Checkpoint

latest/Firmware/.cproject

@@ -905,6 +905,8 @@
                                     								
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@@ -943,6 +945,8 @@
                                     								
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@@ -969,6 +973,8 @@
                                 								
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+                                <option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.printmap.1943968052" name="Print link map (-Xlinker --print-map)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.printmap" useByScannerDiscovery="false" value="true" valueType="boolean"/>
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@@ -1241,6 +1247,8 @@
                                     								
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@@ -1279,6 +1287,8 @@
                                     								
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latest/Firmware/Inc/EventQueue.hpp

@@ -57,8 +57,10 @@ public:
   void dispatch();
 private:
   EventQueue();
-  QueueHandle_t mQueueHandle;
+  //QueueHandle_t mQueueHandle;
-  StaticQueue_t mQueue;
+  //StaticQueue_t mQueue;
+  CircularQueue<Event*> mISRQueue;
+  CircularQueue<Event*> mTaskQueue;
   map<EventConsumer *, uint32_t> mConsumers;
 };
 

latest/Firmware/Inc/RXPacket.hpp

@@ -15,7 +15,7 @@
 
   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <https://www.gnu.org/licenses/>
-*/
+ */
 
 
 #ifndef RXPACKET_HPP_
@@ -70,15 +70,19 @@ private:
   void addBit(uint8_t bit);
   void addBitCRC(uint8_t bit);
 private:
-  uint8_t mPacket[MAX_AIS_RX_PACKET_SIZE/8+1];
+  struct
-  uint16_t mSize;
+  {
-  uint16_t mCRC;
+    uint8_t mPacket[MAX_AIS_RX_PACKET_SIZE/8+1];
-  mutable uint8_t mType;
+    uint16_t mSize;
-  mutable uint8_t mRI;
+    uint16_t mCRC;
-  mutable uint32_t mMMSI;
+    mutable uint8_t mType;
-  uint32_t mSlot;
+    mutable uint8_t mRI;
-  VHFChannel mChannel;
+    mutable uint32_t mMMSI;
-  uint8_t mRSSI;
+    uint32_t mSlot;
+    VHFChannel mChannel;
+    uint8_t mRSSI;
+  }
+  mState;
 };
 
 #endif /* RXPACKET_HPP_ */

latest/Firmware/Inc/RadioManager.hpp

@@ -49,7 +49,6 @@ public:
   void transmitCW(VHFChannel channel);
   VHFChannel alternateChannel(VHFChannel channel);
 
-  void noiseFloorUpdated(VHFChannel channel, uint8_t rssi);
 
 private:
   RadioManager();

latest/Firmware/Inc/Receiver.hpp

@@ -47,9 +47,9 @@ public:
   virtual void startReceiving(VHFChannel channel);
   virtual void onBitClock();
   virtual void timeSlotStarted(uint32_t slot);
-  void startListening(VHFChannel channel);
   void switchToChannel(VHFChannel channel);
-private:
+protected:
+  void startListening(VHFChannel channel);
   bool addBit(uint8_t bit);
   void resetBitScanner();
   uint8_t reportRSSI();

latest/Firmware/Inc/Transceiver.hpp

@@ -47,7 +47,6 @@ public:
   void startListening(VHFChannel channel);
   void transmitCW(VHFChannel channel);
   void processEvent(const Event &);
-  void noiseFloorUpdated(VHFChannel channel, uint8_t rssi);
 
 protected:
   void configure();
@@ -61,7 +60,7 @@ private:
   TXPacket    *mTXPacket;
   time_t      mUTC;
   time_t      mLastTXTime;
-  map<VHFChannel, uint8_t> mNoiseFloorCache;
+  //map<VHFChannel, uint8_t> mNoiseFloorCache;
 };
 
 #endif /* TRANSCEIVER_HPP_ */

latest/Firmware/Src/EventQueue.cpp

@@ -31,7 +31,7 @@
 
 #define EVENT_QUEUE_SIZE  50
 
-static Event* __queue[EVENT_QUEUE_SIZE];
+//static Event* __queue[EVENT_QUEUE_SIZE];
 
 EventQueue &EventQueue::instance()
 {
@@ -40,26 +40,29 @@ EventQueue &EventQueue::instance()
 }
 
