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)
{
/// 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){
///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)
{
/// 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;
}
