Merge remote-tracking branch 'cyoung/ahrs_dev' into ahrs_dev

Makefile

@@ -1,21 +1,27 @@
 
 ifeq "$(CIRCLECI)" "true"
 	BUILDINFO=
+	PLATFORMDEPENDENT=
 else
-	BUILDINFO=-ldflags "-X main.stratuxVersion=`git describe --tags --abbrev=0` -X main.stratuxBuild=`git log -n 1 --pretty=%H`"
+	LDFLAGS_VERSION=-X main.stratuxVersion=`git describe --tags --abbrev=0` -X main.stratuxBuild=`git log -n 1 --pretty=%H`
+	BUILDINFO=-ldflags "$(LDFLAGS_VERSION)"
+	BUILDINFO_STATIC=-ldflags "-extldflags -static $(LDFLAGS_VERSION)"
 $(if $(GOROOT),,$(error GOROOT is not set!))
+	PLATFORMDEPENDENT=fancontrol
 endif
 
 all:
-	make xdump978
+	make xdump978 xdump1090 xgen_gdl90 $(PLATFORMDEPENDENT)
-	make xdump1090
-	make xgen_gdl90
 
 xgen_gdl90:
 	go get -t -d -v ./main ./test ./godump978 ./uatparse ./sensors
 	go get -u github.com/westphae/goflying/ahrs
 	go get -u github.com/westphae/goflying/ahrsweb
-	go build $(BUILDINFO) -p 4 main/gen_gdl90.go main/traffic.go main/gps.go main/network.go main/managementinterface.go main/sdr.go main/ping.go main/uibroadcast.go main/monotonic.go main/datalog.go main/equations.go main/sensors.go
+	go build $(BUILDINFO) -p 4 main/gen_gdl90.go main/traffic.go main/gps.go main/network.go main/managementinterface.go main/sdr.go main/ping.go main/uibroadcast.go main/monotonic.go main/datalog.go main/equations.go main/sensors.go main/cputemp.go
+
+fancontrol:
+	go get -t -d -v ./main
+	go build $(BUILDINFO_STATIC) -p 4 main/fancontrol.go main/equations.go main/cputemp.go
 
 xdump1090:
 	git submodule update --init
@@ -35,6 +41,10 @@ www:
 install:
 	cp -f gen_gdl90 /usr/bin/gen_gdl90
 	chmod 755 /usr/bin/gen_gdl90
+	cp -f fancontrol /usr/bin/fancontrol
+	chmod 755 /usr/bin/fancontrol
+	-/usr/bin/fancontrol remove
+	/usr/bin/fancontrol install
 	cp image/10-stratux.rules /etc/udev/rules.d/10-stratux.rules
 	cp image/99-uavionix.rules /etc/udev/rules.d/99-uavionix.rules
 	rm -f /etc/init.d/stratux
@@ -44,11 +54,12 @@ install:
 	chmod 744 /root/stratux-pre-start.sh
 	ln -fs /lib/systemd/system/stratux.service /etc/systemd/system/multi-user.target.wants/stratux.service
 	make www
+	cp -f libdump978.so /usr/lib/libdump978.so
 	cp -f dump1090/dump1090 /usr/bin/
 	cp -f image/hostapd_manager.sh /usr/sbin/
 	cp -f image/stratux-wifi.sh /usr/sbin/
 
 clean:
-	rm -f gen_gdl90 libdump978.so
+	rm -f gen_gdl90 libdump978.so fancontrol
 	cd dump1090 && make clean
 	cd dump978 && make clean

image/fancontrol.py

@@ -1,45 +0,0 @@
-#!/usr/bin/python
-# @Author Ryan Dewsbury (helno)
-#
-# This script throttles a fan based on CPU temperature.
-#
-# It expects a fan that's externally powered, and uses GPIO pin 12 for control.
-
-import RPi.GPIO as GPIO
-import time
-import os
-
-from daemon import runner
-
-class FanControl():
-    # Return CPU temperature as float
-    def getCPUtemp(self):
-        cTemp = os.popen('vcgencmd measure_temp').readline()
-        return float(cTemp.replace("temp=","").replace("'C\n",""))
-
-    def __init__(self):
-        self.stdin_path = '/dev/null'
-        self.stdout_path = '/var/log/fancontrol.log'
-        self.stderr_path = '/var/log/fancontrol.log'
-        self.pidfile_path = '/var/run/fancontrol.pid'
-        self.pidfile_timeout = 5
-    def run(self):
-        GPIO.setmode(GPIO.BOARD)
-        GPIO.setup(12, GPIO.OUT)
-        GPIO.setwarnings(False)
-        p=GPIO.PWM(12, 1000)
-        PWM = 50
-        while True:
-            CPU_temp = self.getCPUtemp()
-            if CPU_temp > 40.5:
-                PWM = min(max(PWM + 1, 0), 100)
-                p.start(PWM)
-            elif CPU_temp < 39.5:
-                PWM = min(max(PWM - 1, 0), 100)
-                p.start(PWM)
-            time.sleep(5)
-        GPIO.cleanup()
-
-fancontrol = FanControl()
-daemon_runner = runner.DaemonRunner(fancontrol)
-daemon_runner.do_action()

image/mkimg.sh

@@ -62,8 +62,14 @@ chmod 755 mnt/usr/sbin/sdr-tool.sh
 cp -f 99-uavionix.rules mnt/etc/udev/rules.d
 
