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Slightly broken UART but much improved RTOS.
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@grwells
grwells committed Apr 13, 2022
1 parent 51dba0b commit 9f2276e
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Showing 6 changed files with 155 additions and 66 deletions.
5 changes: 3 additions & 2 deletions include/comm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@

// packet sizes in bytes
#define COMMAND_LEN 4
#define PACKET_LEN 12
#define PACKET_LEN 14

// command values
enum Command : uint8_t
Expand Down Expand Up @@ -94,6 +94,7 @@ class TEScommand
*
*/
void addByte(uint8_t b);
void copyBytes(uint8_t *bytes); // add this line
bool isFull();
uint8_t getCommand();
bool checkCRC();
Expand All @@ -113,7 +114,7 @@ class ADCSdata
// Data can be accessed as fields - used to build packet
uint8_t _status;
fixed5_3_t _voltage;
int8_t _current;
int16_t _current;
uint8_t _speed;
int8_t _magX;
int8_t _magY;
Expand Down
20 changes: 11 additions & 9 deletions include/global.h
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
#define SERCOM_I2C Wire

/* DEBUG/TEST DEFINITIONS */
#define TEST_CONTROL_FLOW 1 /* if non-zero then assume satellite is connected but no sensors */
#define TEST_CONTROL_FLOW 0 /* if non-zero then assume satellite is connected but no sensors */
#define RTOS_TEST_SUITE 0 /* if non-zero then rtos test tasks in validation_tests.h will be created */
#define DEBUG 1 /* if non-zero then debug statements will be printed over USB serial */

Expand All @@ -38,29 +38,31 @@ static void print_global_config(void){
// test modes
SERCOM_USB.print("DEBUG [");
if(DEBUG){
SERCOM_USB.print("ON]");
SERCOM_USB.println("ON]");
}else{
SERCOM_USB.print("OFF]");
SERCOM_USB.println("OFF]");
}

SERCOM_USB.print("TEST CONTROL FLOW [");
if(TEST_CONTROL_FLOW){
SERCOM_USB.print("ON]");
SERCOM_USB.println("ON]");
}else{
SERCOM_USB.print("OFF]");
SERCOM_USB.println("OFF]");
}

SERCOM_USB.print("RTOS_TEST_SUITE [");
if(RTOS_TEST_SUITE){
SERCOM_USB.print("ON]");
SERCOM_USB.println("ON]");
}else{
SERCOM_USB.print("OFF]");
SERCOM_USB.println("OFF]");
}

// two imus
SERCOM_USB.print("TWO_IMUS [");
if(SERCOM_USB){
SERCOM_USB.print("ON]");
if(TWO_IMUS){
SERCOM_USB.println("ON]");
}else{
SERCOM_USB.println("OFF]");
}
SERCOM_USB.println();
}
Expand Down
8 changes: 8 additions & 0 deletions src/comm.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,14 @@ void TEScommand::addByte(uint8_t b)
}
}

void TEScommand::copyBytes(uint8_t *bytes)
{
for (int i = 0; i < COMMAND_LEN; i++)
{
_data[i] = bytes[i];
}
}

bool TEScommand::isFull()
{
return _full;
Expand Down
102 changes: 66 additions & 36 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,8 @@ QueueHandle_t modeQ;
*/
void setup(void)
{
init_hardware(); // setup gpio pins

#if DEBUG
/**
* Initialize USB connection to computer. Used to print debug messages.
Expand All @@ -96,6 +98,7 @@ void setup(void)
*/
SERCOM_UART.begin(115200, SERIAL_8O1);
while (!SERCOM_UART); // wait for initialization to complete
SERCOM_UART.setTimeout(10);
#if DEBUG
SERCOM_USB.write("UART interface initialized\r\n");
#endif
Expand All @@ -107,7 +110,6 @@ void setup(void)
SERCOM_I2C.begin();
SERCOM_I2C.setClock(400000);

init_hardware(); // setup gpio pins
//init_PWM_50kHz();
init_sensors(); // init the sensor interfaces
init_rtos_architecture(); // create rtos tasks and stuff
Expand All @@ -119,7 +121,7 @@ void setup(void)
data_packet.send();


vTaskStartScheduler(); // start the RTOS
vTaskStartScheduler(); // start the RTOS

