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b54a9fc7146c580b72de14ea214f51a4b622cbb2
FoxMesh/src/lora.cpp
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/**
* @file lora.cpp
* @brief Thread-safe asynchronous Semtech SX1276 LoRa transceiver driver implementation
* @author OM Tom (OE3TKT)
*
* @license SPDX-License-Identifier: MIT
* @copyright Copyright (c) 2026 OM Tom (OE3TKT)
* For the full license terms, see the LICENSE file in the project root.
*/
#include "lora.hpp"
#include "esp_log.h"
#include "config.hpp"
#include "display.hpp"
#include <cstring>
const char* LoraController::TAG = "LORA";
/**
* @brief Constructor initializing core FreeRTOS synchronization primitives.
*/
LoraController::LoraController() {
m_isrSemaphore = xSemaphoreCreateBinary();
m_stateMutex = xSemaphoreCreateMutex();
if (m_isrSemaphore == nullptr || m_stateMutex == nullptr) {
ESP_LOGE(TAG, "Fatal: Failed to allocate LoRa synchronization primitives.");
return;
}
}
LoraController::~LoraController() {
if (m_spiHandle != nullptr) {
spi_bus_remove_device(m_spiHandle);
}
if (m_isrSemaphore != nullptr) {
vSemaphoreDelete(m_isrSemaphore);
}
if (m_stateMutex != nullptr) {
vSemaphoreDelete(m_stateMutex);
}
}
/**
* @brief Low-level driver method to extract a byte value from a transceiver configuration register.
* @param address The hardware register memory space tracking coordinate byte.
* @return The data register value content read back via the SPI transactions stack.
*/
uint8_t LoraController::readRegister(uint8_t address) {
if (m_spiHandle == nullptr) return 0;
uint8_t txData[2] = { static_cast<uint8_t>(address & 0x7FU), 0x00U };
uint8_t rxData[2] = { 0x00U, 0x00U };
spi_transaction_t trans = {};
trans.length = 16;
trans.tx_buffer = txData;
trans.rx_buffer = rxData;
if (spi_device_transmit(m_spiHandle, &trans) != ESP_OK) {
return 0;
}
return rxData[1];
}
/**
* @brief Low-level driver method to override an option byte parameter inside a transceiver hardware register.
* @param address The hardware register memory space tracking coordinate byte.
* @param value The option layout bits context to be committed directly into the transceiver.
*/
void LoraController::writeRegister(uint8_t address, uint8_t value) {
if (m_spiHandle == nullptr) return;
uint8_t txData[2] = { static_cast<uint8_t>(address | 0x80U), value };
spi_transaction_t trans = {};
trans.length = 16;
trans.tx_buffer = txData;
spi_device_transmit(m_spiHandle, &trans);
}
// Suppress the ISO C++ braced-groups macro expansion warning for the FreeRTOS portYIELD macro
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpedantic"
void IRAM_ATTR LoraController::gpioIsrHandler(void* arg) {
auto* semaphore = static_cast<SemaphoreHandle_t>(arg);
if (semaphore != nullptr) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(semaphore, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken == pdTRUE) {
portYIELD_FROM_ISR();
}
}
}
#pragma GCC diagnostic pop
/**
* @brief Orchestrates base interface configurations, system pin assignments, and checks silicon identities.
* @return ESP_OK upon passing functional signature checks, alternative error frameworks upon link drops.
