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600 lines
18 KiB
600 lines
18 KiB
// Sends CubeSatSim telemetry encoded as CW (Morse Code) using AO-7 format
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//
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// Portions Copyright (c) 2018 Brandenburg Tech, LLC
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// All right reserved.
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//
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// THIS SOFTWARE IS PROVIDED BY BRANDENBURG TECH, LLC AND CONTRIBUTORS
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// ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
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// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL BRANDENBURT TECH, LLC
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// AND CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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// OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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// OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
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// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <axradio/axradioinit_p.h>
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#include <axradio/axradiomode_p.h>
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#include <axradio/axradiorx_p.h>
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#include <axradio/axradiotx_p.h>
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#include <generated/configtx.h>
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//#include <pthread.h>
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//#include <semaphore.h>
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#include <spi/ax5043spi_p.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <errno.h>
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#include <wiringPiI2C.h>
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#include <../afsk/send_afsk.h>
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#define MAX_MESSAGE_LENGTH (197)
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#define VBATT 15
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#define ADC5 17
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#define ADC6 18
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#define ADC7 19
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#define ADC8 20
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#define TIME 8
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#define UCTEMP 30
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#define UPTIME_SEC 8
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#define A 1
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#define B 2
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#define C 3
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#define D 4
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long int timestamp = 0;
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extern uint8_t axradio_rxbuffer[];
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void *transmit(void *arg);
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int get_message(uint8_t *buffer, int avail);
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int lower_digit(int number);
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int upper_digit(int number);
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int encode_digit(uint8_t *msg, int number);
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void config_cw();
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int encode_tlm(uint8_t *buffer, int channel, int val1, int val2, int val3, int val4, int avail);
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int encode_header(uint8_t *buffer, int avail);
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int add_dash(uint8_t *msg, int number);
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int add_dot(uint8_t *msg, int number);
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int add_space(uint8_t *msg);
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int get_tlm(int tlm[7][5]);
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int tempSensor, xPlusSensor, yPlusSensor, zPlusSensor, battCurrentSensor;
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int main(void)
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{
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uint8_t retVal;
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int tlm[7][5];
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int i, j;
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for (i = 1; i < 7; i++) {
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for (j = 1; j < 5; j++) {
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tlm[i][j] = 0;
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}
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}
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// xPlusSensor = wiringPiI2CSetup (0x40) ; // +X panel current sensor
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// yPlusSensor = wiringPiI2CSetup (0x41) ; // +Y panel current sensor
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// zPlusSensor = wiringPiI2CSetup (0x44) ; // Z+ panel current sensor
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// battCurrentSensor = wiringPiI2CSetup (0x45) ; // battery current sensor
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tempSensor = wiringPiI2CSetupInterface("/dev/i2c-3", 0x48);
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srand((unsigned int)(wiringPiI2CReadReg16(tempSensor, 0)));
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// send_afsk();
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// printf("Result: %d \n",res);
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// Configure SPI bus to AX5043
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setSpiChannel(SPI_CHANNEL);
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setSpiSpeed(SPI_SPEED);
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initializeSpi();
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// printf("1\n");
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// Initialize the AX5043
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retVal = axradio_init();
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// printf("2\n");
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if (retVal == AXRADIO_ERR_NOCHIP) {
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fprintf(stderr, "ERROR: No AX5043 RF chip found\n");
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exit(EXIT_FAILURE);
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}
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if (retVal != AXRADIO_ERR_NOERROR) {
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fprintf(stderr, "ERROR: Unable to initialize AX5043\n");
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exit(EXIT_FAILURE);
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}
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printf("INFO: Found and initialized AX5043\n");
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retVal = mode_tx();
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if (retVal != AXRADIO_ERR_NOERROR) {
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fprintf(stderr, "ERROR: Unable to enter TX mode\n");
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exit(EXIT_FAILURE);
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}
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config_cw();
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// allocate space for the buffer
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static uint8_t packet[MAX_MESSAGE_LENGTH + 1];
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int channel; // AO-7 telemetry format has 6 channels, 4 sub channels in each
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int msg_length;
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while(1) { // loop forever
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for (channel = 0; channel < 7; channel++) {
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get_tlm(tlm);
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// printf("TLM Received 1a: %d 2b: %d\n", tlm[1][1], tlm[2][2]);
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send_afsk(tlm);
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config_cw();
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if (channel == 0) {
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// start with telemetry header "hi hi" plus a few chars to help CW decoding software sync
