Seeker of Truth ,
QITH FLAGS
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
TF_conops_BAE1_3
by 
Team Fox
Diff: main.cpp
- Revision:
- 0:246d1b5f11ae
- Child:
- 1:7185136654ce
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Jun 30 05:55:48 2015 +0000
@@ -0,0 +1,489 @@
+/************************************************************Header files*****************************************************************/
+
+#include "mbed.h"
+#include "rtos.h"
+#include "pin_config.h"
+#include "EPS.h"
+#include "beacon.h"
+#include "ACS.h"
+#include "FreescaleIAP.h" //required for r/w to flash
+
+/***********************************************************For Testing - TO BE REMOVED***************************************************/
+
+Serial pc(USBTX, USBRX); //for debugging purpose. will be removed along with printf
+Timer t_exec; //To know the time of execution each thread
+Timer t_start; //To know the time of entering of each thread
+Timer t_i2c_start; //To check the time sync in i2c communication
+Timer t_i2c_exec; //To know the time taken by i2c read/write function
+
+/**********************************************************configuring peripherals********************************************************/
+I2CSlave slave(PIN1,PIN2); //configuring pins as I2Cslave (sda ,scl)
+InterruptIn irpt_4m_cdms(PIN97); //I2c interrupt from CDMS
+DigitalOut irpt_2_bae(PIN90); //Sets interrupt to CDMS
+
+
+
+/****************************************************global variables*********************************************************************/
+// flags---------------------------------------------
+uint32_t BAE_STATUS = 0x00000000;
+uint32_t BAE_ENABLE = 0xFFFFFFFF;
+//---------------------------------------------------
+char hk_data[25];
+
+/*****************************************************************Threads USed***********************************************************************************/
+Thread *ptr_t_eps;
+Thread *ptr_t_acs;
+Thread *ptr_t_bea;
+Thread *ptr_t_i2c;
+//Thread *ptr_t_wdt;
+
+/**********************************************************pin allocation****************************************************************************/
+extern PwmOut PWM1;
+extern PwmOut PWM2;
+extern PwmOut PWM3;
+
+
+/**************************************************************funtion header**********************************************************************************/
+
+void FCTN_HK_DATA_CATENATE(); //combines hk structure into a string
+
+//--------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK 2 : EPS
+//--------------------------------------------------------------------------------------------------------------------------------------------------
+
+
+extern SensorDataQuantised SensorQuantised;
+void T_EPS(void const *args)
+{
+
+ while(1)
+ {
+ Thread::signal_wait(0x2);
+ SensorQuantised.power_mode='3'; //default power mode(dummy)
+ printf("\n\rTHIS IS EPS %f\n\r",t_start.read());
+ t_exec.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
+ FCTN_BAE_HK_MAIN() ; //Collecting HK data
+ FCTN_HK_DATA_CATENATE(); //sending HK data to CDMS
+ t_exec.stop();
+ printf("The time to execute hk_acq is %f seconds\n\r",t_exec.read());
+ t_exec.reset();
+ }
+}
+
+//---------------------------------------------------------------------------------------------------------------------------------------
+//TASK 1 : ACS
+//---------------------------------------------------------------------------------------------------------------------------------------
+int power_flag = 4; //temporary dummy flag
+int acs_pflag = 1;
+void T_ACS(void const *args)
+{
+ float mag_field1[3];
+ float omega1[3];
+ //float tauc1[3];
+ float moment[3];
+ //float *mnm_data;
+ while(1)
+ {
+ Thread::signal_wait(0x1);
+ printf("\n\rEntered ACS %f\n",t_start.read());
+ t_exec.start();
+ BAE_STATUS |= 0x00000002; //set ACS_MAIN_STATUS flag to 1
+ PWM1 = 0; //clear pwm pins
+ PWM2 = 0; //clear pwm pins
+ PWM3 = 0; //clear pwm pins
+ omega1[0] = 1 ; //for testing
+ omega1[1] = 2 ;
+ omega1[2] = 3 ;
+ mag_field1[0] = 10;
+ mag_field1[1] = 20;
+ mag_field1[2] = 30;
+ if (BAE_ENABLE & 0x00000001 == 0x00000001) // check if ACS_DATA_ACQ_ENABLE = 1?
