/*
* Transmits CubeSat Telemetry at 434.9MHz in AFSK, FSK, BPSK, or CW format
* Or transmits SSTV stored images or Pi camera iamges.
*
* Copyright Alan B. Johnston
*
* Portions Copyright (C) 2018 Jonathan Brandenburg
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see .
*/
#include "main.h"
//#define HAB // uncomment to change APRS icon from Satellite to Balloon and only BAT telemetry
int main(int argc, char * argv[]) {
printf("\n\nCubeSatSim v2.1 starting...\n\n");
wiringPiSetup();
// Open configuration file with callsign and reset count
FILE * config_file = fopen("/home/pi/CubeSatSim/sim.cfg", "r");
if (config_file == NULL) {
printf("Creating config file.");
config_file = fopen("/home/pi/CubeSatSim/sim.cfg", "w");
fprintf(config_file, "%s %d", " ", 100);
fclose(config_file);
config_file = fopen("/home/pi/CubeSatSim/sim.cfg", "r");
}
// char * cfg_buf[100];
fscanf(config_file, "%s %d %f %f %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);
fclose(config_file);
fprintf(stderr,"Config file /home/pi/CubeSatSim/sim.cfg contains %s %d %f %f %s %d %s %s %s %d %d\n",
call, reset_count, lat_file, long_file, sim_yes, squelch, tx, rx, hab_yes, rx_pl, tx_pl);
fprintf(stderr, "Transmit on %s MHz Receive on %s MHz\n", tx, rx);
FILE * uptime_file = fopen("/proc/uptime", "r");
fscanf(uptime_file, "%f", & uptime_sec);
printf("Uptime sec: %f \n", uptime_sec);
fclose(uptime_file);
// program_radio(); // do in transmit instead
if (uptime_sec < 30.0) {
reset_count = (reset_count + 1) % 0xffff; // only increment uptime if just rebooted
fprintf(stderr,"INFO: Reset Count: %d Uptime since Reset: %ld \n", reset_count, uptime_sec);
}
if ((fabs(lat_file) > 0) && (fabs(lat_file) < 90.0) && (fabs(long_file) > 0) && (fabs(long_file) < 180.0)) {
fprintf(stderr, "Valid latitude and longitude in config file\n");
// convert to APRS DDMM.MM format
// latitude = toAprsFormat(lat_file);
// longitude = toAprsFormat(long_file);
latitude = lat_file;
longitude = long_file;
fprintf(stderr, "Lat/Long %f %f\n", latitude, longitude);
fprintf(stderr, "Lat/Long in APRS DDMM.MM format: %07.2f/%08.2f\n", toAprsFormat(latitude), toAprsFormat(longitude));
newGpsTime = millis();
} else { // set default
// latitude = toAprsFormat(latitude);
// longitude = toAprsFormat(longitude);
newGpsTime = millis();
}
if (strcmp(sim_yes, "yes") == 0) {
sim_mode = TRUE;
fprintf(stderr, "Sim mode is turned ON by configuration\n");
sim_config = TRUE;
}
if (strcmp(hab_yes, "yes") == 0) {
hab_mode = TRUE;
fprintf(stderr, "HAB mode is ON\n");
}
FILE * command_file = fopen("/home/pi/CubeSatSim/command_control", "r");
if (command_file == NULL) {
fprintf(stderr,"Command and control is OFF\n");
c2cStatus = DISABLED;
} else {
command_file = fopen("/home/pi/CubeSatSim/command_control_direwolf", "r");
if (command_file == NULL) {
fprintf(stderr,"Command and control Carrier (squelch) is ON\n");
c2cStatus = CARRIER;
} else {
fprintf(stderr,"Command and control DTMF or APRS is ON\n");
c2cStatus = DTMF_APRS;
}
}
printf("c2cStatus: %d \n", c2cStatus);
char resbuffer[1000];
// const char testStr[] = "cat /proc/cpuinfo | grep 'Revision' | awk '{print $3}' | sed 's/^1000//' | grep '9000'";
const char testStr[] = "cat /proc/cpuinfo | grep 'Revision' | awk '{print $3}' | sed 's/^1000//'";
const char test2Str[] = "cat /proc/cpuinfo | grep 'Revision' | awk '{print $3}' | sed 's/^1000//' | grep '902120'";
FILE *file_test = sopen(testStr); // see if Pi Zero 2
fgets(resbuffer, 1000, file_test);
fprintf(stderr, "Pi Zero test result: %s\n", resbuffer);
fclose(file_test);
// fprintf(stderr, "hex: %x %x %x %x \n", resbuffer[0], resbuffer[1], resbuffer[2], resbuffer[3]);
if ((resbuffer[0] != '9') || (resbuffer[1] != '0') || (resbuffer[2] != '0') || (resbuffer[3] != '0'))
{
// voltageThreshold = 3.7;
// if ((resbuffer[0] != '9') || (resbuffer[1] != '0') || (resbuffer[2] != '2') || (resbuffer[3] != '1'))
FILE *file2_test = sopen(test2Str); // see if Pi Zero 2
fgets(resbuffer, 1000, file2_test);
fprintf(stderr, "Pi Zero 2 test result: %s\n", resbuffer);
fclose(file2_test);
if (strlen(resbuffer) > 5) {
fprintf(stderr, "Pi Zero 2 detected\n");
FILE * pi_zero2 = popen("touch /home/pi/CubeSatSim/pi_zero2", "r"); // store Pi Zero 2 flag
pclose(pi_zero2);
}
else
fprintf(stderr, "Not a Pi Zero or Pi Zero 2\n");
pi_zero_2_offset = 500;
if (uptime_sec < 30.0) {
FILE * transmit_stop = popen("sudo systemctl start transmit", "r");
pclose(transmit_stop);
fprintf(stderr, "Sleep 5 sec\n");
sleep(5); // try sleep at start to help boot
}
}
else {
fprintf(stderr,"Pi Zero detected\n");
FILE * pi_zero2 = popen("sudo rm /home/pi/CubeSatSim/pi_zero2 &>/dev/null", "r"); // remove Pi Zero 2 flag if present
pclose(pi_zero2);
if ((c2cStatus == DISABLED) || (c2cStatus == CARRIER)) {
pi_zero_2_offset = 500;
}
if (uptime_sec < 30.0) {
FILE * transmit_stop = popen("sudo systemctl start transmit", "r");
pclose(transmit_stop);
fprintf(stderr,"Sleep 10 sec\n");
sleep(10);
}
}
// FILE * transmit_stop = popen("sudo systemctl stop transmit", "r");
// FILE * transmit_stop = popen("sudo systemctl restart transmit", "r");
// FILE * cc_start = popen("/home/pi/CubeSatSim/command &", "r");
// pclose(cc_start);
// FILE * file_deletes = popen("sudo rm /home/pi/CubeSatSim/ready /home/pi/CubeSatSim/cwready > /dev/null", "r");
// pclose(file_deletes);
printf("Test bus 1\n");
fflush(stdout);
i2c_bus1 = (test_i2c_bus(1) != -1) ? 1 : OFF;
printf("Test bus 3\n");
fflush(stdout);
i2c_bus3 = (test_i2c_bus(3) != -1) ? 3 : OFF;
printf("Finished testing\n");
fflush(stdout);
// sleep(2);
//#ifdef HAB
if (hab_mode)
fprintf(stderr, "HAB mode enabled - in APRS balloon icon and no battery saver or low voltage shutdown\n");
//#endif
// FILE * transmit_restart = popen("sudo systemctl restart transmit", "r");
// pclose(transmit_restart);
mode = BPSK;
frameCnt = 1;
if (argc > 1) {
// strcpy(src_addr, argv[1]);
if ( * argv[1] == 'b') {
mode = BPSK;
printf("Mode is BPSK\n");
} else if ( * argv[1] == 'a') {
mode = AFSK;
printf("Mode is AFSK\n");
} else if ( * argv[1] == 'm') {
mode = CW;
printf("Mode is CW\n");
} else if ( * argv[1] == 'j') {
mode = FC;
printf("Mode is FUNcube\n");
} else {
printf("Mode is BPSK\n");
}
if (argc > 2) {
// printf("String is %s %s\n", *argv[2], argv[2]);
loop = atoi(argv[2]);
loop_count = loop;
}
printf("Looping %d times \n", loop);
if (argc > 3) {
if ( * argv[3] == 'n') {
cw_id = OFF;
printf("No CW id\n");
}
}
} else {
FILE * mode_file = fopen("/home/pi/CubeSatSim/.mode", "r");
if (mode_file != NULL) {
char mode_string;
mode_string = fgetc(mode_file);
fclose(mode_file);
printf("Mode file /home/pi/CubeSatSim/.mode contains %c\n", mode_string);
if ( mode_string == 'f') {
mode = FSK;
printf("Mode is FSK\n");
} else if ( mode_string == 'a') {
mode = AFSK;
printf("Mode is AFSK\n");
} else if ( mode_string == 's') {
mode = SSTV;
printf("Mode is SSTV\n");
} else if ( mode_string == 'm') {
mode = CW;
printf("Mode is CW\n");
} else if ( mode_string == 'j') {
mode = FC;
printf("Mode is FUNcube\n");
} else if ( mode_string == 'e') {
mode = REPEATER;
printf("Mode is Repeater\n");
} else if ( mode_string == 'n') {
mode = TXCOMMAND;
printf("Mode is Transmit Command\n");
} else {
printf("Mode is BPSK\n");
}
}
}
// Open telemetry file with STEM Payload Data
telem_file = fopen("/home/pi/CubeSatSim/telem.txt", "a");
if (telem_file == NULL)
printf("Error opening telem file\n");
fclose(telem_file);
printf("Opened telem file\n");
battery_saver_mode = battery_saver_check();
/**/
if (battery_saver_mode == ON) {
SafeMode = 1;
fprintf(stderr, "Safe Mode! Battery_saver_mode is ON\n\n");
}
else {
fprintf(stderr, "\nBattery_saver_mode is OFF\n\n");
SafeMode = 0;
}
/**/
fflush(stderr);
if (mode == AFSK)
{
// Check for SPI and AX-5043 Digital Transceiver Board
FILE * file = popen("sudo raspi-config nonint get_spi", "r");
// printf("getc: %c \n", fgetc(file));
if (fgetc(file) == 48) {
printf("SPI is enabled!\n");
FILE * file2 = popen("ls /dev/spidev0.* 2>&1", "r");
printf("Result getc: %c \n", getc(file2));
if (fgetc(file2) != 'l') {
printf("SPI devices present!\n");
// }
setSpiChannel(SPI_CHANNEL);
setSpiSpeed(SPI_SPEED);
initializeSpi();
ax25_init( & hax25, (uint8_t * ) dest_addr, 11, (uint8_t * ) call, 11, AX25_PREAMBLE_LEN, AX25_POSTAMBLE_LEN);
if (init_rf()) {
printf("AX5043 successfully initialized!\n");
ax5043 = TRUE;
cw_id = OFF;
// mode = AFSK;
// cycle = OFF;
printf("Mode AFSK with AX5043\n");
transmit = TRUE;
// sleep(10); // just in case CW ID is sent
} else
printf("AX5043 not present!\n");
pclose(file2);
}
}
pclose(file);
}
txLed = 2;
txLedOn = HIGH;
txLedOff = LOW;
vB5 = TRUE;
onLed = 27;
onLedOn = HIGH;
onLedOff = LOW;
pinMode(26, INPUT);
pullUpDnControl(26, PUD_UP);
if (digitalRead(26) != HIGH) {
printf("LPF present\n");
transmit = TRUE;
}
config_file = fopen("sim.cfg", "w");
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);
// fprintf(config_file, "%s %d", call, reset_count);
fclose(config_file);
config_file = fopen("sim.cfg", "r");
if (vB4) {
map[BAT] = BAT2;
map[BAT2] = BAT;
snprintf(busStr, 10, "%d %d", i2c_bus1, test_i2c_bus(0));
} else if (vB5) {
map[MINUS_X] = MINUS_Y;
map[PLUS_Z] = MINUS_X;
map[MINUS_Y] = PLUS_Z;
if (access("/dev/i2c-11", W_OK | R_OK) >= 0) { // Test if I2C Bus 11 is present
printf("/dev/i2c-11 is present\n\n");
snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(11));
} else {
snprintf(busStr, 10, "%d %d", i2c_bus1, i2c_bus3);
}
} else {
map[BAT2] = MINUS_Z;
map[BAT] = BAT2;
map[PLUS_Z] = BAT;
map[MINUS_Z] = PLUS_Z;
snprintf(busStr, 10, "%d %d", i2c_bus1, test_i2c_bus(0));
voltageThreshold = 8.0;
}
// check for camera
