-/**
+/**
* 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>
-typedef int bool_t;
-typedef int32_t int32;
-#define false 0
-#define true 1
-
// Public methods, constants, and data structures for each class.
-/// Operational modes of the AD9954 DDS for the ddsSetMode function.
-typedef enum
-{
- /// Device has not been initialized.
- DDS_MODE_NOT_INITIALIZED,
-
- /// Device in lowest power down mode.
- DDS_MODE_POWERDOWN,
-
- /// Generate FM modulated audio tones.
- DDS_MODE_AFSK,
-
- /// Generate true FSK tones.
- DDS_MODE_FSK
-} DDS_MODE;
-
-void ddsInit();
-void ddsSetAmplitude (uint8_t amplitude);
-void ddsSetOutputScale (uint16_t amplitude);
-void ddsSetFSKFreq (uint32_t ftw0, uint32_t ftw1);
-void ddsSetFreq (uint32_t freq);
-void ddsSetFTW (uint32_t ftw);
-void ddsSetMode (DDS_MODE mode);
-
-/// Type of GPS fix.
-typedef enum
-{
- /// No GPS FIX
- GPS_NO_FIX,
-
- /// 2D (Latitude/Longitude) fix.
- GPS_2D_FIX,
-
- /// 3D (Latitude/Longitude/Altitude) fix.
- GPS_3D_FIX
-} GPS_FIX_TYPE;
-
-/// GPS Position information.
-typedef struct
-{
- /// Flag that indicates the position information has been updated since it was last checked.
- bool_t updateFlag;
-
- /// Month in UTC time.
- uint8_t month;
-
- /// Day of month in UTC time.
- uint8_t day;
-
- /// Hours in UTC time.
- uint8_t hours;
-
- /// Minutes in UTC time.
- uint8_t minutes;
-
- /// Seconds in UTC time.
- uint8_t seconds;
-
- /// Year in UTC time.
- uint16_t year;
-
- /// Latitude in milli arc-seconds where + is North, - is South.
- int32_t latitude;
-
- /// Longitude in milli arc-seconds where + is East, - is West.
- int32_t longitude;
-
- /// Altitude in cm
- int32_t altitudeCM;
-
- /// Calculated altitude in feet
- int32_t altitudeFeet;
-
- /// 3D speed in cm/second.
- uint16_t vSpeed;
-
- /// 2D speed in cm/second.
- uint16_t hSpeed;
-
- /// Heading units of 0.1 degrees.
- uint16_t heading;
-
- /// DOP (Dilution of Precision)
- uint16_t dop;
-
- /// 16-bit number that represents status of GPS engine.
- uint16_t status;
-
- /// Number of tracked satellites used in the fix position.
- uint8_t trackedSats;
-
- /// Number of visible satellites.
- uint8_t visibleSats;
-} GPSPOSITION_STRUCT;
-
-GPSPOSITION_STRUCT gpsPosition;
-
-void gpsInit();
-bool_t gpsIsReady();
-GPS_FIX_TYPE gpsGetFixType();
-int32_t gpsGetPeakAltitude();
-void gpsPowerOn();
-bool_t gpsSetup();
-void gpsUpdate();
-
-uint16_t sysCRC16(uint8_t *buffer, uint8_t length, uint16_t crc);
-
-uint8_t timeGetTicks();
-void timeInit();
-void timeSetDutyCycle (uint8_t dutyCycle);
-void timeUpdate();
-
-/// Operational modes of the TNC for the tncSetMode function.
-typedef enum
-{
- /// No operation waiting for setup and configuration.
- TNC_MODE_STANDBY,
-
- /// 1200 bps using A-FSK (Audio FSK) tones.
- TNC_MODE_1200_AFSK,
-
- /// 9600 bps using true FSK tones.
- TNC_MODE_9600_FSK
-} TNC_DATA_MODE;
+static void timeInit(void);
-void tncInit();
-bool_t tncIsFree();
-void tncHighRate(bool_t state);
-void tncSetMode (TNC_DATA_MODE dataMode);
-void tnc1200TimerTick();
-void tnc9600TimerTick();
-void tncTxByte (uint8_t value);
-void tncTxPacket(TNC_DATA_MODE dataMode);
+static void tncInit(void);
+static void tnc1200TimerTick(void);
/** @} */
-/**
- * @defgroup DDS AD9954 DDS (Direct Digital Synthesizer)
- *
- * Functions to control the Analog Devices AD9954 DDS.
- *
- * @{
- */
-
-/// AD9954 CFR1 - Control functions including RAM, profiles, OSK, sync, sweep, SPI, and power control settings.
-#define DDS_AD9954_CFR1 0x00
-
-/// AD9954 CFR2 - Control functions including sync, PLL multiplier, VCO range, and charge pump current.
-#define DDS_AD9954_CFR2 0x01
-
-/// AD9954 ASF - Auto ramp rate speed control and output scale factor (0x0000 to 0x3fff).
-#define DDS_AD9954_ASF 0x02
-
-/// AD9954 ARR - Amplitude ramp rate for OSK function.
-#define DDS_AD9954_ARR 0x03
-
-/// AD9954 FTW0 - Frequency tuning word 0.
-#define DDS_AD9954_FTW0 0x04
-
-/// AD9954 FTW1 - Frequency tuning word 1
-#define DDS_AD9954_FTW1 0x06
-
-/// AD9954 NLSCW - Negative Linear Sweep Control Word used for spectral shaping in FSK mode
-#define DDS_AD9954_NLSCW 0x07
-
-/// AD9954 PLSCW - Positive Linear Sweep Control Word used for spectral shaping in FSK mode
-#define DDS_AD9954_PLSCW 0x08
-
-/// AD9954 RSCW0 - RAM Segment Control Word 0
-#define DDS_AD9954_RWCW0 0x07
-
-/// AD9954 RSCW0 - RAM Segment Control Word 1
-#define DDS_AD9954_RWCW1 0x08
-
-/// AD9954 RAM segment
-#define DDS_RAM 0x0b
-
-/// Current operational mode.
