Merge pull request #8 from Alpha-CubeSat/fa24

Add Alive signal mode, finalize LoRa parameters, faster radio init, and debugging LEDs

Author: cameron-goddard

src/ControlTasks/RadioControlTask.cpp

@@ -7,12 +7,11 @@ RadioControlTask::RadioControlTask()
 void RadioControlTask::init()
 {
     if (!sfr::radio::initialized) {
-        switch (sfr::radio::start_progress) {
-        case 0:
+        if (sfr::radio::start_progress == 0) {
 #ifdef VERBOSE
-            Serial.print(F("Radio: Initializing ... "));
+            Serial.println(F("Radio: Initializing ... "));
 #endif
-            // initialize SX1278 with default settings
+            // Initialize SX1278 with default settings
             code = radio.begin(constants::radio::freq, constants::radio::bw, constants::radio::sf, constants::radio::cr,
                                constants::radio::sw, constants::radio::pwr, constants::radio::pl, constants::radio::gn);
             if (code == RADIOLIB_ERR_NONE) {
@@ -23,12 +22,13 @@ void RadioControlTask::init()
                 Serial.println(code);
 #endif
             }
-            break;
-        case 1:
+        }
+
+        if (sfr::radio::start_progress == 1) {
 #ifdef VERBOSE
-            Serial.print(F("Radio: Setting CRC parameter ... "));
+            Serial.println(F("Radio: Setting CRC parameter ... "));
 #endif
-            // set CRC parameter to true so it matches the CRC parameter on the TinyGS side
+            // Set CRC parameter to true so it matches the CRC parameter on the TinyGS side
             code = radio.setCRC(true);
             if (code == RADIOLIB_ERR_NONE) {
                 sfr::radio::start_progress++;
@@ -38,39 +38,51 @@ void RadioControlTask::init()
                 Serial.println(code);
 #endif
             }
-            break;
-        case 2:
+
+            if (sfr::radio::start_progress == 2) {
 #ifdef VERBOSE
-            Serial.print(F("Radio: Setting forceLDRO parameter ... "));
+                Serial.println(F("Radio: Setting forceLDRO parameter ... "));
 #endif
-            // set forceLDRO parameter to true so it matches the forceLDRO parameter on the TinyGS side
-            code = radio.forceLDRO(true);
-            if (code == RADIOLIB_ERR_NONE) {
-                sfr::radio::start_progress++;
-            } else {
+                // Set forceLDRO parameter to true so it matches the forceLDRO parameter on the TinyGS side
+                code = radio.forceLDRO(true);
+                if (code == RADIOLIB_ERR_NONE) {
+                    sfr::radio::initialized = true;
+                } else {
 #ifdef VERBOSE
-                Serial.print(F("failed, code "));
-                Serial.println(code);
+                    Serial.print(F("failed, code "));
+                    Serial.println(code);
 #endif
+                }
             }
-            break;
-        case 3: // completed initialization
-            sfr::radio::initialized = true;
-            break;
         }
     }
 }
 
 bool RadioControlTask::transmit(uint8_t *packet, uint8_t size)
 {
+    // Blink LED during transmit
+    if (millis() - sfr::gps::boot_time > constants::led::led_on_time) {
+        digitalWrite(constants::led::led_pin, HIGH);
+    }
+
+#ifdef VERBOSE
     uint32_t start = millis();
+#endif
     code = radio.transmit(packet, size);
+#ifdef VERBOSE
     uint32_t time = millis() - start;
+#endif
+
+    if (millis() - sfr::gps::boot_time > constants::led::led_on_time) {
+        digitalWrite(constants::led::led_pin, LOW);
+    }
+#ifdef VERBOSE
     Serial.print(F("Time to transmit (ms): "));
     Serial.println(time);
+#endif
 
