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gotta check ctrl algo - it gives negative value
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Diff: main.cpp
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Dec 19 06:47:25 2014 +0000 @@ -0,0 +1,470 @@ +#include "mbed.h" +#include "rtos.h" +#include "HK.h" +#include "slave.h" +#include "beacon.h" +#include "ACS.h" +#include "fault.h" +#include "slave.h" + +Serial pc(USBTX, USBRX); + +InterruptIn interrupt(D9); +InterruptIn master_reset(D8); + + +Timer t; //To know the time of execution each thread +Timer t1; + //To know the time of entering of each thread + + + + + + + +Thread *ptr_t_hk_acq; +Thread *ptr_t_acs; +//Thread *ptr_t_acs_write2flash; +Thread *ptr_t_bea; +//Thread *ptr_t_bea_telecommand; +//Thread *ptr_t_fault; +Thread *ptr_t_i2c; +Thread *ptr_t_wdt; + + + +I2CSlave slave(D14,D15); //configuring pins p27, p28 as I2Cslave + + +DigitalOut data_ready(D10); +int i2c_status=0; //read/write mode for i2c 0 : write2slave, 1 : write2master +int reset=0; +int temp; + +typedef struct +{ + char data[25]; // To avoid dynamic memory allocation + int length; +}i2c_data; + + + + + + +//Mail<i2c_data,16> i2c_data_receive; +Mail<i2c_data,16> i2c_data_send; + +//-------------------------------------------------------------------------------------------------------------------------------------------------- +//TASK 2 : HK +//-------------------------------------------------------------------------------------------------------------------------------------------------- + +char hk_data[25]; +extern SensorDataQuantised SensorQuantised; +void T_HK_ACQ(void const *args) +{ + + while(1) + { + Thread::signal_wait(0x2); + SensorQuantised.power_mode='0'; + printf("\nTHIS IS HK %f\n",t1.read()); + t.start(); + FUNC_HK_FAULTS(); + FUNC_HK_POWER(SensorQuantised.power_mode); //The power mode algorithm is yet to be obtained + FUNC_HK_MAIN(); //Collecting HK data + //thread_2.signal_set(0x4); + //FUNC_I2C_SLAVE_MAIN(25); + FUNC_I2C_IR2CDMS(); + t.stop(); + printf("The time to execute hk_acq is %f seconds\n",t.read()); + t.reset(); + } +} + +//--------------------------------------------------------------------------------------------------------------------------------------- +//TASK 1 : ACS +//--------------------------------------------------------------------------------------------------------------------------------------- + +int acs_pflag = 1; +void T_ACS(void const *args) +{ + float *mag_field; + float *omega; + float *moment; + while(1) + { + Thread::signal_wait(0x1); + printf("\nTHIS IS ACS %f\n",t1.read()); + t.start(); + mag_field= FUNC_ACS_MAG_EXEC(); //actual execution + omega = FUNC_ACS_EXEC_GYR(); + + + + if(acs_pflag == 1) + { + moment = FUNC_ACS_CNTRLALGO(mag_field,omega); + FUNC_ACS_GENPWM(moment); + } + + t.reset(); + } +} +/* +void T_ACS_WRITE2FLASH(void const *args) +{ + while(1) + { + //printf("Writing in the flash\n"); + osEvent evt = q_acs.get(); + if(evt.status == osEventMail) + { + sensor_data *ptr = (sensor_data*)evt.value.p; + FUNC_ACS_WRITE2FLASH(ptr); + q_acs.free(ptr); + } + printf("Writing acs data in the flash\n"); + } +} + +*/ +//---------------------------------------------------BEACON-------------------------------------------------------------------------------------------- + +int beac_flag=0; //To receive telecommand from ground. + + +/*void T_BEA_TELECOMMAND(void const *args) +{ + char c = pc.getc(); + if(c=='a') + { + printf("Telecommand detected\n"); + beac_flag=1; + } +} +*/ + +void T_BEA(void const *args) +{ + + while(1) + { + Thread::signal_wait(0x3); + printf("\nTHIS IS BEACON %f\n",t1.read()); + t.start(); + + + + FUNC_BEA(); + + + if(beac_flag==1) + { + Thread::wait(600000); + beac_flag = 0; + } + + printf("The time to