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i2c working version
main.cpp@0:7882d03f59e2, 2015-04-09 (annotated)
- Committer:
- sakthipriya
- Date:
- Thu Apr 09 22:44:39 2015 +0000
- Revision:
- 0:7882d03f59e2
i2c working version
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sakthipriya | 0:7882d03f59e2 | 1 | #include "mbed.h" |
sakthipriya | 0:7882d03f59e2 | 2 | #include "rtos.h" |
sakthipriya | 0:7882d03f59e2 | 3 | #include "HK.h" |
sakthipriya | 0:7882d03f59e2 | 4 | #include "slave.h" |
sakthipriya | 0:7882d03f59e2 | 5 | #include "beacon.h" |
sakthipriya | 0:7882d03f59e2 | 6 | #include "ACS.h" |
sakthipriya | 0:7882d03f59e2 | 7 | #include "fault.h" |
sakthipriya | 0:7882d03f59e2 | 8 | #include "slave.h" |
sakthipriya | 0:7882d03f59e2 | 9 | #include "mnm.h" |
sakthipriya | 0:7882d03f59e2 | 10 | |
sakthipriya | 0:7882d03f59e2 | 11 | Serial pc(USBTX, USBRX); |
sakthipriya | 0:7882d03f59e2 | 12 | |
sakthipriya | 0:7882d03f59e2 | 13 | //extern DigitalOut DRDY; |
sakthipriya | 0:7882d03f59e2 | 14 | InterruptIn interrupt(PIN97); |
sakthipriya | 0:7882d03f59e2 | 15 | //InterruptIn master_reset(D8); |
sakthipriya | 0:7882d03f59e2 | 16 | |
sakthipriya | 0:7882d03f59e2 | 17 | |
sakthipriya | 0:7882d03f59e2 | 18 | Timer t; //To know the time of execution each thread |
sakthipriya | 0:7882d03f59e2 | 19 | Timer t1; |
sakthipriya | 0:7882d03f59e2 | 20 | //To know the time of entering of each thread |
sakthipriya | 0:7882d03f59e2 | 21 | Timer t2; |
sakthipriya | 0:7882d03f59e2 | 22 | Timer t3; |
sakthipriya | 0:7882d03f59e2 | 23 | Timer t4; |
sakthipriya | 0:7882d03f59e2 | 24 | |
sakthipriya | 0:7882d03f59e2 | 25 | |
sakthipriya | 0:7882d03f59e2 | 26 | |
sakthipriya | 0:7882d03f59e2 | 27 | |
sakthipriya | 0:7882d03f59e2 | 28 | |
sakthipriya | 0:7882d03f59e2 | 29 | |
sakthipriya | 0:7882d03f59e2 | 30 | Thread *ptr_t_hk_acq; |
sakthipriya | 0:7882d03f59e2 | 31 | Thread *ptr_t_acs; |
sakthipriya | 0:7882d03f59e2 | 32 | //Thread *ptr_t_acs_write2flash; |
sakthipriya | 0:7882d03f59e2 | 33 | Thread *ptr_t_bea; |
sakthipriya | 0:7882d03f59e2 | 34 | //Thread *ptr_t_bea_telecommand; |
sakthipriya | 0:7882d03f59e2 | 35 | //Thread *ptr_t_fault; |
sakthipriya | 0:7882d03f59e2 | 36 | Thread *ptr_t_i2c; |
sakthipriya | 0:7882d03f59e2 | 37 | Thread *ptr_t_wdt; |
sakthipriya | 0:7882d03f59e2 | 38 | |
sakthipriya | 0:7882d03f59e2 | 39 | |
sakthipriya | 0:7882d03f59e2 | 40 | |
sakthipriya | 0:7882d03f59e2 | 41 | I2CSlave slave(PIN72,PIN71); //configuring pins p27, p28 as I2Cslave |
sakthipriya | 0:7882d03f59e2 | 42 | |
sakthipriya | 0:7882d03f59e2 | 43 | |
sakthipriya | 0:7882d03f59e2 | 44 | DigitalOut data_ready(PIN90); |
sakthipriya | 0:7882d03f59e2 | 45 | int i2c_status=0; //read/write mode for i2c 0 : write2slave, 1 : write2master |
sakthipriya | 0:7882d03f59e2 | 46 | int reset=0; |
sakthipriya | 0:7882d03f59e2 | 47 | int temp; |
sakthipriya | 0:7882d03f59e2 | 48 | |
sakthipriya | 0:7882d03f59e2 | 49 | typedef struct |
sakthipriya | 0:7882d03f59e2 | 50 | { |
sakthipriya | 0:7882d03f59e2 | 51 | char data[25]; // To avoid dynamic memory allocation |
sakthipriya | 0:7882d03f59e2 | 52 | int length; |
sakthipriya | 0:7882d03f59e2 | 53 | }i2c_data; |
sakthipriya | 0:7882d03f59e2 | 54 | |
sakthipriya | 0:7882d03f59e2 | 55 | |
sakthipriya | 0:7882d03f59e2 | 56 | |
sakthipriya | 0:7882d03f59e2 | 57 | |
sakthipriya | 0:7882d03f59e2 | 58 | |
sakthipriya | 0:7882d03f59e2 | 59 | |
sakthipriya | 0:7882d03f59e2 | 60 | //Mail<i2c_data,16> i2c_data_receive; |
sakthipriya | 0:7882d03f59e2 | 61 | Mail<i2c_data,16> i2c_data_send; |
sakthipriya | 0:7882d03f59e2 | 62 | |
