sakthi priya amirtharaj / Mbed 2 deprecated pcb_bae_v2_0

acs beacon and hk integrated

Dependencies:   mbed-rtos mbed

main.cpp@0:1a04c0beef21, 2015-05-16 (annotated)

Committer:
sakthipriya
Date:
Sat May 16 07:07:56 2015 +0000
Revision:
0:1a04c0beef21
acs beacon and hk integrated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakthipriya 0:1a04c0beef21 1 #include "mbed.h"
sakthipriya 0:1a04c0beef21 2 #include "rtos.h"
sakthipriya 0:1a04c0beef21 3 #include "HK.h"
sakthipriya 0:1a04c0beef21 4 #include "slave.h"
sakthipriya 0:1a04c0beef21 5 #include "beacon.h"
sakthipriya 0:1a04c0beef21 6 #include "ACS.h"
sakthipriya 0:1a04c0beef21 7 #include "fault.h"
sakthipriya 0:1a04c0beef21 8 #include "slave.h"
sakthipriya 0:1a04c0beef21 9 #include "mnm.h"
sakthipriya 0:1a04c0beef21 10
sakthipriya 0:1a04c0beef21 11 Serial pc(USBTX, USBRX);
sakthipriya 0:1a04c0beef21 12
sakthipriya 0:1a04c0beef21 13 InterruptIn interrupt(PIN97); //I2c interrupt from CDMS
sakthipriya 0:1a04c0beef21 14 DigitalOut data_ready(PIN90); //Sends interrupt to CDMS
sakthipriya 0:1a04c0beef21 15
sakthipriya 0:1a04c0beef21 16 Timer t; //To know the time of execution each thread
sakthipriya 0:1a04c0beef21 17 Timer t1; //To know the time of entering of each thread
sakthipriya 0:1a04c0beef21 18 Timer t2; //To check the time sync in i2c communication
sakthipriya 0:1a04c0beef21 19 Timer t3; //To know the time taken by i2c read/write function
sakthipriya 0:1a04c0beef21 20 Timer i1;
sakthipriya 0:1a04c0beef21 21 Timer i2;
sakthipriya 0:1a04c0beef21 22 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 0:1a04c0beef21 23 //Thread *ptr_t_hk_acq;
sakthipriya 0:1a04c0beef21 24 //Thread *ptr_t_acs;
sakthipriya 0:1a04c0beef21 25 //Thread *ptr_t_bea;
sakthipriya 0:1a04c0beef21 26 Thread *ptr_t_i2c;
sakthipriya 0:1a04c0beef21 27 Thread *ptr_t_wdt;
sakthipriya 0:1a04c0beef21 28 Thread *ptr_t_abh;
sakthipriya 0:1a04c0beef21 29
sakthipriya 0:1a04c0beef21 30 /****************************************************************configuring I2c*********************************************************************************/
sakthipriya 0:1a04c0beef21 31 I2CSlave slave(PIN72,PIN71); //configuring pins p27, p28 as I2Cslave
sakthipriya 0:1a04c0beef21 32
sakthipriya 0:1a04c0beef21 33 int i2c_status=0; //read or write mode for i2c 0: write2slave 1: write2master
sakthipriya 0:1a04c0beef21 34 typedef struct //structure of i2c data
sakthipriya 0:1a04c0beef21 35 {
sakthipriya 0:1a04c0beef21 36 char data[25];
sakthipriya 0:1a04c0beef21 37 int length;
sakthipriya 0:1a04c0beef21 38 }i2c_data;
sakthipriya 0:1a04c0beef21 39
sakthipriya 0:1a04c0beef21 40
sakthipriya 0:1a04c0beef21 41 //Mail<i2c_data,16> i2c_data_receive;
sakthipriya 0:1a04c0beef21 42 Mail<i2c_data,16> i2c_data_send;
sakthipriya 0:1a04c0beef21 43
