@ -46,7 +46,6 @@
# define B 2
# define C 3
# define D 4
# define PLUS_X 0
# define PLUS_Y 1
# define BAT 2
@ -55,7 +54,6 @@
# define MINUS_Y 5
# define PLUS_Z 6
# define MINUS_Z 7
# define TEMP 2
# define PRES 3
# define ALT 4
@ -98,12 +96,14 @@ static int init_rf();
int socket_open = 0 ;
int sock = 0 ;
int loop = - 1 , loop_count = 0 ;
int firstTime = ON ;
int firstTime = ON ; // 0;
long start ;
int testCount = 0 ;
long time_start ;
char cmdbuffer [ 1000 ] ;
FILE * file1 ;
short int buffer [ 2336400 ] ; // max size for 10 frames count of BPSK
FILE * sopen ( const char * program ) ;
# define S_RATE (48000) // (44100)
@ -116,6 +116,8 @@ int rpitxStatus = -1;
float amplitude ; // = ; // 20000; // 32767/(10%amp+5%amp+100%amp)
float freq_Hz = 3000 ; // 1200
short int sin_samples ;
short int sin_map [ 16 ] ;
int smaller ;
int flip_ctr = 0 ;
@ -134,7 +136,8 @@ char call[5];
int bitRate , mode , bufLen , rsFrames , payloads , rsFrameLen , dataLen , headerLen , syncBits , syncWord , parityLen , samples , frameCnt , samplePeriod ;
float sleepTime ;
int sampleTime = 0 , frames_sent = 0 ;
unsigned int sampleTime = 0 ;
int frames_sent = 0 ;
int cw_id = ON ;
int vB4 = FALSE , vB5 = FALSE , vB3 = FALSE , ax5043 = FALSE , transmit = FALSE , onLed , onLedOn , onLedOff , txLed , txLedOn , txLedOff , payload = OFF ;
float batteryThreshold = 3.0 , batteryVoltage ;
@ -342,20 +345,46 @@ int main(int argc, char * argv[]) {
strcat ( pythonConfigStr , pythonStr ) ;
strcat ( pythonConfigStr , " c " ) ;
// FILE* file1 = popen("python3 /home/pi/CubeSatSim/python/voltcurrent.py 1 11 c", "r");
FILE * file1 = popen ( pythonConfigStr , " r " ) ;
char cmdbuffer [ 1000 ] ;
fprintf ( stderr , " pythonConfigStr: %s \n " , pythonConfigStr ) ;
file1 = sopen ( pythonConfigStr ) ; // try new function
fgets ( cmdbuffer , 1000 , file1 ) ;
fprintf ( stderr , " pythonStr result: %s \n " , cmdbuffer ) ;
/*
sleep ( 5 ) ;
fputc ( ' \n ' , file1 ) ;
fgets ( cmdbuffer , 1000 , file1 ) ;
printf ( " pythonStr result2: %s \n " , cmdbuffer ) ;
file1 = popen ( pythonConfigStr , " w " ) ;
fgets ( cmdbuffer , 1000 , file1 ) ;
// printf("pythonStr result: %s\n", cmdbuffer);
pclose ( file1 ) ;
printf ( " pythonStr result: %s \n " , cmdbuffer ) ;
fgets ( cmdbuffer , 1000 , file1 ) ;
printf ( " pythonStr resulta: %s \n " , cmdbuffer ) ;
fgets ( cmdbuffer , 1000 , file1 ) ;
printf ( " pythonStr resultb: %s \n " , cmdbuffer ) ;
// pclose(file1);
sleep ( 5 ) ;
fputc ( ' \n ' , file1 ) ;
fgets ( cmdbuffer , 1000 , file1 ) ;
printf ( " pythonStr result2: %s \n " , cmdbuffer ) ;
fgets ( cmdbuffer , 1000 , file1 ) ;
printf ( " pythonStr result2a: %s \n " , cmdbuffer ) ;
sleep ( 5 ) ;
fputc ( ' \n ' , file1 ) ;
fgets ( cmdbuffer , 1000 , file1 ) ;
printf ( " pythonStr result2: %s \n " , cmdbuffer ) ;
*/
// try connecting to Arduino payload using UART
if ( ! ax5043 & & ! vB3 ) // don't test if AX5043 is present
{
payload = OFF ;
if ( ( uart_fd = serialOpen ( " /dev/ttyAMA0 " , 9600 ) ) > = 0 ) {
if ( ( uart_fd = serialOpen ( " /dev/ttyAMA0 " , 1152 00) ) > = 0 ) { // was 9600
char c ;
int charss = ( char ) serialDataAvail ( uart_fd ) ;
if ( charss ! = 0 )
@ -398,12 +427,12 @@ int main(int argc, char * argv[]) {
i2c_bus3 = ( test_i2c_bus ( 3 ) ! = - 1 ) ? ON : OFF ;
// check for camera
//
FILE * file4 = popen ( " vcgencmd get_camera " , " r " ) ;
fgets ( cmdbuffer 1 , 1000 , file4 ) ;
fgets ( cmdbuffer , 1000 , file4 ) ;
char camera_present [ ] = " supported=1 detected=1 " ;
// printf("strstr: %s \n", strstr( & cmdbuffer1, camera_present));
camera = ( strstr ( ( const char * ) & cmdbuffer 1 , camera_present ) ! = NULL ) ? ON : OFF ;
camera = ( strstr ( ( const char * ) & cmdbuffer , camera_present ) ! = NULL ) ? ON : OFF ;
