Added test functions... and test modes.

include/commandFunctions.h

@@ -9,9 +9,9 @@
  * functions (located in supportFunctions.cpp) to properally execute */
 
 //This tests the sensors and makes sure they are reading correctly
-void testFun();
+void testFun(void* pvParameters);
 //This function has the satellite do nothing until something is in UART
-void standby();
+void standby(void* pvParameters);
 //This corrdinates the satellite's rotation
 void orient(const char *direction);
 

include/supportFunctions.h

@@ -6,9 +6,17 @@
 /* I tried to make these as self-explanatory as possible by name
  * but I also added little descriptions anyways -Kristie */
 
+// TODO: write test tasks for each of the test modes defined in supportFunctions.h
+
 // descriptive names for mode values
 #define MODE_STANDBY 0
-#define MODE_TEST 1
+#define MODE_TEST 1             /* send heartbeat packet every second, eventually more */
+#define MODE_TEST_HRTBT 2       /* send heartbeat packet every second */
+#define MODE_TEST_MOTION 3      /* start spinning flywheel, stop once rotation speed is above threshold */
+#define MODE_TEST_AD 4          /* calculate and output result of attitude determination */
+#define MODE_TEST_AC 5          /* attempt to spin the satellite a pre-determined amount */
+#define MODE_TEST_SMPLTUMBLE 6  /* starting in spin, attempt to stop spinning */
+#define MODE_TEST_ORIENT 7      /* try orienting the adcs system */
 
 // #define TWO_IMUS
 

include/validation_tests.h

@@ -1,14 +1,31 @@
 #ifndef VALIDATION_TEST_H
 #define VALIDATION_TEST_H
+/*
+ * These tasks are defined for testing individual parts of the ADCS system. To enable a specific test mode, set that as the ADCS mode. For list of operation modes
+ *  see supportFunctions.h
+ */
 
-#include "DRV_10970.h"
-#include "ICM_20948.h"
+#include <DRV_10970.h>
+#include <ICM_20948.h>
 #include <FreeRTOS_SAMD51.h>
 #include <stdint.h>
+#include <comm.h>               /* data packet and transmission functions */
+#include <sensors.h>            /* read from sensors */
+#include <supportFunctions.h>   /* ADCS operation modes */
 
 extern DRV10970 flywhl;
 extern ICM_20948_I2C IMU1;
+extern QueueHandle_t modeQ;     /* state machine publishes mode here */
 
-void basic_motion1(void* pvParameters);
+void create_test_tasks(void); // create all RTOS tasks for testing
+
+// TEST TASKS //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+static void writeUART(void *pvParameters);              // transmit heartbeat every second, active when mode is TEST_MODE
+void basic_motion(void* pvParameters);                  // test the flywheel to make sure it spins, active for MODE_TEST_HRTBT
+void basic_heartbeat(void* pvParameters);               // test reading sensors and transmitting heartbeat to the main system, MODE_TEST_MOTION
+void basic_attitude_determination(void* pvParameters);  // test attitude determination, MODE_TEST_AD
+void basic_attitude_control(void* pvParameters);        // test attitude control, MODE_TEST_AC
+void simple_detumble(void* pvParameters);               // test basic ability to stop system from spinning, MODE_TEST_SMPLTUMBLE
+void simple_orient(void* pvParameters);                 // test ability to orient the system, MODE_TEST_ORIENT
 
 #endif

lib/DRV10970/src/DRV_10970.h

@@ -11,13 +11,14 @@
 #define DRV_10970_H
 
 #include <Arduino.h>
+#include <adcs_pin_definitions.h>
 
 // default pinout for the SAMD51
-const int   DRV_FG = 6,     // frequency/rpm indication pin
-            DRV_FR = 9,     // motor direction pin
-            DRV_BRKMOD = 0, // brake mode (coast/brake), not currently available
-            DRV_PWM = 10,   // pwm output pin
-            DRV_RD = 5;     // lock indication pin
+const int   DRV_FG = FLYWHL_RPM,     // frequency/rpm indication pin
+            DRV_FR = FLYWHL_DIR,     // motor direction pin
+            DRV_BRKMOD = FLYWHL_BRKMOD, // brake mode (coast/brake), not currently available
+            DRV_PWM = FLYWHL_PWM,   // pwm output pin
+            DRV_RD = FLYWHL_LOCKED;     // lock indication pin
 
 enum MotorDirection {REV=0, FWD=1};
 

src/commandFunctions.cpp

@@ -11,14 +11,14 @@ extern ICM_20948_I2C IMU2;
 extern DRV10970* DRV;
 
