gps_data gps_get_data(void) {
gps_data data = gps_init_data();
gps_data status = gps_get_status();
if(status.data_valid) {
data.lock_valid = status.lock_valid;
} else {
return data;
}
gps_data time = gps_get_time();
if(time.data_valid) {
data.hour = time.hour;
data.minute = time.minute;
data.second = time.second;
} else {
return data;
}
gps_data position = gps_get_position();
if(position.data_valid) {
data.latitude = position.latitude;
data.longitude = position.longitude;
data.altitude = position.altitude;
} else {
return data;
}
data.data_valid = 1;
return data;
}
int main()
{
// Disable, configure, and start the watchdog timer
wdt_disable();
wdt_reset();
wdt_enable(WDTO_8S);
// Start and configure all hardware peripherals
sei();
led_init();
radio_init();
gps_init();
radio_enable();
// Set the radio shift and baud rate
_radio_dac_write(RADIO_COARSE, RADIO_CENTER_FREQ);
_radio_dac_write(RADIO_FINE, 0);
radio_set_shift(RADIO_SHIFT_425);
radio_set_baud(RADIO_BAUD_50);
// Radio chatter
for(uint8_t i = 0; i < 5; i++)
{
radio_chatter();
wdt_reset();
}
int32_t lat = 0, lon = 0, alt = 0;
uint8_t hour = 0, minute = 0, second = 0, lock = 0, sats = 0;
while(true)
{
led_set(LED_GREEN, 1);
// Get the current system tick and increment
uint32_t tick = eeprom_read_dword(&ticks) + 1;
// Check that we're in airborne <1g mode
if( gps_check_nav() != 0x06 ) led_set(LED_RED, 1);
// Get information from the GPS
gps_check_lock(&lock, &sats);
if( lock == 0x02 || lock == 0x03 || lock == 0x04 )
{
gps_get_position(&lat, &lon, &alt);
gps_get_time(&hour, &minute, &second);
}
led_set(LED_GREEN, 0);
// Format the telemetry string & transmit
double lat_fmt = (double)lat / 10000000.0;
double lon_fmt = (double)lon / 10000000.0;
alt /= 1000;
sprintf(s, "$$" CALLSIGN ",%lu,%02u:%02u:%02u,%02.7f,%03.7f,%ld,%u,%x",
tick, hour, minute, second, lat_fmt, lon_fmt, alt,
sats, lock);
radio_chatter();
radio_transmit_sentence(s);
radio_chatter();
led_set(LED_RED, 0);
eeprom_update_dword(&ticks, tick);
wdt_reset();
_delay_ms(500);
}
return 0;
}
int main(void)
{
uint32_t count = 0;
int32_t lat, lon, alt, temp;
uint8_t hour, minute, second;
uint16_t mv;
char msg[100];
uint8_t i, r;
/* Set the LED pin for output */
DDRB |= _BV(DDB7);
adc_init();
rtx_init();
gps_setup();
/* Enable the radio and let it settle */
rtx_enable(1);
_delay_ms(1000);
sei();
rtx_string_P(PSTR(RTTY_CALLSIGN " starting up\n"));
rtx_string_P(PSTR("Scanning 1-wire bus:\n"));
for(i = 0; i < 3; i++)
{
r = ds_search_rom(id[i], i);
if(r == DS_OK || r == DS_MORE)
{
rtx_wait();
snprintf(msg, 100, "%i> %02X-%02X-%02X-%02X-%02X-%02X-%02X-%02X\n",
i,
id[i][0], id[i][1], id[i][2], id[i][3],
id[i][4], id[i][5], id[i][6], id[i][7]);
rtx_string(msg);
}
else
{
rtx_wait();
snprintf(msg, 100, "%i> Error %i\n", i, r);
rtx_string(msg);
}
if(r != DS_MORE) break;
}
rtx_string_P(PSTR("Done\n"));
while(1)
{
if(!gps_get_pos(&lat, &lon, &alt))
{
rtx_string_P(PSTR("$$" RTTY_CALLSIGN ",No or invalid GPS response\n"));
continue;
}
if(!gps_get_time(&hour, &minute, &second))
{
rtx_string_P(PSTR("$$" RTTY_CALLSIGN ",No or invalid GPS response\n"));
continue;
}
/* Read the battery voltage */
mv = adc_read();
/* Read the temperature from sensor 0 */
ds_read_temperature(&temp, id[0]);
rtx_wait();
snprintf(msg, 100, "$$%s,%li,%02i:%02i:%02i,%s%li.%05li,%s%li.%05li,%li,%i.%02i,%li.%01li,%c",
RTTY_CALLSIGN, count++,
hour, minute, second,
