altos: Put locked/unlocked GPS status in APRS comments

[fw/altos] / src / drivers / ao_aprs.c

diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c
index e3abe52eff9758eb0e6984d5a7888591c3a38d16..0a6c72ce9e2a1af03fd81f131982bf660e6e78fb 100644 (file)
--- a/src/drivers/ao_aprs.c
+++ b/src/drivers/ao_aprs.c
@@ -144,6 +144,7 @@
 #endif
 
 #include <ao_aprs.h>
+#include <math.h>
 
 // Public methods, constants, and data structures for each class.
 
@@ -254,9 +255,9 @@ 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[] = { 
-    '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, \
+    '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
@@ -265,6 +266,7 @@ static uint8_t TNC_AX25_HEADER[] = {
 static void
 tncSetCallsign(void)
 {
+#ifndef AO_APRS_TEST
        uint8_t i;
 
        for (i = 0; i < TNC_CALLSIGN_LEN; i++) {
@@ -274,7 +276,7 @@ tncSetCallsign(void)
        }
        for (; i < TNC_CALLSIGN_LEN; i++)
                TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ' ' << 1;
-               
+#endif
 }
 
 /// The next bit to transmit.
@@ -478,57 +480,112 @@ static void tnc1200TimerTick()
     } // 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 int tncPositionPacket(void)
 {
-    int32_t    latitude = ao_gps_data.latitude;
-    int32_t    longitude = ao_gps_data.longitude;
-    int32_t    altitude = ao_gps_data.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;
-
-    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++ = '!';
 
-    lat_deg = latitude / 10000000;
-    latitude -= lat_deg * 10000000;
-    latitude *= 60;
-    lat_min = latitude / 10000000;
-    latitude -= lat_min * 10000000;
-    lat_frac = (latitude + 50000) / 100000;
+    /* Symbol table ID */
+    *buf++ = '/';
 
-    lon_deg = longitude / 10000000;
-    longitude -= lon_deg * 10000000;
-    longitude *= 60;
-    lon_min = longitude / 10000000;
-    longitude -= lon_min * 10000000;
-    lon_frac = (longitude + 50000) / 100000;
+    lat = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000;
+    lon = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000;
 
-    if (altitude < 0)
-       altitude = 0;
+#define ALTITUDE_LOG_BASE      0.001998002662673f      /* log(1.002) */
 
-    altitude = altitude * (int32_t) 1000 / (int32_t) 3048;
-    
-    return sprintf ((char *) tncBuffer, "=%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);
+    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
@@ -584,7 +641,7 @@ void ao_aprs_send(void)
     tncIndex = 0;
     tncMode = TNC_TX_SYNC;
 
-    ao_radio_send_lots(tncFill);
+    ao_radio_send_aprs(tncFill);
 }
 
 /** @} */