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@10:8bfa80bf4263, 2015-03-01 (annotated)

Committer:
sakthipriya
Date:
Sun Mar 01 08:26:04 2015 +0000
Revision:
10:8bfa80bf4263
Parent:
9:8b74ed33be76 
gotta check ctrl algo - it gives negative value

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;
sakthipriya 9:8b74ed33be76 99 float mag_field1[3];
sakthipriya 9:8b74ed33be76 100 float omega1[1];
sakthipriya 9:8b74ed33be76 101 float moment[3];
sakthipriya 5:4199c0dfed33 102 float *mnm_data;
raizel_varun 0:ebdf4f859dca 103 while(1)
raizel_varun 0:ebdf4f859dca 104 {
raizel_varun 0:ebdf4f859dca 105 Thread::signal_wait(0x1);
sakthipriya 3:20647ff68b3c 106 printf("\n\rTHIS IS ACS %f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 107 t.start();
raizel_varun 0:ebdf4f859dca 108 mag_field= FUNC_ACS_MAG_EXEC(); //actual execution
raizel_varun 0:ebdf4f859dca 109 omega = FUNC_ACS_EXEC_GYR();
sakthipriya 3:20647ff68b3c 110 printf("\n\r gyr 1 value %f",omega[0]);
sakthipriya 5:4199c0dfed33 111 mnm_data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
sakthipriya 5:4199c0dfed33 112 printf("\n\rmnm gyro values\n"); //printing the angular velocity and magnetic field values
sakthipriya 5:4199c0dfed33 113 for(int i=0; i<3; i++)
sakthipriya 5:4199c0dfed33 114 {
sakthipriya 5:4199c0dfed33 115 printf("%f\t",mnm_data[i]);
sakthipriya 5:4199c0dfed33 116 }
sakthipriya 5:4199c0dfed33 117 printf("\n\r mnm mag values\n");
sakthipriya 5:4199c0dfed33 118 for(int i=3; i<6; i++) {
sakthipriya 5:4199c0dfed33 119 printf("%f\t",mnm_data[i]);
sakthipriya 5:4199c0dfed33 120 }
sakthipriya 6:1cdbda747f99 121 for(int i = 0 ; i<3;i++)
sakthipriya 6:1cdbda747f99 122 {
sakthipriya 9:8b74ed33be76 123 omega1[i] = mnm_data[i];
sakthipriya 6:1cdbda747f99 124 }
sakthipriya 6:1cdbda747f99 125 for( int i = 3;i<6;i++)
sakthipriya 6:1cdbda747f99 126 {
sakthipriya 9:8b74ed33be76 127 mag_field1[i-3] = mnm_data[i];
sakthipriya 6:1cdbda747f99 128 }
raizel_varun 0:ebdf4f859dca 129 if(acs_pflag == 1)
raizel_varun 0:ebdf4f859dca 130 {
sakthipriya 9:8b74ed33be76 131 FUNC_ACS_CNTRLALGO(mag_field1,omega1,moment);
sakthipriya 9:8b74ed33be76 132 printf("\n\r control algo values ");
sakthipriya 9:8b74ed33be76 133 for(int i=0; i<3; i++)
sakthipriya 9:8b74ed33be76 134 {
sakthipriya 9:8b74ed33be76 135 printf("%f\t",moment[i]);
sakthipriya 9:8b74ed33be76 136 }
raizel_varun 0:ebdf4f859dca 137 FUNC_ACS_GENPWM(moment);
raizel_varun 0:ebdf4f859dca 138 }
raizel_varun 0:ebdf4f859dca 139
raizel_varun 0:ebdf4f859dca 140 t.reset();
raizel_varun 0:ebdf4f859dca 141 }
raizel_varun 0:ebdf4f859dca 142 }
raizel_varun 0:ebdf4f859dca 143 /*
raizel_varun 0:ebdf4f859dca 144 void T_ACS_WRITE2FLASH(void const *args)
raizel_varun 0:ebdf4f859dca 145 {
