LPFHPFilter::LPFHPFilter( float aLPCutoff, float aHPCutoff, int amountOfChannels )
{
setLPF( aLPCutoff, AudioEngineProps::SAMPLE_RATE );
setHPF( aHPCutoff, AudioEngineProps::SAMPLE_RATE );
outSamples = new SAMPLE_TYPE[ amountOfChannels ];
inSamples = new SAMPLE_TYPE[ amountOfChannels ];
for ( int i = 0; i < amountOfChannels; ++i )
{
outSamples[ i ] = 0.0;
inSamples[ i ] = 0.0;
}
}
/*
* Put sensor in default sampling configuration
* Range = +/- 2000 deg/sec
* Sample rate divider = 9 -> sample rate = 100 Hz
* LPF = 188 Hz bandwidth
* Clock source = xGyro
*/
bool ITG3200::init() {
bool status = false;
if(test()) {
gyroStatus = ON;
setFullRange();
setSampleRate(0x9);
setLPF(ITG3200_DLPF_188);
setClockSource(ITG3200_CLK_SEL_XGYRO);
status = true;
}
else {
Serial.println("WARNING: gyro not responding");
status = false;
}
return status;
}
/**
* Main routine. Parse commandline args and trigger actions.
*/
int main(int argc, char **argv) {
usb_dev_handle *handle = NULL;
char * usbSerialID = NULL;
int c;
// moved this malloc() here instead of within the while(1) loop
// to prevent memory leakage problem
// as *args is not free'ed.
char **args = malloc(MAX_COMMAND_ARGS * sizeof(char *));
int port = 19004;
int daemon = 0;
// Read options
while ( (c = getopt(argc, argv, "adhi:m:p:s:u:vx:")) != -1) {
switch (c) {
case 'i':
i2cAddress = atoi(optarg);
break;
case 'a':
setByValue = 1;
break;
case 'd':
daemon = 1;
break;
case 'h':
firmware_PTT = 1;
break;
case 'm':
multiplier = atof(optarg);
break;
case 'p':
port = atoi(optarg);
break;
case 's':
startupFreq = atof(optarg);
break;
case 'x':
fXtall = atof(optarg);
break;
case 'u':
usbSerialID = optarg;
break;
case 'v':
verbose++;
break;
default: /* '?' */
usage(argv[0]);
exit(EXIT_FAILURE);
}
}
if (verbose) {
printf("I2C Address = %X\n", i2cAddress);
printf("fXtall = %f\n", fXtall);
printf("multiplier = %f\n", multiplier);
printf("startupFreq = %f\n", startupFreq);
}
if((argc <= optind) && (daemon == 0)){
usage(argv[0]);
exit(1);
}
usb_init();
char attempt=0, error=0;
do {
attempt++;
error=usbOpenDevice(&handle, USBDEV_SHARED_VENDOR, VENDOR_NAME, USBDEV_SHARED_PRODUCT, PRODUCT_NAME, usbSerialID);
if(error != 0){
fprintf(stderr, "Could not open USB device \"%s\" with vid=0x%x pid=0x%x, retrying\n", PRODUCT_NAME, USBDEV_SHARED_VENDOR, USBDEV_SHARED_PRODUCT);
sleep(2*attempt);
}
} while (error && attempt < USB_MAX_RETRIES);
if (error) {
fprintf(stderr, "Permanent problem opening usb device. Giving up.\n");
exit(1);
}
unsigned short version = readVersion(handle);
major = (version & 0xFF00) >> 8;
minor = (version & 0xFF);
/* Relocate lower later */
if (daemon) {
printf("Starting daemon...\n");
int socket_desc;
socket_desc=socket(AF_INET,SOCK_DGRAM,IPPROTO_UDP);
if (socket_desc==-1)
perror("Create socket");
struct sockaddr_in address;
/* type of socket created in socket() */
address.sin_family = AF_INET;
address.sin_addr.s_addr = INADDR_ANY;
address.sin_port = htons(port);
/* bind the socket to the port specified above */
int retval;
if (bind(socket_desc,(struct sockaddr *)&address,sizeof(address)) != 0) {
fprintf(stderr, "Error binding to port %d\n", port);
exit(0);
}
while (1) {
ssize_t bytes;
char buffer[1024];
struct sockaddr_in clnt;
socklen_t clnt_len;
clnt_len = sizeof(clnt);
bytes = recvfrom (socket_desc, buffer, sizeof(buffer) - 1, 0, (struct sockaddr *)&clnt, &clnt_len);
if (bytes > 0) {
buffer[bytes] = 0;
if (verbose >= 2)
printf("Returned %d bytes from %s: %s\n", bytes, inet_ntoa(clnt.sin_addr), buffer);
if (strncmp(buffer, "quit", 4) == 0) {
if (verbose)
printf("Quit command received\n");
exit(0);
}
char *saveptr;
char *token;
int argn = 0;
for (int i=0; i < MAX_COMMAND_ARGS;i++)
args[i] = NULL;
token = strtok_r(buffer, " ", &saveptr);
while (token != NULL) {
args[argn] = strcpy(malloc(strlen(token) + 1), token);
argn++;
token = strtok_r(NULL, " ", &saveptr);
}
// Execute command here
char result[100];
do_command(handle, args, argn, result);
// Cleanup
for (int i=0; i < MAX_COMMAND_ARGS;i++) {
if (args[i] != NULL)
free(args[i]);
}
int retlen = strlen(result);
if (sendto(socket_desc, result, retlen,0, (struct sockaddr *) &clnt, clnt_len) != retlen) {
perror("Failed to send ack");
exit(1);
}
} else {
