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tracker.c
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/*------------------------------------------------------------------\
| |
| PI IN THE SKY TRACKER PROGRAM |
| |
| This program is written for the Pi Telemetry Board |
| produced by HAB Supplies Ltd. No support is provided |
| for use on other hardware. It does the following: |
| |
| 1 - Sets up the hardware including putting the GPS in flight mode |
| 2 - Reads the current temperature |
| 3 - Reads the current battery voltage |
| 4 - Reads the current GPS position |
| 5 - Builds a telemetry sentence to transmit |
| 6 - Sends it to the MTX2/NTX2B radio transmitter |
| 7 - repeats steps 2-6 |
| |
\------------------------------------------------------------------*/
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <ctype.h>
#include <stdio.h> // Standard input/output definitions
#include <string.h> // String function definitions
#include <unistd.h> // UNIX standard function definitions
#include <fcntl.h> // File control definitions
#include <errno.h> // Error number definitions
#include <termios.h> // POSIX terminal control definitions
#include <stdint.h>
#include <stdlib.h>
#include <dirent.h>
#include <math.h>
#include <pthread.h>
#include <wiringPi.h>
#include <arpa/inet.h>
#include <sys/socket.h>
#include <ifaddrs.h>
#include <sys/statvfs.h>
#include "gps.h"
#include "DS18B20.h"
#include "adc.h"
#include "adc_i2c.h"
#include "misc.h"
#include "snapper.h"
#include "led.h"
#include "bmp085.h"
#include "aprs.h"
#include "lora.h"
#include "prediction.h"
#include "Python.h"
struct TConfig Config;
// Pin allocations. Do not change unless you're using your own hardware
#define NTX2B_ENABLE 0
#define UBLOX_ENABLE 2
FILE *ImageFP;
int Records, FileNumber;
struct termios options;
char *SSDVFolder="/home/pi/pits/tracker/images";
void BuildSentence(char *TxLine, int SentenceCounter, struct TGPS *GPS)
{
int i, j;
unsigned char c;
char TimeBuffer1[12], TimeBuffer2[10], ExtraFields1[20], ExtraFields2[20], ExtraFields3[20];
sprintf(TimeBuffer1, "%06ld", GPS->Time);
TimeBuffer2[0] = TimeBuffer1[0];
TimeBuffer2[1] = TimeBuffer1[1];
TimeBuffer2[2] = ':';
TimeBuffer2[3] = TimeBuffer1[2];
TimeBuffer2[4] = TimeBuffer1[3];
TimeBuffer2[5] = ':';
TimeBuffer2[6] = TimeBuffer1[4];
TimeBuffer2[7] = TimeBuffer1[5];
TimeBuffer2[8] = '\0';
ExtraFields1[0] = '\0';
ExtraFields2[0] = '\0';
ExtraFields3[0] = '\0';
if (NewBoard())
{
sprintf(ExtraFields1, ",%.0f", GPS->BoardCurrent * 1000);
}
if (Config.EnableBMP085)
{
sprintf(ExtraFields2, ",%.1f,%.0f", GPS->BMP180Temperature, GPS->Pressure);
}
if (GPS->DS18B20Count > 1)
{
sprintf(ExtraFields3, ",%3.1f", GPS->DS18B20Temperature[Config.ExternalDS18B20]);
}
// $$SKYCADEMY,128,11:55:53,51.95029,-2.54441,00136,0,0,5,0.0,2.9,36.0*AFF1
sprintf(TxLine, "$$%s,%d,%s,%7.5lf,%7.5lf,%05.5u,%d,%d,%d,%3.1f,%3.1f%s%s%s",
