void UserTask() {
DISPLAY lcd;
int page=0;
lcd.drawForm(-2);
for (int i=0; i<30; i++) {
TimerWait(100);
if (EventCatch(JOY_MASK)) {
EventRaise(EVT_EXIT);
for (;;) NextTask();
}
}
lcd.drawForm(page);
for (;;) {
switch (EventCatch(JOY_MASK)) {
case JOY_UP:
if (page>0) lcd.drawForm(--page);
break;
case JOY_DOWN:
if (page<3) lcd.drawForm(++page);
break;
case JOY_PUSH:
lcd.drawForm(-1);
EventRaise(EVT_EXIT+EVT_SHUTDOWN);
for (;;) NextTask();
}
lcd.drawData(page);
NextTask();
}
}
StatusType
Sys_WaitEvent (EventMaskType mask)
{
TaskType tid = 0;
StatusType ret = E_OK;
#ifdef OSEK_EXTENDED
/* Is tid extended task? */
if (!(cur_task->flag & TASK_EXTENDED)) {
ret = E_OS_ACCESS;
goto std_ret;
}
/* Check whether current task still occupies resource */
if (cur_task->res) {
ret = E_OS_RESOURCE;
goto std_ret;
}
/* Check whether OS is at interrupt level */
if (NestedISRs) {
ret = E_OS_CALLEVEL;
goto std_ret;
}
#endif
/* At least one of the events in mask is set. Do nothing. */
if (cur_task->cevent & mask) {
ret = E_OK;
goto std_ret;
}
/* None of the events in mask is set. Need to block. */
cur_task->wevent = mask;
/* Block and re-schedule */
NextTask (&tid, MAX_PRIO, 0);
/*
* PostTaskHook is called after executing the current
* task, but before leaving the task's running state.
*/
POSTTASKHOOK ();
cur_task->state = WAITING;
/* Release internal resource */
cur_task->priority = cur_task->orig_prio;
Dispatch (tid, DISPATCH_BLOCK);
std_ret:
SaveOSErrorService (OSServiceId_WaitEvent, mask, 0, 0);
ERRORHOOK (ret);
return ret;
}
// the popen read can block, so do non-blocking i/o with an interspersed TaskSleep()
int non_blocking_popen(const char *cmd, char *reply, int reply_size)
{
int n;
NextTask("non_blocking_popen");
FILE *pf = popen(cmd, "r");
if (pf == NULL) return 0;
int pfd = fileno(pf);
if (pfd <= 0) return 0;
fcntl(pfd, F_SETFL, O_NONBLOCK);
do {
TaskSleep(50000);
n = read(pfd, reply, reply_size);
if (n > 0) reply[(n == reply_size)? n-1 : n] = 0; // assuming we're always expecting a string
} while (n == -1 && errno == EAGAIN);
pclose(pf);
return n;
}
void TaskRemove(int id)
{
TASK *t = Tasks + id;
t->valid = FALSE;
if (t->prev) {
t->prev->next = t->next;
} else {
if (t == prio_high) {
prio_high = t->next;
} else {
assert(t == prio_low);
prio_low = t->next;
}
if (t->next) t->next->prev = 0;
}
NextTask();
if (t == cur_task && !t->valid) panic("shouldn't return");
}
void* ConsumeTask(void* arg){
int stop = 0;
int current_task;
int x,y;
int picture_weight = 10;
while (!stop) {
current_task = NextTask();
if (current_task != -1) {
x = current_task % picture_weight;
y = current_task / picture_weight;
traitement_tache(current_task,0);
} else {
stop = GetHaveToShutDown();
if (!stop)
sleep(1);
}
}
return NULL;
}
void StatTask() {
int i, j, prn;
unsigned start = timer_ms();
while (!ready) TaskSleep(1000000);
while (1) {
UMS lat(StatLat), lon(StatLon);
UMS hms(StatSec/60/60);
TaskSleep(1000000);
if (print_stats == 2) {
static int fixes;
if (gps.fixes > fixes) {
fixes = gps.fixes;
if (StatLat) printf("wikimapia.org/#lang=en&lat=%9.6f&lon=%9.6f&z=18&m=b\n",
(StatNS=='S')? -StatLat:StatLat, (StatEW=='W')? -StatLon:StatLon);
}
continue;
}
printf("\n\n\n\n\n\n");
#if DECIM_CMP
printf(" CH PRN SNR CA ERR RSSI GAIN BITS WDOG SUB");
#else
// 12345 * 1234 123456 123456 123456 123456 123456 Up12345 123456 #########
