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Merge branch 'master' into si4060-tidy 

Conflicts:
	firmware/src/main.c
rocketry
Richard Eoin Meadows 2014-11-18 10:54:08 +00:00
rodzic 6ae5064823 b6622c5d16
commit afabff5734
11 zmienionych plików z 394 dodań i 136 usunięć
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7
firmware/inc/gps.h
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@ -33,12 +33,17 @@ enum gps_error_t {
GPS_ERROR_INVALID_FRAME,
};
void gps_update();
void gps_update_time(void);
void gps_update_position(void);
int gps_update_time_pending(void);
int gps_update_position_pending(void);
struct ubx_nav_posllh gps_get_nav_posllh();
struct ubx_nav_sol gps_get_nav_sol();
struct ubx_nav_timeutc gps_get_nav_timeutc();
uint8_t gps_is_locked(void);
void gps_init(void);
void usart_loopback_test(void);

5
firmware/inc/hw_config.h
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@ -120,6 +120,11 @@
#define SI406X_TCXO_GCLK GCLK_GENERATOR_3
#define SI406X_TCXO_FREQUENCY 16369000
/**
* Watchdog Timer
*/
#define WDT_GCLK GCLK_GENERATOR_4
/**
* External Watchdog Timer
*/

15
firmware/inc/rtty.h
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@ -25,8 +25,21 @@
#ifndef RTTY_H
#define RTTY_H
#include "util/dbuffer.h"
/**
* Output String
*/
#define RTTY_STRING_MAX 0x200
/**
* It's actually a double buffer which we swap for mid-string updates
*/
ARRAY_DBUFFER_T(char, RTTY_STRING_MAX) rtty_dbuffer_string;
int rtty_active(void);
int rtty_set_string(char* string, uint32_t length);
int rtty_start(void);
int32_t rtty_get_index(void);
void rtty_set_length(int32_t length);
void rtty_tick(void);
#endif /* RTTY_H */

3
firmware/inc/telemetry.h
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@ -25,6 +25,7 @@
#ifndef TELEMETRY_H
#define TELEMETRY_H
void set_telemetry_string(void);
uint16_t crc_checksum(char *string);
void timer0_tick_init(uint32_t frequency);
#endif /* TELEMETRY_H */

32
firmware/inc/ubx_messages.h
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@ -36,6 +36,7 @@ enum ubx_packet_state {
UBX_PACKET_WAITING,
UBX_PACKET_ACK,
UBX_PACKET_NACK,
UBX_PACKET_UPDATED,
};
/** Generic UBX Message Type. Each message type extended is from this */
typedef struct {
@ -73,6 +74,26 @@ __PACKED__ struct ubx_cfg_ant {
uint16_t pins;
} payload;
};
/**
* UBX CFG GNSS
*/
__PACKED__ struct ubx_cfg_gnss {
ubx_message_id_t id;
enum ubx_packet_state state;
struct {
uint8_t msgVer;
uint8_t numTrkChHw;
uint8_t numTrkChUse;
uint8_t numConfigBlocks;
struct {
uint8_t gnssID;
uint8_t resTrkCh;
uint8_t maxTrkCh;
uint8_t reserved1;
int32_t flags;
} block[8];
} payload;
};
/**
* UBX CFG NAV5 Navigation Engine Settings
*/
@ -150,6 +171,17 @@ enum {
UBX_PLATFORM_MODEL_AIRBORNE_2G = 7,
UBX_PLATFORM_MODEL_AIRBORNE_4G = 8,
};
/**
* UBX GNSS Systems
*/
enum {
UBX_GNSS_GPS = 0,
UBX_GNSS_SBAS = 1,
UBX_GNSS_GALILEO = 2,
UBX_GNSS_BEIDOU = 3,
UBX_GNSS_QZSS = 5,
UBX_GNSS_GLONASS = 6,
};
/**
* =============================================================================