*/
esp_err_t LoraController::initializeHardware() {
esp_err_t err;
spi_device_interface_config_t devcfg = {};
devcfg.clock_speed_hz = 9000000;
devcfg.mode = 0;
devcfg.spics_io_num = Config::LORA_CS_PIN;
devcfg.queue_size = 7;
err = spi_bus_add_device(SPI3_HOST, &devcfg, &m_spiHandle);
if (err != ESP_OK) {
ESP_LOGE(TAG, "Failed to attach device handle to SPI3 host: %s", esp_err_to_name(err));
return err;
}
gpio_reset_pin(Config::LORA_RST_PIN);
gpio_set_direction(Config::LORA_RST_PIN, GPIO_MODE_OUTPUT);
gpio_reset_pin(Config::LORA_IRQ_PIN);
gpio_set_direction(Config::LORA_IRQ_PIN, GPIO_MODE_INPUT);
gpio_set_pull_mode(Config::LORA_IRQ_PIN, GPIO_PULLDOWN_ONLY);
gpio_set_level(Config::LORA_RST_PIN, 0);
vTaskDelay(pdMS_TO_TICKS(20));
gpio_set_level(Config::LORA_RST_PIN, 1);
vTaskDelay(pdMS_TO_TICKS(50));
uint8_t version = readRegister(0x42);
if (version != 0x12) {
ESP_LOGE(TAG, "Transceiver handshake failed! Invalid signature: 0x%02X", version);
return ESP_ERR_INVALID_VERSION;
}
ESP_LOGI(TAG, "SX1276 Handshake success. Silicon version confirmed: 0x12");
// Invoke the modular modem configuration
applyModemConfig();
err = gpio_install_isr_service(0);
if (err != ESP_OK && err != ESP_ERR_INVALID_STATE) {
return err;
}
// Configure interrupt triggering on the rising edge (PosEdge)
err = gpio_set_intr_type(Config::LORA_IRQ_PIN, GPIO_INTR_POSEDGE);
if (err != ESP_OK) {
ESP_LOGE(TAG, "Failed to set GPIO interrupt type: %s", esp_err_to_name(err));
return err;
}
// Bind the static ISR handler to the physical pin context
err = gpio_isr_handler_add(Config::LORA_IRQ_PIN, LoraController::gpioIsrHandler, m_isrSemaphore);
if (err != ESP_OK) {
ESP_LOGE(TAG, "Failed to register GPIO ISR handler: %s", esp_err_to_name(err));
return err;
}
// MARK STATE MATRIX READY (Thread-Safe Status Update)
// We use a safe timeout here. If the mutex is permanently blocked during boot,
// we must escalate this as a system fault instead of returning ESP_OK.
if (xSemaphoreTake(m_stateMutex, pdMS_TO_TICKS(100)) == pdTRUE) {
m_state.isInitialized = true;
m_state.frequencyHz = Config::LORA_DEFAULT_FREQ_HZ;
xSemaphoreGive(m_stateMutex);
} else {
ESP_LOGE(TAG, "Fatal: State mutex acquisition timed out during hardware registration.");
return ESP_ERR_TIMEOUT; // Escalate the mutex block as a hard boot failure
}
ESP_LOGI(TAG, "SX1276 LoRa transceiver attached successfully via SPI (Version: 0x%02X).", version);
return ESP_OK;
}
void LoraController::setModeReceiver() {
// DIO0 auf RxDone mappen (Bit 7-6 auf 00)
writeRegister(0x40, 0x00U);
// In den kontinuierlichen Empfangsmodus schalten
writeRegister(0x01, 0x85U);
ESP_LOGD(TAG, "Radio state changed to RXCONTINUOUS");
}
/**
* @brief Applies the modem profile, RF carrier frequency, and network sync word.
* Note: The transceiver must transition through SLEEP mode to apply these alterations safely.
*/
void LoraController::applyModemConfig() {
// Force Sleep + LoRa mode to unlock configuration registers
writeRegister(0x01, 0x80U);
vTaskDelay(pdMS_TO_TICKS(10));
// Apply RF carrier center frequency (e.g., MeshCom 433.175 MHz)
writeRegister(0x06, Config::LORA_FRF_MSB);
writeRegister(0x07, Config::LORA_FRF_MID);
writeRegister(0x08, Config::LORA_FRF_LSB);
// just write the m_state frequency....
