sakthi priya amirtharaj / Mbed 2 deprecated pcb_test_vr1_1_4

beacon on/off implemented and working

Dependencies:   mbed-rtos mbed

Fork of i2c_configuring by sakthi priya amirtharaj

main.cpp@4:65a2d0b97d01, 2015-05-14 (annotated)

Committer:
gkumar
Date:
Thu May 14 10:22:50 2015 +0000
Revision:
4:65a2d0b97d01
Parent:
3:0931a8800543
Child:
5:bf1f3504cd9d
Commentted BAE code

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***********************************************************************************/
gkumar 4:65a2d0b97d01 25 Thread *ptr_t_hk_acq; //pointer:::::::::to read state of one thread from another
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];
gkumar 4:65a2d0b97d01 50 extern SensorDataQuantised SensorQuantised; /// SensorDataQuantised: struct instance :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 {
gkumar 4:65a2d0b97d01 56 Thread::signal_wait(0x2); // 0x2 random should be same in master n slave
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();
gkumar 4:65a2d0b97d01 60 FUNC_HK_FAULTS(); // !Actual fault management is not implemented : polling
gkumar 4:65a2d0b97d01 61 FUNC_HK_POWER(SensorQuantised.power_mode); // !The power mode algorithm is yet to be obtained // status of power modde will decide actions
gkumar 4:65a2d0b97d01 62 FUNC_HK_MAIN(); //Collecting HK data for ADC n
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
gkumar 4:65a2d0b97d01 74 int acs_pflag = 1; // power mode decision flag for ACS
sakthipriya 0:e91ee0e99213 75 void T_ACS(void const *args)
sakthipriya 0:e91ee0e99213 76 {
gkumar 4:65a2d0b97d01 77 float mag_field[3]; // rm3000
gkumar 4:65a2d0b97d01 78 float omega[3]; //mpu3300
gkumar 4:65a2d0b97d01 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();
gkumar 4:65a2d0b97d01 89 FUNC_ACS_MAG_EXEC(mag_field); ///rm3000
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 }
gkumar 4:65a2d0b97d01 95 FUNC_ACS_EXEC_GYR(omega); // mpu3300
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
gkumar 4:65a2d0b97d01 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 }
gkumar 4:65a2d0b97d01 122
gkumar 4:65a2d0b97d01 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
gkumar 4:65a2d0b97d01 146 int beac_flag=0; //To receive telecommand from ground. Beacon stopped when telecomand recieved durring
gkumar 4:65a2d0b97d01 147
sakthipriya 0:e91ee0e99213 148
sakthipriya 0:e91ee0e99213 149
sakthipriya 0:e91ee0e99213 150 /*void T_BEA_TELECOMMAND(void const *args)
sakthipriya 0:e91ee0e99213 151 {
sakthipriya 0:e91ee0e99213 152 char c = pc.getc();
sakthipriya 0:e91ee0e99213 153 if(c=='a')
sakthipriya 0:e91ee0e99213 154 {
sakthipriya 0:e91ee0e99213 155 printf("Telecommand detected\n\r");
sakthipriya 0:e91ee0e99213 156 beac_flag=1;
sakthipriya 0:e91ee0e99213 157 }
sakthipriya 0:e91ee0e99213 158 }
sakthipriya 0:e91ee0e99213 159 */
sakthipriya 0:e91ee0e99213 160
sakthipriya 0:e91ee0e99213 161 void T_BEA(void const *args)
sakthipriya 0:e91ee0e99213 162 {
sakthipriya 0:e91ee0e99213 163
sakthipriya 0:e91ee0e99213 164 while(1)
sakthipriya 0:e91ee0e99213 165 {
sakthipriya 0:e91ee0e99213 166 Thread::signal_wait(0x3);
sakthipriya 0:e91ee0e99213 167 printf("\n\rTHIS IS BEACON %f\n\r",t1.read());
sakthipriya 0:e91ee0e99213 168 t.start();
sakthipriya 0:e91ee0e99213 169 FUNC_BEA();
gkumar 4:65a2d0b97d01 170 if(beac_flag==1) // use scheduler instead
sakthipriya 0:e91ee0e99213 171 {
sakthipriya 0:e91ee0e99213 172 Thread::wait(600000);
sakthipriya 0:e91ee0e99213 173 beac_flag = 0;
sakthipriya 0:e91ee0e99213 174 }
sakthipriya 0:e91ee0e99213 175 printf("The time to execute beacon thread is %f seconds\n\r",t.read());
sakthipriya 0:e91ee0e99213 176 t.reset();
sakthipriya 0:e91ee0e99213 177 }
sakthipriya 0:e91ee0e99213 178 }
sakthipriya 0:e91ee0e99213 179
sakthipriya 0:e91ee0e99213 180
sakthipriya 0:e91ee0e99213 181
gkumar 4:65a2d0b97d01 182 extern SensorDataQuantised SensorQuantised; // ????????
