sakthi priya amirtharaj / Mbed 2 deprecated BAE_hw_test1_1

mnm gyro works -b4 implementing ctrl algo for mnm

Dependencies:   mbed-rtos mbed

Fork of BAE_b4hw_test by sakthi priya amirtharaj

main.cpp@8:939b37cdcb92, 2015-03-01 (annotated)

Committer:
sakthipriya
Date:
Sun Mar 01 05:30:12 2015 +0000
Revision:
8:939b37cdcb92
Parent:
7:603c2a89effc 
mnm gyro works -b4 implementing ctrl algo for mnm

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
sakthipriya 8:939b37cdcb92 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;
raizel_varun 0:ebdf4f859dca 99 float *moment;
sakthipriya 5:4199c0dfed33 100 float *mnm_data;
raizel_varun 0:ebdf4f859dca 101 while(1)
raizel_varun 0:ebdf4f859dca 102 {
raizel_varun 0:ebdf4f859dca 103 Thread::signal_wait(0x1);
sakthipriya 3:20647ff68b3c 104 printf("\n\rTHIS IS ACS %f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 105 t.start();
raizel_varun 0:ebdf4f859dca 106 mag_field= FUNC_ACS_MAG_EXEC(); //actual execution
raizel_varun 0:ebdf4f859dca 107 omega = FUNC_ACS_EXEC_GYR();
sakthipriya 3:20647ff68b3c 108 printf("\n\r gyr 1 value %f",omega[0]);
sakthipriya 5:4199c0dfed33 109 mnm_data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
sakthipriya 5:4199c0dfed33 110 printf("\n\rmnm gyro values\n"); //printing the angular velocity and magnetic field values
sakthipriya 5:4199c0dfed33 111 for(int i=0; i<3; i++)
sakthipriya 5:4199c0dfed33 112 {
sakthipriya 5:4199c0dfed33 113 printf("%f\t",mnm_data[i]);
sakthipriya 5:4199c0dfed33 114 }
sakthipriya 5:4199c0dfed33 115 printf("\n\r mnm mag values\n");
sakthipriya 5:4199c0dfed33 116 for(int i=3; i<6; i++) {
sakthipriya 5:4199c0dfed33 117 printf("%f\t",mnm_data[i]);
sakthipriya 5:4199c0dfed33 118 }
sakthipriya 6:1cdbda747f99 119 for(int i = 0 ; i<3;i++)
sakthipriya 6:1cdbda747f99 120 {
sakthipriya 6:1cdbda747f99 121 omega[i] = mnm_data[i];
sakthipriya 6:1cdbda747f99 122 }
sakthipriya 6:1cdbda747f99 123 for( int i = 3;i<6;i++)
sakthipriya 6:1cdbda747f99 124 {
sakthipriya 6:1cdbda747f99 125 mag_field[i-3] = mnm_data[i];
sakthipriya 6:1cdbda747f99 126 }
raizel_varun 0:ebdf4f859dca 127 if(acs_pflag == 1)
raizel_varun 0:ebdf4f859dca 128 {
raizel_varun 0:ebdf4f859dca 129 moment = FUNC_ACS_CNTRLALGO(mag_field,omega);
raizel_varun 0:ebdf4f859dca 130 FUNC_ACS_GENPWM(moment);
raizel_varun 0:ebdf4f859dca 131 }
raizel_varun 0:ebdf4f859dca 132
raizel_varun 0:ebdf4f859dca 133 t.reset();
raizel_varun 0:ebdf4f859dca 134 }
raizel_varun 0:ebdf4f859dca 135 }
raizel_varun 0:ebdf4f859dca 136 /*
raizel_varun 0:ebdf4f859dca 137 void T_ACS_WRITE2FLASH(void const *args)
raizel_varun 0:ebdf4f859dca 138 {
raizel_varun 0:ebdf4f859dca 139 while(1)
raizel_varun 0:ebdf4f859dca 140 {
sakthipriya 3:20647ff68b3c 141 //printf("Writing in the flash\n\r");
raizel_varun 0:ebdf4f859dca 142 osEvent evt = q_acs.get();
raizel_varun 0:ebdf4f859dca 143 if(evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 144 {
raizel_varun 0:ebdf4f859dca 145 sensor_data *ptr = (sensor_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 146 FUNC_ACS_WRITE2FLASH(ptr);
raizel_varun 0:ebdf4f859dca 147 q_acs.free(ptr);
raizel_varun 0:ebdf4f859dca 148 }
sakthipriya 3:20647ff68b3c 149 printf("Writing acs data in the flash\n\r");
raizel_varun 0:ebdf4f859dca 150 }
raizel_varun 0:ebdf4f859dca 151 }
raizel_varun 0:ebdf4f859dca 152
raizel_varun 0:ebdf4f859dca 153 */
raizel_varun 0:ebdf4f859dca 154 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 155
raizel_varun 0:ebdf4f859dca 156 int beac_flag=0; //To receive telecommand from ground.