m_state.frequencyHz = Config::LORA_DEFAULT_FREQ_HZ; // @TODO: remove this line after implementation of the doubly linked list
// Configure modem bandwidth, spreading factor, and coding rate
writeRegister(0x1D, Config::LORA_MODEM_CONFIG_1);
writeRegister(0x1E, Config::LORA_MODEM_CONFIG_2);
// Set the network sync word (0x34 for open/public amateur networks like MeshCom)
writeRegister(0x39, Config::LORA_SYNC_WORD);
// Set the preamble length (0x0C instead of 0x08 for more stability, see docs/lora/device-settings.md)
writeRegister(0x20, Config::LORA_PREAMBLE_LENGTH_MSB);
writeRegister(0x21, Config::LORA_PREAMBLE_LENGTH_LSB);
// Transition to STANDBY to allow the internal PLL to lock and stabilize
writeRegister(0x01, 0x81U);
vTaskDelay(pdMS_TO_TICKS(5));
ESP_LOGI(TAG, "Radio profile applied: 433.175 MHz | SF11 | BW 250kHz | SyncWord 0x34");
}
#ifndef MATH_COMPARE
#define MATH_COMPARE 0
#endif
void LoraController::setFrequency(uint32_t freq_hz) {
if (m_spiHandle == nullptr) return;
if (xSemaphoreTake(m_stateMutex, portMAX_DELAY) == pdTRUE) {
m_state.frequencyHz = freq_hz;
// 1. Fetch current mode and shift transceiver into Standby (0x01)
// Changing RF carrier registers is strictly prohibited while actively radiating or sampling
const uint8_t previousMode = readRegister(0x01); // RegOpMode
writeRegister(0x01, static_cast<uint8_t>((previousMode & 0xF8U) | 0x01U));
vTaskDelay(pdMS_TO_TICKS(2));
// 2. High-speed fractional frequency calculation
// Formula optimized from: (freq_hz * 2^19) / 32,000,000 b/c 32,000,000 can be seen as 2^11 * 5^6:
// we see freq_hz * 2^(19-11)/5^6 which is: freq_hz * 2^8 / 15625, i.e.
// reduced to exact fraction: 256 / 15,625
// or even more using shift operation, we can switch on a compare of all three methods with #MATH_COMPARE 1
#if (MATH_COMPARE == 1)
// =================================================================
// BENCHMARK MODE (Runs all 3 variants and measures CPU cycles)
// =================================================================
uint32_t start_cycles = esp_cpu_get_cycle_count();
[[maybe_unused]] volatile uint32_t frf_long = static_cast<uint32_t>((static_cast<uint64_t>(freq_hz) << 19) / 32000000ULL);
uint32_t cycles_long = esp_cpu_get_cycle_count() - start_cycles;
start_cycles = esp_cpu_get_cycle_count();
[[maybe_unused]] volatile uint32_t frf_64bit = static_cast<uint32_t>((static_cast<uint64_t>(freq_hz) * 256ULL) / 15625ULL);
uint32_t cycles_64bit = esp_cpu_get_cycle_count() - start_cycles;
start_cycles = esp_cpu_get_cycle_count();
volatile uint32_t frf_shift = static_cast<uint32_t>((static_cast<uint64_t>(freq_hz) * 1125899907ULL) >> 36);
uint32_t cycles_shift = esp_cpu_get_cycle_count() - start_cycles;
printf("[MATH_COMPARE] Freq: %lu Hz -> long 64bit: %lu cycles | 64bit: %lu cycles | Shift: %lu cycles\n",
freq_hz, cycles_long, cycles_64bit, cycles_shift);
const uint32_t frf = frf_shift; // Fallback to the safe bit-shift variant
#else
// =================================================================
// PRODUCTION MODE (Highly optimized, zero benchmark overhead)
