feat: Initial esp32-hacking project with firmware sources and docs

README.md

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+# ESP32 Firmware Hacking
+
+Resources for customizing ESP32 CSI firmware.
+
+## Directory Structure
+
+```
+esp32-hacking/
+├── get-started/           # Basic CSI examples (CURRENTLY USED)
+│   ├── csi_recv_router/   # <-- OUR FIRMWARE (modified for UDP)
+│   ├── csi_recv/          # Basic receiver (serial output)
+│   ├── csi_send/          # CSI transmitter
+│   └── tools/             # Python CSI parsing tools
+├── esp-radar/             # Advanced presence detection
+│   ├── console_test/      # Interactive CSI testing console
+│   └── connect_rainmaker/ # IoT cloud integration
+├── esp-crab/              # Dual-antenna experiments
+│   ├── master_recv/       # Master receiver
+│   ├── slave_recv/        # Slave receiver
+│   └── slave_send/        # Slave transmitter
+└── README.md              # This file
+```
+
+## Current Firmware
+
+**Source:** `get-started/csi_recv_router/`
+**Origin:** Espressif esp-csi example, modified for UDP output
+**Deployed on:** 3x ESP32-DevKitC V1
+
+### What It Does
+1. Connects to WiFi router as station
+2. Pings gateway at 100 Hz to generate CSI frames
+3. On each CSI callback, formats data as text
+4. Sends via UDP to Pi (port 5500)
+
+### Key Settings (sdkconfig.defaults)
+
+| Setting | Value | Purpose |
+|---------|-------|---------|
+| `CONFIG_ESP32_WIFI_CSI_ENABLED` | y | Enable CSI extraction |
+| `CONFIG_ESP32_WIFI_AMPDU_TX_ENABLED` | (empty) | Disable TX aggregation |
+| `CONFIG_ESP32_WIFI_DYNAMIC_RX_BUFFER_NUM` | 128 | Large RX buffer |
+| `CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ` | 240 | Max CPU speed |
+| `CONFIG_FREERTOS_HZ` | 1000 | 1ms tick resolution |
+| `CONFIG_ESP_TASK_WDT_TIMEOUT_S` | 30 | Watchdog timeout |
+| `CONFIG_COMPILER_OPTIMIZATION_PERF` | y | Performance optimization |
+
+### Custom Config (Kconfig.projbuild)
+
+| Config | Description |
+|--------|-------------|
+| `CONFIG_CSI_UDP_TARGET_IP` | Pi's IP address (192.168.129.11) |
+| `CONFIG_CSI_UDP_TARGET_PORT` | UDP port (5500) |
+
+### CSI Data Format
+```
+CSI_DATA,<seq>,<mac>,<rssi>,<rate>,<sig_mode>,<mcs>,<cwb>,<smoothing>,
+<not_sounding>,<aggregation>,<stbc>,<fec_coding>,<sgi>,<noise_floor>,
+<ampdu_cnt>,<channel>,<secondary_channel>,<timestamp>,<ant>,<sig_len>,
+<rx_state>,<len>,<first_word_invalid>,"[csi_values]"
+```
+
+### Build & Flash
+```bash
+source ~/esp/esp-idf/export.sh
+cd ~/esp/esp-csi/examples/get-started/csi_recv_router
+idf.py menuconfig    # Change WiFi SSID/password, UDP target IP
+idf.py build
+idf.py -p /dev/ttyUSB0 flash
+idf.py -p /dev/ttyUSB0 monitor   # View serial output
+```
+
+## Firmware Modification Ideas
+
+### 1. Remote Commands (UDP bidirectional)
+
+Add a UDP listener on the ESP32 to receive commands from the Pi.
+
+```c
+// Commands to implement:
+// REBOOT          - restart ESP32
+// IDENTIFY        - blink onboard LED for 5 seconds
+// STATUS          - reply with uptime, free heap, RSSI, chip temp
+// RATE <n>        - change ping/CSI rate (packets per second)
+// OTA <url>       - trigger OTA firmware update
+```
+
+**Complexity:** Low
+**Impact:** High - enables remote management without USB
+
+### 2. Adaptive Sampling Rate
+
+Reduce packet rate when no presence detected, increase on motion.
+
+```c
+// Idle:   10 pkt/s  (saves power, bandwidth)
+// Active: 100 pkt/s (full resolution)
+// Trigger: wander threshold on-device
+```
+
+**Complexity:** Medium (needs on-device wander calculation)
+**Impact:** Medium - reduces Pi CPU load by ~90% when idle
+
+### 3. On-Device CSI Processing
+
+Pre-compute amplitude on ESP32, send only metrics.
+
+```c
+// Instead of raw CSI (128 int16 values per packet = 256 bytes):
+// Send: "METRICS,<seq>,<rssi>,<wander>,<jitter>,<amplitude_mean>"
+// ~50 bytes per packet instead of ~500
+```
+
+**Complexity:** Medium
+**Impact:** High - 80% bandwidth reduction
+
+### 4. LED Status Indicator
+
+Use onboard LED (GPIO2 on most DevKitC) for status.
+
+```c
+// Off:          No WiFi connection
+// Slow blink:   Connected, no CSI activity
+// Fast blink:   Sending CSI data
+// Solid:        Identify mode (triggered by command)
+```
+
+**Complexity:** Low
+**Impact:** Low - quality of life
+
+### 5. BLE Scanning
+
+ESP32 has Bluetooth. Scan for nearby BLE devices.
+
+```c
+// Periodically scan for BLE advertisements
+// Report: MAC, RSSI, device name
+// Use for: phone/wearable proximity detection
+// Complements CSI: confirms person is home (phone detected)
+```
+
+**Complexity:** Medium
+**Impact:** High - adds a second detection method
+
+### 6. OTA (Over-The-Air) Updates
+
+Flash new firmware via WiFi without USB.
+
+```c
+// ESP-IDF has built-in OTA support
+// Pi serves firmware binary via HTTP
+// ESP32 downloads and flashes
+// Requires dual OTA partition scheme
+```
+
+**Complexity:** Medium (partition table change needed)
+**Impact:** High - no more USB flashing
+
+### 7. ESP-NOW Mesh
+
+Direct ESP32-to-ESP32 communication without router.
+
+```c
+// Active CSI: ESP32-A sends, ESP32-B measures CSI
+// More reliable than passive router beacon monitoring
+// Can work even if WiFi router goes down
+```
+
+**Complexity:** High (requires re-architecting firmware)
+**Impact:** High - better CSI quality
+
+### 8. Temperature Reporting
+
+ESP32 has internal temperature sensor.
+
+```c
+// Read chip temperature
+// Send with CSI data or as separate status packet
+// Useful for monitoring device health
+```
+
+**Complexity:** Low
+**Impact:** Low - monitoring
+
+### 9. mDNS Auto-Discovery
+
+Announce device on network, no need for static IPs.
+
+```c
+// Register as: <device-name>.local
+// Pi discovers sensors automatically
+// No manual IP configuration needed
+```
+
+**Complexity:** Low
+**Impact:** Medium - easier deployment
+
+### 10. Watchdog + Auto-Recovery
+
+Better error handling and self-healing.
+
+```c
+// Monitor WiFi connection, reconnect on drop
+// Monitor UDP send failures
+// Track heap fragmentation
+// Reboot if stuck for >60 seconds
+```
+
+**Complexity:** Low
+**Impact:** Medium - reliability
+
+## Priority Order (Recommended)
+
+| Priority | Feature | Why |
+|----------|---------|-----|
+| 1 | Remote commands | Remote reboot + identify = essential |
+| 2 | LED status | Easy win, helps debugging |
+| 3 | OTA updates | Stop walking to each sensor with USB |
+| 4 | Adaptive rate | Save CPU/power when idle |
+| 5 | mDNS | Easier deployment |
+| 6 | BLE scanning | Second detection method |
+| 7 | On-device processing | Bandwidth optimization |
+| 8 | Temperature | Nice to have |
+| 9 | ESP-NOW mesh | Major rewrite, big payoff |
+| 10 | Watchdog improvements | Production hardening |
+
+## ESP-CSI Tools
+
+### Python CSI Parser (get-started/tools/)
+- `csi_data_read_parse.py` - PyQt5 GUI for live CSI visualization
+- Shows amplitude and phase plots in real-time
+
+### ESP Radar Console (esp-radar/console_test/)
+- Interactive console for testing CSI features
+- Includes `esp_csi_tool.py` CLI and GUI tools
+- Built-in presence detection algorithms
+
+## References
+
+- [ESP-IDF Programming Guide](https://docs.espressif.com/projects/esp-idf/en/latest/)
+- [ESP-CSI Repository](https://github.com/espressif/esp-csi)
+- [ESP32 WiFi CSI API](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/network/esp_wifi.html)
+- [ESP-NOW Protocol](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/network/esp_now.html)
+- [ESP32 OTA Updates](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/system/ota.html)

esp-crab/README.md

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+# Co-Crystal Oscillator CSI Reception Example
+
+* [中文版](./README_CN.md)
+
+This example provides a radio frequency phase synchronization solution for Wi-Fi CSI, including three sub-projects: `MASTER_RECV` (master receiver), `SLAVE_RECV` (slave receiver), and `SLAVE_SEND` (slave sender).  
+The solution includes two working modes:  
+1. Self-transmit-and-receive mode  
+2. Single-transmit-and-dual-receive mode
+
+## Feature Introduction
+
+### 1. Self-Transmit-and-Receive Mode
+
+In this mode, two ESP32-C5 chips are used to transmit and receive signals respectively. By analyzing the phase information in the received Wi-Fi CSI signals, disturbances in the signal path can be sensed with millimeter-level accuracy.  
+By installing copper sheets to control the RF signal transmission path, the sensing range can also be adjusted, thus supporting high-precision short-range Wi-Fi sensing.  
+This enables finer Wi-Fi signal sensing, suitable for precise applications in close-range and complex environments.
+
+![Self-Transmission and Reception Amplitude](<doc/img/Self-Transmission and Reception Amplitude.gif>)  
+![Self-Transmission and Reception Phase](<doc/img/Self-Transmission and Reception Phase.gif>)
+
+#### 1.1 MASTER_RECV (Master Receiver)
+
+Flash the `MASTER_RECV` firmware to the **Master** chip of the `esp-crab` device. Its functions include:
+
+* Receiving Wi-Fi packets from the `SLAVE_SEND` and extracting **CIR (Channel Impulse Response)** data.
+* Calculating the **amplitude and phase** of Wi-Fi CSI from the CIR and displaying the results.
+
+#### 1.2 SLAVE_SEND (Slave Sender)
+
+Flash the `SLAVE_SEND` firmware to the **Slave** chip of the `esp-crab` device. Its function:
+
+* Transmitting specific Wi-Fi packets.
+
+### 2. Single-Transmit-and-Dual-Receive Mode
+
+In this mode, one ESP32-C5 chip is responsible for signal transmission, while the two ESP32-C5 chips on the `esp-crab` device receive signals.  
+By spatially distributing the sender and receivers, Wi-Fi sensing can be realized over a **larger area**.  
+The **co-crystal oscillator Wi-Fi CSI data** acquired by the `esp-crab` satisfies the performance requirements of cutting-edge Wi-Fi sensing research, and can be directly integrated with advanced algorithms, further improving the **accuracy and application value** of the sensing system.  
+This mode offers strong technical support for **wide-area and complex environment wireless sensing and positioning**.
+
+![Single-Transmission and Dual-Reception Phase](<doc/img/Single-Transmission and Dual-Reception Phase.gif>)
+
+#### 2.1 MASTER_RECV (Master Receiver)
+
+Flash the `MASTER_RECV` firmware to the **Master** chip of the `esp-crab` device. Its functions include:
+
+* Receiving Wi-Fi packets from `SLAVE_SEND` via antenna and extracting **CIR data**.
+* Receiving CIR data from the `SLAVE_RECV` chip (collected via its antenna).
+* Calculating the **amplitude and phase difference** of Wi-Fi CSI and displaying the result.
+
+#### 2.2 SLAVE_RECV (Slave Receiver)
+
+Flash the `SLAVE_RECV` firmware to the **Slave** chip of the `esp-crab` device. It supports two modes:
+
+* Receiving Wi-Fi packets from `SLAVE_SEND` and extracting **CIR data**.
+* Transmitting the CIR data to `MASTER_RECV`.
+
+#### 2.3 SLAVE_SEND (Slave Sender)
+
+Flash the `SLAVE_SEND` firmware to an extra **ESP32-C5 chip** (e.g., `ESP32-C5-DevkitC-1`). Its function:
+
+* Transmitting specific Wi-Fi packets.
+
+## Required Hardware
+
+### `esp-crab` Device
+
+#### PCB Overview
+
+The RF phase synchronization solution must run on the `esp-crab` device. The images below show the front and back of the PCB:
+
+| No. | Function                          |
+|-----|-----------------------------------|
+| 1   | Master external antenna           |
+| 2   | Master onboard antenna            |
+| 3   | Slave external antenna            |
+| 4   | Slave onboard antenna             |
+| 5   | Master BOOT button                |
+| 6   | Master ADC button                 |
+| 7   | Slave BOOT button                 |
+| 8   | Master 2.4G antenna switch resistor |
+| 9   | Master 5G antenna switch resistor |
+| 10  | Slave 5G antenna switch resistor  |
+| 11  | Slave 2.4G antenna switch resistor |
+| 12  | RST button                        |
+
+![esp_crab_pcb_front](doc/img/esp_crab_pcb_front.png)  
+![esp_crab_pcb_back](doc/img/esp_crab_pcb_back.jpg)
+
+Refer to [ESP-Crab Circuit Diagram Explanation](<doc/ESP-Crab circuit diagram explanation.pdf>) for the PCB pin description.
+
+#### Device Form Factor
+
+The `esp-crab` device has two casing styles based on mode:
+
+* Spaceship case for Self-transmit-and-receive mode  
+  ![Alt text](doc/img/shape_style.png)
+* Router-style case for Single-transmit-and-dual-receive mode  
+  ![router_shape](doc/img/router_style.png)
+
+### `ESP32-C5-DevkitC-1` Development Board
+
+The Single-transmit-and-dual-receive mode requires an `ESP32-C5-DevkitC-1` board as the Wi-Fi sender.
+
+## How to Use the Example
+
+### 1. Self-Transmit-and-Receive Mode
+
+Power the `esp-crab` via Type-C and it will begin operation. It will display CSI amplitude and phase:
+
+* **Amplitude**: Two curves representing CIR amplitude for -Nsr~0 and 0~Nsr.
+* **Phase**: A standard sine curve. The intersection with the red center line represents the CIR phase for 0~Nsr.
+
+At the same time, `esp-crab` will print received CSI data to the serial port in the following format:  
+`type,id,mac,rssi,rate,noise_floor,fft_gain,agc_gain,channel,local_timestamp,sig_len,rx_state,len,first_word,data`
+
+Example:
+
+``` text
+CSI_DATA,3537,1a:00:00:00:00:00,-17,11,159,22,5,8,859517,47,0,234,0,"[14,9,13,...,-11]"
+```
+
+> **Note:** Upon power-up, the device collects the first 100 Wi-Fi packets to determine the RF reception gain.
+
+### 2. Single-Transmit-and-Dual-Receive Mode
+
+In this mode, both the `esp-crab` and the `ESP32-C5-DevkitC-1` need to be powered and placed at a certain distance from each other.  
+The `esp-crab` will then display the amplitude and phase information of the CSI, and simultaneously print the received `CSI` data to the serial port, as described earlier.

esp-crab/README_CN.md

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+# 共晶振CSI接收示例
+
+* [English Version](./README.md)
+
+此示例提供了一种 Wifi-CSI 的射频相位同步解决方案，包含三个子项目：MASTER_RECV（主接收端）、SLAVE_RECV（从接收端）、SLAVE_SEND（从发送端）。
+该方案包含两种工作模式：1、自发自收模式；2、单发双收模式
+
+## 功能介绍
+
+### 1. 自发自收模式
+
+在该模式下，两片 ESP32-C5 芯片分别发送和接收信号，通过计算接收 Wi-Fi CSI 信号中的相位信息，可以毫米级地感知射频信号路径中的扰动。同时，通过安装铜片控制射频信号的传输路径，也可以调节感知范围，从而为高精度的近距离 Wi-Fi 感知提供技术支持。这种模式使得 Wi-Fi 信号感知更加精细，适用于近距离和复杂环境中的精确感知应用。
+
+![Self-Transmission and Reception Amplitude](<doc/img/Self-Transmission and Reception Amplitude.gif>)
+![Self-Transmission and Reception Phase](<doc/img/Self-Transmission and Reception Phase.gif>)
+
+#### 1.1 MASTER_RECV（主接收端）
+
+将 `MASTER_RECV` 固件烧录至 `esp-crab` 设备的 **Master** 芯片，其功能包括：
+
+* 接收来自 `SLAVE_SEND` 端的 WiFi 数据包，并提取数据中的 **CIR (Channel Impulse Response)** 信息。
+* 基于接收到的 CIR 信息，计算 Wifi-CSI 的 **幅度和相位**，并将结果显示。
+
+#### 1.2 SLAVE_SEND（从发送端）
+
+将 `SLAVE_SEND` 固件烧录至 `esp-crab` 设备的 **Slave** 芯片，其功能包括：
+
+* 发送特定的wifi数据包。
+
+### 2. 单发双收模式
+
+此模式下，一片 ESP32-C5 芯片负责发送信号，而 `esp-crab` 的两片 ESP32-C5 芯片则负责接收信号。通过分散部署发送端和接收端，可以在 **大范围空间** 内实现 Wi-Fi 感知。`esp-crab` 获取的 **共晶振 Wi-Fi CSI 信息** 能够满足前沿研究中的 Wi-Fi 感知性能需求，并且可以直接对接成熟的高级算法，进一步提升无线感知系统的 **精度和应用价值**。该模式为 **大范围、复杂环境下的无线感知和定位** 提供了强大的技术支撑。
+
+![Single-Transmission and Dual-Reception Phase](<doc/img/Single-Transmission and Dual-Reception Phase.gif>)  
+
+#### 2.1 MASTER_RECV（主接收端）
+
+将 `MASTER_RECV` 固件烧录至 `esp-crab` 设备的 **Master** 芯片，其功能包括：
+
+* 通过天线接收来自 `SLAVE_SEND` 的 Wi-Fi 数据包，并提取 **CIR 信息**。
+* 同时接收来自 `SLAVE_RECV` 的 CIR 信息（该信息由从接收端的天线收集）。
+* 计算 Wi-Fi CSI 的 **幅度和相位差值**，并将结果显示。
+
+#### 2.2 SLAVE_RECV（从接收端）
+
+将 `SLAVE_RECV` 固件烧录至 `esp-crab` 设备的 **Slave** 芯片，支持以下两种模式：
+
+* 通过天线接收来自 `SLAVE_SEND` 的 Wi-Fi 数据包，并提取 **CIR 信息**。
+* 将接收到的 CIR 信息发送到 `MASTER_RECV`。
+
+#### 2.3 SLAVE_SEND（从发送端）
+
+将 `SLAVE_SEND` 固件烧录至额外的 **ESP32-C5 芯片**（例如 `ESP32-C5-DevkitC-1`），其功能包括：
+
+* 发送特定的 Wi-Fi 数据包。
+
+## 所需硬件
+
+### `esp-crab` 设备
+
+#### PCB介绍  
+
+射频相位同步解决方案需要运行在 `esp-crab` 设备上，下面的图片显示了PCB的正面和背面。
+
+| 序号 | 功能                     |
+|------|--------------------------|
+| 1    | Master 外接天线          |
+| 2    | Master 板载天线          |
+| 3    | Slave 外接天线           |
+| 4    | Slave 板载天线           |
+| 5    | Master BOOT 按键         |
+| 6    | Master ADC 按键          |
+| 7    | Slave BOOT 按键          |
+| 8    | Master 2.4G天线切换电阻  |
+| 9    | Master 5G天线切换电阻    |
+| 10   | Slave 5G天线切换电阻     |
+| 11   | Slave 2.4G天线切换电阻   |
+| 12   | RST 按键                 |
+
+![esp_crab_pcb_front](doc/img/esp_crab_pcb_front.png)
+![esp_crab_pcb_back](doc/img/esp_crab_pcb_back.jpg)
+
+参考 [ESP-Crab Circuit Diagram Explanation](<doc/ESP-Crab circuit diagram explanation.pdf>) 查看PCB的引脚说明。
+
+#### 形态介绍
+
+`esp-crab` 设备根据功能的不同，具有两种外壳形式，
+
+* 自发自收模式的飞船外形
+![Alt text](doc/img/shape_style.png)
+* 单发双收模式的飞船外形
+![router_shape](doc/img/router_style.png)
+
+### `ESP32-C5-DevkitC-1`开发板
+
+单发双收模式需要一个`ESP32-C5-DevkitC-1`开发板作为wifi发送端。
+
+## 如何使用样例
+
+### 1. 自发自收模式
+
+自发自收模式只要为 `esp-crab` 通过 Type-c 供电，就可以开始工作，`esp-crab` 即会显示CIS的幅度和相位信息。
+
+* 幅度信息：两条曲线分别为 -Nsr~0 和 0~Nsr 对应CIR的幅度信息。
+* 相位信息：曲线为标准正弦曲线，曲线与屏幕中心红线的交点为 0~Nsr 对应CIR的相位信息。
+
+同时`esp-crab`会在串口打印接收到的 `CSI` 数据，按 `type,id,mac,rssi,rate,noise_floor,fft_gain,agc_gain,channel,local_timestamp,sig_len,rx_state,len,first_word,data` 顺序打印如下所示的数据。
+
+```text
+CSI_DATA,3537,1a:00:00:00:00:00,-17,11,159,22,5,8,859517,47,0,234,0,"[14,9,13,10,13,11,13,12,17,13,16,14,16,16,16,16,15,18,17,17,17,21,15,20,16,22,17,23,15,25,16,23,17,21,13,25,15,23,14,21,17,24,16,22,16,21,19,20,18,21,17,18,18,20,17,20,17,21,18,19,18,18,20,19,19,15,19,17,21,16,21,16,21,15,22,13,24,14,24,11,23,9,24,9,25,9,25,7,25,9,26,7,26,6,24,5,26,6,26,4,26,3,28,2,28,2,29,2,30,-1,28,-1,24,-3,0,0,0,0,0,0,-6,-28,-7,-28,-5,-28,-7,-28,-6,-28,-9,-26,-9,-26,-10,-27,-12,-27,-10,-24,-10,-23,-11,-25,-13,-24,-16,-22,-17,-25,-16,-22,-20,-21,-19,-20,-18,-23,-17,-19,-18,-16,-21,-19,-19,-17,-19,-17,-23,-18,-21,-17,-22,-13,-22,-13,-23,-14,-24,-14,-23,-12,-24,-14,-23,-13,-25,-12,-24,-11,-28,-12,-24,-11,-25,-10,-27,-10,-25,-12,-26,-10,-26,-10,-26,-12,-29,-11,-27,-12,-25,-11,-23,-13,-22,-12,-20,-14,-21,-13,-20,-13,-18,-11,-14,-13,-16,-11,-13,-11,-12,-10,-11,-11]"
+```
+
+> 注：上电设备会采集前一百个wifi包来确定wifi射频接收增益。
+
+### 2. 单发双收模式
+
+单发双收模式要为 `esp-crab` 和 `ESP32-C5-DevkitC-1` 供电，并布置在有一定距离的空间内，`esp-crab` 即会显示CIS的幅度和相位信息。同时`esp-crab`会在串口打印接收到如前文所示的 `CSI` 数据。

esp-crab/master_recv/.gitignore

@@ -0,0 +1,109 @@
+.config
+*.o
+*.pyc
+*.orig
+
+# gtags
+GTAGS
+GRTAGS
+GPATH
+
+# emacs
+.dir-locals.el
+
+# emacs temp file suffixes
+*~
+.#*
+\#*#
+
+# eclipse setting
+.settings
+
+# MacOS directory files
+.DS_Store
+
+# Components Unit Test Apps files
+components/**/build
+components/**/sdkconfig
+components/**/sdkconfig.old
+
+# Example project files
+examples/**/sdkconfig
+examples/**/sdkconfig.old
+examples/**/build
+
+# Doc build artifacts
+docs/**/_build/
+docs/**/doxygen-warning-log.txt
+docs/**/sphinx-warning-log.txt
+docs/**/sphinx-warning-log-sanitized.txt
+docs/**/xml/
+docs/**/xml_in/
+docs/**/man/
+
+# Downloaded font files
+docs/_static/DejaVuSans.ttf
+docs/_static/NotoSansSC-Regular.otf
+
+# Unit test app files
+tools/unit-test-app/sdkconfig
+tools/unit-test-app/sdkconfig.old
+tools/unit-test-app/build
+tools/unit-test-app/builds
+tools/unit-test-app/output
+tools/unit-test-app/test_configs
+
+# Unit Test CMake compile log folder
+log_ut_cmake
+
+# test application build files
+tools/test_apps/**/build
+tools/test_apps/**/sdkconfig
+tools/test_apps/**/sdkconfig.old
+
+# IDF monitor test
+tools/test_idf_monitor/outputs
+
+TEST_LOGS
+
+# gcov coverage reports
+*.gcda
+*.gcno
+coverage.info
+coverage_report/
+
+test_multi_heap_host
+
+# VS Code Settings
+.vscode/
+
+# VIM files
+*.swp
+*.swo
+
+# Clion IDE CMake build & config
+.idea/
+cmake-build-*/
+
+# Results for the checking of the Python coding style and static analysis
+.mypy_cache
+flake8_output.txt
+
+# ESP-IDF default build directory name
+build
+build_esp*/
+build_linux*/
+size_info.txt
+
+# lock files for examples and components
+dependencies.lock
+
+# managed_components for examples
+managed_components
+
+# pytest log
+pytest_embedded_log/
+pytest_log/
+.pytest_cache/
+XUNIT_RESULT.xml
+

esp-crab/master_recv/CMakeLists.txt

@@ -0,0 +1,15 @@
+
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctlycmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.5)
+add_compile_options(-fdiagnostics-color=always)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+message("EXTRA_COMPONENT_DIRS: " ${EXTRA_COMPONENT_DIRS})
+add_definitions(-D CHIP_ID=1)
+string(REGEX REPLACE ".*/\(.*\)" "\\1" CURDIR ${CMAKE_CURRENT_SOURCE_DIR})
+project(${CURDIR})
+
+git_describe(PROJECT_VERSION ${COMPONENT_DIR})
+message("Project commit: " ${PROJECT_VERSION})

esp-crab/master_recv/components/bsp_C5_dual_antenna/CMakeLists.txt

@@ -0,0 +1,7 @@
+idf_component_register(
+    SRCS "bsp_C5_dual_antenna.c"  ${SRC_VER}
+    INCLUDE_DIRS "include"
+    PRIV_INCLUDE_DIRS "priv_include"
+    REQUIRES driver spiffs esp_wifi
+    PRIV_REQUIRES fatfs esp_lcd
+)

esp-crab/master_recv/components/bsp_C5_dual_antenna/Kconfig

@@ -0,0 +1,93 @@
+menu "Board Support Package"
+
+    config BSP_ERROR_CHECK
+        bool "Enable error check in BSP"
+        default y
+        help
+            Error check assert the application before returning the error code.
+
+    menu "I2C"
+        config BSP_I2C_NUM
+            int "I2C peripheral index"
+            default 0
+            range 0 1
+            help
+                ESP32C5 has two I2C peripherals, pick the one you want to use.
+
+        config BSP_I2C_FAST_MODE
+            bool "Enable I2C fast mode"
+            default y
+            help
+                I2C has two speed modes: normal (100kHz) and fast (400kHz).
+
+        config BSP_I2C_CLK_SPEED_HZ
+            int
+            default 400000 if BSP_I2C_FAST_MODE
+            default 100000
+    endmenu
+
+    menu "SPIFFS - Virtual File System"
+        config BSP_SPIFFS_FORMAT_ON_MOUNT_FAIL
+            bool "Format SPIFFS if mounting fails"
+            default n
+            help
+                Format SPIFFS if it fails to mount the filesystem.
+
+        config BSP_SPIFFS_MOUNT_POINT
+            string "SPIFFS mount point"
+            default "/spiffs"
+            help
+                Mount point of SPIFFS in the Virtual File System.
+
+        config BSP_SPIFFS_PARTITION_LABEL
+            string "Partition label of SPIFFS"
+            default "storage"
+            help
+                Partition label which stores SPIFFS.
+
+        config BSP_SPIFFS_MAX_FILES
+            int "Max files supported for SPIFFS VFS"
+            default 5
+            help
+                Supported max files for SPIFFS in the Virtual File System.
+    endmenu
+
+    menu "SD card - Virtual File System"
+        config BSP_SD_FORMAT_ON_MOUNT_FAIL
+            bool "Format SD card if mounting fails"
+            default n
+            help
+                The SDMMC host will format (FAT) the SD card if it fails to mount the filesystem.
+
+        config BSP_SD_MOUNT_POINT
+            string "SD card mount point"
+            default "/sdcard"
+            help
+                Mount point of the SD card in the Virtual File System
+
+    endmenu
+
+    menu "Display"
+        config BSP_DISPLAY_BRIGHTNESS_LEDC_CH
+        int "LEDC channel index"
+        default 1
+        range 0 7
+        help
+            LEDC channel is used to generate PWM signal that controls display brightness.
+            Set LEDC index that should be used.
+
+        config BSP_LCD_DRAW_BUF_HEIGHT
+        int "LCD framebuf height"
+        default 100
+        range 10 240
+        help
+            Framebuf is used for lvgl rendering output.
+
+        config BSP_LCD_DRAW_BUF_DOUBLE
+        bool "LCD double framebuf"
+        default n
+        help
+            Whether to enable double framebuf.
+    endmenu
+    
+endmenu

esp-crab/master_recv/components/bsp_C5_dual_antenna/LICENSE

@@ -0,0 +1,202 @@
+
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esp-crab/master_recv/components/bsp_C5_dual_antenna/bsp_C5_dual_antenna.c

@@ -0,0 +1,538 @@
+/*
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "driver/gpio.h"
+#include "driver/ledc.h"
+#include "driver/spi_master.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "esp_check.h"
+#include "esp_spiffs.h"
+#include "esp_lcd_panel_io.h"
+#include "esp_lcd_panel_vendor.h"
+#include "esp_lcd_panel_ops.h"
+#include "esp_vfs_fat.h"
+
+#include "iot_button.h"
+#include "bsp_C5_dual_antenna.h"
+#include "esp_lcd_gc9a01.h"
+#include "display.h"
+#include "touch.h"
+#include "esp_lcd_touch_cst816s.h"
+#include "esp_lvgl_port.h"
+#include "bsp_err_check.h"
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <time.h>
+#include <sys/time.h>
+#include "driver/uart.h"
+#include "esp_sleep.h"
+#include "esp_timer.h"
+#include "led_strip.h"
+#include "sdkconfig.h"
+
+static const char *TAG = "ESP-Magnescreen";
+RGB_LED_Config *rgb_led_handle;
+bool rgb_task_started = false;
+static led_strip_handle_t led_strip;
+#if CHIP_ID == MASTER_CHIP
+
+static lv_disp_t *disp;
+static lv_indev_t *disp_indev = NULL;
+static esp_lcd_touch_handle_t tp;   // LCD touch handle
+static esp_lcd_panel_handle_t panel_handle = NULL;
+
+sdmmc_card_t *bsp_sdcard = NULL;    // Global SD card handler
+static bool i2c_initialized = false;
+
+static button_handle_t g_btn_handle = NULL;
+
+esp_err_t bsp_i2c_init(void)
+{
+    /* I2C was initialized before */
+    if (i2c_initialized) {
+        return ESP_OK;
+    }
+
+    const i2c_config_t i2c_conf = {
+        .mode = I2C_MODE_MASTER,
+        .sda_io_num = BSP_I2C_SDA,
+        .sda_pullup_en = GPIO_PULLUP_ENABLE,
+        .scl_io_num = BSP_I2C_SCL,
+        .scl_pullup_en = GPIO_PULLUP_ENABLE,
+        .master.clk_speed = CONFIG_BSP_I2C_CLK_SPEED_HZ
+    };
+    BSP_ERROR_CHECK_RETURN_ERR(i2c_param_config(BSP_I2C_NUM, &i2c_conf));
+    BSP_ERROR_CHECK_RETURN_ERR(i2c_driver_install(BSP_I2C_NUM, i2c_conf.mode, 0, 0, 0));
+
+    i2c_initialized = true;
+
+    return ESP_OK;
+}
+
+esp_err_t bsp_i2c_deinit(void)
+{
+    BSP_ERROR_CHECK_RETURN_ERR(i2c_driver_delete(BSP_I2C_NUM));
+    i2c_initialized = false;
+    return ESP_OK;
+}
+
+esp_err_t bsp_spiffs_mount(void)
+{
+    esp_vfs_spiffs_conf_t conf = {
+        .base_path = CONFIG_BSP_SPIFFS_MOUNT_POINT,
+        .partition_label = CONFIG_BSP_SPIFFS_PARTITION_LABEL,
+        .max_files = CONFIG_BSP_SPIFFS_MAX_FILES,
+#ifdef CONFIG_BSP_SPIFFS_FORMAT_ON_MOUNT_FAIL
+        .format_if_mount_failed = true,
+#else
+        .format_if_mount_failed = false,
+#endif
+    };
+
+    esp_err_t ret_val = esp_vfs_spiffs_register(&conf);
+
+    BSP_ERROR_CHECK_RETURN_ERR(ret_val);
+
+    size_t total = 0, used = 0;
+    ret_val = esp_spiffs_info(conf.partition_label, &total, &used);
+    if (ret_val != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to get SPIFFS partition information (%s)", esp_err_to_name(ret_val));
+    } else {
+        ESP_LOGI(TAG, "Partition size: total: %d, used: %d", total, used);
+    }
+
+    return ret_val;
+}
+
+esp_err_t bsp_spiffs_unmount(void)
+{
+    return esp_vfs_spiffs_unregister(CONFIG_BSP_SPIFFS_PARTITION_LABEL);
+}
+
+// Bit number used to represent command and parameter
+#define LCD_CMD_BITS           8
+#define LCD_PARAM_BITS         8
+#define LCD_LEDC_CH            CONFIG_BSP_DISPLAY_BRIGHTNESS_LEDC_CH
+
+static esp_err_t bsp_display_brightness_init(void)
+{
+    // Setup LEDC peripheral for PWM backlight control
+    const ledc_channel_config_t LCD_backlight_channel = {
+        .gpio_num = BSP_LCD_BACKLIGHT,
+        .speed_mode = LEDC_LOW_SPEED_MODE,
+        .channel = LCD_BACKLIGHT_CHANNEL,
+        .intr_type = LEDC_INTR_DISABLE,
+        .timer_sel = 1,
+        .duty = 0,
+        .hpoint = 0
+    };
+    const ledc_timer_config_t LCD_backlight_timer = {
+        .speed_mode = LEDC_LOW_SPEED_MODE,
+        .duty_resolution = LEDC_TIMER_10_BIT,
+        .timer_num = 1,
+        .freq_hz = 5000,
+        .clk_cfg = LEDC_AUTO_CLK
+    };
+
+    BSP_ERROR_CHECK_RETURN_ERR(ledc_timer_config(&LCD_backlight_timer));
+    BSP_ERROR_CHECK_RETURN_ERR(ledc_channel_config(&LCD_backlight_channel));
+
+    return ESP_OK;
+}
+
+esp_err_t bsp_display_brightness_set(int brightness_percent)
+{
+    if (brightness_percent > 100) {
+        brightness_percent = 100;
+    }
+    if (brightness_percent < 5) {
+        brightness_percent = 5;
+    }
+
+    ESP_LOGD(TAG, "Setting LCD backlight: %d%%", brightness_percent);
+    uint32_t duty_cycle = (1023 * brightness_percent) / 100; // LEDC resolution set to 10bits, thus: 100% = 1023
+    BSP_ERROR_CHECK_RETURN_ERR(ledc_set_duty(LEDC_LOW_SPEED_MODE, LCD_LEDC_CH, duty_cycle));
+    BSP_ERROR_CHECK_RETURN_ERR(ledc_update_duty(LEDC_LOW_SPEED_MODE, LCD_LEDC_CH));
+
+    return ESP_OK;
+}
+
+esp_err_t bsp_display_backlight_off(void)
+{
+    return bsp_display_brightness_set(0);
+}
+
+esp_err_t bsp_display_backlight_on(void)
+{
+    return bsp_display_brightness_set(100);
+}
+
+static esp_err_t bsp_lcd_enter_sleep(void)
+{
+    assert(panel_handle);
+    return esp_lcd_panel_disp_on_off(panel_handle, false);
+}
+
+static esp_err_t bsp_lcd_exit_sleep(void)
+{
+    assert(panel_handle);
+    return esp_lcd_panel_disp_on_off(panel_handle, true);
+}
+
+esp_err_t bsp_display_new(const bsp_display_config_t *config, esp_lcd_panel_handle_t *ret_panel, esp_lcd_panel_io_handle_t *ret_io)
+{
+    esp_err_t ret = ESP_OK;
+    assert(config != NULL && config->max_transfer_sz > 0);
+
+    ESP_RETURN_ON_ERROR(bsp_display_brightness_init(), TAG, "Brightness init failed");
+
+    /* Initilize I2C */
+    BSP_ERROR_CHECK_RETURN_ERR(bsp_i2c_init());
+
+    ESP_LOGI(TAG, "Initialize SPI bus");
+    const spi_bus_config_t bus_config = GC9A01_PANEL_BUS_SPI_CONFIG(BSP_LCD_PCLK, BSP_LCD_DATA0,
+                                                                    BSP_LCD_H_RES * 80 * sizeof(uint16_t));
+    ESP_RETURN_ON_ERROR(spi_bus_initialize(BSP_LCD_SPI_NUM, &bus_config, SPI_DMA_CH_AUTO), TAG, "SPI init failed");
+
+    ESP_LOGD(TAG, "Install panel IO");
+    const esp_lcd_panel_io_spi_config_t io_config = {
+        .dc_gpio_num = BSP_LCD_DC,
+        .cs_gpio_num = BSP_LCD_CS,
+        .pclk_hz = BSP_LCD_PIXEL_CLOCK_HZ,
+        .lcd_cmd_bits = LCD_CMD_BITS,
+        .lcd_param_bits = LCD_PARAM_BITS,
+        .spi_mode = 0,
+        .trans_queue_depth = 10,
+    };
+
+    esp_lcd_new_panel_io_spi((esp_lcd_spi_bus_handle_t)BSP_LCD_SPI_NUM, &io_config, ret_io);
+
+    ESP_LOGI(TAG, "Install GC9A01 panel driver");
+    esp_lcd_panel_dev_config_t panel_config = {
+        .reset_gpio_num = BSP_LCD_RST, // Shared with Touch reset
+        // .color_space = BSP_LCD_COLOR_SPACE,
+        .rgb_endian = LCD_RGB_ENDIAN_BGR,
+        .bits_per_pixel = BSP_LCD_BITS_PER_PIXEL,
+    };
+
+    ESP_ERROR_CHECK(esp_lcd_new_panel_gc9a01(*ret_io, (const esp_lcd_panel_dev_config_t *)&panel_config, ret_panel));
+
+    esp_lcd_panel_reset(*ret_panel);
+    esp_lcd_panel_init(*ret_panel);
+    esp_lcd_panel_invert_color(*ret_panel, true);
+    esp_lcd_panel_disp_on_off(*ret_panel, true);
+
+    return ret;
+
+}
+
+static lv_disp_t *bsp_display_lcd_init(const bsp_display_cfg_t *cfg)
+{
+    assert(cfg != NULL);
+    esp_lcd_panel_io_handle_t io_handle = NULL;
+    const bsp_display_config_t bsp_disp_cfg = {
+        .max_transfer_sz = (BSP_LCD_H_RES * CONFIG_BSP_LCD_DRAW_BUF_HEIGHT) * sizeof(uint16_t),
+    };
+    BSP_ERROR_CHECK_RETURN_NULL(bsp_display_new(&bsp_disp_cfg, &panel_handle, &io_handle));
+
+    esp_lcd_panel_disp_on_off(panel_handle, true);
+
+    /* Add LCD screen */
+    ESP_LOGD(TAG, "Add LCD screen");
+    const lvgl_port_display_cfg_t disp_cfg = {
+        .io_handle = io_handle,
+        .panel_handle = panel_handle,
+        .buffer_size = cfg->buffer_size,
+        .double_buffer = cfg->double_buffer,
+        .hres = BSP_LCD_H_RES,
+        .vres = BSP_LCD_V_RES,
+        .monochrome = false,
+        /* Rotation values must be same as used in esp_lcd for initial settings of the screen */
+        .rotation = {
+            .swap_xy = false,
+            .mirror_x = true,
+            .mirror_y = false,
+        },
+        .flags = {
+            .buff_dma = cfg->flags.buff_dma,
+            .buff_spiram = cfg->flags.buff_spiram,
+        }
+    };
+
+    return lvgl_port_add_disp(&disp_cfg);
+}
+
+__attribute__((weak)) esp_err_t esp_lcd_touch_enter_sleep(esp_lcd_touch_handle_t tp)
+{
+    ESP_LOGE(TAG, "Sleep mode not supported!");
+    return ESP_FAIL;
+}
+
+__attribute__((weak)) esp_err_t esp_lcd_touch_exit_sleep(esp_lcd_touch_handle_t tp)
+{
+    ESP_LOGE(TAG, "Sleep mode not supported!");
+    return ESP_FAIL;
+}
+
+static esp_err_t bsp_touch_enter_sleep(void)
+{
+    assert(tp);
+    return esp_lcd_touch_enter_sleep(tp);
+}
+
+static esp_err_t bsp_touch_exit_sleep(void)
+{
+    assert(tp);
+    return esp_lcd_touch_exit_sleep(tp);
+}
+
+esp_err_t bsp_touch_new(const bsp_touch_config_t *config, esp_lcd_touch_handle_t *ret_touch)
+{
+    /* Initilize I2C */
+    BSP_ERROR_CHECK_RETURN_ERR(bsp_i2c_init());
+
+    /* Initialize touch */
+    esp_lcd_touch_config_t tp_cfg = {
+        .x_max = BSP_LCD_H_RES,
+        .y_max = BSP_LCD_V_RES,
+        .rst_gpio_num = GPIO_NUM_NC, // Shared with LCD reset
+        .int_gpio_num = BSP_LCD_TOUCH_INT,
+        .levels = {
+            .reset = 0,
+            .interrupt = 0,
+        },
+        .flags = {
+            .swap_xy = 0,
+            .mirror_x = 0,
+            .mirror_y = 0,
+        },
+    };
+
+    // if(tp_cfg.int_gpio_num != GPIO_NUM_NC) {
+    //     ESP_LOGW(TAG, "Touch interrupt supported!");
+    //     init_touch_isr_mux();
+    //     tp_cfg.interrupt_callback = lvgl_port_touch_isr_cb;
+    // }
+
+    esp_lcd_panel_io_handle_t tp_io_handle = NULL;
+    esp_lcd_panel_io_i2c_config_t tp_io_config = ESP_LCD_TOUCH_IO_I2C_CST816S_CONFIG();
+    tp_io_config.scl_speed_hz = 0;
+    ESP_RETURN_ON_ERROR(esp_lcd_new_panel_io_i2c((esp_lcd_i2c_bus_handle_t)BSP_I2C_NUM, &tp_io_config, &tp_io_handle), TAG, "");
+    ESP_RETURN_ON_ERROR(esp_lcd_touch_new_i2c_cst816s(tp_io_handle, &tp_cfg, ret_touch), TAG, "New CST816S failed");
+
+    return ESP_OK;
+}
+
+static lv_indev_t *bsp_display_indev_init(lv_disp_t *disp)
+{
+    BSP_ERROR_CHECK_RETURN_NULL(bsp_touch_new(NULL, &tp));
+    assert(tp);
+
+    /* Add touch input (for selected screen) */
+    const lvgl_port_touch_cfg_t touch_cfg = {
+        .disp = disp,
+        .handle = tp,
+    };
+
+    return lvgl_port_add_touch(&touch_cfg);
+}
+
+lv_disp_t *bsp_display_start(void)
+{
+    bsp_display_cfg_t cfg = {
+        .lvgl_port_cfg = ESP_LVGL_PORT_INIT_CONFIG(),
+        .buffer_size = BSP_LCD_H_RES * CONFIG_BSP_LCD_DRAW_BUF_HEIGHT,
+#if CONFIG_BSP_LCD_DRAW_BUF_DOUBLE
+        .double_buffer = 1,
+#else
+        .double_buffer = 0,
+#endif
+        .flags = {
+            .buff_dma = true,
+            .buff_spiram = false,
+        }
+    };
+    return bsp_display_start_with_config(&cfg);
+}
+
+lv_disp_t *bsp_display_start_with_config(const bsp_display_cfg_t *cfg)
+{
+    assert(cfg != NULL);
+    BSP_ERROR_CHECK_RETURN_NULL(lvgl_port_init(&cfg->lvgl_port_cfg));
+
+    BSP_ERROR_CHECK_RETURN_NULL(bsp_display_brightness_init());
+
+    BSP_NULL_CHECK(disp = bsp_display_lcd_init(cfg), NULL);
+
+    BSP_NULL_CHECK(disp_indev = bsp_display_indev_init(disp), NULL);
+
+    return disp;
+}
+
+lv_indev_t *bsp_display_get_input_dev(void)
+{
+    return disp_indev;
+}
+
+void bsp_display_rotate(lv_disp_t *disp, lv_disp_rot_t rotation)
+{
+    lv_disp_set_rotation(disp, rotation);
+}
+
+bool bsp_display_lock(uint32_t timeout_ms)
+{
+    return lvgl_port_lock(timeout_ms);
+}
+
+void bsp_display_unlock(void)
+{
+    lvgl_port_unlock();
+}
+
+esp_err_t bsp_display_enter_sleep(void)
+{
+    BSP_ERROR_CHECK_RETURN_ERR(bsp_lcd_enter_sleep());
+    BSP_ERROR_CHECK_RETURN_ERR(bsp_display_backlight_off());
+    BSP_ERROR_CHECK_RETURN_ERR(bsp_touch_enter_sleep());
+    return ESP_OK;
+}
+
+esp_err_t bsp_display_exit_sleep(void)
+{
+    BSP_ERROR_CHECK_RETURN_ERR(bsp_lcd_exit_sleep());
+    BSP_ERROR_CHECK_RETURN_ERR(bsp_display_backlight_on());
+    BSP_ERROR_CHECK_RETURN_ERR(bsp_touch_exit_sleep());
+    return ESP_OK;
+}
+
+esp_err_t bsp_pwm_set_duty(uint8_t duty_percent)
+{
+    if (duty_percent > 100) {
+        return ESP_ERR_INVALID_ARG;  // 避免输入超出范围
+    }
+
+    // 计算实际占空比
+    uint32_t duty_value = (1024 * duty_percent) / 100;  // 13位最大值 2^13-1 = 8191
+    ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_CHANNEL, duty_value);
+    ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_CHANNEL);
+
+    return ESP_OK;
+}
+esp_err_t bsp_pwm_init(void)
+{
+    // 配置 LEDC 定时器
+    ledc_timer_config_t timer_conf = {
+        .speed_mode      = LEDC_LOW_SPEED_MODE,  // 低速模式（80MHz / 分频）
+        .duty_resolution = PWM_RESOLUTION,       // PWM 分辨率 (如 13 位)
+        .timer_num       = LEDC_TIMER_0,         // 使用定时器 0
+        .freq_hz         = PWM_FREQ_HZ           // PWM 频率 (如 5000 Hz)
+    };
+    ESP_ERROR_CHECK(ledc_timer_config(&timer_conf));
+
+    // 配置 LEDC 通道
+    ledc_channel_config_t channel_conf = {
+        .gpio_num       = BSP_BEEP_PIN,          // PWM 引脚
+        .speed_mode     = LEDC_LOW_SPEED_MODE,   // 低速模式
+        .channel        = PWM_CHANNEL,           // 通道 0
+        .timer_sel      = LEDC_TIMER_0,          // 选择定时器 0
+        .duty           = 0,                      // 初始占空比为 0
+        .hpoint         = 0,                      // 设置高电平起始点
+    };
+    ESP_ERROR_CHECK(ledc_channel_config(&channel_conf));
+
+    // 设置占空比并使能
+    ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_CHANNEL, 0);
+    ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_CHANNEL);
+
+    return ESP_OK;
+}
+esp_err_t bsp_slave_reset(void)
+{
+    gpio_config_t gpio_conf = {
+        .pin_bit_mask = ((1ULL<<BSP_RESET_SLAVE) | (1ULL<<BSP_CNT_5) | (1ULL<<BSP_CNT_6)),
+        .mode = GPIO_MODE_INPUT,
+        .pull_down_en = 0,
+        .pull_up_en = 0,
+        .intr_type = GPIO_INTR_DISABLE,
+    };
+    gpio_config(&gpio_conf);
+    return ESP_OK;
+}
+#else 
+
+#endif
+void led_strip_task(void *arg)
+{
+    while (rgb_task_started) {
+        if (rgb_led_handle->led_power) {
+            led_strip_set_pixel(led_strip, 0, rgb_led_handle->red, rgb_led_handle->green, rgb_led_handle->blue);
+            led_strip_refresh(led_strip);
+        } else {
+            led_strip_clear(led_strip);
+        }
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+    }   
+    vTaskDelete(NULL);
+}
+esp_err_t bsp_led_init(void)
+{
+    rgb_led_handle = calloc(1, sizeof(RGB_LED_Config));
+    ESP_LOGI(TAG, "configured to blink addressable LED!");
+    led_strip_config_t strip_config = {
+        .strip_gpio_num = BSP_LED_GPIO,
+        .max_leds = 1, 
+    };
+
+    led_strip_rmt_config_t rmt_config = {
+        .clk_src = RMT_CLK_SRC_DEFAULT,    // different clock source can lead to different power consumption
+        .resolution_hz = 10 * 1000 * 1000, // RMT counter clock frequency: 10MHz
+        .flags = {
+            .with_dma = false, // DMA feature is available on chips like ESP32-S3/P4
+        }
+    };
+    ESP_ERROR_CHECK(led_strip_new_rmt_device(&strip_config, &rmt_config, &led_strip));
+    /* Set all LED off to clear all pixels */
+    led_strip_clear(led_strip);
+    rgb_task_started = true;
+    xTaskCreate(led_strip_task, "led_strip_task", 4096, NULL, 5, NULL);
+    ESP_LOGI(TAG, "led strip init");
+    return ESP_OK;
+}
+
+esp_err_t bsp_led_power_off(void)
+{
+    rgb_led_handle->led_power = 0;
+    return ESP_OK;
+}
+
+esp_err_t bsp_led_set(uint32_t index, uint32_t red, uint32_t green, uint32_t blue)
+{
+    if (index == 0) {
+        rgb_led_handle->red = red;
+        rgb_led_handle->green = green;
+        rgb_led_handle->blue = blue;
+        rgb_led_handle->led_power = 1;
+    }
+    return ESP_OK;
+}
+
+esp_err_t bsp_led_deinit(void)
+{
+    if (rgb_led_handle == NULL) {
+        ESP_LOGW(TAG, "led strip not init");
+        return ESP_OK;
+    }
+    rgb_task_started = false;
+    vTaskDelay(200 / portTICK_PERIOD_MS);
+    free(rgb_led_handle);
+    led_strip_clear(led_strip);
+    led_strip_del(led_strip);
+    ESP_LOGI(TAG, "led strip deinit");
+    return ESP_OK;
+}

esp-crab/master_recv/components/bsp_C5_dual_antenna/idf_component.yml

@@ -0,0 +1,22 @@
+targets:
+  - esp32c5
+
+tags:
+  - bsp
+
+dependencies:
+  idf: ">=4.4.5"
+  esp_lcd_touch_cst816s: "^1"
+  lvgl/lvgl: "^8"
+  espressif/esp_lcd_gc9a01: ^2.0.1
+  espressif/esp_lcd_touch: ^1.1.2
+  
+  espressif/esp_lvgl_port:
+    version: "^2"
+    public: true
+
+  button:
+    version: ">=2.5"
+    public: true
+  espressif/led_strip: "^2.5.3"
+

esp-crab/master_recv/components/bsp_C5_dual_antenna/include/bsp_C5_dual_antenna.h

