From ee8e8efec5c422a9cf8c0a316f17c77d763b42c8 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 11:53:31 -0400
Subject: [PATCH 01/33] added payload print in AFSK mode

---
 afsk/main.c | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/afsk/main.c b/afsk/main.c
index dc3528fe..5aadc990 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -869,6 +869,30 @@ for (int j = 0; j < frameCnt; j++)
 //printf("Before 1st strcpy\n");
   strcat(cw_str2, cw_footer2);
 //printf("Before 1st strcpy\n");
+	
+// read payload sensor if available	
+	
+if (payload == ON)
+{
+     char c;
+     unsigned int waitTime;
+     int i;
+//    for(i = 0; i < 2; i++)
+//    {
+     serialPutchar (uart_fd, '?');
+     printf("Querying payload with ?\n");
+     waitTime = millis() + 500;
+     while (millis() < waitTime) 
+     { 
+	int chars = serialDataAvail (uart_fd);
+        while (chars-- > 0)
+        {
+          printf ("%c", c = serialGetchar (uart_fd));
+          fflush (stdout);
+        }
+//   }
+}
+	
   digitalWrite (txLed, txLedOn);
   #ifdef DEBUG_LOGGING
 	printf("Tx LED On\n");

From 696db56b110559df201d0a3e5983408179a7f669 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 11:57:39 -0400
Subject: [PATCH 02/33] Update main.c

---
 afsk/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/afsk/main.c b/afsk/main.c
index 5aadc990..c31c56c0 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -109,6 +109,7 @@ int rd = 0;
 int nrd;
 void write_to_buffer(int i, int symbol, int val);	
 void write_wave(int i, short int *buffer);
+  int uart_fd;
 
 //#define BUF_LEN (FRAME_CNT * (SYNC_BITS + 10 * (8 + 6 * DATA_LEN + 96)) * SAMPLES)     
 //#define BUF_LEN (FRAME_CNT * (SYNC_BITS + 10 * (HEADER_LEN + RS_FRAMES * (RS_FRAME_LEN + PARITY_LEN))) * SAMPLES)    
@@ -485,7 +486,6 @@ else
 
  if (!ax5043)  // don't test if AX5043 is present
  {
-  int uart_fd;
   payload = OFF;
 
   if ((uart_fd = serialOpen ("/dev/ttyAMA0", 9600)) >= 0)

From f93e1628639726c35ab6a789b8fa945d30429d6d Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 11:59:09 -0400
Subject: [PATCH 03/33] Update main.c

---
 afsk/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/afsk/main.c b/afsk/main.c
index c31c56c0..440c7cec 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -890,7 +890,7 @@ if (payload == ON)
           printf ("%c", c = serialGetchar (uart_fd));
           fflush (stdout);
         }
-//   }
+    }
 }
 	
   digitalWrite (txLed, txLedOn);

From 3bc0f6adde58e880ec7975b5f4ac7148055efd3a Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 12:03:07 -0400
Subject: [PATCH 04/33] print payload string

---
 afsk/main.c | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/afsk/main.c b/afsk/main.c
index 440c7cec..be2db5ca 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -870,15 +870,16 @@ for (int j = 0; j < frameCnt; j++)
   strcat(cw_str2, cw_footer2);
 //printf("Before 1st strcpy\n");
 	
-// read payload sensor if available	
+// read payload sensor if available
+	
+char sensor_payload[500];
 	
 if (payload == ON)
 {
      char c;
      unsigned int waitTime;
-     int i;
-//    for(i = 0; i < 2; i++)
-//    {
+     int i = 0;
+
      serialPutchar (uart_fd, '?');
      printf("Querying payload with ?\n");
      waitTime = millis() + 500;
@@ -888,9 +889,12 @@ if (payload == ON)
         while (chars-- > 0)
         {
           printf ("%c", c = serialGetchar (uart_fd));
+	  sensor_payload[i++] = c;
           fflush (stdout);
         }
     }
+    sensor_payload[i] = '\0';
+    printf("Payload string: %s\n", sensor_payload);
 }
 	
   digitalWrite (txLed, txLedOn);

From 974c4de4d6b2c2b128f2ee5bf9d471a0f0760eb0 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 12:07:25 -0400
Subject: [PATCH 05/33] Update main.c

---
 afsk/main.c | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/afsk/main.c b/afsk/main.c
index be2db5ca..d253f104 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -888,14 +888,17 @@ if (payload == ON)
 	int chars = serialDataAvail (uart_fd);
         while (chars-- > 0)
         {
-          printf ("%c", c = serialGetchar (uart_fd));
+          c = serialGetchar (uart_fd);
+//	  printf ("%c", c);
+//	  fflush(stdout);
 	  sensor_payload[i++] = c;
-          fflush (stdout);
         }
     }
     sensor_payload[i] = '\0';
     printf("Payload string: %s\n", sensor_payload);
+    strcat(str, sensor_payload);  // append to telemetry string for transmission
 }
+
 	
   digitalWrite (txLed, txLedOn);
   #ifdef DEBUG_LOGGING

From 9c04919b88caecfd6619a9468e2de0621af2eeb1 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 12:40:03 -0400
Subject: [PATCH 06/33] stop at newline

---
 afsk/main.c | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/afsk/main.c b/afsk/main.c
index d253f104..74a4a814 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -883,15 +883,23 @@ if (payload == ON)
      serialPutchar (uart_fd, '?');
      printf("Querying payload with ?\n");
      waitTime = millis() + 500;
-     while (millis() < waitTime) 
+     end = false;
+     while ((millis() < waitTime) && !end) 
      { 
 	int chars = serialDataAvail (uart_fd);
-        while (chars-- > 0)
+        while ((chars-- > 0) && !end)
         {
           c = serialGetchar (uart_fd);
 //	  printf ("%c", c);
 //	  fflush(stdout);
-	  sensor_payload[i++] = c;
+	  if (c != '\n')
+	  {
+	  	sensor_payload[i++] = c;
+	  }
+	  else
+	  {
+		  end = true;
+	  }
         }
     }
     sensor_payload[i] = '\0';

