CRC_INITIAL_MSB 0x06BC
#define SX126X_REG_CRC_INITIAL_LSB 0x06BD
#define SX126X_REG_CRC_POLYNOMIAL_MSB 0x06BE
#define SX126X_REG_CRC_POLYNOMIAL_LSB 0x06BF
#define SX126X_REG_SYNC_WORD_0 0x06C0
#define SX126X_REG_SYNC_WORD_1 0x06C1
#define SX126X_REG_SYNC_WORD_2 0x06C2
#define SX126X_REG_SYNC_WORD_3 0x06C3
#define SX126X_REG_SYNC_WORD_4 0x06C4
#define SX126X_REG_SYNC_WORD_5 0x06C5
#define SX126X_REG_SYNC_WORD_6 0x06C6
#define SX126X_REG_SYNC_WORD_7 0x06C7
#define SX126X_REG_NODE_ADDRESS 0x06CD
#define SX126X_REG_BROADCAST_ADDRESS 0x06CE
#define SX126X_REG_IQ_POLARITY_SETUP 0x0736
#define SX126X_REG_LORA_SYNC_WORD_MSB 0x0740
#define SX126X_REG_LORA_SYNC_WORD_LSB 0x0741
#define SX126X_REG_RANDOM_NUMBER_0 0x0819
#define SX126X_REG_RANDOM_NUMBER_1 0x081A
#define SX126X_REG_RANDOM_NUMBER_2 0x081B
#define SX126X_REG_RANDOM_NUMBER_3 0x081C
#define SX126X_REG_TX_MODULETION 0x0889
#define SX126X_REG_RX_GAIN 0x08AC
#define SX126X_REG_TX_CLAMP_CONFIG 0x08D8
#define SX126X_REG_OCP_CONFIGURATION 0x08E7
#define SX126X_REG_RTC_CONTROL 0x0902
#define SX126X_REG_XTA_TRIM 0x0911
#define SX126X_REG_XTB_TRIM 0x0912
#define SX126X_REG_DIO3_OUTPUT_VOLTAGE_CONTROL 0x0920
#define SX126X_REG_EVENT_MASK 0x0944
#define SX126X_CRC_POLY_MSB 0x06BE
#define SX126X_CRC_POLY_LSB 0x06BF
#define SX126X_SYNCWORD_0 0x06C0
#define SX126X_SYNCWORD_1 0x06C1
#define SX126X_SYNCWORD_2 0x06C2
#define SX126X_SYNCWORD_3 0x06C3
#define SX126X_SYNCWORD_4 0x06C4
#define SX126X_SYNCWORD_5 0x06C5
#define SX126X_SYNCWORD_6 0x06C6
#define SX126X_SYNCWORD_7 0x06C7
// SX126X SPI command variables
//SX126X_CMD_SET_SLEEP
#define SX126X_SLEEP_START_COLD 0b00000000 // 2 2 sleep mode: cold start, configuration is lost (default)
#define SX126X_SLEEP_START_WARM 0b00000100 // 2 2 warm start, configuration is retained
#define SX126X_SLEEP_RTC_OFF 0b00000000 // 0 0 wake on RTC timeout: disabled
#define SX126X_SLEEP_RTC_ON 0b00000001 // 0 0 enabled
#define SX126X_NODE_ADDRESS 0x06CD
#define SX126X_BROADCAST_ADDRESS 0x06CE
//SX126X_CMD_SET_STANDBY
#define SX126X_STANDBY_RC 0x00 // 7 0 standby mode: 13 MHz RC oscillator
#define SX126X_STANDBY_XOSC 0x01 // 7 0 32 MHz crystal oscillator
#define SX126X_IQ_POLARITY_SETUP 0x0736
//SX126X_CMD_SET_RX
#define SX126X_RX_TIMEOUT_NONE 0x000000 // 23 0 Rx timeout duration: no timeout (Rx single mode)
#define SX126X_RX_TIMEOUT_INF 0xFFFFFF // 23 0 infinite (Rx continuous mode)
#define SX126X_LORA_SYNCWORD_MSB 0x0740
#define SX126X_LORA_SYNCWORD_LSB 0x0741
//SX126X_CMD_STOP_TIMER_ON_PREAMBLE
#define SX126X_STOP_ON_PREAMBLE_OFF 0x00 // 7 0 stop timer on: sync word or header (default)
#define SX126X_STOP_ON_PREAMBLE_ON 0x01 // 7 0 preamble detection
#define SX126X_RANDOM_NUMBER_0 0x0819
#define SX126X_RANDOM_NUMBER_1 0x081A
#define SX126X_RANDOM_NUMBER_2 0x081B
#define SX126X_RANDOM_NUMBER_3 0x081C
//SX126X_CMD_SET_REGULATOR_MODE
#define SX126X_REGULATOR_LDO 0x00 // 7 0 set regulator mode: LDO (default)
#define SX126X_REGULATOR_DC_DC 0x01 // 7 0 DC-DC
#define SX126X_TX_MODULATION 0x0889
#define SX126X_RX_GAIN 0x08AC
//SX126X_CMD_CALIBRATE
#define SX126X_CALIBRATE_IMAGE_OFF 0b00000000 // 6 6 image calibration: disabled
#define SX126X_CALIBRATE_IMAGE_ON 0b01000000 // 6 6 enabled
#define SX126X_CALIBRATE_ADC_BULK_P_OFF 0b00000000 // 5 5 ADC bulk P calibration: disabled