     if (code == RADIOLIB_ERR_NONE) {
-        // the packet was successfully transmitted
+        // The packet was successfully transmitted
 #ifdef VERBOSE
         Serial.println(F("success!"));
         Serial.print(F("[SX1278] Datarate:\t"));
@@ -81,10 +93,10 @@ bool RadioControlTask::transmit(uint8_t *packet, uint8_t size)
     } else {
 #ifdef VERBOSE
         if (code == RADIOLIB_ERR_TX_TIMEOUT) {
-            // timeout occurred while transmitting packet
+            // Timeout occurred while transmitting packet
             Serial.println(F("timeout!"));
         } else {
-            // some other error occurred
+            // Some other error occurred
             Serial.print(F("failed, code "));
             Serial.println(code);
         }
@@ -104,23 +116,13 @@ bool RadioControlTask::receive()
         // packet was successfully received
         Serial.println(F("success!"));
 
-        // print the data of the packet
         Serial.print(F("[SX1278] Data:\t\t\t"));
-
-        // print the RSSI (Received Signal Strength Indicator)
-        // of the last received packet
         Serial.print(F("[SX1278] RSSI:\t\t\t"));
         Serial.print(radio.getRSSI());
         Serial.println(F(" dBm"));
-
-        // print the SNR (Signal-to-Noise Ratio)
-        // of the last received packet
         Serial.print(F("[SX1278] SNR:\t\t\t"));
         Serial.print(radio.getSNR());
         Serial.println(F(" dB"));
-
-        // print frequency error
-        // of the last received packet
         Serial.print(F("[SX1278] Frequency error:\t"));
         Serial.print(radio.getFrequencyError());
         Serial.println(F(" Hz"));
@@ -129,13 +131,13 @@ bool RadioControlTask::receive()
     } else {
 #ifdef VERBOSE
         if (code == RADIOLIB_ERR_RX_TIMEOUT) {
-            // timeout occurred while waiting for a packet
+            // Timeout occurred while waiting for a packet
             Serial.println(F("timeout!"));
         } else if (code == RADIOLIB_ERR_CRC_MISMATCH) {
-            // packet was received, but is malformed
+            // Packet was received, but is malformed
             Serial.println(F("CRC error!"));
         } else {
-            // some other error occurred
+            // Some other error occurred
             Serial.print(F("failed, code "));
             Serial.println(code);
         }
@@ -146,14 +148,25 @@ bool RadioControlTask::receive()
 
 void RadioControlTask::execute()
 {
-    // implements the state machine described in: https://github.com/Alpha-CubeSat/oop-chipsat-code/wiki
+    // Implement the state machine described in https://github.com/Alpha-CubeSat/oop-chipsat-code/wiki
     switch (sfr::radio::mode) {
     case radio_mode_type::init: {
 #ifdef VERBOSE
         Serial.println(F("Radio: Init State"));
 #endif
         init();
         if (sfr::radio::initialized) {
+            sfr::radio::mode = radio_mode_type::aliveSignal;
+        }
+        break;
+    }
+    case radio_mode_type::aliveSignal: {
+#ifdef VERBOSE
+        Serial.println(F("Radio: Alive Signal State"));
+#endif
+        normalReportDownlink();
+        sfr::radio::alive_signal_dlinks++;
+        if (sfr::radio::alive_signal_dlinks == constants::radio::max_alive_signal_dlinks) {
             sfr::radio::mode = radio_mode_type::downlink;
             sfr::radio::listen_period_start = millis();
             downlinkSettings();
@@ -164,24 +177,24 @@ void RadioControlTask::execute()
 #ifdef VERBOSE
         Serial.println(F("Radio: Downlink State"));
 #endif
-        // downlink when slot reached
+        // Downlink when slot reached
         if (!sfr::radio::downlinked_in_slot && millis() - sfr::radio::downlink_window_start >= constants::radio::transmit_slot_length * sfr::radio::downlink_slot) {
             executeDownlink();
             sfr::radio::downlinked_in_slot = true;
         }
 
-        // go into listen mode if listen period reached
+        // Go into listen mode if listen period reached
         if (millis() - sfr::radio::listen_period_start >= constants::radio::listen_period) {
             sfr::radio::mode = radio_mode_type::listen;
 
