sakthi priya amirtharaj / Mbed 2 deprecated BAE_vr2gingerbread4

tc execution

Dependencies:   mbed-rtos mbed

Fork of BAE_vr2_gingerbread by sakthi priya amirtharaj

main.cpp@3:7b11e0e58640, 2014-12-17 (annotated)

Committer:
sakthipriya
Date:
Wed Dec 17 12:48:19 2014 +0000
Revision:
3:7b11e0e58640
Parent:
2:7aede71f4c22 
tc execution added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakthipriya 0:e9c32e1df869 1 #include "mbed.h"
sakthipriya 0:e9c32e1df869 2 #include "rtos.h"
sakthipriya 0:e9c32e1df869 3 #include "HK.h"
sakthipriya 0:e9c32e1df869 4 #include "slave.h"
sakthipriya 0:e9c32e1df869 5 #include "beacon.h"
sakthipriya 0:e9c32e1df869 6 #include "ACS.h"
sakthipriya 0:e9c32e1df869 7 #include "fault.h"
sakthipriya 0:e9c32e1df869 8 #include "slave.h"
sakthipriya 0:e9c32e1df869 9
sakthipriya 0:e9c32e1df869 10 Serial pc(USBTX, USBRX);
sakthipriya 0:e9c32e1df869 11
sakthipriya 0:e9c32e1df869 12 InterruptIn interrupt(D9);
sakthipriya 0:e9c32e1df869 13 InterruptIn master_reset(D11);
sakthipriya 0:e9c32e1df869 14
sakthipriya 0:e9c32e1df869 15
sakthipriya 0:e9c32e1df869 16 Timer t; //To know the time of execution each thread
sakthipriya 0:e9c32e1df869 17 Timer t1;
sakthipriya 0:e9c32e1df869 18 //To know the time of entering of each thread
sakthipriya 0:e9c32e1df869 19
sakthipriya 0:e9c32e1df869 20 Thread *ptr_t_hk_acq;
sakthipriya 0:e9c32e1df869 21 Thread *ptr_t_acs;
sakthipriya 0:e9c32e1df869 22 //Thread *ptr_t_acs_write2flash;
sakthipriya 0:e9c32e1df869 23 Thread *ptr_t_bea;
sakthipriya 0:e9c32e1df869 24 //Thread *ptr_t_bea_telecommand;
sakthipriya 0:e9c32e1df869 25 //Thread *ptr_t_fault;
sakthipriya 0:e9c32e1df869 26 Thread *ptr_t_i2c;
sakthipriya 2:7aede71f4c22 27 Thread *ptr_t_wdt;
sakthipriya 0:e9c32e1df869 28
sakthipriya 0:e9c32e1df869 29
sakthipriya 0:e9c32e1df869 30
sakthipriya 0:e9c32e1df869 31 void write_to_master(char); //function to write data to master
sakthipriya 0:e9c32e1df869 32
sakthipriya 0:e9c32e1df869 33 I2CSlave slave(D14,D15); //configuring pins p27, p28 as I2Cslave
sakthipriya 0:e9c32e1df869 34
sakthipriya 0:e9c32e1df869 35
sakthipriya 0:e9c32e1df869 36 DigitalOut data_ready(D10);
sakthipriya 0:e9c32e1df869 37 int i2c_status=0; //read/write mode for i2c 0 : write2slave, 1 : write2master
sakthipriya 0:e9c32e1df869 38 int reset=0;
sakthipriya 0:e9c32e1df869 39 int temp;
sakthipriya 0:e9c32e1df869 40
sakthipriya 0:e9c32e1df869 41 typedef struct
sakthipriya 0:e9c32e1df869 42 {
sakthipriya 1:bd715ccef1bb 43 char data[25]; // To avoid dynamic memory allocation
sakthipriya 0:e9c32e1df869 44 int length;
sakthipriya 0:e9c32e1df869 45 }i2c_data;
sakthipriya 0:e9c32e1df869 46
sakthipriya 0:e9c32e1df869 47
sakthipriya 0:e9c32e1df869 48
sakthipriya 0:e9c32e1df869 49
sakthipriya 0:e9c32e1df869 50
sakthipriya 0:e9c32e1df869 51
sakthipriya 3:7b11e0e58640 52 //Mail<i2c_data,16> i2c_data_receive;
sakthipriya 0:e9c32e1df869 53 Mail<i2c_data,16> i2c_data_send;
sakthipriya 0:e9c32e1df869 54
sakthipriya 0:e9c32e1df869 55 //--------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e9c32e1df869 56 //TASK 2 : HK
sakthipriya 0:e9c32e1df869 57 //--------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e9c32e1df869 58
sakthipriya 1:bd715ccef1bb 59 char hk_data[25];
sakthipriya 0:e9c32e1df869 60 extern SensorDataQuantised SensorQuantised;
sakthipriya 0:e9c32e1df869 61 void t_hk_acq(void const *args)
sakthipriya 0:e9c32e1df869 62 {
