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SE880 running. Cycles between standby and gps running

main-solar-only
Richard Meadows 2015-11-22 19:36:10 +00:00
rodzic aa3e48174c
commit 8b6e706a6a
12 zmienionych plików z 759 dodań i 142 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

1
firmware/inc/data.h
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@ -42,6 +42,7 @@ typedef struct tracker_datapoint {
int32_t longitude; /* 100 nanodeg */ int32_t longitude; /* 100 nanodeg */
int32_t altitude; /* mm */ int32_t altitude; /* mm */
uint8_t satillite_count; /* */ uint8_t satillite_count; /* */
uint8_t time_to_first_fix; /* seconds / counts */
/* Sensors */ /* Sensors */
float battery; /* Volts */ float battery; /* Volts */

13
firmware/inc/gps.h
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@ -35,7 +35,14 @@ enum gps_error_t {
GPS_NOERROR, GPS_NOERROR,
GPS_ERROR_BAD_CHECKSUM, GPS_ERROR_BAD_CHECKSUM,
GPS_ERROR_INVALID_FRAME, GPS_ERROR_INVALID_FRAME,
};
/**
* GPS Flight State
*/
enum gps_flight_state_t {
GPS_FLIGHT_STATE_LAUNCH,
GPS_FLIGHT_STATE_FLOAT,
}; };
/** /**
@ -46,6 +53,7 @@ struct gps_data_t {
int32_t altitude; /* mm */ int32_t altitude; /* mm */
uint8_t satillite_count; uint8_t satillite_count;
uint8_t is_locked; /* 1 = locked, 0 = not locked */ uint8_t is_locked; /* 1 = locked, 0 = not locked */
uint8_t time_to_first_fix; /* seconds / counts */
}; };
/* UBX ------------------------------------------------------------- */ /* UBX ------------------------------------------------------------- */
@ -84,14 +92,15 @@ struct gps_data_t gps_get_data(void);
static uint8_t gps_is_locked(void){return 0;} static uint8_t gps_is_locked(void){return 0;}
static void gps_set_power_state(bool gnss_running){}
void gps_service(void); void gps_setup(void);
#endif /* GPS_TYPE_OSP */ #endif /* GPS_TYPE_OSP */
/* Both ------------------------------------------------------------ */ /* Both ------------------------------------------------------------ */
enum gps_flight_state_t gps_get_flight_state(void);
void gps_usart_init_enable(uint32_t baud_rate); void gps_usart_init_enable(uint32_t baud_rate);
void gps_reset(void); void gps_reset(void);
void gps_init(void); void gps_init(void);

4
firmware/inc/hw_config.h
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@ -72,7 +72,7 @@
#define GPS_SERCOM_MIGO_PIN PIN_PA07 #define GPS_SERCOM_MIGO_PIN PIN_PA07
#define GPS_SERCOM_MIGO_PINMUX PINMUX_PA07D_SERCOM0_PAD3 #define GPS_SERCOM_MIGO_PINMUX PINMUX_PA07D_SERCOM0_PAD3
#define GPS_SERCOM_MUX USART_RX_3_TX_2_XCK_3 #define GPS_SERCOM_MUX USART_RX_3_TX_2_XCK_3
#define GPS_GCLK GCLK_GENERATOR_1 #define GPS_GCLK GCLK_GENERATOR_0
#ifdef V0986 #ifdef V0986
#define GPS_TYPE_OSP #define GPS_TYPE_OSP
@ -95,6 +95,8 @@
#endif #endif
#define GPS_FLIGHT_STATE_THREASHOLD_M 1000
/** /**
* USART Loopback Testing * USART Loopback Testing

