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ESP32_CRSFSniffer.ino
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ESP32_CRSFSniffer.ino
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/**
* The MIT License (MIT)
*
* Copyright (c) 2021 by g3gg0.de
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* crossfire sniffing receiver
*
*/
/* needs
#define CONFIG_DISABLE_HAL_LOCKS 1
in
C:\Users\<username>\AppData\Local\Arduino15\packages\esp32\hardware\esp32\1.0.4\cores\esp32\esp32-hal.h
else you will get crashes
*/
/*
Rx 03 AA FC F7 1F 80 A1 84 12 4A 28 00 00 00 00 00 00 00 00 00 00 32 E2
|| | | || | | \___/
|| | | || | telemetry payload | CRC
|| | 80 bits | || \______________________/
|| | = 10 bits * 8 sticks | | \_ telemetry flags?
|| | | \__ telemetry length
|| \_________________________/
||
| \_ packet type: 3 normal FSK uplink data
| 1 50Hz mode uplink data?
|
\__ flags: 2 sticks 8-11
Tx 03 75 64 00 00 00 00 00 00 00 00 00 0F
|| | | | | \_ CRC
|| | | | telemetry payload |
|| \_/ \______________________/
|| |
|| \_ cycling metadata (RSSI etc)
||
| \_ packet type: 3 normal FSK downlink data
| 1 50Hz mode downlink data?
| B telemetry payload
|
\__ flags: 2 did not receive uplink for 8 times
8 metadata cycle start
*/
#if !defined(CONFIG_DISABLE_HAL_LOCKS)
#error "please add '#define CONFIG_DISABLE_HAL_LOCKS 1' at about line 66 of esp32-hal.h else this code will crash"
#endif
#include <FS.h>
#include <SPIFFS.h>
#include "SSD1306Wire.h"
#include "SX1276.h"
#include "Plot.h"
#include "esp32-hal-timer.h"
#define COUNT(x) (sizeof(x)/sizeof((x)[0]))
#define CONFIG_MAGIC 0xC0FFFEF6
typedef struct
{
uint8_t entries;
uint8_t slots[4];
} timeslotInfo_t;
typedef struct
{
uint32_t magic;
uint8_t hoppingSequence[150];
uint64_t startFreq;
} receiver_config;
receiver_config config;
SX1276Class SX1276;
SSD1306Wire *Display;
uint16_t channelValues[16];
bool currentDirectionDown = false;
uint16_t currentChannel = 0;
uint16_t currentLength = 0;
int state = 0;
uint64_t startTimestamp = 0;
uint64_t prevTimestamp = 0;
int checkChan = 0;
int retries = 0;
uint8_t hoppingPos = 0;
uint32_t cfgBitrate = 85000;
uint32_t cfgFreqDev = 42300;
uint32_t cfgChanDist = 260010;
uint64_t cfgStartFreq = 860000000ULL;
bool enableAfc = false;
float freqCorrectionUp = 0;
float freqCorrectionDown = 0;
int16_t statRssiUp = 0;
int16_t statRssiDown = 0;
int16_t scanRssi = 0;
uint64_t lastPacketTimestamp = 0;
timeslotInfo_t timeslotMap[50];
float packet_ms = 6666.666666666f * 1.00101f;
hw_timer_t * scheduleTimer = NULL;
uint32_t zeroSyncTime[10];
uint32_t zeroSyncTimePos = 0;
uint64_t prevSyncStart = 0;
uint32_t channelExpects[10];
bool synced = false;
uint32_t losses = 0;
uint64_t freqScanFreq = 859500000ULL;
uint64_t freqScanFreqCur = 0;
uint32_t freqScanBw = 10000;
uint32_t statUpScheduled = 0;
uint32_t statUpLoss = 0;
uint32_t statUpReceived = 0;
float statUpHeadroom = 0;
