int main(void){
//while(1);
wdt_disable();
///Configure the Torquer
configure_torquer();
char buf[100];
uint16_t v;
int ao;
for(ao=0;ao<1;ao++)
_delay_ms(1000);
/// Initialise Interfaces - UART of Magnetometer and GPS and the SPI bus
init_UART_MM();
init_UART_GPS();
init_SPI();
init_TWI();
send_preflight("Master\r", 7);
///Set Preflight pin as input
cbi(DDR_PF, PIN_PF);
///* Switch on Global interrupts
sei();
///Check if Preflight Pin is high
while(1){
///* * Reset timer for 2 seconds
timer_reset_two_sec();
//get_HM_data();
//send_preflight("Power\r", 6);
///* Preflight Checks
if(0){
///* * Set the mode as preflight
Mode = PREFLIGHT;
/*slave_send(HM_DATA, "Hello", 5);
_delay_ms(10);
slave_send (BEGIN_TX_GS, NULL, 0);
//power_up_peripheral(PCC);
_delay_ms(10);
ao = init_CC1020();
if(ao)
send_preflight("CC Init\r", 8);
else
send_preflight("No Init\r", 8);
while(1);*/
/*power_up_peripheral(PGPS);
while(1) {
read_GPS();
while(UCSR0B & _BV(RXCIE0));
copy_gps_reading();
sprintf(buf,"%ld %ld %ld\r", Current_state.gps.x/1000, Current_state.gps.y/1000, Current_state.gps.z/1000);
send_preflight(buf, strlen(buf));
sprintf(buf,"%ld %ld %ld\r", Current_state.gps.v_x/1000, Current_state.gps.v_y/1000, Current_state.gps.v_z/1000);
send_preflight(buf, strlen(buf));
_delay_ms(1000);
}*/
///* * Magnetometer and Torquer test
///* * Reading with one torquer on at once
/*Current_state.pwm.x_dir = 0;
Current_state.pwm.x = 10000;
Current_state.pwm.y_dir = 0;
Current_state.pwm.y = 30000;
Current_state.pwm.z_dir = 1;
Current_state.pwm.z = 20000;
send_preflight("Read\r", 5);
set_PWM();*/
while(1) {
read_SS();
//send_preflight((char *)&Current_state.ss, sizeof(struct SS_reading));
for(v = 0; v < 6; v++)
{
sprintf(buf,"%u\r", (uint16_t)(((float)Current_state.ss.reading[v])*1.6*100/4096));
send_preflight(buf, strlen(buf));
sprintf(buf,"%x\r", Current_state.ss.reading[v]);
send_preflight(buf, strlen(buf));
}
_delay_ms(1000);
}
///* * Set Torquer values to zero
reset_PWM();
while(1)
read_MM();
read_GPS();
send_preflight((char *)&Current_state.gps, sizeof(struct GPS_reading));
///* * Sunsensor test
read_SS();
send_preflight((char *)&Current_state.ss, sizeof(struct SS_reading));
///* Health Montoring
get_HM_data();
send_preflight((char *)&Current_state.hm, sizeof(struct HM_data));
///Communication Task
comm();
///* * Wait for 2 seconds to get over
timer_wait_reset();
}
///Normal Mode
else{
///* Set default mode of Satellite
Mode = DETUMBLING;
///* initialise Timer
Time = 0;
///Loop begins
while(1){
//Fuses Pain, Nominal Mode checking
send_preflight("Loop\r", 5);
control();
send_preflight("Control\r", 8);
//power();
comm();
send_preflight("Comm\r", 5);
v = StackCount();
sprintf(buf, "Stack = %d\r", v);
send_preflight(buf, strlen(buf));
v = get_free_memory();
sprintf(buf, "Stack(Method 2) = %d\r", v);
send_preflight(buf, strlen(buf));
Time += FRAME_TIME;
timer_wait_reset();
}
}
}
return 0;
}
int main(void){
///Configure the Torquer
configure_torquer();
_delay_ms(1000);
/// Initialise Interfaces - UART of Magnetometer and GPS and the SPI bus
init_UART_MM();
init_UART_GPS();
init_SPI();
init_TWI();
///Set Preflight pin as input
cbi(DDR_PF, PIN_PF);
///* Switch on Global interrupts
sei();
