sakthi priya amirtharaj / Mbed 2 deprecated BAE_hw_test1_3

gotta check ctrl algo - it gives negative value

Dependencies:   mbed-rtos mbed

Fork of BAE_hw_test1_2 by sakthi priya amirtharaj

main.cpp@5:4199c0dfed33, 2015-02-05 (annotated)

Committer:
sakthipriya
Date:
Thu Feb 05 22:05:29 2015 +0000
Revision:
5:4199c0dfed33
Parent:
4:b33bc4267e0d
Child:
6:1cdbda747f99
mnm +hk + others

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;
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 }
raizel_varun 0:ebdf4f859dca 119
raizel_varun 0:ebdf4f859dca 120 if(acs_pflag == 1)
raizel_varun 0:ebdf4f859dca 121 {
raizel_varun 0:ebdf4f859dca 122 moment = FUNC_ACS_CNTRLALGO(mag_field,omega);
raizel_varun 0:ebdf4f859dca 123 FUNC_ACS_GENPWM(moment);
raizel_varun 0:ebdf4f859dca 124 }
raizel_varun 0:ebdf4f859dca 125
raizel_varun 0:ebdf4f859dca 126 t.reset();
raizel_varun 0:ebdf4f859dca 127 }
raizel_varun 0:ebdf4f859dca 128 }
raizel_varun 0:ebdf4f859dca 129 /*
raizel_varun 0:ebdf4f859dca 130 void T_ACS_WRITE2FLASH(void const *args)
raizel_varun 0:ebdf4f859dca 131 {
raizel_varun 0:ebdf4f859dca 132 while(1)
raizel_varun 0:ebdf4f859dca 133 {
sakthipriya 3:20647ff68b3c 134 //printf("Writing in the flash\n\r");
raizel_varun 0:ebdf4f859dca 135 osEvent evt = q_acs.get();
raizel_varun 0:ebdf4f859dca 136 if(evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 137 {
raizel_varun 0:ebdf4f859dca 138 sensor_data *ptr = (sensor_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 139 FUNC_ACS_WRITE2FLASH(ptr);
raizel_varun 0:ebdf4f859dca 140 q_acs.free(ptr);
raizel_varun 0:ebdf4f859dca 141 }
sakthipriya 3:20647ff68b3c 142 printf("Writing acs data in the flash\n\r");
raizel_varun 0:ebdf4f859dca 143 }
raizel_varun 0:ebdf4f859dca 144 }
raizel_varun 0:ebdf4f859dca 145
raizel_varun 0:ebdf4f859dca 146 */
raizel_varun 0:ebdf4f859dca 147 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 148
raizel_varun 0:ebdf4f859dca 149 int beac_flag=0; //To receive telecommand from ground.
raizel_varun 0:ebdf4f859dca 150
raizel_varun 0:ebdf4f859dca 151
raizel_varun 0:ebdf4f859dca 152 /*void T_BEA_TELECOMMAND(void const *args)
raizel_varun 0:ebdf4f859dca 153 {
raizel_varun 0:ebdf4f859dca 154 char c = pc.getc();
raizel_varun 0:ebdf4f859dca 155 if(c=='a')
raizel_varun 0:ebdf4f859dca 156 {
sakthipriya 3:20647ff68b3c 157 printf("Telecommand detected\n\r");
raizel_varun 0:ebdf4f859dca 158 beac_flag=1;
raizel_varun 0:ebdf4f859dca 159 }
raizel_varun 0:ebdf4f859dca 160 }
raizel_varun 0:ebdf4f859dca 161 */
raizel_varun 0:ebdf4f859dca 162
raizel_varun 0:ebdf4f859dca 163 void T_BEA(void const *args)
raizel_varun 0:ebdf4f859dca 164 {
raizel_varun 0:ebdf4f859dca 165
raizel_varun 0:ebdf4f859dca 166 while(1)
raizel_varun 0:ebdf4f859dca 167 {
raizel_varun 0:ebdf4f859dca 168 Thread::signal_wait(0x3);
sakthipriya 3:20647ff68b3c 169 printf("\n\rTHIS IS BEACON %f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 170 t.start();
raizel_varun 0:ebdf4f859dca 171
raizel_varun 0:ebdf4f859dca 172
