/***************************************************************************
* Copyright (C) 2020 by Federico Amedeo Izzo IU2NUO, *
* Niccolò Izzo IU2KIN *
* Frederik Saraci IU2NRO *
* Silvano Seva IU2KWO *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 3 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, see *
***************************************************************************/
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
/* Mutex for concurrent access to state variable */
static OS_MUTEX state_mutex;
/* Queue for sending and receiving ui update requests */
static OS_Q ui_queue;
/**************************** IMPORTANT NOTE ***********************************
* *
* Rationale for "xx_TASK_STKSIZE/sizeof(CPU_STK)": uC/OS-III manages task *
* stack in terms of CPU_STK elements which, on a 32-bit target, are something *
* like uint32_t, that is, one CPU_STK elements takes four bytes. *
* *
* Now, the majority of the world manages stack in terms of *bytes* and this *
* leads to an excessive RAM usage if not properly managed. For example, if *
* we have, say, xx_TASK_SIZE = 128 with these odd CPU_STK elements we end *
* up eating 128*4 = 512 bytes. *
* The simple workaround for this is dividing the stack size by sizeof(CPU_STK)*
*******************************************************************************/
/* UI task control block and stack */
static OS_TCB ui_tcb;
static CPU_STK ui_stk[UI_TASK_STKSIZE/sizeof(CPU_STK)];
/* Keyboard task control block and stack */
static OS_TCB kbd_tcb;
static CPU_STK kbd_stk[KBD_TASK_STKSIZE/4];
/* State task control block and stack */
static OS_TCB state_tcb;
static CPU_STK state_stk[STATE_TASK_STKSIZE/sizeof(CPU_STK)];
/* Baseband task control block and stack */
static OS_TCB rtx_tcb;
static CPU_STK rtx_stk[RTX_TASK_STKSIZE/sizeof(CPU_STK)];
/* DMR task control block and stack */
static OS_TCB dmr_tcb;
static CPU_STK dmr_stk[DMR_TASK_STKSIZE/sizeof(CPU_STK)];
/**
* \internal Task function in charge of updating the UI.
*/
static void ui_task(void *arg)
{
(void) arg;
OS_ERR os_err;
OS_MSG_SIZE msg_size = 0;
// Initialize graphics driver
gfx_init();
// Initialize user interface
ui_init();
// Display splash screen
ui_drawSplashScreen();
gfx_render();
while(gfx_renderingInProgress());
// Wait 30ms before turning on backlight to hide random pixels on screen
OSTimeDlyHMSM(0u, 0u, 0u, 30u, OS_OPT_TIME_HMSM_STRICT, &os_err);
platform_setBacklightLevel(255);
// Keep the splash screen for 1 second
OSTimeDlyHMSM(0u, 0u, 1u, 0u, OS_OPT_TIME_HMSM_STRICT, &os_err);
// Get initial state local copy
OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
state_t last_state = state;
OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);
while(1)
{
// Wait to receive an event message
event_t event = (event_t)OSQPend(&ui_queue, 0u, OS_OPT_PEND_BLOCKING,
&msg_size, 0u, &os_err);
// Lock mutex, read and write state
OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
// React to keypresses and update FSM inside state
ui_updateFSM(last_state, event);
// Update state local copy
last_state = state;
// Unlock mutex
OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);
// Redraw GUI based on last state copy
bool renderNeeded = ui_updateGUI(last_state);
if(renderNeeded)
{
gfx_render();
while(gfx_renderingInProgress());
}
// We don't need a delay because we lock on incoming events
// TODO: Enable self refresh when a continuous visualization is enabled
// Update UI at ~33 FPS
//OSTimeDlyHMSM(0u, 0u, 0u, 30u, OS_OPT_TIME_HMSM_STRICT, &os_err);
}
}
/**
* \internal Task function for reading and sending keyboard status.
*/
static void kbd_task(void *arg)
{
(void) arg;
OS_ERR os_err;
// Initialize keyboard driver
kbd_init();
while(1)
{
keyboard_t keys = kbd_getKeys();
// Check if some key is pressed
if(keys != 0)
{
// Send event_t as void * message to use with OSQPost
event_t kbd_msg;
kbd_msg.type = EVENT_KBD;
kbd_msg.payload = keys;
void * msg = (void *) kbd_msg;
// Send keyboard status in queue
OSQPost(&ui_queue, msg, sizeof(event_t),
OS_OPT_POST_FIFO + OS_OPT_POST_NO_SCHED, &os_err);
}
// Read keyboard state at 5Hz
OSTimeDlyHMSM(0u, 0u, 0u, 200u, OS_OPT_TIME_HMSM_STRICT, &os_err);
}
}
/**
* \internal Task function in charge of updating the radio state.