// =================================================================
const uint32_t frf = static_cast<uint32_t>((static_cast<uint64_t>(freq_hz) * 1125899907ULL) >> 36);
#endif
// 3. Shift the 24-bit frequency tracking token across the three consecutive hardware registers
writeRegister(0x06, static_cast<uint8_t>((frf >> 16) & 0xFFU)); // RegFrfMsb
writeRegister(0x07, static_cast<uint8_t>((frf >> 8) & 0xFFU)); // RegFrfMid
writeRegister(0x08, static_cast<uint8_t>(frf & 0xFFU)); // RegFrfLsb
// 4. Restore previous operational transceiver path configuration
writeRegister(0x01, previousMode);
xSemaphoreGive(m_stateMutex);
// 5. Force state synchronization and PLL locking verification
setModeReceiver();
// High-priority diagnosis logging bypasses CLI lock buffers uncensored
printf("\r\n[LoRa HW] Frequency successfully shifted to %lu Hz (FRF Word: 0x%06X)\r\n",
(unsigned long)freq_hz, (unsigned int)(frf & 0xFFFFFFU));
fflush(stdout);
}
}
void LoraController::setBandwidth(uint32_t bw_khz) {
if (m_spiHandle == nullptr) return;
uint8_t bw_setting = 0x00U;
bool valid = false;
if (bw_khz == 62) { bw_setting = 0x60U; valid = true; }
if (bw_khz == 125) { bw_setting = 0x70U; valid = true; }
if (bw_khz == 250) { bw_setting = 0x80U; valid = true; }
if (bw_khz == 500) { bw_setting = 0x90U; valid = true; }
if (!valid) return;
writeRegister(0x01, 0x81U);
vTaskDelay(pdMS_TO_TICKS(5));
uint8_t current_config = readRegister(0x1D);
current_config = static_cast<uint8_t>(current_config & 0x0FU);
current_config = static_cast<uint8_t>(current_config | bw_setting);
writeRegister(0x1D, current_config);
writeRegister(0x01, 0x85U);
ESP_LOGI(TAG, "Modem bandwidth dynamically shifted to %lu kHz.", (unsigned long)bw_khz);
}
esp_err_t LoraController::transmitFrame(const uint8_t* buffer, uint8_t length) {
if (m_spiHandle == nullptr || buffer == nullptr || length == 0) return ESP_ERR_INVALID_STATE;
ESP_LOGI(TAG, "Initiating transmission sequence: Sending %u bytes.", length);
writeRegister(0x01, 0x81U); // STDBY Mode
writeRegister(0x0D, 0x00U); // RegFifoTxBaseAddr
writeRegister(0x09, 0x00U); // RegFifoAddrPtr
for (uint8_t i = 0; i < length; i++) {
writeRegister(0x00, buffer[i]);
}
writeRegister(0x22, length); // RegPayloadLength
writeRegister(0x01, 0x83U); // RegOpMode: TX Mode Trigger
return ESP_OK;
}
void LoraController::taskTrampoline(void* pvParameters) {
auto* instance = static_cast<LoraController*>(pvParameters);
if (instance != nullptr) {
instance->run();
}
vTaskDelete(nullptr);
}
/**
* @brief Computes high-precision calibrated RSSI and SNR configurations based on frequency bands.
* @note Now uses high-precision float conversions to preserve the full 0.25 dB native hardware steps.
* @param rawRssi Unprocessed signal strength readout byte straight from RegRssiValue (0x1A).
* @param rawSnr Unprocessed signed signal-to-noise readout byte from RegPktSnrValue (0x1B).
* @param[out] outRssi Reference capturing the floating-point calibrated signal power in dBm.
* @param[out] outSnr Reference capturing the floating-point calibrated signal-to-noise ratio in dB.
