372 lines
11 KiB
C
372 lines
11 KiB
C
/***************************************************************************
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* Copyright (C) 2020 - 2022 by Federico Amedeo Izzo IU2NUO, *
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* Niccolò Izzo IU2KIN *
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* Frederik Saraci IU2NRO *
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* Silvano Seva IU2KWO *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, see <http://www.gnu.org/licenses/> *
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***************************************************************************/
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#include <hwconfig.h>
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#include <pthread.h>
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#include <sched.h>
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#include <ui.h>
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#include <state.h>
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#include <threads.h>
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#include <battery.h>
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#include <interfaces/keyboard.h>
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#include <interfaces/graphics.h>
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#include <interfaces/platform.h>
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#include <interfaces/delays.h>
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#include <interfaces/radio.h>
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#include <event.h>
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#include <rtx.h>
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#include <queue.h>
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#include <minmea.h>
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#include <string.h>
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#include <utils.h>
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#ifdef HAS_GPS
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#include <interfaces/gps.h>
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#include <gps.h>
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#endif
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/* Mutex for concurrent access to state variable */
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pthread_mutex_t state_mutex;
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/* Mutex for concurrent access to RTX state variable */
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pthread_mutex_t rtx_mutex;
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/* Mutex to avoid reading keyboard during display update */
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pthread_mutex_t display_mutex;
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/* Queue for sending and receiving ui update requests */
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queue_t ui_queue;
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/**
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* \internal Task function in charge of updating the UI.
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*/
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void *ui_task(void *arg)
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{
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(void) arg;
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// RTX needs synchronization
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bool sync_rtx = true;
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rtxStatus_t rtx_cfg;
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// Get initial state local copy
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pthread_mutex_lock(&state_mutex);
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ui_saveState();
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pthread_mutex_unlock(&state_mutex);
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// Initial GUI draw
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ui_updateGUI();
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gfx_render();
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while(1)
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{
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// Read from the keyboard queue (returns 0 if no message is present)
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// Copy keyboard_t keys from received void * pointer msg
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event_t event;
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event.value = 0;
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(void) queue_pend(&ui_queue, &event.value, true);
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// Lock mutex, read and write state
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pthread_mutex_lock(&state_mutex);
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// React to keypresses and update FSM inside state
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ui_updateFSM(event, &sync_rtx);
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// Update state local copy
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ui_saveState();
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// Unlock mutex
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pthread_mutex_unlock(&state_mutex);
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// If synchronization needed take mutex and update RTX configuration
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if(sync_rtx)
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{
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float power = dBmToWatt(state.channel.power);
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pthread_mutex_lock(&rtx_mutex);
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rtx_cfg.opMode = state.channel.mode;
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rtx_cfg.bandwidth = state.channel.bandwidth;
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rtx_cfg.rxFrequency = state.channel.rx_frequency;
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rtx_cfg.txFrequency = state.channel.tx_frequency;
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rtx_cfg.txPower = power;
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rtx_cfg.sqlLevel = state.settings.sqlLevel;
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rtx_cfg.rxToneEn = state.channel.fm.rxToneEn;
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rtx_cfg.rxTone = ctcss_tone[state.channel.fm.rxTone];
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rtx_cfg.txToneEn = state.channel.fm.txToneEn;
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rtx_cfg.txTone = ctcss_tone[state.channel.fm.txTone];
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// Copy new M17 source and destination addresses
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strncpy(rtx_cfg.source_address, state.settings.callsign, 10);
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strncpy(rtx_cfg.destination_address, state.m17_data.dst_addr, 10);
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pthread_mutex_unlock(&rtx_mutex);
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rtx_configure(&rtx_cfg);
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sync_rtx = false;
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}
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// Redraw GUI based on last state copy
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ui_updateGUI();
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// Lock display mutex and render display
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pthread_mutex_lock(&display_mutex);
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gfx_render();
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pthread_mutex_unlock(&display_mutex);
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// We don't need a delay because we lock on incoming events
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// TODO: Enable self refresh when a continuous visualization is enabled
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// Update UI at ~33 FPS
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//OSTimeDlyHMSM(0u, 0u, 0u, 30u, OS_OPT_TIME_HMSM_STRICT, &os_err);
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}
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}
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/**
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* \internal Task function for reading and sending keyboard status.
