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pico-tracker/firmware/src/main.c

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C
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/*
* Bristol SEDS pico-tracker
* Copyright (C) 2014 Richard Meadows <richardeoin>
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <stdio.h>
#include <math.h>
#include <string.h>
#include "samd20.h"
#include "semihosting.h"
#include "hw_config.h"
#include "system/system.h"
#include "sercom/usart.h"
#include "system/port.h"
#include "system/events.h"
#include "system/extint.h"
#include "tc/tc_driver.h"
#include "gps.h"
#include "mfsk.h"
#include "ubx_messages.h"
#include "system/wdt.h"
#include "xosc.h"
#include "telemetry.h"
#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"
#include "spi_bitbang.h"
#include "system/interrupt.h"
#define CALLSIGN "UBSEDS8"
void xosc_measure_callback(uint32_t result);
void timepulse_callback(uint32_t sequence);
int32_t _xosc_error = 0;
/**
* Initialises the status LED
*/
static inline void led_init(void)
{
/**
* This pin is shared with the XOSC line on the current hardware bodge
*/
port_pin_set_config(LED0_PIN,
PORT_PIN_DIR_INPUT, /* Direction */
PORT_PIN_PULL_NONE, /* Pull */
false); /* Powersave */
// port_pin_set_output_level(LED0_PIN, 1); /* LED is active low */
}
/**
* Turns the status LED on
*/
static inline void led_on(void)
{
//port_pin_set_output_level(LED0_PIN, 0); /* LED is active low */
}
/**
* Turns the status LED off
*/
static inline void led_off(void)
{
//port_pin_set_output_level(LED0_PIN, 1); /* LED is active low */
}
void wdt_init() {
/* 64 seconds timeout. So 2^(15+6) cycles of the wdt clock */
system_gclk_gen_set_config(WDT_GCLK,
GCLK_SOURCE_OSCULP32K, /* Source */
false, /* High When Disabled */
128, /* Division Factor */
false, /* Run in standby */
true); /* Output Pin Enable */
system_gclk_gen_enable(WDT_GCLK);
/* Set the watchdog timer. On 256Hz gclk 4 */
wdt_set_config(true, /* Lock WDT */
true, /* Enable WDT */
GCLK_GENERATOR_4, /* Clock Source */
WDT_PERIOD_16384CLK, /* Timeout Period */
WDT_PERIOD_NONE, /* Window Period */
WDT_PERIOD_NONE); /* Early Warning Period */
}
/**
* Power Management
*/
void powermananger_init(void)
{
system_apb_clock_clear_mask(SYSTEM_CLOCK_APB_APBA,
// PM_APBAMASK_EIC | /* EIC is used now */
// PM_APBAMASK_RTC | /* RTC is used now */
0);
}
/**
* Telemetry String
* =============================================================================
*/
void output_telemetry_string(enum telemetry_t type)
{
double lat_fmt = 0.0;
double lon_fmt = 0.0;
uint32_t altitude = 0;
uint16_t len;
uint8_t dollars = 2;
/**
* Collect Data
* ---------------------------------------------------------------------------
*/
/* Analogue */
float battery = get_battery();
float temperature = telemetry_si_temperature();
/* GPS Time */
gps_update_time();
/* Sleep Wait */
while (gps_update_time_pending()) {
system_sleep();
}
/* Time */
struct ubx_nav_timeutc time = gps_get_nav_timeutc();
uint8_t hours = time.payload.hour;
uint8_t minutes = time.payload.min;
uint8_t seconds = time.payload.sec;
/* Request updates from the gps */
gps_update_position();
if (gps_is_locked()) {
led_on();
} else {
led_off();
}
/* Wait for the gps update */
while (gps_update_position_pending()) {
system_sleep();
}
if (gps_is_locked()) {
led_off();
} else {
led_on();
}
/* GPS Status */
struct ubx_nav_sol sol = gps_get_nav_sol();
uint8_t satillite_count = sol.payload.numSV;
/* GPS Position */
if (gps_is_locked()) {
struct ubx_nav_posllh pos = gps_get_nav_posllh();
lat_fmt = (double)pos.payload.lat / 10000000.0;
lon_fmt = (double)pos.payload.lon / 10000000.0;
altitude = pos.payload.height / 1000;
}
/* GPS Powersave */
gps_set_powersave_auto();
/**
* Format
* ---------------------------------------------------------------------------