raizel_varun 0:ebdf4f859dca 146 while(1)
raizel_varun 0:ebdf4f859dca 147 {
sakthipriya 3:20647ff68b3c 148 //printf("Writing in the flash\n\r");
raizel_varun 0:ebdf4f859dca 149 osEvent evt = q_acs.get();
raizel_varun 0:ebdf4f859dca 150 if(evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 151 {
raizel_varun 0:ebdf4f859dca 152 sensor_data *ptr = (sensor_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 153 FUNC_ACS_WRITE2FLASH(ptr);
raizel_varun 0:ebdf4f859dca 154 q_acs.free(ptr);
raizel_varun 0:ebdf4f859dca 155 }
sakthipriya 3:20647ff68b3c 156 printf("Writing acs data in the flash\n\r");
raizel_varun 0:ebdf4f859dca 157 }
raizel_varun 0:ebdf4f859dca 158 }
raizel_varun 0:ebdf4f859dca 159
raizel_varun 0:ebdf4f859dca 160 */
raizel_varun 0:ebdf4f859dca 161 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 162
raizel_varun 0:ebdf4f859dca 163 int beac_flag=0; //To receive telecommand from ground.
raizel_varun 0:ebdf4f859dca 164
raizel_varun 0:ebdf4f859dca 165
raizel_varun 0:ebdf4f859dca 166 /*void T_BEA_TELECOMMAND(void const *args)
raizel_varun 0:ebdf4f859dca 167 {
raizel_varun 0:ebdf4f859dca 168 char c = pc.getc();
raizel_varun 0:ebdf4f859dca 169 if(c=='a')
raizel_varun 0:ebdf4f859dca 170 {
sakthipriya 3:20647ff68b3c 171 printf("Telecommand detected\n\r");
raizel_varun 0:ebdf4f859dca 172 beac_flag=1;
raizel_varun 0:ebdf4f859dca 173 }
raizel_varun 0:ebdf4f859dca 174 }
raizel_varun 0:ebdf4f859dca 175 */
raizel_varun 0:ebdf4f859dca 176
raizel_varun 0:ebdf4f859dca 177 void T_BEA(void const *args)
raizel_varun 0:ebdf4f859dca 178 {
raizel_varun 0:ebdf4f859dca 179
raizel_varun 0:ebdf4f859dca 180 while(1)
raizel_varun 0:ebdf4f859dca 181 {
raizel_varun 0:ebdf4f859dca 182 Thread::signal_wait(0x3);
sakthipriya 3:20647ff68b3c 183 printf("\n\rTHIS IS BEACON %f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 184 t.start();
raizel_varun 0:ebdf4f859dca 185
raizel_varun 0:ebdf4f859dca 186
raizel_varun 0:ebdf4f859dca 187
raizel_varun 0:ebdf4f859dca 188 FUNC_BEA();
raizel_varun 0:ebdf4f859dca 189
raizel_varun 0:ebdf4f859dca 190
raizel_varun 0:ebdf4f859dca 191 if(beac_flag==1)
raizel_varun 0:ebdf4f859dca 192 {
raizel_varun 0:ebdf4f859dca 193 Thread::wait(600000);
raizel_varun 0:ebdf4f859dca 194 beac_flag = 0;
raizel_varun 0:ebdf4f859dca 195 }
raizel_varun 0:ebdf4f859dca 196
sakthipriya 3:20647ff68b3c 197 printf("The time to execute beacon thread is %f seconds\n\r",t.read());
raizel_varun 0:ebdf4f859dca 198 t.reset();
raizel_varun 0:ebdf4f859dca 199 }
raizel_varun 0:ebdf4f859dca 200 }
raizel_varun 0:ebdf4f859dca 201
raizel_varun 0:ebdf4f859dca 202 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 203 //TASK 4 : FAULT MANAGEMENT