 EventQueue::EventQueue()
+  : mISRQueue(25), mTaskQueue(10)
 {
 }
 
 void EventQueue::init()
 {
-  mQueueHandle = xQueueCreateStatic(EVENT_QUEUE_SIZE, sizeof(Event*), (uint8_t*)&__queue[0], &mQueue);
+  //mQueueHandle = xQueueCreateStatic(EVENT_QUEUE_SIZE, sizeof(Event*), (uint8_t*)&__queue[0], &mQueue);
-  configASSERT(mQueueHandle);
+  //configASSERT(mQueueHandle);
 }
 
 void EventQueue::push(Event *e)
 {
-  if ( xTaskGetSchedulerState() != taskSCHEDULER_RUNNING )
+  //if ( xTaskGetSchedulerState() != taskSCHEDULER_RUNNING )
-    return;
+    //return;
 
-  BaseType_t xHighPriorityTaskWoken = pdTRUE;
+  //BaseType_t xHighPriorityTaskWoken = pdTRUE;
   if ( Utils::inISR() )
     {
       //bsp_signal_high();
-      xQueueSendFromISR(mQueueHandle, &e, &xHighPriorityTaskWoken);
+      //xQueueSendFromISR(mQueueHandle, &e, &xHighPriorityTaskWoken);
       //bsp_signal_low();
+      if ( !mISRQueue.push(e) )
+        EventPool::instance().deleteEvent(e);
 #if 0
       if ( xHighPriorityTaskWoken )
         portYIELD_FROM_ISR(xHighPriorityTaskWoken);
@@ -67,7 +70,9 @@ void EventQueue::push(Event *e)
     }
   else
     {
-      xQueueSend(mQueueHandle, &e, 0);
+      //xQueueSend(mQueueHandle, &e, 0);
+      if ( !mTaskQueue.push(e) )
+        EventPool::instance().deleteEvent(e);
     }
 }
 
@@ -89,7 +94,21 @@ void EventQueue::dispatch()
 {
   Event *e = nullptr;
 
-  while ( xQueueReceive(mQueueHandle, &e, 10) == pdTRUE )
+  //while ( xQueueReceive(mQueueHandle, &e, 10) == pdTRUE )
+  while (mISRQueue.pop(e))
+    {
+      for ( map<EventConsumer*, uint32_t>::iterator c = mConsumers.begin(); c != mConsumers.end(); ++c )
+        {
+          if ( c->second & e->type )
+            {
+              c->first->processEvent(*e);
+            }
+        }
+
+      EventPool::instance().deleteEvent(e);
+    }
+
+  while (mTaskQueue.pop(e))
     {
       for ( map<EventConsumer*, uint32_t>::iterator c = mConsumers.begin(); c != mConsumers.end(); ++c )
         {

latest/Firmware/Src/GPS.cpp

@@ -214,12 +214,11 @@ void GPS::parseSentence(const char *buff)
 #ifdef MULTIPLEXED_OUTPUT
   DataTerminal::instance ().write ("NMEA", buff);
 #else
-  //
+  DataTerminal::instance().write(buff);
 #endif
 
   if (sentence.code ().find ("RMC") == 2)
     {
-      DataTerminal::instance().write(buff);
       const vector<string> &fields = sentence.fields ();
 
       /*

latest/Firmware/Src/RXPacket.cpp

@@ -15,13 +15,15 @@
 
   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <https://www.gnu.org/licenses/>
-*/
+ */
 
 
 #include <cassert>
 #include <cstring>
 #include "RXPacket.hpp"
 
+//#define memcpy my_on_steroids_memcpy
+
 
 RXPacket::RXPacket ()
 {
@@ -34,16 +36,18 @@ RXPacket::~RXPacket ()
 
 void RXPacket::setChannel(VHFChannel channel)
 {
-  mChannel = channel;
+  mState.mChannel = channel;
 }
 
 VHFChannel RXPacket::channel() const
 {
-  return mChannel;
+  return mState.mChannel;
 }
 
+#if 1
 RXPacket::RXPacket(const RXPacket &copy)
 {
+#if 0
   memcpy(mPacket, copy.mPacket, sizeof mPacket);
   mSize = copy.mSize;
   mCRC = copy.mCRC;
@@ -53,10 +57,13 @@ RXPacket::RXPacket(const RXPacket &copy)
   mMMSI = copy.mMMSI;
   mSlot = copy.mSlot;
   mChannel = copy.mChannel;
+#endif
+  memcpy(&mState, &copy.mState, sizeof mState);
 }
 
