Seeker of Truth , / Mbed 2 deprecated BAE_FRDMTESIN2

after pin config implementation

Dependencies:   mbed-rtos mbed

Fork of BAE_FRDM by sakthi priya amirtharaj

main.cpp@3:02b45de29c0f, 2014-12-03 (annotated)

Committer:
sakthipriya
Date:
Wed Dec 03 06:25:50 2014 +0000
Revision:
3:02b45de29c0f
Parent:
2:80b8a2e999f7
Child:
4:8f6c24eca109
fault included in hk

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 0:8b0d43fe6c05 9 Serial pc(USBTX, USBRX);
greenroshks 0:8b0d43fe6c05 10
greenroshks 0:8b0d43fe6c05 11
greenroshks 0:8b0d43fe6c05 12
greenroshks 0:8b0d43fe6c05 13 Timer t; //To know the time of entering each thread
greenroshks 0:8b0d43fe6c05 14 Timer t1; //To know the time of execution of each thread
greenroshks 0:8b0d43fe6c05 15
greenroshks 0:8b0d43fe6c05 16 Thread *ptr_t_hk_acq;
greenroshks 0:8b0d43fe6c05 17 Thread *ptr_t_acs;
greenroshks 0:8b0d43fe6c05 18 Thread *ptr_t_acs_write2flash;
greenroshks 0:8b0d43fe6c05 19 Thread *ptr_t_bea;
greenroshks 0:8b0d43fe6c05 20 Thread *ptr_t_bea_telecommand;
greenroshks 0:8b0d43fe6c05 21 Thread *ptr_t_fault;
greenroshks 0:8b0d43fe6c05 22
greenroshks 0:8b0d43fe6c05 23
greenroshks 0:8b0d43fe6c05 24 //--------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 25 //TASK 2 : HK
greenroshks 0:8b0d43fe6c05 26 //--------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 27
greenroshks 0:8b0d43fe6c05 28
greenroshks 0:8b0d43fe6c05 29
greenroshks 0:8b0d43fe6c05 30 void t_hk_acq(void const *args)
greenroshks 0:8b0d43fe6c05 31 {
greenroshks 0:8b0d43fe6c05 32
greenroshks 0:8b0d43fe6c05 33 while(1)
greenroshks 0:8b0d43fe6c05 34 {
greenroshks 0:8b0d43fe6c05 35 Thread::signal_wait(0x2);
greenroshks 0:8b0d43fe6c05 36
greenroshks 0:8b0d43fe6c05 37 printf("\nTHIS IS HK %f\n",t1.read());
greenroshks 0:8b0d43fe6c05 38 t.start();
greenroshks 0:8b0d43fe6c05 39
greenroshks 0:8b0d43fe6c05 40 FUNC_HK_MAIN(); //Collecting HK data
greenroshks 0:8b0d43fe6c05 41 //thread_2.signal_set(0x4);
greenroshks 0:8b0d43fe6c05 42 FUNC_I2C_SLAVE_MAIN(24); //Sending to CDMS via I2C
greenroshks 0:8b0d43fe6c05 43
greenroshks 0:8b0d43fe6c05 44 t.stop();
greenroshks 0:8b0d43fe6c05 45 printf("The time to execute hk_acq is %f seconds\n",t.read());
greenroshks 0:8b0d43fe6c05 46 t.reset();
greenroshks 0:8b0d43fe6c05 47 }
greenroshks 0:8b0d43fe6c05 48 }
greenroshks 0:8b0d43fe6c05 49
greenroshks 0:8b0d43fe6c05 50 //---------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 51 //TASK 1 : ACS
greenroshks 0:8b0d43fe6c05 52 //---------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 53 typedef struct {
greenroshks 0:8b0d43fe6c05 54 float mag_field;
greenroshks 0:8b0d43fe6c05 55 float omega;
greenroshks 0:8b0d43fe6c05 56 } sensor_data;
greenroshks 0:8b0d43fe6c05 57
greenroshks 0:8b0d43fe6c05 58 Mail <sensor_data, 16> q_acs;
greenroshks 0:8b0d43fe6c05 59
