sakthi priya amirtharaj / Mbed 2 deprecated BAE_hw_test1_4

gotta check ctrl algo - it gives negative value

Dependencies:   mbed-rtos mbed

Fork of BAE_hw_test1_3 by sakthi priya amirtharaj

main.cpp@11:6b00f3b1be17, 2015-03-04 (annotated)

Committer:
sakthipriya
Date:
Wed Mar 04 17:15:15 2015 +0000
Revision:
11:6b00f3b1be17
Parent:
9:8b74ed33be76 
control algo - torque converted to moment

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 11:6b00f3b1be17 101 float tauc1[3];
sakthipriya 9:8b74ed33be76 102 float moment[3];
sakthipriya 5:4199c0dfed33 103 float *mnm_data;
raizel_varun 0:ebdf4f859dca 104 while(1)
raizel_varun 0:ebdf4f859dca 105 {
raizel_varun 0:ebdf4f859dca 106 Thread::signal_wait(0x1);
sakthipriya 3:20647ff68b3c 107 printf("\n\rTHIS IS ACS %f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 108 t.start();
raizel_varun 0:ebdf4f859dca 109 mag_field= FUNC_ACS_MAG_EXEC(); //actual execution
raizel_varun 0:ebdf4f859dca 110 omega = FUNC_ACS_EXEC_GYR();
sakthipriya 3:20647ff68b3c 111 printf("\n\r gyr 1 value %f",omega[0]);
sakthipriya 5:4199c0dfed33 112 mnm_data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
sakthipriya 5:4199c0dfed33 113 printf("\n\rmnm gyro values\n"); //printing the angular velocity and magnetic field values
sakthipriya 5:4199c0dfed33 114 for(int i=0; i<3; i++)
sakthipriya 5:4199c0dfed33 115 {
sakthipriya 5:4199c0dfed33 116 printf("%f\t",mnm_data[i]);
sakthipriya 5:4199c0dfed33 117 }
sakthipriya 5:4199c0dfed33 118 printf("\n\r mnm mag values\n");
sakthipriya 5:4199c0dfed33 119 for(int i=3; i<6; i++) {
sakthipriya 5:4199c0dfed33 120 printf("%f\t",mnm_data[i]);
sakthipriya 5:4199c0dfed33 121 }
sakthipriya 6:1cdbda747f99 122 for(int i = 0 ; i<3;i++)
sakthipriya 6:1cdbda747f99 123 {
sakthipriya 9:8b74ed33be76 124 omega1[i] = mnm_data[i];
sakthipriya 6:1cdbda747f99 125 }
sakthipriya 6:1cdbda747f99 126 for( int i = 3;i<6;i++)
sakthipriya 6:1cdbda747f99 127 {
sakthipriya 9:8b74ed33be76 128 mag_field1[i-3] = mnm_data[i];
sakthipriya 6:1cdbda747f99 129 }
raizel_varun 0:ebdf4f859dca 130 if(acs_pflag == 1)
raizel_varun 0:ebdf4f859dca 131 {
sakthipriya 11:6b00f3b1be17 132 FUNC_ACS_CNTRLALGO(mag_field1,omega1,tauc1);
sakthipriya 9:8b74ed33be76 133 printf("\n\r control algo values ");
sakthipriya 9:8b74ed33be76 134 for(int i=0; i<3; i++)
sakthipriya 9:8b74ed33be76 135 {
sakthipriya 11:6b00f3b1be17 136 printf("%f\t",tauc1[i]);
sakthipriya 11:6b00f3b1be17 137 }
sakthipriya 11:6b00f3b1be17 138 moment_calc (tauc1, mag_field1,moment);
sakthipriya 11:6b00f3b1be17 139 printf("\n\r moment values ");
sakthipriya 11:6b00f3b1be17 140 for(int i=0; i<3; i++)
sakthipriya 11:6b00f3b1be17 141 {
sakthipriya 9:8b74ed33be76 142 printf("%f\t",moment[i]);
sakthipriya 9:8b74ed33be76 143 }
sakthipriya 11:6b00f3b1be17 144
raizel_varun 0:ebdf4f859dca 145 FUNC_ACS_GENPWM(moment);
raizel_varun 0:ebdf4f859dca 146 }
