Changeset - 4e5c6467cd01
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ethanzonca@CL-ENS241-08.cedarville.edu - 12 years ago 2013-01-12 13:24:09
ethanzonca@CL-ENS241-08.cedarville.edu
GPS parsing and APRS tracking now functional!
7 files changed with 64 insertions and 48 deletions:
master/master/config.h
2
2
master/master/lib/aprs.c
6
1
master/master/lib/logger.c
2
2
master/master/lib/looptime.c
3
1
master/master/lib/trackuinoGPS/gpsMKa.c
25
9
master/master/lib/trackuinoGPS/gpsMKa.h
3
master/master/master.c
23
33
0 comments (0 inline, 0 general)
master/master/config.h
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@@ -112,16 +112,16 @@
 
#define DIGI_PATH1      "WIDE2"
 
#define DIGI_PATH1_TTL  1
 

			




	
	
	
		
 
// APRS comment: this goes in the comment portion of the APRS message. You

			




	
	
	
		
 
// might want to keep this short. The longer the packet, the more vulnerable

			




	
	
	
		
 
// it is to noise.

			




	
	
	
		
 
#define APRS_COMMENT    "CedarvilleUniversity HAB"

			




	
	
	
		
 
#define APRS_COMMENT    "CU HAB TEST"

			




	
	
	
		
 

			




	
	
	
		
 
// Transmit the APRS sentence every X milliseconds

			




	
	
	
		
 
#define APRS_TRANSMIT_PERIOD 5000

			




	
	
	
		
 
#define APRS_TRANSMIT_PERIOD 10000

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// --------------------------------------------------------------------------

			




	
	
	
		
 
// Logger config (logger.c)

			




	
	
	
		
 
// --------------------------------------------------------------------------

			




	
	
	
		
 

			




        

    


    
    

    

        

                

                    master/master/lib/aprs.c
                

                

                  
                      
                        

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@@ -45,16 +45,18 @@ void aprs_send()

			




	
	
	
		
 

			




	
	
	
		
 
	// emz: modified this to get the size of the first address rather than the size of the struct itself, which fails

			




	
	
	
		
 
  ax25_send_header(addresses, sizeof(addresses)/sizeof(addresses[0]));

			




	
	
	
		
 
  ax25_send_byte('/');                // Report w/ timestamp, no APRS messaging. $ = NMEA raw data

			




	
	
	
		
 
  // ax25_send_string("021709z");     // 021709z = 2nd day of the month, 17:09 zulu (UTC/GMT)

			




	
	
	
		
 
  ax25_send_string(get_timestamp());         // 170915 = 17h:09m:15s zulu (not allowed in Status Reports)

			




	
	
	
		
 
  ax25_send_byte('h');

			




	
	
	
		
 
  ax25_send_byte('z'); // zulu time. h for nonzulu

			




	
	
	
		
 
  ax25_send_string(get_latitude());     // Lat: 38deg and 22.20 min (.20 are NOT seconds, but 1/100th of minutes)

			




	
	
	
		
 
  ax25_send_byte('N');

			




	
	
	
		
 
  ax25_send_byte('/');                // Symbol table

			




	
	
	
		
 
  ax25_send_string(get_longitude());     // Lon: 000deg and 25.80 min

			




	
	
	
		
 
  ax25_send_byte('W');

			




	
	
	
		
 
  ax25_send_byte('O');                // Symbol: O=balloon, -=QTH

			




	
	
	
		
 
  snprintf(temp, 4, "%03d", (int)(gps_course + 0.5)); 

			




	
	
	
		
 
  ax25_send_string(temp);             // Course (degrees)

			




	
	
	
		
 
  ax25_send_byte('/');                // and

			




	
	
	
		
 
  //snprintf(temp, 4, "%03d", (int)(gps_speed + 0.5));

			




	
	
	
		
 
  ax25_send_string(get_speedKnots());             // speed (knots)

			




	
	
		
 
@@ -72,11 +74,14 @@ void aprs_send()

			




	
	
	
		
 
  ax25_send_string("/V=");

			




	
	
	
		
 
  snprintf(temp, 6, "%d", 123);//sensors_vin());

			




	
	
