From: Not Zed Date: Mon, 8 Jul 2024 02:48:13 +0000 (+0930) Subject: Initial import. X-Git-Url: https://code.zedzone.au/cvs?a=commitdiff_plain;ds=inline;p=esp-ld2410 Initial import. --- 7c6cd2ea05d684563ae1cadf95728525ce8b47b0 diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..928d853 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,3 @@ +idf_component_register(SRCS "esp-ld2410.c" + INCLUDE_DIRS "include" + REQUIRES esp_driver_gpio esp_driver_uart) diff --git a/COPYING b/COPYING new file mode 100644 index 0000000..94a9ed0 --- /dev/null +++ b/COPYING @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If not, see . + +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: + + Copyright (C) + 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 +. + + 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 +. diff --git a/README b/README new file mode 100644 index 0000000..8ab6829 --- /dev/null +++ b/README @@ -0,0 +1,114 @@ + + +Copyright (C) 2024 Michael Zucchi + +See the section LICENSE for details. + +Introduction +------------ + +esp-ld2410 is a serial driver for the HiLink HLK-LD2410C human sensing +radar module. + +Compile +------- + +This is an esp-idf component which needs to be copied to the +components directory of your project or otherwise referenced by the +esp-idf build system for your project. + +Then add REQUIRES esp-ld2410 to idf_component_register() for the +project. + +Usage +----- + +The header file is relatively self explanatory but to get started: + + #include + + // Initialise device on UART 1 using + // Default factory baudrate (256000) + // GPIO_NUM_1 for txd (connected to module rxd), + / GPIO_NUM_0 for rxd (connected to module txd), + // No digital signal + ld2410_driver_install(UART_NUM_1, LD2410_BAUDRATE_DEFAULT, GPIO_NUM_1, GPIO_NUM_0, GPIO_NUM_NC); + + // enable full-data (engineering) mode + ld2410_set_full_mode(UART_NUM_1); + + // Retrieve and print data. + // It may take a little while for data to be valid. + while (1) { + const struct ld2410_full_t *data = ld2410_get_full_data(UART_NUM_1); + + printf(" detected: %s %s\n", + data->status & LD2410_STATUS_MOVE ? "moving" : "", + data->status & LD2410_STATUS_REST ? "resting" : ""); + vTaskDelay(pdMS_TO_TICKS(1000)); + } + +Internals +--------- + +A single task is used to monitor the serial port(s) and accept queries +and commands from multiple tasks. It is started and deleted as +necessary. + +A couple of state machines track the protocol and command requests. +Command mode is entered into and left automatically as required and +isn't needed for every configuration command or query. + +The data frames are passively collected when not processing commands. + +Status +------ + +Only tested with the LD2410C module but it should presumably work with +the others with firmware implementing the version 1 protocol. + +Only tested with an ESP32C3. + +Everything apart from the bluetooth related commands has been +implemented. Multiple devices are supported if your esp device has +multiple available serial ports. The digital signal pin can also +be queried if it is connected. + +Startup and device restart should be handled gracefully but a baudrate +change and restart should be proceeded by a device close and re-open. + +I made some minor changes to the naming used in the documentation - +which was inconsistent and not particularly great. + +Links +----- + +* esp-ld2410 + browse source + source code + +* esp-idf + +* LD2410C module + +LICENSE +------- + +This code is licensed under GNU General Public License version +3, see COPYING for the full details. + + Copyright (C) 2024 Michael Zucchi + + 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 + . diff --git a/esp-ld2410.c b/esp-ld2410.c new file mode 100644 index 0000000..4c1e2ef --- /dev/null +++ b/esp-ld2410.c @@ -0,0 +1,675 @@ +/* + * Copyright (C) 2024 Michael Zucchi + * + * This file is part of esp-ld2410 + * + * 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 . + */ + +#include +#include + +#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 + * + * 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 . + */ + +#ifndef ESP_LD2410_H +#define ESP_LD2410_H + +enum ld2410_baudrate_t { + LD2410_BAUDRATE_9600 = 