Implemented grouped APRS packet transmission properly

Fixed packet losses (incomplete)

tracker/software/drivers/ov5640.c

@@ -820,9 +820,7 @@ bool OV5640_Snapshot2RAM(void)
 	do {
 
 		TRACE_INFO("CAM  > Capture image");
-		lockRadio(); // Lock radio because SPI and pseudo DCMI use the same DMA
 		status = OV5640_Capture();
-		unlockRadio(); // Unlock radio
 		TRACE_INFO("CAM  > Capture finished");
 
 		ov5640_conf->size_sampled = ov5640_conf->ram_size - 1;

tracker/software/drivers/pac1720.c

@@ -153,6 +153,6 @@ void pac1720_init(void)
 	I2C_write8(PAC1720_ADDRESS, PAC1720_V_SOURCE_SAMP_CONFIG,   0xFF);
 
 	//TRACE_INFO("PAC  > Init PAC1720 continuous measurement");
-	//chThdCreateFromHeap(NULL, THD_WORKING_AREA_SIZE(512), "PAC1720", NORMALPRIO, pac1720_thd, NULL);
+	chThdCreateFromHeap(NULL, THD_WORKING_AREA_SIZE(512), "PAC1720", NORMALPRIO, pac1720_thd, NULL);
 }
 

tracker/software/protocols/aprs/aprs.c

@@ -47,6 +47,7 @@ uint32_t aprs_encode_position(uint8_t* message, mod_t mod, const aprs_conf_t *co
 	packet.max_size = 512; // TODO: replace 512 with real size
 	packet.mod = mod;
 
+	ax25_init(&packet);
 	ax25_send_header(&packet, config->callsign, config->ssid, config->path, config->preamble);
 	ax25_send_byte(&packet, '/');                // Report w/ timestamp, no APRS messaging. $ = NMEA raw data
 
@@ -169,7 +170,7 @@ uint32_t aprs_encode_position(uint8_t* message, mod_t mod, const aprs_conf_t *co
 /**
  * Transmit custom experimental packet
  */
-uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod, const aprs_conf_t *config, uint8_t *data, size_t size, bool noPreamble)
+uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod, const aprs_conf_t *config, uint8_t *data, size_t size)
 {
 	ax25_t packet;
 	packet.data = message;
@@ -177,7 +178,8 @@ uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod,
 	packet.mod = mod;
 
 	// Encode APRS header
-	ax25_send_header(&packet, config->callsign, config->ssid, config->path, noPreamble ? 0 : config->preamble);
+	ax25_init(&packet);
+	ax25_send_header(&packet, config->callsign, config->ssid, config->path, config->preamble);
 	ax25_send_string(&packet, "{{");
 	ax25_send_byte(&packet, packetType);
 
@@ -185,7 +187,7 @@ uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod,
 	for(uint16_t i=0; i<size; i++)
 		ax25_send_byte(&packet, data[i]);
 
-	// Send footer
+	// Encode footer
 	ax25_send_footer(&packet);
 	scramble(&packet);
 	nrzi_encode(&packet);
@@ -193,6 +195,41 @@ uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod,
 	return packet.size;
 }
 
+/**
+ * Transmit custom data packet (the methods aprs_encode_data allow multiple APRS packets in a row without preable being sent)
+ */
+void aprs_encode_data_init(ax25_t* packet, uint8_t* message, mod_t mod)
+{
+	packet->data = message;
+	packet->max_size = 8192; // TODO: replace 8192 with real size
+	packet->mod = mod;
+
+	// Encode APRS header
+	ax25_init(packet);
+}
+uint32_t aprs_encode_data_encodePacket(ax25_t* packet, char packetType, const aprs_conf_t *config, uint8_t *data, size_t size)
+{
+	// Encode header
+	ax25_send_header(packet, config->callsign, config->ssid, config->path, packet->size > 0 ? 0 : config->preamble);
+	ax25_send_string(packet, "{{");
+	ax25_send_byte(packet, packetType);
+
+	// Encode message
+	for(uint16_t i=0; i<size; i++)
+		ax25_send_byte(packet, data[i]);
+
+	// Encode footer
+	ax25_send_footer(packet);
+
+	return packet->size;
+}
+uint32_t aprs_encode_data_finalize(ax25_t* packet)
+{
+	scramble(packet);
+	nrzi_encode(packet);
+	return packet->size;
+}
+
 /**
  * Transmit message packet
  */
@@ -205,6 +242,7 @@ uint32_t aprs_encode_message(uint8_t* message, mod_t mod, const aprs_conf_t *con
 
