@ -19,10 +19,7 @@
* along with this program . If not , see < http : //www.gnu.org/licenses/>.
*/
//#include <unistd.h> //Needed for I2C port
# include <fcntl.h> //Needed for I2C port
//#include <sys/ioctl.h> //Needed for I2C port
# include <stdlib.h>
# include <stdio.h>
# include <unistd.h>
@ -34,11 +31,9 @@
# include <wiringPiI2C.h>
# include <wiringPi.h>
# include <time.h>
# include "ina219.h"
# include <math.h>
# define CALLSIGN "" // Put your callsign here!
# include "../Adafruit_INA219/Adafruit_INA219.h"
/*
# define VBATT 15
# define ADC5 17
# define ADC6 18
@ -47,22 +42,33 @@
# define TIME 8
# define UCTEMP 30
# define UPTIME_SEC 8
*/
# define A 1
# define B 2
# define C 3
# define D 4
/*
# define SENSOR_40 0
# define SENSOR_41 3
# define SENSOR_44 6
# define SENSOR_45 9
# define SENSOR_4A 12
# define VOLTAGE 0
# define CURRENT 1
# define CURRENT V 1
# define POWER 2
*/
# define VBATT 15
uint32_t tx_freq_hz = 440310000 ;
# define PLUS_X 0
# define PLUS_Y 1
# define PLUS_Z 2
# define BAT 3
# define MINUS_X 4
# define MINUS_Y 5
# define MINUS_Z 6
# define BUS 7
# define OFF -1
uint32_t tx_freq_hz = 434900000 + FREQUENCY_OFFSET ;
uint32_t tx_channel = 0 ;
ax5043_conf_t hax5043 ;
@ -73,6 +79,16 @@ int get_tlm(int tlm[][5]);
long int timestamp ;
void config_x25 ( ) ;
void trans_x25 ( ) ;
void setCalibration_32V_2A ( int fd ) ;
void setCalibration_32V_1A ( int fd ) ;
void setCalibration_16V_400mA ( int fd ) ;
void setCalibration_16V_2A ( int fd ) ;
float getBusVoltage_V ( int fd ) ;
float getShuntVoltage_mV ( int fd ) ;
float getCurrent_mA ( int fd ) ;
float getPower_mW ( int fd ) ;
void powerSave ( int fd , int on ) ;
//long int timestamp;
int tempSensor ;
@ -80,12 +96,12 @@ int upper_digit(int number);
int lower_digit ( int number ) ;
int charging = 0 ;
uint16_t = ( 0x2000 | 0x1800 | 0x0180 | 0x0018 | 0x0007 ) ;
uint16_t x_ config = ( 0x2000 | 0x1800 | 0x0180 | 0x0018 | 0x0007 ) ;
int x_fd ; // I2C bus 0 address 0x40
int x_powerMultiplier ;
int x_currentDivider ;
int x_calValue ;
int x_calValue _x ;
int y_fd ; // I2C bus 0 address 0x41
int z_fd ; // I2C bos 0 address 0x44
@ -126,7 +142,19 @@ struct SensorData read_sensor_data(int sensor) {
return data ;
}
int main ( void ) {
int sensor [ 8 ] ; // 7 current sensors in Solar Power PCB plus one in MoPower UPS V2
float voltsBus [ 8 ] ;
float voltsShunt [ 8 ] ;
float current [ 8 ] ;
float power [ 8 ] ;
char src_addr [ 5 ] = " " ;
char dest_addr [ 5 ] = " CQ " ;
int main ( int argc , char * argv [ ] ) {
if ( argc > 1 ) {
strcpy ( src_addr , argv [ 1 ] ) ;
}
wiringPiSetup ( ) ;
pinMode ( 0 , OUTPUT ) ;
@ -136,179 +164,242 @@ 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 ) ;
digitalWrite ( 0 , HIGH ) ;
setSpiChannel ( SPI_CHANNEL ) ;
setSpiSpeed ( SPI_SPEED ) ;
initializeSpi ( ) ;
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 ) ;
}
int tlm [ 7 ] [ 5 ] ;
memset ( tlm , 0 , sizeof tlm ) ;
// fprintf(stderr,"tempSensor: %d \n",tempSensor);
int arduinoI2C ;
