18933ea778
Firmware (app_main.c): - UDP command listener on port 5501 (configurable via Kconfig) - Commands: REBOOT, IDENTIFY, STATUS, RATE, POWER - LED status indicator on GPIO2 (off/slow/fast blink/solid) - NVS persistence for send_rate and tx_power settings - Refactored ping to support stop/restart for dynamic rate changes - TX power control via esp_wifi_set_max_tx_power() Pi-side tooling: - tools/esp-cmd: standalone Python3 UDP client for device management Tested on amber-maple (ESP32 v3.1) with ESP-IDF v5.5.2.
537 lines
17 KiB
C
537 lines
17 KiB
C
/*
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* SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/* Get recv router csi
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This example code is in the Public Domain (or CC0 licensed, at your option.)
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Unless required by applicable law or agreed to in writing, this
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software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
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CONDITIONS OF ANY KIND, either express or implied.
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*/
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include <errno.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/event_groups.h"
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#include "nvs_flash.h"
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#include "nvs.h"
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#include "esp_mac.h"
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#include "rom/ets_sys.h"
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#include "esp_log.h"
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#include "esp_wifi.h"
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#include "esp_netif.h"
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#include "esp_now.h"
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#include "esp_timer.h"
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#include "driver/gpio.h"
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#include "lwip/inet.h"
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#include "lwip/netdb.h"
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#include "lwip/sockets.h"
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#include "ping/ping_sock.h"
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#include "protocol_examples_common.h"
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#include "esp_csi_gain_ctrl.h"
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#define CONFIG_SEND_FREQUENCY_DEFAULT 100
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#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C61
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#define CSI_FORCE_LLTF 0
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#endif
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#define CONFIG_FORCE_GAIN 0
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#if CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32C61
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#define CONFIG_GAIN_CONTROL 1
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#endif
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#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
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#define ESP_IF_WIFI_STA ESP_MAC_WIFI_STA
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#endif
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#define LED_GPIO GPIO_NUM_2
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static const char *TAG = "csi_recv_router";
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/* --- LED modes --- */
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typedef enum {
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LED_OFF,
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LED_SLOW_BLINK,
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LED_FAST_BLINK,
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LED_SOLID,
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} led_mode_t;
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/* --- Globals --- */
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static int s_send_frequency = CONFIG_SEND_FREQUENCY_DEFAULT;
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static int8_t s_tx_power_dbm = 10;
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static esp_ping_handle_t s_ping_handle = NULL;
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static volatile led_mode_t s_led_mode = LED_OFF;
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static volatile int64_t s_last_csi_time = 0;
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static volatile int64_t s_identify_end_time = 0;
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/* UDP socket for CSI data transmission */
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static int s_udp_socket = -1;
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static struct sockaddr_in s_dest_addr;
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static char s_udp_buffer[2048];
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/* --- NVS helpers --- */
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static void config_load_nvs(void)
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{
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nvs_handle_t h;
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if (nvs_open("csi_config", NVS_READONLY, &h) == ESP_OK) {
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int32_t val;
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if (nvs_get_i32(h, "send_rate", &val) == ESP_OK && val >= 10 && val <= 100) {
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s_send_frequency = (int)val;
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}
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int8_t pwr;
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if (nvs_get_i8(h, "tx_power", &pwr) == ESP_OK && pwr >= 2 && pwr <= 20) {
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s_tx_power_dbm = pwr;
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}
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nvs_close(h);
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ESP_LOGI(TAG, "NVS loaded: rate=%d tx_power=%d", s_send_frequency, s_tx_power_dbm);
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} else {
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ESP_LOGI(TAG, "NVS: no saved config, using defaults");
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}
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}
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static esp_err_t config_save_i32(const char *key, int32_t value)
