get mostly one directional comms working
This commit is contained in:
271
main/radio.c
Normal file
271
main/radio.c
Normal file
@@ -0,0 +1,271 @@
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "sx1262.h"
|
||||
#include "radio.h"
|
||||
#include "esp_log.h"
|
||||
#include "string.h"
|
||||
#include "esp_timer.h"
|
||||
#include "packets.h"
|
||||
#include "esp_rom_crc.h"
|
||||
|
||||
|
||||
#define TAG "LoRaGS"
|
||||
|
||||
uint32_t uplinkPacketIndex = 0;
|
||||
|
||||
TelemetryPacket telemetryPacket;
|
||||
uint8_t packetReadiness = 0;
|
||||
|
||||
void send_ack(uint32_t packetIndex, uint32_t crc)
|
||||
{
|
||||
ACKPacket ack;
|
||||
ack.packetIndex = packetIndex;
|
||||
ack.crc32Checksum = crc;
|
||||
|
||||
UplinkPacket uplinkHeader = {0};
|
||||
memcpy(uplinkHeader.syncPhrase, UplinkSync, sizeof(UplinkSync));
|
||||
uplinkHeader.packetIndex = uplinkPacketIndex++;
|
||||
uplinkHeader.packetType = UplinkPacketType_ACK;
|
||||
|
||||
uint8_t txBuf[256] = {0};
|
||||
int offset = 0;
|
||||
|
||||
memcpy(txBuf + offset, &uplinkHeader, sizeof(uplinkHeader));
|
||||
offset += sizeof(uplinkHeader);
|
||||
|
||||
memcpy(txBuf + offset, &ack, sizeof(ack));
|
||||
offset += sizeof(ack);
|
||||
|
||||
ESP_LOGI(TAG, "Sending ACK for packet %lu...", packetIndex);
|
||||
|
||||
if (!LoRaSend(txBuf, offset, SX126x_TXMODE_SYNC))
|
||||
{
|
||||
ESP_LOGE(TAG, "ACK Send Failed");
|
||||
}
|
||||
}
|
||||
|
||||
#define MAG_SCALE (4912.0f / 32760.0f)
|
||||
|
||||
void printTelemetryPacket(const TelemetryPacket *packet)
|
||||
{
|
||||
ESP_LOGI(TAG, "Telemetry Packet:");
|
||||
|
||||
float accel_f[3], gyro_f[3], temp_f, magnet_f[3];
|
||||
|
||||
accel_f[0] = packet->accelerationX / 16384.0; // Accel X in g
|
||||
accel_f[1] = packet->accelerationY / 16384.0; // Accel Y in g
|
||||
accel_f[2] = packet->accelerationZ / 16384.0; // Accel Z in g
|
||||
|
||||
gyro_f[0] = packet->gyroX / 131.0; // Gyro X in deg/s
|
||||
gyro_f[1] = packet->gyroY / 131.0; // Gyro Y in deg/s
|
||||
gyro_f[2] = packet->gyroZ / 131.0; // Gyro Z in deg/s
|
||||
|
||||
magnet_f[0] = packet->magnetX * MAG_SCALE; // Gyro X in deg/s
|
||||
magnet_f[1] = packet->magnetY * MAG_SCALE; // Gyro Y in deg/s
|
||||
magnet_f[2] = packet->magnetZ * MAG_SCALE; // Gyro Z in deg/s
|
||||
|
||||
temp_f = (packet->accelerometer_temperature / 333.87) + 21.0; // Temperature in °C
|
||||
|
||||
// MPU Data
|
||||
ESP_LOGI(TAG, " MPU:");
|
||||
ESP_LOGI(TAG, " Acceleration [X: %d, Y: %d, Z: %d]", packet->accelerationX, packet->accelerationY, packet->accelerationZ);
|
||||
ESP_LOGI(TAG, " Gyroscope [X: %d, Y: %d, Z: %d]", packet->gyroX, packet->gyroY, packet->gyroZ);
|
||||
ESP_LOGI(TAG, " Magnetometer [X: %d, Y: %d, Z: %d]", packet->magnetX, packet->magnetY, packet->magnetZ);
|
||||
ESP_LOGI(TAG, " Accelerometer Temp: %d", packet->accelerometer_temperature);
|
||||
|
||||
ESP_LOGI(TAG, " MPU (Processed Readings):");
|
||||
|
||||
ESP_LOGI(TAG, " Acceleration [X: %.3f g, Y: %.3f g, Z: %.3f g]", accel_f[0], accel_f[1], accel_f[2]);
|
||||
ESP_LOGI(TAG, " Gyroscope [X: %.3f deg/s, Y: %.3f deg/s, Z: %.3f deg/s]", gyro_f[0], gyro_f[1], gyro_f[2]);
|
||||
ESP_LOGI(TAG, " Magnetometer [X: %.3f uT, Y: %.3f uT, Z: %.3f uT]", magnet_f[0], magnet_f[1], magnet_f[2]);
|
||||
ESP_LOGI(TAG, " Accelerometer Temp: %f °C", temp_f);
|
||||
|
||||
// CCS Data
|
||||
ESP_LOGI(TAG, " CCS:");
|
||||
ESP_LOGI(TAG, " eCO2: %u ppm", packet->eCO2);
