sakthi priya amirtharaj
/
BAE_hw_test1_5
with i2c
Fork of BAE_b4hw_test by
main.cpp
- Committer:
- sakthipriya
- Date:
- 2015-03-04
- Revision:
- 8:6d856d863537
- Parent:
- 7:603c2a89effc
File content as of revision 8:6d856d863537:
#include "mbed.h" #include "rtos.h" #include "HK.h" #include "slave.h" #include "beacon.h" #include "ACS.h" #include "fault.h" #include "slave.h" #include "mnm.h" Serial pc(USBTX, USBRX); //extern DigitalOut DRDY; 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 Timer t2; Timer t3; Timer t4; 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='3'; printf("\n\rTHIS IS HK %f\n\r",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\r",t.read()); t.reset(); } } //--------------------------------------------------------------------------------------------------------------------------------------- //TASK 1 : ACS //--------------------------------------------------------------------------------------------------------------------------------------- int acs_pflag = 1; void T_ACS(void const *args) { float *mag_field; float *omega; float mag_field1[3]; float omega1[1]; float tauc1[3]; float moment[3]; float *mnm_data; while(1) { Thread::signal_wait(0x1); printf("\n\rTHIS IS ACS %f\n\r",t1.read()); t.start(); mag_field= FUNC_ACS_MAG_EXEC(); //actual execution omega = FUNC_ACS_EXEC_GYR(); printf("\n\r gyr 1 value %f",omega[0]); mnm_data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3 printf("\n\rmnm gyro values\n"); //printing the angular velocity and magnetic field values for(int i=0; i<3; i++) { printf("%f\t",mnm_data[i]); } printf("\n\r mnm mag values\n"); for(int i=3; i<6; i++) { printf("%f\t",mnm_data[i]); } for(int i = 0 ; i<3;i++) { omega1[i] = mnm_data[i]; } for( int i = 3;i<6;i++) { mag_field1[i-3] = mnm_data[i]; } if(acs_pflag == 1) { FUNC_ACS_CNTRLALGO(mag_field1,omega1,tauc1); printf("\n\r control algo values "); for(int i=0; i<3; i++) { printf("%f\t",tauc1[i]); } moment_calc (tauc1, mag_field1,moment); printf("\n\r moment values "); for(int i=0; i<3; i++) { printf("%f\t",moment[i]); } FUNC_ACS_GENPWM(moment); } t.reset(); } }/* void T_ACS_WRITE2FLASH(void const *args) { while(1) { //printf("Writing in the flash\n\r"); 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\r"); } } */ //---------------------------------------------------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\r"); beac_flag=1; } } */ void T_BEA(void const *args) { while(1) { Thread::signal_wait(0x3); printf("\n\rTHIS IS BEACON %f\n\r",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\r",t.read()); t.reset(); } } //--------------------------------------------------------------------------------------------------------------------------------------------------- //TASK 4 : FAULT MANAGEMENT //--------------------------------------------------------------------------------------------------------------------------------------------------- //Dummy fault rectifier functions 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("\n\rEntered WD\n\r"); trigger = !trigger; } } //--------------------------------------------------------------------------------------------------------------------------------------------------- //TASK 5 : i2c data //--------------------------------------------------------------------------------------------------------------------------------------------------- void FUNC_I2C_WRITE2CDMS(char *data, int length=1) { int slave_status = 1; //t2.stop(); if(interrupt ==1) { if(slave.receive() == 0) t2.stop(); //t4.stop(); //printf("\n\r %d ",slave.receive()); if( slave.receive()==1) { t2.stop(); slave_status=slave.write(data,length); t3.stop(); } else if( slave.receive()==3 || slave.receive()==2) { t2.stop(); //t3.start(); slave_status=slave.read(data,length); t3.stop(); } } printf("\n\r%d\r",t2.read_us()); t2.reset(); printf("\n\r%d\r",t3.read_us()); t3.reset(); } char data_send[25],data_receive; void T_I2C_BAE(void const * args) { //char data_send,data_receive; while(1) { Thread::signal_wait(0x4); // printf("\n\r entered thread"); if(i2c_status == 0 ) { wait_ms(20); FUNC_I2C_WRITE2CDMS(&data_receive,1); /*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\r 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) { 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); wait_ms(29); FUNC_I2C_WRITE2CDMS(data_send,25); printf("\n\rData sent to CDMS is %s\n\r",data_send); i2c_data_send.free(i2c_data_s); i2c_status = 0; } } } } void FUNC_I2C_INT() { t2.start(); // t3.start(); ptr_t_i2c->signal_set(0x4); } void FUNC_I2C_IR2CDMS() { data_ready=0; //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("\n\rhk data : %s\n\r",hk_data); //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) { //DRDY=0; printf("The value of i in scheduler is %d\n\r",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(); //DRDY=0; printf("\nahoy\n"); INIT_PNI(); FUNC_ACS_MAG_INIT(); FUNC_ACS_INIT_GYR(); slave.address(0x20); 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\r T_FAULT priority is %d",ptr_t_fault->get_priority()); printf("\n\r T_ACS priority is %d",ptr_t_acs->get_priority()); printf("\n\r T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority()); //printf("\n\r T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority()); printf("\n\r T_BEA priority is %d",ptr_t_bea->get_priority()); RtosTimer t_sc_timer(T_SC,osTimerPeriodic); t_sc_timer.start(10000); printf("\n\r%f\n\r",t1.read()); //master_reset.fall(&FUNC_I2C_RESET); interrupt.rise(&FUNC_I2C_INT); while(1) { //Thread::wait(10000); //ir2master(); //DRDY = 0; Thread::wait(5000); } }