mnm gyro works -b4 implementing ctrl algo for mnm
Fork of BAE_b4hw_test by
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?
User | Revision | Line number | New 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 | } |