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Merge pull request #156 from alanbjohnston/pico-sw7

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BPSK working
pico-v0.1
alanbjohnston 4 years ago committed by GitHub
parent 25cedf2e5b eb9b19b73a
commit 151a7bf9ec
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 197 additions and 55 deletions
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24
cubesatsim/cubesatsim.h
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@ -32,7 +32,7 @@
#include "hardware/irq.h" // interrupts
#include "hardware/pwm.h" // pwm
#include "hardware/sync.h" // wait for interrupt
#include "RPi_Pico_TimerInterrupt.h"
// Pico GPIO pin assignments
#define LPF_PIN 8 // LPF is installed
@ -41,8 +41,11 @@
#define TXC_PIN 11 // Transceiver Board is present
#define SWTX_PIN 14 // SR_FRS_05W Transmit Pico software serial port
#define SQUELCH 15 // SR_FRS_05W Squelch out
#define MAIN_INA219 16 // Power the INA219s on the Main board
#define BPSK_PWM_PIN 16 // PWM Output to BPF
//#define MAIN_INA219 16 // Power the INA219s on the Main board
#define BPSK_PWM_A_PIN 6 // PWM Output Phase A to switch
#define BPSK_PWM_B_PIN 7 // PWM Output Phase B to switch
#define BPSK_CONTROL_A 16 // control for Phase A to switch
#define BPSK_CONTROL_B 15 // control for Phase A to switch
#define PTT_PIN 17 // SR_FRS_05W PTT Push to Talk - transmit
#define STEM_LED_GREEN 18 // STEM board LED1 Green
#define STEM_LED_BLUE 19 // STEM board LED2 Blue
@ -140,6 +143,7 @@ void process_pushbutton();
void blinkTimes(int blinks);
void blink_pin(int pin, int duration);
void config_gpio();
void start_isr();
extern int Encode_8b10b[][256];
@ -185,12 +189,12 @@ void sleep(float time);
int uart_fd;
int reset_count = 0;
float uptime_sec = 0;
long int uptime = 0;
float uptime_sec = 1000;
long int uptime = 1000;
char call[5];
char sim_yes[10];
int mode = AFSK; //BPSK; // AFSK; // FSK;
int mode = BPSK; // AFSK; // FSK;
int new_mode;
int bitRate, bufLen, rsFrames, payloads, rsFrameLen, dataLen, headerLen, syncBits, syncWord, parityLen, samples, frameCnt, samplePeriod;
float sleepTime;
@ -229,7 +233,7 @@ Adafruit_BME280 bme;
MPU6050 mpu6050(Wire);
long timer = 0;
int bmePresent;
int bmePresent, mpuPresent;
int RXLED = 17; // The RX LED has a defined Arduino pin
int greenLED = 19;
int blueLED = 18;
@ -256,10 +260,12 @@ int tx_bit = 1;
float delay_time;
bool polarity = true;
pwm_config config;
int bpsk_pin_slice_A;
int bpsk_pin_slice_B;
int bpsk_pin_slice;
int sample_rate;
int buffer_size;
long micro_timer;
int ready = FALSE;
#define PRESSED 0
@ -269,6 +275,8 @@ int pb_state = RELEASED;
int mode_count = 0;
unsigned long pb_press_start;
bool TimerHandler0(struct repeating_timer *t);
RPI_PICO_Timer ITimer0(0);
/*
* TelemEncoding.h

228
cubesatsim/cubesatsim.ino
Unescape View File

@ -33,6 +33,7 @@
#include "hardware/irq.h" // interrupts
#include "hardware/pwm.h" // pwm
#include "hardware/sync.h" // wait for interrupt
#include "RPi_Pico_TimerInterrupt.h"
Adafruit_INA219 ina219_1_0x40;
Adafruit_INA219 ina219_1_0x41(0x41);
@ -72,12 +73,12 @@ void setup() {
else
; // configure ina219s
// start_ina219();
start_ina219();
config_telem();
// configure STEM Payload sensors