sakthipriya | 0:7882d03f59e2 | 63 | //-------------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:7882d03f59e2 | 64 | //TASK 2 : HK |
sakthipriya | 0:7882d03f59e2 | 65 | //-------------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:7882d03f59e2 | 66 | |
sakthipriya | 0:7882d03f59e2 | 67 | char hk_data[25]; |
sakthipriya | 0:7882d03f59e2 | 68 | extern SensorDataQuantised SensorQuantised; |
sakthipriya | 0:7882d03f59e2 | 69 | void T_HK_ACQ(void const *args) |
sakthipriya | 0:7882d03f59e2 | 70 | { |
sakthipriya | 0:7882d03f59e2 | 71 | |
sakthipriya | 0:7882d03f59e2 | 72 | while(1) |
sakthipriya | 0:7882d03f59e2 | 73 | { |
sakthipriya | 0:7882d03f59e2 | 74 | Thread::signal_wait(0x2); |
sakthipriya | 0:7882d03f59e2 | 75 | SensorQuantised.power_mode='3'; |
sakthipriya | 0:7882d03f59e2 | 76 | printf("\n\rTHIS IS HK %f\n\r",t1.read()); |
sakthipriya | 0:7882d03f59e2 | 77 | t.start(); |
sakthipriya | 0:7882d03f59e2 | 78 | FUNC_HK_FAULTS(); |
sakthipriya | 0:7882d03f59e2 | 79 | FUNC_HK_POWER(SensorQuantised.power_mode); //The power mode algorithm is yet to be obtained |
sakthipriya | 0:7882d03f59e2 | 80 | FUNC_HK_MAIN(); //Collecting HK data |
sakthipriya | 0:7882d03f59e2 | 81 | //thread_2.signal_set(0x4); |
sakthipriya | 0:7882d03f59e2 | 82 | //FUNC_I2C_SLAVE_MAIN(25); |
sakthipriya | 0:7882d03f59e2 | 83 | FUNC_I2C_IR2CDMS(); |
sakthipriya | 0:7882d03f59e2 | 84 | t.stop(); |
sakthipriya | 0:7882d03f59e2 | 85 | printf("The time to execute hk_acq is %f seconds\n\r",t.read()); |
sakthipriya | 0:7882d03f59e2 | 86 | t.reset(); |
sakthipriya | 0:7882d03f59e2 | 87 | } |
sakthipriya | 0:7882d03f59e2 | 88 | } |
sakthipriya | 0:7882d03f59e2 | 89 | |
sakthipriya | 0:7882d03f59e2 | 90 | //--------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:7882d03f59e2 | 91 | //TASK 1 : ACS |
sakthipriya | 0:7882d03f59e2 | 92 | //--------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:7882d03f59e2 | 93 | |
sakthipriya | 0:7882d03f59e2 | 94 | int acs_pflag = 1; |
sakthipriya | 0:7882d03f59e2 | 95 | void T_ACS(void const *args) |
sakthipriya | 0:7882d03f59e2 | 96 | { |
sakthipriya | 0:7882d03f59e2 | 97 | float *mag_field; |
sakthipriya | 0:7882d03f59e2 | 98 | float *omega; |
sakthipriya | 0:7882d03f59e2 | 99 | float mag_field1[3]; |
sakthipriya | 0:7882d03f59e2 | 100 | float omega1[1]; |
sakthipriya | 0:7882d03f59e2 | 101 | float tauc1[3]; |
sakthipriya | 0:7882d03f59e2 | 102 | float moment[3]; |
sakthipriya | 0:7882d03f59e2 | 103 | float *mnm_data; |
sakthipriya | 0:7882d03f59e2 | 104 | while(1) |
sakthipriya | 0:7882d03f59e2 | 105 | { |
sakthipriya | 0:7882d03f59e2 | 106 | Thread::signal_wait(0x1); |
sakthipriya | 0:7882d03f59e2 | 107 | printf("\n\rTHIS IS ACS %f\n\r",t1.read()); |
sakthipriya | 0:7882d03f59e2 | 108 | t.start(); |
sakthipriya | 0:7882d03f59e2 | 109 | mag_field= FUNC_ACS_MAG_EXEC(); //actual execution |
sakthipriya | 0:7882d03f59e2 | 110 | omega = FUNC_ACS_EXEC_GYR(); |
sakthipriya | 0:7882d03f59e2 | 111 | printf("\n\r gyr 1 value %f",omega[0]); |
sakthipriya | 0:7882d03f59e2 | 112 | mnm_data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3 |
sakthipriya | 0:7882d03f59e2 | 113 | printf("\n\rmnm gyro values\n"); //printing the angular velocity and magnetic field values |
sakthipriya | 0:7882d03f59e2 | 114 | for(int i=0; i<3; i++) |
sakthipriya | 0:7882d03f59e2 | 115 | { |
sakthipriya | 0:7882d03f59e2 | 116 | printf("%f\t",mnm_data[i]); |
sakthipriya | 0:7882d03f59e2 | 117 | } |
sakthipriya | 0:7882d03f59e2 | 118 | printf("\n\r mnm mag values\n"); |
sakthipriya | 0:7882d03f59e2 | 119 | for(int i=3; i<6; i++) { |
sakthipriya | 0:7882d03f59e2 | 120 | printf("%f\t",mnm_data[i]); |
sakthipriya | 0:7882d03f59e2 | 121 | } |
sakthipriya | 0:7882d03f59e2 | 122 | for(int i = 0 ; i<3;i++) |
