Revision 4:020f93d35f6e, committed 2019-05-07

Comitter:

thomasmorris

Date:

Tue May 07 21:55:57 2019 +0000

Parent:

3:5665939d31ca

Commit message:

Added mutex and safey coding needs more. Added board and serial functions that need testing. As well as a more thorough post function.

Changed in this revision

diff -r 5665939d31ca -r 020f93d35f6e Control/Control.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Control/Control.cpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,33 @@
+#include "Control.hpp"
+int PWM_on_time = 0;
+int PWM_off_time = 100;
+ShiftReg SR(PA_10, PA_12, PA_15, PA_11);    //data, store, clock, output enable
+int Output = 0;
+int Data = 0;
+void Control_Main()//This is where the control of the board will be run from, just to not have all of the code inside of the main
+{
+    Control_Shift_Regs(0xF0F0,20);//Pass in the muscle and fan selection along with the PWM
+}
+void Control_Shift_Regs(uint16_t Selection, int PWM)//Controling the output of the shift registers
+{
+    if(PWM < 0 || PWM > 100)
+    {
+        PWM = 0;
+        //Also run an error   
+    }
+    PWM_on_time = PWM;
+    PWM_off_time = PWM_off_time - PWM;
+    while(1)
+    {
+        SR.Write(0x0000);//All off
+        SR.Write(Selection);//Turn the selection on
+        Thread::wait(PWM_on_time);//20ms on
+        SR.Write(0x0000);
+        Thread::wait(PWM_off_time);//80ms off
+    }
+}
+void Control_Post()//The POST function runs here
+{
+    POST();//Run the power on self test routine
+}
+

diff -r 5665939d31ca -r 020f93d35f6e Control/Control.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Control/Control.hpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,32 @@
+#ifndef _CONTROL_HPP_
+#define _CONTROL_HPP_
+
+#include "mbed.h"
+#include "rtos.h" 
+
+
+#include "Post.hpp"
+#include "Interface.hpp"
+#include "Post.hpp"
+#include "Schedules.hpp"
+#include "Feedback.hpp"
+#include "Serial_PC.hpp"
+#include "Serial_Board.hpp"
+#include "ShiftReg.h"
+
+extern ShiftReg SR;    //data, store, clock, output enable
+extern DigitalOut myled;    //Onboard LED
+
+//Class instances
+extern INTERFACE INTERFACE_1;
+extern SCHEDULES SCHEDULES_1;
+extern FEEDBACK FEEDBACK_1;
+extern SERIAL_PC SERIAL_PC_1;
+extern SERIAL_BOARD SERIAL_BOARD_1;
+
+
+void Control_Main();
+void Control_Shift_Regs(uint16_t Selection, int PWM);
+void Control_Post();
+void Control_Sensing();
+#endif //_CONTROL_HPP_
\ No newline at end of file

