green rosh / Mbed 2 deprecated BAE_vr2_1_1

The one with the new HK

Dependencies:   mbed-rtos mbed

Fork of BAE_vr2_1_1 by Seeker of Truth ,

main.cpp@13:1b37d98840d3, 2014-12-17 (annotated)

Committer:
greenroshks
Date:
Wed Dec 17 05:25:04 2014 +0000
Revision:
13:1b37d98840d3
Parent:
12:ba2556c6b990 
The one with the new HK

Who changed what in which revision?

UserRevisionLine numberNew contents of line
greenroshks 0:8b0d43fe6c05 1 #include "mbed.h"
greenroshks 0:8b0d43fe6c05 2 #include "rtos.h"
greenroshks 0:8b0d43fe6c05 3 #include "HK.h"
greenroshks 0:8b0d43fe6c05 4 #include "slave.h"
greenroshks 0:8b0d43fe6c05 5 #include "beacon.h"
greenroshks 0:8b0d43fe6c05 6 #include "ACS.h"
sakthipriya 2:80b8a2e999f7 7 #include "fault.h"
raizel_varun 9:221d218f4690 8 #include "slave.h"
greenroshks 0:8b0d43fe6c05 9
greenroshks 0:8b0d43fe6c05 10 Serial pc(USBTX, USBRX);
greenroshks 0:8b0d43fe6c05 11
raizel_varun 9:221d218f4690 12 InterruptIn interrupt(D9);
raizel_varun 9:221d218f4690 13 InterruptIn master_reset(D11);
greenroshks 0:8b0d43fe6c05 14
greenroshks 0:8b0d43fe6c05 15
sakthipriya 5:255b43e8e21a 16 Timer t; //To know the time of execution each thread
sakthipriya 4:8f6c24eca109 17 Timer t1;
sakthipriya 5:255b43e8e21a 18 //To know the time of entering of each thread
greenroshks 0:8b0d43fe6c05 19
greenroshks 0:8b0d43fe6c05 20 Thread *ptr_t_hk_acq;
greenroshks 0:8b0d43fe6c05 21 Thread *ptr_t_acs;
greenroshks 13:1b37d98840d3 22 //Thread *ptr_t_acs_write2flash;
greenroshks 0:8b0d43fe6c05 23 Thread *ptr_t_bea;
greenroshks 13:1b37d98840d3 24 //Thread *ptr_t_bea_telecommand;
greenroshks 13:1b37d98840d3 25 //Thread *ptr_t_fault;
raizel_varun 9:221d218f4690 26 Thread *ptr_t_i2c;
greenroshks 0:8b0d43fe6c05 27
raizel_varun 12:ba2556c6b990 28
raizel_varun 12:ba2556c6b990 29
raizel_varun 12:ba2556c6b990 30
raizel_varun 12:ba2556c6b990 31 void write_to_master(char); //function to write data to master
raizel_varun 12:ba2556c6b990 32
raizel_varun 12:ba2556c6b990 33 I2CSlave slave(D14,D15); //configuring pins p27, p28 as I2Cslave
raizel_varun 12:ba2556c6b990 34
raizel_varun 12:ba2556c6b990 35
raizel_varun 12:ba2556c6b990 36 DigitalOut data_ready(D10);
raizel_varun 12:ba2556c6b990 37 int i2c_status=0; //read/write mode for i2c 0 : write2slave, 1 : write2master
raizel_varun 12:ba2556c6b990 38 int reset=0;
raizel_varun 12:ba2556c6b990 39 int temp;
raizel_varun 12:ba2556c6b990 40
raizel_varun 12:ba2556c6b990 41 typedef struct
raizel_varun 12:ba2556c6b990 42 {
greenroshks 13:1b37d98840d3 43 char data[21]; // To avoid dynamic memory allocation
raizel_varun 12:ba2556c6b990 44 int length;
raizel_varun 12:ba2556c6b990 45 }i2c_data;
raizel_varun 12:ba2556c6b990 46
raizel_varun 12:ba2556c6b990 47
raizel_varun 12:ba2556c6b990 48
raizel_varun 12:ba2556c6b990 49
raizel_varun 12:ba2556c6b990 50
raizel_varun 12:ba2556c6b990 51
raizel_varun 12:ba2556c6b990 52 Mail<i2c_data,16> i2c_data_receive;
raizel_varun 12:ba2556c6b990 53 Mail<i2c_data,16> i2c_data_send;
raizel_varun 12:ba2556c6b990 54
greenroshks 0:8b0d43fe6c05 55 //--------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 56 //TASK 2 : HK
greenroshks 0:8b0d43fe6c05 57 //--------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 58
greenroshks 13:1b37d98840d3 59 char hk_data[21];
greenroshks 13:1b37d98840d3 60 extern SensorDataQuantised SensorQuantised;
greenroshks 0:8b0d43fe6c05 61 void t_hk_acq(void const *args)
