Embedded

codes/grabsat

1. examples - Test software for different components
2. rodos - RODOS source code
3. libs - Custom drivers and algorithms used in GRABSAT-I
4. satellite - Libraries to handle GRABSAT-I mission
5. visualizer - Simple attitude visualizer

codes/grabsat/libs

1. lsm9ds1 - LSM9DS1 IMU + magnetometer interface
2. pid - Discrete PID controller
3. motor - TB9051FTG interface for drive-brake (slow decay) operation
4. madgwick - Implementation of Madgwick's filter
5. rc_lpf - RC low-pass filter for smoothing angular velocity
6. encoder - Encoder interface using STM32F4's encoder mode
7. ft90mr - Driver for FT90MR $360^{\circ}$ servo motor
8. utils - Some general utility functions

codes/grabsat/satellite

1. telecommand - Handles the telecommands from groundstation to GRABSAT-I
2. satellite - Handles the missions and modes of operation of GRABSAT-I
3. multimeter - Measures battery current and voltage
4. satellite_config - Configuration file for satellite peripherals and control gains
5. magnet - Interface to the electromagnet

codes/grabsat/threads

1. groundstation - Communication with groundstation
2. telemetry - Handles telemetry to ground station
3. control - Motor angular velocity control
4. switch_board - Interface to enable/disable threads
5. topics - Topics for inter-thread communications
6. arm - Handles the timing for magnet and balance arms

Dependencies

1. make - To compile and flash code to STM32
2. arm-none-eabi-gcc - Compiler for STM32
3. openocd - To flash the compiled .hex/.bin files to STM32

Usage

1. Examples (e.g. hello_blinky.cpp)

• make clean followed by make main=hello_blinky.cpp to compile software
• make flash to flash software to STM32

2. GRABSAT-1 software

• make to compile software
• make flash to flash software to STM32

Todos

1. Attitude estimation
2. Design and documentation of satellite $\psi$ and $\omega$ control
3. Should thread classes be extern or static (wrt. strange behavior of dir_flag of ArmThread) ?

Notes

The software is developed and tesed using Linux computer.