@@ -0,0 +1,283 @@
+/*
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ * @file
+ * @brief ESP BSP: ESP-Magnescreen
+ */
+
+#pragma once
+
+#include "sdkconfig.h"
+#include "driver/gpio.h"
+#include "driver/i2c.h"
+#include "lvgl.h"
+#include "esp_lvgl_port.h"
+#include "iot_button.h"
+#include "display.h"
+#include "soc/uart_pins.h"
+#define MASTER_CHIP 1
+#define SLAVE_CHIP 0
+#define Self_Transmit_and_Receive_Mode 1
+#define Single_Transmit_and_Dual_Receive_Mode 0
+
+#if CHIP_ID == MASTER_CHIP
+
+/* Display */
+#define BSP_LCD_DATA0         (GPIO_NUM_6)
+#define BSP_LCD_PCLK          (GPIO_NUM_5)
+#define BSP_LCD_CS            (GPIO_NUM_NC)
+#define BSP_LCD_DC            (GPIO_NUM_4)
+#define BSP_LCD_RST           (GPIO_NUM_7)
+#define LCD_BACKLIGHT_CHANNEL LEDC_CHANNEL_1
+#define BSP_LCD_BACKLIGHT     (GPIO_NUM_3)
+#define BSP_LCD_TOUCH_INT     (GPIO_NUM_10)
+#define BSP_I2C_SCL           (GPIO_NUM_8)
+#define BSP_I2C_SDA           (GPIO_NUM_9)
+
+/* Buttons */
+#define BSP_BUTTON            (GPIO_NUM_1)
+
+/* Beep */
+#define BSP_BEEP_PIN          (GPIO_NUM_0)
+#define PWM_CHANNEL           LEDC_CHANNEL_0
+#define PWM_FREQ_HZ           2731
+#define PWM_RESOLUTION        LEDC_TIMER_10_BIT
+
+/* LED */
+#define BSP_LED_GPIO          (GPIO_NUM_2)
+
+/* connect */
+#define BSP_RESET_SLAVE       (GPIO_NUM_23)
+#define BSP_CNT_1             (GPIO_NUM_24)
+#define BSP_CNT_2             (GPIO_NUM_25)
+#define BSP_CNT_3             (GPIO_NUM_26)
+#define BSP_CNT_4             (GPIO_NUM_27)
+#define BSP_CNT_5             (GPIO_NUM_10)
+#define BSP_CNT_6             (GPIO_NUM_11)
+
+#else 
+
+#define BSP_LED_GPIO          (GPIO_NUM_10)
+
+#define PIN_NUM_MISO  GPIO_NUM_7
+#define PIN_NUM_MOSI  GPIO_NUM_5
+#define PIN_NUM_CLK   GPIO_NUM_6
+#define PIN_NUM_CS    GPIO_NUM_2
+
+#endif
+/* Buttons */
+typedef enum {
+    BSP_BUTTON_POWER = 0,
+    BSP_BUTTON_NUM
+} bsp_button_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief BSP display configuration structure
+ *
+ */
+typedef struct {
+    lvgl_port_cfg_t lvgl_port_cfg;  /*!< LVGL port configuration */
+    uint32_t        buffer_size;    /*!< Size of the buffer for the screen in pixels */
+    bool            double_buffer;  /*!< True, if should be allocated two buffers */
+    struct {
+        unsigned int buff_dma: 1;    /*!< Allocated LVGL buffer will be DMA capable */
+        unsigned int buff_spiram: 1; /*!< Allocated LVGL buffer will be in PSRAM */
+    } flags;
+} bsp_display_cfg_t;
+typedef struct {
+    uint32_t red;      // 红色值
+    uint32_t green;    // 绿色值
+    uint32_t blue;     // 蓝色值
+    bool led_power;    // LED 电源开关状态
+} RGB_LED_Config;
+
+/**************************************************************************************************
+ *
+ * I2C interface
+ *
+ * There are multiple devices connected to I2C peripheral:
+ *  - Codec ES8311 (configuration only)
+ *  - ADC ES7210 (configuration only)
+ *  - Encryption chip ATECC608A (NOT populated on most boards)
+ *  - LCD Touch controller
+ *  - Inertial Measurement Unit ICM-42607-P
+ *
+ * After initialization of I2C, use BSP_I2C_NUM macro when creating I2C devices drivers ie.:
+ * \code{.c}
+ * icm42670_handle_t imu = icm42670_create(BSP_I2C_NUM, ICM42670_I2C_ADDRESS);
+ * \endcode
+ **************************************************************************************************/
+#define BSP_I2C_NUM     CONFIG_BSP_I2C_NUM
+
+/**
+ * @brief Init I2C driver
+ *
+ * @return
+ *      - ESP_OK                On success
+ *      - ESP_ERR_INVALID_ARG   I2C parameter error
+ *      - ESP_FAIL              I2C driver installation error
+ *
+ */
+esp_err_t bsp_i2c_init(void);
+
+/**
+ * @brief Deinit I2C driver and free its resources
+ *
+ * @return
+ *      - ESP_OK                On success
+ *      - ESP_ERR_INVALID_ARG   I2C parameter error
+ *
+ */
+esp_err_t bsp_i2c_deinit(void);
+
+/**************************************************************************************************
+ *
+ * SPIFFS
+ *
+ * After mounting the SPIFFS, it can be accessed with stdio functions ie.:
+ * \code{.c}
+ * FILE* f = fopen(BSP_SPIFFS_MOUNT_POINT"/hello.txt", "w");
+ * fprintf(f, "Hello World!\n");
+ * fclose(f);
+ * \endcode
+ **************************************************************************************************/
+#define BSP_SPIFFS_MOUNT_POINT      CONFIG_BSP_SPIFFS_MOUNT_POINT
+
+/**
+ * @brief Mount SPIFFS to virtual file system
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERR_INVALID_STATE if esp_vfs_spiffs_register was already called
+ *      - ESP_ERR_NO_MEM if memory can not be allocated
+ *      - ESP_FAIL if partition can not be mounted
+ *      - other error codes
+ */
+esp_err_t bsp_spiffs_mount(void);
+
+/**
+ * @brief Unmount SPIFFS from virtual file system
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERR_NOT_FOUND if the partition table does not contain SPIFFS partition with given label
+ *      - ESP_ERR_INVALID_STATE if esp_vfs_spiffs_unregister was already called
+ *      - ESP_ERR_NO_MEM if memory can not be allocated
+ *      - ESP_FAIL if partition can not be mounted
+ *      - other error codes
+ */
+esp_err_t bsp_spiffs_unmount(void);
+
+/**************************************************************************************************
+ *
+ * LCD interface
+ *
+ * ESP-BOX is shipped with 2.4inch ST7789 display controller.
+ * It features 16-bit colors, 320x240 resolution and capacitive touch controller.
+ *
+ * LVGL is used as graphics library. LVGL is NOT thread safe, therefore the user must take LVGL mutex
+ * by calling bsp_display_lock() before calling and LVGL API (lv_...) and then give the mutex with
+ * bsp_display_unlock().
+ *
+ * Display's backlight must be enabled explicitly by calling bsp_display_backlight_on()
+ **************************************************************************************************/
+#define BSP_LCD_PIXEL_CLOCK_HZ     (40 * 1000 * 1000)
+#define BSP_LCD_SPI_NUM            (SPI2_HOST)
+
+/**
+ * @brief Initialize display
+ *
+ * This function initializes SPI, display controller and starts LVGL handling task.
+ * LCD backlight must be enabled separately by calling bsp_display_brightness_set()
+ *
+ * @return Pointer to LVGL display or NULL when error occurred
+ */
+lv_disp_t *bsp_display_start(void);
+
+/**
+ * @brief Initialize display
+ *
+ * This function initializes SPI, display controller and starts LVGL handling task.
+ * LCD backlight must be enabled separately by calling bsp_display_brightness_set()
+ *
+ * @param cfg display configuration
+ *
+ * @return Pointer to LVGL display or NULL when error occurred
+ */
+lv_disp_t *bsp_display_start_with_config(const bsp_display_cfg_t *cfg);
+esp_err_t bsp_display_brightness_set(int brightness_percent);
+/**
+ * @brief Get pointer to input device (touch, buttons, ...)
+ *
+ * @note The LVGL input device is initialized in bsp_display_start() function.
+ *
+ * @return Pointer to LVGL input device or NULL when not initialized
+ */
+lv_indev_t *bsp_display_get_input_dev(void);
+
+/**
+ * @brief Take LVGL mutex
+ *
+ * @param timeout_ms Timeout in [ms]. 0 will block indefinitely.
+ * @return true  Mutex was taken
+ * @return false Mutex was NOT taken
+ */
+bool bsp_display_lock(uint32_t timeout_ms);
+
+/**
+ * @brief Give LVGL mutex
+ *
+ */
+void bsp_display_unlock(void);
+
+/**
+ * @brief Set display enter sleep mode
+ *
+ * All the display (LCD, backlight, touch) will enter sleep mode.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERR_NOT_SUPPORTED if this function is not supported by the panel
+ */
+esp_err_t bsp_display_enter_sleep(void);
+
+/**
+ * @brief Set display exit sleep mode
+ *
+ * All the display (LCD, backlight, touch) will exit sleep mode.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERR_NOT_SUPPORTED if this function is not supported by the panel
+ */
+esp_err_t bsp_display_exit_sleep(void);
+
+/**
+ * @brief Rotate screen
+ *
+ * Display must be already initialized by calling bsp_display_start()
+ *
+ * @param[in] disp Pointer to LVGL display
+ * @param[in] rotation Angle of the display rotation
+ */
+void bsp_display_rotate(lv_disp_t *disp, lv_disp_rot_t rotation);
+
+esp_err_t bsp_pwm_init(void);
+esp_err_t bsp_pwm_set_duty(uint8_t duty_percent);
+esp_err_t bsp_led_init(void);
+esp_err_t bsp_led_power_off(void);
+esp_err_t bsp_led_set(uint32_t index, uint32_t red, uint32_t green, uint32_t blue);
+esp_err_t bsp_led_deinit(void);
+esp_err_t bsp_slave_reset(void);
+
+#ifdef __cplusplus
+}
+#endif

esp-crab/master_recv/components/bsp_C5_dual_antenna/include/display.h

@@ -0,0 +1,110 @@
+/*
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ * @file
+ * @brief BSP LCD
+ *
+ * This file offers API for basic LCD control.
+ * It is useful for users who want to use the LCD without the default Graphical Library LVGL.
+ *
+ * For standard LCD initialization with LVGL graphical library, you can call all-in-one function bsp_display_start().
+ */
+
+#pragma once
+#include "esp_lcd_types.h"
+
+/* LCD color formats */
+#define ESP_LCD_COLOR_FORMAT_RGB565    (1)
+#define ESP_LCD_COLOR_FORMAT_RGB888    (2)
+
+/* LCD display color format */
+#define BSP_LCD_COLOR_FORMAT        (ESP_LCD_COLOR_FORMAT_RGB565)
+/* LCD display color bytes endianess */
+#define BSP_LCD_BIGENDIAN           (1)
+/* LCD display color bits */
+#define BSP_LCD_BITS_PER_PIXEL      (16)
+/* LCD display color space */
+#define BSP_LCD_COLOR_SPACE         (ESP_LCD_COLOR_SPACE_BGR)
+/* LCD definition */
+#define BSP_LCD_H_RES               (240)
+#define BSP_LCD_V_RES               (240)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief BSP display configuration structure
+ *
+ */
+typedef struct {
+    int max_transfer_sz;    /*!< Maximum transfer size, in bytes. */
+} bsp_display_config_t;
+
+/**
+ * @brief Create new display panel
+ *
+ * For maximum flexibility, this function performs only reset and initialization of the display.
+ * You must turn on the display explicitly by calling esp_lcd_panel_disp_on_off().
+ * The display's backlight is not turned on either. You can use bsp_display_backlight_on/off(),
+ * bsp_display_brightness_set() (on supported boards) or implement your own backlight control.
+ *
+ * If you want to free resources allocated by this function, you can use esp_lcd API, ie.:
+ *
+ * \code{.c}
+ * esp_lcd_panel_del(panel);
+ * esp_lcd_panel_io_del(io);
+ * spi_bus_free(spi_num_from_configuration);
+ * \endcode
+ *
+ * @param[in]  config    display configuration
+ * @param[out] ret_panel esp_lcd panel handle
+ * @param[out] ret_io    esp_lcd IO handle
+ * @return
+ *      - ESP_OK         On success
+ *      - Else           esp_lcd failure
+ */
+esp_err_t bsp_display_new(const bsp_display_config_t *config, esp_lcd_panel_handle_t *ret_panel, esp_lcd_panel_io_handle_t *ret_io);
+
+/**
+ * @brief Set display's brightness
+ *
+ * Brightness is controlled with PWM signal to a pin controlling backlight.
+ * Display must be already initialized by calling bsp_display_new()
+ *
+ * @param[in] brightness_percent Brightness in [%]
+ * @return
+ *      - ESP_OK                On success
+ *      - ESP_ERR_INVALID_ARG   Parameter error
+ */
+esp_err_t bsp_display_brightness_set(int brightness_percent);
+
+/**
+ * @brief Turn on display backlight
+ *
+ * Display must be already initialized by calling bsp_display_new()
+ *
+ * @return
+ *      - ESP_OK                On success
+ *      - ESP_ERR_INVALID_ARG   Parameter error
+ */
+esp_err_t bsp_display_backlight_on(void);
+
+/**
+ * @brief Turn off display backlight
+ *
+ * Display must be already initialized by calling bsp_display_new()
+ *
+ * @return
+ *      - ESP_OK                On success
+ *      - ESP_ERR_INVALID_ARG   Parameter error
+ */
+esp_err_t bsp_display_backlight_off(void);
+
+#ifdef __cplusplus
+}
+#endif

esp-crab/master_recv/components/bsp_C5_dual_antenna/include/esp-crab.h

@@ -0,0 +1,8 @@
+/*
+ * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+#include "bsp/bsp_C5_dual_antenna.h"

esp-crab/master_recv/components/bsp_C5_dual_antenna/include/touch.h

@@ -0,0 +1,51 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ * @file
+ * @brief BSP Touchscreen
+ *
+ * This file offers API for basic touchscreen initialization.
+ * It is useful for users who want to use the touchscreen without the default Graphical Library LVGL.
+ *
+ * For standard LCD initialization with LVGL graphical library, you can call all-in-one function bsp_display_start().
+ */
+
+#pragma once
+#include "esp_lcd_touch.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief BSP touch configuration structure
+ *
+ */
+typedef struct {
+    void *dummy;    /*!< Prepared for future use. */
+} bsp_touch_config_t;
+
+/**
+ * @brief Create new touchscreen
+ *
+ * If you want to free resources allocated by this function, you can use esp_lcd_touch API, ie.:
+ *
+ * \code{.c}
+ * esp_lcd_touch_del(tp);
+ * \endcode
+ *
+ * @param[in]  config    touch configuration
+ * @param[out] ret_touch esp_lcd_touch touchscreen handle
+ * @return
+ *      - ESP_OK         On success
+ *      - Else           esp_lcd_touch failure
+ */
+esp_err_t bsp_touch_new(const bsp_touch_config_t *config, esp_lcd_touch_handle_t *ret_touch);
+
+#ifdef __cplusplus
+}
+#endif

esp-crab/master_recv/components/bsp_C5_dual_antenna/priv_include/bsp_err_check.h

@@ -0,0 +1,58 @@
+/*
+ * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include "esp_check.h"
+#include "sdkconfig.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Assert on error, if selected in menuconfig. Otherwise return error code. */
+#if CONFIG_BSP_ERROR_CHECK
+#define BSP_ERROR_CHECK_RETURN_ERR(x)    ESP_ERROR_CHECK(x)
+#define BSP_ERROR_CHECK_RETURN_NULL(x)   ESP_ERROR_CHECK(x)
+#define BSP_ERROR_CHECK(x, ret)          ESP_ERROR_CHECK(x)
+#define BSP_NULL_CHECK(x, ret)           assert(x)
+#define BSP_NULL_CHECK_GOTO(x, goto_tag) assert(x)
+#else
+#define BSP_ERROR_CHECK_RETURN_ERR(x) do { \
+        esp_err_t err_rc_ = (x);            \
+        if (unlikely(err_rc_ != ESP_OK)) {  \
+            return err_rc_;                 \
+        }                                   \
+    } while(0)
+
+#define BSP_ERROR_CHECK_RETURN_NULL(x)  do { \
+        if (unlikely((x) != ESP_OK)) {      \
+            return NULL;                    \
+        }                                   \
+    } while(0)
+
+#define BSP_NULL_CHECK(x, ret) do { \
+        if ((x) == NULL) {          \
+            return ret;             \
+        }                           \
+    } while(0)
+
+#define BSP_ERROR_CHECK(x, ret)      do { \
+        if (unlikely((x) != ESP_OK)) {    \
+            return ret;                   \
+        }                                 \
+    } while(0)
+
+#define BSP_NULL_CHECK_GOTO(x, goto_tag) do { \
+        if ((x) == NULL) {      \
+            goto goto_tag;      \
+        }                       \
+    } while(0)
+#endif
+
+#ifdef __cplusplus
+}
+#endif

esp-crab/master_recv/main/CMakeLists.txt

@@ -0,0 +1,8 @@
+set(LV_UI_DIR ui)
+file(GLOB_RECURSE LV_UI_SOURCES ${LV_UI_DIR}/*.c)
+
+set(APP_DIR app)
+file(GLOB_RECURSE APP_SOURCES ${APP_DIR}/*.c)
+
+idf_component_register(SRCS "app_main.c" ${LV_UI_SOURCES} ${APP_SOURCES}
+                       INCLUDE_DIRS "." ${LV_UI_DIR}  ${APP_DIR})

esp-crab/master_recv/main/app/app_gpio.c

@@ -0,0 +1,35 @@
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/gpio.h"
+#include "esp_log.h"
+#include "esp_timer.h"
+#include "esp_log.h"
+#include <sys/types.h>
+
+#define GPIO_INPUT_IO        27
+#define GPIO_INPUT_PIN_SEL  (1ULL << GPIO_INPUT_IO)
+extern int64_t time_zero;
+static const char *TAG = "GPIO";
+extern QueueHandle_t csi_recv_queue;
+
+static void IRAM_ATTR gpio_isr_handler(void *arg) 
+{
+    xQueueReset(csi_recv_queue);
+    time_zero = esp_timer_get_time();
+    uint32_t gpio_num = (uint32_t)arg;
+}
+
+void init_gpio() 
+{
+    gpio_config_t io_conf = {
+        .intr_type = GPIO_INTR_NEGEDGE,
+        .mode = GPIO_MODE_INPUT,
+        .pin_bit_mask = GPIO_INPUT_PIN_SEL,
+        .pull_up_en = GPIO_PULLUP_ENABLE,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+    };
+    gpio_config(&io_conf);
+    gpio_install_isr_service(0);
+    gpio_isr_handler_add(GPIO_INPUT_IO, gpio_isr_handler, (void *)GPIO_INPUT_IO);
+    ESP_LOGI(TAG, "GPIO %d configured with negative edge interrupt.", GPIO_INPUT_IO);
+}

esp-crab/master_recv/main/app/app_gpio.h

@@ -0,0 +1,11 @@
+
+#pragma once
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void init_gpio(void);
+
+#ifdef __cplusplus
+}
+#endif

esp-crab/master_recv/main/app/app_ifft.c

@@ -0,0 +1,162 @@
+/* SPI Slave example, receiver (uses SPI Slave driver to communicate with sender)
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include <stdio.h>
+#include <stdint.h>
+#include <stddef.h>
+#include <string.h>
+#include <math.h>
+#include "freertos/FreeRTOS.h"
+#include "esp_log.h"
+#include "app_ifft.h"
+#include "IQmathLib.h"
+#define PI 3.14159265358979323846f
+#define PI_IQ  _IQ(3.14159265358979323846)
+#define PI_IQ_N2  _IQ(-6.28318530717958647692)
+const int bitReverseTable[64] = {
+    0, 32, 16, 48, 8, 40, 24, 56,
+    4, 36, 20, 52, 12, 44, 28, 60,
+    2, 34, 18, 50, 10, 42, 26, 58,
+    6, 38, 22, 54, 14, 46, 30, 62,
+    1, 33, 17, 49, 9, 41, 25, 57,
+    5, 37, 21, 53, 13, 45, 29, 61,
+    3, 35, 19, 51, 11, 43, 27, 59,
+    7, 39, 23, 55, 15, 47, 31, 63
+};
+
+void IRAM_ATTR fft_iq(Complex_Iq *X, int inverse) 
+{
+    int log2N = 6;
+    int N = 64;
+    Complex_Iq *temp = (Complex_Iq *)malloc(64 * sizeof(Complex_Iq));
+
+    // Bit-reversed addressing permutation
+    for (int i = 0; i < N; i++) {
+        temp[i] = X[bitReverseTable[i]];
+    }
+    for (int i = 0; i < N; i++) {
+        X[i] = temp[i];
+    }
+
+    // Cooley-Tukey iterative FFT
+    for (int s = 1; s <= log2N; ++s) {
+        int m = 1 << s; // 2 power s
+        int m2 = m >> 1; // m/2
+        Complex_Iq w;
+        w.real = _IQ16(1.0);
+        w.imag = _IQ16(0.0);
+        Complex_Iq wm;
+        _iq16  angle = _IQ16div(PI_IQ_N2, m);
+        wm.real = _IQ16cos(angle);                                                                                    
+        wm.imag = _IQ16sin(angle);
+        if (inverse) wm.imag = -wm.imag;
+
+        for (int j = 0; j < m2; ++j) {
+            for (int k = j; k < N; k += m) {
+                Complex_Iq t, u;
+                u = X[k];
+                t.real = _IQ16mpy(w.real , X[k + m2].real) - _IQ16mpy(w.imag , X[k + m2].imag);
+                t.imag = _IQ16mpy(w.real , X[k + m2].imag) + _IQ16mpy(w.imag , X[k + m2].real);
+                X[k].real = u.real + t.real;
+                X[k].imag = u.imag + t.imag;
+                X[k + m2].real = u.real - t.real;
+                X[k + m2].imag = u.imag - t.imag;
+            }
+            float tmpReal = _IQ16mpy(w.real , wm.real) - _IQ16mpy(w.imag , wm.imag);
+            w.imag = _IQ16mpy(w.real , wm.imag) + _IQ16mpy(w.imag , wm.real);
+            w.real = tmpReal;
+        }
+    }
+
+    // Scale for inverse FFT
+    if (inverse) {
+        for (int i = 0; i < N; i++) {
+            X[i].real = _IQdiv64(X[i].real);
+            X[i].imag = _IQdiv64(X[i].imag);
+        }
+    }
+
+    free(temp);
+}
+
+// Bit reversal of given index 'x' with 'log2n' bits
+unsigned int inline bitReverse(unsigned int x, int log2n) {
+    int n = 0;
+    for (int i = 0; i < log2n; i++) {
+        n <<= 1;
+        n |= (x & 1);
+        x >>= 1;
+    }
+    return n;
+}
+void IRAM_ATTR fft(Complex *X, int N, int inverse) 
+{
+    int log2N = log2(N);
+    Complex *temp = (Complex *)malloc(N * sizeof(Complex));
+
+    // Bit-reversed addressing permutation
+    for (int i = 0; i < N; i++) {
+        temp[i] = X[bitReverse(i, log2N)];
+    }
+    for (int i = 0; i < N; i++) {
+        X[i] = temp[i];
+    }
+
+    // Cooley-Tukey iterative FFT
+    for (int s = 1; s <= log2N; ++s) {
+        int m = 1 << s; // 2 power s
+        int m2 = m >> 1; // m/2
+        Complex w;
+        w.real = 1.0;
+        w.imag = 0.0;
+        Complex wm;
+        wm.real = cosf(-2.0f * PI / m);
+        wm.imag = sinf(-2.0f * PI / m);
+        if (inverse) wm.imag = -wm.imag;
+
+        for (int j = 0; j < m2; ++j) {
+            for (int k = j; k < N; k += m) {
+                Complex t, u;
+                u = X[k];
+                t.real = w.real * X[k + m2].real - w.imag * X[k + m2].imag;
+                t.imag = w.real * X[k + m2].imag + w.imag * X[k + m2].real;
+                X[k].real = u.real + t.real;
+                X[k].imag = u.imag + t.imag;
+                X[k + m2].real = u.real - t.real;
+                X[k + m2].imag = u.imag - t.imag;
+            }
+            float tmpReal = w.real * wm.real - w.imag * wm.imag;
+            w.imag = w.real * wm.imag + w.imag * wm.real;
+            w.real = tmpReal;
+        }
+    }
+
+    // Scale for inverse FFT
+    if (inverse) {
+        for (int i = 0; i < N; i++) {
+            X[i].real /= N;
+            X[i].imag /= N;
+        }
+    }
+
+    free(temp);
+}
+float complex_magnitude_iq(Complex_Iq z) {
+    return _IQ16toF(_IQ16mag(z.real, z.imag));
+} 
+
+float complex_phase_iq(Complex_Iq z) {
+    return _IQ16toF(_IQ16atan2(z.imag, z.real));
+}
+
+float complex_magnitude(Complex z) {
+    return sqrt(z.real * z.real + z.imag * z.imag);
+}
+float complex_phase(Complex z) {
+    return atan2(z.imag, z.real);
+}

esp-crab/master_recv/main/app/app_ifft.h

@@ -0,0 +1,26 @@
+
+#pragma once
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include "IQmathLib.h"
+
+typedef struct {
+    float real;
+    float imag;
+} Complex;
+typedef struct {
+    _iq16 real;
+    _iq16 imag;
+} Complex_Iq;
+void IRAM_ATTR fft_iq(Complex_Iq *X,  int inverse) ;
+void IRAM_ATTR fft(Complex *X, int N, int inverse);
+
+float complex_magnitude_iq(Complex_Iq z);
+float complex_phase_iq(Complex_Iq z);
+float complex_magnitude(Complex z);
+float complex_phase(Complex z);
+
+#ifdef __cplusplus
+}
+#endif

esp-crab/master_recv/main/app/app_uart.c

@@ -0,0 +1,104 @@
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/uart.h"
+#include "driver/gpio.h"
+#include "sdkconfig.h"
+#include "esp_log.h"
+#include "app_uart.h"
+#include "bsp_C5_dual_antenna.h"
+#define UART_PORT_NUM      UART_NUM_1
+#define UART_BAUD_RATE     2000000
+#define TXD_PIN            (BSP_CNT_4)
+#define RXD_PIN            (BSP_CNT_3)
+#define BUF_SIZE           4096
+static const char *TAG = "UART";
+QueueHandle_t uart_recv_queue;
+static QueueHandle_t uart0_queue;
+static void uart_event_task(void *pvParameters)
+{
+    uart_event_t event;
+    uint8_t* dtmp = (uint8_t*) malloc(2 * BUF_SIZE);
+    csi_data_t* csi_data;
+    uint16_t table_row_last=0;
+    for (;;) {
+        if (xQueueReceive(uart0_queue, (void *)&event, (TickType_t)portMAX_DELAY)) {
+            switch (event.type) {
+            case UART_DATA:
+                UBaseType_t queue_size = uxQueueMessagesWaiting(uart0_queue);
+                uart_read_bytes(UART_PORT_NUM, dtmp, event.size, portMAX_DELAY);
+                // ESP_LOGI(TAG, "[UART DATA]: %d %u", event.size,queue_size);
+                    for (int i = 0; i <= (int)event.size - 32; i++) {
+                        if (dtmp[i] == 0xAA && dtmp[i + 1] == 0x55 && dtmp[i + 30] == 0x55 && dtmp[i + 31] == 0xAA) {
+                            xQueueSend(uart_recv_queue,(csi_data_t*)&dtmp[i], 0);
+                            csi_data = (csi_data_t *)&dtmp[i];
+                            ESP_LOGD(TAG,"%d,%lld,%.2f",csi_data->start[0],csi_data->time_delta,csi_data->cir[0]);
+                            i = i + 24-1;
+                        }
+                    }         
+                break;
+            case UART_FIFO_OVF:
+                ESP_LOGW(TAG, "hw fifo overflow");
+                uart_flush_input(UART_PORT_NUM);
+                xQueueReset(uart0_queue);
+                break;
+            case UART_BUFFER_FULL:
+                ESP_LOGW(TAG, "ring buffer full");
+                uart_flush_input(UART_PORT_NUM);
+                xQueueReset(uart0_queue);
+                break;
+            case UART_BREAK:
+                ESP_LOGD(TAG, "uart rx break");
+                break;
+            case UART_PARITY_ERR:
+                ESP_LOGD(TAG, "uart parity error");
+                break;
+            case UART_FRAME_ERR:
+                ESP_LOGD(TAG, "uart frame error");
+                break;
+            default:
+                ESP_LOGD(TAG, "uart event type: %d", event.type);
+                break;
+            }
+        }
+    }
+    free(dtmp);
+    dtmp = NULL;
+    vTaskDelete(NULL);
+}
+
+void init_uart() {
+    uart_config_t uart_config = {
+        .baud_rate = UART_BAUD_RATE,
+        .data_bits = UART_DATA_8_BITS,
+        .parity    = UART_PARITY_DISABLE,
+        .stop_bits = UART_STOP_BITS_1,
+        .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+        .source_clk = UART_SCLK_DEFAULT,
+    };
+    int intr_alloc_flags = 0;
+
+#if CONFIG_UART_ISR_IN_IRAM
+    intr_alloc_flags = ESP_INTR_FLAG_IRAM;
+#endif
+    ESP_ERROR_CHECK(uart_driver_install(UART_PORT_NUM, BUF_SIZE * 2, 0 , 20, &uart0_queue, intr_alloc_flags));
+    ESP_ERROR_CHECK(uart_param_config(UART_PORT_NUM, &uart_config));
+    ESP_ERROR_CHECK(uart_set_pin(UART_PORT_NUM, TXD_PIN, RXD_PIN, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
+        ESP_LOGI("UART", "UART initialized");
+    uart_recv_queue = xQueueCreate(20, sizeof(csi_data_t));
+    xTaskCreate(uart_event_task, "uart_event_task", 4096, NULL, 9, NULL); // 核心 1
+
+}
+
+int uart_send_data(const char *data, uint8_t len) {
+    return uart_write_bytes(UART_PORT_NUM, data, len);
+}
+
+// void uart_receive_data() {
+//     uint8_t data[BUF_SIZE];
+//     int length = uart_read_bytes(UART_PORT_NUM, data, BUF_SIZE, 20 / portTICK_RATE_MS);
+//     if (length > 0) {
+//         data[length] = '\0';
+//         ESP_LOGI("UART", "Received %d bytes: '%s'", length, (char *)data);
+//     }
+// }

esp-crab/master_recv/main/app/app_uart.h

@@ -0,0 +1,21 @@
+
+#pragma once
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct {
+    uint8_t start[2];      
+    uint32_t id;           
+    int64_t time_delta;    
+    float cir[4];          
+    uint8_t end[2];        
+} __attribute__((packed)) csi_data_t;
+
+#define DATA_TABLE_SIZE                     100
+void init_uart(void);
+int uart_send_data(const char *data, uint8_t len);
+
+#ifdef __cplusplus
+}
+#endif

esp-crab/master_recv/main/app/app_ui.c

@@ -0,0 +1,224 @@
+#include <string.h>
+#include <stdio.h>
+#include "app_ui.h"
+#include "ui.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "bsp_C5_dual_antenna.h"
+#include "app_uart.h"
+#include <math.h>
+
+#define DISPLAY_SAMPLE_STEP 3 
+#define LVGL_CHART_POINTS   (100 / DISPLAY_SAMPLE_STEP)
+#define PI 3.14159265
+#define SAMPLE_RATE LVGL_CHART_POINTS
+
+extern QueueHandle_t uart_recv_queue;
+extern  QueueHandle_t csi_display_queue;
+extern csi_data_t master_data[DATA_TABLE_SIZE];
+lv_chart_series_t * ser[6];
+int16_t sine_wave[LVGL_CHART_POINTS*3];
+float angle = 0;
+static const char *TAG = "app_ui";
+
+void generate_sine_wave(int16_t *data) 
+{
+    int16_t num_samples = SAMPLE_RATE*3;
+    for (int i = 0; i < num_samples; i++) {
+        data[i] = (int16_t)(100 * sin(2 * PI * ((float)i / (float)SAMPLE_RATE)));
+    }
+}
+
+int get_sine_wave_index(float angle) 
+{
+    int num_samples = SAMPLE_RATE * 3;
+    int index = (int)((angle / (2 * PI)) * SAMPLE_RATE);
+    if (index <= SAMPLE_RATE/2) {
+        index += SAMPLE_RATE;  
+    }
+    return (index-SAMPLE_RATE/2);
+}
+
+void ScreenSSliderLight_function(lv_event_t * e)
+{
+    lv_event_code_t event_code = lv_event_get_code(e);
+    lv_obj_t * target = lv_event_get_target(e);
+    int slider_value = lv_slider_get_value(target);
+    bsp_display_brightness_set(slider_value);
+} 
+
+void PhaseCalibration_button(lv_event_t * e)
+{
+    angle =0;
+    ESP_LOGI(TAG, "PhaseCalibration_button");
+}
+
+
+void app_ui_init(void) 
+{   
+    lv_chart_set_range(ui_ScreenW_Chart, LV_CHART_AXIS_PRIMARY_Y, 0, 100);
+    lv_chart_set_point_count(ui_ScreenW_Chart, LVGL_CHART_POINTS);
+    ser[0] = lv_chart_add_series(ui_ScreenW_Chart, lv_color_hex(0x388E3C), LV_CHART_AXIS_PRIMARY_Y); // 深绿
+    ser[1] = lv_chart_add_series(ui_ScreenW_Chart, lv_color_hex(0x81C784), LV_CHART_AXIS_PRIMARY_Y); // 浅绿
+    ser[4] = lv_chart_add_series(ui_ScreenW_Chart, lv_color_hex(0x1976D2), LV_CHART_AXIS_PRIMARY_Y); // 深蓝
+    ser[5] = lv_chart_add_series(ui_ScreenW_Chart, lv_color_hex(0x64B5F6), LV_CHART_AXIS_PRIMARY_Y); // 浅蓝
+    lv_chart_set_range(ui_ScreenWP_Chart, LV_CHART_AXIS_PRIMARY_Y, -100, 100);
+    lv_chart_set_point_count(ui_ScreenWP_Chart, LVGL_CHART_POINTS);
+    ser[2] = lv_chart_add_series(ui_ScreenWP_Chart, lv_color_hex(0x1976D2), LV_CHART_AXIS_PRIMARY_Y); // 深蓝
+    ser[3] = lv_chart_add_series(ui_ScreenWP_Chart, lv_color_hex(0x64B5F6), LV_CHART_AXIS_PRIMARY_Y); // 浅蓝
+
+    lv_chart_refresh(ui_ScreenW_Chart);
+    lv_chart_refresh(ui_ScreenWP_Chart);
+    generate_sine_wave(sine_wave);
+}
+
+float circular_difference(float angle1, float angle2) 
+{
+    float diff = fmod(angle2 - angle1 + PI, 2 * PI);
+    if (diff < 0) {
+        diff += 2 * PI;
+    }
+    return diff - PI;
+}
+
+void csi_data_display_task(void *arg)         
+{
+    app_ui_init();
+    static uint16_t y_range[2] ={0};
+    uint8_t count=0;
+    csi_data_t csi_display_data;
+
+    uint8_t sine_offest[2];
+    uint8_t cnt=0;
+    float range[4][LVGL_CHART_POINTS] = {};
+    uint8_t csi_mode = *((bool *)arg);
+    if (csi_mode){
+        ESP_LOGI(TAG,"Self_Transmit_and_Receive_Mode");
+    } else {
+        ESP_LOGI(TAG,"Single_Transmit_and_Dual_Receive_Mode");
+    }
+    if (csi_mode){
+        while (xQueueReceive(csi_display_queue, &csi_display_data, portMAX_DELAY) == pdTRUE) {
+            cnt++;
+            UBaseType_t queueLength = uxQueueMessagesWaiting(csi_display_queue);
+            if (queueLength>10){
+                ESP_LOGI(TAG, "ui queueLength:%d", queueLength);
+            }           
+            range[0][count] = csi_display_data.cir[0]*5;
+            range[1][count] = csi_display_data.cir[1]*5;
+            range[2][count] = csi_display_data.cir[2];
+            range[3][count] = csi_display_data.cir[3];
+
+            y_range[0] = 500;
+            y_range[1] = 0;
+            for (int i=0;i<LVGL_CHART_POINTS;i++){
+                if (y_range[0]>range[0][i]){
+                    y_range[0] = range[0][i];
+                }
+                if (y_range[0]>range[1][i]){
+                    y_range[0] = range[1][i];
+                }
+                if (y_range[1]<range[0][i]){
+                    y_range[1] = range[0][i];
+                }
+                if (y_range[1]<range[1][i]){
+                    y_range[1] = range[1][i];
+                }
+            }
+            if  ( (y_range[1]-y_range[0])<100){
+                y_range[1] += (100-y_range[1]+y_range[0])/2;
+                y_range[0] -= (100-y_range[1]+y_range[0])/2;
+            }
+            lvgl_port_lock(0);
+            lv_chart_set_next_value(ui_ScreenW_Chart, ser[0], (uint16_t)(range[0][count]));
+            lv_chart_set_next_value(ui_ScreenW_Chart, ser[1], (uint16_t)(range[1][count]));
+
+            float sum[2]={0};
+            for (int i=count;i>count-20;i--){
+                uint8_t index = (i+LVGL_CHART_POINTS)%LVGL_CHART_POINTS;
+                sum[0] += circular_difference(range[2][count], range[2][index]);
+                sum[1] += circular_difference(range[3][count], range[3][index]);
+            }
+            sum[0] = fmod(sum[0]/20 + range[2][count] + 2 * PI, 2 * PI) - PI;
+            sum[1] = fmod(sum[1]/20 + range[3][count] + 2 * PI, 2 * PI) - PI;
+
+            sine_offest[0] = get_sine_wave_index(sum[0]);
+            sine_offest[1] = get_sine_wave_index(sum[1]);
+            lv_chart_set_ext_y_array(ui_ScreenWP_Chart, ser[2], sine_wave+sine_offest[0]);
+            lv_chart_set_range(ui_ScreenW_Chart, LV_CHART_AXIS_PRIMARY_Y, y_range[0], y_range[1]);
+
+            lvgl_port_unlock();
+
+            count++;
+            if (count == LVGL_CHART_POINTS) {
+                count = 0;
+            }
+        }
+    }else {
+        static csi_data_t csi_display_data_new = {0};
+        while (xQueueReceive(uart_recv_queue, &csi_display_data_new, portMAX_DELAY) == pdTRUE) {
+            cnt++;
+            if (csi_display_data.start[0] == 0){
+                goto NEXT;
+            }
+            
+            csi_data_t csi_master_data  = master_data[csi_display_data.id % DATA_TABLE_SIZE];
+            if (csi_master_data.id != csi_display_data.id){
+                ESP_LOGE(TAG, "%ld id_master  %ld csi_display_data.id %ld",csi_display_data.id % DATA_TABLE_SIZE,csi_master_data.id,csi_display_data.id);
+                goto NEXT;
+            }
+            range[0][count] = csi_display_data.cir[0]*5;
+            range[1][count] = csi_master_data.cir[1]*5;
+            range[2][count] = csi_master_data.cir[2] - csi_display_data.cir[2];
+            range[3][count] = csi_display_data.cir[3];
+
+            y_range[0] = 500;
+            y_range[1] = 0;
+            for (int i=0;i<LVGL_CHART_POINTS;i++){
+                if (y_range[0]>range[0][i]){
+                    y_range[0] = range[0][i];
+                }
+                if (y_range[0]>range[1][i]){
+                    y_range[0] = range[1][i];
+                }
+                if (y_range[1]<range[0][i]){
+                    y_range[1] = range[0][i];
+                }
+                if (y_range[1]<range[1][i]){
+                    y_range[1] = range[1][i];
+                }
+            }
+            if  ( (y_range[1]-y_range[0])<100){
+                y_range[1] += (100-y_range[1]+y_range[0])/2;
+                y_range[0] -= (100-y_range[1]+y_range[0])/2;
+            }
+            lvgl_port_lock(0);
+            lv_chart_set_next_value(ui_ScreenW_Chart, ser[0], (uint16_t)(range[0][count]));
+            lv_chart_set_next_value(ui_ScreenW_Chart, ser[1], (uint16_t)(range[1][count]));
+
+            float sum[2]={0};
+            for (int i=count;i>count-20;i--){
+                uint8_t index = (i+LVGL_CHART_POINTS)%LVGL_CHART_POINTS;
+                sum[0] += circular_difference(range[2][count], range[2][index]);
+                sum[1] += circular_difference(range[3][count], range[3][index]);
+            }
+            sum[0] = fmod(sum[0]/20 + range[2][count] + 2 * PI, 2 * PI) - PI;
+            sum[1] = fmod(sum[1]/20 + range[3][count] + 2 * PI, 2 * PI) - PI;
+            
+            sine_offest[0] = get_sine_wave_index(sum[0]);
+            sine_offest[1] = get_sine_wave_index(sum[1]);
+            lv_chart_set_ext_y_array(ui_ScreenWP_Chart, ser[2], sine_wave+sine_offest[0]);
+            lv_chart_set_range(ui_ScreenW_Chart, LV_CHART_AXIS_PRIMARY_Y, y_range[0], y_range[1]);
+
+            lvgl_port_unlock();
+
+            count++;
+            if (count == LVGL_CHART_POINTS) {
+                count = 0;
+            }
+NEXT:
+            csi_display_data = csi_display_data_new;
+        }
+    }
+}

esp-crab/master_recv/main/app/app_ui.h

@@ -0,0 +1,14 @@
+
+#pragma once
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include "ui.h"
+
+void csi_data_display_task(void *arg);
+void ScreenSSliderLight_function(lv_event_t * e);
+
+
+#ifdef __cplusplus
+}
+#endif

esp-crab/master_recv/main/app_main.c

@@ -0,0 +1,313 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/* Esp-crab Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <sys/types.h>
+#include "nvs_flash.h"
+#include "esp_mac.h"
+#include "rom/ets_sys.h"
+#include "esp_log.h"
+#include "esp_wifi.h"
+#include "esp_netif.h"
+#include "esp_now.h"
+#include "app_ifft.h"
+#include "app_gpio.h"
+#include "esp_timer.h"
+#include "app_uart.h"
+#include "IQmathLib.h"
+#include "bsp_C5_dual_antenna.h"
+#include "ui.h"
+#include "app_ui.h"
+#include "esp_csi_gain_ctrl.h"
+
+#define CONFIG_LESS_INTERFERENCE_CHANNEL    40
+#define CONFIG_WIFI_BAND_MODE               WIFI_BAND_MODE_5G_ONLY
+#define CONFIG_WIFI_2G_BANDWIDTHS           WIFI_BW_HT40
+#define CONFIG_WIFI_5G_BANDWIDTHS           WIFI_BW_HT40
+#define CONFIG_WIFI_2G_PROTOCOL             WIFI_PROTOCOL_11N
+#define CONFIG_WIFI_5G_PROTOCOL             WIFI_PROTOCOL_11N
+#define CONFIG_ESP_NOW_PHYMODE              WIFI_PHY_MODE_HT40
+#define CONFIG_GAIN_CONTROL                 1   // 1:enable gain control, 0:disable gain control
+#define CONFIG_FORCE_GAIN                   0   // 1:force gain control, 0:automatic gain control
+#define CONFIG_PRINT_CSI_DATA               0
+#define CONFIG_CRAB_MODE                    Self_Transmit_and_Receive_Mode
+
+csi_data_t master_data[DATA_TABLE_SIZE];
+int64_t time_zero = 0;
+typedef struct {
+    uint32_t id;
+    uint32_t time;
+    int8_t fft_gain;
+    uint8_t agc_gain;
+    int8_t buf[256];
+} csi_recv_queue_t;
+uint32_t recv_cnt = 0;
+QueueHandle_t csi_recv_queue;
+QueueHandle_t csi_display_queue;
+static const uint8_t CONFIG_CSI_SEND_MAC[] = {0x1a, 0x00, 0x00, 0x00, 0x00, 0x00};
+static const char *TAG = "csi_recv";
+
+static void wifi_init()
+{
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+    ESP_ERROR_CHECK(esp_netif_init());
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
+    ESP_ERROR_CHECK(esp_wifi_set_storage(WIFI_STORAGE_RAM));
+    ESP_ERROR_CHECK(esp_wifi_start());
+
+    esp_wifi_set_band_mode(CONFIG_WIFI_BAND_MODE);
+    wifi_protocols_t protocols = {
+        .ghz_2g = CONFIG_WIFI_2G_PROTOCOL,
+        .ghz_5g = CONFIG_WIFI_5G_PROTOCOL
+    };
+    ESP_ERROR_CHECK(esp_wifi_set_protocols(ESP_IF_WIFI_STA, &protocols));
+
+    wifi_bandwidths_t bandwidth = {
+        .ghz_2g = CONFIG_WIFI_2G_BANDWIDTHS,
+        .ghz_5g = CONFIG_WIFI_5G_BANDWIDTHS
+    };
+    ESP_ERROR_CHECK(esp_wifi_set_bandwidths(ESP_IF_WIFI_STA, &bandwidth));
+
+    ESP_ERROR_CHECK(esp_wifi_start());
+    ESP_ERROR_CHECK(esp_wifi_set_ps(WIFI_PS_NONE));
+
+    if ((CONFIG_WIFI_BAND_MODE == WIFI_BAND_MODE_2G_ONLY && CONFIG_WIFI_2G_BANDWIDTHS == WIFI_BW_HT20) || (CONFIG_WIFI_BAND_MODE == WIFI_BAND_MODE_5G_ONLY && CONFIG_WIFI_5G_BANDWIDTHS == WIFI_BW_HT20)) {
+        ESP_ERROR_CHECK(esp_wifi_set_channel(CONFIG_LESS_INTERFERENCE_CHANNEL, WIFI_SECOND_CHAN_NONE));
+    } else {
+        ESP_ERROR_CHECK(esp_wifi_set_channel(CONFIG_LESS_INTERFERENCE_CHANNEL, WIFI_SECOND_CHAN_BELOW));
+    }
+
+    ESP_ERROR_CHECK(esp_wifi_set_mac(WIFI_IF_STA, CONFIG_CSI_SEND_MAC));
+}
+
+static void wifi_esp_now_init(esp_now_peer_info_t peer)
+{
+    ESP_ERROR_CHECK(esp_now_init());
+    ESP_ERROR_CHECK(esp_now_set_pmk((uint8_t *)"pmk1234567890123"));
+    esp_now_rate_config_t rate_config = {
+        .phymode = CONFIG_ESP_NOW_PHYMODE,
+        .rate = WIFI_PHY_RATE_MCS0_LGI,
+        .ersu = false,
+        .dcm = false
+    };
+    ESP_ERROR_CHECK(esp_now_add_peer(&peer));
+    ESP_ERROR_CHECK(esp_now_set_peer_rate_config(peer.peer_addr, &rate_config));
+}
+
+static void wifi_csi_rx_cb(void *ctx, wifi_csi_info_t *info)
+{
+    static int64_t last_time = 0;
+    if (!info || !info->buf) {
+        ESP_LOGW(TAG, "<%s> wifi_csi_cb", esp_err_to_name(ESP_ERR_INVALID_ARG));
+        return;
+    }
+
+    if (memcmp(info->mac, CONFIG_CSI_SEND_MAC, 6)) {
+        return;
+    }
+
+    const wifi_pkt_rx_ctrl_t *rx_ctrl = &info->rx_ctrl;
+    static int s_count = 0;
+    static uint8_t agc_gain = 0;
+    static int8_t fft_gain = 0;
+#if CONFIG_GAIN_CONTROL
+    static uint8_t agc_gain_baseline = 0;
+    static int8_t fft_gain_baseline = 0;
+    esp_csi_gain_ctrl_get_rx_gain(rx_ctrl, &agc_gain, &fft_gain);
+    if (s_count < 100) {
+        esp_csi_gain_ctrl_record_rx_gain(agc_gain, fft_gain);
+    } else if (s_count == 100) {
+        esp_csi_gain_ctrl_get_rx_gain_baseline(&agc_gain_baseline, &fft_gain_baseline);
+#if CONFIG_FORCE_GAIN
+        esp_csi_gain_ctrl_set_rx_force_gain(agc_gain_baseline, fft_gain_baseline);
+        ESP_LOGI(TAG, "fft_force %d, agc_force %d", fft_gain_baseline, agc_gain_baseline);
+#endif
+    }
+#endif
+
+    csi_recv_queue_t *csi_send_queuedata = (csi_recv_queue_t *)calloc(1, sizeof(csi_recv_queue_t));
+    memcpy(&(csi_send_queuedata->id), info->payload + 15, sizeof(uint32_t));
+
+    csi_send_queuedata->time = info->rx_ctrl.timestamp;
+    csi_send_queuedata->agc_gain = agc_gain;
+    csi_send_queuedata->fft_gain = fft_gain;
+
+    memset(csi_send_queuedata->buf, 0, 256);
+    memcpy(csi_send_queuedata->buf + 8, info->buf, info->len);
+    xQueueSend(csi_recv_queue, &csi_send_queuedata, 0);
+
+#if CONFIG_PRINT_CSI_DATA
+    if (!s_count) {
+        ESP_LOGI(TAG, "================ CSI RECV ================");
+        ets_printf("type,id,mac,rssi,rate,noise_floor,fft_gain,agc_gain,channel,local_timestamp,sig_len,rx_state,len,first_word,data\n");
+    }
+
+    ets_printf("CSI_DATA,%d," MACSTR ",%d,%d,%d,%d,%d,%d,%d,%d,%d",
+               csi_send_queuedata->id, MAC2STR(info->mac), rx_ctrl->rssi, rx_ctrl->rate,
+               rx_ctrl->noise_floor, fft_gain, agc_gain, rx_ctrl->channel,
+               rx_ctrl->timestamp, rx_ctrl->sig_len, rx_ctrl->rx_state);
+
+    ets_printf(",%d,%d,\"[%d", info->len, info->first_word_invalid, info->buf[0]);
+
+    for (int i = 1; i < info->len; i++) {
+        ets_printf(",%d", info->buf[i]);
+    }
+
+    ets_printf("]\"\n");
+#endif
+    s_count++;
+    recv_cnt++;
+}
+
+static void wifi_csi_init()
+{
+    ESP_ERROR_CHECK(esp_wifi_set_promiscuous(true));
+    csi_recv_queue = xQueueCreate(20, sizeof(csi_recv_queue_t *));
+    csi_display_queue = xQueueCreate(20, sizeof(csi_data_t));
+    wifi_csi_config_t csi_config = {
+        .enable                   = true,
+        .acquire_csi_legacy       = false,
+        .acquire_csi_force_lltf   = false,
+        .acquire_csi_ht20         = true,
+        .acquire_csi_ht40         = true,
+        .acquire_csi_vht          = false,
+        .acquire_csi_su           = false,
+        .acquire_csi_mu           = false,
+        .acquire_csi_dcm          = false,
+        .acquire_csi_beamformed   = false,
+        .acquire_csi_he_stbc_mode = 2,
+        .val_scale_cfg            = false,
+        .dump_ack_en              = false,
+        .reserved                 = false
+    };
+
+    ESP_ERROR_CHECK(esp_wifi_set_csi_config(&csi_config));
+    ESP_ERROR_CHECK(esp_wifi_set_csi_rx_cb(wifi_csi_rx_cb, NULL));
+    ESP_ERROR_CHECK(esp_wifi_set_csi(true));
+}
+
+static void process_csi_data_task(void *pvParameter)
+{
+    static int s_count = 0;
+    csi_recv_queue_t *csi_recv_queue_data = NULL;
+    Complex_Iq x_iq[64];
+    float cir[2] = {};
+    float pha[2] = {};
+    while (xQueueReceive(csi_recv_queue, &csi_recv_queue_data, portMAX_DELAY) == pdTRUE) {
+        UBaseType_t queueLength = uxQueueMessagesWaiting(csi_recv_queue);
+        if (queueLength > 10) {
+            ESP_LOGW(TAG, "csi queueLength:%d", queueLength);
+        }
+#if !CONFIG_FORCE_GAIN && CONFIG_GAIN_CONTROL
+        float scaling_factor = 0;
+        esp_csi_gain_ctrl_get_gain_compensation(&scaling_factor, csi_recv_queue_data->agc_gain, csi_recv_queue_data->fft_gain);
+#else
+        float scaling_factor = 1.0f;
+#endif
+
+        for (int i = 0; i < 64; i++) {
+            x_iq[i].real = _IQ16(csi_recv_queue_data->buf[2 * i]);
+            x_iq[i].imag = _IQ16(csi_recv_queue_data->buf[2 * i + 1]);
+        }
+        fft_iq(x_iq, 1);
+        cir[0] = complex_magnitude_iq(x_iq[0]) * scaling_factor;
+        pha[0] = complex_phase_iq(x_iq[0]);
+        for (int i = 64; i < 128; i++) {
+            x_iq[i - 64].real = _IQ16(csi_recv_queue_data->buf[2 * i]);
+            x_iq[i - 64].imag = _IQ16(csi_recv_queue_data->buf[2 * i + 1]);
+        }
+        fft_iq(x_iq, 1);
+        cir[1] = complex_magnitude_iq(x_iq[0]) * scaling_factor;
+        pha[1] = complex_phase_iq(x_iq[0]);
+
+        csi_data_t data = {
+            .start = {0xAA, 0x55},
+            .id = csi_recv_queue_data->id,
+            .time_delta = csi_recv_queue_data->time - time_zero,
+            .cir = {cir[0], cir[1], pha[0], pha[1]},
+            .end = {0x55, 0xAA},
+        };
+        master_data[csi_recv_queue_data->id % DATA_TABLE_SIZE] = data;
+        xQueueSend(csi_display_queue, &data, 0);
+        free(csi_recv_queue_data);
+    }
+}
+
+void app_main()
+{
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        ESP_ERROR_CHECK(nvs_flash_erase());
+        ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
+    bsp_slave_reset();
+    bsp_display_cfg_t cfg = {
+        .lvgl_port_cfg = ESP_LVGL_PORT_INIT_CONFIG(),
+        .buffer_size = BSP_LCD_H_RES * CONFIG_BSP_LCD_DRAW_BUF_HEIGHT,
+        .double_buffer = 0,
+        .flags = {
+            .buff_dma = true,
+        }
+    };
+    bsp_display_start_with_config(&cfg);
+    bsp_display_lock(0);
+    ui_init();
+    bsp_display_unlock();
+    bsp_display_backlight_on();
+    wifi_init();
+    /**
+     * @brief Initialize ESP-NOW
+     *  ESP-NOW protocol see: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/network/esp_now.html
+     */
+    esp_now_peer_info_t peer = {
+        .channel   = CONFIG_LESS_INTERFERENCE_CHANNEL,
+        .ifidx     = WIFI_IF_STA,
+        .encrypt   = false,
+        .peer_addr = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff},
+    };
+#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C6
+    wifi_esp_now_init(peer);
+#endif
+    init_gpio();
+
+    wifi_csi_init();
+    vTaskDelay(100 / portTICK_PERIOD_MS);
+    init_uart();
+    bsp_led_init();
+
+    xTaskCreate(process_csi_data_task, "process_csi_data_task", 4096, NULL, 6, NULL);
+    bool arg = CONFIG_CRAB_MODE;
+    xTaskCreate(csi_data_display_task, "csi_data_display_task", 4096, &arg, 6, NULL);
+    uint32_t recv_cnt_prv = 0;
+    while (1) {
+        static bool level = 1;
+        static uint8_t time = 100;
+        if ((recv_cnt -  recv_cnt_prv) >= 20) {
+            recv_cnt_prv = recv_cnt;
+            time = 100;
+            bsp_led_set(0, level * 30, level * 30, level * 30);
+            level = !level;
+        }
+        if (time > 0) {
+            time -= 1;
+        } else {
+            bsp_led_set(0, 0, 0, 0);
+        }
+        vTaskDelay(10 / portTICK_PERIOD_MS);
+    }
+}