raizel_varun 0:ebdf4f859dca 204 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 205 //Dummy fault rectifier functions
raizel_varun 0:ebdf4f859dca 206
raizel_varun 0:ebdf4f859dca 207 extern SensorDataQuantised SensorQuantised;
raizel_varun 0:ebdf4f859dca 208
raizel_varun 0:ebdf4f859dca 209
raizel_varun 0:ebdf4f859dca 210 /*void T_FAULT(void const *args)
raizel_varun 0:ebdf4f859dca 211 {
raizel_varun 0:ebdf4f859dca 212 Sensor.power_mode='0';
raizel_varun 0:ebdf4f859dca 213 while(1)
raizel_varun 0:ebdf4f859dca 214 {
raizel_varun 0:ebdf4f859dca 215 Thread :: signal_wait(0x2);
raizel_varun 0:ebdf4f859dca 216 FAULTS();
raizel_varun 0:ebdf4f859dca 217 POWER(Sensor.power_mode);
raizel_varun 0:ebdf4f859dca 218 //Sensor.power_mode++; //testing ... should be removed
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 -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/
raizel_varun 0:ebdf4f859dca 224 DigitalOut trigger(PIN63); // has to be changed
raizel_varun 0:ebdf4f859dca 225 void T_WDT(void const * args)
raizel_varun 0:ebdf4f859dca 226 {
raizel_varun 0:ebdf4f859dca 227 trigger = 1;
raizel_varun 0:ebdf4f859dca 228 while(true)
raizel_varun 0:ebdf4f859dca 229 {
raizel_varun 0:ebdf4f859dca 230 Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized
sakthipriya 3:20647ff68b3c 231 printf("\n\rEntered WD\n\r");
raizel_varun 0:ebdf4f859dca 232 trigger = !trigger;
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 //TASK 5 : i2c data
raizel_varun 0:ebdf4f859dca 238 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 239
raizel_varun 0:ebdf4f859dca 240
raizel_varun 0:ebdf4f859dca 241
raizel_varun 0:ebdf4f859dca 242
raizel_varun 0:ebdf4f859dca 243
raizel_varun 0:ebdf4f859dca 244
sakthipriya 8:939b37cdcb92 245 /*void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
raizel_varun 0:ebdf4f859dca 246 {
raizel_varun 0:ebdf4f859dca 247 int slave_status = 1;
sakthipriya 4:b33bc4267e0d 248 //t2.stop();
sakthipriya 3:20647ff68b3c 249 if(interrupt ==1)
sakthipriya 3:20647ff68b3c 250 {
sakthipriya 3:20647ff68b3c 251
sakthipriya 3:20647ff68b3c 252 if(slave.receive() == 0)
sakthipriya 3:20647ff68b3c 253 t2.stop();
sakthipriya 4:b33bc4267e0d 254 //t4.stop();
sakthipriya 4:b33bc4267e0d 255 //printf("\n\r %d ",slave.receive());
sakthipriya 3:20647ff68b3c 256 if( slave.receive()==1)
sakthipriya 3:20647ff68b3c 257 {
sakthipriya 3:20647ff68b3c 258 t2.stop();
sakthipriya 6:1cdbda747f99 259
sakthipriya 3:20647ff68b3c 260 slave_status=slave.write(data,length);
sakthipriya 6:1cdbda747f99 261 t3.stop();
sakthipriya 3:20647ff68b3c 262
sakthipriya 3:20647ff68b3c 263 }
sakthipriya 3:20647ff68b3c 264 else if( slave.receive()==3 || slave.receive()==2)
raizel_varun 0:ebdf4f859dca 265 {
sakthipriya 3:20647ff68b3c 266 t2.stop();
sakthipriya 3:20647ff68b3c 267 //t3.start();
