green rosh / Mbed 2 deprecated pcb_test_v1_0

pcb test start

Dependencies:   mbed-rtos mbed

Fork of BAE_hw_test1_5 by sakthi priya amirtharaj

main.cpp@8:6d856d863537, 2015-03-04 (annotated)

Committer:
sakthipriya
Date:
Wed Mar 04 18:14:01 2015 +0000
Revision:
8:6d856d863537
Parent:
7:603c2a89effc
Child:
9:7936b618a879
with i2c

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"
sakthipriya 5:4199c0dfed33 9 #include "mnm.h"
raizel_varun 0:ebdf4f859dca 10
raizel_varun 0:ebdf4f859dca 11 Serial pc(USBTX, USBRX);
raizel_varun 0:ebdf4f859dca 12
greenroshks 2:edd107ea4740 13 //extern DigitalOut DRDY;
raizel_varun 0:ebdf4f859dca 14 InterruptIn interrupt(D9);
raizel_varun 0:ebdf4f859dca 15 InterruptIn master_reset(D8);
raizel_varun 0:ebdf4f859dca 16
raizel_varun 0:ebdf4f859dca 17
raizel_varun 0:ebdf4f859dca 18 Timer t; //To know the time of execution each thread
raizel_varun 0:ebdf4f859dca 19 Timer t1;
raizel_varun 0:ebdf4f859dca 20 //To know the time of entering of each thread
sakthipriya 3:20647ff68b3c 21 Timer t2;
sakthipriya 3:20647ff68b3c 22 Timer t3;
sakthipriya 3:20647ff68b3c 23 Timer t4;
raizel_varun 0:ebdf4f859dca 24
raizel_varun 0:ebdf4f859dca 25
raizel_varun 0:ebdf4f859dca 26
raizel_varun 0:ebdf4f859dca 27
raizel_varun 0:ebdf4f859dca 28
raizel_varun 0:ebdf4f859dca 29
raizel_varun 0:ebdf4f859dca 30 Thread *ptr_t_hk_acq;
raizel_varun 0:ebdf4f859dca 31 Thread *ptr_t_acs;
raizel_varun 0:ebdf4f859dca 32 //Thread *ptr_t_acs_write2flash;
raizel_varun 0:ebdf4f859dca 33 Thread *ptr_t_bea;
raizel_varun 0:ebdf4f859dca 34 //Thread *ptr_t_bea_telecommand;
raizel_varun 0:ebdf4f859dca 35 //Thread *ptr_t_fault;
raizel_varun 0:ebdf4f859dca 36 Thread *ptr_t_i2c;
raizel_varun 0:ebdf4f859dca 37 Thread *ptr_t_wdt;
raizel_varun 0:ebdf4f859dca 38
raizel_varun 0:ebdf4f859dca 39
raizel_varun 0:ebdf4f859dca 40
raizel_varun 0:ebdf4f859dca 41 I2CSlave slave(D14,D15); //configuring pins p27, p28 as I2Cslave
raizel_varun 0:ebdf4f859dca 42
raizel_varun 0:ebdf4f859dca 43
raizel_varun 0:ebdf4f859dca 44 DigitalOut data_ready(D10);
raizel_varun 0:ebdf4f859dca 45 int i2c_status=0; //read/write mode for i2c 0 : write2slave, 1 : write2master
raizel_varun 0:ebdf4f859dca 46 int reset=0;
raizel_varun 0:ebdf4f859dca 47 int temp;
raizel_varun 0:ebdf4f859dca 48
raizel_varun 0:ebdf4f859dca 49 typedef struct
raizel_varun 0:ebdf4f859dca 50 {
raizel_varun 0:ebdf4f859dca 51 char data[25]; // To avoid dynamic memory allocation
raizel_varun 0:ebdf4f859dca 52 int length;
raizel_varun 0:ebdf4f859dca 53 }i2c_data;
raizel_varun 0:ebdf4f859dca 54
raizel_varun 0:ebdf4f859dca 55
raizel_varun 0:ebdf4f859dca 56
raizel_varun 0:ebdf4f859dca 57
raizel_varun 0:ebdf4f859dca 58
raizel_varun 0:ebdf4f859dca 59
raizel_varun 0:ebdf4f859dca 60 //Mail<i2c_data,16> i2c_data_receive;
raizel_varun 0:ebdf4f859dca 61 Mail<i2c_data,16> i2c_data_send;
