Revision 1:b8c71afbe6e5, committed 2015-10-04

Comitter:

gkumar

Date:

Sun Oct 04 07:06:22 2015 +0000

Parent:

0:f417d854dc29

Commit message:

4-10-2015 BAE_RTOS_TEST1

Changed in this revision

diff -r f417d854dc29 -r b8c71afbe6e5 ACS.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ACS.cpp	Sun Oct 04 07:06:22 2015 +0000
@@ -0,0 +1,133 @@
+#include "ACS.h"
+#include "pin_config.h"
+//....................................ATS......................................................//
+
+I2C i2c (PIN85,PIN84); //PTC2-sda,PTC1-scl
+
+Timeout g_to; //Timeout variable to
+int g_toflag; 
+char g_cmd[2];
+float g_gyro_error[3]= {0,0,0}, g_mag_error[3]= {0,0,0};
+
+/*------------------------------------------------------------------------------------------------------------------------------------------------------
+------------------------------------------- ATS data acquisition------------------------------------------------------------------------------------------*/
+void FCTN_T_OUT()
+{
+    g_toflag=0; //as T_OUT function gets called the while loop gets terminated
+}
+
+void  FCTN_ACS_INIT()
+{
+    char store;
+    g_cmd[0]=RESETREQ;
+    g_cmd[1]=BIT_RESREQ;
+    i2c.write(SLAVE_ADDR,g_cmd,2); //When 0x01 is written in reset request register Emulates a hard power down/power up
+    wait_ms(2000); //waiting for loading configuration file stored in EEPROM
+    g_cmd[0]=SENTRALSTATUS;
+    i2c.write(SLAVE_ADDR,g_cmd,1);
+    i2c.read(SLAVE_ADDR_READ,&store,1);
+    wait_ms(100);
+    //to check whether EEPROM is uploaded
+    switch((int)store) { 
+        case(3): {
+            break;
+        }
+        case(11): {
+            break;
+        }
+        default: {
+            g_cmd[0]=RESETREQ;
+            g_cmd[1]=BIT_RESREQ;
+            i2c.write(SLAVE_ADDR,g_cmd,2);
+            wait_ms(2000);
+        }
+    }
+    //pc.printf("Sentral Status is %x\n",(int)store);
+    g_cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors
+    g_cmd[1]=BIT_RUN_ENB;
+    i2c.write(SLAVE_ADDR,g_cmd,2);
+    wait_ms(100);
+    g_cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer
+    g_cmd[1]=BIT_MAGODR;
+    i2c.write(SLAVE_ADDR,g_cmd,2);
+    wait_ms(100);
+    g_cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope
+    g_cmd[1]=BIT_GYROODR;
+    i2c.write(SLAVE_ADDR,g_cmd,2);
+    wait_ms(100);
+    g_cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values
+    g_cmd[1]=0x00;
+    i2c.write(SLAVE_ADDR,g_cmd,2);
+    wait_ms(100);
+    g_cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values
+    g_cmd[1]=BIT_EVT_ENB;
+    i2c.write(SLAVE_ADDR,g_cmd,2);
+    wait_ms(100);
+}
+
+void FCTN_ATS_DATA_ACQ(float g_gyro_data[3],float g_mag_data[3])
+{
+    char status;
+    g_toflag=1; //toFlag is set to 1 so that it enters while loop
+    g_to.attach(&FCTN_T_OUT,2); //after 2 seconds the while loop gets terminated 
+    
+        g_cmd[0]=EVT_STATUS;
+        i2c.write(SLAVE_ADDR,g_cmd,1);
+        i2c.read(SLAVE_ADDR_READ,&status,1);
+        wait_ms(100);
+        //pc.printf("\nEvent Status is %x\n",(int)status);
+        //if the 6th and 4th bit are 1 then it implies that gyro and magnetometer values are ready to take
+        if(((int)status&40)==40) 
+        {
+            FCTN_GET_DATA(g_gyro_data,g_mag_data);
+            printf("\n\r data received \n");
+             for(int i=0; i<3; i++) 
+            {
+            printf("%f\t",g_gyro_data[i]);
+            }
+            for(int i=0; i<3; i++) 
+            {
+            printf("%f\t",g_mag_data[i]);
+            }
+        }
+       //checking for the error
+        else if (((int)status&2)==2) 
+        {
+            FCTN_ACS_INIT(); //when there is any error then Again inilization is done to remove error
+        }
+    
+}
+
+void FCTN_GET_DATA(float g_gyro_data[3],float g_mag_data[3])
+{
+    char raw_gyro[6];
+    char raw_mag[6];
+    int16_t bit_data;
+    
+    float senstivity_gyro =6.5536; //senstivity is obtained from 2^15/5000dps
+    float senstivity_mag  =32.768; //senstivity is obtained from 2^15/1000microtesla
+    g_cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x 
+    i2c.write(SLAVE_ADDR,g_cmd,1);
+    i2c.read(SLAVE_ADDR_READ,raw_gyro,6);
+    g_cmd[0]=MAG_XOUT_H; //LSB of x
+    i2c.write(SLAVE_ADDR,g_cmd,1);
+    i2c.read(SLAVE_ADDR_READ,raw_mag,6);
+            //pc.printf("\nGyro Values:\n");
+            for(int i=0; i<3; i++) {
+                //concatenating gyro LSB and MSB to get 16 bit signed data values
+                bit_data= ((int16_t)raw_gyro[2*i+1]<<8)|(int16_t)raw_gyro[2*i]; 
+                g_gyro_data[i]=(float)bit_data;
+                g_gyro_data[i]=g_gyro_data[i]/senstivity_gyro;
+                g_gyro_data[i]+=g_gyro_error[i];
+                //pc.printf("%f\t",gyro_data[i]);
+            }
+            for(int i=0; i<3; i++) {
+                //concatenating mag LSB and MSB to get 16 bit signed data values
+                bit_data= ((int16_t)raw_mag[2*i+1]<<8)|(int16_t)raw_mag[2*i];
+                g_mag_data[i]=(float)bit_data;
+                g_mag_data[i]=g_mag_data[i]/senstivity_mag;
+                g_mag_data[i]+=g_mag_error[i];
+                //pc.printf("%f\t",mag_data[i]);
+            }
+            
+}