Config.Channels[RTTY_CHANNEL].PayloadID,
SentenceCounter,
TimeBuffer2,
GPS->Latitude,
GPS->Longitude,
GPS->Altitude,
(GPS->Speed * 13) / 7,
GPS->Direction,
GPS->Satellites,
GPS->DS18B20Temperature[(GPS->DS18B20Count > 1) ? (1-Config.ExternalDS18B20) : 0],
GPS->BatteryVoltage,
ExtraFields1,
ExtraFields2,
ExtraFields3);
AppendCRC(TxLine);
LogMessage("RTTY: %.70s", TxLine);
}
static PyObject * BuildSentence_wrapper(PyObject * self, PyObject * args)
{
char * TxLine;
int SentenceCounter;
struct TGPS * GPS;
char FormatList[] = {"s", "i", "l", "l", "f", "f", "I", "I", "I", "i", "i", "f", "f", "f", "f", "f", "i", "f", "f"};
// parse arguments
if (!PyArg_ParseTuple(args, FormatList, &input, SentenceCounter, &GPS.Time, &GPS.Seconds, &GPS.Longitude, &GPS.Latitude, &GPS.Altitude, &GPS.MaximumAltitude, &GPS.Satellites, &GPS.Speed, &GPS.Direction, &&GPS.DS18B20Temperature, &GPS.BatteryVoltage, &GPS.BMP180Temperature, &GPS.Pressure, &GPS.BoardCurrent, &GPS.DS18B20Count, &GPS.PredictedLongitude, &GPS.PredictedLatitude)) {
return NULL;
}
// run the actual function
BuildSentence(TxLine, SentenceCounter, GPS);
// stop the leaks
free(FormatList);
}
speed_t BaudToSpeed(int baud)
{
switch (baud)
{
case 50: return B50;
case 75: return B75;
case 150: return B150;
case 200: return B200;
case 300: return B300;
case 600: return B600;
case 1200: return B1200;
}
return 0;
}
// FIXME: Not sure how to convert speed_t to a python object???
static PyObject * BaudToSpeed_wrapper(PyObject * self, PyObject * args)
{
int baud;
speed_t result;
PyObject * ret;
// parse arguments
if (!PyArg_ParseTuple(args, "i", baud){
return NULL;
}
// run the actual function
result = BaudToSpeed(baud);
// build the resulting string into a Python object.
ret = PyString_FromString(result);
free(result);
return ret;
}
void LoadConfigFile(struct TConfig *Config)
{
FILE *fp;
int BaudRate;
char *filename = "/boot/pisky.txt";
if ((fp = fopen(filename, "r")) == NULL)
{
printf("\nFailed to open config file %s (error %d - %s).\nPlease check that it exists and has read permission.\n", filename, errno, strerror(errno));
exit(1);
}
ReadBoolean(fp, "disable_monitor", -1, 0, &(Config->DisableMonitor));
if (Config->DisableMonitor)
{
printf("HDMI/Composite outputs will be disabled\n");
}
ReadBoolean(fp, "Disable_RTTY", -1, 0, &(Config->DisableRTTY));
Config->Channels[RTTY_CHANNEL].Enabled = !Config->DisableRTTY;
if (Config->DisableRTTY)
{
printf("RTTY Disabled\n");
}
else
{
ReadString(fp, "payload", -1, Config->Channels[RTTY_CHANNEL].PayloadID, sizeof(Config->Channels[RTTY_CHANNEL].PayloadID), 1);
printf ("RTTY Payload ID = '%s'\n", Config->Channels[RTTY_CHANNEL].PayloadID);
ReadString(fp, "frequency", -1, Config->Frequency, sizeof(Config->Frequency), 0);
BaudRate = ReadInteger(fp, "baud", -1, 1, 300);
Config->Channels[RTTY_CHANNEL].BaudRate = BaudRate;
