README.md


1

meta-agl.md
/*
 * rtl-sdr, turns your Realtek RTL2832 based DVB dongle into a SDR receiver
 * Copyright (C) 2012 by Steve Markgraf <steve@steve-m.de>
 * Copyright (C) 2012 by Hoernchen <la@tfc-server.de>
 * Copyright (C) 2012 by Kyle Keen <keenerd@gmail.com>
 * Copyright (C) 2013 by Elias Oenal <EliasOenal@gmail.com>
 * Copyright (C) 2016, 2017 Konsulko Group
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

/*
 * Note that this version replaces the standalone main() with separate
 * init/start/stop API calls to allow building into another application.
 * Other than removing the separate controller thread and adding an output
 * function callback, other changes have been kept to a minimum to
 * potentially allow using other rtl_fm features by modifying rtl_fm_init.
 *
 * December 2016, Scott Murray <scott.murray@konsulko.com>
 */

/*
 * written because people could not do real time
 * FM demod on Atom hardware with GNU radio
 * based on rtl_sdr.c and rtl_tcp.c
 *
 * lots of locks, but that is okay
 * (no many-to-many locks)
 *
 * todo:
 *       sanity checks
 *       scale squelch to other input parameters
 *       test all the demodulations
 *       pad output on hop
 *       frequency ranges could be stored better
 *       scaled AM demod amplification
 *       auto-hop after time limit
 *       peak detector to tune onto stronger signals
 *       fifo for active hop frequency
 *       clips
 *       noise squelch
 *       merge stereo patch
 *       merge soft agc patch
 *       merge udp patch
 *       testmode to detect overruns
 *       watchdog to reset bad dongle
 *       fix oversampling
 */

#include <errno.h>
#include <signal.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <math.h>
#include <pthread.h>

#include "rtl-sdr.h"
#include "rtl_fm.h"
#include "convenience/convenience.h"

#define DEFAULT_SAMPLE_RATE		24000
#define DEFAULT_BUF_LENGTH		RTL_FM_DEFAULT_BUF_LENGTH
#define MAXIMUM_OVERSAMPLE		RTL_FM_MAXIMUM_OVERSAMPLE
#define MAXIMUM_BUF_LENGTH		RTL_FM_MAXIMUM_BUF_LENGTH
#define AUTO_GAIN			-100
#define BUFFER_DUMP			4096

#define FREQUENCIES_LIMIT		1000

#define DEFAULT_SQUELCH_LEVEL		140
#define DEFAULT_CONSEQ_SQUELCH		10

static volatile int do_exit = 0;
static int lcm_post[17] = {1,1,1,3,1,5,3,7,1,9,5,11,3,13,7,15,1};
static int ACTUAL_BUF_LENGTH;

static int *atan_lut = NULL;
static int atan_lut_size = 131072; /* 512 KB */
static int atan_lut_coef = 8;

struct dongle_state
{
	int      exit_flag;
	pthread_t thread;
	rtlsdr_dev_t *dev;
	int      dev_index;
	uint32_t freq;
	uint32_t rate;
	int      gain;
	uint16_t buf16[MAXIMUM_BUF_LENGTH];
	uint32_t buf_len;
	int      ppm_error;
	int      offset_tuning;
	int      direct_sampling;
	int      mute;
	struct demod_state *demod_target;
};

struct demod_state
{
	int      exit_flag;
	pthread_t thread;
	int16_t  lowpassed[MAXIMUM_BUF_LENGTH];
	int      lp_len;
	int16_t  lp_i_hist[10][6];
	int16_t  lp_q_hist[10][6];
	int16_t  result[MAXIMUM_BUF_LENGTH];
	int16_t  droop_i_hist[9];
	int16_t  droop_q_hist[9];
	int      result_len;
	int      rate_in;
	int      rate_out;
	int      rate_out2;
	int      now_r, now_j;
	int      pre_r, pre_j;
	int      prev_index;
	int      downsample;    /* min 1, max 256 */
	int      post_downsample;
	int      output_scale;
	int      squelch_level, conseq_squelch, squelch_hits, terminate_on_squelch;
	int      downsample_passes;
	int      comp_fir_size;
	int      custom_atan;
	int      deemph, deemph_a;
	int      now_lpr;
	int      prev_lpr_index;
	int      dc_block, dc_avg;
	void     (*mode_demod)(struct demod_state*);
	pthread_rwlock_t rw;
	pthread_cond_t ready;
	pthread_mutex_t ready_m;
	struct output_state *output_target;
};

struct output_state
{
	int      exit_flag;
	pthread_t thread;
	rtl_fm_output_fn_t output_fn;
	void     *output_fn_data;
	int16_t  result[MAXIMUM_BUF_LENGTH];
	int      result_len;
	int      rate;
	pthread_rwlock_t rw;
	pthread_cond_t ready;
	pthread_mutex_t ready_m;
};

struct controller_state
{
	int      exit_flag;
	pthread_t thread;
	uint32_t freqs[FREQUENCIES_LIMIT];
	int      freq_len;
	int      freq_now;
	int      edge;
	int      wb_mode;
	pthread_cond_t hop;
	pthread_mutex_t hop_m;

	void (*freq_callback)(uint32_t, void*);
	void *freq_callback_data;

	int scanning;
	int scan_direction;
	void (*scan_callback)(uint32_t, void*);
	void *scan_callback_data;
	uint32_t scan_step;
	uint32_t scan_min;
	uint32_t scan_max;
	int scan_squelch_level;
	int scan_squelch_count;
};