raizel_varun 0:ebdf4f859dca 173
raizel_varun 0:ebdf4f859dca 174 FUNC_BEA();
raizel_varun 0:ebdf4f859dca 175
raizel_varun 0:ebdf4f859dca 176
raizel_varun 0:ebdf4f859dca 177 if(beac_flag==1)
raizel_varun 0:ebdf4f859dca 178 {
raizel_varun 0:ebdf4f859dca 179 Thread::wait(600000);
raizel_varun 0:ebdf4f859dca 180 beac_flag = 0;
raizel_varun 0:ebdf4f859dca 181 }
raizel_varun 0:ebdf4f859dca 182
sakthipriya 3:20647ff68b3c 183 printf("The time to execute beacon thread is %f seconds\n\r",t.read());
raizel_varun 0:ebdf4f859dca 184 t.reset();
raizel_varun 0:ebdf4f859dca 185 }
raizel_varun 0:ebdf4f859dca 186 }
raizel_varun 0:ebdf4f859dca 187
raizel_varun 0:ebdf4f859dca 188 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 189 //TASK 4 : FAULT MANAGEMENT
raizel_varun 0:ebdf4f859dca 190 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 191 //Dummy fault rectifier functions
raizel_varun 0:ebdf4f859dca 192
raizel_varun 0:ebdf4f859dca 193 extern SensorDataQuantised SensorQuantised;
raizel_varun 0:ebdf4f859dca 194
raizel_varun 0:ebdf4f859dca 195
raizel_varun 0:ebdf4f859dca 196 /*void T_FAULT(void const *args)
raizel_varun 0:ebdf4f859dca 197 {
raizel_varun 0:ebdf4f859dca 198 Sensor.power_mode='0';
raizel_varun 0:ebdf4f859dca 199 while(1)
raizel_varun 0:ebdf4f859dca 200 {
raizel_varun 0:ebdf4f859dca 201 Thread :: signal_wait(0x2);
raizel_varun 0:ebdf4f859dca 202 FAULTS();
raizel_varun 0:ebdf4f859dca 203 POWER(Sensor.power_mode);
raizel_varun 0:ebdf4f859dca 204 //Sensor.power_mode++; //testing ... should be removed
raizel_varun 0:ebdf4f859dca 205 }
raizel_varun 0:ebdf4f859dca 206 }
raizel_varun 0:ebdf4f859dca 207 */
raizel_varun 0:ebdf4f859dca 208 /*-------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 209 -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/
raizel_varun 0:ebdf4f859dca 210 DigitalOut trigger(PIN63); // has to be changed
raizel_varun 0:ebdf4f859dca 211 void T_WDT(void const * args)
raizel_varun 0:ebdf4f859dca 212 {
raizel_varun 0:ebdf4f859dca 213 trigger = 1;
raizel_varun 0:ebdf4f859dca 214 while(true)
raizel_varun 0:ebdf4f859dca 215 {
raizel_varun 0:ebdf4f859dca 216 Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized
sakthipriya 3:20647ff68b3c 217 printf("\n\rEntered WD\n\r");
raizel_varun 0:ebdf4f859dca 218 trigger = !trigger;
raizel_varun 0:ebdf4f859dca 219 }
raizel_varun 0:ebdf4f859dca 220 }
raizel_varun 0:ebdf4f859dca 221
raizel_varun 0:ebdf4f859dca 222 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 223 //TASK 5 : i2c data
raizel_varun 0:ebdf4f859dca 224 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 225
raizel_varun 0:ebdf4f859dca 226
raizel_varun 0:ebdf4f859dca 227
raizel_varun 0:ebdf4f859dca 228
raizel_varun 0:ebdf4f859dca 229
raizel_varun 0:ebdf4f859dca 230
raizel_varun 0:ebdf4f859dca 231 void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
raizel_varun 0:ebdf4f859dca 232 {
raizel_varun 0:ebdf4f859dca 233 int slave_status = 1;
sakthipriya 4:b33bc4267e0d 234 //t2.stop();