esp-crab/master_recv/main/idf_component.yml

@@ -0,0 +1,7 @@
+## IDF Component Manager Manifest File
+dependencies:
+  idf: '>=4.4.1'
+
+  esp_csi_gain_ctrl: ">=0.1.0"
+
+  espressif/iqmath: ^1.11.0

esp-crab/master_recv/main/ui/CMakeLists.txt

@@ -0,0 +1,11 @@
+SET(SOURCES screens/ui_ScreenW.c
+    screens/ui_ScreenWP.c
+    screens/ui_ScreenM.c
+    screens/ui_ScreenS.c
+    ui.c
+    components/ui_comp_hook.c
+    ui_helpers.c
+    ui_events.c
+    images/ui_img_272184077.c)
+
+add_library(ui ${SOURCES})

esp-crab/master_recv/main/ui/components/ui_comp_hook.c

@@ -0,0 +1,5 @@
+// This file was generated by SquareLine Studio
+// SquareLine Studio version: SquareLine Studio 1.5.0
+// LVGL version: 8.3.11
+// Project name: C5_Dual_antenna
+

esp-crab/master_recv/main/ui/filelist.txt

@@ -0,0 +1,9 @@
+screens/ui_ScreenW.c
+screens/ui_ScreenWP.c
+screens/ui_ScreenM.c
+screens/ui_ScreenS.c
+ui.c
+components/ui_comp_hook.c
+ui_helpers.c
+ui_events.c
+images/ui_img_272184077.c

esp-crab/master_recv/main/ui/images/ui_img_272184077.c

@@ -0,0 +1,649 @@
+// This file was generated by SquareLine Studio
+// SquareLine Studio version: SquareLine Studio 1.5.0
+// LVGL version: 8.3.11
+// Project name: C5_Dual_antenna
+
+#include "../ui.h"
+
+#ifndef LV_ATTRIBUTE_MEM_ALIGN
+    #define LV_ATTRIBUTE_MEM_ALIGN
+#endif
+
+// IMAGE DATA: assets/指北针.png
+const LV_ATTRIBUTE_MEM_ALIGN uint8_t ui_img_272184077_data[] = {
+    0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
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+    0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+    
+};
+const lv_img_dsc_t ui_img_272184077 = {
+    .header.always_zero = 0,
+    .header.w = 200,
+    .header.h = 200,
+    .data_size = sizeof(ui_img_272184077_data),
+    .header.cf = LV_IMG_CF_TRUE_COLOR_ALPHA,
+    .data = ui_img_272184077_data
+};
+

esp-crab/master_recv/main/ui/screens/ui_ScreenM.c

@@ -0,0 +1,87 @@
+// This file was generated by SquareLine Studio
+// SquareLine Studio version: SquareLine Studio 1.5.0
+// LVGL version: 8.3.11
+// Project name: C5_Dual_antenna
+
+#include "../ui.h"
+
+void ui_ScreenM_screen_init(void)
+{
+    ui_ScreenM = lv_obj_create(NULL);
+    lv_obj_clear_flag(ui_ScreenM, LV_OBJ_FLAG_SCROLLABLE);      /// Flags
+    lv_obj_set_style_bg_color(ui_ScreenM, lv_color_hex(0xFFFFFF), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_opa(ui_ScreenM, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenM_LabelPoint = lv_label_create(ui_ScreenM);
+    lv_obj_set_width(ui_ScreenM_LabelPoint, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenM_LabelPoint, LV_SIZE_CONTENT);    /// 1
+    lv_obj_set_x(ui_ScreenM_LabelPoint, 0);
+    lv_obj_set_y(ui_ScreenM_LabelPoint, 97);
+    lv_obj_set_align(ui_ScreenM_LabelPoint, LV_ALIGN_CENTER);
+    lv_label_set_text(ui_ScreenM_LabelPoint, "....");
+    lv_obj_set_style_text_color(ui_ScreenM_LabelPoint, lv_color_hex(0xBEBEBE), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_text_opa(ui_ScreenM_LabelPoint, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_text_font(ui_ScreenM_LabelPoint, &lv_font_montserrat_48, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenM_LabelPointSelect = lv_label_create(ui_ScreenM);
+    lv_obj_set_width(ui_ScreenM_LabelPointSelect, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenM_LabelPointSelect, LV_SIZE_CONTENT);    /// 1
+    lv_obj_set_x(ui_ScreenM_LabelPointSelect, 5);
+    lv_obj_set_y(ui_ScreenM_LabelPointSelect, 97);
+    lv_obj_set_align(ui_ScreenM_LabelPointSelect, LV_ALIGN_CENTER);
+    lv_label_set_text(ui_ScreenM_LabelPointSelect, ".");
+    lv_obj_set_style_text_font(ui_ScreenM_LabelPointSelect, &lv_font_montserrat_48, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenM_Button1 = lv_btn_create(ui_ScreenM);
+    lv_obj_set_width(ui_ScreenM_Button1, 100);
+    lv_obj_set_height(ui_ScreenM_Button1, 50);
+    lv_obj_set_x(ui_ScreenM_Button1, 0);
+    lv_obj_set_y(ui_ScreenM_Button1, -55);
+    lv_obj_set_align(ui_ScreenM_Button1, LV_ALIGN_CENTER);
+    lv_obj_add_flag(ui_ScreenM_Button1, LV_OBJ_FLAG_SCROLL_ON_FOCUS);     /// Flags
+    lv_obj_clear_flag(ui_ScreenM_Button1, LV_OBJ_FLAG_SCROLLABLE);      /// Flags
+    lv_obj_set_style_bg_color(ui_ScreenM_Button1, lv_color_hex(0xDAFFB2), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_opa(ui_ScreenM_Button1, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_border_color(ui_ScreenM_Button1, lv_color_hex(0x000000), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_border_opa(ui_ScreenM_Button1, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_border_side(ui_ScreenM_Button1, LV_BORDER_SIDE_FULL, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_shadow_width(ui_ScreenM_Button1, 1, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_shadow_spread(ui_ScreenM_Button1, 0, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_shadow_ofs_x(ui_ScreenM_Button1, 0, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_shadow_ofs_y(ui_ScreenM_Button1, 2, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenM_Label6 = lv_label_create(ui_ScreenM_Button1);
+    lv_obj_set_width(ui_ScreenM_Label6, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenM_Label6, LV_SIZE_CONTENT);    /// 1
+    lv_obj_set_align(ui_ScreenM_Label6, LV_ALIGN_CENTER);
+    lv_obj_set_style_text_color(ui_ScreenM_Label6, lv_color_hex(0x000000), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_text_opa(ui_ScreenM_Label6, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenM_Image1 = lv_img_create(ui_ScreenM);
+    lv_img_set_src(ui_ScreenM_Image1, &ui_img_272184077);
+    lv_obj_set_width(ui_ScreenM_Image1, LV_SIZE_CONTENT);   /// 200
+    lv_obj_set_height(ui_ScreenM_Image1, LV_SIZE_CONTENT);    /// 200
+    lv_obj_set_align(ui_ScreenM_Image1, LV_ALIGN_CENTER);
+    lv_obj_add_flag(ui_ScreenM_Image1, LV_OBJ_FLAG_HIDDEN | LV_OBJ_FLAG_ADV_HITTEST);     /// Flags
+    lv_obj_clear_flag(ui_ScreenM_Image1, LV_OBJ_FLAG_SCROLLABLE);      /// Flags
+    lv_img_set_angle(ui_ScreenM_Image1, 900);
+
+    ui_ScreenM_Panel1 = lv_obj_create(ui_ScreenM);
+    lv_obj_set_width(ui_ScreenM_Panel1, 70);
+    lv_obj_set_height(ui_ScreenM_Panel1, 70);
+    lv_obj_set_align(ui_ScreenM_Panel1, LV_ALIGN_CENTER);
+    lv_obj_add_flag(ui_ScreenM_Panel1, LV_OBJ_FLAG_HIDDEN);     /// Flags
+    lv_obj_clear_flag(ui_ScreenM_Panel1, LV_OBJ_FLAG_SCROLLABLE);      /// Flags
+    lv_obj_set_style_radius(ui_ScreenM_Panel1, 100, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenM_Label1 = lv_label_create(ui_ScreenM_Panel1);
+    lv_obj_set_width(ui_ScreenM_Label1, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenM_Label1, LV_SIZE_CONTENT);    /// 1
+    lv_obj_set_align(ui_ScreenM_Label1, LV_ALIGN_CENTER);
+    lv_label_set_text(ui_ScreenM_Label1, "360.0°");
+    lv_obj_set_style_text_font(ui_ScreenM_Label1, &lv_font_montserrat_20, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    lv_obj_add_event_cb(ui_ScreenM_Panel1, ui_event_ScreenM_Panel1, LV_EVENT_ALL, NULL);
+    lv_obj_add_event_cb(ui_ScreenM, ui_event_ScreenM, LV_EVENT_ALL, NULL);
+
+}

esp-crab/master_recv/main/ui/screens/ui_ScreenS.c

@@ -0,0 +1,86 @@
+// This file was generated by SquareLine Studio
+// SquareLine Studio version: SquareLine Studio 1.5.0
+// LVGL version: 8.3.11
+// Project name: C5_Dual_antenna
+
+#include "../ui.h"
+
+void ui_ScreenS_screen_init(void)
+{
+    ui_ScreenS = lv_obj_create(NULL);
+    lv_obj_clear_flag(ui_ScreenS, LV_OBJ_FLAG_SCROLLABLE);      /// Flags
+    lv_obj_set_style_bg_color(ui_ScreenS, lv_color_hex(0xFFFFFF), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_opa(ui_ScreenS, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenS_LabelPoint = lv_label_create(ui_ScreenS);
+    lv_obj_set_width(ui_ScreenS_LabelPoint, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenS_LabelPoint, LV_SIZE_CONTENT);    /// 1
+    lv_obj_set_x(ui_ScreenS_LabelPoint, 0);
+    lv_obj_set_y(ui_ScreenS_LabelPoint, 97);
+    lv_obj_set_align(ui_ScreenS_LabelPoint, LV_ALIGN_CENTER);
+    lv_label_set_text(ui_ScreenS_LabelPoint, "....");
+    lv_obj_set_style_text_color(ui_ScreenS_LabelPoint, lv_color_hex(0xBEBEBE), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_text_opa(ui_ScreenS_LabelPoint, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_text_font(ui_ScreenS_LabelPoint, &lv_font_montserrat_48, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenS_LabelPointSelect = lv_label_create(ui_ScreenS);
+    lv_obj_set_width(ui_ScreenS_LabelPointSelect, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenS_LabelPointSelect, LV_SIZE_CONTENT);    /// 1
+    lv_obj_set_x(ui_ScreenS_LabelPointSelect, 16);
+    lv_obj_set_y(ui_ScreenS_LabelPointSelect, 97);
+    lv_obj_set_align(ui_ScreenS_LabelPointSelect, LV_ALIGN_CENTER);
+    lv_label_set_text(ui_ScreenS_LabelPointSelect, ".");
+    lv_obj_set_style_text_font(ui_ScreenS_LabelPointSelect, &lv_font_montserrat_48, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenS_LabelTitle = lv_label_create(ui_ScreenS);
+    lv_obj_set_width(ui_ScreenS_LabelTitle, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenS_LabelTitle, LV_SIZE_CONTENT);    /// 2
+    lv_obj_set_x(ui_ScreenS_LabelTitle, 0);
+    lv_obj_set_y(ui_ScreenS_LabelTitle, -85);
+    lv_obj_set_align(ui_ScreenS_LabelTitle, LV_ALIGN_CENTER);
+    lv_label_set_text(ui_ScreenS_LabelTitle, " Setting ");
+    lv_obj_set_style_text_font(ui_ScreenS_LabelTitle, &lv_font_montserrat_18, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_radius(ui_ScreenS_LabelTitle, 10, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_color(ui_ScreenS_LabelTitle, lv_color_hex(0xC9C9C9), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_opa(ui_ScreenS_LabelTitle, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenS_Container = lv_obj_create(ui_ScreenS);
+    lv_obj_remove_style_all(ui_ScreenS_Container);
+    lv_obj_set_width(ui_ScreenS_Container, 241);
+    lv_obj_set_height(ui_ScreenS_Container, 187);
+    lv_obj_set_x(ui_ScreenS_Container, 0);
+    lv_obj_set_y(ui_ScreenS_Container, 3);
+    lv_obj_set_align(ui_ScreenS_Container, LV_ALIGN_BOTTOM_MID);
+    lv_obj_clear_flag(ui_ScreenS_Container, LV_OBJ_FLAG_CLICKABLE | LV_OBJ_FLAG_SCROLLABLE);      /// Flags
+
+    ui_ScreenS_LabelLIghtTitle = lv_label_create(ui_ScreenS_Container);
+    lv_obj_set_height(ui_ScreenS_LabelLIghtTitle, 20);
+    lv_obj_set_width(ui_ScreenS_LabelLIghtTitle, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_x(ui_ScreenS_LabelLIghtTitle, -58);
+    lv_obj_set_y(ui_ScreenS_LabelLIghtTitle, 9);
+    lv_obj_set_align(ui_ScreenS_LabelLIghtTitle, LV_ALIGN_TOP_MID);
+    lv_label_set_text(ui_ScreenS_LabelLIghtTitle, "Lightness:");
+
+    ui_ScreenS_LabelLightNum = lv_label_create(ui_ScreenS_Container);
+    lv_obj_set_width(ui_ScreenS_LabelLightNum, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenS_LabelLightNum, LV_SIZE_CONTENT);    /// 1
+    lv_obj_set_x(ui_ScreenS_LabelLightNum, 90);
+    lv_obj_set_y(ui_ScreenS_LabelLightNum, -55);
+    lv_obj_set_align(ui_ScreenS_LabelLightNum, LV_ALIGN_CENTER);
+    lv_label_set_text(ui_ScreenS_LabelLightNum, "100");
+
+    ui_ScreenS_SliderLight = lv_slider_create(ui_ScreenS_Container);
+    lv_slider_set_value(ui_ScreenS_SliderLight, 100, LV_ANIM_OFF);
+    if(lv_slider_get_mode(ui_ScreenS_SliderLight) == LV_SLIDER_MODE_RANGE) lv_slider_set_left_value(ui_ScreenS_SliderLight,
+                                                                                                        0, LV_ANIM_OFF);
+    lv_obj_set_width(ui_ScreenS_SliderLight, 159);
+    lv_obj_set_height(ui_ScreenS_SliderLight, 10);
+    lv_obj_set_x(ui_ScreenS_SliderLight, 27);
+    lv_obj_set_y(ui_ScreenS_SliderLight, 34);
+    lv_obj_clear_flag(ui_ScreenS_SliderLight, LV_OBJ_FLAG_GESTURE_BUBBLE);      /// Flags
+
+
+    lv_obj_add_event_cb(ui_ScreenS_SliderLight, ui_event_ScreenS_SliderLight, LV_EVENT_ALL, NULL);
+    lv_obj_add_event_cb(ui_ScreenS, ui_event_ScreenS, LV_EVENT_ALL, NULL);
+
+}

esp-crab/master_recv/main/ui/screens/ui_ScreenW.c

@@ -0,0 +1,71 @@
+// This file was generated by SquareLine Studio
+// SquareLine Studio version: SquareLine Studio 1.5.0
+// LVGL version: 8.3.11
+// Project name: C5_Dual_antenna
+
+#include "../ui.h"
+
+void ui_ScreenW_screen_init(void)
+{
+    ui_ScreenW = lv_obj_create(NULL);
+    lv_obj_clear_flag(ui_ScreenW, LV_OBJ_FLAG_SCROLLABLE);      /// Flags
+    lv_obj_set_style_bg_color(ui_ScreenW, lv_color_hex(0xF9F9C9), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_opa(ui_ScreenW, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenW_Chart = lv_chart_create(ui_ScreenW);
+    lv_obj_set_width(ui_ScreenW_Chart, 172);
+    lv_obj_set_height(ui_ScreenW_Chart, 103);
+    lv_obj_set_x(ui_ScreenW_Chart, 10);
+    lv_obj_set_y(ui_ScreenW_Chart, 6);
+    lv_obj_set_align(ui_ScreenW_Chart, LV_ALIGN_CENTER);
+    lv_chart_set_type(ui_ScreenW_Chart, LV_CHART_TYPE_LINE);
+    lv_chart_set_axis_tick(ui_ScreenW_Chart, LV_CHART_AXIS_PRIMARY_X, 10, 5, 5, 2, true, 50);
+    lv_chart_set_axis_tick(ui_ScreenW_Chart, LV_CHART_AXIS_PRIMARY_Y, 10, 5, 5, 2, true, 50);
+    lv_chart_set_axis_tick(ui_ScreenW_Chart, LV_CHART_AXIS_SECONDARY_Y, 10, 5, 5, 0, false, 0);
+    lv_obj_set_style_bg_color(ui_ScreenW_Chart, lv_color_hex(0xFDFCF5), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_opa(ui_ScreenW_Chart, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_border_color(ui_ScreenW_Chart, lv_color_hex(0x808080), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_border_opa(ui_ScreenW_Chart, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+
+    lv_obj_set_style_size(ui_ScreenW_Chart, 0, LV_PART_INDICATOR | LV_STATE_DEFAULT);
+
+    lv_obj_set_style_text_color(ui_ScreenW_Chart, lv_color_hex(0x808080), LV_PART_TICKS | LV_STATE_DEFAULT);
+    lv_obj_set_style_text_opa(ui_ScreenW_Chart, 255, LV_PART_TICKS | LV_STATE_DEFAULT);
+    lv_obj_set_style_text_font(ui_ScreenW_Chart, &lv_font_montserrat_12, LV_PART_TICKS | LV_STATE_DEFAULT);
+
+    ui_ScreenW_LabelTitle = lv_label_create(ui_ScreenW);
+    lv_obj_set_width(ui_ScreenW_LabelTitle, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenW_LabelTitle, LV_SIZE_CONTENT);    /// 2
+    lv_obj_set_x(ui_ScreenW_LabelTitle, 0);
+    lv_obj_set_y(ui_ScreenW_LabelTitle, -76);
+    lv_obj_set_align(ui_ScreenW_LabelTitle, LV_ALIGN_CENTER);
+    lv_label_set_text(ui_ScreenW_LabelTitle, " CSI Waveform \n     Amplitude");
+    lv_obj_set_style_text_font(ui_ScreenW_LabelTitle, &lv_font_montserrat_18, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_radius(ui_ScreenW_LabelTitle, 10, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_color(ui_ScreenW_LabelTitle, lv_color_hex(0xC9C9C9), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_opa(ui_ScreenW_LabelTitle, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenW_LabelPoint = lv_label_create(ui_ScreenW);
+    lv_obj_set_width(ui_ScreenW_LabelPoint, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenW_LabelPoint, LV_SIZE_CONTENT);    /// 1
+    lv_obj_set_x(ui_ScreenW_LabelPoint, 0);
+    lv_obj_set_y(ui_ScreenW_LabelPoint, 97);
+    lv_obj_set_align(ui_ScreenW_LabelPoint, LV_ALIGN_CENTER);
+    lv_label_set_text(ui_ScreenW_LabelPoint, "....");
+    lv_obj_set_style_text_color(ui_ScreenW_LabelPoint, lv_color_hex(0xBEBEBE), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_text_opa(ui_ScreenW_LabelPoint, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_text_font(ui_ScreenW_LabelPoint, &lv_font_montserrat_48, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenW_LabelPointSelect = lv_label_create(ui_ScreenW);
+    lv_obj_set_width(ui_ScreenW_LabelPointSelect, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenW_LabelPointSelect, LV_SIZE_CONTENT);    /// 1
+    lv_obj_set_x(ui_ScreenW_LabelPointSelect, -16);
+    lv_obj_set_y(ui_ScreenW_LabelPointSelect, 97);
+    lv_obj_set_align(ui_ScreenW_LabelPointSelect, LV_ALIGN_CENTER);
+    lv_label_set_text(ui_ScreenW_LabelPointSelect, ".");
+    lv_obj_set_style_text_font(ui_ScreenW_LabelPointSelect, &lv_font_montserrat_48, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    lv_obj_add_event_cb(ui_ScreenW, ui_event_ScreenW, LV_EVENT_ALL, NULL);
+
+}

esp-crab/master_recv/main/ui/screens/ui_ScreenWP.c

@@ -0,0 +1,82 @@
+// This file was generated by SquareLine Studio
+// SquareLine Studio version: SquareLine Studio 1.5.0
+// LVGL version: 8.3.11
+// Project name: C5_Dual_antenna
+
+#include "../ui.h"
+
+void ui_ScreenWP_screen_init(void)
+{
+    ui_ScreenWP = lv_obj_create(NULL);
+    lv_obj_clear_flag(ui_ScreenWP, LV_OBJ_FLAG_SCROLLABLE);      /// Flags
+    lv_obj_set_style_bg_color(ui_ScreenWP, lv_color_hex(0xC2EFF6), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_opa(ui_ScreenWP, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenWP_Chart = lv_chart_create(ui_ScreenWP);
+    lv_obj_set_width(ui_ScreenWP_Chart, 172);
+    lv_obj_set_height(ui_ScreenWP_Chart, 103);
+    lv_obj_set_x(ui_ScreenWP_Chart, 10);
+    lv_obj_set_y(ui_ScreenWP_Chart, 6);
+    lv_obj_set_align(ui_ScreenWP_Chart, LV_ALIGN_CENTER);
+    lv_chart_set_type(ui_ScreenWP_Chart, LV_CHART_TYPE_LINE);
+    lv_chart_set_axis_tick(ui_ScreenWP_Chart, LV_CHART_AXIS_PRIMARY_X, 10, 5, 5, 5, true, 50);
+    lv_chart_set_axis_tick(ui_ScreenWP_Chart, LV_CHART_AXIS_PRIMARY_Y, 10, 5, 5, 2, true, 50);
+    lv_chart_set_axis_tick(ui_ScreenWP_Chart, LV_CHART_AXIS_SECONDARY_Y, 10, 5, 5, 0, false, 0);
+    lv_obj_set_style_bg_color(ui_ScreenWP_Chart, lv_color_hex(0xFDFCF5), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_opa(ui_ScreenWP_Chart, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_border_color(ui_ScreenWP_Chart, lv_color_hex(0x808080), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_border_opa(ui_ScreenWP_Chart, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+
+    lv_obj_set_style_size(ui_ScreenWP_Chart, 0, LV_PART_INDICATOR | LV_STATE_DEFAULT);
+
+    lv_obj_set_style_text_color(ui_ScreenWP_Chart, lv_color_hex(0x808080), LV_PART_TICKS | LV_STATE_DEFAULT);
+    lv_obj_set_style_text_opa(ui_ScreenWP_Chart, 255, LV_PART_TICKS | LV_STATE_DEFAULT);
+    lv_obj_set_style_text_font(ui_ScreenWP_Chart, &lv_font_montserrat_12, LV_PART_TICKS | LV_STATE_DEFAULT);
+
+    ui_ScreenWP_LabelTitle = lv_label_create(ui_ScreenWP);
+    lv_obj_set_width(ui_ScreenWP_LabelTitle, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenWP_LabelTitle, LV_SIZE_CONTENT);    /// 2
+    lv_obj_set_x(ui_ScreenWP_LabelTitle, 0);
+    lv_obj_set_y(ui_ScreenWP_LabelTitle, -76);
+    lv_obj_set_align(ui_ScreenWP_LabelTitle, LV_ALIGN_CENTER);
+    lv_label_set_text(ui_ScreenWP_LabelTitle, " CSI Waveform \n         Phase");
+    lv_obj_set_style_text_font(ui_ScreenWP_LabelTitle, &lv_font_montserrat_18, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_radius(ui_ScreenWP_LabelTitle, 10, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_color(ui_ScreenWP_LabelTitle, lv_color_hex(0xC9C9C9), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_opa(ui_ScreenWP_LabelTitle, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenWP_LabelPoint = lv_label_create(ui_ScreenWP);
+    lv_obj_set_width(ui_ScreenWP_LabelPoint, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenWP_LabelPoint, LV_SIZE_CONTENT);    /// 1
+    lv_obj_set_x(ui_ScreenWP_LabelPoint, 0);
+    lv_obj_set_y(ui_ScreenWP_LabelPoint, 97);
+    lv_obj_set_align(ui_ScreenWP_LabelPoint, LV_ALIGN_CENTER);
+    lv_label_set_text(ui_ScreenWP_LabelPoint, "....");
+    lv_obj_set_style_text_color(ui_ScreenWP_LabelPoint, lv_color_hex(0xBEBEBE), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_text_opa(ui_ScreenWP_LabelPoint, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_text_font(ui_ScreenWP_LabelPoint, &lv_font_montserrat_48, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenWP_LabelPointSelect = lv_label_create(ui_ScreenWP);
+    lv_obj_set_width(ui_ScreenWP_LabelPointSelect, LV_SIZE_CONTENT);   /// 1
+    lv_obj_set_height(ui_ScreenWP_LabelPointSelect, LV_SIZE_CONTENT);    /// 1
+    lv_obj_set_x(ui_ScreenWP_LabelPointSelect, -6);
+    lv_obj_set_y(ui_ScreenWP_LabelPointSelect, 97);
+    lv_obj_set_align(ui_ScreenWP_LabelPointSelect, LV_ALIGN_CENTER);
+    lv_label_set_text(ui_ScreenWP_LabelPointSelect, ".");
+    lv_obj_set_style_text_font(ui_ScreenWP_LabelPointSelect, &lv_font_montserrat_48, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    ui_ScreenWP_Container1 = lv_obj_create(ui_ScreenWP);
+    lv_obj_remove_style_all(ui_ScreenWP_Container1);
+    lv_obj_set_width(ui_ScreenWP_Container1, 2);
+    lv_obj_set_height(ui_ScreenWP_Container1, 95);
+    lv_obj_set_x(ui_ScreenWP_Container1, 9);
+    lv_obj_set_y(ui_ScreenWP_Container1, 5);
+    lv_obj_set_align(ui_ScreenWP_Container1, LV_ALIGN_CENTER);
+    lv_obj_clear_flag(ui_ScreenWP_Container1, LV_OBJ_FLAG_CLICKABLE | LV_OBJ_FLAG_SCROLLABLE);      /// Flags
+    lv_obj_set_style_bg_color(ui_ScreenWP_Container1, lv_color_hex(0xFF0000), LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_opa(ui_ScreenWP_Container1, 255, LV_PART_MAIN | LV_STATE_DEFAULT);
+
+    lv_obj_add_event_cb(ui_ScreenWP, ui_event_ScreenWP, LV_EVENT_ALL, NULL);
+
+}

esp-crab/master_recv/main/ui/ui.c

@@ -0,0 +1,170 @@
+// This file was generated by SquareLine Studio
+// SquareLine Studio version: SquareLine Studio 1.5.0
+// LVGL version: 8.3.11
+// Project name: C5_Dual_antenna
+
+#include "ui.h"
+#include "ui_helpers.h"
+
+///////////////////// VARIABLES ////////////////////
+
+
+// SCREEN: ui_ScreenW
+void ui_ScreenW_screen_init(void);
+void ui_event_ScreenW(lv_event_t * e);
+lv_obj_t * ui_ScreenW;
+lv_obj_t * ui_ScreenW_Chart;
+lv_obj_t * ui_ScreenW_LabelTitle;
+lv_obj_t * ui_ScreenW_LabelPoint;
+lv_obj_t * ui_ScreenW_LabelPointSelect;
+// CUSTOM VARIABLES
+
+
+// SCREEN: ui_ScreenWP
+void ui_ScreenWP_screen_init(void);
+void ui_event_ScreenWP(lv_event_t * e);
+lv_obj_t * ui_ScreenWP;
+lv_obj_t * ui_ScreenWP_Chart;
+lv_obj_t * ui_ScreenWP_LabelTitle;
+lv_obj_t * ui_ScreenWP_LabelPoint;
+lv_obj_t * ui_ScreenWP_LabelPointSelect;
+lv_obj_t * ui_ScreenWP_Container1;
+// CUSTOM VARIABLES
+
+
+// SCREEN: ui_ScreenM
+void ui_ScreenM_screen_init(void);
+void ui_event_ScreenM(lv_event_t * e);
+lv_obj_t * ui_ScreenM;
+lv_obj_t * ui_ScreenM_LabelPoint;
+lv_obj_t * ui_ScreenM_LabelPointSelect;
+lv_obj_t * ui_ScreenM_Button1;
+lv_obj_t * ui_ScreenM_Label6;
+lv_obj_t * ui_ScreenM_Image1;
+void ui_event_ScreenM_Panel1(lv_event_t * e);
+lv_obj_t * ui_ScreenM_Panel1;
+lv_obj_t * ui_ScreenM_Label1;
+// CUSTOM VARIABLES
+
+
+// SCREEN: ui_ScreenS
+void ui_ScreenS_screen_init(void);
+void ui_event_ScreenS(lv_event_t * e);
+lv_obj_t * ui_ScreenS;
+lv_obj_t * ui_ScreenS_LabelPoint;
+lv_obj_t * ui_ScreenS_LabelPointSelect;
+lv_obj_t * ui_ScreenS_LabelTitle;
+lv_obj_t * ui_ScreenS_Container;
+lv_obj_t * ui_ScreenS_LabelLIghtTitle;
+lv_obj_t * ui_ScreenS_LabelLightNum;
+void ui_event_ScreenS_SliderLight(lv_event_t * e);
+lv_obj_t * ui_ScreenS_SliderLight;
+// CUSTOM VARIABLES
+
+// EVENTS
+lv_obj_t * ui____initial_actions0;
+
+// IMAGES AND IMAGE SETS
+
+///////////////////// TEST LVGL SETTINGS ////////////////////
+#if LV_COLOR_DEPTH != 16
+    #error "LV_COLOR_DEPTH should be 16bit to match SquareLine Studio's settings"
+#endif
+#if LV_COLOR_16_SWAP !=1
+    #error "LV_COLOR_16_SWAP should be 1 to match SquareLine Studio's settings"
+#endif
+
+///////////////////// ANIMATIONS ////////////////////
+
+///////////////////// FUNCTIONS ////////////////////
+void ui_event_ScreenW(lv_event_t * e)
+{
+    lv_event_code_t event_code = lv_event_get_code(e);
+
+    if(event_code == LV_EVENT_GESTURE &&  lv_indev_get_gesture_dir(lv_indev_get_act()) == LV_DIR_LEFT) {
+        lv_indev_wait_release(lv_indev_get_act());
+        _ui_screen_change(&ui_ScreenWP, LV_SCR_LOAD_ANIM_FADE_ON, 200, 0, &ui_ScreenWP_screen_init);
+    }
+    if(event_code == LV_EVENT_GESTURE &&  lv_indev_get_gesture_dir(lv_indev_get_act()) == LV_DIR_RIGHT) {
+        lv_indev_wait_release(lv_indev_get_act());
+        _ui_screen_change(&ui_ScreenS, LV_SCR_LOAD_ANIM_FADE_ON, 200, 0, &ui_ScreenS_screen_init);
+    }
+}
+
+void ui_event_ScreenWP(lv_event_t * e)
+{
+    lv_event_code_t event_code = lv_event_get_code(e);
+
+    if(event_code == LV_EVENT_GESTURE &&  lv_indev_get_gesture_dir(lv_indev_get_act()) == LV_DIR_LEFT) {
+        lv_indev_wait_release(lv_indev_get_act());
+        _ui_screen_change(&ui_ScreenS, LV_SCR_LOAD_ANIM_FADE_ON, 200, 0, &ui_ScreenS_screen_init);
+    }
+    if(event_code == LV_EVENT_GESTURE &&  lv_indev_get_gesture_dir(lv_indev_get_act()) == LV_DIR_RIGHT) {
+        lv_indev_wait_release(lv_indev_get_act());
+        _ui_screen_change(&ui_ScreenW, LV_SCR_LOAD_ANIM_FADE_ON, 200, 0, &ui_ScreenW_screen_init);
+    }
+}
+
+void ui_event_ScreenM(lv_event_t * e)
+{
+    lv_event_code_t event_code = lv_event_get_code(e);
+
+    if(event_code == LV_EVENT_GESTURE &&  lv_indev_get_gesture_dir(lv_indev_get_act()) == LV_DIR_RIGHT) {
+        lv_indev_wait_release(lv_indev_get_act());
+        _ui_screen_change(&ui_ScreenWP, LV_SCR_LOAD_ANIM_FADE_ON, 200, 0, &ui_ScreenWP_screen_init);
+    }
+    if(event_code == LV_EVENT_GESTURE &&  lv_indev_get_gesture_dir(lv_indev_get_act()) == LV_DIR_LEFT) {
+        lv_indev_wait_release(lv_indev_get_act());
+        _ui_screen_change(&ui_ScreenS, LV_SCR_LOAD_ANIM_FADE_ON, 200, 0, &ui_ScreenS_screen_init);
+    }
+}
+
+void ui_event_ScreenM_Panel1(lv_event_t * e)
+{
+    lv_event_code_t event_code = lv_event_get_code(e);
+
+    if(event_code == LV_EVENT_CLICKED) {
+        PhaseCalibration_button(e);
+    }
+}
+
+void ui_event_ScreenS(lv_event_t * e)
+{
+    lv_event_code_t event_code = lv_event_get_code(e);
+
+    if(event_code == LV_EVENT_GESTURE &&  lv_indev_get_gesture_dir(lv_indev_get_act()) == LV_DIR_RIGHT) {
+        lv_indev_wait_release(lv_indev_get_act());
+        _ui_screen_change(&ui_ScreenWP, LV_SCR_LOAD_ANIM_FADE_ON, 200, 0, &ui_ScreenWP_screen_init);
+    }
+    if(event_code == LV_EVENT_GESTURE &&  lv_indev_get_gesture_dir(lv_indev_get_act()) == LV_DIR_LEFT) {
+        lv_indev_wait_release(lv_indev_get_act());
+        _ui_screen_change(&ui_ScreenW, LV_SCR_LOAD_ANIM_FADE_ON, 200, 0, &ui_ScreenW_screen_init);
+    }
+}
+
+void ui_event_ScreenS_SliderLight(lv_event_t * e)
+{
+    lv_event_code_t event_code = lv_event_get_code(e);
+    lv_obj_t * target = lv_event_get_target(e);
+
+    if(event_code == LV_EVENT_VALUE_CHANGED) {
+        _ui_slider_set_text_value(ui_ScreenS_LabelLightNum, target, "", "");
+        ScreenSSliderLight_function(e);
+    }
+}
+
+///////////////////// SCREENS ////////////////////
+
+void ui_init(void)
+{
+    lv_disp_t * dispp = lv_disp_get_default();
+    lv_theme_t * theme = lv_theme_default_init(dispp, lv_palette_main(LV_PALETTE_BLUE), lv_palette_main(LV_PALETTE_RED),
+                                               false, LV_FONT_DEFAULT);
+    lv_disp_set_theme(dispp, theme);
+    ui_ScreenW_screen_init();
+    ui_ScreenWP_screen_init();
+    ui_ScreenM_screen_init();
+    ui_ScreenS_screen_init();
+    ui____initial_actions0 = lv_obj_create(NULL);
+    lv_disp_load_scr(ui_ScreenW);
+}

esp-crab/master_recv/main/ui/ui.h

@@ -0,0 +1,82 @@
+// This file was generated by SquareLine Studio
+// SquareLine Studio version: SquareLine Studio 1.5.0
+// LVGL version: 8.3.11
+// Project name: C5_Dual_antenna
+
+#ifndef _C5_DUAL_ANTENNA_UI_H
+#define _C5_DUAL_ANTENNA_UI_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "lvgl.h"
+
+#include "ui_helpers.h"
+#include "ui_events.h"
+
+
+// SCREEN: ui_ScreenW
+void ui_ScreenW_screen_init(void);
+void ui_event_ScreenW(lv_event_t * e);
+extern lv_obj_t * ui_ScreenW;
+extern lv_obj_t * ui_ScreenW_Chart;
+extern lv_obj_t * ui_ScreenW_LabelTitle;
+extern lv_obj_t * ui_ScreenW_LabelPoint;
+extern lv_obj_t * ui_ScreenW_LabelPointSelect;
+// CUSTOM VARIABLES
+
+// SCREEN: ui_ScreenWP
+void ui_ScreenWP_screen_init(void);
+void ui_event_ScreenWP(lv_event_t * e);
+extern lv_obj_t * ui_ScreenWP;
+extern lv_obj_t * ui_ScreenWP_Chart;
+extern lv_obj_t * ui_ScreenWP_LabelTitle;
+extern lv_obj_t * ui_ScreenWP_LabelPoint;
+extern lv_obj_t * ui_ScreenWP_LabelPointSelect;
+extern lv_obj_t * ui_ScreenWP_Container1;
+// CUSTOM VARIABLES
+
+// SCREEN: ui_ScreenM
+void ui_ScreenM_screen_init(void);
+void ui_event_ScreenM(lv_event_t * e);
+extern lv_obj_t * ui_ScreenM;
+extern lv_obj_t * ui_ScreenM_LabelPoint;
+extern lv_obj_t * ui_ScreenM_LabelPointSelect;
+extern lv_obj_t * ui_ScreenM_Button1;
+extern lv_obj_t * ui_ScreenM_Label6;
+extern lv_obj_t * ui_ScreenM_Image1;
+void ui_event_ScreenM_Panel1(lv_event_t * e);
+extern lv_obj_t * ui_ScreenM_Panel1;
+extern lv_obj_t * ui_ScreenM_Label1;
+// CUSTOM VARIABLES
+
+// SCREEN: ui_ScreenS
+void ui_ScreenS_screen_init(void);
+void ui_event_ScreenS(lv_event_t * e);
+extern lv_obj_t * ui_ScreenS;
+extern lv_obj_t * ui_ScreenS_LabelPoint;
+extern lv_obj_t * ui_ScreenS_LabelPointSelect;
+extern lv_obj_t * ui_ScreenS_LabelTitle;
+extern lv_obj_t * ui_ScreenS_Container;
+extern lv_obj_t * ui_ScreenS_LabelLIghtTitle;
+extern lv_obj_t * ui_ScreenS_LabelLightNum;
+void ui_event_ScreenS_SliderLight(lv_event_t * e);
+extern lv_obj_t * ui_ScreenS_SliderLight;
+// CUSTOM VARIABLES
+
+// EVENTS
+
+extern lv_obj_t * ui____initial_actions0;
+
+// IMAGES AND IMAGE SETS
+LV_IMG_DECLARE(ui_img_272184077);    // assets/指北针.png
+
+// UI INIT
+void ui_init(void);
+
+#ifdef __cplusplus
+} /*extern "C"*/
+#endif
+
+#endif

esp-crab/master_recv/main/ui/ui_events.c

@@ -0,0 +1,16 @@
+// This file was generated by SquareLine Studio
+// SquareLine Studio version: SquareLine Studio 1.5.0
+// LVGL version: 8.3.11
+// Project name: C5_Dual_antenna
+
+#include "ui.h"
+
+// void ScreenSSliderLight_function(lv_event_t * e)
+// {
+// 	// Your code here
+// }
+
+// void PhaseCalibration_button(lv_event_t * e)
+// {
+// 	// Your code here
+// }

esp-crab/master_recv/main/ui/ui_events.h

@@ -0,0 +1,20 @@
+// This file was generated by SquareLine Studio
+// SquareLine Studio version: SquareLine Studio 1.5.0
+// LVGL version: 8.3.11
+// Project name: C5_Dual_antenna
+
+#ifndef _UI_EVENTS_H
+#define _UI_EVENTS_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void PhaseCalibration_button(lv_event_t * e);
+void ScreenSSliderLight_function(lv_event_t * e);
+
+#ifdef __cplusplus
+} /*extern "C"*/
+#endif
+
+#endif

esp-crab/master_recv/main/ui/ui_helpers.c

@@ -0,0 +1,347 @@
+// This file was generated by SquareLine Studio
+// SquareLine Studio version: SquareLine Studio 1.5.0
+// LVGL version: 8.3.11
+// Project name: C5_Dual_antenna
+
+#include "ui_helpers.h"
+
+void _ui_bar_set_property(lv_obj_t * target, int id, int val)
+{
+    if(id == _UI_BAR_PROPERTY_VALUE_WITH_ANIM) lv_bar_set_value(target, val, LV_ANIM_ON);
+    if(id == _UI_BAR_PROPERTY_VALUE) lv_bar_set_value(target, val, LV_ANIM_OFF);
+}
+
+void _ui_basic_set_property(lv_obj_t * target, int id, int val)
+{
+    if(id == _UI_BASIC_PROPERTY_POSITION_X) lv_obj_set_x(target, val);
+    if(id == _UI_BASIC_PROPERTY_POSITION_Y) lv_obj_set_y(target, val);
+    if(id == _UI_BASIC_PROPERTY_WIDTH) lv_obj_set_width(target, val);
+    if(id == _UI_BASIC_PROPERTY_HEIGHT) lv_obj_set_height(target, val);
+}
+
+
+void _ui_dropdown_set_property(lv_obj_t * target, int id, int val)
+{
+    if(id == _UI_DROPDOWN_PROPERTY_SELECTED) lv_dropdown_set_selected(target, val);
+}
+
+void _ui_image_set_property(lv_obj_t * target, int id, uint8_t * val)
+{
+    if(id == _UI_IMAGE_PROPERTY_IMAGE) lv_img_set_src(target, val);
+}
+
+void _ui_label_set_property(lv_obj_t * target, int id, const char * val)
+{
+    if(id == _UI_LABEL_PROPERTY_TEXT) lv_label_set_text(target, val);
+}
+
+
+void _ui_roller_set_property(lv_obj_t * target, int id, int val)
+{
+    if(id == _UI_ROLLER_PROPERTY_SELECTED_WITH_ANIM) lv_roller_set_selected(target, val, LV_ANIM_ON);
+    if(id == _UI_ROLLER_PROPERTY_SELECTED) lv_roller_set_selected(target, val, LV_ANIM_OFF);
+}
+
+void _ui_slider_set_property(lv_obj_t * target, int id, int val)
+{
+    if(id == _UI_SLIDER_PROPERTY_VALUE_WITH_ANIM) lv_slider_set_value(target, val, LV_ANIM_ON);
+    if(id == _UI_SLIDER_PROPERTY_VALUE) lv_slider_set_value(target, val, LV_ANIM_OFF);
+}
+
+
+void _ui_screen_change(lv_obj_t ** target, lv_scr_load_anim_t fademode, int spd, int delay, void (*target_init)(void))
+{
+    if(*target == NULL)
+        target_init();
+    lv_scr_load_anim(*target, fademode, spd, delay, false);
+}
+
+void _ui_screen_delete(lv_obj_t ** target)
+{
+    if(*target == NULL) {
+        lv_obj_del(*target);
+        target = NULL;
+    }
+}
+
+void _ui_arc_increment(lv_obj_t * target, int val)
+{
+    int old = lv_arc_get_value(target);
+    lv_arc_set_value(target, old + val);
+    lv_event_send(target, LV_EVENT_VALUE_CHANGED, 0);
+}
+
+void _ui_bar_increment(lv_obj_t * target, int val, int anm)
+{
+    int old = lv_bar_get_value(target);
+    lv_bar_set_value(target, old + val, anm);
+}
+
+void _ui_slider_increment(lv_obj_t * target, int val, int anm)
+{
+    int old = lv_slider_get_value(target);
+    lv_slider_set_value(target, old + val, anm);
+    lv_event_send(target, LV_EVENT_VALUE_CHANGED, 0);
+}
+
+void _ui_keyboard_set_target(lv_obj_t * keyboard, lv_obj_t * textarea)
+{
+    lv_keyboard_set_textarea(keyboard, textarea);
+}
+
+void _ui_flag_modify(lv_obj_t * target, int32_t flag, int value)
+{
+    if(value == _UI_MODIFY_FLAG_TOGGLE) {
+        if(lv_obj_has_flag(target, flag)) lv_obj_clear_flag(target, flag);
+        else lv_obj_add_flag(target, flag);
+    }
+    else if(value == _UI_MODIFY_FLAG_ADD) lv_obj_add_flag(target, flag);
+    else lv_obj_clear_flag(target, flag);
+}
+void _ui_state_modify(lv_obj_t * target, int32_t state, int value)
+{
+    if(value == _UI_MODIFY_STATE_TOGGLE) {
+        if(lv_obj_has_state(target, state)) lv_obj_clear_state(target, state);
+        else lv_obj_add_state(target, state);
+    }
+    else if(value == _UI_MODIFY_STATE_ADD) lv_obj_add_state(target, state);
+    else lv_obj_clear_state(target, state);
+}
+
+
+void _ui_textarea_move_cursor(lv_obj_t * target, int val)
+
+{
+
+    if(val == UI_MOVE_CURSOR_UP) lv_textarea_cursor_up(target);
+    if(val == UI_MOVE_CURSOR_RIGHT) lv_textarea_cursor_right(target);
+    if(val == UI_MOVE_CURSOR_DOWN) lv_textarea_cursor_down(target);
+    if(val == UI_MOVE_CURSOR_LEFT) lv_textarea_cursor_left(target);
+    lv_obj_add_state(target, LV_STATE_FOCUSED);
+}
+
+void scr_unloaded_delete_cb(lv_event_t * e)
+
+{
+
+    lv_obj_t ** var = lv_event_get_user_data(e);
+    lv_obj_del(*var);
+    (*var) = NULL;
+
+}
+
+void _ui_opacity_set(lv_obj_t * target, int val)
+{
+    lv_obj_set_style_opa(target, val, 0);
+}
+
+void _ui_anim_callback_free_user_data(lv_anim_t * a)
+{
+    lv_mem_free(a->user_data);
+    a->user_data = NULL;
+}
+
+void _ui_anim_callback_set_x(lv_anim_t * a, int32_t v)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    lv_obj_set_x(usr->target, v);
+
+}
+
+
+void _ui_anim_callback_set_y(lv_anim_t * a, int32_t v)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    lv_obj_set_y(usr->target, v);
+
+}
+
+
+void _ui_anim_callback_set_width(lv_anim_t * a, int32_t v)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    lv_obj_set_width(usr->target, v);
+
+}
+
+
+void _ui_anim_callback_set_height(lv_anim_t * a, int32_t v)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    lv_obj_set_height(usr->target, v);
+
+}
+
+
+void _ui_anim_callback_set_opacity(lv_anim_t * a, int32_t v)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    lv_obj_set_style_opa(usr->target, v, 0);
+
+}
+
+
+void _ui_anim_callback_set_image_zoom(lv_anim_t * a, int32_t v)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    lv_img_set_zoom(usr->target, v);
+
+}
+
+
+void _ui_anim_callback_set_image_angle(lv_anim_t * a, int32_t v)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    lv_img_set_angle(usr->target, v);
+
+}
+
+
+void _ui_anim_callback_set_image_frame(lv_anim_t * a, int32_t v)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    usr->val = v;
+
+    if(v < 0) v = 0;
+    if(v >= usr->imgset_size) v = usr->imgset_size - 1;
+    lv_img_set_src(usr->target, usr->imgset[v]);
+}
+
+int32_t _ui_anim_callback_get_x(lv_anim_t * a)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    return lv_obj_get_x_aligned(usr->target);
+
+}
+
+
+int32_t _ui_anim_callback_get_y(lv_anim_t * a)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    return lv_obj_get_y_aligned(usr->target);
+
+}
+
+
+int32_t _ui_anim_callback_get_width(lv_anim_t * a)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    return lv_obj_get_width(usr->target);
+
+}
+
+
+int32_t _ui_anim_callback_get_height(lv_anim_t * a)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    return lv_obj_get_height(usr->target);
+
+}
+
+
+int32_t _ui_anim_callback_get_opacity(lv_anim_t * a)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    return lv_obj_get_style_opa(usr->target, 0);
+
+}
+
+int32_t _ui_anim_callback_get_image_zoom(lv_anim_t * a)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    return lv_img_get_zoom(usr->target);
+
+}
+
+int32_t _ui_anim_callback_get_image_angle(lv_anim_t * a)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    return lv_img_get_angle(usr->target);
+
+}
+
+int32_t _ui_anim_callback_get_image_frame(lv_anim_t * a)
+
+{
+
+    ui_anim_user_data_t * usr = (ui_anim_user_data_t *)a->user_data;
+    return usr->val;
+
+}
+
+void _ui_arc_set_text_value(lv_obj_t * trg, lv_obj_t * src, const char * prefix, const char * postfix)
+{
+    char buf[_UI_TEMPORARY_STRING_BUFFER_SIZE];
+
+    lv_snprintf(buf, sizeof(buf), "%s%d%s", prefix, (int)lv_arc_get_value(src), postfix);
+
+    lv_label_set_text(trg, buf);
+}
+
+void _ui_slider_set_text_value(lv_obj_t * trg, lv_obj_t * src, const char * prefix, const char * postfix)
+{
+    char buf[_UI_TEMPORARY_STRING_BUFFER_SIZE];
+
+    lv_snprintf(buf, sizeof(buf), "%s%d%s", prefix, (int)lv_slider_get_value(src), postfix);
+
+    lv_label_set_text(trg, buf);
+}
+void _ui_checked_set_text_value(lv_obj_t * trg, lv_obj_t * src, const char * txt_on, const char * txt_off)
+{
+    if(lv_obj_has_state(src, LV_STATE_CHECKED)) lv_label_set_text(trg, txt_on);
+    else lv_label_set_text(trg, txt_off);
+}
+
+
+void _ui_spinbox_step(lv_obj_t * target, int val)
+
+{
+
+    if(val > 0) lv_spinbox_increment(target);
+
+    else lv_spinbox_decrement(target);
+
+
+    lv_event_send(target, LV_EVENT_VALUE_CHANGED, 0);
+}
+
+void _ui_switch_theme(int val)
+
+{
+
+#ifdef UI_THEME_ACTIVE
+    ui_theme_set(val);
+#endif
+}
+
+

esp-crab/master_recv/main/ui/ui_helpers.h

@@ -0,0 +1,148 @@
+// This file was generated by SquareLine Studio
+// SquareLine Studio version: SquareLine Studio 1.5.0
+// LVGL version: 8.3.11
+// Project name: C5_Dual_antenna
+
+#ifndef _C5_DUAL_ANTENNA_UI_HELPERS_H
+#define _C5_DUAL_ANTENNA_UI_HELPERS_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "ui.h"
+
+#define _UI_TEMPORARY_STRING_BUFFER_SIZE 32
+#define _UI_BAR_PROPERTY_VALUE 0
+#define _UI_BAR_PROPERTY_VALUE_WITH_ANIM 1
+void _ui_bar_set_property(lv_obj_t * target, int id, int val);
+
+#define _UI_BASIC_PROPERTY_POSITION_X 0
+#define _UI_BASIC_PROPERTY_POSITION_Y 1
+#define _UI_BASIC_PROPERTY_WIDTH 2
+#define _UI_BASIC_PROPERTY_HEIGHT 3
+void _ui_basic_set_property(lv_obj_t * target, int id, int val);
+
+#define _UI_DROPDOWN_PROPERTY_SELECTED 0
+void _ui_dropdown_set_property(lv_obj_t * target, int id, int val);
+
+#define _UI_IMAGE_PROPERTY_IMAGE 0
+void _ui_image_set_property(lv_obj_t * target, int id, uint8_t * val);
+
+#define _UI_LABEL_PROPERTY_TEXT 0
+void _ui_label_set_property(lv_obj_t * target, int id, const char * val);
+
+#define _UI_ROLLER_PROPERTY_SELECTED 0
+#define _UI_ROLLER_PROPERTY_SELECTED_WITH_ANIM 1
+void _ui_roller_set_property(lv_obj_t * target, int id, int val);
+
+#define _UI_SLIDER_PROPERTY_VALUE 0
+#define _UI_SLIDER_PROPERTY_VALUE_WITH_ANIM 1
+void _ui_slider_set_property(lv_obj_t * target, int id, int val);
+
+void _ui_screen_change(lv_obj_t ** target, lv_scr_load_anim_t fademode, int spd, int delay, void (*target_init)(void));
+
+void _ui_screen_delete(lv_obj_t ** target);
+
+void _ui_arc_increment(lv_obj_t * target, int val);
+
+void _ui_bar_increment(lv_obj_t * target, int val, int anm);
+
+void _ui_slider_increment(lv_obj_t * target, int val, int anm);
+
+void _ui_keyboard_set_target(lv_obj_t * keyboard, lv_obj_t * textarea);
+
+#define _UI_MODIFY_FLAG_ADD 0
+#define _UI_MODIFY_FLAG_REMOVE 1
+#define _UI_MODIFY_FLAG_TOGGLE 2
+void _ui_flag_modify(lv_obj_t * target, int32_t flag, int value);
+
+#define _UI_MODIFY_STATE_ADD 0
+#define _UI_MODIFY_STATE_REMOVE 1
+#define _UI_MODIFY_STATE_TOGGLE 2
+void _ui_state_modify(lv_obj_t * target, int32_t state, int value);
+
+#define UI_MOVE_CURSOR_UP 0
+#define UI_MOVE_CURSOR_RIGHT 1
+#define UI_MOVE_CURSOR_DOWN 2
+#define UI_MOVE_CURSOR_LEFT 3
+void _ui_textarea_move_cursor(lv_obj_t * target, int val)
+;
+
+
+void scr_unloaded_delete_cb(lv_event_t * e);
+
+void _ui_opacity_set(lv_obj_t * target, int val);
+
+/** Describes an animation*/
+typedef struct _ui_anim_user_data_t {
+    lv_obj_t * target;
+    lv_img_dsc_t ** imgset;
+    int32_t imgset_size;
+    int32_t val;
+} ui_anim_user_data_t;
+void _ui_anim_callback_free_user_data(lv_anim_t * a);
+
+void _ui_anim_callback_set_x(lv_anim_t * a, int32_t v);
+
+void _ui_anim_callback_set_y(lv_anim_t * a, int32_t v);
+
+void _ui_anim_callback_set_width(lv_anim_t * a, int32_t v);
+
+void _ui_anim_callback_set_height(lv_anim_t * a, int32_t v);
+
+
+void _ui_anim_callback_set_opacity(lv_anim_t * a, int32_t v);
+
+
+void _ui_anim_callback_set_image_zoom(lv_anim_t * a, int32_t v);
+
+
+void _ui_anim_callback_set_image_angle(lv_anim_t * a, int32_t v);
+
+
+void _ui_anim_callback_set_image_frame(lv_anim_t * a, int32_t v);
+
+
+int32_t _ui_anim_callback_get_x(lv_anim_t * a);
+
+int32_t _ui_anim_callback_get_y(lv_anim_t * a);
+
+int32_t _ui_anim_callback_get_width(lv_anim_t * a);
+
+
+int32_t _ui_anim_callback_get_height(lv_anim_t * a);
+
+
+int32_t _ui_anim_callback_get_opacity(lv_anim_t * a);
+
+
+int32_t _ui_anim_callback_get_image_zoom(lv_anim_t * a);
+
+
+int32_t _ui_anim_callback_get_image_angle(lv_anim_t * a);
+
+
+int32_t _ui_anim_callback_get_image_frame(lv_anim_t * a);
+
+
+void _ui_arc_set_text_value(lv_obj_t * trg, lv_obj_t * src, const char * prefix, const char * postfix);
+
+void _ui_slider_set_text_value(lv_obj_t * trg, lv_obj_t * src, const char * prefix, const char * postfix);
+
+void _ui_checked_set_text_value(lv_obj_t * trg, lv_obj_t * src, const char * txt_on, const char * txt_off);
+
+void _ui_spinbox_step(lv_obj_t * target, int val)
+;
+
+
+void _ui_switch_theme(int val)
+;
+
+
+
+#ifdef __cplusplus
+} /*extern "C"*/
+#endif
+
+#endif

