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-rw-r--r--src/drivers/ao_aprs.c75
-rw-r--r--src/lpc/Makefile-lpc.defs4
-rw-r--r--src/math/ef_log.c92
-rw-r--r--src/math/fdlibm.h1
-rw-r--r--src/math/math.h2
-rw-r--r--src/telegps-v0.3/Makefile4
-rw-r--r--src/telemega-v0.1/Makefile3
-rw-r--r--src/telemega-v1.0/Makefile3
-rw-r--r--src/telemetrum-v2.0/Makefile4
9 files changed, 174 insertions, 14 deletions
diff --git a/src/drivers/ao_aprs.c b/src/drivers/ao_aprs.c
index 6ab61e6a..96e90f00 100644
--- a/src/drivers/ao_aprs.c
+++ b/src/drivers/ao_aprs.c
@@ -144,6 +144,7 @@
#endif
#include <ao_aprs.h>
+#include <math.h>
// Public methods, constants, and data structures for each class.
@@ -254,9 +255,9 @@ typedef enum
/// AX.25 compliant packet header that contains destination, station call sign, and path.
/// 0x76 for SSID-11, 0x78 for SSID-12
static uint8_t TNC_AX25_HEADER[] = {
- 'A' << 1, 'P' << 1, 'A' << 1, 'M' << 1, ' ' << 1, ' ' << 1, 0x60, \
- 'N' << 1, '0' << 1, 'C' << 1, 'A' << 1, 'L' << 1, 'L' << 1, 0x78, \
- 'W' << 1, 'I' << 1, 'D' << 1, 'E' << 1, '2' << 1, ' ' << 1, 0x65, \
+ 'A' << 1, 'P' << 1, 'A' << 1, 'M' << 1, ' ' << 1, ' ' << 1, 0x60,
+ 'N' << 1, '0' << 1, 'C' << 1, 'A' << 1, 'L' << 1, 'L' << 1, 0x78,
+ 'W' << 1, 'I' << 1, 'D' << 1, 'E' << 1, '2' << 1, ' ' << 1, 0x65,
0x03, 0xf0 };
#define TNC_CALLSIGN_OFF 7
@@ -479,6 +480,14 @@ static void tnc1200TimerTick()
} // END switch
}
+static void tncCompressInt(uint8_t *dest, int32_t value, int len) {
+ int i;
+ for (i = len - 1; i >= 0; i--) {
+ dest[i] = value % 91 + 33;
+ value /= 91;
+ }
+}
+
/**
* Generate the plain text position packet.
*/
@@ -487,7 +496,14 @@ static int tncPositionPacket(void)
int32_t latitude = ao_gps_data.latitude;
int32_t longitude = ao_gps_data.longitude;
int32_t altitude = ao_gps_data.altitude;
+ uint8_t *buf;
+ if (altitude < 0)
+ altitude = 0;
+ altitude = (altitude * (int32_t) 10000 + (3048/2)) / (int32_t) 3048;
+
+#if 0
+ char lat_sign = 'N', lon_sign = 'E';
uint16_t lat_deg;
uint16_t lon_deg;
uint16_t lat_min;
@@ -495,8 +511,6 @@ static int tncPositionPacket(void)
uint16_t lon_min;
uint16_t lon_frac;
- char lat_sign = 'N', lon_sign = 'E';
-
if (latitude < 0) {
lat_sign = 'S';
latitude = -latitude;
@@ -529,15 +543,56 @@ static int tncPositionPacket(void)
longitude -= lon_min * 10000000;
lon_frac = longitude / 100000;
- if (altitude < 0)
- altitude = 0;
-
- altitude = (altitude * (int32_t) 10000 + (3048/2)) / (int32_t) 3048;
-
+#if 0
return sprintf ((char *) tncBuffer, "=%02u%02u.%02u%c\\%03u%02u.%02u%cO /A=%06u\015",
lat_deg, lat_min, lat_frac, lat_sign,
lon_deg, lon_min, lon_frac, lon_sign,
altitude);
+#endif
+
+ return sprintf ((char *) tncBuffer, "/%02u%02u%02uh%02u%02u.%02u%c/%03u%02u.%02u%c'/A=%06u\015",
+ ao_gps_data.hour,
+ ao_gps_data.minute,
+ ao_gps_data.second,
+ lat_deg, lat_min, lat_frac, lat_sign,
+ lon_deg, lon_min, lon_frac, lon_sign,
+ altitude);
+#endif
+ buf = tncBuffer;
+#if APRS_TIME
+ sprintf ((char *) buf, "/%02u%02u%02uh",
+ ao_gps_data.hour,
+ ao_gps_data.minute,
+ ao_gps_data.second);
+ buf += 8;
+#else
+ *buf++ = '!';
+#endif
+
+ /* Symbol table ID */
+ *buf++ = '/';
+
