kopia lustrzana https://github.com/bristol-seds/pico-tracker
Refactor. System now runs on a "cron" architecture that is aligned to UTC
Richard Meadows
rodzic
6e584b2ad3
commit
4dde7ed37c
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@ -34,7 +34,7 @@
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| --- | --- | --- | ---
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|TC0_IRQn|telemetry tick timer|0|latency critical for symbol timing. rate <= 1200Hz
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|[GPS_SERCOM]_IRQn|gps usart rx|1|latency not so critical. rate <= 960Hz
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|EIC_IRQn|timepulse|1|latency not so critical. rate = 2
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|EIC_IRQn|timepulse|1|latency not so critical. rate = 1
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|TC2_IRQn|xosc measurement done|2|latency not critical
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@ -0,0 +1,39 @@
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/*
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* Cron job for the system
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* Copyright (C) 2015 Richard Meadows <richardeoin>
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
|
||||
* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
|
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* distribute, sublicense, and/or sell copies of the Software, and to
|
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* permit persons to whom the Software is furnished to do so, subject to
|
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
|
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#ifndef CRON_H
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#define CRON_H
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typedef struct tracker_time {
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uint64_t epoch;
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uint16_t year;
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uint8_t month, day, hour, minute, second;
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uint8_t valid;
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} tracker_time;
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void do_cron(void);
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void cron_tick(void);
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void cron_init(void);
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#endif /* CRON_H */
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@ -0,0 +1,58 @@
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/*
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* Collects data from sensors etc into a struct
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* Copyright (C) 2015 Richard Meadows <richardeoin>
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#ifndef DATA_H
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#define DATA_H
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#include "samd20.h"
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#include "cron.h"
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/**
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* Structure for all the information in each datapoint.
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*
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* Size is approx 40 bytes
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*/
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typedef struct tracker_datapoint {
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/* Time */
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struct tracker_time time;
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/* Position */
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uint32_t latitude; /* 100 nanodeg */
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uint32_t longitude; /* 100 nanodeg */
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uint32_t altitude; /* mm */
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uint8_t satillite_count; /* */
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/* Sensors */
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float battery; /* Volts */
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float temperature; /* ºC */
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uint32_t xosc_error; /* Hertz */
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} tracker_datapoint;
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void collect_data_async(void);
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struct tracker_datapoint* collect_data(void);
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void data_init(void);
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#endif /* DATA_H */
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@ -147,14 +147,12 @@
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* Telemetry
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*/
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#define TELEMETRY_FREQUENCY 434600000
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#define TELEMETRY_INTERVAL 30
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#define TELEMETRY_POWER RF_POWER_8dBm
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/**
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* APRS
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*/
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#define APRS_ENABLE 1
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#define APRS_INTERVAL 180
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#define APRS_POWER RF_POWER_14dBm
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/**
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@ -186,4 +184,5 @@
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#define TC2_INT_PRIO 2 /* XOSC Measure Timer */
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#endif /* HW_CONFIG_H */
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@ -26,13 +26,11 @@
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#define PIPS_H
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/**
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* 10ms pips, once per second
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* 50ms pips, once per second
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*/
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#define PIPS_RATE 1
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#define PIPS_LENGTH_MS 50
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#define PIPS_ON_FREQUENCY (1000 / PIPS_LENGTH_MS)
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#define PIPS_OFF_FREQUENCY PIPS_RATE
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#define PIPS_FREQUENCY (1000 / PIPS_LENGTH_MS)
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#endif /* PIPS_H */
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@ -33,7 +33,7 @@ enum rf_tests {
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RF_TEST_TELEMETRY_TONE,
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};
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#define RF_TEST RF_TEST_APRS
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#define RF_TEST RF_TEST_NONE
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#include "samd20.h"
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@ -48,7 +48,6 @@ int telemetry_active(void);
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int telemetry_start(enum telemetry_t type, int32_t length);
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int telemetry_start_rsid(rsid_code_t rsid);
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void telemetry_aprs_set_frequency(int32_t frequency);
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void telemetry_request_stop(void);
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float telemetry_si_temperature(void);
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float timer0_tick_init(float frequency);
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@ -285,4 +285,14 @@ __PACKED__ struct ubx_nav_status {
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} payload;
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};
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/**
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* UBX TIMEUTC valid flags
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*/
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enum {
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UBX_TIMEUTC_VALID_TOW = (1 << 0),
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UBX_TIMEUTC_VALID_WKN = (1 << 1),
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UBX_TIMEUTC_VALID_UTC = (1 << 2),
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};
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#endif /* UBX_MESSAGES_H */
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@ -0,0 +1,144 @@
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/*
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* Cron job for the system
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* Copyright (C) 2015 Richard Meadows <richardeoin>
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*
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* Permission is hereby granted, free of charge, to any person obtaining
|
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* a copy of this software and associated documentation files (the
|
||||
* "Software"), to deal in the Software without restriction, including
|
||||
* without limitation the rights to use, copy, modify, merge, publish,
|
||||
* distribute, sublicense, and/or sell copies of the Software, and to
|
||||
* permit persons to whom the Software is furnished to do so, subject to
|
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* the following conditions:
|
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*
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* The above copyright notice and this permission notice shall be
|
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* included in all copies or substantial portions of the Software.
