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@ -25,11 +25,10 @@
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int main(int argc, char * argv[]) {
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printf("\n\nCubeSatSim v2.2 starting...\n\n");
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printf("\n\nCubeSatSim v2.1 starting...\n\n");
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wiringPiSetup();
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strcpy(fail_yes, "no");
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// Open configuration file with callsign and reset count
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FILE * config_file = fopen("/home/pi/CubeSatSim/sim.cfg", "r");
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if (config_file == NULL) {
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@ -42,11 +41,11 @@ int main(int argc, char * argv[]) {
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// char * cfg_buf[100];
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fscanf(config_file, "%s %d %f %f %s %d %s %s %s %d %d %s %d",
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call, &reset_count, &lat_file, &long_file, sim_yes, &squelch, tx, rx, hab_yes, &rx_pl, &tx_pl, fail_yes, &fail_time);
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fscanf(config_file, "%s %d %f %f %s %d %s %s %s %d %d",
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call, & reset_count, & lat_file, & long_file, sim_yes, & squelch, tx, rx, hab_yes, & rx_pl, & tx_pl);
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fclose(config_file);
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fprintf(stderr,"Config file /home/pi/CubeSatSim/sim.cfg contains %s %d %f %f %s %d %s %s %s %d %d %s %d\n",
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call, reset_count, lat_file, long_file, sim_yes, squelch, tx, rx, hab_yes, rx_pl, tx_pl, fail_yes, fail_time);
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fprintf(stderr,"Config file /home/pi/CubeSatSim/sim.cfg contains %s %d %f %f %s %d %s %s %s %d %d\n",
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call, reset_count, lat_file, long_file, sim_yes, squelch, tx, rx, hab_yes, rx_pl, tx_pl);
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fprintf(stderr, "Transmit on %s MHz Receive on %s MHz\n", tx, rx);
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@ -87,10 +86,6 @@ int main(int argc, char * argv[]) {
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hab_mode = TRUE;
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fprintf(stderr, "HAB mode is ON\n");
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}
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if (strcmp(fail_yes, "yes") == 0) {
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fail_rnd_mode = TRUE;
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fprintf(stderr, "Random fail mode is ON\n");
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}
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FILE * command_file = fopen("/home/pi/CubeSatSim/command_control", "r");
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if (command_file == NULL) {
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@ -277,10 +272,47 @@ int main(int argc, char * argv[]) {
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/**/
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fflush(stderr);
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if (mode == AFSK)
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{
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// Check for SPI and AX-5043 Digital Transceiver Board
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FILE * file = popen("sudo raspi-config nonint get_spi", "r");
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// printf("getc: %c \n", fgetc(file));
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if (fgetc(file) == 48) {
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printf("SPI is enabled!\n");
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FILE * file2 = popen("ls /dev/spidev0.* 2>&1", "r");
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printf("Result getc: %c \n", getc(file2));
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if (fgetc(file2) != 'l') {
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printf("SPI devices present!\n");
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// }
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setSpiChannel(SPI_CHANNEL);
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setSpiSpeed(SPI_SPEED);
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initializeSpi();
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ax25_init( & hax25, (uint8_t * ) dest_addr, 11, (uint8_t * ) call, 11, AX25_PREAMBLE_LEN, AX25_POSTAMBLE_LEN);
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if (init_rf()) {
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printf("AX5043 successfully initialized!\n");
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ax5043 = TRUE;
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cw_id = OFF;
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// mode = AFSK;
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// cycle = OFF;
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printf("Mode AFSK with AX5043\n");
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transmit = TRUE;
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// sleep(10); // just in case CW ID is sent
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} else
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printf("AX5043 not present!\n");
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pclose(file2);
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}
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}
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pclose(file);
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}
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txLed = 2;
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txLedOn = HIGH;
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txLedOff = LOW;
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vB5 = TRUE;
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onLed = 27;
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onLedOn = HIGH;
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onLedOff = LOW;
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@ -294,23 +326,34 @@ int main(int argc, char * argv[]) {
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}
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config_file = fopen("sim.cfg", "w");
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fprintf(config_file, "%s %d %8.4f %8.4f %s %d %s %s %s %d %d %s %d",
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call, reset_count, lat_file, long_file, sim_yes, squelch, tx, rx, hab_yes, rx_pl, tx_pl, fail_yes, fail_time);
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fprintf(config_file, "%s %d %8.4f %8.4f %s %d %s %s %s %d %d", call, reset_count, lat_file, long_file, sim_yes, squelch, tx, rx, hab_yes, rx_pl, tx_pl);
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// fprintf(config_file, "%s %d", call, reset_count);
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fclose(config_file);
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config_file = fopen("sim.cfg", "r");
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map[MINUS_X] = MINUS_Y;
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map[PLUS_Z] = MINUS_X;
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map[MINUS_Y] = PLUS_Z;
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if (vB4) {
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map[BAT] = BAT2;
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map[BAT2] = BAT;
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snprintf(busStr, 10, "%d %d", i2c_bus1, test_i2c_bus(0));
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} else if (vB5) {
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map[MINUS_X] = MINUS_Y;
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map[PLUS_Z] = MINUS_X;
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map[MINUS_Y] = PLUS_Z;
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if (access("/dev/i2c-11", W_OK | R_OK) >= 0) { // Test if I2C Bus 11 is present
