506 lines
16 KiB
Python
506 lines
16 KiB
Python
from __future__ import print_function
|
|
from time import sleep
|
|
import sys
|
|
import serial
|
|
import threading
|
|
import time
|
|
import math
|
|
|
|
class KISS():
|
|
FEND = chr(0xC0)
|
|
FESC = chr(0xDB)
|
|
TFEND = chr(0xDC)
|
|
TFESC = chr(0xDD)
|
|
|
|
CMD_UNKNOWN = chr(0xFE)
|
|
CMD_DATA = chr(0x00)
|
|
CMD_FREQUENCY = chr(0x01)
|
|
CMD_BANDWIDTH = chr(0x02)
|
|
CMD_TXPOWER = chr(0x03)
|
|
CMD_SF = chr(0x04)
|
|
CMD_CR = chr(0x05)
|
|
CMD_RADIO_STATE = chr(0x06)
|
|
CMD_RADIO_LOCK = chr(0x07)
|
|
CMD_DETECT = chr(0x08)
|
|
CMD_PROMISC = chr(0x0E)
|
|
CMD_READY = chr(0x0F)
|
|
CMD_STAT_RX = chr(0x21)
|
|
CMD_STAT_TX = chr(0x22)
|
|
CMD_STAT_RSSI = chr(0x23)
|
|
CMD_STAT_SNR = chr(0x24)
|
|
CMD_BLINK = chr(0x30)
|
|
CMD_RANDOM = chr(0x40)
|
|
CMD_FW_VERSION = chr(0x50)
|
|
CMD_ROM_READ = chr(0x51)
|
|
|
|
DETECT_REQ = chr(0x73)
|
|
DETECT_RESP = chr(0x46)
|
|
|
|
RADIO_STATE_OFF = chr(0x00)
|
|
RADIO_STATE_ON = chr(0x01)
|
|
RADIO_STATE_ASK = chr(0xFF)
|
|
|
|
CMD_ERROR = chr(0x90)
|
|
ERROR_INITRADIO = chr(0x01)
|
|
ERROR_TXFAILED = chr(0x02)
|
|
ERROR_EEPROM_LOCKED = chr(0x03)
|
|
|
|
@staticmethod
|
|
def escape(data):
|
|
data = data.replace(chr(0xdb), chr(0xdb)+chr(0xdd))
|
|
data = data.replace(chr(0xc0), chr(0xdb)+chr(0xdc))
|
|
return data
|
|
|
|
|
|
class RNodeInterface():
|
|
MTU = 500
|
|
MAX_CHUNK = 32768
|
|
FREQ_MIN = 137000000
|
|
FREQ_MAX = 1020000000
|
|
|
|
LOG_CRITICAL = 0
|
|
LOG_ERROR = 1
|
|
LOG_WARNING = 2
|
|
LOG_NOTICE = 3
|
|
LOG_INFO = 4
|
|
LOG_VERBOSE = 5
|
|
LOG_DEBUG = 6
|
|
LOG_EXTREME = 7
|
|
|
|
RSSI_OFFSET = 157
|
|
SNR_OFFSET = 128
|
|
|
|
def __init__(self, callback, name, port, frequency = None, bandwidth = None, txpower = None, sf = None, cr = None, loglevel = -1, flow_control = True):
|
|
self.serial = None
|
|
self.loglevel = loglevel
|
|
self.callback = callback
|
|
self.name = name
|
|
self.port = port
|
|
self.speed = 115200
|
|
self.databits = 8
|
|
self.parity = serial.PARITY_NONE
|
|
self.stopbits = 1
|
|
self.timeout = 100
|
|
self.online = False
|
|
|
|
self.frequency = frequency
|
|
self.bandwidth = bandwidth
|
|
self.txpower = txpower
|
|
self.sf = sf
|
|
self.cr = cr
|
|
self.state = KISS.RADIO_STATE_OFF
|
|
self.bitrate = 0
|
|
|
|
self.r_frequency = None
|
|
self.r_bandwidth = None
|
|
self.r_txpower = None
|
|
self.r_sf = None
|
|
self.r_cr = None
|
|
self.r_state = None
|
|
self.r_lock = None
|
|
self.r_stat_rx = None
|
|
self.r_stat_tx = None
|
|
self.r_stat_rssi = None
|
|
self.r_stat_snr = None
|
|
self.r_random = None
|
|
|
|
self.packet_queue = []
|
|
self.flow_control = flow_control
|
|
self.interface_ready = False
|
|
|
|
self.validcfg = True
