-/**
+/**
* http://ad7zj.net/kd7lmo/aprsbeacon_code.html
*
* @mainpage Pico Beacon
*
* @section overview_sec Overview
*
- * The Pico Beacon is an APRS based tracking beacon that operates in the UHF 420-450MHz band. The device utilizes a
+ * The Pico Beacon is an APRS based tracking beacon that operates in the UHF 420-450MHz band. The device utilizes a
* Microchip PIC 18F2525 embedded controller, Motorola M12+ GPS engine, and Analog Devices AD9954 DDS. The device is capable
* of generating a 1200bps A-FSK and 9600 bps FSK AX.25 compliant APRS (Automatic Position Reporting System) message.
* (4) corrected size of LOG_COORD block when searching for end of log.
*
* @subsection v303 V3.03
- * 15 Sep 2005, Change include; (1) removed AD9954 setting SDIO as input pin,
+ * 15 Sep 2005, Change include; (1) removed AD9954 setting SDIO as input pin,
* (2) additional comments and Doxygen tags,
* (3) integration and test code calculates DDS FTW,
* (4) swapped bus and reference analog input ports (hardware change),
* (2) Doxygen documentation clean up and additions, and
* (3) added integration and test code to baseline.
*
- *
+ *
* @subsection v301 V3.01
* 13 Jan 2005, Renamed project and files to Pico Beacon.
*
* (8) added flight data recorder, and
* (9) added diagnostics terminal mode.
*
- *
+ *
* @subsection v201 V2.01
- * 30 Jan 2004, Change include; (1) General clean up of in-line documentation, and
+ * 30 Jan 2004, Change include; (1) General clean up of in-line documentation, and
* (2) changed temperature resolution to 0.1 degrees F.
*
- *
+ *
* @subsection v200 V2.00
* 26 Oct 2002, Change include; (1) Micro Beacon II hardware changes including PIC18F252 processor,
- * (2) serial EEPROM,
- * (3) GPS power control,
- * (4) additional ADC input, and
- * (5) LM60 temperature sensor.
+ * (2) serial EEPROM,
+ * (3) GPS power control,
+ * (4) additional ADC input, and
+ * (5) LM60 temperature sensor.
*
*
* @subsection v101 V1.01
- * 5 Dec 2001, Change include; (1) Changed startup message, and
+ * 5 Dec 2001, Change include; (1) Changed startup message, and
* (2) applied SEPARATE pragma to several methods for memory usage.
*
*
* @subsection v100 V1.00
* 25 Sep 2001, Initial release. Flew ANSR-3 and ANSR-4.
- *
+ *
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
+ *
- *
- *
+ *
+ *
* @section design Design Details
*
* Provides design details on a variety of the components that make up the Pico Beacon.
* @page power Power Consumption
*
* Measured DC power consumption.
- *
- * 3VDC prime power current
+ *
+ * 3VDC prime power current
*
- * 7mA Held in reset
+ * 7mA Held in reset
- * 18mA Processor running, all I/O off
+ * 18mA Processor running, all I/O off
- * 110mA GPS running
+ * 110mA GPS running
- * 120mA GPS running w/antenna
+ * 120mA GPS running w/antenna
- * 250mA DDS running and GPS w/antenna
+ * 250mA DDS running and GPS w/antenna
- * 420mA DDS running, GPS w/antenna, and PA chain on with no RF
+ * 420mA DDS running, GPS w/antenna, and PA chain on with no RF
- * 900mA Transmit
+ * 900mA Transmit
*
*/
#ifndef AO_APRS_TEST
#include <ao.h>
+
+#if !HAS_APRS
+#error HAS_APRS not set
+#endif
#endif
#include <ao_aprs.h>
{
uint8_t i, bit, value;
- for (i = 0; i < length; ++i)
+ for (i = 0; i < length; ++i)
{
value = buffer[i];
- for (bit = 0; bit < 8; ++bit)
+ for (bit = 0; bit < 8; ++bit)
{
- crc ^= (value & 0x01);
+ crc = (uint16_t) (crc ^ (value & 0x01));
crc = ( crc & 0x01 ) ? ( crc >> 1 ) ^ 0x8408 : ( crc >> 1 );
value = value >> 1;
} // END for
#define TNC_TX_DELAY 45
/// The size of the TNC output buffer.
