sakthi priya amirtharaj / Mbed 2 deprecated pcb_test_vr1_1_2

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Dependencies:   mbed-rtos mbed

Fork of pcb_bae_testing_vr1_1_1 by Seeker of Truth ,

main.cpp@2:3d9ca9554adf, 2015-04-09 (annotated)

Committer:
raizel_varun
Date:
Thu Apr 09 15:12:12 2015 +0000
Revision:
2:3d9ca9554adf
Parent:
1:bbddd1763652
Child:
3:0931a8800543
testing , i2c

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 0:e91ee0e99213 15
sakthipriya 0:e91ee0e99213 16 Timer t; //To know the time of execution each thread
sakthipriya 0:e91ee0e99213 17 Timer t1; //To know the time of entering of each thread
sakthipriya 0:e91ee0e99213 18 Timer t2; //To check the time sync in i2c communication
sakthipriya 0:e91ee0e99213 19 Timer t3; //To know the time taken by i2c read/write function
sakthipriya 0:e91ee0e99213 20
sakthipriya 0:e91ee0e99213 21 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 0:e91ee0e99213 22 Thread *ptr_t_hk_acq;
sakthipriya 0:e91ee0e99213 23 Thread *ptr_t_acs;
sakthipriya 0:e91ee0e99213 24 Thread *ptr_t_bea;
sakthipriya 0:e91ee0e99213 25 Thread *ptr_t_i2c;
sakthipriya 0:e91ee0e99213 26 Thread *ptr_t_wdt;
sakthipriya 0:e91ee0e99213 27
sakthipriya 0:e91ee0e99213 28 /****************************************************************configuring I2c*********************************************************************************/
sakthipriya 1:bbddd1763652 29 I2CSlave slave(PIN72,PIN71); //configuring pins p27, p28 as I2Cslave
sakthipriya 0:e91ee0e99213 30
sakthipriya 0:e91ee0e99213 31 int i2c_status=0; //read or write mode for i2c 0: write2slave 1: write2master
sakthipriya 0:e91ee0e99213 32 typedef struct //structure of i2c data
sakthipriya 0:e91ee0e99213 33 {
sakthipriya 0:e91ee0e99213 34 char data[25];
sakthipriya 0:e91ee0e99213 35 int length;
sakthipriya 0:e91ee0e99213 36 }i2c_data;
sakthipriya 0:e91ee0e99213 37
sakthipriya 0:e91ee0e99213 38
sakthipriya 0:e91ee0e99213 39 //Mail<i2c_data,16> i2c_data_receive;
sakthipriya 0:e91ee0e99213 40 Mail<i2c_data,16> i2c_data_send;
sakthipriya 0:e91ee0e99213 41
sakthipriya 0:e91ee0e99213 42 //--------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 43 //TASK 2 : HK
sakthipriya 0:e91ee0e99213 44 //--------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 45
sakthipriya 0:e91ee0e99213 46 char hk_data[25];
sakthipriya 0:e91ee0e99213 47 extern SensorDataQuantised SensorQuantised;
sakthipriya 0:e91ee0e99213 48 void T_HK_ACQ(void const *args)
sakthipriya 0:e91ee0e99213 49 {
sakthipriya 0:e91ee0e99213 50
sakthipriya 0:e91ee0e99213 51 while(1)
sakthipriya 0:e91ee0e99213 52 {
sakthipriya 0:e91ee0e99213 53 Thread::signal_wait(0x2);
sakthipriya 0:e91ee0e99213 54 SensorQuantised.power_mode='3'; //default power mode(dummy)
sakthipriya 0:e91ee0e99213 55 printf("\n\rTHIS IS HK %f\n\r",t1.read());
sakthipriya 0:e91ee0e99213 56 t.start();
sakthipriya 0:e91ee0e99213 57 FUNC_HK_FAULTS(); // !Actual fault management is not implemented
