kopia lustrzana https://github.com/cyoung/stratux
Merge remote-tracking branch 'refs/remotes/origin/master' into newradio
cyoung
commit
8082df9752
5
Makefile
5
Makefile
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|
@ -11,7 +11,7 @@ $(if $(GOROOT),,$(error GOROOT is not set!))
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endif
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all:
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make ahrs_approx xdump978 xdump1090 xgen_gdl90 $(PLATFORMDEPENDENT)
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make xdump978 xdump1090 xgen_gdl90 $(PLATFORMDEPENDENT)
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xgen_gdl90:
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go get -t -d -v ./main ./godump978 ./uatparse ./sensors
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@ -29,9 +29,6 @@ xdump978:
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cd dump978 && make lib
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sudo cp -f ./libdump978.so /usr/lib/libdump978.so
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ahrs_approx:
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go build $(BUILDINFO) -p 4 test-data/ahrs/ahrs_approx.go
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.PHONY: test
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test:
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make -C test
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@ -14,6 +14,7 @@ Raspberry Pi 2 with the Edimax EW-7811Un Wi-Fi dongle is supported but not recom
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Tested and works well with most common R820T and R820T2 RTL-SDR devices.
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Apps with stratux recognition/support:
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* ForeFlight 10+ - weather, traffic, AHRS.
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* Seattle Avionics FlyQ EFB 2.1.1+.
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* AvNav EFB 2.0.0+.
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* Naviator.
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@ -24,8 +25,8 @@ Apps with stratux recognition/support:
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* iFly GPS 9.4+.
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* DroidEFB 2.1.1+.
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Tested weather/traffic displays:
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* ForeFlight 7+ - weather, traffic. AHRS not functional.
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* Avare
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Other EFBs? See the [app vendor integration guide](https://github.com/cyoung/stratux/blob/master/notes/app-vendor-integration.md).
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@ -2,6 +2,7 @@
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dtparam=audio=on
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max_usb_current=1
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dtparam=i2c_arm=on
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dtparam=i2c1=on
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dtparam=i2c1_baudrate=400000
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dtparam=i2c_arm_baudrate=400000
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@ -22,11 +22,14 @@ chroot mnt/ apt-get install -y hostapd isc-dhcp-server
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chroot mnt/ apt-get install -y tcpdump
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#wifi startup
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chroot mnt/ systemctl enable isc-dhcp-server
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#ssh startup
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chroot mnt/ systemctl enable ssh
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#disable ntpd autostart
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chroot mnt/ systemctl disable ntp
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#root key
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mkdir -p mnt/etc/ssh/authorized_keys
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cp -f root mnt/etc/ssh/authorized_keys/root
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chown root.root mnt/etc/ssh/authorized_keys/root
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chmod 644 mnt/etc/ssh/authorized_keys/root
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@ -129,10 +132,10 @@ make
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make install
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#disable serial console
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sed -i /boot/cmdline.txt -e "s/console=ttyAMA0,[0-9]\+ //"
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sed -i mnt/boot/cmdline.txt -e "s/console=ttyAMA0,[0-9]\+ //"
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#Set the keyboard layout to US.
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sed -i /etc/default/keyboard -e "/^XKBLAYOUT/s/\".*\"/\"us\"/"
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sed -i mnt/etc/default/keyboard -e "/^XKBLAYOUT/s/\".*\"/\"us\"/"
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#boot settings
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cp -f config.txt mnt/boot/
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@ -26,8 +26,4 @@ fi
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/usr/bin/stratux-screen.py start
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# Dangerzone.
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#route add default gw 10.26.36.1
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#screen -d -m -S ahrs_approx /usr/bin/ahrs_approx
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exit 0
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@ -30,10 +30,13 @@ const (
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defaultPwmDutyMin = 1
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pwmDutyMax = 10
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// Temperature at which we give up attempting active fan speed control and set it to full speed.
