mirror of
https://github.com/Genaker/LoraSA.git
synced 2026-08-07 17:33:00 +02:00
ELRS LR1121 direction finding
This commit is contained in:
Egor
+329
-82
@@ -1,6 +1,7 @@
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#include <Arduino.h>
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#include <ELRS_GENERIC_LR1221_DIVERSITY.h>
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#include <HardwareSerial.h>
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#include <vector>
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// Direct access to the low-level SPI communication between RadioLib and the radio module.
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#define RADIOLIB_LOW_LEVEL (1)
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@@ -30,6 +31,9 @@ SPIClass hspi = SPIClass(HSPI);
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RADIO_TYPE radio = RADIO_MODULE_INIT();
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RADIO_TYPE radio2 = RADIO_MODULE2_INIT();
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int radioIsHigh = false;
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int radio2IsHigh = false;
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// SPIClass hspi = new SPIClass(2);
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#if defined(PLATFORM_ESP32_S3) || defined(PLATFORM_ESP32_C3)
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@@ -40,6 +44,15 @@ SPIExClass SPIEx(VSPI);
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// SPIExClass SPIEx;
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#endif //
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// Define a struct to represent a single RSSI scan
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struct RSSI
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{
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float freq; // Frequency in MHz
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float rssi1; // RSSI value 1
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float rssi2; // RSSI value 2
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// float rssi3; // RSSI value 3 (optional, can add more if needed)
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};
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bool isSetCommand(const String &command);
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bool isGetCommand(const String &command);
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void processCommands(const String &command);
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@@ -47,8 +60,28 @@ bool parseSetCommand(const String &command, int &startFreq, int &endFreq);
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bool parseGetCommand(const String &command, int &freq);
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String uartGetResponse();
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std::vector<RSSI> getRssiRange(int startFreq, int endFreq, float step = 1,
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float samples = 1, int group = 1);
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void getRssi(float freq, float &rssi, float &rssi2);
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String printRssiRange(std::vector<RSSI> rssis);
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void SetDioAsRfSwitch();
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void initRadio(float freq);
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String wrapResult(std::vector<RSSI> rssis, bool single = false);
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// Function to check if the command starts with "SET"
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bool isSetCommand(const String &command) { return command.startsWith("SET "); }
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// Function to check if the command starts with "GET"
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bool isGetCommand(const String &command) { return command.startsWith("GET "); }
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enum class Direction
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{
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Left,
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Right
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};
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String stringToMinLength(String input, int minLength);
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void setup()
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// https://github.com/ExpressLRS/ExpressLRS/blob/2e61e33723b3247300f95ed46ceee9648d536137/src/lib/LR1121Driver/LR1121_hal.cpp#L6
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@@ -61,6 +94,11 @@ void setup()
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pinMode(RADIO_NSS, OUTPUT);
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digitalWrite(RADIO_NSS, HIGH);
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pinMode(RADIO_BUSY_2, INPUT);
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pinMode(RADIO_DIO1_2, INPUT);
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pinMode(RADIO_NSS_2, OUTPUT);
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digitalWrite(RADIO_NSS_2, HIGH);
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hspi.begin(RADIO_SCK, RADIO_MISO, RADIO_MOSI, RADIO_NSS);
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gpio_pullup_en((gpio_num_t)RADIO_MISO);
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SPI.setFrequency(17500000);
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@@ -72,54 +110,8 @@ void setup()
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Serial.begin(115200);
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delay(1000);
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Serial.println("ELRS TRUE DIVERSITY LR1121 ESP32-PICO-D4!");
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int state, state2;