#define SX126X_CALIBRATE_ADC_BULK_P_ON 0b00100000 // 5 5 enabled
#define SX126X_CALIBRATE_ADC_BULK_N_OFF 0b00000000 // 4 4 ADC bulk N calibration: disabled
#define SX126X_CALIBRATE_ADC_BULK_N_ON 0b00010000 // 4 4 enabled
#define SX126X_CALIBRATE_ADC_PULSE_OFF 0b00000000 // 3 3 ADC pulse calibration: disabled
#define SX126X_CALIBRATE_ADC_PULSE_ON 0b00001000 // 3 3 enabled
#define SX126X_CALIBRATE_PLL_OFF 0b00000000 // 2 2 PLL calibration: disabled
#define SX126X_CALIBRATE_PLL_ON 0b00000100 // 2 2 enabled
#define SX126X_CALIBRATE_RC13M_OFF 0b00000000 // 1 1 13 MHz RC osc. calibration: disabled
#define SX126X_CALIBRATE_RC13M_ON 0b00000010 // 1 1 enabled
#define SX126X_CALIBRATE_RC64K_OFF 0b00000000 // 0 0 64 kHz RC osc. calibration: disabled
#define SX126X_CALIBRATE_RC64K_ON 0b00000001 // 0 0 enabled
#define SX126X_TX_CLAMP_CONFIG 0x08D8
#define SX126X_OCP_CONFIGURATION 0x08E7
//SX126X_CMD_CALIBRATE_IMAGE
#define SX126X_CAL_IMG_430_MHZ_1 0x6B
#define SX126X_CAL_IMG_430_MHZ_2 0x6F
#define SX126X_CAL_IMG_470_MHZ_1 0x75
#define SX126X_CAL_IMG_470_MHZ_2 0x81
#define SX126X_CAL_IMG_779_MHZ_1 0xC1
#define SX126X_CAL_IMG_779_MHZ_2 0xC5
#define SX126X_CAL_IMG_863_MHZ_1 0xD7
#define SX126X_CAL_IMG_863_MHZ_2 0xDB
#define SX126X_CAL_IMG_902_MHZ_1 0xE1
#define SX126X_CAL_IMG_902_MHZ_2 0xE9
#define SX126X_RTC_CONTROL 0x0902
//SX126X_CMD_SET_PA_CONFIG
#define SX126X_PA_CONFIG_HP_MAX 0x07
#define SX126X_PA_CONFIG_SX1268 0x01
#define SX126X_PA_CONFIG_PA_LUT 0x01
#define SX126X_XTA_TRIM 0x0911
#define SX126X_XTB_TRIM 0x0912
//SX126X_CMD_SET_RX_TX_FALLBACK_MODE
#define SX126X_RX_TX_FALLBACK_MODE_FS 0x40 // 7 0 after Rx/Tx go to: FS mode
#define SX126X_RX_TX_FALLBACK_MODE_STDBY_XOSC 0x30 // 7 0 standby with crystal oscillator
#define SX126X_RX_TX_FALLBACK_MODE_STDBY_RC 0x20 // 7 0 standby with RC oscillator (default)
#define SX126X_DIO3_OUTPUT_VOLTAGE 0x0920
#define SX126X_EVENT_MASK 0x0944
//SX126X_CMD_SET_DIO_IRQ_PARAMS
#define SX126X_IRQ_TIMEOUT 0b1000000000 // 9 9 Rx or Tx timeout
#define SX126X_IRQ_CAD_DETECTED 0b0100000000 // 8 8 channel activity detected
#define SX126X_IRQ_CAD_DONE 0b0010000000 // 7 7 channel activity detection finished
#define SX126X_IRQ_CRC_ERR 0b0001000000 // 6 6 wrong CRC received
#define SX126X_IRQ_HEADER_ERR 0b0000100000 // 5 5 LoRa header CRC error
#define SX126X_IRQ_HEADER_VALID 0b0000010000 // 4 4 valid LoRa header received
#define SX126X_IRQ_SYNC_WORD_VALID 0b0000001000 // 3 3 valid sync word detected
#define SX126X_IRQ_PREAMBLE_DETECTED 0b0000000100 // 2 2 preamble detected
#define SX126X_IRQ_RX_DONE 0b0000000010 // 1 1 packet received
#define SX126X_IRQ_TX_DONE 0b0000000001 // 0 0 packet transmission completed
#define SX126X_IRQ_ALL 0b1111111111 // 9 0 all interrupts
#define SX126X_IRQ_NONE 0b0000000000 // 9 0 no interrupts
// Default values where applicable
#define SX126X_RX_GAIN_POWER_SAVING 0x94
#define SX126X_RX_GAIN_BOOSTED 0x96
//SX126X_CMD_SET_DIO2_AS_RF_SWITCH_CTRL
#define SX126X_DIO2_AS_IRQ 0x00 // 7 0 DIO2 configuration: IRQ
#define SX126X_DIO2_AS_RF_SWITCH 0x01 // 7 0 RF switch control
#define SX126X_LORA_SYNCWORD_PUBLIC 0x3444
#define SX126X_LORA_SYNCWORD_PRIVATE 0x1424
//SX126X_CMD_SET_DIO3_AS_TCXO_CTRL
#define SX126X_DIO3_OUTPUT_1_6 0x00 // 7 0 DIO3 voltage output for TCXO: 1.6 V
#define SX126X_DIO3_OUTPUT_1_7 0x01 // 7 0 1.7 V