335
firmware/inc/osp_messages.h
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@ -45,6 +45,10 @@ typedef struct {
uint16_t max_payload_size; uint16_t max_payload_size;
} osp_message_t; } osp_message_t;
/** Function typedef for post-processing functions */
typedef void (*osp_post_func)(osp_message_t* const);
/** /**
* ============================================================================= * =============================================================================
* OSP Input Messages ======================================================= * OSP Input Messages =======================================================
@ -55,8 +59,8 @@ typedef struct {
/** /**
* 5.3 OSP Advanced Power Management * 5.3 OSP Advanced Power Management
*/ */
#define OSP_IN_ADVANCED_POWER_MEASUREMENT_ID 53 #define OSP_IN_ADVANCED_POWER_MANAGEMENT_ID 53
struct osp_in_advanced_power_measurement { struct osp_in_advanced_power_management {
osp_message_id_t id; osp_message_id_t id;
enum osp_packet_state state; enum osp_packet_state state;
uint16_t max_payload_size; uint16_t max_payload_size;
@ -65,8 +69,8 @@ struct osp_in_advanced_power_measurement {
uint8_t number_fixes_apm_cycles; uint8_t number_fixes_apm_cycles;
uint8_t time_between_fixes; /* s */ uint8_t time_between_fixes; /* s */
uint8_t spare1; uint8_t spare1;
uint8_t maximum_horizontal_error; /* enum osp_apm_max_error_t */ uint8_t maximum_horizontal_error; /* enum osp_max_error_t */
uint8_t maximum_vertical_error; /* enum osp_apm_max_error_t */ uint8_t maximum_vertical_error; /* enum osp_max_error_t */
uint8_t maximum_response_time; uint8_t maximum_response_time;
uint8_t time_acc_priority; uint8_t time_acc_priority;
uint8_t power_duty_cycle; /* duty cycle x 0.2 */ uint8_t power_duty_cycle; /* duty cycle x 0.2 */
@ -74,15 +78,19 @@ struct osp_in_advanced_power_measurement {
uint8_t spare2; uint8_t spare2;
} __PACKED__ payload; } __PACKED__ payload;
}; };
enum osp_apm_max_error_t { static void osp_in_advanced_power_management_pre(struct osp_in_advanced_power_management* m)
OSP_APM_MAX_ERROR_1_METER = 0, {
OSP_APM_MAX_ERROR_5_METER, (void)m;
OSP_APM_MAX_ERROR_10_METER, }
OSP_APM_MAX_ERROR_20_METER, enum osp_max_error_t {
OSP_APM_MAX_ERROR_40_METER, OSP_MAX_ERROR_1_METER = 0,
OSP_APM_MAX_ERROR_80_METER, OSP_MAX_ERROR_5_METER,
OSP_APM_MAX_ERROR_160_METER, OSP_MAX_ERROR_10_METER,
OSP_APM_MAX_ERROR_NO_MAX, OSP_MAX_ERROR_20_METER,
OSP_MAX_ERROR_40_METER,
OSP_MAX_ERROR_80_METER,
OSP_MAX_ERROR_160_METER,
OSP_MAX_ERROR_NO_MAX,
}; };
/** /**
@ -104,7 +112,15 @@ enum osp_apm_max_error_t {
uint8_t reset_config_bitmap; uint8_t reset_config_bitmap;
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_in_initialise_data_source_pre(struct osp_in_initialise_data_source* m)
{
m->payload.x_position = __REV(m->payload.x_position);
m->payload.y_position = __REV(m->payload.y_position);
m->payload.z_position = __REV(m->payload.z_position);
m->payload.clock_drift = __REV(m->payload.clock_drift);
m->payload.gps_tow = __REV(m->payload.gps_tow);
m->payload.gps_week_number = __REV16(m->payload.gps_week_number);
}
/** /**
* 5.13 Mode Control * 5.13 Mode Control
@ -128,6 +144,11 @@ enum osp_apm_max_error_t {
uint8_t measurement_and_track_smoothing; uint8_t measurement_and_track_smoothing;
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_in_mode_control_pre(struct osp_in_mode_control* m)
{
m->payload.res1 = __REV16(m->payload.res1);
m->payload.altitude = __REV16(m->payload.altitude);
}
enum osp_degraded_mode { /* MUST set DO_NOT_ALLOW for GSW3.2.5 and later */ enum osp_degraded_mode { /* MUST set DO_NOT_ALLOW for GSW3.2.5 and later */
OSP_DEGRADED_ALLOW_1SV_FREEZE_DIRECTION = 0, OSP_DEGRADED_ALLOW_1SV_FREEZE_DIRECTION = 0,
OSP_DEGRADED_ALLOW_1SV_FREEZE_CLOCK_DRIFT, OSP_DEGRADED_ALLOW_1SV_FREEZE_CLOCK_DRIFT,
@ -154,6 +175,11 @@ enum osp_altitude_hold_mode {
int16_t navigation_mask; /* deg */ int16_t navigation_mask; /* deg */
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_in_elevation_mask_pre(struct osp_in_elevation_mask* m)
{
m->payload.tracking_mask = __REV16(m->payload.tracking_mask);
m->payload.navigation_mask = __REV16(m->payload.navigation_mask);
}
/** /**
* 5.17 OSP Power Mask * 5.17 OSP Power Mask
@ -168,6 +194,10 @@ enum osp_altitude_hold_mode {
uint8_t navigation_mask; /* dBHz */ uint8_t navigation_mask; /* dBHz */
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_in_power_mask_pre(struct osp_in_power_mask* m)
{
(void)m;
}
/** /**
* 5.26 OSP Set TricklePower Parameters * 5.26 OSP Set TricklePower Parameters
@ -183,6 +213,12 @@ struct osp_in_set_tricklepower_parameters {
int32_t on_time; /* ms */ int32_t on_time; /* ms */
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_in_set_tricklepower_parameters_pre(struct osp_in_set_tricklepower_parameters* m)
{
m->payload.pushtofix_mode = __REV16(m->payload.pushtofix_mode);
m->payload.duty_cycle = __REV16(m->payload.duty_cycle);
m->payload.on_time = __REV(m->payload.on_time);
}
/** /**
* 5.30 OSP Set Message Rate * 5.30 OSP Set Message Rate
@ -202,6 +238,10 @@ struct osp_in_set_tricklepower_parameters {
uint8_t res4; uint8_t res4;
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_in_set_message_rate_pre(struct osp_in_set_message_rate m)
{
(void)m;
}
enum osp_message_rate { enum osp_message_rate {
OSP_SET_MESSAGE_RATE_ONE = 0, OSP_SET_MESSAGE_RATE_ONE = 0,
OSP_SET_MESSAGE_RATE_POLL_ONE, OSP_SET_MESSAGE_RATE_POLL_ONE,
@ -225,6 +265,51 @@ enum osp_message_rate {
uint16_t adaptive_tricklepower; uint16_t adaptive_tricklepower;
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_in_set_low_power_acquisition_parameters_pre(struct osp_in_set_low_power_acquisition_parameters* m)
{
m->payload.max_off_time = __REV(m->payload.max_off_time);
m->payload.max_search_time = __REV(m->payload.max_search_time);
m->payload.pushtofix_period = __REV(m->payload.pushtofix_period);
m->payload.adaptive_tricklepower = __REV16(m->payload.adaptive_tricklepower);
}
/**
* 5.47 OSP Position Request
*/
#define OSP_IN_POSITION_REQUEST_ID 210
struct osp_in_position_request {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t pos_request_id;
uint8_t num_fixes;
