void rtx_data_P(PGM_P data, size_t length)
{
rtx_wait();
txpgm = 1;
txbuf = (uint8_t *) data;
txlen = length;
}
void rtx_data(uint8_t *data, size_t length)
{
rtx_wait();
txpgm = 0;
txbuf = data;
txlen = length;
}
char tx_image(void)
{
static char setup = 0;
static uint8_t img_id = 0;
static ssdv_t ssdv;
static uint8_t pkt[SSDV_PKT_SIZE];
static uint8_t img[64];
int r;
if(!setup)
{
if((r = c3_open(SR_320x240)) != 0)
{
snprintf_P((char *) img, 64, PSTR("$$" RTTY_CALLSIGN ":Camera error %d\n"), r);
rtx_string((char *) img);
rtx_wait();
return(setup);
}
setup = -1;
ssdv_enc_init(&ssdv, RTTY_CALLSIGN, img_id++);
ssdv_enc_set_buffer(&ssdv, pkt);
}
while((r = ssdv_enc_get_packet(&ssdv)) == SSDV_FEED_ME)
{
size_t r = c3_read(img, 64);
if(r == 0) break;
ssdv_enc_feed(&ssdv, img, r);
}
if(r != SSDV_OK)
{
/* Something went wrong! */
c3_close();
setup = 0;
rtx_string_P(PSTR("$$" RTTY_CALLSIGN ":ssdv_enc_get_packet() failed\n"));
return(setup);
}
if(ssdv.state == S_EOI || c3_eof())
{
/* The end of the image has been reached */
c3_close();
setup = 0;
}
/* Got the packet! Transmit it */
rtx_data(pkt, SSDV_PKT_SIZE);
return(setup);
}
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
}
}