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separate main events from housekeeping ones

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liquidraver
2026-03-04 21:08:21 +01:00
parent b3e3d4147b
commit a4e96fa6e6
6 changed files with 116 additions and 60 deletions
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zephcore/adapters/radio/LoRaRadioBase.cpp
+58 -24
View File
@@ -7,6 +7,7 @@
#include "radio_common.h"
#include <mesh/LoRaConfig.h>
#include <zephyr/kernel.h>
#include <zephyr/random/random.h>
#include <string.h>
#include <math.h>
@@ -515,60 +516,93 @@ void LoRaRadioBase::triggerNoiseFloorCalibrate(int threshold)
return;
}
int16_t rssi = hwGetCurrentRSSI();
/* Random delay 0-500 ms before sampling. Breaks phase-lock with
* periodic interference that might be synchronized with our fixed
* 5-second housekeeping cadence. */
uint32_t jitter;
sys_rand_get(&jitter, sizeof(jitter));
k_sleep(K_MSEC(jitter % 500));
/* First sample after reset (DEFAULT_NOISE_FLOOR == 0): seed directly
* and start warmup window where all samples are accepted. */
/* Re-check after the delay — a packet may have arrived. */
if (isReceiving()) {
return;
}
/* Take multiple RSSI reads and use the minimum. The noise floor is
* the lowest ambient energy — any higher sample contains signal or
* interference. Min of N reads (~200 us) naturally rejects
* interference-contaminated samples. */
int16_t rssi = hwGetCurrentRSSI();
for (int i = 1; i < NOISE_FLOOR_SAMPLES_PER_TICK; i++) {
int16_t s = hwGetCurrentRSSI();
if (s < rssi) {
rssi = s;
}
}
/* First sample after reset (DEFAULT_NOISE_FLOOR == 0): seed directly. */
if (_noise_floor == DEFAULT_NOISE_FLOOR) {
_noise_floor = rssi;
if (_noise_floor < -120) _noise_floor = -120;
if (_noise_floor > -50) _noise_floor = -50;
_ema_unguarded = (1 << NOISE_FLOOR_EMA_SHIFT); /* 8 ticks */
_ema_unguarded = 0;
LOG_DBG("noise_floor_cal: seed=%d", _noise_floor);
return;
}
/* Threshold filter with periodic unguarded samples.
* During warmup (after seed/reset), all samples are accepted so the
* EMA converges quickly. After warmup, every Nth tick (N = EMA window)
* one sample bypasses the filter so the floor can track sustained
* upward shifts (new interference source, antenna change, etc.).
* The EMA's 1/8 weight naturally dampens isolated spikes. */
if (_ema_unguarded > 0) {
_ema_unguarded--;
} else if (rssi >= _noise_floor + NOISE_FLOOR_SAMPLING_THRESHOLD) {
/* Threshold filter with warmup and periodic bypass.
*
* _ema_unguarded counts up from 0 on every tick.
* Ticks 0..N-1 (warmup): all samples accepted for fast convergence
* after seed/reset — prevents a bad seed from locking out the
* real noise floor via a too-tight threshold.
* Ticks N+: threshold filter active. Every Nth tick (when the low
* bits are zero) one sample bypasses the filter so the floor can
* track sustained upward shifts (new interference, antenna change).
* The EMA's 1/8 weight naturally dampens isolated spikes. */
const int N = (1 << NOISE_FLOOR_EMA_SHIFT); /* 8 */
bool warmup = (_ema_unguarded < N);
bool periodic = (!warmup && (_ema_unguarded & (N - 1)) == 0);
_ema_unguarded++; /* wraps at 255 — harmless */
if (!warmup && !periodic &&
rssi >= _noise_floor + NOISE_FLOOR_SAMPLING_THRESHOLD) {
return;
}
/* Reload: next unguarded sample in N ticks. */
if (_ema_unguarded == 0) {
_ema_unguarded = (1 << NOISE_FLOOR_EMA_SHIFT); /* 8 */
}
/* EMA: floor += round_nearest((sample - floor) / 8).
/* EMA: floor += round_nearest((sample - floor) / N).
* Plain >> has downward bias (-1>>3 == -1 but +1>>3 == 0).
* Plain / has a ±7 dead zone (small drifts ignored).