diff -r f417d854dc29 -r b8c71afbe6e5 ACS.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ACS.h	Sun Oct 04 07:06:22 2015 +0000
@@ -0,0 +1,19 @@
+#include "mbed.h"
+#include "math.h"
+#include "pni.h" 
+
+//...........................................
+#define TIME_PERIOD  0.02
+#define TR_CONSTANT  0.3
+
+void FCTN_ACS_GENPWM_MAIN(float*);
+void FCTN_ACS_CNTRLALGO(float*,float*,float*);
+void inverse(float mat[3][3],float inv[3][3]);
+
+void FCTN_ATS_SWITCH(bool);
+void FCTN_ACS_INIT(); //initialization of registers happens
+void FCTN_ATS_DATA_ACQ(float*,float*); // main function: checks errors, gets data, switches on/off the sensor
+void FCTN_GET_DATA(float*,float*); //data is obtained
+void FCTN_T_OUT(); //timeout function to stop infinite loop
+
+

diff -r f417d854dc29 -r b8c71afbe6e5 HK.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HK.cpp	Sun Oct 04 07:06:22 2015 +0000
@@ -0,0 +1,193 @@
+#include "HK.h"
+#include "pin_config.h"
+ 
+ 
+//GPIO pins used=> D2-D12, A0-A1
+
+DigitalOut SelectLinesA[]={PIN43,PIN44,PIN45,PIN46};         //to mux1=>voltage mux , PTA 13-16 , CHNGE TO PIN43 LATER
+DigitalOut SelectLinesB[]={PIN56,PIN57,PIN58,PIN59};         //to mux2=>current mux(differential mux) , PTB 3,7,8,9
+//DigitalOut SelectLinesC[]={PIN64,PIN65,PIN66,PIN67};         //to mux3=>temp mux   PTB 18-21
+//DigitalOut SelectLinesC[]={PIN67,PIN66,PIN65,PIN64};
+//--------------------------------------------MSB is SelectLines[0],LSB is SelectLines[3]-------------------------------- 
+
+AnalogIn CurrentInput(PIN54);                                // output from Current Mux PTB0
+AnalogIn VoltageInput(PIN53);                                // output from Voltage Multiplexer  PTB1
+AnalogIn TemperatureInput(PIN55);                            /*PTB2 output from Temperature Multiplexer,thermistor Multiplexer- same multiplexer for both(lines 1-4 for thermistor,line 0 for temperature sensor)*/ 
+
+
+
+int quantiz(float start,float step,float x)                  // accepts min and measured values and step->quantises on a scale 0-15..(4 bit quantisation)
+{
+    int y=(x-start)/step;
+    if(y<=0)y=0;
+    if(y>=15)y=15;
+    return y;
+}
+ 
+void init_beacon(ShortBeacy* x,SensorDataQuantised y)  
+{
+    (*x).Voltage[0]=2;                                       //quantised value
+    (*x).Temp[0]=y.PanelTemperature[0];                      //quantised value
+    (*x).Temp[1]=y.PanelTemperature[1];                      //quantised value
+    (*x).AngularSpeed[0]=y.AngularSpeed[0];
+    (*x).AngularSpeed[1]=y.AngularSpeed[1];
+    
+    (*x).SubsystemStatus[0]=145;                             //dummy values----------to be changed-------------------
+    (*x).ErrorFlag[0]=3;                                     //dummy values----------to be changed-------------------
+}
+
+SensorData Sensor; 
+SensorDataQuantised SensorQuantised;
+ShortBeacy Shortbeacon;
+void FCTN_HK_MAIN()             
+{
+    printf("\n\r vol here %f \n",VoltageInput.read()*3.3);
+    //define structure variables    
+ 
+    //initialise all selectlines to zeroes->1st line of muxes selected
+    SelectLinesA[0]=SelectLinesA[1]=SelectLinesA[2]=SelectLinesA[3]=0;
+    SelectLinesB[0]=SelectLinesB[1]=SelectLinesB[2]=SelectLinesB[3]=0;
+    //SelectLinesC[0]=SelectLinesC[1]=SelectLinesC[2]=SelectLinesC[3]=0;
+    
+    int LoopIterator;
+    int SelectLineIterator;
+    
+    float resistance_thermistor,voltage_thermistor;//for thermistor
+ 
+    //measurement from voltage sensor=> 16 sensors in place
+    for(LoopIterator=0; LoopIterator<16; LoopIterator++) 
+    {       
+        //read the sensor values and stores them in 'SensorData' structure's variable 'Sensor'
+        Sensor.Voltage[LoopIterator]=(VoltageInput.read()*3.3*5.545454);//resistors in voltage divider=>15Mohm,3.3Mohm
+               
+        if(LoopIterator%2==0)
+            SensorQuantised.Voltage[LoopIterator/2]=quantiz(vstart,vstep,Sensor.Voltage[LoopIterator]);
+                           
+        else
+            SensorQuantised.Voltage[(LoopIterator)/2]=SensorQuantised.Voltage[(LoopIterator)/2]<<4+quantiz(vstart,vstep,Sensor.Voltage[LoopIterator]);
+            
+        //iterate the select lines from 0 to 15
+        for(SelectLineIterator=3;SelectLineIterator>=0;SelectLineIterator--)
+        {
+            if(SelectLinesA[SelectLineIterator]==0)
+            {
+                SelectLinesA[SelectLineIterator]=1;
+                break;
+            }
+            else SelectLinesA[SelectLineIterator]=0;
+        }
+    
+        wait_us(10.0); //  A delay of 10 microseconds between each sensor output. Can be changed.
+    }
+ 
+ 
+    //measurement from current sensor=>  8 sensors in place 
+    for(LoopIterator=0; LoopIterator<8; LoopIterator++) 
+    {       
+        //read the sensor values and stores them in 'SensorData' structure variable 'Sensor'
+        Sensor.Current[LoopIterator]=(CurrentInput.read()*3.3/(50*rsens));
+        if(LoopIterator%2==0)
+            SensorQuantised.Current[LoopIterator/2]=quantiz(cstart,cstep,Sensor.Current[LoopIterator]);
