reference: 早先那版 C 写的装甲板固件（ESP-IDF 工程）

`armor/` 是它的 Rust 改写版，这一份留着当参考：ADC 阈值的 2000 就是从它标定出来的（`.env.example` 里那句 "same as the reference firmware" 指的就是它），而且它的 README 记着实测设备与 MAC，换硬件时是有用的现场记录。只收了 20 个源文件。它自带的 `.gitignore` 已经排掉 `build/`（211 MB 的 ESP-IDF 构建产物）与生成的 `sdkconfig`，所以仓库里不会多出这些东西。两处顺带处理： - `reference/armor/.git` 是一个**空的**仓库壳（`git init` 过，零提交、零 remote、零 ref），而外层 git 正因为它的存在而拒绝索引 `reference/` 下的任何文件（`error: 'reference/armor/' does not have a commit checked out`）。它被挪到 `desktop/.dev/backup/reference-armor-git`（可逆，且该目录已被忽略），不是删除。 - 它的 README 指着 `../armor-platformio-backup/`，那份备份并不存在。改成明说"没有进仓库"，免得以后有人照着找一个不存在的目录。另外把 `/docs/` 加进 .gitignore：那是工作区里另起的一个 Astro 文档站，与本仓库无关。
2026-10-14 19:45:15 +08:00
parent a30eb3200a
commit fd71b83e3a
22 changed files with 1886 additions and 0 deletions
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+#include "air.hpp"
+
+#include <cstring>
+
+#include "armor_time.hpp"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "esp_netif.h"
+#include "esp_wifi.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "storage.hpp"
+
+namespace {
+
+constexpr const char *TAG = "air";
+
+portMUX_TYPE s_dbus_lock = portMUX_INITIALIZER_UNLOCKED;
+
+// ESP-NOW payloads are 802.11 frames; the promiscuous callback is used to keep
+// track of the peer's signal strength.
+typedef struct {
+    unsigned frame_ctrl : 16;
+    unsigned duration_id : 16;
+    uint8_t addr1[6]; /* receiver address */
+    uint8_t addr2[6]; /* sender address */
+    uint8_t addr3[6]; /* filtering address */
+    unsigned sequence_ctrl : 16;
+    uint8_t addr4[6]; /* optional */
+} wifi_ieee80211_mac_hdr_t;
+
+typedef struct {
+    wifi_ieee80211_mac_hdr_t hdr;
+    uint8_t payload[0]; /* network data ended with 4 bytes csum (CRC32) */
+} wifi_ieee80211_packet_t;
+
+} // namespace
+
+// public
+Air::packet_t Air::my_packet, Air::peer_packet;
+volatile uint32_t Air::last_air_ms = 0;
+volatile bool Air::is_pairing = false;
+volatile bool Air::pairing_found = false;
+// private
+const uint8_t Air::empty_mac[6] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+const uint8_t Air::pairing_data[4] = {0x11, 0x45, 0x14, 0x00};
+esp_now_peer_info_t Air::broadcast_peer;
+esp_now_peer_info_t Air::peer;
+volatile int8_t Air::pairing_best_rssi = -128;
+
+void Air::begin() {
+    // ESP-NOW needs the WiFi stack up on the station interface.
+    ESP_ERROR_CHECK(esp_netif_init());
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+
+    wifi_init_config_t wifi_cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&wifi_cfg));
+    // The peer MAC lives in our own NVS namespace; don't let the WiFi driver
+    // write extra calibration data it does not need here.
+    ESP_ERROR_CHECK(esp_wifi_set_storage(WIFI_STORAGE_RAM));
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
+    ESP_ERROR_CHECK(esp_wifi_start());
+
+    // 使用 WiFi 14 信道
+    wifi_country_t country = {};
+    memcpy(country.cc, "JP", sizeof(country.cc));
+    country.schan = 1;
+    country.nchan = 14;
+    country.policy = WIFI_COUNTRY_POLICY_MANUAL;
+    ESP_ERROR_CHECK(esp_wifi_set_country(&country));
+    ESP_ERROR_CHECK(esp_wifi_set_channel(14, WIFI_SECOND_CHAN_NONE));
+
+    // 20dBm 功率（84 = 21dBm；C3 上限为 20dBm，失败时退回 80）
+    esp_err_t power_err = esp_wifi_set_max_tx_power(84);
+    if (power_err != ESP_OK) {
+        ESP_LOGW(TAG, "set_max_tx_power(84) failed: %s, retrying with 80",
+                 esp_err_to_name(power_err));
+        power_err = esp_wifi_set_max_tx_power(80);
+        if (power_err != ESP_OK) {
+            ESP_LOGW(TAG, "set_max_tx_power(80) failed: %s", esp_err_to_name(power_err));
+        }
+    }
+
+    // 启用混杂模式，以获取发送方 rssi
+    wifi_promiscuous_filter_t filter = {};
+    filter.filter_mask = WIFI_PROMIS_FILTER_MASK_MGMT;
+    ESP_ERROR_CHECK(esp_wifi_set_promiscuous_filter(&filter));
+    ESP_ERROR_CHECK(esp_wifi_set_promiscuous_rx_cb(promiscuous_rx_cb));
+    ESP_ERROR_CHECK(esp_wifi_set_promiscuous(true));
+
+    // 初始化 ESP-NOW
+    ESP_ERROR_CHECK(esp_now_init());
+    ESP_ERROR_CHECK(esp_now_register_recv_cb(onRecv));
+
+    // 添加广播 peer
+    memset(&broadcast_peer, 0, sizeof(broadcast_peer));
