*
*/
-// 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
+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.
-enum DDS_MODE
+typedef enum
{
/// Device has not been initialized.
DDS_MODE_NOT_INITIALIZED,
/// Generate true FSK tones.
DDS_MODE_FSK
-};
+} DDS_MODE;
void ddsInit();
void ddsSetAmplitude (uint8_t amplitude);
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
+typedef enum
{
/// No GPS FIX
GPS_NO_FIX,
/// 3D (Latitude/Longitude/Altitude) fix.
GPS_3D_FIX
-};
+} GPS_FIX_TYPE;
/// GPS Position information.
typedef struct
uint8_t visibleSats;
} GPSPOSITION_STRUCT;
+GPSPOSITION_STRUCT gpsPosition;
+
void gpsInit();
bool_t gpsIsReady();
GPS_FIX_TYPE gpsGetFixType();
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 timeUpdate();
/// Operational modes of the TNC for the tncSetMode function.
-enum TNC_DATA_MODE
+typedef enum
{
/// No operation waiting for setup and configuration.
TNC_MODE_STANDBY,
/// 9600 bps using true FSK tones.
TNC_MODE_9600_FSK
-};
+} TNC_DATA_MODE;
void tncInit();
bool_t tncIsFree();
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)
*
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).
*
*/
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);
+ int x = ftw - freqTable[0];
+ putchar (x > 0 ? 0xff : 0x0);
}
/**
*/
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);
+// printf ("ftw0 %d ftw1 %d\n", ftw0, ftw1);
}
/**
*/
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);
+// printf ("mode %d\n", mode);
}
/** @} */
/**
- * @defgroup flash Flash Manager
+ * @defgroup GPS Motorola M12+ GPS Engine
*
- * Functions to control the ST MP25P80 serial flash device.
+ * Functions to control the Motorola M12+ GPS engine in native binary protocol mode.
*
* @{
*/
-/// 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
+/// The maximum length of a binary GPS engine message.
+#define GPS_BUFFER_SIZE 50
-/**
- * Determine if a flash write or erase operation is currently in progress.
- *
- * @return true if write/erase in progress
- */
-bool_t flashIsWriteInProgress()
+/// GPS parse engine state machine values.
+typedef enum
{
- uint8_t status;
-
- output_low (FLASH_CS);
+ /// 1st start character '@'
+ GPS_START1,
- // Read Status Register (RDSR) flash command.
- flashSendByte (0x05);
+ /// 2nd start character '@'
+ GPS_START2,
- 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,
+ /// Upper case 'A' - 'Z' message type
+ GPS_COMMAND1,
/// Lower case 'a' - 'z' message type
GPS_COMMAND2,
/// End of message - Line Feed
GPS_EOMLF
-};
+} GPS_PARSE_STATE_MACHINE;
/// Index into gpsBuffer used to store message data.
uint8_t gpsIndex;
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);
+int32_t gpsPeakAltitude;
- fprintf (PC_HOST, "done. Log contains %ld bytes.\n\r", logAddress);
+/// Checksum used to verify binary message from GPS engine.
+uint8_t gpsChecksum;
- logIndex = 0;
-}
+/// Last verified GPS message received.
+GPSPOSITION_STRUCT gpsPosition;
/**
- * Start a entry in the data log.
+ * Get the type of fix.
*
- * @param type of log entry, i.e. LOG_BOOTED, LOG_COORD, etc.
+ * @return gps fix type enumeration
*/
-void logType (LOG_TYPE type)
+GPS_FIX_TYPE gpsGetFixType()
{
- // Only add the new entry if there is space.
- if (logAddress >= 0x100000)
- return;
-
- // Write the old entry first.
- logFlush();
+ // The upper 3-bits determine the fix type.
+ switch (gpsPosition.status & 0xe000)
+ {
+ case 0xe000:
+ return GPS_3D_FIX;
- // Save the type and set the log buffer pointer.
- logBuffer[0] = type;
- logIndex = 1;
+ case 0xc000:
+ return GPS_2D_FIX;
+
+ default:
+ return GPS_NO_FIX;
+ } // END switch
}
/**
- * Save an unsigned, 8-bit value in the log.
+ * Peak altitude detected while GPS is in 3D fix mode since the system was booted.
*
- * @param value unsigned, 8-bit value
+ * @return altitude in feet
*/
-void logUint8 (uint8_t value)
+int32_t gpsGetPeakAltitude()
{
- logBuffer[logIndex++] = value;
+ return gpsPeakAltitude;
}
-/**
- * Save a signed, 16-bit value in the log.
- *
- * @param value signed, 16-bit value
+/**
+ * Initialize the GPS subsystem.
*/
-void logInt16 (int16_t value)
+void gpsInit()
{
- logBuffer[logIndex++] = (value >> 8) & 0xff;
- logBuffer[logIndex++] = value & 0xff;
-}
+ // Initial parse state.
