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GNU GENERAL PUBLIC LICENSE
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hardware/packetmodem_nano2/MicroModemGP/Makefile Executable file
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# AVR Sample makefile written by Eric B. Weddington, Jörg Wunsch, et al.
# Modified (bringing often-changed options to the top) by Elliot Williams
# make all = Make software and program
# make clean = Clean out built project files.
# make program = Download the hex file to the device, using avrdude. Please
# customize the avrdude settings below first!
# Microcontroller Type
#MCU = atmega1284p
#MCU = atmega644p
MCU = atmega328p
# Target file name (without extension).
TARGET = images/MicroModemGP
# Programming hardware: type avrdude -c ?
# to get a full listing.
AVRDUDE_PROGRAMMER = arduino
AVRDUDE_PORT = /dev/usb # not really needed for usb
#AVRDUDE_PORT = /dev/parport0 # linux
# AVRDUDE_PORT = lpt1 # windows
############# Don't need to change below here for most purposes (Elliot)
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
OPT = s
# Output format. (can be srec, ihex, binary)
FORMAT = ihex
# List C source files here. (C dependencies are automatically generated.)
#SRC = $(TARGET).c
SRC = main.c hardware/Serial.c hardware/AFSK.c util/CRC-CCIT.c protocol/LLP.c protocol/KISS.c
# If there is more than one source file, append them above, or modify and
# uncomment the following:
#SRC += foo.c bar.c
# You can also wrap lines by appending a backslash to the end of the line:
#SRC += baz.c \
#xyzzy.c
# List Assembler source files here.
# Make them always end in a capital .S. Files ending in a lowercase .s
# will not be considered source files but generated files (assembler
# output from the compiler), and will be deleted upon "make clean"!
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC =
# List any extra directories to look for include files here.
# Each directory must be seperated by a space.
EXTRAINCDIRS =
# Optional compiler flags.
# -g: generate debugging information (for GDB, or for COFF conversion)
# -O*: optimization level
# -f...: tuning, see gcc manual and avr-libc documentation
# -Wall...: warning level
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create assembler listing
CFLAGS = -g -O$(OPT) \
-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \
-Wall -Wstrict-prototypes \
-Wa,-adhlns=$(<:.c=.lst) \
$(patsubst %,-I%,$(EXTRAINCDIRS))
# Set a "language standard" compiler flag.
# Unremark just one line below to set the language standard to use.
# gnu99 = C99 + GNU extensions. See GCC manual for more information.
#CFLAGS += -std=c89
#CFLAGS += -std=gnu89
#CFLAGS += -std=c99
CFLAGS += -std=gnu99
# Optional assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create listing
# -gstabs: have the assembler create line number information; note that
# for use in COFF files, additional information about filenames
# and function names needs to be present in the assembler source
# files -- see avr-libc docs [FIXME: not yet described there]
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
# Optional linker flags.
# -Wl,...: tell GCC to pass this to linker.
# -Map: create map file
# --cref: add cross reference to map file
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
# Additional libraries
# Minimalistic printf version
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min
# Floating point printf version (requires -lm below)
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt
# -lm = math library
LDFLAGS += -lm
# Programming support using avrdude. Settings and variables.
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
# Uncomment the following if you want avrdude's erase cycle counter.
# Note that this counter needs to be initialized first using -Yn,
# see avrdude manual.
#AVRDUDE_ERASE += -y
# Uncomment the following if you do /not/ wish a verification to be
# performed after programming the device.
#AVRDUDE_FLAGS += -V
# Increase verbosity level. Please use this when submitting bug
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
# to submit bug reports.
#AVRDUDE_FLAGS += -v -v
#Run while cable attached or don't
AVRDUDE_FLAGS += -E reset #keep chip disabled while cable attached
#AVRDUDE_FLAGS += -E noreset
#AVRDUDE_WRITE_FLASH = -U lfuse:w:0x04:m #run with 8 Mhz clock
#AVRDUDE_WRITE_FLASH = -U lfuse:w:0x21:m #run with 1 Mhz clock #default clock mode
#AVRDUDE_WRITE_FLASH = -U lfuse:w:0x01:m #run with 1 Mhz clock no start up time
# ---------------------------------------------------------------------------
# Define programs and commands.
SHELL = sh
CC = avr-gcc
OBJCOPY = avr-objcopy
OBJDUMP = avr-objdump
SIZE = avr-size
# Programming support using avrdude.
AVRDUDE = avrdude
REMOVE = rm -f
COPY = cp
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
ELFSIZE = $(SIZE) --mcu=$(MCU) -C $(TARGET).elf
# Define Messages
# English
MSG_ERRORS_NONE = Firmware compiled successfully!
MSG_BEGIN = Starting build...
MSG_END = -------- Done --------
MSG_SIZE_BEFORE = Size before:
MSG_SIZE_AFTER = Size after:
MSG_COFF = Converting to AVR COFF:
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
MSG_FLASH = Creating load file for Flash:
MSG_EEPROM = Creating load file for EEPROM:
MSG_EXTENDED_LISTING = Creating Extended Listing:
MSG_SYMBOL_TABLE = Creating Symbol Table:
MSG_LINKING = Linking:
MSG_COMPILING = Compiling:
MSG_ASSEMBLING = Assembling:
MSG_CLEANING = Cleaning project:
# Define all object files.
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
# Define all listing files.
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
# Combine all necessary flags and optional flags.
# Add target processor to flags.
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
# Default target: make program!
#all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \
# $(TARGET).lss $(TARGET).sym sizeafter finished end
all: begin $(TARGET).elf $(TARGET).hex $(TARGET).eep \
$(TARGET).lss $(TARGET).sym cleanup sizeafter finished
# $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
# Eye candy.
# AVR Studio 3.x does not check make's exit code but relies on
# the following magic strings to be generated by the compile job.
begin:
@echo
@echo $(MSG_BEGIN)
finished:
@echo $(MSG_ERRORS_NONE)
end:
@echo $(MSG_END)
@echo
# Display size of file.
sizebefore:
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
sizeafter:
@if [ -f $(TARGET).elf ]; then echo; $(ELFSIZE); echo; fi
# Display compiler version information.
gccversion :
@$(CC) --version
# Convert ELF to COFF for use in debugging / simulating in
# AVR Studio or VMLAB.
COFFCONVERT=$(OBJCOPY) --debugging \
--change-section-address .data-0x800000 \
--change-section-address .bss-0x800000 \
--change-section-address .noinit-0x800000 \
--change-section-address .eeprom-0x810000
coff: $(TARGET).elf
# @echo
# @echo $(MSG_COFF) $(TARGET).cof
@$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
extcoff: $(TARGET).elf
# @echo
# @echo $(MSG_EXTENDED_COFF) $(TARGET).cof
@$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
# Program the device.
program: $(TARGET).hex $(TARGET).eep
@$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
# Create final output files (.hex, .eep) from ELF output file.
%.hex: %.elf
# @echo
# @echo $(MSG_FLASH) $@
@$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
%.eep: %.elf
# @echo
# @echo $(MSG_EEPROM) $@
# @echo Not generating any EEPROM images
@-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" --change-section-lma .eeprom=0 -O $(FORMAT) $< $@
# Create extended listing file from ELF output file.
%.lss: %.elf
# @echo
# @echo $(MSG_EXTENDED_LISTING) $@
@$(OBJDUMP) -h -S $< > $@
# Create a symbol table from ELF output file.
%.sym: %.elf
# @echo
# @echo $(MSG_SYMBOL_TABLE) $@
@avr-nm -n $< > $@
# Link: create ELF output file from object files.
.SECONDARY : $(TARGET).elf
.PRECIOUS : $(OBJ)
%.elf: $(OBJ)
@echo $(MSG_LINKING) $@
@$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
# Compile: create object files from C source files.
%.o : %.c
@echo $(MSG_COMPILING) $<
@$(CC) -c $(ALL_CFLAGS) $< -o $@
# Compile: create assembler files from C source files.
%.s : %.c
@$(CC) -S $(ALL_CFLAGS) $< -o $@
# Assemble: create object files from assembler source files.
%.o : %.S
@echo
@echo $(MSG_ASSEMBLING) $<
@$(CC) -c $(ALL_ASFLAGS) $< -o $@
# Target: clean project.
clean: clean_list finished
clean_list :
@echo
@echo $(MSG_CLEANING)
$(REMOVE) $(TARGET).hex
$(REMOVE) $(TARGET).eep
$(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).cof
$(REMOVE) $(TARGET).elf
$(REMOVE) $(TARGET).map
$(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).a90
$(REMOVE) $(TARGET).sym
$(REMOVE) $(TARGET).lnk
$(REMOVE) $(TARGET).lss
$(REMOVE) $(OBJ)
$(REMOVE) $(LST)
$(REMOVE) $(SRC:.c=.s)
$(REMOVE) $(SRC:.c=.d)
$(REMOVE) *~
cleanup:
@$(REMOVE) $(SRC:.c=.s)
@$(REMOVE) $(SRC:.c=.d)
@$(REMOVE) $(LST)
# Automatically generate C source code dependencies.
# (Code originally taken from the GNU make user manual and modified
# (See README.txt Credits).)
#
# Note that this will work with sh (bash) and sed that is shipped with WinAVR
# (see the SHELL variable defined above).
# This may not work with other shells or other seds.
#
%.d: %.c
@set -e; $(CC) -MM $(ALL_CFLAGS) $< \
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \
[ -s $@ ] || rm -f $@
# Remove the '-' if you want to see the dependency files generated.
-include $(SRC:.c=.d)
# Listing of phony targets.
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \
clean clean_list program

39
hardware/packetmodem_nano2/MicroModemGP/README.md Executable file
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MicroModemGP
==========
MicroModemGP is a general purpose firmware for [MicroModem](http://unsigned.io/micromodem).
It supports both KISS mode serial connections, and direct serial connection without framing for easy communication with anything with a serial port.
You can buy a complete modem from [my shop](http://unsigned.io/shop), or you can build one yourself pretty easily. Take a look at the documentation in the [MicroModem](https://github.com/markqvist/MicroModem) repository for information and getting started guides!
## Some features
- Easily send and receive packets over mostly any radio
- Full modulation and demodulation in software
- Flexibility in how received packets are output over serial connection
- Can run with open squelch
- Supports KISS mode for use with programs on a host computer
- 12,8 Hamming-code forward error correction and 12-byte interleaving
- CRC checksum on packets ensure data integrity
- Supports packets with up to 564 bytes of data
## Serial connection settings
By default, the modem uses __9600 baud, 8N1__ serial. The baudrate can be modified in the "device.h" file.
## KISS mode or direct serial framing
You can configure whether to use KISS serial framing or direct serial framing in the "config.h" file.
When the modem is running in KISS mode, there's really not much more to it than connecting the modem to a computer, opening whatever program you want to use with it, and off you go.
You can also configure the modem in direct serial framing mode. If using direct serial framing, the firmware uses time-sensitive input, which means that it will buffer serial data as it comes in, and when it has received no data for a few milliseconds, it will start sending whatever it has received.
If you're manually typing things to the modem from a terminal, you should therefore set your serial terminal program to not send data for every keystroke, but only on new-line, or pressing send or whatever. You can also compile the firmware for KISS mode serial connection, if you have a host program using KISS. If you are using MicroModemGP with [Reticulum](https://github.com/markqvist/Reticulum), use KISS.
## Other notes
The project has been implemented in your normal C with makefile style, and uses AVR Libc. The firmware is compatible with Arduino-based products, although it was not written in the Arduino IDE.
Visit [my site](http://unsigned.io) for questions, comments and other details.