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failsafeTemp = 65
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// how often to update
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delaySeconds = 30
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// GPIO-1/BCM "18"/Pin 12 on a Raspberry PI 3
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// GPIO-1/BCM "18"/Pin 12 on a Raspberry Pi 3
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defaultPin = 1
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// name of the service
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@ -96,6 +99,10 @@ func fanControl() {
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//log.Println(myFanControl.TempCurrent, " ", myFanControl.PWMDutyCurrent)
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C.pwmWrite(cPin, C.int(myFanControl.PWMDutyCurrent))
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<-delay.C
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if myFanControl.PWMDutyCurrent == myFanControl.PWMDutyMax && myFanControl.TempCurrent >= failsafeTemp {
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// Reached the maximum temperature. We stop using PWM control and set the fan to "on" permanently.
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break
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}
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}
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// Default to "ON".
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@ -408,14 +408,27 @@ func makeOwnshipReport() bool {
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msg[19+i] = tail[i]
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}
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}
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// Create callsign "Stratux".
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msg[19] = 0x53
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msg[20] = 0x74
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msg[21] = 0x72
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msg[22] = 0x61
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msg[23] = 0x74
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msg[24] = 0x75
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msg[25] = 0x78
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myReg := "Stratux" // Default callsign.
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// Use icao2reg() results for ownship tail number, if available.
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if len(code) == 3 {
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uintIcao := uint32(code[0])<<16 | uint32(code[1])<<8 | uint32(code[2])
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regFromIcao, regFromIcaoValid := icao2reg(uintIcao)
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if regFromIcaoValid {
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// Valid "decoded" registration. Use this for the reg.
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myReg = regFromIcao
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}
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}
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// Truncate registration to 8 characters.
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if len(myReg) > 8 {
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myReg = myReg[:8]
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}
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// Write the callsign.
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for i := 0; i < len(myReg); i++ {
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msg[19+i] = myReg[i]
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}
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sendGDL90(prepareMessage(msg), false)
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return true
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@ -630,6 +643,39 @@ func makeStratuxHeartbeat() []byte {
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return prepareMessage(msg)
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}
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/*
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ForeFlight "ID Message".
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Sends device information to ForeFlight.
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*/
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func makeFFIDMessage() []byte {
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msg := make([]byte, 39)
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msg[0] = 0x65 // Message type "ForeFlight".
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msg[1] = 0 // ID message identifier.
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msg[2] = 1 // Message version.
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// Serial number. Set to "invalid" for now.
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for i := 3; i <= 10; i++ {
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msg[i] = 0xFF
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}
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devShortName := "Stratux" // Temporary. Will be populated in the future with other names.
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if len(devShortName) > 8 {
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devShortName = devShortName[:8] // 8 chars.
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}
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copy(msg[11:], devShortName)
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devLongName := fmt.Sprintf("%s-%s", stratuxVersion, stratuxBuild)
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if len(devLongName) > 16 {
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devLongName = devLongName[:16] // 16 chars.
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}
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copy(msg[19:], devLongName)
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msg[38] = 0x01 // Capabilities mask. MSL altitude for Ownship Geometric report.
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return prepareMessage(msg)
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}
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func makeHeartbeat() []byte {
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msg := make([]byte, 7)
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// See p.10.
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@ -714,6 +760,7 @@ func heartBeatSender() {
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sendGDL90(makeHeartbeat(), false)
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sendGDL90(makeStratuxHeartbeat(), false)
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sendGDL90(makeStratuxStatus(), false)
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sendGDL90(makeFFIDMessage(), false)
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makeOwnshipReport()
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makeOwnshipGeometricAltitudeReport()
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|
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|
|
|
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72
main/gps.go
72
main/gps.go
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@ -1849,6 +1849,71 @@ func makeFFAHRSSimReport() {
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sendMsg([]byte(s), NETWORK_AHRS_FFSIM, false)
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}
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/*
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ForeFlight "AHRS Message".
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|
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Sends AHRS information to ForeFlight.
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|
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*/
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func makeFFAHRSMessage() {
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msg := make([]byte, 12)
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msg[0] = 0x65 // Message type "ForeFlight".
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msg[1] = 0x01 // AHRS message identifier.
