Pradeep Kotipalli / Mbed 2 deprecated BAE_FRDM

gvfc

Dependencies:   mbed-rtos mbed

Fork of BAE_FRDM by green rosh

main.cpp@1:b4bb78a9b92e, 2014-12-02 (annotated)

Committer:
greenroshks
Date:
Tue Dec 02 04:38:19 2014 +0000
Revision:
1:b4bb78a9b92e
Parent:
0:8b0d43fe6c05 
BAE FRDM final

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"
greenroshks 0:8b0d43fe6c05 7
greenroshks 0:8b0d43fe6c05 8 Serial pc(USBTX, USBRX);
greenroshks 0:8b0d43fe6c05 9
greenroshks 0:8b0d43fe6c05 10
greenroshks 0:8b0d43fe6c05 11
greenroshks 0:8b0d43fe6c05 12 Timer t; //To know the time of entering each thread
greenroshks 0:8b0d43fe6c05 13 Timer t1; //To know the time of execution of each thread
greenroshks 0:8b0d43fe6c05 14
greenroshks 0:8b0d43fe6c05 15 Thread *ptr_t_hk_acq;
greenroshks 0:8b0d43fe6c05 16 Thread *ptr_t_acs;
greenroshks 0:8b0d43fe6c05 17 Thread *ptr_t_acs_write2flash;
greenroshks 0:8b0d43fe6c05 18 Thread *ptr_t_bea;
greenroshks 0:8b0d43fe6c05 19 Thread *ptr_t_bea_telecommand;
greenroshks 0:8b0d43fe6c05 20 Thread *ptr_t_fault;
greenroshks 0:8b0d43fe6c05 21
greenroshks 0:8b0d43fe6c05 22
greenroshks 0:8b0d43fe6c05 23 //--------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 24 //TASK 2 : HK
greenroshks 0:8b0d43fe6c05 25 //--------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 26
greenroshks 0:8b0d43fe6c05 27
greenroshks 0:8b0d43fe6c05 28
greenroshks 0:8b0d43fe6c05 29 void t_hk_acq(void const *args)
greenroshks 0:8b0d43fe6c05 30 {
greenroshks 0:8b0d43fe6c05 31
greenroshks 0:8b0d43fe6c05 32 while(1)
greenroshks 0:8b0d43fe6c05 33 {
greenroshks 0:8b0d43fe6c05 34 Thread::signal_wait(0x2);
greenroshks 0:8b0d43fe6c05 35
greenroshks 0:8b0d43fe6c05 36 printf("\nTHIS IS HK %f\n",t1.read());
greenroshks 0:8b0d43fe6c05 37 t.start();
greenroshks 0:8b0d43fe6c05 38
greenroshks 0:8b0d43fe6c05 39 FUNC_HK_MAIN(); //Collecting HK data
greenroshks 0:8b0d43fe6c05 40 //thread_2.signal_set(0x4);
greenroshks 0:8b0d43fe6c05 41 FUNC_I2C_SLAVE_MAIN(24); //Sending to CDMS via I2C
greenroshks 0:8b0d43fe6c05 42
greenroshks 0:8b0d43fe6c05 43 t.stop();
greenroshks 0:8b0d43fe6c05 44 printf("The time to execute hk_acq is %f seconds\n",t.read());
greenroshks 0:8b0d43fe6c05 45 t.reset();
greenroshks 0:8b0d43fe6c05 46 }
greenroshks 0:8b0d43fe6c05 47 }
greenroshks 0:8b0d43fe6c05 48
greenroshks 0:8b0d43fe6c05 49 //---------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 50 //TASK 1 : ACS
greenroshks 0:8b0d43fe6c05 51 //---------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 52 typedef struct {
greenroshks 0:8b0d43fe6c05 53 float mag_field;
greenroshks 0:8b0d43fe6c05 54 float omega;
greenroshks 0:8b0d43fe6c05 55 } sensor_data;
greenroshks 0:8b0d43fe6c05 56
greenroshks 0:8b0d43fe6c05 57 Mail <sensor_data, 16> q_acs;
greenroshks 0:8b0d43fe6c05 58
