*
*/
-// Hardware specific configuration.
-#include <18f2525.h>
-#device ADC=10
+#ifndef AO_APRS_TEST
+#include <ao.h>
+#endif
-// NOTE: Even though we are using an external clock, we set the HS oscillator mode to
-// make the PIC 18F252 work with our external clock which is a clipped 1V P-P sine wave.
-#fuses HS,NOWDT,NOPROTECT,NOPUT,NOBROWNOUT,NOLVP
+#include <ao_aprs.h>
-// C runtime library definitions.
-#include
-#include
-
-// These compiler directives set the clock, SPI/I2C ports, and I/O configuration.
-
-// TCXO frequency
-#use delay(clock=19200000)
-
-// Engineering and data extracation port.
-#use rs232(baud=57600, xmit=PIN_B7, rcv=PIN_B6, STREAM=PC_HOST)
-
-// GPS engine
-#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7)
-
-#use i2c (master, scl=PIN_C3, sda=PIN_C4)
-
-#use fast_io(A)
-#use fast_io(B)
-#use fast_io(C)
-
-// We define types that are used for all variables. These are declared
-// because each processor has a different sizes for int and long.
-// The PIC compiler defines int8_t, int16_t, and int32_t.
-
-/// Boolean value { false, true }
-typedef boolean bool_t;
-
-/// Signed 8-bit number in the range -128 through 127.
-typedef signed int8 int8_t;
-
-/// Unsigned 8-bit number in the range 0 through 255.
-typedef unsigned int8 uint8_t;
-
-/// Signed 16-bit number in the range -32768 through 32767.
-typedef signed int16 int16_t;
-
-/// Unsigned 16-bit number in the range 0 through 65535.
-typedef unsigned int16 uint16_t;
-
-/// Signed 32-bit number in the range -2147483648 through 2147483647.
-typedef signed int32 int32_t;
-
-/// Unsigned 32-bit number in the range 0 through 4294967296.
-typedef unsigned int32 uint32_t;
-
-// Function and structure prototypes. These are declared at the start of
-// the file much like a C++ header file.
-
-// Map I/O pin names to hardware pins.
-
-/// Heartbeat LED - Port A2
-#define IO_LED PIN_A2
-
-/// AD9954 DDS Profile Select 0 - Port A3
-#define IO_PS0 PIN_A3
-
-/// UHF amplifier and PA chain - Port A4
-#define IO_PTT PIN_A4
-
-/// AD9954 DDS Update - Port A5
-#define IO_UPDATE PIN_A5
-
-/// AD9954 CS (Chip Select) - Port B0
-#define IO_CS PIN_B0
-
-/// GPS Engine Power - Port B1
-#define IO_GPS_PWR PIN_B1
-
-/// AD9954 DDS Profile Select 1 - Port C0
-#define IO_PS1 PIN_C0
-
-/// AD9954 DDS OSK (Output Shift Key) - Port C2
-#define IO_OSK PIN_C2
-
-/// GPS engine serial transmit pin - Port C6
-#define IO_GPS_TXD PIN_C6
-
-// Public methods, constants, and data structures for each class.
-
-/// Operational modes of the AD9954 DDS for the ddsSetMode function.
-enum DDS_MODE
-{
- /// 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
-};
-
-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);
-
-void flashErase();
-uint8_t flashGetByte ();
-void flashReadBlock(uint32_t address, uint8_t *block, uint16_t length);
-void flashSendByte(uint8_t value);
-void flashSendAddress(uint32_t address);
-void flashWriteBlock(uint32_t address, uint8_t *block, uint8_t length);
-
-/// Type of GPS fix.
-enum GPS_FIX_TYPE
-{
- /// No GPS FIX
- GPS_NO_FIX,
-
- /// 2D (Latitude/Longitude) fix.
- GPS_2D_FIX,
-
- /// 3D (Latitude/Longitude/Altitude) fix.
- GPS_3D_FIX
-};
-
-/// 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;
-
-void gpsInit();
-bool_t gpsIsReady();
-GPS_FIX_TYPE gpsGetFixType();
-int32_t gpsGetPeakAltitude();
-void gpsPowerOn();
-bool_t gpsSetup();
-void gpsUpdate();
-
-int16_t lm92GetTemp();
-
-/// Define the log record types.
-enum LOG_TYPE
-{
- /// Time stamp the log was started.
- LOG_BOOTED = 0xb4,
-
- /// GPS coordinates.
- LOG_COORD = 0xa5,
-
- /// Temperature
- LOG_TEMPERATURE = 0x96,
-
- /// Bus voltage.
- LOG_VOLTAGE = 0x87
-};
-
-void logInit();
-uint32_t logGetAddress();
-void logType (LOG_TYPE type);
-void logUint8 (uint8_t value);
-void logInt16 (int16_t value);
-
-bool_t serialHasData();
-void serialInit();
-uint8_t serialRead();
-void serialUpdate();
-
-uint16_t sysCRC16(uint8_t *buffer, uint8_t length, uint16_t crc);
-void sysInit();
-void sysLogVoltage();
-
-/// 0% duty cycle (LED Off) constant for function timeSetDutyCycle
-#define TIME_DUTYCYCLE_0 0
-
-/// 10% duty cycle constant for function timeSetDutyCycle
-#define TIME_DUTYCYCLE_10 1
-
-/// 70% duty cycle constant for function timeSetDutyCycle
-#define TIME_DUTYCYCLE_70 7
-
-uint8_t timeGetTicks();
-void timeInit();
-void timeSetDutyCycle (uint8_t dutyCycle);
-void timeUpdate();
-
-/// Operational modes of the TNC for the tncSetMode function.
-enum TNC_DATA_MODE
-{
- /// 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
-};
-
-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);
-
-/**
- * @defgroup ADC Analog To Digital Converter
- *
- * Control and manage the on board PIC A/D converter.
- *
- * @{
- */
-
-/// Filtered voltages using a single pole, low pass filter.
-uint16_t adcMainBusVolt;
-
-/// PIC ADC Channel number of the reference voltage.
-#define ADC_REF 0
-
-/// PIC ADC Channel number of the main bus voltage.
-#define ADC_MAINBUS 1
-
-/// Input diode drop in units of 0.01 volts.
-#define MAIN_BUS_VOLT_OFFSET 20
-
-/**
- * Intialize the ADC subsystem.
- */
-void adcInit()
-{
- // Setup the ADC.
- setup_adc_ports(AN0_TO_AN1);
- setup_adc( ADC_CLOCK_DIV_32 );
-
- // Zero the ADC filters.
- adcMainBusVolt = 0;
-}
-
-/**
- * Filtered main bus voltage in 10mV resolution.
- *
- * @return voltage in 10mV steps
- */
-uint16_t adcGetMainBusVolt()
-{
- uint32_t volts;
-
- volts = (uint32_t) (adcMainBusVolt >> 3);
-
- volts = (volts * 330l) / 1023l;
-
- return (uint16_t) volts + MAIN_BUS_VOLT_OFFSET;
-}
-
-/**
- * Get the current ADC value for the main bus voltage.
- *
- * @return ADC value in the range 0 to 1023
- */
-uint16_t adcRawBusVolt()
-{
- set_adc_channel(ADC_MAINBUS);
- delay_us(50);
- return read_adc();
-}
-
-/**
- * Get the current ADC value for the reference source voltage.
- *
- * @return ADC value in the range 0 to 1023
- */
-uint16_t adcRawRefVolt()
-{
- set_adc_channel(ADC_REF);
- delay_us(50);
- return read_adc();
-}
-
-/**
- * Read and filter the ADC channels for bus voltages.
- */
-void adcUpdate(void)
-{
- // Filter the bus voltage using a single pole low pass filter.
