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fixed sending
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@sweetpi
sweetpi committed Oct 12, 2014
1 parent 27dc45e commit d69d411
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Showing 2 changed files with 107 additions and 34 deletions.
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141 changes: 107 additions & 34 deletions vhduino.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,9 +22,8 @@ pthread_t pth;

void attachInterrupt(uint8_t _interrput_pin, void (*ic)(void), int mode) {
interruptCallback = ic;
wiringXISR(_interrput_pin, INT_EDGE_BOTH);
interrupt_pin = _interrput_pin;
wiringXISR(interrupt_pin, INT_EDGE_BOTH);
pthread_create(&pth, NULL, interrupt, NULL);
}

unsigned long micros(void) {
Expand All @@ -33,48 +32,65 @@ unsigned long micros(void) {
return 1000000 * (unsigned int)tv.tv_sec + (unsigned int)tv.tv_usec;
}


void realtime() {
void enableRealtime() {
// Lock memory to ensure no swapping is done.
if(mlockall(MCL_FUTURE|MCL_CURRENT)){
fprintf(stderr,"WARNING: Failed to lock memory\n");
}

// Set our thread to real time priority
struct sched_param sp;
struct sched_param sp;
sp.sched_priority = 30;
if(pthread_setschedparam(pthread_self(), SCHED_FIFO, &sp)){
fprintf(stderr,"WARNING: Failed to set thread to real-time priority\n");
}
}

void disableRealtime() {
struct sched_param sp;
sp.sched_priority = 0;
if(pthread_setschedparam(pthread_self(), SCHED_OTHER, &sp)){
fprintf(stderr,"WARNING: Failed to set thread to lower priority\n");
}
}


unsigned int sending_timings_size;
unsigned int sending_timings[256];
unsigned int transmitter_pin;
unsigned int sending_repeats;
bool sending = false;
pthread_mutex_t print_mutex = PTHREAD_MUTEX_INITIALIZER;


void *interrupt(void *param) {
realtime();
enableRealtime();
while(1) {
waitForInterrupt(interrupt_pin, 10000);
interruptCallback();
if(RFControl::hasData()) {
unsigned int *timings;
unsigned int timings_size;
RFControl::getRaw(&timings, &timings_size);
unsigned int buckets[8];
RFControl::compressTimings(buckets, timings, timings_size);
printf("RF receive ");
for(unsigned int i=0; i < 8; i++) {
printf("%d ",buckets[i]);
}
for(unsigned int i=0; i < timings_size; i++) {
printf("%d", timings[i]);
if(sending) {
RFControl::sendByTimings(transmitter_pin, sending_timings, sending_timings_size, sending_repeats);
sending = false;
}
if(interrupt_pin != -1) {
waitForInterrupt(interrupt_pin, 1000);
interruptCallback();
if(RFControl::hasData()) {
unsigned int *timings;
unsigned int timings_size;
RFControl::getRaw(&timings, &timings_size);
unsigned int buckets[8];
RFControl::compressTimings(buckets, timings, timings_size);
printf("RF receive ");
for(unsigned int i=0; i < 8; i++) {
printf("%d ",buckets[i]);
}
for(unsigned int i=0; i < timings_size; i++) {
printf("%d", timings[i]);
}
printf("\n");
RFControl::continueReceiving();
}
printf("\n");
RFControl::continueReceiving();
} else {
usleep(500);
}
// int duration = irq_read(1);
// printf("d: %d\n", duration);
}
}

Expand Down Expand Up @@ -115,14 +131,14 @@ void rfcontrol_command_send() {
argument_error();
return;
}
int transmitter_pin = atoi(arg);
transmitter_pin = atoi(arg);

arg = strtok(NULL, delimiter);
if(arg == NULL) {
argument_error();
return;
}
int repeats = atoi(arg);
sending_repeats = atoi(arg);

// read pulse lengths
unsigned int buckets[8];
Expand All @@ -140,13 +156,16 @@ void rfcontrol_command_send() {
argument_error();
return;
}
unsigned int timings_size = strlen(arg);
unsigned int timings[timings_size];
for(unsigned int i = 0; i < timings_size; i++) {
sending_timings_size = strlen(arg);
for(unsigned int i = 0; i < sending_timings_size; i++) {
unsigned int index = arg[i] - '0';
timings[i] = buckets[index];
sending_timings[i] = buckets[index];
}
sending = true;
//wait till message was send
while(sending) {
usleep(500);
}
RFControl::sendByTimings(transmitter_pin, timings, timings_size, repeats);
printf("ACK\n");
}

Expand All @@ -169,6 +188,7 @@ void rfcontrol_command() {
int main(void) {
wiringXSetup();
pthread_mutex_init(&print_mutex, NULL);
pthread_create(&pth, NULL, interrupt, NULL);
printf("ready\n");
while(fgets(input, sizeof(input), stdin)) {
input[strlen(input)-1] = '\0'; //remove tailing new line
Expand All @@ -190,19 +210,72 @@ int main(void) {


void pinMode(uint8_t pin, uint8_t mode){
// printf("pin mode %d %d\n", pin, mode);
pinMode((int)pin, (int)mode);
}
void digitalWrite(uint8_t pin, uint8_t value){
// printf("write %d %d\n",pin, value );
digitalWrite((int)pin, (int)value);
}
int digitalRead(uint8_t pin){
digitalRead((int)pin);
return digitalRead((int)pin);
}

int analogRead(uint8_t){return 0;}
void analogReference(uint8_t mode){}
void analogWrite(uint8_t, int){}
void delay(unsigned long){}
void delayMicroseconds(unsigned int us){}
/*
* delayMicroseconds:
* from wiringPi
* This is somewhat intersting. It seems that on the Pi, a single call
* to nanosleep takes some 80 to 130 microseconds anyway, so while
* obeying the standards (may take longer), it's not always what we
* want!
*
* So what I'll do now is if the delay is less than 100uS we'll do it
* in a hard loop, watching a built-in counter on the ARM chip. This is
* somewhat sub-optimal in that it uses 100% CPU, something not an issue
* in a microcontroller, but under a multi-tasking, multi-user OS, it's
* wastefull, however we've no real choice )-:
*
* Plan B: It seems all might not be well with that plan, so changing it
* to use gettimeofday () and poll on that instead...
*********************************************************************************
*/

void delayMicrosecondsHard (unsigned int howLong)
{
struct timeval tNow, tLong, tEnd ;

gettimeofday (&tNow, NULL) ;
tLong.tv_sec = howLong / 1000000 ;
tLong.tv_usec = howLong % 1000000 ;
timeradd (&tNow, &tLong, &tEnd) ;

while (timercmp (&tNow, &tEnd, <))
gettimeofday (&tNow, NULL) ;
}

void delayMicroseconds (unsigned int howLong)
{
// printf("delay %d\n",howLong );
struct timespec sleeper ;
unsigned int uSecs = howLong % 1000000 ;
unsigned int wSecs = howLong / 1000000 ;

/**/ if (howLong == 0)
return ;
else if (howLong < 100)
delayMicrosecondsHard (howLong) ;
else
{
sleeper.tv_sec = wSecs ;
sleeper.tv_nsec = (long)(uSecs * 1000L) ;
nanosleep (&sleeper, NULL) ;
}
}

void detachInterrupt(uint8_t){}

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