diff -r 5665939d31ca -r 020f93d35f6e FEEDBACK/Feedback.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FEEDBACK/Feedback.cpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,64 @@
+#include "Feedback.hpp"
+//Constructor
+FEEDBACK::FEEDBACK(PinName N1, PinName N2, PinName N3, PinName N4, PinName N5, PinName N6, PinName N7, PinName N8, PinName N9, PinName N10) : 
+_Battery_Measurement(N1),_Temperature_Sensor_1(N2),_Temperature_Sensor_2(N3),_Temperature_Sensor_3(N4),
+_Feedback_Sensor_1(N5),_Feedback_Sensor_2(N6),_Feedback_Sensor_3(N7),_Feedback_Sensor_4(N8),_Feedback_Sensor_5(N9),_Feedback_Sensor_6(N10)
+{
+    _Battery_Measurement_Value_Mutex.lock();
+    _Battery_Measurement_Value = 0;
+    _Battery_Measurement_Value_Mutex.unlock();
+    _Temp_1_Value_Mutex.lock();
+    _Temp_1_Value = 0;
+    _Temp_1_Value_Mutex.unlock();
+    _Temp_2_Value_Mutex.lock();
+    _Temp_2_Value = 0;
+    _Temp_2_Value_Mutex.unlock();
+    _Temp_3_Value_Mutex.lock();
+    _Temp_3_Value = 0;
+    _Temp_3_Value_Mutex.unlock();
+    _Feedback_1_Value_Mutex.lock();
+    _Feedback_1_Value = 0;
+    _Feedback_1_Value_Mutex.unlock();
+    _Feedback_2_Value_Mutex.lock();
+    _Feedback_2_Value = 0;
+    _Feedback_2_Value_Mutex.unlock();
+    _Feedback_3_Value_Mutex.lock();
+    _Feedback_3_Value = 0;
+    _Feedback_3_Value_Mutex.unlock();
+    _Feedback_4_Value_Mutex.lock();
+    _Feedback_4_Value = 0;
+    _Feedback_4_Value_Mutex.unlock();
+    _Feedback_5_Value_Mutex.unlock();
+    _Feedback_5_Value = 0;
+    _Feedback_5_Value_Mutex.lock();
+    _Feedback_6_Value_Mutex.unlock();
+    _Feedback_6_Value = 0;
+    _Feedback_6_Value_Mutex.unlock();
+}
+FEEDBACK::~FEEDBACK(){}//Destructor
+void FEEDBACK::Init(){}//Initialisation Routine
+int FEEDBACK::Post()//Power on self test
+{
+    return 1;//Success
+}
+
+float FEEDBACK::Get_Battery_Measurement_Value(){_Battery_Measurement_Value_Mutex.lock();
+_Battery_Measurement_Value = _Battery_Measurement.read();_Battery_Measurement_Value_Mutex.unlock();return _Battery_Measurement_Value;}
+float FEEDBACK::Get_Temp_1_Value(){_Temp_1_Value_Mutex.lock();
+_Temp_1_Value = _Temperature_Sensor_1.read();_Temp_1_Value_Mutex.unlock(); return _Temp_1_Value;}
+float FEEDBACK::Get_Temp_2_Value(){_Temp_2_Value_Mutex.lock();
+_Temp_2_Value = _Temperature_Sensor_2.read();_Temp_2_Value_Mutex.unlock(); return _Temp_2_Value;}
+float FEEDBACK::Get_Temp_3_Value(){_Temp_3_Value_Mutex.lock();
+_Temp_3_Value = _Temperature_Sensor_3.read();_Temp_3_Value_Mutex.unlock(); return _Temp_3_Value;}
+float FEEDBACK::Get_Feedback_1_Value(){_Feedback_1_Value_Mutex.lock();
+_Feedback_1_Value = _Feedback_Sensor_1.read(); _Feedback_1_Value_Mutex.unlock();return _Feedback_1_Value;}
+float FEEDBACK::Get_Feedback_2_Value(){_Feedback_2_Value_Mutex.lock();
+_Feedback_2_Value = _Feedback_Sensor_2.read(); _Feedback_2_Value_Mutex.unlock();return _Feedback_2_Value;}
+float FEEDBACK::Get_Feedback_3_Value(){_Feedback_3_Value_Mutex.lock();
+_Feedback_3_Value = _Feedback_Sensor_3.read(); _Feedback_3_Value_Mutex.unlock();return _Feedback_3_Value;}
+float FEEDBACK::Get_Feedback_4_Value(){_Feedback_4_Value_Mutex.lock();
+_Feedback_4_Value = _Feedback_Sensor_4.read(); _Feedback_4_Value_Mutex.unlock();return _Feedback_4_Value;}
+float FEEDBACK::Get_Feedback_5_Value(){_Feedback_5_Value_Mutex.lock();
+_Feedback_5_Value = _Feedback_Sensor_5.read(); _Feedback_5_Value_Mutex.unlock();return _Feedback_5_Value;}
+float FEEDBACK::Get_Feedback_6_Value(){_Feedback_6_Value_Mutex.lock();
+_Feedback_6_Value = _Feedback_Sensor_6.read(); _Feedback_6_Value_Mutex.unlock();return _Feedback_6_Value;}