sakthipriya | 0:7882d03f59e2 | 123 | { |
sakthipriya | 0:7882d03f59e2 | 124 | omega1[i] = mnm_data[i]; |
sakthipriya | 0:7882d03f59e2 | 125 | } |
sakthipriya | 0:7882d03f59e2 | 126 | for( int i = 3;i<6;i++) |
sakthipriya | 0:7882d03f59e2 | 127 | { |
sakthipriya | 0:7882d03f59e2 | 128 | mag_field1[i-3] = mnm_data[i]; |
sakthipriya | 0:7882d03f59e2 | 129 | } |
sakthipriya | 0:7882d03f59e2 | 130 | if(acs_pflag == 1) |
sakthipriya | 0:7882d03f59e2 | 131 | { |
sakthipriya | 0:7882d03f59e2 | 132 | for(int i=0; i<3; i++) |
sakthipriya | 0:7882d03f59e2 | 133 | { |
sakthipriya | 0:7882d03f59e2 | 134 | printf("%f\t",mnm_data[i]); |
sakthipriya | 0:7882d03f59e2 | 135 | } |
sakthipriya | 0:7882d03f59e2 | 136 | FUNC_ACS_CNTRLALGO(mag_field1,omega1,tauc1); |
sakthipriya | 0:7882d03f59e2 | 137 | printf("\n\r control algo values "); |
sakthipriya | 0:7882d03f59e2 | 138 | for(int i=0; i<3; i++) |
sakthipriya | 0:7882d03f59e2 | 139 | { |
sakthipriya | 0:7882d03f59e2 | 140 | printf("%f\t",tauc1[i]); |
sakthipriya | 0:7882d03f59e2 | 141 | } |
sakthipriya | 0:7882d03f59e2 | 142 | moment_calc (tauc1, mag_field1,moment); |
sakthipriya | 0:7882d03f59e2 | 143 | printf("\n\r moment values "); |
sakthipriya | 0:7882d03f59e2 | 144 | for(int i=0; i<3; i++) |
sakthipriya | 0:7882d03f59e2 | 145 | { |
sakthipriya | 0:7882d03f59e2 | 146 | printf("%f\t",moment[i]); |
sakthipriya | 0:7882d03f59e2 | 147 | } |
sakthipriya | 0:7882d03f59e2 | 148 | |
sakthipriya | 0:7882d03f59e2 | 149 | FUNC_ACS_GENPWM(moment); |
sakthipriya | 0:7882d03f59e2 | 150 | } |
sakthipriya | 0:7882d03f59e2 | 151 | |
sakthipriya | 0:7882d03f59e2 | 152 | t.reset(); |
sakthipriya | 0:7882d03f59e2 | 153 | } |
sakthipriya | 0:7882d03f59e2 | 154 | }/* |
sakthipriya | 0:7882d03f59e2 | 155 | void T_ACS_WRITE2FLASH(void const *args) |
sakthipriya | 0:7882d03f59e2 | 156 | { |
sakthipriya | 0:7882d03f59e2 | 157 | while(1) |
sakthipriya | 0:7882d03f59e2 | 158 | { |
sakthipriya | 0:7882d03f59e2 | 159 | //printf("Writing in the flash\n\r"); |
sakthipriya | 0:7882d03f59e2 | 160 | osEvent evt = q_acs.get(); |
sakthipriya | 0:7882d03f59e2 | 161 | if(evt.status == osEventMail) |
sakthipriya | 0:7882d03f59e2 | 162 | { |
sakthipriya | 0:7882d03f59e2 | 163 | sensor_data *ptr = (sensor_data*)evt.value.p; |
sakthipriya | 0:7882d03f59e2 | 164 | FUNC_ACS_WRITE2FLASH(ptr); |
sakthipriya | 0:7882d03f59e2 | 165 | q_acs.free(ptr); |
sakthipriya | 0:7882d03f59e2 | 166 | } |
sakthipriya | 0:7882d03f59e2 | 167 | printf("Writing acs data in the flash\n\r"); |
sakthipriya | 0:7882d03f59e2 | 168 | } |
sakthipriya | 0:7882d03f59e2 | 169 | } |
sakthipriya | 0:7882d03f59e2 | 170 | |
sakthipriya | 0:7882d03f59e2 | 171 | */ |
sakthipriya | 0:7882d03f59e2 | 172 | //---------------------------------------------------BEACON-------------------------------------------------------------------------------------------- |
sakthipriya | 0:7882d03f59e2 | 173 | |
sakthipriya | 0:7882d03f59e2 | 174 | int beac_flag=0; //To receive telecommand from ground. |
sakthipriya | 0:7882d03f59e2 | 175 | |
sakthipriya | 0:7882d03f59e2 | 176 | |
sakthipriya | 0:7882d03f59e2 | 177 | /*void T_BEA_TELECOMMAND(void const *args) |
sakthipriya | 0:7882d03f59e2 | 178 | { |
sakthipriya | 0:7882d03f59e2 | 179 | char c = pc.getc(); |
sakthipriya | 0:7882d03f59e2 | 180 | if(c=='a') |
sakthipriya | 0:7882d03f59e2 | 181 | { |
sakthipriya | 0:7882d03f59e2 | 182 | printf("Telecommand detected\n\r"); |
sakthipriya | 0:7882d03f59e2 | 183 | beac_flag=1; |
sakthipriya | 0:7882d03f59e2 | 184 | } |
sakthipriya | 0:7882d03f59e2 | 185 | } |
sakthipriya | 0:7882d03f59e2 | 186 | */ |
sakthipriya | 0:7882d03f59e2 | 187 | |