|
|
if (self.frequency < RNodeInterface.FREQ_MIN or self.frequency > RNodeInterface.FREQ_MAX):
|
|
self.log("Invalid frequency configured for "+str(self), RNodeInterface.LOG_ERROR)
|
|
self.validcfg = False
|
|
|
|
if (self.txpower < 0 or self.txpower > 17):
|
|
self.log("Invalid TX power configured for "+str(self), RNodeInterface.LOG_ERROR)
|
|
self.validcfg = False
|
|
|
|
if (self.bandwidth < 7800 or self.bandwidth > 500000):
|
|
self.log("Invalid bandwidth configured for "+str(self), RNodeInterface.LOG_ERROR)
|
|
self.validcfg = False
|
|
|
|
if (self.sf < 7 or self.sf > 12):
|
|
self.log("Invalid spreading factor configured for "+str(self), RNodeInterface.LOG_ERROR)
|
|
self.validcfg = False
|
|
|
|
if (not self.validcfg):
|
|
raise ValueError("The configuration for "+str(self)+" contains errors, interface is offline")
|
|
|
|
try:
|
|
self.log("Opening serial port "+self.port+"...")
|
|
self.serial = serial.Serial(
|
|
port = self.port,
|
|
baudrate = self.speed,
|
|
bytesize = self.databits,
|
|
parity = self.parity,
|
|
stopbits = self.stopbits,
|
|
xonxoff = False,
|
|
rtscts = False,
|
|
timeout = 0,
|
|
inter_byte_timeout = None,
|
|
write_timeout = None,
|
|
dsrdtr = False,
|
|
)
|
|
except Exception as e:
|
|
self.log("Could not open serial port for interface "+str(self), RNodeInterface.LOG_ERROR)
|
|
raise e
|
|
|
|
if self.serial.is_open:
|
|
sleep(2.0)
|
|
thread = threading.Thread(target=self.readLoop)
|
|
thread.setDaemon(True)
|
|
thread.start()
|
|
self.online = True
|
|
self.log("Serial port "+self.port+" is now open")
|
|
self.log("Configuring RNode interface...", RNodeInterface.LOG_VERBOSE)
|
|
self.initRadio()
|
|
if (self.validateRadioState()):
|
|
self.interface_ready = True
|
|
self.log(str(self)+" is configured and powered up")
|
|
sleep(1.0)
|
|
else:
|
|
self.log("After configuring "+str(self)+", the actual radio parameters did not match your configuration.", RNodeInterface.LOG_ERROR)
|
|
self.log("Make sure that your hardware actually supports the parameters specified in the configuration", RNodeInterface.LOG_ERROR)
|
|
self.log("Aborting RNode startup", RNodeInterface.LOG_ERROR)
|
|
self.serial.close()
|
|
raise IOError("RNode interface did not pass validation")
|
|
else:
|
|
raise IOError("Could not open serial port")
|
|
|
|
def log(self, message, level):
|
|
pass
|
|
|
|
def initRadio(self):
|
|
self.setFrequency()
|
|
self.setBandwidth()
|
|
self.setTXPower()
|
|
self.setSpreadingFactor()
|
|
self.setRadioState(KISS.RADIO_STATE_ON)
|
|
|
|
def setFrequency(self):
|
|
c1 = self.frequency >> 24
|
|
c2 = self.frequency >> 16 & 0xFF
|
|
c3 = self.frequency >> 8 & 0xFF
|
|
c4 = self.frequency & 0xFF
|
|
data = KISS.escape(chr(c1)+chr(c2)+chr(c3)+chr(c4))
