green rosh / Mbed 2 deprecated BAE_vr3honeycomb1_christmas

integrated code with threads to be removed

Dependencies:   mbed-rtos mbed

Fork of BAE_vr3honeycomb1 by sakthi priya amirtharaj

main.cpp@3:89a09736acd3, 2015-01-28 (annotated)

Committer:
greenroshks
Date:
Wed Jan 28 17:35:45 2015 +0000
Revision:
3:89a09736acd3
Parent:
2:edd107ea4740 
iist version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
raizel_varun 0:ebdf4f859dca 1 #include "mbed.h"
raizel_varun 0:ebdf4f859dca 2 #include "rtos.h"
raizel_varun 0:ebdf4f859dca 3 #include "HK.h"
raizel_varun 0:ebdf4f859dca 4 #include "slave.h"
raizel_varun 0:ebdf4f859dca 5 #include "beacon.h"
raizel_varun 0:ebdf4f859dca 6 #include "ACS.h"
raizel_varun 0:ebdf4f859dca 7 #include "fault.h"
raizel_varun 0:ebdf4f859dca 8 #include "slave.h"
raizel_varun 0:ebdf4f859dca 9
raizel_varun 0:ebdf4f859dca 10 Serial pc(USBTX, USBRX);
raizel_varun 0:ebdf4f859dca 11
greenroshks 2:edd107ea4740 12 //extern DigitalOut DRDY;
raizel_varun 0:ebdf4f859dca 13 InterruptIn interrupt(D9);
raizel_varun 0:ebdf4f859dca 14 InterruptIn master_reset(D8);
raizel_varun 0:ebdf4f859dca 15
raizel_varun 0:ebdf4f859dca 16
raizel_varun 0:ebdf4f859dca 17 Timer t; //To know the time of execution each thread
raizel_varun 0:ebdf4f859dca 18 Timer t1;
raizel_varun 0:ebdf4f859dca 19 //To know the time of entering of each thread
raizel_varun 0:ebdf4f859dca 20
raizel_varun 0:ebdf4f859dca 21
raizel_varun 0:ebdf4f859dca 22
raizel_varun 0:ebdf4f859dca 23
raizel_varun 0:ebdf4f859dca 24
raizel_varun 0:ebdf4f859dca 25
raizel_varun 0:ebdf4f859dca 26
raizel_varun 0:ebdf4f859dca 27 Thread *ptr_t_hk_acq;
raizel_varun 0:ebdf4f859dca 28 Thread *ptr_t_acs;
raizel_varun 0:ebdf4f859dca 29 //Thread *ptr_t_acs_write2flash;
raizel_varun 0:ebdf4f859dca 30 Thread *ptr_t_bea;
raizel_varun 0:ebdf4f859dca 31 //Thread *ptr_t_bea_telecommand;
raizel_varun 0:ebdf4f859dca 32 //Thread *ptr_t_fault;
raizel_varun 0:ebdf4f859dca 33 Thread *ptr_t_i2c;
raizel_varun 0:ebdf4f859dca 34 Thread *ptr_t_wdt;
raizel_varun 0:ebdf4f859dca 35
raizel_varun 0:ebdf4f859dca 36
raizel_varun 0:ebdf4f859dca 37
raizel_varun 0:ebdf4f859dca 38 I2CSlave slave(D14,D15); //configuring pins p27, p28 as I2Cslave
raizel_varun 0:ebdf4f859dca 39
raizel_varun 0:ebdf4f859dca 40
raizel_varun 0:ebdf4f859dca 41 DigitalOut data_ready(D10);
raizel_varun 0:ebdf4f859dca 42 int i2c_status=0; //read/write mode for i2c 0 : write2slave, 1 : write2master
raizel_varun 0:ebdf4f859dca 43 int reset=0;
raizel_varun 0:ebdf4f859dca 44 int temp;
raizel_varun 0:ebdf4f859dca 45
raizel_varun 0:ebdf4f859dca 46 typedef struct
raizel_varun 0:ebdf4f859dca 47 {
raizel_varun 0:ebdf4f859dca 48 char data[25]; // To avoid dynamic memory allocation
raizel_varun 0:ebdf4f859dca 49 int length;
raizel_varun 0:ebdf4f859dca 50 }i2c_data;
raizel_varun 0:ebdf4f859dca 51
raizel_varun 0:ebdf4f859dca 52
raizel_varun 0:ebdf4f859dca 53
raizel_varun 0:ebdf4f859dca 54
raizel_varun 0:ebdf4f859dca 55
raizel_varun 0:ebdf4f859dca 56