 #ifdef VERBOSE
             Serial.println(F("Radio: Listen Flag Downlink"));
 #endif
-            // downlink with listen flag = true
+            // Downlink with listen flag = true
             normalReportDownlink();
             sfr::radio::command_wait_start = millis();
         }
-        // reset window and choose slot for next downlink
+        // Reset window and choose slot for next downlink
         else if (millis() - sfr::radio::downlink_window_start >= sfr::radio::downlink_window_length) {
             downlinkSettings();
         }
@@ -191,7 +204,7 @@ void RadioControlTask::execute()
 #ifdef VERBOSE
         Serial.println(F("Radio: Listen State"));
 #endif
-        // built in timeout is 100 LoRa symbols
+        // Built in timeout is 100 LoRa symbols
         bool receive_success = receive();
         if (receive_success) {
             processUplink();
@@ -225,7 +238,7 @@ bool RadioControlTask::executeDownlink()
     if (millis() - sfr::radio::last_callsign_time < constants::radio::callsign_interval) {
         return normalReportDownlink();
     } else {
-        uint8_t dlink[] = {'K', 'D', '2', 'W', 'T', 'Q'};
+        uint8_t dlink[] = {'K', 'C', '3', 'V', 'A', 'T', 'K', 'D', '2', 'W', 'T', 'Q', 'K', 'E', '2', 'A', 'T', 'R'};
         sfr::radio::last_callsign_time = millis();
 #ifdef VERBOSE
         Serial.println(F("Callsign Report"));
@@ -237,17 +250,18 @@ bool RadioControlTask::executeDownlink()
 
 bool RadioControlTask::normalReportDownlink()
 {
-    // see https://github.com/Alpha-CubeSat/oop-chipsat-code/wiki/2.-Telemetry for more info
+    // See https://github.com/Alpha-CubeSat/oop-chipsat-code/wiki/2.-Telemetry for more info
     uint16_t lat = sfr::gps::latitude * 100;
     uint16_t lon = sfr::gps::longitude * 100;
     uint16_t alt = sfr::gps::altitude / 10;
 
     uint8_t flags = 0;
-    flags |= constants::radio::id << 6;
-    flags |= sfr::gps::valid_msg << 5;                           // gps valid
-    flags |= sfr::imu::initialized << 4;                         // imu valid
-    flags |= sfr::gps::on << 3;                                  // boot mode flag
-    flags |= (sfr::radio::mode == radio_mode_type::listen) << 2; // listen flag
+    flags |= constants::radio::id << 6;                          // chipsat ID #
+    flags |= sfr::gps::valid_location << 5;                      // gps position valid
+    flags |= sfr::gps::valid_altitude << 4;                      // gps altiude valid
+    flags |= sfr::imu::initialized << 3;                         // imu valid
+    flags |= sfr::gps::on << 2;                                  // boot mode flag
+    flags |= (sfr::radio::mode == radio_mode_type::listen) << 1; // listen flag
 
     uint8_t dlink[] = {
         (uint8_t)lat, (uint8_t)(lat >> 8),
@@ -286,7 +300,7 @@ uint8_t RadioControlTask::map_range(float value, int min_val, int max_val)
 
 void RadioControlTask::processUplink()
 {
-    // see https://github.com/Alpha-CubeSat/oop-chipsat-code/wiki/3.-Commands for more info
+    // See https://github.com/Alpha-CubeSat/oop-chipsat-code/wiki/3.-Commands for more info
     switch (received[0]) {
     case constants::opcodes::no_op: // No-Op
 #ifdef VERBOSE

src/ControlTasks/RadioControlTask.hpp

@@ -21,17 +21,17 @@ class RadioControlTask
     void init();
 
     /**
-     * Resets the transmit window start time and picks a new slot
+     * @brief Resets the transmit window start time and picks a new slot
      */
     void downlinkSettings();
 
     /**
-     * @brief Wrapper around RadioLib's transmit() to provide metadata (TODO: Redundant?)
+     * @brief Wrapper around RadioLib's transmit() to provide metadata
      */
     bool transmit(uint8_t *packet, uint8_t size);
 