// multiple of these, eventually
struct dongle_state dongle;
struct demod_state demod;
struct output_state output;
struct controller_state controller;

#if 0
static void sighandler(int signum)
{
	fprintf(stderr, "Signal caught, exiting!\n");
	do_exit = 1;
	rtlsdr_cancel_async(dongle.dev);
}
#endif

/* more cond dumbness */
#define safe_cond_signal(n, m) pthread_mutex_lock(m); pthread_cond_signal(n); pthread_mutex_unlock(m)
#define safe_cond_wait(n, m) pthread_mutex_lock(m); pthread_cond_wait(n, m); pthread_mutex_unlock(m)

/* {length, coef, coef, coef}  and scaled by 2^15
   for now, only length 9, optimal way to get +85% bandwidth */
#define CIC_TABLE_MAX 10
int cic_9_tables[][10] = {
	{0,},
	{9, -156,  -97, 2798, -15489, 61019, -15489, 2798,  -97, -156},
	{9, -128, -568, 5593, -24125, 74126, -24125, 5593, -568, -128},
	{9, -129, -639, 6187, -26281, 77511, -26281, 6187, -639, -129},
	{9, -122, -612, 6082, -26353, 77818, -26353, 6082, -612, -122},
	{9, -120, -602, 6015, -26269, 77757, -26269, 6015, -602, -120},
	{9, -120, -582, 5951, -26128, 77542, -26128, 5951, -582, -120},
	{9, -119, -580, 5931, -26094, 77505, -26094, 5931, -580, -119},
	{9, -119, -578, 5921, -26077, 77484, -26077, 5921, -578, -119},
	{9, -119, -577, 5917, -26067, 77473, -26067, 5917, -577, -119},
	{9, -199, -362, 5303, -25505, 77489, -25505, 5303, -362, -199},
};

void rotate_90(unsigned char *buf, uint32_t len)
/* 90 rotation is 1+0j, 0+1j, -1+0j, 0-1j
   or [0, 1, -3, 2, -4, -5, 7, -6] */
{
	uint32_t i;
	unsigned char tmp;
	for (i=0; i<len; i+=8) {
		/* uint8_t negation = 255 - x */
		tmp = 255 - buf[i+3];
		buf[i+3] = buf[i+2];
		buf[i+2] = tmp;

		buf[i+4] = 255 - buf[i+4];
		buf[i+5] = 255 - buf[i+5];

		tmp = 255 - buf[i+6];
		buf[i+6] = buf[i+7];
		buf[i+7] = tmp;
	}
}

void low_pass(struct demod_state *d)
/* simple square window FIR */
{
	int i=0, i2=0;
	while (i < d->lp_len) {
		d->now_r += d->lowpassed[i];
		d->now_j += d->lowpassed[i+1];
		i += 2;
		d->prev_index++;
		if (d->prev_index < d->downsample) {
			continue;
		}
		d->lowpassed[i2]   = d->now_r; // * d->output_scale;
		d->lowpassed[i2+1] = d->now_j; // * d->output_scale;
		d->prev_index = 0;
		d->now_r = 0;
		d->now_j = 0;
		i2 += 2;
	}
	d->lp_len = i2;
}

int low_pass_simple(int16_t *signal2, int len, int step)
// no wrap around, length must be multiple of step
{
	int i, i2, sum;
	for(i=0; i < len; i+=step) {
		sum = 0;
		for(i2=0; i2<step; i2++) {
			sum += (int)signal2[i + i2];
		}
		//signal2[i/step] = (int16_t)(sum / step);
		signal2[i/step] = (int16_t)(sum);
	}
	signal2[i/step + 1] = signal2[i/step];
	return len / step;
}

void low_pass_real(struct demod_state *s)
/* simple square window FIR */
// add support for upsampling?
{
	int i=0, i2=0;
	int fast = (int)s->rate_out;
	int slow = s->rate_out2;
	while (i < s->result_len) {
		s->now_lpr += s->result[i];
		i++;
		s->prev_lpr_index += slow;
		if (s->prev_lpr_index < fast) {
			continue;
		}
		s->result[i2] = (int16_t)(s->now_lpr / (fast/slow));
		s->prev_lpr_index -= fast;
		s->now_lpr = 0;
		i2 += 1;
	}
	s->result_len = i2;
}

