diff --git a/afsk/main.c b/afsk/main.c index 5349390a..f21e49cc 100644 --- a/afsk/main.c +++ b/afsk/main.c @@ -18,10 +18,9 @@ * along with this program. If not, see . */ -#include +#include #include #include - #include #include #include "status.h" @@ -34,10 +33,10 @@ #include #include #include "TelemEncoding.h" -#include -#include -#include -#include +#include +#include +#include +#include #include #include @@ -75,7 +74,7 @@ #define IHU_TEMP 2 #define SPIN 1 -#define OFF -1 +#define OFF - 1 #define ON 1 uint32_t tx_freq_hz = 434900000 + FREQUENCY_OFFSET; @@ -89,8 +88,8 @@ int twosToInt(int val, int len); float rnd_float(double min, double max); int get_tlm(void); int get_tlm_fox(); -int encodeA(short int *b, int index, int val); -int encodeB(short int *b, int index, int val); +int encodeA(short int * b, int index, int val); +int encodeB(short int * b, int index, int val); void config_x25(); void trans_x25(); int upper_digit(int number); @@ -104,9 +103,9 @@ long start; int testCount = 0; long time_start; -short int buffer[2336400]; // max size for 10 frames count of BPSK +short int buffer[2336400]; // max size for 10 frames count of BPSK -#define S_RATE (48000) // (44100) +#define S_RATE(48000) // (44100) #define AFSK 1 #define FSK 2 @@ -116,24 +115,24 @@ short int buffer[2336400]; // max size for 10 frames count of BPSK int rpitxStatus = -1; float amplitude; // = ; // 20000; // 32767/(10%amp+5%amp+100%amp) -float freq_Hz = 3000; // 1200 - +float freq_Hz = 3000; // 1200 + int smaller; int flip_ctr = 0; int phase = 1; int ctr = 0; 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; +void write_to_buffer(int i, int symbol, int val); +void write_wave(int i, short int * buffer); +int uart_fd; int reset_count; float uptime_sec; long int uptime; char call[5]; -int bitRate, mode, bufLen, rsFrames, payloads, rsFrameLen, dataLen, headerLen, syncBits, syncWord, parityLen, samples, frameCnt, samplePeriod; +int bitRate, mode, bufLen, rsFrames, payloads, rsFrameLen, dataLen, headerLen, syncBits, syncWord, parityLen, samples, frameCnt, samplePeriod; float sleepTime; int sampleTime = 0, frames_sent = 0; int cw_id = ON; @@ -150,494 +149,458 @@ int test_i2c_bus(int bus); const char pythonCmd[] = "python3 /home/pi/CubeSatSim/python/voltcurrent.py "; char pythonStr[100], pythonConfigStr[100], busStr[10]; -int map[8] = { 0, 1, 2, 3, 4, 5, 6, 7}; +int map[8] = { + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7 +}; char src_addr[5] = ""; char dest_addr[5] = "CQ"; float voltage_min[9], current_min[9], voltage_max[9], current_max[9], sensor_max[17], sensor_min[17], other_max[3], other_min[3]; -int main(int argc, char *argv[]) { +int main(int argc, char * argv[]) { mode = FSK; frameCnt = 1; - + if (argc > 1) { -// strcpy(src_addr, argv[1]); - if (*argv[1] == 'b') - { - mode = BPSK; - printf("Mode BPSK\n"); - } - else if (*argv[1] == 'a') - { - mode = AFSK; - printf("Mode AFSK\n"); - } - else if (*argv[1] == 'c') - { - mode = CW; - printf("Mode CW\n"); - } - else - { - printf("Mode FSK\n"); - } - - if (argc > 2) { -// printf("String is %s %s\n", *argv[2], argv[2]); - loop = atoi(argv[2]); - loop_count = loop; - } - printf("Looping %d times \n", loop); - - if (argc > 3) { - if (*argv[3] == 'n') - { - cw_id = OFF; - printf("No CW id\n"); - } - } + // strcpy(src_addr, argv[1]); + if ( * argv[1] == 'b') { + mode = BPSK; + printf("Mode BPSK\n"); + } else if ( * argv[1] == 'a') { + mode = AFSK; + printf("Mode AFSK\n"); + } else if ( * argv[1] == 'c') { + mode = CW; + printf("Mode CW\n"); + } else { + printf("Mode FSK\n"); + } + + if (argc > 2) { + // printf("String is %s %s\n", *argv[2], argv[2]); + loop = atoi(argv[2]); + loop_count = loop; + } + printf("Looping %d times \n", loop); + + if (argc > 3) { + if ( * argv[3] == 'n') { + cw_id = OFF; + printf("No CW id\n"); + } + } } - -// Open configuration file with callsign and reset count - FILE* config_file = fopen("/home/pi/CubeSatSim/sim.cfg","r"); - if (config_file == NULL) - { - printf("Creating config file."); - config_file = fopen("/home/pi/CubeSatSim/sim.cfg","w"); - fprintf(config_file, "%s %d", " ", 100); - fclose(config_file); - config_file = fopen("/home/pi/CubeSatSim/sim.cfg","r"); - } - - char* cfg_buf[100]; - fscanf(config_file, "%s %d %f %f", call, &reset_count, &lat_file, &long_file); + + // Open configuration file with callsign and reset count + FILE * config_file = fopen("/home/pi/CubeSatSim/sim.cfg", "r"); + if (config_file == NULL) { + printf("Creating config file."); + config_file = fopen("/home/pi/CubeSatSim/sim.cfg", "w"); + fprintf(config_file, "%s %d", " ", 100); + fclose(config_file); + config_file = fopen("/home/pi/CubeSatSim/sim.cfg", "r"); + } + + char * cfg_buf[100]; + 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); + printf("Config file /home/pi/CubeSatSim/sim.cfg contains %s %d %f %f\n", call, reset_count, lat_file, long_file); reset_count = (reset_count + 1) % 0xffff; - - if ((fabs(lat_file) > 0) && (fabs(lat_file) < 90.0) && (fabs(long_file) > 0) && (fabs(long_file) < 180.0)) - { - printf("Valid latitude and longitude in config file\n"); - latitude = lat_file; - longitude = long_file; - } - wiringPiSetup (); - -// Check for SPI and AX-5043 Digital Transceiver Board - FILE *file = popen("sudo raspi-config nonint get_spi", "r"); - if (fgetc(file) == 48) - { - printf("SPI is enabled!\n"); - - FILE *file2 = popen("ls /dev/spidev0.* 2>&1", "r"); -// printf("Result getc: %c \n", getc(file2)); - - if (fgetc(file2) != 'l') - { - printf("SPI devices present!\n"); -// } - pclose(file2); - setSpiChannel(SPI_CHANNEL); - setSpiSpeed(SPI_SPEED); - initializeSpi(); -// char src_addr[5] = "KU2Y"; -// char dest_addr[5] = "CQ"; - ax25_init(&hax25, (uint8_t *) dest_addr, '1', (uint8_t *) call, '1', AX25_PREAMBLE_LEN, AX25_POSTAMBLE_LEN); - if (init_rf()) - { - printf("AX5043 successfully initialized!\n"); - ax5043 = TRUE; - cw_id = OFF; - mode = AFSK; -// cycle = OFF; - printf("Mode AFSK with AX5043\n"); - transmit = TRUE; - } - else - printf("AX5043 not present!\n"); - } - } -// else -// { -// printf("SPI not enabled!\n"); -// } + + if ((fabs(lat_file) > 0) && (fabs(lat_file) < 90.0) && (fabs(long_file) > 0) && (fabs(long_file) < 180.0)) { + printf("Valid latitude and longitude in config file\n"); + latitude = lat_file; + longitude = long_file; + } + wiringPiSetup(); + + // Check for SPI and AX-5043 Digital Transceiver Board + FILE * file = popen("sudo raspi-config nonint get_spi", "r"); + if (fgetc(file) == 48) { + printf("SPI is enabled!\n"); + + FILE * file2 = popen("ls /dev/spidev0.* 2>&1", "r"); + // printf("Result getc: %c \n", getc(file2)); + + if (fgetc(file2) != 'l') { + printf("SPI devices present!\n"); + // } + pclose(file2); + setSpiChannel(SPI_CHANNEL); + setSpiSpeed(SPI_SPEED); + initializeSpi(); + // char src_addr[5] = "KU2Y"; + // char dest_addr[5] = "CQ"; + ax25_init( & hax25, (uint8_t * ) dest_addr, '1', (uint8_t * ) call, '1', AX25_PREAMBLE_LEN, AX25_POSTAMBLE_LEN); + if (init_rf()) { + printf("AX5043 successfully initialized!\n"); + ax5043 = TRUE; + cw_id = OFF; + mode = AFSK; + // cycle = OFF; + printf("Mode AFSK with AX5043\n"); + transmit = TRUE; + } else + printf("AX5043 not present!\n"); + } + } + // else + // { + // printf("SPI not enabled!\n"); + // } pclose(file); - txLed = 0; // defaults for vB3 board without TFB + txLed = 0; // defaults for vB3 board without TFB txLedOn = LOW; txLedOff = HIGH; - if (!ax5043) - { - pinMode (2, INPUT); - pullUpDnControl (2, PUD_UP); - - if (digitalRead(2) != HIGH) - { - printf("vB3 with TFB Present\n"); - vB3 = TRUE; - txLed = 3; - txLedOn = LOW; - txLedOff = HIGH; - onLed = 0; - onLedOn = LOW; - onLedOff = HIGH; - transmit = TRUE; - } else - { - pinMode (3, INPUT); - pullUpDnControl (3, PUD_UP); - - if (digitalRead(3) != HIGH) - { - printf("vB4 Present\n"); - txLed = 2; - txLedOn = HIGH; - txLedOff = LOW; - vB4 = TRUE; - onLed = 0; + if (!ax5043) { + pinMode(2, INPUT); + pullUpDnControl(2, PUD_UP); + + if (digitalRead(2) != HIGH) { + printf("vB3 with TFB Present\n"); + vB3 = TRUE; + txLed = 3; + txLedOn = LOW; + txLedOff = HIGH; + onLed = 0; + onLedOn = LOW; + onLedOff = HIGH; + transmit = TRUE; + } else { + pinMode(3, INPUT); + pullUpDnControl(3, PUD_UP); + + if (digitalRead(3) != HIGH) { + printf("vB4 Present\n"); + txLed = 2; + txLedOn = HIGH; + txLedOff = LOW; + vB4 = TRUE; + onLed = 0; + onLedOn = HIGH; + onLedOff = LOW; + transmit = TRUE; + } else { + pinMode(26, INPUT); + pullUpDnControl(26, PUD_UP); + + if (digitalRead(26) != HIGH) { + printf("vB5 Present\n"); + txLed = 2; + txLedOn = HIGH; + txLedOff = LOW; + vB5 = TRUE; + onLed = 27; onLedOn = HIGH; - onLedOff = LOW; - transmit = TRUE; - } - else - { - pinMode (26, INPUT); - pullUpDnControl (26, PUD_UP); - - if (digitalRead(26) != HIGH) - { - printf("vB5 Present\n"); - txLed = 2; - txLedOn = HIGH; - txLedOff = LOW; - vB5 = TRUE; - onLed = 27; - onLedOn = HIGH; - onLedOff = LOW; - transmit = TRUE; - } - } + onLedOff = LOW; + transmit = TRUE; + } + } } - } - pinMode (txLed, OUTPUT); - digitalWrite (txLed, txLedOff); + } + pinMode(txLed, OUTPUT); + digitalWrite(txLed, txLedOff); #ifdef DEBUG_LOGGING - printf("Tx LED Off\n"); + printf("Tx LED Off\n"); #endif - pinMode (onLed, OUTPUT); - digitalWrite (onLed, onLedOn); + pinMode(onLed, OUTPUT); + digitalWrite(onLed, onLedOn); #ifdef DEBUG_LOGGING - printf("Power LED On\n"); + printf("Power LED On\n"); #endif - - config_file = fopen("sim.cfg","w"); - fprintf(config_file, "%s %d %8.4f %8.4f", call, reset_count, lat_file, long_file); -// fprintf(config_file, "%s %d", call, reset_count); - fclose(config_file); - config_file = fopen("sim.cfg","r"); - -if (vB4) -{ - map[BAT] = BUS; - map[BUS] = BAT; - snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(0)); -} -else if (vB5) -{ - map[MINUS_X] = PLUS_Z; - map[PLUS_Z] = MINUS_X; - - if (access("/dev/i2c-11", W_OK | R_OK) >= 0) { // Test if I2C Bus 11 is present - printf("/dev/i2c-11 is present\n\n"); - snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(11)); + + config_file = fopen("sim.cfg", "w"); + fprintf(config_file, "%s %d %8.4f %8.4f", call, reset_count, lat_file, long_file); + // fprintf(config_file, "%s %d", call, reset_count); + fclose(config_file); + config_file = fopen("sim.cfg", "r"); + + if (vB4) { + map[BAT] = BUS; + map[BUS] = BAT; + snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(0)); + } else if (vB5) { + map[MINUS_X] = PLUS_Z; + map[PLUS_Z] = MINUS_X; + + if (access("/dev/i2c-11", W_OK | R_OK) >= 0) { // Test if I2C Bus 11 is present + printf("/dev/i2c-11 is present\n\n"); + snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(11)); + } else { + snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(3)); + } } else { - snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(3)); + map[BUS] = MINUS_Z; + map[BAT] = BUS; + map[PLUS_Z] = BAT; + map[MINUS_Z] = PLUS_Z; + snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(0)); + batteryThreshold = 8.0; } -} -else -{ - map[BUS] = MINUS_Z; - map[BAT] = BUS; - map[PLUS_Z] = BAT; - map[MINUS_Z] = PLUS_Z; - snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(0)); - batteryThreshold = 8.0; - } - - strcpy(pythonStr, pythonCmd); - strcat(pythonStr, busStr); - strcat(pythonConfigStr, pythonStr); - strcat(pythonConfigStr, " c"); - -// FILE* file1 = popen("python3 /home/pi/CubeSatSim/python/voltcurrent.py 1 11 c", "r"); - FILE* file1 = popen(pythonConfigStr, "r"); - char cmdbuffer[1000]; - fgets(cmdbuffer, 1000, file1); -// printf("pythonStr result: %s\n", cmdbuffer); - pclose(file1); - -// try connecting to Arduino payload using UART - if (!ax5043 && !vB3) // don't test if AX5043 is present - { - payload = OFF; + strcpy(pythonStr, pythonCmd); + strcat(pythonStr, busStr); + strcat(pythonConfigStr, pythonStr); + strcat(pythonConfigStr, " c"); - if ((uart_fd = serialOpen ("/dev/ttyAMA0", 9600)) >= 0) + // FILE* file1 = popen("python3 /home/pi/CubeSatSim/python/voltcurrent.py 1 11 c", "r"); + FILE * file1 = popen(pythonConfigStr, "r"); + char cmdbuffer[1000]; + fgets(cmdbuffer, 1000, file1); + // printf("pythonStr result: %s\n", cmdbuffer); + pclose(file1); + + // try connecting to Arduino payload using UART + + if (!ax5043 && !vB3) // don't test if AX5043 is present { - char c; - int charss = serialDataAvail (uart_fd); - if (charss != 0) - printf("Clearing buffer of %d chars \n", charss); - while ((charss-- > 0)) - c = serialGetchar (uart_fd); // clear buffer - - unsigned int waitTime; - int i; - for(i = 0; i < 2; i++) - { - serialPutchar (uart_fd, 'R'); - printf("Querying payload with R to reset\n"); - waitTime = millis() + 500; - while ((millis() < waitTime) && (payload != ON)) - { - if (serialDataAvail (uart_fd)) - { - printf ("%c", c = serialGetchar (uart_fd)); - fflush (stdout); - if (c == 'O') - { - printf ("%c", c = serialGetchar (uart_fd)); - fflush (stdout); - if (c == 'K') - payload = ON; + payload = OFF; + + if ((uart_fd = serialOpen("/dev/ttyAMA0", 9600)) >= 0) { + char c; + int charss = serialDataAvail(uart_fd); + if (charss != 0) + printf("Clearing buffer of %d chars \n", charss); + while ((charss--> 0)) + c = serialGetchar(uart_fd); // clear buffer + + unsigned int waitTime; + int i; + for (i = 0; i < 2; i++) { + serialPutchar(uart_fd, 'R'); + printf("Querying payload with R to reset\n"); + waitTime = millis() + 500; + while ((millis() < waitTime) && (payload != ON)) { + if (serialDataAvail(uart_fd)) { + printf("%c", c = serialGetchar(uart_fd)); + fflush(stdout); + if (c == 'O') { + printf("%c", c = serialGetchar(uart_fd)); + fflush(stdout); + if (c == 'K') + payload = ON; + } } + // sleep(0.75); } -// sleep(0.75); - } + } + if (payload == ON) + printf("\nPayload is present!\n"); + else + printf("\nPayload not present!\n"); + } else { + fprintf(stderr, "Unable to open UART: %s\n", strerror(errno)); } - if (payload == ON) - printf ("\nPayload is present!\n") ; - else - printf ("\nPayload not present!\n") ; } - else - { - fprintf (stderr, "Unable to open UART: %s\n", strerror (errno)) ; - } - } - -// test i2c buses -i2c_bus0 = (test_i2c_bus(0) != -1) ? ON: OFF; -i2c_bus1 = (test_i2c_bus(1) != -1) ? ON: OFF; -i2c_bus3 = (test_i2c_bus(3) != -1) ? ON: OFF; - -// check for camera -char cmdbuffer1[1000]; -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); -pclose(file4); - -#ifdef DEBUG_LOGGING -printf("INFO: I2C bus status 0: %d 1: %d 3: %d camera: %d\n",i2c_bus0, i2c_bus1, i2c_bus3, camera); -#endif - -if ((i2c_bus1 == OFF) && (i2c_bus3 == OFF)) -{ - -sim_mode = TRUE; -printf("Simulated telemetry mode!\n"); - -srand(time(0)); - -axis[0] = rnd_float(-0.2, 0.2); -if (axis[0] == 0) - axis[0] = rnd_float(-0.2, 0.2); -axis[1] = rnd_float(-0.2, 0.2); -axis[2] = (rnd_float(-0.2, 0.2) > 0) ? 1.0: -1.0; - -angle[0] = (float) atan(axis[1] / axis[2]); -angle[1] = (float) atan(axis[2] / axis[0]); -angle[2] = (float) atan(axis[1] / axis[0]); - -volts_max[0] = rnd_float(4.5, 5.5) * (float) sin(angle[1]); -volts_max[1] = rnd_float(4.5, 5.5) * (float) cos(angle[0]); -volts_max[2] = rnd_float(4.5, 5.5) * (float) cos(angle[1] - angle[0]); - -float amps_avg = rnd_float (150, 300); + // test i2c buses + i2c_bus0 = (test_i2c_bus(0) != -1) ? ON : OFF; + i2c_bus1 = (test_i2c_bus(1) != -1) ? ON : OFF; + i2c_bus3 = (test_i2c_bus(3) != -1) ? ON : OFF; + + // check for camera + char cmdbuffer1[1000]; + 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); + pclose(file4); + + #ifdef DEBUG_LOGGING + printf("INFO: I2C bus status 0: %d 1: %d 3: %d camera: %d\n", i2c_bus0, i2c_bus1, i2c_bus3, camera); + #endif + + if ((i2c_bus1 == OFF) && (i2c_bus3 == OFF)) { + + sim_mode = TRUE; + + printf("Simulated telemetry mode!\n"); + + srand(time(0)); + + axis[0] = rnd_float(-0.2, 0.2); + if (axis[0] == 0) + axis[0] = rnd_float(-0.2, 0.2); + axis[1] = rnd_float(-0.2, 0.2); + axis[2] = (rnd_float(-0.2, 0.2) > 0) ? 1.0 : -1.0; + + angle[0] = (float) atan(axis[1] / axis[2]); + angle[1] = (float) atan(axis[2] / axis[0]); + angle[2] = (float) atan(axis[1] / axis[0]); + + volts_max[0] = rnd_float(4.5, 5.5) * (float) sin(angle[1]); + volts_max[1] = rnd_float(4.5, 5.5) * (float) cos(angle[0]); + volts_max[2] = rnd_float(4.5, 5.5) * (float) cos(angle[1] - angle[0]); + + float amps_avg = rnd_float(150, 300); + + amps_max[0] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) sin(angle[1]); + amps_max[1] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[0]); + amps_max[2] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[1] - angle[0]); + + batt = rnd_float(3.8, 4.3); + speed = rnd_float(1.0, 2.5); + eclipse = (rnd_float(-1, +4) > 0) ? 1 : 0; + period = rnd_float(150, 300); + tempS = rnd_float(20, 55); + temp_max = rnd_float(50, 70); + temp_min = rnd_float(10, 20); + + #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); + #endif + + time_start = millis(); + + eclipse_time = millis() / 1000.0; + if (eclipse == 0) + eclipse_time -= period / 2; // if starting in eclipse, shorten interval + } -amps_max[0] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) sin(angle[1]); -amps_max[1] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[0]); -amps_max[2] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[1] - angle[0]); - -batt = rnd_float(3.8, 4.3); -speed = rnd_float(1.0, 2.5); -eclipse = (rnd_float(-1, +4) > 0) ? 1 : 0; -period = rnd_float(150, 300); -tempS = rnd_float(20, 55); -temp_max = rnd_float(50, 70); -temp_min = rnd_float(10,20); - -#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); -#endif - - time_start = millis(); - - eclipse_time = millis()/1000.0; - if (eclipse == 0) - eclipse_time -= period/2; // if starting in eclipse, shorten interval -} - int ret; //uint8_t data[1024]; tx_freq_hz -= tx_channel * 50000; if (mode == AFSK) - sleep(10); // delay awaiting CW ID completion - - if (transmit == FALSE) - { - - fprintf(stderr,"\nNo CubeSatSim Band Pass Filter detected. No transmissions after the CW ID.\n"); - fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n"); - } + sleep(10); // delay awaiting CW ID completion -for(int i=0; i < 9; i++) -{ - voltage_min[i] = 1000.0; - current_min[i] = 1000.0; - voltage_max[i] = -1000.0; - current_max[i] = -1000.0; -} -for(int i=0; i < 17; i++) -{ - sensor_min[i] = 1000.0; - sensor_max[i] = -1000.0; - printf("Sensor min and max initialized!"); -} -for(int i=0; i < 3; i++) -{ - other_min[i] = 1000.0; - other_max[i] = -1000.0; -} - -while (loop-- != 0) - { - frames_sent++; - - #ifdef DEBUG_LOGGING - fprintf(stderr,"INFO: Battery voltage: %f V Battery Threshold %f V\n", batteryVoltage, batteryThreshold); - #endif - if ((batteryVoltage > 1.0) && (batteryVoltage < batteryThreshold)) // no battery INA219 will give 0V, no battery plugged into INA219 will read < 1V - { - fprintf(stderr,"Battery voltage too low: %f V - shutting down!\n", batteryVoltage); - digitalWrite (txLed, txLedOff); - digitalWrite (onLed, onLedOff); - sleep(1); - digitalWrite (onLed, onLedOn); - sleep(1); - digitalWrite (onLed, onLedOff); - sleep(1); - digitalWrite (onLed, onLedOn); - sleep(1); - digitalWrite (onLed, onLedOff); - - popen("sudo shutdown -h now > /dev/null 2>&1", "r"); - sleep(10); + if (transmit == FALSE) { + + fprintf(stderr, "\nNo CubeSatSim Band Pass Filter detected. No transmissions after the CW ID.\n"); + fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n"); } - - if (mode == FSK) { - bitRate = 200; - rsFrames = 1; - payloads = 1; - rsFrameLen = 64; - headerLen = 6; - dataLen = 58; - syncBits = 10; - syncWord = 0b0011111010; - parityLen = 32; - amplitude = 32767/3; - 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; - - printf("\n FSK Mode, %d bits per frame, %d bits per second, %d ms sample period\n", - bufLen/(samples * frameCnt), bitRate, samplePeriod); + + for (int i = 0; i < 9; i++) { + voltage_min[i] = 1000.0; + current_min[i] = 1000.0; + voltage_max[i] = -1000.0; + current_max[i] = -1000.0; } - else if (mode == BPSK) { - bitRate = 1200; - rsFrames = 3; - payloads = 6; - rsFrameLen = 159; - headerLen = 8; - dataLen = 78; - syncBits = 31; - syncWord = 0b1000111110011010010000101011101; - parityLen = 32; - amplitude = 32767; - samples = S_RATE/bitRate; - bufLen = (frameCnt * (syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))) * samples); - -// samplePeriod = ((float)((syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))))/(float)bitRate) * 1000 - 1800; -// samplePeriod = 3000; -// sleepTime = 3.0; - samplePeriod = 2200; // reduce dut to python and sensor querying delays - sleepTime = 2.2; - - 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); + for (int i = 0; i < 17; i++) { + sensor_min[i] = 1000.0; + sensor_max[i] = -1000.0; + printf("Sensor min and max initialized!"); } - - // sleep(1); // Delay 1 second - ctr = 0; + for (int i = 0; i < 3; i++) { + other_min[i] = 1000.0; + other_max[i] = -1000.0; + } + + while (loop-- != 0) { + frames_sent++; + #ifdef DEBUG_LOGGING - fprintf(stderr,"INFO: Getting TLM Data\n"); + fprintf(stderr, "INFO: Battery voltage: %f V Battery Threshold %f V\n", batteryVoltage, batteryThreshold); #endif - - if ((mode == AFSK) || (mode == CW)) + if ((batteryVoltage > 1.0) && (batteryVoltage < batteryThreshold)) // no battery INA219 will give 0V, no battery plugged into INA219 will read < 1V { - get_tlm(); + fprintf(stderr, "Battery voltage too low: %f V - shutting down!