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float freq = 900;
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state = radio.beginGFSK(freq, 4.8F, 5.0F, 156.2F, 10, 16U, 1.6F);
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state2 = radio2.beginGFSK(freq, 4.8F, 5.0F, 156.2F, 10, 16U, 1.6F);
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if (state != RADIOLIB_ERR_NONE)
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{
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Serial.println("Error:beginGFSK" + String(state));
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}
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if (state2 != RADIOLIB_ERR_NONE)
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{
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Serial.println("Error2:beginGFSK" + String(state2));
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}
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// RF Switch info Provided by LilyGo support:
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// https://github.com/Xinyuan-LilyGO/LilyGo-LoRa-Series/blob/f2d3d995cba03c65a7031c73e212f106b03c95a2/examples/RadioLibExamples/Receive_Interrupt/Receive_Interrupt.ino#L279
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// LR1121
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// set RF switch configuration for Wio WM1110
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// Wio WM1110 uses DIO5 and DIO6 for RF switching
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static const uint32_t rfswitch_dio_pins[] = {RADIOLIB_LR11X0_DIO5,
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RADIOLIB_LR11X0_DIO6, RADIOLIB_NC,
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RADIOLIB_NC, RADIOLIB_NC};
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static const Module::RfSwitchMode_t rfswitch_table[] = {
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// mode DIO5 DIO6
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{LR11x0::MODE_STBY, {LOW, LOW}}, {LR11x0::MODE_RX, {HIGH, LOW}},
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{LR11x0::MODE_TX, {LOW, HIGH}}, {LR11x0::MODE_TX_HP, {LOW, HIGH}},
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{LR11x0::MODE_TX_HF, {LOW, LOW}}, {LR11x0::MODE_GNSS, {LOW, LOW}},
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{LR11x0::MODE_WIFI, {LOW, LOW}}, END_OF_MODE_TABLE,
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};
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radio.setRfSwitchTable(rfswitch_dio_pins, rfswitch_table);
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radio2.setRfSwitchTable(rfswitch_dio_pins, rfswitch_table);
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// LR1121 TCXO Voltage 2.85~3.15V
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radio.setTCXO(3.0);
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radio2.setTCXO(3.0);
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state = radio.setDataShaping(RADIOLIB_SHAPING_NONE);
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state = radio.startReceive(RADIOLIB_LR11X0_RX_TIMEOUT_NONE);
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state2 = radio2.setDataShaping(RADIOLIB_SHAPING_NONE);
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state2 = radio2.startReceive(RADIOLIB_LR11X0_RX_TIMEOUT_NONE);
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if (state != RADIOLIB_ERR_NONE)
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{
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Serial.println("Error:startReceive:" + String(state));
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}
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if (state2 != RADIOLIB_ERR_NONE)
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{
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Serial.println("Error2:startReceive:" + String(state2));
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}
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initRadio(freq);
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delay(1000);
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}
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@@ -129,7 +121,8 @@ int startFreq = 0, endFreq = 0;
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int getFreq = 0;
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void loop()
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{
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getFreq = 0;
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std::vector<RSSI> rssis;
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// getFreq = 0;
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if (Serial.available() > 0)
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{
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String command = Serial.readStringUntil('\n'); // Read until newline
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@@ -140,45 +133,126 @@ void loop()
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}
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if (getFreq != 0)
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{
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freq = (float)getFreq / 1000.0f;
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freq = (float)getFreq; /// 1000.0f;
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float rssi = 0, rssi2 = 0;
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getRssi(freq, rssi, rssi2);
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Serial.println("[" + String(freq) + "Mhz]RSSI: " + String((float)rssi) +
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rssis = getRssiRange(freq, freq, 0.5, 1);
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// getRssi(freq, rssi, rssi2);
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rssi = rssis[0].rssi1;
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rssi2 = rssis[0].rssi2;