if ( ( arduinoI2C = open ( " /dev/i2c-0 " , O_RDWR ) ) < 0 )
{
fprintf ( stderr , " ERROR: /dev/i2c-0 bus 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 " ) ;
}
}
timestamp = time ( NULL ) ;
// new INA219 current reading code
int file_i2c = access ( " /dev/i2c-3 " , W_OK | R_OK ) ;
//char *filenam1e = (char*)"/dev/i2c-3";
if ( file_i2c < 0 )
{
fprintf ( stderr , " ERROR: /dev/ic2-3 bus not present \n " ) ;
tempSensor = OFF ;
} else
{
tempSensor = wiringPiI2CSetupInterface ( " /dev/i2c-3 " , 0x48 ) ;
}
x_calValue = 8192 ;
# ifdef DEBUG_LOGGING
fprintf ( stderr , " tempSensor: %d \n " , tempSensor ) ;
# endif
/* start of old master code
x_calValue_x = 8192 ;
x_powerMultiplier = 1 ;
x_currentDivider = 20 ;
config = INA219_CONFIG_BVOLTAGERANGE_16V |
INA219_CONFIG_GAIN_40MV |
x_ config = INA219_CONFIG_BVOLTAGERANGE_ 32 V |
INA219_CONFIG_GAIN_ 1_ 40MV |
INA219_CONFIG_BADCRES_12BIT |
INA219_CONFIG_SADCRES_12BIT_4S_2130US |
//INA219_CONFIG_SADCRES_12BIT_1S_532US |
//
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 ;
x_fd = OFF ;
y_fd = OFF ;
z_fd = OFF ;
} 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);
}
int ret ;
uint8_t data [ 1024 ] ;
tx_freq_hz - = tx_channel * 50000 ;
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 ) ;
/* Infinite loop */
for ( ; ; ) {
sleep ( 1 ) ;
fprintf ( stderr , " INFO: Getting TLM Data \n " ) ;
get_tlm ( tlm ) ;
fprintf ( stderr , " INFO: Preparing X.25 packet \n " ) ;
char str [ 1000 ] ;
char tlm_str [ 1000 ] ;
char header_str [ ] = " \x03 \xf0 hi 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 ) ;
z_fd = wiringPiI2CSetupInterface ( " /dev/i2c-0 " , 0x44 ) ;
# ifdef DEBUG_LOGGING
fprintf ( stderr , " Opening of -X %d, -Y %d, -Z %d \n " , x_fd , y_fd , z_fd ) ;
# endif
} // moved here
end of old code */
int test ;
if ( ( ( test = open ( " /dev/i2c-1 " , O_RDWR ) ) ) > 0 ) // Test if I2C Bus 1 is present
{
close ( test ) ;
sensor [ PLUS_X ] = wiringPiI2CSetupInterface ( " /dev/i2c-1 " , 0x40 ) ;
sensor [ PLUS_Y ] = wiringPiI2CSetupInterface ( " /dev/i2c-1 " , 0x41 ) ;
sensor [ PLUS_Z ] = wiringPiI2CSetupInterface ( " /dev/i2c-1 " , 0x44 ) ;
sensor [ BAT ] = wiringPiI2CSetupInterface ( " /dev/i2c-1 " , 0x45 ) ;
sensor [ BUS ] = wiringPiI2CSetupInterface ( " /dev/i2c-1 " , 0x4a ) ;
} else
{
printf ( " ERROR: /dev/i2c-1 not present \n " ) ;
sensor [ PLUS_X ] = OFF ;
sensor [ PLUS_Y ] = OFF ;
sensor [ PLUS_Z ] = OFF ;
sensor [ BAT ] = OFF ;
sensor [ BUS ] = OFF ;
}
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 ) ;
}
if ( ( ( test = open ( " /dev/i2c-0 " , O_RDWR ) ) ) > 0 ) // Test if I2C Bus 0 is present
{
close ( test ) ;
sensor [ MINUS_X ] = wiringPiI2CSetupInterface ( " /dev/i2c-0 " , 0x40 ) ;
sensor [ MINUS_Y ] = wiringPiI2CSetupInterface ( " /dev/i2c-0 " , 0x41 ) ;
sensor [ MINUS_Z ] = wiringPiI2CSetupInterface ( " /dev/i2c-0 " , 0x44 ) ;
} else
{
printf ( " ERROR: /dev/i2c-0 not present \n " ) ;
sensor [ MINUS_X ] = OFF ;
sensor [ MINUS_Y ] = OFF ;
sensor [ MINUS_Z ] = OFF ;
}
// } Extra close bracket??