-#define TNC_BUFFER_SIZE 40
+#define TNC_BUFFER_SIZE 48
/// States that define the current mode of the 1200 bps (A-FSK) state machine.
typedef enum
/// AX.25 compliant packet header that contains destination, station call sign, and path.
/// 0x76 for SSID-11, 0x78 for SSID-12
-static uint8_t TNC_AX25_HEADER[] = {
+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,
}
for (; i < TNC_CALLSIGN_LEN; i++)
TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ' ' << 1;
- TNC_AX25_HEADER[TNC_SSID_OFF] = 0x60 | ((ao_serial_number % 10) << 1);
+
+ /* Fill in the SSID with the low digit of the serial number */
+ TNC_AX25_HEADER[TNC_SSID_OFF] = (uint8_t) (0x60 | ((ao_config.aprs_ssid & 0xf) << 1));
#endif
}
/// Buffer to hold the message portion of the AX.25 packet as we prepare it.
static uint8_t tncBuffer[TNC_BUFFER_SIZE];
-/**
+#pragma GCC diagnostic ignored "-Wformat-overflow="
+/**
* Initialize the TNC internal variables.
*/
static void tncInit()
else
timeNCOFreq = 0x3aab;
- switch (tncMode)
+ switch (tncMode)
{
case TNC_TX_READY:
// Generate a test signal alteranting between high and low tones.
else
tncTxBit = 0;
}
-
+
// When the flag is done, determine if we need to send more or data.
- if (++tncBitCount == 8)
+ if (++tncBitCount == 8)
{
tncBitCount = 0;
tncShift = 0x7e;
// Once we transmit x mS of flags, send the data.
// txDelay bytes * 8 bits/byte * 833uS/bit = x mS
- if (++tncIndex == TNC_TX_DELAY)
+ if (++tncIndex == TNC_TX_DELAY)
{
tncIndex = 0;
tncShift = TNC_AX25_HEADER[0];
case TNC_TX_HEADER:
// Determine if we have sent 5 ones in a row, if we have send a zero.
- if (tncBitStuff == 0x1f)
+ if (tncBitStuff == 0x1f)
{
if (tncTxBit == 0)
tncTxBit = 1;
tncTxBit = 0;
}
- // Save the data stream so we can determine if bit stuffing is
+ // Save the data stream so we can determine if bit stuffing is
// required on the next bit time.
tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f;
// If all the bits were shifted, get the next byte.
- if (++tncBitCount == 8)
+ if (++tncBitCount == 8)
{
tncBitCount = 0;
// After the header is sent, then send the data.
- if (++tncIndex == sizeof(TNC_AX25_HEADER))
+ if (++tncIndex == sizeof(TNC_AX25_HEADER))
{
tncIndex = 0;
tncShift = tncBuffer[0];
case TNC_TX_DATA:
// Determine if we have sent 5 ones in a row, if we have send a zero.
- if (tncBitStuff == 0x1f)
+ if (tncBitStuff == 0x1f)
{
if (tncTxBit == 0)
tncTxBit = 1;
tncTxBit = 0;
}
- // Save the data stream so we can determine if bit stuffing is
+ // Save the data stream so we can determine if bit stuffing is
// required on the next bit time.
tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f;
// If all the bits were shifted, get the next byte.
- if (++tncBitCount == 8)
+ if (++tncBitCount == 8)
{
tncBitCount = 0;
// If everything was sent, transmit closing flags.