// char cmdbuffer1[1000];
FILE * file4 = popen("vcgencmd get_camera", "r");
fgets(cmdbuffer, 1000, file4);
char camera_present[] = "supported=1 detected=1";
// printf("strstr: %s \n", strstr( & cmdbuffer1, camera_present));
camera = (strstr( (const char *)& cmdbuffer, camera_present) != NULL) ? ON : OFF;
printf("Camera result:%s camera: %d \n", & cmdbuffer, camera);
pclose(file4);
#ifdef DEBUG_LOGGING
printf("INFO: I2C bus status 0: %d 1: %d 3: %d camera: %d\n", i2c_bus0, i2c_bus1, i2c_bus3, camera);
#endif
FILE * file5 = popen("sudo rm /home/pi/CubeSatSim/camera_out.jpg > /dev/null 2>&1", "r");
//file5 = popen("sudo rm /home/pi/CubeSatSim/camera_out.jpg.wav > /dev/null 2>&1", "r");
pclose(file5);
if (!ax5043) // don't test for payload if AX5043 is present
{
payload = OFF;
fprintf(stderr,"Opening serial\n");
if ((uart_fd = serialOpen("/dev/ttyAMA0", 115200)) >= 0) { // was 9600
fprintf(stderr,"Serial opened to Pico\n");
// payload = ON;
payload = get_payload_serial(FALSE);
fprintf(stderr,"Get_payload_status: %d \n", payload); // not debug
} else {
fprintf(stderr, "Unable to open UART: %s\n -> Did you configure /boot/config.txt and /boot/cmdline.txt?\n", strerror(errno));
}
}
if ((i2c_bus3 == OFF) || (sim_mode == TRUE)) {
sim_mode = TRUE;
fprintf(stderr, "Simulated telemetry mode!\n");
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;
angle[0] = (float) atan(axis[1] / axis[2]);
angle[1] = (float) atan(axis[2] / axis[0]);
angle[2] = (float) atan(axis[1] / axis[0]);
volts_max[0] = rnd_float(4.5, 5.5) * (float) sin(angle[1]);
volts_max[1] = rnd_float(4.5, 5.5) * (float) cos(angle[0]);
volts_max[2] = rnd_float(4.5, 5.5) * (float) cos(angle[1] - angle[0]);
float amps_avg = rnd_float(150, 300);
amps_max[0] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) sin(angle[1]);
amps_max[1] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[0]);
amps_max[2] = (amps_avg + rnd_float(-25.0, 25.0)) * (float) cos(angle[1] - angle[0]);
batt = rnd_float(3.8, 4.3);
speed = rnd_float(1.0, 2.5);
eclipse = (rnd_float(-1, +4) > 0) ? 1.0 : 0.0;
// eclipse = 1;
period = rnd_float(150, 300);
tempS = rnd_float(20, 55);
temp_max = rnd_float(50, 70);
temp_min = rnd_float(10, 20);
// #ifdef DEBUG_LOGGING
for (int i = 0; i < 3; i++)
printf("axis: %f angle: %f v: %f i: %f \n", axis[i], angle[i], volts_max[i], amps_max[i]);
printf("batt: %f speed: %f eclipse_time: %f eclipse: %f period: %f temp: %f max: %f min: %f\n", batt, speed, eclipse_time, eclipse, period, tempS, temp_max, temp_min);
// #endif
time_start = (long int) millis();
eclipse_time = (long int)(millis() / 1000.0);
if (eclipse == 0.0)
eclipse_time -= period / 2; // if starting in eclipse, shorten interval
}
// tx_freq_hz -= tx_channel * 50000;
if (transmit == FALSE) {
fprintf(stderr, "\nNo CubeSatSim Low Pass Filter detected. No transmissions after the CW ID.\n");
fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n");
}
if (mode == FSK) {
bitRate = 200;
rsFrames = 1;
payloads = 1;
rsFrameLen = 64;
headerLen = 6;
dataLen = 58;
syncBits = 10;
syncWord = 0b0011111010;
parityLen = 32;
amplitude = 32767 / 3;
samples = S_RATE / bitRate;
bufLen = (frameCnt * (syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))) * samples);
samplePeriod = (int) (((float)((syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen)))) / (float) bitRate) * 1000 - 500);
sleepTime = 0.1f;
frameTime = ((float)((float)bufLen / (samples * frameCnt * bitRate))) * 1000; // frame time in ms
printf("\n FSK Mode, %d bits per frame, %d bits per second, %d ms per frame, %d ms sample period\n",
bufLen / (samples * frameCnt), bitRate, frameTime, samplePeriod);
} else if (mode == BPSK) {
bitRate = 1200;
rsFrames = 3;
payloads = 6;
rsFrameLen = 159;
headerLen = 8;
dataLen = 78;
syncBits = 31;
syncWord = 0b1000111110011010010000101011101;
parityLen = 32;
amplitude = 32767;
samples = S_RATE / bitRate;
bufLen = (frameCnt * (syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))) * samples);
samplePeriod = ((float)((syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))))/(float)bitRate) * 1000 - 1800;
// samplePeriod = 3000;
// sleepTime = 3.0;
//samplePeriod = 2200; // reduce dut to python and sensor querying delays
sleepTime = 2.2f;
frameTime = ((float)((float)bufLen / (samples * frameCnt * bitRate))) * 1000; // frame time in ms
printf("\n BPSK Mode, bufLen: %d, %d bits per frame, %d bits per second, %d ms per frame %d ms sample period\n",
bufLen, bufLen / (samples * frameCnt), bitRate, frameTime, samplePeriod);
sin_samples = S_RATE/freq_Hz;
// printf("Sin map: ");
for (int j = 0; j < sin_samples; j++) {
sin_map[j] = (short int)(amplitude * sin((float)(2 * M_PI * j / sin_samples)));
// printf(" %d", sin_map[j]);
}
printf("\n");
} else if (mode == FC) { // for now copy BPSK settings
bitRate = 1200;
// rsFrames = 3;
// payloads = 6;
// rsFrameLen = 159;
headerLen = 768; // 8;
dataLen = 5200; // 78;
syncBits = 32; // 31;
syncWord = 0x1acffc1d; // 0b1000111110011010010000101011101;
// parityLen = 32;
amplitude = 32767;
samples = S_RATE / bitRate;
// bufLen = (frameCnt * (syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))) * samples);
bufLen = (headerLen + syncBits + dataLen)/8;
// samplePeriod = ((float)((syncBits + 10 * (headerLen + rsFrames * (rsFrameLen + parityLen))))/(float)bitRate) * 1000 - 1800;
samplePeriod = 5000;
// samplePeriod = 3000;
// sleepTime = 3.0;
//samplePeriod = 2200; // reduce dut to python and sensor querying delays
// sleepTime = 2.2f;
// frameTime = ((float)((float)bufLen / (samples * frameCnt * bitRate))) * 1000; // frame time in ms
frameTime = 5000;
printf("\n FC Mode, bufLen: %d, %d bits per frame, %d bits per second, %d ms per frame %d ms sample period\n",
bufLen, bufLen / samples, bitRate, frameTime, samplePeriod);
sin_samples = S_RATE/freq_Hz;
for (int j = 0; j < sin_samples; j++) {
sin_map[j] = (short int)(amplitude * sin((float)(2 * M_PI * j / sin_samples)));
FILE * delete_image = popen("sudo rm /home/pi/CubeSatSim/image_file.bin", "r"); // delete any previous camera images
pclose(delete_image);
}
printf("\n");
}
memset(voltage, 0, sizeof(voltage));
memset(current, 0, sizeof(current));
memset(sensor, 0, sizeof(sensor));
memset(other, 0, sizeof(other));
if (((mode == FSK) || (mode == BPSK))) // && !sim_mode)
get_tlm_fox(); // fill transmit buffer with reset count 0 packets that will be ignored
else if (((mode == FC))) // && !sim_mode)
get_tlm_fc(); // fill transmit buffer with reset count 0 packets that will be ignored
firstTime = 1;
// if (!sim_mode) // always read sensors, even in sim mode
{
strcpy(pythonStr, pythonCmd);
strcat(pythonStr, busStr);
strcat(pythonConfigStr, pythonStr);
strcat(pythonConfigStr, " c");
fprintf(stderr, "pythonConfigStr: %s\n", pythonConfigStr);
file1 = sopen(pythonConfigStr); // python sensor polling function
fgets(cmdbuffer, 1000, file1);
fprintf(stderr, "pythonStr result: %s\n", cmdbuffer);
}
for (int i = 0; i < 9; i++) {
voltage_min[i] = 1000.0;
current_min[i] = 1000.0;
voltage_max[i] = -1000.0;
current_max[i] = -1000.0;
}
for (int i = 0; i < SENSOR_FIELDS; i++) {
sensor_min[i] = 1000.0;
sensor_max[i] = -1000.0;
// printf("Sensor min and max initialized!");
}
for (int i = 0; i < 3; i++) {
other_min[i] = 1000.0;
other_max[i] = -1000.0;
}
loopTime = millis();
while (loop-- != 0) {
fflush(stdout);
fflush(stderr);
// frames_sent++;
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");
fscanf(uptime_file, "%f", & uptime_sec);
uptime = (int) (uptime_sec + 0.5);
// printf("Uptime sec: %f \n", uptime_sec);
// #ifdef DEBUG_LOGGING
// printf("INFO: Reset Count: %d Uptime since Reset: %ld \n", reset_count, uptime);
// #endif
fclose(uptime_file);
{
int count1;
char * token;
fputc('\n', file1);
fgets(cmdbuffer, 1000, file1);
// fprintf(stderr, "Python read Result: %s\n", cmdbuffer);
// serialPuts(uart_fd, cmdbuffer); // write INA data to Pico over serial
const char space[2] = " ";
token = strtok(cmdbuffer, space);
for (count1 = 0; count1 < 8; count1++) {
if (token != NULL) {
voltage[count1] = (float) atof(token);
#ifdef DEBUG_LOGGING
// printf("voltage: %f ", voltage[count1]);
#endif
token = strtok(NULL, space);
if (token != NULL) {
current[count1] = (float) atof(token);
if ((current[count1] < 0) && (current[count1] > -0.5))
current[count1] *= (-1.0f);
#ifdef DEBUG_LOGGING
// printf("current: %f\n", current[count1]);
#endif
token = strtok(NULL, space);
}
}
if (voltage[map[BAT]] == 0.0) // No BAT Board
if (voltage[map[BAT2]] == 0.0) // No BAT2 Board
batteryVoltage = 4.5;
else {
batteryVoltage = voltage[map[BAT2]]; // only BAT2 Board present
if (sim_mode && !sim_config) { // if Voltage sensor on Battery board is present, exit simulated telemetry mode
sim_mode = FALSE;
fprintf(stderr, "Turning off sim_mode since battery sensor 2 is present\n");
}
}
else {
batteryVoltage = voltage[map[BAT]]; // BAT Board present
if (sim_mode && !sim_config) { // if Voltage sensor on Battery board is present, exit simulated telemetry mode
sim_mode = FALSE;
fprintf(stderr, "Turning off sim_mode since battery sensor is present\n");
}
}
batteryCurrent = current[map[BAT]] + current[map[BAT2]]; // Sum BAT and BAT2 currents
}
// if (payload == ON) { // moved to here
if (!ax5043) {
// if ((payload == ON) && (mode != BPSK)) { // moved to here
// STEMBoardFailure = 0;
payload = get_payload_serial(FALSE);
printf("get_payload_status: %d \n", payload); // not debug
fflush(stdout);
// printf("String: %s\n", buffer2);
fflush(stdout);
strcpy(sensor_payload, buffer2);
// printf(" Response from STEM Payload board: %s\n", sensor_payload);
telem_file = fopen("/home/pi/CubeSatSim/telem.txt", "a");