sakthipriya 0:e9c32e1df869 63
sakthipriya 0:e9c32e1df869 64 while(1)
sakthipriya 0:e9c32e1df869 65 {
sakthipriya 0:e9c32e1df869 66 Thread::signal_wait(0x2);
sakthipriya 0:e9c32e1df869 67 SensorQuantised.power_mode='0';
sakthipriya 0:e9c32e1df869 68 printf("\nTHIS IS HK %f\n",t1.read());
sakthipriya 0:e9c32e1df869 69 t.start();
sakthipriya 0:e9c32e1df869 70 FAULTS();
sakthipriya 0:e9c32e1df869 71 POWER(SensorQuantised.power_mode); //The power mode algorithm is yet to be obtained
sakthipriya 0:e9c32e1df869 72 FUNC_HK_MAIN(); //Collecting HK data
sakthipriya 0:e9c32e1df869 73 //thread_2.signal_set(0x4);
sakthipriya 1:bd715ccef1bb 74 //FUNC_I2C_SLAVE_MAIN(25);
sakthipriya 0:e9c32e1df869 75 ir2master();
sakthipriya 0:e9c32e1df869 76 t.stop();
sakthipriya 0:e9c32e1df869 77 printf("The time to execute hk_acq is %f seconds\n",t.read());
sakthipriya 0:e9c32e1df869 78 t.reset();
sakthipriya 0:e9c32e1df869 79 }
sakthipriya 0:e9c32e1df869 80 }
sakthipriya 0:e9c32e1df869 81
sakthipriya 0:e9c32e1df869 82 //---------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e9c32e1df869 83 //TASK 1 : ACS
sakthipriya 0:e9c32e1df869 84 //---------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e9c32e1df869 85
sakthipriya 0:e9c32e1df869 86 int acs_pflag = 1;
sakthipriya 0:e9c32e1df869 87 void t_acs(void const *args)
sakthipriya 0:e9c32e1df869 88 {
sakthipriya 0:e9c32e1df869 89 float *mag_field;
sakthipriya 0:e9c32e1df869 90 float *omega;
sakthipriya 0:e9c32e1df869 91 float *moment;
sakthipriya 0:e9c32e1df869 92 while(1)
sakthipriya 0:e9c32e1df869 93 {
sakthipriya 0:e9c32e1df869 94 Thread::signal_wait(0x1);
sakthipriya 0:e9c32e1df869 95 printf("\nTHIS IS ACS %f\n",t1.read());
sakthipriya 0:e9c32e1df869 96 t.start();
sakthipriya 0:e9c32e1df869 97 mag_field= FUNC_ACS_MAG_EXEC(); //actual execution
sakthipriya 0:e9c32e1df869 98 omega = FUNC_ACS_EXEC_GYR();
sakthipriya 0:e9c32e1df869 99
sakthipriya 0:e9c32e1df869 100
sakthipriya 0:e9c32e1df869 101
sakthipriya 0:e9c32e1df869 102 if(acs_pflag == 1)
sakthipriya 0:e9c32e1df869 103 {
sakthipriya 0:e9c32e1df869 104 moment = FUNC_ACS_CNTRLALGO(mag_field,omega);
sakthipriya 0:e9c32e1df869 105 FUNC_ACS_GENPWM(moment);
sakthipriya 0:e9c32e1df869 106 }
sakthipriya 0:e9c32e1df869 107
sakthipriya 0:e9c32e1df869 108 t.reset();
sakthipriya 0:e9c32e1df869 109 }
sakthipriya 0:e9c32e1df869 110 }
sakthipriya 0:e9c32e1df869 111 /*
sakthipriya 0:e9c32e1df869 112 void t_acs_write2flash(void const *args)
sakthipriya 0:e9c32e1df869 113 {
sakthipriya 0:e9c32e1df869 114 while(1)
sakthipriya 0:e9c32e1df869 115 {
sakthipriya 0:e9c32e1df869 116 //printf("Writing in the flash\n");
sakthipriya 0:e9c32e1df869 117 osEvent evt = q_acs.get();
sakthipriya 0:e9c32e1df869 118 if(evt.status == osEventMail)
sakthipriya 0:e9c32e1df869 119 {
sakthipriya 0:e9c32e1df869 120 sensor_data *ptr = (sensor_data*)evt.value.p;
sakthipriya 0:e9c32e1df869 121 func_acs_write2flash(ptr);
sakthipriya 0:e9c32e1df869 122 q_acs.free(ptr);
sakthipriya 0:e9c32e1df869 123 }
sakthipriya 0:e9c32e1df869 124 printf("Writing acs data in the flash\n");
sakthipriya 0:e9c32e1df869 125 }
sakthipriya 0:e9c32e1df869 126 }
sakthipriya 0:e9c32e1df869 127
sakthipriya 0:e9c32e1df869 128 */
sakthipriya 0:e9c32e1df869 129 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
sakthipriya 0:e9c32e1df869 130
sakthipriya 0:e9c32e1df869 131 int beac_flag=0; //To receive telecommand from ground.
