Revision 3:20647ff68b3c, committed 2015-01-31

Comitter:

sakthipriya

Date:

Sat Jan 31 14:11:53 2015 +0000

Parent:

2:edd107ea4740

Commit message:

i2c while removed and works - to be characterised

Changed in this revision

diff -r edd107ea4740 -r 20647ff68b3c ACS.cpp
--- a/ACS.cpp	Fri Dec 26 06:12:09 2014 +0000
+++ b/ACS.cpp	Sat Jan 31 14:11:53 2015 +0000
@@ -25,7 +25,7 @@
  {
      
 
-     printf("\nEnterd PWMGEN function\n");
+     printf("\n\rEnterd PWMGEN function\n\r\r");
      float DCx = 0;         //Duty cycle of Moment in x, y, z directions
      float ix = 0;          //Current sent in x, y, z TR's
      float timep = 0.02 ;  
@@ -57,7 +57,7 @@
          }
         else if(ix >= 0.0624&& ix < 0.555)
          {
-            printf("\nACS entered if\n");
+            printf("\n\rACS entered if\n\r");
             DCx =  331.15*pow(ix,4) - 368.09*pow(ix,3) + 140.43*pow(ix,2) + 158.59*ix + 0.0338;
             PWM1.period(timep);
             PWM1 = DCx/100 ;            
@@ -73,7 +73,7 @@
             // printf("!!!!!!!!!!Error!!!!!!!!!");
          } 
          
-    printf("\n moment :%f\n",DCx);
+    printf("\n\r moment :%f\n\r",DCx);
     float DCy = 0;         //Duty cycle of Moment in x, y, z directions
      float iy = 0;          //Current sent in x, y, z TR's
        
@@ -104,7 +104,7 @@
          }
         else if(iy >= 0.0624&& iy < 0.555)
          {
-            printf("\nACS entered if\n");
+            printf("\n\rACS entered if\n\r");
             DCy =  331.15*pow(iy,4) - 368.09*pow(iy,3) + 140.43*pow(iy,2) + 158.59*iy + 0.0338;
             PWM2.period(timep);
             PWM2 = DCy/100 ;            
@@ -149,7 +149,7 @@
          }
         else if(iz >= 0.0624&& iz < 0.555)
          {
-            printf("\nACS entered if\n");
+            printf("\n\rACS entered if\n\r");
             DCz =  331.15*pow(iz,4) - 368.09*pow(iz,3) + 140.43*pow(iz,2) + 158.59*iz + 0.0338;
             PWM3.period(timep);
             PWM3 = DCz/100 ;            
@@ -165,7 +165,7 @@
             // printf("!!!!!!!!!!Error!!!!!!!!!");
          }    
     
-printf("\nExited PWMGEN function\n");
+printf("\n\rExited PWMGEN function\n\r");
 }
 /*-------------------------------------------------------------------------------------------------------------------------------------------------------
 -------------------------------------------MAGNETOMETER-------------------------------------------------------------------------------------------------*/
@@ -181,7 +181,7 @@
   DRDY = 0;
   int a ;
   a=DRDY;
-  printf("\n DRDY is %d\n",a);
+  printf("\n\r DRDY is %d\n\r",a);
   SSN_MAG=1;                                    //pin is disabled
   spi_acs.format(8,0);                         //   8bits,Mode 0
   spi_acs.frequency(100000);                   //clock frequency
@@ -205,12 +205,12 @@
 
 float* FUNC_ACS_MAG_EXEC()
 {
-   //printf("\nEntered magnetometer function\n");
+   //printf("\n\rEntered magnetometer function\n\r");
    //DRDY.output();
    DRDY.write(0);
    int a;
    a = DRDY;
-   printf("\n DRDY is %d\n",a);
+   printf("\n\r DRDY is %d\n\r",a);
    SSN_MAG=0;                                //enabling slave to measure the values
    wait_ms(10);
    spi_acs.write(0x82);                     //initiates measurement
@@ -229,7 +229,7 @@
     wait_ms(5);
     if(DRDY==1)
     {
-        printf("\nwth\n");
+        printf("\n\rwth\n");
         SSN_MAG=0;
         spi_acs.write(0xc9);                  //command  byte for retrieving data
  
