Daisuke Yanagihara
qqqq
Dependencies: HEPTA_SENSOR mbed HEPTA_EPS HEPTA_COM HEPTA_CDH
Diff: main.cpp
- Revision:
- 33:57c79f4b3997
- Parent:
- 32:c22cbcfb4635
diff -r c22cbcfb4635 -r 57c79f4b3997 main.cpp
--- a/main.cpp Fri Aug 19 04:35:30 2022 +0000
+++ b/main.cpp Tue Aug 30 02:38:16 2022 +0000
@@ -3,6 +3,13 @@
#include "HEPTA_EPS.h"
#include "HEPTA_SENSOR.h"
#include "HEPTA_COM.h"
+
+//SWUART
+#define SW_BAUD_RATE 9600.0//19200.0
+#define IN_BUF_SIZE 256
+#define TRUE 1
+#define FALSE 0
+
HEPTA_CDH cdh(p5, p6, p7, p8, "sd");
HEPTA_EPS eps(p16,p26);
HEPTA_SENSOR sensor(p17,
@@ -10,20 +17,335 @@
p13, p14,p25,p24);
HEPTA_COM com(p9,p10);
DigitalOut condition(LED1);
+DigitalOut LandLED1(p29);
+DigitalOut LandLED2(p30);
+DigitalOut LandLED3(p11);
+DigitalOut LandLED4(p12);
+
Serial sat(USBTX,USBRX,9600);
Timer sattime;
int rcmd = 0,cmdflag = 0; //command variable
+//SWUART
+//Digital pins for SW-UART
+DigitalOut swTX(p23);
+DigitalIn swRX(p22);
+
+DigitalOut debug2(LED2);
+DigitalOut debug3(LED3);
+DigitalOut debug4(LED4);
+
+//Ticker for baudrate
+Ticker br_tick;
+
+static unsigned char inbuf[IN_BUF_SIZE];
+static unsigned char qin = 0;
+static unsigned char qout = 0;
+
+static char flag_rx_waiting_for_stop_bit;
+static char flag_rx_off;
+static char rx_mask;
+static char flag_rx_ready;
+static char flag_tx_ready;
+static char timer_rx_ctr;
+static char timer_tx_ctr;
+static char bits_left_in_rx;
+static char bits_left_in_tx;
+static char rx_num_of_bits;
+static char tx_num_of_bits;
+static int internal_rx_buffer;
+static int internal_tx_buffer;
+static int user_tx_buffer;
+
+float b_rate = 0.0;
+int co2ppm = 0;
+char co2_str[9] = {0};
+char mybit = 0;
+
+//Interface routines by AB
+// Returns 0 or 1 dependent on whether the receive pin is high or low.
+int get_rx_pin_status(void){
+ if(swRX == 1)
+ return 1;
+ else
+ return 0;
+}
+
+// Background functions to execute while waiting for input.
+void idle(void){
+ ;
+}
+
+// Sets the timer to 3 times the baud rate.
+void timer_set( float the_rate ){
+ //b_rate = 1/(3*the_rate);
+ b_rate = 1/the_rate;
+}
+
+// Enables the timer interrupt.
+/*
+void set_timer_interrupt( int the_isr )
+{
+ br_tick.attach(&the_isr, b_rate);
+}
+*/
+
+
+
+void swuart_isr(void)
+ {
+
+ // AB transmit
+ if ( flag_tx_ready ){
+ if (mybit == 0)
+ swTX = 0;
+ else
+ swTX = 1;
+ flag_tx_ready = FALSE;
+ }
+/* char mask, start_bit, flag_in;
+ //debug4 != debug4;
+// Transmitter Section
+ if ( flag_tx_ready )
+ {
+ if ( --timer_tx_ctr<=0 )
+ {
+ //debug4 = 1;
+ mask = internal_tx_buffer&0x1;
+ //sat.printf("%d,%d",mask,bits_left_in_tx);
+ internal_tx_buffer >>= 1;
+ if ( mask == 1 )
+ {
+ swTX = 1;
+ }
+ else
+ {
+ swTX = 0;
+ }
+ timer_tx_ctr = 3;
+ if ( --bits_left_in_tx<=0 )
+ {
+ flag_tx_ready = FALSE;
+ }
+ }
+ }
+// Receiver Section
+/*
+ if ( flag_rx_off==FALSE )
+ {
+ if ( flag_rx_waiting_for_stop_bit )
+ {
+ if ( --timer_rx_ctr<=0 )
+ {
+ flag_rx_waiting_for_stop_bit = FALSE;