+ latitude = ((uint64_t) 380926 * (900000000 - latitude)) / 10000000;
+ longitude = ((uint64_t) 190463 * (1800000000 + longitude)) / 10000000;
+
+#define ALTITUDE_LOG_BASE 0.001998002662673f /* log(1.002) */
+
+ altitude = logf((float) altitude) * (1/ALTITUDE_LOG_BASE);
+
+ tncCompressInt(buf, latitude, 4);
+ buf += 4;
+ tncCompressInt(buf, longitude, 4);
+ buf += 4;
+
+ /* Symbol code */
+ *buf++ = '\'';
+
+ tncCompressInt(buf, altitude, 2);
+ buf += 2;
+
+ *buf++ = 33 + ((1 << 5) | (2 << 3));
+ *buf++ = '\0';
+ return buf - tncBuffer;
}
static int16_t
diff --git a/src/lpc/Makefile-lpc.defs b/src/lpc/Makefile-lpc.defs
index dd2bf0e6..fecb9135 100644
--- a/src/lpc/Makefile-lpc.defs
+++ b/src/lpc/Makefile-lpc.defs
@@ -4,7 +4,7 @@ endif
include $(TOPDIR)/Makedefs
-vpath % $(TOPDIR)/lpc:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/core:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR/aes):$(TOPDIR)
+vpath % $(TOPDIR)/lpc:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/core:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR/aes):$(TOPDIR):$(TOPDIR)/math
vpath make-altitude $(TOPDIR)/util
vpath make-kalman $(TOPDIR)/util
vpath kalman.5c $(TOPDIR)/kalman
@@ -28,7 +28,7 @@ CC=$(ARM_CC)
WARN_FLAGS=-Wall -Wextra -Werror
-AO_CFLAGS=-I. -I$(TOPDIR)/lpc -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) $(PDCLIB_INCLUDES)
+AO_CFLAGS=-I. -I$(TOPDIR)/lpc -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) -I$(TOPDIR)/math -I$(TOPDIR) $(PDCLIB_INCLUDES)
LPC_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m0 -mthumb\
-ffreestanding -nostdlib $(AO_CFLAGS) $(WARN_FLAGS)
diff --git a/src/math/ef_log.c b/src/math/ef_log.c
new file mode 100644
index 00000000..619fe909
--- /dev/null
+++ b/src/math/ef_log.c
@@ -0,0 +1,92 @@
+/* ef_log.c -- float version of e_log.c.
+ * Conversion to float by Ian Lance Taylor, Cygnus Support, ian@cygnus.com.
+ */
+
+/*
+ * ====================================================
+ * Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved.
+ *
+ * Developed at SunPro, a Sun Microsystems, Inc. business.
+ * Permission to use, copy, modify, and distribute this
+ * software is freely granted, provided that this notice
+ * is preserved.
+ * ====================================================
+ */
+
+#include "fdlibm.h"
+
+#ifdef __STDC__
+static const float
+#else
+static float
+#endif
+ln2_hi = 6.9313812256e-01, /* 0x3f317180 */
+ln2_lo = 9.0580006145e-06, /* 0x3717f7d1 */
+two25 = 3.355443200e+07, /* 0x4c000000 */
+Lg1 = 6.6666668653e-01, /* 3F2AAAAB */
+Lg2 = 4.0000000596e-01, /* 3ECCCCCD */
+Lg3 = 2.8571429849e-01, /* 3E924925 */
+Lg4 = 2.2222198546e-01, /* 3E638E29 */
+Lg5 = 1.8183572590e-01, /* 3E3A3325 */
+Lg6 = 1.5313838422e-01, /* 3E1CD04F */
+Lg7 = 1.4798198640e-01; /* 3E178897 */
+
+#ifdef __STDC__
+static const float zero = 0.0;
+#else
+static float zero = 0.0;
+#endif
+
+#ifdef __STDC__
+ float __ieee754_logf(float x)
+#else
+ float __ieee754_logf(x)
+ float x;
+#endif
+{
+ float hfsq,f,s,z,R,w,t1,t2,dk;
+ __int32_t k,ix,i,j;
+
+ GET_FLOAT_WORD(ix,x);
+
+ k=0;
+ if (FLT_UWORD_IS_ZERO(ix&0x7fffffff))
+ return -two25/zero; /* log(+-0)=-inf */
+ if (ix<0) return (x-x)/zero; /* log(-#) = NaN */
