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main.c
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main.c
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/*
* Transmits CubeSat Telemetry at 434.9MHz in AFSK, FSK, BPSK, or CW format
* Or transmits SSTV stored images or Pi camera iamges.
*
* Copyright Alan B. Johnston
*
* Portions Copyright (C) 2018 Jonathan Brandenburg
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "main.h"
int main(int argc, char * argv[]) {
FILE * rpitx_restart = popen("sudo systemctl restart rpitx", "r");
pclose(rpitx_restart);
mode = FSK;
frameCnt = 1;
if (argc > 1) {
// strcpy(src_addr, argv[1]);
if ( * argv[1] == 'b') {
mode = BPSK;
printf("Mode BPSK\n");
} else if ( * argv[1] == 'a') {
mode = AFSK;
printf("Mode AFSK\n");
} else if ( * argv[1] == 'm') {
mode = CW;
printf("Mode CW\n");
} else {
printf("Mode FSK\n");
}
if (argc > 2) {
// printf("String is %s %s\n", *argv[2], argv[2]);
loop = atoi(argv[2]);
loop_count = loop;
}
printf("Looping %d times \n", loop);
if (argc > 3) {
if ( * argv[3] == 'n') {
cw_id = OFF;
printf("No CW id\n");
}
}
} else {
FILE * mode_file = fopen("/home/pi/CubeSatSim/.mode", "r");
if (mode_file != NULL) {
char mode_string;
mode_string = fgetc(mode_file);
fclose(mode_file);
printf("Mode file /home/pi/CubeSatSim/.mode contains %c\n", mode_string);
if ( mode_string == 'b') {
mode = BPSK;
printf("Mode is BPSK\n");
} else if ( mode_string == 'a') {
mode = AFSK;
printf("Mode is AFSK\n");
} else if ( mode_string == 's') {
mode = SSTV;
printf("Mode is SSTV\n");
} else if ( mode_string == 'm') {
mode = CW;
printf("Mode is CW\n");
} else {
printf("Mode is FSK\n");
}
}
}
// Open configuration file with callsign and reset count
FILE * config_file = fopen("/home/pi/CubeSatSim/sim.cfg", "r");
if (config_file == NULL) {
printf("Creating config file.");
config_file = fopen("/home/pi/CubeSatSim/sim.cfg", "w");
fprintf(config_file, "%s %d", " ", 100);
fclose(config_file);
config_file = fopen("/home/pi/CubeSatSim/sim.cfg", "r");
}
// char * cfg_buf[100];
fscanf(config_file, "%s %d %f %f %s", call, & reset_count, & lat_file, & long_file, sim_yes);
fclose(config_file);
printf("Config file /home/pi/CubeSatSim/sim.cfg contains %s %d %f %f %s\n", call, reset_count, lat_file, long_file, sim_yes);
reset_count = (reset_count + 1) % 0xffff;
if ((fabs(lat_file) > 0) && (fabs(lat_file) < 90.0) && (fabs(long_file) > 0) && (fabs(long_file) < 180.0)) {
printf("Valid latitude and longitude in config file\n");
// convert to APRS DDMM.MM format
latitude = toAprsFormat(lat_file);
longitude = toAprsFormat(long_file);
printf("Lat/Long in APRS DDMM.MM format: %f/%f\n", latitude, longitude);
} else { // set default
latitude = toAprsFormat(latitude);
longitude = toAprsFormat(longitude);
}
if (strcmp(sim_yes, "yes") == 0)
sim_mode = TRUE;
wiringPiSetup();
if (mode == AFSK)
{
// Check for SPI and AX-5043 Digital Transceiver Board
FILE * file = popen("sudo raspi-config nonint get_spi", "r");
// printf("getc: %c \n", fgetc(file));
if (fgetc(file) == 48) {
printf("SPI is enabled!\n");
FILE * file2 = popen("ls /dev/spidev0.* 2>&1", "r");
printf("Result getc: %c \n", getc(file2));
if (fgetc(file2) != 'l') {
printf("SPI devices present!\n");
// }
setSpiChannel(SPI_CHANNEL);
setSpiSpeed(SPI_SPEED);
initializeSpi();
ax25_init( & hax25, (uint8_t * ) dest_addr, '1', (uint8_t * ) call, '1', AX25_PREAMBLE_LEN, AX25_POSTAMBLE_LEN);
if (init_rf()) {
printf("AX5043 successfully initialized!\n");
ax5043 = TRUE;
cw_id = OFF;
// mode = AFSK;
// cycle = OFF;
printf("Mode AFSK with AX5043\n");