 RXPacket &RXPacket::operator =(const RXPacket &copy)
 {
+#if 0
   memcpy(mPacket, copy.mPacket, sizeof mPacket);
   mSize = copy.mSize;
   mCRC = copy.mCRC;
@@ -66,11 +73,16 @@ RXPacket &RXPacket::operator =(const RXPacket &copy)
   mMMSI = copy.mMMSI;
   mChannel = copy.mChannel;
   mSlot = copy.mSlot;
+#endif
+  memcpy(&mState, &copy.mState, sizeof mState);
   return *this;
 }
+#endif
 
 void RXPacket::reset()
 {
+  mState = {{0}, 0, 0xffff, 0, 0, 0, 0xffffffff, CH_18, 0};
+#if 0
   mType = 0;
   mRI = 0;
   mMMSI = 0;
@@ -79,52 +91,53 @@ void RXPacket::reset()
   mSlot = 0xffffffff;
   mRSSI = 0;
   memset(mPacket, 0, sizeof mPacket);
+#endif
 }
 
 void RXPacket::setSlot(uint32_t slot)
 {
-  mSlot = slot;
+  mState.mSlot = slot;
 }
 
 uint32_t RXPacket::slot() const
 {
-  return mSlot;
+  return mState.mSlot;
 }
 
 
 void RXPacket::setRSSI(uint8_t rssi)
 {
-  mRSSI = rssi;
+  mState.mRSSI = rssi;
 }
 
 uint8_t RXPacket::rssi() const
 {
-  return mRSSI;
+  return mState.mRSSI;
 }
 
 
 void RXPacket::addBit(uint8_t bit)
 {
-  ASSERT(mSize < MAX_AIS_RX_PACKET_SIZE);
+  //ASSERT(mSize < MAX_AIS_RX_PACKET_SIZE);
 
-  uint16_t index = mSize / 8;
+  uint16_t index = mState.mSize / 8;
-  uint8_t offset = mSize % 8;
+  uint8_t offset = mState.mSize % 8;
 
   if ( bit )
-    mPacket[index] |= ( 1 << offset );
+    mState.mPacket[index] |= ( 1 << offset );
   else
-    mPacket[index] &= ~( 1 << offset );
+    mState.mPacket[index] &= ~( 1 << offset );
 
-  ++mSize;
+  ++mState.mSize;
 }
 
 uint8_t RXPacket::bit(uint16_t pos) const
 {
-  if ( pos < mSize ) {
+  if ( pos < mState.mSize ) {
       uint16_t index = pos / 8;
       uint8_t offset = pos % 8;
 
-      return (mPacket[index] & (1 << offset)) != 0;
+      return (mState.mPacket[index] & (1 << offset)) != 0;
   }
   else
     return 0;
@@ -145,17 +158,17 @@ uint32_t RXPacket::bits(uint16_t pos, uint8_t count) const
 
 void RXPacket::addBitCRC(uint8_t data)
 {
-  if ( (data ^ mCRC) & 0x0001 )
+  if ( (data ^ mState.mCRC) & 0x0001 )
-    mCRC = (mCRC >> 1) ^ 0x8408;
+    mState.mCRC = (mState.mCRC >> 1) ^ 0x8408;
   else
-    mCRC >>= 1;
+    mState.mCRC >>= 1;
 }
 
 void RXPacket::addByte(uint8_t byte)
 {
   // The payload is LSB (inverted MSB bytes). This brings it back into MSB format
 
-      addBit(byte & 0x01);
+  addBit(byte & 0x01);
   addBit(byte & 0x02);
   addBit(byte & 0x04);
   addBit(byte & 0x08);
@@ -179,7 +192,7 @@ void RXPacket::addByte(uint8_t byte)
 
 uint16_t RXPacket::size() const
 {
-  return mSize;
+  return mState.mSize;
 }
 
 
@@ -190,26 +203,26 @@ bool RXPacket::isBad() const
    */
 
   //return mSize < 184;
-  return mSize < 32;
+  return mState.mSize < 32;
 }
 
 uint16_t RXPacket::crc() const
 {
-  return mCRC;
+  return mState.mCRC;
 }
 
 void RXPacket::discardCRC()
 {
-  if ( mCRC == 0xffff )
+  if ( mState.mCRC == 0xffff )
     return;
-  mSize -= 16;
+  mState.mSize -= 16;
-  mCRC = 0xffff;
+  mState.mCRC = 0xffff;
 