uint32_t statDownScheduled = 0;
uint32_t statDownLoss = 0;
uint32_t statDownReceived = 0;
float statDownHeadroom = 0;
float statAverageScheduleLength = 0;
uint32_t statResyncs = 0;
uint32_t learnSchedLength = 6676;
PlotClass *plotRssiUp;
PlotClass *plotRssiDown;
PlotClass *plotFCorrUp;
PlotClass *plotFCorrDown;
PlotClass *plotFreq;
PlotClass *plotSchedLen;
PlotClass *plotLossUp;
PlotClass *plotLossDown;
PlotClass *plotScan;
void IRAM_ATTR setChan(uint16_t chan, bool downlink)
{
uint16_t chanAbs = chan + (downlink ? 50 : 0);
uint32_t freq = config.startFreq + chanAbs * cfgChanDist + (downlink ? freqCorrectionDown : freqCorrectionUp);
currentChannel = chan;
currentDirectionDown = downlink;
currentLength = downlink ? 0x0D : 0x17;
SX1276.setStandby();
SX1276.writeAfc(0);
SX1276.writeFreq(freq);
SX1276.writePayloadLength(currentLength);
SX1276.writeRegister(0x0C, 0x23);
/* AgcAutoOn and AGC PreambleDetect RxTrigger */
SX1276.writeRxConfig(0x08 | 6 | (enableAfc ? 0x10 : 0));
SX1276.setRx();
}
bool IRAM_ATTR calc_channel(uint32_t *slotDelta, int32_t *remainder, uint64_t timestamp, uint64_t startTimestamp)
{
uint64_t delta = timestamp - startTimestamp;
float distance = (float)delta / packet_ms;
*slotDelta = (int)(distance + 0.5f) % 150;
*remainder = 100.0f * (distance - (int)(distance + 0.5f));
if(*remainder > 1 || *remainder < -1)
{
return false;
}
return true;
}
int32_t IRAM_ATTR addDelta(uint8_t channel, uint64_t timestamp, uint64_t startTimestamp)
{
uint64_t delta = timestamp - startTimestamp;
uint32_t slotDelta = 0;
int32_t remainder = 0;
bool match = calc_channel(&slotDelta, &remainder, timestamp, startTimestamp);
if(remainder > 10 || remainder < -10)
{
Serial.printf("OFF : Channel #%2u %3u (%7llu us, remainder %3i, %llu %llu)\n", channel, slotDelta, delta, remainder, timestamp, startTimestamp);
return remainder;
}
timeslotInfo_t *slot = ×lotMap[channel];
for(int pos = 0; pos < slot->entries; pos++)
{
if(slot->slots[pos] == slotDelta)
{
Serial.printf("SKIP: Channel #%2u %3u (%7llu us, remainder %3i) - already contained\n", channel, slotDelta, delta, remainder);
return remainder;
}
}
if(slot->entries >= 4)
{
Serial.printf("FAIL: Channel #%2u %3u (%7llu us, remainder %3i) - already enough\n", channel, slotDelta, delta, remainder);
return remainder;
}
slot->slots[slot->entries++] = slotDelta;
Serial.printf("ADD : Channel #%2u %3u (%7llu us, remainder %3i, %llu %llu)\n", channel, slotDelta, delta, remainder, timestamp, startTimestamp);
return remainder;
}
void IRAM_ATTR timer_isr_body(uint64_t timestamp)
{
const char *dir = currentDirectionDown ? "D" : "U";
if(lastPacketTimestamp == 0)
{
losses++;
}
else
{
losses = 0;
}
if(losses > 200)
{
statResyncs++;
state = 200;
Serial.printf("Lost Sync\n");
return;
}
uint32_t lastPacketDelta = timestamp - lastPacketTimestamp;
if(currentDirectionDown)
{
setChan(config.hoppingSequence[hoppingPos++], false);
hoppingPos %= 150;