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// Values if invalid
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pitch := int16(0x7FFF)
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roll := int16(0x7FFF)
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hdg := uint16(0xFFFF)
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ias := uint16(0xFFFF)
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tas := uint16(0xFFFF)
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|
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if isAHRSValid() {
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if !isAHRSInvalidValue(mySituation.AHRSPitch) {
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pitch = roundToInt16(mySituation.AHRSPitch * 10)
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}
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if !isAHRSInvalidValue(mySituation.AHRSRoll) {
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roll = roundToInt16(mySituation.AHRSRoll * 10)
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}
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}
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// Roll.
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msg[2] = byte((roll >> 8) & 0xFF)
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msg[3] = byte(roll & 0xFF)
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// Pitch.
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msg[4] = byte((pitch >> 8) & 0xFF)
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msg[5] = byte(pitch & 0xFF)
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// Heading.
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msg[6] = byte((hdg >> 8) & 0xFF)
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msg[7] = byte(hdg & 0xFF)
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// Indicated Airspeed.
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msg[8] = byte((ias >> 8) & 0xFF)
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msg[9] = byte(ias & 0xFF)
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// True Airspeed.
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msg[10] = byte((tas >> 8) & 0xFF)
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msg[11] = byte(tas & 0xFF)
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sendMsg(prepareMessage(msg), NETWORK_AHRS_GDL90, false)
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}
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/*
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ffAttitudeSender()
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Send AHRS message in FF format every 200ms.
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*/
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func ffAttitudeSender() {
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ticker := time.NewTicker(200 * time.Millisecond)
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for {
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<-ticker.C
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makeFFAHRSMessage()
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}
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}
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|
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func makeAHRSGDL90Report() {
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msg := make([]byte, 24)
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msg[0] = 0x4c
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|
|
@ -1874,10 +1939,8 @@ func makeAHRSGDL90Report() {
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if !isAHRSInvalidValue(mySituation.AHRSRoll) {
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roll = roundToInt16(mySituation.AHRSRoll * 10)
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}
|
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if isAHRSInvalidValue(mySituation.AHRSGyroHeading) {
|
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hdg = roundToInt16(mySituation.AHRSGyroHeading * 10) // TODO westphae: switch to AHRSMagHeading?
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} else {
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hdg = roundToInt16(float64(mySituation.GPSTrueCourse))
|
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if !isAHRSInvalidValue(mySituation.AHRSGyroHeading) {
|
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hdg = roundToInt16(mySituation.AHRSGyroHeading * 10)
|
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}
|
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if !isAHRSInvalidValue(mySituation.AHRSSlipSkid) {
|
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slip_skid = roundToInt16(-mySituation.AHRSSlipSkid * 10)
|
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|
|
@ -2049,6 +2112,7 @@ func pollGPS() {
|
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readyToInitGPS = true //TODO: Implement more robust method (channel control) to kill zombie serial readers
|
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timer := time.NewTicker(4 * time.Second)
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go gpsAttitudeSender()
|
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go ffAttitudeSender()
|
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for {
|
||||
<-timer.C
|
||||
// GPS enabled, was not connected previously?
