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cdms i2c working - but not working after hk data is sent
Fork of pcb_test_vr1_1_2 by
main.cpp@5:bf1f3504cd9d, 2015-05-17 (annotated)
- Committer:
- sakthipriya
- Date:
- Sun May 17 06:18:41 2015 +0000
- Revision:
- 5:bf1f3504cd9d
- Parent:
- 4:65a2d0b97d01
cdms i2c working - but not working after hk data is sent
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sakthipriya | 0:e91ee0e99213 | 1 | #include "mbed.h" |
sakthipriya | 0:e91ee0e99213 | 2 | #include "rtos.h" |
sakthipriya | 0:e91ee0e99213 | 3 | #include "HK.h" |
sakthipriya | 0:e91ee0e99213 | 4 | #include "slave.h" |
sakthipriya | 0:e91ee0e99213 | 5 | #include "beacon.h" |
sakthipriya | 0:e91ee0e99213 | 6 | #include "ACS.h" |
sakthipriya | 0:e91ee0e99213 | 7 | #include "fault.h" |
sakthipriya | 0:e91ee0e99213 | 8 | #include "slave.h" |
sakthipriya | 0:e91ee0e99213 | 9 | #include "mnm.h" |
sakthipriya | 0:e91ee0e99213 | 10 | |
sakthipriya | 0:e91ee0e99213 | 11 | Serial pc(USBTX, USBRX); |
sakthipriya | 0:e91ee0e99213 | 12 | |
sakthipriya | 5:bf1f3504cd9d | 13 | //InterruptIn interrupt( PIN97); //I2c interrupt from CDMS |
sakthipriya | 5:bf1f3504cd9d | 14 | //DigitalOut data_ready(PIN90); //Sends interrupt to CDMS |
sakthipriya | 5:bf1f3504cd9d | 15 | InterruptIn interrupt(D9); //I2c interrupt from CDMS |
sakthipriya | 5:bf1f3504cd9d | 16 | DigitalOut data_ready(D10); |
sakthipriya | 0:e91ee0e99213 | 17 | |
sakthipriya | 0:e91ee0e99213 | 18 | Timer t; //To know the time of execution each thread |
sakthipriya | 0:e91ee0e99213 | 19 | Timer t1; //To know the time of entering of each thread |
sakthipriya | 0:e91ee0e99213 | 20 | Timer t2; //To check the time sync in i2c communication |
sakthipriya | 0:e91ee0e99213 | 21 | Timer t3; //To know the time taken by i2c read/write function |
sakthipriya | 3:0931a8800543 | 22 | Timer i1; |
sakthipriya | 3:0931a8800543 | 23 | Timer i2; |
sakthipriya | 5:bf1f3504cd9d | 24 | Timeout bea_timeout ; // timeout used to revive beacon 10 min after it is switched off |
sakthipriya | 0:e91ee0e99213 | 25 | /*****************************************************************Threads USed***********************************************************************************/ |
gkumar | 4:65a2d0b97d01 | 26 | Thread *ptr_t_hk_acq; //pointer:::::::::to read state of one thread from another |
sakthipriya | 0:e91ee0e99213 | 27 | Thread *ptr_t_acs; |
sakthipriya | 0:e91ee0e99213 | 28 | Thread *ptr_t_bea; |
sakthipriya | 0:e91ee0e99213 | 29 | Thread *ptr_t_i2c; |
sakthipriya | 5:bf1f3504cd9d | 30 | Thread *ptr_t_wdt; |
sakthipriya | 5:bf1f3504cd9d | 31 | |
sakthipriya | 5:bf1f3504cd9d | 32 | /****************************************************************FUNC_HEADER**********************************************************************************/ |
sakthipriya | 5:bf1f3504cd9d | 33 | void FUNC_I2C_INT(); |
sakthipriya | 5:bf1f3504cd9d | 34 | void FUNC_I2C_IR2CDMS(); |
sakthipriya | 5:bf1f3504cd9d | 35 | void FUNC_I2C_TC_EXECUTE (char command); |
sakthipriya | 5:bf1f3504cd9d | 36 | void FUNC_BEA_TIMEOUT(); |
sakthipriya | 0:e91ee0e99213 | 37 | |
sakthipriya | 0:e91ee0e99213 | 38 | /****************************************************************configuring I2c*********************************************************************************/ |
sakthipriya | 3:0931a8800543 | 39 | I2CSlave slave(PIN1,PIN2); //configuring pins p27, p28 as I2Cslave |
sakthipriya | 3:0931a8800543 | 40 | //I2CSlave slave (D14,D15); |
sakthipriya | 0:e91ee0e99213 | 41 | int i2c_status=0; //read or write mode for i2c 0: write2slave 1: write2master |
sakthipriya | 0:e91ee0e99213 | 42 | typedef struct //structure of i2c data |