// printf("Writing payload string\n");
time_t timeStamp;
time(&timeStamp); // get timestamp
// printf("Timestamp: %s\n", ctime(&timeStamp));
char timeStampNoNl[31], bat_string[31];
snprintf(timeStampNoNl, 30, "%.24s", ctime(&timeStamp));
// printf("TimeStamp: %s\n", timeStampNoNl);
if (c2cStatus == DISABLED)
snprintf(bat_string, 30, "BAT %4.2f %5.1f", batteryVoltage, batteryCurrent);
else
snprintf(bat_string, 30, "BAT %4.2f %5.1f C", batteryVoltage, batteryCurrent);
fprintf(telem_file, "%s %s %s\n", timeStampNoNl, bat_string, sensor_payload); // write telemetry string to telem.txt file
fclose(telem_file);
if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) // only process if valid payload response
{
int count1;
char * token;
const char space[2] = " ";
token = strtok(sensor_payload, space);
// printf("token: %s\n", token);
for (count1 = 0; count1 < SENSOR_FIELDS; count1++) {
if (token != NULL) {
sensor[count1] = (float) atof(token);
// #ifdef DEBUG_LOGGING
// printf("sensor: %f ", sensor[count1]); // print sensor data
// #endif
token = strtok(NULL, space);
}
}
printf("\n");
// if (sensor[GPS1] != 0) {
if ((sensor[GPS1] > -90.0) && (sensor[GPS1] < 90.0) && (sensor[GPS1] != 0.0)) {
if (sensor[GPS1] != latitude) {
latitude = sensor[GPS1];
printf("Latitude updated to %f \n", latitude);
newGpsTime = millis();
}
}
// if (sensor[GPS2] != 0) {
if ((sensor[GPS2] > -180.0) && (sensor[GPS2] < 180.0) && (sensor[GPS2] != 0.0)) {
if (sensor[GPS2] != longitude) {
longitude = sensor[GPS2];
printf("Longitude updated to %f \n", longitude);
newGpsTime = millis();
}
}
}
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
latitude += rnd_float(-0.05, 0.05) / 100.0;
// printf("GPS Location with Rnd: %f, %f \n", latitude, longitude);
// printf("GPS Location with Rnd: APRS %07.2f, %08.2f \n", toAprsFormat(latitude), toAprsFormat(longitude));
newGpsTime = millis();
}
if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) {
for (int count1 = 0; count1 < SENSOR_FIELDS; count1++) {
if (sensor[count1] < sensor_min[count1])
sensor_min[count1] = sensor[count1];
if (sensor[count1] > sensor_max[count1])
sensor_max[count1] = sensor[count1];
// printf("Smin %f Smax %f \n", sensor_min[count1], sensor_max[count1]);
}
}
if (sim_mode) { // simulated telemetry
double time = ((long int)millis() - time_start) / 1000.0;
if ((time - eclipse_time) > period) {
eclipse = (eclipse == 1) ? 0 : 1;
eclipse_time = time;
printf("\n\nSwitching eclipse mode! \n\n");
}
double Xi = eclipse * amps_max[0] * (float) sin(2.0 * 3.14 * time / (46.0 * speed)) + rnd_float(-2, 2);
double Yi = eclipse * amps_max[1] * (float) sin((2.0 * 3.14 * time / (46.0 * speed)) + (3.14 / 2.0)) + rnd_float(-2, 2);
double Zi = eclipse * amps_max[2] * (float) sin((2.0 * 3.14 * time / (46.0 * speed)) + 3.14 + angle[2]) + rnd_float(-2, 2);
double Xv = eclipse * volts_max[0] * (float) sin(2.0 * 3.14 * time / (46.0 * speed)) + rnd_float(-0.2, 0.2);
double Yv = eclipse * volts_max[1] * (float) sin((2.0 * 3.14 * time / (46.0 * speed)) + (3.14 / 2.0)) + rnd_float(-0.2, 0.2);
double Zv = 2.0 * eclipse * volts_max[2] * (float) sin((2.0 * 3.14 * time / (46.0 * speed)) + 3.14 + angle[2]) + rnd_float(-0.2, 0.2);
printf("Yi: %f Zi: %f %f %f Zv: %f \n", Yi, Zi, amps_max[2], angle[2], Zv);
current[map[PLUS_X]] = (Xi >= 0) ? Xi : 0;
current[map[MINUS_X]] = (Xi >= 0) ? 0 : ((-1.0f) * Xi);
current[map[PLUS_Y]] = (Yi >= 0) ? Yi : 0;
current[map[MINUS_Y]] = (Yi >= 0) ? 0 : ((-1.0f) * Yi);
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);
other[IHU_TEMP] = tempS;
voltage[map[BAT2]] = 0.0; // rnd_float(5.0, 5.005);
current[map[BAT2]] = 0.0; // rnd_float(158, 171);
float charging = current[map[PLUS_X]] + current[map[MINUS_X]] + current[map[PLUS_Y]] + current[map[MINUS_Y]] + current[map[PLUS_Z]] + current[map[MINUS_Z]];
// float charging = eclipse * (fabs(amps_max[0] * 0.707) + fabs(amps_max[1] * 0.707) + rnd_float(-4.0, 4.0));
// current[map[BAT]] = ((current[map[BAT2]] * voltage[map[BAT2]]) / batt) - charging;
current[map[BAT]] = rnd_float(285, 305) - 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;
SafeMode = 1;
printf("Safe Mode!\n");
} else
SafeMode= 0;
if (batt > 4.5)
batt = 4.5;
voltage[map[BAT]] = batt + rnd_float(-0.01, 0.01);
// end of simulated telemetry
}
else {
}
FILE * cpuTempSensor = fopen("/sys/class/thermal/thermal_zone0/temp", "r");
if (cpuTempSensor) {
// double cpuTemp;
fscanf(cpuTempSensor, "%lf", & cpuTemp);
cpuTemp /= 1000;
#ifdef DEBUG_LOGGING
// printf("CPU Temp Read: %6.1f\n", cpuTemp);
#endif
other[IHU_TEMP] = (double)cpuTemp;
// IHUcpuTemp = (int)((cpuTemp * 10.0) + 0.5);
}
fclose(cpuTempSensor);
}
// #ifdef DEBUG_LOGGING
fprintf(stderr, "INFO: Battery voltage: %5.2f V Threshold %5.2f V Current: %6.1f mA Threshold: %6.1f mA\n", batteryVoltage, voltageThreshold, batteryCurrent, currentThreshold);
// #endif
if ((batteryCurrent > currentThreshold) && (batteryVoltage < (voltageThreshold + 0.15)) && !sim_mode && !hab_mode)
{
fprintf(stderr,"Battery voltage low\n");
if (battery_saver_mode == OFF) {
fprintf(stderr,"Switch to battery saver\n");
battery_saver(ON);
fprintf(stderr, "Safe Mode!\n");
SafeMode = 1;
}
} else if ((battery_saver_mode == ON) && (batteryCurrent < 0) && !sim_mode && !hab_mode)
{
fprintf(stderr,"Battery is being charged - switch battery saver off\n");
if (battery_saver_mode == ON) {
battery_saver(OFF);
fprintf(stderr, "Safe Mode off!\n");
SafeMode = 0;
}
}
if ((batteryCurrent > currentThreshold) && (batteryVoltage < voltageThreshold) && !sim_mode && !hab_mode) // currentThreshold ensures that this won't happen when running on DC power.
{
fprintf(stderr, "Battery voltage too low: %f V - shutting down!\n", batteryVoltage);
digitalWrite(txLed, txLedOff);
digitalWrite(onLed, onLedOff);
FILE * file6;
file6 = popen("echo 'shutdown due to low battery voltage!' | wall", "r");
pclose(file6);
sleep(1);
digitalWrite(onLed, onLedOn);
sleep(1);
digitalWrite(onLed, onLedOff);
sleep(1);
digitalWrite(onLed, onLedOn);
sleep(1);
digitalWrite(onLed, onLedOff);
file6 = popen("sudo shutdown -h now > /dev/null 2>&1", "r");
pclose(file6);
sleep(10);
}
//#endif
FILE * fp = fopen("/home/pi/CubeSatSim/telem_string.txt", "w");
if (fp != NULL) {
// printf("Writing telem_string.txt\n");
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
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");
/**/
// sleep(1); // Delay 1 second
ctr = 0;
#ifdef DEBUG_LOGGING
// fprintf(stderr, "INFO: Getting TLM Data\n");
#endif
FILE * command_file = fopen("/home/pi/CubeSatSim/command_control", "r");
if (command_file == NULL) {
if (c2cStatus != DISABLED) {
fprintf(stderr,"Command and control is OFF\n");
c2cStatus = DISABLED;
}
} else {
command_file = fopen("/home/pi/CubeSatSim/command_control_direwolf", "r");
if (command_file == NULL) {
if (c2cStatus != CARRIER) {
fprintf(stderr,"Command and control Carrier (squelch) is ON\n");
c2cStatus = CARRIER;
}
} else {
if (c2cStatus != DTMF_APRS) {
fprintf(stderr,"Command and control DTMF or APRS is ON\n");
c2cStatus = DTMF_APRS;
}
}
}
// printf("c2cStatus: %d \n", c2cStatus);
if ((mode == AFSK) || (mode == CW)) {
get_tlm();
sleep(25);
// fprintf(stderr, "INFO: Sleeping for 25 sec\n");
int rand_sleep = (int)rnd_float(0.0, 5.0);
sleep(rand_sleep);
// fprintf(stderr, "INFO: Sleeping for extra %d sec\n", rand_sleep);
} else if ((mode == FSK) || (mode == BPSK)) {// FSK or BPSK
get_tlm_fox();
} else if ((mode == FC)) {
get_tlm_fc();
} else { // SSTV
// fprintf(stderr, "Sleeping\n");
sleep(30);
}
#ifdef DEBUG_LOGGING
// fprintf(stderr, "INFO: Getting ready to send\n");
#endif
}
if ((mode == BPSK) || (mode == FC)) {
// digitalWrite(txLed, txLedOn);
#ifdef DEBUG_LOGGING
// printf("Tx LED On 1\n");
#endif
// printf("Sleeping to allow BPSK transmission to finish.\n");
sleep((unsigned int)(loop_count * 5));
// printf("Done sleeping\n");
// digitalWrite(txLed, txLedOff);
#ifdef DEBUG_LOGGING
// printf("Tx LED Off\n");
#endif
} else if (mode == FSK) {
// printf("Sleeping to allow FSK transmission to finish.\n");
sleep((unsigned int)loop_count);
// printf("Done sleeping\n");
}
return 0;
}
// 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
fprintf(stderr, "ERROR: Not a digit in lower_digit!\n");
return digit;
}
// Returns upper digit of a number which must be less than 99
//
int upper_digit(int number) {
int digit = 0;
if (number < 100)
digit = (int)(number / 10);
else
fprintf(stderr, "ERROR: Not a digit in upper_digit!\n");
return digit;
}
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;
for (int j = 0; j < frameCnt; j++) {
fflush(stdout);
fflush(stderr);
int tlm[7][5];
memset(tlm, 0, sizeof tlm);
tlm[1][A] = (int)(voltage[map[BAT2]] / 15.0 + 0.5) % 100; // Current of 5V supply to Pi
tlm[1][B] = (int)(99.5 - current[map[PLUS_X]] / 10.0) % 100; // +X current [4]
tlm[1][C] = (int)(99.5 - current[map[MINUS_X]] / 10.0) % 100; // X- current [10]
tlm[1][D] = (int)(99.5 - current[map[PLUS_Y]] / 10.0) % 100; // +Y current [7]
tlm[2][A] = (int)(99.5 - current[map[MINUS_Y]] / 10.0) % 100; // -Y current [10]
tlm[2][B] = (int)(99.5 - current[map[PLUS_Z]] / 10.0) % 100; // +Z current [10] // was 70/2m transponder power, AO-7 didn't have a Z panel
tlm[2][C] = (int)(99.5 - current[map[MINUS_Z]] / 10.0) % 100; // -Z current (was timestamp)
tlm[2][D] = (int)(50.5 + current[map[BAT]] / 10.0) % 100; // NiMH Battery current
// tlm[3][A] = abs((int)((voltage[map[BAT]] * 10.0) - 65.5) % 100);
if (voltage[map[BAT]] > 4.6)
tlm[3][A] = (int)((voltage[map[BAT]] * 10.0) - 65.5) % 100; // 7.0 - 10.0 V for old 9V battery
else
tlm[3][A] = (int)((voltage[map[BAT]] * 10.0) + 44.5) % 100; // 0 - 4.5 V for new 3 cell battery
