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Init

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This commit is contained in:
Bruno Rybársky
2025-04-30 15:48:50 +02:00
commit 4a0ca11c9a
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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <termios.h>
#include <unistd.h>
#include <fcntl.h>
#include <stdint-gcc.h>
#include <ncurses.h>
#include <time.h>
#include "packets.h"
#include "base.h"
#define MAG_SCALE (4912.0f / 32760.0f)
void printTelemetryPacketNcurses(TelemetryPacket *packet, DownBoundPacket *down) {
clear();
int row = 0;
// Time
attroff(COLOR_PAIR(6));
mvprintw(row++, 0, "Timestamp: %u", down->missionTimer);
// MPU9250
if (packet->presentDevices & MPU9250_PRESENT_BIT) {
attron(COLOR_PAIR(1));
mvprintw(row++, 0, "-- MPU9250 --");
} else {
attron(COLOR_PAIR(4));
mvprintw(row++, 0, "-- MPU9250 (not present) --");
}
float ax = packet->accelerationX / 16384.0f;
float ay = packet->accelerationY / 16384.0f;
float az = packet->accelerationZ / 16384.0f;
float gx = packet->gyroX / 131.0f;
float gy = packet->gyroY / 131.0f;
float gz = packet->gyroZ / 131.0f;
float mx = packet->magnetX * MAG_SCALE;
float my = packet->magnetY * MAG_SCALE;
float mz = packet->magnetZ * MAG_SCALE;
float temp = (packet->accelerometer_temperature / 333.87f) + 21.0f;
mvprintw(row++, 2, "Accel [g]: X=%.2f Y=%.2f Z=%.2f", ax, ay, az);
mvprintw(row++, 2, "Gyro [deg/s]: X=%.2f Y=%.2f Z=%.2f", gx, gy, gz);
mvprintw(row++, 2, "Magnet [uT]: X=%.2f Y=%.2f Z=%.2f", mx, my, mz);
mvprintw(row++, 2, "Temp [°C]: %.2f", temp);
attroff(COLOR_PAIR(1));
attroff(COLOR_PAIR(4));
// CCS811
if (packet->presentDevices & CCS811_PRESENT_BIT) {
attron(COLOR_PAIR(2));
mvprintw(row++, 0, "-- CCS811 --");
} else {
attron(COLOR_PAIR(4));
mvprintw(row++, 0, "-- CCS811 (not present) --");
}
mvprintw(row++, 2, "eCO2: %u ppm", packet->eCO2);
mvprintw(row++, 2, "TVOC: %u ppb", packet->tvoc);
mvprintw(row++, 2, "Current: %u", packet->currentCCS);
mvprintw(row++, 2, "Raw CCS: %u", packet->rawCCSData);
attroff(COLOR_PAIR(2));
attroff(COLOR_PAIR(4));
// INA260
if (packet->presentDevices & INA260_PRESENT_BIT) {
attron(COLOR_PAIR(3));
mvprintw(row++, 0, "-- INA260 --");
} else {
attron(COLOR_PAIR(4));
mvprintw(row++, 0, "-- INA260 (not present) --");
}
mvprintw(row++, 2, "Voltage [V]: %.4f", packet->volts * 0.00125);
mvprintw(row++, 2, "Current [A]: %.4f", packet->current * 0.00125);
mvprintw(row++, 2, "Power [W]: %.4f", packet->power * 0.01);
attroff(COLOR_PAIR(3));
attroff(COLOR_PAIR(4));
// BME680
if (packet->presentDevices & BME680_PRESENT_BIT) {
attron(COLOR_PAIR(5));
mvprintw(row++, 0, "-- BME680 --");
} else {
attron(COLOR_PAIR(4));
mvprintw(row++, 0, "-- BME680 (not present) --");
}
mvprintw(row++, 2, "Temp: %d - %.2f °C", packet->temperature, packet->air_temperature / 100.0f);
mvprintw(row++, 2, "Humidity: %d - %.2f %%", packet->humidity, packet->relative_humidity / 100.0f);
mvprintw(row++, 2, "Pressure: %d - %.2f hPa", packet->pressure, packet->barometric_pressure / 100.0f);
mvprintw(row++, 2, "Gas Resistance: %d - %.2f Ohm", packet->gas, packet->gas_resistance / 1000.0f);
mvprintw(row++, 2, "Gas Valid: %s", packet->gas_valid ? "Yes" : "No");
mvprintw(row++, 2, "Heater Stable: %s", packet->heater_stable ? "Yes" : "No");