|
||||
ESP_LOGI(TAG, " TVOC: %u ppb", packet->tvoc);
|
||||
ESP_LOGI(TAG, " Current CCS: %u", packet->currentCCS);
|
||||
ESP_LOGI(TAG, " Raw CCS Data: %u", packet->rawCCSData);
|
||||
|
||||
float miliVolts = packet->volts * 1.25;
|
||||
float miliAmps = packet->current * 1.25;
|
||||
float power = packet->power * 10;
|
||||
|
||||
// INA Data
|
||||
ESP_LOGI(TAG, " INA:");
|
||||
ESP_LOGI(TAG, " Voltage: %f mV", miliVolts);
|
||||
ESP_LOGI(TAG, " Current: %f mA", miliAmps);
|
||||
ESP_LOGI(TAG, " Power: %f mW", power);
|
||||
|
||||
// BME Data
|
||||
ESP_LOGI(TAG, " BME:");
|
||||
ESP_LOGI(TAG, " Temperature: %.2f °C", packet->temperature / 100.0f);
|
||||
ESP_LOGI(TAG, " Humidity: %.2f %%", packet->humidity / 100.0f);
|
||||
ESP_LOGI(TAG, " Pressure: %.2f hPa", packet->pressure / 100.0f);
|
||||
ESP_LOGI(TAG, " Gas Resistance: %u Ohms", packet->gas);
|
||||
ESP_LOGI(TAG, " Gas Valid: %s", packet->gas_valid ? "Yes" : "No");
|
||||
ESP_LOGI(TAG, " Heater Stable: %s", packet->heater_stable ? "Yes" : "No");
|
||||
ESP_LOGI(TAG, " Gas Range: %u", packet->gas_range);
|
||||
ESP_LOGI(TAG, " Gas Index: %u", packet->gas_index);
|
||||
|
||||
// BME Processed Data
|
||||
ESP_LOGI(TAG, " BME (Processed / Compensated Readings):");
|
||||
ESP_LOGI(TAG, " Air Temperature: %.2f °C", packet->air_temperature);
|
||||
ESP_LOGI(TAG, " Relative Humidity: %.2f %%", packet->relative_humidity);
|
||||
ESP_LOGI(TAG, " Barometric Pressure: %.2f hPa", packet->barometric_pressure);
|
||||
ESP_LOGI(TAG, " Gas Resistance: %.2f Ohms", packet->gas_resistance);
|
||||
ESP_LOGI(TAG, " IAQ Score: %u", packet->iaq_score);
|
||||
ESP_LOGI(TAG, " Temperature Score: %.2f", packet->temperature_score);
|
||||
ESP_LOGI(TAG, " Humidity Score: %.2f", packet->humidity_score);
|
||||
ESP_LOGI(TAG, " Gas Score: %.2f", packet->gas_score);
|
||||
|
||||
// GPS Data
|
||||
ESP_LOGI(TAG, " GPS:");
|
||||
ESP_LOGI(TAG, " Time (seconds): %u", packet->time_seconds);
|
||||
ESP_LOGI(TAG, " Latitude: %.4f°", packet->latitude_centi_degrees / 10000.0f);
|
||||
ESP_LOGI(TAG, " Longitude: %.4f°", packet->longitude_centi_degrees / 10000.0f);
|
||||
ESP_LOGI(TAG, " Altitude: %.2f m", packet->altitude_centi_meters / 100.0f);
|
||||
ESP_LOGI(TAG, " Fix Quality: %u", packet->fix_quality);
|
||||
ESP_LOGI(TAG, " Satellites: %u", packet->num_satellites);
|
||||
ESP_LOGI(TAG, " Date (YYDDMM): %06u", packet->date_yyddmm);
|
||||
ESP_LOGI(TAG, " Speed: %.2f knots", packet->speed_centi_knots / 100.0f);
|
||||
|
||||
ESP_LOGI(TAG, " GPS Prediction:");
|
||||
ESP_LOGI(TAG, " Predicted Latitude: %.4f°", packet->predicted_latitude_centi_degrees / 10000.0f);
|
||||
ESP_LOGI(TAG, " Predicted Longitude: %.4f°", packet->predicted_longitude_centi_degrees / 10000.0f);
|
||||
ESP_LOGI(TAG, " Predicted Altitude: %.2f m", packet->predicted_altitude_centi_meters / 100.0f);
|
||||
|
||||
// ADC Data
|
||||
ESP_LOGI(TAG, " ADC Sensors:");
|
||||
ESP_LOGI(TAG, " NH3: %d", packet->NH3);
|
||||
ESP_LOGI(TAG, " CO: %d", packet->CO);
|
||||
ESP_LOGI(TAG, " NO2: %d", packet->NO2);
|
||||
ESP_LOGI(TAG, " UVC: %d", packet->UVC);
|
||||
|
||||
// Servo Data
|
||||
ESP_LOGI(TAG, " Servos:");
|
||||
ESP_LOGI(TAG, " Servo A: Current = %d, Target = %d", packet->currentServoA, packet->targetServoA);
|
||||
ESP_LOGI(TAG, " Servo B: Current = %d, Target = %d", packet->currentServoB, packet->targetServoB);
|
||||
}
|
||||
|
||||