sakthipriya 0:1a04c0beef21 44 void F_HK_ACQ();
sakthipriya 0:1a04c0beef21 45 void F_ACS();
sakthipriya 0:1a04c0beef21 46 void F_BEA();
sakthipriya 0:1a04c0beef21 47
sakthipriya 0:1a04c0beef21 48
sakthipriya 0:1a04c0beef21 49 //---------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 50 //ACS HK BEACON
sakthipriya 0:1a04c0beef21 51 //---------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 52 int beacon_sc = 3;
sakthipriya 0:1a04c0beef21 53 uint16_t tcount=1;
sakthipriya 0:1a04c0beef21 54 void T_ABH(void const *args)
sakthipriya 0:1a04c0beef21 55 {
sakthipriya 0:1a04c0beef21 56 while(1)
sakthipriya 0:1a04c0beef21 57 {
sakthipriya 0:1a04c0beef21 58
sakthipriya 0:1a04c0beef21 59 Thread::signal_wait(0x1);
sakthipriya 0:1a04c0beef21 60 if(tcount == 65532) //to reset the counter
sakthipriya 0:1a04c0beef21 61 {
sakthipriya 0:1a04c0beef21 62 tcount = 0;
sakthipriya 0:1a04c0beef21 63 }
sakthipriya 0:1a04c0beef21 64 if(tcount%1==0)
sakthipriya 0:1a04c0beef21 65 {
sakthipriya 0:1a04c0beef21 66 F_ACS();
sakthipriya 0:1a04c0beef21 67 }
sakthipriya 0:1a04c0beef21 68 if(tcount%2==0)
sakthipriya 0:1a04c0beef21 69 {
sakthipriya 0:1a04c0beef21 70 F_HK_ACQ();
sakthipriya 0:1a04c0beef21 71 }
sakthipriya 0:1a04c0beef21 72 if(tcount%beacon_sc==0)
sakthipriya 0:1a04c0beef21 73 {
sakthipriya 0:1a04c0beef21 74 F_BEA();
sakthipriya 0:1a04c0beef21 75 }
sakthipriya 0:1a04c0beef21 76
sakthipriya 0:1a04c0beef21 77 tcount++;
sakthipriya 0:1a04c0beef21 78 }
sakthipriya 0:1a04c0beef21 79
sakthipriya 0:1a04c0beef21 80
sakthipriya 0:1a04c0beef21 81 }
sakthipriya 0:1a04c0beef21 82
sakthipriya 0:1a04c0beef21 83
sakthipriya 0:1a04c0beef21 84 //--------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 85 //TASK 2 : HK
sakthipriya 0:1a04c0beef21 86 //--------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 87
sakthipriya 0:1a04c0beef21 88 char hk_data[25];
sakthipriya 0:1a04c0beef21 89 extern SensorDataQuantised SensorQuantised;
sakthipriya 0:1a04c0beef21 90 void F_HK_ACQ()
sakthipriya 0:1a04c0beef21 91 {
sakthipriya 0:1a04c0beef21 92 SensorQuantised.power_mode='3'; //default power mode(dummy)
sakthipriya 0:1a04c0beef21 93 printf("\n\rTHIS IS HK %f\n\r",t1.read());
sakthipriya 0:1a04c0beef21 94 t.start();
sakthipriya 0:1a04c0beef21 95 FUNC_HK_FAULTS(); // !Actual fault management is not implemented
sakthipriya 0:1a04c0beef21 96 FUNC_HK_POWER(SensorQuantised.power_mode); // !The power mode algorithm is yet to be obtained
sakthipriya 0:1a04c0beef21 97 FUNC_HK_MAIN(); //Collecting HK data
sakthipriya 0:1a04c0beef21 98 FUNC_I2C_IR2CDMS(); //sending HK data to CDMS
sakthipriya 0:1a04c0beef21 99 t.stop();
sakthipriya 0:1a04c0beef21 100 printf("The time to execute hk_acq is %f seconds\n\r",t.read());
sakthipriya 0:1a04c0beef21 101 t.reset();
sakthipriya 0:1a04c0beef21 102 }
