Diff: main.cpp

Revision:

0:8b0d43fe6c05

Child:

2:80b8a2e999f7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Sep 10 06:41:21 2014 +0000
@@ -0,0 +1,263 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "HK.h"
+#include "slave.h"
+#include "beacon.h"
+#include "ACS.h"
+
+Serial pc(USBTX, USBRX);
+
+
+
+Timer t;                                                        //To know the time of entering each thread
+Timer t1;                                                       //To know the time of execution of each thread
+
+Thread *ptr_t_hk_acq;
+Thread *ptr_t_acs;
+Thread *ptr_t_acs_write2flash;
+Thread *ptr_t_bea;
+Thread *ptr_t_bea_telecommand;
+Thread *ptr_t_fault;
+
+
+//--------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK 2 : HK
+//--------------------------------------------------------------------------------------------------------------------------------------------------
+
+
+
+void t_hk_acq(void const *args)
+{
+    
+    while(1)
+    {
+        Thread::signal_wait(0x2);
+        
+        printf("\nTHIS IS HK    %f\n",t1.read());
+        t.start();
+        
+        FUNC_HK_MAIN();                                                             //Collecting HK data
+        //thread_2.signal_set(0x4);
+        FUNC_I2C_SLAVE_MAIN(24);                                                    //Sending to CDMS via I2C
+        
+        t.stop();
+        printf("The time to execute hk_acq is %f seconds\n",t.read());
+        t.reset();
+    }
+}
+
+//---------------------------------------------------------------------------------------------------------------------------------------
+//TASK 1 : ACS
+//---------------------------------------------------------------------------------------------------------------------------------------
+typedef struct {
+    float mag_field;
+    float omega;
+    } sensor_data;
+    
+Mail <sensor_data, 16> q_acs;
+    
+void func_acs_readdata(sensor_data *ptr)
+{
+    printf("Reading the data\n");
+    ptr -> mag_field = 10;
+    ptr -> omega = 3;
+}
+
+void func_acs_ctrlalgo()
+{
+    printf("Executing control algo\n");
+}
+
+
+
+void func_acs_write2flash(sensor_data *ptr2)
+{
+    printf("The magnetic field is %.2f T\n\r",ptr2->mag_field);
+    printf("The angular velocity is %.2f rad/s\n\r",ptr2->omega);
+}
+
+void t_acs(void const *args)
+{
+    while(1)
+    {
+        Thread::signal_wait(0x1);
+        printf("\nTHIS IS ACS   %f\n",t1.read());
+        t.start();
+        sensor_data *ptr = q_acs.alloc();
+        
+        func_acs_readdata(ptr);
+        q_acs.put(ptr);
+        func_acs_ctrlalgo();
+        FUNC_ACS_GENPWM();                                      //Generating PWM signal.
+        
+       
+        t.reset();
+    }
+}
+
+void t_acs_write2flash(void const *args)
+{
+    while(1)
+    {
+        //printf("Writing in the flash\n");
+        osEvent evt = q_acs.get();
+        if(evt.status == osEventMail)
+        {
+            sensor_data *ptr = (sensor_data*)evt.value.p;
+            func_acs_write2flash(ptr);
+            q_acs.free(ptr);
+        }
+        printf("Writing acs data in the flash\n");
+    }
+}
+
+
+//---------------------------------------------------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");
+        beac_flag=1;
+    }
+}
+
+void t_bea(void const *args)
+{
+    
+    while(1)
+    {
+        Thread::signal_wait(0x3);
+        printf("\nTHIS IS BEACON    %f\n",t1.read());
+        t.start();
+        
+        
+            
+        FUNC_BEA();
+            
+        
+        if(beac_flag==1)
+        {
+            Thread::wait(600000);
+            beac_flag = 0;
+        }
+        
+        printf("The time to execute beacon thread is %f seconds\n",t.read());
+        t.reset();
+    }
+}
+
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK 4 : FAULT MANAGEMENT
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//Dummy fault rectifier functions
+
+Mail<int,16> faults;
+
+void FUNC_FAULT_FUNCT1()
+{
+    printf("\nFault 1 detected... \n");
+}
+
+void FUNC_FAULT_FUNCT2()
+{
+    printf("\nFault 2 detected...\n");
+}
+
+void T_FAULT(void const *args)
+{
+    while(1)
+    {
+        osEvent evt = faults.get();
+        if(evt.status==osEventMail)
+        {
+            int *fault_id= (int *)evt.value.p;
+            switch(*fault_id)
+            {
+                case 1: FUNC_FAULT_FUNCT1();
+                        break;
+                case 2: FUNC_FAULT_FUNCT2();
+                        break;
+            }
+            faults.free(fault_id);
+        }
+    }
+}
+
+//------------------------------------------------------------------------------------------------------------------------------------------------
+//SCHEDULER
+//------------------------------------------------------------------------------------------------------------------------------------------------
+uint16_t schedcount=1;
+void t_sc(void const *args)
+{
+    
+    printf("The value of i in scheduler is %d\n",schedcount);
+    if(schedcount == 65532)                         //to reset the counter
+    {
+        schedcount = 0;
+    }
+    
+    if(schedcount%1==0)
+    {
+        ptr_t_acs -> signal_set(0x1);
+    }
+    if(schedcount%2==0)
+    {
+        ptr_t_hk_acq -> signal_set(0x2);
+    }
+    if(schedcount%3==0)
+    {
+        if(beac_flag==0)
+        {
+            
+            ptr_t_bea -> signal_set(0x3);
+        }
+    }
+    schedcount++;
+}
+    
+//---------------------------------------------------------------------------------------------------------------------------------------------
+
+int main()
+{
+    t1.start();
+    
+    ptr_t_hk_acq = new Thread(t_hk_acq);
+    ptr_t_acs = new Thread(t_acs);
+    ptr_t_acs_write2flash = new Thread(t_acs_write2flash);
+    ptr_t_bea = new Thread(t_bea);
+    ptr_t_bea_telecommand = new Thread(t_bea_telecommand);
+    ptr_t_fault = new Thread(T_FAULT);
+    //ptr_t_sc = new Thread(t_sc);
+
+    ptr_t_fault -> set_priority(osPriorityRealtime);
+    ptr_t_acs->set_priority(osPriorityHigh);
+    ptr_t_hk_acq->set_priority(osPriorityNormal);
+    ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal);
+    ptr_t_bea->set_priority(osPriorityAboveNormal);
+    ptr_t_bea_telecommand->set_priority(osPriorityIdle);
+    //ptr_t_sc->set_priority(osPriorityAboveNormal);
+    
+  
+   // ----------------------------------------------------------------------------------------------
+    printf("\n T_FAULT priority is %d",ptr_t_fault->get_priority()); 
+    printf("\n T_ACS priority is %d",ptr_t_acs->get_priority());
+    printf("\n T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
+    printf("\n T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
+    printf("\n T_BEA priority is %d",ptr_t_bea->get_priority());  
+    RtosTimer t_sc_timer(t_sc,osTimerPeriodic);
+    t_sc_timer.start(10000);
+    printf("\n%f\n",t1.read()); 
+        
+    while(1)
+    {
+        Thread::wait(10000);
+        ;
+    }
+    
+}
\ No newline at end of file