 //This tests the sensors and makes sure they are reading correctly
-void testFun()
+void testFun(void* pvParameters)
 {
 	//Call test/test.cpp?
 	return;
 }
 
 //This will loop indefinately until there is something in UART
-void standby()
+void standby(void* pvParameters)
 {
 	//Delay then return?
 	//In standby, auto try and detumble? Since this is the first mode...

src/main.cpp

@@ -1,10 +1,11 @@
 // Our own headers
-#include "comm.h"
-#include "sensors.h"
+#include "adcs_pin_definitions.h"
+#include "comm.h" 					/* data packets and UART transmission functions */
+#include "sensors.h" 				/* read from sensors into heartbeat packet */
 #include "supportFunctions.h"
 #include "commandFunctions.h"
 #include "DRV_10970.h"
-#include "validation_tests.h"
+#include "validation_tests.h" // tests for functionality
 
 // only include this if test functions are desired
 //#include <test.h>
@@ -16,8 +17,11 @@
 // Standard C/C++ library headers
 #include <stdint.h>
 
-// if defined, enables debug print statements over USB to the serial monitor
-#define DEBUG
+// TESTING DEFINES //////////////////////////////////////////////////////////////
+#define DEBUG 			/* print the serial debug messages over USB connection */
+#define TESTHEART  		/* test if can transmit heartbeat */
+//#define TESTMOTION 	/* test if can spin flywheel */
+/////////////////////////////////////////////////////////////////////////////////
 
 /* NON-RTOS GLOBAL VARIABLES ================================================ */
 
@@ -70,15 +74,15 @@ static void writeUART(void *pvParameters);
 int main(void)
 {
 	#ifdef DEBUG
-    /**
-     * Initialize USB connection to computer. Used to print debug messages.
-     * Baud rate: 115200
-     * Data bits: 8
-     * Parity: none
-     */
-    SERCOM_USB.begin(115200);
-    while (!SERCOM_USB);  // wait for initialization to complete
-    SERCOM_USB.write("USB interface initialized\r\n");
+    	/**
+     	* Initialize USB connection to computer. Used to print debug messages.
+     	* Baud rate: 115200
+     	* Data bits: 8
+     	* Parity: none
+     	*/
+    	SERCOM_USB.begin(115200);
+    	while (!SERCOM_USB);  // wait for initialization to complete
+    	SERCOM_USB.write("USB interface initialized\r\n");
 	#endif
 
     /**
@@ -90,7 +94,7 @@ int main(void)
     SERCOM_UART.begin(115200, SERIAL_8O1);
     while (!SERCOM_UART);  // wait for initialization to complete
 	#ifdef DEBUG
-    SERCOM_USB.write("UART interface initialized\r\n");
+    	SERCOM_USB.write("UART interface initialized\r\n");
 	#endif
 
     /**
@@ -146,20 +150,26 @@ void loop(){
 /* Initialize all the GPIO pins and the builtin LED */
 void init_hardware(void){
 	Serial.println("INIT HARDWARE\n");
+	// INIT SLEEP REG
 	// configure power manager (PM) to enter STANDBY mode on _WFI()
 	PM->SLEEPCFG.bit.SLEEPMODE = 0x4;
 	//while(PM->SLEEPCFG.bit.SLEEPMODE != 0x4); // wait for register to set, cannot sleep
 	while(!PM_INTFLAG_SLEEPRDY); // SLEEPRDY flag must be set before __WFI()
 
+	// INIT GPIO
 	// enable LED
 	pinMode(LED_BUILTIN, OUTPUT);
 	digitalWrite(LED_BUILTIN, HIGH);
 
 	pinMode(9, OUTPUT);
-	digitalWrite(9, HIGH);
+	digitalWrite(9, HIGH); // set the direction pin HIGH??
 
 	pinMode(10, OUTPUT);
-	analogWrite(10, 127);
+	analogWrite(10, 0); // set the PWM pin to 0%
+
+	// INIT INTERRUPTS
+	// TODO: setup UART interrupt in init_hardware
+
 
 }
 
@@ -214,21 +224,21 @@ void init_sensors(void){
     while (IMU1.status != ICM_20948_Stat_Ok);  // wait for initialization to
                                                // complete
 	#ifdef DEBUG
-    SERCOM_USB.write("IMU1 initialized\r\n");
+    	SERCOM_USB.write("IMU1 initialized\r\n");
 	#endif
 