// should never be reached if everything goes right
while (1)
Expand All @@ -141,7 +143,8 @@ void loop(){
/* SAMD51 USBCore.cpp sets enable bit during sleep standby mode so USB needs to be disabled if in DEBUG*/
#if !TEST_CONTROL_FLOW
#if DEBUG
USB->HOST.CTRLA.reg &= ~USB_CTRLA_ENABLE; // disable USB in standby sleep mode...
// TODO: UNCOMMENT THIS SO SLEEP MODE IS ENTERED IN IDLE TASK
//USB->HOST.CTRLA.reg &= ~USB_CTRLA_ENABLE; // disable USB in standby sleep mode...
#endif
#endif

Expand Down Expand Up @@ -172,9 +175,9 @@ void init_hardware(void){
pinMode(10, OUTPUT);
analogWrite(10, 0); // set the PWM pin to 0%

#if DEBUG
SERCOM_USB.println("HARDWARE INITIALIZED");
#endif
//#if DEBUG
// SERCOM_USB.println("HARDWARE INITIALIZED");
//#endif
}

/*
Expand Down Expand Up @@ -283,8 +286,8 @@ void init_rtos_architecture(void){
uint8_t mode = MODE_TEST;
xQueueSend(modeQ, (void*)&mode, (TickType_t)0);

xTaskCreate(readUART, "Read UART", 2048, NULL, 1, readUART_h);
xTaskCreate(heartbeat, "HEARTBEAT", 2048, NULL, 1, NULL); // test function to send heartbeat every half-second
xTaskCreate(readUART, "Read UART", 256, NULL, 2, readUART_h);
// TODO: xTaskCreate(heartbeat, "HEARTBEAT", 256, NULL, 1, NULL); // test function to send heartbeat every half-second

#if DEBUG
SERCOM_USB.println("INITIALIZED COMMAND MONITOR");
Expand All @@ -295,7 +298,7 @@ void init_rtos_architecture(void){
#if DEBUG
SERCOM_USB.println("REQUESTED: INITIALIZE RTOS TEST SUITE");
#endif
create_test_tasks(); // if we are in test mode, create the tasks
// TODO: create_test_tasks(); // if we are in test mode, create the tasks
#endif

}
Expand All @@ -319,22 +322,57 @@ static void readUART(void *pvParameters)
TEScommand cmd_packet;
ADCSdata response;
uint8_t mode;
uint8_t rx_buf[COMMAND_LEN];
int rx_bytes;

#if DEBUG
char cmd_str[8]; // used to print command value to serial monitor
char debug_str[8]; // used to print command value to serial monitor
#endif

while (1)
{
if (SERCOM_UART.available()) // at least one byte is in the UART
{ // receive buffer
//SERCOM_USB.println("READ UART ALIVE");
#if DEBUG

SERCOM_USB.println("[READ UART] checked uart buffer");
if(!SERCOM_UART){
SERCOM_USB.println("\tUART IS DEAD");
}

#endif

// copy one byte out of UART receive buffer
cmd_packet.addByte((uint8_t)SERCOM_UART.read());
int rx_len = SERCOM_UART.available();

if (cmd_packet.isFull()) // full command packet received
if (rx_len > 0) // at least one byte is in the UART
{ // receive buffer

#if DEBUG
sprintf(debug_str, "%d", rx_len);
SERCOM_USB.write("[command rx]\tDetected ");
SERCOM_USB.write(debug_str);
SERCOM_USB.write(" bytes in UART rx buffer\r\n");
#endif

rx_bytes = SERCOM_UART.readBytes(rx_buf, COMMAND_LEN);