esp-crab/master_recv/partitions.csv

@@ -0,0 +1,5 @@
+# Name,   Type, SubType, Offset,  Size
+nvs,      data, nvs,     0x9000,  0x5000
+otadata,  data, ota,     0xe000,  0x2000
+phy_init, data, phy,     0x10000, 0x1000
+factory,  app,  factory, 0x20000, 0x200000

esp-crab/master_recv/sdkconfig.defaults

@@ -0,0 +1,32 @@
+# This file was generated using idf.py save-defconfig. It can be edited manually.
+# Espressif IoT Development Framework (ESP-IDF) 5.5.0 Project Minimal Configuration
+#
+CONFIG_IDF_TARGET="esp32c5"
+CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
+CONFIG_PARTITION_TABLE_CUSTOM=y
+CONFIG_ESP_CONSOLE_UART_CUSTOM=y
+CONFIG_ESP_CONSOLE_UART_BAUDRATE=921600
+CONFIG_ESP_TASK_WDT_TIMEOUT_S=30
+CONFIG_ESP_WIFI_DYNAMIC_RX_BUFFER_NUM=128
+CONFIG_ESP_WIFI_CSI_ENABLED=y
+CONFIG_ESP_WIFI_AMPDU_TX_ENABLED=n
+CONFIG_LV_COLOR_16_SWAP=y
+CONFIG_LV_FONT_MONTSERRAT_10=y
+CONFIG_LV_FONT_MONTSERRAT_12=y
+CONFIG_LV_FONT_MONTSERRAT_16=y
+CONFIG_LV_FONT_MONTSERRAT_18=y
+CONFIG_LV_FONT_MONTSERRAT_20=y
+CONFIG_LV_FONT_MONTSERRAT_22=y
+CONFIG_LV_FONT_MONTSERRAT_24=y
+CONFIG_LV_FONT_MONTSERRAT_26=y
+CONFIG_LV_FONT_MONTSERRAT_28=y
+CONFIG_LV_FONT_MONTSERRAT_30=y
+CONFIG_LV_FONT_MONTSERRAT_32=y
+CONFIG_LV_FONT_MONTSERRAT_34=y
+CONFIG_LV_FONT_MONTSERRAT_36=y
+CONFIG_LV_FONT_MONTSERRAT_38=y
+CONFIG_LV_FONT_MONTSERRAT_40=y
+CONFIG_LV_FONT_MONTSERRAT_42=y
+CONFIG_LV_FONT_MONTSERRAT_44=y
+CONFIG_LV_FONT_MONTSERRAT_46=y
+CONFIG_LV_FONT_MONTSERRAT_48=y

esp-crab/slave_recv/.gitignore

@@ -0,0 +1,109 @@
+.config
+*.o
+*.pyc
+*.orig
+
+# gtags
+GTAGS
+GRTAGS
+GPATH
+
+# emacs
+.dir-locals.el
+
+# emacs temp file suffixes
+*~
+.#*
+\#*#
+
+# eclipse setting
+.settings
+
+# MacOS directory files
+.DS_Store
+
+# Components Unit Test Apps files
+components/**/build
+components/**/sdkconfig
+components/**/sdkconfig.old
+
+# Example project files
+examples/**/sdkconfig
+examples/**/sdkconfig.old
+examples/**/build
+
+# Doc build artifacts
+docs/**/_build/
+docs/**/doxygen-warning-log.txt
+docs/**/sphinx-warning-log.txt
+docs/**/sphinx-warning-log-sanitized.txt
+docs/**/xml/
+docs/**/xml_in/
+docs/**/man/
+
+# Downloaded font files
+docs/_static/DejaVuSans.ttf
+docs/_static/NotoSansSC-Regular.otf
+
+# Unit test app files
+tools/unit-test-app/sdkconfig
+tools/unit-test-app/sdkconfig.old
+tools/unit-test-app/build
+tools/unit-test-app/builds
+tools/unit-test-app/output
+tools/unit-test-app/test_configs
+
+# Unit Test CMake compile log folder
+log_ut_cmake
+
+# test application build files
+tools/test_apps/**/build
+tools/test_apps/**/sdkconfig
+tools/test_apps/**/sdkconfig.old
+
+# IDF monitor test
+tools/test_idf_monitor/outputs
+
+TEST_LOGS
+
+# gcov coverage reports
+*.gcda
+*.gcno
+coverage.info
+coverage_report/
+
+test_multi_heap_host
+
+# VS Code Settings
+.vscode/
+
+# VIM files
+*.swp
+*.swo
+
+# Clion IDE CMake build & config
+.idea/
+cmake-build-*/
+
+# Results for the checking of the Python coding style and static analysis
+.mypy_cache
+flake8_output.txt
+
+# ESP-IDF default build directory name
+build
+build_esp*/
+build_linux*/
+size_info.txt
+
+# lock files for examples and components
+dependencies.lock
+
+# managed_components for examples
+managed_components
+
+# pytest log
+pytest_embedded_log/
+pytest_log/
+.pytest_cache/
+XUNIT_RESULT.xml
+

esp-crab/slave_recv/CMakeLists.txt

@@ -0,0 +1,15 @@
+
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctlycmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.5)
+add_compile_options(-fdiagnostics-color=always)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+message("EXTRA_COMPONENT_DIRS: " ${EXTRA_COMPONENT_DIRS})
+add_definitions(-D CHIP_ID=0)
+string(REGEX REPLACE ".*/\(.*\)" "\\1" CURDIR ${CMAKE_CURRENT_SOURCE_DIR})
+project(${CURDIR})
+
+git_describe(PROJECT_VERSION ${COMPONENT_DIR})
+message("Project commit: " ${PROJECT_VERSION})

esp-crab/slave_recv/components/bsp_C5_dual_antenna

@@ -0,0 +1 @@
+../../master_recv/components/bsp_C5_dual_antenna

esp-crab/slave_recv/main/CMakeLists.txt

@@ -0,0 +1,5 @@
+set(APP_DIR app)
+file(GLOB_RECURSE APP_SOURCES ${APP_DIR}/*.c)
+
+idf_component_register(SRCS "app_main.c"  ${APP_SOURCES}
+                       INCLUDE_DIRS "."  ${APP_DIR})

esp-crab/slave_recv/main/app/app_gpio.c

@@ -0,0 +1,43 @@
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/gpio.h"
+#include "esp_log.h"
+#include "esp_timer.h"
+#include "esp_log.h"
+#include <sys/types.h>
+
+
+#define GPIO_INPUT_IO     27 // 设置要使用的 GPIO 引脚编号
+#define GPIO_INPUT_PIN_SEL  (1ULL << GPIO_INPUT_IO) // GPIO 位掩码
+extern int64_t time_zero;
+static const char *TAG = "GPIO";
+extern QueueHandle_t csi_send_queue;
+// 中断服务回调函数
+static void IRAM_ATTR gpio_isr_handler(void *arg) {
+    xQueueReset(csi_send_queue);
+    time_zero = esp_timer_get_time(); 
+    uint32_t gpio_num = (uint32_t)arg; // 获取中断的 GPIO 引脚编号
+    // ets_printf("GPIO %ld triggered! time: %lld", gpio_num,time_since_boot);
+}
+
+// GPIO 配置和中断初始化
+void init_gpio() {
+    // 配置 GPIO 
+    gpio_config_t io_conf = {
+        .intr_type = GPIO_INTR_NEGEDGE,      // 设置为下降沿中断
+        .mode = GPIO_MODE_INPUT,            // 设置为输入模式
+        .pin_bit_mask = GPIO_INPUT_PIN_SEL, // 设置 GPIO 位掩码
+        .pull_up_en = GPIO_PULLUP_ENABLE,   // 启用上拉
+        .pull_down_en = GPIO_PULLDOWN_DISABLE, // 禁用下拉
+    };
+    gpio_config(&io_conf);
+
+    // 安装 GPIO 中断服务
+    gpio_install_isr_service(0);
+
+    // 添加中断处理程序
+    gpio_isr_handler_add(GPIO_INPUT_IO, gpio_isr_handler, (void *)GPIO_INPUT_IO);
+
+    ESP_LOGI(TAG, "GPIO %d configured with negative edge interrupt.", GPIO_INPUT_IO);
+}
+

esp-crab/slave_recv/main/app/app_gpio.h

@@ -0,0 +1,11 @@
+
+#pragma once
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void init_gpio(void);
+
+#ifdef __cplusplus
+}
+#endif

esp-crab/slave_recv/main/app/app_ifft.c

@@ -0,0 +1,162 @@
+/* SPI Slave example, receiver (uses SPI Slave driver to communicate with sender)
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include <stdio.h>
+#include <stdint.h>
+#include <stddef.h>
+#include <string.h>
+#include <math.h>
+#include "freertos/FreeRTOS.h"
+#include "esp_log.h"
+#include "app_ifft.h"
+#include "IQmathLib.h"
+#define PI 3.14159265358979323846f
+#define PI_IQ  _IQ(3.14159265358979323846)
+#define PI_IQ_N2  _IQ(-6.28318530717958647692)
+const int bitReverseTable[64] = {
+    0, 32, 16, 48, 8, 40, 24, 56,
+    4, 36, 20, 52, 12, 44, 28, 60,
+    2, 34, 18, 50, 10, 42, 26, 58,
+    6, 38, 22, 54, 14, 46, 30, 62,
+    1, 33, 17, 49, 9, 41, 25, 57,
+    5, 37, 21, 53, 13, 45, 29, 61,
+    3, 35, 19, 51, 11, 43, 27, 59,
+    7, 39, 23, 55, 15, 47, 31, 63
+};
+
+void IRAM_ATTR fft_iq(Complex_Iq *X, int inverse) 
+{
+    int log2N = 6;
+    int N = 64;
+    Complex_Iq *temp = (Complex_Iq *)malloc(64 * sizeof(Complex_Iq));
+
+    // Bit-reversed addressing permutation
+    for (int i = 0; i < N; i++) {
+        temp[i] = X[bitReverseTable[i]];
+    }
+    for (int i = 0; i < N; i++) {
+        X[i] = temp[i];
+    }
+
+    // Cooley-Tukey iterative FFT
+    for (int s = 1; s <= log2N; ++s) {
+        int m = 1 << s; // 2 power s
+        int m2 = m >> 1; // m/2
+        Complex_Iq w;
+        w.real = _IQ16(1.0);
+        w.imag = _IQ16(0.0);
+        Complex_Iq wm;
+        _iq16  angle = _IQ16div(PI_IQ_N2, m);
+        wm.real = _IQ16cos(angle);                                                                                    
+        wm.imag = _IQ16sin(angle);
+        if (inverse) wm.imag = -wm.imag;
+
+        for (int j = 0; j < m2; ++j) {
+            for (int k = j; k < N; k += m) {
+                Complex_Iq t, u;
+                u = X[k];
+                t.real = _IQ16mpy(w.real , X[k + m2].real) - _IQ16mpy(w.imag , X[k + m2].imag);
+                t.imag = _IQ16mpy(w.real , X[k + m2].imag) + _IQ16mpy(w.imag , X[k + m2].real);
+                X[k].real = u.real + t.real;
+                X[k].imag = u.imag + t.imag;
+                X[k + m2].real = u.real - t.real;
+                X[k + m2].imag = u.imag - t.imag;
+            }
+            float tmpReal = _IQ16mpy(w.real , wm.real) - _IQ16mpy(w.imag , wm.imag);
+            w.imag = _IQ16mpy(w.real , wm.imag) + _IQ16mpy(w.imag , wm.real);
+            w.real = tmpReal;
+        }
+    }
+
+    // Scale for inverse FFT
+    if (inverse) {
+        for (int i = 0; i < N; i++) {
+            X[i].real = _IQdiv64(X[i].real);
+            X[i].imag = _IQdiv64(X[i].imag);
+        }
+    }
+
+    free(temp);
+}
+
+// Bit reversal of given index 'x' with 'log2n' bits
+unsigned int inline bitReverse(unsigned int x, int log2n) {
+    int n = 0;
+    for (int i = 0; i < log2n; i++) {
+        n <<= 1;
+        n |= (x & 1);
+        x >>= 1;
+    }
+    return n;
+}
+void IRAM_ATTR fft(Complex *X, int N, int inverse) 
+{
+    int log2N = log2(N);
+    Complex *temp = (Complex *)malloc(N * sizeof(Complex));
+
+    // Bit-reversed addressing permutation
+    for (int i = 0; i < N; i++) {
+        temp[i] = X[bitReverse(i, log2N)];
+    }
+    for (int i = 0; i < N; i++) {
+        X[i] = temp[i];
+    }
+
+    // Cooley-Tukey iterative FFT
+    for (int s = 1; s <= log2N; ++s) {
+        int m = 1 << s; // 2 power s
+        int m2 = m >> 1; // m/2
+        Complex w;
+        w.real = 1.0;
+        w.imag = 0.0;
+        Complex wm;
+        wm.real = cosf(-2.0f * PI / m);
+        wm.imag = sinf(-2.0f * PI / m);
+        if (inverse) wm.imag = -wm.imag;
+
+        for (int j = 0; j < m2; ++j) {
+            for (int k = j; k < N; k += m) {
+                Complex t, u;
+                u = X[k];
+                t.real = w.real * X[k + m2].real - w.imag * X[k + m2].imag;
+                t.imag = w.real * X[k + m2].imag + w.imag * X[k + m2].real;
+                X[k].real = u.real + t.real;
+                X[k].imag = u.imag + t.imag;
+                X[k + m2].real = u.real - t.real;
+                X[k + m2].imag = u.imag - t.imag;
+            }
+            float tmpReal = w.real * wm.real - w.imag * wm.imag;
+            w.imag = w.real * wm.imag + w.imag * wm.real;
+            w.real = tmpReal;
+        }
+    }
+
+    // Scale for inverse FFT
+    if (inverse) {
+        for (int i = 0; i < N; i++) {
+            X[i].real /= N;
+            X[i].imag /= N;
+        }
+    }
+
+    free(temp);
+}
+float complex_magnitude_iq(Complex_Iq z) {
+    return _IQ16toF(_IQ16mag(z.real, z.imag));
+} 
+
+float complex_phase_iq(Complex_Iq z) {
+    return _IQ16toF(_IQ16atan2(z.imag, z.real));
+}
+
+float complex_magnitude(Complex z) {
+    return sqrt(z.real * z.real + z.imag * z.imag);
+}
+float complex_phase(Complex z) {
+    return atan2(z.imag, z.real);
+}

esp-crab/slave_recv/main/app/app_ifft.h

@@ -0,0 +1,26 @@
+
+#pragma once
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include "IQmathLib.h"
+
+typedef struct {
+    float real;
+    float imag;
+} Complex;
+typedef struct {
+    _iq16 real;
+    _iq16 imag;
+} Complex_Iq;
+void IRAM_ATTR fft_iq(Complex_Iq *X,  int inverse) ;
+void IRAM_ATTR fft(Complex *X, int N, int inverse);
+
+float complex_magnitude_iq(Complex_Iq z);
+float complex_phase_iq(Complex_Iq z);
+float complex_magnitude(Complex z);
+float complex_phase(Complex z);
+
+#ifdef __cplusplus
+}
+#endif

esp-crab/slave_recv/main/app/app_uart.c

@@ -0,0 +1,43 @@
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/uart.h"
+#include "driver/gpio.h"
+#include "sdkconfig.h"
+#include "esp_log.h"
+#include "app_uart.h"
+
+static const char *TAG = "UART";
+
+void init_uart() {
+    uart_config_t uart_config = {
+        .baud_rate = UART_BAUD_RATE,
+        .data_bits = UART_DATA_8_BITS,
+        .parity    = UART_PARITY_DISABLE,
+        .stop_bits = UART_STOP_BITS_1,
+        .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+        .source_clk = UART_SCLK_DEFAULT,
+    };
+    int intr_alloc_flags = 0;
+
+#if CONFIG_UART_ISR_IN_IRAM
+    intr_alloc_flags = ESP_INTR_FLAG_IRAM;
+#endif
+    ESP_ERROR_CHECK(uart_driver_install(UART_PORT_NUM, BUF_SIZE * 2, 0 , 0, NULL, intr_alloc_flags));
+    ESP_ERROR_CHECK(uart_param_config(UART_PORT_NUM, &uart_config));
+    ESP_ERROR_CHECK(uart_set_pin(UART_PORT_NUM, TXD_PIN, RXD_PIN, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
+        ESP_LOGI("UART", "UART initialized");
+}
+
+int uart_send_data(const char *data, uint8_t len) {
+    return uart_write_bytes(UART_PORT_NUM, data, len);
+}
+
+// void uart_receive_data() {
+//     uint8_t data[BUF_SIZE];
+//     int length = uart_read_bytes(UART_PORT_NUM, data, BUF_SIZE, 20 / portTICK_RATE_MS);
+//     if (length > 0) {
+//         data[length] = '\0';
+//         ESP_LOGI("UART", "Received %d bytes: '%s'", length, (char *)data);
+//     }
+// }

esp-crab/slave_recv/main/app/app_uart.h

@@ -0,0 +1,26 @@
+
+#pragma once
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define UART_PORT_NUM      UART_NUM_0
+#define UART_BAUD_RATE     2000000
+#define TXD_PIN            (GPIO_NUM_11)
+#define RXD_PIN            (GPIO_NUM_12)
+#define BUF_SIZE           4096
+
+typedef struct {
+    uint8_t start[2];      
+    uint32_t id;           
+    int64_t time_delta;    
+    float cir[4];          
+    uint8_t end[2];        
+} __attribute__((packed)) csi_data_t;
+
+void init_uart(void);
+int uart_send_data(const char *data, uint8_t len);
+
+#ifdef __cplusplus
+}
+#endif

esp-crab/slave_recv/main/app_main.c

@@ -0,0 +1,291 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/* Esp-crab Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <sys/types.h>
+#include "nvs_flash.h"
+#include "esp_mac.h"
+#include "rom/ets_sys.h"
+#include "esp_log.h"
+#include "esp_wifi.h"
+#include "esp_netif.h"
+#include "esp_now.h"
+#include "app_ifft.h"
+#include "app_gpio.h"
+#include "esp_timer.h"
+#include "app_uart.h"
+#include "IQmathLib.h"
+#include "bsp_C5_dual_antenna.h"
+#include "esp_csi_gain_ctrl.h"
+
+#define CONFIG_LESS_INTERFERENCE_CHANNEL    40
+#define CONFIG_WIFI_BAND_MODE               WIFI_BAND_MODE_5G_ONLY
+#define CONFIG_WIFI_2G_BANDWIDTHS           WIFI_BW_HT40
+#define CONFIG_WIFI_5G_BANDWIDTHS           WIFI_BW_HT40
+#define CONFIG_WIFI_2G_PROTOCOL             WIFI_PROTOCOL_11N
+#define CONFIG_WIFI_5G_PROTOCOL             WIFI_PROTOCOL_11N
+#define CONFIG_ESP_NOW_PHYMODE              WIFI_PHY_MODE_HT40
+#define CONFIG_GAIN_CONTROL                 1   // 1:enable gain control, 0:disable gain control
+#define CONFIG_FORCE_GAIN                   0   // 1:force gain control, 0:automatic gain control
+#define CONFIG_PRINT_CSI_DATA               1
+
+int64_t time_zero = 0;
+typedef struct {
+    uint32_t id;
+    uint32_t time;
+    uint8_t fft_gain;
+    uint8_t agc_gain;
+    int8_t buf[256];
+} csi_send_queue_t;
+uint32_t recv_cnt = 0;
+QueueHandle_t csi_send_queue;
+static const uint8_t CONFIG_CSI_SEND_MAC[] = {0x1a, 0x00, 0x00, 0x00, 0x00, 0x00};
+static const char *TAG = "csi_recv";
+
+static void wifi_init()
+{
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+    ESP_ERROR_CHECK(esp_netif_init());
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
+    ESP_ERROR_CHECK(esp_wifi_set_storage(WIFI_STORAGE_RAM));
+    ESP_ERROR_CHECK(esp_wifi_start());
+
+    esp_wifi_set_band_mode(CONFIG_WIFI_BAND_MODE);
+    wifi_protocols_t protocols = {
+        .ghz_2g = CONFIG_WIFI_2G_PROTOCOL,
+        .ghz_5g = CONFIG_WIFI_5G_PROTOCOL
+    };
+    ESP_ERROR_CHECK(esp_wifi_set_protocols(ESP_IF_WIFI_STA, &protocols));
+
+    wifi_bandwidths_t bandwidth = {
+        .ghz_2g = CONFIG_WIFI_2G_BANDWIDTHS,
+        .ghz_5g = CONFIG_WIFI_5G_BANDWIDTHS
+    };
+    ESP_ERROR_CHECK(esp_wifi_set_bandwidths(ESP_IF_WIFI_STA, &bandwidth));
+
+    ESP_ERROR_CHECK(esp_wifi_start());
+    ESP_ERROR_CHECK(esp_wifi_set_ps(WIFI_PS_NONE));
+
+    if ((CONFIG_WIFI_BAND_MODE == WIFI_BAND_MODE_2G_ONLY && CONFIG_WIFI_2G_BANDWIDTHS == WIFI_BW_HT20) || (CONFIG_WIFI_BAND_MODE == WIFI_BAND_MODE_5G_ONLY && CONFIG_WIFI_5G_BANDWIDTHS == WIFI_BW_HT20)) {
+        ESP_ERROR_CHECK(esp_wifi_set_channel(CONFIG_LESS_INTERFERENCE_CHANNEL, WIFI_SECOND_CHAN_NONE));
+    } else {
+        ESP_ERROR_CHECK(esp_wifi_set_channel(CONFIG_LESS_INTERFERENCE_CHANNEL, WIFI_SECOND_CHAN_BELOW));
+    }
+
+    ESP_ERROR_CHECK(esp_wifi_set_mac(WIFI_IF_STA, CONFIG_CSI_SEND_MAC));
+}
+
+static void wifi_esp_now_init(esp_now_peer_info_t peer)
+{
+    ESP_ERROR_CHECK(esp_now_init());
+    ESP_ERROR_CHECK(esp_now_set_pmk((uint8_t *)"pmk1234567890123"));
+    esp_now_rate_config_t rate_config = {
+        .phymode = CONFIG_ESP_NOW_PHYMODE,
+        .rate = WIFI_PHY_RATE_MCS0_LGI,
+        .ersu = false,
+        .dcm = false
+    };
+    ESP_ERROR_CHECK(esp_now_add_peer(&peer));
+    ESP_ERROR_CHECK(esp_now_set_peer_rate_config(peer.peer_addr, &rate_config));
+
+}
+
+static void wifi_csi_rx_cb(void *ctx, wifi_csi_info_t *info)
+{
+    static int64_t last_time = 0;
+    if (!info || !info->buf) {
+        ESP_LOGW(TAG, "<%s> wifi_csi_cb", esp_err_to_name(ESP_ERR_INVALID_ARG));
+        return;
+    }
+
+    if (memcmp(info->mac, CONFIG_CSI_SEND_MAC, 6)) {
+        return;
+    }
+
+    const wifi_pkt_rx_ctrl_t *rx_ctrl = &info->rx_ctrl;
+    static int s_count = 0;
+    static uint8_t agc_gain = 0;
+    static int8_t fft_gain = 0;
+#if CONFIG_GAIN_CONTROL
+    static uint8_t agc_gain_baseline = 0;
+    static int8_t fft_gain_baseline = 0;
+    esp_csi_gain_ctrl_get_rx_gain(info, &agc_gain, &fft_gain);
+    if (s_count < 100) {
+        esp_csi_gain_ctrl_record_rx_gain(agc_gain, fft_gain);
+    } else if (s_count == 100) {
+        esp_csi_gain_ctrl_get_rx_gain_baseline(&agc_gain_baseline, &fft_gain_baseline);
+#if CONFIG_FORCE_GAIN
+        esp_csi_gain_ctrl_set_rx_force_gain(agc_gain_baseline, fft_gain_baseline);
+        ESP_LOGI(TAG, "fft_force %d, agc_force %d", fft_gain_baseline, agc_gain_baseline);
+#endif
+    }
+#endif
+
+    csi_send_queue_t *csi_send_queuedata = (csi_send_queue_t *)calloc(1, sizeof(csi_send_queue_t));
+    memcpy(&(csi_send_queuedata->id), info->payload + 15, sizeof(uint32_t));
+
+    csi_send_queuedata->time = info->rx_ctrl.timestamp;
+    csi_send_queuedata->agc_gain = agc_gain;
+    csi_send_queuedata->fft_gain = fft_gain;
+
+    memset(csi_send_queuedata->buf, 0, 256);
+    memcpy(csi_send_queuedata->buf + 8, info->buf, info->len);
+    xQueueSend(csi_send_queue, &csi_send_queuedata, 0);
+
+#if CONFIG_PRINT_CSI_DATA
+    if (!s_count) {
+        ESP_LOGI(TAG, "================ CSI RECV ================");
+        ets_printf("type,id,mac,rssi,rate,noise_floor,fft_gain,agc_gain,channel,local_timestamp,ant,rx_state,len,first_word,data\n");
+    }
+
+    ets_printf("CSI_DATA,%d," MACSTR ",%d,%d,%d,%d,%d,%d,%d,%d,%d",
+               csi_send_queuedata->id, MAC2STR(info->mac), rx_ctrl->rssi, rx_ctrl->rate,
+               rx_ctrl->noise_floor, fft_gain, agc_gain, rx_ctrl->channel,
+               rx_ctrl->timestamp, rx_ctrl->sig_len, rx_ctrl->rx_state);
+
+    ets_printf(",%d,%d,\"[%d", info->len, info->first_word_invalid, info->buf[0]);
+
+    for (int i = 1; i < info->len; i++) {
+        ets_printf(",%d", info->buf[i]);
+    }
+
+    ets_printf("]\"\n");
+#endif
+    s_count++;
+    recv_cnt++;
+}
+
+static void wifi_csi_init()
+{
+    ESP_ERROR_CHECK(esp_wifi_set_promiscuous(true));
+    csi_send_queue = xQueueCreate(20, sizeof(csi_send_queue_t *));
+    wifi_csi_config_t csi_config = {
+        .enable                   = true,
+        .acquire_csi_legacy       = false,
+        .acquire_csi_force_lltf   = false,
+        .acquire_csi_ht20         = true,
+        .acquire_csi_ht40         = true,
+        .acquire_csi_vht          = true,
+        .acquire_csi_su           = false,
+        .acquire_csi_mu           = false,
+        .acquire_csi_dcm          = false,
+        .acquire_csi_beamformed   = false,
+        .acquire_csi_he_stbc_mode = 2,
+        .val_scale_cfg            = false,
+        .dump_ack_en              = false,
+        .reserved                 = false
+    };
+
+    ESP_ERROR_CHECK(esp_wifi_set_csi_config(&csi_config));
+    ESP_ERROR_CHECK(esp_wifi_set_csi_rx_cb(wifi_csi_rx_cb, NULL));
+    ESP_ERROR_CHECK(esp_wifi_set_csi(true));
+
+}
+
+static void uart_send_task(void *pvParameter)
+{
+    static int s_count = 0;
+    csi_send_queue_t *csi_send_queue_data = NULL;
+    Complex_Iq x_iq[64];
+    float cir[2] = {};
+    float pha[2] = {};
+    while (xQueueReceive(csi_send_queue, &csi_send_queue_data, portMAX_DELAY) == pdTRUE) {
+        UBaseType_t queueLength = uxQueueMessagesWaiting(csi_send_queue);
+        if (queueLength > 10) {
+            ESP_LOGW(TAG, "csi queueLength:%d", queueLength);
+        }
+#if !CONFIG_FORCE_GAIN && CONFIG_GAIN_CONTROL
+        float scaling_factor = 0;
+        esp_csi_gain_ctrl_get_gain_compensation(&scaling_factor, csi_send_queue_data->agc_gain, csi_send_queue_data->fft_gain);
+#else
+        float scaling_factor = 1.0f;
+#endif
+
+        for (int i = 0; i < 64; i++) {
+            x_iq[i].real = _IQ16(csi_send_queue_data->buf[2 * i]);
+            x_iq[i].imag = _IQ16(csi_send_queue_data->buf[2 * i + 1]);
+        }
+        fft_iq(x_iq, 1);
+        cir[0] = complex_magnitude_iq(x_iq[0]) * scaling_factor;
+        pha[0] = complex_phase_iq(x_iq[0]);
+        for (int i = 64; i < 128; i++) {
+            x_iq[i - 64].real = _IQ16(csi_send_queue_data->buf[2 * i]);
+            x_iq[i - 64].imag = _IQ16(csi_send_queue_data->buf[2 * i + 1]);
+        }
+        fft_iq(x_iq, 1);
+        cir[1] = complex_magnitude_iq(x_iq[0]) * scaling_factor;
+        pha[1] = complex_phase_iq(x_iq[0]);
+
+        csi_data_t data = {
+            .start = {0xAA, 0x55},
+            .id = csi_send_queue_data->id,
+            .time_delta = csi_send_queue_data->time - time_zero,
+            .cir = {cir[0], cir[1], pha[0], pha[1]},
+            .end = {0x55, 0xAA},
+        };
+        uart_send_data((const char *)&data, sizeof(data));
+        free(csi_send_queue_data);
+    }
+}
+
+void app_main()
+{
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        ESP_ERROR_CHECK(nvs_flash_erase());
+        ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
+    wifi_init();
+
+    /**
+     * @brief Initialize ESP-NOW
+     *        ESP-NOW protocol see: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/network/esp_now.html
+     */
+    esp_now_peer_info_t peer = {
+        .channel   = CONFIG_LESS_INTERFERENCE_CHANNEL,
+        .ifidx     = WIFI_IF_STA,
+        .encrypt   = false,
+        .peer_addr = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff},
+    };
+#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C6
+    wifi_esp_now_init(peer);
+#endif
+    init_gpio();
+    init_uart();
+    bsp_led_init();
+    wifi_csi_init();
+    xTaskCreate(uart_send_task, "uart_send_task", 4096, NULL, 6, NULL);
+    uint32_t recv_cnt_prv = 0;
+    while (1) {
+        static bool level = 1;
+        static uint8_t time = 100;
+        if ((recv_cnt -  recv_cnt_prv) >= 20) {
+            recv_cnt_prv = recv_cnt;
+            time = 100;
+            bsp_led_set(0, level * 30, level * 30, level * 30);
+            level = !level;
+        }
+        if (time > 0) {
+            time -= 1;
+        } else {
+            bsp_led_set(0, 0, 0, 0);
+        }
+        vTaskDelay(10 / portTICK_PERIOD_MS);
+    }
+
+}

esp-crab/slave_recv/main/idf_component.yml

@@ -0,0 +1,7 @@
+## IDF Component Manager Manifest File
+dependencies:
+  idf: '>=4.4.1'
+
+  esp_csi_gain_ctrl: ">=0.1.0"
+
+  espressif/iqmath: ^1.11.0

esp-crab/slave_recv/partitions.csv

@@ -0,0 +1,5 @@
+# Name,   Type, SubType, Offset,  Size
+nvs,      data, nvs,     0x9000,  0x5000
+otadata,  data, ota,     0xe000,  0x2000
+phy_init, data, phy,     0x10000, 0x1000
+factory,  app,  factory, 0x20000, 0x200000

esp-crab/slave_recv/sdkconfig.defaults

@@ -0,0 +1,32 @@
+# This file was generated using idf.py save-defconfig. It can be edited manually.
+# Espressif IoT Development Framework (ESP-IDF) 5.5.0 Project Minimal Configuration
+#
+CONFIG_IDF_TARGET="esp32c5"
+CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
+CONFIG_PARTITION_TABLE_CUSTOM=y
+CONFIG_ESP_CONSOLE_UART_CUSTOM=y
+CONFIG_ESP_CONSOLE_UART_BAUDRATE=921600
+CONFIG_ESP_TASK_WDT_TIMEOUT_S=30
+CONFIG_ESP_WIFI_DYNAMIC_RX_BUFFER_NUM=128
+CONFIG_ESP_WIFI_CSI_ENABLED=y
+CONFIG_ESP_WIFI_AMPDU_TX_ENABLED=n
+CONFIG_LV_COLOR_16_SWAP=y
+CONFIG_LV_FONT_MONTSERRAT_10=y
+CONFIG_LV_FONT_MONTSERRAT_12=y
+CONFIG_LV_FONT_MONTSERRAT_16=y
+CONFIG_LV_FONT_MONTSERRAT_18=y
+CONFIG_LV_FONT_MONTSERRAT_20=y
+CONFIG_LV_FONT_MONTSERRAT_22=y
+CONFIG_LV_FONT_MONTSERRAT_24=y
+CONFIG_LV_FONT_MONTSERRAT_26=y
+CONFIG_LV_FONT_MONTSERRAT_28=y
+CONFIG_LV_FONT_MONTSERRAT_30=y
+CONFIG_LV_FONT_MONTSERRAT_32=y
+CONFIG_LV_FONT_MONTSERRAT_34=y
+CONFIG_LV_FONT_MONTSERRAT_36=y
+CONFIG_LV_FONT_MONTSERRAT_38=y
+CONFIG_LV_FONT_MONTSERRAT_40=y
+CONFIG_LV_FONT_MONTSERRAT_42=y
+CONFIG_LV_FONT_MONTSERRAT_44=y
+CONFIG_LV_FONT_MONTSERRAT_46=y
+CONFIG_LV_FONT_MONTSERRAT_48=y

esp-crab/slave_send/.gitignore

@@ -0,0 +1,109 @@
+.config
+*.o
+*.pyc
+*.orig
+
+# gtags
+GTAGS
+GRTAGS
+GPATH
+
+# emacs
+.dir-locals.el
+
+# emacs temp file suffixes
+*~
+.#*
+\#*#
+
+# eclipse setting
+.settings
+
+# MacOS directory files
+.DS_Store
+
+# Components Unit Test Apps files
+components/**/build
+components/**/sdkconfig
+components/**/sdkconfig.old
+
+# Example project files
+examples/**/sdkconfig
+examples/**/sdkconfig.old
+examples/**/build
+
+# Doc build artifacts
+docs/**/_build/
+docs/**/doxygen-warning-log.txt
+docs/**/sphinx-warning-log.txt
+docs/**/sphinx-warning-log-sanitized.txt
+docs/**/xml/
+docs/**/xml_in/
+docs/**/man/
+
+# Downloaded font files
+docs/_static/DejaVuSans.ttf
+docs/_static/NotoSansSC-Regular.otf
+
+# Unit test app files
+tools/unit-test-app/sdkconfig
+tools/unit-test-app/sdkconfig.old
+tools/unit-test-app/build
+tools/unit-test-app/builds
+tools/unit-test-app/output
+tools/unit-test-app/test_configs
+
+# Unit Test CMake compile log folder
+log_ut_cmake
+
+# test application build files
+tools/test_apps/**/build
+tools/test_apps/**/sdkconfig
+tools/test_apps/**/sdkconfig.old
+
+# IDF monitor test
+tools/test_idf_monitor/outputs
+
+TEST_LOGS
+
+# gcov coverage reports
+*.gcda
+*.gcno
+coverage.info
+coverage_report/
+
+test_multi_heap_host
+
+# VS Code Settings
+.vscode/
+
+# VIM files
+*.swp
+*.swo
+
+# Clion IDE CMake build & config
+.idea/
+cmake-build-*/
+
+# Results for the checking of the Python coding style and static analysis
+.mypy_cache
+flake8_output.txt
+
+# ESP-IDF default build directory name
+build
+build_esp*/
+build_linux*/
+size_info.txt
+
+# lock files for examples and components
+dependencies.lock
+
+# managed_components for examples
+managed_components
+
+# pytest log
+pytest_embedded_log/
+pytest_log/
+.pytest_cache/
+XUNIT_RESULT.xml
+

esp-crab/slave_send/CMakeLists.txt

@@ -0,0 +1,13 @@
+
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctlycmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.5)
+add_compile_options(-fdiagnostics-color=always)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+string(REGEX REPLACE ".*/\(.*\)" "\\1" CURDIR ${CMAKE_CURRENT_SOURCE_DIR})
+project(${CURDIR})
+
+git_describe(PROJECT_VERSION ${COMPONENT_DIR})
+message("Project commit: " ${PROJECT_VERSION})

esp-crab/slave_send/main/CMakeLists.txt

@@ -0,0 +1,2 @@
+idf_component_register(SRC_DIRS "."
+                       INCLUDE_DIRS ".")

esp-crab/slave_send/main/app_main.c

@@ -0,0 +1,120 @@
+/* Esp-crab Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include "nvs_flash.h"
+#include "esp_mac.h"
+#include "esp_log.h"
+#include "esp_wifi.h"
+#include "esp_netif.h"
+#include "esp_now.h"
+
+#define CONFIG_LESS_INTERFERENCE_CHANNEL    40
+#define CONFIG_WIFI_BAND_MODE               WIFI_BAND_MODE_5G_ONLY
+#define CONFIG_WIFI_2G_BANDWIDTHS           WIFI_BW_HT40
+#define CONFIG_WIFI_5G_BANDWIDTHS           WIFI_BW_HT40
+#define CONFIG_WIFI_2G_PROTOCOL             WIFI_PROTOCOL_11N
+#define CONFIG_WIFI_5G_PROTOCOL             WIFI_PROTOCOL_11N
+#define CONFIG_ESP_NOW_PHYMODE              WIFI_PHY_MODE_HT40
+#define CONFIG_SEND_FREQUENCY               40
+
+static const uint8_t CONFIG_CSI_SEND_MAC[] = {0x1a, 0x00, 0x00, 0x00, 0x00, 0x00};
+static const char *TAG = "csi_send";
+
+static void wifi_init()
+{
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+
+    ESP_ERROR_CHECK(esp_netif_init());
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
+    ESP_ERROR_CHECK(esp_wifi_set_storage(WIFI_STORAGE_RAM));
+
+    ESP_ERROR_CHECK(esp_wifi_start());
+    esp_wifi_set_band_mode(CONFIG_WIFI_BAND_MODE);
+    wifi_protocols_t protocols = {
+        .ghz_2g = CONFIG_WIFI_2G_PROTOCOL,
+        .ghz_5g = CONFIG_WIFI_5G_PROTOCOL
+    };
+    ESP_ERROR_CHECK(esp_wifi_set_protocols(ESP_IF_WIFI_STA, &protocols));
+    wifi_bandwidths_t bandwidth = {
+        .ghz_2g = CONFIG_WIFI_2G_BANDWIDTHS,
+        .ghz_5g = CONFIG_WIFI_5G_BANDWIDTHS
+    };
+    ESP_ERROR_CHECK(esp_wifi_set_bandwidths(ESP_IF_WIFI_STA, &bandwidth));
+
+    ESP_ERROR_CHECK(esp_wifi_start());
+    ESP_ERROR_CHECK(esp_wifi_set_ps(WIFI_PS_NONE));
+
+
+    if ((CONFIG_WIFI_BAND_MODE == WIFI_BAND_MODE_2G_ONLY && CONFIG_WIFI_2G_BANDWIDTHS == WIFI_BW_HT20) || (CONFIG_WIFI_BAND_MODE == WIFI_BAND_MODE_5G_ONLY && CONFIG_WIFI_5G_BANDWIDTHS == WIFI_BW_HT20)) {
+        ESP_ERROR_CHECK(esp_wifi_set_channel(CONFIG_LESS_INTERFERENCE_CHANNEL, WIFI_SECOND_CHAN_NONE));
+    }   
+    else {
+        ESP_ERROR_CHECK(esp_wifi_set_channel(CONFIG_LESS_INTERFERENCE_CHANNEL, WIFI_SECOND_CHAN_BELOW));
+    }
+
+    ESP_ERROR_CHECK(esp_wifi_set_mac(WIFI_IF_STA, CONFIG_CSI_SEND_MAC));
+}
+
+static void wifi_esp_now_init(esp_now_peer_info_t peer) 
+{
+    ESP_ERROR_CHECK(esp_now_init());
+    ESP_ERROR_CHECK(esp_now_set_pmk((uint8_t *)"pmk1234567890123"));
+    esp_now_rate_config_t rate_config = {
+        .phymode = CONFIG_ESP_NOW_PHYMODE, 
+        .rate = WIFI_PHY_RATE_MCS0_LGI,    
+        .ersu = false,                     
+        .dcm = false                       
+    };
+    ESP_ERROR_CHECK(esp_now_add_peer(&peer));
+    ESP_ERROR_CHECK(esp_now_set_peer_rate_config(peer.peer_addr,&rate_config));
+
+}
+
+void app_main()
+{
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+      ESP_ERROR_CHECK(nvs_flash_erase());
+      ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
+    wifi_init();
+
+    /**
+     * @breif Initialize ESP-NOW
+     *  ESP-NOW protocol see: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/network/esp_now.html
+     */
+    esp_now_peer_info_t peer = {
+        .channel   = CONFIG_LESS_INTERFERENCE_CHANNEL,
+        .ifidx     = WIFI_IF_STA,    
+        .encrypt   = false,   
+        .peer_addr = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff},
+    };
+    wifi_esp_now_init(peer);
+
+    ESP_LOGI(TAG, "================ CSI SEND ================");
+    ESP_LOGI(TAG, "wifi_channel: %d, send_frequency: %d, mac: " MACSTR,
+             CONFIG_LESS_INTERFERENCE_CHANNEL, CONFIG_SEND_FREQUENCY, MAC2STR(CONFIG_CSI_SEND_MAC));
+
+    for (uint32_t count = 0; ;++count) {
+        esp_err_t ret = esp_now_send(peer.peer_addr, (const uint8_t *)&count, sizeof(count));
+        ESP_LOGI(TAG,"count:%ld",count);
+        if(ret != ESP_OK) {
+            ESP_LOGW(TAG, "free_heap: %ld <%s> ESP-NOW send error",esp_get_free_heap_size(), esp_err_to_name(ret));
+        }
+
+        usleep(1000 * 1000 / CONFIG_SEND_FREQUENCY);
+    }
+}

esp-crab/slave_send/main/idf_component.yml

@@ -0,0 +1,3 @@
+## IDF Component Manager Manifest File
+dependencies:
+  idf: ">=4.4.1"

esp-crab/slave_send/sdkconfig.defaults

@@ -0,0 +1,8 @@
+# This file was generated using idf.py save-defconfig. It can be edited manually.
+# Espressif IoT Development Framework (ESP-IDF) 5.5.0 Project Minimal Configuration
+#
+CONFIG_IDF_TARGET="esp32c5"
+CONFIG_ESP_WIFI_DYNAMIC_TX_BUFFER_NUM=128
+CONFIG_ESP_WIFI_CSI_ENABLED=y
+CONFIG_ESP_WIFI_AMPDU_TX_ENABLED=n
+CONFIG_FREERTOS_HZ=1000

esp-radar/connect_rainmaker/CMakeLists.txt

@@ -0,0 +1,11 @@
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+add_compile_options(-fdiagnostics-color=always)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+string(REGEX REPLACE ".*/\(.*\)" "\\1" CURDIR ${CMAKE_CURRENT_SOURCE_DIR})
+project(${CURDIR})
+
+git_describe(PROJECT_VERSION ${COMPONENT_DIR})
+message("Project commit: " ${PROJECT_VERSION})

esp-radar/connect_rainmaker/README.md

@@ -0,0 +1,79 @@
+# Adding Wi-Fi CSI Functionality in ESP RainMaker [[中文]](./README_cn.md)
+
+## Build and Flashing Instructions
+Follow the ESP RainMaker documentation [Getting Started](https://rainmaker.espressif.com/docs/get-started.html) section to build and flash the firmware.
+
+## How to Use This Example
+
+### Parameter Description
+- **someone_status**: false - no one, true - someone
+- **someone_timeout**: If someone moves within this time in the room, it will be marked as someone present. Time is in seconds.
+- **move_status**: false - no movement, true - movement
+- **move_count**: Number of times movement is detected between the last ESP RainMaker report.
+- **move_threshold**: Threshold value to determine if there is movement.
+- **filter_window**: Size of the buffer queue for Wi-Fi CSI waveform jitter values, used for filtering outliers.
+- **filter_count**: If the jitter value of the Wi-Fi CSI waveform exceeds the `move_threshold` for `filter_count` times within the buffer queue, it is marked as movement detected.
+- **threshold_calibrate**: Enable threshold auto-calibration.
+- **threshold_calibrate_timeout**: Auto-calibration timeout, in seconds.
+
+### App Version
+- ESP RainMaker App: [v2.11.1](https://m.apkpure.com/p/com.espressif.rainmaker)+
+> Note: `ESP RainMaker` App version before 2.11.1 does not support `time series` function, `move_count` cannot be displayed normally
+
+### App Operation
+1. Open the RainMaker App.
+2. Click on `+` to add a device.
+3. Wait for the device to connect to the cloud.
+4. Enable `threshold_calibrate` to perform auto-calibration. Ensure there is no one or no movement in the room during calibration.
+5. After calibration, the threshold value for movement detection will be displayed in `move_threshold`, and `move_status` will become true when movement is detected.
+
+### Device
+- [x] ESP32-S3-DevKitC-1
+- [x] ESP32-C3-DevKitC
+
+### Device Operation
+1. **Factory Reset**: Press and hold the `BOOT` button for more than 5 seconds to reset the development board to factory defaults.
+
+## Device Status
+- Human Movement Detection
+    - Green LED indicates movement detected in the room.
+    - White LED indicates no movement detected in the room.
+ 
+- Human Presence Detection
+    > The current algorithm for human presence detection is not ideal. Therefore, the presence of someone is determined by whether there has been any movement within 1 minute. If there is movement, it is considered someone is present; otherwise, it is considered no one is present.
+    - LED lights up when there is someone in the room.
+    - LED turns off when there is no one in the room.
+
+- Human Movement Detection Threshold
+    > - The threshold for human movement detection can be set via the mobile app or obtained through auto-calibration. If not set, the default value will be used.
+    > - During calibration, ensure there is no one or no movement in the room. After calibration, the detection sensitivity will be increased. However, if there is movement in the room, it may result in false detection. Therefore, it is recommended to perform calibration when there is no one in the room.
+    > - The calibrated threshold will be saved in NVS and will be used after the next reboot.
+    - During human movement threshold calibration, the LED will flash yellow.
+
+## Common Issues
+
+### RainMaker Reporting Failure
+------
+- **Issue**: The device-side logs show the following error:
+    ```shell
+    E (399431) esp_rmaker_mqtt: Out of MQTT Budget. Dropping publish message.
+    ```
+
+- **Cause**: The amount of data being reported by the device exceeds the limit of `ESP RainMaker`.
+
+------
+- **Issue**: Continuous movement detection without actual movement or the device does not detect any movement.
+
+- **Solution**:
+  1. Incorrect human movement detection threshold leading to false recognition.
+     - The default Wi-Fi CSI human movement detection threshold may not meet the actual requirements. Adjust it according to the actual situation or enable auto-calibration through the mobile app.
+     - The default outlier filtering window size for Wi-Fi CSI may not meet the actual requirements. Adjust it according to the actual situation through the mobile app.
+
+  2. Unstable network causing inaccurate detection.
+     - Check if it works properly after replacing the router.
+     - Try placing the router in a more suitable location.
+
+  3. The above methods still cannot solve the problem, modify the LOG level and submit [issue](https://github.com/espressif/esp-csi/issues) on github
+     ```c
+     esp_log_level_set("esp_radar", ESP_LOG_DEBUG);
+     ```

esp-radar/connect_rainmaker/README_cn.md

@@ -0,0 +1,78 @@
+# ESP RainMaker 中添加 Wi-Fi CSI 功能 [[English]](./README.md)
+
+## 编译下载
+按照 ESP RainMaker 文档 [入门](https://rainmaker.espressif.com/docs/get-started.html) 部分构建和烧录固件
+
+## 如何使用这个例子
+### 参数说明
+- **someone_status**: false - 无人, true - 有人
+- **someone_timeout**: 房间内在此时间内有人移动则标识为有人，单位为秒
+- **move_status**: false - 无人移动, true - 有人移动
+- **move_count**: 与上一次上报 `ESP RainMaker` 之间检测到的有人移动的次数
+- **move_threshold**: 用于判断是否有人在移动的阈值
+- **filter_window**: `Wi-Fi CSI` 的波形的抖动值的缓冲队列的大小，用于过滤异常值
+- **filter_count**: 在波形的抖动值的缓冲队列内，当检测到 `filter_count` 次，`Wi-Fi CSI` 的波形的抖动值大于 `move_threshold`，标记为有人移动
+- **threshold_calibrate**: 是否使能自校准
+- **threshold_calibrate_timeout**: 自校准超时时间，单位为秒
+
+### App 版本
+- ESP RainMaker App: [v2.11.1](https://m.apkpure.com/p/com.espressif.rainmaker)+
+> 注： `ESP RainMaker` App 2.11.1 版本之前的版本不支持 `time series` 功能，`move_count` 无法正常显示
+
+### APP 操作
+1. 打开 RainMaker App
+2. 点击 `+` 添加设备
+3. 等待设备连接到云端
+4. 点击 `threshold_calibrate` 使能自校准，校准时需要保证房间内无人或人不移动
+5. 校准完成后，有人移动的阈值会显示在 `move_threshold` 中，此时检测到有人移动 move_status 会变为 true
+
+### 设备
+- [x] ESP32-S3-DevKitC-1
+- [x] ESP32-C3-DevKitC
+
+### 设备操作
+1. **恢复出厂设置**：按住 `BOOT` 按钮 5 秒以上可将开发板重置为出厂默认设置
+
+## 设备状态
+- 人体移动检测
+    - 房间内有人移动: LED 亮绿灯
+    - 房间内无人移动: LED 亮白灯
+ 
+- 人体存在检测
+    > 当前算法人体存在检测效果不理想，因此判断是否有人移动的依据是：1 分钟内是否有人移动，如果有人移动则认为有人存在，否则认为无人存在
+    - 房间内有人: LED 亮起
+    - 房间内无人: LED 熄灭
+
+- 人体移动检测阈值
+    > - 人体移动检测阈值可以通过手机 App 设置也可以通过自校准获取，如果没有设置则使用默认值
+    > - 校准时需要保证房间内无人或人不移动，校准后检测灵敏度会提高，但是如果房间内有人移动则会导致误检测，因此建议在房间内无人时进行校准
+    > - 校准后将会保存在 NVS 中，下次重启后会使用保存的阈值
+    - 进行人体移动阈值校准时，LED 黄色闪烁
+
+## 常见问题
+
+### RainMaker 上报失败
+
+------
+- **问题**: 设备端日志上打印如下错误
+    ```shell
+    E (399431) esp_rmaker_mqtt: Out of MQTT Budget. Dropping publish message.
+    ```
+- **原因**: 设备端上报的数据量超过了 `ESP RainMaker` 的限制
+
+------
+- **问题**: 一直检测到有人移动但是实际上没有人移动，或者设备端一直检测不到人移动
+
+- **解决方式**:
+    1. 人体移动检测阈值不对导致误识别
+        - Wi-Fi CSI 默认人体移动检测阈值无法满足实际需求，需要根据实际情况调整或使能自校准，可以通过手机 App 设置
+        - Wi-Fi CSI 默认的离群点过滤窗口大小无法满足实际需求，需要根据实际情况调整，可以通过手机 App 设置
+
+    2. 网络不稳定导致检测不准确
+       - 更换路由器后是否能正常工作
+       - 是否可以尝试将路由器放置在更合适的位置
+  
+    3. 以上方式仍旧无法解决，修改 LOG 等级，在 github 上提交 [issue](https://github.com/espressif/esp-csi/issues)
+        ```c
+        esp_log_level_set("esp_radar", ESP_LOG_DEBUG);
+        ```

esp-radar/connect_rainmaker/main/CMakeLists.txt

@@ -0,0 +1,3 @@
+idf_component_register(SRC_DIRS "."
+                       INCLUDE_DIRS ".")
+target_compile_options(${COMPONENT_LIB} PRIVATE "-Wno-format")