transmit = TRUE;
// sleep(10); // just in case CW ID is sent
} else
printf("AX5043 not present!\n");
pclose(file2);
}
}
pclose(file);
}
txLed = 0; // defaults for vB3 board without TFB
txLedOn = LOW;
txLedOff = HIGH;
if (!ax5043) {
pinMode(2, INPUT);
pullUpDnControl(2, PUD_UP);
if (digitalRead(2) != HIGH) {
printf("vB3 with TFB Present\n");
vB3 = TRUE;
txLed = 3;
txLedOn = LOW;
txLedOff = HIGH;
onLed = 0;
onLedOn = LOW;
onLedOff = HIGH;
transmit = TRUE;
} else {
pinMode(3, INPUT);
pullUpDnControl(3, PUD_UP);
if (digitalRead(3) != HIGH) {
printf("vB4 Present\n");
txLed = 2;
txLedOn = HIGH;
txLedOff = LOW;
vB4 = TRUE;
onLed = 0;
onLedOn = HIGH;
onLedOff = LOW;
transmit = TRUE;
} else {
pinMode(26, INPUT);
pullUpDnControl(26, PUD_UP);
if (digitalRead(26) != HIGH) {
printf("vB5 Present\n");
txLed = 2;
txLedOn = HIGH;
txLedOff = LOW;
vB5 = TRUE;
onLed = 27;
onLedOn = HIGH;
onLedOff = LOW;
transmit = TRUE;
}
}
}
}
pinMode(txLed, OUTPUT);
digitalWrite(txLed, txLedOff);
#ifdef DEBUG_LOGGING
printf("Tx LED Off\n");
#endif
pinMode(onLed, OUTPUT);
digitalWrite(onLed, onLedOn);
#ifdef DEBUG_LOGGING
printf("Power LED On\n");
#endif
config_file = fopen("sim.cfg", "w");
fprintf(config_file, "%s %d %8.4f %8.4f %s", call, reset_count, lat_file, long_file, sim_yes);
// fprintf(config_file, "%s %d", call, reset_count);
fclose(config_file);
config_file = fopen("sim.cfg", "r");
if (vB4) {
map[BAT] = BUS;
map[BUS] = BAT;
snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(0));
} else if (vB5) {
map[MINUS_X] = MINUS_Y;
map[PLUS_Z] = MINUS_X;
map[MINUS_Y] = PLUS_Z;
if (access("/dev/i2c-11", W_OK | R_OK) >= 0) { // Test if I2C Bus 11 is present
printf("/dev/i2c-11 is present\n\n");
snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(11));
} else {
snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(3));
}
} else {
map[BUS] = MINUS_Z;
map[BAT] = BUS;
map[PLUS_Z] = BAT;
map[MINUS_Z] = PLUS_Z;
snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(0));
voltageThreshold = 8.0;
}
// test i2c buses
fflush(stdout);
//printf("Test bus 0\n");
//fflush(stdout);
//i2c_bus0 = (test_i2c_bus(0) != -1) ? ON : OFF;
printf("Test bus 1\n");
fflush(stdout);
i2c_bus1 = (test_i2c_bus(1) != -1) ? ON : OFF;
printf("Test bus 3\n");
fflush(stdout);
i2c_bus3 = (test_i2c_bus(3) != -1) ? ON : OFF;
printf("Finished testing\n");
fflush(stdout);
// check for camera
// char cmdbuffer1[1000];
FILE * file4 = popen("vcgencmd get_camera", "r");
fgets(cmdbuffer, 1000, file4);
char camera_present[] = "supported=1 detected=1";
// printf("strstr: %s \n", strstr( & cmdbuffer1, camera_present));
camera = (strstr( (const char *)& cmdbuffer, camera_present) != NULL) ? ON : OFF;
// printf("Camera result:%s camera: %d \n", & cmdbuffer1, camera);
pclose(file4);
#ifdef DEBUG_LOGGING
printf("INFO: I2C bus status 0: %d 1: %d 3: %d camera: %d\n", i2c_bus0, i2c_bus1, i2c_bus3, camera);
#endif
FILE * file5 = popen("sudo rm /home/pi/CubeSatSim/camera_out.jpg > /dev/null 2>&1", "r");
pclose(file5);
// try connecting to STEM Payload board using UART
// /boot/config.txt and /boot/cmdline.txt must be set correctly for this to work
if (!ax5043 && !vB3 && !(mode == CW) && !(mode == SSTV)) // don't test for payload if AX5043 is present or CW or SSTV modes
{
payload = OFF;
if ((uart_fd = serialOpen("/dev/ttyAMA0", 115200)) >= 0) { // was 9600
char c;
int charss = (char) serialDataAvail(uart_fd);
if (charss != 0)
printf("Clearing buffer of %d chars \n", charss);
while ((charss--> 0))
c = (char) serialGetchar(uart_fd); // clear buffer
unsigned int waitTime;
