sakthi priya amirtharaj / Mbed 2 deprecated BAE_acsbeahk

acs bea hk together

Dependencies:   mbed-rtos mbed

Fork of BAE_vr3honeycomb1_christmas by green rosh

main.cpp@3:98447c508ba1, 2014-12-26 (annotated)

Committer:
sakthipriya
Date:
Fri Dec 26 07:48:09 2014 +0000
Revision:
3:98447c508ba1
Parent:
2:edd107ea4740 
acs_bea_hk together

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
sakthipriya 3:98447c508ba1 16 int beacon_sc=3;
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 3:98447c508ba1 21 void F_HK_ACQ();
sakthipriya 3:98447c508ba1 22 void F_ACS();
sakthipriya 3:98447c508ba1 23 void F_BEA();
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
sakthipriya 3:98447c508ba1 29 Thread *ptr_t_abh;
raizel_varun 0:ebdf4f859dca 30
raizel_varun 0:ebdf4f859dca 31 Thread *ptr_t_i2c;
raizel_varun 0:ebdf4f859dca 32 Thread *ptr_t_wdt;
raizel_varun 0:ebdf4f859dca 33
raizel_varun 0:ebdf4f859dca 34
raizel_varun 0:ebdf4f859dca 35
raizel_varun 0:ebdf4f859dca 36 I2CSlave slave(D14,D15); //configuring pins p27, p28 as I2Cslave
raizel_varun 0:ebdf4f859dca 37
raizel_varun 0:ebdf4f859dca 38
raizel_varun 0:ebdf4f859dca 39 DigitalOut data_ready(D10);
raizel_varun 0:ebdf4f859dca 40 int i2c_status=0; //read/write mode for i2c 0 : write2slave, 1 : write2master
raizel_varun 0:ebdf4f859dca 41 int reset=0;
raizel_varun 0:ebdf4f859dca 42 int temp;
raizel_varun 0:ebdf4f859dca 43
raizel_varun 0:ebdf4f859dca 44 typedef struct
raizel_varun 0:ebdf4f859dca 45 {
raizel_varun 0:ebdf4f859dca 46 char data[25]; // To avoid dynamic memory allocation
raizel_varun 0:ebdf4f859dca 47 int length;
raizel_varun 0:ebdf4f859dca 48 }i2c_data;
raizel_varun 0:ebdf4f859dca 49
raizel_varun 0:ebdf4f859dca 50
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 //Mail<i2c_data,16> i2c_data_receive;
raizel_varun 0:ebdf4f859dca 56 Mail<i2c_data,16> i2c_data_send;
raizel_varun 0:ebdf4f859dca 57
raizel_varun 0:ebdf4f859dca 58 //--------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 3:98447c508ba1 59 //ACS BEA HK togethr
sakthipriya 3:98447c508ba1 60 //--------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 3:98447c508ba1 61 uint16_t tcount=1;
sakthipriya 3:98447c508ba1 62 float *mag_field;
sakthipriya 3:98447c508ba1 63 float *omega;
sakthipriya 3:98447c508ba1 64 float *moment;
sakthipriya 3:98447c508ba1 65
sakthipriya 3:98447c508ba1 66 void T_ACS_BEA_HK(void const *args)
sakthipriya 3:98447c508ba1 67 {
sakthipriya 3:98447c508ba1 68
sakthipriya 3:98447c508ba1 69 while(1)
sakthipriya 3:98447c508ba1 70 {
sakthipriya 3:98447c508ba1 71
sakthipriya 3:98447c508ba1 72 Thread::signal_wait(0x1);
sakthipriya 3:98447c508ba1 73 if(tcount == 65532) //to reset the counter
sakthipriya 3:98447c508ba1 74 {
sakthipriya 3:98447c508ba1 75 tcount = 0;
sakthipriya 3:98447c508ba1 76 }
sakthipriya 3:98447c508ba1 77 if(tcount%1==0)
sakthipriya 3:98447c508ba1 78 {
sakthipriya 3:98447c508ba1 79 F_ACS();
sakthipriya 3:98447c508ba1 80
sakthipriya 3:98447c508ba1 81 }
sakthipriya 3:98447c508ba1 82 if(tcount%3==0)
sakthipriya 3:98447c508ba1 83 {
sakthipriya 3:98447c508ba1 84 F_BEA();
sakthipriya 3:98447c508ba1 85 }
sakthipriya 3:98447c508ba1 86 if(tcount%2==0)
sakthipriya 3:98447c508ba1 87 {
sakthipriya 3:98447c508ba1 88 F_HK_ACQ();
sakthipriya 3:98447c508ba1 89 }
sakthipriya 3:98447c508ba1 90 tcount++;
sakthipriya 3:98447c508ba1 91 }
sakthipriya 3:98447c508ba1 92 }
sakthipriya 3:98447c508ba1 93
sakthipriya 3:98447c508ba1 94 //--------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 95 //TASK 2 : HK
