static int lgps_pos(lua_State* L) {
struct position pos;
int timeout = luaL_optinteger(L, 1, 0xffffffff);
// Read position
if (gps_get_pos(&pos, timeout)) {
// No position available
lua_pushnil(L);
return 1;
}
lua_pushnumber(L, pos.lat);
lua_pushnumber(L, pos.lon);
lua_pushinteger(L, pos.sats);
lua_pushinteger(L, pos.when);
return 4;
}
void application_mainloop(application_t *app)
{
DEBUG("application_mainloop()");
assert(app != 0);
void *data;
size_t length;
float att[3], alt, spd, trk, brg, dst;
char wpt[32];
float accsum[3];
float difftime;
while(1)
{
// Process video
if(!video_read(app->video, &data, &length))
{
ERROR("Cannot read from video device");
break;
}
graphics_image_set_bitmap(app->image, data, length);
graphics_draw(app->graphics, app->image, app->window_width / 2, app->window_height / 2,
(float)app->window_width / (float)app->window_height < (float)app->video_width / (float)app->video_height ?
(float)app->window_height / (float)app->video_height : (float)app->window_width / (float)app->video_width, 0);
imu_get_attitude(app->imu, att);
gps_get_pos(app->gps, NULL, NULL, &alt);
imu_get_acceleration(app->imu, accsum, &difftime);
gps_inertial_update(app->gps, accsum[0], accsum[1], accsum[2], difftime);
// Draw landmarks
void *iterator;
float hangle, vangle, dist;
drawable_t *label = gps_get_projection_label(app->gps, &hangle, &vangle, &dist, att, &iterator);
while(iterator)
{
if((hangle > app->video_hfov / -2.0) &&
(hangle < app->video_hfov / 2.0) &&
(vangle > app->video_vfov / -2.0) &&
(vangle < app->video_vfov / 2.0) &&
(dist < app->visible_distance))
{
INFO("Projecting landmark hangle = %f, vangle = %f, distance = %f", hangle, vangle, dist / 1000.0);
uint32_t x = (float)app->window_width / 2 + (float)app->window_width * hangle / app->video_hfov;
uint32_t y = (float)app->window_height / 2 + (float)app->window_height * vangle / app->video_vfov;
graphics_draw(app->graphics, label, x, y, 1, 0);
}
label = gps_get_projection_label(app->gps, &hangle, &vangle, &dist, att, &iterator);
}
// Draw HUD overlay
gps_get_track(app->gps, &spd, &trk);
gps_get_route(app->gps, wpt, &dst, &brg);
graphics_hud_draw(app->hud, att, spd, alt, trk, brg, dst, wpt);
// Render to screen
if(!graphics_flush(app->graphics, NULL))
{
ERROR("Cannot draw");
break;
}
}
}
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
}
}