	
		
 
  ax25_send_string(temp);

			




	
	
	
		
 
  */

			




	
	
	
		
 
  

			




	
	
	
		
 
  ax25_send_byte(' ');

			




	
	
	
		
 
  ax25_send_string("SV:");

			




	
	
	
		
 
  ax25_send_string(getNumSatelites());

			




	
	
	
		
 
  ax25_send_byte(' ');

			




	
	
	
		
 
  ax25_send_string(APRS_COMMENT);     // Comment

			




	
	
	
		
 
  ax25_send_footer();

			




	
	
	
		
 

			




	
	
	
		
 
  ax25_flush_frame();                 // Tell the modem to go

			




	
	
	
		
 
}

			




        

    


    
    

    

        

                

                    master/master/lib/logger.c
                

                

                  
                      
                        

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@@ -35,13 +35,13 @@ struct fat_file_struct* fd;

			




	
	
	
		
 
void logger_setup()

			




	
	
	
		
 
{

			




	
	
	
		
 

			




	
	
	
		
 
	if(!sd_raw_init())

			




	
	
	
		
 
	{

			




	
	
	
		
 
		// Initializing SD card failed!

			




	
	
	
		
 
		serial0_sendString("SD: Error initializing.\r\n");

			




	
	
	
		
 
		serial0_sendString("SD> Error initializing.\r\n");

			




	
	
	
		
 
		led_errorcode(ERROR_SD_INIT);

			




	
	
	
		
 
		return;

			




	
	
	
		
 
	}

			




	
	
	
		
 

			




	
	
	
		
 
	// TODO: Check SD card switch to see if inserted.

			




	
	
	
		
 
	// this was included in the library, but is commented out right now

			




	
	
		
 
@@ -49,13 +49,13 @@ void logger_setup()

			




	
	
	
		
 
	// Open first partition

			




	
	
	
		
 
	partition = partition_open(sd_raw_read, sd_raw_read_interval, sd_raw_write, sd_raw_write_interval, 0);

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Check that partition was created correctly

			




	
	
	
		
 
	if(!partition)

			




	
	
	
		
 
	{

			




	
	
	
		
 
		serial0_sendString("SD: Error opening partition.\r\n");

			




	
	
	
		
 
		serial0_sendString("SD> Error opening partition.\r\n");

			




	
	
	
		
 
		// Error opening partition. MBR might be screwed up.

			




	
	
	
		
 
		led_errorcode(ERROR_SD_PARTITION);

			




	
	
	
		
 
		return;

			




	
	
	
		
 
	}

			




	
	
	
		
 
	

			




	
	
	
		
 
	

			




        

    


    
    

    

        

                

                    master/master/lib/looptime.c
                

                

                  
                      
                        

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@@ -19,14 +19,16 @@

			




	
	
	
		
 
volatile uint32_t millis = 0; // Milliseconds since initialization

			




	
	
	
		
 

			




	
	
	
		
 
void time_setup() 

			




	
	
	
		
 
{

			




	
	
	
		
 
	// Generic microcontroller config options

			




	
	
	
		
 
	OCR0A = 173; // Approx 172.7969 ticks per ms with 64 prescaler

			




	
	
	
		
 
	OCR0B = 15;

			




	
	
	
		
 
	

			




	
	
	
		
 
	TCCR0A |= (1 << WGM01) | (1 << WGM00); // Count until OCR0A, then overflow (wgm02 in the next line specifies this as well)

			




	
	
	
		
 
	TCCR0A |= (1 << WGM01) | (1 << WGM00) | // Count until OCR0A, then overflow (wgm02 in the next line specifies this as well)

			




	
	
	
		
 
			  (1<< COM0B1); // Non-inverting PWM on OC0B

			




	
	
	
		
 
	TCCR0B |= (1 << CS01) | (1 << CS00) | (1 << WGM02); // clock div by 64

			




	
	
	
		
 
	TIFR0 |= ( 1 << TOV0 ); // clear pending interrupts

			




	
	
	
		
 
	TIMSK0 |= (1 << TOIE0); // enable overflow interrupt

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 
ISR(TIMER0_OVF_vect) 

			




        

    


    
    