 	// Encode APRS header
 	char temp[10];
+	ax25_init(&packet);
 	ax25_send_header(&packet, config->callsign, config->ssid, config->path, config->preamble);
 	ax25_send_byte(&packet, ':');
 
@@ -218,7 +256,7 @@ uint32_t aprs_encode_message(uint8_t* message, mod_t mod, const aprs_conf_t *con
 	chsnprintf(temp, sizeof(temp), "%d", ++msg_id);
 	ax25_send_string(&packet, temp);
 
-	// Send footer
+	// Encode footer
 	ax25_send_footer(&packet);
 	scramble(&packet);
 	nrzi_encode(&packet);
@@ -237,6 +275,7 @@ uint32_t aprs_encode_telemetry_configuration(uint8_t* message, mod_t mod, const
 	packet.max_size = 512; // TODO: replace 512 with real size
 	packet.mod = mod;
 
+	ax25_init(&packet);
 	ax25_send_header(&packet, config->callsign, config->ssid, config->path, config->preamble); // Header
 	ax25_send_byte(&packet, ':'); // Message flag
 

tracker/software/protocols/aprs/aprs.h

@@ -21,6 +21,7 @@
 #include "config.h"
 #include "si4464.h"
 #include "tracking.h"
+#include "ax25.h"
 
 #define GSP_FIX_OLD						0x0
 #define GSP_FIX_CURRENT					0x1
@@ -51,7 +52,11 @@
 uint32_t aprs_encode_position(uint8_t* message, mod_t mod, const aprs_conf_t *config, trackPoint_t *trackPoint);
 uint32_t aprs_encode_telemetry_configuration(uint8_t* message, mod_t mod, const aprs_conf_t *config, const telemetry_conf_t type);
 uint32_t aprs_encode_message(uint8_t* message, mod_t mod, const aprs_conf_t *config, const char *receiver, const char *text);
-uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod, const aprs_conf_t *config, uint8_t *data, size_t size, bool noPreamble);
+uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod, const aprs_conf_t *config, uint8_t *data, size_t size);
+
+void aprs_encode_data_init(ax25_t* packet, uint8_t* message, mod_t mod);
+uint32_t aprs_encode_data_encodePacket(ax25_t* packet, char packetType, const aprs_conf_t *config, uint8_t *data, size_t size);
+uint32_t aprs_encode_data_finalize(ax25_t* packet);
 
 #endif
 

tracker/software/protocols/aprs/ax25.c

@@ -113,11 +113,15 @@ void ax25_send_string(ax25_t *packet, const char *string)
 	}
 }
 
+void ax25_init(ax25_t *packet)
+{
+	packet->size = 0;
+}
+
 void ax25_send_header(ax25_t *packet, const char *callsign, uint8_t ssid, const char *path, uint16_t preamble)
 {
 	uint8_t i, j;
 	uint8_t tmp[8];
-	packet->size = 0;
 	packet->ones_in_a_row = 0;
 	packet->crc = 0xffff;
 

tracker/software/protocols/aprs/ax25.h

@@ -36,6 +36,7 @@ typedef struct {
 	mod_t mod;				// Modulation type (MOD_AFSK or MOD_2GFSK)
 } ax25_t;
 
+void ax25_init(ax25_t *packet);
 void ax25_send_header(ax25_t *packet, const char *callsign, uint8_t ssid, const char *path, uint16_t preamble);
 void ax25_send_path(ax25_t *packet, const char *callsign, uint8_t ssid, bool last);
 void ax25_send_byte(ax25_t *packet, char byte);

tracker/software/radio.c

@@ -80,21 +80,8 @@ void init2GFSK(radioMSG_t *msg) {
 	active_mod = MOD_2GFSK;
 }
 
-thread_reference_t feeder_ref = NULL;
 thread_t *feeder_thd = NULL;
 