esp-radar/connect_rainmaker/main/app_main.c

@@ -0,0 +1,481 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include <string.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include "freertos/timers.h"
+
+#include <esp_log.h>
+#include <nvs_flash.h>
+
+#include "ping/ping_sock.h"
+#include "lwip/inet.h"
+#include "lwip/netdb.h"
+#include "lwip/sockets.h"
+
+#include <esp_rmaker_core.h>
+#include <esp_rmaker_standard_params.h>
+#include <esp_rmaker_standard_devices.h>
+#include <esp_rmaker_schedule.h>
+#include <esp_rmaker_scenes.h>
+#include <esp_rmaker_utils.h>
+#include <esp_rmaker_core.h>
+#include <esp_rmaker_common_events.h>
+#include <esp_rmaker_standard_types.h>
+
+#include <app_wifi.h>
+#include <app_reset.h>
+#include "led_strip.h"
+#include <iot_button.h>
+
+#include "esp_radar.h"
+#include "esp_ping.h"
+
+#if CONFIG_IDF_TARGET_ESP32C5
+#define WS2812_GPIO 27
+#elif CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32C61
+#define WS2812_GPIO 8
+#elif CONFIG_IDF_TARGET_ESP32S3
+#define WS2812_GPIO 38
+#elif CONFIG_IDF_TARGET_ESP32S2
+#define WS2812_GPIO 18
+#elif CONFIG_IDF_TARGET_ESP32C3
+#define WS2812_GPIO 8
+#endif
+
+#ifdef CONFIG_IDF_TARGET_ESP32C3
+#define BUTTON_GPIO                                GPIO_NUM_8
+#else
+#define BUTTON_GPIO                                GPIO_NUM_0
+#endif
+
+#define BUTTON_WIFI_RESET_TIMEOUT                  3
+#define BUTTON_FACTORY_RESET_TIMEOUT               5
+#define AUTO_CALIBRATE_RAPORT_INTERVAL             5
+
+#define RADAR_PING_DATA_INTERVAL                   10
+#define RADAR_DETECT_BUFF_MAX_SIZE                 16
+#define RADAR_PARAM_SOMEONE_STATUS                 "someone_status"
+#define RADAR_PARAM_SOMEONE_TIMEOUT                "someone_timeout"
+#define RADAR_PARAM_MOVE_STATUS                    "move_status"
+#define RADAR_PARAM_MOVE_COUNT                     "move_count"
+#define RADAR_PARAM_MOVE_THRESHOLD                 "move_threshold"
+#define RADAR_PARAM_FILTER_WINDOW                  "filter_window"
+#define RADAR_PARAM_FILTER_COUNT                   "filter_count"
+#define RADAR_PARAM_THRESHOLD_CALIBRATE            "threshold_calibrate"
+#define RADAR_PARAM_THRESHOLD_CALIBRATE_TIMEOUT    "threshold_calibrate_timeout"
+static led_strip_handle_t led_strip;
+typedef struct  {
+    bool threshold_calibrate;               /**< Self-calibration acquisition, the most suitable threshold, calibration is to ensure that no one is in the room */
+    uint8_t threshold_calibrate_timeout;    /**< Calibration timeout, the unit is second */
+    float someone_timeout;                  /**< The unit is second, how long no one moves in the room is marked as no one */
+    float move_threshold;                   /**< Use to determine whether someone is moving */
+    uint8_t filter_window;                  /**< window without filtering outliers */
+    uint8_t filter_count;                   /**< Detect multiple times within the outlier window greater than move_threshold to mark as someone moving */
+} radar_detect_config_t;
+
+static const char *TAG                            = "app_main";
+static float g_someone_threshold                  = 0.002;
+static nvs_handle_t g_nvs_handle                  = 0;
+static int32_t g_auto_calibrate_timerleft         = 0;
+static TimerHandle_t g_auto_calibrate_timerhandle = NULL;
+static esp_rmaker_device_t *radar_device          = NULL;
+static radar_detect_config_t g_detect_config      = {
+    .someone_timeout = 3 * 60,
+    .move_threshold  = 0.002,
+    .filter_window   = 5,
+    .filter_count    = 2,
+    .threshold_calibrate_timeout = 60,
+};
+
+static esp_err_t ping_router_start(uint32_t interval_ms)
+{
+    static esp_ping_handle_t ping_handle = NULL;
+    esp_ping_config_t config = ESP_PING_DEFAULT_CONFIG();
+    config.count       = 0;
+    config.timeout_ms  = 1000;
+    config.data_size   = 1;
+    config.interval_ms = interval_ms;
+
+    /**
+     * @brief Get the Router IP information from the esp-netif
+     */
+    esp_netif_ip_info_t local_ip;
+    esp_netif_get_ip_info(esp_netif_get_handle_from_ifkey("WIFI_STA_DEF"), &local_ip);
+    ESP_LOGI(TAG, "Ping: got ip:" IPSTR ", gw: " IPSTR, IP2STR(&local_ip.ip), IP2STR(&local_ip.gw));
+    config.target_addr.u_addr.ip4.addr = ip4_addr_get_u32(&local_ip.gw);
+    config.target_addr.type = ESP_IPADDR_TYPE_V4;
+
+//   esp_ping_get_target(PING_TARGET_IP_ADDRESS, &config.target_addr, sizeof(ip_addr_t));
+    esp_ping_callbacks_t cbs = { 0 };
+    esp_ping_new_session(&config, &cbs, &ping_handle);
+    esp_ping_start(ping_handle);
+
+    return ESP_OK;
+}
+
+static void radar_cb(void *ctx, const wifi_radar_info_t *info)
+{
+    bool someone_status = false;
+    bool move_status    = false;
+
+    /**
+     * @brief Filtering outliers is more accurate using detection,
+     *        but it takes more time, lower sensitive to the environment
+     *
+     * @note  Current algorithm limitations:
+     *        1. Calibration is required to detect whether there are people in the room;
+     *        2. No calibration is required to detect movement, but the sensitivity is higher after calibration
+     */
+    static uint32_t s_buff_count = 0;
+    static float s_buff_jitter[RADAR_DETECT_BUFF_MAX_SIZE] = {0};
+    uint32_t buff_max_size     = g_detect_config.filter_window;
+    uint32_t buff_outliers_num = g_detect_config.filter_count;
+
+    s_buff_jitter[s_buff_count % buff_max_size] = info->waveform_jitter;
+
+    if (++s_buff_count < buff_max_size) {
+        return;
+    }
+
+    for (int i = 0, move_count = 0; i < buff_max_size; i++) {
+        if (s_buff_jitter[i] > g_detect_config.move_threshold) {
+            move_count++;
+        }
+
+        if (move_count >= buff_outliers_num) {
+            move_status = true;
+        }
+    }
+
+    someone_status = (info->waveform_jitter > g_someone_threshold) ? true : false;
+    static uint32_t s_count = 0;
+
+    if (!s_count++) {
+        ESP_LOGI(TAG, "================ RADAR RECV ================");
+        ESP_LOGI(TAG, "type,sequence,timestamp,waveform_wander,someone_threshold,someone_status,waveform_jitter,move_threshold,move_status\n");
+    }
+
+    ESP_LOGI("RADAR_DADA", "RADAR_DADA,%d,%u,%.6f,%.6f,%d,%.6f,%.6f,%d",
+             s_count, esp_log_timestamp(),
+             info->waveform_wander, g_someone_threshold, someone_status,
+             info->waveform_jitter, g_detect_config.move_threshold, move_status);
+
+    /* Calibrate the environment, LED will flash yellow */
+    if (g_detect_config.threshold_calibrate) {
+        static bool led_status = false;
+
+        if (led_status) {
+            led_strip_set_pixel(led_strip, 0, 0, 0);
+        } else {
+            led_strip_set_pixel(led_strip, 0, 255, 255, 0);
+        }
+        led_strip_refresh(led_strip);
+        led_status = !led_status;
+        return;
+    }
+
+    /**
+     * @brief Use LED and LOG to display the detection results
+     *        1. Someone moves in the room, LED will flash green
+     *        2. No one moves in the room, LED will flash white
+     *        3. No one in the room, LED will turn off
+     */
+    static uint32_t s_last_move_time = 0;
+    static bool s_last_move_status   = false;
+
+    if (esp_log_timestamp() - s_last_move_time < g_detect_config.someone_timeout * 1000) {
+        someone_status = true;
+    } else {
+        someone_status = false;
+    }
+
+    if (move_status) {
+        if (move_status != s_last_move_status) {
+            led_strip_set_pixel(led_strip, 0, 0, 255, 0);
+            ESP_LOGI(TAG, "someone moves in the room");
+        }
+
+        s_last_move_time = esp_log_timestamp();
+    } else if (move_status != s_last_move_status) {
+        ESP_LOGI(TAG, "No one moves in the room");
+    } else if (esp_log_timestamp() - s_last_move_time > 3 * 1000) {
+        if (someone_status) {
+            led_strip_set_pixel(led_strip, 0, 255, 255, 255);
+        } else {
+            led_strip_set_pixel(led_strip, 0, 0, 0, 0);
+        }
+    }
+    led_strip_refresh(led_strip);
+    s_last_move_status = move_status;
+
+    /**
+     * @brief Report the room status to the cloud every 10 seconds or when the room status changes
+     */
+    if (!esp_rmaker_time_check()) {
+        return;
+    }
+
+    static bool s_report_someone_status     = false;
+    static bool s_report_move_status        = false;
+    static uint32_t s_report_move_count     = 0;
+    static uint32_t s_report_move_timestamp = 0;
+    s_report_move_count = move_status ? s_report_move_count + 1 : s_report_move_count;
+
+    if (s_report_someone_status != someone_status && !someone_status) {
+        esp_rmaker_param_t *someone_status_param = esp_rmaker_device_get_param_by_name(radar_device, RADAR_PARAM_SOMEONE_STATUS);
+        esp_rmaker_param_update_and_report(someone_status_param, esp_rmaker_bool(someone_status));
+        s_report_someone_status = someone_status;
+    }
+
+    if (move_status != s_report_move_status
+            /* Reduce the number of times to report data and reduce server pressure */
+            || (move_status && esp_log_timestamp() - s_report_move_timestamp > 10 * 1000)) {
+        esp_rmaker_param_t *someone_status_param = esp_rmaker_device_get_param_by_name(radar_device, RADAR_PARAM_SOMEONE_STATUS);
+        esp_rmaker_param_update(someone_status_param, esp_rmaker_bool(someone_status));
+        esp_rmaker_param_t *move_status_param = esp_rmaker_device_get_param_by_name(radar_device, RADAR_PARAM_MOVE_STATUS);
+        esp_rmaker_param_update(move_status_param, esp_rmaker_bool(move_status | (s_report_move_count > 0)));
+        esp_rmaker_param_t *move_count_param = esp_rmaker_device_get_param_by_name(radar_device, RADAR_PARAM_MOVE_COUNT);
+        esp_rmaker_param_update_and_report(move_count_param, esp_rmaker_int(s_report_move_count));
+
+        if (!s_report_move_status || !s_report_move_count) {
+            s_report_move_status = move_status;
+        }
+
+        s_report_move_count     = 0;
+        s_report_move_timestamp = esp_log_timestamp();
+    }
+}
+
+static esp_err_t radar_start()
+{
+    esp_radar_config_t radar_config = ESP_RADAR_CONFIG_DEFAULT();
+#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32C61
+    // radar_config.csi_config.acquire_csi_lltf = true;
+    // radar_config.csi_config.htltf_en = true;
+#else
+    // radar_config.csi_config.lltf_en = true;
+    // radar_config.csi_config.htltf_en = true;
+
+#endif
+    radar_config.dec_config.wifi_radar_cb = radar_cb;
+
+    wifi_ap_record_t ap_info = {0x0};
+    esp_wifi_sta_get_ap_info(&ap_info);
+    memcpy(radar_config.csi_config.filter_mac, ap_info.bssid, sizeof(ap_info.bssid));
+    ESP_ERROR_CHECK(esp_radar_csi_init(&radar_config.csi_config));
+    ESP_ERROR_CHECK(esp_radar_dec_init(&radar_config.dec_config));
+
+    esp_radar_start();
+
+    return ESP_OK;
+}
+
+static void auto_calibrate_timercb(TimerHandle_t timer)
+{
+    g_auto_calibrate_timerleft -= AUTO_CALIBRATE_RAPORT_INTERVAL;
+
+    if (g_auto_calibrate_timerleft < AUTO_CALIBRATE_RAPORT_INTERVAL) {
+        g_auto_calibrate_timerleft = g_detect_config.threshold_calibrate_timeout;
+        g_detect_config.threshold_calibrate = false;
+        xTimerStop(g_auto_calibrate_timerhandle, portMAX_DELAY);
+
+        esp_radar_train_stop(&g_someone_threshold, &g_detect_config.move_threshold);
+        esp_rmaker_param_t *move_threshold_param = esp_rmaker_device_get_param_by_name(radar_device, RADAR_PARAM_MOVE_THRESHOLD);
+        esp_rmaker_param_update(move_threshold_param, esp_rmaker_float(g_detect_config.move_threshold));
+
+        nvs_set_blob(g_nvs_handle, "detect_config", &g_detect_config, sizeof(radar_detect_config_t));
+        nvs_commit(g_nvs_handle);
+    }
+
+    esp_rmaker_param_t *param_threshold_calibrate = esp_rmaker_device_get_param_by_name(radar_device, RADAR_PARAM_THRESHOLD_CALIBRATE);
+    esp_rmaker_param_update(param_threshold_calibrate, esp_rmaker_bool(g_detect_config.threshold_calibrate));
+    esp_rmaker_param_t *param_threshold_calibrate_timeout = esp_rmaker_device_get_param_by_name(radar_device, RADAR_PARAM_THRESHOLD_CALIBRATE_TIMEOUT);
+    esp_rmaker_param_update_and_report(param_threshold_calibrate_timeout, esp_rmaker_int(g_auto_calibrate_timerleft));
+}
+
+/* Callback to handle commands received from the RainMaker cloud */
+static esp_err_t write_cb(const esp_rmaker_device_t *device, const esp_rmaker_param_t *param,
+                          const esp_rmaker_param_val_t val, void *priv_data, esp_rmaker_write_ctx_t *ctx)
+{
+    const char *param_name = esp_rmaker_param_get_name(param);
+
+    if (strcmp(param_name, RADAR_PARAM_SOMEONE_TIMEOUT) == 0) {
+        g_detect_config.someone_timeout = val.val.i;
+    } else if (strcmp(param_name, RADAR_PARAM_MOVE_THRESHOLD) == 0) {
+        g_detect_config.move_threshold = val.val.f;
+    } else if (strcmp(param_name, RADAR_PARAM_FILTER_WINDOW) == 0) {
+        g_detect_config.filter_window = val.val.i;
+    } else if (strcmp(param_name, RADAR_PARAM_FILTER_COUNT) == 0) {
+        g_detect_config.filter_count = val.val.i;
+    } else if (strcmp(param_name, RADAR_PARAM_THRESHOLD_CALIBRATE) == 0) {
+        g_detect_config.threshold_calibrate = val.val.b;
+
+        if (!g_auto_calibrate_timerhandle) {
+            g_auto_calibrate_timerhandle = xTimerCreate("auto_calibrate", pdMS_TO_TICKS(AUTO_CALIBRATE_RAPORT_INTERVAL * 1000),
+                                                        true, NULL, auto_calibrate_timercb);
+        }
+
+        if (g_detect_config.threshold_calibrate) {
+            g_auto_calibrate_timerleft = g_detect_config.threshold_calibrate_timeout;
+            xTimerStart(g_auto_calibrate_timerhandle, portMAX_DELAY);
+            esp_radar_train_start();
+        } else {
+            g_auto_calibrate_timerleft = 0;
+            auto_calibrate_timercb(NULL);
+        }
+    } else if (strcmp(param_name, RADAR_PARAM_THRESHOLD_CALIBRATE_TIMEOUT) == 0) {
+        g_detect_config.threshold_calibrate_timeout = val.val.i;
+    } else {
+        ESP_LOGE(TAG, "Unhandled parameter '%s'", param_name);
+        /* Silently ignoring invalid params */
+        return ESP_OK;
+    }
+
+    esp_rmaker_param_update_and_report(param, val);
+    nvs_set_blob(g_nvs_handle, "detect_config", &g_detect_config, sizeof(radar_detect_config_t));
+    nvs_commit(g_nvs_handle);
+    return ESP_OK;
+}
+esp_err_t ws2812_led_init(void)
+{
+    led_strip_config_t strip_config = {
+        .strip_gpio_num = WS2812_GPIO,
+        .max_leds = 1,
+    };
+
+    led_strip_rmt_config_t rmt_config = {
+        .clk_src = RMT_CLK_SRC_DEFAULT,    // different clock source can lead to different power consumption
+        .resolution_hz = 10 * 1000 * 1000, // RMT counter clock frequency: 10MHz
+        .flags = {
+            .with_dma = false, // DMA feature is available on chips like ESP32-S3/P4
+        }
+    };
+    ESP_ERROR_CHECK(led_strip_new_rmt_device(&strip_config, &rmt_config, &led_strip));
+    /* Set all LED off to clear all pixels */
+    led_strip_clear(led_strip);
+    return ESP_OK;
+}
+void app_main()
+{
+    /* Initialize Application specific hardware drivers and set initial state */
+    ws2812_led_init();
+    button_handle_t btn_handle = iot_button_create(BUTTON_GPIO, BUTTON_ACTIVE_LOW);
+    app_reset_button_register(btn_handle, BUTTON_WIFI_RESET_TIMEOUT, BUTTON_FACTORY_RESET_TIMEOUT);
+
+    /* Initialize NVS. */
+    esp_err_t err = nvs_flash_init();
+    if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        ESP_ERROR_CHECK(nvs_flash_erase());
+        err = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(err);
+    nvs_open("wifi_radar", NVS_READWRITE, &g_nvs_handle);
+    size_t detect_config_size = sizeof(radar_detect_config_t);
+    nvs_get_blob(g_nvs_handle, "detect_config", &g_detect_config, &detect_config_size);
+
+    /* Reduced output log */
+    // esp_log_level_set("esp_radar", ESP_LOG_WARN);
+    esp_log_level_set("RADAR_DADA", ESP_LOG_WARN);
+
+    /* Initialize Wi-Fi. Note that, this should be called before esp_rmaker_node_init() */
+    app_wifi_init();
+
+    /* Initialize the ESP RainMaker Agent */
+    esp_rmaker_config_t rainmaker_cfg = {
+        .enable_time_sync = true,
+    };
+    esp_rmaker_node_t *node = esp_rmaker_node_init(&rainmaker_cfg, "ESP Wi-Fi CSI Device", "Wi-Fi Radar");
+    if (!node) {
+        ESP_LOGE(TAG, "Could not initialise node. Aborting!!!");
+        vTaskDelay(pdMS_TO_TICKS(5000));
+        abort();
+    }
+
+    /* Create a device and add the relevant parameters to it */
+    radar_device = esp_rmaker_device_create("Sensor Light", ESP_RMAKER_DEVICE_LIGHTBULB, NULL);
+    ESP_ERROR_CHECK(esp_rmaker_device_add_cb(radar_device, write_cb, NULL));
+
+    typedef struct {
+        const char *param_name;
+        uint8_t properties;
+        const char *ui_type;
+        esp_rmaker_param_val_t val;
+        esp_rmaker_param_val_t min;
+        esp_rmaker_param_val_t max;
+        esp_rmaker_param_val_t step;
+    } radar_param_t;
+    esp_rmaker_param_val_t invalid_val = {.type = RMAKER_VAL_TYPE_INVALID};
+    radar_param_t radar_param_list[] = {
+        {RADAR_PARAM_THRESHOLD_CALIBRATE, PROP_FLAG_READ | PROP_FLAG_WRITE, ESP_RMAKER_UI_TOGGLE, esp_rmaker_bool(g_detect_config.threshold_calibrate), invalid_val, invalid_val, invalid_val},
+        {RADAR_PARAM_THRESHOLD_CALIBRATE_TIMEOUT, PROP_FLAG_READ | PROP_FLAG_WRITE, ESP_RMAKER_UI_TEXT, esp_rmaker_int(g_detect_config.threshold_calibrate_timeout), esp_rmaker_int(10), esp_rmaker_int(3600), esp_rmaker_int(10)},
+        {RADAR_PARAM_MOVE_THRESHOLD, PROP_FLAG_READ | PROP_FLAG_WRITE, ESP_RMAKER_UI_TEXT, esp_rmaker_float(g_detect_config.move_threshold), esp_rmaker_float(0.01), esp_rmaker_float(0.1), esp_rmaker_float(0.01)},
+        {RADAR_PARAM_MOVE_STATUS, PROP_FLAG_READ, ESP_RMAKER_UI_TEXT, esp_rmaker_bool(false), invalid_val, invalid_val, invalid_val},
+        {RADAR_PARAM_MOVE_COUNT, PROP_FLAG_READ | PROP_FLAG_TIME_SERIES, ESP_RMAKER_UI_TEXT, esp_rmaker_int(0), esp_rmaker_int(0), esp_rmaker_int(100), esp_rmaker_int(1)},
+        {RADAR_PARAM_SOMEONE_STATUS, PROP_FLAG_READ, ESP_RMAKER_UI_TEXT, esp_rmaker_bool(false), invalid_val, invalid_val, invalid_val},
+        {RADAR_PARAM_SOMEONE_TIMEOUT, PROP_FLAG_READ | PROP_FLAG_WRITE, ESP_RMAKER_UI_TEXT, esp_rmaker_int(g_detect_config.someone_timeout), esp_rmaker_int(10), esp_rmaker_int(3600), esp_rmaker_int(10)},
+        {RADAR_PARAM_FILTER_WINDOW, PROP_FLAG_READ | PROP_FLAG_WRITE, ESP_RMAKER_UI_TEXT, esp_rmaker_int(g_detect_config.filter_window), esp_rmaker_int(1), esp_rmaker_int(16), esp_rmaker_int(1)},
+        {RADAR_PARAM_FILTER_COUNT, PROP_FLAG_READ | PROP_FLAG_WRITE, ESP_RMAKER_UI_TEXT, esp_rmaker_int(g_detect_config.filter_count), esp_rmaker_int(1), esp_rmaker_int(16), esp_rmaker_int(1)},
+    };
+
+    for (int i = 0; i < sizeof(radar_param_list) / sizeof(radar_param_list[0]); ++i) {
+        char radar_param_type[64] = "esp.param.";
+        strcat(radar_param_type, radar_param_list[i].param_name);
+        esp_rmaker_param_t *param = esp_rmaker_param_create(radar_param_list[i].param_name, radar_param_type,
+                                                            radar_param_list[i].val, radar_param_list[i].properties);
+
+        if (radar_param_list[i].ui_type) {
+            esp_rmaker_param_add_ui_type(param, radar_param_list[i].ui_type);
+        }
+
+        if (radar_param_list[i].min.type != RMAKER_VAL_TYPE_INVALID) {
+            esp_rmaker_param_add_bounds(param, radar_param_list[i].min, radar_param_list[i].max, radar_param_list[i].step);
+        }
+
+        ESP_ERROR_CHECK(esp_rmaker_device_add_param(radar_device, param));
+    }
+
+    esp_rmaker_param_t *move_count_param = esp_rmaker_device_get_param_by_name(radar_device, RADAR_PARAM_MOVE_COUNT);
+    esp_rmaker_device_assign_primary_param(radar_device, move_count_param);
+    ESP_ERROR_CHECK(esp_rmaker_node_add_device(node, radar_device));
+
+    /* Enable OTA */
+    ESP_ERROR_CHECK(esp_rmaker_ota_enable_default());
+
+    /* Enable timezone service which will be require for setting appropriate timezone
+     * from the phone apps for scheduling to work correctly.
+     * For more information on the various ways of setting timezone, please check
+     * https://rainmaker.espressif.com/docs/time-service.html.
+     */
+    esp_rmaker_timezone_service_enable();
+
+    /* Enable scheduling. */
+    esp_rmaker_schedule_enable();
+
+    /* Enable Scenes */
+    esp_rmaker_scenes_enable();
+
+    /* Start the ESP RainMaker Agent */
+    esp_rmaker_start();
+
+    /* Start the Wi-Fi./
+     * If the node is provisioned, it will start connection attempts,
+     * else, it will start Wi-Fi provisioning. The function will return
+     * after a connection has been successfully established
+     */
+    err = app_wifi_start(POP_TYPE_NONE);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Could not start Wifi. Aborting!!!");
+        vTaskDelay(pdMS_TO_TICKS(5000));
+        abort();
+    }
+
+    /**
+     * @brief Enable Wi-Fi Radar Detection
+     */
+    radar_start();
+    ping_router_start(RADAR_PING_DATA_INTERVAL);
+}

esp-radar/connect_rainmaker/main/idf_component.yml

@@ -0,0 +1,32 @@
+## IDF Component Manager Manifest File
+dependencies:
+  idf: '>=4.4.1'
+
+  esp-radar:">=0.3.0"
+
+  espressif/rmaker_common: 1.4.*
+  espressif/json_generator: ^1
+  espressif/json_parser: =1.0.0
+  espressif/esp_rainmaker:
+    path: components/esp_rainmaker
+    git: https://github.com/espressif/esp-rainmaker.git
+    version: ff0dd329020a52ae8cf2fb4f6800d9f8e9cc9eeb
+  espressif/led_strip: "^2.5.3"
+  espressif/qrcode:
+    path: components/qrcode
+    git: https://github.com/espressif/esp-rainmaker.git
+    version: ff0dd329020a52ae8cf2fb4f6800d9f8e9cc9eeb
+  espressif/gpio_button:
+    path: components/gpio_button
+    git: https://github.com/espressif/esp-rainmaker.git
+    version: ff0dd329020a52ae8cf2fb4f6800d9f8e9cc9eeb
+  espressif/app_wifi:
+    path: examples/common/app_wifi
+    git: https://github.com/espressif/esp-rainmaker.git
+    version: ff0dd329020a52ae8cf2fb4f6800d9f8e9cc9eeb
+  espressif/app_reset:
+    path: examples/common/app_reset
+    git: https://github.com/espressif/esp-rainmaker.git
+    version: ff0dd329020a52ae8cf2fb4f6800d9f8e9cc9eeb
+  espressif/esp_schedule:
+    version: ^1.2.0

esp-radar/connect_rainmaker/partitions.csv

@@ -0,0 +1,8 @@
+# Note: Firmware partition offset needs to be 64K aligned, initial 36K (9 sectors) are reserved for bootloader and partition table
+# Name,     Type, SubType,  Offset,     Size,  Flags
+nvs,        data, nvs,      0xd000,     32K,
+fctry,      data, nvs,      0x15000,    16K,
+log_status, data, nvs,      0x19000,    16K,
+otadata,    data, ota,      0x1d000,    8K,
+phy_init,   data, phy,      0x1f000,    4K,
+ota_0,      app,  ota_0,    0x20000,    1832K,

esp-radar/connect_rainmaker/sdkconfig.defaults

@@ -0,0 +1,19 @@
+CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE=y
+CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
+CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
+CONFIG_PARTITION_TABLE_CUSTOM=y
+CONFIG_PARTITION_TABLE_OFFSET=0x9000
+CONFIG_ESP_RMAKER_USER_ID_CHECK=y
+CONFIG_ESP_RMAKER_LOCAL_CTRL_ENABLE=y
+CONFIG_BT_NIMBLE_ENABLED=y
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y
+CONFIG_ESP_TASK_WDT_TIMEOUT_S=30
+CONFIG_ESP_WIFI_CSI_ENABLED=y
+# CONFIG_ESP_WIFI_AMPDU_TX_ENABLED is not set
+# CONFIG_ESP_WIFI_AMPDU_RX_ENABLED is not set
+# CONFIG_ESP_WIFI_IRAM_OPT is not set
+CONFIG_FREERTOS_HZ=1000
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=3120
+CONFIG_MBEDTLS_DYNAMIC_BUFFER=y
+CONFIG_MBEDTLS_DYNAMIC_FREE_CONFIG_DATA=y
+CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN=y

esp-radar/console_test/CMakeLists.txt

@@ -0,0 +1,13 @@
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+add_compile_options(-fdiagnostics-color=always)
+
+set(EXTRA_COMPONENT_DIRS $ENV{IDF_PATH}/examples/system/console/advanced/components)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+string(REGEX REPLACE ".*/\(.*\)" "\\1" CURDIR ${CMAKE_CURRENT_SOURCE_DIR})
+project(${CURDIR})
+
+git_describe(PROJECT_VERSION ${COMPONENT_DIR})
+message("Project commit: " ${PROJECT_VERSION})

esp-radar/console_test/README.md

@@ -0,0 +1,178 @@
+| Supported Targets | ESP32 | ESP32-C3 | ESP32-C5 | ESP32-C6 | ESP32-C61 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | --------- | -------- | -------- |
+
+# esp-csi console_test [[中文]](./README_cn.md)
+----------
+## 1 Introduction
+This example provides a test platform for Wi-Fi CSI, which includes functions such as data display, data acquisition and data analysis, which can help you quickly understand Wi-Fi CSI.
++ **Display**：you can quickly understand the impact of different antennas, human movement and equipment placement on Wi-Fi signals by viewing the real-time data such as Wi-Fi RF noise bottom, CSI, RSSI and noise floor of RF.
++ **Acquisition**：All collected Wi-Fi CSIS will be stored in files. You can also mark the data for different motor behaviors for later neural network and machine learning.
++ **Analysis**：It can realize the detection of human movement and whether there are people in the room, and help you quickly the application scenario of Wi-Fi CSI.
+## 2 Equipment preparation
+### 2.1 Equipment
+![equipment](./docs/_static/2.1_equipment.png)
+This example provides two working modes of `ESP32 DevKitC development board` and `router` as Wi-Fi CSI contracting equipment. Using `ESP32 DevKitC development board` as contracting equipment has better adjustment effect on contracting rate, RF size and channel. In both modes, `ESP32 DevKitC development board` is used as the receiving device for Wi-Fi CSI.
+
+### 2.2 Compiler Environment
+The esp-idf version of the current project is [ESP-IDF Release v5.0.2](https://github.com/espressif/esp-idf/releases/tag/v5.0.2)
+```bash
+cd esp-idf
+git checkout v5.0.2
+git submodule update --init --recursive
+./install.sh
+. ./export.sh
+```
+> Note: Since esp-idf v5.0.0 or above supports destination address filtering, the effect will be better, so it is recommended to use v5.0.0 or above
+
+## 3 Starting program
+### 3.1 Send Wi-Fi CSI
++ **Use `ESP32 DevKitC` to send CSI**：Burn project `csi_send` to `ESP32 DevKitC development board`
+  
+    ```bash
+    cd esp-csi/examples/get-started/csi_send
+    idf.py set-target esp32s3
+    idf.py flash -b 921600 -p /dev/ttyUSB0 monitor
+    ```
++ **Use router to send CSI**：The router is not connected to other intelligent devices to avoid network congestion affecting the test effect.
+
+### 3.2 Receive Wi-Fi CSI
++ Burn project `console_test` to another `ESP32 DevKitC development board`
+    ```bash
+    cd esp-csi/examples/console_test
+    idf.py set-target esp32s3
+    idf.py flash -b 921600 -p /dev/ttyUSB1
+    ```
+
+### 3.3 Start up `esp-csi-tool`. Open the CSI visualization interface
++ Run `esp_csi_tool.py` in `csi_recv` for data analysis. Please close `idf.py monitor` before running. Please use UART port instead of USB Serial/JTAG port.
+    ```bash
+    cd esp-csi/examples/console_test/tools
+    # Install python related dependencies
+    pip install -r requirements.txt
+    # Graphical display
+    python esp_csi_tool.py -p /dev/ttyUSB1
+    ```
++ After running successfully, the following CSI data visualization interface is opened. The left side of the interface is the data display interface `Raw data`, and the right side is the data model interface `Raw model`:![csi tool](./docs/_static/3.3_csi_tool.png)
+
+## 4 Interface introduction
+The real-time visualization interface consists of two parts: the `Raw data` and the `Radar model`. `Raw data` displays the original CSI sub-carrier data, and `Radar model` uses algorithms to analyze the CSI data. As a result, it can be used for detection of someone/noneone, move/static, by selecting the `Raw data` and `Radar model` buttons in the upper right corner, you can choose to display the two interfaces separately.
+
+### 4.1 Router connection window
+The top left is the configuration router connection information window. Use the device to connect to the router and receive the CSI between the router and the device.
+
+![connection window](./docs/_static/4.1_connect_windows.png)
+
++ **SSID**：router account
++ **password**：router password
++ **auto connect**：If checked, the next time you turn it on, it will automatically connect to the last connected router.
++ **connect / disconnect**：connect/disconnect button
++ **custom**：You can send more control commands such as: restart, version acquisition, or enter custom commands on the device side
+
+### 4.2 CSI data waveform display window
+This window can display the waveform of some channel CSI data in real time. If `wave filtering` is checked, the filtered waveform will be displayed.
+![csi_waveform window](./docs/_static/4.2_csi_waveform_windows.png)
+
+### 4.3 RSSI waveform display window
+This window displays the RSSI waveform information, which can be used to compare with the CSI waveform to observe the changes of RSSI when the personnel in the room are in different states.
+![RSSI_waveform window](./docs/_static/4.3_rssi_waveform_windows.png)
+
+### 4.4 log display window
+This window displays system logs such as time, memory, etc.
+![log window](./docs/_static/4.4_log_windows.png)
+
+### 4.5 Wi-Fi channel data display window
+This window displays Wi-Fi channel status information.
+![Wi-Fi_data window](./docs/_static/4.5_wi-fi_data_windows.png)
+
+### 4.6 Room status display window
+This window is used to calibrate the room status threshold and display room status ( someone/noneone, move/static ).![room_state window](./docs/_static/4.6_room_state_windows.png)
+
++ **delay**：start calibration delay time, no one is required in the room during calibration, and people can leave the room within the delay time after starting calibration.
++ **duration**：calibration process duration.
++ **add**：if checked, the recalibrated threshold will be accumulated based on the current threshold.
++ **start**：start calibration button.
++ **wander(someone) threshold**：the threshold for judging room presence/absence will be set automatically after calibration, or can be set manually by the user.
++ **jitter(move) threshold**：the threshold for judging the move/static of people will be set automatically after calibration, or it can be set manually by the user.
++ **config**：after the user manually sets the threshold, click the configure button.
++ **display table**：if checked, the room status and people status information table will be displayed on the right side of the waveform box. The specific parameters in the table are as follows.
+  
+    |status|threshold|value|max|min|mean|std|
+    |---|---|---|---|---|---|---|
+    |room/people status|Judgment threshold|real-time value|maximum value|minimum value|average value|standard deviation|
+
+### 4.7 People movement data display window
+This window displays the specific data of indoor people's movement, the bar graph on the left shows the number of people's movement in real time, and the table on the right records the specific movement time.
+![people_movedata window](./docs/_static/4.7_people_movedata_windows.png)
+
++ **mode**：observation mode, `minute, hour, day` three modes are to record the number of people's movements per minute, hour, and day.
++ **time**：observation time, the default current time, you can manually set the time to start the observation.
++ **auto update**：if checked, the bar graph of the number of people's movements will be automatically updated and displayed in real time.
++ **update**：after clicking, the bar graph of the number of people's movements will be manually updated and displayed.
+
+The meaning of each parameter in the table is as follows:
+|room|human|spend_time|start_time|stop_time|
+|---|---|---|---|---|
+|room status|people status|spend time of movement|start time of movement|stop time of movement|
+
+### 4.8 Action collection window
+This window is used to collect CSI data when people perform different actions. The collected data will be stored under the path of `esp-csi/examples/console_test/tools/data`, and the collected data can be used for machine learning or neural network.
+![collect window](./docs/_static/4.8_collect_windows.png)
+
++ **target**：Select the motor behaviors to collect
++ **delay**：Select the delay time of collection, which is how long to wait after clicking the `start` button
++ **duration**：The duration of collecting an action
++ **number**：Collection times
++ **clean**：Click to clear all collected data
++ **start**：start collecting button
+
+## 5 Operating procedures
+Here, taking connecting the router as an example, the operation flow of the visualization system interface is introduced.
+### 5.1 connect router
++ Enter the router account and password in turn in the router connection window
++ （option）check `auto connect`
++ Click `connect`
+
+After the connection is successful, you will see the router status information in the "log print window", and the "CSI data waveform display window" will display the CSI data waveform.
+
+### 5.2 Calibration threshold
+The purpose of calibration is to let the device know the CSI information when there is no one in the room, and to obtain the threshold of personnel movement. If the current version does not calibrate, only personnel movement detection can be performed. The longer the calibration time, the lower the probability of false touches.
+![calibration threshold](./docs/_static/5.2_calibration_threshold.png)
+
++ Set the delay time of `delay`, here is 10 seconds for example (i.e. 00:00:10), so that people can leave the room.
++ Set the duration of `duration` calibration, here is 10 seconds as an example.
++ Click `start` and select `yes`, the person leaves the room within 10 seconds (`delay` time), ensure that there is no one in the room within 10 seconds during the calibration period (`duration` calibration duration), and return to the room after the calibration.
++ ( option ) to manually adjust the room status threshold and the person status threshold based on the calibration results.
+
+### 5.3 Observe room status and people status
+
+After the calibration is completed, the room status will be displayed in the room status display window, and it will be judged that there is noneone static, someone moves, and someone static three status.![room_and_people state](./docs/_static/5.3_observe_room_and_people_state_en.png)
+
++ In `filter outliers`, set how many times the threshold is reached in a row to determine the room/people state, so as to filter outliers.
++ Click `config` to configure.
++ ( option ) In the room status waveform window, click the horizontal line in front of `wander` to hide its waveform, which is convenient for observing other waveforms. Similarly, other waveforms can also be hidden by the following method.
++ ( option ) Check `display table` to view the indoor status and people status information table.
+
+### 5.4 Observer movement times and the time
+In these observation windows, the number of people's movements per minute will be displayed in a histogram according to our settings. The time information of each movement is recorded in the table on the right.
+![observe people move_data](./docs/_static/5.4_observe_people_move_data_en.png)
+
++ In the `mode` of the people's movement data display window, select the observation mode to view the movement of the people in the room in one minute, one hour or one day. Here, choose `minute` as an example.
++ ( option ) Set the time to start the observation in `time`, the default is the current time start.
++ Check `auto update` to automatically update the test results, if not checked, each time you click `update`, the test results will be updated once.
+
+### 5.5 Collect CSI data for a specific action
+![collect csi_data](./docs/_static/5.5_collect_csi_data_en.png)
++ ( option ) Clear previous acquisition data records in `clean` in the motion acquisition window.
++ In `target`, select the action to be collected, here select `move` as an example.
++ In `delay`, set the delayed acquisition time after clicking to start, here is an example of setting a delay of 5 seconds.
++ In `duration`, set the duration of collecting an action in, here we choose 500 ms as an example.
++ In `number`, set the number of times to be collected, here is 1 collection as an example.
++ Click `start`, the system will start collecting data after the delay time, and the personnel will complete the corresponding action within the set time.
+
+After the collection is over, it will stop automatically. We can see the data we collected under the path of `esp-csi/examples/esp-radar/console_test/tools/data`.
+![save csi_data](./docs/_static/5.5_save_csi_data_en.png)
+
+### 5.6 Window zoom in and out
+![zoom in_and_out window](./docs/_static/5.6_zoom_in_and_out_windows_en.png)
++ By selecting `Raw data` and `Radar model` in the upper right corner of the interface, the `Raw data` interface and `Radar model` interface can be displayed separately.
++ Select the critical line between different windows with the mouse, and drag and drop to zoom in/out of each window.

esp-radar/console_test/README_cn.md

@@ -0,0 +1,180 @@
+| Supported Targets | ESP32 | ESP32-C3 | ESP32-C5 | ESP32-C6 | ESP32-C61 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | --------- | -------- | -------- |
+
+# esp-csi console_test [[English]](./README.md)
+----------
+## 1 简介
+console_test 是一款 Wi-Fi CSI 的测试平台，它包含了对 Wi-Fi CSI 的数据采集、数据显示、数据分析等功能，帮助我们更好的了解和应用 Wi-Fi CSI
++ **显示**：通过查看 Wi-Fi 射频底噪、CSI、RSSI 及射频底噪等实时数据，可以快速了解不同天线、人体运动和设备摆放对 Wi-Fi 信号的影响。
++ **采集**：所有采集到的 Wi-Fi CSI 将存储在文件中。您还可以采集不同运动行为的数据，以供以后的神经网络和机器学习使用
++ **分析**：可实现检测人体是否运动及房间内是否有人，帮助您快速了解 Wi-Fi CSI 的应用场景
+  
+## 2 环境准备
+### 2.1 设备
+![设备](./docs/_static/2.1_equipment.png)
+本例提供了 `ESP32 DevKitC 开发板` 和 `路由器` 两种设备模式作为 Wi-Fi CSI 发送设备。 其中使用 `ESP32 DevKitC 开发板` 作为发送设备，对发送频率、射频大小、信道的调整效果更好。两种模式下都用 `ESP32 DevKitC 开发板` 作为 Wi-Fi CSI 的接收设备。
+
+### 2.2 编译环境
+使用的 esp-idf 版本为 [ESP-IDF Release v5.0.2](https://github.com/espressif/esp-idf/releases/tag/v5.0.2)
+```bash
+cd esp-idf
+git checkout v5.0.2
+git submodule update --init --recursive
+./install.sh
+. ./export.sh
+```
+> 注： 由于 esp-idf v5.0.0 以上的版本支持目的地址过滤，其效果会更好，因此建议使用 v5.0.0 以上的版本
+
+## 3 程序启动
+### 3.1 发送 Wi-Fi CSI
++ ** `ESP32 DevKitC 开发板`  发送 CSI**：烧录工程 `csi_send` 到  `ESP32 DevKitC 开发板`  中
+    ```bash
+    cd esp-csi/examples/get-started/csi_send
+    idf.py set-target esp32s3
+    idf.py flash -b 921600 -p /dev/ttyUSB0 monitor
+    ```
++ **路由器 发送 CSI**：此时路由器不连接其他智能设备，避免网络拥塞影响测试效果
+
+### 3.2 接收 Wi-Fi CSI
++ 烧录 `console_test` 到另一块  `ESP32 DevKitC 开发板`  开发板中
+    ```bash
+    cd esp-csi/examples/console_test
+    idf.py set-target esp32s3
+    idf.py flash -b 921600 -p /dev/ttyUSB1
+    ```
+
+### 3.3 启动 `esp-csi-tool` 工具，打开 CSI 实时可视化工具，请使用 UART 口而不是 USB Serial/JTAG 口
++ 运行 `csi_recv` 中的 `esp_csi_tool.py` 进行数据分析，运行前请关闭 `idf.py` 监控
+    ```bash
+    cd esp-csi/examples/console_test/tools
+    # Install python related dependencies
+    pip install -r requirements.txt
+    # Graphical display
+    python esp_csi_tool.py -p /dev/ttyUSB1
+    ```
++ 运行成功后，打开如下 CSI 数据实时可视化界面，界面左侧为数据显示界面，右侧为数据模型界面：
+![csi_tool界面](./docs/_static/3.3_csi_tool.png)
+
+## 4 界面介绍
+实时可视化界面由数据显示界面 `Raw data` 和数据模型界面 `Radar model` 两部分组成，`Raw data` 显示原始的 CSI 各个子载波的数据，`Radar model` 是使用算法对 CSI 数据分析后的结果，可以用于有人/无人、运动/静止的检测，通过选择勾选右上角 `Raw data` 和 `Radar model` 按钮，可以选择单独显示两个界面
+
+### 4.1 路由器连接窗口：
+左侧最上方为配置路由器连接信息窗口，使用设备连接到路由器上，接收路由器的与设备之间 CSI
+
+![路由器连接窗口](./docs/_static/4.1_connect_windows.png)
+
++ **ssid**：路由器帐号
++ **password**：路由器密码
++ **auto connect**：如果勾选，下次打开时，将自动连接上次连接的路由器
++ **connect / disconnect**：连接/断开按钮
++ **custom**：可以发送更多的控制指令如：重启、版本获取，或者输入设备端自定义的命令
+
+### 4.2 CSI 数据波形显示窗口
+此窗口可实时显示部分通道 CSI 数据的波形，如果勾选 `wave filtering`，显示的就是滤波后的波形
+![CSI数据波形显示窗口](./docs/_static/4.2_csi_waveform_windows.png)
+
+### 4.3 RSSI 波形显示窗口
+此窗口显示 RSSI 波形信息，可用于与 CSI 波形比较，观测室内人员处于不同处态时 RSSI 变化情况
+![RSSI波形显示窗口](./docs/_static/4.3_rssi_waveform_windows.png)
+
+### 4.4 log 显示窗口
+此窗口显示时间，内存等系统日志
+![log显示窗口](./docs/_static/4.4_log_windows.png)
+
+### 4.5 Wi-Fi 信道数据显示窗口
+此窗口显示 Wi-Fi 信道状态信息
+![Wi-Fi信道数据显示窗口](./docs/_static/4.5_wi-fi_data_windows.png)
+
+### 4.6 室内状态显示窗口
+此窗口用于校准室内状态阈值，和显示室内状态（有人/无人、运动/静止）
+![室内状态显示窗口](./docs/_static/4.6_room_state_windows.png)
+
++ **delay**：开始校准延迟时间，校准时要求室内无人，人员可在开始校准后，延迟时间内离开房间
++ **duration**：校准过程持续时间
++ **add**：如果勾选，再次校准后的阈值将在当前阈值基础上累加
++ **start**：开始校准按钮
++ **wander(someone) threshold**：判断室内有人/无人的阈值，将在校准后自动设置，也可以用户自己手动设置
++ **jitter(move) threshold**：判断人员静止/运动的阈值，将在校准后自动设置，也可以用户自己手动设置
++ **config**：用户手动设置阈值后，点击配置按钮
++ **display table**：如果勾选，将在波形框右侧显示室内状态和人员状态信息表格，表格中具体参数如下
+  
+    |status|threshold|value|max|min|mean|std|
+    |---|---|---|---|---|---|---|
+    |状态|阈值|实时值|最大值|最小值|平均值|标准差|
+
+### 4.7 人员运动数据显示窗口
+此窗口显示室内人员运动的具体数据，左侧以柱状图实时显示人员运动次数，右侧表格记录具体运动时间
+![人员运动数据显示窗口](./docs/_static/4.7_people_movedata_windows.png)
+
++ **mode**：观测模式，`minute, hour, day` 三种模式分别为以每分钟、每小时、每天为单位记录人员运动的次数
++ **time**：时间，默认当前时间，可手动设置开始观测的时间
++ **auto update**：如果勾选，会自动实时更新显示人员运动次数柱状图
++ **update**：点击后会手动更新显示人员运动次数柱状图
+
+表格各参数意义如下：
+|room|human|spend_time|start_time|stop_time|
+|---|---|---|---|---|
+|房间状态|人员状态|运动时长|运动开始时间|运动结束时间|
+
+### 4.8 动作采集窗口
+此窗口用于对人员做不同动作时的 CSI 数据进行采集，采集的数据将存储在 `esp-csi/examples/console_test/tools/data` 路径下，采集的数据可用于机器学习或神经网络
+![动作采集窗口](./docs/_static/4.8_collect_windows.png)
+
++ **target**：选择要采集的动作
++ **delay**：选择采集的延迟时间，即点击开始按钮后延迟多久开始采集
++ **duration**：采集一次动作持续时长
++ **number**：采集次数
++ **clean**：点击后将清除所采集的所有数据
++ **start**：开始采集按钮
+
+## 5 操作流程
+这里以连接路由器为例，介绍了可视化系界面使用的操作流程
+### 5.1 连接路由器 
++ 在路由器连接窗口中依次输入路由器帐号和密码 
++ （可选）勾选 `auto connect`
++ 点击 `connect`
+
+连接成功后，将在 “log 打印窗口” 看到路由器状态信息，同时 “CSI 数据波形显示窗口” 显示 CSI 数据波形
+
+### 5.2 校准阈值
+校准的目的是为让设备知晓房间无人状态下的 CSI 信息，并获取到人员移动的阈值，当前版本如果不校准仅能进行人员移动检测，校准时间越长误触的概率越低
+![校准阈值](./docs/_static/5.2_calibration_threshold.png)
+
++ 设置 `delay` 延迟时间，这里设置 10 秒为例（即 00:00:10），以便人员可以离开房间
++ 设置 `duration` 校准持续时长， 这里设置 10 秒为例
++ 点击 `start` 后选择 `yes`，人员 10 秒（`delay` 延迟时间）内离开房间，确保校准期间 10 秒内（`duration` 校准持续时长）房间内无人，校准结束后返回房间
++ （选择）可根据校准结果，手动调整房间状态阈值和人员状态阈值
+
+### 5.3 观测房间状态和人员状态
+校准结束后，室内状态显示窗口中将显示室内状态，并判断房间内无人、有人静止、有人运动三种状态
+![观测房间和人员状态](./docs/_static/5.3_observe_room_and_people_state.png)
+
++ 在 `filter outliers` 中设置连续多少次内达到阈值多少次判定为有人/运动状态，以便过滤异常值
++ 点击 `config` 进行配置
++ （选择）在房间状态波形窗口，点击 `wander` 前的横线，可隐藏其波形，方便观测其他波形，同样其他波形也可以用次方法隐藏
++ （选择）勾选 `display table` ,查看室内状态和人员状态信息表格
+
+### 5.4 观测人员运动次数和时间
+在些观测窗口中，将会按照我们的设置以柱状图显示人员每分钟的运动数量在右侧表格中记录了每次运动时间信息。
+![观测人员运动次数和时间](./docs/_static/5.4_observe_people_move_data.png)
+
++ 在人员运动数据显示窗口的 `mode` 中，选择观测模式，可以查看某分钟、某小时或某天房间内人员的运行情况，这里选择 `minute` 为例
++ （选择）在 `time` 中设置开始观测的时间，默认为当前时刻开始
++ 勾选 `auto update` 自动更新检测结果，如果不勾选，每次点击 `update` 会更新一次检测结果
+
+### 5.5 采集特定动作的 CSI 数据
+![采集特定动作的CSI数据](./docs/_static/5.5_collect_csi_data.png)
++ （选择）在动作采集窗口的 `clean` 中清除以前的采集数据记录
++ 在 `target` 中选择将要采集的动作，这里选择 `move` 为例
++ 在 `delay` 中设置点击开始后的延迟采集时间，这里设置延迟 5 秒为例
++ 在 `duration` 中设置采集一个动作持续的时间，这里选择 500 ms 为例
++ 在 `number` 中设置要采集的次数，这里采集 1 次为例
++ 点击 `start`，经过延迟时间后系统将开始采集数据，人员在设置时间内完成对应动作 
+
+采集结束后会自动停止，我们在 `esp-csi/examples/esp-radar/console_test/tools/data` 路径下可以看到我们采集的数据
+![CSI数据存放路径](./docs/_static/5.5_save_csi_data.png)
+
+### 5.6 窗口放大与缩小
+![窗口放大与缩小](./docs/_static/5.6_zoom_in_and_out_windows.png)
++ 通过选择勾选界面右上角 `Raw data` 与 `Radar model`，可单独显示 “数据显示界面” 和 “数据模型界面”
++ 鼠标选中不同窗口间的临界线，通过拖拽可放大/缩小各窗口

esp-radar/console_test/components/commands/CMakeLists.txt

@@ -0,0 +1,5 @@
+idf_component_register(SRC_DIRS "src"
+                       INCLUDE_DIRS "include"
+                       REQUIRES  "console" "mbedtls" "nvs_flash" "fatfs" "esp_wifi" "spi_flash")
+                       
+target_compile_options(${COMPONENT_LIB} PRIVATE "-Wno-format")

esp-radar/console_test/components/commands/include/csi_commands.h

@@ -0,0 +1,31 @@
+// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include "argtable3/argtable3.h"
+#include "esp_console.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif /**< _cplusplus */
+
+void cmd_register_ping(void);
+void cmd_register_system(void);
+void cmd_register_wifi_config(void);
+void cmd_register_wifi_scan(void);
+
+#ifdef __cplusplus
+}
+#endif /**< _cplusplus */