raizel_varun 0:ebdf4f859dca 57 //Mail<i2c_data,16> i2c_data_receive;
raizel_varun 0:ebdf4f859dca 58 Mail<i2c_data,16> i2c_data_send;
raizel_varun 0:ebdf4f859dca 59
raizel_varun 0:ebdf4f859dca 60 //--------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 61 //TASK 2 : HK
raizel_varun 0:ebdf4f859dca 62 //--------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 63
raizel_varun 0:ebdf4f859dca 64 char hk_data[25];
raizel_varun 0:ebdf4f859dca 65 extern SensorDataQuantised SensorQuantised;
raizel_varun 0:ebdf4f859dca 66 void T_HK_ACQ(void const *args)
raizel_varun 0:ebdf4f859dca 67 {
raizel_varun 0:ebdf4f859dca 68
raizel_varun 0:ebdf4f859dca 69 while(1)
raizel_varun 0:ebdf4f859dca 70 {
raizel_varun 0:ebdf4f859dca 71 Thread::signal_wait(0x2);
greenroshks 2:edd107ea4740 72 SensorQuantised.power_mode='3';
raizel_varun 0:ebdf4f859dca 73 printf("\nTHIS IS HK %f\n",t1.read());
raizel_varun 0:ebdf4f859dca 74 t.start();
raizel_varun 0:ebdf4f859dca 75 FUNC_HK_FAULTS();
raizel_varun 0:ebdf4f859dca 76 FUNC_HK_POWER(SensorQuantised.power_mode); //The power mode algorithm is yet to be obtained
raizel_varun 0:ebdf4f859dca 77 FUNC_HK_MAIN(); //Collecting HK data
raizel_varun 0:ebdf4f859dca 78 //thread_2.signal_set(0x4);
raizel_varun 0:ebdf4f859dca 79 //FUNC_I2C_SLAVE_MAIN(25);
raizel_varun 0:ebdf4f859dca 80 FUNC_I2C_IR2CDMS();
raizel_varun 0:ebdf4f859dca 81 t.stop();
raizel_varun 0:ebdf4f859dca 82 printf("The time to execute hk_acq is %f seconds\n",t.read());
raizel_varun 0:ebdf4f859dca 83 t.reset();
raizel_varun 0:ebdf4f859dca 84 }
raizel_varun 0:ebdf4f859dca 85 }
raizel_varun 0:ebdf4f859dca 86
raizel_varun 0:ebdf4f859dca 87 //---------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 88 //TASK 1 : ACS
raizel_varun 0:ebdf4f859dca 89 //---------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 90
raizel_varun 0:ebdf4f859dca 91 int acs_pflag = 1;
raizel_varun 0:ebdf4f859dca 92 void T_ACS(void const *args)
raizel_varun 0:ebdf4f859dca 93 {
raizel_varun 0:ebdf4f859dca 94 float *mag_field;
raizel_varun 0:ebdf4f859dca 95 float *omega;
raizel_varun 0:ebdf4f859dca 96 float *moment;
raizel_varun 0:ebdf4f859dca 97 while(1)
raizel_varun 0:ebdf4f859dca 98 {
raizel_varun 0:ebdf4f859dca 99 Thread::signal_wait(0x1);
raizel_varun 0:ebdf4f859dca 100 printf("\nTHIS IS ACS %f\n",t1.read());
raizel_varun 0:ebdf4f859dca 101 t.start();
raizel_varun 0:ebdf4f859dca 102 mag_field= FUNC_ACS_MAG_EXEC(); //actual execution
raizel_varun 0:ebdf4f859dca 103 omega = FUNC_ACS_EXEC_GYR();
greenroshks 2:edd107ea4740 104 printf("\n gyr 1 value %f",omega[0]);
greenroshks 3:89a09736acd3 105 printf("\n mag value is %f",mag_field[0]);
raizel_varun 0:ebdf4f859dca 106
raizel_varun 0:ebdf4f859dca 107 if(acs_pflag == 1)
raizel_varun 0:ebdf4f859dca 108 {
raizel_varun 0:ebdf4f859dca 109 moment = FUNC_ACS_CNTRLALGO(mag_field,omega);
raizel_varun 0:ebdf4f859dca 110 FUNC_ACS_GENPWM(moment);
raizel_varun 0:ebdf4f859dca 111 }
raizel_varun 0:ebdf4f859dca 112
raizel_varun 0:ebdf4f859dca 113 t.reset();
