seaking1/cubesat.h at main · cubesatplatform/seaking1 · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
#pragma once

#include "defs.h"
#include <csfilenames.h>

#include <msgpump.h>
#include <stateobj.h>


#include <state_detumble.h>
#include <state_deployantenna.h>
#include <state_payload.h>
#include <state_adcs.h>
#include <state_lowpower.h>
#include <system_reactionwheel.h>
#include <system_magtorquer.h>
#include <system_temperature.h>
#include <mdrive.h>
#include <fhmotor.h>
#include <system_imu.h>
#include <radio.h>
#include <kb.h>

#include <system_mgr.h>
#include <scheduler.h>
#include <system_irarray.h>
#include <phone.h>


#if defined(ARDUINO_PORTENTA_H7_M4) || defined(ARDUINO_PORTENTA_H7_M7)
  #include <ceps.h>
#else
  #include <system_gps.h>
#endif


class CSatellite:public CStateObj {
public:
  int _restartcount=0;
	long lcount=0;

  CADCSState _state_adcs;
  CStateObj _state_core;
  CDeployAntennaState _state_deployantenna;
  CDetumbleState _state_detumble;
  CLowPowerState _state_lowpower;
  CStateObj _state_normal;
  CPayloadState _state_payload;

  CKeyboard _keyboard;


 // CEPS _power;
  CIMU _IMUSPI;
  CIMU _IMUI2C;

  CIRArray _ir_X1,_ir_X2,_ir_Y1,_ir_Y2,_ir_Z1,_ir_Z2;

  CMagTorquer _magneTorquers;

  CMsgPump _msgPump;

  CMDrive _magX;
  CMDrive _magY;
  CMDrive _magZ;

  CSystemMgr _manager;
/*
  CMotorController _motorX;
  CMotorController _motorY;
  CMotorController _motorZ;
*/
  CPhone _phone;

  CRadio _radio;
  #if defined(ARDUINO_PORTENTA_H7_M4) || defined(ARDUINO_PORTENTA_H7_M7)
  CRadio _radio2;
  #else
    #define _radio2 _radio
    CGPS _gps;
  #endif


  //CRW _reactionWheels;

  CScheduler _scheduler;

  CTemperatureObject _tempX1,_tempX2,_tempY1,_tempY2,_tempZ1,_tempZ2, _tempOBC;

	CSatellite();

	//void deleteState(CMsg &msg);
  //void addState(CMsg &msg);
  void createState(CMsg &msg);
  void changeState(CMsg &msg);

  void newMsg(CMsg &msg);

	void setup();
  void loop();
  void readCounts();
  void sendCounts();
  void writeCounts();
  void readSysMap();

  void updateRadios(CMsg &msg);
  void callCustomFunctions(CMsg &msg);
};

CSatellite* getSatellite();