sakthipriya 0:e91ee0e99213 183
sakthipriya 0:e91ee0e99213 184 /*-------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 185 -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/
sakthipriya 0:e91ee0e99213 186 DigitalOut trigger(PIN63); // has to be changed
sakthipriya 0:e91ee0e99213 187 void T_WDT(void const * args)
sakthipriya 0:e91ee0e99213 188 {
gkumar 4:65a2d0b97d01 189 trigger = 1; // gpio to WD input
sakthipriya 0:e91ee0e99213 190 while(true)
sakthipriya 0:e91ee0e99213 191 {
sakthipriya 0:e91ee0e99213 192 Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized
sakthipriya 0:e91ee0e99213 193 printf("\n\rEntered WD\n\r");
gkumar 4:65a2d0b97d01 194 trigger = !trigger; /// falling edge triggered
sakthipriya 0:e91ee0e99213 195 }
sakthipriya 0:e91ee0e99213 196 }
sakthipriya 0:e91ee0e99213 197
sakthipriya 0:e91ee0e99213 198 //---------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 199 //TASK 5 : i2c data
sakthipriya 0:e91ee0e99213 200 //---------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 201
gkumar 4:65a2d0b97d01 202 void FUNC_I2C_WRITE2CDMS(char *data, int length=1) /// BAE to CDMS read/write
sakthipriya 0:e91ee0e99213 203 {
sakthipriya 0:e91ee0e99213 204 int slave_status = 1;
sakthipriya 3:0931a8800543 205 int inter_test = interrupt;
sakthipriya 3:0931a8800543 206 int slr = slave.receive();
sakthipriya 3:0931a8800543 207 wait_ms(20);
sakthipriya 3:0931a8800543 208 //printf("\n\r time is %d\n",t2.read_us());
sakthipriya 3:0931a8800543 209 //if(interrupt ==1)
sakthipriya 3:0931a8800543 210 //{
sakthipriya 3:0931a8800543 211 //printf("\n\r slave status %d",slave.receive());
sakthipriya 3:0931a8800543 212 //t2.stop();
gkumar 4:65a2d0b97d01 213 if(slave.receive() == 0) // 0 when not ack refer doc.
