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CubeSatSim/afsk/telem.c

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/*
* Generates telemetry for CubeSat Simulator
*
* Copyright Alan B. Johnston
*
* 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 <http://www.gnu.org/licenses/>.
*
* INA219 Raspberry Pi wiringPi code is based on Adafruit Arduino wire code
* from https://github.com/adafruit/Adafruit_INA219.
*/
#include <fcntl.h>
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include "status.h"
#include "ax5043.h"
#include "ax25.h"
#include "spi/ax5043spi.h"
#include <wiringPiI2C.h>
#include <wiringPi.h>
#include <time.h>
#include <math.h>
#include "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
int twosToInt(int val, int len);
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 configuration 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 structure containing sensor configuration including the file descriptor.
* @return struct SensorData A struct that contains the current, voltage, and power readings
* from the requested sensor.
*/
struct SensorData read_sensor_data(struct SensorConfig sensor) {
struct SensorData data = {
.current = 0,
.voltage = 0,
.power = 0 };
if (sensor.fd < 0) {
return data;
}
// doesn't read negative currents accurately, shows -0.1mA
wiringPiI2CWriteReg16(sensor.fd, INA219_REG_CALIBRATION, sensor.calValue);
wiringPiI2CWriteReg16(sensor.fd, INA219_REG_CONFIG, sensor.config);
wiringPiI2CWriteReg16(sensor.fd, INA219_REG_CALIBRATION, sensor.calValue);
delay(1);
int value = wiringPiI2CReadReg16(sensor.fd, INA219_REG_CURRENT);
if (value == -1)
{
sensor.fd = -1;
return data;
}
data.current = (float) twosToInt(value, 16) / (float) sensor.currentDivider;
wiringPiI2CWrite(sensor.fd, INA219_REG_BUSVOLTAGE);
delay(1); // Max 12-bit conversion time is 586us per sample
value = (wiringPiI2CRead(sensor.fd) << 8 ) | wiringPiI2CRead (sensor.fd);
data.voltage = ((float)(value >> 3) * 4) / 1000;
// power has very low resolution, seems to step in 512mW values
delay(1);
data.power = (float) wiringPiI2CReadReg16(sensor.fd, INA219_REG_POWER) * (float) sensor.powerMultiplier;
return data;
}
/**
* @brief Configures an i2c current sensor.
*
* Calculates the configuration values of the i2c sensor so that
* current, voltage, and power can be read using read_sensor_data.
* Supports 16V 400mA and 16V 2.0A settings.
*
* @param sensor A file descriptor that can be used to read from the sensor.
* @param milliAmps The mA configuration, either 400mA or 2A are supported.
* @return struct SensorConfig A struct that contains the configuraton of the sensor.
*/
//struct SensorConfig config_sensor(int sensor, int milliAmps) {
struct SensorConfig config_sensor(char *bus, int address, int milliAmps) {
struct SensorConfig data;
if (access(bus, W_OK | R_OK) < 0) { // Test if I2C Bus is missing
printf("ERROR: %s bus not present \n Check raspi-config Interfacing Options/I2C and /boot/config.txt \n", bus);
data.fd = OFF;
return (data);
}
char result[128];
int pos = strlen(bus) / sizeof(bus[0]) - 1;
// printf("Bus size %d \n", pos);