int i;
for (i = 0; i < 2; i++) {
if (payload != ON) {
serialPutchar(uart_fd, 'R');
printf("Querying payload with R to reset\n");
waitTime = millis() + 500;
while ((millis() < waitTime) && (payload != ON)) {
if (serialDataAvail(uart_fd)) {
printf("%c", c = (char) serialGetchar(uart_fd));
fflush(stdout);
if (c == 'O') {
printf("%c", c = (char) serialGetchar(uart_fd));
fflush(stdout);
if (c == 'K')
payload = ON;
}
}
printf("\n");
// sleep(0.75);
}
}
}
if (payload == ON) {
printf("\nSTEM Payload is present!\n");
sleep(2); // delay to give payload time to get ready
}
else {
printf("\nSTEM Payload not present!\n -> Is STEM Payload programed and Serial1 set to 115200 baud?\n");
}
} else {
fprintf(stderr, "Unable to open UART: %s\n -> Did you configure /boot/config.txt and /boot/cmdline.txt?\n", strerror(errno));
}
}
if ((i2c_bus3 == OFF) || (sim_mode == TRUE)) {
sim_mode = TRUE;
printf("Simulated telemetry mode!\n");
srand((unsigned int)time(0));
axis[0] = rnd_float(-0.2, 0.2);
if (axis[0] == 0)
axis[0] = rnd_float(-0.2, 0.2);
axis[1] = rnd_float(-0.2, 0.2);
axis[2] = (rnd_float(-0.2, 0.2) > 0) ? 1.0 : -1.0;
angle[0] = (float) atan(axis[1] / axis[2]);
angle[1] = (float) atan(axis[2] / axis[0]);
angle[2] = (float) atan(axis[1] / axis[0]);
volts_max[0] = rnd_float(4.5, 5.5) * (float) sin(angle[1]);
volts_max[1] = rnd_float(4.5, 5.5) * (float) cos(angle[0]);
volts_max[2] = rnd_float(4.5, 5.5) * (float) cos(angle[1] - angle[0]);
float amps_avg = rnd_float(150, 300);
amps_max[0] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) sin(angle[1]);
amps_max[1] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[0]);
amps_max[2] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[1] - angle[0]);
batt = rnd_float(3.8, 4.3);
speed = rnd_float(1.0, 2.5);
eclipse = (rnd_float(-1, +4) > 0) ? 1.0 : 0.0;
period = rnd_float(150, 300);
tempS = rnd_float(20, 55);
temp_max = rnd_float(50, 70);
temp_min = rnd_float(10, 20);
#ifdef DEBUG_LOGGING
for (int i = 0; i < 3; i++)
printf("axis: %f angle: %f v: %f i: %f \n", axis[i], angle[i], volts_max[i], amps_max[i]);
printf("batt: %f speed: %f eclipse_time: %f eclipse: %f period: %f temp: %f max: %f min: %f\n", batt, speed, eclipse_time, eclipse, period, tempS, temp_max, temp_min);
#endif
time_start = (long int) millis();
eclipse_time = (long int)(millis() / 1000.0);
if (eclipse == 0.0)
eclipse_time -= period / 2; // if starting in eclipse, shorten interval
}
tx_freq_hz -= tx_channel * 50000;
if (transmit == FALSE) {
fprintf(stderr, "\nNo CubeSatSim Band Pass Filter detected. No transmissions after the CW ID.\n");
fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n");
}
if (mode == FSK) {
bitRate = 200;
rsFrames = 1;
payloads = 1;
rsFrameLen = 64;
headerLen = 6;
dataLen = 58;
syncBits = 10;
syncWord = 0b0011111010;
parityLen = 32;
amplitude = 32767 / 3;
samples = S_RATE / bitRate;
bufLen = (frameCnt * (syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))) * samples);
samplePeriod = (int) (((float)((syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen)))) / (float) bitRate) * 1000 - 500);
sleepTime = 0.1f;
frameTime = ((float)((float)bufLen / (samples * frameCnt * bitRate))) * 1000; // frame time in ms
printf("\n FSK Mode, %d bits per frame, %d bits per second, %d ms per frame, %d ms sample period\n",
bufLen / (samples * frameCnt), bitRate, frameTime, samplePeriod);
} else if (mode == BPSK) {
bitRate = 1200;
rsFrames = 3;
payloads = 6;
rsFrameLen = 159;
headerLen = 8;
dataLen = 78;
syncBits = 31;
syncWord = 0b1000111110011010010000101011101;