From dcc4e0211f20b17bb46bfad95b31d71cd602e723 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 12:42:19 -0400
Subject: [PATCH 07/33] Update main.c

---
 afsk/main.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/afsk/main.c b/afsk/main.c
index 74a4a814..41e98439 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -883,7 +883,7 @@ if (payload == ON)
      serialPutchar (uart_fd, '?');
      printf("Querying payload with ?\n");
      waitTime = millis() + 500;
-     end = false;
+     end = FALSE;
      while ((millis() < waitTime) && !end) 
      { 
 	int chars = serialDataAvail (uart_fd);
@@ -898,7 +898,7 @@ if (payload == ON)
 	  }
 	  else
 	  {
-		  end = true;
+		  end = TRUE;
 	  }
         }
     }

From 925f2143ee22fcf72a6dddd7d44f21e3e60b6b4a Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 12:43:35 -0400
Subject: [PATCH 08/33] Update main.c

---
 afsk/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/afsk/main.c b/afsk/main.c
index 41e98439..79c2c259 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -883,7 +883,7 @@ if (payload == ON)
      serialPutchar (uart_fd, '?');
      printf("Querying payload with ?\n");
      waitTime = millis() + 500;
-     end = FALSE;
+     int end = FALSE;
      while ((millis() < waitTime) && !end) 
      { 
 	int chars = serialDataAvail (uart_fd);

From d3e67d28e6010c609d678d8b3f9635db577079f5 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 12:54:22 -0400
Subject: [PATCH 09/33] added TESTING flag so can test over Serial Monitor

---
 arduino/PayloadOK_Pro_Micro.ino | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/arduino/PayloadOK_Pro_Micro.ino b/arduino/PayloadOK_Pro_Micro.ino
index 9af67fdf..345add8b 100644
--- a/arduino/PayloadOK_Pro_Micro.ino
+++ b/arduino/PayloadOK_Pro_Micro.ino
@@ -1,7 +1,14 @@
+//#define TESTING  // Uncomment to test code on Serial Monitor
+
 int counter = 0;
 int RXLED = 17;  // The RX LED has a defined Arduino pin
 
 void setup() {
+
+#ifdef TESTING
+    Serial.begin(9600);
+#endif
+
   Serial1.begin(9600);
 
   digitalWrite(RXLED, LOW);   // set the RX LED ON
@@ -14,7 +21,20 @@ void setup() {
 
 void loop() {
 
+#ifdef TESTING  // ? is sent over Serial Monitor for testing
   if (Serial.available() > 0) {
+    digitalWrite(RXLED, LOW);   // set the RX LED ON
+    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+    delay(50);              // wait for a second
+    digitalWrite(RXLED, HIGH);   // set the RX LED ON
+    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+    char result = Serial.read();
+    //    Serial1.println(result);
+    Serial.println("OK");
+    //  Serial1.println(counter++);
+  }
+#else  // ? is sent by Pi UART
+  if (Serial1.available() > 0) {
     digitalWrite(RXLED, LOW);   // set the RX LED ON
     TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
     delay(50);              // wait for a second
@@ -25,6 +45,7 @@ void loop() {
     Serial1.println("OK");
     //  Serial1.println(counter++);
   }
+#endif
 
   delay(100);
 }

From 2092c96cdfbcba9054c1196ac8072b661ebf1295 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 12:56:04 -0400
Subject: [PATCH 10/33] Create Payload_BME280_Pro_Micro.ino

---
 arduino/Payload_BME280_Pro_Micro.ino | 80 ++++++++++++++++++++++++++++
 1 file changed, 80 insertions(+)
 create mode 100644 arduino/Payload_BME280_Pro_Micro.ino

diff --git a/arduino/Payload_BME280_Pro_Micro.ino b/arduino/Payload_BME280_Pro_Micro.ino
new file mode 100644
index 00000000..6e07f5bd
--- /dev/null
+++ b/arduino/Payload_BME280_Pro_Micro.ino
@@ -0,0 +1,80 @@
+#include <Wire.h>
+#include <Adafruit_Sensor.h>
+#include <Adafruit_BME280.h>
+#define SEALEVELPRESSURE_HPA (1013.25)
+
+//#define TESTING  // Define to test on Serial Monitor
+
+Adafruit_BME280 bme;
+int counter = 0;
+int RXLED = 17;  // The RX LED has a defined Arduino pin
+
+void setup() {
+
+  Serial.begin(9600); // Serial Monitor for testing
+
+  Serial1.begin(9600);  // Pi UART
+
+  Serial.println("Starting!");
+
+
+  digitalWrite(RXLED, LOW);   // set the RX LED ON
+  TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+  delay(50);              // wait for a second
+  digitalWrite(RXLED, HIGH);   // set the RX LED ON
+  TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+
+  if (!bme.begin(0x76)) {
+    Serial.println("Could not find a valid BME280 sensor, check wiring!");
+    while (1);
+  }
+}
+
+void loop() {
+
+#ifdef TESTING
+  if (Serial.available() > 0) {
+    digitalWrite(RXLED, LOW);   // set the RX LED ON
+    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+    delay(50);              // wait for a second
+    digitalWrite(RXLED, HIGH);   // set the RX LED ON
+    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+    char result = Serial.read();
+    //    Serial1.println(result);
+    Serial.print("OK BME280 ");
+    Serial.print(bme.readTemperature());
+    Serial.print(" ");
+    Serial.print(bme.readPressure() / 100.0F);
+    Serial.print(" ");
+    Serial.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
+    Serial.print(" ");
+    Serial.println(bme.readHumidity());
+
+    //  Serial1.println(counter++);
+  }
+#else
+  if (Serial1.available() > 0) {
+    digitalWrite(RXLED, LOW);   // set the RX LED ON
+    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+    delay(50);              // wait for a second
+    digitalWrite(RXLED, HIGH);   // set the RX LED ON
+    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+    char result = Serial1.read();
+    //    Serial1.println(result);
+//    Serial1.println("OK ");
+/**/    
+    Serial1.print("OK BME280 ");
+    Serial1.print(bme.readTemperature());
+    Serial1.print(" ");
+    Serial1.print(bme.readPressure() / 100.0F);
+    Serial1.print(" ");
+    Serial1.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
+    Serial1.print(" ");
+    Serial1.println(bme.readHumidity());
+/**/
+    //  Serial1.println(counter++);
+  }
+#endif
+
+  delay(100);
+}