// printf("Bus value %d \n", atoi(&bus[pos]));
char command[50] = "timeout 5 i2cdetect -y ";
strcat (command, &bus[pos]);
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", bus);
data.fd = OFF;
return (data);
}
data.fd = wiringPiI2CSetupInterface(bus, address);
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
}
//#ifdef DEBUG_LOGGING
// printf("Sensor %s %x configuration: %d %d %d %d %d\n", bus, address, data.fd,
// data.config, data.calValue, data.currentDivider, data.powerMultiplier);
// printf("Sensor %s %x | ", bus, address);
//#endif
return data;
}
struct SensorConfig sensorV;
struct SensorData readingV;
struct SensorConfig tempSensor;
struct SensorConfig sensor[8]; // 8 current sensors in Solar Power PCB vB4/5
struct SensorData reading[8]; // 8 current sensors in Solar Power PCB vB4/5
int main(int argc, char *argv[]) {
if (argc > 1) {
;
}
wiringPiSetup ();
printf("\n");
pinMode (2, INPUT);
pullUpDnControl (2, PUD_UP);
if (digitalRead(2) != HIGH)
{
printf("vB3 with TFB Present\n");
sensor[PLUS_X] = config_sensor("/dev/i2c-1", 0x40, 400);
sensor[PLUS_Y] = config_sensor("/dev/i2c-1", 0x41, 400);
sensor[PLUS_Z] = config_sensor("/dev/i2c-1", 0x44, 400);
sensor[BAT] = config_sensor("/dev/i2c-1", 0x45, 400);
sensor[BUS] = config_sensor("/dev/i2c-1", 0x4a, 2000);
sensor[MINUS_X] = config_sensor("/dev/i2c-0", 0x40, 400);
sensor[MINUS_Y] = config_sensor("/dev/i2c-0", 0x41, 400);
sensor[MINUS_Z] = config_sensor("/dev/i2c-0", 0x44, 400); }
else
{
pinMode (3, INPUT);
pullUpDnControl (3, PUD_UP);
if (digitalRead(3) != HIGH)
{
printf("vB4 Present\n");
sensor[PLUS_X] = config_sensor("/dev/i2c-1", 0x40, 400);
sensor[PLUS_Y] = config_sensor("/dev/i2c-1", 0x41, 400);
sensor[BUS] = config_sensor("/dev/i2c-1", 0x44, 400);
sensor[BAT] = config_sensor("/dev/i2c-1", 0x45, 400);
sensor[PLUS_Z] = config_sensor("/dev/i2c-0", 0x40, 400);
sensor[MINUS_X] = config_sensor("/dev/i2c-0", 0x41, 400);
sensor[MINUS_Y] = config_sensor("/dev/i2c-0", 0x44, 400);
sensor[MINUS_Z] = config_sensor("/dev/i2c-0", 0x45, 400);
}
else
{
pinMode (26, INPUT);
pullUpDnControl (26, PUD_UP);
if (digitalRead(26) != HIGH)
{
printf("vB5 Present\n");
sensor[PLUS_X] = config_sensor("/dev/i2c-1", 0x40, 400);
sensor[PLUS_Y] = config_sensor("/dev/i2c-1", 0x41, 400);
sensor[BUS] = config_sensor("/dev/i2c-1", 0x45, 400);
sensor[BAT] = config_sensor("/dev/i2c-1", 0x44, 400);
sensor[PLUS_Z] = config_sensor("/dev/i2c-3", 0x40, 400);
sensor[MINUS_X] = config_sensor("/dev/i2c-3", 0x41, 400);
sensor[MINUS_Y] = config_sensor("/dev/i2c-3", 0x44, 400);
sensor[MINUS_Z] = config_sensor("/dev/i2c-3", 0x45, 400);
}
else
{
printf("VB3 Present\n");
sensor[PLUS_X] = config_sensor("/dev/i2c-1", 0x40, 400);
sensor[PLUS_Y] = config_sensor("/dev/i2c-1", 0x41, 400);
sensor[PLUS_Z] = config_sensor("/dev/i2c-1", 0x44, 400);
sensor[BAT] = config_sensor("/dev/i2c-1", 0x45, 400);
sensor[BUS] = config_sensor("/dev/i2c-1", 0x4a, 2000);
sensor[MINUS_X] = config_sensor("/dev/i2c-0", 0x40, 400);
sensor[MINUS_Y] = config_sensor("/dev/i2c-0", 0x41, 400);
sensor[MINUS_Z] = config_sensor("/dev/i2c-0", 0x44, 400); }