parityLen = 32;
amplitude = 32767;
samples = S_RATE / bitRate;
bufLen = (frameCnt * (syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))) * samples);
samplePeriod = ((float)((syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))))/(float)bitRate) * 1000 - 1800;
// samplePeriod = 3000;
// sleepTime = 3.0;
//samplePeriod = 2200; // reduce dut to python and sensor querying delays
sleepTime = 2.2f;
frameTime = ((float)((float)bufLen / (samples * frameCnt * bitRate))) * 1000; // frame time in ms
printf("\n BPSK Mode, bufLen: %d, %d bits per frame, %d bits per second, %d ms per frame %d ms sample period\n",
bufLen, bufLen / (samples * frameCnt), bitRate, frameTime, samplePeriod);
sin_samples = S_RATE/freq_Hz;
// printf("Sin map: ");
for (int j = 0; j < sin_samples; j++) {
sin_map[j] = (short int)(amplitude * sin((float)(2 * M_PI * j / sin_samples)));
// printf(" %d", sin_map[j]);
}
printf("\n");
}
memset(voltage, 0, sizeof(voltage));
memset(current, 0, sizeof(current));
memset(sensor, 0, sizeof(sensor));
memset(other, 0, sizeof(other));
if (((mode == FSK) || (mode == BPSK))) // && !sim_mode)
get_tlm_fox(); // fill transmit buffer with reset count 0 packets that will be ignored
firstTime = 1;
if (!sim_mode)
{
strcpy(pythonStr, pythonCmd);
strcat(pythonStr, busStr);
strcat(pythonConfigStr, pythonStr);
strcat(pythonConfigStr, " c");
fprintf(stderr, "pythonConfigStr: %s\n", pythonConfigStr);
file1 = sopen(pythonConfigStr); // python sensor polling function
fgets(cmdbuffer, 1000, file1);
fprintf(stderr, "pythonStr result: %s\n", cmdbuffer);
}
for (int i = 0; i < 9; i++) {
voltage_min[i] = 1000.0;
current_min[i] = 1000.0;
voltage_max[i] = -1000.0;
current_max[i] = -1000.0;
}
for (int i = 0; i < 17; i++) {
sensor_min[i] = 1000.0;
sensor_max[i] = -1000.0;
// printf("Sensor min and max initialized!");
}
for (int i = 0; i < 3; i++) {
other_min[i] = 1000.0;
other_max[i] = -1000.0;
}
long int loopTime;
loopTime = millis();
while (loop-- != 0) {
fflush(stdout);
fflush(stderr);
// frames_sent++;
sensor_payload[0] = 0;
memset(voltage, 0, sizeof(voltage));
memset(current, 0, sizeof(current));
memset(sensor, 0, sizeof(sensor));
memset(other, 0, sizeof(other));
FILE * uptime_file = fopen("/proc/uptime", "r");
fscanf(uptime_file, "%f", & uptime_sec);
uptime = (int) (uptime_sec + 0.5);
// printf("Uptime sec: %f \n", uptime_sec);
// #ifdef DEBUG_LOGGING
printf("INFO: Reset Count: %d Uptime since Reset: %ld \n", reset_count, uptime);
// #endif
fclose(uptime_file);
printf("++++ Loop time: %5.3f sec +++++\n", (millis() - loopTime)/1000.0);
fflush(stdout);
loopTime = millis();
if (sim_mode) { // simulated telemetry
double time = ((long int)millis() - time_start) / 1000.0;
if ((time - eclipse_time) > period) {
eclipse = (eclipse == 1) ? 0 : 1;
eclipse_time = time;
printf("\n\nSwitching eclipse mode! \n\n");
}
double Xi = eclipse * amps_max[0] * (float) sin(2.0 * 3.14 * time / (46.0 * speed)) + rnd_float(-2, 2);
double Yi = eclipse * amps_max[1] * (float) sin((2.0 * 3.14 * time / (46.0 * speed)) + (3.14 / 2.0)) + rnd_float(-2, 2);
double Zi = eclipse * amps_max[2] * (float) sin((2.0 * 3.14 * time / (46.0 * speed)) + 3.14 + angle[2]) + rnd_float(-2, 2);
double Xv = eclipse * volts_max[0] * (float) sin(2.0 * 3.14 * time / (46.0 * speed)) + rnd_float(-0.2, 0.2);
double Yv = eclipse * volts_max[1] * (float) sin((2.0 * 3.14 * time / (46.0 * speed)) + (3.14 / 2.0)) + rnd_float(-0.2, 0.2);
double Zv = 2.0 * eclipse * volts_max[2] * (float) sin((2.0 * 3.14 * time / (46.0 * speed)) + 3.14 + angle[2]) + rnd_float(-0.2, 0.2);