raizel_varun 0:ebdf4f859dca 114 }
raizel_varun 0:ebdf4f859dca 115 }
raizel_varun 0:ebdf4f859dca 116 /*
raizel_varun 0:ebdf4f859dca 117 void T_ACS_WRITE2FLASH(void const *args)
raizel_varun 0:ebdf4f859dca 118 {
raizel_varun 0:ebdf4f859dca 119 while(1)
raizel_varun 0:ebdf4f859dca 120 {
raizel_varun 0:ebdf4f859dca 121 //printf("Writing in the flash\n");
raizel_varun 0:ebdf4f859dca 122 osEvent evt = q_acs.get();
raizel_varun 0:ebdf4f859dca 123 if(evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 124 {
raizel_varun 0:ebdf4f859dca 125 sensor_data *ptr = (sensor_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 126 FUNC_ACS_WRITE2FLASH(ptr);
raizel_varun 0:ebdf4f859dca 127 q_acs.free(ptr);
raizel_varun 0:ebdf4f859dca 128 }
raizel_varun 0:ebdf4f859dca 129 printf("Writing acs data in the flash\n");
raizel_varun 0:ebdf4f859dca 130 }
raizel_varun 0:ebdf4f859dca 131 }
raizel_varun 0:ebdf4f859dca 132
raizel_varun 0:ebdf4f859dca 133 */
raizel_varun 0:ebdf4f859dca 134 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 135
raizel_varun 0:ebdf4f859dca 136 int beac_flag=0; //To receive telecommand from ground.
raizel_varun 0:ebdf4f859dca 137
raizel_varun 0:ebdf4f859dca 138
raizel_varun 0:ebdf4f859dca 139 /*void T_BEA_TELECOMMAND(void const *args)
raizel_varun 0:ebdf4f859dca 140 {
raizel_varun 0:ebdf4f859dca 141 char c = pc.getc();
raizel_varun 0:ebdf4f859dca 142 if(c=='a')
raizel_varun 0:ebdf4f859dca 143 {
raizel_varun 0:ebdf4f859dca 144 printf("Telecommand detected\n");
raizel_varun 0:ebdf4f859dca 145 beac_flag=1;
raizel_varun 0:ebdf4f859dca 146 }
raizel_varun 0:ebdf4f859dca 147 }
raizel_varun 0:ebdf4f859dca 148 */
raizel_varun 0:ebdf4f859dca 149
raizel_varun 0:ebdf4f859dca 150 void T_BEA(void const *args)
raizel_varun 0:ebdf4f859dca 151 {
raizel_varun 0:ebdf4f859dca 152
raizel_varun 0:ebdf4f859dca 153 while(1)
raizel_varun 0:ebdf4f859dca 154 {
raizel_varun 0:ebdf4f859dca 155 Thread::signal_wait(0x3);
raizel_varun 0:ebdf4f859dca 156 printf("\nTHIS IS BEACON %f\n",t1.read());
raizel_varun 0:ebdf4f859dca 157 t.start();
raizel_varun 0:ebdf4f859dca 158
raizel_varun 0:ebdf4f859dca 159
raizel_varun 0:ebdf4f859dca 160
raizel_varun 0:ebdf4f859dca 161 FUNC_BEA();
raizel_varun 0:ebdf4f859dca 162
raizel_varun 0:ebdf4f859dca 163
raizel_varun 0:ebdf4f859dca 164 if(beac_flag==1)
raizel_varun 0:ebdf4f859dca 165 {
raizel_varun 0:ebdf4f859dca 166 Thread::wait(600000);
raizel_varun 0:ebdf4f859dca 167 beac_flag = 0;
raizel_varun 0:ebdf4f859dca 168 }
raizel_varun 0:ebdf4f859dca 169
raizel_varun 0:ebdf4f859dca 170 printf("The time to execute beacon thread is %f seconds\n",t.read());
raizel_varun 0:ebdf4f859dca 171 t.reset();
raizel_varun 0:ebdf4f859dca 172 }
raizel_varun 0:ebdf4f859dca 173 }
raizel_varun 0:ebdf4f859dca 174
raizel_varun 0:ebdf4f859dca 175 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 176 //TASK 4 : FAULT MANAGEMENT
raizel_varun 0:ebdf4f859dca 177 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 178 //Dummy fault rectifier functions
raizel_varun 0:ebdf4f859dca 179
