int CrcManager::write_crc_file(char const *filename) // return 0 on failure
{
const size_t msgsize = 100;
char msg[msgsize];
snprintf(msg, msgsize, "%s", symbol_str("calc_crc")); // this may take some time, show the user a status indicator
if (stat_man) stat_man->push(msg,NULL);
int i,total=0;
for (i=0; i<total_files; i++)
{
int failed=0;
get_crc(i,failed);
if (failed)
{
jFILE *fp=new jFILE(get_filename(i),"rb");
if (!fp->open_failure())
{
set_crc(i,crc_file(fp));
total++;
}
delete fp;
} else total++;
if (stat_man)
stat_man->update(i*100/total_files);
}
if (stat_man) stat_man->pop();
jFILE *fp=new jFILE(NET_CRC_FILENAME,"wb");
if (fp->open_failure())
{
delete fp;
return 0;
}
fp->write_uint16(total);
total=0;
for (i=0; i<total_files; i++)
{
uint32_t crc;
int failed=0;
crc=get_crc(i,failed);
if (!failed)
{
fp->write_uint32(crc);
uint8_t len=strlen(get_filename(i))+1;
fp->write_uint8(len);
fp->write(get_filename(i),len);
total++;
}
}
delete fp;
return 1;
}
int CrcManager::load_crc_file(char const *filename) {
bFILE *fp = open_file(filename, "rb");
if (fp->open_failure()) {
delete fp;
return 0;
} else {
short total = fp->read_uint16();
int i;
for (i = 0; i < total; i++) {
char name[256];
uint32_t crc = fp->read_uint32();
uint8_t len = fp->read_uint8();
fp->read(name, len);
set_crc(get_filenumber(name), crc);
}
delete fp;
}
return 1;
}
void NRF24L01::set_rx_mode()
{
ce->reset();
set_addr_width(5);
set_local_addr(0,rx_addr_0);//写RX节点地址
set_chanal_ack(0,ENABLE); //使能通道0的自动应答
set_chanal(0,ENABLE);//使能通道0的接收地址
set_rf_frq(40); //设置RF通信频率
set_pload_width(0,4);//选择通道0的有效数据宽度
set_gain(RF_N_0DB);//设置TX发射参数,0db增益,低噪声增益开启
set_baudrate(_2MBPS);//2Mbps
set_power(1);//PWR_UP
set_tx_rx_mode(RX_MODE);//接收模式
set_crc(1,1);//EN_CRC,16BIT_CRC
ce->set();
}
void main_loop(void* pvParameters)
{
int loopcount = 0;
#define SHOW_DEBUG() 0 //((my_state == RUNNING) && (loopcount == 0))
#define SPI_SCLK 4
#define SPI_MISO 27
#define SPI_MOSI 2
#define SPI_CS GPIO_NUM_16
#define SPI_CE GPIO_NUM_17
int power_left = 0;
int power_right = 0;
#if 0
int left_x_zero = 512;
int left_y_zero = 512;
#endif
int right_x_zero = 512;
int right_y_zero = 512;
bool first_reading = true;
auto last_packet = xTaskGetTickCount();
const int NOF_BATTERY_READINGS = 100;
int32_t battery_readings[NOF_BATTERY_READINGS];
int battery_reading_index = 0;
for (int i = 0; i < NOF_BATTERY_READINGS; ++i)
battery_readings[i] = 0;
int max_power = 255;
int count = 0;
bool led_state = false;
auto last_led_flip = xTaskGetTickCount();
bool is_halted = false;
RF24 radio(SPI_CE, SPI_CS);
assert(radio_init(radio));
while (1)
{
++loopcount;
if (loopcount >= 100)
loopcount = 0;
// if there is data ready
if (radio.available())
{
last_packet = xTaskGetTickCount();
ForwardAirFrame frame;
// Fetch the payload, and see if this was the last one.
