void set_PWM(void)
{
///If current direction of axis X/Y/Z opposite of default set pin
if(Current_state.pwm.x_dir)
PORTC |= _BV(PC5);
else
PORTC &= ~(_BV(PC5));
if(Current_state.pwm.y_dir)
PORTC |= _BV(PC4);
else
PORTC &= ~(_BV(PC4));
if(Current_state.pwm.z_dir)
PORTC |= _BV(PC3);
else
PORTC &= ~(_BV(PC3));
char txt[6];
itoa(Current_state.pwm.x, txt, 10);
transmit_string_UART0(txt);
transmit_UART0('\t');
itoa(Current_state.pwm.y, txt, 10);
transmit_string_UART0(txt);
transmit_UART0('\t');
itoa(Current_state.pwm.z, txt, 10);
transmit_string_UART0(txt);
transmit_UART0('\r');
transmit_UART0('\n');
///Set PWM values
OCR3A = Current_state.pwm.x;
OCR3B = Current_state.pwm.y;
OCR3C = Current_state.pwm.z;
}
void poll_SS(void)
{
//***************ADC Variables************************
uint8_t valh1;//High byte of first sunsensor
uint8_t vall1;//Low byte of first sunsensor
uint8_t valh2;
uint8_t vall2;
uint8_t valh3;
uint8_t vall3;
uint8_t valh4;
uint8_t vall4;
uint8_t valh5;
uint8_t vall5;
uint8_t valh6;
uint8_t vall6;
uint16_t val[6];//First sunsensor combined 16 bit value
int8_t data_r;
PORTB |= (1<<PB0);//Set Slave select of Slave OBC to 1
PORTB &= ~(1<<PB5);// Set slave select of ADC to 0
//SPCR |=(1<<SPE);
_delay_ms(1);
data_r=SPI_transfer(0xFF); //Dummy transaction. Tell ADC that data transmission should begin now.
_delay_ms(1);
//transmit_UART0(data_r);
PORTA = 0xFF;
vall1=SPI_transfer(0xFF);//First data byte
_delay_ms(1);
valh1=SPI_transfer(0xFF);
_delay_ms(1);
vall2=SPI_transfer(0xFF);
_delay_ms(1);
valh2=SPI_transfer(0xFF);
_delay_ms(1);
vall3=SPI_transfer(0xFF);
_delay_ms(1);
valh3=SPI_transfer(0xFF);
_delay_ms(1);
vall4=SPI_transfer(0xFF);
_delay_ms(1);
valh4=SPI_transfer(0xFF);
_delay_ms(1);
vall5=SPI_transfer(0xFF);
_delay_ms(1);
valh5=SPI_transfer(0xFF);
_delay_ms(1);
vall6=SPI_transfer(0xFF);
_delay_ms(1);
valh6=SPI_transfer(0xFF);
_delay_ms(1);
val[0]=convert(vall1,valh1);
val[1]=convert(vall2,valh2);
val[2]=convert(vall3,valh3);
val[3]=convert(vall4,valh4);
val[4]=convert(vall5,valh5);
val[5]=convert(vall6,valh6);
for (int i=0;i<6;i=i+1)
{
Current_state.ss.read[i] = (float)(val[i]*(3.3/1024));
}
uint8_t sen;
transmit_UART0('A');
for(int i=0;i<6;i=i+1)
{
sen = (Current_state.ss.read[i]*255/3.3);
transmit_UART0(sen);
}
PORTB |= (1<<PB5);
//_delay_ms(1000);
///Power Down PD low
//cbi(PORTB, PB6);
//return;
}
void transmitSunSensorUart(int temp) { //Function for Sending Sunsensor data through UART
transmit_UART0(temp & 0xff);
transmit_UART0(temp >> 8);
}
void poll_MM1(void)
{
char sx[20];
char sy[20];
char sz[20];
int16_t Bx1;
int16_t By1;
int16_t Bz1;
uint16_t Bx;
uint16_t By;
uint16_t Bz;
uint8_t c= 80;
transmit_UART0(c);
Bx=(uint16_t)receive_UART0();
Bx=(Bx<<8);
Bx &= 0xFF00;
Bx|=(uint16_t)receive_UART0();
Current_state.mm.B_x = ((float) Bx) / 15000;
// sprintf(sx,"x is %f",Current_state.mm.B_x);
//transmit_UART0('x');
By=(uint16_t)receive_UART0();
By=(By<<8);
By &= 0xFF00;
By|=(uint16_t)receive_UART0();
Current_state.mm.B_y = ((float) By) / 15000;
//sprintf(sx,"x is %f",Current_state.mm.B_y);
//transmit_UART0('y');