raizel_varun 0:ebdf4f859dca 157
raizel_varun 0:ebdf4f859dca 158
raizel_varun 0:ebdf4f859dca 159 /*void T_BEA_TELECOMMAND(void const *args)
raizel_varun 0:ebdf4f859dca 160 {
raizel_varun 0:ebdf4f859dca 161 char c = pc.getc();
raizel_varun 0:ebdf4f859dca 162 if(c=='a')
raizel_varun 0:ebdf4f859dca 163 {
sakthipriya 3:20647ff68b3c 164 printf("Telecommand detected\n\r");
raizel_varun 0:ebdf4f859dca 165 beac_flag=1;
raizel_varun 0:ebdf4f859dca 166 }
raizel_varun 0:ebdf4f859dca 167 }
raizel_varun 0:ebdf4f859dca 168 */
raizel_varun 0:ebdf4f859dca 169
raizel_varun 0:ebdf4f859dca 170 void T_BEA(void const *args)
raizel_varun 0:ebdf4f859dca 171 {
raizel_varun 0:ebdf4f859dca 172
raizel_varun 0:ebdf4f859dca 173 while(1)
raizel_varun 0:ebdf4f859dca 174 {
raizel_varun 0:ebdf4f859dca 175 Thread::signal_wait(0x3);
sakthipriya 3:20647ff68b3c 176 printf("\n\rTHIS IS BEACON %f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 177 t.start();
raizel_varun 0:ebdf4f859dca 178
raizel_varun 0:ebdf4f859dca 179
raizel_varun 0:ebdf4f859dca 180
raizel_varun 0:ebdf4f859dca 181 FUNC_BEA();
raizel_varun 0:ebdf4f859dca 182
raizel_varun 0:ebdf4f859dca 183
raizel_varun 0:ebdf4f859dca 184 if(beac_flag==1)
raizel_varun 0:ebdf4f859dca 185 {
raizel_varun 0:ebdf4f859dca 186 Thread::wait(600000);
raizel_varun 0:ebdf4f859dca 187 beac_flag = 0;
raizel_varun 0:ebdf4f859dca 188 }
raizel_varun 0:ebdf4f859dca 189
sakthipriya 3:20647ff68b3c 190 printf("The time to execute beacon thread is %f seconds\n\r",t.read());
raizel_varun 0:ebdf4f859dca 191 t.reset();
raizel_varun 0:ebdf4f859dca 192 }
raizel_varun 0:ebdf4f859dca 193 }
raizel_varun 0:ebdf4f859dca 194
raizel_varun 0:ebdf4f859dca 195 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 196 //TASK 4 : FAULT MANAGEMENT
raizel_varun 0:ebdf4f859dca 197 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 198 //Dummy fault rectifier functions
raizel_varun 0:ebdf4f859dca 199
raizel_varun 0:ebdf4f859dca 200 extern SensorDataQuantised SensorQuantised;
raizel_varun 0:ebdf4f859dca 201
raizel_varun 0:ebdf4f859dca 202
raizel_varun 0:ebdf4f859dca 203 /*void T_FAULT(void const *args)
raizel_varun 0:ebdf4f859dca 204 {
raizel_varun 0:ebdf4f859dca 205 Sensor.power_mode='0';
raizel_varun 0:ebdf4f859dca 206 while(1)
raizel_varun 0:ebdf4f859dca 207 {
raizel_varun 0:ebdf4f859dca 208 Thread :: signal_wait(0x2);
raizel_varun 0:ebdf4f859dca 209 FAULTS();
raizel_varun 0:ebdf4f859dca 210 POWER(Sensor.power_mode);
raizel_varun 0:ebdf4f859dca 211 //Sensor.power_mode++; //testing ... should be removed
raizel_varun 0:ebdf4f859dca 212 }
raizel_varun 0:ebdf4f859dca 213 }
raizel_varun 0:ebdf4f859dca 214 */
raizel_varun 0:ebdf4f859dca 215 /*-------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 216 -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/