tlm[3][B] = (int)(voltage[map[BAT2]] * 10.0) % 100; // 5V supply to Pi
tlm[4][A] = (int)((95.8 - other[IHU_TEMP]) / 1.48 + 0.5) % 100; // was [B] but didn't display in online TLM spreadsheet
tlm[6][B] = 0;
tlm[6][D] = 49 + rand() % 3;
/*
#ifdef DEBUG_LOGGING
// Display tlm
int k, j;
for (k = 1; k < 7; k++) {
for (j = 1; j < 5; j++) {
printf(" %2d ", tlm[k][j]);
}
printf("\n");
}
#endif
*/
char str[1000];
char tlm_str[1000];
char header_str[] = "\x03\xf0"; // hi hi ";
char header_str3[] = "echo '";
char header_str2[] = "-11>APCSS:";
char header_str2b[30]; // for APRS coordinates
char header_lat[10];
char header_long[10];
char header_str4[] = "hi hi de ";
char header_c2c[] = " C";
// char footer_str1[] = "\' > t.txt && echo \'";
char footer_str1[] = "\' > t.txt";
// 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";
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
if (latitude > 0)
sprintf(header_lat, "%07.2f%c", toAprsFormat(latitude), 'N'); // lat
else
sprintf(header_lat, "%07.2f%c", toAprsFormat(latitude) * (-1.0), 'S'); // lat
if (longitude > 0)
sprintf(header_long, "%08.2f%c", toAprsFormat(longitude) , 'E'); // long
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
//#else
else
sprintf(header_str2b, "=%s%c%c%sShi hi ", header_lat, 0x5c, 0x5c, header_long); // add APRS lat and long with Satellite icon
//#endif
printf("\n\nString is %s \n\n", header_str2b);
strcat(str, header_str2b);
} else { // CW mode
strcat(str, header_str4);
strcat(str, call);
if (c2cStatus != DISABLED) {
strcat(str, header_c2c);
}
sprintf(tlm_str, "%s' > cw0.txt", &str);
printf("CW string to execute: %s\n", &tlm_str);
FILE * cw_file = popen(tlm_str, "r");
pclose(cw_file);
}
// }
printf("Str: %s \n", str);
if (mode == CW) {
int channel;
for (channel = 1; channel < 7; channel++) {
sprintf(tlm_str, "echo -n ' %d%d%d %d%d%d %d%d%d %d%d%d ' > cw%1d.txt",
channel, upper_digit(tlm[channel][1]), lower_digit(tlm[channel][1]),
channel, upper_digit(tlm[channel][2]), lower_digit(tlm[channel][2]),
channel, upper_digit(tlm[channel][3]), lower_digit(tlm[channel][3]),
channel, upper_digit(tlm[channel][4]), lower_digit(tlm[channel][4]), channel);
strcat(str, tlm_str);
printf("CW string to execute: %s\n", &tlm_str);
FILE * cw_file = popen(tlm_str, "r");
pclose(cw_file);
}
// if (c2cStatus != DISABLED) {
// FILE *file_append = sopen("echo 'C' >> cw6.txt");
// 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);
strcat(str, tlm_str);
}
strcpy(sensor_payload, buffer2);
printf(" Response from STEM Payload board:: %s\n", sensor_payload);
// printf(" Str so far: %s\n", str);
if (mode != CW)
strcat(str, sensor_payload); // append to telemetry string for transmission
if (mode == CW) {
// char cw_str2[1000];
// char cw_header2[] = "echo '";
// char cw_footer2[] = "' > id.txt && gen_packets -M 20 id.txt -o morse.wav -r 48000 > /dev/null 2>&1 && cat morse.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/transmit/transmit -i- -m RF -f 434.897e3";
char cw_footer3[] = "' > cw.txt && touch /home/pi/CubeSatSim/cwready"; // transmit is done by transmit.py
char cwready[] = "touch /home/pi/CubeSatSim/cwready"; // cw frame is complete. transmit is done by transmit.py
FILE * cw_file = popen(cwready, "r");
pclose(cw_file);
while ((cw_file = fopen("/home/pi/CubeSatSim/cwready", "r")) != NULL) { // wait for transmit to be done
fclose(cw_file);
// printf("Sleeping while waiting for transmit \n");
// fflush(stdout);
sleep(5);
}
}
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);
if (battery_saver_mode == ON)
strcat(str, footer_str); // add extra packet for transmit transmission
else
strcat(str, footer_str2);
fprintf(stderr, "String to execute: %s\n", str);
printf("\n\nTelemetry string is %s \n\n", str);
if (transmit) {
FILE * file2 = popen(str, "r");
pclose(file2);
sleep(2);
digitalWrite(txLed, txLedOff);
} else {
fprintf(stderr, "\nNo CubeSatSim Band Pass Filter detected. No transmissions after the CW ID.\n");
fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n");
}
sleep(3);
}
}
return;
}
// generates telemetry which is decoded by AMSAT's FoxTelem: https://www.amsat.org/foxtelem-software-for-windows-mac-linux/
// for more info about how we use FoxTelem see https://www.g0kla.com/foxtelem/amsat_telemetry_designers_handbook.pdf
void get_tlm_fox() {
int i;
long int sync = syncWord;
smaller = (int) (S_RATE / (2 * freq_Hz));
short int b[dataLen];
short int b_max[dataLen];
short int b_min[dataLen];
memset(b, 0, sizeof(b));
memset(b_max, 0, sizeof(b_max));
memset(b_min, 0, sizeof(b_min));
short int h[headerLen];
memset(h, 0, sizeof(h));
memset(buffer, 0xa5, sizeof(buffer));
short int rs_frame[rsFrames][223];
unsigned char parities[rsFrames][parityLen], inputByte;
int id, frm_type = 0x01, NormalModeFailure = 0;
int PayloadFailure1 = 0, PayloadFailure2 = 0;
int BAT2Voltage = 0, BAT2Current = 0, Resets = 0, Rssi = 2048;
int batt_a_v = 0, batt_b_v = 0, batt_c_v = 0, battCurr = 0;
int posXv = 0, negXv = 0, posYv = 0, negYv = 0, posZv = 0, negZv = 0;
int posXi = 0, negXi = 0, posYi = 0, negYi = 0, posZi = 0, negZi = 0;
int head_offset = 0;
short int buffer_test[bufLen];
int buffSize;
buffSize = (int) sizeof(buffer_test);
if (mode == FSK)
id = 7;
else
id = 0; // 99 in h[6]
// for (int frames = 0; frames < FRAME_CNT; frames++)
for (int frames = 0; frames < frameCnt; frames++) {
if (firstTime != ON) {
// delay for sample period
/**/
// while ((millis() - sampleTime) < (unsigned int)samplePeriod)
int startSleep = millis();
if ((millis() - sampleTime) < ((unsigned int)frameTime - 750 + pi_zero_2_offset)) // was 250 100 500 for FSK
// sleep(2.0); // 0.5); // 25); // initial period
sleep(1.0); // 0.5); // 25); // initial period
while ((millis() - sampleTime) < ((unsigned int)frameTime - 750 + pi_zero_2_offset)) // was 250 100
sleep(0.1); // 25); // 0.5); // 25);
// sleep((unsigned int)sleepTime);
/**/
printf("Start sleep %d Sleep period: %d while period: %d\n", startSleep, millis() - startSleep, (unsigned int)frameTime - 750 + pi_zero_2_offset);
fflush(stdout);
sampleTime = (unsigned int) millis();
} else
printf("first time - no sleep\n");
printf("++++ Loop time: %5.3f sec +++++\n", (millis() - loopTime)/1000.0);
fflush(stdout);
loopTime = millis();
// if (mode == FSK)
{ // just moved
for (int count1 = 0; count1 < 8; count1++) {
if (voltage[count1] < voltage_min[count1])
voltage_min[count1] = voltage[count1];
if (current[count1] < current_min[count1])
current_min[count1] = current[count1];
if (voltage[count1] > voltage_max[count1])
voltage_max[count1] = voltage[count1];
if (current[count1] > current_max[count1])
current_max[count1] = current[count1];
// printf("Vmin %4.2f Vmax %4.2f Imin %4.2f Imax %4.2f \n", voltage_min[count1], voltage_max[count1], current_min[count1], current_max[count1]);
}
for (int count1 = 0; count1 < 3; count1++) {
if (other[count1] < other_min[count1])
other_min[count1] = other[count1];
if (other[count1] > other_max[count1])
other_max[count1] = other[count1];
// printf("Other min %f max %f \n", other_min[count1], other_max[count1]);
}
if (mode == FSK)
{
if (loop % 32 == 0) { // was 8
// printf("Sending MIN frame \n");
frm_type = 0x03;
for (int count1 = 0; count1 < SENSOR_FIELDS; count1++) {
if (count1 < 3)
other[count1] = other_min[count1];
if (count1 < 8) {
voltage[count1] = voltage_min[count1];
current[count1] = current_min[count1];
}
if (sensor_min[count1] != 1000.0) // make sure values are valid
sensor[count1] = sensor_min[count1];
}
}
if ((loop + 16) % 32 == 0) { // was 8
// printf("Sending MAX frame \n");
frm_type = 0x02;
for (int count1 = 0; count1 < SENSOR_FIELDS; count1++) {
if (count1 < 3)
other[count1] = other_max[count1];
if (count1 < 8) {
voltage[count1] = voltage_max[count1];
current[count1] = current_max[count1];
}
if (sensor_max[count1] != -1000.0) // make sure values are valid
sensor[count1] = sensor_max[count1];
}
}
}
else
frm_type = 0x02; // BPSK always send MAX MIN frame
}
sensor_payload[0] = 0; // clear for next payload
// if (mode == FSK) { // remove this
// }
memset(rs_frame, 0, sizeof(rs_frame));
memset(parities, 0, sizeof(parities));
h[0] = (short int) ((h[0] & 0xf8) | (id & 0x07)); // 3 bits
if (uptime != 0) // if uptime is 0, leave reset count at 0
{
h[0] = (short int) ((h[0] & 0x07) | ((reset_count & 0x1f) << 3));
h[1] = (short int) ((reset_count >> 5) & 0xff);
h[2] = (short int) ((h[2] & 0xf8) | ((reset_count >> 13) & 0x07));
}
h[2] = (short int) ((h[2] & 0x0e) | ((uptime & 0x1f) << 3));
h[3] = (short int) ((uptime >> 5) & 0xff);
h[4] = (short int) ((uptime >> 13) & 0xff);
h[5] = (short int) ((h[5] & 0xf0) | ((uptime >> 21) & 0x0f));
h[5] = (short int) ((h[5] & 0x0f) | (frm_type << 4));
if (mode == BPSK)
h[6] = 99;
posXi = (int)(current[map[PLUS_X]] + 0.5) + 2048;
posYi = (int)(current[map[PLUS_Y]] + 0.5) + 2048;
posZi = (int)(current[map[PLUS_Z]] + 0.5) + 2048;
negXi = (int)(current[map[MINUS_X]] + 0.5) + 2048;
negYi = (int)(current[map[MINUS_Y]] + 0.5) + 2048;
negZi = (int)(current[map[MINUS_Z]] + 0.5) + 2048;
posXv = (int)(voltage[map[PLUS_X]] * 100);
posYv = (int)(voltage[map[PLUS_Y]] * 100);
posZv = (int)(voltage[map[PLUS_Z]] * 100);
negXv = (int)(voltage[map[MINUS_X]] * 100);
negYv = (int)(voltage[map[MINUS_Y]] * 100);
negZv = (int)(voltage[map[MINUS_Z]] * 100);
batt_c_v = (int)(voltage[map[BAT]] * 100);
battCurr = (int)(current[map[BAT]] + 0.5) + 2048;
BAT2Voltage = (int)(voltage[map[BAT2]] * 100);
BAT2Current = (int)(current[map[BAT2]] + 0.5) + 2048;
if (payload == ON)
STEMBoardFailure = 0;
// read payload sensor if available
// encodeA(b, 0 + head_offset, batt_a_v); // replaced by XS2 and XS3 below
