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slave integrated
Fork of BAE_FRDMTESIN2 by
main.cpp
- Committer:
- sakthipriya
- Date:
- 2014-12-15
- Revision:
- 10:4e86381a4707
- Parent:
- 9:221d218f4690
File content as of revision 10:4e86381a4707:
#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; //-------------------------------------------------------------------------------------------------------------------------------------------------- //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); } int acs_pflag = 1; 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); //printf("\ngdhd\n"); q_acs.put(ptr); if(acs_pflag == 1) { 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); } } }*/ extern SensorData Sensor; 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 } } //--------------------------------------------------------------------------------------------------------------------------------------------------- //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; } } */ } } //------------------------------------------------------------------------------------------------------------------------------------------------ //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); } 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); 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); // ---------------------------------------------------------------------------------------------- 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(); } }