greenroshks 0:8b0d43fe6c05 60 void func_acs_readdata(sensor_data *ptr)
greenroshks 0:8b0d43fe6c05 61 {
greenroshks 0:8b0d43fe6c05 62 printf("Reading the data\n");
greenroshks 0:8b0d43fe6c05 63 ptr -> mag_field = 10;
greenroshks 0:8b0d43fe6c05 64 ptr -> omega = 3;
greenroshks 0:8b0d43fe6c05 65 }
greenroshks 0:8b0d43fe6c05 66
greenroshks 0:8b0d43fe6c05 67 void func_acs_ctrlalgo()
greenroshks 0:8b0d43fe6c05 68 {
greenroshks 0:8b0d43fe6c05 69 printf("Executing control algo\n");
greenroshks 0:8b0d43fe6c05 70 }
greenroshks 0:8b0d43fe6c05 71
greenroshks 0:8b0d43fe6c05 72
greenroshks 0:8b0d43fe6c05 73
greenroshks 0:8b0d43fe6c05 74 void func_acs_write2flash(sensor_data *ptr2)
greenroshks 0:8b0d43fe6c05 75 {
greenroshks 0:8b0d43fe6c05 76 printf("The magnetic field is %.2f T\n\r",ptr2->mag_field);
greenroshks 0:8b0d43fe6c05 77 printf("The angular velocity is %.2f rad/s\n\r",ptr2->omega);
greenroshks 0:8b0d43fe6c05 78 }
greenroshks 0:8b0d43fe6c05 79
greenroshks 0:8b0d43fe6c05 80 void t_acs(void const *args)
greenroshks 0:8b0d43fe6c05 81 {
greenroshks 0:8b0d43fe6c05 82 while(1)
greenroshks 0:8b0d43fe6c05 83 {
greenroshks 0:8b0d43fe6c05 84 Thread::signal_wait(0x1);
greenroshks 0:8b0d43fe6c05 85 printf("\nTHIS IS ACS %f\n",t1.read());
greenroshks 0:8b0d43fe6c05 86 t.start();
greenroshks 0:8b0d43fe6c05 87 sensor_data *ptr = q_acs.alloc();
greenroshks 0:8b0d43fe6c05 88
greenroshks 0:8b0d43fe6c05 89 func_acs_readdata(ptr);
greenroshks 0:8b0d43fe6c05 90 q_acs.put(ptr);
greenroshks 0:8b0d43fe6c05 91 func_acs_ctrlalgo();
greenroshks 0:8b0d43fe6c05 92 FUNC_ACS_GENPWM(); //Generating PWM signal.
greenroshks 0:8b0d43fe6c05 93
greenroshks 0:8b0d43fe6c05 94
greenroshks 0:8b0d43fe6c05 95 t.reset();
greenroshks 0:8b0d43fe6c05 96 }
greenroshks 0:8b0d43fe6c05 97 }
greenroshks 0:8b0d43fe6c05 98
greenroshks 0:8b0d43fe6c05 99 void t_acs_write2flash(void const *args)
greenroshks 0:8b0d43fe6c05 100 {
greenroshks 0:8b0d43fe6c05 101 while(1)
greenroshks 0:8b0d43fe6c05 102 {
greenroshks 0:8b0d43fe6c05 103 //printf("Writing in the flash\n");
greenroshks 0:8b0d43fe6c05 104 osEvent evt = q_acs.get();
greenroshks 0:8b0d43fe6c05 105 if(evt.status == osEventMail)
greenroshks 0:8b0d43fe6c05 106 {
greenroshks 0:8b0d43fe6c05 107 sensor_data *ptr = (sensor_data*)evt.value.p;
greenroshks 0:8b0d43fe6c05 108 func_acs_write2flash(ptr);
greenroshks 0:8b0d43fe6c05 109 q_acs.free(ptr);
greenroshks 0:8b0d43fe6c05 110 }
greenroshks 0:8b0d43fe6c05 111 printf("Writing acs data in the flash\n");
greenroshks 0:8b0d43fe6c05 112 }
greenroshks 0:8b0d43fe6c05 113 }
greenroshks 0:8b0d43fe6c05 114
greenroshks 0:8b0d43fe6c05 115
greenroshks 0:8b0d43fe6c05 116 //---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 117
greenroshks 0:8b0d43fe6c05 118 int beac_flag=0; //To receive telecommand from ground.