-DDS_MODE ddsMode;
-
-/// Number of digits in DDS frequency to FTW conversion.
-#define DDS_FREQ_TO_FTW_DIGITS 9
-
-/// Array of multiplication factors used to convert frequency to the FTW.
-const uint32_t DDS_MULT[DDS_FREQ_TO_FTW_DIGITS] = { 11, 7, 7, 3, 4, 8, 4, 9, 1 };
-
-/// Array of divisors used to convert frequency to the FTW.
-const uint32_t DDS_DIVISOR[DDS_FREQ_TO_FTW_DIGITS - 1] = { 10, 100, 1000, 10000, 100000, 1000000, 10000000, 100000000 };
-
-/// Lookup table to convert dB amplitude scale in 0.5 steps to a linear DDS scale factor.
-const uint16_t DDS_AMP_TO_SCALE[] =
-{
- 16383, 15467, 14601, 13785, 13013, 12286, 11598, 10949, 10337, 9759, 9213, 8697,
- 8211, 7752, 7318, 6909, 6522, 6157, 5813, 5488, 5181, 4891, 4617, 4359, 4115, 3885, 3668, 3463,
- 3269, 3086, 2913, 2750, 2597, 2451, 2314, 2185, 2062, 1947, 1838, 1735, 1638
-};
-
-
-/// Frequency Word List - 4.0KHz FM frequency deviation at 81.15MHz (445.950MHz)
-const uint32_t freqTable[256] =
-{
- 955418300, 955419456, 955420611, 955421765, 955422916, 955424065, 955425210, 955426351,
- 955427488, 955428618, 955429743, 955430861, 955431971, 955433073, 955434166, 955435249,
- 955436322, 955437385, 955438435, 955439474, 955440500, 955441513, 955442511, 955443495,
- 955444464, 955445417, 955446354, 955447274, 955448176, 955449061, 955449926, 955450773,
- 955451601, 955452408, 955453194, 955453960, 955454704, 955455426, 955456126, 955456803,
- 955457457, 955458088, 955458694, 955459276, 955459833, 955460366, 955460873, 955461354,
- 955461809, 955462238, 955462641, 955463017, 955463366, 955463688, 955463983, 955464250,
- 955464489, 955464701, 955464884, 955465040, 955465167, 955465266, 955465337, 955465380,
- 955465394, 955465380, 955465337, 955465266, 955465167, 955465040, 955464884, 955464701,
- 955464489, 955464250, 955463983, 955463688, 955463366, 955463017, 955462641, 955462238,
- 955461809, 955461354, 955460873, 955460366, 955459833, 955459276, 955458694, 955458088,
- 955457457, 955456803, 955456126, 955455426, 955454704, 955453960, 955453194, 955452408,
- 955451601, 955450773, 955449926, 955449061, 955448176, 955447274, 955446354, 955445417,
- 955444464, 955443495, 955442511, 955441513, 955440500, 955439474, 955438435, 955437385,
- 955436322, 955435249, 955434166, 955433073, 955431971, 955430861, 955429743, 955428618,
- 955427488, 955426351, 955425210, 955424065, 955422916, 955421765, 955420611, 955419456,
- 955418300, 955417144, 955415989, 955414836, 955413684, 955412535, 955411390, 955410249,
- 955409113, 955407982, 955406857, 955405740, 955404629, 955403528, 955402435, 955401351,
- 955400278, 955399216, 955398165, 955397126, 955396100, 955395088, 955394089, 955393105,
- 955392136, 955391183, 955390246, 955389326, 955388424, 955387540, 955386674, 955385827,
- 955385000, 955384192, 955383406, 955382640, 955381896, 955381174, 955380474, 955379797,
- 955379143, 955378513, 955377906, 955377324, 955376767, 955376235, 955375728, 955375246,
- 955374791, 955374362, 955373959, 955373583, 955373234, 955372912, 955372618, 955372350,
- 955372111, 955371900, 955371716, 955371560, 955371433, 955371334, 955371263, 955371220,
- 955371206, 955371220, 955371263, 955371334, 955371433, 955371560, 955371716, 955371900,
- 955372111, 955372350, 955372618, 955372912, 955373234, 955373583, 955373959, 955374362,
- 955374791, 955375246, 955375728, 955376235, 955376767, 955377324, 955377906, 955378513,
- 955379143, 955379797, 955380474, 955381174, 955381896, 955382640, 955383406, 955384192,
- 955385000, 955385827, 955386674, 955387540, 955388424, 955389326, 955390246, 955391183,
- 955392136, 955393105, 955394089, 955395088, 955396100, 955397126, 955398165, 955399216,
- 955400278, 955401351, 955402435, 955403528, 955404629, 955405740, 955406857, 955407982,
- 955409113, 955410249, 955411390, 955412535, 955413684, 955414836, 955415989, 955417144
-};
-
-/**
- * Set DDS frequency tuning word. The output frequency is equal to RefClock * (ftw / 2 ^ 32).
- *
- * @param ftw Frequency Tuning Word
- */
-void ddsSetFTW (uint32_t ftw)
-{
- int x = ftw - freqTable[0];
- putchar (x > 0 ? 0xff : 0x0);
-}
-
-/**
- * Convert frequency in hertz to 32-bit DDS FTW (Frequency Tune Word).
- *
- * @param freq frequency in Hertz
- *
- */
-void ddsSetFreq(uint32_t freq)
-{
- uint8_t i;
- uint32_t ftw;
-
- // To avoid rounding errors with floating point math, we do a long multiply on the data.
- ftw = freq * DDS_MULT[0];
-
- for (i = 0; i < DDS_FREQ_TO_FTW_DIGITS - 1; ++i)
- ftw += (freq * DDS_MULT[i+1]) / DDS_DIVISOR[i];
-
- ddsSetFTW (ftw);
-}
-
-/**
- * Set DDS frequency tuning word for the FSK 0 and 1 values. The output frequency is equal
- * to RefClock * (ftw / 2 ^ 32).
