Add initial board, HAL, and executor modules
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#include "millimeter_wave_radar.h"
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#include <cstring>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <esp_log.h>
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static const char *TAG = "MillimeterWaveRadar";
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bool MillimeterWaveRadar::Init() {
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uart_config_t uart_config = {
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.baud_rate = MillimeterWaveRadar::BAUD_RATE,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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.source_clk = UART_SCLK_DEFAULT,
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};
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ESP_ERROR_CHECK(uart_param_config(UART_NUM, &uart_config));
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ESP_ERROR_CHECK(uart_set_pin(UART_NUM, TX_PIN, RX_PIN, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
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ESP_ERROR_CHECK(uart_driver_install(UART_NUM, 256, 0, 0, NULL, 0));
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// 清空缓冲区
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uart_flush(UART_NUM);
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return true;
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}
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uint8_t MillimeterWaveRadar::CalculateChecksum(uint8_t d1, uint8_t d2, uint8_t d3, uint8_t d4) {
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return d1 ^ d2 ^ d3 ^ d4;
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}
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// 通过查看最高位是0还是1来判断是否是写命令。但是查询感应模式时最高位不是1（5A 11 00 00 00 11 FE），输入的是0x11，所以仅对此条不适用。
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bool MillimeterWaveRadar::IsWriteCommand(uint8_t cmd) {
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if (cmd == 0x11) {
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return false;
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}
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return (cmd & 0x80) == 0x00; // 写命令高位为0
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}
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bool MillimeterWaveRadar::SendFrame(const uint8_t *frame, size_t len) {
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int written = uart_write_bytes(UART_NUM, frame, len);
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uart_wait_tx_done(UART_NUM, pdMS_TO_TICKS(10));
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return written == (int)len;
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}
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MillimeterWaveRadar::Result MillimeterWaveRadar::ReceiveFrame(uint8_t *buffer, size_t maxSize, size_t &receivedLen) {
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TickType_t start = xTaskGetTickCount();
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size_t total = 0;
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while ((xTaskGetTickCount() - start) < pdMS_TO_TICKS(TIMEOUT_MS)) {
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size_t available;
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uart_get_buffered_data_len(UART_NUM, &available);
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if (available >= 7) {
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int read = uart_read_bytes(UART_NUM, buffer, 7, pdMS_TO_TICKS(10));
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if (read == 7) {
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receivedLen = 7;
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// 校验帧头尾
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if (buffer[0] != 0x5A || buffer[6] != 0xFE) {
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ESP_LOGW(TAG, "Invalid frame header/tail");
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return Result::CHECKSUM_ERROR;
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}
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// 校验 checksum
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uint8_t expected = CalculateChecksum(buffer[1], buffer[2], buffer[3], buffer[4]);
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if (expected != buffer[5]) {
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ESP_LOGW(TAG, "Checksum mismatch");
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return Result::CHECKSUM_ERROR;
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}
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return Result::OK;
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}
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}
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vTaskDelay(pdMS_TO_TICKS(1));
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}
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return Result::TIMEOUT;
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}
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MillimeterWaveRadar::Result MillimeterWaveRadar::SetParameter(uint8_t paramId, uint32_t value) {
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if (!IsWriteCommand(paramId)) {
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return Result::INVALID_PARAM;
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}
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uint8_t frame[7];
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frame[0] = 0x5A;
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frame[1] = paramId;
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switch (paramId) {
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case SET_RADAR_DISTANCE_THRESHOLD:
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if (value < 100 || value > 65000) return Result::INVALID_PARAM;
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frame[2] = 0x00;
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frame[3] = (value >> 8) & 0xFF;
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frame[4] = value & 0xFF;
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ESP_LOGI(TAG, "Setting distance threshold to %d", static_cast<int>(value));
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break;
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case SET_RADAR_DELAY_TIME:
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if (value > 0xFFFFFF) return Result::INVALID_PARAM;
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frame[2] = (value >> 16) & 0xFF;
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frame[3] = (value >> 8) & 0xFF;
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frame[4] = value & 0xFF;
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ESP_LOGI(TAG, "Setting delay time to %d", static_cast<int>(value));
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break;
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case SET_RADAR_LOCKOUT_TIME:
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if (value > 0xFFFFFF) return Result::INVALID_PARAM;
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frame[2] = (value >> 16) & 0xFF;
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frame[3] = (value >> 8) & 0xFF;
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frame[4] = value & 0xFF;