sakthipriya 3:20647ff68b3c 235 if(interrupt ==1)
sakthipriya 3:20647ff68b3c 236 {
sakthipriya 3:20647ff68b3c 237
sakthipriya 3:20647ff68b3c 238 if(slave.receive() == 0)
sakthipriya 3:20647ff68b3c 239 t2.stop();
sakthipriya 4:b33bc4267e0d 240 //t4.stop();
sakthipriya 4:b33bc4267e0d 241 //printf("\n\r %d ",slave.receive());
sakthipriya 3:20647ff68b3c 242 if( slave.receive()==1)
sakthipriya 3:20647ff68b3c 243 {
sakthipriya 3:20647ff68b3c 244 t2.stop();
sakthipriya 3:20647ff68b3c 245 //t3.start();
sakthipriya 3:20647ff68b3c 246 slave_status=slave.write(data,length);
sakthipriya 3:20647ff68b3c 247 //t3.stop();
sakthipriya 3:20647ff68b3c 248
sakthipriya 3:20647ff68b3c 249 }
sakthipriya 3:20647ff68b3c 250 else if( slave.receive()==3 || slave.receive()==2)
raizel_varun 0:ebdf4f859dca 251 {
sakthipriya 3:20647ff68b3c 252 t2.stop();
sakthipriya 3:20647ff68b3c 253 //t3.start();
sakthipriya 3:20647ff68b3c 254 slave_status=slave.read(data,length);
sakthipriya 3:20647ff68b3c 255 //t3.stop();
raizel_varun 0:ebdf4f859dca 256 }
sakthipriya 3:20647ff68b3c 257
raizel_varun 0:ebdf4f859dca 258
raizel_varun 0:ebdf4f859dca 259 }
sakthipriya 3:20647ff68b3c 260
sakthipriya 3:20647ff68b3c 261 printf("\n\r%d\r",t2.read_us());
sakthipriya 3:20647ff68b3c 262 t2.reset();
sakthipriya 3:20647ff68b3c 263 //printf("\n\r%d\r",t3.read_us());
sakthipriya 3:20647ff68b3c 264 //t3.reset();
sakthipriya 3:20647ff68b3c 265
raizel_varun 0:ebdf4f859dca 266 }
sakthipriya 3:20647ff68b3c 267
raizel_varun 0:ebdf4f859dca 268 char data_send[25],data_receive;
raizel_varun 0:ebdf4f859dca 269 void T_I2C_BAE(void const * args)
raizel_varun 0:ebdf4f859dca 270 {
raizel_varun 0:ebdf4f859dca 271 //char data_send,data_receive;
raizel_varun 0:ebdf4f859dca 272 while(1)
raizel_varun 0:ebdf4f859dca 273 {
raizel_varun 0:ebdf4f859dca 274 Thread::signal_wait(0x4);
sakthipriya 3:20647ff68b3c 275 // printf("\n\r entered thread");
sakthipriya 1:deb3c0fafa3a 276 if(i2c_status == 0 )
raizel_varun 0:ebdf4f859dca 277 {
sakthipriya 4:b33bc4267e0d 278 wait_ms(20);
raizel_varun 0:ebdf4f859dca 279 FUNC_I2C_WRITE2CDMS(&data_receive,1);
sakthipriya 3:20647ff68b3c 280
raizel_varun 0:ebdf4f859dca 281 /*i2c_data * i2c_data_r = i2c_data_receive.alloc();
raizel_varun 0:ebdf4f859dca 282 i2c_data_r->data = data_receive;
raizel_varun 0:ebdf4f859dca 283 i2c_data_r->length = 1;
raizel_varun 0:ebdf4f859dca 284 i2c_data_receive.put(i2c_data_r);*/
sakthipriya 3:20647ff68b3c 285 printf("\n\r Data received from CDMS is %c \n\r",data_receive);
raizel_varun 0:ebdf4f859dca 286 FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread
raizel_varun 0:ebdf4f859dca 287
raizel_varun 0:ebdf4f859dca 288 }
sakthipriya 1:deb3c0fafa3a 289 else if(i2c_status ==1)
raizel_varun 0:ebdf4f859dca 290 {
raizel_varun 0:ebdf4f859dca 291 osEvent evt = i2c_data_send.get();
raizel_varun 0:ebdf4f859dca 292 if (evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 293 {
raizel_varun 0:ebdf4f859dca 294 i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 295 strcpy(data_send,i2c_data_s -> data);
