/* * Transmits CubeSat Telemetry at 434.9MHz in AFSK, FSK, or BPSK format * * 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 #include #include #include #include #include "status.h" #include "ax5043.h" #include "ax25.h" #include "spi/ax5043spi.h" #include #include #include #include #include #include "TelemEncoding.h" #include #include #include #include #include #include #define PORT 8080 #define A 1 #define B 2 #define C 3 #define D 4 #define PLUS_X 0 #define PLUS_Y 1 #define BAT 2 #define BUS 3 #define MINUS_X 4 #define MINUS_Y 5 #define PLUS_Z 6 #define MINUS_Z 7 #define TEMP 2 #define PRES 3 #define ALT 4 #define HUMI 5 #define GYRO_X 7 #define GYRO_Y 8 #define GYRO_Z 9 #define ACCEL_X 10 #define ACCEL_Y 11 #define ACCEL_Z 12 #define XS1 14 #define XS2 15 #define XS3 16 #define RSSI 0 #define IHU_TEMP 2 #define SPIN 1 #define OFF - 1 #define ON 1 uint32_t tx_freq_hz = 434900000 + FREQUENCY_OFFSET; uint8_t data[1024]; uint32_t tx_channel = 0; ax5043_conf_t hax5043; ax25_conf_t hax25; int twosToInt(int val, int len); float toAprsFormat(float input); float rnd_float(double min, double max); void get_tlm(); void get_tlm_fox(); int encodeA(short int * b, int index, int val); int encodeB(short int * b, int index, int val); void config_x25(); void trans_x25(); int upper_digit(int number); int lower_digit(int number); static int init_rf(); int socket_open = 0; int sock = 0; int loop = -1, loop_count = 0; int firstTime = ON; // 0; long start; int testCount = 0; long time_start; char cmdbuffer[1000]; FILE * file1; short int buffer[2336400]; // max size for 10 frames count of BPSK FILE *sopen(const char *program); #define S_RATE (48000) // (44100) #define AFSK 1 #define FSK 2 #define BPSK 3 #define SSTV 4 #define CW 5 int rpitxStatus = -1; float amplitude; // = ; // 20000; // 32767/(10%amp+5%amp+100%amp) float freq_Hz = 3000; // 1200 short int sin_samples; short int sin_map[16]; int STEMBoardFailure = 1; int smaller; int flip_ctr = 0; int phase = 1; int ctr = 0; int rd = 0; int nrd; void write_to_buffer(int i, int symbol, int val); void write_wave(int i, short int * buffer); int uart_fd; int reset_count = 0; float uptime_sec = 0; long int uptime; char call[5]; char sim_yes[10]; int bitRate, mode, bufLen, rsFrames, payloads, rsFrameLen, dataLen, headerLen, syncBits, syncWord, parityLen, samples, frameCnt, samplePeriod; float sleepTime; unsigned int sampleTime = 0; int frames_sent = 0; int cw_id = ON; int vB4 = FALSE, vB5 = FALSE, vB3 = FALSE, ax5043 = FALSE, transmit = FALSE, onLed, onLedOn, onLedOff, txLed, txLedOn, txLedOff, payload = OFF; float voltageThreshold = 3.5, batteryVoltage = 4.5, batteryCurrent = 0, currentThreshold = 100; float latitude = 39.027702f, longitude = -77.078064f; float lat_file, long_file; double cpuTemp; int frameTime; float axis[3], angle[3], volts_max[3], amps_max[3], batt, speed, period, tempS, temp_max, temp_min, eclipse; int i2c_bus0 = OFF, i2c_bus1 = OFF, i2c_bus3 = OFF, camera = OFF, sim_mode = FALSE, SafeMode = FALSE, rxAntennaDeployed = 0, txAntennaDeployed = 0; double eclipse_time; float voltage[9], current[9], sensor[17], other[3]; char sensor_payload[500]; int test_i2c_bus(int bus); const char pythonCmd[] = "python3 -u /home/pi/CubeSatSim/python/voltcurrent.py "; char pythonStr[100], pythonConfigStr[100], busStr[10]; int map[8] = {0, 1, 2, 3, 4, 5, 6, 7}; char src_addr[5] = ""; char dest_addr[5] = "APCSS"; float voltage_min[9], current_min[9], voltage_max[9], current_max[9], sensor_max[17], sensor_min[17], other_max[3], other_min[3]; int main(int argc, char * argv[]) { mode = FSK; frameCnt = 1; if (argc > 1) { // strcpy(src_addr, argv[1]); if ( * argv[1] == 'b') { mode = BPSK; printf("Mode BPSK\n"); } else if ( * argv[1] == 'a') { mode = AFSK; printf("Mode AFSK\n"); } else if ( * argv[1] == 'm') { mode = CW; printf("Mode CW\n"); } else { printf("Mode FSK\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 == 'b') { mode = BPSK; printf("Mode is BPSK\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 { printf("Mode is FSK\n"); } } } FILE * rpitx_restart = popen("sudo systemctl restart rpitx", "r"); pclose(rpitx_restart); // 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", call, & reset_count, & lat_file, & long_file, sim_yes); fclose(config_file); printf("Config file /home/pi/CubeSatSim/sim.cfg contains %s %d %f %f %s\n", call, reset_count, lat_file, long_file, sim_yes); reset_count = (reset_count + 1) % 0xffff; if ((fabs(lat_file) > 0) && (fabs(lat_file) < 90.0) && (fabs(long_file) > 0) && (fabs(long_file) < 180.0)) { printf("Valid latitude and longitude in config file\n"); // convert to APRS DDMM.MM format latitude = toAprsFormat(lat_file); longitude = toAprsFormat(long_file); printf("Lat/Long in APRS DDMM.MM format: %f/%f\n", latitude, longitude); } else { // set default latitude = toAprsFormat(latitude); longitude = toAprsFormat(longitude); } if (strcmp(sim_yes, "yes") == 0) sim_mode = TRUE; /* if (mode == SSTV) { fprintf(stderr, "Sleeping"); while (1) sleep(10); } */ wiringPiSetup(); // 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, '1', (uint8_t * ) call, '1', 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); } // else // { // printf("SPI not enabled!