+ if (!FLT_UWORD_IS_FINITE(ix)) return x+x;
+ if (FLT_UWORD_IS_SUBNORMAL(ix)) {
+ k -= 25; x *= two25; /* subnormal number, scale up x */
+ GET_FLOAT_WORD(ix,x);
+ }
+ k += (ix>>23)-127;
+ ix &= 0x007fffff;
+ i = (ix+(0x95f64<<3))&0x800000;
+ SET_FLOAT_WORD(x,ix|(i^0x3f800000)); /* normalize x or x/2 */
+ k += (i>>23);
+ f = x-(float)1.0;
+ if((0x007fffff&(15+ix))<16) { /* |f| < 2**-20 */
+ if(f==zero) { if(k==0) return zero; else {dk=(float)k;
+ return dk*ln2_hi+dk*ln2_lo;}}
+ R = f*f*((float)0.5-(float)0.33333333333333333*f);
+ if(k==0) return f-R; else {dk=(float)k;
+ return dk*ln2_hi-((R-dk*ln2_lo)-f);}
+ }
+ s = f/((float)2.0+f);
+ dk = (float)k;
+ z = s*s;
+ i = ix-(0x6147a<<3);
+ w = z*z;
+ j = (0x6b851<<3)-ix;
+ t1= w*(Lg2+w*(Lg4+w*Lg6));
+ t2= z*(Lg1+w*(Lg3+w*(Lg5+w*Lg7)));
+ i |= j;
+ R = t2+t1;
+ if(i>0) {
+ hfsq=(float)0.5*f*f;
+ if(k==0) return f-(hfsq-s*(hfsq+R)); else
+ return dk*ln2_hi-((hfsq-(s*(hfsq+R)+dk*ln2_lo))-f);
+ } else {
+ if(k==0) return f-s*(f-R); else
+ return dk*ln2_hi-((s*(f-R)-dk*ln2_lo)-f);
+ }
+}
diff --git a/src/math/fdlibm.h b/src/math/fdlibm.h
index 821619ad..ee9fcb22 100644
--- a/src/math/fdlibm.h
+++ b/src/math/fdlibm.h
@@ -19,6 +19,7 @@
#define __ieee754_acosf acosf
#define __ieee754_sqrtf sqrtf
+#define __ieee754_logf logf
/* REDHAT LOCAL: Include files. */
#include <math.h>
diff --git a/src/math/math.h b/src/math/math.h
index fd543bc2..97dd74cf 100644
--- a/src/math/math.h
+++ b/src/math/math.h
@@ -34,4 +34,6 @@ float scalbnf(float x, int n);
float copysignf(float x, float y);
+float logf(float x);
+
#endif
diff --git a/src/telegps-v0.3/Makefile b/src/telegps-v0.3/Makefile
index bb9c8c64..5aad32b5 100644
--- a/src/telegps-v0.3/Makefile
+++ b/src/telegps-v0.3/Makefile
@@ -19,6 +19,9 @@ INC = \
Makefile
+MATH_SRC=\
+ ef_log.c
+
ALTOS_SRC = \
ao_interrupt.c \
ao_boot_chain.c \
@@ -47,6 +50,7 @@ ALTOS_SRC = \
ao_log.c \
ao_log_mega.c \
ao_gps_report_mega.c \
+ $(MATH_SRC) \
$(SAMPLE_PROFILE)
PRODUCT=TeleGPS-v0.3
diff --git a/src/telemega-v0.1/Makefile b/src/telemega-v0.1/Makefile
index 0145f49c..35f28b30 100644
--- a/src/telemega-v0.1/Makefile
+++ b/src/telemega-v0.1/Makefile
@@ -58,7 +58,8 @@ MATH_SRC=\
sf_sin.c \
sf_fabs.c \
sf_floor.c \
- sf_scalbn.c
+ sf_scalbn.c \
+ ef_log.c
ALTOS_SRC = \
ao_boot_chain.c \
diff --git a/src/telemega-v1.0/Makefile b/src/telemega-v1.0/Makefile
index 543f7e74..b5c1f402 100644
--- a/src/telemega-v1.0/Makefile
+++ b/src/telemega-v1.0/Makefile
@@ -59,7 +59,8 @@ MATH_SRC=\
sf_fabs.c \
sf_floor.c \
sf_scalbn.c \
- sf_sin.c
+ sf_sin.c \
+ ef_log.c
ALTOS_SRC = \
ao_boot_chain.c \
diff --git a/src/telemetrum-v2.0/Makefile b/src/telemetrum-v2.0/Makefile
index cebc9cab..0b9e6914 100644
--- a/src/telemetrum-v2.0/Makefile
+++ b/src/telemetrum-v2.0/Makefile
@@ -37,6 +37,9 @@ INC = \
#STACK_GUARD=ao_mpu_stm.c
#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
+MATH_SRC=\
+ ef_log.c
+
ALTOS_SRC = \
ao_boot_chain.c \
ao_interrupt.c \
@@ -83,6 +86,7 @@ ALTOS_SRC = \
ao_packet.c \
ao_companion.c \
ao_aprs.c \
+ $(MATH_SRC) \
$(PROFILE) \
$(SAMPLE_PROFILE) \
$(STACK_GUARD)
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-26 22:18:52 +0000