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{
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nvs_handle_t h;
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esp_err_t err = nvs_open("csi_config", NVS_READWRITE, &h);
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if (err != ESP_OK) return err;
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err = nvs_set_i32(h, key, value);
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if (err == ESP_OK) err = nvs_commit(h);
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nvs_close(h);
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return err;
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}
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static esp_err_t config_save_i8(const char *key, int8_t value)
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{
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nvs_handle_t h;
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esp_err_t err = nvs_open("csi_config", NVS_READWRITE, &h);
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if (err != ESP_OK) return err;
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err = nvs_set_i8(h, key, value);
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if (err == ESP_OK) err = nvs_commit(h);
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nvs_close(h);
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return err;
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}
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/* --- LED --- */
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static void led_gpio_init(void)
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{
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gpio_config_t io_conf = {
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.pin_bit_mask = (1ULL << LED_GPIO),
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.mode = GPIO_MODE_OUTPUT,
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.pull_up_en = GPIO_PULLUP_DISABLE,
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.pull_down_en = GPIO_PULLDOWN_DISABLE,
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.intr_type = GPIO_INTR_DISABLE,
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};
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gpio_config(&io_conf);
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gpio_set_level(LED_GPIO, 0);
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}
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static void led_task(void *arg)
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{
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bool led_on = false;
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while (1) {
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/* Check identify timeout */
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if (s_led_mode == LED_SOLID && s_identify_end_time > 0) {
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if (esp_timer_get_time() >= s_identify_end_time) {
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s_identify_end_time = 0;
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s_led_mode = LED_SLOW_BLINK;
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}
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}
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/* Auto-switch between slow/fast blink based on CSI activity */
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if (s_led_mode == LED_SLOW_BLINK || s_led_mode == LED_FAST_BLINK) {
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int64_t now = esp_timer_get_time();
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if (s_last_csi_time > 0 && (now - s_last_csi_time) < 500000) {
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s_led_mode = LED_FAST_BLINK;
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} else if (s_led_mode == LED_FAST_BLINK) {
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s_led_mode = LED_SLOW_BLINK;
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}
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}
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switch (s_led_mode) {
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case LED_OFF:
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gpio_set_level(LED_GPIO, 0);
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led_on = false;
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vTaskDelay(pdMS_TO_TICKS(200));
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break;
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case LED_SLOW_BLINK:
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led_on = !led_on;
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gpio_set_level(LED_GPIO, led_on ? 1 : 0);
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vTaskDelay(pdMS_TO_TICKS(500));
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break;
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case LED_FAST_BLINK:
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led_on = !led_on;
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gpio_set_level(LED_GPIO, led_on ? 1 : 0);
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vTaskDelay(pdMS_TO_TICKS(100));
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break;
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case LED_SOLID:
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gpio_set_level(LED_GPIO, 1);
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led_on = true;
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vTaskDelay(pdMS_TO_TICKS(200));
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break;
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}
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}
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}
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/* --- CSI callback --- */
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static void wifi_csi_rx_cb(void *ctx, wifi_csi_info_t *info)
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{
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if (!info || !info->buf) {
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ESP_LOGW(TAG, "<%s> wifi_csi_cb", esp_err_to_name(ESP_ERR_INVALID_ARG));
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return;
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}
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if (memcmp(info->mac, ctx, 6)) {
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return;
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}
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s_last_csi_time = esp_timer_get_time();
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const wifi_pkt_rx_ctrl_t *rx_ctrl = &info->rx_ctrl;
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static int s_count = 0;
