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Merge remote-tracking branch 'upstream/master' into traffic-ui-new

pull/398/head
AvSquirrel 2016-04-23 04:32:13 +00:00
rodzic d00ab538cd d8624016f6
commit 36d69c3fda
7 zmienionych plików z 113 dodań i 30 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

2
dump1090

@ -1 +1 @@
Subproject commit 1ab60624329e538d4b950121542174bed5d00810
Subproject commit 9a4fb850937565cfeadd1e5889cddbf93f45faf5

3
image/config.txt
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@ -5,3 +5,6 @@ max_usb_current=1
dtparam=i2c1=on
dtparam=i2c1_baudrate=400000
dtparam=i2c_arm_baudrate=400000
# move RPi3 Bluetooth off of hardware UART to free up connection for GPS
dtoverlay=pi3-miniuart-bt

4
image/stxAliases.txt
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@ -21,8 +21,8 @@ alias kal1='kal -d 1 -s GSM850 -g 47'
alias kalChan0='function _kalChan0 () { kal -d 0 -g 47 -c $1; unset -f _kalChan0; }; _kalChan0'
alias kalChan1='function _kalChan1 () { kal -d 1 -g 47 -c $1; unset -f _kalChan1; }; _kalChan1'
alias setSerial0='function _setSerial0 () { rtl_eeprom -d 0 -s stx:0:$1; unset -f _setSerial0 }; _setSerial0'
alias setSerial1='function _setSerial0 () { rtl_eeprom -d 1 -s stx:0:$1; unset -f _setSerial1 }; _setSerial1'
alias setSerial0='function _setSerial0 () { rtl_eeprom -d 0 -s stx:0:$1; unset -f _setSerial0; }; _setSerial0'
alias setSerial1='function _setSerial0 () { rtl_eeprom -d 1 -s stx:0:$1; unset -f _setSerial1; }; _setSerial1'
alias stratux-help='_stxhelp'

35
main/datalog.go
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@ -20,7 +20,6 @@ import (
"reflect"
"strconv"
"strings"
// "sync"
"time"
)
@ -34,8 +33,17 @@ type StratuxTimestamp struct {
StratuxClock_value time.Time
GPSClock_value time.Time // The value of this is either from the GPS or extrapolated from the GPS via stratuxClock if pref is 1 or 2. It is time.Time{} if 0.
PreferredTime_value time.Time
StartupID int64
}
// 'startup' table creates a new entry each time the daemon is started. This keeps track of sequential starts, even if the
// timestamp is ambiguous (units with no GPS). This struct is just a placeholder for an empty table (other than primary key).
type StratuxStartup struct {
id int64
Fill string
}
var stratuxStartupID int64
var dataLogTimestamps []StratuxTimestamp
var dataLogCurTimestamp int64 // Current timestamp bucket. This is an index on dataLogTimestamps which is not necessarily the db id.
@ -49,7 +57,6 @@ var dataLogCurTimestamp int64 // Current timestamp bucket. This is an index on d
func checkTimestamp() bool {
thisCurTimestamp := dataLogCurTimestamp
if stratuxClock.Since(dataLogTimestamps[thisCurTimestamp].StratuxClock_value) >= LOG_TIMESTAMP_RESOLUTION {
//FIXME: mutex.
var ts StratuxTimestamp
ts.id = 0
ts.Time_type_preference = 0 // stratuxClock.
@ -73,10 +80,8 @@ func checkTimestamp() bool {
}
}
//logTimestampMutex.Lock() // if we need to protect against simultaneous insertions
dataLogTimestamps = append(dataLogTimestamps, ts)
dataLogCurTimestamp = int64(len(dataLogTimestamps) - 1)
//logTimestampMutex.Unlock()
return false
}
return true
@ -196,11 +201,12 @@ func makeTable(i interface{}, tbl string, db *sql.DB) {
}
// Add the timestamp_id field to link up with the timestamp table.
if tbl != "timestamp" {
if tbl != "timestamp" && tbl != "startup" {
fields = append(fields, "timestamp_id INTEGER")
}
tblCreate := fmt.Sprintf("CREATE TABLE %s (id INTEGER NOT NULL PRIMARY KEY AUTOINCREMENT, %s)", tbl, strings.Join(fields, ", "))
_, err := db.Exec(tblCreate)
if err != nil {
fmt.Printf("ERROR: %s\n", err.Error())
@ -293,12 +299,13 @@ func insertData(i interface{}, tbl string, db *sql.DB, ts_num int64) int64 {
}
// Add the timestamp_id field to link up with the timestamp table.
if tbl != "timestamp" {
if tbl != "timestamp" && tbl != "startup" {
keys = append(keys, "timestamp_id")
if dataLogTimestamps[ts_num].id == 0 {
//FIXME: This is somewhat convoluted. When insertData() is called for a ts_num that corresponds to a timestamp with no database id,
// then it inserts that timestamp via the same interface and the id is updated in the structure via the below lines
// (dataLogTimestamps[ts_num].id = id).
dataLogTimestamps[ts_num].StartupID = stratuxStartupID
insertData(dataLogTimestamps[ts_num], "timestamp", db, ts_num) // Updates dataLogTimestamps[ts_num].id.
}
values = append(values, strconv.FormatInt(dataLogTimestamps[ts_num].id, 10))
@ -319,11 +326,11 @@ func insertData(i interface{}, tbl string, db *sql.DB, ts_num int64) int64 {
insertBatchIfs[tbl] = append(insertBatchIfs[tbl], ifs)
if tbl == "timestamp" { // Immediate insert always for "timestamp" table.
res, err := bulkInsert("timestamp", db) // Bulk insert of 1, always.
if tbl == "timestamp" || tbl == "startup" { // Immediate insert always for "timestamp" and "startup" table.
res, err := bulkInsert(tbl, db) // Bulk insert of 1, always.
if err == nil {
id, err := res.LastInsertId()
if err == nil {
if err == nil && tbl == "timestamp" { // Special handling for timestamps. Update the timestamp ID.
ts := dataLogTimestamps[ts_num]
ts.id = id
dataLogTimestamps[ts_num] = ts
@ -341,7 +348,6 @@ type DataLogRow struct {
ts_num int64
}
//var logTimestampMutex *sync.Mutex
var dataLogChan chan DataLogRow
var shutdownDataLog chan bool
@ -412,8 +418,6 @@ func dataLog() {
dataLogTimestamps = append(dataLogTimestamps, ts)
dataLogCurTimestamp = 0
//logTimestampMutex = &sync.Mutex{}
// Check if we need to create a new database.
createDatabase := false
@ -449,8 +453,12 @@ func dataLog() {
makeTable(msg{}, "messages", db)
makeTable(esmsg{}, "es_messages", db)
makeTable(Dump1090TermMessage{}, "dump1090_terminal", db)
makeTable(StratuxStartup{}, "startup", db)
}
// The first entry to be created is the "startup" entry.
stratuxStartupID = insertData(StratuxStartup{}, "startup", db, 0)
for {
select {
case r := <-dataLogChan:
@ -474,7 +482,6 @@ func dataLog() {
func setDataLogTimeWithGPS(sit SituationData) {
if isGPSClockValid() {
//FIXME: mutex.
var ts StratuxTimestamp
// Piggyback a GPS time update from this update.
ts.id = 0
@ -483,10 +490,8 @@ func setDataLogTimeWithGPS(sit SituationData) {
ts.GPSClock_value = sit.GPSTime
ts.PreferredTime_value = sit.GPSTime
//logTimestampMutex.Lock()
dataLogTimestamps = append(dataLogTimestamps, ts)
dataLogCurTimestamp = int64(len(dataLogTimestamps) - 1)
//logTimestampMutex.Unlock()
}
}