@@ -256,7 +256,7 @@
             Bnewvalue[axis]=(float)Bvalue[axis]*22.0*pow(10.0,-3.0);  //1 LSB=(22nT)...final value of field obtained in micro tesla
   
             wait_ms(10);
-            printf("\t%lf\n",Bnewvalue[axis]);
+            printf("\t%lf\n\r",Bnewvalue[axis]);
 
         }
         SSN_MAG=1;
@@ -285,7 +285,7 @@
     float Mu[2], z[2], dv[2], v[2], u[2], tauc[3] = {0, 0, 0}; //outputs
     float invJm[3][3];
     float kmu2 = 0.07, gamma2 = 1.9e4, kz2 = 0.4e-2, kmu = 0.003, gamma = 5.6e4, kz = 0.1e-4;
-    printf("Entered cntrl algo\n");
+    printf("Entered cntrl algo\n\r");
     //structure parameters
 
     void inverse (float mat[3][3], float inv[3][3]); 
@@ -320,7 +320,7 @@
         
         for(i=0;i<3;i++)
         {
-            printf("\nreached here\n");
+            printf("\n\rreached here\n\r");
             if(den!=0)
                 //b[i]=b[i]/den;                                      //there is a problem here. The code gets stuck here.  Maf value is required 
                 ;
@@ -384,7 +384,7 @@
 }
 /////////// Output to Matlab //////////////////
 /* for(i=0;i<3;i++) {
- printf("%f\n",tauc[i]*10000000);
+ printf("%f\n\r",tauc[i]*10000000);
  wait_ms(10);
  }
  }
@@ -423,7 +423,7 @@
  }
  sscanf (tempchar, "%8x", &n);
  memcpy(&flval, &n, sizeof(long));
- printf("%f\n", flval);
+ printf("%f\n\r", flval);
  x[j] = flval;
  }
 }*/
@@ -532,7 +532,7 @@
 
 float * FUNC_ACS_EXEC_GYR()
 {
-    printf("\nEntered gyro\n");
+    printf("\n\rEntered gyro\n\r");
     uint8_t response;
     uint8_t MSB,LSB;
     int16_t bit_data;
@@ -574,7 +574,7 @@
             {
                 printf("%f\t",data[i]); //printing the angular velocity values
             }
-            printf("\n");
+            printf("\n\r");
             break;
         }
             drFlag=0;
@@ -590,7 +590,7 @@
     response=spi_acs.write(response|BIT_SLEEP); //setting the gyroscope in sleep mode
     ssn_gyr=1;
     wait(0.1);
-    printf("\nExited gyro\n");
+    printf("\n\rExited gyro\n\r");
     return data;
 }
 

diff -r edd107ea4740 -r 20647ff68b3c HK.cpp
--- a/HK.cpp	Fri Dec 26 06:12:09 2014 +0000
+++ b/HK.cpp	Sat Jan 31 14:11:53 2015 +0000
@@ -137,7 +137,7 @@
         resistance_thermistor=24000*voltage_thermistor/(3.3-voltage_thermistor);//resistance of thermistor
         if (LoopIterator==0)
         {
-            printf(" Temp =%f",-90.7*3.3*TemperatureInput.read()+190.1543);
+            printf(" \n\rTemp =%f",-90.7*3.3*TemperatureInput.read()+190.1543);
         }
         
         if(LoopIterator%2==0)

diff -r edd107ea4740 -r 20647ff68b3c beacon.cpp
--- a/beacon.cpp	Fri Dec 26 06:12:09 2014 +0000
+++ b/beacon.cpp	Sat Jan 31 14:11:53 2015 +0000
@@ -52,7 +52,7 @@
 void FUNC_BEA() {
     
     //button.rise(&interrupt_func);         //interrupt enabled ( rising edge of pin 9)
-    printf("\nBeacon function entered\n");
+    printf("\n\rBeacon function entered\n\r");
     wait(0.02);                             //takes 10 ms for POR event + 10ms for safety                 
     
     uint8_t byte_counter = 0;
@@ -74,7 +74,7 @@
         
     for(int i = 0; i < 15 ; i++)
     {
-        chavan.printf("0x%X\n",(short_beacon[i]));    
+        chavan.printf("0x%X\n\r",(short_beacon[i]));    
     }
     
     spi.format(8,0);                    
@@ -134,9 +134,9 @@
     cs_bar = 1; //cs_bar
                 
