diff --git a/Makefile b/Makefile index bf295216..a2c69fcb 100644 --- a/Makefile +++ b/Makefile @@ -41,9 +41,10 @@ cubesatsim: libax5043.a cubesatsim: afsk/ax25.o cubesatsim: afsk/ax5043.o cubesatsim: TelemEncoding.o +cubesatsim: sensor_extension.o cubesatsim: main.o cubesatsim: codecAO40.o - gcc -std=gnu99 $(DEBUG_BEHAVIOR) -o cubesatsim -Wall -Wextra -L./ afsk/ax25.o afsk/ax5043.o TelemEncoding.o codecAO40.o main.o -lwiringPi -lax5043 -lm + gcc -std=gnu99 $(DEBUG_BEHAVIOR) -o cubesatsim -Wall -Wextra -L./ afsk/ax25.o afsk/ax5043.o TelemEncoding.o sensor_extension.o codecAO40.o main.o -lwiringPi -lax5043 -lm telem: telem.o gcc -std=gnu99 $(DEBUG_BEHAVIOR) -o telem -Wall -Wextra -L./ telem.o -lwiringPi @@ -52,6 +53,9 @@ TelemEncoding.o: TelemEncoding.c TelemEncoding.o: TelemEncoding.h gcc -std=gnu99 $(DEBUG_BEHAVIOR) -Wall -Wextra -c TelemEncoding.c +sensor_extension.o: sensor_extension.c + gcc -std=gnu99 $(DEBUG_BEHAVIOR) -Wall -Wextra -c sensor_extension.c + codecAO40.o: codecAO40.c codecAO40.o: codecAO40.h gcc -std=gnu99 $(DEBUG_BEHAVIOR) -Wall -Wextra -c codecAO40.c diff --git a/install b/install index 4049706e..f722958b 100755 --- a/install +++ b/install @@ -123,7 +123,7 @@ mkdir /home/pi/fctelem mkdir /home/pi/fctelem/public_html cd fctelem wget https://github.com/alanbjohnston/go/releases/download/v0.2/fctelem.zip -unzip fctelem.zip +unzip -u fctelem.zip cd echo "Installing fcdctl to set FUNcubeDongle Pro gain" diff --git a/main.c b/main.c index be581eda..d3c1403d 100644 --- a/main.c +++ b/main.c @@ -342,6 +342,8 @@ int main(int argc, char * argv[]) { fprintf(stderr, "Unable to open UART: %s\n -> Did you configure /boot/config.txt and /boot/cmdline.txt?\n", strerror(errno)); } + sensor_setup(); + if ((i2c_bus3 == OFF) || (sim_mode == TRUE)) { sim_mode = TRUE; @@ -350,29 +352,33 @@ int main(int argc, char * argv[]) { srand((unsigned int)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; + axis[X] = rnd_float(-0.2, 0.2); + if (axis[X] == 0) + axis[X] = rnd_float(-0.2, 0.2); + axis[Y] = rnd_float(-0.2, 0.2); + float axis_z; + axis_z = sqrt(1 - axis[X] * axis[X] - axis[Y] * axis[Y]); + axis[Z] = (rnd_float(-0.2, 0.2) > 0) ? axis_z : -1.0 * axis_z; - angle[0] = (float) atan(axis[1] / axis[2]); - angle[1] = (float) atan(axis[2] / axis[0]); - angle[2] = (float) atan(axis[1] / axis[0]); + angle[X] = (float) atan(axis[Y] / axis[Z]); + angle[Y] = (float) atan(axis[Z] / axis[X]); + angle[Z] = (float) atan(axis[Y] / axis[X]); - 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]); + volts_max[X] = rnd_float(9.0, 12.0) * (float) sin(angle[Y]); + volts_max[Y] = rnd_float(9.0, 12.0) * (float) cos(angle[X]); + volts_max[Z] = rnd_float(9.0, 12.0) * (float) cos(angle[Y] - angle[X]); - float amps_avg = rnd_float(150, 300); + float amps_avg = rnd_float(150, 750); - 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]); + amps_max[X] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) sin(angle[Y]); + amps_max[Y] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[X]); + amps_max[Z] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[Y] - angle[X]); - batt = rnd_float(3.8, 4.3); + batt = rnd_float(3.8, 4.1); speed = rnd_float(1.0, 2.5); eclipse = (rnd_float(-1, +4) > 0) ? 1.0 : 0.0; + atmosphere = (rnd_float(-1, +4) > 0) ? 