sakthipriya 0:e9c32e1df869 132
sakthipriya 0:e9c32e1df869 133
sakthipriya 0:e9c32e1df869 134 /*void t_bea_telecommand(void const *args)
sakthipriya 0:e9c32e1df869 135 {
sakthipriya 0:e9c32e1df869 136 char c = pc.getc();
sakthipriya 0:e9c32e1df869 137 if(c=='a')
sakthipriya 0:e9c32e1df869 138 {
sakthipriya 0:e9c32e1df869 139 printf("Telecommand detected\n");
sakthipriya 0:e9c32e1df869 140 beac_flag=1;
sakthipriya 0:e9c32e1df869 141 }
sakthipriya 0:e9c32e1df869 142 }
sakthipriya 0:e9c32e1df869 143 */
sakthipriya 0:e9c32e1df869 144
sakthipriya 0:e9c32e1df869 145 void t_bea(void const *args)
sakthipriya 0:e9c32e1df869 146 {
sakthipriya 0:e9c32e1df869 147
sakthipriya 0:e9c32e1df869 148 while(1)
sakthipriya 0:e9c32e1df869 149 {
sakthipriya 0:e9c32e1df869 150 Thread::signal_wait(0x3);
sakthipriya 0:e9c32e1df869 151 printf("\nTHIS IS BEACON %f\n",t1.read());
sakthipriya 0:e9c32e1df869 152 t.start();
sakthipriya 0:e9c32e1df869 153
sakthipriya 0:e9c32e1df869 154
sakthipriya 0:e9c32e1df869 155
sakthipriya 0:e9c32e1df869 156 FUNC_BEA();
sakthipriya 0:e9c32e1df869 157
sakthipriya 0:e9c32e1df869 158
sakthipriya 0:e9c32e1df869 159 if(beac_flag==1)
sakthipriya 0:e9c32e1df869 160 {
sakthipriya 0:e9c32e1df869 161 Thread::wait(600000);
sakthipriya 0:e9c32e1df869 162 beac_flag = 0;
sakthipriya 0:e9c32e1df869 163 }
sakthipriya 0:e9c32e1df869 164
sakthipriya 0:e9c32e1df869 165 printf("The time to execute beacon thread is %f seconds\n",t.read());
sakthipriya 0:e9c32e1df869 166 t.reset();
sakthipriya 0:e9c32e1df869 167 }
sakthipriya 0:e9c32e1df869 168 }
sakthipriya 0:e9c32e1df869 169
sakthipriya 0:e9c32e1df869 170 //---------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e9c32e1df869 171 //TASK 4 : FAULT MANAGEMENT
sakthipriya 0:e9c32e1df869 172 //---------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e9c32e1df869 173 //Dummy fault rectifier functions
sakthipriya 0:e9c32e1df869 174
sakthipriya 0:e9c32e1df869 175 /*Mail<int,16> faults;
sakthipriya 0:e9c32e1df869 176
sakthipriya 0:e9c32e1df869 177 void FUNC_FAULT_FUNCT1()
sakthipriya 0:e9c32e1df869 178 {
sakthipriya 0:e9c32e1df869 179 printf("\nFault 1 detected... \n");
sakthipriya 0:e9c32e1df869 180 }
sakthipriya 0:e9c32e1df869 181
sakthipriya 0:e9c32e1df869 182 void FUNC_FAULT_FUNCT2()
sakthipriya 0:e9c32e1df869 183 {
sakthipriya 0:e9c32e1df869 184 printf("\nFault 2 detected...\n");
sakthipriya 0:e9c32e1df869 185 }
sakthipriya 0:e9c32e1df869 186
sakthipriya 0:e9c32e1df869 187 void T_FAULT(void const *args)
sakthipriya 0:e9c32e1df869 188 {
sakthipriya 0:e9c32e1df869 189 while(1)
sakthipriya 0:e9c32e1df869 190 {
sakthipriya 0:e9c32e1df869 191 osEvent evt = faults.get();
sakthipriya 0:e9c32e1df869 192 if(evt.status==osEventMail)
sakthipriya 0:e9c32e1df869 193 {
sakthipriya 0:e9c32e1df869 194 int *fault_id= (int *)evt.value.p;
sakthipriya 0:e9c32e1df869 195 switch(*fault_id)
sakthipriya 0:e9c32e1df869 196 {
sakthipriya 0:e9c32e1df869 197 case 1: FUNC_FAULT_FUNCT1();
sakthipriya 0:e9c32e1df869 198 break;
sakthipriya 0:e9c32e1df869 199 case 2: FUNC_FAULT_FUNCT2();
sakthipriya 0:e9c32e1df869 200 break;
sakthipriya 0:e9c32e1df869 201 }
sakthipriya 0:e9c32e1df869 202 faults.free(fault_id);
