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esp32-hacking/get-started/csi_recv_router/main/app_main.c
user c922e05266 feat: Add v0.4 adaptive sampling — wander detection, auto rate control 
On-device CSI wander calculation (coefficient of variation over 50-packet
window). Rate drops to 10 Hz when idle, jumps to 100 Hz on motion with
3s holdoff. EVENT notifications sent to Pi on rate changes. New commands:
ADAPTIVE ON/OFF, THRESHOLD. RATE command disables adaptive mode.
All settings NVS-persisted.
2026-02-04 16:34:19 +01:00

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25 KiB
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/*
* SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
/* Get recv router csi
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 <math.h>
#include <errno.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/event_groups.h"
#include "nvs_flash.h"
#include "nvs.h"
#include "esp_mac.h"
#include "rom/ets_sys.h"
#include "esp_log.h"
#include "esp_wifi.h"
#include "esp_netif.h"
#include "esp_now.h"
#include "esp_timer.h"
#include "esp_task_wdt.h"
#include "esp_ota_ops.h"
#include "esp_https_ota.h"
#include "esp_http_client.h"
#include "driver/gpio.h"
#include "mdns.h"
#include "lwip/inet.h"
#include "lwip/netdb.h"
#include "lwip/sockets.h"
#include "ping/ping_sock.h"
#include "protocol_examples_common.h"
#include "esp_csi_gain_ctrl.h"
#define CONFIG_SEND_FREQUENCY_DEFAULT 100
#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C61
#define CSI_FORCE_LLTF 0
#endif
#define CONFIG_FORCE_GAIN 0
#if CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32C61
#define CONFIG_GAIN_CONTROL 1
#endif
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
#define ESP_IF_WIFI_STA ESP_MAC_WIFI_STA
#endif
#define LED_GPIO GPIO_NUM_2
static const char *TAG = "csi_recv_router";
/* --- LED modes --- */
typedef enum {
LED_OFF,
LED_SLOW_BLINK,
LED_FAST_BLINK,
LED_SOLID,
LED_OTA,
} led_mode_t;
/* --- Globals --- */
static int s_send_frequency = CONFIG_SEND_FREQUENCY_DEFAULT;
static int8_t s_tx_power_dbm = 10;
static esp_ping_handle_t s_ping_handle = NULL;
static volatile led_mode_t s_led_mode = LED_OFF;
static volatile int64_t s_last_csi_time = 0;
static volatile int64_t s_identify_end_time = 0;
static volatile bool s_ota_in_progress = false;
/* Adaptive sampling */
#define WANDER_WINDOW 50
#define RATE_ACTIVE 100
#define RATE_IDLE 10
#define IDLE_HOLDOFF_US 3000000LL /* 3s of no motion before dropping rate */
#define DEFAULT_THRESHOLD 0.002f
static bool s_adaptive = false;
static float s_motion_threshold = DEFAULT_THRESHOLD;
static volatile bool s_motion_detected = false;
static volatile int64_t s_last_motion_time = 0;
static uint32_t s_energy_buf[WANDER_WINDOW];
static uint32_t s_energy_idx = 0;
/* UDP socket for CSI data transmission */
static int s_udp_socket = -1;
static struct sockaddr_in s_dest_addr;
static char s_udp_buffer[2048];
/* --- NVS helpers --- */
static void config_load_nvs(void)
{
nvs_handle_t h;
if (nvs_open("csi_config", NVS_READONLY, &h) == ESP_OK) {
int32_t val;
if (nvs_get_i32(h, "send_rate", &val) == ESP_OK && val >= 10 && val <= 100) {
s_send_frequency = (int)val;
}
int8_t pwr;
if (nvs_get_i8(h, "tx_power", &pwr) == ESP_OK && pwr >= 2 && pwr <= 20) {
