kopia lustrzana https://github.com/bristol-seds/pico-tracker
267 wiersze
6.9 KiB
C
267 wiersze
6.9 KiB
C
/*
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* Bristol SEDS pico-tracker
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* Copyright (C) 2014 Richard Meadows <richardeoin>
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <stdio.h>
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#include <math.h>
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#include <string.h>
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#include "samd20.h"
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#include "hw_config.h"
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#include "init.h"
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#include "gps.h"
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#include "mfsk.h"
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#include "watchdog.h"
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#include "telemetry.h"
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#include "timer.h"
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#include "contestia.h"
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#include "aprs.h"
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#include "location.h"
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#include "rf_tests.h"
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#include "data.h"
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#include "backlog.h"
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#include "pips.h"
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#define CALLSIGN "UBSEDS10"
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#define APRS_COMMENT "CONTESTIA/434.6"
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/**
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* Formats a UKHAS telemetry string for the given datapoint
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*
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* The telemetry string starts with the specified number of dollar signs
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*/
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uint16_t format_telemetry_string(char* string, struct tracker_datapoint* dp,
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uint8_t dollars, uint8_t reduce_char_set)
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{
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double lat_fmt = 0.0;
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double lon_fmt = 0.0;
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uint32_t altitude = 0;
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uint16_t len;
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lat_fmt = (double)dp->latitude / 10000000.0; /* hundred nanodeg -> degrees */
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lon_fmt = (double)dp->longitude / 10000000.0; /* hundred nanodeg -> degrees */
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altitude = dp->altitude / 1000; /* mm -> meters */
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/* sprintf - preamble */
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memset(string, '$', dollars);
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len = dollars;
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/* sprintf - full string (approx 90 chars) */
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len += sprintf(telemetry_string + len,
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"%s,%02u:%02u:%02u,%02u%02u%02u,%02.5f,%03.5f,%ld,%u,%.2f,%.0f,%.1f,%.1f,%.1f,%ld",
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CALLSIGN, /* 2+6+2+1=11 */
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dp->time.hour, dp->time.minute, dp->time.second, /* 2+1+2+1+2+1=9 */
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dp->time.year%100, dp->time.month, dp->time.day, /* 2+2+2+1=7 */
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lat_fmt, lon_fmt, altitude, dp->satillite_count, /* 3+1+5+1 + 4+1+5+1 + 5+1 + 2+1 = 30 */
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dp->solar, dp->main_pressure, /* 1+1+2+1 + 5+1 = 11 */
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dp->thermistor_temperature, dp->bmp180_temperature, /* 3+1+1+1 + 3+1+1+1 = 12 */
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dp->radio_die_temperature, dp->xosc_error); /* 3+1+1+1 + 4 = 10 */
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/* sum = 90 (must be less than or equal to 114) */
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if (reduce_char_set) {
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/* Reduce character set */
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contestiaize(telemetry_string + dollars);
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}
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/* sprintf - checksum. don't include dollars */
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len += sprintf(telemetry_string + len,
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"*%04X\r",
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crc_checksum(telemetry_string + dollars));
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/* Length should be no more than 120 characters!! (24 seconds transmission time) */
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if (len <= 120) {
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return len;
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}
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/* Okay, let's use a shorter backup format */
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len = dollars;
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/* sprintf - short format */
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len += sprintf(telemetry_string + len,
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"%s,%02u:%02u:%02u,%02.5f,%03.5f,%ld",
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CALLSIGN,
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dp->time.hour, dp->time.minute, dp->time.second,
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lat_fmt, lon_fmt, altitude);
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if (reduce_char_set) {
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/* Reduce character set */
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contestiaize(telemetry_string + dollars);
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}
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/* sprintf - checksum. don't include dollars */
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len += sprintf(telemetry_string + len,
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"*%04X\r",
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crc_checksum(telemetry_string + dollars));
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return len;
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}
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/**
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* RTTY telemetry. Uses 5 dollar symbols
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*/
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#define RTTY_DOLLARS 5
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void rtty_telemetry(struct tracker_datapoint* dp) {
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uint16_t len;
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len = format_telemetry_string(telemetry_string, dp, RTTY_DOLLARS, 0);
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/* Main telemetry */
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telemetry_start(TELEMETRY_RTTY, len);
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/* Sleep Wait for main telemetry */
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while (telemetry_active()) {
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idle(IDLE_TELEMETRY_ACTIVE);