raizel_varun 0:ebdf4f859dca 62
raizel_varun 0:ebdf4f859dca 63 //--------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 64 //TASK 2 : HK
raizel_varun 0:ebdf4f859dca 65 //--------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 66
raizel_varun 0:ebdf4f859dca 67 char hk_data[25];
raizel_varun 0:ebdf4f859dca 68 extern SensorDataQuantised SensorQuantised;
raizel_varun 0:ebdf4f859dca 69 void T_HK_ACQ(void const *args)
raizel_varun 0:ebdf4f859dca 70 {
raizel_varun 0:ebdf4f859dca 71
raizel_varun 0:ebdf4f859dca 72 while(1)
raizel_varun 0:ebdf4f859dca 73 {
raizel_varun 0:ebdf4f859dca 74 Thread::signal_wait(0x2);
greenroshks 2:edd107ea4740 75 SensorQuantised.power_mode='3';
sakthipriya 3:20647ff68b3c 76 printf("\n\rTHIS IS HK %f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 77 t.start();
raizel_varun 0:ebdf4f859dca 78 FUNC_HK_FAULTS();
raizel_varun 0:ebdf4f859dca 79 FUNC_HK_POWER(SensorQuantised.power_mode); //The power mode algorithm is yet to be obtained
raizel_varun 0:ebdf4f859dca 80 FUNC_HK_MAIN(); //Collecting HK data
raizel_varun 0:ebdf4f859dca 81 //thread_2.signal_set(0x4);
raizel_varun 0:ebdf4f859dca 82 //FUNC_I2C_SLAVE_MAIN(25);
raizel_varun 0:ebdf4f859dca 83 FUNC_I2C_IR2CDMS();
raizel_varun 0:ebdf4f859dca 84 t.stop();
sakthipriya 3:20647ff68b3c 85 printf("The time to execute hk_acq is %f seconds\n\r",t.read());
raizel_varun 0:ebdf4f859dca 86 t.reset();
raizel_varun 0:ebdf4f859dca 87 }
raizel_varun 0:ebdf4f859dca 88 }
raizel_varun 0:ebdf4f859dca 89
raizel_varun 0:ebdf4f859dca 90 //---------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 91 //TASK 1 : ACS
raizel_varun 0:ebdf4f859dca 92 //---------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 93
raizel_varun 0:ebdf4f859dca 94 int acs_pflag = 1;
raizel_varun 0:ebdf4f859dca 95 void T_ACS(void const *args)
raizel_varun 0:ebdf4f859dca 96 {
raizel_varun 0:ebdf4f859dca 97 float *mag_field;
raizel_varun 0:ebdf4f859dca 98 float *omega;
sakthipriya 8:6d856d863537 99 float mag_field1[3];
sakthipriya 8:6d856d863537 100 float omega1[1];
sakthipriya 8:6d856d863537 101 float tauc1[3];
sakthipriya 8:6d856d863537 102 float moment[3];
sakthipriya 5:4199c0dfed33 103 float *mnm_data;
raizel_varun 0:ebdf4f859dca 104 while(1)
raizel_varun 0:ebdf4f859dca 105 {
raizel_varun 0:ebdf4f859dca 106 Thread::signal_wait(0x1);
sakthipriya 3:20647ff68b3c 107 printf("\n\rTHIS IS ACS %f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 108 t.start();
raizel_varun 0:ebdf4f859dca 109 mag_field= FUNC_ACS_MAG_EXEC(); //actual execution
raizel_varun 0:ebdf4f859dca 110 omega = FUNC_ACS_EXEC_GYR();
sakthipriya 3:20647ff68b3c 111 printf("\n\r gyr 1 value %f",omega[0]);
sakthipriya 5:4199c0dfed33 112 mnm_data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
