#endif
#include <ao_aprs.h>
-
-typedef int bool_t;
-typedef int32_t int32;
-#define false 0
-#define true 1
+#include <math.h>
// Public methods, constants, and data structures for each class.
/// AX.25 compliant packet header that contains destination, station call sign, and path.
/// 0x76 for SSID-11, 0x78 for SSID-12
-static const uint8_t TNC_AX25_HEADER[] = {
- 'A' << 1, 'P' << 1, 'A' << 1, 'M' << 1, ' ' << 1, ' ' << 1, 0x60, \
- 'K' << 1, 'D' << 1, '7' << 1, 'S' << 1, 'Q' << 1, 'G' << 1, 0x78, \
- 'W' << 1, 'I' << 1, 'D' << 1, 'E' << 1, '2' << 1, ' ' << 1, 0x65, \
+static uint8_t TNC_AX25_HEADER[] = {
+ 'A' << 1, 'P' << 1, 'A' << 1, 'M' << 1, ' ' << 1, ' ' << 1, 0x60,
+ 'N' << 1, '0' << 1, 'C' << 1, 'A' << 1, 'L' << 1, 'L' << 1, 0x78,
+ 'W' << 1, 'I' << 1, 'D' << 1, 'E' << 1, '2' << 1, ' ' << 1, 0x65,
0x03, 0xf0 };
+#define TNC_CALLSIGN_OFF 7
+#define TNC_CALLSIGN_LEN 6
+
+static void
+tncSetCallsign(void)
+{
+#ifndef AO_APRS_TEST
+ uint8_t i;
+
+ for (i = 0; i < TNC_CALLSIGN_LEN; i++) {
+ if (!ao_config.callsign[i])
+ break;
+ TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ao_config.callsign[i] << 1;
+ }
+ for (; i < TNC_CALLSIGN_LEN; i++)
+ TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ' ' << 1;
+#endif
+}
+
/// The next bit to transmit.
static uint8_t tncTxBit;
/// A copy of the last 5 bits we've transmitted to determine if we need to bit stuff on the next bit.
static uint8_t tncBitStuff;
-/// Pointer to TNC buffer as we save each byte during message preparation.
-static uint8_t *tncBufferPnt;
-
/// Buffer to hold the message portion of the AX.25 packet as we prepare it.
static uint8_t tncBuffer[TNC_BUFFER_SIZE];
} // END switch
}
+static void tncCompressInt(uint8_t *dest, int32_t value, int len) {
+ int i;
+ for (i = len - 1; i >= 0; i--) {
+ dest[i] = value % 91 + 33;
+ value /= 91;
+ }
+}
+
+static int ao_num_sats(void)
+{
+ int i;
+ int n = 0;
+
+ for (i = 0; i < ao_gps_tracking_data.channels; i++) {
+ if (ao_gps_tracking_data.sats[i].svid)
+ n++;
+ }
+ return n;
+}
+
+static char ao_gps_locked(void)
+{
+ if (ao_gps_data.flags & AO_GPS_VALID)
+ return 'L';
+ else
+ return 'U';
+}
+
+static int tncComment(uint8_t *buf)
+{
+#if HAS_ADC
+ struct ao_data packet;
+
+ ao_arch_critical(ao_data_get(&packet););
+
+ int16_t battery = ao_battery_decivolt(packet.adc.v_batt);
+ int16_t apogee = ao_ignite_decivolt(AO_SENSE_DROGUE(&packet));
+ int16_t main = ao_ignite_decivolt(AO_SENSE_MAIN(&packet));
+
+ return sprintf((char *) buf,
+ "%c%d B%d.%d A%d.%d M%d.%d",
+ ao_gps_locked(),
+ ao_num_sats(),
+ battery/10,
+ battery % 10,
+ apogee/10,
+ apogee%10,
+ main/10,
+ main%10);
+#else
+ return sprintf((char *) buf,
+ "%c%d",
+ ao_gps_locked(),
+ ao_num_sats());
+#endif
+}
+
/**
* Generate the plain text position packet.