printf(" CH PRN SNR RSSI GAIN BITS WDOG SUB NOVFL");
#endif
//printf(" LS CS LO SLO DLO CA SCA DCA");
printf("\n");
for (i=0; i<gps_chans; i++) {
stats_t *s = &stats[i];
char c1, c2;
double snew;
printf("%5d %c ", i+1, (stats_fft == i)? '*':' ');
show4(prn, prn);
show6(snr, snr);
#if DECIM_CMP
show6(snr, ca_dop);
printf(" ");
#endif
show6(rssi, rssi);
show6(rssi, gain);
show6(hold, hold);
show6(rssi, wdog);
printf("%c", s->ca_unlocked? 'U':' ');
printf("%c", (s->sub & (1<<(PARITY-1)))? 'p':' ');
s->sub &= ~(1<<(PARITY-1)); // clear parity
for (j=4; j>=0; j--) {
printf("%c", (s->sub & (1<<j))? '1'+j:' ');
if (s->sub_next & (1<<j)) {
s->sub |= 1<<j;
s->sub_next &= ~(1<<j);
}
}
show7(novfl, novfl);
printf(" ");
#if 0
if (s->rssi) printf("%6d:E %6d:P %6d:L ", s->pe/1000, s->pp/1000, s->pl/1000);
#endif
#if 0
show3(rssi, lo_dop);
show5(rssi, ca_dop);
if (s->dir == ' ') s->f_lo=s->lo, s->f_ca=s->ca;
snew = fabs(s->f_lo-s->lo);
if (snew > s->s_lo) s->s_lo = snew;
snew = fabs(s->f_ca-s->ca);
if (snew > s->s_ca) s->s_ca = snew;
showf7_1(lo, lo);
showf7_1(s_lo, s_lo);
showf7_1(d_lo, d_lo);
showf7_4(ca, ca);
showf7_4(s_ca, s_ca);
showf7_4(d_ca, d_ca);
c1 = c2 = '_';
if (s->rssi) {
s->to++;
if (s->lo < s->l_lo) { s->l_lo=s->lo; s->dir='v'; s->to=0; c1='v'; } else
if (s->lo > s->h_lo) { s->h_lo=s->lo; s->dir='^'; s->to=0; c1='^'; };
if (s->ca < s->l_ca) { s->l_ca=s->ca; s->to=0; c2='v'; } else
if (s->ca > s->h_ca) { s->h_ca=s->ca; s->to=0; c2='^'; };
}
printf("%c%c ", c1, c2);
if (s->rssi) printf("%3d%c ", s->to, s->dir); else printf(" ");
#endif
//if (s->dbug) printf("%9.6f %9.6f %6d %6d %6d ",
// s->dbug_d1, s->dbug_d2, s->dbug_i1, s->dbug_i2, s->dbug_i3);
printf(" ");
for (j=0; j < s->rssi*50/3000; j++) printf("#");
printf ("\n");
#if DECIM_CMP
printf(" ");
show6(snr2, snr2);
show6(snr2, ca_dop2);
show6(snr2, ca_dop-s->ca_dop2);
printf ("\n");
#endif
}
printf("\n");
NextTask("stat1");
printf(" SATS ");
if (gps.tracking) printf("tracking %d", gps.tracking);
if (gps.good) printf(", good %d", gps.good);
printf("\n");
printf(" LAT ");
if (StatLat) printf("%9.5fd %c %3dd %2dm %6.3fs %c ", StatLat, StatNS, lat.u, lat.m, lat.s, StatNS);
if (StatLat) printf("%3dd %6.3fm %c", lat.u, lat.fm, StatNS);
printf("\n");
printf(" LON ");
if (StatLat) printf("%9.5fd %c %3dd %2dm %6.3fs %c ", StatLon, StatEW, lon.u, lon.m, lon.s, StatEW);
if (StatLat) printf("%3dd %6.3fm %c", lon.u, lon.fm, StatEW);
printf("\n");
printf(" ALT ");
if (StatLat) printf("%1.0f m", StatAlt);
printf("\n");
printf(" TIME ");
if (StatDay != -1) printf("%s %02d:%02d:%02.0f GPST", Week[StatDay], hms.u, hms.m, hms.s);
printf("\n");
printf("FIXES ");
if (gps.fixes) printf("%d", gps.fixes);
printf("\n");
printf(" TTFF ");
if (stats_ttff) printf("%d:%02d", stats_ttff / 60, stats_ttff % 60);
printf("\n");
printf(" RUN ");
unsigned r = (timer_ms() - start)/1000;
if (r >= 3600) printf("%02d:", r / 3600);
printf("%02d:%02d", (r / 60) % 60, r % 60);
printf("\n");
printf(" MAP ");
if (StatLat) printf("wikimapia.org/#lang=en&lat=%9.6f&lon=%9.6f&z=18&m=b",
(StatNS=='S')? -StatLat:StatLat, (StatEW=='W')? -StatLon:StatLon);
printf("\n");
printf(" ECPU ");
printf("%4.1f%% cmds %d/%d", ecpu_use(), ecpu_cmds, ecpu_tcmds);
ecpu_cmds = ecpu_tcmds = 0;
printf("\n");
int offset = (int)(adc_clock - adc_clock_nom);
