windsonde Changeset - 041562172b4a · protofusion repositories

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

Libraries/aprs/aprs.c

Source/gps.c

Source/main.c

0 comments (0 inline, 0 general)

Libraries/Si446x/si446x.c

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@@ @@ -34,24 +34,25 @@ void si446x_init(void) @@
 	GPIO_InitStruct.Pull = GPIO_NOPULL;
 	HAL_GPIO_Init(SI446x_TCXO_EN_PORT, &GPIO_InitStruct);
 	HAL_GPIO_WritePin(SI446x_TCXO_EN_PORT, SI446x_TCXO_EN_PIN, 1);
 	// GPIO: VHF radio shutdown control
 	GPIO_InitStruct.Pin = SI446x_SHUTDOWN_PIN;
 	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
 	GPIO_InitStruct.Pull = GPIO_NOPULL;
 	HAL_GPIO_Init(SI446x_SHUTDOWN_PORT, &GPIO_InitStruct);
 	// 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;
     uint16_t x2 = (SI446x_VCXO_FREQ - x3 * 0x1000000) / 0x10000;
     uint16_t x1 = (SI446x_VCXO_FREQ - x3 * 0x1000000 - x2 * 0x10000) / 0x100;
     uint16_t x0 = (SI446x_VCXO_FREQ - x3 * 0x1000000 - x2 * 0x10000 - x1 * 0x100);
     // Power up radio module                          boot  xtal  _XO_frequency_
     //TCXO
     const char init_command[] = {SI446x_CMD_POWER_UP, 0x01, 0x01, x3, x2, x1, x0};
     si446x_sendcmd(7, init_command, SI446x_CHECK_ACK);

Libraries/aprs/aprs.c

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@@ @@ -82,21 +82,25 @@ void aprs_send(void) @@
   // Pressure
   snprintf(tmpBuffer, 128, "%d,", pressure_getpressure());
   ax25_send_string(tmpBuffer);
   // Temperature
   snprintf(tmpBuffer, 128, "%d,", pressure_gettemp());
   ax25_send_string(tmpBuffer);
   // HDOP
   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);
   ax25_send_footer();
   ax25_flush_frame();
+}
 // vim:softtabstop=4 shiftwidth=4 expandtab

Source/gps.c

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@@ @@ -68,78 +68,40 @@ void gps_update_data(void) @@
     position.valid = buf[6+11] & 0b1111;
     position.fixtype = buf[6+20];
     position.sats_in_solution = buf[6+23];
     position.longitude = (buf[6+24] << 0) | (buf[6+25] << 8) | (buf[6+26] << 16) | (buf[6+27] << 24); // degrees
     position.latitude =  (buf[6+28] << 0) | (buf[6+29] << 8) | (buf[6+30] << 16) | (buf[6+31] << 24); // degrees
     position.altitude = (buf[6+36] << 0) | (buf[6+37] << 8) | (buf[6+38] << 16) | (buf[6+39] << 24); // mm above sealevel
     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'
 //    if( buf[17] & 0x01 )
 //        *lock = buf[16];
 //    else
 //        *lock = 0;
+}
 // 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,
 x2A, 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)
+{
     uint8_t a, b;
     gps_ubx_checksum(data, len, &a, &b);
     if( a != *(data + len) || b != *(data + len + 1))
         return 0;
     else
         return 1;
+}
@@ @@ -193,40 +155,39 @@ void gps_poweron(void) @@
 	uint8_t setRMC[] = {0XB5, 0X62, 0X06, 0X01, 0X08, 0X00, 0XF0, 0X04, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X03, 0X3F};
 	HAL_UART_Transmit(uart_gethandle(), setRMC, sizeof(setRMC)/sizeof(uint8_t), 100);
 	HAL_Delay(100);
 	uint8_t setVTG[] = {0XB5, 0X62, 0X06, 0X01, 0X08, 0X00, 0XF0, 0X05, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X04, 0X46};
 	HAL_UART_Transmit(uart_gethandle(), setVTG, sizeof(setRMC)/sizeof(uint8_t), 100);
 	HAL_Delay(100);
 //    // 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);
 //
 //
     // Begin DMA reception
     //HAL_UART_Receive_DMA(uart_gethandle(), nmeaBuffer, NMEABUFFER_SIZE);
     gpson = 1;
+}
 // Power off GPS module
 void gps_poweroff(void)

Source/main.c

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@@ @@ -15,29 +15,37 @@ @@
 #include "aprs/aprs.h"
 #include "aprs/afsk.h"
 #include "pressure.h"
 #include "gps.h"
 int main(void)
+{
   hal_init();
   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
   uint32_t last_transmission = HAL_GetTick();
   uint32_t last_led = HAL_GetTick();
   while (1)
+  {
 	  // Blink LEDs
 	  if(HAL_GetTick() - last_transmission > 700)
+	  {
 		  gps_update_data(); // Will always return at 1hz rate (default measurement rate)

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