Merge branch 'master' into ahrs_dev_protocolfun

main/fancontrol.go

@@ -1,11 +1,12 @@
 package main
 
 import (
+	"encoding/json"
 	"flag"
 	"fmt"
 	"github.com/takama/daemon"
 	"log"
-	"net"
+	"net/http"
 	"os"
 	"os/signal"
 	"syscall"
@@ -39,14 +40,25 @@ const (
 	name        = "fancontrol"
 	description = "cooling fan speed control based on CPU temperature"
 
-	// port which daemon should be listen
-	port = ":9977"
+	// Address on which daemon should be listen.
+	addr = ":9977"
 )
 
+type FanControl struct {
+	TempTarget     float32
+	TempCurrent    float32
+	PWMDutyMin     int
+	PWMDutyMax     int
+	PWMDutyCurrent int
+	PWMPin         int
+}
+
+var myFanControl FanControl
+
 var stdlog, errlog *log.Logger
 
-func fanControl(pwmDutyMin int, pin int, tempTarget float32) {
-	cPin := C.int(pin)
+func fanControl() {
+	cPin := C.int(myFanControl.PWMPin)
 
 	C.wiringPiSetup()
 
@@ -58,30 +70,31 @@ func fanControl(pwmDutyMin int, pin int, tempTarget float32) {
 
 	C.pwmSetMode(C.PWM_MODE_MS)
 	C.pinMode(cPin, C.PWM_OUTPUT)
-	C.pwmSetRange(pwmDutyMax)
+	C.pwmSetRange(C.uint(myFanControl.PWMDutyMax))
 	C.pwmSetClock(pwmClockDivisor)
-	C.pwmWrite(cPin, C.int(pwmDutyMin))
-	temp := float32(0.)
+	C.pwmWrite(cPin, C.int(myFanControl.PWMDutyMin))
+	myFanControl.TempCurrent = 0
 	go cpuTempMonitor(func(cpuTemp float32) {
 		if isCPUTempValid(cpuTemp) {
-			temp = cpuTemp
+			myFanControl.TempCurrent = cpuTemp
 		}
 	})
-	pwmDuty := 0
+
+	myFanControl.PWMDutyCurrent = 0
 
 	delay := time.NewTicker(delaySeconds * time.Second)
 
 	for {
-		if temp > (tempTarget + hysteresis) {
-			pwmDuty = iMax(iMin(pwmDutyMax, pwmDuty+1), pwmDutyMin)
-		} else if temp < (tempTarget - hysteresis) {
-			pwmDuty = iMax(pwmDuty-1, 0)
-			if pwmDuty < pwmDutyMin {
-				pwmDuty = 0
+		if myFanControl.TempCurrent > (myFanControl.TempTarget + hysteresis) {
+			myFanControl.PWMDutyCurrent = iMax(iMin(myFanControl.PWMDutyMax, myFanControl.PWMDutyCurrent+1), myFanControl.PWMDutyMin)
+		} else if myFanControl.TempCurrent < (myFanControl.TempTarget - hysteresis) {
+			myFanControl.PWMDutyCurrent = iMax(myFanControl.PWMDutyCurrent-1, 0)
+			if myFanControl.PWMDutyCurrent < myFanControl.PWMDutyMin {
+				myFanControl.PWMDutyCurrent = 0
 			}
 		}
-		//log.Println(temp, " ", pwmDuty)
-		C.pwmWrite(cPin, C.int(pwmDuty))
+		//log.Println(myFanControl.TempCurrent, " ", myFanControl.PWMDutyCurrent)
+		C.pwmWrite(cPin, C.int(myFanControl.PWMDutyCurrent))
 		<-delay.C
 	}
 
@@ -123,7 +136,12 @@ func (service *Service) Manage() (string, error) {
 		}
 	}
 
-	go fanControl(*pwmDutyMin, *pin, float32(*tempTarget))
+	myFanControl.TempTarget = float32(*tempTarget)
+	myFanControl.PWMDutyMin = *pwmDutyMin
+	myFanControl.PWMDutyMax = pwmDutyMax
+	myFanControl.PWMPin = *pin
+
+	go fanControl()
 
 	// Set up channel on which to send signal notifications.
 	// We must use a buffered channel or risk missing the signal
@@ -131,55 +149,23 @@ func (service *Service) Manage() (string, error) {
 	interrupt := make(chan os.Signal, 1)
 	signal.Notify(interrupt, os.Interrupt, os.Kill, syscall.SIGTERM)
 