(lat < 0 ? "-" : ""), labs(lat) / 10000000, labs(lat) % 10000000 / 100,
(lon < 0 ? "-" : ""), labs(lon) / 10000000, labs(lon) % 10000000 / 100,
alt / 1000,
mv / 1000, mv / 10 % 100,
temp / 10000, labs(temp) / 1000 % 10,
(geofence_uk(lat, lon) ? '1' : '0'));
crccat(msg + 2);
rtx_string(msg);
}
}
int main(void)
{
uint32_t count = 0;
int32_t lat, lon, alt, temp1, temp2, pressure;
uint8_t hour, minute, second;
uint16_t mv;
char msg[100];
uint8_t i, r;
bmp085_t bmp;
/* Set the LED pin for output */
DDRB |= _BV(DDB7);
adc_init();
rtx_init();
bmp085_init(&bmp);
#ifdef APRS_ENABLED
ax25_init();
#endif
#ifdef SSDV_ENABLED
c3_init();
#endif
sei();
gps_setup();
/* Enable the radio and let it settle */
rtx_enable(1);
_delay_ms(1000);
rtx_string_P(PSTR(RTTY_CALLSIGN " starting up\n"));
/* Scan the 1-wire bus, up to 16 devices */
rtx_string_P(PSTR("Scanning 1-wire bus:\n"));
for(i = 0; i < 16; i++)
{
r = ds_search_rom(id[i], i);
if(r == DS_OK || r == DS_MORE)
{
/* A device was found, display the address */
rtx_wait();
snprintf_P(msg, 100, PSTR("%i> %02X-%02X-%02X-%02X-%02X-%02X-%02X-%02X\n"),
i,
id[i][0], id[i][1], id[i][2], id[i][3],
id[i][4], id[i][5], id[i][6], id[i][7]);
rtx_string(msg);
}
else
{
/* Device not responding or no devices found */
rtx_wait();
snprintf_P(msg, 100, PSTR("%i> Error %i\n"), i, r);
rtx_string(msg);
}
/* No more devices? */
if(r != DS_MORE) break;
}
rtx_string_P(PSTR("Done\n"));
while(1)
{
/* Set the GPS navmode every 10 strings */
if(count % 10 == 0)
{
/* Mode 6 is "Airborne with <1g Acceleration" */
if(gps_set_nav(6) != GPS_OK)
{
rtx_string_P(PSTR("$$" RTTY_CALLSIGN ",Error setting GPS navmode\n"));
}
}
/* Get the latitude and longitude */
if(gps_get_pos(&lat, &lon, &alt) != GPS_OK)
{
rtx_string_P(PSTR("$$" RTTY_CALLSIGN ",No or invalid GPS response\n"));
lat = lon = alt = 0;
}
/* Get the GPS time */
if(gps_get_time(&hour, &minute, &second) != GPS_OK)
{
rtx_string_P(PSTR("$$" RTTY_CALLSIGN ",No or invalid GPS response\n"));
hour = minute = second = 0;
}
/* Read the battery voltage */
mv = adc_read();
/* Read the temperature from sensor 0 */
ds_read_temperature(&temp1, id[0]);
/* Read the temperature from sensor 1 */
ds_read_temperature(&temp2, id[1]);
/* Read the pressure from the BMP085 */
if(bmp085_sample(&bmp, 3) != BMP_OK) pressure = 0;
else pressure = bmp085_calc_pressure(&bmp);
/* Build up the string */
rtx_wait();
snprintf_P(msg, 100, PSTR("$$%s,%li,%02i:%02i:%02i,%s%li.%04li,%s%li.%04li,%li,%i.%01i,%li,%li,%li,%c"),
RTTY_CALLSIGN, count++,
hour, minute, second,
(lat < 0 ? "-" : ""), labs(lat) / 10000000, labs(lat) % 10000000 / 1000,
(lon < 0 ? "-" : ""), labs(lon) / 10000000, labs(lon) % 10000000 / 1000,
alt / 1000,
mv / 1000, mv / 100 % 10,
temp1 / 10000,
temp2 / 10000,
pressure,
(geofence_test(lat, lon) ? '1' : '0'));
crccat(msg);
rtx_string(msg);
#ifdef APRS_ENABLED
tx_aprs(lat, lon, alt);
{ int i; for(i = 0; i < 60; i++) _delay_ms(1000); }
#endif
#ifdef SSDV_ENABLED
if(tx_image() == -1)
{
/* The camera goes to sleep while transmitting telemetry,
* sync'ing here seems to prevent it. */
c3_sync();
}
#endif
}
}
int main() {
char state;
int nlock_count = 0, n;
setup();
for (;;) {
wdt.kick();
ftdi.printf("Entering Loop.\r\n");
status_led = !status_led;
write_rfm868(0x07, 0x01); // turn tx off - needed for below code
write_rfm434(0x07, 0x01);
// If GPS does not have lock for > 8 loops, restart it.
