void poll_MM(void)
{
///Temporary variables for magnetometer readings
int16_t x, y, z;
uint8_t tmp;
///Send the poll command
send_MM_cmd("*00P\r");
x = ((int16_t)receive_MM()) << 8;
x &= 0xFF00;
x |= (int16_t)receive_MM();
y = ((int16_t)receive_MM()) << 8;
y &= 0xFF00;
y |= (int16_t)receive_MM();
z = ((int16_t)receive_MM()) << 8;
z &= 0xFF00;
z |= (int16_t)receive_MM();
receive_MM();
char buf[100];
sprintf(buf,"%d %d %d\r", x, y, z);
send_preflight(buf, strlen(buf));
///Convert the readings to Gauss
Current_state.mm.B_x = ((float) x) / 15000;
Current_state.mm.B_y = ((float) y) / 15000;
Current_state.mm.B_z = ((float) z) / 15000;
}
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];
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];
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;
}
