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
     {