*/
void LoraController::calculateTelemetry(uint8_t rawRssi, uint8_t rawSnr, float& outRssi, float& outSnr) {
uint32_t currentFreq = 0;
// Securely pull the active runtime frequency configuration
if (xSemaphoreTake(m_stateMutex, portMAX_DELAY) == pdTRUE) {
currentFreq = m_state.frequencyHz;
xSemaphoreGive(m_stateMutex);
}
// 1. Precise SNR calculation (preserve native 0.25 dB resolution step by step)
float actualSnr = static_cast<float>(static_cast<int8_t>(rawSnr)) * 0.25f;
outSnr = actualSnr;
// 2. Select calibrated RSSI Offset base (Low-Band <= 525MHz vs High-Band > 525MHz)
float rssiOffset = (currentFreq <= 525000000) ? -164.0f : -157.0f;
// 3. Compute accurate RSSI factoring sub-noise floor channel regressions
if (actualSnr < 0.0f) {
outRssi = rssiOffset + static_cast<float>(rawRssi) + actualSnr;
} else {
outRssi = rssiOffset + static_cast<float>(rawRssi);
}
}
void LoraController::run() {
// Lambda Object:
auto utf8_advance = [](const std::string& str, size_t start_byte, size_t num_chars) -> size_t {
size_t i = start_byte;
size_t chars_counted = 0;
while (i < str.length() && chars_counted < num_chars) {
if (((unsigned char)str[i] & 0xC0) != 0x80) chars_counted++;
i++;
}
while (i < str.length() && ((unsigned char)str[i] & 0xC0) == 0x80) i++;
return i;
};
if (initializeHardware() != ESP_OK) {
ESP_LOGE(TAG, "Critical: LoRa init failed. Thread aborted.");
return;
}
setModeReceiver();
extern DisplayController* display; // Reference the global display singleton
static uint32_t packetCounter = 0; // overflow in abt. 272 years (1 packet every 2 seconds)
ESP_LOGI(TAG, "LoRa RX was initialized and is running");
while (true) {
// CHANGE: wait a maximum of 500 ms instead of infinity long
if (xSemaphoreTake(m_isrSemaphore, pdMS_TO_TICKS(500)) == pdTRUE) {
// if (xSemaphoreTake(m_isrSemaphore, portMAX_DELAY) == pdTRUE) {
uint32_t irqFlags = readRegister(0x12);
writeRegister(0x12, static_cast<uint8_t>(irqFlags));
if ((irqFlags & 0x40U) != 0U) { // RxDone Flag
packetCounter++;
LoraPacket packet = {};
packet.length = readRegister(0x13);
uint32_t currentFifoAddress = readRegister(0x10);
writeRegister(0x09, static_cast<uint8_t>(currentFifoAddress));
for (uint8_t i = 0; i < packet.length; i++) {
packet.payload[i] = readRegister(0x00);
}
// Calculate the telemetry data
// packet.rssi = static_cast<int8_t>(static_cast<int>(readRegister(0x1A)) - 157);
// packet.snr = static_cast<int8_t>(static_cast<int>(readRegister(0x1B)) / 4);
// Read raw values from transceiver registers
uint8_t rawRssiReg = readRegister(0x1A);
uint8_t rawSnrReg = readRegister(0x1B);
// Dynamically process telemetry parameters with floating point precision
calculateTelemetry(rawRssiReg, rawSnrReg, packet.rssi, packet.snr);
// Formatted terminal trace using fixed precision formatting (.1f)
printf("\r\n--------------------------------------------------\r\n");
printf("[LoRa RX] Packet #%lu successfully received!\r\n", (unsigned long)packetCounter);
// printf(" Database ID : %lu\r\n", (unsigned long)nodeDbId);
printf(" Length : %u Bytes\r\n", packet.length);
printf(" RSSI : %.1f dBm (Signal Strength)\r\n", packet.rssi);
printf(" SNR : %.1f dB (Signal-to-Noise Ratio)\r\n", packet.snr);
printf(" Content: \"");
for (uint8_t i = 0; i < packet.length; i++) {
char c = static_cast<char>(packet.payload[i]);
// Only print printable characters to avoid confusing the terminal
if (c >= 32 && c <= 126)
printf("%c", c);
else
printf("~"); // not printable chars
}
printf("\"\r\n Hex : ");
for (uint8_t i = 0; i < packet.length; i++)
printf("%02X ", packet.payload[i]);
printf("\r\n--------------------------------------------------\r\n");
printf("%s # ", Config::PROJECT_TITLE); // CLI prompt
fflush(stdout);
// FIXED: Uses the new parameter order (line first, text second)
if (display != nullptr) {
char displayBuffer[85]; // worst case 21 chars with each 4 bytes + Nullbyte.