Bz=(uint16_t)receive_UART0();
Bz=(Bz<<8);
Bz &= 0xFF00;
Bz|=(uint16_t)receive_UART0();
Current_state.mm.B_z = ((float) Bz) / 15000;
//sprintf(sx,"x is %f",Current_state.mm.B_z);
//transmit_UART0('cr');
//receive_MM();
if(Bx > 30000)
{ Bx1 = Bx - 65536;
Current_state.mm.B_x = ((float) Bx1) / 15000;
//sprintf(sx,"x is %f",Current_state.mm.B_x);
}
if(By > 30000)
{ By1 = By - 65536;
Current_state.mm.B_y = ((float) By1) / 15000;
// sprintf(sy,"y is %f",By1);
}
if(Bz > 30000)
{Bz1 = Bz - 65536;Current_state.mm.B_z = ((float) Bz1) / 15000;
// sprintf(sz,"z is %f",Bz1);
}
/*transmit_string_UART0(sx);
transmit_UART0(' ');
transmit_string_UART0(sy);
transmit_UART0(' ');
transmit_string_UART0(sz);
transmit_UART0('\r');
*/
}
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)
{
/// Define Variables to store Magnetic field
char array[40];
char array1[40];
char array2[40];
char array3[40];
int16_t Bx;
int16_t By;
int16_t Bz;
/// Blink LED to show that program is successfully running
DDRA = 0xF0;
PORTA = 0xF0;
_delay_ms(1000);
PORTA = 0x00;
_delay_ms(1000);
PORTA = 0xF0;
_delay_ms(1000);
PORTA = 0x00;
_delay_ms(1000);
/// Inittialise UART0 for Transmission to terminal
init_UART0();
// init_UART1();
//
/// Transmit "Hello" String
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 PRATHAM's OBC-Master code...");
sprintf(array2,"\rCurrent MagnetoMeter state is =\t");
sprintf(array3,"\rGenerating Torquer Current for =\t");
transmit_string_UART0(array1);
// transmit_string_UART0(array2);
// transmit_string_UART0(array3);
/// Initialise UART1 for Magnetometer Reception of Data and Transmission of Poll
init_UART_MM();
/// Configure the torquer to output the required current values
configure_torquer();
/// Define 3 strings for storing Magnetometer field values
char sx[2];
char sy[2];
char sz[2];
float A[4] = {1,0.75,0.50,0.25};
timer_init();
/// Start while loop
while (1)
{
/// Receive and store Bx,By,Bz
Bx=(int16_t)receive_MM();
Bx=(Bx<<8);
Bx &= 0xFF00;
Bx|=(int16_t)receive_MM();
By=(int16_t)receive_MM();
By=(By<<8);
By &= 0xFF00;
By|=(int16_t)receive_MM();
Bz=(int16_t)receive_MM();
Bz=(Bz<<8);
Bz &= 0xFF00;
Bz|=(int16_t)receive_MM();
/// Receive carriage return and ignore
receive_MM();
/// Transmit Carriage return
transmit_UART0('\r');
if (Bx != 0x00 || By != 0x00 || Bz != 0x00)
{
transmit_UART0('z');
transmit_string_UART0(sz);
transmit_UART0(' ');
sprintf(sz,"%d",By);
transmit_UART0('y');
transmit_string_UART0(sz);
transmit_UART0(' ');
sprintf(sz,"%d",Bx);
transmit_UART0('x');
transmit_string_UART0(sz);
transmit_UART0(' ');
transmit_UART0('\r');
transmit_string_UART0(array3);
transmit_UART0(' ');
transmit_UART0('X');
transmit_UART0(' ');
transmit_UART0('Y');
transmit_UART0(' ');
transmit_UART0('Z');
transmit_UART0('\r');
if (dir==0)
dir=1;
else
dir=0;
Current_state.pwm.x_dir = dir;
Current_state.pwm.x = 32768*2*Bx/5225;
Current_state.pwm.y_dir = dir;
Current_state.pwm.y = 32768*By*2/5225;
Current_state.pwm.z_dir = dir;
Current_state.pwm.z = 32768*Bz*2/5225;
set_PWM();
}
}
return 0;
}
int main(void)
{