\n"); // } pclose(file); txLed = 0; // defaults for vB3 board without TFB txLedOn = LOW; txLedOff = HIGH; if (!ax5043) { pinMode(2, INPUT); pullUpDnControl(2, PUD_UP); if (digitalRead(2) != HIGH) { printf("vB3 with TFB Present\n"); vB3 = TRUE; txLed = 3; txLedOn = LOW; txLedOff = HIGH; onLed = 0; onLedOn = LOW; onLedOff = HIGH; transmit = TRUE; } else { pinMode(3, INPUT); pullUpDnControl(3, PUD_UP); if (digitalRead(3) != HIGH) { printf("vB4 Present\n"); txLed = 2; txLedOn = HIGH; txLedOff = LOW; vB4 = TRUE; onLed = 0; onLedOn = HIGH; onLedOff = LOW; transmit = TRUE; } else { pinMode(26, INPUT); pullUpDnControl(26, PUD_UP); if (digitalRead(26) != HIGH) { printf("vB5 Present\n"); txLed = 2; txLedOn = HIGH; txLedOff = LOW; vB5 = TRUE; onLed = 27; onLedOn = HIGH; onLedOff = LOW; transmit = TRUE; } } } } pinMode(txLed, OUTPUT); digitalWrite(txLed, txLedOff); #ifdef DEBUG_LOGGING printf("Tx LED Off\n"); #endif pinMode(onLed, OUTPUT); digitalWrite(onLed, onLedOn); #ifdef DEBUG_LOGGING printf("Power LED On\n"); #endif config_file = fopen("sim.cfg", "w"); fprintf(config_file, "%s %d %8.4f %8.4f %s", call, reset_count, lat_file, long_file, sim_yes); // fprintf(config_file, "%s %d", call, reset_count); fclose(config_file); config_file = fopen("sim.cfg", "r"); if (vB4) { map[BAT] = BUS; map[BUS] = BAT; snprintf(busStr, 10, "%d %d", test_i2c_bus(1), 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", test_i2c_bus(1), test_i2c_bus(3)); } } else { map[BUS] = MINUS_Z; map[BAT] = BUS; map[PLUS_Z] = BAT; map[MINUS_Z] = PLUS_Z; snprintf(busStr, 10, "%d %d", test_i2c_bus(1), test_i2c_bus(0)); voltageThreshold = 8.0; } // test i2c buses fflush(stdout); //printf("Test bus 0\n"); //fflush(stdout); //i2c_bus0 = (test_i2c_bus(0) != -1) ? ON : OFF; printf("Test bus 1\n"); fflush(stdout); i2c_bus1 = (test_i2c_bus(1) != -1) ? ON : OFF; printf("Test bus 3\n"); fflush(stdout); i2c_bus3 = (test_i2c_bus(3) != -1) ? ON : OFF; printf("Finished testing\n"); fflush(stdout); // 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", & cmdbuffer1, 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"); pclose(file5); // try connecting to STEM Payload board using UART // /boot/config.txt and /boot/cmdline.txt must be set correctly for this to work if (!ax5043 && !vB3 && !(mode == CW) && !(mode == SSTV)) // don't test for payload if AX5043 is present or CW or SSTV modes { payload = OFF; if ((uart_fd = serialOpen("/dev/ttyAMA0", 115200)) >= 0) { // was 9600 char c; int charss = (char) serialDataAvail(uart_fd); if (charss != 0) printf("Clearing buffer of %d chars \n", charss); while ((charss--> 0)) c = (char) serialGetchar(uart_fd); // clear buffer unsigned int waitTime; int i; for (i = 0; i < 2; i++) { if (payload != ON) { serialPutchar(uart_fd, 'R'); printf("Querying payload with R to reset\n"); waitTime = millis() + 500; while ((millis() < waitTime) && (payload != ON)) { if (serialDataAvail(uart_fd)) { printf("%c", c = (char) serialGetchar(uart_fd)); fflush(stdout); if (c == 'O') { printf("%c", c = (char) serialGetchar(uart_fd)); fflush(stdout); if (c == 'K') payload = ON; } } printf("\n"); // sleep(0.75); } } } if (payload == ON) { printf("\nSTEM Payload is present!\n"); sleep(2); // delay to give payload time to get ready } else { printf("\nSTEM Payload not present!\n -> Is STEM Payload programed and Serial1 set to 115200 baud?\n"); } } 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; printf("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; 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 } //int ret; //uint8_t data[1024]; tx_freq_hz -= tx_channel * 50000; if (transmit == FALSE) { 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 (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"); } 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)) get_tlm_fox(); // fill transmit buffer with reset count 0 packets that will be ignored firstTime = 1; if (!