kopia lustrzana https://github.com/bristol-seds/pico-tracker
[New Feature] RTTY output is now double buffered, this allows GPS coordinates to be updated mid-packet
Richard Eoin Meadows
rodzic
fde2b2441a
commit
74fbfb30ad
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@ -33,8 +33,10 @@ enum gps_error_t {
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GPS_ERROR_INVALID_FRAME,
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};
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void gps_update(void);
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void gps_update_wait(void);
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void gps_update_time(void);
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void gps_update_position(void);
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int gps_update_time_pending(void);
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int gps_update_position_pending(void);
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struct ubx_nav_posllh gps_get_nav_posllh();
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struct ubx_nav_sol gps_get_nav_sol();
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@ -25,8 +25,21 @@
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#ifndef RTTY_H
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#define RTTY_H
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#include "util/dbuffer.h"
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/**
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* Output String
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*/
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#define RTTY_STRING_MAX 0x200
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/**
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* It's actually a double buffer which we swap for mid-string updates
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*/
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ARRAY_DBUFFER_T(char, RTTY_STRING_MAX) rtty_dbuffer_string;
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int rtty_active(void);
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int rtty_set_string(char* string, uint32_t length);
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int rtty_start(void);
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int32_t rtty_get_index(void);
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void rtty_set_length(int32_t length);
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void rtty_tick(void);
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#endif /* RTTY_H */
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@ -25,6 +25,6 @@
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#ifndef TELEMETRY_H
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#define TELEMETRY_H
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void set_telemetry_string(void);
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uint16_t crc_checksum(char *string);
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#endif /* TELEMETRY_H */
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@ -281,24 +281,37 @@ void gps_disable_nmea(void)
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}
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/**
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* Sends messages to the GPS to update the fields we want
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* Sends messages to the GPS to update the time
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*/
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void gps_update(void)
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void gps_update_time(void)
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{
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_ubx_send_message((ubx_message_t*)&ubx_nav_timeutc, NULL, 0);
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};
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/**
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* Sends messages to the GPS to update the position
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*/
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void gps_update_position(void)
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{
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_ubx_send_message((ubx_message_t*)&ubx_nav_posllh, NULL, 0);
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_ubx_send_message((ubx_message_t*)&ubx_nav_sol, NULL, 0);
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_ubx_send_message((ubx_message_t*)&ubx_nav_timeutc, NULL, 0);
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_ubx_send_message((ubx_message_t*)&ubx_nav_status, NULL, 0);
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// _ubx_send_message((ubx_message_t*)&ubx_nav_status, NULL, 0);
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}
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/**
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* Waits for any pending updates from the GPS
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* Indicates a pending time update from the GPS
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*/
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void gps_update_wait(void)
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int gps_update_time_pending(void)
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{
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while (ubx_nav_posllh.state == UBX_PACKET_WAITING);
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while (ubx_nav_sol.state == UBX_PACKET_WAITING);
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while (ubx_nav_timeutc.state == UBX_PACKET_WAITING);
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while (ubx_nav_status.state == UBX_PACKET_WAITING);
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return (ubx_nav_timeutc.state == UBX_PACKET_WAITING);
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}
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/**
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* Indicates a pending position update from the GPS
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*/
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int gps_update_position_pending(void)
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{
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return (ubx_nav_posllh.state == UBX_PACKET_WAITING) ||
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(ubx_nav_sol.state == UBX_PACKET_WAITING);
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//(ubx_nav_status.state == UBX_PACKET_WAITING);
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}
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/**
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* Return the latest received messages
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@ -34,15 +34,19 @@
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#include "system/port.h"
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#include "tc/tc_driver.h"
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#include "gps.h"
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#include "ubx_messages.h"
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#include "system/wdt.h"
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#include "timepulse.h"
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#include "telemetry.h"
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//#include "si406x.h"
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#include "analogue.h"
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#include "si4060.h"
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#include "spi_bitbang.h"
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#include "rtty.h"
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#include "system/interrupt.h"
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#define CALLSIGN "UBSEDSx"
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void si4060_hw_init(void)
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{
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/* Configure the SDN pin */
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@ -177,6 +181,129 @@ void powermananger_init(void)
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PM_APBAMASK_RTC); /* RTC is unused */
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}
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/**
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* Telemetry String
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* =============================================================================
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*/
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void output_telemetry_string(void)
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{
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double lat_fmt = 0.0;
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double lon_fmt = 0.0;
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uint32_t altitude = 0;
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/**
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* Callsign, Time
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* ---------------------------------------------------------------------------
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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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for (int i = 0; i < 100*1000; i++);
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/* Time */
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struct ubx_nav_timeutc time = gps_get_nav_timeutc();
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uint8_t hours = time.payload.hour;
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uint8_t minutes = time.payload.min;
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uint8_t seconds = time.payload.sec;
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/* init double buffers */
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ARRAY_DBUFFER_INIT(&rtty_dbuffer_string);
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/* sprintf - initial string */
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uint16_t len = sprintf(ARRAY_DBUFFER_WRITE_PTR(&rtty_dbuffer_string),
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"$$UBSEDSx,%02u:%02u:%02u,",