raizel_varun 0:ebdf4f859dca 180 /*Mail<int,16> faults;
raizel_varun 0:ebdf4f859dca 181
raizel_varun 0:ebdf4f859dca 182 void FUNC_FAULT_FUNCT1()
raizel_varun 0:ebdf4f859dca 183 {
raizel_varun 0:ebdf4f859dca 184 printf("\nFault 1 detected... \n");
raizel_varun 0:ebdf4f859dca 185 }
raizel_varun 0:ebdf4f859dca 186
raizel_varun 0:ebdf4f859dca 187 void FUNC_FAULT_FUNCT2()
raizel_varun 0:ebdf4f859dca 188 {
raizel_varun 0:ebdf4f859dca 189 printf("\nFault 2 detected...\n");
raizel_varun 0:ebdf4f859dca 190 }
raizel_varun 0:ebdf4f859dca 191
raizel_varun 0:ebdf4f859dca 192 void T_FAULT(void const *args)
raizel_varun 0:ebdf4f859dca 193 {
raizel_varun 0:ebdf4f859dca 194 while(1)
raizel_varun 0:ebdf4f859dca 195 {
raizel_varun 0:ebdf4f859dca 196 osEvent evt = faults.get();
raizel_varun 0:ebdf4f859dca 197 if(evt.status==osEventMail)
raizel_varun 0:ebdf4f859dca 198 {
raizel_varun 0:ebdf4f859dca 199 int *fault_id= (int *)evt.value.p;
raizel_varun 0:ebdf4f859dca 200 switch(*fault_id)
raizel_varun 0:ebdf4f859dca 201 {
raizel_varun 0:ebdf4f859dca 202 case 1: FUNC_FAULT_FUNCT1();
raizel_varun 0:ebdf4f859dca 203 break;
raizel_varun 0:ebdf4f859dca 204 case 2: FUNC_FAULT_FUNCT2();
raizel_varun 0:ebdf4f859dca 205 break;
raizel_varun 0:ebdf4f859dca 206 }
raizel_varun 0:ebdf4f859dca 207 faults.free(fault_id);
raizel_varun 0:ebdf4f859dca 208 }
raizel_varun 0:ebdf4f859dca 209 }
raizel_varun 0:ebdf4f859dca 210 }*/
raizel_varun 0:ebdf4f859dca 211
raizel_varun 0:ebdf4f859dca 212 extern SensorDataQuantised SensorQuantised;
raizel_varun 0:ebdf4f859dca 213
raizel_varun 0:ebdf4f859dca 214
raizel_varun 0:ebdf4f859dca 215 /*void T_FAULT(void const *args)
raizel_varun 0:ebdf4f859dca 216 {
raizel_varun 0:ebdf4f859dca 217 Sensor.power_mode='0';
raizel_varun 0:ebdf4f859dca 218 while(1)
raizel_varun 0:ebdf4f859dca 219 {
raizel_varun 0:ebdf4f859dca 220 Thread :: signal_wait(0x2);
raizel_varun 0:ebdf4f859dca 221 FAULTS();
raizel_varun 0:ebdf4f859dca 222 POWER(Sensor.power_mode);
raizel_varun 0:ebdf4f859dca 223 //Sensor.power_mode++; //testing ... should be removed
raizel_varun 0:ebdf4f859dca 224 }
raizel_varun 0:ebdf4f859dca 225 }
raizel_varun 0:ebdf4f859dca 226 */
raizel_varun 0:ebdf4f859dca 227 /*-------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 228 -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/
raizel_varun 0:ebdf4f859dca 229 DigitalOut trigger(PIN63); // has to be changed
raizel_varun 0:ebdf4f859dca 230 void T_WDT(void const * args)
raizel_varun 0:ebdf4f859dca 231 {
raizel_varun 0:ebdf4f859dca 232 trigger = 1;
raizel_varun 0:ebdf4f859dca 233 while(true)
raizel_varun 0:ebdf4f859dca 234 {
raizel_varun 0:ebdf4f859dca 235 Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized
raizel_varun 0:ebdf4f859dca 236 printf("\nEntered WD\n");
raizel_varun 0:ebdf4f859dca 237 trigger = !trigger;
raizel_varun 0:ebdf4f859dca 238 }
raizel_varun 0:ebdf4f859dca 239 }
raizel_varun 0:ebdf4f859dca 240
raizel_varun 0:ebdf4f859dca 241 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 242 //TASK 5 : i2c data