9
hardware/packetmodem_nano2/MicroModemGP/config.h Executable file
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#ifndef CONFIG_H
#define CONFIG_H
// Choose whether to use KISS or direct
// framing for serial data
#define SERIAL_FRAMING SERIAL_FRAMING_KISS
//#define SERIAL_FRAMING SERIAL_FRAMING_DIRECT
#endif

40
hardware/packetmodem_nano2/MicroModemGP/device.h Executable file
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#include "util/constants.h"
#ifndef DEVICE_CONFIGURATION
#define DEVICE_CONFIGURATION
// CPU settings
#define TARGET_CPU m328p
#define F_CPU 16000000
#define FREQUENCY_CORRECTION 0
// ADC settings
#define OPEN_SQUELCH true
#define ADC_REFERENCE REF_3V3
// OR
//#define ADC_REFERENCE REF_5V
// Sampling & timer setup
#define CONFIG_AFSK_DAC_SAMPLERATE 9600
// Don't change this! Change it in
// config.h instead. This is going away
// soon, and only an intermediary thing.
#define SERIAL_PROTOCOL PROTOCOL_KISS
// Serial settings
#define BAUD 9600
#define SERIAL_DEBUG false
#define TX_MAXWAIT 5UL
// Port settings
#if TARGET_CPU == m328p
#define DAC_PORT PORTD
#define DAC_DDR DDRD
#define LED_PORT PORTB
#define LED_DDR DDRB
#define ADC_PORT PORTC
#define ADC_DDR DDRC
#endif
#endif

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hardware/packetmodem_nano2/MicroModemGP/flash Executable file
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#!/bin/bash
avrdude -p $2 -c arduino -P /dev/tty$1 -b 115200 -F -U flash:w:images/MicroModemGP.hex

546
hardware/packetmodem_nano2/MicroModemGP/hardware/AFSK.c Executable file
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#include <string.h>
#include "AFSK.h"
#include "util/time.h"
extern volatile ticks_t _clock;
extern unsigned long custom_preamble;
extern unsigned long custom_tail;
bool hw_afsk_dac_isr = false;
bool hw_5v_ref = false;
Afsk *AFSK_modem;
// Forward declerations
int afsk_getchar(FILE *strem);
int afsk_putchar(char c, FILE *stream);
void AFSK_hw_refDetect(void) {
// This is manual for now
#if ADC_REFERENCE == REF_5V
hw_5v_ref = true;
#else
hw_5v_ref = false;
#endif
}
void AFSK_hw_init(void) {
// Set up ADC
AFSK_hw_refDetect();
TCCR1A = 0;
TCCR1B = _BV(CS10) | _BV(WGM13) | _BV(WGM12);
ICR1 = (((CPU_FREQ+FREQUENCY_CORRECTION)) / 9600) - 1;
if (hw_5v_ref) {
ADMUX = _BV(REFS0) | 0;
} else {
ADMUX = 0;
}
ADC_DDR &= ~_BV(0);
ADC_PORT &= ~_BV(0);
DIDR0 |= _BV(0);
ADCSRB = _BV(ADTS2) |
_BV(ADTS1) |
_BV(ADTS0);
ADCSRA = _BV(ADEN) |
_BV(ADSC) |
_BV(ADATE)|
_BV(ADIE) |
_BV(ADPS2);
AFSK_DAC_INIT();
LED_TX_INIT();
LED_RX_INIT();
}
void AFSK_init(Afsk *afsk) {
// Allocate modem struct memory
memset(afsk, 0, sizeof(*afsk));
AFSK_modem = afsk;
// Set phase increment
afsk->phaseInc = MARK_INC;
afsk->silentSamples = 0;
// Initialise FIFO buffers
fifo_init(&afsk->delayFifo, (uint8_t *)afsk->delayBuf, sizeof(afsk->delayBuf));
fifo_init(&afsk->rxFifo, afsk->rxBuf, sizeof(afsk->rxBuf));
fifo_init(&afsk->txFifo, afsk->txBuf, sizeof(afsk->txBuf));
// Fill delay FIFO with zeroes
for (int i = 0; i<SAMPLESPERBIT / 2; i++) {
fifo_push(&afsk->delayFifo, 0);
}
AFSK_hw_init();
// Set up streams
FILE afsk_fd = FDEV_SETUP_STREAM(afsk_putchar, afsk_getchar, _FDEV_SETUP_RW);
afsk->fd = afsk_fd;
}
static void AFSK_txStart(Afsk *afsk) {
if (!afsk->sending) {
afsk->phaseInc = MARK_INC;
afsk->phaseAcc = 0;
afsk->bitstuffCount = 0;
afsk->sending = true;
afsk->sending_data = true;
LED_TX_ON();
afsk->preambleLength = DIV_ROUND(custom_preamble * BITRATE, 8000);
AFSK_DAC_IRQ_START();
}
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
afsk->tailLength = DIV_ROUND(custom_tail * BITRATE, 8000);
}
}
int afsk_putchar(char c, FILE *stream) {
AFSK_txStart(AFSK_modem);
while(fifo_isfull_locked(&AFSK_modem->txFifo)) { /* Wait */ }
fifo_push_locked(&AFSK_modem->txFifo, c);
return 1;
}
int afsk_getchar(FILE *stream) {
if (fifo_isempty_locked(&AFSK_modem->rxFifo)) {
return EOF;
} else {
return fifo_pop_locked(&AFSK_modem->rxFifo);
}
}
void AFSK_transmit(char *buffer, size_t size) {
fifo_flush(&AFSK_modem->txFifo);
int i = 0;
while (size--) {
afsk_putchar(buffer[i++], NULL);
}
}
uint8_t AFSK_dac_isr(Afsk *afsk) {
if (afsk->sampleIndex == 0) {
if (afsk->txBit == 0) {
if (fifo_isempty(&afsk->txFifo) && afsk->tailLength == 0) {
AFSK_DAC_IRQ_STOP();
afsk->sending = false;
afsk->sending_data = false;
LED_TX_OFF();
return 0;
} else {
if (!afsk->bitStuff) afsk->bitstuffCount = 0;
afsk->bitStuff = true;
if (afsk->preambleLength == 0) {
if (fifo_isempty(&afsk->txFifo)) {
afsk->sending_data = false;
afsk->tailLength--;
afsk->currentOutputByte = HDLC_FLAG;
} else {
afsk->currentOutputByte = fifo_pop(&afsk->txFifo);
}
} else {
afsk->preambleLength--;
afsk->currentOutputByte = HDLC_FLAG;
}
if (afsk->currentOutputByte == LLP_ESC) {
if (fifo_isempty(&afsk->txFifo)) {
AFSK_DAC_IRQ_STOP();
afsk->sending = false;
LED_TX_OFF();
return 0;
} else {
afsk->currentOutputByte = fifo_pop(&afsk->txFifo);
}
} else if (afsk->currentOutputByte == HDLC_FLAG || afsk->currentOutputByte == HDLC_RESET) {
afsk->bitStuff = false;
}
}
afsk->txBit = 0x01;
}
if (afsk->bitStuff && afsk->bitstuffCount >= BIT_STUFF_LEN) {
afsk->bitstuffCount = 0;
afsk->phaseInc = SWITCH_TONE(afsk->phaseInc);
} else {
if (afsk->currentOutputByte & afsk->txBit) {
afsk->bitstuffCount++;
} else {
afsk->bitstuffCount = 0;
afsk->phaseInc = SWITCH_TONE(afsk->phaseInc);
}
afsk->txBit <<= 1;
}
afsk->sampleIndex = SAMPLESPERBIT;
}
afsk->phaseAcc += afsk->phaseInc;
afsk->phaseAcc %= SIN_LEN;
afsk->sampleIndex--;
return sinSample(afsk->phaseAcc);
}
static bool hdlcParse(Hdlc *hdlc, bool bit, FIFOBuffer *fifo) {
// Initialise a return value. We start with the
// assumption that all is going to end well :)
bool ret = true;
// Bitshift our byte of demodulated bits to
// the left by one bit, to make room for the
// next incoming bit
hdlc->demodulatedBits <<= 1;
// And then put the newest bit from the
// demodulator into the byte.
hdlc->demodulatedBits |= bit ? 1 : 0;
// Now we'll look at the last 8 received bits, and
// check if we have received a HDLC flag (01111110)
if (hdlc->demodulatedBits == HDLC_FLAG) {
// If we have, check that our output buffer is
// not full.
if (!fifo_isfull(fifo)) {
// If it isn't, we'll push the HDLC_FLAG into
// the buffer and indicate that we are now
// receiving data. For bling we also turn
// on the RX LED.
fifo_push(fifo, HDLC_FLAG);
hdlc->receiving = true;
if (hdlc->dcd_count < DCD_MIN_COUNT) {
hdlc->dcd = false;
hdlc->dcd_count++;
} else {
hdlc->dcd = true;
}
#if OPEN_SQUELCH == false
LED_RX_ON();
#endif
} else {
// If the buffer is full, we have a problem
// and abort by setting the return value to
// false and stopping the here.
ret = false;
hdlc->receiving = false;
hdlc->dcd = false;
hdlc->dcd_count = 0;
}
// Everytime we receive a HDLC_FLAG, we reset the
// storage for our current incoming byte and bit
// position in that byte. This effectively
// synchronises our parsing to the start and end
// of the received bytes.
hdlc->currentByte = 0;
hdlc->bitIndex = 0;
return ret;
}
// Check if we have received a RESET flag (01111111)
// In this comparison we also detect when no transmission
// (or silence) is taking place, and the demodulator
// returns an endless stream of zeroes. Due to the NRZ-S
// coding, the actual bits send to this function will
// be an endless stream of ones, which this AND operation
// will also detect.
if ((hdlc->demodulatedBits & HDLC_RESET) == HDLC_RESET) {
// If we have, something probably went wrong at the
// transmitting end, and we abort the reception.
hdlc->receiving = false;
hdlc->dcd = false;
hdlc->dcd_count = 0;
return ret;
}
// Check the DCD status and set RX LED appropriately
if (hdlc->dcd) {
LED_RX_ON();
} else {
LED_RX_OFF();
}
// If we have not yet seen a HDLC_FLAG indicating that
// a transmission is actually taking place, don't bother
// with anything.
if (!hdlc->receiving) {
hdlc->dcd = false;
hdlc->dcd_count = 0;
return ret;
}
// First check if what we are seeing is a stuffed bit.
// Since the different HDLC control characters like
// HDLC_FLAG, HDLC_RESET and such could also occur in
// a normal data stream, we employ a method known as
// "bit stuffing". All control characters have more than
// 5 ones in a row, so if the transmitting party detects
// this sequence in the _data_ to be transmitted, it inserts
// a zero to avoid the receiving party interpreting it as
// a control character. Therefore, if we detect such a
// "stuffed bit", we simply ignore it and wait for the
// next bit to come in.
//
// We do the detection by applying an AND bit-mask to the
// stream of demodulated bits. This mask is 00111111 (0x3f)
// if the result of the operation is 00111110 (0x3e), we
// have detected a stuffed bit.
if ((hdlc->demodulatedBits & 0x3f) == 0x3e)
return ret;
// If we have an actual 1 bit, push this to the current byte
// If it's a zero, we don't need to do anything, since the
// bit is initialized to zero when we bitshifted earlier.
if (hdlc->demodulatedBits & 0x01)
hdlc->currentByte |= 0x80;
// Increment the bitIndex and check if we have a complete byte
if (++hdlc->bitIndex >= 8) {
// If we have a HDLC control character, put a AX.25 escape
// in the received data. We know we need to do this,
// because at this point we must have already seen a HDLC
// flag, meaning that this control character is the result
// of a bitstuffed byte that is equal to said control
// character, but is actually part of the data stream.
// By inserting the escape character, we tell the protocol
// layer that this is not an actual control character, but
// data.
if ((hdlc->currentByte == HDLC_FLAG ||
hdlc->currentByte == HDLC_RESET ||
hdlc->currentByte == LLP_ESC)) {
// We also need to check that our received data buffer
// is not full before putting more data in
if (!fifo_isfull(fifo)) {
fifo_push(fifo, LLP_ESC);
} else {
// If it is, abort and return false
hdlc->receiving = false;
hdlc->dcd = false;
hdlc->dcd_count = 0;
LED_RX_OFF();
ret = false;
}
}
// Push the actual byte to the received data FIFO,
// if it isn't full.
if (!fifo_isfull(fifo)) {
fifo_push(fifo, hdlc->currentByte);
} else {
// If it is, well, you know by now!
hdlc->receiving = false;
hdlc->dcd = false;
hdlc->dcd_count = 0;
LED_RX_OFF();
ret = false;
}
// Wipe received byte and reset bit index to 0
hdlc->currentByte = 0;
hdlc->bitIndex = 0;
} else {
// We don't have a full byte yet, bitshift the byte
// to make room for the next bit
hdlc->currentByte >>= 1;
}
return ret;
}
void AFSK_adc_isr(Afsk *afsk, int8_t currentSample) {
// To determine the received frequency, and thereby
// the bit of the sample, we multiply the sample by
// a sample delayed by (samples per bit / 2).
// We then lowpass-filter the samples with a
// Chebyshev filter. The lowpass filtering serves
// to "smooth out" the variations in the samples.
afsk->iirX[0] = afsk->iirX[1];
#if FILTER_CUTOFF == 600
afsk->iirX[1] = ((int8_t)fifo_pop(&afsk->delayFifo) * currentSample) >> 2;
// The above is a simplification of:
// afsk->iirX[1] = ((int8_t)fifo_pop(&afsk->delayFifo) * currentSample) / 3.558147322;
#elif FILTER_CUTOFF == 800
afsk->iirX[1] = ((int8_t)fifo_pop(&afsk->delayFifo) * currentSample) >> 2;
// The above is a simplification of:
// afsk->iirX[1] = ((int8_t)fifo_pop(&afsk->delayFifo) * currentSample) / 2.899043379;
#elif FILTER_CUTOFF == 1200
afsk->iirX[1] = ((int8_t)fifo_pop(&afsk->delayFifo) * currentSample) >> 1;
// The above is a simplification of:
// afsk->iirX[1] = ((int8_t)fifo_pop(&afsk->delayFifo) * currentSample) / 2.228465666;
#elif FILTER_CUTOFF == 1600
afsk->iirX[1] = ((int8_t)fifo_pop(&afsk->delayFifo) * currentSample) >> 1;
// The above is a simplification of:
// afsk->iirX[1] = ((int8_t)fifo_pop(&afsk->delayFifo) * currentSample) / 1.881349100;
#else
#error Unsupported filter cutoff!
#endif
afsk->iirY[0] = afsk->iirY[1];
#if FILTER_CUTOFF == 600
afsk->iirY[1] = afsk->iirX[0] + afsk->iirX[1] + (afsk->iirY[0] >> 1);
// The above is a simplification of a first-order 600Hz chebyshev filter:
// afsk->iirY[1] = afsk->iirX[0] + afsk->iirX[1] + (afsk->iirY[0] * 0.4379097269);
#elif FILTER_CUTOFF == 800
afsk->iirY[1] = afsk->iirX[0] + afsk->iirX[1] + (afsk->iirY[0] / 3);
// The above is a simplification of a first-order 800Hz chebyshev filter:
// afsk->iirY[1] = afsk->iirX[0] + afsk->iirX[1] + (afsk->iirY[0] * 0.3101172565);
#elif FILTER_CUTOFF == 1200
afsk->iirY[1] = afsk->iirX[0] + afsk->iirX[1] + (afsk->iirY[0] / 10);
// The above is a simplification of a first-order 1200Hz chebyshev filter:
// afsk->iirY[1] = afsk->iirX[0] + afsk->iirX[1] + (afsk->iirY[0] * 0.1025215106);
#elif FILTER_CUTOFF == 1600
afsk->iirY[1] = afsk->iirX[0] + afsk->iirX[1] + -1*(afsk->iirY[0] / 17);
// The above is a simplification of a first-order 1600Hz chebyshev filter:
// afsk->iirY[1] = afsk->iirX[0] + afsk->iirX[1] + (afsk->iirY[0] * -0.0630669239);
#else
#error Unsupported filter cutoff!
#endif
// We put the sampled bit in a delay-line:
// First we bitshift everything 1 left
afsk->sampledBits <<= 1;
// And then add the sampled bit to our delay line
afsk->sampledBits |= (afsk->iirY[1] > 0) ? 0 : 1;
// Put the current raw sample in the delay FIFO
fifo_push(&afsk->delayFifo, currentSample);
// We need to check whether there is a signal transition.
// If there is, we can recalibrate the phase of our
// sampler to stay in sync with the transmitter. A bit of
// explanation is required to understand how this works.
// Since we have PHASE_MAX/PHASE_BITS = 8 samples per bit,
// we employ a phase counter (currentPhase), that increments
// by PHASE_BITS everytime a sample is captured. When this
// counter reaches PHASE_MAX, it wraps around by modulus
// PHASE_MAX. We then look at the last three samples we
// captured and determine if the bit was a one or a zero.
//
// This gives us a "window" looking into the stream of
// samples coming from the ADC. Sort of like this:
//
// Past Future
// 0000000011111111000000001111111100000000
// |________|
// ||
// Window
//
// Every time we detect a signal transition, we adjust
// where this window is positioned a little. How much we
// adjust it is defined by PHASE_INC. If our current phase
// phase counter value is less than half of PHASE_MAX (ie,
// the window size) when a signal transition is detected,
// add PHASE_INC to our phase counter, effectively moving
// the window a little bit backward (to the left in the
// illustration), inversely, if the phase counter is greater
// than half of PHASE_MAX, we move it forward a little.
// This way, our "window" is constantly seeking to position
// it's center at the bit transitions. Thus, we synchronise
// our timing to the transmitter, even if it's timing is
// a little off compared to our own.
if (SIGNAL_TRANSITIONED(afsk->sampledBits)) {
if (afsk->currentPhase < PHASE_THRESHOLD) {
afsk->currentPhase += PHASE_INC;
} else {
afsk->currentPhase -= PHASE_INC;
}
afsk->silentSamples = 0;
} else {
afsk->silentSamples++;
}
// We increment our phase counter
afsk->currentPhase += PHASE_BITS;
// Check if we have reached the end of
// our sampling window.
if (afsk->currentPhase >= PHASE_MAX) {
// If we have, wrap around our phase
// counter by modulus
afsk->currentPhase %= PHASE_MAX;
// Bitshift to make room for the next
// bit in our stream of demodulated bits
afsk->actualBits <<= 1;
// We determine the actual bit value by reading
// the last 3 sampled bits. If there is two or
// more 1's, we will assume that the transmitter
// sent us a one, otherwise we assume a zero
uint8_t bits = afsk->sampledBits & 0x07;
if (bits == 0x07 || // 111
bits == 0x06 || // 110
bits == 0x05 || // 101
bits == 0x03 // 011
) {
afsk->actualBits |= 1;
}
//// Alternative using five bits ////////////////
// uint8_t bits = afsk->sampledBits & 0x0f;
// uint8_t c = 0;
// c += bits & BV(1);
// c += bits & BV(2);
// c += bits & BV(3);
// c += bits & BV(4);
// c += bits & BV(5);
// if (c >= 3) afsk->actualBits |= 1;
/////////////////////////////////////////////////
// Now we can pass the actual bit to the HDLC parser.
// We are using NRZ-S coding, so if 2 consecutive bits
// have the same value, we have a 1, otherwise a 0.
// We use the TRANSITION_FOUND function to determine this.
//
// This is smart in combination with bit stuffing,
// since it ensures a transmitter will never send more
// than five consecutive 1's. When sending consecutive
// ones, the signal stays at the same level, and if
// this happens for longer periods of time, we would
// not be able to synchronize our phase to the transmitter
// and would start experiencing "bit slip".
//
// By combining bit-stuffing with NRZ-S coding, we ensure
// that the signal will regularly make transitions
// that we can use to synchronize our phase.
//
// We also check the return of the Link Control parser
// to check if an error occured.
if (!hdlcParse(&afsk->hdlc, !TRANSITION_FOUND(afsk->actualBits), &afsk->rxFifo)) {
afsk->status |= 1;
if (fifo_isfull(&afsk->rxFifo)) {
fifo_flush(&afsk->rxFifo);
afsk->status = 0;
}
}
}
if (afsk->silentSamples > DCD_TIMEOUT_SAMPLES) {
afsk->silentSamples = 0;
afsk->hdlc.dcd = false;
LED_RX_OFF();
}
}
ISR(ADC_vect) {
TIFR1 = _BV(ICF1);
AFSK_adc_isr(AFSK_modem, ((int16_t)((ADC) >> 2) - 128));
if (hw_afsk_dac_isr) {
DAC_PORT = (AFSK_dac_isr(AFSK_modem) & 0xF0) | _BV(3);
} else {
DAC_PORT = 128;
}
++_clock;
}