|
||||
*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||||
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
||||
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <string.h>
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#include "samd20.h"
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#include "cron.h"
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#include "gps.h"
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#include "ubx_messages.h"
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#include "data.h"
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#include "hw_config.h"
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/* Internal time representation */
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struct tracker_time time;
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/* Pointer to latest datapoint */
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struct tracker_datapoint* dp;
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void rtty_telemetry(struct tracker_datapoint* dp);
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void contestia_telemetry(struct tracker_datapoint* dp);
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void aprs_telemetry(struct tracker_datapoint* dp);
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void pips_telemetry(void);
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/**
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* Reads current time from the GPS
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*/
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void read_gps_time(void)
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{
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/* GPS Time */
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gps_update_time();
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/* Sleep Wait */
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while (gps_update_time_pending()) {
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system_sleep();
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}
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/* Time */
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struct ubx_nav_timeutc gt = gps_get_nav_timeutc();
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time.year = gt.payload.year;
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time.month = gt.payload.month;
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time.day = gt.payload.day;
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time.hour = gt.payload.hour;
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time.minute = gt.payload.min;
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time.second = gt.payload.sec;
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time.valid = gt.payload.valid;
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/* TODO calculate epoch time here */
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}
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/**
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* Cron job for the system.
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*
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* Run at the top of the second but may take longer than a second
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*/
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void do_cron(void)
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{
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/* ---- Local representation of the time ---- */
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struct tracker_time t;
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memcpy(&t, &time, sizeof(struct tracker_time));
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/* ---- Data every 30 seconds ---- */
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if ((time.second % 30) == 0) {
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dp = collect_data();
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memcpy(&dp->time, &t, sizeof(struct tracker_time));
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} else if ((time.second % 30) == 20) {
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collect_data_async();
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}
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/* ---- Telemetry output ---- */
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/* RTTY */
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if (time.second == 0) {
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rtty_telemetry(dp);
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/* Contestia */
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} else if (time.second == 30) {
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contestia_telemetry(dp);
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/* APRS */ /* LIMIT CONTESTIA PACKET LENGTH */
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#ifdef APRS_ENABLE
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} else if ((time.minute % 2) == 0 && time.second == 55) {
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aprs_telemetry(dp);
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#endif
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/* Pips */
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} else if ((time.second % 1) == 0) {
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pips_telemetry();
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}
