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pcb test start
Fork of BAE_hw_test1_5 by
main.cpp
- Committer:
- greenroshks
- Date:
- 2014-12-26
- Revision:
- 2:edd107ea4740
- Parent:
- 1:deb3c0fafa3a
- Child:
- 3:20647ff68b3c
File content as of revision 2:edd107ea4740:
#include "mbed.h" #include "rtos.h" #include "HK.h" #include "slave.h" #include "beacon.h" #include "ACS.h" #include "fault.h" #include "slave.h" Serial pc(USBTX, USBRX); //extern DigitalOut DRDY; InterruptIn interrupt(D9); InterruptIn master_reset(D8); Timer t; //To know the time of execution each thread Timer t1; //To know the time of entering 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; Thread *ptr_t_i2c; Thread *ptr_t_wdt; I2CSlave slave(D14,D15); //configuring pins p27, p28 as I2Cslave DigitalOut data_ready(D10); int i2c_status=0; //read/write mode for i2c 0 : write2slave, 1 : write2master int reset=0; int temp; typedef struct { char data[25]; // To avoid dynamic memory allocation int length; }i2c_data; //Mail<i2c_data,16> i2c_data_receive; Mail<i2c_data,16> i2c_data_send; //-------------------------------------------------------------------------------------------------------------------------------------------------- //TASK 2 : HK //-------------------------------------------------------------------------------------------------------------------------------------------------- char hk_data[25]; extern SensorDataQuantised SensorQuantised; void T_HK_ACQ(void const *args) { while(1) { Thread::signal_wait(0x2); SensorQuantised.power_mode='3'; printf("\nTHIS IS HK %f\n",t1.read()); t.start(); FUNC_HK_FAULTS(); FUNC_HK_POWER(SensorQuantised.power_mode); //The power mode algorithm is yet to be obtained FUNC_HK_MAIN(); //Collecting HK data //thread_2.signal_set(0x4); //FUNC_I2C_SLAVE_MAIN(25); FUNC_I2C_IR2CDMS(); t.stop(); printf("The time to execute hk_acq is %f seconds\n",t.read()); t.reset(); } } //--------------------------------------------------------------------------------------------------------------------------------------- //TASK 1 : ACS //--------------------------------------------------------------------------------------------------------------------------------------- int acs_pflag = 1; void T_ACS(void const *args) { float *mag_field; float *omega; float *moment; while(1) { Thread::signal_wait(0x1); printf("\nTHIS IS ACS %f\n",t1.read()); t.start(); mag_field= FUNC_ACS_MAG_EXEC(); //actual execution omega = FUNC_ACS_EXEC_GYR(); printf("\n gyr 1 value %f",omega[0]); if(acs_pflag == 1) { moment = FUNC_ACS_CNTRLALGO(mag_field,omega); FUNC_ACS_GENPWM(moment); } 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); } } }*/ extern SensorDataQuantised SensorQuantised; /*void T_FAULT(void const *args) { Sensor.power_mode='0'; while(1) { Thread :: signal_wait(0x2); FAULTS(); POWER(Sensor.power_mode); //Sensor.power_mode++; //testing ... should be removed } } */ /*------------------------------------------------------------------------------------------------------------------------------------------- -------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/ DigitalOut trigger(PIN63); // has to be changed void T_WDT(void const * args) { trigger = 1; while(true) { Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized printf("\nEntered WD\n"); trigger = !trigger; } } //--------------------------------------------------------------------------------------------------------------------------------------------------- //TASK 5 : i2c data //--------------------------------------------------------------------------------------------------------------------------------------------------- void FUNC_I2C_WRITE2CDMS(char *data, int length=1) { int slave_status = 1; while(slave_status && interrupt == 1) { slave.address(0x20); if(slave.receive()==1) { slave_status=slave.write(data,length); } else if(slave.receive()==3 || slave.receive()==2) { slave_status=slave.read(data,length); } } printf("\ndone\n\r"); } char data_send[25],data_receive; void