sakthipriya 0:1a04c0beef21 103
sakthipriya 0:1a04c0beef21 104
sakthipriya 0:1a04c0beef21 105
sakthipriya 0:1a04c0beef21 106 //---------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 107 //TASK 1 : ACS
sakthipriya 0:1a04c0beef21 108 //---------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 109
sakthipriya 0:1a04c0beef21 110 int acs_pflag = 1;
sakthipriya 0:1a04c0beef21 111 void F_ACS()
sakthipriya 0:1a04c0beef21 112 {
sakthipriya 0:1a04c0beef21 113 float mag_field[3];
sakthipriya 0:1a04c0beef21 114 float omega[3];
sakthipriya 0:1a04c0beef21 115 float *mnm_data;
sakthipriya 0:1a04c0beef21 116 float mag_field1[3];
sakthipriya 0:1a04c0beef21 117 float omega1[3];
sakthipriya 0:1a04c0beef21 118 float tauc1[3];
sakthipriya 0:1a04c0beef21 119 float moment[3];
sakthipriya 0:1a04c0beef21 120 printf("\n\rEntered ACS %f\n",t1.read());
sakthipriya 0:1a04c0beef21 121 t.start();
sakthipriya 0:1a04c0beef21 122 FUNC_ACS_MAG_EXEC(mag_field);
sakthipriya 0:1a04c0beef21 123 for(int i=0; i<3; i++)
sakthipriya 0:1a04c0beef21 124 {
sakthipriya 0:1a04c0beef21 125 printf("%f\t",mag_field[i]);
sakthipriya 0:1a04c0beef21 126 }
sakthipriya 0:1a04c0beef21 127 FUNC_ACS_EXEC_GYR(omega);
sakthipriya 0:1a04c0beef21 128 acs_pflag =1;
sakthipriya 0:1a04c0beef21 129 omega[0] = 1.0; //to be removed later
sakthipriya 0:1a04c0beef21 130 omega[1] = 1.0;
sakthipriya 0:1a04c0beef21 131 omega[2] = 1.0;
sakthipriya 0:1a04c0beef21 132
sakthipriya 0:1a04c0beef21 133 /* mnm_data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
sakthipriya 0:1a04c0beef21 134 printf("\n\rmnm gyro values\n"); //printing the angular velocity and magnetic field values
sakthipriya 0:1a04c0beef21 135 for(int i=0; i<3; i++)
sakthipriya 0:1a04c0beef21 136 {
sakthipriya 0:1a04c0beef21 137 printf("%f\t",mnm_data[i]);
sakthipriya 0:1a04c0beef21 138 }
sakthipriya 0:1a04c0beef21 139 printf("\n\r mnm mag values\n");
sakthipriya 0:1a04c0beef21 140 for(int i=3; i<6; i++)
sakthipriya 0:1a04c0beef21 141 {
sakthipriya 0:1a04c0beef21 142 printf("%f\t",mnm_data[i]);
sakthipriya 0:1a04c0beef21 143 }
sakthipriya 0:1a04c0beef21 144 for(int i = 0 ; i<3;i++)
sakthipriya 0:1a04c0beef21 145 {
sakthipriya 0:1a04c0beef21 146 omega1[i] = mnm_data[i];
sakthipriya 0:1a04c0beef21 147 }
sakthipriya 0:1a04c0beef21 148 for( int i = 3;i<6;i++)
sakthipriya 0:1a04c0beef21 149 {
sakthipriya 0:1a04c0beef21 150 mag_field1[i-3] = mnm_data[i];
sakthipriya 0:1a04c0beef21 151 }
sakthipriya 0:1a04c0beef21 152 */
sakthipriya 0:1a04c0beef21 153 if(acs_pflag == 1)
sakthipriya 0:1a04c0beef21 154 {
sakthipriya 0:1a04c0beef21 155 FUNC_ACS_CNTRLALGO(mag_field,omega,tauc1);
sakthipriya 0:1a04c0beef21 156 printf("\n\r control algo values ");
sakthipriya 0:1a04c0beef21 157 for(int i=0; i<3; i++)
sakthipriya 0:1a04c0beef21 158 {