sakthipriya 0:e91ee0e99213 214 t2.stop();
gkumar 4:65a2d0b97d01 215 if( slave.receive()==1) // slave to master
sakthipriya 0:e91ee0e99213 216 {
sakthipriya 0:e91ee0e99213 217 t2.stop();
sakthipriya 0:e91ee0e99213 218 t3.start();
gkumar 4:65a2d0b97d01 219 slave_status=slave.write(data,length); // ack to
sakthipriya 0:e91ee0e99213 220 t3.stop();
sakthipriya 0:e91ee0e99213 221 }
gkumar 4:65a2d0b97d01 222 else if( slave.receive()==3 || slave.receive()==2) // master to slave
sakthipriya 0:e91ee0e99213 223 {
sakthipriya 0:e91ee0e99213 224 t2.stop();
sakthipriya 0:e91ee0e99213 225 t3.start();
sakthipriya 0:e91ee0e99213 226 slave_status=slave.read(data,length);
sakthipriya 0:e91ee0e99213 227 t3.stop();
sakthipriya 0:e91ee0e99213 228 }
sakthipriya 3:0931a8800543 229 //}
sakthipriya 3:0931a8800543 230 // printf("\n\r time taken to receive intrpt 4m cdms %d",i1.read_us());
sakthipriya 3:0931a8800543 231 //i1.reset();
sakthipriya 3:0931a8800543 232 printf("\n\r slave status %d %d %d",slave.receive(),t2.read_us(),t3.read_us());
sakthipriya 3:0931a8800543 233 // printf("\n\r time taken from interrupt to reach i2c fn %d",t2.read_us());
sakthipriya 3:0931a8800543 234 t2.stop();
sakthipriya 0:e91ee0e99213 235 t2.reset();
sakthipriya 3:0931a8800543 236 //printf("\n\r time to execute i2c function %d",t3.read_us());
sakthipriya 0:e91ee0e99213 237 t3.reset();
sakthipriya 0:e91ee0e99213 238 }
sakthipriya 0:e91ee0e99213 239
sakthipriya 0:e91ee0e99213 240 char data_send[25],data_receive;
sakthipriya 0:e91ee0e99213 241 void T_I2C_BAE(void const * args)
sakthipriya 0:e91ee0e99213 242 {
sakthipriya 0:e91ee0e99213 243 while(1)
sakthipriya 0:e91ee0e99213 244 {
sakthipriya 0:e91ee0e99213 245 Thread::signal_wait(0x4);
sakthipriya 3:0931a8800543 246 int something = interrupt;
sakthipriya 3:0931a8800543 247 // printf("\n\r interrupt %d",interrupt);
gkumar 4:65a2d0b97d01 248 if(i2c_status == 0 ) // read from CDMS (master)
sakthipriya 3:0931a8800543 249
sakthipriya 0:e91ee0e99213 250 {
sakthipriya 3:0931a8800543 251 // wait_ms(23);
sakthipriya 0:e91ee0e99213 252 FUNC_I2C_WRITE2CDMS(&data_receive,1);
sakthipriya 0:e91ee0e99213 253 /*i2c_data * i2c_data_r = i2c_data_receive.alloc();
sakthipriya 0:e91ee0e99213 254 i2c_data_r->data = data_receive;
sakthipriya 0:e91ee0e99213 255 i2c_data_r->length = 1;
sakthipriya 0:e91ee0e99213 256 i2c_data_receive.put(i2c_data_r);*/
sakthipriya 0:e91ee0e99213 257 printf("\n\r Data received from CDMS is %c \n\r",data_receive);
gkumar 4:65a2d0b97d01 258 FUNC_I2C_TC_EXECUTE(data_receive); // telecommand // This has to be done from a differen thread
sakthipriya 0:e91ee0e99213 259
sakthipriya 0:e91ee0e99213 260 }
sakthipriya 0:e91ee0e99213 261 else if(i2c_status ==1)
sakthipriya 0:e91ee0e99213 262 {
gkumar 4:65a2d0b97d01 263 osEvent evt = i2c_data_send.get(); //
gkumar 4:65a2d0b97d01 264 if (evt.status == osEventMail) //
sakthipriya 0:e91ee0e99213 265 {
gkumar 4:65a2d0b97d01 266 i2c_data *i2c_data_s = (i2c_data*)evt.value.p; //syntax recieving address of data from queue and storing it in struct
gkumar 4:65a2d0b97d01 267 strcpy(data_send,i2c_data_s -> data); // -> data from pointer
sakthipriya 3:0931a8800543 268 // wait_ms(13);
sakthipriya 3:0931a8800543 269
gkumar 4:65a2d0b97d01 270 FUNC_I2C_WRITE2CDMS(data_send,25);
sakthipriya 0:e91ee0e99213 271 printf("\n\rData sent to CDMS is %s\n\r",data_send);
sakthipriya 0:e91ee0e99213 272
gkumar 4:65a2d0b97d01 273 i2c_data_send.free(i2c_data_s); // freeing the memory location from queue
sakthipriya 0:e91ee0e99213 274 i2c_status = 0;
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
gkumar 4:65a2d0b97d01 283 void FUNC_I2C_INT() // ISR from CDMS to BAE
sakthipriya 0:e91ee0e99213 284 {
sakthipriya 3:0931a8800543 285 //i1.stop();
sakthipriya 0:e91ee0e99213 286
sakthipriya 0:e91ee0e99213 287 // t3.start();
gkumar 4:65a2d0b97d01 288 ptr_t_i2c->signal_set(0x4); // printf dosen't work....why??????????????????