raizel_varun 0:ebdf4f859dca 217 DigitalOut trigger(PIN63); // has to be changed
raizel_varun 0:ebdf4f859dca 218 void T_WDT(void const * args)
raizel_varun 0:ebdf4f859dca 219 {
raizel_varun 0:ebdf4f859dca 220 trigger = 1;
raizel_varun 0:ebdf4f859dca 221 while(true)
raizel_varun 0:ebdf4f859dca 222 {
raizel_varun 0:ebdf4f859dca 223 Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized
sakthipriya 3:20647ff68b3c 224 printf("\n\rEntered WD\n\r");
raizel_varun 0:ebdf4f859dca 225 trigger = !trigger;
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 //TASK 5 : i2c data
raizel_varun 0:ebdf4f859dca 231 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 232
raizel_varun 0:ebdf4f859dca 233
raizel_varun 0:ebdf4f859dca 234
raizel_varun 0:ebdf4f859dca 235
raizel_varun 0:ebdf4f859dca 236
raizel_varun 0:ebdf4f859dca 237
sakthipriya 8:939b37cdcb92 238 /*void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
raizel_varun 0:ebdf4f859dca 239 {
raizel_varun 0:ebdf4f859dca 240 int slave_status = 1;
sakthipriya 4:b33bc4267e0d 241 //t2.stop();
sakthipriya 3:20647ff68b3c 242 if(interrupt ==1)
sakthipriya 3:20647ff68b3c 243 {
sakthipriya 3:20647ff68b3c 244
sakthipriya 3:20647ff68b3c 245 if(slave.receive() == 0)
sakthipriya 3:20647ff68b3c 246 t2.stop();
sakthipriya 4:b33bc4267e0d 247 //t4.stop();
sakthipriya 4:b33bc4267e0d 248 //printf("\n\r %d ",slave.receive());
sakthipriya 3:20647ff68b3c 249 if( slave.receive()==1)
sakthipriya 3:20647ff68b3c 250 {
sakthipriya 3:20647ff68b3c 251 t2.stop();
sakthipriya 6:1cdbda747f99 252
sakthipriya 3:20647ff68b3c 253 slave_status=slave.write(data,length);
sakthipriya 6:1cdbda747f99 254 t3.stop();
sakthipriya 3:20647ff68b3c 255
sakthipriya 3:20647ff68b3c 256 }
sakthipriya 3:20647ff68b3c 257 else if( slave.receive()==3 || slave.receive()==2)
raizel_varun 0:ebdf4f859dca 258 {
sakthipriya 3:20647ff68b3c 259 t2.stop();
sakthipriya 3:20647ff68b3c 260 //t3.start();
sakthipriya 3:20647ff68b3c 261 slave_status=slave.read(data,length);
sakthipriya 6:1cdbda747f99 262 t3.stop();
raizel_varun 0:ebdf4f859dca 263 }
sakthipriya 3:20647ff68b3c 264
raizel_varun 0:ebdf4f859dca 265
raizel_varun 0:ebdf4f859dca 266 }
sakthipriya 3:20647ff68b3c 267
sakthipriya 3:20647ff68b3c 268 printf("\n\r%d\r",t2.read_us());
sakthipriya 3:20647ff68b3c 269 t2.reset();
sakthipriya 6:1cdbda747f99 270 printf("\n\r%d\r",t3.read_us());
sakthipriya 6:1cdbda747f99 271 t3.reset();
sakthipriya 3:20647ff68b3c 272
sakthipriya 8:939b37cdcb92 273 }*/
sakthipriya 8:939b37cdcb92 274 /*
raizel_varun 0:ebdf4f859dca 275 char data_send[25],data_receive;
raizel_varun 0:ebdf4f859dca 276 void T_I2C_BAE(void const * args)
raizel_varun 0:ebdf4f859dca 277 {
raizel_varun 0:ebdf4f859dca 278 //char data_send,data_receive;
