@ -86,8 +86,8 @@ ax25_conf_t hax25;
int twosToInt ( int val , int len ) ;
float rnd_float ( double min , double max ) ;
int get_tlm ( void ) ;
int get_tlm_fox ( ) ;
void get_tlm ( ) ;
void get_tlm_fox ( ) ;
int encodeA ( short int * b , int index , int val ) ;
int encodeB ( short int * b , int index , int val ) ;
void config_x25 ( ) ;
@ -138,11 +138,11 @@ int sampleTime = 0, 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 ;
float latitude = 39.027702 , longitude = - 77.078064 ;
float latitude = 39.027702 f , longitude = - 77.078064 f ;
float lat_file , long_file ;
float axis [ 3 ] , angle [ 3 ] , volts_max [ 3 ] , amps_max [ 3 ] , batt , speed , period , tempS , temp_max , temp_min
int eclipse, i2c_bus0 = OFF , i2c_bus1 = OFF , i2c_bus3 = OFF , camera = OFF , sim_mode = FALSE , rxAntennaDeployed = 0 , txAntennaDeployed = 0 ;
float axis [ 3 ] , angle [ 3 ] , volts_max [ 3 ] , amps_max [ 3 ] , batt , speed , period , tempS , temp_max , temp_min , eclipse ;
int = OFF , i2c_bus1 = OFF , i2c_bus3 = OFF , camera = OFF , sim_mode = FALSE , rxAntennaDeployed = 0 , txAntennaDeployed = 0 ;
double eclipse_time ;
int test_i2c_bus ( int bus ) ;
@ -199,7 +199,7 @@ int main(int argc, char * argv[]) {
config_file = fopen ( " /home/pi/CubeSatSim/sim.cfg " , " r " ) ;
}
//
fscanf ( config_file , " %s %d %f %f " , call , & reset_count , & lat_file , & long_file ) ;
fclose ( config_file ) ;
printf ( " Config file /home/pi/CubeSatSim/sim.cfg contains %s %d %f %f \n " , call , reset_count , lat_file , long_file ) ;
@ -356,11 +356,11 @@ int main(int argc, char * argv[]) {
if ( ( uart_fd = serialOpen ( " /dev/ttyAMA0 " , 9600 ) ) > = 0 ) {
char c ;
int charss = serialDataAvail ( uart_fd ) ;
int charss = ( char ) serialDataAvail ( uart_fd ) ;
if ( charss ! = 0 )
printf ( " Clearing buffer of %d chars \n " , charss ) ;
while ( ( charss - - > 0 ) )
c = serialGetchar ( uart_fd ) ; // clear buffer
c = ( char ) serialGetchar ( uart_fd ) ; // clear buffer
unsigned int waitTime ;
int i ;
@ -370,10 +370,10 @@ int main(int argc, char * argv[]) {
waitTime = millis ( ) + 500 ;
while ( ( millis ( ) < waitTime ) & & ( payload ! = ON ) ) {
if ( serialDataAvail ( uart_fd ) ) {
printf ( " %c " , c = serialGetchar ( uart_fd ) ) ;
printf ( " %c " , c = ( char ) serialGetchar ( uart_fd ) ) ;
fflush ( stdout ) ;
if ( c = = ' O ' ) {
printf ( " %c " , c = serialGetchar ( uart_fd ) ) ;
printf ( " %c " , c = ( char ) serialGetchar ( uart_fd ) ) ;
fflush ( stdout ) ;
if ( c = = ' K ' )
payload = ON ;
@ -401,9 +401,9 @@ int main(int argc, char * argv[]) {
FILE * file4 = popen ( " vcgencmd get_camera " , " r " ) ;
fgets ( cmdbuffer1 , 1000 , file4 ) ;
char camera_present [ ] = " supported=1 detected=1 " ;
printf ( " strstr: %s \n " , strstr ( & cmdbuffer1 , camera_present ) ) ;
camera = ( strstr ( & cmdbuffer1 , camera_present ) ! = NULL ) ? ON : OFF ;
printf ( " Camera result:%s camera: %d \n " , & cmdbuffer1 , camera ) ;
// printf("strstr: %s \n", strstr( & cmdbuffer1, camera_present));