sakthipriya 3:20647ff68b3c 268 slave_status=slave.read(data,length);
sakthipriya 6:1cdbda747f99 269 t3.stop();
raizel_varun 0:ebdf4f859dca 270 }
sakthipriya 3:20647ff68b3c 271
raizel_varun 0:ebdf4f859dca 272
raizel_varun 0:ebdf4f859dca 273 }
sakthipriya 3:20647ff68b3c 274
sakthipriya 3:20647ff68b3c 275 printf("\n\r%d\r",t2.read_us());
sakthipriya 3:20647ff68b3c 276 t2.reset();
sakthipriya 6:1cdbda747f99 277 printf("\n\r%d\r",t3.read_us());
sakthipriya 6:1cdbda747f99 278 t3.reset();
sakthipriya 3:20647ff68b3c 279
sakthipriya 8:939b37cdcb92 280 }*/
sakthipriya 8:939b37cdcb92 281 /*
raizel_varun 0:ebdf4f859dca 282 char data_send[25],data_receive;
raizel_varun 0:ebdf4f859dca 283 void T_I2C_BAE(void const * args)
raizel_varun 0:ebdf4f859dca 284 {
raizel_varun 0:ebdf4f859dca 285 //char data_send,data_receive;
raizel_varun 0:ebdf4f859dca 286 while(1)
raizel_varun 0:ebdf4f859dca 287 {
raizel_varun 0:ebdf4f859dca 288 Thread::signal_wait(0x4);
sakthipriya 3:20647ff68b3c 289 // printf("\n\r entered thread");
sakthipriya 1:deb3c0fafa3a 290 if(i2c_status == 0 )
raizel_varun 0:ebdf4f859dca 291 {
sakthipriya 4:b33bc4267e0d 292 wait_ms(20);
raizel_varun 0:ebdf4f859dca 293 FUNC_I2C_WRITE2CDMS(&data_receive,1);
sakthipriya 8:939b37cdcb92 294 */
raizel_varun 0:ebdf4f859dca 295 /*i2c_data * i2c_data_r = i2c_data_receive.alloc();
raizel_varun 0:ebdf4f859dca 296 i2c_data_r->data = data_receive;
raizel_varun 0:ebdf4f859dca 297 i2c_data_r->length = 1;
raizel_varun 0:ebdf4f859dca 298 i2c_data_receive.put(i2c_data_r);*/
sakthipriya 8:939b37cdcb92 299 /* printf("\n\r Data received from CDMS is %c \n\r",data_receive);
raizel_varun 0:ebdf4f859dca 300 FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread
raizel_varun 0:ebdf4f859dca 301
raizel_varun 0:ebdf4f859dca 302 }
sakthipriya 1:deb3c0fafa3a 303 else if(i2c_status ==1)
raizel_varun 0:ebdf4f859dca 304 {
raizel_varun 0:ebdf4f859dca 305 osEvent evt = i2c_data_send.get();
raizel_varun 0:ebdf4f859dca 306 if (evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 307 {
raizel_varun 0:ebdf4f859dca 308 i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 309 strcpy(data_send,i2c_data_s -> data);
sakthipriya 3:20647ff68b3c 310 wait_ms(29);
raizel_varun 0:ebdf4f859dca 311 FUNC_I2C_WRITE2CDMS(data_send,25);
sakthipriya 3:20647ff68b3c 312 printf("\n\rData sent to CDMS is %s\n\r",data_send);
raizel_varun 0:ebdf4f859dca 313 i2c_data_send.free(i2c_data_s);
raizel_varun 0:ebdf4f859dca 314 i2c_status = 0;
sakthipriya 3:20647ff68b3c 315
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 }
raizel_varun 0:ebdf4f859dca 321 }
raizel_varun 0:ebdf4f859dca 322
raizel_varun 0:ebdf4f859dca 323
sakthipriya 8:939b37cdcb92 324 */
