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CubeSatSim
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added same as chat

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pull/1/head
Alan Johnston 7 years ago
parent 6596cf0f0a
commit 60c0a86991
6 changed files with 509 additions and 0 deletions
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118
cw/.cproject
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cw/cw_main.c
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// Copyright (c) 2018 Brandenburg Tech, LLC
// All right reserved.
//
// THIS SOFTWARE IS PROVIDED BY BRANDENBURG TECH, LLC AND CONTRIBUTORS
// ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL BRANDENBURT TECH, LLC
// AND CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
// OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
// OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <axradio/axradioinit_p.h>
#include <axradio/axradiomode_p.h>
#include <axradio/axradiorx_p.h>
#include <axradio/axradiotx_p.h>
#include <generated/configtx.h>
#include <pthread.h>
#include <semaphore.h>
#include <spi/ax5043spi_p.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#define MAX_MESSAGE_LENGTH (197)
extern uint8_t axradio_rxbuffer[];
void *receive(void *arg);
void *transmit(void *arg);
size_t get_message(uint8_t *buffer, size_t avail);
enum RadioState {UnknownState, RxState, TxState};
enum RadioState currentState = UnknownState;
enum ReceiveState {WaitingForNewPacket, WaitingForPacketCounter1,
WaitingForPacketCounter2, WaitingForMessageLength1,
WaitingForMessageLength2, WaitingForMessage,
WaitingForChecksum1, WaitingForChecksum2};
int main(void)
{
uint8_t retVal;
// Configure SPI bus to AX5043
setSpiChannel(SPI_CHANNEL);
setSpiSpeed(SPI_SPEED);
initializeSpi();
// Initialize the AX5043
retVal = axradio_init();
if (retVal == AXRADIO_ERR_NOCHIP) {
fprintf(stderr, "ERROR: No AX5043 RF chip found\n");
exit(EXIT_FAILURE);
}
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to initialize AX5043\n");
exit(EXIT_FAILURE);
}
printf("INFO: Found and initialized AX5043\n");
int result;
sem_t ax5043_sem;
result = sem_init(&ax5043_sem, 0, 1);
if (result != 0) {
fprintf(stderr, "ERROR: Unable to create semaphore with error %s\n", strerror(errno));
exit(EXIT_FAILURE);
}
pthread_t receive_thread;
result = pthread_create(&receive_thread, NULL, receive, (void *)&ax5043_sem);
if (result != 0) {
fprintf(stderr, "ERROR: Unable to spawn receive thread with error %s\n", strerror(errno));
exit(EXIT_FAILURE);
}
pthread_t transmit_thread;
result = pthread_create(&transmit_thread, NULL, transmit, (void *)&ax5043_sem);
if (result != 0) {
fprintf(stderr, "ERROR: Unable to spawn transmit thread with error %s\n", strerror(errno));
exit(EXIT_FAILURE);
}
void *transmit_result;
result = pthread_join(transmit_thread, &transmit_result);
if (result != 0) {
fprintf(stderr, "ERROR: Unable to wait for transmit thread to finish with error %s\n", strerror(errno));
exit(EXIT_FAILURE);
}
sem_destroy(&ax5043_sem);
return 0;
}
void *receive(void *arg) {
sem_t *sem;
sem = (sem_t *)arg;
uint8_t retVal;
uint16_t packetNumber;
uint16_t messageLength;
uint16_t checksum;
char ch;
enum ReceiveState currentReceiveState = WaitingForNewPacket;
for (;;) {
int result;
result = sem_wait(sem);
if (result != 0) {
fprintf(stderr, "Failed to wait on semaphore with error %s\n", strerror(errno));
exit(EXIT_FAILURE);
}
// Enter receive mode only if not already in receive mode
if (currentState != RxState) {
retVal = mode_rx();
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to enter RX mode\n");
exit(EXIT_FAILURE);
}
currentState = RxState;
}
retVal = receive_packet();
if (retVal > 0) {
uint8_t counter = 0;
while (retVal-- > 0) {
switch(currentReceiveState) {
case WaitingForNewPacket:
printf("Pkt Len: %d ", (int)axradio_rxbuffer[counter++]);
currentReceiveState = WaitingForPacketCounter1;
break;
case WaitingForPacketCounter1:
packetNumber = (int)axradio_rxbuffer[counter++];
currentReceiveState = WaitingForPacketCounter2;
break;
case WaitingForPacketCounter2:
packetNumber |= (uint16_t)(axradio_rxbuffer[counter++] << 8);
printf("Pkt Num: %d ", (int)packetNumber);
currentReceiveState = WaitingForMessageLength1;
break;
case WaitingForMessageLength1:
messageLength = (int)axradio_rxbuffer[counter++];
currentReceiveState = WaitingForMessageLength2;
break;
case WaitingForMessageLength2:
messageLength |= (uint16_t)(axradio_rxbuffer[counter++] << 8);
printf("Msg Len: %d ", (int)messageLength);
currentReceiveState = WaitingForMessage;
break;
case WaitingForMessage:
ch = (char)axradio_rxbuffer[counter++];
if (ch != '\n') {
printf("%c", ch);
}
else {
printf(" ");
currentReceiveState = WaitingForChecksum1;
}
break;
case WaitingForChecksum1:
checksum = (int)axradio_rxbuffer[counter++];
currentReceiveState = WaitingForChecksum2;
break;
case WaitingForChecksum2:
checksum |= (uint16_t)(axradio_rxbuffer[counter++] << 8);
printf("(Chksum: %d)\n", (int)checksum);
currentReceiveState = WaitingForNewPacket;
break;
default:
fprintf(stderr, "ERROR: Unknown state in receive state machine\n");
exit(EXIT_FAILURE);
break;
}
}
fflush(stdout);
}
result = sem_post(sem);
if (result != 0) {
fprintf(stderr, "Failed to post on semaphore with error %s\n", strerror(errno));
exit(EXIT_FAILURE);
}
usleep(25000);
}
return NULL;
}
void *transmit(void *arg) {
sem_t *sem;
sem = (sem_t *)arg;
uint8_t retVal;
for (;;) {
int result;
// allocate space for the buffer
static uint8_t packet[MAX_MESSAGE_LENGTH + 1];
uint16_t pkt_counter;
++pkt_counter;
// Calculate the number of reserved bytes at the beginning of the packet
size_t reserved_space = 0;
// if transmitting a packet counter, reserve two bytes
if (framing_insert_counter) {
reserved_space += 2;
}
// reserve two bytes for the overall length of the packet including the
// packet counter, if present, and the field containing the length
reserved_space += 2;
// get a message to transmit.
size_t msg_length = get_message(&packet[reserved_space], (MAX_MESSAGE_LENGTH + 1) - reserved_space);
// if message consists only of a newline, terminate
if (msg_length <= 1) {
break;
}
if (framing_insert_counter) {
packet[framing_counter_pos] = (uint8_t)(pkt_counter & 0xFF);
packet[framing_counter_pos+1] = (uint8_t)((pkt_counter>>8) & 0xFF);
// include the message length
packet[framing_counter_pos+2] = msg_length & 0xFF ;
packet[framing_counter_pos+3] = (msg_length>>8) & 0xFF;
}
else { // only include the message length
packet[framing_counter_pos] = msg_length & 0xFF ;
packet[framing_counter_pos+1] = (msg_length>>8) & 0xFF;
}
result = sem_wait(sem);
if (result != 0) {
fprintf(stderr, "Failed to wait on semaphore with error %s\n", strerror(errno));
exit(EXIT_FAILURE);
}
// Enter transmit mode only if not already in receive mode
if (currentState != TxState) {
retVal = mode_tx();
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to enter TX mode\n");
exit(EXIT_FAILURE);
}
currentState = TxState;
}
//printf("INFO: Sending another packet...\n");
//printf("DEBUG: msg_length = %d\n", msg_length);
//printf("DEBUG: reserved_space = %d\n", reserved_space);
retVal = transmit_packet(&remoteaddr_tx, packet, (uint16_t)(msg_length + reserved_space));
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to transmit a packet\n");
exit(EXIT_FAILURE);
}
result = sem_post(sem);
if (result != 0) {
fprintf(stderr, "Failed to post on semaphore with error %s\n", strerror(errno));
exit(EXIT_FAILURE);
}
usleep(200000);
}
return NULL;
}
size_t get_message(uint8_t *buffer, size_t avail) {
static int instructionsPrinted = 0;
// obtain a line of text. We state the message is limited to avail-2 to
// leave space for the newline and the null terminator
if (!instructionsPrinted) {
printf("Please enter your message, up to %d characters\n (empty message to terminate the program):\n", (int)(avail-2));
instructionsPrinted = 1;
}
fgets((char *)buffer, (int)avail, stdin);
// check for end-of-file (for redirecting stdin)
if (feof(stdin)) {
buffer[0] = '\n';
buffer[1] = 0;
}
// If the newline isn't present, the message is too long
//printf("DEBUG: ***%s***\n", buffer);
if (buffer[strlen((char *)buffer) - 1] != '\n') {
buffer[strlen((char *)buffer) - 1] = '\n';
printf("WARNING: message too long. It will be truncated to\n%s", (char *)buffer);
// If the newline isn't in the buffer, read characters from the keyboard buffer to the newline
int c;
do {
c = getchar();
} while (c != '\n' && c != EOF);
}
//printf("DEBUG: ***%s***\n", buffer);
return strlen((char *)buffer);
}
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