Changeset - 041562172b4a
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Ethan Zonca (ethanzonca) - 9 years ago 2017-01-12 09:16:48
e@ethanzonca.com
Doubleinit radio for guaranteed init; GPS fixes
4 files changed with 23 insertions and 49 deletions:
Libraries/Si446x/si446x.c
1
Libraries/aprs/aprs.c
4
Source/gps.c
10
49
Source/main.c
8
0 comments (0 inline, 0 general)
Libraries/Si446x/si446x.c
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@@ -43,6 +43,7 @@ void si446x_init(void)
 
 
	// Perform PoR (takes 20ms) and turn device on
 
	si446x_reset();
 
	si446x_reset();
 
 
    // Divide SI446x_VCXO_FREQ into its bytes; MSB first
 
    uint16_t x3 = SI446x_VCXO_FREQ / 0x1000000;
Libraries/aprs/aprs.c
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@@ -91,6 +91,10 @@ void aprs_send(void)
 
  snprintf(tmpBuffer, 128, "%u,", gps_getdata()->pdop);
 
  ax25_send_string(tmpBuffer);
 

			




	
	
	
		
 
  // Heading

			




	
	
	
		
 
  snprintf(tmpBuffer, 128, "%u,", gps_getdata()->heading);

			




	
	
	
		
 
  ax25_send_string(tmpBuffer);

			




	
	
	
		
 

			




	
	
	
		
 
  // Vbatt

			




	
	
	
		
 
  snprintf(tmpBuffer, 128, "%u,", adc_get_vbatt());

			




	
	
	
		
 
  ax25_send_string(tmpBuffer);

			




        

    


    
    

    

        

                

                    Source/gps.c
                

                

                  
                      
                        

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@@ -77,12 +77,12 @@ void gps_update_data(void)

			




	
	
	
		
 
    position.altitude /= 1000; // mm => m

			




	
	
	
		
 

			




	
	
	
		
 
    position.speed = (buf[6+60] << 0) | (buf[6+61] << 8) | (buf[6+62] << 16) | (buf[6+63] << 24); // mm/second

			




	
	
	
		
 
    position.speed /= 1000; // mm/s -> m/s

			




	
	
	
		
 
    position.speed /= 10; // mm/s -> cm/s

			




	
	
	
		
 
    

			




	
	
	
		
 
    position.pdop = (buf[6+76] << 0) | (buf[6+77] << 8);

			




	
	
	
		
 
    position.pdop /= 100; // scale to dop units

			




	
	
	
		
 

			




	
	
	
		
 
    position.heading = (buf[6+84] << 0) | (buf[6+85] << 8) | (buf[6+86] << 16) | (buf[6+87] << 24); // mm above sealevel

			




	
	
	
		
 
    position.heading = (buf[6+64] << 0) | (buf[6+65] << 8) | (buf[6+66] << 16) | (buf[6+67] << 24);

			




	
	
	
		
 
    position.heading /= 100000; // 1e-5

			




	
	
	
		
 

			




	
	
	
		
 
//    // Return the value if GPSfixOK is set in 'flags'

			




	
	
		
 
@@ -93,44 +93,6 @@ void gps_update_data(void)

			




	
	
	
		
 

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 
// TODO: Add data valid flag: invalidate data when GPS powered off

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// Verify that the uBlox 6 GPS receiver is set to the <1g airborne navigaion mode.

			




	
	
	
		
 
uint8_t gps_check_nav(void)

			




	
	
	
		
 
{

			




	
	
	
		
 
    uint8_t request[8] = {0xB5, 0x62, 0x06, 0x24, 0x00, 0x00,

			




	
	
	
		
 
        0x2A, 0x84};

			




	
	
	
		
 
    uint8_t flushed = uart_gethandle()->Instance->RDR;

			




	
	
	
		
 
    HAL_UART_Transmit(uart_gethandle(), request, 8, 100);

			




	
	
	
		
 

			




	
	
	
		
 
    // Get the message back from the GPS

			




	
	
	
		
 
    uint8_t buf[44];

			




	
	
	
		
 
    HAL_UART_Receive(uart_gethandle(), buf, 44, 100);

			




	
	
	
		
 

			




	
	
	
		
 
//    // Verify sync and header bytes

			




	
	
	
		
 
//    if( buf[0] != 0xB5 || buf[1] != 0x62 )

			




	
	
	
		
 
//        led_set(LED_RED, 1);

			




	
	
	
		
 
//    if( buf[2] != 0x06 || buf[3] != 0x24 )

			




	
	
	
		
 
//        led_set(LED_RED, 1);

			




	
	
	
		
 

			




	
	
	
		
 
    // Check 40 bytes of message checksum

			