sakthipriya 0:e9c32e1df869 203 }
sakthipriya 0:e9c32e1df869 204 }
sakthipriya 0:e9c32e1df869 205 }*/
sakthipriya 0:e9c32e1df869 206
sakthipriya 0:e9c32e1df869 207 extern SensorDataQuantised SensorQuantised;
sakthipriya 0:e9c32e1df869 208
sakthipriya 0:e9c32e1df869 209
sakthipriya 0:e9c32e1df869 210 /*void T_FAULT(void const *args)
sakthipriya 0:e9c32e1df869 211 {
sakthipriya 0:e9c32e1df869 212 Sensor.power_mode='0';
sakthipriya 0:e9c32e1df869 213 while(1)
sakthipriya 0:e9c32e1df869 214 {
sakthipriya 0:e9c32e1df869 215 Thread :: signal_wait(0x2);
sakthipriya 0:e9c32e1df869 216 FAULTS();
sakthipriya 0:e9c32e1df869 217 POWER(Sensor.power_mode);
sakthipriya 0:e9c32e1df869 218 //Sensor.power_mode++; //testing ... should be removed
sakthipriya 0:e9c32e1df869 219 }
sakthipriya 0:e9c32e1df869 220 }
sakthipriya 0:e9c32e1df869 221 */
sakthipriya 2:7aede71f4c22 222 /*-------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 2:7aede71f4c22 223 -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/
sakthipriya 2:7aede71f4c22 224 DigitalOut trigger(PIN63); // has to be changed
sakthipriya 2:7aede71f4c22 225 void T_WDT(void const * args)
sakthipriya 2:7aede71f4c22 226 {
sakthipriya 2:7aede71f4c22 227 trigger = 1;
sakthipriya 2:7aede71f4c22 228 while(true)
sakthipriya 2:7aede71f4c22 229 {
sakthipriya 2:7aede71f4c22 230 Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized
sakthipriya 2:7aede71f4c22 231 printf("\nEntered WD\n");
sakthipriya 2:7aede71f4c22 232 trigger = !trigger;
sakthipriya 2:7aede71f4c22 233 }
sakthipriya 2:7aede71f4c22 234 }
sakthipriya 2:7aede71f4c22 235
sakthipriya 0:e9c32e1df869 236 //---------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e9c32e1df869 237 //TASK 5 : i2c data
sakthipriya 0:e9c32e1df869 238 //---------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 3:7b11e0e58640 239 void tc_execute (char command) ;
sakthipriya 0:e9c32e1df869 240
sakthipriya 0:e9c32e1df869 241 void C_FUNC_INT()
sakthipriya 0:e9c32e1df869 242 {
sakthipriya 0:e9c32e1df869 243 FUNC_INT();
sakthipriya 0:e9c32e1df869 244 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:e9c32e1df869 245
sakthipriya 0:e9c32e1df869 246 }
sakthipriya 0:e9c32e1df869 247
sakthipriya 0:e9c32e1df869 248 void C_FUNC_RESET()
sakthipriya 0:e9c32e1df869 249 {
sakthipriya 0:e9c32e1df869 250 FUNC_RESET();
sakthipriya 0:e9c32e1df869 251 }
sakthipriya 0:e9c32e1df869 252
sakthipriya 0:e9c32e1df869 253
sakthipriya 0:e9c32e1df869 254 void C_T_I2C_BAE(void const * args)
sakthipriya 0:e9c32e1df869 255 {
sakthipriya 0:e9c32e1df869 256 //char data_send,data_receive;
sakthipriya 0:e9c32e1df869 257 while(1)
sakthipriya 0:e9c32e1df869 258 {
sakthipriya 0:e9c32e1df869 259 Thread::signal_wait(0x4);
sakthipriya 0:e9c32e1df869 260 T_I2C_BAE();
sakthipriya 0:e9c32e1df869 261 //i2c_status = temp;
sakthipriya 0:e9c32e1df869 262 //wait(0.5);
sakthipriya 0:e9c32e1df869 263 /*printf("\n entered thread\n\r");
sakthipriya 0:e9c32e1df869 264 if(i2c_status == 0 && reset !=1)
sakthipriya 0:e9c32e1df869 265 {
sakthipriya 0:e9c32e1df869 266
sakthipriya 0:e9c32e1df869 267 FUNC_I2C_WRITE2CDMS(&data_receive);
sakthipriya 0:e9c32e1df869 268 i2c_data * i2c_data_r = i2c_data_receive.alloc();