// } // move up!
// new INA219 current reading code
/*
x_calValue = 8192 ;
x_powerMultiplier = 1 ;
x_currentDivider = 20 ;
x_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 ;
file_i2c = access ( " /dev/i2c-0 " , W_OK | R_OK ) ;
if ( file_i2c < 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 ] ;
tx_freq_hz - = tx_channel * 50000 ;
init_rf ( ) ;
digitalWrite ( 0 , LOW ) ;
ax25_init ( & hax25 , ( uint8_t * ) dest_addr , ' 1 ' , ( uint8_t * ) src_addr , ' 1 ' ,
AX25_PREAMBLE_LEN ,
AX25_POSTAMBLE_LEN ) ;
/* Infinite loop */
for ( ; ; ) {
sleep ( 1 ) ; // Delay 1 second
# ifdef DEBUG_LOGGING
fprintf ( stderr , " INFO: Getting TLM Data \n " ) ;
# endif
get_tlm ( tlm ) ;
# ifdef DEBUG_LOGGING
fprintf ( stderr , " INFO: Preparing X.25 packet \n " ) ;
# endif
char str [ 1000 ] ;
char tlm_str [ 1000 ] ;
char header_str [ ] = " \x03 \xf0 hi hi " ;
strcpy ( str , header_str ) ;
// printf("%s-1>CQ-1:hi hi ", CALLSIGN);
printf ( " %s-1>%s-1:hi hi " , ( uint8_t * ) src_addr , ( uint8_t * ) dest_addr ) ;
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 ) ;
}
/*
if ( arduinoI2C > 0 ) { // Read Arduino payload
for ( int reg = 0 ; reg < 4 ; reg + + ) {
sprintf ( tlm_str , " %04x " , wiringPiI2CReadReg16 ( arduinoI2C , reg ) ) ;
# ifdef DEBUG_LOGGING
printf ( " %s \n " , tlm_str ) ;
# endif
strcat ( str , tlm_str ) ; // Append payload telemetry
printf ( " %s " , tlm_str ) ;
usleep ( 100000 ) ;
}
}
*/
printf ( " \n " ) ;
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 ) ;
# ifdef DEBUG_LOGGING
fprintf ( stderr , " INFO: Transmitting X.25 packet \n " ) ;
# endif
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 ;
int ret ;
# ifdef DEBUG_LOGGING
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 ) ;
}
# endif
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
@ -334,126 +425,218 @@ 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 ) ;
# ifdef DEBUG_LOGGING
fprintf ( stderr , " I2C Sensor data: %s \n " , cmdbuffer ) ;
# endif
// Reading I2C voltage and current sensors
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 + + ;
}
*/
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 + + ;
// read i2c current sensors //
// code added back from master
double x_current , y_current , z_current ;
# ifdef DEBUG_LOGGING
double x_voltage , x_power , y_voltage , y_power , z_voltage , z_power ;
uint16_t value ;
# endif
/* Disable old code
if ( x_fd ! = OFF ) {
wiringPiI2CWriteReg16 ( x_fd , INA219_REG_CALIBRATION , x_calValue_x ) ;
wiringPiI2CWriteReg16 ( x_fd , INA219_REG_CONFIG , x_config ) ;
wiringPiI2CWriteReg16 ( x_fd , INA219_REG_CALIBRATION , x_calValue_x ) ;
x_current = wiringPiI2CReadReg16 ( x_fd , INA219_REG_CURRENT ) / x_currentDivider ;
# ifdef DEBUG_LOGGING
// x_voltage = wiringPiI2CReadReg16(x_fd, INA219_REG_BUSVOLTAGE) / 1000;