|
||||
|
|
|
|||
|
|
@ -381,11 +381,13 @@ func handleSettingsSetRequest(w http.ResponseWriter, r *http.Request) {
|
|||
func handleShutdownRequest(w http.ResponseWriter, r *http.Request) {
|
||||
syscall.Sync()
|
||||
syscall.Reboot(syscall.LINUX_REBOOT_CMD_POWER_OFF)
|
||||
gracefulShutdown()
|
||||
}
|
||||
|
||||
func doReboot() {
|
||||
syscall.Sync()
|
||||
syscall.Reboot(syscall.LINUX_REBOOT_CMD_RESTART)
|
||||
gracefulShutdown()
|
||||
}
|
||||
|
||||
func handleDeleteLogFile(w http.ResponseWriter, r *http.Request) {
|
||||
|
|
|
|||
|
|
@ -277,9 +277,12 @@ func sensorAttitudeSender() {
|
|||
roll, pitch, heading = s.RollPitchHeading()
|
||||
mySituation.AHRSRoll = roll / ahrs.Deg
|
||||
mySituation.AHRSPitch = pitch / ahrs.Deg
|
||||
mySituation.AHRSGyroHeading = heading / ahrs.Deg
|
||||
mySituation.AHRSGyroHeading = heading
|
||||
if !isAHRSInvalidValue(heading) {
|
||||
mySituation.AHRSGyroHeading /= ahrs.Deg
|
||||
}
|
||||
|
||||
// TODO westphae: until magnetometer calibration is performed, no mag heading
|
||||
//TODO westphae: until magnetometer calibration is performed, no mag heading
|
||||
mySituation.AHRSMagHeading = ahrs.Invalid
|
||||
mySituation.AHRSSlipSkid = s.SlipSkid()
|
||||
mySituation.AHRSTurnRate = s.RateOfTurn()
|
||||
|
|
|
|||
|
|
@ -1,203 +0,0 @@
|
|||
package main
|
||||
|
||||
import (
|
||||
"bufio"
|
||||
"encoding/hex"
|
||||
"encoding/json"
|
||||
"fmt"
|
||||
"io/ioutil"
|
||||
"net"
|
||||
"net/http"
|
||||
"os"
|
||||
"strconv"
|
||||
"strings"
|
||||
"sync"
|
||||
"time"
|
||||
)
|
||||
|
||||
const (
|
||||
SITUATION_URL = "http://127.0.0.1/getSituation"
|
||||
)
|
||||
|
||||
type MySituation struct {
|
||||
AHRSRoll float64
|
||||
AHRSPitch float64
|
||||
}
|
||||
|
||||
var Location MySituation
|
||||
|
||||
var situationMutex *sync.Mutex
|
||||
|
||||
func chkErr(err error) {
|
||||
if err != nil {
|
||||
fmt.Printf("error: %s\n", err.Error())
|
||||
os.Exit(1)
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
ffMonitor().
|
||||
Watches for "i-want-to-play-ffm-udp", "i-can-play-ffm-udp", and "i-cannot-play-ffm-udp" UDP messages broadcasted on
|
||||
port 50113. Tags the client, issues a warning, and disables AHRS GDL90 output.
|
||||
|
||||
*/
|
||||
|
||||
var ffPlay bool
|
||||
|
||||
func ffMonitor() {
|
||||
addr := net.UDPAddr{Port: 50113, IP: net.ParseIP("0.0.0.0")}
|
||||
conn, err := net.ListenUDP("udp", &addr)
|
||||
if err != nil {
|
||||
fmt.Printf("ffMonitor(): error listening on port 50113: %s\n", err.Error())
|
||||
return
|
||||
}
|
||||
defer conn.Close()
|
||||
for {
|
||||
buf := make([]byte, 1024)
|
||||
n, _, err := conn.ReadFrom(buf)
|
||||
if err != nil {
|
||||
fmt.Printf("err: %s\n", err.Error())
|
||||
return
|
||||
}
|
||||
// Got message, check if it's in the correct format.
|
||||
if n < 3 || buf[0] != 0xFF || buf[1] != 0xFE {
|
||||
continue
|
||||
}
|
||||
s := string(buf[2:n])
|
||||
s = strings.Replace(s, "\x00", "", -1)
|
||||
if strings.HasPrefix(s, "i-want-to-play-ffm-udp") || strings.HasPrefix(s, "i-can-play-ffm-udp") {
|
||||
// Enable AHRS emulation.