sakthipriya | 0:7882d03f59e2 | 188 | void T_BEA(void const *args) |
sakthipriya | 0:7882d03f59e2 | 189 | { |
sakthipriya | 0:7882d03f59e2 | 190 | |
sakthipriya | 0:7882d03f59e2 | 191 | while(1) |
sakthipriya | 0:7882d03f59e2 | 192 | { |
sakthipriya | 0:7882d03f59e2 | 193 | Thread::signal_wait(0x3); |
sakthipriya | 0:7882d03f59e2 | 194 | printf("\n\rTHIS IS BEACON %f\n\r",t1.read()); |
sakthipriya | 0:7882d03f59e2 | 195 | t.start(); |
sakthipriya | 0:7882d03f59e2 | 196 | |
sakthipriya | 0:7882d03f59e2 | 197 | |
sakthipriya | 0:7882d03f59e2 | 198 | |
sakthipriya | 0:7882d03f59e2 | 199 | FUNC_BEA(); |
sakthipriya | 0:7882d03f59e2 | 200 | |
sakthipriya | 0:7882d03f59e2 | 201 | |
sakthipriya | 0:7882d03f59e2 | 202 | if(beac_flag==1) |
sakthipriya | 0:7882d03f59e2 | 203 | { |
sakthipriya | 0:7882d03f59e2 | 204 | Thread::wait(600000); |
sakthipriya | 0:7882d03f59e2 | 205 | beac_flag = 0; |
sakthipriya | 0:7882d03f59e2 | 206 | } |
sakthipriya | 0:7882d03f59e2 | 207 | |
sakthipriya | 0:7882d03f59e2 | 208 | printf("The time to execute beacon thread is %f seconds\n\r",t.read()); |
sakthipriya | 0:7882d03f59e2 | 209 | t.reset(); |
sakthipriya | 0:7882d03f59e2 | 210 | } |
sakthipriya | 0:7882d03f59e2 | 211 | } |
sakthipriya | 0:7882d03f59e2 | 212 | |
sakthipriya | 0:7882d03f59e2 | 213 | //--------------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:7882d03f59e2 | 214 | //TASK 4 : FAULT MANAGEMENT |
sakthipriya | 0:7882d03f59e2 | 215 | //--------------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:7882d03f59e2 | 216 | //Dummy fault rectifier functions |
sakthipriya | 0:7882d03f59e2 | 217 | |
sakthipriya | 0:7882d03f59e2 | 218 | extern SensorDataQuantised SensorQuantised; |
sakthipriya | 0:7882d03f59e2 | 219 | |
sakthipriya | 0:7882d03f59e2 | 220 | |
sakthipriya | 0:7882d03f59e2 | 221 | /*void T_FAULT(void const *args) |
sakthipriya | 0:7882d03f59e2 | 222 | { |
sakthipriya | 0:7882d03f59e2 | 223 | Sensor.power_mode='0'; |
sakthipriya | 0:7882d03f59e2 | 224 | while(1) |
sakthipriya | 0:7882d03f59e2 | 225 | { |
sakthipriya | 0:7882d03f59e2 | 226 | Thread :: signal_wait(0x2); |
sakthipriya | 0:7882d03f59e2 | 227 | FAULTS(); |
sakthipriya | 0:7882d03f59e2 | 228 | POWER(Sensor.power_mode); |
sakthipriya | 0:7882d03f59e2 | 229 | //Sensor.power_mode++; //testing ... should be removed |
sakthipriya | 0:7882d03f59e2 | 230 | } |
sakthipriya | 0:7882d03f59e2 | 231 | } |
sakthipriya | 0:7882d03f59e2 | 232 | */ |
sakthipriya | 0:7882d03f59e2 | 233 | /*------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:7882d03f59e2 | 234 | -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/ |
sakthipriya | 0:7882d03f59e2 | 235 | DigitalOut trigger(PIN63); // has to be changed |
sakthipriya | 0:7882d03f59e2 | 236 | void T_WDT(void const * args) |
sakthipriya | 0:7882d03f59e2 | 237 | { |
sakthipriya | 0:7882d03f59e2 | 238 | trigger = 1; |
sakthipriya | 0:7882d03f59e2 | 239 | while(true) |
sakthipriya | 0:7882d03f59e2 | 240 | { |
sakthipriya | 0:7882d03f59e2 | 241 | Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized |
sakthipriya | 0:7882d03f59e2 | 242 | printf("\n\rEntered WD\n\r"); |
sakthipriya | 0:7882d03f59e2 | 243 | trigger = !trigger; |
sakthipriya | 0:7882d03f59e2 | 244 | } |
sakthipriya | 0:7882d03f59e2 | 245 | } |
sakthipriya | 0:7882d03f59e2 | 246 | |
sakthipriya | 0:7882d03f59e2 | 247 | //--------------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:7882d03f59e2 | 248 | //TASK 5 : i2c data |
sakthipriya | 0:7882d03f59e2 | 249 | //--------------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:7882d03f59e2 | 250 | |
sakthipriya | 0:7882d03f59e2 | 251 | |
sakthipriya | 0:7882d03f59e2 | 252 | |
sakthipriya | 0:7882d03f59e2 | 253 | |