From d6b060135d5c74668cea521e5ec5996208678f63 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 18:29:00 -0400
Subject: [PATCH 11/33] added x, y, z angular velocity placeholders

---
 afsk/main.c | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/afsk/main.c b/afsk/main.c
index 79c2c259..12382c93 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -1043,6 +1043,7 @@ int get_tlm_fox() {
   int posXv = 0, negXv = 0, posYv = 0, negYv = 0, posZv = 0, negZv = 0;
   int posXi = 0, negXi = 0, posYi = 0, negYi = 0, posZi = 0, negZi = 0;
   int head_offset = 0; 	
+  int xAngularVelocity = 0, yAngularVelocity = 36, zAngularVelocity = 255; // XAxisAngularVelocity
 	
   short int buffer_test[bufLen];
   int buffSize;
@@ -1218,7 +1219,11 @@ if (firstTime != ON)
   encodeB(b, 46 + head_offset,PSUCurrent);
 	  
   encodeA(b, 39 + head_offset,  IHUcpuTemp);
-
+	  
+  encodeB(b, 40 + head_offset,  xAngularVelocity);
+  encodeA(b, 42 + head_offset,  yAngularVelocity);
+  encodeB(b, 43 + head_offset,  zAngularVelocity);
+	  
   encodeB(b, 51 + head_offset, STEMBoardFailure);
    
   	short int data10[headerLen + rsFrames * (rsFrameLen + parityLen)];

From a44d8e2ad19a3d89135579f90538f1ae2728e4f0 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 18:39:27 -0400
Subject: [PATCH 12/33] Update main.c

---
 afsk/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/afsk/main.c b/afsk/main.c
index 12382c93..5a08e2d2 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -1043,7 +1043,7 @@ int get_tlm_fox() {
   int posXv = 0, negXv = 0, posYv = 0, negYv = 0, posZv = 0, negZv = 0;
   int posXi = 0, negXi = 0, posYi = 0, negYi = 0, posZi = 0, negZi = 0;
   int head_offset = 0; 	
-  int xAngularVelocity = 0, yAngularVelocity = 36, zAngularVelocity = 255; // XAxisAngularVelocity
+  int xAngularVelocity = 1000, yAngularVelocity = 2000, zAngularVelocity = 3000; // XAxisAngularVelocity
 	
   short int buffer_test[bufLen];
   int buffSize;

From 0aa830b7816509674f145d4164e398c95bb2999f Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 18:57:06 -0400
Subject: [PATCH 13/33] added dps to Angular Velocity formula

---
 afsk/main.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/afsk/main.c b/afsk/main.c
index 5a08e2d2..86d8b7bc 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -1043,7 +1043,8 @@ int get_tlm_fox() {
   int posXv = 0, negXv = 0, posYv = 0, negYv = 0, posZv = 0, negZv = 0;
   int posXi = 0, negXi = 0, posYi = 0, negYi = 0, posZi = 0, negZi = 0;
   int head_offset = 0; 	
-  int xAngularVelocity = 1000, yAngularVelocity = 2000, zAngularVelocity = 3000; // XAxisAngularVelocity
+// AngularVelocity = 43.3 dps + 1960 
+  int xAngularVelocity = 43.3 * (-10) + 1960, yAngularVelocity = 43.3 * (-6) + 196, zAngularVelocity = 43.3 * (6) + 196; // XAxisAngularVelocity
 	
   short int buffer_test[bufLen];
   int buffSize;

From edac4ead20bdb025e52e6d1cfbe73556bcb744dc Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 18:59:31 -0400
Subject: [PATCH 14/33] typo in formula

---
 afsk/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/afsk/main.c b/afsk/main.c
index 86d8b7bc..8c6c4927 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -1044,7 +1044,7 @@ int get_tlm_fox() {
   int posXi = 0, negXi = 0, posYi = 0, negYi = 0, posZi = 0, negZi = 0;
   int head_offset = 0; 	
 // AngularVelocity = 43.3 dps + 1960 
-  int xAngularVelocity = 43.3 * (-10) + 1960, yAngularVelocity = 43.3 * (-6) + 196, zAngularVelocity = 43.3 * (6) + 196; // XAxisAngularVelocity
+  int xAngularVelocity = 43.3 * (-10) + 1960, yAngularVelocity = 43.3 * (-6) + 1960, zAngularVelocity = 43.3 * (6) + 1960; // XAxisAngularVelocity
 	
   short int buffer_test[bufLen];
   int buffSize;

From 1e594e57128c4cb0c3c851a37d1eff3ac0ea2a58 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 19:05:22 -0400
Subject: [PATCH 15/33] refined formula about +/- 6 dps

