X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_aprs.c;h=2f17d04401eade3379e538874870991c3ba1bd04;hp=8a1b6a4df2763e1e74ec9f61a082dc012f0da082;hb=382b3ef62a09e580834b07faf9ed2d00e5ce1621;hpb=a7b0a5613c8e59b4c672b21f8d0890fd5cffd4dc diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c index 8a1b6a4d..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. @@ -118,29 +118,33 @@ * @page power Power Consumption * * Measured DC power consumption. - * - * 3VDC prime power current + * + * 3VDC prime power current * - * 7mA Held in reset + * 7mA Held in reset - * 18mA Processor running, all I/O off + * 18mA Processor running, all I/O off - * 110mA GPS running + * 110mA GPS running - * 120mA GPS running w/antenna + * 120mA GPS running w/antenna - * 250mA DDS running and GPS w/antenna + * 250mA DDS running and GPS w/antenna - * 420mA DDS running, GPS w/antenna, and PA chain on with no RF + * 420mA DDS running, GPS w/antenna, and PA chain on with no RF - * 900mA Transmit + * 900mA Transmit * */ #ifndef AO_APRS_TEST #include + +#if !HAS_APRS +#error HAS_APRS not set +#endif #endif #include @@ -176,11 +180,11 @@ static uint16_t sysCRC16(const uint8_t *buffer, uint8_t length, uint16_t crc) { uint8_t i, bit, value; - for (i = 0; i < length; ++i) + for (i = 0; i < length; ++i) { value = buffer[i]; - for (bit = 0; bit < 8; ++bit) + for (bit = 0; bit < 8; ++bit) { crc ^= (value & 0x01); crc = ( crc & 0x01 ) ? ( crc >> 1 ) ^ 0x8408 : ( crc >> 1 ); @@ -253,7 +257,7 @@ typedef enum /// AX.25 compliant packet header that contains destination, station call sign, and path. /// 0x76 for SSID-11, 0x78 for SSID-12 -static uint8_t TNC_AX25_HEADER[] = { +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, @@ -261,6 +265,7 @@ static uint8_t TNC_AX25_HEADER[] = { #define TNC_CALLSIGN_OFF 7 #define TNC_CALLSIGN_LEN 6 +#define TNC_SSID_OFF 13 static void tncSetCallsign(void) @@ -275,6 +280,9 @@ tncSetCallsign(void) } 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 } @@ -302,7 +310,7 @@ static uint8_t tncBitStuff; /// Buffer to hold the message portion of the AX.25 packet as we prepare it. static uint8_t tncBuffer[TNC_BUFFER_SIZE]; -/** +/** * Initialize the TNC internal variables. */ static void tncInit() @@ -323,7 +331,7 @@ static void tnc1200TimerTick() else timeNCOFreq = 0x3aab; - switch (tncMode) + switch (tncMode) { case TNC_TX_READY: // Generate a test signal alteranting between high and low tones. @@ -339,16 +347,16 @@ static void tnc1200TimerTick() 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]; @@ -361,7 +369,7 @@ static 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; @@ -381,17 +389,17 @@ static void tnc1200TimerTick() 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]; @@ -406,7 +414,7 @@ static 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; @@ -426,17 +434,17 @@ static void tnc1200TimerTick() 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; @@ -451,7 +459,7 @@ static void tnc1200TimerTick() case TNC_TX_END: // The variable tncShift contains the lastest data byte. - // NRZI enocde the data stream. + // NRZI enocde the data stream. if ((tncShift & 0x01) == 0x00) { if (tncTxBit == 0) tncTxBit = 1; @@ -460,13 +468,13 @@ static void tnc1200TimerTick() } // 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; @@ -530,6 +538,7 @@ static int tncComment(uint8_t *buf) #ifdef AO_SENSE_MAIN " M%d.%d" #endif + " %d" , ao_gps_locked(), ao_num_sats(), battery/10, @@ -542,6 +551,7 @@ static int tncComment(uint8_t *buf) , main/10, main%10 #endif + , ao_serial_number ); #else return sprintf((char *) buf, @@ -697,40 +707,110 @@ static int tncPositionPacket(void) static int32_t latitude; static int32_t longitude; static int32_t altitude; - int32_t lat, lon, alt; - uint8_t *buf; + uint8_t *buf; if (ao_gps_data.flags & AO_GPS_VALID) { latitude = ao_gps_data.latitude; longitude = ao_gps_data.longitude; - altitude = ao_gps_data.altitude; + altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_data); if (altitude < 0) altitude = 0; } buf = tncBuffer; - *buf++ = '!'; - /* Symbol table ID */ - *buf++ = '/'; +#ifdef AO_APRS_TEST +#define AO_APRS_FORMAT_COMPRESSED 0 +#define AO_APRS_FORMAT_UNCOMPRESSED 1 + switch (AO_APRS_FORMAT_COMPRESSED) { +#else + switch (ao_config.aprs_format) { +#endif + case AO_APRS_FORMAT_COMPRESSED: + default: + { + int32_t lat, lon, alt; + + *buf++ = '!'; - lat = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000; - lon = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000; + /* Symbol table ID */ + *buf++ = '/'; - alt = ao_aprs_encode_altitude(altitude); + lat = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000; + lon = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000; - tncCompressInt(buf, lat, 4); - buf += 4; - tncCompressInt(buf, lon, 4); - buf += 4; + alt = ao_aprs_encode_altitude(altitude); - /* Symbol code */ - *buf++ = '\''; + tncCompressInt(buf, lat, 4); + buf += 4; + tncCompressInt(buf, lon, 4); + buf += 4; - tncCompressInt(buf, alt, 2); - buf += 2; + /* Symbol code */ + *buf++ = '\''; - *buf++ = 33 + ((1 << 5) | (2 << 3)); + tncCompressInt(buf, alt, 2); + buf += 2; + + *buf++ = 33 + ((1 << 5) | (2 << 3)); + + break; + } + case AO_APRS_FORMAT_UNCOMPRESSED: + { + char lat_sign = 'N', lon_sign = 'E'; + int32_t lat = latitude; + int32_t lon = longitude; + int32_t alt = altitude; + uint16_t lat_deg; + uint16_t lon_deg; + uint16_t lat_min; + uint16_t lat_frac; + uint16_t lon_min; + uint16_t lon_frac; + + if (lat < 0) { + lat_sign = 'S'; + lat = -lat; + } + + if (lon < 0) { + lon_sign = 'W'; + lon = -lon; + } + + /* Round latitude and longitude by 0.005 minutes */ + lat = lat + 833; + if (lat > 900000000) + lat = 900000000; + lon = lon + 833; + if (lon > 1800000000) + lon = 1800000000; + + lat_deg = 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; + } + } buf += tncComment(buf); @@ -759,7 +839,7 @@ tncFill(uint8_t *buf, int16_t len) return l; } -/** +/** * Prepare an AX.25 data packet. Each time this method is called, it automatically * rotates through 1 of 3 messages. *