sakthi priya amirtharaj
cdms i2c working - but not working after hk data is sent
Fork of
pcb_test_vr1_1_2
by 
GOPA KUMAR K C
Diff: main.cpp
- Revision:
- 4:65a2d0b97d01
- Parent:
- 3:0931a8800543
- Child:
- 5:bf1f3504cd9d
--- a/main.cpp Wed May 13 06:19:25 2015 +0000
+++ b/main.cpp Thu May 14 10:22:50 2015 +0000
@@ -22,7 +22,7 @@
Timer i1;
Timer i2;
/*****************************************************************Threads USed***********************************************************************************/
-Thread *ptr_t_hk_acq;
+Thread *ptr_t_hk_acq; //pointer:::::::::to read state of one thread from another
Thread *ptr_t_acs;
Thread *ptr_t_bea;
Thread *ptr_t_i2c;
@@ -47,19 +47,19 @@
//--------------------------------------------------------------------------------------------------------------------------------------------------
char hk_data[25];
-extern SensorDataQuantised SensorQuantised;
+extern SensorDataQuantised SensorQuantised; /// SensorDataQuantised: struct instance :SensorQuantised
void T_HK_ACQ(void const *args)
{
while(1)
{
- Thread::signal_wait(0x2);
+ Thread::signal_wait(0x2); // 0x2 random should be same in master n slave
SensorQuantised.power_mode='3'; //default power mode(dummy)
printf("\n\rTHIS IS HK %f\n\r",t1.read());
t.start();
- FUNC_HK_FAULTS(); // !Actual fault management is not implemented
- FUNC_HK_POWER(SensorQuantised.power_mode); // !The power mode algorithm is yet to be obtained
- FUNC_HK_MAIN(); //Collecting HK data
+ FUNC_HK_FAULTS(); // !Actual fault management is not implemented : polling
+ FUNC_HK_POWER(SensorQuantised.power_mode); // !The power mode algorithm is yet to be obtained // status of power modde will decide actions
+ FUNC_HK_MAIN(); //Collecting HK data for ADC n
FUNC_I2C_IR2CDMS(); //sending HK data to CDMS
t.stop();
printf("The time to execute hk_acq is %f seconds\n\r",t.read());
@@ -71,12 +71,12 @@
//TASK 1 : ACS
//---------------------------------------------------------------------------------------------------------------------------------------
-int acs_pflag = 1;
+int acs_pflag = 1; // power mode decision flag for ACS
void T_ACS(void const *args)
{
- float mag_field[3];
- float omega[3];
- float *mnm_data;
+ float mag_field[3]; // rm3000
+ float omega[3]; //mpu3300
+ float *mnm_data; //
float mag_field1[3];
float omega1[3];
float tauc1[3];
@@ -86,13 +86,13 @@
Thread::signal_wait(0x1);
printf("\n\rEntered ACS %f\n",t1.read());
t.start();
- FUNC_ACS_MAG_EXEC(mag_field);
+ FUNC_ACS_MAG_EXEC(mag_field); ///rm3000
//printf("\n\r check");
for(int i=0; i<3; i++)
{
printf("%f\t",mag_field[i]);
}
- FUNC_ACS_EXEC_GYR(omega);
+ FUNC_ACS_EXEC_GYR(omega); // mpu3300
acs_pflag =1; //to be removed later
omega[0] = 1.0;
omega[1] = 1.0;
@@ -100,7 +100,7 @@
- /* mnm_data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
+ 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++)
{
@@ -119,8 +119,8 @@
{
mag_field1[i-3] = mnm_data[i];
}
- */
- if(acs_pflag == 1)
+
+ if(acs_pflag == 1)
{
FUNC_ACS_CNTRLALGO(mag_field,omega,tauc1);
@@ -143,7 +143,8 @@
//---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
-int beac_flag=0; //To receive telecommand from ground.
+int beac_flag=0; //To receive telecommand from ground. Beacon stopped when telecomand recieved durring
+
/*void T_BEA_TELECOMMAND(void const *args)
@@ -166,7 +167,7 @@
printf("\n\rTHIS IS BEACON %f\n\r",t1.read());
t.start();
FUNC_BEA();
- if(beac_flag==1)
+ if(beac_flag==1) // use scheduler instead
{
Thread::wait(600000);
beac_flag = 0;
@@ -178,19 +179,19 @@
-extern SensorDataQuantised SensorQuantised;
+extern SensorDataQuantised SensorQuantised; // ????????
/*-------------------------------------------------------------------------------------------------------------------------------------------
-------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/
DigitalOut trigger(PIN63); // has to be changed
void T_WDT(void const * args)
{
- trigger = 1;
+ trigger = 1; // gpio to WD input
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;
+ trigger = !trigger; /// falling edge triggered
}
}
@@ -198,7 +199,7 @@
//TASK 5 : i2c data
//---------------------------------------------------------------------------------------------------------------------------------------------------
-void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
+void FUNC_I2C_WRITE2CDMS(char *data, int length=1) /// BAE to CDMS read/write
{
int slave_status = 1;
int inter_test = interrupt;
@@ -209,16 +210,16 @@
//{
//printf("\n\r slave status %d",slave.receive());
//t2.stop();
- if(slave.receive() == 0)
+ if(slave.receive() == 0) // 0 when not ack refer doc.
t2.stop();
- if( slave.receive()==1)
+ if( slave.receive()==1) // slave to master
{
t2.stop();
t3.start();
- slave_status=slave.write(data,length);
+ slave_status=slave.write(data,length); // ack to
t3.stop();
}
- else if( slave.receive()==3 || slave.receive()==2)
+ else if( slave.receive()==3 || slave.receive()==2) // master to slave
{
t2.stop();
t3.start();
@@ -244,7 +245,7 @@
Thread::signal_wait(0x4);
int something = interrupt;
// printf("\n\r interrupt %d",interrupt);
- if(i2c_status == 0 )
+ if(i2c_status == 0 ) // read from CDMS (master)
{
// wait_ms(23);
@@ -254,22 +255,22 @@
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
+ FUNC_I2C_TC_EXECUTE(data_receive); // telecommand // This has to be done from a differen thread
}
else if(i2c_status ==1)
{
- osEvent evt = i2c_data_send.get();
- if (evt.status == osEventMail)
+ 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);
+ i2c_data *i2c_data_s = (i2c_data*)evt.value.p; //syntax recieving address of data from queue and storing it in struct
+ strcpy(data_send,i2c_data_s -> data); // -> data from pointer
// wait_ms(13);
- FUNC_I2C_WRITE2CDMS(data_send,25);
+ 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_data_send.free(i2c_data_s); // freeing the memory location from queue
i2c_status = 0;
}
}
@@ -279,19 +280,19 @@
-void FUNC_I2C_INT()
+void FUNC_I2C_INT() // ISR from CDMS to BAE
{
//i1.stop();
// t3.start();
- ptr_t_i2c->signal_set(0x4);
+ ptr_t_i2c->signal_set(0x4); // printf dosen't work....why??????????????????
//printf("\n ceckh\n");
t2.start();
// printf("\n\r time taken from interrupt to reach i2c fn %d",t2.read_us());
}
void FUNC_I2C_IR2CDMS()
-{
+{ // structure cannot sent via i2c so struct quantized to string n send to cdms n store in SD
data_ready=0;
//char data[25];
strcpy(hk_data,"hk_Data");
@@ -320,7 +321,7 @@
//data = pcslave.getc();
i2c_status=1;
- i2c_data * i2c_data_s = i2c_data_send.alloc();
+ i2c_data * i2c_data_s = i2c_data_send.alloc(); // writing to queue _____ dynamic memory allocation
strcpy(i2c_data_s->data,hk_data);
i2c_data_s->length = 25;
i2c_data_send.put(i2c_data_s);
@@ -347,7 +348,7 @@
//------------------------------------------------------------------------------------------------------------------------------------------------
-//SCHEDULER
+//SCHEDULER RTOS timer can be called periodically
//------------------------------------------------------------------------------------------------------------------------------------------------
int beacon_sc = 3;
uint16_t schedcount=1;
@@ -355,7 +356,7 @@
{
//DRDY=0;
printf("The value of i in scheduler is %d\n\r",schedcount);
- if(schedcount == 65532) //to reset the counter
+ if(schedcount == 65532) //to reset the counter // when it reaches here back to intial state
{
schedcount = 0;
}
@@ -400,7 +401,7 @@
//ptr_t_sc = new Thread(T_SC);
ptr_t_wdt = new Thread(T_WDT);
- interrupt_fault(); // Dummy function called when a fault interrupt is detected
+ interrupt_fault(); // Dummy function called when a fault interrupt is detected // intrrupt based fault
ptr_t_acs->set_priority(osPriorityAboveNormal);
ptr_t_i2c->set_priority(osPriorityHigh);
@@ -414,14 +415,14 @@
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_BEA priority is %d",ptr_t_bea->get_priority());
- RtosTimer t_sc_timer(T_SC,osTimerPeriodic);
+ RtosTimer t_sc_timer(T_SC,osTimerPeriodic); //values -3 tpo +3
t_sc_timer.start(10000);
printf("\n\r%f\n\r",t1.read());
interrupt.rise(&FUNC_I2C_INT); //interrupt received from CDMS
while(1) //required to prevent main from terminating
{
- Thread::wait(5000);
+ Thread::wait(5000); // main by default a thread of priority 0
}
}