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removing old

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Alan Johnston 5 years ago
parent 195f646d50
commit f28c920c64
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1
cw/.gitignore vendored
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/Debug/

502
cw/continuous_main.c
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// Copyright (c) 2018 Brandenburg Tech, LLC
// All rights reserved.
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#include <string.h>
#include <pthread.h>
#include <semaphore.h>
#include <string.h>
#include <errno.h>
#include "../spi/ax5043spi_p.h"
#include "../ax5043/ax5043mode_p.h"
#include "../ax5043/ax5043rx_p.h"
#include "../ax5043/ax5043tx_p.h"
#include "../generated/configtx.h"
#define MAX_MESSAGE_LENGTH (197)
extern uint8_t axradio_rxbuffer[];
void *transmit(void *arg);
int get_message(uint8_t *buffer, int avail);
int get_cw(uint8_t *buffer, int avail);
int add_dot(uint8_t *msg, int number);
int add_dash(uint8_t *msg, int number);
int add_space(uint8_t *msg, int number);
int lower_digit(int number);
int upper_digit(int number);
int encode_digit(uint8_t *msg, int number);
void config_cw();
enum RadioState {UnknownState, RxState, TxState};
enum RadioState currentState = UnknownState;
enum ReceiveState {WaitingForNewPacket, WaitingForPacketCounter1,
WaitingForPacketCounter2, WaitingForMessageLength1,
WaitingForMessageLength2, WaitingForMessage,
WaitingForChecksum1, WaitingForChecksum2};
static uint8_t on_value = 0xff;
static uint8_t off_value = 0x00;
int spacing = 1; // integer number of octets for a dot
int main(void)
{
uint8_t retVal;
// Configure SPI bus to AX5043
setSpiChannel(SPI_CHANNEL);
setSpiSpeed(SPI_SPEED);
initializeSpi();
// Initialize the AX5043
retVal = axradio_init();
if (retVal == AXRADIO_ERR_NOCHIP) {
fprintf(stderr, "ERROR: No AX5043 RF chip found\n");
exit(EXIT_FAILURE);
}
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to initialize AX5043\n");
exit(EXIT_FAILURE);
}
printf("INFO: Found and initialized AX5043\n");
int result;
sem_t ax5043_sem;
result = sem_init(&ax5043_sem, 0, 1);
if (result != 0) {
fprintf(stderr, "ERROR: Unable to create semaphore with error %s\n", strerror(errno));
exit(EXIT_FAILURE);
}
pthread_t transmit_thread;
result = pthread_create(&transmit_thread, NULL, transmit, (void *)&ax5043_sem);
if (result != 0) {
fprintf(stderr, "ERROR: Unable to spawn transmit thread with error %s\n", strerror(errno));
exit(EXIT_FAILURE);
}
void *transmit_result;
result = pthread_join(transmit_thread, &transmit_result);
if (result != 0) {
fprintf(stderr, "ERROR: Unable to wait for transmit thread to finish with error %s\n", strerror(errno));
exit(EXIT_FAILURE);
}
sem_destroy(&ax5043_sem);
return 0;
}
void *transmit(void *arg) {
sem_t *sem;
sem = (sem_t *)arg;
uint8_t retVal;
/*
int x;
for (x = 0; x < 0x20; x++)
{
printf("Register %x contents: %x\n",x,(int)ax5043ReadReg(x));
}
printf("Register Dump complete");
*/
for (;;) {
int result;
// allocate space for the buffer
static uint8_t packet[MAX_MESSAGE_LENGTH + 1];
//uint16_t pkt_counter;
// ++pkt_counter;
int reserved_space = 0;
int msg_length = get_cw(&packet[reserved_space], (MAX_MESSAGE_LENGTH + 1) - reserved_space);
result = sem_wait(sem);
if (result != 0) {
fprintf(stderr, "Failed to wait on semaphore with error %s\n", strerror(errno));
exit(EXIT_FAILURE);
}
// Enter transmit mode only if not already in receive mode
if (currentState != TxState) {
retVal = mode_tx();
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to enter TX mode\n");
exit(EXIT_FAILURE);
}
currentState = TxState;
}
printf("INFO: Sending another packet...\n");
printf("DEBUG: msg_length = %d\n", msg_length);
printf("DEBUG: reserved_space = %d\n", reserved_space);
while(1) {
/*
int x;
for (x = 0; x < 0x20; x++)
{
printf("Register %x contents: %x\n",x,(int)ax5043ReadReg(x));
}
printf("Register Dump complete");
*/
/*
printf("Register write to clear framing and crc\n");
ax5043WriteReg(0x12,0);
printf("Register write to disable fec\n");
ax5043WriteReg(0x18,0);
printf("Register write \n");
ax5043WriteReg(0x165,0);
ax5043WriteReg(0x166,0);
ax5043WriteReg(0x167,0x50); // 0x08); // 0x20);
ax5043WriteReg(0x161,0);
ax5043WriteReg(0x162,0x20);
long txRate;
txRate = ax5043ReadReg(0x167) + 256 * ax5043ReadReg(0x166) + 65536 * ax5043ReadReg(0x165);
printf("Tx Rate %x %x %x \n", ax5043ReadReg(0x165), ax5043ReadReg(0x166), ax5043ReadReg(0x167));
long fskDev;
fskDev = ax5043ReadReg(0x163) + 256 * ax5043ReadReg(0x162) + 65536 * ax5043ReadReg(0x161);
ax5043WriteReg(0x37,(ax5043ReadReg(0x37) + 4)); // Increase FREQA
printf("Tx Rate: %ld FSK Dev: %ld \n", txRate, fskDev);
ax5043WriteReg(0x10,0); // ASK
printf("Modulation: %x \n", (int)ax5043ReadReg(0x10));
printf("Frequency A: 0x%x %x %x %x \n",(int)ax5043ReadReg(0x34),(int)ax5043ReadReg(0x35),(int)ax5043ReadReg(0x36),(int)ax5043ReadReg(0x37));
*/
/* HERE */
/*
int x;
for (x = 0; x < 0x20; x++)
{
printf("Register %x contents: %x\n",x,(int)ax5043ReadReg(x));
}
printf("Register Dump complete");
*/
config_cw();
retVal = transmit_packet(&remoteaddr_tx, packet, msg_length + reserved_space);
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to transmit a packet\n");
exit(EXIT_FAILURE);
}
sleep(10);
}
result = sem_post(sem);
if (result != 0) {
fprintf(stderr, "Failed to post on semaphore with error %s\n", strerror(errno));
exit(EXIT_FAILURE);
}
usleep(200000);
}
return NULL;
}
int get_cw(uint8_t *buffer, int avail) {
int count = 0;
/*
count += add_space(&buffer[count], 10);
count += add_dash(&buffer[count], 1); // c
count += add_dot(&buffer[count], 1);
count += add_dash(&buffer[count], 1);
count += add_dot(&buffer[count], 1);
count += add_space(&buffer[count], 3);
count += add_dash(&buffer[count], 2); // q
count += add_dot(&buffer[count], 1);
count += add_dash(&buffer[count], 1);
count += add_space(&buffer[count], 7);
count += add_dot(&buffer[count], 4); // h
count += add_space(&buffer[count], 3);
