|
|
|
|
@ -90,7 +90,6 @@ int z_fd; // I2C bos 0 address 0x44
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
int main(void) {
|
|
|
|
|
|
|
|
|
|
wiringPiSetup () ;
|
|
|
|
|
pinMode (0, OUTPUT) ;
|
|
|
|
|
int blink;
|
|
|
|
|
@ -99,179 +98,193 @@ int main(void) {
|
|
|
|
|
digitalWrite (0, HIGH) ; delay (500) ;
|
|
|
|
|
digitalWrite (0, LOW) ; delay (500) ;
|
|
|
|
|
}
|
|
|
|
|
digitalWrite (0, HIGH) ;
|
|
|
|
|
|
|
|
|
|
setSpiChannel(SPI_CHANNEL);
|
|
|
|
|
setSpiSpeed(SPI_SPEED);
|
|
|
|
|
initializeSpi();
|
|
|
|
|
|
|
|
|
|
int tlm[7][5];
|
|
|
|
|
memset(tlm, 0, sizeof tlm);
|
|
|
|
|
|
|
|
|
|
timestamp = time(NULL);
|
|
|
|
|
|
|
|
|
|
int file_i2c;
|
|
|
|
|
//char *filenam1e = (char*)"/dev/i2c-3";
|
|
|
|
|
if ((file_i2c = open("/dev/i2c-3", O_RDWR)) < 0)
|
|
|
|
|
{
|
|
|
|
|
fprintf(stderr,"ERROR: /dev/ic2-3 bus not present\n");
|
|
|
|
|
tempSensor = -1;
|
|
|
|
|
} else
|
|
|
|
|
{
|
|
|
|
|
tempSensor = wiringPiI2CSetupInterface("/dev/i2c-3", 0x48);
|
|
|
|
|
}
|
|
|
|
|
digitalWrite (0, HIGH) ;
|
|
|
|
|
|
|
|
|
|
setSpiChannel(SPI_CHANNEL);
|
|
|
|
|
setSpiSpeed(SPI_SPEED);
|
|
|
|
|
initializeSpi();
|
|
|
|
|
|
|
|
|
|
int tlm[7][5];
|
|
|
|
|
memset(tlm, 0, sizeof tlm);
|
|
|
|
|
|
|
|
|
|
timestamp = time(NULL);
|
|
|
|
|
|
|
|
|
|
int file_i2c = open("/dev/i2c-3", O_RDWR);
|
|
|
|
|
//char *filenam1e = (char*)"/dev/i2c-3";
|
|
|
|
|
if (file_i2c < 0)
|
|
|
|
|
{
|
|
|
|
|
fprintf(stderr,"ERROR: /dev/ic2-3 bus not present\n");
|
|
|
|
|
tempSensor = -1;
|
|
|
|
|
} else
|
|
|
|
|
{
|
|
|
|
|
tempSensor = wiringPiI2CSetupInterface("/dev/i2c-3", 0x48);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// fprintf(stderr,"tempSensor: %d \n",tempSensor);
|
|
|
|
|
#ifdef DEBUG_LOGGING
|
|
|
|
|
fprintf(stderr,"tempSensor: %d \n",tempSensor);
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
int arduinoI2C;
|
|
|
|
|
if ((arduinoI2C = open("/dev/i2c-0", O_RDWR)) < 0)
|
|
|
|
|
{
|
|
|
|
|
fprintf(stderr,"ERROR: /dev/i2c-0 bus not present\n");
|
|
|
|
|
int arduinoI2C = open("dev/i2c-0", O_RDWR);
|
|
|
|
|
if (arduinoI2C < 0)
|
|
|
|
|
{
|
|
|
|
|
fprintf(stderr,"ERROR: /dev/i2c-0 bus not present\n");
|
|
|
|
|
} else {
|
|
|
|
|
arduinoI2C = wiringPiI2CSetupInterface("/dev/i2c-0", 0x4B);
|
|
|
|
|
|
|
|
|
|
#ifdef DEBUG_LOGGING
|
|
|
|
|
fprintf(stderr,"arduinoI2C: %d\n", arduinoI2C);
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
if (arduinoI2C > 0) {
|
|
|
|
|
if(wiringPiI2CReadReg16(arduinoI2C,0) < 0) {
|
|
|
|
|
arduinoI2C = -1; // Disable reading of Arduino payload information
|
|
|
|
|
fprintf(stderr,"Arduino payload not present\n");
|
|
|
|
|
}
|
|
|
|
|
} else {
|
|
|
|
|
arduinoI2C = wiringPiI2CSetupInterface("/dev/i2c-0", 0x4B);
|
|
|
|
|
// fprintf(stderr,"arduinoI2C: %d\n", arduinoI2C);
