sakthi priya amirtharaj / Mbed 2 deprecated pcb_test_vr1_1_2

end of integration v.1.0

Dependencies:   mbed-rtos mbed

Fork of pcb_bae_testing_vr1_1_1 by Seeker of Truth ,

main.cpp@3:0931a8800543, 2015-05-13 (annotated)

Committer:
sakthipriya
Date:
Wed May 13 06:19:25 2015 +0000
Revision:
3:0931a8800543
Parent:
2:3d9ca9554adf 
end of integration v.1.0

Who changed what in which revision?

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