sakthipriya | 0:7882d03f59e2 | 254 | |
sakthipriya | 0:7882d03f59e2 | 255 | |
sakthipriya | 0:7882d03f59e2 | 256 | void FUNC_I2C_WRITE2CDMS(char *data, int length=1) |
sakthipriya | 0:7882d03f59e2 | 257 | { |
sakthipriya | 0:7882d03f59e2 | 258 | int slave_status = 1; |
sakthipriya | 0:7882d03f59e2 | 259 | //t2.stop(); |
sakthipriya | 0:7882d03f59e2 | 260 | if(interrupt ==1) |
sakthipriya | 0:7882d03f59e2 | 261 | { |
sakthipriya | 0:7882d03f59e2 | 262 | |
sakthipriya | 0:7882d03f59e2 | 263 | if(slave.receive() == 0) |
sakthipriya | 0:7882d03f59e2 | 264 | t2.stop(); |
sakthipriya | 0:7882d03f59e2 | 265 | //t4.stop(); |
sakthipriya | 0:7882d03f59e2 | 266 | //printf("\n\r %d ",slave.receive()); |
sakthipriya | 0:7882d03f59e2 | 267 | if( slave.receive()==1) |
sakthipriya | 0:7882d03f59e2 | 268 | { |
sakthipriya | 0:7882d03f59e2 | 269 | t2.stop(); |
sakthipriya | 0:7882d03f59e2 | 270 | |
sakthipriya | 0:7882d03f59e2 | 271 | slave_status=slave.write(data,length); |
sakthipriya | 0:7882d03f59e2 | 272 | t3.stop(); |
sakthipriya | 0:7882d03f59e2 | 273 | |
sakthipriya | 0:7882d03f59e2 | 274 | } |
sakthipriya | 0:7882d03f59e2 | 275 | else if( slave.receive()==3 || slave.receive()==2) |
sakthipriya | 0:7882d03f59e2 | 276 | { |
sakthipriya | 0:7882d03f59e2 | 277 | t2.stop(); |
sakthipriya | 0:7882d03f59e2 | 278 | //t3.start(); |
sakthipriya | 0:7882d03f59e2 | 279 | slave_status=slave.read(data,length); |
sakthipriya | 0:7882d03f59e2 | 280 | t3.stop(); |
sakthipriya | 0:7882d03f59e2 | 281 | } |
sakthipriya | 0:7882d03f59e2 | 282 | |
sakthipriya | 0:7882d03f59e2 | 283 | |
sakthipriya | 0:7882d03f59e2 | 284 | } |
sakthipriya | 0:7882d03f59e2 | 285 | |
sakthipriya | 0:7882d03f59e2 | 286 | printf("\n\r%d\r",t2.read_us()); |
sakthipriya | 0:7882d03f59e2 | 287 | t2.reset(); |
sakthipriya | 0:7882d03f59e2 | 288 | printf("\n\r%d\r",t3.read_us()); |
sakthipriya | 0:7882d03f59e2 | 289 | t3.reset(); |
sakthipriya | 0:7882d03f59e2 | 290 | |
sakthipriya | 0:7882d03f59e2 | 291 | } |
sakthipriya | 0:7882d03f59e2 | 292 | |
sakthipriya | 0:7882d03f59e2 | 293 | char data_send[25],data_receive; |
sakthipriya | 0:7882d03f59e2 | 294 | void T_I2C_BAE(void const * args) |
sakthipriya | 0:7882d03f59e2 | 295 | { |
sakthipriya | 0:7882d03f59e2 | 296 | //char data_send,data_receive; |
sakthipriya | 0:7882d03f59e2 | 297 | while(1) |
sakthipriya | 0:7882d03f59e2 | 298 | { |
sakthipriya | 0:7882d03f59e2 | 299 | Thread::signal_wait(0x4); |
sakthipriya | 0:7882d03f59e2 | 300 | // printf("\n\r entered thread"); |
sakthipriya | 0:7882d03f59e2 | 301 | if(i2c_status == 0 ) |
sakthipriya | 0:7882d03f59e2 | 302 | { |
sakthipriya | 0:7882d03f59e2 | 303 | wait_ms(23); |
sakthipriya | 0:7882d03f59e2 | 304 | FUNC_I2C_WRITE2CDMS(&data_receive,1); |
sakthipriya | 0:7882d03f59e2 | 305 | |
sakthipriya | 0:7882d03f59e2 | 306 | /*i2c_data * i2c_data_r = i2c_data_receive.alloc(); |
sakthipriya | 0:7882d03f59e2 | 307 | i2c_data_r->data = data_receive; |
sakthipriya | 0:7882d03f59e2 | 308 | i2c_data_r->length = 1; |
sakthipriya | 0:7882d03f59e2 | 309 | i2c_data_receive.put(i2c_data_r);*/ |
sakthipriya | 0:7882d03f59e2 | 310 | printf("\n\r Data received from CDMS is %c \n\r",data_receive); |
sakthipriya | 0:7882d03f59e2 | 311 | FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread |
sakthipriya | 0:7882d03f59e2 | 312 | |
sakthipriya | 0:7882d03f59e2 | 313 | } |
sakthipriya | 0:7882d03f59e2 | 314 | else if(i2c_status ==1) |
sakthipriya | 0:7882d03f59e2 | 315 | { |
sakthipriya | 0:7882d03f59e2 | 316 | osEvent evt = i2c_data_send.get(); |
sakthipriya | 0:7882d03f59e2 | 317 | if (evt.status == osEventMail) |
sakthipriya | 0:7882d03f59e2 | 318 | { |