mvprintw(row++, 2, "IAQ: %u", packet->iaq_score);
mvprintw(row++, 2, "TempScore: %.2f", packet->temperature_score);
mvprintw(row++, 2, "HumidityScore: %.2f", packet->humidity_score);
mvprintw(row++, 2, "GasScore: %.2f", packet->gas_score);
attroff(COLOR_PAIR(5));
attroff(COLOR_PAIR(4));
// GPS
attron(COLOR_PAIR(6));
mvprintw(row++, 0, "-- GPS --");
time_t rawtime = packet->time_seconds;
struct tm *ptm = gmtime(&rawtime);
// Parse custom date format YYDDMM -> YYYY-MM-DD
int date = packet->date_yyddmm;
int yy = date / 10000;
int dd = (date / 100) % 100;
int mm = date % 100;
int year = 2000 + yy;
mvprintw(row++, 2, "Time: %02d:%02d:%02d", ptm->tm_hour, ptm->tm_min, ptm->tm_sec);
mvprintw(row++, 2, "Date: %04d-%02d-%02d", year, mm, dd);
mvprintw(row++, 2, "Lat: %.4f°", packet->latitude_centi_degrees / 10000.0f);
mvprintw(row++, 2, "Long: %.4f°", packet->longitude_centi_degrees / 10000.0f);
mvprintw(row++, 2, "Alt: %.2f m", packet->altitude_centi_meters / 100.0f);
mvprintw(row++, 2, "Speed: %.2f knots", packet->speed_centi_knots / 100.0f);
mvprintw(row++, 2, "Satellites: %u", packet->num_satellites);
mvprintw(row++, 2, "Fix Quality: %u", packet->fix_quality);
// GPS Prediction
mvprintw(row++, 2, "Predicted Lat: %.4f°", packet->predicted_latitude_centi_degrees / 10000.0f);
mvprintw(row++, 2, "Predicted Long: %.4f°", packet->predicted_longitude_centi_degrees / 10000.0f);
mvprintw(row++, 2, "Predicted Alt: %.2f m", packet->predicted_altitude_centi_meters / 100.0f);
// MCP23018 ADC
if (packet->presentDevices & MCP23018_PRESENT_BIT) {
attron(COLOR_PAIR(3));
mvprintw(row++, 0, "-- ADC sensors --");
} else {
attron(COLOR_PAIR(4));
mvprintw(row++, 0, "-- ADC sensors (not present) --");
}
mvprintw(row++, 2, "NH3: %d", packet->NH3);
mvprintw(row++, 2, "CO: %d", packet->CO);
mvprintw(row++, 2, "NO2: %d", packet->NO2);
mvprintw(row++, 2, "UVC: %d", packet->UVC);
// Servo
attron(COLOR_PAIR(5));
mvprintw(row++, 0, "-- Servos --");
mvprintw(row++, 2, "Servo A: Current=%d Target=%d", packet->currentServoA, packet->targetServoA);
mvprintw(row++, 2, "Servo B: Current=%d Target=%d", packet->currentServoB, packet->targetServoB);
// Index
mvprintw(row++, 0, "Telemetry Index: %d", packet->telemetryIndex);
refresh();
}
TelemetryPacket telemetryPacket;
DownBoundPacket down;
void handle_downlink_packet(uint8_t *buf, uint8_t rxLen) {
if (rxLen < sizeof(DownBoundPacket)) {
printf("Received packet too small to be valid.");
return;
}
memcpy(&down, buf, sizeof(DownBoundPacket));
printf("Downlink packet index: %u, type: %u", down.packetIndex, down.packetType);
// Verify sync phrase
if (strncmp(down.syncPhrase, DownlinkSync, strlen(DownlinkSync)) != 0) {
printf("Invalid sync phrase, ignoring packet.");
return;
}
uint8_t *payload = buf + sizeof(DownBoundPacket);
uint32_t payloadSize = rxLen - sizeof(DownBoundPacket);
uint32_t crcCheck = crc32_le(0, payload, payloadSize);
if (crcCheck != down.CRCCheck) {
printf("Received BAD CRC for packet %u, crc is %u, should be %u", down.packetIndex, crcCheck, down.CRCCheck);
return;
}
switch (down.packetType) {
case DownlinkPacketType_Telemetry:
if (payloadSize >= sizeof(TelemetryPacket)) {
memcpy(&telemetryPacket, payload, sizeof(TelemetryPacket));
printf("Telemetry packet received!");