Config->TxSpeed = BaudToSpeed(BaudRate);
if (Config->TxSpeed == B0)
{
printf ("Unknown baud rate %d\nPlease edit in configuration file\n", BaudRate);
exit(1);
}
printf ("Radio baud rate = %d\n", BaudRate);
}
Config->EnableGPSLogging = ReadBooleanFromString(fp, "logging", "GPS");
if (Config->EnableGPSLogging) printf("GPS Logging enabled\n");
Config->EnableTelemetryLogging = ReadBooleanFromString(fp, "logging", "Telemetry");
if (Config->EnableTelemetryLogging) printf("Telemetry Logging enabled\n");
ReadBoolean(fp, "enable_bmp085", -1, 0, &(Config->EnableBMP085));
if (Config->EnableBMP085)
{
printf("BMP085 Enabled\n");
}
Config->ExternalDS18B20 = ReadInteger(fp, "external_temperature", -1, 0, 1);
ReadBoolean(fp, "camera", -1, 0, &(Config->Camera));
printf ("Camera %s\n", Config->Camera ? "Enabled" : "Disabled");
if (Config->Camera)
{
Config->SSDVHigh = ReadInteger(fp, "high", -1, 0, 2000);
printf ("Image size changes at %dm\n", Config->SSDVHigh);
Config->Channels[RTTY_CHANNEL].ImageWidthWhenLow = ReadInteger(fp, "low_width", -1, 0, 320);
Config->Channels[RTTY_CHANNEL].ImageHeightWhenLow = ReadInteger(fp, "low_height", -1, 0, 240);
printf ("RTTY Low image size %d x %d pixels\n", Config->Channels[RTTY_CHANNEL].ImageWidthWhenLow, Config->Channels[0].ImageHeightWhenLow);
Config->Channels[RTTY_CHANNEL].ImageWidthWhenHigh = ReadInteger(fp, "high_width", -1, 0, 640);
Config->Channels[RTTY_CHANNEL].ImageHeightWhenHigh = ReadInteger(fp, "high_height", -1, 0, 480);
printf ("RTTY High image size %d x %d pixels\n", Config->Channels[RTTY_CHANNEL].ImageWidthWhenHigh, Config->Channels[0].ImageHeightWhenHigh);
Config->Channels[RTTY_CHANNEL].ImagePackets = ReadInteger(fp, "image_packets", -1, 0, 4);
printf ("RTTY: 1 Telemetry packet every %d image packets\n", Config->Channels[RTTY_CHANNEL].ImagePackets);
Config->Channels[RTTY_CHANNEL].ImagePeriod = ReadInteger(fp, "image_period", -1, 0, 60);
printf ("RTTY: %d seconds between photographs\n", Config->Channels[RTTY_CHANNEL].ImagePeriod);
// Set up full-size image parameters
Config->Channels[FULL_CHANNEL].ImageWidthWhenLow = ReadInteger(fp, "full_low_width", -1, 0, 640);
Config->Channels[FULL_CHANNEL].ImageHeightWhenLow = ReadInteger(fp, "full_low_height", -1, 0, 480);
printf ("Full Low image size %d x %d pixels\n", Config->Channels[FULL_CHANNEL].ImageWidthWhenLow, Config->Channels[FULL_CHANNEL].ImageHeightWhenLow);
Config->Channels[FULL_CHANNEL].ImageWidthWhenHigh = ReadInteger(fp, "full_high_width", -1, 0, 2592);
Config->Channels[FULL_CHANNEL].ImageHeightWhenHigh = ReadInteger(fp, "full_high_height", -1, 0, 1944);
printf ("Full High image size %d x %d pixels\n", Config->Channels[FULL_CHANNEL].ImageWidthWhenHigh, Config->Channels[FULL_CHANNEL].ImageHeightWhenHigh);
Config->Channels[FULL_CHANNEL].ImagePeriod = ReadInteger(fp, "full_image_period", -1, 0, 60);
