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esp32-ogn-tracker/main/ogn.h

1932 wiersze
94 KiB
C
Czysty Zwykły widok Historia

Initial code, basic functionality: transmit, receive, relay, display position
2018-01-29 12:43:22 +00:00
#ifndef __OGN_H__
#define __OGN_H__
#include <stdio.h>
#include <string.h>
#include <stdint.h>
#ifndef __AVR__
#include <time.h>
#endif
#include <math.h>
#include "intmath.h"
#include "bitcount.h"
#include "nmea.h"
#include "mavlink.h"
#include "ldpc.h"
#include "format.h"
/*
class OGN_SlowPacket // "slow packet" for transmitting position encoded in packet transmission times
{ public:
union
{ uint32_t Word[12]; // OGN packet as 32-bit words
uint8_t Byte[45]; // OGN packet as 8-bit bytes
struct // OGN packet as HeaderWord+Position+FEC
{ uint32_t Header; // ECRR PMTT AAAA AAAA AAAA AAAA AAAA AAAA
// E=Emergency, C=enCrypt/Custom, RR=Relay count, P=Parity, M=isMeteo/Telemetry, TT=address Type, AA..=Address:24-bit
// When enCrypt/Custom is set the data (position or whatever) can only be decoded by the owner
// This option is indented to pass any type of custom data not foreseen otheriwse
uint32_t Data[4];// 0: QQTT TTTT LLLL LLLL LLLL LLLL LLLL LLLL QQ=fix Quality:2, TTTTTT=time:6, LL..=Latitude:20
// 1: MBDD DDDD LLLL LLLL LLLL LLLL LLLL LLLL F=fixMode:1 B=isBaro:1, DDDDDD=DOP:6, LL..=Longitude:20
// 2: RRRR RRRR SSSS SSSS SSAA AAAA AAAA AAAA RR..=turn Rate:8, SS..=Speed:10, AA..=Alt:14
// 3: BBBB BBBB YYYY PCCC CCCC CCDD DDDD DDDD BB..=Baro altitude:8, YYYY=AcftType:4, P=Stealth:1, CC..=Climb:9, DD..=Heading:10
uint32_t FEC[7]; // Gallager code: 194 check bits for 160 user bits
} ;
} ;
*/
/*
class OGN_HardwareByte
{ public:
union
{ uint8_t Byte;
struct
{ uint8_t Baro:2; // 0=none, 1=BMP180, 2=BMP280, 3=MS5611
uint8_t RF :2; // 0=RFM69, 1=RFM95, 2=CC1101, ...
} ;
} ;
} ;
class OGN_FirmwareByte
{ public:
union
{ uint8_t Byte;
struct
{ uint8_t Revision:3;
uint8_t Version :3;
} ;
} ;
} ;
*/
// the packet description here is how it look on the little-endian CPU before sending it to the RF chip
// nRF905, CC1101, SPIRIT1, RFM69 chips actually reverse the bit order within every byte
// thus on the air the bits appear MSbit first for every byte transmitted
class OGN_Packet // Packet structure for the OGN tracker
{ public:
static const int Words = 5;
static const int Bytes = 20;
union
{ uint32_t HeaderWord; // ECRR PMTT AAAA AAAA AAAA AAAA AAAA AAAA
// E=Emergency, C=enCrypt/Custom, RR=Relay count, P=Parity, M=isMeteo/Other, TT=address Type, AA..=Address:24-bit
// When enCrypt/Custom is set the data (position or whatever) can only be decoded by the owner
// This option is indented to pass any type of custom data not foreseen otheriwse
struct
{ unsigned int Address :24; // aircraft address
unsigned int AddrType : 2; // address type: 0 = random, 1 = ICAO, 2 = FLARM, 3 = OGN
unsigned int Other : 1; // 0 = position packet, 1 = other information like status
unsigned int Parity : 1; // parity takes into account bits 0..27 thus only the 28 lowest bits
unsigned int RelayCount : 2; // 0 = direct packet, 1 = relayed once, 2 = relayed twice, ...
unsigned int Encrypted : 1; // packet is encrypted
unsigned int Emergency : 1; // aircraft in emergency (not used for now)
} Header ;
} ;
union
{ uint32_t Data[4]; // 0: QQTT TTTT LLLL LLLL LLLL LLLL LLLL LLLL QQ=fix Quality:2, TTTTTT=time:6, LL..=Latitude:20
// 1: MBDD DDDD LLLL LLLL LLLL LLLL LLLL LLLL F=fixMode:1 B=isBaro:1, DDDDDD=DOP:6, LL..=Longitude:20
// 2: RRRR RRRR SSSS SSSS SSAA AAAA AAAA AAAA RR..=turn Rate:8, SS..=Speed:10, AA..=Alt:14
// 3: BBBB BBBB YYYY PCCC CCCC CCDD DDDD DDDD BB..=Baro altitude:8, YYYY=AcftType:4, P=Stealth:1, CC..=Climb:9, DD..=Heading:10
// meteo/telemetry types: Meteo conditions, Thermal wind/climb, Device status, Precise time,
// meteo report: Humidity, Barometric pressure, Temperature, wind Speed/Direction
// 2: HHHH HHHH SSSS SSSS SSAA AAAA AAAA AAAA
// 3: TTTT TTTT YYYY BBBB BBBB BBDD DDDD DDDD YYYY = report tYpe (meteo, thermal, water level, other telemetry)
// Device status: Time, baro pressure+temperature, GPS altitude, supply voltage, TX power, RF noise, software version, software features, hardware features,
// 0: UUUU UUUU UUUU UUUU UUUU UUUU UUUU UUUU UU..=Unix time
// 1: SSSS SSSS SSSS SSSS TTTT TTTT HHHH HHHH SS..=slot time, TT..=temperature, HH..=humidity
// 2: BBBB BBBB BBBB BBBB BBAA AAAA AAAA AAAA Baro pressure[0.5Pa], GPS altitude
// 3: VVVV VVVV YYYY HHHH HHHH XXXX VVVV VVVV VV..=firmware version, YYYY = report type, TT..=Temperatature, XX..=TxPower, VV..=battery voltage
// Pilot status:
// 0: NNNN NNNN NNNN NNNN NNNN NNNN NNNN NNNN Name: 9 char x 7bit or 10 x 6bit or Huffman encoding ?
// 1: NNNN NNNN NNNN NNNN NNNN NNNN NNNN NNNN
struct
{ signed int Latitude:24; // // QQTT TTTT LLLL LLLL LLLL LLLL LLLL LLLL QQ=fix Quality:2, TTTTTT=time:6, LL..=Latitude:24
unsigned int Time: 6; // [sec] // time, just second thus ambiguity every every minute
unsigned int FixQuality: 2; // // 0 = none, 1 = GPS, 2 = Differential GPS (can be WAAS)
signed int Longitude:24; // // MBDD DDDD LLLL LLLL LLLL LLLL LLLL LLLL F=fixMode:1 B=isBaro:1, DDDDDD=DOP:6, LL..=Longitude:24
unsigned int DOP: 6; // // GPS Dilution of Precision
unsigned int BaroMSB: 1; // // negated bit #8 of the altitude difference between baro and GPS
unsigned int FixMode: 1; // // 0 = 2-D, 1 = 3-D
unsigned int Altitude:14; // [m] VR // RRRR RRRR SSSS SSSS SSAA AAAA AAAA AAAA RR..=turn Rate:8, SS..=Speed:10, AA..=Alt:14
unsigned int Speed:10; // [0.1m/s] VR
unsigned int TurnRate: 8; // [0.1deg/s] VR
unsigned int Heading:10; // [360/1024deg] // BBBB BBBB YYYY PCCC CCCC CCDD DDDD DDDD BB..=Baro altitude:8, YYYY=AcftType:4, P=Stealth:1, CC..=Climb:9, DD..=Heading:10
unsigned int ClimbRate: 9; // [0.1m/s] VR // rate of climb/decent from GPS or from baro sensor
unsigned int Stealth: 1; // // not really used till now
unsigned int AcftType: 4; // [0..15] // type of aircraft: 1 = glider, 2 = towplane, 3 = helicopter, ...
unsigned int BaroAltDiff: 8; // [m] // lower 8 bits of the altitude difference between baro and GPS
} Position;
struct
{ unsigned int Pulse : 8; // [bpm] // pilot: heart pulse rate
unsigned int Oxygen : 7; // [%] // pilot: oxygen level in the blood
unsigned int FEScurr : 5; // [A] // FES current
unsigned int RxRate : 4; // [/min] // log2 of received packet rate
unsigned int Time : 6; // [sec] // same as in the position packet
unsigned int FixQuality: 2;
unsigned int AudioNoise: 8; // [dB] //
unsigned int RadioNoise: 8; // [dBm] // noise seen by the RF chip
unsigned int Temperature:9; // [0.1degC] VR // temperature by the baro or RF chip
unsigned int Humidity : 7; // [%] // humidity
unsigned int Altitude :14; // [m] VR // same as in the position packet
unsigned int Pressure :14; // [0.08hPa] // barometric pressure
unsigned int Satellites: 4; // [ ]
unsigned int Firmware : 8; // [ ] // firmware version
unsigned int Hardware : 8; // [ ] // hardware version
unsigned int TxPower : 4; // [dBm] // RF trancmitter power
Add pressure sensor support, push I2C to HAL, major files identical to STM32 code for easy passing of new features
2018-02-25 18:47:03 +00:00
unsigned int ReportType: 4; // [0] // 0 for the status report
Initial code, basic functionality: transmit, receive, relay, display position
2018-01-29 12:43:22 +00:00
unsigned int Voltage : 8; // [1/64V] VR // supply/battery voltage
} Status;
Add pressure sensor support, push I2C to HAL, major files identical to STM32 code for easy passing of new features
2018-02-25 18:47:03 +00:00
struct
{ uint8_t Data[14]; // [16x7bit]packed string of 16-char: 7bit/char
unsigned int DataChars: 4; // [int] number of characters in the packed string
unsigned int ReportType: 4; // [1] // 1 for the Info packets
uint8_t Check; // CRC check
} Info;
struct
{ signed int Latitude:24; // // Latitude of the measurement
unsigned int Time: 6; // [sec] // time, just second thus ambiguity every every minute
unsigned int : 2; // // spare
signed int Longitude:24; // // Longitude of the measurement
unsigned int : 6; // // spare
unsigned int BaroMSB: 1; // // negated bit #8 of the altitude difference between baro and GPS
unsigned int : 1; // // spare
unsigned int Altitude:14; // [m] VR // Altitude of the measurement
unsigned int Speed:10; // [0.1m/s] VR // Horizontal wind speed
unsigned int : 8; // // spare
unsigned int Heading:10; // // Wind direction
unsigned int ClimbRate: 9; // [0.1m/s] VR // Vertical wind speed
unsigned int : 1; // // spare
unsigned int ReportType: 4; // // 2 for wind/thermal report
unsigned int BaroAltDiff: 8; // [m] // lower 8 bits of the altitude difference between baro and GPS
} Wind;
Initial code, basic functionality: transmit, receive, relay, display position
2018-01-29 12:43:22 +00:00
} ;
uint8_t *Byte(void) const { return (uint8_t *)&HeaderWord; } // packet as bytes
uint32_t *Word(void) const { return (uint32_t *)&HeaderWord; } // packet as words
// void recvBytes(const uint8_t *SrcPacket) { memcpy(Byte(), SrcPacket, Bytes); } // load data bytes e.g. from a demodulator
#ifdef __AVR__
#endif
#ifndef __AVR__
void Dump(void) const
{ printf("%08lX: %08lX %08lX %08lX %08lX\n",
(long int)HeaderWord, (long int)Data[0], (long int)Data[1],
(long int)Data[2], (long int)Data[3] ); }
void DumpBytes(void) const
{ for(uint8_t Idx=0; Idx<Bytes; Idx++)
{ printf(" %02X", Byte()[Idx]); }
printf("\n"); }
int WriteDeviceStatus(char *Out)
{ return sprintf(Out, " h%02X v%02X %dsat/%d %ldm %3.1fhPa %+4.1fdegC %d%% %4.2fV %d/%+4.1fdBm %d/min",
Status.Hardware, Status.Firmware, Status.Satellites, Status.FixQuality, (long int)DecodeAltitude(), 0.08*Status.Pressure, 0.1*DecodeTemperature(), Status.Humidity,
(1.0/64)*DecodeVoltage(), Status.TxPower+4, -0.5*Status.RadioNoise, (1<<Status.RxRate)-1 );
}
void Print(void) const
{ if(!Header.Other) { PrintPosition(); return; }
if(Status.ReportType==0) { PrintDeviceStatus(); return; }
}
void PrintDeviceStatus(void) const
{ printf("%c:%06lX R%c%c %02ds:",
'0'+Header.AddrType, (long int)Header.Address, '0'+Header.RelayCount, Header.Emergency?'E':' ', Status.Time);
printf(" h%02X v%02X %dsat/%d %ldm %3.1fhPa %+4.1fdegC %d%% %4.2fV Tx:%ddBm Rx:%+4.1fdBm %d/min",
Status.Hardware, Status.Firmware, Status.Satellites, Status.FixQuality, (long int)DecodeAltitude(), 0.08*Status.Pressure, 0.1*DecodeTemperature(), Status.Humidity,
(1.0/64)*DecodeVoltage(), Status.TxPower+4, -0.5*Status.RadioNoise, (1<<Status.RxRate)-1 );
printf("\n");
}
void PrintPosition(void) const
{ printf("%c%X:%c:%06lX R%c%c",
Position.Stealth ?'s':' ', (int)Position.AcftType, '0'+Header.AddrType, (long int)Header.Address, '0'+Header.RelayCount,
Header.Emergency?'E':' ');
printf(" %d/%dD/%4.1f", (int)Position.FixQuality, (int)Position.FixMode+2, 0.1*(10+DecodeDOP()) );
if(Position.Time<60) printf(" %02ds:", (int)Position.Time);
else printf(" ---:");
printf(" [%+10.6f, %+11.6f]deg %ldm",
0.0001/60*DecodeLatitude(), 0.0001/60*DecodeLongitude(), (long int)DecodeAltitude() );
if(hasBaro())
{ printf("[%+dm]", (int)getBaroAltDiff() ); }
printf(" %3.1fm/s %05.1fdeg %+4.1fm/s %+4.1fdeg/s",
0.1*DecodeSpeed(), 0.1*DecodeHeading(), 0.1*DecodeClimbRate(), 0.1*DecodeTurnRate() );
printf("\n");
}
Correct the unique ID, add some string-valued parameters
2018-02-18 14:41:50 +00:00
void Encode(MAV_ADSB_VEHICLE *MAV)
Debugging the MAVlink interface
2018-05-19 01:03:18 +00:00
{ MAV->ICAO_address = Header.Address;
MAV->lat = ((int64_t)50*DecodeLatitude()+1)/3; // convert coordinates to [1e-7deg]
MAV->lon = ((int64_t)50*DecodeLongitude()+1)/3;
MAV->altitude = 1000*DecodeAltitude(); // convert to [mm[
MAV->heading = 10*DecodeHeading(); // [cdeg/s]
MAV->hor_velocity = 10*DecodeSpeed(); // [cm/s]
MAV->ver_velocity = 10*DecodeClimbRate(); // [cm/s]
MAV->flags = 0x1F; // all valid except for Squawk, not simulated
MAV->altitude_type = 1; // GPS altitude
static char Prefix[4] = { 'R', 'I', 'F', 'O' }; // prefix for Random, ICAO, Flarm and OGN address-types
MAV->callsign[0] = Prefix[Header.AddrType]; // create a call-sign from address-type and address
Format_Hex((char *)MAV->callsign+1, ( uint8_t)(Header.Address>>16)); // highest byte
Format_Hex((char *)MAV->callsign+3, (uint16_t)(Header.Address&0xFFFF)); // two lower bytes
MAV->callsign[7] = 0; // end-of-string for call-sign
MAV->squawk = 0; // what shall we put there for OGN ?