camera = ( strstr ( ( const char * ) & cmdbuffer1 , camera_present ) ! = NULL ) ? ON : OFF ;
// printf("Camera result:%s camera: %d \n", & cmdbuffer1, camera);
pclose ( file4 ) ;
# ifdef DEBUG_LOGGING
@ -416,7 +416,7 @@ int main(int argc, char * argv[]) {
printf ( " Simulated telemetry mode! \n " ) ;
srand ( time ( 0 ) ) ;
srand ( ( unsigned int ) time ( 0 ) ) ;
axis [ 0 ] = rnd_float ( - 0.2 , 0.2 ) ;
if ( axis [ 0 ] = = 0 )
@ -440,7 +440,7 @@ int main(int argc, char * argv[]) {
batt = rnd_float ( 3.8 , 4.3 ) ;
speed = rnd_float ( 1.0 , 2.5 ) ;
eclipse = ( rnd_float ( - 1 , + 4 ) > 0 ) ? 1 : ;
eclipse = ( rnd_float ( - 1 , + 4 ) > 0 ) ? 1.0 : 0. ;
period = rnd_float ( 150 , 300 ) ;
tempS = rnd_float ( 20 , 55 ) ;
temp_max = rnd_float ( 50 , 70 ) ;
@ -449,17 +449,17 @@ int main(int argc, char * argv[]) {
# ifdef DEBUG_LOGGING
for ( int i = 0 ; i < 3 ; i + + )
printf ( " axis: %f angle: %f v: %f i: %f \n " , axis [ i ] , angle [ i ] , volts_max [ i ] , amps_max [ i ] ) ;
printf ( " batt: %f speed: %f eclipse_time: %f eclipse: % d period: %f temp: %f max: %f min: %f\n " , batt , speed , eclipse_time , eclipse , period , tempS , temp_max , temp_min ) ;
printf ( " batt: %f speed: %f eclipse_time: %f eclipse: % f period: %f temp: %f max: %f min: %f\n " , batt , speed , eclipse_time , eclipse , period , tempS , temp_max , temp_min ) ;
# endif
time_start = millis ( ) ;
time_start = ( long int ) millis ( ) ;
eclipse_time = millis ( ) / 1000.0 ;
if ( eclipse = = )
eclipse_time = ( long int ) ( millis ( ) / 1000.0 ) ;
if ( eclipse = = 0. )
eclipse_time - = period / 2 ; // if starting in eclipse, shorten interval
}
int ret ;
//int ret;
//uint8_t data[1024];
tx_freq_hz - = tx_channel * 50000 ;
@ -527,8 +527,8 @@ int main(int argc, char * argv[]) {
samples = S_RATE / bitRate ;
bufLen = ( frameCnt * ( syncBits + 10 * ( headerLen + rsFrames * ( rsFrameLen + parityLen ) ) ) * samples ) ;
samplePeriod = ( ( float ) ( ( syncBits + 10 * ( headerLen + rsFrames * ( rsFrameLen + parityLen ) ) ) ) / ( float ) bitRate ) * 1000 - 500 ;
sleepTime = 0.1 ;
samplePeriod = ( int ) ( ( ( float ) ( ( syncBits + 10 * ( headerLen + rsFrames * ( rsFrameLen + parityLen ) ) ) ) / ( float ) bitRate ) * 1000 - 500 ) ;
sleepTime = 0.1 f ;
printf ( " \n FSK Mode, %d bits per frame, %d bits per second, %d ms sample period \n " ,
bufLen / ( samples * frameCnt ) , bitRate , samplePeriod ) ;
@ -550,7 +550,7 @@ int main(int argc, char * argv[]) {
// samplePeriod = 3000;
// sleepTime = 3.0;
samplePeriod = 2200 ; // reduce dut to python and sensor querying delays
sleepTime = 2.2 ;
sleepTime = 2.2 f ;
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 ) ;
@ -580,7 +580,7 @@ int main(int argc, char * argv[]) {
printf ( " Tx LED On \n " ) ;
# endif
printf ( " Sleeping to allow BPSK transmission to finish. \n " ) ;
sleep ( loop_count * 5 ) ;
sleep ( ( unsigned int ) ( loop_count * 5 ) ) ;
printf ( " Done sleeping \n " ) ;
digitalWrite ( txLed , txLedOff ) ;