+        else
+            SensorQuantised.Current[(LoopIterator)/2]=SensorQuantised.Current[(LoopIterator)/2]<<4+quantiz(cstart,cstep,Sensor.Current[LoopIterator]);
+
+        //iterate the select lines from 0 to 7
+        for(SelectLineIterator=2;SelectLineIterator>=0;SelectLineIterator--)
+        {
+            if(SelectLinesB[SelectLineIterator]==0)
+            {
+                SelectLinesB[SelectLineIterator]=1;
+                break;
+            }
+            else SelectLinesB[SelectLineIterator]=0;
+    
+        }
+    
+        wait_us(10.0); //  A delay of 10 microseconds between each sensor output. Can be changed.
+    }
+    
+    
+    //measurement of temperature
+    //temperature measurement=> 4 thermistors, 1 temperature sensor
+    //mux line 1=>temp sensor, mux lines 2 to 5 =>thermistors
+
+    for(LoopIterator=0; LoopIterator<5; LoopIterator++) 
+    {        
+        //read the sensor values and stores them in 'SensorData' structure variable 'Sensor'
+        Sensor.Temperature[LoopIterator]=(-90.7*3.3*TemperatureInput.read()+190.1543);
+        voltage_thermistor=TemperatureInput.read()*3.3;//voltage across thermistor
+        resistance_thermistor=24000*voltage_thermistor/(3.3-voltage_thermistor);//resistance of thermistor
+        if (LoopIterator==0)
+        {
+           // printf(" \n\rTemp =%f",-90.7*3.3*TemperatureInput.read()+190.1543);
+        }
+        
+        if(LoopIterator%2==0)
+        {                
+            if(LoopIterator<1)                      //->corresponding to temperature sensor
+                SensorQuantised.Temperature[(LoopIterator)/2]=quantiz(tstart,tstep,Sensor.Temperature[LoopIterator]);
+         
+            else                                    //->corresponding to thermistor
+            {    
+                if(voltage_thermistor<1.378) //Temperature>12 degC
+                    Sensor.PanelTemperature[(LoopIterator-1)]=(3694/log(24.032242*resistance_thermistor));
+                    
+                else   
+                    Sensor.PanelTemperature[(LoopIterator-1)]=(3365.4792/log(7.60404*resistance_thermistor));
+                    
+                    
+                SensorQuantised.PanelTemperature[(LoopIterator-1)/2]=quantiz(tstart_thermistor,tstep_thermistor,Sensor.PanelTemperature[(LoopIterator-1)]);
+                    
+            }
+        } 
+        else
+        {           
+            if(LoopIterator<1)
+                SensorQuantised.Temperature[(LoopIterator)/2]=SensorQuantised.Temperature[(LoopIterator)/2]<<4+quantiz(tstart,tstep,Sensor.Temperature[LoopIterator]); 
+            
+            else
+            {  
+                if(voltage_thermistor<1.378) //Temperature>12 degC 
+                    Sensor.PanelTemperature[LoopIterator-1]=(3694/log(24.032242*resistance_thermistor));
+                else
+                    Sensor.PanelTemperature[LoopIterator-1]=(3365.4792/log(7.60404*resistance_thermistor));
+                    
+                SensorQuantised.PanelTemperature[(LoopIterator-1)/2]=SensorQuantised.PanelTemperature[(LoopIterator-1)/2]<<4+quantiz(tstart_thermistor,tstep_thermistor,Sensor.PanelTemperature[LoopIterator-1]);
+            }
+        }
+       // The following lines are used to iterate the select lines from 0 to 4
+       //for(SelectLineIterator=3;SelectLineIterator>=0;SelectLineIterator--)
+//       {
+//            if(SelectLinesC[SelectLineIterator]==0)
+//            {
+//                SelectLinesC[SelectLineIterator]=1;
+//                break;
+//            }
+//            else SelectLinesC[SelectLineIterator]=0;
+//        }
+
+       
+        
+        wait_us(10.0); //  A delay of 10 microseconds between each sensor output. Can be changed.
+    
+}
+    printf(" \n\rvol %f Temp =%f",3.3*TemperatureInput.read(),-90.7*3.3*TemperatureInput.read()+190.1543);
+    //update magnetometer data->
+    //populate values in structure variable 'Sensor' from data to be given by Green
+     SensorQuantised.AngularSpeed[0]=quantiz(AngularSpeed_start,AngularSpeed_step,Sensor.AngularSpeed[1]);
+     SensorQuantised.AngularSpeed[0]=SensorQuantised.AngularSpeed[0]<<4+quantiz(AngularSpeed_start,AngularSpeed_step,Sensor.AngularSpeed[0]);
+     SensorQuantised.AngularSpeed[1]=quantiz(AngularSpeed_start,AngularSpeed_step,Sensor.AngularSpeed[2]);
+     
+    //update gyro data->
+    //populate values in structure variable 'Sensor' from data to be given by Green
+     SensorQuantised.Bnewvalue[0]=quantiz(Bnewvalue_start,Bnewvalue_step,Sensor.Bnewvalue[1]);
+     SensorQuantised.Bnewvalue[0]=SensorQuantised.Bnewvalue[0]<<4+quantiz(Bnewvalue_start,Bnewvalue_step,Sensor.Bnewvalue[0]);
+     SensorQuantised.Bnewvalue[1]=quantiz(Bnewvalue_start,Bnewvalue_step,Sensor.Bnewvalue[2]);
+
+     //update beacon structure
+     init_beacon(&Shortbeacon,SensorQuantised);//Shortbeacon is passed 
+     printf("\n here temperature :%d",SensorQuantised.Temperature);    
+}
+
+
+    