raizel_varun 0:ebdf4f859dca 96 //--------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 97
raizel_varun 0:ebdf4f859dca 98 char hk_data[25];
raizel_varun 0:ebdf4f859dca 99 extern SensorDataQuantised SensorQuantised;
sakthipriya 3:98447c508ba1 100 void F_HK_ACQ()
raizel_varun 0:ebdf4f859dca 101 {
sakthipriya 3:98447c508ba1 102
greenroshks 2:edd107ea4740 103 SensorQuantised.power_mode='3';
raizel_varun 0:ebdf4f859dca 104 printf("\nTHIS IS HK %f\n",t1.read());
raizel_varun 0:ebdf4f859dca 105 t.start();
raizel_varun 0:ebdf4f859dca 106 FUNC_HK_FAULTS();
raizel_varun 0:ebdf4f859dca 107 FUNC_HK_POWER(SensorQuantised.power_mode); //The power mode algorithm is yet to be obtained
raizel_varun 0:ebdf4f859dca 108 FUNC_HK_MAIN(); //Collecting HK data
raizel_varun 0:ebdf4f859dca 109 //thread_2.signal_set(0x4);
raizel_varun 0:ebdf4f859dca 110 //FUNC_I2C_SLAVE_MAIN(25);
raizel_varun 0:ebdf4f859dca 111 FUNC_I2C_IR2CDMS();
raizel_varun 0:ebdf4f859dca 112 t.stop();
raizel_varun 0:ebdf4f859dca 113 printf("The time to execute hk_acq is %f seconds\n",t.read());
raizel_varun 0:ebdf4f859dca 114 t.reset();
sakthipriya 3:98447c508ba1 115
raizel_varun 0:ebdf4f859dca 116 }
raizel_varun 0:ebdf4f859dca 117
raizel_varun 0:ebdf4f859dca 118 //---------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 119 //TASK 1 : ACS
raizel_varun 0:ebdf4f859dca 120 //---------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 121
raizel_varun 0:ebdf4f859dca 122 int acs_pflag = 1;
sakthipriya 3:98447c508ba1 123 void F_ACS()
raizel_varun 0:ebdf4f859dca 124 {
sakthipriya 3:98447c508ba1 125
raizel_varun 0:ebdf4f859dca 126 printf("\nTHIS IS ACS %f\n",t1.read());
raizel_varun 0:ebdf4f859dca 127 t.start();
raizel_varun 0:ebdf4f859dca 128 mag_field= FUNC_ACS_MAG_EXEC(); //actual execution
raizel_varun 0:ebdf4f859dca 129 omega = FUNC_ACS_EXEC_GYR();
greenroshks 2:edd107ea4740 130 printf("\n gyr 1 value %f",omega[0]);
raizel_varun 0:ebdf4f859dca 131
raizel_varun 0:ebdf4f859dca 132
raizel_varun 0:ebdf4f859dca 133 if(acs_pflag == 1)
raizel_varun 0:ebdf4f859dca 134 {
raizel_varun 0:ebdf4f859dca 135 moment = FUNC_ACS_CNTRLALGO(mag_field,omega);
raizel_varun 0:ebdf4f859dca 136 FUNC_ACS_GENPWM(moment);
raizel_varun 0:ebdf4f859dca 137 }
raizel_varun 0:ebdf4f859dca 138
raizel_varun 0:ebdf4f859dca 139 t.reset();
sakthipriya 3:98447c508ba1 140
raizel_varun 0:ebdf4f859dca 141 }
raizel_varun 0:ebdf4f859dca 142 /*
raizel_varun 0:ebdf4f859dca 143 void T_ACS_WRITE2FLASH(void const *args)
raizel_varun 0:ebdf4f859dca 144 {
raizel_varun 0:ebdf4f859dca 145 while(1)
raizel_varun 0:ebdf4f859dca 146 {
raizel_varun 0:ebdf4f859dca 147 //printf("Writing in the flash\n");
raizel_varun 0:ebdf4f859dca 148 osEvent evt = q_acs.get();
raizel_varun 0:ebdf4f859dca 149 if(evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 150 {
raizel_varun 0:ebdf4f859dca 151 sensor_data *ptr = (sensor_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 152 FUNC_ACS_WRITE2FLASH(ptr);
raizel_varun 0:ebdf4f859dca 153 q_acs.free(ptr);
raizel_varun 0:ebdf4f859dca 154 }
raizel_varun 0:ebdf4f859dca 155 printf("Writing acs data in the flash\n");
raizel_varun 0:ebdf4f859dca 156 }
raizel_varun 0:ebdf4f859dca 157 }
raizel_varun 0:ebdf4f859dca 158
raizel_varun 0:ebdf4f859dca 159 */
raizel_varun 0:ebdf4f859dca 160 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 161
raizel_varun 0:ebdf4f859dca 162 int beac_flag=0; //To receive telecommand from ground.