- set_adc_channel(ADC_MAINBUS);
- delay_us(50);
- adcMainBusVolt = read_adc() + adcMainBusVolt - (adcMainBusVolt >> 3);
-}
-
-/** @} */
-
-
-/**
- * @defgroup diag Diagnostics and Control
- *
- * Functions for diagnostics and control of the hardware and flight data recorder.
- *
- * @{
- */
-
-/// Number of bytes per line to display when reading flight data recorder.
-#define DIAG_BYTES_PER_LINE 32
-
-/**
- * Process the command to erase the data logger flash.
- */
-void diagEraseFlash()
-{
- // Confirm we want to erase the flash with the key sequence 'yes' .
- fprintf (PC_HOST, "Are you sure (yes)? ");
-
- if (fgetc(PC_HOST) != 'y')
- return;
-
- if (fgetc(PC_HOST) != 'e')
- return;
-
- if (fgetc(PC_HOST) != 's')
- return;
-
- if (fgetc(PC_HOST) != 13)
- return;
-
- // User feedback and erase the part.
- fprintf (PC_HOST, "Erasing flash...");
-
- flashErase();
-
- fprintf (PC_HOST, "done.\n\r");
-}
-
-/**
- * Display the engineering mode menu.
- */
-void diagMenu()
-{
- // User interface.
- fprintf (PC_HOST, "Options: (e)rase Flash, (r)ead Flash\n\r");
- fprintf (PC_HOST, " Toggle (L)ED\n\r");
- fprintf (PC_HOST, " (P)TT - Push To Transmit\n\r");
- fprintf (PC_HOST, " (f)requencey down, (F)requency up - 1KHz step\n\r");
- fprintf (PC_HOST, " (c)hannel down, (C)hannel up - 25KHz step\n\r");
- fprintf (PC_HOST, " (a)mplitude down, (A)mplitude up - 0.5 dB steps\n\r");
- fprintf (PC_HOST, " e(x)it engineering mode\n\r");
-}
-
-/**
- * Process the command to dump the contents of the data logger flash.
- */
-void diagReadFlash()
-{
- bool_t dataFoundFlag, userStopFlag;
- uint8_t i, buffer[DIAG_BYTES_PER_LINE];
- uint32_t address;
-
- // Set the initial conditions to read the flash.
- address = 0x0000;
- userStopFlag = false;
-
- do
- {
- // Read each block from the flash device.
- flashReadBlock (address, buffer, DIAG_BYTES_PER_LINE);
-
- // This flag will get set if any data byte is not equal to 0xff (erase flash state)
- dataFoundFlag = false;
-
- // Display the address.
- fprintf (PC_HOST, "%08lx ", address);
-
- // Display each byte in the line.
- for (i = 0; i < DIAG_BYTES_PER_LINE; ++i)
- {
- fprintf (PC_HOST, "%02x", buffer[i]);
-
- // Set this flag if the cell is not erased.
- if (buffer[i] != 0xff)
- dataFoundFlag = true;
-
- // Any key will abort the transfer.
- if (kbhit(PC_HOST))
- userStopFlag = true;
- } // END for
-
- // at the end of each line.
- fprintf (PC_HOST, "\n\r");
-
- // Advance to the next block of memory.
- address += DIAG_BYTES_PER_LINE;
- } while (dataFoundFlag && !userStopFlag);
-
- // Feedback to let the user know why the transfer stopped.
- if (userStopFlag)
- fprintf (PC_HOST, "User aborted download!\n\r");
-}
-
-void diag1PPS()
-{
- uint16_t timeStamp, lastTimeStamp;
-
- lastTimeStamp = 0x0000;
-
- gpsPowerOn();
-
- for (;;)
- {
- timeStamp = CCP_2;
-
- if (timeStamp != lastTimeStamp)
- {
- delay_ms (10);
-
- timeStamp = CCP_2;
-
- fprintf (PC_HOST, "%lu %lu\n\r", timeStamp, (timeStamp - lastTimeStamp));
-
- lastTimeStamp = timeStamp;
- }
- }
-}
-
-/**
- * Process diagnostic commands through the debug RS-232 port.
- */
-void diagPort()
-{
- bool_t diagDoneFlag, ledFlag, paFlag, showSettingsFlag;
- uint8_t command, amplitude;
- uint32_t freqHz;
-
- // If the input is low, we aren't connected to the RS-232 device so continue to boot.
- if (!input(PIN_B6))
- return;
-
- fprintf (PC_HOST, "Engineering Mode\n\r");
- fprintf (PC_HOST, "Application Built %s %s\n\r", __DATE__, __TIME__);
-
- // Current state of the status LED.
- ledFlag = false;
- output_bit (IO_LED, ledFlag);
-
- // This flag indicates we are ready to leave the diagnostics mode.
- diagDoneFlag = false;
-
- // Current state of the PA.
- paFlag = false;
-
- // Flag that indicate we should show the current carrier frequency.
- showSettingsFlag = false;
-
- // Set the initial carrier frequency and amplitude.
- freqHz = 445950000;
- amplitude = 0;
-
- // Wait for the exit command.
- while (!diagDoneFlag)
- {
- // Wait for the user command.
- command = fgetc(PC_HOST);
-
- // Decode and process the key stroke.
- switch (command)
- {
- case 'e':
- diagEraseFlash();
- logInit();
- break;
-
- case 'l':
- case 'L':
- ledFlag = (ledFlag ? false : true);
- output_bit (IO_LED, ledFlag);
- break;
-
- case 'h':
- case 'H':
- case '?':
- diagMenu();
- break;
-
- case 'r':
- diagReadFlash();
- break;
-
- case 't':
- tncHighRate (true);
- fprintf (PC_HOST, "Set high rate TNC.\n\r");
- break;
-
- case 'f':
- freqHz -= 1000;
- ddsSetFreq (freqHz);
-
- // Display the new frequency.
- showSettingsFlag = true;
- break;
-
- case 'F':
- freqHz += 1000;
- ddsSetFreq (freqHz);
-
- // Display the new frequency.
- showSettingsFlag = true;
- break;
-
- case 'c':
- freqHz -= 25000;
- ddsSetFreq (freqHz);
-
- // Display the new frequency.
- showSettingsFlag = true;
- break;
-
- case 'C':
- freqHz += 25000;
- ddsSetFreq (freqHz);
-
- // Display the new frequency.
- showSettingsFlag = true;
- break;
-
- case 'p':
- case 'P':
- ddsSetFreq (freqHz);
-
- paFlag = (paFlag ? false : true);
- output_bit (IO_PTT, paFlag);
- output_bit (IO_OSK, paFlag);
-
- if (paFlag)
- {
- ddsSetMode (DDS_MODE_AFSK);
- ddsSetAmplitude (amplitude);
- } else
- ddsSetMode (DDS_MODE_POWERDOWN);
-
- break;
-
- case 'a':
- if (amplitude != 200)
- {
- amplitude += 5;
- ddsSetAmplitude (amplitude);
-
- // Display the new amplitude.
- showSettingsFlag = true;
- }
- break;
-
- case 'A':
- if (amplitude != 0)
- {
- amplitude -= 5;
- ddsSetAmplitude (amplitude);
-
- // Display the new amplitude.
- showSettingsFlag = true;
- }
- break;
-
- case 'g':
- diag1PPS();
- break;
-
- case 'x':
- diagDoneFlag = true;
- break;
-
- default:
- fprintf (PC_HOST, "Invalid command. (H)elp for menu.\n\r");
- break;
- } // END switch
-
- // Display the results of any user requests or commands.
- if (showSettingsFlag)
- {
- showSettingsFlag = false;
-
- fprintf (PC_HOST, "%03ld.%03ld MHz ", freqHz / 1000000, (freqHz / 1000) % 1000);
- fprintf (PC_HOST, "%d.%01ddBc\n\r", amplitude / 10, amplitude % 10);
-
- } // END if
-
- } // END while
-
- // Let the user know we are done with this mode.