\n", batteryVoltage); + digitalWrite(txLed, txLedOff); + digitalWrite(onLed, onLedOff); + sleep(1); + digitalWrite(onLed, onLedOn); + sleep(1); + digitalWrite(onLed, onLedOff); + sleep(1); + digitalWrite(onLed, onLedOn); + sleep(1); + digitalWrite(onLed, onLedOff); + + popen("sudo shutdown -h now > /dev/null 2>&1", "r"); + sleep(10); } - else // FSK or BPSK + + if (mode == FSK) { + bitRate = 200; + rsFrames = 1; + payloads = 1; + rsFrameLen = 64; + headerLen = 6; + dataLen = 58; + syncBits = 10; + syncWord = 0b0011111010; + parityLen = 32; + amplitude = 32767 / 3; + 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; + + printf("\n FSK Mode, %d bits per frame, %d bits per second, %d ms sample period\n", + bufLen / (samples * frameCnt), bitRate, samplePeriod); + } else if (mode == BPSK) { + bitRate = 1200; + rsFrames = 3; + payloads = 6; + rsFrameLen = 159; + headerLen = 8; + dataLen = 78; + syncBits = 31; + syncWord = 0b1000111110011010010000101011101; + parityLen = 32; + amplitude = 32767; + samples = S_RATE / bitRate; + bufLen = (frameCnt * (syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))) * samples); + + // samplePeriod = ((float)((syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))))/(float)bitRate) * 1000 - 1800; + // samplePeriod = 3000; + // sleepTime = 3.0; + samplePeriod = 2200; // reduce dut to python and sensor querying delays + sleepTime = 2.2; + + 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); + } + + // sleep(1); // Delay 1 second + ctr = 0; + #ifdef DEBUG_LOGGING + fprintf(stderr, "INFO: Getting TLM Data\n"); + #endif + + if ((mode == AFSK) || (mode == CW)) { + get_tlm(); + } else // FSK or BPSK { get_tlm_fox(); } #ifdef DEBUG_LOGGING - fprintf(stderr,"INFO: Getting ready to send\n"); - #endif - } - - if (mode == BPSK) - { - digitalWrite (txLed, txLedOn); - #ifdef DEBUG_LOGGING - printf("Tx LED On\n"); - #endif - printf("Sleeping to allow BPSK transmission to finish.\n"); - sleep(loop_count * 5); - printf("Done sleeping\n"); - digitalWrite (txLed, txLedOff); - #ifdef DEBUG_LOGGING - printf("Tx LED Off\n"); - #endif + fprintf(stderr, "INFO: Getting ready to send\n"); + #endif } - else if (mode == FSK) - { - printf("Sleeping to allow FSK transmission to finish.\n"); - sleep(loop_count); - printf("Done sleeping\n"); + + if (mode == BPSK) { + digitalWrite(txLed, txLedOn); + #ifdef DEBUG_LOGGING + printf("Tx LED On\n"); + #endif + printf("Sleeping to allow BPSK transmission to finish.\n"); + sleep(loop_count * 5); + printf("Done sleeping\n"); + digitalWrite(txLed, txLedOff); + #ifdef DEBUG_LOGGING + printf("Tx LED Off\n"); + #endif + } else if (mode == FSK) { + printf("Sleeping to allow FSK transmission to finish.\n"); + sleep(loop_count); + printf("Done sleeping\n"); } - + return 0; } @@ -645,1167 +608,1079 @@ while (loop-- != 0) // 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; + 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 digit = 0; + if (number < 100) + + digit = (int)(number / 10); + else + fprintf(stderr, "ERROR: Not a digit in upper_digit!\n"); + return digit; } static int 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); - return(0); - } - return(1); + 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); + return (0); + } + return (1); } int get_tlm(void) { - FILE* txResult; + FILE * txResult; + + for (int j = 0; j < frameCnt; j++) { + digitalWrite(txLed, txLedOn); + #ifdef DEBUG_LOGGING + printf("Tx LED On\n"); + #endif + int tlm[7][5]; + memset(tlm, 0, sizeof tlm); + + // Reading I2C voltage and current sensors + + int count1; + char * token; + char cmdbuffer[1000]; + + FILE * file = popen(pythonStr, "r"); + fgets(cmdbuffer, 1000, file); + // printf("result: %s\n", cmdbuffer); + pclose(file); -for (int j = 0; j < frameCnt; j++) -{ - digitalWrite (txLed, txLedOn); - #ifdef DEBUG_LOGGING - printf("Tx LED On\n"); - #endif - int tlm[7][5]; - memset(tlm, 0, sizeof tlm); - -// Reading I2C voltage and current sensors - - int count1; - char *token; - char cmdbuffer[1000]; - - FILE* file = popen(pythonStr, "r"); - fgets(cmdbuffer, 1000, file); -// printf("result: %s\n", cmdbuffer); - pclose(file); - const char space[2] = " "; token = strtok(cmdbuffer, space); - float voltage[9], current[9]; - + float voltage[9], current[9]; + memset(voltage, 0, sizeof(voltage)); - memset(current, 0, sizeof(current)); - - for (count1 = 0; count1 < 8; count1++) - { - if (token != NULL) - { - voltage[count1] = atof(token); - #ifdef DEBUG_LOGGING -// printf("voltage: %f ", voltage[count1]); - #endif - token = strtok(NULL, space); - if (token != NULL) - { - current[count1] = atof(token); - if ((current[count1] < 0) && (current[count1] > -0.5)) - current[count1] *= (-1.0); - #ifdef DEBUG_LOGGING -// printf("current: %f\n", current[count1]); - #endif - token = strtok(NULL, space); - } - } - } - - batteryVoltage = voltage[map[BAT]]; - - double cpuTemp; - - FILE *cpuTempSensor = fopen("/sys/class/thermal/thermal_zone0/temp", "r"); - if (cpuTempSensor) { - fscanf (cpuTempSensor, "%lf", &cpuTemp); - cpuTemp /= 1000; - - #ifdef DEBUG_LOGGING + memset(current, 0, sizeof(current)); + + for (count1 = 0; count1 < 8; count1++) { + if (token != NULL) { + voltage[count1] = atof(token); + #ifdef DEBUG_LOGGING + // printf("voltage: %f ", voltage[count1]); + #endif + token = strtok(NULL, space); + if (token != NULL) { + current[count1] = atof(token); + if ((current[count1] < 0) && (current[count1] > -0.5)) + current[count1] *= (-1.0); + #ifdef DEBUG_LOGGING + // printf("current: %f\n", current[count1]); + #endif + token = strtok(NULL, space); + } + } + } + + batteryVoltage = voltage[map[BAT]]; + + double cpuTemp; + + FILE * cpuTempSensor = fopen("/sys/class/thermal/thermal_zone0/temp", "r"); + if (cpuTempSensor) { + fscanf(cpuTempSensor, "%lf", & cpuTemp); + cpuTemp /= 1000; + + #ifdef DEBUG_LOGGING printf("CPU Temp Read: %6.1f\n", cpuTemp); - #endif - - } - fclose (cpuTempSensor); - - -if (sim_mode) -{ - // simulated telemetry - - double time = (millis() - time_start)/1000.0; - - if ((time - eclipse_time) > period) - { - eclipse = (eclipse == 1) ? 0 : 1; - eclipse_time = time; - printf("\n\nSwitching eclipse mode! \n\n"); - } - -/* - double Xi = eclipse * amps_max[0] * sin(2.0 * 3.14 * time / (46.0 * speed)) * fabs(sin(2.0 * 3.14 * time / (46.0 * speed))) + rnd_float(-2, 2); - double Yi = eclipse * amps_max[1] * sin((2.0 * 3.14 * time / (46.0 * speed)) + (3.14/2.0)) * fabs(sin((2.0 * 3.14 * time / (46.0 * speed)) + (3.14/2.0))) + rnd_float(-2, 2); - double Zi = eclipse * amps_max[2] * sin((2.0 * 3.14 * time / (46.0 * speed)) + 3.14 + angle[2]) * fabs(sin((2.0 * 3.14 * time / (46.0 * speed)) + 3.14 + angle[2])) + rnd_float(-2, 2); -*/ - double Xi = eclipse * amps_max[0] * 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 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); - - // 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[PLUS_Y]] = ( Yi >= 0) ? Yi: 0; - current[map[MINUS_Y]] = ( Yi >= 0) ? 0: ((-1.0) * Yi); - current[map[PLUS_Z]] = ( Zi >= 0) ? Zi: 0; - current[map[MINUS_Z]] = ( Zi >= 0) ? 0: ((-1.0) * 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[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[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); - - // 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); - cpuTemp = tempS + rnd_float(-1.0, 1.0); - - voltage[map[BUS]] = rnd_float(5.0, 5.005); - current[map[BUS]] = rnd_float(158, 171); - -// float charging = current[map[PLUS_X]] + current[map[MINUS_X]] + current[map[PLUS_Y]] + current[map[MINUS_Y]] + current[map[PLUS_Z]] + current[map[MINUS_Z]]; - float charging = eclipse * (fabs(amps_max[0] * 0.707) + fabs(amps_max[1] * 0.707) + rnd_float(-4.0, 4.0)); - - current[map[BAT]] = ((current[map[BUS]] * voltage[map[BUS]]) / (batt * 1.0)) - charging; - -// printf("charging: %f bat curr: %f bus curr: %f bat volt: %f bus volt: %f \n",charging, current[map[BAT]], current[map[BUS]], batt, voltage[map[BUS]]); - - batt -= (batt > 3.5) ? current[map[BAT]]/30000: current[map[BAT]]/3000; - if (batt < 3.0) - { - batt = 3.0; - printf("Safe Mode!\n"); - } - if (batt > 4.5) - batt = 4.5; - - voltage[map[BAT]] = batt + rnd_float(-0.01, 0.01); - -// end of simulated telemetry -} - tlm[1][A] = (int)(voltage[map[BUS]] /15.0 + 0.5) % 100; // Current of 5V supply to Pi - tlm[1][B] = (int) (99.5 - current[map[PLUS_X]]/10.0) % 100; // +X current [4] - tlm[1][C] = (int) (99.5 - current[map[MINUS_X]]/10.0) % 100; // X- current [10] - tlm[1][D] = (int) (99.5 - current[map[PLUS_Y]]/10.0) % 100; // +Y current [7] - - tlm[2][A] = (int) (99.5 - current[map[MINUS_Y]]/10.0) % 100; // -Y current [10] - tlm[2][B] = (int) (99.5 - current[map[PLUS_Z]]/10.0) % 100; // +Z current [10] // was 70/2m transponder power, AO-7 didn't have a Z panel - tlm[2][C] = (int) (99.5 - current[map[MINUS_Z]]/10.0) % 100; // -Z current (was timestamp) - tlm[2][D] = (int)(50.5 + current[map[BAT]]/10.0) % 100; // NiMH Battery current - - tlm[3][A] = abs((int)((voltage[map[BAT]] * 10.0) - 65.5) % 100); - tlm[3][B] = (int)(voltage[map[BUS]] * 10.0) % 100; // 5V supply to Pi + #endif - tlm[4][B] = (int)((95.8 - cpuTemp)/1.48 + 0.5) % 100; + } + fclose(cpuTempSensor); - tlm[6][B] = 0 ; - tlm[6][D] = 49 + rand() % 3; + if (sim_mode) { + // simulated telemetry - #ifdef DEBUG_LOGGING -// Display tlm + double time = (millis() - time_start) / 1000.0; + + if ((time - eclipse_time) > period) { + eclipse = (eclipse == 1) ? 