 #fan/temp control script
-cp fancontrol.py mnt/usr/bin/
+#remove old script
-chmod 755 mnt/usr/bin/fancontrol.py
+rm -rf mnt/usr/bin/fancontrol.py
+#install new program
+cp ../fancontrol mnt/usr/bin
+chmod 755 mnt/usr/bin/fancontrol
+chroot mnt/ /usr/bin/fancontrol remove
+chroot mnt/ /usr/bin/fancontrol install
+
 
 #isc-dhcp-server config
 cp -f isc-dhcp-server mnt/etc/default/isc-dhcp-server
@@ -156,3 +162,5 @@ chroot mnt/ systemctl disable dhcpcd
 #disable hciuart - interferes with ttyAMA0 as a serial port.
 chroot mnt/ systemctl disable hciuart
 
+#clean up for release images.
+rm -rf mnt/root/stratux mnt/root/go

image/rc.local

@@ -17,9 +17,6 @@ if [ "$_IP" ]; then
   printf "My IP address is %s\n" "$_IP"
 fi
 
-
-/usr/bin/fancontrol.py start
 /usr/bin/stratux-screen.py start
 
-
 exit 0

main/cputemp.go

@@ -0,0 +1,48 @@
+package main
+
+import (
+	"io/ioutil"
+	"strconv"
+	"strings"
+	"time"
+)
+
+const invalidCpuTemp = float32(-99.0)
+
+type CpuTempUpdateFunc func(cpuTemp float32)
+
+/* cpuTempMonitor() reads the RPi board temperature every second and
+calls a callback.  This is broken out into its own function (run as
+its own goroutine) because the RPi temperature monitor code is buggy,
+and often times reading this file hangs quite some time.  */
+
+func cpuTempMonitor(updater CpuTempUpdateFunc) {
+	timer := time.NewTicker(1 * time.Second)
+	for {
+		<-timer.C
+
+		// Update CPUTemp.
+		temp, err := ioutil.ReadFile("/sys/class/thermal/thermal_zone0/temp")
+		tempStr := strings.Trim(string(temp), "\n")
+		t := invalidCpuTemp
+		if err == nil {
+			tInt, err := strconv.Atoi(tempStr)
+			if err == nil {
+				if tInt > 1000 {
+					t = float32(tInt) / float32(1000.0)
+				} else {
+					t = float32(tInt) // case where Temp is returned as simple integer
+				}
+			}
+		}
+		if t >= invalidCpuTemp { // Only update if valid value was obtained.
+			updater(t)
+		}
+
+	}
+}
+
+// Check if CPU temperature is valid. Assume <= 0 is invalid.
+func isCPUTempValid(cpuTemp float32) bool {
+	return cpuTemp > 0
+}

main/equations.go

@@ -338,3 +338,18 @@ func CalcAltitude(press float64) (altitude float64) {
 	altitude = 145366.45 * (1.0 - math.Pow(press/1013.25, 0.190284))
 	return
 }
+
+// golang only defines min/max for float64. Really.
+func iMin(x, y int) int {
+	if x < y {
+		return x
+	}
+	return y
+}
+
+func iMax(x, y int) int {
+	if x > y {
+		return x
+	}
+	return y
+}