-/*
- * Radio GPIO1 interrupt
- */
-CH_IRQ_HANDLER(VectorE0) {
-	CH_IRQ_PROLOGUE();
-
-	chThdResumeS(&feeder_ref, MSG_OK);
-
-	EXTI->PR |= EXTI_PR_PR12;
-	CH_IRQ_EPILOGUE();
-}
-
 /*
  * TODO: I'd suggest re-working the FIFO handler system.
  * Will give it some thought.
@@ -112,19 +99,11 @@ THD_FUNCTION(si_fifo_feeder_thd, arg)
 	// Initial FIFO fill
 	Si4464_writeFIFO(tim_msg.msg, c);
 
-	// Initialize interrupt
+	// Start transmission
-	chSysLock();
-	SYSCFG->EXTICR[3] |= SYSCFG_EXTICR4_EXTI12_PC;
-	EXTI->IMR |= EXTI_IMR_MR12; // Activate interrupt for chan12 (=>PC12)
-	EXTI->RTSR |= EXTI_RTSR_TR12; // Listen on rising edge
-    EXTI->PR |= EXTI_PR_PR12; // Clear any pending interrupt
-	nvicEnableVector(EXTI15_10_IRQn, 1); // Enable interrupt
-	chSysUnlock();
-	// Transmit
 	radioTune(tim_msg.freq, 0, tim_msg.power, all);
 
 	while(c < all) { // Do while bytes not written into FIFO completely
-		chThdSuspendS(&feeder_ref); // Suspend until interrupt resumes it
+		//chThdSuspendS(&feeder_ref); // Suspend until interrupt resumes it
 
 		// Determine free memory in Si4464-FIFO
 		uint8_t more = Si4464_freeFIFO();
@@ -132,14 +111,14 @@ THD_FUNCTION(si_fifo_feeder_thd, arg)
 			if((more = all-c) == 0) // Calculate remainder to send
               break; // End if nothing left
 		}
-		//TRACE_DEBUG("fed %db %d<%d", more, c, all);
 		Si4464_writeFIFO(&tim_msg.msg[c], more); // Write into FIFO
 		c += more;
+		chThdSleepMilliseconds(20);
 	}
 
-	nvicDisableVector(EXTI15_10_IRQn); // Disable interrupt
+	// Shutdown radio (and wait for Si4464 to finish transmission)
-
 	shutdownRadio();
+
 	chThdExit(MSG_OK);
 }
 
@@ -147,8 +126,6 @@ void send2GFSK(radioMSG_t *msg) {
 	// Copy data
 	memcpy(&tim_msg, msg, sizeof(radioMSG_t));
 
-	if(feeder_thd != NULL) // No waiting on first use
-	  chThdWait(feeder_thd);
 	// Start/re-start FIFO feeder
 	feeder_thd = chThdCreateStatic(si_fifo_feeder_wa, sizeof(si_fifo_feeder_wa), HIGHPRIO+1, si_fifo_feeder_thd, NULL);
 
@@ -313,10 +290,7 @@ void shutdownRadio(void)
 {
 	// Wait for PH to finish transmission for 2GFSK
 	while(active_mod == MOD_2GFSK && Si4464_getState() == SI4464_STATE_TX)
-	{
-		TRACE_DEBUG("Waiting for Si4464 (state=%d, free=%d)", Si4464_getState(), Si4464_freeFIFO());
 		chThdSleepMilliseconds(5);
-	}
 
 	Si4464_shutdown();
 	active_mod = MOD_NOT_SET;
@@ -376,12 +350,11 @@ uint32_t getAPRSRegionFrequency(void) {
   */
 bool transmitOnRadio(radioMSG_t *msg, bool shutdown)
 {
-  (void)shutdown;
+ 	(void)shutdown;
 	if(inRadioBand(msg->freq)) // Frequency in radio radio band
 	{
 		if(inRadioBand(msg->freq)) // Frequency in radio radio band
 		{
-
 			lockRadio(); // Lock radio
 
 			TRACE_INFO(	"RAD  > Transmit %d.%03d MHz, Pwr %d, %s, %d bits",
@@ -462,8 +435,9 @@ void lockRadio(void)
 {
 	chMtxLock(&radio_mtx);
 