printf(" DECIM: %d FFT: %d -> %d CCF: %5.3fs MIN_SIG: %d ADC_CLK: %.6f %s%d (%d) ACQ: %d",
decim, FFT_LEN, FFT_LEN/decim, fft_msec, min_sig,
adc_clock/1000000.0, (offset >= 0)? "+":"", offset, gps.adc_clk_corr, gps.acquiring);
printf("\n");
printf("\n");
NextTask("stat2");
TaskDump();
}
}
int main(int argc, char *argv[])
{
u2_t *up;
int i;
char s[32];
// enable generation of core file in /tmp
scall("core_pattern", system("echo /tmp/core-%e-%s-%u-%g-%p-%t > /proc/sys/kernel/core_pattern"));
const struct rlimit unlim = { RLIM_INFINITY, RLIM_INFINITY };
scall("setrlimit", setrlimit(RLIMIT_CORE, &unlim));
for (i=1; i<argc; ) {
if (strcmp(argv[i], "-bg")==0) { background_mode = TRUE; bg=1; }
if (strcmp(argv[i], "-off")==0) do_off = 1;
if (strcmp(argv[i], "-down")==0) down = 1;
if (strcmp(argv[i], "+gps")==0) do_gps = 1;
if (strcmp(argv[i], "-gps")==0) do_gps = 0;
if (strcmp(argv[i], "+sdr")==0) do_sdr = 1;
if (strcmp(argv[i], "-sdr")==0) do_sdr = 0;
if (strcmp(argv[i], "+fft")==0) do_fft = 1;
if (strcmp(argv[i], "-stats")==0 || strcmp(argv[i], "+stats")==0) {
if (i+1 < argc && isdigit(argv[i+1][0])) {
i++; print_stats = strtol(argv[i], 0, 0);
} else {
print_stats = 1;
}
}
if (strcmp(argv[i], "-eeprom")==0) create_eeprom = true;
if (strcmp(argv[i], "-cmap")==0) color_map = 1;
if (strcmp(argv[i], "-sim")==0) wf_sim = 1;
if (strcmp(argv[i], "-real")==0) wf_real = 1;
if (strcmp(argv[i], "-time")==0) wf_time = 1;
if (strcmp(argv[i], "-port")==0) { i++; alt_port = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-p")==0) { alt_port = 8074; }
if (strcmp(argv[i], "-dump")==0 || strcmp(argv[i], "+dump")==0) { i++; ev_dump = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-flip")==0) wf_flip = 1;
if (strcmp(argv[i], "-start")==0) wf_start = 1;
if (strcmp(argv[i], "-mult")==0) wf_mult = 1;
if (strcmp(argv[i], "-multgen")==0) wf_mult_gen = 1;
if (strcmp(argv[i], "-wmax")==0) wf_max = 1;
if (strcmp(argv[i], "-olap")==0) wf_olap = 1;
if (strcmp(argv[i], "-meas")==0) meas = 1;
// do_fft
if (strcmp(argv[i], "-none")==0) unwrap = 0;
if (strcmp(argv[i], "-norm")==0) unwrap = 1;
if (strcmp(argv[i], "-rev")==0) unwrap = 2;
if (strcmp(argv[i], "-qi")==0) rev_iq = 1;
if (strcmp(argv[i], "-ineg")==0) ineg = 1;
if (strcmp(argv[i], "-qneg")==0) qneg = 1;
if (strcmp(argv[i], "-file")==0) fft_file = 1;
if (strcmp(argv[i], "-fftsize")==0) { i++; fftsize = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-fftuse")==0) { i++; fftuse = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-np")==0) { i++; noisePwr = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-rcordic")==0) rx_cordic = 1;
if (strcmp(argv[i], "-rcic")==0) rx_cic = 1;
if (strcmp(argv[i], "-rcic2")==0) rx_cic2 = 1;
if (strcmp(argv[i], "-rdump")==0) rx_dump = 1;
if (strcmp(argv[i], "-wcordic")==0) wf_cordic = 1;
if (strcmp(argv[i], "-wcic")==0) wf_cic = 1;
if (strcmp(argv[i], "-clkg")==0) spi_clkg = 1;