sakthipriya 0:e9c32e1df869 269 i2c_data_r->data = data_receive;
sakthipriya 0:e9c32e1df869 270 i2c_data_r->length = 1;
sakthipriya 0:e9c32e1df869 271 i2c_data_receive.put(i2c_data_r);
sakthipriya 0:e9c32e1df869 272 printf("\n Data received from CDMS is %c\n\r",data_receive);
sakthipriya 0:e9c32e1df869 273 i2c_data_receive.free(i2c_data_r); // This has to be done from a differen thread
sakthipriya 0:e9c32e1df869 274
sakthipriya 0:e9c32e1df869 275 }
sakthipriya 0:e9c32e1df869 276 else if(i2c_status ==1 && reset !=1)
sakthipriya 0:e9c32e1df869 277 {
sakthipriya 0:e9c32e1df869 278 osEvent evt = i2c_data_send.get();
sakthipriya 0:e9c32e1df869 279 if (evt.status == osEventMail)
sakthipriya 0:e9c32e1df869 280 {
sakthipriya 0:e9c32e1df869 281 i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
sakthipriya 0:e9c32e1df869 282 data_send = i2c_data_s -> data;
sakthipriya 0:e9c32e1df869 283 FUNC_I2C_WRITE2CDMS(&data_send);
sakthipriya 0:e9c32e1df869 284 printf("\nData sent to CDMS is %c\n\r",data_send);
sakthipriya 0:e9c32e1df869 285 i2c_data_send.free(i2c_data_s);
sakthipriya 0:e9c32e1df869 286 i2c_status = 0;
sakthipriya 0:e9c32e1df869 287 //temp = i2c_status;
sakthipriya 0:e9c32e1df869 288 }
sakthipriya 0:e9c32e1df869 289 }
sakthipriya 0:e9c32e1df869 290 */
sakthipriya 0:e9c32e1df869 291 }
sakthipriya 0:e9c32e1df869 292 }
sakthipriya 0:e9c32e1df869 293
sakthipriya 0:e9c32e1df869 294
sakthipriya 0:e9c32e1df869 295
sakthipriya 0:e9c32e1df869 296
sakthipriya 0:e9c32e1df869 297
sakthipriya 0:e9c32e1df869 298 void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
sakthipriya 0:e9c32e1df869 299 {
sakthipriya 0:e9c32e1df869 300 int slave_status = 1;
sakthipriya 0:e9c32e1df869 301
sakthipriya 0:e9c32e1df869 302 while(slave_status)
sakthipriya 0:e9c32e1df869 303 {
sakthipriya 0:e9c32e1df869 304 slave.address(0x20);
sakthipriya 0:e9c32e1df869 305 if(slave.receive()==1)
sakthipriya 0:e9c32e1df869 306 {
sakthipriya 0:e9c32e1df869 307 slave_status=slave.write(data,length);
sakthipriya 0:e9c32e1df869 308
sakthipriya 0:e9c32e1df869 309
sakthipriya 0:e9c32e1df869 310 }
sakthipriya 0:e9c32e1df869 311 else if(slave.receive()==3 || slave.receive()==2)
sakthipriya 0:e9c32e1df869 312 {
sakthipriya 0:e9c32e1df869 313 slave_status=slave.read(data,length);
sakthipriya 0:e9c32e1df869 314 }
sakthipriya 0:e9c32e1df869 315
sakthipriya 0:e9c32e1df869 316 }
sakthipriya 2:7aede71f4c22 317
sakthipriya 0:e9c32e1df869 318 printf("\ndone\n\r");
sakthipriya 0:e9c32e1df869 319
sakthipriya 0:e9c32e1df869 320 }
sakthipriya 3:7b11e0e58640 321 char data_send[25],data_receive;
sakthipriya 0:e9c32e1df869 322 void T_I2C_BAE()
sakthipriya 0:e9c32e1df869 323 {
sakthipriya 0:e9c32e1df869 324 //char data_send,data_receive;
sakthipriya 0:e9c32e1df869 325 //while(1)
sakthipriya 0:e9c32e1df869 326 //{
sakthipriya 0:e9c32e1df869 327 // Thread::signal_wait(0x1);
sakthipriya 0:e9c32e1df869 328 //i2c_status = temp;
sakthipriya 0:e9c32e1df869 329 //wait(0.5);
sakthipriya 0:e9c32e1df869 330 printf("\n entered thread %d\n\r",i2c_status);
sakthipriya 0:e9c32e1df869 331 if(i2c_status == 0 && reset !=1)
sakthipriya 0:e9c32e1df869 332 {
sakthipriya 0:e9c32e1df869 333
sakthipriya 3:7b11e0e58640 334 FUNC_I2C_WRITE2CDMS(&data_receive,1);