// encodeB(b, 1 + head_offset, batt_b_v);
encodeA(b, 3 + head_offset, batt_c_v);
encodeB(b, 4 + head_offset, (int)(sensor[ACCEL_X] * 100 + 0.5) + 2048); // Xaccel
encodeA(b, 6 + head_offset, (int)(sensor[ACCEL_Y] * 100 + 0.5) + 2048); // Yaccel
encodeB(b, 7 + head_offset, (int)(sensor[ACCEL_Z] * 100 + 0.5) + 2048); // Zaccel
encodeA(b, 9 + head_offset, battCurr);
encodeB(b, 10 + head_offset, (int)(sensor[TEMP] * 10 + 0.5)); // Temp
if (mode == FSK) {
encodeA(b, 12 + head_offset, posXv);
encodeB(b, 13 + head_offset, negXv);
encodeA(b, 15 + head_offset, posYv);
encodeB(b, 16 + head_offset, negYv);
encodeA(b, 18 + head_offset, posZv);
encodeB(b, 19 + head_offset, negZv);
encodeA(b, 21 + head_offset, posXi);
encodeB(b, 22 + head_offset, negXi);
encodeA(b, 24 + head_offset, posYi);
encodeB(b, 25 + head_offset, negYi);
encodeA(b, 27 + head_offset, posZi);
encodeB(b, 28 + head_offset, negZi);
} else // BPSK
{
encodeA(b, 12 + head_offset, posXv);
encodeB(b, 13 + head_offset, posYv);
encodeA(b, 15 + head_offset, posZv);
encodeB(b, 16 + head_offset, negXv);
encodeA(b, 18 + head_offset, negYv);
encodeB(b, 19 + head_offset, negZv);
encodeA(b, 21 + head_offset, posXi);
encodeB(b, 22 + head_offset, posYi);
encodeA(b, 24 + head_offset, posZi);
encodeB(b, 25 + head_offset, negXi);
encodeA(b, 27 + head_offset, negYi);
encodeB(b, 28 + head_offset, negZi);
encodeA(b_max, 12 + head_offset, (int)(voltage_max[map[PLUS_X]] * 100));
encodeB(b_max, 13 + head_offset, (int)(voltage_max[map[PLUS_Y]] * 100));
encodeA(b_max, 15 + head_offset, (int)(voltage_max[map[PLUS_Z]] * 100));
encodeB(b_max, 16 + head_offset, (int)(voltage_max[map[MINUS_X]] * 100));
encodeA(b_max, 18 + head_offset, (int)(voltage_max[map[MINUS_Y]] * 100));
encodeB(b_max, 19 + head_offset, (int)(voltage_max[map[MINUS_Z]] * 100));
encodeA(b_max, 21 + head_offset, (int)(current_max[map[PLUS_X]] + 0.5) + 2048);
encodeB(b_max, 22 + head_offset, (int)(current_max[map[PLUS_Y]] + 0.5) + 2048);
encodeA(b_max, 24 + head_offset, (int)(current_max[map[PLUS_Z]] + 0.5) + 2048);
encodeB(b_max, 25 + head_offset, (int)(current_max[map[MINUS_X]] + 0.5) + 2048);
encodeA(b_max, 27 + head_offset, (int)(current_max[map[MINUS_Y]] + 0.5) + 2048);
encodeB(b_max, 28 + head_offset, (int)(current_max[map[MINUS_Z]] + 0.5) + 2048);
encodeA(b_max, 9 + head_offset, (int)(current_max[map[BAT]] + 0.5) + 2048);
encodeA(b_max, 3 + head_offset, (int)(voltage_max[map[BAT]] * 100));
encodeA(b_max, 30 + head_offset, (int)(voltage_max[map[BAT2]] * 100));
encodeB(b_max, 46 + head_offset, (int)(current_max[map[BAT2]] + 0.5) + 2048);
encodeB(b_max, 37 + head_offset, (int)(other_max[RSSI] + 0.5) + 2048);
encodeA(b_max, 39 + head_offset, (int)(other_max[IHU_TEMP] * 10 + 0.5));
encodeB(b_max, 31 + head_offset, ((int)(other_max[SPIN] * 10)) + 2048);
if (sensor_min[TEMP] != 1000.0) // make sure values are valid
{
encodeB(b_max, 4 + head_offset, (int)(sensor_max[ACCEL_X] * 100 + 0.5) + 2048); // Xaccel
encodeA(b_max, 6 + head_offset, (int)(sensor_max[ACCEL_Y] * 100 + 0.5) + 2048); // Yaccel
encodeB(b_max, 7 + head_offset, (int)(sensor_max[ACCEL_Z] * 100 + 0.5) + 2048); // Zaccel
encodeA(b_max, 33 + head_offset, (int)(sensor_max[PRES] + 0.5)); // Pressure
encodeB(b_max, 34 + head_offset, (int)(sensor_max[ALT] / 10.0 + 0.5)); // Altitude
encodeB(b_max, 40 + head_offset, (int)(sensor_max[GYRO_X] + 0.5) + 2048);
encodeA(b_max, 42 + head_offset, (int)(sensor_max[GYRO_Y] + 0.5) + 2048);
encodeB(b_max, 43 + head_offset, (int)(sensor_max[GYRO_Z] + 0.5) + 2048);
encodeA(b_max, 48 + head_offset, (int)(sensor_max[DTEMP] * 10 + 0.5) + 2048);
// encodeB(b_max, 49 + head_offset, (int)(sensor_max[XS1] * 10 + 0.5) + 2048);
encodeB(b_max, 10 + head_offset, (int)(sensor_max[TEMP] * 10 + 0.5));
encodeA(b_max, 45 + head_offset, (int)(sensor_max[HUMI] * 10 + 0.5));
encodeB(b_max, 49 + head_offset, (int)(sensor_max[XS1]));
encodeA(b_max, 0 + head_offset, (int)(sensor_max[XS2]));
encodeB(b_max, 1 + head_offset, (int)(sensor_max[XS3]));
}
else
{
encodeB(b_max, 4 + head_offset, 2048); // 0
encodeA(b_max, 6 + head_offset, 2048); // 0
encodeB(b_max, 7 + head_offset, 2048); // 0
encodeB(b_max, 40 + head_offset, 2048);
encodeA(b_max, 42 + head_offset, 2048);
encodeB(b_max, 43 + head_offset, 2048);
encodeA(b_max, 48 + head_offset, 2048);
// encodeB(b_max, 49 + head_offset, 2048);
}
encodeA(b_min, 12 + head_offset, (int)(voltage_min[map[PLUS_X]] * 100));
encodeB(b_min, 13 + head_offset, (int)(voltage_min[map[PLUS_Y]] * 100));
encodeA(b_min, 15 + head_offset, (int)(voltage_min[map[PLUS_Z]] * 100));
encodeB(b_min, 16 + head_offset, (int)(voltage_min[map[MINUS_X]] * 100));
encodeA(b_min, 18 + head_offset, (int)(voltage_min[map[MINUS_Y]] * 100));
encodeB(b_min, 19 + head_offset, (int)(voltage_min[map[MINUS_Z]] * 100));
encodeA(b_min, 21 + head_offset, (int)(current_min[map[PLUS_X]] + 0.5) + 2048);
encodeB(b_min, 22 + head_offset, (int)(current_min[map[PLUS_Y]] + 0.5) + 2048);
encodeA(b_min, 24 + head_offset, (int)(current_min[map[PLUS_Z]] + 0.5) + 2048);
encodeB(b_min, 25 + head_offset, (int)(current_min[map[MINUS_X]] + 0.5) + 2048);
encodeA(b_min, 27 + head_offset, (int)(current_min[map[MINUS_Y]] + 0.5) + 2048);
encodeB(b_min, 28 + head_offset, (int)(current_min[map[MINUS_Z]] + 0.5) + 2048);
encodeA(b_min, 9 + head_offset, (int)(current_min[map[BAT]] + 0.5) + 2048);
encodeA(b_min, 3 + head_offset, (int)(voltage_min[map[BAT]] * 100));
encodeA(b_min, 30 + head_offset, (int)(voltage_min[map[BAT2]] * 100));
encodeB(b_min, 46 + head_offset, (int)(current_min[map[BAT2]] + 0.5) + 2048);
encodeB(b_min, 31 + head_offset, ((int)(other_min[SPIN] * 10)) + 2048);
encodeB(b_min, 37 + head_offset, (int)(other_min[RSSI] + 0.5) + 2048);
encodeA(b_min, 39 + head_offset, (int)(other_min[IHU_TEMP] * 10 + 0.5));
if (sensor_min[TEMP] != 1000.0) // make sure values are valid
{
encodeB(b_min, 4 + head_offset, (int)(sensor_min[ACCEL_X] * 100 + 0.5) + 2048); // Xaccel
encodeA(b_min, 6 + head_offset, (int)(sensor_min[ACCEL_Y] * 100 + 0.5) + 2048); // Yaccel
encodeB(b_min, 7 + head_offset, (int)(sensor_min[ACCEL_Z] * 100 + 0.5) + 2048); // Zaccel
encodeA(b_min, 33 + head_offset, (int)(sensor_min[PRES] + 0.5)); // Pressure
encodeB(b_min, 34 + head_offset, (int)(sensor_min[ALT] / 10.0 + 0.5)); // Altitude
encodeB(b_min, 40 + head_offset, (int)(sensor_min[GYRO_X] + 0.5) + 2048);
encodeA(b_min, 42 + head_offset, (int)(sensor_min[GYRO_Y] + 0.5) + 2048);
encodeB(b_min, 43 + head_offset, (int)(sensor_min[GYRO_Z] + 0.5) + 2048);
encodeA(b_min, 48 + head_offset, (int)(sensor_min[DTEMP] * 10 + 0.5) + 2048);
// encodeB(b_min, 49 + head_offset, (int)(sensor_min[XS1] * 10 + 0.5) + 2048);
encodeB(b_min, 10 + head_offset, (int)(sensor_min[TEMP] * 10 + 0.5));
encodeA(b_min, 45 + head_offset, (int)(sensor_min[HUMI] * 10 + 0.5));
encodeB(b_min, 49 + head_offset, (int)(sensor_min[XS1]));
encodeA(b_min, 0 + head_offset, (int)(sensor_min[XS2]));
encodeB(b_min, 1 + head_offset, (int)(sensor_min[XS3]));
}
else
{
encodeB(b_min, 4 + head_offset, 2048); // 0
encodeA(b_min, 6 + head_offset, 2048); // 0
encodeB(b_min, 7 + head_offset, 2048); // 0
encodeB(b_min, 40 + head_offset, 2048);
encodeA(b_min, 42 + head_offset, 2048);
encodeB(b_min, 43 + head_offset, 2048);
encodeA(b_min, 48 + head_offset, 2048);
// encodeB(b_min, 49 + head_offset, 2048);
}
}
encodeA(b, 30 + head_offset, BAT2Voltage);
encodeB(b, 31 + head_offset, ((int)(other[SPIN] * 10)) + 2048);
encodeA(b, 33 + head_offset, (int)(sensor[PRES] + 0.5)); // Pressure
encodeB(b, 34 + head_offset, (int)(sensor[ALT] / 10.0 + 0.5)); // Altitude
encodeA(b, 36 + head_offset, Resets);
encodeB(b, 37 + head_offset, (int)(other[RSSI] + 0.5) + 2048);
encodeA(b, 39 + head_offset, (int)(other[IHU_TEMP] * 10 + 0.5));
encodeB(b, 40 + head_offset, (int)(sensor[GYRO_X] + 0.5) + 2048);
encodeA(b, 42 + head_offset, (int)(sensor[GYRO_Y] + 0.5) + 2048);
encodeB(b, 43 + head_offset, (int)(sensor[GYRO_Z] + 0.5) + 2048);
encodeA(b, 45 + head_offset, (int)(sensor[HUMI] * 10 + 0.5)); // in place of sensor1
encodeB(b, 46 + head_offset, BAT2Current);
encodeA(b, 48 + head_offset, (int)(sensor[DTEMP] * 10 + 0.5) + 2048);
// encodeB(b, 49 + head_offset, (int)(sensor[XS1] * 10 + 0.5) + 2048);
encodeB(b, 49 + head_offset, (int)(sensor[XS1]));
encodeA(b, 0 + head_offset, (int)(sensor[XS2]));
encodeB(b, 1 + head_offset, (int)(sensor[XS3]));
FILE * command_count_file = fopen("/home/pi/CubeSatSim/command_count.txt", "r");
if (command_count_file != NULL) {
char count_string[10];
if ( (fgets(count_string, 10, command_count_file)) != NULL)
groundCommandCount = atoi(count_string);
// fclose(command_count_file);
} else
printf("Error opening command_count.txt!\n");
fclose(command_count_file);
// printf("Command count: %d\n", groundCommandCount);
int status = STEMBoardFailure + SafeMode * 2 + sim_mode * 4 + PayloadFailure1 * 8 +
(i2c_bus0 == OFF) * 16 + (i2c_bus1 == OFF) * 32 + (i2c_bus3 == OFF) * 64 + (camera == OFF) * 128 + groundCommandCount * 256;
encodeA(b, 51 + head_offset, status);
encodeB(b, 52 + head_offset, rxAntennaDeployed + txAntennaDeployed * 2 + c2cStatus * 4);
if (mode == BPSK) {
encodeA(b_max, 51 + head_offset, status);
encodeA(b_min, 51 + head_offset, status);
encodeB(b_max, 52 + head_offset, rxAntennaDeployed + txAntennaDeployed * 2 + c2cStatus * 4);
encodeB(b_min, 52 + head_offset, rxAntennaDeployed + txAntennaDeployed * 2 + c2cStatus * 4);
}
if (txAntennaDeployed == 0) {
txAntennaDeployed = 1;
printf("TX Antenna Deployed!\n");
}
if (rxAntennaDeployed == 0) {
rxAntennaDeployed = 1;
printf("RX Antenna Deployed!\n");
}
if (mode == BPSK) { // wod field experiments
unsigned long val = 0xffff;
