Compiles, not tested yet

latest/Firmware/Inc/EventQueue.hpp

@@ -24,6 +24,8 @@
 #include <map>
 #include "CircularQueue.hpp"
 #include "Events.hpp"
+#include "FreeRTOS.h"
+#include "queue.h"
 
 using namespace std;
 
@@ -45,18 +47,18 @@ public:
   void removeObserver(EventConsumer *c);
 
   /*
-   * We push events here to be processed by the main thread
+   * We push events here to be processed by the dispatching task
    */
-  void push(Event* event);
+  void push(const Event &event);
 
   /*
-   * This method must be called repeatedly by main() (never an ISR!!!!!!)
+   * This method must be called repeatedly by an RTOS task or main() (never an ISR)
    */
   void dispatch();
 private:
   EventQueue();
-  CircularQueue<Event*> *mISRQueue;           // Exclusively used by ISRs
+  QueueHandle_t mQueueHandle;
-  CircularQueue<Event*> *mThreadQueue;        // Exclusively used by the (only) thread
+  StaticQueue_t mQueue;
   map<EventConsumer *, uint32_t> mConsumers;
 };
 

latest/Firmware/Inc/Events.hpp

@@ -77,6 +77,12 @@ public:
   : type(UNKNOWN_EVENT), flags(0) {
   }
 
+  Event(EventType t)
+  : type(t), flags(0)
+  {
+
+  }
+
   RXPacket rxPacket;
 
   union {
@@ -102,6 +108,7 @@ public:
   virtual void processEvent(const Event &event)=0;
 };
 
+#if 0
 class EventPool
 {
 public:
@@ -117,6 +124,6 @@ private:
   ObjectPool<Event> *mISRPool;
   ObjectPool<Event> *mThreadPool;
 };
-
+#endif
 
 #endif /* EVENTS_HPP_ */

latest/Firmware/Src/Configuration.cpp

@@ -66,8 +66,8 @@ void Configuration::reportStationData()
   if ( !readStationData(d) )
     memset(&d, 0, sizeof d);
 
-  Event *e = EventPool::instance().newEvent(PROPR_NMEA_SENTENCE);
+  Event e(PROPR_NMEA_SENTENCE);
-  sprintf(e->nmeaBuffer.sentence,
+  sprintf(e.nmeaBuffer.sentence,
       "$PAISTN,%lu,%s,%s,%d,%d,%d,%d,%d*",
       d.mmsi,
       d.name,
@@ -77,7 +77,7 @@ void Configuration::reportStationData()
       d.beam,
       d.portOffset,
       d.bowOffset);
-  Utils::completeNMEA(e->nmeaBuffer.sentence);
+  Utils::completeNMEA(e.nmeaBuffer.sentence);
   EventQueue::instance().push(e);
 }
 

latest/Firmware/Src/DataTerminal.cpp

@@ -111,12 +111,9 @@ void termInputCB(char c)
   else if ( c == '\n' )
     {
       __rxbuff[__rxpos++] = 0;
-      Event *e = EventPool::instance().newEvent(COMMAND_EVENT);
+      Event e(COMMAND_EVENT);
-      if ( e )
+      strncpy(e.command.buffer, __rxbuff, sizeof e.command.buffer);
-        {
+      EventQueue::instance().push(e);
-          memcpy(e->command.buffer, __rxbuff, sizeof __rxbuff);
-          EventQueue::instance().push(e);
-        }
     }
 }
 

latest/Firmware/Src/EventQueue.cpp

@@ -19,13 +19,18 @@
 
 
 #include "EventQueue.hpp"
-#include <cassert>
 #include <stm32l4xx.h>
 
 #include "printf_serial.h"
 #include "printf_serial.h"
 #include "Utils.hpp"
+#include "FreeRTOS.h"
+#include "queue.h"
+#include "task.h"
 
+#define EVENT_QUEUE_SIZE  40
+
+static Event __queue[EVENT_QUEUE_SIZE];
 
 EventQueue &EventQueue::instance()
 {
@@ -35,34 +40,23 @@ EventQueue &EventQueue::instance()
 