MAV->tslc = 1; // 1sec for now but should be more precise
MAV->emiter_type = 0; // could be more precise
}
Initial code, basic functionality: transmit, receive, relay, display position
2018-01-29 12:43:22 +00:00
int8_t ReadAPRS(const char *Msg) // read an APRS position message
{ Clear();
const char *Data = strchr(Msg, ':'); if(Data==0) return -1; // where the time/position data starts
Data++;
const char *Dest = strchr(Msg, '>'); if(Dest==0) return -1; // where the destination call is
Dest++;
const char *Comma = strchr(Dest, ','); // the first comma after the destination call
Position.AcftType=0xF;
uint8_t AddrType;
uint32_t Address;
if(memcmp(Msg, "RND", 3)==0) AddrType=0;
else if(memcmp(Msg, "ICA", 3)==0) AddrType=1;
else if(memcmp(Msg, "FLR", 3)==0) AddrType=2;
else if(memcmp(Msg, "OGN", 3)==0) AddrType=3;
else AddrType=4;
if(AddrType<4)
{ if(Read_Hex(Address, Msg+3)==6) Header.Address=Address;
Header.AddrType=AddrType; }
if(Comma)
{ if(memcmp(Comma+1, "RELAY*" , 6)==0) Header.RelayCount=1;
else if(Comma[10]=='*') Header.RelayCount=1;
}
if(Data[0]!='/') return -1;
int8_t Time;
if(Data[7]=='h') // HHMMSS UTC time
{ Time=Read_Dec2(Data+5); if(Time<0) return -1; }
else if(Data[7]=='z') // DDHHMM UTC time
{ Time=0; }
else return -1;
Position.Time=Time;
Data+=8;
Position.FixMode=1;
Position.FixQuality=1;
EncodeDOP(0xFF);
int8_t LatDeg = Read_Dec2(Data); if(LatDeg<0) return -1;
int8_t LatMin = Read_Dec2(Data+2); if(LatMin<0) return -1;
if(Data[4]!='.') return -1;
int8_t LatFrac = Read_Dec2(Data+5); if(LatFrac<0) return -1;
int32_t Latitude = (int32_t)LatDeg*600000 + (int32_t)LatMin*10000 + (int32_t)LatFrac*100;
char LatSign = Data[7];
Data+=8+1;
int16_t LonDeg = Read_Dec3(Data); if(LonDeg<0) return -1;
int8_t LonMin = Read_Dec2(Data+3); if(LonMin<0) return -1;
if(Data[5]!='.') return -1;
int8_t LonFrac = Read_Dec2(Data+6); if(LonFrac<0) return -1;
int32_t Longitude = (int32_t)LonDeg*600000 + (int32_t)LonMin*10000 + (int32_t)LonFrac*100;
char LonSign = Data[8];
Data+=9+1;
int16_t Speed=0;
int16_t Heading=0;
if(Data[3]=='/')
{ Heading=Read_Dec3(Data);
Speed=Read_Dec3(Data+4);
Data+=7; }
EncodeHeading(Heading*10);
EncodeSpeed(((int32_t)Speed*337146+0x8000)>>16);
uint32_t Altitude=0;
if( (Data[0]=='/') && (Data[1]=='A') && (Data[2]=='=') && (Read_UnsDec(Altitude, Data+3)==6) )
{ Altitude = (3*Altitude+5)/10;
Data+=9; }
EncodeAltitude(Altitude);
for( ; ; )
{ if(Data[0]!=' ') break;
Data++;
if( (Data[0]=='!') && (Data[1]=='W') && (Data[4]=='!') )
{ Latitude += (Data[2]-'0')*10;
Longitude += (Data[3]-'0')*10;
Data+=5; continue; }
if( (Data[0]=='i') && (Data[1]=='d') )
{ uint32_t ID; Read_Hex(ID, Data+2);
Header.Address = ID&0x00FFFFFF;
Header.AddrType = (ID>>24)&0x03;
Position.AcftType = (ID>>26)&0x0F;
Position.Stealth = ID>>31;
Data+=10; continue; }
if( (Data[0]=='F') && (Data[1]=='L') && (Data[5]=='.') )
{ int16_t FLdec=Read_Dec3(Data+2);
int16_t FLfrac=Read_Dec2(Data+6);
if( (FLdec>=0) && (FLfrac>=0) )
{ uint32_t StdAlt = FLdec*100+FLfrac;
StdAlt = (StdAlt*3+5)/10;
EncodeStdAltitude(StdAlt); }
Data+=8; continue; }
if( (Data[0]=='+') || (Data[0]=='-') )
{ int32_t Value; int8_t Len=Read_Float1(Value, Data);
if(Len>0)
{ Data+=Len;
if(memcmp(Data, "fpm", 3)==0) { EncodeClimbRate(Value/200); Data+=3; continue; }
if(memcmp(Data, "rot", 3)==0) { EncodeTurnRate(3*Value); Data+=3; continue; }
}
}
if( (Data[0]=='g') && (Data[1]=='p') && (Data[2]=='s') )
{ int16_t HorPrec=Read_Dec2(Data+3);
if(HorPrec<0) HorPrec=Read_Dec1(Data[3]);
if(HorPrec>=0)
{ uint16_t DOP=HorPrec*5; if(DOP<10) DOP=10; else if(DOP>230) DOP=230;
EncodeDOP(DOP-10); Data+=5; }
}
while(Data[0]>' ') Data++;
}
if(LatSign=='S') Latitude=(-Latitude); else if(LatSign!='N') return -1;
EncodeLatitude(Latitude);
if(LonSign=='W') Longitude=(-Longitude); else if(LonSign!='E') return -1;
EncodeLongitude(Longitude);
return 0; }
#endif // __AVR__
// calculate distance vector [LatDist, LonDist] from a given reference [RefLat, Reflon]
int calcDistanceVector(int32_t &LatDist, int32_t &LonDist, int32_t RefLat, int32_t RefLon, uint16_t LatCos=3000, int32_t MaxDist=0x7FFF)
{ LatDist = ((DecodeLatitude()-RefLat)*1517+0x1000)>>13; // convert from 1/600000deg to meters (40000000m = 360deg) => x 5/27 = 1517/(1<<13)
if(abs(LatDist)>MaxDist) return -1;
LonDist = ((DecodeLongitude()-RefLon)*1517+0x1000)>>13;
if(abs(LonDist)>(4*MaxDist)) return -1;
LonDist = (LonDist*LatCos+0x800)>>12;
if(abs(LonDist)>MaxDist) return -1;
return 1; }
// sets position [Lat, Lon] according to given distance vector [LatDist, LonDist] from a reference point [RefLat, RefLon]
void setDistanceVector(int32_t LatDist, int32_t LonDist, int32_t RefLat, int32_t RefLon, uint16_t LatCos=3000)
{ EncodeLatitude(RefLat+(LatDist*27)/5);
LonDist = (LonDist<<12)/LatCos; // LonDist/=cosine(Latitude)
EncodeLongitude(RefLon+(LonDist*27)/5); }
// Centripetal acceleration
static int16_t calcCPaccel(int16_t Speed, int16_t TurnRate) { return ((int32_t)TurnRate*Speed*229+0x10000)>>17; } // [0.1m/s^2]
int16_t calcCPaccel(void) { return calcCPaccel(DecodeSpeed(), DecodeTurnRate()); }
// Turn radius
static int16_t calcTurnRadius(int16_t Speed, int16_t TurnRate, int16_t MaxRadius=0x7FFF) // [m]
{ if(TurnRate==0) return 0;
int32_t Radius = 14675*Speed;
Radius /= TurnRate; Radius = (Radius+128)>>8;
if(abs(Radius)>MaxRadius) return 0;
return Radius; }
int16_t calcTurnRadius(int16_t MaxRadius=0x7FFF) { return calcTurnRadius(DecodeSpeed(), DecodeTurnRate(), MaxRadius); }
// uint8_t WritePFLAA(char *NMEA, uint8_t Status, GPS_Position &Position)
// { return WritePFLAA(NMEA, uint8_t Status, Position.Latitude, Position.Longitude, (Position.Altitude+5)/10, Position.LatitudeCosine); }
// produce PFLAA sentence (relative position) from a reference point [RefLat, RefLon]
uint8_t WritePFLAA(char *NMEA, uint8_t Status, int32_t RefLat, int32_t RefLon, int32_t RefAlt, uint16_t LatCos)
{ int32_t LatDist=0, LonDist=0;
if(calcDistanceVector(LatDist, LonDist, RefLat, RefLon, LatCos)<0) return 0; // return zero, when distance too large
int32_t AltDist = DecodeAltitude()-RefAlt;
return WritePFLAA(NMEA, Status, LatDist, LonDist, AltDist, Status); } // return number of formatted characters
uint8_t WritePFLAA(char *NMEA, uint8_t Status, int32_t LatDist, int32_t LonDist, int32_t AltDist)
{ uint8_t Len=0;
Len+=Format_String(NMEA+Len, "$PFLAA,"); // sentence name and alarm-level (but no alarms for trackers)
NMEA[Len++]='0'+Status;
NMEA[Len++]=',';
Len+=Format_SignDec(NMEA+Len, LatDist);
NMEA[Len++]=',';
Len+=Format_SignDec(NMEA+Len, LonDist);
NMEA[Len++]=',';
Len+=Format_SignDec(NMEA+Len, AltDist); // [m] relative altitude
NMEA[Len++]=',';
NMEA[Len++]='0'+Header.AddrType; // address-type (3=OGN)
NMEA[Len++]=',';
uint32_t Addr = Header.Address; // [24-bit] address
Len+=Format_Hex(NMEA+Len, (uint8_t)(Addr>>16)); // XXXXXX 24-bit address: RND, ICAO, FLARM, OGN
Len+=Format_Hex(NMEA+Len, (uint16_t)Addr);
NMEA[Len++]=',';
Len+=Format_UnsDec(NMEA+Len, DecodeHeading(), 4, 1); // [deg] heading (by GPS)
NMEA[Len++]=',';
Len+=Format_SignDec(NMEA+Len, DecodeTurnRate(), 2, 1); // [deg/sec] turn rate
NMEA[Len++]=',';
Len+=Format_UnsDec(NMEA+Len, DecodeSpeed(), 2, 1); // [approx. m/s] ground speed
NMEA[Len++]=',';
Len+=Format_SignDec(NMEA+Len, DecodeClimbRate(), 2, 1); // [m/s] climb/sink rate
NMEA[Len++]=',';
NMEA[Len++]=HexDigit(Position.AcftType); // [0..F] aircraft-type: 1=glider, 2=tow plane, etc.