|
|
|
|
kiss_command = KISS.FEND+KISS.CMD_FREQUENCY+data+KISS.FEND
|
|
written = self.serial.write(kiss_command)
|
|
if written != len(kiss_command):
|
|
raise IOError("An IO error occurred while configuring frequency for "+self(str))
|
|
|
|
def setBandwidth(self):
|
|
c1 = self.bandwidth >> 24
|
|
c2 = self.bandwidth >> 16 & 0xFF
|
|
c3 = self.bandwidth >> 8 & 0xFF
|
|
c4 = self.bandwidth & 0xFF
|
|
data = KISS.escape(chr(c1)+chr(c2)+chr(c3)+chr(c4))
|
|
|
|
kiss_command = KISS.FEND+KISS.CMD_BANDWIDTH+data+KISS.FEND
|
|
written = self.serial.write(kiss_command)
|
|
if written != len(kiss_command):
|
|
raise IOError("An IO error occurred while configuring bandwidth for "+self(str))
|
|
|
|
def setTXPower(self):
|
|
txp = chr(self.txpower)
|
|
kiss_command = KISS.FEND+KISS.CMD_TXPOWER+txp+KISS.FEND
|
|
written = self.serial.write(kiss_command)
|
|
if written != len(kiss_command):
|
|
raise IOError("An IO error occurred while configuring TX power for "+self(str))
|
|
|
|
def setSpreadingFactor(self):
|
|
sf = chr(self.sf)
|
|
kiss_command = KISS.FEND+KISS.CMD_SF+sf+KISS.FEND
|
|
written = self.serial.write(kiss_command)
|
|
if written != len(kiss_command):
|
|
raise IOError("An IO error occurred while configuring spreading factor for "+self(str))
|
|
|
|
def setCodingRate(self):
|
|
cr = chr(self.cr)
|
|
kiss_command = KISS.FEND+KISS.CMD_CR+cr+KISS.FEND
|
|
written = self.serial.write(kiss_command)
|
|
if written != len(kiss_command):
|
|
raise IOError("An IO error occurred while configuring coding rate for "+self(str))
|
|
|
|
def setRadioState(self, state):
|
|
kiss_command = KISS.FEND+KISS.CMD_RADIO_STATE+state+KISS.FEND
|
|
written = self.serial.write(kiss_command)
|
|
if written != len(kiss_command):
|
|
raise IOError("An IO error occurred while configuring radio state for "+self(str))
|
|
|
|
def validateRadioState(self):
|
|
self.log("Validating radio configuration for "+str(self)+"...", RNodeInterface.LOG_VERBOSE)
|
|
sleep(0.25);
|
|
if (self.frequency != self.r_frequency):
|
|
self.log("Frequency mismatch", RNodeInterface.LOG_ERROR)
|
|
self.validcfg = False
|
|
if (self.bandwidth != self.r_bandwidth):
|
|
self.log("Bandwidth mismatch", RNodeInterface.LOG_ERROR)
|
|
self.validcfg = False
|
|
if (self.txpower != self.r_txpower):
|
|
self.log("TX power mismatch", RNodeInterface.LOG_ERROR)
|
|
self.validcfg = False
|
|
if (self.sf != self.r_sf):
|
|
self.log("Spreading factor mismatch", RNodeInterface.LOG_ERROR)
|
|
self.validcfg = False
|
|
|
|
if (self.validcfg):
|
|
return True
|
|
else:
|
|
return False
|
|
|
|
def setPromiscuousMode(self, state):
|
|
if state == True:
|
|
kiss_command = KISS.FEND+KISS.CMD_PROMISC+chr(0x01)+KISS.FEND