87
firmware/src/gps.c
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@ -1,5 +1,5 @@
/*
* Functions for the UBLOX 6 GPS
* Functions for the UBLOX 8 GPS
* Copyright (C) 2014 Richard Meadows <richardeoin>
*
* Permission is hereby granted, free of charge, to any person obtaining
@ -69,6 +69,7 @@ uint8_t ubx_irq_buffer[UBX_BUFFER_LEN];
* UBX Messages
*/
volatile struct ubx_cfg_ant ubx_cfg_ant = { .id = (UBX_CFG | (0x13 << 8)) };
volatile struct ubx_cfg_gnss ubx_cfg_gnss = { .id = (UBX_CFG | (0x3E << 8)) };
volatile struct ubx_cfg_nav5 ubx_cfg_nav5 = { .id = (UBX_CFG | (0x24 << 8)) };
volatile struct ubx_cfg_tp5 ubx_cfg_tp5 = { .id = (UBX_CFG | (0x31 << 8)) };
volatile struct ubx_cfg_prt ubx_cfg_prt = { .id = (UBX_CFG | (0x00 << 8)) };
@ -81,6 +82,7 @@ volatile struct ubx_nav_status ubx_nav_status = { .id = (UBX_NAV | (0x03 << 8))
*/
volatile ubx_message_t* const ubx_messages[] = {
(ubx_message_t*)&ubx_cfg_ant,
(ubx_message_t*)&ubx_cfg_gnss,
(ubx_message_t*)&ubx_cfg_nav5,
(ubx_message_t*)&ubx_cfg_tp5,
(ubx_message_t*)&ubx_cfg_prt,
@ -163,6 +165,9 @@ void ubx_process_frame(uint8_t* frame)
/* Populate struct */
memcpy((void*)(ubx_messages[i]+1), frame + 4, payload_length);
/* Set the message state */
ubx_messages[i]->state = UBX_PACKET_UPDATED;
return;
}
}
@ -230,6 +235,9 @@ void _ubx_send_message(ubx_message_t* message, uint8_t* payload, uint16_t length
uint8_t ubx[UBX_BUFFER_LEN];
uint8_t* ubx_buffer = ubx;
/* Clear the message state */
message->state = UBX_PACKET_WAITING;
/* Copy little endian */
memcpy(ubx_buffer, &ubx_header, 2); ubx_buffer += 2; /* Header */
memcpy(ubx_buffer, &message->id, 2); ubx_buffer += 2; /* Message Type */
@ -244,9 +252,7 @@ void _ubx_send_message(ubx_message_t* message, uint8_t* payload, uint16_t length
* Polls the GPS for packets
*/
void _ubx_poll(ubx_message_t* message) {
/* Clear the packet state */
message->state = UBX_PACKET_WAITING;
/* Send the message */
_ubx_send_message(message, NULL, 0);
/* Wait for acknoledge */
@ -275,14 +281,37 @@ void gps_disable_nmea(void)
}
/**
* Sends messages to the GPS to update the messages we want
* Sends messages to the GPS to update the time
*/
void gps_update()
void gps_update_time(void)
{
_ubx_send_message((ubx_message_t*)&ubx_nav_timeutc, NULL, 0);
};
/**
* Sends messages to the GPS to update the position
*/
void gps_update_position(void)
{
_ubx_send_message((ubx_message_t*)&ubx_nav_posllh, NULL, 0);
_ubx_send_message((ubx_message_t*)&ubx_nav_sol, NULL, 0);
_ubx_send_message((ubx_message_t*)&ubx_nav_timeutc, NULL, 0);
_ubx_send_message((ubx_message_t*)&ubx_nav_status, NULL, 0);
// _ubx_send_message((ubx_message_t*)&ubx_nav_status, NULL, 0);
}
/**
* Indicates a pending time update from the GPS
*/
int gps_update_time_pending(void)
{
return (ubx_nav_timeutc.state == UBX_PACKET_WAITING);
}
/**
* Indicates a pending position update from the GPS
*/
int gps_update_position_pending(void)
{
return (ubx_nav_posllh.state == UBX_PACKET_WAITING) ||
(ubx_nav_sol.state == UBX_PACKET_WAITING);
//(ubx_nav_status.state == UBX_PACKET_WAITING);
}
/**
* Return the latest received messages
@ -299,6 +328,15 @@ struct ubx_nav_timeutc gps_get_nav_timeutc()
{
return ubx_nav_timeutc;
}
/**
* Returns if the GPS has a position lock
*/
uint8_t gps_is_locked(void)
{
return (ubx_nav_sol.payload.gpsFix == 0x2) ||
(ubx_nav_sol.payload.gpsFix == 0x3) ||
(ubx_nav_sol.payload.gpsFix == 0x4);
}
/**
* Verify that the uBlox 6 GPS receiver is set to the <1g airborne
@ -341,6 +379,36 @@ void gps_set_timepulse_five(uint32_t frequency)
(uint8_t*)&ubx_cfg_tp5.payload,
sizeof(ubx_cfg_tp5.payload));
}
/**
* Set which GNSS constellations to use
*/
void gps_set_gnss(void)
{
/* Read the current settings */
_ubx_poll((ubx_message_t*)&ubx_cfg_gnss);
switch (ubx_cfg_gnss.payload.msgVer) {
case 0:
/* For each configuration block */
for (uint8_t i = 0; i < ubx_cfg_gnss.payload.numConfigBlocks; i++) {
/* If it's the configuration for something other than GPS */
if (ubx_cfg_gnss.payload.block[i].gnssID != UBX_GNSS_GPS) {
/* Disable this GNSS system */
ubx_cfg_gnss.payload.block[i].flags &= ~0x1;
}
}
break;
default:
break;
}
/* Write the new settings */
_ubx_send_message((ubx_message_t*)&ubx_cfg_gnss,
(uint8_t*)&ubx_cfg_gnss.payload,
4 + (8 * ubx_cfg_gnss.payload.numConfigBlocks));
}
/**
* Init
@ -386,6 +454,9 @@ void gps_init(void)
/* Set the platform model */
gps_set_platform_model();
/* Set which GNSS constellation we'd like to use */
gps_set_gnss();
/* Set the timepulse */
gps_set_timepulse_five(GPS_TIMEPULSE_FREQ);
}