     //Check for fifoThresh
-    printf("\nfor loop executed\n");
+    printf("\n\rfor loop executed\n\r");
     while((readreg(0x28) & 0x20) != 0x20);                         
-    printf("\nwhile loop executed\n");
+    printf("\n\rwhile loop executed\n\r");
     //Highpower settings
     writereg(0x11,0x7F);    //RegPalevel (20db)                //~
     writereg(0x13,0x0F);    //RegOCP
@@ -146,10 +146,10 @@
     //Set to Tx mode
     writereg(0x01,0x0C);
     
-        printf("\npre 2nd while loop\n");
+        printf("\n\rpre 2nd while loop\n\r");
         //Check for fifoThresh
         while((readreg(0x28) & 0x20) != 0x00);  
-        printf("\n2nd while loop executed\n");        
+        printf("\n\r2nd while loop executed\n\r");        
         while(byte_counter!=15){
             
         //writing again
@@ -175,11 +175,11 @@
         //Check for fifoThresh
         while((readreg(0x28) & 0x20) != 0x00);
     }
-    printf("\n3rd big while loop executed\n");
+    printf("\n\r3rd big while loop executed\n\r");
     //wait for packet sent bit to fire
     while((readreg(0x28) & 0x08) != 0x08);
-    printf("\n4th while loop executed\n");
-    //chavan.printf("packet sent!!! \n");    
+    printf("\n\r4th while loop executed\n\r");
+    //chavan.printf("packet sent!!! \n\r");    
     
     //Switch back to Standby Mode
     writereg(0x01,0x04);
@@ -196,5 +196,5 @@
     //t.stop();
     //chavan.printf(" time taken to init + transmit = %f \n", t.read()) ;
     //}
-printf("\nBeacon function exiting\n");
+printf("\n\rBeacon function exiting\n\r");
 }

diff -r edd107ea4740 -r 20647ff68b3c main.cpp
--- a/main.cpp	Fri Dec 26 06:12:09 2014 +0000
+++ b/main.cpp	Sat Jan 31 14:11:53 2015 +0000
@@ -17,7 +17,9 @@
 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;
 
 
 
@@ -70,7 +72,7 @@
     {
         Thread::signal_wait(0x2);
         SensorQuantised.power_mode='3';
-        printf("\nTHIS IS HK    %f\n",t1.read());
+        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
@@ -79,7 +81,7 @@
         //FUNC_I2C_SLAVE_MAIN(25);    
         FUNC_I2C_IR2CDMS();
         t.stop();
-        printf("The time to execute hk_acq is %f seconds\n",t.read());
+        printf("The time to execute hk_acq is %f seconds\n\r",t.read());
         t.reset();
     }
 }
@@ -97,11 +99,11 @@
     while(1)
     {
         Thread::signal_wait(0x1);
-        printf("\nTHIS IS ACS   %f\n",t1.read());
+        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 gyr 1 value %f",omega[0]);
+        printf("\n\r gyr 1 value %f",omega[0]);
         
         
         if(acs_pflag == 1)
@@ -118,7 +120,7 @@
 {
     while(1)
     {
-        //printf("Writing in the flash\n");
+        //printf("Writing in the flash\n\r");
         osEvent evt = q_acs.get();
         if(evt.status == osEventMail)
         {
@@ -126,7 +128,7 @@
             FUNC_ACS_WRITE2FLASH(ptr);
             q_acs.free(ptr);
         }
-        printf("Writing acs data in the flash\n");
+        printf("Writing acs data in the flash\n\r");
     }
 }
 
@@ -141,7 +143,7 @@
     char c = pc.getc();
     if(c=='a')
     {
-        printf("Telecommand detected\n");
+        printf("Telecommand detected\n\r");
         beac_flag=1;
     }
 }
@@ -153,7 +155,7 @@
     while(1)
     {
         Thread::signal_wait(0x3);
-        printf("\nTHIS IS BEACON    %f\n",t1.read());
+        printf("\n\rTHIS IS BEACON    %f\n\r",t1.read());
         t.start();
         
         
@@ -167,7 +169,7 @@
             beac_flag = 0;
         }
         
-        printf("The time to execute beacon thread is %f seconds\n",t.read());
+        printf("The time to execute beacon thread is %f seconds\n\r",t.read());
         t.reset();
     }
 }
@@ -177,38 +179,6 @@
 //---------------------------------------------------------------------------------------------------------------------------------------------------
 //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;
 