# ifdef DEBUG_LOGGING
@ -588,7 +588,7 @@ int main(int argc, char * argv[]) {
# endif
} else if ( mode = = FSK ) {
printf ( " Sleeping to allow FSK transmission to finish. \n " ) ;
sleep ( loop_count ) ;
sleep ( ( unsigned int ) loop_count ) ;
printf ( " Done sleeping \n " ) ;
}
@ -634,7 +634,7 @@ static int init_rf() {
return ( 1 ) ;
}
int get_tlm ( void ) {
void get_tlm ( void ) {
FILE * txResult ;
@ -667,15 +667,15 @@ int get_tlm(void) {
for ( count1 = 0 ; count1 < 8 ; count1 + + ) {
if ( token ! = NULL ) {
voltage [ count1 ] = atof ( token ) ;
voltage [ count1 ] = ( float ) atof ( token ) ;
# ifdef DEBUG_LOGGING
// printf("voltage: %f ", voltage[count1]);
# endif
token = strtok ( NULL , space ) ;
if ( token ! = NULL ) {
current [ count1 ] = atof ( token ) ;
current [ count1 ] = ( float ) atof ( token ) ;
if ( ( current [ count1 ] < 0 ) & & ( current [ count1 ] > - 0.5 ) )
current [ count1 ] * = ( - 1.0 ) ;
current [ count1 ] * = ( - 1 ) ;
# ifdef DEBUG_LOGGING
// printf("current: %f\n", current[count1]);
# endif
@ -703,10 +703,10 @@ int get_tlm(void) {
if ( sim_mode ) {
// simulated telemetry
double time = ( millis ( ) - time_start ) / 1000.0 ;
double time = ( ( long int ) millis ( ) - time_start ) / 1000.0 ;
if ( ( time - eclipse_time ) > period ) {
eclipse = ( eclipse = = 1 ) ? 0 : 1 ;
eclipse = ( eclipse = = 1 ) ? 0.0 : 1.0 ;
eclipse_time = time ;
printf ( " \n \n Switching eclipse mode! \n \n " ) ;
}
@ -716,6 +716,7 @@ int get_tlm(void) {
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 ] * 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 ) ) + rnd_float ( - 2 , 2 ) ;
double Zi = eclipse * amps_max [ 2 ] * sin ( ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) + 3.14 + angle [ 2 ] ) + rnd_float ( - 2 , 2 ) ;
@ -723,26 +724,34 @@ int get_tlm(void) {
double Xv = eclipse * volts_max [ 0 ] * sin ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) + rnd_float ( - 0.2 , 0.2 ) ;
double Yv = eclipse * volts_max [ 1 ] * 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 ] * sin ( ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) + 3.14 + angle [ 2 ] ) + rnd_float ( - 0.2 , 0.2 ) ;
*/
float Xi = eclipse * amps_max [ 0 ] * ( float ) sin ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) + rnd_float ( - 2 , 2 ) ;
float Yi = eclipse * amps_max [ 1 ] * ( float ) sin ( ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) + ( 3.14 / 2.0 ) ) + rnd_float ( - 2 , 2 ) ;
float Zi = eclipse * amps_max [ 2 ] * ( float ) sin ( ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) + 3.14 + angle [ 2 ] ) + rnd_float ( - 2 , 2 ) ;
float Xv = eclipse * volts_max [ 0 ] * ( float ) sin ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) + rnd_float ( - 0.2 , 0.2 ) ;
float 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 ) ;
float 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 : ( ( - 1.0 ) * Xi ) ;
current [ map [ MINUS_X ] ] = ( Xi > = 0 ) ? 0 : ( ( - 1.0 f ) * Xi ) ;
current [ map [ PLUS_Y ] ] = ( Yi > = 0 ) ? Yi : 0 ;
