kopia lustrzana https://github.com/pjalocha/esp32-ogn-tracker
Fix line endings which prevented XCsoar operation
Pawel Jalocha
rodzic
33e2b58dfb
commit
27ca3b6283
|
|
@ -11,7 +11,7 @@ class AXP192
|
|||
static const uint8_t REG_STATUS = 0x00; // bit #2 = charge/discharge, bit #0 = power-on triggered by Vbus/ACin
|
||||
static const uint8_t REG_MODE_CHGSTATUS = 0x01; // charge mode and status
|
||||
static const uint8_t REG_ID = 0x03;
|
||||
static const uint8_t REG_DATA_SAVE = 0x06; // 4 bytes which can be saved as long as the battery ot backup is applied
|
||||
static const uint8_t REG_DATA_SAVE = 0x06; // 4 bytes which can be saved as long as the battery or backup is applied
|
||||
static const uint8_t REG_EXTEN_DC2_CTL = 0x10; // [bit mask] control outputs ON/OFF
|
||||
static const uint8_t REG_LDO23_DC13_CTL = 0x12; // [bit mask] control outputs ON/OFF
|
||||
static const uint8_t REG_DC2_VOLTAGE = 0x23;
|
||||
|
|
@ -94,12 +94,17 @@ class AXP192
|
|||
if( (!Error) && (ID==AXP192_ID) ) { ADDR=AXP192_ADDR; return 0; } // 0 => no error and correct ID
|
||||
return 1; } // 1 => error or incorrect chip ID
|
||||
|
||||
uint8_t readStatus(void)
|
||||
uint8_t readStatus(void) // read power supply status: bit #0 = boot triggered by power input
|
||||
{ uint8_t Byte=0; Error=I2C_Read(Bus, ADDR, REG_STATUS, Byte); return Byte; }
|
||||
|
||||
uint8_t readSave(uint8_t Idx=0) // read one of the 4 general purpose storage bytes
|
||||
{ uint8_t Byte=0; Error=I2C_Read(Bus, ADDR, REG_DATA_SAVE+Idx, Byte); return Byte; }
|
||||
|
||||
uint8_t writeSave(uint8_t Byte, uint8_t Idx=0) // write the general-purpose storage byte
|
||||
{ Error=I2C_Write(Bus, ADDR, REG_DATA_SAVE+Idx, Byte); return Error; }
|
||||
|
||||
uint8_t setPOK(uint8_t Byte=0xDC)
|
||||
{ Error=I2C_Write(Bus, ADDR, REG_POK_SET, Byte);
|
||||
return Error; }
|
||||
{ Error=I2C_Write(Bus, ADDR, REG_POK_SET, Byte); return Error; }
|
||||
|
||||
uint8_t setPowerOutput(uint8_t Channel, bool ON=1) // Channel: 3=LDO3, 2=LDO2, 1=DC-DC3, 0=DC-DC1
|
||||
{ uint8_t Byte;
|
||||
|
|
@ -110,7 +115,7 @@ class AXP192
|
|||
Error=I2C_Write(Bus, ADDR, REG_LDO23_DC13_CTL, Byte);
|
||||
return Error; }
|
||||
|
||||
uint8_t setDCDC1(uint16_t mV) // [mV] set voltage on DCDC1 output
|
||||
uint8_t setDCDC1(uint16_t mV) // [mV] set voltage on DCDC1 output
|
||||
{ if(mV>3500) mV=3500;
|
||||
else if(mV<700) mV=700;
|
||||
uint8_t Byte = (mV-700+12)/25;
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
|
||||
#include <stdint.h>
|
||||
|
||||
#define WITH_AUTOCR
|
||||
// #define WITH_AUTOCR
|
||||
|
||||
char HexDigit(uint8_t Val);
|
||||
|
||||
|
|
|
|||
|
|
@ -720,13 +720,13 @@ static void GPS_NMEA(void) // wh
|
|||
{ if(Parameters.Verbose)
|
||||