 EventQueue::EventQueue()
 {
-  mISRQueue = new CircularQueue<Event*>(40);
+  mQueueHandle = xQueueCreateStatic(EVENT_QUEUE_SIZE, sizeof(Event), (uint8_t*)&__queue[0], &mQueue);
-  mThreadQueue = new CircularQueue<Event*>(40);
 }
 
 void EventQueue::init()
 {
 }
 
-void EventQueue::push(Event *event)
+void EventQueue::push(const Event &e)
 {
-  /*
+  BaseType_t xHighPriorityTaskWoken = pdFALSE;
-   * For mISRQueue, interrupt context is the "producer", and the thread is the "consumer".
-   * For mThreadQueue, the thread is both the producer and the consumer, so all access is serialized.
-   */
-  ASSERT(event);
   if ( Utils::inISR() )
     {
-      if ( !mISRQueue->push(event) )
+      xQueueSendFromISR(mQueueHandle, &e, &xHighPriorityTaskWoken);
-        {
-          EventPool::instance().deleteEvent(event);
-        }
     }
   else
     {
-      if ( !mThreadQueue->push(event) )
+      xQueueSend(mQueueHandle, &e, 0);
-        {
-          EventPool::instance().deleteEvent(event);
-        }
     }
 }
 
@@ -82,27 +76,18 @@ void EventQueue::removeObserver(EventConsumer *c)
 
 void EventQueue::dispatch()
 {
-  //ASSERT(!Utils::inISR());
+  Event e;
 
-  Event *e = nullptr;
+  while ( xQueueReceive(mQueueHandle, &e, 0) == pdTRUE )
-
-  // This is safe to do as interrupt context never pops this queue!
-  while ( mISRQueue->pop(e) )
-    {
-      mThreadQueue->push(e);
-    }
-
-  if ( mThreadQueue->pop(e) )
     {
       for ( map<EventConsumer*, uint32_t>::iterator c = mConsumers.begin(); c != mConsumers.end(); ++c )
         {
-          if ( c->second & e->type )
+          if ( c->second & e.type )
             {
-              c->first->processEvent(*e);
+              c->first->processEvent(e);
             }
         }
 
-      EventPool::instance().deleteEvent(e);
     }
 }
 

latest/Firmware/Src/Events.cpp

@@ -19,10 +19,9 @@
 
 
 #include "Events.hpp"
-#include <algorithm>
 #include "printf_serial.h"
 
-
+#if 0
 EventPool &EventPool::instance()
 {
   static EventPool __instance;
@@ -82,3 +81,4 @@ uint32_t EventPool::utilization()
 {
   return std::max(mISRPool->utilization(), mThreadPool->utilization());
 }
+#endif

latest/Firmware/Src/GPS.cpp

@@ -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/>
-*/
+ */
 
 
 #include "GPS.hpp"
@@ -112,12 +112,9 @@ void GPS::onRX(char c)
   else if (c == '\n')
     {
       mBuff[mBuffPos] = 0;
-      Event *event = EventPool::instance().newEvent(GPS_NMEA_SENTENCE);
+      Event event(GPS_NMEA_SENTENCE);
-      if ( event )
+      strncpy(event.nmeaBuffer.sentence, mBuff, sizeof event.nmeaBuffer.sentence);
-        {
+      EventQueue::instance ().push(event);
-          memcpy(event->nmeaBuffer.sentence, mBuff, sizeof event->nmeaBuffer.sentence);
-          EventQueue::instance ().push (event);
-        }
       mBuffPos = 0;
       mBuff[mBuffPos] = 0;
     }
@@ -171,12 +168,9 @@ void GPS::onPPS()
         }
     }
 