sakthipriya | 0:e91ee0e99213 | 43 | { |
sakthipriya | 0:e91ee0e99213 | 44 | char data[25]; |
sakthipriya | 0:e91ee0e99213 | 45 | int length; |
sakthipriya | 0:e91ee0e99213 | 46 | }i2c_data; |
sakthipriya | 0:e91ee0e99213 | 47 | |
sakthipriya | 0:e91ee0e99213 | 48 | |
sakthipriya | 0:e91ee0e99213 | 49 | //Mail<i2c_data,16> i2c_data_receive; |
sakthipriya | 0:e91ee0e99213 | 50 | Mail<i2c_data,16> i2c_data_send; |
sakthipriya | 0:e91ee0e99213 | 51 | |
sakthipriya | 0:e91ee0e99213 | 52 | //-------------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:e91ee0e99213 | 53 | //TASK 2 : HK |
sakthipriya | 0:e91ee0e99213 | 54 | //-------------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:e91ee0e99213 | 55 | |
sakthipriya | 0:e91ee0e99213 | 56 | char hk_data[25]; |
gkumar | 4:65a2d0b97d01 | 57 | extern SensorDataQuantised SensorQuantised; /// SensorDataQuantised: struct instance :SensorQuantised |
sakthipriya | 0:e91ee0e99213 | 58 | void T_HK_ACQ(void const *args) |
sakthipriya | 0:e91ee0e99213 | 59 | { |
sakthipriya | 0:e91ee0e99213 | 60 | |
sakthipriya | 0:e91ee0e99213 | 61 | while(1) |
sakthipriya | 0:e91ee0e99213 | 62 | { |
gkumar | 4:65a2d0b97d01 | 63 | Thread::signal_wait(0x2); // 0x2 random should be same in master n slave |
sakthipriya | 0:e91ee0e99213 | 64 | SensorQuantised.power_mode='3'; //default power mode(dummy) |
sakthipriya | 0:e91ee0e99213 | 65 | printf("\n\rTHIS IS HK %f\n\r",t1.read()); |
sakthipriya | 0:e91ee0e99213 | 66 | t.start(); |
gkumar | 4:65a2d0b97d01 | 67 | FUNC_HK_FAULTS(); // !Actual fault management is not implemented : polling |
gkumar | 4:65a2d0b97d01 | 68 | FUNC_HK_POWER(SensorQuantised.power_mode); // !The power mode algorithm is yet to be obtained // status of power modde will decide actions |
gkumar | 4:65a2d0b97d01 | 69 | FUNC_HK_MAIN(); //Collecting HK data for ADC n |
sakthipriya | 0:e91ee0e99213 | 70 | FUNC_I2C_IR2CDMS(); //sending HK data to CDMS |
sakthipriya | 0:e91ee0e99213 | 71 | t.stop(); |
sakthipriya | 0:e91ee0e99213 | 72 | printf("The time to execute hk_acq is %f seconds\n\r",t.read()); |
sakthipriya | 0:e91ee0e99213 | 73 | t.reset(); |
sakthipriya | 0:e91ee0e99213 | 74 | } |
sakthipriya | 0:e91ee0e99213 | 75 | } |
sakthipriya | 0:e91ee0e99213 | 76 | |
sakthipriya | 0:e91ee0e99213 | 77 | //--------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:e91ee0e99213 | 78 | //TASK 1 : ACS |
sakthipriya | 0:e91ee0e99213 | 79 | //--------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:e91ee0e99213 | 80 | |
gkumar | 4:65a2d0b97d01 | 81 | int acs_pflag = 1; // power mode decision flag for ACS |
sakthipriya | 0:e91ee0e99213 | 82 | void T_ACS(void const *args) |
sakthipriya | 0:e91ee0e99213 | 83 | { |
gkumar | 4:65a2d0b97d01 | 84 | float mag_field[3]; // rm3000 |
gkumar | 4:65a2d0b97d01 | 85 | float omega[3]; //mpu3300 |
gkumar | 4:65a2d0b97d01 | 86 | float *mnm_data; // |
sakthipriya | 0:e91ee0e99213 | 87 | float mag_field1[3]; |
sakthipriya | 0:e91ee0e99213 | 88 | float omega1[3]; |
sakthipriya | 0:e91ee0e99213 | 89 | float tauc1[3]; |
sakthipriya | 0:e91ee0e99213 | 90 | float moment[3]; |
sakthipriya | 0:e91ee0e99213 | 91 | while(1) |
sakthipriya | 0:e91ee0e99213 | 92 | { |
sakthipriya | 0:e91ee0e99213 | 93 | Thread::signal_wait(0x1); |
sakthipriya | 0:e91ee0e99213 | 94 | printf("\n\rEntered ACS %f\n",t1.read()); |
sakthipriya | 0:e91ee0e99213 | 95 | t.start(); |
gkumar | 4:65a2d0b97d01 | 96 | FUNC_ACS_MAG_EXEC(mag_field); ///rm3000 |
sakthipriya | 3:0931a8800543 | 97 | //printf("\n\r check"); |
sakthipriya | 0:e91ee0e99213 | 98 | for(int i=0; i<3; i++) |
sakthipriya | 0:e91ee0e99213 | 99 | { |
sakthipriya | 0:e91ee0e99213 | 100 | printf("%f\t",mag_field[i]); |