encodeA(b, 64 + head_offset, 0xff & val);
encodeA(b, 65 + head_offset, val >> 8);
encodeA(b, 63 + head_offset, 0x00);
encodeA(b, 62 + head_offset, 0x01);
encodeB(b, 74 + head_offset, 0xfff);
}
short int data10[headerLen + rsFrames * (rsFrameLen + parityLen)];
short int data8[headerLen + rsFrames * (rsFrameLen + parityLen)];
int ctr1 = 0;
int ctr3 = 0;
for (i = 0; i < rsFrameLen; i++) {
for (int j = 0; j < rsFrames; j++) {
if (!((i == (rsFrameLen - 1)) && (j == 2))) // skip last one for BPSK
{
if (ctr1 < headerLen) {
rs_frame[j][i] = h[ctr1];
update_rs(parities[j], h[ctr1]);
// printf("header %d rs_frame[%d][%d] = %x \n", ctr1, j, i, h[ctr1]);
data8[ctr1++] = rs_frame[j][i];
// printf ("data8[%d] = %x \n", ctr1 - 1, rs_frame[j][i]);
} else {
if (mode == FSK)
{
rs_frame[j][i] = b[ctr3 % dataLen];
update_rs(parities[j], b[ctr3 % dataLen]);
} else // BPSK
if ((int)(ctr3/dataLen) == 3)
{
rs_frame[j][i] = b_max[ctr3 % dataLen];
update_rs(parities[j], b_max[ctr3 % dataLen]);
}
else if ((int)(ctr3/dataLen) == 4)
{
rs_frame[j][i] = b_min[ctr3 % dataLen];
update_rs(parities[j], b_min[ctr3 % dataLen]);
}
else
{
rs_frame[j][i] = b[ctr3 % dataLen];
update_rs(parities[j], b[ctr3 % dataLen]);
}
{
}
// printf("%d rs_frame[%d][%d] = %x %d \n",
// ctr1, j, i, b[ctr3 % DATA_LEN], ctr3 % DATA_LEN);
data8[ctr1++] = rs_frame[j][i];
// printf ("data8[%d] = %x \n", ctr1 - 1, rs_frame[j][i]);
ctr3++;
}
}
}
}
#ifdef DEBUG_LOGGING
// printf("\nAt end of data8 write, %d ctr1 values written\n\n", ctr1);
/*
printf("Parities ");
for (int m = 0; m < parityLen; m++) {
printf("%d ", parities[0][m]);
}
printf("\n");
*/
#endif
int ctr2 = 0;
memset(data10, 0, sizeof(data10));
for (i = 0; i < dataLen * payloads + headerLen; i++) // 476 for BPSK
{
data10[ctr2] = (Encode_8b10b[rd][((int) data8[ctr2])] & 0x3ff);
nrd = (Encode_8b10b[rd][((int) data8[ctr2])] >> 10) & 1;
// printf ("data10[%d] = encoded data8[%d] = %x \n",
// ctr2, ctr2, data10[ctr2]);
rd = nrd; // ^ nrd;
ctr2++;
}
// {
for (i = 0; i < parityLen; i++) {
for (int j = 0; j < rsFrames; j++) {
if ((uptime != 0) || (i != 0)) // don't correctly update parties if uptime is 0 so the frame will fail the FEC check and be discarded
data10[ctr2++] = (Encode_8b10b[rd][((int) parities[j][i])] & 0x3ff);
nrd = (Encode_8b10b[rd][((int) parities[j][i])] >> 10) & 1;
// printf ("data10[%d] = encoded parities[%d][%d] = %x \n",
// ctr2 - 1, j, i, data10[ctr2 - 1]);
rd = nrd;
}
}
// }
#ifdef DEBUG_LOGGING
// printf("\nAt end of data10 write, %d ctr2 values written\n\n", ctr2);
#endif
int data;
int val;
//int offset = 0;
#ifdef DEBUG_LOGGING
// printf("\nAt start of buffer loop, syncBits %d samples %d ctr %d\n", syncBits, samples, ctr);
#endif
for (i = 1; i <= syncBits * samples; i++) {
write_wave(ctr, buffer);
// printf("%d ",ctr);
if ((i % samples) == 0) {
int bit = syncBits - i / samples + 1;
val = sync;
data = val & 1 << (bit - 1);
// printf ("%d i: %d new frame %d sync bit %d = %d \n",
// ctr/, i, frames, bit, (data > 0) );
if (mode == FSK) {
phase = ((data != 0) * 2) - 1;
// printf("Sending a %d\n", phase);
} else {
if (data == 0) {
phase *= -1;
if ((ctr - smaller) > 0) {
for (int j = 1; j <= smaller; j++)
buffer[ctr - j] = buffer[ctr - j] * 0.4;
}
flip_ctr = ctr;
}
}
}
}
#ifdef DEBUG_LOGGING
// printf("\n\nValue of ctr after header: %d Buffer Len: %d\n\n", ctr, buffSize);
#endif
for (i = 1; i <= (10 * (headerLen + dataLen * payloads + rsFrames * parityLen) * samples); i++) // 572
{
write_wave(ctr, buffer);
if ((i % samples) == 0) {
int symbol = (int)((i - 1) / (samples * 10));
int bit = 10 - (i - symbol * samples * 10) / samples + 1;
val = data10[symbol];
data = val & 1 << (bit - 1);
// printf ("%d i: %d new frame %d data10[%d] = %x bit %d = %d \n",
// ctr/, i, frames, symbol, val, bit, (data > 0) );
if (mode == FSK) {
phase = ((data != 0) * 2) - 1;
// printf("Sending a %d\n", phase);
} else {
if (data == 0) {
phase *= -1;
if ((ctr - smaller) > 0) {
for (int j = 1; j <= smaller; j++)
buffer[ctr - j] = buffer[ctr - j] * 0.4;
}
flip_ctr = ctr;
}
}
}
}
}
#ifdef DEBUG_LOGGING
// printf("\nValue of ctr after looping: %d Buffer Len: %d\n", ctr, buffSize);
// printf("\ctr/samples = %d ctr/(samples*10) = %d\n\n", ctr/samples, ctr/(samples*10));
#endif
//int error = 0;
// int count;
// for (count = 0; count < dataLen; count++) {
// printf("%02X", b[count]);
// }
// printf("\n");
// socket write
socket_send(ctr);
/*
if (!socket_open && transmit) {
printf("Opening socket!\n");
// struct sockaddr_in address;
// int valread;
struct sockaddr_in serv_addr;
// char *hello = "Hello from client";
// char buffer[1024] = {0};
if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
printf("\n Socket creation error \n");
error = 1;
}
memset( & serv_addr, '0', sizeof(serv_addr));
serv_addr.sin_family = AF_INET;
serv_addr.sin_port = htons(PORT);
// Convert IPv4 and IPv6 addresses from text to binary form
if (inet_pton(AF_INET, "127.0.0.1", & serv_addr.sin_addr) <= 0) {
printf("\nInvalid address/ Address not supported \n");
error = 1;
}
if (connect(sock, (struct sockaddr * ) & serv_addr, sizeof(serv_addr)) < 0) {
printf("\nConnection Failed \n");
printf("Error: %s\n", strerror(errno));
error = 1;
// FILE * transmit_restartf2 = popen("sudo systemctl restart transmit", "r");
// pclose(transmit_restartf2);
// sleep(10); // was 5 // sleep if socket connection refused
// try again
error = 0;
if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
printf("\n Socket creation error \n");
error = 1;
}
memset( & serv_addr, '0', sizeof(serv_addr));
serv_addr.sin_family = AF_INET;
serv_addr.sin_port = htons(PORT);
// Convert IPv4 and IPv6 addresses from text to binary form
if (inet_pton(AF_INET, "127.0.0.1", & serv_addr.sin_addr) <= 0) {
printf("\nInvalid address/ Address not supported \n");
error = 1;
}
if (connect(sock, (struct sockaddr * ) & serv_addr, sizeof(serv_addr)) < 0) {
printf("\nConnection Failed \n");
printf("Error: %s\n", strerror(errno));
error = 1;
// FILE * transmit_restartf = popen("sudo systemctl restart transmit", "r");
// pclose(transmit_restartf);
// sleep(10); // was 5 // sleep if socket connection refused
}
}
if (error == 1) {
printf("Socket error count: %d\n", error_count);
// ; //transmitStatus = -1;
if (error_count++ > 5) {
printf("Restarting transmit\n");
FILE * transmit_restartf = popen("sudo systemctl restart transmit", "r");
pclose(transmit_restartf);
sleep(10); // was 5 // sleep if socket connection refused
}
}
else {
socket_open = 1;
error_count = 0;
}
}
if (!error && transmit) {
// digitalWrite (0, LOW);
// printf("Sending %d buffer bytes over socket after %d ms!\n", ctr, (long unsigned int)millis() - start);
start = millis();
int sock_ret = send(sock, buffer, (unsigned int)(ctr * 2 + 2), 0);
// printf("socket send 1 %d ms bytes: %d \n\n", (unsigned int)millis() - start, sock_ret);
fflush(stdout);
if (sock_ret < (ctr * 2 + 2)) {
// printf("Not resending\n");
sleep(0.5);
sock_ret = send(sock, &buffer[sock_ret], (unsigned int)(ctr * 2 + 2 - sock_ret), 0);
// printf("socket send 2 %d ms bytes: %d \n\n", millis() - start, sock_ret);
}
*/
loop_count++;
if ((firstTime == 1) || (((loop_count % 180) == 0) && (mode == FSK)) || (((loop_count % 80) == 0) && (mode == BPSK))) // do first time and was every 180 samples
{
int max;
if (mode == FSK)
if (sim_mode)
max = 6;
else if (firstTime == 1)
max = 4; // 5; // was 6
else
max = 3;
else
if (firstTime == 1)
max = 5; // 5; // was 6
else
max = 4;
for (int times = 0; times < max; times++)
{
/// start = millis(); // send frame until buffer fills
socket_send(ctr);
/// sock_ret = send(sock, buffer, (unsigned int)(ctr * 2 + 2), 0);
// printf("socket send %d in %d ms bytes: %d \n\n",times + 2, (unsigned int)millis() - start, sock_ret);
/// if ((millis() - start) > 500) {
/// printf("Buffer over filled!\n");
/// break;
/// }
/// if (sock_ret < (ctr * 2 + 2)) {
// printf("Not resending\n");
/// sleep(0.5);
/// sock_ret = send(sock, &buffer[sock_ret], (unsigned int)(ctr * 2 + 2 - sock_ret), 0);
/// printf("socket resend %d in %d ms bytes: %d \n\n",times, millis() - start, sock_ret);
/// }
}
sampleTime = (unsigned int) millis(); // resetting time for sleeping
// fflush(stdout);
// if (firstTime == 1)
// max -= 1;
}
/// if (sock_ret == -1) {
/// printf("Error: %s \n", strerror(errno));
/// socket_open = 0;
//transmitStatus = -1;
/// }
/// }
if (!transmit) {
fprintf(stderr, "\nNo CubeSatSim Band Pass Filter detected. No transmissions after the CW ID.\n");
fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n");
}
/// if (socket_open == 1)
/// firstTime = 0;
// else if (frames_sent > 0) //5)
// firstTime = 0;
return;
}
// code by https://stackoverflow.com/questions/25161377/open-a-cmd-program-with-full-functionality-i-o/25177958#25177958
FILE *sopen(const char *program)
{
int fds[2];
pid_t pid;
if (socketpair(AF_UNIX, SOCK_STREAM, 0, fds) < 0)
return NULL;
switch(pid=vfork()) {
case -1: /* Error */
close(fds[0]);
close(fds[1]);
return NULL;
case 0: /* child */
close(fds[0]);
dup2(fds[1], 0);
dup2(fds[1], 1);
close(fds[1]);
execl("/bin/sh", "sh", "-c", program, NULL);
_exit(127);
}
/* parent */
close(fds[1]);
return fdopen(fds[0], "r+");
}
/*
* TelemEncoding.h
*
* Created on: Feb 3, 2014
* Author: fox
*/
/*
#include
#include
#include
#include
#include
#include
#define false 0
#define true 1
*/
void write_wave(int i, short int *buffer)
{
if (mode == FSK)
{
if ((ctr - flip_ctr) < smaller)
buffer[ctr++] = (short int)(0.1 * phase * (ctr - flip_ctr) / smaller);
else
buffer[ctr++] = (short int)(0.25 * amplitude * phase);
}
else
{
if ((ctr - flip_ctr) < smaller) {