raizel_varun 0:ebdf4f859dca 243 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 244
raizel_varun 0:ebdf4f859dca 245
raizel_varun 0:ebdf4f859dca 246
raizel_varun 0:ebdf4f859dca 247
raizel_varun 0:ebdf4f859dca 248
raizel_varun 0:ebdf4f859dca 249
raizel_varun 0:ebdf4f859dca 250 void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
raizel_varun 0:ebdf4f859dca 251 {
raizel_varun 0:ebdf4f859dca 252 int slave_status = 1;
raizel_varun 0:ebdf4f859dca 253
sakthipriya 1:deb3c0fafa3a 254 while(slave_status && interrupt == 1)
greenroshks 3:89a09736acd3 255 {
greenroshks 3:89a09736acd3 256 int something;
greenroshks 3:89a09736acd3 257 something = interrupt;
raizel_varun 0:ebdf4f859dca 258 slave.address(0x20);
raizel_varun 0:ebdf4f859dca 259 if(slave.receive()==1)
raizel_varun 0:ebdf4f859dca 260 {
raizel_varun 0:ebdf4f859dca 261 slave_status=slave.write(data,length);
greenroshks 3:89a09736acd3 262 //printf("\n a ss %d %d\n\r",slave_status,something);
raizel_varun 0:ebdf4f859dca 263
raizel_varun 0:ebdf4f859dca 264 }
raizel_varun 0:ebdf4f859dca 265 else if(slave.receive()==3 || slave.receive()==2)
raizel_varun 0:ebdf4f859dca 266 {
raizel_varun 0:ebdf4f859dca 267 slave_status=slave.read(data,length);
raizel_varun 0:ebdf4f859dca 268 }
greenroshks 3:89a09736acd3 269 //printf("\niitmsat\n");
raizel_varun 0:ebdf4f859dca 270
raizel_varun 0:ebdf4f859dca 271 }
raizel_varun 0:ebdf4f859dca 272
raizel_varun 0:ebdf4f859dca 273 printf("\ndone\n\r");
raizel_varun 0:ebdf4f859dca 274
raizel_varun 0:ebdf4f859dca 275 }
raizel_varun 0:ebdf4f859dca 276 char data_send[25],data_receive;
raizel_varun 0:ebdf4f859dca 277 void T_I2C_BAE(void const * args)
raizel_varun 0:ebdf4f859dca 278 {
raizel_varun 0:ebdf4f859dca 279 //char data_send,data_receive;
raizel_varun 0:ebdf4f859dca 280 while(1)
raizel_varun 0:ebdf4f859dca 281 {
raizel_varun 0:ebdf4f859dca 282 Thread::signal_wait(0x4);
raizel_varun 0:ebdf4f859dca 283 //T_I2C_BAE();
raizel_varun 0:ebdf4f859dca 284 //i2c_status = temp;
raizel_varun 0:ebdf4f859dca 285 //wait(0.5);
raizel_varun 0:ebdf4f859dca 286 printf("\n entered thread %d\n\r",i2c_status);
sakthipriya 1:deb3c0fafa3a 287 if(i2c_status == 0 )
raizel_varun 0:ebdf4f859dca 288 {
raizel_varun 0:ebdf4f859dca 289
raizel_varun 0:ebdf4f859dca 290 FUNC_I2C_WRITE2CDMS(&data_receive,1);
raizel_varun 0:ebdf4f859dca 291 printf("\n received\n");
raizel_varun 0:ebdf4f859dca 292 /*i2c_data * i2c_data_r = i2c_data_receive.alloc();
raizel_varun 0:ebdf4f859dca 293 i2c_data_r->data = data_receive;
raizel_varun 0:ebdf4f859dca 294 i2c_data_r->length = 1;
raizel_varun 0:ebdf4f859dca 295 i2c_data_receive.put(i2c_data_r);*/
raizel_varun 0:ebdf4f859dca 296 printf("\n Data received from CDMS is %c \n\r",data_receive);
raizel_varun 0:ebdf4f859dca 297 FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread
raizel_varun 0:ebdf4f859dca 298
raizel_varun 0:ebdf4f859dca 299 }
sakthipriya 1:deb3c0fafa3a 300 else if(i2c_status ==1)
raizel_varun 0:ebdf4f859dca 301 {