diff -r 5665939d31ca -r 020f93d35f6e FEEDBACK/Feedback.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FEEDBACK/Feedback.hpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,75 @@
+#ifndef _FEEDBACK_HPP_
+#define _FEEDBACK_HPP_
+
+#include "mbed.h"
+#include "rtos.h"
+
+//Libraries and header file includes
+
+
+class FEEDBACK
+{
+    public://Public member functions and variables
+    
+    FEEDBACK(PinName N1, PinName N2, PinName N3, PinName N4, PinName N5, PinName N6, PinName N7, PinName N8, PinName N9, PinName N10);
+    ~FEEDBACK();
+    void Init();
+    int Post();
+    //Public Functions
+    
+    
+    //Getters
+    float Get_Battery_Measurement_Value();//Return the batter measurement value
+    float Get_Temp_1_Value();//Return the temperature value 1
+    float Get_Temp_2_Value();//Return the temperature value 2
+    float Get_Temp_3_Value();//Return the temperature value 3
+    float Get_Feedback_1_Value();//Return the feedback value 1
+    float Get_Feedback_2_Value();//Return the feedback value 2
+    float Get_Feedback_3_Value();//Return the feedback value 3
+    float Get_Feedback_4_Value();//Return the feedback value 4
+    float Get_Feedback_5_Value();//Return the feedback value 5
+    float Get_Feedback_6_Value();//Return the feedback value 6
+    
+    
+    private://Private member functions and variables
+    
+    //Private Functions
+    
+    //Private GPIO connections
+    //Measurement These set the values
+    AnalogIn _Battery_Measurement;
+    AnalogIn _Temperature_Sensor_1;
+    AnalogIn _Temperature_Sensor_2;
+    AnalogIn _Temperature_Sensor_3;
+    AnalogIn _Feedback_Sensor_1;
+    AnalogIn _Feedback_Sensor_2;
+    AnalogIn _Feedback_Sensor_3;
+    AnalogIn _Feedback_Sensor_4;
+    AnalogIn _Feedback_Sensor_5;
+    AnalogIn _Feedback_Sensor_6;
+    //Private member variables
+    
+    float _Battery_Measurement_Value;//Value of the battery measurement circuit
+    float _Temp_1_Value;    //Temperature sensor feedback 1
+    float _Temp_2_Value;    //Temperature sensor feedback 2
+    float _Temp_3_Value;    //Temperature sensor feedback 3
+    float _Feedback_1_Value;//Feedback sensor 1
+    float _Feedback_2_Value;//Feedback sensor 2
+    float _Feedback_3_Value;//Feedback sensor 3
+    float _Feedback_4_Value;//Feedback sensor 4
+    float _Feedback_5_Value;//Feedback sensor 5
+    float _Feedback_6_Value;//Feedback sensor 6
+    
+    //Mutex Locks
+    Mutex _Battery_Measurement_Value_Mutex;//Value of the battery measurement circuit mutex lock
+    Mutex _Temp_1_Value_Mutex;    //Temperature sensor feedback 1 mutex lock
+    Mutex _Temp_2_Value_Mutex;    //Temperature sensor feedback 2 mutex lock
+    Mutex _Temp_3_Value_Mutex;    //Temperature sensor feedback 3 mutex lock
+    Mutex _Feedback_1_Value_Mutex;//Feedback sensor 1 mutex lock
+    Mutex _Feedback_2_Value_Mutex;//Feedback sensor 2 mutex lock
+    Mutex _Feedback_3_Value_Mutex;//Feedback sensor 3 mutex lock
+    Mutex _Feedback_4_Value_Mutex;//Feedback sensor 4 mutex lock
+    Mutex _Feedback_5_Value_Mutex;//Feedback sensor 5 mutex lock
+    Mutex _Feedback_6_Value_Mutex;//Feedback sensor 6 mutex lock
+};
+#endif //_FEEDBACK_
\ No newline at end of file