{ xSemaphoreTake(CONS_Mutex, portMAX_DELAY);
|
||||
Format_String(CONS_UART_Write, (const char *)NMEA.Data, 0, NMEA.Len);
|
||||
Format_String(CONS_UART_Write, "\n");
|
||||
CONS_UART_Write('\r'); CONS_UART_Write('\n');
|
||||
xSemaphoreGive(CONS_Mutex); }
|
||||
#ifdef WITH_SDLOG
|
||||
if(Log_Free()>=128)
|
||||
{ xSemaphoreTake(Log_Mutex, portMAX_DELAY);
|
||||
Format_String(Log_Write, (const char *)NMEA.Data, 0, NMEA.Len);
|
||||
Log_Write('\n');
|
||||
Log_Write('\r'); Log_Write('\n');
|
||||
xSemaphoreGive(Log_Mutex); }
|
||||
#endif
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1193,6 +1193,7 @@ static esp_err_t SendLog_IGC(httpd_req_t *Req, const char *FileName, uint32_t Fi
|
|||
Len+=Format_String(Line+Len, "LGNE "); // attach APRS as LGNE record
|
||||
char *APRS=Line+Len;
|
||||
Len+=Packet.Packet.WriteAPRS(Line+Len, Time); // packet in the APRS format
|
||||
Line[Len++]='\n'; Line[Len]=0;
|
||||
bool Own = Packet.Packet.Header.Address==Parameters.Address && Packet.Packet.Header.AddrType==Parameters.AddrType; //
|
||||
if(Own && !Packet.Packet.Header.NonPos && !Packet.Packet.Header.Encrypted)
|
||||
Len+=APRS2IGC(Line+Len, APRS, GPS_GeoidSepar); // IGC B-record
|
||||
|
|
@ -1231,6 +1232,7 @@ static esp_err_t SendLog_APRS(httpd_req_t *Req, const char *FileName, uint32_t F
|
|||
if(!Packet.isCorrect()) continue;
|
||||
uint32_t Time = Packet.getTime(FileTime); // [sec] get exact time from short time in the packet and the file start time
|
||||
Len+=Packet.Packet.WriteAPRS(Line+Len, Time); // print the packet in the APRS format
|
||||
Line[Len++]='\n'; Line[Len]=0;
|
||||
if(Len>850) { httpd_resp_send_chunk(Req, Line, Len); Len=0; }
|
||||
vTaskDelay(1); }
|
||||
fclose(File);
|
||||
|
|
|
|||
|
|
@ -263,9 +263,9 @@ template <const uint8_t MaxTgts=32>
|
|||
NMEA[Len++]=',';
|
||||
if(Tgt) // [m] relative horizontal distance
|
||||
{ Len+=Format_UnsDec(NMEA+Len, (uint32_t)Tgt->HorDist>>1, 1); }
|
||||
NMEA[Len++]=',';
|
||||
if(Tgt) // ID
|
||||
{ uint32_t Addr=Tgt->ID;
|
||||
{ NMEA[Len++]=','; //
|
||||
uint32_t Addr=Tgt->ID;
|
||||
Len+=Format_Hex(NMEA+Len, (uint8_t)(Addr>>16)); // 24-bit address: RND, ICAO, FLARM, OGN
|
||||
Len+=Format_Hex(NMEA+Len, (uint16_t)Addr); }
|
||||
// #ifdef WITH_SKYDEMON
|
||||
|
|
|
|||
|
|
@ -190,7 +190,7 @@ void app_main(void)
|
|||
#ifdef WITH_SOUND
|
||||
xTaskCreate(vTaskSOUND, "SOUND", 2000, 0, tskIDLE_PRIORITY+3, 0);
|
||||
#endif
|
||||
xTaskCreate(vTaskTICK , "TICK", 1000, 0, tskIDLE_PRIORITY+3, 0);
|
||||
xTaskCreate(vTaskTICK , "TICK", 1500, 0, tskIDLE_PRIORITY+3, 0);
|
||||
// xTaskCreate(vTaskCTRL, "CTRL", 1536, 0, tskIDLE_PRIORITY+2, 0);
|
||||
vTaskCTRL(0); // run directly the CTRL task, instead of creating a separate one.