sakthipriya 3:20647ff68b3c 296 wait_ms(29);
raizel_varun 0:ebdf4f859dca 297 FUNC_I2C_WRITE2CDMS(data_send,25);
sakthipriya 3:20647ff68b3c 298 printf("\n\rData sent to CDMS is %s\n\r",data_send);
raizel_varun 0:ebdf4f859dca 299 i2c_data_send.free(i2c_data_s);
raizel_varun 0:ebdf4f859dca 300 i2c_status = 0;
sakthipriya 3:20647ff68b3c 301
raizel_varun 0:ebdf4f859dca 302
raizel_varun 0:ebdf4f859dca 303 }
raizel_varun 0:ebdf4f859dca 304 }
raizel_varun 0:ebdf4f859dca 305
raizel_varun 0:ebdf4f859dca 306 }
raizel_varun 0:ebdf4f859dca 307 }
raizel_varun 0:ebdf4f859dca 308
raizel_varun 0:ebdf4f859dca 309
raizel_varun 0:ebdf4f859dca 310
raizel_varun 0:ebdf4f859dca 311 void FUNC_I2C_INT()
raizel_varun 0:ebdf4f859dca 312 {
sakthipriya 3:20647ff68b3c 313
sakthipriya 3:20647ff68b3c 314 t2.start();
raizel_varun 0:ebdf4f859dca 315 ptr_t_i2c->signal_set(0x4);
raizel_varun 0:ebdf4f859dca 316
raizel_varun 0:ebdf4f859dca 317
raizel_varun 0:ebdf4f859dca 318 }
raizel_varun 0:ebdf4f859dca 319
raizel_varun 0:ebdf4f859dca 320 void FUNC_I2C_IR2CDMS()
raizel_varun 0:ebdf4f859dca 321 {
sakthipriya 3:20647ff68b3c 322 data_ready=0;
raizel_varun 0:ebdf4f859dca 323 //char data[25];
raizel_varun 0:ebdf4f859dca 324 //strcpy(data,"sakthi ");
raizel_varun 0:ebdf4f859dca 325 //strcat(data,"priya");
raizel_varun 0:ebdf4f859dca 326 strcpy(hk_data,SensorQuantised.Voltage);
raizel_varun 0:ebdf4f859dca 327 strcat(hk_data,SensorQuantised.Current);
raizel_varun 0:ebdf4f859dca 328 strcat(hk_data,SensorQuantised.Temperature);
raizel_varun 0:ebdf4f859dca 329 strcat(hk_data,SensorQuantised.PanelTemperature);
raizel_varun 0:ebdf4f859dca 330 strcat(hk_data,SensorQuantised.AngularSpeed);
raizel_varun 0:ebdf4f859dca 331 strcat(hk_data,SensorQuantised.Bnewvalue);
raizel_varun 0:ebdf4f859dca 332 char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode};
raizel_varun 0:ebdf4f859dca 333
raizel_varun 0:ebdf4f859dca 334 /*strcat(hk_data,sfaultpoll);
raizel_varun 0:ebdf4f859dca 335 strcat(hk_data,sfaultir);
raizel_varun 0:ebdf4f859dca 336 strcat(hk_data,spower_mode);*/
raizel_varun 0:ebdf4f859dca 337 strcat(hk_data,fdata);
sakthipriya 3:20647ff68b3c 338 printf("\n\rhk data : %s\n\r",hk_data);
sakthipriya 3:20647ff68b3c 339
raizel_varun 0:ebdf4f859dca 340 //data = pcslave.getc();
raizel_varun 0:ebdf4f859dca 341 reset =0;
raizel_varun 0:ebdf4f859dca 342 i2c_status=1;
raizel_varun 0:ebdf4f859dca 343 i2c_data * i2c_data_s = i2c_data_send.alloc();
raizel_varun 0:ebdf4f859dca 344 strcpy(i2c_data_s->data,hk_data);
raizel_varun 0:ebdf4f859dca 345 i2c_data_s->length = 25;
raizel_varun 0:ebdf4f859dca 346 i2c_data_send.put(i2c_data_s);
raizel_varun 0:ebdf4f859dca 347 data_ready=1;
raizel_varun 0:ebdf4f859dca 348 //temp = i2c_status;
raizel_varun 0:ebdf4f859dca 349 }
sakthipriya 5:4199c0dfed33 350
raizel_varun 0:ebdf4f859dca 351
raizel_varun 0:ebdf4f859dca 352 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 353 //TELECOMMAND