greenroshks 0:8b0d43fe6c05 59 void func_acs_readdata(sensor_data *ptr)
greenroshks 0:8b0d43fe6c05 60 {
greenroshks 0:8b0d43fe6c05 61 printf("Reading the data\n");
greenroshks 0:8b0d43fe6c05 62 ptr -> mag_field = 10;
greenroshks 0:8b0d43fe6c05 63 ptr -> omega = 3;
greenroshks 0:8b0d43fe6c05 64 }
greenroshks 0:8b0d43fe6c05 65
greenroshks 0:8b0d43fe6c05 66 void func_acs_ctrlalgo()
greenroshks 0:8b0d43fe6c05 67 {
greenroshks 0:8b0d43fe6c05 68 printf("Executing control algo\n");
greenroshks 0:8b0d43fe6c05 69 }
greenroshks 0:8b0d43fe6c05 70
greenroshks 0:8b0d43fe6c05 71
greenroshks 0:8b0d43fe6c05 72
greenroshks 0:8b0d43fe6c05 73 void func_acs_write2flash(sensor_data *ptr2)
greenroshks 0:8b0d43fe6c05 74 {
greenroshks 0:8b0d43fe6c05 75 printf("The magnetic field is %.2f T\n\r",ptr2->mag_field);
greenroshks 0:8b0d43fe6c05 76 printf("The angular velocity is %.2f rad/s\n\r",ptr2->omega);
greenroshks 0:8b0d43fe6c05 77 }
greenroshks 0:8b0d43fe6c05 78
greenroshks 0:8b0d43fe6c05 79 void t_acs(void const *args)
greenroshks 0:8b0d43fe6c05 80 {
greenroshks 0:8b0d43fe6c05 81 while(1)
greenroshks 0:8b0d43fe6c05 82 {
greenroshks 0:8b0d43fe6c05 83 Thread::signal_wait(0x1);
greenroshks 0:8b0d43fe6c05 84 printf("\nTHIS IS ACS %f\n",t1.read());
greenroshks 0:8b0d43fe6c05 85 t.start();
greenroshks 0:8b0d43fe6c05 86 sensor_data *ptr = q_acs.alloc();
greenroshks 0:8b0d43fe6c05 87
greenroshks 0:8b0d43fe6c05 88 func_acs_readdata(ptr);
greenroshks 0:8b0d43fe6c05 89 q_acs.put(ptr);
greenroshks 0:8b0d43fe6c05 90 func_acs_ctrlalgo();
greenroshks 0:8b0d43fe6c05 91 FUNC_ACS_GENPWM(); //Generating PWM signal.
greenroshks 0:8b0d43fe6c05 92
greenroshks 0:8b0d43fe6c05 93
greenroshks 0:8b0d43fe6c05 94 t.reset();
greenroshks 0:8b0d43fe6c05 95 }
greenroshks 0:8b0d43fe6c05 96 }
greenroshks 0:8b0d43fe6c05 97
greenroshks 0:8b0d43fe6c05 98 void t_acs_write2flash(void const *args)
greenroshks 0:8b0d43fe6c05 99 {
greenroshks 0:8b0d43fe6c05 100 while(1)
greenroshks 0:8b0d43fe6c05 101 {
greenroshks 0:8b0d43fe6c05 102 //printf("Writing in the flash\n");
greenroshks 0:8b0d43fe6c05 103 osEvent evt = q_acs.get();
greenroshks 0:8b0d43fe6c05 104 if(evt.status == osEventMail)
greenroshks 0:8b0d43fe6c05 105 {
greenroshks 0:8b0d43fe6c05 106 sensor_data *ptr = (sensor_data*)evt.value.p;
greenroshks 0:8b0d43fe6c05 107 func_acs_write2flash(ptr);
greenroshks 0:8b0d43fe6c05 108 q_acs.free(ptr);
greenroshks 0:8b0d43fe6c05 109 }
greenroshks 0:8b0d43fe6c05 110 printf("Writing acs data in the flash\n");
greenroshks 0:8b0d43fe6c05 111 }
greenroshks 0:8b0d43fe6c05 112 }
greenroshks 0:8b0d43fe6c05 113
greenroshks 0:8b0d43fe6c05 114
greenroshks 0:8b0d43fe6c05 115 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 116
greenroshks 0:8b0d43fe6c05 117 int beac_flag=0; //To receive telecommand from ground.