1, + LD2410_BAUDRATE_19200, + LD2410_BAUDRATE_38400, + LD2410_BAUDRATE_57600, + LD2410_BAUDRATE_115200, + LD2410_BAUDRATE_230400, + LD2410_BAUDRATE_256000, // factory reset baud rate + LD2410_BAUDRATE_460800, + LD2410_BAUDRATE_DEFAULT = LD2410_BAUDRATE_256000 +}; + +enum ld2410_resolution_t { + LD2410_0_75M, + LD2410_0_20M, +}; + +enum ld2410_format_t { + LD2410_FORMAT_FULL = 1, + LD2410_FORMAT_BASE = 2, +}; + +// data.status +enum ld2410_status_t { + LD2410_STATUS_NONE = 0, + LD2410_STATUS_MOVE = 1, + LD2410_STATUS_REST = 2, + LD2410_STATUS_BOTH = 3 +}; + +/* command request format */ +struct __attribute__((packed)) ld2410_req_t { + uint16_t size; + uint16_t cmd; + union { + struct { + uint16_t value; // 0x0001 + } config; // 0x00ff + struct __attribute__((packed)) { + uint16_t move_key; // 0x0000 + uint32_t move_max; // 2-8 + uint16_t rest_key; // 0x0001 + uint32_t rest_max; // 2-8 + uint16_t idle_key; // 0x0002 + uint32_t idle_time; // 0x0000-0xffff seconds + } range; // 0x0060 + struct __attribute__((packed)) { + uint16_t dist_key; // 0x0000 + uint32_t dist; // distance number or 0xffff for all + uint16_t move_key; // 0x0001 + uint32_t move; // sensitivity + uint16_t rest_key; // 0x0002 + uint32_t rest; // sensitivity + } parameter;// 0x0064 + struct { + uint16_t rate; + } baudrate;// 0x00a1 + struct { + uint16_t enable; + } bluetooth;//0x00a4 + struct { + uint16_t value; // 0x0001 + } addr; // 0x00a5 + struct { + uint8_t passwd[6]; + } passwd; // 0x00a9 + struct { + uint16_t value; + } resolution; // 0x00aa + }; +}; + +struct __attribute__((packed)) ld2410_version_t { + uint16_t type; // 0x0100 + uint16_t major; + uint32_t minor; +}; + +struct __attribute__((packed)) ld2410_parameters_t { + uint8_t head; // aa + uint8_t gate_max; + uint8_t move_max; + uint8_t rest_max; + uint8_t move_sensitivity[9]; + uint8_t rest_sensitivity[9]; + uint16_t idle_time; +}; + +/* command acknowledge format */ +struct __attribute__((packed)) ld2410_ack_t { + uint16_t cmd; + uint16_t status; + union { + struct { + uint16_t version; + uint16_t bufsize; + } config; // 0x00ff + struct ld2410_parameters_t params; // 0x0061 + struct ld2410_version_t version; // 0xa0 + struct { + uint16_t value; + } resolution; // 0x00ab + }; +}; + +/* data frame format - basic data */ +struct __attribute__((packed)) ld2410_base_t { + uint8_t format; // 02 basic mode + uint8_t head; // aa + uint8_t status; + uint16_t move_dist; + uint8_t move_level; + uint16_t rest_dist; + uint8_t rest_level; + uint16_t dist; + uint8_t tail; // 55 + uint8_t calibration; // 00 +}; + +/* data frame format - 'engineering' data */ +struct __attribute__((packed)) ld2410_full_t { + uint8_t format; // 01 engineering mode + uint8_t head; // aa + uint8_t status; + uint16_t move_dist; + uint8_t move_level; + uint16_t rest_dist; + uint8_t rest_level; + uint16_t dist; + + uint8_t move_max; /* index of highest valid value */ + uint8_t rest_max; + uint8_t move_levels[9]; + uint8_t rest_levels[9]; + uint8_t light_level; + uint8_t what; // always seems to be 01 + + uint8_t tail; // 55 + uint8_t calibration; // 00 +}; + +int ld2410_driver_install(uart_port_t port, enum ld2410_baudrate_t baud_rate,gpio_num_t tx_pin, gpio_num_t rx_pin, gpio_num_t dig_pin); +void ld2410_driver_delete(uart_port_t port); + +const struct ld2410_base_t *ld2410_get_base_data(uart_port_t port); +const struct ld2410_full_t *ld2410_get_full_data(uart_port_t port); +int ld2410_get_detected(uart_port_t port); + +int ld2410_set_range(uart_port_t port, uint32_t move_max, uint32_t rest_max, uint32_t idle_time); +int ld2410_set_parameter(uart_port_t port, uint32_t dist, uint32_t move, uint32_t rest); +int ld2410_get_parameters(uart_port_t port, struct ld2410_parameters_t *params); + +int ld2410_set_baudrate(uart_port_t port, enum ld2410_baudrate_t rate); +int ld2410_get_version(uart_port_t port, struct ld2410_version_t *version); +int ld2410_set_resolution(uart_port_t port, enum ld2410_resolution_t resolution); +int ld2410_get_resolution(uart_port_t port, enum ld2410_resolution_t *resolution); + +int ld2410_set_full_mode(uart_port_t port); +int ld2410_set_basic_mode(uart_port_t port); + +int ld2410_factory_reset(uart_port_t port); +int ld2410_restart(uart_port_t port); + + +#endif