From 34d5be68ca23e8beb05db9a480faef63ecc911d0 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 10 Jul 2014 17:07:48 -0700 Subject: [PATCH] altos: Extend GPS altitudes to at least 24 bits everywhere Telemetry gets a special 'mode' flag indicating that 24-bit data is present; log files get new data and log readers are expected to detect that via the firmware version number. Signed-off-by: Keith Packard --- src/cc1111/ao_pins.h | 1 + src/drivers/ao_aprs.c | 2 +- src/drivers/ao_gps_skytraq.c | 3 ++- src/drivers/ao_gps_ublox.c | 2 +- src/kernel/ao_gps_report.c | 8 ++++++-- src/kernel/ao_gps_report_mega.c | 7 ++++--- src/kernel/ao_gps_report_metrum.c | 3 ++- src/kernel/ao_gps_show.c | 8 +++++++- src/kernel/ao_log.h | 23 +++++++++++++-------- src/kernel/ao_log_gps.c | 3 ++- src/kernel/ao_log_gps.h | 3 --- src/kernel/ao_telemetry.c | 2 +- src/kernel/ao_telemetry.h | 34 +++++++++++++++++++++++-------- src/kernel/ao_tracker.c | 13 ++++++------ src/test/ao_aprs_test.c | 7 +++---- src/test/ao_flight_test.c | 7 +++++-- src/test/ao_gps_test.c | 5 ++++- src/test/ao_gps_test_skytraq.c | 4 ++++ src/test/ao_gps_test_ublox.c | 9 +++++++- 19 files changed, 99 insertions(+), 45 deletions(-) diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h index 1bc3d716..4db49215 100644 --- a/src/cc1111/ao_pins.h +++ b/src/cc1111/ao_pins.h @@ -20,6 +20,7 @@ #define HAS_RADIO 1 #define DISABLE_LOG_SPACE 1 +#define HAS_WIDE_GPS 0 #if defined(TELEMETRUM_V_1_0) /* Discontinued and was never built with CC1111 chips needing this */ diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c index a9047149..19beb78f 100644 --- a/src/drivers/ao_aprs.c +++ b/src/drivers/ao_aprs.c @@ -713,7 +713,7 @@ static int tncPositionPacket(void) if (ao_gps_data.flags & AO_GPS_VALID) { latitude = ao_gps_data.latitude; longitude = ao_gps_data.longitude; - altitude = ao_gps_data.altitude; + altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data); if (altitude < 0) altitude = 0; } diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c index 944a37f9..81178051 100644 --- a/src/drivers/ao_gps_skytraq.c +++ b/src/drivers/ao_gps_skytraq.c @@ -287,7 +287,8 @@ ao_nmea_gga(void) ao_gps_next.hdop = i; ao_gps_skip_field(); - ao_gps_next.altitude = ao_gps_decimal(0xff); + AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_next, ao_gps_decimal(0xff)); + ao_gps_skip_field(); /* skip any fractional portion */ ao_nmea_finish(); diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c index 077698a9..48765998 100644 --- a/src/drivers/ao_gps_ublox.c +++ b/src/drivers/ao_gps_ublox.c @@ -728,7 +728,7 @@ ao_gps(void) __reentrant if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC)) ao_gps_data.flags |= AO_GPS_DATE_VALID; - ao_gps_data.altitude = nav_posllh.alt_msl / 1000; + AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, nav_posllh.alt_msl / 1000); ao_gps_data.latitude = nav_posllh.lat; ao_gps_data.longitude = nav_posllh.lon; diff --git a/src/kernel/ao_gps_report.c b/src/kernel/ao_gps_report.c index 07201ac2..7ef98a97 100644 --- a/src/kernel/ao_gps_report.c +++ b/src/kernel/ao_gps_report.c @@ -52,8 +52,12 @@ ao_gps_report(void) gps_log.u.gps_longitude = gps_data.longitude; ao_log_data(&gps_log); gps_log.type = AO_LOG_GPS_ALT; - gps_log.u.gps_altitude.altitude = gps_data.altitude; - gps_log.u.gps_altitude.unused = 0xffff; + gps_log.u.gps_altitude.altitude_low = gps_data.altitude_low; +#if HAS_WIDE_GPS + gps_log.u.gps_altitude.altitude_high = gps_data.altitude_high; +#else + gps_log.u.gps_altitude.altitude_high = 0xffff; +#endif ao_log_data(&gps_log); if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) { gps_log.type = AO_LOG_GPS_DATE; diff --git a/src/kernel/ao_gps_report_mega.c b/src/kernel/ao_gps_report_mega.c index cb0c0fd9..f3711fb1 100644 --- a/src/kernel/ao_gps_report_mega.c +++ b/src/kernel/ao_gps_report_mega.c @@ -78,7 +78,8 @@ ao_gps_report_mega(void) #if GPS_SPARSE_LOG /* Don't log data if GPS has a fix and hasn't moved for a while */ if ((gps_data.flags & AO_GPS_VALID) && - !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude, gps_data.altitude)) + !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude, + AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data)) continue; #endif if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) { @@ -87,8 +88,8 @@ ao_gps_report_mega(void) gps_log.type = AO_LOG_GPS_TIME; gps_log.u.gps.latitude = gps_data.latitude; gps_log.u.gps.longitude = gps_data.longitude; - gps_log.u.gps.altitude = gps_data.altitude; - + gps_log.u.gps.altitude_low = gps_data.altitude_low; + gps_log.u.gps.altitude_high = gps_data.altitude_high; gps_log.u.gps.hour = gps_data.hour; gps_log.u.gps.minute = gps_data.minute; gps_log.u.gps.second = gps_data.second; diff --git a/src/kernel/ao_gps_report_metrum.c b/src/kernel/ao_gps_report_metrum.c index 696a833b..31939385 100644 --- a/src/kernel/ao_gps_report_metrum.c +++ b/src/kernel/ao_gps_report_metrum.c @@ -44,7 +44,8 @@ ao_gps_report_metrum(void) gps_log.type = AO_LOG_GPS_POS; gps_log.u.gps.latitude = gps_data.latitude; gps_log.u.gps.longitude = gps_data.longitude; - gps_log.u.gps.altitude = gps_data.altitude; + gps_log.u.gps.altitude_low = gps_data.altitude_low; + gps_log.u.gps.altitude_high = gps_data.altitude_high; ao_log_metrum(&gps_log); gps_log.type = AO_LOG_GPS_TIME; diff --git a/src/kernel/ao_gps_show.c b/src/kernel/ao_gps_show.c index 3a05e35a..e45cd795 100644 --- a/src/kernel/ao_gps_show.c +++ b/src/kernel/ao_gps_show.c @@ -19,6 +19,8 @@ #include #endif +#include + void ao_gps_show(void) __reentrant { @@ -27,7 +29,11 @@ ao_gps_show(void) __reentrant printf ("Date: %02d/%02d/%02d\n", ao_gps_data.year, ao_gps_data.month, ao_gps_data.day); printf ("Time: %02d:%02d:%02d\n", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second); printf ("Lat/Lon: %ld %ld\n", (long) ao_gps_data.latitude, (long) ao_gps_data.longitude); - printf ("Alt: %d\n", ao_gps_data.altitude); +#if HAS_WIDE_GPS + printf ("Alt: %ld\n", (long) AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data)); +#else + printf ("Alt: %d\n", AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data)); +#endif printf ("Flags: 0x%x\n", ao_gps_data.flags); printf ("Sats: %d", ao_gps_tracking_data.channels); for (i = 0; i < ao_gps_tracking_data.channels; i++) diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h index 33cda3eb..080cfb02 100644 --- a/src/kernel/ao_log.h +++ b/src/kernel/ao_log.h @@ -176,8 +176,8 @@ struct ao_log_record { int32_t gps_latitude; int32_t gps_longitude; struct { - int16_t altitude; - uint16_t unused; + uint16_t altitude_low; + int16_t altitude_high; } gps_altitude; struct { uint16_t svid; @@ -246,7 +246,7 @@ struct ao_log_mega { struct { int32_t latitude; /* 4 */ int32_t longitude; /* 8 */ - int16_t altitude; /* 12 */ + uint16_t altitude_low; /* 12 */ uint8_t hour; /* 14 */ uint8_t minute; /* 