raizel_varun 0:ebdf4f859dca 147
raizel_varun 0:ebdf4f859dca 148 t.reset();
raizel_varun 0:ebdf4f859dca 149 }
raizel_varun 0:ebdf4f859dca 150 }
raizel_varun 0:ebdf4f859dca 151 /*
raizel_varun 0:ebdf4f859dca 152 void T_ACS_WRITE2FLASH(void const *args)
raizel_varun 0:ebdf4f859dca 153 {
raizel_varun 0:ebdf4f859dca 154 while(1)
raizel_varun 0:ebdf4f859dca 155 {
sakthipriya 3:20647ff68b3c 156 //printf("Writing in the flash\n\r");
raizel_varun 0:ebdf4f859dca 157 osEvent evt = q_acs.get();
raizel_varun 0:ebdf4f859dca 158 if(evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 159 {
raizel_varun 0:ebdf4f859dca 160 sensor_data *ptr = (sensor_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 161 FUNC_ACS_WRITE2FLASH(ptr);
raizel_varun 0:ebdf4f859dca 162 q_acs.free(ptr);
raizel_varun 0:ebdf4f859dca 163 }
sakthipriya 3:20647ff68b3c 164 printf("Writing acs data in the flash\n\r");
raizel_varun 0:ebdf4f859dca 165 }
raizel_varun 0:ebdf4f859dca 166 }
raizel_varun 0:ebdf4f859dca 167
raizel_varun 0:ebdf4f859dca 168 */
raizel_varun 0:ebdf4f859dca 169 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 170
raizel_varun 0:ebdf4f859dca 171 int beac_flag=0; //To receive telecommand from ground.
raizel_varun 0:ebdf4f859dca 172
raizel_varun 0:ebdf4f859dca 173
raizel_varun 0:ebdf4f859dca 174 /*void T_BEA_TELECOMMAND(void const *args)
raizel_varun 0:ebdf4f859dca 175 {
raizel_varun 0:ebdf4f859dca 176 char c = pc.getc();
raizel_varun 0:ebdf4f859dca 177 if(c=='a')
raizel_varun 0:ebdf4f859dca 178 {
sakthipriya 3:20647ff68b3c 179 printf("Telecommand detected\n\r");
raizel_varun 0:ebdf4f859dca 180 beac_flag=1;
raizel_varun 0:ebdf4f859dca 181 }
raizel_varun 0:ebdf4f859dca 182 }
raizel_varun 0:ebdf4f859dca 183 */
raizel_varun 0:ebdf4f859dca 184
raizel_varun 0:ebdf4f859dca 185 void T_BEA(void const *args)
raizel_varun 0:ebdf4f859dca 186 {
raizel_varun 0:ebdf4f859dca 187
raizel_varun 0:ebdf4f859dca 188 while(1)
raizel_varun 0:ebdf4f859dca 189 {
raizel_varun 0:ebdf4f859dca 190 Thread::signal_wait(0x3);
sakthipriya 3:20647ff68b3c 191 printf("\n\rTHIS IS BEACON %f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 192 t.start();
raizel_varun 0:ebdf4f859dca 193
raizel_varun 0:ebdf4f859dca 194
raizel_varun 0:ebdf4f859dca 195
raizel_varun 0:ebdf4f859dca 196 FUNC_BEA();
raizel_varun 0:ebdf4f859dca 197
raizel_varun 0:ebdf4f859dca 198
raizel_varun 0:ebdf4f859dca 199 if(beac_flag==1)
raizel_varun 0:ebdf4f859dca 200 {
raizel_varun 0:ebdf4f859dca 201 Thread::wait(600000);
raizel_varun 0:ebdf4f859dca 202 beac_flag = 0;
raizel_varun 0:ebdf4f859dca 203 }
raizel_varun 0:ebdf4f859dca 204
sakthipriya 3:20647ff68b3c 205 printf("The time to execute beacon thread is %f seconds\n\r",t.read());
raizel_varun 0:ebdf4f859dca 206 t.reset();
raizel_varun 0:ebdf4f859dca 207 }
raizel_varun 0:ebdf4f859dca 208 }
raizel_varun 0:ebdf4f859dca 209
