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

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

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+.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

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+
+# 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

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+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

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+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 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
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+
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+
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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[] = {
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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