GOPA KUMAR K C
4-10-2015 BAE_RTOS_TEST ACS_DATA_ACQ and I2C working
Fork of
BAE_RTOS_TEST1
by 
GOPA KUMAR K C
Diff: main.cpp
- Revision:
- 1:b8c71afbe6e5
- Parent:
- 0:f417d854dc29
diff -r f417d854dc29 -r b8c71afbe6e5 main.cpp
--- a/main.cpp Sun Oct 04 03:54:09 2015 +0000
+++ b/main.cpp Sun Oct 04 07:06:22 2015 +0000
@@ -1,32 +1,115 @@
#include "mbed.h"
#include "rtos.h"
+#include "pin_config.h"
+//#include "HK.h"
+#include "ACS.h"
+//#include "beacon.h"
+
Serial pc(USBTX, USBRX);
+InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
+DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
+I2CSlave slave (PIN1,PIN2);
+const int addr = 0x20; //slave address
+Thread *ptr_t_i2c;
+Timer t; // time taken from isr to reach i2c function
+Timer t1;
+Timer t_exec; //To know the time of execution each thread
+
+Timer t_start; //To know the time of entering of each thread
+Timer t_i2c_start; //To check the time sync in i2c communication
+Timer t_i2c_exec; //To know the time taken by i2c read/write function
Thread *ptr_t_hk;
Thread *ptr_t_acs;
Thread *ptr_t_bea;
+/**************************************************************global variables*********************************************************************************/
+char hk_data[25];
+
+/**************************************************************funtion header**********************************************************************************/
+
+void FCTN_HK_DATA_CATENATE();
+
+
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK : HK
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//extern SensorDataQuantised SensorQuantised;
void T_HK(void const *args)
{
while(1){
- Thread::signal_wait(0x2);
- pc.printf("HK thread here\r \n");
+ Thread::signal_wait(0x2);
+ //SensorQuantised.power_mode='3'; //default power mode(dummy)
+// printf("\n\rTHIS IS HK %f\n\r",t_start.read());
+// t_exec.start();
+// FCTN_HK_MAIN(); //Collecting HK data
+// FCTN_HK_DATA_CATENATE(); //sending HK data to CDMS
+// t_exec.stop();
+// //printf("The time to execute hk_acq is %f seconds\n\r",t_exec.read());
+// t_exec.reset();
+ printf("\n\rTHIS IS HK %f\n\r",t_start.read());
}
}
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK : ACS data
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+
void T_ACS(void const *args){
- while(1){
- Thread::signal_wait(0x1);
- pc.printf(" ACS thread here\r \n");
- }
+
+ float mag_field1[3];
+ float omega1[3];
+ //float tauc1[3];
+ //float moment[3];
+ //float *mnm_data;
+ while(1)
+ {
+ Thread::signal_wait(0x1);
+ printf("\n\rEntered ACS %f\n",t_start.read());
+ FCTN_ATS_DATA_ACQ(omega1,mag_field1); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
+ printf("\n\rmnm gyro values\n"); //printing the angular velocity and magnetic field values
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",omega1[i]);
+ }
+ printf("\n\r mnm mag values\n");
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",mag_field1[i]);
+ }
+ t_exec.reset();
+
+ }
}
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK : Beacon
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+int beac_flag=0;
void T_BEA(void const *args){
while(1){
Thread::signal_wait(0x3);
- pc.printf("BEA thread here\r \n");
- }
+ printf("\n\rTHIS IS BEACON %f\n\r",t_start.read());
+// t_exec.start();
+// FCTN_BEA_MAIN();
+// if(beac_flag==1)
+// {
+// Thread::wait(600000);
+// beac_flag = 0;
+// }
+// printf("The time to execute beacon thread is %f seconds\n\r",t_exec.read());
+// t_exec.reset();
+ }
}
+
+
+//extern SensorDataQuantised SensorQuantised;
+
+
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK : Scheduler
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+
uint8_t schedcount=1;
void T_SC(void const *args)
{
@@ -55,20 +138,188 @@
}
schedcount++;
}
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK : i2c data
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//void FCTN_I2C_READ(char *data,int length);
+//void FCTN_I2C_WRITE(char *data,int length);
+bool write_ack = 1;
+bool read_ack = 1;