|
||||
ffPlay = true
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
func situationUpdater() {
|
||||
situationUpdateTicker := time.NewTicker(100 * time.Millisecond)
|
||||
for {
|
||||
<-situationUpdateTicker.C
|
||||
situationMutex.Lock()
|
||||
|
||||
resp, err := http.Get(SITUATION_URL)
|
||||
if err != nil {
|
||||
fmt.Printf("HTTP GET error: %s\n", err.Error())
|
||||
situationMutex.Unlock()
|
||||
continue
|
||||
}
|
||||
|
||||
body, err := ioutil.ReadAll(resp.Body)
|
||||
if err != nil {
|
||||
fmt.Printf("HTTP GET body error: %s\n", err.Error())
|
||||
resp.Body.Close()
|
||||
situationMutex.Unlock()
|
||||
continue
|
||||
}
|
||||
|
||||
// fmt.Printf("body: %s\n", string(body))
|
||||
err = json.Unmarshal(body, &Location)
|
||||
|
||||
if err != nil {
|
||||
fmt.Printf("HTTP JSON unmarshal error: %s\n", err.Error())
|
||||
}
|
||||
resp.Body.Close()
|
||||
situationMutex.Unlock()
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
type AHRSData struct {
|
||||
Roll float64
|
||||
Pitch float64
|
||||
Trigger []byte
|
||||
}
|
||||
|
||||
func main() {
|
||||
situationMutex = &sync.Mutex{}
|
||||
|
||||
BROADCAST_IPv4 := net.IPv4(255, 255, 255, 255)
|
||||
conn, err := net.DialUDP("udp", nil, &net.UDPAddr{
|
||||
IP: BROADCAST_IPv4,
|
||||
Port: 41504,
|
||||
})
|
||||
|
||||
if err != nil {
|
||||
fmt.Printf("err conn: %s\n", err.Error())
|
||||
return
|
||||
}
|
||||
|
||||
ahrsTable := make([]AHRSData, 0)
|
||||
|
||||
f, err := os.Open("/root/ahrs_table.log")
|
||||
if err != nil {
|
||||
fmt.Printf("error: %s\n", err.Error())
|
||||
return
|
||||
}
|
||||
defer f.Close()
|
||||
|
||||
scanner := bufio.NewScanner(f)
|
||||
for scanner.Scan() {
|
||||
s := scanner.Text()
|
||||
x := strings.Split(s, ",")
|
||||
if len(x) < 3 {
|
||||
continue
|
||||
}
|
||||
|
||||
buf := make([]byte, 1024)
|
||||
n, err := hex.Decode(buf, []byte(x[2]))
|
||||
if err != nil || n == 0 {
|
||||
fmt.Printf("error parsing '%s'.\n", x[2])
|
||||
continue
|
||||
}
|
||||
|
||||
roll, err := strconv.ParseFloat(x[0], 64)
|
||||
if err != nil {
|
||||
fmt.Printf("error parsing '%s'.\n", x[0])
|
||||
continue
|
||||
}
|
||||
pitch, err := strconv.ParseFloat(x[1], 64)
|
||||
if err != nil {
|
||||
fmt.Printf("error parsing '%s'.\n", x[1])
|
||||
continue
|
||||
}
|
||||
|
||||
newEntry := AHRSData{
|
||||
Roll: roll,
|
||||
Pitch: pitch,
|
||||
Trigger: buf[:n],
|
||||
}
|
||||
|
||||
ahrsTable = append(ahrsTable, newEntry)
|
||||
|
||||
}
|
||||
|
||||
fmt.Printf("loaded %d size ahrs table.\n", len(ahrsTable))
|
||||
|
||||
go situationUpdater()
|
||||
go ffMonitor()
|
||||
|
||||
tm := time.NewTicker(125 * time.Millisecond)
|
||||
for {
|
||||
<-tm.C
|
||||
situationMutex.Lock()
|
||||
myPitch := Location.AHRSPitch
|
||||
myRoll := Location.AHRSRoll
|
||||
situationMutex.Unlock()
|
||||
|
||||
mB := make([]byte, 0)
|
||||
var mV float64
|
||||
for _, v := range ahrsTable {
|
||||
roll := v.Roll
|
||||
pitch := v.Pitch
|
||||
trigger := v.Trigger
|
||||
z := ((roll - myRoll) * (roll - myRoll)) + ((pitch - myPitch) * (pitch - myPitch))
|
||||
if (z < mV) || ((mV - 0.000) < 0.00001) {
|
||||
mV = z
|
||||
mB = trigger
|
||||
}
|
||||
}
|
||||
if len(mB) > 0 && ffPlay { // Only send if we have both an AHRS approximation to send and FF was detected.
|
||||
conn.Write(mB)
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
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