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
TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ' ' << 1;
/* Fill in the SSID with the low digit of the serial number */
- TNC_AX25_HEADER[TNC_SSID_OFF] = 0x60 | ((ao_config.aprs_ssid & 0xf) << 1);
+ 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 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 = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000;
- lon = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000;
+ lat = (int32_t) (((int64_t) 380926 * (900000000 - latitude)) / 10000000);
+ lon = (int32_t) (((int64_t) 190463 * (1800000000 + longitude)) / 10000000);
- alt = ao_aprs_encode_altitude(altitude);
+ alt = ao_aprs_encode_altitude(altitude);
- tncCompressInt(buf, lat, 4);
- buf += 4;
- tncCompressInt(buf, lon, 4);
- buf += 4;
+ tncCompressInt(buf, lat, 4);
+ buf += 4;
+ tncCompressInt(buf, lon, 4);
+ buf += 4;
- /* Symbol code */
- *buf++ = '\'';
+ /* Symbol code */
+ *buf++ = '\'';
- tncCompressInt(buf, alt, 2);
- buf += 2;
+ tncCompressInt(buf, alt, 2);
+ buf += 2;
- *buf++ = 33 + ((1 << 5) | (2 << 3));
+ *buf++ = 33 + ((1 << 5) | (2 << 3));
+
+ 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;
+ }
+
+ /* 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;
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;
projects / fw / altos / blobdiff