esp-radar/console_test/components/commands/src/ping_cmd.c

@@ -0,0 +1,225 @@
+/*
+ * SPDX-FileCopyrightText: 2021-2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+#include <string.h>
+#include "nvs_flash.h"
+#include "argtable3/argtable3.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/event_groups.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "esp_err.h"
+#include "esp_wifi.h"
+#include "esp_console.h"
+
+#include "lwip/inet.h"
+#include "lwip/netdb.h"
+#include "lwip/sockets.h"
+
+#include "ping/ping_sock.h"
+
+static const char *TAG  = "ping_cmd";
+
+esp_ping_handle_t g_ping_handle = NULL;
+
+static void ping_cmd_on_success(esp_ping_handle_t hdl, void *args)
+{
+    uint8_t ttl;
+    uint16_t seqno;
+    uint32_t elapsed_time, recv_len;
+    ip_addr_t target_addr;
+    esp_ping_get_profile(hdl, ESP_PING_PROF_SEQNO, &seqno, sizeof(seqno));
+    esp_ping_get_profile(hdl, ESP_PING_PROF_TTL, &ttl, sizeof(ttl));
+    esp_ping_get_profile(hdl, ESP_PING_PROF_IPADDR, &target_addr, sizeof(target_addr));
+    esp_ping_get_profile(hdl, ESP_PING_PROF_SIZE, &recv_len, sizeof(recv_len));
+    esp_ping_get_profile(hdl, ESP_PING_PROF_TIMEGAP, &elapsed_time, sizeof(elapsed_time));
+    ESP_LOGD(TAG, "%d bytes from %s icmp_seq=%d ttl=%d time=%d ms",
+             recv_len, ipaddr_ntoa((ip_addr_t *)&target_addr), seqno, ttl, elapsed_time);
+}
+
+static void ping_cmd_on_timeout(esp_ping_handle_t hdl, void *args)
+{
+    uint16_t seqno;
+    ip_addr_t target_addr;
+    esp_ping_get_profile(hdl, ESP_PING_PROF_SEQNO, &seqno, sizeof(seqno));
+    esp_ping_get_profile(hdl, ESP_PING_PROF_IPADDR, &target_addr, sizeof(target_addr));
+    ESP_LOGW(TAG, "From %s icmp_seq=%d timeout", ipaddr_ntoa((ip_addr_t *)&target_addr), seqno);
+}
+
+static void ping_cmd_on_end(esp_ping_handle_t hdl, void *args)
+{
+    ip_addr_t target_addr;
+    uint32_t transmitted;
+    uint32_t received;
+    uint32_t total_time_ms;
+    esp_ping_get_profile(hdl, ESP_PING_PROF_REQUEST, &transmitted, sizeof(transmitted));
+    esp_ping_get_profile(hdl, ESP_PING_PROF_REPLY, &received, sizeof(received));
+    esp_ping_get_profile(hdl, ESP_PING_PROF_IPADDR, &target_addr, sizeof(target_addr));
+    esp_ping_get_profile(hdl, ESP_PING_PROF_DURATION, &total_time_ms, sizeof(total_time_ms));
+    uint32_t loss = (uint32_t)((1 - ((float)received) / transmitted) * 100);
+
+    if (IP_IS_V4(&target_addr)) {
+        ESP_LOGI(TAG, "\n--- %s ping statistics ---", inet_ntoa(*ip_2_ip4(&target_addr)));
+    } else {
+        ESP_LOGI(TAG, "\n--- %s ping statistics ---", inet6_ntoa(*ip_2_ip6(&target_addr)));
+    }
+
+    ESP_LOGI(TAG, "%d packets transmitted, %d received, %d%% packet loss, time %dms",
+             transmitted, received, loss, total_time_ms);
+    // delete the ping sessions, so that we clean up all resources and can create a new ping session
+    // we don't have to call delete function in the callback, instead we can call delete function from other tasks
+    esp_ping_delete_session(hdl);
+    g_ping_handle = NULL;
+}
+
+static struct {
+    struct arg_int *timeout;
+    struct arg_int *interval;
+    struct arg_int *data_size;
+    struct arg_int *count;
+    struct arg_int *tos;
+    struct arg_str *host;
+    struct arg_lit *abort;
+    struct arg_end *end;
+} ping_args;
+
+static int wifi_cmd_ping(int argc, char **argv)
+{
+    esp_ping_config_t config = ESP_PING_DEFAULT_CONFIG();
+    config.count           = 0;
+    config.data_size       = 1;
+    config.interval_ms     = 10;
+    config.task_stack_size = 3072;
+
+    if (arg_parse(argc, argv, (void **)&ping_args) != ESP_OK) {
+        arg_print_errors(stderr, ping_args.end, argv[0]);
+        return ESP_FAIL;
+    }
+
+    if (ping_args.timeout->count > 0) {
+        config.timeout_ms = ping_args.timeout->ival[0];
+    }
+
+    if (ping_args.interval->count > 0) {
+        config.interval_ms = ping_args.interval->ival[0];
+    }
+
+    if (ping_args.data_size->count > 0) {
+        config.data_size = ping_args.data_size->ival[0];
+    }
+
+    if (ping_args.count->count > 0) {
+        config.count = ping_args.count->ival[0];
+    }
+
+    if (ping_args.tos->count > 0) {
+        config.tos = ping_args.tos->ival[0];
+    }
+
+    if (ping_args.abort->count > 0) {
+        if (g_ping_handle != NULL) {
+            ESP_LOGI(TAG, "Stopping ping session");
+            esp_ping_stop(g_ping_handle);
+            esp_ping_delete_session(g_ping_handle);
+            g_ping_handle = NULL;
+            ESP_LOGI(TAG, "Ping session stopped and deleted");
+        } else {
+            ESP_LOGW(TAG, "No active ping session to stop");
+        }
+        ESP_LOGW(TAG, "esp_ping stop");
+        return ESP_OK;
+    }
+
+    char host[32] = {0};
+
+    if (ping_args.host->count > 0) {
+        strcpy(host, ping_args.host->sval[0]);
+    } else {
+        esp_netif_ip_info_t local_ip;
+        esp_netif_get_ip_info(esp_netif_get_handle_from_ifkey("WIFI_STA_DEF"), &local_ip);
+        sprintf(host, IPSTR, IP2STR(&local_ip.gw));
+        ESP_LOGI(TAG, "ping router ip:" IPSTR ", gw: " IPSTR, IP2STR(&local_ip.ip), IP2STR(&local_ip.gw));
+    }
+
+    // parse IP address
+    struct sockaddr_in6 sock_addr6;
+    ip_addr_t target_addr;
+    memset(&target_addr, 0, sizeof(target_addr));
+
+    if (inet_pton(AF_INET6, host, &sock_addr6.sin6_addr) == 1) {
+        /* convert ip6 string to ip6 address */
+        ipaddr_aton(host, &target_addr);
+    } else {
+        struct addrinfo hint;
+        struct addrinfo *res = NULL;
+        memset(&hint, 0, sizeof(hint));
+
+        /* convert ip4 string or hostname to ip4 or ip6 address */
+        if (getaddrinfo(host, NULL, &hint, &res) != 0) {
+            printf("ping: unknown host %s\n", host);
+            return ESP_FAIL;
+        }
+
+        if (res->ai_family == AF_INET) {
+            struct in_addr addr4 = ((struct sockaddr_in *)(res->ai_addr))->sin_addr;
+            inet_addr_to_ip4addr(ip_2_ip4(&target_addr), &addr4);
+            target_addr.type = IPADDR_TYPE_V4;
+        } else {
+            struct in6_addr addr6 = ((struct sockaddr_in6 *)(res->ai_addr))->sin6_addr;
+            inet6_addr_to_ip6addr(ip_2_ip6(&target_addr), &addr6);
+            target_addr.type = IPADDR_TYPE_V6;
+        }
+
+        freeaddrinfo(res);
+    }
+
+    config.target_addr = target_addr;
+
+    /* stop and delete existing ping session if any */
+    if (g_ping_handle != NULL) {
+        ESP_LOGI(TAG, "Stopping existing ping session before starting new one");
+        esp_ping_stop(g_ping_handle);
+        esp_ping_delete_session(g_ping_handle);
+        g_ping_handle = NULL;
+        ESP_LOGI(TAG, "Existing ping session stopped and deleted");
+    }
+
+    /* set callback functions */
+    esp_ping_callbacks_t cbs = {
+        .on_ping_success = ping_cmd_on_success,
+        .on_ping_timeout = ping_cmd_on_timeout,
+        .on_ping_end = ping_cmd_on_end,
+        .cb_args = NULL
+    };
+
+    esp_ping_new_session(&config, &cbs, &g_ping_handle);
+    esp_ping_start(g_ping_handle);
+
+    return ESP_OK;
+}
+
+void cmd_register_ping(void)
+{
+    ping_args.timeout   = arg_int0("W", "timeout", "<t>", "Time to wait for a response, in seconds");
+    ping_args.interval  = arg_int0("i", "interval", "<t>", "Wait interval seconds between sending each packet");
+    ping_args.data_size = arg_int0("s", "size", "<n>", "Specify the number of data bytes to be sent");
+    ping_args.count     = arg_int0("c", "count", "<n>", "Stop after sending count packets");
+    ping_args.tos       = arg_int0("Q", "tos", "<n>", "Set Type of Service related bits in IP datagrams");
+    ping_args.host      = arg_str0("h", "host", "<host>", "Host address");
+    ping_args.abort     = arg_lit0("a", "abort", "Abort running ping");
+    ping_args.end       = arg_end(10);
+    const esp_console_cmd_t ping_cmd = {
+        .command = "ping",
+        .help = "Send ICMP ECHO_REQUEST to network hosts",
+        .hint = NULL,
+        .func = &wifi_cmd_ping,
+        .argtable = &ping_args
+    };
+    ESP_ERROR_CHECK(esp_console_cmd_register(&ping_cmd));
+}

esp-radar/console_test/components/commands/src/system_cmd.c

@@ -0,0 +1,264 @@
+// Copyright 2017 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "esp_log.h"
+
+#include <string.h>
+#include <sys/param.h>
+#include "argtable3/argtable3.h"
+#include "mbedtls/base64.h"
+
+#include "esp_system.h"
+#include "esp_partition.h"
+#include "esp_console.h"
+#include "esp_chip_info.h"
+
+
+static const char *TAG = "system_cmd";
+
+/**
+ * @brief  A function which implements version command.
+ */
+static int version_func(int argc, char **argv)
+{
+    esp_chip_info_t chip_info = {0};
+
+    /**< Pint system information */
+    esp_chip_info(&chip_info);
+    ESP_LOGI(TAG, "compile time     : %s %s", __DATE__, __TIME__);
+    ESP_LOGI(TAG, "free heap        : %d Bytes", esp_get_free_heap_size());
+    ESP_LOGI(TAG, "CPU cores        : %d", chip_info.cores);
+    ESP_LOGI(TAG, "silicon revision : %d", chip_info.revision);
+    ESP_LOGI(TAG, "feature          : %s%s%s%s",
+             chip_info.features & CHIP_FEATURE_WIFI_BGN ? "/802.11bgn" : "",
+             chip_info.features & CHIP_FEATURE_BLE ? "/BLE" : "",
+             chip_info.features & CHIP_FEATURE_BT ? "/BT" : "",
+             chip_info.features & CHIP_FEATURE_EMB_FLASH ? "/Embedded-Flash:" : "/External-Flash:");
+
+    return ESP_OK;
+}
+
+/**
+ * @brief  Register version command.
+ */
+static void register_version()
+{
+    const esp_console_cmd_t cmd = {
+        .command = "version",
+        .help = "Get version of chip and SDK",
+        .hint = NULL,
+        .func = &version_func,
+    };
+    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
+}
+
+
+/**
+ * @brief  A function which implements restart command.
+ */
+static int restart_func(int argc, char **argv)
+{
+    ESP_LOGI(TAG, "Restarting");
+    esp_restart();
+}
+
+/**
+ * @brief  Register restart command.
+ */
+static void register_restart()
+{
+    const esp_console_cmd_t cmd = {
+        .command = "restart",
+        .help    = "Software reset of the chip",
+        .hint    = NULL,
+        .func    = &restart_func,
+    };
+    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
+}
+
+/**
+ * @brief  A function which implements reset command.
+ */
+static int reset_func(int argc, char **argv)
+{
+    esp_partition_iterator_t part_itra = NULL;
+    const esp_partition_t *nvs_part = NULL;
+
+    ESP_LOGI(TAG, "Erase part of the nvs partition");
+
+    part_itra = esp_partition_find(ESP_PARTITION_TYPE_DATA, ESP_PARTITION_SUBTYPE_ANY, "nvs");
+    nvs_part = esp_partition_get(part_itra);
+    esp_partition_erase_range(nvs_part, 0, nvs_part->size);
+
+    ESP_LOGI(TAG, "Restarting");
+    esp_restart();
+}
+
+/**
+ * @brief  Register reset command.
+ */
+static void register_reset()
+{
+    const esp_console_cmd_t cmd = {
+        .command = "reset",
+        .help = "Clear device configuration information",
+        .hint = NULL,
+        .func = &reset_func,
+    };
+    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
+}
+
+/**
+ * @brief  A function which implements heap command.
+ */
+static int heap_func(int argc, char **argv)
+{
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
+    TaskStatus_t *pxTaskStatusArray = NULL;
+    volatile UBaseType_t uxArraySize = 0;
+    uint32_t ulTotalRunTime = 0, ulStatsAsPercentage = 0, ulRunTimeCounte = 0;
+    const char task_status_char[] = {'r', 'R', 'B', 'S', 'D'};
+
+    /* Take a snapshot of the number of tasks in case it changes while this
+    function is executing. */
+    uxArraySize = uxTaskGetNumberOfTasks();
+    pxTaskStatusArray = malloc(uxTaskGetNumberOfTasks() * sizeof(TaskStatus_t));
+
+    if (!pxTaskStatusArray) {
+        return ;
+    }
+
+    /* Generate the (binary) data. */
+    uxArraySize = uxTaskGetSystemState(pxTaskStatusArray, uxArraySize, &ulTotalRunTime);
+    ulTotalRunTime /= 100UL;
+
+    ESP_LOGI(TAG, "---------------- The State Of Tasks ----------------");
+    ESP_LOGI(TAG, "- HWM   : usage high water mark (Byte)");
+    ESP_LOGI(TAG, "- Status: blocked ('B'), ready ('R'), deleted ('D') or suspended ('S')\n");
+    ESP_LOGI(TAG, "TaskName\t\tStatus\tPrio\tHWM\tTaskNum\tCoreID\tRunTimeCounter\tPercentage");
+
+    for (int i = 0; i < uxArraySize; i++) {
+#if( configGENERATE_RUN_TIME_STATS == 1 )
+        ulRunTimeCounte = pxTaskStatusArray[i].ulRunTimeCounter;
+        ulStatsAsPercentage = ulRunTimeCounte / ulTotalRunTime;
+#else
+#warning configGENERATE_RUN_TIME_STATS must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
+#endif
+
+        int core_id = -1;
+        char precentage_char[4] = {0};
+
+#if ( configTASKLIST_INCLUDE_COREID == 1 )
+        core_id = (int) pxTaskStatusArray[ i ].xCoreID;
+#else
+#warning configTASKLIST_INCLUDE_COREID must also be set to 1 in FreeRTOSConfig.h to use xCoreID.
+#endif
+
+        /* Write the rest of the string. */
+        ESP_LOGI(TAG, "%-16s\t%c\t%u\t%u\t%u\t%hd\t%-16u%-s%%",
+                 pxTaskStatusArray[i].pcTaskName, task_status_char[pxTaskStatusArray[i].eCurrentState],
+                 (uint32_t) pxTaskStatusArray[i].uxCurrentPriority,
+                 (uint32_t) pxTaskStatusArray[i].usStackHighWaterMark,
+                 (uint32_t) pxTaskStatusArray[i].xTaskNumber, core_id,
+                 ulRunTimeCounte, (ulStatsAsPercentage <= 0) ? "<1" : itoa(ulStatsAsPercentage, precentage_char, 10));
+    }
+
+    free(pxTaskStatusArray);
+#endif /**< ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 */
+
+#ifndef CONFIG_SPIRAM_SUPPORT
+    ESP_LOGI(TAG, "Free heap, current: %d, minimum: %d",
+             esp_get_free_heap_size(), esp_get_minimum_free_heap_size());
+#else
+    ESP_LOGI(TAG, "Free heap, internal current: %d, minimum: %d, total current: %d, minimum: %d",
+             heap_caps_get_free_size(MALLOC_CAP_8BIT | MALLOC_CAP_INTERNAL),
+             heap_caps_get_minimum_free_size(MALLOC_CAP_8BIT | MALLOC_CAP_INTERNAL),
+             esp_get_free_heap_size(), esp_get_minimum_free_heap_size());
+#endif /**< CONFIG_SPIRAM_SUPPORT */
+
+    return ESP_OK;
+}
+
+/**
+ * @brief  Register heap command.
+ */
+static void register_heap()
+{
+    const esp_console_cmd_t cmd = {
+        .command = "heap",
+        .help = "Get the current size of free heap memory",
+        .hint = NULL,
+        .func = &heap_func,
+    };
+    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
+}
+
+
+
+static struct {
+    struct arg_str *tag;
+    struct arg_str *level;
+    struct arg_end *end;
+} log_args;
+
+/**
+ * @brief  A function which implements log command.
+ */
+static int log_func(int argc, char **argv)
+{
+    const char *level_str[6] = {"NONE", "ERR", "WARN", "INFO", "DEBUG", "VER"};
+
+    if (arg_parse(argc, argv, (void **)&log_args) != ESP_OK) {
+        arg_print_errors(stderr, log_args.end, argv[0]);
+        return ESP_FAIL;
+    }
+
+    for (int log_level = 0; log_args.level->count && log_level < sizeof(level_str) / sizeof(char *); ++log_level) {
+        if (!strncasecmp(level_str[log_level], log_args.level->sval[0], sizeof(level_str[log_level]) - 1)) {
+            const char *tag = log_args.tag->count ? log_args.tag->sval[0] : "*";
+            esp_log_level_set(tag, log_level);
+        }
+    }
+
+    return ESP_OK;
+}
+
+/**
+ * @brief  Register log command.
+ */
+static void register_log()
+{
+    log_args.tag   = arg_str0("t", "tag", "<tag>", "Tag of the log entries to enable, '*' resets log level for all tags to the given value");
+    log_args.level = arg_str0("l", "level", "<level>", "Selects log level to enable (NONE, ERR, WARN, INFO, DEBUG, VER)");
+    log_args.end   = arg_end(2);
+
+    const esp_console_cmd_t cmd = {
+        .command = "log",
+        .help = "Set log level for given tag",
+        .hint = NULL,
+        .func = &log_func,
+        .argtable = &log_args,
+    };
+
+    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
+}
+
+void cmd_register_system(void)
+{
+    register_version();
+    register_heap();
+    register_restart();
+    register_reset();
+    register_log();
+}

esp-radar/console_test/components/commands/src/wifi_cmd.c

@@ -0,0 +1,580 @@
+/*
+ * SPDX-FileCopyrightText: 2021-2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+#include <string.h>
+#include "nvs_flash.h"
+#include "argtable3/argtable3.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/event_groups.h"
+
+#include "esp_mac.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "esp_err.h"
+#include "esp_wifi.h"
+#include "esp_console.h"
+#include "esp_netif.h"
+
+#include "lwip/inet.h"
+#include "lwip/netdb.h"
+#include "lwip/sockets.h"
+
+#define WIFI_CONNECTED_BIT    BIT0
+#define WIFI_DISCONNECTED_BIT BIT1
+
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+#define ESP_IF_WIFI_STA ESP_MAC_WIFI_STA
+#endif
+
+static bool s_reconnect = true;
+static const char *TAG  = "wifi_cmd";
+
+static EventGroupHandle_t s_wifi_event_group;
+
+static bool mac_str2hex(const char *mac_str, uint8_t *mac_hex)
+{
+    uint32_t mac_data[6] = {0};
+    int ret = sscanf(mac_str, MACSTR, mac_data, mac_data + 1, mac_data + 2,
+                     mac_data + 3, mac_data + 4, mac_data + 5);
+
+    for (int i = 0; i < 6; i++) {
+        mac_hex[i] = mac_data[i];
+    }
+
+    return ret == 6 ? true : false;
+}
+
+/* Event handler for catching system events */
+static void wifi_event_handler(void *arg, esp_event_base_t event_base,
+                               int32_t event_id, void *event_data)
+{
+    if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
+        xEventGroupClearBits(s_wifi_event_group, WIFI_DISCONNECTED_BIT);
+        xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
+    } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
+        if (s_reconnect) {
+            ESP_LOGI(TAG, "sta disconnect, s_reconnect...");
+            esp_wifi_connect();
+        } else {
+            // ESP_LOGI(TAG, "sta disconnect");
+        }
+
+        xEventGroupClearBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
+        xEventGroupSetBits(s_wifi_event_group, WIFI_DISCONNECTED_BIT);
+    } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_CONNECTED) {
+        wifi_event_sta_connected_t *event = (wifi_event_sta_connected_t *)event_data;
+        ESP_LOGI(TAG, "Connected to %s (bssid: "MACSTR", channel: %d)", event->ssid,
+                 MAC2STR(event->bssid), event->channel);
+    }  else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_AP_STACONNECTED) {
+        ESP_LOGI(TAG, "STA Connecting to the AP again...");
+    }
+}
+
+typedef struct {
+    struct arg_str *ssid;
+    struct arg_str *password;
+    struct arg_end *end;
+} wifi_args_t;
+
+static wifi_args_t sta_args;
+static wifi_args_t ap_args;
+
+static int wifi_cmd_sta(int argc, char **argv)
+{
+    if (arg_parse(argc, argv, (void **) &sta_args) != ESP_OK) {
+        arg_print_errors(stderr, sta_args.end, argv[0]);
+        return ESP_FAIL;
+    }
+
+    const char *ssid     = sta_args.ssid->sval[0];
+    const char *password = sta_args.password->sval[0];
+    wifi_config_t wifi_config = { 0 };
+    static esp_netif_t *s_netif_sta = NULL;
+
+    if (!s_wifi_event_group) {
+        s_wifi_event_group = xEventGroupCreate();
+        ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &wifi_event_handler, NULL));
+        ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &wifi_event_handler, NULL));
+    }
+
+    if (!s_netif_sta) {
+        // 检查是否已经存在默认的STA netif（可能由esp_radar_wifi_init创建）
+        s_netif_sta = esp_netif_get_handle_from_ifkey("WIFI_STA_DEF");
+        if (!s_netif_sta) {
+            s_netif_sta = esp_netif_create_default_wifi_sta();
+        }
+    }
+
+    strlcpy((char *) wifi_config.sta.ssid, ssid, sizeof(wifi_config.sta.ssid));
+
+    if (password) {
+        strlcpy((char *) wifi_config.sta.password, password, sizeof(wifi_config.sta.password));
+    }
+
+    ESP_LOGI(TAG, "sta connecting to '%s'", ssid);
+
+    int bits = xEventGroupWaitBits(s_wifi_event_group, WIFI_CONNECTED_BIT, false, true, false);
+
+    if (bits & WIFI_CONNECTED_BIT) {
+        s_reconnect = false;
+        xEventGroupClearBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
+        ESP_ERROR_CHECK(esp_wifi_disconnect());
+        xEventGroupWaitBits(s_wifi_event_group, WIFI_DISCONNECTED_BIT, false, true, portMAX_DELAY);
+    }
+
+    s_reconnect = true;
+
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
+    ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_config));
+    esp_wifi_connect();
+
+    xEventGroupWaitBits(s_wifi_event_group, WIFI_CONNECTED_BIT, false, true, pdMS_TO_TICKS(5000));
+
+    return ESP_OK;
+}
+
+static int wifi_cmd_ap(int argc, char **argv)
+{
+    if (arg_parse(argc, argv, (void **) &ap_args) != ESP_OK) {
+        arg_print_errors(stderr, ap_args.end, argv[0]);
+        return ESP_FAIL;
+    }
+
+    wifi_config_t wifi_config = {
+        .ap = {
+            .ssid = "",
+            .ssid_len = 0,
+            .max_connection = 4,
+            .password = "",
+            .channel  = 11,
+        },
+    };
+
+    const char *ssid = ap_args.ssid->sval[0];
+    const char *password = ap_args.password->sval[0];
+    static esp_netif_t *s_netif_ap = NULL;
+
+    if (!s_wifi_event_group) {
+        s_wifi_event_group = xEventGroupCreate();
+        ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &wifi_event_handler, NULL));
+        ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &wifi_event_handler, NULL));
+    }
+
+    if (!s_netif_ap) {
+        s_netif_ap = esp_netif_create_default_wifi_ap();
+    }
+
+    s_reconnect = false;
+    strlcpy((char *) wifi_config.ap.ssid, ssid, sizeof(wifi_config.ap.ssid));
+
+    if (password && strlen(password)) {
+        if (strlen(password) < 8) {
+            s_reconnect = true;
+            ESP_LOGE(TAG, "password less than 8");
+            return ESP_FAIL;
+        }
+
+        wifi_config.ap.authmode = WIFI_AUTH_WPA2_PSK;
+        strlcpy((char *) wifi_config.ap.password, password, sizeof(wifi_config.ap.password));
+    }
+
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
+    ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_AP, &wifi_config));
+
+    ESP_LOGI(TAG, "Starting SoftAP SSID: %s, Password: %s", ssid, password);
+
+    return ESP_OK;
+}
+
+static int wifi_cmd_query(int argc, char **argv)
+{
+    wifi_config_t cfg;
+    wifi_mode_t mode;
+
+    esp_wifi_get_mode(&mode);
+
+    if (WIFI_MODE_AP == mode) {
+        esp_wifi_get_config(WIFI_IF_AP, &cfg);
+        ESP_LOGI(TAG, "AP mode, %s %s", cfg.ap.ssid, cfg.ap.password);
+    } else if (WIFI_MODE_STA == mode) {
+        int bits = xEventGroupWaitBits(s_wifi_event_group, WIFI_CONNECTED_BIT, 0, 1, 0);
+
+        if (bits & WIFI_CONNECTED_BIT) {
+            esp_wifi_get_config(WIFI_IF_STA, &cfg);
+            ESP_LOGI(TAG, "sta mode, connected %s", cfg.ap.ssid);
+        } else {
+            ESP_LOGI(TAG, "sta mode, disconnected");
+        }
+    } else {
+        ESP_LOGI(TAG, "NULL mode");
+        return 0;
+    }
+
+    return 0;
+}
+
+void cmd_register_wifi(void)
+{
+    sta_args.ssid = arg_str1(NULL, NULL, "<ssid>", "SSID of AP");
+    sta_args.password = arg_str0(NULL, NULL, "<password>", "password of AP");
+    sta_args.end = arg_end(2);
+
+    const esp_console_cmd_t sta_cmd = {
+        .command = "sta",
+        .help = "WiFi is station mode, join specified soft-AP",
+        .hint = NULL,
+        .func = &wifi_cmd_sta,
+        .argtable = &sta_args
+    };
+
+    ESP_ERROR_CHECK(esp_console_cmd_register(&sta_cmd));
+
+    ap_args.ssid = arg_str1(NULL, NULL, "<ssid>", "SSID of AP");
+    ap_args.password = arg_str0(NULL, NULL, "<password>", "password of AP");
+    ap_args.end = arg_end(2);
+
+    const esp_console_cmd_t ap_cmd = {
+        .command = "ap",
+        .help = "AP mode, configure ssid and password",
+        .hint = NULL,
+        .func = &wifi_cmd_ap,
+        .argtable = &ap_args
+    };
+
+    ESP_ERROR_CHECK(esp_console_cmd_register(&ap_cmd));
+
+    const esp_console_cmd_t query_cmd = {
+        .command = "query",
+        .help = "query WiFi info",
+        .hint = NULL,
+        .func = &wifi_cmd_query,
+    };
+    ESP_ERROR_CHECK(esp_console_cmd_register(&query_cmd));
+}
+
+static struct {
+    struct arg_str *country_code;
+    struct arg_int *channel;
+    struct arg_int *channel_second;
+    struct arg_str *ssid;
+    struct arg_str *bssid;
+    struct arg_str *password;
+    struct arg_lit *disconnect;
+    struct arg_int *tx_power;
+    struct arg_lit *info;
+    struct arg_int *rate;
+    struct arg_int *bandwidth;
+    struct arg_int *protocol;
+    struct arg_end *end;
+} wifi_config_args;
+
+/**
+ * @brief  A function which implements wifi config command.
+ */
+static int wifi_config_func(int argc, char **argv)
+{
+    if (arg_parse(argc, argv, (void **) &wifi_config_args) != ESP_OK) {
+        arg_print_errors(stderr, wifi_config_args.end, argv[0]);
+        return ESP_FAIL;
+    }
+
+    if (!s_wifi_event_group) {
+        s_wifi_event_group = xEventGroupCreate();
+        ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &wifi_event_handler, NULL));
+        ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &wifi_event_handler, NULL));
+    }
+
+    if (wifi_config_args.disconnect->count) {
+        s_reconnect = false;
+        esp_wifi_disconnect();
+        return ESP_OK;
+    }
+
+    esp_err_t ret = ESP_OK;
+    wifi_config_t wifi_config = {0x0};
+    esp_wifi_get_config(WIFI_IF_STA, &wifi_config);
+    static esp_netif_t *s_netif_sta = NULL;
+
+    wifi_mode_t mode;
+    esp_wifi_get_mode(&mode);
+
+    if (!s_netif_sta && mode != WIFI_MODE_STA) {
+        // 检查是否已经存在默认的STA netif（可能由esp_radar_wifi_init创建）
+        s_netif_sta = esp_netif_get_handle_from_ifkey("WIFI_STA_DEF");
+        if (!s_netif_sta) {
+            s_netif_sta = esp_netif_create_default_wifi_sta();
+        }
+    }
+
+    if (wifi_config_args.ssid->count) {
+        strcpy((char *)wifi_config.sta.ssid, wifi_config_args.ssid->sval[0]);
+    }
+
+    if (wifi_config_args.password->count) {
+        strcpy((char *)wifi_config.sta.password, wifi_config_args.password->sval[0]);
+    }
+
+    if (wifi_config_args.bssid->count) {
+        if (!mac_str2hex(wifi_config_args.bssid->sval[0], wifi_config.sta.bssid)) {
+            ESP_LOGE(TAG, "The format of the address is incorrect. Please enter the format as xx:xx:xx:xx:xx:xx");
+            return ESP_ERR_INVALID_ARG;
+        }
+    }
+
+    if (strlen((char *)wifi_config.sta.ssid)) {
+        int bits = xEventGroupWaitBits(s_wifi_event_group, WIFI_CONNECTED_BIT, false, true, false);
+
+        if (bits & WIFI_CONNECTED_BIT) {
+            s_reconnect = false;
+            xEventGroupClearBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
+            ESP_ERROR_CHECK(esp_wifi_disconnect());
+            xEventGroupWaitBits(s_wifi_event_group, WIFI_DISCONNECTED_BIT, false, true, portMAX_DELAY);
+        }
+
+        s_reconnect = true;
+
+        ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
+        //     esp_err_t esp_wifi_internal_set_fix_rate(wifi_interface_t ifx, bool en, wifi_phy_rate_t rate);
+        //     esp_wifi_internal_set_fix_rate(ESP_IF_WIFI_STA, true, WIFI_PHY_RATE_48M);
+        // ESP_LOGW(TAG, "------- <%s, %d> ------", __func__, __LINE__);
+
+        // ESP_ERROR_CHECK(esp_wifi_set_bandwidth(WIFI_IF_STA, WIFI_BW_HT20));
+
+        // ESP_ERROR_CHECK(esp_wifi_set_protocol(WIFI_IF_STA, WIFI_PROTOCOL_11B|WIFI_PROTOCOL_11G));
+
+        ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config));
+        esp_wifi_connect();
+        xEventGroupWaitBits(s_wifi_event_group, WIFI_CONNECTED_BIT, false, true, pdMS_TO_TICKS(5000));
+    }
+
+    if (wifi_config_args.country_code->count) {
+        wifi_country_t country = {0};
+        const char *country_code = wifi_config_args.country_code->sval[0];
+
+        if (!strcasecmp(country_code, "US")) {
+            strcpy(country.cc, "US");
+            country.schan = 1;
+            country.nchan = 11;
+        } else if (!strcasecmp(country_code, "JP")) {
+            strcpy(country.cc, "JP");
+            country.schan = 1;
+            country.nchan = 14;
+        }  else if (!strcasecmp(country_code, "CN")) {
+            strcpy(country.cc, "CN");
+            country.schan = 1;
+            country.nchan = 13;
+        } else {
+            return ESP_ERR_INVALID_ARG;
+        }
+
+        ret = esp_wifi_set_country(&country);
+    }
+
+    if (wifi_config_args.channel->count) {
+        wifi_config.sta.channel = wifi_config_args.channel->ival[0];
+        wifi_second_chan_t second = WIFI_SECOND_CHAN_NONE;
+
+        if (wifi_config_args.channel_second->count < 3) {
+            second = wifi_config_args.channel_second->ival[0];
+        }
+
+        if (wifi_config.sta.channel > 0 && wifi_config.sta.channel <= 14) {
+            ret = esp_wifi_set_channel(wifi_config.sta.channel, second);
+
+            if (ret == ESP_OK) {
+                ESP_LOGI(TAG, "Set Channel, channel: %d", wifi_config.sta.channel);
+            } else {
+                ESP_LOGE(TAG, "<%s> esp_wifi_set_channel", esp_err_to_name(ret));
+                return ESP_ERR_INVALID_ARG;
+            }
+        } else {
+            return ESP_ERR_INVALID_ARG;
+        }
+    }
+
+    if (wifi_config_args.tx_power->count) {
+        esp_wifi_set_max_tx_power(wifi_config_args.tx_power->ival[0]);
+    }
+
+    if (wifi_config_args.info->count) {
+        int8_t rx_power           = 0;
+        wifi_country_t country    = {0};
+        uint8_t primary           = 0;
+        wifi_second_chan_t second = 0;
+        wifi_mode_t mode          = 0;
+        wifi_bandwidth_t bandwidth = 0;
+
+        esp_wifi_get_channel(&primary, &second);
+        esp_wifi_get_max_tx_power(&rx_power);
+        esp_wifi_get_country(&country);
+        esp_wifi_get_mode(&mode);
+        esp_wifi_get_bandwidth(mode - 1, &bandwidth);
+
+        country.cc[2] = '\0';
+        ESP_LOGI(TAG, "tx_power: %d, country: %s, channel: %d/%d, mode: %d, bandwidth: %d",
+                 rx_power, country.cc, primary, second, mode, bandwidth);
+    }
+
+    if (wifi_config_args.bandwidth->count) {
+        ESP_ERROR_CHECK(esp_wifi_set_bandwidth(ESP_IF_WIFI_STA, wifi_config_args.bandwidth->ival[0]));
+    }
+
+    if (wifi_config_args.rate->count) {
+        extern esp_err_t esp_wifi_internal_set_fix_rate(wifi_interface_t ifx, bool en, wifi_phy_rate_t rate);
+        ESP_ERROR_CHECK(esp_wifi_internal_set_fix_rate(ESP_IF_WIFI_STA, true, wifi_config_args.rate->ival[0]));
+    }
+
+    if (wifi_config_args.protocol->count) {
+        ESP_ERROR_CHECK(esp_wifi_set_protocol(ESP_IF_WIFI_STA, wifi_config_args.protocol->ival[0]));
+    }
+
+    return ret;
+}
+
+/**
+ * @brief  Register wifi config command.
+ */
+void cmd_register_wifi_config()
+{
+    wifi_config_args.ssid     = arg_str0("s", "ssid", "<ssid>", "SSID of router");
+    wifi_config_args.password = arg_str0("p", "password", "<password>", "Password of router");
+    wifi_config_args.bssid    = arg_str0("b", "bssid", "<bssid (xx:xx:xx:xx:xx:xx)>", "BSSID of router");
+    wifi_config_args.disconnect = arg_lit0("d", "disconnect", "Disconnect the router");
+    wifi_config_args.channel  = arg_int0("c", "channel", "<channel (1 ~ 14)>", "Set primary channel");
+    wifi_config_args.channel_second = arg_int0("c", "channel_second", "<channel_second (0, 1, 2)>", "Set second channel");
+    wifi_config_args.country_code = arg_str0("C", "country_code", "<country_code ('CN', 'JP, 'US')>", "Set the current country code");
+    wifi_config_args.tx_power = arg_int0("t", "tx_power", "<power (8 ~ 84)>", "Set maximum transmitting power after WiFi start.");
+    wifi_config_args.rate     = arg_int0("r", "rate", "<MCS>", "Set the bandwidth of ESP32 specified interface");
+    wifi_config_args.bandwidth = arg_int0("w", "bandwidth", "<bandwidth(1: HT20, 2: HT40)>", "Set the bandwidth of ESP32 specified interface");
+    wifi_config_args.protocol = arg_int0("P", "protocol", "<bgn(1,3,7)>", "Set protocol type of specified interface");
+    wifi_config_args.info     = arg_lit0("i", "info", "Get Wi-Fi configuration information");
+    wifi_config_args.end      = arg_end(10);
+
+    const esp_console_cmd_t cmd = {
+        .command = "wifi_config",
+        .help = "Set the configuration of the ESP32 STA",
+        .hint = NULL,
+        .func = &wifi_config_func,
+        .argtable = &wifi_config_args,
+    };
+    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
+}
+
+static struct {
+    struct arg_int *rssi;
+    struct arg_str *ssid;
+    struct arg_str *bssid;
+    struct arg_int *passive;
+    struct arg_end *end;
+} wifi_scan_args;
+
+/**
+ * @brief  A function which implements wifi scan command.
+ */
+static esp_err_t wifi_scan_func(int argc, char **argv)
+{
+    if (arg_parse(argc, argv, (void **) &wifi_scan_args) != ESP_OK) {
+        arg_print_errors(stderr, wifi_scan_args.end, argv[0]);
+        return ESP_FAIL;
+    }
+
+    int8_t filter_rssi             = -120;
+    uint16_t ap_number             = 0;
+    uint8_t bssid[6]               = {0x0};
+    uint8_t channel                = 1;
+    wifi_second_chan_t second      = 0;
+    wifi_ap_record_t ap_record     = {0x0};
+    wifi_scan_config_t scan_config = {
+        .show_hidden = true,
+        .scan_type   = WIFI_SCAN_TYPE_ACTIVE,
+    };
+
+    ESP_ERROR_CHECK(esp_wifi_get_channel(&channel, &second));
+    ESP_ERROR_CHECK(esp_wifi_disconnect());
+
+    if (wifi_scan_args.passive->count) {
+        scan_config.scan_type = WIFI_SCAN_TYPE_PASSIVE;
+        scan_config.scan_time.passive = wifi_scan_args.passive->ival[0];
+    }
+
+    if (wifi_scan_args.ssid->count) {
+        scan_config.ssid = (uint8_t *)wifi_scan_args.ssid->sval[0];
+    }
+
+    if (wifi_scan_args.bssid->count) {
+        if (!mac_str2hex(wifi_scan_args.bssid->sval[0], bssid)) {
+            ESP_LOGE(TAG, "The format of the address is incorrect. Please enter the format as xx:xx:xx:xx:xx:xx");
+            return ESP_ERR_INVALID_ARG;
+        }
+
+        scan_config.bssid = bssid;
+    }
+
+    if (wifi_scan_args.rssi->count) {
+        filter_rssi = wifi_scan_args.rssi->ival[0];
+        ESP_LOGW(TAG, "filter_rssi: %d", filter_rssi);
+    }
+
+    esp_wifi_scan_stop();
+
+    int retry_count = 20;
+
+    do {
+        esp_wifi_disconnect();
+        esp_wifi_scan_start(&scan_config, true);
+        esp_wifi_scan_get_ap_num(&ap_number);
+    } while (ap_number <= 0 && --retry_count);
+
+    if (ap_number <= 0) {
+        ESP_LOGE(TAG, "esp_wifi_scan_get_ap_num");
+        return ESP_ERR_NOT_FOUND;
+    }
+
+    ESP_LOGI(TAG, "Get number of APs found, number: %d", ap_number);
+
+    for (int i = 0; i < ap_number; i++) {
+        memset(&ap_record, 0, sizeof(wifi_ap_record_t));
+
+        if (ap_record.rssi < filter_rssi) {
+            continue;
+        }
+
+        ESP_LOGI(TAG, "Router, ssid: %s, bssid: " MACSTR ", channel: %u, rssi: %d",
+                 ap_record.ssid, MAC2STR(ap_record.bssid),
+                 ap_record.primary, ap_record.rssi);
+    }
+
+    if (channel > 0 && channel < 13) {
+        ESP_ERROR_CHECK(esp_wifi_set_channel(channel, second));
+    }
+
+    return ESP_OK;
+}
+
+/**
+ * @brief  Register wifi scan command.
+ */
+void cmd_register_wifi_scan()
+{
+    wifi_scan_args.rssi    = arg_int0("r", "rssi", "<rssi (-120 ~ 0)>", "Filter device uses RSSI");
+    wifi_scan_args.ssid    = arg_str0("s", "ssid", "<ssid>", "Filter device uses SSID");
+    wifi_scan_args.bssid   = arg_str0("b", "bssid", "<bssid (xx:xx:xx:xx:xx:xx)>", "Filter device uses AP's MAC");
+    wifi_scan_args.passive = arg_int0("p", "passive", "<time (ms)>", "Passive scan time per channel");
+    wifi_scan_args.end     = arg_end(5);
+
+    const esp_console_cmd_t cmd = {
+        .command  = "wifi_scan",
+        .help     = "Wi-Fi is station mode, start scan ap",
+        .hint     = NULL,
+        .func     = &wifi_scan_func,
+        .argtable = &wifi_scan_args,
+    };
+
+    ESP_ERROR_CHECK(esp_console_cmd_register(&cmd));
+}

esp-radar/console_test/esp_csi_tool_gui.py

@@ -0,0 +1,10 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'esp_csi_tool_gui.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.6
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+

esp-radar/console_test/main/CMakeLists.txt

@@ -0,0 +1,3 @@
+idf_component_register(SRC_DIRS "."
+                       INCLUDE_DIRS ".")
+target_compile_options(${COMPONENT_LIB} PRIVATE "-Wno-format")

esp-radar/console_test/main/Kconfig.projbuild

@@ -0,0 +1,16 @@
+menu "WiFi Sensing Device Config"
+
+    config DEVICE_NAME
+        string "Device Name"
+        default "esp32-sensor"
+        help
+            Human-readable name for this ESP32 sensor device.
+            This name will be included in CSI_DATA packets.
+
+    config DEVICE_LOCATION
+        string "Device Location"
+        default "room1"
+        help
+            Location identifier for this device (e.g., "living_room", "bedroom").
+
+endmenu

