/*
* Transmits CubeSat Telemetry at 434.9MHz in AO-7 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
* the Free Software Foundation, either version 3 of the License, or
* (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 "../Adafruit_INA219/Adafruit_INA219.h" // From Adafruit INA219 library for Arduino
#define A 1
#define B 2
#define C 3
#define D 4
#define PLUS_X 0
#define PLUS_Y 1
#define PLUS_Z 2
#define BAT 3
#define MINUS_X 4
#define MINUS_Y 5
#define MINUS_Z 6
#define BUS 7
#define OFF -1
uint32_t tx_freq_hz = 434900000 + FREQUENCY_OFFSET;
uint32_t tx_channel = 0;
ax5043_conf_t hax5043;
ax25_conf_t hax25;
static void init_rf();
int twosToInt(int val, int len);
int get_tlm(int tlm[][5]);
long int timestamp;
void config_x25();
void trans_x25();
//long int timestamp;
int tempSensor;
int upper_digit(int number);
int lower_digit(int number);
int charging = 0;
uint16_t x_config = (0x2000 | 0x1800 | 0x0180 | 0x0018 | 0x0007 );
struct SensorConfig {
int fd;
uint16_t config;
int calValue;
int powerMultiplier;
int currentDivider;
};
struct SensorData {
double current;
double voltage;
double power;
};
/**
* @brief Read the data from one of the i2c current sensors.
*
* Reads the current data from the requested i2c current sensor and
* stores it into a SensorData struct. An invalid file descriptor (i.e. less than zero)
* results in a SensorData struct being returned that has both its #current and #power members
* set to NAN.
*
*
* @param sensor A file descriptor that can be used to read from the sensor.
* @return struct SensorData A struct that contains the power and current reading from the requested sensor.
*/
struct SensorData read_sensor_data(struct SensorConfig sensor) {
struct SensorData data = {
.current = NAN,
.voltage = NAN,
.power = NAN };
if (sensor.fd < 0) {
return data;
}
wiringPiI2CWriteReg16(sensor.fd, INA219_REG_CALIBRATION, sensor.calValue);
wiringPiI2CWriteReg16(sensor.fd, INA219_REG_CONFIG, sensor.config);
wiringPiI2CWriteReg16(sensor.fd, INA219_REG_CALIBRATION, sensor.calValue);
int valuec1 = wiringPiI2CReadReg16(sensor.fd, INA219_REG_CURRENT);
uint16_t valuec2 = (uint16_t)valuec1;
int twos = twosToInt(valuec1, 16);
float valuec3 = (float)(valuec2);
data.current = valuec2 / (float)sensor.currentDivider;
printf("****** valuec1 %d valuec2 %d valuec3 %f current %f two's %d \n", valuec1, valuec2, valuec3, data.current, twos);
/*
int16_t value0 = 1; // (int16_t)wiringPiI2CReadReg16(sensor.fd, INA219_REG_CURRENT);
wiringPiI2CWrite(sensor.fd, INA219_REG_CURRENT);
delay(1); // Max 12-bit conversion time is 586us per sample
int byte = wiringPiI2CRead(sensor.fd);
delay(1); // Max 12-bit conversion time is 586us per sample
//int16_t value = (int16_t)((wiringPiI2CRead(sensor.fd) << 8 ) | wiringPiI2CRead (sensor.fd));
//int16_t value = (( ((int16_t)byte) << 8 ) | (int16_t)wiringPiI2CRead (sensor.fd));
int16_t value = (int16_t)(( ((uint8_t)byte) << 8 ) | (uint8_t)wiringPiI2CRead (sensor.fd));
float value1 = (float) value;
data.current = value1 / (float)sensor.currentDivider;
printf("********* value0 %d value1 %f value %d data.current %f \n", value0, value1, value, data.current);
*/
uint16_t value2 = (uint16_t)wireReadRegister(sensor.fd, INA219_REG_BUSVOLTAGE);
