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429 lines
12 KiB
429 lines
12 KiB
/*
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* Transmits CubeSat Telemetry at 440MHz in AO-7 format
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*
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* Copyright Alan B. Johnston
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*
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* Portions Copyright (C) 2018 Jonathan Brandenburg
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <fcntl.h> //Needed for I2C port
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#include <stdlib.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <string.h>
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#include "status.h"
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#include "ax5043.h"
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#include "ax25.h"
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#include "spi/ax5043spi.h"
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#include <wiringPiI2C.h>
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#include <wiringPi.h>
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#include <time.h>
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#include "ina219.h"
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#define CALLSIGN "" // Put your callsign here!
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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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#define SENSOR_40 0
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#define SENSOR_41 3
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#define SENSOR_44 6
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#define SENSOR_45 9
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#define SENSOR_4A 12
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#define VOLTAGE 0
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#define CURRENT 1
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#define POWER 2
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#define VBATT 15
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uint32_t tx_freq_hz = 440310000;
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uint32_t tx_channel = 0;
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ax5043_conf_t hax5043;
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ax25_conf_t hax25;
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static void init_rf();
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int get_tlm(int tlm[][5]);
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long int timestamp;
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void config_x25();
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void trans_x25();
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//long int timestamp;
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int tempSensor;
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int upper_digit(int number);
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int lower_digit(int number);
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int charging = 0;
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uint16_t config = (0x2000 | 0x1800 | 0x0180 | 0x0018 | 0x0007 );
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int x_fd; // I2C bus 0 address 0x40
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int x_powerMultiplier;
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int x_currentDivider;
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int x_calValue;
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int y_fd; // I2C bus 0 address 0x41
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int z_fd; // I2C bos 0 address 0x44
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int main(void) {
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wiringPiSetup () ;
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pinMode (0, OUTPUT) ;
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int blink;
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for (blink = 1; blink < 4 ;blink++)
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{
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digitalWrite (0, HIGH) ; delay (500) ;
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digitalWrite (0, LOW) ; delay (500) ;
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}
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digitalWrite (0, HIGH) ;
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setSpiChannel(SPI_CHANNEL);
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setSpiSpeed(SPI_SPEED);
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initializeSpi();
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int tlm[7][5];
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memset(tlm, 0, sizeof tlm);
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timestamp = time(NULL);
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int file_i2c = access("/dev/i2c-3", W_OK | R_OK);
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//char *filenam1e = (char*)"/dev/i2c-3";
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if (file_i2c < 0)
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{
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fprintf(stderr,"ERROR: /dev/ic2-3 bus not present\n");
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tempSensor = -1;
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} else
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{
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tempSensor = wiringPiI2CSetupInterface("/dev/i2c-3", 0x48);
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}
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#ifdef DEBUG_LOGGING
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fprintf(stderr,"tempSensor: %d \n",tempSensor);
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#endif
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int arduinoI2C = access("/dev/i2c-0", W_OK | R_OK);
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if (arduinoI2C < 0)
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{
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fprintf(stderr,"ERROR: /dev/i2c-0 bus not present\n");
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} else {
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arduinoI2C = wiringPiI2CSetupInterface("/dev/i2c-0", 0x4B);
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#ifdef DEBUG_LOGGING
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fprintf(stderr,"arduinoI2C: %d\n", arduinoI2C);
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#endif
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if (arduinoI2C > 0) {
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if(wiringPiI2CReadReg16(arduinoI2C,0) < 0) {
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arduinoI2C = -1; // Disable reading of Arduino payload information
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fprintf(stderr,"Arduino payload not present\n");
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}
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} else {
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fprintf(stderr,"Arduino payload not present\n");
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}
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}
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// new INA219 current reading code
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x_calValue = 8192;
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x_powerMultiplier = 1;
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x_currentDivider = 20;
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config = INA219_CONFIG_BVOLTAGERANGE_16V |
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INA219_CONFIG_GAIN_40MV |
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INA219_CONFIG_BADCRES_12BIT |
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INA219_CONFIG_SADCRES_12BIT_4S_2130US |
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//INA219_CONFIG_SADCRES_12BIT_1S_532US |
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INA219_CONFIG_MODE_SANDBVOLT_CONTINUOUS;
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file_i2c = access("/dev/i2c-0", W_OK | R_OK);
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if (file_i2c < 0)
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{
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fprintf(stderr,"ERROR: /dev/ic2-0 bus not present\n");
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x_fd = -1; // Disable reading -X, -Y, and -Z telemetry
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y_fd = -1;
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z_fd = -1;
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} else