timerAlarmWrite(scheduleTimer, prevTimestamp + learnSchedLength, false);
statDownScheduled++;
if(lastPacketTimestamp == 0)
{
plotLossDown->AddSample(1);
statDownLoss++;
}
else
{
plotLossDown->AddSample(0);
statDownHeadroom = (63.0f * statDownHeadroom + lastPacketDelta) / 64.0f;
statDownReceived++;
}
}
else
{
uint64_t prevTimestampOld = prevTimestamp;
bool lastSuccessful = false;
setChan(currentChannel, true);
prevTimestamp += learnSchedLength;
timerAlarmWrite(scheduleTimer, prevTimestamp + 2650, false);
statUpScheduled++;
if(lastPacketTimestamp == 0)
{
plotLossUp->AddSample(1);
statUpLoss++;
lastSuccessful = false;
}
else
{
plotLossUp->AddSample(0);
statUpHeadroom = (63.0f * statUpHeadroom + lastPacketDelta) / 64.0f;
statUpReceived++;
lastSuccessful = true;
}
if(lastPacketDelta < 180)
{
prevTimestamp += 10;
}
else if(lastPacketDelta > 220)
{
prevTimestamp -= 10;
}
uint32_t scheduleLength = prevTimestamp - prevTimestampOld;
if(scheduleLength > 6500 && scheduleLength < 6800 && lastSuccessful)
{
if(statAverageScheduleLength < 1)
{
statAverageScheduleLength = scheduleLength;
}
statAverageScheduleLength = (63.0f * statAverageScheduleLength + scheduleLength) / 64.0f;
plotFreq->AddSample(1000000.0f / scheduleLength);
plotSchedLen->AddSample(statAverageScheduleLength);
static uint32_t update_delay = 0;
if(update_delay++ > 10000)
{
update_delay = 0;
if(learnSchedLength < statAverageScheduleLength)
{
learnSchedLength++;
}
else if(learnSchedLength > statAverageScheduleLength)
{
learnSchedLength--;
}
}
}
}
lastPacketTimestamp = 0;
timerAlarmEnable(scheduleTimer);
//Serial.printf("Lost %s %d times, next #%d %s\n", dir, losses, currentChannel, currentDirectionDown ? "D" : "U");
}
#define SKIP_SPACE(l) do { while(*line && *line == ' ') {line++;} } while (0)
void IRAM_ATTR parseChannels(uint8_t *buffer)
{
uint32_t chanBits = 0;
uint32_t channel = 0;
uint32_t value = 0;
bool upperEight = buffer[0] & 0x20;
/* go through all payload bytes */
for (int bitPos = 0; bitPos < 11; bitPos++)
{
/* fetch 8 bits */
value |= ((uint32_t)buffer[1 + bitPos]) << chanBits;
chanBits += 8;
/* when we got enough (10) bits, treat this as a sample */
if(chanBits >= 10)
{
int chanOffset = 0;
/* handle channel multiplexing */
if(channel > 3 && upperEight)
{
chanOffset = 4;
}
channelValues[chanOffset + channel++] = (value & 0x3FF);
/* keep remaining bits */
value >>= 10;
chanBits -= 10;
}
}
}
typedef struct
{
uint32_t filled = 0;
uint32_t maxLen = 0;
uint8_t receivedBuffer[256];
} telemetryBuffer;
void IRAM_ATTR telemetryAdd(uint32_t direction, uint8_t *buffer, uint32_t length)
{
static telemetryBuffer buffers[2];
const char *dir = direction ? "D" : "U";
if(buffers[direction].filled == 0)
{
if(buffer[0] == 0xDA && buffer[1] == 0x09)
{
int thisLen = length - 3;
buffers[direction].maxLen = buffer[2];
buffers[direction].filled = 0;
memcpy(&buffers[direction].receivedBuffer[buffers[direction].filled], &buffer[3], thisLen);