* Round-to-nearest: add half the divisor before dividing,
* with sign-aware bias so both directions are symmetric. */
int diff = rssi - _noise_floor;
int half = (1 << NOISE_FLOOR_EMA_SHIFT) / 2; /* 4 */
int step = (diff + (diff > 0 ? half : -half)) / (1 << NOISE_FLOOR_EMA_SHIFT);
int half = N / 2; /* 4 */
int step = (diff + (diff > 0 ? half : -half)) / N;
_noise_floor += step;
if (_noise_floor < -120) _noise_floor = -120;
if (_noise_floor > -50) _noise_floor = -50;
LOG_DBG("noise_floor_cal: rssi=%d, floor=%d", rssi, _noise_floor);
LOG_DBG("noise_floor_cal: rssi=%d, floor=%d, tick=%u",
rssi, _noise_floor, _ema_unguarded - 1);
}
void LoRaRadioBase::resetAGC()
{
/* Don't reset AGC while actively receiving a packet — warm sleep would
* corrupt it. The Dispatcher will retry next interval. */
if (isReceiving()) {
/* Don't reset AGC while transmitting or receiving — warm sleep would
* abort the TX or corrupt the incoming packet. maintenanceLoop()
* will retry next housekeeping cycle. */
if (_tx_active || isReceiving()) {
return;
}
hwResetAGC();
/* Warm sleep + calibrate leaves the radio in STANDBY.
* Restart receive if we were in RX mode. */
if (_in_recv_mode) {
startReceive();
}
/* Reset noise floor so it reconverges from scratch (seed + warmup).
* Without this, a stuck _noise_floor of -120 makes the sampling threshold
* too low to accept normal samples, self-reinforcing the stuck value. */
zephcore/adapters/radio/radio_common.h
+5 -2
View File
@@ -12,11 +12,14 @@
#include <zephyr/drivers/lora.h>
/* --- Noise floor calibration (EMA) ---
* Single RSSI sample per tick, smoothed with exponential moving average.
* alpha = 1/8 (bit-shiftable): new_floor = floor + (sample - floor) / 8
* Takes SAMPLES_PER_TICK RSSI reads (~100 us), feeds the minimum into an
* exponential moving average. Using min naturally rejects interference
* spikes — the noise floor is the lowest ambient energy in the band.
* alpha = 1/8: new_floor = floor + round((sample - floor) / 8)
* Convergence: ~8 ticks (~40s at 5s housekeeping) to track a step change.
* Samples above floor + SAMPLING_THRESHOLD are rejected (interference). */
#define NOISE_FLOOR_EMA_SHIFT 3 /* alpha = 1 / (1 << 3) = 1/8 */
#define NOISE_FLOOR_SAMPLES_PER_TICK 4 /* min of 4 RSSI reads per tick */
#define NOISE_FLOOR_SAMPLING_THRESHOLD 14 /* only sample if rssi < floor + threshold */
#define DEFAULT_NOISE_FLOOR 0 /* accept all samples until first update */
zephcore/include/mesh/Dispatcher.h
+2 -1
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@@ -87,7 +87,7 @@ class Dispatcher {
uint32_t cad_busy_start;
DutyCycleTracker _duty_cycle;
uint32_t radio_nonrx_start;
uint32_t next_floor_calib_time, next_agc_reset_time;
uint32_t next_agc_reset_time;
bool prev_isrecv_mode;
uint32_t n_sent_flood, n_sent_direct;
uint32_t n_recv_flood, n_recv_direct;
@@ -120,6 +120,7 @@ protected:
public:
void begin();
void loop();
void maintenanceLoop();
Packet *obtainNewPacket();
void releasePacket(Packet *packet);
void sendPacket(Packet *packet, uint8_t priority, uint32_t delay_millis = 0);
zephcore/src/Dispatcher.cpp
+25 -23
View File
@@ -22,7 +22,6 @@ LOG_MODULE_REGISTER(zephcore_dispatcher, CONFIG_ZEPHCORE_LORA_LOG_LEVEL);
namespace mesh {
#define MAX_RX_DELAY_MILLIS 32000
#define NOISE_FLOOR_CALIB_INTERVAL 2000
Dispatcher::Dispatcher(Radio &radio, MillisecondClock &ms, PacketManager &mgr)
: _radio(&radio), _ms(&ms), _mgr(&mgr)
@@ -31,7 +30,7 @@ Dispatcher::Dispatcher(Radio &radio, MillisecondClock &ms, PacketManager &mgr)
total_air_time = rx_air_time = 0;
next_tx_time = 0;
cad_busy_start = 0;
next_floor_calib_time = next_agc_reset_time = 0;
next_agc_reset_time = 0;
_err_flags = 0;
_duty_cycle.init(0);
radio_nonrx_start = 0;