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}
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/**
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* Called in an interrupt, increments internal time representation
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*/
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void cron_tick(void) {
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/* Update time internally */
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time.epoch++; time.second++;
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if (time.second > 60) {
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time.second = 0; time.minute++;
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if (time.minute > 60) {
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time.minute = 0; time.hour++;
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if (time.hour > 23) {
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time.hour = 0;
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}
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}
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}
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/* Update internal time from GPS */
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/* We do this just after midnight or if time is yet to set UTC exactly */
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if (((time.hour == 0) && (time.minute == 0) && (time.second == 5)) ||
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((time.second == 5) && !(time.valid & UBX_TIMEUTC_VALID_UTC))) {
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/* Be careful not a call this while the collect_data function is running */
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read_gps_time();
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}
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}
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void cron_init(void)
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{
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memset(&time, 0, sizeof(struct tracker_time));
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}
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@ -0,0 +1,97 @@
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/*
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* Collects data from sensors etc into a struct
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* Copyright (C) 2015 Richard Meadows <richardeoin>
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*
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* Permission is hereby granted, free of charge, to any person obtaining
|
||||
* a copy of this software and associated documentation files (the
|
||||
* "Software"), to deal in the Software without restriction, including
|
||||
* without limitation the rights to use, copy, modify, merge, publish,
|
||||
* distribute, sublicense, and/or sell copies of the Software, and to
|
||||
* permit persons to whom the Software is furnished to do so, subject to
|
||||
* the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be
|
||||
* included in all copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||||
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
||||
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
||||
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
|
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
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*/
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#include <string.h>
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#include "samd20.h"
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#include "data.h"
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#include "xosc.h"
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#include "hw_config.h"
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#include "analogue.h"
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#include "gps.h"
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#include "ubx_messages.h"
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#include "telemetry.h"
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struct tracker_datapoint datapoint;
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void xosc_measure_callback(uint32_t result)
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{
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datapoint.xosc_error = result - XOSC_FREQUENCY;
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}
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/**
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* Collect data asynchronously
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*/
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void collect_data_async(void)
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{
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/* Measure XOSC against gps timepulse */
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measure_xosc(XOSC_MEASURE_TIMEPULSE, xosc_measure_callback);
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}
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/**
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* Collect Data synchronously and return datapoint
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*/
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struct tracker_datapoint* collect_data(void)
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{