fprintf(stderr, "recvfrom returned %d\n", bytes);
}
}
close(socket_desc);
exit(0);
}
/* Device has been opened - perform the requested operation */
if (strcmp(argv[optind], "getregisters") == 0) {
getRegisters(handle);
} else if(strcmp(argv[optind], "getfreq") == 0){
double freq;
if (setByValue)
freq = readFrequencyByValue(handle);
else
freq = getFrequency(handle);
if (freq != 0.00)
printf("Frequency : %f (x %.2f)\n", freq / multiplier, multiplier);
#ifdef HAVE_LIBNCURSES
} else if (strcmp(argv[optind], "interactive") == 0) {
run_interactive(handle);
#endif
} else if (strcmp(argv[optind], "getptt") == 0){
if (firmware_PTT) PTT = getPTT(handle);
printf("PTT : %d\n", PTT);
} else if (strcmp(argv[optind], "getkeys") == 0){
keys = getkeys(handle);
printf("Paddles: %d\n", keys);
} else if (strcmp(argv[optind], "gettone") == 0){
printf("CW Tone: %d\n", CW_tone);
} else if ((strcmp(argv[optind], "ptt") == 0) && (argc >= optind + 1)) {
PTT = (strcmp(argv[optind+1],"on") == 0) ? 1: 0;
setPTT(handle, PTT);
printf("PTT set to %d\n", PTT);
} else if (strcmp(argv[optind], "calibrate") == 0) {
calibrate(handle);
} else if ((strcmp(argv[optind], "set") == 0) && (argc >= optind + 2)) {
if ((strcmp(argv[optind+1], "bpf_addr") == 0) && (argc >= optind + 3)) {
// set bpf_addr index value
setBPFAddress(handle, atoi(argv[optind+2]), atoi(argv[optind+3]));
} else if ((strcmp(argv[optind+1], "bpf_point") == 0) && (argc >= optind + 3)) {
// set bpf_point index (int) value (float)
setBPFCrossOver(handle, atoi(argv[optind+2]), atof(argv[optind+3]));
} else if ((strcmp(argv[optind+1], "bpf") == 0) && (argc >= optind + 2)) {
setBPF(handle, (strcmp(argv[optind+2],"on") == 0) ? 1 : 0);
} else if ((strcmp(argv[optind+1], "lpf") == 0) && (argc >= optind + 2)) {
setLPF(handle, (strcmp(argv[optind+2],"on") == 0) ? 1 : 0);
} else if ((strcmp(argv[optind+1], "lpf_addr") == 0) && (argc >= optind + 3)) {
// set bpf_addr index value
setBPFAddress(handle, atoi(argv[optind+2]), atoi(argv[optind+3]));
displayLPFs(handle);
} else if ((strcmp(argv[optind+1], "lpf_point") == 0) && (argc >= optind + 3)) {
// set lpf_point index (int) value (float)
setLPFCrossOver(handle, atoi(argv[optind+2]), atof(argv[optind+3]));
} else if (strcmp(argv[optind+1], "freq") == 0) {
if (setByValue)
setFreqByValue(handle, atof(argv[optind+2]));
else
setFrequency(handle, atof(argv[optind+2]));
} else if ((strcmp(argv[optind+1], "registers") == 0 || strcmp(argv[optind+1], "regs") == 0) && argc == optind+8) {
unsigned char regs[6];
int i;
for (i = 0; i < 6; i += 1)
regs[i] = strtol(argv[optind+2+i], NULL, 0);
setRegisters(handle, regs);
} else if ((strcmp(argv[optind+1], "si570_addr") == 0) && (argc >= optind + 2)) {
setSi570Address(handle, atoi(argv[optind+2]));
} else if (strcmp(argv[optind+1], "si570_multiplier") == 0) {
int index = 0;
int valueIndex = optind+2;
// If there are 2 args after the variable name, one is index
if (argc >= optind + 3) {
index = atoi(argv[optind+2]);
valueIndex++;
}
double sub, mul;
readMultiplyLO(handle, index, &mul, &sub);
mul = atof(argv[valueIndex]);
setMultiplyLo(handle, index, mul, sub);
if (verbose)
printf("Set multiply [%d] to : %f\n", index, mul);
} else if (strcmp(argv[optind+1], "xtall") == 0) {
setXtallFrequency(handle, atof(argv[optind+2]));
} else if (strcmp(argv[optind+1], "startup") == 0) {
setStartupFrequency(handle, atof(argv[optind+2]));
} else {
usage(argv[0]);
exit(1);
}
} else if (strcmp(argv[optind], "solutions") == 0) {
solveRegisters(handle);
} else if (strcmp(argv[optind], "status") == 0) {
printf("USB SerialID: %s\n", serialNumberString);
if (major >= 15) {
readFrequencyByValue(handle);
readStartupFreq(handle);
readXtallFreq(handle);
readSmoothTunePPM(handle);
if (major >= 16 || minor >= 12) {
readSi570Address(handle);
}
displayBands(handle);
displayLPFs(handle);
/*
if (major >= 16 || ((major >= 15) && (minor >= 12))) {
displayBands(handle);
} else if (minor >= 10) {
double sub, mul;
readMultiplyLO(handle, 0, &mul, &sub);
printf("LO Subtract : %f\n", sub);
printf("Multiply : %f\n", mul);
}
//displayBPFFilters(handle);
//displayLPFFilters(handle);*/
}
} else if (strcmp(argv[optind], "tweak") == 0) {
tweakRegisters(handle);
} else {
usage(argv[0]);
exit(1);
}
usb_close(handle);
return 0;
}