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Serial.println("[" + String(freq / 1000) + "Mhz]RSSI: " + String((float)rssi) +
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" RSSI2: " + String((float)rssi2));
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Serial.println("RSSI1: " + String((float)rssi) +
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" RSSI2: " + String((float)rssi2));
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int delta = 0;
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if ((int)rssi > (int)rssi2)
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{
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String arrow = "";
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delta = abs(abs(rssi) - abs(rssi2));
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for (int i = 0; i < 4; i++)
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{
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arrow += ">";
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}
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// arrow = stringToMinLength(arrow, 5);
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Serial.println(" " + String((int)rssi) + "[" + String((int)freq / 1000) +
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"]" + String((int)rssi2) + arrow);
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}
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else if ((int)rssi < (int)rssi2)
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{
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delta = abs(abs(rssi) - abs(rssi2));
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String arrow = "";
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for (int i = 0; i < 4; i++)
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{
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arrow += "<";
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}
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// arrow = stringToMinLength(arrow, -5);
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Serial.println(arrow + String((int)rssi) + "[" + String((int)freq / 1000) +
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"]" + String((int)rssi2) + " ");
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}
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else if (abs((int)rssi2) - abs((int)rssi2) == 0)
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{
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Serial.println(" " + String((int)rssi) + "[" + String((int)freq / 1000) +
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"]" + String((int)rssi2) + " ");
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}
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// String rssiString = wrapResult(rssis); // printRssiRange(rssis);
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// const char *RSSIutf8Data = rssiString.c_str();
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// Serial.println(RSSIutf8Data);
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delay(1000);
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}
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if (startFreq != 0 && endFreq != 0)
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{
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if (startFreq > endFreq)
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{
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float temp = startFreq;
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startFreq = endFreq;
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endFreq = temp;
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}
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float step = 1000; // Step size in MHz
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for (float freq = startFreq; freq <= endFreq; freq += step)
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{
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float rssi = 0, rssi2 = 0;
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getRssi((float)freq / 1000.0f, rssi, rssi2); // Call the method to get RSSI
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Serial.print("Frequency: ");
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Serial.print(freq, 1); // Print frequency with 1 decimal place
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Serial.print(" KHz, RSSI: ");
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Serial.print(rssi);
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Serial.print(" RSSI2: ");
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Serial.println(rssi2);
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}
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rssis = getRssiRange(startFreq, endFreq, 1, 1);
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String rssiString = wrapResult(rssis); // printRssiRange(rssis);
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const char *RSSIutf8Data = rssiString.c_str();
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Serial.println(RSSIutf8Data);
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}
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delay(1);
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}
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std::vector<RSSI> getRssiRange(int startFreq, int endFreq, float step, float samples,
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int group)
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{
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long int startTime = millis();
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std::vector<RSSI> rssis;
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if (startFreq > endFreq)
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{
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float temp = startFreq;
