/***************************************************************************
* 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
#ifdef HAS_GPS
#include
#endif
#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;
/* Mutex for concurrent access to RTX state variable */
static OS_MUTEX rtx_mutex;
/* Mutex to avoid reading keyboard during display update */
static OS_MUTEX display_mutex;
/**************************** 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/sizeof(CPU_STK)];
/* Device task control block and stack */
static OS_TCB dev_tcb;
static CPU_STK dev_stk[DEV_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)];
#ifdef HAS_GPS
/* GPS task control block and stack */
static OS_TCB gps_tcb;
static CPU_STK gps_stk[GPS_TASK_STKSIZE/sizeof(CPU_STK)];
#endif
/**
* \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;
rtxStatus_t rtx_cfg;
// RTX needs synchronization
bool sync_rtx = true;
// Get initial state local copy
OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);
// Initial GUI draw
ui_updateGUI(last_state);
gfx_render();
while(1)
{
// Read from the keyboard queue (returns 0 if no message is present)
// Copy keyboard_t keys from received void * pointer msg
void *msg = OSQPend(&ui_queue, 0u, OS_OPT_PEND_BLOCKING,
&msg_size, 0u, &os_err);
event_t event = ((event_t) msg);
// 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(event, &sync_rtx);
// Update state local copy
ui_saveState();
// Unlock mutex
OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);
// If synchronization needed take mutex and update RTX configuration
if(sync_rtx)
{
OSMutexPend(&rtx_mutex, 0, OS_OPT_PEND_BLOCKING, NULL, &os_err);
rtx_cfg.opMode = state.channel.mode;
rtx_cfg.bandwidth = state.channel.bandwidth;
rtx_cfg.rxFrequency = state.channel.rx_frequency;
rtx_cfg.txFrequency = state.channel.tx_frequency;
rtx_cfg.txPower = state.channel.power;
rtx_cfg.sqlLevel = state.sqlLevel;
rtx_cfg.rxToneEn = state.channel.fm.rxToneEn;
rtx_cfg.rxTone = ctcss_tone[state.channel.fm.rxTone];
rtx_cfg.txToneEn = state.channel.fm.txToneEn;
rtx_cfg.txTone = ctcss_tone[state.channel.fm.txTone];
OSMutexPost(&rtx_mutex, OS_OPT_POST_NONE, &os_err);
rtx_configure(&rtx_cfg);
sync_rtx = false;
}
// Redraw GUI based on last state copy
ui_updateGUI();
// Lock display mutex and render display
OSMutexPend(&display_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
gfx_render();
OSMutexPost(&display_mutex, OS_OPT_POST_NONE, &os_err);
// 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();
// Allocate timestamp array
OS_TICK key_ts[kbd_num_keys];
OS_TICK now;
// Allocate bool array to send only one long-press event
bool long_press_sent[kbd_num_keys];
// Variable for saving previous and current keyboard status
keyboard_t prev_keys = 0;
keyboard_t keys = 0;
bool long_press = false;
bool send_event = false;
while(1)
{
// Reset flags and get current time
long_press = false;
send_event = false;
// Lock display mutex and read keyboard status
OSMutexPend(&display_mutex, 0u, OS_OPT_PEND_NON_BLOCKING, 0u, &os_err);
keys = kbd_getKeys();
OSMutexPost(&display_mutex, OS_OPT_POST_NONE, &os_err);
now = OSTimeGet(&os_err);
// The key status has changed
if(keys != prev_keys)
{
for(uint8_t k=0; k < kbd_num_keys; k++)
{
// Key has been pressed
if(!(prev_keys & (1 << k)) && (keys & (1 << k)))
{
// Save timestamp
key_ts[k] = now;
send_event = true;
long_press_sent[k] = false;
}
// Key has been released
else if((prev_keys & (1 << k)) && !(keys & (1 << k)))
{
send_event = true;
}
}
}
// Some key is kept pressed
else if(keys != 0)
{
// Check for saved timestamp to trigger long-presses
for(uint8_t k=0; k < kbd_num_keys; k++)
{
// The key is pressed and its long-press timer is over
if(keys & (1 << k) && !long_press_sent[k] && (now - key_ts[k]) >= kbd_long_interval)
{
long_press = true;
send_event = true;
long_press_sent[k] = true;
}
}
}
if(send_event)
{
kbd_msg_t msg;
msg.long_press = long_press;
msg.keys = keys;
// Send event_t as void * message to use with OSQPost
event_t event;
event.type = EVENT_KBD;
event.payload = msg.value;
// Send keyboard status in queue
OSQPost(&ui_queue, (void *)event.value, sizeof(event_t),
OS_OPT_POST_FIFO + OS_OPT_POST_NO_SCHED, &os_err);
}
// Save current keyboard state as previous
prev_keys = keys;
// Read keyboard state at 20Hz
OSTimeDlyHMSM(0u, 0u, 0u, 50u, OS_OPT_TIME_HMSM_STRICT, &os_err);
}
}
/**
* \internal Task function in charge of updating the radio state.