raizel_varun 0:ebdf4f859dca 210 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 211 //TASK 4 : FAULT MANAGEMENT
raizel_varun 0:ebdf4f859dca 212 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 213 //Dummy fault rectifier functions
raizel_varun 0:ebdf4f859dca 214
raizel_varun 0:ebdf4f859dca 215 extern SensorDataQuantised SensorQuantised;
raizel_varun 0:ebdf4f859dca 216
raizel_varun 0:ebdf4f859dca 217
raizel_varun 0:ebdf4f859dca 218 /*void T_FAULT(void const *args)
raizel_varun 0:ebdf4f859dca 219 {
raizel_varun 0:ebdf4f859dca 220 Sensor.power_mode='0';
raizel_varun 0:ebdf4f859dca 221 while(1)
raizel_varun 0:ebdf4f859dca 222 {
raizel_varun 0:ebdf4f859dca 223 Thread :: signal_wait(0x2);
raizel_varun 0:ebdf4f859dca 224 FAULTS();
raizel_varun 0:ebdf4f859dca 225 POWER(Sensor.power_mode);
raizel_varun 0:ebdf4f859dca 226 //Sensor.power_mode++; //testing ... should be removed
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 -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/
raizel_varun 0:ebdf4f859dca 232 DigitalOut trigger(PIN63); // has to be changed
raizel_varun 0:ebdf4f859dca 233 void T_WDT(void const * args)
raizel_varun 0:ebdf4f859dca 234 {
raizel_varun 0:ebdf4f859dca 235 trigger = 1;
raizel_varun 0:ebdf4f859dca 236 while(true)
raizel_varun 0:ebdf4f859dca 237 {
raizel_varun 0:ebdf4f859dca 238 Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized
sakthipriya 3:20647ff68b3c 239 printf("\n\rEntered WD\n\r");
raizel_varun 0:ebdf4f859dca 240 trigger = !trigger;
raizel_varun 0:ebdf4f859dca 241 }
raizel_varun 0:ebdf4f859dca 242 }
raizel_varun 0:ebdf4f859dca 243
raizel_varun 0:ebdf4f859dca 244 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 245 //TASK 5 : i2c data
raizel_varun 0:ebdf4f859dca 246 //---------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 247
raizel_varun 0:ebdf4f859dca 248
raizel_varun 0:ebdf4f859dca 249
raizel_varun 0:ebdf4f859dca 250
raizel_varun 0:ebdf4f859dca 251
raizel_varun 0:ebdf4f859dca 252
sakthipriya 8:939b37cdcb92 253 /*void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
raizel_varun 0:ebdf4f859dca 254 {
raizel_varun 0:ebdf4f859dca 255 int slave_status = 1;
sakthipriya 4:b33bc4267e0d 256 //t2.stop();
sakthipriya 3:20647ff68b3c 257 if(interrupt ==1)
sakthipriya 3:20647ff68b3c 258 {
sakthipriya 3:20647ff68b3c 259
sakthipriya 3:20647ff68b3c 260 if(slave.receive() == 0)
sakthipriya 3:20647ff68b3c 261 t2.stop();
sakthipriya 4:b33bc4267e0d 262 //t4.stop();
sakthipriya 4:b33bc4267e0d 263 //printf("\n\r %d ",slave.receive());
sakthipriya 3:20647ff68b3c 264 if( slave.receive()==1)
sakthipriya 3:20647ff68b3c 265 {
sakthipriya 3:20647ff68b3c 266 t2.stop();
sakthipriya 6:1cdbda747f99 267
sakthipriya 3:20647ff68b3c 268 slave_status=slave.write(data,length);
sakthipriya 6:1cdbda747f99 269 t3.stop();
sakthipriya 3:20647ff68b3c 270
sakthipriya 3:20647ff68b3c 271 }