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if (access("/dev/i2c-11", W_OK | R_OK) >= 0) { // Test if I2C Bus 11 is present
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printf("/dev/i2c-11 is present\n\n");
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snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(11));
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} else {
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} else {
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snprintf(busStr, 10, "%d %d", i2c_bus1, i2c_bus3);
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}
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} else {
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map[BAT2] = MINUS_Z;
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map[BAT] = BAT2;
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map[PLUS_Z] = BAT;
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map[MINUS_Z] = PLUS_Z;
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snprintf(busStr, 10, "%d %d", i2c_bus1, test_i2c_bus(0));
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voltageThreshold = 8.0;
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}
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// check for camera
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// char cmdbuffer1[1000];
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@ -330,6 +373,8 @@ int main(int argc, char * argv[]) {
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//file5 = popen("sudo rm /home/pi/CubeSatSim/camera_out.jpg.wav > /dev/null 2>&1", "r");
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pclose(file5);
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if (!ax5043) // don't test for payload if AX5043 is present
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{
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payload = OFF;
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fprintf(stderr,"Opening serial\n");
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if ((uart_fd = serialOpen("/dev/ttyAMA0", 115200)) >= 0) { // was 9600
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@ -341,8 +386,7 @@ int main(int argc, char * argv[]) {
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} else {
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fprintf(stderr, "Unable to open UART: %s\n -> Did you configure /boot/config.txt and /boot/cmdline.txt?\n", strerror(errno));
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}
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sensor_setup();
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}
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if ((i2c_bus3 == OFF) || (sim_mode == TRUE)) {
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@ -352,33 +396,29 @@ int main(int argc, char * argv[]) {
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srand((unsigned int)time(0));
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axis[X] = rnd_float(-0.2, 0.2);
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if (axis[X] == 0)
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axis[X] = rnd_float(-0.2, 0.2);
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axis[Y] = rnd_float(-0.2, 0.2);
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float axis_z;
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axis_z = sqrt(1 - axis[X] * axis[X] - axis[Y] * axis[Y]);
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axis[Z] = (rnd_float(-0.2, 0.2) > 0) ? axis_z : -1.0 * axis_z;
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axis[0] = rnd_float(-0.2, 0.2);
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if (axis[0] == 0)
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axis[0] = rnd_float(-0.2, 0.2);
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axis[1] = rnd_float(-0.2, 0.2);
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axis[2] = (rnd_float(-0.2, 0.2) > 0) ? 1.0 : -1.0;
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angle[X] = (float) atan(axis[Y] / axis[Z]);
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angle[Y] = (float) atan(axis[Z] / axis[X]);
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angle[Z] = (float) atan(axis[Y] / axis[X]);
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angle[0] = (float) atan(axis[1] / axis[2]);
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angle[1] = (float) atan(axis[2] / axis[0]);
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angle[2] = (float) atan(axis[1] / axis[0]);
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volts_max[X] = rnd_float(9.0, 12.0) * (float) sin(angle[Y]);
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volts_max[Y] = rnd_float(9.0, 12.0) * (float) cos(angle[X]);
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volts_max[Z] = rnd_float(9.0, 12.0) * (float) cos(angle[Y] - angle[X]);
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volts_max[0] = rnd_float(4.5, 5.5) * (float) sin(angle[1]);
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volts_max[1] = rnd_float(4.5, 5.5) * (float) cos(angle[0]);
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volts_max[2] = rnd_float(4.5, 5.5) * (float) cos(angle[1] - angle[0]);
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float amps_avg = rnd_float(150, 750);
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float amps_avg = rnd_float(150, 300);
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amps_max[X] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) sin(angle[Y]);
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amps_max[Y] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[X]);
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amps_max[Z] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[Y] - angle[X]);
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amps_max[0] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) sin(angle[1]);
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amps_max[1] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[0]);
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amps_max[2] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[1] - angle[0]);
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batt = rnd_float(3.8, 4.1);
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batt = rnd_float(3.8, 4.3);
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speed = rnd_float(1.0, 2.5);
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eclipse = (rnd_float(-1, +4) > 0) ? 1.0 : 0.0;
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atmosphere = (rnd_float(-1, +4) > 0) ? 0.0 : 1.0;
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// eclipse = 1;
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period = rnd_float(150, 300);
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tempS = rnd_float(20, 55);
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@ -386,7 +426,7 @@ int main(int argc, char * argv[]) {
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temp_min = rnd_float(10, 20);
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// #ifdef DEBUG_LOGGING
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for (int i = X; i <= Z; i++)
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for (int i = 0; i < 3; i++)
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printf("axis: %f angle: %f v: %f i: %f \n", axis[i], angle[i], volts_max[i], amps_max[i]);
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printf("batt: %f speed: %f eclipse_time: %f eclipse: %f period: %f temp: %f max: %f min: %f\n", batt, speed, eclipse_time, eclipse, period, tempS, temp_max, temp_min);
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// #endif
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@ -508,9 +548,8 @@ int main(int argc, char * argv[]) {
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get_tlm_fox(); // fill transmit buffer with reset count 0 packets that will be ignored
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else if (((mode == FC))) // && !sim_mode)
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get_tlm_fc(); // fill transmit buffer with reset count 0 packets that will be ignored
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if (firstTime == 0)