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hours, minutes, seconds);
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/* swap buffers */
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ARRAY_DBUFFER_SWAP(&rtty_dbuffer_string);
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/* start */
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rtty_start();
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/**
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* Position, Status, Analogue, Checksum
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* ---------------------------------------------------------------------------
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*/
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/* Analogue */
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float battery = get_battery();
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float temperature = si4060_get_temperature();
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/* Sleep Wait */
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while (rtty_get_index() < (len - 4)) {
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system_sleep();
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}
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/* Request updates from the gps */
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gps_update_position();
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if (gps_is_locked()) {
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led_on();
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} else {
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led_off();
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}
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/* Wait for the gps update. Move on if it's urgent */
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while (gps_update_position_pending() && rtty_get_index() < (len - 1)) {
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system_sleep();
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}
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if (gps_is_locked()) {
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led_off();
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} else {
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led_on();
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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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uint8_t lock = sol.payload.gpsFix;
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uint8_t satillite_count = sol.payload.numSV;
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/* GPS Position */
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if (lock == 0x2 || lock == 0x3 || lock == 0x4) {
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struct ubx_nav_posllh pos = gps_get_nav_posllh();
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lat_fmt = (double)pos.payload.lat / 10000000.0;
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lon_fmt = (double)pos.payload.lon / 10000000.0;
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altitude = pos.payload.height / 1000;
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}
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/* sprintf - full string */
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len = sprintf(ARRAY_DBUFFER_WRITE_PTR(&rtty_dbuffer_string),
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"$$UBSEDSx,%02u:%02u:%02u,%02.6f,%03.6f,%ld,%u,%.2f,%.1f",
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hours, minutes, seconds, lat_fmt, lon_fmt, altitude,
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satillite_count, battery, temperature);
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/* sprintf - checksum */
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len += sprintf(ARRAY_DBUFFER_WRITE_PTR(&rtty_dbuffer_string) + len,
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"*%04X\n",
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crc_checksum(ARRAY_DBUFFER_WRITE_PTR(&rtty_dbuffer_string)));
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/* swap buffers */
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ARRAY_DBUFFER_SWAP(&rtty_dbuffer_string);
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/**
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* End
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* ---------------------------------------------------------------------------
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*/
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/* Set the final length */
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rtty_set_length(len);
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/* Sleep Wait */
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while (rtty_active()) {
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system_sleep();
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}
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}
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/**
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* MAIN
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* =============================================================================
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*/
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int main(void)
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{
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/**
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@ -200,7 +327,7 @@ int main(void)
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/* Configure Sleep Mode */
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system_set_sleepmode(SYSTEM_SLEEPMODE_STANDBY);
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system_set_sleepmode(SYSTEM_SLEEPMODE_IDLE_1); /* Disable CPU, AHB. APB still runs */
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system_set_sleepmode(SYSTEM_SLEEPMODE_IDLE_0); /* Disable CPU, AHB. APB still runs */
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/* Configure the Power Manager */
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powermananger_init();
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@ -239,36 +366,11 @@ int main(void)
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si4060_start_tx(0);
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while (1) {
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/* Send the last packet */
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while (rtty_active());
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port_pin_set_output_level(SI406X_GPIO0_PIN, 0);
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/* Watchdog */
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wdt_reset_count();
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gps_update(); /* Request updates from the gps */
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if (gps_is_locked()) {
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led_on();
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} else {
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led_off();
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}
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gps_update_wait(); /* Wait for the gps update */
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if (gps_is_locked()) {
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led_off();
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} else {
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led_on();
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}
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/* Set the next packet */
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set_telemetry_string();
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port_pin_set_output_level(SI406X_GPIO0_PIN, 1);
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system_sleep();
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output_telemetry_string();
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}
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}
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@ -25,6 +25,7 @@
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#include <string.h>
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#include "samd20.h"
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#include "rtty.h"
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#include "hw_config.h"
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#include "system/port.h"
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@ -42,11 +43,6 @@
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#define ASCII_BITS 8
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#define BITS_PER_CHAR 11
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/**
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* Output String
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*/
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#define RTTY_STRING_MAX 0x200
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/**
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* Where we currently are in the rtty output byte
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*
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@ -59,13 +55,12 @@ uint8_t rtty_phase;
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/**
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* Where we are in the current output string
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*/
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uint32_t rtty_index;
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int32_t rtty_index;
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/**
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* Details of the string that is currently being output
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*/
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char rtty_string[RTTY_STRING_MAX];
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uint32_t rtty_string_length = 0;
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int32_t rtty_string_length = 0;
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/**
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* Returns 1 if we're currently outputting.