217
firmware/src/main.c
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@ -34,15 +34,21 @@
#include "system/port.h"
#include "tc/tc_driver.h"
#include "gps.h"
#include "ubx_messages.h"
#include "system/wdt.h"
#include "timepulse.h"
#include "telemetry.h"
#include "si_trx.h"
#include "analogue.h"
#include "si4060.h"
#include "spi_bitbang.h"
#include "rtty.h"
#include "system/interrupt.h"
#define CALLSIGN "UBSEDSx"
void si4060_hw_init(void)
{
/* Configure the SDN pin */
@ -148,25 +154,158 @@ void set_timer(uint32_t time)
tc_start_counter(TC2);
}
/* void wdt_init() { */
/* /\* 64 seconds timeout. So 2^(15+6) cycles of the wdt clock *\/ */
/* system_gclk_gen_set_config(WDT_GCLK, */
/* GCLK_SOURCE_OSCULP32K, /\* Source *\/ */
/* false, /\* High When Disabled *\/ */
/* 128, /\* Division Factor *\/ */
/* false, /\* Run in standby *\/ */
/* true); /\* Output Pin Enable *\/ */
/* system_gclk_gen_enable(WDT_GCLK); */
void wdt_init() {
/* 64 seconds timeout. So 2^(15+6) cycles of the wdt clock */
system_gclk_gen_set_config(WDT_GCLK,
GCLK_SOURCE_OSCULP32K, /* Source */
false, /* High When Disabled */
128, /* Division Factor */
false, /* Run in standby */
true); /* Output Pin Enable */
system_gclk_gen_enable(WDT_GCLK);
/* /\* Set the watchdog timer. On 256Hz gclk 4 *\/ */
/* wdt_set_config(true, /\* Lock WDT *\/ */
/* true, /\* Enable WDT *\/ */
/* GCLK_GENERATOR_4, /\* Clock Source *\/ */
/* WDT_PERIOD_16384CLK, /\* Timeout Period *\/ */
/* WDT_PERIOD_NONE, /\* Window Period *\/ */
/* WDT_PERIOD_NONE); /\* Early Warning Period *\/ */
/* } */
/* Set the watchdog timer. On 256Hz gclk 4 */
wdt_set_config(true, /* Lock WDT */
true, /* Enable WDT */
GCLK_GENERATOR_4, /* Clock Source */
WDT_PERIOD_16384CLK, /* Timeout Period */
WDT_PERIOD_NONE, /* Window Period */
WDT_PERIOD_NONE); /* Early Warning Period */
}
/**
* Power Management
*/
void powermananger_init(void)
{
system_apb_clock_clear_mask(SYSTEM_CLOCK_APB_APBA,
PM_APBAMASK_EIC | /* EIC is unused */
PM_APBAMASK_RTC); /* RTC is unused */
}
/**
* Telemetry String
* =============================================================================
*/
void output_telemetry_string(void)
{
double lat_fmt = 0.0;
double lon_fmt = 0.0;
uint32_t altitude = 0;
/**
* Callsign, Time
* ---------------------------------------------------------------------------
*/
/* GPS Time */
gps_update_time();
/* Sleep Wait */
while (gps_update_time_pending()) {
system_sleep();
}
for (int i = 0; i < 100*1000; i++);
/* 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;
/* init double buffers */
ARRAY_DBUFFER_INIT(&rtty_dbuffer_string);
/* sprintf - initial string */
uint16_t len = sprintf(ARRAY_DBUFFER_WRITE_PTR(&rtty_dbuffer_string),
"$$%s,%02u:%02u:%02u,",
CALLSIGN, hours, minutes, seconds);
/* swap buffers */
ARRAY_DBUFFER_SWAP(&rtty_dbuffer_string);
/* start */
rtty_start();
/**
* Position, Status, Analogue, Checksum
* ---------------------------------------------------------------------------
*/
/* Analogue */
float battery = get_battery();
float temperature = si4060_get_temperature();
