scheduled_radio_base::scheduled_radio_base( adv_callbacks& cbs )
: callbacks_( cbs )
, timeout_( false )
, received_( false )
, evt_timeout_( false )
, end_evt_( false )
, state_( state::idle )
, crc_reveice_failure_( 0 )
, received_data_during_connection_event_( false )
{
// start high freuquence clock source if not done yet
if ( !NRF_CLOCK->EVENTS_HFCLKSTARTED )
{
NRF_CLOCK->TASKS_HFCLKSTART = 1;
while ( !NRF_CLOCK->EVENTS_HFCLKSTARTED )
;
}
init_debug_pins();
init_radio();
init_timer();
instance = this;
NVIC_ClearPendingIRQ( RADIO_IRQn );
NVIC_EnableIRQ( RADIO_IRQn );
NVIC_ClearPendingIRQ( TIMER0_IRQn );
NVIC_EnableIRQ( TIMER0_IRQn );
}
/******************************************
***************SETUP*********************
******************************************/
void setup()
{
Serial.begin(115200);
GCS.init(var_info);
Thread::load_tasks(tasks);
// GCS.wait_gcs_connect();
init_radio();
init_imu();
motorsQuad.init();
leds.negate_state(R);
}
//***********************************************************************
//** Function: Main
//** Description: Entry point of user code
//** Parameters: None
//** Returns: None
//***********************************************************************
void main()
{
uint8_t radio_id=0;
psx_map psx_data;
Init_mcu();
Init_Dig_IO();
init_sci();
init_spi_norm();
radio_channel = get_radio_channel();
init_radio();
init_psx();
RED_LED_ON;
GREEN_LED_OFF;
send_msg("\033[2J\033[HBootstrap successful. AW60 ready...\r\n\r\n");
send_msg("Schools Challenge Robot\r\n");
send_msg("=======================\r\n");
send_msg("Wireless chipset status: ");
if(radio_get_id() == 0x07) send_msg("Pass\r\n\r\n");
else{
send_msg("Fail - Please contact vendor for repair\r\n");
for(;;);
}
send_msg("Ready...\r\n");
for(;;){
send_msg("Getting PSX status\r\n");
/* Get PSX status */
psx_get_stat(&psx_data);
send_msg("Sending data\r\n");
/* Send data */
packet_tx(&psx_data, sizeof(psx_data));
send_msg("Waiting...\r\n\r\n");
/* Wait for 100ms */
delay_ms(100);
}
}
void main()
{
uint8_t is = 0;;
acq_block = 0;
P0DIR = ~( 1<<6);
//P1DIR = ~((1<<6) | (1<<5) | (1<<3));
// P0CON = 0x66;
#ifdef MCU_NRF24LU1P
USBSLP = 0x01; // disable usb
// P0DIR = (1<<3)|(1<<1)|(1<<0);
// P0ALT = 0x0F;
// P0EXP = 0x02; // Slave SPI for P0
// SSCONF = 0x01; //Enable slave SPI
// Enable radio SPI
RFCTL = 0x10;
// I3FR = 1; // rising edge SPI ready detect
P0_0 = 0;
// INTEXP = 0x01; //Slave SPI Interrupt
#else
// P0DIR = ~((1<<4)|(1<<0));
// SPISCON0 = 0x40;
// I3FR = 1; // rising edge SPI ready detect
// P1_4 = 1;
// INTEXP = 0x01; //Slave SPI Interrupt
#endif
// SPI = 1; // Enable SPI Interrupt
// ET0 = 1; // enable timer interrupt
// EX0 = 1;
// hal_digi_init();
// hal_digi_write(0);
prog_led(14);
prog_led(0);
init_radio();
init_adc();
initTimer();
cnt = MAXLENGTH;
dataNeedsTx = 0;
hal_adc_start();
procPayload = false;
for(;;)
{
if(!isStimulating)
{
// PWRDWN = 0x07;
}
if(dataNeedsTx)
{
P1_4 = 1;
++pktCount;
payload[((acq_block^(0x01))&(0x01))][MAXLENGTH] = (isStimulating) + (pktCount&(0x7F));
// hal_nrf_set_power_mode(HAL_NRF_PWR_UP);
hal_nrf_write_tx_payload(payload[((acq_block^(0x01))&(0x01))],MAXLENGTH+1);
P1_4 = 0;
radio_busy = true;
// Toggle radio CE signal to start transmission
CE_PULSE();
// Wait for radio operation to finish
while(radio_busy);
// hal_nrf_set_power_mode(HAL_NRF_PWR_DOWN);
if(procPayload)
{
procPayload = false;
pAll = (progAll *)progPayload;
if(pAll->pType == PROGSTIM)
{
pStim = pAll->pStim;
// g_Amplitude = pStim.Amplitude;
if(0 == pStim.Freq || 0 == pStim.Amplitude)
{
ET2 = 0; // disable timer2 interrupt
isStimulating = 0;
prog_led(pStim.Amplitude);
}
else
{
ET2 = 1;
progTimer(&pStim);
}
}
if(pAll->pType == PROGALGO)
{
pAlgo = pAll->pAlgo;
low_thresh = pAlgo.low;
high_thresh = pAlgo.high;
progSD(&pAlgo);
}
}
dataNeedsTx = 0;
}
}
}
// ------------------------------------------------------------------------------------------------
int main (int argc, char **argv)
// ------------------------------------------------------------------------------------------------
{
int i, nbytes;
// unsolicited termination handling
struct sigaction sa;
// Catch all signals possible on process exit!
