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+ GNU GENERAL PUBLIC LICENSE
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+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
--- /dev/null
+/*
+ * Copyright (C) 2024 Michael Zucchi
+ *
+ * This file is part of esp-ld2410 <https://www.zedzone.au/software/esp-ld2410.html>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdio.h>
+#include <stdint.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_system.h"
+#include "esp_log.h"
+#include "driver/uart.h"
+#include "string.h"
+#include "driver/gpio.h"
+
+#include "esp-ld2410.h"
+
+/*
+ Summary of version 1 protocol for LD2410C.
+
+ Simple req/ack commands with no parameters
+
+ req: start length=0002 cmd=00xx end
+ ack: start length=0004 cmd=xx01 status=0000 end
+
+ end command mode 0x00fe
+ enter engineering mode 0x0062
+ leave engineering mode 0x0063
+ restore factory settings 0x00a2
+ restart 0x00a3
+
+ others
+
+ enter command mode 0x00ff
+
+ req: start length=0004 cmd=00ff value=0001 end
+ ack: start length=0008 cmd=01ff status=0000 version=0001 buffer=0040 end
+
+ If the length is 0002 then it seems to initiate version 0 of the protocol which isn't documented.
+
+ version 0 req: start length=0002 cmd=00ff end
+ version 0 ack: start length=0008 cmd=01ff status=0000 end
+
+ set parameters 0x0060
+ persistent
+
+ req: start length=0014 cmd=0060 move=0000 value=xxxxxxxx stat=0001 threshold=xxxxxxxx duration=0002 threshold=xxxxxxxx end
+ ack: standard
+
+ get parameters 0x0061
+
+ req: standard
+ ack: start length=001c cmd=0161 status=0000
+ head=aa
+ max_gate=08
+ max_move=08
+ max_stat=08
+ move_sensitivity[9]=xx xx xx xx xx xx xx xx xx
+ stat_sensitivity[9]=xx xx xx xx xx xx xx xx xx
+ idle_time=xxxx
+
+ configure threshold 0x0064
+ configure distance 'value' to move/stat sensitivity, 0xffff sets all
+
+ req: start length=0014 cmd=0064 dist=0000 value=xxxxxxxx move=0001 threshold=xxxxxxxx stat=0002 threshold=xxxxxxxx end
+ ack: standard
+
+ read firmware version 0x00a0
+
+ req: standard
+ ack: start length=000c status=0000 type=0001 maj=xxxx min=xxxxxxxx end
+
+ version 0 ack: start length=000c type=0100 maj=xxxx min=xxxxxxxx end
+
+ set baud rate 0x00a1
+ rate:
+ 0001 9600
+ 0002 19200
+ 0003 38400
+ 0004 57600
+ 0005 115200
+ 0006 230400
+ 0007 256000
+ 0008 460800
+
+ persistent, takes effect after restart
+
+ req: start length=0004 cmd=00a1 rate=xxxx end
+ ack: standard
+
+ enable bluetooth 0x00a4
+ takes effect after restart
+
+ req: start length=0004 cmd=00a4 state=000x end
+ ack: standard
+
+ get bluetooth mac address 0x00a5
+
+ req: start length=0004 cmd=00a5 value=0001 end
+ ack: start length=000a cmd=01a5 status=0000 mac=xx:xx:xx:xx:xx:xx end
+
+ set bluetooth password 0x00a9
+
+ req: start length=0008 cmd=00a9 passwd=xxxx:xxxx:xxxx end
+ ack: standard
+
+ set distance resolution 0x00aa
+ persistant, takes effect after restart
+ resolution
+ 0000 0.75m
+ 0001 0.20m
+
+ req: start length=0004 cmd=00aa res=000x end
+ ack: standard (the manual is in error)
+
+ query distance resolution 0x00ab
+
+ req: standard
+ ack: start length=0006 cmd=01ab status=0000 res=000x end
+
+ */
+
+#include "esp-ld2410.h"
+
+const uint8_t cmd_pre[] = { 0xfd, 0xfc, 0xfb, 0xfa };