162
hardware/packetmodem_nano2/MicroModemGP/hardware/AFSK.h Executable file
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#ifndef AFSK_H
#define AFSK_H
#include "device.h"
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include <avr/pgmspace.h>
#include "util/FIFO.h"
#include "util/time.h"
#include "protocol/HDLC.h"
#define SIN_LEN 512
static const uint8_t sin_table[] PROGMEM =
{
128, 129, 131, 132, 134, 135, 137, 138, 140, 142, 143, 145, 146, 148, 149, 151,
152, 154, 155, 157, 158, 160, 162, 163, 165, 166, 167, 169, 170, 172, 173, 175,
176, 178, 179, 181, 182, 183, 185, 186, 188, 189, 190, 192, 193, 194, 196, 197,
198, 200, 201, 202, 203, 205, 206, 207, 208, 210, 211, 212, 213, 214, 215, 217,
218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233,
234, 234, 235, 236, 237, 238, 238, 239, 240, 241, 241, 242, 243, 243, 244, 245,
245, 246, 246, 247, 248, 248, 249, 249, 250, 250, 250, 251, 251, 252, 252, 252,
253, 253, 253, 253, 254, 254, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255,
};
inline static uint8_t sinSample(uint16_t i) {
uint16_t newI = i % (SIN_LEN/2);
newI = (newI >= (SIN_LEN/4)) ? (SIN_LEN/2 - newI -1) : newI;
uint8_t sine = pgm_read_byte(&sin_table[newI]);
return (i >= (SIN_LEN/2)) ? (255 - sine) : sine;
}
#define SWITCH_TONE(inc) (((inc) == MARK_INC) ? SPACE_INC : MARK_INC)
#define BITS_DIFFER(bits1, bits2) (((bits1)^(bits2)) & 0x01)
#define DUAL_XOR(bits1, bits2) ((((bits1)^(bits2)) & 0x03) == 0x03)
#define SIGNAL_TRANSITIONED(bits) DUAL_XOR((bits), (bits) >> 2)
#define TRANSITION_FOUND(bits) BITS_DIFFER((bits), (bits) >> 1)
#define CPU_FREQ F_CPU
#define CONFIG_AFSK_RX_BUFLEN 64
#define CONFIG_AFSK_TX_BUFLEN 64
#define CONFIG_AFSK_RXTIMEOUT 0
#define CONFIG_AFSK_PREAMBLE_LEN 350UL
#define CONFIG_AFSK_TRAILER_LEN 50UL
#define BIT_STUFF_LEN 5
#define SAMPLERATE 9600
#define BITRATE 1200
#define SAMPLESPERBIT (SAMPLERATE / BITRATE)
#define PHASE_INC 1 // Nudge by an eigth of a sample each adjustment
#define DCD_MIN_COUNT 6
#define DCD_TIMEOUT_SAMPLES 96
#if BITRATE == 960
#define FILTER_CUTOFF 600
#define MARK_FREQ 960
#define SPACE_FREQ 1600
#define PHASE_BITS 10 // How much to increment phase counter each sample
#elif BITRATE == 1200
#define FILTER_CUTOFF 600
#define MARK_FREQ 1200
#define SPACE_FREQ 2200
#define PHASE_BITS 8
#elif BITRATE == 1600
#define FILTER_CUTOFF 800
#define MARK_FREQ 1600
#define SPACE_FREQ 2600
#define PHASE_BITS 8
#else
#error Unsupported bitrate!
#endif
#define PHASE_MAX (SAMPLESPERBIT * PHASE_BITS) // Resolution of our phase counter = 64
#define PHASE_THRESHOLD (PHASE_MAX / 2) // Target transition point of our phase window
typedef struct Hdlc
{
uint8_t demodulatedBits;
uint8_t bitIndex;
uint8_t currentByte;
bool receiving;
bool dcd;
uint8_t dcd_count;
} Hdlc;
typedef struct Afsk
{
// Stream access to modem
FILE fd;
// General values
Hdlc hdlc; // We need a link control structure
uint16_t preambleLength; // Length of sync preamble
uint16_t tailLength; // Length of transmission tail
// Modulation values
uint8_t sampleIndex; // Current sample index for outgoing bit
uint8_t currentOutputByte; // Current byte to be modulated
uint8_t txBit; // Mask of current modulated bit
bool bitStuff; // Whether bitstuffing is allowed
uint8_t bitstuffCount; // Counter for bit-stuffing
uint16_t phaseAcc; // Phase accumulator
uint16_t phaseInc; // Phase increment per sample
uint8_t silentSamples; // How many samples were completely silent
FIFOBuffer txFifo; // FIFO for transmit data
uint8_t txBuf[CONFIG_AFSK_TX_BUFLEN]; // Actual data storage for said FIFO
volatile bool sending; // Set when modem is sending
volatile bool sending_data; // Set when modem is sending data
// Demodulation values
FIFOBuffer delayFifo; // Delayed FIFO for frequency discrimination
int8_t delayBuf[SAMPLESPERBIT / 2 + 1]; // Actual data storage for said FIFO
FIFOBuffer rxFifo; // FIFO for received data
uint8_t rxBuf[CONFIG_AFSK_RX_BUFLEN]; // Actual data storage for said FIFO
int16_t iirX[2]; // IIR Filter X cells
int16_t iirY[2]; // IIR Filter Y cells
uint8_t sampledBits; // Bits sampled by the demodulator (at ADC speed)
int8_t currentPhase; // Current phase of the demodulator
uint8_t actualBits; // Actual found bits at correct bitrate
volatile int status; // Status of the modem, 0 means OK
} Afsk;
#define DIV_ROUND(dividend, divisor) (((dividend) + (divisor) / 2) / (divisor))
#define MARK_INC (uint16_t)(DIV_ROUND(SIN_LEN * (uint32_t)MARK_FREQ, CONFIG_AFSK_DAC_SAMPLERATE))
#define SPACE_INC (uint16_t)(DIV_ROUND(SIN_LEN * (uint32_t)SPACE_FREQ, CONFIG_AFSK_DAC_SAMPLERATE))
#define AFSK_DAC_IRQ_START() do { extern bool hw_afsk_dac_isr; hw_afsk_dac_isr = true; } while (0)
#define AFSK_DAC_IRQ_STOP() do { extern bool hw_afsk_dac_isr; hw_afsk_dac_isr = false; } while (0)
#define AFSK_DAC_INIT() do { DAC_DDR |= 0xF8; } while (0)
// Here's some macros for controlling the RX/TX LEDs
// THE _INIT() functions writes to the DDRB register
// to configure the pins as output pins, and the _ON()
// and _OFF() functions writes to the PORT registers
// to turn the pins on or off.
#define LED_TX_INIT() do { LED_DDR |= _BV(1); } while (0)
#define LED_TX_ON() do { LED_PORT |= _BV(1); } while (0)
#define LED_TX_OFF() do { LED_PORT &= ~_BV(1); } while (0)
#define LED_RX_INIT() do { LED_DDR |= _BV(2); } while (0)
#define LED_RX_ON() do { LED_PORT |= _BV(2); } while (0)
#define LED_RX_OFF() do { LED_PORT &= ~_BV(2); } while (0)
void AFSK_init(Afsk *afsk);
void AFSK_transmit(char *buffer, size_t size);
void AFSK_poll(Afsk *afsk);
#endif