sakthipriya 3:0931a8800543 289 //printf("\n ceckh\n");
sakthipriya 3:0931a8800543 290 t2.start();
sakthipriya 3:0931a8800543 291 // printf("\n\r time taken from interrupt to reach i2c fn %d",t2.read_us());
sakthipriya 0:e91ee0e99213 292 }
sakthipriya 0:e91ee0e99213 293
sakthipriya 0:e91ee0e99213 294 void FUNC_I2C_IR2CDMS()
gkumar 4:65a2d0b97d01 295 { // structure cannot sent via i2c so struct quantized to string n send to cdms n store in SD
sakthipriya 0:e91ee0e99213 296 data_ready=0;
sakthipriya 0:e91ee0e99213 297 //char data[25];
sakthipriya 0:e91ee0e99213 298 strcpy(hk_data,"hk_Data");
sakthipriya 0:e91ee0e99213 299 strcat(hk_data,SensorQuantised.Voltage);
sakthipriya 0:e91ee0e99213 300 strcat(hk_data,SensorQuantised.Current);
sakthipriya 0:e91ee0e99213 301 strcat(hk_data,SensorQuantised.Temperature);
sakthipriya 0:e91ee0e99213 302 strcat(hk_data,SensorQuantised.PanelTemperature);
sakthipriya 0:e91ee0e99213 303 strcat(hk_data,SensorQuantised.AngularSpeed);
sakthipriya 0:e91ee0e99213 304 strcat(hk_data,SensorQuantised.Bnewvalue);
sakthipriya 0:e91ee0e99213 305 char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode};
sakthipriya 0:e91ee0e99213 306
sakthipriya 0:e91ee0e99213 307 /*strcat(hk_data,sfaultpoll);
sakthipriya 0:e91ee0e99213 308 strcat(hk_data,sfaultir);
sakthipriya 0:e91ee0e99213 309 strcat(hk_data,spower_mode);*/
sakthipriya 0:e91ee0e99213 310 strcat(hk_data,fdata);
sakthipriya 0:e91ee0e99213 311 printf("\n\r hk data being sent %s ",hk_data);
sakthipriya 0:e91ee0e99213 312 //for(int i=0;i<100000000000;i++)
sakthipriya 0:e91ee0e99213 313 //;
sakthipriya 0:e91ee0e99213 314
sakthipriya 0:e91ee0e99213 315 /*for(int d=0;d<23;d++) //was written just to check hk data
sakthipriya 0:e91ee0e99213 316 {
sakthipriya 0:e91ee0e99213 317 if(hk_data[d]>10)
sakthipriya 0:e91ee0e99213 318 printf("\n\rhk data : %d\n\r",hk_data[d]);
sakthipriya 0:e91ee0e99213 319 } */
sakthipriya 0:e91ee0e99213 320
sakthipriya 0:e91ee0e99213 321 //data = pcslave.getc();
sakthipriya 0:e91ee0e99213 322
sakthipriya 0:e91ee0e99213 323 i2c_status=1;
gkumar 4:65a2d0b97d01 324 i2c_data * i2c_data_s = i2c_data_send.alloc(); // writing to queue _____ dynamic memory allocation
sakthipriya 0:e91ee0e99213 325 strcpy(i2c_data_s->data,hk_data);
sakthipriya 0:e91ee0e99213 326 i2c_data_s->length = 25;
sakthipriya 0:e91ee0e99213 327 i2c_data_send.put(i2c_data_s);
sakthipriya 0:e91ee0e99213 328 data_ready=1;
sakthipriya 3:0931a8800543 329 // i1.start();
sakthipriya 0:e91ee0e99213 330 //temp = i2c_status;
sakthipriya 0:e91ee0e99213 331 }
sakthipriya 0:e91ee0e99213 332
sakthipriya 0:e91ee0e99213 333
sakthipriya 0:e91ee0e99213 334 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 335 //TELECOMMAND