/* Sleep Wait */
while (rtty_get_index() < (len - 4)) {
system_sleep();
}
/* Request updates from the gps */
gps_update_position();
if (gps_is_locked()) {
led_on();
} else {
led_off();
}
/* Wait for the gps update. Move on if it's urgent */
while (gps_update_position_pending() && rtty_get_index() < (len - 1)) {
system_sleep();
}
if (gps_is_locked()) {
led_off();
} else {
led_on();
}
/* GPS Status */
struct ubx_nav_sol sol = gps_get_nav_sol();
uint8_t lock = sol.payload.gpsFix;
uint8_t satillite_count = sol.payload.numSV;
/* GPS Position */
if (lock == 0x2 || lock == 0x3 || lock == 0x4) {
struct ubx_nav_posllh pos = gps_get_nav_posllh();
lat_fmt = (double)pos.payload.lat / 10000000.0;
lon_fmt = (double)pos.payload.lon / 10000000.0;
altitude = pos.payload.height / 1000;
}
/* sprintf - full string */
len = sprintf(ARRAY_DBUFFER_WRITE_PTR(&rtty_dbuffer_string),
"$$%s,%02u:%02u:%02u,%02.6f,%03.6f,%ld,%u,%.2f,%.1f",
CALLSIGN, hours, minutes, seconds, lat_fmt, lon_fmt,
altitude, satillite_count, battery, temperature);
/* sprintf - checksum */
len += sprintf(ARRAY_DBUFFER_WRITE_PTR(&rtty_dbuffer_string) + len,
"*%04X\n",
crc_checksum(ARRAY_DBUFFER_WRITE_PTR(&rtty_dbuffer_string)));
/* swap buffers */
ARRAY_DBUFFER_SWAP(&rtty_dbuffer_string);
/**
* End
* ---------------------------------------------------------------------------
*/
/* Set the final length */
rtty_set_length(len);
/* Sleep Wait */
while (rtty_active()) {
system_sleep();
}
}
/**
* MAIN
* =============================================================================
*/
int main(void)
{
/**
@ -189,18 +328,24 @@ int main(void)
SystemCoreClock = system_cpu_clock_get_hz();
/* Configure Sleep Mode */
system_set_sleepmode(SYSTEM_SLEEPMODE_IDLE_0);
//TODO: system_set_sleepmode(SYSTEM_SLEEPMODE_STANDBY);
//system_set_sleepmode(SYSTEM_SLEEPMODE_STANDBY);
system_set_sleepmode(SYSTEM_SLEEPMODE_IDLE_2); /* Disable CPU, AHB and APB */
/* Configure the SysTick for 50Hz triggering */
SysTick_Config(SystemCoreClock / 50);
/* Configure the Power Manager */
powermananger_init();
/* Timer 0 for 50Hz triggering */
timer0_tick_init(50);
/**
* System initialisation
* ---------------------------------------------------------------------------
*/
/* Set the wdt here. We should get to the first reset in one min */
wdt_init();
wdt_reset_count();
led_init();
gps_init();
@ -227,31 +372,25 @@ int main(void)
//si_trx_state_tx();
led_on();
while (1) {
/* Send the last packet */
while (rtty_active());
/* Watchdog */
wdt_reset_count();
/* Send requests to the gps */
gps_update();
/* Wait between frames */
led_on();
for (int i = 0; i < 100*1000; i++);
led_off();
for (int i = 0; i < 100*1000; i++);
/* Set the next packet */
set_telemetry_string();
//system_sleep();
/* Send the next packet */
output_telemetry_string();
}
}
/**
* Called at 50Hz
*/
void SysTick_Handler(void)
void TC0_Handler(void)
{
/* Output RTTY */
rtty_tick();
if (tc_get_status(TC0) & TC_STATUS_CHANNEL_0_MATCH) {
tc_clear_status(TC0, TC_STATUS_CHANNEL_0_MATCH);
rtty_tick();
}
}