 
@@ -233,7 +203,7 @@
     while(true)
     {
         Thread::signal_wait(0x5);                               //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized
-        printf("\nEntered WD\n");
+        printf("\n\rEntered WD\n\r");
         trigger = !trigger;
     }
 }
@@ -250,26 +220,41 @@
 void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
 {
        int slave_status = 1;
-   
-    while(slave_status && interrupt == 1)
-    {                 
-            slave.address(0x20);
-            if(slave.receive()==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();
+               //t3.start();
+               slave_status=slave.write(data,length);
+               //t3.stop();
+            
+            }
+            else if( slave.receive()==3 ||  slave.receive()==2)
             {
-                slave_status=slave.write(data,length);
-               
+                t2.stop();
+                //t3.start();
+                slave_status=slave.read(data,length);
+                //t3.stop();
                 
             }
-            else if(slave.receive()==3 || slave.receive()==2)
-            {
-                slave_status=slave.read(data,length);
-            }
+         
             
     }
-            
-            printf("\ndone\n\r");
-
+           
+            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)
 {
@@ -277,20 +262,17 @@
     while(1)
     {
         Thread::signal_wait(0x4);
-        //T_I2C_BAE();
-        //i2c_status = temp;
-        //wait(0.5);
-        printf("\n entered thread   %d\n\r",i2c_status);
+       // printf("\n\r entered thread");
         if(i2c_status == 0 )
         {
-            
+            wait_ms(30);
             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);
+            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
             
         }
@@ -301,11 +283,12 @@
             {
                 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("\nData sent to CDMS is %s\n\r",data_send);
+                printf("\n\rData sent to CDMS is %s\n\r",data_send);
                 i2c_data_send.free(i2c_data_s);
                 i2c_status = 0;
-                //temp = i2c_status;
+                
                 
             }
         }  
@@ -317,19 +300,16 @@
 
 void FUNC_I2C_INT()
 {
-   reset = 0;
+   
+   t2.start();
    ptr_t_i2c->signal_set(0x4);
    
      
 }
 
-
-
-
-
 void FUNC_I2C_IR2CDMS()
 {
-        
+        data_ready=0; 
         //char data[25];
         //strcpy(data,"sakthi ");
         //strcat(data,"priya");
@@ -345,8 +325,8 @@
         strcat(hk_data,sfaultir);
         strcat(hk_data,spower_mode);*/
         strcat(hk_data,fdata);
-        printf("\nhk data : %s\n",hk_data);
-        data_ready=0;
+        printf("\n\rhk data : %s\n\r",hk_data);
+       
         //data = pcslave.getc();
         reset =0;
         i2c_status=1;
@@ -383,7 +363,7 @@
 void T_SC(void const *args)
 {
     //DRDY=0;
-    printf("The value of i in scheduler is %d\n",schedcount);
+    printf("The value of i in scheduler is %d\n\r",schedcount);
     if(schedcount == 65532)                         //to reset the counter
     {
         schedcount = 0;
@@ -391,12 +371,12 @@
     
     if(schedcount%1==0)
     {
-        ptr_t_acs -> signal_set(0x1);
-        ptr_t_wdt -> signal_set(0x5);
+     ptr_t_acs -> signal_set(0x1);
+       ptr_t_wdt -> signal_set(0x5);
     }
     if(schedcount%2==0)
     {
-        //ptr_t_fault -> signal_set(0x2);
+       // ptr_t_fault -> signal_set(0x2);
         ptr_t_hk_acq -> signal_set(0x2);
         
     }
@@ -405,7 +385,7 @@
         if(beac_flag==0)
         {
             
-            //ptr_t_bea -> signal_set(0x3);
+            ptr_t_bea -> signal_set(0x3);
         }
     }
     schedcount++;
@@ -416,6 +396,7 @@
 int main()
 {
     t1.start();
+     slave.address(0x20);
     //DRDY=0;
      FUNC_ACS_MAG_INIT();
      FUNC_ACS_INIT_GYR();
@@ -444,14 +425,14 @@
     
   
    // ----------------------------------------------------------------------------------------------
-    //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());  
+    //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%f\n",t1.read()); 
+    printf("\n\r%f\n\r",t1.read()); 
      
      
       
@@ -463,7 +444,7 @@
         //Thread::wait(10000);
          //ir2master(); 
          //DRDY = 0;
-         Thread::wait(5000);
+        Thread::wait(5000);
     }
     
 }