sakthipriya 0:1a04c0beef21 159 printf("%f\t",tauc1[i]);
sakthipriya 0:1a04c0beef21 160 }
sakthipriya 0:1a04c0beef21 161 moment_calc (tauc1, mag_field,moment);
sakthipriya 0:1a04c0beef21 162 printf("\n\r moment values ");
sakthipriya 0:1a04c0beef21 163 for(int i=0; i<3; i++)
sakthipriya 0:1a04c0beef21 164 {
sakthipriya 0:1a04c0beef21 165 printf("%f\t",moment[i]);
sakthipriya 0:1a04c0beef21 166 }
sakthipriya 0:1a04c0beef21 167 FUNC_ACS_GENPWM(moment);
sakthipriya 0:1a04c0beef21 168 }
sakthipriya 0:1a04c0beef21 169 t.reset();
sakthipriya 0:1a04c0beef21 170 }
sakthipriya 0:1a04c0beef21 171
sakthipriya 0:1a04c0beef21 172 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 173
sakthipriya 0:1a04c0beef21 174 int beac_flag=0; //To receive telecommand from ground.
sakthipriya 0:1a04c0beef21 175
sakthipriya 0:1a04c0beef21 176
sakthipriya 0:1a04c0beef21 177 /*void T_BEA_TELECOMMAND(void const *args)
sakthipriya 0:1a04c0beef21 178 {
sakthipriya 0:1a04c0beef21 179 char c = pc.getc();
sakthipriya 0:1a04c0beef21 180 if(c=='a')
sakthipriya 0:1a04c0beef21 181 {
sakthipriya 0:1a04c0beef21 182 printf("Telecommand detected\n\r");
sakthipriya 0:1a04c0beef21 183 beac_flag=1;
sakthipriya 0:1a04c0beef21 184 }
sakthipriya 0:1a04c0beef21 185 }
sakthipriya 0:1a04c0beef21 186 */
sakthipriya 0:1a04c0beef21 187
sakthipriya 0:1a04c0beef21 188 void F_BEA()
sakthipriya 0:1a04c0beef21 189 {
sakthipriya 0:1a04c0beef21 190 printf("\n\rTHIS IS BEACON %f\n\r",t1.read());
sakthipriya 0:1a04c0beef21 191 t.start();
sakthipriya 0:1a04c0beef21 192 FUNC_BEA();
sakthipriya 0:1a04c0beef21 193 if(beac_flag==1)
sakthipriya 0:1a04c0beef21 194 {
sakthipriya 0:1a04c0beef21 195 Thread::wait(600000);
sakthipriya 0:1a04c0beef21 196 beac_flag = 0;
sakthipriya 0:1a04c0beef21 197 }
sakthipriya 0:1a04c0beef21 198 printf("The time to execute beacon thread is %f seconds\n\r",t.read());
sakthipriya 0:1a04c0beef21 199 t.reset();
sakthipriya 0:1a04c0beef21 200 }
sakthipriya 0:1a04c0beef21 201
sakthipriya 0:1a04c0beef21 202
sakthipriya 0:1a04c0beef21 203
sakthipriya 0:1a04c0beef21 204 extern SensorDataQuantised SensorQuantised;
sakthipriya 0:1a04c0beef21 205
sakthipriya 0:1a04c0beef21 206 /*-------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 207 -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/
sakthipriya 0:1a04c0beef21 208 DigitalOut trigger(PIN63); // has to be changed
sakthipriya 0:1a04c0beef21 209 void T_WDT(void const * args)
sakthipriya 0:1a04c0beef21 210 {
sakthipriya 0:1a04c0beef21 211 trigger = 1;
sakthipriya 0:1a04c0beef21 212 while(true)
sakthipriya 0:1a04c0beef21 213 {
sakthipriya 0:1a04c0beef21 214 Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized
sakthipriya 0:1a04c0beef21 215 printf("\n\rEntered WD\n\r");
sakthipriya 0:1a04c0beef21 216 trigger = !trigger;
sakthipriya 0:1a04c0beef21 217 }