sakthipriya 5:4199c0dfed33 113 printf("\n\rmnm gyro values\n"); //printing the angular velocity and magnetic field values
sakthipriya 5:4199c0dfed33 114 for(int i=0; i<3; i++)
sakthipriya 5:4199c0dfed33 115 {
sakthipriya 5:4199c0dfed33 116 printf("%f\t",mnm_data[i]);
sakthipriya 5:4199c0dfed33 117 }
sakthipriya 5:4199c0dfed33 118 printf("\n\r mnm mag values\n");
sakthipriya 5:4199c0dfed33 119 for(int i=3; i<6; i++) {
sakthipriya 5:4199c0dfed33 120 printf("%f\t",mnm_data[i]);
sakthipriya 5:4199c0dfed33 121 }
sakthipriya 6:1cdbda747f99 122 for(int i = 0 ; i<3;i++)
sakthipriya 6:1cdbda747f99 123 {
sakthipriya 8:6d856d863537 124 omega1[i] = mnm_data[i];
sakthipriya 6:1cdbda747f99 125 }
sakthipriya 6:1cdbda747f99 126 for( int i = 3;i<6;i++)
sakthipriya 6:1cdbda747f99 127 {
sakthipriya 8:6d856d863537 128 mag_field1[i-3] = mnm_data[i];
sakthipriya 6:1cdbda747f99 129 }
raizel_varun 0:ebdf4f859dca 130 if(acs_pflag == 1)
raizel_varun 0:ebdf4f859dca 131 {
sakthipriya 8:6d856d863537 132 FUNC_ACS_CNTRLALGO(mag_field1,omega1,tauc1);
sakthipriya 8:6d856d863537 133 printf("\n\r control algo values ");
sakthipriya 8:6d856d863537 134 for(int i=0; i<3; i++)
sakthipriya 8:6d856d863537 135 {
sakthipriya 8:6d856d863537 136 printf("%f\t",tauc1[i]);
sakthipriya 8:6d856d863537 137 }
sakthipriya 8:6d856d863537 138 moment_calc (tauc1, mag_field1,moment);
sakthipriya 8:6d856d863537 139 printf("\n\r moment values ");
sakthipriya 8:6d856d863537 140 for(int i=0; i<3; i++)
sakthipriya 8:6d856d863537 141 {
sakthipriya 8:6d856d863537 142 printf("%f\t",moment[i]);
sakthipriya 8:6d856d863537 143 }
sakthipriya 8:6d856d863537 144
raizel_varun 0:ebdf4f859dca 145 FUNC_ACS_GENPWM(moment);
raizel_varun 0:ebdf4f859dca 146 }
raizel_varun 0:ebdf4f859dca 147
raizel_varun 0:ebdf4f859dca 148 t.reset();
raizel_varun 0:ebdf4f859dca 149 }
sakthipriya 8:6d856d863537 150 }/*
raizel_varun 0:ebdf4f859dca 151 void T_ACS_WRITE2FLASH(void const *args)
raizel_varun 0:ebdf4f859dca 152 {
raizel_varun 0:ebdf4f859dca 153 while(1)
raizel_varun 0:ebdf4f859dca 154 {
sakthipriya 3:20647ff68b3c 155 //printf("Writing in the flash\n\r");
raizel_varun 0:ebdf4f859dca 156 osEvent evt = q_acs.get();
raizel_varun 0:ebdf4f859dca 157 if(evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 158 {
raizel_varun 0:ebdf4f859dca 159 sensor_data *ptr = (sensor_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 160 FUNC_ACS_WRITE2FLASH(ptr);
raizel_varun 0:ebdf4f859dca 161 q_acs.free(ptr);
raizel_varun 0:ebdf4f859dca 162 }
sakthipriya 3:20647ff68b3c 163 printf("Writing acs data in the flash\n\r");
raizel_varun 0:ebdf4f859dca 164 }
raizel_varun 0:ebdf4f859dca 165 }
raizel_varun 0:ebdf4f859dca 166
raizel_varun 0:ebdf4f859dca 167 */
raizel_varun 0:ebdf4f859dca 168 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 169
raizel_varun 0:ebdf4f859dca 170 int beac_flag=0; //To receive telecommand from ground.
