green rosh / Mbed 2 deprecated BAE_FRDM_INTEGRATION

bae integrated final (may be)

Dependencies:   mbed-rtos mbed

Fork of BAE_FRDMTESIN2 by Seeker of Truth ,

main.cpp@8:667fbc82d634, 2014-12-15 (annotated)

Committer:
greenroshks
Date:
Mon Dec 15 05:58:23 2014 +0000
Revision:
8:667fbc82d634
Parent:
7:f06840d848e3 
BAE FINAL INTEGRATED (may be)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
greenroshks 0:8b0d43fe6c05 1 #include "mbed.h"
greenroshks 0:8b0d43fe6c05 2 #include "rtos.h"
greenroshks 0:8b0d43fe6c05 3 #include "HK.h"
greenroshks 0:8b0d43fe6c05 4 #include "slave.h"
greenroshks 0:8b0d43fe6c05 5 #include "beacon.h"
greenroshks 0:8b0d43fe6c05 6 #include "ACS.h"
sakthipriya 2:80b8a2e999f7 7 #include "fault.h"
greenroshks 0:8b0d43fe6c05 8
greenroshks 8:667fbc82d634 9 #define DEFAULT_POW_MODE 0 //power mode initialization
greenroshks 0:8b0d43fe6c05 10 Serial pc(USBTX, USBRX);
greenroshks 0:8b0d43fe6c05 11
greenroshks 0:8b0d43fe6c05 12
greenroshks 0:8b0d43fe6c05 13
sakthipriya 5:255b43e8e21a 14 Timer t; //To know the time of execution each thread
sakthipriya 4:8f6c24eca109 15 Timer t1;
sakthipriya 5:255b43e8e21a 16 //To know the time of entering of each thread
greenroshks 0:8b0d43fe6c05 17
greenroshks 8:667fbc82d634 18 Thread *ptr_t_hk; //every 20 seconds
greenroshks 8:667fbc82d634 19 Thread *ptr_t_acs; //every 10 seconds
greenroshks 8:667fbc82d634 20 //Thread *ptr_t_acs_write2flash;
greenroshks 8:667fbc82d634 21 Thread *ptr_t_bea; //every 30 seconds
greenroshks 8:667fbc82d634 22 //Thread *ptr_t_bea_telecommand;
greenroshks 8:667fbc82d634 23 //Thread *ptr_t_fault; //will be taken care by HK thread and interrupts
greenroshks 8:667fbc82d634 24 Thread *ptr_t_i2c; //for interprocessor communication
greenroshks 8:667fbc82d634 25 Thread *ptr_t_exec_tc; //Taking data from i2c mail box and execute the stuff
greenroshks 0:8b0d43fe6c05 26
greenroshks 0:8b0d43fe6c05 27
greenroshks 0:8b0d43fe6c05 28 //--------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 29 //TASK 2 : HK
greenroshks 0:8b0d43fe6c05 30 //--------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 31
greenroshks 0:8b0d43fe6c05 32
greenroshks 8:667fbc82d634 33 extern SensorData Sensor;
greenroshks 8:667fbc82d634 34 void t_hk(void const *args)
greenroshks 0:8b0d43fe6c05 35 {
greenroshks 8:667fbc82d634 36 Sensor.power_mode = DEFAULT_POW_MODE;
greenroshks 0:8b0d43fe6c05 37 while(1)
greenroshks 0:8b0d43fe6c05 38 {
greenroshks 0:8b0d43fe6c05 39 Thread::signal_wait(0x2);
greenroshks 0:8b0d43fe6c05 40
greenroshks 0:8b0d43fe6c05 41 printf("\nTHIS IS HK %f\n",t1.read());
greenroshks 8:667fbc82d634 42 //t.start();
greenroshks 8:667fbc82d634 43 FAULTS();
greenroshks 8:667fbc82d634 44 POWER(Sensor.power_mode);
greenroshks 0:8b0d43fe6c05 45 FUNC_HK_MAIN(); //Collecting HK data
greenroshks 0:8b0d43fe6c05 46 //thread_2.signal_set(0x4);
greenroshks 8:667fbc82d634 47 // FUNC_I2C_SLAVE_MAIN(24); //Put HK data to I2C thread instead
greenroshks 0:8b0d43fe6c05 48
greenroshks 8:667fbc82d634 49 // t.stop();