buffers[direction].filled += thisLen;
}
/*
DA 0F 02 22 47 64 9B
| | | | \_ crc
| | | \_ TQly
| | \_ TSNR
| \_ TRSS
\_ RFMD
*/
}
else
{
memcpy(&buffers[direction].receivedBuffer[buffers[direction].filled], buffer, length);
buffers[direction].filled += length;
}
if(buffers[direction].maxLen > 0 && buffers[direction].filled >= buffers[direction].maxLen)
{
bool parsed = false;
uint8_t *receivedBuffer = buffers[direction].receivedBuffer;
switch(receivedBuffer[0])
{
/*
0x08 Battery sensor
Payload:
uint16_t Voltage ( mV * 100 )
uint16_t Current ( mA * 100 )
uint24_t Fuel ( drawn mAh )
uint8_t Battery remaining ( percent )
*/
case 0x08:
{
uint16_t voltage = (receivedBuffer[1] << 8) | receivedBuffer[2];
uint16_t current = (receivedBuffer[3] << 8) | receivedBuffer[4];
uint32_t drawn = (receivedBuffer[5] << 16) | (receivedBuffer[6] << 8) | receivedBuffer[7];
uint8_t remain = receivedBuffer[8];
Serial.printf("%s: Battery: %2.1fV, %2.1fmA, %dmAh, %d%%\n", dir, (float)voltage / 10.0f, (float)current / 10.0f, drawn, remain);
parsed = true;
break;
}
case 0x28:
{
Serial.printf("%s: %02X <- %02X discover\n", dir, receivedBuffer[1], receivedBuffer[2]);
parsed = true;
break;
}
case 0x29:
{
Serial.printf("%s: %02X <- %02X response '%s'\n", dir, receivedBuffer[1], receivedBuffer[2], &receivedBuffer[3]);
parsed = true;
break;
}
/*
0x2B config entry response
2B [dst] [src] [ID] [cont] [parentID] [flags] [name] 00
[dst] EA = Transmitter
EC = Receiver
[cont] = 0 is last packet, else number of following
[flags] 0x0B = has children list after name, terminated with 0xFF
0x09 = has option list after name, 00, default value somehow
0x08 = unknown
0x0D = executable
0x80 = hidden
*/
case 0x2B:
{
static uint8_t lastId = 0xFF;
if(receivedBuffer[3] != lastId)
{
lastId = receivedBuffer[3];
switch(receivedBuffer[6] & 0x0F)
{
case 0x08:
Serial.printf("%s: Menu #%d - %s\n", dir, receivedBuffer[3], &receivedBuffer[7]);
break;
case 0x09:
Serial.printf("%s: Menu #%d - %s options: %s\n", dir, receivedBuffer[3], &receivedBuffer[7], &receivedBuffer[7+1+strlen((char*)&receivedBuffer[7])]);
break;
case 0x0B:
Serial.printf("%s: Menu #%d - %s (children)\n", dir, receivedBuffer[3], &receivedBuffer[7]);
break;
case 0x0C:
Serial.printf("%s: Menu #%d - ", dir, receivedBuffer[3]);
Serial.printf("%s ", &receivedBuffer[7]);
Serial.printf("%s\n", &receivedBuffer[7+1+strlen((char*)&receivedBuffer[7])]);
break;
case 0x0D:
Serial.printf("%s: Menu #%d - %s (exec)\n", dir, receivedBuffer[3], &receivedBuffer[7]);
break;
}
}
parsed = true;
break;
}
}
if(!parsed)
{
char buf[512];
for(int pos = 0; pos < buffers[direction].filled; pos++)
{
sprintf(&buf[pos*3], "%02X ", buffers[direction].receivedBuffer[pos]);
}
for(int pos = 0; pos < buffers[direction].filled; pos++)
{
char ch = '.';
if(buffers[direction].receivedBuffer[pos] >= ' ' && buffers[direction].receivedBuffer[pos] <= 'z')
{