49
hardware/packetmodem_nano2/MicroModemGP/hardware/Serial.c Executable file
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#include "Serial.h"
#include <util/setbaud.h>
#include <stdio.h>
#include <string.h>
void serial_init(Serial *serial) {
memset(serial, 0, sizeof(*serial));
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
#if USE_2X
UCSR0A |= _BV(U2X0);
#else
UCSR0A &= ~(_BV(U2X0));
#endif
// Set to 8-bit data, enable RX and TX
UCSR0C = _BV(UCSZ01) | _BV(UCSZ00);
UCSR0B = _BV(RXEN0) | _BV(TXEN0);
FILE uart0_fd = FDEV_SETUP_STREAM(uart0_putchar, uart0_getchar, _FDEV_SETUP_RW);
//FILE uart0_fd = FDEV_SETUP_STREAM(uart0_putchar, NULL, _FDEV_SETUP_WRITE);
serial->uart0 = uart0_fd;
}
bool serial_available(uint8_t index) {
if (index == 0) {
if (UCSR0A & _BV(RXC0)) return true;
}
return false;
}
int uart0_putchar(char c, FILE *stream) {
loop_until_bit_is_set(UCSR0A, UDRE0);
UDR0 = c;
return 1;
}
int uart0_getchar(FILE *stream) {
loop_until_bit_is_set(UCSR0A, RXC0);
return UDR0;
}
char uart0_getchar_nowait(void) {
if (!(UCSR0A & _BV(RXC0))) return EOF;
return UDR0;
}

20
hardware/packetmodem_nano2/MicroModemGP/hardware/Serial.h Executable file
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#ifndef SERIAL_H
#define SERIAL_H
#include "device.h"
#include <stdio.h>
#include <stdbool.h>
#include <avr/io.h>
typedef struct Serial {
FILE uart0;
} Serial;
void serial_init(Serial *serial);
bool serial_available(uint8_t index);
int uart0_putchar(char c, FILE *stream);
int uart0_getchar(FILE *stream);
char uart0_getchar_nowait(void);
#endif

0
hardware/packetmodem_nano2/MicroModemGP/images/.keepdir Executable file
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58
hardware/packetmodem_nano2/MicroModemGP/main.c Executable file
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#include <stdbool.h>
#include <string.h>
#include <avr/io.h>
#include "device.h"
#include "config.h"
#include "util/FIFO.h"
#include "util/time.h"
#include "hardware/AFSK.h"
#include "hardware/Serial.h"
#include "protocol/AX25.h"
#include "protocol/LLP.h"
#include "protocol/KISS.h"
Serial serial;
Afsk modem;
LLPAddress localAdress;
LLPCtx llp;
static void llp_callback(struct LLPCtx *ctx) {
kiss_messageCallback(ctx);
}
void init(void) {
sei();
AFSK_init(&modem);
memset(&localAdress, 0, sizeof(localAdress));
localAdress.network = LLP_ADDR_BROADCAST;
localAdress.host = LLP_ADDR_BROADCAST;
llp_init(&llp, &localAdress, &modem.fd, llp_callback);
serial_init(&serial);
stdout = &serial.uart0;
stdin = &serial.uart0;
kiss_init(&llp, &modem, &serial);
}
int main (void) {
init();
while (true) {
llp_poll(&llp);
if (serial_available(0)) {
char sbyte = uart0_getchar_nowait();
kiss_serialCallback(sbyte);
}
#if SERIAL_FRAMING == SERIAL_FRAMING_DIRECT
kiss_checkTimeout(false);
#endif
}
return(0);
}

669
hardware/packetmodem_nano2/MicroModemGP/precompiled/MicroModemGP-direct.hex Normal file
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hardware/packetmodem_nano2/MicroModemGP/precompiled/MicroModemGP-kiss.hex Normal file
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88
hardware/packetmodem_nano2/MicroModemGP/protocol/AX25.c Executable file
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// Based on work by Francesco Sacchi
#include <string.h>
#include <ctype.h>
#include "AX25.h"
#include "protocol/HDLC.h"
#include "util/CRC-CCIT.h"
#include "../hardware/AFSK.h"
#define countof(a) sizeof(a)/sizeof(a[0])
#define MIN(a,b) ({ typeof(a) _a = (a); typeof(b) _b = (b); ((typeof(_a))((_a < _b) ? _a : _b)); })
#define DECODE_CALL(buf, addr) for (unsigned i = 0; i < sizeof((addr)); i++) { char c = (*(buf)++ >> 1); (addr)[i] = (c == ' ') ? '\x0' : c; }
#define AX25_SET_REPEATED(msg, idx, val) do { if (val) { (msg)->rpt_flags |= _BV(idx); } else { (msg)->rpt_flags &= ~_BV(idx) ; } } while(0)
void ax25_init(AX25Ctx *ctx, FILE *channel, ax25_callback_t hook) {
memset(ctx, 0, sizeof(*ctx));
ctx->ch = channel;
ctx->hook = hook;
ctx->crc_in = ctx->crc_out = CRC_CCIT_INIT_VAL;
}
static void ax25_decode(AX25Ctx *ctx) {
#if SERIAL_PROTOCOL == PROTOCOL_KISS
if (ctx->hook) ctx->hook(ctx);
#endif
}
void ax25_poll(AX25Ctx *ctx) {
int c;
while ((c = fgetc(ctx->ch)) != EOF) {
if (!ctx->escape && c == HDLC_FLAG) {
if (ctx->frame_len >= AX25_MIN_FRAME_LEN) {
if (ctx->crc_in == AX25_CRC_CORRECT) {
#if OPEN_SQUELCH == true
LED_RX_ON();
#endif
ax25_decode(ctx);
}
}
ctx->sync = true;
ctx->crc_in = CRC_CCIT_INIT_VAL;
ctx->frame_len = 0;
continue;
}
if (!ctx->escape && c == HDLC_RESET) {
ctx->sync = false;
continue;
}
if (!ctx->escape && c == AX25_ESC) {
ctx->escape = true;
continue;
}
if (ctx->sync) {
if (ctx->frame_len < AX25_MAX_FRAME_LEN) {
ctx->buf[ctx->frame_len++] = c;
ctx->crc_in = update_crc_ccit(c, ctx->crc_in);
} else {
ctx->sync = false;
}
}
ctx->escape = false;
}
}
static void ax25_putchar(AX25Ctx *ctx, uint8_t c)
{
if (c == HDLC_FLAG || c == HDLC_RESET || c == AX25_ESC) fputc(AX25_ESC, ctx->ch);
ctx->crc_out = update_crc_ccit(c, ctx->crc_out);
fputc(c, ctx->ch);
}
void ax25_sendRaw(AX25Ctx *ctx, void *_buf, size_t len) {
ctx->crc_out = CRC_CCIT_INIT_VAL;
fputc(HDLC_FLAG, ctx->ch);
const uint8_t *buf = (const uint8_t *)_buf;
while (len--) ax25_putchar(ctx, *buf++);
uint8_t crcl = (ctx->crc_out & 0xff) ^ 0xff;
uint8_t crch = (ctx->crc_out >> 8) ^ 0xff;
ax25_putchar(ctx, crcl);
ax25_putchar(ctx, crch);
fputc(HDLC_FLAG, ctx->ch);
}