-	// Set up listener for defined host and port
-	listener, err := net.Listen("tcp", port)
-	if err != nil {
-		return "Possibly was a problem with the port binding", err
-	}
+	http.HandleFunc("/", handleStatusRequest)
+	http.ListenAndServe(addr, nil)
 
-	// set up channel on which to send accepted connections
-	listen := make(chan net.Conn, 100)
-	go acceptConnection(listener, listen)
-
-	// loop work cycle with accept connections or interrupt
-	// by system signal
+	// interrupt by system signal
 	for {
-		select {
-		case conn := <-listen:
-			go handleClient(conn)
-		case killSignal := <-interrupt:
-			stdlog.Println("Got signal:", killSignal)
-			stdlog.Println("Stoping listening on ", listener.Addr())
-			listener.Close()
-			if killSignal == os.Interrupt {
-				return "Daemon was interrupted by system signal", nil
-			}
-			return "Daemon was killed", nil
+		killSignal := <-interrupt
+		stdlog.Println("Got signal:", killSignal)
+		if killSignal == os.Interrupt {
+			return "Daemon was interrupted by system signal", nil
 		}
+		return "Daemon was killed", nil
 	}
 }
 
-// Accept a client connection and collect it in a channel
-func acceptConnection(listener net.Listener, listen chan net.Conn) {
-	for {
-		conn, err := listener.Accept()
-		if err != nil {
-			continue
-		}
-		listen <- conn
-	}
-}
-
-func handleClient(client net.Conn) {
-	defer client.Close()
-	for {
-		buf := make([]byte, 4096)
-		numbytes, err := client.Read(buf)
-		if numbytes == 0 || err != nil {
-			return
-		}
-		client.Write(buf[:numbytes])
-	}
+func handleStatusRequest(w http.ResponseWriter, r *http.Request) {
+	statusJSON, _ := json.Marshal(&myFanControl)
+	w.Write(statusJSON)
 }
 
 func init() {

main/gen_gdl90.go

@@ -689,6 +689,7 @@ func blinkStatusLED() {
 		ledON = !ledON
 	}
 }
+
 func heartBeatSender() {
 	timer := time.NewTicker(1 * time.Second)
 	timerMessageStats := time.NewTicker(2 * time.Second)
@@ -700,8 +701,10 @@ func heartBeatSender() {
 			//  Blinking when there is a critical system error (and Stratux is still running).
 
 			if len(globalStatus.Errors) == 0 { // Any system errors?
-				// Turn on green ACT LED on the Pi.
-				ioutil.WriteFile("/sys/class/leds/led0/brightness", []byte("1\n"), 0644)
+				if !globalStatus.NightMode { // LED is off by default (/boot/config.txt.)
+					// Turn on green ACT LED on the Pi.
+					ioutil.WriteFile("/sys/class/leds/led0/brightness", []byte("1\n"), 0644)
+				}
 			} else if !ledBlinking {
 				// This assumes that system errors do not disappear until restart.
 				go blinkStatusLED()
@@ -1112,6 +1115,7 @@ type status struct {
 	AHRS_LogFiles_Size                         int64
 	BMPConnected                               bool
 	IMUConnected                               bool
+	NightMode                                  bool // For turning off LEDs.
 }
 