raizel_varun 0:ebdf4f859dca 302 osEvent evt = i2c_data_send.get();
raizel_varun 0:ebdf4f859dca 303 if (evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 304 {
raizel_varun 0:ebdf4f859dca 305 i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 306 strcpy(data_send,i2c_data_s -> data);
raizel_varun 0:ebdf4f859dca 307 FUNC_I2C_WRITE2CDMS(data_send,25);
raizel_varun 0:ebdf4f859dca 308 printf("\nData sent to CDMS is %s\n\r",data_send);
raizel_varun 0:ebdf4f859dca 309 i2c_data_send.free(i2c_data_s);
raizel_varun 0:ebdf4f859dca 310 i2c_status = 0;
raizel_varun 0:ebdf4f859dca 311 //temp = i2c_status;
raizel_varun 0:ebdf4f859dca 312
raizel_varun 0:ebdf4f859dca 313 }
raizel_varun 0:ebdf4f859dca 314 }
raizel_varun 0:ebdf4f859dca 315
raizel_varun 0:ebdf4f859dca 316 }
raizel_varun 0:ebdf4f859dca 317 }
raizel_varun 0:ebdf4f859dca 318
raizel_varun 0:ebdf4f859dca 319
raizel_varun 0:ebdf4f859dca 320
raizel_varun 0:ebdf4f859dca 321 void FUNC_I2C_INT()
raizel_varun 0:ebdf4f859dca 322 {
raizel_varun 0:ebdf4f859dca 323 reset = 0;
raizel_varun 0:ebdf4f859dca 324 ptr_t_i2c->signal_set(0x4);
raizel_varun 0:ebdf4f859dca 325
raizel_varun 0:ebdf4f859dca 326
raizel_varun 0:ebdf4f859dca 327 }
raizel_varun 0:ebdf4f859dca 328
sakthipriya 1:deb3c0fafa3a 329
raizel_varun 0:ebdf4f859dca 330
raizel_varun 0:ebdf4f859dca 331
raizel_varun 0:ebdf4f859dca 332
raizel_varun 0:ebdf4f859dca 333 void FUNC_I2C_IR2CDMS()
raizel_varun 0:ebdf4f859dca 334 {
raizel_varun 0:ebdf4f859dca 335
raizel_varun 0:ebdf4f859dca 336 //char data[25];
raizel_varun 0:ebdf4f859dca 337 //strcpy(data,"sakthi ");
raizel_varun 0:ebdf4f859dca 338 //strcat(data,"priya");
raizel_varun 0:ebdf4f859dca 339 strcpy(hk_data,SensorQuantised.Voltage);
raizel_varun 0:ebdf4f859dca 340 strcat(hk_data,SensorQuantised.Current);
raizel_varun 0:ebdf4f859dca 341 strcat(hk_data,SensorQuantised.Temperature);
raizel_varun 0:ebdf4f859dca 342 strcat(hk_data,SensorQuantised.PanelTemperature);
raizel_varun 0:ebdf4f859dca 343 strcat(hk_data,SensorQuantised.AngularSpeed);
raizel_varun 0:ebdf4f859dca 344 strcat(hk_data,SensorQuantised.Bnewvalue);
raizel_varun 0:ebdf4f859dca 345 char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode};
raizel_varun 0:ebdf4f859dca 346
raizel_varun 0:ebdf4f859dca 347 /*strcat(hk_data,sfaultpoll);
raizel_varun 0:ebdf4f859dca 348 strcat(hk_data,sfaultir);
raizel_varun 0:ebdf4f859dca 349 strcat(hk_data,spower_mode);*/
raizel_varun 0:ebdf4f859dca 350 strcat(hk_data,fdata);
raizel_varun 0:ebdf4f859dca 351 printf("\nhk data : %s\n",hk_data);
raizel_varun 0:ebdf4f859dca 352 data_ready=0;
raizel_varun 0:ebdf4f859dca 353 //data = pcslave.getc();
raizel_varun 0:ebdf4f859dca 354 reset =0;
raizel_varun 0:ebdf4f859dca 355 i2c_status=1;
raizel_varun 0:ebdf4f859dca 356 i2c_data * i2c_data_s = i2c_data_send.alloc();
raizel_varun 0:ebdf4f859dca 357 strcpy(i2c_data_s->data,hk_data);
raizel_varun 0:ebdf4f859dca 358 i2c_data_s->length = 25;
raizel_varun 0:ebdf4f859dca 359 i2c_data_send.put(i2c_data_s);