value = ( uint16_t ) wireReadRegister ( x_fd , INA219_REG_BUSVOLTAGE ) ;
x_voltage = ( ( double ) ( value > > 3 ) * 4 ) / 1000 ;
x_power = wiringPiI2CReadReg16 ( x_fd , INA219_REG_POWER ) * x_powerMultiplier ;
# endif
wiringPiI2CWriteReg16 ( y_fd , INA219_REG_CALIBRATION , x_calValue_x ) ;
wiringPiI2CWriteReg16 ( y_fd , INA219_REG_CONFIG , x_config ) ;
wiringPiI2CWriteReg16 ( y_fd , INA219_REG_CALIBRATION , x_calValue_x ) ;
y_current = wiringPiI2CReadReg16 ( y_fd , INA219_REG_CURRENT ) / x_currentDivider ;
# ifdef DEBUG_LOGGING
// y_voltage = wiringPiI2CReadReg16(y_fd, INA219_REG_BUSVOLTAGE) / 1000;
value = ( uint16_t ) wireReadRegister ( y_fd , INA219_REG_BUSVOLTAGE ) ;
y_voltage = ( ( double ) ( value > > 3 ) * 4 ) / 1000 ;
y_power = wiringPiI2CReadReg16 ( y_fd , INA219_REG_POWER ) * x_powerMultiplier ;
# endif
wiringPiI2CWriteReg16 ( z_fd , INA219_REG_CALIBRATION , x_calValue_x ) ;
wiringPiI2CWriteReg16 ( z_fd , INA219_REG_CONFIG , x_config ) ;
wiringPiI2CWriteReg16 ( z_fd , INA219_REG_CALIBRATION , x_calValue_x ) ;
z_current = wiringPiI2CReadReg16 ( z_fd , INA219_REG_CURRENT ) / x_currentDivider ;
# ifdef DEBUG_LOGGING
// z_voltage = wiringPiI2CReadReg16(z_fd, INA219_REG_BUSVOLTAGE) / 1000;
value = ( uint16_t ) wireReadRegister ( z_fd , INA219_REG_BUSVOLTAGE ) ;
z_voltage = ( ( double ) ( value > > 3 ) * 4 ) / 1000 ;
z_power = wiringPiI2CReadReg16 ( z_fd , INA219_REG_POWER ) * x_powerMultiplier ;
# endif
}
// Reading MoPower telemetry info
/*
file = popen ( " /home/pi/mopower/mpcmd show data " , " r " ) ;
fgets ( cmdbuffer , 999 , file ) ;
pclose ( file ) ;
// printf("MoPower data: %s\n", cmdbuffer);
char mopower [ 64 ] [ 14 ] ;
// char str[] ="- This, a sample string.";
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 ) ;
// 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 " ) ;
}
# ifdef DEBUG_LOGGING
printf ( " -X %+4.2f V %+4.2fmA %+4.2fmW -Y %+4.2fV %+4.2fmA %+4.2fmW -Z %+4.2fV %+4.2fmA %+4.2fmW \n " ,
x_voltage , x_current , x_power , y_voltage , y_current , y_power , z_voltage , z_current , z_power ) ;
# endif
*/
// read i2c current sensors //
struct SensorData x_data = read_sensor_data ( x_fd ) ;
struct SensorData y_data = read_sensor_data ( y_fd ) ;
struct SensorData z_data = read_sensor_data ( z_fd ) ;
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 " ,
x_data . current , x_data . power , y_data . current , y_data . power , z_data . current , z_data . power ) ;
int count ;
for ( count = 0 ; count < 7 ; count + + )
{
if ( sensor [ count ] ! = OFF )
{
# ifdef DEBUG_LOGGING
printf ( " Read sensor[%d] " , count ) ;
# endif
setCalibration_16V_400mA ( sensor [ count ] ) ;
current [ count ] = getCurrent_mA ( sensor [ count ] ) ;
voltsBus [ count ] = getBusVoltage_V ( sensor [ count ] ) ;