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@ -75,25 +70,35 @@ int rtty_active(void) {
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}
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/**
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* Sets an output string.
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* Starts RTTY output
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*
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* Returns 0 on success, 1 if a string is already active or 2 if the
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* specified string was too long.
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* Returns 0 on success, 1 if already active
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*/
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int rtty_set_string(char* string, uint32_t length) {
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if (length > RTTY_STRING_MAX) return 2; // To long
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int rtty_start(void) {
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if (!rtty_active()) {
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// Copy
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memcpy(rtty_string, string, length);
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rtty_string_length = length;
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// Initialise
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/* Initialise */
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rtty_string_length = RTTY_STRING_MAX;
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rtty_index = 0;
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rtty_phase = 0;
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return 0; // Success
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return 0; /* Success */
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} else {
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return 1; // Already active
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return 1; /* Already active */
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}
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}
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/**
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* Returns the index of the current byte being outputted from the buffer
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*/
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int32_t rtty_get_index(void) {
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return rtty_index;
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}
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/**
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* Sets the final length of the RTTY string
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*/
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void rtty_set_length(int32_t length) {
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if (length <= RTTY_STRING_MAX) {
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rtty_string_length = length;
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}
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}
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@ -110,7 +115,7 @@ void rtty_tick(void) {
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port_pin_set_output_level(SI406X_GPIO1_PIN, 1);
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} else if (rtty_phase < ASCII_BITS + 1) {
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// Data
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if ((rtty_string[rtty_index] >> (rtty_phase - 1)) & 1) {
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if ((ARRAY_DBUFFER_READ_PTR(&rtty_dbuffer_string)[rtty_index] >> (rtty_phase - 1)) & 1) {
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//RTTY_SET(1);
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port_pin_set_output_level(SI406X_GPIO1_PIN, 0);
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} else {
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@ -26,16 +26,6 @@
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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 "analogue.h"
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#include "gps.h"
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#include "rtty.h"
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#include "ubx_messages.h"
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#include "si4060.h"
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//#define SEMIHOST_LOG
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char telemetry_string[0x200];
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/**
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* CRC Function for the XMODEM protocol.
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@ -77,53 +67,3 @@ uint16_t crc_checksum(char *string)
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return crc;
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}
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/**
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* Sets output telemetry
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*/
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void set_telemetry_string(void)
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{
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double lat_fmt = 0.0;
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double lon_fmt = 0.0;
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uint32_t altitude = 0;
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/* Analogue */
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float battery = get_battery();
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float temperature = si4060_get_temperature();
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/* Time */
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struct ubx_nav_timeutc time = gps_get_nav_timeutc();
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uint8_t hours = time.payload.hour;
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uint8_t minutes = time.payload.min;
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uint8_t seconds = time.payload.sec;
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/* GPS Status */
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struct ubx_nav_sol sol = gps_get_nav_sol();
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uint8_t lock = sol.payload.gpsFix;
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uint8_t satillite_count = sol.payload.numSV;
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/* GPS Position */
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if (lock == 0x2 || lock == 0x3 || lock == 0x4) {
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struct ubx_nav_posllh pos = gps_get_nav_posllh();
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lat_fmt = (double)pos.payload.lat / 10000000.0;
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lon_fmt = (double)pos.payload.lon / 10000000.0;
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altitude = pos.payload.height / 1000;
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}
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//#ifdef SEMIHOST_LOG
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// semihost_printf("Batt %f, Temp %f\n", battery, temperature);
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// semihost_printf("%02.7f,%03.7f,%ld\n", lat_fmt, lon_fmt, altitude);
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// semihost_printf("Lock: %d Sats: %d\n", lock, satillite_count);
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// semihost_printf("%02u:%02u:%02u\n", hours, minutes, seconds);
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//#endif
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/* sprintf */
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uint16_t len = sprintf(telemetry_string,
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"$$UBSEDSx,%02u:%02u:%02u,%02.6f,%03.6f,%ld,%u,%.2f,%.1f",
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hours, minutes, seconds, lat_fmt, lon_fmt, altitude,
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satillite_count, battery, temperature);
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sprintf(telemetry_string + len, "*%04X\n", crc_checksum(telemetry_string));
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rtty_set_string(telemetry_string, strlen(telemetry_string));
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}
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