raizel_varun 0:ebdf4f859dca 163
raizel_varun 0:ebdf4f859dca 164
raizel_varun 0:ebdf4f859dca 165 /*void T_BEA_TELECOMMAND(void const *args)
raizel_varun 0:ebdf4f859dca 166 {
raizel_varun 0:ebdf4f859dca 167 char c = pc.getc();
raizel_varun 0:ebdf4f859dca 168 if(c=='a')
raizel_varun 0:ebdf4f859dca 169 {
raizel_varun 0:ebdf4f859dca 170 printf("Telecommand detected\n");
raizel_varun 0:ebdf4f859dca 171 beac_flag=1;
raizel_varun 0:ebdf4f859dca 172 }
raizel_varun 0:ebdf4f859dca 173 }
raizel_varun 0:ebdf4f859dca 174 */
raizel_varun 0:ebdf4f859dca 175
sakthipriya 3:98447c508ba1 176 void F_BEA()
raizel_varun 0:ebdf4f859dca 177 {
raizel_varun 0:ebdf4f859dca 178 printf("\nTHIS IS BEACON %f\n",t1.read());
raizel_varun 0:ebdf4f859dca 179 t.start();
raizel_varun 0:ebdf4f859dca 180
raizel_varun 0:ebdf4f859dca 181
raizel_varun 0:ebdf4f859dca 182
raizel_varun 0:ebdf4f859dca 183 FUNC_BEA();
raizel_varun 0:ebdf4f859dca 184
raizel_varun 0:ebdf4f859dca 185
raizel_varun 0:ebdf4f859dca 186 if(beac_flag==1)
raizel_varun 0:ebdf4f859dca 187 {
raizel_varun 0:ebdf4f859dca 188 Thread::wait(600000);
raizel_varun 0:ebdf4f859dca 189 beac_flag = 0;
raizel_varun 0:ebdf4f859dca 190 }
raizel_varun 0:ebdf4f859dca 191
raizel_varun 0:ebdf4f859dca 192 printf("The time to execute beacon thread is %f seconds\n",t.read());
raizel_varun 0:ebdf4f859dca 193 t.reset();
raizel_varun 0:ebdf4f859dca 194 }
raizel_varun 0:ebdf4f859dca 195
raizel_varun 0:ebdf4f859dca 196 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 197 //TASK 4 : FAULT MANAGEMENT
raizel_varun 0:ebdf4f859dca 198 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 199 //Dummy fault rectifier functions
raizel_varun 0:ebdf4f859dca 200
raizel_varun 0:ebdf4f859dca 201 /*Mail<int,16> faults;
raizel_varun 0:ebdf4f859dca 202
raizel_varun 0:ebdf4f859dca 203 void FUNC_FAULT_FUNCT1()
raizel_varun 0:ebdf4f859dca 204 {
raizel_varun 0:ebdf4f859dca 205 printf("\nFault 1 detected... \n");
raizel_varun 0:ebdf4f859dca 206 }
raizel_varun 0:ebdf4f859dca 207
raizel_varun 0:ebdf4f859dca 208 void FUNC_FAULT_FUNCT2()
raizel_varun 0:ebdf4f859dca 209 {
raizel_varun 0:ebdf4f859dca 210 printf("\nFault 2 detected...\n");
raizel_varun 0:ebdf4f859dca 211 }
raizel_varun 0:ebdf4f859dca 212
raizel_varun 0:ebdf4f859dca 213 void T_FAULT(void const *args)
raizel_varun 0:ebdf4f859dca 214 {
raizel_varun 0:ebdf4f859dca 215 while(1)
raizel_varun 0:ebdf4f859dca 216 {
raizel_varun 0:ebdf4f859dca 217 osEvent evt = faults.get();
raizel_varun 0:ebdf4f859dca 218 if(evt.status==osEventMail)
raizel_varun 0:ebdf4f859dca 219 {
raizel_varun 0:ebdf4f859dca 220 int *fault_id= (int *)evt.value.p;
raizel_varun 0:ebdf4f859dca 221 switch(*fault_id)
raizel_varun 0:ebdf4f859dca 222 {
raizel_varun 0:ebdf4f859dca 223 case 1: FUNC_FAULT_FUNCT1();
raizel_varun 0:ebdf4f859dca 224 break;
raizel_varun 0:ebdf4f859dca 225 case 2: FUNC_FAULT_FUNCT2();
raizel_varun 0:ebdf4f859dca 226 break;
raizel_varun 0:ebdf4f859dca 227 }