*/
static void dev_task(void *arg)
{
(void) arg;
OS_ERR os_err;
while(1)
{
// Lock mutex and update internal state
OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
#ifdef HAS_RTC
state.time = rtc_getTime();
state_applyTimezone();
#endif
state.v_bat = platform_getVbat();
state.charge = battery_getCharge(state.v_bat);
state.rssi = rtx_getRssi();
OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);
// Signal state update to UI thread
event_t dev_msg;
dev_msg.type = EVENT_STATUS;
dev_msg.payload = 0;
OSQPost(&ui_queue, (void *)dev_msg.value, sizeof(event_t),
OS_OPT_POST_FIFO + OS_OPT_POST_NO_SCHED, &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;
rtx_init(&rtx_mutex);
while(1)
{
rtx_taskFunc();
OSTimeDlyHMSM(0u, 0u, 0u, 30u, OS_OPT_TIME_HMSM_STRICT, &os_err);
}
}
#ifdef HAS_GPS
/**
* \internal Task function for parsing GPS data and updating radio state.
*/
static void gps_task(void *arg)
{
(void) arg;
OS_ERR os_err;
char line[MINMEA_MAX_LENGTH*10];
if (!gps_detect(5000))
return;
gps_init(9600);
gps_enable();
while(1)
{
int len = gps_getNmeaSentence(line, MINMEA_MAX_LENGTH*10);
if(len != -1)
{
// Lock mutex and update internal state
OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
// GPS readout is blocking, no need to delay here
gps_taskFunc(line, len, &state.gps_data);
// Synchronize RTC with GPS UTC clock
if(state.settings.gps_set_time)
rtc_setTime(state.gps_data.timestamp);
// Unlock state mutex
OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);
}
}
}
#endif
/**
* \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);
// Create RTX state mutex
OSMutexCreate((OS_MUTEX *) &rtx_mutex,
(CPU_CHAR *) "RTX Mutex",
(OS_ERR *) &os_err);
// Create display mutex
OSMutexCreate((OS_MUTEX *) &display_mutex,
(CPU_CHAR *) "Display Mutex",
(OS_ERR *) &os_err);
// State initialization, execute before starting all tasks
state_init();
// 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 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);
#ifdef HAS_GPS
// Create GPS thread
OSTaskCreate((OS_TCB *) &gps_tcb,
(CPU_CHAR *) "GPS Task",
(OS_TASK_PTR ) gps_task,
(void *) 0,
(OS_PRIO ) 25,
(CPU_STK *) &gps_stk[0],
(CPU_STK ) 0,
(CPU_STK_SIZE) GPS_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);
#endif
// Create state thread
OSTaskCreate((OS_TCB *) &dev_tcb,
(CPU_CHAR *) "Device Task",
(OS_TASK_PTR ) dev_task,
(void *) 0,
(OS_PRIO ) 30,
(CPU_STK *) &dev_stk[0],
(CPU_STK ) 0,
(CPU_STK_SIZE) DEV_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);
}