raizel_varun 0:ebdf4f859dca 279 while(1)
raizel_varun 0:ebdf4f859dca 280 {
raizel_varun 0:ebdf4f859dca 281 Thread::signal_wait(0x4);
sakthipriya 3:20647ff68b3c 282 // printf("\n\r entered thread");
sakthipriya 1:deb3c0fafa3a 283 if(i2c_status == 0 )
raizel_varun 0:ebdf4f859dca 284 {
sakthipriya 4:b33bc4267e0d 285 wait_ms(20);
raizel_varun 0:ebdf4f859dca 286 FUNC_I2C_WRITE2CDMS(&data_receive,1);
sakthipriya 8:939b37cdcb92 287 */
raizel_varun 0:ebdf4f859dca 288 /*i2c_data * i2c_data_r = i2c_data_receive.alloc();
raizel_varun 0:ebdf4f859dca 289 i2c_data_r->data = data_receive;
raizel_varun 0:ebdf4f859dca 290 i2c_data_r->length = 1;
raizel_varun 0:ebdf4f859dca 291 i2c_data_receive.put(i2c_data_r);*/
sakthipriya 8:939b37cdcb92 292 /* printf("\n\r Data received from CDMS is %c \n\r",data_receive);
raizel_varun 0:ebdf4f859dca 293 FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread
raizel_varun 0:ebdf4f859dca 294
raizel_varun 0:ebdf4f859dca 295 }
sakthipriya 1:deb3c0fafa3a 296 else if(i2c_status ==1)
raizel_varun 0:ebdf4f859dca 297 {
raizel_varun 0:ebdf4f859dca 298 osEvent evt = i2c_data_send.get();
raizel_varun 0:ebdf4f859dca 299 if (evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 300 {
raizel_varun 0:ebdf4f859dca 301 i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 302 strcpy(data_send,i2c_data_s -> data);
sakthipriya 3:20647ff68b3c 303 wait_ms(29);
raizel_varun 0:ebdf4f859dca 304 FUNC_I2C_WRITE2CDMS(data_send,25);
sakthipriya 3:20647ff68b3c 305 printf("\n\rData sent to CDMS is %s\n\r",data_send);
raizel_varun 0:ebdf4f859dca 306 i2c_data_send.free(i2c_data_s);
raizel_varun 0:ebdf4f859dca 307 i2c_status = 0;
sakthipriya 3:20647ff68b3c 308
raizel_varun 0:ebdf4f859dca 309
raizel_varun 0:ebdf4f859dca 310 }
raizel_varun 0:ebdf4f859dca 311 }
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
sakthipriya 8:939b37cdcb92 317 */
sakthipriya 8:939b37cdcb92 318 /*void FUNC_I2C_INT()
raizel_varun 0:ebdf4f859dca 319 {
sakthipriya 3:20647ff68b3c 320
sakthipriya 3:20647ff68b3c 321 t2.start();
sakthipriya 6:1cdbda747f99 322 // t3.start();
raizel_varun 0:ebdf4f859dca 323 ptr_t_i2c->signal_set(0x4);
raizel_varun 0:ebdf4f859dca 324
raizel_varun 0:ebdf4f859dca 325
sakthipriya 8:939b37cdcb92 326 }*/
raizel_varun 0:ebdf4f859dca 327
raizel_varun 0:ebdf4f859dca 328 void FUNC_I2C_IR2CDMS()
sakthipriya 8:939b37cdcb92 329 { ;
sakthipriya 8:939b37cdcb92 330 /* data_ready=0;
raizel_varun 0:ebdf4f859dca 331 //char data[25];
raizel_varun 0:ebdf4f859dca 332 //strcpy(data,"sakthi ");
raizel_varun 0:ebdf4f859dca 333 //strcat(data,"priya");
raizel_varun 0:ebdf4f859dca 334 strcpy(hk_data,SensorQuantised.Voltage);
raizel_varun 0:ebdf4f859dca 335 strcat(hk_data,SensorQuantised.Current);
raizel_varun 0:ebdf4f859dca 336 strcat(hk_data,SensorQuantised.Temperature);