raizel_varun 0:ebdf4f859dca 171
raizel_varun 0:ebdf4f859dca 172
raizel_varun 0:ebdf4f859dca 173 /*void T_BEA_TELECOMMAND(void const *args)
raizel_varun 0:ebdf4f859dca 174 {
raizel_varun 0:ebdf4f859dca 175 char c = pc.getc();
raizel_varun 0:ebdf4f859dca 176 if(c=='a')
raizel_varun 0:ebdf4f859dca 177 {
sakthipriya 3:20647ff68b3c 178 printf("Telecommand detected\n\r");
raizel_varun 0:ebdf4f859dca 179 beac_flag=1;
raizel_varun 0:ebdf4f859dca 180 }
raizel_varun 0:ebdf4f859dca 181 }
raizel_varun 0:ebdf4f859dca 182 */
raizel_varun 0:ebdf4f859dca 183
raizel_varun 0:ebdf4f859dca 184 void T_BEA(void const *args)
raizel_varun 0:ebdf4f859dca 185 {
raizel_varun 0:ebdf4f859dca 186
raizel_varun 0:ebdf4f859dca 187 while(1)
raizel_varun 0:ebdf4f859dca 188 {
raizel_varun 0:ebdf4f859dca 189 Thread::signal_wait(0x3);
sakthipriya 3:20647ff68b3c 190 printf("\n\rTHIS IS BEACON %f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 191 t.start();
raizel_varun 0:ebdf4f859dca 192
raizel_varun 0:ebdf4f859dca 193
raizel_varun 0:ebdf4f859dca 194
raizel_varun 0:ebdf4f859dca 195 FUNC_BEA();
raizel_varun 0:ebdf4f859dca 196
raizel_varun 0:ebdf4f859dca 197
raizel_varun 0:ebdf4f859dca 198 if(beac_flag==1)
raizel_varun 0:ebdf4f859dca 199 {
raizel_varun 0:ebdf4f859dca 200 Thread::wait(600000);
raizel_varun 0:ebdf4f859dca 201 beac_flag = 0;
raizel_varun 0:ebdf4f859dca 202 }
raizel_varun 0:ebdf4f859dca 203
sakthipriya 3:20647ff68b3c 204 printf("The time to execute beacon thread is %f seconds\n\r",t.read());
raizel_varun 0:ebdf4f859dca 205 t.reset();
raizel_varun 0:ebdf4f859dca 206 }
raizel_varun 0:ebdf4f859dca 207 }
raizel_varun 0:ebdf4f859dca 208
raizel_varun 0:ebdf4f859dca 209 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 210 //TASK 4 : FAULT MANAGEMENT
raizel_varun 0:ebdf4f859dca 211 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 212 //Dummy fault rectifier functions
raizel_varun 0:ebdf4f859dca 213
raizel_varun 0:ebdf4f859dca 214 extern SensorDataQuantised SensorQuantised;
raizel_varun 0:ebdf4f859dca 215
raizel_varun 0:ebdf4f859dca 216
raizel_varun 0:ebdf4f859dca 217 /*void T_FAULT(void const *args)
raizel_varun 0:ebdf4f859dca 218 {
raizel_varun 0:ebdf4f859dca 219 Sensor.power_mode='0';
raizel_varun 0:ebdf4f859dca 220 while(1)
raizel_varun 0:ebdf4f859dca 221 {
raizel_varun 0:ebdf4f859dca 222 Thread :: signal_wait(0x2);
raizel_varun 0:ebdf4f859dca 223 FAULTS();
raizel_varun 0:ebdf4f859dca 224 POWER(Sensor.power_mode);
raizel_varun 0:ebdf4f859dca 225 //Sensor.power_mode++; //testing ... should be removed
raizel_varun 0:ebdf4f859dca 226 }
raizel_varun 0:ebdf4f859dca 227 }
raizel_varun 0:ebdf4f859dca 228 */
raizel_varun 0:ebdf4f859dca 229 /*-------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 230 -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/
raizel_varun 0:ebdf4f859dca 231 DigitalOut trigger(PIN63); // has to be changed
raizel_varun 0:ebdf4f859dca 232 void T_WDT(void const * args)
raizel_varun 0:ebdf4f859dca 233 {
raizel_varun 0:ebdf4f859dca 234 trigger = 1;
raizel_varun 0:ebdf4f859dca 235 while(true)
raizel_varun 0:ebdf4f859dca 236 {
raizel_varun 0:ebdf4f859dca 237 Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized
sakthipriya 3:20647ff68b3c 238 printf("\n\rEntered WD\n\r");
raizel_varun 0:ebdf4f859dca 239 trigger = !trigger;
raizel_varun 0:ebdf4f859dca 240 }
raizel_varun 0:ebdf4f859dca 241 }
raizel_varun 0:ebdf4f859dca 242
raizel_varun 0:ebdf4f859dca 243 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 244 //TASK 5 : i2c data
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
raizel_varun 0:ebdf4f859dca 251
raizel_varun 0:ebdf4f859dca 252 void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
raizel_varun 0:ebdf4f859dca 253 {
raizel_varun 0:ebdf4f859dca 254 int slave_status = 1;
sakthipriya 4:b33bc4267e0d 255 //t2.stop();
sakthipriya 3:20647ff68b3c 256 if(interrupt ==1)
sakthipriya 3:20647ff68b3c 257 {
sakthipriya 3:20647ff68b3c 258
sakthipriya 3:20647ff68b3c 259 if(slave.receive() == 0)
sakthipriya 3:20647ff68b3c 260 t2.stop();
sakthipriya 4:b33bc4267e0d 261 //t4.stop();
sakthipriya 4:b33bc4267e0d 262 //printf("\n\r %d ",slave.receive());
sakthipriya 3:20647ff68b3c 263 if( slave.receive()==1)
sakthipriya 3:20647ff68b3c 264 {
sakthipriya 3:20647ff68b3c 265 t2.stop();
sakthipriya 6:1cdbda747f99 266
sakthipriya 3:20647ff68b3c 267 slave_status=slave.write(data,length);
sakthipriya 6:1cdbda747f99 268 t3.stop();
sakthipriya 3:20647ff68b3c 269
sakthipriya 3:20647ff68b3c 270 }
sakthipriya 3:20647ff68b3c 271 else if( slave.receive()==3 || slave.receive()==2)
raizel_varun 0:ebdf4f859dca 272 {
sakthipriya 3:20647ff68b3c 273 t2.stop();
sakthipriya 3:20647ff68b3c 274 //t3.start();
sakthipriya 3:20647ff68b3c 275 slave_status=slave.read(data,length);
sakthipriya 6:1cdbda747f99 276 t3.stop();
raizel_varun 0:ebdf4f859dca 277 }
sakthipriya 3:20647ff68b3c 278
raizel_varun 0:ebdf4f859dca 279
raizel_varun 0:ebdf4f859dca 280 }
sakthipriya 3:20647ff68b3c 281
sakthipriya 3:20647ff68b3c 282 printf("\n\r%d\r",t2.read_us());
sakthipriya 3:20647ff68b3c 283 t2.reset();
sakthipriya 6:1cdbda747f99 284 printf("\n\r%d\r",t3.read_us());
sakthipriya 6:1cdbda747f99 285 t3.reset();
sakthipriya 3:20647ff68b3c 286
raizel_varun 0:ebdf4f859dca 287 }
sakthipriya 3:20647ff68b3c 288
raizel_varun 0:ebdf4f859dca 289 char data_send[25],data_receive;
raizel_varun 0:ebdf4f859dca 290 void T_I2C_BAE(void const * args)
raizel_varun 0:ebdf4f859dca 291 {
raizel_varun 0:ebdf4f859dca 292 //char data_send,data_receive;
raizel_varun 0:ebdf4f859dca 293 while(1)
raizel_varun 0:ebdf4f859dca 294 {
raizel_varun 0:ebdf4f859dca 295 Thread::signal_wait(0x4);
sakthipriya 3:20647ff68b3c 296 // printf("\n\r entered thread");
sakthipriya 1:deb3c0fafa3a 297 if(i2c_status == 0 )
raizel_varun 0:ebdf4f859dca 298 {
sakthipriya 4:b33bc4267e0d 299 wait_ms(20);
raizel_varun 0:ebdf4f859dca 300 FUNC_I2C_WRITE2CDMS(&data_receive,1);
sakthipriya 3:20647ff68b3c 301
raizel_varun 0:ebdf4f859dca 302 /*i2c_data * i2c_data_r = i2c_data_receive.alloc();
raizel_varun 0:ebdf4f859dca 303 i2c_data_r->data = data_receive;
raizel_varun 0:ebdf4f859dca 304 i2c_data_r->length = 1;
raizel_varun 0:ebdf4f859dca 305 i2c_data_receive.put(i2c_data_r);*/
sakthipriya 3:20647ff68b3c 306 printf("\n\r Data received from CDMS is %c \n\r",data_receive);