void fifth_order(int16_t *data, int length, int16_t *hist)
/* for half of interleaved data */
{
	int i;
	int16_t a, b, c, d, e, f;
	a = hist[1];
	b = hist[2];
	c = hist[3];
	d = hist[4];
	e = hist[5];
	f = data[0];
	/* a downsample should improve resolution, so don't fully shift */
	data[0] = (a + (b+e)*5 + (c+d)*10 + f) >> 4;
	for (i=4; i<length; i+=4) {
		a = c;
		b = d;
		c = e;
		d = f;
		e = data[i-2];
		f = data[i];
		data[i/2] = (a + (b+e)*5 + (c+d)*10 + f) >> 4;
	}
	/* archive */
	hist[0] = a;
	hist[1] = b;
	hist[2] = c;
	hist[3] = d;
	hist[4] = e;
	hist[5] = f;
}

void generic_fir(int16_t *data, int length, int *fir, int16_t *hist)
/* Okay, not at all generic.  Assumes length 9, fix that eventually. */
{
	int d, temp, sum;
	for (d=0; d<length; d+=2) {
		temp = data[d];
		sum = 0;
		sum += (hist[0] + hist[8]) * fir[1];
		sum += (hist[1] + hist[7]) * fir[2];
		sum += (hist[2] + hist[6]) * fir[3];
		sum += (hist[3] + hist[5]) * fir[4];
		sum +=            hist[4]  * fir[5];
		data[d] = sum >> 15 ;
		hist[0] = hist[1];
		hist[1] = hist[2];
		hist[2] = hist[3];
		hist[3] = hist[4];
		hist[4] = hist[5];
		hist[5] = hist[6];
		hist[6] = hist[7];
		hist[7] = hist[8];
		hist[8] = temp;
	}
}

/* define our own complex math ops
   because ARMv5 has no hardware float */

void multiply(int ar, int aj, int br, int bj, int *cr, int *cj)
{
	*cr = ar*br - aj*bj;
	*cj = aj*br + ar*bj;
}

int polar_discriminant(int ar, int aj, int br, int bj)
{
	int cr, cj;
	double angle;
	multiply(ar, aj, br, -bj, &cr, &cj);
	angle = atan2((double)cj, (double)cr);
	return (int)(angle / 3.14159 * (1<<14));
}

int fast_atan2(int y, int x)
/* pre scaled for int16 */
{
	int yabs, angle;
	int pi4=(1<<12), pi34=3*(1<<12);  // note pi = 1<<14
	if (x==0 && y==0) {
		return 0;
	}
	yabs = y;
	if (yabs < 0) {
		yabs = -yabs;
	}
	if (x >= 0) {
		angle = pi4  - pi4 * (x-yabs) / (x+yabs);
	} else {
		angle = pi34 - pi4 * (x+yabs) / (yabs-x);
	}
	if (y < 0) {
		return -angle;
	}
	return angle;
}

int polar_disc_fast(int ar, int aj, int br, int bj)
{
	int cr, cj;
	multiply(ar, aj, br, -bj, &cr, &cj);
	return fast_atan2(cj, cr);
}

int atan_lut_init(void)
{
	int i = 0;

	atan_lut = malloc(atan_lut_size * sizeof(int));

	for (i = 0; i < atan_lut_size; i++) {
		atan_lut[i] = (int) (atan((double) i / (1<<atan_lut_coef)) / 3.14159 * (1<<14));
	}

	return 0;
}

int polar_disc_lut(int ar, int aj, int br, int bj)
{
	int cr, cj, x, x_abs;

	multiply(ar, aj, br, -bj, &cr, &cj);

	/* special cases */
	if (cr == 0 || cj == 0) {
		if (cr == 0 && cj == 0)
			{return 0;}
		if (cr == 0 && cj > 0)
			{return 1 << 13;}
		if (cr == 0 && cj < 0)
			{return -(1 << 13);}
		if (cj == 0 && cr > 0)
			{return 0;}
		if (cj == 0 && cr < 0)
			{return 1 << 14;}
	}

	/* real range -32768 - 32768 use 64x range -> absolute maximum: 2097152 */
	x = (cj << atan_lut_coef) / cr;
	x_abs = abs(x);

	if (x_abs >= atan_lut_size) {
		/* we can use linear range, but it is not necessary */
		return (cj > 0) ? 1<<13 : -1<<13;
	}

	if (x > 0) {
		return (cj > 0) ? atan_lut[x] : atan_lut[x] - (1<<14);
	} else {
		return (cj > 0) ? (1<<14) - atan_lut[-x] : -atan_lut[-x];
	}

	return 0;
}

void fm_demod(struct demod_state *fm)
{
	int i, pcm;
	int16_t *lp = fm->lowpassed;
	pcm = polar_discriminant(lp[0], lp[1],
		fm->pre_r, fm->pre_j);
	fm->result[0] = (int16_t)pcm;
	for (i = 2; i < (fm->lp_len-1); i += 2) {
		switch (fm->custom_atan) {
		case 0:
			pcm = polar_discriminant(lp[i], lp[i+1],
				lp[i-2], lp[i-1]);
			break;
		case 1:
			pcm = polar_disc_fast(lp[i], lp[i+1],
				lp[i-2], lp[i-1]);
			break;
		case 2:
			pcm = polar_disc_lut(lp[i], lp[i+1],
				lp[i-2], lp[i-1]);
			break;
		}
		fm->result[i/2] = (int16_t)pcm;
	}
	fm->pre_r = lp[fm->lp_len - 2];
	fm->pre_j = lp[fm->lp_len - 1];
	fm->result_len = fm->lp_len/2;
}