// printf("Yi: %f Zi: %f %f %f Zv: %f \n", Yi, Zi, amps_max[2], angle[2], Zv);
current[map[PLUS_X]] = (Xi >= 0) ? Xi : 0;
current[map[MINUS_X]] = (Xi >= 0) ? 0 : ((-1.0f) * Xi);
current[map[PLUS_Y]] = (Yi >= 0) ? Yi : 0;
current[map[MINUS_Y]] = (Yi >= 0) ? 0 : ((-1.0f) * Yi);
current[map[PLUS_Z]] = (Zi >= 0) ? Zi : 0;
current[map[MINUS_Z]] = (Zi >= 0) ? 0 : ((-1.0f) * Zi);
voltage[map[PLUS_X]] = (Xv >= 1) ? Xv : rnd_float(0.9, 1.1);
voltage[map[MINUS_X]] = (Xv <= -1) ? ((-1.0f) * Xv) : rnd_float(0.9, 1.1);
voltage[map[PLUS_Y]] = (Yv >= 1) ? Yv : rnd_float(0.9, 1.1);
voltage[map[MINUS_Y]] = (Yv <= -1) ? ((-1.0f) * Yv) : rnd_float(0.9, 1.1);
voltage[map[PLUS_Z]] = (Zv >= 1) ? Zv : rnd_float(0.9, 1.1);
voltage[map[MINUS_Z]] = (Zv <= -1) ? ((-1.0f) * Zv) : rnd_float(0.9, 1.1);
// printf("temp: %f Time: %f Eclipse: %d : %f %f | %f %f | %f %f\n",tempS, time, eclipse, voltage[map[PLUS_X]], voltage[map[MINUS_X]], voltage[map[PLUS_Y]], voltage[map[MINUS_Y]], current[map[PLUS_Z]], current[map[MINUS_Z]]);
tempS += (eclipse > 0) ? ((temp_max - tempS) / 50.0f) : ((temp_min - tempS) / 50.0f);
tempS += +rnd_float(-1.0, 1.0);
// IHUcpuTemp = (int)((tempS + rnd_float(-1.0, 1.0)) * 10 + 0.5);
other[IHU_TEMP] = tempS;
voltage[map[BUS]] = rnd_float(5.0, 5.005);
current[map[BUS]] = rnd_float(158, 171);
// float charging = current[map[PLUS_X]] + current[map[MINUS_X]] + current[map[PLUS_Y]] + current[map[MINUS_Y]] + current[map[PLUS_Z]] + current[map[MINUS_Z]];
float charging = eclipse * (fabs(amps_max[0] * 0.707) + fabs(amps_max[1] * 0.707) + rnd_float(-4.0, 4.0));
current[map[BAT]] = ((current[map[BUS]] * voltage[map[BUS]]) / batt) - charging;
// printf("charging: %f bat curr: %f bus curr: %f bat volt: %f bus volt: %f \n",charging, current[map[BAT]], current[map[BUS]], batt, voltage[map[BUS]]);
batt -= (batt > 3.5) ? current[map[BAT]] / 30000 : current[map[BAT]] / 3000;
if (batt < 3.0) {
batt = 3.0;
SafeMode = 1;
printf("Safe Mode!\n");
} else
SafeMode= 0;
if (batt > 4.5)
batt = 4.5;
voltage[map[BAT]] = batt + rnd_float(-0.01, 0.01);
// end of simulated telemetry
}
else {
int count1;
char * token;
fputc('\n', file1);
fgets(cmdbuffer, 1000, file1);
fprintf(stderr, "Python read Result: %s\n", cmdbuffer);
const char space[2] = " ";
token = strtok(cmdbuffer, space);
for (count1 = 0; count1 < 8; count1++) {
if (token != NULL) {
voltage[count1] = (float) atof(token);
#ifdef DEBUG_LOGGING
// printf("voltage: %f ", voltage[count1]);
#endif
token = strtok(NULL, space);
if (token != NULL) {
current[count1] = (float) atof(token);
if ((current[count1] < 0) && (current[count1] > -0.5))
current[count1] *= (-1.0f);
#ifdef DEBUG_LOGGING
// printf("current: %f\n", current[count1]);
#endif
token = strtok(NULL, space);
}
}
}
batteryVoltage = voltage[map[BAT]];
batteryCurrent = current[map[BAT]];
if (batteryVoltage < 3.6) {
SafeMode = 1;
printf("Safe Mode!\n");
} else
SafeMode = 0;
FILE * cpuTempSensor = fopen("/sys/class/thermal/thermal_zone0/temp", "r");
if (cpuTempSensor) {
// double cpuTemp;
fscanf(cpuTempSensor, "%lf", & cpuTemp);
cpuTemp /= 1000;
#ifdef DEBUG_LOGGING
// printf("CPU Temp Read: %6.1f\n", cpuTemp);
#endif
other[IHU_TEMP] = (double)cpuTemp;
// IHUcpuTemp = (int)((cpuTemp * 10.0) + 0.5);
}
fclose(cpuTempSensor);
if (payload == ON) { // -55
STEMBoardFailure = 0;
char c;
unsigned int waitTime;
int i, end, trys = 0;
sensor_payload[0] = 0;
sensor_payload[1] = 0;
while (((sensor_payload[0] != 'O') || (sensor_payload[1] != 'K')) && (trys++ < 10)) {
i = 0;
serialPutchar(uart_fd, '?');
sleep(0.05); // added delay after ?
