4-10-2015 BAE_RTOS_TEST ACS_DATA_ACQ and I2C sending 25 bytes to CDMS
Fork of BAE_RTOS_test_1 by
Diff: main.cpp
- Revision:
- 1:b8c71afbe6e5
- Parent:
- 0:f417d854dc29
- Child:
- 2:f26706e0d779
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 {