raizel_varun 0:ebdf4f859dca 307 FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread
raizel_varun 0:ebdf4f859dca 308
raizel_varun 0:ebdf4f859dca 309 }
sakthipriya 1:deb3c0fafa3a 310 else if(i2c_status ==1)
raizel_varun 0:ebdf4f859dca 311 {
raizel_varun 0:ebdf4f859dca 312 osEvent evt = i2c_data_send.get();
raizel_varun 0:ebdf4f859dca 313 if (evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 314 {
raizel_varun 0:ebdf4f859dca 315 i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 316 strcpy(data_send,i2c_data_s -> data);
sakthipriya 3:20647ff68b3c 317 wait_ms(29);
raizel_varun 0:ebdf4f859dca 318 FUNC_I2C_WRITE2CDMS(data_send,25);
sakthipriya 3:20647ff68b3c 319 printf("\n\rData sent to CDMS is %s\n\r",data_send);
raizel_varun 0:ebdf4f859dca 320 i2c_data_send.free(i2c_data_s);
raizel_varun 0:ebdf4f859dca 321 i2c_status = 0;
sakthipriya 3:20647ff68b3c 322
raizel_varun 0:ebdf4f859dca 323
raizel_varun 0:ebdf4f859dca 324 }
raizel_varun 0:ebdf4f859dca 325 }
raizel_varun 0:ebdf4f859dca 326
raizel_varun 0:ebdf4f859dca 327 }
raizel_varun 0:ebdf4f859dca 328 }
raizel_varun 0:ebdf4f859dca 329
raizel_varun 0:ebdf4f859dca 330
raizel_varun 0:ebdf4f859dca 331
raizel_varun 0:ebdf4f859dca 332 void FUNC_I2C_INT()
raizel_varun 0:ebdf4f859dca 333 {
sakthipriya 3:20647ff68b3c 334
sakthipriya 3:20647ff68b3c 335 t2.start();
sakthipriya 6:1cdbda747f99 336 // t3.start();
raizel_varun 0:ebdf4f859dca 337 ptr_t_i2c->signal_set(0x4);
raizel_varun 0:ebdf4f859dca 338
raizel_varun 0:ebdf4f859dca 339
raizel_varun 0:ebdf4f859dca 340 }
raizel_varun 0:ebdf4f859dca 341
raizel_varun 0:ebdf4f859dca 342 void FUNC_I2C_IR2CDMS()
raizel_varun 0:ebdf4f859dca 343 {
sakthipriya 3:20647ff68b3c 344 data_ready=0;
raizel_varun 0:ebdf4f859dca 345 //char data[25];
raizel_varun 0:ebdf4f859dca 346 //strcpy(data,"sakthi ");
raizel_varun 0:ebdf4f859dca 347 //strcat(data,"priya");
raizel_varun 0:ebdf4f859dca 348 strcpy(hk_data,SensorQuantised.Voltage);
raizel_varun 0:ebdf4f859dca 349 strcat(hk_data,SensorQuantised.Current);
raizel_varun 0:ebdf4f859dca 350 strcat(hk_data,SensorQuantised.Temperature);
raizel_varun 0:ebdf4f859dca 351 strcat(hk_data,SensorQuantised.PanelTemperature);
raizel_varun 0:ebdf4f859dca 352 strcat(hk_data,SensorQuantised.AngularSpeed);
raizel_varun 0:ebdf4f859dca 353 strcat(hk_data,SensorQuantised.Bnewvalue);
raizel_varun 0:ebdf4f859dca 354 char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode};
raizel_varun 0:ebdf4f859dca 355
raizel_varun 0:ebdf4f859dca 356 /*strcat(hk_data,sfaultpoll);
raizel_varun 0:ebdf4f859dca 357 strcat(hk_data,sfaultir);
raizel_varun 0:ebdf4f859dca 358 strcat(hk_data,spower_mode);*/
raizel_varun 0:ebdf4f859dca 359 strcat(hk_data,fdata);
sakthipriya 3:20647ff68b3c 360 printf("\n\rhk data : %s\n\r",hk_data);
sakthipriya 3:20647ff68b3c 361
raizel_varun 0:ebdf4f859dca 362 //data = pcslave.getc();
raizel_varun 0:ebdf4f859dca 363 reset =0;
raizel_varun 0:ebdf4f859dca 364 i2c_status=1;
raizel_varun 0:ebdf4f859dca 365 i2c_data * i2c_data_s = i2c_data_send.alloc();
raizel_varun 0:ebdf4f859dca 366 strcpy(i2c_data_s->data,hk_data);
raizel_varun 0:ebdf4f859dca 367 i2c_data_s->length = 25;
raizel_varun 0:ebdf4f859dca 368 i2c_data_send.put(i2c_data_s);