ch = buffers[direction].receivedBuffer[pos];
}
sprintf(&buf[buffers[direction].filled*3 + pos], "%c", ch);
}
Serial.printf("%s: Telemetry (%u): %s\n", dir, buffers[direction].filled, buf);
}
buffers[direction].maxLen = 0;
buffers[direction].filled = 0;
}
}
void IRAM_ATTR parseDownlink(uint8_t *buffer)
{
bool first = buffer[0] & 0x80;
uint8_t type = buffer[0] & 0x0F;
char buf[128];
switch(type)
{
case 1:
Serial.printf("D: type 0x%02X\n", buffer[0]);
break;
case 3:
//parseChannels(buffer);
break;
case 0x0B:
{
uint8_t len = (buffer[2] & 0xF0) >> 4;
/* as we dont check CRC, invalid packets cause trouble */
//telemetryAdd(0, &buffer[3], len);
break;
}
default:
for(int pos = 0; pos < 0x0D; pos++)
{
sprintf(&buf[pos*3], "%02X ", buffer[pos]);
}
for(int pos = 0; pos < 0x0D; pos++)
{
char ch = '.';
if(buffer[pos] >= ' ' && buffer[pos] < 'z')
{
ch = buffer[pos];
}
sprintf(&buf[0x0D*3 + pos], "%c", ch);
}
Serial.printf("D: %s\n", buf);
break;
}
}
void IRAM_ATTR parseUplink(uint8_t *buffer)
{
bool first = buffer[0] & 0x80;
bool alternate = buffer[0] & 0x20;
uint8_t type = buffer[0] & 0x0F;
uint8_t lenExtra = (buffer[11] & 0xF0) >> 4;
uint8_t flagExtra = (buffer[11] & 0x0F);
char buf[128];
switch(type)
{
case 1:
Serial.printf("U: 0x%02X at %d\n", buffer[0], hoppingPos);
parseChannels(buffer);
break;
case 3:
parseChannels(buffer);
break;
default:
for(int pos = 0; pos < 0x17; pos++)
{
sprintf(&buf[pos*3], "%02X ", buffer[pos]);
}
Serial.printf("U: %s\n", buf);
break;
}
if(lenExtra)
{
for(int pos = 0; pos < lenExtra + 1; pos++)
{
sprintf(&buf[pos*3], "%02X ", buffer[11 + pos]);
}
for(int pos = 0; pos < lenExtra + 1; pos++)
{
char ch = '.';
if(buffer[11 + pos] >= ' ' && buffer[11 + pos] < 'z')
{
ch = buffer[pos];
}
sprintf(&buf[(lenExtra + 1)*3 + pos], "%c", ch);
}
/* as we dont check CRC, invalid packets cause trouble */
//telemetryAdd(1, &buffer[12], lenExtra);
Serial.printf("U: %s\n", buf);
}
}
uint8_t IRAM_ATTR chanPercent(int channel)
{
uint32_t value = channelValues[channel];
if(value < 0xA1)
{
value = 0xA1;
}
value -= 0xA1;
if(value > 0x2BB)
{
value = 0x2BB;
}
return (value * 100) / 0x2BB;
}
void IRAM_ATTR fifo_isr_body(uint64_t timestamp)
{
bool restart = false;
bool scanDownlink = false;
uint8_t rssi = SX1276.readRssi();
int32_t fei = SX1276.readFei();
int32_t afc = SX1276.readAfc();
switch(state)
{
case 401:
case 402:
{
uint8_t receive_buffer[64];
char buf[128];
if(rssi < scanRssi)
{
scanRssi = rssi;
}
for(int fifoPos = 0; fifoPos < currentLength; fifoPos++)
{
receive_buffer[fifoPos] = SX1276.readFifo();
}
for(int pos = 0; pos < 0x17; pos++)
{
sprintf(&buf[pos*3], "%02X ", receive_buffer[pos]);
}
Serial.printf("ch#%02d: %s, RSSI -%03d, FEI %i\n", currentChannel, buf, rssi/2, fei);
SX1276.setRx();
break;
}
case 201:
{
Serial.printf("Sync to slot 0\n");
setChan(0, false);
zeroSyncTimePos = 0;
state++;
/* reset statistics - except resyncs */
statUpScheduled = 0;
statUpLoss = 0;