---
 afsk/main.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/afsk/main.c b/afsk/main.c
index 8c6c4927..98ae9161 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -1043,8 +1043,8 @@ int get_tlm_fox() {
   int posXv = 0, negXv = 0, posYv = 0, negYv = 0, posZv = 0, negZv = 0;
   int posXi = 0, negXi = 0, posYi = 0, negYi = 0, posZi = 0, negZi = 0;
   int head_offset = 0; 	
-// AngularVelocity = 43.3 dps + 1960 
-  int xAngularVelocity = 43.3 * (-10) + 1960, yAngularVelocity = 43.3 * (-6) + 1960, zAngularVelocity = 43.3 * (6) + 1960; // XAxisAngularVelocity
+// AngularVelocity = 49.7 dps + 2059
+  int xAngularVelocity = 49.7 * (-10) + 2059, yAngularVelocity = 49.7 * (-6) + 2059, zAngularVelocity = 49.7 * (6) + 2059; // XAxisAngularVelocity
 	
   short int buffer_test[bufLen];
   int buffSize;

From b00a7db5ac7d247e8e3c5a45191aae3fb7b0f17d Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Sun, 23 Aug 2020 19:10:33 -0400
Subject: [PATCH 16/33] changed to polynomial formula

---
 afsk/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/afsk/main.c b/afsk/main.c
index 98ae9161..dd2bcac7 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -1044,7 +1044,7 @@ int get_tlm_fox() {
   int posXi = 0, negXi = 0, posYi = 0, negYi = 0, posZi = 0, negZi = 0;
   int head_offset = 0; 	
 // AngularVelocity = 49.7 dps + 2059
-  int xAngularVelocity = 49.7 * (-10) + 2059, yAngularVelocity = 49.7 * (-6) + 2059, zAngularVelocity = 49.7 * (6) + 2059; // XAxisAngularVelocity
+  int xAngularVelocity = (-0.69)*(-10)*(-10) + 45.3 * (-10) + 2078, yAngularVelocity = (-0.69)*(-6)*(-6) + 45.3 * (-6) + 2078, zAngularVelocity = (-0.69)*(6)*(6) + 45.3 * (6) + 2078; // XAxisAngularVelocity
 	
   short int buffer_test[bufLen];
   int buffSize;

From e382a282ecbea9398536569ad91d4c3291481969 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 11:27:23 -0400
Subject: [PATCH 17/33] added read of Gyro X, Y, and Z from MPU6050 sensor

---
 arduino/Payload_BME280_MPU6050_Pro_Micro.ino | 106 +++++++++++++++++++
 1 file changed, 106 insertions(+)
 create mode 100644 arduino/Payload_BME280_MPU6050_Pro_Micro.ino

diff --git a/arduino/Payload_BME280_MPU6050_Pro_Micro.ino b/arduino/Payload_BME280_MPU6050_Pro_Micro.ino
new file mode 100644
index 00000000..dd01f61e
--- /dev/null
+++ b/arduino/Payload_BME280_MPU6050_Pro_Micro.ino
@@ -0,0 +1,106 @@
+#include <Wire.h>
+#include <Adafruit_Sensor.h>
+#include <Adafruit_BME280.h
+#include <MPU6050_tockn.h>
+
+#define SEALEVELPRESSURE_HPA (1013.25)
+
+//#define TESTING  // Define to test on Serial Monitor
+
+Adafruit_BME280 bme;
+MPU6050 mpu6050(Wire);
+
+int counter = 0;
+int RXLED = 17;  // The RX LED has a defined Arduino pin
+long timer = 0;
+
+void setup() {
+
+  Serial.begin(9600); // Serial Monitor for testing
+
+  Serial1.begin(9600);  // Pi UART
+
+  Serial.println("Starting!");
+
+
+  digitalWrite(RXLED, LOW);   // set the RX LED ON
+  TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+  delay(50);              // wait for a second
+  digitalWrite(RXLED, HIGH);   // set the RX LED ON
+  TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+
+  if (!bme.begin(0x76)) {
+    Serial.println("Could not find a valid BME280 sensor, check wiring!");
+    while (1);
+  }
+  
+  mpu6050.begin();
+  mpu6050.calcGyroOffsets(true);
+}
+
+void loop() {
+
+#ifdef TESTING
+  if (Serial.available() > 0) {
+    digitalWrite(RXLED, LOW);   // set the RX LED ON
+    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+    delay(50);              // wait for a second
+    digitalWrite(RXLED, HIGH);   // set the RX LED ON
+    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+    char result = Serial.read();
+    //    Serial1.println(result);
+    Serial.print("OK BME280 ");
+    Serial.print(bme.readTemperature());
+    Serial.print(" ");
+    Serial.print(bme.readPressure() / 100.0F);
+    Serial.print(" ");
+    Serial.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
+    Serial.print(" ");
+    Serial.println(bme.readHumidity());
+    
+    mpu6050.update();
+    
+    Serial.print(" MPU6050 ");
+    Serial.print(mpu6050.getGyroX());
+    Serial.print(" ");
+    Serial.print(mpu6050.getGyroY());
+    Serial.print(" ");
+    Serial.println(mpu6050.getGyroZ());
+
+    //  Serial1.println(counter++);
+  }
+#else
+  if (Serial1.available() > 0) {
+    digitalWrite(RXLED, LOW);   // set the RX LED ON
+    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+    delay(50);              // wait for a second
+    digitalWrite(RXLED, HIGH);   // set the RX LED ON
+    TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+    char result = Serial1.read();
+//    Serial1.println(result);
+//    Serial1.println("OK ");
+  
+    Serial1.print("OK BME280 ");
+    Serial1.print(bme.readTemperature());
+    Serial1.print(" ");
+    Serial1.print(bme.readPressure() / 100.0F);
+    Serial1.print(" ");
+    Serial1.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
+    Serial1.print(" ");
+    Serial1.println(bme.readHumidity());
+
+    mpu6050.update();
+    
+    Serial1.print(" MPU6050 ");
+    Serial1.print(mpu6050.getGyroX());
+    Serial1.print(" ");
+    Serial1.print(mpu6050.getGyroY());
+    Serial1.print(" ");
+    Serial1.println(mpu6050.getGyroZ());   
+
+//  Serial1.println(counter++);
+  }
+#endif
+
+  delay(100);
+}

