From f08949acd71eeed1504e049e252888378195774d Mon Sep 17 00:00:00 2001 From: Joel Wetzell Date: Fri, 24 Jul 2020 16:09:21 -0500 Subject: [PATCH] Add Heading to ADSB and Map Updating --- firmware/application/apps/ais_app.cpp | 2 +- firmware/application/apps/ui_adsb_rx.cpp | 7 +++- firmware/application/apps/ui_adsb_rx.hpp | 6 ++- firmware/application/ui/ui_geomap.cpp | 20 ++++++---- firmware/application/ui/ui_geomap.hpp | 10 ++--- firmware/common/adsb.cpp | 47 +++++++++++++++++++++++- firmware/common/adsb.hpp | 9 +++++ firmware/common/adsb_frame.hpp | 4 ++ 8 files changed, 87 insertions(+), 18 deletions(-) diff --git a/firmware/application/apps/ais_app.cpp b/firmware/application/apps/ais_app.cpp index 89244e87..7d42be86 100644 --- a/firmware/application/apps/ais_app.cpp +++ b/firmware/application/apps/ais_app.cpp @@ -240,7 +240,7 @@ AISRecentEntryDetailView::AISRecentEntryDetailView(NavigationView& nav) { void AISRecentEntryDetailView::update_position() { if (send_updates) - geomap_view->update_position(ais::format::latlon_float(entry_.last_position.latitude.normalized()), ais::format::latlon_float(entry_.last_position.longitude.normalized())); + geomap_view->update_position(ais::format::latlon_float(entry_.last_position.latitude.normalized()), ais::format::latlon_float(entry_.last_position.longitude.normalized()), (float)entry_.last_position.true_heading); } void AISRecentEntryDetailView::focus() { diff --git a/firmware/application/apps/ui_adsb_rx.cpp b/firmware/application/apps/ui_adsb_rx.cpp index 76d22730..8a174e4c 100644 --- a/firmware/application/apps/ui_adsb_rx.cpp +++ b/firmware/application/apps/ui_adsb_rx.cpp @@ -97,7 +97,7 @@ void ADSBRxDetailsView::update(const AircraftRecentEntry& entry) { text_frame_pos_odd.set(to_string_hex_array(entry_copy.frame_pos_odd.get_raw_data(), 14)); if (send_updates) - geomap_view->update_position(entry_copy.pos.latitude, entry_copy.pos.longitude); + geomap_view->update_position(entry_copy.pos.latitude, entry_copy.pos.longitude, entry_copy.velo.heading); } ADSBRxDetailsView::~ADSBRxDetailsView() { @@ -172,7 +172,7 @@ ADSBRxDetailsView::ADSBRxDetailsView( GeoPos::alt_unit::FEET, entry_copy.pos.latitude, entry_copy.pos.longitude, - 0, + entry_copy.velo.heading, [this]() { send_updates = false; }); @@ -214,6 +214,7 @@ void ADSBRxView::on_frame(const ADSBFrameMessage * message) { if (frame.get_DF() == DF_ADSB) { uint8_t msg_type = frame.get_msg_type(); + uint8_t msg_sub = frame.get_msg_sub(); uint8_t * raw_data = frame.get_raw_data(); if ((msg_type >= 1) && (msg_type <= 4)) { @@ -236,6 +237,8 @@ void ADSBRxView::on_frame(const ADSBFrameMessage * message) { if (send_updates) details_view->update(entry); } + } else if(msg_type == 19 && (msg_sub >= 1 && msg_sub <= 4)){ + entry.set_frame_velo(frame); } } recent_entries_view.set_dirty(); diff --git a/firmware/application/apps/ui_adsb_rx.hpp b/firmware/application/apps/ui_adsb_rx.hpp index c0316623..816992ee 100644 --- a/firmware/application/apps/ui_adsb_rx.hpp +++ b/firmware/application/apps/ui_adsb_rx.hpp @@ -49,7 +49,7 @@ struct AircraftRecentEntry { uint16_t hits { 0 }; uint32_t age { 0 }; adsb_pos pos { false, 0, 0, 0 }; - + adsb_vel velo { false, 0, 0 }; ADSBFrame frame_pos_even { }; ADSBFrame frame_pos_odd { }; @@ -86,6 +86,10 @@ struct AircraftRecentEntry { pos = decode_frame_pos(frame_pos_even, frame_pos_odd); } } + + void