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}
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}
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/**
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* Contestia telemetry. Uses 2 dollar symbols
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*/
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#define CONTESTIA_DOLLARS 2
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void contestia_telemetry(struct tracker_datapoint* dp) {
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uint16_t len;
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len = format_telemetry_string(telemetry_string, dp, CONTESTIA_DOLLARS, 1);
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/* RSID */
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telemetry_start_rsid(RSID_CONTESTIA_32_1000);
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/* Sleep Wait for RSID */
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while (telemetry_active()) {
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idle(IDLE_TELEMETRY_ACTIVE);
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}
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/* Main telemetry */
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telemetry_start(TELEMETRY_CONTESTIA, len);
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/* Sleep Wait for main telemetry */
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while (telemetry_active()) {
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idle(IDLE_TELEMETRY_ACTIVE);
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}
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}
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/**
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* APRS telemetry if required
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*/
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void aprs_telemetry(struct tracker_datapoint* dp) {
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struct tracker_datapoint* backlog_dp_ptr;
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if (!gps_is_locked()) return; /* Don't bother with no GPS */
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/* Update location */
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aprs_location_update(dp->longitude, dp->latitude);
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#if APRS_USE_GEOFENCE
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/* aprs okay here? */
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if (aprs_location_tx_allow()) {
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#endif
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/* Set location */
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aprs_set_datapoint(dp);
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/* Set comment */
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if ((dp->time.minute % 4) == 0) {
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aprs_set_comment(APRS_COMMENT);
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} else {
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backlog_dp_ptr = get_backlog();
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if (backlog_dp_ptr != NULL) { /* Backlog comment if we can */
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aprs_set_backlog_comment(backlog_dp_ptr);
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} else {
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aprs_set_comment(APRS_COMMENT);
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}
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}
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/* Set frequency */
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#if APRS_USE_GEOFENCE
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telemetry_aprs_set_frequency(aprs_location_frequency());
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#else
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telemetry_aprs_set_frequency(144800000);
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#endif
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/* Transmit packet and wait */
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telemetry_start(TELEMETRY_APRS, 0xFFFF);
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while (telemetry_active()) {
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idle(IDLE_TELEMETRY_ACTIVE);
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}
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#if APRS_USE_GEOFENCE
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}
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#endif
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}
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/**
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* Pips telemetry
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*/
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void pips_telemetry(void)
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{
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/* Pips */
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telemetry_start(TELEMETRY_PIPS, 0xFFFF);
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while (telemetry_active()) {
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idle(IDLE_TELEMETRY_ACTIVE);
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}
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}
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volatile uint8_t tick_flag = 0;
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/**
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* Called at 1Hz by the GPS
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*/
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void gps_tick(uint32_t sequence)
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{
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/* Sequence not used */
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(void)sequence;
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/* Update internal time representation */
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cron_tick();
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/* Raise the tick flag */
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tick_flag = 1;
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}
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/**
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* MAIN
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* =============================================================================
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*/
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int main(void)
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{
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/* Init */
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init(gps_tick, INIT_NORMAL);
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/* Maybe do some rf tests */
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rf_tests();
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/* Turn off LED to show we've initialised correctly */
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led_off();
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while (1) {
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/* Run cron job */
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if (tick_flag) {
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tick_flag = 0; do_cron();
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}
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/* Idle */
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idle(IDLE_WAIT_FOR_NEXT_TELEMETRY);
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}
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}
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