-	while(active_mod != MOD_NOT_SET && Si4464_getState() == SI4464_STATE_TX)
+	// Wait for old feeder thread to terminate
-		chThdSleepMilliseconds(1);
+	if(feeder_thd != NULL) // No waiting on first use
+		chThdWait(feeder_thd);
 }
 
 void unlockRadio(void)

tracker/software/threads/image.c

@@ -273,7 +273,7 @@ const uint8_t noCameraFound[] = {
 	0xBD, 0xC0, 0x20, 0x00, 0x01, 0xFF, 0xD9
 };
 
-static uint8_t gimage_id = 0; // Global image ID (for all image threads)
+static uint8_t gimage_id = 5; // Global image ID (for all image threads)
 mutex_t camera_mtx;
 
 void encode_ssdv(const uint8_t *image, uint32_t image_len, module_conf_t* conf, uint8_t image_id, bool redudantTx)
@@ -297,6 +297,17 @@ void encode_ssdv(const uint8_t *image, uint32_t image_len, module_conf_t* conf,
 	msg.freq = getFrequency(&conf->frequency);
 	msg.power = conf->power;
 
+	//image_id = 0; // FIXME temporary
+
+	ax25_t ax25_handle;
+	if(conf->protocol == PROT_APRS_2GFSK || conf->protocol == PROT_APRS_AFSK)
+	{
+		msg.mod = conf->protocol == PROT_APRS_AFSK ? MOD_AFSK : MOD_2GFSK;
+		msg.afsk_conf = &(conf->afsk_conf);
+		msg.gfsk_conf = &(conf->gfsk_conf);
+		aprs_encode_data_init(&ax25_handle, msg.msg, msg.mod);
+	}
+
 	while(true)
 	{
 		conf->wdg_timeout = chVTGetSystemTimeX() + S2ST(600); // TODO: Implement more sophisticated method
@@ -309,8 +320,9 @@ void encode_ssdv(const uint8_t *image, uint32_t image_len, module_conf_t* conf,
 
 			if(r <= 0)
 			{
-				if(msg.bin_len > 0) transmitOnRadio(&msg, false); // Empty buffer
 				TRACE_ERROR("SSDV > Premature end of file");
+				if(conf->protocol == PROT_APRS_2GFSK || conf->protocol == PROT_APRS_AFSK) msg.bin_len = aprs_encode_data_finalize(&ax25_handle);
+				if(msg.bin_len > 0) transmitOnRadio(&msg, false); // Empty buffer
 				break;
 			}
 			ssdv_enc_feed(&ssdv, b, r);
@@ -318,37 +330,34 @@ void encode_ssdv(const uint8_t *image, uint32_t image_len, module_conf_t* conf,
 
 		if(c == SSDV_EOI)
 		{
-			if(msg.bin_len > 0) transmitOnRadio(&msg, false); // Empty buffer
 			TRACE_INFO("SSDV > ssdv_enc_get_packet said EOI");
+			if(conf->protocol == PROT_APRS_2GFSK || conf->protocol == PROT_APRS_AFSK) msg.bin_len = aprs_encode_data_finalize(&ax25_handle);
+			if(msg.bin_len > 0) transmitOnRadio(&msg, false); // Empty buffer
 			break;
 		} else if(c != SSDV_OK) {
-			if(msg.bin_len > 0) transmitOnRadio(&msg, false); // Empty buffer
 			TRACE_ERROR("SSDV > ssdv_enc_get_packet failed: %i", c);
+			if(conf->protocol == PROT_APRS_2GFSK || conf->protocol == PROT_APRS_AFSK) msg.bin_len = aprs_encode_data_finalize(&ax25_handle);
+			if(msg.bin_len > 0) transmitOnRadio(&msg, false); // Empty buffer
 			return;
 		}
 