s_tx_power_dbm = pwr;
}
int8_t adaptive;
if (nvs_get_i8(h, "adaptive", &adaptive) == ESP_OK) {
s_adaptive = (adaptive != 0);
}
int32_t thresh;
if (nvs_get_i32(h, "threshold", &thresh) == ESP_OK && thresh > 0) {
s_motion_threshold = (float)thresh / 1000000.0f;
}
nvs_close(h);
ESP_LOGI(TAG, "NVS loaded: rate=%d tx_power=%d adaptive=%d threshold=%.6f",
s_send_frequency, s_tx_power_dbm, s_adaptive, s_motion_threshold);
} else {
ESP_LOGI(TAG, "NVS: no saved config, using defaults");
}
}
static esp_err_t config_save_i32(const char *key, int32_t value)
{
nvs_handle_t h;
esp_err_t err = nvs_open("csi_config", NVS_READWRITE, &h);
if (err != ESP_OK) return err;
err = nvs_set_i32(h, key, value);
if (err == ESP_OK) err = nvs_commit(h);
nvs_close(h);
return err;
}
static esp_err_t config_save_i8(const char *key, int8_t value)
{
nvs_handle_t h;
esp_err_t err = nvs_open("csi_config", NVS_READWRITE, &h);
if (err != ESP_OK) return err;
err = nvs_set_i8(h, key, value);
if (err == ESP_OK) err = nvs_commit(h);
nvs_close(h);
return err;
}
/* --- LED --- */
static void led_gpio_init(void)
{
gpio_config_t io_conf = {
.pin_bit_mask = (1ULL << LED_GPIO),
.mode = GPIO_MODE_OUTPUT,
.pull_up_en = GPIO_PULLUP_DISABLE,
.pull_down_en = GPIO_PULLDOWN_DISABLE,
.intr_type = GPIO_INTR_DISABLE,
};
gpio_config(&io_conf);
gpio_set_level(LED_GPIO, 0);
}
static void led_task(void *arg)
{
bool led_on = false;
while (1) {
/* Check identify timeout */
if (s_led_mode == LED_SOLID && s_identify_end_time > 0) {
if (esp_timer_get_time() >= s_identify_end_time) {
s_identify_end_time = 0;
s_led_mode = LED_SLOW_BLINK;
}
}
/* Auto-switch between slow/fast blink based on CSI activity */
if (s_led_mode == LED_SLOW_BLINK || s_led_mode == LED_FAST_BLINK) {
int64_t now = esp_timer_get_time();
if (s_last_csi_time > 0 && (now - s_last_csi_time) < 500000) {
s_led_mode = LED_FAST_BLINK;
} else if (s_led_mode == LED_FAST_BLINK) {
s_led_mode = LED_SLOW_BLINK;
}
}
switch (s_led_mode) {
case LED_OFF:
gpio_set_level(LED_GPIO, 0);
led_on = false;
vTaskDelay(pdMS_TO_TICKS(200));
break;
case LED_SLOW_BLINK:
led_on = !led_on;
gpio_set_level(LED_GPIO, led_on ? 1 : 0);
vTaskDelay(pdMS_TO_TICKS(500));
break;
case LED_FAST_BLINK:
led_on = !led_on;
gpio_set_level(LED_GPIO, led_on ? 1 : 0);
vTaskDelay(pdMS_TO_TICKS(100));
break;
case LED_SOLID:
gpio_set_level(LED_GPIO, 1);
led_on = true;
vTaskDelay(pdMS_TO_TICKS(200));
break;
case LED_OTA:
/* Double-blink: on-off-on-off-pause */
gpio_set_level(LED_GPIO, 1);
vTaskDelay(pdMS_TO_TICKS(80));
gpio_set_level(LED_GPIO, 0);
vTaskDelay(pdMS_TO_TICKS(80));
gpio_set_level(LED_GPIO, 1);
vTaskDelay(pdMS_TO_TICKS(80));
gpio_set_level(LED_GPIO, 0);
vTaskDelay(pdMS_TO_TICKS(500));
led_on = false;
break;
}
}
}
/* --- CSI callback --- */
static void wifi_csi_rx_cb(void *ctx, wifi_csi_info_t *info)
{
if (!info || !info->buf) {
ESP_LOGW(TAG, "<%s> wifi_csi_cb", esp_err_to_name(ESP_ERR_INVALID_ARG));
return;
}
if (memcmp(info->mac, ctx, 6)) {
return;
}
s_last_csi_time = esp_timer_get_time();
const wifi_pkt_rx_ctrl_t *rx_ctrl = &info->rx_ctrl;
static int s_count = 0;
float compensate_gain = 1.0f;
static uint8_t agc_gain = 0;
static int8_t fft_gain = 0;
#if CONFIG_GAIN_CONTROL
static uint8_t agc_gain_baseline = 0;