raizel_varun 0:ebdf4f859dca 228 faults.free(fault_id);
raizel_varun 0:ebdf4f859dca 229 }
raizel_varun 0:ebdf4f859dca 230 }
raizel_varun 0:ebdf4f859dca 231 }*/
raizel_varun 0:ebdf4f859dca 232
raizel_varun 0:ebdf4f859dca 233 extern SensorDataQuantised SensorQuantised;
raizel_varun 0:ebdf4f859dca 234
raizel_varun 0:ebdf4f859dca 235
raizel_varun 0:ebdf4f859dca 236 /*void T_FAULT(void const *args)
raizel_varun 0:ebdf4f859dca 237 {
raizel_varun 0:ebdf4f859dca 238 Sensor.power_mode='0';
raizel_varun 0:ebdf4f859dca 239 while(1)
raizel_varun 0:ebdf4f859dca 240 {
raizel_varun 0:ebdf4f859dca 241 Thread :: signal_wait(0x2);
raizel_varun 0:ebdf4f859dca 242 FAULTS();
raizel_varun 0:ebdf4f859dca 243 POWER(Sensor.power_mode);
raizel_varun 0:ebdf4f859dca 244 //Sensor.power_mode++; //testing ... should be removed
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 -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/
raizel_varun 0:ebdf4f859dca 250 DigitalOut trigger(PIN63); // has to be changed
raizel_varun 0:ebdf4f859dca 251 void T_WDT(void const * args)
raizel_varun 0:ebdf4f859dca 252 {
raizel_varun 0:ebdf4f859dca 253 trigger = 1;
raizel_varun 0:ebdf4f859dca 254 while(true)
raizel_varun 0:ebdf4f859dca 255 {
raizel_varun 0:ebdf4f859dca 256 Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized
raizel_varun 0:ebdf4f859dca 257 printf("\nEntered WD\n");
raizel_varun 0:ebdf4f859dca 258 trigger = !trigger;
raizel_varun 0:ebdf4f859dca 259 }
raizel_varun 0:ebdf4f859dca 260 }
raizel_varun 0:ebdf4f859dca 261
raizel_varun 0:ebdf4f859dca 262 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 263 //TASK 5 : i2c data
raizel_varun 0:ebdf4f859dca 264 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 265
raizel_varun 0:ebdf4f859dca 266
raizel_varun 0:ebdf4f859dca 267
raizel_varun 0:ebdf4f859dca 268
raizel_varun 0:ebdf4f859dca 269
raizel_varun 0:ebdf4f859dca 270
raizel_varun 0:ebdf4f859dca 271 void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
raizel_varun 0:ebdf4f859dca 272 {
raizel_varun 0:ebdf4f859dca 273 int slave_status = 1;
raizel_varun 0:ebdf4f859dca 274
sakthipriya 1:deb3c0fafa3a 275 while(slave_status && interrupt == 1)
raizel_varun 0:ebdf4f859dca 276 {
raizel_varun 0:ebdf4f859dca 277 slave.address(0x20);
raizel_varun 0:ebdf4f859dca 278 if(slave.receive()==1)
raizel_varun 0:ebdf4f859dca 279 {
raizel_varun 0:ebdf4f859dca 280 slave_status=slave.write(data,length);
raizel_varun 0:ebdf4f859dca 281
raizel_varun 0:ebdf4f859dca 282
raizel_varun 0:ebdf4f859dca 283 }
raizel_varun 0:ebdf4f859dca 284 else if(slave.receive()==3 || slave.receive()==2)
raizel_varun 0:ebdf4f859dca 285 {
raizel_varun 0:ebdf4f859dca 286 slave_status=slave.read(data,length);
raizel_varun 0:ebdf4f859dca 287 }
raizel_varun 0:ebdf4f859dca 288
raizel_varun 0:ebdf4f859dca 289 }
raizel_varun 0:ebdf4f859dca 290
raizel_varun 0:ebdf4f859dca 291 printf("\ndone\n\r");
raizel_varun 0:ebdf4f859dca 292