count += add_dot(&buffer[count], 2); // i
count += add_space(&buffer[count], 7);
count += add_dot(&buffer[count], 4); // h
count += add_space(&buffer[count], 3);
count += add_dot(&buffer[count], 2); // i
count += add_space(&buffer[count], 7);
*/
int tlm_1a = 42;
int tlm_1b = 35;
count += encode_digit(&buffer[count], 1);
count += encode_digit(&buffer[count], upper_digit(tlm_1a));
count += encode_digit(&buffer[count], lower_digit(tlm_1a));
count += add_space(&buffer[count], 7);
count += encode_digit(&buffer[count], 1);
count += encode_digit(&buffer[count], upper_digit(tlm_1b));
count += encode_digit(&buffer[count], lower_digit(tlm_1b));
count += add_space(&buffer[count], 14);
count += encode_digit(&buffer[count], 1);
count += encode_digit(&buffer[count], upper_digit(tlm_1a++));
count += encode_digit(&buffer[count], lower_digit(tlm_1a));
count += add_space(&buffer[count], 7);
/*
count += encode_digit(&buffer[count], 1);
count += encode_digit(&buffer[count], upper_digit(tlm_1b++));
count += encode_digit(&buffer[count], lower_digit(tlm_1b));
count += add_space(&buffer[count], 14);
count += encode_digit(&buffer[count], 2);
count += encode_digit(&buffer[count], upper_digit(tlm_1a++));
count += encode_digit(&buffer[count], lower_digit(tlm_1a));
count += add_space(&buffer[count], 7);
count += encode_digit(&buffer[count], 2);
count += encode_digit(&buffer[count], upper_digit(tlm_1b++));
count += encode_digit(&buffer[count], lower_digit(tlm_1b));
count += add_space(&buffer[count], 14);
count += encode_digit(&buffer[count], 2);
count += encode_digit(&buffer[count], upper_digit(tlm_1a++));
count += encode_digit(&buffer[count], lower_digit(tlm_1a));
count += add_space(&buffer[count], 7);
count += encode_digit(&buffer[count], 2);
count += encode_digit(&buffer[count], upper_digit(tlm_1b++));
count += encode_digit(&buffer[count], lower_digit(tlm_1b));
count += add_space(&buffer[count], 14);
*/
printf("DEBUG count: %d avail: %d \n", count, avail);
if (count > avail) {
buffer[avail-1] = 0;
count = avail-1;
printf("DEBUG count > avail!\n");
}
// printf("DEBUG get_cw: ***%s***\n", buffer);
//return strlen((char *)buffer);
return count;
}
int add_dash(uint8_t *msg, int number) {
int counter = 0;
int i,j;
for (j=0; j < number; j++) {
for (i=0; i < spacing * 3; i++) {
msg[counter++] = on_value;
}
counter += add_space(&msg[counter], 1);
}
return counter;
}
int add_dot(uint8_t *msg, int number) {
int counter = 0;
int i,j;
for (j=0; j < number; j++) {
for (i=0; i < spacing; i++) {
msg[counter++] = on_value;
}
counter += add_space(&msg[counter], 1);
}
return counter;
}
int add_space(uint8_t *msg, int number) {
int j;
int counter = 0;
for (j=0; j < number * spacing; j++) {
msg[counter++] = off_value;
}
return counter;
}
int encode_digit(uint8_t *buffer, int digit) {
int count = 0;
switch(digit)
{
case 0:
count += add_dash(&buffer[count], 5); // 0
count += add_space(&buffer[count], 3);
break;
case 1:
count += add_dot(&buffer[count], 1); // 1
count += add_dash(&buffer[count], 4);
count += add_space(&buffer[count], 3);
break;
case 2:
count += add_dot(&buffer[count], 2); // 2
count += add_dash(&buffer[count], 3);
count += add_space(&buffer[count], 3);
break;
case 3:
count += add_dot(&buffer[count], 3); // 3
count += add_dash(&buffer[count], 2);
count += add_space(&buffer[count], 3);
break;
case 4:
count += add_dot(&buffer[count], 4); // 4
count += add_dash(&buffer[count], 1);
count += add_space(&buffer[count], 3);
break;
case 5:
count += add_dot(&buffer[count], 5); // 5
count += add_space(&buffer[count], 3);
break;
case 6:
count += add_dash(&buffer[count], 1); // 6
count += add_dot(&buffer[count], 4);
count += add_space(&buffer[count], 3);
break;
case 7:
count += add_dash(&buffer[count], 2); // 7
count += add_dot(&buffer[count], 3);
count += add_space(&buffer[count], 3);
break;
case 8:
count += add_dash(&buffer[count], 3); // 8
count += add_dot(&buffer[count], 2);
count += add_space(&buffer[count], 3);
break;
case 9:
count += add_dash(&buffer[count], 4); // 9
count += add_dot(&buffer[count], 1);
count += add_space(&buffer[count], 3);
break;
default:
printf("ERROR: Not a digit!\n");
return 0;
}
return count;
}
int lower_digit(int number) {
int digit = 0;
if (number < 100)
digit = number - ((int)(number/10) * 10);
else
printf("ERROR: Not a digit in lower_digit!\n");
return digit;
}
int upper_digit(int number) {
int digit = 0;
if (number < 100)
digit = (int)(number/10);
else
printf("ERROR: Not a digit in upper_digit!\n");
return digit;
}
void config_cw() {
printf("Register write to clear framing and crc\n");
ax5043WriteReg(0x12,0);
printf("Register write to disable fec\n");
ax5043WriteReg(0x18,0);
printf("Register write \n");
ax5043WriteReg(0x165,0);
ax5043WriteReg(0x166,0);
ax5043WriteReg(0x167,0x50); // 0x08); // 0x20);
ax5043WriteReg(0x161,0);
ax5043WriteReg(0x162,0x20);
long txRate;
txRate = ax5043ReadReg(0x167) + 256 * ax5043ReadReg(0x166) + 65536 * ax5043ReadReg(0x165);
printf("Tx Rate %x %x %x \n", ax5043ReadReg(0x165), ax5043ReadReg(0x166), ax5043ReadReg(0x167));
long fskDev;
fskDev = ax5043ReadReg(0x163) + 256 * ax5043ReadReg(0x162) + 65536 * ax5043ReadReg(0x161);
ax5043WriteReg(0x37,(ax5043ReadReg(0x37) + 4)); // Increase FREQA
printf("Tx Rate: %ld FSK Dev: %ld \n", txRate, fskDev);
ax5043WriteReg(0x10,0); // ASK
printf("Modulation: %x \n", (int)ax5043ReadReg(0x10));
printf("Frequency A: 0x%x %x %x %x \n",(int)ax5043ReadReg(0x34),(int)ax5043ReadReg(0x35),(int)ax5043ReadReg(0x36),(int)ax5043ReadReg(0x37));
/* HERE */
/*
int x;
for (x = 0; x < 0x20; x++)
{
printf("Register %x contents: %x\n",x,(int)ax5043ReadReg(x));
}
printf("Register Dump complete");
*/
return;
}

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cw/cw_main.bk
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// Sends CubeSatSim telemetry encoded as CW (Morse Code) using AO-7 format
//
// Copyright (c) 2018 Alan Johnston
//
// Portions Copyright (c) 2018 Brandenburg Tech, LLC
// All right reserved.