0 : 1; + eclipse_time = time; + printf("\n\nSwitching eclipse mode! \n\n"); + } + + /* + double Xi = eclipse * amps_max[0] * sin(2.0 * 3.14 * time / (46.0 * speed)) * fabs(sin(2.0 * 3.14 * time / (46.0 * speed))) + rnd_float(-2, 2); + double Yi = eclipse * amps_max[1] * sin((2.0 * 3.14 * time / (46.0 * speed)) + (3.14/2.0)) * fabs(sin((2.0 * 3.14 * time / (46.0 * speed)) + (3.14/2.0))) + rnd_float(-2, 2); + double Zi = eclipse * amps_max[2] * sin((2.0 * 3.14 * time / (46.0 * speed)) + 3.14 + angle[2]) * fabs(sin((2.0 * 3.14 * time / (46.0 * speed)) + 3.14 + angle[2])) + rnd_float(-2, 2); + */ + double Xi = eclipse * amps_max[0] * 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 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); + + // 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[PLUS_Y]] = (Yi >= 0) ? Yi : 0; + current[map[MINUS_Y]] = (Yi >= 0) ? 0 : ((-1.0) * Yi); + current[map[PLUS_Z]] = (Zi >= 0) ? Zi : 0; + current[map[MINUS_Z]] = (Zi >= 0) ? 0 : ((-1.0) * 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[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[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); + + // 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); + cpuTemp = tempS + rnd_float(-1.0, 1.0); + + voltage[map[BUS]] = rnd_float(5.0, 5.005); + current[map[BUS]] = rnd_float(158, 171); + + // float charging = current[map[PLUS_X]] + current[map[MINUS_X]] + current[map[PLUS_Y]] + current[map[MINUS_Y]] + current[map[PLUS_Z]] + current[map[MINUS_Z]]; + float charging = eclipse * (fabs(amps_max[0] * 0.707) + fabs(amps_max[1] * 0.707) + rnd_float(-4.0, 4.0)); + + current[map[BAT]] = ((current[map[BUS]] * voltage[map[BUS]]) / (batt * 1.0)) - charging; + + // printf("charging: %f bat curr: %f bus curr: %f bat volt: %f bus volt: %f \n",charging, current[map[BAT]], current[map[BUS]], batt, voltage[map[BUS]]); + + batt -= (batt > 3.5) ? current[map[BAT]] / 30000 : current[map[BAT]] / 3000; + if (batt < 3.0) { + batt = 3.0; + printf("Safe Mode!\n"); + } + if (batt > 4.5) + batt = 4.5; + + voltage[map[BAT]] = batt + rnd_float(-0.01, 0.01); + + // end of simulated telemetry + } + tlm[1][A] = (int)(voltage[map[BUS]] / 15.0 + 0.5) % 100; // Current of 5V supply to Pi + tlm[1][B] = (int)(99.5 - current[map[PLUS_X]] / 10.0) % 100; // +X current [4] + tlm[1][C] = (int)(99.5 - current[map[MINUS_X]] / 10.0) % 100; // X- current [10] + tlm[1][D] = (int)(99.5 - current[map[PLUS_Y]] / 10.0) % 100; // +Y current [7] + + tlm[2][A] = (int)(99.5 - current[map[MINUS_Y]] / 10.0) % 100; // -Y current [10] + tlm[2][B] = (int)(99.5 - current[map[PLUS_Z]] / 10.0) % 100; // +Z current [10] // was 70/2m transponder power, AO-7 didn't have a Z panel + tlm[2][C] = (int)(99.5 - current[map[MINUS_Z]] / 10.0) % 100; // -Z current (was timestamp) + tlm[2][D] = (int)(50.5 + current[map[BAT]] / 10.0) % 100; // NiMH Battery current + + tlm[3][A] = abs((int)((voltage[map[BAT]] * 10.0) - 65.5) % 100); + tlm[3][B] = (int)(voltage[map[BUS]] * 10.0) % 100; // 5V supply to Pi + + tlm[4][B] = (int)((95.8 - cpuTemp) / 1.48 + 0.5) % 100; + + tlm[6][B] = 0; + tlm[6][D] = 49 + rand() % 3; + + #ifdef DEBUG_LOGGING + // Display tlm int k, j; for (k = 1; k < 7; k++) { for (j = 1; j < 5; j++) { - printf(" %2d ", tlm[k][j]); + printf(" %2d ", tlm[k][j]); } printf("\n"); - } - #endif - - char str[1000]; - char tlm_str[1000]; - char header_str[] = "\x03\xf0hi hi "; - char header_str3[] = "echo '"; - //char header_str2[] = ">CQ:>041440zhi hi "; - //char header_str2[] = ">CQ:=4003.79N\\07534.33WShi hi "; - char header_str2[] = ">CQ:"; - char header_str2b[30]; // for APRS coordinates - char header_lat[10]; - char header_long[10]; - char header_str4[] = "hi hi "; - char footer_str1[] = "\' > t.txt && echo \'"; - char footer_str[] = ">CQ:010101/hi hi ' >> t.txt && gen_packets -o telem.wav t.txt -r 48000 > /dev/null 2>&1 && cat telem.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f 434.9e3 > /dev/null 2>&1"; - - if (ax5043) - { - strcpy(str, header_str); - } - else - { - strcpy(str, header_str3); - if (mode != CW) - { - strcat(str, call); - strcat(str, header_str2); -// sprintf(header_str2b, "=%7.2f%c%c%c%08.2f%cShi hi ",4003.79,'N',0x5c,0x5c,07534.33,'W'); // add APRS lat and long - if (latitude > 0) - sprintf(header_lat, "%7.2f%c",latitude * 100.0,'N'); // lat - else - sprintf(header_lat, "%7.2f%c",latitude * (-100.0),'S'); // lat - if (longitude > 0) - sprintf(header_long, "%08.2f%c",longitude * 100.0,'E'); // long - else - sprintf(header_long, "%08.2f%c",longitude * (-100.0),'W'); // long - - sprintf(header_str2b, "=%s%c%c%sShi hi ",header_lat,0x5c,0x5c,header_long); // add APRS lat and long - printf("\n\nString is %s \n\n", header_str2b); - strcat(str, header_str2b); - } else - { - strcat(str, header_str4); } - } - + #endif + + char str[1000]; + char tlm_str[1000]; + char header_str[] = "\x03\xf0hi hi "; + char header_str3[] = "echo '"; + //char header_str2[] = ">CQ:>041440zhi hi "; + //char header_str2[] = ">CQ:=4003.79N\\07534.33WShi hi "; + char header_str2[] = ">CQ:"; + char header_str2b[30]; // for APRS coordinates + char header_lat[10]; + char header_long[10]; + char header_str4[] = "hi hi "; + char footer_str1[] = "\' > t.txt && echo \'"; + char footer_str[] = ">CQ:010101/hi hi ' >> t.txt && gen_packets -o telem.wav t.txt -r 48000 > /dev/null 2>&1 && cat telem.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f 434.9e3 > /dev/null 2>&1"; + + if (ax5043) { + strcpy(str, header_str); + } else { + strcpy(str, header_str3); + if (mode != CW) { + strcat(str, call); + strcat(str, header_str2); + // sprintf(header_str2b, "=%7.2f%c%c%c%08.2f%cShi hi ",4003.79,'N',0x5c,0x5c,07534.33,'W'); // add APRS lat and long + if (latitude > 0) + sprintf(header_lat, "%7.2f%c", latitude * 100.0, 'N'); // lat + else + sprintf(header_lat, "%7.2f%c", latitude * (-100.0), 'S'); // lat + if (longitude > 0) + sprintf(header_long, "%08.2f%c", longitude * 100.0, 'E'); // long + else + sprintf(header_long, "%08.2f%c", longitude * (-100.0), 'W'); // long + + sprintf(header_str2b, "=%s%c%c%sShi hi ", header_lat, 0x5c, 0x5c, header_long); // add APRS lat and long + printf("\n\nString is %s \n\n", header_str2b); + strcat(str, header_str2b); + } else { + strcat(str, header_str4); + } + } + int channel; for (channel = 1; channel < 7; channel++) { - sprintf(tlm_str, "%d%d%d %d%d%d %d%d%d %d%d%d ", + 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][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",tlm_str); - strcat(str, tlm_str); + // printf("%s",tlm_str); + strcat(str, tlm_str); } -// CW - - char cw_str2[500]; - char cw_header2[] = "echo '"; - char cw_footer2[] = "' > id.txt && gen_packets -M 20 id.txt -o morse.wav -r 48000 > /dev/null 2>&1 && cat morse.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f 434.897e3"; - - strcpy(cw_str2, cw_header2); -//printf("Before 1st strcpy\n"); - strcat(cw_str2, str); -//printf("Before 1st strcpy\n"); - strcat(cw_str2, cw_footer2); -//printf("Before 1st strcpy\n"); - -// read payload sensor if available - -char sensor_payload[500]; - -if (payload == ON) -{ - char c; - int charss = serialDataAvail (uart_fd); - if (charss != 0) - printf("Clearing buffer of %d chars \n", charss); - while ((charss-- > 0)) - c = serialGetchar (uart_fd); // clear buffer - - unsigned int waitTime; - int i = 0; - - serialPutchar (uart_fd, '?'); - printf("Querying payload with ?\n"); - waitTime = millis() + 500; - int end = FALSE; - 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; - } + // CW + + char cw_str2[500]; + char cw_header2[] = "echo '"; + char cw_footer2[] = "' > id.txt && gen_packets -M 20 id.txt -o morse.wav -r 48000 > /dev/null 2>&1 && cat morse.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f 434.897e3"; + + strcpy(cw_str2, cw_header2); + //printf("Before 1st strcpy\n"); + strcat(cw_str2, str); + //printf("Before 1st strcpy\n"); + strcat(cw_str2, cw_footer2); + //printf("Before 1st strcpy\n"); + + // read payload sensor if available + + char sensor_payload[500]; + + if (payload == ON) { + char c; + int charss = serialDataAvail(uart_fd); + if (charss != 0) + printf("Clearing buffer of %d chars \n", charss); + while ((charss--> 0)) + c = serialGetchar(uart_fd); // clear buffer + + unsigned int waitTime; + int i = 0; + + serialPutchar(uart_fd, '?'); + printf("Querying payload with ?\n"); + waitTime = millis() + 500; + int end = FALSE; + 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++] = '\n'; + sensor_payload[i] = '\0'; + printf("Payload string: %s", sensor_payload); + + strcat(str, sensor_payload); // append to telemetry string for transmission } -// sensor_payload[i++] = '\n'; - sensor_payload[i] = '\0'; - printf("Payload string: %s", sensor_payload); - - strcat(str, sensor_payload); // append to telemetry string for transmission -} - digitalWrite (txLed, txLedOn); - #ifdef DEBUG_LOGGING - printf("Tx LED On\n"); - #endif - if (mode == CW) - system(cw_str2); - digitalWrite (txLed, txLedOn); - #ifdef DEBUG_LOGGING - printf("Tx LED On\n"); - #endif - - if (ax5043) - { - digitalWrite (txLed, txLedOn); - #ifdef DEBUG_LOGGING - printf("Tx LED On\n"); - #endif - fprintf(stderr,"INFO: Transmitting X.25 packet using AX5043\n"); - memcpy(data, str, strnlen(str, 256)); - int 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 (txLed, txLedOff); - #ifdef DEBUG_LOGGING - printf("Tx LED Off\n"); - #endif + digitalWrite(txLed, txLedOn); + #ifdef DEBUG_LOGGING + printf("Tx LED On\n"); + #endif + if (mode == CW) + system(cw_str2); + digitalWrite(txLed, txLedOn); + #ifdef DEBUG_LOGGING + printf("Tx LED On\n"); + #endif + + if (ax5043) { + digitalWrite(txLed, txLedOn); + #ifdef DEBUG_LOGGING + printf("Tx LED On\n"); + #endif + fprintf(stderr, "INFO: Transmitting X.25 packet using AX5043\n"); + memcpy(data, str, strnlen(str, 256)); + int 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(txLed, txLedOff); + #ifdef DEBUG_LOGGING + printf("Tx LED Off\n"); + #endif + + if (ret) { + fprintf(stderr, + "ERROR: Failed to transmit entire AX.25 frame with error code %d\n", + ret); + exit(EXIT_FAILURE); + } + sleep(2); + } else { + strcat(str, footer_str1); + strcat(str, call); + strcat(str, footer_str); + fprintf(stderr, "String to execute: %s\n", str); + if (transmit) { + FILE * file2 = popen(str, "r"); + pclose(file2); + } else { + fprintf(stderr, "\nNo CubeSatSim Band Pass Filter detected. No transmissions after the CW ID.