X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_aprs.c;h=2f17d04401eade3379e538874870991c3ba1bd04;hp=79cea49afbaa87028986e39e03a694a69f81964f;hb=382b3ef62a09e580834b07faf9ed2d00e5ce1621;hpb=024e35dc6a0356adfc801a023d5ec208cf3996cb diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c index 79cea49a..2f17d044 100644 --- a/src/drivers/ao_aprs.c +++ b/src/drivers/ao_aprs.c @@ -1,11 +1,11 @@ -/** +/** * http://ad7zj.net/kd7lmo/aprsbeacon_code.html * * @mainpage Pico Beacon * * @section overview_sec Overview * - * The Pico Beacon is an APRS based tracking beacon that operates in the UHF 420-450MHz band. The device utilizes a + * The Pico Beacon is an APRS based tracking beacon that operates in the UHF 420-450MHz band. The device utilizes a * Microchip PIC 18F2525 embedded controller, Motorola M12+ GPS engine, and Analog Devices AD9954 DDS. The device is capable * of generating a 1200bps A-FSK and 9600 bps FSK AX.25 compliant APRS (Automatic Position Reporting System) message. @@ -24,7 +24,7 @@ * (4) corrected size of LOG_COORD block when searching for end of log. * * @subsection v303 V3.03 - * 15 Sep 2005, Change include; (1) removed AD9954 setting SDIO as input pin, + * 15 Sep 2005, Change include; (1) removed AD9954 setting SDIO as input pin, * (2) additional comments and Doxygen tags, * (3) integration and test code calculates DDS FTW, * (4) swapped bus and reference analog input ports (hardware change), @@ -38,7 +38,7 @@ * (2) Doxygen documentation clean up and additions, and * (3) added integration and test code to baseline. * - * + * * @subsection v301 V3.01 * 13 Jan 2005, Renamed project and files to Pico Beacon. * @@ -54,28 +54,28 @@ * (8) added flight data recorder, and * (9) added diagnostics terminal mode. * - * + * * @subsection v201 V2.01 - * 30 Jan 2004, Change include; (1) General clean up of in-line documentation, and + * 30 Jan 2004, Change include; (1) General clean up of in-line documentation, and * (2) changed temperature resolution to 0.1 degrees F. * - * + * * @subsection v200 V2.00 * 26 Oct 2002, Change include; (1) Micro Beacon II hardware changes including PIC18F252 processor, - * (2) serial EEPROM, - * (3) GPS power control, - * (4) additional ADC input, and - * (5) LM60 temperature sensor. + * (2) serial EEPROM, + * (3) GPS power control, + * (4) additional ADC input, and + * (5) LM60 temperature sensor. * * * @subsection v101 V1.01 - * 5 Dec 2001, Change include; (1) Changed startup message, and + * 5 Dec 2001, Change include; (1) Changed startup message, and * (2) applied SEPARATE pragma to several methods for memory usage. * * * @subsection v100 V1.00 * 25 Sep 2001, Initial release. Flew ANSR-3 and ANSR-4. - * + * * @@ -102,11 +102,11 @@ * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - * + * - * - * + * + * * @section design Design Details * * Provides design details on a variety of the components that make up the Pico Beacon. @@ -118,1980 +118,81 @@ * @page power Power Consumption * * Measured DC power consumption. - * - * 3VDC prime power current + * + * 3VDC prime power current * - * 7mA Held in reset + * 7mA Held in reset - * 18mA Processor running, all I/O off + * 18mA Processor running, all I/O off - * 110mA GPS running + * 110mA GPS running - * 120mA GPS running w/antenna + * 120mA GPS running w/antenna - * 250mA DDS running and GPS w/antenna + * 250mA DDS running and GPS w/antenna - * 420mA DDS running, GPS w/antenna, and PA chain on with no RF + * 420mA DDS running, GPS w/antenna, and PA chain on with no RF - * 900mA Transmit + * 900mA Transmit * */ -// Hardware specific configuration. -#include <18f2525.h> -#device ADC=10 - -// 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 - -// 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 +#ifndef AO_APRS_TEST +#include -/// GPS Engine Power - Port B1 -#define IO_GPS_PWR PIN_B1 +#if !HAS_APRS +#error HAS_APRS not set +#endif +#endif -/// 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 +#include // 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 -}; +static void timeInit(void); -void logInit(); -uint32_t logGetAddress(); -void logType (LOG_TYPE type); -void logUint8 (uint8_t value); -void logInt16 (int16_t value); +static void tncInit(void); +static void tnc1200TimerTick(void); -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 + * @defgroup sys System Library Functions * - * Control and manage the on board PIC A/D converter. + * Generic system functions similiar to the run-time C library. * * @{ */ -/// 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 + * Calculate the CRC-16 CCITT of buffer that is length bytes long. + * The crc parameter allow the calculation on the CRC on multiple buffers. * - * Functions for diagnostics and control of the hardware and flight data recorder. + * @param buffer Pointer to data buffer. + * @param length number of bytes in data buffer + * @param crc starting value * - * @{ - */ - -/// 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. + * @return CRC-16 of buffer[0 .. length] */ -void diagReadFlash() +static uint16_t sysCRC16(const uint8_t *buffer, uint8_t length, uint16_t crc) { - 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; + uint8_t i, bit, value; - do + for (i = 0; i < length; ++i) { - // 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); + value = buffer[i]; - // Display each byte in the line. - for (i = 0; i < DIAG_BYTES_PER_LINE; ++i) + for (bit = 0; bit < 8; ++bit) { - 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; + crc ^= (value & 0x01); + crc = ( crc & 0x01 ) ? ( crc >> 1 ) ^ 0x8408 : ( crc >> 1 ); + value = value >> 1; } // 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; -} - -/** - * 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(); - - // Move the pointer to the next open space. - serialHead = (serialHead + 1) & SERIAL_BUFFER_MASK; - } -} - -/** @} */ - -/** - * @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()); + return crc ^ 0xffff; } /** @} */ @@ -2104,194 +205,19 @@ void sysLogVoltage() * @{ */ -/// A counter that ticks every 100mS. -uint8_t timeTicks; - -/// Counts the number of 104uS interrupts for a 100mS time period. -uint16_t timeInterruptCount; - -/// Counts the number of 100mS time periods in 1 second. -uint8_t time100ms; - -/// System time in seconds. -uint8_t timeSeconds; - -/// System time in minutes. -uint8_t timeMinutes; - -/// System time in hours. -uint8_t timeHours; - -/// Desired LED duty cycle 0 to 9 where 0 = 0% and 9 = 90%. -uint8_t timeDutyCycle; - -/// Current value of the timer 1 compare register used to generate 104uS interrupt rate (9600bps). -uint16_t timeCompare; - /// 16-bit NCO where the upper 8-bits are used to index into the frequency generation table. -uint16_t timeNCO; +static uint16_t timeNCO; /// Audio tone NCO update step (phase). -uint16_t timeNCOFreq; - -/// Counter used to deciminate down from the 104uS to 833uS interrupt rate. (9600 to 1200 baud) -uint8_t timeLowRateCount; - -/// Current TNC mode (standby, 1200bps A-FSK, or 9600bps FSK) -TNC_DATA_MODE tncDataMode; - -/// Flag set true once per second. -bool_t timeUpdateFlag; - -/// Flag that indicate the flight time should run. -bool_t timeRunFlag; - -/// The change in the CCP_1 register for each 104uS (9600bps) interrupt period. -#define TIME_RATE 125 - -/** - * Running 8-bit counter that ticks every 100mS. - * - * @return 100mS time tick - */ -uint8_t timeGetTicks() -{ - return timeTicks; -} +static uint16_t timeNCOFreq; /** * Initialize the real-time clock. */ -void timeInit() +static void timeInit() { - timeTicks = 0; - timeInterruptCount = 0; - time100mS = 0; - timeSeconds = 0; - timeMinutes = 0; - timeHours = 0; - 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). - */ -void timeUpdate() -{ - // Setup the next interrupt for the operational mode. - timeCompare += TIME_RATE; - CCP_1 = timeCompare; - - switch (tncDataMode) - { - case TNC_MODE_STANDBY: - break; - - case TNC_MODE_1200_AFSK: - ddsSetFTW (freqTable[timeNCO >> 8]); - - timeNCO += timeNCOFreq; - - if (++timeLowRateCount == 8) - { - timeLowRateCount = 0; - tnc1200TimerTick(); - } // END if - break; - - case TNC_MODE_9600_FSK: - tnc9600TimerTick(); - break; - } // END switch - - // 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 } /** @} */ @@ -2308,10 +234,10 @@ void timeUpdate() #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, @@ -2327,156 +253,77 @@ enum TNC_TX_1200BPS_STATE /// 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 +#define TNC_SSID_OFF 13 + +static void +tncSetCallsign(void) +{ +#ifndef AO_APRS_TEST + uint8_t i; + + for (i = 0; i < TNC_CALLSIGN_LEN; i++) { + if (!ao_config.callsign[i]) + break; + TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ao_config.callsign[i] << 1; + } + for (; i < TNC_CALLSIGN_LEN; i++) + TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ' ' << 1; + + /* Fill in the SSID with the low digit of the serial number */ + TNC_AX25_HEADER[TNC_SSID_OFF] = 0x60 | ((ao_config.aprs_ssid & 0xf) << 1); +#endif +} /// The next bit to transmit. -uint8_t tncTxBit; +static uint8_t tncTxBit; /// Current mode of the 1200 bps state machine. -TNC_TX_1200BPS_STATE tncMode; +static TNC_TX_1200BPS_STATE tncMode; /// Counter for each bit (0 - 7) that we are going to transmit. -uint8_t tncBitCount; +static uint8_t tncBitCount; /// A shift register that holds the data byte as we bit shift it for transmit. -uint8_t tncShift; +static uint8_t tncShift; /// Index into the APRS header and data array for each byte as we transmit it. -uint8_t tncIndex; +static uint8_t tncIndex; /// The number of bytes in the message portion of the AX.25 message. -uint8_t tncLength; +static uint8_t tncLength; /// A copy of the last 5 bits we've transmitted to determine if we need to bit stuff on the next bit. -uint8_t tncBitStuff; - -/// Pointer to TNC buffer as we save each byte during message preparation. -uint8_t *tncBufferPnt; - -/// The type of message to tranmit in the next packet. -TNC_MESSAGE_TYPE tncPacketType; +static uint8_t tncBitStuff; /// Buffer to hold the message portion of the AX.25 packet as we prepare it. -uint8_t tncBuffer[TNC_BUFFER_SIZE]; - -/// Flag that indicates we want to transmit every 5 seconds. -bool_t tncHighRateFlag; +static uint8_t tncBuffer[TNC_BUFFER_SIZE]; -/** +/** * Initialize the TNC internal variables. */ -void tncInit() +static void tncInit() { tncTxBit = 0; tncMode = TNC_TX_READY; - tncPacketType = TNC_BOOT_MESSAGE; - tncHighRateFlag = false; -} - -/** - * Determine if the hardware if ready to transmit a 1200 baud packet. - * - * @return true if ready; otherwise false - */ -bool_t tncIsFree() -{ - if (tncMode == TNC_TX_READY) - return true; - - return false; -} - -void tncHighRate(bool_t state) -{ - tncHighRateFlag = state; -} - -/** - * Configure the TNC for the desired data mode. - * - * @param dataMode enumerated type that specifies 1200bps A-FSK or 9600bps FSK - */ -void tncSetMode(TNC_DATA_MODE dataMode) -{ - switch (dataMode) - { - case TNC_MODE_1200_AFSK: - ddsSetMode (DDS_MODE_AFSK); - break; - - case TNC_MODE_9600_FSK: - ddsSetMode (DDS_MODE_FSK); - - // FSK tones at 445.947 and 445.953 MHz - ddsSetFSKFreq (955382980, 955453621); - break; - } // 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) @@ -2484,7 +331,7 @@ void tnc1200TimerTick() else timeNCOFreq = 0x3aab; - switch (tncMode) + switch (tncMode) { case TNC_TX_READY: // Generate a test signal alteranting between high and low tones. @@ -2494,21 +341,22 @@ void tnc1200TimerTick() 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) + if (++tncBitCount == 8) { tncBitCount = 0; tncShift = 0x7e; // Once we transmit x mS of flags, send the data. // txDelay bytes * 8 bits/byte * 833uS/bit = x mS - if (++tncIndex == TNC_TX_DELAY) + if (++tncIndex == TNC_TX_DELAY) { tncIndex = 0; tncShift = TNC_AX25_HEADER[0]; @@ -2521,7 +369,7 @@ void tnc1200TimerTick() case TNC_TX_HEADER: // Determine if we have sent 5 ones in a row, if we have send a zero. - if (tncBitStuff == 0x1f) + if (tncBitStuff == 0x1f) { if (tncTxBit == 0) tncTxBit = 1; @@ -2534,23 +382,24 @@ void tnc1200TimerTick() // 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 + // Save the data stream so we can determine if bit stuffing is // required on the next bit time. tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f; // If all the bits were shifted, get the next byte. - if (++tncBitCount == 8) + if (++tncBitCount == 8) { tncBitCount = 0; // After the header is sent, then send the data. - if (++tncIndex == sizeof(TNC_AX25_HEADER)) + if (++tncIndex == sizeof(TNC_AX25_HEADER)) { tncIndex = 0; tncShift = tncBuffer[0]; @@ -2565,7 +414,7 @@ void tnc1200TimerTick() case TNC_TX_DATA: // Determine if we have sent 5 ones in a row, if we have send a zero. - if (tncBitStuff == 0x1f) + if (tncBitStuff == 0x1f) { if (tncTxBit == 0) tncTxBit = 1; @@ -2578,23 +427,24 @@ void tnc1200TimerTick() // 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 + // Save the data stream so we can determine if bit stuffing is // required on the next bit time. tncBitStuff = ((tncBitStuff << 1) | (tncShift & 0x01)) & 0x1f; // If all the bits were shifted, get the next byte. - if (++tncBitCount == 8) + if (++tncBitCount == 8) { tncBitCount = 0; // If everything was sent, transmit closing flags. - if (++tncIndex == tncLength) + if (++tncIndex == tncLength) { tncIndex = 0; tncShift = 0x7e; @@ -2609,32 +459,25 @@ void tnc1200TimerTick() case TNC_TX_END: // The variable tncShift contains the lastest data byte. - // NRZI enocde the data stream. - if ((tncShift & 0x01) == 0x00) + // NRZI enocde the data stream. + 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) + if (++tncBitCount == 8) { tncBitCount = 0; tncShift = 0x7e; - + // Transmit two closing flags. - if (++tncIndex == 2) + if (++tncIndex == 2) { tncMode = TNC_TX_READY; - // Tell the TNC time interrupt to stop generating the frequency words. - tncDataMode = TNC_MODE_STANDBY; - - // Key off the DDS. - output_low (IO_OSK); - output_low (IO_PTT); - ddsSetMode (DDS_MODE_POWERDOWN); - return; } // END if } else @@ -2644,278 +487,381 @@ void tnc1200TimerTick() } // END switch } -/** - * Method that is called every 104uS to transmit the 9600bps FSK data stream. - */ -void tnc9600TimerTick() -{ - +static void tncCompressInt(uint8_t *dest, int32_t value, int len) { + int i; + for (i = len - 1; i >= 0; i--) { + dest[i] = value % 91 + 33; + value /= 91; + } } -/** - * Write character to the TNC buffer. Maintain the pointer - * and length to the buffer. The pointer tncBufferPnt and tncLength - * must be set before calling this function for the first time. - * - * @param character to save to telemetry buffer - */ -void tncTxByte (uint8_t character) +static int ao_num_sats(void) { - *tncBufferPnt++ = character; - ++tncLength; + int i; + int n = 0; + + for (i = 0; i < ao_gps_tracking_data.channels; i++) { + if (ao_gps_tracking_data.sats[i].svid) + n++; + } + return n; } -/** - * Generate the GPS NMEA standard UTC time stamp. Data is written through the tncTxByte - * callback function. - */ -void tncNMEATime() +static char ao_gps_locked(void) { - // UTC of position fix. - printf (tncTxByte, "%02d%02d%02d,", gpsPosition.hours, gpsPosition.minutes, gpsPosition.seconds); + if (ao_gps_data.flags & AO_GPS_VALID) + return 'L'; + else + return 'U'; } -/** - * Generate the GPS NMEA standard latitude/longitude fix. Data is written through the tncTxByte - * callback function. - */ -void tncNMEAFix() +static int tncComment(uint8_t *buf) { - uint8_t dirChar; - uint32_t coord, coordMin; - - // Latitude value. - coord = gpsPosition.latitude; +#if HAS_ADC + struct ao_data packet; - if (gpsPosition.latitude < 0) - { - coord = gpsPosition.latitude * -1; - dirChar = 'S'; - } else { - coord = gpsPosition.latitude; - dirChar = 'N'; - } + ao_arch_critical(ao_data_get(&packet);); - coordMin = (coord % 3600000) / 6; - printf (tncTxByte, "%02ld%02ld.%04ld,%c,", (uint32_t) (coord / 3600000), (uint32_t) (coordMin / 10000), (uint32_t) (coordMin % 10000), dirChar); + int16_t battery = ao_battery_decivolt(packet.adc.v_batt); +#ifdef AO_SENSE_DROGUE + int16_t apogee = ao_ignite_decivolt(AO_SENSE_DROGUE(&packet)); +#endif +#ifdef AO_SENSE_MAIN + int16_t main = ao_ignite_decivolt(AO_SENSE_MAIN(&packet)); +#endif + return sprintf((char *) buf, + "%c%d B%d.%d" +#ifdef AO_SENSE_DROGUE + " A%d.%d" +#endif +#ifdef AO_SENSE_MAIN + " M%d.%d" +#endif + " %d" + , ao_gps_locked(), + ao_num_sats(), + battery/10, + battery % 10 +#ifdef AO_SENSE_DROGUE + , apogee/10, + apogee%10 +#endif +#ifdef AO_SENSE_MAIN + , main/10, + main%10 +#endif + , ao_serial_number + ); +#else + return sprintf((char *) buf, + "%c%d", + ao_gps_locked(), + ao_num_sats()); +#endif +} + +/* + * APRS use a log encoding of altitude with a base of 1.002, such that + * + * feet = 1.002 ** encoded_altitude + * + * meters = (1.002 ** encoded_altitude) * 0.3048 + * + * log2(meters) = log2(1.002 ** encoded_altitude) + log2(0.3048) + * + * log2(meters) = encoded_altitude * log2(1.002) + log2(0.3048) + * + * encoded_altitude = (log2(meters) - log2(0.3048)) / log2(1.002) + * + * encoded_altitude = (log2(meters) + log2(1/0.3048)) * (1/log2(1.002)) + * + * We need 9 bits of mantissa to hold 1/log2(1.002) (~ 347), which leaves us + * 23 bits of fraction. That turns out to be *just* enough to avoid any + * errors in the result (cool, huh?). + */ + +#define fixed23_int(x) ((uint32_t) ((x) << 23)) +#define fixed23_one fixed23_int(1) +#define fixed23_two fixed23_int(2) +#define fixed23_half (fixed23_one >> 1) +#define fixed23_floor(x) ((x) >> 23) +#define fixed23_real(x) ((uint32_t) ((x) * fixed23_one + 0.5)) + +static inline uint64_t +fixed23_mul(uint32_t x, uint32_t y) +{ + return ((uint64_t) x * y + fixed23_half) >> 23; +} + +/* + * Use 30 fraction bits for the altitude. We need two bits at the + * top as we need to handle x, where 0 <= x < 4. We don't + * need 30 bits, but it's actually easier this way as we normalize + * the incoming value to 1 <= x < 2, and having the integer portion + * way up high means we don't have to deal with shifting in both + * directions to cover from 0 to 2**30-1. + */ - // Longitude value. - if (gpsPosition.longitude < 0) - { - coord = gpsPosition.longitude * - 1; - dirChar = 'W'; - } else { - coord = gpsPosition.longitude; - dirChar = 'E'; - } +#define fixed30_int(x) ((uint32_t) ((x) << 30)) +#define fixed30_one fixed30_int(1) +#define fixed30_half (fixed30_one >> 1) +#define fixed30_two fixed30_int(2) + +static inline uint32_t +fixed30_mul(uint32_t x, uint32_t y) +{ + return ((uint64_t) x * y + fixed30_half) >> 30; +} + +/* + * Fixed point log2. Takes integer argument, returns + * fixed point result with 23 bits of fraction + */ + +static uint32_t +ao_fixed_log2(uint32_t x) +{ + uint32_t result; + uint32_t frac = fixed23_one; + + /* Bounds check for sanity */ + if (x <= 0) + return 0; + + if (x >= fixed30_one) + return 0xffffffff; + + /* + * Normalize and compute integer log portion + * + * This makes 1 <= x < 2, and computes result to be + * the integer portion of the log2 of x + */ + + for (result = fixed23_int(30); x < fixed30_one; result -= fixed23_one, x <<= 1) + ; - coordMin = (coord % 3600000) / 6; - printf (tncTxByte, "%03ld%02ld.%04ld,%c,", (uint32_t) (coord / 3600000), (uint32_t) (coordMin / 10000), (uint32_t) (coordMin % 10000), dirChar); + /* + * Given x, find y and n such that: + * + * x = y * 2**n 1 <= y < 2 + * + * That means: + * + * lb(x) = n + lb(y) + * + * Now, repeatedly square y to find find z and m such that: + * + * z = y ** (2**m) 2 <= z < 4 + * + * This is possible because 1 <= y < 2 + * + * lb(y) = lb(z) / 2**m + * + * (1 + lb(z/2)) + * = ------------- + * 2**m + * + * = 2**-m + 2**-m * lb(z/2) + * + * Note that if 2 <= z < 4, then 1 <= (z/2) < 2, so we can + * iterate to find lb(z/2) + * + * In this implementation, we don't care about the 'm' value, + * instead we only care about 2**-m, which we store in 'frac' + */ -} + while (frac != 0 && x != fixed30_one) { + /* Repeatedly square x until 2 <= x < 4 */ + while (x < fixed30_two) { + x = fixed30_mul(x, x); -/** - * Generate the GPS NMEA-0183 $GPGGA packet. Data is written through the tncTxByte - * callback function. - */ -void tncGPGGAPacket() -{ - // Generate the GPGGA message. - printf (tncTxByte, "$GPGGA,"); + /* Divide the fractional result bit by 2 */ + frac >>= 1; + } - // Standard NMEA time. - tncNMEATime(); + /* Add in this result bit */ + result |= frac; + + /* Make 1 <= x < 2 again and iterate */ + x >>= 1; + } + return result; +} - // Standard NMEA-0183 latitude/longitude. - tncNMEAFix(); +#define APRS_LOG_CONVERT fixed23_real(1.714065192056127) +#define APRS_LOG_BASE fixed23_real(346.920048461100941) - // GPS status where 0: not available, 1: available - if (gpsGetFixType() != GPS_NO_FIX) - printf (tncTxByte, "1,"); - else - printf (tncTxByte, "0,"); +static int +ao_aprs_encode_altitude(int meters) +{ + return fixed23_floor(fixed23_mul(ao_fixed_log2(meters) + APRS_LOG_CONVERT, APRS_LOG_BASE) + fixed23_half); +} + +/** + * Generate the plain text position packet. + */ +static int tncPositionPacket(void) +{ + static int32_t latitude; + static int32_t longitude; + static int32_t altitude; + uint8_t *buf; + + if (ao_gps_data.flags & AO_GPS_VALID) { + latitude = ao_gps_data.latitude; + longitude = ao_gps_data.longitude; + altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data); + if (altitude < 0) + altitude = 0; + } - // Number of visible birds. - printf (tncTxByte, "%02d,", gpsPosition.trackedSats); + buf = tncBuffer; + +#ifdef AO_APRS_TEST +#define AO_APRS_FORMAT_COMPRESSED 0 +#define AO_APRS_FORMAT_UNCOMPRESSED 1 + switch (AO_APRS_FORMAT_COMPRESSED) { +#else + switch (ao_config.aprs_format) { +#endif + case AO_APRS_FORMAT_COMPRESSED: + default: + { + int32_t lat, lon, alt; - // DOP - printf (tncTxByte, "%ld.%01ld,", gpsPosition.dop / 10, gpsPosition.dop % 10); + *buf++ = '!'; - // Altitude in meters. - printf (tncTxByte, "%ld.%02ld,M,,M,,", (int32_t) (gpsPosition.altitudeCM / 100l), (int32_t) (gpsPosition.altitudeCM % 100)); + /* Symbol table ID */ + *buf++ = '/'; - // Checksum, we add 1 to skip over the $ character. - printf (tncTxByte, "*%02X", gpsNMEAChecksum(tncBuffer + 1, tncLength - 1)); -} + lat = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000; + lon = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000; -/** - * Generate the GPS NMEA-0183 $GPRMC packet. Data is written through the tncTxByte - * callback function. - */ -void tncGPRMCPacket() -{ - uint32_t temp; + alt = ao_aprs_encode_altitude(altitude); - // Generate the GPRMC message. - printf (tncTxByte, "$GPRMC,"); + tncCompressInt(buf, lat, 4); + buf += 4; + tncCompressInt(buf, lon, 4); + buf += 4; - // Standard NMEA time. - tncNMEATime(); + /* Symbol code */ + *buf++ = '\''; - // GPS status. - if (gpsGetFixType() != GPS_NO_FIX) - printf (tncTxByte, "A,"); - else - printf (tncTxByte, "V,"); + tncCompressInt(buf, alt, 2); + buf += 2; - // Standard NMEA-0183 latitude/longitude. - tncNMEAFix(); + *buf++ = 33 + ((1 << 5) | (2 << 3)); - // 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); + break; + } + case AO_APRS_FORMAT_UNCOMPRESSED: + { + char lat_sign = 'N', lon_sign = 'E'; + int32_t lat = latitude; + int32_t lon = longitude; + int32_t alt = altitude; + uint16_t lat_deg; + uint16_t lon_deg; + uint16_t lat_min; + uint16_t lat_frac; + uint16_t lon_min; + uint16_t lon_frac; + + if (lat < 0) { + lat_sign = 'S'; + lat = -lat; + } + + if (lon < 0) { + lon_sign = 'W'; + lon = -lon; + } + + /* Round latitude and longitude by 0.005 minutes */ + lat = lat + 833; + if (lat > 900000000) + lat = 900000000; + lon = lon + 833; + if (lon > 1800000000) + lon = 1800000000; + + lat_deg = lat / 10000000; + lat -= lat_deg * 10000000; + lat *= 60; + lat_min = lat / 10000000; + lat -= lat_min * 10000000; + lat_frac = lat / 100000; + + lon_deg = lon / 10000000; + lon -= lon_deg * 10000000; + lon *= 60; + lon_min = lon / 10000000; + lon -= lon_min * 10000000; + lon_frac = lon / 100000; + + /* Convert from meters to feet */ + alt = (alt * 328 + 50) / 100; + + buf += sprintf((char *) tncBuffer, "!%02u%02u.%02u%c/%03u%02u.%02u%c'/A=%06lu ", + lat_deg, lat_min, lat_frac, lat_sign, + lon_deg, lon_min, lon_frac, lon_sign, + (long) alt); + break; + } + } - // Date - printf (tncTxByte, "%02d%02d%02ld,,", gpsPosition.day, gpsPosition.month, gpsPosition.year % 100); + buf += tncComment(buf); - // Checksum, skip over the $ character. - printf (tncTxByte, "*%02X", gpsNMEAChecksum(tncBuffer + 1, tncLength - 1)); + return buf - tncBuffer; } -/** - * Generate the plain text status packet. Data is written through the tncTxByte - * callback function. - */ -void tncStatusPacket(int16_t temperature) +static int16_t +tncFill(uint8_t *buf, int16_t len) { - 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; + int16_t l = 0; + uint8_t b; + uint8_t bit; - case GPS_2D_FIX: - printf (tncTxByte, "hdop "); - break; - - - case GPS_3D_FIX: - printf (tncTxByte, "pdop "); - break; - } // END switch + 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; +} - // 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; @@ -2924,179 +870,7 @@ void tncTxPacket(TNC_DATA_MODE dataMode) 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 -} - - -