raizel_varun 0:ebdf4f859dca 360 data_ready=1;
raizel_varun 0:ebdf4f859dca 361 //temp = i2c_status;
raizel_varun 0:ebdf4f859dca 362 }
raizel_varun 0:ebdf4f859dca 363
raizel_varun 0:ebdf4f859dca 364
raizel_varun 0:ebdf4f859dca 365 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 366 //TELECOMMAND
raizel_varun 0:ebdf4f859dca 367 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 368 void FUNC_I2C_TC_EXECUTE (char command)
raizel_varun 0:ebdf4f859dca 369 { switch(command)
raizel_varun 0:ebdf4f859dca 370 { case '0' : printf("command 0 executed");
raizel_varun 0:ebdf4f859dca 371 break;
raizel_varun 0:ebdf4f859dca 372 case '1' : printf("command 1 executed");
raizel_varun 0:ebdf4f859dca 373 break;
raizel_varun 0:ebdf4f859dca 374 case '2' : printf("command 2 executed");
raizel_varun 0:ebdf4f859dca 375 break;
raizel_varun 0:ebdf4f859dca 376 case '3' : printf("command 3 executed");
raizel_varun 0:ebdf4f859dca 377 }
raizel_varun 0:ebdf4f859dca 378 }
raizel_varun 0:ebdf4f859dca 379
raizel_varun 0:ebdf4f859dca 380
raizel_varun 0:ebdf4f859dca 381 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 382 //SCHEDULER
raizel_varun 0:ebdf4f859dca 383 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 384 int beacon_sc = 3;
raizel_varun 0:ebdf4f859dca 385 uint16_t schedcount=1;
raizel_varun 0:ebdf4f859dca 386 void T_SC(void const *args)
raizel_varun 0:ebdf4f859dca 387 {
greenroshks 2:edd107ea4740 388 //DRDY=0;
raizel_varun 0:ebdf4f859dca 389 printf("The value of i in scheduler is %d\n",schedcount);
raizel_varun 0:ebdf4f859dca 390 if(schedcount == 65532) //to reset the counter
raizel_varun 0:ebdf4f859dca 391 {
raizel_varun 0:ebdf4f859dca 392 schedcount = 0;
raizel_varun 0:ebdf4f859dca 393 }
raizel_varun 0:ebdf4f859dca 394
raizel_varun 0:ebdf4f859dca 395 if(schedcount%1==0)
raizel_varun 0:ebdf4f859dca 396 {
raizel_varun 0:ebdf4f859dca 397 ptr_t_acs -> signal_set(0x1);
raizel_varun 0:ebdf4f859dca 398 ptr_t_wdt -> signal_set(0x5);
raizel_varun 0:ebdf4f859dca 399 }
raizel_varun 0:ebdf4f859dca 400 if(schedcount%2==0)
raizel_varun 0:ebdf4f859dca 401 {
raizel_varun 0:ebdf4f859dca 402 //ptr_t_fault -> signal_set(0x2);
raizel_varun 0:ebdf4f859dca 403 ptr_t_hk_acq -> signal_set(0x2);
raizel_varun 0:ebdf4f859dca 404
raizel_varun 0:ebdf4f859dca 405 }
raizel_varun 0:ebdf4f859dca 406 if(schedcount%beacon_sc==0)
raizel_varun 0:ebdf4f859dca 407 {
raizel_varun 0:ebdf4f859dca 408 if(beac_flag==0)
raizel_varun 0:ebdf4f859dca 409 {
raizel_varun 0:ebdf4f859dca 410
greenroshks 3:89a09736acd3 411 ptr_t_bea -> signal_set(0x3);
raizel_varun 0:ebdf4f859dca 412 }
raizel_varun 0:ebdf4f859dca 413 }
raizel_varun 0:ebdf4f859dca 414 schedcount++;
raizel_varun 0:ebdf4f859dca 415 }
raizel_varun 0:ebdf4f859dca 416
raizel_varun 0:ebdf4f859dca 417 //---------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 418
raizel_varun 0:ebdf4f859dca 419 int main()
raizel_varun 0:ebdf4f859dca 420 {
raizel_varun 0:ebdf4f859dca 421 t1.start();
greenroshks 2:edd107ea4740 422 //DRDY=0;