40
hardware/packetmodem_nano2/MicroModemGP/protocol/AX25.h Executable file
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#ifndef PROTOCOL_AX25_H
#define PROTOCOL_AX25_H
#include <stdio.h>
#include <stdbool.h>
#include "device.h"
#define AX25_MIN_FRAME_LEN 18
#ifndef CUSTOM_FRAME_SIZE
#define AX25_MAX_FRAME_LEN 620
#else
#define AX25_MAX_FRAME_LEN CUSTOM_FRAME_SIZE
#endif
#define AX25_CRC_CORRECT 0xF0B8
#define AX25_CTRL_UI 0x03
#define AX25_PID_NOLAYER3 0xF0
struct AX25Ctx; // Forward declarations
struct AX25Msg;
typedef void (*ax25_callback_t)(struct AX25Ctx *ctx);
typedef struct AX25Ctx {
uint8_t buf[AX25_MAX_FRAME_LEN];
FILE *ch;
size_t frame_len;
uint16_t crc_in;
uint16_t crc_out;
ax25_callback_t hook;
bool sync;
bool escape;
} AX25Ctx;
void ax25_poll(AX25Ctx *ctx);
void ax25_sendRaw(AX25Ctx *ctx, void *_buf, size_t len);
void ax25_init(AX25Ctx *ctx, FILE *channel, ax25_callback_t hook);
#endif

8
hardware/packetmodem_nano2/MicroModemGP/protocol/HDLC.h Executable file
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#ifndef PROTOCOL_HDLC_H
#define PROTOCOL_HDLC_H
#define HDLC_FLAG 0x7E
#define HDLC_RESET 0x7F
#define LLP_ESC 0x1B
#endif

159
hardware/packetmodem_nano2/MicroModemGP/protocol/KISS.c Executable file
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#include <stdlib.h>
#include <string.h>
#include "device.h"
#include "KISS.h"
static uint8_t serialBuffer[LLP_MAX_DATA_SIZE]; // Buffer for holding incoming serial data
LLPCtx *llpCtx;
Afsk *channel;
Serial *serial;
size_t frame_len;
bool IN_FRAME;
bool ESCAPE;
bool FLOWCONTROL;
uint8_t command = CMD_UNKNOWN;
unsigned long custom_preamble = CONFIG_AFSK_PREAMBLE_LEN;
unsigned long custom_tail = CONFIG_AFSK_TRAILER_LEN;
unsigned long slotTime = 200;
uint8_t p = 255;
ticks_t timeout_ticks;
void kiss_init(LLPCtx *ctx, Afsk *afsk, Serial *ser) {
llpCtx = ctx;
serial = ser;
channel = afsk;
FLOWCONTROL = false;
}
void kiss_messageCallback(LLPCtx *ctx) {
#if (SERIAL_FRAMING == SERIAL_FRAMING_DIRECT)
for (unsigned i = 0; i < ctx->frame_len; i++) {
uint8_t b = ctx->buf[i];
fputc(b, &serial->uart0);
}
#else
fputc(FEND, &serial->uart0);
fputc(0x00, &serial->uart0);
for (unsigned i = 0; i < ctx->frame_len; i++) {
uint8_t b = ctx->buf[i];
if (b == FEND) {
fputc(FESC, &serial->uart0);
fputc(TFEND, &serial->uart0);
} else if (b == FESC) {
fputc(FESC, &serial->uart0);
fputc(TFESC, &serial->uart0);
} else {
fputc(b, &serial->uart0);
}
}
fputc(FEND, &serial->uart0);
#endif
}
void kiss_csma(LLPCtx *ctx, uint8_t *buf, size_t len) {
bool sent = false;
while (!sent) {
//puts("Waiting in CSMA");
if(!channel->hdlc.receiving) {
uint8_t tp = rand() & 0xFF;
if (tp < p) {
//llp_sendRaw(ctx, buf, len);
llp_broadcast(ctx, buf, len);
sent = true;
} else {
ticks_t start = timer_clock();
long slot_ticks = ms_to_ticks(slotTime);
while (timer_clock() - start < slot_ticks) {
cpu_relax();
}
}
} else {
while (!sent && channel->hdlc.receiving) {
// Continously poll the modem for data
// while waiting, so we don't overrun
// receive buffers
llp_poll(llpCtx);
if (channel->status != 0) {
// If an overflow or other error
// occurs, we'll back off and drop
// this packet silently.
channel->status = 0;
sent = true;
}
}
}
}
if (FLOWCONTROL) {
while (!ctx->ready_for_data) { /* Wait */ }
fputc(FEND, &serial->uart0);
fputc(CMD_READY, &serial->uart0);
fputc(0x01, &serial->uart0);
fputc(FEND, &serial->uart0);
}
}
void kiss_checkTimeout(bool force) {
if (force || (IN_FRAME && timer_clock() - timeout_ticks > ms_to_ticks(TX_MAXWAIT))) {
kiss_csma(llpCtx, serialBuffer, frame_len);
IN_FRAME = false;
frame_len = 0;
}
}
void kiss_serialCallback(uint8_t sbyte) {
#if SERIAL_FRAMING == SERIAL_FRAMING_DIRECT
timeout_ticks = timer_clock();
IN_FRAME = true;
serialBuffer[frame_len++] = sbyte;
if (frame_len >= LLP_MAX_DATA_SIZE) kiss_checkTimeout(true);
#else
if (IN_FRAME && sbyte == FEND && command == CMD_DATA) {
IN_FRAME = false;
kiss_csma(llpCtx, serialBuffer, frame_len);
} else if (sbyte == FEND) {
IN_FRAME = true;
command = CMD_UNKNOWN;
frame_len = 0;
} else if (IN_FRAME && frame_len < LLP_MAX_DATA_SIZE) {
// Have a look at the command byte first
if (frame_len == 0 && command == CMD_UNKNOWN) {
// MicroModem supports only one HDLC port, so we
// strip off the port nibble of the command byte
sbyte = sbyte & 0x0F;
command = sbyte;
} else if (command == CMD_DATA) {
if (sbyte == FESC) {
ESCAPE = true;
} else {
if (ESCAPE) {
if (sbyte == TFEND) sbyte = FEND;
if (sbyte == TFESC) sbyte = FESC;
ESCAPE = false;
}
serialBuffer[frame_len++] = sbyte;
}
} else if (command == CMD_TXDELAY) {
custom_preamble = sbyte * 10UL;
} else if (command == CMD_TXTAIL) {
custom_tail = sbyte * 10;
} else if (command == CMD_SLOTTIME) {
slotTime = sbyte * 10;
} else if (command == CMD_P) {
p = sbyte;
} else if (command == CMD_READY) {
if (sbyte == 0x00) {
FLOWCONTROL = false;
} else {
FLOWCONTROL = true;
}
}
}
#endif
}

32
hardware/packetmodem_nano2/MicroModemGP/protocol/KISS.h Executable file
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#ifndef _PROTOCOL_KISS
#define _PROTOCOL_KISS 0x02
#include "../hardware/AFSK.h"
#include "../hardware/Serial.h"
#include "../util/time.h"
#include "LLP.h"
#include "config.h"
#define FEND 0xC0
#define FESC 0xDB
#define TFEND 0xDC
#define TFESC 0xDD
#define CMD_UNKNOWN 0xFE
#define CMD_DATA 0x00
#define CMD_TXDELAY 0x01
#define CMD_P 0x02
#define CMD_SLOTTIME 0x03
#define CMD_TXTAIL 0x04
#define CMD_FULLDUPLEX 0x05
#define CMD_SETHARDWARE 0x06
#define CMD_READY 0x0F
#define CMD_RETURN 0xFF
void kiss_init(LLPCtx *ctx, Afsk *afsk, Serial *ser);
void kiss_csma(LLPCtx *ctx, uint8_t *buf, size_t len);
void kiss_messageCallback(LLPCtx *ctx);
void kiss_serialCallback(uint8_t sbyte);
void kiss_checkTimeout(bool force);
#endif