sakthipriya | 0:e91ee0e99213 | 101 | } |
gkumar | 4:65a2d0b97d01 | 102 | FUNC_ACS_EXEC_GYR(omega); // mpu3300 |
sakthipriya | 0:e91ee0e99213 | 103 | acs_pflag =1; //to be removed later |
sakthipriya | 0:e91ee0e99213 | 104 | omega[0] = 1.0; |
sakthipriya | 0:e91ee0e99213 | 105 | omega[1] = 1.0; |
sakthipriya | 0:e91ee0e99213 | 106 | omega[2] = 1.0; |
sakthipriya | 0:e91ee0e99213 | 107 | |
sakthipriya | 0:e91ee0e99213 | 108 | |
sakthipriya | 0:e91ee0e99213 | 109 | |
gkumar | 4:65a2d0b97d01 | 110 | mnm_data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3 |
sakthipriya | 0:e91ee0e99213 | 111 | printf("\n\rmnm gyro values\n"); //printing the angular velocity and magnetic field values |
sakthipriya | 0:e91ee0e99213 | 112 | for(int i=0; i<3; i++) |
sakthipriya | 0:e91ee0e99213 | 113 | { |
sakthipriya | 0:e91ee0e99213 | 114 | printf("%f\t",mnm_data[i]); |
sakthipriya | 0:e91ee0e99213 | 115 | } |
sakthipriya | 0:e91ee0e99213 | 116 | printf("\n\r mnm mag values\n"); |
sakthipriya | 0:e91ee0e99213 | 117 | for(int i=3; i<6; i++) |
sakthipriya | 0:e91ee0e99213 | 118 | { |
sakthipriya | 0:e91ee0e99213 | 119 | printf("%f\t",mnm_data[i]); |
sakthipriya | 0:e91ee0e99213 | 120 | } |
sakthipriya | 0:e91ee0e99213 | 121 | for(int i = 0 ; i<3;i++) |
sakthipriya | 0:e91ee0e99213 | 122 | { |
sakthipriya | 0:e91ee0e99213 | 123 | omega1[i] = mnm_data[i]; |
sakthipriya | 0:e91ee0e99213 | 124 | } |
sakthipriya | 0:e91ee0e99213 | 125 | for( int i = 3;i<6;i++) |
sakthipriya | 0:e91ee0e99213 | 126 | { |
sakthipriya | 0:e91ee0e99213 | 127 | mag_field1[i-3] = mnm_data[i]; |
sakthipriya | 0:e91ee0e99213 | 128 | } |
gkumar | 4:65a2d0b97d01 | 129 | |
gkumar | 4:65a2d0b97d01 | 130 | if(acs_pflag == 1) |
sakthipriya | 0:e91ee0e99213 | 131 | { |
sakthipriya | 0:e91ee0e99213 | 132 | |
sakthipriya | 0:e91ee0e99213 | 133 | FUNC_ACS_CNTRLALGO(mag_field,omega,tauc1); |
sakthipriya | 0:e91ee0e99213 | 134 | printf("\n\r control algo values "); |
sakthipriya | 0:e91ee0e99213 | 135 | for(int i=0; i<3; i++) |
sakthipriya | 0:e91ee0e99213 | 136 | { |
sakthipriya | 0:e91ee0e99213 | 137 | printf("%f\t",tauc1[i]); |
sakthipriya | 0:e91ee0e99213 | 138 | } |
sakthipriya | 0:e91ee0e99213 | 139 | moment_calc (tauc1, mag_field,moment); |
sakthipriya | 0:e91ee0e99213 | 140 | printf("\n\r moment values "); |
sakthipriya | 0:e91ee0e99213 | 141 | for(int i=0; i<3; i++) |
sakthipriya | 0:e91ee0e99213 | 142 | { |
sakthipriya | 0:e91ee0e99213 | 143 | printf("%f\t",moment[i]); |
sakthipriya | 0:e91ee0e99213 | 144 | } |
sakthipriya | 0:e91ee0e99213 | 145 | FUNC_ACS_GENPWM(moment); |
sakthipriya | 0:e91ee0e99213 | 146 | } |
sakthipriya | 0:e91ee0e99213 | 147 | t.reset(); |
sakthipriya | 0:e91ee0e99213 | 148 | } |
sakthipriya | 0:e91ee0e99213 | 149 | } |
sakthipriya | 0:e91ee0e99213 | 150 | |
sakthipriya | 0:e91ee0e99213 | 151 | //---------------------------------------------------BEACON-------------------------------------------------------------------------------------------- |
sakthipriya | 0:e91ee0e99213 | 152 | |
gkumar | 4:65a2d0b97d01 | 153 | int beac_flag=0; //To receive telecommand from ground. Beacon stopped when telecomand recieved durring |
gkumar | 4:65a2d0b97d01 | 154 | |
sakthipriya | 0:e91ee0e99213 | 155 | |
sakthipriya | 0:e91ee0e99213 | 156 | |
sakthipriya | 0:e91ee0e99213 | 157 | /*void T_BEA_TELECOMMAND(void const *args) |
sakthipriya | 0:e91ee0e99213 | 158 | { |
sakthipriya | 0:e91ee0e99213 | 159 | char c = pc.getc(); |
sakthipriya | 0:e91ee0e99213 | 160 | if(c=='a') |
sakthipriya | 0:e91ee0e99213 | 161 | { |
sakthipriya | 0:e91ee0e99213 | 162 | printf("Telecommand detected\n\r"); |
sakthipriya | 0:e91ee0e99213 | 163 | beac_flag=1; |