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 < 17; 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; } long int loopTime; 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); printf("++++ Loop time: %5.3f sec +++++\n", (millis() - loopTime)/1000.0); fflush(stdout); loopTime = millis(); 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[BUS]] = rnd_float(5.0, 5.005); current[map[BUS]] = 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[BUS]] * voltage[map[BUS]]) / batt) - charging; // printf("charging: %f bat curr: %f bus curr: %f bat volt: %f bus volt: %f \n",charging, current[map[BAT]], current[map[BUS]], batt, voltage[map[BUS]]); 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 { int count1; char * token; fputc('\n', file1); fgets(cmdbuffer, 1000, file1); fprintf(stderr, "Python read Result: %s\n", cmdbuffer); 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); } } } batteryVoltage = voltage[map[BAT]]; batteryCurrent = current[map[BAT]]; if (batteryVoltage < 3.6) { SafeMode = 1; printf("Safe Mode!\n"); } else SafeMode = 0; 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); if (payload == ON) { // -55 STEMBoardFailure = 0; char c; unsigned int waitTime; int i, end, trys = 0; sensor_payload[0] = 0; sensor_payload[1] = 0; while (((sensor_payload[0] != 'O') || (sensor_payload[1] != 'K')) && (trys++ < 10)) { i = 0; serialPutchar(uart_fd, '?'); sleep(0.05); // added delay after ? printf("%d Querying payload with ?\n", trys); waitTime = millis() + 500; end = FALSE; // int retry = FALSE; while ((millis() < waitTime) && !end) { int chars = (char) serialDataAvail(uart_fd); while ((chars > 0) && !end) { // printf("Chars: %d\ ", chars); chars--; c = (char) serialGetchar(uart_fd); // printf ("%c", c); // fflush(stdout); if (c != '\n') { sensor_payload[i++] = c; } else { end = TRUE; } } } sensor_payload[i++] = ' '; // sensor_payload[i++] = '\n'; sensor_payload[i] = '\0'; printf(" Response from STEM Payload board: %s\n", sensor_payload); sleep(0.1); // added sleep between loops } if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) // only process if valid payload response { int count1; char * token; // char cmdbuffer[1000]; // FILE *file = popen("python3 /home/pi/CubeSatSim/python/voltcurrent.py 1 11", "r"); // fgets(cmdbuffer, 1000, file); // printf("result: %s\n", cmdbuffer); // pclose(file); const char space[2] = " "; token = strtok(sensor_payload, space); for (count1 = 0; count1 < 17; count1++) { if (token != NULL) { sensor[count1] = (float) atof(token); #ifdef DEBUG_LOGGING // printf("sensor: %f ", sensor[count1]); #endif token = strtok(NULL, space); } } printf("\n"); } else payload = OFF; // turn off since STEM Payload is not responding } if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) { for (count1 = 0; count1 < 17; 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]); } } } #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 ((batteryVoltage > 1.0) && (batteryVoltage < batteryThreshold)) // no battery INA219 will give 0V, no battery plugged into INA219 will read < 1V if ((batteryCurrent > currentThreshold) && (batteryVoltage < voltageThreshold) && !sim_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); sleep(1); digitalWrite(onLed, onLedOn); sleep(1); digitalWrite(onLed, onLedOff); sleep(1); digitalWrite(onLed, onLedOn); sleep(1); digitalWrite(onLed, onLedOff); FILE * file6 = popen("/home/pi/CubeSatSim/log > shutdown_log.txt", "r"); pclose(file6); sleep(40); file6 = popen("sudo shutdown -h now > /dev/null 2>&1", "r"); pclose(file6); sleep(10); } // sleep(1); // Delay 1 second ctr = 0; #ifdef DEBUG_LOGGING // fprintf(stderr, "INFO: Getting TLM Data\n"); #endif if ((mode == AFSK) || (mode == CW)) { get_tlm(); } else if ((mode == FSK) || (mode == BPSK)) {// FSK or BPSK get_tlm_fox(); } else { // SSTV fprintf(stderr, "Sleeping\n"); sleep(50); } #ifdef DEBUG_LOGGING // fprintf(stderr, "INFO: Getting ready to send\n"); #endif } if (mode == BPSK) { // 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); /* digitalWrite(txLed, txLedOn); #ifdef DEBUG_LOGGING printf("Tx LED On 2\n"); #endif */ int tlm[7][5]; memset(tlm, 0, sizeof tlm); // Reading I2C voltage and current sensors /* int count1; char * token; // char cmdbuffer[1000]; // FILE * file = popen(pythonStr, "r"); fputc('\n', file1); fgets(cmdbuffer, 1000, file1); printf("Python result: %s\n", cmdbuffer); // pclose(file); const char space[2] = " "; token = strtok(cmdbuffer, space); float voltage[9], current[9]; memset(voltage, 0, sizeof(voltage)); memset(current, 0, sizeof(current)); 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); #ifdef DEBUG_LOGGING // printf("current: %f\n", current[count1]); #endif token = strtok(NULL, space); } } } batteryVoltage = voltage[map[BAT]]; batteryCurrent = current[map[BAT]]; double cpuTemp; FILE * cpuTempSensor = fopen("/sys/class/thermal/thermal_zone0/temp", "r"); if (cpuTempSensor) { fscanf(cpuTempSensor, "%lf", & cpuTemp); cpuTemp /= 1000; #ifdef DEBUG_LOGGING // printf("CPU Temp Read: %6.1f\n", cpuTemp); #endif } fclose(cpuTempSensor); if (sim_mode) { // simulated telemetry double time = ((long int) millis() - time_start) / 1000.0; if ((time - eclipse_time) > period) { eclipse = (eclipse == 1) ? 