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startFreq = endFreq;
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endFreq = temp;
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}
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step = step * 1000; // Step size in MHz
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RSSI scan;
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for (float freq = startFreq; freq <= endFreq; freq += step)
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{
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float rssi = 0, rssi2 = 0;
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float maxRssi = -999, maxRssi2 = -999;
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for (int i = 0; i < samples; i++)
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{
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getRssi((float)freq / 1000.0f, rssi, rssi2); // Call the method to get RSSI
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if (maxRssi < rssi)
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{
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maxRssi = rssi;
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}
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if (maxRssi2 < rssi2)
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{
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maxRssi2 = rssi2;
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}
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}
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rssi = maxRssi;
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rssi2 = maxRssi2;
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/**
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Serial.print("Frequency: ");
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Serial.print(freq, 1); // Print frequency with 1 decimal place
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Serial.print(" KHz, RSSI: ");
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Serial.print(rssi);
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Serial.print(" RSSI2: ");
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Serial.println(rssi2);
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**/
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scan = {freq, rssi, rssi2};
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rssis.push_back(scan);
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}
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long int endTime = millis();
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// Serial.println("Get RSSI TIME: " + String(endTime - startTime));
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return rssis;
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}
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void getRssi(float freq, float &rssi, float &rssi2)
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{
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if (freq > 1000 && !radioIsHigh)
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{
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initRadio(freq);
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radioIsHigh = true;
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}
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if (freq < 1000 && radioIsHigh)
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{
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initRadio(freq);
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radioIsHigh = false;
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}
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int state, state2;
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// Print message periodically
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Serial.println("Freq: " + String(freq));
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// Serial.println("Freq: " + String(freq));
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state = radio.setFrequency((float)freq);
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state2 = radio2.setFrequency((float)freq);
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usleep(100);
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if (state != RADIOLIB_ERR_NONE)
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{
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Serial.println("Error:setFrequency:" + String(state));
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@@ -190,9 +264,9 @@ void getRssi(float freq, float &rssi, float &rssi2)
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#if defined(USING_LR1121)
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// Try getRssiInst
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radio.getRssiInst(&rssi);
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radio2.getRssiInst(&rssi2);
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usleep(10);
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// Serial.println("RSSI: " + String(rssi));
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// pass the replies
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#endif
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@@ -237,14 +311,15 @@ void processCommands(const String &command)
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}
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}
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// Function to check if the command starts with "SET"
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bool isSetCommand(const String &command) { return command.startsWith("SET "); }
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// Function to check if the command starts with "GET"
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bool isGetCommand(const String &command) { return command.startsWith("GET "); }