raizel_varun 0:ebdf4f859dca 369 data_ready=1;
raizel_varun 0:ebdf4f859dca 370 //temp = i2c_status;
raizel_varun 0:ebdf4f859dca 371 }
sakthipriya 5:4199c0dfed33 372
raizel_varun 0:ebdf4f859dca 373
raizel_varun 0:ebdf4f859dca 374 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 375 //TELECOMMAND
raizel_varun 0:ebdf4f859dca 376 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 377 void FUNC_I2C_TC_EXECUTE (char command)
raizel_varun 0:ebdf4f859dca 378 { switch(command)
raizel_varun 0:ebdf4f859dca 379 { case '0' : printf("command 0 executed");
raizel_varun 0:ebdf4f859dca 380 break;
raizel_varun 0:ebdf4f859dca 381 case '1' : printf("command 1 executed");
raizel_varun 0:ebdf4f859dca 382 break;
raizel_varun 0:ebdf4f859dca 383 case '2' : printf("command 2 executed");
raizel_varun 0:ebdf4f859dca 384 break;
raizel_varun 0:ebdf4f859dca 385 case '3' : printf("command 3 executed");
raizel_varun 0:ebdf4f859dca 386 }
raizel_varun 0:ebdf4f859dca 387 }
raizel_varun 0:ebdf4f859dca 388
raizel_varun 0:ebdf4f859dca 389
raizel_varun 0:ebdf4f859dca 390 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 391 //SCHEDULER
raizel_varun 0:ebdf4f859dca 392 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 393 int beacon_sc = 3;
raizel_varun 0:ebdf4f859dca 394 uint16_t schedcount=1;
raizel_varun 0:ebdf4f859dca 395 void T_SC(void const *args)
raizel_varun 0:ebdf4f859dca 396 {
greenroshks 2:edd107ea4740 397 //DRDY=0;
sakthipriya 3:20647ff68b3c 398 printf("The value of i in scheduler is %d\n\r",schedcount);
raizel_varun 0:ebdf4f859dca 399 if(schedcount == 65532) //to reset the counter
raizel_varun 0:ebdf4f859dca 400 {
raizel_varun 0:ebdf4f859dca 401 schedcount = 0;
raizel_varun 0:ebdf4f859dca 402 }
raizel_varun 0:ebdf4f859dca 403
raizel_varun 0:ebdf4f859dca 404 if(schedcount%1==0)
raizel_varun 0:ebdf4f859dca 405 {
sakthipriya 3:20647ff68b3c 406 ptr_t_acs -> signal_set(0x1);
sakthipriya 5:4199c0dfed33 407 ptr_t_wdt -> signal_set(0x5);
raizel_varun 0:ebdf4f859dca 408 }
raizel_varun 0:ebdf4f859dca 409 if(schedcount%2==0)
raizel_varun 0:ebdf4f859dca 410 {
sakthipriya 3:20647ff68b3c 411 // ptr_t_fault -> signal_set(0x2);
sakthipriya 5:4199c0dfed33 412 ptr_t_hk_acq -> signal_set(0x2);
raizel_varun 0:ebdf4f859dca 413
raizel_varun 0:ebdf4f859dca 414 }
raizel_varun 0:ebdf4f859dca 415 if(schedcount%beacon_sc==0)
raizel_varun 0:ebdf4f859dca 416 {
raizel_varun 0:ebdf4f859dca 417 if(beac_flag==0)
raizel_varun 0:ebdf4f859dca 418 {
raizel_varun 0:ebdf4f859dca 419
sakthipriya 5:4199c0dfed33 420 ptr_t_bea -> signal_set(0x3);
raizel_varun 0:ebdf4f859dca 421 }
raizel_varun 0:ebdf4f859dca 422 }
raizel_varun 0:ebdf4f859dca 423 schedcount++;
raizel_varun 0:ebdf4f859dca 424 }
raizel_varun 0:ebdf4f859dca 425
raizel_varun 0:ebdf4f859dca 426 //---------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 427
raizel_varun 0:ebdf4f859dca 428 int main()
raizel_varun 0:ebdf4f859dca 429 {
raizel_varun 0:ebdf4f859dca 430 t1.start();
sakthipriya 7:603c2a89effc 431
greenroshks 2:edd107ea4740 432 //DRDY=0;
sakthipriya 5:4199c0dfed33 433 printf("\nahoy\n");
sakthipriya 5:4199c0dfed33 434 INIT_PNI();
sakthipriya 5:4199c0dfed33 435