sakthipriya | 0:e91ee0e99213 | 164 | } |
sakthipriya | 0:e91ee0e99213 | 165 | } |
sakthipriya | 0:e91ee0e99213 | 166 | */ |
sakthipriya | 0:e91ee0e99213 | 167 | |
sakthipriya | 0:e91ee0e99213 | 168 | void T_BEA(void const *args) |
sakthipriya | 0:e91ee0e99213 | 169 | { |
sakthipriya | 0:e91ee0e99213 | 170 | |
sakthipriya | 0:e91ee0e99213 | 171 | while(1) |
sakthipriya | 0:e91ee0e99213 | 172 | { |
sakthipriya | 0:e91ee0e99213 | 173 | Thread::signal_wait(0x3); |
sakthipriya | 0:e91ee0e99213 | 174 | printf("\n\rTHIS IS BEACON %f\n\r",t1.read()); |
sakthipriya | 0:e91ee0e99213 | 175 | t.start(); |
sakthipriya | 0:e91ee0e99213 | 176 | FUNC_BEA(); |
gkumar | 4:65a2d0b97d01 | 177 | if(beac_flag==1) // use scheduler instead |
sakthipriya | 0:e91ee0e99213 | 178 | { |
sakthipriya | 0:e91ee0e99213 | 179 | Thread::wait(600000); |
sakthipriya | 0:e91ee0e99213 | 180 | beac_flag = 0; |
sakthipriya | 0:e91ee0e99213 | 181 | } |
sakthipriya | 0:e91ee0e99213 | 182 | printf("The time to execute beacon thread is %f seconds\n\r",t.read()); |
sakthipriya | 0:e91ee0e99213 | 183 | t.reset(); |
sakthipriya | 0:e91ee0e99213 | 184 | } |
sakthipriya | 0:e91ee0e99213 | 185 | } |
sakthipriya | 0:e91ee0e99213 | 186 | |
sakthipriya | 0:e91ee0e99213 | 187 | |
sakthipriya | 0:e91ee0e99213 | 188 | |
gkumar | 4:65a2d0b97d01 | 189 | extern SensorDataQuantised SensorQuantised; // ???????? |
sakthipriya | 0:e91ee0e99213 | 190 | |
sakthipriya | 0:e91ee0e99213 | 191 | /*------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:e91ee0e99213 | 192 | -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/ |
sakthipriya | 0:e91ee0e99213 | 193 | DigitalOut trigger(PIN63); // has to be changed |
sakthipriya | 0:e91ee0e99213 | 194 | void T_WDT(void const * args) |
sakthipriya | 0:e91ee0e99213 | 195 | { |
gkumar | 4:65a2d0b97d01 | 196 | trigger = 1; // gpio to WD input |
sakthipriya | 0:e91ee0e99213 | 197 | while(true) |
sakthipriya | 0:e91ee0e99213 | 198 | { |
sakthipriya | 0:e91ee0e99213 | 199 | Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized |
sakthipriya | 0:e91ee0e99213 | 200 | printf("\n\rEntered WD\n\r"); |
gkumar | 4:65a2d0b97d01 | 201 | trigger = !trigger; /// falling edge triggered |
sakthipriya | 0:e91ee0e99213 | 202 | } |
sakthipriya | 0:e91ee0e99213 | 203 | } |
sakthipriya | 0:e91ee0e99213 | 204 | |
sakthipriya | 0:e91ee0e99213 | 205 | //--------------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:e91ee0e99213 | 206 | //TASK 5 : i2c data |
sakthipriya | 0:e91ee0e99213 | 207 | //--------------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:e91ee0e99213 | 208 | |
gkumar | 4:65a2d0b97d01 | 209 | void FUNC_I2C_WRITE2CDMS(char *data, int length=1) /// BAE to CDMS read/write |
sakthipriya | 0:e91ee0e99213 | 210 | { |
sakthipriya | 0:e91ee0e99213 | 211 | int slave_status = 1; |
sakthipriya | 5:bf1f3504cd9d | 212 | //int inter_test = interrupt; |
sakthipriya | 5:bf1f3504cd9d | 213 | //int slr = slave.receive(); |
sakthipriya | 5:bf1f3504cd9d | 214 | //wait_ms(20); |
sakthipriya | 3:0931a8800543 | 215 | //printf("\n\r time is %d\n",t2.read_us()); |
sakthipriya | 3:0931a8800543 | 216 | //if(interrupt ==1) |
sakthipriya | 3:0931a8800543 | 217 | //{ |
sakthipriya | 5:bf1f3504cd9d | 218 | wait_us(100); |
sakthipriya | 5:bf1f3504cd9d | 219 | int slave_r = slave.receive(); |
sakthipriya | 5:bf1f3504cd9d | 220 | printf("\n%d\r",slave_r); |
sakthipriya | 5:bf1f3504cd9d | 221 | // printf("\n%d\r",slave.receive()); |
sakthipriya | 5:bf1f3504cd9d | 222 | t2.stop(); |
sakthipriya | 5:bf1f3504cd9d | 223 | // wait_ms(2); |
gkumar | 4:65a2d0b97d01 | 224 | if(slave.receive() == 0) // 0 when not ack refer doc. |
sakthipriya | 5:bf1f3504cd9d | 225 | //t2.stop(); |