|
|
|
|
|
if (arduinoI2C > 0) {
|
|
|
|
|
if(wiringPiI2CReadReg16(arduinoI2C,0) < 0) {
|
|
|
|
|
arduinoI2C = -1; // Disable reading of Arduino payload information
|
|
|
|
|
fprintf(stderr,"Arduino payload not present\n");
|
|
|
|
|
}
|
|
|
|
|
} else {
|
|
|
|
|
fprintf(stderr,"Arduino payload not present\n");
|
|
|
|
|
}
|
|
|
|
|
fprintf(stderr,"Arduino payload not present\n");
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// new INA219 current reading code
|
|
|
|
|
|
|
|
|
|
x_calValue = 8192;
|
|
|
|
|
x_powerMultiplier = 1;
|
|
|
|
|
x_currentDivider = 20;
|
|
|
|
|
config = INA219_CONFIG_BVOLTAGERANGE_16V |
|
|
|
|
|
INA219_CONFIG_GAIN_40MV |
|
|
|
|
|
INA219_CONFIG_BADCRES_12BIT |
|
|
|
|
|
INA219_CONFIG_SADCRES_12BIT_4S_2130US |
|
|
|
|
|
//INA219_CONFIG_SADCRES_12BIT_1S_532US |
|
|
|
|
|
INA219_CONFIG_MODE_SANDBVOLT_CONTINUOUS;
|
|
|
|
|
|
|
|
|
|
if ((file_i2c = open("/dev/i2c-0", O_RDWR)) < 0)
|
|
|
|
|
{
|
|
|
|
|
fprintf(stderr,"ERROR: /dev/ic2-0 bus not present\n");
|
|
|
|
|
x_fd = -1; // Disable reading -X, -Y, and -Z telemetry
|
|
|
|
|
y_fd = -1;
|
|
|
|
|
z_fd = -1;
|
|
|
|
|
} else
|
|
|
|
|
{
|
|
|
|
|
x_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x40);
|
|
|
|
|
// fprintf(stderr,"Opening of -X fd %d\n", x_fd);
|
|
|
|
|
y_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x41);
|
|
|
|
|
// printf("Opening of -Y fd %d\n", y_fd);
|
|
|
|
|
z_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x44);
|
|
|
|
|
// printf("Opening of -Z fd %d\n", z_fd);
|
|
|
|
|
}
|
|
|
|
|
x_calValue = 8192;
|
|
|
|
|
x_powerMultiplier = 1;
|
|
|
|
|
x_currentDivider = 20;
|
|
|
|
|
config = INA219_CONFIG_BVOLTAGERANGE_16V |
|
|
|
|
|
INA219_CONFIG_GAIN_40MV |
|
|
|
|
|
INA219_CONFIG_BADCRES_12BIT |
|
|
|
|
|
INA219_CONFIG_SADCRES_12BIT_4S_2130US |
|
|
|
|
|
//INA219_CONFIG_SADCRES_12BIT_1S_532US |
|
|
|
|
|
INA219_CONFIG_MODE_SANDBVOLT_CONTINUOUS;
|
|
|
|
|
|
|
|
|
|
if ((file_i2c = open("/dev/i2c-0", O_RDWR)) < 0)
|
|
|
|
|
{
|
|
|
|
|
fprintf(stderr,"ERROR: /dev/ic2-0 bus not present\n");
|
|
|
|
|
x_fd = -1; // Disable reading -X, -Y, and -Z telemetry
|
|
|
|
|
y_fd = -1;
|
|
|
|
|
z_fd = -1;
|
|
|
|
|
} else
|
|
|
|
|
{
|
|
|
|
|
x_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x40);
|
|
|
|
|
y_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x41);
|
|
|
|
|
z_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x44);
|
|
|
|
|
|
|
|
|
|
#ifdef DEBUG_LOGGING
|
|
|
|
|
fprintf(stderr, "Opening of -X fd %d\n", x_fd);
|
|
|
|
|
fprintf(stderr, "Opening of -Y fd %d\n", y_fd);
|
|
|
|
|
fprintf(stderr, "Opening of -Z fd %d\n", z_fd);
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
int ret;
|
|
|
|
|
uint8_t data[1024];
|
|
|
|
|
int ret;
|
|
|
|
|
uint8_t data[1024];
|
|
|
|