uint8_t time_between_fixes; /* s */
uint8_t horizontal_error_max; /* m */
uint8_t vertical_error_max; /* enum osp_max_error_t */
uint8_t response_time_max; /* s */
uint8_t time_acc_priority; /* enum osp_time_acc_priority */
uint8_t location_method; /* enum osp_location_method */
} __PACKED__ payload;
};
static void osp_in_position_request_pre(struct osp_in_position_request* m)
{
(void)m;
}
enum osp_time_acc_priority {
OSP_TIME_ACC_PRIORITY_NONE = 0,
OSP_TIME_ACC_PRIORITY_TIME = 1,
OSP_TIME_ACC_PRIORITY_ACCURACY = 2,
OSP_TIME_ACC_PRIORITY_USE_FULL_TIME = 3
};
enum osp_location_method {
OSP_LOCATION_METHOD_MS_ASSISTED = 0,
OSP_LOCATION_METHOD_MS_BASED = 1,
OSP_LOCATION_METHOD_MS_BASED_ALLOW_ASSISTED = 2,
OSP_LOCATION_METHOD_MS_ASSISTED_ALLOW_BASED = 3,
OSP_LOCATION_METHOD_SIMULTANEOUS = 4,
};
/** /**
* 5.65 OSP Session Request * 5.65 OSP Session Request
@ -239,6 +324,10 @@ enum osp_message_rate {
uint8_t info; uint8_t info;
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_in_session_request_pre(struct osp_in_session_request* m)
{
(void)m;
}
enum osp_session_request { enum osp_session_request {
OSP_SESSION_REQUEST_OPEN = 1, OSP_SESSION_REQUEST_OPEN = 1,
OSP_SESSION_REQUEST_CLOSE = 2, OSP_SESSION_REQUEST_CLOSE = 2,
@ -259,6 +348,10 @@ struct osp_in_hardware_configuration_response {
uint8_t network_enhancement_type; uint8_t network_enhancement_type;
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_in_hardware_configuration_response_pre(struct osp_in_hardware_configuration_response* m)
{
m->payload.nominal_frequency_low = __REV(m->payload.nominal_frequency_low);
}
enum osp_hw_config { enum osp_hw_config {
OSP_HW_CONFIG_PRECISE_TIME_TRANSFER_NO = (0<<0), OSP_HW_CONFIG_PRECISE_TIME_TRANSFER_NO = (0<<0),
OSP_HW_CONFIG_PRECISE_TIME_TRANSFER_YES = (1<<0), OSP_HW_CONFIG_PRECISE_TIME_TRANSFER_YES = (1<<0),
@ -297,7 +390,35 @@ struct osp_in_approximate_ms_position_response {
uint8_t use_alt_aiding; uint8_t use_alt_aiding;
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_in_approximate_ms_position_response_pre(struct osp_in_approximate_ms_position_response* m)
{
m->payload.lat = __REV(m->payload.lat);
m->payload.lon = __REV(m->payload.lon);
m->payload.alt = __REV16(m->payload.alt);
m->payload.est_ver_er = __REV16(m->payload.est_ver_er);
}
/**
* 5.74 OSP Reject
*/
#define OSP_IN_REJECT_ID 216
struct osp_in_reject {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t sub_id;
uint8_t rejected_message_id;
uint8_t rejected_message_sub_id;
uint8_t rejected_message_reason; /* enum osp_rejected_message_reason */
} __PACKED__ payload;
};
enum osp_rejected_message_reason {
OSP_REJECTED_MESSAGE_NOT_READY = (1<<1),
OSP_REJECTED_MESSAGE_NOT_AVAILABLE = (1<<2),
OSP_REJECTED_MESSAGE_BAD_FORMATTING = (1<<3),
OSP_REJECTED_MESSAGE_NO_TIME_PULSE = (1<<4),
};
/** /**
* 5.76 OSP Power Mode Request * 5.76 OSP Power Mode Request
@ -364,6 +485,19 @@ struct osp_in_approximate_ms_position_response {
uint8_t ch12_prn; uint8_t ch12_prn;
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_out_measure_navigation_data_out_post(osp_message_t* o)
{
struct osp_out_measure_navigation_data_out* m = (struct osp_out_measure_navigation_data_out*)o;
m->payload.x_position = __REV(m->payload.x_position);
m->payload.y_position = __REV(m->payload.y_position);
m->payload.z_position = __REV(m->payload.z_position);
m->payload.x_velocity = __REV16(m->payload.x_velocity);
m->payload.y_velocity = __REV16(m->payload.y_velocity);
m->payload.z_velocity = __REV16(m->payload.z_velocity);
m->payload.gps_week = __REV16(m->payload.gps_week);
m->payload.gps_tow = __REV(m->payload.gps_tow);
}
/** /**
* 6.7 OSP Clock Status Data * 6.7 OSP Clock Status Data
@ -382,6 +516,16 @@ struct osp_in_approximate_ms_position_response {
uint32_t extimated_gps_time; /* ms */ uint32_t extimated_gps_time; /* ms */
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_out_clock_status_data_post(osp_message_t* o)
{
struct osp_out_clock_status_data* m = (struct osp_out_clock_status_data*)o;
m->payload.extended_gps_week = __REV16(m->payload.extended_gps_week);
m->payload.gps_tow = __REV(m->payload.gps_tow);
m->payload.clock_drift = __REV(m->payload.clock_drift);
m->payload.clock_bias = __REV(m->payload.clock_bias);
m->payload.extimated_gps_time = __REV(m->payload.extimated_gps_time);
}
/** /**
* 6.15 OSP Ephemeris Data * 6.15 OSP Ephemeris Data
@ -396,6 +540,14 @@ struct osp_in_approximate_ms_position_response {
uint16_t data[45]; uint16_t data[45];
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_out_ephemeris_data_post(osp_message_t* o)
{
struct osp_out_ephemeris_data* m = (struct osp_out_ephemeris_data*)o;
for (int i = 0; i < 45; i++) {
m->payload.data[i] = __REV16(m->payload.data[i]);
}
}
/** /**
* 6.18 OSP OkToSend * 6.18 OSP OkToSend
@ -409,6 +561,10 @@ struct osp_in_approximate_ms_position_response {
uint8_t oktosend; uint8_t oktosend;
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_out_oktosend_post(osp_message_t* o)
{
(void)o;
}
enum osp_oktosend { enum osp_oktosend {
OSP_OKTOSEND_NO = 0, OSP_OKTOSEND_NO = 0,
OSP_OKTOSEND_YES = 1 OSP_OKTOSEND_YES = 1
@ -450,7 +606,7 @@ enum osp_oktosend {
uint16_t estimated_horizontal_velocity_error; /* cms-1 */ uint16_t estimated_horizontal_velocity_error; /* cms-1 */
int32_t clock_bias; /* cm */ int32_t clock_bias; /* cm */
uint32_t clock_bias_error; /* cm */ uint32_t clock_bias_error; /* cm */
int32_t clock_drft; /* cms-1 */ int32_t clock_drift; /* cms-1 */
uint32_t clock_drift_error; /* cms-1 */ uint32_t clock_drift_error; /* cms-1 */
uint32_t distance; /* m */ uint32_t distance; /* m */
uint16_t distance_error; /* m */ uint16_t distance_error; /* m */
@ -460,6 +616,42 @@ enum osp_oktosend {
uint8_t additional_mode_info; uint8_t additional_mode_info;
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_out_geodetic_navigation_data_post(osp_message_t* o)
{
struct osp_out_geodetic_navigation_data* m = (struct osp_out_geodetic_navigation_data*)o;
m->payload.nav_valid = __REV16(m->payload.nav_valid);
m->payload.nav_type = __REV16(m->payload.nav_type);
m->payload.extended_week_number = __REV16(m->payload.extended_week_number);