//
// THIS SOFTWARE IS PROVIDED BY BRANDENBURG TECH, LLC AND CONTRIBUTORS
// ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL BRANDENBURT TECH, LLC
// AND CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
// OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
// OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <axradio/axradioinit_p.h>
#include <axradio/axradiomode_p.h>
#include <axradio/axradiorx_p.h>
#include <axradio/axradiotx_p.h>
#include <generated/configtx.h>
//#include <pthread.h>
//#include <semaphore.h>
#include <spi/ax5043spi_p.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <wiringPiI2C.h>
#include <time.h>
#define MAX_MESSAGE_LENGTH (197)
#define TRUE 1
#define FALSE 0
#define VBATT 15
#define ADC5 17
#define ADC6 18
#define ADC7 19
#define ADC8 20
#define TIME 8
#define UCTEMP 30
#define UPTIME_SEC 8
#define A 1
#define B 2
#define C 3
#define D 4
#define SENSOR_40 0
#define SENSOR_41 3
#define SENSOR_44 6
#define SENSOR_45 9
#define SENSOR_4A 12
#define VOLTAGE 0
#define CURRENT 1
#define POWER 2
long int timestamp = 0;
extern uint8_t axradio_rxbuffer[];
void *transmit(void *arg);
int get_message(uint8_t *buffer, int avail);
int lower_digit(int number);
int upper_digit(int number);
int encode_digit(uint8_t *msg, int number);
void config_cw();
int encode_tlm(uint8_t *buffer, int channel, int val1, int val2, int val3, int val4, int avail);
int encode_header(uint8_t *buffer, int avail);
int add_dash(uint8_t *msg, int number);
int add_dot(uint8_t *msg, int number);
int add_space(uint8_t *msg);
int get_tlm(int tlm[7][5]);
int tempSensor, xPlusSensor, yPlusSensor, zPlusSensor, battCurrentSensor;
extern int config_afsk();
int main(void)
{
uint8_t retVal;
int tlm[7][5];
int i, j;
for (i = 1; i < 7; i++) {
for (j = 1; j < 5; j++) {
tlm[i][j] = 0;
}
}
tempSensor = wiringPiI2CSetupInterface("/dev/i2c-3", 0x48);
// Configure SPI bus to AX5043
setSpiChannel(SPI_CHANNEL);
setSpiSpeed(SPI_SPEED);
initializeSpi();
// printf("1\n");
// if (send_cw_tlm) {
// Send one frame of CW Telem
// Initialize the AX5043
retVal = axradio_init();
if (retVal == AXRADIO_ERR_NOCHIP) {
fprintf(stderr, "ERROR: No AX5043 RF chip found\n");
exit(EXIT_FAILURE);
}
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to initialize AX5043\n");
exit(EXIT_FAILURE);
}
printf("INFO: Found and initialized AX5043\n");
retVal = mode_tx();
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to enter TX mode\n");
exit(EXIT_FAILURE);
}
config_cw();
// allocate space for the buffer
static uint8_t packet[MAX_MESSAGE_LENGTH + 1];
int channel; // AO-7 telemetry format has 6 channels, 4 sub channels in each
int msg_length;
while(1) { // loop infinitely
for (channel = 0; channel < 7; channel++) {
get_tlm(tlm);
if (channel == 0) {
// start with telemetry header "hi hi" plus a few chars to help CW decoding software sync
msg_length = encode_header(&packet[0], MAX_MESSAGE_LENGTH + 1);
printf("\nINFO: Sending TLM header\n");
} else {
msg_length = encode_tlm(&packet[0], channel,
tlm[channel][1], tlm[channel][2], tlm[channel][3], tlm[channel][4],
(MAX_MESSAGE_LENGTH + 1));
printf("\nINFO: Sending TLM channel %d \n", channel);
}
retVal = transmit_packet(&remoteaddr_tx, packet, (uint16_t)(msg_length)); // send telemetry
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to transmit a packet\n");
exit(EXIT_FAILURE);
}
}
usleep(200000);
}
}
// Encodes telemetry header (channel 0) into buffer
//
int encode_header(uint8_t *buffer, int avail) {
int count = 0;
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_dash(&buffer[count], 1); // c
count += add_dot(&buffer[count], 1);
count += add_dash(&buffer[count], 1);
count += add_dot(&buffer[count], 1);
count += add_space(&buffer[count]);
count += add_dash(&buffer[count], 2); // q
count += add_dot(&buffer[count], 1);
count += add_dash(&buffer[count], 1);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_dot(&buffer[count], 4); // h
count += add_space(&buffer[count]);
count += add_dot(&buffer[count], 2); // i
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_dot(&buffer[count], 4); // h
count += add_space(&buffer[count]);
count += add_dot(&buffer[count], 2); // i
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
if (count > avail)
printf("ERROR: encode_header count > avail \n");
return count;
}
// Encodes one channel of telemetry into buffer
//
int encode_tlm(uint8_t *buffer, int channel, int val1, int val2, int val3, int val4, int avail) {
int count = 0;
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1aa
count += encode_digit(&buffer[count], upper_digit(val1));
count += encode_digit(&buffer[count], lower_digit(val1));
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1bb
count += encode_digit(&buffer[count], upper_digit(val2));
count += encode_digit(&buffer[count], lower_digit(val2));
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1cc
count += encode_digit(&buffer[count], upper_digit(val3));
count += encode_digit(&buffer[count], lower_digit(val3));
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1dd
count += encode_digit(&buffer[count], upper_digit(val4));
count += encode_digit(&buffer[count], lower_digit(val4));
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
//printf("DEBUG count: %d avail: %d \n", count, avail);
if (count > avail) { // make sure not too long
buffer[avail-1] = 0;
count = avail-1;
printf("DEBUG count > avail!\n");
}
return count;
}
// Encodes a single digit of telemetry into buffer
//
int encode_digit(uint8_t *buffer, int digit) {
int count = 0;
switch(digit)
{
case 0:
count += add_dash(&buffer[count], 5); // 0
count += add_space(&buffer[count]);
break;
case 1:
count += add_dot(&buffer[count], 1); // 1
count += add_dash(&buffer[count], 4);
count += add_space(&buffer[count]);
break;
case 2:
count += add_dot(&buffer[count], 2); // 2
count += add_dash(&buffer[count], 3);
count += add_space(&buffer[count]);
break;
case 3:
count += add_dot(&buffer[count], 3); // 3
count += add_dash(&buffer[count], 2);