sakthipriya 3:20647ff68b3c 272 else if( slave.receive()==3 || slave.receive()==2)
raizel_varun 0:ebdf4f859dca 273 {
sakthipriya 3:20647ff68b3c 274 t2.stop();
sakthipriya 3:20647ff68b3c 275 //t3.start();
sakthipriya 3:20647ff68b3c 276 slave_status=slave.read(data,length);
sakthipriya 6:1cdbda747f99 277 t3.stop();
raizel_varun 0:ebdf4f859dca 278 }
sakthipriya 3:20647ff68b3c 279
raizel_varun 0:ebdf4f859dca 280
raizel_varun 0:ebdf4f859dca 281 }
sakthipriya 3:20647ff68b3c 282
sakthipriya 3:20647ff68b3c 283 printf("\n\r%d\r",t2.read_us());
sakthipriya 3:20647ff68b3c 284 t2.reset();
sakthipriya 6:1cdbda747f99 285 printf("\n\r%d\r",t3.read_us());
sakthipriya 6:1cdbda747f99 286 t3.reset();
sakthipriya 3:20647ff68b3c 287
sakthipriya 8:939b37cdcb92 288 }*/
sakthipriya 8:939b37cdcb92 289 /*
raizel_varun 0:ebdf4f859dca 290 char data_send[25],data_receive;
raizel_varun 0:ebdf4f859dca 291 void T_I2C_BAE(void const * args)
raizel_varun 0:ebdf4f859dca 292 {
raizel_varun 0:ebdf4f859dca 293 //char data_send,data_receive;
raizel_varun 0:ebdf4f859dca 294 while(1)
raizel_varun 0:ebdf4f859dca 295 {
raizel_varun 0:ebdf4f859dca 296 Thread::signal_wait(0x4);
sakthipriya 3:20647ff68b3c 297 // printf("\n\r entered thread");
sakthipriya 1:deb3c0fafa3a 298 if(i2c_status == 0 )
raizel_varun 0:ebdf4f859dca 299 {
sakthipriya 4:b33bc4267e0d 300 wait_ms(20);
raizel_varun 0:ebdf4f859dca 301 FUNC_I2C_WRITE2CDMS(&data_receive,1);
sakthipriya 8:939b37cdcb92 302 */
raizel_varun 0:ebdf4f859dca 303 /*i2c_data * i2c_data_r = i2c_data_receive.alloc();
raizel_varun 0:ebdf4f859dca 304 i2c_data_r->data = data_receive;
raizel_varun 0:ebdf4f859dca 305 i2c_data_r->length = 1;
raizel_varun 0:ebdf4f859dca 306 i2c_data_receive.put(i2c_data_r);*/
sakthipriya 8:939b37cdcb92 307 /* printf("\n\r Data received from CDMS is %c \n\r",data_receive);
raizel_varun 0:ebdf4f859dca 308 FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread
raizel_varun 0:ebdf4f859dca 309
raizel_varun 0:ebdf4f859dca 310 }
sakthipriya 1:deb3c0fafa3a 311 else if(i2c_status ==1)
raizel_varun 0:ebdf4f859dca 312 {
raizel_varun 0:ebdf4f859dca 313 osEvent evt = i2c_data_send.get();
raizel_varun 0:ebdf4f859dca 314 if (evt.status == osEventMail)
raizel_varun 0:ebdf4f859dca 315 {
raizel_varun 0:ebdf4f859dca 316 i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
raizel_varun 0:ebdf4f859dca 317 strcpy(data_send,i2c_data_s -> data);
sakthipriya 3:20647ff68b3c 318 wait_ms(29);
raizel_varun 0:ebdf4f859dca 319 FUNC_I2C_WRITE2CDMS(data_send,25);
sakthipriya 3:20647ff68b3c 320 printf("\n\rData sent to CDMS is %s\n\r",data_send);
raizel_varun 0:ebdf4f859dca 321 i2c_data_send.free(i2c_data_s);
raizel_varun 0:ebdf4f859dca 322 i2c_status = 0;
sakthipriya 3:20647ff68b3c 323
raizel_varun 0:ebdf4f859dca 324
raizel_varun 0:ebdf4f859dca 325 }
raizel_varun 0:ebdf4f859dca 326 }
raizel_varun 0:ebdf4f859dca 327
raizel_varun 0:ebdf4f859dca 328 }