diff -r 5665939d31ca -r 020f93d35f6e INTERFACE/Interface.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/INTERFACE/Interface.cpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,44 @@
+#include "Interface.hpp"
+//Define the variables here
+Serial PC(PB_10, PB_11);    //TX, RX
+Serial Board(PB_6, PB_7); //TX, RX
+//TextLCD Lcd(PB_12, PB_13, PB_14, PB_15, PA_8, PA_9); // rs, e, d4-d7
+TextLCD Lcd(PB_12, PB_13, PB_14, PB_15, PA_8, PA_9); // rs, e, d4-d7
+DigitalOut On_board_led(PC_13);//Onborad LED needs no pass in parameter
+
+INTERFACE::INTERFACE(PinName N1, PinName N2, PinName N3, PinName N4,PinName N5, PinName N6, PinName N7, PinName N8,PinName N9, PinName N10, PinName N11):  _Rotary_Encoder_A(N1),_Rotary_Encoder_B(N2),_Rotary_Encoder_Button(N3),_Button_1(N4), _Button_2(N5), _Button_3(N6), _MOSFET_Safety(N7), _Shift_SCLK(N8),_Shift_Latch(N9), _Shift_Enable(N10), _Shift_Data(N11)            
+{
+
+}
+
+INTERFACE::~INTERFACE(){}
+void INTERFACE::Init(){}
+int INTERFACE::Post()
+{
+    return 1;//Success
+}
+void INTERFACE::On_board_LED_Flash()
+{
+    while(1)
+    {
+        On_board_led = !On_board_led;
+        Thread::wait(1000);
+    }
+}
+void INTERFACE::Serial()
+{
+    while(1)
+    {
+        PC.printf("Testing Serial\n");   
+        Thread::wait(1000);
+    }
+}
+void INTERFACE::LCD()
+{
+    while(1)
+    {
+        Lcd.printf("Testing\nINTERFACE");
+        Thread::wait(1000);   
+    }   
+}
+

diff -r 5665939d31ca -r 020f93d35f6e INTERFACE/Interface.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/INTERFACE/Interface.hpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,58 @@
+#ifndef _INTERFACE_HPP_
+#define _INTERFACE_HPP_
+
+#include "mbed.h"
+#include "rtos.h"
+#include "TextLCD.h"
+
+//Libraries and header file includes
+
+
+extern Serial PC;    //TX, RX
+extern Serial Board; //TX, RX
+extern TextLCD Lcd; // rs, e, d4-d7
+//extern DigitalOut On_board_led;//Onboard LED
+class INTERFACE
+{
+    public://Public member functions and variables
+    INTERFACE(PinName N1, PinName N2, PinName N3, PinName N4, PinName N5, PinName N6, PinName N7, PinName N8, PinName N9, PinName N10, PinName N11);
+    ~INTERFACE();
+    void Init();
+    int Post();
+    void Serial();
+    void LCD();
+    void On_board_LED_Flash();
+    //Public Functions
+    
+    //Public Variabls
+    
+    private://Private member functions and variables
+    //Inputs
+    
+    //Rotary Encoder
+    DigitalIn _Rotary_Encoder_A;//N1
+    DigitalIn _Rotary_Encoder_B;//N2
+    DigitalIn _Rotary_Encoder_Button;//N3
+    
+    
+    //Buttons
+    DigitalIn _Button_1;//N4
+    DigitalIn _Button_2;//N5
+    DigitalIn _Button_3;//N6
+  
+    //MOSFET Safety Pin
+    DigitalOut _MOSFET_Safety;//Active low N7
+    
+    //Shift Register Control
+    DigitalOut _Shift_SCLK;//N8
+    DigitalOut _Shift_Latch;//N9
+    DigitalOut _Shift_Enable;//N10
+    DigitalOut _Shift_Data;//N11
+
+    
+    //Private Functions
+    
+    //Private Variables
+    //DigitalOut On_board_led;//Onboard LED
+};
+#endif //_INTERFACE_HPP_
\ No newline at end of file