From 48eb635ce56af8e536c14a0f99c7c78773b2bc4d Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 11:35:28 -0400
Subject: [PATCH 18/33] Update Payload_BME280_MPU6050_Pro_Micro.ino

---
 arduino/Payload_BME280_MPU6050_Pro_Micro.ino | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/arduino/Payload_BME280_MPU6050_Pro_Micro.ino b/arduino/Payload_BME280_MPU6050_Pro_Micro.ino
index dd01f61e..74dee528 100644
--- a/arduino/Payload_BME280_MPU6050_Pro_Micro.ino
+++ b/arduino/Payload_BME280_MPU6050_Pro_Micro.ino
@@ -1,6 +1,6 @@
 #include <Wire.h>
 #include <Adafruit_Sensor.h>
-#include <Adafruit_BME280.h
+#include <Adafruit_BME280.h>
 #include <MPU6050_tockn.h>
 
 #define SEALEVELPRESSURE_HPA (1013.25)
@@ -56,7 +56,7 @@ void loop() {
     Serial.print(" ");
     Serial.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
     Serial.print(" ");
-    Serial.println(bme.readHumidity());
+    Serial.print(bme.readHumidity());
     
     mpu6050.update();
     

From aac514c882f4fca64532dbc5929fe463611bb8e9 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 11:36:12 -0400
Subject: [PATCH 19/33] All on one line

---
 arduino/Payload_BME280_MPU6050_Pro_Micro.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/arduino/Payload_BME280_MPU6050_Pro_Micro.ino b/arduino/Payload_BME280_MPU6050_Pro_Micro.ino
index 74dee528..0e8b5609 100644
--- a/arduino/Payload_BME280_MPU6050_Pro_Micro.ino
+++ b/arduino/Payload_BME280_MPU6050_Pro_Micro.ino
@@ -87,7 +87,7 @@ void loop() {
     Serial1.print(" ");
     Serial1.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
     Serial1.print(" ");
-    Serial1.println(bme.readHumidity());
+    Serial1.print(bme.readHumidity());
 
     mpu6050.update();
     

From 6d756a766d7bdff9394eb4dfcd8a3e6febb7b0af Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 12:05:28 -0400
Subject: [PATCH 20/33] added tokenization of gyro string

---
 afsk/main.c | 34 ++++++++++++++++++++++++++++++++++
 1 file changed, 34 insertions(+)

diff --git a/afsk/main.c b/afsk/main.c
index dd2bcac7..20e538a6 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -904,6 +904,40 @@ if (payload == ON)
     }
     sensor_payload[i] = '\0';
     printf("Payload string: %s\n", sensor_payload);
+	
+   int count1;
+   char *token;
+//   char cmdbuffer[1000];
+		
+//	FILE *file = popen("python3 /home/pi/CubeSatSim/python/voltcurrent.py 1 11", "r");	
+//    	fgets(cmdbuffer, 1000, file);
+//	printf("result: %s\n", cmdbuffer);
+//    	pclose(file);
+	
+    const char space[2] = " ";
+    token = strtok(sensor_payload, space);
+
+    float gyroX, gyroY, gyroZ;	
+		   
+    for (count1 = 0; count1 < 8; count1++)
+    {
+//       voltage[count1] = atof(token);				      
+    	printf("token %s ", token);
+    	token = strtok(NULL, space);	
+//	 current[count1] = atof(token);
+//	       printf("current: %f\n", current[count1]);
+//    		token = strtok(NULL, space);		
+    }	
+    gyroX = atof(token)
+    printf("gyroX %d ", gyroX);
+    token = strtok(NULL, space);		
+    gyroY = atof(token)
+    printf("gyroY %d ", gyroY);
+    token = strtok(NULL, space);
+    gyroZ = atof(token)
+    printf("gyroZ %d \n", gyroZ);
+    token = strtok(NULL, space);
+    	
     strcat(str, sensor_payload);  // append to telemetry string for transmission
 }
 

From a3d0be8b3d6a8ee8e362fd37a5347dfb49fa80bc Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 12:06:45 -0400
Subject: [PATCH 21/33] typo

---
 afsk/main.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/afsk/main.c b/afsk/main.c
index 20e538a6..5c557a8d 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -928,13 +928,13 @@ if (payload == ON)
 //	       printf("current: %f\n", current[count1]);
 //    		token = strtok(NULL, space);		
     }	
-    gyroX = atof(token)
+    gyroX = atof(token);
     printf("gyroX %d ", gyroX);
     token = strtok(NULL, space);		
-    gyroY = atof(token)
+    gyroY = atof(token);
     printf("gyroY %d ", gyroY);
     token = strtok(NULL, space);
-    gyroZ = atof(token)
+    gyroZ = atof(token);
     printf("gyroZ %d \n", gyroZ);
     token = strtok(NULL, space);
     	

From ab442213ae0b37f699b2961b418533e0d45465d2 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 12:11:29 -0400
Subject: [PATCH 22/33] Update main.c

---
 afsk/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/afsk/main.c b/afsk/main.c
index 5c557a8d..48ab460e 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -919,7 +919,7 @@ if (payload == ON)
 
     float gyroX, gyroY, gyroZ;	
 		   
-    for (count1 = 0; count1 < 8; count1++)
+    for (count1 = 0; count1 < 2; count1++)
     {
 //       voltage[count1] = atof(token);				      
     	printf("token %s ", token);

From c7f09f4f1eb2c2f6d23fdc5468a012d83669467d Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 12:18:09 -0400
Subject: [PATCH 23/33] Update main.c