0.0 : 1.0; + // eclipse = 1; period = rnd_float(150, 300); tempS = rnd_float(20, 55); @@ -380,7 +386,7 @@ int main(int argc, char * argv[]) { temp_min = rnd_float(10, 20); // #ifdef DEBUG_LOGGING - for (int i = 0; i < 3; i++) + for (int i = X; i <= Z; 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: %f period: %f temp: %f max: %f min: %f\n", batt, speed, eclipse_time, eclipse, period, tempS, temp_max, temp_min); // #endif @@ -543,11 +549,13 @@ int main(int argc, char * argv[]) { fflush(stdout); fflush(stderr); // frames_sent++; +// if (!sim_mode) { + sensor_payload[0] = '\0'; + memset(sensor, 0, sizeof(sensor)); +// } - sensor_payload[0] = 0; memset(voltage, 0, sizeof(voltage)); memset(current, 0, sizeof(current)); - memset(sensor, 0, sizeof(sensor)); memset(other, 0, sizeof(other)); FILE * uptime_file = fopen("/proc/uptime", "r"); @@ -645,9 +653,21 @@ int main(int argc, char * argv[]) { // printf("String: %s\n", buffer2); fflush(stdout); strcpy(sensor_payload, buffer2); - - printf(" Response from STEM Payload board: %s\n", sensor_payload); - + + printf(" Response from STEM Payload: %s\n", sensor_payload); + + char sensor_buffer[30]; + int sensor_count; + sensor_buffer[0] = 0; + sensor_count = sensor_loop(sensor_buffer); + if (sensor_count > NEW_SENSOR_FIELDS_MAX) + sensor_count = NEW_SENSOR_FIELDS_MAX; + if (sensor_count > 0) { + char space[] = " "; + strcat(sensor_payload, space); + strcat(sensor_payload, sensor_buffer); + printf(" Payload after new sensor read: %s\n", sensor_payload); + } telem_file = fopen("/home/pi/CubeSatSim/telem.txt", "a"); // printf("Writing payload string\n"); time_t timeStamp; @@ -670,7 +690,8 @@ int main(int argc, char * argv[]) { sensor_payload[0] = '\0'; // This will cause the payload to not be processed. printf("Simulated Payload Failure.\n"); } - + + if (!sim_mode) { if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) // only process if valid payload response { // printf("Valid Payload!\n"); @@ -691,6 +712,7 @@ int main(int argc, char * argv[]) { token = strtok(NULL, space); } } + printf("\n"); // if (sensor[GPS1] != 0) { @@ -709,9 +731,10 @@ int main(int argc, char * argv[]) { newGpsTime = millis(); } } - } - else - ; //payload = OFF; // turn off since STEM Payload is not responding + } + } +// else +// ; //payload = OFF; // turn off since STEM Payload is not responding if ((millis() - newGpsTime) > 60000) { longitude += rnd_float(-0.05, 0.05) / 100.0; // was .05 @@ -721,6 +744,53 @@ int main(int argc, char * argv[]) { newGpsTime = millis(); } + if (sim_mode && (failureMode != FAIL_PAYLOAD)) { + if (atmosphere == 0) { + sensor[PRES] = 0; + strcpy(sensor_string[PRES], "0.0"); + sensor[ALT] = 400; + strcpy(sensor_string[ALT], "400"); + sensor[HUMI] = 0; + strcpy(sensor_string[HUMI], "0.0"); + sensor[TEMP] = 0; + strcpy(sensor_string[TEMP], "0.0"); + } else { + sensor[PRES] = 1015; + strcpy(sensor_string[PRES], "1015"); + sensor[ALT] = 75; + strcpy(sensor_string[ALT], "75"); + sensor[HUMI] = 48; + strcpy(sensor_string[HUMI], "48"); + sensor[TEMP] = 27; + strcpy(sensor_string[TEMP], "27.0"); + } + char sensor_number[20]; + sensor[ACCEL_X] = axis[X]; + sprintf(sensor_number, "%.2f", axis[X]); + strcpy(sensor_string[ACCEL_X], sensor_number); + sensor[ACCEL_Y] = axis[Y]; + sprintf(sensor_number, "%.2f", axis[Y]); + strcpy(sensor_string[ACCEL_Y], sensor_number); + sensor[ACCEL_Z] = axis[Z]; + sprintf(sensor_number, "%.2f", axis[Z]); + strcpy(sensor_string[ACCEL_Z], sensor_number); + + float