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This commit is contained in:
Pascal Brisset
2005-09-05 22:02:27 +00:00
parent 4965479824
commit 3a8f286306
4 changed files with 64 additions and 92 deletions
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sw/ground_segment/multimon/demodml.c
+17 -13
View File
@@ -14,17 +14,21 @@ ml_demod_init(value dev) {
value
ml_demod_get_data(value unit) {
struct data *data = pprz_demod_read_data();
int i;
CAMLparam0();
CAMLlocal3 (result,l, r);
result = alloc(2, 0);
l = alloc_string(data->len_left);
for(i = 0; i < data->len_left; i++) Byte(l, i) = data->data_left[i];
r = alloc_string(data->len_right);
for(i = 0; i < data->len_right; i++) Byte(r, i) = data->data_right[i];
Store_field(result, 0, l);
Store_field(result, 1, r);
CAMLreturn (result);
if (data) {
int i;
CAMLparam0();
CAMLlocal3 (result,l, r);
result = alloc(2, 0);
l = alloc_string(data->len_left);
for(i = 0; i < data->len_left; i++) Byte(l, i) = data->data_left[i];
r = alloc_string(data->len_right);
for(i = 0; i < data->len_right; i++) Byte(r, i) = data->data_right[i];
Store_field(result, 0, l);
Store_field(result, 1, r);
CAMLreturn (result);
} else {
failwith("End of file");
}
}
sw/ground_segment/multimon/pprzlib.c
+40 -73
View File
@@ -225,7 +225,6 @@ afsk48p_demod(struct demod_state *s, float *buffer, int length, char* data)
}
}
int fmt = 0;
int fd;
union {
short s[8192];
@@ -250,16 +249,8 @@ input_init(const char *ifname) {
exit (10);
}
if (sndparam != AFMT_S16_LE) {
fmt = 1;
sndparam = AFMT_U8;
if (ioctl(fd, SNDCTL_DSP_SETFMT, &sndparam) == -1) {
perror("ioctl: SNDCTL_DSP_SETFMT");
exit (10);
}
if (sndparam != AFMT_U8) {
perror("ioctl: SNDCTL_DSP_SETFMT");
exit (10);
}
perror("ioctl: AFMT_S16_LE");
exit (10);
}
stereo = TRUE;
sndparam = 1; /* we want 2 channels */
@@ -300,80 +291,56 @@ char data_left[OUTPUT_BUF_LEN+1];
char data_right[OUTPUT_BUF_LEN+1];
struct data data_received = {data_left, 0, data_right, 0};
unsigned int fbuf_cnt = 0;
float fbuf[2][16384];
struct data*
pprz_demod_read_data(void) {
unsigned int overlap = CORRLEN;
int i;
unsigned char *bp;
short *sp;
float fbuf[2][16384];
if (fmt) {
perror("FIXME: stereo&fmt missing");
exit(1);
i = read(fd, bp = b.b, sizeof(b.b));
if (i < 0 && errno != EAGAIN) {
perror("read");
exit(4);
}
if (i > 0) {
for (; i >= sizeof(b.b[0]); i -= sizeof(b.b[0]), sp++)
fbuf[LEFT][fbuf_cnt++] = ((int)(*bp)-0x80) * (1.0/128.0);
if (i)
fprintf(stderr, "warning: noninteger number of samples read\n");
if (fbuf_cnt > overlap) {
glob_data_received_len = 0;
afsk48p_demod(&dem_st[LEFT], fbuf[LEFT], fbuf_cnt-overlap, data_received.data_left);
data_received.len_left = glob_data_received_len;
memmove(fbuf[LEFT], fbuf[LEFT]+fbuf_cnt-overlap, overlap*sizeof(fbuf[LEFT][0]));
fbuf_cnt = overlap;
}
}
} else {
i = read(fd, sp = b.s, sizeof(b.s));
if (i < 0 && errno != EAGAIN) {
perror("read");
exit(4);
}
if (i > 0) {
if (stereo) {
for (; i >= sizeof(b.s[0]); i -= (sizeof(b.s[0])*2), sp+=2) {