greenroshks 0:8b0d43fe6c05 119
greenroshks 0:8b0d43fe6c05 120
greenroshks 0:8b0d43fe6c05 121 void t_bea_telecommand(void const *args)
greenroshks 0:8b0d43fe6c05 122 {
greenroshks 0:8b0d43fe6c05 123 char c = pc.getc();
greenroshks 0:8b0d43fe6c05 124 if(c=='a')
greenroshks 0:8b0d43fe6c05 125 {
greenroshks 0:8b0d43fe6c05 126 printf("Telecommand detected\n");
greenroshks 0:8b0d43fe6c05 127 beac_flag=1;
greenroshks 0:8b0d43fe6c05 128 }
greenroshks 0:8b0d43fe6c05 129 }
greenroshks 0:8b0d43fe6c05 130
greenroshks 0:8b0d43fe6c05 131 void t_bea(void const *args)
greenroshks 0:8b0d43fe6c05 132 {
greenroshks 0:8b0d43fe6c05 133
greenroshks 0:8b0d43fe6c05 134 while(1)
greenroshks 0:8b0d43fe6c05 135 {
greenroshks 0:8b0d43fe6c05 136 Thread::signal_wait(0x3);
greenroshks 0:8b0d43fe6c05 137 printf("\nTHIS IS BEACON %f\n",t1.read());
greenroshks 0:8b0d43fe6c05 138 t.start();
greenroshks 0:8b0d43fe6c05 139
greenroshks 0:8b0d43fe6c05 140
greenroshks 0:8b0d43fe6c05 141
greenroshks 0:8b0d43fe6c05 142 FUNC_BEA();
greenroshks 0:8b0d43fe6c05 143
greenroshks 0:8b0d43fe6c05 144
greenroshks 0:8b0d43fe6c05 145 if(beac_flag==1)
greenroshks 0:8b0d43fe6c05 146 {
greenroshks 0:8b0d43fe6c05 147 Thread::wait(600000);
greenroshks 0:8b0d43fe6c05 148 beac_flag = 0;
greenroshks 0:8b0d43fe6c05 149 }
greenroshks 0:8b0d43fe6c05 150
greenroshks 0:8b0d43fe6c05 151 printf("The time to execute beacon thread is %f seconds\n",t.read());
greenroshks 0:8b0d43fe6c05 152 t.reset();
greenroshks 0:8b0d43fe6c05 153 }
greenroshks 0:8b0d43fe6c05 154 }
greenroshks 0:8b0d43fe6c05 155
greenroshks 0:8b0d43fe6c05 156 //---------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 157 //TASK 4 : FAULT MANAGEMENT
greenroshks 0:8b0d43fe6c05 158 //---------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 159 //Dummy fault rectifier functions
greenroshks 0:8b0d43fe6c05 160
sakthipriya 2:80b8a2e999f7 161 /*Mail<int,16> faults;
greenroshks 0:8b0d43fe6c05 162
greenroshks 0:8b0d43fe6c05 163 void FUNC_FAULT_FUNCT1()
greenroshks 0:8b0d43fe6c05 164 {
greenroshks 0:8b0d43fe6c05 165 printf("\nFault 1 detected... \n");
greenroshks 0:8b0d43fe6c05 166 }
greenroshks 0:8b0d43fe6c05 167
greenroshks 0:8b0d43fe6c05 168 void FUNC_FAULT_FUNCT2()
greenroshks 0:8b0d43fe6c05 169 {
greenroshks 0:8b0d43fe6c05 170 printf("\nFault 2 detected...\n");
greenroshks 0:8b0d43fe6c05 171 }
greenroshks 0:8b0d43fe6c05 172
greenroshks 0:8b0d43fe6c05 173 void T_FAULT(void const *args)
greenroshks 0:8b0d43fe6c05 174 {
greenroshks 0:8b0d43fe6c05 175 while(1)
greenroshks 0:8b0d43fe6c05 176 {