printf("%d Querying payload with ?\n", trys);
waitTime = millis() + 500;
end = FALSE;
// int retry = FALSE;
while ((millis() < waitTime) && !end) {
int chars = (char) serialDataAvail(uart_fd);
while ((chars > 0) && !end) {
// printf("Chars: %d\ ", chars);
chars--;
c = (char) serialGetchar(uart_fd);
// printf ("%c", c);
// fflush(stdout);
if (c != '\n') {
sensor_payload[i++] = c;
} else {
end = TRUE;
}
}
}
sensor_payload[i++] = ' ';
// sensor_payload[i++] = '\n';
sensor_payload[i] = '\0';
printf(" Response from STEM Payload board: %s\n", sensor_payload);
sleep(0.1); // added sleep between loops
}
if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) // only process if valid payload response
{
int count1;
char * token;
const char space[2] = " ";
token = strtok(sensor_payload, space);
for (count1 = 0; count1 < 17; count1++) {
if (token != NULL) {
sensor[count1] = (float) atof(token);
#ifdef DEBUG_LOGGING
// printf("sensor: %f ", sensor[count1]);
#endif
token = strtok(NULL, space);
}
}
printf("\n");
}
else
payload = OFF; // turn off since STEM Payload is not responding
}
if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) {
for (count1 = 0; count1 < 17; count1++) {
if (sensor[count1] < sensor_min[count1])
sensor_min[count1] = sensor[count1];
if (sensor[count1] > sensor_max[count1])
sensor_max[count1] = sensor[count1];
// printf("Smin %f Smax %f \n", sensor_min[count1], sensor_max[count1]);
}
}
}
#ifdef DEBUG_LOGGING
fprintf(stderr, "INFO: Battery voltage: %5.2f V Threshold %5.2f V Current: %6.1f mA Threshold: %6.1f mA\n", batteryVoltage, voltageThreshold, batteryCurrent, currentThreshold);
#endif
// if ((batteryVoltage > 1.0) && (batteryVoltage < batteryThreshold)) // no battery INA219 will give 0V, no battery plugged into INA219 will read < 1V
if ((batteryCurrent > currentThreshold) && (batteryVoltage < voltageThreshold) && !sim_mode) // currentThreshold ensures that this won't happen when running on DC power.
{
fprintf(stderr, "Battery voltage too low: %f V - shutting down!\n", batteryVoltage);
digitalWrite(txLed, txLedOff);
digitalWrite(onLed, onLedOff);
sleep(1);
digitalWrite(onLed, onLedOn);
sleep(1);
digitalWrite(onLed, onLedOff);
sleep(1);
digitalWrite(onLed, onLedOn);
sleep(1);
digitalWrite(onLed, onLedOff);
FILE * file6 = popen("/home/pi/CubeSatSim/log > shutdown_log.txt", "r");
pclose(file6);
sleep(40);
file6 = popen("sudo shutdown -h now > /dev/null 2>&1", "r");
pclose(file6);
sleep(10);
}
// sleep(1); // Delay 1 second
ctr = 0;
#ifdef DEBUG_LOGGING
// fprintf(stderr, "INFO: Getting TLM Data\n");
#endif
if ((mode == AFSK) || (mode == CW)) {
get_tlm();
} else if ((mode == FSK) || (mode == BPSK)) {// FSK or BPSK
get_tlm_fox();
} else { // SSTV
fprintf(stderr, "Sleeping\n");
sleep(50);
}
#ifdef DEBUG_LOGGING
// fprintf(stderr, "INFO: Getting ready to send\n");
#endif
}
if (mode == BPSK) {
// digitalWrite(txLed, txLedOn);
#ifdef DEBUG_LOGGING
// printf("Tx LED On 1\n");
#endif
printf("Sleeping to allow BPSK transmission to finish.\n");
sleep((unsigned int)(loop_count * 5));
printf("Done sleeping\n");
// digitalWrite(txLed, txLedOff);
#ifdef DEBUG_LOGGING
// printf("Tx LED Off\n");
#endif
} else if (mode == FSK) {
printf("Sleeping to allow FSK transmission to finish.\n");
sleep((unsigned int)loop_count);
printf("Done sleeping\n");