|
||||
|
||||
|
|
|
|||
|
|
@ -14,6 +14,6 @@ uint8_t NMEA_AppendCheck(uint8_t *NMEA, uint8_t Len)
|
|||
return 3; } // return number of characters added
|
||||
|
||||
uint8_t NMEA_AppendCheckCRNL(uint8_t *NMEA, uint8_t Len)
|
||||
{ uint8_t CheckLen=NMEA_AppendCheck(NMEA, Len); // add *XY
|
||||
{ uint8_t CheckLen=NMEA_AppendCheck(NMEA, Len); // add *XY, return number of added characters (=3)
|
||||
Len+=CheckLen; NMEA[Len++]='\r'; NMEA[Len++]='\n'; NMEA[Len]=0; // add CR, LF, NL
|
||||
return CheckLen+2; }
|
||||
return CheckLen+2; } // return number of added characters (3+2=5)
|
||||
|
|
|
|||
18
main/nmea.h
18
main/nmea.h
|
|
@ -4,10 +4,10 @@
|
|||
#include <stdint.h>
|
||||
|
||||
uint8_t NMEA_Check(uint8_t *NMEA, uint8_t Len);
|
||||
uint8_t NMEA_AppendCheck(uint8_t *NMEA, uint8_t Len);
|
||||
inline uint8_t NMEA_AppendCheck(char *NMEA, uint8_t Len) { return NMEA_AppendCheck((uint8_t*)NMEA, Len); }
|
||||
uint8_t NMEA_AppendCheckCRNL(uint8_t *NMEA, uint8_t Len);
|
||||
inline uint8_t NMEA_AppendCheckCRNL(char *NMEA, uint8_t Len) { return NMEA_AppendCheckCRNL((uint8_t*)NMEA, Len); }
|
||||
uint8_t NMEA_AppendCheck(uint8_t *NMEA, uint8_t Len);
|
||||
inline uint8_t NMEA_AppendCheck(char *NMEA, uint8_t Len) { return NMEA_AppendCheck((uint8_t *)NMEA, Len); }
|
||||
uint8_t NMEA_AppendCheckCRNL(uint8_t *NMEA, uint8_t Len);
|
||||
inline uint8_t NMEA_AppendCheckCRNL(char *NMEA, uint8_t Len) { return NMEA_AppendCheckCRNL((uint8_t *)NMEA, Len); }
|
||||
|
||||
class NMEA_RxMsg // receiver for the NMEA sentences
|
||||
{ public:
|
||||
|
|
@ -256,6 +256,16 @@ inline uint8_t NMEA_AppendCheckCRNL(char *NMEA, uint8_t Len) { return NMEA_Appen
|
|||
{ if(!isPOGN()) return 0;
|
||||
return Data[5]=='L'; }
|
||||
|
||||
uint8_t isPFLA(void) const // FLARM dedicated NMEA sentence
|
||||
{ if(Data[1]!='P') return 0;
|
||||
if(Data[2]!='F') return 0;
|
||||
if(Data[3]!='L') return 0;
|
||||
return Data[4]=='A'; }
|
||||
|
||||
uint8_t isPFLAC(void) // FLARM configuration NMEA
|
||||
{ if(!isPFLA()) return 0;
|
||||
return Data[5]=='C'; }
|
||||
|
||||
} ;
|
||||
|
||||
#endif // of __NMEA_H__
|
||||
|
|
|
|||
81
main/ogn1.h
81
main/ogn1.h
|
|
@ -211,7 +211,7 @@ class OGN1_Packet // Packet structure for the OGN tracker
|
|||
// Out[Len++]=HexDigit(Position.AcftType); 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);
|
||||
Len+=Format_UnsDec(Out+Len, (uint32_t)Position.Time, 2);
|
||||
Len+=Format_String(Out+Len, "s [");
|
||||
Len+=Format_SignDec(Out+Len, DecodeLatitude()/6, 7, 5);
|
||||
Out[Len++]=',';
|
||||
|
|
