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[RP2040] bump Pico Core up to 3.9.2
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@lyusupov
lyusupov committed Jun 7, 2024
1 parent 104eb5e commit 28e4fec
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2 changes: 1 addition & 1 deletion .github/workflows/main.yml
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Expand Up @@ -368,7 +368,7 @@ jobs:
fi
if [[ "$BOARD" =~ "rp2040:rp2040:" ]]; then
arduino --pref "boardsmanager.additional.urls=https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json" --save-prefs ;
arduino --install-boards rp2040:rp2040:3.9.1 ;
arduino --install-boards rp2040:rp2040:3.9.2 ;
arduino --board $BOARD --save-prefs ;
if [[ "$BOARD" =~ "rp2040:rp2040:rpipicow" ]]; then
arduino --pref "custom_freq=rpipicow_120" --save-prefs ;
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175 changes: 156 additions & 19 deletions software/firmware/source/libraries/OGN/ads-l.h
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Expand Up @@ -24,7 +24,7 @@ class ADSL_Packet
union // 20 bytes
{ uint32_t Word[5]; // this part to be scrambled/encrypted, is aligned to 32-bit
struct // this is aligned to 32-bit
{ uint8_t Type; // 2=iConspicuity, bit #7 = Unicast
{ uint8_t Type; // 0x02=iConspicuity, 0x41=Telemetry, bit #7 = Unicast
uint8_t Address [4]; // Address[30]/Reserved[1]/RelayForward[1] (not aligned to 32-bit !)
union
{ uint8_t Meta [2]; // Time[6]/Cat[5]/Emergency[3]/FlightState[2]
Expand All @@ -33,44 +33,179 @@ class ADSL_Packet
uint8_t FlightState :2; // 0=unknown, 1=ground, 2=airborne
uint8_t AcftCat :5; // 1=light, 2=small-heavy, 3=heli, 4=glider, 5=baloon/airship, 6=para/hang-glider, 7=skydiver,
uint8_t Emergency :3; // 1=OK
} ;
} __attribute__((packed));
} ;
uint8_t Position[11]; // Lat[24]/Lon[24]/Speed[8]/Alt[14]/Climb[9]/Track[9]
union
{ uint8_t Integrity[2]; // SourceInteg[2]/DesignAssurance[2]/NavigationIntegrity[4]/NorizAccuracy[3]/VertAccuracy[2]/ValocityAccuracy[2]/Reserved[1]
struct
{ uint8_t SourceIntegrity:2; // 3=1e-7/h, 2=1e-5/h, 1=1e-3/h
uint8_t DesignAssurance:2; // 3=B, 2=C, 1=D
uint8_t NavigIntegrity :4; // 12=7.5m, 11=25m, 10=75m
uint8_t HorizAccuracy :3; // 7=3m, 6=10m, 5=30m
uint8_t VertAccuracy :2; // 3=15m, 2=45m, 1=150m
uint8_t VelAccuracy :2; // 3=1m/s 2=3m/s 3=10m/s
{ uint8_t SourceIntegrity:2; // 3=1e-7/h, 2=1e-5/h, 1=1e-3/h <= SIL
uint8_t DesignAssurance:2; // 3=B, 2=C, 1=D <= SDA
uint8_t NavigIntegrity :4; // 12=7.5m, 11=25m, 10=75m <= NIC +1
uint8_t HorizAccuracy :3; // 7=3m, 6=10m, 5=30m. 4=92.5m <= NACp -4
uint8_t VertAccuracy :2; // 3=15m, 2=45m, 1=150m <= GVA
uint8_t VelAccuracy :2; // 3=1m/s 2=3m/s 3=10m/s <= NACv
uint8_t Reserved :1; //
} ;
} __attribute__((packed));
} ;
} ;
} __attribute__((packed)) ;