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firstTime = 1;
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firstTime = 1;
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// if (!sim_mode) // always read sensors, even in sim mode
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{
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@ -549,13 +588,11 @@ int main(int argc, char * argv[]) {
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fflush(stdout);
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fflush(stderr);
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// frames_sent++;
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// if (!sim_mode) {
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sensor_payload[0] = '\0';
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memset(sensor, 0, sizeof(sensor));
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// }
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sensor_payload[0] = 0;
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memset(voltage, 0, sizeof(voltage));
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memset(current, 0, sizeof(current));
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memset(sensor, 0, sizeof(sensor));
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memset(other, 0, sizeof(other));
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FILE * uptime_file = fopen("/proc/uptime", "r");
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@ -568,35 +605,6 @@ int main(int argc, char * argv[]) {
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// #endif
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fclose(uptime_file);
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if (fail_rnd_mode) {
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// if (loop % 10 == 0) {
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if ((loopTime - failTime) > fail_time * 1000) {
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// failureMode = (int) rnd_float(1, FAIL_COUNT);
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failureMode = (int) rnd_float(1, 9);
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printf("Sim Mode Random Failure Change\n");
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FILE * failure_mode_file = fopen("/home/pi/CubeSatSim/failure_mode.txt", "w");
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fprintf(failure_mode_file, "%d", failureMode);
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fclose(failure_mode_file);
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failTime = loopTime;
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}
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}
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// else
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// {
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// failureMode = OFF;
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FILE * failure_mode_file = fopen("/home/pi/CubeSatSim/failure_mode.txt", "r");
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if (failure_mode_file != NULL) {
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char failure_string[10];
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if ( (fgets(failure_string, 10, failure_mode_file)) != NULL) {
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failureMode = atoi(failure_string);
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fclose(failure_mode_file);
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printf("Failure mode: %d\n", failureMode);
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}
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} else {
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failureMode = FAIL_NONE;
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printf("No simulated failure.\n");
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}
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// }
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{
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int count1;
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char * token;
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@ -627,55 +635,38 @@ int main(int argc, char * argv[]) {
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}
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}
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if (voltage[map[BAT]] == 0.0) // No BAT Board
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if (voltage[map[BAT2]] == 0.0) // No BAT2 Board
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batteryVoltage = 4.5;
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else {
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batteryVoltage = voltage[map[BAT2]]; // only BAT2 Board present
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if (sim_mode && !sim_config) { // if Voltage sensor on Battery board is present, exit simulated telemetry mode
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sim_mode = FALSE;
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fprintf(stderr, "Turning off sim_mode since battery sensor 2 is present\n");
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}
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}
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else {
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batteryVoltage = voltage[map[BAT]]; // BAT Board present
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if (voltage[map[BAT2]] == 0.0) // No BAT2 Board
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batteryVoltage = 4.5;
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else {
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batteryVoltage = voltage[map[BAT2]]; // only BAT2 Board present
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if (sim_mode && !sim_config) { // if Voltage sensor on Battery board is present, exit simulated telemetry mode
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sim_mode = FALSE;
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fprintf(stderr, "Turning off sim_mode since battery sensor is present\n");
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fprintf(stderr, "Turning off sim_mode since battery sensor 2 is present\n");
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}
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}
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else {
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batteryVoltage = voltage[map[BAT]]; // BAT Board present
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if (sim_mode && !sim_config) { // if Voltage sensor on Battery board is present, exit simulated telemetry mode
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sim_mode = FALSE;
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fprintf(stderr, "Turning off sim_mode since battery sensor is present\n");
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}
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}
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batteryCurrent = current[map[BAT]] + current[map[BAT2]]; // Sum BAT and BAT2 currents
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}
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payload = get_payload_serial(FALSE); // not debug
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printf("get_payload_status: %d \n", payload);
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if (payload == FALSE) {
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payload = pi_sensors(buffer2);
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printf("pi_sensors status: %d \n", payload);
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}
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// if (payload == ON) { // moved to here
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if (!ax5043) {
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// if ((payload == ON) && (mode != BPSK)) { // moved to here
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// STEMBoardFailure = 0;
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payload = get_payload_serial(FALSE);
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printf("get_payload_status: %d \n", payload); // not debug
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fflush(stdout);