esp-radar/console_test/main/app_main.c

@@ -0,0 +1,730 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/* Wi-Fi CSI console Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/event_groups.h"
+#include "esp_log.h"
+#include "nvs_flash.h"
+#include "esp_err.h"
+#include "esp_console.h"
+
+#include "esp_mac.h"
+#include "esp_wifi.h"
+#include "lwip/inet.h"
+#include "lwip/netdb.h"
+#include "lwip/sockets.h"
+#include "ping/ping_sock.h"
+#include "hal/uart_ll.h"
+#include "mbedtls/base64.h"
+
+#include "led_strip.h"
+#include "esp_radar.h"
+#include "csi_commands.h"
+
+extern esp_ping_handle_t g_ping_handle;
+static led_strip_handle_t led_strip;
+#if CONFIG_IDF_TARGET_ESP32C5
+#define WS2812_GPIO 27
+#elif CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32C61
+#define WS2812_GPIO 8
+#elif CONFIG_IDF_TARGET_ESP32S3
+#define WS2812_GPIO 38
+#elif CONFIG_IDF_TARGET_ESP32S2
+#define WS2812_GPIO 18
+#elif CONFIG_IDF_TARGET_ESP32C3
+#define WS2812_GPIO 8
+#else
+#define WS2812_GPIO 4
+#endif
+#define RECV_ESPNOW_CSI
+#define CONFIG_LESS_INTERFERENCE_CHANNEL    11
+#define CONFIG_SEND_DATA_FREQUENCY          100
+
+#define RADAR_EVALUATE_SERVER_PORT          3232
+#define RADAR_BUFF_MAX_LEN                  25
+
+static QueueHandle_t g_csi_info_queue    = NULL;
+static bool g_wifi_connect_status        = false;
+static uint32_t g_send_data_interval     = 1000 / CONFIG_SEND_DATA_FREQUENCY;
+static const char *TAG                   = "app_main";
+
+static struct {
+    struct arg_lit *train_start;
+    struct arg_lit *train_stop;
+    struct arg_lit *train_add;
+    struct arg_str *predict_someone_threshold;
+    struct arg_str *predict_someone_sensitivity;
+    struct arg_str *predict_move_threshold;
+    struct arg_str *predict_move_sensitivity;
+    struct arg_int *predict_buff_size;
+    struct arg_int *predict_outliers_number;
+    struct arg_str *collect_taget;
+    struct arg_int *collect_number;
+    struct arg_int *collect_duration;
+    struct arg_lit *csi_start;
+    struct arg_lit *csi_stop;
+    struct arg_str *csi_output_type;
+    struct arg_str *csi_output_format;
+    struct arg_int *csi_scale_shift;
+    struct arg_int *channel_filter;
+    struct arg_int *send_data_interval;
+    struct arg_end *end;
+} radar_args;
+static struct console_input_config {
+    bool train_start;
+    float predict_someone_threshold;
+    float predict_someone_sensitivity;
+    float predict_move_threshold;
+    float predict_move_sensitivity;
+    uint32_t predict_buff_size;
+    uint32_t predict_outliers_number;
+    char collect_taget[16];
+    uint32_t collect_number;
+    char csi_output_type[16];
+    char csi_output_format[16];
+} g_console_input_config = {
+    .predict_someone_threshold = 0,
+    .predict_someone_sensitivity = 0.15,
+    .predict_move_threshold    = 0.0003,
+    .predict_move_sensitivity  = 0.20,
+    .predict_buff_size         = 5,
+    .predict_outliers_number   = 2,
+    .train_start               = false,
+    .collect_taget             = "unknown",
+    .csi_output_type           = "LLTF",
+    .csi_output_format         = "decimal"
+};
+
+static TimerHandle_t g_collect_timer_handele = NULL;
+
+void wifi_csi_raw_cb(void *ctx, const wifi_csi_filtered_info_t *info)
+{
+    wifi_csi_filtered_info_t *q_data = malloc(sizeof(wifi_csi_filtered_info_t) + info->valid_len);
+    *q_data = *info;
+    memcpy(q_data->valid_data, info->valid_data, info->valid_len);
+
+    if (!g_csi_info_queue || xQueueSend(g_csi_info_queue, &q_data, 0) == pdFALSE) {
+        ESP_LOGW(TAG, "g_csi_info_queue full");
+        free(q_data);
+    }
+}
+
+static void collect_timercb(TimerHandle_t timer)
+{
+    g_console_input_config.collect_number--;
+
+    if (!g_console_input_config.collect_number) {
+        xTimerStop(g_collect_timer_handele, 0);
+        xTimerDelete(g_collect_timer_handele, 0);
+        g_collect_timer_handele = NULL;
+        strcpy(g_console_input_config.collect_taget, "unknown");
+        return;
+    }
+}
+
+static int wifi_cmd_radar(int argc, char **argv)
+{
+    if (arg_parse(argc, argv, (void **) &radar_args) != ESP_OK) {
+        arg_print_errors(stderr, radar_args.end, argv[0]);
+        return ESP_FAIL;
+    }
+
+    if (radar_args.train_start->count) {
+        if (!radar_args.train_add->count) {
+            esp_radar_train_remove();
+        }
+
+        esp_radar_train_start();
+        g_console_input_config.train_start = true;
+    }
+
+    if (radar_args.train_stop->count) {
+        esp_radar_train_stop(&g_console_input_config.predict_someone_threshold,
+                             &g_console_input_config.predict_move_threshold);
+        g_console_input_config.train_start = false;
+
+        printf("RADAR_DADA,0,0,0,%.6f,0,0,%.6f,0\n",
+               g_console_input_config.predict_someone_threshold,
+               g_console_input_config.predict_move_threshold);
+    }
+
+    if (radar_args.predict_move_threshold->count) {
+        g_console_input_config.predict_move_threshold = atof(radar_args.predict_move_threshold->sval[0]);
+    }
+
+    if (radar_args.predict_move_sensitivity->count) {
+        g_console_input_config.predict_move_sensitivity = atof(radar_args.predict_move_sensitivity->sval[0]);
+        ESP_LOGI(TAG, "predict_move_sensitivity: %f", g_console_input_config.predict_move_sensitivity);
+    }
+
+    if (radar_args.predict_someone_threshold->count) {
+        g_console_input_config.predict_someone_threshold = atof(radar_args.predict_someone_threshold->sval[0]);
+    }
+
+    if (radar_args.predict_someone_sensitivity->count) {
+        g_console_input_config.predict_someone_sensitivity = atof(radar_args.predict_someone_sensitivity->sval[0]);
+        ESP_LOGI(TAG, "predict_someone_sensitivity: %f", g_console_input_config.predict_someone_sensitivity);
+    }
+
+    if (radar_args.predict_buff_size->count) {
+        g_console_input_config.predict_buff_size = radar_args.predict_buff_size->ival[0];
+    }
+
+    if (radar_args.predict_outliers_number->count) {
+        g_console_input_config.predict_outliers_number = radar_args.predict_outliers_number->ival[0];
+    }
+
+    if (radar_args.collect_taget->count && radar_args.collect_number->count && radar_args.collect_duration->count) {
+        g_console_input_config.collect_number = radar_args.collect_number->ival[0];
+        strcpy(g_console_input_config.collect_taget, radar_args.collect_taget->sval[0]);
+
+        if (g_collect_timer_handele) {
+            xTimerStop(g_collect_timer_handele, portMAX_DELAY);
+            xTimerDelete(g_collect_timer_handele, portMAX_DELAY);
+        }
+
+        g_collect_timer_handele = xTimerCreate("collect", pdMS_TO_TICKS(radar_args.collect_duration->ival[0]),
+                                               true, NULL, collect_timercb);
+        xTimerStart(g_collect_timer_handele, portMAX_DELAY);
+    }
+
+    if (radar_args.csi_output_format->count) {
+        strcpy(g_console_input_config.csi_output_format, radar_args.csi_output_format->sval[0]);
+    }
+
+    if (radar_args.csi_output_type->count) {
+        esp_radar_config_t radar_config = {0};
+        esp_radar_get_config(&radar_config);
+
+        if (!strcasecmp(radar_args.csi_output_type->sval[0], "NULL")) {
+            radar_config.csi_config.csi_filtered_cb = NULL;
+        } else {
+            radar_config.csi_config.csi_filtered_cb = wifi_csi_raw_cb;
+            strcpy(g_console_input_config.csi_output_type, radar_args.csi_output_type->sval[0]);
+#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C61
+            if (!strcasecmp(radar_args.csi_output_type->sval[0], "LLTF")) {
+                radar_config.csi_config.acquire_csi_lltf = true;
+                radar_config.dec_config.ltf_type = RADAR_LTF_TYPE_LLTF;
+                radar_config.dec_config.sub_carrier_step_size = 2;
+            } else if (!strcasecmp(radar_args.csi_output_type->sval[0], "HT-LTF")) {
+                radar_config.csi_config.acquire_csi_lltf = false;
+                radar_config.csi_config.acquire_csi_ht20 = true;
+                radar_config.csi_config.acquire_csi_ht40 = true;
+                radar_config.csi_config.acquire_csi_vht = true;
+                radar_config.dec_config.ltf_type = RADAR_LTF_TYPE_HTLTF;
+                radar_config.dec_config.sub_carrier_step_size = 5;
+            } else if (!strcasecmp(radar_args.csi_output_type->sval[0], "STBC-HT-LTF")) {
+                radar_config.csi_config.acquire_csi_lltf = false;
+                radar_config.csi_config.acquire_csi_ht20 = true;
+                radar_config.csi_config.acquire_csi_ht40 = true;
+                radar_config.csi_config.acquire_csi_vht = true;
+                radar_config.dec_config.ltf_type = RADAR_LTF_TYPE_STBC_HTLTF;
+                radar_config.dec_config.sub_carrier_step_size = 5;
+            } else if (!strcasecmp(radar_args.csi_output_type->sval[0], "HE-LTF")) {
+                radar_config.csi_config.acquire_csi_lltf = false;
+                radar_config.csi_config.acquire_csi_su = true;
+                radar_config.csi_config.acquire_csi_mu = true;
+                radar_config.csi_config.acquire_csi_dcm = true;
+                radar_config.csi_config.acquire_csi_beamformed = true;
+                radar_config.csi_config.acquire_csi_vht = true;
+                radar_config.dec_config.ltf_type = RADAR_LTF_TYPE_HELTF;
+                radar_config.dec_config.sub_carrier_step_size = 5;
+            } else if (!strcasecmp(radar_args.csi_output_type->sval[0], "STBC-HE-LTF")) {
+                radar_config.csi_config.acquire_csi_lltf = false;
+                radar_config.csi_config.acquire_csi_su = true;
+                radar_config.csi_config.acquire_csi_mu = true;
+                radar_config.csi_config.acquire_csi_dcm = true;
+                radar_config.csi_config.acquire_csi_beamformed = true;
+                radar_config.csi_config.acquire_csi_he_stbc_mode = CSI_HE_STBC_MODE_AVERAGE;
+                radar_config.csi_config.acquire_csi_vht = true;
+                radar_config.dec_config.ltf_type = RADAR_LTF_TYPE_STBC_HELTF;
+                radar_config.dec_config.sub_carrier_step_size = 5;
+            }
+#endif
+        }
+
+        esp_radar_change_config(&radar_config);
+    }
+
+    if (radar_args.csi_start->count) {
+        esp_radar_start();
+    }
+
+    if (radar_args.csi_stop->count) {
+        esp_radar_stop();
+    }
+
+#if CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32
+    if (radar_args.csi_scale_shift->count) {
+        esp_radar_config_t radar_config = {0};
+        esp_radar_get_config(&radar_config);
+        radar_config.csi_config.shift = radar_args.csi_scale_shift->ival[0];
+        esp_radar_change_config(&radar_config);
+
+        ESP_LOGI(TAG, "manually left shift %d bits of the scale of the CSI data", radar_config.csi_config.shift);
+    }
+
+    if (radar_args.channel_filter->count) {
+        esp_radar_config_t radar_config = {0};
+        esp_radar_get_config(&radar_config);
+        radar_config.csi_config.channel_filter_en = radar_args.channel_filter->ival[0];
+        esp_radar_change_config(&radar_config);
+
+        ESP_LOGI(TAG, "enable(%d) to turn on channel filter to smooth adjacent sub-carrier", radar_config.csi_config.channel_filter_en);
+    }
+#endif
+    if (radar_args.send_data_interval->count) {
+        g_send_data_interval = radar_args.send_data_interval->ival[0];
+    }
+
+    return ESP_OK;
+}
+
+void cmd_register_radar(void)
+{
+    radar_args.train_start = arg_lit0(NULL, "train_start", "Start calibrating the 'Radar' algorithm");
+    radar_args.train_stop  = arg_lit0(NULL, "train_stop", "Stop calibrating the 'Radar' algorithm");
+    radar_args.train_add   = arg_lit0(NULL, "train_add", "Calibrate on the basis of saving the calibration results");
+
+    radar_args.predict_someone_threshold = arg_str0(NULL, "predict_someone_threshold", "<0 ~ 1.0>", "Configure the threshold for someone");
+    radar_args.predict_someone_sensitivity  = arg_str0(NULL, "predict_someone_sensitivity", "<0 ~ 1.0>", "Configure the sensitivity for someone");
+    radar_args.predict_move_threshold    = arg_str0(NULL, "predict_move_threshold", "<0 ~ 1.0>", "Configure the threshold for move");
+    radar_args.predict_move_sensitivity  = arg_str0(NULL, "predict_move_sensitivity", "<0 ~ 1.0>", "Configure the sensitivity for move");
+    radar_args.predict_buff_size         = arg_int0(NULL, "predict_buff_size", "1 ~ 100", "Buffer size for filtering outliers");
+    radar_args.predict_outliers_number   = arg_int0(NULL, "predict_outliers_number", "<1 ~ 100>", "The number of items in the buffer queue greater than the threshold");
+
+    radar_args.collect_taget    = arg_str0(NULL, "collect_tagets", "<0 ~ 20>", "Type of CSI data collected");
+    radar_args.collect_number   = arg_int0(NULL, "collect_number", "sequence", "Number of times CSI data was collected");
+    radar_args.collect_duration = arg_int0(NULL, "collect_duration", "duration", "Time taken to acquire one CSI data");
+
+    radar_args.csi_start         = arg_lit0(NULL, "csi_start", "Start collecting CSI data from Wi-Fi");
+    radar_args.csi_stop          = arg_lit0(NULL, "csi_stop", "Stop CSI data collection from Wi-Fi");
+    radar_args.csi_output_type   = arg_str0(NULL, "csi_output_type", "<NULL, LLTF, HT-LTF, HE-LTF, STBC-HT-LTF, STBC-HE-LTF>", "Type of CSI data");
+    radar_args.csi_output_format = arg_str0(NULL, "csi_output_format", "<decimal, base64>", "Format of CSI data");
+    radar_args.csi_scale_shift   = arg_int0(NULL, "scale_shift", "<0~15>", "manually left shift bits of the scale of the CSI data");
+    radar_args.channel_filter    = arg_int0(NULL, "channel_filter", "<0 or 1>", "enable to turn on channel filter to smooth adjacent sub-carrier");
+
+    radar_args.send_data_interval = arg_int0(NULL, "send_data_interval", "<interval_ms>", "The interval between sending null data or ping packets to the router");
+
+    radar_args.end                = arg_end(8);
+
+    const esp_console_cmd_t radar_cmd = {
+        .command = "radar",
+        .help = "Radar config",
+        .hint = NULL,
+        .func = &wifi_cmd_radar,
+        .argtable = &radar_args
+    };
+
+    ESP_ERROR_CHECK(esp_console_cmd_register(&radar_cmd));
+}
+
+static void csi_data_print_task(void *arg)
+{
+    wifi_csi_filtered_info_t *info = NULL;
+    char *buffer = malloc(8 * 1024);
+    static uint32_t count = 0;
+
+    while (xQueueReceive(g_csi_info_queue, &info, portMAX_DELAY)) {
+        size_t len = 0;
+        esp_radar_rx_ctrl_info_t *rx_ctrl = &info->rx_ctrl_info;
+
+        if (!count) {
+            ESP_LOGI(TAG, "================ CSI RECV ================");
+            len += sprintf(buffer + len, "type,sequence,timestamp,taget_seq,target,mac,rssi,rate,sig_mode,mcs,bandwidth,smoothing,not_sounding,aggregation,stbc,fec_coding,sgi,noise_floor,ampdu_cnt,channel,secondary_channel,local_timestamp,ant,sig_len,rx_state,agc_gain,fft_gain,len,first_word,data\n");
+        }
+        uint16_t valid_len = info->valid_len;
+        ESP_LOGI(TAG, "info->valid_len1: %d", info->valid_len);
+        if (!strcasecmp(g_console_input_config.csi_output_type, "LLTF")) {
+            info->valid_len = info->valid_lltf_len;
+        } else if (!strcasecmp(g_console_input_config.csi_output_type, "HT-LTF")) {
+            info->valid_len = info->valid_lltf_len + info->valid_ht_ltf_len;
+        } else if (!strcasecmp(g_console_input_config.csi_output_type, "STBC-HT-LTF")) {
+            info->valid_len = info->valid_lltf_len + info->valid_ht_ltf_len + info->valid_stbc_ht_ltf_len;
+#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32C61
+        } else if (!strcasecmp(g_console_input_config.csi_output_type, "HE-LTF")) {
+            info->valid_len = info->valid_he_ltf_len;
+        } else if (!strcasecmp(g_console_input_config.csi_output_type, "STBC-HE-LTF")) {
+            info->valid_len = info->valid_he_ltf_len + info->valid_stbc_he_ltf_len;
+#endif
+        }
+        ESP_LOGI(TAG, "info->valid_len: %d", info->valid_len);
+        if (info->valid_len == 0) {
+            info->valid_len = valid_len;
+
+        }
+        len += sprintf(buffer + len, "CSI_DATA,%s,%s,%d,%u,%u,%s," MACSTR ",%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%u,%d,%d,%d,%d,%d,%d,%d,",
+                       CONFIG_DEVICE_NAME, CONFIG_DEVICE_LOCATION,
+                       count++, esp_log_timestamp(), g_console_input_config.collect_number, g_console_input_config.collect_taget,
+                       MAC2STR(info->mac), rx_ctrl->rssi, rx_ctrl->rate, rx_ctrl->signal_mode,
+                       rx_ctrl->mcs, rx_ctrl->cwb, 0, 0,
+                       0, rx_ctrl->stbc, 0, 0,
+                       rx_ctrl->noise_floor, 0, rx_ctrl->channel, rx_ctrl->secondary_channel,
+                       rx_ctrl->timestamp, 0, 0, 0, rx_ctrl->agc_gain, rx_ctrl->fft_gain, info->valid_len, 0);
+
+        if (!strcasecmp(g_console_input_config.csi_output_format, "base64")) {
+            size_t size = 0;
+            mbedtls_base64_encode((uint8_t *)buffer + len, sizeof(buffer) - len, &size, (uint8_t *)info->valid_data, info->valid_len);
+            len += size;
+            len += sprintf(buffer + len, "\n");
+        } else {
+            len += sprintf(buffer + len, "\"[%d", info->valid_data[0]);
+
+            for (int i = 1; i < info->valid_len; i++) {
+                len += sprintf(buffer + len, ",%d", info->valid_data[i]);
+            }
+
+            len += sprintf(buffer + len, "]\"\n");
+        }
+
+        printf("%s", buffer);
+        free(info);
+    }
+
+    free(buffer);
+    vTaskDelete(NULL);
+}
+
+static void wifi_radar_cb(void *ctx, const wifi_radar_info_t *info)
+{
+    static float *s_buff_wander  = NULL;
+    static float *s_buff_jitter  = NULL;
+    static uint32_t s_buff_count = 0;
+    uint32_t buff_max_size       = g_console_input_config.predict_buff_size;
+    uint32_t buff_outliers_num   = g_console_input_config.predict_outliers_number;
+    uint32_t someone_count       = 0;
+    uint32_t move_count          = 0;
+    bool room_status             = false;
+    bool human_status            = false;
+
+    if (!s_buff_wander) {
+        s_buff_wander = calloc(RADAR_BUFF_MAX_LEN, sizeof(float));
+    }
+
+    if (!s_buff_jitter) {
+        s_buff_jitter = calloc(RADAR_BUFF_MAX_LEN, sizeof(float));
+    }
+
+    s_buff_wander[s_buff_count % RADAR_BUFF_MAX_LEN] = info->waveform_wander;
+    s_buff_jitter[s_buff_count % RADAR_BUFF_MAX_LEN] = info->waveform_jitter;
+    s_buff_count++;
+
+    if (s_buff_count < buff_max_size) {
+        return;
+    }
+
+    extern float trimmean(const float * array, size_t len, float percent);
+    extern float median(const float * a, size_t len);
+
+    float wander_average = trimmean(s_buff_wander, RADAR_BUFF_MAX_LEN, 0.5);
+    float jitter_midean = median(s_buff_jitter, RADAR_BUFF_MAX_LEN);
+
+    for (int i = 0; i < buff_max_size; i++) {
+        uint32_t index = (s_buff_count - 1 - i) % RADAR_BUFF_MAX_LEN;
+
+        if ((wander_average * g_console_input_config.predict_someone_sensitivity > g_console_input_config.predict_someone_threshold)) {
+            someone_count++;
+        }
+
+        if (s_buff_jitter[index] * g_console_input_config.predict_move_sensitivity > g_console_input_config.predict_move_threshold
+                || (s_buff_jitter[index] * g_console_input_config.predict_move_sensitivity > jitter_midean && s_buff_jitter[index] > 0.0002)) {
+            move_count++;
+        }
+    }
+
+    if (someone_count >= 1) {
+        room_status = true;
+    }
+
+    if (move_count >= buff_outliers_num) {
+        human_status = true;
+    }
+
+    static uint32_t s_count = 0;
+
+    if (!s_count) {
+        ESP_LOGI(TAG, "================ RADAR RECV ================");
+        ESP_LOGI(TAG, "type,sequence,timestamp,waveform_wander,someone_threshold,someone_status,waveform_jitter,move_threshold,move_status");
+    }
+
+    char timestamp_str[32] = {0};
+    sprintf(timestamp_str, "%u", esp_log_timestamp());
+
+    if (ctx) {
+        strncpy(timestamp_str, (char *)ctx, 31);
+    }
+
+    static uint32_t s_last_move_time    = 0;
+    static uint32_t s_last_someone_time = 0;
+
+    if (g_console_input_config.train_start) {
+        s_last_move_time    = esp_log_timestamp();
+        s_last_someone_time = esp_log_timestamp();
+
+        static bool led_status = false;
+
+        if (led_status) {
+            led_strip_set_pixel(led_strip, 0, 0, 0, 0);
+        } else {
+            led_strip_set_pixel(led_strip, 0, 255, 255, 0);
+        }
+        led_status = !led_status;
+        led_strip_refresh(led_strip);
+        return;
+    }
+
+    printf("RADAR_DADA,%d,%s,%.6f,%.6f,%.6f,%d,%.6f,%.6f,%.6f,%d\n",
+           s_count++, timestamp_str,
+           info->waveform_wander, wander_average, g_console_input_config.predict_someone_threshold / g_console_input_config.predict_someone_sensitivity, room_status,
+           info->waveform_jitter, jitter_midean, jitter_midean / g_console_input_config.predict_move_sensitivity, human_status);
+
+    if (room_status) {
+        if (human_status) {
+            led_strip_set_pixel(led_strip, 0, 0, 255, 0);
+            ESP_LOGI(TAG, "Someone moved");
+            s_last_move_time = esp_log_timestamp();
+        } else if (esp_log_timestamp() - s_last_move_time > 3 * 1000) {
+            led_strip_set_pixel(led_strip, 0, 255, 255, 255);
+            ESP_LOGI(TAG, "Someone");
+        }
+
+        s_last_someone_time = esp_log_timestamp();
+    } else if (esp_log_timestamp() - s_last_someone_time > 3 * 1000) {
+        if (human_status) {
+            s_last_move_time = esp_log_timestamp();
+            led_strip_set_pixel(led_strip, 0, 255, 0, 0);
+        } else if (esp_log_timestamp() - s_last_move_time > 3 * 1000) {
+            led_strip_set_pixel(led_strip, 0, 0, 0, 0);
+        }
+    }
+    led_strip_refresh(led_strip);
+}
+
+static void trigger_router_send_data_task(void *arg)
+{
+    esp_radar_config_t radar_config = {0};
+    wifi_ap_record_t ap_info         = {0};
+    uint8_t sta_mac[6]               = {0};
+
+    esp_radar_get_config(&radar_config);
+    esp_wifi_sta_get_ap_info(&ap_info);
+    ESP_ERROR_CHECK(esp_wifi_get_mac(WIFI_IF_STA, sta_mac));
+
+    radar_config.csi_config.csi_recv_interval = g_send_data_interval;
+    memcpy(radar_config.csi_config.filter_dmac, sta_mac, sizeof(radar_config.csi_config.filter_dmac));
+
+#if WIFI_CSI_SEND_NULL_DATA_ENABLE
+    ESP_LOGI(TAG, "Send null data to router");
+
+    memset(radar_config.csi_config.filter_mac, 0, sizeof(radar_config.csi_config.filter_mac));
+    esp_radar_change_config(&radar_config);
+
+    typedef struct {
+        uint8_t frame_control[2];
+        uint16_t duration;
+        uint8_t destination_address[6];
+        uint8_t source_address[6];
+        uint8_t broadcast_address[6];
+        uint16_t sequence_control;
+    } __attribute__((packed)) wifi_null_data_t;
+
+    wifi_null_data_t null_data = {
+        .frame_control       = {0x48, 0x01},
+        .duration            = 0x0000,
+        .sequence_control    = 0x0000,
+    };
+
+    memcpy(null_data.destination_address, ap_info.bssid, 6);
+    memcpy(null_data.broadcast_address, ap_info.bssid, 6);
+    memcpy(null_data.source_address, sta_mac, 6);
+
+    ESP_LOGW(TAG, "null_data, destination_address: "MACSTR", source_address: "MACSTR", broadcast_address: " MACSTR,
+             MAC2STR(null_data.destination_address), MAC2STR(null_data.source_address), MAC2STR(null_data.broadcast_address));
+
+    ESP_ERROR_CHECK(esp_wifi_config_80211_tx_rate(WIFI_IF_STA, WIFI_PHY_RATE_6M));
+
+    for (int i = 0; g_wifi_connect_status; i++) {
+        esp_err_t ret = esp_wifi_80211_tx(WIFI_IF_STA, &null_data, sizeof(wifi_null_data_t), true);
+        if (ret != ESP_OK) {
+            ESP_LOGW(TAG, "esp_wifi_80211_tx, %s", esp_err_to_name(ret));
+            vTaskDelay(pdMS_TO_TICKS(1000));
+        }
+
+        vTaskDelay(pdMS_TO_TICKS(g_send_data_interval));
+    }
+
+#else
+    ESP_LOGI(TAG, "Send ping data to router");
+
+    memcpy(radar_config.csi_config.filter_mac, ap_info.bssid, sizeof(radar_config.csi_config.filter_mac));
+    esp_radar_change_config(&radar_config);
+
+    /* stop and delete existing ping session if any */
+    if (g_ping_handle != NULL) {
+        ESP_LOGI(TAG, "Stopping existing ping session before starting new one");
+        esp_ping_stop(g_ping_handle);
+        esp_ping_delete_session(g_ping_handle);
+        g_ping_handle = NULL;
+        ESP_LOGI(TAG, "Existing ping session stopped and deleted");
+    }
+
+    esp_ping_config_t config = ESP_PING_DEFAULT_CONFIG();
+    config.count       = 0;
+    config.data_size   = 1;
+    config.interval_ms = g_send_data_interval;
+
+    /**
+     * @brief Get the Router IP information from the esp-netif
+     */
+    esp_netif_ip_info_t local_ip;
+    esp_netif_get_ip_info(esp_netif_get_handle_from_ifkey("WIFI_STA_DEF"), &local_ip);
+    ESP_LOGI(TAG, "Ping: got ip:" IPSTR ", gw: " IPSTR, IP2STR(&local_ip.ip), IP2STR(&local_ip.gw));
+    config.target_addr.u_addr.ip4.addr = ip4_addr_get_u32(&local_ip.gw);
+    config.target_addr.type = ESP_IPADDR_TYPE_V4;
+
+    esp_ping_callbacks_t cbs = { 0 };
+    esp_ping_new_session(&config, &cbs, &g_ping_handle);
+    esp_ping_start(g_ping_handle);
+#endif
+
+    vTaskDelete(NULL);
+}
+
+/* Event handler for catching system events */
+static void wifi_event_handler(void *arg, esp_event_base_t event_base,
+                               int32_t event_id, void *event_data)
+{
+    if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
+        g_wifi_connect_status = true;
+
+        xTaskCreate(trigger_router_send_data_task, "trigger_router_send_data", 4 * 1024, NULL, 5, NULL);
+
+#ifdef RECV_ESPNOW_CSI
+        ESP_ERROR_CHECK(esp_wifi_set_promiscuous(false));
+#endif
+    } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
+        g_wifi_connect_status = false;
+        ESP_LOGW(TAG, "Wi-Fi disconnected");
+        esp_radar_config_t radar_config;
+        esp_radar_get_config(&radar_config);
+        esp_radar_wifi_reinit(&radar_config.wifi_config);
+
+    }
+}
+esp_err_t ws2812_led_init(void)
+{
+    led_strip_config_t strip_config = {
+        .strip_gpio_num = WS2812_GPIO,
+        .max_leds = 1,
+    };
+
+    led_strip_rmt_config_t rmt_config = {
+        .clk_src = RMT_CLK_SRC_DEFAULT,    // different clock source can lead to different power consumption
+        .resolution_hz = 10 * 1000 * 1000, // RMT counter clock frequency: 10MHz
+        .flags = {
+            .with_dma = false, // DMA feature is available on chips like ESP32-S3/P4
+        }
+    };
+    ESP_ERROR_CHECK(led_strip_new_rmt_device(&strip_config, &rmt_config, &led_strip));
+    /* Set all LED off to clear all pixels */
+    led_strip_clear(led_strip);
+    return ESP_OK;
+}
+void app_main(void)
+{
+    ESP_LOGI(TAG, "app_main start, line: %d", __LINE__);
+    /**
+     * @brief Initialize NVS
+     */
+
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        ESP_ERROR_CHECK(nvs_flash_erase());
+        ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
+    ESP_LOGI(TAG, "app_main line: %d", __LINE__);
+    /**
+     * @brief Install ws2812 driver, Used to display the status of the device
+     */
+    ws2812_led_init();
+
+    ESP_LOGI(TAG, "app_main start, line: %d", __LINE__);
+    /**
+     * @brief Turn on the radar module printing information
+     */
+    esp_log_level_set("esp_radar", ESP_LOG_INFO);
+
+    /**
+     * @brief Register serial command
+     */
+    esp_console_repl_t *repl = NULL;
+    esp_console_repl_config_t repl_config = ESP_CONSOLE_REPL_CONFIG_DEFAULT();
+    esp_console_dev_uart_config_t uart_config = ESP_CONSOLE_DEV_UART_CONFIG_DEFAULT();
+    repl_config.prompt = "csi>";
+    ESP_ERROR_CHECK(esp_console_new_repl_uart(&uart_config, &repl_config, &repl));
+
+#if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2
+    /**< Fix serial port garbled code due to high baud rate */
+    uart_ll_set_sclk(UART_LL_GET_HW(CONFIG_ESP_CONSOLE_UART_NUM), UART_SCLK_APB);
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0)
+    uart_ll_set_baudrate(UART_LL_GET_HW(CONFIG_ESP_CONSOLE_UART_NUM), CONFIG_ESP_CONSOLE_UART_BAUDRATE, APB_CLK_FREQ);
+#else
+    uart_ll_set_baudrate(UART_LL_GET_HW(CONFIG_ESP_CONSOLE_UART_NUM), CONFIG_ESP_CONSOLE_UART_BAUDRATE);
+#endif
+#endif
+
+    /**
+     * @brief Set the Wi-Fi radar configuration
+     */
+    esp_radar_csi_config_t csi_config = ESP_RADAR_CSI_CONFIG_DEFAULT();
+    esp_radar_wifi_config_t wifi_config = ESP_RADAR_WIFI_CONFIG_DEFAULT();
+    esp_radar_espnow_config_t espnow_config = ESP_RADAR_ESPNOW_CONFIG_DEFAULT();
+    esp_radar_dec_config_t dec_config = ESP_RADAR_DEC_CONFIG_DEFAULT();
+    memcpy(csi_config.filter_mac, "\x1a\x00\x00\x00\x00\x00", 6);
+    csi_config.csi_recv_interval = g_send_data_interval;
+    dec_config.wifi_radar_cb     = wifi_radar_cb;
+#if WIFI_CSI_SEND_NULL_DATA_ENABLE
+    csi_config.dump_ack_en       = true;
+#endif
+    dec_config.outliers_threshold = 0;
+    ESP_ERROR_CHECK(esp_radar_wifi_init(&wifi_config));
+    ESP_ERROR_CHECK(esp_radar_csi_init(&csi_config));
+    ESP_ERROR_CHECK(esp_radar_dec_init(&dec_config));
+
+    ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &wifi_event_handler, NULL));
+    ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, WIFI_EVENT_STA_DISCONNECTED, &wifi_event_handler, NULL));
+
+    cmd_register_ping();
+    cmd_register_system();
+    cmd_register_wifi_config();
+    cmd_register_wifi_scan();
+    cmd_register_radar();
+    ESP_ERROR_CHECK(esp_console_start_repl(repl));
+
+    /**
+     * @brief Start Wi-Fi radar
+     */
+    esp_radar_start();
+
+    /**
+     * @brief Initialize CSI serial port printing task, Use tasks to avoid blocking wifi_csi_raw_cb
+     */
+    g_csi_info_queue = xQueueCreate(64, sizeof(void *));
+    xTaskCreate(csi_data_print_task, "csi_data_print", 4 * 1024, NULL, 0, NULL);
+}

esp-radar/console_test/main/idf_component.yml

@@ -0,0 +1,7 @@
+## IDF Component Manager Manifest File
+dependencies:
+  idf: ">=4.4.1"
+
+  esp-radar: ">=0.3.0"
+
+  espressif/led_strip: "^2.5.3"

esp-radar/console_test/main/radar_evaluate.c

@@ -0,0 +1,255 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/* Wi-Fi CSI console Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/event_groups.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "nvs_flash.h"
+#include "esp_err.h"
+#include "esp_console.h"
+
+#include "esp_wifi.h"
+#include "lwip/inet.h"
+#include "lwip/netdb.h"
+#include "lwip/sockets.h"
+
+#include "mbedtls/base64.h"
+#include "esp_radar.h"
+
+#define RX_BUFFER_SIZE              1460
+#define KEEPALIVE_IDLE              1
+#define KEEPALIVE_INTERVAL          1
+#define KEEPALIVE_COUNT             3
+typedef union {
+    struct  {
+        const char *type;
+        const char *id;
+        const char *timestamp;
+        const char *action_id;
+        const char *action;
+        const char *mac;
+        const char *rssi;
+        const char *rate;
+        const char *sig_mode;
+        const char *mcs;
+        const char *bandwidth;
+        const char *smoothing;
+        const char *not_sounding;
+        const char *aggregation;
+        const char *stbc;
+        const char *fec_coding;
+        const char *sgi;
+        const char *noise_floor;
+        const char *ampdu_cnt;
+        const char *channel;
+        const char *secondary_channel;
+        const char *local_timestamp;
+        const char *ant;
+        const char *sig_len;
+        const char *rx_state;
+        const char *len;
+        const char *first_word;
+        const char *data;
+    };
+    const char *data_array[28];
+} csi_data_str_t;
+
+static char *TAG = "radar_evaluate";
+static char g_wifi_radar_cb_ctx[32] = {0};
+static TaskHandle_t g_tcp_server_task_handle = NULL;
+
+static void csi_info_analysis(char *data, size_t size)
+{
+    uint8_t column = 0;
+    const char *s = ",";
+    char *token   = NULL;
+    csi_data_str_t *csi_data = malloc(sizeof(csi_data_str_t));
+
+    token = strtok(data, s);
+
+    do {
+        csi_data->data_array[column++] = token;
+        token = strtok(NULL, s);
+    } while (token != NULL && column < 28);
+
+    if (token != NULL) {
+        ESP_LOGE(TAG, "data error, temp_data: %s", data);
+    }
+
+    wifi_csi_filtered_info_t *filtered_info = malloc(sizeof(wifi_csi_filtered_info_t) + 52 * 2);
+    mbedtls_base64_decode((uint8_t *)filtered_info->valid_data, 52 * 2, (size_t *)&filtered_info->valid_len, (uint8_t *)csi_data->data, strlen(csi_data->data));
+    filtered_info->rx_ctrl_info.timestamp = atoi(csi_data->local_timestamp);
+    strcpy(g_wifi_radar_cb_ctx, csi_data->timestamp);
+    // ESP_LOGI(TAG,"count: %s, timestamp: %d", csi_data->id, filtered_info->rx_ctrl.timestamp);
+
+    extern esp_err_t csi_data_push(wifi_csi_filtered_info_t *info);
+    csi_data_push(filtered_info);
+
+    free(csi_data);
+}
+
+static void tcp_server_task(void *arg)
+{
+    char addr_str[128];
+    int addr_family = AF_INET;
+    int ip_protocol = 0;
+    int keepAlive = 1;
+    int keepIdle = KEEPALIVE_IDLE;
+    int keepInterval = KEEPALIVE_INTERVAL;
+    int keepCount = KEEPALIVE_COUNT;
+    struct sockaddr_storage dest_addr;
+    uint32_t port = (uint32_t)arg;
+
+    if (addr_family == AF_INET) {
+        struct sockaddr_in *dest_addr_ip4 = (struct sockaddr_in *)&dest_addr;
+        dest_addr_ip4->sin_addr.s_addr = htonl(INADDR_ANY);
+        dest_addr_ip4->sin_family = AF_INET;
+        dest_addr_ip4->sin_port = htons(port);
+        ip_protocol = IPPROTO_IP;
+    }
+
+    int listen_sock = socket(addr_family, SOCK_STREAM, ip_protocol);
+
+    if (listen_sock < 0) {
+        ESP_LOGE(TAG, "Unable to create socket: errno %d", errno);
+        vTaskDelete(NULL);
+        return;
+    }
+
+    int opt = 1;
+    setsockopt(listen_sock, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));
+
+    ESP_LOGI(TAG, "Socket created");
+
+    int err = bind(listen_sock, (struct sockaddr *)&dest_addr, sizeof(dest_addr));
+
+    if (err != 0) {
+        ESP_LOGE(TAG, "Socket unable to bind: errno %d, errno_str: %s", errno, strerror(errno));
+        ESP_LOGE(TAG, "IPPROTO: %d", addr_family);
+        goto CLEAN_UP;
+    }
+
+    ESP_LOGI(TAG, "Socket bound, port %d", port);
+
+    err = listen(listen_sock, 1);
+
+    if (err != 0) {
+        ESP_LOGE(TAG, "Error occurred during listen: errno %d", errno);
+        goto CLEAN_UP;
+    }
+
+    while (1) {
+        ESP_LOGI(TAG, "Socket listening");
+        struct sockaddr_storage source_addr; // Large enough for both IPv4 or IPv6
+        socklen_t addr_len = sizeof(source_addr);
+        int sock = accept(listen_sock, (struct sockaddr *)&source_addr, &addr_len);
+
+        if (sock < 0) {
+            ESP_LOGE(TAG, "Unable to accept connection: errno %d", errno);
+            break;
+        }
+
+        // Set tcp keepalive option
+        setsockopt(sock, SOL_SOCKET, SO_KEEPALIVE, &keepAlive, sizeof(int));
+        setsockopt(sock, IPPROTO_TCP, TCP_KEEPIDLE, &keepIdle, sizeof(int));
+        setsockopt(sock, IPPROTO_TCP, TCP_KEEPINTVL, &keepInterval, sizeof(int));
+        setsockopt(sock, IPPROTO_TCP, TCP_KEEPCNT, &keepCount, sizeof(int));
+
+        // Convert ip address to string
+        if (source_addr.ss_family == PF_INET) {
+            inet_ntoa_r(((struct sockaddr_in *)&source_addr)->sin_addr, addr_str, sizeof(addr_str) - 1);
+        }
+
+        ESP_LOGI(TAG, "Socket accepted ip address: %s", addr_str);
+
+        int len;
+        char *rx_buffer = malloc(RX_BUFFER_SIZE);
+        size_t buf_size = 0;
+
+        esp_radar_config_t radar_config = {0};
+        esp_radar_get_config(&radar_config);
+        radar_config.dec_config.wifi_radar_cb_ctx = g_wifi_radar_cb_ctx;
+        esp_radar_change_config(&radar_config);
+
+        do {
+            len = recv(sock, rx_buffer + buf_size, RX_BUFFER_SIZE - buf_size - 1, 0);
+
+            // ESP_LOGW(TAG, "len: %d, rx_buffer: %s", len, rx_buffer);
+            if (len < 0) {
+                ESP_LOGE(TAG, "Error occurred during receiving: errno %d", errno);
+
+            } else if (len == 0) {
+                ESP_LOGW(TAG, "Connection closed");
+            } else {
+                buf_size += len;
+                rx_buffer[buf_size] = 0; // Null-terminate whatever is received and treat it like a string
+                // ESP_LOGI(TAG, "Received %d, buf_size: %d", len, buf_size);
+
+                while (buf_size > 250) {
+                    char *begin = strstr(rx_buffer, "CSI_DATA");
+                    char *end   = strstr(rx_buffer, "\n");
+                    ssize_t size  = end - begin;
+
+                    // ESP_LOGW("TAG", "begin: %p, end: %p, size: %d", begin, end, size);
+                    // ESP_LOGW(TAG, "size: %d, received: %d, buf_size: %d", size, len, buf_size);
+
+                    if (begin && end && size > 250) {
+                        begin[size] = '\0';
+                        csi_info_analysis(begin, size);
+                    }
+
+                    if (end) {
+                        buf_size -= (end + 1 - rx_buffer);
+                        memcpy(rx_buffer, end + 1, buf_size);
+                        memset(rx_buffer + buf_size, 0, end + 1 - rx_buffer);
+                    }
+
+                    if (begin && !end) {
+                        break;
+                    }
+                }
+            }
+        } while (len > 0);
+
+        shutdown(sock, 0);
+        close(sock);
+        free(rx_buffer);
+
+        ESP_LOGW(TAG, "Socket close: %s", addr_str);
+
+        vTaskDelay(pdMS_TO_TICKS(1000));
+        esp_radar_get_config(&radar_config);
+        radar_config.dec_config.wifi_radar_cb_ctx = NULL;
+        esp_radar_change_config(&radar_config);
+    }
+
+CLEAN_UP:
+    close(listen_sock);
+    g_tcp_server_task_handle = NULL;
+    vTaskDelete(NULL);
+}
+
+esp_err_t radar_evaluate_server(uint32_t port)
+{
+    if (!g_tcp_server_task_handle) {
+        xTaskCreate(tcp_server_task, "tcp_server", 4 * 1024, (void *)port, 0, &g_tcp_server_task_handle);
+    }
+
+    return ESP_OK;
+}

esp-radar/console_test/partitions.csv

@@ -0,0 +1,8 @@
+# Note: Firmware partition offset needs to be 64K aligned, initial 36K (9 sectors) are reserved for bootloader and partition table
+# Name,     Type, SubType,  Offset,     Size,  Flags
+nvs,        data, nvs,      0xd000,     32K,
+fctry,      data, nvs,      0x15000,    16K,
+log_status, data, nvs,      0x19000,    16K,
+otadata,    data, ota,      0x1d000,    8K,
+phy_init,   data, phy,      0x1f000,    4K,
+ota_0,      app,  ota_0,    0x20000,    1832K,

esp-radar/console_test/sdkconfig.defaults

@@ -0,0 +1,53 @@
+#
+# Serial flasher config
+#
+CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
+CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
+CONFIG_ESPTOOLPY_BAUD_921600B=y
+CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
+CONFIG_ESPTOOLPY_MONITOR_BAUD_2MB=y
+CONFIG_ESP_CONSOLE_UART_BAUDRATE=2000000
+
+#
+# Partition Table
+#
+CONFIG_PARTITION_TABLE_CUSTOM=y
+CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
+
+#
+# Wi-Fi
+#
+CONFIG_ESP32_WIFI_CSI_ENABLED=y
+CONFIG_ESP32_WIFI_AMPDU_TX_ENABLED=
+
+#
+# Common ESP-related
+#
+CONFIG_ESP_CONSOLE_UART_CUSTOM=y
+CONFIG_ESP_CONSOLE_UART=y
+CONFIG_ESP_CONSOLE_UART_NUM=0
+CONFIG_ESP_TASK_WDT_TIMEOUT_S=30
+
+#
+# Compiler options
+#
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
+
+#
+# FreeRTOS
+#
+CONFIG_FREERTOS_HZ=1000
+
+#
+# ESP32-specific
+#
+CONFIG_ESP32_DEFAULT_CPU_FREQ_240=y
+CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ=240
+
+CONFIG_ESP32_WIFI_DYNAMIC_TX_BUFFER_NUM=32
+
+#
+# ESP32S3-specific
+#
+CONFIG_ESP32S3_DEFAULT_CPU_FREQ_240=y
+CONFIG_ESP32S3_DEFAULT_CPU_FREQ_MHZ=240

esp-radar/console_test/tools/config/gui_config.json

@@ -0,0 +1 @@
+{"router_ssid": "Tplink_nyx", "router_password": "12345678", "router_auto_connect": false, "display_raw_data": true, "display_radar_model": true, "display_eigenvalues_table": false}