63
firmware/src/rtty.c
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@ -25,6 +25,7 @@
#include <string.h>
#include "samd20.h"
#include "rtty.h"
#include "hw_config.h"
#include "system/port.h"
@ -33,7 +34,7 @@
*/
#define RTTY_ACTIVATE()
#define RTTY_DEACTIVATE()
#define RTTY_SET(b) port_pin_set_output_level(SI406X_GPIO1_PIN, b);
#define RTTY_SET(b) port_pin_set_output_level(SI406X_GPIO1_PIN, !b);
#define RTTY_NEXT()
/**
@ -42,11 +43,6 @@
#define ASCII_BITS 8
#define BITS_PER_CHAR 11
/**
* Output String
*/
#define RTTY_STRING_MAX 0x200
/**
* Where we currently are in the rtty output byte
*
@ -59,13 +55,12 @@ uint8_t rtty_phase;
/**
* Where we are in the current output string
*/
uint32_t rtty_index;
int32_t rtty_index;
/**
* Details of the string that is currently being output
*/
char rtty_string[RTTY_STRING_MAX];
uint32_t rtty_string_length = 0;
int32_t rtty_string_length = 0;
/**
* Returns 1 if we're currently outputting.
@ -75,25 +70,35 @@ int rtty_active(void) {
}
/**
* Sets an output string.
* Starts RTTY output
*
* Returns 0 on success, 1 if a string is already active or 2 if the
* specified string was too long.
* Returns 0 on success, 1 if already active
*/
int rtty_set_string(char* string, uint32_t length) {
if (length > RTTY_STRING_MAX) return 2; // To long
int rtty_start(void) {
if (!rtty_active()) {
// Copy
memcpy(rtty_string, string, length);
rtty_string_length = length;
// Initialise
/* Initialise */
rtty_string_length = RTTY_STRING_MAX;
rtty_index = 0;
rtty_phase = 0;
return 0; // Success
return 0; /* Success */
} else {
return 1; // Already active
return 1; /* Already active */
}
}
/**
* Returns the index of the current byte being outputted from the buffer
*/
int32_t rtty_get_index(void) {
return rtty_index;
}
/**
* Sets the final length of the RTTY string
*/
void rtty_set_length(int32_t length) {
if (length <= RTTY_STRING_MAX) {
rtty_string_length = length;
}
}
@ -106,21 +111,17 @@ void rtty_tick(void) {
if (rtty_phase == 0) { // Start
// Low
//RTTY_SET(0);
port_pin_set_output_level(SI406X_GPIO1_PIN, 0);
RTTY_SET(0);
} else if (rtty_phase < ASCII_BITS + 1) {
// Data
if ((rtty_string[rtty_index] >> (rtty_phase - 1)) & 1) {
//RTTY_SET(1);
port_pin_set_output_level(SI406X_GPIO1_PIN, 1);
if ((ARRAY_DBUFFER_READ_PTR(&rtty_dbuffer_string)[rtty_index] >> (rtty_phase - 1)) & 1) {
RTTY_SET(1);
} else {
//RTTY_SET(0);
port_pin_set_output_level(SI406X_GPIO1_PIN, 0);
RTTY_SET(0);
}
} else if (rtty_phase < BITS_PER_CHAR) { // Stop
// High
//RTTY_SET(1);
port_pin_set_output_level(SI406X_GPIO1_PIN, 1);
RTTY_SET(1);
}
rtty_phase++;
@ -133,7 +134,7 @@ void rtty_tick(void) {
}
}
} else {
// RTTY_DEACTIVATE();
RTTY_DEACTIVATE();
}
}