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// Function to parse the "SET" command
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// Example: SET 915000-920000
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// Example: SET 915000-916000
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// Example: SET 900000-1000000
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// Example: SET 900000-960000
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// Example: SET 2000000-2500000
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// Example: SET 2410000-2460000
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// Example: SET 2448000-2452000
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// Example: SET 0-0 //off
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bool parseSetCommand(const String &command, int &startFreq, int &endFreq)
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{
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int dashIndex = command.indexOf('-');
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@@ -261,14 +336,12 @@ bool parseSetCommand(const String &command, int &startFreq, int &endFreq)
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startFreq = startStr.toInt();
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endFreq = endStr.toInt();
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// Validate the conversion
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if (startFreq == 0 || endFreq == 0)
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return false;
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return true;
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}
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// Function to parse the "GET" command with a large frequency value
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// GET 915000
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// GET 2450000
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bool parseGetCommand(const String &command, int &freq)
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{
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int spaceIndex = command.indexOf(' ');
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@@ -307,3 +380,177 @@ String uartGetResponse()
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}
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return ""; // Return empty string if no response
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}
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String printRssiRange(std::vector<RSSI> rssis)
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{
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String result = "SCAN_RESULT ";
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for (const auto &rssi : rssis)
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{
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result += String((int)rssi.freq) + "," + String(rssi.rssi1) + "," +
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String(rssi.rssi2) + ";";
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}
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if (result == "SCAN_RESULT ")
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{
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result = "";
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}
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return result;
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}
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#define LR1121_RFSW_CTRL_COUNT 8;
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void SetDioAsRfSwitch()
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{
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// 4.2.1 SetDioAsRfSwitch
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uint8_t switchbuf[8];
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/*if (LR1121_RFSW_CTRL_COUNT == 8)
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{
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switchbuf[0] = LR1121_RFSW_CTRL[0]; // RfswEnable
|
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switchbuf[1] = LR1121_RFSW_CTRL[1]; // RfSwStbyCfg
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switchbuf[2] = LR1121_RFSW_CTRL[2]; // RfSwRxCfg
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switchbuf[3] = LR1121_RFSW_CTRL[3]; // RfSwTxCfg
|
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switchbuf[4] = LR1121_RFSW_CTRL[4]; // RfSwTxHPCfg
|
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switchbuf[5] = LR1121_RFSW_CTRL[5]; // RfSwTxHfCfg
|
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switchbuf[6] = LR1121_RFSW_CTRL[6]; // Unused
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||||
switchbuf[7] =
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LR1121_RFSW_CTRL[7]; // RfSwWifiCfg - Each bit indicates the state of the
|
||||
// relevant RFSW DIO when in Wi-Fi scanning mode or high
|
||||
// frequency RX mode (LR1110_H1_UM_V1-7-1.pdf)
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||||
}
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else*/
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||||
{
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||||
switchbuf[0] = 0b00001111; // RfswEnable
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switchbuf[1] = 0b00000000; // RfSwStbyCfg
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switchbuf[2] = 0b00000100; // RfSwRxCfg
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switchbuf[3] = 0b00001000; // RfSwTxCfg
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switchbuf[4] = 0b00001000; // RfSwTxHPCfg
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switchbuf[5] = 0b00000010; // RfSwTxHfCfg
|
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switchbuf[6] = 0; // Unused
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||||
switchbuf[7] = 0b00000001; // RfSwWifiCfg - Each bit indicates the state of the