diff -r f417d854dc29 -r b8c71afbe6e5 HK.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HK.h	Sun Oct 04 07:06:22 2015 +0000
@@ -0,0 +1,69 @@
+//to be saved as HK.h
+
+#include "mbed.h"
+#define tstart -40
+#define tstep 8
+#define tstep_thermistor 8//verify!!
+#define tstart_thermistor -40
+#define vstart 3.3
+#define vstep 0.84667
+#define cstart 0.0691
+#define cstep 0.09133
+#define rsens 0.095
+#define Bnewvalue_start -100//in microTesla...max possible field is .0001 T 
+#define Bnewvalue_step 13.333
+#define AngularSpeed_start -10//max possible ang. velocity in space is 10 deg/sec
+#define AngularSpeed_step 1.3333 
+
+
+
+typedef struct SensorData
+{
+    float Voltage[16];
+    float Current[8];
+    float Temperature[1];
+    float PanelTemperature[4];
+    float BatteryTemperature;   //to be populated
+    char faultpoll;             //polled faults
+    char faultir;               //interrupted faults
+    char power_mode;            //power modes
+    
+    float AngularSpeed[3];      //in order x,y,z
+    float Bnewvalue[3];         //in order Bx,By,Bz
+   
+    
+} SensorData;
+
+ 
+typedef struct SensorDataQuantised {
+    char Voltage[8];
+    char Current[4];
+    char Temperature[1];
+    char PanelTemperature[2];//read by the 4 thermistors on solar panels
+    char BatteryTemperature;    //to be populated   
+    char faultpoll;             //polled faults
+    char faultir;               //interrupted faults
+    char power_mode;            //power modes
+    char AngularSpeed[2];
+    char Bnewvalue[2];
+    
+    //float magnetometer,gyro=>to be addes
+} SensorDataQuantised;
+ 
+ 
+typedef struct ShortBeacon 
+{
+    char Voltage[1];                            //battery voltage from gauge, needs  to be quantised
+    char AngularSpeed[2];                       //all the 3 data
+    char SubsystemStatus[1];                    //power modes
+    char Temp[2];                               //temp of solar panel
+    //Temp[0]'s LSB=> PanelTemperature[0], Temp[0]'s MSB=> PanelTemperature[1], Temp[1]'s LSB=> PanelTemperature[2], Temp[1]'s MSB=> PanelTemperature[3]
+    char ErrorFlag[1];                          //fault
+}ShortBeacy; 
+ 
+ 
+ 
+void FCTN_HK_MAIN();
+ 
+int quantiz(float start,float step,float x);
+void init_beacon(ShortBeacy* x,SensorDataQuantised y);