static int8_t fft_gain_baseline = 0;
esp_csi_gain_ctrl_get_rx_gain(rx_ctrl, &agc_gain, &fft_gain);
if (s_count < 100) {
esp_csi_gain_ctrl_record_rx_gain(agc_gain, fft_gain);
} else if (s_count == 100) {
esp_csi_gain_ctrl_get_rx_gain_baseline(&agc_gain_baseline, &fft_gain_baseline);
#if CONFIG_FORCE_GAIN
esp_csi_gain_ctrl_set_rx_force_gain(agc_gain_baseline, fft_gain_baseline);
ESP_LOGI(TAG, "fft_force %d, agc_force %d", fft_gain_baseline, agc_gain_baseline);
#endif
}
esp_csi_gain_ctrl_get_gain_compensation(&compensate_gain, agc_gain, fft_gain);
ESP_LOGD(TAG, "compensate_gain %f, agc_gain %d, fft_gain %d", compensate_gain, agc_gain, fft_gain);
#endif
/* Build CSI data into buffer for UDP transmission */
int pos = 0;
#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32C61
if (!s_count) {
ESP_LOGI(TAG, "================ CSI RECV (UDP) ================");
}
pos = snprintf(s_udp_buffer, sizeof(s_udp_buffer),
"CSI_DATA,%d," MACSTR ",%d,%d,%d,%d,%d,%d,%d,%d,%d",
s_count, MAC2STR(info->mac), rx_ctrl->rssi, rx_ctrl->rate,
rx_ctrl->noise_floor, fft_gain, agc_gain, rx_ctrl->channel,
rx_ctrl->timestamp, rx_ctrl->sig_len, rx_ctrl->rx_state);
#else
if (!s_count) {
ESP_LOGI(TAG, "================ CSI RECV (UDP) ================");
}
pos = snprintf(s_udp_buffer, sizeof(s_udp_buffer),
"CSI_DATA,%d," MACSTR ",%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d",
s_count, MAC2STR(info->mac), rx_ctrl->rssi, rx_ctrl->rate, rx_ctrl->sig_mode,
rx_ctrl->mcs, rx_ctrl->cwb, rx_ctrl->smoothing, rx_ctrl->not_sounding,
rx_ctrl->aggregation, rx_ctrl->stbc, rx_ctrl->fec_coding, rx_ctrl->sgi,
rx_ctrl->noise_floor, rx_ctrl->ampdu_cnt, rx_ctrl->channel, rx_ctrl->secondary_channel,
rx_ctrl->timestamp, rx_ctrl->ant, rx_ctrl->sig_len, rx_ctrl->rx_state);
#endif
#if (CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C61) && CSI_FORCE_LLTF
int16_t csi = ((int16_t)(((((uint16_t)info->buf[1]) << 8) | info->buf[0]) << 4) >> 4);
pos += snprintf(s_udp_buffer + pos, sizeof(s_udp_buffer) - pos,
",%d,%d,\"[%d", (info->len - 2) / 2, info->first_word_invalid, (int16_t)(compensate_gain * csi));
for (int i = 2; i < (info->len - 2); i += 2) {
csi = ((int16_t)(((((uint16_t)info->buf[i + 1]) << 8) | info->buf[i]) << 4) >> 4);
pos += snprintf(s_udp_buffer + pos, sizeof(s_udp_buffer) - pos, ",%d", (int16_t)(compensate_gain * csi));
}
#else
pos += snprintf(s_udp_buffer + pos, sizeof(s_udp_buffer) - pos,
",%d,%d,\"[%d", info->len, info->first_word_invalid, (int16_t)(compensate_gain * info->buf[0]));
for (int i = 1; i < info->len; i++) {
pos += snprintf(s_udp_buffer + pos, sizeof(s_udp_buffer) - pos, ",%d", (int16_t)(compensate_gain * info->buf[i]));
}
#endif
pos += snprintf(s_udp_buffer + pos, sizeof(s_udp_buffer) - pos, "]\"\n");
/* Send via UDP */
if (s_udp_socket >= 0) {
sendto(s_udp_socket, s_udp_buffer, pos, 0, (struct sockaddr *)&s_dest_addr, sizeof(s_dest_addr));
}
/* Compute CSI energy for adaptive sampling */
if (s_adaptive) {
uint32_t energy = 0;
for (int i = 0; i < info->len; i++) {
energy += abs(info->buf[i]);
}
s_energy_buf[s_energy_idx % WANDER_WINDOW] = energy;
s_energy_idx++;
}
s_count++;
}
static void wifi_csi_init()
{
/**
* @brief In order to ensure the compatibility of routers, only LLTF sub-carriers are selected.