// start_payload();
start_payload();
// program Transceiver board
config_radio();
@ -100,9 +101,10 @@ void loop() {
generate_simulated_telem();
else
// query INA219 sensors and Payload sensors
; // read_ina219();
// ; //
read_ina219();
// read_payload();
read_payload();
// encode as digits (APRS or CW mode) or binary (DUV FSK)
if ((mode == BPSK) || (mode == FSK))
@ -112,7 +114,8 @@ void loop() {
else if (mode == AFSK)
send_packet();
while ((millis() - sampleTime) < ((unsigned int)samplePeriod)) // - 250)) // was 250 100
// while ((millis() - sampleTime) < ((unsigned int)samplePeriod)) // - 250)) // was 250 100
while ((millis() - sampleTime) < ((unsigned int)frameTime)) // - 250)) // was 250 100
sleep(0.1); // 25); // 0.5); // 25);
sampleTime = (unsigned int) millis();
@ -172,7 +175,8 @@ void transmit_off() {
if ((mode == AFSK) || (mode == FSK))
digitalWrite(PTT_PIN, HIGH);
else if (mode == BPSK) {
pwm_set_gpio_level(BPSK_PWM_PIN, 0);
pwm_set_gpio_level(BPSK_PWM_A_PIN, 0);
pwm_set_gpio_level(BPSK_PWM_B_PIN, 0);
}
}
@ -217,6 +221,7 @@ void config_telem() {
Serial.println(frameTime);
// 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);
memset(buffer, 0xa5, sizeof(buffer));
} else if (mode == BPSK) {
Serial.println("Configuring for BPSK\n");
bitRate = 1200;
@ -235,9 +240,11 @@ void config_telem() {
// samples = S_RATE / bitRate;
samples = sample_rate / bitRate;
Serial.println(samples);
bufLen = (frameCnt * (syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))) * samples);
// bufLen = (frameCnt * (syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))) * samples); // * 2; // 2 *
bufLen = 5751; // instead of 5841
Serial.println(bufLen);
samplePeriod = ((float)((syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))))/(float)bitRate) * 1000 - 500;
// samplePeriod = ((float)((syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))))/(float)bitRate) * 1000 - 500;
samplePeriod = ((float)((syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))))/(float)bitRate) * 1000; // - 500;
// samplePeriod = 3000;
// sleepTime = 3.0;
//samplePeriod = 2200; // reduce dut to python and sensor querying delays
@ -256,6 +263,7 @@ void config_telem() {
// }
// printf("\n");
// }
memset(buffer, 0xa5, sizeof(buffer));
} else if (mode == AFSK) {
Serial.println("Configuring for AFSK\n");
@ -272,9 +280,10 @@ void config_telem() {
set_lat_lon_icon(lat_default, lon_default, icon);
samplePeriod = 5000;
frameTime = 5000;
bufLen = 1000;
}
firstTime = ON;
firstTime = TRUE;
}
void get_tlm_ao7() {
@ -483,7 +492,7 @@ void get_tlm_fox() {
short int h[headerLen];
memset(h, 0, sizeof(h));
memset(buffer, 0xa5, sizeof(buffer));
// memset(buffer, 0xa5, sizeof(buffer));
short int rs_frame[rsFrames][223];
unsigned char parities[rsFrames][parityLen], inputByte;
int id, frm_type = 0x01, NormalModeFailure = 0, groundCommandCount = 0;
@ -579,7 +588,8 @@ void get_tlm_fox() {
// }
memset(rs_frame, 0, sizeof(rs_frame));
memset(parities, 0, sizeof(parities));
// Serial.println("After memset");
// Serial.println("After memset");
uptime = (int)(millis() / 1000.0);
h[0] = (short int) ((h[0] & 0xf8) | (id & 0x07)); // 3 bits
// Serial.println("After h[0]");
@ -854,6 +864,11 @@ void get_tlm_fox() {