+ {
+ FCTN_ACS_DATA_ACQ(omega1,mag_field1);
+ printf("\n\rmnm gyro values\n"); //printing the angular velocity and magnetic field values
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",omega1[i]);
+ }
+ printf("\n\r mnm mag values\n");
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",mag_field1[i]);
+ }
+ }
+ if(BAE_ENABLE & 0x0000000E == 0x00000000) // check ACS_STATE = ACS_CONTROL_OFF?
+ {
+ BAE_STATUS |= 0x00000000; // set ACS_STATUS = ACS_CONTROL_OFF
+ PWM1 = 0; //clear pwm pins
+ PWM2 = 0; //clear pwm pins
+ PWM3 = 0; //clear pwm pins
+ }
+ else
+ {
+ if(power_flag > 1)
+ {
+ if(BAE_ENABLE & 0x0000000E == 0x00000004) // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
+ {
+ BAE_STATUS |= 0x00000018; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
+ FCTN_ACS_CNTRLALGO(mag_field1,omega1,moment);
+ printf("\n\r moment values returned by control algo \n");
+ moment[0] = 0;
+ moment[1] = 0;
+ printf("\n\r z axis moment %f \n",&moment[2]);
+ FCTN_ACS_GENPWM_MAIN(moment) ;
+ }
+ else
+ {
+ if(BAE_ENABLE & 0x00000040 == 0x00000040) // check ACS_STATE = ACS_DATA_ACQ_FAILURE
+ {
+ BAE_STATUS |= 0x0000000C; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
+ PWM1 = 0; //clear pwm pins
+ PWM2 = 0; //clear pwm pins
+ PWM3 = 0; //clear pwm pins
+ }
+ else
+ {
+ if(BAE_ENABLE & 0x0000000E == 0x00000008) // check ACS_STATE = ACS_NOMINAL_ONLY
+ {
+ BAE_STATUS |= 0x00000010; // set ACS_STATUS = ACS_NOMINAL_ONLY
+ FCTN_ACS_CNTRLALGO(mag_field1,omega1,moment);
+ printf("\n\r moment values returned by control algo \n");
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",moment[i]);
+ }
+ FCTN_ACS_GENPWM_MAIN(moment) ;
+ }
+ else
+ {
+ if(BAE_ENABLE & 0x0000000E == 0x0000000A) // check ACS_STATE = ACS_AUTO_CONTROL
+ {
+ BAE_STATUS |= 0x00000014; // set ACS_STATUS = ACS_AUTO_CONTROL
+ //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code
+ }
+ else
+ {
+ if(BAE_ENABLE & 0x0000000E == 0x0000000C) // check ACS_STATE = ACS_DETUMBLING_ONLY
+ {
+ BAE_STATUS |= 0x00000018; // set ACS_STATUS = ACS_DETUMBLING_ONLY
+ FCTN_ACS_CNTRLALGO(mag_field1,omega1,moment); // detumbling code has to be included
+ FCTN_ACS_GENPWM_MAIN(moment) ;
+ }
+ else
+ {
+ BAE_STATUS |= 0x0000001C; // set ACS_STATUS = INVALID STATE
+ PWM1 = 0; //clear pwm pins
+ PWM2 = 0; //clear pwm pins
+ PWM3 = 0; //clear pwm pins
+ }
+ }
+ }
+ }
+ }
+ }
+ else
+ {
+ BAE_STATUS |= 0x00000004; // set ACS_STATUS = ACS_LOW_POWER
+ PWM1 = 0; //clear pwm pins
+ PWM2 = 0; //clear pwm pins
+ PWM3 = 0; //clear pwm pins
+ }
+ }
+
+ BAE_STATUS &= 0xFFFFFFFD; //clear ACS_MAIN_STATUS flag to 1
+ printf("\n exited acs main %f ",t_exec.read());
+ t_exec.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 T_BEA(void const *args)
+{
+
+ while(1)
+ {
+ Thread::signal_wait(0x3);
+ printf("\n\rTHIS IS BEACON %f\n\r",t_start.read());
+ t_exec.start();
+ FCTN_BEA_MAIN();
+ if(beac_flag==1)
+ {
+ Thread::wait(600000);
+ beac_flag = 0;
+ }
+ printf("The time to execute beacon thread is %f seconds\n\r",t_exec.read());
+ t_exec.reset();
+ }
+}
+
+
+
+extern SensorDataQuantised SensorQuantised;
+
+
+
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK 5 : i2c data
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+
+
+//....................................................................................................................................