*/
#if CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32C61
wifi_csi_config_t csi_config = {
.enable = true,
.acquire_csi_legacy = true,
.acquire_csi_force_lltf = CSI_FORCE_LLTF,
.acquire_csi_ht20 = true,
.acquire_csi_ht40 = true,
.acquire_csi_vht = false,
.acquire_csi_su = false,
.acquire_csi_mu = false,
.acquire_csi_dcm = false,
.acquire_csi_beamformed = false,
.acquire_csi_he_stbc_mode = 2,
.val_scale_cfg = 0,
.dump_ack_en = false,
.reserved = false
};
#elif CONFIG_IDF_TARGET_ESP32C6
wifi_csi_config_t csi_config = {
.enable = true,
.acquire_csi_legacy = true,
.acquire_csi_ht20 = true,
.acquire_csi_ht40 = true,
.acquire_csi_su = false,
.acquire_csi_mu = false,
.acquire_csi_dcm = false,
.acquire_csi_beamformed = false,
.acquire_csi_he_stbc = 2,
.val_scale_cfg = false,
.dump_ack_en = false,
.reserved = false
};
#else
wifi_csi_config_t csi_config = {
.lltf_en = true,
.htltf_en = false,
.stbc_htltf2_en = false,
.ltf_merge_en = true,
.channel_filter_en = true,
.manu_scale = true,
.shift = true,
};
#endif
static wifi_ap_record_t s_ap_info = {0};
ESP_ERROR_CHECK(esp_wifi_sta_get_ap_info(&s_ap_info));
ESP_ERROR_CHECK(esp_wifi_set_csi_config(&csi_config));
ESP_ERROR_CHECK(esp_wifi_set_csi_rx_cb(wifi_csi_rx_cb, s_ap_info.bssid));
ESP_ERROR_CHECK(esp_wifi_set_csi(true));
}
static void udp_socket_init(void)
{
s_udp_socket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
if (s_udp_socket < 0) {
ESP_LOGE(TAG, "Failed to create UDP socket: errno %d", errno);
return;
}
memset(&s_dest_addr, 0, sizeof(s_dest_addr));
s_dest_addr.sin_family = AF_INET;
s_dest_addr.sin_port = htons(CONFIG_CSI_UDP_TARGET_PORT);
inet_pton(AF_INET, CONFIG_CSI_UDP_TARGET_IP, &s_dest_addr.sin_addr);
ESP_LOGI(TAG, "UDP socket initialized, sending to %s:%d",
CONFIG_CSI_UDP_TARGET_IP, CONFIG_CSI_UDP_TARGET_PORT);
}
/* --- Ping --- */
static esp_err_t wifi_ping_router_start(void)
{
/* Stop existing session if any */
if (s_ping_handle) {
esp_ping_stop(s_ping_handle);
esp_ping_delete_session(s_ping_handle);
s_ping_handle = NULL;
}
esp_ping_config_t ping_config = ESP_PING_DEFAULT_CONFIG();
ping_config.count = 0;
ping_config.interval_ms = 1000 / s_send_frequency;
ping_config.task_stack_size = 3072;
ping_config.data_size = 1;
esp_netif_ip_info_t local_ip;
esp_netif_get_ip_info(esp_netif_get_handle_from_ifkey("WIFI_STA_DEF"), &local_ip);
ESP_LOGI(TAG, "got ip:" IPSTR ", gw: " IPSTR, IP2STR(&local_ip.ip), IP2STR(&local_ip.gw));
ping_config.target_addr.u_addr.ip4.addr = ip4_addr_get_u32(&local_ip.gw);
ping_config.target_addr.type = ESP_IPADDR_TYPE_V4;
esp_ping_callbacks_t cbs = { 0 };
esp_ping_new_session(&ping_config, &cbs, &s_ping_handle);
esp_ping_start(s_ping_handle);
ESP_LOGI(TAG, "Ping started at %d Hz", s_send_frequency);
return ESP_OK;
}
/* --- Adaptive sampling --- */
static void adaptive_task(void *arg)
{
while (1) {
vTaskDelay(pdMS_TO_TICKS(500));
if (!s_adaptive || s_energy_idx < WANDER_WINDOW) continue;
/* Compute mean */
float mean = 0;
for (int i = 0; i < WANDER_WINDOW; i++) {
mean += s_energy_buf[i];
}
mean /= WANDER_WINDOW;
if (mean < 1.0f) continue;
/* Compute variance */
float var = 0;