nrd = (Encode_8b10b[rd][((int) data8[ctr2])] >> 10) & 1;
// printf ("data10[%d] = encoded data8[%d] = %x \n",
// ctr2, ctr2, data10[ctr2]);
/* if (firstTime) {
Serial.print(data10[ctr2], HEX);
Serial.print(" ");
}
*/
rd = nrd; // ^ nrd;
ctr2++;
}
@ -865,7 +880,11 @@ void get_tlm_fox() {
nrd = (Encode_8b10b[rd][((int) parities[j][i])] >> 10) & 1;
// printf ("data10[%d] = encoded parities[%d][%d] = %x \n",
// ctr2 - 1, j, i, data10[ctr2 - 1]);
/* if (firstTime) {
Serial.print(data10[ctr2-1], HEX); // added -1 due to ++
Serial.print(" ");
}
*/
rd = nrd;
}
}
@ -942,9 +961,13 @@ void get_tlm_fox() {
}
// Serial.println("CC");
}
// Serial.println(" ");
// Serial.print("get_fox_tlm eturning with counter: ");
// Serial.println(ctr);
Serial.println(" ");
Serial.print("get_fox_tlm eturning with counter: ");
Serial.println(ctr);
if (firstTime) {
Serial.println(" ");
firstTime = FALSE;
}
}
void write_wave(int i, short int *buffer)
@ -973,7 +996,7 @@ void write_wave(int i, short int *buffer)
// ctr = ctr - BUFFER_SIZE;
if (ctr > bufLen) {
ctr = ctr - bufLen;
Serial.print("r");
Serial.print("\r");
Serial.print(" ");
Serial.println(millis());
}
@ -1723,7 +1746,8 @@ void config_radio()
if (mode == FSK) {
transmit_on();
} else if (mode == BPSK) {
start_pwm();
start_pwm();
start_isr();
transmit_on();
}
}
@ -1747,6 +1771,7 @@ void read_ina219()
float current_mA = 0;
float loadvoltage = 0;
if (i2c_bus1) {
shuntvoltage = ina219_1_0x40.getShuntVoltage_mV();
busvoltage = ina219_1_0x40.getBusVoltage_V();
current_mA = ina219_1_0x40.getCurrent_mA();
@ -1802,7 +1827,9 @@ void read_ina219()
voltage[3] = loadvoltage;
current[3] = current_mA;
}
if (i2c_bus3) {
shuntvoltage = ina219_2_0x40.getShuntVoltage_mV();
busvoltage = ina219_2_0x40.getBusVoltage_V();
current_mA = ina219_2_0x40.getCurrent_mA();
@ -1857,7 +1884,8 @@ void read_ina219()
Serial.println(" mA");
voltage[7] = loadvoltage;
current[7] = current_mA;
current[7] = current_mA;
}
}
void read_sensors()
@ -1925,8 +1953,16 @@ Serial1.begin(115200); // Pi UART faster speed
Serial.println("Could not find a valid BME280 sensor, check wiring!");
bmePresent = 0;
}
mpu6050.begin();
Wire.begin();
Wire.beginTransmission(0x68);
if (Wire.endTransmission() != 0) {
Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
mpuPresent = 0;
}
else {
mpuPresent = 1;
mpu6050.begin();
if (eeprom_word_read(0) == 0xA07)
{
@ -1958,6 +1994,7 @@ Serial1.begin(115200); // Pi UART faster speed
Serial.println(((float)eeprom_word_read(2)) / 100.0, DEC);
Serial.println(((float)eeprom_word_read(3)) / 100.0, DEC);
}
}
pinMode(greenLED, OUTPUT);
pinMode(blueLED, OUTPUT);
@ -1982,7 +2019,8 @@ void read_payload()
else
sprintf(str, "OK BME280 0.0 0.0 0.0 0.0 ");
strcat(payload_str, str);
if (mpuPresent) {
// print_string(payload_str);
mpu6050.update();
@ -1992,7 +2030,7 @@ void read_payload()
strcat(payload_str, str);
print_string(payload_str);
}
if (result == 'R') {
Serial.println("OK");
delay(100);
@ -2022,6 +2060,7 @@ void read_payload()
{
Serial.print("OK BME280 0.0 0.0 0.0 0.0");
}
if (mpuPresent) {
mpu6050.update();
Serial.print(" MPU6050 ");
@ -2037,7 +2076,8 @@ void read_payload()
Serial.print(mpu6050.getAccY());
Serial.print(" ");