diff -r f417d854dc29 -r b8c71afbe6e5 beacon.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/beacon.cpp	Sun Oct 04 07:06:22 2015 +0000
@@ -0,0 +1,238 @@
+//switch off the sync!!!!!!!
+//switch off the preamble!!!!!!!
+/*for crc in tx:
+regIrq2(0x28) :
+
+regpacketconfig 1(0x37) :
+set crc detection/calc. on : | 0x10
+crcautoclearoff : | 0x08  
+
+for data whitening : regpacketconfig 1(0x37) :| 0x40
+for 
+
+
+
+*/
+// 6CC000 for 435 MHz
+//set all values as FF for checking on spectrum analyzer
+#include "beacon.h"
+#include "HK.h"
+#include "pin_config.h"
+Serial chavan(USBTX, USBRX);           // tx, rx
+//SPI spi(PIN2,PIN1,PIN3);               // mosi, miso, sclk
+DigitalOut cs(PIN14);                 //slave select or chip select
+//SPI spi(PTD6,PTD7,PTD5);               // mosi, miso, sclk
+SPI spi(PIN16,PIN17,PIN15);
+//DigitalOut cs_bar(PTC11);              //slave select or chip select
+//InterruptIn button(p9);
+//#define TIMES 16      
+//Timer t;
+
+/*void interrupt_func()
+{
+    chavan.printf("INTERRUPT_FUNC TRIGGERED\n  wait for 3 secs\n"); 
+    wait(3);
+    
+}*/
+
+
+    
+extern  ShortBeacy Shortbeacon;
+
+void writereg(uint8_t reg,uint8_t val)
+{
+    cs = 0;__disable_irq();spi.write(reg | 0x80);spi.write(val);__enable_irq();cs = 1;
+}
+uint8_t readreg(uint8_t reg)
+{
+    int val;cs = 0;__disable_irq();spi.write(reg & ~0x80);val = spi.write(0);__enable_irq();cs = 1;return val;
+}
+void clearTxBuf()
+{
+    writereg(RF22_REG_08_OPERATING_MODE2,0x01);
+    writereg(RF22_REG_08_OPERATING_MODE2,0x00);
+}
+void clearRxBuf()
+{
+    writereg(RF22_REG_08_OPERATING_MODE2,0x02);
+    writereg(RF22_REG_08_OPERATING_MODE2,0x00);
+}
+int setFrequency(float centre,float afcPullInRange)
+{
+//freq setting begins 
+    uint8_t fbsel = 0x40;
+    uint8_t afclimiter;
+    if (centre >= 480.0) {
+        centre /= 2;
+        fbsel |= 0x20;
+        afclimiter = afcPullInRange * 1000000.0 / 1250.0;
+    } else {
+        if (afcPullInRange < 0.0 || afcPullInRange > 0.159375)
+            return false;
+        afclimiter = afcPullInRange * 1000000.0 / 625.0;
+    }
+    centre /= 10.0;
+    float integerPart = floor(centre);
+    float fractionalPart = centre - integerPart;
+ 
+    uint8_t fb = (uint8_t)integerPart - 24; // Range 0 to 23
+    fbsel |= fb;
+    uint16_t fc = fractionalPart * 64000;
+    writereg(RF22_REG_73_FREQUENCY_OFFSET1, 0);  // REVISIT
+    writereg(RF22_REG_74_FREQUENCY_OFFSET2, 0);
+    writereg(RF22_REG_75_FREQUENCY_BAND_SELECT, fbsel);
+    writereg(RF22_REG_76_NOMINAL_CARRIER_FREQUENCY1, fc >> 8);
+    writereg(RF22_REG_77_NOMINAL_CARRIER_FREQUENCY0, fc & 0xff);
+    writereg(RF22_REG_2A_AFC_LIMITER, afclimiter);
+    return 0;
+}
+    
+
+
+void FCTN_BEA_INIT()
+{
+    //reset()
+    writereg(RF22_REG_07_OPERATING_MODE1,0x80);        //sw_reset
+    wait(1);                    //takes time to reset                                  
+
+    clearTxBuf();                                                             
+    clearRxBuf();                                                             
+    //txfifoalmostempty
+    writereg(RF22_REG_7D_TX_FIFO_CONTROL2,5);
+    //rxfifoalmostfull
+    writereg(RF22_REG_7E_RX_FIFO_CONTROL,20);
+    //Packet-engine registers
+    writereg(RF22_REG_30_DATA_ACCESS_CONTROL,0x8E);    //RF22_REG_30_DATA_ACCESS_CONTROL, RF22_ENPACRX | RF22_ENPACTX | RF22_ENCRC | RF22_CRC_CRC_16_IBM
+    //&0x77 = diasable packet rx-tx handling
+    writereg(RF22_REG_32_HEADER_CONTROL1,0x88);    //RF22_REG_32_HEADER_CONTROL1, RF22_BCEN_HEADER3 | RF22_HDCH_HEADER3
+    writereg(RF22_REG_33_HEADER_CONTROL2,0x42);    //RF22_REG_33_HEADER_CONTROL2, RF22_HDLEN_4 | RF22_SYNCLEN_2
+    writereg(RF22_REG_34_PREAMBLE_LENGTH,8);       //RF22_REG_34_PREAMBLE_LENGTH, nibbles); preamble length = 8;
+    writereg(RF22_REG_36_SYNC_WORD3,0x2D);    //syncword3=2D
+    writereg(RF22_REG_37_SYNC_WORD2,0xD4);    //syncword2=D4
+    writereg(RF22_REG_3F_CHECK_HEADER3,0);    //RF22_REG_3F_CHECK_HEADER3, RF22_DEFAULT_NODE_ADDRESS
+    writereg(RF22_REG_3A_TRANSMIT_HEADER3,0xab);    //header_to
+    writereg(RF22_REG_3B_TRANSMIT_HEADER2,0xbc);    //header_from 
+    writereg(RF22_REG_3C_TRANSMIT_HEADER1,0xcd);    //header_ids
+    writereg(RF22_REG_3D_TRANSMIT_HEADER0,0xde);    //header_flags
+    writereg(RF22_REG_3F_CHECK_HEADER3,0xab);   
+    writereg(RF22_REG_40_CHECK_HEADER2,0xbc);   
+    writereg(RF22_REG_41_CHECK_HEADER1,0xcd);   
+    writereg(RF22_REG_42_CHECK_HEADER0,0xde);
+    
+    //RSSI threshold for clear channel indicator
+    writereg(RF22_REG_27_RSSI_THRESHOLD,0xA5);         //55 for -80dBm, 2D for -100dBm, 7D for -60dBm, A5 for -40dBm, CD for -20 dBm
+    
+    writereg(RF22_REG_0B_GPIO_CONFIGURATION0,0x15); // TX state                        ??
+    writereg(RF22_REG_0C_GPIO_CONFIGURATION1,0x12); // RX state                        ??