6
main/ry835ai.go
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@ -136,9 +136,9 @@ func initGPSSerial() bool {
device = "/dev/ttyUSB0"
} else if _, err := os.Stat("/dev/ttyACM0"); err == nil {
device = "/dev/ttyACM0"
} else if _, err := os.Stat("/dev/ttyS0"); err == nil {
device = "/dev/ttyS0"
} else if _, err := os.Stat("/dev/ttyAMA0"); err == nil {
//} else if _, err := os.Stat("/dev/ttyS0"); err == nil { // ttyS0 appears to be mini UART on RPi 3
// device = "/dev/ttyS0"
} else if _, err := os.Stat("/dev/ttyAMA0"); err == nil { // ttyAMA0 is PL011 UART (GPIO pins 8 and 10) on all RPi
device = "/dev/ttyAMA0"
} else {
log.Printf("No suitable device found.\n")

20
main/traffic.go
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@ -96,20 +96,22 @@ type TrafficInfo struct {
Vvel int16 // feet per minute
Timestamp time.Time // timestamp of traffic message, UTC
// Parameters starting at 'Age' are calculated after message receipt.
// Parameters starting at 'Age' are calculated from last message receipt on each call of sendTrafficUpdates().
// Mode S transmits position and track in separate messages, and altitude can also be
// received from interrogations.
Age float64 // Age of last valid position fix, seconds ago.
AgeLastAlt float64 // Age of last altitude message, seconds ago.
Last_seen time.Time // time of last position update, relative to Stratux startup. Used for timing out expired data.
Last_alt time.Time // time of last altitude update, relative to Stratux startup
Last_GnssDiff time.Time // time of last GnssDiffFromBaroAlt update, relative to Stratux startup
Last_GnssDiffAlt int32 // altitude at last GnssDiffFromBaroAlt update
Last_speed time.Time // time of last velocity / track update, relative to Stratux startup
Last_source uint8 // last SDR on which this target was observed
Last_seen time.Time // Time of last position update (stratuxClock). Used for timing out expired data.
Last_alt time.Time // Time of last altitude update (stratuxClock).
Last_GnssDiff time.Time // Time of last GnssDiffFromBaroAlt update (stratuxClock).
Last_GnssDiffAlt int32 // Altitude at last GnssDiffFromBaroAlt update.
Last_speed time.Time // Time of last velocity and track update (stratuxClock).
Last_source uint8 // Last frequency on which this target was received.
ExtrapolatedPosition bool // TO-DO: True if Stratux is "coasting" the target from last known position.
Bearing float64 // TO-DO: Bearing in degrees true to traffic from ownship
Distance float64 // TO-DO: Distance to traffic from ownship
Bearing float64 // Bearing in degrees true to traffic from ownship, if it can be calculated.
Distance float64 // Distance to traffic from ownship, if it can be calculated.
//FIXME: Some indicator that Bearing and Distance are valid, since they aren't always available.
//FIXME: Rename variables for consistency, especially "Last_".
}
type dump1090Data struct {