*/
static void state_task(void *arg)
{
(void) arg;
OS_ERR os_err;
while(1)
{
OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
state.time = rtc_getTime();
state.v_bat = platform_getVbat();
OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);
// Execute state update thread every 1s
OSTimeDlyHMSM(0u, 0u, 1u, 0u, OS_OPT_TIME_HMSM_STRICT, &os_err);
}
}
/**
* \internal Task function for RTX management.
*/
static void rtx_task(void *arg)
{
(void) arg;
OS_ERR os_err;
while(1)
{
// Execute rtx radio thread every 30ms to match DMR task
//TODO: uncomment after rtx.h merge
//rtx_main();
OSTimeDlyHMSM(0u, 0u, 0u, 30u, OS_OPT_TIME_HMSM_STRICT, &os_err);
}
}
/**
* \internal Task function for DMR management.
*/
static void dmr_task(void *arg)
{
(void) arg;
OS_ERR os_err;
while(1)
{
// Execute dmr radio thread every 30ms to match DMR timeslot
//TODO: uncomment after dmr.h merge
//dmr_main();
OSTimeDlyHMSM(0u, 0u, 0u, 30u, OS_OPT_TIME_HMSM_STRICT, &os_err);
}
}
/**
* \internal This function creates all the system tasks and mutexes.
*/
void create_threads()
{
OS_ERR os_err;
// Create state mutex
OSMutexCreate((OS_MUTEX *) &state_mutex,
(CPU_CHAR *) "State Mutex",
(OS_ERR *) &os_err);
// Create UI event queue
OSQCreate((OS_Q *) &ui_queue,
(CPU_CHAR *) "UI event queue",
(OS_MSG_QTY ) 10,
(OS_ERR *) &os_err);
// State initialization, execute before starting all tasks
state_init();
// Create UI thread
OSTaskCreate((OS_TCB *) &ui_tcb,
(CPU_CHAR *) "UI Task",
(OS_TASK_PTR ) ui_task,
(void *) 0,
(OS_PRIO ) 10,
(CPU_STK *) &ui_stk[0],
(CPU_STK ) 0,
(CPU_STK_SIZE) UI_TASK_STKSIZE/sizeof(CPU_STK),
(OS_MSG_QTY ) 0,
(OS_TICK ) 0,
(void *) 0,
(OS_OPT ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *) &os_err);
// Create Keyboard thread
OSTaskCreate((OS_TCB *) &kbd_tcb,
(CPU_CHAR *) "Keyboard Task",
(OS_TASK_PTR ) kbd_task,
(void *) 0,
(OS_PRIO ) 20,
(CPU_STK *) &kbd_stk[0],
(CPU_STK ) 0,
(CPU_STK_SIZE) KBD_TASK_STKSIZE/4,
(OS_MSG_QTY ) 0,
(OS_TICK ) 0,
(void *) 0,
(OS_OPT ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *) &os_err);
// Create state thread
OSTaskCreate((OS_TCB *) &state_tcb,
(CPU_CHAR *) "State Task",
(OS_TASK_PTR ) state_task,
(void *) 0,
(OS_PRIO ) 30,
(CPU_STK *) &state_stk[0],
(CPU_STK ) 0,
(CPU_STK_SIZE) STATE_TASK_STKSIZE/sizeof(CPU_STK),
(OS_MSG_QTY ) 0,
(OS_TICK ) 0,
(void *) 0,
(OS_OPT ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *) &os_err);
// Create rtx radio thread
OSTaskCreate((OS_TCB *) &rtx_tcb,
(CPU_CHAR *) "RTX Task",
(OS_TASK_PTR ) rtx_task,
(void *) 0,
(OS_PRIO ) 5,
(CPU_STK *) &rtx_stk[0],
(CPU_STK ) 0,
(CPU_STK_SIZE) RTX_TASK_STKSIZE/sizeof(CPU_STK),
(OS_MSG_QTY ) 0,
(OS_TICK ) 0,
(void *) 0,
(OS_OPT ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *) &os_err);
// Create dmr radio thread
OSTaskCreate((OS_TCB *) &dmr_tcb,
(CPU_CHAR *) "DMR Task",
(OS_TASK_PTR ) dmr_task,
(void *) 0,
(OS_PRIO ) 3,
(CPU_STK *) &dmr_stk[0],
(CPU_STK ) 0,
(CPU_STK_SIZE) DMR_TASK_STKSIZE/sizeof(CPU_STK),
(OS_MSG_QTY ) 0,
(OS_TICK ) 0,
(void *) 0,
(OS_OPT ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *) &os_err);
}