   // Explicitly set those bits to zero, no matter how they align
   for ( uint8_t i = 0; i < 16; ++i )
     addBit(0);
 
-  mSize -= 16;
+  mState.mSize -= 16;
 }
 
 void RXPacket::addFillBits(uint8_t numBits)
@@ -224,43 +237,43 @@ bool RXPacket::checkCRC() const
 {
   //uint16_t rcrc = ((mCRC & 0xff00) >> 8) | ((mCRC & 0x00ff) << 8);
   //trace_printf("%.4x %.4x %.4x\n", mCRC, ~(mCRC), ~(rcrc));
-  return mCRC == 0xf0b8;
+  return mState.mCRC == 0xf0b8;
 
 }
 
 uint8_t RXPacket::messageType() const
 {
-  if ( mType )
+  if ( mState.mType )
-    return mType;
+    return mState.mType;
 
   for ( int i = 0; i < 6; ++i ) {
-      mType <<= 1;
+      mState.mType <<= 1;
-      mType |= bit(i);
+      mState.mType |= bit(i);
   }
 
-  return mType;
+  return mState.mType;
 }
 
 uint8_t RXPacket::repeatIndicator() const
 {
-  if ( mRI )
+  if ( mState.mRI )
-    return mRI;
+    return mState.mRI;
 
-  mRI = bit(6) << 1 | bit(7);
+  mState.mRI = bit(6) << 1 | bit(7);
-  return mRI;
+  return mState.mRI;
 }
 
 uint32_t RXPacket::mmsi() const
 {
-  if ( mMMSI )
+  if ( mState.mMMSI )
-    return mMMSI;
+    return mState.mMMSI;
 
   for ( int i = 8; i < 38; ++i ) {
-      mMMSI <<= 1;
+      mState.mMMSI <<= 1;
-      mMMSI |= bit(i);
+      mState.mMMSI |= bit(i);
   }
 
-  return mMMSI;
+  return mState.mMMSI;
 }
 
 

latest/Firmware/Src/RadioManager.cpp

@@ -180,14 +180,6 @@ void RadioManager::sendTestPacketNow(TXPacket *packet)
     }
 }
 
-void RadioManager::noiseFloorUpdated(VHFChannel channel, uint8_t rssi)
-{
-  if ( mTransceiverIC )
-    {
-      mTransceiverIC->noiseFloorUpdated(channel, rssi);
-    }
-}
-
 void rxClockCB()
 {
   RadioManager::instance().onBitClock(2);

latest/Firmware/Src/Receiver.cpp

@@ -56,6 +56,8 @@ bool Receiver::init()
   //DBG("Configuring IC\r\n");
   configure();
   resetBitScanner();
+  //configureGPIOsForRX();
+
   return true;
 }
 
@@ -72,6 +74,7 @@ void Receiver::switchToChannel(VHFChannel channel)
   mSwitchToChannel = channel;
 }
 
+// TODO: This is a really, really long operation - over 150us !!!
 void Receiver::startListening(VHFChannel channel)
 {
   configureGPIOsForRX();
@@ -106,6 +109,7 @@ void Receiver::onBitClock()
   if ( gRadioState == RADIO_TRANSMITTING )
     return;
 
+  bsp_signal_high();
 
   uint8_t bit = HAL_GPIO_ReadPin(mDataPort, mDataPin);
   processNRZIBit(bit);
@@ -118,6 +122,7 @@ void Receiver::onBitClock()
 #else
   ++mSlotBitNumber;
 #endif
+  bsp_signal_low();
 }
 
 void Receiver::timeSlotStarted(uint32_t slot)
@@ -245,61 +250,36 @@ bool Receiver::addBit(uint8_t bit)
 
 void Receiver::pushPacket()
 {
-  //bsp_signal_high();
-#ifndef TX_TEST_MODE
   Event *p = EventPool::instance().newEvent(AIS_PACKET_EVENT);
   if ( p )
     {
+      bsp_signal_high();
       p->rxPacket = mRXPacket;
+      bsp_signal_low();
       EventQueue::instance().push(p);
     }
   mRXPacket.reset();
-#else
-  mRXPacket.reset();
-#endif
-  //bsp_signal_low();
 }
 