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float compensate_gain = 1.0f;
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static uint8_t agc_gain = 0;
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static int8_t fft_gain = 0;
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#if CONFIG_GAIN_CONTROL
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static uint8_t agc_gain_baseline = 0;
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static int8_t fft_gain_baseline = 0;
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esp_csi_gain_ctrl_get_rx_gain(rx_ctrl, &agc_gain, &fft_gain);
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if (s_count < 100) {
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esp_csi_gain_ctrl_record_rx_gain(agc_gain, fft_gain);
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} else if (s_count == 100) {
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esp_csi_gain_ctrl_get_rx_gain_baseline(&agc_gain_baseline, &fft_gain_baseline);
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#if CONFIG_FORCE_GAIN
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esp_csi_gain_ctrl_set_rx_force_gain(agc_gain_baseline, fft_gain_baseline);
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ESP_LOGI(TAG, "fft_force %d, agc_force %d", fft_gain_baseline, agc_gain_baseline);
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#endif
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}
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esp_csi_gain_ctrl_get_gain_compensation(&compensate_gain, agc_gain, fft_gain);
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ESP_LOGD(TAG, "compensate_gain %f, agc_gain %d, fft_gain %d", compensate_gain, agc_gain, fft_gain);
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#endif
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/* Build CSI data into buffer for UDP transmission */
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int pos = 0;
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#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32C61
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if (!s_count) {
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ESP_LOGI(TAG, "================ CSI RECV (UDP) ================");
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}
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pos = snprintf(s_udp_buffer, sizeof(s_udp_buffer),
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"CSI_DATA,%d," MACSTR ",%d,%d,%d,%d,%d,%d,%d,%d,%d",
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s_count, MAC2STR(info->mac), rx_ctrl->rssi, rx_ctrl->rate,
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rx_ctrl->noise_floor, fft_gain, agc_gain, rx_ctrl->channel,
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rx_ctrl->timestamp, rx_ctrl->sig_len, rx_ctrl->rx_state);
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#else
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if (!s_count) {
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ESP_LOGI(TAG, "================ CSI RECV (UDP) ================");
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}
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pos = snprintf(s_udp_buffer, sizeof(s_udp_buffer),
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"CSI_DATA,%d," MACSTR ",%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d",
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s_count, MAC2STR(info->mac), rx_ctrl->rssi, rx_ctrl->rate, rx_ctrl->sig_mode,
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rx_ctrl->mcs, rx_ctrl->cwb, rx_ctrl->smoothing, rx_ctrl->not_sounding,
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rx_ctrl->aggregation, rx_ctrl->stbc, rx_ctrl->fec_coding, rx_ctrl->sgi,
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rx_ctrl->noise_floor, rx_ctrl->ampdu_cnt, rx_ctrl->channel, rx_ctrl->secondary_channel,
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rx_ctrl->timestamp, rx_ctrl->ant, rx_ctrl->sig_len, rx_ctrl->rx_state);
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#endif
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#if (CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C61) && CSI_FORCE_LLTF
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int16_t csi = ((int16_t)(((((uint16_t)info->buf[1]) << 8) | info->buf[0]) << 4) >> 4);
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pos += snprintf(s_udp_buffer + pos, sizeof(s_udp_buffer) - pos,
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",%d,%d,\"[%d", (info->len - 2) / 2, info->first_word_invalid, (int16_t)(compensate_gain * csi));
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for (int i = 2; i < (info->len - 2); i += 2) {
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csi = ((int16_t)(((((uint16_t)info->buf[i + 1]) << 8) | info->buf[i]) << 4) >> 4);
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pos += snprintf(s_udp_buffer + pos, sizeof(s_udp_buffer) - pos, ",%d", (int16_t)(compensate_gain * csi));
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}
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#else
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pos += snprintf(s_udp_buffer + pos, sizeof(s_udp_buffer) - pos,
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",%d,%d,\"[%d", info->len, info->first_word_invalid, (int16_t)(compensate_gain * info->buf[0]));
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for (int i = 1; i < info->len; i++) {
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pos += snprintf(s_udp_buffer + pos, sizeof(s_udp_buffer) - pos, ",%d", (int16_t)(compensate_gain * info->buf[i]));
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}
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#endif
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pos += snprintf(s_udp_buffer + pos, sizeof(s_udp_buffer) - pos, "]\"\n");
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/* Send via UDP */
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if (s_udp_socket >= 0) {
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sendto(s_udp_socket, s_udp_buffer, pos, 0, (struct sockaddr *)&s_dest_addr, sizeof(s_dest_addr));
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}
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s_count++;
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}
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static void wifi_csi_init()
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{
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/**
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* @brief In order to ensure the compatibility of routers, only LLTF sub-carriers are selected.
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*/