- if (++tncIndex == tncLength)
+ if (++tncIndex == tncLength)
{
tncIndex = 0;
tncShift = 0x7e;
case TNC_TX_END:
// The variable tncShift contains the lastest data byte.
- // NRZI enocde the data stream.
+ // NRZI enocde the data stream.
if ((tncShift & 0x01) == 0x00) {
if (tncTxBit == 0)
tncTxBit = 1;
}
// If all the bits were shifted, get the next one.
- if (++tncBitCount == 8)
+ if (++tncBitCount == 8)
{
tncBitCount = 0;
tncShift = 0x7e;
-
+
// Transmit two closing flags.
- if (++tncIndex == 2)
+ if (++tncIndex == 2)
{
tncMode = TNC_TX_READY;
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;
+ dest[i] = (uint8_t) (value % 91 + 33);
value /= 91;
}
}
int16_t apogee = ao_ignite_decivolt(AO_SENSE_DROGUE(&packet));
#endif
#ifdef AO_SENSE_MAIN
- int16_t main = ao_ignite_decivolt(AO_SENSE_MAIN(&packet));
+ int16_t main_value = ao_ignite_decivolt(AO_SENSE_MAIN(&packet));
#endif
return sprintf((char *) buf,
apogee%10
#endif
#ifdef AO_SENSE_MAIN
- , main/10,
- main%10
+ , main_value/10,
+ main_value%10
#endif
, ao_serial_number
);
static inline uint32_t
fixed30_mul(uint32_t x, uint32_t y)
{
- return ((uint64_t) x * y + fixed30_half) >> 30;
+ return (uint32_t) (((uint64_t) x * y + fixed30_half) >> 30);
}
/*
*/
static uint32_t
-ao_fixed_log2(uint32_t x)
+ao_fixed_log2(int32_t ix)
{
uint32_t result;
uint32_t frac = fixed23_one;
+ uint32_t x;
/* Bounds check for sanity */
- if (x <= 0)
+ if (ix <= 0)
return 0;
+ x = (uint32_t) ix;
+
if (x >= fixed30_one)
return 0xffffffff;
#define APRS_LOG_CONVERT fixed23_real(1.714065192056127)
#define APRS_LOG_BASE fixed23_real(346.920048461100941)
-static int
+static int32_t
ao_aprs_encode_altitude(int meters)
{
- return fixed23_floor(fixed23_mul(ao_fixed_log2(meters) + APRS_LOG_CONVERT, APRS_LOG_BASE) + fixed23_half);
+ return (int32_t) fixed23_floor(fixed23_mul(ao_fixed_log2(meters) + APRS_LOG_CONVERT, APRS_LOG_BASE) + fixed23_half);
}
/**
* Generate the plain text position packet.
*/
-static int tncPositionPacket(void)
+static uint8_t tncPositionPacket(void)
{
static int32_t latitude;
static int32_t longitude;
static int32_t altitude;
- int32_t lat, lon, alt;
- uint8_t *buf;
+ 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;
+ altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data);
if (altitude < 0)
altitude = 0;
}
buf = tncBuffer;
- *buf++ = '!';
- /* Symbol table ID */
- *buf++ = '/';
+#ifdef AO_APRS_TEST
+#define AO_APRS_FORMAT_COMPRESSED 0
+#define AO_APRS_FORMAT_UNCOMPRESSED 1
+ switch (AO_APRS_FORMAT_COMPRESSED) {
+#else
+ switch (ao_config.aprs_format) {
+#endif
+ case AO_APRS_FORMAT_COMPRESSED:
+ default:
+ {
+ int32_t lat, lon, alt;
+
+ *buf++ = '!';
+
+ /* Symbol table ID */
+ *buf++ = '/';
+
+ lat = (int32_t) (((int64_t) 380926 * (900000000 - latitude)) / 10000000);