sakthipriya 0:e91ee0e99213 58 FUNC_HK_POWER(SensorQuantised.power_mode); // !The power mode algorithm is yet to be obtained
sakthipriya 0:e91ee0e99213 59 FUNC_HK_MAIN(); //Collecting HK data
sakthipriya 0:e91ee0e99213 60 FUNC_I2C_IR2CDMS(); //sending HK data to CDMS
sakthipriya 0:e91ee0e99213 61 t.stop();
sakthipriya 0:e91ee0e99213 62 printf("The time to execute hk_acq is %f seconds\n\r",t.read());
sakthipriya 0:e91ee0e99213 63 t.reset();
sakthipriya 0:e91ee0e99213 64 }
sakthipriya 0:e91ee0e99213 65 }
sakthipriya 0:e91ee0e99213 66
sakthipriya 0:e91ee0e99213 67 //---------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 68 //TASK 1 : ACS
sakthipriya 0:e91ee0e99213 69 //---------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 70
sakthipriya 0:e91ee0e99213 71 int acs_pflag = 1;
sakthipriya 0:e91ee0e99213 72 void T_ACS(void const *args)
sakthipriya 0:e91ee0e99213 73 {
sakthipriya 0:e91ee0e99213 74 float mag_field[3];
sakthipriya 0:e91ee0e99213 75 float omega[3];
sakthipriya 0:e91ee0e99213 76 float *mnm_data;
sakthipriya 0:e91ee0e99213 77 float mag_field1[3];
sakthipriya 0:e91ee0e99213 78 float omega1[3];
sakthipriya 0:e91ee0e99213 79 float tauc1[3];
sakthipriya 0:e91ee0e99213 80 float moment[3];
sakthipriya 0:e91ee0e99213 81 while(1)
sakthipriya 0:e91ee0e99213 82 {
sakthipriya 0:e91ee0e99213 83 Thread::signal_wait(0x1);
sakthipriya 0:e91ee0e99213 84 printf("\n\rEntered ACS %f\n",t1.read());
sakthipriya 0:e91ee0e99213 85 t.start();
sakthipriya 0:e91ee0e99213 86 FUNC_ACS_MAG_EXEC(mag_field);
sakthipriya 0:e91ee0e99213 87 printf("\n\r check");
sakthipriya 0:e91ee0e99213 88 for(int i=0; i<3; i++)
sakthipriya 0:e91ee0e99213 89 {
sakthipriya 0:e91ee0e99213 90 printf("%f\t",mag_field[i]);
sakthipriya 0:e91ee0e99213 91 }
sakthipriya 0:e91ee0e99213 92 FUNC_ACS_EXEC_GYR(omega);
sakthipriya 0:e91ee0e99213 93 acs_pflag =1; //to be removed later
sakthipriya 0:e91ee0e99213 94 omega[0] = 1.0;
sakthipriya 0:e91ee0e99213 95 omega[1] = 1.0;
sakthipriya 0:e91ee0e99213 96 omega[2] = 1.0;
sakthipriya 0:e91ee0e99213 97
sakthipriya 0:e91ee0e99213 98
sakthipriya 0:e91ee0e99213 99
sakthipriya 0:e91ee0e99213 100 /* mnm_data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
sakthipriya 0:e91ee0e99213 101 printf("\n\rmnm gyro values\n"); //printing the angular velocity and magnetic field values
sakthipriya 0:e91ee0e99213 102 for(int i=0; i<3; i++)
sakthipriya 0:e91ee0e99213 103 {
sakthipriya 0:e91ee0e99213 104 printf("%f\t",mnm_data[i]);
sakthipriya 0:e91ee0e99213 105 }
sakthipriya 0:e91ee0e99213 106 printf("\n\r mnm mag values\n");
sakthipriya 0:e91ee0e99213 107 for(int i=3; i<6; i++)
sakthipriya 0:e91ee0e99213 108 {
sakthipriya 0:e91ee0e99213 109 printf("%f\t",mnm_data[i]);
sakthipriya 0:e91ee0e99213 110 }
sakthipriya 0:e91ee0e99213 111 for(int i = 0 ; i<3;i++)
sakthipriya 0:e91ee0e99213 112 {
sakthipriya 0:e91ee0e99213 113 omega1[i] = mnm_data[i];
sakthipriya 0:e91ee0e99213 114 }
sakthipriya 0:e91ee0e99213 115 for( int i = 3;i<6;i++)
sakthipriya 0:e91ee0e99213 116 {