+ gpsParseState = GPS_START1;
-/**
- * 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;
+ // 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);
}
/**
- * Save a signed, 32-bit value in the log.
+ * 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.
*
- * @param value signed, 32-bit value
+ * @return true if new message available; otherwise false
*/
-void logInt32 (int32_t value)
+bool_t gpsIsReady()
{
- logBuffer[logIndex++] = (value >> 24) & 0xff;
- logBuffer[logIndex++] = (value >> 16) & 0xff;
- logBuffer[logIndex++] = (value >> 8) & 0xff;
- logBuffer[logIndex++] = value & 0xff;
-}
+ return true;
+ if (gpsPosition.updateFlag)
+ {
+ gpsPosition.updateFlag = false;
+ return true;
+ } // END if
-/** @} */
+ return false;
+}
/**
- * @defgroup LM92 LM92 temperature sensor
- *
- * Read and control the National Semiconductor LM92 I2C temperature sensor
+ * Calculate NMEA-0183 message checksum of buffer that is length bytes long.
*
- * @{
- */
-
-/**
- * Read the LM92 temperature value in 0.1 degrees F.
+ * @param buffer pointer to data buffer.
+ * @param length number of bytes in buffer.
*
- * @return 0.1 degrees F
+ * @return checksum of buffer
*/
-int16_t lm92GetTemp()
+uint8_t gpsNMEAChecksum (uint8_t *buffer, uint8_t length)
{
- 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();
+ uint8_t i, checksum;
- // Set the SDA and SCL back to outputs for use with the AD9954 because we share common clock pins.
- set_tris_c (0x82);
+ checksum = 0;
- // LM92 register 0.0625degC/bit 9 10 9
- // ------------- * -------------- * - * -- = -- + 320
- // 8 5 64
+ for (i = 0; i < length; ++i)
+ checksum ^= buffer[i];
- // Convert to degrees F.
- temp = (int32_t) value;
- temp = ((temp * 9l) / 64l) + 320;
-
- return (int16_t) temp;
+ return checksum;
}
-/** @} */
-
-
/**
- * @defgroup serial Serial Port FIFO
- *
- * FIFO for the built-in serial port.
+ * 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;
-/// 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
+ // We wait 10 seconds for the GPS engine to respond to our message request.
+ startTime = timeGetTicks();
+ retryCount = 0;
-/// Mask to wrap around at end of circular buffer. (SERIAL_BUFFER_SIZE - 1)
-#define SERIAL_BUFFER_MASK 0x3f
+ while (++retryCount < 10)
+ {
+ // Read the serial FIFO and process the GPS messages.
+// gpsUpdate();
-/// Index to the next free location in the buffer.
-uint8_t serialHead;
+ // If a GPS data set is available, then GPS is operational.
+ if (gpsIsReady())
+ {
+// timeSetDutyCycle (TIME_DUTYCYCLE_10);
+ return true;
+ }
-/// Index to the next oldest data in the buffer.
-uint8_t serialTail;
+ if (timeGetTicks() > startTime)
+ {
+ puts ("@@Hb\001\053\015\012");
+ startTime += 10;
+ } // END if
+
+ } // END while
-/// Circular buffer (FIFO) to hold serial data.
-uint8_t serialBuffer[SERIAL_BUFFER_SIZE];
+ return false;
+}
/**
- * Determine if the FIFO contains data.
- *
- * @return true if data present; otherwise false
+ * Parse the Motorola @@Hb (Short position/message) report.
*/
-bool_t serialHasData()
+void gpsParsePositionMessage()
{
- if (serialHead == serialTail)
- return false;
+ // Convert the binary stream into data elements. We will scale to the desired units
+ // as the values are used.
+ gpsPosition.updateFlag = true;
- return 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];
-/**
- * Initialize the serial processor.
- */
-void serialInit()
-{
- serialHead = 0;
- serialTail = 0;
+ // Update the peak altitude if we have a valid 3D fix.
+ if (gpsGetFixType() == GPS_3D_FIX)
+ if (gpsPosition.altitudeFeet > gpsPeakAltitude)
+ gpsPeakAltitude = gpsPosition.altitudeFeet;
}
/**
- * Get the oldest character from the FIFO.
- *
- * @return oldest character; 0 if FIFO is empty
+ * Turn on the GPS engine power and serial interface.
*/
-uint8_t serialRead()
+void gpsPowerOn()
{
- 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;
+ // 3.0 VDC LDO control line.
+// output_high (IO_GPS_PWR);
- return value;
}
/**
- * Read and store any characters in the PIC serial port in a FIFO.
+ * Turn off the GPS engine power and serial interface.
*/
-void serialUpdate()
+void gpsPowerOff()
{
- // If there isn't a character in the PIC buffer, just leave.
- while (kbhit())
- {
- // Save the value in the FIFO.
- serialBuffer[serialHead] = getc();
-
- // Move the pointer to the next open space.
- serialHead = (serialHead + 1) & SERIAL_BUFFER_MASK;
- }
+ // 3.0 VDC LDO control line.
+// output_low (IO_GPS_PWR);
}
/** @} */
+
/**
* @defgroup sys System Library Functions
*
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());
-}
-
/** @} */
/**
{
timeTicks = 0;
timeInterruptCount = 0;
- time100mS = 0;
+// time100mS = 0;
timeSeconds = 0;
timeMinutes = 0;
timeHours = 0;
- timeDutyCycle = TIME_DUTYCYCLE_70;
timeCompare = TIME_RATE;
timeUpdateFlag = false;
timeNCO = 0x00;
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 );
}
/**
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.
timeRunFlag = true;
}
-#INT_CCP1
/**
* Timer interrupt handler called every 104uS (9600 times/second).
*/
{
// Setup the next interrupt for the operational mode.
timeCompare += TIME_RATE;
- CCP_1 = timeCompare;
+// CCP_1 = timeCompare;
switch (tncDataMode)
{
tnc9600TimerTick();
break;
} // END switch
-
- // Read the GPS serial port and save any incoming characters.
- serialUpdate();
-
- // 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;
-
- // Roll the counter over every second.
- if (++time100mS == 10)
- {
- time100mS = 0;
-
- // We set this flag true every second.
- timeUpdateFlag = true;
-
- // 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
}
/** @} */
#define TNC_BUFFER_SIZE 80
/// 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
-};
+} TNC_TX_1200BPS_STATE;
/// Enumeration of the messages we can transmit.
-enum TNC_MESSAGE_TYPE
+typedef enum
{
/// Startup message that contains software version information.
TNC_BOOT_MESSAGE,
/// 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, 'L' << 1, 'M' << 1, 'O' << 1, 0x76, \
+ '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, \
0x03, 0xf0 };
// FSK tones at 445.947 and 445.953 MHz
ddsSetFSKFreq (955382980, 955453621);
break;
+ case TNC_MODE_STANDBY:
+ break;
} // END switch
tncDataMode = dataMode;
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)
tncDataMode = TNC_MODE_STANDBY;
// Key off the DDS.
- output_low (IO_OSK);
- output_low (IO_PTT);
+// output_low (IO_OSK);
+// output_low (IO_PTT);
ddsSetMode (DDS_MODE_POWERDOWN);
return;
++tncLength;
}
+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;
+}
+
/**
* Generate the GPS NMEA standard UTC time stamp. Data is written through the tncTxByte
* callback function.
void tncNMEATime()
{
// UTC of position fix.
- printf (tncTxByte, "%02d%02d%02d,", gpsPosition.hours, gpsPosition.minutes, gpsPosition.seconds);
+ tncPrintf ("%02d%02d%02d,", gpsPosition.hours, gpsPosition.minutes, gpsPosition.seconds);
}
/**
}
coordMin = (coord % 3600000) / 6;
- printf (tncTxByte, "%02ld%02ld.%04ld,%c,", (uint32_t) (coord / 3600000), (uint32_t) (coordMin / 10000), (uint32_t) (coordMin % 10000), dirChar);
+ tncPrintf ("%02ld%02ld.%04ld,%c,", (uint32_t) (coord / 3600000), (uint32_t) (coordMin / 10000), (uint32_t) (coordMin % 10000), dirChar);
// Longitude value.
}
coordMin = (coord % 3600000) / 6;
- printf (tncTxByte, "%03ld%02ld.%04ld,%c,", (uint32_t) (coord / 3600000), (uint32_t) (coordMin / 10000), (uint32_t) (coordMin % 10000), dirChar);
-
+ tncPrintf ("%03ld%02ld.%04ld,%c,", (uint32_t) (coord / 3600000), (uint32_t) (coordMin / 10000), (uint32_t) (coordMin % 10000), dirChar);
+
}
/**
void tncGPGGAPacket()
{
// Generate the GPGGA message.
- printf (tncTxByte, "$GPGGA,");
+ tncPrintf ("$GPGGA,");
// Standard NMEA time.
tncNMEATime();
// GPS status where 0: not available, 1: available
if (gpsGetFixType() != GPS_NO_FIX)
- printf (tncTxByte, "1,");
+ tncPrintf ("1,");
else
- printf (tncTxByte, "0,");
+ tncPrintf ("0,");
// Number of visible birds.
- printf (tncTxByte, "%02d,", gpsPosition.trackedSats);
+ tncPrintf ("%02d,", gpsPosition.trackedSats);
// DOP
- printf (tncTxByte, "%ld.%01ld,", gpsPosition.dop / 10, gpsPosition.dop % 10);
+ tncPrintf ("%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));
+ tncPrintf ("%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));
+ tncPrintf ("*%02X", gpsNMEAChecksum(tncBuffer + 1, tncLength - 1));
}
/**
uint32_t temp;
// Generate the GPRMC message.
- printf (tncTxByte, "$GPRMC,");
+ tncPrintf ("$GPRMC,");
// Standard NMEA time.
tncNMEATime();
// GPS status.
if (gpsGetFixType() != GPS_NO_FIX)
- printf (tncTxByte, "A,");
+ tncPrintf ("A,");
else
- printf (tncTxByte, "V,");
+ tncPrintf ("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);
+ tncPrintf ("%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);
+ tncPrintf ("%02d%02d%02ld,,", gpsPosition.day, gpsPosition.month, gpsPosition.year % 100);
// Checksum, skip over the $ character.
- printf (tncTxByte, "*%02X", gpsNMEAChecksum(tncBuffer + 1, tncLength - 1));
+ tncPrintf ("*%02X", gpsNMEAChecksum(tncBuffer + 1, tncLength - 1));
}
/**
*/
void tncStatusPacket(int16_t temperature)
{
- uint16_t voltage;
+// uint16_t voltage;
// Plain text telemetry.
- printf (tncTxByte, ">ANSR ");
+ tncPrintf (">ANSR ");
// Display the flight time.
- printf (tncTxByte, "%02U:%02U:%02U ", timeHours, timeMinutes, timeSeconds);
+ tncPrintf ("%02U:%02U:%02U ", timeHours, timeMinutes, timeSeconds);
// Altitude in feet.
- printf (tncTxByte, "%ld' ", gpsPosition.altitudeFeet);
+ tncPrintf ("%ld' ", gpsPosition.altitudeFeet);
// Peak altitude in feet.
- printf (tncTxByte, "%ld'pk ", gpsGetPeakAltitude());
+ tncPrintf ("%ld'pk ", gpsGetPeakAltitude());
// GPS hdop or pdop
- printf (tncTxByte, "%lu.%lu", gpsPosition.dop / 10, gpsPosition.dop % 10);
+ 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())
{
case GPS_NO_FIX:
- printf (tncTxByte, "dop ");
+ tncPrintf ("dop ");
break;
case GPS_2D_FIX:
- printf (tncTxByte, "hdop ");
+ tncPrintf ("hdop ");
break;
case GPS_3D_FIX:
- printf (tncTxByte, "pdop ");
+ tncPrintf ("pdop ");
break;
} // END switch
// Number of satellites in the solution.
- printf (tncTxByte, "%utrk ", gpsPosition.trackedSats);
+ tncPrintf ("%utrk ", gpsPosition.trackedSats);
// Display main bus voltage.
- voltage = adcGetMainBusVolt();
- printf (tncTxByte, "%lu.%02luvdc ", voltage / 100, voltage % 100);
+// voltage = adcGetMainBusVolt();
+// tncPrintf ("%lu.%02luvdc ", voltage / 100, voltage % 100);
// Display internal temperature.
- printf (tncTxByte, "%ld.%01ldF ", temperature / 10, abs(temperature % 10));
+// tncPrintf ("%ld.%01ldF ", temperature / 10, abs(temperature % 10));
// Print web address link.
- printf (tncTxByte, "www.kd7lmo.net");
+ tncPrintf ("www.altusmetrum.org");
}
/**
*/
void tncTxPacket(TNC_DATA_MODE dataMode)
{
- int16_t temperature;
+ int16_t temperature = 20;
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);
switch (tncPacketType)
{
case TNC_BOOT_MESSAGE:
- printf (tncTxByte, ">ANSR Pico Beacon - V3.05");
+ tncPrintf (">MegaMetrum v1.0 Beacon");
// Select the next packet we will generate.
tncPacketType = TNC_STATUS;
}
// Add the end of message character.
- printf (tncTxByte, "\015");
+ tncPrintf ("\015");
// Calculate the CRC for the header and message.
crc = sysCRC16(TNC_AX25_HEADER, sizeof(TNC_AX25_HEADER), 0xffff);
tncMode = TNC_TX_SYNC;
// Turn on the PA chain.
- output_high (IO_PTT);
+// output_high (IO_PTT);
// Wait for the PA chain to power up.
- delay_ms (10);
+// delay_ms (10);
// Key the DDS.
- output_high (IO_OSK);
+// output_high (IO_OSK);
// Log the battery and reference voltage just after we key the transmitter.
- sysLogVoltage();
+// sysLogVoltage();
+ while (tncMode != TNC_TX_READY)
+ timeUpdate();
}
/** @} */
-
-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