     /**
-     * @brief Attempts to receive a 3 byte command (TODO: Redundant?)
+     * @brief Attempts to receive a 3 byte command
      */
     bool receive();
 

src/MainControlLoop.cpp

@@ -61,16 +61,24 @@ void MainControlLoop::execute()
     Serial.print(F("GPS Altitude (m): "));
     Serial.println(sfr::gps::altitude);
 
-    Serial.print("Downlink Slot: ");
+    Serial.print(F("Downlink Slot: "));
     Serial.println(sfr::radio::downlink_slot);
 
+    Serial.print(F("Alive Time: "));
+    Serial.println(millis() - sfr::gps::boot_time);
+
 #endif
 
     temp_monitor.execute();
     imu_monitor.execute();
     gps_monitor.execute();
     radio_control_task.execute();
 
+    // Turn off LED 5 seconds after boot
+    if (millis() - sfr::gps::boot_time > constants::led::led_on_time) {
+        digitalWrite(constants::led::led_pin, LOW);
+    }
+
     wdt_reset();
 
 #ifdef VERBOSE

src/Modes/radio_mode_type.enum

@@ -4,6 +4,7 @@
 enum class radio_mode_type : unsigned char
 {
     init = 0,
+    aliveSignal,
     downlink,
     listen
 };

src/Monitors/GPSMonitor.cpp

@@ -9,7 +9,7 @@ void GPSMonitor::init()
     digitalWrite(constants::gps::reset_pin, LOW);
     sfr::gps::on = true;
 
-    // writes NMEA output message type to SRAM and Flash
+    // Writes NMEA output message type to SRAM and Flash
     uint8_t SetNMEA[] = {
         0xA0, 0xA1, 0x00, 0x03, 0x09, 0x01, 0x01, 0x09, 0x0D, 0x0A};
 
@@ -19,6 +19,7 @@ void GPSMonitor::init()
 
 void GPSMonitor::execute()
 {
+    // Turn on GPS after boot mode is over (10 seconds)
     if (!sfr::gps::on) {
         if (millis() - sfr::gps::boot_time > constants::gps::boot_time) {
             init();
@@ -33,10 +34,8 @@ void GPSMonitor::execute()
         gps.encode(ss.read());
         serial_reads++;
     }
-    // while (*gpsStream) {
-    //     gps.encode(*gpsStream++);
-    // }
 
+    // Read GPS values if they are valid
     if (gps.location.isUpdated() && gps.location.isValid()) {
         sfr::gps::latitude = gps.location.lat();
         sfr::gps::longitude = gps.location.lng();
@@ -50,6 +49,9 @@ void GPSMonitor::execute()
         sfr::gps::utc_time = gps.time.value();
     }
 
+    sfr::gps::valid_location = gps.location.isValid();
+    sfr::gps::valid_altitude = gps.altitude.isValid();
+
 #ifdef VERBOSE
     Serial.print(F("Chars="));
     Serial.print(gps.charsProcessed());

src/Monitors/GPSMonitor.hpp

@@ -27,14 +27,9 @@ class GPSMonitor
     SoftwareSerial ss = SoftwareSerial(constants::gps::rx_pin, constants::gps::tx_pin);
 
     /**
-     * Begins the software serial instance and configures the GPS receiver
+     * @brief Begins the software serial instance and configures the GPS receiver
      */
     void init();
-
-    // TODO: Test edge cases for lat, lon, alt
-    const char *gpsStream = "$GPGGA,045104.000,3014.1985,N,09749.2873,W,1,09,1.2,211.6,M,-22.5,M,,0000*62\r\n"
-                            "$GPGGA,045201.000,3014.3864,N,09748.9411,W,1,10,1.2,200.8,M,-22.5,M,,0000*6C\r\n"
-                            "$GPGG@,045252.000,3014.4273,S,09749.0628,W,1,09,1.3,206.9,M,-22.5,M,,0000*6F\r\n";
 };
 
 #endif