|
|
else:
|
|
kiss_command = KISS.FEND+KISS.CMD_PROMISC+chr(0x00)+KISS.FEND
|
|
|
|
written = self.serial.write(kiss_command)
|
|
if written != len(kiss_command):
|
|
raise IOError("An IO error occurred while configuring promiscuous mode for "+self(str))
|
|
|
|
|
|
def updateBitrate(self):
|
|
try:
|
|
self.bitrate = self.r_sf * ( (4.0/self.cr) / (math.pow(2,self.r_sf)/(self.r_bandwidth/1000)) ) * 1000
|
|
self.bitrate_kbps = round(self.bitrate/1000.0, 2)
|
|
self.log(str(self)+" On-air bitrate is now "+str(self.bitrate_kbps)+ " kbps", RNodeInterface.LOG_DEBUG)
|
|
except:
|
|
self.bitrate = 0
|
|
|
|
def processIncoming(self, data):
|
|
self.callback(data, self)
|
|
|
|
def send(self, data):
|
|
self.processOutgoing(data)
|
|
|
|
def processOutgoing(self,data):
|
|
if self.online:
|
|
if self.interface_ready:
|
|
if self.flow_control:
|
|
self.interface_ready = False
|
|
|
|
data = KISS.escape(data)
|
|
frame = chr(0xc0)+chr(0x00)+data+chr(0xc0)
|
|
written = self.serial.write(frame)
|
|
if written != len(frame):
|
|
raise IOError("Serial interface only wrote "+str(written)+" bytes of "+str(len(data)))
|
|
else:
|
|
self.queue(data)
|
|
|
|
def queue(self, data):
|
|
self.packet_queue.append(data)
|
|
|
|
def process_queue(self):
|
|
if len(self.packet_queue) > 0:
|
|
data = self.packet_queue.pop(0)
|
|
self.interface_ready = True
|
|
self.processOutgoing(data)
|
|
elif len(self.packet_queue) == 0:
|
|
self.interface_ready = True
|
|
|
|
def readLoop(self):
|
|
try:
|
|
in_frame = False
|
|
escape = False
|
|
command = KISS.CMD_UNKNOWN
|
|
data_buffer = ""
|
|
command_buffer = ""
|
|
last_read_ms = int(time.time()*1000)
|
|
|
|
while self.serial.is_open:
|
|
if self.serial.in_waiting:
|
|
byte = self.serial.read(1)
|
|
|
|
last_read_ms = int(time.time()*1000)
|
|
|
|
if (in_frame and byte == KISS.FEND and command == KISS.CMD_DATA):
|
|
in_frame = False
|
|
self.processIncoming(data_buffer)
|
|
data_buffer = ""
|
|
command_buffer = ""
|
|
elif (byte == KISS.FEND):
|
|
in_frame = True
|
|
command = KISS.CMD_UNKNOWN
|
|
data_buffer = ""
|
|
command_buffer = ""
|
|
elif (in_frame and len(data_buffer) < RNodeInterface.MTU):
|
|
if (len(data_buffer) == 0 and command == KISS.CMD_UNKNOWN):
|
|
command = byte
|
|
elif (command == KISS.CMD_DATA):
|
|
if (byte == KISS.FESC):
|
|
escape = True
|
|
else:
|
|
if (escape):
|
|
if (byte == KISS.TFEND):
|
|
byte = KISS.FEND
|
|
if (byte == KISS.TFESC):
|
|
byte = KISS.FESC
|
|
escape = False
|
|
data_buffer = data_buffer+byte
|
|
elif (command == KISS.CMD_FREQUENCY):
|
|
if (byte == KISS.FESC):
|
|
escape = True
|
|
else:
|
|
if (escape):
|
|
if (byte == KISS.TFEND):
|
|
byte = KISS.FEND
|
|
if (byte == KISS.TFESC):
|
|
byte = KISS.FESC