struct
{ uint8_t Type; // 0x02=iConspicuity, bit #7 = Unicast, 0x42 = telemetry
uint8_t Address [4]; // Address[30]/Reserved[1]/RelayForward[1] (not aligned to 32-bit !)
struct //
{ uint8_t TimeStamp:6; // [0.25 sec] 0..14.75
uint8_t TelemType:2; // 0=telemetry, 1=info, 2=flight
} __attribute__((packed)) Header; // 1 byte
struct
{ uint8_t Satellites:4; // 1-15
uint8_t DOP:5; // [0.125] 1.0-3.75
uint8_t SNR:5; // [dB] 10-40 dB, bias by 10 dB
uint8_t FixQuality:2; //
} __attribute__((packed)) GPS; // 2 bytes
struct
{ int16_t HeightDiff:10; // [m] +/-500m HAE-pAlt
uint16_t Pressure:14; // [8 Pa]
int8_t Temperature: 8; // [1/2 deg] -63..+63
uint8_t Humidity: 6; //
uint8_t Spare : 2;
} __attribute__((packed)) Baro; // 5 bytes
struct
{ uint16_t Voltage : 10; // [4mV] VR 0.00-15.32V EncodeUR2V8()
uint8_t Capacity: 6; // [100%/64] 0..100%
} __attribute__((packed)) Battery; // 2 bytes
struct
{ uint8_t RxRate: 6; // [0.25Hz] VR 0-232/4 EncodeUR2V4()
uint8_t RxNoise: 6; // [dB] -120..-60dBm
uint8_t TxPower: 4; // [dBm] 10..25
} __attribute__((packed)) Radio; // 2 bytes
struct
{ uint8_t Accel:8;
uint8_t Gyro:8;
uint8_t Spare:8;
} __attribute__((packed)) IMU; // 3 bytes
} __attribute__((packed)) Telemetry;

struct
{ uint8_t Type; // 0x02=iConspicuity, bit #7 = Unicast, 0x42 = telemetry
uint8_t Address [4]; // Address[30]/Reserved[1]/RelayForward[1] (not aligned to 32-bit !)
struct //
{ uint8_t InfoType :6; //
uint8_t TelemType:2; // 1 = Info
} __attribute__((packed)) Header; // 1 byte
char Msg[14];
} __attribute__((packed)) Info;

struct
{ uint8_t Type; // 0x02=iConspicuity, bit #7 = Unicast, 0x42 = telemetry
uint8_t Address [4]; // Address[30]/Reserved[1]/RelayForward[1] (not aligned to 32-bit !)
struct //
{ uint8_t TimeStamp:6; // [0.25 sec] 0..14.75
uint8_t TelemType:2; // 2 = flight-status
} __attribute__((packed)) Header; // 1 byte
struct
{ uint16_t Time:16; // [sec] takeoff/landing time
uint16_t Dist :16; // [km] distance flown
uint8_t Dir : 8; // [cyclic] takeoff/landing direction
bool Landing : 1; // 0=takeoff, 1=landing
uint8_t Spare : 7; //
int32_t Lat :20; // [cyclic] takeoff/landing latitude
uint16_t Alt :12; // [m] takeoff/landing altitude HAE
int32_t Lon :20; // [cyclic] takeoff/landing longitude
uint16_t MaxAlt:12; // [m] max. flight altitude HAE
} __attribute__((packed)) Takeoff; // 3x4 = 14 btyes

} __attribute__((packed)) Flight;

} ;
uint8_t CRC24[3]; // 24-bit (is aligned to 32-bit)

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

static const uint8_t InfoParmNum = 15; // [int] number of info-parameters and their names
static const char *InfoParmName(uint8_t Idx) { static const char *Name[InfoParmNum] =
{ "Pilot", "Manuf", "Model", "Type", "SN", "Reg", "ID", "Class",
"Task" , "Base" , "ICE" , "PilotID", "Hard", "Soft", "Crew" } ;
return Idx<InfoParmNum ? Name[Idx]:0; }