// buffer[ctr++] = (short int)(amplitude * 0.4 * phase * sin((float)(2*M_PI*i*freq_Hz/S_RATE)));
buffer[ctr++] = (short int)(phase * sin_map[ctr % sin_samples] / 2);
// if (ctr < 1000) printf("*");
}
else
// buffer[ctr++] = (short int)(amplitude * 0.4 * phase * sin((float)(2*M_PI*i*freq_Hz/S_RATE)));
buffer[ctr++] = (short int)(phase * sin_map[ctr % sin_samples]);
}
// if (ctr < 1000) printf("%d %d %d \n", ctr, i, buffer[ctr - 1]);
}
int encodeA(short int *b, int index, int val) {
// printf("Encoding A\n");
b[index] = val & 0xff;
b[index + 1] = (short int) ((b[index + 1] & 0xf0) | ((val >> 8) & 0x0f));
return 0;
}
int encodeB(short int *b, int index, int val) {
// printf("Encoding B\n");
b[index] = (short int) ((b[index] & 0x0f) | ((val << 4) & 0xf0));
b[index + 1] = (val >> 4 ) & 0xff;
return 0;
}
int twosToInt(int val,int len) { // Convert twos compliment to integer
// from https://www.raspberrypi.org/forums/viewtopic.php?t=55815
if(val & (1 << (len - 1)))
val = val - (1 << len);
return(val);
}
float rnd_float(double min,double max) { // returns 2 decimal point random number
int val = (rand() % ((int)(max*100) - (int)(min*100) + 1)) + (int)(min*100);
float ret = ((float)(val)/100);
return(ret);
}
int test_i2c_bus(int bus)
{
int output = bus; // return bus number if OK, otherwise return -1
char busDev[20] = "/dev/i2c-";
char busS[5];
snprintf(busS, 5, "%d", bus);
strcat (busDev, busS);
printf("I2C Bus Tested: %s \n", busDev);
if (access(busDev, W_OK | R_OK) >= 0) { // Test if I2C Bus is present
// printf("bus is present\n\n");
char result[128];
const char command_start[] = "timeout 2 i2cdetect -y "; // was 5 10
char command[50];
strcpy (command, command_start);
strcat (command, busS);
// printf("Command: %s \n", command);
FILE *i2cdetect = popen(command, "r");
while (fgets(result, 128, i2cdetect) != NULL) {
;
// printf("result: %s", result);
}
int error = pclose(i2cdetect)/256;
// printf("%s error: %d \n", &command, error);
if (error != 0)
{
printf("ERROR: %s bus has a problem \n Check I2C wiring and pullup resistors \n", busDev);
if (bus == 3)
printf("-> If this is a CubeSatSim Lite, then this error is normal!\n");
output = -1;
}
} else
{
printf("ERROR: %s bus has a problem \n Check software to see if I2C enabled \n", busDev);
output = -1;
}
return(output); // return bus number or -1 if there is a problem with the bus
}
float toAprsFormat(float input) {
// converts decimal coordinate (latitude or longitude) to APRS DDMM.MM format
int dd = (int) input;
int mm1 = (int)((input - dd) * 60.0);
int mm2 = (int)((input - dd - (float)mm1/60.0) * 60.0 * 60.0);
float output = dd * 100 + mm1 + (float)mm2 * 0.01;
return(output);
}
int get_payload_serial(int debug_camera) {
index1 = 0;
flag_count = 0;
start_flag_detected = FALSE;
start_flag_complete = FALSE;
end_flag_detected = FALSE;
jpeg_start = 0;
serialFlush (uart_fd); // flush serial buffer so latest payload is read
// #ifdef GET_IMAGE_DEBUG
if (debug_camera)
printf("Received from Payload:\n");
// #endif
finished = FALSE;
unsigned long time_start = millis();
while ((!finished) && ((millis() - time_start) < CAMERA_TIMEOUT)) {
if (serialDataAvail(uart_fd)) {
char octet = (char) serialGetchar(uart_fd);
printf("%c", octet);
fflush(stdout);
if (start_flag_complete) {
// printf("Start flag complete detected\n");
buffer2[index1++] = octet;
if (octet == end_flag[flag_count]) { // looking for end flag
// if (end_flag_detected) {
flag_count++;
#ifdef GET_IMAGE_DEBUG
// if (debug_camera)
printf("Found part of end flag!\n");
#endif
if (flag_count >= strlen(end_flag)) { // complete image
index1 -= strlen(end_flag);
buffer2[index1++] = 0;
printf(" Payload length: %d \n",index1);
// write_jpg();
finished = TRUE;
index1 = 0;
start_flag_complete = FALSE;
start_flag_detected = FALSE; // get ready for next image
end_flag_detected = FALSE;
flag_count = 0;
// delay(6000);
}
} else {
if (flag_count > 1)
printf("Resetting. Not end flag.\n");
flag_count = 0;
}
/// buffer2[index1++] = octet;
//#ifdef GET_IMAGE_DEBUG
if (debug_camera) {
char hexValue[5];
if (octet != 0x66) {
sprintf(hexValue, "%02X", octet);
// printf(hexValue);
} else {
// Serial.println("\n********************************************* Got a 66!");
printf("66");
}
// Serial.write(octet);
}
//#endif
if (index1 > 1000) {
index1 = 0;
printf("Resetting index!\n");
}
// }
} else if (octet == start_flag[flag_count]) { // looking for start flag
start_flag_detected = TRUE;
flag_count++;
#ifdef GET_IMAGE_DEBUG
printf("Found part of start flag! \n");
#endif
if (flag_count >= strlen(start_flag)) {
flag_count = 0;
start_flag_complete = TRUE;
#ifdef GET_IMAGE_DEBUG
printf("Found all of start flag!\n");
#endif
}
} else { // not the flag, keep looking
start_flag_detected = FALSE;
flag_count = 0;
#ifdef GET_IMAGE_DEBUG
printf("Resetting. Not start flag.\n");
#endif
}
}
// Serial.println("writing to Serial2");
}
if (debug_camera)
printf("\nComplete\n");
fflush(stdout);
return(finished);
}
void program_radio() {
// if (sr_frs_present) {
printf("Programming FM module!\n");
pinMode(28, OUTPUT);
pinMode(29, OUTPUT);
digitalWrite(29, HIGH); // enable SR_FRS
digitalWrite(28, HIGH); // stop transmit
if ((uart_fd = serialOpen("/dev/ttyAMA0", 9600)) >= 0) { // was 9600
printf("serial opened 9600\n");
for (int i = 0; i < 5; i++) {
sleep(1); // delay(500);
//#ifdef APRS_VHF
// char vhf_string[] = "AT+DMOSETGROUP=0,144.3900,144.3900,0,3,0,0\r\n";
// serialPrintf(uart_fd, vhf_string);
// mySerial.println("AT+DMOSETGROUP=0,144.3900,144.3900,0,3,0,0\r"); // can change to 144.39 for standard APRS
// mySerial.println("AT+DMOSETGROUP=0,145.0000,145.0000,0,3,0,0\r"); // can change to 145 for testing ASPRS
//#else
char uhf_string[] = "AT+DMOSETGROUP=0,435.0000,434.9000,0,3,0,0\r\n";
char uhf_string1a[] = "AT+DMOSETGROUP=0,"; // changed frequency to verify
char comma[] = ",";
char uhf_string1b[] = ",0,"; // changed frequency to verify
char uhf_string1[] = "AT+DMOSETGROUP=0,435.0000,434.9000,0,"; // changed frequency to verify
char uhf_string2[] = ",0,0\r\n";
char sq_string[2];
sq_string[0] = '0' + squelch;
sq_string[1] = 0;
// serialPrintf(uart_fd, uhf_string);
/**/
serialPrintf(uart_fd, uhf_string1a);
serialPrintf(uart_fd, rx);
serialPrintf(uart_fd, comma);
serialPrintf(uart_fd, tx);
serialPrintf(uart_fd, uhf_string1b);
serialPrintf(uart_fd, sq_string);
serialPrintf(uart_fd, uhf_string2);
/**/
// mySerial.println("AT+DMOSETGROUP=0,435.1000,434.9900,0,3,0,0\r"); // squelch set to 3
//#endif
sleep(1);
char mic_string[] = "AT+DMOSETMIC=8,0\r\n";
serialPrintf(uart_fd, mic_string);
// mySerial.println("AT+DMOSETMIC=8,0\r"); // was 8
}
}
//#ifdef APRS_VHF
// printf("Programming FM tx 144.39, rx on 144.39 MHz\n");
//#else
printf("Programming FM tx 434.9, rx on 435.0 MHz\n");
//#endif
// digitalWrite(PTT_PIN, LOW); // transmit carrier for 0.5 sec
// sleep(0.5);
// digitalWrite(PTT_PIN, HIGH);
digitalWrite(29, LOW); // disable SR_FRS
pinMode(28, INPUT);
pinMode(29, INPUT);
serialClose(uart_fd);
}
int battery_saver_check() {
FILE *file = fopen("/home/pi/CubeSatSim/battery_saver", "r");
if (file == NULL) {
// fprintf(stderr,"Battery saver mode is OFF!\n");
return(OFF);
}
fclose(file);
// fprintf(stderr, "Safe Mode!\n");
// fprintf(stderr,"Battery saver mode is ON!\n");
return(ON);
}
void battery_saver(int setting) {
if (setting == ON) {
if (battery_saver_check() == OFF) {
FILE *command = popen("touch /home/pi/CubeSatSim/battery_saver", "r");
pclose(command);
fprintf(stderr,"Turning Safe Mode ON\n");
fprintf(stderr,"Turning Battery saver mode ON\n");
battery_saver_mode = ON;
if ((mode == AFSK) || (mode == SSTV) || (mode == CW)) {
command = popen("echo 'reboot due to turning ON Safe Mode!' | wall", "r");
pclose(command);
command = popen("sudo reboot now", "r");
pclose(command);
sleep(60);
return;
}
// } else
// fprintf(stderr, "Nothing to do for battery_saver\n");
}
} else if (setting == OFF) {
if (battery_saver_check() == ON) {
FILE *command = popen("rm /home/pi/CubeSatSim/battery_saver", "r");
pclose(command);
fprintf(stderr,"Turning Battery saver mode OFF\n");
battery_saver_mode = OFF;
if ((mode == AFSK) || (mode == SSTV) || (mode == CW)) {
command = popen("echo 'reboot due to turning OFF Safe Mode!' | wall", "r");
pclose(command);
command = popen("sudo reboot now", "r");
pclose(command);
sleep(60);
return;
}
// } else
// fprintf(stderr, "Nothing to do for battery_saver\n");
}
} else {
fprintf(stderr,"battery_saver function error");
return;
}
return;
}
void get_tlm_fc() { // FUNcube Mode telemetry generation
//# define FC_EM
//#define JY_1
#define FC_SIM
/* create data, stream, and waveform buffers */
unsigned char source_bytes[256];
int byte_count = 256;
/* write telemetry into data buffer */
// printf("\nBLOCKSIZE = %d\n", BLOCKSIZE);
// printf("\nSYMPBLOCK = %d\n", SYMPBLOCK);
memset(source_bytes, 0x00, sizeof(source_bytes));
#ifdef FC_EM
source_bytes[0] = 0b00000001 ; // Sat Id is FUNcube-EM
#endif
#ifdef JY_1
// source_bytes[0] = 0b11000001 ; // Sat Id is extended, Frame 2 (RT2 + WO2)
source_bytes[0] = 0xE0 | 0x20 | 0x00; // 1; // Sat Id is extended, Frame 34 (RT2 + IMG2)
source_bytes[0] = source_bytes[0] | ( 0x01 & (uint8_t)(sequence % 2)); // alternate last bit for RT1, RT2.
// source_bytes[1] = 0x08 ; // extended Nayify - works per code
source_bytes[1] = 0x10 ; // extended JY-1 - works, no documentation
int extended = 1;
#endif
#ifdef FC_SIM
// source_bytes[0] = 0b11000001 ; // Sat Id is extended, Frame 2 (RT2 + WO2)
source_bytes[0] = 0xE0 | 0x20 | 0x00; // 1; // Sat Id is extended, Frame 34 (RT2 + IMG2)
source_bytes[0] = source_bytes[0] | ( 0x01 & (uint8_t)(sequence % 2)); // alternate last bit for RT1, RT2.