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msg_length = encode_header(&packet[0], MAX_MESSAGE_LENGTH + 1);
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printf("\nINFO: Sending TLM header\n");
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} else {
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// get_tlm(tlm);
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// printf("TLM Received 1a: %d 2b: %d\n", tlm[1][1], tlm[2][2]);
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// int tlm_3a = 0, tlm_1b = 0;
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msg_length = encode_tlm(&packet[0], channel, // add a channel with dummy data to buffer
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// tlm_3a, tlm_1b, channel+2, channel+3,
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tlm[channel][1], tlm[channel][2], tlm[channel][3], tlm[channel][4],
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(MAX_MESSAGE_LENGTH + 1));
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printf("\nINFO: Sending TLM channel %d \n", channel);
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}
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// printf("DEBUG: msg_length = %d\n", msg_length);
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retVal = transmit_packet(&remoteaddr_tx, packet, (uint16_t)(msg_length)); // send telemetry
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if (retVal != AXRADIO_ERR_NOERROR) {
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fprintf(stderr, "ERROR: Unable to transmit a packet\n");
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exit(EXIT_FAILURE);
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}
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// sleep(1);
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usleep(200000);
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}
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}
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}
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// Encodes telemetry header (channel 0) into buffer
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//
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int encode_header(uint8_t *buffer, int avail) {
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int count = 0;
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count += add_space(&buffer[count]);
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count += add_space(&buffer[count]);
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count += add_dash(&buffer[count], 1); // c
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count += add_dot(&buffer[count], 1);
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count += add_dash(&buffer[count], 1);
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count += add_dot(&buffer[count], 1);
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count += add_space(&buffer[count]);
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count += add_dash(&buffer[count], 2); // q
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count += add_dot(&buffer[count], 1);
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count += add_dash(&buffer[count], 1);
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count += add_space(&buffer[count]);
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count += add_space(&buffer[count]);
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count += add_dot(&buffer[count], 4); // h
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count += add_space(&buffer[count]);
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count += add_dot(&buffer[count], 2); // i
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count += add_space(&buffer[count]);
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count += add_space(&buffer[count]);
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count += add_dot(&buffer[count], 4); // h
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count += add_space(&buffer[count]);
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count += add_dot(&buffer[count], 2); // i
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count += add_space(&buffer[count]);
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count += add_space(&buffer[count]);
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count += add_space(&buffer[count]);
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if (count > avail)
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printf("ERROR: encode_header count > avail \n");
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return count;
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}
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// Encodes one channel of telemetry into buffer
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//
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int encode_tlm(uint8_t *buffer, int channel, int val1, int val2, int val3, int val4, int avail) {
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int count = 0;
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count += add_space(&buffer[count]);
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count += add_space(&buffer[count]);
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count += add_space(&buffer[count]);
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count += add_space(&buffer[count]);
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count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1aa
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count += encode_digit(&buffer[count], upper_digit(val1));
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count += encode_digit(&buffer[count], lower_digit(val1));
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count += add_space(&buffer[count]);
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count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1bb
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count += encode_digit(&buffer[count], upper_digit(val2));
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count += encode_digit(&buffer[count], lower_digit(val2));
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count += add_space(&buffer[count]);
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count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1cc
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count += encode_digit(&buffer[count], upper_digit(val3));
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count += encode_digit(&buffer[count], lower_digit(val3));
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count += add_space(&buffer[count]);
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count += encode_digit(&buffer[count], channel); // for channel 1, encodes 1dd
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count += encode_digit(&buffer[count], upper_digit(val4));
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count += encode_digit(&buffer[count], lower_digit(val4));
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count += add_space(&buffer[count]);
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//printf("DEBUG count: %d avail: %d \n", count, avail);
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if (count > avail) { // make sure not too long
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buffer[avail-1] = 0;
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count = avail-1;
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printf("DEBUG count > avail!\n");
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}
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return count;
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}
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// Encodes a single digit of telemetry into buffer
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//
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int encode_digit(uint8_t *buffer, int digit) {
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int count = 0;
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switch(digit)
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{
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case 0:
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count += add_dash(&buffer[count], 5); // 0
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count += add_space(&buffer[count]);
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break;
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case 1:
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count += add_dot(&buffer[count], 1); // 1