void handle_downlink_packet(uint8_t *buf, uint8_t rxLen)
|
||||
{
|
||||
if (rxLen < sizeof(DownBoundPacket))
|
||||
{
|
||||
ESP_LOGW(TAG, "Received packet too small to be valid.");
|
||||
return;
|
||||
}
|
||||
|
||||
DownBoundPacket down;
|
||||
memcpy(&down, buf, sizeof(DownBoundPacket));
|
||||
|
||||
ESP_LOGI(TAG, "Downlink packet index: %lu, type: %u", down.packetIndex, down.packetType);
|
||||
|
||||
// Verify sync phrase
|
||||
if (strncmp(down.syncPhrase, DownlinkSync, strlen(DownlinkSync)) != 0)
|
||||
{
|
||||
ESP_LOGW(TAG, "Invalid sync phrase, ignoring packet.");
|
||||
return;
|
||||
}
|
||||
|
||||
uint8_t *payload = buf + sizeof(DownBoundPacket);
|
||||
uint32_t payloadSize = rxLen - sizeof(DownBoundPacket);
|
||||
|
||||
switch (down.packetType)
|
||||
{
|
||||
case DownlinkPacketType_Telemetry:
|
||||
if (payloadSize >= sizeof(TelemetryPacket))
|
||||
{
|
||||
memcpy(&telemetryPacket, payload, sizeof(TelemetryPacket));
|
||||
ESP_LOGI(TAG, "Telemetry packet received!");
|
||||
printTelemetryPacket(&telemetryPacket);
|
||||
// Here you would actually do something with the telemetry, like save it or display it
|
||||
}
|
||||
else
|
||||
{
|
||||
ESP_LOGW(TAG, "Telemetry packet too small (%u bytes)", payloadSize);
|
||||
}
|
||||
break;
|
||||
case DownlinkPacketType_Ping:
|
||||
ESP_LOGI(TAG, "Ping packet received!");
|
||||
// Optionally respond with pong here
|
||||
break;
|
||||
case DownlinkPacketType_ACK:
|
||||
ESP_LOGI(TAG, "ACK packet received!");
|
||||
break;
|
||||
default:
|
||||
ESP_LOGW(TAG, "Unknown packet type: %u", down.packetType);
|
||||
break;
|
||||
}
|
||||
|
||||
uint32_t crc = esp_rom_crc32_le(0, &(buf[0]) + sizeof(DownBoundPacket), payloadSize);
|
||||
|
||||
|
||||
send_ack(down.packetIndex, crc);
|
||||
}
|
||||
|
||||
void lora_comms_task(void *pvParameters)
|
||||
{
|
||||
const int64_t interval_us = 100000; // 100 ms
|
||||
int64_t start_time, end_time, elapsed;
|
||||
|
||||
LoRaInit();
|
||||
int8_t txPowerInDbm = 20;
|
||||
uint32_t frequencyInHz = 869525000;
|
||||
|
||||
ESP_LOGW(TAG, "Enable TCXO");
|
||||
float tcxoVoltage = 2.2;
|
||||
bool useRegulatorLDO = true;
|
||||
|
||||
LoRaDebugPrint(false);
|
||||
if (LoRaBegin(frequencyInHz, txPowerInDbm, tcxoVoltage, useRegulatorLDO) != 0)
|
||||
{
|
||||
ESP_LOGE(TAG, "Does not recognize the module");
|
||||
while (1)
|
||||
{
|
||||
vTaskDelay(1);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t spreadingFactor = 6;
|
||||
uint8_t bandwidth = SX126X_LORA_BW_250_0;
|
||||
uint8_t codingRate = SX126X_LORA_CR_4_8;
|
||||
uint16_t preambleLength = 8;
|
||||
bool crcOn = true;
|
||||
bool invertIrq = false;
|
||||
|
||||
LoRaConfig(spreadingFactor, bandwidth, codingRate, preambleLength, 0, crcOn, invertIrq);
|
||||
|
||||
uint8_t bufIn[256];
|
||||
|
||||
while (1)
|
||||
{
|
||||
start_time = esp_timer_get_time();
|
||||
|
||||
uint8_t rxLen = LoRaReceive(bufIn, sizeof(bufIn));
|
||||
if (rxLen > 0)
|
||||
{
|
||||
ESP_LOGI(TAG, "%d byte packet received", rxLen);
|
||||
|
||||
int8_t rssi, snr;
|
||||
GetPacketStatus(&rssi, &snr);
|
||||
ESP_LOGI(TAG, "rssi=%d[dBm] snr=%d[dB]", rssi, snr);
|
||||
|
||||
handle_downlink_packet(bufIn, rxLen);
|
||||
}
|
||||
|
||||
int lost = GetPacketLost();
|
||||
if (lost != 0)
|
||||
{
|
||||
ESP_LOGW(TAG, "%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));
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user