current [ map [ MINUS_Y ] ] = ( Yi > = 0 ) ? 0 : ( ( - 1.0 ) * Yi ) ;
current [ map [ MINUS_Y ] ] = ( Yi > = 0 ) ? 0 : ( ( - 1.0 f ) * Yi ) ;
current [ map [ PLUS_Z ] ] = ( Zi > = 0 ) ? Zi : 0 ;
current [ map [ MINUS_Z ] ] = ( Zi > = 0 ) ? 0 : ( ( - 1.0 ) * Zi ) ;
current [ map [ MINUS_Z ] ] = ( Zi > = 0 ) ? 0 : ( ( - 1.0 f ) * Zi ) ;
voltage [ map [ PLUS_X ] ] = ( Xv > = 1 ) ? Xv : rnd_float ( 0.9 , 1.1 ) ;
voltage [ map [ MINUS_X ] ] = ( Xv < = - 1 ) ? ( ( - 1.0 ) * Xv ) : rnd_float ( 0.9 , 1.1 ) ;
voltage [ map [ MINUS_X ] ] = ( Xv < = - 1 ) ? ( ( - 1.0 f ) * 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 ) ? ( ( - 1.0 ) * Yv ) : rnd_float ( 0.9 , 1.1 ) ;
voltage [ map [ MINUS_Y ] ] = ( Yv < = - 1 ) ? ( ( - 1.0 f ) * 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 ) ? ( ( - 1.0 ) * Zv ) : rnd_float ( 0.9 , 1.1 ) ;
voltage [ map [ MINUS_Z ] ] = ( Zv < = - 1 ) ? ( ( - 1.0 f ) * 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 ) / 50.0 ) : ( ( temp_min - tempS ) / 50.0 ) ;
tempS + = ( eclipse > 0 ) ? ( ( temp_max - tempS ) / 50.0 ) : ( ( temp_min - tempS ) / 50.0 f ) ;
cpuTemp = tempS + rnd_float ( - 1.0 , 1.0 ) ;
voltage [ map [ BUS ] ] = rnd_float ( 5.0 , 5.005 ) ;
@ -751,7 +760,7 @@ int get_tlm(void) {
// 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 * 1.0 ) ) - charging ;
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]]);
@ -864,11 +873,11 @@ int get_tlm(void) {
if ( payload = = ON ) {
char c ;
int charss = serialDataAvail ( uart_fd ) ;
int charss = ( char ) serialDataAvail ( uart_fd ) ;
if ( charss ! = 0 )
printf ( " Clearing buffer of %d chars \n " , charss ) ;
while ( ( charss - - > 0 ) )
c = serialGetchar ( uart_fd ) ; // clear buffer
c = ( char ) serialGetchar ( uart_fd ) ; // clear buffer
unsigned int waitTime ;
int i = 0 ;
@ -878,9 +887,9 @@ int get_tlm(void) {
waitTime = millis ( ) + 500 ;
int end = FALSE ;
while ( ( millis ( ) < waitTime ) & & ! end ) {
int chars = serialDataAvail ( uart_fd ) ;
int chars = ( char ) serialDataAvail ( uart_fd ) ;
while ( ( chars - - > 0 ) & & ! end ) {
c = serialGetchar ( uart_fd ) ;
c = ( char ) serialGetchar ( uart_fd ) ;
// printf ("%c", c);
// fflush(stdout);
if ( c ! = ' \n ' ) {
@ -968,7 +977,7 @@ int get_tlm(void) {
return ;
}
int get_tlm_fox ( ) {
void get_tlm_fox ( ) {
// Reading I2C voltage and current sensors
@ -984,7 +993,7 @@ int get_tlm_fox() {
// long int sync = SYNC_WORD;
long int sync = syncWord ;
smaller = S_RATE / ( 2 * freq_Hz ) ;
smaller = ( int ) ( S_RATE / ( 2 * freq_Hz ) ) ;
// short int b[DATA_LEN];
short int b [ dataLen ] ;
@ -1003,7 +1012,7 @@ int get_tlm_fox() {
short int rs_frame [ rsFrames ] [ 223 ] ;
unsigned char parities [ rsFrames ] [ parityLen ] , inputByte ;
int id , frm_type = 0x01 , TxTemp = 0 , IHUcpuTemp = 0 , STEMBoardFailure = 1 , NormalModeFailure = 0 , groundCommandCount = 0 ;
int id , frm_type = 0x01 , = 1 , NormalModeFailure = 0 , groundCommandCount = 0 ;
int PayloadFailure1 = 0 , PayloadFailure2 = 0 ;
int PSUVoltage = 0 , PSUCurrent = 0 , Resets = 0 , Rssi = 2048 ;