gkumar | 4:65a2d0b97d01 | 226 | if( slave.receive()==1) // slave to master |
sakthipriya | 0:e91ee0e99213 | 227 | { |
sakthipriya | 5:bf1f3504cd9d | 228 | // t2.stop(); |
sakthipriya | 0:e91ee0e99213 | 229 | t3.start(); |
gkumar | 4:65a2d0b97d01 | 230 | slave_status=slave.write(data,length); // ack to |
sakthipriya | 5:bf1f3504cd9d | 231 | |
sakthipriya | 0:e91ee0e99213 | 232 | t3.stop(); |
sakthipriya | 5:bf1f3504cd9d | 233 | slave.stop(); |
sakthipriya | 5:bf1f3504cd9d | 234 | //printf("\n\r slave status %d",slave.receive()); |
sakthipriya | 0:e91ee0e99213 | 235 | } |
sakthipriya | 5:bf1f3504cd9d | 236 | if( slave.receive()==3 || slave.receive()==2) // master to slave |
sakthipriya | 0:e91ee0e99213 | 237 | { |
sakthipriya | 5:bf1f3504cd9d | 238 | //t2.stop(); |
sakthipriya | 0:e91ee0e99213 | 239 | t3.start(); |
sakthipriya | 0:e91ee0e99213 | 240 | slave_status=slave.read(data,length); |
sakthipriya | 0:e91ee0e99213 | 241 | t3.stop(); |
sakthipriya | 5:bf1f3504cd9d | 242 | slave.stop(); |
sakthipriya | 5:bf1f3504cd9d | 243 | //printf("\n\r slave status %d",slave.receive()); |
sakthipriya | 0:e91ee0e99213 | 244 | } |
sakthipriya | 3:0931a8800543 | 245 | //} |
sakthipriya | 3:0931a8800543 | 246 | // printf("\n\r time taken to receive intrpt 4m cdms %d",i1.read_us()); |
sakthipriya | 3:0931a8800543 | 247 | //i1.reset(); |
sakthipriya | 5:bf1f3504cd9d | 248 | printf("\n\r slave status %d %d ",t2.read_us(),t3.read_us()); |
sakthipriya | 3:0931a8800543 | 249 | // printf("\n\r time taken from interrupt to reach i2c fn %d",t2.read_us()); |
sakthipriya | 5:bf1f3504cd9d | 250 | //t2.stop(); |
sakthipriya | 0:e91ee0e99213 | 251 | t2.reset(); |
sakthipriya | 3:0931a8800543 | 252 | //printf("\n\r time to execute i2c function %d",t3.read_us()); |
sakthipriya | 0:e91ee0e99213 | 253 | t3.reset(); |
sakthipriya | 0:e91ee0e99213 | 254 | } |
sakthipriya | 0:e91ee0e99213 | 255 | |
sakthipriya | 0:e91ee0e99213 | 256 | char data_send[25],data_receive; |
sakthipriya | 0:e91ee0e99213 | 257 | void T_I2C_BAE(void const * args) |
sakthipriya | 0:e91ee0e99213 | 258 | { |
sakthipriya | 0:e91ee0e99213 | 259 | while(1) |
sakthipriya | 0:e91ee0e99213 | 260 | { |
sakthipriya | 0:e91ee0e99213 | 261 | Thread::signal_wait(0x4); |
sakthipriya | 3:0931a8800543 | 262 | int something = interrupt; |
sakthipriya | 3:0931a8800543 | 263 | // printf("\n\r interrupt %d",interrupt); |
gkumar | 4:65a2d0b97d01 | 264 | if(i2c_status == 0 ) // read from CDMS (master) |
sakthipriya | 3:0931a8800543 | 265 | |
sakthipriya | 0:e91ee0e99213 | 266 | { |
sakthipriya | 3:0931a8800543 | 267 | // wait_ms(23); |
sakthipriya | 0:e91ee0e99213 | 268 | FUNC_I2C_WRITE2CDMS(&data_receive,1); |
sakthipriya | 0:e91ee0e99213 | 269 | /*i2c_data * i2c_data_r = i2c_data_receive.alloc(); |
sakthipriya | 0:e91ee0e99213 | 270 | i2c_data_r->data = data_receive; |
sakthipriya | 0:e91ee0e99213 | 271 | i2c_data_r->length = 1; |
sakthipriya | 0:e91ee0e99213 | 272 | i2c_data_receive.put(i2c_data_r);*/ |
sakthipriya | 0:e91ee0e99213 | 273 | printf("\n\r Data received from CDMS is %c \n\r",data_receive); |
sakthipriya | 5:bf1f3504cd9d | 274 | // FUNC_I2C_TC_EXECUTE(data_receive); // telecommand // This has to be done from a differen thread |
sakthipriya | 0:e91ee0e99213 | 275 | |
sakthipriya | 0:e91ee0e99213 | 276 | } |
sakthipriya | 0:e91ee0e99213 | 277 | else if(i2c_status ==1) |
sakthipriya | 0:e91ee0e99213 | 278 | { |
gkumar | 4:65a2d0b97d01 | 279 | osEvent evt = i2c_data_send.get(); // |
gkumar | 4:65a2d0b97d01 | 280 | if (evt.status == osEventMail) // |
sakthipriya | 0:e91ee0e99213 | 281 | { |