printTelemetryPacketNcurses(&telemetryPacket, &down);
// Here you would actually do something with the telemetry, like save it or display it
} else {
printf("Telemetry packet too small (%u bytes)", payloadSize);
}
break;
case DownlinkPacketType_Ping:
printf("Ping packet received!");
// Optionally respond with pong here
break;
case DownlinkPacketType_ACK:
printf("ACK packet received!");
break;
default:
printf("Unknown packet type: %u", down.packetType);
break;
}
}
int open_serial(const char *device) {
int fd = open(device, O_RDWR | O_NOCTTY | O_SYNC);
if (fd < 0) {
perror("open");
return -1;
}
struct termios tty;
memset(&tty, 0, sizeof tty);
if (tcgetattr(fd, &tty) != 0) {
perror("tcgetattr");
close(fd);
return -1;
}
cfsetospeed(&tty, B115200);
cfsetispeed(&tty, B115200);
tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; // 8-bit chars
tty.c_iflag &= ~IGNBRK; // disable break processing
tty.c_lflag = 0; // no signaling chars, no echo, no canonical processing
tty.c_oflag = 0; // no remapping, no delays
tty.c_cc[VMIN] = 1; // read doesn't block
tty.c_cc[VTIME] = 1; // 0.1 seconds read timeout
tty.c_iflag &= ~(IXON | IXOFF | IXANY); // shut off xon/xoff ctrl
tty.c_cflag |= (CLOCAL | CREAD); // ignore modem controls, enable reading
tty.c_cflag &= ~(PARENB | PARODD); // shut off parity
tty.c_cflag &= ~CSTOPB;
tty.c_cflag &= ~CRTSCTS;
if (tcsetattr(fd, TCSANOW, &tty) != 0) {
perror("tcsetattr");
close(fd);
return -1;
}
return fd;
}
int subMain() {
int fd = open_serial("/dev/ttyUSB0");
if (fd < 0) return 1;
char buf[4096];
size_t buf_pos = 0;
memset(&telemetryPacket, 0, sizeof(TelemetryPacket));
memset(&down, 0, sizeof(DownBoundPacket));
unsigned char decoded[256];
size_t decoded_len;
// if (base64_decode("UGxlY2hEb2xlADsAAAAADuo+Ai9is1eY/vw/dP4AAAAAAAAAAAAAAABgD8sBCAAB/wPGGEYARQCgHQgAoksEKgUAnwIBAQQAe5APQtL3pEGycXlEqDLaSDcAAAAAAJqZeUAAAFBCAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA/zw=", decoded, &decoded_len) == 0) {
// printf("Decoded data (%zu bytes):\n", decoded_len);
// handle_downlink_packet(decoded, decoded_len);
// } else {
// printf("Base64 decode failed\n");
// }
printTelemetryPacketNcurses(&telemetryPacket, &down);
while (1) {
char ch;
size_t n = read(fd, &ch, 1);
if (n > 0) {
if (ch == '\n') {
buf[buf_pos] = '\0';
printf("%s\n", buf);
if (strncmp(buf, "Got DownLink data", 17) == 0) {
char *colon = strchr(buf, ':');
if (colon) {
colon++;
while (*colon == ' ') colon++; // skip spaces
printf("Detected base64 payload: %s\n", colon);
if (base64_decode(colon, decoded, &decoded_len) == 0) {
printf("Decoded data (%zu bytes):\n", decoded_len);
handle_downlink_packet(decoded, decoded_len);
} else {
printf("Base64 decode failed\n");
}
}
}
buf_pos = 0;
} else {
if (buf_pos < sizeof(buf) - 1)
buf[buf_pos++] = ch;
}
} else if (n < 0) {
perror("read");
break;
}
}
close(fd);
return 0;
}
int main(int argc, char *argv[]) {
init_crc32_table();
initscr(); // Start ncurses mode
start_color(); // Enable color
use_default_colors();
init_pair(1, COLOR_CYAN, -1);
init_pair(2, COLOR_GREEN, -1);
init_pair(3, COLOR_YELLOW, -1);
init_pair(4, COLOR_RED, -1);
init_pair(5, COLOR_CYAN, -1);
init_pair(6, COLOR_MAGENTA, -1);
curs_set(0); // Hide cursor
int x = subMain();
endwin(); // End ncurses mode
return x;
}