73
test/mtk_config.sh 100644
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@ -0,0 +1,73 @@
#!/bin/bash
#
# mtk_config.sh: Script to set up MTK3339 receiver for Stratux.
# Resets receiver to 9600 and 1 Hz GPRMC messaging, then enables
# WAAS, 5 Hz position reporting, the NMEA messages needed by
# Stratux, and 38400 bps serial output.
printf "About to configure MTK3339 receiver on /dev/ttyAMA0.\n"
printf "Press ctrl-C to abort or any other key to continue.\n"
read
# Iterate through common bitrates and send commands to reduce output to 1 Hz / 9600 bps.
printf "Setting MTK and RPi baud rate of /dev/ttyAMA0 to 9600. Iterating through common rates.\n"
printf "Current /dev/ttyAMA0 baudrate.\n"
printf "\$PMTK220,1000*1F\r\n" > /dev/ttyAMA0
printf "\$PMTK251,9600*17\r\n" > /dev/ttyAMA0
sleep 0.2
printf "38400 bps.\n"
stty -F /dev/ttyAMA0 38400
printf "\$PMTK220,1000*1F\r\n" > /dev/ttyAMA0
printf "\$PMTK251,9600*17\r\n" > /dev/ttyAMA0
sleep 0.2
printf "115200 bps.\n"
printf "\$PMTK220,1000*1F\r\n" > /dev/ttyAMA0
stty -F /dev/ttyAMA0 115200
printf "\$PMTK220,1000*1F\r\n" > /dev/ttyAMA0
printf "\$PMTK251,9600*17\r\n" > /dev/ttyAMA0
sleep 0.2
printf "57600 bps.\n"
stty -F /dev/ttyAMA0 57600
printf "\$PMTK220,1000*1F\r\n" > /dev/ttyAMA0
printf "\$PMTK251,9600*17\r\n" > /dev/ttyAMA0
sleep 0.2
printf "19200 bps.\n"
stty -F /dev/ttyAMA0 19200
printf "\$PMTK220,1000*1F\r\n" > /dev/ttyAMA0
printf "\$PMTK251,9600*17\r\n" > /dev/ttyAMA0
sleep 0.2
printf "4800 bps.\n"
stty -F /dev/ttyAMA0 4800
printf "\$PMTK220,1000*1F\r\n" > /dev/ttyAMA0
printf "\$PMTK251,9600*17\r\n" > /dev/ttyAMA0
sleep 0.2
stty -F /dev/ttyAMA0 9600
printf "\$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29\r\n" > /dev/ttyAMA0
printf "MTK has been set to 9600 baud with RMC messages at 1 Hz.\n"
printf "Press ctrl-C to abort, or any other key enter to continue with setup.\n"
read
# Now start the Stratux setup.
printf "Sending MTK command to set GPS baud rate to 38400\n"
printf "\$PMTK251,38400*27\r\n" > /dev/ttyAMA0
printf "Setting RPi baud rate of /dev/ttyAMA0 to 38400\n"
stty -F /dev/ttyAMA0 38400
sleep 0.2
printf "Sending MTK command to configure NMEA message output\n"
printf "\$PMTK314,0,1,1,1,5,5,0,0,0,0,0,0,0,0,0,0,0,0,0*29\r\n" > /dev/ttyAMA0
sleep 0.2
printf "Sending MTK commands to enable WAAS\n"
printf "\$PMTK301,2*2E\r\n" > /dev/ttyAMA0
sleep 0.2
printf "\$PMTK513,1*28\r\n" > /dev/ttyAMA0
sleep 0.2
printf "Sending MTK commands to enable 5 Hz position reporting\n"
printf "\$PMTK220,200*2C\r\n" > /dev/ttyAMA0
# Finally, test the connection.
printf "Opening /dev/ttyAMA0 to listen to GPS. Press ctrl-C to cancel.\n"
cat /dev/ttyAMA0