sakthipriya 0:1a04c0beef21 218 }
sakthipriya 0:1a04c0beef21 219
sakthipriya 0:1a04c0beef21 220 //---------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 221 //TASK 5 : i2c data
sakthipriya 0:1a04c0beef21 222 //---------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 223
sakthipriya 0:1a04c0beef21 224 void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
sakthipriya 0:1a04c0beef21 225 {
sakthipriya 0:1a04c0beef21 226 int slave_status = 1;
sakthipriya 0:1a04c0beef21 227 int inter_test = interrupt;
sakthipriya 0:1a04c0beef21 228 int slr = slave.receive();
sakthipriya 0:1a04c0beef21 229 wait_ms(20);
sakthipriya 0:1a04c0beef21 230 //printf("\n\r time is %d\n",t2.read_us());
sakthipriya 0:1a04c0beef21 231 //if(interrupt ==1)
sakthipriya 0:1a04c0beef21 232 //{
sakthipriya 0:1a04c0beef21 233 //printf("\n\r slave status %d",slave.receive());
sakthipriya 0:1a04c0beef21 234 //t2.stop();
sakthipriya 0:1a04c0beef21 235 if(slave.receive() == 0)
sakthipriya 0:1a04c0beef21 236 t2.stop();
sakthipriya 0:1a04c0beef21 237 if( slave.receive()==1)
sakthipriya 0:1a04c0beef21 238 {
sakthipriya 0:1a04c0beef21 239 t2.stop();
sakthipriya 0:1a04c0beef21 240 t3.start();
sakthipriya 0:1a04c0beef21 241 slave_status=slave.write(data,length);
sakthipriya 0:1a04c0beef21 242 t3.stop();
sakthipriya 0:1a04c0beef21 243 }
sakthipriya 0:1a04c0beef21 244 else if( slave.receive()==3 || slave.receive()==2)
sakthipriya 0:1a04c0beef21 245 {
sakthipriya 0:1a04c0beef21 246 t2.stop();
sakthipriya 0:1a04c0beef21 247 t3.start();
sakthipriya 0:1a04c0beef21 248 slave_status=slave.read(data,length);
sakthipriya 0:1a04c0beef21 249 t3.stop();
sakthipriya 0:1a04c0beef21 250 }
sakthipriya 0:1a04c0beef21 251 //}
sakthipriya 0:1a04c0beef21 252 // printf("\n\r time taken to receive intrpt 4m cdms %d",i1.read_us());
sakthipriya 0:1a04c0beef21 253 //i1.reset();
sakthipriya 0:1a04c0beef21 254 printf("\n\r slave status %d",slave.receive());
sakthipriya 0:1a04c0beef21 255 printf("\n\r time taken from interrupt to reach i2c fn %d",t2.read_us());
sakthipriya 0:1a04c0beef21 256 t2.stop();
sakthipriya 0:1a04c0beef21 257 t2.reset();
sakthipriya 0:1a04c0beef21 258 printf("\n\r time to execute i2c function %d",t3.read_us());
sakthipriya 0:1a04c0beef21 259 t3.reset();
sakthipriya 0:1a04c0beef21 260 }
sakthipriya 0:1a04c0beef21 261
sakthipriya 0:1a04c0beef21 262 char data_send[25],data_receive;
sakthipriya 0:1a04c0beef21 263 void T_I2C_BAE(void const * args)
sakthipriya 0:1a04c0beef21 264 {
sakthipriya 0:1a04c0beef21 265 while(1)
sakthipriya 0:1a04c0beef21 266 {
sakthipriya 0:1a04c0beef21 267 Thread::signal_wait(0x4);
sakthipriya 0:1a04c0beef21 268 int something = interrupt;
sakthipriya 0:1a04c0beef21 269 // printf("\n\r interrupt %d",interrupt);
sakthipriya 0:1a04c0beef21 270 if(i2c_status == 0 )