gkumar | 4:65a2d0b97d01 | 282 | i2c_data *i2c_data_s = (i2c_data*)evt.value.p; //syntax recieving address of data from queue and storing it in struct |
gkumar | 4:65a2d0b97d01 | 283 | strcpy(data_send,i2c_data_s -> data); // -> data from pointer |
sakthipriya | 3:0931a8800543 | 284 | // wait_ms(13); |
sakthipriya | 3:0931a8800543 | 285 | |
gkumar | 4:65a2d0b97d01 | 286 | FUNC_I2C_WRITE2CDMS(data_send,25); |
sakthipriya | 0:e91ee0e99213 | 287 | printf("\n\rData sent to CDMS is %s\n\r",data_send); |
sakthipriya | 0:e91ee0e99213 | 288 | |
gkumar | 4:65a2d0b97d01 | 289 | i2c_data_send.free(i2c_data_s); // freeing the memory location from queue |
sakthipriya | 0:e91ee0e99213 | 290 | i2c_status = 0; |
sakthipriya | 0:e91ee0e99213 | 291 | } |
sakthipriya | 0:e91ee0e99213 | 292 | } |
sakthipriya | 0:e91ee0e99213 | 293 | |
sakthipriya | 0:e91ee0e99213 | 294 | } |
sakthipriya | 0:e91ee0e99213 | 295 | } |
sakthipriya | 0:e91ee0e99213 | 296 | |
sakthipriya | 0:e91ee0e99213 | 297 | |
sakthipriya | 0:e91ee0e99213 | 298 | |
gkumar | 4:65a2d0b97d01 | 299 | void FUNC_I2C_INT() // ISR from CDMS to BAE |
sakthipriya | 0:e91ee0e99213 | 300 | { |
sakthipriya | 3:0931a8800543 | 301 | //i1.stop(); |
sakthipriya | 0:e91ee0e99213 | 302 | |
sakthipriya | 0:e91ee0e99213 | 303 | // t3.start(); |
gkumar | 4:65a2d0b97d01 | 304 | ptr_t_i2c->signal_set(0x4); // printf dosen't work....why?????????????????? |
sakthipriya | 3:0931a8800543 | 305 | //printf("\n ceckh\n"); |
sakthipriya | 3:0931a8800543 | 306 | t2.start(); |
sakthipriya | 3:0931a8800543 | 307 | // printf("\n\r time taken from interrupt to reach i2c fn %d",t2.read_us()); |
sakthipriya | 0:e91ee0e99213 | 308 | } |
sakthipriya | 0:e91ee0e99213 | 309 | |
sakthipriya | 0:e91ee0e99213 | 310 | void FUNC_I2C_IR2CDMS() |
gkumar | 4:65a2d0b97d01 | 311 | { // structure cannot sent via i2c so struct quantized to string n send to cdms n store in SD |
sakthipriya | 0:e91ee0e99213 | 312 | data_ready=0; |
sakthipriya | 0:e91ee0e99213 | 313 | //char data[25]; |
sakthipriya | 0:e91ee0e99213 | 314 | strcpy(hk_data,"hk_Data"); |
sakthipriya | 0:e91ee0e99213 | 315 | strcat(hk_data,SensorQuantised.Voltage); |
sakthipriya | 0:e91ee0e99213 | 316 | strcat(hk_data,SensorQuantised.Current); |
sakthipriya | 0:e91ee0e99213 | 317 | strcat(hk_data,SensorQuantised.Temperature); |
sakthipriya | 0:e91ee0e99213 | 318 | strcat(hk_data,SensorQuantised.PanelTemperature); |
sakthipriya | 0:e91ee0e99213 | 319 | strcat(hk_data,SensorQuantised.AngularSpeed); |
sakthipriya | 0:e91ee0e99213 | 320 | strcat(hk_data,SensorQuantised.Bnewvalue); |
sakthipriya | 0:e91ee0e99213 | 321 | char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode}; |
sakthipriya | 0:e91ee0e99213 | 322 | |
sakthipriya | 0:e91ee0e99213 | 323 | /*strcat(hk_data,sfaultpoll); |
sakthipriya | 0:e91ee0e99213 | 324 | strcat(hk_data,sfaultir); |
sakthipriya | 0:e91ee0e99213 | 325 | strcat(hk_data,spower_mode);*/ |
sakthipriya | 0:e91ee0e99213 | 326 | strcat(hk_data,fdata); |
sakthipriya | 0:e91ee0e99213 | 327 | printf("\n\r hk data being sent %s ",hk_data); |
sakthipriya | 0:e91ee0e99213 | 328 | //for(int i=0;i<100000000000;i++) |
sakthipriya | 0:e91ee0e99213 | 329 | //; |
sakthipriya | 0:e91ee0e99213 | 330 | |
sakthipriya | 0:e91ee0e99213 | 331 | /*for(int d=0;d<23;d++) //was written just to check hk data |
sakthipriya | 0:e91ee0e99213 | 332 | { |
sakthipriya | 0:e91ee0e99213 | 333 | if(hk_data[d]>10) |
sakthipriya | 0:e91ee0e99213 | 334 | printf("\n\rhk data : %d\n\r",hk_data[d]); |
sakthipriya | 0:e91ee0e99213 | 335 | } */ |
sakthipriya | 0:e91ee0e99213 | 336 | |
sakthipriya | 0:e91ee0e99213 | 337 | //data = pcslave.getc(); |
sakthipriya | 0:e91ee0e99213 | 338 | |
sakthipriya | 0:e91ee0e99213 | 339 | i2c_status=1; |
