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alanbjohnston 7 years ago committed by GitHub
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/*
* Transmits CubeSat Telemetry at 440MHz in AO-7 format
*
* Copyright Alan B. Johnston
*
* Portions Copyright (C) 2018 Jonathan Brandenburg
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
//#include <unistd.h> //Needed for I2C port
#include <fcntl.h> //Needed for I2C port
//#include <sys/ioctl.h> //Needed for I2C port
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include "status.h"
//#include "ax5043.h"
//#include "ax25.h"
//#include "spi/ax5043spi.h"
#include <wiringPiI2C.h>
#include <wiringPi.h>
#include <time.h>
#include "../afsk/ina219.h"
// Put your callsign here
#define CALLSIGN "KU2Y"
#define VBATT 15
#define ADC5 17
#define ADC6 18
#define ADC7 19
#define ADC8 20
#define TIME 8
#define UCTEMP 30
#define UPTIME_SEC 8
#define A 1
#define B 2
#define C 3
#define D 4
#define SENSOR_40 0
#define SENSOR_41 3
#define SENSOR_44 6
#define SENSOR_45 9
#define SENSOR_4A 12
#define VOLTAGE 0
#define CURRENT 1
#define POWER 2
#define VBATT 15
//ax5043_conf_t hax5043;
//ax25_conf_t hax25;
//static void init_rf();
//int get_tlm(int tlm[][5]);
long int timestamp;
//void config_x25();
//void trans_x25();
//long int timestamp;
int tempSensor;
//int upper_digit(int number);
//int lower_digit(int number);
int charging = 0;
uint16_t config = (0x2000 | 0x1800 | 0x0180 | 0x0018 | 0x0007 );
int x_fd; // I2C bus 0 address 0x40
int x_powerMultiplier;
int x_currentDivider;
int x_calValue;
int y_fd; // I2C bus 0 address 0x41
int z_fd; // I2C bos 0 address 0x44
int main(void) {
wiringPiSetup () ;
pinMode (0, OUTPUT) ;
//int blink;
//for (blink = 1; blink < 4 ;blink++)
// {
// digitalWrite (0, HIGH) ; delay (500) ;
// digitalWrite (0, LOW) ; delay (500) ;
// }
// digitalWrite (0, HIGH) ;
// setSpiChannel(SPI_CHANNEL);
// setSpiSpeed(SPI_SPEED);
// initializeSpi();
/* int tlm[7][5];
int i, j;
for (i = 1; i < 7; i++) {
for (j = 1; j < 5; j++) {
tlm[i][j] = 0;
}
}
timestamp = time(NULL);
*/
int file_i2c;
//char *filenam1e = (char*)"/dev/i2c-3";
if ((file_i2c = open("/dev/i2c-3", O_RDWR)) < 0)
{
fprintf(stderr,"ERROR: /dev/ic2-3 bus not present\n");
tempSensor = -1;
} else
{
tempSensor = wiringPiI2CSetupInterface("/dev/i2c-3", 0x48);
}
fprintf(stderr,"tempSensor: %d \n",tempSensor);
int arduinoI2C;
if ((arduinoI2C = open("/dev/i2c-0", O_RDWR)) < 0)
{
fprintf(stderr,"ERROR: /dev/i2c-0 bus not present\n");
} else {
arduinoI2C = wiringPiI2CSetupInterface("/dev/i2c-0", 0x4B);
fprintf(stderr,"arduinoI2C: %d\n", arduinoI2C);
if (arduinoI2C > 0) {
// for (blink = 1; blink < 20 ;blink++) {
sleep(1);
fprintf(stderr,"Arduio: %d \n", wiringPiI2CReadReg16(arduinoI2C,0));
sleep(1);
fprintf(stderr,"Arduio: %d \n", wiringPiI2CRead(arduinoI2C));
sleep(1);
printf("Arduio: %d \n", wiringPiI2CReadReg16(arduinoI2C,1));
sleep(1);
printf("Arduio: %d \n", wiringPiI2CReadReg16(arduinoI2C,2));
sleep(1);
// }
} else {
fprintf(stderr,"Arduino payload not present\n");
}
}
// new INA219 current reading code
x_calValue = 8192;
x_powerMultiplier = 1;
x_currentDivider = 20;
config = INA219_CONFIG_BVOLTAGERANGE_16V |
INA219_CONFIG_GAIN_40MV |
INA219_CONFIG_BADCRES_12BIT |
INA219_CONFIG_SADCRES_12BIT_4S_2130US |
//INA219_CONFIG_SADCRES_12BIT_1S_532US |
INA219_CONFIG_MODE_SANDBVOLT_CONTINUOUS;
if ((file_i2c = open("/dev/i2c-0", O_RDWR)) < 0)