0.0 : 1.0; eclipse_time = time; printf("\n\nSwitching eclipse mode! \n\n"); } float Xi = eclipse * amps_max[0] * (float) sin(2.0 * 3.14 * time / (46.0 * speed)) + rnd_float(-2, 2); float Yi = eclipse * amps_max[1] * (float) sin((2.0 * 3.14 * time / (46.0 * speed)) + (3.14 / 2.0)) + rnd_float(-2, 2); float Zi = eclipse * amps_max[2] * (float) sin((2.0 * 3.14 * time / (46.0 * speed)) + 3.14 + angle[2]) + rnd_float(-2, 2); float Xv = eclipse * volts_max[0] * (float) sin(2.0 * 3.14 * time / (46.0 * speed)) + rnd_float(-0.2, 0.2); float 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); float 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) / 50.0) : ((temp_min - tempS) / 50.0f); cpuTemp = tempS + rnd_float(-1.0, 1.0); voltage[map[BUS]] = rnd_float(5.0, 5.005); current[map[BUS]] = 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[BUS]] * voltage[map[BUS]]) / batt) - charging; // printf("charging: %f bat curr: %f bus curr: %f bat volt: %f bus volt: %f \n",charging, current[map[BAT]], current[map[BUS]], batt, voltage[map[BUS]]); batt -= (batt > 3.6) ? current[map[BAT]] / 30000 : current[map[BAT]] / 3000; if (batt < 3.5) { batt = 3.0; printf("Safe Mode!\n"); } if (batt > 4.5) batt = 4.5; voltage[map[BAT]] = batt + rnd_float(-0.01, 0.01); // end of simulated telemetry } */ tlm[1][A] = (int)(voltage[map[BUS]] / 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[BUS]] * 10.0) % 100; // 5V supply to Pi tlm[4][A] = (int)((95.8 - cpuTemp) / 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[] = ">CQ:>041440zhi hi "; //char header_str2[] = ">CQ:=4003.79N\\07534.33WShi hi "; char header_str2[] = ">APCSS:"; char header_str2b[30]; // for APRS coordinates char header_lat[10]; char header_long[10]; char header_str4[] = "hi hi "; char footer_str1[] = "\' > t.txt && echo \'"; // char footer_str[] = ">CQ:010101/hi hi ' >> t.txt && gen_packets -o telem.wav t.txt -r 48000 > /dev/null 2>&1 && cat telem.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f 434.9e3 > /dev/null 2>&1"; char footer_str[] = ">APCSS:010101/hi hi ' >> t.txt && touch /home/pi/CubeSatSim/ready"; // transmit is done by rpitx.py 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, "%7.2f%c", latitude, 'N'); // lat else sprintf(header_lat, "%7.2f%c", latitude * (-1.0), 'S'); // lat if (longitude > 0) sprintf(header_long, "%08.2f%c", longitude , 'E'); // long else sprintf(header_long, "%08.2f%c", 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 sprintf(header_str2b, "=%s%c%c%sShi hi ", header_lat, 0x5c, 0x5c, header_long); // add APRS lat and long // printf("\n\nString is %s \n\n", header_str2b); strcat(str, header_str2b); } else { strcat(str, header_str4); } // } printf("Str: %s \n", str); int channel; for (channel = 1; channel < 7; channel++) { sprintf(tlm_str, "%d%d%d %d%d%d %d%d%d %d%d%d ", 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])); // printf("%s",tlm_str); strcat(str, tlm_str); } // read payload sensor if available char sensor_payload[500]; if (payload == ON) { char c; unsigned int waitTime; int i, end, trys = 0; sensor_payload[0] = 0; sensor_payload[1] = 0; while (((sensor_payload[0] != 'O') || (sensor_payload[1] != 'K')) && (trys++ < 10)) { i = 0; serialPutchar(uart_fd, '?'); sleep(0.05); // added delay after ? printf("%d Querying payload with ?\n", trys); waitTime = millis() + 500; end = FALSE; // int retry = FALSE; while ((millis() < waitTime) && !end) { int chars = (char) serialDataAvail(uart_fd); while ((chars > 0) && !end) { // printf("Chars: %d\ ", chars); chars--; c = (char) serialGetchar(uart_fd); // printf ("%c", c); // fflush(stdout); if (c != '\n') { sensor_payload[i++] = c; } else { end = TRUE; } } } sensor_payload[i++] = ' '; // sensor_payload[i++] = '\n'; sensor_payload[i] = '\0'; printf(" Response from STEM Payload board: %s\n", sensor_payload); sleep(0.1); // added sleep between loops } if (mode != CW) strcat(str, sensor_payload); // append to telemetry string for transmission } // digitalWrite(txLed, txLedOn); // #ifdef DEBUG_LOGGING // printf("Tx LED On 3\n"); // #endif 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/rpitx/rpitx -i- -m RF -f 434.897e3"; char cw_footer3[] = "' > cw.txt && touch /home/pi/CubeSatSim/cwready"; // transmit is done by rpitx.py // printf("Str str: %s \n", str); // fflush(stdout); strcat(str, cw_footer3); // printf("Str: %s \n", str); // fflush(stdout); printf("CW