Added aprs variable frequency, location functions for aprs

firmware/inc/hw_config.h

@@ -130,6 +130,7 @@
  */
 #define TELEMETRY_FREQUENCY	434600000
 #define TELEMETRY_INTERVAL	30
+#define APRS_INTERVAL		180
 
 /**
  * Watchdog Timer

firmware/inc/location.h

@@ -25,7 +25,13 @@
 #ifndef LOCATION_H
 #define LOCATION_H
 
+#include <stdbool.h>
 
 bool latlon_in_aprs_zone(int32_t aprs_zone, int32_t aprs_zone_outline, float lon, float lat);
 
+bool aprs_location_tx_allow(void);
+int32_t aprs_location_frequency(void);
+
+void aprs_location_update(float lon, float lat);
+
 #endif /* LOCATION_H */

firmware/inc/telemetry.h

@@ -47,6 +47,7 @@ char telemetry_string[TELEMETRY_STRING_MAX];
 int telemetry_active(void);
 int telemetry_start(enum telemetry_t type, int32_t length);
 int telemetry_start_rsid(rsid_code_t rsid);
+void telemetry_aprs_set_frequency(int32_t frequency);
 void telemetry_stop(void);
 float telemetry_si_temperature(void);
 

firmware/src/location.c

@@ -29,6 +29,7 @@
 #include "samd20.h"
 #include "geofence_aprs.h"
 
+int32_t current_aprs_zone = -2, current_aprs_zone_outline = -2;
 
 #define polyX(i)	(poly[(i*2)+0])
 #define polyY(i)	(poly[(i*2)+1])
@@ -47,7 +48,7 @@
  * Note that division by zero is avoided because the division is
  * protected by the "if" clause which surrounds it.
  */
-bool point_in_polygon(int32_t* poly, uint32_t points, int32_t x, int32_t y) {
+bool point_in_polygon(const int32_t* poly, uint32_t points, int32_t x, int32_t y) {
 
   uint32_t i, j = points-1;
   bool oddNodes = false;
@@ -70,7 +71,7 @@ bool point_in_polygon(int32_t* poly, uint32_t points, int32_t x, int32_t y) {
 /**
  * Returns if a latitude and longitude is in a polygon
  */
-bool latlon_in_polygon(int32_t* poly, uint32_t points, float lon, float lat) {
+bool latlon_in_polygon(const int32_t* poly, uint32_t points, float lon, float lat) {
 
   int32_t x = (int32_t)round(lon * 1000 * 1000); // longitude: µdegrees
   int32_t y = (int32_t)round(lat * 1000 * 1000); // latitude:  µdegrees
@@ -80,8 +81,6 @@ bool latlon_in_polygon(int32_t* poly, uint32_t points, float lon, float lat) {
 
 
 
-int32_t current_aprs_zone, current_aprs_zone_outline;
-
 /**
  * Returns if a latitude and longitude is in a given aprs zone outline
  */
@@ -92,27 +91,64 @@ bool latlon_in_aprs_zone(int32_t aprs_zone, int32_t aprs_zone_outline, float lon
     lon, lat);
 }
 
+
+/**
+ * Returns if aprs should be transmitted in the current zone
+ */
+bool aprs_location_tx_allow(void) {
+
+  /* Not in any zone, or in a zone other than Alpha */
+  return (current_aprs_zone == -1) || (current_aprs_zone > 0);
+}
+/**
+ * Returns the aprs frequency in the current zone.
+ *
+ * Where aprs is not allowed this function is unspecified
+ */
+int32_t aprs_location_frequency(void) {
+
+  if (current_aprs_zone >= 0) {
+    return aprs_zones[current_aprs_zone].frequency;
+  }
+
+  return 144800000;
+}
+
+
 /**
  * Updates the aprs location based on the current lat/lon
  */
-void update_aprs_location(float lon, float lat) {
+void aprs_location_update(float lon, float lat) {
+
+  uint32_t z, outline;
 
   /* Were we in an aprs zone last time? */
+  if (current_aprs_zone >= 0 && current_aprs_zone_outline >= 0) {
 
-
-  if (0) {
-
-    /* Are we still in the same outline? */
-
-    if (1) {                    /* Still in outline */
+    /* Are we still in the outline? */
+    if (latlon_in_aprs_zone(current_aprs_zone,
+                            current_aprs_zone_outline,
+                            lon, lat)) {                    /* Still in outline */
       return;
     }
   }
 
   /* Find which aprs zone we are in and save it */
-}
+  for (z = 0; z < 12; z++) { /* For each zone */
 
-void aprs_location_init(float lon, float lat) {
-  current_aprs_zone = -1; current_aprs_zone_outline = -1;
-  update_aprs_location(lon, lat);
+    for (outline = 0; outline < sizeof(aprs_zones[z].outline_lengths); outline++) {
+
+      if (latlon_in_aprs_zone(z, outline, lon, lat)) { /* If we're in this zone */
+
+        /* Record the current zone */
+        current_aprs_zone = z;
+        current_aprs_zone_outline = outline;
+
+        return;                 /* Go home. We return the first zone we match */
+      }
+    }
+  }
+
+  /* We're not in a zone */
+  current_aprs_zone = -1;
 }

firmware/src/main.c

@@ -44,6 +44,8 @@
 #include "timer.h"
 #include "contestia.h"
 #include "rsid.h"
+#include "aprs.h"
+#include "location.h"
 #include "si_trx.h"
 #include "si_trx_defs.h"
 #include "analogue.h"
@@ -236,9 +238,35 @@ void output_telemetry_string(enum telemetry_t type)
   while (telemetry_active()) {
     system_sleep();
   }
+}
 