Serial.print(mpu6050.getAccZ());
}
sensorValue = analogRead(A3);
//Serial.println(sensorValue);
Temp = T1 + (sensorValue - R1) *((T2 - T1)/(R2 - R1));
@ -2047,13 +2087,14 @@ void read_payload()
Serial.print(Temp);
Serial.print(" ");
Serial.println(Sensor1);
if (mpuPresent) {
float rotation = sqrt(mpu6050.getGyroX()*mpu6050.getGyroX() + mpu6050.getGyroY()*mpu6050.getGyroY() + mpu6050.getGyroZ()*mpu6050.getGyroZ());
float acceleration = sqrt(mpu6050.getAccX()*mpu6050.getAccX() + mpu6050.getAccY()*mpu6050.getAccY() + mpu6050.getAccZ()*mpu6050.getAccZ());
// Serial.print(rotation);
// Serial.print(" ");
// Serial.println(acceleration);
if (acceleration > 1.2)
led_set(greenLED, HIGH);
else
@ -2062,8 +2103,9 @@ void read_payload()
if (rotation > 5)
led_set(blueLED, HIGH);
else
led_set(blueLED, LOW);
}
led_set(blueLED, LOW);
}
}
}
if (Serial1.available() > 0) {
@ -2233,8 +2275,8 @@ void start_ina219() {
// pinMode(MAIN_INA219, OUTPUT);
// digitalWrite(MAIN_INA219, HIGH);
}
sleep(0.1);
ina219_1_0x40.begin();
sleep(0.1);
i2c_bus1 = ina219_1_0x40.begin(); // check i2c bus 1
ina219_1_0x41.begin();
ina219_1_0x44.begin();
ina219_1_0x45.begin();
@ -2243,20 +2285,23 @@ void start_ina219() {
Wire1.setSCL(3);
Wire1.begin();
ina219_2_0x40.begin(&Wire1);
i2c_bus3 = ina219_2_0x40.begin(&Wire1); // check i2c bus 2
ina219_2_0x41.begin(&Wire1);
ina219_2_0x44.begin(&Wire1);
ina219_2_0x45.begin(&Wire1);
if (i2c_bus1) {
ina219_1_0x40.setCalibration_16V_400mA();
ina219_1_0x41.setCalibration_16V_400mA();
ina219_1_0x44.setCalibration_16V_400mA();
ina219_1_0x45.setCalibration_16V_400mA();
}
if (i2c_bus3) {
ina219_2_0x40.setCalibration_16V_400mA();
ina219_2_0x41.setCalibration_16V_400mA();
ina219_2_0x44.setCalibration_16V_400mA();
ina219_2_0x45.setCalibration_16V_400mA();
}
}
void start_pwm() {
@ -2264,15 +2309,26 @@ void start_pwm() {
// and
// https://qiita.com/keyyum/items/8cb419f5278e13b6db4d
//
Serial.println("Starting pwm!");
Serial.println("Starting pwm f=432.250 MHz!");
pwm_value = 128 - pwm_amplitude;
// pwm_value = 128 - pwm_amplitude;
// set_sys_clock_khz(125000, true);
set_sys_clock_khz(133000, true);
gpio_set_function(BPSK_PWM_PIN, GPIO_FUNC_PWM);
bpsk_pin_slice = pwm_gpio_to_slice_num(BPSK_PWM_PIN);
gpio_set_function(BPSK_PWM_A_PIN, GPIO_FUNC_PWM);
gpio_set_function(BPSK_PWM_B_PIN, GPIO_FUNC_PWM);
bpsk_pin_slice_A = pwm_gpio_to_slice_num(BPSK_PWM_A_PIN);
bpsk_pin_slice_B = pwm_gpio_to_slice_num(BPSK_PWM_B_PIN);
Serial.print(pwm_gpio_to_slice_num(BPSK_PWM_A_PIN));
Serial.print(" ");
Serial.print(pwm_gpio_to_channel(BPSK_PWM_A_PIN));
Serial.print(" ");
Serial.print(pwm_gpio_to_slice_num(BPSK_PWM_B_PIN));
Serial.print(" ");
Serial.print(pwm_gpio_to_channel(BPSK_PWM_B_PIN));
Serial.println(" ");
/*
// Setup PWM interrupt to fire when PWM cycle is complete
pwm_clear_irq(bpsk_pin_slice);
@ -2283,14 +2339,16 @@ void start_pwm() {
*/
config = pwm_get_default_config();
// pwm_config_set_clkdiv(&config, 8.0); //16.0); // 8.0f); was 16 for some reason
pwm_config_set_clkdiv(&config, 1.0f);
pwm_config_set_clkdiv(&config, 1.0f); // 2.0f); // 1.0f); // 16.0); //1.0f); // 1.0f);
// pwm_config_set_wrap(&config, 178); // 250);
pwm_config_set_wrap(&config, 3);
pwm_config_set_output_polarity( &config, polarity, polarity);