count += add_space(&buffer[count]);
break;
case 4:
count += add_dot(&buffer[count], 4); // 4
count += add_dash(&buffer[count], 1);
count += add_space(&buffer[count]);
break;
case 5:
count += add_dot(&buffer[count], 5); // 5
count += add_space(&buffer[count]);
break;
case 6:
count += add_dash(&buffer[count], 1); // 6
count += add_dot(&buffer[count], 4);
count += add_space(&buffer[count]);
break;
case 7:
count += add_dash(&buffer[count], 2); // 7
count += add_dot(&buffer[count], 3);
count += add_space(&buffer[count]);
break;
case 8:
count += add_dash(&buffer[count], 3); // 8
count += add_dot(&buffer[count], 2);
count += add_space(&buffer[count]);
break;
case 9:
count += add_dash(&buffer[count], 4); // 9
count += add_dot(&buffer[count], 1);
count += add_space(&buffer[count]);
break;
default:
printf("ERROR: Not a digit!\n");
return 0;
}
return count;
}
// Returns lower digit of a number which must be less than 99
//
int lower_digit(int number) {
int digit = 0;
if (number < 100)
digit = number - ((int)(number/10) * 10);
else
printf("ERROR: Not a digit in lower_digit!\n");
return digit;
}
// Returns upper digit of a number which must be less than 99
//
int upper_digit(int number) {
int digit = 0;
if (number < 100)
digit = (int)(number/10);
else
printf("ERROR: Not a digit in upper_digit!\n");
return digit;
}
// Configure radio to send CW which is ASK
//
void config_cw() {
uint8_t retVal;
// Configure SPI bus to AX5043
// setSpiChannel(SPI_CHANNEL);
// setSpiSpeed(SPI_SPEED);
// initializeSpi();
// printf("1\n");
// Initialize the AX5043
retVal = axradio_init();
// printf("2\n");
if (retVal == AXRADIO_ERR_NOCHIP) {
fprintf(stderr, "ERROR: No AX5043 RF chip found\n");
exit(EXIT_FAILURE);
}
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to initialize AX5043\n");
exit(EXIT_FAILURE);
}
// printf("INFO: Found and initialized AX5043\n");
retVal = mode_tx();
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to enter TX mode\n");
exit(EXIT_FAILURE);
}
// printf("Register write to clear framing and crc\n");
ax5043WriteReg(0x12,0);
// printf("Register write to disable fec\n");
ax5043WriteReg(0x18,0);
// printf("Register write \n");
ax5043WriteReg(0x165,0);
ax5043WriteReg(0x166,0);
ax5043WriteReg(0x167,0x50); // 0x25); // 0x50); // 0x08); // 0x20);
ax5043WriteReg(0x161,0);
ax5043WriteReg(0x162,0x20);
// long txRate;
// txRate = ax5043ReadReg(0x167) + 256 * ax5043ReadReg(0x166) + 65536 * ax5043ReadReg(0x165);
// printf("Tx Rate %x %x %x \n", ax5043ReadReg(0x165), ax5043ReadReg(0x166), ax5043ReadReg(0x167));
// long fskDev;
// fskDev = ax5043ReadReg(0x163) + 256 * ax5043ReadReg(0x162) + 65536 * ax5043ReadReg(0x161);
ax5043WriteReg(0x37,(uint8_t)((ax5043ReadReg(0x37) + 4))); // Increase FREQA
// printf("Tx Rate: %ld FSK Dev: %ld \n", txRate, fskDev);
ax5043WriteReg(0x10,0); // ASK
// printf("Modulation: %x \n", (int)ax5043ReadReg(0x10));
// printf("Frequency A: 0x%x %x %x %x \n",(int)ax5043ReadReg(0x34),(int)ax5043ReadReg(0x35),(int)ax5043ReadReg(0x36),(int)ax5043ReadReg(0x37));
/*
int x;
for (x = 0; x < 0x20; x++)
{
printf("Register %x contents: %x\n",x,(int)ax5043ReadReg(x));
}
printf("Register Dump complete");
*/
return;
}
// Adds a Morse space to the buffer
//
int add_space(uint8_t *msg) {
msg[0] = 0x00; // a space is 8 bits
return 1;
}
// Adds a Morse dash to the buffer
//
int add_dash(uint8_t *msg, int number) {
int j;
int counter = 0;
for (j=0; j < number; j++) { // a dot is 4 bits, so a dash is 12 bits
msg[counter++] = 0xff;
msg[counter++] = 0x0f;
}
return counter;
}
// Adds a Morse dot to the buffer
//
int add_dot(uint8_t *msg, int number) {
int counter = 0;
int j;
for (j=0; j < number; j++) { // a dot is 4 bits
msg[counter++] = 0x0f;
}
return counter;
}
int get_tlm(int tlm[][5]) {
// Reading I2C voltage and current sensors
char cmdbuffer[1000];
FILE* file = popen("sudo python /home/pi/CubeSatSim/python/readcurrent.py 2>&1", "r");
fgets(cmdbuffer, 1000, file);
pclose(file);
printf("I2C Sensor data: %s\n", cmdbuffer);
char ina219[16][20]; // voltage, currents, and power from the INA219 current sensors x4a, x40, x41, x44, and x45.
int i = 0;
char * data2 = strtok (cmdbuffer," ");
while (data2 != NULL) {
strcpy(ina219[i], data2);
// printf ("ina219[%d]=%s\n",i,ina219[i]);
data2 = strtok (NULL, " ");
i++;
}
// printf("1B: ina219[%d]: %s val: %f \n", SENSOR_40 + CURRENT, ina219[SENSOR_40 + CURRENT], strtof(ina219[SENSOR_40 + CURRENT], NULL));
tlm[1][A] = (int)(strtof(ina219[SENSOR_4A + CURRENT], NULL) / 15 + 0.5); // Current of 5V supply to Pi
tlm[1][B] = (int) (99.5 - strtof(ina219[SENSOR_40 + CURRENT], NULL)/10); // +X current [4]
tlm[1][D] = (int) (99.5 - strtof(ina219[SENSOR_41 + CURRENT], NULL)/10); // +Y current [7]
tlm[1][C] = (int) (99.5 - strtof(ina219[SENSOR_44 + CURRENT], NULL)/10); // +Z current [10] (actually -X current, AO-7 didn't have a Z solar panel?)
tlm[2][B] = 99;
tlm[2][C] = (int)((time(NULL) - timestamp) / 15) % 100;
tlm[2][D] = (int)(50.5 + strtof(ina219[SENSOR_45 + CURRENT], NULL)/10.0); // NiMH Battery current
tlm[3][A] = (int)((strtof(ina219[SENSOR_45 + VOLTAGE], NULL) * 10) - 65.5);
tlm[3][B] = (int)(strtof(ina219[SENSOR_4A + VOLTAGE], NULL) * 10.0); // 5V supply to Pi
int tempValue = wiringPiI2CReadReg16(tempSensor, 0);
// printf("Read: %x\n", tempValue);
uint8_t upper = (uint8_t) (tempValue >> 8);
uint8_t lower = (uint8_t) (tempValue & 0xff);
float temp = (float)lower + ((float)upper / 0x100);
tlm[4][A] = (int)((95.8 - temp)/1.48 + 0.5);
tlm[6][B] = 0 ;
tlm[6][D] = 49 + rand() % 3;
// Display tlm
int k, j;
for (k = 1; k < 7; k++) {
for (j = 1; j < 5; j++) {
printf(" %2d ", tlm[k][j]);
}
printf("\n");
}
return 0;
}

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cw/cw_main.c
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// Sends CubeSatSim telemetry encoded as CW (Morse Code) using AO-7 format
//
// Copyright (c) 2018 Alan Johnston
//
// Portions Copyright (c) 2018 Brandenburg Tech, LLC
// All right reserved.
