ThreadsAndFunctions.h

00001 // UART ISR
00002 void rx_read(){
00003     gRX_CURRENT_DATA_NODE->values[gRX_COUNT] = RX1M.getc();
00004     gFLAGS = gFLAGS | UART_INT_FLAG;
00005     gCOM_MNG_TMTC_THREAD->signal_set(COM_MNG_TMTC_SIGNAL_UART_INT);
00006 }
00007 
00008 // RX_TIMEOUT ISR
00009 void after_receive(){
00010     gRX_TIMEOUT.detach();
00011     gFLAGS = gFLAGS | NEW_TC_RECEIVED;
00012     gCOM_MNG_TMTC_THREAD->signal_set(COM_MNG_TMTC_SIGNAL_UART_INT);
00013 }
00014 
00015 // SESSION_TIMOUT ISR
00016 void after_session(){
00017     gSESSION_TIMEOUT.detach();
00018     gFLAGS = gFLAGS | COM_SESSION_TIMEOUT_FLAG;
00019     if( gMASTER_STATE != TCL_STATE_EXECUTING ){
00020         gCOM_MNG_TMTC_THREAD->signal_set(COM_MNG_TMTC_SIGNAL_UART_INT);
00021     }
00022 }
00023 
00024 #define reset_all {\
00025     Base_tc *tcp = gHEAD_NODE_TCL;\
00026     if (DEBUG)\
00027         gPC.puts("inside reset\r\n");\
00028     gFLAGS = 0x0000;\
00029     while(tcp != NULL){\
00030         Base_tc *temp = tcp->next_TC;\
00031         delete tcp;\
00032         tcp = temp;\
00033     }\
00034     gHEAD_NODE_TCL = NULL;\
00035     gLAST_NODE_TCL = NULL;\
00036     gMASTER_STATE = TCL_STATE_INCOMPLETE;\
00037     gTOTAL_INCORRECT_SIZE_TC = 0;\
00038     gTOTAL_CRC_FAIL_TC = 0;\
00039     gTOTAL_REPEATED_TC = 0;\
00040     gTOTAL_VALID_TC = 0;\
00041     for(int i = 0 ; i < TM_LONG_SIZE ; ++i){\
00042         gLAST_TM[i] = 0x00;\
00043     }\
00044     gLAST_TM_SHORT_OR_LONG = SHORT_TM_CODE;\
00045     COM_RX_DATA_NODE *dataptr = gRX_HEAD_DATA_NODE;\
00046     while( dataptr != NULL ){\
00047         COM_RX_DATA_NODE *temp = dataptr->next_node;\
00048         delete dataptr;\
00049         dataptr = temp;\
00050     }\
00051     gRX_HEAD_DATA_NODE = new COM_RX_DATA_NODE;\
00052     gRX_HEAD_DATA_NODE->next_node = NULL;\
00053     gRX_CURRENT_DATA_NODE = gRX_HEAD_DATA_NODE;\
00054     gRX_COUNT = 0;\
00055     /*PENDING : ALL GLOBAL VAARIABLES AND FLAGS*/\
00056     if (DEBUG)\
00057         gPC.puts("finished reset all\r\n");\
00058 }
00059 
00060 #define PUT_RAW_BYTE {\
00061     if( gRX_COUNT < (RX_BUFFER_LENGTH-1) ){\
00062         ++gRX_COUNT;\
00063     }\
00064     else{\
00065         gRX_COUNT = 0;\
00066         gRX_CURRENT_DATA_NODE->next_node = new COM_RX_DATA_NODE;\
00067         gRX_CURRENT_DATA_NODE = gRX_CURRENT_DATA_NODE->next_node;\
00068         gRX_CURRENT_DATA_NODE->next_node = NULL;\
00069     }\
00070     gRX_TIMEOUT.attach(&after_receive, RX_TIMEOUT_LIMIT);\
00071 }
00072 
00073 void COM_MNG_TMTC_FUN(void const *args){
00074     if( !(gFLAGS & COM_SESSION_FLAG) ){
00075         //gLEDR = 1;
00076         //gLEDG = 1;
00077     }
00078     while(true){
00079         Thread::signal_wait( COM_MNG_TMTC_SIGNAL_UART_INT );
00080         if( gFLAGS & UART_INT_FLAG ){
00081             gFLAGS = gFLAGS & (~UART_INT_FLAG);
00082             if( !(gFLAGS & COM_SESSION_FLAG) ){
00083                 // PENDING : DISABLE THREADS
00084                 gPAY_SPI.bulkRead_end();
00085                 gFLAGS = gFLAGS | COM_SESSION_FLAG;
00086                 gSESSION_TIMEOUT.attach(&after_session, SESSION_TIME_LIMIT);
00087                 gFLAGS = gFLAGS | COM_RX_FLAG;
00088                 PUT_RAW_BYTE;
00089                 // PENDING : MEASURE RSSI
00090                 if( gFLAGS & COM_SESSION_FLAG ){
00091                     //gLEDR = 0;
00092                     //gLEDG = 0;
00093                 }
00094             }
00095             else if( gFLAGS & COM_RX_FLAG ){
00096                 //gLEDR = 0;
00097                 //gLEDG = 1;