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// printf("String: %s\n", buffer2);
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fflush(stdout);
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strcpy(sensor_payload, buffer2);
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printf(" Response from STEM Payload: %s\n", sensor_payload);
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char sensor_buffer[30];
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int sensor_count;
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sensor_buffer[0] = 0;
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sensor_count = sensor_loop(sensor_buffer);
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if (sensor_count > NEW_SENSOR_FIELDS_MAX)
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sensor_count = NEW_SENSOR_FIELDS_MAX;
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if (sensor_count > 0) {
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char space[] = " ";
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strcat(sensor_payload, space);
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strcat(sensor_payload, sensor_buffer);
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printf(" Payload after new sensor read: %s\n", sensor_payload);
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}
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strcpy(sensor_payload, buffer2);
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// printf(" Response from STEM Payload board: %s\n", sensor_payload);
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telem_file = fopen("/home/pi/CubeSatSim/telem.txt", "a");
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// printf("Writing payload string\n");
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time_t timeStamp;
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@ -685,30 +676,17 @@ int main(int argc, char * argv[]) {
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char timeStampNoNl[31], bat_string[31];
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snprintf(timeStampNoNl, 30, "%.24s", ctime(&timeStamp));
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// printf("TimeStamp: %s\n", timeStampNoNl);
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/*
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if (c2cStatus == DISABLED)
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snprintf(bat_string, 30, "BAT %4.2f %5.1f", batteryVoltage, batteryCurrent);
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else
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snprintf(bat_string, 30, "BAT %4.2f %5.1f C", batteryVoltage, batteryCurrent);
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*/
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snprintf(bat_string, 30, "BAT %.2f %.1f", batteryVoltage, batteryCurrent);
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if (c2cStatus != DISABLED)
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strcat(bat_string," C");
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if (sim_mode || (failureMode != FAIL_NONE))
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strcat(bat_string," S");
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fprintf(telem_file, "%s %s %s\n", timeStampNoNl, bat_string, sensor_payload); // write telemetry string to telem.txt file
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fclose(telem_file);
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if (failureMode == FAIL_PAYLOAD) {
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sensor_payload[0] = '\0'; // This will cause the payload to not be processed.
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printf("Simulated Payload Failure.\n");
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}
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//// if (!sim_mode) {
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{
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if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) // only process if valid payload response
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{
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// printf("Valid Payload!\n");
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int count1;
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char * token;
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@ -718,15 +696,12 @@ int main(int argc, char * argv[]) {
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for (count1 = 0; count1 < SENSOR_FIELDS; count1++) {
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if (token != NULL) {
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sensor[count1] = (float) atof(token);
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strcpy(sensor_string[count1], token);
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// #ifdef DEBUG_LOGGING
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// printf("sensor: %f ", sensor[count1]); // print sensor data
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// printf("Sensor String %d is %s\n",count1, sensor_string[count1]);
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// #endif
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token = strtok(NULL, space);
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}
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}
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printf("\n");
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// if (sensor[GPS1] != 0) {
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@ -745,11 +720,10 @@ int main(int argc, char * argv[]) {
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newGpsTime = millis();
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}
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}
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}
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}
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// else
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// ; //payload = OFF; // turn off since STEM Payload is not responding
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}
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else
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; //payload = OFF; // turn off since STEM Payload is not responding
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}
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if ((millis() - newGpsTime) > 60000) {
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longitude += rnd_float(-0.05, 0.05) / 100.0; // was .05
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latitude += rnd_float(-0.05, 0.05) / 100.0;
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@ -757,103 +731,8 @@ int main(int argc, char * argv[]) {
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// printf("GPS Location with Rnd: APRS %07.2f, %08.2f \n", toAprsFormat(latitude), toAprsFormat(longitude));
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newGpsTime = millis();
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}
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if (sim_mode && (failureMode != FAIL_PAYLOAD) && !payload) {
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printf("Generating simulated payload telemetry\n");
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if (atmosphere == 0) {
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sensor[PRES] = 0;
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strcpy(sensor_string[PRES], "0.0");
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sensor[ALT] = 400;
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strcpy(sensor_string[ALT], "30000");
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sensor[HUMI] = 0;
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strcpy(sensor_string[HUMI], "0.0");
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sensor[TEMP] = 0;
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strcpy(sensor_string[TEMP], "0.0");
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} else {
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sensor[PRES] = 1015;
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strcpy(sensor_string[PRES], "1015");
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sensor[ALT] = 75;