gkumar | 4:65a2d0b97d01 | 340 | i2c_data * i2c_data_s = i2c_data_send.alloc(); // writing to queue _____ dynamic memory allocation |
sakthipriya | 0:e91ee0e99213 | 341 | strcpy(i2c_data_s->data,hk_data); |
sakthipriya | 0:e91ee0e99213 | 342 | i2c_data_s->length = 25; |
sakthipriya | 0:e91ee0e99213 | 343 | i2c_data_send.put(i2c_data_s); |
sakthipriya | 0:e91ee0e99213 | 344 | data_ready=1; |
sakthipriya | 3:0931a8800543 | 345 | // i1.start(); |
sakthipriya | 0:e91ee0e99213 | 346 | //temp = i2c_status; |
sakthipriya | 0:e91ee0e99213 | 347 | } |
sakthipriya | 0:e91ee0e99213 | 348 | |
sakthipriya | 0:e91ee0e99213 | 349 | |
sakthipriya | 0:e91ee0e99213 | 350 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
sakthipriya | 0:e91ee0e99213 | 351 | //TELECOMMAND |
sakthipriya | 0:e91ee0e99213 | 352 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
sakthipriya | 0:e91ee0e99213 | 353 | void FUNC_I2C_TC_EXECUTE (char command) |
sakthipriya | 0:e91ee0e99213 | 354 | { switch(command) |
sakthipriya | 5:bf1f3504cd9d | 355 | { case '0' : printf("command 0 executed"); // assuming telecommand to switch of beacon |
sakthipriya | 5:bf1f3504cd9d | 356 | beac_flag = 1; |
sakthipriya | 5:bf1f3504cd9d | 357 | bea_timeout.attach(&FUNC_BEA_TIMEOUT, 600); |
sakthipriya | 0:e91ee0e99213 | 358 | break; |
sakthipriya | 0:e91ee0e99213 | 359 | case '1' : printf("command 1 executed"); |
sakthipriya | 0:e91ee0e99213 | 360 | break; |
sakthipriya | 0:e91ee0e99213 | 361 | case '2' : printf("command 2 executed"); |
sakthipriya | 0:e91ee0e99213 | 362 | break; |
sakthipriya | 0:e91ee0e99213 | 363 | case '3' : printf("command 3 executed"); |
sakthipriya | 0:e91ee0e99213 | 364 | } |
sakthipriya | 5:bf1f3504cd9d | 365 | } |
sakthipriya | 5:bf1f3504cd9d | 366 | |
sakthipriya | 5:bf1f3504cd9d | 367 | void FUNC_BEA_TIMEOUT() |
sakthipriya | 5:bf1f3504cd9d | 368 | { |
sakthipriya | 5:bf1f3504cd9d | 369 | beac_flag = 0; |
sakthipriya | 0:e91ee0e99213 | 370 | } |
sakthipriya | 0:e91ee0e99213 | 371 | |
sakthipriya | 0:e91ee0e99213 | 372 | |
sakthipriya | 0:e91ee0e99213 | 373 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
gkumar | 4:65a2d0b97d01 | 374 | //SCHEDULER RTOS timer can be called periodically |
sakthipriya | 0:e91ee0e99213 | 375 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
sakthipriya | 0:e91ee0e99213 | 376 | int beacon_sc = 3; |
sakthipriya | 0:e91ee0e99213 | 377 | uint16_t schedcount=1; |
sakthipriya | 0:e91ee0e99213 | 378 | void T_SC(void const *args) |
sakthipriya | 0:e91ee0e99213 | 379 | { |
sakthipriya | 0:e91ee0e99213 | 380 | //DRDY=0; |
sakthipriya | 0:e91ee0e99213 | 381 | printf("The value of i in scheduler is %d\n\r",schedcount); |
gkumar | 4:65a2d0b97d01 | 382 | if(schedcount == 65532) //to reset the counter // when it reaches here back to intial state |
sakthipriya | 0:e91ee0e99213 | 383 | { |
sakthipriya | 0:e91ee0e99213 | 384 | schedcount = 0; |
sakthipriya | 0:e91ee0e99213 | 385 | } |
sakthipriya | 0:e91ee0e99213 | 386 | |
sakthipriya | 0:e91ee0e99213 | 387 | if(schedcount%1==0) |
sakthipriya | 0:e91ee0e99213 | 388 | { |
sakthipriya | 5:bf1f3504cd9d | 389 | // ptr_t_acs -> signal_set(0x1); |
sakthipriya | 5:bf1f3504cd9d | 390 | // ptr_t_wdt -> signal_set(0x5); |
sakthipriya | 0:e91ee0e99213 | 391 | } |
sakthipriya | 0:e91ee0e99213 | 392 | if(schedcount%2==0) |
sakthipriya | 0:e91ee0e99213 | 393 | { |
sakthipriya | 0:e91ee0e99213 | 394 | // ptr_t_fault -> signal_set(0x2); |
raizel_varun | 2:3d9ca9554adf | 395 | ptr_t_hk_acq -> signal_set(0x2); |
sakthipriya | 0:e91ee0e99213 | 396 | |
sakthipriya | 0:e91ee0e99213 | 397 | } |
sakthipriya | 0:e91ee0e99213 | 398 | if(schedcount%beacon_sc==0) |
sakthipriya | 0:e91ee0e99213 | 399 | { |