m->payload.tow = __REV(m->payload.tow);
m->payload.utc_year = __REV16(m->payload.utc_year);
m->payload.utc_second = __REV16(m->payload.utc_second);
m->payload.satellite_id_list = __REV(m->payload.satellite_id_list);
m->payload.latitude = __REV(m->payload.latitude);
m->payload.longitude = __REV(m->payload.longitude);
m->payload.altitude_from_ellipsoid = __REV(m->payload.altitude_from_ellipsoid);
m->payload.altitude_from_msl = __REV(m->payload.altitude_from_msl);
m->payload.speed_over_ground = __REV16(m->payload.speed_over_ground);
m->payload.course_over_ground = __REV16(m->payload.course_over_ground);
m->payload.magnetic_variation = __REV16(m->payload.magnetic_variation);
m->payload.climb_rate = __REV16(m->payload.climb_rate);
m->payload.heading_rate = __REV16(m->payload.heading_rate);
m->payload.estimated_horizontal_position_error = __REV(m->payload.estimated_horizontal_position_error);
m->payload.estimated_vertical_position_error = __REV(m->payload.estimated_vertical_position_error);
m->payload.estimated_time_error = __REV(m->payload.estimated_time_error);
m->payload.estimated_horizontal_velocity_error = __REV16(m->payload.estimated_horizontal_velocity_error);
m->payload.clock_bias = __REV(m->payload.clock_bias);
m->payload.clock_bias_error = __REV(m->payload.clock_bias_error);
m->payload.clock_drift = __REV(m->payload.clock_drift);
m->payload.clock_drift_error = __REV(m->payload.clock_drift_error);
m->payload.distance = __REV(m->payload.distance);
m->payload.distance_error = __REV16(m->payload.distance_error);
m->payload.heading_error = __REV16(m->payload.heading_error);
}
/** /**
@ -482,6 +674,14 @@ enum osp_oktosend {
uint8_t status; /* enum osp_1pps_status */ uint8_t status; /* enum osp_1pps_status */
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_out_1pps_time_post(osp_message_t* o)
{
struct osp_out_1pps_time* m = (struct osp_out_1pps_time*)o;
m->payload.year = __REV16(m->payload.year);
m->payload.utc_offset_int = __REV16(m->payload.utc_offset_int);
m->payload.utc_offset_frac = __REV(m->payload.utc_offset_frac);
}
enum osp_1pps_status { enum osp_1pps_status {
OSP_1PPS_VALID = (1<<0), OSP_1PPS_VALID = (1<<0),
OSP_1PPS_IS_UTCTIME = (1<<1), /* otherwise gps time */ OSP_1PPS_IS_UTCTIME = (1<<1), /* otherwise gps time */
@ -502,6 +702,92 @@ enum osp_1pps_status {
uint16_t gpio_state; /* bitmapped */ uint16_t gpio_state; /* bitmapped */
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_out_gpio_state_post(osp_message_t* o)
{
struct osp_out_gpio_state* m = (struct osp_out_gpio_state*)o;
m->payload.gpio_state = __REV16(m->payload.gpio_state);
}
/**
* 6.58 OSP Position Response
*/
#define OSP_OUT_POSITION_RESPONSE_ID 69
struct osp_out_position_response {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t subid; /* ensure always 1 for position response */
uint8_t position_request_id;
uint8_t position_results_flag;
uint8_t position_error_status; /* enum osp_position_error_status */
uint8_t position_accuracy_met;
uint8_t position_type;
uint8_t dgps_correction; /* enum os_dgps_correction_type */
uint16_t gps_week;
uint32_t gps_seconds; /* ms */
int32_t latitude; /* 180/2^32 degrees */
int32_t longitude; /* 360/2^32 degrees */
uint8_t other_sections;
/* Horizontal error */
uint8_t er_el_angle; /* 180/2^8 degrees */
uint8_t major_std_error;
uint8_t minor_std_error;
/* Vertical error */
uint16_t height; /* dm+500m.. ONLY SUPPORTS TO +6km */
uint8_t height_std_error;
/* Velocity section */
uint16_t horizonal_velocity; /* 0.0625 ms-1 */
uint16_t heading; /* 360/2^16 degrees */
uint8_t vertical_velocity; /* 0.5ms-1 */
uint8_t velocity_er_el_angle; /* 0.75 degrees */
uint8_t velocity_major_std_error;
uint8_t velicity_minor_std_error;
uint8_t vertical_velocity_std_error;
/* Clock correction section */
uint8_t time_reference;
uint16_t clock_bias;
uint16_t clock_drift;
uint8_t clock_std_error;
uint8_t utc_offset; /* s */
/* Position Correction Section */
uint8_t number_svs;
struct {
uint8_t sv_prn;
uint8_t c_n0; /* dBHz */
} svs[16];
} __PACKED__ payload;
};
static void osp_out_position_response_post(osp_message_t* o)
{
struct osp_out_position_response* m = (struct osp_out_position_response*)o;
m->payload.gps_week = __REV16(m->payload.gps_week);
m->payload.gps_seconds = __REV(m->payload.gps_seconds);
m->payload.latitude = __REV(m->payload.latitude);
m->payload.longitude = __REV(m->payload.longitude);
m->payload.height = __REV16(m->payload.height);
m->payload.horizonal_velocity = __REV16(m->payload.horizonal_velocity);
m->payload.heading = __REV16(m->payload.heading);
m->payload.clock_bias = __REV16(m->payload.clock_bias);
m->payload.clock_drift = __REV16(m->payload.clock_drift);
}
enum osp_position_error_status {
OSP_POSITION_ERROR_STATUS_VALID = 0,
OSP_POSITION_ERROR_STATUS_NOT_ENOUGH_SATS = 1,
OSP_POSITION_ERROR_STATUS_GPS_AIDING_MISSING = 2,
OSP_POSITION_ERROR_STATUS_NEED_MORE_TIME = 3,
OSP_POSITION_ERROR_STATUS_NO_AFTER_FULL_SEARCH= 4,
OSP_POSITION_ERROR_STATUS_POS_REPORT_DISABLED = 5,
OSP_POSITION_ERROR_STATUS_REJECTED_FOR_QOP = 6,
};
enum osp_dgps_correction_type {
OSP_DGPS_CORRECTION_NO = 0,
OSP_DGPS_CORRECTION_LOCAL = 1,
OSP_DGPS_CORRECTION_WAAS = 2,
};
/** /**
* OSP HW_CONFIG_REQ * OSP HW_CONFIG_REQ
@ -514,6 +800,10 @@ enum osp_1pps_status {
struct { struct {
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_out_hw_config_req_post(osp_message_t* o)
{
(void)o;
}
/** /**
* 6.70 OSP Various Aiding Requests * 6.70 OSP Various Aiding Requests
*/ */
@ -532,6 +822,10 @@ enum osp_1pps_status {
}; };
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_out_aiding_request_post(osp_message_t* o)
{
(void)o;
}
enum { enum {
OSP_AIDING_REQUEST_SUBID_APPROXIMATE_MS_POSITION = 1 OSP_AIDING_REQUEST_SUBID_APPROXIMATE_MS_POSITION = 1
}; };
@ -563,6 +857,10 @@ enum {
}; };
} __PACKED__ payload; } __PACKED__ payload;
}; };
static void osp_out_cw_controller_output_post(osp_message_t* o)
{
(void)o;
}
/* /\** */ /* /\** */
@ -576,7 +874,12 @@ enum {
/* struct { */ /* struct { */
/* } __PACKED__ payload; */ /* } __PACKED__ payload; */
/* }; */ /* };
static void osp__post(osp_message_t* o)
{
struct osp_* m = (struct osp_*)o;
} */