// printf("Camera result:%s camera: %d \n", & cmdbuffer1, camera);
pclose ( file4 ) ;
@ -411,8 +440,7 @@ int main(int argc, char * argv[]) {
printf ( " INFO: I2C bus status 0: %d 1: %d 3: %d camera: %d \n " , i2c_bus0 , i2c_bus1 , i2c_bus3 , camera ) ;
# endif
// if ((i2c_bus1 == OFF) && (i2c_bus3 == OFF)) {
if ( i2c_bus3 = = OFF ) { // i2c bus 13 can be turned off manually by editing /boot/config.txt
if ( i2c_bus3 = = OFF ) {
sim_mode = TRUE ;
@ -484,37 +512,13 @@ int main(int argc, char * argv[]) {
for ( int i = 0 ; i < 17 ; i + + ) {
sensor_min [ i ] = 1000.0 ;
sensor_max [ i ] = - 1000.0 ;
//
}
for ( int i = 0 ; i < 3 ; i + + ) {
other_min [ i ] = 1000.0 ;
other_max [ i ] = - 1000.0 ;
}
while ( loop - - ! = 0 ) {
frames_sent + + ;
# ifdef DEBUG_LOGGING
fprintf ( stderr , " INFO: Battery voltage: %f V Battery Threshold %f V \n " , batteryVoltage , batteryThreshold ) ;
# endif
if ( ( batteryVoltage > 1.0 ) & & ( batteryVoltage < batteryThreshold ) ) // no battery INA219 will give 0V, no battery plugged into INA219 will read < 1V
{
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 ) ;
popen ( " sudo shutdown -h now > /dev/null 2>&1 " , " r " ) ;
sleep ( 10 ) ;
}
if ( mode = = FSK ) {
bitRate = 200 ;
rsFrames = 1 ;
@ -556,12 +560,53 @@ int main(int argc, char * argv[]) {
printf ( " \n BPSK Mode, bufLen: %d, %d bits per frame, %d bits per second, %d seconds per frame %d ms sample period \n " ,
bufLen , bufLen / ( samples * frameCnt ) , bitRate , bufLen / ( samples * frameCnt * bitRate ) , 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 " ) ;
}
long int loopTime ;
loopTime = millis ( ) ;
while ( loop - - ! = 0 ) {
fflush ( stdout ) ;
fflush ( stderr ) ;
// frames_sent++;
printf ( " ++++ Loop time: %d +++++ \n " , millis ( ) - loopTime ) ;
loopTime = millis ( ) ;
# ifdef DEBUG_LOGGING
fprintf ( stderr , " INFO: Battery voltage: %f V Battery Threshold %f V \n " , batteryVoltage , batteryThreshold ) ;
# endif
if ( ( batteryVoltage > 1.0 ) & & ( batteryVoltage < batteryThreshold ) ) // no battery INA219 will give 0V, no battery plugged into INA219 will read < 1V
{
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 ) ;
popen ( " sudo shutdown -h now > /dev/null 2>&1 " , " r " ) ;
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 ) ) {
@ -572,7 +617,7 @@ int main(int argc, char * argv[]) {
}
# ifdef DEBUG_LOGGING
//
# endif
}
@ -641,6 +686,10 @@ void get_tlm(void) {
FILE * txResult ;
for ( int j = 0 ; j < frameCnt ; j + + ) {
fflush ( stdout ) ;
fflush ( stderr ) ;
digitalWrite ( txLed , txLedOn ) ;
# ifdef DEBUG_LOGGING
printf ( " Tx LED On \n " ) ;
@ -652,12 +701,13 @@ void get_tlm(void) {
int count1 ;
char * token ;
//
FILE * file = popen ( pythonStr , " r " ) ;
fgets ( cmdbuffer , 1000 , file ) ;
// printf("result: %s\n", cmdbuffer);
pclose ( file ) ;
// FILE * file = popen(pythonStr, "r");
fputc ( ' \n ' , file1 ) ;
fgets ( cmdbuffer , 1000 , file1 ) ;
printf ( " Python result: %s \n " , cmdbuffer ) ;
// pclose(file);
const char space [ 2 ] = " " ;
token = strtok ( cmdbuffer , space ) ;
@ -696,7 +746,7 @@ void get_tlm(void) {
cpuTemp / = 1000 ;
# ifdef DEBUG_LOGGING
//
# endif
}
@ -819,7 +869,8 @@ void get_tlm(void) {
char header_long [ 10 ] ;
char header_str4 [ ] = " hi hi " ;
char footer_str1 [ ] = " \' > t.txt && echo \' " ;
char footer_str [ ] = " >CQ:010101/hi hi ' >> t.txt && gen_packets -o telem.wav t.txt -r 48000 > /dev/null 2>&1 && cat telem.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f 434.9e3 > /dev/null 2>&1 " ;
// char footer_str[] = ">CQ:010101/hi hi ' >> t.txt && gen_packets -o telem.wav t.txt -r 48000 > /dev/null 2>&1 && cat telem.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f 434.9e3 > /dev/null 2>&1";