set_frame_velo(ADSBFrame& frame){ + velo = decode_frame_velo(frame); + } void set_info_string(std::string& new_info_string) { info_string = new_info_string; diff --git a/firmware/application/ui/ui_geomap.cpp b/firmware/application/ui/ui_geomap.cpp index f907825a..20da068e 100644 --- a/firmware/application/ui/ui_geomap.cpp +++ b/firmware/application/ui/ui_geomap.cpp @@ -168,10 +168,15 @@ void GeoMap::paint(Painter& painter) { // Cross display.fill_rectangle({ r.center() - Point(16, 1), { 32, 2 } }, Color::red()); display.fill_rectangle({ r.center() - Point(1, 16), { 2, 32 } }, Color::red()); - } else { - draw_bearing(r.center(), angle_, 10, Color::red()); - //center tag above bearing - painter.draw_string(r.center() - Point(((int)tag_.length() * 8 / 2), 2 * 16), style(), tag_); + } else if (angle_ < 360){ + //if we have a valid angle just draw bearing + draw_bearing({ 120, 32 + 144 }, angle_, 10, Color::red()); + painter.draw_string({ 120 - ((int)tag_.length() * 8 / 2), 32 + 144 - 32 }, style(), tag_); + } + else { + //draw a small cross + display.fill_rectangle({ r.center() - Point(8, 1), { 16, 2 } }, Color::red()); + display.fill_rectangle({ r.center() - Point(1, 8), { 2, 16 } }, Color::red()); } } @@ -231,7 +236,7 @@ void GeoMap::set_mode(GeoMapMode mode) { mode_ = mode; } -void GeoMap::draw_bearing(const Point origin, const uint32_t angle, uint32_t size, const Color color) { +void GeoMap::draw_bearing(const Point origin, const uint16_t angle, uint32_t size, const Color color) { Point arrow_a, arrow_b, arrow_c; for (size_t thickness = 0; thickness < 3; thickness++) { @@ -254,9 +259,10 @@ void GeoMapView::focus() { nav_.display_modal("No map", "No world_map.bin file in\n/ADSB/ directory", ABORT, nullptr); } -void GeoMapView::update_position(float lat, float lon) { +void GeoMapView::update_position(float lat, float lon, uint16_t angle) { lat_ = lat; lon_ = lon; + angle_ = angle; geopos.set_lat(lat_); geopos.set_lon(lon_); geomap.move(lon_, lat_); @@ -307,7 +313,7 @@ GeoMapView::GeoMapView( GeoPos::alt_unit altitude_unit, float lat, float lon, - float angle, + uint16_t angle, const std::function on_close ) : nav_ (nav), altitude_ (altitude), diff --git a/firmware/application/ui/ui_geomap.hpp b/firmware/application/ui/ui_geomap.hpp index 45a9479b..e4e5ebff 100644 --- a/firmware/application/ui/ui_geomap.hpp +++ b/firmware/application/ui/ui_geomap.hpp @@ -130,7 +130,7 @@ public: } private: - void draw_bearing(const Point origin, const uint32_t angle, uint32_t size, const Color color); + void draw_bearing(const Point origin, const uint16_t angle, uint32_t size, const Color color); GeoMapMode mode_ { }; File map_file { }; @@ -141,7 +141,7 @@ private: int32_t prev_x_pos { 0xFFFF }, prev_y_pos { 0xFFFF }; float lat_ { }; float lon_ { }; - float angle_ { }; + uint16_t angle_ { }; std::string tag_ { }; }; @@ -154,7 +154,7 @@ public: GeoPos::alt_unit altitude_unit, float lat, float lon, - float angle, + uint16_t angle, const std::function on_close = nullptr ); GeoMapView(NavigationView& nav, @@ -173,7 +173,7 @@ public: void focus() override; - void update_position(float lat, float lon); + void update_position(float lat, float lon, uint16_t angle); std::string title() const override { return "Map view"; }; @@ -190,7 +190,7 @@ private: GeoPos::alt_unit altitude_unit_ { }; float lat_ { }; float lon_ { }; - float angle_ { }; + uint16_t