raizel_varun 0:ebdf4f859dca 337 strcat(hk_data,SensorQuantised.PanelTemperature);
raizel_varun 0:ebdf4f859dca 338 strcat(hk_data,SensorQuantised.AngularSpeed);
raizel_varun 0:ebdf4f859dca 339 strcat(hk_data,SensorQuantised.Bnewvalue);
raizel_varun 0:ebdf4f859dca 340 char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode};
sakthipriya 8:939b37cdcb92 341 */
raizel_varun 0:ebdf4f859dca 342 /*strcat(hk_data,sfaultpoll);
raizel_varun 0:ebdf4f859dca 343 strcat(hk_data,sfaultir);
raizel_varun 0:ebdf4f859dca 344 strcat(hk_data,spower_mode);*/
sakthipriya 8:939b37cdcb92 345 /* strcat(hk_data,fdata);
sakthipriya 3:20647ff68b3c 346 printf("\n\rhk data : %s\n\r",hk_data);
sakthipriya 3:20647ff68b3c 347
raizel_varun 0:ebdf4f859dca 348 //data = pcslave.getc();
raizel_varun 0:ebdf4f859dca 349 reset =0;
raizel_varun 0:ebdf4f859dca 350 i2c_status=1;
raizel_varun 0:ebdf4f859dca 351 i2c_data * i2c_data_s = i2c_data_send.alloc();
raizel_varun 0:ebdf4f859dca 352 strcpy(i2c_data_s->data,hk_data);
raizel_varun 0:ebdf4f859dca 353 i2c_data_s->length = 25;
raizel_varun 0:ebdf4f859dca 354 i2c_data_send.put(i2c_data_s);
raizel_varun 0:ebdf4f859dca 355 data_ready=1;
sakthipriya 8:939b37cdcb92 356 //temp = i2c_status; */
raizel_varun 0:ebdf4f859dca 357 }
sakthipriya 5:4199c0dfed33 358
raizel_varun 0:ebdf4f859dca 359
raizel_varun 0:ebdf4f859dca 360 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 361 //TELECOMMAND
raizel_varun 0:ebdf4f859dca 362 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 363 void FUNC_I2C_TC_EXECUTE (char command)
raizel_varun 0:ebdf4f859dca 364 { switch(command)
raizel_varun 0:ebdf4f859dca 365 { case '0' : printf("command 0 executed");
raizel_varun 0:ebdf4f859dca 366 break;
raizel_varun 0:ebdf4f859dca 367 case '1' : printf("command 1 executed");
raizel_varun 0:ebdf4f859dca 368 break;
raizel_varun 0:ebdf4f859dca 369 case '2' : printf("command 2 executed");
raizel_varun 0:ebdf4f859dca 370 break;
raizel_varun 0:ebdf4f859dca 371 case '3' : printf("command 3 executed");
raizel_varun 0:ebdf4f859dca 372 }
raizel_varun 0:ebdf4f859dca 373 }
raizel_varun 0:ebdf4f859dca 374
raizel_varun 0:ebdf4f859dca 375
raizel_varun 0:ebdf4f859dca 376 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 377 //SCHEDULER
raizel_varun 0:ebdf4f859dca 378 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 379 int beacon_sc = 3;
raizel_varun 0:ebdf4f859dca 380 uint16_t schedcount=1;
raizel_varun 0:ebdf4f859dca 381 void T_SC(void const *args)
raizel_varun 0:ebdf4f859dca 382 {
greenroshks 2:edd107ea4740 383 //DRDY=0;
sakthipriya 3:20647ff68b3c 384 printf("The value of i in scheduler is %d\n\r",schedcount);
raizel_varun 0:ebdf4f859dca 385 if(schedcount == 65532) //to reset the counter