diff -r 5665939d31ca -r 020f93d35f6e POST/Post.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/POST/Post.cpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,74 @@
+#include "Post.hpp"
+int POST_Sum = 0;
+bool Power_Post = 0;
+bool Interface_Post = 0;
+bool Schedules_Post = 0;
+bool Feedback_Post = 0;
+bool Serial_PC_Post = 0;
+bool Serial_BOARD_Post = 0;   
+   
+
+INTERFACE INTERFACE_1(PC_13,PC_14,PC_15,PB_9,PB_8,PB_5,PB_4,PA_15,PA_12,PA_11,PA_10);//Rotary encoderA, Rotary Encoder B, Rotary encoder button, button 1, button 2, button 3, MOSFET safety, shift sclk, shift latch, shift enable, shift in
+SCHEDULES SCHEDULES_1;
+FEEDBACK FEEDBACK_1(PA_0,PA_1,PA_2,PA_3,PB_0,PB_1,PA_7,PA_6,PA_5,PA_4);//This is where all of the feedback pins are defined
+SERIAL_PC SERIAL_PC_1;
+SERIAL_BOARD SERIAL_BOARD_1;
+void POST()
+{
+    POST_Sum = 0;
+    Interface_Post = INTERFACE_1.Post();
+    Schedules_Post = SCHEDULES_1.Post();
+    Feedback_Post = FEEDBACK_1.Post();
+    Serial_PC_Post = SERIAL_PC_1.Post();
+    Serial_BOARD_Post = SERIAL_BOARD_1.Post();   
+
+    if(Interface_Post == 1)//Success
+    {
+        PC.printf("Interface Post pass\n");
+        POST_Sum = POST_Sum + 1;    
+    }
+    else if(Interface_Post != 1)//Fail
+    {
+        PC.printf("Interface Post fail\n");   
+    }
+    if(Schedules_Post == 1)//Success
+    {
+        PC.printf("Schedules Post Pass\n");
+        POST_Sum = POST_Sum + 1;    
+    }
+    else if (Schedules_Post != 1)//Fail
+    {
+        PC.printf("Schedules Post fail\n");   
+    }
+    if(Feedback_Post == 1)//Success
+    {
+        PC.printf("Feedback Post Pass\n");
+        POST_Sum = POST_Sum + 1;    
+    }
+    else if(Feedback_Post != 1)//Fail
+    {
+        PC.printf("Feedback Post Fail\n");   
+    }
+    if(Serial_PC_Post == 1)//Success
+    {
+        PC.printf("Serial PC Post Pass\n");
+        POST_Sum = POST_Sum + 1;    
+    }
+    else if(Serial_PC_Post != 1)//Fail
+    {
+        PC.printf("Serial PC Post Fail\n");   
+    }
+    if(Serial_BOARD_Post == 1)//Pass
+    {
+        PC.printf("Serial Board Pass\n");
+        POST_Sum = POST_Sum + 1;    
+    }
+    else if (Serial_BOARD_Post != 1)//Fail
+    {
+        PC.printf("Serial Board Fail\n");   
+    }
+    if(POST_Sum == 5)
+    {
+        PC.printf("Post Nominal\n");   
+    }
+}
\ No newline at end of file

diff -r 5665939d31ca -r 020f93d35f6e POST/Post.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/POST/Post.hpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,13 @@
+#ifndef _POST_HPP_
+#define _POST_HPP_
+
+#include "mbed.h"
+#include "rtos.h"
+
+#include "Interface.hpp"
+#include "Setup.hpp"
+void POST();//Power on self test
+  
+   
+
+#endif //_POST_HPP_
\ No newline at end of file

diff -r 5665939d31ca -r 020f93d35f6e SCHEDULES/Schedules.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SCHEDULES/Schedules.cpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,16 @@
+#include "Schedules.hpp"
+
+SCHEDULES::SCHEDULES(){}
+SCHEDULES::~SCHEDULES(){}
+void SCHEDULES::Init(){}
+int SCHEDULES::Post()
+{
+    return 1;//Success   
+}
+void SCHEDULES::Schedules_output()
+{
+    while(1)
+    {
+        //Do somthing   
+    }   
+}
\ No newline at end of file

diff -r 5665939d31ca -r 020f93d35f6e SCHEDULES/Schedules.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SCHEDULES/Schedules.hpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,34 @@
+#ifndef _SCHEDULES_HPP_
+#define _SCHEDULES_HPP_
+
+#include "mbed.h"
+#include "rtos.h"
+#include "TextLCD.h"
+
+//Libraries and header file includes
+
+
+extern Serial PC;    //TX, RX
+extern TextLCD Lcd; // rs, e, d4-d7
+
+class SCHEDULES
+{
+    public://Public member functions and variables
+    SCHEDULES();
+    ~SCHEDULES();
+    void Init();
+    int Post();
+    void Schedules_output();
+    //Public Functions
+    
+    //Public Variabls
+    
+    private://Private member functions and variables
+    
+    //Private Functions
+    
+    //Private Variables
+    
+    
+};
+#endif //_INTERFACE_HPP_
\ No newline at end of file