//
// THIS SOFTWARE IS PROVIDED BY BRANDENBURG TECH, LLC AND CONTRIBUTORS
// ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL BRANDENBURT TECH, LLC
// AND CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
// OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
// OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <unistd.h> //Needed for I2C port
#include <fcntl.h> //Needed for I2C port
#include <sys/ioctl.h> //Needed for I2C port
#include <axradio/axradioinit_p.h>
#include <axradio/axradiomode_p.h>
#include <axradio/axradiorx_p.h>
#include <axradio/axradiotx_p.h>
#include <generated/configtx.h>
//#include <pthread.h>
//#include <semaphore.h>
#include <spi/ax5043spi_p.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <wiringPiI2C.h>
#include <time.h>
#define MAX_MESSAGE_LENGTH (197)
#define TRUE 1
#define FALSE 0
#define VBATT 15
#define ADC5 17
#define ADC6 18
#define ADC7 19
#define ADC8 20
#define TIME 8
#define UCTEMP 30
#define UPTIME_SEC 8
#define A 1
#define B 2
#define C 3
#define D 4
#define SENSOR_40 0
#define SENSOR_41 3
#define SENSOR_44 6
#define SENSOR_45 9
#define SENSOR_4A 12
#define VOLTAGE 0
#define CURRENT 1
#define POWER 2
uint32_t tx_freq_hz = 440390000;
long int timestamp = 0;
extern uint8_t axradio_rxbuffer[];
void *transmit(void *arg);
int get_message(uint8_t *buffer, int avail);
int lower_digit(int number);
int upper_digit(int number);
int encode_digit(uint8_t *msg, int number);
void config_cw();
int encode_tlm(uint8_t *buffer, int channel, int val1, int val2, int val3, int val4, int avail);
int encode_header(uint8_t *buffer, int avail);
int add_dash(uint8_t *msg, int number);
int add_dot(uint8_t *msg, int number);
int add_space(uint8_t *msg);
int get_tlm(int tlm[7][5]);
int tempSensor, xPlusSensor, yPlusSensor, zPlusSensor, battCurrentSensor;
extern int config_afsk();
int main(void)
{
uint8_t retVal;
int tlm[7][5];
int i, j;
for (i = 1; i < 7; i++) {
for (j = 1; j < 5; j++) {
tlm[i][j] = 0;
}
}
int file_i2c;
char *filenam1e = (char*)"/dev/i2c-3";
if ((file_i2c = open(filenam1e, O_RDWR)) < 0)
{
printf("ERROR: /dev/ic2-3 bus not present\n");
tempSensor = -1;
} else
{
tempSensor = wiringPiI2CSetupInterface("/dev/i2c-3", 0x48);
}
printf("tempSensor: %d \n",tempSensor);
// Configure SPI bus to AX5043
setSpiChannel(SPI_CHANNEL);
setSpiSpeed(SPI_SPEED);
initializeSpi();
// printf("1\n");
// if (send_cw_tlm) {
// Send one frame of CW Telem
// Initialize the AX5043
retVal = axradio_init();
if (retVal == AXRADIO_ERR_NOCHIP) {
fprintf(stderr, "ERROR: No AX5043 RF chip found\n");
exit(EXIT_FAILURE);
}
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to initialize AX5043\n");
exit(EXIT_FAILURE);
}
printf("INFO: Found and initialized AX5043\n");
retVal = mode_tx();
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to enter TX mode\n");
exit(EXIT_FAILURE);
}
config_cw();
// allocate space for the buffer
static uint8_t packet[MAX_MESSAGE_LENGTH + 1];
int channel; // AO-7 telemetry format has 6 channels, 4 sub channels in each
int msg_length;
//while(1) { // loop infinitely
for (channel = 0; channel < 7; channel++) {
get_tlm(tlm);
if (channel == 0) {
// start with telemetry header "hi hi" plus a few chars to help CW decoding software sync
msg_length = encode_header(&packet[0], MAX_MESSAGE_LENGTH + 1);
printf("\nINFO: Sending TLM header\n");
} else {
msg_length = encode_tlm(&packet[0], channel,
tlm[channel][1], tlm[channel][2], tlm[channel][3], tlm[channel][4],
(MAX_MESSAGE_LENGTH + 1));
printf("\nINFO: Sending TLM channel %d \n", channel);
}
retVal = transmit_packet(&remoteaddr_tx, packet, (uint16_t)(msg_length)); // send telemetry
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to transmit a packet\n");
exit(EXIT_FAILURE);
}
}
usleep(200000);
//}
}
// Encodes telemetry header (channel 0) into buffer
//
int encode_header(uint8_t *buffer, int avail) {
int count = 0;
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_dash(&buffer[count], 1); // c
count += add_dot(&buffer[count], 1);
count += add_dash(&buffer[count], 1);
count += add_dot(&buffer[count], 1);
count += add_space(&buffer[count]);
count += add_dash(&buffer[count], 2); // q
count += add_dot(&buffer[count], 1);
count += add_dash(&buffer[count], 1);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_dot(&buffer[count], 4); // h
count += add_space(&buffer[count]);
count += add_dot(&buffer[count], 2); // i
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_dot(&buffer[count], 4); // h
count += add_space(&buffer[count]);
count += add_dot(&buffer[count], 2); // i
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
if (count > avail)
printf("ERROR: encode_header count > avail \n");
return count;
}
// Encodes one channel of telemetry into buffer
//
int encode_tlm(uint8_t *buffer, int channel, int val1, int val2, int val3, int val4, int avail) {
int count = 0;
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1aa
count += encode_digit(&buffer[count], upper_digit(val1));
count += encode_digit(&buffer[count], lower_digit(val1));
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1bb
count += encode_digit(&buffer[count], upper_digit(val2));
count += encode_digit(&buffer[count], lower_digit(val2));
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1cc
count += encode_digit(&buffer[count], upper_digit(val3));
count += encode_digit(&buffer[count], lower_digit(val3));
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1dd
count += encode_digit(&buffer[count], upper_digit(val4));
count += encode_digit(&buffer[count], lower_digit(val4));
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
//printf("DEBUG count: %d avail: %d \n", count, avail);
if (count > avail) { // make sure not too long
buffer[avail-1] = 0;
count = avail-1;
printf("DEBUG count > avail!\n");
}
return count;
}
// Encodes a single digit of telemetry into buffer
//
int encode_digit(uint8_t *buffer, int digit) {
int count = 0;
switch(digit)
{
case 0:
count += add_dash(&buffer[count], 5); // 0
count += add_space(&buffer[count]);
break;
case 1:
count += add_dot(&buffer[count], 1); // 1
count += add_dash(&buffer[count], 4);
count += add_space(&buffer[count]);
break;
case 2:
count += add_dot(&buffer[count], 2); // 2
count += add_dash(&buffer[count], 3);
count += add_space(&buffer[count]);
break;
case 3:
count += add_dot(&buffer[count], 3); // 3
count += add_dash(&buffer[count], 2);
count += add_space(&buffer[count]);
break;
case 4:
count += add_dot(&buffer[count], 4); // 4
count += add_dash(&buffer[count], 1);
count += add_space(&buffer[count]);
break;
case 5:
count += add_dot(&buffer[count], 5); // 5
count += add_space(&buffer[count]);
break;
case 6:
count += add_dash(&buffer[count], 1); // 6
count += add_dot(&buffer[count], 4);
count += add_space(&buffer[count]);
break;
case 7:
count += add_dash(&buffer[count], 2); // 7
count += add_dot(&buffer[count], 3);
count += add_space(&buffer[count]);
break;
case 8:
count += add_dash(&buffer[count], 3); // 8
count += add_dot(&buffer[count], 2);
count += add_space(&buffer[count]);
break;
case 9:
count += add_dash(&buffer[count], 4); // 9
count += add_dot(&buffer[count], 1);
count += add_space(&buffer[count]);
break;
default:
printf("ERROR: Not a digit!\n");
return 0;
}
return count;
}
// Returns lower digit of a number which must be less than 99
//
int lower_digit(int number) {
int digit = 0;
if (number < 100)
digit = number - ((int)(number/10) * 10);
else
printf("ERROR: Not a digit in lower_digit!\n");
return digit;
}
// Returns upper digit of a number which must be less than 99
//
int upper_digit(int number) {
int digit = 0;
if (number < 100)
digit = (int)(number/10);
else
printf("ERROR: Not a digit in upper_digit!\n");
return digit;
}
// Configure radio to send CW which is ASK
//
void config_cw() {
uint8_t retVal;
// Configure SPI bus to AX5043
// setSpiChannel(SPI_CHANNEL);
// setSpiSpeed(SPI_SPEED);
// initializeSpi();
// printf("1\n");
// Initialize the AX5043
retVal = axradio_init();
// printf("2\n");
if (retVal == AXRADIO_ERR_NOCHIP) {
fprintf(stderr, "ERROR: No AX5043 RF chip found\n");
exit(EXIT_FAILURE);
}
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to initialize AX5043\n");
exit(EXIT_FAILURE);
}
// printf("INFO: Found and initialized AX5043\n");
retVal = mode_tx();
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to enter TX mode\n");
exit(EXIT_FAILURE);
}
// printf("Register write to clear framing and crc\n");
ax5043WriteReg(0x12,0);
// printf("Register write to disable fec\n");
ax5043WriteReg(0x18,0);
// printf("Register write \n");
ax5043WriteReg(0x165,0);
ax5043WriteReg(0x166,0);
ax5043WriteReg(0x167,0x50); // 0x25); // 0x50); // 0x08); // 0x20);
ax5043WriteReg(0x161,0);
ax5043WriteReg(0x162,0x20);
// long txRate;
// txRate = ax5043ReadReg(0x167) + 256 * ax5043ReadReg(0x166) + 65536 * ax5043ReadReg(0x165);
// printf("Tx Rate %x %x %x \n", ax5043ReadReg(0x165), ax5043ReadReg(0x166), ax5043ReadReg(0x167));
// long fskDev;
// fskDev = ax5043ReadReg(0x163) + 256 * ax5043ReadReg(0x162) + 65536 * ax5043ReadReg(0x161);
ax5043WriteReg(0x37,(uint8_t)((ax5043ReadReg(0x37) + 4))); // Increase FREQA
// printf("Tx Rate: %ld FSK Dev: %ld \n", txRate, fskDev);
ax5043WriteReg(0x10,0); // ASK
// printf("Modulation: %x \n", (int)ax5043ReadReg(0x10));
// printf("Frequency A: 0x%x %x %x %x \n",(int)ax5043ReadReg(0x34),(int)ax5043ReadReg(0x35),(int)ax5043ReadReg(0x36),(int)ax5043ReadReg(0x37));
/*
int x;
for (x = 0; x < 0x20; x++)
{
printf("Register %x contents: %x\n",x,(int)ax5043ReadReg(x));
}
printf("Register Dump complete");
*/
return;
}
// Adds a Morse space to the buffer
//
int add_space(uint8_t *msg) {
msg[0] = 0x00; // a space is 8 bits
return 1;
}
// Adds a Morse dash to the buffer
//
int add_dash(uint8_t *msg, int number) {
int j;
int counter = 0;
for (j=0; j < number; j++) { // a dot is 4 bits, so a dash is 12 bits
msg[counter++] = 0xff;
msg[counter++] = 0x0f;
}
return counter;
}
// Adds a Morse dot to the buffer
//
int add_dot(uint8_t *msg, int number) {
int counter = 0;
int j;
for (j=0; j < number; j++) { // a dot is 4 bits
msg[counter++] = 0x0f;
}
return counter;
}
int get_tlm(int tlm[][5]) {
// Reading I2C voltage and current sensors
char cmdbuffer[1000];
FILE* file = popen("sudo python /home/pi/CubeSatSim/python/readcurrent.py 2>&1", "r");
fgets(cmdbuffer, 1000, file);
pclose(file);
printf("I2C Sensor data: %s\n", cmdbuffer);
char ina219[16][20]; // voltage, currents, and power from the INA219 current sensors x4a, x40, x41, x44, and x45.
int i = 0;
char * data2 = strtok (cmdbuffer," ");
while (data2 != NULL) {
strcpy(ina219[i], data2);
// printf ("ina219[%d]=%s\n",i,ina219[i]);
data2 = strtok (NULL, " ");
i++;
}
// printf("1B: ina219[%d]: %s val: %f \n", SENSOR_40 + CURRENT, ina219[SENSOR_40 + CURRENT], strtof(ina219[SENSOR_40 + CURRENT], NULL));
tlm[1][A] = (int)(strtof(ina219[SENSOR_4A + CURRENT], NULL) / 15 + 0.5) % 100; // Current of 5V supply to Pi
tlm[1][B] = (int) (99.5 - strtof(ina219[SENSOR_40 + CURRENT], NULL)/10) % 100; // +X current [4]
tlm[1][D] = (int) (99.5 - strtof(ina219[SENSOR_41 + CURRENT], NULL)/10) % 100; // +Y current [7]
tlm[1][C] = (int) (99.5 - strtof(ina219[SENSOR_44 + CURRENT], NULL)/10) % 100; // +Z current [10] (actually -X current, AO-7 didn't have a Z solar panel?)
tlm[2][A] = 99;
tlm[2][C] = (int)((time(NULL) - timestamp) / 15) % 100;
tlm[2][D] = (int)(50.5 + strtof(ina219[SENSOR_45 + CURRENT], NULL)/10.0) % 100; // NiMH Battery current
tlm[3][A] = abs((int)((strtof(ina219[SENSOR_45 + VOLTAGE], NULL) * 10) - 65.5) % 100);
tlm[3][B] = (int)(strtof(ina219[SENSOR_4A + VOLTAGE], NULL) * 10.0) % 100; // 5V supply to Pi
if (tempSensor != -1) {
int tempValue = wiringPiI2CReadReg16(tempSensor, 0);
// printf("Read: %x\n", tempValue);
uint8_t upper = (uint8_t) (tempValue >> 8);
uint8_t lower = (uint8_t) (tempValue & 0xff);
float temp = (float)lower + ((float)upper / 0x100);
tlm[4][A] = (int)((95.8 - temp)/1.48 + 0.5) % 100;
}
tlm[6][B] = 0 ;
tlm[6][D] = 49 + rand() % 3;
// Display tlm
int k, j;
for (k = 1; k < 7; k++) {
for (j = 1; j < 5; j++) {
printf(" %2d ", tlm[k][j]);
}
printf("\n");
}
return 0;
}

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// Sends CubeSatSim telemetry encoded as CW (Morse Code) using AO-7 format
//
// Copyright (c) 2018 Alan Johnston
//
// Portions Copyright (c) 2018 Brandenburg Tech, LLC
// All right reserved.