@ -223,9 +223,9 @@ class OGN1_Packet // Packet structure for the OGN tracker
|
|||
// 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';
|
||||
Len+=Format_UnsDec(Out+Len, (uint32_t)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';
|
||||
Len+=Format_SignDec(Out+Len, (int32_t)DecodeClimbRate(), 2, 1); Out[Len++]='m'; Out[Len++]='/'; Out[Len++]='s';
|
||||
Out[Len]=0;
|
||||
return Len; }
|
||||
|
||||
|
|
@ -233,20 +233,20 @@ class OGN1_Packet // Packet structure for the OGN tracker
|
|||
{ int Len=0;
|
||||
Out[Len++]=' '; Out[Len++]='h'; Len+=Format_Hex(Out+Len, (uint8_t)Status.Hardware);
|
||||
Out[Len++]=' '; Out[Len++]='v'; Len+=Format_Hex(Out+Len, (uint8_t)Status.Firmware);
|
||||
Out[Len++]=' '; Len+=Format_UnsDec(Out+Len, Status.Satellites); Out[Len++]='s'; Out[Len++]='a'; Out[Len++]='t';
|
||||
Out[Len++]=' '; Len+=Format_UnsDec(Out+Len, (uint32_t)Status.Satellites); Out[Len++]='s'; Out[Len++]='a'; Out[Len++]='t';
|
||||
Out[Len++]='/'; Out[Len++]='0'+Status.FixQuality;
|
||||
Out[Len++]='/'; Len+=Format_UnsDec(Out+Len, Status.SatSNR+8); Out[Len++]='d'; Out[Len++]='B';
|
||||
Out[Len++]=' '; Len+=Format_SignDec(Out+Len, DecodeAltitude(), 1, 0, 1); Out[Len++]='m';
|
||||
Out[Len++]='/'; Len+=Format_UnsDec(Out+Len, (uint32_t)Status.SatSNR+8); Out[Len++]='d'; Out[Len++]='B';
|
||||
Out[Len++]=' '; Len+=Format_SignDec(Out+Len, (int32_t)DecodeAltitude(), 1, 0, 1); Out[Len++]='m';
|
||||
if(Status.Pressure>0)
|
||||
{ Out[Len++]=' '; Len+=Format_UnsDec(Out+Len, (((uint32_t)Status.Pressure<<3)+5)/10, 2, 1); Out[Len++]='h'; Out[Len++]='P'; Out[Len++]='a'; }
|
||||
if(hasTemperature())
|
||||
{ Out[Len++]=' '; Len+=Format_SignDec(Out+Len, DecodeTemperature(), 2, 1); Out[Len++]='d'; Out[Len++]='e'; Out[Len++]='g'; Out[Len++]='C'; }
|
||||
{ Out[Len++]=' '; Len+=Format_SignDec(Out+Len, (int32_t)DecodeTemperature(), 2, 1); Out[Len++]='d'; Out[Len++]='e'; Out[Len++]='g'; Out[Len++]='C'; }
|
||||
if(hasHumidity())
|
||||
{ Out[Len++]=' '; Len+=Format_SignDec(Out+Len, DecodeHumidity(), 2, 1); Out[Len++]='%'; }
|
||||
Out[Len++]=' '; Len+=Format_SignDec(Out+Len, ((uint32_t)DecodeVoltage()*100+32)>>6, 3, 2); Out[Len++]='V';
|
||||
Out[Len++]=' '; Len+=Format_UnsDec(Out+Len, Status.TxPower+4);
|
||||
Out[Len++]='/'; Out[Len++]='-'; Len+=Format_UnsDec(Out+Len, 5*Status.RadioNoise, 2, 1); Out[Len++]='d'; Out[Len++]='B'; Out[Len++]='m';
|
||||
Out[Len++]=' '; Len+=Format_UnsDec(Out+Len, (1<<Status.RxRate)-1); Out[Len++]='/'; Out[Len++]='m'; Out[Len++]='i'; Out[Len++]='n';
|
||||
{ Out[Len++]=' '; Len+=Format_SignDec(Out+Len, (int32_t)DecodeHumidity(), 2, 1); Out[Len++]='%'; }