sakthipriya 8:939b37cdcb92 325 /*void FUNC_I2C_INT()
raizel_varun 0:ebdf4f859dca 326 {
sakthipriya 3:20647ff68b3c 327
sakthipriya 3:20647ff68b3c 328 t2.start();
sakthipriya 6:1cdbda747f99 329 // t3.start();
raizel_varun 0:ebdf4f859dca 330 ptr_t_i2c->signal_set(0x4);
raizel_varun 0:ebdf4f859dca 331
raizel_varun 0:ebdf4f859dca 332
sakthipriya 8:939b37cdcb92 333 }*/
raizel_varun 0:ebdf4f859dca 334
raizel_varun 0:ebdf4f859dca 335 void FUNC_I2C_IR2CDMS()
sakthipriya 8:939b37cdcb92 336 { ;
sakthipriya 8:939b37cdcb92 337 /* data_ready=0;
raizel_varun 0:ebdf4f859dca 338 //char data[25];
raizel_varun 0:ebdf4f859dca 339 //strcpy(data,"sakthi ");
raizel_varun 0:ebdf4f859dca 340 //strcat(data,"priya");
raizel_varun 0:ebdf4f859dca 341 strcpy(hk_data,SensorQuantised.Voltage);
raizel_varun 0:ebdf4f859dca 342 strcat(hk_data,SensorQuantised.Current);
raizel_varun 0:ebdf4f859dca 343 strcat(hk_data,SensorQuantised.Temperature);
raizel_varun 0:ebdf4f859dca 344 strcat(hk_data,SensorQuantised.PanelTemperature);
raizel_varun 0:ebdf4f859dca 345 strcat(hk_data,SensorQuantised.AngularSpeed);
raizel_varun 0:ebdf4f859dca 346 strcat(hk_data,SensorQuantised.Bnewvalue);
raizel_varun 0:ebdf4f859dca 347 char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode};
sakthipriya 8:939b37cdcb92 348 */
raizel_varun 0:ebdf4f859dca 349 /*strcat(hk_data,sfaultpoll);
raizel_varun 0:ebdf4f859dca 350 strcat(hk_data,sfaultir);
raizel_varun 0:ebdf4f859dca 351 strcat(hk_data,spower_mode);*/
sakthipriya 8:939b37cdcb92 352 /* strcat(hk_data,fdata);
sakthipriya 3:20647ff68b3c 353 printf("\n\rhk data : %s\n\r",hk_data);
sakthipriya 3:20647ff68b3c 354
raizel_varun 0:ebdf4f859dca 355 //data = pcslave.getc();
raizel_varun 0:ebdf4f859dca 356 reset =0;
raizel_varun 0:ebdf4f859dca 357 i2c_status=1;
raizel_varun 0:ebdf4f859dca 358 i2c_data * i2c_data_s = i2c_data_send.alloc();
raizel_varun 0:ebdf4f859dca 359 strcpy(i2c_data_s->data,hk_data);
raizel_varun 0:ebdf4f859dca 360 i2c_data_s->length = 25;
raizel_varun 0:ebdf4f859dca 361 i2c_data_send.put(i2c_data_s);
raizel_varun 0:ebdf4f859dca 362 data_ready=1;
sakthipriya 8:939b37cdcb92 363 //temp = i2c_status; */
raizel_varun 0:ebdf4f859dca 364 }
sakthipriya 5:4199c0dfed33 365
raizel_varun 0:ebdf4f859dca 366
raizel_varun 0:ebdf4f859dca 367 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 368 //TELECOMMAND
raizel_varun 0:ebdf4f859dca 369 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 370 void FUNC_I2C_TC_EXECUTE (char command)
raizel_varun 0:ebdf4f859dca 371 { switch(command)
raizel_varun 0:ebdf4f859dca 372 { case '0' : printf("command 0 executed");
raizel_varun 0:ebdf4f859dca 373 break;
raizel_varun 0:ebdf4f859dca 374 case '1' : printf("command 1 executed");
raizel_varun 0:ebdf4f859dca 375 break;