|
|
|
|
|
|
tx_freq_hz -= tx_channel * 50000;
|
|
|
|
|
tx_freq_hz -= tx_channel * 50000;
|
|
|
|
|
|
|
|
|
|
init_rf();
|
|
|
|
|
init_rf();
|
|
|
|
|
|
|
|
|
|
// ax25_init(&hax25, (uint8_t *) "CubeSatSim", '2', (uint8_t *) CALLSIGN, '2',
|
|
|
|
|
ax25_init(&hax25, (uint8_t *) "CQ", '1', (uint8_t *) CALLSIGN, '1',
|
|
|
|
|
AX25_PREAMBLE_LEN,
|
|
|
|
|
AX25_POSTAMBLE_LEN);
|
|
|
|
|
ax25_init(&hax25, (uint8_t *) "CQ", '1', (uint8_t *) CALLSIGN, '1',
|
|
|
|
|
AX25_PREAMBLE_LEN,
|
|
|
|
|
AX25_POSTAMBLE_LEN);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/* Infinite loop */
|
|
|
|
|
for (;;) {
|
|
|
|
|
sleep(1);
|
|
|
|
|
/* Infinite loop */
|
|
|
|
|
for (;;) {
|
|
|
|
|
sleep(1);
|
|
|
|
|
|
|
|
|
|
fprintf(stderr,"INFO: Getting TLM Data\n");
|
|
|
|
|
fprintf(stderr,"INFO: Getting TLM Data\n");
|
|
|
|
|
|
|
|
|
|
get_tlm(tlm);
|
|
|
|
|
get_tlm(tlm);
|
|
|
|
|
|
|
|
|
|
fprintf(stderr,"INFO: Preparing X.25 packet\n");
|
|
|
|
|
fprintf(stderr,"INFO: Preparing X.25 packet\n");
|
|
|
|
|
|
|
|
|
|
char str[1000];
|
|
|
|
|
char tlm_str[1000];
|
|
|
|
|
char str[1000];
|
|
|
|
|
char tlm_str[1000];
|
|
|
|
|
|
|
|
|
|
char header_str[] = "\x03\xf0hi hi ";
|
|
|
|
|
strcpy(str, header_str);
|
|
|
|
|
char header_str[] = "\x03\xf0hi hi ";
|
|
|
|
|
strcpy(str, header_str);
|
|
|
|
|
|
|
|
|
|
int channel;
|
|
|
|
|
for (channel = 1; channel < 7; channel++) {
|
|
|
|
|
// printf("%d %d %d %d \n", tlm[channel][1], tlm[channel][2], tlm[channel][3], tlm[channel][4]);
|
|
|
|
|
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 \n",tlm_str);
|
|
|
|
|
strcat(str, tlm_str);
|
|
|
|
|
}
|
|
|
|
|
int channel;
|
|
|
|
|
for (channel = 1; channel < 7; channel++) {
|
|
|
|
|
#ifdef DEBUG_LOGGING
|
|
|
|
|
printf("%d %d %d %d \n", tlm[channel][1], tlm[channel][2], tlm[channel][3], tlm[channel][4]);
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
if (arduinoI2C > 0) { /* Read Arduino payload */
|
|
|
|
|
for(int reg = 0; reg < 4; reg++) {
|
|
|
|
|
sprintf(tlm_str, " %04x",wiringPiI2CReadReg16(arduinoI2C,reg));
|
|
|
|
|
printf("%s \n",tlm_str);
|
|
|
|
|
strcat(str,tlm_str); /* Append payload telemetry */
|
|
|
|
|
usleep(100000);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
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 \n",tlm_str);
|
|
|
|
|
strcat(str, tlm_str);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
digitalWrite (0, LOW);
|
|
|
|
|
if (arduinoI2C > 0) { /* Read Arduino payload */
|
|
|
|
|
for(int reg = 0; reg < 4; reg++) {
|
|
|
|
|
sprintf(tlm_str, " %04x",wiringPiI2CReadReg16(arduinoI2C,reg));
|
|
|
|
|
printf("%s \n",tlm_str);
|
|
|
|
|
strcat(str,tlm_str); /* Append payload telemetry */
|
|
|
|
|
usleep(100000);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
digitalWrite (0, LOW);