spin; + spin = rnd_float(-30.0, 30.0); + sensor[GYRO_X] = axis[X] * spin; + sprintf(sensor_number, "%.2f", sensor[GYRO_X]); + strcpy(sensor_string[GYRO_X], sensor_number); + sensor[GYRO_Y] = axis[Y] * spin; + sprintf(sensor_number, "%.2f", sensor[GYRO_Y]); + strcpy(sensor_string[GYRO_Y], sensor_number); + sensor[GYRO_Z] = axis[Z] * spin; + sprintf(sensor_number, "%.2f", sensor[GYRO_Z]); + strcpy(sensor_string[GYRO_Z], sensor_number); + + // printf("sim sensor: %s\n", sensor_string[GYRO_Z]); + 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]); + } + if (failureMode == FAIL_BME) { sensor[TEMP] = 0.0; strcpy(sensor_string[TEMP], "0.0"); @@ -749,17 +819,23 @@ int main(int argc, char * argv[]) { printf("Simulated MPU Failure!\n"); } - if ((failureMode == FAIL_BME) || (failureMode == FAIL_MPU)) // recreaate sensor_payload string + if ((failureMode == FAIL_BME) || (failureMode == FAIL_MPU) || sim_mode) // recreaate sensor_payload string { - sensor_payload[0] = 0; + sensor_payload[0] = '\0'; + strcpy(sensor_string[0], "OK"); + strcpy(sensor_string[1], "BME280"); + strcpy(sensor_string[6], "MPU6050"); + for (count1 = 0; count1 < SENSOR_FIELDS; count1++) { strcat(sensor_payload, sensor_string[count1]); strcat(sensor_payload, " "); } -// printf("New Sensor String: %s\n", sensor_payload); + printf("Updated Sensor String: %s\n", sensor_payload); } - else if (failureMode != FAIL_PAYLOAD) + else if (failureMode != FAIL_PAYLOAD) { + printf("Restoring sensor_payload\n"); strcpy(sensor_payload, buffer2); // restore sensor_payload after strtok operation + } if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) { // printf("Valid Payload!!\n"); @@ -799,15 +875,6 @@ int main(int argc, char * argv[]) { current[map[PLUS_Z]] = (Zi >= 0) ? Zi : 0; current[map[MINUS_Z]] = (Zi >= 0) ? 0 : ((-1.0f) * Zi); - voltage[map[PLUS_X]] = (Xv >= 1) ? Xv : rnd_float(0.9, 1.1); - voltage[map[MINUS_X]] = (Xv <= -1) ? ((-1.0f) * 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) ? ((-1.0f) * 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) ? ((-1.0f) * 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) / 50.0f) : ((temp_min - tempS) / 50.0f); tempS += +rnd_float(-1.0, 1.0); // IHUcpuTemp = (int)((tempS + rnd_float(-1.0, 1.0)) * 10 + 0.5); @@ -820,26 +887,43 @@ int main(int argc, char * argv[]) { // 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[BAT2]] * voltage[map[BAT2]]) / batt) - charging; - current[map[BAT]] = rnd_float(285, 305) - charging; + current[map[BAT]] = rnd_float(320, 510) - charging; 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]]); - batt -= (batt > 3.5) ? current[map[BAT]] / 30000 : current[map[BAT]] / 3000; - if (batt < 3.0) { - batt = 3.0; + batt -= (batt > 3.5) ? current[map[BAT]] / 300000 : current[map[BAT]] / 30000; + if (batt < 3.6) { + batt = 3.6; SafeMode = 1; printf("Safe Mode!\n"); } else SafeMode= 0; - if (batt > 4.5) - batt = 4.5; + if (batt > 4.1) + batt = 4.1; 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 - } - + } + FILE * cpuTempSensor = fopen("/sys/class/thermal/thermal_zone0/temp", "r"); if (cpuTempSensor) { // double cpuTemp; @@ -1258,7 +1342,7 @@ void get_tlm_fox() { buffSize = (int) sizeof(buffer_test); if (failureMode == FAIL_NONE) - printf("No Simulated Failure\n"); + printf("No Simulated Failure!