main/fancontrol.go

@@ -0,0 +1,190 @@
+package main
+
+import (
+	"flag"
+	"fmt"
+	"github.com/takama/daemon"
+	"log"
+	"net"
+	"os"
+	"os/signal"
+	"syscall"
+	"time"
+)
+
+// #include <wiringPi.h>
+// #cgo LDFLAGS: -lwiringPi
+import "C"
+
+const (
+	// CPU temperature target, degrees C
+	defaultTempTarget = 50.
+	hysteresis        = float32(1.)
+
+	/* This puts our PWM frequency at 19.2 MHz / 128 =
+	/* 150kHz. Higher frequencies will reduce audible switching
+	/* noise but will be less efficient */
+	pwmClockDivisor = 128
+
+	/* Minimum duty cycle is the point below which the fan does
+	/* not spin. This depends on both your fan and the switching
+	/* transistor used. */
+	defaultPwmDutyMin = 20
+	pwmDutyMax        = 256
+
+	// how often to update
+	delaySeconds = 2
+
+	// GPIO-1/BCM "18"/Pin 12 on a Raspberry PI 3
+	defaultPin = 1
+
+	// name of the service
+	name        = "fancontrol"
+	description = "cooling fan speed control based on CPU temperature"
+
+	// port which daemon should be listen
+	port = ":9977"
+)
+
+var stdlog, errlog *log.Logger
+
+func fanControl(pwmDutyMin int, pin int, tempTarget float32) {
+	cPin := C.int(pin)
+	C.wiringPiSetup()
+	C.pwmSetMode(C.PWM_MODE_BAL)
+	C.pinMode(cPin, C.PWM_OUTPUT)
+	C.pwmSetRange(pwmDutyMax)
+	C.pwmSetClock(pwmClockDivisor)
+	C.pwmWrite(cPin, C.int(pwmDutyMin))
+	temp := float32(0.)
+	go cpuTempMonitor(func(cpuTemp float32) {
+		if isCPUTempValid(cpuTemp) {
+			temp = cpuTemp
+		}
+	})
+	pwmDuty := 0
+	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
+			}
+		}
+		//log.Println(temp, " ", pwmDuty)
+		C.pwmWrite(cPin, C.int(pwmDuty))
+		time.Sleep(delaySeconds * time.Second)
+	}
+}
+
+// Service has embedded daemon
+type Service struct {
+	daemon.Daemon
+}
+
+// Manage by daemon commands or run the daemon
+func (service *Service) Manage() (string, error) {
+
+	tempTarget := flag.Float64("temp", defaultTempTarget, "Target CPU Temperature, degrees C")
+	pwmDutyMin := flag.Int("minduty", defaultPwmDutyMin, "Minimum PWM duty cycle")
+	pin := flag.Int("pin", defaultPin, "PWM pin (wiringPi numbering)")
+	flag.Parse()
+
+	usage := "Usage: " + name + " install | remove | start | stop | status"
+	// if received any kind of command, do it
+	if flag.NArg() > 0 {
+		command := os.Args[flag.NFlag()+1]
+		switch command {
+		case "install":
+			return service.Install()
+		case "remove":
+			return service.Remove()
+		case "start":
+			return service.Start()
+		case "stop":
+			return service.Stop()
+		case "status":
+			return service.Status()
+		default:
+			return usage, nil
+		}
+	}
+
+	go fanControl(*pwmDutyMin, *pin, float32(*tempTarget))
+
+	// Set up channel on which to send signal notifications.
+	// We must use a buffered channel or risk missing the signal
+	// if we're not ready to receive when the signal is sent.
+	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
+	}
+
+	// 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
+	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
+		}
+	}
+}
+
+// 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) {
+	for {
+		buf := make([]byte, 4096)
+		numbytes, err := client.Read(buf)
+		if numbytes == 0 || err != nil {
+			return
+		}
+		client.Write(buf[:numbytes])
+	}
+}
+
+func init() {
+	stdlog = log.New(os.Stdout, "", 0)
+	errlog = log.New(os.Stderr, "", 0)
+}
+
+func main() {
+	srv, err := daemon.New(name, description, []string{}...)
+	if err != nil {
+		errlog.Println("Error: ", err)
+		os.Exit(1)
+	}
+	service := &Service{srv}
+	status, err := service.Manage()
+	if err != nil {
+		errlog.Println(status, "\nError: ", err)
+		os.Exit(1)
+	}
+	fmt.Println(status)
+}

main/gen_gdl90.go

@@ -457,7 +457,7 @@ func makeStratuxStatus() []byte {
 	}
 
 	// Valid/Enabled: CPU temperature portion.
-	if isCPUTempValid() {
+	if isCPUTempValid(globalStatus.CPUTemp) {
 		msg[13] = msg[13] | (1 << 4)
 	}
 