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strcpy(sensor_string[ALT], "75");
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sensor[HUMI] = 48;
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strcpy(sensor_string[HUMI], "48");
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sensor[TEMP] = 27;
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strcpy(sensor_string[TEMP], "27.0");
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}
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char sensor_number[20];
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sensor[ACCEL_X] = axis[X];
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sprintf(sensor_number, "%.2f", axis[X]);
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strcpy(sensor_string[ACCEL_X], sensor_number);
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sensor[ACCEL_Y] = axis[Y];
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sprintf(sensor_number, "%.2f", axis[Y]);
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strcpy(sensor_string[ACCEL_Y], sensor_number);
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sensor[ACCEL_Z] = axis[Z];
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sprintf(sensor_number, "%.2f", axis[Z]);
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strcpy(sensor_string[ACCEL_Z], sensor_number);
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float spin;
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spin = rnd_float(-30.0, 30.0);
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sensor[GYRO_X] = axis[X] * spin;
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sprintf(sensor_number, "%.2f", sensor[GYRO_X]);
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strcpy(sensor_string[GYRO_X], sensor_number);
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sensor[GYRO_Y] = axis[Y] * spin;
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sprintf(sensor_number, "%.2f", sensor[GYRO_Y]);
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strcpy(sensor_string[GYRO_Y], sensor_number);
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sensor[GYRO_Z] = axis[Z] * spin;
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sprintf(sensor_number, "%.2f", sensor[GYRO_Z]);
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strcpy(sensor_string[GYRO_Z], sensor_number);
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// printf("sim sensor: %s\n", sensor_string[GYRO_Z]);
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printf("sim sensor spin: %f value: %f length: %d string: %s\n", spin, sensor[GYRO_Z], strlen(sensor_string[GYRO_Z]), sensor_string[GYRO_Z]);
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}
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if (failureMode == FAIL_BME) {
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sensor[TEMP] = 0.0;
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strcpy(sensor_string[TEMP], "0.0");
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sensor[PRES] = 0.0;
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strcpy(sensor_string[PRES], "0.0");
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sensor[HUMI] = 0.0;
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strcpy(sensor_string[HUMI], "0.0");
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sensor[ALT] = 0.0;
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strcpy(sensor_string[ALT], "0.0");
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printf("Simulated BME Failure!\n");
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}
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if (failureMode == FAIL_MPU) {
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sensor[ACCEL_X] = 0.0;
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strcpy(sensor_string[ACCEL_X], "0.0");
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sensor[ACCEL_Y] = 0.0;
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strcpy(sensor_string[ACCEL_Y], "0.0");
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sensor[ACCEL_Z] = 0.0;
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strcpy(sensor_string[ACCEL_Z], "0.0");
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sensor[GYRO_X] = 0.0;
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strcpy(sensor_string[GYRO_X], "0.0");
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sensor[GYRO_Y] = 0.0;
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strcpy(sensor_string[GYRO_Y], "0.0");
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sensor[GYRO_Z] = 0.0;
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strcpy(sensor_string[GYRO_Z], "0.0");
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printf("Simulated MPU Failure!\n");
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}
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if ((failureMode == FAIL_BME) || (failureMode == FAIL_MPU) || sim_mode) // recreaate sensor_payload string
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{
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sensor_payload[0] = '\0';
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strcpy(sensor_string[0], "OK");
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strcpy(sensor_string[1], "BME280");
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strcpy(sensor_string[6], "MPU6050");
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for (count1 = 0; count1 < SENSOR_FIELDS; count1++) {
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strcat(sensor_payload, sensor_string[count1]);
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strcat(sensor_payload, " ");
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}
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printf("Updated Sensor String: %s\n", sensor_payload);
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}
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else if (failureMode != FAIL_PAYLOAD) {
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printf("Restoring sensor_payload\n");
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strcpy(sensor_payload, buffer2); // restore sensor_payload after strtok operation
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}
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if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) {
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// printf("Valid Payload!!\n");
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for (int count1 = 0; count1 < SENSOR_FIELDS; count1++) {
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if (sensor[count1] < sensor_min[count1])
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sensor_min[count1] = sensor[count1];
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@ -890,6 +769,15 @@ int main(int argc, char * argv[]) {
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current[map[PLUS_Z]] = (Zi >= 0) ? Zi : 0;
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current[map[MINUS_Z]] = (Zi >= 0) ? 0 : ((-1.0f) * Zi);
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voltage[map[PLUS_X]] = (Xv >= 1) ? Xv : rnd_float(0.9, 1.1);
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voltage[map[MINUS_X]] = (Xv <= -1) ? ((-1.0f) * Xv) : rnd_float(0.9, 1.1);
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voltage[map[PLUS_Y]] = (Yv >= 1) ? Yv : rnd_float(0.9, 1.1);
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voltage[map[MINUS_Y]] = (Yv <= -1) ? ((-1.0f) * Yv) : rnd_float(0.9, 1.1);
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voltage[map[PLUS_Z]] = (Zv >= 1) ? Zv : rnd_float(0.9, 1.1);
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voltage[map[MINUS_Z]] = (Zv <= -1) ? ((-1.0f) * Zv) : rnd_float(0.9, 1.1);
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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]]);
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tempS += (eclipse > 0) ? ((temp_max - tempS) / 50.0f) : ((temp_min - tempS) / 50.0f);
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tempS += +rnd_float(-1.0, 1.0);
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// IHUcpuTemp = (int)((tempS + rnd_float(-1.0, 1.0)) * 10 + 0.5);
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@ -902,43 +790,27 @@ int main(int argc, char * argv[]) {