Len+=NMEA_AppendCheckCRNL(NMEA, Len);
NMEA[Len]=0;
return Len; } // return number of formatted characters
uint8_t Print(char *Out) const
{ uint8_t Len=0;
Out[Len++]=HexDigit(Position.AcftType); Out[Len++]=':';
Out[Len++]='0'+Header.AddrType; Out[Len++]=':';
uint32_t Addr = Header.Address;
Len+=Format_Hex(Out+Len, (uint8_t)(Addr>>16));
Len+=Format_Hex(Out+Len, (uint16_t)Addr);
Out[Len++]=' ';
// Len+=Format_SignDec(Out+Len, -(int16_t)RxRSSI/2); Out[Len++]='d'; Out[Len++]='B'; Out[Len++]='m';
// Out[Len++]=' ';
Len+=Format_UnsDec(Out+Len, (uint16_t)Position.Time, 2);
Out[Len++]=' ';
Len+=PrintLatitude(Out+Len, DecodeLatitude());
Out[Len++]=' ';
Len+=PrintLongitude(Out+Len, DecodeLongitude());
Out[Len++]=' ';
Len+=Format_UnsDec(Out+Len, (uint32_t)DecodeAltitude()); Out[Len++]='m';
Out[Len++]=' ';
Len+=Format_UnsDec(Out+Len, DecodeSpeed(), 2, 1); Out[Len++]='m'; Out[Len++]='/'; Out[Len++]='s';
Out[Len++]=' ';
Len+=Format_SignDec(Out+Len, DecodeClimbRate(), 2, 1); Out[Len++]='m'; Out[Len++]='/'; Out[Len++]='s';
Out[Len++]='\n'; Out[Len]=0;
return Len; }
static uint8_t PrintLatitude(char *Out, int32_t Lat)
{ uint8_t Len=0;
char Sign='N';
if(Lat<0) { Sign='S'; Lat=(-Lat); }
uint32_t Deg=Lat/600000;
Lat -= 600000*Deg;
Len+=Format_UnsDec(Out+Len, Deg, 2, 0);
Len+=Format_UnsDec(Out+Len, Lat, 6, 4);
Out[Len++]=Sign;
return Len; }
static uint8_t PrintLongitude(char *Out, int32_t Lon)
{ uint8_t Len=0;
char Sign='E';
if(Lon<0) { Sign='W'; Lon=(-Lon); }
uint32_t Deg=Lon/600000;
Lon -= 600000*Deg;
Len+=Format_UnsDec(Out+Len, Deg, 3, 0);
Len+=Format_UnsDec(Out+Len, Lon, 6, 4);
Out[Len++]=Sign;
return Len; }
// OGN_Packet() { Clear(); }
void Clear(void) { HeaderWord=0; Data[0]=0; Data[1]=0; Data[2]=0; Data[3]=0; }
uint32_t getAddressAndType(void) const { return HeaderWord&0x03FFFFFF; } // Address with address-type: 26-bit
void setAddressAndType(uint32_t AddrAndType) { HeaderWord = (HeaderWord&0xFC000000) | (AddrAndType&0x03FFFFFF); }
bool goodAddrParity(void) const { return ((Count1s(HeaderWord&0x0FFFFFFF)&1)==0); } // Address parity should be EVEN
void calcAddrParity(void) { if(!goodAddrParity()) HeaderWord ^= 0x08000000; } // if not correct parity, flip the parity bit
bool hasBaro(void) const { return Position.BaroMSB || Position.BaroAltDiff; }
void clrBaro(void) { Position.BaroMSB=0; Position.BaroAltDiff=0; }
int16_t getBaroAltDiff(void) const { int16_t AltDiff=Position.BaroAltDiff; if(Position.BaroMSB==0) AltDiff|=0xFF00; return AltDiff; }
Add pressure sensor support, push I2C to HAL, major files identical to STM32 code for easy passing of new features
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void setBaroAltDiff(int32_t AltDiff)
Initial code, basic functionality: transmit, receive, relay, display position
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{ if(AltDiff<(-255)) AltDiff=(-255); else if(AltDiff>255) AltDiff=255;
Position.BaroMSB = (AltDiff&0xFF00)==0; Position.BaroAltDiff=AltDiff&0xFF; }
void EncodeStdAltitude(int32_t StdAlt) { setBaroAltDiff((StdAlt-DecodeAltitude())); }
int32_t DecodeStdAltitude(void) const { return (DecodeAltitude()+getBaroAltDiff()); }
static uint16_t EncodeUR2V8(uint16_t Value) // Encode unsigned 12bit (0..3832) as 10bit
{ if(Value<0x100) { }
else if(Value<0x300) Value = 0x100 | ((Value-0x100)>>1);
else if(Value<0x700) Value = 0x200 | ((Value-0x300)>>2);
else if(Value<0xF00) Value = 0x300 | ((Value-0x700)>>3);
else Value = 0x3FF;
return Value; }
static uint16_t DecodeUR2V8(uint16_t Value) // Decode 10bit 0..0x3FF
{ uint16_t Range = Value>>8;
Value &= 0x0FF;
if(Range==0) return Value; // 000..0FF
if(Range==1) return 0x101+(Value<<1); // 100..2FE
if(Range==2) return 0x302+(Value<<2); // 300..6FC
return 0x704+(Value<<3); } // 700..EF8 // in 12bit (0..3832)
static uint8_t EncodeUR2V5(uint16_t Value) // Encode unsigned 9bit (0..472) as 7bit
{ if(Value<0x020) { }
else if(Value<0x060) Value = 0x020 | ((Value-0x020)>>1);
else if(Value<0x0E0) Value = 0x040 | ((Value-0x060)>>2);
else if(Value<0x1E0) Value = 0x060 | ((Value-0x0E0)>>3);
else Value = 0x07F;
return Value; }
static uint16_t DecodeUR2V5(uint16_t Value) // Decode 7bit as unsigned 9bit (0..472)
{ uint8_t Range = (Value>>5)&0x03;
Value &= 0x1F;
if(Range==0) { } // 000..01F
else if(Range==1) { Value = 0x021+(Value<<1); } // 020..05E
else if(Range==2) { Value = 0x062+(Value<<2); } // 060..0DC
else { Value = 0x0E4+(Value<<3); } // 0E0..1D8 => max. Value = 472
return Value; }
static uint8_t EncodeSR2V5(int16_t Value) // Encode signed 10bit (-472..+472) as 8bit
{ uint8_t Sign=0; if(Value<0) { Value=(-Value); Sign=0x80; }
Value = EncodeUR2V5(Value);
return Value | Sign; }
static int16_t DecodeSR2V5( int16_t Value) // Decode
{ int16_t Sign = Value&0x80;
Value = DecodeUR2V5(Value&0x7F);
return Sign ? -Value: Value; }
static uint16_t EncodeUR2V6(uint16_t Value) // Encode unsigned 10bit (0..952) as 8 bit
{ if(Value<0x040) { }
else if(Value<0x0C0) Value = 0x040 | ((Value-0x040)>>1);
else if(Value<0x1C0) Value = 0x080 | ((Value-0x0C0)>>2);
else if(Value<0x3C0) Value = 0x0C0 | ((Value-0x1C0)>>3);
else Value = 0x0FF;
return Value; }
static uint16_t DecodeUR2V6(uint16_t Value) // Decode 8bit as unsigned 10bit (0..952)
{ uint16_t Range = (Value>>6)&0x03;
Value &= 0x3F;
if(Range==0) { } // 000..03F
else if(Range==1) { Value = 0x041+(Value<<1); } // 040..0BE
else if(Range==2) { Value = 0x0C2+(Value<<2); } // 0C0..1BC
else { Value = 0x1C4+(Value<<3); } // 1C0..3B8 => max. Value = 952
return Value; }
static uint16_t EncodeSR2V6(int16_t Value) // Encode signed 11bit (-952..+952) as 9bit
{ uint16_t Sign=0; if(Value<0) { Value=(-Value); Sign=0x100; }
Value = EncodeUR2V6(Value);
return Value | Sign; }
static int16_t DecodeSR2V6( int16_t Value) // Decode 9bit as signed 11bit (-952..+952)
{ int16_t Sign = Value&0x100;
Value = DecodeUR2V6(Value&0x00FF);
return Sign ? -Value: Value; }
void EncodeLatitude(int32_t Latitude) // encode Latitude: units are 0.0001/60 degrees
{ Position.Latitude = Latitude>>3; }
int32_t DecodeLatitude(void) const
{ int32_t Latitude = Position.Latitude;
// if(Latitude&0x00800000) Latitude|=0xFF000000;
Latitude = (Latitude<<3)+4; return Latitude; }
void EncodeLongitude(int32_t Longitude) // encode Longitude: units are 0.0001/60 degrees
{ Position.Longitude = Longitude>>=4; }
int32_t DecodeLongitude(void) const
{ int32_t Longitude = Position.Longitude;
// if(Longitude&0x00800000) Longitude|=0xFF000000;
Longitude = (Longitude<<4)+8; return Longitude; }
static uint16_t EncodeUR2V12(uint16_t Value) // encode unsigned 16-bit (0..61432) as 14-bit
{ if(Value<0x1000) { }
else if(Value<0x3000) Value = 0x1000 | ((Value-0x1000)>>1);
else if(Value<0x7000) Value = 0x2000 | ((Value-0x3000)>>2);
else if(Value<0xF000) Value = 0x3000 | ((Value-0x7000)>>3);
else Value = 0x3FFF;
return Value; }
static uint16_t DecodeUR2V12(uint16_t Value)
{ uint16_t Range = Value>>12;
Value &=0x0FFF;
if(Range==0) return Value; // 0000..0FFF
if(Range==1) return 0x1001+(Value<<1); // 1000..2FFE
if(Range==2) return 0x3002+(Value<<2); // 3000..6FFC
return 0x7004+(Value<<3); } // 7000..EFF8 => max: 61432
void EncodeAltitude(int32_t Altitude) // encode altitude in meters
{ if(Altitude<0) Altitude=0;
Position.Altitude = EncodeUR2V12((uint16_t)Altitude); }
int32_t DecodeAltitude(void) const // return Altitude in meters
{ return DecodeUR2V12(Position.Altitude); }
void EncodeDOP(uint8_t DOP)
Add more info-parameters, BME280 support, remove I2C mutex
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{ // if(DOP<0) DOP=0;
if(DOP<0x10) { }
Initial code, basic functionality: transmit, receive, relay, display position
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else if(DOP<0x30) DOP = 0x10 | ((DOP-0x10)>>1);
else if(DOP<0x70) DOP = 0x20 | ((DOP-0x30)>>2);
else if(DOP<0xF0) DOP = 0x30 | ((DOP-0x70)>>3);
else DOP = 0x3F;
Position.DOP = DOP; }
uint8_t DecodeDOP(void) const
{ uint8_t DOP = Position.DOP;
uint8_t Range = DOP>>4;
DOP &= 0x0F;
if(Range==0) return DOP; // 00..0F
if(Range==1) return 0x11+(DOP<<1); // 10..2E
if(Range==2) return 0x32+(DOP<<2); // 30..6C
return 0x74+(DOP<<3); } // 70..E8 => max. DOP = 232*0.1=23.2
void EncodeSpeed(int16_t Speed) // speed in 0.2 knots (or 0.1m/s)
{ if(Speed<0) Speed=0;
else Speed=EncodeUR2V8(Speed);
Position.Speed = Speed; }
int16_t DecodeSpeed(void) const // return speed in 0.2 knots or 0.1m/s units
{ return DecodeUR2V8(Position.Speed); } // => max. speed: 3832*0.2 = 766 knots
int16_t DecodeHeading(void) const // return Heading in 0.1 degree units 0..359.9 deg
{ int32_t Heading = Position.Heading;
return (Heading*3600+512)>>10; }
void EncodeHeading(int16_t Heading)
{ Position.Heading = (((int32_t)Heading<<10)+180)/3600; }
void setHeadingAngle(uint16_t HeadingAngle)
{ Position.Heading = (((HeadingAngle+32)>>6)); }
uint16_t getHeadingAngle(void) const
{ return (uint16_t)Position.Heading<<6; }
void EncodeTurnRate(int16_t Turn) // [0.1 deg/sec]
{ Position.TurnRate = EncodeSR2V5(Turn); }
int16_t DecodeTurnRate(void) const
{ return DecodeSR2V5(Position.TurnRate); }
void EncodeClimbRate(int16_t Climb)
{ Position.ClimbRate = EncodeSR2V6(Climb); }
int16_t DecodeClimbRate(void) const
{ return DecodeSR2V6(Position.ClimbRate); }
// --------------------------------------------------------------------------------------------------------------
// Status fields
void EncodeTemperature(int16_t Temp) { Status.Temperature=EncodeSR2V5(Temp-200); } // [0.1degC]
int16_t DecodeTemperature(void) const { return 200+DecodeSR2V5(Status.Temperature); }
void EncodeVoltage(uint16_t Voltage) { Status.Voltage=EncodeUR2V6(Voltage); } // [1/64V]
uint16_t DecodeVoltage(void) const { return DecodeUR2V6(Status.Voltage); }
// --------------------------------------------------------------------------------------------------------------
Add pressure sensor support, push I2C to HAL, major files identical to STM32 code for easy passing of new features
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// Info fields: pack and unpack 7-bit char into the Info packets
void setInfoChar(uint8_t Char, uint8_t Idx) // put 7-bit Char onto give position
{ if(Idx>=16) return;
Char&=0x7F;
uint8_t BitIdx = Idx*7; // [bits] bit index to the target field
Idx = BitIdx>>3; // [bytes] index of the first byte to change
uint8_t Ofs = BitIdx&0x07;
if(Ofs==0) { Info.Data[Idx] = (Info.Data[Idx]&0x80) | Char ; return; }
if(Ofs==1) { Info.Data[Idx] = (Info.Data[Idx]&0x01) | (Char<<1) ; return; }
uint8_t Len1 = 8-Ofs;
uint8_t Len2 = Ofs-1;
uint8_t Msk1 = 0xFF; Msk1<<=Ofs;
uint8_t Msk2 = 0x01; Msk2 = (Msk2<<Len2)-1;
Info.Data[Idx ] = (Info.Data[Idx ]&(~Msk1)) | (Char<<Ofs);
Info.Data[Idx+1] = (Info.Data[Idx+1]&(~Msk2)) | (Char>>Len1); }
uint8_t getInfoChar(uint8_t Idx) // get 7-bit Char from given position
{ if(Idx>=16) return 0;
uint8_t BitIdx = Idx*7; // [bits] bit index to the target field
Idx = BitIdx>>3; // [bytes] index of the first byte to change
uint8_t Ofs = BitIdx&0x07;
if(Ofs==0) return Info.Data[Idx]&0x7F;
if(Ofs==1) return Info.Data[Idx]>>1;
uint8_t Len = 8-Ofs;
return (Info.Data[Idx]>>Ofs) | ((Info.Data[Idx+1]<<Len)&0x7F); }
// --------------------------------------------------------------------------------------------------------------
Initial code, basic functionality: transmit, receive, relay, display position
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// void Whiten (void) { TEA_Encrypt(Position, OGN_WhitenKey, 4); TEA_Encrypt(Position+2, OGN_WhitenKey, 4); } // whiten the position
// void Dewhiten(void) { TEA_Decrypt(Position, OGN_WhitenKey, 4); TEA_Decrypt(Position+2, OGN_WhitenKey, 4); } // de-whiten the position
void Whiten (void) { TEA_Encrypt_Key0(Data, 8); TEA_Encrypt_Key0(Data+2, 8); } // whiten the position
void Dewhiten(void) { TEA_Decrypt_Key0(Data, 8); TEA_Decrypt_Key0(Data+2, 8); } // de-whiten the position
static void TEA_Encrypt (uint32_t* Data, const uint32_t *Key, int Loops=4)