|
||||
// relevant RFSW DIO when in Wi-Fi scanning mode or
|
||||
// high frequency RX mode (LR1110_H1_UM_V1-7-1.pdf)
|
||||
}
|
||||
radio.SPIcommand(LR11XX_SYSTEM_SET_DIO_AS_RF_SWITCH_OC, true, switchbuf,
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||||
sizeof(switchbuf));
|
||||
radio2.SPIcommand(LR11XX_SYSTEM_SET_DIO_AS_RF_SWITCH_OC, true, switchbuf,
|
||||
sizeof(switchbuf));
|
||||
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||||
// 4.1.1 SetDioIrqParams
|
||||
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||||
uint8_t buf[8] = {0};
|
||||
buf[3] = LR1121_IRQ_TX_DONE | LR1121_IRQ_RX_DONE;
|
||||
radio.SPIcommand(LR11XX_SYSTEM_SET_DIOIRQPARAMS_OC, true, buf, sizeof(buf));
|
||||
radio2.SPIcommand(LR11XX_SYSTEM_SET_DIOIRQPARAMS_OC, true, buf, sizeof(buf));
|
||||
|
||||
if (RADIO_DCDC)
|
||||
{
|
||||
// 5.1.1 SetRegMode
|
||||
uint8_t RegMode[1] = {1}; // Enable DCDC converter instead of LDO
|
||||
radio.SPIcommand(LR11XX_SYSTEM_SET_REGMODE_OC, true, RegMode, sizeof(RegMode));
|
||||
radio2.SPIcommand(LR11XX_SYSTEM_SET_REGMODE_OC, true, RegMode, sizeof(RegMode));
|
||||
}
|
||||
}
|
||||
|
||||
void initRadio(float freq)
|
||||
{
|
||||
int state, state2;
|
||||
state = radio.beginGFSK(freq, 4.8F, 5.0F, 156.2F, 10, 16U, 1.6F);
|
||||
state2 = radio2.beginGFSK(freq, 4.8F, 5.0F, 156.2F, 10, 16U, 1.6F);
|
||||
if (state != RADIOLIB_ERR_NONE)
|
||||
{
|
||||
Serial.println("Error:beginGFSK" + String(state));
|
||||
}
|
||||
if (state2 != RADIOLIB_ERR_NONE)
|
||||
{
|
||||
Serial.println("Error2:beginGFSK" + String(state2));
|
||||
}
|
||||
// RF Switch info Provided by LilyGo support:
|
||||
// https://github.com/Xinyuan-LilyGO/LilyGo-LoRa-Series/blob/f2d3d995cba03c65a7031c73e212f106b03c95a2/examples/RadioLibExamples/Receive_Interrupt/Receive_Interrupt.ino#L279
|
||||
|
||||
// LR1121
|
||||
// set RF switch configuration for Wio WM1110
|
||||
// Wio WM1110 uses DIO5 and DIO6 for RF switching
|
||||
static const uint32_t rfswitch_dio_pins[] = {RADIOLIB_LR11X0_DIO5,
|
||||
RADIOLIB_LR11X0_DIO6, RADIOLIB_NC,
|
||||
RADIOLIB_NC, RADIOLIB_NC};
|
||||
|
||||
static const Module::RfSwitchMode_t rfswitch_table[] = {
|
||||
// mode DIO5 DIO6
|
||||
{LR11x0::MODE_STBY, {LOW, LOW}}, {LR11x0::MODE_RX, {HIGH, LOW}},
|
||||
{LR11x0::MODE_TX, {LOW, HIGH}}, {LR11x0::MODE_TX_HP, {LOW, HIGH}},
|
||||
{LR11x0::MODE_TX_HF, {LOW, LOW}}, {LR11x0::MODE_GNSS, {LOW, LOW}},
|
||||
{LR11x0::MODE_WIFI, {LOW, LOW}}, END_OF_MODE_TABLE,
|
||||
};
|
||||
radio.setRfSwitchTable(rfswitch_dio_pins, rfswitch_table);
|
||||
radio2.setRfSwitchTable(rfswitch_dio_pins, rfswitch_table);
|
||||
|
||||
// SetDioAsRfSwitch();
|
||||
// LR1121 TCXO Voltage 2.85~3.15V
|
||||
radio.setTCXO(3.0);
|
||||
radio2.setTCXO(3.0);
|
||||
state = radio.setDataShaping(RADIOLIB_SHAPING_NONE);
|
||||
state = radio.startReceive(RADIOLIB_LR11X0_RX_TIMEOUT_NONE);
|
||||
state2 = radio2.setDataShaping(RADIOLIB_SHAPING_NONE);
|
||||
state2 = radio2.startReceive(RADIOLIB_LR11X0_RX_TIMEOUT_NONE);
|
||||
if (state != RADIOLIB_ERR_NONE)
|
||||
{
|
||||
Serial.println("Error:startReceive:" + String(state));
|
||||
}
|
||||
if (state2 != RADIOLIB_ERR_NONE)
|
||||
{
|
||||
Serial.println("Error2:startReceive:" + String(state2));
|
||||
}
|
||||
}
|
||||
|
||||
String wrapResult(std::vector<RSSI> rssis, bool single)
|
||||
{
|
||||
String wrapped = "SCAN_RESULT " + String(rssis.size()) + " [ ";
|
||||
|
||||
for (const auto &rssi : rssis)
|
||||
{
|
||||
//(<частота кГц>, <сила сигналу, dBm>), (<частота кГц>, <сила сигналу, dBm>)
|
||||
wrapped += " (" + String((int)rssi.freq) + ", " + String(rssi.rssi1);
|
||||
if (!single)
|
||||
{
|
||||
wrapped += ", " + String(rssi.rssi2);
|
||||
}
|
||||
|
||||
wrapped += "), ";
|
||||
}
|
||||
// Remove the last comma, if it exists
|
||||
if (wrapped.length() > 0)
|
||||
{
|
||||
wrapped.remove(wrapped.length() - 1);
|
||||
wrapped.remove(wrapped.length() - 1);
|
||||
}
|
||||
wrapped += "]";
|
||||
return wrapped;
|
||||
}
|
||||
|
||||
String stringToMinLength(String input, int length)
|
||||
{
|
||||
// Determine absolute length for truncation
|
||||
int absLength = abs(length);
|
||||
|
||||
if (input.length() == absLength)
|
||||
{
|
||||
return input; // Exact length, no change needed
|
||||
}
|
||||
else if (input.length() > absLength)
|
||||
{
|
||||
return input.substring(0, absLength); // Truncate the string to the desired length
|
||||
}
|
||||
else
|
||||
{
|
||||
int paddingLength = absLength - input.length();
|
||||
String padding(paddingLength, ' '); // Create padding of spaces
|
||||
|
||||
if (length > 0)
|
||||
{
|
||||
return padding + input; // Left padding
|
||||
}
|
||||
else
|
||||
{
|
||||
return input + padding; // Right padding
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -17,7 +17,21 @@
|
||||
|
||||
#define BUTTON 0
|
||||
#define LED RGB 22
|
||||
#define LR11XX_SYSTEM_SET_DIO_AS_RF_SWITCH_OC 0x0112
|
||||
#define LR11XX_SYSTEM_SET_DIOIRQPARAMS_OC 0x0113
|
||||
#define LR11XX_SYSTEM_SET_REGMODE_OC 0x0110
|
||||
#define SX12XX_Radio_NONE 0b00000000 // Bit mask for no radio
|
||||
#define SX12XX_Radio_1 0b00000001 // Bit mask for radio 1
|
||||
#define SX12XX_Radio_2 0b00000010 // Bit mask for radio 2
|
||||
#define SX12XX_Radio_All 0b00000011 // bit mask for both radios
|
||||
|
||||
#define LR1121_IRQ_TX_DONE 0x00000004
|
||||
#define LR1121_IRQ_RX_DONE 0x00000008
|
||||
|
||||
#define RADIO_DCDC true
|
||||
|
||||
const int LR1121_RFSW_CTRL[] = {31, 0, 4, 8, 8, 18, 0, 17};
|
||||
const int LR1121_RFSW_CTRL_COUNT = sizeof(LR1121_RFSW_CTRL) / sizeof(LR1121_RFSW_CTRL);
|
||||
// Source:
|
||||
// https://github.com/ExpressLRS/targets/blob/4f3b2cba00c706da6a75f545a0650d0b0b0386ee/RX/Generic%20LR1121%20True%20Diversity.json
|
||||
|
||||
@@ -35,4 +49,6 @@
|
||||
"radio_dio1_2": 34,
|
||||
"radio_nss_2": 13,
|
||||
"radio_rst_2": 21,
|
||||
|
||||
"radio_dcdc": true,
|
||||
*/
|
||||
|
||||
Reference in New Issue
Block a user