char footer_str [ ] = " >CQ:010101/hi hi ' >> t.txt && touch ready " ; // transmit is done by rpitx.py
if ( ax5043 ) {
strcpy ( str , header_str ) ;
@ -885,7 +936,7 @@ void get_tlm(void) {
int i = 0 ;
serialPutchar ( uart_fd , ' ? ' ) ;
//
waitTime = millis ( ) + 500 ;
int end = FALSE ;
while ( ( millis ( ) < waitTime ) & & ! end ) {
@ -903,7 +954,7 @@ void get_tlm(void) {
}
// sensor_payload[i++] = '\n';
sensor_payload [ i ] = ' \0 ' ;
printf ( " Payload string: %s " , sensor_payload ) ;
printf ( " Payload string: %s \n " , sensor_payload ) ;
strcat ( str , sensor_payload ) ; // append to telemetry string for transmission
}
@ -954,6 +1005,7 @@ void get_tlm(void) {
if ( transmit ) {
FILE * file2 = popen ( str , " r " ) ;
pclose ( file2 ) ;
sleep ( 2 ) ;
} else {
fprintf ( stderr , " \n No 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 " ) ;
@ -982,7 +1034,7 @@ void get_tlm(void) {
void get_tlm_fox ( ) {
// Reading I2C voltage and current sensors
/*
FILE * uptime_file = fopen ( " /proc/uptime " , " r " ) ;
fscanf ( uptime_file , " %f " , & uptime_sec ) ;
uptime = ( int ) uptime_sec ;
@ -990,7 +1042,7 @@ void get_tlm_fox() {
printf ( " Reset Count: %d Uptime since Reset: %ld \n " , reset_count , uptime ) ;
# endif
fclose ( uptime_file ) ;
*/
int i ;
// long int sync = SYNC_WORD;
long int sync = syncWord ;
@ -999,7 +1051,12 @@ void get_tlm_fox() {
// short int b[DATA_LEN];
short int b [ dataLen ] ;
short int b_max [ dataLen ] ;
short int b_min [ dataLen ] ;
memset ( b , 0 , sizeof ( b ) ) ;
memset ( b_max , 0 , sizeof ( b_max ) ) ;
memset ( b_min , 0 , sizeof ( b_min ) ) ;
// short int h[HEADER_LEN];
short int h [ headerLen ] ;
@ -1046,40 +1103,122 @@ void get_tlm_fox() {
// delay for sample period
digitalWrite ( txLed , txLedOn ) ;
# ifdef DEBUG_LOGGING
//
# endif
/*
while ( ( millis ( ) - sampleTime ) < ( unsigned int ) samplePeriod )
sleep ( ( unsigned int ) sleepTime ) ;
*/
// if (mode == FSK)
sleep ( 2.3 ) ; // No sleep at all!
// else
// sleep(1.3);
digitalWrite ( txLed , txLedOff ) ;
# ifdef DEBUG_LOGGING
printf ( " Tx LED Off \n " ) ;
//
# endif
sampleTime = ( ) millis ( ) ;
//
sampleTime = ( unsigned int) millis ( ) ;
} else
printf ( " first time - no sleep \n " ) ;
int count1 ;
char * token ;
char cmdbuffer [ 1000 ] ;
FILE * file = popen ( pythonStr , " r " ) ;
fgets ( cmdbuffer , 1000 , file ) ;
// printf("result: %s\n", cmdbuffer);
pclose ( file ) ;
const char space [ 2 ] = " " ;
token = strtok ( cmdbuffer , space ) ;
float voltage [ 9 ] , current [ 9 ] , sensor [ 17 ] , other [ 3 ] ;
char sensor_payload [ 500 ] ;
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 ;
// #ifdef DEBUG_LOGGING
// printf("INFO: Reset Count: %d Uptime since Reset: %ld \n", reset_count, uptime);
// #endif
fclose ( uptime_file ) ;
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 \n Switching 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 ;
NormalModeFailure = 1 ;
printf ( " Safe Mode! \n " ) ;
} else
NormalModeFailure = 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 ;
// char cmdbuffer[1000];
/**/
// FILE * file = popen(pythonStr, "r");
fputc ( ' \n ' , file1 ) ;
fgets ( cmdbuffer , 1000 , file1 ) ;
fprintf ( stderr , " Python read Result: %s \n " , cmdbuffer ) ;
// pclose(file);
/**/
const char space [ 2 ] = " " ;
token = strtok ( cmdbuffer , space ) ;
for ( count1 = 0 ; count1 < 8 ; count1 + + ) {
if ( token ! = NULL ) {
voltage [ count1 ] = ( float ) atof ( token ) ;
@ -1098,9 +1237,11 @@ void get_tlm_fox() {
}
}
}
// printf("\n");
// sleep(0.5);
// printf("Sleep over\n");
batteryVoltage = voltage [ map [ BAT ] ] ;
if ( batteryVoltage < 3.5 ) {
NormalModeFailure = 1 ;
@ -1115,7 +1256,7 @@ void get_tlm_fox() {