for (int i = 0; i < WANDER_WINDOW; i++) {
float d = s_energy_buf[i] - mean;
var += d * d;
}
var /= WANDER_WINDOW;
/* Wander = coefficient of variation squared */
float wander = var / (mean * mean);
int64_t now = esp_timer_get_time();
bool motion = wander > s_motion_threshold;
if (motion) {
s_last_motion_time = now;
}
int target_rate;
if (motion || (now - s_last_motion_time < IDLE_HOLDOFF_US)) {
target_rate = RATE_ACTIVE;
} else {
target_rate = RATE_IDLE;
}
s_motion_detected = motion;
if (target_rate != s_send_frequency) {
s_send_frequency = target_rate;
wifi_ping_router_start();
/* Notify Pi */
char event[80];
int len = snprintf(event, sizeof(event),
"EVENT motion=%d rate=%d wander=%.6f",
motion ? 1 : 0, target_rate, wander);
if (s_udp_socket >= 0) {
sendto(s_udp_socket, event, len, 0,
(struct sockaddr *)&s_dest_addr, sizeof(s_dest_addr));
}
ESP_LOGI(TAG, "Adaptive: %s -> %d Hz (wander=%.6f)",
motion ? "motion" : "idle", target_rate, wander);
}
}
}
/* --- OTA --- */
static void ota_task(void *arg)
{
char *url = (char *)arg;
ESP_LOGI(TAG, "OTA: downloading from %s", url);
s_led_mode = LED_OTA;
esp_http_client_config_t http_cfg = {
.url = url,
.timeout_ms = 30000,
};
esp_https_ota_config_t ota_cfg = {
.http_config = &http_cfg,
};
esp_err_t err = esp_https_ota(&ota_cfg);
free(url);
if (err == ESP_OK) {
ESP_LOGI(TAG, "OTA: success, rebooting...");
s_led_mode = LED_SOLID;
vTaskDelay(pdMS_TO_TICKS(500));
esp_restart();
} else {
ESP_LOGE(TAG, "OTA: failed: %s", esp_err_to_name(err));
s_led_mode = LED_SLOW_BLINK;
s_ota_in_progress = false;
}
vTaskDelete(NULL);
}
/* --- Command handler --- */
static void reboot_after_delay(void *arg)
{
vTaskDelay(pdMS_TO_TICKS(200));
esp_restart();
}
static int cmd_handle(const char *cmd, char *reply, size_t reply_size)
{
/* REBOOT */
if (strncmp(cmd, "REBOOT", 6) == 0) {
snprintf(reply, reply_size, "OK REBOOTING");
xTaskCreate(reboot_after_delay, "reboot", 1024, NULL, 1, NULL);
return strlen(reply);
}
/* IDENTIFY */
if (strncmp(cmd, "IDENTIFY", 8) == 0) {
s_identify_end_time = esp_timer_get_time() + (5 * 1000000LL);
s_led_mode = LED_SOLID;
snprintf(reply, reply_size, "OK IDENTIFY 5s");
return strlen(reply);
}
/* STATUS */
if (strncmp(cmd, "STATUS", 6) == 0) {
int64_t up = esp_timer_get_time() / 1000000LL;
int days = (int)(up / 86400);
int hours = (int)((up % 86400) / 3600);
int mins = (int)((up % 3600) / 60);
uint32_t heap = esp_get_free_heap_size();
wifi_ap_record_t ap;
int rssi = 0;
if (esp_wifi_sta_get_ap_info(&ap) == ESP_OK) {
rssi = ap.rssi;
}
const esp_app_desc_t *app_desc = esp_app_get_description();
char uptime_str[32];
if (days > 0) {
snprintf(uptime_str, sizeof(uptime_str), "%dd%dh%dm", days, hours, mins);
} else if (hours > 0) {
snprintf(uptime_str, sizeof(uptime_str), "%dh%dm", hours, mins);
} else {
snprintf(uptime_str, sizeof(uptime_str), "%dm", mins);
}
snprintf(reply, reply_size,
"OK STATUS uptime=%s heap=%lu rssi=%d tx_power=%d rate=%d hostname=%s version=%s adaptive=%s motion=%d",
uptime_str, (unsigned long)heap, rssi, (int)s_tx_power_dbm,
s_send_frequency, CONFIG_CSI_HOSTNAME, app_desc->version,
s_adaptive ? "on" : "off", s_motion_detected ? 1 : 0);