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#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C61
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wifi_csi_config_t csi_config = {
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.enable = true,
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.acquire_csi_legacy = true,
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.acquire_csi_force_lltf = CSI_FORCE_LLTF,
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.acquire_csi_ht20 = true,
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.acquire_csi_ht40 = true,
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.acquire_csi_vht = false,
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.acquire_csi_su = false,
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.acquire_csi_mu = false,
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.acquire_csi_dcm = false,
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.acquire_csi_beamformed = false,
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.acquire_csi_he_stbc_mode = 2,
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.val_scale_cfg = 0,
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.dump_ack_en = false,
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.reserved = false
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};
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#elif CONFIG_IDF_TARGET_ESP32C6
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wifi_csi_config_t csi_config = {
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.enable = true,
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.acquire_csi_legacy = true,
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.acquire_csi_ht20 = true,
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.acquire_csi_ht40 = true,
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.acquire_csi_su = false,
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.acquire_csi_mu = false,
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.acquire_csi_dcm = false,
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.acquire_csi_beamformed = false,
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.acquire_csi_he_stbc = 2,
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.val_scale_cfg = false,
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.dump_ack_en = false,
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.reserved = false
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};
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#else
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wifi_csi_config_t csi_config = {
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.lltf_en = true,
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.htltf_en = false,
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.stbc_htltf2_en = false,
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.ltf_merge_en = true,
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.channel_filter_en = true,
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.manu_scale = true,
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.shift = true,
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};
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#endif
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static wifi_ap_record_t s_ap_info = {0};
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ESP_ERROR_CHECK(esp_wifi_sta_get_ap_info(&s_ap_info));
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ESP_ERROR_CHECK(esp_wifi_set_csi_config(&csi_config));
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ESP_ERROR_CHECK(esp_wifi_set_csi_rx_cb(wifi_csi_rx_cb, s_ap_info.bssid));
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ESP_ERROR_CHECK(esp_wifi_set_csi(true));
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}
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static void udp_socket_init(void)
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{
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s_udp_socket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
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if (s_udp_socket < 0) {
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ESP_LOGE(TAG, "Failed to create UDP socket: errno %d", errno);
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return;
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}
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memset(&s_dest_addr, 0, sizeof(s_dest_addr));
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s_dest_addr.sin_family = AF_INET;
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s_dest_addr.sin_port = htons(CONFIG_CSI_UDP_TARGET_PORT);
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inet_pton(AF_INET, CONFIG_CSI_UDP_TARGET_IP, &s_dest_addr.sin_addr);
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ESP_LOGI(TAG, "UDP socket initialized, sending to %s:%d",
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CONFIG_CSI_UDP_TARGET_IP, CONFIG_CSI_UDP_TARGET_PORT);
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}
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/* --- Ping --- */
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static esp_err_t wifi_ping_router_start(void)
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{
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/* Stop existing session if any */
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if (s_ping_handle) {
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esp_ping_stop(s_ping_handle);
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esp_ping_delete_session(s_ping_handle);
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s_ping_handle = NULL;
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}
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esp_ping_config_t ping_config = ESP_PING_DEFAULT_CONFIG();
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ping_config.count = 0;
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ping_config.interval_ms = 1000 / s_send_frequency;
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ping_config.task_stack_size = 3072;
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ping_config.data_size = 1;
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esp_netif_ip_info_t local_ip;
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esp_netif_get_ip_info(esp_netif_get_handle_from_ifkey("WIFI_STA_DEF"), &local_ip);
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ESP_LOGI(TAG, "got ip:" IPSTR ", gw: " IPSTR, IP2STR(&local_ip.ip), IP2STR(&local_ip.gw));
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ping_config.target_addr.u_addr.ip4.addr = ip4_addr_get_u32(&local_ip.gw);
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ping_config.target_addr.type = ESP_IPADDR_TYPE_V4;
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esp_ping_callbacks_t cbs = { 0 };