+    
+    //interrupts
+    // spiWrite(RF22_REG_05_INTERRUPT_ENABLE1, RF22_ENTXFFAEM |RF22_ENRXFFAFULL | RF22_ENPKSENT |RF22_ENPKVALID| RF22_ENCRCERROR);
+    // spiWrite(RF22_REG_06_INTERRUPT_ENABLE2, RF22_ENPREAVAL);
+    
+    setFrequency(435.0, 0.05);
+    
+    //return !(statusRead() & RF22_FREQERR);
+    if((readreg(RF22_REG_02_DEVICE_STATUS)& 0x08)!= 0x00)
+    printf("frequency not set properly\n");
+    //frequency set
+
+    //setModemConfig(FSK_Rb2_4Fd36);       FSK_Rb2_4Fd36,       ///< FSK, No Manchester, Rb = 2.4kbs,  Fd = 36kHz
+    //setmodemregisters
+    //0x1b, 0x03, 0x41, 0x60, 0x27, 0x52, 0x00, 0x07, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x13, 0xa9, 0x2c, 0x22, 0x3a = FSK_RB2_4FD36
+    //0xc8, 0x03, 0x39, 0x20, 0x68, 0xdc, 0x00, 0x6b, 0x2a, 0x08, 0x2a, 0x80, 0x60, 0x13, 0xa9, 0x2c, 0x21, 0x08 = OOK,2.4, 335
+    writereg(RF22_REG_1C_IF_FILTER_BANDWIDTH,0x2B);
+    writereg(RF22_REG_1F_CLOCK_RECOVERY_GEARSHIFT_OVERRIDE,0x03);
+    writereg(RF22_REG_20_CLOCK_RECOVERY_OVERSAMPLING_RATE,0x41);
+    writereg(RF22_REG_21_CLOCK_RECOVERY_OFFSET2,0x60);                     
+    writereg(RF22_REG_22_CLOCK_RECOVERY_OFFSET1,0x27);           //updated 20 to 25 reg values from excel sheet for 1.2 Khz freq. deviation,fsk
+    writereg(RF22_REG_23_CLOCK_RECOVERY_OFFSET0,0x52);
+    writereg(RF22_REG_24_CLOCK_RECOVERY_TIMING_LOOP_GAIN1,0x00);
+    writereg(RF22_REG_25_CLOCK_RECOVERY_TIMING_LOOP_GAIN0,0x51);
+    /*writereg(RF22_REG_2C_OOK_COUNTER_VALUE_1,0x2a);
+    writereg(RF22_REG_2D_OOK_COUNTER_VALUE_2,0x08);*/    //not required for fsk (OOK counter value)
+    writereg(RF22_REG_2E_SLICER_PEAK_HOLD,0x1e);         //??
+    writereg(RF22_REG_58,0x80);
+    writereg(RF22_REG_69_AGC_OVERRIDE1,0x60);
+    writereg(RF22_REG_6E_TX_DATA_RATE1,0x09);
+    writereg(RF22_REG_6F_TX_DATA_RATE0,0xd5);
+    writereg(RF22_REG_70_MODULATION_CONTROL1,0x2c);
+    writereg(RF22_REG_71_MODULATION_CONTROL2,0x22);//ook = 0x21 //fsk = 0x22
+    writereg(RF22_REG_72_FREQUENCY_DEVIATION,0x02);
+    //set tx power
+    writereg(RF22_REG_6D_TX_POWER,0x07);    //20dbm
+    writereg(RF22_REG_3E_PACKET_LENGTH,TX_DATA); //packet length     
+}
+
+void FCTN_BEA_MAIN()
+{
+    FCTN_BEA_INIT();
+    printf("\n\rBeacon function entered\n\r");
+    wait(1);                     // wait for POR to complete   //change the timing later
+    cs=1;                          // chip must be deselected
+    wait(1);                    //change the time later
+    spi.format(8,0);
+    spi.frequency(10000000);       //10MHz SCLK    
+    if (readreg(RF22_REG_00_DEVICE_TYPE) == 0x08) printf("spi connection valid\n\r");
+    else printf("error in spi connection\n\r");
+
+       
+    
+    //********
+    //button.rise(&interrupt_func);         //interrupt enabled ( rising edge of pin 9)
+    wait(0.02);                                                           // pl. update this value  or even avoid it!!!                  
+    //extract values from short_beacon[]
+    uint8_t byte_counter = 0;
+    /*struct Short_beacon{
+        uint8_t Voltage[1];
+        uint8_t AngularSpeed[2];
+        uint8_t SubsystemStatus[1];
+        uint8_t Temp[3];
+        uint8_t ErrorFlag[1];
+        }Shortbeacon = { {0x88}, {0x99, 0xAA} , {0xAA},{0xAA,0xDD,0xEE}, {0x00} };
+    */
+    //filling hk data
+    uint8_t short_beacon[] = { 0xAB, 0x8A, 0xE2, 0xBB, 0xB8, 0xA2, 0x8E,Shortbeacon.Voltage[0],Shortbeacon.AngularSpeed[0], Shortbeacon.AngularSpeed[1],Shortbeacon.SubsystemStatus[0],Shortbeacon.Temp[0],Shortbeacon.Temp[1],Shortbeacon.Temp[2],Shortbeacon.ErrorFlag[0]};
+    
+    for(int i = 0; i < 15 ; i++)
+    {
+        printf("0x%X\n\r",(short_beacon[i]));    
+    }
+    //tx settings begin
+    //setModeIdle();
+    writereg(RF22_REG_07_OPERATING_MODE1,0x01);        //ready mode
+    //fillTxBuf(data, len);
+    clearTxBuf();  
+        
+    //Set to Tx mode
+    writereg(RF22_REG_07_OPERATING_MODE1,0x09);
+    
+    while(byte_counter!=15){
+        //Check for fifoThresh
+        while((readreg(RF22_REG_03_INTERRUPT_STATUS1) & 0x20) != 0x20);
+        //writing again
+        cs = 0;
+        spi.write(0xFF);   
+        for(int i=7; i>=0 ;i--)
+        {
+            //pc.printf("%d\n",byte_counter);
+            if((short_beacon[byte_counter] & (uint8_t) pow(2.0,i))!=0)
+        {
+            spi.write(0xFF);
+            spi.write(0xFF);
+        }
+        else
+        {
+            spi.write(0x00);
+            spi.write(0x00);
+            
+        }
+        }
+        cs = 1;
+        byte_counter++;
+        
+    }  
+    //rf22.waitPacketSent();
+    while((readreg(RF22_REG_03_INTERRUPT_STATUS1) & 0x04) != 0x04);//pc.printf(" chck pkt sent!\n");     
+    printf("\nBeacon function exiting\n\r");
+    
+}
\ No newline at end of file