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

public:
void Init(void)
void Init(uint8_t Type=0x02)
{ SYNC[0]=SYNC1; SYNC[1]=SYNC2;
Length=TxBytes-3; Version=0x00;
for(int Idx=0; Idx<5; Idx++)
Word[Idx]=0;
Type=0x02; }
this->Type=Type; }

void Print(void) const
{ printf(" v%02X %4.1fs: %02X:%06X [%+09.5f,%+010.5f]deg %dm %+4.1fm/s %05.1fdeg %3.1fm/s\n",
{ if(Type==0x02)
printf(" v%02X %4.1fs: %02X:%06X [%+09.5f,%+010.5f]deg %dm %+4.1fm/s %05.1fdeg %3.1fm/s\n",
Version, 0.25*TimeStamp, getAddrTable(), getAddress(), FNTtoFloat(getLat()), FNTtoFloat(getLon()),
getAlt(), 0.125*getClimb(), (45.0/0x40)*getTrack(), 0.25*getSpeed()); }
getAlt(), 0.125*getClimb(), (45.0/0x40)*getTrack(), 0.25*getSpeed());
else
printf(" v%02X %4.1fs: %02X:%06X\n",
Version, 0.25*TimeStamp, getAddrTable(), getAddress() );
}

int PrintFlight(char *Out, uint32_t Time=0) const // type #2 = Flight status
{ int Len=0;
Len+=sprintf(Out+Len, " %s", Flight.Takeoff.Landing?"Landing:":"Takeoff:");
Len+=sprintf(Out+Len, "[%+09.5f,%+010.5f] %3dm %03.0f %dm/%dkm",
1e-7*FNTtoUBX(Flight.Takeoff.Lat<<4), 1e-7*FNTtoUBX(Flight.Takeoff.Lon<<4),
UnsVRdecode<int32_t,12>(Flight.Takeoff.Alt<<2)-316, (90.0/0x40)*Flight.Takeoff.Dir,
UnsVRdecode<int32_t,12>(Flight.Takeoff.MaxAlt<<2)-316, Flight.Takeoff.Dist);
if(Time)
{ uint16_t Diff=Time;
Diff=Flight.Takeoff.Time-Diff;
Time-=Diff;
Out[Len++]=' ';
Len+=Format_HHMMSS(Out+Len, Time);
Out[Len]=0; }
return Len; }

int PrintInfo(char *Out) const // type #1 = Info
{ int Len=0;
if(Info.Header.InfoType<InfoParmNum) Len+=sprintf(Out+Len, " %s=%.14s", InfoParmName(Info.Header.InfoType), Info.Msg);
else Len+=sprintf(Out+Len, " #%02X=%.14s", Info.Header.InfoType, Info.Msg);
return Len; }

int PrintTelemetry(char *Out) const // type #0 = Telemetry
{ int Len=0;
Len+=sprintf(Out+Len, " %dsat/%d/%3.1f/%ddB",
Telemetry.GPS.Satellites, Telemetry.GPS.FixQuality, 0.25*Telemetry.GPS.DOP, Telemetry.GPS.SNR+10);
if(Telemetry.Baro.Pressure) Len+=sprintf(Out+Len, " %3.1fhPa", 0.08*Telemetry.Baro.Pressure);
if(Telemetry.Baro.HeightDiff!=(-512)) Len+=sprintf(Out+Len, "/%+dm", Telemetry.Baro.HeightDiff);
if(Telemetry.Baro.Temperature!=(-128)) Len+=sprintf(Out+Len, "/%+4.1fdegC",0.5*Telemetry.Baro.Temperature);
if(Telemetry.Baro.Humidity) Len+=sprintf(Out+Len, "/%d%%", ((int)Telemetry.Baro.Humidity*100+32)>>6);
Len+=sprintf(Out+Len, " %+5.2fV/%d%%",
0.004*DecodeUR2V8(Telemetry.Battery.Voltage), ((int)Telemetry.Battery.Capacity*100+32)>>6);
Len+=sprintf(Out+Len, " %d/%+ddBm/%3.1fHz",
Telemetry.Radio.TxPower+10, (int8_t)Telemetry.Radio.RxNoise-120, 0.25*DecodeUR2V4(Telemetry.Radio.RxRate));
return Len; }

