Diff: main.cpp

Revision:

5:4199c0dfed33

Parent:

4:b33bc4267e0d

Child:

6:1cdbda747f99

--- a/main.cpp	Tue Feb 03 16:43:05 2015 +0000
+++ b/main.cpp	Thu Feb 05 22:05:29 2015 +0000
@@ -6,6 +6,7 @@
 #include "ACS.h"
 #include "fault.h"
 #include "slave.h"
+#include "mnm.h"
 
 Serial pc(USBTX, USBRX);
 
@@ -96,6 +97,7 @@
     float *mag_field;
     float *omega;
     float *moment;
+    float *mnm_data;
     while(1)
     {
         Thread::signal_wait(0x1);
@@ -104,7 +106,16 @@
         mag_field= FUNC_ACS_MAG_EXEC();                              //actual execution
         omega = FUNC_ACS_EXEC_GYR();
         printf("\n\r gyr 1 value %f",omega[0]);
-        
+        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++) 
+        {
+        printf("%f\t",mnm_data[i]);
+        }
+        printf("\n\r mnm mag values\n");
+        for(int i=3; i<6; i++) {
+        printf("%f\t",mnm_data[i]);
+        }
         
         if(acs_pflag == 1)
         {
@@ -336,7 +347,7 @@
         data_ready=1;
         //temp = i2c_status;
 }
-      
+    
 
 //------------------------------------------------------------------------------------------------------------------------------------------------
 //TELECOMMAND
@@ -371,12 +382,12 @@
     if(schedcount%1==0)
     {
      ptr_t_acs -> signal_set(0x1);
-       ptr_t_wdt -> signal_set(0x5);
+     ptr_t_wdt -> signal_set(0x5);
     }
     if(schedcount%2==0)
     {
        // ptr_t_fault -> signal_set(0x2);
-        ptr_t_hk_acq -> signal_set(0x2);
+       ptr_t_hk_acq -> signal_set(0x2);
         
     }
     if(schedcount%beacon_sc==0)
@@ -384,7 +395,7 @@
         if(beac_flag==0)
         {
             
-            ptr_t_bea -> signal_set(0x3);
+          ptr_t_bea -> signal_set(0x3);
         }
     }
     schedcount++;
@@ -397,8 +408,12 @@
     t1.start();
      slave.address(0x20);
     //DRDY=0;
+     printf("\nahoy\n");
+     INIT_PNI();
+     
      FUNC_ACS_MAG_INIT();
      FUNC_ACS_INIT_GYR();
+    
 
     ptr_t_hk_acq = new Thread(T_HK_ACQ);
     ptr_t_acs = new Thread(T_ACS);