printf ("Full size: %d seconds between photographs\n", Config->Channels[FULL_CHANNEL].ImagePeriod);
Config->Channels[FULL_CHANNEL].ImagePackets = Config->Channels[FULL_CHANNEL].ImagePeriod > 0;
Config->Channels[FULL_CHANNEL].Enabled = Config->Channels[FULL_CHANNEL].ImagePackets;
}
Config->GPSSource[0] = '\0';
ReadString(fp, "gps_source", -1, Config->GPSSource, sizeof(Config->GPSSource), 0);
// Landing prediction
Config->EnableLandingPrediction = 0;
ReadBoolean(fp, "landing_prediction", -1, 0, &(Config->EnableLandingPrediction));
if (Config->EnableLandingPrediction)
{
Config->cd_area = ReadFloat(fp, "cd_area", -1, 0, 0.66);
Config->payload_weight = ReadFloat(fp, "payload_weight", -1, 0, 0.66);
ReadString(fp, "prediction_id", -1, Config->PredictionID, sizeof(Config->PredictionID), 0);
}
// I2C overrides. Only needed for users own boards, or for some of our prototypes
if (ReadInteger(fp, "SDA", -1, 0, 0))
{
Config->SDA = ReadInteger(fp, "SDA", -1, 0, 0);
printf ("I2C SDA overridden to %d\n", Config->SDA);
}
if (ReadInteger(fp, "SCL", -1, 0, 0))
{
Config->SCL = ReadInteger(fp, "SCL", -1, 0, 0);
printf ("I2C SCL overridden to %d\n", Config->SCL);
}
Config->InfoMessageCount = ReadInteger(fp, "info_messages", -1, 0, -1);
LoadAPRSConfig(fp, Config);
LoadLoRaConfig(fp, Config);
fclose(fp);
}
void SetMTX2Frequency(char *FrequencyString)
{
float _mtx2comp;
int _mtx2int;
long _mtx2fractional;
char _mtx2command[17];
int fd;
double Frequency;
struct termios options;
uint8_t setNMEAoff[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x80, 0x25, 0x00, 0x00, 0x07, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0xA0, 0xA9 };
// First disable transmitter
digitalWrite (NTX2B_ENABLE, 0);
pinMode (NTX2B_ENABLE, OUTPUT);
delayMilliseconds (200);
fd = open("/dev/ttyAMA0", O_WRONLY | O_NOCTTY);
if (fd >= 0)
{
tcgetattr(fd, &options);
cfsetispeed(&options, B9600);
cfsetospeed(&options, B9600);
options.c_cflag &= ~CSTOPB;
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS8;
options.c_oflag &= ~ONLCR;
options.c_oflag &= ~OPOST;
options.c_iflag &= ~IXON;
options.c_iflag &= ~IXOFF;
options.c_lflag &= ~ECHO;
options.c_cc[VMIN] = 0;
options.c_cc[VTIME] = 10;
tcsetattr(fd, TCSANOW, &options);
// Tel UBlox to shut up
write(fd, setNMEAoff, sizeof(setNMEAoff));
tcsetattr(fd, TCSAFLUSH, &options);
close(fd);
delayMilliseconds (1000);
fd = open("/dev/ttyAMA0", O_WRONLY | O_NOCTTY);
if (strlen(FrequencyString) < 3)
{
// Convert channel number to frequency
Frequency = strtol(FrequencyString, NULL, 16) * 0.003125 + 434.05;
}
else
{
Frequency = atof(FrequencyString);
}
printf("Frequency set to %8.4fMHz\n", Frequency);
_mtx2comp=(Frequency+0.0015)/6.5;
_mtx2int=_mtx2comp;
_mtx2fractional = ((_mtx2comp-_mtx2int)+1) * 524288;
snprintf(_mtx2command,17,"@PRG_%02X%06lX\r",_mtx2int-1, _mtx2fractional);
printf("MTX2 command is %s\n", _mtx2command);
// Let enable line float (but Tx will pull it up anyway)