- fprintf (PC_HOST, "Exit diagnostic mode.\n\r");
-
- return;
-}
-
-/** @} */
-
-
-/**
- * @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
-};
-
-/**
- * Initialize the DDS regsiters and RAM.
- */
-void ddsInit()
-{
- // Setup the SPI port for the DDS interface.
- setup_spi( SPI_MASTER | SPI_L_TO_H | SPI_CLK_DIV_4 | SPI_XMIT_L_TO_H );
-
- // Set the initial DDS mode. The ddsSetMode function uses this value to make the desired DDS selections.
- ddsMode = DDS_MODE_NOT_INITIALIZED;
-
- // Set the DDS operational mode.
- ddsSetMode (DDS_MODE_POWERDOWN);
-
- // Set the output to full scale.
- ddsSetOutputScale (0x3fff);
-
- // CFR2 (Control Function Register No. 2)
- output_low (IO_CS);
- spi_write (DDS_AD9954_CFR2);
-
- spi_write (0x00); // Unused register bits
- spi_write (0x00);
- spi_write (0x9c); // 19x reference clock multipler, high VCO range, nominal charge pump current
- output_high (IO_CS);
-
- // ARR (Amplitude Ramp Rate) to 15mS for OSK
- output_low (IO_CS);
- spi_write (DDS_AD9954_ARR);
-
- spi_write (83);
- output_high (IO_CS);
-
- // Strobe the part so we apply the updates.
- output_high (IO_UPDATE);
- output_low (IO_UPDATE);
-}
-
-/**
- * Set DDS amplitude value in the range 0 to 16383 where 16383 is full scale. This value is a
- * linear multiplier and needs to be scale for RF output power in log scale.
- *
- * @param scale in the range 0 to 16383
- */
-void ddsSetOutputScale (uint16_t scale)
-{
- // Set ASF (Amplitude Scale Factor)
- output_low (IO_CS);
- spi_write (DDS_AD9954_ASF);
-
- spi_write ((scale >> 8) & 0xff);
- spi_write (scale & 0xff);
-
- output_high (IO_CS);
-
- // Strobe the DDS to set the amplitude.
- output_high (IO_UPDATE);
- output_low (IO_UPDATE);
-}
-
-/**
- * Set the DDS amplitude in units of dBc of full scale where 1 is 0.1 dB. For example, a value of 30 is 3dBc
- * or a value of 85 is 8.5dBc.
- *
- * @param amplitude in 0.1 dBc of full scale
- */
-void ddsSetAmplitude (uint8_t amplitude)
-{
- // Range limit based on the lookup table size.
- if (amplitude > 200)
- return;
-
- // Set the linear DDS ASF (Amplitude Scale Factor) based on the dB lookup table.
- ddsSetOutputScale (DDS_AMP_TO_SCALE[amplitude / 5]);
-
- // Toggle the DDS output low and then high to force it to ramp to the new output level setting.
- output_low (IO_OSK);
- delay_ms(25);
-
- output_high (IO_OSK);
- delay_ms(25);
-}
-
-/**
- * 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)
-{
- // Set FTW0 (Frequency Tuning Word 0)
- output_low (IO_CS);
- spi_write (DDS_AD9954_FTW0);
-
- spi_write ((ftw >> 24) & 0xff);
- spi_write ((ftw >> 16) & 0xff);
- spi_write ((ftw >> 8) & 0xff);
- spi_write (ftw & 0xff);
-
- output_high (IO_CS);
-
- // Strobe the DDS to set the frequency.
- output_high (IO_UPDATE);
- output_low (IO_UPDATE);
-}
-
-/**
- * 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)
-{
- // Set FTW0 (Frequency Tuning Word 0)
- output_low (IO_CS);
- spi_write (DDS_AD9954_FTW0);
-
- spi_write ((ftw0 >> 24) & 0xff);
- spi_write ((ftw0 >> 16) & 0xff);
- spi_write ((ftw0 >> 8) & 0xff);
- spi_write (ftw0 & 0xff);
-
- output_high (IO_CS);
-
- // Set FTW0 (Frequency Tuning Word 1)
- output_low (IO_CS);
- spi_write (DDS_AD9954_FTW1);
-
- spi_write ((ftw1 >> 24) & 0xff);
- spi_write ((ftw1 >> 16) & 0xff);
- spi_write ((ftw1 >> 8) & 0xff);
- spi_write (ftw1 & 0xff);
-
- output_high (IO_CS);
-
- // Strobe the DDS to set the frequency.
- output_high (IO_UPDATE);
- output_low (IO_UPDATE);
-}
-
-/**
- * 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)
-{
- // Save the current mode.
- ddsMode = mode;
-
- switch (mode)
- {
- case DDS_MODE_POWERDOWN:
- // CFR1 (Control Function Register No. 1)
- output_low (IO_CS);
- spi_write (DDS_AD9954_CFR1);
-
- spi_write (0x00);
- spi_write (0x00);
- spi_write (0x00);
- spi_write (0xf0); // Power down all subsystems.
- output_high (IO_CS);
- break;
-
- case DDS_MODE_AFSK:
- // CFR1 (Control Function Register No. 1)
- output_low (IO_CS);
- spi_write (DDS_AD9954_CFR1);
-
- spi_write (0x03); // OSK Enable and Auto OSK keying
- spi_write (0x00);
- spi_write (0x00);
- spi_write (0x40); // Power down comparator circuit
- output_high (IO_CS);
- break;
-
- case DDS_MODE_FSK:
- // CFR1 (Control Function Register No. 1)
- output_low (IO_CS);
- spi_write (DDS_AD9954_CFR1);
-
- spi_write (0x03); // Clear RAM Enable, OSK Enable, Auto OSK keying
- spi_write (0x00);
- spi_write (0x00);
- spi_write (0x40); // Power down comparator circuit
- output_high (IO_CS);
-
- // NOTE: The sweep rate requires 1/4 of a bit time (26uS) to transition.
- // 6KHz delta = 70641 counts = (6KHz / 364.8MHz) * 2 ^ 32
- // SYNC_CLK = 91.2MHz 1/91.2MHz * 70641 * 1/29 = 26.7uS
-
- // NLSCW (Negative Linear Sweep Control Word)
- output_low (IO_CS);
- spi_write (DDS_AD9954_NLSCW);
-
- spi_write (1); // Falling sweep ramp rate word
- spi_write (0x00); // Delta frequency tuning word
- spi_write (0x00);
- spi_write (0x00);
- spi_write (250);
- output_high (IO_CS);
-
- // PLSCW (Positive Linear Sweep Control Word)
- output_low (IO_CS);
- spi_write (DDS_AD9954_PLSCW);
-
- spi_write (1); // Rising sweep ramp rate word
- spi_write (0x00); // Delta frequency tuning word
- spi_write (0x00);
- spi_write (0x00);
- spi_write (250);
- output_high (IO_CS);
- break;
- } // END switch
-
- // Strobe the DDS to change the mode.
- output_high (IO_UPDATE);
- output_low (IO_UPDATE);
-}
-
-/** @} */
-
-/**
- * @defgroup flash Flash Manager
- *
- * Functions to control the ST MP25P80 serial flash device.
- *
- * @{
- */
-
-/// Flash Chip Select - Port B3
-#define FLASH_CS PIN_B3
-
-/// Flash Clock - Port B5
-#define FLASH_CLK PIN_B5
-
-/// Flash Data Input - Port B4
-#define FLASH_D PIN_B4
-
-/// Flash Data Output - Port B2
-#define FLASH_Q PIN_B2
-
-/**
- * Determine if a flash write or erase operation is currently in progress.