/// Define Variables to store Magnetic field
// char array[40];
// char array1[40];
// char array2[40];
/// Blink LED to show that program is successfully running
DDRA = 0xF0;
PORTA = 0xF0;
_delay_ms(500);
PORTA = 0x00;
_delay_ms(500);
PORTA = 0xF0;
_delay_ms(500);
PORTA = 0x00;
_delay_ms(500);
/// Inittialise UART0 for Transmission to terminal
init_UART0();
/// Transmit "Hello" String
transmit_UART0('H');
transmit_UART0('e');
transmit_UART0('l');
transmit_UART0('l');
transmit_UART0('o');
// sprintf(array1,"\tThis is PRATHAM's OBC-Master code...");
// sprintf(array2,"\rCurrent MagnetoMeter and Torquer state is =\t");
// transmit_string_UART0(array1);
// transmit_string_UART0(array2);
/// Configure the Magnetometer
init_UART_MM();
/// Configure the Torquer
configure_torquer();
/// Define 3 strings for storing Magnetometer field values
char sx[20];
char sy[20];
char sz[20];
Time = 0;
// timer_reset_teo_sec();
while (1)
{
/// check for 2 seconds
// if(tot_overflow >= 30)
// {
// Time += 2;
// reset_PWM();
// send_MM_cmd("*00P\r");
// poll_MM();
// TCNT1 = 0;
// tot_overflow = 0;
// }
/// Read Magmeter every time Simulink sends something whether 0 or non-zero
// read_MM();
Bx=(int16_t)receive_MM();
Bx=(Bx<<8);
Bx &= 0xFF00;
Bx|=(int16_t)receive_MM();
By=(int16_t)receive_MM();
By=(By<<8); By &= 0xFF00;
By|=(int16_t)receive_MM();
Bz=(int16_t)receive_MM();
Bz=(Bz<<8);
Bz &= 0xFF00;
Bz|=(int16_t)receive_MM();
/// Receive carriage return and ignore
receive_MM();
/// when atleast one of the values is non-zero, execute the control Law
if (Bx !=0x00 || By != 0x00 || Bz != 0x00)
{
/// Apply control Law
control();
set_PWM();
/// Transmit Magnetic field Data to terminal
sprintf(sx,"%d",Bx);
transmit_UART0('X');
transmit_string_UART0(sx);
transmit_UART0(' ');
sprintf(sy,"%d",By);
transmit_UART0('Y');
transmit_string_UART0(sy);
transmit_UART0(' ');
sprintf(sz,"%d",Bz);
transmit_UART0('Z');
transmit_string_UART0(sz);
transmit_UART0(' ');
transmit_UART0('\r');
////////////////////////////////////////////
sprintf(sx,"%d",vg[0]);
transmit_UART0('A');
transmit_string_UART0(sx);
transmit_UART0(' ');
sprintf(sx,"%d",vg[1]);
transmit_UART0('B');
transmit_string_UART0(sx);
transmit_UART0(' ');
sprintf(sx,"%d",vg[2]);
transmit_UART0('C');
transmit_string_UART0(sx);
transmit_UART0(' ');
transmit_UART0('\r');
////////////////////////////
// sprintf(sx,"%d",norm_vect);
// transmit_UART0('D');
// transmit_string_UART0(sx);
// transmit_UART0(' ');
// transmit_UART0('\r');
///////////////////////////
// sprintf(sx,"%d",Bdot[0]);
// transmit_UART0('P');
// transmit_string_UART0(sx);
// transmit_UART0(' ');
// transmit_UART0('\r');
//
// sprintf(sy,"%d",Bdot[1]);
// transmit_UART0('Q');
// transmit_string_UART0(sy);
// transmit_UART0(' ');
// transmit_UART0('\r');
//
// sprintf(sz,"%d",Bdot[2]);
// transmit_UART0('R');
// transmit_string_UART0(sz);
// transmit_UART0(' ');
// transmit_UART0('\r');
//
// //////////////////////////
//
// sprintf(sx,"%d",temp[0]);
// transmit_UART0('L');
// transmit_string_UART0(sx);
// transmit_UART0(' ');
// transmit_UART0('\r');
//