sakthipriya 0:e91ee0e99213 117 mag_field1[i-3] = mnm_data[i];
sakthipriya 0:e91ee0e99213 118 }
sakthipriya 0:e91ee0e99213 119 */
sakthipriya 0:e91ee0e99213 120 if(acs_pflag == 1)
sakthipriya 0:e91ee0e99213 121 {
sakthipriya 0:e91ee0e99213 122
sakthipriya 0:e91ee0e99213 123 FUNC_ACS_CNTRLALGO(mag_field,omega,tauc1);
sakthipriya 0:e91ee0e99213 124 printf("\n\r control algo values ");
sakthipriya 0:e91ee0e99213 125 for(int i=0; i<3; i++)
sakthipriya 0:e91ee0e99213 126 {
sakthipriya 0:e91ee0e99213 127 printf("%f\t",tauc1[i]);
sakthipriya 0:e91ee0e99213 128 }
sakthipriya 0:e91ee0e99213 129 moment_calc (tauc1, mag_field,moment);
sakthipriya 0:e91ee0e99213 130 printf("\n\r moment values ");
sakthipriya 0:e91ee0e99213 131 for(int i=0; i<3; i++)
sakthipriya 0:e91ee0e99213 132 {
sakthipriya 0:e91ee0e99213 133 printf("%f\t",moment[i]);
sakthipriya 0:e91ee0e99213 134 }
sakthipriya 0:e91ee0e99213 135 FUNC_ACS_GENPWM(moment);
sakthipriya 0:e91ee0e99213 136 }
sakthipriya 0:e91ee0e99213 137 t.reset();
sakthipriya 0:e91ee0e99213 138 }
sakthipriya 0:e91ee0e99213 139 }
sakthipriya 0:e91ee0e99213 140
sakthipriya 0:e91ee0e99213 141 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 142
sakthipriya 0:e91ee0e99213 143 int beac_flag=0; //To receive telecommand from ground.
sakthipriya 0:e91ee0e99213 144
sakthipriya 0:e91ee0e99213 145
sakthipriya 0:e91ee0e99213 146 /*void T_BEA_TELECOMMAND(void const *args)
sakthipriya 0:e91ee0e99213 147 {
sakthipriya 0:e91ee0e99213 148 char c = pc.getc();
sakthipriya 0:e91ee0e99213 149 if(c=='a')
sakthipriya 0:e91ee0e99213 150 {
sakthipriya 0:e91ee0e99213 151 printf("Telecommand detected\n\r");
sakthipriya 0:e91ee0e99213 152 beac_flag=1;
sakthipriya 0:e91ee0e99213 153 }
sakthipriya 0:e91ee0e99213 154 }
sakthipriya 0:e91ee0e99213 155 */
sakthipriya 0:e91ee0e99213 156
sakthipriya 0:e91ee0e99213 157 void T_BEA(void const *args)
sakthipriya 0:e91ee0e99213 158 {
sakthipriya 0:e91ee0e99213 159
sakthipriya 0:e91ee0e99213 160 while(1)
sakthipriya 0:e91ee0e99213 161 {
sakthipriya 0:e91ee0e99213 162 Thread::signal_wait(0x3);
sakthipriya 0:e91ee0e99213 163 printf("\n\rTHIS IS BEACON %f\n\r",t1.read());
sakthipriya 0:e91ee0e99213 164 t.start();
sakthipriya 0:e91ee0e99213 165 FUNC_BEA();
sakthipriya 0:e91ee0e99213 166 if(beac_flag==1)
sakthipriya 0:e91ee0e99213 167 {
sakthipriya 0:e91ee0e99213 168 Thread::wait(600000);
sakthipriya 0:e91ee0e99213 169 beac_flag = 0;
sakthipriya 0:e91ee0e99213 170 }
sakthipriya 0:e91ee0e99213 171 printf("The time to execute beacon thread is %f seconds\n\r",t.read());
sakthipriya 0:e91ee0e99213 172 t.reset();
sakthipriya 0:e91ee0e99213 173 }
sakthipriya 0:e91ee0e99213 174 }
sakthipriya 0:e91ee0e99213 175
sakthipriya 0:e91ee0e99213 176
sakthipriya 0:e91ee0e99213 177
sakthipriya 0:e91ee0e99213 178 extern SensorDataQuantised SensorQuantised;
sakthipriya 0:e91ee0e99213 179
sakthipriya 0:e91ee0e99213 180 /*-------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 181 -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/