+
+void FCTN_I2C_READ(char *data,int length = 1);
+void FCTN_I2C_WRITE(char *data,int length = 1);
+
+Timer t; // time taken from isr to reach i2c function
+Timer t1; //time taken by read or write function in i2c function
+Timer t2; //time taken by read function when first command from master comes
+bool write_ack = 1;
+bool read_ack = 1;
+char short_tc[10];
+char long_tc[134];
+char mstr_cmd;
+bool cmd_flag = 1;
+int length;
+//char* data;
+bool cmd_err = 1;
+
+
+void T_I2C(void const * args)
+{
+ while(1)
+ {
+ Thread::signal_wait(0x1);
+ // printf("\n\r check2\n");
+ wait_us(100);
+
+ if(cmd_flag == 1)
+ {
+ t.stop();
+ if( slave.receive()==3 || slave.receive()==2) // slave read
+ {
+
+ t1.start();
+ read_ack=slave.read(&mstr_cmd,1);
+ t1.stop();
+ if(read_ack == 0)
+ printf("\n\r Data received from CDMS is %c \n",mstr_cmd);
+
+ switch(mstr_cmd)
+ {
+ case 's':
+ length = 10;
+ cmd_flag = 0;
+ break;
+
+
+ case 'l':
+ length = 134;
+ cmd_flag = 0;
+ break;
+
+ case 'h':
+ length = 25;
+ cmd_flag = 0;
+ break;
+
+ default:
+ printf("\n\r invalid command \n");
+ //cmd_err = 0;
+ cmd_flag = 1;
+ }
+
+
+ }
+ }
+ else if(cmd_flag ==0 )
+ {
+ t.stop();
+ if( slave.receive()==3 || slave.receive()==2) // slave read
+ {
+
+ char* data=(char*)malloc(length*sizeof(char));
+ FCTN_I2C_READ(data,length);
+ free(data);
+ cmd_flag = 1;
+ }
+ if( slave.receive() == 1) // slave writes to master
+ {
+ FCTN_I2C_WRITE(hk_data,length );
+ cmd_flag = 1;
+ }
+ }
+ printf("\n \r %d %d\n",t.read_us(),t1.read_us());
+ t.reset();
+ t1.reset();
+
+
+ }
+}
+
+void FCTN_I2C_READ(char *data, int length )
+{
+ t1.start();
+ read_ack=slave.read(data,length);
+ t1.stop();
+ if(read_ack == 0)
+ printf("\n\rData received from CDMS is %s \n",data);
+ else
+ printf("\n\r data not received \n");
+}
+
+void FCTN_I2C_WRITE(char *data,int length)
+{
+ t1.start();
+ write_ack=slave.write(data,length);
+ t1.stop();
+ if(write_ack == 0)
+ printf("\n\rData sent to CDMS is %s \n",data);
+ else
+ printf("\n\r data not sent\n");
+}
+
+void FCTN_ISR_I2C()
+{
+ ptr_t_i2c->signal_set(0x1);
+ t.start();
+}
+
+void FCTN_HK_DATA_CATENATE()
+{
+ strcpy(hk_data,"hk_Data");
+ strcat(hk_data,SensorQuantised.Voltage);
+ strcat(hk_data,SensorQuantised.Current);
+ 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);
+}
+
+
+//------------------------------------------------------------------------------------------------------------------------------------------------
+//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
+//------------------------------------------------------------------------------------------------------------------------------------------------