\n"); // if (failureMode == -1) { // failureMode = (int) rnd_float(1, FAIL_COUNT); // printf("Random Failure\n"); @@ -1312,7 +1396,7 @@ void get_tlm_fox() { cam = OFF; printf("Camera Simulated Failure!\n"); } - + if (mode == FSK) id = 7; else diff --git a/main.h b/main.h index 0f990ea5..e87ee936 100644 --- a/main.h +++ b/main.h @@ -52,11 +52,15 @@ #define XS1 20 // NEW user defined token will be position 19 #define XS2 21 #define XS3 22 -#define SENSOR_FIELDS 26 +#define NEW_SENSOR_FIELDS_MAX 6 +#define SENSOR_FIELDS (26 + 6) #define FC_EPS 1 #define FC_BOB 25 #define FC_SW 50 #define FC_PAYLOAD 55 +#define X 0 +#define Y 1 +#define Z 2 #define RSSI 0 #define IHU_TEMP 2 @@ -132,7 +136,7 @@ FILE *image_file; #define FAIL_I2C3 6 #define FAIL_CAMERA 7 #define FAIL_PAYLOAD 8 -#define FAIL_BME 8 +#define FAIL_BME 9 #define FAIL_MPU 10 #define FAIL_AUDIO 11 int failureMode = FAIL_NONE; @@ -182,7 +186,7 @@ double cpuTemp; int frameTime; long int newGpsTime; -float axis[3], angle[3], volts_max[3], amps_max[3], batt, speed, period, tempS, temp_max, temp_min, eclipse; +float axis[3], angle[3], volts_max[3], amps_max[3], batt, speed, period, tempS, temp_max, temp_min, eclipse, atmosphere; int i2c_bus0 = OFF, i2c_bus1 = OFF, i2c_bus3 = OFF, camera = OFF, sim_mode = FALSE, SafeMode = FALSE; int rxAntennaDeployed = 0, txAntennaDeployed = 0, c2cStatus = 0; int sim_config = FALSE; // sim mode not set by configuration @@ -241,6 +245,8 @@ int groundCommandCount = 0; int m_ileaver_index; /* Byte counter for interleaver */ unsigned char m_conv_sr; /* Convolutional encoder shift register state */ +void sensor_setup(); // defined in sensor_extension.c +int sensor_loop(char *sensor_buffer); // defined in sensor_extension.c // from funcubeLib/common/fecConstants.h diff --git a/sensor_extension.c b/sensor_extension.c new file mode 100644 index 00000000..a0494350 --- /dev/null +++ b/sensor_extension.c @@ -0,0 +1,33 @@ +// Use this template for adding additional sensors +// see example ... + +// put your library includes here +#include +#include + +// put your globals here + + +// put your setup code here +void sensor_setup() { + + printf("Starting new sensor!\n"); + +} + +// put your loop code here +// Very Important: only use print, not println!! +int sensor_loop(char *sensor_buffer) { + + int sensors = 3; // set to the number of sensor readings adding. + sensor_buffer[0] = 0; // make sure buffer is empty + + printf("Reading new sensors!\n"); + + strcpy(sensor_buffer, "NEW 0.0 0.0 0.0"); + + printf("New sensor string: %s\n", sensor_buffer); + + return(sensors); + +} diff --git a/update b/update index 2f72c779..722a8fcb 100755 --- a/update +++ b/update @@ -261,7 +261,7 @@ if [ ! -d "/home/pi/fctelem" ]; then mkdir /home/pi/fctelem/public_html cd fctelem wget https://github.com/alanbjohnston/go/releases/download/v0.2/fctelem.zip - unzip fctelem.zip + unzip -u fctelem.zip FLAG=1 elif [ ! -f "/home/pi/fctelem/v0.2" ]; then echo "Updating fctelem binary to version v0.2 for FUNcube mode" @@ -271,7 +271,7 @@ elif [ ! -f "/home/pi/fctelem/v0.2" ]; then sudo mv fcdecode.conf fcdecode.conf.bk sudo mv fctelem.zip fctelem.zip.1 wget https://github.com/alanbjohnston/go/releases/download/v0.2/fctelem.zip - unzip fctelem.zip + unzip -u fctelem.zip FLAG=1 fi