*/
-static void tncPositionPacket(void)
+static int tncPositionPacket(void)
{
- int32_t latitude = 45.4694766 * 10000000;
- int32_t longitude = -122.7376250 * 10000000;
- uint32_t altitude = 10000;
- uint16_t lat_deg;
- uint16_t lon_deg;
- uint16_t lat_min;
- uint16_t lat_frac;
- uint16_t lon_min;
- uint16_t lon_frac;
- int c;
-
- char lat_sign = 'N', lon_sign = 'E';
-
- if (latitude < 0) {
- lat_sign = 'S';
- latitude = -latitude;
+ static int32_t latitude;
+ static int32_t longitude;
+ static int32_t altitude;
+ int32_t lat, lon, alt;
+ uint8_t *buf;
+
+ if (ao_gps_data.flags & AO_GPS_VALID) {
+ latitude = ao_gps_data.latitude;
+ longitude = ao_gps_data.longitude;
+ altitude = ao_gps_data.altitude;
+ if (altitude < 0)
+ altitude = 0;
}
- if (longitude < 0) {
- lon_sign = 'W';
- longitude = -longitude;
- }
+ buf = tncBuffer;
+ *buf++ = '!';
+
+ /* Symbol table ID */
+ *buf++ = '/';
+
+ lat = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000;
+ lon = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000;
+
+#define ALTITUDE_LOG_BASE 0.001998002662673f /* log(1.002) */
- lat_deg = latitude / 10000000;
- latitude -= lat_deg * 10000000;
- latitude *= 60;
- lat_min = latitude / 10000000;
- latitude -= lat_min * 10000000;
- lat_frac = (latitude + 50000) / 100000;
-
- lon_deg = longitude / 10000000;
- longitude -= lon_deg * 10000000;
- longitude *= 60;
- lon_min = longitude / 10000000;
- longitude -= lon_min * 10000000;
- lon_frac = (longitude + 50000) / 100000;
-
- c = sprintf ((char *) tncBufferPnt, "=%02u%02u.%02u%c\\%03u%02u.%02u%cO /A=%06u\015",
- lat_deg, lat_min, lat_frac, lat_sign,
- lon_deg, lon_min, lon_frac, lon_sign,
- altitude * 100 / 3048);
- tncBufferPnt += c;
- tncLength += c;
+ alt = (altitude * (int32_t) 10000 + (3048/2)) / (int32_t) 3048;
+ alt = logf((float) altitude) * (1/ALTITUDE_LOG_BASE);
+
+ tncCompressInt(buf, lat, 4);
+ buf += 4;
+ tncCompressInt(buf, lon, 4);
+ buf += 4;
+
+ /* Symbol code */
+ *buf++ = '\'';
+
+ tncCompressInt(buf, alt, 2);
+ buf += 2;
+
+ *buf++ = 33 + ((1 << 5) | (2 << 3));
+
+ buf += tncComment(buf);
+
+ return buf - tncBuffer;
}
static int16_t
timeInit();
tncInit();
+ tncSetCallsign();
- // Set a pointer to our TNC output buffer.
- tncBufferPnt = tncBuffer;
-
- // Set the message length counter.
- tncLength = 0;
-
- tncPositionPacket();
+ tncLength = tncPositionPacket();
// Calculate the CRC for the header and message.
crc = sysCRC16(TNC_AX25_HEADER, sizeof(TNC_AX25_HEADER), 0xffff);
crc = sysCRC16(tncBuffer, tncLength, crc ^ 0xffff);
// Save the CRC in the message.
- *tncBufferPnt++ = crc & 0xff;
- *tncBufferPnt = (crc >> 8) & 0xff;
-
- // Update the length to include the CRC bytes.
- tncLength += 2;
+ tncBuffer[tncLength++] = crc & 0xff;
+ tncBuffer[tncLength++] = (crc >> 8) & 0xff;
// Prepare the variables that are used in the real-time clock interrupt.
tncBitCount = 0;
tncIndex = 0;
tncMode = TNC_TX_SYNC;
- ao_radio_send_lots(tncFill);
+ ao_radio_send_aprs(tncFill);
}
/** @} */