- *
- * @param ftw0 frequency tuning word for the FSK 0 value
- * @param ftw1 frequency tuning word for the FSK 1 value
- */
-void ddsSetFSKFreq (uint32_t ftw0, uint32_t ftw1)
-{
-// printf ("ftw0 %d ftw1 %d\n", ftw0, ftw1);
-}
-
-/**
- * Set the DDS to run in A-FSK, FSK, or PSK31 mode
- *
- * @param mode DDS_MODE_APRS, DDS_MODE_PSK31, or DDS_MODE_HF_APRS constant
- */
-void ddsSetMode (DDS_MODE mode)
-{
-// printf ("mode %d\n", mode);
-}
-
-/** @} */
-
-/**
- * @defgroup GPS Motorola M12+ GPS Engine
- *
- * Functions to control the Motorola M12+ GPS engine in native binary protocol mode.
- *
- * @{
- */
-
-/// The maximum length of a binary GPS engine message.
-#define GPS_BUFFER_SIZE 50
-
-/// GPS parse engine state machine values.
-typedef enum
-{
- /// 1st start character '@'
- GPS_START1,
-
- /// 2nd start character '@'
- GPS_START2,
-
- /// Upper case 'A' - 'Z' message type
- GPS_COMMAND1,
-
- /// Lower case 'a' - 'z' message type
- GPS_COMMAND2,
-
- /// 0 - xx bytes based on message type 'Aa'
- GPS_READMESSAGE,
-
- /// 8-bit checksum
- GPS_CHECKSUMMESSAGE,
-
- /// End of message - Carriage Return
- GPS_EOMCR,
-
- /// End of message - Line Feed
- GPS_EOMLF
-} GPS_PARSE_STATE_MACHINE;
-
-/// Index into gpsBuffer used to store message data.
-uint8_t gpsIndex;
-
-/// State machine used to parse the GPS message stream.
-GPS_PARSE_STATE_MACHINE gpsParseState;
-
-/// Buffer to store data as it is read from the GPS engine.
-uint8_t gpsBuffer[GPS_BUFFER_SIZE];
-
-/// Peak altitude detected while GPS is in 3D fix mode.
-int32_t gpsPeakAltitude;
-
-/// Checksum used to verify binary message from GPS engine.
-uint8_t gpsChecksum;
-
-/// Last verified GPS message received.
-GPSPOSITION_STRUCT gpsPosition;
-
-/**
- * Get the type of fix.
- *
- * @return gps fix type enumeration
- */
-GPS_FIX_TYPE gpsGetFixType()
-{
- // The upper 3-bits determine the fix type.
- switch (gpsPosition.status & 0xe000)
- {
- case 0xe000:
- return GPS_3D_FIX;
-
- case 0xc000:
- return GPS_2D_FIX;
-
- default:
- return GPS_NO_FIX;
- } // END switch
-}
-
-/**
- * Peak altitude detected while GPS is in 3D fix mode since the system was booted.
- *
- * @return altitude in feet
- */
-int32_t gpsGetPeakAltitude()
-{
- return gpsPeakAltitude;
-}
-
-/**
- * Initialize the GPS subsystem.
- */
-void gpsInit()
-{
- // Initial parse state.
- gpsParseState = GPS_START1;
-
- // Assume we start at sea level.
- gpsPeakAltitude = 0;
-
- // Clear the structure that stores the position message.
- memset (&gpsPosition, 0, sizeof(GPSPOSITION_STRUCT));
-
- // Setup the timers used to measure the 1-PPS time period.
-// setup_timer_3(T3_INTERNAL | T3_DIV_BY_1);
-// setup_ccp2 (CCP_CAPTURE_RE | CCP_USE_TIMER3);
-}
-
-/**
- * Determine if new GPS message is ready to process. This function is a one shot and
- * typically returns true once a second for each GPS position fix.
- *
- * @return true if new message available; otherwise false
- */
-bool_t gpsIsReady()
-{
- return true;
- if (gpsPosition.updateFlag)
- {
- gpsPosition.updateFlag = false;
- return true;
- } // END if
-
- return false;
-}
-
-/**
- * Calculate NMEA-0183 message checksum of buffer that is length bytes long.
- *
- * @param buffer pointer to data buffer.
- * @param length number of bytes in buffer.
- *
- * @return checksum of buffer
- */
-uint8_t gpsNMEAChecksum (uint8_t *buffer, uint8_t length)
-{
- uint8_t i, checksum;
-
- checksum = 0;
-
- for (i = 0; i < length; ++i)
- checksum ^= buffer[i];
-
- return checksum;
-}
-
-/**
- * Verify the GPS engine is sending the @@Hb position report message. If not,
- * configure the GPS engine to send the desired report.
- *
- * @return true if GPS engine operation; otherwise false
- */
-bool_t gpsSetup()
-{
- uint8_t startTime, retryCount;
-
- // We wait 10 seconds for the GPS engine to respond to our message request.
- startTime = timeGetTicks();
- retryCount = 0;
-
- while (++retryCount < 10)
- {
- // Read the serial FIFO and process the GPS messages.
-// gpsUpdate();
-
- // If a GPS data set is available, then GPS is operational.
- if (gpsIsReady())
- {
-// timeSetDutyCycle (TIME_DUTYCYCLE_10);
- return true;
- }
-
- if (timeGetTicks() > startTime)
- {
- puts ("@@Hb\001\053\015\012");
- startTime += 10;
- } // END if
-
- } // END while
-
- return false;
-}
-
-/**
- * Parse the Motorola @@Hb (Short position/message) report.
- */
-void gpsParsePositionMessage()
-{
- // Convert the binary stream into data elements. We will scale to the desired units
- // as the values are used.