696
hardware/packetmodem_nano2/MicroModemGP/protocol/LLP.c Executable file
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#include <string.h>
#include <ctype.h>
#include "LLP.h"
#include "protocol/HDLC.h"
#include "util/CRC-CCIT.h"
#include "../hardware/AFSK.h"
#define DISABLE_INTERLEAVE false
#define PASSALL false
#define STRIP_HEADERS true
// The GET_BIT macro is used in the interleaver
// and deinterleaver to access single bits of a
// byte.
inline bool GET_BIT(uint8_t byte, int n) { return (byte & (1 << (8-n))) == (1 << (8-n)); }
// We need an indicator to tell us whether we
// should send a parity byte. This happens
// whenever two normal bytes of data has been
// sent. We also keep the last sent byte in
// memory because we need it to calculate the
// parity byte.
static bool sendParityBlock = false;
static uint8_t lastByte = 0x00;
LLPAddress broadcast_address;
void llp_decode(LLPCtx *ctx) {
if (ctx->hook) {
size_t length = ctx->frame_len;
uint8_t *buffer = (uint8_t*)&ctx->buf;
size_t padding = buffer[LLP_HEADER_SIZE-1];
size_t address_size = 2*sizeof(LLPAddress);
#if STRIP_HEADERS
uint8_t strip_headers = 1;
#else
uint8_t strip_headers = 0;
#endif
size_t subtraction = (address_size + (LLP_HEADER_SIZE - address_size))*strip_headers + padding;
ctx->frame_len = length - subtraction - LLP_CHECKSUM_SIZE;
for (int i = 0; i < ctx->frame_len; i++) {
#if STRIP_HEADERS
buffer[i] = buffer[i+subtraction];
#else
if ( i >= LLP_HEADER_SIZE ) {
buffer[i] = buffer[i+padding];
} else {
buffer[i] = buffer[i];
}
#endif
}
ctx->hook(ctx);
}
}
void llp_poll(LLPCtx *ctx) {
int c;
#if DISABLE_INTERLEAVE
while ((c = fgetc(ctx->ch)) != EOF) {
if (!ctx->escape && c == HDLC_FLAG) {
if (ctx->frame_len >= LLP_MIN_FRAME_LENGTH) {
if (PASSALL || ctx->crc_in == LLP_CRC_CORRECT) {
#if OPEN_SQUELCH == true
LED_RX_ON();
#endif
llp_decode(ctx);
}
}
ctx->sync = true;
ctx->crc_in = CRC_CCIT_INIT_VAL;
ctx->frame_len = 0;
continue;
}
if (!ctx->escape && c == HDLC_RESET) {
ctx->sync = false;
continue;
}
if (!ctx->escape && c == LLP_ESC) {
ctx->escape = true;
continue;
}
if (ctx->sync) {
if (ctx->frame_len < LLP_MAX_FRAME_LENGTH) {
ctx->buf[ctx->frame_len++] = c;
ctx->crc_in = update_crc_ccit(c, ctx->crc_in);
} else {
ctx->sync = false;
}
}
ctx->escape = false;
}
#else
while ((c = fgetc(ctx->ch)) != EOF) {
/////////////////////////////////////////////
// Start of forward error correction block //
/////////////////////////////////////////////
if ((ctx->sync && (c != LLP_ESC )) || (ctx->sync && (ctx->escape && (c == LLP_ESC || c == HDLC_FLAG || c == HDLC_RESET)))) {
// We have a byte, increment our read counter
ctx->readLength++;
// Check if we have read 12 bytes. If we
// have, we should now have a block of two
// data bytes and a parity byte. This block
if (ctx->readLength % LLP_INTERLEAVE_SIZE == 0) {
// If the last character in the block
// looks like a control character, we
// need to set the escape indicator to
// false, since the next byte will be
// read immediately after the FEC
// routine, and thus, the normal reading
// code will not reset the indicator.
if (c == LLP_ESC || c == HDLC_FLAG || c == HDLC_RESET) ctx->escape = false;
// The block is interleaved, so we will
// first put the received bytes in the
// deinterleaving buffer
for (int i = 1; i < LLP_INTERLEAVE_SIZE; i++) {
ctx->interleaveIn[i-1] = ctx->buf[ctx->frame_len-(LLP_INTERLEAVE_SIZE-i)];
}
ctx->interleaveIn[LLP_INTERLEAVE_SIZE-1] = c;
// We then deinterleave the block
llpDeinterleave(ctx);
// Adjust the packet length, since we will get
// parity bytes in the data buffer with block
// sizes larger than 3
ctx->frame_len -= LLP_INTERLEAVE_SIZE/3 - 1;
// For each 3-byte block in the deinterleaved
// bytes, we apply forward error correction
for (int i = 0; i < LLP_INTERLEAVE_SIZE; i+=3) {
// We now calculate a parity byte on the
// received data.
// Deinterleaved data bytes
uint8_t a = ctx->interleaveIn[i];
uint8_t b = ctx->interleaveIn[i+1];
// Deinterleaved parity byte
uint8_t p = ctx->interleaveIn[i+2];
ctx->calculatedParity = llpParityBlock(a, b);
// By XORing the calculated parity byte
// with the received parity byte, we get
// what is called the "syndrome". This
// number will tell us if we had any
// errors during transmission, and if so
// where they are. Using Hamming code, we
// can only detect single bit errors in a
// byte though, which is why we interleave
// the data, since most errors will usually
// occur in bursts of more than one bit.
// With 2 data byte interleaving we can
// correct 2 consecutive bit errors.
uint8_t syndrome = ctx->calculatedParity ^ p;
if (syndrome == 0x00) {
// If the syndrome equals 0, we either
// don't have any errors, or the error
// is unrecoverable, so we don't do
// anything
} else {
// If the syndrome is not equal to 0,
// there is a problem, and we will try
// to correct it. We first need to split
// the syndrome byte up into the two
// actual syndrome numbers, one for
// each data byte.
uint8_t syndromes[2];
syndromes[0] = syndrome & 0x0f;
syndromes[1] = (syndrome & 0xf0) >> 4;
// Then we look at each syndrome number
// to determine what bit in the data
// bytes to correct.
for (int i = 0; i < 2; i++) {
uint8_t s = syndromes[i];
uint8_t correction = 0x00;
if (s == 1 || s == 2 || s == 4 || s == 8) {
// This signifies an error in the
// parity block, so we actually
// don't need any correction
continue;
}
// The following determines what
// bit to correct according to
// the syndrome value.
if (s == 3) correction = 0x01;
if (s == 5) correction = 0x02;
if (s == 6) correction = 0x04;
if (s == 7) correction = 0x08;
if (s == 9) correction = 0x10;
if (s == 10) correction = 0x20;
if (s == 11) correction = 0x40;
if (s == 12) correction = 0x80;
// And finally we apply the correction
if (i == 1) a ^= correction;
if (i == 0) b ^= correction;
// This is just for testing purposes.
// Nice to know when corrections were
// actually made.
if (s != 0) ctx->correctionsMade += 1;
}
}
// We now update the checksum of the packet
// with the deinterleaved and possibly
// corrected bytes.
ctx->crc_in = update_crc_ccit(a, ctx->crc_in);
ctx->crc_in = update_crc_ccit(b, ctx->crc_in);
ctx->buf[ctx->frame_len-(LLP_DATA_BLOCK_SIZE)+((i/3)*2)] = a;
ctx->buf[ctx->frame_len-(LLP_DATA_BLOCK_SIZE-1)+((i/3)*2)] = b;
}
continue;
}
}
/////////////////////////////////////////////
// End of forward error correction block //
/////////////////////////////////////////////
if (!ctx->escape && c == HDLC_FLAG) {
if (ctx->frame_len >= LLP_MIN_FRAME_LENGTH) {
if (PASSALL || ctx->crc_in == LLP_CRC_CORRECT) {
#if OPEN_SQUELCH == true
LED_RX_ON();
#endif
llp_decode(ctx);
}
}
ctx->sync = true;
ctx->crc_in = CRC_CCIT_INIT_VAL;
ctx->frame_len = 0;
ctx->readLength = 0;
ctx->correctionsMade = 0;
continue;
}
if (!ctx->escape && c == HDLC_RESET) {
ctx->sync = false;
continue;
}
if (!ctx->escape && c == LLP_ESC) {
ctx->escape = true;
continue;
}
if (ctx->sync) {
if (ctx->frame_len < LLP_MAX_FRAME_LENGTH) {
ctx->buf[ctx->frame_len++] = c;
} else {
ctx->sync = false;
}
}
ctx->escape = false;
}
#endif
}
static void llp_putchar(LLPCtx *ctx, uint8_t c) {
if (c == HDLC_FLAG || c == HDLC_RESET || c == LLP_ESC) fputc(LLP_ESC, ctx->ch);
fputc(c, ctx->ch);
}
static void llp_sendchar(LLPCtx *ctx, uint8_t c) {
llpInterleave(ctx, c);
ctx->crc_out = update_crc_ccit(c, ctx->crc_out);
if (sendParityBlock) {
uint8_t p = llpParityBlock(lastByte, c);
llpInterleave(ctx, p);
}
lastByte = c;
sendParityBlock ^= true;
}
void llp_sendaddress(LLPCtx *ctx, LLPAddress *address) {
llp_sendchar(ctx, address->network >> 8);
llp_sendchar(ctx, address->network & 0xff);
llp_sendchar(ctx, address->host >> 8);
llp_sendchar(ctx, address->host & 0xff);
}
void llp_broadcast(LLPCtx *ctx, const void *_buf, size_t len) {
llp_send(ctx, &broadcast_address, _buf, len);
}
void llp_send(LLPCtx *ctx, LLPAddress *dst, const void *_buf, size_t len) {
ctx->ready_for_data = false;
ctx->interleaveCounter = 0;
ctx->crc_out = CRC_CCIT_INIT_VAL;
uint8_t *buffer = (uint8_t*)_buf;
LLPHeader header;
memset(&header, 0, sizeof(header));
LLPAddress *localAddress = ctx->address;
header.src.network = localAddress->network;
header.src.host = localAddress->host;
header.dst.network = dst->network;
header.dst.host = dst->host;
header.flags = 0x00;
header.padding = (len + LLP_HEADER_SIZE + LLP_CRC_SIZE) % LLP_DATA_BLOCK_SIZE;
if (header.padding != 0) {
header.padding = LLP_DATA_BLOCK_SIZE - header.padding;
}
// Transmit the HDLC_FLAG to signify start of TX
fputc(HDLC_FLAG, ctx->ch);
// Transmit source & destination addresses
llp_sendaddress(ctx, &header.src);
llp_sendaddress(ctx, &header.dst);
// Transmit header flags & padding count
llp_sendchar(ctx, header.flags);
llp_sendchar(ctx, header.padding);
// Transmit padding
while (header.padding--) {
llp_sendchar(ctx, 0x00);
}
// Transmit payload
while (len--) {
llp_sendchar(ctx, *buffer++);
}
// Send CRC checksum
uint8_t crcl = (ctx->crc_out & 0xff) ^ 0xff;
uint8_t crch = (ctx->crc_out >> 8) ^ 0xff;
llp_sendchar(ctx, crcl);
llp_sendchar(ctx, crch);
// And transmit a HDLC_FLAG to signify
// end of the transmission.
fputc(HDLC_FLAG, ctx->ch);
ctx->ready_for_data = true;
}
void llp_sendRaw(LLPCtx *ctx, const void *_buf, size_t len) {
ctx->ready_for_data = false;
ctx->crc_out = CRC_CCIT_INIT_VAL;
fputc(HDLC_FLAG, ctx->ch);
const uint8_t *buf = (const uint8_t *)_buf;
while (len--) llp_putchar(ctx, *buf++);
uint8_t crcl = (ctx->crc_out & 0xff) ^ 0xff;
uint8_t crch = (ctx->crc_out >> 8) ^ 0xff;
llp_putchar(ctx, crcl);
llp_putchar(ctx, crch);
fputc(HDLC_FLAG, ctx->ch);
ctx->ready_for_data = true;
}
void llp_init(LLPCtx *ctx, LLPAddress *address, FILE *channel, llp_callback_t hook) {
memset(ctx, 0, sizeof(*ctx));
ctx->ch = channel;
ctx->hook = hook;
ctx->address = address;
ctx->crc_in = ctx->crc_out = CRC_CCIT_INIT_VAL;
ctx->ready_for_data = true;
memset(&broadcast_address, 0, sizeof(broadcast_address));
broadcast_address.network = LLP_ADDR_BROADCAST;
broadcast_address.host = LLP_ADDR_BROADCAST;
}
// This function calculates and returns a parity
// byte for two input bytes. The parity byte is
// used for correcting errors in the transmission.
// The error correction algorithm is a standard
// (12,8) Hamming code.
inline bool BIT(uint8_t byte, int n) { return ((byte & _BV(n-1))>>(n-1)); }
uint8_t llpParityBlock(uint8_t first, uint8_t other) {
uint8_t parity = 0x00;
parity = ((BIT(first, 1) ^ BIT(first, 2) ^ BIT(first, 4) ^ BIT(first, 5) ^ BIT(first, 7))) +
((BIT(first, 1) ^ BIT(first, 3) ^ BIT(first, 4) ^ BIT(first, 6) ^ BIT(first, 7))<<1) +
((BIT(first, 2) ^ BIT(first, 3) ^ BIT(first, 4) ^ BIT(first, 8))<<2) +
((BIT(first, 5) ^ BIT(first, 6) ^ BIT(first, 7) ^ BIT(first, 8))<<3) +
((BIT(other, 1) ^ BIT(other, 2) ^ BIT(other, 4) ^ BIT(other, 5) ^ BIT(other, 7))<<4) +
((BIT(other, 1) ^ BIT(other, 3) ^ BIT(other, 4) ^ BIT(other, 6) ^ BIT(other, 7))<<5) +
((BIT(other, 2) ^ BIT(other, 3) ^ BIT(other, 4) ^ BIT(other, 8))<<6) +
((BIT(other, 5) ^ BIT(other, 6) ^ BIT(other, 7) ^ BIT(other, 8))<<7);
return parity;
}
// Following is the functions responsible
// for interleaving and deinterleaving
// blocks of data. The interleaving table
// for 3-byte interleaving is also included.
// The table for 12-byte is much simpler,
// and should be inferable from looking
// at the function.
///////////////////////////////
// Interleave-table (3-byte) //
///////////////////////////////
//
// Non-interleaved:
// aaaaaaaa bbbbbbbb cccccccc
// 12345678 12345678 12345678
// M L
// S S
// B B
//
// Interleaved:
// abcabcab cabcabca bcabcabc
// 11144477 22255578 63336688
//
///////////////////////////////
void llpInterleave(LLPCtx *ctx, uint8_t byte) {
ctx->interleaveOut[ctx->interleaveCounter] = byte;
ctx->interleaveCounter++;
if (!DISABLE_INTERLEAVE) {
if (ctx->interleaveCounter == LLP_INTERLEAVE_SIZE) {
// We have the bytes we need for interleaving
// in the buffer and are ready to interleave them.
uint8_t a = (GET_BIT(ctx->interleaveOut[0], 1) << 7) +
(GET_BIT(ctx->interleaveOut[1], 1) << 6) +
(GET_BIT(ctx->interleaveOut[3], 1) << 5) +
(GET_BIT(ctx->interleaveOut[4], 1) << 4) +
(GET_BIT(ctx->interleaveOut[6], 1) << 3) +
(GET_BIT(ctx->interleaveOut[7], 1) << 2) +
(GET_BIT(ctx->interleaveOut[9], 1) << 1) +
(GET_BIT(ctx->interleaveOut[10],1));
llp_putchar(ctx, a);
uint8_t b = (GET_BIT(ctx->interleaveOut[0], 2) << 7) +
(GET_BIT(ctx->interleaveOut[1], 2) << 6) +
(GET_BIT(ctx->interleaveOut[3], 2) << 5) +
(GET_BIT(ctx->interleaveOut[4], 2) << 4) +
(GET_BIT(ctx->interleaveOut[6], 2) << 3) +
(GET_BIT(ctx->interleaveOut[7], 2) << 2) +
(GET_BIT(ctx->interleaveOut[9], 2) << 1) +
(GET_BIT(ctx->interleaveOut[10],2));
llp_putchar(ctx, b);
uint8_t c = (GET_BIT(ctx->interleaveOut[0], 3) << 7) +
(GET_BIT(ctx->interleaveOut[1], 3) << 6) +
(GET_BIT(ctx->interleaveOut[3], 3) << 5) +
(GET_BIT(ctx->interleaveOut[4], 3) << 4) +
(GET_BIT(ctx->interleaveOut[6], 3) << 3) +
(GET_BIT(ctx->interleaveOut[7], 3) << 2) +
(GET_BIT(ctx->interleaveOut[9], 3) << 1) +
(GET_BIT(ctx->interleaveOut[10],3));
llp_putchar(ctx, c);
uint8_t d = (GET_BIT(ctx->interleaveOut[0], 4) << 7) +
(GET_BIT(ctx->interleaveOut[1], 4) << 6) +
(GET_BIT(ctx->interleaveOut[3], 4) << 5) +
(GET_BIT(ctx->interleaveOut[4], 4) << 4) +
(GET_BIT(ctx->interleaveOut[6], 4) << 3) +
(GET_BIT(ctx->interleaveOut[7], 4) << 2) +
(GET_BIT(ctx->interleaveOut[9], 4) << 1) +
(GET_BIT(ctx->interleaveOut[10],4));
llp_putchar(ctx, d);
uint8_t e = (GET_BIT(ctx->interleaveOut[0], 5) << 7) +
(GET_BIT(ctx->interleaveOut[1], 5) << 6) +
(GET_BIT(ctx->interleaveOut[3], 5) << 5) +
(GET_BIT(ctx->interleaveOut[4], 5) << 4) +
(GET_BIT(ctx->interleaveOut[6], 5) << 3) +
(GET_BIT(ctx->interleaveOut[7], 5) << 2) +
(GET_BIT(ctx->interleaveOut[9], 5) << 1) +
(GET_BIT(ctx->interleaveOut[10],5));
llp_putchar(ctx, e);
uint8_t f = (GET_BIT(ctx->interleaveOut[0], 6) << 7) +
(GET_BIT(ctx->interleaveOut[1], 6) << 6) +
(GET_BIT(ctx->interleaveOut[3], 6) << 5) +
(GET_BIT(ctx->interleaveOut[4], 6) << 4) +
(GET_BIT(ctx->interleaveOut[6], 6) << 3) +
(GET_BIT(ctx->interleaveOut[7], 6) << 2) +
(GET_BIT(ctx->interleaveOut[9], 6) << 1) +
(GET_BIT(ctx->interleaveOut[10],6));
llp_putchar(ctx, f);
uint8_t g = (GET_BIT(ctx->interleaveOut[0], 7) << 7) +
(GET_BIT(ctx->interleaveOut[1], 7) << 6) +
(GET_BIT(ctx->interleaveOut[3], 7) << 5) +
(GET_BIT(ctx->interleaveOut[4], 7) << 4) +
(GET_BIT(ctx->interleaveOut[6], 7) << 3) +
(GET_BIT(ctx->interleaveOut[7], 7) << 2) +
(GET_BIT(ctx->interleaveOut[9], 7) << 1) +
(GET_BIT(ctx->interleaveOut[10],7));
llp_putchar(ctx, g);
uint8_t h = (GET_BIT(ctx->interleaveOut[0], 8) << 7) +
(GET_BIT(ctx->interleaveOut[1], 8) << 6) +
(GET_BIT(ctx->interleaveOut[3], 8) << 5) +
(GET_BIT(ctx->interleaveOut[4], 8) << 4) +
(GET_BIT(ctx->interleaveOut[6], 8) << 3) +
(GET_BIT(ctx->interleaveOut[7], 8) << 2) +
(GET_BIT(ctx->interleaveOut[9], 8) << 1) +
(GET_BIT(ctx->interleaveOut[10],8));
llp_putchar(ctx, h);
uint8_t p = (GET_BIT(ctx->interleaveOut[2], 1) << 7) +
(GET_BIT(ctx->interleaveOut[2], 5) << 6) +
(GET_BIT(ctx->interleaveOut[5], 1) << 5) +
(GET_BIT(ctx->interleaveOut[5], 5) << 4) +
(GET_BIT(ctx->interleaveOut[8], 1) << 3) +
(GET_BIT(ctx->interleaveOut[8], 5) << 2) +
(GET_BIT(ctx->interleaveOut[11],1) << 1) +
(GET_BIT(ctx->interleaveOut[11],5));
llp_putchar(ctx, p);
uint8_t q = (GET_BIT(ctx->interleaveOut[2], 2) << 7) +
(GET_BIT(ctx->interleaveOut[2], 6) << 6) +
(GET_BIT(ctx->interleaveOut[5], 2) << 5) +
(GET_BIT(ctx->interleaveOut[5], 6) << 4) +
(GET_BIT(ctx->interleaveOut[8], 2) << 3) +
(GET_BIT(ctx->interleaveOut[8], 6) << 2) +
(GET_BIT(ctx->interleaveOut[11],2) << 1) +
(GET_BIT(ctx->interleaveOut[11],6));
llp_putchar(ctx, q);
uint8_t s = (GET_BIT(ctx->interleaveOut[2], 3) << 7) +
(GET_BIT(ctx->interleaveOut[2], 7) << 6) +
(GET_BIT(ctx->interleaveOut[5], 3) << 5) +
(GET_BIT(ctx->interleaveOut[5], 7) << 4) +
(GET_BIT(ctx->interleaveOut[8], 3) << 3) +
(GET_BIT(ctx->interleaveOut[8], 7) << 2) +
(GET_BIT(ctx->interleaveOut[11],3) << 1) +
(GET_BIT(ctx->interleaveOut[11],7));
llp_putchar(ctx, s);
uint8_t t = (GET_BIT(ctx->interleaveOut[2], 4) << 7) +
(GET_BIT(ctx->interleaveOut[2], 8) << 6) +
(GET_BIT(ctx->interleaveOut[5], 4) << 5) +
(GET_BIT(ctx->interleaveOut[5], 8) << 4) +
(GET_BIT(ctx->interleaveOut[8], 4) << 3) +
(GET_BIT(ctx->interleaveOut[8], 8) << 2) +
(GET_BIT(ctx->interleaveOut[11],4) << 1) +
(GET_BIT(ctx->interleaveOut[11],8));
llp_putchar(ctx, t);
ctx->interleaveCounter = 0;
}
} else {
if (ctx->interleaveCounter == LLP_INTERLEAVE_SIZE) {
for (int i = 0; i < LLP_INTERLEAVE_SIZE; i++) {
llp_putchar(ctx, ctx->interleaveOut[i]);
}
ctx->interleaveCounter = 0;
}
}
}
void llpDeinterleave(LLPCtx *ctx) {
uint8_t a = (GET_BIT(ctx->interleaveIn[0], 1) << 7) +
(GET_BIT(ctx->interleaveIn[1], 1) << 6) +
(GET_BIT(ctx->interleaveIn[2], 1) << 5) +
(GET_BIT(ctx->interleaveIn[3], 1) << 4) +
(GET_BIT(ctx->interleaveIn[4], 1) << 3) +
(GET_BIT(ctx->interleaveIn[5], 1) << 2) +
(GET_BIT(ctx->interleaveIn[6], 1) << 1) +
(GET_BIT(ctx->interleaveIn[7], 1));
uint8_t b = (GET_BIT(ctx->interleaveIn[0], 2) << 7) +
(GET_BIT(ctx->interleaveIn[1], 2) << 6) +
(GET_BIT(ctx->interleaveIn[2], 2) << 5) +
(GET_BIT(ctx->interleaveIn[3], 2) << 4) +
(GET_BIT(ctx->interleaveIn[4], 2) << 3) +
(GET_BIT(ctx->interleaveIn[5], 2) << 2) +
(GET_BIT(ctx->interleaveIn[6], 2) << 1) +
(GET_BIT(ctx->interleaveIn[7], 2));
uint8_t p = (GET_BIT(ctx->interleaveIn[8], 1) << 7) +
(GET_BIT(ctx->interleaveIn[9], 1) << 6) +
(GET_BIT(ctx->interleaveIn[10],1) << 5) +
(GET_BIT(ctx->interleaveIn[11],1) << 4) +
(GET_BIT(ctx->interleaveIn[8], 2) << 3) +
(GET_BIT(ctx->interleaveIn[9], 2) << 2) +
(GET_BIT(ctx->interleaveIn[10],2) << 1) +
(GET_BIT(ctx->interleaveIn[11],2));
uint8_t c = (GET_BIT(ctx->interleaveIn[0], 3) << 7) +
(GET_BIT(ctx->interleaveIn[1], 3) << 6) +
(GET_BIT(ctx->interleaveIn[2], 3) << 5) +
(GET_BIT(ctx->interleaveIn[3], 3) << 4) +
(GET_BIT(ctx->interleaveIn[4], 3) << 3) +
(GET_BIT(ctx->interleaveIn[5], 3) << 2) +
(GET_BIT(ctx->interleaveIn[6], 3) << 1) +
(GET_BIT(ctx->interleaveIn[7], 3));
uint8_t d = (GET_BIT(ctx->interleaveIn[0], 4) << 7) +
(GET_BIT(ctx->interleaveIn[1], 4) << 6) +
(GET_BIT(ctx->interleaveIn[2], 4) << 5) +
(GET_BIT(ctx->interleaveIn[3], 4) << 4) +
(GET_BIT(ctx->interleaveIn[4], 4) << 3) +
(GET_BIT(ctx->interleaveIn[5], 4) << 2) +
(GET_BIT(ctx->interleaveIn[6], 4) << 1) +
(GET_BIT(ctx->interleaveIn[7], 4));
uint8_t q = (GET_BIT(ctx->interleaveIn[8], 3) << 7) +
(GET_BIT(ctx->interleaveIn[9], 3) << 6) +
(GET_BIT(ctx->interleaveIn[10],3) << 5) +
(GET_BIT(ctx->interleaveIn[11],3) << 4) +
(GET_BIT(ctx->interleaveIn[8], 4) << 3) +
(GET_BIT(ctx->interleaveIn[9], 4) << 2) +
(GET_BIT(ctx->interleaveIn[10],4) << 1) +
(GET_BIT(ctx->interleaveIn[11],4));
uint8_t e = (GET_BIT(ctx->interleaveIn[0], 5) << 7) +
(GET_BIT(ctx->interleaveIn[1], 5) << 6) +
(GET_BIT(ctx->interleaveIn[2], 5) << 5) +
(GET_BIT(ctx->interleaveIn[3], 5) << 4) +
(GET_BIT(ctx->interleaveIn[4], 5) << 3) +
(GET_BIT(ctx->interleaveIn[5], 5) << 2) +
(GET_BIT(ctx->interleaveIn[6], 5) << 1) +
(GET_BIT(ctx->interleaveIn[7], 5));
uint8_t f = (GET_BIT(ctx->interleaveIn[0], 6) << 7) +
(GET_BIT(ctx->interleaveIn[1], 6) << 6) +
(GET_BIT(ctx->interleaveIn[2], 6) << 5) +
(GET_BIT(ctx->interleaveIn[3], 6) << 4) +
(GET_BIT(ctx->interleaveIn[4], 6) << 3) +
(GET_BIT(ctx->interleaveIn[5], 6) << 2) +
(GET_BIT(ctx->interleaveIn[6], 6) << 1) +
(GET_BIT(ctx->interleaveIn[7], 6));
uint8_t s = (GET_BIT(ctx->interleaveIn[8], 5) << 7) +
(GET_BIT(ctx->interleaveIn[9], 5) << 6) +
(GET_BIT(ctx->interleaveIn[10],5) << 5) +
(GET_BIT(ctx->interleaveIn[11],5) << 4) +
(GET_BIT(ctx->interleaveIn[8], 6) << 3) +
(GET_BIT(ctx->interleaveIn[9], 6) << 2) +
(GET_BIT(ctx->interleaveIn[10],6) << 1) +
(GET_BIT(ctx->interleaveIn[11],6));
uint8_t g = (GET_BIT(ctx->interleaveIn[0], 7) << 7) +
(GET_BIT(ctx->interleaveIn[1], 7) << 6) +
(GET_BIT(ctx->interleaveIn[2], 7) << 5) +
(GET_BIT(ctx->interleaveIn[3], 7) << 4) +
(GET_BIT(ctx->interleaveIn[4], 7) << 3) +
(GET_BIT(ctx->interleaveIn[5], 7) << 2) +
(GET_BIT(ctx->interleaveIn[6], 7) << 1) +
(GET_BIT(ctx->interleaveIn[7], 7));
uint8_t h = (GET_BIT(ctx->interleaveIn[0], 8) << 7) +
(GET_BIT(ctx->interleaveIn[1], 8) << 6) +
(GET_BIT(ctx->interleaveIn[2], 8) << 5) +
(GET_BIT(ctx->interleaveIn[3], 8) << 4) +
(GET_BIT(ctx->interleaveIn[4], 8) << 3) +
(GET_BIT(ctx->interleaveIn[5], 8) << 2) +
(GET_BIT(ctx->interleaveIn[6], 8) << 1) +
(GET_BIT(ctx->interleaveIn[7], 8));
uint8_t t = (GET_BIT(ctx->interleaveIn[8], 7) << 7) +
(GET_BIT(ctx->interleaveIn[9], 7) << 6) +
(GET_BIT(ctx->interleaveIn[10],7) << 5) +
(GET_BIT(ctx->interleaveIn[11],7) << 4) +
(GET_BIT(ctx->interleaveIn[8], 8) << 3) +
(GET_BIT(ctx->interleaveIn[9], 8) << 2) +
(GET_BIT(ctx->interleaveIn[10],8) << 1) +
(GET_BIT(ctx->interleaveIn[11],8));
ctx->interleaveIn[0] = a;
ctx->interleaveIn[1] = b;
ctx->interleaveIn[2] = p;
ctx->interleaveIn[3] = c;
ctx->interleaveIn[4] = d;
ctx->interleaveIn[5] = q;
ctx->interleaveIn[6] = e;
ctx->interleaveIn[7] = f;
ctx->interleaveIn[8] = s;
ctx->interleaveIn[9] = g;
ctx->interleaveIn[10] = h;
ctx->interleaveIn[11] = t;
}