@@ -753,45 +753,6 @@ func updateMessageStats() {
 
 }
 
-// Check if CPU temperature is valid. Assume <= 0 is invalid.
-func isCPUTempValid() bool {
-	return globalStatus.CPUTemp > 0
-}
-
-/*
-	cpuMonitor() reads the RPi board temperature every second and updates it in globalStatus.
-	This is broken out into its own function (run as its own goroutine) because the RPi temperature
-	 monitor code is buggy, and often times reading this file hangs quite some time.
-*/
-func cpuMonitor() {
-	timer := time.NewTicker(1 * time.Second)
-	for {
-		<-timer.C
-
-		// Update CPUTemp.
-		temp, err := ioutil.ReadFile("/sys/class/thermal/thermal_zone0/temp")
-		tempStr := strings.Trim(string(temp), "\n")
-		t := float32(-99.0)
-		if err == nil {
-			tInt, err := strconv.Atoi(tempStr)
-			if err == nil {
-				if tInt > 1000 {
-					t = float32(tInt) / float32(1000.0)
-				} else {
-					t = float32(tInt) // case where Temp is returned as simple integer
-				}
-			}
-		}
-		if t >= -99.0 { // Only update if valid value was obtained.
-			globalStatus.CPUTemp = t
-		}
-
-		// Update CPULoad.
-		data, err := ioutil.ReadFile("/proc/loadavg")
-		globalStatus.CPULoad = string(data[0:14])
-	}
-}
-
 func updateStatus() {
 	if mySituation.GPSFixQuality == 2 {
 		globalStatus.GPS_solution = "GPS + SBAS (WAAS)"
@@ -1528,7 +1489,9 @@ func main() {
 	go printStats()
 
 	// Monitor RPi CPU temp.
-	go cpuMonitor()
+	go cpuTempMonitor(func(cpuTemp float32) {
+		globalStatus.CPUTemp = cpuTemp
+	})
 
 	reader := bufio.NewReader(os.Stdin)
 

main/gps.go

@@ -330,50 +330,6 @@ func initGPSSerial() bool {
 		p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x03, 0x00, 0x05, 0x00, 0x05, 0x00, 0x00})) // Ublox,3
 		p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x04, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x00})) // Ublox,4
 
-		// Power save mode.
-
-		// UBX-CFG-PM2.
-		pm2 := make([]byte, 44)
-		pm2[0] = 1 // Version.
-
-		// flags.
-		pm2[4] = 0
-		pm2[5] = 0          // ON/OFF mode.
-		pm2[6] = 4 + 8 + 16 // WaitTimeFix+updateRTC+updateEPH.
-		pm2[7] = 32         // extintWake.
-
-		// updatePeriod.
-		pm2[8] = 0
-		pm2[9] = 0
-		pm2[10] = 0x3A // 15000ms.
-		pm2[11] = 0x98
-
-		// searchPeriod.
-		pm2[12] = 0
-		pm2[13] = 0
-		pm2[14] = 0x3A // 15000ms.
-		pm2[15] = 0x98
-
-		// gridOffset.
-		pm2[16] = 0
-		pm2[17] = 0
-		pm2[18] = 0
-		pm2[19] = 0
-
-		// onTime.
-		pm2[20] = 0
-		pm2[21] = 15 // 15s.
-
-		// minAcqTime.
-		pm2[22] = 0
-		pm2[23] = 15 // 15s.
-
-		p.Write(makeUBXCFG(0x06, 0x3B, 44, pm2))
-
-		// UBX-CFG-RXM.
-
-		p.Write(makeUBXCFG(0x06, 0x11, 2, []byte{8, 1})) // Enable.
-
 		// Reconfigure serial port.
 		cfg := make([]byte, 20)
 		cfg[0] = 0x01 // portID.

selfupdate/makeupdate.sh

@@ -16,6 +16,7 @@ make
 rm -rf work
 mkdir -p work/bin
 cp gen_gdl90 work/bin/
+cp fancontrol work/bin/
 cp libdump978.so work/bin/
 cp linux-mpu9150/libimu.so work/bin/
 cp __lib__systemd__system__stratux.service work/bin/
@@ -34,8 +35,8 @@ cp image/sdr-tool.sh work/bin/
 cp image/10-stratux.rules work/bin/
 cp image/99-uavionix.rules work/bin/
 cp image/motd work/bin/
-cp image/fancontrol.py work/bin/
 cp image/stratux-wifi.sh work/bin/
+cp image/rc.local work/bin/
 
 #TODO: librtlsdr.
 cd work/

selfupdate/update_footer.sh

@@ -35,6 +35,9 @@ cp -f sdr-tool.sh /usr/sbin/
 #boot config
 cp -f config.txt /boot/config.txt
 
+#rc.local
+cp -f rc.local /etc/
+
 #disable serial console
 sed -i /boot/cmdline.txt -e "s/console=ttyAMA0,[0-9]\+ //"
 
@@ -56,8 +59,13 @@ cp -f modules.txt /etc/modules
 cp -f motd /etc/motd
 
 #fan control utility
-cp -f fancontrol.py /usr/bin/
+#remove old script
-chmod 755 /usr/bin/fancontrol.py
+rm -f /usr/bin/fancontrol.py
+#install new program
+cp -f fancontrol /usr/bin/
+chmod 755 /usr/bin/fancontrol
+/usr/bin/fancontrol remove
+/usr/bin/fancontrol install
 
 cp -f dump1090 /usr/bin/