LoRa ↔ MQTT Command Mapping

Complete mapping between MQTT JSON commands and binary LoRa packets.

Commands Relayed via LoRa

These commands arrive via MQTT on the charger and are translated to LoRa binary packets for the mower:

MQTT Command	LoRa Queue	LoRa Payload	Description
start_run	0x20	[0x35, 0x01, mapName, area, cutterHeight]	Start mowing (5 bytes)
pause_run	0x21	[0x35, 0x03]	Pause mowing
resume_run	0x22	[0x35, 0x05]	Resume mowing
stop_run	0x23	[0x35, 0x07]	Stop mowing
stop_time_run	0x24	[0x35, 0x09]	Stop scheduled task
go_pile	0x25	[0x35, 0x0B]	Go to charging station

Each command is sent via a FreeRTOS queue to the LoRa task, which waits max 3 seconds for an ACK from the mower.

Commands Handled Locally (No LoRa)

These commands are handled entirely by the charger firmware, without LoRa relay:

MQTT Command	Charger Action
get_lora_info	Read LoRa config from NVS, respond with addr/channel/hc/lc
ota_version_info	Read firmware version, respond directly
ota_upgrade_cmd	Start OTA download from URL (esp_https_ota)

Status Report Flow

graph TB
    subgraph "LoRa → MQTT Translation"
        L1[LoRa: 0x34 REPORT<br/>19 bytes from mower]
        L2[Parse uint32/uint24<br/>little-endian fields]
        L3[Build JSON:<br/>mower_status, mower_x/y/z,<br/>mower_info, mower_info1]
        L4[MQTT publish:<br/>up_status_info]

        L1 --> L2 --> L3 --> L4
    end

    subgraph "MQTT → LoRa Translation"
        M1[MQTT: start_run<br/>{mapName, cutGrassHeight}]
        M2[Extract parameters]
        M3[Build LoRa packet:<br/>[0x35, 0x01, map, area, height]]
        M4[FreeRTOS queue → LoRa task]
        M5[LoRa TX + wait ACK]

        M1 --> M2 --> M3 --> M4 --> M5
    end

FreeRTOS Task Architecture

graph LR
    subgraph "Charger FreeRTOS Tasks"
        MQTT[mqtt_config_task<br/>MQTT connect, publish,<br/>command dispatch]
        LoRa[lora_config_task<br/>LoRa communication,<br/>channel scan, heartbeat]
        OTA[advanced_ota_task<br/>OTA firmware download]

        MQTT -->|FreeRTOS Queue| LoRa
        LoRa -->|Shared globals| MQTT
    end

Command Routing: Charger LoRa vs Mower Direct MQTT

Key finding from firmware analysis

The charger firmware only relays 6 MQTT commands via LoRa. All other commands (30+) are handled directly by the mower's own MQTT connection (mqtt_node), bypassing the charger entirely.

Commands Relayed by Charger (via LoRa) — only 6

These are the only commands the charger firmware processes from MQTT:

MQTT Command	LoRa Queue	Response Generated By
start_run	0x20	Charger (after LoRa ACK)
pause_run	0x21	Charger
resume_run	0x22	Charger
stop_run	0x23	Charger
stop_time_run	0x24	Charger
go_pile	0x25	Charger

Commands Handled Locally by Charger (no LoRa) — 3

MQTT Command	Response Generated By
get_lora_info	Charger
ota_version_info	Charger
ota_upgrade_cmd	Charger

Commands Handled Directly by Mower (mqtt_node) — 50+

All remaining commands go directly to the mower via WiFi MQTT. The charger does NOT see these:

Category	Commands
Mapping	start_scan_map, stop_scan_map, add_scan_map, save_map, delete_map, reset_map, rename_map, get_map_list, get_map_outline, get_map_info, get_map_plan_path, get_mapping_path2d, request_map_ids, start_assistant_build_map, start_erase_map, stop_erase_map, quit_mapping_mode, area_set, update_virtual_wall
Navigation	start_navigation, stop_navigation, pause_navigation, resume_navigation, navigate_to_position, start_time_navigation, stop_time_navigation, set_navigation_max_speed
Patrol	start_patrol, stop_patrol
Charging	go_to_charge, stop_to_charge, auto_recharge, auto_charge_threshold, get_recharge_pos, save_recharge_pos
Manual control	start_move, stop_move
Coverage preview	get_preview_cover_path, generate_preview_cover_path
Parameters	get_para_info, set_para_info, dev_pin_info
Timer	timer_task, timer_task_active, timer_task_stop
Diagnostics	get_current_pose, get_vel_odom, get_log_info, get_version_info, get_dev_info, get_wifi_rssi, gbf, mst
Control mode	set_control_mode, get_control_mode
System	reset_factory, reset_utm_origin_info, wifi_ble_active
Config (BLE+MQTT)	get_cfg_info, set_cfg_info, set_lora_info, set_mqtt_info, set_wifi_info

graph LR
    subgraph "App sends command to MQTT broker"
        CMD[MQTT Command]
    end

    subgraph "6 commands via Charger LoRa"
        CMD -->|start/pause/resume/stop_run<br/>stop_time_run, go_pile| CHARGER[Charger<br/>ESP32-S3]
        CHARGER -->|LoRa binary packet| MOWER_LORA[Mower<br/>LoRa receiver]
    end

    subgraph "50+ commands direct to Mower"
        CMD -->|all other commands| MOWER_MQTT[Mower<br/>mqtt_node via WiFi]
    end

    style CHARGER fill:#ff9,stroke:#333
    style MOWER_MQTT fill:#9f9,stroke:#333