    

        

                

                    master/master/lib/trackuinoGPS/gpsMKa.c
                

                

                  
                      
                        

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@@ -8,12 +8,13 @@

			




	
	
	
		
 
#include <stdbool.h>

			




	
	
	
		
 
#include <avr/io.h>

			




	
	
	
		
 
#include <avr/interrupt.h>

			




	
	
	
		
 
#include "gpsMKa.h"

			




	
	
	
		
 
#include "../serial.h"

			




	
	
	
		
 
#include "../../config.h"

			




	
	
	
		
 
#include "../led.h"

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// Circular buffer for incoming data

			




	
	
	
		
 
uint8_t nmeaBuffer[NMEABUFFER_SIZE];

			




	
	
	
		
 

			




	
	
		
 
@@ -62,25 +63,38 @@ char longitude[14];	//yyyyy.yyb

			




	
	
	
		
 
char* get_longitude() {

			




	
	
	
		
 
	return longitude;

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
char quality;		//quality for GGA and validity for RMC

			




	
	
	
		
 
char numSatellites[3];

			




	
	
	
		
 
char numSatellites[4];

			




	
	
	
		
 
char* getNumSatelites() {

			




	
	
	
		
 
	return numSatellites;

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 
char hdop[6];		//xx.x

			




	
	
	
		
 
char* get_hdop() {

			




	
	
	
		
 
	return hdop;

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 
char altitude[10];	//xxxxxx.x

			




	
	
	
		
 
char wgs84Height[8];	//sxxx.x

			




	
	
	
		
 
char lastUpdated[8];	//blank - included for testing

			




	
	
	
		
 
char stationID[8];	//blank - included for testing

			




	
	
	
		
 
char checksum[3];	//xx

			




	
	
	
		
 

			




	
	
	
		
 
char knots[8];		//xxx.xx

			




	
	
	
		
 
char* get_speedKnots() {

			




	
	
	
		
 
	return knots;

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 
char course[8];		//xxx.x

			




	
	
	
		
 
char* get_course() {

			




	
	
	
		
 
	return course;

			




	
	
	
		
 
}

			




	
	
	
		
 
	

			




	
	
	
		
 
char datestamp[9];	//ddmmyy

			




	
	
	
		
 
char variation[9];	//xxx.xb

			




	
	
	
		
 
int calculatedChecksum;

			




	
	
	
		
 
int receivedChecksum;

			




	
	
	
		
 

			




	
	
	
		
 
char convertBuf1[15];

			




	
	
		
 
@@ -149,13 +163,16 @@ static void setParserState(uint8_t state

			




	
	
	
		
 
//// MKa GPS transmission parser START

			




	
	
	
		
 
void parse_gps_transmission(void){

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Pull byte off of the buffer

			




	
	
	
		
 
	char byte;

			




	
	
	
		
 
	

			




	
	
	
		
 
	

			




	
	
	
		
 
	

			




	
	
	
		
 
	while(nmeaBufferDataPosition != nmeaBufferParsePosition) {

			




	
	
	
		
 
	led_on(LED_ACTIVITY);

			




	
	
	
		
 
		

			




	
	
	
		
 
		byte = nmeaBuffer[nmeaBufferParsePosition];

			




	
	
	
		
 
		

			




	
	
	
		
 
		//snprintf(debugBuff, 64, "GPSParse: byte [%c] decodestate: %u bp: %u pp: %u\r\n",  byte, decodeState, nmeaBufferDataPosition, nmeaBufferParsePosition);

			




	
	
	
		
 
		//serial0_sendString((debugBuff));

			




	
	
	
		
 
		

			




	
	
		
 
@@ -222,22 +239,21 @@ void parse_gps_transmission(void){

			




	
	
	
		
 
		//timestamp

			




	
	
	
		
 
		else if (decodeState == GGA_TIME)

			




	
	
	
		
 
		{

			




	
	
	
		
 
			if (byte == ',') //end of this data type

			




	
	
	
		
 
			{

			




	
	
	
		
 
				timestamp[6] = 0x00; // Cut off at 6 for APRS

			




	
	
	
		
 
				serial0_sendString("time byte DONE\r\n");