|
||||
Out[Len++]=' '; Len+=Format_SignDec(Out+Len, ((int32_t)DecodeVoltage()*100+32)>>6, 3, 2); Out[Len++]='V';
|
||||
Out[Len++]=' '; Len+=Format_UnsDec(Out+Len, (uint32_t)Status.TxPower+4);
|
||||
Out[Len++]='/'; Out[Len++]='-'; Len+=Format_UnsDec(Out+Len, (uint32_t)Status.RadioNoise*5, 2, 1); Out[Len++]='d'; Out[Len++]='B'; Out[Len++]='m';
|
||||
Out[Len++]=' '; Len+=Format_UnsDec(Out+Len, ((uint32_t)1<<Status.RxRate)-1); Out[Len++]='/'; Out[Len++]='m'; Out[Len++]='i'; Out[Len++]='n';
|
||||
Out[Len]=0; return Len; }
|
||||
/*
|
||||
int WriteDeviceStatus(char *Out) const
|
||||
|
|
@ -360,6 +360,10 @@ class OGN1_Packet // Packet structure for the OGN tracker
|
|||
Len+=Format_Hex(JSON+Len, (uint16_t)(Header.Address));
|
||||
JSON[Len++]='\"';
|
||||
JSON[Len++]=',';
|
||||
if(Header.Relay)
|
||||
{ Len+=Format_String(JSON+Len, "\"relay\":");
|
||||
JSON[Len++]='0'+Header.Relay;
|
||||
JSON[Len++]=','; }
|
||||
Len+=Format_String(JSON+Len, "\"addr_type\":");
|
||||
JSON[Len++] = HexDigit(Header.AddrType);
|
||||
if(!Header.Encrypted && !Header.NonPos) // if non-encrypted position
|
||||
|
|
@ -385,21 +389,44 @@ class OGN1_Packet // Packet structure for the OGN tracker
|
|||
Len+=Format_String(JSON+Len, ",\"alt_std_m\":");
|
||||
Len+=Format_SignDec(JSON+Len, Altitude, 1, 0, 1); }
|
||||
Len+=Format_String(JSON+Len, ",\"track_deg\":");
|
||||
Len+=Format_UnsDec(JSON+Len, DecodeHeading(), 2, 1);
|
||||
Len+=Format_UnsDec(JSON+Len, (uint32_t)DecodeHeading(), 2, 1);
|
||||
Len+=Format_String(JSON+Len, ",\"speed_mps\":");
|
||||
Len+=Format_UnsDec(JSON+Len, DecodeSpeed(), 2, 1);
|
||||
Len+=Format_UnsDec(JSON+Len, (uint32_t)DecodeSpeed(), 2, 1);
|
||||
if(hasClimbRate())
|
||||
{ Len+=Format_String(JSON+Len, ",\"climb_mps\":");
|
||||
Len+=Format_SignDec(JSON+Len, DecodeClimbRate(), 2, 1, 1); }
|
||||
Len+=Format_SignDec(JSON+Len, (int32_t)DecodeClimbRate(), 2, 1, 1); }
|
||||
if(hasTurnRate())
|
||||
{ Len+=Format_String(JSON+Len, ",\"turn_dps\":");
|
||||
Len+=Format_SignDec(JSON+Len, DecodeTurnRate(), 2, 1, 1); }
|
||||
Len+=Format_SignDec(JSON+Len, (int32_t)DecodeTurnRate(), 2, 1, 1); }
|
||||
Len+=Format_String(JSON+Len, ",\"DOP\":");
|
||||
Len+=Format_UnsDec(JSON+Len, 10+DecodeDOP(), 2, 1); }
|
||||
Len+=Format_UnsDec(JSON+Len, (uint32_t)DecodeDOP()+10, 2, 1); }
|
||||
else if(!Header.Encrypted && Header.NonPos) // non-encrypted status and info
|
||||
{ if(isStatus()) // status
|
||||
{ }
|
||||
else if(isInfo()) // info
|
||||
{ Len+=Format_String(JSON+Len, ",\"battery_V\":");
|
||||
Len+=Format_UnsDec(JSON+Len, ((uint32_t)DecodeVoltage()*100+32)>>6, 3, 2);
