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Selectively Clear SX1262 IRQ Flags and Ensure Continuous RX Is Reset #13

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Selectively Clear SX1262 IRQ Flags and Ensure Continuous RX Is Reset #13

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351c905
set continuous rx function
AarC10 Jun 1, 2026
59ea2f2
Dont force clear all irq flags and only clear relevant ones
AarC10 Jun 1, 2026
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32 changes: 23 additions & 9 deletions src/cubesat_radio/src/sx1262_radio.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@ bool wait_for_irq(Sx126xLinuxHalContext &hal, sx126x_irq_mask_t wanted, uint32_t
seen = 0;

while (Clock::now() < deadline) {
if (sx126x_get_and_clear_irq_status(&hal, &seen) != SX126X_STATUS_OK) {
if (sx126x_get_irq_status(&hal, &seen) != SX126X_STATUS_OK) {
return false;
}
if ((seen & wanted) != 0) {
Expand All @@ -89,7 +89,12 @@ bool wait_for_irq(Sx126xLinuxHalContext &hal, sx126x_irq_mask_t wanted, uint32_t
std::this_thread::sleep_for(std::chrono::milliseconds(5));
}

return true;
return false;
}

bool set_continuous_rx(Sx126xLinuxHalContext &hal) {
return set_rf_switch_rx(hal) &&
sx126x_set_rx_with_timeout_in_rtc_step(&hal, SX126X_RX_CONTINUOUS) == SX126X_STATUS_OK;
}

} // namespace
Expand Down Expand Up @@ -232,10 +237,11 @@ bool Sx1262Radio::send(const std::vector<uint8_t> &data) {

sx126x_irq_mask_t irq = 0;
const bool got_irq = wait_for_irq(impl->hal, SX126X_IRQ_TX_DONE | SX126X_IRQ_TIMEOUT, kTxTimeoutMs + 100, irq);

sx126x_clear_irq_status(&impl->hal, SX126X_IRQ_TX_DONE | SX126X_IRQ_TIMEOUT);
const bool success = got_irq && ((irq & SX126X_IRQ_TX_DONE) != 0);

set_rf_switch_rx(impl->hal);
sx126x_set_rx_with_timeout_in_rtc_step(&impl->hal, SX126X_RX_CONTINUOUS);
set_continuous_rx(impl->hal);
return success;
}

Expand All @@ -249,42 +255,44 @@ std::optional<ReceivedPacket> Sx1262Radio::receive() {
if (sx126x_get_and_clear_irq_status(&impl->hal, &irq) != SX126X_STATUS_OK) {
return std::nullopt;
}
if ((irq & SX126X_IRQ_RX_DONE) == 0) {
if ((irq & SX126X_IRQ_RX_DONE) == 0 || (irq & SX126X_IRQ_CRC_ERROR) != 0) {
set_continuous_rx(impl->hal);
return std::nullopt;
}

sx126x_rx_buffer_status_t rx_status{};
sx126x_pkt_status_lora_t pkt_status{};
if (sx126x_get_rx_buffer_status(&impl->hal, &rx_status) != SX126X_STATUS_OK ||
sx126x_get_lora_pkt_status(&impl->hal, &pkt_status) != SX126X_STATUS_OK || rx_status.pld_len_in_bytes == 0) {
set_continuous_rx(impl->hal);
return std::nullopt;
}

ReceivedPacket packet;
packet.data.resize(rx_status.pld_len_in_bytes);
if (sx126x_read_buffer(&impl->hal, rx_status.buffer_start_pointer, packet.data.data(),
rx_status.pld_len_in_bytes) != SX126X_STATUS_OK) {
set_continuous_rx(impl->hal);
return std::nullopt;
}
packet.rssi_dbm = pkt_status.rssi_pkt_in_dbm;
packet.snr_db = pkt_status.snr_pkt_in_db;

sx126x_clear_irq_status(&impl->hal, SX126X_IRQ_ALL);
sx126x_set_rx_with_timeout_in_rtc_step(&impl->hal, SX126X_RX_CONTINUOUS);
set_continuous_rx(impl->hal);
return packet;
}

bool Sx1262Radio::setReceiveMode() {
std::lock_guard<std::mutex> lock(impl->mutex);
auto logger = rclcpp::get_logger("sx1262");
if (!impl->is_configured || !set_rf_switch_rx(impl->hal)) {
if (!impl->is_configured) {
RCLCPP_WARN(logger, "setReceiveMode failed isConfigured: %d", (int)impl->is_configured);
return false;
}
RCLCPP_INFO(logger, "Setting Receive mode");

// don't use normal set_rx with RX_CONTINUOUS since its argument is a ms value and will fail with the continuous flag
return sx126x_set_rx_with_timeout_in_rtc_step(&impl->hal, SX126X_RX_CONTINUOUS) == SX126X_STATUS_OK;
return set_continuous_rx(impl->hal);
}

bool Sx1262Radio::setSleepMode() {
Expand All @@ -306,6 +314,12 @@ bool Sx1262Radio::waitForInterrupt(std::chrono::milliseconds timeout) {
if (!impl->is_configured) {
return false;
}

sx126x_irq_mask_t irq = 0;
if (sx126x_get_irq_status(&impl->hal, &irq) == SX126X_STATUS_OK &&
(irq & (SX126X_IRQ_RX_DONE | SX126X_IRQ_CRC_ERROR | SX126X_IRQ_TIMEOUT)) != 0) {
return true;
}
}

return wait_for_dio1_rising(impl->hal, static_cast<int>(timeout.count()));
Expand Down