#define SX126X_DIO3_OUTPUT_1_8 0x02 // 7 0 1.8 V
#define SX126X_DIO3_OUTPUT_2_2 0x03 // 7 0 2.2 V
#define SX126X_DIO3_OUTPUT_2_4 0x04 // 7 0 2.4 V
#define SX126X_DIO3_OUTPUT_2_7 0x05 // 7 0 2.7 V
#define SX126X_DIO3_OUTPUT_3_0 0x06 // 7 0 3.0 V
#define SX126X_DIO3_OUTPUT_3_3 0x07 // 7 0 3.3 V
#define SX126X_OCP_LEVEL_SX1262 0x38 // 140mA
#define SX126X_OCP_LEVEL_SX1261 0x18 // 60mA
//Radio complete Wake-up Time with TCXO stabilisation time
#define RADIO_TCXO_SETUP_TIME 5000 // [us]
typedef struct
{
uint8_t spreadingFactor; // LoRa SF: 0x05 (SF5) to 0x0C (SF12)
uint8_t bandwidth; // LoRa BW: 0x00 (7.81 kHz) to 0x06 (500 kHz)
uint8_t codingRate; // LoRa CR: 0x01 (4/5) to 0x04 (4/8)
uint8_t lowDataRateOpt; // LDRO: 0x00 (disabled) or 0x01 (enabled)
} sx1262_LoRaModulationParams_t;
//SX126X_CMD_SET_PACKET_TYPE
#define SX126X_PACKET_TYPE_GFSK 0x00 // 7 0 packet type: GFSK
#define SX126X_PACKET_TYPE_LORA 0x01 // 7 0 LoRa
typedef struct
{
uint32_t bitRate; // GFSK bitrate (BR), calculated as 32 * Fxtal / BR
uint8_t pulseShape; // GFSK filter: 0x00 (none) to 0x0B (Gaussian BT 1)
uint8_t bandwidth; // GFSK RX bandwidth: 0x1F (4.8 kHz) to 0x09 (467 kHz)
uint32_t frequencyDev; // GFSK frequency deviation (Fdev)
} sx1262_GFSKModulationParams_t;
//SX126X_CMD_SET_TX_PARAMS
#define SX126X_PA_RAMP_10U 0x00 // 7 0 ramp time: 10 us
#define SX126X_PA_RAMP_20U 0x01 // 7 0 20 us
#define SX126X_PA_RAMP_40U 0x02 // 7 0 40 us
#define SX126X_PA_RAMP_80U 0x03 // 7 0 80 us
#define SX126X_PA_RAMP_200U 0x04 // 7 0 200 us
#define SX126X_PA_RAMP_800U 0x05 // 7 0 800 us
#define SX126X_PA_RAMP_1700U 0x06 // 7 0 1700 us
#define SX126X_PA_RAMP_3400U 0x07 // 7 0 3400 us
#include <math.h>
//SX126X_CMD_SET_MODULATION_PARAMS
#define SX126X_GFSK_FILTER_NONE 0x00 // 7 0 GFSK filter: none
#define SX126X_GFSK_FILTER_GAUSS_0_3 0x08 // 7 0 Gaussian, BT = 0.3
#define SX126X_GFSK_FILTER_GAUSS_0_5 0x09 // 7 0 Gaussian, BT = 0.5
#define SX126X_GFSK_FILTER_GAUSS_0_7 0x0A // 7 0 Gaussian, BT = 0.7
#define SX126X_GFSK_FILTER_GAUSS_1 0x0B // 7 0 Gaussian, BT = 1
#define SX126X_GFSK_RX_BW_4_8 0x1F // 7 0 GFSK Rx bandwidth: 4.8 kHz
#define SX126X_GFSK_RX_BW_5_8 0x17 // 7 0 5.8 kHz
#define SX126X_GFSK_RX_BW_7_3 0x0F // 7 0 7.3 kHz
#define SX126X_GFSK_RX_BW_9_7 0x1E // 7 0 9.7 kHz
#define SX126X_GFSK_RX_BW_11_7 0x16 // 7 0 11.7 kHz
#define SX126X_GFSK_RX_BW_14_6 0x0E // 7 0 14.6 kHz
#define SX126X_GFSK_RX_BW_19_5 0x1D // 7 0 19.5 kHz
#define SX126X_GFSK_RX_BW_23_4 0x15 // 7 0 23.4 kHz
#define SX126X_GFSK_RX_BW_29_3 0x0D // 7 0 29.3 kHz
#define SX126X_GFSK_RX_BW_39_0 0x1C // 7 0 39.0 kHz
#define SX126X_GFSK_RX_BW_46_9 0x14 // 7 0 46.9 kHz
#define SX126X_GFSK_RX_BW_58_6 0x0C // 7 0 58.6 kHz
#define SX126X_GFSK_RX_BW_78_2 0x1B // 7 0 78.2 kHz
#define SX126X_GFSK_RX_BW_93_8 0x13 // 7 0 93.8 kHz
#define SX126X_GFSK_RX_BW_117_3 0x0B // 7 0 117.3 kHz
#define SX126X_GFSK_RX_BW_156_2 0x1A // 7 0 156.2 kHz
#define SX126X_GFSK_RX_BW_187_2 0x12 // 7 0 187.2 kHz
#define SX126X_GFSK_RX_BW_234_3 0x0A // 7 0 234.3 kHz
#define SX126X_GFSK_RX_BW_312_0 0x19 // 7 0 312.0 kHz
#define SX126X_GFSK_RX_BW_373_6 0x11 // 7 0 373.6 kHz
#define SX126X_GFSK_RX_BW_467_0 0x09 // 7 0 467.0 kHz
#define SX126X_LORA_BW_7_8 0x00 // 7 0 LoRa bandwidth: 7.8 kHz
#define SX126X_LORA_BW_10_4 0x08 // 7 0 10.4 kHz
#define SX126X_LORA_BW_15_6 0x01 // 7 0 15.6 kHz