int Print(char *Out) const
{ return sprintf(Out, "%02X:%06X %4.1fs [%+09.5f,%+010.5f]deg %dm %+4.1fm/s %05.1fdeg %3.1fm/s",
{ Out[0]=0;
if(Type==0x02)
return sprintf(Out, "%02X:%06X %4.1fs [%+09.5f,%+010.5f]deg %dm %+4.1fm/s %05.1fdeg %3.1fm/s",
getAddrTable(), getAddress(), 0.25*TimeStamp, FNTtoFloat(getLat()), FNTtoFloat(getLon()),
getAlt(), 0.125*getClimb(), (45.0/0x40)*getTrack(), 0.25*getSpeed()); }
getAlt(), 0.125*getClimb(), (45.0/0x40)*getTrack(), 0.25*getSpeed());
if(Type==0x42)
{ int Len=0;
if(Telemetry.Header.TelemType==0)
{ Len=sprintf(Out, "%02X:%06X %4.1fs", getAddrTable(), getAddress(), 0.25*Telemetry.Header.TimeStamp);
Len+=PrintTelemetry(Out+Len); }
else if(Telemetry.Header.TelemType==1)
{ Len=sprintf(Out, "%02X:%06X ", getAddrTable(), getAddress() );
Len+=PrintInfo(Out+Len); }
else if(Telemetry.Header.TelemType==2)
{ int Len=sprintf(Out, "%02X:%06X ", getAddrTable(), getAddress() );
Len+=PrintFlight(Out+Len); }
else
{ Len+=sprintf(Out, "%02X:%06X %d:%02X (telemetry/diagnostic)",
getAddrTable(), getAddress(), Telemetry.Header.TelemType, Telemetry.Header.TimeStamp); }
return Len; }
return 0; }

uint8_t Dump(char *Out)
{ uint8_t Len=0;
Expand Down Expand Up @@ -140,8 +275,10 @@ class ADSL_Packet
0, 0, 0, 0, 0, 0, 0, 0 } ;
return Map[AcftCat]; }

// uint8_t getAcftTypeADSB(void) const
// { uint8_t Cat=0; return Cat; }
static uint8_t getAcftTypeADSB(uint8_t AcftCat)
{ uint8_t Cat=0; if(AcftCat>13) return Cat;
const uint8_t Map[14] = { 0xA0, 0xA1, 0xA2, 0xA7, 0xB1, 0xB2, 0xB4, 0xB4, 0xB3, 0xA7, 0xA7, 0xB6, 0xB6, 0xB6 } ;
return Map[AcftCat]; }

// aircraft-types
// ADS-L FLARM/OGN/PilotAware FANET ADS-B GDL90
Expand Down Expand Up @@ -538,6 +675,6 @@ class ADSL_RxPacket: public ADSL_Packet
double getTime(void) const { return (double)sTime+0.001*msTime; }
uint32_t SlotTime(void) const { uint32_t Slot=sTime; if(msTime<=300) Slot--; return Slot; }

};
} __attribute__((packed));

#endif // __ADSL_H__
1 change: 1 addition & 0 deletions software/firmware/source/libraries/OGN/format.h
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Expand Up @@ -32,6 +32,7 @@ uint8_t Format_Hex( char *Output, uint16_t Word );
uint8_t Format_Hex( char *Output, uint32_t Word );
uint8_t Format_Hex( char *Output, uint32_t Word, uint8_t Digits);

uint8_t Format_HHMMSS(char *Out, uint32_t Time);

int8_t Read_Hex1(char Digit);

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4 changes: 2 additions & 2 deletions software/firmware/source/libraries/OGN/ognconv.h
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Expand Up @@ -45,8 +45,8 @@ uint16_t EncodeSR2V6(int16_t Value); // Encode
// uint16_t EncodeUR2V12(uint16_t Value); // encode unsigned 16-bit (0..61432) as 14-bit
// uint16_t DecodeUR2V12(uint16_t Value);

// uint8_t EncodeUR2V4(uint8_t DOP);
// uint8_t DecodeUR2V4(uint8_t DOP);
uint8_t EncodeUR2V4(uint8_t DOP);
uint8_t DecodeUR2V4(uint8_t DOP);

template <class Type, int Bits>
Type UnsVRdecode(Type Value)
Expand Down

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