|
||||
if(hasTemperature())
|
||||
{ Len+=Format_String(JSON+Len, ",\"temperature_deg\":");
|
||||
Len+=Format_SignDec(JSON+Len, (int32_t)DecodeTemperature(), 2, 1, 1); }
|
||||
if(Status.Pressure>0)
|
||||
{ Len+=Format_String(JSON+Len, ",\"pressure_hPa\":");
|
||||
Len+=Format_UnsDec(JSON+Len, ((uint32_t)Status.Pressure<<3), 3, 2); }
|
||||
if(Status.FixQuality)
|
||||
{ int32_t Altitude=DecodeAltitude();
|
||||
Len+=Format_String(JSON+Len, ",\"alt_msl_m\":");
|
||||
Len+=Format_UnsDec(JSON+Len, (uint32_t)Altitude); }
|
||||
Len+=Format_String(JSON+Len, ",\"GPS_fix\":");
|
||||
JSON[Len++] = '0'+Status.FixQuality;
|
||||
Len+=Format_String(JSON+Len, ",\"GPS_sats\":");
|
||||
Len+=Format_UnsDec(JSON+Len, (uint32_t)Status.Satellites);
|
||||
Len+=Format_String(JSON+Len, ",\"GPS_SNR_dB\":");
|
||||
Len+=Format_UnsDec(JSON+Len, (uint32_t)Status.SatSNR+8);
|
||||
Len+=Format_String(JSON+Len, ",\"Tx_power_dBm\":");
|
||||
Len+=Format_UnsDec(JSON+Len, (uint32_t)Status.TxPower+4);
|
||||
Len+=Format_String(JSON+Len, ",\"Rx_rate_min\":");
|
||||
Len+=Format_UnsDec(JSON+Len, ((uint32_t)1<<Status.RxRate)-1);
|
||||
Len+=Format_String(JSON+Len, ",\"Rx_noise_dBm\":-");
|
||||
Len+=Format_UnsDec(JSON+Len, (uint32_t)Status.RadioNoise*5, 2, 1); }
|
||||
else if(isInfo() && goodInfoCheck()) // info
|
||||
{ char Value[16];
|
||||
uint8_t InfoType;
|
||||
uint8_t Idx=0;
|
||||
|
|
@ -663,10 +690,10 @@ class OGN1_Packet // Packet structure for the OGN tracker
|
|||
Msg[Len++] = NegLon ? 'W':'E';
|
||||
Msg[Len++] = Icon[1];
|
||||
|
||||
Len+=Format_UnsDec(Msg+Len, (DecodeHeading()+5)/10, 3);
|
||||
Len+=Format_UnsDec(Msg+Len, ((uint32_t)DecodeHeading()+5)/10, 3);
|
||||
Msg[Len++] = '/';
|
||||
Len+=Format_UnsDec(Msg+Len, ((uint32_t)DecodeSpeed()*199+512)>>10, 3);
|
||||
Msg[Len++] = '/'; Msg[Len++] = 'A'; Msg[Len++] = '='; Len+=Format_UnsDec(Msg+Len, MetersToFeet(DecodeAltitude()), 6);
|
||||
Msg[Len++] = '/'; Msg[Len++] = 'A'; Msg[Len++] = '='; Len+=Format_UnsDec(Msg+Len, (uint32_t)MetersToFeet(DecodeAltitude()), 6);
|
||||
|
||||
Msg[Len++] = ' ';
|
||||
Msg[Len++] = '!';
|
||||
|
|
@ -681,19 +708,19 @@ class OGN1_Packet // Packet structure for the OGN tracker
|
|||
{ Msg[Len++] = ' '; Len+=Format_SignDec(Msg+Len, ((int32_t)DecodeClimbRate()*10079+256)>>9, 3); Msg[Len++] = 'f'; Msg[Len++] = 'p'; Msg[Len++] = 'm'; }
|
||||
|
||||
if(hasTurnRate())
|
||||
{ Msg[Len++] = ' '; Len+=Format_SignDec(Msg+Len, DecodeTurnRate()/3, 2, 1); Msg[Len++] = 'r'; Msg[Len++] = 'o'; Msg[Len++] = 't'; }
|
||||