greenroshks 0:8b0d43fe6c05 118
greenroshks 0:8b0d43fe6c05 119
greenroshks 0:8b0d43fe6c05 120 void t_bea_telecommand(void const *args)
greenroshks 0:8b0d43fe6c05 121 {
greenroshks 0:8b0d43fe6c05 122 char c = pc.getc();
greenroshks 0:8b0d43fe6c05 123 if(c=='a')
greenroshks 0:8b0d43fe6c05 124 {
greenroshks 0:8b0d43fe6c05 125 printf("Telecommand detected\n");
greenroshks 0:8b0d43fe6c05 126 beac_flag=1;
greenroshks 0:8b0d43fe6c05 127 }
greenroshks 0:8b0d43fe6c05 128 }
greenroshks 0:8b0d43fe6c05 129
greenroshks 0:8b0d43fe6c05 130 void t_bea(void const *args)
greenroshks 0:8b0d43fe6c05 131 {
greenroshks 0:8b0d43fe6c05 132
greenroshks 0:8b0d43fe6c05 133 while(1)
greenroshks 0:8b0d43fe6c05 134 {
greenroshks 0:8b0d43fe6c05 135 Thread::signal_wait(0x3);
greenroshks 0:8b0d43fe6c05 136 printf("\nTHIS IS BEACON %f\n",t1.read());
greenroshks 0:8b0d43fe6c05 137 t.start();
greenroshks 0:8b0d43fe6c05 138
greenroshks 0:8b0d43fe6c05 139
greenroshks 0:8b0d43fe6c05 140
greenroshks 0:8b0d43fe6c05 141 FUNC_BEA();
greenroshks 0:8b0d43fe6c05 142
greenroshks 0:8b0d43fe6c05 143
greenroshks 0:8b0d43fe6c05 144 if(beac_flag==1)
greenroshks 0:8b0d43fe6c05 145 {
greenroshks 0:8b0d43fe6c05 146 Thread::wait(600000);
greenroshks 0:8b0d43fe6c05 147 beac_flag = 0;
greenroshks 0:8b0d43fe6c05 148 }
greenroshks 0:8b0d43fe6c05 149
greenroshks 0:8b0d43fe6c05 150 printf("The time to execute beacon thread is %f seconds\n",t.read());
greenroshks 0:8b0d43fe6c05 151 t.reset();
greenroshks 0:8b0d43fe6c05 152 }
greenroshks 0:8b0d43fe6c05 153 }
greenroshks 0:8b0d43fe6c05 154
greenroshks 0:8b0d43fe6c05 155 //---------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 156 //TASK 4 : FAULT MANAGEMENT
greenroshks 0:8b0d43fe6c05 157 //---------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 158 //Dummy fault rectifier functions
greenroshks 0:8b0d43fe6c05 159
greenroshks 0:8b0d43fe6c05 160 Mail<int,16> faults;
greenroshks 0:8b0d43fe6c05 161
greenroshks 0:8b0d43fe6c05 162 void FUNC_FAULT_FUNCT1()
greenroshks 0:8b0d43fe6c05 163 {
greenroshks 0:8b0d43fe6c05 164 printf("\nFault 1 detected... \n");
greenroshks 0:8b0d43fe6c05 165 }
greenroshks 0:8b0d43fe6c05 166
greenroshks 0:8b0d43fe6c05 167 void FUNC_FAULT_FUNCT2()
greenroshks 0:8b0d43fe6c05 168 {
greenroshks 0:8b0d43fe6c05 169 printf("\nFault 2 detected...\n");
greenroshks 0:8b0d43fe6c05 170 }
greenroshks 0:8b0d43fe6c05 171
greenroshks 0:8b0d43fe6c05 172 void T_FAULT(void const *args)
greenroshks 0:8b0d43fe6c05 173 {
greenroshks 0:8b0d43fe6c05 174 while(1)
greenroshks 0:8b0d43fe6c05 175 {
greenroshks 0:8b0d43fe6c05 176 osEvent evt = faults.get();
greenroshks 0:8b0d43fe6c05 177 if(evt.status==osEventMail)
greenroshks 0:8b0d43fe6c05 178 {
greenroshks 0:8b0d43fe6c05 179 int *fault_id= (int *)evt.value.p;
greenroshks 0:8b0d43fe6c05 180 switch(*fault_id)
greenroshks 0:8b0d43fe6c05 181 {
greenroshks 0:8b0d43fe6c05 182 case 1: FUNC_FAULT_FUNCT1();
greenroshks 0:8b0d43fe6c05 183 break;
greenroshks 0:8b0d43fe6c05 184 case 2: FUNC_FAULT_FUNCT2();
greenroshks 0:8b0d43fe6c05 185 break;
greenroshks 0:8b0d43fe6c05 186 }
greenroshks 0:8b0d43fe6c05 187 faults.free(fault_id);
greenroshks 0:8b0d43fe6c05 188 }
greenroshks 0:8b0d43fe6c05 189 }
greenroshks 0:8b0d43fe6c05 190 }
greenroshks 0:8b0d43fe6c05 191
greenroshks 0:8b0d43fe6c05 192 //------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 193 //SCHEDULER
greenroshks 0:8b0d43fe6c05 194 //------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 195 uint16_t schedcount=1;
greenroshks 0:8b0d43fe6c05 196 void t_sc(void const *args)
greenroshks 0:8b0d43fe6c05 197 {