			




	
	
	
		
 
				setParserState(GGA_LATITUDE);

			




	
	
	
		
 
				skipBytes = 0; //prep for next phase of parse

			




	
	
	
		
 
				numBytes = 0;

			




	
	
	
		
 
			}

			




	
	
	
		
 
			else //store data

			




	
	
	
		
 
			{

			




	
	
	
		
 
				//#ifdef DEBUG_NMEA

			




	
	
	
		
 
				#ifdef DEBUG_NMEA

			




	
	
	
		
 
				serial0_sendString("found GGA time byte\r\n");

			




	
	
	
		
 
				//#endif

			




	
	
	
		
 
				#endif

			




	
	
	
		
 
				

			




	
	
	
		
 
				setParserState(GGA_TIME);

			




	
	
	
		
 
				timestamp[numBytes] = byte; //byte; //adjust number of bytes to fit array

			




	
	
	
		
 
				numBytes++;

			




	
	
	
		
 
			}

			




	
	
	
		
 
		}

			




	
	
		
 
@@ -254,13 +270,13 @@ void parse_gps_transmission(void){

			




	
	
	
		
 
				skipBytes = 1;

			




	
	
	
		
 
				setParserState(GGA_LATITUDE);

			




	
	
	
		
 
			}

			




	
	
	
		
 
			else if (byte == ',') //end of this data type

			




	
	
	
		
 
			{

			




	
	
	
		
 
				

			




	
	
	
		
 
				latitude[numBytes] = 0x00; // null terminate

			




	
	
	
		
 
				latitude[7] = 0x00; // null terminate

			




	
	
	
		
 
				

			




	
	
	
		
 
				

			




	
	
	
		
 
				// First 2 bytes

			




	
	
	
		
 
				//convertBuf1[0] = latitude[0];

			




	
	
	
		
 
				//convertBuf1[1] = latitude[1];

			




	
	
	
		
 
				//convertBuf1[2] = '\0';

			




	
	
		
 
@@ -295,13 +311,13 @@ void parse_gps_transmission(void){

			




	
	
	
		
 
				

			




	
	
	
		
 
				skipBytes = 1;

			




	
	
	
		
 
				setParserState(GGA_LONGITUDE);

			




	
	
	
		
 
			}

			




	
	
	
		
 
			else if (byte == ',') //end of this data type

			




	
	
	
		
 
			{

			




	
	
	
		
 
				longitude[numBytes] = 0x00;

			




	
	
	
		
 
				longitude[8] = 0x00;

			




	
	
	
		
 
				setParserState(GGA_QUALITY);

			




	
	
	
		
 
				numBytes = 0; //prep for next phase of parse

			




	
	
	
		
 
				skipBytes = 0;

			




	
	
	
		
 
			}

			




	
	
	
		
 
			else //store data

			




	
	
	
		
 
			{

			




	
	
		
 
@@ -642,15 +658,13 @@ void parse_gps_transmission(void){

			




	
	
	
		
 
				{

			




	
	
	
		
 
				

			




	
	
	
		
 
				}

			




	
	
	
		
 
				#ifdef DEBUG_NMEA

			




	
	
	
		
 
				serial0_sendString("OMG GOT TO CHECKSUM!\r\n");

			




	
	
	
		
 
				#endif

			




	
	
	
		
 
				

			




	
	
	
		
 
				snprintf(debugBuff, 128, "\r\n\r\ntype: %s tstamp: %s lat: %s lon: %s speed: %s hdop: %s course: %s \r\n\r\n",

			




	
	
	
		
 
				tramsmissionType,timestamp,latitude,longitude,knots,hdop, course);

			




	
	
	
		
 
				

			




	
	
	
		
 
				serial0_sendString((debugBuff));

			




	
	
	
		
 
				setParserState(INITIALIZE);

			




	
	
	
		
 
				numBytes = 0; //prep for next phase of parse

			




	
	
	
		
 
			}

			




	
	
	
		
 
			else //store data

			




	
	
	
		
 
			{

			




	
	
		
 
@@ -665,13 +679,15 @@ void parse_gps_transmission(void){

			




	
	
	
		
 
	

			




	
	