execute beacon thread is %f seconds\n",t.read()); + t.reset(); + } +} + +//--------------------------------------------------------------------------------------------------------------------------------------------------- +//TASK 4 : FAULT MANAGEMENT +//--------------------------------------------------------------------------------------------------------------------------------------------------- +//Dummy fault rectifier functions + +/*Mail<int,16> faults; + +void FUNC_FAULT_FUNCT1() +{ + printf("\nFault 1 detected... \n"); +} + +void FUNC_FAULT_FUNCT2() +{ + printf("\nFault 2 detected...\n"); +} + +void T_FAULT(void const *args) +{ + while(1) + { + osEvent evt = faults.get(); + if(evt.status==osEventMail) + { + int *fault_id= (int *)evt.value.p; + switch(*fault_id) + { + case 1: FUNC_FAULT_FUNCT1(); + break; + case 2: FUNC_FAULT_FUNCT2(); + break; + } + faults.free(fault_id); + } + } +}*/ + +extern SensorDataQuantised SensorQuantised; + + +/*void T_FAULT(void const *args) +{ + Sensor.power_mode='0'; + while(1) + { + Thread :: signal_wait(0x2); + FAULTS(); + POWER(Sensor.power_mode); + //Sensor.power_mode++; //testing ... should be removed + } +} +*/ +/*------------------------------------------------------------------------------------------------------------------------------------------- +-------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/ +DigitalOut trigger(PIN63); // has to be changed +void T_WDT(void const * args) +{ + trigger = 1; + while(true) + { + Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized + printf("\nEntered WD\n"); + trigger = !trigger; + } +} + +//--------------------------------------------------------------------------------------------------------------------------------------------------- +//TASK 5 : i2c data +//--------------------------------------------------------------------------------------------------------------------------------------------------- + + + + + + +void FUNC_I2C_WRITE2CDMS(char *data, int length=1) +{ + int slave_status = 1; + + while(slave_status) + { + slave.address(0x20); + if(slave.receive()==1) + { + slave_status=slave.write(data,length); + + + } + else if(slave.receive()==3 || slave.receive()==2) + { + slave_status=slave.read(data,length); + } + + } + + printf("\ndone\n\r"); + +} +char data_send[25],data_receive; +void T_I2C_BAE(void const * args) +{ + //char data_send,data_receive; + while(1) + { + Thread::signal_wait(0x4); + //T_I2C_BAE(); + //i2c_status = temp; + //wait(0.5); + printf("\n entered thread %d\n\r",i2c_status); + if(i2c_status == 0 && reset !=1) + { + + FUNC_I2C_WRITE2CDMS(&data_receive,1); + printf("\n received\n"); + /*i2c_data * i2c_data_r = i2c_data_receive.alloc(); + i2c_data_r->data = data_receive; + i2c_data_r->length = 1; + i2c_data_receive.put(i2c_data_r);*/ + printf("\n Data received from CDMS is %c \n\r",data_receive); + FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread + + } + else if(i2c_status ==1 && reset !=1) + { + osEvent evt = i2c_data_send.get(); + if (evt.status == osEventMail) + { + i2c_data *i2c_data_s = (i2c_data*)evt.value.p; + strcpy(data_send,i2c_data_s -> data); + FUNC_I2C_WRITE2CDMS(data_send,25); + printf("\nData sent to CDMS is %s\n\r",data_send); + i2c_data_send.free(i2c_data_s); + i2c_status = 0; + //temp = i2c_status; + + } + } + + } +} + + + +void FUNC_I2C_INT() +{ + reset = 0; + ptr_t_i2c->signal_set(0x4); + + +} + +void FUNC_I2C_RESET() +{ + reset = 1; +} + + + +void FUNC_I2C_IR2CDMS() +{ + + //char data[25]; + //strcpy(data,"sakthi "); + //strcat(data,"priya"); + strcpy(hk_data,SensorQuantised.Voltage); + strcat(hk_data,SensorQuantised.Current); + strcat(hk_data,SensorQuantised.Temperature); + strcat(hk_data,SensorQuantised.PanelTemperature); + strcat(hk_data,SensorQuantised.AngularSpeed); + strcat(hk_data,SensorQuantised.Bnewvalue); + char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode}; + + /*strcat(hk_data,sfaultpoll); + strcat(hk_data,sfaultir); + strcat(hk_data,spower_mode);*/ + strcat(hk_data,fdata); + printf("\nhk data : %s\n",hk_data); + data_ready=0; + //data = pcslave.getc(); + reset =0; + i2c_status=1; + i2c_data * i2c_data_s = i2c_data_send.alloc(); + strcpy(i2c_data_s->data,hk_data); + i2c_data_s->length = 25; + i2c_data_send.put(i2c_data_s); + data_ready=1; + //temp = i2c_status; +} + + +//------------------------------------------------------------------------------------------------------------------------------------------------ +//TELECOMMAND +//------------------------------------------------------------------------------------------------------------------------------------------------ +void FUNC_I2C_TC_EXECUTE (char command) +{ switch(command) + { case '0' : printf("command 0 executed"); + break; + case '1' : printf("command 1 executed"); + break; + case '2' : printf("command 2 executed"); + break; + case '3' : printf("command 3 executed"); + } +} + + +//------------------------------------------------------------------------------------------------------------------------------------------------ +//SCHEDULER +//------------------------------------------------------------------------------------------------------------------------------------------------ +int beacon_sc = 3; +uint16_t schedcount=1; +void T_SC(void const *args) +{ + + printf("The value of i in scheduler is %d\n",schedcount); + if(schedcount == 65532) //to reset the counter + { + schedcount = 0; + } + + if(schedcount%1==0) + { + ptr_t_acs -> signal_set(0x1); + ptr_t_wdt -> signal_set(0x5); + } + if(schedcount%2==0) + { + //ptr_t_fault -> signal_set(0x2); + ptr_t_hk_acq -> signal_set(0x2); + + } + if(schedcount%beacon_sc==0) + { + if(beac_flag==0) + { + + //ptr_t_bea -> signal_set(0x3); + } + } + schedcount++; +} + +//--------------------------------------------------------------------------------------------------------------------------------------------- + +int main() +{ + t1.start(); + + FUNC_ACS_MAG_INIT(); + FUNC_ACS_INIT_GYR(); + + ptr_t_hk_acq = new Thread(T_HK_ACQ); + ptr_t_acs = new Thread(T_ACS); + //ptr_t_acs_write2flash = new Thread(T_ACS_WRITE2FLASH); + ptr_t_bea = new Thread(T_BEA); + //ptr_t_bea_telecommand = new Thread(T_BEA_TELECOMMAND); + //ptr_t_fault = new Thread(T_FAULT); + ptr_t_i2c = new Thread(T_I2C_BAE); + //ptr_t_sc = new Thread(T_SC); + ptr_t_wdt = new Thread(T_WDT); + + interrupt_fault(); + + //ptr_t_fault -> set_priority(osPriorityRealtime); + ptr_t_acs->set_priority(osPriorityAboveNormal); + ptr_t_i2c->set_priority(osPriorityHigh); + ptr_t_hk_acq->set_priority(osPriorityAboveNormal); + //ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal); + ptr_t_bea->set_priority(osPriorityAboveNormal); + //ptr_t_bea_telecommand->set_priority(osPriorityIdle); + //ptr_t_sc->set_priority(osPriorityAboveNormal); + ptr_t_wdt -> set_priority(osPriorityIdle); + + + // ---------------------------------------------------------------------------------------------- + //printf("\n T_FAULT priority is %d",ptr_t_fault->get_priority()); + printf("\n T_ACS priority is %d",ptr_t_acs->get_priority()); + printf("\n T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority()); + //printf("\n T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority()); + printf("\n T_BEA priority is %d",ptr_t_bea->get_priority()); + RtosTimer t_sc_timer(T_SC,osTimerPeriodic); + t_sc_timer.start(10000); + printf("\n%f\n",t1.read()); + + + + master_reset.fall(&FUNC_I2C_RESET); + interrupt.rise(&FUNC_I2C_INT); + + while(1) + { + //Thread::wait(10000); + //ir2master(); + Thread::wait(5000); + } + +}