-  Event *event = EventPool::instance().newEvent(CLOCK_EVENT);
+  Event event(CLOCK_EVENT);
-  if ( event )
+  event.clock.utc = mUTC;
-    {
+  EventQueue::instance ().push(event);
-      event->clock.utc = mUTC;
-      EventQueue::instance ().push(event);
-    }
 }
 
 void GPS::processEvent(const Event &event)
@@ -258,16 +252,13 @@ void GPS::parseSentence(const char *buff)
           mLng = Utils::longitudeFromNMEA (sentence.fields()[5], sentence.fields()[6]);
           mSpeed = atof(sentence.fields()[7].c_str());
           mCOG = atof(sentence.fields()[8].c_str());
-          Event *event = EventPool::instance ().newEvent(GPS_FIX_EVENT);
+          Event event(GPS_FIX_EVENT);
-          if (event)
+          event.gpsFix.utc = mUTC;
-            {
+          event.gpsFix.lat = mLat;
-              event->gpsFix.utc = mUTC;
+          event.gpsFix.lng = mLng;
-              event->gpsFix.lat = mLat;
+          event.gpsFix.speed = mSpeed;
-              event->gpsFix.lng = mLng;
+          event.gpsFix.cog = mCOG;
-              event->gpsFix.speed = mSpeed;
+          EventQueue::instance().push (event);
-              event->gpsFix.cog = mCOG;
-              EventQueue::instance().push (event);
-            }
         }
     }
 }

latest/Firmware/Src/RXPacketProcessor.cpp

@@ -76,15 +76,12 @@ void RXPacketProcessor::processEvent(const Event &e)
                       case 18:
                       case 24:
                         {
-                          Event *ie = EventPool::instance().newEvent(INTERROGATION_EVENT);
+                          Event ie(INTERROGATION_EVENT);
-                          if (ie)
+                          ie.interrogation.channel = e.rxPacket.channel();
-                            {
+                          ie.interrogation.messageType = target.messageType;
-                              ie->interrogation.channel = e.rxPacket.channel();
-                              ie->interrogation.messageType = target.messageType;
 
-                              //printf2("Scheduling message %d in response to interrogation\r\n", ie->interrogation.messageType);
+                          //printf2("Scheduling message %d in response to interrogation\r\n", ie->interrogation.messageType);
-                              EventQueue::instance().push(ie);
+                          EventQueue::instance().push(ie);
-                            }
                           break;
                         }
                       default:

latest/Firmware/Src/Receiver.cpp

@@ -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/>
-*/
+ */
 
 
 #include "Receiver.hpp"
@@ -121,7 +121,7 @@ void Receiver::timeSlotStarted(uint32_t slot)
   // This should never be called while transmitting. Transmissions start after the slot boundary and end before the end of it.
   //assert(gRadioState == RADIO_RECEIVING);
   //if ( gRadioState != RADIO_RECEIVING )
-    //DBG("    **** WTF??? Transmitting past slot boundary? **** \r\n");
+  //DBG("    **** WTF??? Transmitting past slot boundary? **** \r\n");
 
   mSlotBitNumber = 0;
   if ( mBitState == BIT_STATE_IN_PACKET )
@@ -242,14 +242,8 @@ bool Receiver::addBit(uint8_t bit)
 void Receiver::pushPacket()
 {
 #ifndef TX_TEST_MODE
-  Event *p = EventPool::instance().newEvent(AIS_PACKET_EVENT);
+  Event p(AIS_PACKET_EVENT);
-  if ( p == nullptr )
+  p.rxPacket = mRXPacket;
-    {
-      //DBG("AISPacket allocation failed\r\n");
-      return;
-    }
-
-  p->rxPacket = mRXPacket;
   mRXPacket.reset();
   EventQueue::instance().push(p);
 #else
@@ -260,13 +254,10 @@ void Receiver::pushPacket()
 uint8_t Receiver::reportRSSI()
 {
   uint8_t rssi = readRSSI();
-  Event *e = EventPool::instance().newEvent(RSSI_SAMPLE_EVENT);
+  Event e(RSSI_SAMPLE_EVENT);
-  if ( e )
+  e.rssiSample.channel = mChannel;
-    {
+  e.rssiSample.rssi = rssi;
-      e->rssiSample.channel = mChannel;
+  EventQueue::instance().push(e);
-      e->rssiSample.rssi = rssi;
-      EventQueue::instance().push(e);
-    }
   return rssi;
 }
 