|
|
escape = False
|
|
command_buffer = command_buffer+byte
|
|
if (len(command_buffer) == 4):
|
|
self.r_frequency = ord(command_buffer[0]) << 24 | ord(command_buffer[1]) << 16 | ord(command_buffer[2]) << 8 | ord(command_buffer[3])
|
|
self.log(str(self)+" Radio reporting frequency is "+str(self.r_frequency/1000000.0)+" MHz", RNodeInterface.LOG_DEBUG)
|
|
self.updateBitrate()
|
|
|
|
elif (command == KISS.CMD_BANDWIDTH):
|
|
if (byte == KISS.FESC):
|
|
escape = True
|
|
else:
|
|
if (escape):
|
|
if (byte == KISS.TFEND):
|
|
byte = KISS.FEND
|
|
if (byte == KISS.TFESC):
|
|
byte = KISS.FESC
|
|
escape = False
|
|
command_buffer = command_buffer+byte
|
|
if (len(command_buffer) == 4):
|
|
self.r_bandwidth = ord(command_buffer[0]) << 24 | ord(command_buffer[1]) << 16 | ord(command_buffer[2]) << 8 | ord(command_buffer[3])
|
|
self.log(str(self)+" Radio reporting bandwidth is "+str(self.r_bandwidth/1000.0)+" KHz", RNodeInterface.LOG_DEBUG)
|
|
self.updateBitrate()
|
|
|
|
elif (command == KISS.CMD_TXPOWER):
|
|
self.r_txpower = ord(byte)
|
|
self.log(str(self)+" Radio reporting TX power is "+str(self.r_txpower)+" dBm", RNodeInterface.LOG_DEBUG)
|
|
elif (command == KISS.CMD_SF):
|
|
self.r_sf = ord(byte)
|
|
self.log(str(self)+" Radio reporting spreading factor is "+str(self.r_sf), RNodeInterface.LOG_DEBUG)
|
|
self.updateBitrate()
|
|
elif (command == KISS.CMD_CR):
|
|
self.r_cr = ord(byte)
|
|
self.log(str(self)+" Radio reporting coding rate is "+str(self.r_cr), RNodeInterface.LOG_DEBUG)
|
|
self.updateBitrate()
|
|
elif (command == KISS.CMD_RADIO_STATE):
|
|
self.r_state = ord(byte)
|
|
elif (command == KISS.CMD_RADIO_LOCK):
|
|
self.r_lock = ord(byte)
|
|
elif (command == KISS.CMD_STAT_RX):
|
|
if (byte == KISS.FESC):
|
|
escape = True
|
|
else:
|
|
if (escape):
|
|
if (byte == KISS.TFEND):
|
|
byte = KISS.FEND
|
|
if (byte == KISS.TFESC):
|
|
byte = KISS.FESC
|
|
escape = False
|
|
command_buffer = command_buffer+byte
|
|
if (len(command_buffer) == 4):
|
|
self.r_stat_rx = ord(command_buffer[0]) << 24 | ord(command_buffer[1]) << 16 | ord(command_buffer[2]) << 8 | ord(command_buffer[3])
|
|
|
|
elif (command == KISS.CMD_STAT_TX):
|
|
if (byte == KISS.FESC):
|
|
escape = True
|
|
else:
|
|
if (escape):
|
|
if (byte == KISS.TFEND):
|
|
byte = KISS.FEND
|
|
if (byte == KISS.TFESC):
|
|
byte = KISS.FESC
|
|
escape = False
|
|
command_buffer = command_buffer+byte
|
|
if (len(command_buffer) == 4):
|
|
self.r_stat_tx = ord(command_buffer[0]) << 24 | ord(command_buffer[1]) << 16 | ord(command_buffer[2]) << 8 | ord(command_buffer[3])
|
|
|
|
elif (command == KISS.CMD_STAT_RSSI):
|
|
if (byte == KISS.FESC):
|
|
escape = True
|
|
else:
|
|
if (escape):
|
|