diff -r f417d854dc29 -r b8c71afbe6e5 beacon.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/beacon.h	Sun Oct 04 07:06:22 2015 +0000
@@ -0,0 +1,108 @@
+#include "mbed.h"
+
+
+ 
+#define TIMES 20
+#define RX_DATA 240      //in bytes
+#define TX_DATA 240      //in bytes
+
+void writereg(uint8_t reg,uint8_t val);
+uint8_t readreg(uint8_t reg);
+void clearTxBuf();
+void clearRxBuf();
+int setFrequency(float,float);
+void FCTN_BEA_INIT();
+void FCTN_BEA_MAIN();
+
+#define RF22_MAX_MESSAGE_LEN 255
+// These values we set for FIFO thresholds
+#define RF22_TXFFAEM_THRESHOLD 4
+#define RF22_RXFFAFULL_THRESHOLD 55
+
+// Register names
+#define RF22_REG_00_DEVICE_TYPE                         0x00
+#define RF22_REG_02_DEVICE_STATUS                       0x02
+#define RF22_REG_03_INTERRUPT_STATUS1                   0x03
+#define RF22_REG_04_INTERRUPT_STATUS2                   0x04
+#define RF22_REG_07_OPERATING_MODE1                     0x07
+#define RF22_REG_08_OPERATING_MODE2                     0x08
+#define RF22_REG_09_OSCILLATOR_LOAD_CAPACITANCE         0x09
+#define RF22_REG_0B_GPIO_CONFIGURATION0                 0x0b
+#define RF22_REG_0C_GPIO_CONFIGURATION1                 0x0c
+#define RF22_REG_0D_GPIO_CONFIGURATION2                 0x0d
+#define RF22_REG_1C_IF_FILTER_BANDWIDTH                 0x1c
+#define RF22_REG_1F_CLOCK_RECOVERY_GEARSHIFT_OVERRIDE   0x1f
+#define RF22_REG_20_CLOCK_RECOVERY_OVERSAMPLING_RATE    0x20
+#define RF22_REG_21_CLOCK_RECOVERY_OFFSET2              0x21
+#define RF22_REG_22_CLOCK_RECOVERY_OFFSET1              0x22
+#define RF22_REG_23_CLOCK_RECOVERY_OFFSET0              0x23
+#define RF22_REG_24_CLOCK_RECOVERY_TIMING_LOOP_GAIN1    0x24
+#define RF22_REG_25_CLOCK_RECOVERY_TIMING_LOOP_GAIN0    0x25
+#define RF22_REG_26_RSSI                                0x26
+#define RF22_REG_27_RSSI_THRESHOLD                      0x27
+#define RF22_REG_28_ANTENNA_DIVERSITY1                  0x28
+#define RF22_REG_29_ANTENNA_DIVERSITY2                  0x29
+#define RF22_REG_2A_AFC_LIMITER                         0x2a
+#define RF22_REG_2B_AFC_CORRECTION_READ                 0x2b
+#define RF22_REG_2C_OOK_COUNTER_VALUE_1                 0x2c
+#define RF22_REG_2D_OOK_COUNTER_VALUE_2                 0x2d
+#define RF22_REG_2E_SLICER_PEAK_HOLD                    0x2e
+#define RF22_REG_30_DATA_ACCESS_CONTROL                 0x30
+#define RF22_REG_31_EZMAC_STATUS                        0x31
+#define RF22_REG_32_HEADER_CONTROL1                     0x32
+#define RF22_REG_33_HEADER_CONTROL2                     0x33
+#define RF22_REG_34_PREAMBLE_LENGTH                     0x34
+#define RF22_REG_35_PREAMBLE_DETECTION_CONTROL1         0x35
+#define RF22_REG_36_SYNC_WORD3                          0x36
+#define RF22_REG_37_SYNC_WORD2                          0x37
+#define RF22_REG_38_SYNC_WORD1                          0x38
+#define RF22_REG_39_SYNC_WORD0                          0x39
+#define RF22_REG_3A_TRANSMIT_HEADER3                    0x3a
+#define RF22_REG_3B_TRANSMIT_HEADER2                    0x3b
+#define RF22_REG_3C_TRANSMIT_HEADER1                    0x3c
+#define RF22_REG_3D_TRANSMIT_HEADER0                    0x3d
+#define RF22_REG_3E_PACKET_LENGTH                       0x3e
+#define RF22_REG_3F_CHECK_HEADER3                       0x3f
+#define RF22_REG_40_CHECK_HEADER2                       0x40
+#define RF22_REG_41_CHECK_HEADER1                       0x41
+#define RF22_REG_42_CHECK_HEADER0                       0x42
+#define RF22_REG_43_HEADER_ENABLE3                      0x43
+#define RF22_REG_44_HEADER_ENABLE2                      0x44
+#define RF22_REG_45_HEADER_ENABLE1                      0x45
+#define RF22_REG_46_HEADER_ENABLE0                      0x46
+#define RF22_REG_47_RECEIVED_HEADER3                    0x47
+#define RF22_REG_48_RECEIVED_HEADER2                    0x48
+#define RF22_REG_49_RECEIVED_HEADER1                    0x49
+#define RF22_REG_4A_RECEIVED_HEADER0                    0x4a
+#define RF22_REG_4B_RECEIVED_PACKET_LENGTH              0x4b
+#define RF22_REG_58                                     0x58
+#define RF22_REG_60_CHANNEL_FILTER_COEFFICIENT_ADDRESS  0x60
+#define RF22_REG_61_CHANNEL_FILTER_COEFFICIENT_VALUE    0x61
+#define RF22_REG_62_CRYSTAL_OSCILLATOR_POR_CONTROL      0x62
+#define RF22_REG_63_RC_OSCILLATOR_COARSE_CALIBRATION    0x63
+#define RF22_REG_64_RC_OSCILLATOR_FINE_CALIBRATION      0x64
+#define RF22_REG_65_LDO_CONTROL_OVERRIDE                0x65
+#define RF22_REG_66_LDO_LEVEL_SETTINGS                  0x66
+#define RF22_REG_67_DELTA_SIGMA_ADC_TUNING1             0x67
+#define RF22_REG_68_DELTA_SIGMA_ADC_TUNING2             0x68
+#define RF22_REG_69_AGC_OVERRIDE1                       0x69
+#define RF22_REG_6A_AGC_OVERRIDE2                       0x6a
+#define RF22_REG_6B_GFSK_FIR_FILTER_COEFFICIENT_ADDRESS 0x6b
+#define RF22_REG_6C_GFSK_FIR_FILTER_COEFFICIENT_VALUE   0x6c
+#define RF22_REG_6D_TX_POWER                            0x6d
+#define RF22_REG_6E_TX_DATA_RATE1                       0x6e
+#define RF22_REG_6F_TX_DATA_RATE0                       0x6f
+#define RF22_REG_70_MODULATION_CONTROL1                 0x70
+#define RF22_REG_71_MODULATION_CONTROL2                 0x71
+#define RF22_REG_72_FREQUENCY_DEVIATION                 0x72
+#define RF22_REG_73_FREQUENCY_OFFSET1                   0x73
+#define RF22_REG_74_FREQUENCY_OFFSET2                   0x74
+#define RF22_REG_75_FREQUENCY_BAND_SELECT               0x75
+#define RF22_REG_76_NOMINAL_CARRIER_FREQUENCY1          0x76
+#define RF22_REG_77_NOMINAL_CARRIER_FREQUENCY0          0x77
+#define RF22_REG_79_FREQUENCY_HOPPING_CHANNEL_SELECT    0x79
+#define RF22_REG_7A_FREQUENCY_HOPPING_STEP_SIZE         0x7a
+#define RF22_REG_7C_TX_FIFO_CONTROL1                    0x7c
+#define RF22_REG_7D_TX_FIFO_CONTROL2                    0x7d
+#define RF22_REG_7E_RX_FIFO_CONTROL                     0x7e
+#define RF22_REG_7F_FIFO_ACCESS                         0x7f
\ No newline at end of file