{
fprintf(stderr,"ERROR: /dev/ic2-0 bus not present\n");
x_fd = -1;
y_fd = -1;
z_fd = -1;
} else
{
x_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x40);
fprintf(stderr,"Opening of -X fd %d\n", x_fd);
y_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x41);
printf("Opening of -Y fd %d\n", y_fd);
z_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x44);
printf("Opening of -Z fd %d\n", z_fd);
}
// int ret;
// uint8_t data[1024];
// init_rf();
/* ax25_init(&hax25, (uint8_t *) "CubeSatSim", '2', (uint8_t *) CALLSIGN, '2',
ax25_init(&hax25, (uint8_t *) "CubeSatSim", '1', (uint8_t *) CALLSIGN, '1',
AX25_PREAMBLE_LEN,
AX25_POSTAMBLE_LEN);
* Infinite loop *
for (;;) {
sleep(1);
fprintf(stderr,"INFO: Getting TLM Data\n");
get_tlm(tlm);
fprintf(stderr,"INFO: Preparing X.25 packet\n");
char str[1000];
char tlm_str[1000];
char header_str[] = "\x03\x0fhi hi ";
strcpy(str, header_str);
int channel;
for (channel = 1; channel < 7; channel++) {
// printf("%d %d %d %d \n", tlm[channel][1], tlm[channel][2], tlm[channel][3], tlm[channel][4]);
sprintf(tlm_str, "%d%d%d %d%d%d %d%d%d %d%d%d ",
channel, upper_digit(tlm[channel][1]), lower_digit(tlm[channel][1]),
channel, upper_digit(tlm[channel][2]), lower_digit(tlm[channel][2]),
channel, upper_digit(tlm[channel][3]), lower_digit(tlm[channel][3]),
channel, upper_digit(tlm[channel][4]), lower_digit(tlm[channel][4]));
printf("%s \n",tlm_str);
strcat(str, tlm_str);
}
digitalWrite (0, LOW);
*
char cmdbuffer[1000];
if (charging) {
FILE* file1 = popen("/home/pi/mopower/mpcmd LED_STAT=1", "r");
fgets(cmdbuffer, 999, file1);
pclose(file1);
// printf("LED state: %s\n", cmdbuffer);
}
*
fprintf(stderr,"INFO: Transmitting X.25 packet\n");
memcpy(data, str, strnlen(str, 256));
ret = ax25_tx_frame(&hax25, &hax5043, data, strnlen(str, 256));
if (ret) {
fprintf(stderr,
"ERROR: Failed to transmit AX.25 frame with error code %d\n",
ret);
exit(EXIT_FAILURE);
}
ax5043_wait_for_transmit();
digitalWrite (0, HIGH);
*
FILE* file2 = popen("/home/pi/mopower/mpcmd LED_STAT=0", "r");
fgets(cmdbuffer, 999, file2);
pclose(file2);
// printf("LED state: %s\n", cmdbuffer);
*
if (ret) {
fprintf(stderr,
"ERROR: Failed to transmit entire AX.25 frame with error code %d\n",
ret);
exit(EXIT_FAILURE);
}
}
return 0;
}
static void init_rf() {
int ret;
fprintf(stderr,"Initializing AX5043\n");
ret = ax5043_init(&hax5043, XTAL_FREQ_HZ, VCO_INTERNAL);
if (ret != PQWS_SUCCESS) {
fprintf(stderr,
"ERROR: Failed to initialize AX5043 with error code %d\n", ret);
exit(EXIT_FAILURE);
}
}
// Returns lower digit of a number which must be less than 99
//
int lower_digit(int number) {
int digit = 0;
if (number < 100)
digit = number - ((int)(number/10) * 10);
else
fprintf(stderr,"ERROR: Not a digit in lower_digit!\n");
return digit;
}
// Returns upper digit of a number which must be less than 99
//
int upper_digit(int number) {
int digit = 0;
if (number < 100)
digit = (int)(number/10);
else
fprintf(stderr,"ERROR: Not a digit in upper_digit!\n");
return digit;
}
int get_tlm(int tlm[][5]) {
*/
// Reading I2C voltage and current sensors
char cmdbuffer[1000];
FILE* file = popen("sudo python /home/pi/CubeSatSim/python/readcurrent.py 2>&1", "r");
fgets(cmdbuffer, 999, file);
pclose(file);
fprintf(stderr,"I2C Sensor data: %s\n", cmdbuffer);
char ina219[16][20]; // voltage, currents, and power from the INA219 current sensors x4a, x40, x41, x44, and x45.