raizel_varun 0:ebdf4f859dca 423 FUNC_ACS_MAG_INIT();
raizel_varun 0:ebdf4f859dca 424 FUNC_ACS_INIT_GYR();
raizel_varun 0:ebdf4f859dca 425
raizel_varun 0:ebdf4f859dca 426 ptr_t_hk_acq = new Thread(T_HK_ACQ);
raizel_varun 0:ebdf4f859dca 427 ptr_t_acs = new Thread(T_ACS);
raizel_varun 0:ebdf4f859dca 428 //ptr_t_acs_write2flash = new Thread(T_ACS_WRITE2FLASH);
raizel_varun 0:ebdf4f859dca 429 ptr_t_bea = new Thread(T_BEA);
raizel_varun 0:ebdf4f859dca 430 //ptr_t_bea_telecommand = new Thread(T_BEA_TELECOMMAND);
raizel_varun 0:ebdf4f859dca 431 //ptr_t_fault = new Thread(T_FAULT);
raizel_varun 0:ebdf4f859dca 432 ptr_t_i2c = new Thread(T_I2C_BAE);
raizel_varun 0:ebdf4f859dca 433 //ptr_t_sc = new Thread(T_SC);
raizel_varun 0:ebdf4f859dca 434 ptr_t_wdt = new Thread(T_WDT);
raizel_varun 0:ebdf4f859dca 435
raizel_varun 0:ebdf4f859dca 436 interrupt_fault();
raizel_varun 0:ebdf4f859dca 437
raizel_varun 0:ebdf4f859dca 438 //ptr_t_fault -> set_priority(osPriorityRealtime);
raizel_varun 0:ebdf4f859dca 439 ptr_t_acs->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 440 ptr_t_i2c->set_priority(osPriorityHigh);
raizel_varun 0:ebdf4f859dca 441 ptr_t_hk_acq->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 442 //ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal);
raizel_varun 0:ebdf4f859dca 443 ptr_t_bea->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 444 //ptr_t_bea_telecommand->set_priority(osPriorityIdle);
raizel_varun 0:ebdf4f859dca 445 //ptr_t_sc->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 446 ptr_t_wdt -> set_priority(osPriorityIdle);
raizel_varun 0:ebdf4f859dca 447
raizel_varun 0:ebdf4f859dca 448
raizel_varun 0:ebdf4f859dca 449 // ----------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 450 //printf("\n T_FAULT priority is %d",ptr_t_fault->get_priority());
raizel_varun 0:ebdf4f859dca 451 printf("\n T_ACS priority is %d",ptr_t_acs->get_priority());
raizel_varun 0:ebdf4f859dca 452 printf("\n T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
raizel_varun 0:ebdf4f859dca 453 //printf("\n T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
raizel_varun 0:ebdf4f859dca 454 printf("\n T_BEA priority is %d",ptr_t_bea->get_priority());
raizel_varun 0:ebdf4f859dca 455 RtosTimer t_sc_timer(T_SC,osTimerPeriodic);
raizel_varun 0:ebdf4f859dca 456 t_sc_timer.start(10000);
raizel_varun 0:ebdf4f859dca 457 printf("\n%f\n",t1.read());
raizel_varun 0:ebdf4f859dca 458
raizel_varun 0:ebdf4f859dca 459
raizel_varun 0:ebdf4f859dca 460
sakthipriya 1:deb3c0fafa3a 461 //master_reset.fall(&FUNC_I2C_RESET);
raizel_varun 0:ebdf4f859dca 462 interrupt.rise(&FUNC_I2C_INT);
raizel_varun 0:ebdf4f859dca 463
raizel_varun 0:ebdf4f859dca 464 while(1)
raizel_varun 0:ebdf4f859dca 465 {
raizel_varun 0:ebdf4f859dca 466 //Thread::wait(10000);
raizel_varun 0:ebdf4f859dca 467 //ir2master();
greenroshks 2:edd107ea4740 468 //DRDY = 0;
raizel_varun 0:ebdf4f859dca 469 Thread::wait(5000);
raizel_varun 0:ebdf4f859dca 470 }
raizel_varun 0:ebdf4f859dca 471
raizel_varun 0:ebdf4f859dca 472 }