for (i = 1; i < 64; i++)
{
// skip SIGUSR2 for Wiring Pi
if (i == 17)
continue;
// These are uncatchable or harmless or we want a core dump (SEGV)
if (i != SIGKILL
&& i != SIGSEGV
&& i != SIGSTOP
&& i != SIGVTALRM
&& i != SIGWINCH
&& i != SIGPROF)
{
memset(&sa, 0, sizeof(sa));
sa.sa_handler = terminate;
sigaction(i, &sa, NULL);
}
}
// Set argument defaults
init_args(&arguments);
// Parse arguments
argp_parse (&argp, argc, argv, 0, 0, &arguments);
if (arguments.print_long_help)
{
print_long_help();
return 0;
}
if (!arguments.usbacm_device)
{
arguments.usbacm_device = strdup("/dev/ttyACM2");
}
if (!arguments.serial_device)
{
arguments.serial_device = strdup("/var/ax25/axp2");
}
if (!arguments.bulk_filename)
{
arguments.bulk_filename = strdup("-");
}
set_serial_parameters(&serial_parms_ax25, arguments.serial_device, get_serial_speed(arguments.serial_speed, &arguments.serial_speed_n));
set_serial_parameters(&serial_parms_usb, arguments.usbacm_device, get_serial_speed(115200, &arguments.usb_speed_n));
init_radio_parms(&radio_parms, &arguments);
if (arguments.verbose_level > 0)
{
print_args(&arguments);
print_radio_parms(&radio_parms);
fprintf(stderr, "\n");
}
if (arguments.tnc_mode == TNC_KISS)
{
kiss_init(&arguments);
kiss_run(&serial_parms_ax25, &serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_SLIP)
{
arguments.slip = 1;
kiss_init(&arguments);
kiss_run(&serial_parms_ax25, &serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_TEST_USB_ECHO) // This one does not need any access to the radio
{
usb_test_echo(&serial_parms_usb, &arguments);
}
else if (arguments.tnc_mode == TNC_RADIO_STATUS)
{
print_radio_status(&serial_parms_usb, &arguments);
}
else if (arguments.tnc_mode == TNC_RADIO_INIT)
{
init_radio(&serial_parms_usb, &radio_parms, &arguments);
if (nbytes < 0)
{
fprintf(stderr, "Error\n");
}
}
else if (arguments.tnc_mode == TNC_TEST_TX)
{
radio_transmit_test(&serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_TEST_RX)
{
radio_receive_test(&serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_TEST_ECHO_TX)
{
radio_echo_test(&serial_parms_usb, &radio_parms, &arguments, 1);
}
else if (arguments.tnc_mode == TNC_TEST_ECHO_RX)
{
radio_echo_test(&serial_parms_usb, &radio_parms, &arguments, 0);
}
else if (arguments.tnc_mode == TNC_TEST_TX_PACKET)
{
radio_packet_transmit_test(&serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_TEST_RX_PACKET)
{
radio_packet_receive_test(&serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_TEST_RX_PACKET_NON_BLOCKING)
{
radio_packet_receive_nb_test(&serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_BULK_TX)
{
file_bulk_transmit(&serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_BULK_RX)
{
file_bulk_receive(&serial_parms_usb, &radio_parms, &arguments);
}
close_serial(&serial_parms_usb);
close_serial(&serial_parms_ax25);
delete_args(&arguments);
return 0;
}
gint init(void* arg) {
gint x;
gint y;
DISCOVERED* d;
char *res;
char wisdom_directory[1024];
char wisdom_file[1024];
fprintf(stderr,"init\n");
audio_get_cards(0);
audio_get_cards(1);
cursor_arrow=gdk_cursor_new(GDK_ARROW);
cursor_watch=gdk_cursor_new(GDK_WATCH);
GdkWindow *gdk_splash_window = gtk_widget_get_window(splash_window);
gdk_window_set_cursor(gdk_splash_window,cursor_watch);