+const uint8_t cmd_pos[] = { 0x04, 0x03, 0x02, 0x01 };
+const uint8_t cmd_con[] = { 0x04, 0x00, 0xff, 0x00, 0x01, 0x00 };
+const uint8_t cmd_end[] = { 0x02, 0x00, 0xfe, 0x00 };
+
+union head {
+ struct {
+ uint32_t tag;
+ uint16_t size;
+ };
+ uint8_t raw[6];
+};
+
+union tail {
+ uint32_t tag;
+ uint8_t raw[4];
+};
+
+/* Internal state */
+
+/* State of protocol */
+enum protocol_state_t {
+ PROT_DISABLED = 0,
+ PROT_HEAD,
+ PROT_DATA,
+ PROT_TAIL
+};
+
+/* State of a command request */
+enum command_state_t {
+ CMD_RESTART = 0,
+ CMD_IDLE,
+ CMD_ENABLE,
+ CMD_REQUEST,
+ CMD_READY,
+ CMD_DISABLE
+};
+
+struct request {
+ TaskHandle_t task;
+ struct ld2410_ack_t *ack;
+ struct ld2410_req_t req;
+};
+
+/* This is only written to by driver_install and the daemon task */
+struct radar_state {
+ // uart_port_t port; // implied
+ int dig_pin; // gpio pin if digital presense signal is connected
+
+ // Input processing
+ enum protocol_state_t state;
+ int pos;
+
+ union head head;
+ union tail tail;
+ union {
+ struct ld2410_ack_t ack;
+ struct ld2410_base_t base;
+ struct ld2410_full_t full;
+ uint8_t raw[64];
+ } msg;
+
+ // Commands
+ QueueHandle_t queue;
+ struct request *cmd;
+ enum command_state_t cmd_state;
+ int cmd_ticks;
+
+ // Last valid data message
+ union {
+ struct ld2410_base_t base;
+ struct ld2410_full_t full;
+ } info;
+};
+
+static struct radar_state radars[UART_NUM_MAX];
+static volatile uint32_t daemon_running = 0;
+
+static void ld2410_task(void *arg);
+
+static const char *TAG = "ld2410";
+
+static const int baudrates[] = {
+ 9600,
+ 19200,
+ 38400,
+ 57600,
+ 115200,
+ 230400,
+ 256000,
+ 460800
+};
+
+int ld2410_driver_install(uart_port_t port, enum ld2410_baudrate_t baudrate, gpio_num_t tx_pin, gpio_num_t rx_pin, gpio_num_t dig_pin) {
+ const uart_config_t uart_config = {
+ .baud_rate = baudrates[baudrate - 1],
+ .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,
+ };
+
+ uart_driver_install(port, 256, 0, 0, NULL, 0);
+ uart_param_config(port, &uart_config);
+ uart_set_pin(port, tx_pin, rx_pin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
+
+ if (dig_pin != GPIO_NUM_NC) {
+ gpio_reset_pin(dig_pin);
+ gpio_set_direction(dig_pin, GPIO_MODE_INPUT);
+ gpio_set_pull_mode(dig_pin, GPIO_PULLUP_ONLY);
+ }
+
+ radars[port].dig_pin = dig_pin;
+ radars[port].queue = xQueueCreate(8, sizeof(struct request *));
+ radars[port].state = PROT_HEAD;
+ radars[port].cmd_state = CMD_RESTART;
+ if (esp_cpu_compare_and_set(&daemon_running, 0, 1)) {
+ esp_log_level_set(TAG, ESP_LOG_INFO);
+
+ if (xTaskCreate(ld2410_task, TAG, 2048, NULL, configMAX_PRIORITIES - 1, NULL) != pdPASS) {
+ daemon_running = 0;
+ ESP_LOGE(TAG, "Unable to start daemon");
+ vQueueDelete(radars[port].queue);
+ radars[port].queue = NULL;
+ radars[port].state = PROT_DISABLED;
+ return 1;
+ }
+ }
+
+ return 0;
+}
+
+void ld2410_driver_delete(uart_port_t port) {
+ struct request *req = NULL;
+
+ // send a NULL command
+ xQueueSendToBack(radars[port].queue, &req, portMAX_DELAY);
+}
+
+const struct ld2410_base_t *ld2410_get_base_data(uart_port_t port) {
+ return &radars[port].info.base;
+}
+
+const struct ld2410_full_t *ld2410_get_full_data(uart_port_t port) {
+ return &radars[port].info.full;
+}
+
+int ld2410_get_detected(uart_port_t port) {
