Diff: main.cpp

Revision:

2:94ca2059f8b2

Parent:

1:37fa1c3eba16

Child:

4:79b97f9cab00

--- a/main.cpp	Thu Jul 10 11:37:47 2014 +0000
+++ b/main.cpp	Fri Jul 11 05:14:12 2014 +0000
@@ -3,10 +3,10 @@
 #include "hkfinal.h"
 #include "slave.h"
 #include "ShortBeacon.h"
-//What da ??
+
 Serial pc(USBTX, USBRX);
 
-DigitalOut led1(LED1);
+
 
 Timer t;
 Timer t1;
@@ -16,7 +16,8 @@
 Thread *ptr_t_acs_write2flash;
 Thread *ptr_t_bea;
 Thread *ptr_t_bea_telecommand;
-Thread *ptr_t_sc;
+Thread *ptr_t_fault;
+
 
 //----------------------------------------------HOUSE-KEEPING(HK)------------------------------------------------------------------------------------------
 //void func_hk_mux()
@@ -49,14 +50,12 @@
     while(1)
     {
         t.start();
-        
+        Thread::signal_wait(0x4);
         printf("The state of hk_acq thread is %d\n",ptr_t_hk_acq->get_state());
         printf("The state of acs_main thread is %d\n",ptr_t_acs->get_state());
         printf("The state of acs_write2flash thread is %d\n",ptr_t_acs_write2flash->get_state());
         printf("The state of beacon thread is %d\n",ptr_t_bea->get_state());
-        Thread::signal_wait(0x4);
-        //func_hk_readram();
-        //func_hk_send2cdms();
+             
         FUNC_I2C_SLAVE_MAIN();
         printf("The time to execute send2cdms is %f\n",t.read());
         t.reset();
@@ -69,11 +68,10 @@
     while(1)
     {
         Thread::signal_wait(0x2);
-        printf("\nTHIS IS HK\n");
+        
+        printf("\nTHIS IS HK    %f\n",t1.read());
         t.start();
-        //func_hk_mux();
-        //func_hk_adc();
-        //func_hk_write2flash();
+        
         FUNC_HK_MAIN();
         thread_2.signal_set(0x4);
         printf("The state of hk_acq thread is %d\n",ptr_t_hk_acq->get_state());
@@ -123,13 +121,14 @@
     while(1)
     {
         Thread::signal_wait(0x1);
-        printf("\nTHIS IS ACS\n");
+        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_pwmgen();
-        q_acs.put(ptr);
+        
         printf("The state of hk_acq thread is %d\n",ptr_t_hk_acq->get_state());
         printf("The state of acs_main thread is %d\n",ptr_t_acs->get_state());
         printf("The state of acs_write2flash thread is %d\n",ptr_t_acs_write2flash->get_state());
@@ -158,7 +157,7 @@
 
 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
 
-int flag=0;
+int beac_flag=0;
 
 /*void func_bea_readbaeflash()
 {
@@ -178,7 +177,7 @@
     if(c=='a')
     {
         pc.printf("Telecommand detected\n");
-        flag=1;
+        beac_flag=1;
     }
 }
 
@@ -188,13 +187,13 @@
     while(1)
     {
         Thread::signal_wait(0x3);
-        printf("\nTHIS IS BEACON\n");
+        printf("\nTHIS IS BEACON    %f\n",t1.read());
         t.start();
         printf("The state of hk_acq thread is %d\n",ptr_t_hk_acq->get_state());
         printf("The state of acs_main thread is %d\n",ptr_t_acs->get_state());
         printf("The state of acs_write2flash thread is %d\n",ptr_t_acs_write2flash->get_state());
         printf("The state of beacon thread is %d\n",ptr_t_bea->get_state());
-        if(flag==0)
+        if(beac_flag==0)
         {
             //func_bea_readbaeflash();
             //func_bea_spiwrite();
@@ -202,8 +201,8 @@
         }
         else
         {
-            Thread::wait(10000);
-            flag = 0;
+            Thread::wait(600000);
+            beac_flag = 0;
         }
         
         printf("The time to execute beacon thread is %f seconds\n",t.read());
@@ -211,25 +210,69 @@
     }
 }
 
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK 4 : FAULT MANAGEMENT
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//Dummy fault rectifier functions
+
+Mail<int,16> faults;
+
+void FUNC_FAULT_FUNCT1()
+{
+    pc.printf("\nFault 1 detected... \n");
+}
+
+void FUNC_FAULT_FUNCT2()
+{
+    pc.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);
+        }
+    }
+}
+
 //------------------------------------------------------------------------------------------------------------------------------------------------
-int i=0;
+//SCHEDULER
+//------------------------------------------------------------------------------------------------------------------------------------------------
+uint16_t schedcount=1;
 void t_sc(void const *args)
 {
     
-    printf("The value of i in scheduler is %d\n",i);
-    if(i%10==0)
+    //printf("The value of i in scheduler is %d\n",i);
+    if(schedcount == 65532)                         //to reset the counter
+    {
+        schedcount = 0;
+    }
+    
+    if(schedcount%1==0)
     {
         ptr_t_acs -> signal_set(0x1);
     }
-    if(i%20==0)
+    if(schedcount%2==0)
     {
         ptr_t_hk_acq -> signal_set(0x2);
     }
-    if(i%30==0)
+    if(schedcount%3==0)
     {
         ptr_t_bea -> signal_set(0x3);
     }
-    i++;
+    schedcount++;
 }
     
 //---------------------------------------------------------------------------------------------------------------------------------------------
@@ -243,10 +286,12 @@
     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_acs->set_priority(osPriorityRealtime);
-    ptr_t_hk_acq->set_priority(osPriorityHigh);
+    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);
@@ -261,10 +306,15 @@
     t_acs_timer.start(10000);
     t_bea_timer.start(30000);
     ----------------------------------------------------------------------------------------------*/    
-    
+    pc.printf("\n T_FAULT priority is %d",ptr_t_fault->get_priority()); 
+    pc.printf("\n T_ACS priority is %d",ptr_t_acs->get_priority());
+    pc.printf("\n T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
+    pc.printf("\n T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
+    pc.printf("\n T_BEA priority is %d",ptr_t_bea->get_priority());  
     RtosTimer t_sc_timer(t_sc,osTimerPeriodic);
-    t_sc_timer.start(1000);
-    printf("%f\n",t1.read());   
+    t_sc_timer.start(10000);
+    printf("\n%f\n",t1.read()); 
+        
     while(1)
     {
         ;