greenroshks 0:8b0d43fe6c05 177 osEvent evt = faults.get();
greenroshks 0:8b0d43fe6c05 178 if(evt.status==osEventMail)
greenroshks 0:8b0d43fe6c05 179 {
greenroshks 0:8b0d43fe6c05 180 int *fault_id= (int *)evt.value.p;
greenroshks 0:8b0d43fe6c05 181 switch(*fault_id)
greenroshks 0:8b0d43fe6c05 182 {
greenroshks 0:8b0d43fe6c05 183 case 1: FUNC_FAULT_FUNCT1();
greenroshks 0:8b0d43fe6c05 184 break;
greenroshks 0:8b0d43fe6c05 185 case 2: FUNC_FAULT_FUNCT2();
greenroshks 0:8b0d43fe6c05 186 break;
greenroshks 0:8b0d43fe6c05 187 }
greenroshks 0:8b0d43fe6c05 188 faults.free(fault_id);
greenroshks 0:8b0d43fe6c05 189 }
greenroshks 0:8b0d43fe6c05 190 }
sakthipriya 2:80b8a2e999f7 191 }*/
sakthipriya 2:80b8a2e999f7 192 void T_FAULT(void const *args)
sakthipriya 2:80b8a2e999f7 193 {
sakthipriya 2:80b8a2e999f7 194 while(1)
sakthipriya 2:80b8a2e999f7 195 {
sakthipriya 2:80b8a2e999f7 196 Thread :: signal_wait(0x2);
sakthipriya 2:80b8a2e999f7 197 FAULTS();
sakthipriya 2:80b8a2e999f7 198
sakthipriya 2:80b8a2e999f7 199 }
greenroshks 0:8b0d43fe6c05 200 }
greenroshks 0:8b0d43fe6c05 201
greenroshks 0:8b0d43fe6c05 202 //------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 203 //SCHEDULER
greenroshks 0:8b0d43fe6c05 204 //------------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 205 uint16_t schedcount=1;
greenroshks 0:8b0d43fe6c05 206 void t_sc(void const *args)
greenroshks 0:8b0d43fe6c05 207 {
greenroshks 0:8b0d43fe6c05 208
greenroshks 0:8b0d43fe6c05 209 printf("The value of i in scheduler is %d\n",schedcount);
greenroshks 0:8b0d43fe6c05 210 if(schedcount == 65532) //to reset the counter
greenroshks 0:8b0d43fe6c05 211 {
greenroshks 0:8b0d43fe6c05 212 schedcount = 0;
greenroshks 0:8b0d43fe6c05 213 }
greenroshks 0:8b0d43fe6c05 214
greenroshks 0:8b0d43fe6c05 215 if(schedcount%1==0)
greenroshks 0:8b0d43fe6c05 216 {
greenroshks 0:8b0d43fe6c05 217 ptr_t_acs -> signal_set(0x1);
greenroshks 0:8b0d43fe6c05 218 }
greenroshks 0:8b0d43fe6c05 219 if(schedcount%2==0)
greenroshks 0:8b0d43fe6c05 220 {
sakthipriya 3:02b45de29c0f 221 ptr_t_fault -> signal_set(0x2);
greenroshks 0:8b0d43fe6c05 222 ptr_t_hk_acq -> signal_set(0x2);
sakthipriya 2:80b8a2e999f7 223
greenroshks 0:8b0d43fe6c05 224 }
greenroshks 0:8b0d43fe6c05 225 if(schedcount%3==0)
greenroshks 0:8b0d43fe6c05 226 {
greenroshks 0:8b0d43fe6c05 227 if(beac_flag==0)
greenroshks 0:8b0d43fe6c05 228 {
greenroshks 0:8b0d43fe6c05 229
greenroshks 0:8b0d43fe6c05 230 ptr_t_bea -> signal_set(0x3);
greenroshks 0:8b0d43fe6c05 231 }
greenroshks 0:8b0d43fe6c05 232 }
greenroshks 0:8b0d43fe6c05 233 schedcount++;
greenroshks 0:8b0d43fe6c05 234 }