sakthipriya 3:7b11e0e58640 335 printf("\n received\n");
sakthipriya 3:7b11e0e58640 336 /*i2c_data * i2c_data_r = i2c_data_receive.alloc();
sakthipriya 3:7b11e0e58640 337 i2c_data_r->data = data_receive;
sakthipriya 3:7b11e0e58640 338 i2c_data_r->length = 1;
sakthipriya 3:7b11e0e58640 339 i2c_data_receive.put(i2c_data_r);*/
sakthipriya 3:7b11e0e58640 340 printf("\n Data received from CDMS is %c \n\r",data_receive);
sakthipriya 3:7b11e0e58640 341 tc_execute(data_receive); // This has to be done from a differen thread
sakthipriya 0:e9c32e1df869 342
sakthipriya 0:e9c32e1df869 343 }
sakthipriya 0:e9c32e1df869 344 else if(i2c_status ==1 && reset !=1)
sakthipriya 0:e9c32e1df869 345 {
sakthipriya 0:e9c32e1df869 346 osEvent evt = i2c_data_send.get();
sakthipriya 0:e9c32e1df869 347 if (evt.status == osEventMail)
sakthipriya 0:e9c32e1df869 348 {
sakthipriya 0:e9c32e1df869 349 i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
sakthipriya 0:e9c32e1df869 350 strcpy(data_send,i2c_data_s -> data);
sakthipriya 1:bd715ccef1bb 351 FUNC_I2C_WRITE2CDMS(data_send,25);
sakthipriya 0:e9c32e1df869 352 printf("\nData sent to CDMS is %s\n\r",data_send);
sakthipriya 0:e9c32e1df869 353 i2c_data_send.free(i2c_data_s);
sakthipriya 0:e9c32e1df869 354 i2c_status = 0;
sakthipriya 0:e9c32e1df869 355 //temp = i2c_status;
sakthipriya 0:e9c32e1df869 356
sakthipriya 0:e9c32e1df869 357 }
sakthipriya 0:e9c32e1df869 358 }
sakthipriya 0:e9c32e1df869 359
sakthipriya 0:e9c32e1df869 360 //}
sakthipriya 0:e9c32e1df869 361 }
sakthipriya 0:e9c32e1df869 362
sakthipriya 0:e9c32e1df869 363
sakthipriya 0:e9c32e1df869 364
sakthipriya 0:e9c32e1df869 365 void FUNC_INT()
sakthipriya 0:e9c32e1df869 366 {
sakthipriya 0:e9c32e1df869 367 reset = 0;
sakthipriya 0:e9c32e1df869 368
sakthipriya 0:e9c32e1df869 369
sakthipriya 0:e9c32e1df869 370 }
sakthipriya 0:e9c32e1df869 371
sakthipriya 0:e9c32e1df869 372 void FUNC_RESET()
sakthipriya 0:e9c32e1df869 373 {
sakthipriya 0:e9c32e1df869 374 reset = 1;
sakthipriya 0:e9c32e1df869 375 }
sakthipriya 0:e9c32e1df869 376
sakthipriya 0:e9c32e1df869 377
sakthipriya 0:e9c32e1df869 378
sakthipriya 0:e9c32e1df869 379 void ir2master()
sakthipriya 0:e9c32e1df869 380 {
sakthipriya 0:e9c32e1df869 381
sakthipriya 1:bd715ccef1bb 382 //char data[25];
sakthipriya 0:e9c32e1df869 383 //strcpy(data,"sakthi ");
sakthipriya 0:e9c32e1df869 384 //strcat(data,"priya");
sakthipriya 0:e9c32e1df869 385 strcpy(hk_data,SensorQuantised.Voltage);
sakthipriya 0:e9c32e1df869 386 strcat(hk_data,SensorQuantised.Current);
sakthipriya 0:e9c32e1df869 387 strcat(hk_data,SensorQuantised.Temperature);
sakthipriya 0:e9c32e1df869 388 strcat(hk_data,SensorQuantised.PanelTemperature);
sakthipriya 0:e9c32e1df869 389 strcat(hk_data,SensorQuantised.AngularSpeed);
sakthipriya 0:e9c32e1df869 390 strcat(hk_data,SensorQuantised.Bnewvalue);
sakthipriya 0:e9c32e1df869 391 char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode};
sakthipriya 0:e9c32e1df869 392
sakthipriya 0:e9c32e1df869 393 /*strcat(hk_data,sfaultpoll);
sakthipriya 0:e9c32e1df869 394 strcat(hk_data,sfaultir);
sakthipriya 0:e9c32e1df869 395 strcat(hk_data,spower_mode);*/
sakthipriya 0:e9c32e1df869 396 strcat(hk_data,fdata);
