2 * http://ad7zj.net/kd7lmo/aprsbeacon_code.html
4 * @mainpage Pico Beacon
6 * @section overview_sec Overview
8 * The Pico Beacon is an APRS based tracking beacon that operates in the UHF 420-450MHz band. The device utilizes a
9 * Microchip PIC 18F2525 embedded controller, Motorola M12+ GPS engine, and Analog Devices AD9954 DDS. The device is capable
10 * of generating a 1200bps A-FSK and 9600 bps FSK AX.25 compliant APRS (Automatic Position Reporting System) message.
14 * @section history_sec Revision History
16 * @subsection v305 V3.05
17 * 23 Dec 2006, Change include; (1) change printf format width to conform to ANSI standard when new CCS 4.xx compiler released.
20 * @subsection v304 V3.04
21 * 10 Jan 2006, Change include; (1) added amplitude control to engineering mode,
22 * (2) corrected number of bytes reported in log,
23 * (3) add engineering command to set high rate position reports (5 seconds), and
24 * (4) corrected size of LOG_COORD block when searching for end of log.
26 * @subsection v303 V3.03
27 * 15 Sep 2005, Change include; (1) removed AD9954 setting SDIO as input pin,
28 * (2) additional comments and Doxygen tags,
29 * (3) integration and test code calculates DDS FTW,
30 * (4) swapped bus and reference analog input ports (hardware change),
31 * (5) added message that indicates we are reading flash log and reports length,
32 * (6) report bus voltage in 10mV steps, and
33 * (7) change log type enumerated values to XORed nibbles for error detection.
36 * @subsection v302 V3.02
37 * 6 Apr 2005, Change include; (1) corrected tracked satellite count in NMEA-0183 $GPGGA message,
38 * (2) Doxygen documentation clean up and additions, and
39 * (3) added integration and test code to baseline.
42 * @subsection v301 V3.01
43 * 13 Jan 2005, Renamed project and files to Pico Beacon.
46 * @subsection v300 V3.00
47 * 15 Nov 2004, Change include; (1) Micro Beacon extreme hardware changes including integral transmitter,
48 * (2) PIC18F2525 processor,
49 * (3) AD9954 DDS support functions,
50 * (4) added comments and formatting for doxygen,
51 * (5) process GPS data with native Motorola protocol,
52 * (6) generate plain text $GPGGA and $GPRMC messages,
53 * (7) power down GPS 5 hours after lock,
54 * (8) added flight data recorder, and
55 * (9) added diagnostics terminal mode.
58 * @subsection v201 V2.01
59 * 30 Jan 2004, Change include; (1) General clean up of in-line documentation, and
60 * (2) changed temperature resolution to 0.1 degrees F.
63 * @subsection v200 V2.00
64 * 26 Oct 2002, Change include; (1) Micro Beacon II hardware changes including PIC18F252 processor,
66 * (3) GPS power control,
67 * (4) additional ADC input, and
68 * (5) LM60 temperature sensor.
71 * @subsection v101 V1.01
72 * 5 Dec 2001, Change include; (1) Changed startup message, and
73 * (2) applied SEPARATE pragma to several methods for memory usage.
76 * @subsection v100 V1.00
77 * 25 Sep 2001, Initial release. Flew ANSR-3 and ANSR-4.
83 * @section copyright_sec Copyright
85 * Copyright (c) 2001-2009 Michael Gray, KD7LMO
90 * @section gpl_sec GNU General Public License
92 * This program is free software; you can redistribute it and/or modify
93 * it under the terms of the GNU General Public License as published by
94 * the Free Software Foundation; either version 2 of the License, or
95 * (at your option) any later version.
97 * This program is distributed in the hope that it will be useful,
98 * but WITHOUT ANY WARRANTY; without even the implied warranty of
99 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
100 * GNU General Public License for more details.
102 * You should have received a copy of the GNU General Public License
103 * along with this program; if not, write to the Free Software
104 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
110 * @section design Design Details
112 * Provides design details on a variety of the components that make up the Pico Beacon.
118 * @page power Power Consumption
120 * Measured DC power consumption.
122 * 3VDC prime power current
127 * 18mA Processor running, all I/O off
131 * 120mA GPS running w/antenna
133 * 250mA DDS running and GPS w/antenna
135 * 420mA DDS running, GPS w/antenna, and PA chain on with no RF
149 // Public methods, constants, and data structures for each class.
151 static void timeInit(void);
153 static void tncInit(void);
154 static void tnc1200TimerTick(void);
159 * @defgroup sys System Library Functions
161 * Generic system functions similiar to the run-time C library.
167 * Calculate the CRC-16 CCITT of buffer that is length bytes long.
168 * The crc parameter allow the calculation on the CRC on multiple buffers.
170 * @param buffer Pointer to data buffer.