00098                 PUT_RAW_BYTE;
00099             }
00100             else{
00101                 //gLEDR = 1;
00102                 //gLEDG = 0;
00103                 gFLAGS = gFLAGS | COM_RX_FLAG;
00104                 PUT_RAW_BYTE;
00105             }
00106         }
00107         else if( gFLAGS & NEW_TC_RECEIVED ){
00108             if (DEBUG)
00109                 gPC.puts("NEW TC RECEIVED\r\n");
00110 //          DEBUF_PRINT("NEW TC RECEIVED\r\n");
00111             Thread::wait(2000);    /*To be removed in flight model*/
00112             gFLAGS = gFLAGS & (~NEW_TC_RECEIVED);
00113             gFLAGS = gFLAGS | COM_MNG_TMTC_RUNNING_FLAG;
00114 
00115             // DISABLE THE RX1M INTERRUPT
00116             RX1M.attach(NULL);
00117             
00118             // VERIFY CRC, REPEATED PSC AND UPDATE TOTAL_VALID_TC, INCORRECT SIZE TC, CRC FAIL TC
00119             while(gRX_COUNT < (RX_BUFFER_LENGTH)){
00120                 gRX_CURRENT_DATA_NODE->values[gRX_COUNT] = 0x00;
00121                 ++gRX_COUNT;
00122             }
00123             gRX_COUNT = 0;
00124             raw_data_to_tc();
00125             gFLAGS = gFLAGS & (~COM_RX_FLAG);
00126             
00127             if( gTOTAL_VALID_TC > 0 ){
00128                 if (DEBUG)
00129                     gPC.printf("valid TC rx: %u\r\n", gTOTAL_VALID_TC);
00130                 if( gTOTAL_VALID_TC < COM_MAX_TC_LIMIT ){
00131                     // CHECK WEATHER TC LIST HAS MISSING TC OR WEATHER LAST FRAME BIT IS HIGH IN THE LAST PSC-TC
00132                     if (DEBUG)
00133                         gPC.puts("checking for tc list complete\r\n");
00134                     uint8_t tempContinue = 0xFF;
00135                     continueToExecute(tempContinue);
00136                     if(tempContinue == 0x00){
00137                         if (DEBUG)
00138                             gPC.puts("tc list is complete\r\n");
00139                         // CHECK WEATHER GS VERIFICATION CODE MATCHES
00140                         uint8_t tempGSver = 0x00;
00141                         GScodeVerification(tempGSver);
00142                         /*PENDING: INCLUDE GS VERIFICATION CODE*/
00143                         if( tempGSver == 0xFF ){
00144                             if (DEBUG)
00145                                 gPC.puts("GS code match !!\r\n");
00146                             gFLAGS = gFLAGS | COM_SESSION_VALIDITY;
00147                             COM_POWER_ON_TX;
00148                             // PENDING: PA HOT HANDLED IN EXECUTE_XXX FUNCTIONS
00149                             uint8_t tempPAHot = 0x00;
00150                             isPAhot(tempPAHot);
00151                             if( tempPAHot == 0xFF ){
00152                                 gFLAGS = gFLAGS & ~(COM_PA_HOT_FLAG);
00153                                 gCOM_PA_COOLING_TIMEOUT.detach();
00154                                 if (DEBUG)
00155                                     gPC.puts("EXECUTING TELECOMMANDS\r\n");
00156 //                              DEBUF_PRINT("EXECUTING TELECOMMANDS\r\n");
00157                                 EXECUTE_OBOSC_ONLY;
00158                                 EXECUTE_TC;
00159                                 if (DEBUG)
00160                                     gPC.puts("COMPLETED EXECUTION\r\n");
00161                             }
00162                             else{
00163                                 gFLAGS = gFLAGS | COM_PA_HOT_FLAG;
00164                                 // PENDING: power off transmitter only