raizel_varun 0:ebdf4f859dca 376 case '2' : printf("command 2 executed");
raizel_varun 0:ebdf4f859dca 377 break;
raizel_varun 0:ebdf4f859dca 378 case '3' : printf("command 3 executed");
raizel_varun 0:ebdf4f859dca 379 }
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 //SCHEDULER
raizel_varun 0:ebdf4f859dca 385 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 386 int beacon_sc = 3;
raizel_varun 0:ebdf4f859dca 387 uint16_t schedcount=1;
raizel_varun 0:ebdf4f859dca 388 void T_SC(void const *args)
raizel_varun 0:ebdf4f859dca 389 {
greenroshks 2:edd107ea4740 390 //DRDY=0;
sakthipriya 3:20647ff68b3c 391 printf("The value of i in scheduler is %d\n\r",schedcount);
raizel_varun 0:ebdf4f859dca 392 if(schedcount == 65532) //to reset the counter
raizel_varun 0:ebdf4f859dca 393 {
raizel_varun 0:ebdf4f859dca 394 schedcount = 0;
raizel_varun 0:ebdf4f859dca 395 }
raizel_varun 0:ebdf4f859dca 396
raizel_varun 0:ebdf4f859dca 397 if(schedcount%1==0)
raizel_varun 0:ebdf4f859dca 398 {
sakthipriya 3:20647ff68b3c 399 ptr_t_acs -> signal_set(0x1);
sakthipriya 5:4199c0dfed33 400 ptr_t_wdt -> signal_set(0x5);
raizel_varun 0:ebdf4f859dca 401 }
raizel_varun 0:ebdf4f859dca 402 if(schedcount%2==0)
raizel_varun 0:ebdf4f859dca 403 {
sakthipriya 3:20647ff68b3c 404 // ptr_t_fault -> signal_set(0x2);
sakthipriya 5:4199c0dfed33 405 ptr_t_hk_acq -> signal_set(0x2);
raizel_varun 0:ebdf4f859dca 406
raizel_varun 0:ebdf4f859dca 407 }
raizel_varun 0:ebdf4f859dca 408 if(schedcount%beacon_sc==0)
raizel_varun 0:ebdf4f859dca 409 {
raizel_varun 0:ebdf4f859dca 410 if(beac_flag==0)
raizel_varun 0:ebdf4f859dca 411 {
raizel_varun 0:ebdf4f859dca 412
sakthipriya 5:4199c0dfed33 413 ptr_t_bea -> signal_set(0x3);
raizel_varun 0:ebdf4f859dca 414 }
raizel_varun 0:ebdf4f859dca 415 }
raizel_varun 0:ebdf4f859dca 416 schedcount++;
raizel_varun 0:ebdf4f859dca 417 }
raizel_varun 0:ebdf4f859dca 418
raizel_varun 0:ebdf4f859dca 419 //---------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 420
raizel_varun 0:ebdf4f859dca 421 int main()
raizel_varun 0:ebdf4f859dca 422 {
raizel_varun 0:ebdf4f859dca 423 t1.start();
sakthipriya 7:603c2a89effc 424
greenroshks 2:edd107ea4740 425 //DRDY=0;
sakthipriya 5:4199c0dfed33 426 printf("\nahoy\n");
sakthipriya 5:4199c0dfed33 427 INIT_PNI();
sakthipriya 5:4199c0dfed33 428
raizel_varun 0:ebdf4f859dca 429 FUNC_ACS_MAG_INIT();
raizel_varun 0:ebdf4f859dca 430 FUNC_ACS_INIT_GYR();
sakthipriya 8:939b37cdcb92 431 //slave.address(0x20);
raizel_varun 0:ebdf4f859dca 432
raizel_varun 0:ebdf4f859dca 433 ptr_t_hk_acq = new Thread(T_HK_ACQ);
raizel_varun 0:ebdf4f859dca 434 ptr_t_acs = new Thread(T_ACS);
raizel_varun 0:ebdf4f859dca 435 //ptr_t_acs_write2flash = new Thread(T_ACS_WRITE2FLASH);
