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CubeSatSim
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Update main.c remove commented out code

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beta-hab
Alan Johnston 2 years ago committed by GitHub
parent 3b533e0ebc
commit 59b86674ea
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GPG Key ID: B5690EEEBB952194
1 changed files with 5 additions and 320 deletions
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main.c
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@ -372,66 +372,19 @@ int main(int argc, char * argv[]) {
file5 = popen("sudo rm /home/pi/CubeSatSim/camera_out.jpg.wav > /dev/null 2>&1", "r"); file5 = popen("sudo rm /home/pi/CubeSatSim/camera_out.jpg.wav > /dev/null 2>&1", "r");
pclose(file5); 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
if (!ax5043) // don't test for payload if AX5043 is present if (!ax5043) // don't test for payload if AX5043 is present
{ {
payload = OFF; payload = OFF;
if ((uart_fd = serialOpen("/dev/ttyAMA0", 115200)) >= 0) { // was 9600 if ((uart_fd = serialOpen("/dev/ttyAMA0", 115200)) >= 0) { // was 9600
printf("Serial opened to Pico\n"); printf("Serial opened to Pico\n");
payload = ON; payload = ON;
/*
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");
printf("Turning on Payload anyway\n");
payload = ON;
}
*/
} else { } else {
fprintf(stderr, "Unable to open UART: %s\n -> Did you configure /boot/config.txt and /boot/cmdline.txt?\n", strerror(errno)); 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)) { if ((i2c_bus3 == OFF) || (sim_mode == TRUE)) {
// if (sim_mode == TRUE) {
sim_mode = TRUE; sim_mode = TRUE;
@ -799,53 +752,7 @@ int main(int argc, char * argv[]) {
// end of simulated telemetry // end of simulated telemetry
} }
else { else {
// code moved
/*
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);
}
}
if (voltage[map[BAT]] == 0.0)
batteryVoltage = 4.5;
else
batteryVoltage = voltage[map[BAT]];
batteryCurrent = current[map[BAT]];
*/
}
// batteryVoltage = voltage[map[BAT]];
// batteryCurrent = current[map[BAT]];
/*
if (batteryVoltage < 3.7) {
SafeMode = 1;
printf("Safe Mode!\n");
} else
SafeMode = 0;
*/
FILE * cpuTempSensor = fopen("/sys/class/thermal/thermal_zone0/temp", "r"); FILE * cpuTempSensor = fopen("/sys/class/thermal/thermal_zone0/temp", "r");
if (cpuTempSensor) { if (cpuTempSensor) {
// double cpuTemp; // double cpuTemp;
@ -861,83 +768,11 @@ int main(int argc, char * argv[]) {
// IHUcpuTemp = (int)((cpuTemp * 10.0) + 0.5); // IHUcpuTemp = (int)((cpuTemp * 10.0) + 0.5);
} }
fclose(cpuTempSensor); fclose(cpuTempSensor);
} }
// move this code out of get_tlm
/*
if (payload == ON) { // -55
STEMBoardFailure = 0;
printf("get_payload_status: %d \n", get_payload_serial(FALSE)); // not debug
fflush(stdout);
printf("String: %s\n", buffer2);
fflush(stdout);
strcpy(sensor_payload, buffer2);
printf(" Response from STEM Payload board: %s\n", sensor_payload);
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);
// printf("token: %s\n", token);
for (count1 = 0; count1 < SENSOR_FIELDS; count1++) {
if (token != NULL) {
sensor[count1] = (float) atof(token);
// #ifdef DEBUG_LOGGING
printf("sensor: %f ", sensor[count1]); // print sensor data
// #endif
token = strtok(NULL, space);