sakthipriya 0:e9c32e1df869 397 printf("\nhk data : %s\n",hk_data);
sakthipriya 0:e9c32e1df869 398 data_ready=0;
sakthipriya 0:e9c32e1df869 399 //data = pcslave.getc();
sakthipriya 0:e9c32e1df869 400 reset =0;
sakthipriya 0:e9c32e1df869 401 i2c_status=1;
sakthipriya 0:e9c32e1df869 402 i2c_data * i2c_data_s = i2c_data_send.alloc();
sakthipriya 0:e9c32e1df869 403 strcpy(i2c_data_s->data,hk_data);
sakthipriya 1:bd715ccef1bb 404 i2c_data_s->length = 25;
sakthipriya 0:e9c32e1df869 405 i2c_data_send.put(i2c_data_s);
sakthipriya 0:e9c32e1df869 406 data_ready=1;
sakthipriya 0:e9c32e1df869 407 //temp = i2c_status;
sakthipriya 0:e9c32e1df869 408 }
sakthipriya 0:e9c32e1df869 409
sakthipriya 3:7b11e0e58640 410
sakthipriya 3:7b11e0e58640 411 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 3:7b11e0e58640 412 //TELECOMMAND
sakthipriya 3:7b11e0e58640 413 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 3:7b11e0e58640 414 void tc_execute (char command)
sakthipriya 3:7b11e0e58640 415 { switch(command)
sakthipriya 3:7b11e0e58640 416 { case '0' : printf("command 0 executed");
sakthipriya 3:7b11e0e58640 417 break;
sakthipriya 3:7b11e0e58640 418 case '1' : printf("command 1 executed");
sakthipriya 3:7b11e0e58640 419 break;
sakthipriya 3:7b11e0e58640 420 case '2' : printf("command 2 executed");
sakthipriya 3:7b11e0e58640 421 break;
sakthipriya 3:7b11e0e58640 422 case '3' : printf("command 3 executed");
sakthipriya 3:7b11e0e58640 423 }
sakthipriya 3:7b11e0e58640 424 }
sakthipriya 0:e9c32e1df869 425
sakthipriya 0:e9c32e1df869 426
sakthipriya 0:e9c32e1df869 427 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e9c32e1df869 428 //SCHEDULER
sakthipriya 0:e9c32e1df869 429 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e9c32e1df869 430 int beacon_sc = 3;
sakthipriya 0:e9c32e1df869 431 uint16_t schedcount=1;
sakthipriya 0:e9c32e1df869 432 void t_sc(void const *args)
sakthipriya 0:e9c32e1df869 433 {
sakthipriya 0:e9c32e1df869 434
sakthipriya 0:e9c32e1df869 435 printf("The value of i in scheduler is %d\n",schedcount);
sakthipriya 0:e9c32e1df869 436 if(schedcount == 65532) //to reset the counter
sakthipriya 0:e9c32e1df869 437 {
sakthipriya 0:e9c32e1df869 438 schedcount = 0;
sakthipriya 0:e9c32e1df869 439 }
sakthipriya 0:e9c32e1df869 440
sakthipriya 0:e9c32e1df869 441 if(schedcount%1==0)
sakthipriya 0:e9c32e1df869 442 {
sakthipriya 0:e9c32e1df869 443 ptr_t_acs -> signal_set(0x1);
sakthipriya 2:7aede71f4c22 444 ptr_t_wdt -> signal_set(0x5);
sakthipriya 0:e9c32e1df869 445 }
sakthipriya 0:e9c32e1df869 446 if(schedcount%2==0)
sakthipriya 0:e9c32e1df869 447 {
sakthipriya 0:e9c32e1df869 448 //ptr_t_fault -> signal_set(0x2);
sakthipriya 0:e9c32e1df869 449 ptr_t_hk_acq -> signal_set(0x2);
sakthipriya 0:e9c32e1df869 450
sakthipriya 0:e9c32e1df869 451 }
sakthipriya 0:e9c32e1df869 452 if(schedcount%beacon_sc==0)
sakthipriya 0:e9c32e1df869 453 {
sakthipriya 0:e9c32e1df869 454 if(beac_flag==0)
sakthipriya 0:e9c32e1df869 455 {
sakthipriya 0:e9c32e1df869 456
sakthipriya 1:bd715ccef1bb 457 //ptr_t_bea -> signal_set(0x3);
sakthipriya 0:e9c32e1df869 458 }
sakthipriya 0:e9c32e1df869 459 }
sakthipriya 0:e9c32e1df869 460 schedcount++;
sakthipriya 0:e9c32e1df869 461 }