init_radio();
// check if wisdom file exists
res=getcwd(wisdom_directory, sizeof(wisdom_directory));
strcpy(&wisdom_directory[strlen(wisdom_directory)],"/");
strcpy(wisdom_file,wisdom_directory);
strcpy(&wisdom_file[strlen(wisdom_file)],"wdspWisdom");
splash_status("Checking FFTW Wisdom file ...");
if(access(wisdom_file,F_OK)<0) {
int rc=sem_init(&wisdom_sem, 0, 0);
rc=pthread_create(&wisdom_thread_id, NULL, wisdom_thread, (void *)wisdom_directory);
while(sem_trywait(&wisdom_sem)<0) {
splash_status(wisdom_get_status());
while (gtk_events_pending ())
gtk_main_iteration ();
usleep(100000); // 100ms
}
}
while(!start) {
gdk_window_set_cursor(gdk_splash_window,cursor_watch);
selected_device=0;
devices=0;
splash_status("Old Protocol ... Discovering Devices");
old_discovery();
splash_status("New Protocol ... Discovering Devices");
new_discovery();
#ifdef LIMESDR
splash_status("LimeSDR ... Discovering Devices");
lime_discovery();
#endif
splash_status("Discovery");
if(devices==0) {
gdk_window_set_cursor(gdk_splash_window,cursor_arrow);
fprintf(stderr,"No devices found!\n");
GtkDialogFlags flags = GTK_DIALOG_DESTROY_WITH_PARENT;
discovery_dialog = gtk_message_dialog_new (GTK_WINDOW(splash_window),
flags,
GTK_MESSAGE_ERROR,
GTK_BUTTONS_OK_CANCEL,
"No devices found! Retry Discovery?");
gtk_widget_override_font(discovery_dialog, pango_font_description_from_string("FreeMono 18"));
gint result=gtk_dialog_run (GTK_DIALOG (discovery_dialog));
gtk_widget_destroy(discovery_dialog);
if(result==GTK_RESPONSE_CANCEL) {
_exit(0);
}
} else {
fprintf(stderr,"%s: found %d devices.\n", (char *)arg, devices);
gdk_window_set_cursor(gdk_splash_window,cursor_arrow);
GtkDialogFlags flags=GTK_DIALOG_MODAL | GTK_DIALOG_DESTROY_WITH_PARENT;
discovery_dialog = gtk_dialog_new_with_buttons ("Discovered",
GTK_WINDOW(splash_window),
flags,
#ifdef GPIO
"Configure GPIO",
GTK_RESPONSE_YES,
#endif
"Discover",
GTK_RESPONSE_REJECT,
"Exit",
GTK_RESPONSE_CLOSE,
NULL);
gtk_widget_override_font(discovery_dialog, pango_font_description_from_string("FreeMono 18"));
GtkWidget *content;
content=gtk_dialog_get_content_area(GTK_DIALOG(discovery_dialog));
GtkWidget *grid=gtk_grid_new();
gtk_grid_set_row_homogeneous(GTK_GRID(grid),TRUE);
gtk_grid_set_column_homogeneous(GTK_GRID(grid),TRUE);
gtk_grid_set_row_spacing (GTK_GRID(grid),10);
int i;
char version[16];
char text[128];
for(i=0;i<devices;i++) {
d=&discovered[i];
fprintf(stderr,"%p protocol=%d name=%s\n",d,d->protocol,d->name);
if(d->protocol==ORIGINAL_PROTOCOL) {
sprintf(version,"%d.%d",
d->software_version/10,
d->software_version%10);
} else {
sprintf(version,"%d.%d.%d",
d->software_version/100,
(d->software_version%100)/10,
d->software_version%10);
}
switch(d->protocol) {
case ORIGINAL_PROTOCOL:
case NEW_PROTOCOL:
sprintf(text,"%s (%s %s) %s (%02X:%02X:%02X:%02X:%02X:%02X) on %s\n",
d->name,
d->protocol==ORIGINAL_PROTOCOL?"old":"new",
version,
inet_ntoa(d->info.network.address.sin_addr),
d->info.network.mac_address[0],
d->info.network.mac_address[1],
d->info.network.mac_address[2],
d->info.network.mac_address[3],
d->info.network.mac_address[4],
d->info.network.mac_address[5],
d->info.network.interface_name);
break;
#ifdef LIMESDR
case LIMESDR_PROTOCOL:
/*