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// float charging = eclipse * (fabs(amps_max[0] * 0.707) + fabs(amps_max[1] * 0.707) + rnd_float(-4.0, 4.0));
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// current[map[BAT]] = ((current[map[BAT2]] * voltage[map[BAT2]]) / batt) - charging;
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current[map[BAT]] = rnd_float(320, 510) - charging;
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current[map[BAT]] = rnd_float(285, 305) - charging;
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printf("charging: %f bat curr: %f bus curr: %f bat volt: %f bus volt: %f \n",charging, current[map[BAT]], current[map[BAT2]], batt, voltage[map[BAT2]]);
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batt -= (batt > 3.5) ? current[map[BAT]] / 300000 : current[map[BAT]] / 30000;
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if (batt < 3.6) {
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batt = 3.6;
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batt -= (batt > 3.5) ? current[map[BAT]] / 30000 : current[map[BAT]] / 3000;
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if (batt < 3.0) {
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batt = 3.0;
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SafeMode = 1;
|
|
|
|
|
printf("Safe Mode!\n");
|
|
|
|
|
} else
|
|
|
|
|
SafeMode= 0;
|
|
|
|
|
|
|
|
|
|
if (batt > 4.1)
|
|
|
|
|
batt = 4.1;
|
|
|
|
|
if (batt > 4.5)
|
|
|
|
|
batt = 4.5;
|
|
|
|
|
|
|
|
|
|
voltage[map[BAT]] = batt + rnd_float(-0.01, 0.01);
|
|
|
|
|
|
|
|
|
|
float Vm, Vp;
|
|
|
|
|
Vm = batt + 0.5;
|
|
|
|
|
Vp = (Xv > 0) ? Xv : rnd_float(0.0, 0.1);
|
|
|
|
|
voltage[map[PLUS_X]] = (Vp >= Vm) ? (Vm + rnd_float(-0.1, 0.1)) : Vp;
|
|
|
|
|
Vp = (Xv < 0) ? ((-1.0f) * Xv) : rnd_float(0.0, 0.1);
|
|
|
|
|
voltage[map[MINUS_X]] = (Vp >= Vm) ? (Vm + rnd_float(-0.1, 0.1)) : Vp;
|
|
|
|
|
Vp = (Yv > 0) ? Yv : rnd_float(0.0, 0.1);
|
|
|
|
|
voltage[map[PLUS_Y]] = (Vp >= Vm) ? (Vm + rnd_float(-0.1, 0.1)) : Vp;
|
|
|
|
|
Vp = (Yv < 0) ? ((-1.0f) * Yv) : rnd_float(0.0, 0.1);
|
|
|
|
|
voltage[map[MINUS_Y]] = (Vp >= Vm) ? (Vm + rnd_float(-0.1, 0.1)) : Vp;
|
|
|
|
|
Vp = (Zv > 0) ? Zv : rnd_float(0.0, 0.1);
|
|
|
|
|
voltage[map[PLUS_Z]] = (Vp >= Vm) ? (Vm + rnd_float(-0.1, 0.1)) : Vp;
|
|
|
|
|
Vp = (Zv < 0) ? ((-1.0f) * Zv) : rnd_float(0.0, 0.1);
|
|
|
|
|
voltage[map[MINUS_Z]] = (Vp >= Vm) ? (Vm + rnd_float(-0.1, 0.1)) : Vp;
|
|
|
|
|
|
|
|
|
|
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]]);
|
|
|
|
|
|
|
|
|
|
// end of simulated telemetry
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
}
|
|
|
|
|
FILE * cpuTempSensor = fopen("/sys/class/thermal/thermal_zone0/temp", "r");
|
|
|
|
|
if (cpuTempSensor) {
|
|
|
|
|
// double cpuTemp;
|
|
|
|
|
@ -1007,33 +879,14 @@ int main(int argc, char * argv[]) {
|
|
|
|
|
FILE * fp = fopen("/home/pi/CubeSatSim/telem_string.txt", "w");
|
|
|
|
|
if (fp != NULL) {
|
|
|
|
|
// printf("Writing telem_string.txt\n");
|
|
|
|
|
if (batteryVoltage != 4.5) {
|
|
|
|
|
/*
|
|
|
|
|
if (batteryVoltage != 4.5)
|
|
|
|
|
if (c2cStatus == DISABLED)
|
|
|
|
|
fprintf(fp, "BAT %4.2fV %4.0fmA\n", batteryVoltage, batteryCurrent);
|
|
|
|
|
else
|
|
|
|
|
fprintf(fp, "BAT %4.2fV %4.0fmA C\n", batteryVoltage, batteryCurrent); // show command and control is on
|
|
|
|
|
*/
|
|
|
|
|
fprintf(fp, "BAT %.2fV %.0fmA", batteryVoltage, batteryCurrent);
|
|
|
|
|
if (c2cStatus != DISABLED)
|
|
|
|
|
fprintf(fp," C");
|
|
|
|
|
if (sim_mode || (failureMode != FAIL_NONE))
|
|
|
|
|
fprintf(fp," S\n");
|
|
|
|
|
else
|
|
|
|
|
fprintf(fp,"\n");
|
|
|
|
|
}
|
|
|
|
|
else {
|
|
|
|
|
printf("Write simulted voltage and current to telem_string.txt\n");
|
|
|
|
|
// fprintf(fp, "\n"); // don't show voltage and current if it isn't a sensor value
|
|
|
|
|
fprintf(fp, "BAT %.2fV %.0fmA", voltage[map[BAT]], current[map[BAT]]); // display simulated voltage and current
|
|
|
|
|
if (c2cStatus != DISABLED)
|
|
|
|
|
fprintf(fp," C");
|
|
|
|
|
if (sim_mode || (failureMode != FAIL_NONE))
|
|
|
|
|
fprintf(fp," S\n");
|
|
|
|
|
else
|
|
|
|
|
fprintf(fp,"\n");
|
|
|
|
|
else
|
|
|
|
|
fprintf(fp, "\n"); // don't show voltage and current if it isn't a sensor value
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
fclose(fp);
|
|
|
|
|
} else
|
|
|
|
|
printf("Error writing to telem_string.txt\n");
|
|
|
|
|
@ -1136,6 +989,20 @@ int upper_digit(int number) {
|
|
|
|
|
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);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void get_tlm(void) {
|
|
|
|
|
|
|
|
|
|
FILE * txResult;
|
|
|
|
|
@ -1198,16 +1065,17 @@ void get_tlm(void) {
|
|
|
|
|
// char footer_str[] = "-11>APCSS:010101/hi hi ' >> t.txt && touch /home/pi/CubeSatSim/ready"; // transmit is done by transmit.py
|
|
|
|
|
char footer_str[] = " && echo 'AMSAT-11>APCSS:010101/hi hi ' >> t.txt && touch /home/pi/CubeSatSim/ready"; // transmit is done by transmit.py
|
|
|
|
|
char footer_str2[] = " && touch /home/pi/CubeSatSim/ready";
|
|
|
|
|
char zero[] = "0.0";
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (ax5043) {
|
|
|
|
|
strcpy(str, header_str);
|
|
|
|
|
} else {
|
|
|
|
|
strcpy(str, header_str3);
|
|
|
|
|
// }
|
|
|
|
|
if (mode == AFSK) {
|
|
|
|
|
strcat(str, call);
|
|
|
|
|
strcat(str, header_str2);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
// printf("Str: %s \n", str);
|
|
|
|
|
if (mode != CW) {
|
|
|
|
|
// 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
|
|
|
|
|
@ -1220,6 +1088,9 @@ void get_tlm(void) {
|
|
|
|
|
else
|
|
|
|
|
sprintf(header_long, "%08.2f%c",toAprsFormat( longitude) * (-1.0), 'W'); // long
|
|
|
|
|
|
|
|
|
|
if (ax5043)
|
|
|
|
|
sprintf(header_str2b, "=%s%c%sShi hi ", header_lat, 0x5c, header_long); // add APRS lat and long
|
|
|
|
|
else
|
|
|
|
|
//#ifdef HAB
|
|
|
|
|
if (hab_mode)
|
|
|
|
|
sprintf(header_str2b, "=%s%c%sOhi hi ", header_lat, 0x2f, header_long); // add APRS lat and long with Balloon HAB icon
|
|
|
|
|
@ -1234,11 +1105,8 @@ void get_tlm(void) {
|
|
|
|
|
strcat(str, header_str4);
|
|
|
|
|
strcat(str, call);
|
|
|
|
|
if (c2cStatus != DISABLED) {
|
|
|
|
|
strcat(str, " C");
|
|
|
|
|
strcat(str, header_c2c);
|
|
|
|
|
}
|
|
|
|
|
if (sim_mode || failureMode != FAIL_NONE) {
|
|
|
|
|
strcat(str, " S");
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
sprintf(tlm_str, "%s' > cw0.txt", &str);
|
|
|
|
|
printf("CW string to execute: %s\n", &tlm_str);
|
|
|
|
|
@ -1270,23 +1138,16 @@ void get_tlm(void) {
|
|
|
|
|
// fclose(file_append);
|
|
|
|
|
// }
|
|
|
|
|
} else { // APRS
|
|
|
|
|
/*
|
|
|
|
|
|
|
|
|
|
if (c2cStatus == 0)
|
|
|
|
|
sprintf(tlm_str, "BAT %4.2f %5.1f ", batteryVoltage, batteryCurrent);
|
|
|
|
|
else
|
|
|
|
|
sprintf(tlm_str, "BAT %4.2f %5.1f C ", batteryVoltage, batteryCurrent);
|
|
|
|
|
*/
|
|
|
|
|
snprintf(tlm_str, 30, "BAT %.2f %.1f ", batteryVoltage, batteryCurrent);
|
|
|
|
|
if (c2cStatus != DISABLED)
|
|
|
|
|
strcat(tlm_str,"C ");
|
|
|
|
|
if (sim_mode || (failureMode != FAIL_NONE))
|
|
|
|
|
strcat(tlm_str,"S ");
|
|
|
|
|
// printf("tlm_str: %s\n", tlm_str);
|
|
|
|
|
strcat(str, tlm_str);
|
|
|
|
|
|
|
|
|
|
strcat(str, tlm_str);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// strcpy(sensor_payload, buffer2);
|
|
|
|
|
printf(" sensor_payload: %s\n", sensor_payload);
|
|
|
|
|
strcpy(sensor_payload, buffer2);
|
|
|
|
|
printf(" Response from STEM Payload board:: %s\n", sensor_payload);
|
|
|
|
|
// printf(" Str so far: %s\n", str);
|
|
|
|
|
|
|
|
|
|
if (mode != CW)
|
|
|
|
|
@ -1310,7 +1171,30 @@ void get_tlm(void) {
|
|
|
|
|
sleep(5);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else { // APRS using transmit
|
|
|
|
|
else if (ax5043) {
|
|
|
|
|
digitalWrite(txLed, txLedOn);
|
|
|
|
|
fprintf(stderr, "INFO: Transmitting X.25 packet using AX5043\n");
|
|
|
|
|
memcpy(data, str, strnlen(str, 256));
|
|
|
|
|
printf("data: %s \n", data);
|
|
|
|
|
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);
|
|
|
|
|
|
|
|
|
|
if (ret) {
|
|
|
|
|
fprintf(stderr,
|
|
|
|
|
"ERROR: Failed to transmit entire AX.25 frame with error code %d\n",
|
|
|
|
|
ret);
|
|
|
|
|
exit(EXIT_FAILURE);
|
|
|
|
|
}
|
|
|
|
|
sleep(4); // was 2
|
|
|
|
|
|
|
|
|
|
} else { // APRS using transmit
|
|
|
|
|
|
|
|
|
|
strcat(str, footer_str1);
|
|
|
|
|
// strcat(str, call);
|
|
|
|
|
@ -1319,7 +1203,7 @@ void get_tlm(void) {
|
|
|
|
|
else
|
|
|
|
|
strcat(str, footer_str2);
|
|
|
|
|
|
|
|
|
|