- *
- * @return true if write/erase in progress
- */
-bool_t flashIsWriteInProgress()
-{
- uint8_t status;
-
- output_low (FLASH_CS);
-
- // Read Status Register (RDSR) flash command.
- flashSendByte (0x05);
-
- status = flashGetByte();
-
- output_high (FLASH_CS);
-
- return (((status & 0x01) == 0x01) ? true : false);
-}
-
-/**
- * Read a block of memory from the flash device.
- *
- * @param address of desired location in the range 0x00000 to 0xFFFFF (1MB)
- * @param block pointer to locate of data block
- * @param length number of bytes to read
- */
-void flashReadBlock(uint32_t address, uint8_t *block, uint16_t length)
-{
- uint16_t i;
-
- output_low (FLASH_CS);
-
- // Read Data Byte(s) (READ) flash command.
- flashSendByte (0x03);
- flashSendAddress (address);
-
- for (i = 0; i < length; ++i)
- *block++ = flashGetByte();
-
- output_high (FLASH_CS);
-}
-
-/**
- * Write a block of memory to the flash device.
- *
- * @param address of desired location in the range 0x00000 to 0xFFFFF (1MB)
- * @param block pointer data block to write
- * @param length number of bytes to write
- */
-void flashWriteBlock(uint32_t address, uint8_t *block, uint8_t length)
-{
- uint8_t i;
-
- output_low (FLASH_CS);
- // Write Enable (WREN) flash command.
- flashSendByte (0x06);
- output_high (FLASH_CS);
-
- output_low (FLASH_CS);
- // Page Program (PP) flash command.
- flashSendByte (0x02);
- flashSendAddress (address);
-
- for (i = 0; i < length; ++i)
- {
- // Send each byte in the data block.
- flashSendByte (*block++);
-
- // Track the address in the flash device.
- ++address;
-
- // If we cross a page boundary (a page is 256 bytes) we need to stop and send the address again.
- if ((address & 0xff) == 0x00)
- {
- output_high (FLASH_CS);
-
- // Write this block of data.
- while (flashIsWriteInProgress());
-
- output_low (FLASH_CS);
- // Write Enable (WREN) flash command.
- flashSendByte (0x06);
- output_high (FLASH_CS);
-
- output_low (FLASH_CS);
- // Page Program (PP) flash command.
- flashSendByte (0x02);
- flashSendAddress (address);
- } // END if
- } // END for
-
- output_high (FLASH_CS);
-
- // Wait for the final write operation to complete.
- while (flashIsWriteInProgress());
-}
-
-/**
- * Erase the entire flash device (all locations set to 0xff).
- */
-void flashErase()
-{
- output_low (FLASH_CS);
- // Write Enable (WREN) flash command.
- flashSendByte (0x06);
- output_high (FLASH_CS);
-
- output_low (FLASH_CS);
- // Bulk Erase (BE) flash command.
- flashSendByte (0xc7);
- output_high (FLASH_CS);
-
- while (flashIsWriteInProgress());
-}
-
-/**
- * Read a single byte from the flash device through the serial interface. This function
- * only controls the clock line. The chip select must be configured before calling
- * this function.
- *
- * @return byte read from device
- */
-uint8_t flashGetByte()
-{
- uint8_t i, value;
-
- value = 0;
-
- // Bit bang the 8-bits.
- for (i = 0; i < 8; ++i)
- {
- // Data is ready on the rising edge of the clock.
- output_high (FLASH_CLK);
-
- // MSB is first, so shift left.
- value = value << 1;
-
- if (input (FLASH_Q))
- value = value | 0x01;
-
- output_low (FLASH_CLK);
- } // END for
-
- return value;
-}
-
-/**
- * Initialize the flash memory subsystem.
- */
-void flashInit()
-{
- // I/O lines to control flash.
- output_high (FLASH_CS);
- output_low (FLASH_CLK);
- output_low (FLASH_D);
-}
-
-/**
- * Write a single byte to the flash device through the serial interface. This function
- * only controls the clock line. The chip select must be configured before calling
- * this function.
- *
- * @param value byte to write to device
- */
-void flashSendByte(uint8_t value)
-{
- uint8_t i;
-
- // Bit bang the 8-bits.
- for (i = 0; i < 8; ++i)
- {
- // Drive the data input pin.
- if ((value & 0x80) == 0x80)
- output_high (FLASH_D);
- else
- output_low (FLASH_D);
-
- // MSB is first, so shift leeft.
- value = value << 1;
-
- // Data is accepted on the rising edge of the clock.
- output_high (FLASH_CLK);
- output_low (FLASH_CLK);
- } // END for
-}
-
-/**
- * Write the 24-bit address to the flash device through the serial interface. This function
- * only controls the clock line. The chip select must be configured before calling
- * this function.
- *
- * @param address 24-bit flash device address
- */
-void flashSendAddress(uint32_t address)
-{
- uint8_t i;
-
- // Bit bang the 24-bits.
- for (i = 0; i < 24; ++i)
- {
- // Drive the data input pin.
- if ((address & 0x800000) == 0x800000)
- output_high (FLASH_D);
- else
- output_low (FLASH_D);
-
- // MSB is first, so shift left.
- address = address << 1;
-
- // Data is accepted on the rising edge of the clock.
- output_high (FLASH_CLK);
- output_low (FLASH_CLK);
- } // END for
-}
-
-/** @} */
-
-/**
- * @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.
-enum GPS_PARSE_STATE_MACHINE
-{
- /// 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
-};
-
-/// 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()
-{
- 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);
-
- // Enable the UART and the transmit line.
-#asm
- bsf 0xFAB.7
-#endasm
-}
-
-/**
- * Turn off the GPS engine power and serial interface.
- */
-void gpsPowerOff()
-{
- // Disable the UART and the transmit line.
-#asm
- bcf 0xFAB.7
-#endasm
-
- // 3.0 VDC LDO control line.
- output_low (IO_GPS_PWR);
-}
-
-/**
- * Read the serial FIFO and process complete GPS messages.
- */
-void gpsUpdate()
-{
- uint8_t value;
-
- // This state machine handles each characters as it is read from the GPS serial port.
- // We are looking for the GPS mesage @@Hb ... C
- while (serialHasData())
- {
- // Get the character value.
- value = serialRead();
-
- // Process based on the state machine.
- switch (gpsParseState)
- {
- case GPS_START1:
- if (value == '@')
- gpsParseState = GPS_START2;
- break;
-
- case GPS_START2:
- if (value == '@')
- gpsParseState = GPS_COMMAND1;
- else
- gpsParseState = GPS_START1;
- break;
-
- case GPS_COMMAND1:
- if (value == 'H')
- gpsParseState = GPS_COMMAND2;
- else
- gpsParseState = GPS_START1;
- break;
-
- case GPS_COMMAND2:
- if (value == 'b')
- {
- gpsParseState = GPS_READMESSAGE;
- gpsIndex = 0;
- gpsChecksum = 0;
- gpsChecksum ^= 'H';
- gpsChecksum ^= 'b';
- } else
- gpsParseState = GPS_START1;
- break;
-
- case GPS_READMESSAGE:
- gpsChecksum ^= value;
- gpsBuffer[gpsIndex++] = value;
-
- if (gpsIndex == 47)
- gpsParseState = GPS_CHECKSUMMESSAGE;
-
- break;
-
- case GPS_CHECKSUMMESSAGE:
- if (gpsChecksum == value)
- gpsParseState = GPS_EOMCR;
- else
- gpsParseState = GPS_START1;
- break;
-
- case GPS_EOMCR:
- if (value == 13)
- gpsParseState = GPS_EOMLF;
- else
- gpsParseState = GPS_START1;
- break;
-
- case GPS_EOMLF:
- // Once we have the last character, convert the binary message to something usable.