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/**
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* ---- Analogue ----
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*/
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datapoint.battery = get_battery();
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datapoint.temperature = telemetry_si_temperature();
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/**
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* ---- GPS ----
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*/
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gps_update_position();
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/* Wait for the gps update */
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while (gps_update_position_pending()) {
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system_sleep();
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}
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/* GPS Status */
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struct ubx_nav_sol sol = gps_get_nav_sol();
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datapoint.satillite_count = sol.payload.numSV;
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/* GPS Position */
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if (gps_is_locked()) {
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struct ubx_nav_posllh pos = gps_get_nav_posllh();
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datapoint.latitude = pos.payload.lat;
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datapoint.longitude = pos.payload.lon;
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datapoint.altitude = pos.payload.height;
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}
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/* GPS Powersave */
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gps_set_powersave_auto();
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return &datapoint;
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}
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void data_init(void)
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{
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memset(&datapoint, 0, sizeof(struct tracker_datapoint));
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}
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@ -33,6 +33,8 @@
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#include "watchdog.h"
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#include "xosc.h"
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#include "timer.h"
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#include "cron.h"
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#include "data.h"
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/**
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* Initialises the status LED. SHOULD TURN ON THE LED
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@ -53,7 +55,7 @@ void powermananger_init(void)
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{
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system_apb_clock_clear_mask(SYSTEM_CLOCK_APB_APBA,
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// PM_APBAMASK_EIC | /* EIC is used now */
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// PM_APBAMASK_RTC | /* RTC is used now */
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PM_APBAMASK_RTC |
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0);
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}
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@ -104,7 +106,7 @@ void init(timepulse_callback_t callback)
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system_set_sleepmode(SYSTEM_SLEEPMODE_IDLE_2); /* Disable CPU, AHB and APB */
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/* Configure the Power Manager */
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//powermananger_init();
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powermananger_init();
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/**
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* System initialisation
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@ -123,4 +125,8 @@ void init(timepulse_callback_t callback)
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/* Initialise Si4060 interface */
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si_trx_init();
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/* Data and Cron structures */
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data_init();
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cron_init();
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}
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@ -27,145 +27,110 @@
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#include <string.h>
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#include "samd20.h"
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#include "semihosting.h"
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#include "hw_config.h"
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#include "system/system.h"
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#include "sercom/usart.h"
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#include "system/port.h"
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#include "system/extint.h"
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#include "tc/tc_driver.h"
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#include "init.h"