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{
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x_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x40);
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y_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x41);
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z_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x44);
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#ifdef DEBUG_LOGGING
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fprintf(stderr, "Opening of -X fd %d\n", x_fd);
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fprintf(stderr, "Opening of -Y fd %d\n", y_fd);
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fprintf(stderr, "Opening of -Z fd %d\n", z_fd);
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#endif
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}
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int ret;
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uint8_t data[1024];
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tx_freq_hz -= tx_channel * 50000;
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init_rf();
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// ax25_init(&hax25, (uint8_t *) "CubeSatSim", '2', (uint8_t *) CALLSIGN, '2',
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ax25_init(&hax25, (uint8_t *) "CQ", '1', (uint8_t *) CALLSIGN, '1',
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AX25_PREAMBLE_LEN,
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AX25_POSTAMBLE_LEN);
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/* Infinite loop */
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for (;;) {
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sleep(1); // Delay 1 second
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#ifdef DEBUG_LOGGING
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fprintf(stderr,"INFO: Getting TLM Data\n");
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#endif
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get_tlm(tlm);
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#ifdef DEBUG_LOGGING
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fprintf(stderr,"INFO: Preparing X.25 packet\n");
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#endif
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char str[1000];
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char tlm_str[1000];
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char header_str[] = "\x03\xf0hi hi ";
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strcpy(str, header_str);
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int channel;
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for (channel = 1; channel < 7; channel++) {
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#ifdef DEBUG_LOGGING
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printf("%d %d %d %d \n", tlm[channel][1], tlm[channel][2], tlm[channel][3], tlm[channel][4]);
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#endif
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sprintf(tlm_str, "%d%d%d %d%d%d %d%d%d %d%d%d ",
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channel, upper_digit(tlm[channel][1]), lower_digit(tlm[channel][1]),
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channel, upper_digit(tlm[channel][2]), lower_digit(tlm[channel][2]),
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channel, upper_digit(tlm[channel][3]), lower_digit(tlm[channel][3]),
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channel, upper_digit(tlm[channel][4]), lower_digit(tlm[channel][4]));
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printf("%s \n",tlm_str);
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strcat(str, tlm_str);
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}
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if (arduinoI2C > 0) { /* Read Arduino payload */
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for(int reg = 0; reg < 4; reg++) {
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sprintf(tlm_str, " %04x",wiringPiI2CReadReg16(arduinoI2C,reg));
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#ifdef DEBUG_LOGGING
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printf("%s \n",tlm_str);
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#endif
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strcat(str,tlm_str); /* Append payload telemetry */
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usleep(100000);
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}
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}
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digitalWrite (0, LOW);
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/*
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char cmdbuffer[1000];
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if (charging) {
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FILE* file1 = popen("/home/pi/mopower/mpcmd LED_STAT=1", "r");
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fgets(cmdbuffer, 999, file1);
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pclose(file1);
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// printf("LED state: %s\n", cmdbuffer);
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}
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*/
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#ifdef DEBUG_LOGGING
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fprintf(stderr,"INFO: Transmitting X.25 packet\n");
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#endif
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memcpy(data, str, strnlen(str, 256));
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ret = ax25_tx_frame(&hax25, &hax5043, data, strnlen(str, 256));
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if (ret) {
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fprintf(stderr,
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"ERROR: Failed to transmit AX.25 frame with error code %d\n",
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ret);
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exit(EXIT_FAILURE);
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}
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ax5043_wait_for_transmit();
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digitalWrite (0, HIGH);
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/*
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FILE* file2 = popen("/home/pi/mopower/mpcmd LED_STAT=0", "r");
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fgets(cmdbuffer, 999, file2);
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pclose(file2);
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// printf("LED state: %s\n", cmdbuffer);
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*/
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if (ret) {
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fprintf(stderr,
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"ERROR: Failed to transmit entire AX.25 frame with error code %d\n",
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ret);
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exit(EXIT_FAILURE);
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}
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}
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return 0;
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}
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static void init_rf() {
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int ret;
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#ifdef DEBUG_LOGGING
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fprintf(stderr,"Initializing AX5043\n");
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#endif
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ret = ax5043_init(&hax5043, XTAL_FREQ_HZ, VCO_INTERNAL);
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if (ret != PQWS_SUCCESS) {
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fprintf(stderr,
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"ERROR: Failed to initialize AX5043 with error code %d\n", ret);
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exit(EXIT_FAILURE);
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}
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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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fprintf(stderr,"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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fprintf(stderr,"ERROR: Not a digit in upper_digit!\n");
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return digit;
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}
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int get_tlm(int tlm[][5]) {