- if (value == 10)
- gpsParsePositionMessage();
-
- gpsParseState = GPS_START1;
- break;
- } // END switch
- } // END while
-}
-
-/** @} */
-
-
-/**
- * @defgroup log Flight Data Recorder
- *
- * Functions to manage and control the flight data recorder
- *
- * @{
- */
-
-/// Number of bytes to buffer before writing to flash memory.
-#define LOG_WRITE_BUFFER_SIZE 40
-
-/// Last used address in flash memory.
-uint32_t logAddress;
-
-/// Temporary buffer that holds data before it is written to flash device.
-uint8_t logBuffer[LOG_WRITE_BUFFER_SIZE];
-
-/// Current index into log buffer.
-uint8_t logIndex;
-
-/**
- * Last used address in flash memory. This location is where the next log data will
- * be written.
- *
- * @return 24-bit flash memory address
- */
-uint32_t logGetAddress()
-{
- return logAddress;
-}
-
-/**
- * Write the contents of the temporary log buffer to the flash device. If the buffer
- * is empty, nothing is done.
- */
-void logFlush()
-{
- // We only need to write if there is data.
- if (logIndex != 0)
- {
- flashWriteBlock (logAddress, logBuffer, logIndex);
- logAddress += logIndex;
- logIndex = 0;
- } // END if
-}
-
-/**
- * Prepare the flight data recorder for logging.
- */
-void logInit()
-{
- uint8_t buffer[8];
- bool_t endFound;
-
- fprintf (PC_HOST, "Searching for end of flash log...");
-
- logAddress = 0x0000;
- endFound = false;
-
- // Read each logged data block from flash to determine how long it is.
- do
- {
- // Read the data log entry type.
- flashReadBlock (logAddress, buffer, 1);
-
- // Based on the log entry type, we'll skip over the data contained in the entry.
- switch (buffer[0])
- {
- case LOG_BOOTED:
- logAddress += 7;
- break;
-
- case LOG_COORD:
- logAddress += 26;
- break;
-
- case LOG_TEMPERATURE:
- logAddress += 3;
- break;
-
- case LOG_VOLTAGE:
- logAddress += 5;
- break;
-
- case 0xff:
- endFound = true;
- break;
-
- default:
- ++logAddress;
- } // END switch
- } while (logAddress < 0x100000 && !endFound);
-
- fprintf (PC_HOST, "done. Log contains %ld bytes.\n\r", logAddress);
-
- logIndex = 0;
-}
-
-/**
- * Start a entry in the data log.
- *
- * @param type of log entry, i.e. LOG_BOOTED, LOG_COORD, etc.
- */
-void logType (LOG_TYPE type)
-{
- // Only add the new entry if there is space.
- if (logAddress >= 0x100000)
- return;
-
- // Write the old entry first.
- logFlush();
-
- // Save the type and set the log buffer pointer.
- logBuffer[0] = type;
- logIndex = 1;
-}
-
-/**
- * Save an unsigned, 8-bit value in the log.
- *
- * @param value unsigned, 8-bit value
- */
-void logUint8 (uint8_t value)
-{
- logBuffer[logIndex++] = value;
-}
-
-/**
- * Save a signed, 16-bit value in the log.
- *
- * @param value signed, 16-bit value
- */
-void logInt16 (int16_t value)
-{
- logBuffer[logIndex++] = (value >> 8) & 0xff;
- logBuffer[logIndex++] = value & 0xff;
-}
-
-/**
- * Save an unsigned, 16-bit value in the log.
- *
- * @param value unsigned, 16-bit value
- */
-void logUint16 (uint16_t value)
-{
- logBuffer[logIndex++] = (value >> 8) & 0xff;
- logBuffer[logIndex++] = value & 0xff;
-}
-
-/**
- * Save a signed, 32-bit value in the log.
- *
- * @param value signed, 32-bit value
- */
-void logInt32 (int32_t value)
-{
- logBuffer[logIndex++] = (value >> 24) & 0xff;
- logBuffer[logIndex++] = (value >> 16) & 0xff;
- logBuffer[logIndex++] = (value >> 8) & 0xff;
- logBuffer[logIndex++] = value & 0xff;
-}
-
-/** @} */
-
-/**
- * @defgroup LM92 LM92 temperature sensor
- *
- * Read and control the National Semiconductor LM92 I2C temperature sensor
- *
- * @{
- */
-
-/**
- * Read the LM92 temperature value in 0.1 degrees F.
- *
- * @return 0.1 degrees F
- */
-int16_t lm92GetTemp()
-{
- int16_t value;
- int32_t temp;
-
- // Set the SDA and SCL to input pins to control the LM92.
- set_tris_c (0x9a);
-
- // Read the temperature register value.
- i2c_start();
- i2c_write(0x97);
- value = ((int16_t) i2c_read() << 8);
- value = value | ((int16_t) i2c_read() & 0x00f8);
- i2c_stop();
-
- // Set the SDA and SCL back to outputs for use with the AD9954 because we share common clock pins.
- set_tris_c (0x82);
-
- // LM92 register 0.0625degC/bit 9 10 9
- // ------------- * -------------- * - * -- = -- + 320
- // 8 5 64
-
- // Convert to degrees F.
- temp = (int32_t) value;
- temp = ((temp * 9l) / 64l) + 320;
-
- return (int16_t) temp;
-}
-
-/** @} */
-
-
-/**
- * @defgroup serial Serial Port FIFO
- *
- * FIFO for the built-in serial port.
- *
- * @{
- */
-
-/// Size of serial port FIFO in bytes. It must be a power of 2, i.e. 2, 4, 8, 16, etc.
-#define SERIAL_BUFFER_SIZE 64
-
-/// Mask to wrap around at end of circular buffer. (SERIAL_BUFFER_SIZE - 1)
-#define SERIAL_BUFFER_MASK 0x3f
-
-/// Index to the next free location in the buffer.
-uint8_t serialHead;
-
-/// Index to the next oldest data in the buffer.
-uint8_t serialTail;
-
-/// Circular buffer (FIFO) to hold serial data.
-uint8_t serialBuffer[SERIAL_BUFFER_SIZE];
-
-/**
- * Determine if the FIFO contains data.
- *
- * @return true if data present; otherwise false
- */
-bool_t serialHasData()
-{
- if (serialHead == serialTail)
- return false;
-
- return true;
-}
-
-/**
- * Initialize the serial processor.
- */
-void serialInit()
-{
- serialHead = 0;
- serialTail = 0;
-}
-
-/**
- * Get the oldest character from the FIFO.
- *
- * @return oldest character; 0 if FIFO is empty
- */
-uint8_t serialRead()
-{
- uint8_t value;
-
- // Make sure we have something to return.
- if (serialHead == serialTail)
- return 0;
-
- // Save the value.
- value = serialBuffer[serialTail];
-
- // Update the pointer.
- serialTail = (serialTail + 1) & SERIAL_BUFFER_MASK;
-
- return value;
-}
+// Public methods, constants, and data structures for each class.
-/**
- * Read and store any characters in the PIC serial port in a FIFO.
- */
-void serialUpdate()
-{
- // If there isn't a character in the PIC buffer, just leave.
- while (kbhit())
- {
- // Save the value in the FIFO.
- serialBuffer[serialHead] = getc();
+static void timeInit(void);
- // Move the pointer to the next open space.
- serialHead = (serialHead + 1) & SERIAL_BUFFER_MASK;
- }
-}
+static void tncInit(void);
+static void tnc1200TimerTick(void);
/** @} */
* @defgroup sys System Library Functions
*
* Generic system functions similiar to the run-time C library.