string to execute: %s\n", str); fflush(stdout); FILE * cw_file = popen(str, "r"); pclose(cw_file); while ((cw_file = fopen("/home/pi/CubeSatSim/cwready", "r")) != NULL) { // wait for rpitx to be done fclose(cw_file); // printf("Sleeping while waiting for rpitx \n"); // fflush(stdout); sleep(5); } } else if (ax5043) { digitalWrite(txLed, txLedOn); // #ifdef DEBUG_LOGGING // printf("Tx LED On 5\n"); // #endif 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); // #ifdef DEBUG_LOGGING // printf("Tx LED Off\n"); // #endif 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 rpitx strcat(str, footer_str1); strcat(str, call); strcat(str, footer_str); // 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); /* digitalWrite(txLed, txLedOn); #ifdef DEBUG_LOGGING printf("Tx LED On 6\n"); #endif */ sleep(2); digitalWrite(txLed, txLedOff); // #ifdef DEBUG_LOGGING // printf("Tx LED Off 6\n"); // #endif } 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); } } // digitalWrite(txLed, txLedOff); // #ifdef DEBUG_LOGGING // printf("Tx LED Off\n"); // #endif return; } void get_tlm_fox() { // Reading I2C voltage and current sensors /* FILE * uptime_file = fopen("/proc/uptime", "r"); fscanf(uptime_file, "%f", & uptime_sec); uptime = (int) uptime_sec; #ifdef DEBUG_LOGGING printf("Reset Count: %d Uptime since Reset: %ld \n", reset_count, uptime); #endif fclose(uptime_file); */ int i; // long int sync = SYNC_WORD; long int sync = syncWord; smaller = (int) (S_RATE / (2 * freq_Hz)); // short int b[DATA_LEN]; 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[HEADER_LEN]; short int h[headerLen]; memset(h, 0, sizeof(h)); memset(buffer, 0xa5, sizeof(buffer)); // short int b10[DATA_LEN], h10[HEADER_LEN]; // short int rs_frame[RS_FRAMES][223]; // unsigned char parities[RS_FRAMES][PARITY_LEN],inputByte; // short int b10[dataLen], h10[headerLen]; short int rs_frame[rsFrames][223]; unsigned char parities[rsFrames][parityLen], inputByte; int id, frm_type = 0x01, NormalModeFailure = 0, groundCommandCount = 0; int PayloadFailure1 = 0, PayloadFailure2 = 0; int PSUVoltage = 0, PSUCurrent = 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; // int xAngularVelocity = (-0.69)*(-10)*(-10) + 45.3 * (-10) + 2078, yAngularVelocity = (-0.69)*(-6)*(-6) + 45.3 * (-6) + 2078, zAngularVelocity = (-0.69)*(6)*(6) + 45.3 * (6) + 2078; // XAxisAngularVelocity // int xAngularVelocity = 2078, yAngularVelocity = 2078, zAngularVelocity = 2078; // XAxisAngularVelocity Y and Z set to 0 // int xAngularVelocity = 2048, yAngularVelocity = 2048, zAngularVelocity = 2048; // XAxisAngularVelocity Y and Z set to 0 // int RXTemperature = 0, temp = 0, spin = 0;; // float xAccel = 0.0, yAccel = 0.0, zAccel = 0.0; // float BME280pressure = 0.0, BME280altitude = 0.0, BME280humidity = 0.0, BME280temperature = 0.0; // float XSsensor1 = 0.0, XSsensor2 = 0.0, XSsensor3 = 0.0; // int sensor1 = 0, sensor2 = 2048, sensor3 = 2048; 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++) { /* sleep(1.8); // digitalWrite(txLed, txLedOff); #ifdef DEBUG_LOGGING // printf("Tx LED Off\n"); #endif sleep(0.5); // digitalWrite(txLed, txLedOn); #ifdef DEBUG_LOGGING // printf("Tx LED On 7\n"); #endif */ if (firstTime != ON) { // delay for sample period /**/ // while ((millis() - sampleTime) < (unsigned int)samplePeriod) int startSleep = millis(); if ((millis() - sampleTime) < ((unsigned int)frameTime - 250)) // was 250 100 500 for FSK sleep(2.0); // 0.5); // 25); // initial period while ((millis() - sampleTime) < ((unsigned int)frameTime - 250)) // was 250 100 sleep(0.1); // 25); // 0.5); // 25); // sleep((unsigned int)sleepTime); /**/ /* if ((millis() - sampleTime) < 500) // if (mode == BPSK) sleep(4.0); // else // FSK if (mode == FSK) sleep(2.3); */ /* // most recent sleep code if (mode == FSK) { sleep(2.3); // printf("Sleep time 2.3\n"); } else { sleep(2.95); // 2.3); printf("Sleep time 2.95\n"); } */ printf("Sleep period: %d\n", millis() - startSleep); fflush(stdout); sampleTime = (unsigned int) millis(); } else printf("first time - no sleep\n"); /* float voltage[9], current[9], sensor[17], other[3]; char sensor_payload[500]; 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; #ifdef DEBUG_LOGGING printf("INFO: Reset Count: %d Uptime since Reset: %ld \n", reset_count, uptime); #endif fclose(uptime_file); */ /* 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[BUS]] = rnd_float(5.0, 5.005); current[map[BUS]] = 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[BUS]] * voltage[map[BUS]]) / batt) - charging; // printf("charging: %f bat curr: %f bus curr: %f bat volt: %f bus volt: %f \n",charging, current[map[BAT]], current[map[BUS]], batt, voltage[map[BUS]]); 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 { int count1; char * token; fputc('\n', file1); fgets(cmdbuffer, 1000, file1); fprintf(stderr, "Python read Result: %s\n", cmdbuffer); 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); } } } batteryVoltage = voltage[map[BAT]]; batteryCurrent = current[map[BAT]]; if (batteryVoltage < 3.6) { SafeMode = 1; printf("Safe Mode!