sakthi priya amirtharaj
/
pcb_bae_v2_0
acs beacon and hk integrated
Diff: main.cpp
- Revision:
- 0:1a04c0beef21
diff -r 000000000000 -r 1a04c0beef21 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sat May 16 07:07:56 2015 +0000 @@ -0,0 +1,422 @@ +#include "mbed.h" +#include "rtos.h" +#include "HK.h" +#include "slave.h" +#include "beacon.h" +#include "ACS.h" +#include "fault.h" +#include "slave.h" +#include "mnm.h" + +Serial pc(USBTX, USBRX); + +InterruptIn interrupt(PIN97); //I2c interrupt from CDMS +DigitalOut data_ready(PIN90); //Sends interrupt to CDMS + +Timer t; //To know the time of execution each thread +Timer t1; //To know the time of entering of each thread +Timer t2; //To check the time sync in i2c communication +Timer t3; //To know the time taken by i2c read/write function +Timer i1; +Timer i2; +/*****************************************************************Threads USed***********************************************************************************/ +//Thread *ptr_t_hk_acq; +//Thread *ptr_t_acs; +//Thread *ptr_t_bea; +Thread *ptr_t_i2c; +Thread *ptr_t_wdt; +Thread *ptr_t_abh; + +/****************************************************************configuring I2c*********************************************************************************/ +I2CSlave slave(PIN72,PIN71); //configuring pins p27, p28 as I2Cslave + +int i2c_status=0; //read or write mode for i2c 0: write2slave 1: write2master +typedef struct //structure of i2c data +{ + char data[25]; + int length; +}i2c_data; + + +//Mail<i2c_data,16> i2c_data_receive; +Mail<i2c_data,16> i2c_data_send; + +void F_HK_ACQ(); +void F_ACS(); +void F_BEA(); + + +//--------------------------------------------------------------------------------------------------------------------------------------- +//ACS HK BEACON +//--------------------------------------------------------------------------------------------------------------------------------------- +int beacon_sc = 3; +uint16_t tcount=1; +void T_ABH(void const *args) +{ + while(1) + { + + Thread::signal_wait(0x1); + if(tcount == 65532) //to reset the counter + { + tcount = 0; + } + if(tcount%1==0) + { + F_ACS(); + } + if(tcount%2==0) + { + F_HK_ACQ(); + } + if(tcount%beacon_sc==0) + { + F_BEA(); + } + + tcount++; + } + + +} + + +//-------------------------------------------------------------------------------------------------------------------------------------------------- +//TASK 2 : HK +//-------------------------------------------------------------------------------------------------------------------------------------------------- + +char hk_data[25]; +extern SensorDataQuantised SensorQuantised; +void F_HK_ACQ() +{ + 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_I2C_IR2CDMS(); //sending HK data to CDMS + t.stop(); + printf("The time to execute hk_acq is %f seconds\n\r",t.read()); + t.reset(); +} + + + +//--------------------------------------------------------------------------------------------------------------------------------------- +//TASK 1 : ACS +//--------------------------------------------------------------------------------------------------------------------------------------- + +int acs_pflag = 1; +void F_ACS() +{ + float mag_field[3]; + float omega[3]; + float *mnm_data; + float mag_field1[3]; + float omega1[3]; + float tauc1[3]; + float moment[3]; + printf("\n\rEntered ACS %f\n",t1.read()); + t.start(); + FUNC_ACS_MAG_EXEC(mag_field); + for(int i=0; i<3; i++) + { + printf("%f\t",mag_field[i]); + } + FUNC_ACS_EXEC_GYR(omega); + acs_pflag =1; + omega[0] = 1.0; //to be removed later + omega[1] = 1.0; + omega[2] = 1.0; + + /* mnm_data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3 + printf("\n\rmnm gyro values\n"); //printing the angular