diff -r 5665939d31ca -r 020f93d35f6e Serial/Serial_Board.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Serial/Serial_Board.cpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,57 @@
+#include "Serial_Board.hpp"
+
+SERIAL_BOARD::SERIAL_BOARD()//Constructor
+{
+    _POST_Value_Mutex.lock();
+    _POST_Value = 77;//Need a post test value to get a echo confirm
+    _POST_Value_Mutex.unlock();
+    _Received_Data_Mutex.lock();
+    _Received_Data = 0;//Set data to 0
+    _Received_Data_Mutex.unlock();
+    _Output_Data_Mutex.lock();
+    _Output_Data = 0;//Set the output data to 0
+    _Output_Data_Mutex.unlock();
+}
+SERIAL_BOARD::~SERIAL_BOARD(){}//Destructor
+void SERIAL_BOARD::Init(){}
+int SERIAL_BOARD::Post()
+{   
+    _POST_Value_Mutex.lock();
+    _Received_Data_Mutex.lock();
+    Board.printf("%d\n", _POST_Value);
+    Board.scanf("%d", &_Received_Data);
+    _POST_Value_Mutex.unlock();
+    _Received_Data_Mutex.unlock();
+    if(_POST_Value == _Received_Data)
+    {
+        return 1;//Pass
+    }
+    else
+    {
+        return 0;//Fail
+    }
+}
+void SERIAL_BOARD::Main()
+{
+    if(PC.readable())
+    {
+        PC.printf("In Serial board\n");
+    }
+    while(1)
+    {
+        for(int loop = 0; loop < 16; loop++)
+        {
+            _Output_Data_Mutex.lock();
+            _Received_Data_Mutex.lock();
+            _Output_Data = _Output_Data + 1;
+            Board.printf("%d\n", _Output_Data);
+            Board.scanf("%d", &_Received_Data);
+            PC.printf("Data is %d\n",_Received_Data);
+            _Output_Data_Mutex.unlock();
+            _Received_Data_Mutex.unlock();
+            Thread::wait(1000);
+        }
+    _Output_Data = 0;
+    Thread::wait(1000);
+    }
+}

diff -r 5665939d31ca -r 020f93d35f6e Serial/Serial_Board.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Serial/Serial_Board.hpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,33 @@
+#ifndef _SERIAL_Board_HPP_
+#define _SERIAL_Board_HPP_
+
+#include "mbed.h"
+#include "rtos.h" 
+
+#include "Serial_PC.hpp"
+
+class SERIAL_BOARD
+{
+    public://Public member functions and variables
+    
+    SERIAL_BOARD();
+    ~SERIAL_BOARD();
+    void Init();
+    int Post();
+    void Main();
+    //Public Functions
+    
+    
+    private://Private member functions and variables
+    int _POST_Value;
+    int _Received_Data;
+    int _Output_Data;
+    
+    //Mutex Locks
+    Mutex _POST_Value_Mutex;
+    Mutex _Received_Data_Mutex;
+    Mutex _Output_Data_Mutex;
+};
+
+
+#endif //_SERIAL_BOARD_HPP_
\ No newline at end of file

diff -r 5665939d31ca -r 020f93d35f6e Serial/Serial_PC.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Serial/Serial_PC.cpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,26 @@
+#include "Serial_PC.hpp"
+int Logging = 0;
+SERIAL_PC::SERIAL_PC(){}
+SERIAL_PC::~SERIAL_PC(){}
+void SERIAL_PC::Init(){}
+int SERIAL_PC::Post()
+{
+    return 1;    
+}
+void SERIAL_PC::Main()
+{
+    while(1)
+    {
+        if(PC.readable())//Check that you can write to the PC
+        {
+            PC.printf("Testing for serial\n");
+        }
+        PC.scanf("%s",&_buffer);
+        if(_buffer == "Log")
+        {
+            PC.printf("Logging\n");
+            Logging = 1;   
+        }
+        Thread::wait(1000);
+    }
+}
\ No newline at end of file

diff -r 5665939d31ca -r 020f93d35f6e Serial/Serial_PC.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Serial/Serial_PC.hpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,28 @@
+#ifndef _SERIAL_PC_HPP_
+#define _SERIAL_PC_HPP_
+
+#include "mbed.h"
+#include "rtos.h" 
+#include "Interface.hpp"
+
+extern int Logging;
+class SERIAL_PC
+{
+    public://Public member functions and variables
+    
+    SERIAL_PC();
+    ~SERIAL_PC();
+    void Init();
+    int Post();
+    void Main();
+    //Public Functions
+    
+    
+    private://Private member functions and variables
+    char _buffer[32];//Character buffer for the serial data to be stored within
+  
+
+};
+
+
+#endif //_SERIAL_PC_HPP_
\ No newline at end of file