- gpsPosition.updateFlag = true;
-
- gpsPosition.month = gpsBuffer[0];
- gpsPosition.day = gpsBuffer[1];
- gpsPosition.year = ((uint16_t) gpsBuffer[2] << 8) | gpsBuffer[3];
- gpsPosition.hours = gpsBuffer[4];
- gpsPosition.minutes = gpsBuffer[5];
- gpsPosition.seconds = gpsBuffer[6];
- gpsPosition.latitude = ((int32) gpsBuffer[11] << 24) | ((int32) gpsBuffer[12] << 16) | ((int32) gpsBuffer[13] << 8) | (int32) gpsBuffer[14];
- gpsPosition.longitude = ((int32) gpsBuffer[15] << 24) | ((int32) gpsBuffer[16] << 16) | ((int32) gpsBuffer[17] << 8) | gpsBuffer[18];
- gpsPosition.altitudeCM = ((int32) gpsBuffer[19] << 24) | ((int32) gpsBuffer[20] << 16) | ((int32) gpsBuffer[21] << 8) | gpsBuffer[22];
- gpsPosition.altitudeFeet = gpsPosition.altitudeCM * 100l / 3048l;
- gpsPosition.vSpeed = ((uint16_t) gpsBuffer[27] << 8) | gpsBuffer[28];
- gpsPosition.hSpeed = ((uint16_t) gpsBuffer[29] << 8) | gpsBuffer[30];
- gpsPosition.heading = ((uint16_t) gpsBuffer[31] << 8) | gpsBuffer[32];
- gpsPosition.dop = ((uint16_t) gpsBuffer[33] << 8) | gpsBuffer[34];
- gpsPosition.visibleSats = gpsBuffer[35];
- gpsPosition.trackedSats = gpsBuffer[36];
- gpsPosition.status = ((uint16_t) gpsBuffer[37] << 8) | gpsBuffer[38];
-
- // Update the peak altitude if we have a valid 3D fix.
- if (gpsGetFixType() == GPS_3D_FIX)
- if (gpsPosition.altitudeFeet > gpsPeakAltitude)
- gpsPeakAltitude = gpsPosition.altitudeFeet;
-}
-
-/**
- * Turn on the GPS engine power and serial interface.
- */
-void gpsPowerOn()
-{
- // 3.0 VDC LDO control line.
-// output_high (IO_GPS_PWR);
-
-}
-
-/**
- * Turn off the GPS engine power and serial interface.
- */
-void gpsPowerOff()
-{
- // 3.0 VDC LDO control line.
-// output_low (IO_GPS_PWR);
-}
-
-/** @} */
-
-
/**
* @defgroup sys System Library Functions
*
*
* @return CRC-16 of buffer[0 .. length]
*/
-uint16_t sysCRC16(uint8_t *buffer, uint8_t length, uint16_t crc)
+static uint16_t sysCRC16(const uint8_t *buffer, uint8_t length, uint16_t crc)
{
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 = ( crc & 0x01 ) ? ( crc >> 1 ) ^ 0x8408 : ( crc >> 1 );
* @{
*/
-/// A counter that ticks every 100mS.
-uint8_t timeTicks;
-
-/// Counts the number of 104uS interrupts for a 100mS time period.
-uint16_t timeInterruptCount;
-
-/// Counts the number of 100mS time periods in 1 second.
-uint8_t time100ms;
-
-/// System time in seconds.
-uint8_t timeSeconds;
-
-/// System time in minutes.
-uint8_t timeMinutes;
-
-/// System time in hours.
-uint8_t timeHours;
-
-/// Desired LED duty cycle 0 to 9 where 0 = 0% and 9 = 90%.
-uint8_t timeDutyCycle;
-
-/// Current value of the timer 1 compare register used to generate 104uS interrupt rate (9600bps).
-uint16_t timeCompare;
-
/// 16-bit NCO where the upper 8-bits are used to index into the frequency generation table.
-uint16_t timeNCO;
+static uint16_t timeNCO;
/// Audio tone NCO update step (phase).
-uint16_t timeNCOFreq;
-
-/// Counter used to deciminate down from the 104uS to 833uS interrupt rate. (9600 to 1200 baud)
-uint8_t timeLowRateCount;
-
-/// Current TNC mode (standby, 1200bps A-FSK, or 9600bps FSK)
-TNC_DATA_MODE tncDataMode;
-
-/// Flag set true once per second.
-bool_t timeUpdateFlag;
-
-/// Flag that indicate the flight time should run.
-bool_t timeRunFlag;
-
-/// The change in the CCP_1 register for each 104uS (9600bps) interrupt period.
-#define TIME_RATE 125
-
-/**
- * Running 8-bit counter that ticks every 100mS.
- *
- * @return 100mS time tick
- */
-uint8_t timeGetTicks()
-{
- return timeTicks;
-}
+static uint16_t timeNCOFreq;
/**
* Initialize the real-time clock.
*/
-void timeInit()
+static void timeInit()
{
- timeTicks = 0;
- timeInterruptCount = 0;
-// time100mS = 0;
- timeSeconds = 0;
- timeMinutes = 0;
- timeHours = 0;
- timeCompare = TIME_RATE;
- timeUpdateFlag = false;
timeNCO = 0x00;
- timeLowRateCount = 0;
timeNCOFreq = 0x2000;
- tncDataMode = TNC_MODE_STANDBY;
- timeRunFlag = false;
-}
-
-/**
- * Function return true once a second based on real-time clock.
- *
- * @return true on one second tick; otherwise false
- */
-bool_t timeIsUpdate()
-{
- if (timeUpdateFlag)
- {
- timeUpdateFlag = false;
- return true;
- } // END if
-
- return false;
-}
-
-/**
- * Set a flag to indicate the flight time should run. This flag is typically set when the payload
- * lifts off.
- */
-void timeSetRunFlag()
-{
- timeRunFlag = true;
-}
-
-/**
- * Timer interrupt handler called every 104uS (9600 times/second).
- */
-void timeUpdate()
-{
- // Setup the next interrupt for the operational mode.