	
		
 
		if (decodeState!=GPS_CHECKSUM && decodeState!=INITIALIZE)	//want bytes between '$' and '*'

			




	
	
	
		
 
		{

			




	
	
	
		
 
			//input byte into running checksum

			




	
	
	
		
 
			XORbyteWithChecksum(byte);

			




	
	
	
		
 
		}

			




	
	
	
		
 
		led_off(LED_ACTIVITY);

			




	
	
	
		
 
	}	

			




	
	
	
		
 
	

			




	
	
	
		
 

			




	
	
	
		
 
}

			




	
	
	
		
 
/// MKa GPS transmission parser END

			




	
	
	
		
 

			




	
	
	
		
 
void XORbyteWithChecksum(uint8_t byte){

			




	
	
	
		
 
	calculatedChecksum ^= (int)byte; //this may need to be re-coded

			




        

    


    
    

    

        

                

                    master/master/lib/trackuinoGPS/gpsMKa.h
                

                

                  
                      
                        

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@@ -13,8 +13,11 @@

			




	
	
	
		
 
#define UKN_MESSAGE

			




	
	
	
		
 

			




	
	
	
		
 
char* get_longitude();

			




	
	
	
		
 
char* get_latitude();

			




	
	
	
		
 
char* get_timestamp();

			




	
	
	
		
 
char* get_speedKnots();

			




	
	
	
		
 
char* get_course();

			




	
	
	
		
 
char* get_hdop();

			




	
	
	
		
 
char* getNumSatelites();

			




	
	
	
		
 

			




	
	
	
		
 
#endif /* GPSMKA_H_ */

			




	
	
		
 
\ No newline at end of file

			




        

    


    
    

    

        

                

                    master/master/master.c
                

                

                  
                      
                        

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@@ -34,53 +34,39 @@

			




	
	
	
		
 

			




	
	
	
		
 
#include "lib/looptime.h"

			




	
	
	
		
 
#include "lib/slavesensors.h"

			




	
	
	
		
 
#include "lib/serparser.h"

			




	
	
	
		
 
#include "lib/sensordata.h"

			




	
	
	
		
 

			




	
	
	
		
 
void micro_setup() 

			




	
	
	
		
 
{

			




	
	
	
		
 

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 
int main(void)

			




	
	
	
		
 
{

			




	
	
	
		
 
    _delay_ms(1500); // warmup

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Initialize libraries

			




	
	
	
		
 
	time_setup();

			




	
	
	
		
 
	

			




	
	
	
		
 
	micro_setup();

			




	
	
	
		
 
	

			




	
	
	
		
 
	watchdog_setup(); // enables interrupts

			




	
	
	
		
 
	

			




	
	
	
		
 
	led_setup();

			




	
	
	
		
 
	

			




	
	
	
		
 
	led_setup();	

			




	
	
	
		
 
	serial0_setup();

			




	
	
	
		
 
	_delay_ms(10);

			




	
	
	
		
 
	

			




	
	
	
		
 
	serial1_setup();

			




	
	
	
		
 
	

			




	
	
	
		
 
	i2c_init(); // for board temp

			




	
	
	
		
 

			




	
	
	
		
 
	i2c_init();

			




	
	
	
		
 
	sensordata_setup(); // must happen before sensors/logger/afsk

			




	
	
	
		
 
	slavesensors_setup();

			




	
	
	
		
 
	logger_setup();

			




	
	
	
		
 
	

			




	
	
	
		
 
	afsk_setup();

			




	
	
	
		
 
	

			




	
	
	
		
 
	serial0_sendString("\r\n\r\n---------------------------------\r\n");

			




	
	
	
		
 
	//\f

			




	
	
	
		
 
	serial0_sendString("\r\n---------------------------------\r\n");

			




	
	
	
		
 
	serial0_sendString("HAB Controller 1.0 - Initialized!\r\n");

			




	
	
	
		
 
	serial0_sendString("---------------------------------\r\n\r\n");

			




	
	
	
		
 
	serial0_sendString("\f\r\n\rHello.\r\n\r\n");

			




	
	
	
		
 
	serial0_sendString("---------------------------------\r\n");

			




	
	