#define SX126X_LORA_BW_20_8 0x09 // 7 0 20.8 kHz
#define SX126X_LORA_BW_31_25 0x02 // 7 0 31.25 kHz
#define SX126X_LORA_BW_41_7 0x0A // 7 0 41.7 kHz
#define SX126X_LORA_BW_62_5 0x03 // 7 0 62.5 kHz
#define SX126X_LORA_BW_125_0 0x04 // 7 0 125.0 kHz
#define SX126X_LORA_BW_250_0 0x05 // 7 0 250.0 kHz
#define SX126X_LORA_BW_500_0 0x06 // 7 0 500.0 kHz
#define SX126X_LORA_CR_4_5 0x01 // 7 0 LoRa coding rate: 4/5
#define SX126X_LORA_CR_4_6 0x02 // 7 0 4/6
#define SX126X_LORA_CR_4_7 0x03 // 7 0 4/7
#define SX126X_LORA_CR_4_8 0x04 // 7 0 4/8
#define SX126X_LORA_LOW_DATA_RATE_OPTIMIZE_OFF 0x00 // 7 0 LoRa low data rate optimization: disabled
#define SX126X_LORA_LOW_DATA_RATE_OPTIMIZE_ON 0x01 // 7 0 enabled
#define XTAL_FREQ (double)32000000
#define FREQ_DIV (double)pow(2.0, 25.0)
#define FREQ_STEP (double)(XTAL_FREQ / FREQ_DIV)
//SX126X_CMD_SET_PACKET_PARAMS
#define SX126X_GFSK_PREAMBLE_DETECT_OFF 0x00 // 7 0 GFSK minimum preamble length before reception starts: detector disabled
#define SX126X_GFSK_PREAMBLE_DETECT_8 0x04 // 7 0 8 bits
#define SX126X_GFSK_PREAMBLE_DETECT_16 0x05 // 7 0 16 bits
#define SX126X_GFSK_PREAMBLE_DETECT_24 0x06 // 7 0 24 bits
#define SX126X_GFSK_PREAMBLE_DETECT_32 0x07 // 7 0 32 bits
#define SX126X_GFSK_ADDRESS_FILT_OFF 0x00 // 7 0 GFSK address filtering: disabled
#define SX126X_GFSK_ADDRESS_FILT_NODE 0x01 // 7 0 node only
#define SX126X_GFSK_ADDRESS_FILT_NODE_BROADCAST 0x02 // 7 0 node and broadcast
#define SX126X_GFSK_PACKET_FIXED 0x00 // 7 0 GFSK packet type: fixed (payload length known in advance to both sides)
#define SX126X_GFSK_PACKET_VARIABLE 0x01 // 7 0 variable (payload length added to packet)
#define SX126X_GFSK_CRC_OFF 0x01 // 7 0 GFSK packet CRC: disabled
#define SX126X_GFSK_CRC_1_BYTE 0x00 // 7 0 1 byte
#define SX126X_GFSK_CRC_2_BYTE 0x02 // 7 0 2 byte
#define SX126X_GFSK_CRC_1_BYTE_INV 0x04 // 7 0 1 byte, inverted
#define SX126X_GFSK_CRC_2_BYTE_INV 0x06 // 7 0 2 byte, inverted
#define SX126X_GFSK_WHITENING_OFF 0x00 // 7 0 GFSK data whitening: disabled
#define SX126X_GFSK_WHITENING_ON 0x01 // 7 0 enabled
#define SX126X_LORA_HEADER_EXPLICIT 0x00 // 7 0 LoRa header mode: explicit
#define SX126X_LORA_HEADER_IMPLICIT 0x01 // 7 0 implicit
#define SX126X_LORA_CRC_OFF 0x00 // 7 0 LoRa CRC mode: disabled
#define SX126X_LORA_CRC_ON 0x01 // 7 0 enabled
#define SX126X_LORA_IQ_STANDARD 0x00 // 7 0 LoRa IQ setup: standard
#define SX126X_LORA_IQ_INVERTED 0x01 // 7 0 inverted
#define SX1262_SLEEPCFG_ColdStart_RTCDisable 0
#define SX1262_SLEEPCFG_ColdStart_RTCEnable 1
#define SX1262_SLEEPCFG_WarmStart_RTCDisable 4
#define SX1262_SLEEPCFG_WarmStart_RTCEnable 5
//SX126X_CMD_SET_CAD_PARAMS
#define SX126X_CAD_ON_1_SYMB 0x00 // 7 0 number of symbols used for CAD: 1
#define SX126X_CAD_ON_2_SYMB 0x01 // 7 0 2
#define SX126X_CAD_ON_4_SYMB 0x02 // 7 0 4
#define SX126X_CAD_ON_8_SYMB 0x03 // 7 0 8
#define SX126X_CAD_ON_16_SYMB 0x04 // 7 0 16
#define SX126X_CAD_GOTO_STDBY 0x00 // 7 0 after CAD is done, always go to STDBY_RC mode
#define SX126X_CAD_GOTO_RX 0x01 // 7 0 after CAD is done, go to Rx mode if activity is detected
#define SX1262_STANDBY_RC 0
#define SX1262_STANDBY_XOSC 1
//SX126X_CMD_GET_STATUS
#define SX126X_STATUS_MODE_STDBY_RC 0b00100000 // 6 4 current chip mode: STDBY_RC
#define SX126X_STATUS_MODE_STDBY_XOSC 0b00110000 // 6 4 STDBY_XOSC