+ if (radars[port].dig_pin != GPIO_NUM_NC)
+ return gpio_get_level(radars[port].dig_pin);
+ return 0;
+}
+
+static int command_send(uart_port_t port, struct request *req) {
+ req->task = xTaskGetCurrentTaskHandle();
+
+ ESP_LOGD(TAG, "send command %02x %p", req->req.cmd, req);
+ xQueueSendToBack(radars[port].queue, &req, portMAX_DELAY);
+ ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+ ESP_LOGD(TAG, "ack received: %02x", req->req.cmd);
+
+ return req->ack->status;
+}
+
+static int command_simple(uart_port_t port, uint16_t cmd, struct ld2410_ack_t *ack) {
+ struct request req = {
+ .req.cmd = cmd,
+ .req.size = 2,
+ .ack = ack,
+ };
+
+ return command_send(port, &req);
+}
+
+static int command_empty(uart_port_t port, uint16_t cmd) {
+ int res;
+ struct ld2410_ack_t ack;
+
+ res = command_simple(port, cmd, &ack);
+
+ return res;
+}
+
+int ld2410_set_range(uart_port_t port, uint32_t move_max, uint32_t rest_max, uint32_t idle_time) {
+ struct ld2410_ack_t ack;
+ struct request req = {
+ .req.cmd = 0x60,
+ .req.size = sizeof(req.req.range) + 2,
+ .req.range.move_key = 0x0000,
+ .req.range.move_max = move_max,
+ .req.range.rest_key = 0x0001,
+ .req.range.rest_max = rest_max,
+ .req.range.idle_key = 0x0002,
+ .req.range.idle_time = idle_time,
+ .ack = &ack
+ };
+
+ return command_send(port, &req);
+}
+
+int ld2410_set_parameter(uart_port_t port, uint32_t dist, uint32_t move, uint32_t rest) {
+ struct ld2410_ack_t ack;
+ struct request req = {
+ .req.cmd = 0x64,
+ .req.size = sizeof(req.req.parameter) + 2,
+ .req.parameter.dist_key = 0x0000,
+ .req.parameter.dist = dist,
+ .req.parameter.move_key = 0x0001,
+ .req.parameter.move = move,
+ .req.parameter.rest_key = 0x0002,
+ .req.parameter.rest = rest,
+ .ack = &ack
+ };
+
+ return command_send(port, &req);
+}
+
+int ld2410_get_parameters(uart_port_t port, struct ld2410_parameters_t *params) {
+ int res;
+ struct ld2410_ack_t ack;
+
+ command_simple(port, 0x61, &ack);
+ res = (ack.status != 0x0000);
+ if (res == 0)
+ *params = ack.params;
+
+ return res;
+}
+
+int ld2410_set_baudrate(uart_port_t port, enum ld2410_baudrate_t rate) {
+ struct ld2410_ack_t ack;
+ struct request req = {
+ .req.cmd = 0xa1,
+ .req.size = sizeof(req.req.baudrate) + 2,
+ .req.baudrate.rate = rate,
+ .ack = &ack
+ };
+
+ return command_send(port, &req);
+}
+
+int ld2410_get_version(uart_port_t port, struct ld2410_version_t *version) {
+ int res;
+ struct ld2410_ack_t ack;
+
+ command_simple(port, 0xa0, &ack);
+ res = (ack.status != 0x0000);
+ if (res == 0)
+ *version = ack.version;
+
+ return res;
+}
+
+int ld2410_set_resolution(uart_port_t port, enum ld2410_resolution_t resolution) {
+ struct ld2410_ack_t ack;
+ struct request req = {
+ .req.cmd = 0xaa,
+ .req.size = 0x0004,
+ .req.resolution.value = resolution,
+ .ack = &ack
+ };
+
+ return command_send(port, &req);
+}
+
+int ld2410_get_resolution(uart_port_t port, enum ld2410_resolution_t *resolution) {
+ int res;
+ struct ld2410_ack_t ack;
+
+ command_simple(port, 0xab, &ack);
+ res = (ack.status != 0x0000);
+ if (res == 0)
+ *resolution = ack.resolution.value;
+
+ return res;
+}
+
+int ld2410_set_full_mode(uart_port_t port) {
+ return command_empty(port, 0x62);
+}
+
+int ld2410_set_basic_mode(uart_port_t port) {
+ return command_empty(port, 0x63);