sakthipriya | 0:e91ee0e99213 | 400 | if(beac_flag==0) |
sakthipriya | 0:e91ee0e99213 | 401 | { |
sakthipriya | 5:bf1f3504cd9d | 402 | //ptr_t_bea -> signal_set(0x3); |
sakthipriya | 0:e91ee0e99213 | 403 | } |
sakthipriya | 0:e91ee0e99213 | 404 | } |
sakthipriya | 0:e91ee0e99213 | 405 | schedcount++; |
sakthipriya | 0:e91ee0e99213 | 406 | } |
sakthipriya | 0:e91ee0e99213 | 407 | |
sakthipriya | 0:e91ee0e99213 | 408 | //--------------------------------------------------------------------------------------------------------------------------------------------- |
sakthipriya | 0:e91ee0e99213 | 409 | |
sakthipriya | 0:e91ee0e99213 | 410 | int main() |
sakthipriya | 0:e91ee0e99213 | 411 | { |
sakthipriya | 0:e91ee0e99213 | 412 | t1.start(); |
sakthipriya | 0:e91ee0e99213 | 413 | printf("\n\rIITMSAT BAE Activated \n"); |
sakthipriya | 3:0931a8800543 | 414 | //INIT_PNI(); // Initializing mnm blue |
sakthipriya | 3:0931a8800543 | 415 | //FUNC_ACS_MAG_INIT(); // Initializing magnetometer |
sakthipriya | 0:e91ee0e99213 | 416 | //FUNC_ACS_INIT_GYR(); // Initializing Gyroscope |
sakthipriya | 0:e91ee0e99213 | 417 | slave.address(0x20); // setting slave address for BAE for I2C communication |
sakthipriya | 3:0931a8800543 | 418 | //init_beacon(); |
sakthipriya | 0:e91ee0e99213 | 419 | ptr_t_hk_acq = new Thread(T_HK_ACQ); |
sakthipriya | 0:e91ee0e99213 | 420 | ptr_t_acs = new Thread(T_ACS); |
sakthipriya | 0:e91ee0e99213 | 421 | ptr_t_bea = new Thread(T_BEA); |
sakthipriya | 0:e91ee0e99213 | 422 | ptr_t_i2c = new Thread(T_I2C_BAE); |
sakthipriya | 0:e91ee0e99213 | 423 | //ptr_t_sc = new Thread(T_SC); |
sakthipriya | 0:e91ee0e99213 | 424 | ptr_t_wdt = new Thread(T_WDT); |
sakthipriya | 0:e91ee0e99213 | 425 | |
gkumar | 4:65a2d0b97d01 | 426 | interrupt_fault(); // Dummy function called when a fault interrupt is detected // intrrupt based fault |
sakthipriya | 0:e91ee0e99213 | 427 | |
sakthipriya | 0:e91ee0e99213 | 428 | ptr_t_acs->set_priority(osPriorityAboveNormal); |
sakthipriya | 0:e91ee0e99213 | 429 | ptr_t_i2c->set_priority(osPriorityHigh); |
sakthipriya | 0:e91ee0e99213 | 430 | ptr_t_hk_acq->set_priority(osPriorityAboveNormal); |
sakthipriya | 0:e91ee0e99213 | 431 | ptr_t_bea->set_priority(osPriorityAboveNormal); |
sakthipriya | 0:e91ee0e99213 | 432 | //ptr_t_sc->set_priority(osPriorityAboveNormal); |
sakthipriya | 0:e91ee0e99213 | 433 | ptr_t_wdt -> set_priority(osPriorityIdle); |
sakthipriya | 0:e91ee0e99213 | 434 | |
sakthipriya | 0:e91ee0e99213 | 435 | |
sakthipriya | 0:e91ee0e99213 | 436 | // ---------------------------------------------------------------------------------------------- |
sakthipriya | 0:e91ee0e99213 | 437 | printf("\n\r T_ACS priority is %d",ptr_t_acs->get_priority()); |
sakthipriya | 0:e91ee0e99213 | 438 | printf("\n\r T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority()); |
sakthipriya | 0:e91ee0e99213 | 439 | printf("\n\r T_BEA priority is %d",ptr_t_bea->get_priority()); |
gkumar | 4:65a2d0b97d01 | 440 | RtosTimer t_sc_timer(T_SC,osTimerPeriodic); //values -3 tpo +3 |
sakthipriya | 0:e91ee0e99213 | 441 | t_sc_timer.start(10000); |
sakthipriya | 0:e91ee0e99213 | 442 | printf("\n\r%f\n\r",t1.read()); |
sakthipriya | 0:e91ee0e99213 | 443 | |
raizel_varun | 2:3d9ca9554adf | 444 | interrupt.rise(&FUNC_I2C_INT); //interrupt received from CDMS |
sakthipriya | 0:e91ee0e99213 | 445 | while(1) //required to prevent main from terminating |
sakthipriya | 0:e91ee0e99213 | 446 | { |
gkumar | 4:65a2d0b97d01 | 447 | Thread::wait(5000); // main by default a thread of priority 0 |
sakthipriya | 0:e91ee0e99213 | 448 | } |
sakthipriya | 0:e91ee0e99213 | 449 | |
sakthipriya | 0:e91ee0e99213 | 450 | } |