greenroshks 0:8b0d43fe6c05 235
greenroshks 0:8b0d43fe6c05 236 //---------------------------------------------------------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 237
greenroshks 0:8b0d43fe6c05 238 int main()
greenroshks 0:8b0d43fe6c05 239 {
greenroshks 0:8b0d43fe6c05 240 t1.start();
greenroshks 0:8b0d43fe6c05 241
greenroshks 0:8b0d43fe6c05 242 ptr_t_hk_acq = new Thread(t_hk_acq);
greenroshks 0:8b0d43fe6c05 243 ptr_t_acs = new Thread(t_acs);
greenroshks 0:8b0d43fe6c05 244 ptr_t_acs_write2flash = new Thread(t_acs_write2flash);
greenroshks 0:8b0d43fe6c05 245 ptr_t_bea = new Thread(t_bea);
greenroshks 0:8b0d43fe6c05 246 ptr_t_bea_telecommand = new Thread(t_bea_telecommand);
greenroshks 0:8b0d43fe6c05 247 ptr_t_fault = new Thread(T_FAULT);
greenroshks 0:8b0d43fe6c05 248 //ptr_t_sc = new Thread(t_sc);
greenroshks 0:8b0d43fe6c05 249
greenroshks 0:8b0d43fe6c05 250 ptr_t_fault -> set_priority(osPriorityRealtime);
greenroshks 0:8b0d43fe6c05 251 ptr_t_acs->set_priority(osPriorityHigh);
greenroshks 0:8b0d43fe6c05 252 ptr_t_hk_acq->set_priority(osPriorityNormal);
greenroshks 0:8b0d43fe6c05 253 ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal);
greenroshks 0:8b0d43fe6c05 254 ptr_t_bea->set_priority(osPriorityAboveNormal);
greenroshks 0:8b0d43fe6c05 255 ptr_t_bea_telecommand->set_priority(osPriorityIdle);
greenroshks 0:8b0d43fe6c05 256 //ptr_t_sc->set_priority(osPriorityAboveNormal);
greenroshks 0:8b0d43fe6c05 257
greenroshks 0:8b0d43fe6c05 258
greenroshks 0:8b0d43fe6c05 259 // ----------------------------------------------------------------------------------------------
greenroshks 0:8b0d43fe6c05 260 printf("\n T_FAULT priority is %d",ptr_t_fault->get_priority());
greenroshks 0:8b0d43fe6c05 261 printf("\n T_ACS priority is %d",ptr_t_acs->get_priority());
greenroshks 0:8b0d43fe6c05 262 printf("\n T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
greenroshks 0:8b0d43fe6c05 263 printf("\n T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
greenroshks 0:8b0d43fe6c05 264 printf("\n T_BEA priority is %d",ptr_t_bea->get_priority());
greenroshks 0:8b0d43fe6c05 265 RtosTimer t_sc_timer(t_sc,osTimerPeriodic);
greenroshks 0:8b0d43fe6c05 266 t_sc_timer.start(10000);
greenroshks 0:8b0d43fe6c05 267 printf("\n%f\n",t1.read());
greenroshks 0:8b0d43fe6c05 268
greenroshks 0:8b0d43fe6c05 269 while(1)
greenroshks 0:8b0d43fe6c05 270 {
greenroshks 0:8b0d43fe6c05 271 Thread::wait(10000);
greenroshks 0:8b0d43fe6c05 272 ;
greenroshks 0:8b0d43fe6c05 273 }
greenroshks 0:8b0d43fe6c05 274
greenroshks 0:8b0d43fe6c05 275 }