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esp_ping_new_session(&ping_config, &cbs, &s_ping_handle);
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esp_ping_start(s_ping_handle);
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ESP_LOGI(TAG, "Ping started at %d Hz", s_send_frequency);
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return ESP_OK;
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}
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/* --- Command handler --- */
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static void reboot_after_delay(void *arg)
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{
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vTaskDelay(pdMS_TO_TICKS(200));
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esp_restart();
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}
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static int cmd_handle(const char *cmd, char *reply, size_t reply_size)
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{
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/* REBOOT */
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if (strncmp(cmd, "REBOOT", 6) == 0) {
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snprintf(reply, reply_size, "OK REBOOTING");
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xTaskCreate(reboot_after_delay, "reboot", 1024, NULL, 1, NULL);
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return strlen(reply);
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}
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/* IDENTIFY */
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if (strncmp(cmd, "IDENTIFY", 8) == 0) {
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s_identify_end_time = esp_timer_get_time() + (5 * 1000000LL);
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s_led_mode = LED_SOLID;
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snprintf(reply, reply_size, "OK IDENTIFY 5s");
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return strlen(reply);
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}
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/* STATUS */
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if (strncmp(cmd, "STATUS", 6) == 0) {
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int64_t uptime_s = esp_timer_get_time() / 1000000LL;
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uint32_t heap = esp_get_free_heap_size();
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wifi_ap_record_t ap;
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int rssi = 0;
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if (esp_wifi_sta_get_ap_info(&ap) == ESP_OK) {
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rssi = ap.rssi;
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}
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snprintf(reply, reply_size,
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"OK STATUS uptime=%lld heap=%lu rssi=%d tx_power=%d rate=%d",
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uptime_s, (unsigned long)heap, rssi, (int)s_tx_power_dbm, s_send_frequency);
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return strlen(reply);
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}
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/* RATE <10-100> */
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if (strncmp(cmd, "RATE ", 5) == 0) {
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int val = atoi(cmd + 5);
|
|
if (val < 10 || val > 100) {
|
|
snprintf(reply, reply_size, "ERR RATE range 10-100");
|
|
return strlen(reply);
|
|
}
|
|
s_send_frequency = val;
|
|
config_save_i32("send_rate", (int32_t)val);
|
|
wifi_ping_router_start();
|
|
snprintf(reply, reply_size, "OK RATE %d", val);
|
|
return strlen(reply);
|
|
}
|
|
|
|
/* POWER <2-20> */
|
|
if (strncmp(cmd, "POWER ", 6) == 0) {
|
|
int val = atoi(cmd + 6);
|
|
if (val < 2 || val > 20) {
|
|
snprintf(reply, reply_size, "ERR POWER range 2-20");
|
|
return strlen(reply);
|
|
}
|
|
s_tx_power_dbm = (int8_t)val;
|
|
esp_wifi_set_max_tx_power(s_tx_power_dbm * 4);
|
|
config_save_i8("tx_power", s_tx_power_dbm);
|
|
snprintf(reply, reply_size, "OK POWER %d dBm", val);
|
|
return strlen(reply);
|
|
}
|
|
|
|
snprintf(reply, reply_size, "ERR UNKNOWN");
|
|
return strlen(reply);
|
|
}
|
|
|
|
static void cmd_task(void *arg)
|
|
{
|
|
int sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
|
|
if (sock < 0) {
|
|
ESP_LOGE(TAG, "cmd_task: socket failed: errno %d", errno);
|
|
vTaskDelete(NULL);
|
|
return;
|
|
}
|
|
|
|
struct sockaddr_in bind_addr = {
|
|
.sin_family = AF_INET,
|
|
.sin_port = htons(CONFIG_CSI_CMD_PORT),
|
|
.sin_addr.s_addr = htonl(INADDR_ANY),
|
|
};
|
|
|
|
if (bind(sock, (struct sockaddr *)&bind_addr, sizeof(bind_addr)) < 0) {
|
|
ESP_LOGE(TAG, "cmd_task: bind failed: errno %d", errno);
|
|
close(sock);
|
|
vTaskDelete(NULL);
|
|
return;
|
|
}
|
|
|
|
ESP_LOGI(TAG, "Command listener on UDP port %d", CONFIG_CSI_CMD_PORT);
|
|
|
|
char rx_buf[128];
|
|
char reply_buf[256];
|
|
struct sockaddr_in src_addr;
|
|
socklen_t src_len;
|
|
|
|
while (1) {
|
|
src_len = sizeof(src_addr);
|
|
int len = recvfrom(sock, rx_buf, sizeof(rx_buf) - 1, 0,
|
|
(struct sockaddr *)&src_addr, &src_len);
|
|
if (len < 0) {
|
|
ESP_LOGE(TAG, "cmd_task: recvfrom error: errno %d", errno);
|
|
vTaskDelay(pdMS_TO_TICKS(1000));
|
|
continue;
|
|
}
|
|
|
|
/* Strip trailing whitespace */
|
|
while (len > 0 && (rx_buf[len - 1] == '\n' || rx_buf[len - 1] == '\r' || rx_buf[len - 1] == ' ')) {
|
|
len--;
|
|
}
|
|
rx_buf[len] = '\0';
|
|
|
|
ESP_LOGI(TAG, "CMD rx: \"%s\"", rx_buf);
|
|
|
|
int reply_len = cmd_handle(rx_buf, reply_buf, sizeof(reply_buf));
|
|
sendto(sock, reply_buf, reply_len, 0,
|
|
(struct sockaddr *)&src_addr, src_len);
|
|
|
|
ESP_LOGI(TAG, "CMD tx: \"%s\"", reply_buf);
|
|
}
|
|
}
|
|
|
|
/* --- Main --- */
|
|
|
|
void app_main()
|
|
{
|
|
ESP_ERROR_CHECK(nvs_flash_init());
|
|
config_load_nvs();
|
|
|
|
led_gpio_init();
|
|
xTaskCreate(led_task, "led_task", 2048, NULL, 2, NULL);
|
|
|
|
ESP_ERROR_CHECK(esp_netif_init());
|
|
ESP_ERROR_CHECK(esp_event_loop_create_default());
|
|
|
|
/**
|
|
* @brief This helper function configures Wi-Fi, as selected in menuconfig.
|
|
* Read "Establishing Wi-Fi Connection" section in esp-idf/examples/protocols/README.md
|
|
* for more information about this function.
|
|
*/
|
|
ESP_ERROR_CHECK(example_connect());
|
|
|
|
/* Apply saved TX power after WiFi is up */
|
|
esp_wifi_set_max_tx_power(s_tx_power_dbm * 4);
|
|
ESP_LOGI(TAG, "TX power set to %d dBm", (int)s_tx_power_dbm);
|
|
|
|
s_led_mode = LED_SLOW_BLINK;
|
|
|
|
udp_socket_init();
|
|
wifi_csi_init();
|
|
wifi_ping_router_start();
|
|
|
|
xTaskCreate(cmd_task, "cmd_task", 4096, NULL, 5, NULL);
|
|
}
|