	
	
	
		
 
//    if( !_gps_verify_checksum(&buf[2], 40) ) led_set(LED_RED, 1);

			




	
	
	
		
 

			




	
	
	
		
 
    // Clock in and verify the ACK/NACK

			




	
	
	
		
 
    uint8_t ack[10];

			




	
	
	
		
 
//    for(uint8_t i = 0; i < 10; i++)

			




	
	
	
		
 
//        ack[i] = _gps_get_byte();

			




	
	
	
		
 

			




	
	
	
		
 
    HAL_UART_Receive(uart_gethandle(), ack, 10, 100);

			




	
	
	
		
 

			




	
	
	
		
 
    // If we got a NACK, then return 0xFF

			




	
	
	
		
 
    if( ack[3] == 0x00 ) return 0xFF;

			




	
	
	
		
 

			




	
	
	
		
 
    // Return the navigation mode and let the caller analyse it

			




	
	
	
		
 
    return buf[8];

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// Verify the checksum for the given data and length.

			




	
	
	
		
 
static uint8_t _gps_verify_checksum(uint8_t* data, uint8_t len)

			




	
	
		
 
@@ -202,22 +164,21 @@ void gps_poweron(void)

			




	
	
	
		
 

			




	
	
	
		
 
//    // Disable GLONASS mode

			




	
	
	
		
 
//    uint8_t disable_glonass[20] = {0xB5, 0x62, 0x06, 0x3E, 0x0C, 0x00, 0x00, 0x00, 0x20, 0x01, 0x06, 0x08, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01, 0x8F, 0xB2};

			




	
	
	
		
 
//

			




	
	
	
		
 
//    //gps_sendubx(disable_glonass, 20);

			




	
	
	
		
 
//    volatile HAL_StatusTypeDef res = HAL_UART_Transmit(uart_gethandle(), disable_glonass, 20, 100);

			




	
	
	
		
 
//    HAL_UART_Transmit(uart_gethandle(), disable_glonass, sizeof(disable_glonass)/sizeof(uint8_t), 100);

			




	
	
	
		
 
//	HAL_Delay(100);

			




	
	
	
		
 
//

			




	
	
	
		
 
//    // Enable power saving

			




	
	
	
		
 
//    uint8_t enable_powersave[10] = {0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x01, 0x22, 0x92};

			




	
	
	
		
 
//    //gps_sendubx(enable_powersave, 10);

			




	
	
	
		
 
//    res = HAL_UART_Transmit(uart_gethandle(), enable_powersave, 10, 100);

			




	
	
	
		
 
//    HAL_UART_Transmit(uart_gethandle(), enable_powersave, sizeof(enable_powersave)/sizeof(uint8_t), 100);

			




	
	
	
		
 
//	HAL_Delay(100);

			




	
	
	
		
 
//

			




	
	
	
		
 
//

			




	
	
	
		
 
//    // Set dynamic model 6 (<1g airborne platform)

			




	
	
	
		
 
//    uint8_t airborne_model[] = { 0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC };

			




	
	
	
		
 
//    //gps_sendubx(airborne_model, sizeof(airborne_model)/sizeof(uint8_t));

			




	
	
	
		
 
//    res = HAL_UART_Transmit(uart_gethandle(), airborne_model, sizeof(airborne_model)/sizeof(uint8_t), 100);

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
//    HAL_UART_Transmit(uart_gethandle(), airborne_model, sizeof(airborne_model)/sizeof(uint8_t), 100);

			




	
	
	
		
 
//	HAL_Delay(100);

			




	
	
	
		
 
//

			




	
	
	
		
 
//

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 

			




        

    


    
    

    

        

                

                    Source/main.c
                

                

                  
                      
                        

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@@ -24,11 +24,19 @@ int main(void)

			




	
	
	
		
 
  sysclock_init();

			




	
	
	
		
 
  gpio_init();

			




	
	
	
		
 

			




	
	
	
		
 
  HAL_Delay(100);

			




	
	
	
		
 

			




	
	
	
		
 
  adc_init();

			




	
	
	
		
 

			




	
	
	
		
 
  afsk_init();

			




	
	
	
		
 
  si446x_init();

			




	
	
	
		
 
  si446x_init();

			




	
	
	
		
 

			




	
	
	
		
 
  HAL_Delay(100);

			




	
	
	
		
 

			




	
	
	
		
 
  gps_poweron();

			




	
	
	
		
 
  HAL_Delay(100);

			




	
	
	
		
 

			




	
	
	
		
 
  pressure_init();

			




	
	
	
		
 

			




	
	
	
		
 
  // Software timers

			




        

    



    


    



    



      

      





    
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