angle_ { }; std::function on_close_ { nullptr }; bool map_opened { }; diff --git a/firmware/common/adsb.cpp b/firmware/common/adsb.cpp index c730bbec..1831e89d 100644 --- a/firmware/common/adsb.cpp +++ b/firmware/common/adsb.cpp @@ -300,8 +300,8 @@ void encode_frame_velo(ADSBFrame& frame, const uint32_t ICAO_address, const uint v_rate_coded = (v_rate / 64) + 1; - velo_ew_abs = abs(velo_ew); - velo_ns_abs = abs(velo_ns); + velo_ew_abs = abs(velo_ew) + 1; + velo_ns_abs = abs(velo_ns) + 1; v_rate_coded_abs = abs(v_rate_coded); make_frame_adsb(frame, ICAO_address); @@ -317,4 +317,47 @@ void encode_frame_velo(ADSBFrame& frame, const uint32_t ICAO_address, const uint frame.make_CRC(); } +// Decoding method from dump1090 +adsb_vel decode_frame_velo(ADSBFrame& frame){ + adsb_vel velo {false, 0, 0}; + + uint8_t * frame_data = frame.get_raw_data(); + uint8_t velo_type = frame.get_msg_sub(); + + if(velo_type >= 1 && velo_type <= 4){ //vertical rate is always present + + velo.v_rate = (((frame_data[8] & 0x07 ) << 6) | ((frame_data[9]) >> 2) - 1) * 64; + + if((frame_data[8] & 0x8) >> 3) velo.v_rate *= -1; //check v_rate sign + } + + if(velo_type == 1 || velo_type == 2){ //Ground Speed + int32_t velo_ew = (((frame_data[5] & 0x03) << 8) | frame_data[6]) - 1; + int32_t velo_ns = ((frame_data[7] & 0x7f) << 3) | ((frame_data[8]) >> 5) - 1; + + if (velo_type == 2){ // supersonic indicator so multiply by 4 + velo_ew = velo_ew << 2; + velo_ns = velo_ns << 2; + } + + if((frame_data[5]&4) >> 2) velo_ew *= -1; //check ew direction sign + if((frame_data[7]&0x80) >> 7) velo_ns *= -1; //check ns direction sign + + velo.speed = sqrt(velo_ns*velo_ns + velo_ew*velo_ew); + if(velo.speed){ + //calculate heading in degrees from ew/ns velocities + velo.heading = (uint16_t)(atan2(velo_ew,velo_ns) * 180.0 / pi); + // We don't want negative values but a 0-360 scale. + if (velo.heading < 0) velo.heading += 360.0; + } + + }else if(velo_type == 3 || velo_type == 4){ //Airspeed + velo.valid = frame_data[5] & (1<<2); + velo.heading = ((((frame_data[5] & 0x03)<<8) | frame_data[6]) * 45) << 7; + } + + return velo; + +} + } /* namespace adsb */ diff --git a/firmware/common/adsb.hpp b/firmware/common/adsb.hpp index 4e042ff2..82d177e4 100644 --- a/firmware/common/adsb.hpp +++ b/firmware/common/adsb.hpp @@ -56,6 +56,13 @@ struct adsb_pos { int32_t altitude; }; +struct adsb_vel { + bool valid; + int32_t speed; //knot + uint16_t heading; //degree + int32_t v_rate; //ft/min +}; + const float CPR_MAX_VALUE = 131072.0; const float adsb_lat_lut[58] = { @@ -89,6 +96,8 @@ adsb_pos decode_frame_pos(ADSBFrame& frame_even, ADSBFrame& frame_odd); void encode_frame_velo(ADSBFrame& frame, const uint32_t ICAO_address, const uint32_t speed, const float angle, const int32_t v_rate); +adsb_vel decode_frame_velo(ADSBFrame& frame); + //void encode_frame_emergency(ADSBFrame& frame, const uint32_t ICAO_address, const uint8_t code); void encode_frame_squawk(ADSBFrame& frame, const uint32_t squawk); diff --git a/firmware/common/adsb_frame.hpp b/firmware/common/adsb_frame.hpp index 36685843..a93abe6f 100644 --- a/firmware/common/adsb_frame.hpp +++ b/firmware/common/adsb_frame.hpp @@ -41,6 +41,10 @@ public: return (raw_data[4] >> 3); } + uint8_t get_msg_sub() { + return (raw_data[4] & 7); + } + uint32_t get_ICAO_address() { return (raw_data[1] << 16) + (raw_data[2] << 8) + raw_data[3]; }