+}
+
+int ld2410_factory_reset(uart_port_t port) {
+ return command_empty(port, 0xa2);
+}
+
+int ld2410_restart(uart_port_t port) {
+ return command_empty(port, 0xa3);
+}
+
+/*
+ Command state machine
+
+ IDLE -> ENABLE command from queue, requst command mode
+ ENABLE -> REQUEST command mode on, send command request
+ REQUEST -> READY ack received, wait for more
+ READY -> REQUEST command from queue, send command request
+ READY -> DISABLE command queue timeout, request data mode
+ DISABLE -> IDLE command mode exit
+ */
+
+static int command_write(uart_port_t port, const void *data, int size) {
+ int res;
+
+ res = uart_write_bytes(port, cmd_pre, sizeof(cmd_pre));
+ res = uart_write_bytes(port, data, size);
+ res = uart_write_bytes(port, cmd_pos, sizeof(cmd_pos));
+
+ ESP_LOGD(TAG, "command write:");
+ ESP_LOG_BUFFER_HEXDUMP(TAG, cmd_pre, sizeof(cmd_pre), ESP_LOG_DEBUG);
+ ESP_LOG_BUFFER_HEXDUMP(TAG, data, size, ESP_LOG_DEBUG);
+ ESP_LOG_BUFFER_HEXDUMP(TAG, cmd_pos, sizeof(cmd_pos), ESP_LOG_DEBUG);
+
+ if (res < 0) {
+ ESP_LOGW(TAG, "command write failed: %d", res);
+ }
+
+ return res;
+}
+
+static void radar_poll(struct radar_state * restrict r, uart_port_t port) {
+ static uint8_t data[64];
+ int len;
+
+ ESP_LOGD(TAG, "%d: polling", port);
+ while ((len = uart_read_bytes(port, data, sizeof(data), 0)) > 0) {
+ for (uint8_t *p = data, *e = data + len; p < e; p++) {
+ uint8_t c = *p;
+
+ switch (r->state) {
+ case PROT_DISABLED:
+ break;
+ case PROT_HEAD:
+ if (r->pos > 0 && (c == 0xfd || c == 0xf4)) {
+ ESP_LOGW(TAG, "Header sync reset");
+ r->pos = 0;
+ }
+ r->head.raw[r->pos++] = c;
+ if (r->pos == sizeof(r->head.raw)) {
+ r->pos = 0;
+ if (r->head.size <= 64
+ && (r->head.tag == 0xfafbfcfd || r->head.tag == 0xf1f2f3f4)) {
+ r->state = PROT_DATA;
+ ESP_LOGD(TAG, "msg: %08lx size %02x", r->head.tag, r->head.size);
+ } else {
+ ESP_LOGW(TAG, "msg: %08lx size %02x INVALID", r->head.tag, r->head.size);
+ }
+ }
+ break;
+ case PROT_DATA:
+ r->msg.raw[r->pos++] = c;
+ if (r->pos == r->head.size) {
+ r->pos = 0;
+ r->state = PROT_TAIL;
+ }
+ break;
+ case PROT_TAIL:
+ r->tail.raw[r->pos++] = c;
+ if (r->pos == sizeof(r->tail.raw)) {
+ ESP_LOGD(TAG, "msg end: %08lx", r->tail.tag);
+ r->pos = 0;
+ r->state = PROT_HEAD;
+
+ // We've had something resembling a valid packet, re-enable command processing
+ if (r->cmd_state == CMD_RESTART) {
+ r->cmd_state = CMD_IDLE;
+ ESP_LOGI(TAG, "it's running, allow commands");
+ }
+
+ if (r->head.tag == 0xfafbfcfd && r->tail.tag == 0x01020304) {
+ ESP_LOGD(TAG, "command ack:");
+ ESP_LOG_BUFFER_HEXDUMP(TAG, r->msg.raw, r->head.size, ESP_LOG_DEBUG);
+
+ switch (r->cmd_state) {
+ default:
+ ESP_LOGW(TAG, "unexpected ack");
+ break;
+ case CMD_ENABLE:
+ if (r->msg.ack.cmd == 0x01ff
+ && r->msg.ack.status == 0x0000) {
+ ESP_LOGI(TAG, "command mode enter");
+ r->cmd_state = CMD_REQUEST;
+ command_write(port, &r->cmd->req, r->cmd->req.size + 2);
+ } else {
+ ESP_LOGW(TAG, "unexpected ack");
+ r->cmd_state = CMD_READY;
+ r->cmd->ack->status = 1;
+ xTaskNotifyGive(r->cmd->task);
+ r->cmd = NULL;
+ }
+ break;
+ case CMD_REQUEST:
+ if (r->msg.ack.cmd == (0x0100 | r->cmd->req.cmd)) {
+ *r->cmd->ack = r->msg.ack;
+ xTaskNotifyGive(r->cmd->task);
+ r->cmd = NULL;
+ } else {
+ // now what?