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#include "gps.h"
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#include "mfsk.h"
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#include "ubx_messages.h"
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#include "watchdog.h"
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#include "xosc.h"
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#include "telemetry.h"
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#include "timer.h"
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#include "contestia.h"
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#include "rsid.h"
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#include "aprs.h"
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#include "location.h"
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#include "si_trx.h"
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#include "si_trx_defs.h"
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#include "analogue.h"
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#include "spi_bitbang.h"
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#include "system/interrupt.h"
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#include "rf_tests.h"
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#include "data.h"
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#define CALLSIGN "UBSEDSx"
|
||||
|
||||
void xosc_measure_callback(uint32_t result);
|
||||
void timepulse_callback(uint32_t sequence);
|
||||
|
||||
int32_t _xosc_error = 0;
|
||||
|
||||
/**
|
||||
* Telemetry String
|
||||
* =============================================================================
|
||||
* Formats a UKHAS telemetry string for the given datapoint
|
||||
*
|
||||
* The telemetry string starts with the specified number of dollar signs
|
||||
*/
|
||||
void output_telemetry_string(enum telemetry_t type)
|
||||
uint16_t format_telemetry_string(char* string, struct tracker_datapoint* dp,
|
||||
uint8_t dollars)
|
||||
{
|
||||
double lat_fmt = 0.0;
|
||||
double lon_fmt = 0.0;
|
||||
uint32_t altitude = 0;
|
||||
uint16_t len;
|
||||
uint8_t dollars = 2;
|
||||
|
||||
/**
|
||||
* Collect Data
|
||||
* ---------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
/* Analogue */
|
||||
float battery = get_battery();
|
||||
float temperature = telemetry_si_temperature();
|
||||
|
||||
/* GPS Time */
|
||||
gps_update_time();
|
||||
|
||||
/* Sleep Wait */
|
||||
while (gps_update_time_pending()) {
|
||||
system_sleep();
|
||||
}
|
||||
|
||||
/* Time */
|
||||
struct ubx_nav_timeutc time = gps_get_nav_timeutc();
|
||||
uint8_t hours = time.payload.hour;
|
||||
uint8_t minutes = time.payload.min;
|
||||
uint8_t seconds = time.payload.sec;
|
||||
|
||||
/* Request updates from the gps */
|
||||
gps_update_position();
|
||||
if (gps_is_locked()) {
|
||||
led_on();
|
||||
} else {
|
||||
led_off();
|
||||
}
|
||||
|
||||
/* Wait for the gps update */
|
||||
while (gps_update_position_pending()) {
|
||||
system_sleep();
|
||||
}
|
||||
|
||||
if (gps_is_locked()) {
|
||||
led_off();
|
||||
} else {
|
||||
led_on();
|
||||
}
|
||||
|
||||
/* GPS Status */
|
||||
struct ubx_nav_sol sol = gps_get_nav_sol();
|
||||
uint8_t satillite_count = sol.payload.numSV;
|
||||
|
||||
/* GPS Position */
|
||||
if (gps_is_locked()) {
|
||||
struct ubx_nav_posllh pos = gps_get_nav_posllh();
|
||||
lat_fmt = (double)pos.payload.lat / 10000000.0;
|
||||
lon_fmt = (double)pos.payload.lon / 10000000.0;
|
||||
altitude = pos.payload.height / 1000;
|
||||
}
|
||||
|
||||
/* GPS Powersave */
|
||||
gps_set_powersave_auto();
|
||||
|
||||
/**
|
||||
* Format
|
||||
* ---------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
if (type == TELEMETRY_RTTY) {
|
||||
dollars = 5; // Extra dollars for RTTY
|
||||
}
|
||||
lat_fmt = (double)dp->latitude / 10000000.0; /* degrees */
|
||||
lon_fmt = (double)dp->longitude / 10000000.0; /* degrees */
|
||||
altitude = dp->altitude / 1000; /* meters */
|
||||
|
||||
/* sprintf - preamble */
|
||||
memset(telemetry_string, '$', dollars);
|
||||
memset(string, '$', dollars);
|
||||
len = dollars;
|
||||
|
||||
/* sprintf - full string */
|
||||
len += sprintf(telemetry_string + len,
|
||||
"%s,%02u:%02u:%02u,%02.5f,%03.5f,%ld,%u,%.2f,%.1f,%ld",
|
||||
CALLSIGN, hours, minutes, seconds, lat_fmt, lon_fmt,
|
||||
altitude, satillite_count, battery, temperature, _xosc_error);
|
||||
|
||||
if (type == TELEMETRY_CONTESTIA) { contestiaize(telemetry_string + dollars); }
|
||||
"%s,%02u:%02u:%02u,%02.5f,%03.5f,%ld,%u,%.2f,%.1f,%ld",
|
||||
CALLSIGN,
|
||||
dp->time.hour, dp->time.minute, dp->time.second,
|
||||
lat_fmt, lon_fmt, altitude, dp->satillite_count,
|
||||
dp->battery, dp->temperature, dp->xosc_error);
|
||||
|
||||
/* sprintf - checksum. don't include dollars */
|
||||
len += sprintf(telemetry_string + len,
|
||||
"*%04X\r",
|
||||
crc_checksum(telemetry_string + dollars));
|
||||
|
||||
/* Length should be no more than 100 characters!! */
|
||||
if (len <= 100) {
|
||||
return len;
|
||||
}
|
||||
|
||||
/* Okay, let's use a shorter backup format */
|
||||
len = dollars;
|
||||
|
||||
/* sprintf - short format */
|
||||
len += sprintf(telemetry_string + len,
|
||||
"%s,%02u:%02u:%02u,%02.5f,%03.5f,%ld",
|
||||
CALLSIGN,
|
||||
dp->time.hour, dp->time.minute, dp->time.second,
|
||||
lat_fmt, lon_fmt, altitude);
|
||||
|
||||
/* sprintf - checksum. don't include dollars */
|
||||
len += sprintf(telemetry_string + len,
|
||||
"*%04X\r",
|
||||