}
}
printf("\n");
// if (sensor[GPS1] != 0) {
if ((sensor[GPS1] > -90.0) && (sensor[GPS1] < 90.0) && (sensor[GPS1] != 0.0)) {
if (sensor[GPS1] != latitude) {
latitude = sensor[GPS1];
printf("Latitude updated to %f \n", latitude);
newGpsTime = millis();
}
}
// if (sensor[GPS2] != 0) {
if ((sensor[GPS2] > -180.0) && (sensor[GPS2] < 180.0) && (sensor[GPS2] != 0.0)) {
if (sensor[GPS2] != longitude) {
longitude = sensor[GPS2];
printf("Longitude updated to %f \n", longitude);
newGpsTime = millis();
}
}
}
else
; //payload = OFF; // turn off since STEM Payload is not responding
}
if ((millis() - newGpsTime) > 60000) {
longitude += rnd_float(-0.05, 0.05) / 100.0; // was .05
latitude += rnd_float(-0.05, 0.05) / 100.0;
printf("GPS Location with Rnd: %f, %f \n", latitude, longitude);
printf("GPS Location with Rnd: APRS %07.2f, %08.2f \n", toAprsFormat(latitude), toAprsFormat(longitude));
newGpsTime = millis();
}
if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) {
for (int count1 = 0; count1 < SENSOR_FIELDS; 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 #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); 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 #endif
// if ((batteryVoltage > 1.0) && (batteryVoltage < batteryThreshold)) // no battery INA219 will give 0V, no battery plugged into INA219 will read < 1V
// fprintf(stderr, "\n\nbattery_saver_mode : %d current: %f\n", battery_saver_mode, batteryCurrent);
//#ifndef HAB
if ((batteryCurrent > currentThreshold) && (batteryVoltage < (voltageThreshold + 0.15)) && !sim_mode && !hab_mode) if ((batteryCurrent > currentThreshold) && (batteryVoltage < (voltageThreshold + 0.15)) && !sim_mode && !hab_mode)
{ {
@ -974,8 +809,6 @@ int main(int argc, char * argv[]) {
digitalWrite(onLed, onLedOff); digitalWrite(onLed, onLedOff);
FILE * file6; // = popen("/home/pi/CubeSatSim/log > shutdown_log.txt", "r"); FILE * file6; // = popen("/home/pi/CubeSatSim/log > shutdown_log.txt", "r");
// pclose(file6);
// sleep(80);
file6 = popen("sudo shutdown -h now > /dev/null 2>&1", "r"); file6 = popen("sudo shutdown -h now > /dev/null 2>&1", "r");
pclose(file6); pclose(file6);
sleep(10); sleep(10);
@ -1199,13 +1032,8 @@ void get_tlm(void) {
channel, upper_digit(tlm[channel][2]), lower_digit(tlm[channel][2]), 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][3]), lower_digit(tlm[channel][3]),
channel, upper_digit(tlm[channel][4]), lower_digit(tlm[channel][4]), channel); channel, upper_digit(tlm[channel][4]), lower_digit(tlm[channel][4]), channel);
// printf("%s",tlm_str);
//#ifdef HAB strcat(str, tlm_str);
// if (mode != AFSK)
//#endif
// if ((!hab_mode) || ((hab_mode) && (mode != AFSK)))
strcat(str, tlm_str);
printf("CW string to execute: %s\n", &tlm_str); printf("CW string to execute: %s\n", &tlm_str);
@ -1214,61 +1042,10 @@ void get_tlm(void) {
} }
} else { // APRS } else { // APRS
//#ifdef HAB
// if ((mode == AFSK) && (hab_mode)) {
// sprintf(tlm_str, "BAT %4.2f %5.1f ", batteryVoltage, batteryCurrent);
sprintf(tlm_str, "BAT %4.2f %5.1f ", voltage[map[BAT]] , current[map[BAT]] ); sprintf(tlm_str, "BAT %4.2f %5.1f ", voltage[map[BAT]] , current[map[BAT]] );
strcat(str, tlm_str); strcat(str, tlm_str);
// } else }
// strcat(str, tlm_str); // Is this needed???