voltsShunt [ count ] = getShuntVoltage_mV ( sensor [ count ] ) / 1000 ;
power [ count ] = getPower_mW ( sensor [ count ] ) ;
}
else
{
voltsShunt [ count ] = 0 ;
voltsBus [ count ] = 0 ;
current [ count ] = 0 ;
power [ count ] = 0 ;
}
# ifdef DEBUG_LOGGING
printf ( " %+4.2fV %+4.2fV %+4.2fmA %+4.2fmW \n " ,
voltsBus [ count ] , voltsShunt [ count ] , current [ count ] , power [ count ] ) ;
# endif
}
if ( sensor [ BUS ] ! = OFF ) // For MoPower V2 INA219
{
# ifdef DEBUG_LOGGING
printf ( " Read sensor[%d] " , BUS ) ;
# endif
setCalibration_16V_2A ( sensor [ BUS ] ) ;
current [ BUS ] = getCurrent_mA ( sensor [ BUS ] ) ; // * 4;
voltsBus [ BUS ] = getBusVoltage_V ( sensor [ BUS ] ) ;
voltsShunt [ BUS ] = getShuntVoltage_mV ( sensor [ BUS ] ) / 1000 ;
power [ BUS ] = getPower_mW ( sensor [ BUS ] ) ; // *2;
}
else
{
voltsShunt [ BUS ] = 0 ;
voltsBus [ BUS ] = 0 ;
current [ BUS ] = 0 ;
power [ BUS ] = 0 ;
}
# ifdef DEBUG_LOGGING
printf ( " %+4.2fV %+4.2fV %+4.2fmA %+4.2fmW \n " ,
voltsBus [ BUS ] , voltsShunt [ BUS ] , current [ BUS ] , power [ BUS ] ) ;
# endif
// delay(500);
// }
/* wiringPiI2CWriteReg16(x_fd, INA219_REG_CALIBRATION, x_calValue);
x_current = wiringPiI2CReadReg16 ( x_fd , INA219_REG_CURRENT ) / x_currentDivider ;
x_power = wiringPiI2CReadReg16 ( x_fd , INA219_REG_POWER ) * x_powerMultiplier ;
wiringPiI2CWriteReg16 ( y_fd , INA219_REG_CALIBRATION , x_calValue ) ;
wiringPiI2CWriteReg16 ( y_fd , INA219_REG_CONFIG , x_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 , x_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 " ,
x_current , x_power , y_current , y_power , z_current , z_power ) ;
*/
// printf("1B: ina219[%d]: %s val: %f \n", SENSOR_40 + CURRENT, ina219[SENSOR_40 + CURRENT], strtof(ina219[SENSOR_40 + CURRENT], NULL));
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 - x_data . 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_data . 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_data . current / 10 ) % 100 ; // -Z current (was timestamp)
// tlm[1][A] = (int)(strtof(ina219[SENSOR_4A + CURRENTV], NULL) / 15 + 0.5) % 100;
tlm [ 1 ] [ A] = ( int ) ( voltsBus [ BUS ] / 15 + 0.5 ) % 100 ; // Current of 5V supply to Pi
// tlm[1][B] = (int) (99.5 - strtof(ina219[SENSOR_40 + CURRENTV], NULL)/10) % 100; // +X current [4
tlm [ 1 ] [ B] = ( int ) ( 99.5 - current [ PLUS_X ] / 10 ) % 100 ; // +X current [4 ]
// tlm[1][C] = (int) (99.5 - x_current/10) % 100; // X- current [10]
tlm [ 1] [ C ] = ( int ) ( 99.5 - [ MINUS_X ] / 10 ) % 100 ; // X - current [10]
// tlm[1][D] = (int) (99.5 - strtof(ina219[SENSOR_41 + CURRENTV], NULL)/10) % 100; // +Y current [7]
tlm [ 1] [ D ] = ( int ) ( 99.5 - [ PLUS_Y ] / 10 ) % 100 ; // +Y current [7]
// tlm[2][A] = (int) (99.5 - y_current/10) % 100; // -Y current [10]
