Revision 33:57c79f4b3997, committed 2022-08-30

Comitter:

Yanagihara

Date:

Tue Aug 30 02:38:16 2022 +0000

Parent:

32:c22cbcfb4635

Commit message:

Changed in this revision

diff -r c22cbcfb4635 -r 57c79f4b3997 CLTP_Hepta_Project_A.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CLTP_Hepta_Project_A.lib	Tue Aug 30 02:38:16 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/HEPTA-Sat-Training-2022/code/Lab5-6_create_satellite_program_step6_v1/#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");
 }
+