+int beacon_sc = 3;
+uint8_t schedcount=1;
+void T_SC(void const *args)
+{
+
+
+ if(schedcount == 4) //to reset the counter
+ {
+ schedcount = 1;
+ }
+ printf("\n\rThe value of i in scheduler is %d\n\r",schedcount);
+ if(schedcount%1==0)
+ {
+ ptr_t_acs -> signal_set(0x1);
+ }
+
+ if(schedcount%2==0)
+ {
+ ptr_t_eps -> signal_set(0x2);
+
+ }
+ if(schedcount%beacon_sc==0)
+ {
+ if(beac_flag==0)
+ {
+ ptr_t_bea -> signal_set(0x3);
+ }
+ }
+ schedcount++;
+}
+
+//--------------------------------------------------------------BAE_INIT------------------------------------------------------------------//
+
+void FCTN_BAE_INIT()
+{
+ BAE_STATUS |= 0x00000001; // set BAE_INIT_STATUS to 1
+ irpt_4m_cdms.disable_irq(); // disable interrupts
+ slave.address(0x20); // setting slave address for BAE for I2C communication
+ RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread - starting RTOS Timer
+ t_sc_timer.start(10000);
+ printf("\n\rStarted scheduler %f\n\r",t_start.read());
+ FCTN_EPS_INIT(); // EPS INIT
+ FCTN_ACS_INIT(); // ACS INIT
+ FCTN_BEA_INIT(); // Beacon INIT
+ //read bootup_count from flash
+ //bootup_count++;
+ //update bootup_count in flash
+ irpt_4m_cdms.enable_irq();
+ BAE_STATUS &= 0xFFFFFFFE; // clear BAE_INIT_STATUS to 0
+}
+
+
+//----------------------------------------------------------------------------BAE_MAIN-------------------------------------------------------------
+
+int main()
+{
+ t_start.start();
+ printf("\n\rIITMSAT BAE Activated \n");
+
+ //INITIALISING THREADS
+ ptr_t_eps = new Thread(T_EPS);
+ ptr_t_acs = new Thread(T_ACS);
+ ptr_t_bea = new Thread(T_BEA);
+ ptr_t_i2c = new Thread(T_I2C);
+
+ //INITIALISING INTERRUPTS
+ //interrupt_fault(); //*to be included-function called when a fault interrupt is detected
+ irpt_4m_cdms.fall(&FCTN_ISR_I2C); //interrupt received from CDMS
+
+ //Setting priority to threads
+ ptr_t_acs->set_priority(osPriorityAboveNormal);
+ ptr_t_eps->set_priority(osPriorityAboveNormal);
+ ptr_t_bea->set_priority(osPriorityAboveNormal);
+ ptr_t_i2c->set_priority(osPriorityHigh);
+
+ //----------------------------------------------------------------------------------------------
+ printf("\n\r T_ACS priority is %d",ptr_t_acs->get_priority());
+ printf("\n\r T_EPS priority is %d",ptr_t_eps->get_priority());
+ printf("\n\r T_BEA priority is %d",ptr_t_bea->get_priority());
+ printf("\n\r T_I2C priority is %d",ptr_t_i2c->get_priority());
+ //----------------------------------------------------------------------------------------------
+ FCTN_BAE_INIT();
+ while(1) //required to prevent main from terminating
+ {
+ ;
+ }
+
+}