sakthipriya | 0:7882d03f59e2 | 319 | i2c_data *i2c_data_s = (i2c_data*)evt.value.p; |
sakthipriya | 0:7882d03f59e2 | 320 | strcpy(data_send,i2c_data_s -> data); |
sakthipriya | 0:7882d03f59e2 | 321 | wait_ms(29); |
sakthipriya | 0:7882d03f59e2 | 322 | FUNC_I2C_WRITE2CDMS(data_send,25); |
sakthipriya | 0:7882d03f59e2 | 323 | printf("\n\rData sent to CDMS is %s\n\r",data_send); |
sakthipriya | 0:7882d03f59e2 | 324 | |
sakthipriya | 0:7882d03f59e2 | 325 | i2c_data_send.free(i2c_data_s); |
sakthipriya | 0:7882d03f59e2 | 326 | i2c_status = 0; |
sakthipriya | 0:7882d03f59e2 | 327 | |
sakthipriya | 0:7882d03f59e2 | 328 | |
sakthipriya | 0:7882d03f59e2 | 329 | } |
sakthipriya | 0:7882d03f59e2 | 330 | } |
sakthipriya | 0:7882d03f59e2 | 331 | |
sakthipriya | 0:7882d03f59e2 | 332 | } |
sakthipriya | 0:7882d03f59e2 | 333 | } |
sakthipriya | 0:7882d03f59e2 | 334 | |
sakthipriya | 0:7882d03f59e2 | 335 | |
sakthipriya | 0:7882d03f59e2 | 336 | |
sakthipriya | 0:7882d03f59e2 | 337 | void FUNC_I2C_INT() |
sakthipriya | 0:7882d03f59e2 | 338 | { |
sakthipriya | 0:7882d03f59e2 | 339 | |
sakthipriya | 0:7882d03f59e2 | 340 | t2.start(); |
sakthipriya | 0:7882d03f59e2 | 341 | // t3.start(); |
sakthipriya | 0:7882d03f59e2 | 342 | ptr_t_i2c->signal_set(0x4); |
sakthipriya | 0:7882d03f59e2 | 343 | |
sakthipriya | 0:7882d03f59e2 | 344 | |
sakthipriya | 0:7882d03f59e2 | 345 | } |
sakthipriya | 0:7882d03f59e2 | 346 | |
sakthipriya | 0:7882d03f59e2 | 347 | void FUNC_I2C_IR2CDMS() |
sakthipriya | 0:7882d03f59e2 | 348 | { |
sakthipriya | 0:7882d03f59e2 | 349 | data_ready=0; |
sakthipriya | 0:7882d03f59e2 | 350 | //char data[25]; |
sakthipriya | 0:7882d03f59e2 | 351 | //strcpy(data,"sakthi "); |
sakthipriya | 0:7882d03f59e2 | 352 | strcpy(hk_data,"hk_Data"); |
sakthipriya | 0:7882d03f59e2 | 353 | strcat(hk_data,SensorQuantised.Voltage); |
sakthipriya | 0:7882d03f59e2 | 354 | strcat(hk_data,SensorQuantised.Current); |
sakthipriya | 0:7882d03f59e2 | 355 | strcat(hk_data,SensorQuantised.Temperature); |
sakthipriya | 0:7882d03f59e2 | 356 | strcat(hk_data,SensorQuantised.PanelTemperature); |
sakthipriya | 0:7882d03f59e2 | 357 | strcat(hk_data,SensorQuantised.AngularSpeed); |
sakthipriya | 0:7882d03f59e2 | 358 | strcat(hk_data,SensorQuantised.Bnewvalue); |
sakthipriya | 0:7882d03f59e2 | 359 | char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode}; |
sakthipriya | 0:7882d03f59e2 | 360 | |
sakthipriya | 0:7882d03f59e2 | 361 | /*strcat(hk_data,sfaultpoll); |
sakthipriya | 0:7882d03f59e2 | 362 | strcat(hk_data,sfaultir); |
sakthipriya | 0:7882d03f59e2 | 363 | strcat(hk_data,spower_mode);*/ |
sakthipriya | 0:7882d03f59e2 | 364 | strcat(hk_data,fdata); |
sakthipriya | 0:7882d03f59e2 | 365 | printf("\n\r hk data being sent %s ",hk_data); |
sakthipriya | 0:7882d03f59e2 | 366 | //for(int i=0;i<100000000000;i++) |
sakthipriya | 0:7882d03f59e2 | 367 | //; |
sakthipriya | 0:7882d03f59e2 | 368 | |
sakthipriya | 0:7882d03f59e2 | 369 | /*for(int d=0;d<23;d++) //was written just to check hk data |
sakthipriya | 0:7882d03f59e2 | 370 | { |
sakthipriya | 0:7882d03f59e2 | 371 | if(hk_data[d]>10) |
sakthipriya | 0:7882d03f59e2 | 372 | printf("\n\rhk data : %d\n\r",hk_data[d]); |
sakthipriya | 0:7882d03f59e2 | 373 | } */ |
sakthipriya | 0:7882d03f59e2 | 374 | |
sakthipriya | 0:7882d03f59e2 | 375 | //data = pcslave.getc(); |
sakthipriya | 0:7882d03f59e2 | 376 | reset =0; |
sakthipriya | 0:7882d03f59e2 | 377 | i2c_status=1; |
sakthipriya | 0:7882d03f59e2 | 378 | i2c_data * i2c_data_s = i2c_data_send.alloc(); |
sakthipriya | 0:7882d03f59e2 | 379 | strcpy(i2c_data_s->data,hk_data); |
sakthipriya | 0:7882d03f59e2 | 380 | i2c_data_s->length = 25; |