\n"); } else SafeMode = 0; 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); if (payload == ON) { // -55 STEMBoardFailure = 0; char c; unsigned int waitTime; int i, end, trys = 0; sensor_payload[0] = 0; sensor_payload[1] = 0; while (((sensor_payload[0] != 'O') || (sensor_payload[1] != 'K')) && (trys++ < 10)) { i = 0; serialPutchar(uart_fd, '?'); sleep(0.05); // added delay after ? printf("%d Querying payload with ?\n", trys); waitTime = millis() + 500; end = FALSE; // int retry = FALSE; while ((millis() < waitTime) && !end) { int chars = (char) serialDataAvail(uart_fd); while ((chars > 0) && !end) { // printf("Chars: %d\ ", chars); chars--; c = (char) serialGetchar(uart_fd); // printf ("%c", c); // fflush(stdout); if (c != '\n') { sensor_payload[i++] = c; } else { end = TRUE; } } } sensor_payload[i++] = ' '; // sensor_payload[i++] = '\n'; sensor_payload[i] = '\0'; printf(" Response from STEM Payload board: %s\n", sensor_payload); sleep(0.1); // added sleep between loops } if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) // only process if valid payload response { int count1; char * token; // char cmdbuffer[1000]; // FILE *file = popen("python3 /home/pi/CubeSatSim/python/voltcurrent.py 1 11", "r"); // fgets(cmdbuffer, 1000, file); // printf("result: %s\n", cmdbuffer); // pclose(file); const char space[2] = " "; token = strtok(sensor_payload, space); for (count1 = 0; count1 < 17; count1++) { if (token != NULL) { sensor[count1] = (float) atof(token); #ifdef DEBUG_LOGGING // printf("sensor: %f ", sensor[count1]); #endif token = strtok(NULL, space); } } printf("\n"); } else payload = OFF; // turn off since STEM Payload is not responding } if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) { for (count1 = 0; count1 < 17; 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 (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 < 17; 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 < 17; 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)); /* FILE * uptime_file = fopen("/proc/uptime", "r"); fscanf(uptime_file, "%f", & uptime_sec); uptime = (int) uptime_sec; fclose(uptime_file); printf("Reset Count: %d Uptime since Reset: %ld \n", reset_count, uptime); */ //sleep(1); //printf("Sleep over\n"); 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; PSUVoltage = (int)(voltage[map[BUS]] * 100); PSUCurrent = (int)(current[map[BUS]] + 0.5) + 2048; if (payload == ON) STEMBoardFailure = 0; // read payload sensor if available encodeA(b, 0 + head_offset, batt_a_v); encodeB(b, 1 + head_offset, batt_b_v); encodeA(b, 3 + head_offset, batt_c_v); // encodeB(b, 4 + head_offset, (int)(xAccel * 100 + 0.5) + 2048); // Xaccel // encodeA(b, 6 + head_offset, (int)(yAccel * 100 + 0.5) + 2048); // Yaccel // encodeB(b, 7 + head_offset, (int)(zAccel * 100 + 0.5) + 2048); // Zaccel 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)(BME280temperature * 10 + 0.5)); // Temp 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[BUS]] * 100)); encodeB(b_max, 46 + head_offset, (int)(current_max[map[BUS]] + 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[0] != 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[XS1] * 10 + 0.5) + 2048); encodeB(b_max, 49 + head_offset, (int)(sensor_max[XS2] * 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)); } 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 // 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, 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); // encodeB(b_max, 10 + head_offset, (int)(sensor_max[TEMP] * 10 + 0.5)); // encodeA(b_max, 45 + head_offset, (int)(sensor_max[HUMI] + 0.5)); } 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[BUS]] * 100)); encodeB(b_min, 46 + head_offset, (int)(current_min[map[BUS]] + 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[0] != 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[XS1] * 10 + 0.5) + 2048); encodeB(b_min, 49 + head_offset, (int)(sensor_min[XS2] * 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)); } 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 // encodeA(b_min, 33 + head_offset, (int)(sensor_max[PRES] + 0.5)); // Pressure // encodeB(b_min, 34 + head_offset, (int)(sensor_max[ALT] * 10.0 + 0.5)); // Altitude 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); // encodeB(b_min, 