00165                                 gCOM_PA_COOLING_TIMEOUT.attach(&after_cooling_pa, COM_PA_COOLING_TIME_LIMIT);
00166                                 gFLAGS = gFLAGS & (~COM_MNG_TMTC_RUNNING_FLAG);
00167                                 RX1M.attach(&rx_read, Serial::RxIrq);
00168                             }
00169                         }
00170                         else{
00171                             if(DEBUG)
00172                                 gPC.puts("GS code mismatch !!\r\n");
00173                             RX1M.attach(&rx_read, Serial::RxIrq);
00174                             reset_all;
00175                             gFLAGS = gFLAGS & (~COM_SESSION_VALIDITY);
00176                             // PENDING : ENABLE THREADS
00177                             gPAY_SPI.bulkRead_start();
00178                             gSESSION_TIMEOUT.detach();
00179                             gFLAGS = gFLAGS & (~COM_SESSION_FLAG);
00180                             // WARNING: clear COM_MNG_TMTC ?
00181                         }
00182                     }
00183                     else{
00184                         if (DEBUG)
00185                             gPC.puts("tc list is not complete\r\n");
00186                         if(tempContinue & 0x01){
00187                             if (DEBUG)
00188                                 gPC.puts("last packet bit not found\r\n");
00189                         }
00190                         if( tempContinue & 0x02 ){
00191                             if (DEBUG)
00192                                 gPC.puts("missing psc found\r\n");
00193                         }
00194                         if (DEBUG){
00195                             gPC.printf("crc fail tc = %u\r\n", gTOTAL_CRC_FAIL_TC);
00196                             gPC.printf("incorrect size tc = %u\r\n", gTOTAL_INCORRECT_SIZE_TC);
00197                             gPC.printf("repeated psc = %u\r\n", gTOTAL_REPEATED_TC);    
00198                             gPC.puts("\r\n");
00199                         }
00200                         Base_tc *test_tc = gHEAD_NODE_TCL;
00201                         while( test_tc != NULL ){
00202                             int length = 0;
00203                             if( GETshort_or_long_tc(test_tc) == SHORT_TC_CODE ){
00204                                 length = TC_SHORT_SIZE;
00205                             }
00206                             else{
00207                                 length = TC_LONG_SIZE;
00208                             }
00209                             for(int i = 0 ; i < length ; ++i ){
00210                                 int x = 128;
00211                                 for( int j = 7 ; j >= 0 ; --j ){
00212                                     gPC.printf("%d", (test_tc->TC_string[i] & x)>>j);
00213                                     x = x/2;
00214                                 }
00215                             }
00216                             gPC.puts("\r\n");
00217                             test_tc = test_tc->next_TC;
00218                         }
00219                         //gPC.puts("\r\n");
00220                         COM_POWER_ON_TX;
00221                         // PENDING : POWER OFF TX
00222                         RX1M.attach(&rx_read, Serial::RxIrq);
00223                         gFLAGS = gFLAGS & (~COM_MNG_TMTC_RUNNING_FLAG);
00224                     }
00225                 }
00226                 else{
00227                     COM_POWER_ON_TX;
00228                     // POWER OFF TX transmitter only
00229                     // WARNING: reset_all ? clear com_session ?