greenroshks 0:8b0d43fe6c05 198
greenroshks 0:8b0d43fe6c05 199 printf("The value of i in scheduler is %d\n",schedcount);
greenroshks 0:8b0d43fe6c05 200 if(schedcount == 65532) //to reset the counter
greenroshks 0:8b0d43fe6c05 201 {
greenroshks 0:8b0d43fe6c05 202 schedcount = 0;
greenroshks 0:8b0d43fe6c05 203 }
greenroshks 0:8b0d43fe6c05 204
greenroshks 0:8b0d43fe6c05 205 if(schedcount%1==0)
greenroshks 0:8b0d43fe6c05 206 {
greenroshks 0:8b0d43fe6c05 207 ptr_t_acs -> signal_set(0x1);
greenroshks 0:8b0d43fe6c05 208 }
greenroshks 0:8b0d43fe6c05 209 if(schedcount%2==0)
greenroshks 0:8b0d43fe6c05 210 {
greenroshks 0:8b0d43fe6c05 211 ptr_t_hk_acq -> signal_set(0x2);
greenroshks 0:8b0d43fe6c05 212 }
greenroshks 0:8b0d43fe6c05 213 if(schedcount%3==0)
greenroshks 0:8b0d43fe6c05 214 {
greenroshks 0:8b0d43fe6c05 215 if(beac_flag==0)
greenroshks 0:8b0d43fe6c05 216 {
greenroshks 0:8b0d43fe6c05 217
greenroshks 0:8b0d43fe6c05 218 ptr_t_bea -> signal_set(0x3);
greenroshks 0:8b0d43fe6c05 219 }
greenroshks 0:8b0d43fe6c05 220 }
greenroshks 0:8b0d43fe6c05 221 schedcount++;
greenroshks 0:8b0d43fe6c05 222 }
greenroshks 0:8b0d43fe6c05 223
greenroshks 0:8b0d43fe6c05 224 //---------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 225
greenroshks 0:8b0d43fe6c05 226 int main()
greenroshks 0:8b0d43fe6c05 227 {
greenroshks 0:8b0d43fe6c05 228 t1.start();
greenroshks 0:8b0d43fe6c05 229
greenroshks 0:8b0d43fe6c05 230 ptr_t_hk_acq = new Thread(t_hk_acq);
greenroshks 0:8b0d43fe6c05 231 ptr_t_acs = new Thread(t_acs);
greenroshks 0:8b0d43fe6c05 232 ptr_t_acs_write2flash = new Thread(t_acs_write2flash);
greenroshks 0:8b0d43fe6c05 233 ptr_t_bea = new Thread(t_bea);
greenroshks 0:8b0d43fe6c05 234 ptr_t_bea_telecommand = new Thread(t_bea_telecommand);
greenroshks 0:8b0d43fe6c05 235 ptr_t_fault = new Thread(T_FAULT);
greenroshks 0:8b0d43fe6c05 236 //ptr_t_sc = new Thread(t_sc);
greenroshks 0:8b0d43fe6c05 237
greenroshks 0:8b0d43fe6c05 238 ptr_t_fault -> set_priority(osPriorityRealtime);
greenroshks 0:8b0d43fe6c05 239 ptr_t_acs->set_priority(osPriorityHigh);
greenroshks 0:8b0d43fe6c05 240 ptr_t_hk_acq->set_priority(osPriorityNormal);
greenroshks 0:8b0d43fe6c05 241 ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal);
greenroshks 0:8b0d43fe6c05 242 ptr_t_bea->set_priority(osPriorityAboveNormal);
greenroshks 0:8b0d43fe6c05 243 ptr_t_bea_telecommand->set_priority(osPriorityIdle);
greenroshks 0:8b0d43fe6c05 244 //ptr_t_sc->set_priority(osPriorityAboveNormal);
greenroshks 0:8b0d43fe6c05 245
greenroshks 0:8b0d43fe6c05 246
greenroshks 0:8b0d43fe6c05 247 // ----------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 248 printf("\n T_FAULT priority is %d",ptr_t_fault->get_priority());
greenroshks 0:8b0d43fe6c05 249 printf("\n T_ACS priority is %d",ptr_t_acs->get_priority());
greenroshks 0:8b0d43fe6c05 250 printf("\n T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
greenroshks 0:8b0d43fe6c05 251 printf("\n T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
greenroshks 0:8b0d43fe6c05 252 printf("\n T_BEA priority is %d",ptr_t_bea->get_priority());
greenroshks 0:8b0d43fe6c05 253 RtosTimer t_sc_timer(t_sc,osTimerPeriodic);
greenroshks 0:8b0d43fe6c05 254 t_sc_timer.start(10000);
greenroshks 0:8b0d43fe6c05 255 printf("\n%f\n",t1.read());
greenroshks 0:8b0d43fe6c05 256
greenroshks 0:8b0d43fe6c05 257 while(1)
greenroshks 0:8b0d43fe6c05 258 {
greenroshks 0:8b0d43fe6c05 259 Thread::wait(10000);
greenroshks 0:8b0d43fe6c05 260 ;
greenroshks 0:8b0d43fe6c05 261 }
greenroshks 0:8b0d43fe6c05 262
greenroshks 0:8b0d43fe6c05 263 }