@@ -94,22 +93,6 @@ uint32_t Dispatcher::getCADFailMaxDuration() const
void Dispatcher::loop()
{
if (millisHasNowPassed(next_floor_calib_time)) {
_radio->triggerNoiseFloorCalibrate(getInterferenceThreshold());
next_floor_calib_time = futureMillis(NOISE_FLOOR_CALIB_INTERVAL);
}
bool is_recv = _radio->isInRecvMode();
if (is_recv != prev_isrecv_mode) {
prev_isrecv_mode = is_recv;
if (!is_recv) {
radio_nonrx_start = (uint32_t)_ms->getMillis();
}
}
if (!is_recv && (uint32_t)_ms->getMillis() - radio_nonrx_start > 8000) {
_err_flags |= ERR_EVENT_STARTRX_TIMEOUT;
}
if (outbound) {
if (_radio->isSendComplete()) {
uint32_t t = (uint32_t)_ms->getMillis() - outbound_start;
@@ -135,11 +118,6 @@ void Dispatcher::loop()
next_agc_reset_time = futureMillis(getAGCResetInterval());
}
if (getAGCResetInterval() > 0 && millisHasNowPassed(next_agc_reset_time)) {
_radio->resetAGC();
next_agc_reset_time = futureMillis(getAGCResetInterval());
}
{
Packet *pkt = _mgr->getNextInbound((uint32_t)_ms->getMillis());
if (pkt) {
@@ -150,6 +128,30 @@ void Dispatcher::loop()
checkSend();
}
void Dispatcher::maintenanceLoop()
{
/* Noise floor calibration — one EMA tick per housekeeping cycle */
_radio->triggerNoiseFloorCalibrate(getInterferenceThreshold());
/* RX mode watchdog — detect if radio is stuck outside RX */
bool is_recv = _radio->isInRecvMode();
if (is_recv != prev_isrecv_mode) {
prev_isrecv_mode = is_recv;
if (!is_recv) {
radio_nonrx_start = (uint32_t)_ms->getMillis();
}
}
if (!is_recv && (uint32_t)_ms->getMillis() - radio_nonrx_start > 8000) {
_err_flags |= ERR_EVENT_STARTRX_TIMEOUT;
}
/* AGC reset — periodic warm sleep + recalibration */
if (getAGCResetInterval() > 0 && millisHasNowPassed(next_agc_reset_time)) {
_radio->resetAGC();
next_agc_reset_time = futureMillis(getAGCResetInterval());
}
}
bool Dispatcher::tryParsePacket(Packet *pkt, const uint8_t *raw, int len)
{
int i = 0;
zephcore/src/main_companion.cpp
+12 -8
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@@ -288,18 +288,22 @@ static void mesh_event_loop(void)
gps_process_event();
}
/* Run mesh loop - handles all pending work:
* - Process received LoRa packets
* - Check TX completion
* - Timeout handling
* - Noise floor calibration (runs when loop is called)
*/
if (companion_mesh_ptr) {
/* Packet processing — only on radio/BLE/TX events */
if (companion_mesh_ptr &&
(events & (MESH_EVENT_LORA_RX | MESH_EVENT_LORA_TX_DONE |
MESH_EVENT_BLE_RX | MESH_EVENT_TX_DRAIN))) {
companion_mesh_ptr->loop();
}
/* Periodic UI refresh (every housekeeping cycle = 5s) */
/* Periodic housekeeping — maintenance + UI refresh */
if (events & MESH_EVENT_HOUSEKEEPING) {
/* Radio maintenance: noise floor calibration, AGC reset,
* RX watchdog. Separated from loop() so these never run
* on packet-driven events. */
if (companion_mesh_ptr) {
companion_mesh_ptr->maintenanceLoop();
}
mesh_housekeeping_ui_refresh();
}
#endif
zephcore/src/main_repeater.cpp
+14 -2
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@@ -328,13 +328,25 @@ static void repeater_event_loop(void)
}
#ifdef ZEPHCORE_LORA
if (repeater_mesh_ptr) {
/* Packet processing — only on radio/CLI/TX events */
if (repeater_mesh_ptr &&
(events & (MESH_EVENT_LORA_RX | MESH_EVENT_LORA_TX_DONE |
MESH_EVENT_CLI_RX | MESH_EVENT_TX_DRAIN))) {
repeater_mesh_ptr->loop();
}
#endif
/* Periodic housekeeping — update display with live data */
/* Periodic housekeeping — maintenance + display refresh */
if (events & MESH_EVENT_HOUSEKEEPING) {
#ifdef ZEPHCORE_LORA
/* Radio maintenance: noise floor calibration, AGC reset,
* RX watchdog. Separated from loop() so these never run
* on packet-driven events. */
if (repeater_mesh_ptr) {
repeater_mesh_ptr->maintenanceLoop();
}
#endif
ui_set_clock(rtc_clock.getCurrentTime());
#ifdef ZEPHCORE_LORA