sakthipriya 0:e91ee0e99213 182 DigitalOut trigger(PIN63); // has to be changed
sakthipriya 0:e91ee0e99213 183 void T_WDT(void const * args)
sakthipriya 0:e91ee0e99213 184 {
sakthipriya 0:e91ee0e99213 185 trigger = 1;
sakthipriya 0:e91ee0e99213 186 while(true)
sakthipriya 0:e91ee0e99213 187 {
sakthipriya 0:e91ee0e99213 188 Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized
sakthipriya 0:e91ee0e99213 189 printf("\n\rEntered WD\n\r");
sakthipriya 0:e91ee0e99213 190 trigger = !trigger;
sakthipriya 0:e91ee0e99213 191 }
sakthipriya 0:e91ee0e99213 192 }
sakthipriya 0:e91ee0e99213 193
sakthipriya 0:e91ee0e99213 194 //---------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 195 //TASK 5 : i2c data
sakthipriya 0:e91ee0e99213 196 //---------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 197
sakthipriya 0:e91ee0e99213 198 void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
sakthipriya 0:e91ee0e99213 199 {
sakthipriya 0:e91ee0e99213 200 int slave_status = 1;
sakthipriya 0:e91ee0e99213 201 if(interrupt ==1)
sakthipriya 0:e91ee0e99213 202 {
sakthipriya 0:e91ee0e99213 203 if(slave.receive() == 0)
sakthipriya 0:e91ee0e99213 204 t2.stop();
sakthipriya 0:e91ee0e99213 205 if( slave.receive()==1)
sakthipriya 0:e91ee0e99213 206 {
sakthipriya 0:e91ee0e99213 207 t2.stop();
sakthipriya 0:e91ee0e99213 208 t3.start();
sakthipriya 0:e91ee0e99213 209 slave_status=slave.write(data,length);
sakthipriya 0:e91ee0e99213 210 t3.stop();
sakthipriya 0:e91ee0e99213 211 }
sakthipriya 0:e91ee0e99213 212 else if( slave.receive()==3 || slave.receive()==2)
sakthipriya 0:e91ee0e99213 213 {
sakthipriya 0:e91ee0e99213 214 t2.stop();
sakthipriya 0:e91ee0e99213 215 t3.start();
sakthipriya 0:e91ee0e99213 216 slave_status=slave.read(data,length);
sakthipriya 0:e91ee0e99213 217 t3.stop();
sakthipriya 0:e91ee0e99213 218 }
sakthipriya 0:e91ee0e99213 219 }
sakthipriya 0:e91ee0e99213 220 printf("\n\r%d\r",t2.read_us());
sakthipriya 0:e91ee0e99213 221 t2.reset();
sakthipriya 0:e91ee0e99213 222 printf("\n\r%d\r",t3.read_us());
sakthipriya 0:e91ee0e99213 223 t3.reset();
sakthipriya 0:e91ee0e99213 224 }
sakthipriya 0:e91ee0e99213 225
sakthipriya 0:e91ee0e99213 226 char data_send[25],data_receive;
sakthipriya 0:e91ee0e99213 227 void T_I2C_BAE(void const * args)
sakthipriya 0:e91ee0e99213 228 {
sakthipriya 0:e91ee0e99213 229 while(1)
sakthipriya 0:e91ee0e99213 230 {
sakthipriya 0:e91ee0e99213 231 Thread::signal_wait(0x4);
sakthipriya 0:e91ee0e99213 232 if(i2c_status == 0 )
sakthipriya 0:e91ee0e99213 233 {
sakthipriya 0:e91ee0e99213 234 wait_ms(23);
sakthipriya 0:e91ee0e99213 235 FUNC_I2C_WRITE2CDMS(&data_receive,1);
sakthipriya 0:e91ee0e99213 236 /*i2c_data * i2c_data_r = i2c_data_receive.alloc();
sakthipriya 0:e91ee0e99213 237 i2c_data_r->data = data_receive;
sakthipriya 0:e91ee0e99213 238 i2c_data_r->length = 1;
sakthipriya 0:e91ee0e99213 239 i2c_data_receive.put(i2c_data_r);*/