statUpReceived = 0;
statUpHeadroom = 0;
statDownScheduled = 0;
statDownLoss = 0;
statDownReceived = 0;
statDownHeadroom = 0;
statAverageScheduleLength = 0;
learnSchedLength = 6676;
break;
}
case 202:
{
/* find the channel 0 packet which is our hopping sequence start position by the time delta
* these numbers are for sure not generic, so maybe use some other way to detect a distinguishable
* pattern that gives us the start of the hopping sequence
*/
if(prevTimestamp != 0)
{
uint32_t delta = (uint32_t)(timestamp - prevTimestamp);
if(delta > 373000 && delta < 374000)
{
prevTimestamp = timestamp + 200;
startTimestamp = prevTimestamp;
freqCorrectionDown = 0;
freqCorrectionUp = 0;
hoppingPos = 1;
setChan(0, true);
timerAlarmWrite(scheduleTimer, prevTimestamp + 2700, false);
timerAlarmEnable(scheduleTimer);
Serial.printf("Synced\n");
state++;
break;
}
}
prevTimestamp = timestamp;
SX1276.setRx();
break;
}
case 203:
{
lastPacketTimestamp = timestamp;
uint8_t receive_buffer[64];
for(int fifoPos = 0; fifoPos < currentLength; fifoPos++)
{
receive_buffer[fifoPos] = SX1276.readFifo();
}
if(!currentDirectionDown)
{
digitalWrite(LED, HIGH);
statRssiUp = (31.0f*statRssiUp + rssi) / 32.0f;
plotRssiUp->AddSample(rssi * -0.5f);
freqCorrectionUp += afc / 1000.0f;
plotFCorrUp->AddSample(afc);
parseUplink(receive_buffer);
}
else
{
digitalWrite(LED, LOW);
statRssiDown = (31.0f*statRssiDown + rssi) / 32.0f;
plotRssiDown->AddSample(rssi * -0.5f);
freqCorrectionDown += afc / 1000.0f;
plotFCorrDown->AddSample(afc);
parseDownlink(receive_buffer);
}
break;
}
case 101:
{
Serial.printf("Sync to slot 0\n");
setChan(0, scanDownlink);
zeroSyncTimePos = 0;
state++;
break;
}
case 102:
{
if(synced)
{
uint32_t channel = 0;
int32_t remainder = 0;
bool match = calc_channel(&channel, &remainder, timestamp, prevSyncStart);
if(zeroSyncTimePos == 0)
{
Serial.printf("<-- %7u --> ", (uint32_t)(timestamp - prevSyncStart));
}
Serial.printf("dist ch%u (%u)\n", channel, remainder);
for(int pos = 0; pos < 3; pos++)
{
if(channelExpects[(zeroSyncTimePos + pos)%3] == channel)
{
zeroSyncTimePos += pos;
zeroSyncTimePos %= 3;
break;
}
Serial.printf("skipped one slot(?)\n");
}
}
zeroSyncTime[zeroSyncTimePos++] = timestamp;
if(zeroSyncTimePos >= 3)
{
Serial.printf("channel map: ");
for(int pos = 0; pos < 3; pos++)
{
uint32_t channel = 0;
int32_t remainder = 0;
bool match = calc_channel(&channel, &remainder, zeroSyncTime[pos], zeroSyncTime[0]);
Serial.printf("ch%u (%u) ", channel, remainder);
channelExpects[pos] = channel;
}
Serial.printf("\n");
prevSyncStart = zeroSyncTime[0];
synced = true;
setChan(0, scanDownlink);
zeroSyncTimePos = 0;
break;
}
setChan(0, scanDownlink);
break;
}
case 1:
prevTimestamp = timestamp;
Serial.printf("Sync at %d kHz fei %i afc %i\n", (uint32_t)(config.startFreq / 1000), fei, afc);
if(!retries)
{
config.startFreq += afc;
enableAfc = false;
}
retries++;
if(retries > 2)
{