---
 afsk/main.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/afsk/main.c b/afsk/main.c
index 48ab460e..3e035d2d 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -919,7 +919,7 @@ if (payload == ON)
 
     float gyroX, gyroY, gyroZ;	
 		   
-    for (count1 = 0; count1 < 2; count1++)
+    for (count1 = 0; count1 < 6; count1++)
     {
 //       voltage[count1] = atof(token);				      
     	printf("token %s ", token);
@@ -929,13 +929,13 @@ if (payload == ON)
 //    		token = strtok(NULL, space);		
     }	
     gyroX = atof(token);
-    printf("gyroX %d ", gyroX);
+    printf("gyroX %f ", gyroX);
     token = strtok(NULL, space);		
     gyroY = atof(token);
-    printf("gyroY %d ", gyroY);
+    printf("gyroY %f ", gyroY);
     token = strtok(NULL, space);
     gyroZ = atof(token);
-    printf("gyroZ %d \n", gyroZ);
+    printf("gyroZ %f \n", gyroZ);
     token = strtok(NULL, space);
     	
     strcat(str, sensor_payload);  // append to telemetry string for transmission

From 72adb1b5ad3b944fdda372e76597ef32a98864df Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 12:27:14 -0400
Subject: [PATCH 24/33] added gyro to FSK telemetry

---
 afsk/main.c | 91 ++++++++++++++++++++++++++++++++++++++++++++++++-----
 1 file changed, 83 insertions(+), 8 deletions(-)

diff --git a/afsk/main.c b/afsk/main.c
index 3e035d2d..f2cb9f39 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -922,20 +922,20 @@ if (payload == ON)
     for (count1 = 0; count1 < 6; count1++)
     {
 //       voltage[count1] = atof(token);				      
-    	printf("token %s ", token);
+//    	printf("token %s ", token);
     	token = strtok(NULL, space);	
 //	 current[count1] = atof(token);
 //	       printf("current: %f\n", current[count1]);
 //    		token = strtok(NULL, space);		
     }	
     gyroX = atof(token);
-    printf("gyroX %f ", gyroX);
+//    printf("gyroX %f ", gyroX);
     token = strtok(NULL, space);		
     gyroY = atof(token);
-    printf("gyroY %f ", gyroY);
+//    printf("gyroY %f ", gyroY);
     token = strtok(NULL, space);
     gyroZ = atof(token);
-    printf("gyroZ %f \n", gyroZ);
+//    printf("gyroZ %f \n", gyroZ);
     token = strtok(NULL, space);
     	
     strcat(str, sensor_payload);  // append to telemetry string for transmission
@@ -1077,8 +1077,8 @@ int get_tlm_fox() {
   int posXv = 0, negXv = 0, posYv = 0, negYv = 0, posZv = 0, negZv = 0;
   int posXi = 0, negXi = 0, posYi = 0, negYi = 0, posZi = 0, negZi = 0;
   int head_offset = 0; 	
-// AngularVelocity = 49.7 dps + 2059
-  int xAngularVelocity = (-0.69)*(-10)*(-10) + 45.3 * (-10) + 2078, yAngularVelocity = (-0.69)*(-6)*(-6) + 45.3 * (-6) + 2078, zAngularVelocity = (-0.69)*(6)*(6) + 45.3 * (6) + 2078; // XAxisAngularVelocity
+//  int xAngularVelocity = (-0.69)*(-10)*(-10) + 45.3 * (-10) + 2078, yAngularVelocity = (-0.69)*(-6)*(-6) + 45.3 * (-6) + 2078, zAngularVelocity = (-0.69)*(6)*(6) + 45.3 * (6) + 2078; // XAxisAngularVelocity
+  int xAngularVelocity = 2078, yAngularVelocity = 2078, zAngularVelocity = 2078; // XAxisAngularVelocity Y and Z set to 0
 	
   short int buffer_test[bufLen];
   int buffSize;
@@ -1209,8 +1209,83 @@ if (firstTime != ON)
   PSUVoltage = (int)(reading[BUS].voltage * 100);
   PSUCurrent = (int)reading[BUS].current + 2048;
 	  
-  if (payload == ON)
-	  STEMBoardFailure = 0;
+//  if (payload == ON)
+//	  STEMBoardFailure = 0;
+	  
+// read payload sensor if available
+	
+char sensor_payload[500];
+	
+if (payload == ON)
+{
+     STEMBoardFailure = 0;
+	
+     char c;
+     unsigned int waitTime;
+     int i = 0;
+
+     serialPutchar (uart_fd, '?');
+     printf("Querying payload with ?\n");
+     waitTime = millis() + 500;
+     int end = FALSE;
+     while ((millis() < waitTime) && !end) 
+     { 
+	int chars = serialDataAvail (uart_fd);
+        while ((chars-- > 0) && !end)
+        {
+          c = serialGetchar (uart_fd);
+//	  printf ("%c", c);
+//	  fflush(stdout);
+	  if (c != '\n')
+	  {
+	  	sensor_payload[i++] = c;
+	  }
+	  else
+	  {
+		  end = TRUE;
+	  }
+        }
+    }
+    sensor_payload[i] = '\0';
+    printf("Payload string: %s\n", sensor_payload);
+	
+   int count1;
+   char *token;
+//   char cmdbuffer[1000];
+		
+//	FILE *file = popen("python3 /home/pi/CubeSatSim/python/voltcurrent.py 1 11", "r");	
+//    	fgets(cmdbuffer, 1000, file);
+//	printf("result: %s\n", cmdbuffer);
+//    	pclose(file);
+	
+    const char space[2] = " ";
+    token = strtok(sensor_payload, space);
+
+    float gyroX, gyroY, gyroZ;	
+		   
+    for (count1 = 0; count1 < 6; count1++)
+    {
+//       voltage[count1] = atof(token);				      
+//    	printf("token %s ", token);
+    	token = strtok(NULL, space);	
+//	 current[count1] = atof(token);
+//	       printf("current: %f\n", current[count1]);
+//    		token = strtok(NULL, space);		
+    }	
+    gyroX = atof(token);
+    printf("gyroX %f ", gyroX);
+    token = strtok(NULL, space);		
+    gyroY = atof(token);
+    printf("gyroY %f ", gyroY);
+    token = strtok(NULL, space);
+    gyroZ = atof(token);
+    printf("gyroZ %f \n", gyroZ);
+//    token = strtok(NULL, space);
+	
+    xAngularVelocity = (-0.69)*(gyroX)*(gyroX) + 45.3 * (gyroX) + 2078;
+    yAngularVelocity = (-0.69)*(gyroY)*(gyroY) + 45.3 * (gyroY) + 2078;
+    zAngularVelocity = (-0.69)*(gyroZ)*(gyroZ) + 45.3 * (gyroZ) + 2078;
+  }
 