greenroshks 0:8b0d43fe6c05 62 {
greenroshks 0:8b0d43fe6c05 63
greenroshks 0:8b0d43fe6c05 64 while(1)
greenroshks 0:8b0d43fe6c05 65 {
greenroshks 0:8b0d43fe6c05 66 Thread::signal_wait(0x2);
greenroshks 13:1b37d98840d3 67 SensorQuantised.power_mode='0';
greenroshks 0:8b0d43fe6c05 68 printf("\nTHIS IS HK %f\n",t1.read());
greenroshks 0:8b0d43fe6c05 69 t.start();
greenroshks 13:1b37d98840d3 70 FAULTS();
greenroshks 13:1b37d98840d3 71 POWER(SensorQuantised.power_mode); //The power mode algorithm is yet to be obtained
greenroshks 0:8b0d43fe6c05 72 FUNC_HK_MAIN(); //Collecting HK data
greenroshks 0:8b0d43fe6c05 73 //thread_2.signal_set(0x4);
raizel_varun 12:ba2556c6b990 74 //FUNC_I2C_SLAVE_MAIN(24);
greenroshks 13:1b37d98840d3 75 ir2master();
greenroshks 0:8b0d43fe6c05 76 t.stop();
greenroshks 0:8b0d43fe6c05 77 printf("The time to execute hk_acq is %f seconds\n",t.read());
greenroshks 0:8b0d43fe6c05 78 t.reset();
greenroshks 0:8b0d43fe6c05 79 }
greenroshks 0:8b0d43fe6c05 80 }
greenroshks 0:8b0d43fe6c05 81
greenroshks 0:8b0d43fe6c05 82 //---------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 83 //TASK 1 : ACS
greenroshks 0:8b0d43fe6c05 84 //---------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 85
sakthipriya 5:255b43e8e21a 86 int acs_pflag = 1;
greenroshks 0:8b0d43fe6c05 87 void t_acs(void const *args)
greenroshks 0:8b0d43fe6c05 88 {
greenroshks 13:1b37d98840d3 89 float *mag_field;
greenroshks 13:1b37d98840d3 90 float *omega;
greenroshks 13:1b37d98840d3 91 float *moment;
greenroshks 0:8b0d43fe6c05 92 while(1)
greenroshks 0:8b0d43fe6c05 93 {
greenroshks 0:8b0d43fe6c05 94 Thread::signal_wait(0x1);
greenroshks 0:8b0d43fe6c05 95 printf("\nTHIS IS ACS %f\n",t1.read());
greenroshks 0:8b0d43fe6c05 96 t.start();
greenroshks 13:1b37d98840d3 97 mag_field= FUNC_ACS_MAG_EXEC(); //actual execution
greenroshks 13:1b37d98840d3 98 omega = FUNC_ACS_EXEC_GYR();
greenroshks 0:8b0d43fe6c05 99
greenroshks 13:1b37d98840d3 100
greenroshks 13:1b37d98840d3 101
sakthipriya 5:255b43e8e21a 102 if(acs_pflag == 1)
sakthipriya 5:255b43e8e21a 103 {
greenroshks 13:1b37d98840d3 104 moment = FUNC_ACS_CNTRLALGO(mag_field,omega);
greenroshks 13:1b37d98840d3 105 FUNC_ACS_GENPWM(moment);
sakthipriya 5:255b43e8e21a 106 }
greenroshks 0:8b0d43fe6c05 107
greenroshks 0:8b0d43fe6c05 108 t.reset();
greenroshks 0:8b0d43fe6c05 109 }
greenroshks 0:8b0d43fe6c05 110 }
greenroshks 13:1b37d98840d3 111 /*
greenroshks 0:8b0d43fe6c05 112 void t_acs_write2flash(void const *args)
greenroshks 0:8b0d43fe6c05 113 {
greenroshks 0:8b0d43fe6c05 114 while(1)
greenroshks 0:8b0d43fe6c05 115 {
greenroshks 0:8b0d43fe6c05 116 //printf("Writing in the flash\n");
greenroshks 0:8b0d43fe6c05 117 osEvent evt = q_acs.get();
greenroshks 0:8b0d43fe6c05 118 if(evt.status == osEventMail)
greenroshks 0:8b0d43fe6c05 119 {
greenroshks 0:8b0d43fe6c05 120 sensor_data *ptr = (sensor_data*)evt.value.p;
greenroshks 0:8b0d43fe6c05 121 func_acs_write2flash(ptr);
greenroshks 0:8b0d43fe6c05 122 q_acs.free(ptr);
greenroshks 0:8b0d43fe6c05 123 }
greenroshks 0:8b0d43fe6c05 124 printf("Writing acs data in the flash\n");
greenroshks 0:8b0d43fe6c05 125 }
greenroshks 0:8b0d43fe6c05 126 }
greenroshks 0:8b0d43fe6c05 127
greenroshks 13:1b37d98840d3 128 */
greenroshks 0:8b0d43fe6c05 129 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 130
greenroshks 0:8b0d43fe6c05 131 int beac_flag=0; //To receive telecommand from ground.