- timeCompare += TIME_RATE;
-// CCP_1 = timeCompare;
-
- switch (tncDataMode)
- {
- case TNC_MODE_STANDBY:
- break;
-
- case TNC_MODE_1200_AFSK:
- ddsSetFTW (freqTable[timeNCO >> 8]);
-
- timeNCO += timeNCOFreq;
-
- if (++timeLowRateCount == 8)
- {
- timeLowRateCount = 0;
- tnc1200TimerTick();
- } // END if
- break;
-
- case TNC_MODE_9600_FSK:
- tnc9600TimerTick();
- break;
- } // END switch
}
/** @} */
#define TNC_TX_DELAY 45
/// The size of the TNC output buffer.
-#define TNC_BUFFER_SIZE 80
+#define TNC_BUFFER_SIZE 40
/// States that define the current mode of the 1200 bps (A-FSK) state machine.
typedef enum
TNC_TX_END
} TNC_TX_1200BPS_STATE;
-/// Enumeration of the messages we can transmit.
-typedef enum
-{
- /// Startup message that contains software version information.
- TNC_BOOT_MESSAGE,
-
- /// Plain text status message.
- TNC_STATUS,
-
- /// Message that contains GPS NMEA-0183 $GPGGA message.
- TNC_GGA,
-
- /// Message that contains GPS NMEA-0183 $GPRMC message.
- TNC_RMC
-} TNC_MESSAGE_TYPE;
-
/// AX.25 compliant packet header that contains destination, station call sign, and path.
/// 0x76 for SSID-11, 0x78 for SSID-12
-uint8_t TNC_AX25_HEADER[30] = {
- 'A' << 1, 'P' << 1, 'R' << 1, 'S' << 1, ' ' << 1, ' ' << 1, 0x60, \
- 'K' << 1, 'D' << 1, '7' << 1, 'S' << 1, 'Q' << 1, 'G' << 1, 0x76, \
- 'G' << 1, 'A' << 1, 'T' << 1, 'E' << 1, ' ' << 1, ' ' << 1, 0x60, \
- 'W' << 1, 'I' << 1, 'D' << 1, 'E' << 1, '3' << 1, ' ' << 1, 0x67, \
+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
+#define TNC_SSID_OFF 13
+
+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;
+
+ /* 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);
+#endif
+}
/// The next bit to transmit.
-uint8_t tncTxBit;
+static uint8_t tncTxBit;
/// Current mode of the 1200 bps state machine.
-TNC_TX_1200BPS_STATE tncMode;
+static TNC_TX_1200BPS_STATE tncMode;
/// Counter for each bit (0 - 7) that we are going to transmit.
-uint8_t tncBitCount;
+static uint8_t tncBitCount;
/// A shift register that holds the data byte as we bit shift it for transmit.
-uint8_t tncShift;
+static uint8_t tncShift;
/// Index into the APRS header and data array for each byte as we transmit it.
-uint8_t tncIndex;
+static uint8_t tncIndex;
/// The number of bytes in the message portion of the AX.25 message.
-uint8_t tncLength;
+static uint8_t tncLength;
/// A copy of the last 5 bits we've transmitted to determine if we need to bit stuff on the next bit.
-uint8_t tncBitStuff;
-
-/// Pointer to TNC buffer as we save each byte during message preparation.
-uint8_t *tncBufferPnt;
-
-/// The type of message to tranmit in the next packet.
-TNC_MESSAGE_TYPE tncPacketType;
+static uint8_t tncBitStuff;
/// Buffer to hold the message portion of the AX.25 packet as we prepare it.
-uint8_t tncBuffer[TNC_BUFFER_SIZE];
-
-/// Flag that indicates we want to transmit every 5 seconds.
-bool_t tncHighRateFlag;
+static uint8_t tncBuffer[TNC_BUFFER_SIZE];
-/**
+/**
* Initialize the TNC internal variables.
*/
-void tncInit()
+static void tncInit()
{
tncTxBit = 0;
tncMode = TNC_TX_READY;
- tncPacketType = TNC_BOOT_MESSAGE;
- tncHighRateFlag = false;
-}
-
-/**
- * Determine if the hardware if ready to transmit a 1200 baud packet.
- *
- * @return true if ready; otherwise false
- */
-bool_t tncIsFree()
-{
- if (tncMode == TNC_TX_READY)
- return true;
-
- return false;
-}
-
-void tncHighRate(bool_t state)
-{
- tncHighRateFlag = state;
-}
-
-/**
- * Configure the TNC for the desired data mode.
- *
- * @param dataMode enumerated type that specifies 1200bps A-FSK or 9600bps FSK
- */
-void tncSetMode(TNC_DATA_MODE dataMode)
-{
- switch (dataMode)
- {
- case TNC_MODE_1200_AFSK:
- ddsSetMode (DDS_MODE_AFSK);
- break;
-
- case TNC_MODE_9600_FSK:
- ddsSetMode (DDS_MODE_FSK);
-
- // FSK tones at 445.947 and 445.953 MHz
- ddsSetFSKFreq (955382980, 955453621);
- break;
- case TNC_MODE_STANDBY:
- break;
- } // END switch
-
- tncDataMode = dataMode;
-}
-
-/**
- * Determine if the seconds value timeSeconds is a valid time slot to transmit
- * a message. Time seconds is in UTC.
- *
- * @param timeSeconds UTC time in seconds
- *
- * @return true if valid time slot; otherwise false
- */
-bool_t tncIsTimeSlot (uint8_t timeSeconds)
-{
- if (tncHighRateFlag)
- {
- if ((timeSeconds % 5) == 0)
- return true;
-
- return false;
- } // END if
-
- switch (timeSeconds)
- {
- case 0:
- case 15:
- case 30:
- case 45:
- return true;
-
- default:
- return false;
- } // END switch
}
/**
* Method that is called every 833uS to transmit the 1200bps A-FSK data stream.
* The provides the pre and postamble as well as the bit stuffed data stream.