+ flag_rx_ready = FALSE;
+ internal_rx_buffer &= 0xFF;
+ if ( internal_rx_buffer!=0xC2 )
+ {
+ inbuf[qin] = internal_rx_buffer;
+ if ( ++qin>=IN_BUF_SIZE )
+ {
+ qin = 0;
+ }
+ }
+ }
+ }
+ else // rx_test_busy
+ {
+ if ( flag_rx_ready==FALSE )
+ {
+ start_bit = get_rx_pin_status();
+// Test for Start Bit
+ if ( start_bit==0 )
+ {
+ flag_rx_ready = TRUE;
+ internal_rx_buffer = 0;
+ timer_rx_ctr = 4;
+ bits_left_in_rx = rx_num_of_bits;
+ rx_mask = 1;
+ }
+ }
+ else // rx_busy
+ {
+ if ( --timer_rx_ctr<=0 )
+ { // rcv
+ timer_rx_ctr = 3;
+ flag_in = get_rx_pin_status();
+ if ( flag_in )
+ {
+ internal_rx_buffer |= rx_mask;
+ }
+ rx_mask <<= 1;
+ if ( --bits_left_in_rx<=0 )
+ {
+ flag_rx_waiting_for_stop_bit = TRUE;
+ }
+ }
+ }
+ }
+ }
+ */
+ }
+
+void init_swuart( void )
+{
+ flag_tx_ready = FALSE;
+ flag_rx_ready = FALSE;
+ flag_rx_waiting_for_stop_bit = FALSE;
+ flag_rx_off = TRUE; // Start with receiver off FALSE;
+ rx_num_of_bits = 10;
+ tx_num_of_bits = 10;
+
+ swTX = 1; // start with TX line high
+ timer_set( SW_BAUD_RATE );
+ br_tick.attach(&swuart_isr, b_rate);
+ }
+
+char _swgetchar( void )
+{
+ char ch;
+
+ do
+ {
+ while ( qout==qin )
+ {
+ idle();
+ }
+ ch = inbuf[qout] & 0xFF;
+ if ( ++qout>=IN_BUF_SIZE )
+ {
+ qout = 0;
+ }
+ }
+ while ( ch==0x0A || ch==0xC2 );
+ return( ch );
+}
+
+void _swputchar( char ch )
+{
+ ch = (ch<<1)|0x200;
+ sat.printf("ch=%x",ch);
+ for(int i = 0; i < 10; i++){
+ while ( flag_tx_ready == 1);
+ ch = ch >> 1;
+ mybit = ch & 0x1;
+ flag_tx_ready = TRUE;
+ }
+ sat.printf("putchar done");
+ //debug2 = 1;
+/* while ( flag_tx_ready ){
+ sat.printf("waiting for TX to complete ...\r\n");
+ }
+ user_tx_buffer = ch;
+
+// invoke_UART_transmit
+ bits_left_in_tx = tx_num_of_bits;
+ internal_tx_buffer = (user_tx_buffer<<1) | 0x200;
+ timer_tx_ctr = 3;
+ flag_tx_ready = TRUE;
+ //debug2 = 0;
+*/
+}
+
+void flush_input_buffer( void )
+{
+ qin = 0;
+ qout = 0;
+}
+
+char kbhit( void )
+{
+ return( qin!=qout );
+}
+
+void turn_rx_on( void )
+{
+ flag_rx_off = FALSE;
+}
+
+void turn_rx_off( void )
+{
+ flag_rx_off = TRUE;
+}
+
+void read_co2( void ){
+ // write to MH-Z19C
+
+ _swputchar( 0xa5 );
+ _swputchar( 0x33 );
+
+ //sat.printf("ch1");
+ _swputchar( 0xff );
+ //sat.printf("ch2");
+ _swputchar( 0x01 );
+ _swputchar( 0x86 );
+ _swputchar( 0x00 );
+ _swputchar( 0x00 );
+ _swputchar( 0x00 );
+ _swputchar( 0x00 );
+ _swputchar( 0x00 );
+ _swputchar( 0x79 );
+ wait_ms(100);
+ sat.printf("TX done");
+ for(int i=0; i<9;i++){
+ co2_str[i] = _swgetchar();
+ }
+
+ turn_rx_on();
+
+ for(int i=0; i<9;i++){
+ sat.printf("%02x",co2_str[i]);
+ }
+}
+
+
+
int main() {
+
+ debug2 = 1;
+ debug3 = 1;
+ debug4 = 1;
+ wait_ms(500);
+ debug2 = 0;
+ debug3 = 0;
+ debug4 = 0;
+ wait_ms(500);
+ debug2 = 1;
+ debug3 = 1;
+ debug4 = 1;
+ wait_ms(500);
+ debug2 = 0;
+ debug3 = 0;
+ debug4 = 0;
+ wait_ms(500);
+ debug2 = 1;
+ debug3 = 1;
+ debug4 = 1;
+ wait_ms(500);
+ debug2 = 0;
+ debug3 = 0;
+ debug4 = 0;
+ wait_ms(500);