// sprintf(sy,"%d",temp[1]);
// transmit_UART0('M');
// transmit_string_UART0(sy);
// transmit_UART0(' ');
// transmit_UART0('\r');
//
// sprintf(sz,"%d",temp[2]);
// transmit_UART0('N');
// transmit_string_UART0(sz);
// transmit_UART0(' ');
// transmit_UART0('\r');
// sprintf(sz,"%d",temp);
// transmit_UART0('M');
// transmit_string_UART0(sz);
// transmit_UART0(' ');
// transmit_UART0('\r');
// Current_state.pwm.x_dir = 0;
// Current_state.pwm.y_dir = 0;
// Current_state.pwm.z_dir = 0;
/// Transmit Torquer Current Data to the Terminal
sprintf(sx,"%d",Current_state.pwm.x);
transmit_UART0('X');
transmit_string_UART0(sx);
transmit_UART0(' ');
sprintf(sy,"%d",Current_state.pwm.y);
transmit_UART0('Y');
transmit_string_UART0(sy);
transmit_UART0(' ');
sprintf(sz,"%d",Current_state.pwm.z);
transmit_UART0('Z');
transmit_string_UART0(sz);
transmit_UART0(' ');
transmit_UART0('\r');
//
}
}
return 0;
}
int main(void)
{
/// Define Variables to store Magnetic field
char array[40];
char array1[40];
char array2[40];
int16_t Bx;
int16_t By;
int16_t Bz;
/// Blink LED to show that program is successfully running
DDRA = 0xF0;
PORTA = 0xF0;
_delay_ms(1000);
PORTA = 0x00;
_delay_ms(1000);
PORTA = 0xF0;
_delay_ms(1000);
PORTA = 0x00;
_delay_ms(1000);
/// Inittialise UART0 for Transmission to terminal
init_UART0();
/// Transmit "Hello" String
transmit_UART0('\r');
transmit_UART0('\r');
transmit_UART0('H');
transmit_UART0('e');
transmit_UART0('l');
transmit_UART0('l');
transmit_UART0('o');
sprintf(array1,"\tThis is PRATHAM's OBC-Master code...");
sprintf(array2,"\rCurrent MagnetoMeter state is =\t");
transmit_string_UART0(array1);
transmit_string_UART0(array2);
/// Initialise UART1 for Magnetometer Reception of Data and Transmission of Poll
init_UART_MM();
/// Configure the torquer to output the required current values
// configure_torquer();
/// Define 3 strings for storing Magnetometer field values
char sx[20];
char sy[20];
char sz[20];
/// Initialise the Timer
timer_init();
/// Start while loop
while (1)
{
// if(tot_overflow >= 15) // find out what the value of x will be for a delay of 2 seconds
// {
//
// send_MM_cmd("*00P\r");
// tot_overflow = 0;
// TCNT1 = 0;
// }
//
/// Receive and store Bx,By,Bz
Bx=(int16_t)receive_MM();
Bx=(Bx<<8);
Bx &= 0xFF00;
Bx|=(int16_t)receive_MM();
By=(int16_t)receive_MM();
By=(By<<8); By &= 0xFF00;
By|=(int16_t)receive_MM();
Bz=(int16_t)receive_MM();
Bz=(Bz<<8);
Bz &= 0xFF00;
Bz|=(int16_t)receive_MM();
/// Receive carriage return and ignore
receive_MM();
/// Transmit Carriage return
transmit_UART0('\r');
if (Bx != 0x00 || By != 0x00 || Bz != 0x00)
{
Current_state.mm.B_x=Bx;
/// Copy Bx,By,Bz into Strings for transmiting
sprintf(sx,"%d",Current_state.mm.B_x);
transmit_UART0('x');
transmit_string_UART0(sx);
transmit_UART0(' ');
transmit_UART0('y');
sprintf(sx,"%d",Bz);
transmit_string_UART0(sx);
transmit_UART0(' ');
transmit_UART0('z');
sprintf(sx,"%d",Bz);
transmit_string_UART0(sx);
transmit_UART0('\r');
transmit_string_UART0("Hello this is Naveen from IITB");
transmit_UART0('\r');
}
read_GPS();
}
return 0;
}