*/
-void tnc1200TimerTick()
+static void tnc1200TimerTick()
{
// Set the A-FSK frequency.
if (tncTxBit == 0x00)
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;
- // Tell the TNC time interrupt to stop generating the frequency words.
- tncDataMode = TNC_MODE_STANDBY;
-
- // Key off the DDS.
-// output_low (IO_OSK);
-// output_low (IO_PTT);
- ddsSetMode (DDS_MODE_POWERDOWN);
-
return;
} // END if
} else
} // END switch
}
-/**
- * Method that is called every 104uS to transmit the 9600bps FSK data stream.
- */
-void tnc9600TimerTick()
-{
-
+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;
+ }
}
-/**
- * Write character to the TNC buffer. Maintain the pointer
- * and length to the buffer. The pointer tncBufferPnt and tncLength
- * must be set before calling this function for the first time.
- *
- * @param character to save to telemetry buffer
- */
-void tncTxByte (uint8_t character)
+static int ao_num_sats(void)
{
- *tncBufferPnt++ = character;
- ++tncLength;
-}
+ int i;
+ int n = 0;
-static void
-tncPrintf(char *fmt, ...)
-{
- va_list ap;
- int c;
-
- va_start(ap, fmt);
- c = vsprintf((char *) tncBufferPnt, fmt, ap);
- va_end(ap);
- tncBufferPnt += c;
- tncLength += c;
+ for (i = 0; i < ao_gps_tracking_data.channels; i++) {
+ if (ao_gps_tracking_data.sats[i].svid)
+ n++;
+ }
+ return n;
}
-/**
- * Generate the GPS NMEA standard UTC time stamp. Data is written through the tncTxByte
- * callback function.
- */
-void tncNMEATime()
+static char ao_gps_locked(void)
{
- // UTC of position fix.
- tncPrintf ("%02d%02d%02d,", gpsPosition.hours, gpsPosition.minutes, gpsPosition.seconds);
+ if (ao_gps_data.flags & AO_GPS_VALID)
+ return 'L';
+ else
+ return 'U';
}
-/**
- * Generate the GPS NMEA standard latitude/longitude fix. Data is written through the tncTxByte
- * callback function.
- */
-void tncNMEAFix()
+static int tncComment(uint8_t *buf)
{
- uint8_t dirChar;
- uint32_t coord, coordMin;
-
- // Latitude value.
- coord = gpsPosition.latitude;
+#if HAS_ADC
+ struct ao_data packet;
- if (gpsPosition.latitude < 0)
- {
- coord = gpsPosition.latitude * -1;
- dirChar = 'S';
- } else {
- coord = gpsPosition.latitude;
- dirChar = 'N';
- }
-
- coordMin = (coord % 3600000) / 6;
- tncPrintf ("%02ld%02ld.%04ld,%c,", (uint32_t) (coord / 3600000), (uint32_t) (coordMin / 10000), (uint32_t) (coordMin % 10000), dirChar);
+ ao_arch_critical(ao_data_get(&packet););
+ int16_t battery = ao_battery_decivolt(packet.adc.v_batt);
+#ifdef AO_SENSE_DROGUE
+ 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));
+#endif
- // Longitude value.
- if (gpsPosition.longitude < 0)
- {
- coord = gpsPosition.longitude * - 1;
- dirChar = 'W';
- } else {
- coord = gpsPosition.longitude;
- dirChar = 'E';
- }
-
- coordMin = (coord % 3600000) / 6;
- tncPrintf ("%03ld%02ld.%04ld,%c,", (uint32_t) (coord / 3600000), (uint32_t) (coordMin / 10000), (uint32_t) (coordMin % 10000), dirChar);
-
+ return sprintf((char *) buf,
+ "%c%d B%d.%d"
+#ifdef AO_SENSE_DROGUE
+ " A%d.%d"
+#endif
+#ifdef AO_SENSE_MAIN
+ " M%d.%d"
+#endif
+ " %d"
+ , ao_gps_locked(),
+ ao_num_sats(),
+ battery/10,
+ battery % 10
+#ifdef AO_SENSE_DROGUE
+ , apogee/10,
+ apogee%10
+#endif
+#ifdef AO_SENSE_MAIN
+ , main/10,
+ main%10
+#endif
+ , ao_serial_number
+ );
+#else
+ return sprintf((char *) buf,
+ "%c%d",
+ ao_gps_locked(),
+ ao_num_sats());
+#endif
}
-/**
- * Generate the GPS NMEA-0183 $GPGGA packet. Data is written through the tncTxByte
- * callback function.
+/*
+ * APRS use a log encoding of altitude with a base of 1.002, such that
+ *
+ * feet = 1.002 ** encoded_altitude
+ *
+ * meters = (1.002 ** encoded_altitude) * 0.3048
+ *
+ * log2(meters) = log2(1.002 ** encoded_altitude) + log2(0.3048)
+ *
+ * log2(meters) = encoded_altitude * log2(1.002) + log2(0.3048)
+ *
+ * encoded_altitude = (log2(meters) - log2(0.3048)) / log2(1.002)
+ *
+ * encoded_altitude = (log2(meters) + log2(1/0.3048)) * (1/log2(1.002))
+ *
+ * We need 9 bits of mantissa to hold 1/log2(1.002) (~ 347), which leaves us
+ * 23 bits of fraction. That turns out to be *just* enough to avoid any
+ * errors in the result (cool, huh?).
*/
-void tncGPGGAPacket()
-{
- // Generate the GPGGA message.
- tncPrintf ("$GPGGA,");
- // Standard NMEA time.
- tncNMEATime();
-
- // Standard NMEA-0183 latitude/longitude.
- tncNMEAFix();
-
- // GPS status where 0: not available, 1: available
- if (gpsGetFixType() != GPS_NO_FIX)
- tncPrintf ("1,");
- else
- tncPrintf ("0,");
+#define fixed23_int(x) ((uint32_t) ((x) << 23))
+#define fixed23_one fixed23_int(1)
+#define fixed23_two fixed23_int(2)
+#define fixed23_half (fixed23_one >> 1)
+#define fixed23_floor(x) ((x) >> 23)
+#define fixed23_real(x) ((uint32_t) ((x) * fixed23_one + 0.5))
- // Number of visible birds.
