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fault management added
Fork of BAE_FRDM by
Diff: main.cpp
- Revision:
- 0:8b0d43fe6c05
- Child:
- 2:80b8a2e999f7
diff -r 000000000000 -r 8b0d43fe6c05 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed Sep 10 06:41:21 2014 +0000 @@ -0,0 +1,263 @@ +#include "mbed.h" +#include "rtos.h" +#include "HK.h" +#include "slave.h" +#include "beacon.h" +#include "ACS.h" + +Serial pc(USBTX, USBRX); + + + +Timer t; //To know the time of entering each thread +Timer t1; //To know the time of execution 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; + + +//-------------------------------------------------------------------------------------------------------------------------------------------------- +//TASK 2 : HK +//-------------------------------------------------------------------------------------------------------------------------------------------------- + + + +void t_hk_acq(void const *args) +{ + + while(1) + { + Thread::signal_wait(0x2); + + printf("\nTHIS IS HK %f\n",t1.read()); + t.start(); + + FUNC_HK_MAIN(); //Collecting HK data + //thread_2.signal_set(0x4); + FUNC_I2C_SLAVE_MAIN(24); //Sending to CDMS via I2C + + t.stop(); + printf("The time to execute hk_acq is %f seconds\n",t.read()); + t.reset(); + } +} + +//--------------------------------------------------------------------------------------------------------------------------------------- +//TASK 1 : ACS +//--------------------------------------------------------------------------------------------------------------------------------------- +typedef struct { + float mag_field; + float omega; + } sensor_data; + +Mail <sensor_data, 16> q_acs; + +void func_acs_readdata(sensor_data *ptr) +{ + printf("Reading the data\n"); + ptr -> mag_field = 10; + ptr -> omega = 3; +} + +void func_acs_ctrlalgo() +{ + printf("Executing control algo\n"); +} + + + +void func_acs_write2flash(sensor_data *ptr2) +{ + printf("The magnetic field is %.2f T\n\r",ptr2->mag_field); + printf("The angular velocity is %.2f rad/s\n\r",ptr2->omega); +} + +void t_acs(void const *args) +{ + while(1) + { + Thread::signal_wait(0x1); + 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_GENPWM(); //Generating PWM signal. + + + 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); + } + } +} + +//------------------------------------------------------------------------------------------------------------------------------------------------ +//SCHEDULER +//------------------------------------------------------------------------------------------------------------------------------------------------ +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); + } + if(schedcount%2==0) + { + ptr_t_hk_acq -> signal_set(0x2); + } + if(schedcount%3==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_sc = new Thread(t_sc); + + 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); + //ptr_t_sc->set_priority(osPriorityAboveNormal); + + + // ---------------------------------------------------------------------------------------------- + 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()); + + while(1) + { + Thread::wait(10000); + ; + } + +} \ No newline at end of file