if (strcmp(argv[i], "-wspr")==0) { i++; wspr = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-avg")==0) { i++; navg = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-tone")==0) { i++; tone = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-slc")==0) { i++; do_slice = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-rx")==0) { i++; rx_num = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-wf")==0) { i++; wf_num = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-spispeed")==0) { i++; spi_speed = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-spi")==0) { i++; spi_delay = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-ch")==0) { i++; gps_chans = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-y")==0) { i++; rx_yield = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-p0")==0) { i++; p0 = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-p1")==0) { i++; p1 = strtol(argv[i], 0, 0); }
if (strcmp(argv[i], "-p2")==0) { i++; p2 = strtol(argv[i], 0, 0); }
i++;
while (i<argc && ((argv[i][0] != '+') && (argv[i][0] != '-'))) {
i++;
}
}
lprintf("KiwiSDR v%d.%d\n", VERSION_MAJ, VERSION_MIN);
lprintf("compiled: %s %s\n", __DATE__, __TIME__);
cfg_reload(CALLED_FROM_MAIN);
if (!alt_port) {
FILE *fp = fopen("/root/.kiwi_down", "r");
if (fp != NULL) {
fclose(fp);
lprintf("down by lock file\n");
down = 1;
}
}
TaskInit();
bool need_hardware = (do_gps || do_sdr) && !down;
// called early, in case another server already running so we can detect the busy socket and bail
web_server_init(WS_INIT_CREATE);
if (need_hardware) {
peri_init();
fpga_init();
//pru_start();
u2_t ctrl = CTRL_EEPROM_WP;
ctrl_clr_set(0xffff, ctrl);
if (do_off) {
printf("ADC_CLOCK *OFF*\n");
xit(0);
}
#ifdef BUILD_PROTOTYPE
if (!do_gps) // prevent interference to GPS by external ADC clock on prototype
#endif
{
ctrl |= adc_clock_enable? CTRL_OSC_EN : CTRL_ADCLK_GEN;
}
ctrl_clr_set(0, ctrl);
if (ctrl & (CTRL_OSC_EN | CTRL_ADCLK_GEN))
printf("ADC_CLOCK %.6f MHz, CTRL_OSC_EN=%d, CTRL_ADCLK_GEN=%d\n",
adc_clock/MHz, (ctrl&CTRL_OSC_EN)?1:0, (ctrl&CTRL_ADCLK_GEN)?1:0);
else
printf("ADC_CLOCK *OFF*\n");
}
if (do_fft) {
printf("==== IQ %s\n", rev_iq? "reverse":"normal");
if (ineg) printf("==== I neg\n");
if (qneg) printf("==== Q neg\n");
printf("==== unwrap %s\n", (unwrap==0)? "none" : ((unwrap==1)? "normal":"reverse"));
}
rx_server_init();
web_server_init(WS_INIT_START);
if (do_gps) {
if (!GPS_CHANS) panic("no GPS_CHANS configured");
gps_main(argc, argv);
}
#if 0
static int tty;
if (!background_mode) {
tty = open("/dev/tty", O_RDONLY | O_NONBLOCK);
if (tty < 0) sys_panic("open tty");
}
#endif
#if 0
static int tty;
if (!background_mode) {
tty = open("/dev/tty", O_RDONLY | O_NONBLOCK);
if (tty < 0) sys_panic("open tty");
}
#endif
static u64_t stats_deadline = timer_us64() + 1000000;
static u64_t secs;
while (TRUE) {
if (!need_hardware) {
usleep(10000); // pause so we don't hog the machine
NextTask("main usleep");
continue;
}
#if 0
if (!background_mode && (now - last_input) >= 1000) {
#define N_IBUF 32
char ib[N_IBUF+1];
int n = read(tty, ib, N_IBUF);
printf("tty %d\n", n);
if (n >= 1) {
ib[n] = 0;
webserver_collect_print_stats(1);
}
last_input = now;
}
#endif
if ((secs % STATS_INTERVAL_SECS) == 0) {
if (do_sdr) {
webserver_collect_print_stats(!do_gps);
if (!do_gps) nbuf_stat();
}
TaskCheckStacks();
}
NextTask("main stats");
if (!do_gps && print_stats) {
if (!background_mode) {
lprintf("ECPU %4.1f%% cmds %d/%d malloc %d\n",
ecpu_use(), ecpu_cmds, ecpu_tcmds, kiwi_malloc_stat());
ecpu_cmds = ecpu_tcmds = 0;
TaskDump();
printf("\n");
}
}
u64_t now_us = timer_us64();
s64_t diff = stats_deadline - now_us;
if (diff > 0) TaskSleep(diff);
stats_deadline += 1000000;
secs++;
}
}
