Revision 18:3662058a7c10, committed 2016-05-14

Comitter:

lakshya

Date:

Sat May 14 11:19:13 2016 +0000

Parent:

17:fc782f7548c6

Child:

19:79e69017c855

Commit message:

bcn working no hanging; ; rtos timer used for calling bcn_fen ; ( spi connection valid if it waits for too long then maybe BCN_hw is commented make sure it sets the spi ); ; both short and long beacon working; ; also ACS (modifed version as earlier)

Changed in this revision

--- a/ACS.cpp	Fri May 13 11:56:49 2016 +0000
+++ b/ACS.cpp	Sat May 14 11:19:13 2016 +0000
@@ -408,8 +408,14 @@
     wait_ms(1);
     //_______________________________________________________________________________//
     
-/*stop as of now this approach i.e pass through state*/
-/*    
+/*start as of now this approach i.e pass through state*/
+/*
+        cmd[0]=0x35;//event status
+        i2c.write(SLAVE_ADDR,cmd,1);
+        i2c.read(SLAVE_ADDR_READ,&status,1);
+        wait_ms(1);
+        pc_acs.printf("\n\rEvent Status at start is %x\n \r",(int)status);
+            
     cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values
     cmd[1]=0x01;//Places sentral in standby state
     i2c.write(SLAVE_ADDR,cmd,2);
@@ -428,7 +434,13 @@
     wait_ms(1);
     printf("\n\r the value of the pass through status register is = %x",(int)store);    
     
+        cmd[0]=0x35;//event status
+        i2c.write(SLAVE_ADDR,cmd,1);
+        i2c.read(SLAVE_ADDR_READ,&status,1);
+        wait_ms(1);
+        pc_acs.printf("\n\rEvent Status at end initialization is %x\n \r",(int)status);
 */
+
     //_______________________________________________________________________________//
     
     ACS_INIT_STATUS = 'c'; //set ACS_INIT_STATUS flag
@@ -453,6 +465,7 @@
         if(((int)status&40)==40){ //when both work   
 ///          if((int)status==8){  //for just mag
 ///         if((int)status == 36){   //for just gyro as status 24(in binary) = 36 in decimal 
+///           if((int)status==___yet to be decided___){ //for pass through state see how it tworks
                 
             /*don't ask for info if the gyro cupped as interrupt makes it go haywire that is enables the pins for gyro*/
            cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x 
@@ -481,35 +494,35 @@
         i2c.write(SLAVE_ADDR,cmd,1);
         i2c.read(SLAVE_ADDR_READ,&status,1);
         wait_ms(1);
-        pc_acs.printf("\n\rEvent Status at the end is %x\n \r",(int)status);
+        pc_acs.printf("\n\rEvent Status at the end is %x",(int)status);
         
         
         cmd[0]=0x33;//enable events
         i2c.write(SLAVE_ADDR,cmd,1);
         i2c.read(SLAVE_ADDR_READ,&status,1);
         wait_ms(1);
-        pc_acs.printf("\n\rEnable events is %x\n \r",(int)status);
+        pc_acs.printf("\n\rEnable events is %x",(int)status);
         
         
         cmd[0]=0x57;//gyro rate
         i2c.write(SLAVE_ADDR,cmd,1);
         i2c.read(SLAVE_ADDR_READ,&status,1);
         wait_ms(1);
-        pc_acs.printf("\n\rgyro rate is %x\n \r",(int)status);
+        pc_acs.printf("\n\rgyro rate is %x",(int)status);
         
          
         cmd[0]=0x55;//mag rate 0x00 indicate value lost 
         i2c.write(SLAVE_ADDR,cmd,1);
         i2c.read(SLAVE_ADDR_READ,&status,1);
         wait_ms(1);
-        pc_acs.printf("\n\rmag rate is %x\n \r",(int)status);
+        pc_acs.printf("\n\rmag rate is %x",(int)status);
         
         
         cmd[0]=0x36;//sensorstatus
         i2c.write(SLAVE_ADDR,cmd,1);
         i2c.read(SLAVE_ADDR_READ,&status,1);
         wait_ms(1);
-        pc_acs.printf("\n\rsensor Status is %x\n \r",(int)status);
+        pc_acs.printf("\n\rsensor Status is %x",(int)status);
         