///Check if Preflight Pin is high
while(1){
///* * Reset timer for 2 seconds
timer_reset_two_sec();
///* Get Health Monitoring data
get_HM_data();
///* Preflight Checks
if(PORT_PF & _BV(PIN_PF)){
///* * Set the mode as preflight
Mode = PREFLIGHT;
send_preflight("Master\r", 7);
///* * GPS test
read_GPS();
while(UCSR0B & _BV(RXCIE0));
send_preflight((char *)&Current_state.gps, sizeof(struct GPS_reading));
///* * Magnetometer and Torquer test
///* * Reading with no torquers on
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
///* * Reading with one torquer on at once
Current_state.pwm.x_dir = 0;
Current_state.pwm.x = 32768;
Current_state.pwm.y_dir = 0;
Current_state.pwm.y = 0;
Current_state.pwm.z_dir = 0;
Current_state.pwm.z = 0;
set_PWM ();
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
Current_state.pwm.x_dir = 0;
Current_state.pwm.x = 0;
Current_state.pwm.y_dir = 0;
Current_state.pwm.y = 32768;
Current_state.pwm.z_dir = 0;
Current_state.pwm.z = 0;
set_PWM ();
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
Current_state.pwm.x_dir = 0;
Current_state.pwm.x = 0;
Current_state.pwm.y_dir = 0;
Current_state.pwm.y = 0;
Current_state.pwm.z_dir = 0;
Current_state.pwm.z = 32768;
set_PWM ();
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
///* * Reading with one torquer on at once, in other direction
Current_state.pwm.x_dir = 1;
Current_state.pwm.x = 32768;
Current_state.pwm.y_dir = 0;
Current_state.pwm.y = 0;
Current_state.pwm.z_dir = 0;
Current_state.pwm.z = 0;
set_PWM ();
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
Current_state.pwm.x_dir = 0;
Current_state.pwm.x = 0;
Current_state.pwm.y_dir = 1;
Current_state.pwm.y = 32768;
Current_state.pwm.z_dir = 0;
Current_state.pwm.z = 0;
set_PWM ();
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
Current_state.pwm.x_dir = 0;
Current_state.pwm.x = 0;
Current_state.pwm.y_dir = 0;
Current_state.pwm.y = 0;
Current_state.pwm.z_dir = 1;
Current_state.pwm.z = 32768;
set_PWM ();
read_MM ();
send_preflight((char *)&Current_state.mm, sizeof(struct MM_reading));
///* * Set Torquer values to zero
reset_PWM();
///* * Sunsensor test
read_SS();
send_preflight((char *)&Current_state.ss, sizeof(struct SS_reading));
///* Health Montoring
get_HM_data();
send_preflight((char *)&Current_state.hm, sizeof(struct HM_data));
///Communication Task
comm();
///* * Wait for 2 seconds to get over
timer_wait_reset();
}
///Normal Mode
else{
///* Set default mode of Satellite
Mode = DETUMBLING;
///* initialise Timer
Time = 0;
///Loop begins
while(!(PORT_PF & _BV(PIN_PF))){
/**
* * * * Task 2: Control codes
* @ref control
*/
control();
/**
* * * * Task 1: Communication with power uC through I2C. @ref power
*/
power();
/**
* * * * Task 3: Communication check routine;
* @ref comm
*/
comm();
wdt_disable();
///* * Increment the Timer
Time += FRAME_TIME;
///* * Wait for 2 seconds to get over
timer_wait_reset();
}
}
}
return 0;
}
int main(void)
{
char array[40];
char array1[40];
char array2[40];
DDRA = 0xF0;
PORTA = 0xF0;
_delay_ms(1000);
PORTA = 0x00;
_delay_ms(1000);
PORTA = 0xF0;
_delay_ms(1000);
PORTA = 0x00;
_delay_ms(1000);
init_UART0();
transmit_UART0('\r');
transmit_UART0('\r');
transmit_UART0('H');