 	#ifdef TWO_IMUS
-	/**
-	 * Initialize second IMU
-	 * Address: 0x68 or 0x69
-	 */
-    IMU2.begin(SERCOM_I2C, AD0_VAL^1);  // initialize other IMU with opposite
+		/**
+	 	* Initialize second IMU
+	 	* Address: 0x68 or 0x69
+	 	*/
+    	IMU2.begin(SERCOM_I2C, AD0_VAL^1);  // initialize other IMU with opposite
 										// value for bit 0
-    while (IMU2.status != ICM_20948_Stat_Ok);  // wait for initialization to
+    	while (IMU2.status != ICM_20948_Stat_Ok);  // wait for initialization to
                                                // complete
-	#ifdef DEBUG
-    SERCOM_USB.write("IMU2 initialized\r\n");
-	#endif
+		#ifdef DEBUG
+    		SERCOM_USB.write("IMU2 initialized\r\n");
+		#endif
 	#endif
 
 	/**
@@ -250,7 +260,7 @@ void init_sensors(void){
     ina209.writeCal(0x7fff);
 
 	#ifdef DEBUG
-    SERCOM_USB.write("INA209 initialized\r\n");
+    	SERCOM_USB.write("INA209 initialized\r\n");
 	#endif
 
 }
@@ -263,12 +273,18 @@ void init_rtos_architecture(void){
 	uint8_t mode = MODE_TEST;
 	xQueueSend(modeQ, (void*)&mode, (TickType_t)0);
 
-    //xTaskCreate(readUART, "Read UART", 2048, NULL, 1, NULL);
-    xTaskCreate(writeUART, "Write UART", 2048, NULL, 1, NULL);
-	//xTaskCreate(basic_motion1, "BASIC MOTION TEST", 256, NULL, 1, NULL);
+    xTaskCreate(readUART, "Read UART", 2048, NULL, 1, NULL);
+    //xTaskCreate(writeUART, "Write UART", 2048, NULL, 1, NULL); // test function to send heartbeat every half-second
+
+    // TESTS
+    #ifdef TESTHEART
+    	xTaskCreate(basic_heartbeat, "BASIC HEARTBEAT TEST", 256, NULL, 1, NULL);
+    #elif TESTMOTION
+		xTaskCreate(basic_motion, "BASIC MOTION TEST", 256, NULL, 1, NULL);
+    #endif
 
 	#ifdef DEBUG
-    SERCOM_USB.write("Tasks created\r\n");
+    	SERCOM_USB.write("Tasks created\r\n");
 	#endif
 }
 
@@ -295,7 +311,7 @@ static void readUART(void *pvParameters)
 	uint8_t mode;
 
 	#ifdef DEBUG
-    char cmd_str[8];  // used to print command value to serial monitor
+    	char cmd_str[8];  // used to print command value to serial monitor
 	#endif
 
     while (1)
@@ -348,47 +364,3 @@ static void readUART(void *pvParameters)
 		// vTaskDelay(1000 / portTICK_PERIOD_MS);
     }
 }
-
-/**
- * @brief
- * Reads magnetometer and gyroscope values from IMU and writes them to UART
- * every 0.5 seconds while ADCS is in test mode.
- *
- * @param[in] pvParameters  Unused but required by FreeRTOS. Program will not
- * compile without this parameter. When a task is instantiated from this
- * function, a set of initialization arguments or NULL is passed in as
- * pvParameters, so pvParameters must be declared even if it is not used.
- *
- * @return None
- */
-static void writeUART(void *pvParameters)
-{
-	uint8_t mode;
-	ADCSdata data_packet;
-
-	#ifdef DEBUG
-	char mode_str[8];
-	#endif
-
-    while (1)
-    {
-		xQueuePeek(modeQ, (void*)&mode, (TickType_t)0);
-
-        if (mode == MODE_TEST)
-        {
-			data_packet.setStatus(STATUS_OK);
-			readIMU(data_packet);
-			readINA(data_packet);
-			data_packet.computeCRC();
-			data_packet.send();  // send to TES
-			#ifdef DEBUG
-			// SERCOM_USB.write("Wrote to UART\r\n");
-			// printScaledAGMT(&IMU1);
-			#endif
-
-			data_packet.clear();
-        }
-
-        vTaskDelay(1000 / portTICK_PERIOD_MS);
-    }
-}

src/supportFunctions.cpp

@@ -12,11 +12,11 @@ void doCmd(char *cmd)
 {
 	if (cmd[0] == 0xa0) //Binary: 10100000
 	{
-		testFun();
+		testFun(NULL);
 	}
 	else if (cmd[0] == 0xc0) //Binary: 11000000
 	{
-		standby();
+		standby(NULL);
 	}
 	//For now, the direction doesn't matter, but it's set up for later
 	else if (cmd[0] == 0xe0) //Binary: 11100000