sakthipriya | 0:7882d03f59e2 | 381 | i2c_data_send.put(i2c_data_s); |
sakthipriya | 0:7882d03f59e2 | 382 | data_ready=1; |
sakthipriya | 0:7882d03f59e2 | 383 | //temp = i2c_status; |
sakthipriya | 0:7882d03f59e2 | 384 | } |
sakthipriya | 0:7882d03f59e2 | 385 | |
sakthipriya | 0:7882d03f59e2 | 386 | |
sakthipriya | 0:7882d03f59e2 | 387 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
sakthipriya | 0:7882d03f59e2 | 388 | //TELECOMMAND |
sakthipriya | 0:7882d03f59e2 | 389 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
sakthipriya | 0:7882d03f59e2 | 390 | void FUNC_I2C_TC_EXECUTE (char command) |
sakthipriya | 0:7882d03f59e2 | 391 | { switch(command) |
sakthipriya | 0:7882d03f59e2 | 392 | { case '0' : printf("command 0 executed"); |
sakthipriya | 0:7882d03f59e2 | 393 | break; |
sakthipriya | 0:7882d03f59e2 | 394 | case '1' : printf("command 1 executed"); |
sakthipriya | 0:7882d03f59e2 | 395 | break; |
sakthipriya | 0:7882d03f59e2 | 396 | case '2' : printf("command 2 executed"); |
sakthipriya | 0:7882d03f59e2 | 397 | break; |
sakthipriya | 0:7882d03f59e2 | 398 | case '3' : printf("command 3 executed"); |
sakthipriya | 0:7882d03f59e2 | 399 | } |
sakthipriya | 0:7882d03f59e2 | 400 | } |
sakthipriya | 0:7882d03f59e2 | 401 | |
sakthipriya | 0:7882d03f59e2 | 402 | |
sakthipriya | 0:7882d03f59e2 | 403 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
sakthipriya | 0:7882d03f59e2 | 404 | //SCHEDULER |
sakthipriya | 0:7882d03f59e2 | 405 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
sakthipriya | 0:7882d03f59e2 | 406 | int beacon_sc = 3; |
sakthipriya | 0:7882d03f59e2 | 407 | uint16_t schedcount=1; |
sakthipriya | 0:7882d03f59e2 | 408 | void T_SC(void const *args) |
sakthipriya | 0:7882d03f59e2 | 409 | { |
sakthipriya | 0:7882d03f59e2 | 410 | //DRDY=0; |
sakthipriya | 0:7882d03f59e2 | 411 | printf("The value of i in scheduler is %d\n\r",schedcount); |
sakthipriya | 0:7882d03f59e2 | 412 | if(schedcount == 65532) //to reset the counter |
sakthipriya | 0:7882d03f59e2 | 413 | { |
sakthipriya | 0:7882d03f59e2 | 414 | schedcount = 0; |
sakthipriya | 0:7882d03f59e2 | 415 | } |
sakthipriya | 0:7882d03f59e2 | 416 | |
sakthipriya | 0:7882d03f59e2 | 417 | if(schedcount%1==0) |
sakthipriya | 0:7882d03f59e2 | 418 | { |
sakthipriya | 0:7882d03f59e2 | 419 | // ptr_t_acs -> signal_set(0x1); |
sakthipriya | 0:7882d03f59e2 | 420 | // ptr_t_wdt -> signal_set(0x5); |
sakthipriya | 0:7882d03f59e2 | 421 | } |
sakthipriya | 0:7882d03f59e2 | 422 | if(schedcount%2==0) |
sakthipriya | 0:7882d03f59e2 | 423 | { |
sakthipriya | 0:7882d03f59e2 | 424 | // ptr_t_fault -> signal_set(0x2); |
sakthipriya | 0:7882d03f59e2 | 425 | ptr_t_hk_acq -> signal_set(0x2); |
sakthipriya | 0:7882d03f59e2 | 426 | |
sakthipriya | 0:7882d03f59e2 | 427 | } |
sakthipriya | 0:7882d03f59e2 | 428 | if(schedcount%beacon_sc==0) |
sakthipriya | 0:7882d03f59e2 | 429 | { |
sakthipriya | 0:7882d03f59e2 | 430 | if(beac_flag==0) |
sakthipriya | 0:7882d03f59e2 | 431 | { |
sakthipriya | 0:7882d03f59e2 | 432 | |
sakthipriya | 0:7882d03f59e2 | 433 | // ptr_t_bea -> signal_set(0x3); |
sakthipriya | 0:7882d03f59e2 | 434 | } |
sakthipriya | 0:7882d03f59e2 | 435 | } |
sakthipriya | 0:7882d03f59e2 | 436 | schedcount++; |
sakthipriya | 0:7882d03f59e2 | 437 | } |
sakthipriya | 0:7882d03f59e2 | 438 | |
sakthipriya | 0:7882d03f59e2 | 439 | //--------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:7882d03f59e2 | 440 | |
sakthipriya | 0:7882d03f59e2 | 441 | int main() |
sakthipriya | 0:7882d03f59e2 | 442 | { |
sakthipriya | 0:7882d03f59e2 | 443 | t1.start(); |
sakthipriya | 0:7882d03f59e2 | 444 | |
sakthipriya | 0:7882d03f59e2 | 445 | //DRDY=0; |
sakthipriya | 0:7882d03f59e2 | 446 | printf("\nahoy\n"); |