+    memset(broadcast_peer.peer_addr, 0xFF, sizeof(broadcast_peer.peer_addr));
+    broadcast_peer.channel = 0;
+    broadcast_peer.ifidx = WIFI_IF_STA;
+    broadcast_peer.encrypt = false;
+    ESP_ERROR_CHECK(esp_now_add_peer(&broadcast_peer));
+
+    memset(&peer, 0, sizeof(peer));
+    peer.channel = 0;
+    peer.ifidx = WIFI_IF_STA;
+    peer.encrypt = false;
+
+    if (Storage::hasKey("peer_mac")) {
+        Storage::getBytes("peer_mac", peer.peer_addr, sizeof(peer.peer_addr));
+        if (memcmp(peer.peer_addr, empty_mac, sizeof(empty_mac)) == 0) {
+            ESP_LOGI(TAG, "stored peer MAC is empty, staying unpaired");
+        } else {
+            esp_err_t err = esp_now_add_peer(&peer);
+            if (err != ESP_OK) {
+                ESP_LOGW(TAG, "esp_now_add_peer(stored) failed: %s", esp_err_to_name(err));
+            }
+        }
+    } else {
+        memset(peer.peer_addr, 0x00, sizeof(peer.peer_addr));
+    }
+}
+
+void Air::entryPairing() {
+    // 清除之前的配对
+    esp_now_del_peer(peer.peer_addr);
+
+    is_pairing = true;
+    pairing_found = false;
+
+    // 用于只配对最强的信号
+    my_packet.rssi = -128;
+    pairing_best_rssi = -128;
+}
+
+void Air::savePairing() {
+    if (pairing_found) {
+        // 添加 peer
+        esp_err_t err = esp_now_add_peer(&peer);
+        if (err != ESP_OK) {
+            ESP_LOGW(TAG, "esp_now_add_peer(pairing) failed: %s", esp_err_to_name(err));
+        }
+    } else {
+        // 配对失败，清空设备 mac
+        memset(peer.peer_addr, 0x00, sizeof(peer.peer_addr));
+    }
+
+    // 写入 flash
+    Storage::putBytes("peer_mac", peer.peer_addr, sizeof(peer.peer_addr));
+
+    is_pairing = false;
+}
+
+void Air::onLoop() {
+    if (is_pairing) {
+        // 发送配对请求
+        esp_now_send(broadcast_peer.peer_addr, pairing_data, sizeof(pairing_data));
+    } else if (memcmp(peer.peer_addr, empty_mac, sizeof(empty_mac)) != 0) {
+        // 已有配对设备
+        esp_now_send(peer.peer_addr, reinterpret_cast<const uint8_t *>(&my_packet), sizeof(packet_t));
+    }
+}
+
+void Air::dbusSet(const uint8_t *src, size_t len) {
+    portENTER_CRITICAL(&s_dbus_lock);
+    memcpy(my_packet.dbus, src, len);
+    portEXIT_CRITICAL(&s_dbus_lock);
+}
+
+void Air::dbusClear() {
+    portENTER_CRITICAL(&s_dbus_lock);
+    memset(my_packet.dbus, 0, sizeof(my_packet.dbus));
+    portEXIT_CRITICAL(&s_dbus_lock);
+}
+
+void Air::onRecv(const esp_now_recv_info_t *info, const uint8_t *data, int data_len) {
+    if (info == nullptr || info->src_addr == nullptr || data == nullptr) {
+        return;
+    }
+
+    // The original relied on the promiscuous callback to have recorded the RSSI
+    // of this frame beforehand; rx_ctrl carries the same value synchronously
+    // with the packet we are handling.
+    if (info->rx_ctrl != nullptr) {
+        my_packet.rssi = info->rx_ctrl->rssi;
+    }
+
+    if (is_pairing) {
+        // 配对 magic 正确
+        if (data_len == static_cast<int>(sizeof(pairing_data)) &&
+            memcmp(pairing_data, data, sizeof(pairing_data)) == 0) {
+            // 只配对最强的信号
+            if (my_packet.rssi > pairing_best_rssi) {
+                pairing_best_rssi = my_packet.rssi;
+                memcpy(peer.peer_addr, info->src_addr, sizeof(peer.peer_addr));
+                pairing_found = true;
+            }
+        }
+    } else if (memcmp(peer.peer_addr, info->src_addr, sizeof(peer.peer_addr)) == 0) {
+        // 是从配对设备发过来的，且数据长度正确
+        if (data_len == static_cast<int>(sizeof(packet_t))) {
+            memcpy(&peer_packet, data, sizeof(packet_t));
+            last_air_ms = millis();
+        }
+    }
+}
+
+void Air::promiscuous_rx_cb(void *buf, wifi_promiscuous_pkt_type_t type) {
+    if (type != WIFI_PKT_MGMT) {
+        return;
+    }
+
+    const auto *ppkt = static_cast<const wifi_promiscuous_pkt_t *>(buf);
+    const auto *ipkt = reinterpret_cast<const wifi_ieee80211_packet_t *>(ppkt->payload);
+    const wifi_ieee80211_mac_hdr_t *hdr = &ipkt->hdr;
+
+    if (is_pairing) {
+        // 配对模式
+        my_packet.rssi = ppkt->rx_ctrl.rssi;
+    } else if (memcmp(hdr->addr2, peer.peer_addr, sizeof(peer.peer_addr)) == 0) {
+        my_packet.rssi = ppkt->rx_ctrl.rssi;
+    }
+}