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Merge pull request #392 from alanbjohnston/sim-fail-5

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Simulated payload telemetry
pull/395/head
Alan Johnston 4 months ago committed by GitHub
parent 685b6c0037 45fd4ad899
commit dd11f98e5d
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GPG Key ID: B5690EEEBB952194
6 changed files with 183 additions and 56 deletions
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6
Makefile
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@ -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

2
install
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@ -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"

174
main.c
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@ -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");
@ -646,8 +654,20 @@ int main(int argc, char * argv[]) {
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;
@ -671,6 +691,7 @@ int main(int argc, char * argv[]) {
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");
@ -692,6 +713,7 @@ int main(int argc, char * argv[]) {
}
}
printf("\n");
// if (sensor[GPS1] != 0) {
if ((sensor[GPS1] > -90.0) && (sensor[GPS1] < 90.0) && (sensor[GPS1] != 0.0)) {
@ -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);
@ -820,25 +887,42 @@ 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) {
@ -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");

12
main.h
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@ -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

33
sensor_extension.c
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@ -0,0 +1,33 @@
// Use this template for adding additional sensors
// see example ...
// put your library includes here
#include <stdio.h>
#include <string.h>
// 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);
}

4
update
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@ -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

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