- *
- * @{
- */
-
-/**
- * Calculate the CRC-16 CCITT of buffer that is length bytes long.
- * The crc parameter allow the calculation on the CRC on multiple buffers.
- *
- * @param buffer Pointer to data buffer.
- * @param length number of bytes in data buffer
- * @param crc starting value
- *
- * @return CRC-16 of buffer[0 .. length]
- */
-uint16_t sysCRC16(uint8_t *buffer, uint8_t length, uint16_t crc)
-{
- uint8_t i, bit, value;
-
- for (i = 0; i < length; ++i)
- {
- value = buffer[i];
-
- for (bit = 0; bit < 8; ++bit)
- {
- crc ^= (value & 0x01);
- crc = ( crc & 0x01 ) ? ( crc >> 1 ) ^ 0x8408 : ( crc >> 1 );
- value = value >> 1;
- } // END for
- } // END for
-
- return crc ^ 0xffff;
-}
-
-/**
- * Initialize the system library and global resources.
- */
-void sysInit()
-{
- gpsPowerOff ();
- output_high (IO_LED);
-
- output_high (IO_CS);
- output_low (IO_PS1);
- output_low (IO_PS0);
- output_low (IO_OSK);
- output_low (IO_UPDATE);
- output_low (IO_PTT);
- output_low (IO_GPS_TXD);
-
- // Configure the port direction (input/output).
- set_tris_a (0xc3);
- set_tris_b (0x44);
- set_tris_c (0x82);
-
- // Display a startup message during boot.
- fprintf (PC_HOST, "System booted.\n\r");
-}
-
-/**
- * Log the current GPS position.
- */
-void sysLogGPSData()
-{
- // Log the data.
- logType (LOG_COORD);
- logUint8 (gpsPosition.hours);
- logUint8 (gpsPosition.minutes);
- logUint8 (gpsPosition.seconds);
- logInt32 (gpsPosition.latitude);
- logInt32 (gpsPosition.longitude);
- logInt32 (gpsPosition.altitudeCM);
-
- logUint16 (gpsPosition.vSpeed);
- logUint16 (gpsPosition.hSpeed);
- logUint16 (gpsPosition.heading);
-
- logUint16 (gpsPosition.status);
-
- logUint8 ((uint8_t) (gpsPosition.dop & 0xff));
- logUint8 ((uint8_t) ((gpsPosition.visibleSats << 4) | gpsPosition.trackedSats));
-}
-
-/**
- * Log the ADC values of the bus and reference voltage values.
- */
-void sysLogVoltage()
-{
- logType (LOG_VOLTAGE);
- logUint16 (adcRawBusVolt());
- logUint16 (adcRawRefVolt());
-}
-
-/** @} */
-
-/**
- * @defgroup rtc Real Time Interrupt tick
- *
- * Manage the built-in real time interrupt. The interrupt clock PRI is 104uS (9600 bps).
- *
- * @{
- */
-
-/// 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;
-
-/// 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;
-}
-
-/**
- * Initialize the real-time clock.
- */
-void timeInit()
-{
- timeTicks = 0;
- timeInterruptCount = 0;
- time100mS = 0;
- timeSeconds = 0;
- timeMinutes = 0;
- timeHours = 0;
- timeDutyCycle = TIME_DUTYCYCLE_70;
- timeCompare = TIME_RATE;
- timeUpdateFlag = false;
- timeNCO = 0x00;
- timeLowRateCount = 0;
- timeNCOFreq = 0x2000;
- tncDataMode = TNC_MODE_STANDBY;
- timeRunFlag = false;
-
- // Configure CCP1 to interrupt at 1mS for PSK31 or 833uS for 1200 baud APRS
- CCP_1 = TIME_RATE;
- set_timer1(timeCompare);
- setup_ccp1( CCP_COMPARE_INT );
- setup_timer_1( T1_INTERNAL | T1_DIV_BY_4 );
-}
-
-/**
- * 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 the blink duty cycle of the heartbeat LED. The LED blinks at a 1Hz rate.
- *
- * @param dutyCycle TIME_DUTYCYCLE_xx constant
- */
-void timeSetDutyCycle (uint8_t dutyCycle)
-{
- timeDutyCycle = dutyCycle;
-}
-
-/**
- * Set a flag to indicate the flight time should run. This flag is typically set when the payload
- * lifts off.
+ *
+ * @{
*/
-void timeSetRunFlag()
-{
- timeRunFlag = true;
-}
-#INT_CCP1
/**
- * Timer interrupt handler called every 104uS (9600 times/second).
+ * Calculate the CRC-16 CCITT of buffer that is length bytes long.
+ * The crc parameter allow the calculation on the CRC on multiple buffers.
+ *
+ * @param buffer Pointer to data buffer.
+ * @param length number of bytes in data buffer
+ * @param crc starting value
+ *
+ * @return CRC-16 of buffer[0 .. length]
*/
-void timeUpdate()
+static uint16_t sysCRC16(const uint8_t *buffer, uint8_t length, uint16_t crc)
{
- // Setup the next interrupt for the operational mode.
- timeCompare += TIME_RATE;
- CCP_1 = timeCompare;
+ uint8_t i, bit, value;
- switch (tncDataMode)
+ for (i = 0; i < length; ++i)
{
- 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;
+ value = buffer[i];
- case TNC_MODE_9600_FSK:
- tnc9600TimerTick();
- break;
- } // END switch
+ for (bit = 0; bit < 8; ++bit)
+ {
+ crc ^= (value & 0x01);
+ crc = ( crc & 0x01 ) ? ( crc >> 1 ) ^ 0x8408 : ( crc >> 1 );
+ value = value >> 1;
+ } // END for
+ } // END for
- // Read the GPS serial port and save any incoming characters.
- serialUpdate();
+ return crc ^ 0xffff;
+}
- // Count the number of milliseconds required for the tenth second counter.
- if (++timeInterruptCount == 960)
- {
- timeInterruptCount = 0;
+/** @} */
- // This timer just ticks every 100mS and is used for general timing.
- ++timeTicks;
+/**
+ * @defgroup rtc Real Time Interrupt tick
+ *
+ * Manage the built-in real time interrupt. The interrupt clock PRI is 104uS (9600 bps).
+ *
+ * @{
+ */
- // Roll the counter over every second.
- if (++time100mS == 10)
- {
- time100mS = 0;
+/// 16-bit NCO where the upper 8-bits are used to index into the frequency generation table.
+static uint16_t timeNCO;
- // We set this flag true every second.
- timeUpdateFlag = true;
+/// Audio tone NCO update step (phase).
+static uint16_t timeNCOFreq;
- // Maintain a Real Time Clock.
- if (timeRunFlag)
- if (++timeSeconds == 60)
- {
- timeSeconds = 0;
-
- if (++timeMinutes == 60)
- {
- timeMinutes = 0;
- ++timeHours;
- } // END if timeMinutes
- } // END if timeSeconds
- } // END if time100mS
-
- // Flash the status LED at timeDutyCycle % per second. We use the duty cycle for mode feedback.
- if (time100mS >= timeDutyCycle)
- output_low (IO_LED);
- else
- output_high (IO_LED);
- } // END if
+/**
+ * Initialize the real-time clock.
+ */
+static void timeInit()
+{
+ timeNCO = 0x00;
+ timeNCOFreq = 0x2000;
}
/** @} */
#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.
-enum TNC_TX_1200BPS_STATE
+typedef enum
{
/// Stand by state ready to accept new message.
TNC_TX_READY,
/// Transmit the end flag sequence.
TNC_TX_END
-};
-
-/// Enumeration of the messages we can transmit.
-enum TNC_MESSAGE_TYPE
-{
- /// 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_TX_1200BPS_STATE;
/// 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, 'L' << 1, 'M' << 1, 'O' << 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
+
+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.