T_I2C_BAE(void const * args) { //char data_send,data_receive; while(1) { Thread::signal_wait(0x4); //T_I2C_BAE(); //i2c_status = temp; //wait(0.5); printf("\n entered thread %d\n\r",i2c_status); if(i2c_status == 0 ) { FUNC_I2C_WRITE2CDMS(&data_receive,1); printf("\n received\n"); /*i2c_data * i2c_data_r = i2c_data_receive.alloc(); i2c_data_r->data = data_receive; i2c_data_r->length = 1; i2c_data_receive.put(i2c_data_r);*/ printf("\n Data received from CDMS is %c \n\r",data_receive); FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread } else if(i2c_status ==1) { osEvent evt = i2c_data_send.get(); if (evt.status == osEventMail) { i2c_data *i2c_data_s = (i2c_data*)evt.value.p; strcpy(data_send,i2c_data_s -> data); FUNC_I2C_WRITE2CDMS(data_send,25); printf("\nData sent to CDMS is %s\n\r",data_send); i2c_data_send.free(i2c_data_s); i2c_status = 0; //temp = i2c_status; } } } } void FUNC_I2C_INT() { reset = 0; ptr_t_i2c->signal_set(0x4); } void FUNC_I2C_IR2CDMS() { //char data[25]; //strcpy(data,"sakthi "); //strcat(data,"priya"); strcpy(hk_data,SensorQuantised.Voltage); strcat(hk_data,SensorQuantised.Current); strcat(hk_data,SensorQuantised.Temperature); strcat(hk_data,SensorQuantised.PanelTemperature); strcat(hk_data,SensorQuantised.AngularSpeed); strcat(hk_data,SensorQuantised.Bnewvalue); char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode}; /*strcat(hk_data,sfaultpoll); strcat(hk_data,sfaultir); strcat(hk_data,spower_mode);*/ strcat(hk_data,fdata); printf("\nhk data : %s\n",hk_data); data_ready=0; //data = pcslave.getc(); reset =0; i2c_status=1; i2c_data * i2c_data_s = i2c_data_send.alloc(); strcpy(i2c_data_s->data,hk_data); i2c_data_s->length = 25; i2c_data_send.put(i2c_data_s); data_ready=1; //temp = i2c_status; } //------------------------------------------------------------------------------------------------------------------------------------------------ //TELECOMMAND //------------------------------------------------------------------------------------------------------------------------------------------------ void FUNC_I2C_TC_EXECUTE (char command) { switch(command) { case '0' : printf("command 0 executed"); break; case '1' : printf("command 1 executed"); break; case '2' : printf("command 2 executed"); break; case '3' : printf("command 3 executed"); } } //------------------------------------------------------------------------------------------------------------------------------------------------ //SCHEDULER //------------------------------------------------------------------------------------------------------------------------------------------------ int beacon_sc = 3; uint16_t schedcount=1; void T_SC(void const *args) { //DRDY=0; 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); ptr_t_wdt -> signal_set(0x5); } if(schedcount%2==0) { //ptr_t_fault -> signal_set(0x2); ptr_t_hk_acq -> signal_set(0x2); } if(schedcount%beacon_sc==0) { if(beac_flag==0) { //ptr_t_bea -> signal_set(0x3); } } schedcount++; } //--------------------------------------------------------------------------------------------------------------------------------------------- int main() { t1.start(); //DRDY=0; FUNC_ACS_MAG_INIT(); FUNC_ACS_INIT_GYR(); 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_i2c = new Thread(T_I2C_BAE); //ptr_t_sc = new Thread(T_SC); ptr_t_wdt = new Thread(T_WDT); interrupt_fault(); //ptr_t_fault -> set_priority(osPriorityRealtime); ptr_t_acs->set_priority(osPriorityAboveNormal); ptr_t_i2c->set_priority(osPriorityHigh); ptr_t_hk_acq->set_priority(osPriorityAboveNormal); //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); ptr_t_wdt -> set_priority(osPriorityIdle); // ---------------------------------------------------------------------------------------------- //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()); //master_reset.fall(&FUNC_I2C_RESET); interrupt.rise(&FUNC_I2C_INT); while(1) { //Thread::wait(10000); //ir2master(); //DRDY = 0; Thread::wait(5000); } }