sakthipriya 0:e91ee0e99213 240 printf("\n\r Data received from CDMS is %c \n\r",data_receive);
sakthipriya 0:e91ee0e99213 241 FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread
sakthipriya 0:e91ee0e99213 242
sakthipriya 0:e91ee0e99213 243 }
sakthipriya 0:e91ee0e99213 244 else if(i2c_status ==1)
sakthipriya 0:e91ee0e99213 245 {
sakthipriya 0:e91ee0e99213 246 osEvent evt = i2c_data_send.get();
sakthipriya 0:e91ee0e99213 247 if (evt.status == osEventMail)
sakthipriya 0:e91ee0e99213 248 {
sakthipriya 0:e91ee0e99213 249 i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
sakthipriya 0:e91ee0e99213 250 strcpy(data_send,i2c_data_s -> data);
sakthipriya 0:e91ee0e99213 251 wait_ms(29);
sakthipriya 0:e91ee0e99213 252 FUNC_I2C_WRITE2CDMS(data_send,25);
sakthipriya 0:e91ee0e99213 253 printf("\n\rData sent to CDMS is %s\n\r",data_send);
sakthipriya 0:e91ee0e99213 254
sakthipriya 0:e91ee0e99213 255 i2c_data_send.free(i2c_data_s);
sakthipriya 0:e91ee0e99213 256 i2c_status = 0;
sakthipriya 0:e91ee0e99213 257 }
sakthipriya 0:e91ee0e99213 258 }
sakthipriya 0:e91ee0e99213 259
sakthipriya 0:e91ee0e99213 260 }
sakthipriya 0:e91ee0e99213 261 }
sakthipriya 0:e91ee0e99213 262
sakthipriya 0:e91ee0e99213 263
sakthipriya 0:e91ee0e99213 264
sakthipriya 0:e91ee0e99213 265 void FUNC_I2C_INT()
sakthipriya 0:e91ee0e99213 266 {
sakthipriya 0:e91ee0e99213 267
sakthipriya 0:e91ee0e99213 268 t2.start();
sakthipriya 0:e91ee0e99213 269 // t3.start();
sakthipriya 0:e91ee0e99213 270 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:e91ee0e99213 271
sakthipriya 0:e91ee0e99213 272
sakthipriya 0:e91ee0e99213 273 }
sakthipriya 0:e91ee0e99213 274
sakthipriya 0:e91ee0e99213 275 void FUNC_I2C_IR2CDMS()
sakthipriya 0:e91ee0e99213 276 {
sakthipriya 0:e91ee0e99213 277 data_ready=0;
sakthipriya 0:e91ee0e99213 278 //char data[25];
sakthipriya 0:e91ee0e99213 279 strcpy(hk_data,"hk_Data");
sakthipriya 0:e91ee0e99213 280 strcat(hk_data,SensorQuantised.Voltage);
sakthipriya 0:e91ee0e99213 281 strcat(hk_data,SensorQuantised.Current);
sakthipriya 0:e91ee0e99213 282 strcat(hk_data,SensorQuantised.Temperature);
sakthipriya 0:e91ee0e99213 283 strcat(hk_data,SensorQuantised.PanelTemperature);
sakthipriya 0:e91ee0e99213 284 strcat(hk_data,SensorQuantised.AngularSpeed);
sakthipriya 0:e91ee0e99213 285 strcat(hk_data,SensorQuantised.Bnewvalue);
sakthipriya 0:e91ee0e99213 286 char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode};
sakthipriya 0:e91ee0e99213 287
sakthipriya 0:e91ee0e99213 288 /*strcat(hk_data,sfaultpoll);
sakthipriya 0:e91ee0e99213 289 strcat(hk_data,sfaultir);
sakthipriya 0:e91ee0e99213 290 strcat(hk_data,spower_mode);*/
sakthipriya 0:e91ee0e99213 291 strcat(hk_data,fdata);
sakthipriya 0:e91ee0e99213 292 printf("\n\r hk data being sent %s ",hk_data);
sakthipriya 0:e91ee0e99213 293 //for(int i=0;i<100000000000;i++)
sakthipriya 0:e91ee0e99213 294 //;
sakthipriya 0:e91ee0e99213 295
sakthipriya 0:e91ee0e99213 296 /*for(int d=0;d<23;d++) //was written just to check hk data
sakthipriya 0:e91ee0e99213 297 {