\n"); + fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n"); + } + digitalWrite(txLed, txLedOff); + #ifdef DEBUG_LOGGING + printf("Tx LED Off\n"); + #endif + sleep(3); + digitalWrite(txLed, txLedOn); + #ifdef DEBUG_LOGGING + printf("Tx LED On\n"); + #endif + } - if (ret) { - fprintf(stderr, - "ERROR: Failed to transmit entire AX.25 frame with error code %d\n", - ret); - exit(EXIT_FAILURE); - } - sleep(2); } - else - { - strcat(str, footer_str1); - strcat(str, call); - strcat(str,footer_str); - fprintf(stderr, "String to execute: %s\n", str); - if (transmit) - { - FILE* file2 = popen(str, "r"); - pclose(file2); - } - else - { - fprintf(stderr,"\nNo CubeSatSim Band Pass Filter detected. No transmissions after the CW ID.\n"); - fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n"); - } - digitalWrite (txLed, txLedOff); - #ifdef DEBUG_LOGGING - printf("Tx LED Off\n"); - #endif - sleep(3); - digitalWrite (txLed, txLedOn); + + digitalWrite(txLed, txLedOff); #ifdef DEBUG_LOGGING - printf("Tx LED On\n"); + printf("Tx LED Off\n"); #endif - } - -} - -digitalWrite (txLed, txLedOff); -#ifdef DEBUG_LOGGING -printf("Tx LED Off\n"); -#endif -return; + return; } int get_tlm_fox() { - -// Reading I2C voltage and current sensors - - FILE* uptime_file = fopen("/proc/uptime", "r"); - fscanf(uptime_file, "%f", &uptime_sec); - uptime = (int) uptime_sec; + + // Reading I2C voltage and current sensors + + FILE * uptime_file = fopen("/proc/uptime", "r"); + fscanf(uptime_file, "%f", & uptime_sec); + uptime = (int) uptime_sec; #ifdef DEBUG_LOGGING - printf("Reset Count: %d Uptime since Reset: %ld \n", reset_count, uptime); + printf("Reset Count: %d Uptime since Reset: %ld \n", reset_count, uptime); #endif - fclose(uptime_file); - - int i; -// long int sync = SYNC_WORD; - long int sync = syncWord; + fclose(uptime_file); - smaller = S_RATE/(2 * freq_Hz); + int i; + // long int sync = SYNC_WORD; + long int sync = syncWord; -// short int b[DATA_LEN]; - short int b[dataLen]; - memset(b, 0, sizeof(b)); + smaller = S_RATE / (2 * freq_Hz); -// short int h[HEADER_LEN]; - short int h[headerLen]; - memset(h, 0, sizeof(h)); - - memset(buffer, 0xa5, sizeof(buffer)); - -// short int b10[DATA_LEN], h10[HEADER_LEN]; -// short int rs_frame[RS_FRAMES][223]; -// unsigned char parities[RS_FRAMES][PARITY_LEN],inputByte; -// short int b10[dataLen], h10[headerLen]; - 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; + // short int b[DATA_LEN]; + short int b[dataLen]; + memset(b, 0, sizeof(b)); + + // short int h[HEADER_LEN]; + short int h[headerLen]; + memset(h, 0, sizeof(h)); + + memset(buffer, 0xa5, sizeof(buffer)); + + // short int b10[DATA_LEN], h10[HEADER_LEN]; + // short int rs_frame[RS_FRAMES][223]; + // unsigned char parities[RS_FRAMES][PARITY_LEN],inputByte; + // short int b10[dataLen], h10[headerLen]; + 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 PayloadFailure1 = 0, PayloadFailure2 = 0; - int PSUVoltage = 0, PSUCurrent = 0, Resets = 0, Rssi = 2048; + int PSUVoltage = 0, PSUCurrent = 0, Resets = 0, Rssi = 2048; int batt_a_v = 0, batt_b_v = 0, batt_c_v = 0, battCurr = 0; 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 = (-0.69)*(-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; // XAxisAngularVelocity Y and Z set to 0 + 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; // XAxisAngularVelocity Y and Z set to 0 int RXTemperature = 0, temp = 0, spin = 0;; - float xAccel = 0.0, yAccel = 0.0, zAccel = 0.0; + 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; + 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); - + if (mode == FSK) id = 7; else - id = 0; // 99 in h[6] + id = 0; // 99 in h[6] -// for (int frames = 0; frames < FRAME_CNT; frames++) - for (int frames = 0; frames < frameCnt; frames++) - { + // for (int frames = 0; frames < FRAME_CNT; frames++) + for (int frames = 0; frames < frameCnt; frames++) { -if (firstTime != ON) - { -// delay for sample period - digitalWrite (txLed, txLedOn); - #ifdef DEBUG_LOGGING - printf("Tx LED On\n"); - #endif + if (firstTime != ON) { + // delay for sample period + digitalWrite(txLed, txLedOn); + #ifdef DEBUG_LOGGING + printf("Tx LED On\n"); + #endif - while ((millis() - sampleTime) < samplePeriod) + while ((millis() - sampleTime) < samplePeriod) sleep(sleepTime); - - digitalWrite (txLed, txLedOff); - #ifdef DEBUG_LOGGING - printf("Tx LED Off\n"); - #endif - printf("Sample period: %d\n",millis() - sampleTime); - sampleTime = millis(); - } else - printf("first time - no sleep\n"); + digitalWrite(txLed, txLedOff); + #ifdef DEBUG_LOGGING + printf("Tx LED Off\n"); + #endif - int count1; - char *token; - char cmdbuffer[1000]; - - FILE* file = popen(pythonStr, "r"); + printf("Sample period: %d\n", millis() - sampleTime); + sampleTime = millis(); + } else + printf("first time - no sleep\n"); + + int count1; + char * token; + char cmdbuffer[1000]; + + FILE * file = popen(pythonStr, "r"); fgets(cmdbuffer, 1000, file); -// printf("result: %s\n", cmdbuffer); + // printf("result: %s\n", cmdbuffer); pclose(file); - + const char space[2] = " "; token = strtok(cmdbuffer, space); - float voltage[9], current[9], sensor[17], other[3]; + float voltage[9], current[9], sensor[17], other[3]; memset(voltage, 0, sizeof(voltage)); - memset(current, 0, sizeof(current)); + memset(current, 0, sizeof(current)); memset(sensor, 0, sizeof(sensor)); memset(other, 0, sizeof(other)); - - for (count1 = 0; count1 < 8; count1++) - { - if (token != NULL) - { - voltage[count1] = atof(token); - #ifdef DEBUG_LOGGING -// printf("voltage: %f ", voltage[count1]); - #endif - token = strtok(NULL, space); - if (token != NULL) - { - current[count1] = atof(token); - if ((current[count1] < 0) && (current[count1] > -0.5)) - current[count1] *= (-1.0); - #ifdef DEBUG_LOGGING -// printf("current: %f\n", current[count1]); - #endif - token = strtok(NULL, space); - } - } - } - -// printf("\n"); - - - batteryVoltage = voltage[map[BAT]]; - if (batteryVoltage < 3.5) - { - NormalModeFailure = 1; - printf("Safe Mode!\n"); - } - else - NormalModeFailure = 0; - - FILE *cpuTempSensor = fopen("/sys/class/thermal/thermal_zone0/temp", "r"); - if (cpuTempSensor) { - double cpuTemp; - fscanf (cpuTempSensor, "%lf", &cpuTemp); - cpuTemp /= 1000; - - #ifdef DEBUG_LOGGING + + for (count1 = 0; count1 < 8; count1++) { + if (token != NULL) { + voltage[count1] = atof(token); + #ifdef DEBUG_LOGGING + // printf("voltage: %f ", voltage[count1]); + #endif + token = strtok(NULL, space); + if (token != NULL) { + current[count1] = atof(token); + if ((current[count1] < 0) && (current[count1] > -0.5)) + current[count1] *= (-1.0); + #ifdef DEBUG_LOGGING + // printf("current: %f\n", current[count1]); + #endif + token = strtok(NULL, space); + } + } + } + + // printf("\n"); + + batteryVoltage = voltage[map[BAT]]; + if (batteryVoltage < 3.5) { + NormalModeFailure = 1; + printf("Safe Mode!\n"); + } else + NormalModeFailure = 0; + + FILE * cpuTempSensor = fopen("/sys/class/thermal/thermal_zone0/temp", "r"); + if (cpuTempSensor) { + double cpuTemp; + fscanf(cpuTempSensor, "%lf", & cpuTemp); + cpuTemp /= 1000; + + #ifdef DEBUG_LOGGING printf("CPU Temp Read: %6.1f\n", cpuTemp); - #endif - - other[IHU_TEMP] = cpuTemp; - -// IHUcpuTemp = (int)((cpuTemp * 10.0) + 0.5); - } - fclose(cpuTempSensor); - -char sensor_payload[500]; - -if (payload == ON) -{ - STEMBoardFailure = 0; - - char c; - int charss = serialDataAvail (uart_fd); - if (charss != 0) - printf("Clearing buffer of %d chars \n", charss); - while ((charss-- > 0)) - c = serialGetchar (uart_fd); // clear buffer - - unsigned int waitTime; - int i = 0; - serialPutchar (uart_fd, '?'); - printf("Querying payload with ?\n"); - waitTime = millis() + 500; - int end = FALSE; -// int retry = FALSE; - 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; - } + #endif + + other[IHU_TEMP] = cpuTemp; + + // IHUcpuTemp = (int)((cpuTemp * 10.0) + 0.5); + } + fclose(cpuTempSensor); + + char sensor_payload[500]; + + if (payload == ON) { + STEMBoardFailure = 0; + + char c; + int charss = serialDataAvail(uart_fd); + if (charss != 0) + printf("Clearing buffer of %d chars \n", charss); + while ((charss--> 0)) + c = serialGetchar(uart_fd); // clear buffer + + unsigned int waitTime; + int i = 0; + serialPutchar(uart_fd, '?'); + printf("Querying payload with ?\n"); + waitTime = millis() + 500; + int end = FALSE; + // int retry = FALSE; + 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++] = ' '; + // sensor_payload[i++] = '\n'; + sensor_payload[i] = '\0'; + printf("Payload string: %s \n", sensor_payload); + + if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) // only process if valid payload response + { + 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); + for (count1 = 0; count1 < 17; count1++) { + if (token != NULL) { + sensor[count1] = atof(token); + #ifdef DEBUG_LOGGING + printf("sensor: %f ", sensor[count1]); + #endif + token = strtok(NULL, space); + } } + printf("\n"); + + } + } - sensor_payload[i++] = ' '; -// sensor_payload[i++] = '\n'; - sensor_payload[i] = '\0'; - printf("Payload string: %s \n", sensor_payload); - - if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) // only process if valid payload response - { - 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); - for (count1 = 0; count1 < 17; count1++) - { - if (token != NULL) - { - sensor[count1] = atof(token); - #ifdef DEBUG_LOGGING - printf("sensor: %f ", sensor[count1]); - #endif - token = strtok(NULL, space); - } - } - printf("\n"); - - } - -} - -if (sim_mode) -{ - // simulated telemetry - - double time = (millis() - time_start)/1000.0; - - if ((time - eclipse_time) > period) - { - eclipse = (eclipse == 1) ? 