#define SX126X_STATUS_MODE_FS 0b01000000 // 6 4 FS
#define SX126X_STATUS_MODE_RX 0b01010000 // 6 4 RX
#define SX126X_STATUS_MODE_TX 0b01100000 // 6 4 TX
#define SX126X_STATUS_DATA_AVAILABLE 0b00000100 // 3 1 command status: packet received and data can be retrieved
#define SX126X_STATUS_CMD_TIMEOUT 0b00000110 // 3 1 SPI command timed out
#define SX126X_STATUS_CMD_INVALID 0b00001000 // 3 1 invalid SPI command
#define SX126X_STATUS_CMD_FAILED 0b00001010 // 3 1 SPI command failed to execute
#define SX126X_STATUS_TX_DONE 0b00001100 // 3 1 packet transmission done
#define SX126X_STATUS_SPI_FAILED 0b11111111 // 7 0 SPI transaction failed
#define SX1262_TIMEOUT_ONCE 0
#define SX1262_TIMEOUT_RX_CONTINOUS 0xFFFFFF
//SX126X_CMD_GET_PACKET_STATUS
#define SX126X_GFSK_RX_STATUS_PREAMBLE_ERR 0b10000000 // 7 7 GFSK Rx status: preamble error
#define SX126X_GFSK_RX_STATUS_SYNC_ERR 0b01000000 // 6 6 sync word error
#define SX126X_GFSK_RX_STATUS_ADRS_ERR 0b00100000 // 5 5 address error
#define SX126X_GFSK_RX_STATUS_CRC_ERR 0b00010000 // 4 4 CRC error
#define SX126X_GFSK_RX_STATUS_LENGTH_ERR 0b00001000 // 3 3 length error
#define SX126X_GFSK_RX_STATUS_ABORT_ERR 0b00000100 // 2 2 abort error
#define SX126X_GFSK_RX_STATUS_PACKET_RECEIVED 0b00000010 // 2 2 packet received
#define SX126X_GFSK_RX_STATUS_PACKET_SENT 0b00000001 // 2 2 packet sent
#define SX1262_RECEIVE_MODE 0
#define SX1262_TRANSMIT_MODE 1
//SX126X_CMD_GET_DEVICE_ERRORS
#define SX126X_PA_RAMP_ERR 0b100000000 // 8 8 device errors: PA ramping failed
#define SX126X_PLL_LOCK_ERR 0b001000000 // 6 6 PLL failed to lock
#define SX126X_XOSC_START_ERR 0b000100000 // 5 5 crystal oscillator failed to start
#define SX126X_IMG_CALIB_ERR 0b000010000 // 4 4 image calibration failed
#define SX126X_ADC_CALIB_ERR 0b000001000 // 3 3 ADC calibration failed
#define SX126X_PLL_CALIB_ERR 0b000000100 // 2 2 PLL calibration failed
#define SX126X_RC13M_CALIB_ERR 0b000000010 // 1 1 RC13M calibration failed
#define SX126X_RC64K_CALIB_ERR 0b000000001 // 0 0 RC64K calibration failed
#define SX1262_STOP_TIMER_ON_PREAMBLE_DISABLE 0x00
#define SX1262_STOP_TIMER_ON_PREAMBLE_ENABLE 0x01
#define SX1262_REGULATOR_LDO_ONLY 0x00
#define SX1262_REGULATOR_DC_DC_LDO 0x01
// SX126X SPI register variables
//SX126X_REG_LORA_SYNC_WORD_MSB + LSB
#define SX126X_SYNC_WORD_PUBLIC 0x3444
#define SX126X_SYNC_WORD_PRIVATE 0x1424
#define SX1262_FALLBACK_FS 0x40
#define SX1262_FALLBACK_STANDBY_XOSC 0x30
#define SX1262_FALLBACK_RC 0x20
#define SX126x_TXMODE_ASYNC 0x01
#define SX126x_TXMODE_SYNC 0x02
#define SX126x_TXMODE_BACK2RX 0x04
#define SX1262_IRQ_TXDone (1 << 0)
#define SX1262_IRQ_RXDone (1 << 1)
#define SX1262_IRQ_PreambleDetected (1 << 2)
#define SX1262_IRQ_SyncWordValid (1 << 3)
#define SX1262_IRQ_HeaderValid (1 << 4)
#define SX1262_IRQ_HeaderError (1 << 5)
#define SX1262_IRQ_CRCError (1 << 6)
#define SX1262_IRQ_ChannelActivityDetectionDone (1 << 7)
#define SX1262_IRQ_ChannelActivityDetected (1 << 8)
#define SX1262_IRQ_Timeout (1 << 9)
#define SX1262_IRQ_ALL (SX1262_IRQ_TXDone | SX1262_IRQ_RXDone | SX1262_IRQ_PreambleDetected | SX1262_IRQ_SyncWordValid | SX1262_IRQ_HeaderValid | SX1262_IRQ_HeaderError | SX1262_IRQ_CRCError | SX1262_IRQ_ChannelActivityDetectionDone | SX1262_IRQ_ChannelActivityDetected | SX1262_IRQ_Timeout)
// Public function
void LoRaInit(void);