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ESP_LOGI(TAG, "Setting lockout time to %d", static_cast<int>(value));
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break;
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case SET_RADAR_LIGHT_SENSOR_ENABLE:
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case SET_RADAR_OUTPUT_LEVEL:
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case SET_RADAR_POWER_MODE:
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case SET_RADAR_TRIGGER_MODE:
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case SET_RADAR_TX_POWER_LEVEL:
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case SET_RADAR_PWM_ENABLE:
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case SET_RADAR_PULSE_WIDTH:
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case SET_RADAR_SENSING_MODE:
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case SET_RADAR_SENSING_RESULT:
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if (value > 0xFF) return Result::INVALID_PARAM;
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frame[2] = 0x00;
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frame[3] = 0x00;
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frame[4] = value & 0xFF;
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break;
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case SET_RADAR_LIGHT_THRESHOLD:
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if (value > 0xFF) return Result::INVALID_PARAM;
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frame[2] = 0x00;
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frame[3] = 0x00;
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frame[4] = value & 0xFF;
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break;
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case SET_RADAR_PWM_DUTY:
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if (value > 3500) return Result::INVALID_PARAM;
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frame[2] = 0x00;
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frame[3] = (value >> 8) & 0xFF;
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frame[4] = value & 0xFF;
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break;
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default:
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return Result::INVALID_PARAM;
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}
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frame[5] = CalculateChecksum(frame[1], frame[2], frame[3], frame[4]);
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frame[6] = 0xFE;
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if (!SendFrame(frame, 7)) {
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return Result::UART_ERROR;
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}
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uint8_t reply[7];
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size_t len;
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Result res = ReceiveFrame(reply, sizeof(reply), len);
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ESP_LOGW(TAG, "Received raw reply frame: %02X %02X %02X %02X %02X %02X %02X",
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reply[0], reply[1], reply[2], reply[3], reply[4], reply[5], reply[6]);
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if (res != Result::OK) return res;
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// 发送保存指令
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uint8_t saveFrame[7] = {0x5A, 0x20, 0x00, 0x00, 0x01, 0x21, 0xFE};
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SendFrame(saveFrame, 7);
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// 等待保存回复（协议注释1：约100ms）
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vTaskDelay(pdMS_TO_TICKS(110)); // 稍微多等一点
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uart_flush(UART_NUM); // 清除可能的残留
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return Result::OK;
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}
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void MillimeterWaveRadar::OnRadarDetect(RadarDetectCallback callback) {
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ESP_LOGI(TAG, "Registering radar detection callback");
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radar_detect_callback_ = callback;
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}
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void MillimeterWaveRadar::TriggerRadarDetectCallback() {
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ESP_LOGI(TAG, "Triggering radar detection callback");
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if (radar_detect_callback_) {
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radar_detect_callback_();
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}
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}
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MillimeterWaveRadar::Result MillimeterWaveRadar::QueryParameter(uint8_t paramId, uint32_t &outputValue) {
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if (IsWriteCommand(paramId)) {
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ESP_LOGE(TAG, "Attempted to query with a write command ID: 0x%02X", paramId);
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return Result::INVALID_PARAM;
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}
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uint8_t frame[7] = {0x5A, paramId, 0x00, 0x00, 0x00, paramId, 0xFE};
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ESP_LOGI(TAG, "Sending query frame for param 0x%02X: %02X %02X %02X %02X %02X %02X %02X",
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paramId, frame[0], frame[1], frame[2], frame[3], frame[4], frame[5], frame[6]);
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if (!SendFrame(frame, 7)) {
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ESP_LOGE(TAG, "UART send failed");
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return Result::UART_ERROR;
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}
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uint8_t reply[7];
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size_t len;
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Result res = ReceiveFrame(reply, sizeof(reply), len);
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if (res != Result::OK) {
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ESP_LOGW(TAG, "Failed to receive reply for param 0x%02X, error code: %d", paramId, static_cast<int>(res));
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return res;
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}
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// 打印原始回复帧（新增功能）
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ESP_LOGW(TAG, "Received raw reply frame: %02X %02X %02X %02X %02X %02X %02X",
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reply[0], reply[1], reply[2], reply[3], reply[4], reply[5], reply[6]);
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return Result::OK;
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}
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@@ -0,0 +1,82 @@
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#pragma once
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#include <cstdint>
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#include <driver/uart.h>
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#include <functional>