crc_checksum(telemetry_string + dollars));
|
||||
|
||||
return len;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Starting up the radio blocks on high-prio interrupt for ~100ms: todo fixme
|
||||
* RTTY telemetry. Uses 5 dollar symbols
|
||||
*/
|
||||
#define RTTY_DOLLARS 5
|
||||
void rtty_telemetry(struct tracker_datapoint* dp) {
|
||||
uint16_t len;
|
||||
|
||||
len = format_telemetry_string(telemetry_string, dp, RTTY_DOLLARS);
|
||||
|
||||
/* Main telemetry */
|
||||
telemetry_start(TELEMETRY_RTTY, len);
|
||||
|
||||
/* Sleep Wait for main telemetry */
|
||||
while (telemetry_active()) {
|
||||
system_sleep();
|
||||
}
|
||||
}
|
||||
/**
|
||||
* Contestia telemetry. Uses 2 dollar symbols
|
||||
*/
|
||||
#define CONTESTIA_DOLLARS 2
|
||||
void contestia_telemetry(struct tracker_datapoint* dp) {
|
||||
uint16_t len;
|
||||
|
||||
len = format_telemetry_string(telemetry_string, dp, CONTESTIA_DOLLARS);
|
||||
|
||||
/* Reduce character set */
|
||||
contestiaize(telemetry_string + CONTESTIA_DOLLARS);
|
||||
|
||||
/* RSID */
|
||||
/* start - SI NOW BELONGS TO TELEMETRY, WE CANNOT ACCESS */
|
||||
if (type == TELEMETRY_CONTESTIA) {
|
||||
telemetry_start_rsid(RSID_CONTESTIA_32_1000);
|
||||
}
|
||||
telemetry_start_rsid(RSID_CONTESTIA_32_1000);
|
||||
|
||||
/* Sleep Wait for RSID */
|
||||
while (telemetry_active()) {
|
||||
|
|
@ -173,22 +138,23 @@ void output_telemetry_string(enum telemetry_t type)
|
|||
}
|
||||
|
||||
/* Main telemetry */
|
||||
telemetry_start(type, len);
|
||||
telemetry_start(TELEMETRY_CONTESTIA, len);
|
||||
|
||||
/* Sleep Wait for main telemetry */
|
||||
while (telemetry_active()) {
|
||||
system_sleep();
|
||||
}
|
||||
}
|
||||
|
||||
void aprs_telemetry(void) {
|
||||
/**
|
||||
* APRS telemetry if required
|
||||
*/
|
||||
void aprs_telemetry(struct tracker_datapoint* dp) {
|
||||
|
||||
if (!gps_is_locked()) return; /* Don't bother with no GPS */
|
||||
|
||||
struct ubx_nav_posllh pos = gps_get_nav_posllh();
|
||||
float lat = (float)pos.payload.lat / 10000000.0; // This division is from the gps reciver, not for geofence
|
||||
float lon = (float)pos.payload.lon / 10000000.0;
|
||||
uint32_t altitude = pos.payload.height / 1000;
|
||||
float lat = (float)dp->latitude / 10000000.0; /* degrees */
|
||||
float lon = (float)dp->longitude / 10000000.0; /* degrees */
|
||||
uint32_t altitude = dp->altitude / 1000; /* meters */
|
||||
|
||||
/* Update location */
|
||||
aprs_location_update(lon, lat, altitude);
|
||||
|
|
@ -209,37 +175,34 @@ void aprs_telemetry(void) {
|
|||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void xosc_measure_callback(uint32_t result)
|
||||
/**
|
||||
* Pips telemetry
|
||||
*/
|
||||
void pips_telemetry(void)
|
||||
{
|
||||
_xosc_error = result - XOSC_FREQUENCY;
|
||||
/* Pips */
|
||||
telemetry_start(TELEMETRY_PIPS, 0xFFFF);
|
||||
|
||||
while (telemetry_active()) {
|
||||
system_sleep();
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t telemetry_interval_count = TELEMETRY_INTERVAL;
|
||||
uint32_t aprs_interval_count = APRS_INTERVAL;
|
||||
uint8_t telemetry_trigger_flag = 0;
|
||||
uint8_t aprs_trigger_flag = 0;
|
||||
uint8_t tick_flag = 0;
|
||||
|
||||
/**
|
||||
* Called by the timer at 1Hz
|
||||
* Called at 1Hz by the GPS
|
||||
*/
|
||||
void timepulse_callback(uint32_t sequence)
|
||||
void gps_tick(uint32_t sequence)
|
||||
{
|
||||
telemetry_interval_count++;
|
||||
aprs_interval_count++;
|
||||
/* Sequence not used */
|
||||
(void)sequence;
|
||||
|
||||
/* Runs at the rate of telemetry packets */
|
||||
if (telemetry_interval_count >= TELEMETRY_INTERVAL) {
|
||||
telemetry_interval_count = 0;
|
||||
telemetry_trigger_flag = 1;
|
||||
}
|
||||
/* Update internal time representation */
|
||||
cron_tick();
|
||||
|
||||
/* Runs at the rate of aprs packets */
|
||||
if (aprs_interval_count >= APRS_INTERVAL) {
|
||||
aprs_interval_count = 0;
|
||||
aprs_trigger_flag = 1;
|
||||
}
|
||||
/* Raise the tick flag */
|
||||
tick_flag = 1;
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -248,9 +211,8 @@ void timepulse_callback(uint32_t sequence)
|
|||
*/
|
||||
int main(void)
|
||||
{
|
||||
uint32_t telemetry_alternate = 0;
|
||||
|
||||
init(timepulse_callback);
|
||||
/* Init */
|
||||
init(gps_tick);
|
||||
|
||||
/* Maybe do some rf tests */
|
||||
rf_tests();
|
||||
|
|
@ -259,35 +221,12 @@ int main(void)
|
|||
led_off();
|
||||
|
||||
while (1) {
|
||||
/* Send a packet */
|
||||
output_telemetry_string((telemetry_alternate++ & 1) ?
|
||||
TELEMETRY_CONTESTIA :
|
||||
TELEMETRY_RTTY);
|
||||
|
||||
/* Maybe aprs? */
|
||||
#if APRS_ENABLE
|
||||
if (aprs_trigger_flag) {
|
||||
aprs_telemetry();
|
||||
/* Run cron job */
|
||||
if (tick_flag) {
|
||||
tick_flag = 0; do_cron();
|
||||
}
|
||||
aprs_trigger_flag = 0;
|
||||
#endif
|
||||
|
||||
/* Pips */
|
||||
telemetry_start(TELEMETRY_PIPS, 0xFFFF);
|
||||
|
||||
/* Measure XOSC against gps timepulse */
|
||||
measure_xosc(XOSC_MEASURE_TIMEPULSE, xosc_measure_callback);
|
||||
|
||||
/* Sleep wait for next telemetry */
|
||||
while (telemetry_trigger_flag == 0) {
|
||||
system_sleep();
|
||||
}
|
||||
telemetry_trigger_flag = 0;
|
||||
|
||||
/* End pips */
|
||||
telemetry_request_stop();
|
||||
while (telemetry_active()) {
|
||||
system_sleep();
|
||||
}
|
||||
/* Idle */
|
||||
system_sleep();
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -106,10 +106,6 @@ int32_t telemetry_string_length = 0;
|
|||
* Where we are in the current output
|
||||
*/
|
||||
int32_t telemetry_index;
|
||||
/**
|
||||
* Should we stop?