+ lon = (int32_t) (((int64_t) 190463 * (1800000000 + longitude)) / 10000000);
+
+ alt = ao_aprs_encode_altitude(altitude);
- lat = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000;
- lon = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000;
+ tncCompressInt(buf, lat, 4);
+ buf += 4;
+ tncCompressInt(buf, lon, 4);
+ buf += 4;
- alt = ao_aprs_encode_altitude(altitude);
+ /* Symbol code */
+ *buf++ = '\'';
- tncCompressInt(buf, lat, 4);
- buf += 4;
- tncCompressInt(buf, lon, 4);
- buf += 4;
+ tncCompressInt(buf, alt, 2);
+ buf += 2;
- /* Symbol code */
- *buf++ = '\'';
+ *buf++ = 33 + ((1 << 5) | (2 << 3));
- tncCompressInt(buf, alt, 2);
- buf += 2;
+ break;
+ }
+ case AO_APRS_FORMAT_UNCOMPRESSED:
+ {
+ char lat_sign = 'N', lon_sign = 'E';
+ int32_t lat = latitude;
+ int32_t lon = longitude;
+ int32_t alt = altitude;
+ uint16_t lat_deg;
+ uint16_t lon_deg;
+ uint16_t lat_min;
+ uint16_t lat_frac;
+ uint16_t lon_min;
+ uint16_t lon_frac;
+
+ if (lat < 0) {
+ lat_sign = 'S';
+ lat = -lat;
+ }
+
+ if (lon < 0) {
+ lon_sign = 'W';
+ lon = -lon;
+ }
- *buf++ = 33 + ((1 << 5) | (2 << 3));
+ /* Round latitude and longitude by 0.005 minutes */
+ lat = lat + 833;
+ if (lat > 900000000)
+ lat = 900000000;
+ lon = lon + 833;
+ if (lon > 1800000000)
+ lon = 1800000000;
+
+ lat_deg = (uint16_t) (lat / 10000000);
+ lat -= lat_deg * 10000000;
+ lat *= 60;
+ lat_min = (uint16_t) (lat / 10000000);
+ lat -= lat_min * 10000000;
+ lat_frac = (uint16_t) (lat / 100000);
+
+ lon_deg = (uint16_t) (lon / 10000000);
+ lon -= lon_deg * 10000000;
+ lon *= 60;
+ lon_min = (uint16_t) (lon / 10000000);
+ lon -= lon_min * 10000000;
+ lon_frac = (uint16_t) (lon / 100000);
+
+ /* Convert from meters to feet */
+ alt = (alt * 328 + 50) / 100;
+
+ buf += sprintf((char *) tncBuffer, "!%02u%02u.%02u%c/%03u%02u.%02u%c'/A=%06lu ",
+ lat_deg, lat_min, lat_frac, lat_sign,
+ lon_deg, lon_min, lon_frac, lon_sign,
+ (long) alt);
+ break;
+ }
+ }
buf += tncComment(buf);
- return buf - tncBuffer;
+ return (uint8_t) (buf - tncBuffer);
}
static int16_t
while (tncMode != TNC_TX_READY && l < len) {
b = 0;
for (bit = 0; bit < 8; bit++) {
- b = b << 1 | (timeNCO >> 15);
+ b = (uint8_t) (b << 1 | (timeNCO >> 15));
timeNCO += timeNCOFreq;
}
*buf++ = b;
return l;
}
-/**
+/**
* Prepare an AX.25 data packet. Each time this method is called, it automatically
* rotates through 1 of 3 messages.
*
crc = sysCRC16(tncBuffer, tncLength, crc ^ 0xffff);
// Save the CRC in the message.
- tncBuffer[tncLength++] = crc & 0xff;
- tncBuffer[tncLength++] = (crc >> 8) & 0xff;
+ tncBuffer[tncLength++] = (uint8_t) (crc & 0xff);
+ tncBuffer[tncLength++] = (uint8_t) ((crc >> 8) & 0xff);
// Prepare the variables that are used in the real-time clock interrupt.
tncBitCount = 0;