}
//#endif
// 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
}
*/
strcpy(sensor_payload, buffer2); strcpy(sensor_payload, buffer2);
printf(" Response from STEM Payload board:: %s\n", sensor_payload); printf(" Response from STEM Payload board:: %s\n", sensor_payload);
// printf(" Str so far: %s\n", str); // printf(" Str so far: %s\n", str);
@ -1284,17 +1061,6 @@ void get_tlm(void) {
// 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_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 char cw_footer3[] = "' > cw.txt && touch /home/pi/CubeSatSim/cwready"; // transmit is done by rpitx.py
char cwready[] = "touch /home/pi/CubeSatSim/cwready"; // cw frame is complete. transmit is done by rpitx.py char cwready[] = "touch /home/pi/CubeSatSim/cwready"; // cw frame is complete. 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);
FILE * cw_file = popen(cwready, "r"); FILE * cw_file = popen(cwready, "r");
pclose(cw_file); pclose(cw_file);
@ -1330,22 +1096,7 @@ void get_tlm(void) {
sleep(4); // was 2 sleep(4); // was 2
} else { // APRS using rpitx } else { // APRS using rpitx
/*
if (payload == ON) {
telem_file = fopen("/home/pi/CubeSatSim/telem.txt", "a");
printf("Writing payload string\n");
time_t timeStamp;
time(&timeStamp); // get timestamp
// printf("Timestamp: %s\n", ctime(&timeStamp));
char timeStampNoNl[31], bat_string[31];
snprintf(timeStampNoNl, 30, "%.24s", ctime(&timeStamp));
printf("TimeStamp: %s\n", timeStampNoNl);
snprintf(bat_string, 30, "BAT %4.2f %5.1f", batteryVoltage, batteryCurrent);
fprintf(telem_file, "%s %s %s\n", timeStampNoNl, bat_string, sensor_payload); // write telemetry string to telem.txt file
fclose(telem_file);
}
*/
strcat(str, footer_str1); strcat(str, footer_str1);
// strcat(str, call); // strcat(str, call);
if (battery_saver_mode == ON) if (battery_saver_mode == ON)
@ -2199,29 +1950,6 @@ float toAprsFormat(float input) {
return(output); return(output);
} }
//#define GET_IMAGE_DEBUG
//#define DEBUG
//#define PICOW true
//int led_pin = LED_BUILTIN;
/*
void loop() {
char input_file[] = "/cam.jpg";
char output_file[] = "/cam.bin";
get_image_file();
Serial.println("Got image from ESP-32-CAM!");
delay(1000);
}
*/
int get_payload_serial(int debug_camera) { int get_payload_serial(int debug_camera) {
index1 = 0; index1 = 0;
@ -2247,11 +1975,6 @@ int get_payload_serial(int debug_camera) {
printf("%c", octet); printf("%c", octet);
fflush(stdout); fflush(stdout);
// if (Serial2.available()) { // If anything comes in Serial2
// byte octet = Serial2.read();
/// if ((!start_flag_detected) && (debug_camera))
/// Serial.write(octet);
if (start_flag_complete) { if (start_flag_complete) {
// printf("Start flag complete detected\n"); // printf("Start flag complete detected\n");
buffer2[index1++] = octet; buffer2[index1++] = octet;
@ -2263,44 +1986,6 @@ int get_payload_serial(int debug_camera) {
printf("Found part of end flag!\n"); printf("Found part of end flag!\n");
#endif #endif
if (flag_count >= strlen(end_flag)) { // complete image if (flag_count >= strlen(end_flag)) { // complete image
/// buffer2[index1++] = octet;
// Serial.println("\nFound end flag");
// Serial.println(octet, HEX);
/// while(!Serial2.available()) { } // Wait for another byte
// octet = Serial2.read();
// buffer2[index1++] = octet;
// Serial.println(octet, HEX);
// while(!Serial2.available()) { } // Wait for another byte
/// int received_crc = Serial2.read();
// buffer2[index1++] = octet;
/*
Serial.print("\nFile length: ");
Serial.println(index1 - (int)strlen(end_flag));
// index1 -= 1; // 40;
// Serial.println(buffer2[index1 - 1], HEX);
// int received_crc = buffer2[index1];
// index1 -= 1;
uint8_t * data = (uint8_t *) &buffer2[0];
#ifdef GET_IMAGE_DEBUG
Serial.println(buffer2[0], HEX);
Serial.println(buffer2[index1 - 1], HEX);
Serial.println(index1);
#endif
if (debug_camera) {
Serial.print("\nCRC received:");
Serial.println(received_crc, HEX);
}
int calculated_crc = CRC8.smbus(data, index1);
// Serial.println(calculated_crc, HEX);
if (received_crc == calculated_crc)
Serial.println("CRC check succeeded!");
else
Serial.println("CRC check failed!");
*/
// index1 -= 40;
index1 -= strlen(end_flag); index1 -= strlen(end_flag);
buffer2[index1++] = 0; buffer2[index1++] = 0;
printf(" Payload length: %d \n",index1); printf(" Payload length: %d \n",index1);

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