sakthipriya 0:e91ee0e99213 336 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 337 void FUNC_I2C_TC_EXECUTE (char command)
sakthipriya 0:e91ee0e99213 338 { switch(command)
sakthipriya 0:e91ee0e99213 339 { case '0' : printf("command 0 executed");
sakthipriya 0:e91ee0e99213 340 break;
sakthipriya 0:e91ee0e99213 341 case '1' : printf("command 1 executed");
sakthipriya 0:e91ee0e99213 342 break;
sakthipriya 0:e91ee0e99213 343 case '2' : printf("command 2 executed");
sakthipriya 0:e91ee0e99213 344 break;
sakthipriya 0:e91ee0e99213 345 case '3' : printf("command 3 executed");
sakthipriya 0:e91ee0e99213 346 }
sakthipriya 0:e91ee0e99213 347 }
sakthipriya 0:e91ee0e99213 348
sakthipriya 0:e91ee0e99213 349
sakthipriya 0:e91ee0e99213 350 //------------------------------------------------------------------------------------------------------------------------------------------------
gkumar 4:65a2d0b97d01 351 //SCHEDULER RTOS timer can be called periodically
sakthipriya 0:e91ee0e99213 352 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 353 int beacon_sc = 3;
sakthipriya 0:e91ee0e99213 354 uint16_t schedcount=1;
sakthipriya 0:e91ee0e99213 355 void T_SC(void const *args)
sakthipriya 0:e91ee0e99213 356 {
sakthipriya 0:e91ee0e99213 357 //DRDY=0;
sakthipriya 0:e91ee0e99213 358 printf("The value of i in scheduler is %d\n\r",schedcount);
gkumar 4:65a2d0b97d01 359 if(schedcount == 65532) //to reset the counter // when it reaches here back to intial state
sakthipriya 0:e91ee0e99213 360 {
sakthipriya 0:e91ee0e99213 361 schedcount = 0;
sakthipriya 0:e91ee0e99213 362 }
sakthipriya 0:e91ee0e99213 363
sakthipriya 0:e91ee0e99213 364 if(schedcount%1==0)
sakthipriya 0:e91ee0e99213 365 {
sakthipriya 3:0931a8800543 366 //ptr_t_acs -> signal_set(0x1);
sakthipriya 0:e91ee0e99213 367 //ptr_t_wdt -> signal_set(0x5);
sakthipriya 0:e91ee0e99213 368 }
sakthipriya 0:e91ee0e99213 369 if(schedcount%2==0)
sakthipriya 0:e91ee0e99213 370 {
sakthipriya 0:e91ee0e99213 371 // ptr_t_fault -> signal_set(0x2);
raizel_varun 2:3d9ca9554adf 372 ptr_t_hk_acq -> signal_set(0x2);
sakthipriya 0:e91ee0e99213 373
sakthipriya 0:e91ee0e99213 374 }
sakthipriya 0:e91ee0e99213 375 if(schedcount%beacon_sc==0)
sakthipriya 0:e91ee0e99213 376 {
sakthipriya 0:e91ee0e99213 377 if(beac_flag==0)
sakthipriya 0:e91ee0e99213 378 {
sakthipriya 0:e91ee0e99213 379
sakthipriya 0:e91ee0e99213 380 //ptr_t_bea -> signal_set(0x3);
sakthipriya 0:e91ee0e99213 381 }
sakthipriya 0:e91ee0e99213 382 }
sakthipriya 0:e91ee0e99213 383 schedcount++;
sakthipriya 0:e91ee0e99213 384 }
sakthipriya 0:e91ee0e99213 385
sakthipriya 0:e91ee0e99213 386 //---------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 387
sakthipriya 0:e91ee0e99213 388 int main()