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
char cmdbuffer[1000];
|
|
|
|
|
char cmdbuffer[1000];
|
|
|
|
|
|
|
|
|
|
if (charging) {
|
|
|
|
|
FILE* file1 = popen("/home/pi/mopower/mpcmd LED_STAT=1", "r");
|
|
|
|
|
fgets(cmdbuffer, 999, file1);
|
|
|
|
|
pclose(file1);
|
|
|
|
|
if (charging) {
|
|
|
|
|
FILE* file1 = popen("/home/pi/mopower/mpcmd LED_STAT=1", "r");
|
|
|
|
|
fgets(cmdbuffer, 999, file1);
|
|
|
|
|
pclose(file1);
|
|
|
|
|
|
|
|
|
|
// printf("LED state: %s\n", cmdbuffer);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
*/
|
|
|
|
|
fprintf(stderr,"INFO: Transmitting X.25 packet\n");
|
|
|
|
|
|
|
|
|
|
memcpy(data, str, strnlen(str, 256));
|
|
|
|
|
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 (0, HIGH);
|
|
|
|
|
|
|
|
|
|
fprintf(stderr,"INFO: Transmitting X.25 packet\n");
|
|
|
|
|
|
|
|
|
|
memcpy(data, str, strnlen(str, 256));
|
|
|
|
|
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 (0, HIGH);
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
FILE* file2 = popen("/home/pi/mopower/mpcmd LED_STAT=0", "r");
|
|
|
|
|
fgets(cmdbuffer, 999, file2);
|
|
|
|
|
pclose(file2);
|
|
|
|
|
FILE* file2 = popen("/home/pi/mopower/mpcmd LED_STAT=0", "r");
|
|
|
|
|
fgets(cmdbuffer, 999, file2);
|
|
|
|
|
pclose(file2);
|
|
|
|
|
|
|
|
|
|
// printf("LED state: %s\n", cmdbuffer);
|
|
|
|
|
*/
|
|
|
|
|
if (ret) {
|
|
|
|
|
fprintf(stderr,
|
|
|
|
|
"ERROR: Failed to transmit entire AX.25 frame with error code %d\n",
|
|
|
|
|
ret);
|
|
|
|
|
exit(EXIT_FAILURE);
|
|
|
|
|
}
|
|
|
|
|
if (ret) {
|
|
|
|
|
fprintf(stderr,
|
|
|
|
|
"ERROR: Failed to transmit entire AX.25 frame with error code %d\n",
|
|
|
|
|
ret);
|
|
|
|
|
exit(EXIT_FAILURE);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
return 0;
|
|
|
|
|
return 0;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
static void 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);
|
|
|
|
|
}
|
|
|
|
|
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);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Returns lower digit of a number which must be less than 99
|
|
|
|
|
@ -297,119 +310,135 @@ int upper_digit(int number) {
|
|
|
|
|
fprintf(stderr,"ERROR: Not a digit in upper_digit!\n");
|
|
|
|
|
return digit;
|
|
|
|
|
}
|
|
|
|
|
int get_tlm(int tlm[][5]) {
|
|
|
|
|
|
|
|
|
|
// Reading I2C voltage and current sensors
|
|
|
|
|
|
|
|
|
|
char cmdbuffer[1000];
|
|
|
|
|
FILE* file = popen("sudo python /home/pi/CubeSatSim/python/readcurrent.py 2>&1", "r");
|
|
|
|
|
fgets(cmdbuffer, 999, file);
|
|
|
|
|
pclose(file);
|
|
|
|
|
fprintf(stderr,"I2C Sensor data: %s\n", cmdbuffer);
|
|
|
|
|
|
|
|
|
|
char ina219[16][20]; // voltage, currents, and power from the INA219 current sensors x4a, x40, x41, x44, and x45.