greenroshks 0:8b0d43fe6c05 132
greenroshks 0:8b0d43fe6c05 133
greenroshks 13:1b37d98840d3 134 /*void t_bea_telecommand(void const *args)
greenroshks 0:8b0d43fe6c05 135 {
greenroshks 0:8b0d43fe6c05 136 char c = pc.getc();
greenroshks 0:8b0d43fe6c05 137 if(c=='a')
greenroshks 0:8b0d43fe6c05 138 {
greenroshks 0:8b0d43fe6c05 139 printf("Telecommand detected\n");
greenroshks 0:8b0d43fe6c05 140 beac_flag=1;
greenroshks 0:8b0d43fe6c05 141 }
greenroshks 0:8b0d43fe6c05 142 }
greenroshks 13:1b37d98840d3 143 */
greenroshks 0:8b0d43fe6c05 144
greenroshks 0:8b0d43fe6c05 145 void t_bea(void const *args)
greenroshks 0:8b0d43fe6c05 146 {
greenroshks 0:8b0d43fe6c05 147
greenroshks 0:8b0d43fe6c05 148 while(1)
greenroshks 0:8b0d43fe6c05 149 {
greenroshks 0:8b0d43fe6c05 150 Thread::signal_wait(0x3);
greenroshks 0:8b0d43fe6c05 151 printf("\nTHIS IS BEACON %f\n",t1.read());
greenroshks 0:8b0d43fe6c05 152 t.start();
greenroshks 0:8b0d43fe6c05 153
greenroshks 0:8b0d43fe6c05 154
greenroshks 0:8b0d43fe6c05 155
greenroshks 0:8b0d43fe6c05 156 FUNC_BEA();
greenroshks 0:8b0d43fe6c05 157
greenroshks 0:8b0d43fe6c05 158
greenroshks 0:8b0d43fe6c05 159 if(beac_flag==1)
greenroshks 0:8b0d43fe6c05 160 {
greenroshks 0:8b0d43fe6c05 161 Thread::wait(600000);
greenroshks 0:8b0d43fe6c05 162 beac_flag = 0;
greenroshks 0:8b0d43fe6c05 163 }
greenroshks 0:8b0d43fe6c05 164
greenroshks 0:8b0d43fe6c05 165 printf("The time to execute beacon thread is %f seconds\n",t.read());
greenroshks 0:8b0d43fe6c05 166 t.reset();
greenroshks 0:8b0d43fe6c05 167 }
greenroshks 0:8b0d43fe6c05 168 }
greenroshks 0:8b0d43fe6c05 169
greenroshks 0:8b0d43fe6c05 170 //---------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 171 //TASK 4 : FAULT MANAGEMENT
greenroshks 0:8b0d43fe6c05 172 //---------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 173 //Dummy fault rectifier functions
greenroshks 0:8b0d43fe6c05 174
sakthipriya 2:80b8a2e999f7 175 /*Mail<int,16> faults;
greenroshks 0:8b0d43fe6c05 176
greenroshks 0:8b0d43fe6c05 177 void FUNC_FAULT_FUNCT1()
greenroshks 0:8b0d43fe6c05 178 {
greenroshks 0:8b0d43fe6c05 179 printf("\nFault 1 detected... \n");
greenroshks 0:8b0d43fe6c05 180 }
greenroshks 0:8b0d43fe6c05 181
greenroshks 0:8b0d43fe6c05 182 void FUNC_FAULT_FUNCT2()
greenroshks 0:8b0d43fe6c05 183 {
greenroshks 0:8b0d43fe6c05 184 printf("\nFault 2 detected...\n");
greenroshks 0:8b0d43fe6c05 185 }
greenroshks 0:8b0d43fe6c05 186
greenroshks 0:8b0d43fe6c05 187 void T_FAULT(void const *args)
greenroshks 0:8b0d43fe6c05 188 {
greenroshks 0:8b0d43fe6c05 189 while(1)
greenroshks 0:8b0d43fe6c05 190 {
greenroshks 0:8b0d43fe6c05 191 osEvent evt = faults.get();
greenroshks 0:8b0d43fe6c05 192 if(evt.status==osEventMail)
greenroshks 0:8b0d43fe6c05 193 {
greenroshks 0:8b0d43fe6c05 194 int *fault_id= (int *)evt.value.p;
greenroshks 0:8b0d43fe6c05 195 switch(*fault_id)
greenroshks 0:8b0d43fe6c05 196 {
greenroshks 0:8b0d43fe6c05 197 case 1: FUNC_FAULT_FUNCT1();
greenroshks 0:8b0d43fe6c05 198 break;