pwm_init(bpsk_pin_slice, &config, true);
pwm_set_gpio_level(BPSK_PWM_PIN, (config.top + 1) * 0.5);
pwm_config_set_wrap(&config, 3); // 255); // 3);
// pwm_config_set_output_polarity( &config, polarity, polarity);
pwm_config_set_output_polarity( &config, true, false);
pwm_init(bpsk_pin_slice_A, &config, true);
pwm_init(bpsk_pin_slice_B, &config, true);
pwm_set_gpio_level(BPSK_PWM_A_PIN, (config.top + 1) * 0.5);
pwm_set_gpio_level(BPSK_PWM_B_PIN, (config.top + 1) * 0.5);
}
/*
void pwm_interrupt_handler() {
@ -2341,6 +2399,8 @@ void pwm_interrupt_handler() {
}
*/
/* ///
void setup1() {
Serial.begin(9600);
sleep(5.0);
@ -2370,13 +2430,13 @@ void loop1() {
}
else if (mode == BPSK) {
;
/*
*
tx_bit = (buffer[wav_position++] > 0) ? true: false;
pwm_config_set_output_polarity( &config, tx_bit, tx_bit);
pwm_init(bpsk_pin_slice, &config, true);
pwm_set_gpio_level(BPSK_PWM_PIN, (config.top + 1) * 0.5);
*/
*
}
// if (wav_position++ > BUFFER_SIZE) { // 300) {
@ -2400,6 +2460,8 @@ void loop1() {
process_pushbutton();
}
*///
/*
void sleep(float time) { // sleeps for intervals more than 0.1 seconds
@ -2416,7 +2478,8 @@ void sleep(float time) { // sleeps for intervals more than 0.01 milli seconds
unsigned long time_us = (unsigned long)(time * 1000000.0);
unsigned long startSleep = micros();
while ((micros() - startSleep) < time_us) {
busy_wait_us(100);
// busy_wait_us(100);
delayMicroseconds(100);
}
}
@ -2699,3 +2762,74 @@ void config_gpio() {
Serial.println(analogRead(AUDIO_IN_PIN));
}
bool TimerHandler0(struct repeating_timer *t) {
// Serial.print("l1 ");
// Serial.print(wav_position);
// Serial.print(" ");
if (buffer[wav_position++] > 0) {
digitalWrite(BPSK_CONTROL_A, HIGH);
// delayMicroseconds(2);
digitalWrite(BPSK_CONTROL_B, LOW);
} else {
digitalWrite(BPSK_CONTROL_B, HIGH);
// delayMicroseconds(2);
digitalWrite(BPSK_CONTROL_A, LOW);
}
/*
tx_bit = (buffer[wav_position] > 0) ? HIGH: LOW;
digitalWrite(AUDIO_OUT_PIN, tx_bit);
tx_bit = (buffer[wav_position++] > 0) ? true: false;
*/
/*
if (tx_bit)
Serial.print("-");
else
Serial.print("_");
*/
/*
pwm_config_set_output_polarity( &config, tx_bit, tx_bit);
pwm_init(bpsk_pin_slice, &config, true);
pwm_set_gpio_level(BPSK_PWM_PIN, (config.top + 1) * 0.5);
*/
if (wav_position > bufLen) { // 300) {
wav_position = wav_position - bufLen;
// Serial.print("\nR");
// Serial.print(" ");
// Serial.println(millis());
Serial.print("R Microseconds: ");
Serial.println((micros() - micro_timer)/bufLen);
micro_timer = micros();
}
if (digitalRead(MAIN_PB_PIN) == PRESSED)
// Serial.println("PB pressed!");
process_pushbutton();
return true;
}
void start_isr() {
// return;
Serial.println("Starting ISR");
pinMode(BPSK_CONTROL_A, OUTPUT);
pinMode(BPSK_CONTROL_B, OUTPUT);
// if (ITimer0.attachInterruptInterval(833, TimerHandler0))
// if (ITimer0.attachInterruptInterval(804, TimerHandler0))
if (ITimer0.attachInterruptInterval(828, TimerHandler0))
// if (ITimer0.attachInterruptInterval(1667, TimerHandler0))
{
Serial.print(F("Starting ITimer0 OK, micros() = ")); Serial.println(micros());
}
else
Serial.println(F("Can't set ITimer0. Select another Timer, freq. or timer"));
}

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