{ uint32_t v0=Data[0], v1=Data[1]; // set up
const uint32_t delta=0x9e3779b9; uint32_t sum=0; // a key schedule constant
uint32_t k0=Key[0], k1=Key[1], k2=Key[2], k3=Key[3]; // cache key
for (int i=0; i < Loops; i++) // basic cycle start
{ sum += delta;
v0 += ((v1<<4) + k0) ^ (v1 + sum) ^ ((v1>>5) + k1);
v1 += ((v0<<4) + k2) ^ (v0 + sum) ^ ((v0>>5) + k3); } // end cycle
Data[0]=v0; Data[1]=v1;
}
static void TEA_Decrypt (uint32_t* Data, const uint32_t *Key, int Loops=4)
{ uint32_t v0=Data[0], v1=Data[1]; // set up
const uint32_t delta=0x9e3779b9; uint32_t sum=delta*Loops; // a key schedule constant
uint32_t k0=Key[0], k1=Key[1], k2=Key[2], k3=Key[3]; // cache key
for (int i=0; i < Loops; i++) // basic cycle start */
{ v1 -= ((v0<<4) + k2) ^ (v0 + sum) ^ ((v0>>5) + k3);
v0 -= ((v1<<4) + k0) ^ (v1 + sum) ^ ((v1>>5) + k1);
sum -= delta; } // end cycle
Data[0]=v0; Data[1]=v1;
}
static void TEA_Encrypt_Key0 (uint32_t* Data, int Loops=4)
{ uint32_t v0=Data[0], v1=Data[1]; // set up
const uint32_t delta=0x9e3779b9; uint32_t sum=0; // a key schedule constant
for (int i=0; i < Loops; i++) // basic cycle start
{ sum += delta;
v0 += (v1<<4) ^ (v1 + sum) ^ (v1>>5);
v1 += (v0<<4) ^ (v0 + sum) ^ (v0>>5); } // end cycle
Data[0]=v0; Data[1]=v1;
}
static void TEA_Decrypt_Key0 (uint32_t* Data, int Loops=4)
{ uint32_t v0=Data[0], v1=Data[1]; // set up
const uint32_t delta=0x9e3779b9; uint32_t sum=delta*Loops; // a key schedule constant
for (int i=0; i < Loops; i++) // basic cycle start */
{ v1 -= (v0<<4) ^ (v0 + sum) ^ (v0>>5);
v0 -= (v1<<4) ^ (v1 + sum) ^ (v1>>5);
sum -= delta; } // end cycle
Data[0]=v0; Data[1]=v1;
}
static uint8_t Gray(uint8_t Binary) { return Binary ^ (Binary>>1); }
static uint8_t Binary(uint8_t Gray)
{ Gray = Gray ^ (Gray >> 4);
Gray = Gray ^ (Gray >> 2);
Gray = Gray ^ (Gray >> 1);
return Gray; }
uint8_t getTxSlot(uint8_t Idx) const // Idx=0..15
{ const uint32_t *DataPtr = Data;
uint32_t Mask=1; Mask<<=Idx;
uint8_t Slot=0;
for(uint8_t Bit=0; Bit<6; Bit++)
{ Slot>>=1;
if(DataPtr[Bit]&Mask) Slot|=0x20;
Mask<<=1; Slot>>=1; }
return Gray(Slot); }
} ;
// ---------------------------------------------------------------------------------------------------------------------
class OGN_TxPacket // OGN packet with FEC code, like for transmission
{ public:
static const int Words = 7;
static const int Bytes = 26;
OGN_Packet Packet; // OGN packet
uint32_t FEC[2]; // Gallager code: 48 check bits for 160 user bits
public:
uint8_t Print(char *Out)
{ uint8_t Len=0;
Out[Len++]=HexDigit(Packet.Position.AcftType); Out[Len++]=':';
Out[Len++]='0'+Packet.Header.AddrType; Out[Len++]=':';
uint32_t Addr = Packet.Header.Address;
Len+=Format_Hex(Out+Len, (uint8_t)(Addr>>16));
Len+=Format_Hex(Out+Len, (uint16_t)Addr);
Out[Len++]=' ';
Len+=Format_UnsDec(Out+Len, (uint16_t)Packet.Position.Time, 2);
Out[Len++]=' ';
Len+=Packet.PrintLatitude(Out+Len, Packet.DecodeLatitude());
Out[Len++]=' ';
Len+=Packet.PrintLongitude(Out+Len, Packet.DecodeLongitude());
Out[Len++]=' ';
Len+=Format_UnsDec(Out+Len, (uint32_t)Packet.DecodeAltitude()); Out[Len++]='m';
Out[Len++]=' ';
Len+=Format_UnsDec(Out+Len, Packet.DecodeSpeed(), 2, 1); Out[Len++]='m'; Out[Len++]='/'; Out[Len++]='s';
Out[Len++]=' ';
Len+=Format_SignDec(Out+Len, Packet.DecodeClimbRate(), 2, 1); Out[Len++]='m'; Out[Len++]='/'; Out[Len++]='s';
Out[Len++]='\n'; Out[Len]=0;
return Len; }
void Dump(void) const
{ printf("%08lX: %08lX %08lX %08lX %08lX [%08lX %04lX] (%d)\n",
(long int)Packet.HeaderWord, (long int)Packet.Data[0], (long int)Packet.Data[1],
(long int)Packet.Data[2], (long int)Packet.Data[3], (long int)FEC[0],
(long int)FEC[1], (int)checkFEC() ); }
void DumpBytes(void) const
{ for(uint8_t Idx=0; Idx<Bytes; Idx++)
{ printf(" %02X", Packet.Byte()[Idx]); }
printf("\n"); }
// void calcFEC(void) { LDPC_Encode(&Packet.HeaderWord, FEC); } // calculate the 48-bit parity check
// void calcFEC(const uint32_t ParityGen[48][5]) { LDPC_Encode(&PacketHeaderWord, FEC, ParityGen); }
void calcFEC(void) { LDPC_Encode(Packet.Word()); } // calculate the 48-bit parity check
uint8_t checkFEC(void) const { return LDPC_Check(Packet.Word()); } // returns number of parity checks that fail (0 => no errors, all fine)
uint8_t *Byte(void) const { return (uint8_t *)&Packet.HeaderWord; } // packet as bytes
uint32_t *Word(void) const { return (uint32_t *)&Packet.HeaderWord; } // packet as words
void recvBytes(const uint8_t *SrcPacket) { memcpy(Byte(), SrcPacket, Bytes); } // load data bytes e.g. from a demodulator
/*
uint8_t calcErrorPattern(uint8_t *ErrPatt, const uint8_t *OtherPacket) const
{ uint8_t ByteIdx=0; const uint32_t *WordPtr=Packet.Word();
for(uint8_t WordIdx=0; WordIdx<Words; WordIdx++)
{ uint32_t Word=WordPtr[WordIdx];
for(int Idx=0; Idx<4; Idx++)
{ if(ByteIdx>=Bytes) break;
ErrPatt[ByteIdx]=Packet[ByteIdx]^Word; ByteIdx++;
Word>>=8; }
}
return Bytes; }
*/
} ;
// ---------------------------------------------------------------------------------------------------------------------
class OGN_RxPacket // OGN packet with FEC code and some reception info
{ public:
static const int Words = 7;
static const int Bytes = 26;
OGN_Packet Packet;
uint32_t FEC[2]; // Gallager code: 48 check bits for 160 user bits
union
{ uint8_t State; //
struct
{ bool :1; //
bool Ready:1; // is ready for transmission
bool Sent :1; // has already been transmitted out
bool Corr :1; // correctly received or corrected by FEC
uint8_t RxErr:4; // number of bit errors corrected upon reception
} ;
} ;
uint8_t RxChan; // RF channel where the packet was received
uint8_t RxRSSI; // [-0.5dBm]
uint8_t Rank; // rank: low altitude and weak signal => high rank
public:
OGN_RxPacket() { Clear(); }
void Clear(void) { Packet.Clear(); State=0; Rank=0; }
uint8_t *Byte(void) const { return (uint8_t *)&Packet.HeaderWord; } // packet as bytes
uint32_t *Word(void) const { return (uint32_t *)&Packet.HeaderWord; } // packet as words
void recvBytes(const uint8_t *SrcPacket) { memcpy(Byte(), SrcPacket, Bytes); } // load data bytes e.g. from a demodulator
uint8_t calcErrorPattern(uint8_t *ErrPatt, const uint8_t *OtherPacket) const
{ uint8_t ByteIdx=0; const uint32_t *WordPtr=Packet.Word();
for(uint8_t WordIdx=0; WordIdx<Words; WordIdx++)
{ uint32_t Word=WordPtr[WordIdx];
for(int Idx=0; Idx<4; Idx++)
{ if(ByteIdx>=Bytes) break;
ErrPatt[ByteIdx]=OtherPacket[ByteIdx]^Word; ByteIdx++;
Word>>=8; }
}
return Bytes; }
// void calcFEC(void) { LDPC_Encode(&Packet.HeaderWord, FEC); } // calculate the 48-bit parity check
// void calcFEC(const uint32_t ParityGen[48][5]) { LDPC_Encode(&PacketHeaderWord, FEC, ParityGen); }
void calcFEC(void) { LDPC_Encode(Packet.Word()); } // calculate the 48-bit parity check
uint8_t checkFEC(void) const { return LDPC_Check(Packet.Word()); } // returns number of parity checks that fail (0 => no errors, all fine)
int BitErr(OGN_RxPacket &RefPacket) const // return number of different data bits between this Packet and RefPacket
{ return Count1s(Packet.HeaderWord^RefPacket.Packet.HeaderWord)
+Count1s(Packet.Data[0]^RefPacket.Packet.Data[0])
+Count1s(Packet.Data[1]^RefPacket.Packet.Data[1])
+Count1s(Packet.Data[2]^RefPacket.Packet.Data[2])
+Count1s(Packet.Data[3]^RefPacket.Packet.Data[3])
+Count1s(FEC[0]^RefPacket.FEC[0])
+Count1s((FEC[1]^RefPacket.FEC[1])&0xFFFF); }
void calcRelayRank(int32_t RxAltitude) // [0.1m] altitude of reception
{ if(Packet.Header.Emergency) { Rank=0xFF; return; } // emergency packets always highest rank
Rank=0;
if(Packet.Header.Other) return; // only relay position packets
if(Packet.Position.Time>=60) return; // don't relay packets with unknown time - but maybe we should ?
if(Packet.Header.RelayCount>0) return; // no rank for relayed packets (only single relay)
if(RxRSSI>128) // [-0.5dB] weaker signal => higher rank
Rank += (RxRSSI-128)>>2; // 1point/2dB less signal
RxAltitude -= 10*Packet.DecodeAltitude(); // [0.1m] lower altitude => higher rank
if(RxAltitude>0)
Rank += RxAltitude>>9; // 2points/100m of altitude below
int16_t ClimbRate = Packet.DecodeClimbRate(); // [0.1m/s] higher sink rate => higher rank
if(ClimbRate<0)
Rank += (-ClimbRate)>>3; // 1point/0.8m/s of sink
}
uint8_t ReadPOGNT(const char *NMEA)
{ uint8_t Len=0;
if(memcmp(NMEA, "$POGNT,", 7)!=0) return -1;
Len+=7;
if(NMEA[Len+2]!=',') return -1;
int8_t Time=Read_Dec2(NMEA+Len);
if( (Time<0) || (Time>=60) ) return -1;
Packet.Position.Time=Time;
Len+=3;
if(NMEA[Len+1]!=',') return -1;
int8_t AcftType=Read_Hex1(NMEA[Len]);
if(AcftType<0) return -1;
Packet.Position.AcftType=AcftType;
Len+=2;
if(NMEA[Len+1]!=',') return -1;
int8_t AddrType=Read_Hex1(NMEA[Len]);
if((AddrType<0) || (AddrType>=4) ) return -1;
Packet.Header.AddrType=AddrType;
Len+=2;
uint32_t Addr;
int8_t Ret=Read_Hex(Addr, NMEA+Len); if(Ret<=0) return -1;
if(NMEA[Len+Ret]!=',') return -1;
Packet.Header.Address=Addr;
Len+=Ret+1;
if(NMEA[Len+1]!=',') return -1;
int8_t Relay=Read_Hex1(NMEA[Len]);
if( (Relay<0) || (Relay>=4) ) return -1;
Packet.Header.RelayCount=Relay;
Len+=2;
if(NMEA[Len+2]!=',') return -1;
int8_t FixQuality=Read_Hex1(NMEA[Len]);
int8_t FixMode=Read_Hex1(NMEA[Len+1]);
if( (FixQuality<0) || (FixQuality>=4) ) return -1;
if( (FixMode<0) || (FixMode>=2) ) return -1;
Packet.Position.FixQuality=FixQuality;
Packet.Position.FixMode=FixMode;
Len+=3;
int32_t DOP=0;
Ret=Read_Float1(DOP, NMEA+Len); if(Ret<0) return -1;
if(NMEA[Len+Ret]!=',') return -1;
if(DOP<10) DOP=10;
Packet.EncodeDOP(DOP-10);
Len+=Ret+1;
if(NMEA[Len+10]!=',') return -1;
int8_t Deg=Read_Dec2(NMEA+Len); if(Deg<0) return -1;
int8_t Min=Read_Dec2(NMEA+Len+2); if(Min<0) return -1;
if(NMEA[Len+4]!='.') return -1;
int16_t Frac=Read_Dec4(NMEA+Len+5); if(Frac<0) return -1;
char Sign=NMEA[Len+9];
int32_t Lat = Deg*600000 + Min*10000 + Frac;
if(Sign=='N') { } else if(Sign=='S') { Lat=(-Lat); } else return -1;
Packet.EncodeLatitude(Lat);
Len+=11;
if(NMEA[Len+11]!=',') return -1;
Deg=Read_Dec3(NMEA+Len); if(Deg<0) return -1;
Min=Read_Dec2(NMEA+Len+3); if(Min<0) return -1;
if(NMEA[Len+5]!='.') return -1;
Frac=Read_Dec4(NMEA+Len+6); if(Frac<0) return -1;
Sign=NMEA[Len+10];
int32_t Lon = Deg*600000 + Min*10000 + Frac;
if(Sign=='E') { } else if(Sign=='W') { Lon=(-Lon); } else return -1;
Packet.EncodeLongitude(Lon);
Len+=12;
int32_t Alt=0;
Ret=Read_SignDec(Alt, NMEA+Len); if(Ret<0) return -1;
Packet.EncodeAltitude(Alt);
if(NMEA[Len+Ret]!=',') return -1;
Len+=Ret+1;
int32_t AltDiff=0;
Ret=Read_SignDec(AltDiff, NMEA+Len); if(Ret<0) return -1;
// printf("Ret=%d, AltDiff=%d -> %s\n", Ret, AltDiff, NMEA+Len);
if(Ret==0) Packet.clrBaro();
else Packet.setBaroAltDiff(AltDiff);
if(NMEA[Len+Ret]!=',') return -1;
Len+=Ret+1;
int32_t Climb=0;
Ret=Read_Float1(Climb, NMEA+Len); if(Ret<0) return -1;
// printf("Ret=%d, Climb=%d -> %s\n", Ret, Climb, NMEA+Len);
Packet.EncodeClimbRate(Climb);
if(NMEA[Len+Ret]!=',') return -1;
Len+=Ret+1;
int32_t Speed=0;
Ret=Read_Float1(Speed, NMEA+Len); if(Ret<0) return -1;
Packet.EncodeSpeed(Speed);
if(NMEA[Len+Ret]!=',') return -1;
Len+=Ret+1;
int32_t Heading=0;
Ret=Read_Float1(Heading, NMEA+Len); if(Ret<0) return -1;
Packet.EncodeHeading(Heading);
if(NMEA[Len+Ret]!=',') return -1;
Len+=Ret+1;
int32_t TurnRate=0;
Ret=Read_Float1(TurnRate, NMEA+Len); if(Ret<0) return -1;
Packet.EncodeTurnRate(TurnRate);
if(NMEA[Len+Ret]!=',') return -1;
Len+=Ret+1;
int32_t RSSI=0;
Ret=Read_SignDec(RSSI, NMEA+Len); if(Ret<0) return -1;
RxRSSI=(-2*RSSI);
if(NMEA[Len+Ret]!=',') return -1;
Len+=Ret+1;
int32_t Err=0;
Ret=Read_SignDec(Err, NMEA+Len); if(Ret<0) return -1;
RxErr=Err;
if(NMEA[Len+Ret]!='*') return -1;
Len+=Ret+1;
return Len; }
uint8_t WritePOGNT(char *NMEA)
{ uint8_t Len=0;
Len+=Format_String(NMEA+Len, "$POGNT,"); // sentence name
if(Packet.Position.Time<60)
Len+=Format_UnsDec(NMEA+Len, (uint16_t)Packet.Position.Time, 2); // [sec] time
NMEA[Len++]=',';
NMEA[Len++]=HexDigit(Packet.Position.AcftType); // [0..F] aircraft-type: 1=glider, 2=tow plane, etc.