void am_demod(struct demod_state *fm)
// todo, fix this extreme laziness
{
	int i, pcm;
	int16_t *lp = fm->lowpassed;
	int16_t *r  = fm->result;
	for (i = 0; i < fm->lp_len; i += 2) {
		// hypot uses floats but won't overflow
		//r[i/2] = (int16_t)hypot(lp[i], lp[i+1]);
		pcm = lp[i] * lp[i];
		pcm += lp[i+1] * lp[i+1];
		r[i/2] = (int16_t)sqrt(pcm) * fm->output_scale;
	}
	fm->result_len = fm->lp_len/2;
	// lowpass? (3khz)  highpass?  (dc)
}

void usb_demod(struct demod_state *fm)
{
	int i, pcm;
	int16_t *lp = fm->lowpassed;
	int16_t *r  = fm->result;
	for (i = 0; i < fm->lp_len; i += 2) {
		pcm = lp[i] + lp[i+1];
		r[i/2] = (int16_t)pcm * fm->output_scale;
	}
	fm->result_len = fm->lp_len/2;
}

void lsb_demod(struct demod_state *fm)
{
	int i, pcm;
	int16_t *lp = fm->lowpassed;
	int16_t *r  = fm->result;
	for (i = 0; i < fm->lp_len; i += 2) {
		pcm = lp[i] - lp[i+1];
		r[i/2] = (int16_t)pcm * fm->output_scale;
	}
	fm->result_len = fm->lp_len/2;
}

void raw_demod(struct demod_state *fm)
{
	int i;
	for (i = 0; i < fm->lp_len; i++) {
		fm->result[i] = (int16_t)fm->lowpassed[i];
	}
	fm->result_len = fm->lp_len;
}

void deemph_filter(struct demod_state *fm)
{
	static int avg;  // cheating...
	int i, d;
	// de-emph IIR
	// avg = avg * (1 - alpha) + sample * alpha;
	for (i = 0; i < fm->result_len; i++) {
		d = fm->result[i] - avg;
		if (d > 0) {
			avg += (d + fm->deemph_a/2) / fm->deemph_a;
		} else {
			avg += (d - fm->deemph_a/2) / fm->deemph_a;
		}
		fm->result[i] = (int16_t)avg;
	}
}

void dc_block_filter(struct demod_state *fm)
{
	int i, avg;
	int64_t sum = 0;
	for (i=0; i < fm->result_len; i++) {
		sum += fm->result[i];
	}
	avg = sum / fm->result_len;
	avg = (avg + fm->dc_avg * 9) / 10;
	for (i=0; i < fm->result_len; i++) {
		fm->result[i] -= avg;
	}
	fm->dc_avg = avg;
}

int mad(int16_t *samples, int len, int step)
/* mean average deviation */
{
	int i=0, sum=0, ave=0;
	if (len == 0)
		{return 0;}
	for (i=0; i<len; i+=step) {
		sum += samples[i];
	}
	ave = sum / (len * step);
	sum = 0;
	for (i=0; i<len; i+=step) {
		sum += abs(samples[i] - ave);
	}
	return sum / (len / step);
}

int rms(int16_t *samples, int len, int step)
/* largely lifted from rtl_power */
{
	int i;
	long p, t, s;
	double dc, err;

	p = t = 0L;
	for (i=0; i<len; i+=step) {
		s = (long)samples[i];
		t += s;
		p += s * s;
	}
	/* correct for dc offset in squares */
	dc = (double)(t*step) / (double)len;
	err = t * 2 * dc - dc * dc * len;

	return (int)sqrt((p-err) / len);
}

void arbitrary_upsample(int16_t *buf1, int16_t *buf2, int len1, int len2)
/* linear interpolation, len1 < len2 */
{
	int i = 1;
	int j = 0;
	int tick = 0;
	double frac;  // use integers...
	while (j < len2) {
		frac = (double)tick / (double)len2;
		buf2[j] = (int16_t)(buf1[i-1]*(1-frac) + buf1[i]*frac);
		j++;
		tick += len1;
		if (tick > len2) {
			tick -= len2;
			i++;
		}
		if (i >= len1) {
			i = len1 - 1;
			tick = len2;
		}
	}
}