int batt_a_v = 0 , batt_b_v = 0 , batt_c_v = 0 , battCurr = 0 ;
@ -1012,16 +1021,16 @@ int get_tlm_fox() {
int head_offset = 0 ;
// 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
int xAngularVelocity = 2048 , yAngularVelocity = 2048 , zAngularVelocity = 2048 ;
int RXTemperature = 0 , temp = 0 , spin = 0 ; ;
float xAccel = 0.0 , yAccel = 0.0 , zAccel = 0.0 ;
float BME280pressure = 0.0 , BME280altitude = 0.0 , BME280humidity = 0.0 , BME280temperature = 0.0 ;
float XSsensor1 = 0.0 , XSsensor2 = 0.0 , XSsensor3 = 0.0 ;
int sensor1 = 0 , sensor2 = 2048 , sensor3 = 2048 ;
// int xAngularVelocity = 2048, yAngularVelocity = 2048, zAngularVelocity = 2048;
// int RXTemperature = 0, temp = 0, spin = 0;;
// float xAccel = 0.0, yAccel = 0.0, zAccel = 0.0;
// float BME280pressure = 0.0, BME280altitude = 0.0, BME280humidity = 0.0, BME280temperature = 0.0;
// float XSsensor1 = 0.0, XSsensor2 = 0.0, XSsensor3 = 0.0;
// int sensor1 = 0, sensor2 = 2048, sensor3 = 2048;
short int buffer_test [ bufLen ] ;
int buffSize ;
buffSize = sizeof ( buffer_test ) ;
buffSize = ( int ) sizeof ( buffer_test ) ;
if ( mode = = FSK )
id = 7 ;
@ -1038,16 +1047,16 @@ int get_tlm_fox() {
printf ( " Tx LED On \n " ) ;
# endif
while ( ( millis ( ) - sampleTime ) < samplePeriod )
sleep ( sleepTime ) ;
while ( ( millis ( ) - sampleTime ) < ( unsigned int ) samplePeriod )
sleep ( ( unsigned int ) sleepTime ) ;
digitalWrite ( txLed , txLedOff ) ;
# ifdef DEBUG_LOGGING
printf ( " Tx LED Off \n " ) ;
# endif
printf ( " Sample period: %d \n " , millis ( ) - sampleTime ) ;
sampleTime = millis ( ) ;
printf ( " Sample period: %d \n " , millis ( ) - ( unsigned int ) sampleTime ) ;
sampleTime = ( int ) millis ( ) ;
} else
printf ( " first time - no sleep \n " ) ;
@ -1071,15 +1080,15 @@ int get_tlm_fox() {
for ( count1 = 0 ; count1 < 8 ; count1 + + ) {
if ( token ! = NULL ) {
voltage [ count1 ] = atof ( token ) ;
voltage [ count1 ] = ( float ) atof ( token ) ;
# ifdef DEBUG_LOGGING
// printf("voltage: %f ", voltage[count1]);
# endif
token = strtok ( NULL , space ) ;
if ( token ! = NULL ) {
current [ count1 ] = atof ( token ) ;
current [ count1 ] = ( float ) atof ( token ) ;
if ( ( current [ count1 ] < 0 ) & & ( current [ count1 ] > - 0.5 ) )
current [ count1 ] * = ( - 1.0 ) ;
current [ count1 ] * = ( - 1.0 f ) ;
# ifdef DEBUG_LOGGING
// printf("current: %f\n", current[count1]);
# endif
@ -1107,7 +1116,7 @@ int get_tlm_fox() {
printf ( " CPU Temp Read: %6.1f \n " , cpuTemp ) ;
# endif
other [ IHU_TEMP ] = cpuTemp ;
other [ IHU_TEMP ] = ( double ) cpuTemp ;
// IHUcpuTemp = (int)((cpuTemp * 10.0) + 0.5);
}
@ -1119,11 +1128,11 @@ int get_tlm_fox() {
STEMBoardFailure = 0 ;
char c ;
int charss = serialDataAvail ( uart_fd ) ;
int charss = ( char ) serialDataAvail ( uart_fd ) ;
if ( charss ! = 0 )
printf ( " Clearing buffer of %d chars \n " , charss ) ;
while ( ( charss - - > 0 ) )
c = serialGetchar ( uart_fd ) ; // clear buffer
c = ( char ) serialGetchar ( uart_fd ) ; // clear buffer
