GIFT EVERYONE EVERYTHING THEY COULD WANT WITH LORA

[AarC10]

Description

Note: #347 should be looked at first and merged. This PR branches off that one
Setting merge to #347 now so the diff doesn't look as bad :)

Re-introduces handling for commanding GPIOs and reconstructing UDP packets from LoRa payloads. But, more importantly... WE CAN SCHEDULE HOW OFTEN TELEMETRY IS DOWNLINKED AND REMOTELY CHANGE LORA FREQUENCIES!!!! MERRY CHRISTMAS!

Type of change

• New feature (non-breaking change which adds functionality)

How Has This Been Tested?

Tested commanding GPIOs and changing frequencies (changing frequencies will get more refinement soon™️, but a good proof-of-concept has been laid out now). Receiver mod can now forward downlinked telem over Ethernet again too.

Checklist:

• New functionality is documented in the necessary spots (i.e new functions documented in the header)
• Unit tests cover any new functionality or edge cases that the PR was meant to resolve (if applicable)
• The CI checks are passing
• I reviewed my own code in the GitHub diff and am sure that each change is intentional
• I feel comfortable about this code flying in a rocket

[Copilot]

Pull request overview

This PR re-introduces GPIO commanding and UDP packet reconstruction from LoRa payloads, and adds two major new features: the ability to schedule telemetry downlinks and remotely change LoRa frequencies. The implementation refactors the LoRa communication architecture to use a router/handler pattern for better modularity.

Key Changes:

• Implemented remote LoRa frequency changing with ACK-based confirmation
• Added telemetry downlink scheduling system based on configurable timers
• Refactored LoRa communication to use link/router/handler architecture for better separation of concerns

Reviewed changes

Copilot reviewed 32 out of 32 changed files in this pull request and generated 16 comments.

Show a summary per file

File	Description
lib/f_core/state_machine/c_pad_flight_landing_state_machine.cpp	Added state entry/exit hooks for better state transition handling
lib/f_core/radio/frame_handlers/c_lora_freq_request_tenant.cpp	Implements ground-side frequency change request with timeout and revert logic
lib/f_core/radio/frame_handlers/c_frequency_change_handler.cpp	Handles frequency change commands on rocket side with ACK response
lib/f_core/radio/frame_handlers/c_lora_frame_to_udp_handler.cpp	Forwards LoRa frames to UDP for telemetry reconstruction
lib/f_core/radio/c_lora_tenant.cpp	State machine-aware LoRa tenant coordinating TX/RX operations
lib/f_core/radio/c_lora_router.cpp	Routes received LoRa frames to registered port handlers
lib/f_core/radio/c_lora_link.cpp	Low-level LoRa link layer handling frame serialization/deserialization
lib/f_core/radio/c_lora.cpp	Enhanced to support disabling/re-enabling async RX during frequency changes
include/f_core/utils/c_soft_timer.h	Made non-copyable and non-movable for safety
include/f_core/utils/c_hashmap.h	Added initializer list constructor, Emplace, and GetPtr methods
include/f_core/messaging/c_message_port.h	Changed AvailableSpace return type from int to size_t
app/ground/receiver_module/src/c_receiver_module.cpp	Integrated new frequency change tenant and LoRa router
app/backplane/radio_module/src/c_remote_gpio_handler.cpp	Re-implemented GPIO commanding via LoRa frames
app/backplane/radio_module/src/c_downlink_scheduler_tenant.cpp	Manages scheduled telemetry downlinks based on flight state and timers
app/backplane/radio_module/src/c_radio_module.cpp	Integrated new handlers and downlink scheduler
boards/arm/radio_module/radio_module.dts	Updated clock configuration for radio module
data/autocoder_inputs/network_defs.yaml	Added frequency change command/response ports

Comments suppressed due to low confidence (1)

lib/f_core/radio/c_lora_tenant.cpp:11

• The Startup function is empty but still declared as an override. If there's no startup logic needed, this function can be removed entirely since the base class likely provides a default implementation or makes it optional.

void CLoraTenant::Startup() {

}

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[Copilot]

There is a typo in the comment. "hashamp" should be "hashmap".

Suggested change

	// Build the hashamp here for passing into downlink scheduler tenant
	// Build the hashmap here for passing into downlink scheduler tenant

[cowsed]

true

[Copilot]

If the downlink queue is full and clearing fails or if Send fails after clearing, the function returns false but logs with LOG_WRN_ONCE. Using LOG_WRN_ONCE means subsequent failures won't be logged, which could hide recurring issues. Consider using regular LOG_WRN or implementing a counter to track how often this occurs.

[cowsed]

I think i agree with this. this should just be log_wrn since if im sitting there working i will want to know every time the queue is full

[cowsed]

I think i agree with this. this should just be log_wrn since if im sitting there working i will want to know every time the queue is full

[cowsed]

nitpick but im p sure the 433 band ends at 450 mhz

[AarC10]

Technically SX1262 go from like 150 to 960 mhz and the specific range depends on the circuitry its tuned for. I've seen some specs reference 493 and others reference 510. I will drop to 450 though because of laws

[cowsed]

true

[cowsed]

can this codepath be simplified since handler shouldnt be nullptr ever anymore?

[AarC10]

? It can still be nullptr because defaultHandler can be nullptr

[AarC10]

See line 38 of c_lora_router.h, this is in the event you dont want to install a default handler