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beacon on/off implemented and working
Fork of i2c_configuring by
Diff: main.cpp
- Revision:
- 4:65a2d0b97d01
- Parent:
- 3:0931a8800543
- Child:
- 5:bf1f3504cd9d
diff -r 0931a8800543 -r 65a2d0b97d01 main.cpp --- a/main.cpp Wed May 13 06:19:25 2015 +0000 +++ b/main.cpp Thu May 14 10:22:50 2015 +0000 @@ -22,7 +22,7 @@ Timer i1; Timer i2; /*****************************************************************Threads USed***********************************************************************************/ -Thread *ptr_t_hk_acq; +Thread *ptr_t_hk_acq; //pointer:::::::::to read state of one thread from another Thread *ptr_t_acs; Thread *ptr_t_bea; Thread *ptr_t_i2c; @@ -47,19 +47,19 @@ //-------------------------------------------------------------------------------------------------------------------------------------------------- char hk_data[25]; -extern SensorDataQuantised SensorQuantised; +extern SensorDataQuantised SensorQuantised; /// SensorDataQuantised: struct instance :SensorQuantised void T_HK_ACQ(void const *args) { while(1) { - Thread::signal_wait(0x2); + Thread::signal_wait(0x2); // 0x2 random should be same in master n slave 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_HK_FAULTS(); // !Actual fault management is not implemented : polling + FUNC_HK_POWER(SensorQuantised.power_mode); // !The power mode algorithm is yet to be obtained // status of power modde will decide actions + FUNC_HK_MAIN(); //Collecting HK data for ADC n FUNC_I2C_IR2CDMS(); //sending HK data to CDMS t.stop(); printf("The time to execute hk_acq is %f seconds\n\r",t.read()); @@ -71,12 +71,12 @@ //TASK 1 : ACS //--------------------------------------------------------------------------------------------------------------------------------------- -int acs_pflag = 1; +int acs_pflag = 1; // power mode decision flag for ACS void T_ACS(void const *args) { - float mag_field[3]; - float omega[3]; - float *mnm_data; + float mag_field[3]; // rm3000 + float omega[3]; //mpu3300 + float *mnm_data; // float mag_field1[3]; float omega1[3]; float tauc1[3]; @@ -86,13 +86,13 @@ Thread::signal_wait(0x1); printf("\n\rEntered ACS %f\n",t1.read()); t.start(); - FUNC_ACS_MAG_EXEC(mag_field); + FUNC_ACS_MAG_EXEC(mag_field); ///rm3000 //printf("\n\r check"); for(int i=0; i<3; i++) { printf("%f\t",mag_field[i]); } - FUNC_ACS_EXEC_GYR(omega); + FUNC_ACS_EXEC_GYR(omega); // mpu3300 acs_pflag =1; //to be removed later omega[0] = 1.0; omega[1] = 1.0; @@ -100,7 +100,7 @@ - /* mnm_data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3 + 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++) { @@ -119,8 +119,8 @@ { mag_field1[i-3] = mnm_data[i]; } - */ - if(acs_pflag == 1) + + if(acs_pflag == 1) { FUNC_ACS_CNTRLALGO(mag_field,omega,tauc1); @@ -143,7 +143,8 @@ //---------------------------------------------------BEACON-------------------------------------------------------------------------------------------- -int beac_flag=0; //To receive telecommand from ground. +int beac_flag=0; //To receive telecommand from ground. Beacon stopped when telecomand recieved durring + /*void T_BEA_TELECOMMAND(void const *args) @@ -166,7 +167,7 @@ printf("\n\rTHIS IS BEACON %f\n\r",t1.read()); t.start(); FUNC_BEA(); - if(beac_flag==1) + if(beac_flag==1) // use scheduler instead { Thread::wait(600000); beac_flag = 0; @@ -178,19 +179,19 @@ -extern SensorDataQuantised SensorQuantised; +extern SensorDataQuantised SensorQuantised; // ???????? /*------------------------------------------------------------------------------------------------------------------------------------------- -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/ DigitalOut trigger(PIN63); // has to be changed void T_WDT(void const * args) { - trigger = 1; + trigger = 1; // gpio to WD input 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; + trigger = !trigger; /// falling edge triggered } } @@ -198,7 +199,7 @@ //TASK 5 : i2c data //--------------------------------------------------------------------------------------------------------------------------------------------------- -void FUNC_I2C_WRITE2CDMS(char *data, int length=1) +void FUNC_I2C_WRITE2CDMS(char *data, int length=1) /// BAE to CDMS read/write { int slave_status = 1; int inter_test = interrupt; @@ -209,16 +210,16 @@ //{ //printf("\n\r slave status %d",slave.receive()); //t2.stop(); - if(slave.receive() == 0) + if(slave.receive() == 0) // 0 when not ack refer doc. t2.stop(); - if( slave.receive()==1) + if( slave.receive()==1) // slave to master { t2.stop(); t3.start(); - slave_status=slave.write(data,length); + slave_status=slave.write(data,length); // ack to t3.stop(); } - else if( slave.receive()==3 || slave.receive()==2) + else if( slave.receive()==3 || slave.receive()==2) // master to slave { t2.stop(); t3.start(); @@ -244,7 +245,7 @@ Thread::signal_wait(0x4); int something = interrupt; // printf("\n\r interrupt %d",interrupt); - if(i2c_status == 0 ) + if(i2c_status == 0 ) // read from CDMS (master) { // wait_ms(23); @@ -254,22 +255,22 @@ 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 + FUNC_I2C_TC_EXECUTE(data_receive); // telecommand // This has to be done from a differen thread } else if(i2c_status ==1) { - osEvent evt = i2c_data_send.get(); - if (evt.status == osEventMail) + 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); + i2c_data *i2c_data_s = (i2c_data*)evt.value.p; //syntax recieving address of data from queue and storing it in struct + strcpy(data_send,i2c_data_s -> data); // -> data from pointer // wait_ms(13); - FUNC_I2C_WRITE2CDMS(data_send,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_data_send.free(i2c_data_s); // freeing the memory location from queue i2c_status = 0; } } @@ -279,19 +280,19 @@ -void FUNC_I2C_INT() +void FUNC_I2C_INT() // ISR from CDMS to BAE { //i1.stop(); // t3.start(); - ptr_t_i2c->signal_set(0x4); + ptr_t_i2c->signal_set(0x4); // printf dosen't work....why?????????????????? //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() -{ +{ // structure cannot sent via i2c so struct quantized to string n send to cdms n store in SD data_ready=0; //char data[25]; strcpy(hk_data,"hk_Data"); @@ -320,7 +321,7 @@ //data = pcslave.getc(); i2c_status=1; - i2c_data * i2c_data_s = i2c_data_send.alloc(); + i2c_data * i2c_data_s = i2c_data_send.alloc(); // writing to queue _____ dynamic memory allocation strcpy(i2c_data_s->data,hk_data); i2c_data_s->length = 25; i2c_data_send.put(i2c_data_s); @@ -347,7 +348,7 @@ //------------------------------------------------------------------------------------------------------------------------------------------------ -//SCHEDULER +//SCHEDULER RTOS timer can be called periodically //------------------------------------------------------------------------------------------------------------------------------------------------ int beacon_sc = 3; uint16_t schedcount=1; @@ -355,7 +356,7 @@ { //DRDY=0; printf("The value of i in scheduler is %d\n\r",schedcount); - if(schedcount == 65532) //to reset the counter + if(schedcount == 65532) //to reset the counter // when it reaches here back to intial state { schedcount = 0; } @@ -400,7 +401,7 @@ //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 + interrupt_fault(); // Dummy function called when a fault interrupt is detected // intrrupt based fault ptr_t_acs->set_priority(osPriorityAboveNormal); ptr_t_i2c->set_priority(osPriorityHigh); @@ -414,14 +415,14 @@ printf("\n\r T_ACS priority is %d",ptr_t_acs->get_priority()); printf("\n\r T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority()); printf("\n\r T_BEA priority is %d",ptr_t_bea->get_priority()); - RtosTimer t_sc_timer(T_SC,osTimerPeriodic); + RtosTimer t_sc_timer(T_SC,osTimerPeriodic); //values -3 tpo +3 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); + Thread::wait(5000); // main by default a thread of priority 0 } }