   encodeA(b, 0 + head_offset, batt_a_v);
   encodeB(b, 1 + head_offset, batt_b_v);

From 907d20358c4bc12cdbe52a57acde945fcbebf6c0 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 12:37:57 -0400
Subject: [PATCH 25/33] skip BME280 Data

---
 afsk/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/afsk/main.c b/afsk/main.c
index f2cb9f39..b49c34e7 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -919,7 +919,7 @@ if (payload == ON)
 
     float gyroX, gyroY, gyroZ;	
 		   
-    for (count1 = 0; count1 < 6; count1++)
+    for (count1 = 0; count1 < 7; count1++)  // skip over BME280 data to get to X, Y, and Z Gyro data
     {
 //       voltage[count1] = atof(token);				      
 //    	printf("token %s ", token);

From cfeee7da97ad73edf11b710f594296a1cc3b1bcc Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 12:40:53 -0400
Subject: [PATCH 26/33] one more

---
 afsk/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/afsk/main.c b/afsk/main.c
index b49c34e7..22c0e246 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -919,7 +919,7 @@ if (payload == ON)
 
     float gyroX, gyroY, gyroZ;	
 		   
-    for (count1 = 0; count1 < 7; count1++)  // skip over BME280 data to get to X, Y, and Z Gyro data
+    for (count1 = 0; count1 < 8; count1++)  // skip over BME280 data to get to X, Y, and Z Gyro data
     {
 //       voltage[count1] = atof(token);				      
 //    	printf("token %s ", token);

From 8dbc43f8e4580485ba86ee0080f379e9b5882915 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 12:43:22 -0400
Subject: [PATCH 27/33] skipping over BME280 data

---
 afsk/main.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/afsk/main.c b/afsk/main.c
index 22c0e246..44c0598a 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -919,7 +919,7 @@ if (payload == ON)
 
     float gyroX, gyroY, gyroZ;	
 		   
-    for (count1 = 0; count1 < 8; count1++)  // skip over BME280 data to get to X, Y, and Z Gyro data
+    for (count1 = 0; count1 < 7; count1++)  // skip over BME280 data to get to X, Y, and Z Gyro data
     {
 //       voltage[count1] = atof(token);				      
 //    	printf("token %s ", token);
@@ -1263,7 +1263,7 @@ if (payload == ON)
 
     float gyroX, gyroY, gyroZ;	
 		   
-    for (count1 = 0; count1 < 6; count1++)
+    for (count1 = 0; count1 < 7; count1++)  // skipping over BME280 data
     {
 //       voltage[count1] = atof(token);				      
 //    	printf("token %s ", token);

From e1911f3a6bec3487b6aebd608a379673fc94f63e Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 12:46:48 -0400
Subject: [PATCH 28/33] Update main.c

---
 afsk/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/afsk/main.c b/afsk/main.c
index 44c0598a..d37e3507 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -1277,7 +1277,7 @@ if (payload == ON)
     token = strtok(NULL, space);		
     gyroY = atof(token);
     printf("gyroY %f ", gyroY);
-    token = strtok(NULL, space);
+//    token = strtok(NULL, space);
     gyroZ = atof(token);
     printf("gyroZ %f \n", gyroZ);
 //    token = strtok(NULL, space);

From 5899390305250c0879f565ae7f7811e18e5a1497 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 16:13:55 -0400
Subject: [PATCH 29/33] added \n before \0

---
 afsk/main.c | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/afsk/main.c b/afsk/main.c
index d37e3507..e84999e1 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -902,8 +902,9 @@ if (payload == ON)
 	  }
         }
     }
+    sensor_payload[i++] = '\n';
     sensor_payload[i] = '\0';
-    printf("Payload string: %s\n", sensor_payload);
+    printf("Payload string: %s", sensor_payload);
 	
    int count1;
    char *token;
@@ -1246,8 +1247,9 @@ if (payload == ON)
 	  }
         }
     }
+    sensor_payload[i++] = '\n';
     sensor_payload[i] = '\0';
-    printf("Payload string: %s\n", sensor_payload);
+    printf("Payload string: %s", sensor_payload);
 	
    int count1;
    char *token;
@@ -1277,7 +1279,7 @@ if (payload == ON)
     token = strtok(NULL, space);		
     gyroY = atof(token);
     printf("gyroY %f ", gyroY);
-//    token = strtok(NULL, space);
+    token = strtok(NULL, space);
     gyroZ = atof(token);
     printf("gyroZ %f \n", gyroZ);
 //    token = strtok(NULL, space);

From 88da3241a4d4669ba020adb0ecf4298d15ae7ce0 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 16:17:55 -0400
Subject: [PATCH 30/33] added space at end of string

---
 afsk/main.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/afsk/main.c b/afsk/main.c
index e84999e1..db8e243c 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -1247,6 +1247,7 @@ if (payload == ON)
 	  }
         }
     }
+    sensor_payload[i++] = ' ';
     sensor_payload[i++] = '\n';
     sensor_payload[i] = '\0';
     printf("Payload string: %s", sensor_payload);

From 5b25abc58b68f8fd51a105f69f6048ed3fff96b9 Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 24 Aug 2020 17:01:10 -0400
Subject: [PATCH 31/33] added NULL checking in token parsing

---
 afsk/main.c | 70 +++++++++++++++--------------------------------------
 1 file changed, 20 insertions(+), 50 deletions(-)

diff --git a/afsk/main.c b/afsk/main.c
index db8e243c..880d7cc5 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -905,44 +905,10 @@ if (payload == ON)
     sensor_payload[i++] = '\n';
     sensor_payload[i] = '\0';
     printf("Payload string: %s", sensor_payload);
-	
-   int count1;
-   char *token;
-//   char cmdbuffer[1000];
-		
-//	FILE *file = popen("python3 /home/pi/CubeSatSim/python/voltcurrent.py 1 11", "r");	
-//    	fgets(cmdbuffer, 1000, file);
-//	printf("result: %s\n", cmdbuffer);
-//    	pclose(file);
-	
-    const char space[2] = " ";
-    token = strtok(sensor_payload, space);
-
-    float gyroX, gyroY, gyroZ;	
-		   
-    for (count1 = 0; count1 < 7; count1++)  // skip over BME280 data to get to X, Y, and Z Gyro data
-    {
-//       voltage[count1] = atof(token);				      
-//    	printf("token %s ", token);
-    	token = strtok(NULL, space);	
-//	 current[count1] = atof(token);
-//	       printf("current: %f\n", current[count1]);
-//    		token = strtok(NULL, space);		
-    }	
-    gyroX = atof(token);
-//    printf("gyroX %f ", gyroX);
-    token = strtok(NULL, space);		
-    gyroY = atof(token);
-//    printf("gyroY %f ", gyroY);
-    token = strtok(NULL, space);
-    gyroZ = atof(token);
-//    printf("gyroZ %f \n", gyroZ);
-    token = strtok(NULL, space);
-    	
+    
     strcat(str, sensor_payload);  // append to telemetry string for transmission
 }
 
-	
   digitalWrite (txLed, txLedOn);
   #ifdef DEBUG_LOGGING
 	printf("Tx LED On\n");
@@ -1268,22 +1234,26 @@ if (payload == ON)
 		   
     for (count1 = 0; count1 < 7; count1++)  // skipping over BME280 data
     {
-//       voltage[count1] = atof(token);				      
-//    	printf("token %s ", token);
-    	token = strtok(NULL, space);	
-//	 current[count1] = atof(token);
-//	       printf("current: %f\n", current[count1]);
-//    		token = strtok(NULL, space);		
+	if (token != NULL)
+    		token = strtok(NULL, space);		
     }	
-    gyroX = atof(token);
-    printf("gyroX %f ", gyroX);
-    token = strtok(NULL, space);		
-    gyroY = atof(token);
-    printf("gyroY %f ", gyroY);
-    token = strtok(NULL, space);
-    gyroZ = atof(token);
-    printf("gyroZ %f \n", gyroZ);
-//    token = strtok(NULL, space);
+    if (token != NULL)
+    {
+    	gyroX = atof(token);
+    	printf("gyroX %f ", gyroX);
+    	token = strtok(NULL, space);
+    }
+    if (token != NULL)
+    {
+	gyroY = atof(token);
+        printf("gyroY %f ", gyroY);
+        token = strtok(NULL, space);
+    }
+    if (token != NULL)
+    {
+	gyroZ = atof(token);
+        printf("gyroZ %f \n", gyroZ);
+    }
 	
     xAngularVelocity = (-0.69)*(gyroX)*(gyroX) + 45.3 * (gyroX) + 2078;
     yAngularVelocity = (-0.69)*(gyroY)*(gyroY) + 45.3 * (gyroY) + 2078;

From d07e893d12d59c2bd1ac8148212cbb1a7d6335be Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 31 Aug 2020 17:09:39 -0400
Subject: [PATCH 32/33] removed newline in AFSK payload telemetry to avoid
 direwolf crash

---
 afsk/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/afsk/main.c b/afsk/main.c
index 880d7cc5..85aab3dd 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -1214,7 +1214,7 @@ if (payload == ON)
         }
     }
     sensor_payload[i++] = ' ';
-    sensor_payload[i++] = '\n';
+//  sensor_payload[i++] = '\n';
     sensor_payload[i] = '\0';
     printf("Payload string: %s", sensor_payload);
 	

From 763970b9c610357d182c5c9a80a58426527db90a Mon Sep 17 00:00:00 2001
From: alanbjohnston <alan.b.johnston@gmail.com>
Date: Mon, 31 Aug 2020 17:22:29 -0400
Subject: [PATCH 33/33] Update main.c

---
 afsk/main.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/afsk/main.c b/afsk/main.c
index 85aab3dd..5bfa9e1c 100644
--- a/afsk/main.c
+++ b/afsk/main.c
@@ -902,7 +902,7 @@ if (payload == ON)
 	  }
         }
     }
-    sensor_payload[i++] = '\n';
+//    sensor_payload[i++] = '\n';
     sensor_payload[i] = '\0';
     printf("Payload string: %s", sensor_payload);
     
@@ -1214,7 +1214,7 @@ if (payload == ON)
         }
     }
     sensor_payload[i++] = ' ';
-//  sensor_payload[i++] = '\n';
+    sensor_payload[i++] = '\n';
     sensor_payload[i] = '\0';
     printf("Payload string: %s", sensor_payload);