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*/
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void *kbd_task(void *arg)
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{
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(void) arg;
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// Initialize keyboard driver
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kbd_init();
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// Allocate timestamp array
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long long key_ts[kbd_num_keys];
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long long now;
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// Allocate bool array to send only one long-press event
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bool long_press_sent[kbd_num_keys];
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// Variable for saving previous and current keyboard status
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keyboard_t prev_keys = 0;
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keyboard_t keys = 0;
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bool long_press = false;
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bool send_event = false;
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while(1)
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{
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// Reset flags and get current time
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long_press = false;
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send_event = false;
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// Lock display mutex and read keyboard status
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pthread_mutex_lock(&display_mutex);
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keys = kbd_getKeys();
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pthread_mutex_unlock(&display_mutex);
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now = getTick();
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// The key status has changed
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if(keys != prev_keys)
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{
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for(uint8_t k=0; k < kbd_num_keys; k++)
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{
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// Key has been pressed
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if(!(prev_keys & (1 << k)) && (keys & (1 << k)))
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{
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// Save timestamp
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key_ts[k] = now;
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send_event = true;
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long_press_sent[k] = false;
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}
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// Key has been released
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else if((prev_keys & (1 << k)) && !(keys & (1 << k)))
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{
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send_event = true;
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}
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}
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}
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// Some key is kept pressed
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else if(keys != 0)
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{
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// Check for saved timestamp to trigger long-presses
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for(uint8_t k=0; k < kbd_num_keys; k++)
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{
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// The key is pressed and its long-press timer is over
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if(keys & (1 << k) && !long_press_sent[k] && (now - key_ts[k]) >= kbd_long_interval)
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{
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long_press = true;
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send_event = true;
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long_press_sent[k] = true;
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}
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}
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}
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if(send_event)
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{
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kbd_msg_t msg;
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msg.long_press = long_press;
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msg.keys = keys;
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// Send event_t as void * message to use with OSQPost
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event_t event;
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event.type = EVENT_KBD;
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event.payload = msg.value;
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// Send keyboard status in queue
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(void) queue_post(&ui_queue, event.value);
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}
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// Save current keyboard state as previous
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prev_keys = keys;
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// Read keyboard state at 40Hz
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sleepFor(0u, 25u);
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}
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}
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/**
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* \internal Task function in charge of updating the radio state.
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*/
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void *dev_task(void *arg)
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{
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(void) arg;
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while(1)
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{
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// Lock mutex and update internal state
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pthread_mutex_lock(&state_mutex);
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state_update();
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pthread_mutex_unlock(&state_mutex);
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// Signal state update to UI thread
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event_t dev_msg;
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dev_msg.type = EVENT_STATUS;
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dev_msg.payload = 0;
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(void) queue_post(&ui_queue, dev_msg.value);
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// Execute state update thread every 1s
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sleepFor(1u, 0u);
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}
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}
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/**
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* \internal Task function for RTX management.
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*/
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void *rtx_task(void *arg)
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{
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(void) arg;
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rtx_init(&rtx_mutex);
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while(1)
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{
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rtx_taskFunc();
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// TODO: implement a cleaner shutdown procedure
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if(state.rtxShutdown == true)
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{
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radio_disableRtx();
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platform_ledOff(RED);
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platform_ledOff(GREEN);
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break;
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}
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}
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return NULL;
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}
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#if defined(HAS_GPS) && !defined(MD3x0_ENABLE_DBG)
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/**
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* \internal Task function for parsing GPS data and updating radio state.
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*/
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void *gps_task(void *arg)
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{
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(void) arg;
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char line[MINMEA_MAX_LENGTH*10];
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if (!gps_detect(5000)) return NULL;
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gps_init(9600);
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// Lock mutex to read internal state
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pthread_mutex_lock(&state_mutex);
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bool enabled = state.settings.gps_enabled;
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pthread_mutex_unlock(&state_mutex);
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if(enabled)
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gps_enable();
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else
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gps_disable();
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while(1)
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{
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int len = gps_getNmeaSentence(line, MINMEA_MAX_LENGTH*10);
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if(len != -1)
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{
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// Lock mutex and update internal state
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pthread_mutex_lock(&state_mutex);
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// GPS readout is blocking, no need to delay here
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gps_taskFunc(line, len);
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// Unlock state mutex
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pthread_mutex_unlock(&state_mutex);
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}
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}
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}
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#endif
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/**
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* \internal This function creates all the system tasks and mutexes.
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*/
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void create_threads()
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{
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// Create state mutex
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pthread_mutex_init(&state_mutex, NULL);
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// Create RTX state mutex
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pthread_mutex_init(&rtx_mutex, NULL);
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// Create display mutex
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pthread_mutex_init(&display_mutex, NULL);
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// Create UI event queue
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queue_init(&ui_queue);
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// Create rtx radio thread
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pthread_t rtx_thread;
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pthread_attr_t rtx_attr;
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pthread_attr_init(&rtx_attr);
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pthread_attr_setstacksize(&rtx_attr, RTX_TASK_STKSIZE);
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#ifdef _MIOSIX
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// Max priority for RTX thread when running with miosix rtos
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struct sched_param param;
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param.sched_priority = sched_get_priority_max(0);
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pthread_attr_setschedparam(&rtx_attr, ¶m);
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#endif
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pthread_create(&rtx_thread, &rtx_attr, rtx_task, NULL);
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// Create Keyboard thread
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pthread_t kbd_thread;
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pthread_attr_t kbd_attr;
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pthread_attr_init(&kbd_attr);
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pthread_attr_setstacksize(&kbd_attr, KBD_TASK_STKSIZE);
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pthread_create(&kbd_thread, &kbd_attr, kbd_task, NULL);
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#if defined(HAS_GPS) && !defined(MD3x0_ENABLE_DBG)
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// Create GPS thread
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pthread_t gps_thread;
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pthread_attr_t gps_attr;
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pthread_attr_init(&gps_attr);
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pthread_attr_setstacksize(&gps_attr, GPS_TASK_STKSIZE);
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pthread_create(&gps_thread, &gps_attr, gps_task, NULL);
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#endif
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// Create state thread
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pthread_t state_thread;
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pthread_attr_t state_attr;
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pthread_attr_init(&state_attr);
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pthread_attr_setstacksize(&state_attr, DEV_TASK_STKSIZE);
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pthread_create(&state_thread, &state_attr, dev_task, NULL);
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}
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