sakthipriya 0:e91ee0e99213 298 if(hk_data[d]>10)
sakthipriya 0:e91ee0e99213 299 printf("\n\rhk data : %d\n\r",hk_data[d]);
sakthipriya 0:e91ee0e99213 300 } */
sakthipriya 0:e91ee0e99213 301
sakthipriya 0:e91ee0e99213 302 //data = pcslave.getc();
sakthipriya 0:e91ee0e99213 303
sakthipriya 0:e91ee0e99213 304 i2c_status=1;
sakthipriya 0:e91ee0e99213 305 i2c_data * i2c_data_s = i2c_data_send.alloc();
sakthipriya 0:e91ee0e99213 306 strcpy(i2c_data_s->data,hk_data);
sakthipriya 0:e91ee0e99213 307 i2c_data_s->length = 25;
sakthipriya 0:e91ee0e99213 308 i2c_data_send.put(i2c_data_s);
sakthipriya 0:e91ee0e99213 309 data_ready=1;
sakthipriya 0:e91ee0e99213 310 //temp = i2c_status;
sakthipriya 0:e91ee0e99213 311 }
sakthipriya 0:e91ee0e99213 312
sakthipriya 0:e91ee0e99213 313
sakthipriya 0:e91ee0e99213 314 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 315 //TELECOMMAND
sakthipriya 0:e91ee0e99213 316 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 317 void FUNC_I2C_TC_EXECUTE (char command)
sakthipriya 0:e91ee0e99213 318 { switch(command)
sakthipriya 0:e91ee0e99213 319 { case '0' : printf("command 0 executed");
sakthipriya 0:e91ee0e99213 320 break;
sakthipriya 0:e91ee0e99213 321 case '1' : printf("command 1 executed");
sakthipriya 0:e91ee0e99213 322 break;
sakthipriya 0:e91ee0e99213 323 case '2' : printf("command 2 executed");
sakthipriya 0:e91ee0e99213 324 break;
sakthipriya 0:e91ee0e99213 325 case '3' : printf("command 3 executed");
sakthipriya 0:e91ee0e99213 326 }
sakthipriya 0:e91ee0e99213 327 }
sakthipriya 0:e91ee0e99213 328
sakthipriya 0:e91ee0e99213 329
sakthipriya 0:e91ee0e99213 330 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 331 //SCHEDULER
sakthipriya 0:e91ee0e99213 332 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 333 int beacon_sc = 3;
sakthipriya 0:e91ee0e99213 334 uint16_t schedcount=1;
sakthipriya 0:e91ee0e99213 335 void T_SC(void const *args)
sakthipriya 0:e91ee0e99213 336 {
sakthipriya 0:e91ee0e99213 337 //DRDY=0;
sakthipriya 0:e91ee0e99213 338 printf("The value of i in scheduler is %d\n\r",schedcount);
sakthipriya 0:e91ee0e99213 339 if(schedcount == 65532) //to reset the counter
sakthipriya 0:e91ee0e99213 340 {
sakthipriya 0:e91ee0e99213 341 schedcount = 0;
sakthipriya 0:e91ee0e99213 342 }
sakthipriya 0:e91ee0e99213 343
sakthipriya 0:e91ee0e99213 344 if(schedcount%1==0)
sakthipriya 0:e91ee0e99213 345 {
sakthipriya 0:e91ee0e99213 346 ptr_t_acs -> signal_set(0x1);
sakthipriya 0:e91ee0e99213 347 //ptr_t_wdt -> signal_set(0x5);
sakthipriya 0:e91ee0e99213 348 }
sakthipriya 0:e91ee0e99213 349 if(schedcount%2==0)
sakthipriya 0:e91ee0e99213 350 {
sakthipriya 0:e91ee0e99213 351 // ptr_t_fault -> signal_set(0x2);
raizel_varun 2:3d9ca9554adf 352 ptr_t_hk_acq -> signal_set(0x2);
sakthipriya 0:e91ee0e99213 353
sakthipriya 0:e91ee0e99213 354 }
sakthipriya 0:e91ee0e99213 355 if(schedcount%beacon_sc==0)
sakthipriya 0:e91ee0e99213 356 {
sakthipriya 0:e91ee0e99213 357 if(beac_flag==0)
