File content as of revision 33:8a992b69fcd3:

#include "mbed.h"
#include "HEPTA_CDH.h"
#include "HEPTA_EPS.h"
#include "HEPTA_SENSOR.h"
#include "HEPTA_COM.h"

HEPTA_CDH cdh(p5, p6, p7, p8, "sd");
HEPTA_EPS eps(p16,p26);
HEPTA_SENSOR sensor(p17,
                  p28,p27,0x19,0x69,0x13,
                  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

DigitalOut debug2(LED2);
DigitalOut debug3(LED3);
DigitalOut debug4(LED4);

int co2ppm = 0;

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);
    
    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
    while(1) {
        com.xbee_receive(&rcmd,&cmdflag);//interupting by ground station command
        
        //satellite condition led
        condition = !condition;
        
        //senssing HK data(dummy data)
        eps.vol(&batvol);
        sensor.temp_sense(&temp);
        
        //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);
        //Power Saving Mode 
        if((batvol <= 3.5)  | (temp > 35.0)){
            eps.shut_down_regulator();
            com.printf("Power saving mode ON\r\n"); 
            flag = 1;
        } else if((flag == 1) & (batvol > 3.7) & (temp <= 25.0)) {
            eps.turn_on_regulator();
            com.printf("Power saving mode OFF\r\n");
            flag = 0;
        }
        //Contents of command
        if (cmdflag == 1) {
            if (rcmd == 'a') {
                sat.printf("rcmd=%c,cmdflag=%d\r\n",rcmd,cmdflag);
                com.printf("Hepta-Sat Uplink Ok\r\n");
                for(int j=0;j<5;j++){
                    com.printf("Hello World!\r\n");
                    condition = 1;
                    wait_ms(1000);
                }
            }else if (rcmd == 'b') {
                sat.printf("rcmd=%c,cmdflag=%d\r\n",rcmd,cmdflag);
                com.printf("Hepta-Sat Uplink Ok\r\n");
                char str[100];
                mkdir("/sd/mydir", 0777);
                FILE *fp = fopen("/sd/mydir/satdata.txt","w");
                if(fp == NULL) {
                    error("Could not open file for write\r\n");
                }
                for(int i = 0; i < 10; i++) {
                    eps.vol(&batvol);
                    fprintf(fp,"%f\r\n",batvol);
                    condition = 1;
                    wait_ms(1000);
                }
                fclose(fp);
                fp = fopen("/sd/mydir/satdata.txt","r");
                for(int i = 0; i < 10; i++) {
                    fgets(str,100,fp);
                    com.puts(str);
                }
                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') {
                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') {
                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++) {
                    com.printf("CO2 = %d [ppm]\r\n",co2ppm);
                    wait(0.5);
                }

            }else if (rcmd == 'f') {
                sat.printf("Command Get %d\r\n",rcmd);
                com.printf("HEPTA Uplink OK\r\n");
                sat.printf("===================\r\n");
                sat.printf("Landing sense Mode\r\n");
                sat.printf("===================\r\n");
                //Try do detect landing for 10 seconds
                for(int j = 0; j< 20; j++){
                    com.printf("Checking for landing!\r\n");
                    sensor.sen_acc(&ax,&ay,&az);
                    sensor.sen_gyro(&gx,&gy,&gz);
                    //com.printf("Gravity^2 = %4f\r\n",(ax*ax)+(ay*ay)+(az*az));
                    //com.printf("Gyros = %4f,%4f,%4f\r\n",gx,gy,gz);

                    // Gyros < 0,1?
                    if((gx<0.5)&&(gy<0.5)&&(gz<0.5)){
                        // Gravity > 9.6 and < 10.0?
                        if(( (ax*ax)+(ay*ay)+(az*az) ) > 92.16){
                            if(((ax*ax)+(ay*ay)+(az*az) ) < 100.0){
                                com.printf("Landing detected!\r\n");
                                for(int i = 0; i < 10; i++){
                                    //flash LEDS
                                    LandLED1 = ! LandLED1;                
                                    LandLED2 = ! LandLED2;                
                                    LandLED3 = ! LandLED3;                
                                    LandLED4 = ! LandLED4;                
                                    wait_ms(500);
                                    //put on sound
                                    //TODO
                                }
                            }
                        }
                    }
                    wait_ms(500);
                }
            }
            com.initialize();
        }
    }
    sattime.stop();
    sat.printf("From Sat : End of operation\r\n");
    com.printf("From Sat : End of operation\r\n");
}