+
+ turn_rx_off();
+ init_swuart();
+
+ LandLED1 = 1;
+ LandLED2 = 1;
+ LandLED3 = 1;
+ LandLED4 = 1;
sat.printf("From Sat : Nominal Operation\r\n");
com.printf("From Sat : Nominal Operation\r\n");
com.baud(9600);
int flag = 0; //condition flag
float batvol, temp; //voltage, temperature
int rcmd=0,cmdflag=0; //command variable
+ float ax,ay,az;
+ float gx,gy,gz;
+
sattime.start();
eps.turn_on_regulator();//turn on 3.3V conveter
- for(int i = 0; i < 100; i++) {
+ while(1) {
com.xbee_receive(&rcmd,&cmdflag);//interupting by ground station command
//satellite condition led
@@ -36,7 +358,10 @@
//Transmitting HK data to Ground Station(GS)
com.printf("HEPTASAT::Condition = %d, Time = %f [s], batVol = %.2f [V],Temp = %.2f [C]\r\n",flag,sattime.read(),batvol,temp);
wait_ms(1000);
-
+ LandLED1 = ! LandLED1;
+ LandLED2 = ! LandLED2;
+ LandLED3 = ! LandLED3;
+ LandLED4 = ! LandLED4;
//Power Saving Mode
if((batvol <= 3.5) | (temp > 35.0)){
eps.shut_down_regulator();
@@ -51,7 +376,7 @@
if (cmdflag == 1) {
if (rcmd == 'a') {
sat.printf("rcmd=%c,cmdflag=%d\r\n",rcmd,cmdflag);
- com.printf("Hepta-Sat Lite Uplink Ok\r\n");
+ com.printf("Hepta-Sat Uplink Ok\r\n");
for(int j=0;j<5;j++){
com.printf("Hello World!\r\n");
condition = 1;
@@ -59,7 +384,7 @@
}
}else if (rcmd == 'b') {
sat.printf("rcmd=%c,cmdflag=%d\r\n",rcmd,cmdflag);
- com.printf("Hepta-Sat Lite Uplink Ok\r\n");
+ com.printf("Hepta-Sat Uplink Ok\r\n");
char str[100];
mkdir("/sd/mydir", 0777);
FILE *fp = fopen("/sd/mydir/satdata.txt","w");
@@ -81,13 +406,46 @@
fclose(fp);
}else if (rcmd == 'c') {
//Please insert your answer
-
+ sat.printf("Command Get %d\r\n",rcmd);
+ com.printf("HEPTA Uplink OK\r\n");
+ sat.printf("===================\r\n");
+ sat.printf("Accel sensing Mode\r\n");
+ sat.printf("===================\r\n");
+ for(int ii = 0; ii < 10; ii++) {
+ sensor.sen_acc(&ax,&ay,&az);
+ com.printf("AX = %f\r\n",ax);
+ com.printf("AY = %f\r\n",ay);
+ com.printf("AZ = %f\r\n",az);
+ wait(0.5);
+ }
}else if (rcmd == 'd') {
- //Please insert your answer
+ sat.printf("Command Get %d\r\n",rcmd);
+ com.printf("HEPTA Uplink OK\r\n");
+ sat.printf("===================\r\n");
+ sat.printf("Gyro sensing Mode\r\n");
+ sat.printf("===================\r\n");
+ for(int ii = 0; ii < 10; ii++) {
+ sensor.sen_gyro(&gx,&gy,&gz);
+ com.printf("GX = %f\r\n",gx);
+ com.printf("GY = %f\r\n",gy);
+ com.printf("GZ = %f\r\n",gz);
+ wait(0.5);
+ }
}else if (rcmd == 'e') {
- //Please insert your answer
-
+ sat.printf("Command Get %d\r\n",rcmd);
+ com.printf("HEPTA Uplink OK\r\n");
+ sat.printf("===================\r\n");
+ sat.printf("CO2 sensing Mode\r\n");
+ sat.printf("===================\r\n");
+
+ co2ppm = 42;
+ for(int ii = 0; ii < 10; ii++) {
+ read_co2();
+ co2ppm = co2_str[2]*256 + co2_str[3];
+ com.printf("CO2 = %d [ppm]\r\n",co2ppm);
+ wait(0.5);
+ }
}
com.initialize();
}
@@ -96,3 +454,4 @@
sat.printf("From Sat : End of operation\r\n");
com.printf("From Sat : End of operation\r\n");
}
+