 var globalSettings settings
@@ -1237,13 +1241,13 @@ func printStats() {
 		}
 		sensorsOutput := make([]string, 0)
 		if globalSettings.IMU_Sensor_Enabled {
-			sensorsOutput = append(sensorsOutput, fmt.Sprintf("Last IMU read: %s\n", stratuxClock.HumanizeTime(mySituation.AHRSLastAttitudeTime)))
+			sensorsOutput = append(sensorsOutput, fmt.Sprintf("Last IMU read: %s", stratuxClock.HumanizeTime(mySituation.AHRSLastAttitudeTime)))
 		}
 		if globalSettings.BMP_Sensor_Enabled {
-			sensorsOutput = append(sensorsOutput, fmt.Sprintf(" - Last BMP read: %s\n", stratuxClock.HumanizeTime(mySituation.BaroLastMeasurementTime)))
+			sensorsOutput = append(sensorsOutput, fmt.Sprintf("Last BMP read: %s", stratuxClock.HumanizeTime(mySituation.BaroLastMeasurementTime)))
 		}
 		if len(sensorsOutput) > 0 {
-			log.Printf("- " + strings.Join(sensorsOutput, ", "))
+			log.Printf("- " + strings.Join(sensorsOutput, ", ") + "\n")
 		}
 		// Check if we're using more than 95% of the free space. If so, throw a warning (only once).
 		if !diskUsageWarning && usage.Usage() > 0.95 {
@@ -1392,6 +1396,10 @@ func main() {
 	} else { // if not using the FlightBox config, use "normal" log file locations
 		logDirf = logDir
 	}
+	//Merlin: detect presence of /etc/Merlin file.
+	if _, err := os.Stat("/etc/Merlin"); !os.IsNotExist(err) {
+		globalStatus.HardwareBuild = "Merlin"
+	}
 	debugLogf = filepath.Join(logDirf, debugLogFile)
 	dataLogFilef = filepath.Join(logDirf, dataLogFile)
 	//FIXME: All of this should be removed by 08/01/2016.

main/gps.go

@@ -274,6 +274,18 @@ func initGPSSerial() bool {
 
 		p.Write(makeUBXCFG(0x06, 0x24, 36, nav))
 
+		// Turn off "time pulse" (usually drives an LED).
+		tp5 := make([]byte, 32)
+		tp5[4] = 0x32
+		tp5[8] = 0x40
+		tp5[9] = 0x42
+		tp5[10] = 0x0F
+		tp5[12] = 0x40
+		tp5[13] = 0x42
+		tp5[14] = 0x0F
+		tp5[28] = 0xE7
+		p.Write(makeUBXCFG(0x06, 0x31, 32, tp5))
+
 		// GNSS configuration CFG-GNSS for ublox 7 higher, p. 125 (v8)
 
 		// Notes: ublox8 is multi-GNSS capable (simultaneous decoding of GPS and GLONASS, or
@@ -916,11 +928,14 @@ func processNMEALine(l string) (sentenceUsed bool) {
 			tmpSituation.GPSNACp = calculateNACp(tmpSituation.GPSHorizontalAccuracy)
 
 			// field 10 = vertical accuracy, m
-			vAcc, err := strconv.ParseFloat(x[10], 32)
-			if err != nil {
-				return false
-			}
-			tmpSituation.GPSVerticalAccuracy = float32(vAcc * 2) // UBX reports 1-sigma variation; we want 95% confidence
+			/*
+				vAcc, err := strconv.ParseFloat(x[10], 32)
+				if err != nil {
+					return false
+				}
+				tmpSituation.GPSVerticalAccuracy = float32(vAcc * 2) // UBX reports 1-sigma variation; we want 95% confidence
+			*/
+			tmpSituation.GPSVerticalAccuracy = float32(2.) * tmpSituation.GPSHorizontalAccuracy
 
 			// field 2 = time
 			if len(x[2]) < 8 {

main/sdr.go

@@ -484,7 +484,7 @@ func sdrWatcher() {
 		} else if globalSettings.DeveloperMode {
 			// Throw a "critical error" if developer mode is enabled. Alerts the developer that the daemon was restarted (possibly)
 			//  unexpectedly.
-			daemonRestartedErr := fmt.Errorf("System uptime %d seconds. Daemon restarted.\n")
+			daemonRestartedErr := fmt.Errorf("System uptime %d seconds. Daemon was restarted.\n", info.Uptime)
 			addSystemError(daemonRestartedErr)
 		}
 	}

test/screen/screen.py

@@ -1,7 +1,8 @@
 #!/usr/bin/env python
 
-from oled.device import ssd1306, sh1106
-from oled.render import canvas
+from luma.core.interface.serial import i2c
+from luma.oled.device import ssd1306, sh1106
+from luma.core.render import canvas
 
 from PIL import ImageDraw, ImageFont, Image
 
@@ -20,7 +21,8 @@ class StratuxScreen():
         self.pidfile_timeout = 5
     def run(self):
         font2 = ImageFont.truetype('/etc/stratux-screen/CnC_Red_Alert.ttf', 12)
-        oled = ssd1306(port=1, address=0x3C)
+        serial = i2c(port=1, address=0x3c)
+        oled = ssd1306(serial)
 
         with canvas(oled) as draw:
             logo = Image.open('/etc/stratux-screen/stratux-logo-64x64.bmp')