0 : 1; - eclipse_time = time; - printf("\n\nSwitching eclipse mode! \n\n"); - } - -/* - double Xi = eclipse * amps_max[0] * sin(2.0 * 3.14 * time / (46.0 * speed)) * fabs(sin(2.0 * 3.14 * time / (46.0 * speed))) + rnd_float(-2, 2); - double Yi = eclipse * amps_max[1] * sin((2.0 * 3.14 * time / (46.0 * speed)) + (3.14/2.0)) * fabs(sin((2.0 * 3.14 * time / (46.0 * speed)) + (3.14/2.0))) + rnd_float(-2, 2); - double Zi = eclipse * amps_max[2] * sin((2.0 * 3.14 * time / (46.0 * speed)) + 3.14 + angle[2]) * fabs(sin((2.0 * 3.14 * time / (46.0 * speed)) + 3.14 + angle[2])) + rnd_float(-2, 2); -*/ - double Xi = eclipse * amps_max[0] * 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 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); - - // 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[PLUS_Y]] = ( Yi >= 0) ? Yi: 0; - current[map[MINUS_Y]] = ( Yi >= 0) ? 0: ((-1.0) * Yi); - current[map[PLUS_Z]] = ( Zi >= 0) ? Zi: 0; - current[map[MINUS_Z]] = ( Zi >= 0) ? 0: ((-1.0) * 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[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[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); - - // 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 += + rnd_float(-1.0, 1.0); -// IHUcpuTemp = (int)((tempS + rnd_float(-1.0, 1.0)) * 10 + 0.5); - other[IHU_TEMP] = tempS; - - voltage[map[BUS]] = rnd_float(5.0, 5.005); - current[map[BUS]] = rnd_float(158, 171); - -// float charging = current[map[PLUS_X]] + current[map[MINUS_X]] + current[map[PLUS_Y]] + current[map[MINUS_Y]] + current[map[PLUS_Z]] + current[map[MINUS_Z]]; - float charging = eclipse * (fabs(amps_max[0] * 0.707) + fabs(amps_max[1] * 0.707) + rnd_float(-4.0, 4.0)); - - current[map[BAT]] = ((current[map[BUS]] * voltage[map[BUS]]) / (batt * 1.0)) - charging; - -// printf("charging: %f bat curr: %f bus curr: %f bat volt: %f bus volt: %f \n",charging, current[map[BAT]], current[map[BUS]], batt, voltage[map[BUS]]); - - batt -= (batt > 3.5) ? current[map[BAT]]/30000: current[map[BAT]]/3000; - if (batt < 3.0) - { - batt = 3.0; - NormalModeFailure = 1; - printf("Safe Mode!\n"); - } - else - NormalModeFailure = 0; - - if (batt > 4.5) - batt = 4.5; - - voltage[map[BAT]] = batt + rnd_float(-0.01, 0.01); - -// end of simulated telemetry -} - - for (count1 = 0; count1 < 8; count1++) - { - if (voltage[count1] < voltage_min[count1]) - voltage_min[count1] = voltage[count1]; - if (current[count1] < current_min[count1]) - current_min[count1] = current[count1]; - - if (voltage[count1] > voltage_max[count1]) - voltage_max[count1] = voltage[count1]; - if (current[count1] > current_max[count1]) - current_max[count1] = current[count1]; - - printf("Vmin %f Vmax %f Imin %f Imax %f \n", voltage_min[count1], voltage_max[count1], current_min[count1], current_max[count1]); - } - - if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) - { - for (count1 = 0; count1 < 17; count1++) - { - if (sensor[count1] < sensor_min[count1]) - sensor_min[count1] = sensor[count1]; - if (sensor[count1] > sensor_max[count1]) - sensor_max[count1] = sensor[count1]; - - printf("Smin %f Smax %f \n", sensor_min[count1], sensor_max[count1]); - } - } - - for (count1 = 0; count1 < 3; count1++) - { - if (other[count1] < other_min[count1]) - other_min[count1] = other[count1]; - if (other[count1] > other_max[count1]) - other_max[count1] = other[count1]; - - printf("Other min %f max %f \n", other_min[count1], other_max[count1]); - } - - if (loop % 8 == 0) - { - printf("Sending MIN frame \n"); - frm_type = 0x03; - for (count1 = 0; count1 < 17; count1++) - { - if (count1 < 3) - other[count1] = other_min[count1]; - if (count1 < 8) - { - voltage[count1] = voltage_min[count1]; - current[count1] = current_min[count1]; - } - if (sensor_min[count1] != 1000.0) // make sure values are valid - sensor[count1] = sensor_min[count1]; - } + + if (sim_mode) { + // simulated telemetry + + double time = (millis() - time_start) / 1000.0; + + if ((time - eclipse_time) > period) { + eclipse = (eclipse == 1) ? 0 : 1; + eclipse_time = time; + printf("\n\nSwitching eclipse mode! \n\n"); + } + + /* + double Xi = eclipse * amps_max[0] * sin(2.0 * 3.14 * time / (46.0 * speed)) * fabs(sin(2.0 * 3.14 * time / (46.0 * speed))) + rnd_float(-2, 2); + double Yi = eclipse * amps_max[1] * sin((2.0 * 3.14 * time / (46.0 * speed)) + (3.14/2.0)) * fabs(sin((2.0 * 3.14 * time / (46.0 * speed)) + (3.14/2.0))) + rnd_float(-2, 2); + double Zi = eclipse * amps_max[2] * sin((2.0 * 3.14 * time / (46.0 * speed)) + 3.14 + angle[2]) * fabs(sin((2.0 * 3.14 * time / (46.0 * speed)) + 3.14 + angle[2])) + rnd_float(-2, 2); + */ + double Xi = eclipse * amps_max[0] * 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 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); + + // 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[PLUS_Y]] = (Yi >= 0) ? Yi : 0; + current[map[MINUS_Y]] = (Yi >= 0) ? 0 : ((-1.0) * Yi); + current[map[PLUS_Z]] = (Zi >= 0) ? Zi : 0; + current[map[MINUS_Z]] = (Zi >= 0) ? 0 : ((-1.0) * 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[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[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); + + // 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 += +rnd_float(-1.0, 1.0); + // IHUcpuTemp = (int)((tempS + rnd_float(-1.0, 1.0)) * 10 + 0.5); + other[IHU_TEMP] = tempS; + + voltage[map[BUS]] = rnd_float(5.0, 5.005); + current[map[BUS]] = rnd_float(158, 171); + + // float charging = current[map[PLUS_X]] + current[map[MINUS_X]] + current[map[PLUS_Y]] + current[map[MINUS_Y]] + current[map[PLUS_Z]] + current[map[MINUS_Z]]; + float charging = eclipse * (fabs(amps_max[0] * 0.707) + fabs(amps_max[1] * 0.707) + rnd_float(-4.0, 4.0)); + + current[map[BAT]] = ((current[map[BUS]] * voltage[map[BUS]]) / (batt * 1.0)) - charging; + + // printf("charging: %f bat curr: %f bus curr: %f bat volt: %f bus volt: %f \n",charging, current[map[BAT]], current[map[BUS]], batt, voltage[map[BUS]]); + + batt -= (batt > 3.5) ? current[map[BAT]] / 30000 : current[map[BAT]] / 3000; + if (batt < 3.0) { + batt = 3.0; + NormalModeFailure = 1; + printf("Safe Mode!\n"); + } else + NormalModeFailure = 0; + + if (batt > 4.5) + batt = 4.5; + + voltage[map[BAT]] = batt + rnd_float(-0.01, 0.01); + + // end of simulated telemetry + } + + for (count1 = 0; count1 < 8; count1++) { + if (voltage[count1] < voltage_min[count1]) + voltage_min[count1] = voltage[count1]; + if (current[count1] < current_min[count1]) + current_min[count1] = current[count1]; + + if (voltage[count1] > voltage_max[count1]) + voltage_max[count1] = voltage[count1]; + if (current[count1] > current_max[count1]) + current_max[count1] = current[count1]; + + printf("Vmin %f Vmax %f Imin %f Imax %f \n", voltage_min[count1], voltage_max[count1], current_min[count1], current_max[count1]); + } + + if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) { + for (count1 = 0; count1 < 17; count1++) { + if (sensor[count1] < sensor_min[count1]) + sensor_min[count1] = sensor[count1]; + if (sensor[count1] > sensor_max[count1]) + sensor_max[count1] = sensor[count1]; + + printf("Smin %f Smax %f \n", sensor_min[count1], sensor_max[count1]); + } + } + + for (count1 = 0; count1 < 3; count1++) { + if (other[count1] < other_min[count1]) + other_min[count1] = other[count1]; + if (other[count1] > other_max[count1]) + other_max[count1] = other[count1]; + + printf("Other min %f max %f \n", other_min[count1], other_max[count1]); + } + + if (loop % 8 == 0) { + printf("Sending MIN frame \n"); + frm_type = 0x03; + for (count1 = 0; count1 < 17; count1++) { + if (count1 < 3) + other[count1] = other_min[count1]; + if (count1 < 8) { + voltage[count1] = voltage_min[count1]; + current[count1] = current_min[count1]; + } + if (sensor_min[count1] != 1000.0) // make sure values are valid + sensor[count1] = sensor_min[count1]; + } + } + if ((loop + 4) % 8 == 0) { + printf("Sending MAX frame \n"); + frm_type = 0x02; + for (count1 = 0; count1 < 17; count1++) { + if (count1 < 3) + other[count1] = other_max[count1]; + if (count1 < 8) { + voltage[count1] = voltage_max[count1]; + current[count1] = current_max[count1]; + } + if (sensor_max[count1] != -1000.0) // make sure values are valid + sensor[count1] = sensor_max[count1]; + } } - if ((loop + 4) % 8 == 0) - { - printf("Sending MAX frame \n"); - frm_type = 0x02; - for (count1 = 0; count1 < 17; count1++) - { - if (count1 < 3) - other[count1] = other_max[count1]; - if (count1 < 8) - { - voltage[count1] = voltage_max[count1]; - current[count1] = current_max[count1]; - } - if (sensor_max[count1] != -1000.0) // make sure values are valid - sensor[count1] = sensor_max[count1]; - } - } - - memset(rs_frame,0,sizeof(rs_frame)); - memset(parities,0,sizeof(parities)); - - FILE *uptime_file = fopen("/proc/uptime", "r"); - fscanf(uptime_file, "%f", &uptime_sec); + + memset(rs_frame, 0, sizeof(rs_frame)); + memset(parities, 0, sizeof(parities)); + + FILE * uptime_file = fopen("/proc/uptime", "r"); + fscanf(uptime_file, "%f", & uptime_sec); uptime = (int) uptime_sec; fclose(uptime_file); printf("Reset Count: %d Uptime since Reset: %ld \n", reset_count, uptime); - - h[0] = (h[0] & 0xf8) | (id & 0x07); // 3 bits -// printf("h[0] %x\n", h[0]); - h[0] = (h[0] & 0x07)| ((reset_count & 0x1f) << 3); -// printf("h[0] %x\n", h[0]); + + h[0] = (h[0] & 0xf8) | (id & 0x07); // 3 bits + // printf("h[0] %x\n", h[0]); + h[0] = (h[0] & 0x07) | ((reset_count & 0x1f) << 3); + // printf("h[0] %x\n", h[0]); h[1] = (reset_count >> 5) & 0xff; -// printf("h[1] %x\n", h[1]); + // printf("h[1] %x\n", h[1]); h[2] = (h[2] & 0xf8) | ((reset_count >> 13) & 0x07); -// printf("h[2] %x\n", h[2]); + // printf("h[2] %x\n", h[2]); h[2] = (h[2] & 0x0e) | ((uptime & 0x1f) << 3); -// printf("h[2] %x\n", h[2]); + // 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[5] = (h[5] & 0x0f) | (frm_type << 4); + if (mode == BPSK) h[6] = 99; - - posXi = (int)(current[map[PLUS_X]] + 0.5) + 2048; - posYi = (int)(current[map[PLUS_Y]] + 0.5) + 2048; - posZi = (int)(current[map[PLUS_Z]] + 0.5) + 2048; - negXi = (int)(current[map[MINUS_X]] + 0.5) + 2048; - negYi = (int)(current[map[MINUS_Y]] + 0.5) + 2048; - negZi = (int)(current[map[MINUS_Z]] + 0.5) + 2048; - - - posXv = (int)(voltage[map[PLUS_X]] * 100); - posYv = (int)(voltage[map[PLUS_Y]] * 100); - posZv = (int)(voltage[map[PLUS_Z]] * 100); - negXv = (int)(voltage[map[MINUS_X]] * 100); - negYv = (int)(voltage[map[MINUS_Y]] * 100); - negZv = (int)(voltage[map[MINUS_Z]] * 100); - - batt_c_v = (int)(voltage[map[BAT]] * 