void arbitrary_downsample(int16_t *buf1, int16_t *buf2, int len1, int len2)
/* fractional boxcar lowpass, len1 > len2 */
{
	int i = 1;
	int j = 0;
	int tick = 0;
	double remainder = 0;
	double frac;  // use integers...
	buf2[0] = 0;
	while (j < len2) {
		frac = 1.0;
		if ((tick + len2) > len1) {
			frac = (double)(len1 - tick) / (double)len2;}
		buf2[j] += (int16_t)((double)buf1[i] * frac + remainder);
		remainder = (double)buf1[i] * (1.0-frac);
		tick += len2;
		i++;
		if (tick > len1) {
			j++;
			buf2[j] = 0;
			tick -= len1;
		}
		if (i >= len1) {
			i = len1 - 1;
			tick = len1;
		}
	}
	for (j=0; j<len2; j++) {
		buf2[j] = buf2[j] * len2 / len1;}
}

void arbitrary_resample(int16_t *buf1, int16_t *buf2, int len1, int len2)
/* up to you to calculate lengths and make sure it does not go OOB
 * okay for buffers to overlap, if you are downsampling */
{
	if (len1 < len2) {
		arbitrary_upsample(buf1, buf2, len1, len2);
	} else {
		arbitrary_downsample(buf1, buf2, len1, len2);
	}
}

void full_demod(struct demod_state *d)
{
	int i, ds_p;
	int sr = 0;
	ds_p = d->downsample_passes;
	if (ds_p) {
		for (i=0; i < ds_p; i++) {
			fifth_order(d->lowpassed,   (d->lp_len >> i), d->lp_i_hist[i]);
			fifth_order(d->lowpassed+1, (d->lp_len >> i) - 1, d->lp_q_hist[i]);
		}
		d->lp_len = d->lp_len >> ds_p;
		/* droop compensation */
		if (d->comp_fir_size == 9 && ds_p <= CIC_TABLE_MAX) {
			generic_fir(d->lowpassed, d->lp_len,
				cic_9_tables[ds_p], d->droop_i_hist);
			generic_fir(d->lowpassed+1, d->lp_len-1,
				cic_9_tables[ds_p], d->droop_q_hist);
		}
	} else {
		low_pass(d);
	}
	/* power squelch */
	if (d->squelch_level) {
		sr = rms(d->lowpassed, d->lp_len, 1);
		if (sr < d->squelch_level) {
			d->squelch_hits++;
			for (i=0; i< d->lp_len; i++) {
				d->lowpassed[i] = 0;
			}
		} else {
			d->squelch_hits = 0;
		}
	}
	d->mode_demod(d);  /* lowpassed -> result */
	if (d->mode_demod == &raw_demod) {
		return;
	}
	/* todo, fm noise squelch */
	// use nicer filter here too?
	if (d->post_downsample > 1) {
		d->result_len = low_pass_simple(d->result, d->result_len, d->post_downsample);}
	if (d->deemph) {
		deemph_filter(d);}
	if (d->dc_block) {
		dc_block_filter(d);}
	if (d->rate_out2 > 0) {
		low_pass_real(d);
		//arbitrary_resample(d->result, d->result, d->result_len, d->result_len * d->rate_out2 / d->rate_out);
	}
}

static void rtlsdr_callback(unsigned char *buf, uint32_t len, void *ctx)
{
	int i;
	struct dongle_state *s = ctx;
	struct demod_state *d = s->demod_target;

	if (do_exit) {
		return;}
	if (!ctx) {
		return;}
	if (s->mute) {
		for (i=0; i<s->mute; i++) {
			buf[i] = 127;}
		s->mute = 0;
	}
	if (!s->offset_tuning) {
		rotate_90(buf, len);}
	for (i=0; i<(int)len; i++) {
		s->buf16[i] = (int16_t)buf[i] - 127;}
	pthread_rwlock_wrlock(&d->rw);
	memcpy(d->lowpassed, s->buf16, 2*len);
	d->lp_len = len;
	pthread_rwlock_unlock(&d->rw);
	safe_cond_signal(&d->ready, &d->ready_m);
}

static void *dongle_thread_fn(void *arg)
{
	struct dongle_state *s = arg;
	fprintf(stderr, "dongle_thread_fn running\n");
	rtlsdr_read_async(s->dev, rtlsdr_callback, s, 0, s->buf_len);
	fprintf(stderr, "dongle_thread_fn exited!\n");
	return 0;
}

static void rtl_fm_scan_callback(void)
{
	struct controller_state *s = &controller;
	uint32_t frequency = rtl_fm_get_freq();

	if(!s->scanning)
		return;

	if(!s->scan_direction) {
		frequency += s->scan_step;
		if(frequency > s->scan_max)
			frequency = s->scan_min;
	} else {
		frequency -= s->scan_step;
		if(frequency < s->scan_min)
			frequency = s->scan_max;
	}

	rtl_fm_set_freq(frequency);
}

static void rtl_fm_scan_end_callback(void)
{
	struct controller_state *s = &controller;

	if(!s->scanning)
		return;

	rtl_fm_scan_stop();

	if(s->scan_callback)
		s->scan_callback(rtl_fm_get_freq(), s->scan_callback_data);
}