}
return 0;
}
// Returns lower digit of a number which must be less than 99
//
int lower_digit(int number) {
int digit = 0;
if (number < 100)
digit = number - ((int)(number / 10) * 10);
else
fprintf(stderr, "ERROR: Not a digit in lower_digit!\n");
return digit;
}
// Returns upper digit of a number which must be less than 99
//
int upper_digit(int number) {
int digit = 0;
if (number < 100)
digit = (int)(number / 10);
else
fprintf(stderr, "ERROR: Not a digit in upper_digit!\n");
return digit;
}
static int init_rf() {
int ret;
fprintf(stderr, "Initializing AX5043\n");
ret = ax5043_init( & hax5043, XTAL_FREQ_HZ, VCO_INTERNAL);
if (ret != PQWS_SUCCESS) {
fprintf(stderr,
"ERROR: Failed to initialize AX5043 with error code %d\n", ret);
// exit(EXIT_FAILURE);
return (0);
}
return (1);
}
void get_tlm(void) {
FILE * txResult;
for (int j = 0; j < frameCnt; j++) {
fflush(stdout);
fflush(stderr);
int tlm[7][5];
memset(tlm, 0, sizeof tlm);
tlm[1][A] = (int)(voltage[map[BUS]] / 15.0 + 0.5) % 100; // Current of 5V supply to Pi
tlm[1][B] = (int)(99.5 - current[map[PLUS_X]] / 10.0) % 100; // +X current [4]
tlm[1][C] = (int)(99.5 - current[map[MINUS_X]] / 10.0) % 100; // X- current [10]
tlm[1][D] = (int)(99.5 - current[map[PLUS_Y]] / 10.0) % 100; // +Y current [7]
tlm[2][A] = (int)(99.5 - current[map[MINUS_Y]] / 10.0) % 100; // -Y current [10]
tlm[2][B] = (int)(99.5 - current[map[PLUS_Z]] / 10.0) % 100; // +Z current [10] // was 70/2m transponder power, AO-7 didn't have a Z panel
tlm[2][C] = (int)(99.5 - current[map[MINUS_Z]] / 10.0) % 100; // -Z current (was timestamp)
tlm[2][D] = (int)(50.5 + current[map[BAT]] / 10.0) % 100; // NiMH Battery current
// tlm[3][A] = abs((int)((voltage[map[BAT]] * 10.0) - 65.5) % 100);
if (voltage[map[BAT]] > 4.6)
tlm[3][A] = (int)((voltage[map[BAT]] * 10.0) - 65.5) % 100; // 7.0 - 10.0 V for old 9V battery
else
tlm[3][A] = (int)((voltage[map[BAT]] * 10.0) + 44.5) % 100; // 0 - 4.5 V for new 3 cell battery
tlm[3][B] = (int)(voltage[map[BUS]] * 10.0) % 100; // 5V supply to Pi
tlm[4][A] = (int)((95.8 - other[IHU_TEMP]) / 1.48 + 0.5) % 100; // was [B] but didn't display in online TLM spreadsheet
tlm[6][B] = 0;
tlm[6][D] = 49 + rand() % 3;
/*
#ifdef DEBUG_LOGGING
// Display tlm
int k, j;
for (k = 1; k < 7; k++) {
for (j = 1; j < 5; j++) {
printf(" %2d ", tlm[k][j]);
}
printf("\n");
}
#endif
*/
char str[1000];
char tlm_str[1000];
char header_str[] = "\x03\xf0"; // hi hi ";
char header_str3[] = "echo '";
char header_str2[] = "-11>APCSS:";
char header_str2b[30]; // for APRS coordinates
char header_lat[10];
char header_long[10];
char header_str4[] = "hi hi ";
char footer_str1[] = "\' > t.txt && echo \'";
char footer_str[] = "-11>APCSS:010101/hi hi ' >> t.txt && touch /home/pi/CubeSatSim/ready"; // transmit is done by rpitx.py
if (ax5043) {
strcpy(str, header_str);
} else {
strcpy(str, header_str3);
// }
if (mode == AFSK) {
strcat(str, call);
strcat(str, header_str2);
}
}
// printf("Str: %s \n", str);
if (mode != CW) {
// sprintf(header_str2b, "=%7.2f%c%c%c%08.2f%cShi hi ",4003.79,'N',0x5c,0x5c,07534.33,'W'); // add APRS lat and long
if (latitude > 0)
sprintf(header_lat, "%7.2f%c", latitude, 'N'); // lat
else
sprintf(header_lat, "%7.2f%c", latitude * (-1.0), 'S'); // lat
if (longitude > 0)
sprintf(header_long, "%08.2f%c", longitude , 'E'); // long