raizel_varun 0:ebdf4f859dca 329 }
raizel_varun 0:ebdf4f859dca 330
raizel_varun 0:ebdf4f859dca 331
sakthipriya 8:939b37cdcb92 332 */
sakthipriya 8:939b37cdcb92 333 /*void FUNC_I2C_INT()
raizel_varun 0:ebdf4f859dca 334 {
sakthipriya 3:20647ff68b3c 335
sakthipriya 3:20647ff68b3c 336 t2.start();
sakthipriya 6:1cdbda747f99 337 // t3.start();
raizel_varun 0:ebdf4f859dca 338 ptr_t_i2c->signal_set(0x4);
raizel_varun 0:ebdf4f859dca 339
raizel_varun 0:ebdf4f859dca 340
sakthipriya 8:939b37cdcb92 341 }*/
raizel_varun 0:ebdf4f859dca 342
raizel_varun 0:ebdf4f859dca 343 void FUNC_I2C_IR2CDMS()
sakthipriya 8:939b37cdcb92 344 { ;
sakthipriya 8:939b37cdcb92 345 /* data_ready=0;
raizel_varun 0:ebdf4f859dca 346 //char data[25];
raizel_varun 0:ebdf4f859dca 347 //strcpy(data,"sakthi ");
raizel_varun 0:ebdf4f859dca 348 //strcat(data,"priya");
raizel_varun 0:ebdf4f859dca 349 strcpy(hk_data,SensorQuantised.Voltage);
raizel_varun 0:ebdf4f859dca 350 strcat(hk_data,SensorQuantised.Current);
raizel_varun 0:ebdf4f859dca 351 strcat(hk_data,SensorQuantised.Temperature);
raizel_varun 0:ebdf4f859dca 352 strcat(hk_data,SensorQuantised.PanelTemperature);
raizel_varun 0:ebdf4f859dca 353 strcat(hk_data,SensorQuantised.AngularSpeed);
raizel_varun 0:ebdf4f859dca 354 strcat(hk_data,SensorQuantised.Bnewvalue);
raizel_varun 0:ebdf4f859dca 355 char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode};
sakthipriya 8:939b37cdcb92 356 */
raizel_varun 0:ebdf4f859dca 357 /*strcat(hk_data,sfaultpoll);
raizel_varun 0:ebdf4f859dca 358 strcat(hk_data,sfaultir);
raizel_varun 0:ebdf4f859dca 359 strcat(hk_data,spower_mode);*/
sakthipriya 8:939b37cdcb92 360 /* strcat(hk_data,fdata);
sakthipriya 3:20647ff68b3c 361 printf("\n\rhk data : %s\n\r",hk_data);
sakthipriya 3:20647ff68b3c 362
raizel_varun 0:ebdf4f859dca 363 //data = pcslave.getc();
raizel_varun 0:ebdf4f859dca 364 reset =0;
raizel_varun 0:ebdf4f859dca 365 i2c_status=1;
raizel_varun 0:ebdf4f859dca 366 i2c_data * i2c_data_s = i2c_data_send.alloc();
raizel_varun 0:ebdf4f859dca 367 strcpy(i2c_data_s->data,hk_data);
raizel_varun 0:ebdf4f859dca 368 i2c_data_s->length = 25;
raizel_varun 0:ebdf4f859dca 369 i2c_data_send.put(i2c_data_s);
raizel_varun 0:ebdf4f859dca 370 data_ready=1;
sakthipriya 8:939b37cdcb92 371 //temp = i2c_status; */
raizel_varun 0:ebdf4f859dca 372 }
sakthipriya 5:4199c0dfed33 373
raizel_varun 0:ebdf4f859dca 374
raizel_varun 0:ebdf4f859dca 375 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 376 //TELECOMMAND
raizel_varun 0:ebdf4f859dca 377 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 378 void FUNC_I2C_TC_EXECUTE (char command)
raizel_varun 0:ebdf4f859dca 379 { switch(command)
raizel_varun 0:ebdf4f859dca 380 { case '0' : printf("command 0 executed");
raizel_varun 0:ebdf4f859dca 381 break;
raizel_varun 0:ebdf4f859dca 382 case '1' : printf("command 1 executed");