// source_bytes[1] = 0x08 ; // extended Nayify - works per code
source_bytes[1] = 0xfb ; // funcube sim sat id per AMSAT-UK allocation
int extended = 1;
#endif
#if defined(FC_SIM) || defined(JY_1)
// if (sequence > 10) {
if (image_file == NULL) {
image_file = fopen("/home/pi/CubeSatSim/image_file.bin", "r");
image_id++;
printf("Opening file image_file.bin for image_id: %d\n", image_id);
}
// }
int pos = FC_PAYLOAD + extended;
int value;
if (image_file != NULL) {
printf("Writing image data to payload\n");
while ((pos < 256) && ((value = getc(image_file)) != EOF)) {
source_bytes[pos++] = value;
// printf("%2x ", value);
}
if (value == EOF) {
image_file = NULL;
printf("End of file reached! Delete image_file.bin");
FILE * delete_image = popen("sudo rm /home/pi/CubeSatSim/image_file.bin", "r");
pclose(delete_image);
}
}
#endif
// printf("Volts: %f %f %f %f \n", voltage[map[BAT]], voltage[map[PLUS_X]] , voltage[map[PLUS_Y]], voltage[map[PLUS_Z]]);
// printf("AmpsPlus: %f %f %f %f \n", current[map[BAT]], current[map[PLUS_X]] , current[map[PLUS_Y]], current[map[PLUS_Z]]);
// printf("AmpsMinus: %f %f %f %f \n", current[map[BAT2]], current[map[MINUS_X]] , current[map[MINUS_Y]], current[map[MINUS_Z]]);
float xmax = (voltage[map[PLUS_X]] > voltage[map[MINUS_X]]) ? voltage[map[PLUS_X]] : voltage[map[MINUS_X]];
float ymax = (voltage[map[PLUS_Y]] > voltage[map[MINUS_Y]]) ? voltage[map[PLUS_Y]] : voltage[map[MINUS_Y]];
float zmax = (voltage[map[PLUS_Z]] > voltage[map[MINUS_Z]]) ? voltage[map[PLUS_Z]] : voltage[map[MINUS_Z]];
// printf("Vmax: %f %f %f \n", xmax, ymax, zmax);
uint16_t x = (uint16_t)(xmax * 1000) & 0x3fff; // 14 bits
uint16_t y = (uint16_t)(ymax * 1000) & 0x3fff;
uint16_t z = (uint16_t)(zmax * 1000) & 0x3fff;
uint16_t b = (uint16_t)(voltage[map[BAT]] * 1000) & 0x3fff;
uint16_t ix = (uint16_t)((current[map[PLUS_X]] + current[map[MINUS_X]])) & 0x3ff; // 10 bits
uint16_t iy = (uint16_t)((current[map[PLUS_Y]] + current[map[MINUS_Y]])) & 0x3ff;
uint16_t iz = (uint16_t)((current[map[PLUS_Z]] + current[map[MINUS_Z]])) & 0x3ff;
uint16_t ic = 0;
uint16_t ib = 0;
if (current[map[BAT]] < 0 )
ic = (uint16_t)(current[map[BAT]] * (-1)) & 0x3ff; // charging current
else
ib = (uint16_t)(current[map[BAT]]) & 0x3ff; // supplying current
// printf("X %x Y %x Z %x B %x\n", x, y, z, b);
// printf("iX %x iY %x iZ %x iB %x iC\n", ix, iy, iz, ib, ic);
#if defined(FC_SIM) || defined(JY_1)
source_bytes[extended + FC_EPS + 0] = 0xff & (x >> 6); // Vx
source_bytes[extended + FC_EPS + 1] = 0xfc & (x << 2);
source_bytes[extended + FC_EPS + 1] = source_bytes[extended + FC_EPS + 1] | (0x03 & (y >> 12));
source_bytes[extended + FC_EPS + 2] = 0xff & (y >> 2); // Vy
source_bytes[extended + FC_EPS + 3] = 0xf0 & (y << 4);
source_bytes[extended + FC_EPS + 3] = source_bytes[extended + FC_EPS + 3] | (0x0f & (z >> 10));
source_bytes[extended + FC_EPS + 4] = 0xff & (z >> 2); // Vz
source_bytes[extended + FC_EPS + 5] = 0xc0 & (z << 6);
source_bytes[extended + FC_EPS + 5] = source_bytes[extended + FC_EPS + 5] | (0x3f & (b >> 8));
source_bytes[extended + FC_EPS + 6] = 0xff & (b >> 0); // Vb
source_bytes[extended + FC_EPS + 7] = 0xff & (ix >> 2); // ix
source_bytes[extended + FC_EPS + 8] = 0xc0 & (iy << 6); // iy
source_bytes[extended + FC_EPS + 8] = source_bytes[extended + FC_EPS + 8] | (0x3f & (iy >> 4));
source_bytes[extended + FC_EPS + 9] = 0xf0 & (iy << 4);
source_bytes[extended + FC_EPS + 9] = source_bytes[extended + FC_EPS + 9] | (0x0f & (iz >> 6));
source_bytes[extended + FC_EPS + 10] = 0x3f & (iz << 2); // iz
source_bytes[extended + FC_EPS + 10] = source_bytes[extended + FC_EPS + 10] | (0x03 & (ic >> 8));
source_bytes[extended + FC_EPS + 11] = 0xff & (ic << 0); // ic battery charging curent
source_bytes[extended + FC_EPS + 12] = 0xff & (ib >> 2); // ib battery discharging current
source_bytes[extended + FC_EPS + 13] = 0xc0 & (ib << 6);
source_bytes[extended + FC_EPS + 13] = source_bytes[extended + FC_EPS + 13] | 0x3f & (((unsigned long int)reset_count) >> 2);
source_bytes[extended + FC_EPS + 14] = 0xff & (((unsigned long int)reset_count) << 6); // reset count
uint8_t temp = (int)(other[IHU_TEMP] + 0.5);
source_bytes[extended + FC_EPS + 17] = source_bytes[extended + FC_EPS + 17] | 0x3f & (temp >> 2); // cpu temp
source_bytes[extended + FC_EPS + 18] = 0xff & (temp << 6);
source_bytes[extended + 48] = 0x0c; // Antenna 1 and 2 deployed
source_bytes[extended + 49] = 0xff & ((unsigned long int)sequence >> 16); // sequence number
source_bytes[extended + 50] = 0xff & ((unsigned long int)sequence >> 8);
source_bytes[extended + 51] = 0xff & (unsigned long int)sequence++;
uint16_t groundCommandCount = 0;
FILE * command_count_file = fopen("/home/pi/CubeSatSim/command_count.txt", "r");
if (command_count_file != NULL) {
char count_string[10];
if ( (fgets(count_string, 10, command_count_file)) != NULL)
groundCommandCount = (uint16_t) atoi(count_string);
} else
printf("Error opening command_count.txt!\n");
fclose(command_count_file);
// source_bytes[extended + 52] = 0xfc & (groundCommandCount << 2); // command doesn't work
source_bytes[extended + 53] = 0x0f; // SW valid
source_bytes[extended + 54] = 0xe0; // SW valid
if ((ix + iy + iz) < 4)
source_bytes[extended + 54] = source_bytes[extended + 54] | 0x10; // eclipse
if (SafeMode == 1)
source_bytes[extended + 54] = source_bytes[extended + 54] | 0x08; // safe mode
#endif
#ifdef FC_EM
source_bytes[FC_EPS + 0] = 0xff & (((unsigned int)((voltage[map[PLUS_X]] + voltage[map[MINUS_X]]) * 1000) >> 8)); // mV
source_bytes[FC_EPS + 1] = 0xff & ((unsigned int)((voltage[map[PLUS_X]] + voltage[map[MINUS_X]]) * 1000));
source_bytes[FC_EPS + 2] = 0xff & (((unsigned int)((voltage[map[PLUS_Y]] + voltage[map[MINUS_Y]]) * 1000) >> 8)); // mV
source_bytes[FC_EPS + 3] = 0xff & ((unsigned int)((voltage[map[PLUS_Y]] + voltage[map[MINUS_Y]]) * 1000));
source_bytes[FC_EPS + 4] = 0xff & (((unsigned int)((voltage[map[PLUS_Z]] + voltage[map[MINUS_Z]]) * 1000) >> 8)); // mV
source_bytes[FC_EPS + 5] = 0xff & ((unsigned int)((voltage[map[PLUS_Z]] + voltage[map[MINUS_Z]]) * 1000));
unsigned int total_solar_current = (unsigned int) (current[map[PLUS_X]] + current[map[MINUS_X]]
+ current[map[PLUS_Y]] + current[map[MINUS_Y]]
+ current[map[PLUS_Z]] + current[map[MINUS_Z]]);
source_bytes[FC_EPS + 6] = 0xff & total_solar_current >> 8;
source_bytes[FC_EPS + 7] = 0xff & total_solar_current;
source_bytes[FC_EPS + 8] = 0xff & (((unsigned int)(voltage[map[BAT]] * 1000) >> 8)); // mV
source_bytes[FC_EPS + 9] = 0xff & ((unsigned int)(voltage[map[BAT]] * 1000));
source_bytes[FC_EPS + 10] = 0xff & (((unsigned int)(current[map[BAT]] * 1) >> 8)); // mA
source_bytes[FC_EPS + 11] = 0xff & ((unsigned int)(current[map[BAT]] * 1));
source_bytes[FC_EPS + 12] = 0xff & (((unsigned long int)reset_count >> 8));
source_bytes[FC_EPS + 13] = 0xff & ((unsigned long int)reset_count);
source_bytes[FC_SW + 0] = 0xff & ((unsigned long int)sequence >> 16); // Sequence number
source_bytes[FC_SW + 1] = 0xff & ((unsigned long int)sequence >> 8);
source_bytes[FC_SW + 2] = 0xff & (unsigned long int)sequence++;
#endif
/**/
printf("\nsource_bytes\n");
for (int i=0; i<256; i++)
printf("%x ", source_bytes[i]);
printf("\n\n");
/**/
/* convert data buffer into stream buffer */
const unsigned char* encoded_bytes = encode(source_bytes, byte_count);
/*
printf("\nencoded_bytes\n");
for (int i=0; i<5200; i++)
printf("%d", encoded_bytes[i]);
printf("\n\n");
*/
/* convert to waveform buffer */
int data;
int val;
int i;
ctr = 0;
int symbol = 0;
smaller = (int) (S_RATE / (2 * freq_Hz));
// printf("\n\nsmaller = %d \n\n",smaller);
for (i = 1; i <= headerLen * samples; i++) {
write_wave(ctr, buffer);
if ((i % samples) == 0) {
phase *= -1;
if ((ctr - smaller) > 0) {
int j;
for (j = 1; j <= smaller; j++) {
buffer[ctr - j] = buffer[ctr - j] * 0.5;
// if (ctr < 1000) printf("# %d %d\n", ctr - j, buffer[ctr - j]);
}
}
flip_ctr = ctr;
}
}
for (i = 1; i <= syncBits * samples; i++) {
write_wave(ctr, buffer);
// printf("%d ",ctr);
if ((i % samples) == 0) {
int bit = syncBits - i / samples + 1;
val = syncWord;
data = val & 1 << (bit - 1);
// printf ("--- %d i: %d sync bit %d = %d \n",
// ctr, i, bit, (data > 0) );
if (data == 0) {
phase *= -1;
if ((ctr - smaller) > 0) {
int j;
for (j = 1; j <= smaller; j++)
buffer[ctr - j] = buffer[ctr - j] * 0.5;
}
flip_ctr = ctr;
}
}
}
for (i = 1; i <= (dataLen * samples); i++) // 5200
{
write_wave(ctr, buffer);
if ((i % samples) == 0) {
symbol = i / samples - 1;
// if (i < 100) printf("symbol = %d\n",symbol);
data = encoded_bytes[symbol];
if (data == 0) {
phase *= -1;
if ((ctr - smaller) > 0) {
int j;
for (j = 1; j <= smaller; j++) {
buffer[ctr - j] = buffer[ctr - j] * 0.5;
// if (ctr < 1000) printf("# %d %d\n", ctr - j, buffer[ctr - j]);
}
}
flip_ctr = ctr;
}
}
}
// printf("symbol = %d\n",symbol);
// printf("\nctr = %d\n\n", ctr);
// socket_send((((headerLen + syncBits + dataLen) * samples) * 2) + 2);
socket_send(ctr);
if (!transmit) {
fprintf(stderr, "\nNo CubeSatSim Band Pass Filter detected. No transmissions after the CW ID.\n");
fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n");
}
int startSleep = millis();
if ((millis() - sampleTime) < ((unsigned int)frameTime)) // - 750 + pi_zero_2_offset))
sleep(1.0);
while ((millis() - sampleTime) < ((unsigned int)frameTime)) // - 750 + pi_zero_2_offset))
sleep(0.1);
printf("Start sleep %d Sleep period: %d while period: %d\n", startSleep, millis() - startSleep, millis() - sampleTime);
sampleTime = (unsigned int) millis(); // resetting time for sleeping
fflush(stdout);
}
void socket_send(int length) {
printf("Socket_send!\n");
int error = 0;
if (!socket_open && transmit) { // open socket if not open
printf("Opening socket!\n");
// struct sockaddr_in address;
// int valread;
struct sockaddr_in serv_addr;
// char *hello = "Hello from client";
// char buffer[1024] = {0};
if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
printf("\n Socket creation error \n");
error = 1;
}
memset( & serv_addr, '0', sizeof(serv_addr));
serv_addr.sin_family = AF_INET;
serv_addr.sin_port = htons(PORT);
// Convert IPv4 and IPv6 addresses from text to binary form
if (inet_pton(AF_INET, "127.0.0.1", & serv_addr.sin_addr) <= 0) {
printf("\nInvalid address/ Address not supported \n");
error = 1;
}
if (connect(sock, (struct sockaddr * ) & serv_addr, sizeof(serv_addr)) < 0) {
printf("\nConnection Failed \n");
printf("Error: %s\n", strerror(errno));
error = 1;
// try again
error = 0;
if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
printf("\n Socket creation error \n");
error = 1;
}
memset( & serv_addr, '0', sizeof(serv_addr));
serv_addr.sin_family = AF_INET;
serv_addr.sin_port = htons(PORT);
// Convert IPv4 and IPv6 addresses from text to binary form
if (inet_pton(AF_INET, "127.0.0.1", & serv_addr.sin_addr) <= 0) {
printf("\nInvalid address/ Address not supported \n");
error = 1;
}
if (connect(sock, (struct sockaddr * ) & serv_addr, sizeof(serv_addr)) < 0) {
printf("\nConnection Failed \n");
printf("Error: %s\n", strerror(errno));
error = 1;
}
}
if (error == 1) {
printf("Socket error count: %d\n", error_count);
// ; //transmitStatus = -1;
if (error_count++ > 5) {
printf("Restarting transmit\n");
FILE * transmit_restartf = popen("sudo systemctl restart transmit", "r");
pclose(transmit_restartf);
sleep(10); // was 5 // sleep if socket connection refused
}
}
else {
socket_open = 1;
error_count = 0;
}
}
/* write waveform buffer over socket */
// int length = (((headerLen + syncBits + dataLen) * samples) * 2) + 2; // ctr * 2 + 2 like bpsk due to 2 bytes per sample.
length = length * 2 + 2; // convert from samples to bytes
// printf("length in bytes: %d\n", length);
if (!error && transmit) {
// printf("Sending %d buffer bytes over socket after %d ms!\n", ctr, (long unsigned int)millis() - start);
start = millis();
int sock_ret = send(sock, buffer, length, 0);
printf("socket send 1 %d ms bytes: %d \n\n", (unsigned int)millis() - start, sock_ret);
fflush(stdout);
if (sock_ret < length) {
// printf("Not resending\n");
sleep(0.5);
sock_ret = send(sock, &buffer[sock_ret], length - sock_ret, 0);
// printf("socket send 2 %d ms bytes: %d \n\n", millis() - start, sock_ret);
}
// loop_count++;
if (sock_ret == -1) {
printf("Error: %s \n", strerror(errno));
socket_open = 0;
}
}
/*
if (!transmit) {
fprintf(stderr, "\nNo CubeSatSim Band Pass Filter detected. No transmissions after the CW ID.\n");
fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n");
}
int startSleep = millis();
if ((millis() - sampleTime) < ((unsigned int)frameTime)) // - 750 + pi_zero_2_offset))
sleep(1.0);
while ((millis() - sampleTime) < ((unsigned int)frameTime)) // - 750 + pi_zero_2_offset))
sleep(0.1);
printf("Start sleep %d Sleep period: %d while period: %d\n", startSleep, millis() - startSleep, millis() - sampleTime);
sampleTime = (unsigned int) millis(); // resetting time for sleeping
fflush(stdout);
*/
if (socket_open == 1)
firstTime = 0;
}