raizel_varun 0:ebdf4f859dca 293 }
raizel_varun 0:ebdf4f859dca 294 char data_send[25],data_receive;
raizel_varun 0:ebdf4f859dca 295 void T_I2C_BAE(void const * args)
raizel_varun 0:ebdf4f859dca 296 {
raizel_varun 0:ebdf4f859dca 297 //char data_send,data_receive;
raizel_varun 0:ebdf4f859dca 298 while(1)
raizel_varun 0:ebdf4f859dca 299 {
raizel_varun 0:ebdf4f859dca 300 Thread::signal_wait(0x4);
raizel_varun 0:ebdf4f859dca 301 //T_I2C_BAE();
raizel_varun 0:ebdf4f859dca 302 //i2c_status = temp;
raizel_varun 0:ebdf4f859dca 303 //wait(0.5);
raizel_varun 0:ebdf4f859dca 304 printf("\n entered thread %d\n\r",i2c_status);
sakthipriya 1:deb3c0fafa3a 305 if(i2c_status == 0 )
raizel_varun 0:ebdf4f859dca 306 {
raizel_varun 0:ebdf4f859dca 307
raizel_varun 0:ebdf4f859dca 308 FUNC_I2C_WRITE2CDMS(&data_receive,1);
raizel_varun 0:ebdf4f859dca 309 printf("\n received\n");
raizel_varun 0:ebdf4f859dca 310 /*i2c_data * i2c_data_r = i2c_data_receive.alloc();
raizel_varun 0:ebdf4f859dca 311 i2c_data_r->data = data_receive;
raizel_varun 0:ebdf4f859dca 312 i2c_data_r->length = 1;
raizel_varun 0:ebdf4f859dca 313 i2c_data_receive.put(i2c_data_r);*/
raizel_varun 0:ebdf4f859dca 314 printf("\n Data received from CDMS is %c \n\r",data_receive);
raizel_varun 0:ebdf4f859dca 315 FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread
raizel_varun 0:ebdf4f859dca 316
raizel_varun 0:ebdf4f859dca 317 }
sakthipriya 1:deb3c0fafa3a 318 else if(i2c_status ==1)
raizel_varun 0:ebdf4f859dca 319 {
raizel_varun 0:ebdf4f859dca 320 osEvent evt = i2c_data_send.get();
raizel_varun 0:ebdf4f859dca 321 if (evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 322 {
raizel_varun 0:ebdf4f859dca 323 i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 324 strcpy(data_send,i2c_data_s -> data);
raizel_varun 0:ebdf4f859dca 325 FUNC_I2C_WRITE2CDMS(data_send,25);
raizel_varun 0:ebdf4f859dca 326 printf("\nData sent to CDMS is %s\n\r",data_send);
raizel_varun 0:ebdf4f859dca 327 i2c_data_send.free(i2c_data_s);
raizel_varun 0:ebdf4f859dca 328 i2c_status = 0;
raizel_varun 0:ebdf4f859dca 329 //temp = i2c_status;
raizel_varun 0:ebdf4f859dca 330
raizel_varun 0:ebdf4f859dca 331 }
raizel_varun 0:ebdf4f859dca 332 }
raizel_varun 0:ebdf4f859dca 333
raizel_varun 0:ebdf4f859dca 334 }
raizel_varun 0:ebdf4f859dca 335 }
raizel_varun 0:ebdf4f859dca 336
raizel_varun 0:ebdf4f859dca 337
raizel_varun 0:ebdf4f859dca 338
raizel_varun 0:ebdf4f859dca 339 void FUNC_I2C_INT()
raizel_varun 0:ebdf4f859dca 340 {
raizel_varun 0:ebdf4f859dca 341 reset = 0;
raizel_varun 0:ebdf4f859dca 342 ptr_t_i2c->signal_set(0x4);
raizel_varun 0:ebdf4f859dca 343
raizel_varun 0:ebdf4f859dca 344
raizel_varun 0:ebdf4f859dca 345 }
raizel_varun 0:ebdf4f859dca 346
sakthipriya 1:deb3c0fafa3a 347
raizel_varun 0:ebdf4f859dca 348
raizel_varun 0:ebdf4f859dca 349
raizel_varun 0:ebdf4f859dca 350
raizel_varun 0:ebdf4f859dca 351 void FUNC_I2C_IR2CDMS()
raizel_varun 0:ebdf4f859dca 352 {
raizel_varun 0:ebdf4f859dca 353