sakthipriya 0:1a04c0beef21 271
sakthipriya 0:1a04c0beef21 272 {
sakthipriya 0:1a04c0beef21 273 // wait_ms(23);
sakthipriya 0:1a04c0beef21 274 FUNC_I2C_WRITE2CDMS(&data_receive,1);
sakthipriya 0:1a04c0beef21 275 /*i2c_data * i2c_data_r = i2c_data_receive.alloc();
sakthipriya 0:1a04c0beef21 276 i2c_data_r->data = data_receive;
sakthipriya 0:1a04c0beef21 277 i2c_data_r->length = 1;
sakthipriya 0:1a04c0beef21 278 i2c_data_receive.put(i2c_data_r);*/
sakthipriya 0:1a04c0beef21 279 printf("\n\r Data received from CDMS is %c \n\r",data_receive);
sakthipriya 0:1a04c0beef21 280 FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread
sakthipriya 0:1a04c0beef21 281
sakthipriya 0:1a04c0beef21 282 }
sakthipriya 0:1a04c0beef21 283 else if(i2c_status ==1)
sakthipriya 0:1a04c0beef21 284 {
sakthipriya 0:1a04c0beef21 285 osEvent evt = i2c_data_send.get();
sakthipriya 0:1a04c0beef21 286 if (evt.status == osEventMail)
sakthipriya 0:1a04c0beef21 287 {
sakthipriya 0:1a04c0beef21 288 i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
sakthipriya 0:1a04c0beef21 289 strcpy(data_send,i2c_data_s -> data);
sakthipriya 0:1a04c0beef21 290 //wait_ms(25);
sakthipriya 0:1a04c0beef21 291
sakthipriya 0:1a04c0beef21 292 FUNC_I2C_WRITE2CDMS(data_send,25);
sakthipriya 0:1a04c0beef21 293 printf("\n\rData sent to CDMS is %s\n\r",data_send);
sakthipriya 0:1a04c0beef21 294
sakthipriya 0:1a04c0beef21 295 i2c_data_send.free(i2c_data_s);
sakthipriya 0:1a04c0beef21 296 i2c_status = 0;
sakthipriya 0:1a04c0beef21 297 }
sakthipriya 0:1a04c0beef21 298 }
sakthipriya 0:1a04c0beef21 299
sakthipriya 0:1a04c0beef21 300 }
sakthipriya 0:1a04c0beef21 301 }
sakthipriya 0:1a04c0beef21 302
sakthipriya 0:1a04c0beef21 303
sakthipriya 0:1a04c0beef21 304
sakthipriya 0:1a04c0beef21 305 void FUNC_I2C_INT()
sakthipriya 0:1a04c0beef21 306 {
sakthipriya 0:1a04c0beef21 307 //i1.stop();
sakthipriya 0:1a04c0beef21 308
sakthipriya 0:1a04c0beef21 309 // t3.start();
sakthipriya 0:1a04c0beef21 310 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:1a04c0beef21 311 //printf("\n ceckh\n");
sakthipriya 0:1a04c0beef21 312 t2.start();
sakthipriya 0:1a04c0beef21 313 // printf("\n\r time taken from interrupt to reach i2c fn %d",t2.read_us());
sakthipriya 0:1a04c0beef21 314 }
sakthipriya 0:1a04c0beef21 315
sakthipriya 0:1a04c0beef21 316 void FUNC_I2C_IR2CDMS()
sakthipriya 0:1a04c0beef21 317 {
sakthipriya 0:1a04c0beef21 318 data_ready=0;
sakthipriya 0:1a04c0beef21 319 //char data[25];
sakthipriya 0:1a04c0beef21 320 strcpy(hk_data,"hk_Data");
sakthipriya 0:1a04c0beef21 321 strcat(hk_data,SensorQuantised.Voltage);
sakthipriya 0:1a04c0beef21 322 strcat(hk_data,SensorQuantised.Current);
sakthipriya 0:1a04c0beef21 323 strcat(hk_data,SensorQuantised.Temperature);
sakthipriya 0:1a04c0beef21 324 strcat(hk_data,SensorQuantised.PanelTemperature);
