kopia lustrzana https://github.com/pjalocha/esp32-ogn-tracker
199 wiersze
8.3 KiB
C++
199 wiersze
8.3 KiB
C++
#include <stdio.h>
|
|
|
|
#include "hal.h"
|
|
|
|
#include "ctrl.h"
|
|
|
|
#include "gps.h"
|
|
#include "timesync.h"
|
|
#include "format.h"
|
|
|
|
// ========================================================================================================================
|
|
|
|
void PrintTasks(void (*CONS_UART_Write)(char))
|
|
{ char Line[32];
|
|
|
|
size_t FreeHeap = xPortGetFreeHeapSize();
|
|
Format_String(CONS_UART_Write, "Task Pr. Stack, ");
|
|
Format_UnsDec(CONS_UART_Write, (uint32_t)FreeHeap, 4, 3);
|
|
Format_String(CONS_UART_Write, "kB free\n");
|
|
|
|
UBaseType_t uxArraySize = uxTaskGetNumberOfTasks();
|
|
TaskStatus_t *pxTaskStatusArray = (TaskStatus_t *)pvPortMalloc( uxArraySize * sizeof( TaskStatus_t ) );
|
|
if(pxTaskStatusArray==0) return;
|
|
uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
|
|
for(UBaseType_t T=0; T<uxArraySize; T++)
|
|
{ TaskStatus_t *Task = pxTaskStatusArray+T;
|
|
uint8_t Len=Format_String(Line, Task->pcTaskName, configMAX_TASK_NAME_LEN, 0);
|
|
// for( ; Len<=configMAX_TASK_NAME_LEN; )
|
|
// Line[Len++]=' ';
|
|
Len+=Format_UnsDec(Line+Len, Task->uxCurrentPriority, 2); Line[Len++]=' ';
|
|
// Line[Len++]='0'+Task->uxCurrentPriority; Line[Len++]=' ';
|
|
Len+=Format_UnsDec(Line+Len, Task->usStackHighWaterMark, 3);
|
|
Line[Len++]='\n'; Line[Len]=0;
|
|
Format_String(CONS_UART_Write, Line);
|
|
}
|
|
vPortFree( pxTaskStatusArray );
|
|
}
|
|
|
|
// ========================================================================================================================
|
|
|
|
#ifdef WITH_OLED
|
|
int OLED_DisplayStatus(uint32_t Time, uint8_t LineIdx=0)
|
|
{ char Line[20];
|
|
Format_String(Line , "OGN Tx/Rx ");
|
|
Format_HHMMSS(Line+10, Time);
|
|
OLED_PutLine(LineIdx++, Line);
|
|
Parameters.Print(Line);
|
|
OLED_PutLine(LineIdx++, Line);
|
|
return 0; }
|
|
|
|
int OLED_DisplayPosition(GPS_Position *GPS=0, uint8_t LineIdx=2)
|
|
{ char Line[20];
|
|
if(GPS && GPS->isValid())
|
|
{ Line[0]=' ';
|
|
Format_SignDec(Line+1, GPS->Latitude /60, 6, 4); Line[9]=' ';
|
|
Format_UnsDec (Line+10, GPS->Altitude /10, 5, 0); Line[15]='m';
|
|
OLED_PutLine(LineIdx , Line);
|
|
Format_SignDec(Line, GPS->Longitude/60, 7, 4);
|
|
Format_SignDec(Line+10, GPS->ClimbRate, 4, 1);
|
|
OLED_PutLine(LineIdx+1, Line);
|
|
Format_UnsDec (Line , GPS->Speed, 4, 1); Format_String(Line+5, "m/s ");
|
|
Format_UnsDec (Line+10, GPS->Heading, 4, 1); Line[15]='^';
|
|
OLED_PutLine(LineIdx+2, Line);
|
|
Format_String(Line, "0D/00sat DOP00.0");
|
|
Line[0]+=GPS->FixMode; Format_UnsDec(Line+3, GPS->Satellites, 2);
|
|
Format_UnsDec(Line+12, (uint16_t)GPS->HDOP, 3, 1);
|
|
