From 876e1c011de49e6fcf5e18cfb9ca33dde2ba09ee Mon Sep 17 00:00:00 2001 From: Alan Johnston Date: Thu, 5 Mar 2026 14:56:22 -0500 Subject: [PATCH] Update main.h resolve merge conflicts --- main.h | 169 ++++++++++++++++++++++++++++++++++++++++++++++++++++----- 1 file changed, 155 insertions(+), 14 deletions(-) diff --git a/main.h b/main.h index 068d45d6..dfa37b2e 100644 --- a/main.h +++ b/main.h @@ -13,6 +13,7 @@ #include #include //#include "TelemEncoding.h" +#include "codecAO40.h" #include #include #include @@ -38,26 +39,35 @@ #define PRES 3 #define ALT 4 #define HUMI 5 -#define GYRO_X 7 // MPU6050 is posisition 6 +#define GYRO_X 7 // MPU6050 label is posisition 6 #define GYRO_Y 8 #define GYRO_Z 9 #define ACCEL_X 10 #define ACCEL_Y 11 #define ACCEL_Z 12 -#define GPS1 14 // GPS is position 13 -#define GPS2 15 -#define GPS3 16 -#define DTEMP 18 // TMP is position 17 +#define GPS 13 // GPS label +#define GPS1 14 // latitude +#define GPS2 15 // longitude +#define GPS3 16 // altitude +#define DTEMP 18 // TMP label is position 17 #define XS1 20 // NEW user defined token will be position 19 #define XS2 21 #define XS3 22 -#define SENSOR_FIELDS 26 +#define NEW_SENSOR_FIELDS_MAX 6 +#define SENSOR_FIELDS (26 + 6) +#define FC_EPS 1 +#define FC_BOB 25 +#define FC_SW 50 +#define FC_PAYLOAD 55 +#define X 0 +#define Y 1 +#define Z 2 #define RSSI 0 #define IHU_TEMP 2 #define SPIN 1 -#define OFF - 1 +#define OFF -1 #define ON 1 #define CHECK 0 #define DISABLED 0 @@ -68,14 +78,12 @@ uint32_t tx_freq_hz = 434900000 + FREQUENCY_OFFSET; uint8_t data[1024]; uint32_t tx_channel = 0; -ax5043_conf_t hax5043; -ax25_conf_t hax25; - int twosToInt(int val, int len); float toAprsFormat(float input); float rnd_float(double min, double max); void get_tlm(); void get_tlm_fox(); +void get_tlm_fc(); int encodeA(short int * b, int index, int val); int encodeB(short int * b, int index, int val); void config_x25(); @@ -86,12 +94,16 @@ void update_rs(unsigned char parity[32], unsigned char c); void write_little_endian(unsigned int word, int num_bytes, FILE *wav_file); static int init_rf(); extern int Encode_8b10b[][256]; +extern const unsigned char ALPHA_TO[]; +// const unsigned char *CCodecAO40::encode(unsigned char *source_bytes, int byte_count); void program_radio(); +void socket_send(int length); int socket_open = 0; int sock = 0; int loop = -1, loop_count = 0; int firstTime = ON; // 0; +int secondTime = ON; long start; int testCount = 0; long time_start; @@ -100,6 +112,9 @@ FILE * file1; short int buffer[2336400]; // max size for 10 frames count of BPSK FILE *sopen(const char *program); FILE *telem_file; +long int sequence = 0; +int image_id = 0; +FILE *image_file; #define S_RATE (48000) // (44100) @@ -108,11 +123,28 @@ FILE *telem_file; #define BPSK 3 #define SSTV 4 #define CW 5 +#define FC 6 +#define REPEATER 7 #define PACSAT 8 #define REPEATER 11 #define TXCOMMAND 12 #define PACSATGND 13 +#define FAIL_COUNT 11 +#define FAIL_NONE -1 +#define FAIL_UNPLUG 1 +#define FAIL_SOLAR 2 +#define FAIL_DEGRADE 3 +#define FAIL_SHORT 4 +#define FAIL_I2C1 5 +#define FAIL_I2C3 6 +#define FAIL_CAMERA 7 +#define FAIL_PAYLOAD 8 +#define FAIL_BME 9 +#define FAIL_MPU 10 +#define FAIL_AUDIO 11 +int failureMode = FAIL_NONE; + int transmitStatus = -1; float amplitude; // = ; // 20000; // 32767/(10%amp+5%amp+100%amp) @@ -137,6 +169,8 @@ long int uptime; char call[5]; char sim_yes[10]; char hab_yes[10]; +char fail_yes[10]; +int fail_time = 60; int squelch = 3; // default squelch char rx[12], tx[12]; int tx_pl = 0; @@ -147,16 +181,16 @@ float sleepTime; 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; +int transmit = FALSE, onLed, onLedOn, onLedOff, txLed, txLedOn, txLedOff, payload = OFF; // float voltageThreshold = 3.6, batteryVoltage = 4.5, batteryCurrent = 0, currentThreshold = 100; -float voltageThreshold = 3.5, batteryVoltage = 4.5, batteryCurrent = 0, currentThreshold = 100; +float voltageThreshold = 3.50, batteryVoltage = 4.5, batteryCurrent = 0, currentThreshold = 100; float latitude = 39.027702f, longitude = -77.078064f; float lat_file, long_file; double cpuTemp; int frameTime; long int newGpsTime; -float axis[3], angle[3], volts_max[3], amps_max[3], batt, speed, period, tempS, temp_max, temp_min, eclipse; +float axis[3], angle[3], volts_max[3], amps_max[3], batt, speed, period, tempS, temp_max, temp_min, eclipse, atmosphere, tempP, altSP, presP, altGP, humiP, changeP; int i2c_bus0 = OFF, i2c_bus1 = OFF, i2c_bus3 = OFF, camera = OFF, sim_mode = FALSE, SafeMode = FALSE; int rxAntennaDeployed = 0, txAntennaDeployed = 0, c2cStatus = 0; int sim_config = FALSE; // sim mode not set by configuration @@ -164,11 +198,12 @@ double eclipse_time; float voltage[9], current[9], sensor[SENSOR_FIELDS], other[3]; char sensor_payload[500]; +char sensor_string[SENSOR_FIELDS][32]; int test_i2c_bus(int bus); //const char pythonCmd[] = "python3 -u /home/pi/CubeSatSim/python/voltcurrent.py "; -const char pythonCmd[] = "python3 -u /home/pi/CubeSatSim/ina219.py "; +const char pythonCmd[] = "/home/pi/venv/bin/python3 -u /home/pi/CubeSatSim/ina219.py "; char pythonStr[100], pythonConfigStr[100], busStr[10]; int map[8] = {0, 1, 2, 3, 4, 5, 6, 7}; char src_addr[5] = ""; @@ -200,8 +235,114 @@ int pi_zero_2_offset = 0; int hab_mode = FALSE; +int fail_rnd_mode = FALSE; int battery_saver_mode = FALSE; long int loopTime; +long int failTime = 0; +int gps_status = OFF; int error_count = 0; int groundCommandCount = 0; + + unsigned char m_RS_block[RSBLOCKS][NROOTS]; /* RS parity blocks */ + unsigned char m_encoded[SYMPBLOCK] ; /* encoded symbols */ + int m_encoded_bytes; /* Byte counter for encode_data() */ + int m_ileaver_index; /* Byte counter for interleaver */ + unsigned char m_conv_sr; /* Convolutional encoder shift register state */ + +void sensor_setup(); // defined in sensor_extension.c +int sensor_loop(char *sensor_buffer); // defined in sensor_extension.c +int pi_sensors(char *buffer); // used to read BME and MPU sensor if connected to Pi + +// from funcubeLib/common/fecConstants.h + +const unsigned char RS_poly[] = { + 249, 59, 66, 4, 43,126,251, 97, 30, 3,213, 50, 66,170, 5, 24 +}; + +/* Tables for RS decoder */ +/* Galois field log/antilog tables */ +const unsigned char ALPHA_TO[] = +{ + 0x01, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x80, 0x87, 0x89, 0x95, 0xad, 0xdd, 0x3d, 0x7a, 0xf4, + 0x6f, 0xde, 0x3b, 0x76, 0xec, 0x5f, 0xbe, 0xfb, 0x71, 0xe2, 0x43, 0x86, 0x8b, 0x91, 0xa5, 0xcd, + 0x1d, 0x3a, 0x74, 0xe8, 0x57, 0xae, 0xdb, 0x31, 0x62, 0xc4, 0x0f, 0x1e, 0x3c, 0x78, 0xf0, 0x67, + 0xce, 0x1b, 0x36, 0x6c, 0xd8, 0x37, 0x6e, 0xdc, 0x3f, 0x7e, 0xfc, 0x7f, 0xfe, 0x7b, 0xf6, 0x6b, + 0xd6, 0x2b, 0x56, 0xac, 0xdf, 0x39, 0x72, 0xe4, 0x4f, 0x9e, 0xbb, 0xf1, 0x65, 0xca, 0x13, 0x26, + 0x4c, 0x98, 0xb7, 0xe9, 0x55, 0xaa, 0xd3, 0x21, 0x42, 0x84, 0x8f, 0x99, 0xb5, 0xed, 0x5d, 0xba, + 0xf3, 0x61, 0xc2, 0x03, 0x06, 0x0c, 0x18, 0x30, 0x60, 0xc0, 0x07, 0x0e, 0x1c, 0x38, 0x70, 0xe0, + 0x47, 0x8e, 0x9b, 0xb1, 0xe5, 0x4d, 0x9a, 0xb3, 0xe1, 0x45, 0x8a, 0x93, 0xa1, 0xc5, 0x0d, 0x1a, + 0x34, 0x68, 0xd0, 0x27, 0x4e, 0x9c, 0xbf, 0xf9, 0x75, 0xea, 0x53, 0xa6, 0xcb, 0x11, 0x22, 0x44, + 0x88, 0x97, 0xa9, 0xd5, 0x2d, 0x5a, 0xb4, 0xef, 0x59, 0xb2, 0xe3, 0x41, 0x82, 0x83, 0x81, 0x85, + 0x8d, 0x9d, 0xbd, 0xfd, 0x7d, 0xfa, 0x73, 0xe6, 0x4b, 0x96, 0xab, 0xd1, 0x25, 0x4a, 0x94, 0xaf, + 0xd9, 0x35, 0x6a, 0xd4, 0x2f, 0x5e, 0xbc, 0xff, 0x79, 0xf2, 0x63, 0xc6, 0x0b, 0x16, 0x2c, 0x58, + 0xb0, 0xe7, 0x49, 0x92, 0xa3, 0xc1, 