raizel_varun 0:ebdf4f859dca 436 ptr_t_bea = new Thread(T_BEA);
raizel_varun 0:ebdf4f859dca 437 //ptr_t_bea_telecommand = new Thread(T_BEA_TELECOMMAND);
raizel_varun 0:ebdf4f859dca 438 //ptr_t_fault = new Thread(T_FAULT);
sakthipriya 8:939b37cdcb92 439 // ptr_t_i2c = new Thread(T_I2C_BAE);
raizel_varun 0:ebdf4f859dca 440 //ptr_t_sc = new Thread(T_SC);
raizel_varun 0:ebdf4f859dca 441 ptr_t_wdt = new Thread(T_WDT);
raizel_varun 0:ebdf4f859dca 442
raizel_varun 0:ebdf4f859dca 443 interrupt_fault();
raizel_varun 0:ebdf4f859dca 444
raizel_varun 0:ebdf4f859dca 445 //ptr_t_fault -> set_priority(osPriorityRealtime);
raizel_varun 0:ebdf4f859dca 446 ptr_t_acs->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 447 ptr_t_i2c->set_priority(osPriorityHigh);
raizel_varun 0:ebdf4f859dca 448 ptr_t_hk_acq->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 449 //ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal);
raizel_varun 0:ebdf4f859dca 450 ptr_t_bea->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 451 //ptr_t_bea_telecommand->set_priority(osPriorityIdle);
raizel_varun 0:ebdf4f859dca 452 //ptr_t_sc->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 453 ptr_t_wdt -> set_priority(osPriorityIdle);
raizel_varun 0:ebdf4f859dca 454
raizel_varun 0:ebdf4f859dca 455
raizel_varun 0:ebdf4f859dca 456 // ----------------------------------------------------------------------------------------------
sakthipriya 3:20647ff68b3c 457 //printf("\n\r T_FAULT priority is %d",ptr_t_fault->get_priority());
sakthipriya 3:20647ff68b3c 458 printf("\n\r T_ACS priority is %d",ptr_t_acs->get_priority());
sakthipriya 3:20647ff68b3c 459 printf("\n\r T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
sakthipriya 3:20647ff68b3c 460 //printf("\n\r T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
sakthipriya 3:20647ff68b3c 461 printf("\n\r T_BEA priority is %d",ptr_t_bea->get_priority());
raizel_varun 0:ebdf4f859dca 462 RtosTimer t_sc_timer(T_SC,osTimerPeriodic);
raizel_varun 0:ebdf4f859dca 463 t_sc_timer.start(10000);
sakthipriya 3:20647ff68b3c 464 printf("\n\r%f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 465
raizel_varun 0:ebdf4f859dca 466
raizel_varun 0:ebdf4f859dca 467
sakthipriya 1:deb3c0fafa3a 468 //master_reset.fall(&FUNC_I2C_RESET);
sakthipriya 8:939b37cdcb92 469 // interrupt.rise(&FUNC_I2C_INT);
raizel_varun 0:ebdf4f859dca 470
raizel_varun 0:ebdf4f859dca 471 while(1)
raizel_varun 0:ebdf4f859dca 472 {
raizel_varun 0:ebdf4f859dca 473 //Thread::wait(10000);
raizel_varun 0:ebdf4f859dca 474 //ir2master();
greenroshks 2:edd107ea4740 475 //DRDY = 0;
sakthipriya 3:20647ff68b3c 476 Thread::wait(5000);
raizel_varun 0:ebdf4f859dca 477 }
raizel_varun 0:ebdf4f859dca 478
raizel_varun 0:ebdf4f859dca 479 }