updated readme and deploy script

README.md

@@ -2,15 +2,28 @@
 
 Pi Zero W 2 captures frames, runs a motion shader, sends diffs over LoRa.
 
-- `camera_example/`   — libcamera + libjpeg-turbo, streams MJPEG over TCP. Works.
+- `camera_example/`    — libcamera + libjpeg-turbo, streams MJPEG over TCP. Works.
-- `shader_example/`   — offscreen GL motion diff between two frames. Works on desktop.
+- `shader_example/`    — offscreen GL motion diff between two frames. Works on desktop.
-- `math_example/`     — pixel → 3D vertex projection (depth map to OBJ mesh).
+- `math_example/`      — pixel → 3D vertex projection (depth map to OBJ mesh).
 - `chip_test_example/` — LR1121 LoRa + ICM-20948 IMU + u-blox GPS drivers/tests.
-- `main.cpp`          — prototype that wires camera + shader + TCP together.
+- `main.cpp`           — prototype that wires camera + shader + TCP together.
 
-References:
+## Goal
-- https://www.youtube.com/watch?v=zFiubdrJqqI
+
-- https://github.com/ConsistentlyInconsistentYT/Pixeltovoxelprojector/
+Automatic, real-time detection of fast high-flying objects (planes, drones) using
+multiple Pi cameras and a GLES motion shader. Objects moving in straight lines or
+smooth curves are kept; everything else is filtered out.
+
+Each node scans the sky, detects motion, extracts a vertex line from the diff frame,
+timestamps it via GPS, and transmits the minimal payload over LoRa.
+The central device is also a Pi camera node running the same base pipeline, with
+additional functionality for receiving LoRa packets from other nodes, fusing
+sightlines, and saving combined results locally.
+
+## Status
+
+The examples are all individually working. Final integration (camera → shader → math →
+LoRa) is the next step.
 
 ## Build main.cpp
 
@@ -20,3 +33,8 @@ g++ main.cpp -o main \
   -levent -levent_pthreads -lpthread \
   -lturbojpeg -lglfw -lGLEW -lGL -lEGL -lGLESv2
 ```
+
+## References
+
+- https://www.youtube.com/watch?v=zFiubdrJqqI
+- https://github.com/ConsistentlyInconsistentYT/Pixeltovoxelprojector/

chip_test_example/README.md

@@ -61,7 +61,7 @@ make
 Run verbose first so you see exactly where it fails:
 
 ```sh
-sudo ./lora_rx -v --433
+sudo ./lora_rx -v
 sudo ./imu_test -v
 ./gps_test -v
 ```
@@ -71,8 +71,8 @@ sudo ./imu_test -v
 ## LoRa debug
 
 ```sh
-ls /dev/spidev0.0         # SPI enabled?
+ls /dev/spidev0.0    # SPI enabled?
-sudo ./lora_rx -v --433   # step labels show exactly which command hangs
+sudo ./lora_rx -v    # step labels show exactly which command hangs
 ```
 
 If it hangs at `Calibrate` — the chip isn't responding over SPI at all.
@@ -81,13 +81,6 @@ Check wiring, CS, and that SPI is enabled. The crystal needs no tuning.
 If TX/RX runs but packets never arrive — check that DIO5/DIO6 reach the RF
 switch on your module. Without the switch, the antenna path is disconnected.
 
-To try 2.4 GHz instead (different antenna required):
-
-```sh
-sudo ./lora_rx -v --24
-sudo ./lora_tx -v --24
-```
-
 If the chip is stuck in bootloader (fw < 0x02xx), escape with:
 
 ```sh

chip_test_example/deploy.sh

@@ -39,10 +39,10 @@ deploy_and_build() {
     return $BUILD_STATUS
 }
 
-deploy_and_build 10.91.51.166 &
+deploy_and_build 10.91.51.183 &
 PID1=$!
 
-deploy_and_build 10.91.51.165 &
+deploy_and_build 10.91.51.166 &
 PID2=$!
 
 wait $PID1
@@ -52,7 +52,7 @@ wait $PID2
 STATUS2=$?
 
 echo "----------------------------------------"
-echo "10.91.51.165 status: $STATUS1"
+echo "10.91.51.183 status: $STATUS1"
 echo "10.91.51.166 status: $STATUS2"
 
 if [ $STATUS1 -ne 0 ] || [ $STATUS2 -ne 0 ]; then

chip_test_example/lr1121_malnus_api.md

@@ -0,0 +1,76 @@
+# lr1121_malnus.hpp — API reference
+
+```cpp
+#include "lr1121_malnus.hpp"   // namespace lr1121
+```
+
+## Setup
+
+```cpp
+lr1121::Config cfg;            // all fields have sensible defaults
+cfg.freq_hz  = lr1121::FREQ_433;   // FREQ_433 / FREQ_868 / FREQ_2400
+cfg.sf       = 7;              // spreading factor 6–12
+cfg.bw       = 0x04;           // 0x03=62.5 kHz  0x04=125 kHz  0x05=250 kHz
+cfg.cr       = 0x01;           // 0x01=4/5  0x02=4/6  0x03=4/7  0x04=4/8
+cfg.tx_dbm   = 10;
+cfg.pa_sel   = lr1121::PA_LP;  // PA_LP (0–14 dBm)  PA_HP (0–22 dBm)
+
+lr1121::Radio radio;
+if (!radio.begin(cfg))
+    fprintf(stderr, "init failed: %s\n", lr1121::Radio::errorString(radio.lastError()));
+```
+
+## TX / RX
+
+```cpp
+bool ok = radio.send(data, len);              // blocks until TX_DONE or error
+// returns: true=ok  false=error (check lastError)
+
+lr1121::RxInfo info;
+
+// one-shot: arm, wait timeout_ms, chip returns to standby
+int n = radio.receive(buf, sizeof(buf), 1000, &info);
+
+// continuous: arm once, chip stays in RX between packets
+radio.startListening();
+for (;;) {
+    int n = radio.receive(buf, sizeof(buf), 0, &info); // 0 = wait forever per call
+    if (n > 0) { /* handle */ }
+}
+radio.stopListening();   // returns chip to standby
+
+// receive() returns: n>=0 bytes  -1=timeout/error  -2=crc error
+// info.rssi_dbm  info.snr_db  info.signal_rssi_dbm
+```
+
+## Runtime tuning  *(call between packets, chip stays in standby)*
+
+```cpp
+radio.setFrequency(lr1121::FREQ_868);
+radio.setTxPower(20, lr1121::PA_HP);
+radio.setModulation(9, 0x04, 0x01);   // sf, bw, cr
+```
+
+## Diagnostics
+
+```cpp
+lr1121::ChipVersion v = radio.chipVersion();  // v.hw  v.type  v.fw_hi  v.fw_lo
+float vbat            = radio.vbatVolts();
+uint16_t errs         = radio.chipErrors();   // chip-side error flags
+lr1121::Error e       = radio.lastError();
+const char *msg       = lr1121::Radio::errorString(e);
+```
+
+## Errors
+
+`Ok` `NotReady` `SpiOpen` `SpiIo` `GpioOpen` `BusyTimeout` `BadChip` `TxTimeout` `TxLbd` `RxTimeout` `RxCrc`
+
+## Other
+
+```cpp
+radio.softResetSettings();          // re-apply Config without hard reset
+radio.reboot(false);                // reboot chip (true = stay in bootloader)
+radio.end();                        // close SPI + GPIO fds
+const lr1121::Config &c = radio.config();   // current live config
+```
+