1
firmware/inc/watchdog.h
Wyświetl plik

@ -35,6 +35,7 @@ typedef enum {
IDLE_NONE, IDLE_NONE,
IDLE_TELEMETRY_ACTIVE = 0x15476064, IDLE_TELEMETRY_ACTIVE = 0x15476064,
IDLE_WAIT_FOR_NEXT_TELEMETRY = 0x36749870, IDLE_WAIT_FOR_NEXT_TELEMETRY = 0x36749870,
IDLE_WAIT_FOR_GPS = 0x57786644,
} idle_wait_t; } idle_wait_t;
/** /**

47
firmware/src/data.c
Wyświetl plik

@ -63,23 +63,41 @@ void collect_data_async(void)
*/ */
struct tracker_datapoint* collect_data(void) struct tracker_datapoint* collect_data(void)
{ {
#ifdef GPS_TYPE_OSP
/** /**
* ---- Analogue ---- * ---- GPS OSP ----
*/ */
datapoint.battery = get_battery(); /* Will return zero by default */
datapoint.solar = get_solar(); /* Will return zero by default */
datapoint.radio_die_temperature = telemetry_si_temperature();
datapoint.thermistor_temperature = thermistor_voltage_to_temperature(get_thermistor());
/** struct gps_data_t data = gps_get_data();
* ---- Barometer ----
*/
struct barometer* b = get_barometer();
datapoint.main_pressure = b->pressure;
datapoint.bmp180_temperature = (float)b->temperature;
if (data.is_locked) { /* valid? */
datapoint.latitude = data.latitude; /* hndeg */
datapoint.longitude = data.longitude; /* hdeg */
datapoint.altitude = data.altitude; /* mm */
datapoint.satillite_count = data.satillite_count;
datapoint.time_to_first_fix = data.time_to_first_fix; /* seconds / counts */
}
#endif /* GPS_TYPE_OSP */
/* /\** */
/* * ---- Analogue ---- */
/* *\/ */
/* datapoint.battery = get_battery(); /\* Will return zero by default *\/ */
/* datapoint.solar = get_solar(); /\* Will return zero by default *\/ */
/* datapoint.radio_die_temperature = telemetry_si_temperature(); */
/* datapoint.thermistor_temperature = thermistor_voltage_to_temperature(get_thermistor()); */
/* /\** */
/* * ---- Barometer ---- */
/* *\/ */
/* struct barometer* b = get_barometer(); */
/* datapoint.main_pressure = b->pressure; */
/* datapoint.bmp180_temperature = (float)b->temperature; */
#ifdef GPS_TYPE_UBX
/** /**
* ---- GPS ---- * ---- GPS UBX ----
*/ */
if (gps_update_position_pending() || (gps_get_error_state() != GPS_NOERROR)) { if (gps_update_position_pending() || (gps_get_error_state() != GPS_NOERROR)) {
/* Error updating GPS position */ /* Error updating GPS position */
@ -91,9 +109,10 @@ struct tracker_datapoint* collect_data(void)
} else { /* GPS position updated correctly */ } else { /* GPS position updated correctly */
/* GPS Status */ /* GPS Status */
#ifdef GPS_TYPE_UBX
struct ubx_nav_sol sol = gps_get_nav_sol(); struct ubx_nav_sol sol = gps_get_nav_sol();
datapoint.satillite_count = sol.payload.numSV; datapoint.satillite_count = sol.payload.numSV;
datapoint.time_to_first_fix = 0;
/* GPS Position */ /* GPS Position */
if (gps_is_locked()) { if (gps_is_locked()) {
@ -106,8 +125,8 @@ struct tracker_datapoint* collect_data(void)
/* GPS Powersave */ /* GPS Powersave */
gps_set_powersave_auto(); gps_set_powersave_auto();
#endif /* GPS_TYPE_UBX */
} }
#endif /* GPS_TYPE_UBX */
return &datapoint; return &datapoint;
} }