unsigned int waitTime ;
int i = 0 ;
@ -1133,9 +1142,9 @@ int get_tlm_fox() {
int end = FALSE ;
// int retry = FALSE;
while ( ( millis ( ) < waitTime ) & & ! end ) {
int chars = serialDataAvail ( uart_fd ) ;
int chars = ( char ) serialDataAvail ( uart_fd ) ;
while ( ( chars - - > 0 ) & & ! end ) {
c = serialGetchar ( uart_fd ) ;
c = ( char ) serialGetchar ( uart_fd ) ;
// printf ("%c", c);
// fflush(stdout);
if ( c ! = ' \n ' ) {
@ -1165,7 +1174,7 @@ int get_tlm_fox() {
token = strtok ( sensor_payload , space ) ;
for ( count1 = 0 ; count1 < 17 ; count1 + + ) {
if ( token ! = NULL ) {
sensor [ count1 ] = atof ( token ) ;
sensor [ count1 ] = ( float ) atof ( token ) ;
# ifdef DEBUG_LOGGING
printf ( " sensor: %f " , sensor [ count1 ] ) ;
# endif
@ -1181,7 +1190,7 @@ int get_tlm_fox() {
if ( sim_mode ) {
// simulated telemetry
double time = ( millis ( ) - time_start ) / 1000.0 ;
double time = ( ( long int ) millis ( ) - time_start ) / 1000.0 ;
if ( ( time - eclipse_time ) > period ) {
eclipse = ( eclipse = = 1 ) ? 0 : 1 ;
@ -1194,33 +1203,33 @@ int get_tlm_fox() {
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 ] * 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 ) ) + rnd_float ( - 2 , 2 ) ;
double Zi = eclipse * amps_max [ 2 ] * 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 ] * sin ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) + rnd_float ( - 0.2 , 0.2 ) ;
double Yv = eclipse * volts_max [ 1 ] * 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 ] * sin ( ( 2.0 * 3.14 * time / ( 46.0 * speed ) ) + 3.14 + angle [ 2 ] ) + rnd_float ( - 0.2 , 0.2 ) ;
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 : ( ( - 1.0 ) * Xi ) ;
current [ map [ MINUS_X ] ] = ( Xi > = 0 ) ? 0 : ( ( - 1.0 f ) * Xi ) ;
current [ map [ PLUS_Y ] ] = ( Yi > = 0 ) ? Yi : 0 ;
current [ map [ MINUS_Y ] ] = ( Yi > = 0 ) ? 0 : ( ( - 1.0 ) * Yi ) ;
current [ map [ MINUS_Y ] ] = ( Yi > = 0 ) ? 0 : ( ( - 1.0 f ) * Yi ) ;
current [ map [ PLUS_Z ] ] = ( Zi > = 0 ) ? Zi : 0 ;
current [ map [ MINUS_Z ] ] = ( Zi > = 0 ) ? 0 : ( ( - 1.0 ) * Zi ) ;
current [ map [ MINUS_Z ] ] = ( Zi > = 0 ) ? 0 : ( ( - 1.0 f ) * Zi ) ;
voltage [ map [ PLUS_X ] ] = ( Xv > = 1 ) ? Xv : rnd_float ( 0.9 , 1.1 ) ;
voltage [ map [ MINUS_X ] ] = ( Xv < = - 1 ) ? ( ( - 1.0 ) * Xv ) : rnd_float ( 0.9 , 1.1 ) ;
voltage [ map [ MINUS_X ] ] = ( Xv < = - 1 ) ? ( ( - 1.0 f ) * 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 ) ? ( ( - 1.0 ) * Yv ) : rnd_float ( 0.9 , 1.1 ) ;
voltage [ map [ MINUS_Y ] ] = ( Yv < = - 1 ) ? ( ( - 1.0 f ) * 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 ) ? ( ( - 1.0 ) * Zv ) : rnd_float ( 0.9 , 1.1 ) ;
voltage [ map [ MINUS_Z ] ] = ( Zv < = - 1 ) ? ( ( - 1.0 f ) * 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 ) / 50.0 ) : ( ( temp_min - tempS ) / 50.0 ) ;
tempS + = ( eclipse > 0 ) ? ( ( temp_max - tempS ) / 50.0 f ) : ( ( temp_min - tempS ) / 50.0 f ) ;
tempS + = + rnd_float ( - 1.0 , 1.0 ) ;