delayMilliseconds (200);
pinMode (NTX2B_ENABLE, INPUT);
pullUpDnControl(NTX2B_ENABLE, PUD_OFF);
delayMilliseconds (20);
write(fd, _mtx2command, strlen(_mtx2command));
tcsetattr(fd, TCSAFLUSH, &options);
delayMilliseconds (50);
close(fd);
// Switch on the radio
delayMilliseconds (100);
digitalWrite (NTX2B_ENABLE, 1);
pinMode (NTX2B_ENABLE, OUTPUT);
}
}
static PyObject * SetMTX2Frequency_wrapper(PyObject * self, PyObject * args)
{
char * FrequencyString;
// parse arguments
if (!PyArg_ParseTuple(args, "s", &FrequencyString)) {
return NULL;
}
// run the actual function
SetMTX2Frequency(FrequencyString);
}
void SetNTX2BFrequency(char *FrequencyString)
{
int fd, Frequency;
char Command[16];
struct termios options;
uint8_t setNMEAoff[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x80, 0x25, 0x00, 0x00, 0x07, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0xA0, 0xA9 };
// First disable transmitter
digitalWrite (NTX2B_ENABLE, 0);
pinMode (NTX2B_ENABLE, OUTPUT);
delayMilliseconds (200);
fd = open("/dev/ttyAMA0", O_WRONLY | O_NOCTTY);
if (fd >= 0)
{
tcgetattr(fd, &options);
cfsetispeed(&options, B4800);
cfsetospeed(&options, B4800);
options.c_cflag &= ~CSTOPB;
options.c_cflag |= CS8;
options.c_oflag &= ~ONLCR;
options.c_oflag &= ~OPOST;
options.c_iflag &= ~IXON;
options.c_iflag &= ~IXOFF;
options.c_lflag &= ~ECHO;
options.c_cc[VMIN] = 0;
options.c_cc[VTIME] = 10;
tcsetattr(fd, TCSANOW, &options);
// Tel UBlox to shut up
write(fd, setNMEAoff, sizeof(setNMEAoff));
tcsetattr(fd, TCSAFLUSH, &options);
close(fd);
delayMilliseconds (1000);
fd = open("/dev/ttyAMA0", O_WRONLY | O_NOCTTY);
if (strlen(FrequencyString) < 3)
{
// Already a channel number
Frequency = strtol(FrequencyString, NULL, 16);
}
else
{
// Convert from MHz to channel number
Frequency = (int)((atof(FrequencyString) - 434.05) / 0.003124);
}
sprintf(Command, "%cch%02X\r", 0x80, Frequency);
printf("NTX2B-FA transmitter now set to channel %02Xh which is %8.4lfMHz\n", Frequency, (double)(Frequency) * 0.003125 + 434.05);
// Let enable line float (but Tx will pull it up anyway)
delayMilliseconds (200);
pinMode (NTX2B_ENABLE, INPUT);
pullUpDnControl(NTX2B_ENABLE, PUD_OFF);
delayMilliseconds (20);
write(fd, Command, strlen(Command));
tcsetattr(fd, TCSAFLUSH, &options);
delayMilliseconds (50);
close(fd);
// Switch on the radio
delayMilliseconds (100);
digitalWrite (NTX2B_ENABLE, 1);
pinMode (NTX2B_ENABLE, OUTPUT);
}
}
static PyObject * SetNTX2BFrequency_wrapper(PyObject * self, PyObject * args)
{
char * FrequencyString;
// parse arguments
if (!PyArg_ParseTuple(args, "s", &FrequencyString)) {
return NULL;
}
// run the actual function
SetNTX2BFrequency(FrequencyString);
}
void SetFrequency(char *Frequency)
{
if (NewBoard())
{
SetMTX2Frequency(Frequency);
SetMTX2Frequency(Frequency);
}
else
{
SetNTX2BFrequency(Frequency);
}
}
static PyObject * SetFrequency(PyObject * self, PyObject * args)