int16_t LoRaBegin(uint32_t frequencyInHz, int8_t txPowerInDbm, float tcxoVoltage, bool useRegulatorLDO);
void LoRaConfig(uint8_t spreadingFactor, uint8_t bandwidth, uint8_t codingRate, uint16_t preambleLength, uint8_t payloadLen, bool crcOn, bool invertIrq);
uint8_t LoRaReceive(uint8_t *pData, int16_t len);
bool LoRaSend(uint8_t *pData, int16_t len, uint8_t mode);
void LoRaDebugPrint(bool enable);
#define SX1262_TCXO_VOLTAGE16dV 0x00
#define SX1262_TCXO_VOLTAGE17dV 0x01
#define SX1262_TCXO_VOLTAGE18dV 0x02
#define SX1262_TCXO_VOLTAGE22dV 0x03
#define SX1262_TCXO_VOLTAGE24dV 0x04
#define SX1262_TCXO_VOLTAGE27dV 0x05
#define SX1262_TCXO_VOLTAGE30dV 0x06
#define SX1262_TCXO_VOLTAGE33dV 0x07
// Private function
void spi_write_byte(uint8_t* Dataout, size_t DataLength );
void spi_read_byte(uint8_t* Datain, uint8_t* Dataout, size_t DataLength );
uint8_t spi_transfer(uint8_t address);
#define SX1262_PACKET_TYPE_GFSK 0x00
#define SX1262_PACKET_TYPE_LORA 0x01
bool ReceiveMode(void);
void GetPacketStatus(int8_t *rssiPacket, int8_t *snrPacket);
void SetTxPower(int8_t txPowerInDbm);
#define SX1262_Ramp_10U (0x00)
#define SX1262_Ramp_20U (0x01)
#define SX1262_Ramp_40U (0x02)
#define SX1262_Ramp_80U (0x03)
#define SX1262_Ramp_200U (0x04)
#define SX1262_Ramp_800U (0x05)
#define SX1262_Ramp_1700U (0x06)
#define SX1262_Ramp_3400U (0x07)
void FixInvertedIQ(uint8_t iqConfig);
void SetDio3AsTcxoCtrl(float voltage, uint32_t delay);
void SetDio2AsRfSwitchCtrl(uint8_t enable);
void Reset(void);
void SetStandby(uint8_t mode);
void SetRfFrequency(uint32_t frequency);
void Calibrate(uint8_t calibParam);
void CalibrateImage(uint32_t frequency);
void SetRegulatorMode(uint8_t mode);
void SetBufferBaseAddress(uint8_t txBaseAddress, uint8_t rxBaseAddress);
void SetPowerConfig(int8_t power, uint8_t rampTime);
void SetOvercurrentProtection(float currentLimit);
void SetSyncWord(int16_t sync);
void SetPaConfig(uint8_t paDutyCycle, uint8_t hpMax, uint8_t deviceSel, uint8_t paLut);
void SetDioIrqParams(uint16_t irqMask, uint16_t dio1Mask, uint16_t dio2Mask, uint16_t dio3Mask);
void SetStopRxTimerOnPreambleDetect(bool enable);
void SetLoRaSymbNumTimeout(uint8_t SymbNum);
void SetPacketType(uint8_t packetType);
void SetModulationParams(uint8_t spreadingFactor, uint8_t bandwidth, uint8_t codingRate, uint8_t lowDataRateOptimize);
void SetCadParams(uint8_t cadSymbolNum, uint8_t cadDetPeak, uint8_t cadDetMin, uint8_t cadExitMode, uint32_t cadTimeout);
void SetCad();
uint8_t GetStatus(void);
uint16_t GetIrqStatus(void);
void ClearIrqStatus(uint16_t irq);
void SetRx(uint32_t timeout);
void SetTx(uint32_t timeoutInMs);
int GetPacketLost();
uint8_t GetRssiInst();
void GetRxBufferStatus(uint8_t *payloadLength, uint8_t *rxStartBufferPointer);
void Wakeup(void);
void WaitForIdleBegin(unsigned long timeout, char *text);
bool WaitForIdle(unsigned long timeout, char *text, bool stop);
uint8_t ReadBuffer(uint8_t *rxData, int16_t rxDataLen);
void WriteBuffer(uint8_t *txData, int16_t txDataLen);
void WriteRegister(uint16_t reg, uint8_t* data, uint8_t numBytes);
void ReadRegister(uint16_t reg, uint8_t* data, uint8_t numBytes);
void WriteCommand(uint8_t cmd, uint8_t* data, uint8_t numBytes);
uint8_t WriteCommand2(uint8_t cmd, uint8_t* data, uint8_t numBytes);
void ReadCommand(uint8_t cmd, uint8_t* data, uint8_t numBytes);