0x05, 0x0a, 0x14, 0x28, 0x50, 0xa0, 0xc7, 0x09, 0x12, 0x24, + 0x48, 0x90, 0xa7, 0xc9, 0x15, 0x2a, 0x54, 0xa8, 0xd7, 0x29, 0x52, 0xa4, 0xcf, 0x19, 0x32, 0x64, + 0xc8, 0x17, 0x2e, 0x5c, 0xb8, 0xf7, 0x69, 0xd2, 0x23, 0x46, 0x8c, 0x9f, 0xb9, 0xf5, 0x6d, 0xda, + 0x33, 0x66, 0xcc, 0x1f, 0x3e, 0x7c, 0xf8, 0x77, 0xee, 0x5b, 0xb6, 0xeb, 0x51, 0xa2, 0xc3, 0x00, +}; + +const unsigned char INDEX_OF[]= +{ + 0xff, 0x00, 0x01, 0x63, 0x02, 0xc6, 0x64, 0x6a, 0x03, 0xcd, 0xc7, 0xbc, 0x65, 0x7e, 0x6b, 0x2a, + 0x04, 0x8d, 0xce, 0x4e, 0xc8, 0xd4, 0xbd, 0xe1, 0x66, 0xdd, 0x7f, 0x31, 0x6c, 0x20, 0x2b, 0xf3, + 0x05, 0x57, 0x8e, 0xe8, 0xcf, 0xac, 0x4f, 0x83, 0xc9, 0xd9, 0xd5, 0x41, 0xbe, 0x94, 0xe2, 0xb4, + 0x67, 0x27, 0xde, 0xf0, 0x80, 0xb1, 0x32, 0x35, 0x6d, 0x45, 0x21, 0x12, 0x2c, 0x0d, 0xf4, 0x38, + 0x06, 0x9b, 0x58, 0x1a, 0x8f, 0x79, 0xe9, 0x70, 0xd0, 0xc2, 0xad, 0xa8, 0x50, 0x75, 0x84, 0x48, + 0xca, 0xfc, 0xda, 0x8a, 0xd6, 0x54, 0x42, 0x24, 0xbf, 0x98, 0x95, 0xf9, 0xe3, 0x5e, 0xb5, 0x15, + 0x68, 0x61, 0x28, 0xba, 0xdf, 0x4c, 0xf1, 0x2f, 0x81, 0xe6, 0xb2, 0x3f, 0x33, 0xee, 0x36, 0x10, + 0x6e, 0x18, 0x46, 0xa6, 0x22, 0x88, 0x13, 0xf7, 0x2d, 0xb8, 0x0e, 0x3d, 0xf5, 0xa4, 0x39, 0x3b, + 0x07, 0x9e, 0x9c, 0x9d, 0x59, 0x9f, 0x1b, 0x08, 0x90, 0x09, 0x7a, 0x1c, 0xea, 0xa0, 0x71, 0x5a, + 0xd1, 0x1d, 0xc3, 0x7b, 0xae, 0x0a, 0xa9, 0x91, 0x51, 0x5b, 0x76, 0x72, 0x85, 0xa1, 0x49, 0xeb, + 0xcb, 0x7c, 0xfd, 0xc4, 0xdb, 0x1e, 0x8b, 0xd2, 0xd7, 0x92, 0x55, 0xaa, 0x43, 0x0b, 0x25, 0xaf, + 0xc0, 0x73, 0x99, 0x77, 0x96, 0x5c, 0xfa, 0x52, 0xe4, 0xec, 0x5f, 0x4a, 0xb6, 0xa2, 0x16, 0x86, + 0x69, 0xc5, 0x62, 0xfe, 0x29, 0x7d, 0xbb, 0xcc, 0xe0, 0xd3, 0x4d, 0x8c, 0xf2, 0x1f, 0x30, 0xdc, + 0x82, 0xab, 0xe7, 0x56, 0xb3, 0x93, 0x40, 0xd8, 0x34, 0xb0, 0xef, 0x26, 0x37, 0x0c, 0x11, 0x44, + 0x6f, 0x78, 0x19, 0x9a, 0x47, 0x74, 0xa7, 0xc1, 0x23, 0x53, 0x89, 0xfb, 0x14, 0x5d, 0xf8, 0x97, + 0x2e, 0x4b, 0xb9, 0x60, 0x0f, 0xed, 0x3e, 0xe5, 0xf6, 0x87, 0xa5, 0x17, 0x3a, 0xa3, 0x3c, 0xb7, +}; + +/* 8-bit parity table */ +const unsigned char Partab[] = { + 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, + 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, + 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, + 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, + 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, + 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, + 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, + 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, + 