|
|
|
|
|
int i = 0;
|
|
|
|
|
char * data2 = strtok (cmdbuffer," ");
|
|
|
|
|
|
|
|
|
|
while (data2 != NULL) {
|
|
|
|
|
strcpy(ina219[i], data2);
|
|
|
|
|
// printf ("ina219[%d]=%s\n",i,ina219[i]);
|
|
|
|
|
data2 = strtok (NULL, " ");
|
|
|
|
|
i++;
|
|
|
|
|
}
|
|
|
|
|
int get_tlm(int tlm[][5]) {
|
|
|
|
|
// Reading I2C voltage and current sensors
|
|
|
|
|
char cmdbuffer[1000];
|
|
|
|
|
FILE* file = popen("sudo python /home/pi/CubeSatSim/python/readcurrent.py 2>&1", "r");
|
|
|
|
|
fgets(cmdbuffer, 999, file);
|
|
|
|
|
pclose(file);
|
|
|
|
|
fprintf(stderr,"I2C Sensor data: %s\n", cmdbuffer);
|
|
|
|
|
|
|
|
|
|
char ina219[16][20]; // voltage, currents, and power from the INA219 current sensors x4a, x40, x41, x44, and x45.
|
|
|
|
|
int i = 0;
|
|
|
|
|
char * data2 = strtok (cmdbuffer," ");
|
|
|
|
|
|
|
|
|
|
while (data2 != NULL) {
|
|
|
|
|
strcpy(ina219[i], data2);
|
|
|
|
|
#ifdef DEBUG_LOGGING
|
|
|
|
|
printf ("ina219[%d]=%s\n",i,ina219[i]);
|
|
|
|
|
#endif
|
|
|
|
|
data2 = strtok (NULL, " ");
|
|
|
|
|
i++;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Reading MoPower telemetry info
|
|
|
|
|
// Reading MoPower telemetry info
|
|
|
|
|
/*
|
|
|
|
|
file = popen("/home/pi/mopower/mpcmd show data", "r");
|
|
|
|
|
file = popen("/home/pi/mopower/mpcmd show data", "r");
|
|
|
|
|
|
|
|
|
|
fgets(cmdbuffer, 999, file);
|
|
|
|
|
fgets(cmdbuffer, 999, file);
|
|
|
|
|
|
|
|
|
|
pclose(file);
|
|
|
|
|
pclose(file);
|
|
|
|
|
// printf("MoPower data: %s\n", cmdbuffer);
|
|
|
|
|
|
|
|
|
|
char mopower[64][14];
|
|
|
|
|
char mopower[64][14];
|
|
|
|
|
// char str[] ="- This, a sample string.";
|
|
|
|
|
char * pch;
|
|
|
|
|
char * pch;
|
|
|
|
|
// printf ("Splitting string \"%s\" into tokens:\n",str);
|
|
|
|
|
// pch = strtok (str," ");
|
|
|
|
|
i = 0;
|
|
|
|
|
pch = strtok (cmdbuffer," ,.-");
|
|
|
|
|
while (pch != NULL)
|
|
|
|
|
{
|
|
|
|
|
strcpy(mopower[i], pch);
|
|
|
|
|
i = 0;
|
|
|
|
|
pch = strtok (cmdbuffer," ,.-");
|
|
|
|
|
while (pch != NULL)
|
|
|
|
|
{
|
|
|
|
|
strcpy(mopower[i], pch);
|
|
|
|
|
// printf ("mopwer[%d]=%s\n",i,mopower[i]); // pch);
|
|
|
|
|
pch = strtok (NULL, " ");
|
|
|
|
|
i++;
|
|
|
|
|
}
|
|
|
|
|
printf("Battery voltage = %s\n", mopower[16]);
|
|
|
|
|
if (strtof(mopower[17],NULL) > -0.5) {
|
|
|
|
|
charging = 1;
|
|
|
|
|
printf("Charging on\n");
|
|
|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
charging = 0;
|
|
|
|
|
printf("Charging off\n");
|
|
|
|
|
pch = strtok (NULL, " ");
|
|
|
|
|
i++;
|
|
|
|
|
}
|
|
|