static void *demod_thread_fn(void *arg)
{
	struct demod_state *d = arg;
	struct output_state *o = d->output_target;
	fprintf(stderr, "demod_thread_fn running\n");
	while (!do_exit) {
		safe_cond_wait(&d->ready, &d->ready_m);
		pthread_rwlock_wrlock(&d->rw);
		full_demod(d);
		pthread_rwlock_unlock(&d->rw);
		if (d->exit_flag) {
			do_exit = 1;
		}
		if (d->squelch_level) {
			if(d->squelch_hits > d->conseq_squelch) {
				d->squelch_hits = d->conseq_squelch + 1;  /* hair trigger */
				//safe_cond_signal(&controller.hop, &controller.hop_m);
				rtl_fm_scan_callback();
				continue;
			} else if(!d->squelch_hits) {
				rtl_fm_scan_end_callback();
			}
		}
		pthread_rwlock_wrlock(&o->rw);
		memcpy(o->result, d->result, 2*d->result_len);
		o->result_len = d->result_len;
		pthread_rwlock_unlock(&o->rw);
		safe_cond_signal(&o->ready, &o->ready_m);
	}
	fprintf(stderr, "demod_thread_fn exited!\n");
	return 0;
}

static void *output_thread_fn(void *arg)
{
	struct output_state *s = arg;
	fprintf(stderr, "output_thread_fn running\n");
	while (!do_exit) {
		// use timedwait and pad out under runs
		safe_cond_wait(&s->ready, &s->ready_m);
		pthread_rwlock_rdlock(&s->rw);
		if(s->output_fn) {
			s->output_fn(s->result, s->result_len, s->output_fn_data);
		}
		pthread_rwlock_unlock(&s->rw);
	}
	fprintf(stderr, "output_thread_fn exited!\n");
	return 0;
}

static void optimal_settings(int freq, int rate)
{
	// giant ball of hacks
	// seems unable to do a single pass, 2:1
	int capture_freq, capture_rate;
	struct dongle_state *d = &dongle;
	struct demod_state *dm = &demod;
	struct controller_state *cs = &controller;
	dm->downsample = (1000000 / dm->rate_in) + 1;
	if (dm->downsample_passes) {
		dm->downsample_passes = (int)log2(dm->downsample) + 1;
		dm->downsample = 1 << dm->downsample_passes;
	}
	capture_freq = freq;
	capture_rate = dm->downsample * dm->rate_in;
	if (!d->offset_tuning) {
		capture_freq = freq + capture_rate/4;}
	capture_freq += cs->edge * dm->rate_in / 2;
	dm->output_scale = (1<<15) / (128 * dm->downsample);
	if (dm->output_scale < 1) {
		dm->output_scale = 1;}
	if (dm->mode_demod == &fm_demod) {
		dm->output_scale = 1;}
	d->freq = (uint32_t)capture_freq;
	d->rate = (uint32_t)capture_rate;
}


void frequency_range(struct controller_state *s, char *arg)
{
	char *start, *stop, *step;
	int i;
	start = arg;
	stop = strchr(start, ':') + 1;
	stop[-1] = '\0';
	step = strchr(stop, ':') + 1;
	step[-1] = '\0';
	for(i=(int)atofs(start); i<=(int)atofs(stop); i+=(int)atofs(step))
	{
		s->freqs[s->freq_len] = (uint32_t)i;
		s->freq_len++;
		if (s->freq_len >= FREQUENCIES_LIMIT) {
			break;}
	}
	stop[-1] = ':';
	step[-1] = ':';
}

void dongle_init(struct dongle_state *s)
{
	s->rate = DEFAULT_SAMPLE_RATE;
	s->gain = AUTO_GAIN; // tenths of a dB
	s->mute = 0;
	s->direct_sampling = 0;
	s->offset_tuning = 0;
	s->demod_target = &demod;
}

void demod_init(struct demod_state *s)
{
	s->rate_in = DEFAULT_SAMPLE_RATE;
	s->rate_out = DEFAULT_SAMPLE_RATE;
	s->squelch_level = 0;
	s->conseq_squelch = DEFAULT_CONSEQ_SQUELCH;
	s->terminate_on_squelch = 0;
	s->squelch_hits = DEFAULT_CONSEQ_SQUELCH + 1;
	s->downsample_passes = 0;
	s->comp_fir_size = 0;
	s->prev_index = 0;
	s->post_downsample = 1;  // once this works, default = 4
	s->custom_atan = 0;
	s->deemph = 0;
	s->rate_out2 = -1;  // flag for disabled
	s->mode_demod = &fm_demod;
	s->pre_j = s->pre_r = s->now_r = s->now_j = 0;
	s->prev_lpr_index = 0;
	s->deemph_a = 0;
	s->now_lpr = 0;
	s->dc_block = 0;
	s->dc_avg = 0;
	pthread_rwlock_init(&s->rw, NULL);
	pthread_cond_init(&s->ready, NULL);
	pthread_mutex_init(&s->ready_m, NULL);
	s->output_target = &output;
}

void demod_cleanup(struct demod_state *s)
{
	pthread_rwlock_destroy(&s->rw);
	pthread_cond_destroy(&s->ready);
	pthread_mutex_destroy(&s->ready_m);
}