OLED_PutLine(LineIdx+3, Line);
|
|
}
|
|
else { OLED_PutLine(LineIdx, 0); OLED_PutLine(LineIdx+1, 0); OLED_PutLine(LineIdx+2, 0); OLED_PutLine(LineIdx+3, 0); }
|
|
if(GPS && GPS->isDateValid())
|
|
{ Format_UnsDec (Line , (uint16_t)GPS->Day, 2, 0); Line[2]='.';
|
|
Format_UnsDec (Line+ 3, (uint16_t)GPS->Month, 2, 0); Line[5]='.';
|
|
Format_UnsDec (Line+ 6, (uint16_t)GPS->Year , 2, 0); Line[8]=' '; Line[9]=' '; }
|
|
else Format_String(Line, " ");
|
|
if(GPS && GPS->isTimeValid())
|
|
{ Format_UnsDec (Line+10, (uint16_t)GPS->Hour, 2, 0);
|
|
Format_UnsDec (Line+12, (uint16_t)GPS->Min, 2, 0);
|
|
Format_UnsDec (Line+14, (uint16_t)GPS->Sec, 2, 0);
|
|
} else Line[10]=0;
|
|
OLED_PutLine(LineIdx+4, Line);
|
|
Line[0]=0;
|
|
if(GPS && GPS->hasBaro)
|
|
{ Format_String(Line , "0000.0hPa 00000m");
|
|
Format_UnsDec(Line , GPS->Pressure/40, 5, 1);
|
|
Format_UnsDec(Line+10, GPS->StdAltitude/10, 5, 0); }
|
|
OLED_PutLine(LineIdx+5, Line);
|
|
return 0; }
|
|
#endif
|
|
|
|
// ========================================================================================================================
|
|
|
|
static NMEA_RxMsg NMEA;
|
|
|
|
static char Line[80];
|
|
|
|
static void PrintParameters(void) // print parameters stored in Flash
|
|
{ Parameters.Print(Line);
|
|
xSemaphoreTake(CONS_Mutex, portMAX_DELAY); // ask exclusivity on UART1
|
|
Format_String(CONS_UART_Write, Line);
|
|
xSemaphoreGive(CONS_Mutex); // give back UART1 to other tasks
|
|
}
|
|
|
|
#ifdef WITH_CONFIG
|
|
static void ReadParameters(void) // read parameters requested by the user in the NMEA sent.
|
|
{ if((!NMEA.hasCheck()) || NMEA.isChecked() )
|
|
{ PrintParameters();
|
|
if(NMEA.Parms==0) // if no parameter given
|
|
{ xSemaphoreTake(CONS_Mutex, portMAX_DELAY); // print a help message
|
|
// Format_String(CONS_UART_Write, "$POGNS,<aircraft-type>,<addr-type>,<address>,<RFM69(H)W>,<Tx-power[dBm]>,<freq.corr.[kHz]>,<console baudrate[bps]>,<RF temp. corr.[degC]>,<pressure corr.[Pa]>\n");
|
|
Format_String(CONS_UART_Write, "$POGNS[,<Name>=<Value>]\n");
|
|
xSemaphoreGive(CONS_Mutex); //
|
|
return; }
|
|
Parameters.ReadPOGNS(NMEA);
|
|
PrintParameters();
|
|
esp_err_t Err = Parameters.WriteToNVS(); // erase and write the parameters into the Flash
|
|
// if(Parameters.ReadFromNVS()!=ESP_OK) Parameters.setDefault();
|
|
// Parameters.WriteToFlash(); // erase and write the parameters into the Flash
|
|
// if(Parameters.ReadFromFlash()<0) Parameters.setDefault(); // read the parameters back: if invalid, set defaults
|
|
// page erase lasts 20ms tus about 20 system ticks are lost here
|
|
}
|
|
// PrintParameters();
|
|
}
|
|
#endif
|
|
|
|
static void ProcessNMEA(void) // process a valid NMEA that got to the console
|
|
{
|
|
#ifdef WITH_CONFIG
|
|