}
}
// Reading I2C voltage and current sensors
int count;
for (count = 0; count < 8; count++)
{
reading[count] = read_sensor_data(sensor[count]);
// printf("Read sensor[%d] % 4.2fV % 6.1fmA % 6.1fmW \n",
// count, reading[count].voltage, reading[count].current, reading[count].power);
}
printf("\n");
// sensorV = config_sensor("/dev/i2c-1", 0x40, 400);
// readingV = read_sensor_data(sensorV);
printf("+X | sensor[%d] % 4.2fV % 6.1fmA % 6.1fmW \n",
// PLUS_X, readingV.voltage, readingV.current, readingV.power);
PLUS_X, reading[PLUS_X].voltage, reading[PLUS_X].current, reading[PLUS_X].power);
// sensorV = config_sensor("/dev/i2c-1", 0x41, 400);
// readingV = read_sensor_data(sensorV);
printf("+Y | sensor[%d] % 4.2fV % 6.1fmA % 6.1fmW \n",
// PLUS_Y, readingV.voltage, readingV.current, readingV.power);
PLUS_Y, reading[PLUS_Y].voltage, reading[PLUS_Y].current, reading[PLUS_Y].power);
//sensorV = config_sensor("/dev/i2c-0", 0x40, 400);
//readingV = read_sensor_data(sensorV);
printf("+Z | sensor[%d] % 4.2fV % 6.1fmA % 6.1fmW \n",
// PLUS_Z, readingV.voltage, readingV.current, readingV.power);
PLUS_Z, reading[PLUS_Z].voltage, reading[PLUS_Z].current, reading[PLUS_Z].power);
// sensorV = config_sensor("/dev/i2c-0", 0x41, 400);
// readingV = read_sensor_data(sensorV);
printf("-X | sensor[%d] % 4.2fV % 6.1fmA % 6.1fmW \n",
// MINUS_X, readingV.voltage, readingV.current, readingV.power);
MINUS_X, reading[MINUS_X].voltage, reading[MINUS_X].current, reading[MINUS_X].power);
// sensorV = config_sensor("/dev/i2c-0", 0x44, 400);
// readingV = read_sensor_data(sensorV);
printf("-Y | sensor[%d] % 4.2fV % 6.1fmA % 6.1fmW \n",
// MINUS_Y, readingV.voltage, readingV.current, readingV.power);
MINUS_Y, reading[MINUS_Y].voltage, reading[MINUS_Y].current, reading[MINUS_Y].power);
//sensorV = config_sensor("/dev/i2c-0", 0x45, 400);
// readingV = read_sensor_data(sensorV);
printf("-Z | sensor[%d] % 4.2fV % 6.1fmA % 6.1fmW \n",
// MINUS_Z, readingV.voltage, readingV.current, readingV.power);
MINUS_Z, reading[MINUS_Z].voltage, reading[MINUS_Z].current, reading[MINUS_Z].power);
// sensorV = config_sensor("/dev/i2c-1", 0x45, 400);
// readingV = read_sensor_data(sensorV);
printf("Bat | sensor[%d] % 4.2fV % 6.1fmA % 6.1fmW \n",
// BAT, readingV.voltage, readingV.current, readingV.power);
BAT, reading[BAT].voltage, reading[BAT].current, reading[BAT].power);
// sensorV = config_sensor("/dev/i2c-1", 0x44, 400);
// readingV = read_sensor_data(sensorV);
printf("Bus | sensor[%d] % 4.2fV % 6.1fmA % 6.1fmW \n",
// BUS, readingV.voltage, readingV.current, readingV.power);
BUS, reading[BUS].voltage, reading[BUS].current, reading[BUS].power);
/*
sensorV = config_sensor("/dev/i2c-3", 0x48, 0);
if (sensorV.fd != OFF) {
int tempValue = wiringPiI2CReadReg16(sensorV.fd, 0);
uint8_t upper = (uint8_t) (tempValue >> 8);
uint8_t lower = (uint8_t) (tempValue & 0xff);
float temp = (float)lower + ((float)upper / 0x100);
printf("T | % 4.1f C \n", temp);
}
*/
printf("\n\n");
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);
}
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