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// 参数名称宏定义（对应协议中的命令）
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#define SET_RADAR_DISTANCE_THRESHOLD 0x01 // 设置感应距离门限值。Data3、Data4 为感应距离门限值，取值范围为 100 ~ 65000【值越大，感应距离越近】
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#define SET_RADAR_DELAY_TIME 0x02 // 设置输出延时时间。取值范围为 0X00~ 0XFFFFFF
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#define SET_RADAR_LIGHT_SENSOR_ENABLE 0x03 // 开关光感。Data4 为 0x01 时开启光感，为 0x00 时关闭光感。
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#define SET_RADAR_LOCKOUT_TIME 0x04 // 设置封锁时间。取值范围为 0X00~ 0XFFFFFF
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#define SET_RADAR_OUTPUT_LEVEL 0x05 // 设置有效电平。Data4 为 0x01 时高电平有效，为 0x00 时低电平有效
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#define SET_RADAR_POWER_MODE 0x06 // 设置功耗模式。Data4 为 0x00 时超低功耗模式（50/60uA），为 0x01 时常规功耗模式（13mA 档位）
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#define SET_RADAR_SENSING_RESULT 0x07 // 设置触发状态。Data4 为 0x00 时触发状态为未触发感应，为 0x01 时触发状态为已触发感应。
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#define SET_RADAR_TRIGGER_MODE 0x0A // 设置触发模式。Data4 为 0x00 时触发模式为连续触发，为 0x01 时触发模式为单次触发。
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#define SET_RADAR_TX_POWER_LEVEL 0x0B // 设置发射功率档位。Data4 取值范围为 0~ 7，总共 8 档发射功率可调，值越大，功率越小，=7 时最小，相当于关闭发射功率。发射功率档位值越小，实际发射功率越大，距离越远，抗干扰性越好。
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#define SET_RADAR_LIGHT_THRESHOLD 0x0C // 设置光感门限值。取值范围为 0X00~ 0XFFFFFF。
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#define SET_RADAR_PWM_ENABLE 0x0D // 开关 PWM 功能
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#define SET_RADAR_PWM_DUTY 0x0E // 设置 PWM 占空比
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#define SET_RADAR_PULSE_WIDTH 0x0F // 设置供电脉冲宽度
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#define SET_RADAR_SENSING_MODE 0x10 // 选择感应模式。Data4 为 0x00 时为移动感应模式，为 0x01 时为手扫感应模式。
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// 参数名称宏定义（对应协议中的命令）
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#define QUERY_RADAR_DISTANCE_THRESHOLD 0x81 // 查询感应距离门限值
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#define QUERY_RADAR_DELAY_TIME 0x82 // 查询输出延时时间
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#define QUERY_RADAR_LIGHT_SENSOR_ENABLE 0x83 // 查询开关光感
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#define QUERY_RADAR_LOCKOUT_TIME 0x84 // 查询封锁时间
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#define QUERY_RADAR_OUTPUT_LEVEL 0x85 // 查询有效电平
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#define QUERY_RADAR_POWER_MODE 0x86 // 查询功耗模式
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#define QUERY_RADAR_SENSING_RESULT 0x87 // 查询触发状态
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#define QUERY_RADAR_TRIGGER_MODE 0x8A // 查询触发模式
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#define QUERY_RADAR_TX_POWER_LEVEL 0x8B // 查询发射功率档位
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#define QUERY_RADAR_LIGHT_THRESHOLD 0x8C // 查询光感门限值
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#define QUERY_RADAR_PWM_ENABLE 0x8D // 查询开关 PWM 功能
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#define QUERY_RADAR_PWM_DUTY 0x8E // 查询 PWM 占空比
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#define QUERY_RADAR_PULSE_WIDTH 0x8F // 查询供电脉冲宽度
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#define QUERY_RADAR_SENSING_MODE 0x11 // 查询感应模式
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class MillimeterWaveRadar {
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public:
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// 雷达检测回调函数类型定义
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typedef std::function<void(void)> RadarDetectCallback;
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enum class Result {
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OK,
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TIMEOUT,
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CHECKSUM_ERROR,
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INVALID_PARAM,
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UART_ERROR
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};
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// 初始化 UART（使用 UART1, TX=GPIO39, RX=GPIO40）
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bool Init();
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// 设置参数（自动保存）
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Result SetParameter(uint8_t paramId, uint32_t value);
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// 查询参数（返回值通过 outputValue 返回）
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Result QueryParameter(uint8_t paramId, uint32_t &outputValue);
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Result QueryRawResponse(uint8_t paramId);
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// 注册雷达检测回调函数
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void OnRadarDetect(RadarDetectCallback callback);
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// 触发雷达检测回调函数（供IO扩展板调用）
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void TriggerRadarDetectCallback();
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private:
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static constexpr uart_port_t UART_NUM = UART_NUM_1;
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static constexpr int TX_PIN = 39;
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static constexpr int RX_PIN = 40;
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static constexpr uint32_t BAUD_RATE = 9600;
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static constexpr uint32_t TIMEOUT_MS = 100;
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// 雷达检测回调函数
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RadarDetectCallback radar_detect_callback_ = nullptr;
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bool SendFrame(const uint8_t *frame, size_t len);
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Result ReceiveFrame(uint8_t *buffer, size_t maxSize, size_t &receivedLen);
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uint8_t CalculateChecksum(uint8_t d1, uint8_t d2, uint8_t d3, uint8_t d4);
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bool IsWriteCommand(uint8_t cmd);
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};
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@@ -0,0 +1,16 @@
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# main/05_executors/millimeter_wave_radar/module.cmake
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# 判断 menuconfig 中的开关
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if(NOT CONFIG_ENABLE_EXEC_MILLIMETER_WAVE_RADAR AND NOT EARLY_EXPANSION)
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message(STATUS " [Skip] millimeter_wave_radar module disabled by menuconfig.")
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return()
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endif()
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list(APPEND MODULE_SRCS
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"05_executors/millimeter_wave_radar/millimeter_wave_radar.cc"
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)
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list(APPEND MODULE_INCLUDE_DIRS
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"05_executors/millimeter_wave_radar"
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)
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