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count += add_dash(&buffer[count], 4);
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count += add_space(&buffer[count]);
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break;
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case 2:
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count += add_dot(&buffer[count], 2); // 2
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count += add_dash(&buffer[count], 3);
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count += add_space(&buffer[count]);
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break;
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case 3:
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count += add_dot(&buffer[count], 3); // 3
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count += add_dash(&buffer[count], 2);
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count += add_space(&buffer[count]);
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break;
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case 4:
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count += add_dot(&buffer[count], 4); // 4
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count += add_dash(&buffer[count], 1);
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count += add_space(&buffer[count]);
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break;
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case 5:
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count += add_dot(&buffer[count], 5); // 5
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count += add_space(&buffer[count]);
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break;
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case 6:
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count += add_dash(&buffer[count], 1); // 6
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count += add_dot(&buffer[count], 4);
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count += add_space(&buffer[count]);
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break;
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case 7:
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count += add_dash(&buffer[count], 2); // 7
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count += add_dot(&buffer[count], 3);
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count += add_space(&buffer[count]);
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break;
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case 8:
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count += add_dash(&buffer[count], 3); // 8
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count += add_dot(&buffer[count], 2);
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count += add_space(&buffer[count]);
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break;
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case 9:
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count += add_dash(&buffer[count], 4); // 9
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count += add_dot(&buffer[count], 1);
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count += add_space(&buffer[count]);
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break;
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default:
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printf("ERROR: Not a digit!\n");
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return 0;
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}
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return count;
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}
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// Returns lower digit of a number which must be less than 99
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//
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int lower_digit(int number) {
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int digit = 0;
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if (number < 100)
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digit = number - ((int)(number/10) * 10);
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else
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printf("ERROR: Not a digit in lower_digit!\n");
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return digit;
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}
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// Returns upper digit of a number which must be less than 99
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//
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int upper_digit(int number) {
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int digit = 0;
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if (number < 100)
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digit = (int)(number/10);
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else
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printf("ERROR: Not a digit in upper_digit!\n");
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return digit;
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}
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// Configure radio to send CW which is ASK
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//
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void config_cw() {
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uint8_t retVal;
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// Configure SPI bus to AX5043
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setSpiChannel(SPI_CHANNEL);
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setSpiSpeed(SPI_SPEED);
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initializeSpi();
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// printf("1\n");
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// Initialize the AX5043
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retVal = axradio_init();
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// printf("2\n");
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if (retVal == AXRADIO_ERR_NOCHIP) {
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fprintf(stderr, "ERROR: No AX5043 RF chip found\n");
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exit(EXIT_FAILURE);
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}
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if (retVal != AXRADIO_ERR_NOERROR) {
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fprintf(stderr, "ERROR: Unable to initialize AX5043\n");
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exit(EXIT_FAILURE);
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}
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// printf("INFO: Found and initialized AX5043\n");
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retVal = mode_tx();
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if (retVal != AXRADIO_ERR_NOERROR) {
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fprintf(stderr, "ERROR: Unable to enter TX mode\n");
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exit(EXIT_FAILURE);
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}
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// printf("Register write to clear framing and crc\n");
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ax5043WriteReg(0x12,0);
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// printf("Register write to disable fec\n");
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ax5043WriteReg(0x18,0);
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// printf("Register write \n");
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ax5043WriteReg(0x165,0);
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ax5043WriteReg(0x166,0);
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ax5043WriteReg(0x167,0x50); // 0x25); // 0x50); // 0x08); // 0x20);
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ax5043WriteReg(0x161,0);
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ax5043WriteReg(0x162,0x20);
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// long txRate;
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// txRate = ax5043ReadReg(0x167) + 256 * ax5043ReadReg(0x166) + 65536 * ax5043ReadReg(0x165);
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// printf("Tx Rate %x %x %x \n", ax5043ReadReg(0x165), ax5043ReadReg(0x166), ax5043ReadReg(0x167));
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// long fskDev;
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// fskDev = ax5043ReadReg(0x163) + 256 * ax5043ReadReg(0x162) + 65536 * ax5043ReadReg(0x161);
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ax5043WriteReg(0x37,(uint8_t)((ax5043ReadReg(0x37) + 4))); // Increase FREQA