sprintf(text,"%s (%s %s)\n",
d->name,
"lime",
version);
*/
sprintf(text,"%s\n",
d->name);
break;
#endif
}
GtkWidget *label=gtk_label_new(text);
gtk_widget_override_font(label, pango_font_description_from_string("FreeMono 12"));
gtk_widget_show(label);
gtk_grid_attach(GTK_GRID(grid),label,0,i,3,1);
GtkWidget *start_button=gtk_button_new_with_label("Start");
gtk_widget_override_font(start_button, pango_font_description_from_string("FreeMono 18"));
gtk_widget_show(start_button);
gtk_grid_attach(GTK_GRID(grid),start_button,3,i,1,1);
g_signal_connect(start_button,"pressed",G_CALLBACK(start_cb),(gpointer)d);
// if not available then cannot start it
if(d->status!=STATE_AVAILABLE) {
gtk_button_set_label(GTK_BUTTON(start_button),"In Use");
gtk_widget_set_sensitive(start_button, FALSE);
}
// if not on the same subnet then cannot start it
if((d->info.network.interface_address.sin_addr.s_addr&d->info.network.interface_netmask.sin_addr.s_addr) != (d->info.network.address.sin_addr.s_addr&d->info.network.interface_netmask.sin_addr.s_addr)) {
gtk_button_set_label(GTK_BUTTON(start_button),"Subnet!");
gtk_widget_set_sensitive(start_button, FALSE);
}
}
gtk_container_add (GTK_CONTAINER (content), grid);
gtk_widget_show_all(discovery_dialog);
gint result=gtk_dialog_run(GTK_DIALOG(discovery_dialog));
if(result==GTK_RESPONSE_CLOSE) {
_exit(0);
}
if(!start) {
gtk_widget_destroy(discovery_dialog);
}
#ifdef GPIO
if(result==GTK_RESPONSE_YES) {
configure_gpio(splash_window);
}
#endif
}
}
gdk_window_set_cursor(gdk_splash_window,cursor_watch);
splash_status("Initializing wdsp ...");
fprintf(stderr,"selected radio=%p device=%d\n",radio,radio->device);
protocol=radio->protocol;
device=radio->device;
switch(radio->protocol) {
case ORIGINAL_PROTOCOL:
case NEW_PROTOCOL:
sprintf(property_path,"%02X-%02X-%02X-%02X-%02X-%02X.props",
radio->info.network.mac_address[0],
radio->info.network.mac_address[1],
radio->info.network.mac_address[2],
radio->info.network.mac_address[3],
radio->info.network.mac_address[4],
radio->info.network.mac_address[5]);
break;
#ifdef LIMESDR
case LIMESDR_PROTOCOL:
sprintf(property_path,"limesdr.props");
break;
#endif
}
radioRestoreState();
fprintf(stderr,"malloc samples\n");
if(radio->protocol==NEW_PROTOCOL) {
samples=malloc(display_width*sizeof(float)*2*4); // 192 -> 48
} else {
samples=malloc(display_width*sizeof(float)*2);
}
//splash_status("Initializing wdsp ...");
fprintf(stderr,"wdsp_init\n");
wdsp_init(0,display_width,radio->protocol);
switch(radio->protocol) {
case ORIGINAL_PROTOCOL:
splash_status("Initializing old protocol ...");
fprintf(stderr,"old_protocol_init\n");
old_protocol_init(0,display_width);
break;
case NEW_PROTOCOL:
splash_status("Initializing new protocol ...");
fprintf(stderr,"new_protocol_init\n");
new_protocol_init(0,display_width);
break;
#ifdef LIMESDR
case LIMESDR_PROTOCOL:
splash_status("Initializing lime protocol ...");
lime_protocol_init(0,display_width);
break;
#endif
}
fprintf(stderr,"gpio_init\n");
splash_status("Initializing GPIO ...");
#ifdef GPIO
if(gpio_init()<0) {
}
#endif
window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
gtk_window_set_title (GTK_WINDOW (window), "pihpsdr");
gtk_window_set_position(GTK_WINDOW(window),GTK_WIN_POS_CENTER_ALWAYS);