+ ESP_LOGW(TAG, "unexpected ack");
+ }
+
+ if (r->msg.ack.cmd == 0x01a3) {
+ // A3 is reboot, no more commands until it's running again
+ ESP_LOGI(TAG, "waiting for restart");
+ r->cmd_state = CMD_RESTART;
+ } else {
+ // We stay in ready state for a little bit to see if more
+ // commands are forthcoming
+ r->cmd_state = CMD_READY;
+ r->cmd_ticks = 2;
+ }
+ break;
+ case CMD_DISABLE:
+ if (r->msg.ack.cmd == 0x01fe
+ && r->msg.ack.status == 0x0000) {
+ ESP_LOGI(TAG, "command mode exit");
+ } else {
+ ESP_LOGW(TAG, "unexpected ack");
+ }
+ r->cmd_state = CMD_IDLE;
+ break;
+ }
+ } else if (r->head.tag == 0xf1f2f3f4 && r->tail.tag == 0xf5f6f7f8) {
+ ESP_LOGD(TAG, "data fmt=%s head=%02x tail=%02x / %02x",
+ r->msg.base.format == 2 ? "basic" : "full",
+ r->msg.base.head,
+ r->msg.base.tail,
+ r->msg.full.tail);
+ if (r->msg.base.format == LD2410_FORMAT_BASE
+ && r->msg.base.head == 0xaa
+ && r->msg.base.tail == 0x55) {
+ r->info.base = r->msg.base;
+ } else if (r->msg.full.format == LD2410_FORMAT_FULL
+ && r->msg.full.head == 0xaa
+ && r->msg.full.tail == 0x55) {
+ r->info.full = r->msg.full;
+ } else {
+ ESP_LOGW(TAG, "frame format error");
+ ESP_LOG_BUFFER_HEXDUMP(TAG, data, len, ESP_LOG_WARN);
+ }
+ } else
+ ESP_LOGW(TAG, "Unknown message: %08x ... %08x", (unsigned)r->head.tag, (unsigned)r->tail.tag);
+ }
+ }
+ }
+ }
+}
+
+
+/*
+ Poll the queue.
+ */
+static void queue_poll(struct radar_state *r, uart_port_t port) {
+ struct request *cmd;
+
+ if (!r->queue)
+ return;
+
+ switch (r->cmd_state) {
+ case CMD_IDLE:
+ if (xQueueReceive(r->queue, &cmd, 0) == pdPASS) {
+ if (cmd == NULL)
+ goto close;
+ ESP_LOGI(TAG, "command request: %d cmd=%02x", port, cmd->req.cmd);
+
+ r->cmd_state = CMD_ENABLE;
+ r->cmd = cmd;
+ command_write(port, cmd_con, sizeof(cmd_con));
+ }
+ break;
+ case CMD_READY:
+ if (xQueueReceive(r->queue, &cmd, 0) == pdPASS) {
+ if (cmd == NULL)
+ goto close;
+ ESP_LOGI(TAG, "command request: %d cmd=%02x", port, cmd->req.cmd);
+
+ r->cmd_state = CMD_REQUEST;
+ r->cmd = cmd;
+ command_write(port, &cmd->req, cmd->req.size + 2);
+ } else if (r->cmd_ticks == 0) {
+ r->cmd_state = CMD_DISABLE;
+ command_write(port, cmd_end, sizeof(cmd_end));
+ } else {
+ r->cmd_ticks -= 1;
+ }
+ break;
+ default:
+ break;
+ }
+
+ return;
+close:
+ ESP_LOGI(TAG, "command request: %d close", port);
+ vQueueDelete(r->queue);
+
+ if (r->cmd) {
+ r->cmd->ack->status = 1;
+ xTaskNotifyGive(r->cmd->task);
+ r->cmd = NULL;
+ }
+
+ r->cmd_state = CMD_RESTART;
+ r->state = PROT_DISABLED;
+ r->queue = NULL;
+}
+
+static void ld2410_task(void *arg) {
+ ESP_LOGI(TAG, "daemon start");
+
+ while (1) {
+ int active = 0;
+
+ // Check active devices
+ for (int i=0;i<UART_NUM_MAX;i++) {
+ if (radars[i].state != PROT_DISABLED) {
+ queue_poll(&radars[i], i);
+ radar_poll(&radars[i], i);
+ active += 1;
+ }
+ }
+
+ // quit if we're idle
+ if (active == 0 && esp_cpu_compare_and_set(&daemon_running, 1, 0))
+ break;
+
+ // Seems to send 10 per second so delay 100ms
+ vTaskDelay(pdMS_TO_TICKS(100));
+ }
+
+ ESP_LOGI(TAG, "daemon exit");
+ vTaskDelete(NULL);
+}