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// printf("Tx Rate: %ld FSK Dev: %ld \n", txRate, fskDev);
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ax5043WriteReg(0x10,0); // ASK
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// printf("Modulation: %x \n", (int)ax5043ReadReg(0x10));
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// printf("Frequency A: 0x%x %x %x %x \n",(int)ax5043ReadReg(0x34),(int)ax5043ReadReg(0x35),(int)ax5043ReadReg(0x36),(int)ax5043ReadReg(0x37));
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/*
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int x;
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for (x = 0; x < 0x20; x++)
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{
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printf("Register %x contents: %x\n",x,(int)ax5043ReadReg(x));
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}
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printf("Register Dump complete");
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*/
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return;
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}
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// Adds a Morse space to the buffer
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//
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int add_space(uint8_t *msg) {
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msg[0] = 0x00; // a space is 8 bits
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return 1;
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}
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// Adds a Morse dash to the buffer
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//
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int add_dash(uint8_t *msg, int number) {
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int j;
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int counter = 0;
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for (j=0; j < number; j++) { // a dot is 4 bits, so a dash is 12 bits
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msg[counter++] = 0xff;
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msg[counter++] = 0x0f;
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}
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return counter;
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}
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// Adds a Morse dot to the buffer
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//
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int add_dot(uint8_t *msg, int number) {
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int counter = 0;
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int j;
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for (j=0; j < number; j++) { // a dot is 4 bits
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msg[counter++] = 0x0f;
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}
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return counter;
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}
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int get_tlm(int tlm[][5]) {
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// Read MoPower UPS data
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FILE* file = popen("mpcmd show data 2>&1", "r");
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char cmdbuffer[1000];
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fgets(cmdbuffer, 1000, file);
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pclose(file);
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// printf("buffer is :%s\n", cmdbuffer);
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char mopower[64][14];
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char * data2;
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int i = 0;
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data2 = strtok (cmdbuffer," ");
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while (data2 != NULL) {
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strcpy(mopower[i], data2);
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// printf ("mopwer[%d]=%s\n",i,mopower[i]);
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data2 = strtok (NULL, " ");
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i++;
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}
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printf("Battery voltage = %s UPTIME_SEC %s UCTEMP %s \n",
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mopower[VBATT], mopower[UPTIME_SEC], mopower[UCTEMP]);
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long int time = atoi(mopower[UPTIME_SEC]);
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if (timestamp == 0)
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timestamp = time;
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// int tlm_2c = (int)((time - timestamp) / 15) % 100;
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tlm[2][C] = (int)((time - timestamp) / 15) % 100;
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// printf("Relative time: %ld seconds 2C: %d 2C: %d%d\n", time - timestamp,tlm_2c, upper_digit(tlm_2c), lower_digit(tlm_2c));
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float vbat;
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vbat = strtof(mopower[VBATT], NULL);
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// printf(" vbat: %f \n", vbat);
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// int tlm_3a = (int)((vbat * 10) - 65.5);
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tlm[3][A] = (int)((vbat * 10) - 65.5);
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// int tlm_6b = 0, tlm_2b = 99;
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tlm[6][B] = 0 ;
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tlm[2][B] = 99;
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// printf("TLM 3A = %d \n", tlm_3a);
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// Read current from I2C bus
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// printf("\n\nI2C result: %d\n", i2cDevice);
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// printf("Read: %d\n", wiringPiI2CRead(i2cDevice)) ;
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// int result = wiringPiI2CWriteReg16(xPlusSensor, 0x05, 4096);
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// printf("Write result: %d\n", result);
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/*
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int xCurrentValue = wiringPiI2CReadReg16(xPlusSensor, 0x04);
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int yCurrentValue = wiringPiI2CReadReg16(yPlusSensor, 0x04);
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int zCurrentValue = wiringPiI2CReadReg16(zPlusSensor, 0x04);
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int battCurrentValue = wiringPiI2CReadReg16(battCurrentSensor, 0x04);
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printf("Currents: %d %d %d %d \n\n", xCurrentValue, yCurrentValue, zCurrentValue, battCurrentValue);
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*/
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|
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// int tlm_1b = (int) (98.5 - currentValue/400);
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// tlm[1][A] = (int) (98.5 - battCurrentValue/400);
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// tlm[1][B] = (int) (98.5 - xCurrentValue/400);
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// tlm[1][C] = (int) (98.5 - yCurrentValue/400);
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// tlm[1][D] = (int) (98.5 - zCurrentValue/400);
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// printf("TLM 1B = %d \n\n", tlm_1b);
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// int tlm_1a = 0, tlm_1c = 98, tlm_1d = 98, tlm_2a = 98;
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|
|
|
// Reading 5V voltage and current
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file = popen("sudo python /home/pi/CubeSatSim/python/readcurrent.py 2>&1", "r");
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fgets(cmdbuffer, 1000, file);
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pclose(file);
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// printf("Current buffer is:%s\n", cmdbuffer);
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|
|
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char ina219[16][20]; // voltage, currents, and power from the INA219 current sensors x4a, x40, x41, x44, and x45.