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, + 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, + 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, + 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, + 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, + 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, + 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, + 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, +}; + +/* Scramble byte table */ +const unsigned char Scrambler[]= +{ + 0xff, 0x48, 0x0e, 0xc0, 0x9a, 0x0d, 0x70, 0xbc, 0x8e, 0x2c, 0x93, 0xad, 0xa7, 0xb7, 0x46, 0xce, + 0x5a, 0x97, 0x7d, 0xcc, 0x32, 0xa2, 0xbf, 0x3e, 0x0a, 0x10, 0xf1, 0x88, 0x94, 0xcd, 0xea, 0xb1, + 0xfe, 0x90, 0x1d, 0x81, 0x34, 0x1a, 0xe1, 0x79, 0x1c, 0x59, 0x27, 0x5b, 0x4f, 0x6e, 0x8d, 0x9c, + 0xb5, 0x2e, 0xfb, 0x98, 0x65, 0x45, 0x7e, 0x7c, 0x14, 0x21, 0xe3, 0x11, 0x29, 0x9b, 0xd5, 0x63, + 0xfd, 0x20, 0x3b, 0x02, 0x68, 0x35, 0xc2, 0xf2, 0x38, 0xb2, 0x4e, 0xb6, 0x9e, 0xdd, 0x1b, 0x39, + 0x6a, 0x5d, 0xf7, 0x30, 0xca, 0x8a, 0xfc, 0xf8, 0x28, 0x43, 0xc6, 0x22, 0x53, 0x37, 0xaa, 0xc7, + 0xfa, 0x40, 0x76, 0x04, 0xd0, 0x6b, 0x85, 0xe4, 0x71, 0x64, 0x9d, 0x6d, 0x3d, 0xba, 0x36, 0x72, + 0xd4, 0xbb, 0xee, 0x61, 0x95, 0x15, 0xf9, 0xf0, 0x50, 0x87, 0x8c, 0x44, 0xa6, 0x6f, 0x55, 0x8f, + 0xf4, 0x80, 0xec, 0x09, 0xa0, 0xd7, 0x0b, 0xc8, 0xe2, 0xc9, 0x3a, 0xda, 0x7b, 0x74, 0x6c, 0xe5, + 0xa9, 0x77, 0xdc, 0xc3, 0x2a, 0x2b, 0xf3, 0xe0, 0xa1, 0x0f, 0x18, 0x89, 0x4c, 0xde, 0xab, 0x1f, + 0xe9, 0x01, 0xd8, 0x13, 0x41, 0xae, 0x17, 0x91, 0xc5, 0x92, 0x75, 0xb4, 0xf6, 0xe8, 0xd9, 0xcb, + 0x52, 0xef, 0xb9, 0x86, 0x54, 0x57, 0xe7, 0xc1, 0x42, 0x1e, 0x31, 0x12, 0x99, 0xbd, 0x56, 0x3f, + 0xd2, 0x03, 0xb0, 0x26, 0x83, 0x5c, 0x2f, 0x23, 0x8b, 0x24, 0xeb, 0x69, 0xed, 0xd1, 0xb3, 0x96, + 0xa5, 0xdf, 0x73, 0x0c, 0xa8, 0xaf, 0xcf, 0x82, 0x84, 0x3c, 0x62, 0x25, 0x33, 0x7a, 0xac, 0x7f, + 0xa4, 0x07, 0x60, 0x4d, 0x06, 0xb8, 0x5e, 0x47, 0x16, 0x49, 0xd6, 0xd3, 0xdb, 0xa3, 0x67, 0x2d, + 0x4b, 0xbe, 0xe6, 0x19, 0x51, 0x5f, 0x9f, 0x05, 0x08, 0x78, 0xc4, 0x4a, 0x66, 0xf5, 0x58, 0xff, + 0x48, 0x0e, 0xc0, 0x9a, 0x0d, 0x70, 0xbc, 0x8e, 0x2c, 0x93, 0xad, 0xa7, 0xb7, 0x46, 0xce, 0x5a, + 0x97, 0x7d, 0xcc, 0x32, 0xa2, 0xbf, 0x3e, 0x0a, 0x10, 0xf1, 0x88, 0x94, 0xcd, 0xea, 0xb1, 0xfe, + 0x90, 0x1d, 0x81, 0x34, 0x1a, 0xe1, 0x79, 0x1c, 0x59, 0x27, 0x5b, 0x4f, 0x6e, 0x8d, 0x9c, 0xb5, + 0x2e, 0xfb, 0x98, 0x65, 0x45, 0x7e, 0x7c, 0x14, 0x21, 0xe3, 0x11, 0x29, 0x9b, 0xd5, 0x63, 0xfd, +};