raizel_varun 0:ebdf4f859dca 354 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 355 void FUNC_I2C_TC_EXECUTE (char command)
raizel_varun 0:ebdf4f859dca 356 { switch(command)
raizel_varun 0:ebdf4f859dca 357 { case '0' : printf("command 0 executed");
raizel_varun 0:ebdf4f859dca 358 break;
raizel_varun 0:ebdf4f859dca 359 case '1' : printf("command 1 executed");
raizel_varun 0:ebdf4f859dca 360 break;
raizel_varun 0:ebdf4f859dca 361 case '2' : printf("command 2 executed");
raizel_varun 0:ebdf4f859dca 362 break;
raizel_varun 0:ebdf4f859dca 363 case '3' : printf("command 3 executed");
raizel_varun 0:ebdf4f859dca 364 }
raizel_varun 0:ebdf4f859dca 365 }
raizel_varun 0:ebdf4f859dca 366
raizel_varun 0:ebdf4f859dca 367
raizel_varun 0:ebdf4f859dca 368 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 369 //SCHEDULER
raizel_varun 0:ebdf4f859dca 370 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 371 int beacon_sc = 3;
raizel_varun 0:ebdf4f859dca 372 uint16_t schedcount=1;
raizel_varun 0:ebdf4f859dca 373 void T_SC(void const *args)
raizel_varun 0:ebdf4f859dca 374 {
greenroshks 2:edd107ea4740 375 //DRDY=0;
sakthipriya 3:20647ff68b3c 376 printf("The value of i in scheduler is %d\n\r",schedcount);
raizel_varun 0:ebdf4f859dca 377 if(schedcount == 65532) //to reset the counter
raizel_varun 0:ebdf4f859dca 378 {
raizel_varun 0:ebdf4f859dca 379 schedcount = 0;
raizel_varun 0:ebdf4f859dca 380 }
raizel_varun 0:ebdf4f859dca 381
raizel_varun 0:ebdf4f859dca 382 if(schedcount%1==0)
raizel_varun 0:ebdf4f859dca 383 {
sakthipriya 3:20647ff68b3c 384 ptr_t_acs -> signal_set(0x1);
sakthipriya 5:4199c0dfed33 385 ptr_t_wdt -> signal_set(0x5);
raizel_varun 0:ebdf4f859dca 386 }
raizel_varun 0:ebdf4f859dca 387 if(schedcount%2==0)
raizel_varun 0:ebdf4f859dca 388 {
sakthipriya 3:20647ff68b3c 389 // ptr_t_fault -> signal_set(0x2);
sakthipriya 5:4199c0dfed33 390 ptr_t_hk_acq -> signal_set(0x2);
raizel_varun 0:ebdf4f859dca 391
raizel_varun 0:ebdf4f859dca 392 }
raizel_varun 0:ebdf4f859dca 393 if(schedcount%beacon_sc==0)
raizel_varun 0:ebdf4f859dca 394 {
raizel_varun 0:ebdf4f859dca 395 if(beac_flag==0)
raizel_varun 0:ebdf4f859dca 396 {
raizel_varun 0:ebdf4f859dca 397
sakthipriya 5:4199c0dfed33 398 ptr_t_bea -> signal_set(0x3);
raizel_varun 0:ebdf4f859dca 399 }
raizel_varun 0:ebdf4f859dca 400 }
raizel_varun 0:ebdf4f859dca 401 schedcount++;
raizel_varun 0:ebdf4f859dca 402 }
raizel_varun 0:ebdf4f859dca 403
raizel_varun 0:ebdf4f859dca 404 //---------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 405
raizel_varun 0:ebdf4f859dca 406 int main()
raizel_varun 0:ebdf4f859dca 407 {
raizel_varun 0:ebdf4f859dca 408 t1.start();
sakthipriya 3:20647ff68b3c 409 slave.address(0x20);
greenroshks 2:edd107ea4740 410 //DRDY=0;
sakthipriya 5:4199c0dfed33 411 printf("\nahoy\n");
sakthipriya 5:4199c0dfed33 412 INIT_PNI();
sakthipriya 5:4199c0dfed33 413
raizel_varun 0:ebdf4f859dca 414 FUNC_ACS_MAG_INIT();
raizel_varun 0:ebdf4f859dca 415 FUNC_ACS_INIT_GYR();
sakthipriya 5:4199c0dfed33 416