greenroshks 0:8b0d43fe6c05 199 case 2: FUNC_FAULT_FUNCT2();
greenroshks 0:8b0d43fe6c05 200 break;
greenroshks 0:8b0d43fe6c05 201 }
greenroshks 0:8b0d43fe6c05 202 faults.free(fault_id);
greenroshks 0:8b0d43fe6c05 203 }
greenroshks 0:8b0d43fe6c05 204 }
sakthipriya 2:80b8a2e999f7 205 }*/
sakthipriya 5:255b43e8e21a 206
greenroshks 13:1b37d98840d3 207 extern SensorDataQuantised SensorQuantised;
raizel_varun 6:e65b1ab79f36 208
raizel_varun 6:e65b1ab79f36 209
greenroshks 13:1b37d98840d3 210 /*void T_FAULT(void const *args)
sakthipriya 4:8f6c24eca109 211 {
sakthipriya 5:255b43e8e21a 212 Sensor.power_mode='0';
sakthipriya 2:80b8a2e999f7 213 while(1)
sakthipriya 2:80b8a2e999f7 214 {
sakthipriya 2:80b8a2e999f7 215 Thread :: signal_wait(0x2);
sakthipriya 2:80b8a2e999f7 216 FAULTS();
sakthipriya 5:255b43e8e21a 217 POWER(Sensor.power_mode);
sakthipriya 5:255b43e8e21a 218 //Sensor.power_mode++; //testing ... should be removed
sakthipriya 2:80b8a2e999f7 219 }
greenroshks 0:8b0d43fe6c05 220 }
greenroshks 13:1b37d98840d3 221 */
raizel_varun 9:221d218f4690 222 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 9:221d218f4690 223 //TASK 5 : i2c data
raizel_varun 9:221d218f4690 224 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 9:221d218f4690 225
raizel_varun 9:221d218f4690 226
raizel_varun 9:221d218f4690 227 void C_FUNC_INT()
raizel_varun 9:221d218f4690 228 {
raizel_varun 9:221d218f4690 229 FUNC_INT();
raizel_varun 9:221d218f4690 230 ptr_t_i2c->signal_set(0x4);
raizel_varun 9:221d218f4690 231
raizel_varun 9:221d218f4690 232 }
raizel_varun 9:221d218f4690 233
raizel_varun 9:221d218f4690 234 void C_FUNC_RESET()
raizel_varun 9:221d218f4690 235 {
raizel_varun 9:221d218f4690 236 FUNC_RESET();
raizel_varun 9:221d218f4690 237 }
raizel_varun 9:221d218f4690 238
raizel_varun 9:221d218f4690 239
raizel_varun 9:221d218f4690 240 void C_T_I2C_BAE(void const * args)
raizel_varun 9:221d218f4690 241 {
raizel_varun 9:221d218f4690 242 //char data_send,data_receive;
raizel_varun 9:221d218f4690 243 while(1)
raizel_varun 9:221d218f4690 244 {
raizel_varun 9:221d218f4690 245 Thread::signal_wait(0x4);
raizel_varun 9:221d218f4690 246 T_I2C_BAE();
raizel_varun 9:221d218f4690 247 //i2c_status = temp;
raizel_varun 9:221d218f4690 248 //wait(0.5);
raizel_varun 9:221d218f4690 249 /*printf("\n entered thread\n\r");
raizel_varun 9:221d218f4690 250 if(i2c_status == 0 && reset !=1)
raizel_varun 9:221d218f4690 251 {
raizel_varun 9:221d218f4690 252
raizel_varun 9:221d218f4690 253 FUNC_I2C_WRITE2CDMS(&data_receive);
raizel_varun 9:221d218f4690 254 i2c_data * i2c_data_r = i2c_data_receive.alloc();
raizel_varun 9:221d218f4690 255 i2c_data_r->data = data_receive;
raizel_varun 9:221d218f4690 256 i2c_data_r->length = 1;
raizel_varun 9:221d218f4690 257 i2c_data_receive.put(i2c_data_r);
raizel_varun 9:221d218f4690 258 printf("\n Data received from CDMS is %c\n\r",data_receive);
raizel_varun 9:221d218f4690 259 i2c_data_receive.free(i2c_data_r); // This has to be done from a differen thread
raizel_varun 9:221d218f4690 260