100); - - battCurr = (int)(current[map[BAT]] + 0.5) + 2048; - PSUVoltage = (int)(voltage[map[BUS]] * 100); - PSUCurrent = (int)(current[map[BUS]] + 0.5) + 2048; - - if (payload == ON) - STEMBoardFailure = 0; - -// if (payload == ON) -// STEMBoardFailure = 0; - -// read payload sensor if available - + posXi = (int)(current[map[PLUS_X]] + 0.5) + 2048; + posYi = (int)(current[map[PLUS_Y]] + 0.5) + 2048; + posZi = (int)(current[map[PLUS_Z]] + 0.5) + 2048; + negXi = (int)(current[map[MINUS_X]] + 0.5) + 2048; + negYi = (int)(current[map[MINUS_Y]] + 0.5) + 2048; + negZi = (int)(current[map[MINUS_Z]] + 0.5) + 2048; - encodeA(b, 0 + head_offset, batt_a_v); - encodeB(b, 1 + head_offset, batt_b_v); - encodeA(b, 3 + head_offset, batt_c_v); - -// encodeB(b, 4 + head_offset, (int)(xAccel * 100 + 0.5) + 2048); // Xaccel -// encodeA(b, 6 + head_offset, (int)(yAccel * 100 + 0.5) + 2048); // Yaccel -// encodeB(b, 7 + head_offset, (int)(zAccel * 100 + 0.5) + 2048); // Zaccel - - encodeB(b, 4 + head_offset, (int)(sensor[ACCEL_X] * 100 + 0.5) + 2048); // Xaccel - encodeA(b, 6 + head_offset, (int)(sensor[ACCEL_Y] * 100 + 0.5) + 2048); // Yaccel - encodeB(b, 7 + head_offset, (int)(sensor[ACCEL_Z] * 100 + 0.5) + 2048); // Zaccel - - encodeA(b, 9 + head_offset, battCurr); - -// encodeB(b, 10 + head_offset,(int)(BME280temperature * 10 + 0.5)); // Temp - encodeB(b, 10 + head_offset,(int)(sensor[TEMP] * 10 + 0.5)); // Temp - - if (mode == FSK) - { - encodeA(b, 12 + head_offset,posXv); - encodeB(b, 13 + head_offset,negXv); - encodeA(b, 15 + head_offset,posYv); - encodeB(b, 16 + head_offset,negYv); - encodeA(b, 18 + head_offset,posZv); - encodeB(b, 19 + head_offset,negZv); - - encodeA(b, 21 + head_offset,posXi); - encodeB(b, 22 + head_offset,negXi); - encodeA(b, 24 + head_offset,posYi); - encodeB(b, 25 + head_offset,negYi); - encodeA(b, 27 + head_offset,posZi); - encodeB(b, 28 + head_offset,negZi); - } - else // BPSK - { - encodeA(b, 12 + head_offset,posXv); - encodeB(b, 13 + head_offset,posYv); - encodeA(b, 15 + head_offset,posZv); - encodeB(b, 16 + head_offset,negXv); - encodeA(b, 18 + head_offset,negYv); - encodeB(b, 19 + head_offset,negZv); - - encodeA(b, 21 + head_offset,posXi); - encodeB(b, 22 + head_offset,posYi); - encodeA(b, 24 + head_offset,posZi); - encodeB(b, 25 + head_offset,negXi); - encodeA(b, 27 + head_offset,negYi); - encodeB(b, 28 + head_offset,negZi); - } - - encodeA(b, 30 + head_offset,PSUVoltage); -// encodeB(b, 31 + head_offset,(spin * 10) + 2048); - encodeB(b, 31 + head_offset,(other[SPIN] * 10) + 2048); - -// encodeA(b, 33 + head_offset,(int)(BME280pressure + 0.5)); // Pressure -// encodeB(b, 34 + head_offset,(int)(BME280altitude + 0.5)); // Altitude - - encodeA(b, 33 + head_offset,(int)(sensor[PRES] + 0.5)); // Pressure - encodeB(b, 34 + head_offset,(int)(sensor[ALT] * 10.0 + 0.5)); // Altitude - - encodeA(b, 36 + head_offset, Resets); -// encodeB(b, 37 + head_offset, Rssi); - encodeB(b, 37 + head_offset, (int)(other[RSSI] + 0.5) + 2048); - -// encodeA(b, 39 + head_offset, IHUcpuTemp); - encodeA(b, 39 + head_offset, (int)(other[IHU_TEMP] * 10 + 0.5)); - -// encodeB(b, 40 + head_offset, xAngularVelocity); -// encodeA(b, 42 + head_offset, yAngularVelocity); -// encodeB(b, 43 + head_offset, zAngularVelocity); - - encodeB(b, 40 + head_offset, (int)(sensor[GYRO_X] + 0.5) + 2048); - encodeA(b, 42 + head_offset, (int)(sensor[GYRO_Y] + 0.5) + 2048); - encodeB(b, 43 + head_offset, (int)(sensor[GYRO_Z] + 0.5) + 2048); - - - -// encodeA(b, 45 + head_offset, (int)(BME280humidity + 0.5)); // in place of sensor1 - encodeA(b, 45 + head_offset, (int)(sensor[HUMI] + 0.5)); // in place of sensor1 - - encodeB(b, 46 + head_offset,PSUCurrent); -// encodeA(b, 48 + head_offset, (int)(XSsensor2) + 2048); -// encodeB(b, 49 + head_offset, (int)(XSsensor3 * 100 + 0.5) + 2048); - - encodeA(b, 48 + head_offset, (int)(sensor[XS2]) + 2048); - encodeB(b, 49 + head_offset, (int)(sensor[XS3] * 100 + 0.5) + 2048); - -// camera = ON; - - int status = STEMBoardFailure + NormalModeFailure * 2 + PayloadFailure1 * 4 + PayloadFailure2 * 8 - + (i2c_bus0 == OFF) * 16 + (i2c_bus1 == OFF) * 32 + (i2c_bus3 == OFF) * 64 + (camera == OFF) * 128 + groundCommandCount * 256; - - encodeA(b, 51 + head_offset, status); -// encodeA(b, 51 + head_offset, STEMBoardFailure + NormalModeFailure * 2 + (i2c_bus0 == OFF) * 16 + (i2c_bus1 == OFF) * 32 + (i2c_bus3 == OFF) * 64 + (0) * 128 + 1 * 256 + 1 * 512 + 1 * 1024 + 1*2048); - encodeB(b, 52 + head_offset, rxAntennaDeployed + txAntennaDeployed * 2); - - if (txAntennaDeployed == 0) - { - txAntennaDeployed = 1; - printf("TX Antenna Deployed!\n"); - } - short int data10[headerLen + rsFrames * (rsFrameLen + parityLen)]; - short int data8[headerLen + rsFrames * (rsFrameLen + parityLen)]; - - int ctr1 = 0; - int ctr3 = 0; - for (i = 0; i < rsFrameLen; i++) - { - for (int j = 0; j < rsFrames ; j++) - { - if (!((i == (rsFrameLen - 1)) && (j == 2))) // skip last one for BPSK - { - if (ctr1 < headerLen) - { - rs_frame[j][i] = h[ctr1]; - update_rs(parities[j], h[ctr1]); - // printf("header %d rs_frame[%d][%d] = %x \n", ctr1, j, i, h[ctr1]); - data8[ctr1++] = rs_frame[j][i]; - // printf ("data8[%d] = %x \n", ctr1 - 1, rs_frame[j][i]); - } - else - { - rs_frame[j][i] = b[ctr3 % dataLen]; - update_rs(parities[j], b[ctr3 % dataLen]); - // printf("%d rs_frame[%d][%d] = %x %d \n", - // ctr1, j, i, b[ctr3 % DATA_LEN], ctr3 % DATA_LEN); - data8[ctr1++] = rs_frame[j][i]; - // printf ("data8[%d] = %x \n", ctr1 - 1, rs_frame[j][i]); - ctr3++; - } - } - } - } - - #ifdef DEBUG_LOGGING -// printf("\nAt end of data8 write, %d ctr1 values written\n\n", ctr1); -/* - printf("Parities "); - for (int m = 0; m < parityLen; m++) { - printf("%d ", parities[0][m]); - } - printf("\n"); -*/ - #endif - - int ctr2 = 0; - memset(data10,0,sizeof(data10)); - - for (i = 0; i < dataLen * payloads + headerLen; i++) // 476 for BPSK - { - data10[ctr2] = (Encode_8b10b[rd][((int)data8[ctr2])] & 0x3ff); - nrd = (Encode_8b10b[rd][((int)data8[ctr2])] >> 10) & 1; - // printf ("data10[%d] = encoded data8[%d] = %x \n", - // ctr2, ctr2, data10[ctr2]); + posXv = (int)(voltage[map[PLUS_X]] * 100); + posYv = (int)(voltage[map[PLUS_Y]] * 100); + posZv = (int)(voltage[map[PLUS_Z]] * 100); + negXv = (int)(voltage[map[MINUS_X]] * 100); + negYv = (int)(voltage[map[MINUS_Y]] * 100); + negZv = (int)(voltage[map[MINUS_Z]] * 100); - rd = nrd; // ^ nrd; - ctr2++; - } - for (i = 0; i < parityLen; i++) - { - for (int j = 0; j < rsFrames; j++) - { - data10[ctr2++] = (Encode_8b10b[rd][((int)parities[j][i])] & 0x3ff); - nrd = (Encode_8b10b[rd][((int)parities[j][i])] >> 10) & 1; - // printf ("data10[%d] = encoded parities[%d][%d] = %x \n", - // ctr2 - 1, j, i, data10[ctr2 - 1]); + batt_c_v = (int)(voltage[map[BAT]] * 100); - rd = nrd; - } - } - #ifdef DEBUG_LOGGING -// printf("\nAt end of data10 write, %d ctr2 values written\n\n", ctr2); + battCurr = (int)(current[map[BAT]] + 0.5) + 2048; + PSUVoltage = (int)(voltage[map[BUS]] * 100); + PSUCurrent = (int)(current[map[BUS]] + 0.5) + 2048; + + if (payload == ON) + STEMBoardFailure = 0; + + // if (payload == ON) + // STEMBoardFailure = 0; + + // read payload sensor if available + + encodeA(b, 0 + head_offset, batt_a_v); + encodeB(b, 1 + head_offset, batt_b_v); + encodeA(b, 3 + head_offset, batt_c_v); + + // encodeB(b, 4 + head_offset, (int)(xAccel * 100 + 0.5) + 2048); // Xaccel + // encodeA(b, 6 + head_offset, (int)(yAccel * 100 + 0.5) + 2048); // Yaccel + // encodeB(b, 7 + head_offset, (int)(zAccel * 100 + 0.5) + 2048); // Zaccel + + encodeB(b, 4 + head_offset, (int)(sensor[ACCEL_X] * 100 + 0.5) + 2048); // Xaccel + encodeA(b, 6 + head_offset, (int)(sensor[ACCEL_Y] * 100 + 0.5) + 2048); // Yaccel + encodeB(b, 7 + head_offset, (int)(sensor[ACCEL_Z] * 100 + 0.5) + 2048); // Zaccel + + encodeA(b, 9 + head_offset, battCurr); + + // encodeB(b, 10 + head_offset,(int)(BME280temperature * 10 + 0.5)); // Temp + encodeB(b, 10 + head_offset, (int)(sensor[TEMP] * 10 + 0.5)); // Temp + + if (mode == FSK) { + encodeA(b, 12 + head_offset, posXv); + encodeB(b, 13 + head_offset, negXv); + encodeA(b, 15 + head_offset, posYv); + encodeB(b, 16 + head_offset, negYv); + encodeA(b, 18 + head_offset, posZv); + encodeB(b, 19 + head_offset, negZv); + + encodeA(b, 21 + head_offset, posXi); + encodeB(b, 22 + head_offset, negXi); + encodeA(b, 24 + head_offset, posYi); + encodeB(b, 25 + head_offset, negYi); + encodeA(b, 27 + head_offset, posZi); + encodeB(b, 28 + head_offset, negZi); + } else // BPSK + { + encodeA(b, 12 + head_offset, posXv); + encodeB(b, 13 + head_offset, posYv); + encodeA(b, 15 + head_offset, posZv); + encodeB(b, 16 + head_offset, negXv); + encodeA(b, 18 + head_offset, negYv); + encodeB(b, 19 + head_offset, negZv); + + encodeA(b, 21 + head_offset, posXi); + encodeB(b, 22 + head_offset, posYi); + encodeA(b, 24 + head_offset, posZi); + encodeB(b, 25 + head_offset, negXi); + encodeA(b, 27 + head_offset, negYi); + encodeB(b, 28 + head_offset, negZi); + } + + encodeA(b, 30 + head_offset, PSUVoltage); + // encodeB(b, 31 + head_offset,(spin * 10) + 2048); + encodeB(b, 31 + head_offset, (other[SPIN] * 10) + 2048); + + // encodeA(b, 33 + head_offset,(int)(BME280pressure + 0.5)); // Pressure + // encodeB(b, 34 + head_offset,(int)(BME280altitude + 0.5)); // Altitude + + encodeA(b, 33 + head_offset, (int)(sensor[PRES] + 0.5)); // Pressure + encodeB(b, 34 + head_offset, (int)(sensor[ALT] * 10.0 + 0.5)); // Altitude + + encodeA(b, 36 + head_offset, Resets); + // encodeB(b, 37 + head_offset, Rssi); + encodeB(b, 37 + head_offset, (int)(other[RSSI] + 0.5) + 2048); + + // encodeA(b, 39 + head_offset, IHUcpuTemp); + encodeA(b, 39 + head_offset, (int)(other[IHU_TEMP] * 10 + 0.5)); + + // encodeB(b, 40 + head_offset, xAngularVelocity); + // encodeA(b, 42 + head_offset, yAngularVelocity); + // encodeB(b, 43 + head_offset, zAngularVelocity); + + encodeB(b, 40 + head_offset, (int)(sensor[GYRO_X] + 0.5) + 2048); + encodeA(b, 42 + head_offset, (int)(sensor[GYRO_Y] + 0.5) + 2048); + encodeB(b, 43 + head_offset, (int)(sensor[GYRO_Z] + 0.5) + 2048); + + // encodeA(b, 45 + head_offset, (int)(BME280humidity + 0.5)); // in place of sensor1 + encodeA(b, 45 + head_offset, (int)(sensor[HUMI] + 0.5)); // in place of sensor1 + + encodeB(b, 46 + head_offset, PSUCurrent); + // encodeA(b, 48 + head_offset, (int)(XSsensor2) + 2048); + // encodeB(b, 49 + head_offset, (int)(XSsensor3 * 100 + 0.5) + 2048); + + encodeA(b, 48 + head_offset, (int)(sensor[XS2]) + 2048); + encodeB(b, 49 + head_offset, (int)(sensor[XS3] * 100 + 0.5) + 2048); + + // camera = ON; + + int status = STEMBoardFailure + NormalModeFailure * 2 + PayloadFailure1 * 4 + PayloadFailure2 * 8 + + (i2c_bus0 == OFF) * 16 + (i2c_bus1 == OFF) * 32 + (i2c_bus3 == OFF) * 64 + (camera == OFF) * 128 + groundCommandCount * 256; + + encodeA(b, 51 + head_offset, status); + // encodeA(b, 51 + head_offset, STEMBoardFailure + NormalModeFailure * 2 + (i2c_bus0 == OFF) * 16 + (i2c_bus1 == OFF) * 32 + (i2c_bus3 == OFF) * 64 + (0) * 128 + 1 * 256 + 1 * 512 + 1 * 1024 + 1*2048); + encodeB(b, 52 + head_offset, rxAntennaDeployed + txAntennaDeployed * 2); + + if (txAntennaDeployed == 0) { + txAntennaDeployed = 1; + printf("TX Antenna Deployed!