NMEA[Len++]=',';
NMEA[Len++]='0'+Packet.Header.AddrType; // [0..3] address-type: 1=ICAO, 2=FLARM, 3=OGN
NMEA[Len++]=',';
uint32_t Addr = Packet.Header.Address; // [24-bit] address
Len+=Format_Hex(NMEA+Len, (uint8_t)(Addr>>16));
Len+=Format_Hex(NMEA+Len, (uint16_t)Addr);
NMEA[Len++]=',';
NMEA[Len++]='0'+Packet.Header.RelayCount; // [0..3] counts retransmissions
NMEA[Len++]=',';
NMEA[Len++]='0'+Packet.Position.FixQuality; // [] fix quality
NMEA[Len++]='0'+Packet.Position.FixMode; // [] fix mode
NMEA[Len++]=',';
Len+=Format_UnsDec(NMEA+Len, (uint16_t)(Packet.DecodeDOP()+10),2,1); // [] Dilution of Precision
NMEA[Len++]=',';
Len+=Packet.PrintLatitude(NMEA+Len, Packet.DecodeLatitude()); // [] Latitude
NMEA[Len++]=',';
Len+=Packet.PrintLongitude(NMEA+Len, Packet.DecodeLongitude()); // [] Longitude
NMEA[Len++]=',';
Len+=Format_UnsDec(NMEA+Len, (uint32_t)Packet.DecodeAltitude()); // [m] Altitude (by GPS)
NMEA[Len++]=',';
if(Packet.hasBaro())
Len+=Format_SignDec(NMEA+Len, (int32_t)Packet.getBaroAltDiff()); // [m] Standard Pressure Altitude (by Baro)
NMEA[Len++]=',';
Len+=Format_SignDec(NMEA+Len, Packet.DecodeClimbRate(), 2, 1); // [m/s] climb/sink rate (by GPS or pressure sensor)
NMEA[Len++]=',';
Len+=Format_UnsDec(NMEA+Len, Packet.DecodeSpeed(), 2, 1); // [m/s] ground speed (by GPS)
NMEA[Len++]=',';
Len+=Format_UnsDec(NMEA+Len, Packet.DecodeHeading(), 4, 1); // [deg] heading (by GPS)
NMEA[Len++]=',';
Len+=Format_SignDec(NMEA+Len, Packet.DecodeTurnRate(), 2, 1); // [deg/s] turning rate (by GPS)
NMEA[Len++]=',';
Len+=Format_SignDec(NMEA+Len, -(int16_t)RxRSSI/2); // [dBm] received signal level
NMEA[Len++]=',';
Len+=Format_UnsDec(NMEA+Len, (uint16_t)RxErr); // [bits] corrected transmisison errors
Len+=NMEA_AppendCheckCRNL(NMEA, Len);
NMEA[Len]=0;
return Len; }
void Print(void) const
{ printf("[%02d/%+6.1fdBm/%2d] ", RxChan, -0.5*RxRSSI, RxErr);
Packet.Print(); }
uint8_t Print(char *Out) const
{ uint8_t Len=0;
Out[Len++]=HexDigit(Packet.Position.AcftType); Out[Len++]=':';
Out[Len++]='0'+Packet.Header.AddrType; Out[Len++]=':';
uint32_t Addr = Packet.Header.Address;
Len+=Format_Hex(Out+Len, (uint8_t)(Addr>>16));
Len+=Format_Hex(Out+Len, (uint16_t)Addr);
Out[Len++]=' ';
Len+=Format_SignDec(Out+Len, -(int16_t)RxRSSI/2); Out[Len++]='d'; Out[Len++]='B'; Out[Len++]='m';
Out[Len++]=' ';
Len+=Format_UnsDec(Out+Len, (uint16_t)Packet.Position.Time, 2);
Out[Len++]=' ';
Len+=Packet.PrintLatitude(Out+Len, Packet.DecodeLatitude());
Out[Len++]=' ';
Len+=Packet.PrintLongitude(Out+Len, Packet.DecodeLongitude());
Out[Len++]=' ';
Len+=Format_UnsDec(Out+Len, (uint32_t)Packet.DecodeAltitude()); Out[Len++]='m';
Out[Len++]=' ';
Len+=Format_UnsDec(Out+Len, Packet.DecodeSpeed(), 2, 1); Out[Len++]='m'; Out[Len++]='/'; Out[Len++]='s';
Out[Len++]=' ';
Len+=Format_SignDec(Out+Len, Packet.DecodeClimbRate(), 2, 1); Out[Len++]='m'; Out[Len++]='/'; Out[Len++]='s';
Out[Len++]='\n'; Out[Len]=0;
return Len; }
void Dump(void) const
{ printf("%08lX: %08lX %08lX %08lX %08lX [%08lX %04lX] (%d)\n",
(long int)Packet.HeaderWord, (long int)Packet.Data[0], (long int)Packet.Data[1],
(long int)Packet.Data[2], (long int)Packet.Data[3],
(long int)FEC[0], (long int)FEC[1], (int)checkFEC() ); }
void DumpBytes(void) const
{ for(uint8_t Idx=0; Idx<26; Idx++)
{ printf(" %02X", Packet.Byte()[Idx]); }
printf(" (%d)\n", LDPC_Check(Packet.Byte())); }
} ;
#ifdef WITH_PPM
class OGN_PPM_Packet // OGN packet with FEC code and some reception info
{ public:
static const int Words = 12;
OGN_Packet Packet;
uint32_t FEC[7]; // Gallager code: 194 check bits for 160 user bits
public:
void calcFEC(void) { LDPC_Encode_n354k160(Packet.Word()); } // calculate the 48-bit parity check
uint8_t checkFEC(void) const { return LDPC_Check_n354k160(Packet.Word()); } // returns number of parity checks that fail (0 => no errors, all fine)
uint32_t *Word(void) const { return Packet.Word(); }
void Dump(void) const
{ printf("%08lX: %08lX %08lX %08lX %08lX [%08lX %08lX %08lX %08lX %08lX %08lX %01lX] (%d)\n",
(long int)Packet.HeaderWord, (long int)Packet.Data[0], (long int)Packet.Data[1],
(long int)Packet.Data[2], (long int)Packet.Data[3],
(long int)FEC[0], (long int)FEC[1], (long int)FEC[2], (long int)FEC[2],
(long int)FEC[4], (long int)FEC[5], (long int)FEC[6], (int)checkFEC() ); }
static uint8_t Gray(uint8_t Binary) { return Binary ^ (Binary>>1); }
static uint8_t Binary(uint8_t Gray)
{ Gray = Gray ^ (Gray >> 4);
Gray = Gray ^ (Gray >> 2);
Gray = Gray ^ (Gray >> 1);
return Gray; }
uint8_t getSymbol(uint16_t Idx)
{ if(Idx>=59) return 0xFF;
uint32_t *Word = Packet.Word();
uint8_t Symbol=0; uint8_t SymbMask=1;
for(uint8_t Bit=0; Bit<6; Bit++, Idx+=59 )
{ uint8_t WordIdx=Idx>>5; uint8_t BitIdx=Idx&31;
uint32_t Mask=1; Mask<<=BitIdx;
if(Word[WordIdx]&Mask) Symbol|=SymbMask;
SymbMask<<=1; }
return Gray(Symbol); }
void clear(void)
{ memset(Packet.Word(), 0, Words*4); }
void setSymbol(uint16_t Idx, uint8_t Symbol)
{ if(Idx>=59) return;
Symbol = Binary(Symbol);
uint32_t *Word = Packet.Word();
for(uint8_t Bit=0; Bit<6; Bit++, Idx+=59 )
{ if(Symbol&1)
{ uint8_t WordIdx=Idx>>5; uint8_t BitIdx=Idx&31;
uint32_t Mask=1; Mask<<=BitIdx;
Word[WordIdx]|=Mask; }
Symbol>>=1; }
}
} ;
#endif // WITH_PPM
// ---------------------------------------------------------------------------------------------------------------------
template<uint8_t Size=8>
class OGN_PrioQueue
{ public:
// static const uint8_t Size = 8; // number of packets kept
OGN_RxPacket Packet[Size]; // OGN packets
uint16_t Sum; // sum of all ranks
uint8_t Low, LowIdx; // the lowest rank and the index of it
public:
void Clear(void) // clear (reset) the queue
{ for(uint8_t Idx=0; Idx<Size; Idx++) // clear every packet
{ Packet[Idx].Clear(); }
Sum=0; Low=0; LowIdx=0; } // clear the rank sum, lowest rank
OGN_RxPacket * operator [](uint8_t Idx) { return Packet+Idx; }
uint8_t getNew(void) // get (index of) a free or lowest rank packet
{ Sum-=Packet[LowIdx].Rank; Packet[LowIdx].Rank=0; Low=0; return LowIdx; } // remove old packet from the rank sum
void addNew(uint8_t NewIdx) // add the new packet to the queue
{ uint32_t AddressAndType = Packet[NewIdx].Packet.getAddressAndType(); // get ID of this packet: ID is address-type and address (2+24 = 26 bits)
for(uint8_t Idx=0; Idx<Size; Idx++) // look for other packets with same ID
{ if(Idx==NewIdx) continue; // avoid the new packet
if(Packet[Idx].Packet.getAddressAndType() == AddressAndType) // if another packet with same ID:
{ clean(Idx); } // then remove it: set rank to zero
}
uint8_t Rank=Packet[NewIdx].Rank; Sum+=Rank; // add the new packet to the rank sum
if(NewIdx==LowIdx) reCalc();
else { if(Rank<Low) { Low=Rank; LowIdx=NewIdx; } }
// if(NewIdx!=LowIdx) //
// { if(Rank<=Low) { Low=Rank; LowIdx=NewIdx; } }
// else reCalc();
}
uint8_t getRand(uint32_t Rand) const // get a position by random selection but probabilities prop. to ranks
{ if(Sum==0) return Rand%Size; //
uint16_t RankIdx = Rand%Sum;
uint8_t Idx; uint16_t RankSum=0;
for(Idx=0; Idx<Size; Idx++)
{ uint8_t Rank=Packet[Idx].Rank; if(Rank==0) continue;
RankSum+=Rank; if(RankSum>RankIdx) return Idx; }
return Rand%Size; }
void reCalc(void) // find the lowest rank and calc. the sum of all ranks
{ Sum=Low=Packet[0].Rank; LowIdx=0; // take minimum at the first slot
for(uint8_t Idx=1; Idx<Size; Idx++) // loop over all other slots
{ uint8_t Rank=Packet[Idx].Rank;
Sum+=Rank; // sum up the ranks
if(Rank<Low) { Low=Rank; LowIdx=Idx; } // update the minimum
}
}
void cleanTime(uint8_t Time) // clean up slots of given Time
{ for(int Idx=0; Idx<Size; Idx++)
{ if( (Packet[Idx].Rank) && (Packet[Idx].Packet.Position.Time==Time) )
{ clean(Idx); }
}
}
void clean(uint8_t Idx) // clean given slot
{ Sum-=Packet[Idx].Rank; Packet[Idx].Rank=0; Low=0; LowIdx=Idx; }
void decrRank(uint8_t Idx, uint8_t Decr=1) // decrement rank of given slot
{ uint8_t Rank=Packet[Idx].Rank; if(Rank==0) return; // if zero already: do nothing
if(Decr>Rank) Decr=Rank; // if to decrement by more than the rank already: reduce the decrement
Rank-=Decr; Sum-=Decr; // decrement the rank and the sum of ranks
if(Rank<Low) { Low=Rank; LowIdx=Idx; } // if new minimum: update the minimum.
Packet[Idx].Rank=Rank; } // update the rank of this slot
uint8_t Print(char *Out)
{ uint8_t Len=0;
for(uint8_t Idx=0; Idx<Size; Idx++)
{ uint8_t Rank=Packet[Idx].Rank;
Out[Len++]=' '; Len+=Format_Hex(Out+Len, Rank);
if(Rank)
{ Out[Len++]='/'; Len+=Format_Hex(Out+Len, Packet[Idx].Packet.getAddressAndType() );
Out[Len++]=':'; Len+=Format_UnsDec(Out+Len, Packet[Idx].Packet.Position.Time, 2 ); }
}
Out[Len++]=' '; Len+=Format_Hex(Out+Len, Sum);
Out[Len++]='/'; Len+=Format_Hex(Out+Len, LowIdx);
Out[Len++]='\n'; Out[Len]=0; return Len; }
} ;
class GPS_Position
{ public:
union
{ uint8_t Flags; // bit #0 = GGA and RMC had same Time
struct
Correct the unique ID, add some string-valued parameters
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{ bool hasGPS :1; // all required GPS information has been supplied (but this is not the GPS lock status)
bool hasBaro :1; // barometric information has beed supplied
bool isReady :1; // is ready for the following treaement
Initial code, basic functionality: transmit, receive, relay, display position
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bool Sent :1; // has been transmitted
Debugging the MAVlink interface
2018-05-19 01:03:18 +00:00
bool hasTime :1; // full Unix Date/Time has been supplied
Correct the unique ID, add some string-valued parameters
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bool hasRMC :1; // GxRMC has been supplied
bool hasGGA :1; // GxGGA has been supplied
bool hasGSA :1; // GxGSA has been supplied
Initial code, basic functionality: transmit, receive, relay, display position
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} ;
} ;
int8_t FixQuality; // 0 = none, 1 = GPS, 2 = Differential GPS (can be WAAS)
int8_t FixMode; // 0 = not set (from GSA) 1 = none, 2 = 2-D, 3 = 3-D
int8_t Satellites; // number of active satellites
int8_t Year, Month, Day; // Date (UTC) from GPS
int8_t Hour, Min, Sec; // Time-of-day (UTC) from GPS
int8_t FracSec; // [1/100 sec] some GPS-es give second fraction with the time-of-day
uint8_t PDOP; // [0.1] dilution of precision
uint8_t HDOP; // [0.1] horizontal dilution of precision
uint8_t VDOP; // [0.1] vertical dilution of precision
int16_t Speed; // [0.1 m/s] speed-over-ground
int16_t Heading; // [0.1 deg] heading-over-ground
int16_t ClimbRate; // [0.1 meter/sec)
int16_t TurnRate; // [0.1 deg/sec]
int16_t GeoidSeparation; // [0.1 meter] difference between Geoid and Ellipsoid
int32_t Altitude; // [0.1 meter] height above Geoid (sea level)
int32_t Latitude; // [0.0001/60 deg] about 0.018m accuracy (to convert to u-Blox GPS 1e-7deg units mult by 50/3)
int32_t Longitude; // [0.0001/60 deg]
uint16_t LatitudeCosine; // [2^-12] Latitude cosine for distance calculation
int16_t Temperature; // [0.1 degC]
uint32_t Pressure; // [0.25 Pa] from pressure sensor
int32_t StdAltitude; // [0.1 meter] standard pressure altitude (from the pressure sensor and atmosphere calculator)
public:
GPS_Position() { Clear(); }
void Clear(void)
{ Flags=0; FixQuality=0; FixMode=0;
PDOP=0; HDOP=0; VDOP=0;
setDefaultDate(); setDefaultTime();
Latitude=0; Longitude=0; LatitudeCosine=3000;
Altitude=0; GeoidSeparation=0;
Speed=0; Heading=0; ClimbRate=0; TurnRate=0;
Correct the unique ID, add some string-valued parameters
2018-02-18 14:41:50 +00:00
Temperature=0; Pressure=0; StdAltitude=0; }
Initial code, basic functionality: transmit, receive, relay, display position
2018-01-29 12:43:22 +00:00
Correct the unique ID, add some string-valued parameters
2018-02-18 14:41:50 +00:00
void setDefaultDate() { Year=00; Month=1; Day=1; } // default Date is 01-JAN-2000
void setDefaultTime() { Hour=0; Min=0; Sec=0; FracSec=0; } // default Time is 00:00:00.00
Initial code, basic functionality: transmit, receive, relay, display position
2018-01-29 12:43:22 +00:00
Correct the unique ID, add some string-valued parameters
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bool isTimeValid(void) const // is the GPS time-of-day valid
Initial code, basic functionality: transmit, receive, relay, display position
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{ return (Hour>=0) && (Min>=0) && (Sec>=0); } // all data must have been correctly read: negative means not correctly read)
bool isDateValid(void) const // is the GPS date valid ?
{ return (Year>=0) && (Month>=0) && (Day>=0); }
Correct the unique ID, add some string-valued parameters
2018-02-18 14:41:50 +00:00
bool isValid(void) const // is GPS data is valid = GPS lock
Initial code, basic functionality: transmit, receive, relay, display position
2018-01-29 12:43:22 +00:00
{ if(!isTimeValid()) return 0; // is GPS time valid/present ?
if(!isDateValid()) return 0; // is GPS date valid/present ?
if(FixQuality==0) return 0; // Fix quality must be 1=GPS or 2=DGPS
if(FixMode==1) return 0; // if GSA says "no lock" (when GSA is not there, FixMode=0)
if(Satellites<=0) return 0; // if number of satellites none or invalid
return 1; }
void copyTime(GPS_Position &RefPosition) // copy HH:MM:SS.SSS from another record
{ FracSec = RefPosition.FracSec;
Sec = RefPosition.Sec;
Min = RefPosition.Min;
Hour = RefPosition.Hour; }
void copyDate(GPS_Position &RefPosition) // copy YY:MM:DD from another record
{ Day = RefPosition.Day;
Month = RefPosition.Month;
Year = RefPosition.Year; }
void copyTimeDate(GPS_Position &RefPosition) { copyTime(RefPosition); copyDate(RefPosition); }
uint8_t incrTime(void) // increment HH:MM:SS by one second
{ Sec++; if(Sec<60) return 0;
Sec=0;
Min++; if(Min<60) return 0;
Min=0;
Hour++; if(Hour<24) return 0;
Hour=0;
return 1; } // return 1 if date needs to be incremented
uint8_t MonthDays(void) // number of days per month
{ const uint16_t Table = 0x0AD5; // 1010 1101 0101 0=30days, 1=31days
// const uint8_t Table[12] = { 31,28,31,30, 31,30,31,31, 30,31,30,31 };
if( (Month<1) || (Month>12) ) return 0;
if( Month==2) return 28+isLeapYear();
return 30 + ((Table>>(Month-1))&1); }
void incrDate(int8_t Days=1) // increment YY:MM:DD
{ uint8_t DaysPerMonth = MonthDays();
Day+=Days; if(Day<=DaysPerMonth) return;
Day-=DaysPerMonth; Month++; if(Month<=12) return;
Month=1; Year++; }
void incrTimeDate(void) { if(incrTime()) incrDate(); }
#ifndef __AVR__ // there is not printf() with AVR
void PrintDateTime(void) const { printf("%02d.%02d.%04d %02d:%02d:%05.2f", Day, Month, 2000+Year, Hour, Min, Sec+0.01*FracSec ); }
void PrintTime(void) const { printf("%02d:%02d:%05.2f", Hour, Min, Sec+0.01*FracSec ); }
int PrintDateTime(char *Out) const { return sprintf(Out, "%02d.%02d.%04d %02d:%02d:%02d.%02d", Day, Month, Year, Hour, Min, Sec, FracSec ); }
int PrintTime(char *Out) const { return sprintf(Out, "%02d:%02d:%02d.%02d", Hour, Min, Sec, FracSec ); }
void Print(void) const
{ printf("Time/Date = "); PrintDateTime(); printf(" "); // printf(" = %10ld.%03dsec\n", (long int)UnixTime, mSec);
printf("FixQuality/Mode=%d/%d: %d satellites DOP/H/V=%3.1f/%3.1f/%3.1f ", FixQuality, FixMode, Satellites, 0.1*PDOP, 0.1*HDOP, 0.1*VDOP);
printf("FixQuality=%d: %d satellites HDOP=%3.1f ", FixQuality, Satellites, 0.1*HDOP);
printf("Lat/Lon/Alt = [%+10.6f,%+10.6f]deg %+3.1f(%+3.1f)m LatCosine=%+6.3f ", 0.0001/60*Latitude, 0.0001/60*Longitude, 0.1*Altitude, 0.1*GeoidSeparation, 1.0/(1<<12)*LatitudeCosine);
printf("Speed/Heading = %3.1fm/s %05.1fdeg\n", 0.1*Speed, 0.1*Heading);
}
int Print(char *Out) const
{ int Len=0;
Len+=sprintf(Out+Len, "Time/Date = "); Len+=PrintDateTime(Out+Len); printf(" "); // Len+=sprintf(Out+Len, " = %10ld.%02dsec\n", (long int)UnixTime, FracSec);
Len+=sprintf(Out+Len, "FixQuality/Mode=%d/%d: %d satellites DOP/H/V=%3.1f/%3.1f/%3.1f ", FixQuality, FixMode, Satellites, 0.1*PDOP, 0.1*HDOP, 0.1*VDOP);
Len+=sprintf(Out+Len, "Lat/Lon/Alt = [%+10.6f,%+10.6f]deg %+3.1f(%+3.1f)m ", 0.0001/60*Latitude, 0.0001/60*Longitude, 0.1*Altitude, 0.1*GeoidSeparation);
Len+=sprintf(Out+Len, "Speed/Heading = %3.1fm/s %05.1fdeg\n", 0.1*Speed, 0.1*Heading);
return Len; }
void PrintLine(void) const
{ PrintTime();
printf(" %d/%d/%02d/%4.1f/%4.1f/%4.1f", FixQuality, FixMode, Satellites, 0.1*PDOP, 0.1*HDOP, 0.1*VDOP);
printf(" [%+10.6f,%+10.6f]deg %+3.1f(%+3.1f)m", 0.0001/60*Latitude, 0.0001/60*Longitude, 0.1*Altitude, 0.1*GeoidSeparation);
printf(" %4.1fm/s %05.1fdeg", 0.1*Speed, 0.1*Heading);
printf("\n"); }
int PrintLine(char *Out) const
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{ int Len=0; // PrintDateTime(Out);
Debugging the MAVlink interface
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Out[Len++]=hasTime?'U':'_';
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Out[Len++]=hasGPS ?'G':'_';
Out[Len++]=hasBaro?'B':'_';
Out[Len++]=hasRMC ?'R':'_';
Out[Len++]=hasGGA ?'G':'_';
Out[Len++]=hasGSA ?'G':'_';
Out[Len++]=isValid() ?'V':'_';
Out[Len++]=isTimeValid() ?'T':'_';
Out[Len++]=isDateValid() ?'D':'_';
Out[Len++]=' '; Len+=Format_UnsDec(Out+Len, (uint16_t)Hour, 2);
Out[Len++]=':'; Len+=Format_UnsDec(Out+Len, (uint16_t)Min, 2);
Out[Len++]=':'; Len+=Format_UnsDec(Out+Len, (uint16_t)Sec, 2);
Out[Len++]='.'; Len+=Format_UnsDec(Out+Len, (uint16_t)FracSec, 2);
Len+=sprintf(Out+Len, " %d/%d/%02d", FixQuality, FixMode, Satellites);
Initial code, basic functionality: transmit, receive, relay, display position
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Out[Len++]='/'; Len+=Format_UnsDec(Out+Len, PDOP, 2, 1);
Out[Len++]='/'; Len+=Format_UnsDec(Out+Len, HDOP, 2, 1);
Out[Len++]='/'; Len+=Format_UnsDec(Out+Len, VDOP, 2, 1);
Out[Len++]=' ';
Out[Len++]='['; Len+=Format_SignDec(Out+Len, Latitude/60, 6, 4);
Out[Len++]=','; Len+=Format_SignDec(Out+Len, Longitude/60, 7, 4);
Out[Len++]=']'; Out[Len++]='d'; Out[Len++]='e'; Out[Len++]='g';
Out[Len++]=' '; Len+=Format_SignDec(Out+Len, Altitude, 4, 1); Out[Len++]='m';
Out[Len++]='/'; Len+=Format_SignDec(Out+Len, GeoidSeparation, 4, 1); Out[Len++]='m';
Out[Len++]=' '; Len+=Format_UnsDec(Out+Len, Speed, 2, 1); Out[Len++]='m'; Out[Len++]='/'; Out[Len++]='s';
Out[Len++]=' '; Len+=Format_UnsDec(Out+Len, Heading, 4, 1); Out[Len++]='d'; Out[Len++]='e'; Out[Len++]='g';
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Out[Len++]=' '; Len+=Format_SignDec(Out+Len, Temperature, 2, 1); Out[Len++]='C';
Out[Len++]=' '; Len+=Format_UnsDec(Out+Len, Pressure/4 ); Out[Len++]='P'; Out[Len++]='a';
Out[Len++]=' '; Len+=Format_SignDec(Out+Len, StdAltitude, 2, 1); Out[Len++]='m';
Initial code, basic functionality: transmit, receive, relay, display position
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Out[Len++]='\n'; Out[Len++]=0; return Len; }
#endif // __AVR__
int8_t ReadNMEA(NMEA_RxMsg &RxMsg)
{ if(RxMsg.isGPGGA()) return ReadGGA(RxMsg);
else if(RxMsg.isGNGGA()) return ReadGGA(RxMsg);
else if(RxMsg.isGPRMC()) return ReadRMC(RxMsg);
else if(RxMsg.isGNRMC()) return ReadRMC(RxMsg);
else if(RxMsg.isGPGSA()) return ReadGSA(RxMsg);
else if(RxMsg.isGNGSA()) return ReadGSA(RxMsg);
else return 0; }
int8_t ReadNMEA(const char *NMEA)
{ int Err=0;
Err=ReadGGA(NMEA); if(Err!=(-1)) return Err;
Err=ReadGSA(NMEA); if(Err!=(-1)) return Err;
Err=ReadRMC(NMEA); if(Err!=(-1)) return Err;
return 0; }
int8_t ReadGGA(NMEA_RxMsg &RxMsg)
{ if(RxMsg.Parms<14) return -1; // no less than 14 paramaters
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hasGPS = ReadTime((const char *)RxMsg.ParmPtr(0))>0; // read time and check if same as the RMC says
Initial code, basic functionality: transmit, receive, relay, display position