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i = 0;
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data2 = strtok (cmdbuffer," ");
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|
|
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while (data2 != NULL) {
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strcpy(ina219[i], data2);
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printf ("ina219[%d]=%s\n",i,ina219[i]);
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data2 = strtok (NULL, " ");
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i++;
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}
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|
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tlm[1][B] = (int) (98.5 - ina219[4]/400); // +X current
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|
tlm[1][D] = (int) (98.5 - ina219[7]/400); // +Y current
|
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tlm[1][C] = (int) (98.5 - ina219[10]/400); // +Z (actually -X current, AO-7 didn't have a Z solar panel?)
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|
|
|
// int tlm_3b = (int)(strtof(ina219[0], NULL) * 10.0);
|
|
// int tlm_2d = (int)(50.0 + strtof(ina219[1], NULL)/40.0);
|
|
tlm[3][B] = (int)(strtof(ina219[0], NULL) * 10.0); // 5V supply to Pi
|
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tlm[2][D] = (int)(50.0 + strtof(ina219[13], NULL)/40.0); // NiMH Battery current
|
|
// printf(" 2D: %d 3B: %d\n", tlm_2d, tlm_3b);
|
|
|
|
tlm[1][A] = (int)(strtof(ina219[1], NULL) / 29.5 + 0.5); // Current of 5V supply to Pi
|
|
|
|
int tempValue = wiringPiI2CReadReg16(tempSensor, 0);
|
|
// printf("Read: %x\n", tempValue);
|
|
|
|
uint8_t upper = (uint8_t) (tempValue >> 8);
|
|
uint8_t lower = (uint8_t) (tempValue & 0xff);
|
|
|
|
float temp = (float)lower + ((float)upper / 0x100);
|
|
printf("upper: %x lower: %x temp: %f\n", upper, lower, temp);
|
|
|
|
// int tlm_4a = (int)((95.8 - temp)/1.48 + 0.5);
|
|
tlm[4][A] = (int)((95.8 - temp)/1.48 + 0.5);
|
|
// printf(" 4A: %d \n", tlm_4a);
|
|
|
|
tlm[5][A] = (int)((95.8 - atoi(mopower[UCTEMP]))/1.48 + 0.5);
|
|
printf(" 5A: %d \n", tlm[5][A]);
|
|
|
|
// int tlm_6d = 49 + rand() % 3;
|
|
tlm[6][D] = 49 + rand() % 3;
|
|
/*
|
|
char tlm_str[1000];
|
|
|
|
printf("%d %d %d %d %d %d %d %d %d %d %d %d %d \n", tlm_1a, tlm_1b, tlm_1c, tlm_1d, tlm_2a, tlm_2b, tlm_2c, tlm_2d, tlm_3a, tlm_3b, tlm_4a, tlm_6b, tlm_6d);
|
|
sprintf(tlm_str, "\x03\x0fhi hi 1%d%d 1%d%d 1%d%d 1%d%d 2%d%d 2%d%d 2%d%d 2%d%d 3%d%d 3%d%d 300 300 4%d%d 400 400 400 400 500 500 500 500 600 6%d%d 600 6%d%d\n",
|
|
upper_digit(tlm_1a), lower_digit(tlm_1a),
|
|
upper_digit(tlm_1b), lower_digit(tlm_1b),
|
|
upper_digit(tlm_1c), lower_digit(tlm_1c),
|
|
|
|
upper_digit(tlm_1d), lower_digit(tlm_1d),
|
|
|
|
upper_digit(tlm_2a), lower_digit(tlm_2a),
|
|
|
|
upper_digit(tlm_2b), lower_digit(tlm_2b),
|
|
|
|
upper_digit(tlm_2c), lower_digit(tlm_2c),
|
|
|
|
upper_digit(tlm_2d), lower_digit(tlm_2d),
|
|
|
|
upper_digit(tlm_3a), lower_digit(tlm_3a),
|
|
|
|
upper_digit(tlm_3b), lower_digit(tlm_3b),
|
|
|
|
upper_digit(tlm_4a), lower_digit(tlm_4a),
|
|
|
|
upper_digit(tlm_6b), lower_digit(tlm_6b),
|
|
|
|
upper_digit(tlm_6d), lower_digit(tlm_6d));
|
|
|
|
printf("%s\n",tlm_str);
|
|
*/
|
|
|
|
int k, j;
|
|
for (k = 1; k < 7; k++) {
|
|
for (j = 1; j < 5; j++) {
|
|
printf(" %2d ", tlm[k][j]);
|
|
}
|
|
printf("\n");
|
|
}
|
|
return 0;
|
|
}
|