{
char * FrequencyString;
// parse arguments
if (!PyArg_ParseTuple(args, "s", &FrequencyString)) {
return NULL;
}
// run the actual function
SetFrequency(FrequencyString);
}
int OpenSerialPort(void)
{
int fd;
fd = open("/dev/ttyAMA0", O_WRONLY | O_NOCTTY); // O_NDELAY);
if (fd >= 0)
{
/* get the current options */
tcgetattr(fd, &options);
/* set raw input */
options.c_lflag &= ~ECHO;
options.c_cc[VMIN] = 0;
options.c_cc[VTIME] = 10;
cfsetispeed(&options, Config.TxSpeed);
cfsetospeed(&options, Config.TxSpeed);
options.c_cflag |= CSTOPB;
options.c_cflag &= ~CSIZE;
if (Config.TxSpeed == B50)
{
options.c_cflag |= CS7;
}
else
{
options.c_cflag |= CS8;
}
options.c_oflag &= ~ONLCR;
options.c_oflag &= ~OPOST;
options.c_iflag &= ~IXON;
options.c_iflag &= ~IXOFF;
tcsetattr(fd, TCSANOW, &options);
}
return fd;
}
static PyObject * OpenSerialPort_wrapper(PyObject * self)
{
int fd;
PyObject * ret;
// run the actual function
fd = OpenSerialPort();
ret = PyString_FromFormat("%d", fd);
return ret;
}
void SendSentence(int fd, char *TxLine)
{
// int fd;
// if ((fd = OpenSerialPort()) >= 0)
{
// printf("Sending sentence ...\n");
write(fd, TxLine, strlen(TxLine));
// Log now while we're waiting for the serial port, to eliminate or at least reduce downtime whilst logging
if (Config.EnableTelemetryLogging)
{
WriteLog("telemetry.txt", TxLine);
}
// Wait till those characters get sent
tcsetattr(fd, TCSAFLUSH, &options);
// printf("Sent\n");
// if (close(fd) < 0)
// {
// printf("NOT Sent - error %d\n", errno);
// }
}
/*
else
{
printf("Failed to open serial port\n");
}
*/
}
static PyObject * SendSentence_wrapper(PyObject * self, PyObject * args)
{
int fd;
char * TxLine;
// parse arguments
if (!PyArg_ParseTuple(args, ["i", "s"], fd, &TxLine)) {
return NULL;
}
// run the actual function
SendSentence(fd, TxLine);
}
int SendRTTYImage(int fd)
{
unsigned char Buffer[256];
size_t Count;
int SentSomething = 0;
StartNewFileIfNeeded(RTTY_CHANNEL);
if (Config.Channels[RTTY_CHANNEL].ImageFP != NULL)
{
Count = fread(Buffer, 1, 256, Config.Channels[RTTY_CHANNEL].ImageFP);
if (Count > 0)
{
printf("RTTY: SSDV record %d of %d\r\n", ++Config.Channels[RTTY_CHANNEL].SSDVRecordNumber, Config.Channels[RTTY_CHANNEL].SSDVTotalRecords);
Config.Channels[RTTY_CHANNEL].ImagePacketCount++;
// if ((fd = OpenSerialPort()) >= 0)
// {
write(fd, Buffer, Count);
tcsetattr(fd, TCSAFLUSH, &options);
// close(fd);
// }
SentSomething = 1;
}
else
{
fclose(Config.Channels[RTTY_CHANNEL].ImageFP);
Config.Channels[RTTY_CHANNEL].ImageFP = NULL;
}
}
return SentSomething;
}
static PyObject * SendRTTYImage_wrapper(PyObject * self, PyObject * args)
{
int fd;
int result;
PyObject * ret;
// parse arguments
if (!PyArg_ParseTuple(args, "i", fd)) {
return NULL;
}
// run the actual function
result = SendRTTYImage(fd);
// build the resulting string into a Python object.