return strlen(reply);
}
/* RATE <10-100> */
if (strncmp(cmd, "RATE ", 5) == 0) {
int val = atoi(cmd + 5);
if (val < 10 || val > 100) {
snprintf(reply, reply_size, "ERR RATE range 10-100");
return strlen(reply);
}
if (s_adaptive) {
s_adaptive = false;
s_motion_detected = false;
config_save_i8("adaptive", 0);
}
s_send_frequency = val;
config_save_i32("send_rate", (int32_t)val);
wifi_ping_router_start();
snprintf(reply, reply_size, "OK RATE %d (adaptive off)", 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);
}
/* ADAPTIVE ON/OFF */
if (strncmp(cmd, "ADAPTIVE ", 9) == 0) {
const char *arg = cmd + 9;
if (strncmp(arg, "ON", 2) == 0) {
s_adaptive = true;
s_energy_idx = 0;
config_save_i8("adaptive", 1);
snprintf(reply, reply_size, "OK ADAPTIVE on threshold=%.6f", s_motion_threshold);
} else if (strncmp(arg, "OFF", 3) == 0) {
s_adaptive = false;
s_motion_detected = false;
config_save_i8("adaptive", 0);
snprintf(reply, reply_size, "OK ADAPTIVE off");
} else {
snprintf(reply, reply_size, "ERR ADAPTIVE ON or OFF");
}
return strlen(reply);
}
/* THRESHOLD <value> */
if (strncmp(cmd, "THRESHOLD ", 10) == 0) {
float val = strtof(cmd + 10, NULL);
if (val <= 0.0f || val > 1.0f) {
snprintf(reply, reply_size, "ERR THRESHOLD range 0.000001-1.0");
return strlen(reply);
}
s_motion_threshold = val;
config_save_i32("threshold", (int32_t)(val * 1000000.0f));
snprintf(reply, reply_size, "OK THRESHOLD %.6f", val);
return strlen(reply);
}
/* OTA <url> */
if (strncmp(cmd, "OTA ", 4) == 0) {
const char *url = cmd + 4;
if (strncmp(url, "http://", 7) != 0) {
snprintf(reply, reply_size, "ERR OTA url must start with http://");
return strlen(reply);
}
if (s_ota_in_progress) {
snprintf(reply, reply_size, "ERR OTA already in progress");
return strlen(reply);
}
char *url_copy = strdup(url);
if (!url_copy) {
snprintf(reply, reply_size, "ERR OTA out of memory");
return strlen(reply);
}
s_ota_in_progress = true;
xTaskCreate(ota_task, "ota_task", 8192, url_copy, 5, NULL);
snprintf(reply, reply_size, "OK OTA started");
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);
/* mDNS: announce as <hostname>.local */
ESP_ERROR_CHECK(mdns_init());
mdns_hostname_set(CONFIG_CSI_HOSTNAME);
mdns_instance_name_set("ESP32 CSI Sensor");
ESP_LOGI(TAG, "mDNS hostname: %s.local", CONFIG_CSI_HOSTNAME);
/* Watchdog: 30s timeout, auto-reboot on hang */
esp_task_wdt_config_t wdt_cfg = {
.timeout_ms = 30000,
.idle_core_mask = (1 << 0) | (1 << 1),
.trigger_panic = true,
};
ESP_ERROR_CHECK(esp_task_wdt_reconfigure(&wdt_cfg));
ESP_LOGI(TAG, "Watchdog configured: 30s timeout");
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);
xTaskCreate(adaptive_task, "adaptive", 3072, NULL, 3, NULL);
/* OTA rollback: mark firmware valid if we got this far */
const esp_partition_t *running = esp_ota_get_running_partition();
esp_ota_img_states_t ota_state;
if (esp_ota_get_state_partition(running, &ota_state) == ESP_OK) {
if (ota_state == ESP_OTA_IMG_PENDING_VERIFY) {
ESP_LOGI(TAG, "OTA: marking firmware valid (rollback cancelled)");
esp_ota_mark_app_valid_cancel_rollback();
}
}
}
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