sakthipriya | 0:7882d03f59e2 | 447 | INIT_PNI(); |
sakthipriya | 0:7882d03f59e2 | 448 | |
sakthipriya | 0:7882d03f59e2 | 449 | FUNC_ACS_MAG_INIT(); |
sakthipriya | 0:7882d03f59e2 | 450 | FUNC_ACS_INIT_GYR(); |
sakthipriya | 0:7882d03f59e2 | 451 | slave.address(0x20); |
sakthipriya | 0:7882d03f59e2 | 452 | |
sakthipriya | 0:7882d03f59e2 | 453 | ptr_t_hk_acq = new Thread(T_HK_ACQ); |
sakthipriya | 0:7882d03f59e2 | 454 | ptr_t_acs = new Thread(T_ACS); |
sakthipriya | 0:7882d03f59e2 | 455 | //ptr_t_acs_write2flash = new Thread(T_ACS_WRITE2FLASH); |
sakthipriya | 0:7882d03f59e2 | 456 | ptr_t_bea = new Thread(T_BEA); |
sakthipriya | 0:7882d03f59e2 | 457 | //ptr_t_bea_telecommand = new Thread(T_BEA_TELECOMMAND); |
sakthipriya | 0:7882d03f59e2 | 458 | //ptr_t_fault = new Thread(T_FAULT); |
sakthipriya | 0:7882d03f59e2 | 459 | ptr_t_i2c = new Thread(T_I2C_BAE); |
sakthipriya | 0:7882d03f59e2 | 460 | //ptr_t_sc = new Thread(T_SC); |
sakthipriya | 0:7882d03f59e2 | 461 | ptr_t_wdt = new Thread(T_WDT); |
sakthipriya | 0:7882d03f59e2 | 462 | |
sakthipriya | 0:7882d03f59e2 | 463 | interrupt_fault(); |
sakthipriya | 0:7882d03f59e2 | 464 | |
sakthipriya | 0:7882d03f59e2 | 465 | //ptr_t_fault -> set_priority(osPriorityRealtime); |
sakthipriya | 0:7882d03f59e2 | 466 | ptr_t_acs->set_priority(osPriorityAboveNormal); |
sakthipriya | 0:7882d03f59e2 | 467 | ptr_t_i2c->set_priority(osPriorityHigh); |
sakthipriya | 0:7882d03f59e2 | 468 | ptr_t_hk_acq->set_priority(osPriorityAboveNormal); |
sakthipriya | 0:7882d03f59e2 | 469 | //ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal); |
sakthipriya | 0:7882d03f59e2 | 470 | ptr_t_bea->set_priority(osPriorityAboveNormal); |
sakthipriya | 0:7882d03f59e2 | 471 | //ptr_t_bea_telecommand->set_priority(osPriorityIdle); |
sakthipriya | 0:7882d03f59e2 | 472 | //ptr_t_sc->set_priority(osPriorityAboveNormal); |
sakthipriya | 0:7882d03f59e2 | 473 | ptr_t_wdt -> set_priority(osPriorityIdle); |
sakthipriya | 0:7882d03f59e2 | 474 | |
sakthipriya | 0:7882d03f59e2 | 475 | |
sakthipriya | 0:7882d03f59e2 | 476 | // ---------------------------------------------------------------------------------------------- |
sakthipriya | 0:7882d03f59e2 | 477 | //printf("\n\r T_FAULT priority is %d",ptr_t_fault->get_priority()); |
sakthipriya | 0:7882d03f59e2 | 478 | printf("\n\r T_ACS priority is %d",ptr_t_acs->get_priority()); |
sakthipriya | 0:7882d03f59e2 | 479 | printf("\n\r T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority()); |
sakthipriya | 0:7882d03f59e2 | 480 | //printf("\n\r T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority()); |
sakthipriya | 0:7882d03f59e2 | 481 | printf("\n\r T_BEA priority is %d",ptr_t_bea->get_priority()); |
sakthipriya | 0:7882d03f59e2 | 482 | RtosTimer t_sc_timer(T_SC,osTimerPeriodic); |
sakthipriya | 0:7882d03f59e2 | 483 | t_sc_timer.start(10000); |
sakthipriya | 0:7882d03f59e2 | 484 | printf("\n\r%f\n\r",t1.read()); |
sakthipriya | 0:7882d03f59e2 | 485 | |
sakthipriya | 0:7882d03f59e2 | 486 | |
sakthipriya | 0:7882d03f59e2 | 487 | |
sakthipriya | 0:7882d03f59e2 | 488 | //master_reset.fall(&FUNC_I2C_RESET); |
sakthipriya | 0:7882d03f59e2 | 489 | interrupt.rise(&FUNC_I2C_INT); |
sakthipriya | 0:7882d03f59e2 | 490 | |
sakthipriya | 0:7882d03f59e2 | 491 | while(1) |
sakthipriya | 0:7882d03f59e2 | 492 | { |
sakthipriya | 0:7882d03f59e2 | 493 | //Thread::wait(10000); |
sakthipriya | 0:7882d03f59e2 | 494 | //ir2master(); |
sakthipriya | 0:7882d03f59e2 | 495 | //DRDY = 0; |
sakthipriya | 0:7882d03f59e2 | 496 | Thread::wait(5000); |
sakthipriya | 0:7882d03f59e2 | 497 | } |
sakthipriya | 0:7882d03f59e2 | 498 | |
sakthipriya | 0:7882d03f59e2 | 499 | } |