raizel_varun 0:ebdf4f859dca 386 {
raizel_varun 0:ebdf4f859dca 387 schedcount = 0;
raizel_varun 0:ebdf4f859dca 388 }
raizel_varun 0:ebdf4f859dca 389
raizel_varun 0:ebdf4f859dca 390 if(schedcount%1==0)
raizel_varun 0:ebdf4f859dca 391 {
sakthipriya 3:20647ff68b3c 392 ptr_t_acs -> signal_set(0x1);
sakthipriya 5:4199c0dfed33 393 ptr_t_wdt -> signal_set(0x5);
raizel_varun 0:ebdf4f859dca 394 }
raizel_varun 0:ebdf4f859dca 395 if(schedcount%2==0)
raizel_varun 0:ebdf4f859dca 396 {
sakthipriya 3:20647ff68b3c 397 // ptr_t_fault -> signal_set(0x2);
sakthipriya 5:4199c0dfed33 398 ptr_t_hk_acq -> signal_set(0x2);
raizel_varun 0:ebdf4f859dca 399
raizel_varun 0:ebdf4f859dca 400 }
raizel_varun 0:ebdf4f859dca 401 if(schedcount%beacon_sc==0)
raizel_varun 0:ebdf4f859dca 402 {
raizel_varun 0:ebdf4f859dca 403 if(beac_flag==0)
raizel_varun 0:ebdf4f859dca 404 {
raizel_varun 0:ebdf4f859dca 405
sakthipriya 5:4199c0dfed33 406 ptr_t_bea -> signal_set(0x3);
raizel_varun 0:ebdf4f859dca 407 }
raizel_varun 0:ebdf4f859dca 408 }
raizel_varun 0:ebdf4f859dca 409 schedcount++;
raizel_varun 0:ebdf4f859dca 410 }
raizel_varun 0:ebdf4f859dca 411
raizel_varun 0:ebdf4f859dca 412 //---------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 413
raizel_varun 0:ebdf4f859dca 414 int main()
raizel_varun 0:ebdf4f859dca 415 {
raizel_varun 0:ebdf4f859dca 416 t1.start();
sakthipriya 7:603c2a89effc 417
greenroshks 2:edd107ea4740 418 //DRDY=0;
sakthipriya 5:4199c0dfed33 419 printf("\nahoy\n");
sakthipriya 5:4199c0dfed33 420 INIT_PNI();
sakthipriya 5:4199c0dfed33 421
raizel_varun 0:ebdf4f859dca 422 FUNC_ACS_MAG_INIT();
raizel_varun 0:ebdf4f859dca 423 FUNC_ACS_INIT_GYR();
sakthipriya 8:939b37cdcb92 424 //slave.address(0x20);
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);
sakthipriya 8:939b37cdcb92 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 // ----------------------------------------------------------------------------------------------
sakthipriya 3:20647ff68b3c 450 //printf("\n\r T_FAULT priority is %d",ptr_t_fault->get_priority());
sakthipriya 3:20647ff68b3c 451 printf("\n\r T_ACS priority is %d",ptr_t_acs->get_priority());
sakthipriya 3:20647ff68b3c 452 printf("\n\r T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
sakthipriya 3:20647ff68b3c 453 //printf("\n\r T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
sakthipriya 3:20647ff68b3c 454 printf("\n\r 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);
sakthipriya 3:20647ff68b3c 457 printf("\n\r%f\n\r",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);
sakthipriya 8:939b37cdcb92 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;
sakthipriya 3:20647ff68b3c 469 Thread::wait(5000);
raizel_varun 0:ebdf4f859dca 470 }
raizel_varun 0:ebdf4f859dca 471
raizel_varun 0:ebdf4f859dca 472 }