ret = PyString_FromString(result);
return ret;
}
void SendIPAddress(int fd)
{
struct ifaddrs *ifap, *ifa;
struct sockaddr_in *sa;
char *addr;
getifaddrs (&ifap);
for (ifa = ifap; ifa; ifa = ifa->ifa_next) {
if (ifa->ifa_addr->sa_family==AF_INET) {
sa = (struct sockaddr_in *) ifa->ifa_addr;
addr = inet_ntoa(sa->sin_addr);
if (strcmp(addr, "127.0.0.1") != 0)
{
char Sentence[200];
sprintf(Sentence, "Interface %s has IP Address: %s\n", ifa->ifa_name, addr);
printf(Sentence);
SendSentence(fd, Sentence);
}
}
}
freeifaddrs(ifap);
}
static PyObject * SendIPAddress_wrapper(PyObject * self, PyObject * args)
{
int fd;
// parse arguments
if (!PyArg_ParseTuple(args, "s", fd)) {
return NULL;
}
// run the actual function
SendIPAddress(fd);
}
void SendFreeSpace(int fd)
{
struct statvfs vfs;
if (statvfs("/home", &vfs) == 0)
{
char Sentence[200];
sprintf(Sentence, "Free SD space = %.1fMB\n", (float)vfs.f_bsize * (float)vfs.f_bfree / (1024 * 1024));
printf(Sentence);
SendSentence(fd, Sentence);
}
}
static PyObject * SendFreeSpace_wrapper(PyObject * self, PyObject * args)
{
int fd;
// parse arguments
if (!PyArg_ParseTuple(args, "i", fd)) {
return NULL;
}
// run the actual function
SendFreeSpace(fd);
}
static PyObject * GetProgCount(PyObject * self, PyObject * args)
{
int result;
PyObject * ret;
// parse arguments
if (!PyArg_ParseTuple(args, "i", fd)) {
return NULL;
}
// test program count
result = prog_count("tracker")
// build the resulting string into a Python object.
ret = PyString_FromFormat("%d", result);
return ret;
}
static PyObject * GetNewBoard(PyObject * self, PyObject * args)
{
int result;
PyObject * ret;
// parse arguments
if (!PyArg_ParseTuple(args, "i", fd)) {
return NULL;
}
// test program count
result = NewBoard()
// build the resulting string into a Python object.
ret = PyString_FromFormat("%d", result);
return ret;
}
static PyObject * SetAllConfig(PyObject * self, PyObject * args)
{
int led_ok;
int led_warn;
int sda;
int scl;
// parse arguments
if (!PyArg_ParseTuple(args, ["i", "i", "i", "i"], led_ok, led_warn, sda, scl)) {
return NULL;
}
Config.LED_OK = led_ok;
Config.LED_Warn = led_warn;
Config.SDA = sda;
Config.SCL = scl;
}
static PyObject * SetMonitor(PyObject * self, PyObject * args)
{
// check if need to disable monitor and do it
LoadConfigFile(&Config);
if (Config.DisableMonitor)
{
system("/opt/vc/bin/tvservice -off");
}
}
static PyObject * SetCamera(PyObject * self, PyObject * args)
{
// check if need set camera and do it
LoadConfigFile(&Config);
if (Config.Camera)
{
if (FileExists("/boot/clear.txt"))
{
// remove SSDV and other camera images, plus log files
printf("Removing existing photo files\n");
remove("gps.txt");
remove("telemetry.txt");
remove("/boot/clear.txt");
system("rm -rf /home/pi/pits/tracker/images/*.jpg");
}
// Remove any old SSDV files
system("rm -f snap*.bin");
}
}
static PyObject * SetGPS(PyObject * self, PyObject * args)
{
// set GPS
struct TGPS GPS;
GPS.Time = 0.0;
GPS.Longitude = 0.0;
GPS.Latitude = 0.0;
GPS.Altitude = 0;
GPS.Satellites = 0;
GPS.Speed = 0.0;
GPS.Direction = 0.0;
GPS.DS18B20Temperature[0] = 0.0;
GPS.DS18B20Temperature[1] = 0.0;
GPS.BatteryVoltage = 0.0;
GPS.BMP180Temperature = 0.0;