sakthipriya 0:1a04c0beef21 325 strcat(hk_data,SensorQuantised.AngularSpeed);
sakthipriya 0:1a04c0beef21 326 strcat(hk_data,SensorQuantised.Bnewvalue);
sakthipriya 0:1a04c0beef21 327 char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode};
sakthipriya 0:1a04c0beef21 328
sakthipriya 0:1a04c0beef21 329 /*strcat(hk_data,sfaultpoll);
sakthipriya 0:1a04c0beef21 330 strcat(hk_data,sfaultir);
sakthipriya 0:1a04c0beef21 331 strcat(hk_data,spower_mode);*/
sakthipriya 0:1a04c0beef21 332 strcat(hk_data,fdata);
sakthipriya 0:1a04c0beef21 333 printf("\n\r hk data being sent %s ",hk_data);
sakthipriya 0:1a04c0beef21 334 //for(int i=0;i<100000000000;i++)
sakthipriya 0:1a04c0beef21 335 //;
sakthipriya 0:1a04c0beef21 336
sakthipriya 0:1a04c0beef21 337 /*for(int d=0;d<23;d++) //was written just to check hk data
sakthipriya 0:1a04c0beef21 338 {
sakthipriya 0:1a04c0beef21 339 if(hk_data[d]>10)
sakthipriya 0:1a04c0beef21 340 printf("\n\rhk data : %d\n\r",hk_data[d]);
sakthipriya 0:1a04c0beef21 341 } */
sakthipriya 0:1a04c0beef21 342
sakthipriya 0:1a04c0beef21 343 //data = pcslave.getc();
sakthipriya 0:1a04c0beef21 344
sakthipriya 0:1a04c0beef21 345 i2c_status=1;
sakthipriya 0:1a04c0beef21 346 i2c_data * i2c_data_s = i2c_data_send.alloc();
sakthipriya 0:1a04c0beef21 347 strcpy(i2c_data_s->data,hk_data);
sakthipriya 0:1a04c0beef21 348 i2c_data_s->length = 25;
sakthipriya 0:1a04c0beef21 349 i2c_data_send.put(i2c_data_s);
sakthipriya 0:1a04c0beef21 350 data_ready=1;
sakthipriya 0:1a04c0beef21 351 // i1.start();
sakthipriya 0:1a04c0beef21 352 //temp = i2c_status;
sakthipriya 0:1a04c0beef21 353 }
sakthipriya 0:1a04c0beef21 354
sakthipriya 0:1a04c0beef21 355
sakthipriya 0:1a04c0beef21 356 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 357 //TELECOMMAND
sakthipriya 0:1a04c0beef21 358 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 359 void FUNC_I2C_TC_EXECUTE (char command)
sakthipriya 0:1a04c0beef21 360 { switch(command)
sakthipriya 0:1a04c0beef21 361 { case '0' : printf("command 0 executed");
sakthipriya 0:1a04c0beef21 362 break;
sakthipriya 0:1a04c0beef21 363 case '1' : printf("command 1 executed");
sakthipriya 0:1a04c0beef21 364 break;
sakthipriya 0:1a04c0beef21 365 case '2' : printf("command 2 executed");
sakthipriya 0:1a04c0beef21 366 break;
sakthipriya 0:1a04c0beef21 367 case '3' : printf("command 3 executed");
sakthipriya 0:1a04c0beef21 368 }
sakthipriya 0:1a04c0beef21 369 }
sakthipriya 0:1a04c0beef21 370
sakthipriya 0:1a04c0beef21 371
sakthipriya 0:1a04c0beef21 372 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 373 //SCHEDULER
sakthipriya 0:1a04c0beef21 374 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 375
sakthipriya 0:1a04c0beef21 376 void T_SC(void const *args)
sakthipriya 0:1a04c0beef21 377 {