cpuTemp / = 1000 ;
# ifdef DEBUG_LOGGING
printf ( " CPU Temp Read: %6.1f \n " , cpuTemp ) ;
// printf("CPU Temp Read: %6.1f\n", cpuTemp);
# endif
other [ IHU_TEMP ] = ( double ) cpuTemp ;
@ -1124,9 +1265,7 @@ void get_tlm_fox() {
}
fclose ( cpuTempSensor ) ;
char sensor_payload [ 500 ] ;
if ( payload = = ON ) {
if ( payload = = ON ) { // -55
STEMBoardFailure = 0 ;
char c ;
@ -1135,11 +1274,18 @@ void get_tlm_fox() {
printf ( " Clearing buffer of %d chars \n " , charss ) ;
while ( ( charss - - > 0 ) )
c = ( char ) serialGetchar ( uart_fd ) ; // clear buffer
/*
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 = 0 ;
serialPutchar ( uart_fd , ' ? ' ) ;
printf ( " Querying payload with ? \n " ) ;
//
waitTime = millis ( ) + 500 ;
int end = FALSE ;
// int retry = FALSE;
@ -1159,7 +1305,7 @@ void get_tlm_fox() {
sensor_payload [ i + + ] = ' ' ;
// sensor_payload[i++] = '\n';
sensor_payload [ i ] = ' \0 ' ;
printf ( " Payload string: %s \n " , sensor_payload ) ;
printf ( " Payload string: %s " , sensor_payload ) ;
if ( ( sensor_payload [ 0 ] = = ' O ' ) & & ( sensor_payload [ 1 ] = = ' K ' ) ) // only process if valid payload response
{
@ -1178,91 +1324,27 @@ void get_tlm_fox() {
if ( token ! = NULL ) {
sensor [ count1 ] = ( float ) atof ( token ) ;
# ifdef DEBUG_LOGGING
printf ( " sensor: %f " , sensor [ count1 ] ) ;
// printf("sensor: %f ", sensor[count1]);
# endif
token = strtok ( NULL , space ) ;
}
}
printf ( " \n " ) ;
}
}
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 \n Switching eclipse mode! \n \n " ) ;
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]);
}
/*
double Xi = eclipse * amps_max [ 0 ] * sin ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) * fabs ( sin ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) ) + rnd_float ( - 2 , 2 ) ;
double Yi = eclipse * amps_max [ 1 ] * sin ( ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) + ( 3.14 / 2.0 ) ) * fabs ( sin ( ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) + ( 3.14 / 2.0 ) ) ) + rnd_float ( - 2 , 2 ) ;
double Zi = eclipse * amps_max [ 2 ] * sin ( ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) + 3.14 + angle [ 2 ] ) * fabs ( sin ( ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) + 3.14 + angle [ 2 ] ) ) + rnd_float ( - 2 , 2 ) ;
*/
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 ;
NormalModeFailure = 1 ;
printf ( " Safe Mode! \n " ) ;
} else
NormalModeFailure = 0 ;
if ( batt > 4.5 )
batt = 4.5 ;
voltage [ map [ BAT ] ] = batt + rnd_float ( - 0.01 , 0.01 ) ;
// end of simulated telemetry
}
for ( count1 = 0 ; count1 < 8 ; count1 + + ) {
}
// if (mode == FSK)
{ // just moved
for ( int count1 = 0 ; count1 < 8 ; count1 + + ) {
if ( voltage [ count1 ] < voltage_min [ count1 ] )
voltage_min [ count1 ] = voltage [ count1 ] ;
if ( current [ count1 ] < current_min [ count1 ] )
@ -1273,34 +1355,22 @@ void get_tlm_fox() {
if ( current [ count1 ] > current_max [ count1 ] )
current_max [ count1 ] = current [ count1 ] ;
printf ( " Vmin %f Vmax %f Imin %f Imax %f \n " , voltage_min [ count1 ] , voltage_max [ count1 ] , current_min [ count1 ] , current_max [ count1 ] ) ;
}
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 ] ) ;
}
// printf("Vmin %4.2f Vmax %4.2f Imin %4.2f Imax %4.2f \n", voltage_min[count1], voltage_max[count1], current_min[count1], current_max[count1]);
}
for ( count1 = 0 ; count1 < 3 ; count1 + + ) {
for ( int count1 = 0 ; count1 < 3 ; count1 + + ) {
if ( other [ count1 ] < other_min [ count1 ] )
other_min [ count1 ] = other [ count1 ] ;
if ( other [ count1 ] > other_max [ count1 ] )
other_max [ count1 ] = other [ count1 ] ;
printf ( " Other min %f max %f \n " , other_min [ count1 ] , other_max [ count1 ] ) ;