-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;
- } // 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)
case TNC_TX_SYNC:
// The variable tncShift contains the lastest data byte.
// NRZI enocde the data stream.
- if ((tncShift & 0x01) == 0x00)
+ if ((tncShift & 0x01) == 0x00) {
if (tncTxBit == 0)
tncTxBit = 1;
else
tncTxBit = 0;
+ }
// When the flag is done, determine if we need to send more or data.
if (++tncBitCount == 8)
// The variable tncShift contains the lastest data byte.
// NRZI enocde the data stream.
- if ((tncShift & 0x01) == 0x00)
+ if ((tncShift & 0x01) == 0x00) {
if (tncTxBit == 0)
tncTxBit = 1;
else
tncTxBit = 0;
+ }
// Save the data stream so we can determine if bit stuffing is
// required on the next bit time.
// The variable tncShift contains the lastest data byte.
// NRZI enocde the data stream.
- if ((tncShift & 0x01) == 0x00)
+ if ((tncShift & 0x01) == 0x00) {
if (tncTxBit == 0)
tncTxBit = 1;
else
tncTxBit = 0;
+ }
// Save the data stream so we can determine if bit stuffing is
// required on the next bit time.
case TNC_TX_END:
// The variable tncShift contains the lastest data byte.
// NRZI enocde the data stream.
- if ((tncShift & 0x01) == 0x00)
+ if ((tncShift & 0x01) == 0x00) {
if (tncTxBit == 0)
tncTxBit = 1;
else
tncTxBit = 0;
+ }
// If all the bits were shifted, get the next one.
if (++tncBitCount == 8)
{
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
}
/**
- * Method that is called every 104uS to transmit the 9600bps FSK data stream.
- */
-void tnc9600TimerTick()
-{
-
-}
-
-/**
- * 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)
-{
- *tncBufferPnt++ = character;
- ++tncLength;
-}
-
-/**
- * Generate the GPS NMEA standard UTC time stamp. Data is written through the tncTxByte
- * callback function.
+ * Generate the plain text position packet.
*/
-void tncNMEATime()
+static int tncPositionPacket(void)
{
- // UTC of position fix.
- printf (tncTxByte, "%02d%02d%02d,", gpsPosition.hours, gpsPosition.minutes, gpsPosition.seconds);
-}
+ int32_t latitude = ao_gps_data.latitude;
+ int32_t longitude = ao_gps_data.longitude;
+ int32_t altitude = ao_gps_data.altitude;
-/**
- * Generate the GPS NMEA standard latitude/longitude fix. Data is written through the tncTxByte
- * callback function.
- */
-void tncNMEAFix()
-{
- uint8_t dirChar;
- uint32_t coord, coordMin;
+ uint16_t lat_deg;
+ uint16_t lon_deg;
+ uint16_t lat_min;
+ uint16_t lat_frac;
+ uint16_t lon_min;
+ uint16_t lon_frac;
- // Latitude value.
- coord = gpsPosition.latitude;
+ char lat_sign = 'N', lon_sign = 'E';
- if (gpsPosition.latitude < 0)
- {
- coord = gpsPosition.latitude * -1;
- dirChar = 'S';
- } else {
- coord = gpsPosition.latitude;
- dirChar = 'N';
+ if (latitude < 0) {
+ lat_sign = 'S';
+ latitude = -latitude;
}
- coordMin = (coord % 3600000) / 6;
- printf (tncTxByte, "%02ld%02ld.%04ld,%c,", (uint32_t) (coord / 3600000), (uint32_t) (coordMin / 10000), (uint32_t) (coordMin % 10000), dirChar);
-
-
- // Longitude value.
- if (gpsPosition.longitude < 0)
- {
- coord = gpsPosition.longitude * - 1;
- dirChar = 'W';
- } else {
- coord = gpsPosition.longitude;
- dirChar = 'E';
+ if (longitude < 0) {
+ lon_sign = 'W';
+ longitude = -longitude;
}
- coordMin = (coord % 3600000) / 6;
- printf (tncTxByte, "%03ld%02ld.%04ld,%c,", (uint32_t) (coord / 3600000), (uint32_t) (coordMin / 10000), (uint32_t) (coordMin % 10000), dirChar);
-
-}
-
-/**
- * Generate the GPS NMEA-0183 $GPGGA packet. Data is written through the tncTxByte
- * callback function.
- */
-void tncGPGGAPacket()
-{
- // Generate the GPGGA message.
- printf (tncTxByte, "$GPGGA,");
-
- // Standard NMEA time.
- tncNMEATime();
-
- // Standard NMEA-0183 latitude/longitude.
- tncNMEAFix();
-
- // GPS status where 0: not available, 1: available
- if (gpsGetFixType() != GPS_NO_FIX)
- printf (tncTxByte, "1,");
- else
- printf (tncTxByte, "0,");
-
- // Number of visible birds.
- printf (tncTxByte, "%02d,", gpsPosition.trackedSats);
-
- // DOP
- printf (tncTxByte, "%ld.%01ld,", gpsPosition.dop / 10, gpsPosition.dop % 10);
-
- // Altitude in meters.
- printf (tncTxByte, "%ld.%02ld,M,,M,,", (int32_t) (gpsPosition.altitudeCM / 100l), (int32_t) (gpsPosition.altitudeCM % 100));
-
- // Checksum, we add 1 to skip over the $ character.
- printf (tncTxByte, "*%02X", gpsNMEAChecksum(tncBuffer + 1, tncLength - 1));
-}
-
-/**
- * Generate the GPS NMEA-0183 $GPRMC packet. Data is written through the tncTxByte
- * callback function.
- */
-void tncGPRMCPacket()
-{
- uint32_t temp;
-
- // Generate the GPRMC message.
- printf (tncTxByte, "$GPRMC,");
-
- // Standard NMEA time.
- tncNMEATime();
-
- // GPS status.
- if (gpsGetFixType() != GPS_NO_FIX)
- printf (tncTxByte, "A,");
- else
- printf (tncTxByte, "V,");
-
- // Standard NMEA-0183 latitude/longitude.
- tncNMEAFix();
-
- // Speed knots and heading.
- temp = (int32_t) gpsPosition.hSpeed * 75000 / 385826;
- printf (tncTxByte, "%ld.%ld,%ld.%ld,", (int16_t) (temp / 10), (int16_t) (temp % 10), gpsPosition.heading / 10, gpsPosition.heading % 10);
-
- // Date
- printf (tncTxByte, "%02d%02d%02ld,,", gpsPosition.day, gpsPosition.month, gpsPosition.year % 100);
-
- // Checksum, skip over the $ character.
- printf (tncTxByte, "*%02X", gpsNMEAChecksum(tncBuffer + 1, tncLength - 1));
+ /* Round latitude and longitude by 0.005 minutes */
+ latitude = latitude + 833;
+ if (latitude > 900000000)
+ latitude = 900000000;
+ longitude = longitude + 833;
+ if (longitude > 1800000000)
+ longitude = 1800000000;
+
+ lat_deg = latitude / 10000000;
+ latitude -= lat_deg * 10000000;
+ latitude *= 60;
+ lat_min = latitude / 10000000;
+ latitude -= lat_min * 10000000;
+ lat_frac = latitude / 100000;
+
+ lon_deg = longitude / 10000000;
+ longitude -= lon_deg * 10000000;
+ longitude *= 60;
+ lon_min = longitude / 10000000;
+ longitude -= lon_min * 10000000;
+ lon_frac = longitude / 100000;
+
+ if (altitude < 0)
+ altitude = 0;
+
+ altitude = (altitude * (int32_t) 10000 + (3048/2)) / (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);
+}
+
+static int16_t
+tncFill(uint8_t *buf, int16_t len)
+{
+ int16_t l = 0;
+ uint8_t b;
+ uint8_t bit;
+
+ 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;
}
-/**
- * Generate the plain text status packet. Data is written through the tncTxByte
- * callback function.