//
// THIS SOFTWARE IS PROVIDED BY BRANDENBURG TECH, LLC AND CONTRIBUTORS
// ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL BRANDENBURT TECH, LLC
// AND CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
// OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
// OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <axradio/axradioinit_p.h>
#include <axradio/axradiomode_p.h>
#include <axradio/axradiorx_p.h>
#include <axradio/axradiotx_p.h>
#include <generated/configtx.h>
//#include <pthread.h>
//#include <semaphore.h>
#include <spi/ax5043spi_p.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <wiringPiI2C.h>
#include <time.h>
#define MAX_MESSAGE_LENGTH (197)
#define TRUE 1
#define FALSE 0
#define VBATT 15
#define ADC5 17
#define ADC6 18
#define ADC7 19
#define ADC8 20
#define TIME 8
#define UCTEMP 30
#define UPTIME_SEC 8
#define A 1
#define B 2
#define C 3
#define D 4
#define SENSOR_40 0
#define SENSOR_41 3
#define SENSOR_44 6
#define SENSOR_45 9
#define SENSOR_4A 12
#define VOLTAGE 0
#define CURRENT 1
#define POWER 2
long int timestamp = 0;
extern uint8_t axradio_rxbuffer[];
void *transmit(void *arg);
int get_message(uint8_t *buffer, int avail);
int lower_digit(int number);
int upper_digit(int number);
int encode_digit(uint8_t *msg, int number);
void config_cw();
int encode_tlm(uint8_t *buffer, int channel, int val1, int val2, int val3, int val4, int avail);
int encode_header(uint8_t *buffer, int avail);
int add_dash(uint8_t *msg, int number);
int add_dot(uint8_t *msg, int number);
int add_space(uint8_t *msg);
int get_tlm(int tlm[7][5]);
int tempSensor, xPlusSensor, yPlusSensor, zPlusSensor, battCurrentSensor;
extern int config_afsk();
int main(void)
{
uint8_t retVal;
int tlm[7][5];
int i, j;
for (i = 1; i < 7; i++) {
for (j = 1; j < 5; j++) {
tlm[i][j] = 0;
}
}
tempSensor = wiringPiI2CSetupInterface("/dev/i2c-3", 0x48);
// Configure SPI bus to AX5043
setSpiChannel(SPI_CHANNEL);
setSpiSpeed(SPI_SPEED);
initializeSpi();
// printf("1\n");
// if (send_cw_tlm) {
// Send one frame of CW Telem
// Initialize the AX5043
retVal = axradio_init();
if (retVal == AXRADIO_ERR_NOCHIP) {
fprintf(stderr, "ERROR: No AX5043 RF chip found\n");
exit(EXIT_FAILURE);
}
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to initialize AX5043\n");
exit(EXIT_FAILURE);
}
printf("INFO: Found and initialized AX5043\n");
retVal = mode_tx();
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to enter TX mode\n");
exit(EXIT_FAILURE);
}
config_cw();
// allocate space for the buffer
static uint8_t packet[MAX_MESSAGE_LENGTH + 1];
int channel; // AO-7 telemetry format has 6 channels, 4 sub channels in each
int msg_length;
while(1) { // loop infinitely
for (channel = 0; channel < 7; channel++) {
get_tlm(tlm);
if (channel == 0) {
// start with telemetry header "hi hi" plus a few chars to help CW decoding software sync
msg_length = encode_header(&packet[0], MAX_MESSAGE_LENGTH + 1);
printf("\nINFO: Sending TLM header\n");
} else {
msg_length = encode_tlm(&packet[0], channel,
tlm[channel][1], tlm[channel][2], tlm[channel][3], tlm[channel][4],
(MAX_MESSAGE_LENGTH + 1));
printf("\nINFO: Sending TLM channel %d \n", channel);
}
retVal = transmit_packet(&remoteaddr_tx, packet, (uint16_t)(msg_length)); // send telemetry
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to transmit a packet\n");
exit(EXIT_FAILURE);
}
}
usleep(200000);
}
}
// Encodes telemetry header (channel 0) into buffer
//
int encode_header(uint8_t *buffer, int avail) {
int count = 0;
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_dash(&buffer[count], 1); // c
count += add_dot(&buffer[count], 1);
count += add_dash(&buffer[count], 1);
count += add_dot(&buffer[count], 1);
count += add_space(&buffer[count]);
count += add_dash(&buffer[count], 2); // q
count += add_dot(&buffer[count], 1);
count += add_dash(&buffer[count], 1);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_dot(&buffer[count], 4); // h
count += add_space(&buffer[count]);
count += add_dot(&buffer[count], 2); // i
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_dot(&buffer[count], 4); // h
count += add_space(&buffer[count]);
count += add_dot(&buffer[count], 2); // i
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
if (count > avail)
printf("ERROR: encode_header count > avail \n");
return count;
}
// Encodes one channel of telemetry into buffer
//
int encode_tlm(uint8_t *buffer, int channel, int val1, int val2, int val3, int val4, int avail) {
int count = 0;
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1aa
count += encode_digit(&buffer[count], upper_digit(val1));
count += encode_digit(&buffer[count], lower_digit(val1));
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1bb
count += encode_digit(&buffer[count], upper_digit(val2));
count += encode_digit(&buffer[count], lower_digit(val2));
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1cc
count += encode_digit(&buffer[count], upper_digit(val3));
count += encode_digit(&buffer[count], lower_digit(val3));
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1dd
count += encode_digit(&buffer[count], upper_digit(val4));
count += encode_digit(&buffer[count], lower_digit(val4));
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
count += add_space(&buffer[count]);
//printf("DEBUG count: %d avail: %d \n", count, avail);
if (count > avail) { // make sure not too long
buffer[avail-1] = 0;
count = avail-1;
printf("DEBUG count > avail!\n");
}
return count;
}
// Encodes a single digit of telemetry into buffer
//
int encode_digit(uint8_t *buffer, int digit) {
int count = 0;
switch(digit)
{
case 0:
count += add_dash(&buffer[count], 5); // 0
count += add_space(&buffer[count]);
break;
case 1:
count += add_dot(&buffer[count], 1); // 1
count += add_dash(&buffer[count], 4);
count += add_space(&buffer[count]);
break;
case 2:
count += add_dot(&buffer[count], 2); // 2