data.voltage = ((double)(value2 >> 3) * 4) / 1000;
data.power = (float)((uint16_t)wiringPiI2CReadReg16(sensor.fd, INA219_REG_POWER)) * (float)sensor.powerMultiplier;
return data;
}
struct SensorConfig config_sensor(int sensor, int milliAmps) {
struct SensorConfig data;
data.fd = sensor;
data.config = INA219_CONFIG_BVOLTAGERANGE_32V |
INA219_CONFIG_GAIN_1_40MV |
INA219_CONFIG_BADCRES_12BIT |
INA219_CONFIG_SADCRES_12BIT_1S_532US |
INA219_CONFIG_MODE_SANDBVOLT_CONTINUOUS;
if (milliAmps == 400) { // INA219 16V 400mA configuration
data.calValue = 8192;
data.powerMultiplier = 1;
data.currentDivider = 20; // 40; in Adafruit config
}
else { // INA219 16V 2A configuration
data.calValue = 40960;
data.powerMultiplier = 2;
data.currentDivider = 10; // 20; in Adafruit config
}
return data;
}
struct SensorConfig sensor[8]; // 7 current sensors in Solar Power PCB plus one in MoPower UPS V2
struct SensorData reading[8]; // 7 current sensors in Solar Power PCB plus one in MoPower UPS V2
char src_addr[5] = "";
char dest_addr[5] = "CQ";
int main(int argc, char *argv[]) {
if (argc > 1) {
strcpy(src_addr, argv[1]);
}
wiringPiSetup ();
pinMode (0, OUTPUT);
setSpiChannel(SPI_CHANNEL);
setSpiSpeed(SPI_SPEED);
initializeSpi();
int tlm[7][5];
memset(tlm, 0, sizeof tlm);
timestamp = time(NULL);
int file_i2c = access("/dev/i2c-3", W_OK | R_OK);
if (file_i2c < 0)
{
fprintf(stderr,"ERROR: /dev/ic2-3 bus not present\n");
tempSensor = OFF;
} else
{
tempSensor = wiringPiI2CSetupInterface("/dev/i2c-3", 0x48);
}
#ifdef DEBUG_LOGGING
fprintf(stderr,"tempSensor: %d \n",tempSensor);
#endif
int test;
if (((test = open("/dev/i2c-1", O_RDWR))) > 0) // Test if I2C Bus 1 is present
{
close(test);
sensor[PLUS_X] = config_sensor(wiringPiI2CSetupInterface("/dev/i2c-1", 0x40), 400);
sensor[PLUS_Y] = config_sensor(wiringPiI2CSetupInterface("/dev/i2c-1", 0x41), 400);
sensor[PLUS_Z] = config_sensor(wiringPiI2CSetupInterface("/dev/i2c-1", 0x44), 400);
sensor[BAT] = config_sensor(wiringPiI2CSetupInterface("/dev/i2c-1", 0x45), 400);
sensor[BUS] = config_sensor(wiringPiI2CSetupInterface("/dev/i2c-1", 0x4a), 2400);
} else
{
printf("ERROR: /dev/i2c-1 not present \n");
sensor[PLUS_X] = config_sensor(OFF, 0);
sensor[PLUS_Y] = config_sensor(OFF, 0);
sensor[PLUS_Z] = config_sensor(OFF, 0);
sensor[BAT] = config_sensor(OFF, 0);
sensor[BUS] = config_sensor(OFF, 0);
}
if (((test = open("/dev/i2c-0", O_RDWR))) > 0) // Test if I2C Bus 0 is present
{
close(test);
sensor[MINUS_X] = config_sensor(wiringPiI2CSetupInterface("/dev/i2c-0", 0x40), 400);
sensor[MINUS_Y] = config_sensor(wiringPiI2CSetupInterface("/dev/i2c-0", 0x41), 400);
sensor[MINUS_Z] = config_sensor(wiringPiI2CSetupInterface("/dev/i2c-0", 0x44), 400);
} else
{
printf("ERROR: /dev/i2c-0 not present \n");
sensor[MINUS_X] = config_sensor(OFF, 0);
sensor[MINUS_Y] = config_sensor(OFF, 0);
sensor[MINUS_Z] = config_sensor(OFF, 0);
}
#ifdef DEBUG_LOGGING
printf("Sensor[0] config %d %d %d %d %d\n",
sensor[0].fd, sensor[0].config, sensor[0].calValue, sensor[0].currentDivider, sensor[0].powerMultiplier);
printf("Sensor[BUS] config %d %d %d %d %d\n",
sensor[BUS].fd, sensor[BUS].config, sensor[BUS].calValue, sensor[BUS].currentDivider, sensor[BUS].powerMultiplier);