greenroshks 8:667fbc82d634 50 //printf("The time to execute hk_acq is %f seconds\n",t.read());
greenroshks 8:667fbc82d634 51 //t.reset();
greenroshks 0:8b0d43fe6c05 52 }
greenroshks 0:8b0d43fe6c05 53 }
greenroshks 0:8b0d43fe6c05 54
greenroshks 0:8b0d43fe6c05 55 //---------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 56 //TASK 1 : ACS
greenroshks 0:8b0d43fe6c05 57 //---------------------------------------------------------------------------------------------------------------------------------------
greenroshks 8:667fbc82d634 58 /*typedef struct {
greenroshks 0:8b0d43fe6c05 59 float mag_field;
greenroshks 0:8b0d43fe6c05 60 float omega;
greenroshks 0:8b0d43fe6c05 61 } sensor_data;
greenroshks 8:667fbc82d634 62 */
greenroshks 8:667fbc82d634 63 //Mail <sensor_data, 16> q_acs; //Will be taken care of by HK structure every 20 seconds
greenroshks 0:8b0d43fe6c05 64
greenroshks 8:667fbc82d634 65 /*void func_acs_readdata(sensor_data *ptr)
greenroshks 0:8b0d43fe6c05 66 {
greenroshks 0:8b0d43fe6c05 67 printf("Reading the data\n");
greenroshks 0:8b0d43fe6c05 68 ptr -> mag_field = 10;
greenroshks 0:8b0d43fe6c05 69 ptr -> omega = 3;
greenroshks 0:8b0d43fe6c05 70 }
greenroshks 0:8b0d43fe6c05 71
greenroshks 0:8b0d43fe6c05 72 void func_acs_ctrlalgo()
greenroshks 0:8b0d43fe6c05 73 {
greenroshks 0:8b0d43fe6c05 74 printf("Executing control algo\n");
greenroshks 0:8b0d43fe6c05 75 }
greenroshks 0:8b0d43fe6c05 76
greenroshks 0:8b0d43fe6c05 77
greenroshks 0:8b0d43fe6c05 78
greenroshks 0:8b0d43fe6c05 79 void func_acs_write2flash(sensor_data *ptr2)
greenroshks 0:8b0d43fe6c05 80 {
greenroshks 0:8b0d43fe6c05 81 printf("The magnetic field is %.2f T\n\r",ptr2->mag_field);
greenroshks 0:8b0d43fe6c05 82 printf("The angular velocity is %.2f rad/s\n\r",ptr2->omega);
greenroshks 8:667fbc82d634 83 }*/
greenroshks 0:8b0d43fe6c05 84
greenroshks 8:667fbc82d634 85 int acs_pflag = 1; //for executing acs power modes
greenroshks 0:8b0d43fe6c05 86 void t_acs(void const *args)
greenroshks 0:8b0d43fe6c05 87 {
greenroshks 8:667fbc82d634 88 float *mag_field;
greenroshks 8:667fbc82d634 89 float *omega;
greenroshks 8:667fbc82d634 90 float *moment;
greenroshks 0:8b0d43fe6c05 91 while(1)
greenroshks 0:8b0d43fe6c05 92 {
greenroshks 0:8b0d43fe6c05 93 Thread::signal_wait(0x1);
greenroshks 0:8b0d43fe6c05 94 printf("\nTHIS IS ACS %f\n",t1.read());
greenroshks 8:667fbc82d634 95 // t.start();
greenroshks 8:667fbc82d634 96 // sensor_data *ptr = q_acs.alloc(); //done by HK instead
greenroshks 8:667fbc82d634 97
greenroshks 8:667fbc82d634 98 //func_acs_readda=ta(ptr);
greenroshks 8:667fbc82d634 99 mag_field= FUNC_ACS_MAG_EXEC(); //actual execution
greenroshks 8:667fbc82d634 100 omega = FUNC_ACS_EXEC_GYR();
greenroshks 0:8b0d43fe6c05 101
greenroshks 8:667fbc82d634 102
greenroshks 8:667fbc82d634 103 //q_acs.put(ptr); //done by HK
greenroshks 8:667fbc82d634 104 if(acs_pflag == 1) //for the respective power mode
sakthipriya 5:255b43e8e21a 105 {
greenroshks 8:667fbc82d634 106 moment = FUNC_ACS_CNTRLALGO(mag_field,omega);
greenroshks 8:667fbc82d634 107 FUNC_ACS_GENPWM(moment); //Generating PWM signal.