latest/Firmware/Src/SystickTimer.cpp

@@ -40,10 +40,8 @@ void SystickTimer::onTick()
   if ( mTickCounter == 1000 )
     {
       mTickCounter = 0;
-      Event *e = EventPool::instance().newEvent(ONE_SEC_TIMER_EVENT);
+      Event e(ONE_SEC_TIMER_EVENT);
-      if ( e )
+      EventQueue::instance().push(e);
-    	  EventQueue::instance().push(e);
-      //DBG("One second tick\r\n");
       ++mSecondCounter;
     }
 
@@ -51,9 +49,8 @@ void SystickTimer::onTick()
     {
       mSecondCounter = 0;
       //DBG("One minute mark\r\n");
-      Event *e = EventPool::instance().newEvent(ONE_MIN_TIMER_EVENT);
+      Event e(ONE_MIN_TIMER_EVENT);
-      if ( e )
+      EventQueue::instance().push(e);
-    	  EventQueue::instance().push(e);
     }
 }
 

latest/Firmware/Src/TXPacket.cpp

@@ -32,14 +32,14 @@ void TXPacket::configure(VHFChannel channel)
 {
   mTestPacket = false;
   mChannel  = channel;
-  strcpy(mMessageType, "--");
+  memset(mMessageType, 0, sizeof mMessageType);
 }
 
 void TXPacket::configureForTesting(VHFChannel channel, uint16_t numBits)
 {
   mTestPacket = true;
   mChannel  = channel;
-  strcpy(mMessageType, "--");
+  strcpy(mMessageType, "00");
   mSize = numBits;
 }
 

latest/Firmware/Src/Transceiver.cpp

@@ -349,12 +349,10 @@ void Transceiver::configureGPIOsForRX()
 
 void Transceiver::reportTXEvent()
 {
-  Event *e = EventPool::instance().newEvent(PROPR_NMEA_SENTENCE);
+  Event e(PROPR_NMEA_SENTENCE);
-  if ( !e )
-    return;
 
-  sprintf(e->nmeaBuffer.sentence, "$PAITX,%c,%s*", AIS_CHANNELS[mTXPacket->channel()].designation, mTXPacket->messageType());
+  snprintf(e.nmeaBuffer.sentence, sizeof e.nmeaBuffer.sentence, "$PAITX,%c,%s*", AIS_CHANNELS[mTXPacket->channel()].designation, mTXPacket->messageType());
 
-  Utils::completeNMEA(e->nmeaBuffer.sentence);
+  Utils::completeNMEA(e.nmeaBuffer.sentence);
   EventQueue::instance().push(e);
 }

latest/Firmware/Src/main.cpp

@@ -71,7 +71,7 @@ void determineCauseOfReset()
 void mainTask(void *params)
 {
   EventQueue::instance().init();
-  EventPool::instance().init();
+  //EventPool::instance().init();
   Configuration::instance().init();
   CommandProcessor::instance().init();
   DataTerminal::instance().init();
@@ -134,7 +134,7 @@ int main(void)
   bsp_hw_init();
 
   TaskHandle_t xHandle;
-  xTaskCreate(mainTask, "main", 256u, NULL, 5, &xHandle);
+  xTaskCreate(mainTask, "main", 1024u, NULL, 5, &xHandle);
   xPortStartScheduler();
 
 #if 0

latest/Firmware/Src/printf_serial.cpp

@@ -50,13 +50,11 @@ void printf_serial(const char *format, ...)
 {
   if ( Utils::inISR() )
     {
-      Event *e = EventPool::instance().newEvent(DEBUG_EVENT);
+      Event e(DEBUG_EVENT);
-      if ( e == nullptr )
-        return;
 
       va_list list;
       va_start(list, format);
-      vsnprintf(e->debugMessage.buffer, sizeof e->debugMessage, format, list);
+      vsnprintf(e.debugMessage.buffer, sizeof e.debugMessage, format, list);
       va_end(list);
 
       EventQueue::instance().push(e);