|
|
printf("Battery voltage = %s\n", mopower[16]);
|
|
|
|
|
if (strtof(mopower[17],NULL) > -0.5) {
|
|
|
|
|
charging = 1;
|
|
|
|
|
printf("Charging on\n");
|
|
|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
charging = 0;
|
|
|
|
|
printf("Charging off\n");
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
// read i2c current sensors //
|
|
|
|
|
double current = 0, power = 0, y_current = 0, y_power = 0, z_current = 0, z_power = 0;
|
|
|
|
|
if (x_fd != -1) {
|
|
|
|
|
wiringPiI2CWriteReg16(x_fd, INA219_REG_CALIBRATION, x_calValue);
|
|
|
|
|
wiringPiI2CWriteReg16(x_fd, INA219_REG_CONFIG, config);
|
|
|
|
|
wiringPiI2CWriteReg16(x_fd, INA219_REG_CALIBRATION, x_calValue);
|
|
|
|
|
current = wiringPiI2CReadReg16(x_fd, INA219_REG_CURRENT) / x_currentDivider;
|
|
|
|
|
power = wiringPiI2CReadReg16(x_fd, INA219_REG_POWER) * x_powerMultiplier;
|
|
|
|
|
wiringPiI2CWriteReg16(y_fd, INA219_REG_CALIBRATION, x_calValue);
|
|
|
|
|
wiringPiI2CWriteReg16(y_fd, INA219_REG_CONFIG, config);
|
|
|
|
|
wiringPiI2CWriteReg16(y_fd, INA219_REG_CALIBRATION, x_calValue);
|
|
|
|
|
y_current = wiringPiI2CReadReg16(y_fd, INA219_REG_CURRENT) / x_currentDivider;
|
|
|
|
|
y_power = wiringPiI2CReadReg16(y_fd, INA219_REG_POWER) * x_powerMultiplier;
|
|
|
|
|
wiringPiI2CWriteReg16(z_fd, INA219_REG_CALIBRATION, x_calValue);
|
|
|
|
|
wiringPiI2CWriteReg16(z_fd, INA219_REG_CONFIG, config);
|
|
|
|
|
wiringPiI2CWriteReg16(z_fd, INA219_REG_CALIBRATION, x_calValue);
|
|
|
|
|
z_current = wiringPiI2CReadReg16(y_fd, INA219_REG_CURRENT) / x_currentDivider;
|
|
|
|
|
z_power = wiringPiI2CReadReg16(y_fd, INA219_REG_POWER) * x_powerMultiplier;
|
|
|
|
|
}
|
|
|
|
|
printf("-X 0x40 current %4.2f power %4.2f -Y 0x41 current %4.2f power %4.2f -Z 0x44 current %4.2f power %4.2f \n",
|
|
|
|
|
current, power, y_current, y_power, z_current, z_power);
|
|
|
|
|
double current = 0, power = 0, y_current = 0, y_power = 0, z_current = 0, z_power = 0;
|
|
|
|
|
if (x_fd != -1) {
|
|
|
|
|
wiringPiI2CWriteReg16(x_fd, INA219_REG_CALIBRATION, x_calValue);
|
|
|
|
|
wiringPiI2CWriteReg16(x_fd, INA219_REG_CONFIG, config);
|
|
|
|
|
wiringPiI2CWriteReg16(x_fd, INA219_REG_CALIBRATION, x_calValue);
|
|
|
|
|
current = wiringPiI2CReadReg16(x_fd, INA219_REG_CURRENT) / x_currentDivider;
|
|
|
|
|
power = wiringPiI2CReadReg16(x_fd, INA219_REG_POWER) * x_powerMultiplier;
|
|
|
|
|
|
|
|
|
|
wiringPiI2CWriteReg16(y_fd, INA219_REG_CALIBRATION, x_calValue);
|
|
|
|
|
wiringPiI2CWriteReg16(y_fd, INA219_REG_CONFIG, config);
|
|
|
|
|