snprintf(displayBuffer, sizeof(displayBuffer), "#%03u %4.1fdBm %2.1fdB",
(unsigned int)(packetCounter % 1000),
packet.rssi,
packet.snr);
display->printMessage(2, displayBuffer);
// we don't care about UTF-8 for now
std::string text(reinterpret_cast<const char*>(packet.payload), static_cast<size_t>(packet.length));
size_t byte_pos = 0;
uint8_t linenr = 3; // start at line 3
while ( byte_pos < text.length() && linenr < 8) {
// The '::' ensures that the global/local function is called.
size_t next_byte_pos = utf8_advance(text, byte_pos, 21);
std::string line = text.substr(byte_pos, next_byte_pos - byte_pos);
std::strncpy(displayBuffer, line.c_str(), sizeof(displayBuffer ) - 1);
displayBuffer[sizeof(displayBuffer) - 1] ='\0';
display->printMessage(linenr++, displayBuffer);
byte_pos = next_byte_pos;
}
}
}
// New: after work or after 500ms delay, the chip has usually changed its mode, we update the state for the m_state:
uint8_t currentHardwareMode = readRegister(0x01);
if (xSemaphoreTake(m_stateMutex, pdMS_TO_TICKS(10)) == pdTRUE) {
m_state.currentMode = currentHardwareMode;
xSemaphoreGive(m_stateMutex);
}
}
}
}
void LoraController::startTask(uint32_t priority) {
xTaskCreatePinnedToCore(
LoraController::taskTrampoline,
"LORA_EngineTask",
4096,
this,
priority,
&m_taskHandle,
1
);
}
/**
* @brief Generates an atomic, high-performance runtime snapshot of configuration parameters and metrics.
*/
LoraStateSnapshot LoraController::getSnapshot() {
LoraStateSnapshot snapshot = {};
// Sichere die thread-übergreifende Konsistenz mittels Mutex ab
if (xSemaphoreTake(m_stateMutex, portMAX_DELAY) == pdTRUE) {
// Kopiere die primitiven Werte aus dem internen Zustandstabellen-Struct (m_state)
snapshot.frequencyHz = m_state.frequencyHz;
snapshot.bandwidthKhz = m_state.bandwidthKhz;
snapshot.totalPacketsReceived = m_state.totalPacketsReceived;
snapshot.totalPacketsTransmitted = m_state.totalPacketsTransmitted;
snapshot.spreadingFactor = m_state.spreadingFactor;
snapshot.codingRate = m_state.codingRate;
snapshot.isInitialized = m_state.isInitialized;
// Zähle die Elemente in der Liste, ohne die schweren Payload-Vektoren zu kopieren
// TODO install the package list:
// snapshot.currentHistoryCount = m_state.packetList.size();
// Read Register 0x01 ONLY ONCE to avoid SPI race conditions
// uint8_t rohofmode = readRegister(0x01);
// uint8_t rawMode = rohofmode & 0x07U;
// use the cached mode from RAM instead live register read
uint8_t rawMode = m_state.currentMode & 0x07U;
// Print the real, unmanipulated hex value safely
//printf("Readregister actual raw hex: 0x%02X\r\n", rohofmode);
//fflush(stdout);
static const char* const MODE_STRINGS[] = {
"SLEEP", // 0x00
"STANDBY", // 0x01
"FSTX", // 0x02
"TX", // 0x03
"FSRX", // 0x04
"RXCONTINUOUS", // 0x05
"RXSINGLE", // 0x06
"CAD" // 0x07
};
strncpy(snapshot.currentModeStr, MODE_STRINGS[rawMode], sizeof(snapshot.currentModeStr) - 1);
snapshot.currentModeStr[sizeof(snapshot.currentModeStr) - 1] = '\0'; // guarantee NULL termination
// Release mutex immediately
xSemaphoreGive(m_stateMutex);
}
return snapshot;
}
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