void output_init(struct output_state *s)
{
	s->rate = DEFAULT_SAMPLE_RATE;
	s->output_fn = NULL;
	s->output_fn_data = NULL;
	pthread_rwlock_init(&s->rw, NULL);
	pthread_cond_init(&s->ready, NULL);
	pthread_mutex_init(&s->ready_m, NULL);
}

void output_cleanup(struct output_state *s)
{
	pthread_rwlock_destroy(&s->rw);
	pthread_cond_destroy(&s->ready);
	pthread_mutex_destroy(&s->ready_m);
}

void controller_init(struct controller_state *s)
{
	s->freqs[0] = 100000000;
	s->freq_len = 0;
	s->edge = 0;
	s->wb_mode = 0;
	pthread_cond_init(&s->hop, NULL);
	pthread_mutex_init(&s->hop_m, NULL);
}

void controller_cleanup(struct controller_state *s)
{
	pthread_cond_destroy(&s->hop);
	pthread_mutex_destroy(&s->hop_m);
}

void sanity_checks(void)
{
	if (controller.freq_len == 0) {
		fprintf(stderr, "Please specify a frequency.\n");
		exit(1);
	}

	if (controller.freq_len >= FREQUENCIES_LIMIT) {
		fprintf(stderr, "Too many channels, maximum %i.\n", FREQUENCIES_LIMIT);
		exit(1);
	}

	if (controller.freq_len > 1 && demod.squelch_level == 0) {
		fprintf(stderr, "Please specify a squelch level.  Required for scanning multiple frequencies.\n");
		exit(1);
	}

}

int rtl_fm_init(uint32_t freq,
		uint32_t sample_rate,
		uint32_t resample_rate,
		rtl_fm_output_fn_t output_fn,
		void *output_fn_data)
{
	int r = 0;

	dongle_init(&dongle);
	demod_init(&demod);
	output_init(&output);
	controller_init(&controller);

	/*
	 * Simulate the effects of command line arguments:
	 *
	 * -W wbfm -s <sample rate> -r <resample rate>
	 */

	/* Set initial frequency */
	controller.freqs[0] = freq;
	controller.freq_len++;

	/* Set mode to wbfm */
	controller.wb_mode = 1;
	demod.mode_demod = &fm_demod;
	demod.rate_in = 170000;
	demod.rate_out = 170000;
	demod.rate_out2 = 32000;
	demod.custom_atan = 1;
	//demod.post_downsample = 4;
	demod.deemph = 1;
	controller.scan_squelch_count = DEFAULT_CONSEQ_SQUELCH;
	controller.scan_squelch_level = DEFAULT_SQUELCH_LEVEL;
	demod.squelch_level = 0;

	/* Adjust frequency for wb mode */
	controller.freqs[0] += 16000;

	/* Set sample rate */
	demod.rate_in = sample_rate;
	demod.rate_out = sample_rate;

	/* Set resample rate */
	output.rate = (int) resample_rate;
	demod.rate_out2 = (int) resample_rate;

	/* Set output function pointer */
	if(output_fn) {
		output.output_fn = output_fn;
		output.output_fn_data = output_fn_data;
	}

	/* quadruple sample_rate to limit to Δθ to ±π/2 */
	demod.rate_in *= demod.post_downsample;

	if (!output.rate) {
		output.rate = demod.rate_out;
	}

	sanity_checks();

	if (controller.freq_len > 1) {
		demod.terminate_on_squelch = 0;
	}

	ACTUAL_BUF_LENGTH = lcm_post[demod.post_downsample] * DEFAULT_BUF_LENGTH;

	dongle.dev_index = verbose_device_search("0");
	if (dongle.dev_index < 0) {
		return -1;
	}

	r = rtlsdr_open(&dongle.dev, (uint32_t)dongle.dev_index);
	if (r < 0) {
		fprintf(stderr, "Failed to open rtlsdr device #%d.\n", dongle.dev_index);
		return r;
	}

	if (demod.deemph) {
		demod.deemph_a = (int)round(1.0/((1.0-exp(-1.0/(demod.rate_out * 75e-6)))));
	}

	/* Set the tuner gain */
	if (dongle.gain == AUTO_GAIN) {
		verbose_auto_gain(dongle.dev);
	} else {
		dongle.gain = nearest_gain(dongle.dev, dongle.gain);
		verbose_gain_set(dongle.dev, dongle.gain);
	}

	verbose_ppm_set(dongle.dev, dongle.ppm_error);

	//r = rtlsdr_set_testmode(dongle.dev, 1);

	return r;
}

void rtl_fm_start(void)
{
	struct controller_state *s = &controller;

	/*
	 * A bunch of the following is pulled from the controller_thread_fn,
	 * which has been removed.
	 */

	/* Reset endpoint before we start reading from it (mandatory) */
	verbose_reset_buffer(dongle.dev);

	/* set up primary channel */
	optimal_settings(s->freqs[0], demod.rate_in);
	if (dongle.direct_sampling) {
		verbose_direct_sampling(dongle.dev, 1);}
	if (dongle.offset_tuning) {
		verbose_offset_tuning(dongle.dev);}