esp-radar/console_test/tools/esp_csi_tool_gui.py

@@ -0,0 +1,869 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'esp_csi_tool_gui.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.10
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+
+
+class Ui_MainWindow(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(1563, 850)
+        font = QtGui.QFont()
+        font.setPointSize(14)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        MainWindow.setFont(font)
+        MainWindow.setDockOptions(QtWidgets.QMainWindow.AllowTabbedDocks|QtWidgets.QMainWindow.AnimatedDocks)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.verticalLayout_17 = QtWidgets.QVBoxLayout(self.centralwidget)
+        self.verticalLayout_17.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_17.setSpacing(0)
+        self.verticalLayout_17.setObjectName("verticalLayout_17")
+        self.horizontalLayout_11 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_11.setSizeConstraint(QtWidgets.QLayout.SetMinimumSize)
+        self.horizontalLayout_11.setSpacing(12)
+        self.horizontalLayout_11.setObjectName("horizontalLayout_11")
+        spacerItem = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
+        self.horizontalLayout_11.addItem(spacerItem)
+        self.label_2 = QtWidgets.QLabel(self.centralwidget)
+        self.label_2.setObjectName("label_2")
+        self.horizontalLayout_11.addWidget(self.label_2)
+        self.checkBox_raw_data = QtWidgets.QCheckBox(self.centralwidget)
+        self.checkBox_raw_data.setChecked(True)
+        self.checkBox_raw_data.setObjectName("checkBox_raw_data")
+        self.horizontalLayout_11.addWidget(self.checkBox_raw_data)
+        self.checkBox_radar_model = QtWidgets.QCheckBox(self.centralwidget)
+        self.checkBox_radar_model.setChecked(True)
+        self.checkBox_radar_model.setObjectName("checkBox_radar_model")
+        self.horizontalLayout_11.addWidget(self.checkBox_radar_model)
+        self.verticalLayout_17.addLayout(self.horizontalLayout_11)
+        self.splitter_display = QtWidgets.QSplitter(self.centralwidget)
+        self.splitter_display.setOrientation(QtCore.Qt.Horizontal)
+        self.splitter_display.setObjectName("splitter_display")
+        self.groupBox_raw_data = QtWidgets.QGroupBox(self.splitter_display)
+        font = QtGui.QFont()
+        font.setPointSize(14)
+        font.setBold(True)
+        font.setWeight(75)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.groupBox_raw_data.setFont(font)
+        self.groupBox_raw_data.setAlignment(QtCore.Qt.AlignCenter)
+        self.groupBox_raw_data.setObjectName("groupBox_raw_data")
+        self.verticalLayout_6 = QtWidgets.QVBoxLayout(self.groupBox_raw_data)
+        self.verticalLayout_6.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_6.setSpacing(0)
+        self.verticalLayout_6.setObjectName("verticalLayout_6")
+        self.splitter_raw_data = QtWidgets.QSplitter(self.groupBox_raw_data)
+        self.splitter_raw_data.setOrientation(QtCore.Qt.Vertical)
+        self.splitter_raw_data.setObjectName("splitter_raw_data")
+        self.groupBox_16 = QtWidgets.QGroupBox(self.splitter_raw_data)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Minimum)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.groupBox_16.sizePolicy().hasHeightForWidth())
+        self.groupBox_16.setSizePolicy(sizePolicy)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.groupBox_16.setFont(font)
+        self.groupBox_16.setObjectName("groupBox_16")
+        self.verticalLayout_4 = QtWidgets.QVBoxLayout(self.groupBox_16)
+        self.verticalLayout_4.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_4.setSpacing(0)
+        self.verticalLayout_4.setObjectName("verticalLayout_4")
+        self.groupBox_11 = QtWidgets.QGroupBox(self.groupBox_16)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Minimum)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.groupBox_11.sizePolicy().hasHeightForWidth())
+        self.groupBox_11.setSizePolicy(sizePolicy)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.groupBox_11.setFont(font)
+        self.groupBox_11.setObjectName("groupBox_11")
+        self.horizontalLayout_13 = QtWidgets.QHBoxLayout(self.groupBox_11)
+        self.horizontalLayout_13.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_13.setSpacing(9)
+        self.horizontalLayout_13.setObjectName("horizontalLayout_13")
+        self.label_delay_2 = QtWidgets.QLabel(self.groupBox_11)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.label_delay_2.sizePolicy().hasHeightForWidth())
+        self.label_delay_2.setSizePolicy(sizePolicy)
+        self.label_delay_2.setObjectName("label_delay_2")
+        self.horizontalLayout_13.addWidget(self.label_delay_2)
+        self.lineEdit_router_ssid = QtWidgets.QLineEdit(self.groupBox_11)
+        self.lineEdit_router_ssid.setObjectName("lineEdit_router_ssid")
+        self.horizontalLayout_13.addWidget(self.lineEdit_router_ssid)
+        self.label_duration_2 = QtWidgets.QLabel(self.groupBox_11)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.label_duration_2.sizePolicy().hasHeightForWidth())
+        self.label_duration_2.setSizePolicy(sizePolicy)
+        self.label_duration_2.setObjectName("label_duration_2")
+        self.horizontalLayout_13.addWidget(self.label_duration_2)
+        self.lineEdit_router_password = QtWidgets.QLineEdit(self.groupBox_11)
+        self.lineEdit_router_password.setObjectName("lineEdit_router_password")
+        self.horizontalLayout_13.addWidget(self.lineEdit_router_password)
+        self.checkBox_router_auto_connect = QtWidgets.QCheckBox(self.groupBox_11)
+        self.checkBox_router_auto_connect.setChecked(True)
+        self.checkBox_router_auto_connect.setObjectName("checkBox_router_auto_connect")
+        self.horizontalLayout_13.addWidget(self.checkBox_router_auto_connect)
+        self.pushButton_router_connect = QtWidgets.QPushButton(self.groupBox_11)
+        font = QtGui.QFont()
+        font.setPointSize(14)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.pushButton_router_connect.setFont(font)
+        self.pushButton_router_connect.setAutoDefault(False)
+        self.pushButton_router_connect.setDefault(False)
+        self.pushButton_router_connect.setObjectName("pushButton_router_connect")
+        self.horizontalLayout_13.addWidget(self.pushButton_router_connect)
+        self.horizontalLayout_13.setStretch(0, 1)
+        self.horizontalLayout_13.setStretch(1, 4)
+        self.horizontalLayout_13.setStretch(2, 1)
+        self.horizontalLayout_13.setStretch(3, 4)
+        self.horizontalLayout_13.setStretch(4, 1)
+        self.horizontalLayout_13.setStretch(5, 2)
+        self.verticalLayout_4.addWidget(self.groupBox_11)
+        self.horizontalLayout_4 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_4.setSpacing(0)
+        self.horizontalLayout_4.setObjectName("horizontalLayout_4")
+        self.label = QtWidgets.QLabel(self.groupBox_16)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.label.setFont(font)
+        self.label.setObjectName("label")
+        self.horizontalLayout_4.addWidget(self.label)
+        self.lineEdit_command = QtWidgets.QLineEdit(self.groupBox_16)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.lineEdit_command.setFont(font)
+        self.lineEdit_command.setObjectName("lineEdit_command")
+        self.horizontalLayout_4.addWidget(self.lineEdit_command)
+        self.comboBox_command = QtWidgets.QComboBox(self.groupBox_16)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.comboBox_command.setFont(font)
+        self.comboBox_command.setObjectName("comboBox_command")
+        self.comboBox_command.addItem("")
+        self.comboBox_command.addItem("")
+        self.comboBox_command.addItem("")
+        self.comboBox_command.addItem("")
+        self.comboBox_command.addItem("")
+        self.comboBox_command.addItem("")
+        self.comboBox_command.addItem("")
+        self.horizontalLayout_4.addWidget(self.comboBox_command)
+        self.pushButton_command = QtWidgets.QPushButton(self.groupBox_16)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.pushButton_command.setFont(font)
+        self.pushButton_command.setObjectName("pushButton_command")
+        self.horizontalLayout_4.addWidget(self.pushButton_command)
+        self.horizontalLayout_4.setStretch(0, 1)
+        self.horizontalLayout_4.setStretch(1, 8)
+        self.horizontalLayout_4.setStretch(2, 3)
+        self.horizontalLayout_4.setStretch(3, 2)
+        self.verticalLayout_4.addLayout(self.horizontalLayout_4)
+        self.layoutWidget = QtWidgets.QWidget(self.splitter_raw_data)
+        self.layoutWidget.setObjectName("layoutWidget")
+        self.verticalLayout_7 = QtWidgets.QVBoxLayout(self.layoutWidget)
+        self.verticalLayout_7.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_7.setSpacing(0)
+        self.verticalLayout_7.setObjectName("verticalLayout_7")
+        self.groupBox_subcarrier = QtWidgets.QGroupBox(self.layoutWidget)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.groupBox_subcarrier.setFont(font)
+        self.groupBox_subcarrier.setFlat(False)
+        self.groupBox_subcarrier.setCheckable(False)
+        self.groupBox_subcarrier.setObjectName("groupBox_subcarrier")
+        self.verticalLayout_9 = QtWidgets.QVBoxLayout(self.groupBox_subcarrier)
+        self.verticalLayout_9.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_9.setSpacing(0)
+        self.verticalLayout_9.setObjectName("verticalLayout_9")
+        self.horizontalLayout_8 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_8.setObjectName("horizontalLayout_8")
+        self.verticalLayout_9.addLayout(self.horizontalLayout_8)
+        self.graphicsView_subcarrier = PlotWidget(self.groupBox_subcarrier)
+        self.graphicsView_subcarrier.setObjectName("graphicsView_subcarrier")
+        self.verticalLayout_9.addWidget(self.graphicsView_subcarrier)
+        self.checkBox_wave_filtering = QtWidgets.QCheckBox(self.groupBox_subcarrier)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.checkBox_wave_filtering.setFont(font)
+        self.checkBox_wave_filtering.setLayoutDirection(QtCore.Qt.LeftToRight)
+        self.checkBox_wave_filtering.setChecked(True)
+        self.checkBox_wave_filtering.setObjectName("checkBox_wave_filtering")
+        self.verticalLayout_9.addWidget(self.checkBox_wave_filtering)
+        self.verticalLayout_7.addWidget(self.groupBox_subcarrier)
+        self.groupBox_rssi = QtWidgets.QGroupBox(self.layoutWidget)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.groupBox_rssi.setFont(font)
+        self.groupBox_rssi.setObjectName("groupBox_rssi")
+        self.verticalLayout_10 = QtWidgets.QVBoxLayout(self.groupBox_rssi)
+        self.verticalLayout_10.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_10.setSpacing(0)
+        self.verticalLayout_10.setObjectName("verticalLayout_10")
+        self.graphicsView_rssi = PlotWidget(self.groupBox_rssi)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Preferred)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.graphicsView_rssi.sizePolicy().hasHeightForWidth())
+        self.graphicsView_rssi.setSizePolicy(sizePolicy)
+        self.graphicsView_rssi.setObjectName("graphicsView_rssi")
+        self.verticalLayout_10.addWidget(self.graphicsView_rssi)
+        self.verticalLayout_7.addWidget(self.groupBox_rssi)
+        self.verticalLayout_7.setStretch(0, 32)
+        self.verticalLayout_7.setStretch(1, 1)
+        self.groupBox_13 = QtWidgets.QGroupBox(self.splitter_raw_data)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.groupBox_13.setFont(font)
+        self.groupBox_13.setObjectName("groupBox_13")
+        self.verticalLayout_13 = QtWidgets.QVBoxLayout(self.groupBox_13)
+        self.verticalLayout_13.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_13.setSpacing(0)
+        self.verticalLayout_13.setObjectName("verticalLayout_13")
+        self.textBrowser_log = QtWidgets.QTextBrowser(self.groupBox_13)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Preferred)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.textBrowser_log.sizePolicy().hasHeightForWidth())
+        self.textBrowser_log.setSizePolicy(sizePolicy)
+        font = QtGui.QFont()
+        font.setPointSize(8)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.textBrowser_log.setFont(font)
+        self.textBrowser_log.setObjectName("textBrowser_log")
+        self.verticalLayout_13.addWidget(self.textBrowser_log)
+        self.groupBox_radioHeader = QtWidgets.QGroupBox(self.groupBox_13)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.groupBox_radioHeader.setFont(font)
+        self.groupBox_radioHeader.setObjectName("groupBox_radioHeader")
+        self.horizontalLayout_5 = QtWidgets.QHBoxLayout(self.groupBox_radioHeader)
+        self.horizontalLayout_5.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_5.setSpacing(0)
+        self.horizontalLayout_5.setObjectName("horizontalLayout_5")
+        self.tableView_radioHeader = QtWidgets.QTableView(self.groupBox_radioHeader)
+        font = QtGui.QFont()
+        font.setPointSize(8)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.tableView_radioHeader.setFont(font)
+        self.tableView_radioHeader.setAutoScrollMargin(10)
+        self.tableView_radioHeader.setSortingEnabled(False)
+        self.tableView_radioHeader.setObjectName("tableView_radioHeader")
+        self.tableView_radioHeader.horizontalHeader().setMinimumSectionSize(12)
+        self.tableView_radioHeader.verticalHeader().setDefaultSectionSize(20)
+        self.tableView_radioHeader.verticalHeader().setMinimumSectionSize(10)
+        self.tableView_radioHeader.verticalHeader().setStretchLastSection(True)
+        self.horizontalLayout_5.addWidget(self.tableView_radioHeader)
+        self.tableView_device_info = QtWidgets.QTableView(self.groupBox_radioHeader)
+        font = QtGui.QFont()
+        font.setPointSize(8)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.tableView_device_info.setFont(font)
+        self.tableView_device_info.setAutoScrollMargin(10)
+        self.tableView_device_info.setSortingEnabled(False)
+        self.tableView_device_info.setObjectName("tableView_device_info")
+        self.tableView_device_info.horizontalHeader().setMinimumSectionSize(12)
+        self.tableView_device_info.verticalHeader().setDefaultSectionSize(20)
+        self.tableView_device_info.verticalHeader().setMinimumSectionSize(10)
+        self.tableView_device_info.verticalHeader().setStretchLastSection(True)
+        self.horizontalLayout_5.addWidget(self.tableView_device_info)
+        self.horizontalLayout_5.setStretch(0, 5)
+        self.horizontalLayout_5.setStretch(1, 2)
+        self.verticalLayout_13.addWidget(self.groupBox_radioHeader)
+        self.verticalLayout_13.setStretch(0, 16)
+        self.verticalLayout_13.setStretch(1, 1)
+        self.verticalLayout_6.addWidget(self.splitter_raw_data)
+        self.groupBox_radar_model = QtWidgets.QGroupBox(self.splitter_display)
+        font = QtGui.QFont()
+        font.setPointSize(14)
+        font.setBold(True)
+        font.setWeight(75)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.groupBox_radar_model.setFont(font)
+        self.groupBox_radar_model.setAlignment(QtCore.Qt.AlignCenter)
+        self.groupBox_radar_model.setObjectName("groupBox_radar_model")
+        self.verticalLayout_18 = QtWidgets.QVBoxLayout(self.groupBox_radar_model)
+        self.verticalLayout_18.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_18.setSpacing(0)
+        self.verticalLayout_18.setObjectName("verticalLayout_18")
+        self.splitter_3 = QtWidgets.QSplitter(self.groupBox_radar_model)
+        self.splitter_3.setOrientation(QtCore.Qt.Vertical)
+        self.splitter_3.setObjectName("splitter_3")
+        self.layoutWidget1 = QtWidgets.QWidget(self.splitter_3)
+        self.layoutWidget1.setObjectName("layoutWidget1")
+        self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.layoutWidget1)
+        self.verticalLayout_2.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_2.setSpacing(0)
+        self.verticalLayout_2.setObjectName("verticalLayout_2")
+        self.groupBox_15 = QtWidgets.QGroupBox(self.layoutWidget1)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.groupBox_15.setFont(font)
+        self.groupBox_15.setObjectName("groupBox_15")
+        self.verticalLayout_25 = QtWidgets.QVBoxLayout(self.groupBox_15)
+        self.verticalLayout_25.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_25.setSpacing(0)
+        self.verticalLayout_25.setObjectName("verticalLayout_25")
+        self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_2.setSpacing(9)
+        self.horizontalLayout_2.setObjectName("horizontalLayout_2")
+        self.widget_25 = QtWidgets.QWidget(self.groupBox_15)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Ignored, QtWidgets.QSizePolicy.Preferred)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.widget_25.sizePolicy().hasHeightForWidth())
+        self.widget_25.setSizePolicy(sizePolicy)
+        self.widget_25.setObjectName("widget_25")
+        self.horizontalLayout_27 = QtWidgets.QHBoxLayout(self.widget_25)
+        self.horizontalLayout_27.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_27.setSpacing(0)
+        self.horizontalLayout_27.setObjectName("horizontalLayout_27")
+        self.widget_39 = QtWidgets.QWidget(self.widget_25)
+        self.widget_39.setObjectName("widget_39")
+        self.horizontalLayout_38 = QtWidgets.QHBoxLayout(self.widget_39)
+        self.horizontalLayout_38.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_38.setSpacing(0)
+        self.horizontalLayout_38.setObjectName("horizontalLayout_38")
+        self.horizontalLayout_27.addWidget(self.widget_39)
+        self.label_delay_5 = QtWidgets.QLabel(self.widget_25)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Preferred)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.label_delay_5.sizePolicy().hasHeightForWidth())
+        self.label_delay_5.setSizePolicy(sizePolicy)
+        self.label_delay_5.setObjectName("label_delay_5")
+        self.horizontalLayout_27.addWidget(self.label_delay_5)
+        self.timeEdit_train_delay = QtWidgets.QTimeEdit(self.widget_25)
+        self.timeEdit_train_delay.setMaximumDateTime(QtCore.QDateTime(QtCore.QDate(2000, 1, 1), QtCore.QTime(23, 59, 59)))
+        self.timeEdit_train_delay.setCurrentSection(QtWidgets.QDateTimeEdit.MinuteSection)
+        self.timeEdit_train_delay.setCurrentSectionIndex(1)
+        self.timeEdit_train_delay.setTime(QtCore.QTime(0, 0, 0))
+        self.timeEdit_train_delay.setObjectName("timeEdit_train_delay")
+        self.horizontalLayout_27.addWidget(self.timeEdit_train_delay)
+        self.horizontalLayout_27.setStretch(1, 2)
+        self.horizontalLayout_27.setStretch(2, 3)
+        self.horizontalLayout_2.addWidget(self.widget_25)
+        self.widget_26 = QtWidgets.QWidget(self.groupBox_15)
+        self.widget_26.setObjectName("widget_26")
+        self.horizontalLayout_28 = QtWidgets.QHBoxLayout(self.widget_26)
+        self.horizontalLayout_28.setContentsMargins(9, 0, 0, 0)
+        self.horizontalLayout_28.setSpacing(0)
+        self.horizontalLayout_28.setObjectName("horizontalLayout_28")
+        self.label_delay_6 = QtWidgets.QLabel(self.widget_26)
+        self.label_delay_6.setObjectName("label_delay_6")
+        self.horizontalLayout_28.addWidget(self.label_delay_6)
+        self.timeEdit_train_duration = QtWidgets.QTimeEdit(self.widget_26)
+        self.timeEdit_train_duration.setMaximumDateTime(QtCore.QDateTime(QtCore.QDate(2000, 1, 1), QtCore.QTime(23, 59, 59)))
+        self.timeEdit_train_duration.setCurrentSection(QtWidgets.QDateTimeEdit.SecondSection)
+        self.timeEdit_train_duration.setCurrentSectionIndex(2)
+        self.timeEdit_train_duration.setTime(QtCore.QTime(0, 0, 10))
+        self.timeEdit_train_duration.setObjectName("timeEdit_train_duration")
+        self.horizontalLayout_28.addWidget(self.timeEdit_train_duration)
+        self.horizontalLayout_28.setStretch(0, 2)
+        self.horizontalLayout_28.setStretch(1, 3)
+        self.horizontalLayout_2.addWidget(self.widget_26)
+        self.checkBox_train_add = QtWidgets.QCheckBox(self.groupBox_15)
+        self.checkBox_train_add.setEnabled(True)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.checkBox_train_add.sizePolicy().hasHeightForWidth())
+        self.checkBox_train_add.setSizePolicy(sizePolicy)
+        self.checkBox_train_add.setObjectName("checkBox_train_add")
+        self.horizontalLayout_2.addWidget(self.checkBox_train_add)
+        self.pushButton_train_start = QtWidgets.QPushButton(self.groupBox_15)
+        font = QtGui.QFont()
+        font.setPointSize(14)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.pushButton_train_start.setFont(font)
+        self.pushButton_train_start.setIconSize(QtCore.QSize(8, 8))
+        self.pushButton_train_start.setAutoDefault(False)
+        self.pushButton_train_start.setDefault(False)
+        self.pushButton_train_start.setObjectName("pushButton_train_start")
+        self.horizontalLayout_2.addWidget(self.pushButton_train_start)
+        self.horizontalLayout_2.setStretch(0, 1)
+        self.horizontalLayout_2.setStretch(1, 1)
+        self.horizontalLayout_2.setStretch(2, 1)
+        self.horizontalLayout_2.setStretch(3, 1)
+        self.verticalLayout_25.addLayout(self.horizontalLayout_2)
+        self.verticalLayout_2.addWidget(self.groupBox_15)
+        self.groupBox_14 = QtWidgets.QGroupBox(self.layoutWidget1)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.groupBox_14.setFont(font)
+        self.groupBox_14.setObjectName("groupBox_14")
+        self.verticalLayout_5 = QtWidgets.QVBoxLayout(self.groupBox_14)
+        self.verticalLayout_5.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_5.setSpacing(0)
+        self.verticalLayout_5.setObjectName("verticalLayout_5")
+        self.horizontalLayout_10 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_10.setObjectName("horizontalLayout_10")
+        self.widget_31 = QtWidgets.QWidget(self.groupBox_14)
+        self.widget_31.setObjectName("widget_31")
+        self.horizontalLayout_45 = QtWidgets.QHBoxLayout(self.widget_31)
+        self.horizontalLayout_45.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_45.setSpacing(9)
+        self.horizontalLayout_45.setObjectName("horizontalLayout_45")
+        self.label_number_3 = QtWidgets.QLabel(self.widget_31)
+        self.label_number_3.setObjectName("label_number_3")
+        self.horizontalLayout_45.addWidget(self.label_number_3)
+        self.doubleSpinBox_predict_someone_sensitivity = QtWidgets.QDoubleSpinBox(self.widget_31)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Minimum)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.doubleSpinBox_predict_someone_sensitivity.sizePolicy().hasHeightForWidth())
+        self.doubleSpinBox_predict_someone_sensitivity.setSizePolicy(sizePolicy)
+        self.doubleSpinBox_predict_someone_sensitivity.setDecimals(2)
+        self.doubleSpinBox_predict_someone_sensitivity.setMinimum(0.01)
+        self.doubleSpinBox_predict_someone_sensitivity.setMaximum(1.0)
+        self.doubleSpinBox_predict_someone_sensitivity.setSingleStep(0.01)
+        self.doubleSpinBox_predict_someone_sensitivity.setProperty("value", 0.2)
+        self.doubleSpinBox_predict_someone_sensitivity.setObjectName("doubleSpinBox_predict_someone_sensitivity")
+        self.horizontalLayout_45.addWidget(self.doubleSpinBox_predict_someone_sensitivity)
+        self.label_number_5 = QtWidgets.QLabel(self.widget_31)
+        self.label_number_5.setObjectName("label_number_5")
+        self.horizontalLayout_45.addWidget(self.label_number_5)
+        self.doubleSpinBox_predict_move_sensitivity = QtWidgets.QDoubleSpinBox(self.widget_31)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Minimum)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.doubleSpinBox_predict_move_sensitivity.sizePolicy().hasHeightForWidth())
+        self.doubleSpinBox_predict_move_sensitivity.setSizePolicy(sizePolicy)
+        self.doubleSpinBox_predict_move_sensitivity.setDecimals(2)
+        self.doubleSpinBox_predict_move_sensitivity.setMinimum(0.01)
+        self.doubleSpinBox_predict_move_sensitivity.setMaximum(1.0)
+        self.doubleSpinBox_predict_move_sensitivity.setSingleStep(0.01)
+        self.doubleSpinBox_predict_move_sensitivity.setProperty("value", 0.2)
+        self.doubleSpinBox_predict_move_sensitivity.setObjectName("doubleSpinBox_predict_move_sensitivity")
+        self.horizontalLayout_45.addWidget(self.doubleSpinBox_predict_move_sensitivity)
+        self.label_duration_7 = QtWidgets.QLabel(self.widget_31)
+        self.label_duration_7.setObjectName("label_duration_7")
+        self.horizontalLayout_45.addWidget(self.label_duration_7)
+        self.spinBox_predict_buffer_size = QtWidgets.QSpinBox(self.widget_31)
+        self.spinBox_predict_buffer_size.setMinimum(1)
+        self.spinBox_predict_buffer_size.setProperty("value", 5)
+        self.spinBox_predict_buffer_size.setDisplayIntegerBase(10)
+        self.spinBox_predict_buffer_size.setObjectName("spinBox_predict_buffer_size")
+        self.horizontalLayout_45.addWidget(self.spinBox_predict_buffer_size)
+        self.spinBox_predict_outliers_number = QtWidgets.QSpinBox(self.widget_31)
+        self.spinBox_predict_outliers_number.setMinimum(1)
+        self.spinBox_predict_outliers_number.setMaximum(99)
+        self.spinBox_predict_outliers_number.setSingleStep(1)
+        self.spinBox_predict_outliers_number.setProperty("value", 2)
+        self.spinBox_predict_outliers_number.setDisplayIntegerBase(10)
+        self.spinBox_predict_outliers_number.setObjectName("spinBox_predict_outliers_number")
+        self.horizontalLayout_45.addWidget(self.spinBox_predict_outliers_number)
+        self.checkBox_display_eigenvalues_table = QtWidgets.QCheckBox(self.widget_31)
+        self.checkBox_display_eigenvalues_table.setObjectName("checkBox_display_eigenvalues_table")
+        self.horizontalLayout_45.addWidget(self.checkBox_display_eigenvalues_table)
+        self.pushButton_predict_config = QtWidgets.QPushButton(self.widget_31)
+        self.pushButton_predict_config.setObjectName("pushButton_predict_config")
+        self.horizontalLayout_45.addWidget(self.pushButton_predict_config)
+        self.horizontalLayout_45.setStretch(0, 3)
+        self.horizontalLayout_45.setStretch(1, 2)
+        self.horizontalLayout_45.setStretch(2, 3)
+        self.horizontalLayout_45.setStretch(3, 2)
+        self.horizontalLayout_45.setStretch(4, 2)
+        self.horizontalLayout_45.setStretch(5, 1)
+        self.horizontalLayout_45.setStretch(6, 1)
+        self.horizontalLayout_45.setStretch(7, 2)
+        self.horizontalLayout_45.setStretch(8, 3)
+        self.horizontalLayout_10.addWidget(self.widget_31)
+        self.verticalLayout_5.addLayout(self.horizontalLayout_10)
+        self.splitter_eigenvalues = QtWidgets.QSplitter(self.groupBox_14)
+        self.splitter_eigenvalues.setOrientation(QtCore.Qt.Horizontal)
+        self.splitter_eigenvalues.setObjectName("splitter_eigenvalues")
+        self.graphicsView_eigenvalues = PlotWidget(self.splitter_eigenvalues)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Preferred)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.graphicsView_eigenvalues.sizePolicy().hasHeightForWidth())
+        self.graphicsView_eigenvalues.setSizePolicy(sizePolicy)
+        self.graphicsView_eigenvalues.setObjectName("graphicsView_eigenvalues")
+        self.tableView_eigenvalues = QtWidgets.QWidget(self.splitter_eigenvalues)
+        self.tableView_eigenvalues.setObjectName("tableView_eigenvalues")
+        self.tableView_eigenvalues_QVBoxLayout = QtWidgets.QVBoxLayout(self.tableView_eigenvalues)
+        self.tableView_eigenvalues_QVBoxLayout.setContentsMargins(0, 0, 0, 0)
+        self.tableView_eigenvalues_QVBoxLayout.setSpacing(0)
+        self.tableView_eigenvalues_QVBoxLayout.setObjectName("tableView_eigenvalues_QVBoxLayout")
+        self.tableView_radar_data_room = QtWidgets.QTableView(self.tableView_eigenvalues)
+        font = QtGui.QFont()
+        font.setPointSize(8)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.tableView_radar_data_room.setFont(font)
+        self.tableView_radar_data_room.setAutoScrollMargin(10)
+        self.tableView_radar_data_room.setSortingEnabled(False)
+        self.tableView_radar_data_room.setObjectName("tableView_radar_data_room")
+        self.tableView_radar_data_room.horizontalHeader().setMinimumSectionSize(12)
+        self.tableView_radar_data_room.verticalHeader().setDefaultSectionSize(20)
+        self.tableView_radar_data_room.verticalHeader().setMinimumSectionSize(10)
+        self.tableView_radar_data_room.verticalHeader().setStretchLastSection(True)
+        self.tableView_eigenvalues_QVBoxLayout.addWidget(self.tableView_radar_data_room)
+        self.tableView_radar_data_human = QtWidgets.QTableView(self.tableView_eigenvalues)
+        font = QtGui.QFont()
+        font.setPointSize(8)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.tableView_radar_data_human.setFont(font)
+        self.tableView_radar_data_human.setAutoScrollMargin(10)
+        self.tableView_radar_data_human.setSortingEnabled(False)
+        self.tableView_radar_data_human.setObjectName("tableView_radar_data_human")
+        self.tableView_radar_data_human.horizontalHeader().setMinimumSectionSize(12)
+        self.tableView_radar_data_human.verticalHeader().setDefaultSectionSize(20)
+        self.tableView_radar_data_human.verticalHeader().setMinimumSectionSize(10)
+        self.tableView_radar_data_human.verticalHeader().setStretchLastSection(True)
+        self.tableView_eigenvalues_QVBoxLayout.addWidget(self.tableView_radar_data_human)
+        self.verticalLayout_5.addWidget(self.splitter_eigenvalues)
+        self.verticalLayout_5.setStretch(0, 1)
+        self.verticalLayout_5.setStretch(1, 64)
+        self.verticalLayout_2.addWidget(self.groupBox_14)
+        self.verticalLayout_2.setStretch(0, 1)
+        self.verticalLayout_2.setStretch(1, 32)
+        self.groupBox_19 = QtWidgets.QGroupBox(self.splitter_3)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.groupBox_19.setFont(font)
+        self.groupBox_19.setObjectName("groupBox_19")
+        self.verticalLayout = QtWidgets.QVBoxLayout(self.groupBox_19)
+        self.verticalLayout.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout.setSpacing(0)
+        self.verticalLayout.setObjectName("verticalLayout")
+        self.horizontalLayout_12 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_12.setSpacing(9)
+        self.horizontalLayout_12.setObjectName("horizontalLayout_12")
+        self.widget_38 = QtWidgets.QWidget(self.groupBox_19)
+        self.widget_38.setObjectName("widget_38")
+        self.horizontalLayout_41 = QtWidgets.QHBoxLayout(self.widget_38)
+        self.horizontalLayout_41.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_41.setSpacing(6)
+        self.horizontalLayout_41.setObjectName("horizontalLayout_41")
+        self.label_target_5 = QtWidgets.QLabel(self.widget_38)
+        self.label_target_5.setObjectName("label_target_5")
+        self.horizontalLayout_41.addWidget(self.label_target_5)
+        self.comboBox_statistics_mode = QtWidgets.QComboBox(self.widget_38)
+        self.comboBox_statistics_mode.setObjectName("comboBox_statistics_mode")
+        self.comboBox_statistics_mode.addItem("")
+        self.comboBox_statistics_mode.addItem("")
+        self.comboBox_statistics_mode.addItem("")
+        self.horizontalLayout_41.addWidget(self.comboBox_statistics_mode)
+        self.label_delay_9 = QtWidgets.QLabel(self.widget_38)
+        self.label_delay_9.setObjectName("label_delay_9")
+        self.horizontalLayout_41.addWidget(self.label_delay_9)
+        self.dateTimeEdit_statistics_time = QtWidgets.QDateTimeEdit(self.widget_38)
+        self.dateTimeEdit_statistics_time.setDateTime(QtCore.QDateTime(QtCore.QDate(2022, 7, 9), QtCore.QTime(0, 0, 0)))
+        self.dateTimeEdit_statistics_time.setMaximumDateTime(QtCore.QDateTime(QtCore.QDate(2030, 9, 14), QtCore.QTime(0, 0, 0)))
+        self.dateTimeEdit_statistics_time.setMinimumDateTime(QtCore.QDateTime(QtCore.QDate(2022, 7, 1), QtCore.QTime(0, 0, 0)))
+        self.dateTimeEdit_statistics_time.setCurrentSection(QtWidgets.QDateTimeEdit.MinuteSection)
+        self.dateTimeEdit_statistics_time.setCalendarPopup(False)
+        self.dateTimeEdit_statistics_time.setCurrentSectionIndex(4)
+        self.dateTimeEdit_statistics_time.setTimeSpec(QtCore.Qt.LocalTime)
+        self.dateTimeEdit_statistics_time.setObjectName("dateTimeEdit_statistics_time")
+        self.horizontalLayout_41.addWidget(self.dateTimeEdit_statistics_time)
+        spacerItem1 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
+        self.horizontalLayout_41.addItem(spacerItem1)
+        self.checkBox_statistics_auto_update = QtWidgets.QCheckBox(self.widget_38)
+        self.checkBox_statistics_auto_update.setChecked(True)
+        self.checkBox_statistics_auto_update.setObjectName("checkBox_statistics_auto_update")
+        self.horizontalLayout_41.addWidget(self.checkBox_statistics_auto_update)
+        self.pushButton_statistics_config = QtWidgets.QPushButton(self.widget_38)
+        self.pushButton_statistics_config.setObjectName("pushButton_statistics_config")
+        self.horizontalLayout_41.addWidget(self.pushButton_statistics_config)
+        self.horizontalLayout_41.setStretch(0, 1)
+        self.horizontalLayout_41.setStretch(1, 4)
+        self.horizontalLayout_41.setStretch(2, 1)
+        self.horizontalLayout_41.setStretch(3, 4)
+        self.horizontalLayout_41.setStretch(4, 6)
+        self.horizontalLayout_41.setStretch(5, 1)
+        self.horizontalLayout_41.setStretch(6, 2)
+        self.horizontalLayout_12.addWidget(self.widget_38)
+        self.verticalLayout.addLayout(self.horizontalLayout_12)
+        self.splitter_status_record = QtWidgets.QSplitter(self.groupBox_19)
+        self.splitter_status_record.setOrientation(QtCore.Qt.Horizontal)
+        self.splitter_status_record.setObjectName("splitter_status_record")
+        self.graphicsView_status_record = PlotWidget(self.splitter_status_record)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Preferred)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.graphicsView_status_record.sizePolicy().hasHeightForWidth())
+        self.graphicsView_status_record.setSizePolicy(sizePolicy)
+        self.graphicsView_status_record.setObjectName("graphicsView_status_record")
+        self.tableView_status_record = QtWidgets.QTableView(self.splitter_status_record)
+        font = QtGui.QFont()
+        font.setPointSize(8)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.tableView_status_record.setFont(font)
+        self.tableView_status_record.setAutoScrollMargin(10)
+        self.tableView_status_record.setSortingEnabled(False)
+        self.tableView_status_record.setObjectName("tableView_status_record")
+        self.tableView_status_record.horizontalHeader().setMinimumSectionSize(12)
+        self.tableView_status_record.verticalHeader().setCascadingSectionResizes(True)
+        self.tableView_status_record.verticalHeader().setDefaultSectionSize(20)
+        self.tableView_status_record.verticalHeader().setMinimumSectionSize(5)
+        self.tableView_status_record.verticalHeader().setStretchLastSection(True)
+        self.verticalLayout.addWidget(self.splitter_status_record)
+        self.verticalLayout.setStretch(0, 1)
+        self.verticalLayout.setStretch(1, 64)
+        self.layoutWidget2 = QtWidgets.QWidget(self.splitter_3)
+        self.layoutWidget2.setObjectName("layoutWidget2")
+        self.verticalLayout_14 = QtWidgets.QVBoxLayout(self.layoutWidget2)
+        self.verticalLayout_14.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_14.setSpacing(0)
+        self.verticalLayout_14.setObjectName("verticalLayout_14")
+        self.groupBox_18 = QtWidgets.QGroupBox(self.layoutWidget2)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.groupBox_18.setFont(font)
+        self.groupBox_18.setObjectName("groupBox_18")
+        self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.groupBox_18)
+        self.verticalLayout_3.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_3.setSpacing(0)
+        self.verticalLayout_3.setObjectName("verticalLayout_3")
+        self.horizontalLayout_9 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_9.setSpacing(9)
+        self.horizontalLayout_9.setObjectName("horizontalLayout_9")
+        self.label_target_4 = QtWidgets.QLabel(self.groupBox_18)
+        self.label_target_4.setObjectName("label_target_4")
+        self.horizontalLayout_9.addWidget(self.label_target_4)
+        self.comboBox_collect_target = QtWidgets.QComboBox(self.groupBox_18)
+        self.comboBox_collect_target.setObjectName("comboBox_collect_target")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.comboBox_collect_target.addItem("")
+        self.horizontalLayout_9.addWidget(self.comboBox_collect_target)
+        self.label_delay = QtWidgets.QLabel(self.groupBox_18)
+        self.label_delay.setObjectName("label_delay")
+        self.horizontalLayout_9.addWidget(self.label_delay)
+        self.timeEdit_collect_delay = QtWidgets.QTimeEdit(self.groupBox_18)
+        self.timeEdit_collect_delay.setMaximumDateTime(QtCore.QDateTime(QtCore.QDate(2000, 1, 1), QtCore.QTime(23, 59, 59)))
+        self.timeEdit_collect_delay.setCurrentSection(QtWidgets.QDateTimeEdit.MinuteSection)
+        self.timeEdit_collect_delay.setCurrentSectionIndex(1)
+        self.timeEdit_collect_delay.setTime(QtCore.QTime(0, 0, 0))
+        self.timeEdit_collect_delay.setObjectName("timeEdit_collect_delay")
+        self.horizontalLayout_9.addWidget(self.timeEdit_collect_delay)
+        self.label_duration = QtWidgets.QLabel(self.groupBox_18)
+        self.label_duration.setObjectName("label_duration")
+        self.horizontalLayout_9.addWidget(self.label_duration)
+        self.spinBox_collect_duration = QtWidgets.QSpinBox(self.groupBox_18)
+        self.spinBox_collect_duration.setMinimum(50)
+        self.spinBox_collect_duration.setMaximum(100000000)
+        self.spinBox_collect_duration.setSingleStep(10)
+        self.spinBox_collect_duration.setProperty("value", 500)
+        self.spinBox_collect_duration.setDisplayIntegerBase(10)
+        self.spinBox_collect_duration.setObjectName("spinBox_collect_duration")
+        self.horizontalLayout_9.addWidget(self.spinBox_collect_duration)
+        self.label_number = QtWidgets.QLabel(self.groupBox_18)
+        self.label_number.setObjectName("label_number")
+        self.horizontalLayout_9.addWidget(self.label_number)
+        self.spinBox_collect_number = QtWidgets.QSpinBox(self.groupBox_18)
+        self.spinBox_collect_number.setMinimum(0)
+        self.spinBox_collect_number.setMaximum(10000)
+        self.spinBox_collect_number.setProperty("value", 1)
+        self.spinBox_collect_number.setObjectName("spinBox_collect_number")
+        self.horizontalLayout_9.addWidget(self.spinBox_collect_number)
+        self.pushButton_collect_clean = QtWidgets.QPushButton(self.groupBox_18)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.pushButton_collect_clean.setFont(font)
+        self.pushButton_collect_clean.setObjectName("pushButton_collect_clean")
+        self.horizontalLayout_9.addWidget(self.pushButton_collect_clean)
+        self.pushButton_collect_start = QtWidgets.QPushButton(self.groupBox_18)
+        font = QtGui.QFont()
+        font.setPointSize(10)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.pushButton_collect_start.setFont(font)
+        self.pushButton_collect_start.setAutoDefault(False)
+        self.pushButton_collect_start.setDefault(False)
+        self.pushButton_collect_start.setObjectName("pushButton_collect_start")
+        self.horizontalLayout_9.addWidget(self.pushButton_collect_start)
+        self.horizontalLayout_9.setStretch(0, 1)
+        self.horizontalLayout_9.setStretch(1, 3)
+        self.horizontalLayout_9.setStretch(2, 1)
+        self.horizontalLayout_9.setStretch(3, 3)
+        self.horizontalLayout_9.setStretch(4, 1)
+        self.horizontalLayout_9.setStretch(5, 3)
+        self.horizontalLayout_9.setStretch(6, 1)
+        self.horizontalLayout_9.setStretch(7, 3)
+        self.horizontalLayout_9.setStretch(8, 1)
+        self.horizontalLayout_9.setStretch(9, 3)
+        self.verticalLayout_3.addLayout(self.horizontalLayout_9)
+        self.verticalLayout_14.addWidget(self.groupBox_18)
+        self.verticalLayout_14.setStretch(0, 1)
+        self.verticalLayout_14.setStretch(1, 32)
+        self.verticalLayout_18.addWidget(self.splitter_3)
+        self.verticalLayout_17.addWidget(self.splitter_display)
+        self.verticalLayout_17.setStretch(0, 1)
+        self.verticalLayout_17.setStretch(1, 128)
+        MainWindow.setCentralWidget(self.centralwidget)
+
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+        MainWindow.setTabOrder(self.graphicsView_subcarrier, self.graphicsView_rssi)
+
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "ESP_CSI_TOOL"))
+        self.label_2.setText(_translate("MainWindow", "display:"))
+        self.checkBox_raw_data.setText(_translate("MainWindow", "Raw data"))
+        self.checkBox_radar_model.setText(_translate("MainWindow", "Radar model"))
+        self.groupBox_raw_data.setTitle(_translate("MainWindow", "Raw data"))
+        self.groupBox_16.setTitle(_translate("MainWindow", "Command"))
+        self.groupBox_11.setTitle(_translate("MainWindow", "router"))
+        self.label_delay_2.setText(_translate("MainWindow", "ssid "))
+        self.label_duration_2.setText(_translate("MainWindow", "password"))
+        self.checkBox_router_auto_connect.setText(_translate("MainWindow", "atuto connect"))
+        self.pushButton_router_connect.setText(_translate("MainWindow", "connect"))
+        self.label.setText(_translate("MainWindow", "custom"))
+        self.comboBox_command.setItemText(0, _translate("MainWindow", "NULL"))
+        self.comboBox_command.setItemText(1, _translate("MainWindow", "restart"))
+        self.comboBox_command.setItemText(2, _translate("MainWindow", "radar --output LLFT"))
+        self.comboBox_command.setItemText(3, _translate("MainWindow", "version"))
+        self.comboBox_command.setItemText(4, _translate("MainWindow", "wifi_config --info"))
+        self.comboBox_command.setItemText(5, _translate("MainWindow", "wifi_scan"))
+        self.comboBox_command.setItemText(6, _translate("MainWindow", "ping --abort"))
+        self.pushButton_command.setText(_translate("MainWindow", "send"))
+        self.groupBox_subcarrier.setTitle(_translate("MainWindow", "subcarrier amplitude"))
+        self.checkBox_wave_filtering.setText(_translate("MainWindow", "wave filtering"))
+        self.groupBox_rssi.setTitle(_translate("MainWindow", "RSSI"))
+        self.groupBox_13.setTitle(_translate("MainWindow", "log"))
+        self.groupBox_radioHeader.setTitle(_translate("MainWindow", "info"))
+        self.groupBox_radar_model.setTitle(_translate("MainWindow", "Radar model"))
+        self.groupBox_15.setTitle(_translate("MainWindow", "Train"))
+        self.label_delay_5.setText(_translate("MainWindow", "delay"))
+        self.timeEdit_train_delay.setDisplayFormat(_translate("MainWindow", "HH:mm:ss"))
+        self.label_delay_6.setText(_translate("MainWindow", "duration"))
+        self.timeEdit_train_duration.setDisplayFormat(_translate("MainWindow", "HH:mm:ss"))
+        self.checkBox_train_add.setText(_translate("MainWindow", "Add"))
+        self.pushButton_train_start.setText(_translate("MainWindow", "start"))
+        self.groupBox_14.setTitle(_translate("MainWindow", "Predict"))
+        self.label_number_3.setText(_translate("MainWindow", "someone sensitivity"))
+        self.label_number_5.setText(_translate("MainWindow", "move sensitivity"))
+        self.label_duration_7.setText(_translate("MainWindow", "filter outliers"))
+        self.checkBox_display_eigenvalues_table.setText(_translate("MainWindow", "display table"))
+        self.pushButton_predict_config.setText(_translate("MainWindow", "config"))
+        self.groupBox_19.setTitle(_translate("MainWindow", "Statistics"))
+        self.label_target_5.setText(_translate("MainWindow", "mode"))
+        self.comboBox_statistics_mode.setItemText(0, _translate("MainWindow", "minute"))
+        self.comboBox_statistics_mode.setItemText(1, _translate("MainWindow", "hour"))
+        self.comboBox_statistics_mode.setItemText(2, _translate("MainWindow", "day"))
+        self.label_delay_9.setText(_translate("MainWindow", "time"))
+        self.dateTimeEdit_statistics_time.setDisplayFormat(_translate("MainWindow", "yyyy-MM-dd  HH:mm:ss"))
+        self.checkBox_statistics_auto_update.setText(_translate("MainWindow", "auto update"))
+        self.pushButton_statistics_config.setText(_translate("MainWindow", "update"))
+        self.groupBox_18.setTitle(_translate("MainWindow", "Collect"))
+        self.label_target_4.setText(_translate("MainWindow", "target"))
+        self.comboBox_collect_target.setItemText(0, _translate("MainWindow", "unknown"))
+        self.comboBox_collect_target.setItemText(1, _translate("MainWindow", "train"))
+        self.comboBox_collect_target.setItemText(2, _translate("MainWindow", "none"))
+        self.comboBox_collect_target.setItemText(3, _translate("MainWindow", "someone"))
+        self.comboBox_collect_target.setItemText(4, _translate("MainWindow", "static"))
+        self.comboBox_collect_target.setItemText(5, _translate("MainWindow", "move"))
+        self.comboBox_collect_target.setItemText(6, _translate("MainWindow", "front"))
+        self.comboBox_collect_target.setItemText(7, _translate("MainWindow", "after"))
+        self.comboBox_collect_target.setItemText(8, _translate("MainWindow", "left"))
+        self.comboBox_collect_target.setItemText(9, _translate("MainWindow", "right"))
+        self.comboBox_collect_target.setItemText(10, _translate("MainWindow", "go"))
+        self.comboBox_collect_target.setItemText(11, _translate("MainWindow", "jump"))
+        self.comboBox_collect_target.setItemText(12, _translate("MainWindow", "sit down"))
+        self.comboBox_collect_target.setItemText(13, _translate("MainWindow", "stand up"))
+        self.comboBox_collect_target.setItemText(14, _translate("MainWindow", "climb up"))
+        self.comboBox_collect_target.setItemText(15, _translate("MainWindow", "wave"))
+        self.comboBox_collect_target.setItemText(16, _translate("MainWindow", "applause"))
+        self.label_delay.setText(_translate("MainWindow", "delay"))
+        self.timeEdit_collect_delay.setDisplayFormat(_translate("MainWindow", "HH:mm:ss"))
+        self.label_duration.setText(_translate("MainWindow", "duration(ms)"))
+        self.label_number.setText(_translate("MainWindow", "number"))
+        self.pushButton_collect_clean.setText(_translate("MainWindow", "clean"))
+        self.pushButton_collect_start.setText(_translate("MainWindow", "start"))
+from pyqtgraph import PlotWidget

esp-radar/console_test/tools/requirements.txt

@@ -0,0 +1,8 @@
+argparse
+pandas
+numpy
+path
+PyQt5
+pyqtgraph
+pyserial
+scipy

get-started/README.md

@@ -0,0 +1,78 @@
+# Get Started Examples
+[[中文]](./README_cn.md)
+
+This example demonstrates how to obtain CSI data through communication between two espressif chips, and uses a graphical interface to display real-time data of CSI subcarriers
+
+## hardware
+
+You need to prepare two development boards for espressif chips, one as the sender and the other as the receiver
+
+![example_display](./docs/_static/example_display.png)
+
+1. Use ESP32-C5 / ESP32-C6: ESP32-C5 supports dual-band Wi-Fi communication and is one of the best RF chips available. ESP32-C6 is the best RF chip among the currently released models.
+2. Use an external antenna: The PCB antenna has poor directivity and is easily interfered with by the motherboard.
+3. The distance between the two devices should be greater than 1 meter.
+
+## Binding
+
+1. Burn the firmware of `csi_recv` and `csi_send` on two development boards respectively
+
+    ![device_log](./docs/_static/device_log.png)
+
+    ```shell
+    # csi_send
+    cd esp-csi/examples/get-started/csi_send
+    idf.py set-target esp32c3
+    idf.py flash -b 921600 -p /dev/ttyUSB0 monitor
+
+    # csi_recv
+    cd esp-csi/examples/get-started/csi_recv
+    idf.py set-target esp32c3
+    idf.py flash -b 921600 -p /dev/ttyUSB1
+    ```
+
+2. Run `csi_data_read_parse.py` in `csi_recv` for data analysis. Please close `idf.py monitor` before running
+
+    ```shell
+    cd esp-csi-gitlab/examples/get-started/tools
+
+    # Install python related dependencies
+    pip install -r requirements.txt
+
+    # Graphical display
+    python csi_data_read_parse.py -p /dev/ttyUSB1
+    ```
+
+## CSI Data Format
+
+Taking a line of CSI raw data as an example:
+
+> type,id,mac,rssi,rate,sig_mode,mcs,bandwidth,smoothing,not_sounding,aggregation,stbc,fec_coding,sgi,noise_floor,ampdu_cnt,channel,secondary_channel,local_timestamp,ant,sig_len,rx_state,len,first_word,data
+CSI_DATA,0,94:d9:b3:80:8c:81,-30,11,1,6,1,0,1,0,1,0,0,-93,0,13,2,2751923,0,67,0,128,1,"[67,48,4,0,0,0,0,0,0,0,5,0,20,1,20,1,19,0,17,1,16,2,15,2,14,1,12,0,12,-1,12,-3,12,-4,13,-6,15,-7,16,-8,16,-8,16,-8,16,-6,15,-5,15,-4,14,-4,13,-4,12,-4,11,-4,10,-4,9,-5,8,-6,4,-4,8,-9,9,-10,9,-10,10,-11,11,-10,11,-10,12,-9,11,-8,11,-7,10,-6,9,-6,7,-6,6,-7,5,-7,5,-8,5,-9,5,-10,5,-11,5,-11,6,-11,7,-11,8,-11,9,-10,9,-9,8,-8,8,-7,1,-2,0,0,0,0,0,0,0,0]"
+
+*ESP32-C5 and ESP32-C6 are:*
+>type,seq,mac,rssi,rate,noise_floor,fft_gain,agc_gain,channel,local_timestamp,sig_len,rx_state,len,first_word,data
+CSI_DATA,7,1a:00:00:00:00:00,-23,11,-96,32,4,11,372852,47,0,256,0,"[0,0,0,0,0,0,0,0,0,0,0,0,-6,-13,-6,-14,-3,-15,-2,-16,-2,-18,-3,-17,-1,-18,2,-19,0,-21,3,-21,1,-20,4,-21,4,-23,6,-22,7,-21,8,-23,9,-23,10,-21,10,-22,11,-20,12,-19,11,-25,13,-22,12,-23,14,-23,14,-22,14,-21,13,-21,13,-19,14,-22,14,-19,14,-23,16,-22,14,-22,13,-22,14,-21,13,-22,13,-23,13,-23,12,-26,13,-24,13,-24,12,-25,14,-29,13,-26,14,-26,15,-26,13,-27,15,-28,16,-27,14,-30,15,-28,16,-28,18,-27,16,-31,18,-31,19,-31,0,0,0,0,0,0,-29,-23,-28,-21,-30,-18,-26,-20,-30,-21,-25,-23,-26,-21,-25,-22,-26,-19,-22,-22,-24,-19,-22,-20,-24,-20,-24,-18,-23,-18,-22,-18,-25,-17,-23,-18,-21,-18,-21,-17,-24,-14,-22,-16,-21,-14,-22,-15,-21,-19,-23,-16,-22,-17,-23,-13,-23,-16,-25,-15,-21,-17,-22,-15,-21,-17,-23,-16,-20,-16,-21,-20,-21,-19,-21,-19,-19,-20,-17,-20,-18,-20,-16,-21,-15,-21,-15,-20,-13,-21,-11,-20,-10,-20,-11,-19,-9,-20,-8,-22,-6,-19,-7,-20,-4,-19,-2,-18,-2,-18,1,-17,4,-18,0,0,0,0,0,0,0,0,0,0]"
+
+- **Metadata Fields**: Including type, id, mac, rssi, rate, ... len, first_word, etc.
+- **CSI Data**: Stored in the last item data array, enclosed in [...]. It contains the channel state information for each subcarrier. For detailed structure, refer to the Long Training Field (LTF) section of the [ESP-WIFI-CSI Guide](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/wifi.html#wi-fi-channel-state-information). For each subcarrier, the imaginary part is stored first, followed by the real part (i.e., [Imaginary part of subcarrier 1, Real part of subcarrier 1, Imaginary part of subcarrier 2, Real part of subcarrier 2, Imaginary part of subcarrier 3, Real part of subcarrier 3, ...]).
+The order of LTF is: LLTF, HT-LTF, STBC-HT-LTF. Depending on the channel and grouping information, not all 3 LTFs may appear.
+
+## A&Q
+
+### 1. `csi_send` prints no memory
+- **Phenomenon**: The following log appears on the serial port:
+  ```shell
+    W (510693) csi_send: <ESP_ERR_ESPNOW_NO_MEM> ESP-NOW send error
+  ````
+- **Reason**: The current channel is congested causing congestion in sending packets, so that the ESP-NOW buffer space is full
+- **Solution**: Change the Wi-Fi channel or change to a place with a better network environment
+
+### 2. `csi_data_read_parse.py` Serial port printing exception
+- **Phenomenon**: The following log appears on the serial port:
+    ```shell
+        element number is not equal
+        data is not incomplete
+    ````
+- **Reason**: PYQT takes up a lot of CPU when drawing, causing the PC to be unable to read the serial port buffer queue in time, resulting in data confusion
+- **Solution**: Advance the baud rate of the serial port

get-started/README_cn.md

@@ -0,0 +1,83 @@
+# Get Started Examples
+[[English]](./README.md)
+
+本示例演示了如何通过两个 ESP32 芯片之间的通信获取 CSI 数据，并使用图形界面显示 CSI 子载波的实时数据。
+
+## 硬件
+
+您需要准备两块开发板，一块作为发送方，一块作为接收方。
+
+![example_display](./docs/_static/example_display.png)
+
+为了保证 CSI 的感知效果，请尽量满足以下要求：
+
+1. 使用 ESP32-C5 / ESP32-C6：ESP32-C5 支持双频WIFI通讯，是目前最好的射频芯片，ESP32-C6是目前已上市芯片中最好的射频芯片。
+2. 使用外部天线：PCB 天线的方向性较差，容易受到主板干扰。
+3. 两个设备之间的距离应大于 1 米。
+
+## 绑定
+
+1. 分别烧录 `csi_recv` and `csi_send` 到两块 ESP32 上。
+
+    ![device_log](./docs/_static/device_log.png)
+
+    ```shell
+    # csi_send
+    cd esp-csi/examples/get-started/csi_send
+    idf.py set-target esp32c3
+    idf.py flash -b 921600 -p /dev/ttyUSB0 monitor
+
+    # csi_recv
+    cd esp-csi/examples/get-started/csi_recv
+    idf.py set-target esp32c3
+    idf.py flash -b 921600 -p /dev/ttyUSB1
+    ```
+
+2. 在 `csi_recv` 里运行 `csi_data_read_parse.py` 做数据分析。 在运行前请关闭 `idf.py monitor` 。
+
+    ```shell
+    cd esp-csi-gitlab/examples/get-started/tools
+
+    # Install python related dependencies
+    pip install -r requirements.txt
+
+    # Graphical display
+    python csi_data_read_parse.py -p /dev/ttyUSB1
+    ```
+
+## CSI 数据格式
+
+以一行 CSI raw data 为例：
+
+> type,id,mac,rssi,rate,sig_mode,mcs,bandwidth,smoothing,not_sounding,aggregation,stbc,fec_coding,sgi,noise_floor,ampdu_cnt,channel,secondary_channel,local_timestamp,ant,sig_len,rx_state,len,first_word,data
+CSI_DATA,0,94:d9:b3:80:8c:81,-30,11,1,6,1,0,1,0,1,0,0,-93,0,13,2,2751923,0,67,0,128,1,"[67,48,4,0,0,0,0,0,0,0,5,0,20,1,20,1,19,0,17,1,16,2,15,2,14,1,12,0,12,-1,12,-3,12,-4,13,-6,15,-7,16,-8,16,-8,16,-8,16,-6,15,-5,15,-4,14,-4,13,-4,12,-4,11,-4,10,-4,9,-5,8,-6,4,-4,8,-9,9,-10,9,-10,10,-11,11,-10,11,-10,12,-9,11,-8,11,-7,10,-6,9,-6,7,-6,6,-7,5,-7,5,-8,5,-9,5,-10,5,-11,5,-11,6,-11,7,-11,8,-11,9,-10,9,-9,8,-8,8,-7,1,-2,0,0,0,0,0,0,0,0]"
+
+*esp32-c5 和 esp32-c6 为：*
+>type,seq,mac,rssi,rate,noise_floor,fft_gain,agc_gain,channel,local_timestamp,sig_len,rx_state,len,first_word,data
+CSI_DATA,7,1a:00:00:00:00:00,-23,11,-96,32,4,11,372852,47,0,256,0,"[0,0,0,0,0,0,0,0,0,0,0,0,-6,-13,-6,-14,-3,-15,-2,-16,-2,-18,-3,-17,-1,-18,2,-19,0,-21,3,-21,1,-20,4,-21,4,-23,6,-22,7,-21,8,-23,9,-23,10,-21,10,-22,11,-20,12,-19,11,-25,13,-22,12,-23,14,-23,14,-22,14,-21,13,-21,13,-19,14,-22,14,-19,14,-23,16,-22,14,-22,13,-22,14,-21,13,-22,13,-23,13,-23,12,-26,13,-24,13,-24,12,-25,14,-29,13,-26,14,-26,15,-26,13,-27,15,-28,16,-27,14,-30,15,-28,16,-28,18,-27,16,-31,18,-31,19,-31,0,0,0,0,0,0,-29,-23,-28,-21,-30,-18,-26,-20,-30,-21,-25,-23,-26,-21,-25,-22,-26,-19,-22,-22,-24,-19,-22,-20,-24,-20,-24,-18,-23,-18,-22,-18,-25,-17,-23,-18,-21,-18,-21,-17,-24,-14,-22,-16,-21,-14,-22,-15,-21,-19,-23,-16,-22,-17,-23,-13,-23,-16,-25,-15,-21,-17,-22,-15,-21,-17,-23,-16,-20,-16,-21,-20,-21,-19,-21,-19,-19,-20,-17,-20,-18,-20,-16,-21,-15,-21,-15,-20,-13,-21,-11,-20,-10,-20,-11,-19,-9,-20,-8,-22,-6,-19,-7,-20,-4,-19,-2,-18,-2,-18,1,-17,4,-18,0,0,0,0,0,0,0,0,0,0]"
+
+- **元数据字段**：包括 type, id, mac, ... first_word等。
+- **CSI 数据**：由最后一项 data 数组存储，用 [...] 框起。包含每个子载波的信道状态信息。具体结构可参考 [ESP-WIFI-CSI Guide](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/wifi.html#wi-fi-channel-state-information) 的 Long Training Field (LTF) 部分。对于每一个子载波，先储存虚数部分，再储存实数部分（即：[子载波1的虚部，子载波1的实部，子载波2的虚部，子载波2的实部，子载波3的虚部，子载波3的实部，...]）。
+
+LTF的顺序为：LLTF、HT-LTF、STBC-HT-LTF。根据通道和分组信息，可能不会出现所有3个LTF。
+he order of LTF is: LLTF, HT-LTF, STBC-HT-LTF. Depending on the channel and grouping information, not all 3 LTFs may appear.
+
+## A&Q
+
+ ### 1. csi_send 打印无内存
+
+- **现象**：串口上出现以下日志：
+```shell
+  W (510693) csi_send:  ESP-NOW 发送错误
+```
+- **原因**：当前信道拥堵，导致发送数据包时出现拥堵，ESP-NOW 缓冲区空间满
+- **解决方案**：更换 Wi-Fi 信道或更换到网络环境更好的地方
+### 2. csi_data_read_parse.py 串口打印异常
+
+- **现象**：串口上出现以下日志：
+```shell
+  element number is not equal
+  data is not incomplete
+```
+- **原因**：绘图时 PYQT 占用大量 CPU，导致 PC 无法及时读取串口缓冲队列，造成数据混乱
+- **解决方案**：提高串口的波特率

get-started/csi_recv/CMakeLists.txt

@@ -0,0 +1,15 @@
+
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctlycmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.5)
+add_compile_options(-fdiagnostics-color=always)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+message("EXTRA_COMPONENT_DIRS: " ${EXTRA_COMPONENT_DIRS})
+
+string(REGEX REPLACE ".*/\(.*\)" "\\1" CURDIR ${CMAKE_CURRENT_SOURCE_DIR})
+project(${CURDIR})
+
+git_describe(PROJECT_VERSION ${COMPONENT_DIR})
+message("Project commit: " ${PROJECT_VERSION})

get-started/csi_recv/README.md

@@ -0,0 +1 @@
+# CSI_RECV

get-started/csi_recv/main/CMakeLists.txt

@@ -0,0 +1,2 @@
+idf_component_register(SRC_DIRS "."
+                       INCLUDE_DIRS ".")

get-started/csi_recv/main/app_main.c

@@ -0,0 +1,297 @@
+/*
+ * SPDX-FileCopyrightText: 2025-2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/* Get Start Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+
+#include "nvs_flash.h"
+
+#include "esp_mac.h"
+#include "rom/ets_sys.h"
+#include "esp_log.h"
+#include "esp_wifi.h"
+#include "esp_netif.h"
+#include "esp_now.h"
+#include "esp_csi_gain_ctrl.h"
+
+#define CONFIG_LESS_INTERFERENCE_CHANNEL   11
+#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C61 || (CONFIG_IDF_TARGET_ESP32C6 && ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 4, 0))
+#define CONFIG_WIFI_BAND_MODE               WIFI_BAND_MODE_2G_ONLY
+#define CONFIG_WIFI_2G_BANDWIDTHS           WIFI_BW_HT40
+#define CONFIG_WIFI_5G_BANDWIDTHS           WIFI_BW_HT40
+#define CONFIG_WIFI_2G_PROTOCOL             WIFI_PROTOCOL_11N
+#define CONFIG_WIFI_5G_PROTOCOL             WIFI_PROTOCOL_11N
+#else
+#define CONFIG_WIFI_BANDWIDTH           WIFI_BW_HT40
+#endif
+
+#define CONFIG_ESP_NOW_PHYMODE           WIFI_PHY_MODE_HT40
+#define CONFIG_ESP_NOW_RATE             WIFI_PHY_RATE_MCS0_LGI
+#define CONFIG_FORCE_GAIN                   0
+
+#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C61
+#define CSI_FORCE_LLTF                      0
+#endif
+
+#if CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32C61
+#define CONFIG_GAIN_CONTROL                 1
+#endif
+
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+#define ESP_IF_WIFI_STA ESP_MAC_WIFI_STA
+#endif
+
+static const uint8_t CONFIG_CSI_SEND_MAC[] = {0x1a, 0x00, 0x00, 0x00, 0x00, 0x00};
+static const char *TAG = "csi_recv";
+
+static void wifi_init()
+{
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+    ESP_ERROR_CHECK(esp_netif_init());
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
+    ESP_ERROR_CHECK(esp_wifi_set_storage(WIFI_STORAGE_RAM));
+
+#if CONFIG_IDF_TARGET_ESP32C5
+    ESP_ERROR_CHECK(esp_wifi_start());
+    esp_wifi_set_band_mode(CONFIG_WIFI_BAND_MODE);
+    wifi_protocols_t protocols = {
+        .ghz_2g = CONFIG_WIFI_2G_PROTOCOL,
+        .ghz_5g = CONFIG_WIFI_5G_PROTOCOL
+    };
+    ESP_ERROR_CHECK(esp_wifi_set_protocols(ESP_IF_WIFI_STA, &protocols));
+    wifi_bandwidths_t bandwidth = {
+        .ghz_2g = CONFIG_WIFI_2G_BANDWIDTHS,
+        .ghz_5g = CONFIG_WIFI_5G_BANDWIDTHS
+    };
+    ESP_ERROR_CHECK(esp_wifi_set_bandwidths(ESP_IF_WIFI_STA, &bandwidth));
+#elif (CONFIG_IDF_TARGET_ESP32C6 && ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 4, 0)) || CONFIG_IDF_TARGET_ESP32C61
+    ESP_ERROR_CHECK(esp_wifi_start());
+    esp_wifi_set_band_mode(CONFIG_WIFI_BAND_MODE);
+    wifi_protocols_t protocols = {
+        .ghz_2g = CONFIG_WIFI_2G_PROTOCOL,
+    };
+    ESP_ERROR_CHECK(esp_wifi_set_protocols(ESP_IF_WIFI_STA, &protocols));
+    wifi_bandwidths_t bandwidth = {
+        .ghz_2g = CONFIG_WIFI_2G_BANDWIDTHS,
+    };
+    ESP_ERROR_CHECK(esp_wifi_set_bandwidths(ESP_IF_WIFI_STA, &bandwidth));
+#else
+    ESP_ERROR_CHECK(esp_wifi_set_bandwidth(ESP_IF_WIFI_STA, CONFIG_WIFI_BANDWIDTH));
+    ESP_ERROR_CHECK(esp_wifi_start());
+#endif
+
+    ESP_ERROR_CHECK(esp_wifi_set_ps(WIFI_PS_NONE));
+#if CONFIG_IDF_TARGET_ESP32C5
+    if ((CONFIG_WIFI_BAND_MODE == WIFI_BAND_MODE_2G_ONLY && CONFIG_WIFI_2G_BANDWIDTHS == WIFI_BW_HT20)
+            || (CONFIG_WIFI_BAND_MODE == WIFI_BAND_MODE_5G_ONLY && CONFIG_WIFI_5G_BANDWIDTHS == WIFI_BW_HT20)) {
+        ESP_ERROR_CHECK(esp_wifi_set_channel(CONFIG_LESS_INTERFERENCE_CHANNEL, WIFI_SECOND_CHAN_NONE));
+    } else {
+        ESP_ERROR_CHECK(esp_wifi_set_channel(CONFIG_LESS_INTERFERENCE_CHANNEL, WIFI_SECOND_CHAN_BELOW));
+    }
+#elif (CONFIG_IDF_TARGET_ESP32C6 && ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 4, 0)) || CONFIG_IDF_TARGET_ESP32C61
+    if (CONFIG_WIFI_BAND_MODE == WIFI_BAND_MODE_2G_ONLY && CONFIG_WIFI_2G_BANDWIDTHS == WIFI_BW_HT20) {
+        ESP_ERROR_CHECK(esp_wifi_set_channel(CONFIG_LESS_INTERFERENCE_CHANNEL, WIFI_SECOND_CHAN_NONE));
+    } else {
+        ESP_ERROR_CHECK(esp_wifi_set_channel(CONFIG_LESS_INTERFERENCE_CHANNEL, WIFI_SECOND_CHAN_BELOW));
+    }
+#else
+    if (CONFIG_WIFI_BANDWIDTH == WIFI_BW_HT20) {
+        ESP_ERROR_CHECK(esp_wifi_set_channel(CONFIG_LESS_INTERFERENCE_CHANNEL, WIFI_SECOND_CHAN_NONE));
+    } else {
+        ESP_ERROR_CHECK(esp_wifi_set_channel(CONFIG_LESS_INTERFERENCE_CHANNEL, WIFI_SECOND_CHAN_BELOW));
+    }
+#endif
+
+    ESP_ERROR_CHECK(esp_wifi_set_mac(WIFI_IF_STA, CONFIG_CSI_SEND_MAC));
+}
+
+static void wifi_esp_now_init(esp_now_peer_info_t peer)
+{
+    ESP_ERROR_CHECK(esp_now_init());
+    ESP_ERROR_CHECK(esp_now_set_pmk((uint8_t *)"pmk1234567890123"));
+    esp_now_rate_config_t rate_config = {
+        .phymode = CONFIG_ESP_NOW_PHYMODE,
+        .rate = CONFIG_ESP_NOW_RATE,//  WIFI_PHY_RATE_MCS0_LGI,
+        .ersu = false,
+        .dcm = false
+    };
+    ESP_ERROR_CHECK(esp_now_add_peer(&peer));
+    ESP_ERROR_CHECK(esp_now_set_peer_rate_config(peer.peer_addr, &rate_config));
+
+}
+
+static void wifi_csi_rx_cb(void *ctx, wifi_csi_info_t *info)
+{
+    if (!info || !info->buf) {
+        ESP_LOGW(TAG, "<%s> wifi_csi_cb", esp_err_to_name(ESP_ERR_INVALID_ARG));
+        return;
+    }
+
+    if (memcmp(info->mac, CONFIG_CSI_SEND_MAC, 6)) {
+        return;
+    }
+
+    const wifi_pkt_rx_ctrl_t *rx_ctrl = &info->rx_ctrl;
+    static int s_count = 0;
+    float compensate_gain = 1.0f;
+    static uint8_t agc_gain = 0;
+    static int8_t fft_gain = 0;
+#if CONFIG_GAIN_CONTROL
+    static uint8_t agc_gain_baseline = 0;
+    static int8_t fft_gain_baseline = 0;
+    esp_csi_gain_ctrl_get_rx_gain(rx_ctrl, &agc_gain, &fft_gain);
+    if (s_count < 100) {
+        esp_csi_gain_ctrl_record_rx_gain(agc_gain, fft_gain);
+    } else if (s_count == 100) {
+        esp_csi_gain_ctrl_get_rx_gain_baseline(&agc_gain_baseline, &fft_gain_baseline);
+#if CONFIG_FORCE_GAIN
+        esp_csi_gain_ctrl_set_rx_force_gain(agc_gain_baseline, fft_gain_baseline);
+        ESP_LOGD(TAG, "fft_force %d, agc_force %d", fft_gain_baseline, agc_gain_baseline);
+#endif
+    }
+    esp_csi_gain_ctrl_get_gain_compensation(&compensate_gain, agc_gain, fft_gain);
+    ESP_LOGI(TAG, "compensate_gain %f, agc_gain %d, fft_gain %d", compensate_gain, agc_gain, fft_gain);
+#endif
+
+    uint32_t rx_id = *(uint32_t *)(info->payload + 15);
+#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32C61
+    if (!s_count) {
+        ESP_LOGI(TAG, "================ CSI RECV ================");
+        ets_printf("type,seq,mac,rssi,rate,noise_floor,fft_gain,agc_gain,channel,local_timestamp,sig_len,rx_state,len,first_word,data\n");
+    }
+
+    ets_printf("CSI_DATA,%d," MACSTR ",%d,%d,%d,%d,%d,%d,%d,%d,%d",
+               rx_id, MAC2STR(info->mac), rx_ctrl->rssi, rx_ctrl->rate,
+               rx_ctrl->noise_floor, fft_gain, agc_gain,  rx_ctrl->channel,
+               rx_ctrl->timestamp, rx_ctrl->sig_len, rx_ctrl->rx_state);
+#else
+    if (!s_count) {
+        ESP_LOGI(TAG, "================ CSI RECV ================");
+        ets_printf("type,id,mac,rssi,rate,sig_mode,mcs,bandwidth,smoothing,not_sounding,aggregation,stbc,fec_coding,sgi,noise_floor,ampdu_cnt,channel,secondary_channel,local_timestamp,ant,sig_len,rx_state,len,first_word,data\n");
+    }
+
+    ets_printf("CSI_DATA,%d," MACSTR ",%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d",
+               rx_id, MAC2STR(info->mac), rx_ctrl->rssi, rx_ctrl->rate, rx_ctrl->sig_mode,
+               rx_ctrl->mcs, rx_ctrl->cwb, rx_ctrl->smoothing, rx_ctrl->not_sounding,
+               rx_ctrl->aggregation, rx_ctrl->stbc, rx_ctrl->fec_coding, rx_ctrl->sgi,
+               rx_ctrl->noise_floor, rx_ctrl->ampdu_cnt, rx_ctrl->channel, rx_ctrl->secondary_channel,
+               rx_ctrl->timestamp, rx_ctrl->ant, rx_ctrl->sig_len, rx_ctrl->rx_state);
+
+#endif
+#if (CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C61) && CSI_FORCE_LLTF
+    int16_t csi = ((int16_t)(((((uint16_t)info->buf[1]) << 8) | info->buf[0]) << 4) >> 4);
+    ets_printf(",%d,%d,\"[%d", (info->len - 2) / 2, info->first_word_invalid, (int16_t)(compensate_gain * csi));
+    for (int i = 2; i < (info->len - 2); i += 2) {
+        csi = ((int16_t)(((((uint16_t)info->buf[i + 1]) << 8) | info->buf[i]) << 4) >> 4);
+        ets_printf(",%d", (int16_t)(compensate_gain * csi));
+    }
+#else
+    ets_printf(",%d,%d,\"[%d", info->len, info->first_word_invalid, (int16_t)(compensate_gain * info->buf[0]));
+    for (int i = 1; i < info->len; i++) {
+        ets_printf(",%d", (int16_t)(compensate_gain * info->buf[i]));
+    }
+#endif
+    ets_printf("]\"\n");
+    s_count++;
+}
+
+static void wifi_csi_init()
+{
+    ESP_ERROR_CHECK(esp_wifi_set_promiscuous(true));
+
+    /**< default config */
+#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C61
+    wifi_csi_config_t csi_config = {
+        .enable                   = true,
+        .acquire_csi_legacy       = false,
+        .acquire_csi_force_lltf   = CSI_FORCE_LLTF,
+        .acquire_csi_ht20         = true,
+        .acquire_csi_ht40         = true,
+        .acquire_csi_vht          = false,
+        .acquire_csi_su           = false,
+        .acquire_csi_mu           = false,
+        .acquire_csi_dcm          = false,
+        .acquire_csi_beamformed   = false,
+        .acquire_csi_he_stbc_mode = 2,
+        .val_scale_cfg            = 0,
+        .dump_ack_en              = false,
+        .reserved                 = false
+    };
+#elif CONFIG_IDF_TARGET_ESP32C6
+    wifi_csi_config_t csi_config = {
+        .enable                 = true,
+        .acquire_csi_legacy     = false,
+        .acquire_csi_ht20       = true,
+        .acquire_csi_ht40       = true,
+        .acquire_csi_su         = true,
+        .acquire_csi_mu         = true,
+        .acquire_csi_dcm        = true,
+        .acquire_csi_beamformed = true,
+        .acquire_csi_he_stbc    = 2,
+        .val_scale_cfg          = false,
+        .dump_ack_en            = false,
+        .reserved               = false
+    };
+#else
+    wifi_csi_config_t csi_config = {
+        .lltf_en           = true,
+        .htltf_en          = true,
+        .stbc_htltf2_en    = true,
+        .ltf_merge_en      = true,
+        .channel_filter_en = true,
+        .manu_scale        = false,
+        .shift             = false,
+    };
+#endif
+    ESP_ERROR_CHECK(esp_wifi_set_csi_config(&csi_config));
+    ESP_ERROR_CHECK(esp_wifi_set_csi_rx_cb(wifi_csi_rx_cb, NULL));
+    ESP_ERROR_CHECK(esp_wifi_set_csi(true));
+}
+
+void app_main()
+{
+    /**
+     * @brief Initialize NVS
+     */
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        ESP_ERROR_CHECK(nvs_flash_erase());
+        ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
+
+    /**
+     * @brief Initialize Wi-Fi
+     */
+    wifi_init();
+
+    /**
+     * @brief Initialize ESP-NOW
+     *        ESP-NOW protocol see: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/network/esp_now.html
+     */
+
+    esp_now_peer_info_t peer = {
+        .channel   = CONFIG_LESS_INTERFERENCE_CHANNEL,
+        .ifidx     = WIFI_IF_STA,
+        .encrypt   = false,
+        .peer_addr = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff},
+    };
+
+    wifi_esp_now_init(peer);
+
+    wifi_csi_init();
+}

get-started/csi_recv/main/idf_component.yml

@@ -0,0 +1,4 @@
+## IDF Component Manager Manifest File
+dependencies:
+  idf: ">=4.4.1"
+  esp_csi_gain_ctrl: ">=0.1.4"