*/
if (type == TELEMETRY_RTTY) {
dollars = 5; // Extra dollars for RTTY
}
/* sprintf - preamble */
memset(telemetry_string, '$', dollars);
len = dollars;
/* XOSC error disabled */
_xosc_error = -1;
/* sprintf - full string */
len += sprintf(telemetry_string + len,
"%s,%02u:%02u:%02u,%02.5f,%03.5f,%ld,%u,%.2f,%.1f,%ld",
CALLSIGN, hours, minutes, seconds, lat_fmt, lon_fmt,
altitude, satillite_count, battery, temperature, _xosc_error);
if (type == TELEMETRY_CONTESTIA) { contestiaize(telemetry_string + dollars); }
/* sprintf - checksum. don't include dollars */
len += sprintf(telemetry_string + len,
"*%04X\r",
crc_checksum(telemetry_string + dollars));
/**
* Starting up the radio blocks on high-prio interrupt for ~100ms: todo fixme
*/
/* RSID */
/* start - SI NOW BELONGS TO TELEMETRY, WE CANNOT ACCESS */
if (type == TELEMETRY_CONTESTIA) {
telemetry_start_rsid(RSID_CONTESTIA_32_1000);
}
/* Sleep Wait for RSID */
while (telemetry_active()) {
system_sleep();
}
/* Main telemetry */
telemetry_start(type, len);
/* Sleep Wait for main telemetry */
while (telemetry_active()) {
system_sleep();
}
}
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; // This division is from the gps reciver, not for geofence
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();
}
}
}
/**
* Internal initialisation
* =============================================================================
*/
void init(void)
{
/**
* Internal initialisation
* ---------------------------------------------------------------------------
*/
/* Clock up to 14MHz with 0 wait states */
system_flash_set_waitstates(SYSTEM_WAIT_STATE_1_8V_14MHZ);
/* Up the clock rate to 4MHz */
system_clock_source_osc8m_set_config(SYSTEM_OSC8M_DIV_2, /* Prescaler */
false, /* Run in Standby */
false); /* Run on Demand */
/* Restart the GCLK Module */
system_gclk_init();
system_events_init();
system_extint_init();
/* Get the current CPU Clock */
SystemCoreClock = system_cpu_clock_get_hz();
/* Configure Sleep Mode */
//system_set_sleepmode(SYSTEM_SLEEPMODE_STANDBY);
system_set_sleepmode(SYSTEM_SLEEPMODE_IDLE_2); /* Disable CPU, AHB and APB */
/* Configure the Power Manager */
//powermananger_init();
/**
* System initialisation
* ---------------------------------------------------------------------------
*/
/* Set the wdt here. We should get to the first reset in one min */
//wdt_init();
//wdt_reset_count();
/* Enables the xosc on gclk1 */
xosc_init();
led_init();
gps_init();
/* Enable timer interrupt and event channel */
timepulse_extint_init();
timepulse_set_callback(timepulse_callback);
/* Initialise Si4060 interface */
si_trx_init();
}
void xosc_measure_callback(uint32_t result)
{
_xosc_error = result - XOSC_FREQUENCY;
}
uint32_t telemetry_interval_count = TELEMETRY_INTERVAL;
uint32_t aprs_interval_count = APRS_INTERVAL;
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_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;
}
}
/**
* MAIN
* =============================================================================
*/
int main(void)
{
uint32_t telemetry_alternate = 0;
init();
led_on();
while (1) {
/* Sleep wait for next telemetry */
while (telemetry_trigger_flag == 0) {
system_sleep();
}
telemetry_trigger_flag = 0;
/* End pips */
telemetry_stop();
while (telemetry_active()) {
system_sleep();
}
/* Watchdog */
//wdt_reset_count();
/* Send the next packet */
output_telemetry_string((telemetry_alternate++ & 1) ?
TELEMETRY_CONTESTIA :
TELEMETRY_RTTY);
/* Maybe aprs? */
#if APRS_ENABLE
if (aprs_trigger_flag) {
aprs_telemetry();
}
aprs_trigger_flag = 0;
#endif
/* Pips */
telemetry_start(TELEMETRY_PIPS, 0xFFFF);
/* Measure XOSC against gps timepulse */
/* ==== Disabled === */
//measure_xosc(XOSC_MEASURE_TIMEPULSE, xosc_measure_callback);
}
}
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