+char data_send[10];
+char data_receive[10];
+char short_tc[10];
+char long_tc[134];
+char mstr_cmd = '0';
+bool cmd_flag = 1;
+int length=10;
+
+void T_I2C_SLAVE(void const * args)
+{
+ while(1)
+ {
+ cmd_flag = 1;
+ Thread::signal_wait(0x4);
+ wait_us(100); // can be between 38 to 15700
+ //printf("\n\r check 1\n");
+ t.stop();
+ if( slave.receive() == 0)
+ slave.stop();
+ if( slave.receive() == 1) // slave writes to master
+ {
+ t1.start();
+ write_ack=slave.write(data_send,length);
+ t1.stop();
+ if(write_ack == 0)
+ printf("\n\rData sent to CDMS is %s \n",data_send);
+ slave.stop();
+ }
+ if( slave.receive()==3 || slave.receive()==2) // slave read
+ {
+ t1.start();
+ read_ack=slave.read(data_receive,length);
+ t1.stop();
+ if(read_ack == 0)
+ printf("\n\r Data received from CDMS is %s \n",data_receive);
+ slave.stop();
+ }
+ printf("\n \r %d %d\n",t.read_us(),t1.read_us());
+ t.reset();
+ t1.reset();
+ }
+
+ // if(cmd_flag == 1)
+// {
+// t.stop();
+// if( slave.receive()==3 || slave.receive()==2) // slave read
+// {
+//
+// t1.start();
+// read_ack=slave.read(&mstr_cmd,1);
+// t1.stop();
+// if(read_ack == 0)
+// {
+// printf("\n\r Data received from CDMS is %c \n",mstr_cmd);
+// switch(mstr_cmd)
+// {
+// case 's':
+// length = 11;
+// cmd_flag = 0;
+// break;
+//
+// case 'l':
+// length = 135;
+// cmd_flag = 0;
+// break;
+//
+// case 'h':
+// length = 25;
+// cmd_flag = 0;
+// FCTN_I2C_WRITE(hk_data,length );
+// break;
+//
+// default:
+// printf("\n\r invalid command \n");
+// //cmd_err = 0;
+// cmd_flag = 1;
+// }
+// }
+// else
+// cmd_flag = 1;
+// }
+// else
+// cmd_flag = 1;
+// }
+// printf("\n \r %d %d\n",t.read_us(),t1.read_us());
+// t.reset();
+// t1.reset();
+//
+//
+// }
+//}
+//
+//void FCTN_I2C_READ(char *data, int length )
+//{
+// t1.start();
+// read_ack=slave.read(data,length);
+// t1.stop();
+// if(read_ack == 0)
+// printf("\n\rData received from CDMS is %s \n",data);
+// else
+// printf("\n\r data not received \n");
+//}
+//
+//void FCTN_I2C_WRITE(char *data,int length)
+//{
+// t1.start();
+// write_ack=slave.write(data,length);
+// t1.stop();
+// if(write_ack == 0)
+// printf("\n\rData sent to CDMS is %s \n",data);
+// else
+// printf("\n\r data not sent\n");
+}
+
+
+void FCTN_ISR_I2C()
+{
+ ptr_t_i2c->signal_set(0x4);
+ t.start();
+}
+//void FCTN_HK_DATA_CATENATE()
+//{
+// strcpy(hk_data,"hk_Data");
+// strcat(hk_data,SensorQuantised.Voltage);
+// strcat(hk_data,SensorQuantised.Current);
+// strcat(hk_data,SensorQuantised.PanelTemperature);
+// strcat(hk_data,SensorQuantised.AngularSpeed);
+// strcat(hk_data,SensorQuantised.Bnewvalue);
+// char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode};
+// /*strcat(hk_data,sfaultpoll);
+// strcat(hk_data,sfaultir);
+// strcat(hk_data,spower_mode);*/
+// strcat(hk_data,fdata);
+// printf("\n\r hk data being sent is %s ",hk_data);
+//}
+
+//----------------------------------------------------------------------------BAE_INIT-------------------------------------------------------------
+
+void FCTN_BAE_INIT()
+{
+ slave.address(0x20); // setting slave address for BAE for I2C communication
+ FCTN_ACS_INIT(); // Initializing mnm blue
+ //FCTN_BAE_HK_INIT();
+ //FCTN_BEA_INIT();
+}
+
+
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK : Main
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+
int main(){
ptr_t_hk = new Thread(T_HK);
ptr_t_acs = new Thread(T_ACS);
ptr_t_bea = new Thread(T_BEA);
+ ptr_t_i2c= new Thread(T_I2C_SLAVE);
ptr_t_acs->set_priority(osPriorityAboveNormal);
ptr_t_hk->set_priority(osPriorityAboveNormal);
ptr_t_bea->set_priority(osPriorityAboveNormal);
+ ptr_t_i2c->set_priority(osPriorityRealtime);
+
RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
- t_sc_timer.start(10000);
+ t_sc_timer.start(10000);
+ printf("\n\r BAE ACTIVATED\n");
+ FCTN_BAE_INIT();
+ //strcpy(data_send,"sakthi");
+ slave.address(addr);
+ irpt_4m_mstr.enable_irq();
+ irpt_4m_mstr.rise(&FCTN_ISR_I2C);
+
while(1) //required to prevent main from terminating
{