transmit_UART0('e');
transmit_UART0('l');
transmit_UART0('l');
transmit_UART0('o');
sprintf(array,"\t..This is IITB's Student Satellite...\r");
transmit_string_UART0(array);
sprintf(array1,"\tThis is HUSSAIN's OBC-Master code...");
sprintf(array2,"\rCurrent GPS state is =\t");
/************************************************************/
init_UART_GPS();
///* Switch on Global interrupts
sei();
//uint8_t GPS_data[159];
uint8_t temp;
/************************************************************/
while(1)
{
while (!(UCSR0A & _BV(RXC0)));
temp = UDR0;
transmit_UART0('A');
// for (i=0;i<159;i++)
// {
// GPS_data[i] = receive_GPS();
//
// }
//
// for(i=0;i<4;i++)
// {
// temp = temp >> 8;
// temp &= 0x00FFFFFF;
// temp |= ((uint32_t) GPS_data[i])<<24;
//
// }
// sprintf(array,"x = %lu \n",temp);
// transmit_string_UART0(array);
//process_GPS();
// read_GPS();
//while(UCSR0B & _BV(RXCIE0));
// send_preflight((char *)&Current_state.gps, sizeof(struct GPS_reading));
// sprintf(array,"x = %lu \n",Current_state.gps.x);
// transmit_string_UART0(array);
//
// sprintf(array,"y = %lu \n",Current_state.gps.y);
// transmit_string_UART0(array);
//
// sprintf(array,"z = %lu \n",Current_state.gps.z);
// transmit_string_UART0(array);
// sprintf(array,"x = %x\n",Current_state.gps.x);transmit_string_UART0(array);
// sprintf(array,"y = %x\n",Current_state.gps.y);transmit_string_UART0(array);
// sprintf(array,"z = %x\n",Current_state.gps.z);transmit_string_UART0(array);
// sprintf(array,"%lu ",Current_state.gps.v_x);
// transmit_string_UART0(array);
//
// sprintf(array,"%lu ",Current_state.gps.v_y);
// transmit_string_UART0(array);
//
// sprintf(array,"%lu ",Current_state.gps.v_z);
// transmit_string_UART0(array);
/************************************************************/
}
return 0;
}
int main(void) {
init_UART_GPS();
send_preflight("Slave", 5);
/// Current state of satellite
uint8_t frame[256];
uint8_t transmission = 0, command;
uint16_t crc, recv_crc;
///Disable Watchdog Timer
wdt_disable();
///Initialise SPI as slave
init_SPI_slave();
///EEPROM function to initialise I/O
//ioinit();
///Initialise CC1020 DIO pins
//cc1020_init_dio();
///Enable Global Interrupts
sei();
///Main Loop for slave
while (1)
{
if(process)
{
crc = calculate_crc_16((uint8_t *)message, t - (end_spi + sizeof(uint16_t)));
memcpy((void *)&recv_crc, (void *)&(message[t - (end_spi + sizeof(uint16_t))]), sizeof(uint16_t));
if(crc == recv_crc)
{
command = message[0];
if(command == BEGIN_TX_COMM)
{
//transmission = IN;
send_preflight("Recvcomm", 8);
send_preflight((char *)message + 2, message[1]);
}
else if(command == BEGIN_TX_GS)
transmission = GS;
else if(command == END_TX)
{
SPI_transfer(ACK);
transmission = 0;
}
else if(command == HM_DATA)
{
make_ax25_frame_from_data(frame, (uint8_t *)message + 2);
write_frame_to_eeprom(frame);
}
else if(command == REAL_TIME)
make_ax25_frame_from_data(frame, (uint8_t *)message + 2);
}
end_spi = 0;
start_spi = 0;
t = 0;
process = 0;
}
if(transmission == GS)
{
read_frame_from_eeprom(frame);
if(read_addr == write_addr)
read_addr -= FRAME_SIZE;
cc1020_transmit_packet(frame, FRAME_SIZE);
}
else if(transmission == IN)
cc1020_transmit_packet(frame, FRAME_SIZE);
}
return 0;
}