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// Reading I2C voltage and current sensors
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char cmdbuffer[1000];
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FILE* file = popen("sudo python /home/pi/CubeSatSim/python/readcurrent.py 2>&1", "r");
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fgets(cmdbuffer, 999, file);
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pclose(file);
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#ifdef DEBUG_LOGGING
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fprintf(stderr,"I2C Sensor data: %s\n", cmdbuffer);
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#endif
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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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int i = 0;
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char * data2 = strtok (cmdbuffer," ");
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while (data2 != NULL) {
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strcpy(ina219[i], data2);
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#ifdef DEBUG_LOGGING
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printf ("ina219[%d]=%s\n",i,ina219[i]);
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#endif
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data2 = strtok (NULL, " ");
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i++;
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}
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// read i2c current sensors //
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double current = 0, power = 0, y_current = 0, y_power = 0, z_current = 0, z_power = 0;
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if (x_fd != -1) {
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wiringPiI2CWriteReg16(x_fd, INA219_REG_CALIBRATION, x_calValue);
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wiringPiI2CWriteReg16(x_fd, INA219_REG_CONFIG, config);
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wiringPiI2CWriteReg16(x_fd, INA219_REG_CALIBRATION, x_calValue);
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current = wiringPiI2CReadReg16(x_fd, INA219_REG_CURRENT) / x_currentDivider;
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power = wiringPiI2CReadReg16(x_fd, INA219_REG_POWER) * x_powerMultiplier;
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wiringPiI2CWriteReg16(y_fd, INA219_REG_CALIBRATION, x_calValue);
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wiringPiI2CWriteReg16(y_fd, INA219_REG_CONFIG, config);
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wiringPiI2CWriteReg16(y_fd, INA219_REG_CALIBRATION, x_calValue);
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y_current = wiringPiI2CReadReg16(y_fd, INA219_REG_CURRENT) / x_currentDivider;
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y_power = wiringPiI2CReadReg16(y_fd, INA219_REG_POWER) * x_powerMultiplier;
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wiringPiI2CWriteReg16(z_fd, INA219_REG_CALIBRATION, x_calValue);
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wiringPiI2CWriteReg16(z_fd, INA219_REG_CONFIG, config);
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wiringPiI2CWriteReg16(z_fd, INA219_REG_CALIBRATION, x_calValue);
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z_current = wiringPiI2CReadReg16(z_fd, INA219_REG_CURRENT) / x_currentDivider;
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z_power = wiringPiI2CReadReg16(z_fd, INA219_REG_POWER) * x_powerMultiplier;
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}
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#ifdef DEBUG_LOGGING
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printf("-X 0x40 current %4.2f power %4.2f -Y 0x41 current %4.2f power %4.2f -Z 0x44 current %4.2f power %4.2f \n",
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current,
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power,
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y_current,
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y_power,
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z_current,
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z_power);
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printf("1B: ina219[%d]: %s val: %f \n", SENSOR_40 + CURRENT, ina219[SENSOR_40 + CURRENT], strtof(ina219[SENSOR_40 + CURRENT], NULL));
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#endif
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tlm[1][A] = (int)(strtof(ina219[SENSOR_4A + CURRENT], NULL) / 15 + 0.5) % 100; // Current of 5V supply to Pi
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tlm[1][B] = (int) (99.5 - strtof(ina219[SENSOR_40 + CURRENT], NULL)/10) % 100; // +X current [4]
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tlm[1][C] = (int) (99.5 - current/10) % 100; // X- current [10]
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tlm[1][D] = (int) (99.5 - strtof(ina219[SENSOR_41 + CURRENT], NULL)/10) % 100; // +Y current [7]
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tlm[2][A] = (int) (99.5 - y_current/10) % 100; // -Y current [10]
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tlm[2][B] = (int) (99.5 - strtof(ina219[SENSOR_44 + CURRENT], NULL)/10) % 100; // +Z current [10] // was 70/2m transponder power, AO-7 didn't have a Z panel
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tlm[2][C] = (int) (99.5 - z_current/10) % 100; // -Z current (was timestamp)
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// tlm[2][C] = (int)((time(NULL) - timestamp) / 15) % 100;
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tlm[2][D] = (int)(50.5 + strtof(ina219[SENSOR_45 + CURRENT], NULL)/10.0) % 100; // NiMH Battery current
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tlm[3][A] = abs((int)((strtof(ina219[SENSOR_45 + VOLTAGE], NULL) * 10) - 65.5) % 100);
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tlm[3][B] = (int)(strtof(ina219[SENSOR_4A + VOLTAGE], NULL) * 10.0) % 100; // 5V supply to Pi
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if (tempSensor != -1) {
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int tempValue = wiringPiI2CReadReg16(tempSensor, 0);
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#ifdef DEBUG_LOGGING
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printf("Temp Sensor Read: %x\n", tempValue);
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#endif
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uint8_t upper = (uint8_t) (tempValue >> 8);
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uint8_t lower = (uint8_t) (tempValue & 0xff);
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float temp = (float)lower + ((float)upper / 0x100);
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tlm[4][A] = (int)((95.8 - temp)/1.48 + 0.5) % 100;
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}
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FILE *cpuTempSensor = fopen("/sys/class/thermal/thermal_zone0/temp", "r");
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if (cpuTempSensor) {
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double cpuTemp;
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fscanf (cpuTempSensor, "%lf", &cpuTemp);
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cpuTemp /= 1000;
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#ifdef DEBUG_LOGGING
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printf("CPU Temp Read: %6.1f\n", cpuTemp);
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#endif
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tlm[4][B] = (int)((95.8 - cpuTemp)/1.48 + 0.5) % 100;
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fclose (cpuTempSensor);
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}
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tlm[6][B] = 0 ;
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tlm[6][D] = 49 + rand() % 3;
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#ifdef DEBUG_LOGGING
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// Display tlm
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int k, j;
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for (k = 1; k < 7; k++) {
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for (j = 1; j < 5; j++) {
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printf(" %2d ", tlm[k][j]);
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}
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printf("\n");
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}
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#endif
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return 0;
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}
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