 uint8_t Receiver::reportRSSI()
 {
   uint8_t rssi = readRSSI();
-
-#if 0
-  Event e(RSSI_SAMPLE_EVENT);
-  e.rssiSample.channel = mChannel;
-  e.rssiSample.rssi = rssi;
-  EventQueue::instance().push(e);
-#endif
-
-
   char channel = AIS_CHANNELS[mChannel].designation;
   NoiseFloorDetector::instance().report(channel, rssi);
-
   return rssi;
 }
 
 void Receiver::configureGPIOsForRX()
 {
-  /*
-   * Configure radio GPIOs for RX:
-   * GPIO 0: Don't care
-   * GPIO 1: RX_DATA
-   * GPIO 2: Don't care
-   * GPIO 3: RX_TX_DATA_CLK
-   * NIRQ  : SYNC_WORD_DETECT
-   */
-
   GPIO_PIN_CFG_PARAMS gpiocfg;
   gpiocfg.GPIO0 = 0x00;       // No change
   gpiocfg.GPIO1 = 0x14;       // RX data bits
   gpiocfg.GPIO2 = 0x00;       // No change
   gpiocfg.GPIO3 = 0x1F;       // RX/TX data clock
-  gpiocfg.NIRQ  = 0x1A;       // Sync word detect
+  gpiocfg.NIRQ  = 0x00;       // Nothing
   gpiocfg.SDO   = 0x00;       // No change
   gpiocfg.GENCFG = 0x00;      // No change
   sendCmd(GPIO_PIN_CFG, &gpiocfg, sizeof gpiocfg, &gpiocfg, sizeof gpiocfg);
-
-  bsp_set_rx_mode();
 }
 
 

latest/Firmware/Src/Transceiver.cpp

@@ -88,11 +88,6 @@ void Transceiver::processEvent(const Event &e)
   }
 }
 
-void Transceiver::noiseFloorUpdated(VHFChannel channel, uint8_t rssi)
-{
-  mNoiseFloorCache[channel] = rssi;
-}
-
 void Transceiver::transmitCW(VHFChannel channel)
 {
   startReceiving(channel);
@@ -147,15 +142,6 @@ void Transceiver::configureGPIOsForTX(tx_power_level powerLevel)
 {
   bsp_set_tx_mode();
 
-  /*
-   * Configure radio GPIOs for TX:
-   * GPIO 0: Don't care
-   * GPIO 1: INPUT of TX bits
-   * GPIO 2: Don't care
-   * GPIO 3: RX_TX_DATA_CLK
-   * NIRQ  : SYNC_WORD_DETECT
-   */
-
   GPIO_PIN_CFG_PARAMS gpiocfg;
   gpiocfg.GPIO0 = 0x20;       // TX_STATE; low during RX and high during TX
   gpiocfg.GPIO1 = 0x04;       // Input
@@ -329,21 +315,12 @@ void Transceiver::configureGPIOsForRX()
 {
   bsp_set_rx_mode();
 
-  /*
-   * Configure radio GPIOs for RX:
-   * GPIO 0: TX_STATE
-   * GPIO 1: RX_DATA
-   * GPIO 2: RX_TX_DATA_CLK
-   * GPIO 3: RX_STATE
-   * NIRQ  : SYNC_WORD_DETECT
-   */
-
   GPIO_PIN_CFG_PARAMS gpiocfg;
   gpiocfg.GPIO0 = 0x20;       // TX_STATE; low during RX and high during TX
   gpiocfg.GPIO1 = 0x14;       // RX data bits
   gpiocfg.GPIO2 = 0x1F;       // RX/TX data clock
   gpiocfg.GPIO3 = 0x21;       // RX_STATE; high during RX and low during TX
-  gpiocfg.NIRQ  = 0x1A;       // Sync word detect
+  gpiocfg.NIRQ  = 0x00;       // Nothing
   gpiocfg.SDO   = 0x00;       // No change
   gpiocfg.GENCFG = 0x00;      // No change
   sendCmd(GPIO_PIN_CFG, &gpiocfg, sizeof gpiocfg, &gpiocfg, sizeof gpiocfg);