# CubeWorks

**Repository Path**: shiliupi/CubeWorks

## Basic Information

- **Project Name**: CubeWorks
- **Description**: Flight software for the GASPACS mission <br> The flight software, CubeWorks, is open source and can be found on GitHub. Over 80% of the software powering the satellite is written in Python.
- **Primary Language**: Python
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: https://www.raspberrypi.com/news/raspberry-pi-zero-powers-cubesat-space-mission/
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-03-13
- **Last Updated**: 2022-05-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# CubeWorks
Flight software for the GASPACS mission written in Python, with some compents in c. 

## Introduction
The Get Away Special Passive Attitude Control Satellite (GASPACS) is an experimental 1U cubesat in development by Utah State University's Get Away Special team.  The purpose of the experiment is to test the viability of an inflatable aero-stabilization boom deployable component in Low Earth Orbit (LEO).  This repository contains CubeWorks, the flight software for the satellite. The CubeWorks software module is designed to run on a Raspberry Pi Zero W running Raspbian lite os as its operating system.


## Objectives
CubeWorks is intended to be a robust, modular, and fault tolerant software framework for small satellites, with minimal barrier to entry.  The experienced developer may be asking, "Why write the entire framework in python and not a more performant language with closer hardware interaction?"  The answer is because the framework is designed to be accessible to newer developers who want to get into space research.  The software isn't as performant as an equivalent solution written in, say, c++ but it isn't designed to be.   

Framework components are designed to be modular, and easy to add to and remove from a given system.  All that is needed is to define a driver that interacts with your hardware components and inherits from the built in `Component` class, and include it in the main file.  

## Installation

### PREFERRED Installation Process with CubeWorks Image 
1. Download the [CubeWorks Raspbian Lite image V6](https://drive.google.com/file/d/1ozvCZwbu9eHb0bZ5SgTERq1yh5yXUiuP/view)
2. Flash image onto 8GB micro SD card
3. Run image on Raspberry Pi Zero W
4. Log in (email coordinator@gas.usu.edu if you do not have the login password)
5. IMPORTANT: Make sure to enable the Serial port via raspi-config. Also update the chronodot time (see Software Unit Testing Procedure document for instructions)
6. Run `./install.exe`
7. Use `htop` and check to see in main flight logic is running

### INSTALLING SSDV
1. `git clone https://github.com/SmallSatGasTeam/ssdv`
2. `cd ssdv`
3. `make`
4. `nano ~/.bashrc`
5. Add the following line to the bashrc file:
	`export PATH=$PATH:/home/pi/ssdv/ssdv`
6. Reboot the pi, and make sure you can run `ssdv` from any spot on the pi

### INSTALLING SSDV
1. `git clone https://github.com/SmallSatGasTeam/ssdv`
2. `cd ssdv`
3. `make`
4. `nano ~/.bashrc`
5. Add the following line to the bashrc file:
	`export PATH=$PATH:/home/pi/ssdv`
6. Reboot the pi, and make sure you can run `ssdv` from any spot on the pi

### MANUAL Installation Process (How the CubeWorks Image was created)
1. Image a Raspberry Pi with Raspbian lite and boot the Pi
2. Use `sudo raspi-config` to set the proper network settings, set a user password, localisation options.
3. Under Interfacing Options enable Camera, SSH, SPI, I2C, and Serial ("No" to login shell, "Yes" to serial interface)
3. Update all packages with the commands: `sudo apt update` `sudo apt full-upgrade`
4. Reboot, install the following dependencies:
	- Python3, `sudo apt install python3`
	- python3-pip, `sudo apt install python3-pip`
	- NumPy, `sudo apt install python3-numpy`
5. Create the exe file to run for the installation process, run "gcc install.c -o install.exe"
6. run "./install.exe"
7. To run the testMainFlightLogic.py file (or any other program) on startup, run `sudo crontab -e` and then add the following line to the end of the file:
`@reboot sudo runuser pi -c "cd ; ./startup.exe"`.  

### File Structure
This file structure comprises the major compoments of CubeWorks.  

### Up dating the code:
1. Get the updateCode.c (it should be in any of the cubeworks repositories.)
2. use this command `gcc upDateCode.c -o upDateCode.exe ; cp upDateCode.exe ~/ ; rm upDateCode.exe`
3. return to the root and then use `./upDateCode.exe`

### Important Notes:
-TX windows have to be seperated by at least 25 seconds. This is the time from ending one window to the start time of the next window. If it is not separated by this buffer, then it is NOT guaranted that the TX window will be serviced. 