gtk_window_set_resizable(GTK_WINDOW(window), FALSE);
g_signal_connect (window, "delete-event", G_CALLBACK (main_delete), NULL);
fixed=gtk_fixed_new();
gtk_container_add(GTK_CONTAINER(window), fixed);
y=0;
fprintf(stderr,"vfo_height=%d\n",VFO_HEIGHT);
vfo = vfo_init(VFO_WIDTH,VFO_HEIGHT,window);
gtk_fixed_put(GTK_FIXED(fixed),vfo,0,0);
rit_control = rit_init(RIT_WIDTH,MENU_HEIGHT,window);
gtk_fixed_put(GTK_FIXED(fixed),rit_control,VFO_WIDTH,y);
fprintf(stderr,"menu_height=%d\n",MENU_HEIGHT);
//menu = menu_init(MENU_WIDTH,MENU_HEIGHT,window);
menu = new_menu_init(MENU_WIDTH-RIT_WIDTH,MENU_HEIGHT,window);
gtk_fixed_put(GTK_FIXED(fixed),menu,VFO_WIDTH+((MENU_WIDTH/3)*2),y);
fprintf(stderr,"meter_height=%d\n",METER_HEIGHT);
meter = meter_init(METER_WIDTH,METER_HEIGHT,window);
gtk_fixed_put(GTK_FIXED(fixed),meter,VFO_WIDTH+MENU_WIDTH,y);
y+=VFO_HEIGHT;
if(display_panadapter) {
int height=PANADAPTER_HEIGHT;
if(!display_waterfall) {
height+=WATERFALL_HEIGHT;
if(!display_sliders) {
height+=SLIDERS_HEIGHT;
}
if(!display_toolbar) {
height+=TOOLBAR_HEIGHT;
}
} else {
if(!display_sliders) {
height+=SLIDERS_HEIGHT/2;
}
}
fprintf(stderr,"panadapter_height=%d\n",height);
panadapter = panadapter_init(display_width,height);
gtk_fixed_put(GTK_FIXED(fixed),panadapter,0,VFO_HEIGHT);
y+=height;
}
if(display_waterfall) {
int height=WATERFALL_HEIGHT;
if(!display_panadapter) {
height+=PANADAPTER_HEIGHT;
}
if(!display_sliders) {
if(display_panadapter) {
height+=SLIDERS_HEIGHT/2;
} else {
height+=SLIDERS_HEIGHT;
}
}
if(!display_toolbar) {
height+=TOOLBAR_HEIGHT;
}
fprintf(stderr,"waterfall_height=%d\n",height);
waterfall = waterfall_init(display_width,height);
gtk_fixed_put(GTK_FIXED(fixed),waterfall,0,y);
y+=height;
}
#ifdef PSK
int psk_height=PSK_WATERFALL_HEIGHT;
if(!display_sliders) {
psk_height+=SLIDERS_HEIGHT/2;
}
if(!display_toolbar) {
psk_height+=TOOLBAR_HEIGHT/2;
}
psk_waterfall = psk_waterfall_init(display_width,psk_height);
gtk_fixed_put(GTK_FIXED(fixed),psk_waterfall,0,VFO_HEIGHT);
psk = init_psk();
gtk_fixed_put(GTK_FIXED(fixed),psk,0,VFO_HEIGHT+psk_height);
#endif
if(display_sliders) {
fprintf(stderr,"sliders_height=%d\n",SLIDERS_HEIGHT);
sliders = sliders_init(display_width,SLIDERS_HEIGHT,window);
gtk_fixed_put(GTK_FIXED(fixed),sliders,0,y);
y+=SLIDERS_HEIGHT;
}
if(display_toolbar) {
fprintf(stderr,"toolbar_height=%d\n",TOOLBAR_HEIGHT);
toolbar = toolbar_init(display_width,TOOLBAR_HEIGHT,window);
gtk_fixed_put(GTK_FIXED(fixed),toolbar,0,y);
y+=TOOLBAR_HEIGHT;
}
splash_close();
gtk_widget_show_all (window);
if(full_screen) {
gtk_window_fullscreen(GTK_WINDOW(window));
}
GdkWindow *gdk_window = gtk_widget_get_window(window);
gdk_window_set_cursor(gdk_window,cursor_arrow);
// start the receiver
SetChannelState(CHANNEL_RX0,1,1);
//update_timer_id=gdk_threads_add_timeout(1000/updates_per_second, update, NULL);
update_timer_id=gdk_threads_add_timeout_full(G_PRIORITY_HIGH_IDLE,1000/updates_per_second, update, NULL, NULL);
// save every 30 seconds
save_timer_id=gdk_threads_add_timeout(30000, save_cb, NULL);
if(protocol!=NEW_PROTOCOL) {
setFrequency(getFrequency());
}
#ifdef PSK
if(mode==modePSK) {
show_psk();
} else {
show_waterfall();
}
#endif
g_idle_add(vfo_update,(gpointer)NULL);
return 0;
}
