Seeker of Truth ,
/
BAE_vr2_gingerbread2
after pin
Fork of BAE_vr2_gingerbread by
main.cpp
- Committer:
- raizel_varun
- Date:
- 2014-12-17
- Revision:
- 3:3d9e5f48b0c1
- Parent:
- 2:7aede71f4c22
File content as of revision 3:3d9e5f48b0c1:
#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); InterruptIn interrupt(D9); InterruptIn master_reset(D11); 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; void write_to_master(char); //function to write data to master 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='0'; printf("\nTHIS IS HK %f\n",t1.read()); t.start(); FAULTS(); 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); ir2master(); 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(); 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 C_FUNC_INT() { FUNC_INT(); ptr_t_i2c->signal_set(0x4); } void C_FUNC_RESET() { FUNC_RESET(); } void C_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\n\r"); if(i2c_status == 0 && reset !=1) { FUNC_I2C_WRITE2CDMS(&data_receive); 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); i2c_data_receive.free(i2c_data_r); // This has to be done from a differen thread } else if(i2c_status ==1 && reset !=1) { osEvent evt = i2c_data_send.get(); if (evt.status == osEventMail) { i2c_data *i2c_data_s = (i2c_data*)evt.value.p; data_send = i2c_data_s -> data; FUNC_I2C_WRITE2CDMS(&data_send); printf("\nData sent to CDMS is %c\n\r",data_send); i2c_data_send.free(i2c_data_s); i2c_status = 0; //temp = i2c_status; } } */ } } void FUNC_I2C_WRITE2CDMS(char *data, int length=1) { int slave_status = 1; while(slave_status) { 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[25]; void T_I2C_BAE() { //char data_send,data_receive; //while(1) //{ // Thread::signal_wait(0x1); //i2c_status = temp; //wait(0.5); printf("\n entered thread %d\n\r",i2c_status); if(i2c_status == 0 && reset !=1) { FUNC_I2C_WRITE2CDMS(data_receive,25); i2c_data * i2c_data_r = i2c_data_receive.alloc(); strcpy(i2c_data_r->data,data_receive); i2c_data_r->length = 25; i2c_data_receive.put(i2c_data_r); printf("\n Data received from CDMS is %s \n\r",data_receive); i2c_data_receive.free(i2c_data_r); // This has to be done from a differen thread } else if(i2c_status ==1 && reset !=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_INT() { reset = 0; } void FUNC_RESET() { reset = 1; } void ir2master() { //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; } //------------------------------------------------------------------------------------------------------------------------------------------------ //SCHEDULER //------------------------------------------------------------------------------------------------------------------------------------------------ int beacon_sc = 3; uint16_t schedcount=1; void t_sc(void const *args) { 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(); 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(C_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(osPriorityHigh); ptr_t_i2c->set_priority(osPriorityAboveNormal); 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); //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(&C_FUNC_RESET); interrupt.rise(&C_FUNC_INT); while(1) { //Thread::wait(10000); //ir2master(); Thread::wait(5000); } }