if (nlock_count>8) {
gpsPower(0);
wait(2);
gpsPower(1);
nlock_count = 0;
}
wait(0.1); // wait for tx to turn off
// Get temp while radio off
temperature = (int16_t)((temp.read_u16()-9930)/19.9);
battery_voltage = (int16_t)(battery.read()*BATT_MUL);
rssi = ((int)read_rfm868(26)*51 - 12400)/100; // returned in dBm
if (rssi > -50) { // if 868 channel is busy
enable_868 = 0;
} else {
enable_868 = 1;
write_rfm868(0x07, 0x08); // turn tx on
}
write_rfm434(0x07, 0x08); // turn tx on
// Check for GPS lock
gps_check_lock();
if (lock==0) {
state='L';
nlock_count++;
} else if (!enable_868) {
state='O';
} else {
nlock_count = 0;
state='F';
}
gps_get_position();
gps_get_time();
// Process triggers here
if (config_err == 0) {
ftdi.printf("Running triggers... ");
runTrigger(0);
runTrigger(1);
runTrigger(2);
ftdi.printf("Finished. \r\n");
}
// Cutdown check
if (cutdown_enabled && (alt>CUTDOWN_ALT)) {
// Double check the altitude!
gps_get_position();
if (alt>CUTDOWN_ALT) {
ftdi.printf("Cutting wire!!!! \r\n");
cutdown = 1; // burn that wire!!!!!. .. !
wait(3);
cutdown = 0;
cutdown_enabled = 0;
state = 'C';
}
}
// Do TX (always true, triggers not quite working)
//if (send_gps) {
if (1) {
n = sprintf (buffer434, "$$VERTIGO,%d,%02d%02d%02d,%ld,%ld,%ld,%d,%c", count434, hour, minute, second, lat, lon, alt, sats, state);
n = sprintf (buffer434, "%s*%04X\n", buffer434, (CRC16_checksum(buffer434) & 0xFFFF));
rtty_434_txstring(buffer434);
save_434id(count434++);
send_gps = 0;
}
// And for 868 if enabled
if(enable_868) {
ftdi.printf("Doing 868 now \r\n");
for (int count=0; count<10; count++) {
ftdi.printf("\t loop %d\r\n", count);
last_lon = lon;
last_lat = lat;
last_alt = alt;
gps_get_position();
gps_get_time();
if ((lat==last_lat)&&(lon==last_lon)&&(alt==last_alt)) {
gps_check_lock();
} else {
state = 'F'; // cheat a second here.
}
n = sprintf (buffer868, "$$8VERTIGO,%d,%02d%02d%02d,%ld,%ld,%ld,%d,%c,%d,%d,%d", count868, hour, minute, second, lat, lon, alt, sats, state, temperature, battery_voltage, rssi);
n = sprintf (buffer868, "%s*%04X\n", buffer868, (CRC16_checksum(buffer868) & 0xFFFF));
rtty_868_txstring(buffer868);
save_868id(count868++);
}
}
}
return 0;
}