raizel_varun 0:ebdf4f859dca 383 break;
raizel_varun 0:ebdf4f859dca 384 case '2' : printf("command 2 executed");
raizel_varun 0:ebdf4f859dca 385 break;
raizel_varun 0:ebdf4f859dca 386 case '3' : printf("command 3 executed");
raizel_varun 0:ebdf4f859dca 387 }
raizel_varun 0:ebdf4f859dca 388 }
raizel_varun 0:ebdf4f859dca 389
raizel_varun 0:ebdf4f859dca 390
raizel_varun 0:ebdf4f859dca 391 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 392 //SCHEDULER
raizel_varun 0:ebdf4f859dca 393 //------------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 394 int beacon_sc = 3;
raizel_varun 0:ebdf4f859dca 395 uint16_t schedcount=1;
raizel_varun 0:ebdf4f859dca 396 void T_SC(void const *args)
raizel_varun 0:ebdf4f859dca 397 {
greenroshks 2:edd107ea4740 398 //DRDY=0;
sakthipriya 3:20647ff68b3c 399 printf("The value of i in scheduler is %d\n\r",schedcount);
raizel_varun 0:ebdf4f859dca 400 if(schedcount == 65532) //to reset the counter
raizel_varun 0:ebdf4f859dca 401 {
raizel_varun 0:ebdf4f859dca 402 schedcount = 0;
raizel_varun 0:ebdf4f859dca 403 }
raizel_varun 0:ebdf4f859dca 404
raizel_varun 0:ebdf4f859dca 405 if(schedcount%1==0)
raizel_varun 0:ebdf4f859dca 406 {
sakthipriya 3:20647ff68b3c 407 ptr_t_acs -> signal_set(0x1);
sakthipriya 5:4199c0dfed33 408 ptr_t_wdt -> signal_set(0x5);
raizel_varun 0:ebdf4f859dca 409 }
raizel_varun 0:ebdf4f859dca 410 if(schedcount%2==0)
raizel_varun 0:ebdf4f859dca 411 {
sakthipriya 3:20647ff68b3c 412 // ptr_t_fault -> signal_set(0x2);
sakthipriya 5:4199c0dfed33 413 ptr_t_hk_acq -> signal_set(0x2);
raizel_varun 0:ebdf4f859dca 414
raizel_varun 0:ebdf4f859dca 415 }
raizel_varun 0:ebdf4f859dca 416 if(schedcount%beacon_sc==0)
raizel_varun 0:ebdf4f859dca 417 {
raizel_varun 0:ebdf4f859dca 418 if(beac_flag==0)
raizel_varun 0:ebdf4f859dca 419 {
raizel_varun 0:ebdf4f859dca 420
sakthipriya 5:4199c0dfed33 421 ptr_t_bea -> signal_set(0x3);
raizel_varun 0:ebdf4f859dca 422 }
raizel_varun 0:ebdf4f859dca 423 }
raizel_varun 0:ebdf4f859dca 424 schedcount++;
raizel_varun 0:ebdf4f859dca 425 }
raizel_varun 0:ebdf4f859dca 426
raizel_varun 0:ebdf4f859dca 427 //---------------------------------------------------------------------------------------------------------------------------------------------
raizel_varun 0:ebdf4f859dca 428
raizel_varun 0:ebdf4f859dca 429 int main()
raizel_varun 0:ebdf4f859dca 430 {
raizel_varun 0:ebdf4f859dca 431 t1.start();
sakthipriya 7:603c2a89effc 432
greenroshks 2:edd107ea4740 433 //DRDY=0;
sakthipriya 5:4199c0dfed33 434 printf("\nahoy\n");
sakthipriya 5:4199c0dfed33 435 INIT_PNI();
sakthipriya 5:4199c0dfed33 436
raizel_varun 0:ebdf4f859dca 437 FUNC_ACS_MAG_INIT();
raizel_varun 0:ebdf4f859dca 438 FUNC_ACS_INIT_GYR();
sakthipriya 8:939b37cdcb92 439 //slave.address(0x20);
raizel_varun 0:ebdf4f859dca 440
raizel_varun 0:ebdf4f859dca 441 ptr_t_hk_acq = new Thread(T_HK_ACQ);