171 * @param length number of bytes in data buffer
172 * @param crc starting value
174 * @return CRC-16 of buffer[0 .. length]
176 static uint16_t sysCRC16(const uint8_t *buffer, uint8_t length, uint16_t crc)
178 uint8_t i, bit, value;
180 for (i = 0; i < length; ++i)
184 for (bit = 0; bit < 8; ++bit)
186 crc ^= (value & 0x01);
187 crc = ( crc & 0x01 ) ? ( crc >> 1 ) ^ 0x8408 : ( crc >> 1 );
198 * @defgroup rtc Real Time Interrupt tick
200 * Manage the built-in real time interrupt. The interrupt clock PRI is 104uS (9600 bps).
205 /// 16-bit NCO where the upper 8-bits are used to index into the frequency generation table.
206 static uint16_t timeNCO;
208 /// Audio tone NCO update step (phase).
209 static uint16_t timeNCOFreq;
212 * Initialize the real-time clock.
214 static void timeInit()
217 timeNCOFreq = 0x2000;
223 * @defgroup tnc TNC (Terminal Node Controller)
225 * Functions that provide a subset of the TNC functions.
230 /// The number of start flag bytes to send before the packet message. (360bits * 1200bps = 300mS)
231 #define TNC_TX_DELAY 45
233 /// The size of the TNC output buffer.
234 #define TNC_BUFFER_SIZE 40
236 /// States that define the current mode of the 1200 bps (A-FSK) state machine.
239 /// Stand by state ready to accept new message.
242 /// 0x7E bit stream pattern used to define start of APRS message.
245 /// Transmit the AX.25 header that contains the source/destination call signs, APRS path, and flags.
248 /// Transmit the message data.
251 /// Transmit the end flag sequence.
253 } TNC_TX_1200BPS_STATE;
255 /// AX.25 compliant packet header that contains destination, station call sign, and path.
256 /// 0x76 for SSID-11, 0x78 for SSID-12
257 static uint8_t TNC_AX25_HEADER[] = {
258 'A' << 1, 'P' << 1, 'A' << 1, 'M' << 1, ' ' << 1, ' ' << 1, 0x60,
259 'N' << 1, '0' << 1, 'C' << 1, 'A' << 1, 'L' << 1, 'L' << 1, 0x78,
260 'W' << 1, 'I' << 1, 'D' << 1, 'E' << 1, '2' << 1, ' ' << 1, 0x65,
263 #define TNC_CALLSIGN_OFF 7
264 #define TNC_CALLSIGN_LEN 6
272 for (i = 0; i < TNC_CALLSIGN_LEN; i++) {
273 if (!ao_config.callsign[i])
275 TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ao_config.callsign[i] << 1;
277 for (; i < TNC_CALLSIGN_LEN; i++)
278 TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ' ' << 1;
282 /// The next bit to transmit.
283 static uint8_t tncTxBit;
285 /// Current mode of the 1200 bps state machine.
286 static TNC_TX_1200BPS_STATE tncMode;
288 /// Counter for each bit (0 - 7) that we are going to transmit.
289 static uint8_t tncBitCount;
291 /// A shift register that holds the data byte as we bit shift it for transmit.
292 static uint8_t tncShift;
294 /// Index into the APRS header and data array for each byte as we transmit it.
295 static uint8_t tncIndex;
297 /// The number of bytes in the message portion of the AX.25 message.
298 static uint8_t tncLength;
300 /// A copy of the last 5 bits we've transmitted to determine if we need to bit stuff on the next bit.
301 static uint8_t tncBitStuff;
303 /// Buffer to hold the message portion of the AX.25 packet as we prepare it.
304 static uint8_t tncBuffer[TNC_BUFFER_SIZE];
307 * Initialize the TNC internal variables.
309 static void tncInit()
312 tncMode = TNC_TX_READY;
316 * Method that is called every 833uS to transmit the 1200bps A-FSK data stream.
317 * The provides the pre and postamble as well as the bit stuffed data stream.
319 static void tnc1200TimerTick()
321 // Set the A-FSK frequency.
322 if (tncTxBit == 0x00)
323 timeNCOFreq = 0x2000;
325 timeNCOFreq = 0x3aab;
330 // Generate a test signal alteranting between high and low tones.
331 tncTxBit = (tncTxBit == 0 ? 1 : 0);
335 // The variable tncShift contains the lastest data byte.
336 // NRZI enocde the data stream.
337 if ((tncShift & 0x01) == 0x00) {
344 // When the flag is done, determine if we need to send more or data.
345 if (++tncBitCount == 8)
350 // Once we transmit x mS of flags, send the data.
351 // txDelay bytes * 8 bits/byte * 833uS/bit = x mS
352 if (++tncIndex == TNC_TX_DELAY)
355 tncShift = TNC_AX25_HEADER[0];
357 tncMode = TNC_TX_HEADER;
360 tncShift = tncShift >> 1;
364 // Determine if we have sent 5 ones in a row, if we have send a zero.
365 if (tncBitStuff == 0x1f)
376 // The variable tncShift contains the lastest data byte.
377 // NRZI enocde the data stream.