raizel_varun 9:221d218f4690 261 }
raizel_varun 9:221d218f4690 262 else if(i2c_status ==1 && reset !=1)
raizel_varun 9:221d218f4690 263 {
raizel_varun 9:221d218f4690 264 osEvent evt = i2c_data_send.get();
raizel_varun 9:221d218f4690 265 if (evt.status == osEventMail)
raizel_varun 9:221d218f4690 266 {
raizel_varun 9:221d218f4690 267 i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
raizel_varun 9:221d218f4690 268 data_send = i2c_data_s -> data;
raizel_varun 9:221d218f4690 269 FUNC_I2C_WRITE2CDMS(&data_send);
raizel_varun 9:221d218f4690 270 printf("\nData sent to CDMS is %c\n\r",data_send);
raizel_varun 9:221d218f4690 271 i2c_data_send.free(i2c_data_s);
raizel_varun 9:221d218f4690 272 i2c_status = 0;
raizel_varun 9:221d218f4690 273 //temp = i2c_status;
raizel_varun 9:221d218f4690 274 }
raizel_varun 9:221d218f4690 275 }
raizel_varun 9:221d218f4690 276 */
raizel_varun 9:221d218f4690 277 }
raizel_varun 9:221d218f4690 278 }
raizel_varun 9:221d218f4690 279
raizel_varun 9:221d218f4690 280
raizel_varun 9:221d218f4690 281
raizel_varun 9:221d218f4690 282
raizel_varun 9:221d218f4690 283
raizel_varun 12:ba2556c6b990 284 void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
raizel_varun 12:ba2556c6b990 285 {
raizel_varun 12:ba2556c6b990 286 int slave_status = 1;
raizel_varun 12:ba2556c6b990 287
raizel_varun 12:ba2556c6b990 288 while(slave_status)
raizel_varun 12:ba2556c6b990 289 {
raizel_varun 12:ba2556c6b990 290 slave.address(0x20);
raizel_varun 12:ba2556c6b990 291 if(slave.receive()==1)
raizel_varun 12:ba2556c6b990 292 {
raizel_varun 12:ba2556c6b990 293 slave_status=slave.write(data,length);
raizel_varun 12:ba2556c6b990 294
raizel_varun 12:ba2556c6b990 295
raizel_varun 12:ba2556c6b990 296 }
raizel_varun 12:ba2556c6b990 297 else if(slave.receive()==3 || slave.receive()==2)
raizel_varun 12:ba2556c6b990 298 {
raizel_varun 12:ba2556c6b990 299 slave_status=slave.read(data,length);
raizel_varun 12:ba2556c6b990 300 }
raizel_varun 12:ba2556c6b990 301
raizel_varun 12:ba2556c6b990 302 }
raizel_varun 12:ba2556c6b990 303 printf("\ndone\n\r");
raizel_varun 12:ba2556c6b990 304
raizel_varun 12:ba2556c6b990 305 }
greenroshks 13:1b37d98840d3 306 char data_send[21],data_receive[21];
raizel_varun 12:ba2556c6b990 307 void T_I2C_BAE()
raizel_varun 12:ba2556c6b990 308 {
raizel_varun 12:ba2556c6b990 309 //char data_send,data_receive;
raizel_varun 12:ba2556c6b990 310 //while(1)
raizel_varun 12:ba2556c6b990 311 //{
raizel_varun 12:ba2556c6b990 312 // Thread::signal_wait(0x1);
raizel_varun 12:ba2556c6b990 313 //i2c_status = temp;
raizel_varun 12:ba2556c6b990 314 //wait(0.5);
raizel_varun 12:ba2556c6b990 315 printf("\n entered thread %d\n\r",i2c_status);
raizel_varun 12:ba2556c6b990 316 if(i2c_status == 0 && reset !=1)
raizel_varun 12:ba2556c6b990 317 {
raizel_varun 12:ba2556c6b990 318
greenroshks 13:1b37d98840d3 319 FUNC_I2C_WRITE2CDMS(data_receive,21);
raizel_varun 12:ba2556c6b990 320 i2c_data * i2c_data_r = i2c_data_receive.alloc();