339
firmware/src/gps_osp.c
Wyświetl plik

@ -58,8 +58,19 @@ uint8_t osp_irq_buffer[OSP_BUFFER_LEN];
volatile enum gps_error_t gps_error_state; volatile enum gps_error_t gps_error_state;
/* Temp??? */ /**
uint8_t gps_make_oktosend = 0; * GPS Active?
*/
enum gps_power_state_t {
GPS_HIBERNATE = 0,
GPS_ACTIVE = 1,
};
enum gps_power_state_t gps_power_state = GPS_HIBERNATE;
/**
* Flight State
*/
enum gps_flight_state_t gps_flight_state = GPS_FLIGHT_STATE_LAUNCH;
/** /**
* OSP Output Ack/Nack * OSP Output Ack/Nack
@ -105,6 +116,11 @@ volatile struct osp_out_gpio_state osp_out_gpio_state = {
.state = OSP_PACKET_WAITING, .state = OSP_PACKET_WAITING,
.max_payload_size = sizeof(osp_out_gpio_state.payload) .max_payload_size = sizeof(osp_out_gpio_state.payload)
}; };
volatile struct osp_out_position_response osp_out_position_response = {
.id = OSP_OUT_POSITION_RESPONSE_ID,
.state = OSP_PACKET_WAITING,
.max_payload_size = sizeof(osp_out_position_response.payload)
};
volatile struct osp_out_hw_config_req osp_out_hw_config_req = { volatile struct osp_out_hw_config_req osp_out_hw_config_req = {
.id = OSP_OUT_HW_CONFIG_REQ_ID, .id = OSP_OUT_HW_CONFIG_REQ_ID,
.state = OSP_PACKET_WAITING, .state = OSP_PACKET_WAITING,
@ -132,18 +148,37 @@ volatile osp_message_t* const osp_out_messages[] = {
(osp_message_t*)&osp_out_geodetic_navigation_data, (osp_message_t*)&osp_out_geodetic_navigation_data,
(osp_message_t*)&osp_out_1pps_time, (osp_message_t*)&osp_out_1pps_time,
(osp_message_t*)&osp_out_gpio_state, (osp_message_t*)&osp_out_gpio_state,
(osp_message_t*)&osp_out_position_response,
(osp_message_t*)&osp_out_hw_config_req, (osp_message_t*)&osp_out_hw_config_req,
(osp_message_t*)&osp_out_aiding_request, (osp_message_t*)&osp_out_aiding_request,
(osp_message_t*)&osp_out_cw_controller_output, (osp_message_t*)&osp_out_cw_controller_output,
}; };
/**
* OSP Output Post Processing functions
* ** same order as above **
*/
const osp_post_func osp_out_post_functions[] = {
osp_out_measure_navigation_data_out_post,
osp_out_clock_status_data_post,
osp_out_ephemeris_data_post,
osp_out_oktosend_post,
osp_out_geodetic_navigation_data_post,
osp_out_1pps_time_post,
osp_out_gpio_state_post,
osp_out_position_response_post,
osp_out_hw_config_req_post,
osp_out_aiding_request_post,
osp_out_cw_controller_output_post,
};
/** /**
* OSP Input Messages * OSP Input Messages
* *
* Instances are of the generic type (no payload) to save ram * Instances are of the generic type (no payload) to save ram
*/ */
volatile osp_message_t osp_in_advanced_power_measurement = { volatile osp_message_t osp_in_advanced_power_management = {
.id = OSP_IN_ADVANCED_POWER_MEASUREMENT_ID, .id = OSP_IN_ADVANCED_POWER_MANAGEMENT_ID,
.state = OSP_PACKET_WAITING .state = OSP_PACKET_WAITING
}; };
volatile osp_message_t osp_in_initialise_data_source = { volatile osp_message_t osp_in_initialise_data_source = {
@ -174,6 +209,10 @@ volatile osp_message_t osp_in_set_low_power_acquisition_parameters = {
.id = OSP_IN_SET_LOW_POWER_ACQUISITION_PARAMETERS_ID, .id = OSP_IN_SET_LOW_POWER_ACQUISITION_PARAMETERS_ID,
.state = OSP_PACKET_WAITING .state = OSP_PACKET_WAITING
}; };
volatile osp_message_t osp_in_set_position_request = {
.id = OSP_IN_POSITION_REQUEST_ID,
.state = OSP_PACKET_WAITING
};
volatile osp_message_t osp_in_session_request = { volatile osp_message_t osp_in_session_request = {
.id = OSP_IN_SESSION_REQUEST_ID, .id = OSP_IN_SESSION_REQUEST_ID,
.state = OSP_PACKET_WAITING .state = OSP_PACKET_WAITING
@ -186,6 +225,10 @@ volatile osp_message_t osp_in_approximate_ms_position_response = {
.id = OSP_IN_APPROXIMATE_MS_POSITION_RESPONSE_ID, .id = OSP_IN_APPROXIMATE_MS_POSITION_RESPONSE_ID,
.state = OSP_PACKET_WAITING .state = OSP_PACKET_WAITING
}; };
volatile osp_message_t osp_in_reject = {
.id = OSP_IN_REJECT_ID,
.state = OSP_PACKET_WAITING
};
volatile osp_message_t osp_in_power_mode_request = { volatile osp_message_t osp_in_power_mode_request = {
.id = OSP_IN_POWER_MODE_REQUEST_ID, .id = OSP_IN_POWER_MODE_REQUEST_ID,
.state = OSP_PACKET_WAITING .state = OSP_PACKET_WAITING
@ -196,7 +239,7 @@ volatile osp_message_t osp_in_power_mode_request = {
* OSP Input Messages * OSP Input Messages
*/ */
volatile osp_message_t* const osp_in_messages[] = { volatile osp_message_t* const osp_in_messages[] = {
&osp_in_advanced_power_measurement, &osp_in_advanced_power_management,
&osp_in_initialise_data_source, &osp_in_initialise_data_source,
&osp_in_mode_control, &osp_in_mode_control,
&osp_in_elevation_mask, &osp_in_elevation_mask,
@ -305,14 +348,19 @@ void osp_process_frame(uint8_t* frame, uint16_t payload_length)
/* (less than for various subfields which have different lengths) */ /* (less than for various subfields which have different lengths) */
if (payload_length_less_message_id <= osp_out_messages[i]->max_payload_size) { if (payload_length_less_message_id <= osp_out_messages[i]->max_payload_size) {
/* Reject measurement response for the moment */
if (message_id == OSP_OUT_POSITION_RESPONSE_ID && (frame+2+1)[0] != 1) {
break;
}
/* Populate struct. Ignore message ID */ /* Populate struct. Ignore message ID */
memcpy((void*)(osp_out_messages[i]+1), frame+2+1, payload_length_less_message_id); memcpy((void*)(osp_out_messages[i]+1), frame+2+1, payload_length_less_message_id);
/* Set the message state */ /* Set the message state */
osp_out_messages[i]->state = OSP_PACKET_UPDATED; osp_out_messages[i]->state = OSP_PACKET_UPDATED;
if(message_id==41){led_toggle();} /* Call post function for this message */
osp_out_post_functions[i](osp_out_messages[i]);
} }
return; return;
@ -413,14 +461,70 @@ void _osp_send_message(osp_message_t* message, uint8_t* payload, uint16_t length
} }
/**
* =============================================================================
* Flight State ================================================================
* =============================================================================
*/
/**
* Returns current flight state
*/
enum gps_flight_state_t gps_get_flight_state(void)
{
return gps_flight_state;
}
/**
* Sets flight state
*
* altitude in mm
*/
void gps_set_flight_state(int32_t altitude)
{
if (altitude > GPS_FLIGHT_STATE_THREASHOLD_M*1000) {
gps_flight_state = GPS_FLIGHT_STATE_FLOAT;
} else {
gps_flight_state = GPS_FLIGHT_STATE_LAUNCH;
}
}
/**
* =============================================================================
* Power State ================================================================
* =============================================================================
*/
/**
* Puts the GPS into hibernate state
*/
void gps_make_active(void)
{
if (gps_power_state == GPS_HIBERNATE) {
gps_se_on_off_pulse();
gps_power_state = GPS_ACTIVE;
}
}
/**
* Puts the GPS into hibernate state
*/
void gps_make_hibernate(void)
{
if (gps_power_state == GPS_ACTIVE) {
gps_se_on_off_pulse();
gps_power_state = GPS_HIBERNATE;
}
}
/** /**
* ============================================================================= * =============================================================================
* Getters =================================================================== * Getters ===================================================================
* ============================================================================= * =============================================================================
*/ */
/** /**
* Gets the current error state of the GPS to check validity of last * Gets the current error state of the GPS to check validity of last
* request * request
@ -431,22 +535,118 @@ enum gps_error_t gps_get_error_state(void)
} }
/** /**
* Returns the most recent datapint from the gps * Powers up the GPS, waits up to 60 seconds for a fix
* *
* Uses the Geodetic Navigation Data frame. * Uses the Geodetic Navigation Data frame.
*/ */
struct gps_data_t gps_get_data(void) struct gps_data_t gps_get_data(void)
{ {
struct gps_data_t data; struct gps_data_t data;
uint32_t i;
data.is_locked = (osp_out_geodetic_navigation_data.payload.nav_type == 0)?1:0; /* nav_valid = 0? */ /* Clear status */
osp_out_geodetic_navigation_data.state = OSP_PACKET_WAITING;
/* Take the GPS out of hibernate*/
gps_make_active();
for (i = 0; i < 3*2; i++) {
while (osp_out_geodetic_navigation_data.state != OSP_PACKET_UPDATED) {
/* idle */
idle(IDLE_WAIT_FOR_GPS);
}
/* Clear status */
osp_out_geodetic_navigation_data.state = OSP_PACKET_WAITING;
/* Got packet */
if (gps_get_flight_state() == GPS_FLIGHT_STATE_LAUNCH) {
led_toggle();
}
/* Check nav */
if ((osp_out_geodetic_navigation_data.payload.nav_valid == 0) && /* Valid fix */
((osp_out_geodetic_navigation_data.payload.nav_type & 0x7) != 0) && /* Currently have this fix */
(osp_out_geodetic_navigation_data.payload.estimated_vertical_position_error < 100*100)) /* < 100m error */
{
/* GPS back to hibernate */
gps_make_hibernate();
data.is_locked = 1; /* valid fix */
data.latitude = osp_out_geodetic_navigation_data.payload.latitude; /* hndeg */ data.latitude = osp_out_geodetic_navigation_data.payload.latitude; /* hndeg */