- */
-void tncStatusPacket(int16_t temperature)
-{
- uint16_t voltage;
-
- // Plain text telemetry.
- printf (tncTxByte, ">ANSR ");
-
- // Display the flight time.
- printf (tncTxByte, "%02U:%02U:%02U ", timeHours, timeMinutes, timeSeconds);
-
- // Altitude in feet.
- printf (tncTxByte, "%ld' ", gpsPosition.altitudeFeet);
-
- // Peak altitude in feet.
- printf (tncTxByte, "%ld'pk ", gpsGetPeakAltitude());
-
- // GPS hdop or pdop
- printf (tncTxByte, "%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())
- {
- case GPS_NO_FIX:
- printf (tncTxByte, "dop ");
- break;
-
- case GPS_2D_FIX:
- printf (tncTxByte, "hdop ");
- break;
-
-
- case GPS_3D_FIX:
- printf (tncTxByte, "pdop ");
- break;
- } // END switch
-
- // Number of satellites in the solution.
- printf (tncTxByte, "%utrk ", gpsPosition.trackedSats);
-
- // Display main bus voltage.
- voltage = adcGetMainBusVolt();
- printf (tncTxByte, "%lu.%02luvdc ", voltage / 100, voltage % 100);
-
- // Display internal temperature.
- printf (tncTxByte, "%ld.%01ldF ", temperature / 10, abs(temperature % 10));
-
- // Print web address link.
- printf (tncTxByte, "www.kd7lmo.net");
-}
-
/**
* 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)
+void ao_aprs_send(void)
{
- int16_t temperature;
uint16_t crc;
- // Only transmit if there is not another message in progress.
- if (tncMode != TNC_TX_READY)
- return;
-
- // Log the battery and reference voltage before we start the RF chain.
- sysLogVoltage();
-
- // We need to read the temperature sensor before we setup the DDS since they share a common clock pin.
- temperature = lm92GetTemp();
-
- // Log the system temperature every time we transmit a packet.
- logType (LOG_TEMPERATURE);
- logInt16 (temperature);
-
- // Configure the DDS for the desired operational.
- tncSetMode (dataMode);
-
- // Set a pointer to our TNC output buffer.
- tncBufferPnt = tncBuffer;
-
- // Set the message length counter.
- tncLength = 0;
-
- // Determine the contents of the packet.
- switch (tncPacketType)
- {
- case TNC_BOOT_MESSAGE:
- printf (tncTxByte, ">ANSR Pico Beacon - V3.05");
-
- // Select the next packet we will generate.
- tncPacketType = TNC_STATUS;
- break;
-
- case TNC_STATUS:
- tncStatusPacket(temperature);
-
- // Select the next packet we will generate.
- tncPacketType = TNC_GGA;
- break;
-
- case TNC_GGA:
- tncGPGGAPacket();
-
- // Select the next packet we will generate.
- tncPacketType = TNC_RMC;
- break;
-
- case TNC_RMC:
- tncGPRMCPacket();
-
- // Select the next packet we will generate.
- tncPacketType = TNC_STATUS;
- break;
- }
+ timeInit();
+ tncInit();
+ tncSetCallsign();
- // Add the end of message character.
- printf (tncTxByte, "\015");
+ 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();
+ ao_radio_send_aprs(tncFill);
}
/** @} */
-
-uint32_t counter;
-
-uint8_t bitIndex;
-uint8_t streamIndex;
-uint8_t value;
-
-uint8_t bitStream[] = { 0x10, 0x20, 0x30 };
-
-void init()
-{
- counter = 0;
- bitIndex = 0;
- streamIndex = 0;
- value = bitStream[0];
-}
-
-void test()
-{
- counter += 0x10622d;
-
- CCP_1 = (uint16_t) ((counter >> 16) & 0xffff);
-
- if ((value & 0x80) == 0x80)
- setup_ccp1 (CCP_COMPARE_SET_ON_MATCH);
- else
- setup_ccp1 (CCP_COMPARE_CLR_ON_MATCH);
-
- if (++bitIndex == 8)
- {
- bitIndex = 0;
-
- if (++streamIndex == sizeof(bitStream))
- {
- streamIndex = 0;
- }
-
- value = bitStream[streamIndex];
- } else
- value = value << 1;
-}
-
-// This is where we go after reset.
-void main()
-{
- uint8_t i, utcSeconds, lockLostCounter;
-
-test();
-
- // Configure the basic systems.
- sysInit();
-
- // Wait for the power converter chains to stabilize.
- delay_ms (100);
-
- // Setup the subsystems.
- adcInit();
- flashInit();
- gpsInit();
- logInit();
- timeInit();
- serialInit();
- tncInit();
-
- // Program the DDS.
- ddsInit();
-
- // Turn off the LED after everything is configured.
- output_low (IO_LED);
-
- // Check for the diagnostics plug, otherwise we'll continue to boot.
- diagPort();
-
- // Setup our interrupts.
- enable_interrupts(GLOBAL);
- enable_interrupts(INT_CCP1);
-
- // Turn on the GPS engine.
- gpsPowerOn();
-
- // Allow the GPS engine to boot.
- delay_ms (250);
-
- // Initialize the GPS engine.
- while (!gpsSetup());
-
- // Charge the ADC filters.
- for (i = 0; i < 32; ++i)
- adcUpdate();
-
- // Log startup event.
- logType (LOG_BOOTED);
- logUint8 (gpsPosition.month);
- logUint8 (gpsPosition.day);
- logUint8 (gpsPosition.year & 0xff);
-
- logUint8 (gpsPosition.hours);
- logUint8 (gpsPosition.minutes);
- logUint8 (gpsPosition.seconds);
-
- // Transmit software version packet on start up.
- tncTxPacket(TNC_MODE_1200_AFSK);
-
- // Counters to send packets if the GPS time stamp is not available.
- lockLostCounter = 5;
- utcSeconds = 55;
-
- // This is the main loop that process GPS data and waits for the once per second timer tick.
- for (;;)
- {
- // Read the GPS engine serial port FIFO and process the GPS data.
- gpsUpdate();
-
- if (gpsIsReady())
- {
- // Start the flight timer when we get a valid 3D fix.
- if (gpsGetFixType() == GPS_3D_FIX)
- timeSetRunFlag();
-
- // Generate our packets based on the GPS time.
- if (tncIsTimeSlot(gpsPosition.seconds))
- tncTxPacket(TNC_MODE_1200_AFSK);
-
- // Sync the internal clock to GPS UTC time.
- utcSeconds = gpsPosition.seconds;
-
- // This counter is reset every time we receive the GPS message.
- lockLostCounter = 0;
-
- // Log the data to flash.
- sysLogGPSData();
- } // END if gpsIsReady
-
- // Processing that occurs once a second.
- if (timeIsUpdate())
- {
- // We maintain the UTC time in seconds if we shut off the GPS engine or it fails.
- if (++utcSeconds == 60)
- utcSeconds = 0;
-
- // If we loose information for more than 5 seconds,
- // we will determine when to send a packet based on internal time.
- if (lockLostCounter == 5)
- {
- if (tncIsTimeSlot(utcSeconds))
- tncTxPacket(TNC_MODE_1200_AFSK);
- } else
- ++lockLostCounter;
-
- // Update the ADC filters.
- adcUpdate();
-
- if (timeHours == 5 && timeMinutes == 0 && timeSeconds == 0)
- gpsPowerOff();
-
- } // END if timeIsUpdate
-
- } // END for
-}
-
-
-
projects / fw / altos / blobdiff