sakthipriya 0:1a04c0beef21 378 ptr_t_abh -> signal_set(0x1);
sakthipriya 0:1a04c0beef21 379 ptr_t_wdt -> signal_set(0x5);
sakthipriya 0:1a04c0beef21 380
sakthipriya 0:1a04c0beef21 381 }
sakthipriya 0:1a04c0beef21 382 //---------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 383
sakthipriya 0:1a04c0beef21 384 int main()
sakthipriya 0:1a04c0beef21 385 {
sakthipriya 0:1a04c0beef21 386 t1.start();
sakthipriya 0:1a04c0beef21 387 printf("\n\rIITMSAT BAE Activated \n");
sakthipriya 0:1a04c0beef21 388 //INIT_PNI(); // Initializing mnm blue
sakthipriya 0:1a04c0beef21 389 //FUNC_ACS_MAG_INIT(); // Initializing magnetometer
sakthipriya 0:1a04c0beef21 390 //FUNC_ACS_INIT_GYR(); // Initializing Gyroscope
sakthipriya 0:1a04c0beef21 391 slave.address(0x20); // setting slave address for BAE for I2C communication
sakthipriya 0:1a04c0beef21 392 //init_beacon();
sakthipriya 0:1a04c0beef21 393 ptr_t_abh = new Thread(T_ABH);
sakthipriya 0:1a04c0beef21 394 ptr_t_i2c = new Thread(T_I2C_BAE);
sakthipriya 0:1a04c0beef21 395 //ptr_t_sc = new Thread(T_SC);
sakthipriya 0:1a04c0beef21 396 ptr_t_wdt = new Thread(T_WDT);
sakthipriya 0:1a04c0beef21 397
sakthipriya 0:1a04c0beef21 398 interrupt_fault(); // Dummy function called when a fault interrupt is detected
sakthipriya 0:1a04c0beef21 399
sakthipriya 0:1a04c0beef21 400 ptr_t_abh->set_priority(osPriorityAboveNormal);
sakthipriya 0:1a04c0beef21 401 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 0:1a04c0beef21 402 //ptr_t_hk_acq->set_priority(osPriorityAboveNormal);
sakthipriya 0:1a04c0beef21 403 //ptr_t_bea->set_priority(osPriorityAboveNormal);
sakthipriya 0:1a04c0beef21 404 //ptr_t_sc->set_priority(osPriorityAboveNormal);
sakthipriya 0:1a04c0beef21 405 ptr_t_wdt -> set_priority(osPriorityIdle);
sakthipriya 0:1a04c0beef21 406
sakthipriya 0:1a04c0beef21 407
sakthipriya 0:1a04c0beef21 408 // ----------------------------------------------------------------------------------------------
sakthipriya 0:1a04c0beef21 409 printf("\n\r T_ABH priority is %d",ptr_t_abh->get_priority());
sakthipriya 0:1a04c0beef21 410 //printf("\n\r T_I2C priority is %d",ptr_t_hk_acq->get_priority());
sakthipriya 0:1a04c0beef21 411 //printf("\n\r T_WDT priority is %d",ptr_t_bea->get_priority());
sakthipriya 0:1a04c0beef21 412 RtosTimer t_sc_timer(T_SC,osTimerPeriodic);
sakthipriya 0:1a04c0beef21 413 t_sc_timer.start(10000);
sakthipriya 0:1a04c0beef21 414 printf("\n\r%f\n\r",t1.read());
sakthipriya 0:1a04c0beef21 415
sakthipriya 0:1a04c0beef21 416 interrupt.rise(&FUNC_I2C_INT); //interrupt received from CDMS
sakthipriya 0:1a04c0beef21 417 while(1) //required to prevent main from terminating
sakthipriya 0:1a04c0beef21 418 {
sakthipriya 0:1a04c0beef21 419 Thread::wait(5000);
sakthipriya 0:1a04c0beef21 420 }
sakthipriya 0:1a04c0beef21 421
sakthipriya 0:1a04c0beef21 422 }