11
firmware/src/si4060.c
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@ -362,7 +362,7 @@ float si4060_get_temperature(void)
spi_select();
spi_write(CMD_GET_ADC_READING);
spi_write(0x10); /* Temperature */
spi_write((0xC << 4) | 0); /* UDTIME = 0xC, Att = 0 */
spi_write(0); /* ADC_CFG = 0 */
spi_deselect();
/* do not deselect after reading CTS */
@ -377,12 +377,15 @@ float si4060_get_temperature(void)
spi_read(); spi_read();
/* Battery */
result = (spi_read() & 0x7) << 8;
result |= spi_read() & 0xFF;
spi_read(); spi_read();
/* Temperature */
result = (spi_read() & 0xFF) << 8;
result |= (spi_read() & 0xFF);
spi_deselect();
return ((((float)result) * 568.0) / 2560.0) - 297.0;
return (((float)result * 568.0) / 2560.0) - 297.0;
}
/*

2
firmware/src/system/wdt.c
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@ -165,6 +165,6 @@ void wdt_reset_count(void)
WDT_WAIT_FOR_SYNC(hw);
/* Disable the Watchdog module */
/* Reset the Watchdog module */
hw->CLEAR.reg = WDT_CLEAR_CLEAR_KEY;
}

88
firmware/src/telemetry.c
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@ -26,16 +26,10 @@
#include <string.h>
#include "samd20.h"
#include "semihosting.h"
#include "analogue.h"
#include "gps.h"
#include "rtty.h"
#include "ubx_messages.h"
#include "si4060.h"
#include "system/gclk.h"
#include "system/interrupt.h"
#include "tc/tc_driver.h"
//#define SEMIHOST_LOG
char telemetry_string[0x200];
/**
* CRC Function for the XMODEM protocol.
@ -77,52 +71,46 @@ uint16_t crc_checksum(char *string)
return crc;
}
/**
* Sets output telemetry
* Initialises a timer interupt at the given frequency
*/
void set_telemetry_string(void)
void timer0_tick_init(uint32_t frequency)
{
double lat_fmt = 0.0;
double lon_fmt = 0.0;
uint32_t altitude = 0;
/* Calculate the wrap value for the given frequency */
uint32_t gclk0_frequency = system_gclk_chan_get_hz(0);
uint32_t count = gclk0_frequency / frequency;
/* Analogue */
float battery = get_battery();
/* Configure Timer 0 */
bool t0_capture_channel_enables[] = {false, false};
uint32_t t0_compare_channel_values[] = {count, 0x0000};
tc_init(TC0,
GCLK_GENERATOR_0,
TC_COUNTER_SIZE_32BIT,
TC_CLOCK_PRESCALER_DIV1,
TC_WAVE_GENERATION_MATCH_FREQ,
TC_RELOAD_ACTION_GCLK,
TC_COUNT_DIRECTION_UP,
TC_WAVEFORM_INVERT_OUTPUT_NONE,
false, /* Oneshot */
true, /* Run in standby */
0x0000, /* Initial value */
count, /* Top value */
t0_capture_channel_enables, /* Capture Channel Enables */
t0_compare_channel_values); /* Compare Channels Values */
/* 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;
/* Enable Events */
struct tc_events event;
memset(&event, 0, sizeof(struct tc_events));
event.generate_event_on_compare_channel[0] = true;
event.event_action = TC_EVENT_ACTION_RETRIGGER;
tc_enable_events(TC0, &event);
/* GPS Status */
struct ubx_nav_sol sol = gps_get_nav_sol();
uint8_t lock = sol.payload.gpsFix;
uint8_t satillite_count = sol.payload.numSV;
/* Enable Interrupt */
TC0->COUNT32.INTENSET.reg = (1 << 4);
irq_register_handler(TC0_IRQn, 0); /* Highest Priority */
/* GPS Position */
if (lock == 0x2 || lock == 0x3 || lock == 0x4) {
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;
}
//#ifdef SEMIHOST_LOG
// semihost_printf("Batt %f, Temp %f\n", battery, temperature);
// semihost_printf("%02.7f,%03.7f,%ld\n", lat_fmt, lon_fmt, altitude);
// semihost_printf("Lock: %d Sats: %d\n", lock, satillite_count);
// semihost_printf("%02u:%02u:%02u\n", hours, minutes, seconds);
//#endif
/* sprintf */
uint16_t len = sprintf(telemetry_string,
"$$UBSEDS2,%02u:%02u:%02u,%02.6f,%03.6f,%ld,%u,%.2f",
hours, minutes, seconds, lat_fmt, lon_fmt, altitude,
satillite_count, battery);
sprintf(telemetry_string + len, "*%04X\n", crc_checksum(telemetry_string));
rtty_set_string(telemetry_string, strlen(telemetry_string));
/* Enable Timer */
tc_enable(TC0);
tc_start_counter(TC0);
}