sakthipriya 0:e9c32e1df869 462
sakthipriya 0:e9c32e1df869 463 //---------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e9c32e1df869 464
sakthipriya 0:e9c32e1df869 465 int main()
sakthipriya 0:e9c32e1df869 466 {
sakthipriya 0:e9c32e1df869 467 t1.start();
sakthipriya 0:e9c32e1df869 468
sakthipriya 0:e9c32e1df869 469 ptr_t_hk_acq = new Thread(t_hk_acq);
sakthipriya 0:e9c32e1df869 470 ptr_t_acs = new Thread(t_acs);
sakthipriya 0:e9c32e1df869 471 //ptr_t_acs_write2flash = new Thread(t_acs_write2flash);
sakthipriya 0:e9c32e1df869 472 ptr_t_bea = new Thread(t_bea);
sakthipriya 0:e9c32e1df869 473 //ptr_t_bea_telecommand = new Thread(t_bea_telecommand);
sakthipriya 0:e9c32e1df869 474 //ptr_t_fault = new Thread(T_FAULT);
sakthipriya 0:e9c32e1df869 475 ptr_t_i2c = new Thread(C_T_I2C_BAE);
sakthipriya 0:e9c32e1df869 476 //ptr_t_sc = new Thread(t_sc);
sakthipriya 2:7aede71f4c22 477 ptr_t_wdt = new Thread(T_WDT);
sakthipriya 0:e9c32e1df869 478
sakthipriya 0:e9c32e1df869 479 interrupt_fault();
sakthipriya 0:e9c32e1df869 480
sakthipriya 0:e9c32e1df869 481 //ptr_t_fault -> set_priority(osPriorityRealtime);
sakthipriya 3:7b11e0e58640 482 ptr_t_acs->set_priority(osPriorityAboveNormal);
sakthipriya 3:7b11e0e58640 483 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 3:7b11e0e58640 484 ptr_t_hk_acq->set_priority(osPriorityAboveNormal);
sakthipriya 0:e9c32e1df869 485 //ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal);
sakthipriya 0:e9c32e1df869 486 ptr_t_bea->set_priority(osPriorityAboveNormal);
sakthipriya 0:e9c32e1df869 487 //ptr_t_bea_telecommand->set_priority(osPriorityIdle);
sakthipriya 0:e9c32e1df869 488 //ptr_t_sc->set_priority(osPriorityAboveNormal);
sakthipriya 2:7aede71f4c22 489 ptr_t_wdt -> set_priority(osPriorityIdle);
sakthipriya 0:e9c32e1df869 490
sakthipriya 0:e9c32e1df869 491
sakthipriya 0:e9c32e1df869 492 // ----------------------------------------------------------------------------------------------
sakthipriya 0:e9c32e1df869 493 //printf("\n T_FAULT priority is %d",ptr_t_fault->get_priority());
sakthipriya 0:e9c32e1df869 494 printf("\n T_ACS priority is %d",ptr_t_acs->get_priority());
sakthipriya 0:e9c32e1df869 495 printf("\n T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
sakthipriya 0:e9c32e1df869 496 //printf("\n T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
sakthipriya 0:e9c32e1df869 497 printf("\n T_BEA priority is %d",ptr_t_bea->get_priority());
sakthipriya 0:e9c32e1df869 498 RtosTimer t_sc_timer(t_sc,osTimerPeriodic);
sakthipriya 0:e9c32e1df869 499 t_sc_timer.start(10000);
sakthipriya 0:e9c32e1df869 500 printf("\n%f\n",t1.read());
sakthipriya 0:e9c32e1df869 501
sakthipriya 0:e9c32e1df869 502
sakthipriya 0:e9c32e1df869 503
sakthipriya 0:e9c32e1df869 504 master_reset.fall(&C_FUNC_RESET);
sakthipriya 0:e9c32e1df869 505 interrupt.rise(&C_FUNC_INT);
sakthipriya 0:e9c32e1df869 506
sakthipriya 0:e9c32e1df869 507 while(1)
sakthipriya 0:e9c32e1df869 508 {
sakthipriya 0:e9c32e1df869 509 //Thread::wait(10000);
sakthipriya 0:e9c32e1df869 510 //ir2master();
sakthipriya 0:e9c32e1df869 511 Thread::wait(5000);
sakthipriya 0:e9c32e1df869 512 }
sakthipriya 0:e9c32e1df869 513
sakthipriya 0:e9c32e1df869 514 }