#endif
int ret;
uint8_t data[1024];
tx_freq_hz -= tx_channel * 50000;
init_rf();
ax25_init(&hax25, (uint8_t *) dest_addr, '1', (uint8_t *) src_addr, '1',
AX25_PREAMBLE_LEN,
AX25_POSTAMBLE_LEN);
/* Infinite loop */
for (;;) {
sleep(1); // Delay 1 second
#ifdef DEBUG_LOGGING
fprintf(stderr,"INFO: Getting TLM Data\n");
#endif
get_tlm(tlm);
#ifdef DEBUG_LOGGING
fprintf(stderr,"INFO: Preparing X.25 packet\n");
#endif
char str[1000];
char tlm_str[1000];
char header_str[] = "\x03\xf0hi hi ";
strcpy(str, header_str);
// printf("%s-1>CQ-1:hi hi ", CALLSIGN);
printf("%s-1>%s-1:hi hi ", (uint8_t *)src_addr, (uint8_t *)dest_addr);
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);
}
printf("\n");
digitalWrite (0, LOW);
#ifdef DEBUG_LOGGING
fprintf(stderr,"INFO: Transmitting X.25 packet\n");
#endif
memcpy(data, str, strnlen(str, 256));
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 (0, HIGH);
if (ret) {
fprintf(stderr,
"ERROR: Failed to transmit entire AX.25 frame with error code %d\n",
ret);
exit(EXIT_FAILURE);
}
}
return 0;
}
static void init_rf() {
int ret;
#ifdef DEBUG_LOGGING
fprintf(stderr,"Initializing AX5043\n");
#endif
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);
}
}
// 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;
}
int get_tlm(int tlm[][5]) {
// Reading I2C voltage and current sensors
int count;
for (count = 0; count < 8; count++)
{
reading[count] = read_sensor_data(sensor[count]);
#ifdef DEBUG_LOGGING
printf("Read sensor[%d] % 4.2fV % 6.1fmA % 6.1fmW \n",
count, reading[count].voltage, reading[count].current, reading[count].power);
#endif
}
tlm[1][A] = (int)(reading[BUS].voltage /15.0 + 0.5) % 100; // Current of 5V supply to Pi
tlm[1][B] = (int) (99.5 - reading[PLUS_X].current/10.0) % 100; // +X current [4]
tlm[1][C] = (int) (99.5 - reading[MINUS_X].current/10.0) % 100; // X- current [10]
tlm[1][D] = (int) (99.5 - reading[PLUS_Y].current/10.0) % 100; // +Y current [7]
tlm[2][A] = (int) (99.5 - reading[MINUS_Y].current/10.0) % 100; // -Y current [10]
tlm[2][B] = (int) (99.5 - reading[PLUS_Z].current/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 - reading[MINUS_Z].current/10.0) % 100; // -Z current (was timestamp)
tlm[2][D] = (int)(50.5 + reading[BAT].current/10.0) % 100; // NiMH Battery current
tlm[3][A] = abs((int)((reading[BAT].voltage * 10.0) - 65.5) % 100);
tlm[3][B] = (int)(reading[BUS].voltage * 10.0) % 100; // 5V supply to Pi
if (tempSensor != OFF) {
int tempValue = wiringPiI2CReadReg16(tempSensor, 0);
uint8_t upper = (uint8_t) (tempValue >> 8);
uint8_t lower = (uint8_t) (tempValue & 0xff);
float temp = (float)lower + ((float)upper / 0x100);
#ifdef DEBUG_LOGGING
printf("Temp Sensor Read: %6.1f\n", temp);
#endif
tlm[4][A] = (int)((95.8 - temp)/1.48 + 0.5) % 100;
}
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
tlm[4][B] = (int)((95.8 - cpuTemp)/1.48 + 0.5) % 100;
fclose (cpuTempSensor);
}
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
return 0;
}
int twosToInt(int val,int len) { // Convert twos compliment to integer
printf("############## val: %d", val);
if(val & (1 << (len - 1)))
val = val - (1 << len);
printf("len: %d return: %d \n", len, val);
return(val);
}