#ifdef DEBUG
sprintf(debug_str, "%d", rx_bytes);
SERCOM_USB.write("[command rx]\tReceived ");
SERCOM_USB.write(debug_str);
SERCOM_USB.write(" bytes:");
for (int i = 0; i < rx_bytes; i++)
{
sprintf(debug_str, " %02x", rx_buf[i]);
SERCOM_USB.write(debug_str);
}
SERCOM_USB.write("\r\n");
#endif

if (rx_bytes == COMMAND_LEN) // full command packet received
{
if (cmd_packet.checkCRC())
cmd_packet.copyBytes(rx_buf);
state_machine_transition(cmd_packet); // publish mode, get ready to enter it too
/*if (cmd_packet.checkCRC())
{
state_machine_transition(cmd_packet); // publish mode, get ready to enter it too
}
Expand All @@ -344,23 +382,8 @@ static void readUART(void *pvParameters)
response.setStatus(STATUS_COMM_ERROR);
response.computeCRC();
response.send();
}

#if DEBUG
// convert int to string for USB monitoring
sprintf(cmd_str, "0x%02x", cmd_packet.getCommand());
}*/

// print command value to USB
SERCOM_USB.print("Command received: ");
SERCOM_USB.print(cmd_str);
SERCOM_USB.print("\r\n");

if (cmd_packet.getCommand() == CMD_HEARTBEAT)
SERCOM_USB.print("Entering heartbeat only mode\r\n");

if (cmd_packet.getCommand() == CMD_STANDBY)
SERCOM_USB.print("Entering standby mode\r\n");
#endif
}
}

Expand Down Expand Up @@ -391,6 +414,10 @@ static void heartbeat(void *pvParameters)

while (1)
{
#if DEBUG
SERCOM_USB.println("[HEARTBEAT] checked mode");
#endif

xQueuePeek(modeQ, (void*)&mode, (TickType_t)0);

if (mode == CMD_HEARTBEAT)
Expand All @@ -400,9 +427,9 @@ static void heartbeat(void *pvParameters)
readINA(data_packet);
data_packet.computeCRC();
data_packet.send(); // send to TES
#ifdef DEBUG
#if DEBUG
SERCOM_USB.write("[HEARTBEAT] wrote to UART\r\n");
//printScaledAGMT(&IMU1);
if(!TEST_CONTROL_FLOW) printScaledAGMT(&IMU1);
#endif

data_packet.clear();
Expand All @@ -420,8 +447,9 @@ void state_machine_transition(TEScommand cmand){
uint8_t mode = cmand.getCommand();
uint8_t curr_mode = CMD_STANDBY;
// get the current state to compare against
xQueuePeek(modeQ, (void*)curr_mode, 0);
xQueuePeek(modeQ, &curr_mode, 0);
// make sure we are entering a new state

if(mode == curr_mode){ // if not, exit
return;
}
Expand All @@ -440,7 +468,9 @@ void state_machine_transition(TEScommand cmand){
case CMD_TST_BASIC_AC:
case CMD_TST_SIMPLE_DETUMBLE:
case CMD_TST_SIMPLE_ORIENT:
create_test_tasks();
#if RTOS_TEST_SUITE
create_test_tasks();
#endif
break;

case CMD_STANDBY:
Expand Down
10 changes: 0 additions & 10 deletions src/sensors.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,16 +68,6 @@ void readINA(ADCSdata &data_packet)
current = i_raw / 10;

data_packet.setINAdata(voltage, current);

char debug_str[32];
sprintf(debug_str, "%d", v_raw);
SERCOM_USB.write("Bus voltage: ");
SERCOM_USB.write(debug_str);
SERCOM_USB.write(" mV\r\n");
sprintf(debug_str, "%d", i_raw*100);
SERCOM_USB.write("Shunt current: ");
SERCOM_USB.write(debug_str);
SERCOM_USB.write(" uA\r\n");
}

void printPaddedInt16b(int16_t val)
Expand Down
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