sakthipriya 0:e91ee0e99213 389 {
sakthipriya 0:e91ee0e99213 390 t1.start();
sakthipriya 0:e91ee0e99213 391 printf("\n\rIITMSAT BAE Activated \n");
sakthipriya 3:0931a8800543 392 //INIT_PNI(); // Initializing mnm blue
sakthipriya 3:0931a8800543 393 //FUNC_ACS_MAG_INIT(); // Initializing magnetometer
sakthipriya 0:e91ee0e99213 394 //FUNC_ACS_INIT_GYR(); // Initializing Gyroscope
sakthipriya 0:e91ee0e99213 395 slave.address(0x20); // setting slave address for BAE for I2C communication
sakthipriya 3:0931a8800543 396 //init_beacon();
sakthipriya 0:e91ee0e99213 397 ptr_t_hk_acq = new Thread(T_HK_ACQ);
sakthipriya 0:e91ee0e99213 398 ptr_t_acs = new Thread(T_ACS);
sakthipriya 0:e91ee0e99213 399 ptr_t_bea = new Thread(T_BEA);
sakthipriya 0:e91ee0e99213 400 ptr_t_i2c = new Thread(T_I2C_BAE);
sakthipriya 0:e91ee0e99213 401 //ptr_t_sc = new Thread(T_SC);
sakthipriya 0:e91ee0e99213 402 ptr_t_wdt = new Thread(T_WDT);
sakthipriya 0:e91ee0e99213 403
gkumar 4:65a2d0b97d01 404 interrupt_fault(); // Dummy function called when a fault interrupt is detected // intrrupt based fault
sakthipriya 0:e91ee0e99213 405
sakthipriya 0:e91ee0e99213 406 ptr_t_acs->set_priority(osPriorityAboveNormal);
sakthipriya 0:e91ee0e99213 407 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 0:e91ee0e99213 408 ptr_t_hk_acq->set_priority(osPriorityAboveNormal);
sakthipriya 0:e91ee0e99213 409 ptr_t_bea->set_priority(osPriorityAboveNormal);
sakthipriya 0:e91ee0e99213 410 //ptr_t_sc->set_priority(osPriorityAboveNormal);
sakthipriya 0:e91ee0e99213 411 ptr_t_wdt -> set_priority(osPriorityIdle);
sakthipriya 0:e91ee0e99213 412
sakthipriya 0:e91ee0e99213 413
sakthipriya 0:e91ee0e99213 414 // ----------------------------------------------------------------------------------------------
sakthipriya 0:e91ee0e99213 415 printf("\n\r T_ACS priority is %d",ptr_t_acs->get_priority());
sakthipriya 0:e91ee0e99213 416 printf("\n\r T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
sakthipriya 0:e91ee0e99213 417 printf("\n\r T_BEA priority is %d",ptr_t_bea->get_priority());
gkumar 4:65a2d0b97d01 418 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); //values -3 tpo +3
sakthipriya 0:e91ee0e99213 419 t_sc_timer.start(10000);
sakthipriya 0:e91ee0e99213 420 printf("\n\r%f\n\r",t1.read());
sakthipriya 0:e91ee0e99213 421
raizel_varun 2:3d9ca9554adf 422 interrupt.rise(&FUNC_I2C_INT); //interrupt received from CDMS
sakthipriya 0:e91ee0e99213 423 while(1) //required to prevent main from terminating
sakthipriya 0:e91ee0e99213 424 {
gkumar 4:65a2d0b97d01 425 Thread::wait(5000); // main by default a thread of priority 0
sakthipriya 0:e91ee0e99213 426 }
sakthipriya 0:e91ee0e99213 427
sakthipriya 0:e91ee0e99213 428 }