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
     {   

diff -r f417d854dc29 -r b8c71afbe6e5 pin_config.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pin_config.h	Sun Oct 04 07:06:22 2015 +0000
@@ -0,0 +1,101 @@
+// 100 LQFP format pin assignment
+#define PIN1 PTE0
+#define PIN2 PTE1
+#define PIN3 PTE2
+#define PIN4 PTE3
+#define PIN5 PTE4
+#define PIN6 PTE5
+#define PIN7 PTE6
+//#define 8 
+//#define 9 
+//#define 10 
+//#define 11 
+//#define 12 
+//#define 13 
+#define PIN14 PTE16
+#define PIN15 PTE17
+#define PIN16 PTE18
+#define PIN17 PTE19
+#define PIN18 PTE20
+#define PIN19 PTE21
+#define PIN20 PTE22
+#define PIN21 PTE23
+//#define 22 
+//#define 23 
+//#define 24 
+//#define 25 
+#define PIN26 PTE29
+#define PIN27 PTE30
+#define PIN28 PTE31
+//#define 29 
+//#define 30 
+#define PIN31 PTE24
+#define PIN32 PTE25
+#define PIN33 PTE26
+#define PIN34 PTA0
+#define PIN35 PTA1
+#define PIN36 PTA2
+#define PIN37 PTA3
+#define PIN38 PTA4
+#define PIN39 PTA5
+#define PIN40 PTA6
+#define PIN41 PTA7
+#define PIN42 PTA12
+#define PIN43 PTA13
+#define PIN44 PTA14
+#define PIN45 PTA15
+#define PIN46 PTA16
+#define PIN47 PTA17
+//#define 48 
+//#define 49 
+#define PIN50 PTA18
+#define PIN51 PTA19
+#define PIN52 PTA20
+#define PIN53 PTB0
+#define PIN54 PTB1
+#define PIN55 PTB2
+#define PIN56 PTB3
+#define PIN57 PTB7
+#define PIN58 PTB8
+#define PIN59 PTB9
+#define PIN60 PTB10
+#define PIN61 PTB11
+#define PIN62 PTB16
+#define PIN63 PTB17
+#define PIN64 PTB18
+#define PIN65 PTB19
+#define PIN66 PTB20
+#define PIN67 PTB21
+#define PIN68 PTB22
+#define PIN69 PTB23
+#define PIN70 PTC0
+#define PIN71 PTC1
+#define PIN72 PTC2
+#define PIN73 PTC3
+//#define 74 
+//#define 75 
+#define PIN76 PTC20
+#define PIN77 PTC21
+#define PIN78 PTC22
+#define PIN79 PTC23
+#define PIN80 PTC4
+#define PIN81 PTC5
+#define PIN82 PTC6
+#define PIN83 PTC7
+#define PIN84 PTC8
+#define PIN85 PTC9
+#define PIN86 PTC10
+#define PIN87 PTC11
+#define PIN88 PTC12
+#define PIN89 PTC13
+#define PIN90 PTC16
+#define PIN91 PTC17
+#define PIN92 PTC18
+#define PIN93 PTD0
+#define PIN94 PTD1
+#define PIN95 PTD2
+#define PIN96 PTD3
+#define PIN97 PTD4
+#define PIN98 PTD5
+#define PIN99 PTD6
+#define PIN100 PTD7
\ No newline at end of file

diff -r f417d854dc29 -r b8c71afbe6e5 pni.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pni.h	Sun Oct 04 07:06:22 2015 +0000
@@ -0,0 +1,37 @@
+#define SLAVE_ADDR         0x50
+#define SLAVE_ADDR_READ    0x51
+#define SENTRALSTATUS      0x37
+#define RESETREQ           0x9B
+#define MAGRATE            0x55
+#define ACCERATE           0x56
+#define GYRORATE           0x57
+#define QRATE_DIV          0x32
+#define ALGO_CTRL           0x54
+#define ENB_EVT            0x33
+#define HOST_CTRL           0x34
+#define EVT_STATUS         0x35
+#define ALGO_STATUS        0x38
+#define GYRO_XOUT_H        0x22
+#define MAG_XOUT_H         0X12
+
+//Configaration bits
+#define BIT_RESREQ     0x01
+#define BIT_EEP_DET    0x01
+#define BIT_EEP_UPDN   0x02
+#define BIT_EEP_UPERR  0x04
+#define BIT_EEP_IDLE   0x08
+#define BIT_EEP_NODET  0x10
+#define BIT_STBY       0x01
+#define BIT_RAW_ENB    0x02
+#define BIT_HPR_OUT    0x04
+#define BIT_CPU_RES    0x01
+#define BIT_ERR        0x02
+#define BIT_QRES       0x04
+#define BIT_MAG_RES    0x08
+#define BIT_ACC_RES    0x10
+#define BIT_GYRO_RES   0x20
+#define BIT_GYROODR    0x0F
+#define BIT_MAGODR     0x64
+#define BIT_RUN_ENB    0x01
+#define BIT_ALGO_RAW   0x02
+#define BIT_EVT_ENB    0X2A
\ No newline at end of file