void SPItransfer(uint8_t cmd, bool write, uint8_t* dataOut, uint8_t* dataIn, uint8_t numBytes, bool waitForBusy);
void LoRaError(int error);
#define SX1262_HEADER_TYPE_VARIABLE 0x00
#define SX1262_HEADER_TYPE_FIXED 0x01
#define SX1262_CRC_OFF 0x00
#define SX1262_CRC_ON 0x01
#define SX1262_STANDARD_IQ 0x00
#define SX1262_INVERTED_IQ 0x01
#define SX1262_CAD_ON_1_SYMB 0x00
#define SX1262_CAD_ON_2_SYMB 0x01
#define SX1262_CAD_ON_4_SYMB 0x02
#define SX1262_CAD_ON_8_SYMB 0x03
#define SX1262_CAD_ON_16_SYMB 0x04
#define SX1262_CAD_ONLY 0x00
#define SX1262_CAD_RX 0x01
#define SX1262_ERROR_CALIBRATION_RC64K (1 << 0)
#define SX1262_ERROR_CALIBRATION_RC13M (1 << 1)
#define SX1262_ERROR_CALIBRATION_PLL (1 << 2)
#define SX1262_ERROR_CALIBRATION_ADC (1 << 3)
#define SX1262_ERROR_CALIBRATION_IMG (1 << 4)
#define SX1262_ERROR_CALIBRATION_XOSC (1 << 5)
#define SX1262_ERROR_PLL_LOCK (1 << 6)
#define SX1262_ERROR_PA_RAMP (1 << 8)
#define SX1262_CALIB_RC64K (1 << 0) // RC64k calibration enabled
#define SX1262_CALIB_RC13M (1 << 1) // RC13M calibration enabled
#define SX1262_CALIB_PLL (1 << 2) // PLL calibration enabled
#define SX1262_CALIB_ADC_PULSE (1 << 3) // ADC pulse calibration enabled
#define SX1262_CALIB_ADC_BULK_N (1 << 4) // ADC bulk N calibration enabled
#define SX1262_CALIB_ADC_BULK_P (1 << 5) // ADC bulk P calibration enabled
#define SX1262_CALIB_IMAGE (1 << 6) // Image calibration enabled
#define SX1262_CALIB_RESERVED (1 << 7) // Reserved bit (RFU)
// Combined mask for all calibration settings
#define SX1262_CALIBRATION_ALL (SX1262_CALIB_RC64K | SX1262_CALIB_RC13M | \
SX1262_CALIB_PLL | SX1262_CALIB_ADC_PULSE | \
SX1262_CALIB_ADC_BULK_N | SX1262_CALIB_ADC_BULK_P | \
SX1262_CALIB_IMAGE)
// GFSK Pulse Shape
#define SX1262_GFSK_NO_FILTER (0x00)
#define SX1262_GFSK_BT_0_3 (0x08)
#define SX1262_GFSK_BT_0_5 (0x09)
#define SX1262_GFSK_BT_0_7 (0x0A)
#define SX1262_GFSK_BT_1_0 (0x0B)
// GFSK Bandwidth
#define SX1262_GFSK_RX_BW_4800 (0x1F)
#define SX1262_GFSK_RX_BW_5800 (0x17)
#define SX1262_GFSK_RX_BW_7300 (0x0F)
#define SX1262_GFSK_RX_BW_9700 (0x1E)
#define SX1262_GFSK_RX_BW_11700 (0x16)
#define SX1262_GFSK_RX_BW_14600 (0x0E)
#define SX1262_GFSK_RX_BW_19500 (0x1D)
#define SX1262_GFSK_RX_BW_23400 (0x15)
#define SX1262_GFSK_RX_BW_29300 (0x0D)
#define SX1262_GFSK_RX_BW_39000 (0x1C)
#define SX1262_GFSK_RX_BW_46900 (0x14)
#define SX1262_GFSK_RX_BW_58600 (0x0C)
#define SX1262_GFSK_RX_BW_78200 (0x1B)
#define SX1262_GFSK_RX_BW_93800 (0x13)
#define SX1262_GFSK_RX_BW_117300 (0x0B)
#define SX1262_GFSK_RX_BW_156200 (0x1A)
#define SX1262_GFSK_RX_BW_187200 (0x12)
#define SX1262_GFSK_RX_BW_234300 (0x0A)
#define SX1262_GFSK_RX_BW_312000 (0x19)
#define SX1262_GFSK_RX_BW_373600 (0x11)
#define SX1262_GFSK_RX_BW_467000 (0x09)
// LoRa Spreading Factor (SF)
#define SX1262_LORA_SF5 (0x05)
#define SX1262_LORA_SF6 (0x06)
#define SX1262_LORA_SF7 (0x07)
#define SX1262_LORA_SF8 (0x08)
#define SX1262_LORA_SF9 (0x09)
#define SX1262_LORA_SF10 (0x0A)
#define SX1262_LORA_SF11 (0x0B)
#define SX1262_LORA_SF12 (0x0C)
// LoRa Bandwidth (BW)
#define SX1262_LORA_BW_7 (0x00) // 7.81 kHz
#define SX1262_LORA_BW_10 (0x08) // 10.42 kHz
#define SX1262_LORA_BW_15 (0x01) // 15.63 kHz
#define SX1262_LORA_BW_20 (0x09) // 20.83 kHz
#define SX1262_LORA_BW_31 (0x02) // 31.25 kHz
#define SX1262_LORA_BW_41 (0x0A) // 41.67 kHz