diff -r 5665939d31ca -r 020f93d35f6e Setup.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Setup.hpp	Tue May 07 21:55:57 2019 +0000
@@ -0,0 +1,17 @@
+#ifndef _SETUP_HPP_
+#define _SETUP_HPP_
+//Libraries
+#include "mbed.h"
+#include "rtos.h"  //Real Time Operating System. https://os.mbed.com/handbook/RTOS
+//#include "ShiftReg.h"
+
+
+//Header Files
+#include "Control.hpp"
+//Digital Outputs
+static Thread Control_Interboard_Comms_Thread;
+static Thread Control_power_Thread;
+static Thread Feedback_Thread;
+static Thread Serial_PC_Thread;
+static Thread Serial_Board_Thread;
+#endif //_SETUP_HPP_

diff -r 5665939d31ca -r 020f93d35f6e main.cpp
--- a/main.cpp	Tue May 07 14:05:31 2019 +0000
+++ b/main.cpp	Tue May 07 21:55:57 2019 +0000
@@ -1,68 +1,19 @@
-#include "mbed.h"
-#include "rtos.h"  //Real Time Operating System. https://os.mbed.com/handbook/RTOS
-#include "TextLCD.h"
-#include "ShiftReg.h"
-
-//Pinouts for the bluepill can be found here
-//https://os.mbed.com/users/hudakz/code/STM32F103C8T6_Hello/
+#include "Setup.hpp"
 
-DigitalOut myled(PC_13);    //Onboard LED
-Serial PC(PB_10, PB_11);    //TX, RX
-//TextLCD LCD(PB_12, PB_13, PB_14, PB_15, PA_8, PA_9); // rs, e, d4-d7
-ShiftReg SR(PA_10, PA_12, PA_15, PA_11);    //data, store, clock, output enable
-
-
-//DigitalOut Muscle0(PA_10);
-//DigitalOut Muscle1(PA_10);
-
-//AnalogIn FEEDBACK_0(PB_0);
-//AnalogIn FEEDBACK_1(PB_1);
-
-
+void Control_Power_Function(){Control_Main();}
+void Serial_PC_Thread_Function(){SERIAL_PC_1.Main();}
+void Serial_Board_Thread_Function(){SERIAL_BOARD_1.Main();}
 int main()
 {
-    /*
-    //outen = 0;
-    SR.ShiftByte(0x0000, ShiftReg::MSBFirst);
-    //SR.ShiftByte(0x00,0x80);
-    SR.Latch();
-    wait(0.2);
-    SR.ShiftByte(0xF0F0, ShiftReg::MSBFirst);
-    SR.Latch();
-    //outen = 0;
-    wait(2);
-    SR.ShiftByte(0x0000, ShiftReg::MSBFirst);
-    SR.Latch();
-    */
-    SR.Write(0x0000);
-    wait(1);
+    //Thread starting
+    Control_Post();//Power on self test
+    Thread::wait(1000);
+    Control_power_Thread.start(Control_Power_Function);
+    Serial_PC_Thread.start(Serial_PC_Thread_Function);
+    Serial_Board_Thread.start(Serial_Board_Thread_Function);
+
     while(1) 
     {
-        SR.Write(0xF0F0);
-        wait(1);
-        SR.Write(0x0F0F);
-        wait(1);
-        /*
-        SR.ShiftBit(1);
-        SR.Latch();
-        wait(0.2);
-        for (int i = 0; i < 16; i++) {
-            SR.ShiftBit(0);
-            SR.Latch();
-            wait(0.2);
-        }
-        */
-        //myled = 1; // LED is ON
-        //Muscle0 = 1;
-        //wait(1); // 200 ms
-
-        //myled = 0; // LED is OFF
-        //Muscle0 = 0;
-        //wait(1); // 1 sec
-
-        PC.printf("troll lol lol lol lol lol lol\n\r");
-        //PC.printf("%.6f  %.6f\n\r",FEEDBACK_0.read(),FEEDBACK_1.read());
-        //LCD.printf("Hello World!\n");
-
+        Thread::signal_wait(1);//Sleep the main thread
     }
 }