72
hardware/packetmodem_nano2/MicroModemGP/protocol/LLP.h Executable file
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#ifndef PROTOCOL_LLP_H
#define PROTOCOL_LLP_H
#include <stdio.h>
#include <stdbool.h>
#include "device.h"
#define LLP_ADDR_BROADCAST 0xFFFF
#define LLP_INTERLEAVE_SIZE 12
#define LLP_MIN_FRAME_LENGTH LLP_INTERLEAVE_SIZE
#define LLP_MAX_FRAME_LENGTH 48 * LLP_INTERLEAVE_SIZE
#define LLP_HEADER_SIZE 10
#define LLP_CHECKSUM_SIZE 2
#define LLP_MAX_DATA_SIZE LLP_MAX_FRAME_LENGTH - LLP_HEADER_SIZE - LLP_CHECKSUM_SIZE
#define LLP_DATA_BLOCK_SIZE ((LLP_INTERLEAVE_SIZE/3)*2)
#define LLP_CRC_SIZE 2
#define LLP_CRC_CORRECT 0xF0B8
struct LLPCtx; // Forward declarations
typedef void (*llp_callback_t)(struct LLPCtx *ctx);
typedef struct LLPAddress {
uint16_t network;
uint16_t host;
} LLPAddress;
typedef struct LLPHeader {
LLPAddress src;
LLPAddress dst;
uint8_t flags;
uint8_t padding;
} LLPHeader;
typedef struct LLPMsg {
LLPHeader header;
const uint8_t *data;
size_t len;
} LLPMsg;
typedef struct LLPCtx {
uint8_t buf[LLP_MAX_FRAME_LENGTH];
FILE *ch;
LLPAddress *address;
size_t frame_len;
size_t readLength;
uint16_t crc_in;
uint16_t crc_out;
uint8_t calculatedParity;
long correctionsMade;
llp_callback_t hook;
bool sync;
bool escape;
bool ready_for_data;
uint8_t interleaveCounter; // Keeps track of when we have received an entire interleaved block
uint8_t interleaveOut[LLP_INTERLEAVE_SIZE]; // A buffer for interleaving bytes before they are sent
uint8_t interleaveIn[LLP_INTERLEAVE_SIZE]; // A buffer for storing interleaved bytes before they are deinterleaved
} LLPCtx;
void llp_broadcast(LLPCtx *ctx, const void *_buf, size_t len);
void llp_send(LLPCtx *ctx, LLPAddress *dst, const void *_buf, size_t len);
void llp_sendRaw(LLPCtx *ctx, const void *_buf, size_t len);
void llp_poll(LLPCtx *ctx);
void llp_init(LLPCtx *ctx, LLPAddress *address, FILE *channel, llp_callback_t hook);
void llpInterleave(LLPCtx *ctx, uint8_t byte);
void llpDeinterleave(LLPCtx *ctx);
uint8_t llpParityBlock(uint8_t first, uint8_t other);
#endif