15 */ uint8_t second; /* 16 */ @@ -261,7 +261,8 @@ struct ao_log_mega { uint8_t hdop; /* 27 */ uint8_t vdop; /* 28 */ uint8_t mode; /* 29 */ - } gps; /* 30 */ + int16_t altitude_high; /* 30 */ + } gps; /* 32 */ /* AO_LOG_GPS_SAT */ struct { uint16_t channels; /* 4 */ @@ -273,6 +274,11 @@ struct ao_log_mega { } u; }; +#define AO_LOG_MEGA_GPS_ALTITUDE(l) ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low)) +#define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a) (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \ + ((l)->u.gps.altitude_high = (a) >> 16), \ + (l)->u.gps.altitude_low = (a)) + struct ao_log_metrum { char type; /* 0 */ uint8_t csum; /* 1 */ @@ -306,8 +312,9 @@ struct ao_log_metrum { struct { int32_t latitude; /* 4 */ int32_t longitude; /* 8 */ - int16_t altitude; /* 12 */ - } gps; /* 14 */ + uint16_t altitude_low; /* 12 */ + int16_t altitude_high; /* 14 */ + } gps; /* 16 */ /* AO_LOG_GPS_TIME */ struct { uint8_t hour; /* 4 */ @@ -381,7 +388,7 @@ struct ao_log_gps { struct { int32_t latitude; /* 4 */ int32_t longitude; /* 8 */ - int16_t altitude; /* 12 */ + uint16_t altitude_low; /* 12 */ uint8_t hour; /* 14 */ uint8_t minute; /* 15 */ uint8_t second; /* 16 */ @@ -396,7 +403,7 @@ struct ao_log_gps { uint8_t hdop; /* 27 */ uint8_t vdop; /* 28 */ uint8_t mode; /* 29 */ - uint8_t state; /* 30 */ + int16_t altitude_high; /* 30 */ } gps; /* 31 */ /* AO_LOG_GPS_SAT */ struct { diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c index 3b728c25..a5a6358b 100644 --- a/src/kernel/ao_log_gps.c +++ b/src/kernel/ao_log_gps.c @@ -75,7 +75,8 @@ ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data) log.type = AO_LOG_GPS_TIME; log.u.gps.latitude = gps_data->latitude; log.u.gps.longitude = gps_data->longitude; - log.u.gps.altitude = gps_data->altitude; + log.u.gps.altitude_low = gps_data->altitude_low; + log.u.gps.altitude_high = gps_data->altitude_high; log.u.gps.hour = gps_data->hour; log.u.gps.minute = gps_data->minute; diff --git a/src/kernel/ao_log_gps.h b/src/kernel/ao_log_gps.h index 5851f4d1..a9e8c831 100644 --- a/src/kernel/ao_log_gps.h +++ b/src/kernel/ao_log_gps.h @@ -21,9 +21,6 @@ #ifndef _AO_LOG_GPS_H_ #define _AO_LOG_GPS_H_ -uint8_t -ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt); - void ao_log_gps_flight(void); diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c index d321c8ff..56bd715e 100644 --- a/src/kernel/ao_telemetry.c +++ b/src/kernel/ao_telemetry.c @@ -344,7 +344,7 @@ ao_send_location(void) ao_mutex_get(&ao_gps_mutex); ao_xmemcpy(&telemetry.location.flags, &ao_gps_data.flags, - 26); + 27); telemetry.location.tick = ao_gps_tick; ao_mutex_put(&ao_gps_mutex); ao_radio_send(&telemetry, sizeof (telemetry)); diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h index be7d0340..83d432cf 100644 --- a/src/kernel/ao_telemetry.h +++ b/src/kernel/ao_telemetry.h @@ -86,12 +86,9 @@ struct ao_telemetry_configuration { #define AO_TELEMETRY_LOCATION 0x05 -#define AO_GPS_MODE_NOT_VALID 'N' -#define AO_GPS_MODE_AUTONOMOUS 'A' -#define AO_GPS_MODE_DIFFERENTIAL 'D' -#define AO_GPS_MODE_ESTIMATED 'E' -#define AO_GPS_MODE_MANUAL 'M' -#define AO_GPS_MODE_SIMULATED 'S' +/* Mode bits */ + +#define AO_GPS_MODE_ALTITUDE_24 (1 << 0) /* reports 24-bits of altitude */ struct ao_telemetry_location { uint16_t serial; /* 0 */ @@ -99,7 +96,7 @@ struct ao_telemetry_location { uint8_t type; /* 4 */ uint8_t flags; /* 5 Number of sats and