Serial.printf("Sync at %d kHz -> proceed\n", (uint32_t)(config.startFreq / 1000));
prevTimestamp = 0;
state++;
}
setChan(0, scanDownlink);
break;
case 2:
{
/* find the channel 0 packet which is our hopping sequence start position by the time delta
* these numbers are for sure not generic, so maybe use some other way to detect a distinguishable
* pattern that gives us the start of the hopping sequence
*/
if(prevTimestamp != 0)
{
uint32_t delta = (uint32_t)(timestamp - prevTimestamp);
//Serial.printf("delta %d\n", delta);
if(delta > 365000 && delta < 374000)
{
startTimestamp = timestamp;
setChan(checkChan, scanDownlink);
Serial.printf("Channel %d is next\n", checkChan);
state++;
break;
}
}
prevTimestamp = timestamp;
setChan(0, scanDownlink);
break;
}
case 3:
{
int32_t remainder = addDelta(checkChan, timestamp, startTimestamp);
/* try to compensate clock drift */
if(remainder != 0 && abs(remainder) < 10)
{
//packet_ms *= 1.0f + remainder / 100000.0f;
startTimestamp += (remainder * packet_ms) / 100;
//Serial.printf("packet_ms: %2.2f\n", packet_ms);
}
if(retries++ >= 3*20 || timeslotMap[checkChan].entries >= 3)
{
retries = 0;
checkChan++;
checkChan %= 50;
/* done */
if(checkChan == 0)
{
state++;
break;
}
/* when the drift gets to high resync to compensate clock drift. only checks last packet in this channel, so leave some margin */
if(/*(checkChan % 10) == 0 || */ abs(remainder) > 6)
{
state = 2;
setChan(0, scanDownlink);
}
else
{
setChan(checkChan, scanDownlink);
}
break;
}
setChan(checkChan, scanDownlink);
break;
}
}
}
void IRAM_ATTR fifoReadyIsr()
{
uint64_t timestamp_dummy = timerRead(scheduleTimer);
uint64_t timestamp = timerRead(scheduleTimer);
/* https://esp32.com/viewtopic.php?t=1292 */
static uint32_t cp0_regs[18];
uint32_t cp_state = xthal_get_cpenable(); // get FPU state
if(cp_state)
{
xthal_save_cp0(cp0_regs); // Save FPU registers
}
else
{
xthal_set_cpenable(1); // enable FPU
}
fifo_isr_body(timestamp);
if(cp_state)
{
xthal_restore_cp0(cp0_regs); // Restore FPU registers
}
else
{
xthal_set_cpenable(0); // turn it back off
}
}
void IRAM_ATTR timer_isr()
{
uint64_t timestamp_dummy = timerRead(scheduleTimer);
uint64_t timestamp = timerRead(scheduleTimer);
/* https://esp32.com/viewtopic.php?t=1292 */
static uint32_t cp0_regs[18];
uint32_t cp_state = xthal_get_cpenable(); // get FPU state
if(cp_state)
{
xthal_save_cp0(cp0_regs); // Save FPU registers
}
else
{
xthal_set_cpenable(1); // enable FPU
}
timer_isr_body(timestamp);
if(cp_state)
{
xthal_restore_cp0(cp0_regs); // Restore FPU registers
}
else
{
xthal_set_cpenable(0); // turn it back off
}
}
void save_config()
{
File file = SPIFFS.open("/config.bin", "w");
if(!file)
{
Serial.println("[E] failed to open file for writing");
}
else
{
file.write((const uint8_t *)&config, sizeof(config));
file.close();
Serial.println("[i] wrote config to SPIFFS");
}
}
void load_config()
{
File file = SPIFFS.open("/config.bin", "r");