\n"); + } + short int data10[headerLen + rsFrames * (rsFrameLen + parityLen)]; + short int data8[headerLen + rsFrames * (rsFrameLen + parityLen)]; + + int ctr1 = 0; + int ctr3 = 0; + for (i = 0; i < rsFrameLen; i++) { + for (int j = 0; j < rsFrames; j++) { + if (!((i == (rsFrameLen - 1)) && (j == 2))) // skip last one for BPSK + { + if (ctr1 < headerLen) { + rs_frame[j][i] = h[ctr1]; + update_rs(parities[j], h[ctr1]); + // printf("header %d rs_frame[%d][%d] = %x \n", ctr1, j, i, h[ctr1]); + data8[ctr1++] = rs_frame[j][i]; + // printf ("data8[%d] = %x \n", ctr1 - 1, rs_frame[j][i]); + } else { + rs_frame[j][i] = b[ctr3 % dataLen]; + update_rs(parities[j], b[ctr3 % dataLen]); + // printf("%d rs_frame[%d][%d] = %x %d \n", + // ctr1, j, i, b[ctr3 % DATA_LEN], ctr3 % DATA_LEN); + data8[ctr1++] = rs_frame[j][i]; + // printf ("data8[%d] = %x \n", ctr1 - 1, rs_frame[j][i]); + ctr3++; + } + } + } + } + + #ifdef DEBUG_LOGGING + // printf("\nAt end of data8 write, %d ctr1 values written\n\n", ctr1); + /* + printf("Parities "); + for (int m = 0; m < parityLen; m++) { + printf("%d ", parities[0][m]); + } + printf("\n"); + */ #endif - + + int ctr2 = 0; + memset(data10, 0, sizeof(data10)); + + for (i = 0; i < dataLen * payloads + headerLen; i++) // 476 for BPSK + { + data10[ctr2] = (Encode_8b10b[rd][((int) data8[ctr2])] & 0x3ff); + nrd = (Encode_8b10b[rd][((int) data8[ctr2])] >> 10) & 1; + // printf ("data10[%d] = encoded data8[%d] = %x \n", + // ctr2, ctr2, data10[ctr2]); + + rd = nrd; // ^ nrd; + ctr2++; + } + for (i = 0; i < parityLen; i++) { + for (int j = 0; j < rsFrames; j++) { + data10[ctr2++] = (Encode_8b10b[rd][((int) parities[j][i])] & 0x3ff); + nrd = (Encode_8b10b[rd][((int) parities[j][i])] >> 10) & 1; + // printf ("data10[%d] = encoded parities[%d][%d] = %x \n", + // ctr2 - 1, j, i, data10[ctr2 - 1]); + + rd = nrd; + } + } + #ifdef DEBUG_LOGGING + // printf("\nAt end of data10 write, %d ctr2 values written\n\n", ctr2); + #endif + int data; int val; int offset = 0; - - #ifdef DEBUG_LOGGING -// printf("\nAt start of buffer loop, syncBits %d samples %d ctr %d\n", syncBits, samples, ctr); + + #ifdef DEBUG_LOGGING + // printf("\nAt start of buffer loop, syncBits %d samples %d ctr %d\n", syncBits, samples, ctr); #endif - - for (i = 1; i <= syncBits * samples; i++) - { - write_wave(ctr, buffer); -// printf("%d ",ctr); - if ( (i % samples) == 0) { - int bit = syncBits - i/samples + 1; - val = sync; - data = val & 1 << (bit - 1); - // printf ("%d i: %d new frame %d sync bit %d = %d \n", - // ctr/SAMPLES, i, frames, bit, (data > 0) ); - if (mode == FSK) - { - phase = ((data != 0) * 2) - 1; - // printf("Sending a %d\n", phase); - } - else - { - if (data == 0) { - phase *= -1; - if ( (ctr - smaller) > 0) - { - for (int j = 1; j <= smaller; j++) - buffer[ctr - j] = buffer[ctr - j] * 0.4; - } - flip_ctr = ctr; - } - } - } - } - #ifdef DEBUG_LOGGING -// printf("\n\nValue of ctr after header: %d Buffer Len: %d\n\n", ctr, buffSize); + + for (i = 1; i <= syncBits * samples; i++) { + write_wave(ctr, buffer); + // printf("%d ",ctr); + if ((i % samples) == 0) { + int bit = syncBits - i / samples + 1; + val = sync; + data = val & 1 << (bit - 1); + // printf ("%d i: %d new frame %d sync bit %d = %d \n", + // ctr/SAMPLES, i, frames, bit, (data > 0) ); + if (mode == FSK) { + phase = ((data != 0) * 2) - 1; + // printf("Sending a %d\n", phase); + } else { + if (data == 0) { + phase *= -1; + if ((ctr - smaller) > 0) { + for (int j = 1; j <= smaller; j++) + buffer[ctr - j] = buffer[ctr - j] * 0.4; + } + flip_ctr = ctr; + } + } + } + } + #ifdef DEBUG_LOGGING + // printf("\n\nValue of ctr after header: %d Buffer Len: %d\n\n", ctr, buffSize); #endif - for (i = 1; - i <= (10 * (headerLen + dataLen * payloads + rsFrames * parityLen) * samples); i++) // 572 - { - write_wave(ctr, buffer); - if ( (i % samples) == 0) { - int symbol = (int)((i - 1)/ (samples * 10)); - int bit = 10 - (i - symbol * samples * 10) / samples + 1; - val = data10[symbol]; - data = val & 1 << (bit - 1); - // printf ("%d i: %d new frame %d data10[%d] = %x bit %d = %d \n", - // ctr/SAMPLES, i, frames, symbol, val, bit, (data > 0) ); - if (mode == FSK) - { - phase = ((data != 0) * 2) - 1; - // printf("Sending a %d\n", phase); - } - else - { - if (data == 0) { - phase *= -1; - if ( (ctr - smaller) > 0) - { - for (int j = 1; j <= smaller; j ++) - buffer[ctr - j] = buffer[ctr - j] * 0.4; - } - flip_ctr = ctr; - } - } - } - } - } - #ifdef DEBUG_LOGGING -// printf("\nValue of ctr after looping: %d Buffer Len: %d\n", ctr, buffSize); -// printf("\ctr/samples = %d ctr/(samples*10) = %d\n\n", ctr/samples, ctr/(samples*10)); - #endif + for (i = 1; i <= (10 * (headerLen + dataLen * payloads + rsFrames * parityLen) * samples); i++) // 572 + { + write_wave(ctr, buffer); + if ((i % samples) == 0) { + int symbol = (int)((i - 1) / (samples * 10)); + int bit = 10 - (i - symbol * samples * 10) / samples + 1; + val = data10[symbol]; + data = val & 1 << (bit - 1); + // printf ("%d i: %d new frame %d data10[%d] = %x bit %d = %d \n", + // ctr/SAMPLES, i, frames, symbol, val, bit, (data > 0) ); + if (mode == FSK) { + phase = ((data != 0) * 2) - 1; + // printf("Sending a %d\n", phase); + } else { + if (data == 0) { + phase *= -1; + if ((ctr - smaller) > 0) { + for (int j = 1; j <= smaller; j++) + buffer[ctr - j] = buffer[ctr - j] * 0.4; + } + flip_ctr = ctr; + } + } + } + } + } + #ifdef DEBUG_LOGGING + // printf("\nValue of ctr after looping: %d Buffer Len: %d\n", ctr, buffSize); + // printf("\ctr/samples = %d ctr/(samples*10) = %d\n\n", ctr/samples, ctr/(samples*10)); + #endif int error = 0; int count; -// for (count = 0; count < dataLen; count++) { -// printf("%02X", b[count]); -// } -// printf("\n"); - -// socket write - - if (!socket_open && transmit) - { + // for (count = 0; count < dataLen; count++) { + // printf("%02X", b[count]); + // } + // printf("\n"); + + // socket write + + if (!socket_open && transmit) { printf("Opening socket!\n"); - struct sockaddr_in address; - int valread; - struct sockaddr_in serv_addr; -// char *hello = "Hello from client"; -// char buffer[1024] = {0}; - if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) - { - printf("\n Socket creation error \n"); - error = 1; - } - - memset(&serv_addr, '0', sizeof(serv_addr)); - - serv_addr.sin_family = AF_INET; - serv_addr.sin_port = htons(PORT); - + struct sockaddr_in address; + int valread; + struct sockaddr_in serv_addr; + // char *hello = "Hello from client"; + // char buffer[1024] = {0}; + if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) { + printf("\n Socket creation error \n"); + error = 1; + } + + memset( & serv_addr, '0', sizeof(serv_addr)); + + serv_addr.sin_family = AF_INET; + serv_addr.sin_port = htons(PORT); + // Convert IPv4 and IPv6 addresses from text to binary form - if(inet_pton(AF_INET, "127.0.0.1", &serv_addr.sin_addr)<=0) - { - printf("\nInvalid address/ Address not supported \n"); - error = 1; - } - - if (connect(sock, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) < 0) - { - printf("\nConnection Failed \n"); - printf("Error: %s \n", strerror(errno)); - error = 1; + if (inet_pton(AF_INET, "127.0.0.1", & serv_addr.sin_addr) <= 0) { + printf("\nInvalid address/ Address not supported \n"); + error = 1; + } + + if (connect(sock, (struct sockaddr * ) & serv_addr, sizeof(serv_addr)) < 0) { + printf("\nConnection Failed \n"); + printf("Error: %s \n", strerror(errno)); + error = 1; } if (error == 1) - ; //rpitxStatus = -1; + ; //rpitxStatus = -1; else - socket_open = 1; - } - - if (!error && transmit) - { -// digitalWrite (0, LOW); - printf("Sending %d buffer bytes over socket after %d ms!\n", ctr, 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); - - if (sock_ret < (ctr * 2 + 2)) - { - printf("Not resending\n"); -// sock_ret = send(sock, buffer[sock_ret], ctr * 2 + 2 - sock_ret, 0); -// printf("Millis10: %d Result of socket send: %d \n", millis() - start, sock_ret); - } + socket_open = 1; + } - if (sock_ret == -1) { - printf("Error: %s \n", strerror(errno)); - socket_open = 0; - //rpitxStatus = -1; - } + if (!error && transmit) { + // digitalWrite (0, LOW); + printf("Sending %d buffer bytes over socket after %d ms!\n", ctr, 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); + + if (sock_ret < (ctr * 2 + 2)) { + printf("Not resending\n"); + // sock_ret = send(sock, buffer[sock_ret], ctr * 2 + 2 - sock_ret, 0); + // printf("Millis10: %d Result of socket send: %d \n", millis() - start, sock_ret); } - if (!transmit) - { - fprintf(stderr,"\nNo CubeSatSim Band Pass Filter detected. No transmissions after the CW ID.\n"); - fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n"); + + if (sock_ret == -1) { + printf("Error: %s \n", strerror(errno)); + socket_open = 0; + //rpitxStatus = -1; } -// digitalWrite (0, HIGH); - - if (mode == FSK) - firstTime = 0; - else if (frames_sent > 0) //5) - firstTime = 0; + } + if (!transmit) { + fprintf(stderr, "\nNo CubeSatSim Band Pass Filter detected. No transmissions after the CW ID.\n"); + fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n"); + } + // digitalWrite (0, HIGH); -return 0; + if (mode == FSK) + firstTime = 0; + else if (frames_sent > 0) //5) + firstTime = 0; + + return 0; } - /* * TelemEncoding.h *