sakthipriya 5:255b43e8e21a 108 }
greenroshks 0:8b0d43fe6c05 109
greenroshks 8:667fbc82d634 110 //t.reset();
greenroshks 0:8b0d43fe6c05 111 }
greenroshks 0:8b0d43fe6c05 112 }
greenroshks 0:8b0d43fe6c05 113
greenroshks 8:667fbc82d634 114 /*void t_acs_write2flash(void const *args) //unwanted thread
greenroshks 0:8b0d43fe6c05 115 {
greenroshks 0:8b0d43fe6c05 116 while(1)
greenroshks 0:8b0d43fe6c05 117 {
greenroshks 0:8b0d43fe6c05 118 //printf("Writing in the flash\n");
greenroshks 0:8b0d43fe6c05 119 osEvent evt = q_acs.get();
greenroshks 0:8b0d43fe6c05 120 if(evt.status == osEventMail)
greenroshks 0:8b0d43fe6c05 121 {
greenroshks 0:8b0d43fe6c05 122 sensor_data *ptr = (sensor_data*)evt.value.p;
greenroshks 0:8b0d43fe6c05 123 func_acs_write2flash(ptr);
greenroshks 0:8b0d43fe6c05 124 q_acs.free(ptr);
greenroshks 0:8b0d43fe6c05 125 }
greenroshks 0:8b0d43fe6c05 126 printf("Writing acs data in the flash\n");
greenroshks 0:8b0d43fe6c05 127 }
greenroshks 8:667fbc82d634 128 }*/
greenroshks 0:8b0d43fe6c05 129
greenroshks 0:8b0d43fe6c05 130
greenroshks 0:8b0d43fe6c05 131 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 132
greenroshks 0:8b0d43fe6c05 133 int beac_flag=0; //To receive telecommand from ground.
greenroshks 0:8b0d43fe6c05 134
greenroshks 0:8b0d43fe6c05 135
greenroshks 8:667fbc82d634 136 /*void t_bea_telecommand(void const *args) //taken care of by t_exec_tc
greenroshks 0:8b0d43fe6c05 137 {
greenroshks 0:8b0d43fe6c05 138 char c = pc.getc();
greenroshks 0:8b0d43fe6c05 139 if(c=='a')
greenroshks 0:8b0d43fe6c05 140 {
greenroshks 0:8b0d43fe6c05 141 printf("Telecommand detected\n");
greenroshks 0:8b0d43fe6c05 142 beac_flag=1;
greenroshks 0:8b0d43fe6c05 143 }
greenroshks 0:8b0d43fe6c05 144 }
greenroshks 8:667fbc82d634 145 */
greenroshks 0:8b0d43fe6c05 146 void t_bea(void const *args)
greenroshks 0:8b0d43fe6c05 147 {
greenroshks 0:8b0d43fe6c05 148
greenroshks 0:8b0d43fe6c05 149 while(1)
greenroshks 0:8b0d43fe6c05 150 {
greenroshks 0:8b0d43fe6c05 151 Thread::signal_wait(0x3);
greenroshks 0:8b0d43fe6c05 152 printf("\nTHIS IS BEACON %f\n",t1.read());
greenroshks 8:667fbc82d634 153 //t.start();
greenroshks 0:8b0d43fe6c05 154
greenroshks 0:8b0d43fe6c05 155
greenroshks 0:8b0d43fe6c05 156
greenroshks 0:8b0d43fe6c05 157 FUNC_BEA();
greenroshks 0:8b0d43fe6c05 158
greenroshks 0:8b0d43fe6c05 159
greenroshks 8:667fbc82d634 160 /*if(beac_flag==1) //beacon standby can be doe to
greenroshks 0:8b0d43fe6c05 161 {
greenroshks 0:8b0d43fe6c05 162 Thread::wait(600000);
greenroshks 0:8b0d43fe6c05 163 beac_flag = 0;
greenroshks 8:667fbc82d634 164 }*/
greenroshks 0:8b0d43fe6c05 165
greenroshks 8:667fbc82d634 166 //printf("The time to execute beacon thread is %f seconds\n",t.read());
greenroshks 8:667fbc82d634 167 //t.reset();
greenroshks 0:8b0d43fe6c05 168 }
greenroshks 0:8b0d43fe6c05 169 }
greenroshks 0:8b0d43fe6c05 170
greenroshks 0:8b0d43fe6c05 171 //---------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 172 //TASK 4 : FAULT MANAGEMENT
greenroshks 0:8b0d43fe6c05 173 //---------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 174 //Dummy fault rectifier functions
greenroshks 0:8b0d43fe6c05 175
sakthipriya 2:80b8a2e999f7 176 /*Mail<int,16> faults;
greenroshks 0:8b0d43fe6c05 177
greenroshks 0:8b0d43fe6c05 178 void FUNC_FAULT_FUNCT1()
greenroshks 0:8b0d43fe6c05 179 {
greenroshks 0:8b0d43fe6c05 180 printf("\nFault 1 detected... \n");
greenroshks 0:8b0d43fe6c05 181 }
greenroshks 0:8b0d43fe6c05 182
greenroshks 0:8b0d43fe6c05 183 void FUNC_FAULT_FUNCT2()
greenroshks 0:8b0d43fe6c05 184 {
greenroshks 0:8b0d43fe6c05 185 printf("\nFault 2 detected...\n");
greenroshks 0:8b0d43fe6c05 186 }
greenroshks 0:8b0d43fe6c05 187
greenroshks 0:8b0d43fe6c05 188 void T_FAULT(void const *args)
greenroshks 0:8b0d43fe6c05 189 {
greenroshks 0:8b0d43fe6c05 190 while(1)
greenroshks 0:8b0d43fe6c05 191 {
greenroshks 0:8b0d43fe6c05 192 osEvent evt = faults.get();
greenroshks 0:8b0d43fe6c05 193 if(evt.status==osEventMail)
greenroshks 0:8b0d43fe6c05 194 {
greenroshks 0:8b0d43fe6c05 195 int *fault_id= (int *)evt.value.p;
greenroshks 0:8b0d43fe6c05 196 switch(*fault_id)
greenroshks 0:8b0d43fe6c05 197 {
greenroshks 0:8b0d43fe6c05 198 case 1: FUNC_FAULT_FUNCT1();
greenroshks 0:8b0d43fe6c05 199 break;
greenroshks 0:8b0d43fe6c05 200 case 2: FUNC_FAULT_FUNCT2();
greenroshks 0:8b0d43fe6c05 201 break;
greenroshks 0:8b0d43fe6c05 202 }
greenroshks 0:8b0d43fe6c05 203 faults.free(fault_id);
greenroshks 0:8b0d43fe6c05 204 }
greenroshks 0:8b0d43fe6c05 205 }
sakthipriya 2:80b8a2e999f7 206 }*/
sakthipriya 5:255b43e8e21a 207
raizel_varun 6:e65b1ab79f36 208
raizel_varun 6:e65b1ab79f36 209
greenroshks 8:667fbc82d634 210 /*
sakthipriya 2:80b8a2e999f7 211 void T_FAULT(void const *args)
sakthipriya 4:8f6c24eca109 212 {
sakthipriya 5:255b43e8e21a 213 Sensor.power_mode='0';
sakthipriya 2:80b8a2e999f7 214 while(1)
sakthipriya 2:80b8a2e999f7 215 {
sakthipriya 2:80b8a2e999f7 216 Thread :: signal_wait(0x2);
sakthipriya 2:80b8a2e999f7 217 FAULTS();
sakthipriya 5:255b43e8e21a 218 POWER(Sensor.power_mode);
sakthipriya 5:255b43e8e21a 219 //Sensor.power_mode++; //testing ... should be removed
sakthipriya 2:80b8a2e999f7 220 }
greenroshks 0:8b0d43fe6c05 221 }
greenroshks 8:667fbc82d634 222 */
greenroshks 0:8b0d43fe6c05 223 //------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 224 //SCHEDULER
greenroshks 0:8b0d43fe6c05 225 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 4:8f6c24eca109 226 int beacon_sc = 3;
greenroshks 0:8b0d43fe6c05 227 uint16_t schedcount=1;
greenroshks 0:8b0d43fe6c05 228 void t_sc(void const *args)
greenroshks 0:8b0d43fe6c05 229 {
greenroshks 0:8b0d43fe6c05 230
greenroshks 0:8b0d43fe6c05 231 printf("The value of i in scheduler is %d\n",schedcount);
greenroshks 0:8b0d43fe6c05 232 if(schedcount == 65532) //to reset the counter
greenroshks 0:8b0d43fe6c05 233 {
greenroshks 0:8b0d43fe6c05 234 schedcount = 0;
greenroshks 0:8b0d43fe6c05 235 }
greenroshks 0:8b0d43fe6c05 236
greenroshks 0:8b0d43fe6c05 237 if(schedcount%1==0)
greenroshks 0:8b0d43fe6c05 238 {
greenroshks 0:8b0d43fe6c05 239 ptr_t_acs -> signal_set(0x1);
greenroshks 0:8b0d43fe6c05 240 }
greenroshks 0:8b0d43fe6c05 241 if(schedcount%2==0)
greenroshks 0:8b0d43fe6c05 242 {
greenroshks 8:667fbc82d634 243 // ptr_t_fault -> signal_set(0x2);
greenroshks 8:667fbc82d634 244 ptr_t_hk -> signal_set(0x2);
sakthipriya 2:80b8a2e999f7 245
greenroshks 0:8b0d43fe6c05 246 }
sakthipriya 4:8f6c24eca109 247 if(schedcount%beacon_sc==0)
greenroshks 0:8b0d43fe6c05 248 {
greenroshks 0:8b0d43fe6c05 249 if(beac_flag==0)
greenroshks 0:8b0d43fe6c05 250 {
greenroshks 0:8b0d43fe6c05 251
greenroshks 0:8b0d43fe6c05 252 ptr_t_bea -> signal_set(0x3);
greenroshks 0:8b0d43fe6c05 253 }
greenroshks 0:8b0d43fe6c05 254 }
greenroshks 0:8b0d43fe6c05 255 schedcount++;
greenroshks 0:8b0d43fe6c05 256 }
greenroshks 0:8b0d43fe6c05 257
greenroshks 0:8b0d43fe6c05 258 //---------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 259
greenroshks 0:8b0d43fe6c05 260 int main()
greenroshks 0:8b0d43fe6c05 261 {
greenroshks 0:8b0d43fe6c05 262 t1.start();
greenroshks 0:8b0d43fe6c05 263
greenroshks 8:667fbc82d634 264 ptr_t_hk = new Thread(t_hk);
greenroshks 0:8b0d43fe6c05 265 ptr_t_acs = new Thread(t_acs);
greenroshks 8:667fbc82d634 266 //ptr_t_acs_write2flash = new Thread(t_acs_write2flash);
greenroshks 0:8b0d43fe6c05 267 ptr_t_bea = new Thread(t_bea);
greenroshks 8:667fbc82d634 268 //ptr_t_bea_telecommand = new Thread(t_bea_telecommand);
greenroshks 8:667fbc82d634 269 //ptr_t_fault = new Thread(T_FAULT);
greenroshks 0:8b0d43fe6c05 270 //ptr_t_sc = new Thread(t_sc);
greenroshks 0:8b0d43fe6c05 271
greenroshks 8:667fbc82d634 272 // ptr_t_fault -> set_priority(osPriorityRealtime);
greenroshks 0:8b0d43fe6c05 273 ptr_t_acs->set_priority(osPriorityHigh);
greenroshks 8:667fbc82d634 274 ptr_t_hk->set_priority(osPriorityNormal);
greenroshks 8:667fbc82d634 275 //ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal);
greenroshks 0:8b0d43fe6c05 276 ptr_t_bea->set_priority(osPriorityAboveNormal);
greenroshks 8:667fbc82d634 277 //ptr_t_bea_telecommand->set_priority(osPriorityIdle);
greenroshks 0:8b0d43fe6c05 278 //ptr_t_sc->set_priority(osPriorityAboveNormal);
greenroshks 0:8b0d43fe6c05 279
greenroshks 0:8b0d43fe6c05 280
greenroshks 0:8b0d43fe6c05 281 // ----------------------------------------------------------------------------------------------
greenroshks 8:667fbc82d634 282 //printf("\n T_FAULT priority is %d",ptr_t_fault->get_priority());
greenroshks 0:8b0d43fe6c05 283 printf("\n T_ACS priority is %d",ptr_t_acs->get_priority());
greenroshks 8:667fbc82d634 284 printf("\n T_HK_ACQ priority is %d",ptr_t_hk->get_priority());
greenroshks 8:667fbc82d634 285 //printf("\n T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
greenroshks 0:8b0d43fe6c05 286 printf("\n T_BEA priority is %d",ptr_t_bea->get_priority());
greenroshks 0:8b0d43fe6c05 287 RtosTimer t_sc_timer(t_sc,osTimerPeriodic);
greenroshks 0:8b0d43fe6c05 288 t_sc_timer.start(10000);
greenroshks 0:8b0d43fe6c05 289 printf("\n%f\n",t1.read());
greenroshks 0:8b0d43fe6c05 290
greenroshks 0:8b0d43fe6c05 291 while(1)
raizel_varun 7:f06840d848e3 292 {
greenroshks 0:8b0d43fe6c05 293 Thread::wait(10000);
greenroshks 0:8b0d43fe6c05 294 ;
greenroshks 0:8b0d43fe6c05 295 }
greenroshks 0:8b0d43fe6c05 296
greenroshks 0:8b0d43fe6c05 297 }