int main(void)
{
// Initialise the GPIO block
gpioInit();
#ifdef GPS
// Initialise the UART0 block for printf output
uart0Init(9600);
#else
// Initialise the UART0 block for printf output
uart0Init(115200);
#endif
// Configure the multi-rate timer for 1ms ticks
mrtInit(__SYSTEM_CLOCK/1000);
// Configure the switch matrix (setup pins for UART0 and SPI)
configurePins();
//Seed random number generator, we can use our 'unique' ID
random_output = NODE_ID[0] + NODE_ID[1] + NODE_ID[2];
//printf("random: %d\r\n", random_output);
RFM69_init();
#ifdef GPS
int navmode = 9;
setupGPS();
#endif
#ifdef DEBUG
printf("Node initialized, version %s\r\n",GIT_VER);
#endif
while(1) {
#ifdef GPS
mrtDelay(5000);
navmode = gps_check_nav();
if (navmode != 6){
setupGPS();
}
mrtDelay(500);
gps_get_position();
mrtDelay(500);
gps_check_lock();
mrtDelay(500);
//printf("Data: %d,%d,%d,%d,%d,%d\r\n", lat, lon, alt, navmode, lock, sats);
//printf("Errors: %d,%d\r\n", GPSerror, serialBuffer_write);
#endif
incrementPacketCount();
//Clear buffer
data_temp[0] = '\0';
uint8_t n;
//Create the packet
int int_temp = RFM69_readTemp(); // Read transmitter temperature
rx_rssi = RFM69_lastRssi();
floor_rssi = RFM69_sampleRssi();
#ifdef GPS
n = sprintf(data_temp, "%d%cL%d,%d,%dT%dR%d[%s]", NUM_REPEATS, data_count, lat, lon, alt, int_temp, rx_rssi, NODE_ID);
#else
if(data_count == 97) {
n = sprintf(data_temp, "%d%cL%s[%s]", NUM_REPEATS, data_count, LOCATION_STRING, NODE_ID);
} else {
n = sprintf(data_temp, "%d%cT%dR%d,%dC%d[%s]", NUM_REPEATS, data_count, int_temp, rx_rssi, floor_rssi, rx_packets, NODE_ID);
}
#endif
transmitData(n);
awaitData(TX_GAP);
}
}
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, "$$" CALLSIGN ",%lu,%02u:%02u:%02u,%02.7f,%03.7f,%ld,%u,%x",
tick, hour, minute, second, lat_fmt, lon_fmt, alt,
sats, lock);
radio_chatter();
radio_transmit_sentence(s);
radio_chatter();
led_set(LED_RED, 0);
eeprom_update_dword(&ticks, tick);
wdt_reset();
_delay_ms(500);
}
return 0;
}
int main() {
char state;
int nlock_count = 0, n;
setup();
for (;;) {
wdt.kick();
ftdi.printf("Entering Loop.\r\n");
status_led = !status_led;
write_rfm868(0x07, 0x01); // turn tx off - needed for below code
write_rfm434(0x07, 0x01);
// If GPS does not have lock for > 8 loops, restart it.
if (nlock_count>8) {
gpsPower(0);
wait(2);
gpsPower(1);
nlock_count = 0;
}
wait(0.1); // wait for tx to turn off
// Get temp while radio off
temperature = (int16_t)((temp.read_u16()-9930)/19.9);
battery_voltage = (int16_t)(battery.read()*BATT_MUL);
rssi = ((int)read_rfm868(26)*51 - 12400)/100; // returned in dBm
if (rssi > -50) { // if 868 channel is busy
enable_868 = 0;
} else {
enable_868 = 1;
write_rfm868(0x07, 0x08); // turn tx on
}
write_rfm434(0x07, 0x08); // turn tx on
// Check for GPS lock
gps_check_lock();
if (lock==0) {
state='L';
nlock_count++;
} else if (!enable_868) {
state='O';
} else {
nlock_count = 0;
state='F';
}
gps_get_position();
gps_get_time();
// Process triggers here
if (config_err == 0) {
ftdi.printf("Running triggers... ");
runTrigger(0);
runTrigger(1);
runTrigger(2);
ftdi.printf("Finished. \r\n");
}
// Cutdown check
if (cutdown_enabled && (alt>CUTDOWN_ALT)) {
// Double check the altitude!
gps_get_position();
if (alt>CUTDOWN_ALT) {
ftdi.printf("Cutting wire!!!! \r\n");
cutdown = 1; // burn that wire!!!!!. .. !
wait(3);
cutdown = 0;
cutdown_enabled = 0;
state = 'C';
}
}
// Do TX (always true, triggers not quite working)
//if (send_gps) {
if (1) {
n = sprintf (buffer434, "$$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;
}
