sakthi priya amirtharaj
i2c working version
Diff: main.cpp
- Revision:
- 0:7882d03f59e2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Apr 09 22:44:39 2015 +0000
@@ -0,0 +1,499 @@
+#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(PIN97);
+//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(PIN72,PIN71); //configuring pins p27, p28 as I2Cslave
+
+
+DigitalOut data_ready(PIN90);
+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)
+ {
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",mnm_data[i]);
+ }
+ 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(23);
+ 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 ");
+ strcpy(hk_data,"hk_Data");
+ strcat(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\r hk data being sent %s ",hk_data);
+ //for(int i=0;i<100000000000;i++)
+ //;
+
+ /*for(int d=0;d<23;d++) //was written just to check hk data
+ {
+ if(hk_data[d]>10)
+ printf("\n\rhk data : %d\n\r",hk_data[d]);
+ } */
+
+ //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);
+ }
+
+}