raizel_varun 0:ebdf4f859dca 417
raizel_varun 0:ebdf4f859dca 418 ptr_t_hk_acq = new Thread(T_HK_ACQ);
raizel_varun 0:ebdf4f859dca 419 ptr_t_acs = new Thread(T_ACS);
raizel_varun 0:ebdf4f859dca 420 //ptr_t_acs_write2flash = new Thread(T_ACS_WRITE2FLASH);
raizel_varun 0:ebdf4f859dca 421 ptr_t_bea = new Thread(T_BEA);
raizel_varun 0:ebdf4f859dca 422 //ptr_t_bea_telecommand = new Thread(T_BEA_TELECOMMAND);
raizel_varun 0:ebdf4f859dca 423 //ptr_t_fault = new Thread(T_FAULT);
raizel_varun 0:ebdf4f859dca 424 ptr_t_i2c = new Thread(T_I2C_BAE);
raizel_varun 0:ebdf4f859dca 425 //ptr_t_sc = new Thread(T_SC);
raizel_varun 0:ebdf4f859dca 426 ptr_t_wdt = new Thread(T_WDT);
raizel_varun 0:ebdf4f859dca 427
raizel_varun 0:ebdf4f859dca 428 interrupt_fault();
raizel_varun 0:ebdf4f859dca 429
raizel_varun 0:ebdf4f859dca 430 //ptr_t_fault -> set_priority(osPriorityRealtime);
raizel_varun 0:ebdf4f859dca 431 ptr_t_acs->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 432 ptr_t_i2c->set_priority(osPriorityHigh);
raizel_varun 0:ebdf4f859dca 433 ptr_t_hk_acq->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 434 //ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal);
raizel_varun 0:ebdf4f859dca 435 ptr_t_bea->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 436 //ptr_t_bea_telecommand->set_priority(osPriorityIdle);
raizel_varun 0:ebdf4f859dca 437 //ptr_t_sc->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 438 ptr_t_wdt -> set_priority(osPriorityIdle);
raizel_varun 0:ebdf4f859dca 439
raizel_varun 0:ebdf4f859dca 440
raizel_varun 0:ebdf4f859dca 441 // ----------------------------------------------------------------------------------------------
sakthipriya 3:20647ff68b3c 442 //printf("\n\r T_FAULT priority is %d",ptr_t_fault->get_priority());
sakthipriya 3:20647ff68b3c 443 printf("\n\r T_ACS priority is %d",ptr_t_acs->get_priority());
sakthipriya 3:20647ff68b3c 444 printf("\n\r T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
sakthipriya 3:20647ff68b3c 445 //printf("\n\r T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
sakthipriya 3:20647ff68b3c 446 printf("\n\r T_BEA priority is %d",ptr_t_bea->get_priority());
raizel_varun 0:ebdf4f859dca 447 RtosTimer t_sc_timer(T_SC,osTimerPeriodic);
raizel_varun 0:ebdf4f859dca 448 t_sc_timer.start(10000);
sakthipriya 3:20647ff68b3c 449 printf("\n\r%f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 450
raizel_varun 0:ebdf4f859dca 451
raizel_varun 0:ebdf4f859dca 452
sakthipriya 1:deb3c0fafa3a 453 //master_reset.fall(&FUNC_I2C_RESET);
raizel_varun 0:ebdf4f859dca 454 interrupt.rise(&FUNC_I2C_INT);
raizel_varun 0:ebdf4f859dca 455
raizel_varun 0:ebdf4f859dca 456 while(1)
raizel_varun 0:ebdf4f859dca 457 {
raizel_varun 0:ebdf4f859dca 458 //Thread::wait(10000);
raizel_varun 0:ebdf4f859dca 459 //ir2master();
greenroshks 2:edd107ea4740 460 //DRDY = 0;
sakthipriya 3:20647ff68b3c 461 Thread::wait(5000);
raizel_varun 0:ebdf4f859dca 462 }
raizel_varun 0:ebdf4f859dca 463
raizel_varun 0:ebdf4f859dca 464 }