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Merge pull request #38 from maxabba/main
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fix: restore UART direct read for initialization
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@maxabba
maxabba authored Dec 13, 2024
2 parents e7715b6 + 5fec690 commit 232903c
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Showing 4 changed files with 128 additions and 49 deletions.
1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -36,3 +36,4 @@
examples/basicSensor/debug.cfg
examples/basicSensor/debug.svd
examples/basicSensor/debug_custom.json
*.code-workspace
2 changes: 2 additions & 0 deletions examples/basicSensor/basicSensor.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,8 @@ void setup(void)
MONITOR_SERIAL.print(F("Connect LD2410 radar RX to GPIO:"));
MONITOR_SERIAL.println(RADAR_TX_PIN);
MONITOR_SERIAL.print(F("LD2410 radar sensor initialising: "));


if(radar.begin(RADAR_SERIAL))
{
MONITOR_SERIAL.println(F("OK"));
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171 changes: 123 additions & 48 deletions src/ld2410.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,48 +79,49 @@ bool ld2410::find_frame_start() {
return false; // Nessun frame trovato
}

bool ld2410::begin(Stream &radarStream, bool waitForRadar) {
radar_uart_ = &radarStream; //Set the stream used for the LD2410
if(debug_uart_ != nullptr)
{
debug_uart_->println(F("ld2410 started"));
}
if(waitForRadar)
{
if(debug_uart_ != nullptr)
{
debug_uart_->print(F("\nLD2410 firmware: "));
}
if(requestFirmwareVersion())
{
if(debug_uart_ != nullptr)
{
debug_uart_->print(F(" v"));
debug_uart_->print(firmware_major_version);
debug_uart_->print('.');
debug_uart_->print(firmware_minor_version);
debug_uart_->print('.');
debug_uart_->print(firmware_bugfix_version);
}
return true;
}
else
{
if(debug_uart_ != nullptr)
{
debug_uart_->print(F("no response"));
}
}
}
else
{
if(debug_uart_ != nullptr)
{
debug_uart_->print(F("\nLD2410 library configured"));
}
return true;
}
return false;
bool ld2410::begin(Stream &radarStream, bool waitForRadar) {
radar_uart_ = &radarStream;

if (debug_uart_ != nullptr) {
debug_uart_->println(F("ld2410 started"));
}

if (!waitForRadar) {
return true;
}

// Prova a leggere la versione firmware
if (debug_uart_ != nullptr) {
debug_uart_->print(F("\nLD2410 firmware: "));
}

uint32_t start_time = millis();
bool firmware_received = false;

while (millis() - start_time < 1000) { // timeout di 1 secondo
if (requestFirmwareVersion()) {
firmware_received = true;
break;
}
yield();
}

if (firmware_received) {
if (debug_uart_ != nullptr) {
debug_uart_->print(F(" v"));
debug_uart_->print(firmware_major_version);
debug_uart_->print('.');
debug_uart_->print(firmware_minor_version);
debug_uart_->print('.');
debug_uart_->print(firmware_bugfix_version);
}
return true;
}

if (debug_uart_ != nullptr) {
debug_uart_->print(F("no response"));
}
return false;
}