data.longitude = osp_out_geodetic_navigation_data.payload.longitude; /* hndeg */ data.longitude = osp_out_geodetic_navigation_data.payload.longitude; /* hndeg */
data.altitude = osp_out_geodetic_navigation_data.payload.altitude_from_msl*10; /* cm -> mm */ data.altitude = osp_out_geodetic_navigation_data.payload.altitude_from_msl*10; /* cm -> mm */
data.satillite_count = osp_out_geodetic_navigation_data.payload.svs_in_fix; data.satillite_count = osp_out_geodetic_navigation_data.payload.svs_in_fix;
data.time_to_first_fix = i+1; /* number of geo nav packets this took */
gps_set_flight_state(data.altitude);
return data; return data;
} }
}
/* GPS back to hibernate */
gps_make_hibernate();
data.is_locked = 0; /* invalid */
data.latitude = 0;
data.longitude = 0;
data.altitude = 0;
data.satillite_count = 0;
data.time_to_first_fix = i;
return data;
}
/**
* =============================================================================
* Low Power ===================================================================
* =============================================================================
*/
/**
* Request Full power mode
*/
void osp_session_request_close(void)
{
/* session request #213 */
struct osp_in_session_request config;
memset(&config, 0, sizeof(struct osp_in_session_request));
config.id = OSP_IN_SESSION_REQUEST_ID;
/* values */
config.payload.sub_id = OSP_SESSION_REQUEST_CLOSE;
config.payload.info = 0; /* Session close requested */
/* send */
_osp_send_message((osp_message_t*)&config,
(uint8_t*)&config.payload,
sizeof(config.payload));
}
/**
* Enter push-to-fix mode
*/
void osp_enter_push_to_fix_mode(void)
{
/* set tricklepower parameters #151 */
struct osp_in_set_tricklepower_parameters config;
memset(&config, 0, sizeof(struct osp_in_set_tricklepower_parameters));
config.id = OSP_IN_SET_TRICKLEPOWER_PARAMETERS_ID;
/* values */
config.payload.pushtofix_mode = 1; /* Enable push-to-fix */
config.payload.on_time = 200; /* 200 ms (minimum) */
config.payload.duty_cycle = 10; /* 1% */
/* send */
osp_in_set_tricklepower_parameters_pre(&config);
_osp_send_message((osp_message_t*)&config,
(uint8_t*)&config.payload,
sizeof(config.payload));
}
/** /**
@ -511,16 +711,59 @@ void osp_send_hw_config_resp(void)
OSP_HW_CONFIG_FREQUENCY_REFCLK_OFF OSP_HW_CONFIG_FREQUENCY_REFCLK_OFF
); );
config.payload.nominal_frequency_high = 0; config.payload.nominal_frequency_high = 0;
config.payload.nominal_frequency_low = __REV(1*1000); /* 1Hz?? */ config.payload.nominal_frequency_low = 1*1000; /* 1Hz */
config.payload.network_enhancement_type = 0; /* No enhancement */ config.payload.network_enhancement_type = 0; /* No enhancement */
osp_in_hardware_configuration_response_pre(&config);
_osp_send_message((osp_message_t*)&config, _osp_send_message((osp_message_t*)&config,
(uint8_t*)&config.payload, (uint8_t*)&config.payload,
sizeof(config.payload)); sizeof(config.payload));
} }
/** /**
* Respond to position aiding request * Reset Initialise
*/
void osp_reset_initialise(void)
{
/* initialise data source #128 */
struct osp_in_initialise_data_source config;
memset(&config, 0, sizeof(struct osp_in_initialise_data_source));
config.id = OSP_IN_INITIALISE_DATA_SOURCE_ID;
/* values */
/* All zeros */
/* send */
_osp_send_message((osp_message_t*)&config,
(uint8_t*)&config.payload,
sizeof(config.payload));
}
/**
* Send reject message NOT AVAILABLE
*/
void osp_send_reject_not_available(uint8_t message_id_to_reject,
uint8_t message_sub_id_to_reject)
{
/* reject #216 */
struct osp_in_reject config;
memset(&config, 0, sizeof(struct osp_in_reject));
config.id = OSP_IN_REJECT_ID;
/* values */
config.payload.sub_id = 2;
config.payload.rejected_message_id = message_id_to_reject;
config.payload.rejected_message_sub_id = message_sub_id_to_reject;
config.payload.rejected_message_reason = OSP_REJECTED_MESSAGE_NOT_AVAILABLE;
/* send */
_osp_send_message((osp_message_t*)&config,
(uint8_t*)&config.payload,
sizeof(config.payload));
}
/**
* Respond to approximate ms request
*/ */
void osp_send_approximate_ms_postion(void) void osp_send_approximate_ms_postion(void)
{ {
@ -539,24 +782,56 @@ void osp_send_approximate_ms_postion(void)
config.payload.use_alt_aiding = 0; /* don't even use the altitude */ config.payload.use_alt_aiding = 0; /* don't even use the altitude */
/* send */ /* send */
osp_in_approximate_ms_position_response_pre(&config);
_osp_send_message((osp_message_t*)&config, _osp_send_message((osp_message_t*)&config,
(uint8_t*)&config.payload, (uint8_t*)&config.payload,
sizeof(config.payload)); sizeof(config.payload));
}
/**
* Place a position request
*/
void osp_send_position_request(void)
{
/* approximate ms position */
struct osp_in_position_request config;
memset(&config, 0, sizeof(struct osp_in_position_request));
config.id = OSP_IN_POSITION_REQUEST_ID;
/* values */
config.payload.pos_request_id = 0;
config.payload.num_fixes = 1; /* Just one fix */
config.payload.time_between_fixes = 0;
config.payload.horizontal_error_max = 100; /* 100m horizonal error */
config.payload.vertical_error_max = OSP_MAX_ERROR_80_METER; /* 80m vertical error */
config.payload.response_time_max = 0; /* any time */
config.payload.time_acc_priority = OSP_TIME_ACC_PRIORITY_NONE;
config.payload.location_method = 0; /* ???? */
/* send */
osp_in_position_request_pre(&config);
_osp_send_message((osp_message_t*)&config,
(uint8_t*)&config.payload,
sizeof(config.payload));
} }
/** /**
* ============================================================================= * =============================================================================
* Serivce =================================================================== * Setup ===================================================================
* ============================================================================= * =============================================================================
*/ */
/** /**
* Handle connection-orientated messages from the GPS that need servicing * GPS configuration
*/ */
void gps_service(void) void gps_setup(void)
{ {
/* Attempt to turn on GPS */
gps_se_on_off_pulse();
while (1) { /* TODO: timeout */
/* We received the hw config req */ /* We received the hw config req */
if (osp_out_hw_config_req.state == OSP_PACKET_UPDATED) { if (osp_out_hw_config_req.state == OSP_PACKET_UPDATED) {
/* send response */ /* send response */
@ -572,35 +847,40 @@ void gps_service(void)
if (osp_out_aiding_request.payload.subid == if (osp_out_aiding_request.payload.subid ==
OSP_AIDING_REQUEST_SUBID_APPROXIMATE_MS_POSITION) { OSP_AIDING_REQUEST_SUBID_APPROXIMATE_MS_POSITION) {
/* send response to approximate ms position request */ /* send response to approximate ms position request */
osp_send_approximate_ms_postion(); osp_send_reject_not_available(OSP_OUT_AIDING_REQUEST_ID,
OSP_AIDING_REQUEST_SUBID_APPROXIMATE_MS_POSITION);
/* Set message formats */
osp_set_messages(); osp_set_messages();
gps_make_oktosend = 0; /* all done */ /* Check these get ack'd? */
/* Otherwise we're done */
break;
} }
/* clear state */ /* clear state */
osp_out_aiding_request.state = OSP_PACKET_WAITING; osp_out_aiding_request.state = OSP_PACKET_WAITING;
} }
/* oktosend packet */
/* We're trying to make it oktosend */
if (gps_make_oktosend == 1) {
/* And we've had an oktosend packet */
if (osp_out_oktosend.state == OSP_PACKET_UPDATED) { if (osp_out_oktosend.state == OSP_PACKET_UPDATED) {
/* was this an enable or disable packet? */ /* was this an enable or disable packet? */
if (osp_out_oktosend.payload.oktosend == OSP_OKTOSEND_YES) { if (osp_out_oktosend.payload.oktosend == OSP_OKTOSEND_YES) {
/* all done */ /* we're now active */
gps_power_state = GPS_ACTIVE;
} else { } else {
gps_se_on_off_pulse(); /* send another on_off pulse */ gps_se_on_off_pulse(); /* send another on_off pulse */
gps_power_state = GPS_HIBERNATE;
} }
/* clear state */ /* clear state */
osp_out_oktosend.state = OSP_PACKET_WAITING; osp_out_oktosend.state = OSP_PACKET_WAITING;
} }
}
idle(IDLE_WAIT_FOR_GPS);
}
} }
/** /**
@ -634,7 +914,7 @@ void gps_usart_init_enable(uint32_t baud_rate)
false, /** Sample on the rising edge of XLCK */ false, /** Sample on the rising edge of XLCK */
false, /** Use the external clock applied to the XCK pin. */ false, /** Use the external clock applied to the XCK pin. */
0, /** External clock frequency in synchronous mode. */ 0, /** External clock frequency in synchronous mode. */
true, /** Run in standby */ false, /** Run in standby */
GPS_GCLK, /** GCLK generator source */ GPS_GCLK, /** GCLK generator source */
GPS_SERCOM_MOGI_PINMUX, /** PAD0 pinmux */ GPS_SERCOM_MOGI_PINMUX, /** PAD0 pinmux */
GPS_SERCOM_MIGO_PINMUX, /** PAD1 pinmux */ GPS_SERCOM_MIGO_PINMUX, /** PAD1 pinmux */
@ -689,13 +969,10 @@ void gps_init(void)
/* ---- GPS Configuration ---- */ /* ---- GPS Configuration ---- */
/* Bring up the GPS */ /* Close any currently running session. Doesn't do anything unless debugging */
gps_make_oktosend = 1; osp_reset_initialise();
gps_se_on_off_pulse();
while (gps_make_oktosend == 1) { gps_setup();
gps_service();
}
} }