{ Msg[Len++] = ' '; Len+=Format_SignDec(Msg+Len, (int32_t)DecodeTurnRate()/3, 2, 1); Msg[Len++] = 'r'; Msg[Len++] = 'o'; Msg[Len++] = 't'; }
|
||||
|
||||
if(hasBaro())
|
||||
{ int32_t Alt = DecodeStdAltitude();
|
||||
if(Alt<0) Alt=0;
|
||||
Msg[Len++] = ' '; Msg[Len++] = 'F'; Msg[Len++] = 'L';
|
||||
Len+=Format_UnsDec(Msg+Len, MetersToFeet((uint32_t)Alt), 5, 2); }
|
||||
Len+=Format_UnsDec(Msg+Len, (uint32_t)MetersToFeet((uint32_t)Alt), 5, 2); }
|
||||
|
||||
uint16_t DOP=10+DecodeDOP();
|
||||
uint16_t HorPrec=(DOP*2+5)/10; if(HorPrec>63) HorPrec=63;
|
||||
uint16_t VerPrec=(DOP*3+5)/10; if(VerPrec>63) VerPrec=63;
|
||||
Msg[Len++] = ' '; Msg[Len++] = 'g'; Msg[Len++] = 'p'; Msg[Len++] = 's';
|
||||
Len+=Format_UnsDec(Msg+Len, HorPrec); Msg[Len++] = 'x'; Len+=Format_UnsDec(Msg+Len, VerPrec);
|
||||
Len+=Format_UnsDec(Msg+Len, (uint32_t)HorPrec); Msg[Len++] = 'x'; Len+=Format_UnsDec(Msg+Len, (uint32_t)VerPrec);
|
||||
|
||||
// Msg[Len++]='\n';
|
||||
Msg[Len]=0;
|
||||
|
|
@ -703,9 +730,11 @@ class OGN1_Packet // Packet structure for the OGN tracker
|
|||
|
||||
// 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)
|
||||
{ LatDist = DecodeLatitude()-RefLat; if(abs(LatDist)>1080000) return -1; // to prevent overflow, corresponds to about 200km
|
||||
LatDist = (LatDist*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;
|
||||
LonDist = DecodeLongitude()-RefLon; if(abs(LatDist)>1080000) return -1;
|
||||
LonDist = (LonDist*1517+0x1000)>>13;
|
||||
if(abs(LonDist)>(4*MaxDist)) return -1;
|
||||
LonDist = (LonDist*LatCos+0x800)>>12;
|
||||
if(abs(LonDist)>MaxDist) return -1;
|
||||
|
|
|
|||
|
|
@ -614,6 +614,7 @@ void vTaskPROC(void* pvParameters)
|
|||
PosPacket.Packet.Position.Stealth = Parameters.Stealth;
|
||||
#ifdef DEBUG_PRINT
|
||||
{ uint8_t Len=PosPacket.Packet.WriteAPRS(Line, PosTime); // print on the console as APRS message
|
||||
Line[Len++]='\n'; Line[Len]=0;
|
||||
xSemaphoreTake(CONS_Mutex, portMAX_DELAY);
|
||||
Format_String(CONS_UART_Write, Line, 0, Len);
|
||||
xSemaphoreGive(CONS_Mutex); }
|
||||
|
|
@ -657,7 +658,8 @@ void vTaskPROC(void* pvParameters)
|
|||
ADSL_TxFIFO.Write();
|
||||
#endif
|
||||
TxBackOff = 0;
|
||||
if(AverSpeed<10 && Parameters.AcftType!=3 && Parameters.AcftType!=0xD) TxBackOff += 3+(RX_Random&0x1);
|
||||
bool FloatAcft = Parameters.AcftType==3 || ( Parameters.AcftType>=0xB && Parameters.AcftType<=0xD);
|
||||
if(AverSpeed<10 && !FloatAcft) TxBackOff += 3+(RX_Random&0x1);
|
||||
if(TX_Credit<=0) TxBackOff+=1; }
|
||||
Position->Sent=1;
|
||||
#ifdef WITH_FANET
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue