462 lines
16 KiB
C
462 lines
16 KiB
C
/***************************************************************************
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* Copyright (C) 2020 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 <os.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/gps.h>
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#include <hwconfig.h>
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#include <event.h>
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#include <rtx.h>
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#include <minmea.h>
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/* Mutex for concurrent access to state variable */
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static OS_MUTEX state_mutex;
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/* Queue for sending and receiving ui update requests */
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static OS_Q ui_queue;
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/* Mutex for concurrent access to RTX state variable */
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static OS_MUTEX rtx_mutex;
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/* Mutex to avoid reading keyboard during display update */
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static OS_MUTEX display_mutex;
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/**************************** IMPORTANT NOTE ***********************************
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* *
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* Rationale for "xx_TASK_STKSIZE/sizeof(CPU_STK)": uC/OS-III manages task *
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* stack in terms of CPU_STK elements which, on a 32-bit target, are something *
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* like uint32_t, that is, one CPU_STK elements takes four bytes. *
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* *
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* Now, the majority of the world manages stack in terms of *bytes* and this *
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* leads to an excessive RAM usage if not properly managed. For example, if *
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* we have, say, xx_TASK_SIZE = 128 with these odd CPU_STK elements we end *
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* up eating 128*4 = 512 bytes. *
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* The simple workaround for this is dividing the stack size by sizeof(CPU_STK)*
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*******************************************************************************/
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/* UI task control block and stack */
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static OS_TCB ui_tcb;
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static CPU_STK ui_stk[UI_TASK_STKSIZE/sizeof(CPU_STK)];
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/* Keyboard task control block and stack */
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static OS_TCB kbd_tcb;
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static CPU_STK kbd_stk[KBD_TASK_STKSIZE/sizeof(CPU_STK)];
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/* Device task control block and stack */
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static OS_TCB dev_tcb;
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static CPU_STK dev_stk[DEV_TASK_STKSIZE/sizeof(CPU_STK)];
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/* Baseband task control block and stack */
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static OS_TCB rtx_tcb;
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static CPU_STK rtx_stk[RTX_TASK_STKSIZE/sizeof(CPU_STK)];
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/* GPS task control block and stack */
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static OS_TCB gps_tcb;
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static CPU_STK gps_stk[GPS_TASK_STKSIZE/sizeof(CPU_STK)];
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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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static void ui_task(void *arg)
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{
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(void) arg;
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OS_ERR os_err;
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OS_MSG_SIZE msg_size = 0;
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rtxStatus_t rtx_cfg;
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// RTX needs synchronization
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bool sync_rtx = true;
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// Get initial state local copy
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OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
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OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);
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// Initial GUI draw
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ui_updateGUI(last_state);
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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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void *msg = OSQPend(&ui_queue, 0u, OS_OPT_PEND_BLOCKING,
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&msg_size, 0u, &os_err);
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event_t event = ((event_t) msg);
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// Lock mutex, read and write state
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OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
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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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OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);
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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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OSMutexPend(&rtx_mutex, 0, OS_OPT_PEND_BLOCKING, NULL, &os_err);
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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 = state.channel.power;
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rtx_cfg.sqlLevel = state.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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OSMutexPost(&rtx_mutex, OS_OPT_POST_NONE, &os_err);
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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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OSMutexPend(&display_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
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gfx_render();
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OSMutexPost(&display_mutex, OS_OPT_POST_NONE, &os_err);
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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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static void kbd_task(void *arg)
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{
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(void) arg;
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OS_ERR os_err;
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// Initialize keyboard driver
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kbd_init();
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// Allocate timestamp array
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OS_TICK key_ts[kbd_num_keys];
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OS_TICK 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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OSMutexPend(&display_mutex, 0u, OS_OPT_PEND_NON_BLOCKING, 0u, &os_err);
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keys = kbd_getKeys();
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OSMutexPost(&display_mutex, OS_OPT_POST_NONE, &os_err);
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now = OSTimeGet(&os_err);
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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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OSQPost(&ui_queue, (void *)event.value, sizeof(event_t),
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OS_OPT_POST_FIFO + OS_OPT_POST_NO_SCHED, &os_err);
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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 20Hz
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OSTimeDlyHMSM(0u, 0u, 0u, 50u, 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 in charge of updating the radio state.
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*/
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static void dev_task(void *arg)
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{
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(void) arg;
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OS_ERR os_err;
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while(1)
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{
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// Lock mutex and update internal state
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OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
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#ifdef HAS_RTC
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state.time = rtc_getTime();
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#endif
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state.v_bat = platform_getVbat();
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state.charge = battery_getCharge(state.v_bat);
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state.rssi = rtx_getRssi();
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OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);
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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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OSQPost(&ui_queue, (void *)dev_msg.value, sizeof(event_t),
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OS_OPT_POST_FIFO + OS_OPT_POST_NO_SCHED, &os_err);
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// Execute state update thread every 1s
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OSTimeDlyHMSM(0u, 0u, 1u, 0u, 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 RTX management.
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*/
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static void rtx_task(void *arg)
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{
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(void) arg;
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OS_ERR os_err;
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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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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 parsing GPS data and updating radio state.
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*/
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static void gps_task(void *arg)
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{
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(void) arg;
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OS_ERR os_err;
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char line[MINMEA_MAX_LENGTH*10];
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if (!gps_detect(5000))
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return;
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gps_init(9600);
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gps_enable();
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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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OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
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// GPS readout is blocking, no need to delay here
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gps_taskFunc(line, len, &state.gps_data);
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// Unlock state mutex
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OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);
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// Debug prints
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//printf("Timestamp: %d:%d:%d %d/%d/%d\n\r",
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// state.gps_data.timestamp.hour,
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// state.gps_data.timestamp.minute,
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// state.gps_data.timestamp.second,
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// state.gps_data.timestamp.date,
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// state.gps_data.timestamp.month,
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// state.gps_data.timestamp.year);
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//printf("Fix quality: %d - %d\n\r",
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// state.gps_data.fix_quality,
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// state.gps_data.fix_type);
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//printf("Satellites tracked: %d/%d\n\r",
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// state.gps_data.satellites_tracked,
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// state.gps_data.satellites_in_view);
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//for(int i = 0; i < state.gps_data.satellites_in_view; i++)
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//{
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// printf("%d - elevation: %d azimuth: %d snr: %d\n\r",
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// state.gps_data.satellites[i].id,
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// state.gps_data.satellites[i].elevation,
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// state.gps_data.satellites[i].azimuth,
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// state.gps_data.satellites[i].snr);
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//}
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//printf("Coordinates: %f %f\n\r",
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// state.gps_data.latitude,
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// state.gps_data.longitude);
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//printf("Speed: %f km/h TMGM: %f deg TMGT: %f deg\n\r",
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// state.gps_data.speed,
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// state.gps_data.tmg_mag,
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// state.gps_data.tmg_true);
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//printf("\n\r\n\r");
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}
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}
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}
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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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OS_ERR os_err;
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// Create state mutex
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OSMutexCreate((OS_MUTEX *) &state_mutex,
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(CPU_CHAR *) "State Mutex",
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(OS_ERR *) &os_err);
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// Create UI event queue
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OSQCreate((OS_Q *) &ui_queue,
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(CPU_CHAR *) "UI event queue",
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(OS_MSG_QTY ) 10,
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(OS_ERR *) &os_err);
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// Create RTX state mutex
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OSMutexCreate((OS_MUTEX *) &rtx_mutex,
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(CPU_CHAR *) "RTX Mutex",
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(OS_ERR *) &os_err);
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// Create display mutex
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OSMutexCreate((OS_MUTEX *) &display_mutex,
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(CPU_CHAR *) "Display Mutex",
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(OS_ERR *) &os_err);
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// State initialization, execute before starting all tasks
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state_init();
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// Create rtx radio thread
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OSTaskCreate((OS_TCB *) &rtx_tcb,
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(CPU_CHAR *) "RTX Task",
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(OS_TASK_PTR ) rtx_task,
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(void *) 0,
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(OS_PRIO ) 5,
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(CPU_STK *) &rtx_stk[0],
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(CPU_STK ) 0,
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(CPU_STK_SIZE) RTX_TASK_STKSIZE/sizeof(CPU_STK),
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(OS_MSG_QTY ) 0,
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(OS_TICK ) 0,
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(void *) 0,
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(OS_OPT ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
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(OS_ERR *) &os_err);
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// Create UI thread
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OSTaskCreate((OS_TCB *) &ui_tcb,
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(CPU_CHAR *) "UI Task",
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(OS_TASK_PTR ) ui_task,
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(void *) 0,
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(OS_PRIO ) 10,
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(CPU_STK *) &ui_stk[0],
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(CPU_STK ) 0,
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(CPU_STK_SIZE) UI_TASK_STKSIZE/sizeof(CPU_STK),
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(OS_MSG_QTY ) 0,
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(OS_TICK ) 0,
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(void *) 0,
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(OS_OPT ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
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(OS_ERR *) &os_err);
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// Create Keyboard thread
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OSTaskCreate((OS_TCB *) &kbd_tcb,
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(CPU_CHAR *) "Keyboard Task",
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(OS_TASK_PTR ) kbd_task,
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(void *) 0,
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(OS_PRIO ) 20,
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(CPU_STK *) &kbd_stk[0],
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(CPU_STK ) 0,
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(CPU_STK_SIZE) KBD_TASK_STKSIZE/4,
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(OS_MSG_QTY ) 0,
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(OS_TICK ) 0,
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(void *) 0,
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(OS_OPT ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
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(OS_ERR *) &os_err);
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// Create GPS thread
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OSTaskCreate((OS_TCB *) &gps_tcb,
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(CPU_CHAR *) "GPS Task",
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(OS_TASK_PTR ) gps_task,
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(void *) 0,
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(OS_PRIO ) 25,
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(CPU_STK *) &gps_stk[0],
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(CPU_STK ) 0,
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(CPU_STK_SIZE) GPS_TASK_STKSIZE/sizeof(CPU_STK),
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(OS_MSG_QTY ) 0,
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(OS_TICK ) 0,
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(void *) 0,
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(OS_OPT ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
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(OS_ERR *) &os_err);
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// Create state thread
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OSTaskCreate((OS_TCB *) &dev_tcb,
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(CPU_CHAR *) "Device Task",
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(OS_TASK_PTR ) dev_task,
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(void *) 0,
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(OS_PRIO ) 30,
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(CPU_STK *) &dev_stk[0],
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(CPU_STK ) 0,
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(CPU_STK_SIZE) DEV_TASK_STKSIZE/sizeof(CPU_STK),
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(OS_MSG_QTY ) 0,
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(OS_TICK ) 0,
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(void *) 0,
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(OS_OPT ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
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(OS_ERR *) &os_err);
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}
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