// printf("Other min %f max %f \n", other_min[count1], other_max[count1]);
}
if ( mode = = FSK ) {
if ( mode = = FSK )
{
if ( loop % 8 = = 0 ) {
printf ( " Sending MIN frame \n " ) ;
frm_type = 0x03 ;
for ( count1 = 0 ; count1 < 17 ; count1 + + ) {
for ( int count1 = 0 ; count1 < 17 ; count1 + + ) {
if ( count1 < 3 )
other [ count1 ] = other_min [ count1 ] ;
if ( count1 < 8 ) {
@ -1314,7 +1384,7 @@ void get_tlm_fox() {
if ( ( loop + 4 ) % 8 = = 0 ) {
printf ( " Sending MAX frame \n " ) ;
frm_type = 0x02 ;
for ( count1 = 0 ; count1 < 17 ; count1 + + ) {
for ( int count1 = 0 ; count1 < 17 ; count1 + + ) {
if ( count1 < 3 )
other [ count1 ] = other_max [ count1 ] ;
if ( count1 < 8 ) {
@ -1326,14 +1396,23 @@ void get_tlm_fox() {
}
}
}
else
frm_type = 0x02 ; // BPSK always send MAX MIN frame
}
// if (mode == FSK) { // remove this
// }
memset ( rs_frame , 0 , sizeof ( rs_frame ) ) ;
memset ( parities , 0 , sizeof ( parities ) ) ;
/*
FILE * uptime_file = fopen ( " /proc/uptime " , " r " ) ;
fscanf ( uptime_file , " %f " , & uptime_sec ) ;
uptime = ( int ) uptime_sec ;
fclose ( uptime_file ) ;
printf ( " Reset Count: %d Uptime since Reset: %ld \n " , reset_count , uptime ) ;
*/
//sleep(1);
//printf("Sleep over\n");
h [ 0 ] = ( short int ) ( ( h [ 0 ] & 0xf8 ) | ( id & 0x07 ) ) ; // 3 bits
// printf("h[0] %x\n", h[0]);
@ -1368,7 +1447,6 @@ void get_tlm_fox() {
negZv = ( int ) ( voltage [ map [ MINUS_Z ] ] * 100 ) ;
batt_c_v = ( int ) ( voltage [ map [ BAT ] ] * 100 ) ;
battCurr = ( int ) ( current [ map [ BAT ] ] + 0.5 ) + 2048 ;
PSUVoltage = ( int ) ( voltage [ map [ BUS ] ] * 100 ) ;
PSUCurrent = ( int ) ( current [ map [ BUS ] ] + 0.5 ) + 2048 ;
@ -1376,9 +1454,6 @@ void get_tlm_fox() {
if ( payload = = ON )
STEMBoardFailure = 0 ;
// if (payload == ON)
// STEMBoardFailure = 0;
// read payload sensor if available
encodeA ( b , 0 + head_offset , batt_a_v ) ;
@ -1427,8 +1502,122 @@ void get_tlm_fox() {
encodeB ( b , 25 + head_offset , negXi ) ;
encodeA ( b , 27 + head_offset , negYi ) ;
encodeB ( b , 28 + head_offset , negZi ) ;
encodeA ( b_max , 12 + head_offset , ( int ) ( voltage_max [ map [ PLUS_X ] ] * 100 ) ) ;
encodeB ( b_max , 13 + head_offset , ( int ) ( voltage_max [ map [ PLUS_Y ] ] * 100 ) ) ;
encodeA ( b_max , 15 + head_offset , ( int ) ( voltage_max [ map [ PLUS_Z ] ] * 100 ) ) ;
encodeB ( b_max , 16 + head_offset , ( int ) ( voltage_max [ map [ MINUS_X ] ] * 100 ) ) ;
encodeA ( b_max , 18 + head_offset , ( int ) ( voltage_max [ map [ MINUS_Y ] ] * 100 ) ) ;
encodeB ( b_max , 19 + head_offset , ( int ) ( voltage_max [ map [ MINUS_Z ] ] * 100 ) ) ;
encodeA ( b_max , 21 + head_offset , ( int ) ( current_max [ map [ PLUS_X ] ] + 0.5 ) + 2048 ) ;
encodeB ( b_max , 22 + head_offset , ( int ) ( current_max [ map [ PLUS_Y ] ] + 0.5 ) + 2048 ) ;
encodeA ( b_max , 24 + head_offset , ( int ) ( current_max [ map [ PLUS_Z ] ] + 0.5 ) + 2048 ) ;
encodeB ( b_max , 25 + head_offset , ( int ) ( current_max [ map [ MINUS_X ] ] + 0.5 ) + 2048 ) ;
encodeA ( b_max , 27 + head_offset , ( int ) ( current_max [ map [ MINUS_Y ] ] + 0.5 ) + 2048 ) ;
encodeB ( b_max , 28 + head_offset , ( int ) ( current_max [ map [ MINUS_Z ] ] + 0.5 ) + 2048 ) ;
encodeA ( b_max , 9 + head_offset , ( int ) ( current_max [ map [ BAT ] ] + 0.5 ) + 2048 ) ;
encodeA ( b_max , 3 + head_offset , ( int ) ( voltage_max [ map [ BAT ] ] * 100 ) ) ;
encodeA ( b_max , 30 + head_offset , ( int ) ( voltage_max [ map [ BUS ] ] * 100 ) ) ;
encodeB ( b_max , 46 + head_offset , ( int ) ( current_max [ map [ BUS ] ] + 0.5 ) + 2048 ) ;
encodeB ( b_max , 37 + head_offset , ( int ) ( other_max [ RSSI ] + 0.5 ) + 2048 ) ;
encodeA ( b_max , 39 + head_offset , ( int ) ( other_max [ IHU_TEMP ] * 10 + 0.5 ) ) ;
encodeB ( b_max , 31 + head_offset , ( ( int ) ( other_max [ SPIN ] * 10 ) ) + 2048 ) ;
if ( sensor_min [ 0 ] ! = 1000.0 ) // make sure values are valid
{
encodeB ( b_max , 4 + head_offset , ( int ) ( sensor_max [ ACCEL_X ] * 100 + 0.5 ) + 2048 ) ; // Xaccel
encodeA ( b_max , 6 + head_offset , ( int ) ( sensor_max [ ACCEL_Y ] * 100 + 0.5 ) + 2048 ) ; // Yaccel
encodeB ( b_max , 7 + head_offset , ( int ) ( sensor_max [ ACCEL_Z ] * 100 + 0.5 ) + 2048 ) ; // Zaccel
encodeA ( b_max , 33 + head_offset , ( int ) ( sensor_max [ PRES ] + 0.5 ) ) ; // Pressure
encodeB ( b_max , 34 + head_offset , ( int ) ( sensor_max [ ALT ] * 10.0 + 0.5 ) ) ; // Altitude
encodeB ( b_max , 40 + head_offset , ( int ) ( sensor_max [ GYRO_X ] + 0.5 ) + 2048 ) ;
encodeA ( b_max , 42 + head_offset , ( int ) ( sensor_max [ GYRO_Y ] + 0.5 ) + 2048 ) ;
encodeB ( b_max , 43 + head_offset , ( int ) ( sensor_max [ GYRO_Z ] + 0.5 ) + 2048 ) ;
encodeA ( b_max , 48 + head_offset , ( int ) ( sensor_max [ XS2 ] ) + 2048 ) ;
encodeB ( b_max , 49 + head_offset , ( int ) ( sensor_max [ XS3 ] * 100 + 0.5 ) + 2048 ) ;
encodeB ( b_max , 10 + head_offset , ( int ) ( sensor_max [ TEMP ] * 10 + 0.5 ) ) ;
encodeA ( b_max , 45 + head_offset , ( int ) ( sensor_max [ HUMI ] * 10 + 0.5 ) ) ;
}
else
{
encodeB ( b_max , 4 + head_offset , 2048 ) ; // 0
encodeA ( b_max , 6 + head_offset , 2048 ) ; // 0
encodeB ( b_max , 7 + head_offset , 2048 ) ; // 0
// encodeA(b_max, 33 + head_offset, (int)(sensor_max[PRES] + 0.5)); // Pressure
// encodeB(b_max, 34 + head_offset, (int)(sensor_max[ALT] * 10.0 + 0.5)); // Altitude
encodeB ( b_max , 40 + head_offset , 2048 ) ;
encodeA ( b_max , 42 + head_offset , 2048 ) ;
encodeB ( b_max , 43 + head_offset , 2048 ) ;
encodeA ( b_max , 48 + head_offset , 2048 ) ;
encodeB ( b_max , 49 + head_offset , 2048 ) ;
// encodeB(b_max, 10 + head_offset, (int)(sensor_max[TEMP] * 10 + 0.5));
// encodeA(b_max, 45 + head_offset, (int)(sensor_max[HUMI] + 0.5));
}
encodeA ( b_min , 12 + head_offset , ( int ) ( voltage_min [ map [ PLUS_X ] ] * 100 ) ) ;
encodeB ( b_min , 13 + head_offset , ( int ) ( voltage_min [ map [ PLUS_Y ] ] * 100 ) ) ;
encodeA ( b_min , 15 + head_offset , ( int ) ( voltage_min [ map [ PLUS_Z ] ] * 100 ) ) ;
encodeB ( b_min , 16 + head_offset , ( int ) ( voltage_min [ map [ MINUS_X ] ] * 100 ) ) ;
encodeA ( b_min , 18 + head_offset , ( int ) ( voltage_min [ map [ MINUS_Y ] ] * 100 ) ) ;
encodeB ( b_min , 19 + head_offset , ( int ) ( voltage_min [ map [ MINUS_Z ] ] * 100 ) ) ;
encodeA ( b_min , 21 + head_offset , ( int ) ( current_min [ map [ PLUS_X ] ] + 0.5 ) + 2048 ) ;
encodeB ( b_min , 22 + head_offset , ( int ) ( current_min [ map [ PLUS_Y ] ] + 0.5 ) + 2048 ) ;
encodeA ( b_min , 24 + head_offset , ( int ) ( current_min [ map [ PLUS_Z ] ] + 0.5 ) + 2048 ) ;
encodeB ( b_min , 25 + head_offset , ( int ) ( current_min [ map [ MINUS_X ] ] + 0.5 ) + 2048 ) ;
encodeA ( b_min , 27 + head_offset , ( int ) ( current_min [ map [ MINUS_Y ] ] + 0.5 ) + 2048 ) ;
encodeB ( b_min , 28 + head_offset , ( int ) ( current_min [ map [ MINUS_Z ] ] + 0.5 ) + 2048 ) ;
encodeA ( b_min , 9 + head_offset , ( int ) ( current_min [ map [ BAT ] ] + 0.5 ) + 2048 ) ;
encodeA ( b_min , 3 + head_offset , ( int ) ( voltage_min [ map [ BAT ] ] * 100 ) ) ;
encodeA ( b_min , 30 + head_offset , ( int ) ( voltage_min [ map [ BUS ] ] * 100 ) ) ;
encodeB ( b_min , 46 + head_offset , ( int ) ( current_min [ map [ BUS ] ] + 0.5 ) + 2048 ) ;
encodeB ( b_min , 31 + head_offset , ( ( int ) ( other_min [ SPIN ] * 10 ) ) + 2048 ) ;
encodeB ( b_min , 37 + head_offset , ( int ) ( other_min [ RSSI ] + 0.5 ) + 2048 ) ;
encodeA ( b_min , 39 + head_offset , ( int ) ( other_min [ IHU_TEMP ] * 10 + 0.5 ) ) ;
if ( sensor_min [ 0 ] ! = 1000.0 ) // make sure values are valid
{
encodeB ( b_min , 4 + head_offset , ( int ) ( sensor_min [ ACCEL_X ] * 100 + 0.5 ) + 2048 ) ; // Xaccel
encodeA ( b_min , 6 + head_offset , ( int ) ( sensor_min [ ACCEL_Y ] * 100 + 0.5 ) + 2048 ) ; // Yaccel
encodeB ( b_min , 7 + head_offset , ( int ) ( sensor_min [ ACCEL_Z ] * 100 + 0.5 ) + 2048 ) ; // Zaccel
encodeA ( b_min , 33 + head_offset , ( int ) ( sensor_min [ PRES ] + 0.5 ) ) ; // Pressure
encodeB ( b_min , 34 + head_offset , ( int ) ( sensor_min [ ALT ] * 10.0 + 0.5 ) ) ; // Altitude
encodeB ( b_min , 40 + head_offset , ( int ) ( sensor_min [ GYRO_X ] + 0.5 ) + 2048 ) ;
encodeA ( b_min , 42 + head_offset , ( int ) ( sensor_min [ GYRO_Y ] + 0.5 ) + 2048 ) ;
encodeB ( b_min , 43 + head_offset , ( int ) ( sensor_min [ GYRO_Z ] + 0.5 ) + 2048 ) ;
encodeA ( b_min , 48 + head_offset , ( int ) ( sensor_min [ XS2 ] ) + 2048 ) ;
encodeB ( b_min , 49 + head_offset , ( int ) ( sensor_min [ XS3 ] * 100 + 0.5 ) + 2048 ) ;
encodeB ( b_min , 10 + head_offset , ( int ) ( sensor_min [ TEMP ] * 10 + 0.5 ) ) ;
encodeA ( b_min , 45 + head_offset , ( int ) ( sensor_min [ HUMI ] * 10 + 0.5 ) ) ;
}
else
{
encodeB ( b_min , 4 + head_offset , 2048 ) ; // 0
encodeA ( b_min , 6 + head_offset , 2048 ) ; // 0
encodeB ( b_min , 7 + head_offset , 2048 ) ; // 0
// encodeA(b_min, 33 + head_offset, (int)(sensor_max[PRES] + 0.5)); // Pressure
// encodeB(b_min, 34 + head_offset, (int)(sensor_max[ALT] * 10.0 + 0.5)); // Altitude
encodeB ( b_min , 40 + head_offset , 2048 ) ;
encodeA ( b_min , 42 + head_offset , 2048 ) ;
encodeB ( b_min , 43 + head_offset , 2048 ) ;
encodeA ( b_min , 48 + head_offset , 2048 ) ;
encodeB ( b_min , 49 + head_offset , 2048 ) ;
// encodeB(b_min, 10 + head_offset, (int)(sensor_max[TEMP] * 10 + 0.5));
// encodeA(b_min, 45 + head_offset, (int)(sensor_max[HUMI] + 0.5));
}
}
encodeA ( b , 30 + head_offset , PSUVoltage ) ;
// encodeB(b, 31 + head_offset,(spin * 10) + 2048);
encodeB ( b , 31 + head_offset , ( ( int ) ( other [ SPIN ] * 10 ) ) + 2048 ) ;
@ -1478,9 +1667,13 @@ void get_tlm_fox() {
printf ( " TX Antenna Deployed! \n " ) ;
}
if ( mode = = BPSK ) { // WOD field experiments
encodeA ( b , 63 + head_offset , 0xff ) ;
encodeB ( b , 74 + head_offset , 0xff ) ;
if ( mode = = BPSK ) { // wod field experiments
unsigned long val = 0xffff ;
encodeA ( b , 64 + head_offset , 0xff & val ) ;
encodeA ( b , 65 + head_offset , val > > 8 ) ;
encodeA ( b , 63 + head_offset , 0x00 ) ;
encodeA ( b , 62 + head_offset , 0x01 ) ;
encodeB ( b , 74 + head_offset , 0xfff ) ;
}
short int data10 [ headerLen + rsFrames * ( rsFrameLen + parityLen ) ] ;
short int data8 [ headerLen + rsFrames * ( rsFrameLen + parityLen ) ] ;
@ -1498,8 +1691,29 @@ void get_tlm_fox() {
data8 [ ctr1 + + ] = rs_frame [ j ] [ i ] ;
// printf ("data8[%d] = %x \n", ctr1 - 1, rs_frame[j][i]);
} else {
if ( mode = = FSK )
{
rs_frame [ j ] [ i ] = b [ ctr3 % dataLen ] ;
update_rs ( parities [ j ] , b [ ctr3 % dataLen ] ) ;
} else // BPSK
if ( ( int ) ( ctr3 / dataLen ) = = 3 )
{
rs_frame [ j ] [ i ] = b_max [ ctr3 % dataLen ] ;
update_rs ( parities [ j ] , b_max [ ctr3 % dataLen ] ) ;
}
else if ( ( int ) ( ctr3 / dataLen ) = = 4 )
{
rs_frame [ j ] [ i ] = b_min [ ctr3 % dataLen ] ;
update_rs ( parities [ j ] , b_min [ ctr3 % dataLen ] ) ;
}
else
{
rs_frame [ j ] [ i ] = b [ ctr3 % dataLen ] ;
update_rs ( parities [ j ] , b [ ctr3 % dataLen ] ) ;
}
{
}
// printf("%d rs_frame[%d][%d] = %x %d \n",
// ctr1, j, i, b[ctr3 % DATA_LEN], ctr3 % DATA_LEN);
data8 [ ctr1 + + ] = rs_frame [ j ] [ i ] ;
@ -1521,6 +1735,9 @@ void get_tlm_fox() {
*/
# endif
//sleep(1);
//printf("Sleep over\n");
int ctr2 = 0 ;
memset ( data10 , 0 , sizeof ( data10 ) ) ;
@ -1659,15 +1876,30 @@ void get_tlm_fox() {
if ( ! error & & transmit ) {
// digitalWrite (0, LOW);
//
start = millis ( ) ;
int sock_ret = send ( sock , buffer , ( unsigned int ) ( ctr * 2 + 2 ) , 0 ) ;
printf ( " Millis 5: %d Result of socket send: %d \n " , ( unsigned int ) millis ( ) - start , sock_ret ) ;
printf ( " Millis 6: %d Result of socket send: %d \n \n " , ( unsigned int ) millis ( ) - start , sock_ret ) ;
if ( sock_ret < ( ctr * 2 + 2 ) ) {
printf ( " Not resending \n " ) ;
// sock_ret = send(sock, buffer[sock_ret], ctr * 2 + 2 - sock_ret, 0);
// printf("Millis10: %d Result of socket send: %d \n", millis() - start, sock_ret);
// printf("Not resending\n");
sleep ( 0.5 ) ;
sock_ret = send ( sock , & buffer [ sock_ret ] , ( unsigned int ) ( ctr * 2 + 2 - sock_ret ) , 0 ) ;
printf ( " Millis7: %d Result of socket send: %d \n \n " , millis ( ) - start , sock_ret ) ;
}
if ( mode = = BPSK )
{
start = millis ( ) ; // send frame a second time
sock_ret = send ( sock , buffer , ( unsigned int ) ( ctr * 2 + 2 ) , 0 ) ;
printf ( " Millis8: %d Result of socket send: %d \n \n " , ( unsigned int ) millis ( ) - start , sock_ret ) ;
if ( sock_ret < ( ctr * 2 + 2 ) ) {
// printf("Not resending\n");
sleep ( 0.5 ) ;
sock_ret = send ( sock , & buffer [ sock_ret ] , ( unsigned int ) ( ctr * 2 + 2 - sock_ret ) , 0 ) ;
printf ( " Millis9: %d Result of socket send: %d \n \n " , millis ( ) - start , sock_ret ) ;
}
}
if ( sock_ret = = - 1 ) {
@ -1682,13 +1914,42 @@ void get_tlm_fox() {
}
// digitalWrite (0, HIGH);
if ( mode = = FSK )
firstTime = 0 ;
else if ( frames_sent > 0 ) //5)
// if (mode == FSK)
firstTime = 0 ;
// else if (frames_sent > 0) //5)
// firstTime = 0;
return ;
}
// code by https://stackoverflow.com/questions/25161377/open-a-cmd-program-with-full-functionality-i-o/25177958#25177958
FILE * sopen ( const char * program )
{
int fds [ 2 ] ;
pid_t pid ;
if ( socketpair ( AF_UNIX , SOCK_STREAM , 0 , fds ) < 0 )
return NULL ;
switch ( pid = vfork ( ) ) {
case - 1 : /* Error */
close ( fds [ 0 ] ) ;
close ( fds [ 1 ] ) ;
return NULL ;
case 0 : /* child */
close ( fds [ 0 ] ) ;
dup2 ( fds [ 1 ] , 0 ) ;
dup2 ( fds [ 1 ] , 1 ) ;
close ( fds [ 1 ] ) ;
execl ( " /bin/sh " , " sh " , " -c " , program , NULL ) ;
_exit ( 127 ) ;
}
/* parent */
close ( fds [ 1 ] ) ;
return fdopen ( fds [ 0 ] , " r+ " ) ;
}
/*
* TelemEncoding . h
*
@ -1889,10 +2150,11 @@ void write_wave(int i, short int *buffer)
else
{
if ( ( ctr - flip_ctr ) < smaller )
buffer [ ctr + + ] = ( short int ) ( amplitude * 0.4 * phase * sin ( ( float ) ( 2 * M_PI * i * freq_Hz / S_RATE ) ) ) ;
// buffer[ctr++] = (short int)(amplitude * 0.4 * phase * sin((float)(2*M_PI*i*freq_Hz/S_RATE))); buffer[ctr++] = (short int)(amplitude * 0.4 * phase * sin((float)(2*M_PI*i*freq_Hz/S_RATE)));
buffer [ ctr + + ] = ( short int ) ( phase * sin_map [ ctr % sin_samples ] / 2 ) ;
else
buffer [ ctr + + ] = ( short int ) ( amplitude * phase * sin ( ( float ) ( 2 * M_PI * i * freq_Hz / S_RATE ) ) ) ;
}
// buffer[ctr++] = (short int)(amplitude * 0.4 * phase * sin((float)(2*M_PI*i*freq_Hz/S_RATE))); buffer[ctr++] = (short int)(amplitude * phase * sin((float)(2*M_PI*i*freq_Hz/S_RATE)));
buffer [ ctr + + ] = ( short int ) ( phase * sin_map [ ctr % sin_samples ] ) ; }
// printf("%d %d \n", i, buffer[ctr - 1]);
}
@ -1955,7 +2217,7 @@ int test_i2c_bus(int bus)
// printf("%s error: %d \n", &command, error);
if ( error ! = 0 )
{
printf ( " ERROR: %s d bus has a problem \n Check I2C wiring and pullup resistors \n " , busDev ) ;
printf ( " ERROR: %s bus has a problem \n Check I2C wiring and pullup resistors \n " , busDev ) ;
output = - 1 ;
}
} else
alanbjohnston
5 years ago
committed by
GitHub