36
hardware/packetmodem_nano2/MicroModemGP/util/CRC-CCIT.c Executable file
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#include "CRC-CCIT.h"
const uint16_t crc_ccit_table[256] PROGMEM = {
0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78,
};

18
hardware/packetmodem_nano2/MicroModemGP/util/CRC-CCIT.h Executable file
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// CRC-CCIT Implementation based on work by Francesco Sacchi
#ifndef CRC_CCIT_H
#define CRC_CCIT_H
#include <stdint.h>
#include <avr/pgmspace.h>
#define CRC_CCIT_INIT_VAL ((uint16_t)0xFFFF)
extern const uint16_t crc_ccit_table[256];
inline uint16_t update_crc_ccit(uint8_t c, uint16_t prev_crc) {
return (prev_crc >> 8) ^ pgm_read_word(&crc_ccit_table[(prev_crc ^ c) & 0xff]);
}
#endif

85
hardware/packetmodem_nano2/MicroModemGP/util/FIFO.h Executable file
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#ifndef UTIL_FIFO_H
#define UTIL_FIFO_H
#include <stddef.h>
#include <util/atomic.h>
typedef struct FIFOBuffer
{
unsigned char *begin;
unsigned char *end;
unsigned char * volatile head;
unsigned char * volatile tail;
} FIFOBuffer;
inline bool fifo_isempty(const FIFOBuffer *f) {
return f->head == f->tail;
}
inline bool fifo_isfull(const FIFOBuffer *f) {
return ((f->head == f->begin) && (f->tail == f->end)) || (f->tail == f->head - 1);
}
inline void fifo_push(FIFOBuffer *f, unsigned char c) {
*(f->tail) = c;
if (f->tail == f->end) {
f->tail = f->begin;
} else {
f->tail++;
}
}
inline unsigned char fifo_pop(FIFOBuffer *f) {
if(f->head == f->end) {
f->head = f->begin;
return *(f->end);
} else {
return *(f->head++);
}
}
inline void fifo_flush(FIFOBuffer *f) {
f->head = f->tail;
}
inline bool fifo_isempty_locked(const FIFOBuffer *f) {
bool result;
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
result = fifo_isempty(f);
}
return result;
}
inline bool fifo_isfull_locked(const FIFOBuffer *f) {
bool result;
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
result = fifo_isfull(f);
}
return result;
}
inline void fifo_push_locked(FIFOBuffer *f, unsigned char c) {
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
fifo_push(f, c);
}
}
inline unsigned char fifo_pop_locked(FIFOBuffer *f) {
unsigned char c;
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
c = fifo_pop(f);
}
return c;
}
inline void fifo_init(FIFOBuffer *f, unsigned char *buffer, size_t size) {
f->head = f->tail = f->begin = buffer;
f->end = buffer + size -1;
}
inline size_t fifo_len(FIFOBuffer *f) {
return f->end - f->begin;
}
#endif

12
hardware/packetmodem_nano2/MicroModemGP/util/constants.h Executable file
View File

@@ -0,0 +1,12 @@
#define PROTOCOL_KISS 0x01
#define PROTOCOL_SIMPLE_SERIAL 0x02
#define m328p 0x01
#define m1284p 0x02
#define m644p 0x03
#define REF_3V3 0x01
#define REF_5V 0x02
#define SERIAL_FRAMING_KISS 0x01
#define SERIAL_FRAMING_DIRECT 0x02

43
hardware/packetmodem_nano2/MicroModemGP/util/time.h Executable file
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@@ -0,0 +1,43 @@
#ifndef UTIL_TIME_H
#define UTIL_TIME_H
#include <util/atomic.h>
#include "device.h"
#define DIV_ROUND(dividend, divisor) (((dividend) + (divisor) / 2) / (divisor))
#define CLOCK_TICKS_PER_SEC CONFIG_AFSK_DAC_SAMPLERATE
typedef int32_t ticks_t;
typedef int32_t mtime_t;
volatile ticks_t _clock;
inline ticks_t timer_clock(void) {
ticks_t result;
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
result = _clock;
}
return result;
}
inline ticks_t ms_to_ticks(mtime_t ms) {
return ms * DIV_ROUND(CLOCK_TICKS_PER_SEC, 1000);
}
inline void cpu_relax(void) {
// Do nothing!
}
inline void delay_ms(unsigned long ms) {
ticks_t start = timer_clock();
unsigned long n_ticks = ms_to_ticks(ms);
while (timer_clock() - start < n_ticks) {
cpu_relax();
}
}
#endif