### Setting up chronodot
1. Ensure chronodot is connected to the pi and is powered on.
2. Edit the file `/etc/modules` and add `rtc-ds1307` to the bottom
3. Reboot the pi
4. Edit the file `/etc/rc.local` and add the following lines before the `exit 0` line:
	- `echo ds1307 0x68 > /sys/class/i2c-adapter/i2c-1/new_device
	hwclock -s`
5. The end of the file should look like:
	- `echo ds1307 0x68 > /sys/class/i2c-adapter/i2c-1/new_device
	hwclock -s
	exit0`
6. Reboot the pi

### Setting the time on the chronodot
1. Set the time with the command `sudo date -s "29 AUG 2010 13:00:00"` 
2. Update the chronodot time with the command `sudo hwclock -w`
3. Note: The pi reads the time from the chronodot on boot and sets its internal clock to match that time. If you change the pi time, you have to update the chronodot as well or the updated time will be lost on a boot cycle.


### setting up the Cammera 

1.use `sudo raspi-config` 

2.go to go to the `interface` tab 

3.Enable cammera in settings

## seting up the serial interface
1.use `sudo raspi-config`

2.go to go to the `interface` tab

3.On the first tab select `no`

4.ON the second tab select `yes`




### Important Notes:
-TX windows have to be seperated by at least 25 seconds. This is the time from ending one window to the start time of the next window. If it is not separated by this buffer, then it is NOT guaranted that the TX window will be serviced. 


### To put the stack in flight configuration
-run the code called flightConfig.exe, `Warning: This will disable, wifi, hdmi, and the leds. You will have to reflash the sd if you want to commicate with the pi again.`

-If you want to still have wifi run flightConfigWifi.exe `Warning: This is for testing ONLY`
```
Pi system
├──Home
│   ├──CubeWorks0
│   ├──CubeWorks1
│   ├──CubeWorks2
│   ├──CubeWorks3
│   ├──CubeWorks4
│   ├──flightlogicData
│   |	├──Attitude_Data.txt
│   |	├──TTNC_Data.txt
│   |	├──BootRecords.txt
│   |	├──backupBootRecors.txt
│   |	└── Deploy_Data.txt
│   ├──TXISRData
│   |	├──AX25Flag.txt
│   |	├──flagsFile.txt
│   |	├──transmissionFla.txt
│   |	└── txWindows.txt
│   ├──install.exe
│   ├──lastBase.txt
└── └── upDateCode.exe


Cubeworks
├── Drivers
│   ├── ExampleDriver
│   │   ├── ExampleDriver.py
│   │   └── __init__.py
│   ├── __init__.py
│   └── Driver.py
├── flightLogic
│   ├── mainFlightLogic.py
│   ├── missionModes
│   │   └── example.py
│   ├── postBoomTime.txt
│   └── saveTofiles.py
├── GroundStation
│   ├── example.sh
│   └── example.py
├── __init__.py
├── log.txt
├── mission_modes.py
├── protectionProticol
│   └── fileProtection.py
├── README.md
├── requirements.txt
├── runOnBoot.py
├── tests
│   ├── __init__.py
│   ├── testAllDrivers.py
│   └── unit_testing_example.py
├── TXISR
│   ├── example.py
│   └── __init__.py
└── watchdog
    ├── arduino_watchdog_v7
    │   └── arduino_watchdog_v7.ino
    └── Heartbeat
        └── Heartbeat.py
```

### Class Structure

![class](https://user-images.githubusercontent.com/27446370/118514932-23915500-b6f2-11eb-9dde-4a1bd2eee4df.png)


###Data Flows:

[GAS software.pdf](https://github.com/SmallSatGasTeam/CubeWorks/files/6494865/GAS.software.pdf)

[Boom deploy data flow.pdf](https://github.com/SmallSatGasTeam/CubeWorks/files/6494888/Boom.deploy.data.flow.pdf)

[Data recived data flow.pdf](https://github.com/SmallSatGasTeam/CubeWorks/files/6494890/Data.recived.data.flow.pdf)

[Decode TX data flow.pdf](https://github.com/SmallSatGasTeam/CubeWorks/files/6494891/Decode.TX.data.flow.pdf)

[multi save data path.pdf](https://github.com/SmallSatGasTeam/CubeWorks/files/6494892/multi.save.data.path.pdf)

[multi save data path2.pdf](https://github.com/SmallSatGasTeam/CubeWorks/files/6494893/multi.save.data.path2.pdf)

[Post Boom deploy data flow.pdf](https://github.com/SmallSatGasTeam/CubeWorks/files/6494894/Post.Boom.deploy.data.flow.pdf)

[preboom deploy data flow.pdf](https://github.com/SmallSatGasTeam/CubeWorks/files/6494895/preboom.deploy.data.flow.pdf)

[prepare for tx data flow.pdf](https://github.com/SmallSatGasTeam/CubeWorks/files/6494896/prepare.for.tx.data.flow.pdf)