10 + head_offset, (int)(sensor_max[TEMP] * 10 + 0.5)); // encodeA(b_min, 45 + head_offset, (int)(sensor_max[HUMI] + 0.5)); } } encodeA(b, 30 + head_offset, PSUVoltage); // encodeB(b, 31 + head_offset,(spin * 10) + 2048); encodeB(b, 31 + head_offset, ((int)(other[SPIN] * 10)) + 2048); // encodeA(b, 33 + head_offset,(int)(BME280pressure + 0.5)); // Pressure // encodeB(b, 34 + head_offset,(int)(BME280altitude + 0.5)); // Altitude 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, Rssi); encodeB(b, 37 + head_offset, (int)(other[RSSI] + 0.5) + 2048); // encodeA(b, 39 + head_offset, IHUcpuTemp); encodeA(b, 39 + head_offset, (int)(other[IHU_TEMP] * 10 + 0.5)); // encodeB(b, 40 + head_offset, xAngularVelocity); // encodeA(b, 42 + head_offset, yAngularVelocity); // encodeB(b, 43 + head_offset, zAngularVelocity); 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)(BME280humidity + 0.5)); // in place of sensor1 encodeA(b, 45 + head_offset, (int)(sensor[HUMI] * 10 + 0.5)); // in place of sensor1 encodeB(b, 46 + head_offset, PSUCurrent); // encodeA(b, 48 + head_offset, (int)(XSsensor2) + 2048); // encodeB(b, 49 + head_offset, (int)(XSsensor3 * 100 + 0.5) + 2048); // encodeA(b, 48 + head_offset, (int)(sensor[XS2]) + 2048); // encodeB(b, 49 + head_offset, (int)(sensor[XS3] * 100 + 0.5) + 2048); encodeA(b, 48 + head_offset, (int)(sensor[XS1] * 10 + 0.5) + 2048); encodeB(b, 49 + head_offset, (int)(sensor[XS2] * 10 + 0.5) + 2048); // camera = ON; 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); // encodeA(b, 51 + head_offset, STEMBoardFailure + NormalModeFailure * 2 + (i2c_bus0 == OFF) * 16 + (i2c_bus1 == OFF) * 32 + (i2c_bus3 == OFF) * 64 + (0) * 128 + 1 * 256 + 1 * 512 + 1 * 1024 + 1*2048); encodeB(b, 52 + head_offset, rxAntennaDeployed + txAntennaDeployed * 2); if (txAntennaDeployed == 0) { txAntennaDeployed = 1; printf("TX 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 //sleep(1); //printf("Sleep over\n"); 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/SAMPLES, 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/SAMPLES, 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 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; sleep(2.0); // sleep if socket connection refused } if (error == 1) ; //rpitxStatus = -1; else socket_open = 1; } 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); } /* if (mode == BPSK) { start = millis(); sock_ret = send(sock, buffer, (unsigned int)(ctr * 2 + 2), 0); printf("socket send 1a %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 2a %d ms bytes: %d \n\n", millis() - start, sock_ret); } } */ // if ((mode == BPSK) && (firstTime == 1)) // only do first time // if (firstTime == 1) // only do first time 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 (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 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; //rpitxStatus = -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"); } // digitalWrite (0, HIGH); // if (mode == FSK) 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 //static int twosToInt(int val,int len); //static int encodeB(short int *b, int index, int val); //static int encodeA(short int *b, int index, int val); // static int NOT_FRAME = /* 0fa */ 0xfa & 0x3ff; // static int FRAME = /* 0fa */ ~0xfa & 0x3ff; /* * TelemEncoding.c * Fox-1 telemetry encoder January 2014 Phil Karn KA9Q This file has two external functions: void update_rs(unsigned char parity[32],unsigned char data); int encode_8b10b(int *state,int data). update_rs() is the Reed-Solomon encoder. Its first argument is the 32-byte encoder shift register, the second is the 8-bit data byte being encoded. It updates the shift register in place and returns void. At the end of each frame, it contains the parities ready for transmission, starting with parity[0]. Be sure to zero this array before each new frame! encode_8b10b() is the 8b10b encoder. Its first argument is a pointer to a single integer with the 1-bit encoder state (the current run disparity, or RD). Initialize it to 0 JUST ONCE at startup (not between frames). The second argument is the data byte being encoded. It updates the state and returns an integer containing the 10-bit encoded word, right justified. Transmit this word from left to right. The data argument is an int so it can hold the special value -1 to indicate end of frame; it generates the 8b10b control word K.28.5, which is used as an inter-frame flag. Some assert() calls are made to verify legality of arguments. These can be turned off in production code. sample frame transmission code: unsigned char data[64]; // Data block to be sent unsigned char parity[32]; // RS parities void