sakthipriya 0:e91ee0e99213 358 {
sakthipriya 0:e91ee0e99213 359
sakthipriya 0:e91ee0e99213 360 //ptr_t_bea -> signal_set(0x3);
sakthipriya 0:e91ee0e99213 361 }
sakthipriya 0:e91ee0e99213 362 }
sakthipriya 0:e91ee0e99213 363 schedcount++;
sakthipriya 0:e91ee0e99213 364 }
sakthipriya 0:e91ee0e99213 365
sakthipriya 0:e91ee0e99213 366 //---------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 367
sakthipriya 0:e91ee0e99213 368 int main()
sakthipriya 0:e91ee0e99213 369 {
sakthipriya 0:e91ee0e99213 370 t1.start();
sakthipriya 0:e91ee0e99213 371 printf("\n\rIITMSAT BAE Activated \n");
sakthipriya 0:e91ee0e99213 372 INIT_PNI(); // Initializing mnm blue
sakthipriya 0:e91ee0e99213 373 FUNC_ACS_MAG_INIT(); // Initializing magnetometer
sakthipriya 0:e91ee0e99213 374 //FUNC_ACS_INIT_GYR(); // Initializing Gyroscope
sakthipriya 0:e91ee0e99213 375 slave.address(0x20); // setting slave address for BAE for I2C communication
sakthipriya 0:e91ee0e99213 376
sakthipriya 0:e91ee0e99213 377 ptr_t_hk_acq = new Thread(T_HK_ACQ);
sakthipriya 0:e91ee0e99213 378 ptr_t_acs = new Thread(T_ACS);
sakthipriya 0:e91ee0e99213 379 ptr_t_bea = new Thread(T_BEA);
sakthipriya 0:e91ee0e99213 380 ptr_t_i2c = new Thread(T_I2C_BAE);
sakthipriya 0:e91ee0e99213 381 //ptr_t_sc = new Thread(T_SC);
sakthipriya 0:e91ee0e99213 382 ptr_t_wdt = new Thread(T_WDT);
sakthipriya 0:e91ee0e99213 383
sakthipriya 0:e91ee0e99213 384 interrupt_fault(); // Dummy function called when a fault interrupt is detected
sakthipriya 0:e91ee0e99213 385
sakthipriya 0:e91ee0e99213 386 ptr_t_acs->set_priority(osPriorityAboveNormal);
sakthipriya 0:e91ee0e99213 387 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 0:e91ee0e99213 388 ptr_t_hk_acq->set_priority(osPriorityAboveNormal);
sakthipriya 0:e91ee0e99213 389 ptr_t_bea->set_priority(osPriorityAboveNormal);
sakthipriya 0:e91ee0e99213 390 //ptr_t_sc->set_priority(osPriorityAboveNormal);
sakthipriya 0:e91ee0e99213 391 ptr_t_wdt -> set_priority(osPriorityIdle);
sakthipriya 0:e91ee0e99213 392
sakthipriya 0:e91ee0e99213 393
sakthipriya 0:e91ee0e99213 394 // ----------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 395 printf("\n\r T_ACS priority is %d",ptr_t_acs->get_priority());
sakthipriya 0:e91ee0e99213 396 printf("\n\r T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
sakthipriya 0:e91ee0e99213 397 printf("\n\r T_BEA priority is %d",ptr_t_bea->get_priority());
sakthipriya 0:e91ee0e99213 398 RtosTimer t_sc_timer(T_SC,osTimerPeriodic);
sakthipriya 0:e91ee0e99213 399 t_sc_timer.start(10000);
sakthipriya 0:e91ee0e99213 400 printf("\n\r%f\n\r",t1.read());
sakthipriya 0:e91ee0e99213 401
raizel_varun 2:3d9ca9554adf 402 interrupt.rise(&FUNC_I2C_INT); //interrupt received from CDMS
sakthipriya 0:e91ee0e99213 403 while(1) //required to prevent main from terminating
sakthipriya 0:e91ee0e99213 404 {
sakthipriya 0:e91ee0e99213 405 Thread::wait(5000);
sakthipriya 0:e91ee0e99213 406 }
sakthipriya 0:e91ee0e99213 407
sakthipriya 0:e91ee0e99213 408 }