tlm [ 2 ] [ A ] = ( int ) ( 99.5 - current [ MINUS_Y ] / 10 ) % 100 ; // -Y current [10]
// tlm[2][B] = (int) (99.5 - strtof(ina219[SENSOR_44 + CURRENTV], NULL)/10) % 100; // +Z current [10] // was 70/2m transponder power, AO-7 didn't have a Z panel
tlm [ 2 ] [ B ] = ( int ) ( 99.5 - current [ PLUS_Z ] / 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)
tlm [ 2 ] [ C ] = ( int ) ( 99.5 - current [ MINUS_Z ] / 10 ) % 100 ; // -Z current (was timestamp)
// 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[2][D] = (int)(50.5 + strtof(ina219[SENSOR_45 + CURRENTV], NULL)/10.0) % 100; // NiMH Battery current
tlm [ 2 ] [ D ] = ( int ) ( 50.5 + current [ BAT ] / 10.0 ) % 100 ; // NiMH Battery current
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[3][A] = abs((int)((strtof(ina219[SENSOR_45 + VOLTAGE], NULL) * 10) - 65.5) % 100);
tlm [ 3 ] [ A ] = abs ( ( int ) ( ( voltsBus [ BAT ] * 10 ) - 65.5 ) % 100 ) ;
// tlm[3][B] = (int)(strtof(ina219[SENSOR_4A + VOLTAGE], NULL) * 10.0) % 100; // 5V supply to Pi
tlm [ 3 ] [ B ] = ( int ) ( voltsBus [ BUS ] * 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 ;
}
FILE * cpuTempSensor = fopen ( " /sys/class/thermal/thermal_zone0/temp " , " r " ) ;
if ( cpuTempSensor ) {
if ( tempSensor ! = OFF ) {
int tempValue = wiringPiI2CReadReg16 ( tempSensor , 0 ) ;
uint8_t upper = ( uint8_t ) ( tempValue > > 8 ) ;
uint8_t lower = ( uint8_t ) ( tempValue & 0xff ) ;
float temp = ( float ) lower + ( ( float ) upper / 0x100 ) ;
# ifdef DEBUG_LOGGING
printf ( " Temp Sensor Read: %6.1f \n " , temp ) ;
# endif
tlm [ 4 ] [ A ] = ( int ) ( ( 95.8 - temp ) / 1.48 + 0.5 ) % 100 ;
}
FILE * cpuTempSensor = fopen ( " /sys/class/thermal/thermal_zone0/temp " , " r " ) ;
if ( cpuTempSensor ) {
double cpuTemp ;
fscanf ( cpuTempSensor , " %lf " , & cpuTemp ) ;
cpuTemp / = 1000 ;
printf ( " CPU Temp Read: %6.1f \n " , cpuTemp ) ;
tlm [ 4 ] [ B ] = ( int ) ( ( 95.8 - cpuTemp ) / 1.48 + 0.5 ) % 100 ;
# ifdef DEBUG_LOGGING
printf ( " CPU Temp Read: %6.1f \n " , cpuTemp ) ;
# endif
tlm [ 4 ] [ B ] = ( int ) ( ( 95.8 - cpuTemp ) / 1.48 + 0.5 ) % 100 ;
fclose ( cpuTempSensor ) ;
}
/*
FILE * temperatureFile ;
double T ;
temperatureFile = fopen ( " /sys/class/thermal/thermal_zone0/temp " , " r " ) ;
if ( temperatureFile = = NULL )
; //print some message
fscanf ( temperatureFile , " %lf " , & T ) ;
T / = 1000 ;
printf ( " The temperature is %6.3f C. \n " , T ) ;
fclose ( temperatureFile ) ;
tlm [ 4 ] [ B ] = ( int ) ( ( 95.8 - T ) / 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 ;
# 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 " ) ;
for ( j = 1 ; j < 5 ; j + + ) {
printf ( " %2d " , tlm [ k ] [ j ] ) ;
}
printf ( " \n " ) ;
}
return 0 ;
# endif
return 0 ;
}
alanbjohnston
7 years ago
committed by
GitHub