transmit_word(int); // User provided transmit function: 10 bits of data in bits 9....0 int state,i; state = 0; // Only once at startup, not between frames memset(parity,0,sizeof(parity); // Do this before every frame // Transmit the data, updating the RS encoder for(i=0;i<64;i++){ update_rs(parity,data[i]); transmit_word(encode_8b10b(&state,data[i]); } // get the RS parities for(i=0;i<32;i++) transmit_word(encode_8b10b(&state,parity[i]); transmit_word(encode_8b10b(&state,-1); // Transmit end-of-frame flag */ #include //#include "Fox.h" //#include "TelemEncoding.h" #ifndef NULL #define NULL ((void *)0) #endif #define NN (0xff) // Frame size in symbols #define A0 (NN) // special value for log(0) // GF Antilog lookup table table static unsigned char CCSDS_alpha_to[NN+1] = { 0x01,0x02,0x04,0x08,0x10,0x20,0x40,0x80,0x87,0x89,0x95,0xad,0xdd,0x3d,0x7a,0xf4, 0x6f,0xde,0x3b,0x76,0xec,0x5f,0xbe,0xfb,0x71,0xe2,0x43,0x86,0x8b,0x91,0xa5,0xcd, 0x1d,0x3a,0x74,0xe8,0x57,0xae,0xdb,0x31,0x62,0xc4,0x0f,0x1e,0x3c,0x78,0xf0,0x67, 0xce,0x1b,0x36,0x6c,0xd8,0x37,0x6e,0xdc,0x3f,0x7e,0xfc,0x7f,0xfe,0x7b,0xf6,0x6b, 0xd6,0x2b,0x56,0xac,0xdf,0x39,0x72,0xe4,0x4f,0x9e,0xbb,0xf1,0x65,0xca,0x13,0x26, 0x4c,0x98,0xb7,0xe9,0x55,0xaa,0xd3,0x21,0x42,0x84,0x8f,0x99,0xb5,0xed,0x5d,0xba, 0xf3,0x61,0xc2,0x03,0x06,0x0c,0x18,0x30,0x60,0xc0,0x07,0x0e,0x1c,0x38,0x70,0xe0, 0x47,0x8e,0x9b,0xb1,0xe5,0x4d,0x9a,0xb3,0xe1,0x45,0x8a,0x93,0xa1,0xc5,0x0d,0x1a, 0x34,0x68,0xd0,0x27,0x4e,0x9c,0xbf,0xf9,0x75,0xea,0x53,0xa6,0xcb,0x11,0x22,0x44, 0x88,0x97,0xa9,0xd5,0x2d,0x5a,0xb4,0xef,0x59,0xb2,0xe3,0x41,0x82,0x83,0x81,0x85, 0x8d,0x9d,0xbd,0xfd,0x7d,0xfa,0x73,0xe6,0x4b,0x96,0xab,0xd1,0x25,0x4a,0x94,0xaf, 0xd9,0x35,0x6a,0xd4,0x2f,0x5e,0xbc,0xff,0x79,0xf2,0x63,0xc6,0x0b,0x16,0x2c,0x58, 0xb0,0xe7,0x49,0x92,0xa3,0xc1,0x05,0x0a,0x14,0x28,0x50,0xa0,0xc7,0x09,0x12,0x24, 0x48,0x90,0xa7,0xc9,0x15,0x2a,0x54,0xa8,0xd7,0x29,0x52,0xa4,0xcf,0x19,0x32,0x64, 0xc8,0x17,0x2e,0x5c,0xb8,0xf7,0x69,0xd2,0x23,0x46,0x8c,0x9f,0xb9,0xf5,0x6d,0xda, 0x33,0x66,0xcc,0x1f,0x3e,0x7c,0xf8,0x77,0xee,0x5b,0xb6,0xeb,0x51,0xa2,0xc3,0x00, }; // GF log lookup table. Special value represents log(0) static unsigned char CCSDS_index_of[NN+1] = { A0, 0, 1, 99, 2,198,100,106, 3,205,199,188,101,126,107, 42, 4,141,206, 78,200,212,189,225,102,221,127, 49,108, 32, 43,243, 5, 87,142,232,207,172, 79,131,201,217,213, 65,190,148,226,180, 103, 39,222,240,128,177, 50, 53,109, 69, 33, 18, 44, 13,244, 56, 6,155, 88, 26,143,121,233,112,208,194,173,168, 80,117,132, 72, 202,252,218,138,214, 84, 66, 36,191,152,149,249,227, 94,181, 21, 104, 97, 40,186,223, 76,241, 47,129,230,178, 63, 51,238, 54, 16, 110, 24, 70,166, 34,136, 19,247, 45,184, 14, 61,245,164, 57, 59, 7,158,156,157, 89,159, 27, 8,144, 9,122, 28,234,160,113, 90, 209, 29,195,123,174, 10,169,145, 81, 91,118,114,133,161, 73,235, 203,124,253,196,219, 30,139,210,215,146, 85,170, 67, 11, 37,175, 192,115,153,119,150, 92,250, 82,228,236, 95, 74,182,162, 22,134, 105,197, 98,254, 41,125,187,204,224,211, 77,140,242, 31, 48,220, 130,171,231, 86,179,147, 64,216, 52,176,239, 38, 55, 12, 17, 68, 111,120, 25,154, 71,116,167,193, 35, 83,137,251, 20, 93,248,151, 46, 75,185, 96, 15,237, 62,229,246,135,165, 23, 58,163, 60,183, }; // Only half the coefficients are given here because the // generator polynomial is palindromic; G0 = G32, G1 = G31, etc. // Only G16 is unique static unsigned char CCSDS_poly[] = { 0,249, 59, 66, 4, 43,126,251, 97, 30, 3,213, 50, 66,170, 5, 24, }; static inline int modnn(int x){ while (x >= NN) { x -= NN; x = (x >> 8) + (x & NN); } return x; } // Update Reed-Solomon encoder // parity -> 32-byte reed-solomon encoder state; clear this to zero before each frame void update_rs( unsigned char parity[32], // 32-byte encoder state; zero before each frame unsigned char c) // Current data byte to update { unsigned char feedback; int j,t; assert(parity != NULL); feedback = CCSDS_index_of[c ^ parity[0]]; if(feedback != A0){ // only if feedback is non-zero // Take advantage of palindromic polynomial to halve the multiplies // Do G1...G15, which is the same as G17...G31 for(j=1;j0) { buf = word & 0xff; fwrite(&buf, 1,1, wav_file); num_bytes--; word >>= 8; } } 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)(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); else // buffer[ctr++] = (short int)(amplitude * 0.4 * phase * sin((float)(2*M_PI*i*freq_Hz/S_RATE))); buffer[ctr++] = (short int)(amplitude * phase * sin((float)(2*M_PI*i*freq_Hz/S_RATE))); buffer[ctr++] = (short int)(phase * sin_map[ctr % sin_samples]); } // printf("%d %d \n", 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 5 i2cdetect -y "; // was 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); }