wiringPiI2CWriteReg16(y_fd, INA219_REG_CALIBRATION, x_calValue);
|
|
|
|
|
y_current = wiringPiI2CReadReg16(y_fd, INA219_REG_CURRENT) / x_currentDivider;
|
|
|
|
|
y_power = wiringPiI2CReadReg16(y_fd, INA219_REG_POWER) * x_powerMultiplier;
|
|
|
|
|
|
|
|
|
|
wiringPiI2CWriteReg16(z_fd, INA219_REG_CALIBRATION, x_calValue);
|
|
|
|
|
wiringPiI2CWriteReg16(z_fd, INA219_REG_CONFIG, config);
|
|
|
|
|
wiringPiI2CWriteReg16(z_fd, INA219_REG_CALIBRATION, x_calValue);
|
|
|
|
|
z_current = wiringPiI2CReadReg16(y_fd, INA219_REG_CURRENT) / x_currentDivider;
|
|
|
|
|
z_power = wiringPiI2CReadReg16(y_fd, INA219_REG_POWER) * x_powerMultiplier;
|
|
|
|
|
}
|
|
|
|
|
printf("-X 0x40 current %4.2f power %4.2f -Y 0x41 current %4.2f power %4.2f -Z 0x44 current %4.2f power %4.2f \n",
|
|
|
|
|
current,
|
|
|
|
|
power,
|
|
|
|
|
y_current,
|
|
|
|
|
y_power,
|
|
|
|
|
z_current,
|
|
|
|
|
z_power);
|
|
|
|
|
|
|
|
|
|
#ifdef DEBUG_LOGGING
|
|
|
|
|
printf("1B: ina219[%d]: %s val: %f \n", SENSOR_40 + CURRENT, ina219[SENSOR_40 + CURRENT], strtof(ina219[SENSOR_40 + CURRENT], NULL));
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
tlm[1][A] = (int)(strtof(ina219[SENSOR_4A + CURRENT], NULL) / 15 + 0.5) % 100; // Current of 5V supply to Pi
|
|
|
|
|
tlm[1][B] = (int) (99.5 - strtof(ina219[SENSOR_40 + CURRENT], NULL)/10) % 100; // +X current [4]
|
|
|
|
|
tlm[1][C] = (int) (99.5 - current/10) % 100; // X- current [10]
|
|
|
|
|
tlm[1][D] = (int) (99.5 - strtof(ina219[SENSOR_41 + CURRENT], NULL)/10) % 100; // +Y current [7]
|
|
|
|
|
|
|
|
|
|
tlm[2][A] = (int) (99.5 - y_current/10) % 100; // -Y current [10]
|
|
|
|
|
tlm[2][B] = (int) (99.5 - strtof(ina219[SENSOR_44 + CURRENT], NULL)/10) % 100; // +Z current [10] // was 70/2m transponder power, AO-7 didn't have a Z panel
|
|
|
|
|
tlm[2][C] = (int) (99.5 - z_current/10) % 100; // -Z current (was timestamp)
|
|
|
|
|
|
|
|
|
|
// printf("1B: ina219[%d]: %s val: %f \n", SENSOR_40 + CURRENT, ina219[SENSOR_40 + CURRENT], strtof(ina219[SENSOR_40 + CURRENT], NULL));
|
|
|
|
|
// tlm[2][C] = (int)((time(NULL) - timestamp) / 15) % 100;
|
|
|
|
|
tlm[2][D] = (int)(50.5 + strtof(ina219[SENSOR_45 + CURRENT], NULL)/10.0) % 100; // NiMH Battery current
|
|
|
|
|
|
|
|
|
|
tlm[1][A] = (int)(strtof(ina219[SENSOR_4A + CURRENT], NULL) / 15 + 0.5) % 100; // Current of 5V supply to Pi
|
|
|
|
|
tlm[1][B] = (int) (99.5 - strtof(ina219[SENSOR_40 + CURRENT], NULL)/10) % 100; // +X current [4]
|
|
|
|
|
tlm[1][C] = (int) (99.5 - current/10) % 100; // X- current [10]
|
|
|
|
|