// IHUcpuTemp = (int)((tempS + rnd_float(-1.0, 1.0)) * 10 + 0.5);
other [ IHU_TEMP ] = tempS ;
@ -1231,7 +1240,7 @@ int get_tlm_fox() {
// 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 * 1.0 ) ) - charging ;
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]]);
@ -1285,6 +1294,7 @@ int get_tlm_fox() {
printf ( " Other min %f max %f \n " , other_min [ count1 ] , other_max [ count1 ] ) ;
}
if ( mode = = FSK ) {
if ( loop % 8 = = 0 ) {
printf ( " Sending MIN frame \n " ) ;
frm_type = 0x03 ;
@ -1313,7 +1323,7 @@ int get_tlm_fox() {
sensor [ count1 ] = sensor_max [ count1 ] ;
}
}
}
memset ( rs_frame , 0 , sizeof ( rs_frame ) ) ;
memset ( parities , 0 , sizeof ( parities ) ) ;
@ -1323,20 +1333,20 @@ int get_tlm_fox() {
fclose ( uptime_file ) ;
printf ( " Reset Count: %d Uptime since Reset: %ld \n " , reset_count , uptime ) ;
h [ 0 ] = ( h [ 0 ] & 0xf8 ) | ( id & 0x07 ) ; // 3 bits
h [ 0 ] = ( short int ) ( ( h [ 0 ] & 0xf8 ) | ( id & 0x07 ) ) ; // 3 bits
// printf("h[0] %x\n", h[0]);
h [ 0 ] = ( h [ 0 ] & 0x07 ) | ( ( reset_count & 0x1f ) < < 3 ) ;
h [ 0 ] = ( short int ) ( ( h [ 0 ] & 0x07 ) | ( ( reset_count & 0x1f ) < < 3 ) ) ;
// printf("h[0] %x\n", h[0]);
h [ 1 ] = ( reset_count > > 5 ) & 0xff ;
h [ 1 ] = ( short int ) ( ( reset_count > > 5 ) & 0xff ) ;
// printf("h[1] %x\n", h[1]);
h [ 2 ] = ( h [ 2 ] & 0xf8 ) | ( ( reset_count > > 13 ) & 0x07 ) ;
h [ 2 ] = ( short int ) ( ( h [ 2 ] & 0xf8 ) | ( ( reset_count > > 13 ) & 0x07 ) ) ;
// printf("h[2] %x\n", h[2]);
h [ 2 ] = ( h [ 2 ] & 0x0e ) | ( ( uptime & 0x1f ) < < 3 ) ;
h [ 2 ] = ( short int ) ( ( h [ 2 ] & 0x0e ) | ( ( uptime & 0x1f ) < < 3 ) ) ;
// printf("h[2] %x\n", h[2]);
h [ 3 ] = ( uptime > > 5 ) & 0xff ;
h [ 4 ] = ( uptime > > 13 ) & 0xff ;
h [ 5 ] = ( h [ 5 ] & 0xf0 ) | ( ( uptime > > 21 ) & 0x0f ) ;
h [ 5 ] = ( h [ 5 ] & 0x0f ) | ( frm_type < < 4 ) ;
h [ 3 ] = ( short int ) ( ( uptime > > 5 ) & 0xff ) ;
h [ 4 ] = ( short int ) ( ( uptime > > 13 ) & 0xff ) ;
h [ 5 ] = ( short int ) ( ( h [ 5 ] & 0xf0 ) | ( ( uptime > > 21 ) & 0x0f ) ) ;
h [ 5 ] = ( short int ) ( ( h [ 5 ] & 0x0f ) | ( frm_type < < 4 ) ) ;
if ( mode = = BPSK )
h [ 6 ] = 99 ;
@ -1419,7 +1429,7 @@ int get_tlm_fox() {
encodeA ( b , 30 + head_offset , PSUVoltage ) ;
// encodeB(b, 31 + head_offset,(spin * 10) + 2048);
encodeB ( b , 31 + head_offset , ( other [ SPIN ] * 10 ) + 2048 ) ;
encodeB ( b , 31 + head_offset , ( ( int ) ( other [ SPIN ] * 10 ) ) + 2048 ) ;
// encodeA(b, 33 + head_offset,(int)(BME280pressure + 0.5)); // Pressure
// encodeB(b, 34 + head_offset,(int)(BME280altitude + 0.5)); // Altitude
@ -1465,6 +1475,11 @@ int get_tlm_fox() {
txAntennaDeployed = 1 ;
printf ( " TX Antenna Deployed! \n " ) ;
}
if ( mode = = BPSK ) { // WOD field experiments
encodeA ( b , 63 + head_offset , 0xff ) ;
encodeB ( b , 74 + head_offset , 0xff ) ;
}
short int data10 [ headerLen + rsFrames * ( rsFrameLen + parityLen ) ] ;
short int data8 [ headerLen + rsFrames * ( rsFrameLen + parityLen ) ] ;
@ -1533,7 +1548,7 @@ int get_tlm_fox() {
int data ;