         
         cmd[0]=0x50;//error register

--- a/BCN.cpp	Fri May 13 11:56:49 2016 +0000
+++ b/BCN.cpp	Sat May 14 11:19:13 2016 +0000
@@ -25,14 +25,16 @@
 {
     pc_bcn.printf("FCTN_BCN_INIT\n");
     BCN_INIT_STATUS = 1;
-    if(BCN_FEN == 0)
-        rf_sl_timeout.attach(&FCTN_BCN_FEN, 30);
+///   if(BCN_FEN == 0)
+///        rf_sl_timeout.attach(&FCTN_BCN_FEN, 70);//actually 30 \\ so basically not able to call the interrupt .!! is it so?
+///     FCTN_BCN_FEN(); 
+
     Init_BEACON_HW();
     BCN_INIT_STATUS = 0;
 }
-void FCTN_BCN_FEN()
+void FCTN_BCN_FEN(void const *args)
 {
-    pc_bcn.printf("FCTN_FEN\n");
+    printf("\n\n\rFCTN_FEN\n");
     BCN_FEN = 1;//write this value to flash
 }
 void FCTN_BCN_TX_MAIN()
@@ -60,7 +62,7 @@
             else
             {       
                     //transmit short beacon and long beacon
-                    //SHORT_BCN_TX();
+                    SHORT_BCN_TX();
                     LONG_BCN_TX();
                     
                     if(Check_ACK_RECEIVED() == 1)
@@ -116,6 +118,8 @@
     writereg(RF22_REG_6F_TX_DATA_RATE,0x50);//160bps
     writereg(RF22_REG_3E_PACKET_LENGTH,SHORT_TX_DATA); //short packet length 
     wait(0.02);      
+    
+    printf("\n\rstage 1");
                                                                            
     uint32_t timeout_count = 10e5;
     //extract values from short_beacon[]
@@ -175,10 +179,10 @@
     //Check for packet_sent
     while(timeout_count--)if((readreg(RF22_REG_03_INTERRUPT_STATUS1) & 0x04) == 0x04)break;
     
-    //pc_bcn.printf("Short packet sent\r\n");
+    pc_bcn.printf("Short packet sent\r\n");
     
     writereg(RF22_REG_07_OPERATING_MODE1,0x00);        //standby mode
-    
+        
 }
 void LONG_BCN_TX()
 {

--- a/main.cpp	Fri May 13 11:56:49 2016 +0000
+++ b/main.cpp	Sat May 14 11:19:13 2016 +0000
@@ -37,6 +37,11 @@
 uint8_t ACS_ATS_ENABLE = 1;
 uint8_t ACS_DATA_ACQ_ENABLE = 1;
 uint8_t ACS_STATE = 4;
+/*added for removing the stuck/hang problem*/
+/*does it work? now doing it in main*/
+extern uint8_t BCN_FEN;
+extern void FCTN_BCN_FEN(void const *args);
+Timeout timeout_bcn;
 
 //.....................eps...................//
 //eps init
@@ -350,6 +355,8 @@
                 PWM3 = 0;                     //clear pwm pins
             }
     } //else for acs control off
+///
+    printf("\n\rlow power crossed and pwm no hang");
     ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag 
         
 }
@@ -637,14 +644,22 @@
     
     if(schedcount%2==0)
     {
-      // F_EPS();
+      printf("\n\rreached scheduler part2 ");
+       //F_EPS();
+      //F_BCN();
     }
+    printf("\n\rexited scheduler part2 ");
     if(schedcount%3==0)
-    { // F_ACS();
-      // F_BCN();
+    { 
+     printf("\n\rreached scheduler part3 ");
+    //F_ACS();
+    F_BCN();
     }
     schedcount++;
-    printf("\n\r exited scheduler");
+    //t_start.start();
+    printf("\n\r did increment %d",schedcount);
+    printf("\n\r ex h");
+    printf("\n\r time taken %f",t_start.read());
 }
 
 Timer t_flag;
@@ -776,7 +791,7 @@
     //............................//
     FCTN_ACS_INIT();
     FCTN_EPS_INIT();
-    //FCTN_BCN_INIT();
+    FCTN_BCN_INIT();
 
     
     FLAG();
@@ -828,6 +843,22 @@
     t_start.start();
     pc.printf("\n\rStarted scheduler %f\n\r",t_start.read()); 
     
+    
+   RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce);
+   /*later change it to 30 min 1800 seconds*/
+   bcn_start_timer.start(10000);
+    
+    /*for calling bcn_fen function after 30 min as of now say 40 sec*/
+    /*but it will be called again and again */
+    
+/// even this doesn't work    if(t_start.read()>38 && t_start.read()<43)
+///        if(BCN_FEN==0)
+///            {
+///                FCTN_BCN_FEN();
+///                printf("\n\r entered the condition \n");
+///            }
+
+// it won't work    timeout_bcn.attach(&FCTN_BCN_FEN,42.0);
 
     //FCTN_BAE_INIT();
     while(1);                                                   //required to prevent main from terminating

--- a/pni.h	Fri May 13 11:56:49 2016 +0000
+++ b/pni.h	Sat May 14 11:19:13 2016 +0000
@@ -32,6 +32,6 @@
 #define BIT_GYRO_RES   0x20
 #define BIT_GYROODR    0x0F//0x0F
 #define BIT_MAGODR     0x64//0x64
-#define BIT_RUN_ENB    0x01
+#define BIT_RUN_ENB    0x01//0x01
 #define BIT_ALGO_RAW   0x02
 #define BIT_EVT_ENB    0X2A// 0x2A
\ No newline at end of file