raizel_varun 0:ebdf4f859dca 354 //char data[25];
raizel_varun 0:ebdf4f859dca 355 //strcpy(data,"sakthi ");
raizel_varun 0:ebdf4f859dca 356 //strcat(data,"priya");
raizel_varun 0:ebdf4f859dca 357 strcpy(hk_data,SensorQuantised.Voltage);
raizel_varun 0:ebdf4f859dca 358 strcat(hk_data,SensorQuantised.Current);
raizel_varun 0:ebdf4f859dca 359 strcat(hk_data,SensorQuantised.Temperature);
raizel_varun 0:ebdf4f859dca 360 strcat(hk_data,SensorQuantised.PanelTemperature);
raizel_varun 0:ebdf4f859dca 361 strcat(hk_data,SensorQuantised.AngularSpeed);
raizel_varun 0:ebdf4f859dca 362 strcat(hk_data,SensorQuantised.Bnewvalue);
raizel_varun 0:ebdf4f859dca 363 char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode};
raizel_varun 0:ebdf4f859dca 364
raizel_varun 0:ebdf4f859dca 365 /*strcat(hk_data,sfaultpoll);
raizel_varun 0:ebdf4f859dca 366 strcat(hk_data,sfaultir);
raizel_varun 0:ebdf4f859dca 367 strcat(hk_data,spower_mode);*/
raizel_varun 0:ebdf4f859dca 368 strcat(hk_data,fdata);
raizel_varun 0:ebdf4f859dca 369 printf("\nhk data : %s\n",hk_data);
raizel_varun 0:ebdf4f859dca 370 data_ready=0;
raizel_varun 0:ebdf4f859dca 371 //data = pcslave.getc();
raizel_varun 0:ebdf4f859dca 372 reset =0;
raizel_varun 0:ebdf4f859dca 373 i2c_status=1;
raizel_varun 0:ebdf4f859dca 374 i2c_data * i2c_data_s = i2c_data_send.alloc();
raizel_varun 0:ebdf4f859dca 375 strcpy(i2c_data_s->data,hk_data);
raizel_varun 0:ebdf4f859dca 376 i2c_data_s->length = 25;
raizel_varun 0:ebdf4f859dca 377 i2c_data_send.put(i2c_data_s);
raizel_varun 0:ebdf4f859dca 378 data_ready=1;
raizel_varun 0:ebdf4f859dca 379 //temp = i2c_status;
raizel_varun 0:ebdf4f859dca 380 }
raizel_varun 0:ebdf4f859dca 381
raizel_varun 0:ebdf4f859dca 382
raizel_varun 0:ebdf4f859dca 383 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 384 //TELECOMMAND
raizel_varun 0:ebdf4f859dca 385 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 386 void FUNC_I2C_TC_EXECUTE (char command)
raizel_varun 0:ebdf4f859dca 387 { switch(command)
raizel_varun 0:ebdf4f859dca 388 { case '0' : printf("command 0 executed");
raizel_varun 0:ebdf4f859dca 389 break;
raizel_varun 0:ebdf4f859dca 390 case '1' : printf("command 1 executed");
raizel_varun 0:ebdf4f859dca 391 break;
raizel_varun 0:ebdf4f859dca 392 case '2' : printf("command 2 executed");
raizel_varun 0:ebdf4f859dca 393 break;
raizel_varun 0:ebdf4f859dca 394 case '3' : printf("command 3 executed");
raizel_varun 0:ebdf4f859dca 395 }
raizel_varun 0:ebdf4f859dca 396 }
raizel_varun 0:ebdf4f859dca 397
raizel_varun 0:ebdf4f859dca 398
raizel_varun 0:ebdf4f859dca 399 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 400 //SCHEDULER
raizel_varun 0:ebdf4f859dca 401 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 3:98447c508ba1 402
raizel_varun 0:ebdf4f859dca 403 void T_SC(void const *args)
raizel_varun 0:ebdf4f859dca 404 {
sakthipriya 3:98447c508ba1 405 ptr_t_abh -> signal_set(0x1);