int val ;
int offset = 0 ;
//int offset = 0;
# ifdef DEBUG_LOGGING
// printf("\nAt start of buffer loop, syncBits %d samples %d ctr %d\n", syncBits, samples, ctr);
@ -1598,7 +1613,7 @@ int get_tlm_fox() {
# endif
int error = 0 ;
int count ;
// int count;
// for (count = 0; count < dataLen; count++) {
// printf("%02X", b[count]);
// }
@ -1608,8 +1623,8 @@ int get_tlm_fox() {
if ( ! socket_open & & transmit ) {
printf ( " Opening socket! \n " ) ;
//
//
struct sockaddr_in serv_addr ;
// char *hello = "Hello from client";
// char buffer[1024] = {0};
@ -1642,10 +1657,10 @@ int get_tlm_fox() {
if ( ! error & & transmit ) {
// digitalWrite (0, LOW);
printf ( " Sending %d buffer bytes over socket after %d ms! \n " , ctr , millis ( ) - start ) ;
printf ( " Sending %d buffer bytes over socket after %d ms! \n " , ctr , ( long unsigned int ) millis ( ) - start ) ;
start = millis ( ) ;
int sock_ret = send ( sock , buffer , ctr * 2 + 2 , 0 ) ;
printf ( " Millis5: %d Result of socket send: %d \n " , millis ( ) - start , sock_ret ) ;
int sock_ret = send ( sock , buffer , ( unsigned int ) ( ctr * 2 + 2 ) , 0 ) ;
printf ( " Millis5: %d Result of socket send: %d \n " , ( unsigned int ) millis ( ) - start , sock_ret ) ;
if ( sock_ret < ( ctr * 2 + 2 ) ) {
printf ( " Not resending \n " ) ;
@ -1670,7 +1685,7 @@ int get_tlm_fox() {
else if ( frames_sent > 0 ) //5)
firstTime = 0 ;
return 0 ;
return ;
}
/*
* TelemEncoding . h
@ -1693,8 +1708,8 @@ int get_tlm_fox() {
//static int encodeB(short int *b, int index, int val);
//static int encodeA(short int *b, int index, int val);
//
//
/*
* TelemEncoding . c
@ -1865,16 +1880,16 @@ void write_wave(int i, short int *buffer)
if ( mode = = FSK )
{
if ( ( ctr - flip_ctr ) < smaller )
buffer [ ctr + + ] = 0.1 * phase * ( ctr - flip_ctr ) / smaller ;
buffer [ ctr + + ] = ( short int ) ( 0.1 * phase * ( ctr - flip_ctr ) / smaller ) ;
else
buffer [ ctr + + ] = 0.25 * amplitude * phase ;
buffer [ ctr + + ] = ( short int ) ( 0.25 * amplitude * phase ) ;
}
else
{
if ( ( ctr - flip_ctr ) < smaller )
buffer [ ctr + + ] = ( ) ( 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 ) ) ) ;
else
buffer [ ctr + + ] = ( ) ( amplitude * 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 ) ) ) ;
}
// printf("%d %d \n", i, buffer[ctr - 1]);
@ -1883,13 +1898,13 @@ void write_wave(int i, short int *buffer)
int encodeA ( short int * b , int index , int val ) {
// printf("Encoding A\n");
b [ index ] = val & 0xff ;
b [ index + 1 ] = ( b [ index + 1 ] & 0xf0 ) | ( ( val > > 8 ) & 0x0f ) ;
b [ index + 1 ] = ( short int ) ( ( b [ index + 1 ] & 0xf0 ) | ( ( val > > 8 ) & 0x0f ) ) ;
return 0 ;
}
int encodeB ( short int * b , int index , int val ) {
// printf("Encoding B\n");
b [ index ] = ( b [ index ] & 0x0f ) | ( ( val < < 4 ) & 0xf0 ) ;
b [ index ] = ( short int ) ( ( b [ index ] & 0x0f ) | ( ( val < < 4 ) & 0xf0 ) ) ;
b [ index + 1 ] = ( val > > 4 ) & 0xff ;
return 0 ;
}
alanbjohnston
5 years ago
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