- tncPrintf ("%02d,", gpsPosition.trackedSats);
+static inline uint64_t
+fixed23_mul(uint32_t x, uint32_t y)
+{
+ return ((uint64_t) x * y + fixed23_half) >> 23;
+}
- // DOP
- tncPrintf ("%ld.%01ld,", gpsPosition.dop / 10, gpsPosition.dop % 10);
+/*
+ * Use 30 fraction bits for the altitude. We need two bits at the
+ * top as we need to handle x, where 0 <= x < 4. We don't
+ * need 30 bits, but it's actually easier this way as we normalize
+ * the incoming value to 1 <= x < 2, and having the integer portion
+ * way up high means we don't have to deal with shifting in both
+ * directions to cover from 0 to 2**30-1.
+ */
- // Altitude in meters.
- tncPrintf ("%ld.%02ld,M,,M,,", (int32_t) (gpsPosition.altitudeCM / 100l), (int32_t) (gpsPosition.altitudeCM % 100));
+#define fixed30_int(x) ((uint32_t) ((x) << 30))
+#define fixed30_one fixed30_int(1)
+#define fixed30_half (fixed30_one >> 1)
+#define fixed30_two fixed30_int(2)
- // Checksum, we add 1 to skip over the $ character.
- tncPrintf ("*%02X", gpsNMEAChecksum(tncBuffer + 1, tncLength - 1));
+static inline uint32_t
+fixed30_mul(uint32_t x, uint32_t y)
+{
+ return ((uint64_t) x * y + fixed30_half) >> 30;
}
-/**
- * Generate the GPS NMEA-0183 $GPRMC packet. Data is written through the tncTxByte
- * callback function.
+/*
+ * Fixed point log2. Takes integer argument, returns
+ * fixed point result with 23 bits of fraction
*/
-void tncGPRMCPacket()
+
+static uint32_t
+ao_fixed_log2(uint32_t x)
{
- uint32_t temp;
+ uint32_t result;
+ uint32_t frac = fixed23_one;
- // Generate the GPRMC message.
- tncPrintf ("$GPRMC,");
+ /* Bounds check for sanity */
+ if (x <= 0)
+ return 0;
- // Standard NMEA time.
- tncNMEATime();
+ if (x >= fixed30_one)
+ return 0xffffffff;
- // GPS status.
- if (gpsGetFixType() != GPS_NO_FIX)
- tncPrintf ("A,");
- else
- tncPrintf ("V,");
+ /*
+ * Normalize and compute integer log portion
+ *
+ * This makes 1 <= x < 2, and computes result to be
+ * the integer portion of the log2 of x
+ */
+
+ for (result = fixed23_int(30); x < fixed30_one; result -= fixed23_one, x <<= 1)
+ ;
- // Standard NMEA-0183 latitude/longitude.
- tncNMEAFix();
+ /*
+ * Given x, find y and n such that:
+ *
+ * x = y * 2**n 1 <= y < 2
+ *
+ * That means:
+ *
+ * lb(x) = n + lb(y)
+ *
+ * Now, repeatedly square y to find find z and m such that:
+ *
+ * z = y ** (2**m) 2 <= z < 4
+ *
+ * This is possible because 1 <= y < 2
+ *
+ * lb(y) = lb(z) / 2**m
+ *
+ * (1 + lb(z/2))
+ * = -------------
+ * 2**m
+ *
+ * = 2**-m + 2**-m * lb(z/2)
+ *
+ * Note that if 2 <= z < 4, then 1 <= (z/2) < 2, so we can
+ * iterate to find lb(z/2)
+ *
+ * In this implementation, we don't care about the 'm' value,
+ * instead we only care about 2**-m, which we store in 'frac'
+ */
- // Speed knots and heading.
- temp = (int32_t) gpsPosition.hSpeed * 75000 / 385826;
- tncPrintf ("%ld.%ld,%ld.%ld,", (int16_t) (temp / 10), (int16_t) (temp % 10), gpsPosition.heading / 10, gpsPosition.heading % 10);
+ while (frac != 0 && x != fixed30_one) {
+ /* Repeatedly square x until 2 <= x < 4 */
+ while (x < fixed30_two) {
+ x = fixed30_mul(x, x);
- // Date
- tncPrintf ("%02d%02d%02ld,,", gpsPosition.day, gpsPosition.month, gpsPosition.year % 100);
+ /* Divide the fractional result bit by 2 */
+ frac >>= 1;
+ }
- // Checksum, skip over the $ character.
- tncPrintf ("*%02X", gpsNMEAChecksum(tncBuffer + 1, tncLength - 1));
+ /* Add in this result bit */
+ result |= frac;
+
+ /* Make 1 <= x < 2 again and iterate */
+ x >>= 1;
+ }
+ return result;
}
-/**
- * Generate the plain text status packet. Data is written through the tncTxByte
- * callback function.
+#define APRS_LOG_CONVERT fixed23_real(1.714065192056127)
+#define APRS_LOG_BASE fixed23_real(346.920048461100941)
+
+static int
+ao_aprs_encode_altitude(int meters)
+{
+ return fixed23_floor(fixed23_mul(ao_fixed_log2(meters) + APRS_LOG_CONVERT, APRS_LOG_BASE) + fixed23_half);
+}
+
+/**
+ * Generate the plain text position packet.
*/
-void tncStatusPacket(int16_t temperature)
-{
-// uint16_t voltage;
-
- // Plain text telemetry.
- tncPrintf (">ANSR ");
-
- // Display the flight time.
- tncPrintf ("%02U:%02U:%02U ", timeHours, timeMinutes, timeSeconds);
-
- // Altitude in feet.
- tncPrintf ("%ld' ", gpsPosition.altitudeFeet);
-
- // Peak altitude in feet.