00230                     RX1M.attach(&rx_read, Serial::RxIrq);
00231                     gFLAGS = gFLAGS & (~COM_MNG_TMTC_RUNNING_FLAG);
00232                 }
00233             }
00234             else{
00235                 if (DEBUG)
00236                     gPC.puts("No valid TC received\r\n");
00237                 RX1M.attach(&rx_read, Serial::RxIrq);
00238                 gFLAGS = gFLAGS & (~COM_MNG_TMTC_RUNNING_FLAG);
00239                 reset_all;
00240                 // PENDING : ENABLE THREADS
00241                 gPAY_SPI.bulkRead_start();
00242                 gSESSION_TIMEOUT.detach();
00243                 gFLAGS = gFLAGS & (~COM_SESSION_FLAG);
00244             }
00245         }
00246         else if( gFLAGS & COM_PA_HOT_FLAG ){
00247             if (DEBUG)
00248                 gPC.puts("checking for PA hot in main\r\n");
00249             if( gFLAGS & COM_RX_FLAG ){
00250                 uint8_t tempPA = 0xFF;
00251                 isPAhot(tempPA);
00252                 if( tempPA == 0x00 ){
00253                     gCOM_PA_COOLING_TIMEOUT.attach(&after_cooling_pa, COM_PA_COOLING_TIME_LIMIT);
00254                 }
00255                 else{
00256                     gFLAGS = gFLAGS & ~(COM_PA_HOT_FLAG);
00257                     gCOM_PA_COOLING_TIMEOUT.detach();
00258                 }
00259             }
00260             else{
00261                 uint8_t tempPA = 0xFF;
00262                 isPAhot(tempPA);
00263                 if( tempPA == 0x00 ){
00264                     gCOM_PA_COOLING_TIMEOUT.attach(&after_cooling_pa, COM_PA_COOLING_TIME_LIMIT);
00265                 }
00266                 else{
00267                     /*gPC.puts("PA IS COOLED DOWN\r\n");*/
00268                     gFLAGS = gFLAGS & (~COM_PA_HOT_FLAG);
00269                     gFLAGS = gFLAGS | COM_MNG_TMTC_RUNNING_FLAG;
00270                     RX1M.attach(NULL);
00271                     gCOM_PA_COOLING_TIMEOUT.detach();
00272                     COM_POWER_ON_TX;
00273                     EXECUTE_OBOSC_ONLY;
00274                     EXECUTE_TC;
00275                 }
00276             }
00277         }
00278         else if( gFLAGS & COM_SESSION_TIMEOUT_FLAG ){
00279             if (DEBUG)
00280                 gPC.puts("session timeout: resetting in main\r\n");
00281             COM_POWER_OFF_TX;
00282             /*PENDING : ENABLE THREADS*/
00283             gPAY_SPI.bulkRead_start();
00284             gSESSION_TIMEOUT.detach();
00285             gFLAGS = gFLAGS & (~COM_MNG_TMTC_RUNNING_FLAG);
00286             gFLAGS = gFLAGS & (~COM_SESSION_FLAG);
00287             reset_all;
00288         }
00289         else{
00290             if (DEBUG)
00291                 gPC.puts("INVALID SIGNAL RECEIVED IN MAIN\r\n");
00292             // SOME INVALID SIGNAL RECEIVED
00293             COM_POWER_OFF_TX;
00294             reset_all;
00295             // PENDING : ENABLE THREADS
00296             gPAY_SPI.bulkRead_start();
00297             gSESSION_TIMEOUT.detach();
00298             gFLAGS = gFLAGS & (~COM_SESSION_FLAG);
00299         }
00300     }
00301 }
00302 
00303 void payload_isr_fun(){
00304     gSCIENCE_THREAD->signal_set(SCIENCE_SIGNAL);
00305 }
00306 
00307 void SCIENCE_FUN(void const *args){
00308     
00309     // initialisation of payload spi
00310     gPAY_SPI.frequency(1000000);
00311     gPAY_SPI.format(8,0);
00312     gPAY_SPI.bulkRead_init(gPAYLOAD_BUFFER, PAYLOAD_BUFFER_LENGTH, &payload_isr_fun);
00313     gPAY_SPI.bulkRead_start();
00314      
00315     while(true){
00316         gPC.puts("entering science thread\r\n");
00317         gSCIENCE_THREAD->signal_wait(SCIENCE_SIGNAL);
00318         gPC.puts("sig_set\r\n");
00319         srp(gPAYLOAD_BUFFER);
00320         gPC.puts("exit_srp\r\n");
00321         gPAY_SPI.bulkRead_start();
00322     }
00323 }