tlm[1][D] = (int) (99.5 - strtof(ina219[SENSOR_41 + CURRENT], NULL)/10) % 100; // +Y current [7]
|
|
|
|
|
tlm[3][A] = abs((int)((strtof(ina219[SENSOR_45 + VOLTAGE], NULL) * 10) - 65.5) % 100);
|
|
|
|
|
tlm[3][B] = (int)(strtof(ina219[SENSOR_4A + VOLTAGE], NULL) * 10.0) % 100; // 5V supply to Pi
|
|
|
|
|
|
|
|
|
|
tlm[2][A] = (int) (99.5 - y_current/10) % 100; // -Y current [10]
|
|
|
|
|
tlm[2][B] = (int) (99.5 - strtof(ina219[SENSOR_44 + CURRENT], NULL)/10) % 100; // +Z current [10] // was 70/2m transponder power, AO-7 didn't have a Z panel
|
|
|
|
|
tlm[2][C] = (int) (99.5 - z_current/10) % 100; // -Z current (was timestamp)
|
|
|
|
|
if (tempSensor != -1) {
|
|
|
|
|
int tempValue = wiringPiI2CReadReg16(tempSensor, 0);
|
|
|
|
|
#ifdef DEBUG_LOGGING
|
|
|
|
|
printf("Read: %x\n", tempValue);
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// tlm[2][C] = (int)((time(NULL) - timestamp) / 15) % 100;
|
|
|
|
|
tlm[2][D] = (int)(50.5 + strtof(ina219[SENSOR_45 + CURRENT], NULL)/10.0) % 100; // NiMH Battery current
|
|
|
|
|
uint8_t upper = (uint8_t) (tempValue >> 8);
|
|
|
|
|
uint8_t lower = (uint8_t) (tempValue & 0xff);
|
|
|
|
|
float temp = (float)lower + ((float)upper / 0x100);
|
|
|
|
|
|
|
|
|
|
tlm[3][A] = abs((int)((strtof(ina219[SENSOR_45 + VOLTAGE], NULL) * 10) - 65.5) % 100);
|
|
|
|
|
tlm[3][B] = (int)(strtof(ina219[SENSOR_4A + VOLTAGE], NULL) * 10.0) % 100; // 5V supply to Pi
|
|
|
|
|
|
|
|
|
|
if (tempSensor != -1) {
|
|
|
|
|
int tempValue = wiringPiI2CReadReg16(tempSensor, 0);
|
|
|
|
|
// printf("Read: %x\n", tempValue);
|
|
|
|
|
uint8_t upper = (uint8_t) (tempValue >> 8);
|
|
|
|
|
uint8_t lower = (uint8_t) (tempValue & 0xff);
|
|
|
|
|
float temp = (float)lower + ((float)upper / 0x100);
|
|
|
|
|
tlm[4][A] = (int)((95.8 - temp)/1.48 + 0.5) % 100;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
tlm[4][A] = (int)((95.8 - temp)/1.48 + 0.5) % 100;
|
|
|
|
|
}
|
|
|
|
|
tlm[6][B] = 0 ;
|
|
|
|
|
tlm[6][D] = 49 + rand() % 3;
|
|
|
|
|
tlm[6][B] = 0 ;
|
|
|
|
|
tlm[6][D] = 49 + rand() % 3;
|
|
|
|
|
|
|
|
|
|
// Display tlm
|
|
|
|
|
int k, j;
|
|
|
|
|
for (k = 1; k < 7; k++) {
|
|
|
|
|
for (j = 1; j < 5; j++) {
|
|
|
|
|
printf(" %2d ", tlm[k][j]);
|
|
|
|
|
}
|
|
|
|
|
printf("\n");
|
|
|
|
|
int k, j;
|
|
|
|
|
for (k = 1; k < 7; k++) {
|
|
|
|
|
for (j = 1; j < 5; j++) {
|
|
|
|
|
printf(" %2d ", tlm[k][j]);
|
|
|
|
|
}
|
|
|
|
|
return 0;
|
|
|
|
|
printf("\n");
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
return 0;
|
|
|
|
|
}
|
|
|
|
|
|
jmclemo6
7 years ago
committed by