#define SX1262_LORA_BW_62 (0x03) // 62.50 kHz
#define SX1262_LORA_BW_125 (0x04) // 125 kHz
#define SX1262_LORA_BW_250 (0x05) // 250 kHz
#define SX1262_LORA_BW_500 (0x06) // 500 kHz
// LoRa Coding Rate (CR)
#define SX1262_LORA_CR_4_5 (0x01)
#define SX1262_LORA_CR_4_6 (0x02)
#define SX1262_LORA_CR_4_7 (0x03)
#define SX1262_LORA_CR_4_8 (0x04)
#define SX1262_LORA_SYNC_WORD_MSB (0x0740)
#define SX1262_LORA_SYNC_WORD_LSB (0x0741)
void sx1262_setPacketType(uint8_t packetType);
void sx1262_init();
void sx1262_reset();
void sx1262_wait_for_busy();
void sx1262_write_command(uint8_t cmd, uint8_t *data, uint8_t len);
void sx1262_read_command(uint8_t cmd, uint8_t *tx_payload_buffer, uint8_t tx_payload_len, uint8_t *rx_buffer, uint8_t len);
sx1262_status_t sx1262_get_status();
void sx1262_setSleep(uint8_t sleepCFG);
void sx1262_setStandby(uint8_t standbyConf);
void sx1262_setFrequencySynthesis();
void sx1262_setMode(uint8_t mode, uint32_t timeout);
void sx1262_stopTimerOnPreamble(uint8_t enable);
void sx1262_setRxDutyCycle(uint32_t rxPeriod, uint32_t sleepPeriod);
void sx1262_setChannelActivityDetection(void);
void sx1262_setTxContinuousWave(void);
void sx1262_setTxInfinitePreamble(void);
void sx1262_setRegulatorMode(uint8_t mode);
void sx1262_calibrate(uint8_t calibParam);
void sx1262_calibrateImage(uint8_t freq1, uint8_t freq2);
void sx1262_setRxTXFallbackMode(uint8_t fallbackMode);
void sx1262_writeRegister(uint16_t address, const uint8_t *data, size_t length);
void sx1262_readRegister(uint16_t address, uint8_t *data, size_t length);
void sx1262_writeBuffer(uint8_t offset, const uint8_t *data, size_t length);
void sx1262_readBuffer(uint8_t offset, uint8_t *data, size_t length);
void sx1262_setDioIrqParams(uint16_t irqMask, uint16_t dio1Mask, uint16_t dio2Mask, uint16_t dio3Mask);
uint16_t sx1262_getIrqStatus(void);
void sx1262_clearIrqStatus(uint16_t clearIrqParam);
void sx1262_setDIO2AsRfSwitchCtrl(uint8_t enable);
void sx1262_setDIO3AsTCXOCtrl(uint8_t tcxoVoltage, uint32_t delay);
void sx1262_setFrequency(uint32_t frequency);
uint8_t sx1262_getPacketType();
void sx1262_configure_tx_power(uint8_t paDutyCycle, uint8_t hpMax, uint8_t paLut, int8_t power, uint8_t rampTime);
void sx1262_setLoRaPacketParams(sx1262_LoRaPacketParams_t *params);
void sx1262_setCadParams(uint8_t cadSymbolNum, uint8_t cadDetPeak, uint8_t cadDetMin, uint8_t cadExitMode, uint32_t cadTimeout);
void sx1262_setBufferBaseAddress(uint8_t txBaseAddr, uint8_t rxBaseAddr);
void sx1262_setLoRaSymbNumTimeout(uint8_t symbNum);
void sx1262_getStatus(uint8_t *status);
void sx1262_getRxBufferStatus(uint8_t *payloadLengthRx, uint8_t *rxStartBufferPointer);
void sx1262_getPacketStatus(uint8_t *rssi, uint8_t *snr, uint8_t *signalRssi);
uint8_t sx1262_getRssiInst(uint8_t *rssiInst);
void sx1262_getStats(uint16_t *pktReceived, uint16_t *pktCrcError, uint16_t *pktHeaderErr);
void sx1262_resetStats(void);
uint16_t sx1262_getDeviceErrors();
void sx1262_clearDeviceErrors(void);
void sx1262_setLoRaModulationParams(const sx1262_LoRaModulationParams_t *params);
void sx1262_setGFSKModulationParams(const sx1262_GFSKModulationParams_t *params);
#endif

2
main/main.c
View File

@@ -64,6 +64,8 @@ void app_main(void)
mcp23018_init();
void servoControllerInit();
/* create task pinned to the app core */
xTaskCreate(
i2c_sensors_task,