raizel_varun 0:ebdf4f859dca 436 FUNC_ACS_MAG_INIT();
raizel_varun 0:ebdf4f859dca 437 FUNC_ACS_INIT_GYR();
sakthipriya 7:603c2a89effc 438 slave.address(0x20);
raizel_varun 0:ebdf4f859dca 439
raizel_varun 0:ebdf4f859dca 440 ptr_t_hk_acq = new Thread(T_HK_ACQ);
raizel_varun 0:ebdf4f859dca 441 ptr_t_acs = new Thread(T_ACS);
raizel_varun 0:ebdf4f859dca 442 //ptr_t_acs_write2flash = new Thread(T_ACS_WRITE2FLASH);
raizel_varun 0:ebdf4f859dca 443 ptr_t_bea = new Thread(T_BEA);
raizel_varun 0:ebdf4f859dca 444 //ptr_t_bea_telecommand = new Thread(T_BEA_TELECOMMAND);
raizel_varun 0:ebdf4f859dca 445 //ptr_t_fault = new Thread(T_FAULT);
raizel_varun 0:ebdf4f859dca 446 ptr_t_i2c = new Thread(T_I2C_BAE);
raizel_varun 0:ebdf4f859dca 447 //ptr_t_sc = new Thread(T_SC);
raizel_varun 0:ebdf4f859dca 448 ptr_t_wdt = new Thread(T_WDT);
raizel_varun 0:ebdf4f859dca 449
raizel_varun 0:ebdf4f859dca 450 interrupt_fault();
raizel_varun 0:ebdf4f859dca 451
raizel_varun 0:ebdf4f859dca 452 //ptr_t_fault -> set_priority(osPriorityRealtime);
raizel_varun 0:ebdf4f859dca 453 ptr_t_acs->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 454 ptr_t_i2c->set_priority(osPriorityHigh);
raizel_varun 0:ebdf4f859dca 455 ptr_t_hk_acq->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 456 //ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal);
raizel_varun 0:ebdf4f859dca 457 ptr_t_bea->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 458 //ptr_t_bea_telecommand->set_priority(osPriorityIdle);
raizel_varun 0:ebdf4f859dca 459 //ptr_t_sc->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 460 ptr_t_wdt -> set_priority(osPriorityIdle);
raizel_varun 0:ebdf4f859dca 461
raizel_varun 0:ebdf4f859dca 462
raizel_varun 0:ebdf4f859dca 463 // ----------------------------------------------------------------------------------------------
sakthipriya 3:20647ff68b3c 464 //printf("\n\r T_FAULT priority is %d",ptr_t_fault->get_priority());
sakthipriya 3:20647ff68b3c 465 printf("\n\r T_ACS priority is %d",ptr_t_acs->get_priority());
sakthipriya 3:20647ff68b3c 466 printf("\n\r T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
sakthipriya 3:20647ff68b3c 467 //printf("\n\r T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
sakthipriya 3:20647ff68b3c 468 printf("\n\r T_BEA priority is %d",ptr_t_bea->get_priority());
raizel_varun 0:ebdf4f859dca 469 RtosTimer t_sc_timer(T_SC,osTimerPeriodic);
raizel_varun 0:ebdf4f859dca 470 t_sc_timer.start(10000);
sakthipriya 3:20647ff68b3c 471 printf("\n\r%f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 472
raizel_varun 0:ebdf4f859dca 473
raizel_varun 0:ebdf4f859dca 474
sakthipriya 1:deb3c0fafa3a 475 //master_reset.fall(&FUNC_I2C_RESET);
raizel_varun 0:ebdf4f859dca 476 interrupt.rise(&FUNC_I2C_INT);
raizel_varun 0:ebdf4f859dca 477
raizel_varun 0:ebdf4f859dca 478 while(1)
raizel_varun 0:ebdf4f859dca 479 {
raizel_varun 0:ebdf4f859dca 480 //Thread::wait(10000);
raizel_varun 0:ebdf4f859dca 481 //ir2master();
greenroshks 2:edd107ea4740 482 //DRDY = 0;
sakthipriya 3:20647ff68b3c 483 Thread::wait(5000);
raizel_varun 0:ebdf4f859dca 484 }
raizel_varun 0:ebdf4f859dca 485
raizel_varun 0:ebdf4f859dca 486 }