void ld2410::debug(Stream &terminalStream)
Expand Down Expand Up @@ -722,7 +723,7 @@ bool ld2410::enter_configuration_mode_()
radar_uart_last_command_ = millis();
while(millis() - radar_uart_last_command_ < radar_uart_command_timeout_)
{
if(read_frame_())
if(read_frame_no_buffer_())
{
if(latest_ack_ == 0xFF && latest_command_success_)
{
Expand All @@ -745,7 +746,7 @@ bool ld2410::leave_configuration_mode_()
radar_uart_last_command_ = millis();
while(millis() - radar_uart_last_command_ < radar_uart_command_timeout_)
{
if(read_frame_())
if(read_frame_no_buffer_())
{
if(latest_ack_ == 0xFE && latest_command_success_)
{
Expand All @@ -768,7 +769,7 @@ bool ld2410::requestStartEngineeringMode()
radar_uart_last_command_ = millis();
while(millis() - radar_uart_last_command_ < radar_uart_command_timeout_)
{
if(read_frame_())
if(read_frame_no_buffer_())
{
if(latest_ack_ == 0x62 && latest_command_success_)
{
Expand All @@ -791,7 +792,7 @@ bool ld2410::requestEndEngineeringMode()
radar_uart_last_command_ = millis();
while(millis() - radar_uart_last_command_ < radar_uart_command_timeout_)
{
if(read_frame_())
if(read_frame_no_buffer_())
{
if(latest_ack_ == 0x63 && latest_command_success_)
{
Expand All @@ -817,7 +818,7 @@ bool ld2410::requestCurrentConfiguration()
radar_uart_last_command_ = millis();
while(millis() - radar_uart_last_command_ < radar_uart_command_timeout_)
{
if(read_frame_())
if(read_frame_no_buffer_())
{
if(latest_ack_ == 0x61 && latest_command_success_)
{
Expand Down Expand Up @@ -848,7 +849,7 @@ bool ld2410::requestFirmwareVersion()
radar_uart_last_command_ = millis();
while(millis() - radar_uart_last_command_ < radar_uart_command_timeout_)
{
read_frame_();
read_frame_no_buffer_();
if(latest_ack_ == 0xA0 && latest_command_success_)
{
delay(50);
Expand All @@ -862,6 +863,80 @@ bool ld2410::requestFirmwareVersion()
return false;
}


bool ld2410::read_frame_no_buffer_() {
if(radar_uart_->available()) {
if(frame_started_ == false) {
uint8_t byte_read_ = radar_uart_->read();
if(byte_read_ == 0xF4) {
radar_data_frame_[radar_data_frame_position_++] = byte_read_;
frame_started_ = true;
ack_frame_ = false;
}
else if(byte_read_ == 0xFD) {
radar_data_frame_[radar_data_frame_position_++] = byte_read_;
frame_started_ = true;
ack_frame_ = true;
}
}
else {
if(radar_data_frame_position_ < LD2410_MAX_FRAME_LENGTH) {
radar_data_frame_[radar_data_frame_position_++] = radar_uart_->read();

if(radar_data_frame_position_ > 7) {
// Check data frame end
if( radar_data_frame_[0] == 0xF4 &&
radar_data_frame_[1] == 0xF3 &&
radar_data_frame_[2] == 0xF2 &&
radar_data_frame_[3] == 0xF1 &&
radar_data_frame_[radar_data_frame_position_ - 4] == 0xF8 &&
radar_data_frame_[radar_data_frame_position_ - 3] == 0xF7 &&
radar_data_frame_[radar_data_frame_position_ - 2] == 0xF6 &&
radar_data_frame_[radar_data_frame_position_ - 1] == 0xF5)
{
if(parse_data_frame_()) {
frame_started_ = false;
radar_data_frame_position_ = 0;
return true;
}
else {
frame_started_ = false;
radar_data_frame_position_ = 0;
}
}
// Check command frame end
else if(radar_data_frame_[0] == 0xFD &&
radar_data_frame_[1] == 0xFC &&
radar_data_frame_[2] == 0xFB &&
radar_data_frame_[3] == 0xFA &&
radar_data_frame_[radar_data_frame_position_ - 4] == 0x04 &&
radar_data_frame_[radar_data_frame_position_ - 3] == 0x03 &&
radar_data_frame_[radar_data_frame_position_ - 2] == 0x02 &&
radar_data_frame_[radar_data_frame_position_ - 1] == 0x01)
{
if(parse_command_frame_()) {
frame_started_ = false;
radar_data_frame_position_ = 0;
return true;
}
else {
frame_started_ = false;
radar_data_frame_position_ = 0;
}
}
}
}
else {
frame_started_ = false;
radar_data_frame_position_ = 0;
}
}
}
return false;
}



bool ld2410::requestRestart()
{
if(enter_configuration_mode_())
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3 changes: 2 additions & 1 deletion src/ld2410.h
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Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,8 @@ class ld2410 {
bool find_frame_start();
bool check_frame_end_();

bool read_frame_(); //Try to read a frame from the UART
bool read_frame_();
bool read_frame_no_buffer_(); //Try to read a frame from the UART
bool parse_data_frame_(); //Is the current data frame valid?
bool parse_command_frame_(); //Is the current command frame valid?
void print_frame_(); //Print the frame for debugging
Expand Down

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