other flags */ - int16_t altitude; /* 6 GPS reported altitude (m) */ + uint16_t altitude_low; /* 6 GPS reported altitude (m) */ int32_t latitude; /* 8 latitude (degrees * 10⁷) */ int32_t longitude; /* 12 longitude (degrees * 10⁷) */ uint8_t year; /* 16 (- 2000) */ @@ -115,10 +112,31 @@ struct ao_telemetry_location { uint16_t ground_speed; /* 26 cm/s */ int16_t climb_rate; /* 28 cm/s */ uint8_t course; /* 30 degrees / 2 */ - uint8_t unused; /* 31 unused */ + int8_t altitude_high; /* 31 high byte of altitude */ /* 32 */ }; +#if HAS_GPS + +#ifndef HAS_WIDE_GPS +#define HAS_WIDE_GPS 1 +#endif + +#if HAS_WIDE_GPS +typedef int32_t gps_alt_t; +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low)) +#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode |= AO_GPS_MODE_ALTITUDE_24), \ + ((l)->altitude_high = (a) >> 16), \ + ((l)->altitude_low = (a))) +#else +typedef int16_t gps_alt_t; +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((gps_alt_t) (l)->altitude_low) +#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode = 0, \ + (l)->altitude_low = (a))) +#endif /* HAS_WIDE_GPS */ + +#endif /* HAS_GPS */ + #define AO_TELEMETRY_SATELLITE 0x06 struct ao_telemetry_satellite_info { diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c index 9febc7f0..d9434048 100644 --- a/src/kernel/ao_tracker.c +++ b/src/kernel/ao_tracker.c @@ -36,9 +36,9 @@ ao_usb_connected(void) #endif struct gps_position { - int32_t latitude; - int32_t longitude; - int16_t altitude; + int32_t latitude; + int32_t longitude; + gps_alt_t altitude; }; #define GPS_RING 16 @@ -122,12 +122,13 @@ ao_tracker(void) { uint8_t ring; uint8_t moving = 0; + gps_alt_t altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data); for (ring = ao_gps_ring_next(gps_head); ring != gps_head; ring = ao_gps_ring_next(ring)) { ground_distance = ao_distance(gps_data.latitude, gps_data.longitude, gps_position[ring].latitude, gps_position[ring].longitude); - height = gps_position[ring].altitude - gps_data.altitude; + height = gps_position[ring].altitude - altitude; if (height < 0) height = -height; @@ -153,7 +154,7 @@ ao_tracker(void) ao_log_gps_data(gps_tick, &gps_data); gps_position[gps_head].latitude = gps_data.latitude; gps_position[gps_head].longitude = gps_data.longitude; - gps_position[gps_head].altitude = gps_data.altitude; + gps_position[gps_head].altitude = altitude; gps_head = ao_gps_ring_next(gps_head); ao_mutex_put(&tracker_mutex); } @@ -203,7 +204,7 @@ ao_tracker_set_telem(void) printf ("log_started: %d\n", log_started); printf ("latitude: %ld\n", (long) gps_data.latitude); printf ("longitude: %ld\n", (long) gps_data.longitude); - printf ("altitude: %d\n", gps_data.altitude); + printf ("altitude: %ld\n", AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data)); printf ("log_running: %d\n", ao_log_running); printf ("log_start_pos: %ld\n", (long) ao_log_start_pos); printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos); diff --git a/src/test/ao_aprs_test.c b/src/test/ao_aprs_test.c index 573b5cb2..ae505dea 100644 --- a/src/test/ao_aprs_test.c +++ b/src/test/ao_aprs_test.c @@ -21,6 +21,8 @@ #include #include +#define HAS_GPS 1 + #include #define AO_GPS_NUM_SAT_MASK (0xf << 0) @@ -100,14 +102,11 @@ audio_gap(int secs) // This is where we go after reset. int main(int argc, char **argv) { - int e, x; - int a; - audio_gap(1); ao_gps_data.latitude = (45.0 + 28.25 / 60.0) * 10000000; ao_gps_data.longitude = (-(122 + 44.2649 / 60.0)) * 10000000; - ao_gps_data.altitude = 84; + AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, 84); ao_gps_data.flags = (AO_GPS_VALID|AO_GPS_RUNNING); /* Transmit one packet */ diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 1ab22e5b..314998c1 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -175,7 +175,7 @@ ao_gps_angle(void) ao_gps_static.latitude / 1e7, ao_gps_static.longitude / 1e7, &dist, &bearing); - height = ao_gps_static.altitude - ao_gps_prev.altitude; + height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev); angle = atan2(dist, height); return angle * 180/M_PI; @@ -756,7 +756,10 @@ ao_sleep(void *wchan) ao_gps_static.tick = tick; ao_gps_static.latitude = int32(bytes, 0); ao_gps_static.longitude = int32(bytes, 4); - ao_gps_static.altitude = int32(bytes, 8); + { + int32_t altitude = int32(bytes, 8); + AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude); + } ao_gps_static.flags = bytes[13]; if (!ao_gps_count) ao_gps_first = ao_gps_static; diff --git a/src/test/ao_gps_test.c b/src/test/ao_gps_test.c index e799ab0f..543bbcc3 100644 --- a/src/test/ao_gps_test.c +++ b/src/test/ao_gps_test.c @@ -53,6 +53,9 @@ struct ao_gps_orig { uint16_t v_error; /* m */ }; +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((l)->altitude) +#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a)) + #define SIRF_SAT_STATE_ACQUIRED (1 << 0) #define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1) #define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2) @@ -433,7 +436,7 @@ ao_dump_state(void *wchan) if (wchan != &ao_gps_new) return; - + if (ao_gps_new & AO_GPS_NEW_DATA) { ao_gps_print(&ao_gps_data); putchar('\n'); diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c index 1b590d5e..5eb7118d 100644 --- a/src/test/ao_gps_test_skytraq.c +++ b/src/test/ao_gps_test_skytraq.c @@ -16,6 +16,7 @@ */ #define AO_GPS_TEST +#define HAS_GPS 1 #include "ao_host.h" #include #include @@ -53,6 +54,9 @@ struct ao_gps_orig { uint16_t v_error; /* m */ }; +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((l)->altitude) +#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a)) + #define SIRF_SAT_STATE_ACQUIRED (1 << 0) #define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1) #define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2) diff --git a/src/test/ao_gps_test_ublox.c b/src/test/ao_gps_test_ublox.c index 4eb4b837..5ea205d6 100644 --- a/src/test/ao_gps_test_ublox.c +++ b/src/test/ao_gps_test_ublox.c @@ -16,6 +16,7 @@ */ #define AO_GPS_TEST +#define HAS_GPS 1 #include "ao_host.h" #include #include @@ -44,7 +45,7 @@ struct ao_telemetry_location { uint8_t flags; int32_t latitude; /* degrees * 10⁷ */ int32_t longitude; /* degrees * 10⁷ */ - int16_t altitude; /* m */ + int16_t altitude_low; /* m */ uint16_t ground_speed; /* cm/s */ uint8_t course; /* degrees / 2 */ uint8_t pdop; /* * 5 */ @@ -53,8 +54,14 @@ struct ao_telemetry_location { int16_t climb_rate; /* cm/s */ uint16_t h_error; /* m */ uint16_t v_error; /* m */ + int16_t altitude_high; /* m */ }; +typedef int32_t gps_alt_t; +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low)) +#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->altitude_high = (a) >> 16), \ + ((l)->altitude_low = (a))) + #define UBLOX_SAT_STATE_ACQUIRED (1 << 0) #define UBLOX_SAT_STATE_CARRIER_PHASE_VALID (1 << 1) #define UBLOX_SAT_BIT_SYNC_COMPLETE (1 << 2) -- 2.30.2