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