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FixQuality =Read_Dec1(*RxMsg.ParmPtr(5)); if(FixQuality<0) FixQuality=0; // fix quality: 0=invalid, 1=GPS, 2=DGPS
Satellites=Read_Dec2((const char *)RxMsg.ParmPtr(6)); // number of satellites
if(Satellites<0) Satellites=Read_Dec1(RxMsg.ParmPtr(6)[0]);
if(Satellites<0) Satellites=0;
ReadHDOP((const char *)RxMsg.ParmPtr(7)); // horizontal dilution of precision
ReadLatitude(*RxMsg.ParmPtr(2), (const char *)RxMsg.ParmPtr(1)); // Latitude
ReadLongitude(*RxMsg.ParmPtr(4), (const char *)RxMsg.ParmPtr(3)); // Longitude
ReadAltitude(*RxMsg.ParmPtr(9), (const char *)RxMsg.ParmPtr(8)); // Altitude
ReadGeoidSepar(*RxMsg.ParmPtr(11), (const char *)RxMsg.ParmPtr(10)); // Geoid separation
// calcLatitudeCosine();
return 1; }
int8_t ReadGGA(const char *GGA)
{ if( (memcmp(GGA, "$GPGGA", 6)!=0) && (memcmp(GGA, "$GNGGA", 6)!=0) ) return -1; // check if the right sequence
uint8_t Index[20]; if(IndexNMEA(Index, GGA)<14) return -2; // index parameters and check the sum
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hasGPS = ReadTime(GGA+Index[0])>0;
Initial code, basic functionality: transmit, receive, relay, display position
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FixQuality =Read_Dec1(GGA[Index[5]]); if(FixQuality<0) FixQuality=0; // fix quality
Satellites=Read_Dec2(GGA+Index[6]); // number of satellites
if(Satellites<0) Satellites=Read_Dec1(GGA[Index[6]]);
if(Satellites<0) Satellites=0;
ReadHDOP(GGA+Index[7]); // horizontal dilution of precision
ReadLatitude( GGA[Index[2]], GGA+Index[1]); // Latitude
ReadLongitude(GGA[Index[4]], GGA+Index[3]); // Longitude
ReadAltitude(GGA[Index[9]], GGA+Index[8]); // Altitude
ReadGeoidSepar(GGA[Index[11]], GGA+Index[10]); // Geoid separation
// calcLatitudeCosine();
return 1; }
int8_t ReadGSA(NMEA_RxMsg &RxMsg)
{ if(RxMsg.Parms<17) return -1;
FixMode =Read_Dec1(*RxMsg.ParmPtr(1)); if(FixMode<0) FixMode=0; // fix mode
ReadPDOP((const char *)RxMsg.ParmPtr(14)); // total dilution of precision
ReadHDOP((const char *)RxMsg.ParmPtr(15)); // horizontal dilution of precision
ReadVDOP((const char *)RxMsg.ParmPtr(16)); // vertical dilution of precision
return 1; }
int8_t ReadGSA(const char *GSA)
{ if( (memcmp(GSA, "$GPGSA", 6)!=0) && (memcmp(GSA, "$GNGSA", 6)!=0) ) return -1; // check if the right sequence
uint8_t Index[20]; if(IndexNMEA(Index, GSA)<17) return -2; // index parameters and check the sum
FixMode =Read_Dec1(GSA[Index[1]]); if(FixMode<0) FixMode=0;
ReadPDOP(GSA+Index[14]);
ReadHDOP(GSA+Index[15]);
ReadVDOP(GSA+Index[16]);
return 1; }
int ReadRMC(NMEA_RxMsg &RxMsg)
{ if(RxMsg.Parms<12) return -1; // no less than 12 parameters
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hasGPS = ReadTime((const char *)RxMsg.ParmPtr(0))>0; // read time and check if same as the GGA says
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if(ReadDate((const char *)RxMsg.ParmPtr(8))<0) setDefaultDate(); // date
ReadLatitude(*RxMsg.ParmPtr(3), (const char *)RxMsg.ParmPtr(2)); // Latitude
ReadLongitude(*RxMsg.ParmPtr(5), (const char *)RxMsg.ParmPtr(4)); // Longitude
ReadSpeed((const char *)RxMsg.ParmPtr(6)); // Speed
ReadHeading((const char *)RxMsg.ParmPtr(7)); // Heading
calcLatitudeCosine();
return 1; }
int8_t ReadRMC(const char *RMC)
{ if( (memcmp(RMC, "$GPRMC", 6)!=0) && (memcmp(RMC, "$GNRMC", 6)!=0) ) return -1; // check if the right sequence
uint8_t Index[20]; if(IndexNMEA(Index, RMC)<12) return -2; // index parameters and check the sum
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hasGPS = ReadTime(RMC+Index[0])>0;
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if(ReadDate(RMC+Index[8])<0) setDefaultDate();
ReadLatitude( RMC[Index[3]], RMC+Index[2]);
ReadLongitude(RMC[Index[5]], RMC+Index[4]);
ReadSpeed(RMC+Index[6]);
ReadHeading(RMC+Index[7]);
calcLatitudeCosine();
return 1; }
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int16_t calcTimeDiff(GPS_Position &RefPos) const
{ int16_t TimeDiff = (FracSec+(int16_t)Sec*100) - (RefPos.FracSec+(int16_t)RefPos.Sec*100);
if(TimeDiff<(-3000)) TimeDiff+=6000;
else if(TimeDiff>=3000) TimeDiff-=6000;
return TimeDiff; } // [0.01s]
int16_t calcDifferences(GPS_Position &RefPos) // calculate climb rate and turn rate with an earlier reference position
Initial code, basic functionality: transmit, receive, relay, display position
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{ ClimbRate=0; TurnRate=0;
if(RefPos.FixQuality==0) return 0;
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int16_t TimeDiff = calcTimeDiff(RefPos);
if(TimeDiff<5) return 0;
Initial code, basic functionality: transmit, receive, relay, display position
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TurnRate = Heading-RefPos.Heading;
if(TurnRate>1800) TurnRate-=3600; else if(TurnRate<(-1800)) TurnRate+=3600;
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ClimbRate = Altitude-RefPos.Altitude;
if(hasBaro && RefPos.hasBaro && (abs(Altitude-StdAltitude)<2500) )
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{ ClimbRate = StdAltitude-RefPos.StdAltitude; }
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if(TimeDiff==100)
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{ }
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else if(TimeDiff==200)
Initial code, basic functionality: transmit, receive, relay, display position
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{ ClimbRate=(ClimbRate+1)>>1;
TurnRate=(TurnRate+1)>>1; }
else
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{ ClimbRate = ((int32_t)ClimbRate*100)/TimeDiff;
TurnRate = ((int32_t)TurnRate *100)/TimeDiff; }
return TimeDiff; } // [0.01s]
void Write(MAV_GPS_RAW_INT *MAV) const
{ MAV->time_usec = (int64_t)1000000*getUnixTime()+10000*FracSec;
MAV->lat = ((int64_t)50*Latitude+1)/3;
MAV->lon = ((int64_t)50*Longitude+1)/3;
MAV->alt = 100*Altitude;
MAV->vel = 10*Speed;
MAV->cog = 10*Heading;;
MAV->fix_type = 1+FixQuality;
MAV->eph = 10*HDOP;
MAV->epv = 10*VDOP;
MAV->satellites_visible = Satellites; }
void Read(const MAV_GPS_RAW_INT *MAV, uint64_t UnixTime_ms=0)
{ if(UnixTime_ms) setUnixTime_ms(UnixTime_ms);
Latitude = ((int64_t)MAV->lat*3+25)/50;
Longitude = ((int64_t)MAV->lon*3+25)/50;
Altitude = (MAV->alt+50)/100; // [0.1m]
Heading = (MAV->cog+5)/10; // [0.1deg]
Speed = (MAV->vel+5)/10; // [0.1m/s]
HDOP = (MAV->eph+5)/10;
VDOP = (MAV->epv+5)/10;
// GeoidSeparation = Parameters.GeoidSepar;
Satellites = MAV->satellites_visible;
FixMode = MAV->fix_type-1;
FixQuality = 1;
hasGPS = 1; }
void Read(const MAV_GLOBAL_POSITION_INT *MAV, uint64_t UnixTime_ms=0)
{ if(UnixTime_ms) setUnixTime_ms(UnixTime_ms);
Latitude = ((int64_t)MAV->lat*3+25)/50;
Longitude = ((int64_t)MAV->lon*3+25)/50;
Altitude = (MAV->alt+50)/100; // [0.1m]
ClimbRate = -MAV->vz/10; // [0.1m/s]
Heading = (uint32_t)((uint16_t)IntAtan2(MAV->vy, MAV->vx)*(uint32_t)450+0x1000)>>13; // [0.1degC]
Speed = IntSqrt((int32_t)MAV->vx*MAV->vx+(int32_t)MAV->vy*MAV->vy)/10; // [0.1m/s]
// GeoidSeparation = Parameters.GeoidSepar;
FixMode = 3;
FixQuality = 1;
hasGPS = 1; }
void Read(const MAV_SCALED_PRESSURE *MAV, uint64_t UnixTime_ms=0)
{ if(UnixTime_ms) setUnixTime_ms(UnixTime_ms);
Pressure = 100*4*MAV->press_abs;
Temperature = MAV->temperature/10;
hasBaro=1; }
Initial code, basic functionality: transmit, receive, relay, display position
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void Encode(OGN_Packet &Packet) const
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{ Packet.Position.FixQuality = FixQuality<3 ? FixQuality:3; //
if((FixQuality>0)&&(FixMode>=2)) Packet.Position.FixMode = FixMode-2; //
Initial code, basic functionality: transmit, receive, relay, display position
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else Packet.Position.FixMode = 0;
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if(PDOP>0) Packet.EncodeDOP(PDOP-10); // encode PDOP from GSA
else Packet.EncodeDOP(HDOP-10); // or if no GSA: use HDOP
int8_t ShortTime=Sec; // the 6-bit time field in the OGN packet
if(FracSec>=50) { ShortTime+=1; if(ShortTime>=60) ShortTime-=60; } // round to the closest full second
Packet.Position.Time=ShortTime; // Time
Packet.EncodeLatitude(Latitude); // Latitude
Packet.EncodeLongitude(Longitude); // Longitude
Packet.EncodeSpeed(Speed); // Speed
Packet.EncodeHeading(Heading); // Heading = track-over-ground
Packet.EncodeClimbRate(ClimbRate); // Climb rate
Packet.EncodeTurnRate(TurnRate); // Turn rate
Packet.EncodeAltitude((Altitude+5)/10); // Altitude
if(hasBaro) Packet.EncodeStdAltitude((StdAltitude+5)/10); // Pressure altitude
else Packet.clrBaro(); //or no-baro if pressure sensor data not there
Initial code, basic functionality: transmit, receive, relay, display position
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}
void EncodeStatus(OGN_Packet &Packet) const
{ Packet.Status.ReportType=0;
int ShortTime=Sec;
if(FracSec>=50) { ShortTime+=1; if(ShortTime>=60) ShortTime-=60; }
Packet.Status.Time=ShortTime;
Packet.Status.FixQuality = FixQuality<3 ? FixQuality:3;
Packet.Status.Satellites = Satellites<15 ? Satellites:15;
Packet.EncodeAltitude((Altitude+5)/10);
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if(hasBaro)
Initial code, basic functionality: transmit, receive, relay, display position
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{ Packet.EncodeTemperature(Temperature);
Packet.Status.Pressure = (Pressure+16)>>5; }
else
{ Packet.Status.Pressure = 0; }
Packet.Status.Humidity=0;
}
// uint8_t getFreqPlan(void) const // get the frequency plan from Lat/Lon: 1 = Europe + Africa, 2 = USA/CAnada, 3 = Australia + South America, 4 = New Zeeland
// { if( (Longitude>=(-20*600000)) && (Longitude<=(60*600000)) ) return 1; // between -20 and 60 deg Lat => Europe + Africa: 868MHz band
// if( Latitude<(20*600000) ) // below 20deg latitude
// { if( ( Longitude>(164*600000)) && (Latitude<(-30*600000)) && (Latitude>(-48*600000)) ) return 4; // => New Zeeland
// return 3; } // => Australia + South America: upper half of 915MHz band
// return 2; } // => USA/Canada: full 915MHz band
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void Encode(OGN_Packet &Packet, int16_t dTime) const // Encode position which is extrapolated by the given fraction of a second
{ Packet.Position.FixQuality = FixQuality<3 ? FixQuality:3; //
if((FixQuality>0)&&(FixMode>=2)) Packet.Position.FixMode = FixMode-2; //
else Packet.Position.FixMode = 0;
if(PDOP>0) Packet.EncodeDOP(PDOP-10); // encode PDOP from GSA
else Packet.EncodeDOP(HDOP-10); // or if no GSA: use HDOP
int32_t Lat, Lon, Alt; int16_t Head;
calcExtrapolation(Lat, Lon, Alt, Head, dTime);
int16_t ShortTime=Sec; // the 6-bit time field in the OGN packet
dTime += FracSec;
while(dTime>= 50 ) { dTime-=100; ShortTime++; if(ShortTime>=60) ShortTime-=60; }
while(dTime<(-50)) { dTime+=100; ShortTime--; if(ShortTime< 0) ShortTime+=60; }
Packet.Position.Time=ShortTime; // Time
Packet.EncodeLatitude(Lat); // Latitude
Packet.EncodeLongitude(Lon); // Longitude
Packet.EncodeSpeed(Speed); // Speed
Packet.EncodeHeading(Head); // Heading = track-over-ground
Packet.EncodeClimbRate(ClimbRate); // Climb rate
Packet.EncodeTurnRate(TurnRate); // Turn rate
Packet.EncodeAltitude((Alt+5)/10); // Altitude
if(hasBaro) Packet.EncodeStdAltitude((StdAltitude+(Alt-Altitude)+5)/10); // Pressure altitude
else Packet.clrBaro(); //or no-baro if pressure sensor data not there
}
void calcExtrapolation(int32_t &Lat, int32_t &Lon, int32_t &Alt, int16_t &Head, int32_t dTime) const // extrapolate GPS position by a fraction of a second
{ int16_t HeadAngle = ((int32_t)Heading<<12)/225; // []
int16_t TurnAngle = (((dTime*TurnRate)/25)<<9)/225; // []
HeadAngle += TurnAngle;
int32_t LatSpeed = ((int32_t)Speed*Icos(HeadAngle))>>12; // [0.1m/s]
int32_t LonSpeed = ((int32_t)Speed*Isin(HeadAngle))>>12; // [0.1m/s]
Lat = Latitude + calcLatitudeExtrapolation (dTime, LatSpeed);
Lon = Longitude + calcLongitudeExtrapolation(dTime, LonSpeed);
Alt = Altitude + calcAltitudeExtrapolation(dTime);
Head = Heading + (dTime*TurnRate)/100;
if(Head<0) Head+=3600; else if(Head>=3600) Head-=3600; }
int32_t calcAltitudeExtrapolation(int32_t Time) const // [0.01s]
{ return Time*ClimbRate/100; } // [0.1m]
int32_t calcLatitudeExtrapolation(int32_t Time, int32_t LatSpeed) const // [0.01s]
{ return (Time*LatSpeed*177)>>15; } // [0.1m]
int32_t calcLongitudeExtrapolation(int32_t Time, int32_t LonSpeed) const // [0.01s]
{ int16_t LatCosine = calcLatCosine(calcLatAngle16(Latitude));
return calcLongitudeExtrapolation(Time, LonSpeed, LatCosine); }
int32_t calcLongitudeExtrapolation(int32_t Time, int32_t LonSpeed, int16_t LatCosine) const // [0.01s]
{ return (((int32_t)Time*LonSpeed*177)>>3)/LatCosine; }
Initial code, basic functionality: transmit, receive, relay, display position
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// static int32_t calcLatDistance(int32_t Lat1, int32_t Lat2) // [m] distance along latitude
// { return ((int64_t)(Lat2-Lat1)*0x2f684bda+0x80000000)>>32; }
// static int32_t calcLatAngle32(int32_t Lat) // convert latitude to 32-bit integer angle
// { return ((int64_t)Lat*2668799779u+0x4000000)>>27; }
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static int16_t calcLatAngle16(int32_t Lat) // convert latitude to 16-bit integer angle
Initial code, basic functionality: transmit, receive, relay, display position
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{ return ((int64_t)Lat*1303125+0x80000000)>>32; }
// static int32_t calcLatCosine(int32_t LatAngle) // calculate the cosine of the latitude 32-bit integer angle
// { return IntSine((uint32_t)(LatAngle+0x40000000)); }
// static int32_t calcLatCosine(int16_t LatAngle) // calculate the cosine of the latitude 16-bit integer angle
// { return IntSine((uint16_t)(LatAngle+0x4000)); }
static int16_t calcLatCosine(int16_t LatAngle)
{ return Icos(LatAngle); }
// int32_t getLatDistance(int32_t RefLatitude) const // [m] distance along latitude
// { return calcLatDistance(RefLatitude, Latitude); }
// int32_t getLonDistance(int32_t RefLongitude) const // [m] distance along longitude
// { int32_t Dist = calcLatDistance(RefLongitude, Longitude); //
// int16_t LatAngle = calcLatAngle16(Latitude);
// int32_t LatCos = calcLatCosine(LatAngle);
// // printf("Latitude=%+d, LatAngle=%04X LatCos=%08X\n", Latitude, (uint16_t)LatAngle, LatCos);
// return ((int64_t)Dist*LatCos+0x40000000)>>31; } // distance corrected by the latitude cosine
void calcLatitudeCosine(void)
{ int16_t LatAngle = calcLatAngle16(Latitude);
LatitudeCosine = calcLatCosine(LatAngle); }
private:
int8_t ReadLatitude(char Sign, const char *Value)
{ int8_t Deg=Read_Dec2(Value); if(Deg<0) return -1;
int8_t Min=Read_Dec2(Value+2); if(Min<0) return -1;
if(Value[4]!='.') return -1;
int16_t FracMin=Read_Dec4(Value+5); if(FracMin<0) return -1;
// printf("Latitude: %c %02d %02d %04d\n", Sign, Deg, Min, FracMin);
Latitude = (int16_t)Deg*60 + Min;
Latitude = Latitude*(int32_t)10000 + FracMin;
// printf("Latitude: %d\n", Latitude);
if(Sign=='S') Latitude=(-Latitude);
else if(Sign!='N') return -1;
// printf("Latitude: %d\n", Latitude);
return 0; } // Latitude units: 0.0001/60 deg
int8_t ReadLongitude(char Sign, const char *Value)
{ int16_t Deg=Read_Dec3(Value); if(Deg<0) return -1;
int8_t Min=Read_Dec2(Value+3); if(Min<0) return -1;
if(Value[5]!='.') return -1;
int16_t FracMin=Read_Dec4(Value+6); if(FracMin<0) return -1;
Longitude = (int16_t)Deg*60 + Min;
Longitude = Longitude*(int32_t)10000 + FracMin;
if(Sign=='W') Longitude=(-Longitude);
else if(Sign!='E') return -1;
return 0; } // Longitude units: 0.0001/60 deg
int8_t ReadAltitude(char Unit, const char *Value)
{ if(Unit!='M') return -1;
return Read_Float1(Altitude, Value); } // Altitude units: 0.1 meter
int8_t ReadGeoidSepar(char Unit, const char *Value)
{ if(Unit!='M') return -1;
return Read_Float1(GeoidSeparation, Value); } // GeoidSepar units: 0.1 meter
int8_t ReadSpeed(const char *Value)
{ int32_t Knots;
if(Read_Float1(Knots, Value)<1) return -1; // Speed: 0.1 knots
Speed=(527*Knots+512)>>10; return 0; } // convert speed to 0.1 meter/sec
int8_t ReadHeading(const char *Value)
{ return Read_Float1(Heading, Value); } // Heading units: 0.1 degree
int8_t ReadPDOP(const char *Value)
{ int16_t DOP;
if(Read_Float1(DOP, Value)<1) return -1;
if(DOP<10) DOP=10;
else if(DOP>255) DOP=255;
PDOP=DOP; return 0; }
int ReadHDOP(const char *Value)
{ int16_t DOP;
if(Read_Float1(DOP, Value)<1) return -1;
if(DOP<10) DOP=10;
else if(DOP>255) DOP=255;
HDOP=DOP; return 0; }
int ReadVDOP(const char *Value)
{ int16_t DOP;
if(Read_Float1(DOP, Value)<1) return -1;
if(DOP<10) DOP=10;
else if(DOP>255) DOP=255;
VDOP=DOP; return 0; }
Correct the unique ID, add some string-valued parameters
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int8_t ReadTime(const char *Value) // read the Time field: HHMMSS.ss and check if it is a new one or the same one
Initial code, basic functionality: transmit, receive, relay, display position
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{ int8_t Prev; int8_t Same=1;
Prev=Hour;
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Hour=Read_Dec2(Value); if(Hour<0) return -1; // read hour (two digits), return when invalid
Initial code, basic functionality: transmit, receive, relay, display position
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if(Prev!=Hour) Same=0;
Prev=Min;
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Min=Read_Dec2(Value+2); if(Min<0) return -1; // read minute (two digits), return when invalid
Initial code, basic functionality: transmit, receive, relay, display position
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if(Prev!=Min) Same=0;
Prev=Sec;
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Sec=Read_Dec2(Value+4); if(Sec<0) return -1; // read second (two digits), return when invalid
Initial code, basic functionality: transmit, receive, relay, display position
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if(Prev!=Sec) Same=0;
Prev=FracSec;
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if(Value[6]=='.') // is there a fraction
{ FracSec=Read_Dec2(Value+7); if(FracSec<0) return -1; } // read the fraction, return when invalid
if(Prev!=FracSec) Same=0; // return 0 when time is valid but did not change
return Same; } // return 1 when time did not change (both RMC and GGA were for same time)
int8_t ReadDate(const char *Param) // read the field DDMMYY
{ Day=Read_Dec2(Param); if(Day<0) return -1; // read calendar year (two digits - thus need to be extended to four)
Month=Read_Dec2(Param+2); if(Month<0) return -1; // read calendar month
Year=Read_Dec2(Param+4); if(Year<0) return -1; // read calendar day
return 0; } // return 0 when field valid and was read correctly
Initial code, basic functionality: transmit, receive, relay, display position
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int8_t static IndexNMEA(uint8_t Index[20], const char *Seq) // index parameters and verify the NMEA checksum
{ if(Seq[0]!='$') return -1;
if(Seq[6]!=',') return -1;
uint8_t Check=Seq[1]^Seq[2]^Seq[3]^Seq[4]^Seq[5]^Seq[6];
Index[0]=7; int8_t Params=1; int8_t Ptr;
for(Ptr=7; ; )
{ char ch=Seq[Ptr++]; if(ch<' ') return -1;
if(ch=='*') break;
Check^=ch;
if(ch==',') { Index[Params++]=Ptr; }
}
if(Seq[Ptr++]!=HexDigit(Check>>4) ) { /* printf("H:%c:%c <=> %02X\n", Seq[Ptr-1],Seq[Ptr ], Check); */ return -2; }
if(Seq[Ptr++]!=HexDigit(Check&0x0F)) { /* printf("L:%c:%c <=> %02X\n", Seq[Ptr-2],Seq[Ptr-1], Check); */ return -2; }
// printf("%s => [%d]\n", Seq, Params);
return Params; }
public:
uint32_t getUnixTime(void) const // return the Unix timestamp (tested 2000-2037)
{ uint16_t Days = DaysSinceYear2000() + DaysSimce1jan();
return Times60(Times60(Times24((uint32_t)(Days+10957)))) + Times60((uint32_t)(Times60((uint16_t)Hour) + Min)) + Sec; } // this appears to save about 100 bytes of code
// return (uint32_t)(Days+10957)*SecsPerDay + (uint32_t)Hour*SecsPerHour + (uint16_t)Min*SecsPerMin + Sec; } // compared to this line
uint32_t getFatTime(void) const // return timestamp in FAT format
{ uint16_t Date = ((uint16_t)(Year+20)<<9) | ((uint16_t)Month<<5) | Day;
uint16_t Time = ((uint16_t)Hour<<11) | ((uint16_t)Min<<5) | (Sec>>1);
return ((uint32_t)Date<<16) | Time; }
void setUnixTime(uint32_t Time) // works except for the 1.1.2000
{ uint32_t Days = Time/SecsPerDay; // [day] since 1970
uint32_t DayTime = Time - Days*SecsPerDay; // [sec] time-of-day
Hour = DayTime/SecsPerHour; DayTime -= (uint32_t)Hour*SecsPerHour; //
Min = DayTime/SecsPerMin; DayTime -= (uint16_t)Min*SecsPerMin;
Sec = DayTime;
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FracSec=0;
Initial code, basic functionality: transmit, receive, relay, display position
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Days -= 10957+1; // [day] since 2000 minus 1 day
Year = (Days*4)/((365*4)+1); // [year] since 1970
Days -= 365*Year + (Year/4);
Month = Days/31;
Day = Days-(uint16_t)Month*31+1; Month++;
uint32_t CheckTime = getUnixTime();
if(CheckTime<Time) incrDate((Time-CheckTime)/SecsPerDay);
Correct the unique ID, add some string-valued parameters
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hasTime=1; }
void setUnixTime_ms(uint64_t Time_ms)
{ uint32_t Time=Time_ms/1000;
setUnixTime(Time);
FracSec = (Time_ms-(uint64_t)Time*1000)/10; }
Initial code, basic functionality: transmit, receive, relay, display position
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private:
static const uint32_t SecsPerMin = 60;
static const uint32_t SecsPerHour = 60*60;
static const uint32_t SecsPerDay = 24*60*60;
uint8_t isLeapYear(void) const { return (Year&3)==0; }
#ifdef __AVR__
int16_t DaysSimce1jan(void) const
{ static const uint8_t DaysDiff[12] PROGMEM = { 0, 3, 3, 6, 8, 11, 13, 16, 19, 21, 24, 26 } ;
uint16_t Days = (uint16_t)(Month-1)*28 + pgm_read_byte(DaysDiff+(Month-1)) + Day - 1;
if(isLeapYear() && (Month>2) ) Days++;
return Days; }
#else
int16_t DaysSimce1jan(void) const // 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31
{ static const uint8_t DaysDiff[12] = { 0, 3, 3, 6, 8, 11, 13, 16, 19, 21, 24, 26 } ;
uint16_t Days = (uint16_t)(Month-1)*28 + DaysDiff[Month-1] + Day - 1;
if(isLeapYear() && (Month>2) ) Days++;
return Days; }
#endif
uint16_t DaysSinceYear2000(void) const
{ uint16_t Days = 365*Year;
if(Year>0) Days += ((Year-1)>>2)+1;
return Days; }
template <class Type>
static Type Times60(Type X) { return ((X<<4)-X)<<2; }
template <class Type>
static Type Times28(Type X) { X+=(X<<1)+(X<<2); return X<<2; }
template <class Type>
static Type Times24(Type X) { X+=(X<<1); return X<<3; }
} ;
#endif // of __OGN_H__