fprintf(stderr, "APRS String to execute: %s\n", str);
|
|
|
|
|
fprintf(stderr, "String to execute: %s\n", str);
|
|
|
|
|
|
|
|
|
|
printf("\n\nTelemetry string is %s \n\n", str);
|
|
|
|
|
|
|
|
|
|
@ -1350,7 +1234,6 @@ void get_tlm_fox() {
|
|
|
|
|
int i;
|
|
|
|
|
|
|
|
|
|
long int sync = syncWord;
|
|
|
|
|
int cam = ON;
|
|
|
|
|
|
|
|
|
|
smaller = (int) (S_RATE / (2 * freq_Hz));
|
|
|
|
|
|
|
|
|
|
@ -1378,68 +1261,10 @@ void get_tlm_fox() {
|
|
|
|
|
int posXi = 0, negXi = 0, posYi = 0, negYi = 0, posZi = 0, negZi = 0;
|
|
|
|
|
int head_offset = 0;
|
|
|
|
|
|
|
|
|
|
STEMBoardFailure = 1;
|
|
|
|
|
|
|
|
|
|
short int buffer_test[bufLen];
|
|
|
|
|
int buffSize;
|
|
|
|
|
buffSize = (int) sizeof(buffer_test);
|
|
|
|
|
|
|
|
|
|
if (failureMode == FAIL_NONE)
|
|
|
|
|
printf("No Simulated Failure!\n");
|
|
|
|
|
// if (failureMode == -1) {
|
|
|
|
|
// failureMode = (int) rnd_float(1, FAIL_COUNT);
|
|
|
|
|
// printf("Random Failure\n");
|
|
|
|
|
// }
|
|
|
|
|
if (failureMode == FAIL_UNPLUG) {
|
|
|
|
|
voltage[map[PLUS_Y]] = rnd_float(0.8, 0.95);
|
|
|
|
|
current[map[PLUS_Y]] = 0.0;
|
|
|
|
|
printf("+Y Solar Unplugged Failure\n");
|
|
|
|
|
}
|
|
|
|
|
if (failureMode == FAIL_SOLAR) {
|
|
|
|
|
voltage[map[PLUS_X]] = 0.0;
|
|
|
|
|
current[map[PLUS_X]] = 0.0;
|
|
|
|
|
printf("+X Solar Simulated Failure\n");
|
|
|
|
|
}
|
|
|
|
|
if (failureMode == FAIL_DEGRADE) {
|
|
|
|
|
voltage[map[MINUS_X]] = voltage[map[MINUS_X]] * 0.5;
|
|
|
|
|
current[map[MINUS_X]] = current[map[MINUS_X]] * 0.5;
|
|
|
|
|
printf("-X Solar Deg Simulated Failure\n");
|
|
|
|
|
}
|
|
|
|
|
if (failureMode == FAIL_SHORT) {
|
|
|
|
|
voltage[map[MINUS_Y]] = 0.0;
|
|
|
|
|
printf("-Y Solar SC Simulated Failure!\n");
|
|
|
|
|
}
|
|
|
|
|
if (failureMode == FAIL_I2C1) {
|
|
|
|
|
voltage[map[PLUS_X]] = 0.0;
|
|
|
|
|
current[map[PLUS_X]] = 0.0;
|
|
|
|
|
voltage[map[PLUS_Y]] = 0.0;
|
|
|
|
|
current[map[PLUS_Y]] = 0.0;
|
|
|
|
|
voltage[map[BAT]] = 0.0;
|
|
|
|
|
current[map[BAT]] = 0.0;
|
|
|
|
|
voltage[map[BAT2]] = 0.0;
|
|
|
|
|
current[map[BAT2]] = 0.0;
|
|
|
|
|
printf("I2C Bus 1 Simulated Failure!\n");
|
|
|
|
|
}
|
|
|
|
|
if (failureMode == FAIL_I2C3) {
|
|
|
|
|
voltage[map[MINUS_X]] = 0.0;
|
|
|
|
|
current[map[MINUS_X]] = 0.0;
|
|
|
|
|
voltage[map[MINUS_Y]] = 0.0;
|
|
|
|
|
current[map[MINUS_Y]] = 0.0;
|
|
|
|
|
voltage[map[MINUS_Z]] = 0.0;
|
|
|
|
|
current[map[MINUS_Z]] = 0.0;
|
|
|
|
|
voltage[map[PLUS_Z]] = 0.0;
|
|
|
|
|
current[map[PLUS_Z]] = 0.0;
|
|
|
|
|
printf("I2C Bus 3 Simulated Failure!\n");
|
|
|
|
|
}
|
|
|
|
|
if (failureMode == FAIL_PAYLOAD) {
|
|
|
|
|
payload = OFF;
|
|
|
|
|
printf("Payload Simulated Failure!\n");
|
|
|
|
|
}
|
|
|
|
|
if (failureMode == FAIL_CAMERA) {
|
|
|
|
|
cam = OFF;
|
|
|
|
|
printf("Camera Simulated Failure!\n");
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (mode == FSK)
|
|
|
|
|
id = 7;
|
|
|
|
|
else
|
|
|
|
|
@ -1448,8 +1273,7 @@ void get_tlm_fox() {
|
|
|
|
|
// for (int frames = 0; frames < FRAME_CNT; frames++)
|
|
|
|
|
for (int frames = 0; frames < frameCnt; frames++) {
|
|
|
|
|
|
|
|
|
|
// if (firstTime != ON) {
|
|
|
|
|
if (TRUE) {
|
|
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if (firstTime != ON) {
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// delay for sample period
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/**/
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@ -1467,7 +1291,7 @@ void get_tlm_fox() {
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sampleTime = (unsigned int) millis();
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} else
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printf("first or second time - no sleep\n");
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printf("first time - no sleep\n");
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printf("++++ Loop time: %5.3f sec +++++\n", (millis() - loopTime)/1000.0);
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fflush(stdout);
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@ -1587,7 +1411,7 @@ void get_tlm_fox() {
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encodeA(b, 9 + head_offset, battCurr);
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encodeB(b, 10 + head_offset, (int)(sensor[TEMP] * 10 + 0.5)); // Temp
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encodeB(b, 10 + head_offset, (int)(sensor[TEMP] * 10 + 0.5)); // Temp
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if (mode == FSK) {
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encodeA(b, 12 + head_offset, posXv);
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@ -1741,52 +1565,25 @@ void get_tlm_fox() {
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encodeA(b, 33 + head_offset, (int)(sensor[PRES] + 0.5)); // Pressure
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encodeB(b, 34 + head_offset, (int)(sensor[ALT] / 10.0 + 0.5)); // Altitude
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encodeB(b_min, 49 + head_offset, (int)(sensor_min[XS1]));
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encodeA(b_min, 0 + head_offset, (int)(sensor_min[XS2]));
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encodeB(b_min, 1 + head_offset, (int)(sensor_min[XS3]));
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}
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else
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{
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encodeB(b_min, 4 + head_offset, 2048); // 0
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encodeA(b_min, 6 + head_offset, 2048); // 0
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encodeB(b_min, 7 + head_offset, 2048); // 0
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encodeB(b_min, 40 + head_offset, 2048);
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encodeA(b_min, 42 + head_offset, 2048);
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encodeB(b_min, 43 + head_offset, 2048);
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encodeA(b_min, 48 + head_offset, 2048);
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// encodeB(b_min, 49 + head_offset, 2048);
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}
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encodeA(b, 36 + head_offset, Resets);
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encodeB(b, 37 + head_offset, (int)(other[RSSI] + 0.5) + 2048);
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}
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encodeA(b, 30 + head_offset, BAT2Voltage);
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encodeA(b, 39 + head_offset, (int)(other[IHU_TEMP] * 10 + 0.5));
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encodeB(b, 31 + head_offset, ((int)(other[SPIN] * 10)) + 2048);
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encodeB(b, 40 + head_offset, (int)(sensor[GYRO_X] + 0.5) + 2048);
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encodeA(b, 42 + head_offset, (int)(sensor[GYRO_Y] + 0.5) + 2048);
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encodeB(b, 43 + head_offset, (int)(sensor[GYRO_Z] + 0.5) + 2048);
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encodeA(b, 33 + head_offset, (int)(sensor[PRES] + 0.5)); // Pressure
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encodeB(b, 34 + head_offset, (int)(sensor[ALT] * 10.0 + 0.5)); // Altitude
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encodeA(b, 45 + head_offset, (int)(sensor[HUMI] * 10 + 0.5)); // in place of sensor1
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encodeA(b, 39 + head_offset, (int)(other[TEMP] * 10 + 0.5));
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encodeA(b, 36 + head_offset, Resets);
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encodeB(b, 37 + head_offset, (int)(other[RSSI] + 0.5) + 2048);
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encodeB(b, 40 + head_offset, (int)(sensor[GYRO_X] + 0.5) + 2048);
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encodeA(b, 42 + head_offset, (int)(sensor[GYRO_Y] + 0.5) + 2048);
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encodeB(b, 43 + head_offset, (int)(sensor[GYRO_Z] + 0.5) + 2048);
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encodeA(b, 48 + head_offset, (int)(sensor[DTEMP] * 10 + 0.5) + 2048);