raizel_varun 12:ba2556c6b990 321 strcpy(i2c_data_r->data,data_receive);
greenroshks 13:1b37d98840d3 322 i2c_data_r->length = 21;
raizel_varun 12:ba2556c6b990 323 i2c_data_receive.put(i2c_data_r);
raizel_varun 12:ba2556c6b990 324 printf("\n Data received from CDMS is %s \n\r",data_receive);
raizel_varun 12:ba2556c6b990 325 i2c_data_receive.free(i2c_data_r); // This has to be done from a differen thread
raizel_varun 12:ba2556c6b990 326
raizel_varun 12:ba2556c6b990 327 }
raizel_varun 12:ba2556c6b990 328 else if(i2c_status ==1 && reset !=1)
raizel_varun 12:ba2556c6b990 329 {
raizel_varun 12:ba2556c6b990 330 osEvent evt = i2c_data_send.get();
raizel_varun 12:ba2556c6b990 331 if (evt.status == osEventMail)
raizel_varun 12:ba2556c6b990 332 {
raizel_varun 12:ba2556c6b990 333 i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
raizel_varun 12:ba2556c6b990 334 strcpy(data_send,i2c_data_s -> data);
greenroshks 13:1b37d98840d3 335 FUNC_I2C_WRITE2CDMS(data_send,21);
raizel_varun 12:ba2556c6b990 336 printf("\nData sent to CDMS is %s\n\r",data_send);
raizel_varun 12:ba2556c6b990 337 i2c_data_send.free(i2c_data_s);
raizel_varun 12:ba2556c6b990 338 i2c_status = 0;
raizel_varun 12:ba2556c6b990 339 //temp = i2c_status;
raizel_varun 12:ba2556c6b990 340
raizel_varun 12:ba2556c6b990 341 }
raizel_varun 12:ba2556c6b990 342 }
raizel_varun 12:ba2556c6b990 343
raizel_varun 12:ba2556c6b990 344 //}
raizel_varun 12:ba2556c6b990 345 }
raizel_varun 12:ba2556c6b990 346
raizel_varun 12:ba2556c6b990 347
raizel_varun 12:ba2556c6b990 348
raizel_varun 12:ba2556c6b990 349 void FUNC_INT()
raizel_varun 12:ba2556c6b990 350 {
raizel_varun 12:ba2556c6b990 351 reset = 0;
raizel_varun 12:ba2556c6b990 352
raizel_varun 12:ba2556c6b990 353
raizel_varun 12:ba2556c6b990 354 }
raizel_varun 12:ba2556c6b990 355
raizel_varun 12:ba2556c6b990 356 void FUNC_RESET()
raizel_varun 12:ba2556c6b990 357 {
raizel_varun 12:ba2556c6b990 358 reset = 1;
raizel_varun 12:ba2556c6b990 359 }
raizel_varun 12:ba2556c6b990 360
raizel_varun 12:ba2556c6b990 361
raizel_varun 12:ba2556c6b990 362
greenroshks 13:1b37d98840d3 363 char fdata[8] = {SensorQuantised.Vcell_soc,SensorQuantised.alerts,SensorQuantised.crate,SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir, SensorQuantised.power_mode};
greenroshks 13:1b37d98840d3 364
raizel_varun 12:ba2556c6b990 365 void ir2master()
raizel_varun 12:ba2556c6b990 366 {
raizel_varun 12:ba2556c6b990 367
greenroshks 13:1b37d98840d3 368 //char data[21];
raizel_varun 12:ba2556c6b990 369 //strcpy(data,"sakthi ");
raizel_varun 12:ba2556c6b990 370 //strcat(data,"priya");
greenroshks 13:1b37d98840d3 371 strcpy(hk_data,SensorQuantised.Voltage);
greenroshks 13:1b37d98840d3 372 strcat(hk_data,SensorQuantised.Temperature); //Sending to CDMS via I2C
greenroshks 13:1b37d98840d3 373 strcat(hk_data,SensorQuantised.Current);
greenroshks 13:1b37d98840d3 374 strcat(hk_data,SensorQuantised.PanelTemperature);
greenroshks 13:1b37d98840d3 375 strcat(hk_data,SensorQuantised.AngularSpeed);
