sakthi priya amirtharaj
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);
+ }
+
+}