GPS.Pressure = 0.0;
GPS.MaximumAltitude = 0.0;
GPS.DS18B20Count = 0;
}
int main(void)
{
int fd, ReturnCode, i;
unsigned long Sentence_Counter = 0;
char Sentence[100], Command[100];
struct stat st = {0};
struct TGPS GPS;
pthread_t PredictionThread, LoRaThread, APRSThread, GPSThread, DS18B20Thread, ADCThread, CameraThread, BMP085Thread, LEDThread;
if (prog_count("tracker") > 1)
{
printf("\nThe tracker program is already running!\n");
printf("It is started automatically, with the camera script, when the Pi boots.\n\n");
printf("If you just want the tracker software to run, it already is,\n");
printf("and its output can be viewed on a monitor attached to a Pi video socket.\n\n");
printf("If instead you want to view the tracker output via ssh,\n");
printf("then you should first stop it by typing the following command:\n");
printf(" sudo killall tracker\n\n");
printf("and then restart manually with\n");
printf(" sudo ./tracker\n\n");
exit(1);
}
printf("\n\nRASPBERRY PI-IN-THE-SKY FLIGHT COMPUTER\n");
printf( "=======================================\n\n");
if (NewBoard())
{
if (NewBoard() == 2)
{
printf("RPi 2 B\n");
}
else
{
printf("RPi Model A+ or B+\n");
}
printf("PITS+ Board\n\n");
Config.LED_OK = 25;
Config.LED_Warn = 24;
Config.SDA = 2;
Config.SCL = 3;
}
else
{
printf("RPi Model A or B\n");
printf("PITS Board\n\n");
Config.LED_OK = 11;
Config.LED_Warn = 4;
Config.SDA = 5;
Config.SCL = 6;
}
LoadConfigFile(&Config);
if (Config.DisableMonitor)
{
system("/opt/vc/bin/tvservice -off");
}
if (Config.Camera)
{
if (FileExists("/boot/clear.txt"))
{
// remove SSDV and other camera images, plus log files
printf("Removing existing photo files\n");
remove("gps.txt");
remove("telemetry.txt");
remove("/boot/clear.txt");
system("rm -rf /home/pi/pits/tracker/images/*.jpg");
}
// Remove any old SSDV files
system("rm -f snap*.bin");
}
GPS.Time = 0.0;
GPS.Longitude = 0.0;
GPS.Latitude = 0.0;
GPS.Altitude = 0;
GPS.Satellites = 0;
GPS.Speed = 0.0;
GPS.Direction = 0.0;
GPS.DS18B20Temperature[0] = 0.0;
GPS.DS18B20Temperature[1] = 0.0;
GPS.BatteryVoltage = 0.0;
GPS.BMP180Temperature = 0.0;
GPS.Pressure = 0.0;
GPS.MaximumAltitude = 0.0;
GPS.DS18B20Count = 0;
// Set up I/O
if (wiringPiSetup() == -1)
{
exit (1);
}
// Switch off the radio till it's configured
pinMode (NTX2B_ENABLE, OUTPUT);
digitalWrite (NTX2B_ENABLE, 0);
// Switch on the GPS
if (!NewBoard())
{
pinMode (UBLOX_ENABLE, OUTPUT);
digitalWrite (UBLOX_ENABLE, 0);
}
if (!Config.DisableRTTY)
{
if (*Config.Frequency)
{
SetFrequency(Config.Frequency);
}
fd = OpenSerialPort();
digitalWrite (NTX2B_ENABLE, 1);
}
// Set up DS18B20
system("sudo modprobe w1-gpio");
system("sudo modprobe w1-therm");
// SPI for ADC (older boards), LoRa add-on board
system("gpio load spi");
// SSDV Folders
sprintf(Config.Channels[0].SSDVFolder, "%s/RTTY", SSDVFolder);
*Config.Channels[1].SSDVFolder = '\0'; // No folder for APRS images
sprintf(Config.Channels[2].SSDVFolder, "%s/LORA0", SSDVFolder);
sprintf(Config.Channels[3].SSDVFolder, "%s/LORA1", SSDVFolder);
sprintf(Config.Channels[4].SSDVFolder, "%s/FULL", SSDVFolder);
if (Config.Camera)
{
// Create SSDV Folders
if (stat(SSDVFolder, &st) == -1)