else
sprintf(header_long, "%08.2f%c", longitude * (-1.0), 'W'); // long
if (ax5043)
sprintf(header_str2b, "=%s%c%sShi hi ", header_lat, 0x5c, header_long); // add APRS lat and long
else
sprintf(header_str2b, "=%s%c%c%sShi hi ", header_lat, 0x5c, 0x5c, header_long); // add APRS lat and long
// printf("\n\nString is %s \n\n", header_str2b);
strcat(str, header_str2b);
} else {
strcat(str, header_str4);
}
// }
printf("Str: %s \n", str);
int channel;
for (channel = 1; channel < 7; channel++) {
sprintf(tlm_str, "%d%d%d %d%d%d %d%d%d %d%d%d ",
channel, upper_digit(tlm[channel][1]), lower_digit(tlm[channel][1]),
channel, upper_digit(tlm[channel][2]), lower_digit(tlm[channel][2]),
channel, upper_digit(tlm[channel][3]), lower_digit(tlm[channel][3]),
channel, upper_digit(tlm[channel][4]), lower_digit(tlm[channel][4]));
// printf("%s",tlm_str);
strcat(str, tlm_str);
}
// read payload sensor if available
char sensor_payload[500];
if (payload == ON) {
char c;
unsigned int waitTime;
int i, end, trys = 0;
sensor_payload[0] = 0;
sensor_payload[1] = 0;
while (((sensor_payload[0] != 'O') || (sensor_payload[1] != 'K')) && (trys++ < 10)) {
i = 0;
serialPutchar(uart_fd, '?');
sleep(0.05); // added delay after ?
printf("%d Querying payload with ?\n", trys);
waitTime = millis() + 500;
end = FALSE;
// int retry = FALSE;
while ((millis() < waitTime) && !end) {
int chars = (char) serialDataAvail(uart_fd);
while ((chars > 0) && !end) {
// printf("Chars: %d\ ", chars);
chars--;
c = (char) serialGetchar(uart_fd);
// printf ("%c", c);
// fflush(stdout);
if (c != '\n') {
sensor_payload[i++] = c;
} else {
end = TRUE;
}
}
}
sensor_payload[i++] = ' ';
// sensor_payload[i++] = '\n';
sensor_payload[i] = '\0';
printf(" Response from STEM Payload board: %s\n", sensor_payload);
sleep(0.1); // added sleep between loops
}
if (mode != CW)
strcat(str, sensor_payload); // append to telemetry string for transmission
}
if (mode == CW) {
char cw_str2[1000];
char cw_header2[] = "echo '";
char cw_footer2[] = "' > id.txt && gen_packets -M 20 id.txt -o morse.wav -r 48000 > /dev/null 2>&1 && cat morse.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f 434.897e3";
char cw_footer3[] = "' > cw.txt && touch /home/pi/CubeSatSim/cwready"; // transmit is done by rpitx.py
// printf("Str str: %s \n", str);
// fflush(stdout);
strcat(str, cw_footer3);
// printf("Str: %s \n", str);
// fflush(stdout);
printf("CW string to execute: %s\n", str);
fflush(stdout);
FILE * cw_file = popen(str, "r");
pclose(cw_file);
while ((cw_file = fopen("/home/pi/CubeSatSim/cwready", "r")) != NULL) { // wait for rpitx to be done
fclose(cw_file);
// printf("Sleeping while waiting for rpitx \n");
// fflush(stdout);
sleep(5);
}
}
else if (ax5043) {
digitalWrite(txLed, txLedOn);
fprintf(stderr, "INFO: Transmitting X.25 packet using AX5043\n");
memcpy(data, str, strnlen(str, 256));
printf("data: %s \n", data);
int ret = ax25_tx_frame( & hax25, & hax5043, data, strnlen(str, 256));
if (ret) {
fprintf(stderr,
"ERROR: Failed to transmit AX.25 frame with error code %d\n",
ret);
exit(EXIT_FAILURE);
}
ax5043_wait_for_transmit();
digitalWrite(txLed, txLedOff);
if (ret) {
fprintf(stderr,
"ERROR: Failed to transmit entire AX.25 frame with error code %d\n",
ret);
exit(EXIT_FAILURE);
}
sleep(4); // was 2