raizel_varun 0:ebdf4f859dca 442 ptr_t_acs = new Thread(T_ACS);
raizel_varun 0:ebdf4f859dca 443 //ptr_t_acs_write2flash = new Thread(T_ACS_WRITE2FLASH);
raizel_varun 0:ebdf4f859dca 444 ptr_t_bea = new Thread(T_BEA);
raizel_varun 0:ebdf4f859dca 445 //ptr_t_bea_telecommand = new Thread(T_BEA_TELECOMMAND);
raizel_varun 0:ebdf4f859dca 446 //ptr_t_fault = new Thread(T_FAULT);
sakthipriya 8:939b37cdcb92 447 // ptr_t_i2c = new Thread(T_I2C_BAE);
raizel_varun 0:ebdf4f859dca 448 //ptr_t_sc = new Thread(T_SC);
raizel_varun 0:ebdf4f859dca 449 ptr_t_wdt = new Thread(T_WDT);
raizel_varun 0:ebdf4f859dca 450
raizel_varun 0:ebdf4f859dca 451 interrupt_fault();
raizel_varun 0:ebdf4f859dca 452
raizel_varun 0:ebdf4f859dca 453 //ptr_t_fault -> set_priority(osPriorityRealtime);
raizel_varun 0:ebdf4f859dca 454 ptr_t_acs->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 455 ptr_t_i2c->set_priority(osPriorityHigh);
raizel_varun 0:ebdf4f859dca 456 ptr_t_hk_acq->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 457 //ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal);
raizel_varun 0:ebdf4f859dca 458 ptr_t_bea->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 459 //ptr_t_bea_telecommand->set_priority(osPriorityIdle);
raizel_varun 0:ebdf4f859dca 460 //ptr_t_sc->set_priority(osPriorityAboveNormal);
raizel_varun 0:ebdf4f859dca 461 ptr_t_wdt -> set_priority(osPriorityIdle);
raizel_varun 0:ebdf4f859dca 462
raizel_varun 0:ebdf4f859dca 463
raizel_varun 0:ebdf4f859dca 464 // ----------------------------------------------------------------------------------------------
sakthipriya 3:20647ff68b3c 465 //printf("\n\r T_FAULT priority is %d",ptr_t_fault->get_priority());
sakthipriya 3:20647ff68b3c 466 printf("\n\r T_ACS priority is %d",ptr_t_acs->get_priority());
sakthipriya 3:20647ff68b3c 467 printf("\n\r T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
sakthipriya 3:20647ff68b3c 468 //printf("\n\r T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
sakthipriya 3:20647ff68b3c 469 printf("\n\r T_BEA priority is %d",ptr_t_bea->get_priority());
raizel_varun 0:ebdf4f859dca 470 RtosTimer t_sc_timer(T_SC,osTimerPeriodic);
raizel_varun 0:ebdf4f859dca 471 t_sc_timer.start(10000);
sakthipriya 3:20647ff68b3c 472 printf("\n\r%f\n\r",t1.read());
raizel_varun 0:ebdf4f859dca 473
raizel_varun 0:ebdf4f859dca 474
raizel_varun 0:ebdf4f859dca 475
sakthipriya 1:deb3c0fafa3a 476 //master_reset.fall(&FUNC_I2C_RESET);
sakthipriya 8:939b37cdcb92 477 // interrupt.rise(&FUNC_I2C_INT);
raizel_varun 0:ebdf4f859dca 478
raizel_varun 0:ebdf4f859dca 479 while(1)
raizel_varun 0:ebdf4f859dca 480 {
raizel_varun 0:ebdf4f859dca 481 //Thread::wait(10000);
raizel_varun 0:ebdf4f859dca 482 //ir2master();
greenroshks 2:edd107ea4740 483 //DRDY = 0;
sakthipriya 3:20647ff68b3c 484 Thread::wait(5000);
raizel_varun 0:ebdf4f859dca 485 }
raizel_varun 0:ebdf4f859dca 486
raizel_varun 0:ebdf4f859dca 487 }