|
||||
*/
|
||||
uint8_t telemetry_stop_flag = 0;
|
||||
/**
|
||||
* Is the radio currently on?
|
||||
*/
|
||||
|
|
@ -142,7 +138,6 @@ int telemetry_start(enum telemetry_t type, int32_t length) {
|
|||
telemetry_type = type;
|
||||
telemetry_index = 0;
|
||||
telemetry_string_length = length;
|
||||
telemetry_stop_flag = 0;
|
||||
|
||||
/* Setup timer tick */
|
||||
switch(telemetry_type) {
|
||||
|
|
@ -153,7 +148,7 @@ int telemetry_start(enum telemetry_t type, int32_t length) {
|
|||
timer0_tick_init(RTTY_BITRATE);
|
||||
break;
|
||||
case TELEMETRY_PIPS:
|
||||
timer0_tick_init(PIPS_OFF_FREQUENCY);
|
||||
timer0_tick_init(PIPS_FREQUENCY);
|
||||
break;
|
||||
case TELEMETRY_APRS:
|
||||
timer0_tick_init(AX25_TICK_RATE);
|
||||
|
|
@ -207,7 +202,6 @@ float telemetry_si_temperature(void) {
|
|||
void telemetry_stop(void) {
|
||||
/* All done, deactivate */
|
||||
telemetry_string_length = 0;
|
||||
telemetry_stop_flag = 0;
|
||||
|
||||
/* Turn radio off */
|
||||
if (radio_on) {
|
||||
|
|
@ -222,7 +216,7 @@ void telemetry_stop(void) {
|
|||
timer0_tick_deinit();
|
||||
}
|
||||
uint8_t is_telemetry_finished(void) {
|
||||
if (telemetry_index >= telemetry_string_length || telemetry_stop_flag) {
|
||||
if (telemetry_index >= telemetry_string_length) {
|
||||
|
||||
/* Finish telemetry */
|
||||
telemetry_stop();
|
||||
|
|
@ -230,16 +224,6 @@ uint8_t is_telemetry_finished(void) {
|
|||
}
|
||||
return 0;
|
||||
}
|
||||
/**
|
||||
* Stops the ongoing telemetry at the earliest possible moment (end of
|
||||
* symbol / block).
|
||||
*/
|
||||
void telemetry_request_stop(void) {
|
||||
if (telemetry_active()) {
|
||||
telemetry_stop_flag = 1;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
|
|
@ -338,8 +322,7 @@ void telemetry_tick(void) {
|
|||
|
||||
if (!aprs_tick()) {
|
||||
/* Transmission Finished */
|
||||
telemetry_request_stop();
|
||||
if (is_telemetry_finished()) return;
|
||||
telemetry_stop();
|
||||
}
|
||||
|
||||
break;
|
||||
|
|
@ -350,14 +333,11 @@ void telemetry_tick(void) {
|
|||
/* Pips: Cw */
|
||||
si_trx_on(SI_MODEM_MOD_TYPE_CW, TELEMETRY_FREQUENCY, 1, TELEMETRY_POWER);
|
||||
radio_on = 1;
|
||||
timer0_tick_frequency(PIPS_ON_FREQUENCY);
|
||||
|
||||
} else { /* Turn off */
|
||||
si_trx_off(); radio_on = 0;
|
||||
timer0_tick_frequency(PIPS_OFF_FREQUENCY);
|
||||
|
||||
telemetry_index++;
|
||||
if (is_telemetry_finished()) return;
|
||||
telemetry_stop();
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue