X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_aprs.c;h=c327c89702e8fc8a34c772a4752830a0c39a8d9f;hp=86f5f650e177eb4aecb474e134627ccce40f5027;hb=6367ab2dec718c512073f70dfab86dbd1656b1fe;hpb=b79f448818126258174044a23db5b4f330fd5986 diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c index 86f5f650..c327c897 100644 --- a/src/drivers/ao_aprs.c +++ b/src/drivers/ao_aprs.c @@ -144,108 +144,14 @@ #endif #include - -typedef int bool_t; -typedef int32_t int32; -#define false 0 -#define true 1 +#include // Public methods, constants, and data structures for each class. -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); - -uint16_t sysCRC16(uint8_t *buffer, uint8_t length, uint16_t crc); - -uint8_t timeGetTicks(); -void timeInit(); -void timeSetDutyCycle (uint8_t dutyCycle); -void timeUpdate(); - -void tncInit(); -void tnc1200TimerTick(); -void tncTxByte (uint8_t value); -void tncTxPacket(void); - -/** @} */ - -/** - * @defgroup DDS AD9954 DDS (Direct Digital Synthesizer) - * - * Functions to control the Analog Devices AD9954 DDS. - * - * @{ - */ - -/// 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 }; +static void timeInit(void); -/// Array of divisors used to convert frequency to the FTW. -const uint32_t DDS_DIVISOR[DDS_FREQ_TO_FTW_DIGITS - 1] = { 10, 100, 1000, 10000, 100000, 1000000, 10000000, 100000000 }; - -/// Lookup table to convert dB amplitude scale in 0.5 steps to a linear DDS scale factor. -const uint16_t DDS_AMP_TO_SCALE[] = -{ - 16383, 15467, 14601, 13785, 13013, 12286, 11598, 10949, 10337, 9759, 9213, 8697, - 8211, 7752, 7318, 6909, 6522, 6157, 5813, 5488, 5181, 4891, 4617, 4359, 4115, 3885, 3668, 3463, - 3269, 3086, 2913, 2750, 2597, 2451, 2314, 2185, 2062, 1947, 1838, 1735, 1638 -}; - - -/// Frequency Word List - 4.0KHz FM frequency deviation at 81.15MHz (445.950MHz) -const uint32_t freqTable[256] = -{ - 955418300, 955419456, 955420611, 955421765, 955422916, 955424065, 955425210, 955426351, - 955427488, 955428618, 955429743, 955430861, 955431971, 955433073, 955434166, 955435249, - 955436322, 955437385, 955438435, 955439474, 955440500, 955441513, 955442511, 955443495, - 955444464, 955445417, 955446354, 955447274, 955448176, 955449061, 955449926, 955450773, - 955451601, 955452408, 955453194, 955453960, 955454704, 955455426, 955456126, 955456803, - 955457457, 955458088, 955458694, 955459276, 955459833, 955460366, 955460873, 955461354, - 955461809, 955462238, 955462641, 955463017, 955463366, 955463688, 955463983, 955464250, - 955464489, 955464701, 955464884, 955465040, 955465167, 955465266, 955465337, 955465380, - 955465394, 955465380, 955465337, 955465266, 955465167, 955465040, 955464884, 955464701, - 955464489, 955464250, 955463983, 955463688, 955463366, 955463017, 955462641, 955462238, - 955461809, 955461354, 955460873, 955460366, 955459833, 955459276, 955458694, 955458088, - 955457457, 955456803, 955456126, 955455426, 955454704, 955453960, 955453194, 955452408, - 955451601, 955450773, 955449926, 955449061, 955448176, 955447274, 955446354, 955445417, - 955444464, 955443495, 955442511, 955441513, 955440500, 955439474, 955438435, 955437385, - 955436322, 955435249, 955434166, 955433073, 955431971, 955430861, 955429743, 955428618, - 955427488, 955426351, 955425210, 955424065, 955422916, 955421765, 955420611, 955419456, - 955418300, 955417144, 955415989, 955414836, 955413684, 955412535, 955411390, 955410249, - 955409113, 955407982, 955406857, 955405740, 955404629, 955403528, 955402435, 955401351, - 955400278, 955399216, 955398165, 955397126, 955396100, 955395088, 955394089, 955393105, - 955392136, 955391183, 955390246, 955389326, 955388424, 955387540, 955386674, 955385827, - 955385000, 955384192, 955383406, 955382640, 955381896, 955381174, 955380474, 955379797, - 955379143, 955378513, 955377906, 955377324, 955376767, 955376235, 955375728, 955375246, - 955374791, 955374362, 955373959, 955373583, 955373234, 955372912, 955372618, 955372350, - 955372111, 955371900, 955371716, 955371560, 955371433, 955371334, 955371263, 955371220, - 955371206, 955371220, 955371263, 955371334, 955371433, 955371560, 955371716, 955371900, - 955372111, 955372350, 955372618, 955372912, 955373234, 955373583, 955373959, 955374362, - 955374791, 955375246, 955375728, 955376235, 955376767, 955377324, 955377906, 955378513, - 955379143, 955379797, 955380474, 955381174, 955381896, 955382640, 955383406, 955384192, - 955385000, 955385827, 955386674, 955387540, 955388424, 955389326, 955390246, 955391183, - 955392136, 955393105, 955394089, 955395088, 955396100, 955397126, 955398165, 955399216, - 955400278, 955401351, 955402435, 955403528, 955404629, 955405740, 955406857, 955407982, - 955409113, 955410249, 955411390, 955412535, 955413684, 955414836, 955415989, 955417144 -}; - -/** - * Set DDS frequency tuning word. The output frequency is equal to RefClock * (ftw / 2 ^ 32). - * - * @param ftw Frequency Tuning Word - */ -void ddsSetFTW (uint32_t ftw) -{ - int x = ftw - freqTable[0]; - putchar (x > 0 ? 0xc0 : 0x40); -} +static void tncInit(void); +static void tnc1200TimerTick(void); /** @} */ @@ -267,7 +173,7 @@ void ddsSetFTW (uint32_t ftw) * * @return CRC-16 of buffer[0 .. length] */ -uint16_t sysCRC16(uint8_t *buffer, uint8_t length, uint16_t crc) +static uint16_t sysCRC16(const uint8_t *buffer, uint8_t length, uint16_t crc) { uint8_t i, bit, value; @@ -296,119 +202,19 @@ uint16_t sysCRC16(uint8_t *buffer, uint8_t length, uint16_t crc) * @{ */ -/// 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; - -/// Flag set true once per second. -bool_t timeUpdateFlag; - -/// Flag that indicate the flight time should run. -bool_t timeRunFlag; - -/// The change in the CCP_1 register for each 104uS (9600bps) interrupt period. -#define TIME_RATE 125 - -/** - * Running 8-bit counter that ticks every 100mS. - * - * @return 100mS time tick - */ -uint8_t timeGetTicks() -{ - return timeTicks; -} +static uint16_t timeNCOFreq; /** * Initialize the real-time clock. */ -void timeInit() +static void timeInit() { - timeTicks = 0; - timeInterruptCount = 0; -// time100mS = 0; - timeSeconds = 0; - timeMinutes = 0; - timeHours = 0; - timeCompare = TIME_RATE; - timeUpdateFlag = false; timeNCO = 0x00; - timeLowRateCount = 0; timeNCOFreq = 0x2000; - timeRunFlag = false; -} - -/** - * Function return true once a second based on real-time clock. - * - * @return true on one second tick; otherwise false - */ -bool_t timeIsUpdate() -{ - if (timeUpdateFlag) - { - timeUpdateFlag = false; - return true; - } // END if - - return false; -} - -/** - * Set a flag to indicate the flight time should run. This flag is typically set when the payload - * lifts off. - */ -void timeSetRunFlag() -{ - timeRunFlag = true; -} - -/** - * Timer interrupt handler called every 104uS (9600 times/second). - */ -void timeUpdate() -{ - // Setup the next interrupt for the operational mode. - timeCompare += TIME_RATE; - - ddsSetFTW (freqTable[timeNCO >> 8]); - - timeNCO += timeNCOFreq; - - if (++timeLowRateCount == 8) - { - timeLowRateCount = 0; - tnc1200TimerTick(); - } // END if } /** @} */ @@ -425,7 +231,7 @@ 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. typedef enum @@ -446,77 +252,71 @@ typedef enum TNC_TX_END } TNC_TX_1200BPS_STATE; -/// Enumeration of the messages we can transmit. -typedef enum -{ - /// Startup message that contains software version information. - TNC_BOOT_MESSAGE, - - /// Plain text status message. - TNC_STATUS, - - /// Message that contains GPS NMEA-0183 $GPGGA message. - TNC_GGA, - - /// Message that contains GPS NMEA-0183 $GPRMC message. - TNC_RMC -} TNC_MESSAGE_TYPE; - /// AX.25 compliant packet header that contains destination, station call sign, and path. /// 0x76 for SSID-11, 0x78 for SSID-12 -uint8_t TNC_AX25_HEADER[30] = { - 'A' << 1, 'P' << 1, 'R' << 1, 'S' << 1, ' ' << 1, ' ' << 1, 0x60, \ - 'K' << 1, 'D' << 1, '7' << 1, 'S' << 1, 'Q' << 1, 'G' << 1, 0x76, \ - 'G' << 1, 'A' << 1, 'T' << 1, 'E' << 1, ' ' << 1, ' ' << 1, 0x60, \ - 'W' << 1, 'I' << 1, 'D' << 1, 'E' << 1, '3' << 1, ' ' << 1, 0x67, \ +static uint8_t TNC_AX25_HEADER[] = { + 'A' << 1, 'P' << 1, 'A' << 1, 'M' << 1, ' ' << 1, ' ' << 1, 0x60, + 'N' << 1, '0' << 1, 'C' << 1, 'A' << 1, 'L' << 1, 'L' << 1, 0x78, + 'W' << 1, 'I' << 1, 'D' << 1, 'E' << 1, '2' << 1, ' ' << 1, 0x65, 0x03, 0xf0 }; +#define TNC_CALLSIGN_OFF 7 +#define TNC_CALLSIGN_LEN 6 + +static void +tncSetCallsign(void) +{ +#ifndef AO_APRS_TEST + uint8_t i; + + for (i = 0; i < TNC_CALLSIGN_LEN; i++) { + if (!ao_config.callsign[i]) + break; + TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ao_config.callsign[i] << 1; + } + for (; i < TNC_CALLSIGN_LEN; i++) + TNC_AX25_HEADER[TNC_CALLSIGN_OFF + i] = ' ' << 1; +#endif +} /// The next bit to transmit. -uint8_t tncTxBit; +static uint8_t tncTxBit; /// Current mode of the 1200 bps state machine. -TNC_TX_1200BPS_STATE tncMode; +static TNC_TX_1200BPS_STATE tncMode; /// Counter for each bit (0 - 7) that we are going to transmit. -uint8_t tncBitCount; +static uint8_t tncBitCount; /// A shift register that holds the data byte as we bit shift it for transmit. -uint8_t tncShift; +static uint8_t tncShift; /// Index into the APRS header and data array for each byte as we transmit it. -uint8_t tncIndex; +static uint8_t tncIndex; /// The number of bytes in the message portion of the AX.25 message. -uint8_t tncLength; +static uint8_t tncLength; /// A copy of the last 5 bits we've transmitted to determine if we need to bit stuff on the next bit. -uint8_t tncBitStuff; - -/// Pointer to TNC buffer as we save each byte during message preparation. -uint8_t *tncBufferPnt; - -/// The type of message to tranmit in the next packet. -TNC_MESSAGE_TYPE tncPacketType; +static uint8_t tncBitStuff; /// Buffer to hold the message portion of the AX.25 packet as we prepare it. -uint8_t tncBuffer[TNC_BUFFER_SIZE]; +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; } /** * 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) @@ -680,55 +480,123 @@ void tnc1200TimerTick() } // END switch } +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; + } +} + +static int ao_num_sats(void) +{ + 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; +} + +static int tncComment(uint8_t *buf) +{ +#if HAS_ADC + struct ao_data packet; + + ao_arch_critical(ao_data_get(&packet);); + + int16_t battery = ao_battery_decivolt(packet.adc.v_batt); + int16_t apogee = ao_ignite_decivolt(AO_SENSE_DROGUE(&packet)); + int16_t main = ao_ignite_decivolt(AO_SENSE_MAIN(&packet)); + + return sprintf((char *) buf, + "S: %d B:%d.%d A:%d.%d M:%d.%d", + ao_num_sats(), + battery/10, + battery % 10, + apogee/10, + apogee%10, + main/10, + main%10); +#else + return sprintf((char *) buf, + "S: %d", ao_num_sats()); +#endif +} + /** - * Generate the plain text position packet. Data is written through the tncTxByte - * callback function + * Generate the plain text position packet. */ -void tncPositionPacket(void) +static int tncPositionPacket(void) { - int32_t latitude = 45.4694766 * 10000000; - int32_t longitude = -122.7376250 * 10000000; - uint32_t altitude = 10000; - uint16_t lat_deg; - uint16_t lon_deg; - uint16_t lat_min; - uint16_t lat_frac; - uint16_t lon_min; - uint16_t lon_frac; - int c; - - char lat_sign = 'N', lon_sign = 'E'; - - if (latitude < 0) { - lat_sign = 'S'; - latitude = -latitude; + int32_t latitude = 0; + int32_t longitude = 0; + int32_t altitude = 0; + 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; + if (altitude < 0) + altitude = 0; } - if (longitude < 0) { - lon_sign = 'W'; - longitude = -longitude; - } + altitude = (altitude * (int32_t) 10000 + (3048/2)) / (int32_t) 3048; + + buf = tncBuffer; + *buf++ = '!'; + + /* Symbol table ID */ + *buf++ = '/'; + + latitude = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000; + longitude = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000; + +#define ALTITUDE_LOG_BASE 0.001998002662673f /* log(1.002) */ + + altitude = logf((float) altitude) * (1/ALTITUDE_LOG_BASE); + + tncCompressInt(buf, latitude, 4); + buf += 4; + tncCompressInt(buf, longitude, 4); + buf += 4; + + /* Symbol code */ + *buf++ = '\''; - lat_deg = latitude / 10000000; - latitude -= lat_deg * 10000000; - latitude *= 60; - lat_min = latitude / 10000000; - latitude -= lat_min * 10000000; - lat_frac = (latitude + 50000) / 100000; - - lon_deg = longitude / 10000000; - longitude -= lon_deg * 10000000; - longitude *= 60; - lon_min = longitude / 10000000; - longitude -= lon_min * 10000000; - lon_frac = (longitude + 50000) / 100000; - - c = sprintf ((char *) tncBufferPnt, "=%02u%02u.%02u%c\\%03u%02u.%02u%cO /A=%06u\015", - lat_deg, lat_min, lat_frac, lat_sign, - lon_deg, lon_min, lon_frac, lon_sign, - altitude * 100 / 3048); - tncBufferPnt += c; - tncLength += c; + tncCompressInt(buf, altitude, 2); + buf += 2; + + *buf++ = 33 + ((1 << 5) | (2 << 3)); + + buf += tncComment(buf); + + return buf - tncBuffer; +} + +static int16_t +tncFill(uint8_t *buf, int16_t len) +{ + int16_t l = 0; + uint8_t b; + uint8_t bit; + + while (tncMode != TNC_TX_READY && l < len) { + b = 0; + for (bit = 0; bit < 8; bit++) { + b = b << 1 | (timeNCO >> 15); + timeNCO += timeNCOFreq; + } + *buf++ = b; + l++; + tnc1200TimerTick(); + } + if (tncMode == TNC_TX_READY) + l = -l; + return l; } /** @@ -737,28 +605,23 @@ void tncPositionPacket(void) * * @param dataMode enumerated type that specifies 1200bps A-FSK or 9600bps FSK */ -void tncTxPacket(void) +void ao_aprs_send(void) { uint16_t crc; - // Set a pointer to our TNC output buffer. - tncBufferPnt = tncBuffer; - - // Set the message length counter. - tncLength = 0; + timeInit(); + tncInit(); + tncSetCallsign(); - tncPositionPacket(); + 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; @@ -767,19 +630,7 @@ void tncTxPacket(void) tncIndex = 0; tncMode = TNC_TX_SYNC; - // Turn on the PA chain. -// output_high (IO_PTT); - - // Wait for the PA chain to power up. -// delay_ms (10); - - // Key the DDS. -// output_high (IO_OSK); - - // Log the battery and reference voltage just after we key the transmitter. -// sysLogVoltage(); - while (tncMode != TNC_TX_READY) - timeUpdate(); + ao_radio_send_aprs(tncFill); } /** @} */