raizel_varun 0:ebdf4f859dca 406 ptr_t_wdt -> signal_set(0x5);
sakthipriya 3:98447c508ba1 407
raizel_varun 0:ebdf4f859dca 408 }
raizel_varun 0:ebdf4f859dca 409
raizel_varun 0:ebdf4f859dca 410 //---------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 411
raizel_varun 0:ebdf4f859dca 412 int main()
raizel_varun 0:ebdf4f859dca 413 {
raizel_varun 0:ebdf4f859dca 414 t1.start();
greenroshks 2:edd107ea4740 415 //DRDY=0;
raizel_varun 0:ebdf4f859dca 416 FUNC_ACS_MAG_INIT();
raizel_varun 0:ebdf4f859dca 417 FUNC_ACS_INIT_GYR();
raizel_varun 0:ebdf4f859dca 418
sakthipriya 3:98447c508ba1 419 ptr_t_abh = new Thread(T_ACS_BEA_HK);
raizel_varun 0:ebdf4f859dca 420 ptr_t_i2c = new Thread(T_I2C_BAE);
raizel_varun 0:ebdf4f859dca 421 ptr_t_wdt = new Thread(T_WDT);
raizel_varun 0:ebdf4f859dca 422
raizel_varun 0:ebdf4f859dca 423 interrupt_fault();
raizel_varun 0:ebdf4f859dca 424
raizel_varun 0:ebdf4f859dca 425 //ptr_t_fault -> set_priority(osPriorityRealtime);
sakthipriya 3:98447c508ba1 426 ptr_t_abh->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 427 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 3:98447c508ba1 428 //ptr_t_hk_acq->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 429 //ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal);
sakthipriya 3:98447c508ba1 430 //ptr_t_bea->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 431 //ptr_t_bea_telecommand->set_priority(osPriorityIdle);
raizel_varun 0:ebdf4f859dca 432 //ptr_t_sc->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 433 ptr_t_wdt -> set_priority(osPriorityIdle);
raizel_varun 0:ebdf4f859dca 434
raizel_varun 0:ebdf4f859dca 435
raizel_varun 0:ebdf4f859dca 436 // ----------------------------------------------------------------------------------------------
sakthipriya 3:98447c508ba1 437 printf("\n T_WDT priority is %d",ptr_t_wdt->get_priority());
sakthipriya 3:98447c508ba1 438 printf("\n T_T_ACS_BEA_HK priority is %d",ptr_t_abh->get_priority());
sakthipriya 3:98447c508ba1 439 //printf("\n T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
raizel_varun 0:ebdf4f859dca 440 //printf("\n T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
sakthipriya 3:98447c508ba1 441 printf("\n T_I2C priority is %d",ptr_t_i2c->get_priority());
raizel_varun 0:ebdf4f859dca 442 RtosTimer t_sc_timer(T_SC,osTimerPeriodic);
raizel_varun 0:ebdf4f859dca 443 t_sc_timer.start(10000);
raizel_varun 0:ebdf4f859dca 444 printf("\n%f\n",t1.read());
raizel_varun 0:ebdf4f859dca 445
raizel_varun 0:ebdf4f859dca 446
raizel_varun 0:ebdf4f859dca 447
sakthipriya 1:deb3c0fafa3a 448 //master_reset.fall(&FUNC_I2C_RESET);
raizel_varun 0:ebdf4f859dca 449 interrupt.rise(&FUNC_I2C_INT);
raizel_varun 0:ebdf4f859dca 450
raizel_varun 0:ebdf4f859dca 451 while(1)
raizel_varun 0:ebdf4f859dca 452 {
sakthipriya 3:98447c508ba1 453 ;
sakthipriya 3:98447c508ba1 454
raizel_varun 0:ebdf4f859dca 455 }
raizel_varun 0:ebdf4f859dca 456
raizel_varun 0:ebdf4f859dca 457 }