if(NMEA.isPOGNS()) ReadParameters();
|
|
#endif
|
|
}
|
|
|
|
static void ProcessCtrlC(void) // print system state to the console
|
|
{ xSemaphoreTake(CONS_Mutex, portMAX_DELAY);
|
|
Parameters.Print(Line);
|
|
Format_String(CONS_UART_Write, Line);
|
|
Format_String(CONS_UART_Write, "GPS: ");
|
|
Format_UnsDec(CONS_UART_Write, GPS_getBaudRate(), 1);
|
|
Format_String(CONS_UART_Write, "bps");
|
|
CONS_UART_Write(',');
|
|
Format_UnsDec(CONS_UART_Write, GPS_PosPeriod, 3, 2);
|
|
CONS_UART_Write('s');
|
|
if(GPS_Status.PPS) Format_String(CONS_UART_Write, ",PPS");
|
|
if(GPS_Status.NMEA) Format_String(CONS_UART_Write, ",NMEA");
|
|
if(GPS_Status.UBX) Format_String(CONS_UART_Write, ",UBX");
|
|
if(GPS_Status.MAV) Format_String(CONS_UART_Write, ",MAV");
|
|
if(GPS_Status.BaudConfig) Format_String(CONS_UART_Write, ",BaudOK");
|
|
if(GPS_Status.ModeConfig) Format_String(CONS_UART_Write, ",ModeOK");
|
|
CONS_UART_Write('\r'); CONS_UART_Write('\n');
|
|
PrintTasks(CONS_UART_Write);
|
|
size_t Total, Used;
|
|
if(SPIFFS_Info(Total, Used)==0)
|
|
{ Format_String(CONS_UART_Write, "SPIFFS: ");
|
|
Format_UnsDec(CONS_UART_Write, Used/1024);
|
|
Format_String(CONS_UART_Write, "kB used, ");
|
|
Format_UnsDec(CONS_UART_Write, Total/1024);
|
|
Format_String(CONS_UART_Write, "kB total\n"); }
|
|
Parameters.WriteFile(stdout);
|
|
xSemaphoreGive(CONS_Mutex); }
|
|
|
|
static void ProcessInput(void)
|
|
{ for( ; ; )
|
|
{ uint8_t Byte; int Err=CONS_UART_Read(Byte); if(Err<=0) break; // get byte from console, if none: exit the loop
|
|
if(Byte==0x03) ProcessCtrlC(); // if Ctrl-C received
|
|
NMEA.ProcessByte(Byte); // pass the byte through the NMEA processor
|
|
if(NMEA.isComplete()) // if complete NMEA:
|
|
{ ProcessNMEA(); // interpret the NMEA
|
|
NMEA.Clear(); } // clear the NMEA processor for the next sentence
|
|
}
|
|
}
|
|
|
|
// ========================================================================================================================
|
|
|
|
extern "C"
|
|
void vTaskCTRL(void* pvParameters)
|
|
{ uint32_t PrevTime=0;
|
|
GPS_Position *PrevGPS=0;
|
|
for( ; ; )
|
|
{ ProcessInput();
|
|
vTaskDelay(5);
|
|
LED_TimerCheck(5);
|
|
uint32_t Time=TimeSync_Time();
|
|
GPS_Position *GPS = GPS_getPosition();
|
|
bool TimeChange = Time!=PrevTime;
|
|
bool GPSchange = GPS!=PrevGPS;
|
|
if( (!TimeChange) && (!GPSchange) ) continue;
|
|
PrevTime=Time; PrevGPS=GPS;
|
|
#ifdef WITH_OLED
|
|
if(TimeChange) OLED_DisplayStatus(Time, 0);
|
|
if(GPSchange) OLED_DisplayPosition(GPS, 2);
|
|
#endif
|
|
#ifdef DEBUG_PRINT
|
|
if(!TimeChange || (Time%60)!=0) continue;
|
|
ProcessCtrlC();
|
|
#endif
|
|
}
|
|
}
|
|
|
|
// ========================================================================================================================
|