-  /* Pips */
-  telemetry_start(TELEMETRY_PIPS, 0xFFFF);
+void aprs_telemetry(void) {
+
+  if (!gps_is_locked()) return; /* Don't bother with no GPS */
+
+  struct ubx_nav_posllh pos = gps_get_nav_posllh();
+  float lat = (float)pos.payload.lat / 10000000.0;
+  float lon = (float)pos.payload.lon / 10000000.0;
+  uint32_t altitude = pos.payload.height / 1000;
+
+  /* Update location */
+  aprs_location_update(lon, lat);
+
+  /* aprs okay here? */
+  if (aprs_location_tx_allow()) {
+
+    /* Set location */
+    aprs_set_location(lat, lon, altitude);
+
+    /* Set frequency */
+    telemetry_aprs_set_frequency(aprs_location_frequency());
+
+    /* Transmit packet and wait */
+    telemetry_start(TELEMETRY_APRS, 0xFFFF);
+    while (telemetry_active()) {
+      system_sleep();
+    }
+  }
 }
 
 /**
@@ -304,10 +332,30 @@ void xosc_measure_callback(uint32_t result)
   _xosc_error = result - XOSC_FREQUENCY;
 }
 
+uint32_t telemetry_interval_count = TELEMETRY_INTERVAL;
+uint32_t aprs_interval_count = 0;
 uint8_t telemetry_trigger_flag = 0;
+uint8_t aprs_trigger_flag = 0;
+
+/**
+ * Called by the timer at 1Hz
+ */
 void timepulse_callback(uint32_t sequence)
 {
-  telemetry_trigger_flag = 1;
+  telemetry_interval_count++;
+  aprs_interval_count++;
+
+  /* Runs at the rate of telemetry packets */
+  if (telemetry_interval_count >= TELEMETRY_INTERVAL) {
+    telemetry_interval_count = 0;
+    telemetry_trigger_flag = 1;
+  }
+
+  /* Runs at the rate of aprs packets */
+  if (aprs_interval_count >= APRS_INTERVAL) {
+    aprs_interval_count = 0;
+    aprs_trigger_flag = 1;
+  }
 }
 
 /**
@@ -323,16 +371,6 @@ int main(void)
   led_on();
 
 
-  /* while (1) { */
-  /*   telemetry_start(TELEMETRY_APRS, 0xFFFF); */
-
-  /*   while (telemetry_active()) { */
-  /*     system_sleep(); */
-  /*   } */
-
-  /*   for (int i = 0; i < 1000*1000; i++); */
-  /* } */
-
 
   while (1) {
     /* Sleep wait for next telemetry */
@@ -355,6 +393,17 @@ int main(void)
                             TELEMETRY_CONTESTIA :
                             TELEMETRY_RTTY);
 
+
+    /* Maybe aprs? */
+    if (aprs_trigger_flag) {
+      aprs_telemetry();
+    }
+    aprs_trigger_flag = 0;
+
+
+    /* Pips */
+    telemetry_start(TELEMETRY_PIPS, 0xFFFF);
+
     /* Measure XOSC against gps timepulse */
     measure_xosc(XOSC_MEASURE_TIMEPULSE, xosc_measure_callback);
   }

firmware/src/telemetry.c

@@ -118,7 +118,10 @@ uint8_t radio_on = 0;
  * Temperature
  */
 float _si_temperature = 128.0;
-
+/**
+ * APRS frequency
+ */
+int32_t _aprs_frequency = 0;
 
 /**
  * Returns 1 if we're currently outputting.
@@ -187,6 +190,13 @@ int telemetry_start_rsid(rsid_code_t rsid) {
     return 1; /* Already active */
   }
 }
+/**
+ * Setter for the APRS frequency
+ */
+void telemetry_aprs_set_frequency(int32_t frequency) {
+  _aprs_frequency = frequency;
+}
+
 /**
  * Stops the ongoing telemetry at the earliest possible moment (end of
  * symbol / block).
@@ -310,8 +320,14 @@ void telemetry_tick(void) {
         /* APRS: We use pwm to control gpio1 */
         aprs_start();
 
-        si_trx_on(SI_MODEM_MOD_TYPE_2GFSK, 144888000, 400);
-        radio_on = 1;
+//        if (_aprs_frequency) { TODO configurable frequency
+//          si_trx_on(SI_MODEM_MOD_TYPE_2GFSK, _aprs_frequency, 400);
+//          radio_on = 1;
+//        }
+
+          si_trx_on(SI_MODEM_MOD_TYPE_2GFSK, 144800000, 400);
+          radio_on = 1;
+
       }
 
       if (!aprs_tick()) {

firmware/src/timer.c

@@ -32,7 +32,6 @@
 #include "system/interrupt.h"
 
 uint32_t gps_timepulse_count = 0;
-uint32_t telemetry_interval_count = TELEMETRY_INTERVAL;
 uint32_t timepulse_sequence = 0;
 
 timepulse_callback_t _timer_callback;
@@ -89,15 +88,9 @@ void EIC_Handler(void) {
     if (gps_timepulse_count >= GPS_TIMEPULSE_FREQ) {
       gps_timepulse_count = 0;
 
-      telemetry_interval_count++;
-      /* Runs at the rate of telemetry packets */
-      if (telemetry_interval_count >= TELEMETRY_INTERVAL) {
-        telemetry_interval_count = 0;
-
-        /* Make the callback if we have one */
-        if (_timer_callback) {
-          _timer_callback(timepulse_sequence++);
-        }
+      /* Make the callback if we have one */
+      if (_timer_callback) {
+        _timer_callback(timepulse_sequence++);
       }
     }
   }