378 if ((tncShift & 0x01) == 0x00) {
385 // Save the data stream so we can determine if bit stuffing is
386 // required on the next bit time.
387 tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f;
389 // If all the bits were shifted, get the next byte.
390 if (++tncBitCount == 8)
394 // After the header is sent, then send the data.
395 if (++tncIndex == sizeof(TNC_AX25_HEADER))
398 tncShift = tncBuffer[0];
399 tncMode = TNC_TX_DATA;
401 tncShift = TNC_AX25_HEADER[tncIndex];
404 tncShift = tncShift >> 1;
409 // Determine if we have sent 5 ones in a row, if we have send a zero.
410 if (tncBitStuff == 0x1f)
421 // The variable tncShift contains the lastest data byte.
422 // NRZI enocde the data stream.
423 if ((tncShift & 0x01) == 0x00) {
430 // Save the data stream so we can determine if bit stuffing is
431 // required on the next bit time.
432 tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f;
434 // If all the bits were shifted, get the next byte.
435 if (++tncBitCount == 8)
439 // If everything was sent, transmit closing flags.
440 if (++tncIndex == tncLength)
444 tncMode = TNC_TX_END;
446 tncShift = tncBuffer[tncIndex];
449 tncShift = tncShift >> 1;
454 // The variable tncShift contains the lastest data byte.
455 // NRZI enocde the data stream.
456 if ((tncShift & 0x01) == 0x00) {
463 // If all the bits were shifted, get the next one.
464 if (++tncBitCount == 8)
469 // Transmit two closing flags.
472 tncMode = TNC_TX_READY;
477 tncShift = tncShift >> 1;
483 static void tncCompressInt(uint8_t *dest, int32_t value, int len) {
485 for (i = len - 1; i >= 0; i--) {
486 dest[i] = value % 91 + 33;
491 static int ao_num_sats(void)
496 for (i = 0; i < ao_gps_tracking_data.channels; i++) {
497 if (ao_gps_tracking_data.sats[i].svid)
503 static char ao_gps_locked(void)
505 if (ao_gps_data.flags & AO_GPS_VALID)
511 static int tncComment(uint8_t *buf)
514 struct ao_data packet;
516 ao_arch_critical(ao_data_get(&packet););
518 int16_t battery = ao_battery_decivolt(packet.adc.v_batt);
519 int16_t apogee = ao_ignite_decivolt(AO_SENSE_DROGUE(&packet));
520 int16_t main = ao_ignite_decivolt(AO_SENSE_MAIN(&packet));
522 return sprintf((char *) buf,
523 "%c%d B%d.%d A%d.%d M%d.%d",
533 return sprintf((char *) buf,
541 * Generate the plain text position packet.
543 static int tncPositionPacket(void)
545 static int32_t latitude;
546 static int32_t longitude;
547 static int32_t altitude;
548 int32_t lat, lon, alt;
551 if (ao_gps_data.flags & AO_GPS_VALID) {
552 latitude = ao_gps_data.latitude;
553 longitude = ao_gps_data.longitude;
554 altitude = ao_gps_data.altitude;
562 /* Symbol table ID */
565 lat = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000;
566 lon = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000;
568 #define ALTITUDE_LOG_BASE 0.001998002662673f /* log(1.002) */
570 alt = (altitude * (int32_t) 10000 + (3048/2)) / (int32_t) 3048;
571 alt = logf((float) altitude) * (1/ALTITUDE_LOG_BASE);
573 tncCompressInt(buf, lat, 4);
575 tncCompressInt(buf, lon, 4);
581 tncCompressInt(buf, alt, 2);
584 *buf++ = 33 + ((1 << 5) | (2 << 3));
586 buf += tncComment(buf);
588 return buf - tncBuffer;
592 tncFill(uint8_t *buf, int16_t len)
598 while (tncMode != TNC_TX_READY && l < len) {
600 for (bit = 0; bit < 8; bit++) {
601 b = b << 1 | (timeNCO >> 15);
602 timeNCO += timeNCOFreq;
608 if (tncMode == TNC_TX_READY)
614 * Prepare an AX.25 data packet. Each time this method is called, it automatically
615 * rotates through 1 of 3 messages.
617 * @param dataMode enumerated type that specifies 1200bps A-FSK or 9600bps FSK
619 void ao_aprs_send(void)
627 tncLength = tncPositionPacket();
629 // Calculate the CRC for the header and message.
630 crc = sysCRC16(TNC_AX25_HEADER, sizeof(TNC_AX25_HEADER), 0xffff);
631 crc = sysCRC16(tncBuffer, tncLength, crc ^ 0xffff);
633 // Save the CRC in the message.
634 tncBuffer[tncLength++] = crc & 0xff;
635 tncBuffer[tncLength++] = (crc >> 8) & 0xff;
637 // Prepare the variables that are used in the real-time clock interrupt.
642 tncMode = TNC_TX_SYNC;
644 ao_radio_send_aprs(tncFill);