while (radio.available())
radio.read(&frame, sizeof(frame));
if (frame.magic != ForwardAirFrame::MAGIC_VALUE)
{
printf("Bad magic value; expected %x, got %x\n", ForwardAirFrame::MAGIC_VALUE, frame.magic);
continue;
}
if (!check_crc(frame))
{
printf("Bad CRC\n");
continue;
}
// Echo back tick value so we can compute round trip time
radio.stopListening();
ReturnAirFrame ret_frame;
ret_frame.magic = ReturnAirFrame::MAGIC_VALUE;
ret_frame.ticks = frame.ticks;
#if 0
battery_readings[battery_reading_index] = motor_get_battery(motor_device);
++battery_reading_index;
if (battery_reading_index >= NOF_BATTERY_READINGS)
battery_reading_index = 0;
int n = 0;
int32_t sum = 0;
for (int i = 0; i < NOF_BATTERY_READINGS; ++i)
if (battery_readings[i])
{
sum += battery_readings[i];
++n;
}
// Round to nearest 0.1 V to prevent flickering
ret_frame.battery = n ? 100*((sum/n+50)/100) : 0;
#endif
set_crc(ret_frame);
radio.write(&ret_frame, sizeof(ret_frame));
radio.startListening();
frame.right_x = 1023 - frame.right_x; // hack!
#define PUSH(bit) (is_pushed(frame, bit) ? '1' : '0')
#define TOGGLE(bit) (is_toggle_down(frame, bit) ? 'D' : (is_toggle_up(frame, bit) ? 'U' : '-'))
const int rx = frame.right_x - right_x_zero;
const int ry = frame.right_y - right_y_zero;
// Map right pot (0-255) to pivot value (20-51)
const int pivot = frame.right_pot*2;
// Map left pot (0-255) to max_power (20-255)
max_power = static_cast<int>(20 + (256-20)/256.0*frame.left_pot);
compute_power(rx, ry, power_left, power_right, pivot, max_power);
++count;
if (count > 10)
{
count = 0;
printf("max %d\n", max_power);
printf("L %4d/%4d R %4d/%4d (%d/%d) P %3d/%3d Push %c%c%c%c"
" Toggle %c%c%c%c"
" Power %d/%d\n",
(int) frame.left_x, (int) frame.left_y, (int) frame.right_x, (int) frame.right_y, rx, ry,
int(frame.left_pot), int(frame.right_pot),
PUSH(0), PUSH(1), PUSH(2), PUSH(3),
TOGGLE(0), TOGGLE(1), TOGGLE(2), TOGGLE(3),
power_left, power_right);
#if 0
if (is_toggle_up(frame, 3))
signal_control_lights(signal_device, true, true);
else if (is_toggle_down(frame, 3))
signal_control_lights(signal_device, true, false);
else
signal_control_lights(signal_device, false, true);
#endif
}
//!!set_motors(power_left, power_right);
is_halted = false;
#if 0
if (is_pushed(frame, 0))
signal_play_sound(signal_device, -1);
#endif
}
else
{
// No data from radio
const auto cur_time = xTaskGetTickCount();
if ((cur_time - last_packet > max_radio_idle_time) && !is_halted)
{
is_halted = true;
printf("HALT: Last packet was seen at %d\n", last_packet);
first_reading = true;
set_motors(0, 0);
}
}
// Change LED state every 3 seconds
const auto cur_time = xTaskGetTickCount();
if (cur_time - last_led_flip > 3000/portTICK_PERIOD_MS)
{
last_led_flip = cur_time;
led_state = !led_state;
gpio_set_level(GPIO_INTERNAL_LED, led_state);
}
vTaskDelay(1/portTICK_PERIOD_MS);
//xTaskNotifyWait(0, 0, NULL, 1);
}
}
static int
wr_archive(ARCHD *arcn, int is_app)
{
int res;
int hlk;
int wr_one;
off_t cnt;
int (*wrf)(ARCHD *);
int fd = -1;
time_t now;
/*
* if this format supports hard link storage, start up the database
* that detects them.
*/
if (((hlk = frmt->hlk) == 1) && (lnk_start() < 0))
return 1;
/*
* start up the file traversal code and format specific write
*/
if ((ftree_start() < 0) || ((*frmt->st_wr)() < 0))
return 1;
wrf = frmt->wr;
now = time((time_t *)NULL);
/*
* When we are doing interactive rename, we store the mapping of names
* so we can fix up hard links files later in the archive.