	/* Set the frequency */
	verbose_set_frequency(dongle.dev, dongle.freq);
	fprintf(stderr, "Oversampling input by: %ix.\n", demod.downsample);
	fprintf(stderr, "Oversampling output by: %ix.\n", demod.post_downsample);
	fprintf(stderr, "Buffer size: %0.2fms\n",
		1000 * 0.5 * (float)ACTUAL_BUF_LENGTH / (float)dongle.rate);

	/* Set the sample rate */
	verbose_set_sample_rate(dongle.dev, dongle.rate);
	fprintf(stderr, "Output at %u Hz.\n", demod.rate_in/demod.post_downsample);
	usleep(100000);

	rtl_fm_scan_stop();

	do_exit = 0;
	pthread_create(&output.thread, NULL, output_thread_fn, (void *)(&output));
	pthread_create(&demod.thread, NULL, demod_thread_fn, (void *)(&demod));
	pthread_create(&dongle.thread, NULL, dongle_thread_fn, (void *)(&dongle));
}

void rtl_fm_set_freq(uint32_t freq)
{
	struct controller_state *s = &controller;

	if(s->freqs[0] == freq)
		return;

	s->freqs[0] = freq;
	s->freq_len = 1;

	if (s->wb_mode) {
		s->freqs[0] += 16000;
	}

	optimal_settings(s->freqs[0], demod.rate_in);
	if (dongle.offset_tuning) {
		verbose_offset_tuning(dongle.dev);
	}
	rtlsdr_set_center_freq(dongle.dev, dongle.freq);

	// It does not look like refreshing the sample rate is desirable
	// (e.g. the scanning code in the removed controller thread function
	// did not do it), and behavior seemed a bit less robust with it
	// present.  However, I am leaving this here as a reminder to revisit
	// via some more testing.
	//rtlsdr_set_sample_rate(dongle.dev, dongle.rate);

	// This triggers a mute during the frequency change
	dongle.mute = BUFFER_DUMP;

	if(s->freq_callback)
		s->freq_callback(freq, s->freq_callback_data);
}

void rtl_fm_set_freq_callback(void (*callback)(uint32_t, void *),
			      void *data)
{
	struct controller_state *s = &controller;

	s->freq_callback = callback;
	s->freq_callback_data = data;
}

uint32_t rtl_fm_get_freq(void)
{
	struct controller_state *s = &controller;
	uint32_t frequency = s->freqs[0];

	if (s->wb_mode)
		frequency -= 16000;

	return frequency;
}

void rtl_fm_stop(void)
{
	rtl_fm_scan_stop();

	rtlsdr_cancel_async(dongle.dev);
	do_exit = 1;
	pthread_join(dongle.thread, NULL);
	safe_cond_signal(&demod.ready, &demod.ready_m);
	pthread_join(demod.thread, NULL);
	safe_cond_signal(&output.ready, &output.ready_m);
	pthread_join(output.thread, NULL);
}

void rtl_fm_scan_start(int direction,
		       void (*callback)(uint32_t, void *),
		       void *data,
		       uint32_t step,
		       uint32_t min,
		       uint32_t max)
{
	struct controller_state *s = &controller;
	struct demod_state *dm = &demod;
	uint32_t frequency = rtl_fm_get_freq();

	if(s->scanning && s->scan_direction == direction)
		return;

	s->scanning = 1;
	s->scan_direction = direction;
	s->scan_callback = callback;
	s->scan_callback_data = data;
	s->scan_step = step;
	s->scan_min = min;
	s->scan_max = max;

	/* Start scan by stepping in the desired direction */
	if(!direction) {
		frequency += s->scan_step;
		if(frequency > s->scan_max)
			frequency = s->scan_min;
	} else {
		frequency -= s->scan_step;
		if(frequency < s->scan_min)
			frequency = s->scan_max;
	}

	rtl_fm_set_freq(frequency);

	dm->conseq_squelch = s->scan_squelch_count;
	dm->squelch_hits = s->scan_squelch_count + 1;
	dm->squelch_level = s->scan_squelch_level;
}

void rtl_fm_scan_stop(void)
{
	struct controller_state *s = &controller;
	struct demod_state *dm = &demod;

	s->scanning = 0;

	dm->squelch_hits = s->scan_squelch_count + 1;
	dm->squelch_level = 0;
}

void rtl_fm_scan_set_squelch_level(int level)
{
	struct controller_state *s = &controller;

	s->scan_squelch_level = level;
}

void rtl_fm_scan_set_squelch_limit(int count)
{
	struct controller_state *s = &controller;

	s->scan_squelch_count = count;
}

void rtl_fm_cleanup(void)
{
	//dongle_cleanup(&dongle);
	demod_cleanup(&demod);
	output_cleanup(&output);
	controller_cleanup(&controller);

	rtlsdr_close(dongle.dev);
}

// vim: tabstop=8:softtabstop=8:shiftwidth=8:noexpandtab