- tncPrintf ("%ld'pk ", gpsGetPeakAltitude());
-
- // GPS hdop or pdop
- tncPrintf ("%lu.%lu", gpsPosition.dop / 10, gpsPosition.dop % 10);
-
- // The text 'pdop' for a 3D fix, 'hdop' for a 2D fix, and 'dop' for no fix.
- switch (gpsGetFixType())
+static int tncPositionPacket(void)
+{
+ static int32_t latitude;
+ static int32_t longitude;
+ static int32_t altitude;
+ uint8_t *buf;
+
+ if (ao_gps_data.flags & AO_GPS_VALID) {
+ latitude = ao_gps_data.latitude;
+ longitude = ao_gps_data.longitude;
+ altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data);
+ if (altitude < 0)
+ altitude = 0;
+ }
+
+ buf = tncBuffer;
+
+#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:
{
- case GPS_NO_FIX:
- tncPrintf ("dop ");
- break;
+ int32_t lat, lon, alt;
- case GPS_2D_FIX:
- tncPrintf ("hdop ");
- break;
+ *buf++ = '!';
+ /* Symbol table ID */
+ *buf++ = '/';
- case GPS_3D_FIX:
- tncPrintf ("pdop ");
- break;
- } // END switch
+ lat = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000;
+ lon = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000;
- // Number of satellites in the solution.
- tncPrintf ("%utrk ", gpsPosition.trackedSats);
-
- // Display main bus voltage.
-// voltage = adcGetMainBusVolt();
-// tncPrintf ("%lu.%02luvdc ", voltage / 100, voltage % 100);
-
- // Display internal temperature.
-// tncPrintf ("%ld.%01ldF ", temperature / 10, abs(temperature % 10));
-
- // Print web address link.
- tncPrintf ("www.altusmetrum.org");
-}
-
-/**
- * Prepare an AX.25 data packet. Each time this method is called, it automatically
- * rotates through 1 of 3 messages.
- *
- * @param dataMode enumerated type that specifies 1200bps A-FSK or 9600bps FSK
- */
-void tncTxPacket(TNC_DATA_MODE dataMode)
-{
- int16_t temperature = 20;
- uint16_t crc;
+ alt = ao_aprs_encode_altitude(altitude);
- // Only transmit if there is not another message in progress.
- if (tncMode != TNC_TX_READY)
- return;
+ tncCompressInt(buf, lat, 4);
+ buf += 4;
+ tncCompressInt(buf, lon, 4);
+ buf += 4;
- // Configure the DDS for the desired operational.
- tncSetMode (dataMode);
+ /* Symbol code */
+ *buf++ = '\'';
- // Set a pointer to our TNC output buffer.
- tncBufferPnt = tncBuffer;
+ tncCompressInt(buf, alt, 2);
+ buf += 2;
- // Set the message length counter.
- tncLength = 0;
+ *buf++ = 33 + ((1 << 5) | (2 << 3));
- // Determine the contents of the packet.
- switch (tncPacketType)
+ break;
+ }
+ case AO_APRS_FORMAT_UNCOMPRESSED:
{
- case TNC_BOOT_MESSAGE:
- tncPrintf (">MegaMetrum v1.0 Beacon");
-
- // Select the next packet we will generate.
- tncPacketType = TNC_STATUS;
- break;
+ 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;
+ }
- case TNC_STATUS:
- tncStatusPacket(temperature);
+ if (lon < 0) {
+ lon_sign = 'W';
+ lon = -lon;
+ }
- // Select the next packet we will generate.
- tncPacketType = TNC_GGA;
- break;
+ /* 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 = lat / 10000000;
+ lat -= lat_deg * 10000000;
+ lat *= 60;
+ lat_min = lat / 10000000;
+ lat -= lat_min * 10000000;
+ lat_frac = lat / 100000;
+
+ lon_deg = lon / 10000000;
+ lon -= lon_deg * 10000000;
+ lon *= 60;
+ lon_min = lon / 10000000;
+ lon -= lon_min * 10000000;
+ lon_frac = 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;
+ }
+ }
- case TNC_GGA:
- tncGPGGAPacket();
+ buf += tncComment(buf);
- // Select the next packet we will generate.
- tncPacketType = TNC_RMC;
- break;
+ return buf - tncBuffer;
+}
- case TNC_RMC:
- tncGPRMCPacket();
+static int16_t
+tncFill(uint8_t *buf, int16_t len)
+{
+ int16_t l = 0;
+ uint8_t b;
+ uint8_t bit;
- // Select the next packet we will generate.
- tncPacketType = TNC_STATUS;
- break;
+ while (tncMode != TNC_TX_READY && l < len) {
+ b = 0;
+ for (bit = 0; bit < 8; bit++) {
+ b = b << 1 | (timeNCO >> 15);
+ timeNCO += timeNCOFreq;
+ }
+ *buf++ = b;
+ l++;
+ tnc1200TimerTick();
}
+ if (tncMode == TNC_TX_READY)
+ l = -l;
+ return l;
+}
- // Add the end of message character.
- tncPrintf ("\015");
+/**
+ * Prepare an AX.25 data packet. Each time this method is called, it automatically
+ * rotates through 1 of 3 messages.
+ *
+ * @param dataMode enumerated type that specifies 1200bps A-FSK or 9600bps FSK
+ */
+void ao_aprs_send(void)
+{
+ uint16_t crc;
+
+ timeInit();
+ tncInit();
+ tncSetCallsign();
+
+ 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;
- // Turn on the PA chain.
-// output_high (IO_PTT);
-
- // Wait for the PA chain to power up.
-// delay_ms (10);
-
- // Key the DDS.
-// output_high (IO_OSK);
-
- // Log the battery and reference voltage just after we key the transmitter.
-// sysLogVoltage();
- while (tncMode != TNC_TX_READY)
- timeUpdate();
+ ao_radio_send_aprs(tncFill);
}
/** @} */
projects / fw / altos / blobdiff