*/
if (iflag && (name_start() < 0))
return 1;
/*
* if this is not append, and there are no files, we do no write a trailer
*/
wr_one = is_app;
/*
* while there are files to archive, process them one at at time
*/
while (next_file(arcn) == 0) {
/*
* check if this file meets user specified options match.
*/
if (sel_chk(arcn) != 0)
continue;
/*
* Here we handle the exclusion -X gnu style patterns which
* are implemented like a pattern list. We don't modify the
* name as this will be done below again, and we don't want
* to double modify it.
*/
if ((res = mod_name(arcn, 0)) < 0)
break;
if (res == 1)
continue;
fd = -1;
if (uflag) {
/*
* only archive if this file is newer than a file with
* the same name that is already stored on the archive
*/
if ((res = chk_ftime(arcn)) < 0)
break;
if (res > 0)
continue;
}
/*
* this file is considered selected now. see if this is a hard
* link to a file already stored
*/
ftree_sel(arcn);
if (hlk && (chk_lnk(arcn) < 0))
break;
if ((arcn->type == PAX_REG) || (arcn->type == PAX_HRG) ||
(arcn->type == PAX_CTG)) {
/*
* we will have to read this file. by opening it now we
* can avoid writing a header to the archive for a file
* we were later unable to read (we also purge it from
* the link table).
*/
if ((fd = open(arcn->org_name, O_RDONLY, 0)) < 0) {
syswarn(1, errno, "Unable to open %s to read",
arcn->org_name);
purg_lnk(arcn);
continue;
}
}
/*
* Now modify the name as requested by the user
*/
if ((res = mod_name(arcn, RENM)) < 0) {
/*
* name modification says to skip this file, close the
* file and purge link table entry
*/
rdfile_close(arcn, &fd);
purg_lnk(arcn);
break;
}
if (arcn->name[0] == '/' && !check_Aflag()) {
memmove(arcn->name, arcn->name + 1, strlen(arcn->name));
}
if ((res > 0) || (docrc && (set_crc(arcn, fd) < 0))) {
/*
* unable to obtain the crc we need, close the file,
* purge link table entry
*/
rdfile_close(arcn, &fd);
purg_lnk(arcn);
continue;
}
if (vflag) {
if (vflag > 1)
ls_list(arcn, now, listf);
else {
(void)safe_print(arcn->name, listf);
vfpart = 1;
}
}
++flcnt;
/*
* looks safe to store the file, have the format specific
* routine write routine store the file header on the archive
*/
if ((res = (*wrf)(arcn)) < 0) {
rdfile_close(arcn, &fd);
break;
}
wr_one = 1;
if (res > 0) {
/*
* format write says no file data needs to be stored
* so we are done messing with this file
*/
if (vflag && vfpart) {
(void)putc('\n', listf);
vfpart = 0;
}
rdfile_close(arcn, &fd);
continue;
}
/*
* Add file data to the archive, quit on write error. if we
* cannot write the entire file contents to the archive we
* must pad the archive to replace the missing file data
* (otherwise during an extract the file header for the file
* which FOLLOWS this one will not be where we expect it to
* be).
*/
res = (*frmt->wr_data)(arcn, fd, &cnt);
rdfile_close(arcn, &fd);
if (vflag && vfpart) {
(void)putc('\n', listf);
vfpart = 0;
}
if (res < 0)
break;
/*
* pad as required, cnt is number of bytes not written
*/
if (((cnt > 0) && (wr_skip(cnt) < 0)) ||
((arcn->pad > 0) && (wr_skip(arcn->pad) < 0)))
break;
}
/*
* tell format to write trailer; pad to block boundary; reset directory
* mode/access times, and check if all patterns supplied by the user
* were matched. block off signals to avoid chance for multiple entry
* into the cleanup code
*/
if (wr_one) {
(*frmt->end_wr)();
wr_fin();
}
(void)sigprocmask(SIG_BLOCK, &s_mask, (sigset_t *)NULL);
ar_close();
if (tflag)
proc_dir();
ftree_chk();
return 0;
}