 		switch(conf->protocol) {
 			case PROT_APRS_2GFSK:
 			case PROT_APRS_AFSK:
-				msg.mod = conf->protocol == PROT_APRS_AFSK ? MOD_AFSK : MOD_2GFSK;
-				msg.afsk_conf = &(conf->afsk_conf);
-				msg.gfsk_conf = &(conf->gfsk_conf);
-
-				// Deleting buffer
-				for(uint16_t t=0; t<256; t++)
-					pkt_base91[t] = 0;
-
 				// Encode packet
 				TRACE_INFO("IMG  > Encode APRS/SSDV packet");
 				base91_encode(&pkt[1], pkt_base91, sizeof(pkt)-37); // Sync byte, CRC and FEC of SSDV not transmitted
-				msg.bin_len += 8 + aprs_encode_experimental('I', &msg.msg[msg.bin_len/8+1], msg.mod, &conf->aprs_conf, pkt_base91, strlen((char*)pkt_base91), msg.bin_len > 0);
+				msg.bin_len = aprs_encode_data_encodePacket(&ax25_handle, 'I', &conf->aprs_conf, pkt_base91, strlen((char*)pkt_base91));
 				if(redudantTx)
-					msg.bin_len += 8 + aprs_encode_experimental('I', &msg.msg[msg.bin_len/8+1], msg.mod, &conf->aprs_conf, pkt_base91, strlen((char*)pkt_base91), false);
+					msg.bin_len = aprs_encode_data_encodePacket(&ax25_handle, 'I', &conf->aprs_conf, pkt_base91, strlen((char*)pkt_base91));
 
 				// Transmit
-				if(msg.bin_len >= 58000 || conf->packet_spacing) { // Transmit if buffer is full or if single packet transmission activation (packet_spacing != 0)
+				if(msg.bin_len >= 58000 || conf->packet_spacing) // Transmit if buffer is full or if single packet transmission activation (packet_spacing != 0)
+				{
+					msg.bin_len = aprs_encode_data_finalize(&ax25_handle);
 					transmitOnRadio(&msg, false);
 					msg.bin_len = 0;
+					chThdSleepMilliseconds(7500); // FIXME: Throttle it for my poor TH-D72. Has to be removed later.
 				}
 				break;
 
@@ -400,10 +409,13 @@ THD_FUNCTION(imgThread, arg) {
 			uint32_t image_len = 0;
 			uint8_t *image;
 
-			// Lock camera
+			// Lock camera FIXME: Removed for testing
 			TRACE_INFO("IMG  > Lock camera");
 			chMtxLock(&camera_mtx);
 			TRACE_INFO("IMG  > Locked camera");
+			//TRACE_INFO("IMG  > Lock radio");
+			//lockRadio(); // Lock radio because SPI and pseudo DCMI use the same DMA
+			//TRACE_INFO("IMG  > Locked radio");
 
 			uint8_t tries;
 			bool status = false;
@@ -472,7 +484,10 @@ THD_FUNCTION(imgThread, arg) {
 
 			}
 
-			// Unlock camera
+			// Unlock camera FIXME: Removed for testing
+			//TRACE_INFO("IMG  > Unlock radio");
+			//unlockRadio(); // Unlock radio
+			//TRACE_INFO("IMG  > Unlocked radio");
 			TRACE_INFO("IMG  > Unlock camera");
 			chMtxUnlock(&camera_mtx);
 			TRACE_INFO("IMG  > Unlocked camera");
@@ -502,7 +517,7 @@ void start_image_thread(module_conf_t *conf)
 	if(conf->init_delay) chThdSleepMilliseconds(conf->init_delay);
 	TRACE_INFO("IMG  > Startup image thread");
 	chsnprintf(conf->name, sizeof(conf->name), "IMG");
-	thread_t *th = chThdCreateFromHeap(NULL, THD_WORKING_AREA_SIZE(50*1024), "IMG", NORMALPRIO, imgThread, conf);
+	thread_t *th = chThdCreateFromHeap(NULL, THD_WORKING_AREA_SIZE(100*1024), "IMG", NORMALPRIO, imgThread, conf);
 	if(!th) {
 		// Print startup error, do not start watchdog for this thread
 		TRACE_ERROR("IMG  > Could not startup thread (not enough memory available)");

tracker/software/threads/log.c

@@ -178,7 +178,7 @@ THD_FUNCTION(logThread, arg)
 					msg.gfsk_conf = &(conf->gfsk_conf);
 
 					base91_encode((uint8_t*)pkt, pkt_base91, sizeof(pkt)); // Encode base 91
-					msg.bin_len = aprs_encode_experimental('L', msg.msg, msg.mod, &conf->aprs_conf, pkt_base91, strlen((char*)pkt_base91), false); // Encode APRS
+					msg.bin_len = aprs_encode_experimental('L', msg.msg, msg.mod, &conf->aprs_conf, pkt_base91, strlen((char*)pkt_base91)); // Encode APRS
 
 					transmitOnRadio(&msg, true); // Transmit packet
 					break;