fbuf[LEFT][fbuf_cnt] = (*sp) * (1.0/32768.0);
fbuf[RIGHT][fbuf_cnt++] = (*(sp+1)) * (1.0/32768.0);
}
} else {
for (; i >= sizeof(b.s[0]); i -= sizeof(b.s[0]), sp++)
fbuf[LEFT][fbuf_cnt++] = (*sp) * (1.0/32768.0);
}
if (i)
fprintf(stderr, "warning: noninteger number of samples read\n");
if (fbuf_cnt > overlap) {
glob_data_received_len = 0;
afsk48p_demod(&dem_st[LEFT], fbuf[LEFT], fbuf_cnt-overlap, data_received.data_left);
data_received.len_left = glob_data_received_len;
memmove(fbuf[LEFT], fbuf[LEFT]+fbuf_cnt-overlap, overlap*sizeof(fbuf[LEFT][0]));
if (stereo) {
glob_data_received_len = 0;
afsk48p_demod(&dem_st[RIGHT], fbuf[RIGHT], fbuf_cnt-overlap, data_received.data_right);
data_received.len_right = glob_data_received_len;
memmove(fbuf[RIGHT], fbuf[RIGHT]+fbuf_cnt-overlap, overlap*sizeof(fbuf[RIGHT][0]));
}
fbuf_cnt = overlap;
}
}
i = read(fd, sp = b.s, sizeof(b.s));
if (i < 0 && errno != EAGAIN) {
perror("read");
exit(4);
}
return &data_received;
if (i > 0) {
data_received.len_left = 0;
data_received.len_right = 0;
if (stereo) {
for (; i >= sizeof(b.s[0]); i -= (sizeof(b.s[0])*2), sp+=2) {
fbuf[LEFT][fbuf_cnt] = (*sp) * (1.0/32768.0);
fbuf[RIGHT][fbuf_cnt++] = (*(sp+1)) * (1.0/32768.0);
}
} else {
for (; i >= sizeof(b.s[0]); i -= sizeof(b.s[0]), sp++)
fbuf[LEFT][fbuf_cnt++] = (*sp) * (1.0/32768.0);
}
if (i)
fprintf(stderr, "warning: noninteger number of samples read\n");
if (fbuf_cnt > overlap) {
glob_data_received_len = 0;
afsk48p_demod(&dem_st[LEFT], fbuf[LEFT], fbuf_cnt-overlap, data_received.data_left);
data_received.len_left = glob_data_received_len;
memmove(fbuf[LEFT], fbuf[LEFT]+fbuf_cnt-overlap, overlap*sizeof(fbuf[LEFT][0]));
if (stereo) {
glob_data_received_len = 0;
afsk48p_demod(&dem_st[RIGHT], fbuf[RIGHT], fbuf_cnt-overlap, data_received.data_right);
data_received.len_right = glob_data_received_len;
memmove(fbuf[RIGHT], fbuf[RIGHT]+fbuf_cnt-overlap, overlap*sizeof(fbuf[RIGHT][0]));
}
fbuf_cnt = overlap;
}
return &data_received;
} else
return NULL;
}
int pprz_demod_init(char *dev) {
memset(&dem_st, 0, sizeof(dem_st));
memset(dem_st, 0, 2*sizeof(struct demod_state));
afsk48p_init(&dem_st[LEFT]);
afsk48p_init(&dem_st[RIGHT]);
return input_init(dev);
sw/ground_segment/multimon/pprzlib.h
+1
View File
@@ -2,3 +2,4 @@ int pprz_demod_init(char *dev);
struct data { char* data_left; int len_left; char* data_right; int len_right;};
struct data* pprz_demod_read_data(void);
/** Returns NULL if no characters are available on the device */
sw/tools/fp_syntax.ml
+6 -6
View File
@@ -39,27 +39,27 @@ let functions = [
"Qdr";
"And";
"Or";
"RcRoll";
"RcRoll";
"RcEvent1";
"RcEvent2";
"RadOfDeg"] (*@ binary_operators @ unary_operators*)
"RadOfDeg"]
(* Valid identifiers *)
let variables = [
"launch";
"estimator_z";
"estimator_flight_time";
"estimator_hspeed_mod";
"estimator_hspeed_mod";
"estimator_theta";
"circle_count";
"circle_count";
"vsupply";
"stage_time";
"stage_time_ds";
"stage_time_ds";
"block_time";
"SECURITY_ALT";
"GROUND_ALT";
"TRUE";
"FALSE";
"FALSE";
"QFU"
]