More useable PilotAware transmission

main/ogn.h

@@ -1300,6 +1300,26 @@ class GPS_Position: public GPS_Time
    //     return 3; }                                                         // => Australia + South America: upper half of 915MHz band
    //   return 2; }                                                           // => USA/Canada: full 915MHz band
 
+  template <class OGNx_Packet>
+   void Decode(const OGNx_Packet &Packet)
+  { FixQuality = Packet.Position.FixQuality;
+    FixMode = Packet.Position.FixMode+2;
+    PDOP = 10+Packet.DecodeDOP();
+    HDOP = PDOP; VDOP = PDOP+PDOP/2;
+    FracSec=0; Sec=Packet.Position.Time;
+    Speed = Packet.DecodeSpeed();
+    ClimbRate = Packet.DecodeClimbRate();
+    TurnRate = Packet.DecodeTurnRate();
+    Heading  = Packet.DecodeHeading();                                              // Heading = track-over-ground
+    Latitude = Packet.DecodeLatitude();
+    Longitude = Packet.DecodeLongitude();
+    Altitude = Packet.DecodeAltitude()*10;
+    hasBaro=0;
+    if(Packet.hasBaro())
+    { StdAltitude = Altitude + 10*Packet.getBaroAltDiff();
+      hasBaro=1; }
+  }
+
   template <class OGNx_Packet>
    void Encode(OGNx_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;                //

main/ogn1.h

@@ -230,7 +230,7 @@ class OGN1_Packet          // Packet structure for the OGN tracker
        { Len += sprintf(Out+Len, " %s=%s", InfoParmName(InfoType), Value); }
        else
        { Len += sprintf(Out+Len, " #%d=%s", InfoType, Value); }
-       Idx+=Chars; }
+     Idx+=Chars; }
      Out[Len]=0; return Len; }
 */
    void Print(void) const
@@ -879,12 +879,12 @@ class OGN1_DiffPacket
    union
    { uint32_t Word;
      struct
-     { uint8_t dTime:4;
+     { uint8_t dTime:4;          // [0..15sec] time difference
-       int32_t dLat :6;
+       int32_t dLat :6;          // [-32..+31]
-       int32_t dLon :6;
+       int32_t dLon :6;          // [-32..+31]
-       int32_t dAlt :5;
+       int32_t dAlt :5;          // [-16..+15]
-       int32_t dVel :5;
+       int32_t dVel :5;          // [-16..+15]
-       int32_t dHead:6;
+       int32_t dHead:6;          // [-32..+31]
      } ;
    } ;
 
@@ -892,10 +892,14 @@ class OGN1_DiffPacket
    bool Encode(const OGN1_Packet &Pos, const OGN1_Packet &RefPos)
    { int8_t dT = RefPos.Position.Time - Pos.Position.Time; if(dT<0) dT+=60;
      if(dT>15) return 0;
-     int32_t dAlt = RefPos.Position.Altitude - RefPos.Position.Altitude;
+     int32_t dLat  = (int32_t)RefPos.Position.Latitude  - (int32_t)Pos.Position.Latitude;
-     int32_t dLat = RefPos.Position.Latitude - RefPos.Position.Latitude;
+     int32_t dLon  = (int32_t)RefPos.Position.Longitude - (int32_t)Pos.Position.Longitude;
-     int32_t dLon = RefPos.Position.Longitude - RefPos.Position.Longitude;
+     int16_t dAlt  = (int16_t)RefPos.Position.Altitude  - (int16_t)Pos.Position.Altitude;
+     int16_t dVel  = (int16_t)RefPos.Position.Speed     - (int16_t)Pos.Position.Speed;        // [0.1m/s] difference in speed
+     int16_t dHead = (int16_t)RefPos.Position.Heading   - (int16_t)Pos.Position.Heading;      // [10bit cordic] difference in heading
+             dHead&=0x03FF; if(dHead&0x0200) dHead|=0xFC00;
      return 1; }
+
 } ;
 */
 

main/paw.h

@@ -30,8 +30,13 @@ class PAW_Packet
             int8_t  Climb  :7;  // [64fpm]
          } ;
        } ;
-       uint8_t  Seq;            // sequence number to transmit longer messages
+       union
-       uint8_t  Msg[3];         // 3-byte part of the longer message
+       { uint32_t SeqMsg;
+         struct
+         { uint8_t  Seq;        // sequence number to transmit longer messages
+           uint8_t  Msg[3];     // 3-byte part of the longer message
+         } ;
+       } ;
        union
        { uint16_t SpeedWord;
          struct
@@ -69,19 +74,27 @@ class PAW_Packet
    // uint32_t getAddress(void) const { return Address>>8; }              // remove the sync '$'
    // void     setAddress(uint32_t Addr) { Address = (Addr<<8) | 0x24; }  // set new address and set the '$' sync char
 
-   int Copy(const OGN1_Packet &Packet)
+   int Copy(const OGN1_Packet &Packet, bool Ext=1)
    { Clear();
-     OGN = 1;
+     Address  = Packet.Header.Address;                     // [24-bit]
-     Address  = Packet.Header.Address;
+     if(Packet.Header.NonPos) return 0;                    // encode only position packets
-     AddrType = Packet.Header.AddrType;
+     AcftType = Packet.Position.AcftType;                  // [4-bit] aircraft-type
-     Relay    = Packet.Header.Relay;
+     Altitude = Packet.DecodeAltitude();                   // [m]
-     if(Packet.Header.NonPos) return 0;
+     Heading = Packet.DecodeHeading()/10;                  // [deg]
-     AcftType = Packet.Position.AcftType;
-     Altitude = Packet.DecodeAltitude();
-     Heading = Packet.DecodeHeading()/10;
      Speed = (398*(int32_t)Packet.DecodeSpeed()+1024)>>11; // [0.1m/s] => [kts]
-     Latitude  = 0.0001f/60*Packet.DecodeLatitude();
+     Latitude  = 0.0001f/60*Packet.DecodeLatitude();       // [deg]
-     Longitude = 0.0001f/60*Packet.DecodeLongitude();
+     Longitude = 0.0001f/60*Packet.DecodeLongitude();      // [deg]
+     if(Ext)
+     { OGN=1;                                              // extended data flag
+       AddrType = Packet.Header.AddrType;                  // [2-bit]
+       Relay    = Packet.Header.Relay;                     // relay flag
+       Time = Packet.Position.Time;                        // [sec]
+       int32_t ClimbRate = Packet.DecodeClimbRate();       // [0.1m/s]
+       ClimbRate = (ClimbRate*315+512)>>10;                // [64fpm]
+       if(ClimbRate>127) ClimbRate=127;
+       else if(ClimbRate<(-127)) ClimbRate=(-127);
+       Climb = ClimbRate; }
+     SeqMsg = 0;
      setCRC(); return 1; }
 
    uint8_t Dump(char *Out)
@@ -195,6 +208,7 @@ class PAW_RxPacket          // Received PilotAware packet
      Len+=Format_Hex(JSON+Len, AcftCat[Packet.AcftType]);
      JSON[Len++]='\"';
      uint32_t PosTime=Time; if(nsTime<300000000) PosTime--;
+     // if(OGN)
      Len+=Format_String(JSON+Len, ",\"time\":");
      Len+=Format_UnsDec(JSON+Len, PosTime);
      int64_t RxTime=(int64_t)Time-PosTime; RxTime*=1000; RxTime+=nsTime/1000000;
@@ -202,6 +216,7 @@ class PAW_RxPacket          // Received PilotAware packet
      Len+=Format_SignDec(JSON+Len, RxTime, 4, 3, 1);
      Len+=sprintf(JSON+Len, ",\"lat_deg\":%8.7f,\"lon_deg\":%8.7f,\"alt_msl_m\":%d", Packet.Latitude, Packet.Longitude, Packet.Altitude);
      Len+=sprintf(JSON+Len, ",\"track_deg\":%d,\"speed_mps\":%3.1f", Packet.Heading, 0.514*Packet.Speed);
+     if(Packet.OGN) Len+=sprintf(JSON+Len, ",\"climb_mps\":%3.1f", 0.32512*Packet.Climb);
      return Len; }
 
 } ;

main/rf.cpp

@@ -425,21 +425,6 @@ extern "C"
     TxChan = RF_FreqPlan.getChannel(RF_SlotTime, 1, 1);                        // transmit channel
     RX_Channel = TxChan;
 
-#ifdef WITH_PAW
-   { PAW_Packet Packet; Packet.Clear();
-     Packet.Address = Parameters.Address;
-     Packet.AcftType = Parameters.AcftType;
-     Packet.setCRC();
-     TRX.WriteMode(RF_OPMODE_STANDBY);
-     TRX.PAW_Configure(PAW_SYNC);
-     TRX.WriteTxPower(Parameters.TxPower);
-     TRX.WritePacketPAW(Packet.Byte, 24);
-     TRX.WriteMode(RF_OPMODE_TRANSMITTER);
-     vTaskDelay(10);
-     TRX.WriteMode(RF_OPMODE_STANDBY);
-     TRX.OGN_Configure(0, OGN_SYNC); }
-#endif
-
 #if defined(WITH_FANET) && defined(WITH_RFM95)
     const FANET_Packet *FNTpkt = FNT_TxFIFO.getRead(0);                        // read the packet from the FANET transmitt queue
     if(FNTpkt)                                                                 // was there any ?
@@ -501,6 +486,35 @@ extern "C"
     TimeSlot(TxChan, 1240-TimeSync_msTime(), TxPktData1, TRX.averRSSI, 0, TxTime);
 #endif
 
+#ifdef WITH_PAW
+#ifdef WITH_LORAWAN
+   if(!WANtx && TxPkt0)
+#else
+   if(TxPkt0)
+#endif
+   { PAW_Packet Packet; Packet.Clear();
+     OGN1_Packet TxPkt = TxPkt0->Packet;
+     TxPkt.Dewhiten();
+     XorShift32(RX_Random);
+     if(!TxPkt.Header.Relay && (RX_Random&0xC0)==0x00 && Packet.Copy(TxPkt))
+     { TRX.WriteMode(RF_OPMODE_STANDBY);
+       TRX.PAW_Configure(PAW_SYNC);
+       TRX.WriteTxPower(Parameters.TxPower+6);
+       vTaskDelay(RX_Random&0x3F);
+       TRX.ClearIrqFlags();
+       TRX.WritePacketPAW(Packet.Byte, 24);
+       TRX.WriteMode(RF_OPMODE_TRANSMITTER);
+       vTaskDelay(8);                                                 // wait 5ms
+       uint8_t Break=0;
+       for(uint16_t Wait=400; Wait; Wait--)                           // wait for transmission to end
+       { uint16_t Flags=TRX.ReadIrqFlags();
+         if(Flags&RF_IRQ_PacketSent) Break++;
+         if(Break>=2) break; }
+       TRX.WriteMode(RF_OPMODE_STANDBY);
+       TRX.OGN_Configure(0, OGN_SYNC); }
+   }
+#endif
+
 #ifdef WITH_LORAWAN
     if(WANtx)
     { TRX.WriteMode(RF_OPMODE_STANDBY);                    // TRX to standby