27
firmware/src/init.c
Wyświetl plik

@ -99,7 +99,6 @@ void init(enum init_type init_t)
system_flash_set_waitstates(SYSTEM_WAIT_STATE_1_8V_14MHZ); system_flash_set_waitstates(SYSTEM_WAIT_STATE_1_8V_14MHZ);
/* Restart the GCLK Module */ /* Restart the GCLK Module */
system_gclk_init();
system_events_init(); system_events_init();
system_extint_init(); system_extint_init();
@ -109,8 +108,7 @@ void init(enum init_type init_t)
} }
/* Configure Sleep Mode */ /* Configure Sleep Mode */
//system_set_sleepmode(SYSTEM_SLEEPMODE_STANDBY); system_set_sleepmode(SYSTEM_SLEEPMODE_IDLE_2); /* Lowest power */
system_set_sleepmode(SYSTEM_SLEEPMODE_IDLE_2); /* Disable CPU, AHB and APB */
/* Configure the Power Manager */ /* Configure the Power Manager */
powermananger_init(); powermananger_init();
@ -121,21 +119,34 @@ void init(enum init_type init_t)
*/ */
/* Memory */ /* Memory */
init_memory(); //init_memory();
/* Timepulse_Pin */
port_pin_set_config(GPS_TIMEPULSE_PIN,
PORT_PIN_DIR_INPUT, /* Direction */
PORT_PIN_PULL_NONE, /* Pull */
false); /* Powersave */
/* Enable the xosc on gclk1 */
xosc_init();
/* i2c */ /* i2c */
i2c_init(I2C_SERCOM, I2C_SERCOM_SDA_PINMUX, I2C_SERCOM_SCL_PINMUX); // i2c_init(I2C_SERCOM, I2C_SERCOM_SDA_PINMUX, I2C_SERCOM_SCL_PINMUX);
/* barometer */ /* barometer */
bmp180_init(); // bmp180_init();
if (init_t != INIT_TESTCASE) { if (init_t != INIT_TESTCASE) {
/* Telemetry init depends on gclk */ /* Telemetry init depends on gclk */
telemetry_init(); telemetry_init();
/* We need to wait for the GPS 32kHz clock to start (~300ms). TODO: more robust method for this */
for (int i = 0; i < 1*1000*1000; i++);
/* GPS init */ /* GPS init */
gps_init(); gps_init();
} }

12
firmware/src/main.c
Wyświetl plik

@ -228,7 +228,7 @@ volatile uint8_t run_flag = 1; /* run immediately after init */
void lf_tick(uint32_t tick) void lf_tick(uint32_t tick)
{ {
/* When we're due to run again */ /* When we're due to run again */
if (tick >= 20) { if (tick >= 10) {
/* Stop */ /* Stop */
lf_tick_stop(); lf_tick_stop();
@ -254,24 +254,22 @@ int main(void)
/* Turn off LED to show we've initialised correctly */ /* Turn off LED to show we've initialised correctly */
led_off(); led_off();
/* Clocks off */
gclk0_to_lf_clock();
hf_clock_disable();
while (1) { while (1) {
/* Run sequence */ /* Run sequence - starts immediately on first iteration */
if (run_flag) { if (run_flag) {
run_flag = 0; run_flag = 0;
/* Clocks on */ /* Clocks on */
hf_clock_enable(); hf_clock_enable();
gclk0_to_hf_clock(); gclk0_to_hf_clock();
system_set_sleepmode(SYSTEM_SLEEPMODE_IDLE_2); /* Low power */
/* Run */ /* Run */
//run_sequencer(n++); run_sequencer(n++);
for (int i = 0; i < 100*1000; i++);
/* Clocks off */ /* Clocks off */
system_set_sleepmode(SYSTEM_SLEEPMODE_STANDBY); /* Lowest power */
gclk0_to_lf_clock(); gclk0_to_lf_clock();
hf_clock_disable(); hf_clock_disable();

11
firmware/src/sequencer.c
Wyświetl plik

@ -82,22 +82,17 @@ void run_sequencer(uint32_t n)
{ {
struct tracker_datapoint* dp; struct tracker_datapoint* dp;
/* Trigger GPS */
/* Async data */ /* Async data */
collect_data_async(); //collect_data_async();
/* Wait for GPS */
/* Data */ /* Data */
dp = collect_data(); dp = collect_data();
/* Telemetry */ /* Telemetry */
telemetry_sequence(dp, n); //telemetry_sequence(dp, n);
/* Backlog */ /* Backlog */
if ((n % 60) == 10) { /* Every hour, start ten minutes */ if ((n % 60) == 10) { /* Every hour, start ten minutes */
record_backlog(dp); //record_backlog(dp);
} }
} }

5
firmware/src/system/gclk.c
Wyświetl plik

@ -247,9 +247,10 @@ uint32_t system_gclk_gen_get_hz(const uint8_t generator)
/* Select the appropriate generator */ /* Select the appropriate generator */
*((uint8_t*)&GCLK->GENCTRL.reg) = generator; *((uint8_t*)&GCLK->GENCTRL.reg) = generator;
GCLK_WAIT_FOR_SYNC(); GCLK_WAIT_FOR_SYNC();
enum system_clock_source src = (enum system_clock_source)GCLK->GENCTRL.bit.SRC;
/* Get the frequency of the source connected to the GCLK generator */ /* Get the frequency of the source connected to the GCLK generator */
uint32_t gen_input_hz = system_clock_source_get_hz( uint32_t gen_input_hz = system_clock_source_get_hz(src);
(enum system_clock_source)GCLK->GENCTRL.bit.SRC);
*((uint8_t*)&GCLK->GENCTRL.reg) = generator; *((uint8_t*)&GCLK->GENCTRL.reg) = generator;

40
firmware/src/watchdog.c
Wyświetl plik

@ -113,31 +113,31 @@ void kick_the_watchdog(void)
void idle(idle_wait_t idle_t) void idle(idle_wait_t idle_t)
{ {
/* Check valid */ /* Check valid */
if ((idle_t != IDLE_TELEMETRY_ACTIVE) && /* if ((idle_t != IDLE_TELEMETRY_ACTIVE) && */
(idle_t != IDLE_WAIT_FOR_NEXT_TELEMETRY)) { /* (idle_t != IDLE_WAIT_FOR_NEXT_TELEMETRY)) { */
/* Oh dear */ /* /\* Oh dear *\/ */
while (1); /* while (1); */
} /* } */
/* Maybe clear */ /* /\* Maybe clear *\/ */
if (idle_t != last_idle_t) { /* if (idle_t != last_idle_t) { */
clear_idle_counters(); /* clear_idle_counters(); */
last_idle_t = idle_t; /* last_idle_t = idle_t; */
} /* } */
/* Increment the idle counter */ /* /\* Increment the idle counter *\/ */
increment_idle_counter(idle_t); /* increment_idle_counter(idle_t); */
/* Check idle counter is still okay */ /* /\* Check idle counter is still okay *\/ */
check_idle_counters(); /* check_idle_counters(); */
/* Kick the watchdog */ /* /\* Kick the watchdog *\/ */
#ifdef DEBUG_USE_INTWATCHDOG /* #ifdef DEBUG_USE_INTWATCHDOG */
wdt_reset_count(); /* wdt_reset_count(); */
#endif /* #endif */
/* WDI low */ /* WDI toggle */
port_pin_set_output_level(WDT_WDI_PIN, 0); port_pin_toggle_output_level(WDT_WDI_PIN);
/* And sleep */ /* And sleep */
system_sleep(); system_sleep();