int i = 0;
char * data2 = strtok (cmdbuffer," ");
while (data2 != NULL) {
strcpy(ina219[i], data2);
// printf ("ina219[%d]=%s\n",i,ina219[i]);
data2 = strtok (NULL, " ");
i++;
}
// Reading MoPower telemetry info
/*
file = popen("/home/pi/mopower/mpcmd show data", "r");
fgets(cmdbuffer, 999, file);
pclose(file);
// printf("MoPower data: %s\n", cmdbuffer);
char mopower[64][14];
// char str[] ="- This, a sample string.";
char * pch;
// printf ("Splitting string \"%s\" into tokens:\n",str);
// pch = strtok (str," ");
i = 0;
pch = strtok (cmdbuffer," ,.-");
while (pch != NULL)
{
strcpy(mopower[i], pch);
// printf ("mopwer[%d]=%s\n",i,mopower[i]); // pch);
pch = strtok (NULL, " ");
i++;
}
printf("Battery voltage = %s\n", mopower[16]);
if (strtof(mopower[17],NULL) > -0.5) {
charging = 1;
printf("Charging on\n");
}
else {
charging = 0;
printf("Charging off\n");
}
*/
// read i2c current sensors //
double current = 0, power = 0, y_current = 0, y_power = 0, z_current = 0, z_power = 0;
if (x_fd != -1) {
wiringPiI2CWriteReg16(x_fd, INA219_REG_CALIBRATION, x_calValue);
wiringPiI2CWriteReg16(x_fd, INA219_REG_CONFIG, config);
wiringPiI2CWriteReg16(x_fd, INA219_REG_CALIBRATION, x_calValue);
current = wiringPiI2CReadReg16(x_fd, INA219_REG_CURRENT) / x_currentDivider;
power = wiringPiI2CReadReg16(x_fd, INA219_REG_POWER) * x_powerMultiplier;
wiringPiI2CWriteReg16(y_fd, INA219_REG_CALIBRATION, x_calValue);
wiringPiI2CWriteReg16(y_fd, INA219_REG_CONFIG, config);
wiringPiI2CWriteReg16(y_fd, INA219_REG_CALIBRATION, x_calValue);
y_current = wiringPiI2CReadReg16(y_fd, INA219_REG_CURRENT) / x_currentDivider;
y_power = wiringPiI2CReadReg16(y_fd, INA219_REG_POWER) * x_powerMultiplier;
wiringPiI2CWriteReg16(z_fd, INA219_REG_CALIBRATION, x_calValue);
wiringPiI2CWriteReg16(z_fd, INA219_REG_CONFIG, config);
wiringPiI2CWriteReg16(z_fd, INA219_REG_CALIBRATION, x_calValue);
z_current = wiringPiI2CReadReg16(y_fd, INA219_REG_CURRENT) / x_currentDivider;
z_power = wiringPiI2CReadReg16(y_fd, INA219_REG_POWER) * x_powerMultiplier;
}
printf("-X 0x40 current %4.2f power %4.2f -Y 0x41 current %4.2f power %4.2f -Z 0x44 current %4.2f power %4.2f \n",
current, power, y_current, y_power, z_current, z_power);
/*
// printf("1B: ina219[%d]: %s val: %f \n", SENSOR_40 + CURRENT, ina219[SENSOR_40 + CURRENT], strtof(ina219[SENSOR_40 + CURRENT], NULL));
tlm[1][A] = (int)(strtof(ina219[SENSOR_4A + CURRENT], NULL) / 15 + 0.5) % 100; // Current of 5V supply to Pi
tlm[1][B] = (int) (99.5 - strtof(ina219[SENSOR_40 + CURRENT], NULL)/10) % 100; // +X current [4]
tlm[1][C] = (int) (99.5 - current/10) % 100; // X- current [10]
tlm[1][D] = (int) (99.5 - strtof(ina219[SENSOR_41 + CURRENT], NULL)/10) % 100; // +Y current [7]
tlm[2][A] = (int) (99.5 - y_current/10) % 100; // -Y current [10]
tlm[2][B] = (int) (99.5 - strtof(ina219[SENSOR_44 + CURRENT], NULL)/10) % 100; // +Z current [10] // was 70/2m transponder power, AO-7 didn't have a Z panel
tlm[2][C] = (int) (99.5 - z_current/10) % 100; // -Z current (was timestamp)
// tlm[2][C] = (int)((time(NULL) - timestamp) / 15) % 100;
tlm[2][D] = (int)(50.5 + strtof(ina219[SENSOR_45 + CURRENT], NULL)/10.0) % 100; // NiMH Battery current
tlm[3][A] = abs((int)((strtof(ina219[SENSOR_45 + VOLTAGE], NULL) * 10) - 65.5) % 100);
tlm[3][B] = (int)(strtof(ina219[SENSOR_4A + VOLTAGE], NULL) * 10.0) % 100; // 5V supply to Pi
if (tempSensor != -1) {
int tempValue = wiringPiI2CReadReg16(tempSensor, 0);
// printf("Read: %x\n", tempValue);
uint8_t upper = (uint8_t) (tempValue >> 8);
uint8_t lower = (uint8_t) (tempValue & 0xff);
float temp = (float)lower + ((float)upper / 0x100);
tlm[4][A] = (int)((95.8 - temp)/1.48 + 0.5) % 100;
}
tlm[6][B] = 0 ;
tlm[6][D] = 49 + rand() % 3;
// Display tlm
int k, j;
for (k = 1; k < 7; k++) {
for (j = 1; j < 5; j++) {
printf(" %2d ", tlm[k][j]);
}
printf("\n");
}
return 0;
*/
}
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