velocity and magnetic field values + for(int i=0; i<3; i++) + { + printf("%f\t",mnm_data[i]); + } + printf("\n\r mnm mag values\n"); + for(int i=3; i<6; i++) + { + printf("%f\t",mnm_data[i]); + } + for(int i = 0 ; i<3;i++) + { + omega1[i] = mnm_data[i]; + } + for( int i = 3;i<6;i++) + { + mag_field1[i-3] = mnm_data[i]; + } + */ + if(acs_pflag == 1) + { + FUNC_ACS_CNTRLALGO(mag_field,omega,tauc1); + printf("\n\r control algo values "); + for(int i=0; i<3; i++) + { + printf("%f\t",tauc1[i]); + } + moment_calc (tauc1, mag_field,moment); + printf("\n\r moment values "); + for(int i=0; i<3; i++) + { + printf("%f\t",moment[i]); + } + FUNC_ACS_GENPWM(moment); + } + t.reset(); +} + +//---------------------------------------------------BEACON-------------------------------------------------------------------------------------------- + +int beac_flag=0; //To receive telecommand from ground. + + +/*void T_BEA_TELECOMMAND(void const *args) +{ + char c = pc.getc(); + if(c=='a') + { + printf("Telecommand detected\n\r"); + beac_flag=1; + } +} +*/ + +void F_BEA() +{ + printf("\n\rTHIS IS BEACON %f\n\r",t1.read()); + t.start(); + FUNC_BEA(); + if(beac_flag==1) + { + Thread::wait(600000); + beac_flag = 0; + } + printf("The time to execute beacon thread is %f seconds\n\r",t.read()); + t.reset(); +} + + + +extern SensorDataQuantised SensorQuantised; + +/*------------------------------------------------------------------------------------------------------------------------------------------- +-------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/ +DigitalOut trigger(PIN63); // has to be changed +void T_WDT(void const * args) +{ + trigger = 1; + while(true) + { + Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized + printf("\n\rEntered WD\n\r"); + trigger = !trigger; + } +} + +//--------------------------------------------------------------------------------------------------------------------------------------------------- +//TASK 5 : i2c data +//--------------------------------------------------------------------------------------------------------------------------------------------------- + +void FUNC_I2C_WRITE2CDMS(char *data, int length=1) +{ + int slave_status = 1; + int inter_test = interrupt; + int slr = slave.receive(); + wait_ms(20); + //printf("\n\r time is %d\n",t2.read_us()); + //if(interrupt ==1) + //{ + //printf("\n\r slave status %d",slave.receive()); + //t2.stop(); + if(slave.receive() == 0) + t2.stop(); + if( slave.receive()==1) + { + t2.stop(); + t3.start(); + slave_status=slave.write(data,length); + t3.stop(); + } + else if( slave.receive()==3 || slave.receive()==2) + { + t2.stop(); + t3.start(); + slave_status=slave.read(data,length); + t3.stop(); + } + //} + // printf("\n\r time taken to receive intrpt 4m cdms %d",i1.read_us()); + //i1.reset(); + printf("\n\r slave status %d",slave.receive()); + printf("\n\r time taken from interrupt to reach i2c fn %d",t2.read_us()); + t2.stop(); + t2.reset(); + printf("\n\r time to execute i2c function %d",t3.read_us()); + t3.reset(); +} + +char data_send[25],data_receive; +void T_I2C_BAE(void const * args) +{ + while(1) + { + Thread::signal_wait(0x4); + int something = interrupt; + // printf("\n\r interrupt %d",interrupt); + if(i2c_status == 0 ) + + { + // wait_ms(23); + FUNC_I2C_WRITE2CDMS(&data_receive,1); + /*i2c_data * i2c_data_r = i2c_data_receive.alloc(); + i2c_data_r->data = data_receive; + i2c_data_r->length = 1; + i2c_data_receive.put(i2c_data_r);*/ + printf("\n\r Data received from CDMS is %c \n\r",data_receive); + FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread + + } + else if(i2c_status ==1) + { + osEvent evt = i2c_data_send.get(); + if (evt.status == osEventMail) + { + i2c_data *i2c_data_s = (i2c_data*)evt.value.p; + strcpy(data_send,i2c_data_s -> data); + //wait_ms(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_status = 0; + } + } + + } +} + + + +void FUNC_I2C_INT() +{ + //i1.stop(); + + // t3.start(); + ptr_t_i2c->signal_set(0x4); + //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() +{ + data_ready=0; + //char data[25]; + strcpy(hk_data,"hk_Data"); + strcat(hk_data,SensorQuantised.Voltage); + strcat(hk_data,SensorQuantised.Current); + strcat(hk_data,SensorQuantised.Temperature); + strcat(hk_data,SensorQuantised.PanelTemperature); + strcat(hk_data,SensorQuantised.AngularSpeed); + strcat(hk_data,SensorQuantised.Bnewvalue); + char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode}; + + /*strcat(hk_data,sfaultpoll); + strcat(hk_data,sfaultir); + strcat(hk_data,spower_mode);*/ + strcat(hk_data,fdata); + printf("\n\r hk data being sent %s ",hk_data); + //for(int i=0;i<100000000000;i++) + //; + + /*for(int d=0;d<23;d++) //was written just to check hk data + { + if(hk_data[d]>10) + printf("\n\rhk data : %d\n\r",hk_data[d]); + } */ + + //data = pcslave.getc(); + + i2c_status=1; + i2c_data * i2c_data_s = i2c_data_send.alloc(); + strcpy(i2c_data_s->data,hk_data); + i2c_data_s->length = 25; + i2c_data_send.put(i2c_data_s); + data_ready=1; + // i1.start(); + //temp = i2c_status; +} + + +//------------------------------------------------------------------------------------------------------------------------------------------------ +//TELECOMMAND +//------------------------------------------------------------------------------------------------------------------------------------------------ +void FUNC_I2C_TC_EXECUTE (char command) +{ switch(command) + { case '0' : printf("command 0 executed"); + break; + case '1' : printf("command 1 executed"); + break; + case '2' : printf("command 2 executed"); + break; + case '3' : printf("command 3 executed"); + } +} + + +//------------------------------------------------------------------------------------------------------------------------------------------------ +//SCHEDULER +//------------------------------------------------------------------------------------------------------------------------------------------------ + +void T_SC(void const *args) +{ + ptr_t_abh -> signal_set(0x1); + ptr_t_wdt -> signal_set(0x5); + +} +//--------------------------------------------------------------------------------------------------------------------------------------------- + +int main() +{ + t1.start(); + printf("\n\rIITMSAT BAE Activated \n"); + //INIT_PNI(); // Initializing mnm blue + //FUNC_ACS_MAG_INIT(); // Initializing magnetometer + //FUNC_ACS_INIT_GYR(); // Initializing Gyroscope + slave.address(0x20); // setting slave address for BAE for I2C communication + //init_beacon(); + ptr_t_abh = new Thread(T_ABH); + ptr_t_i2c = new Thread(T_I2C_BAE); + //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 + + ptr_t_abh->set_priority(osPriorityAboveNormal); + ptr_t_i2c->set_priority(osPriorityHigh); + //ptr_t_hk_acq->set_priority(osPriorityAboveNormal); + //ptr_t_bea->set_priority(osPriorityAboveNormal); + //ptr_t_sc->set_priority(osPriorityAboveNormal); + ptr_t_wdt -> set_priority(osPriorityIdle); + + + // ---------------------------------------------------------------------------------------------- + printf("\n\r T_ABH priority is %d",ptr_t_abh->get_priority()); + //printf("\n\r T_I2C priority is %d",ptr_t_hk_acq->get_priority()); + //printf("\n\r T_WDT priority is %d",ptr_t_bea->get_priority()); + RtosTimer t_sc_timer(T_SC,osTimerPeriodic); + t_sc_timer.start(10000); + printf("\n\r%f\n\r",t1.read()); + + interrupt.rise(&FUNC_I2C_INT); //interrupt received from CDMS + while(1) //required to prevent main from terminating + { + Thread::wait(5000); + } + +}