greenroshks 13:1b37d98840d3 376 strcat(hk_data,SensorQuantised.Bnewvalue);
raizel_varun 12:ba2556c6b990 377 /*strcat(hk_data,sfaultpoll);
raizel_varun 12:ba2556c6b990 378 strcat(hk_data,sfaultir);
raizel_varun 12:ba2556c6b990 379 strcat(hk_data,spower_mode);*/
greenroshks 13:1b37d98840d3 380 strcat(hk_data,fdata);
greenroshks 13:1b37d98840d3 381 printf("\nhk data : %s\n",hk_data);
raizel_varun 12:ba2556c6b990 382 data_ready=0;
raizel_varun 12:ba2556c6b990 383 //data = pcslave.getc();
raizel_varun 12:ba2556c6b990 384 reset =0;
raizel_varun 12:ba2556c6b990 385 i2c_status=1;
raizel_varun 12:ba2556c6b990 386 i2c_data * i2c_data_s = i2c_data_send.alloc();
raizel_varun 12:ba2556c6b990 387 strcpy(i2c_data_s->data,hk_data);
greenroshks 13:1b37d98840d3 388 i2c_data_s->length = 21;
raizel_varun 12:ba2556c6b990 389 i2c_data_send.put(i2c_data_s);
raizel_varun 12:ba2556c6b990 390 data_ready=1;
raizel_varun 12:ba2556c6b990 391 //temp = i2c_status;
raizel_varun 12:ba2556c6b990 392 }
raizel_varun 12:ba2556c6b990 393
raizel_varun 12:ba2556c6b990 394
raizel_varun 12:ba2556c6b990 395
raizel_varun 12:ba2556c6b990 396
raizel_varun 12:ba2556c6b990 397
raizel_varun 12:ba2556c6b990 398
raizel_varun 12:ba2556c6b990 399
raizel_varun 12:ba2556c6b990 400
raizel_varun 12:ba2556c6b990 401
raizel_varun 12:ba2556c6b990 402
raizel_varun 12:ba2556c6b990 403
raizel_varun 9:221d218f4690 404
greenroshks 0:8b0d43fe6c05 405 //------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 406 //SCHEDULER
greenroshks 0:8b0d43fe6c05 407 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 4:8f6c24eca109 408 int beacon_sc = 3;
greenroshks 0:8b0d43fe6c05 409 uint16_t schedcount=1;
greenroshks 0:8b0d43fe6c05 410 void t_sc(void const *args)
greenroshks 0:8b0d43fe6c05 411 {
greenroshks 0:8b0d43fe6c05 412
greenroshks 0:8b0d43fe6c05 413 printf("The value of i in scheduler is %d\n",schedcount);
greenroshks 0:8b0d43fe6c05 414 if(schedcount == 65532) //to reset the counter
greenroshks 0:8b0d43fe6c05 415 {
greenroshks 0:8b0d43fe6c05 416 schedcount = 0;
greenroshks 0:8b0d43fe6c05 417 }
greenroshks 0:8b0d43fe6c05 418
greenroshks 0:8b0d43fe6c05 419 if(schedcount%1==0)
greenroshks 0:8b0d43fe6c05 420 {
greenroshks 0:8b0d43fe6c05 421 ptr_t_acs -> signal_set(0x1);
greenroshks 0:8b0d43fe6c05 422 }
greenroshks 0:8b0d43fe6c05 423 if(schedcount%2==0)
greenroshks 0:8b0d43fe6c05 424 {
greenroshks 13:1b37d98840d3 425 //ptr_t_fault -> signal_set(0x2);
greenroshks 0:8b0d43fe6c05 426 ptr_t_hk_acq -> signal_set(0x2);
sakthipriya 2:80b8a2e999f7 427
greenroshks 0:8b0d43fe6c05 428 }
sakthipriya 4:8f6c24eca109 429 if(schedcount%beacon_sc==0)
greenroshks 0:8b0d43fe6c05 430 {
greenroshks 0:8b0d43fe6c05 431 if(beac_flag==0)
greenroshks 0:8b0d43fe6c05 432 {
greenroshks 0:8b0d43fe6c05 433
greenroshks 0:8b0d43fe6c05 434 ptr_t_bea -> signal_set(0x3);
greenroshks 0:8b0d43fe6c05 435 }
greenroshks 0:8b0d43fe6c05 436 }
greenroshks 0:8b0d43fe6c05 437 schedcount++;
greenroshks 0:8b0d43fe6c05 438 }
greenroshks 0:8b0d43fe6c05 439