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encodeB(b, 49 + head_offset, (int)(sensor[XS1]));
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encodeA(b, 0 + head_offset, (int)(sensor[XS2]));
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encodeB(b, 1 + head_offset, (int)(sensor[XS3]));
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encodeA(b, 45 + head_offset, (int)(sensor[HUMI] * 10 + 0.5)); // in place of sensor1
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encodeB(b, 46 + head_offset, BAT2Current);
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encodeA(b, 39 + head_offset, (int)(other[IHU_TEMP] * 10 + 0.5));
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encodeA(b, 48 + head_offset, (int)(sensor[DTEMP] * 10 + 0.5) + 2048);
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// encodeB(b, 49 + head_offset, (int)(sensor[XS1] * 10 + 0.5) + 2048);
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encodeB(b, 49 + head_offset, (int)(sensor[XS1]));
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encodeA(b, 0 + head_offset, (int)(sensor[XS2]));
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encodeB(b, 1 + head_offset, (int)(sensor[XS3]));
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FILE * command_count_file = fopen("/home/pi/CubeSatSim/command_count.txt", "r");
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if (command_count_file != NULL) {
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char count_string[10];
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@ -1797,28 +1594,10 @@ void get_tlm_fox() {
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printf("Error opening command_count.txt!\n");
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fclose(command_count_file);
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// printf("Command count: %d\n", groundCommandCount);
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int simulated;
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simulated = sim_mode;
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if (failureMode != FAIL_NONE) {
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simulated = TRUE;
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printf("Showing Simulated in FoxTelem\n");
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}
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int i2c_1, i2c_3;
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i2c_1 = i2c_bus1;
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i2c_3 = i2c_bus3;
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// printf("Bus1: %d Bus2: %d \n", i2c_1, i2c_3);
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if (failureMode == FAIL_I2C1) {
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i2c_1 = OFF;
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|
// printf("I2C Bus 1 Simulated Failure\n");
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} else if (failureMode == FAIL_I2C3) {
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i2c_3 = OFF;
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|
// printf("I2C Bus 3 Simulated Failure\n");
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}
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|
// int status = STEMBoardFailure + SafeMode * 2 + sim_mode * 4 + PayloadFailure1 * 8 +
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// (i2c_bus0 == OFF) * 16 + (i2c_bus1 == OFF) * 32 + (i2c_bus3 == OFF) * 64 + (camera == OFF) * 128 + groundCommandCount * 256;
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|
|
int status = STEMBoardFailure + SafeMode * 2 + simulated * 4 + PayloadFailure1 * 8 +
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|
|
(i2c_bus0 == OFF) * 16 + (i2c_1 == OFF) * 32 + (i2c_3 == OFF) * 64 + (cam == OFF) * 128 + groundCommandCount * 256;
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|
|
// printf("Command count: %d\n", groundCommandCount);
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|
|
int status = STEMBoardFailure + SafeMode * 2 + sim_mode * 4 + PayloadFailure1 * 8 +
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|
|
(i2c_bus0 == OFF) * 16 + (i2c_bus1 == OFF) * 32 + (i2c_bus3 == OFF) * 64 + (camera == OFF) * 128 + groundCommandCount * 256;
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|
|
encodeA(b, 51 + head_offset, status);
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|
|
encodeB(b, 52 + head_offset, rxAntennaDeployed + txAntennaDeployed * 2 + c2cStatus * 4);
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|
|
|
@ -2947,50 +2726,3 @@ void socket_send(int length) {
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|
|
if (socket_open == 1)
|
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|
|
firstTime = 0;
|
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|
|
}
|
|
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|
|
int pi_sensors(char *buffer)
|
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|
|
|
{
|
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|
|
char sensor_buffer[1000];
|
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|
|
FILE *sensor_read;
|
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|
|
strcpy(buffer, "OK BME280 ");
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|
|
sensor_read = sopen("/home/pi/raspberry-pi-bme280/bme280"); // read BME if present
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|
|
fgets(sensor_buffer, 1000, sensor_read);
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|
|
fprintf(stderr, "bme result: %s\n", sensor_buffer);
|
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|
|
fclose(sensor_read);
|
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|
|
if (sensor_buffer[strlen(sensor_buffer) - 1] == '\n')
|
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|
|
sensor_buffer[strlen(sensor_buffer) - 1] = '\0'; // remove newline at end
|
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|
|
strcat(buffer, sensor_buffer);
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|
|
strcat(buffer, " MPU6050 ");
|
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|
|
sensor_read = sopen("/home/pi/MPU6050-C-CPP-Library-for-Raspberry-Pi/mpu6050"); // read MPU if present
|
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|
|
fgets(sensor_buffer, 1000, sensor_read);
|
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|
|
fprintf(stderr, "mpu result: %s\n", sensor_buffer);
|
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|
|
fclose(sensor_read);
|
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|
|
if (sensor_buffer[strlen(sensor_buffer) - 1] == '\n')
|
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|
|
sensor_buffer[strlen(sensor_buffer) - 1] = '\0'; // remove newline at end
|
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|
|
strcat(buffer, sensor_buffer);
|
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|
|
fprintf(stderr, "pi_sensors string: %s\n", buffer);
|
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|
|
|
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|
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|
|
strcat(buffer, " GPS 0.0 0.0 0.0 TMP 0.0"); // place holders for GPS and diode temp
|
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|
|
|
/*
|
|
|
|
|
strcat(buffer, " YPR ");
|
|
|
|
|
|
|
|
|
|
sensor_read = sopen("/home/pi/MPU6050-C-CPP-Library-for-Raspberry-Pi/ypr"); // read MPU if present
|
|
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|
|
fgets(sensor_buffer, 1000, sensor_read);
|
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|
|
fprintf(stderr, "mpu result: %s\n", sensor_buffer);
|
|
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|
|
fclose(sensor_read);
|
|
|
|
|
if (sensor_buffer[strlen(sensor_buffer) - 1] == '\n')
|
|
|
|
|
sensor_buffer[strlen(sensor_buffer) - 1] = '\0'; // remove newline at end
|
|
|
|
|
strcat(buffer, sensor_buffer); // no need to remove newline at end
|
|
|
|
|
|
|
|
|
|
fprintf(stderr, "pi_sensors string: %s\n", buffer);
|
|
|
|
|
*/
|
|
|
|
|
if (strcmp(buffer, "OK BME280 0.0 0.0 0.0 0.0 MPU6050 0.0 0.0 0.0 0.0 0.0 0.0 GPS 0.0 0.0 0.0 TMP 0.0 YPR 0.0 0.0 0.0") == 0)
|
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|
|
|
return (0);
|
|
|
|
|
else
|
|
|
|
|
return (1);
|
|
|
|
|
}
|
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|
|
Alan Johnston
4 weeks ago
committed by
GitHub