if (byte == KISS.TFEND):
|
|
byte = KISS.FEND
|
|
if (byte == KISS.TFESC):
|
|
byte = KISS.FESC
|
|
escape = False
|
|
self.r_stat_rssi = ord(byte)-self.RSSI_OFFSET
|
|
|
|
elif (command == KISS.CMD_STAT_SNR):
|
|
if (byte == KISS.FESC):
|
|
escape = True
|
|
else:
|
|
if (escape):
|
|
if (byte == KISS.TFEND):
|
|
byte = KISS.FEND
|
|
if (byte == KISS.TFESC):
|
|
byte = KISS.FESC
|
|
escape = False
|
|
self.r_stat_snr = ord(byte)-self.SNR_OFFSET
|
|
|
|
elif (command == KISS.CMD_RANDOM):
|
|
self.r_random = ord(byte)
|
|
elif (command == KISS.CMD_ERROR):
|
|
if (byte == KISS.ERROR_INITRADIO):
|
|
self.log(str(self)+" hardware initialisation error (code "+self.hexrep(byte)+")", RNodeInterface.LOG_ERROR)
|
|
elif (byte == KISS.ERROR_INITRADIO):
|
|
self.log(str(self)+" hardware TX error (code "+self.hexrep(byte)+")", RNodeInterface.LOG_ERROR)
|
|
else:
|
|
self.log(str(self)+" hardware error (code "+self.hexrep(byte)+")", RNodeInterface.LOG_ERROR)
|
|
elif (command == KISS.CMD_READY):
|
|
# TODO: add timeout and reset if ready
|
|
# command never arrives
|
|
self.process_queue()
|
|
|
|
else:
|
|
time_since_last = int(time.time()*1000) - last_read_ms
|
|
if len(data_buffer) > 0 and time_since_last > self.timeout:
|
|
self.log(str(self)+" serial read timeout", RNodeInterface.LOG_DEBUG)
|
|
data_buffer = ""
|
|
in_frame = False
|
|
command = KISS.CMD_UNKNOWN
|
|
escape = False
|
|
sleep(0.08)
|
|
|
|
except Exception as e:
|
|
self.online = False
|
|
self.log("A serial port error occurred, the contained exception was: "+str(e), RNodeInterface.LOG_ERROR)
|
|
self.log("The interface "+str(self.name)+" is now offline.", RNodeInterface.LOG_ERROR)
|
|
|
|
def log(self, msg, level=3):
|
|
logtimefmt = "%Y-%m-%d %H:%M:%S"
|
|
if self.loglevel >= level:
|
|
timestamp = time.time()
|
|
logstring = "["+time.strftime(logtimefmt)+"] ["+self.loglevelname(level)+"] "+msg
|
|
print(logstring)
|
|
|
|
def loglevelname(self, level):
|
|
if (level == RNodeInterface.LOG_CRITICAL):
|
|
return "Critical"
|
|
if (level == RNodeInterface.LOG_ERROR):
|
|
return "Error"
|
|
if (level == RNodeInterface.LOG_WARNING):
|
|
return "Warning"
|
|
if (level == RNodeInterface.LOG_NOTICE):
|
|
return "Notice"
|
|
if (level == RNodeInterface.LOG_INFO):
|
|
return "Info"
|
|
if (level == RNodeInterface.LOG_VERBOSE):
|
|
return "Verbose"
|
|
if (level == RNodeInterface.LOG_DEBUG):
|
|
return "Debug"
|
|
if (level == RNodeInterface.LOG_EXTREME):
|
|
return "Extra"
|
|
|
|
def hexrep(data, delimit=True):
|
|
delimiter = ":"
|
|
if not delimit:
|
|
delimiter = ""
|
|
hexrep = delimiter.join("{:02x}".format(ord(c)) for c in data)
|
|
return hexrep
|
|
|
|
def __str__(self):
|
|
return "RNodeInterface["+self.name+"]"
|
|
|