greenroshks 0:8b0d43fe6c05 440 //---------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 441
greenroshks 0:8b0d43fe6c05 442 int main()
greenroshks 0:8b0d43fe6c05 443 {
greenroshks 0:8b0d43fe6c05 444 t1.start();
greenroshks 0:8b0d43fe6c05 445
greenroshks 0:8b0d43fe6c05 446 ptr_t_hk_acq = new Thread(t_hk_acq);
greenroshks 0:8b0d43fe6c05 447 ptr_t_acs = new Thread(t_acs);
greenroshks 13:1b37d98840d3 448 //ptr_t_acs_write2flash = new Thread(t_acs_write2flash);
greenroshks 0:8b0d43fe6c05 449 ptr_t_bea = new Thread(t_bea);
greenroshks 13:1b37d98840d3 450 //ptr_t_bea_telecommand = new Thread(t_bea_telecommand);
greenroshks 13:1b37d98840d3 451 //ptr_t_fault = new Thread(T_FAULT);
raizel_varun 9:221d218f4690 452 ptr_t_i2c = new Thread(C_T_I2C_BAE);
greenroshks 0:8b0d43fe6c05 453 //ptr_t_sc = new Thread(t_sc);
raizel_varun 8:69475d16d23d 454
raizel_varun 8:69475d16d23d 455 interrupt_fault();
raizel_varun 8:69475d16d23d 456
greenroshks 13:1b37d98840d3 457 //ptr_t_fault -> set_priority(osPriorityRealtime);
greenroshks 0:8b0d43fe6c05 458 ptr_t_acs->set_priority(osPriorityHigh);
raizel_varun 9:221d218f4690 459 ptr_t_i2c->set_priority(osPriorityAboveNormal);
greenroshks 0:8b0d43fe6c05 460 ptr_t_hk_acq->set_priority(osPriorityNormal);
greenroshks 13:1b37d98840d3 461 //ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal);
greenroshks 0:8b0d43fe6c05 462 ptr_t_bea->set_priority(osPriorityAboveNormal);
greenroshks 13:1b37d98840d3 463 //ptr_t_bea_telecommand->set_priority(osPriorityIdle);
greenroshks 0:8b0d43fe6c05 464 //ptr_t_sc->set_priority(osPriorityAboveNormal);
greenroshks 0:8b0d43fe6c05 465
greenroshks 0:8b0d43fe6c05 466
greenroshks 0:8b0d43fe6c05 467 // ----------------------------------------------------------------------------------------------
greenroshks 13:1b37d98840d3 468 //printf("\n T_FAULT priority is %d",ptr_t_fault->get_priority());
greenroshks 0:8b0d43fe6c05 469 printf("\n T_ACS priority is %d",ptr_t_acs->get_priority());
greenroshks 0:8b0d43fe6c05 470 printf("\n T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
greenroshks 13:1b37d98840d3 471 //printf("\n T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
greenroshks 0:8b0d43fe6c05 472 printf("\n T_BEA priority is %d",ptr_t_bea->get_priority());
greenroshks 0:8b0d43fe6c05 473 RtosTimer t_sc_timer(t_sc,osTimerPeriodic);
greenroshks 0:8b0d43fe6c05 474 t_sc_timer.start(10000);
greenroshks 0:8b0d43fe6c05 475 printf("\n%f\n",t1.read());
raizel_varun 9:221d218f4690 476
raizel_varun 9:221d218f4690 477
raizel_varun 9:221d218f4690 478
raizel_varun 9:221d218f4690 479 master_reset.fall(&C_FUNC_RESET);
raizel_varun 9:221d218f4690 480 interrupt.rise(&C_FUNC_INT);
raizel_varun 9:221d218f4690 481
greenroshks 0:8b0d43fe6c05 482 while(1)
raizel_varun 7:f06840d848e3 483 {
raizel_varun 9:221d218f4690 484 //Thread::wait(10000);
greenroshks 13:1b37d98840d3 485 //ir2master();
greenroshks 10:ed6d3b8d1d56 486 Thread::wait(5000);
greenroshks 0:8b0d43fe6c05 487 }
greenroshks 0:8b0d43fe6c05 488
greenroshks 0:8b0d43fe6c05 489 }