count += add_dash(&buffer[count], 3);
count += add_space(&buffer[count]);
break;
case 3:
count += add_dot(&buffer[count], 3); // 3
count += add_dash(&buffer[count], 2);
count += add_space(&buffer[count]);
break;
case 4:
count += add_dot(&buffer[count], 4); // 4
count += add_dash(&buffer[count], 1);
count += add_space(&buffer[count]);
break;
case 5:
count += add_dot(&buffer[count], 5); // 5
count += add_space(&buffer[count]);
break;
case 6:
count += add_dash(&buffer[count], 1); // 6
count += add_dot(&buffer[count], 4);
count += add_space(&buffer[count]);
break;
case 7:
count += add_dash(&buffer[count], 2); // 7
count += add_dot(&buffer[count], 3);
count += add_space(&buffer[count]);
break;
case 8:
count += add_dash(&buffer[count], 3); // 8
count += add_dot(&buffer[count], 2);
count += add_space(&buffer[count]);
break;
case 9:
count += add_dash(&buffer[count], 4); // 9
count += add_dot(&buffer[count], 1);
count += add_space(&buffer[count]);
break;
default:
printf("ERROR: Not a digit!\n");
return 0;
}
return count;
}
// Returns lower digit of a number which must be less than 99
//
int lower_digit(int number) {
int digit = 0;
if (number < 100)
digit = number - ((int)(number/10) * 10);
else
printf("ERROR: Not a digit in lower_digit!\n");
return digit;
}
// Returns upper digit of a number which must be less than 99
//
int upper_digit(int number) {
int digit = 0;
if (number < 100)
digit = (int)(number/10);
else
printf("ERROR: Not a digit in upper_digit!\n");
return digit;
}
// Configure radio to send CW which is ASK
//
void config_cw() {
uint8_t retVal;
// Configure SPI bus to AX5043
// setSpiChannel(SPI_CHANNEL);
// setSpiSpeed(SPI_SPEED);
// initializeSpi();
// printf("1\n");
// Initialize the AX5043
retVal = axradio_init();
// printf("2\n");
if (retVal == AXRADIO_ERR_NOCHIP) {
fprintf(stderr, "ERROR: No AX5043 RF chip found\n");
exit(EXIT_FAILURE);
}
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to initialize AX5043\n");
exit(EXIT_FAILURE);
}
// printf("INFO: Found and initialized AX5043\n");
retVal = mode_tx();
if (retVal != AXRADIO_ERR_NOERROR) {
fprintf(stderr, "ERROR: Unable to enter TX mode\n");
exit(EXIT_FAILURE);
}
// printf("Register write to clear framing and crc\n");
ax5043WriteReg(0x12,0);
// printf("Register write to disable fec\n");
ax5043WriteReg(0x18,0);
// printf("Register write \n");
ax5043WriteReg(0x165,0);
ax5043WriteReg(0x166,0);
ax5043WriteReg(0x167,0x50); // 0x25); // 0x50); // 0x08); // 0x20);
ax5043WriteReg(0x161,0);
ax5043WriteReg(0x162,0x20);
// long txRate;
// txRate = ax5043ReadReg(0x167) + 256 * ax5043ReadReg(0x166) + 65536 * ax5043ReadReg(0x165);
// printf("Tx Rate %x %x %x \n", ax5043ReadReg(0x165), ax5043ReadReg(0x166), ax5043ReadReg(0x167));
// long fskDev;
// fskDev = ax5043ReadReg(0x163) + 256 * ax5043ReadReg(0x162) + 65536 * ax5043ReadReg(0x161);
ax5043WriteReg(0x37,(uint8_t)((ax5043ReadReg(0x37) + 4))); // Increase FREQA
// printf("Tx Rate: %ld FSK Dev: %ld \n", txRate, fskDev);
ax5043WriteReg(0x10,0); // ASK
// printf("Modulation: %x \n", (int)ax5043ReadReg(0x10));
// printf("Frequency A: 0x%x %x %x %x \n",(int)ax5043ReadReg(0x34),(int)ax5043ReadReg(0x35),(int)ax5043ReadReg(0x36),(int)ax5043ReadReg(0x37));
/*
int x;
for (x = 0; x < 0x20; x++)
{
printf("Register %x contents: %x\n",x,(int)ax5043ReadReg(x));
}
printf("Register Dump complete");
*/
return;
}
// Adds a Morse space to the buffer
//
int add_space(uint8_t *msg) {
msg[0] = 0x00; // a space is 8 bits
return 1;
}
// Adds a Morse dash to the buffer
//
int add_dash(uint8_t *msg, int number) {
int j;
int counter = 0;
for (j=0; j < number; j++) { // a dot is 4 bits, so a dash is 12 bits
msg[counter++] = 0xff;
msg[counter++] = 0x0f;
}
return counter;
}
// Adds a Morse dot to the buffer
//
int add_dot(uint8_t *msg, int number) {
int counter = 0;
int j;
for (j=0; j < number; j++) { // a dot is 4 bits
msg[counter++] = 0x0f;
}
return counter;
}
int get_tlm(int tlm[][5]) {
// Reading I2C voltage and current sensors
char cmdbuffer[1000];
FILE* file = popen("sudo python /home/pi/CubeSatSim/python/readcurrent.py 2>&1", "r");
fgets(cmdbuffer, 1000, file);
pclose(file);
printf("I2C Sensor data: %s\n", cmdbuffer);
char ina219[16][20]; // voltage, currents, and power from the INA219 current sensors x4a, x40, x41, x44, and x45.
int i = 0;
char * data2 = strtok (cmdbuffer," ");
while (data2 != NULL) {
strcpy(ina219[i], data2);
// printf ("ina219[%d]=%s\n",i,ina219[i]);
data2 = strtok (NULL, " ");
i++;
}
// printf("1B: ina219[%d]: %s val: %f \n", SENSOR_40 + CURRENT, ina219[SENSOR_40 + CURRENT], strtof(ina219[SENSOR_40 + CURRENT], NULL));
tlm[1][A] = (int)(strtof(ina219[SENSOR_4A + CURRENT], NULL) / 15 + 0.5); // Current of 5V supply to Pi
tlm[1][B] = (int) (99.5 - strtof(ina219[SENSOR_40 + CURRENT], NULL)/10); // +X current [4]
tlm[1][D] = (int) (99.5 - strtof(ina219[SENSOR_41 + CURRENT], NULL)/10); // +Y current [7]
tlm[1][C] = (int) (99.5 - strtof(ina219[SENSOR_44 + CURRENT], NULL)/10); // +Z current [10] (actually -X current, AO-7 didn't have a Z solar panel?)
tlm[2][B] = 99;
tlm[2][C] = (int)((time(NULL) - timestamp) / 15) % 100;
tlm[2][D] = (int)(50.5 + strtof(ina219[SENSOR_45 + CURRENT], NULL)/10.0); // NiMH Battery current
tlm[3][A] = (int)((strtof(ina219[SENSOR_45 + VOLTAGE], NULL) * 10) - 65.5);
tlm[3][B] = (int)(strtof(ina219[SENSOR_4A + VOLTAGE], NULL) * 10.0); // 5V supply to Pi
int tempValue = wiringPiI2CReadReg16(tempSensor, 0);
// printf("Read: %x\n", tempValue);
uint8_t upper = (uint8_t) (tempValue >> 8);
uint8_t lower = (uint8_t) (tempValue & 0xff);
float temp = (float)lower + ((float)upper / 0x100);
tlm[4][A] = (int)((95.8 - temp)/1.48 + 0.5);
tlm[6][B] = 0 ;
tlm[6][D] = 49 + rand() % 3;
// Display tlm
int k, j;
for (k = 1; k < 7; k++) {
for (j = 1; j < 5; j++) {
printf(" %2d ", tlm[k][j]);
}
printf("\n");
}
return 0;
}
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