	
		
 
	serial0_sendString("\r\nHello.\r\n\r\n");

			




	
	
	
		
 
	

			




	
	
	
		
 
	led_on(LED_POWER);

			




	
	
	
		
 
	led_off(LED_SIDEBOARD);

			




	
	
	
		
 

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Buffer for string operations

			




	
	
	
		
 
	char logbuf[32];

			




	
	
	
		
 
	char logbuf[128];

			




	
	
	
		
 
	char debugBuf[128];

			




	
	
	
		
 
	

			




	
	
	
		
 
	// Software timers	

			




	
	
	
		
 
	uint32_t lastAprsBroadcast = 0;

			




	
	
	
		
 
	uint32_t lastLog = 0;

			




	
	
	
		
 
	uint32_t lastLedCycle = 0;

			




	
	
	
		
 
	

			




	
	
		
 
@@ -119,41 +105,45 @@ int main(void)

			




	
	
	
		
 
		ctr = (ctr + 1) % 4;

			




	
	
	
		
 
	}

			




	
	
	
		
 
	

			




	
	
	
		
 
	while(1)

			




	
	
	
		
 
    {

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: LED execution indicator

			




	
	
	
		
 
		if(time_millis() - lastLedCycle > LEDCYCLE_RATE) {

			




	
	
	
		
 
			spin();

			




	
	
	
		
 
			

			




	
	
	
		
 
			lastLedCycle = time_millis();	

			




	
	
	
		
 
		}

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: Logging

			




	
	
	
		
 
		if(time_millis() - lastLog > LOGGER_RATE) 

			




	
	
	
		
 
		{

			




	
	
	
		
 
			led_on(LED_CYCLE);

			




	
	
	
		
 
			

			




	
	
	
		
 
			led_on(LED_STATUS);

			




	
	
	
		
 
			// Print out GPS debug

			




	
	
	
		
 
			snprintf(debugBuf, 128, "GPS> time: %s lat: %s lon: %s speed: %s hdop: %s course: %s\r\n",

			




	
	
	
		
 
			get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());

			




	
	
	
		
 
			serial0_sendString(debugBuf);

			




	
	
	
		
 
			

			




	
	
	
		
 
			

			




	
	
	
		
 
			sensors_readBoardTemp(); // i2c read, 400k

			




	
	
	
		
 
			snprintf(logbuf, 32, "%lu,%d,%uF\r\n", time_millis(), sensordata_get(HUMIDITY), sensors_getBoardTemp());

			




	
	
	
		
 
			snprintf(logbuf, 128, "%lu,%d,%uF,%s,%s,%s,%s,%s\r\n", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());

			




	
	
	
		
 
			logger_log(logbuf);

			




	
	
	
		
 
			//serial0_sendString("Logging: ");

			




	
	
	
		
 
			//serial0_sendString(logbuf);

			




	
	
	
		
 
			led_off(LED_STATUS);

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Print out logger debug

			




	
	
	
		
 
			serial0_sendString("LOG> ");

			




	
	
	
		
 
			serial0_sendString(logbuf);

			




	
	
	
		
 
			

			




	
	
	
		
 
			led_off(LED_CYCLE);

			




	
	
	
		
 
			lastLog = time_millis();

			




	
	
	
		
 
		}		

			




	
	
	
		
 
		

			




	
	
	
		
 
		

			




	
	
	
		
 
		// Periodic: APRS transmission

			




	
	
	
		
 
		if(time_millis() - lastAprsBroadcast > APRS_TRANSMIT_PERIOD) 

			




	
	
	
		
 
		{

			




	
	
	
		
 
			

			




	
	
	
		
 
			

			




	
	
	
		
 
			serial0_sendString(":: APRS Periodic\r\n");

			




	
	
	
		
 
			

			




	
	
	
		
 
			while(afsk_busy());

			




	
	
	
		
 
			aprs_send(); // non-blocking

			




	
	
	
		
 
			

			




	
	
	
		
 
			//serial0_sendString("Initiating APRS transmission...\r\n");

			




	
	
	
		
 
			

			




	
	
	
		
 
			// Start getting values for next transmission

			




        

    



    


    



    



      

      





    
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