Diff: main.cpp

Revision:

0:ebdf4f859dca

Child:

1:deb3c0fafa3a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 19 06:47:25 2014 +0000
@@ -0,0 +1,470 @@
+#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(D8);
+
+
+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;  
+
+
+
+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();
+        FUNC_HK_FAULTS();
+        FUNC_HK_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);    
+        FUNC_I2C_IR2CDMS();
+        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 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;
+void 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   %d\n\r",i2c_status);
+        if(i2c_status == 0 && reset !=1)
+        {
+            
+            FUNC_I2C_WRITE2CDMS(&data_receive,1);
+            printf("\n received\n");
+            /*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);
+            FUNC_I2C_TC_EXECUTE(data_receive);                             // 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_I2C_INT()
+{
+   reset = 0;
+   ptr_t_i2c->signal_set(0x4);
+   
+     
+}
+
+void FUNC_I2C_RESET()
+{
+    reset = 1;
+}
+
+
+
+void FUNC_I2C_IR2CDMS()
+{
+        
+        //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;
+}
+      
+
+//------------------------------------------------------------------------------------------------------------------------------------------------
+//TELECOMMAND
+//------------------------------------------------------------------------------------------------------------------------------------------------
+void FUNC_I2C_TC_EXECUTE (char command)  
+{ switch(command)
+   {   case '0' : printf("command 0 executed");
+       break;
+       case '1' : printf("command 1 executed");
+       break;
+       case '2' : printf("command 2 executed");
+       break;
+       case '3' : printf("command 3 executed");
+    }
+}  
+   
+
+//------------------------------------------------------------------------------------------------------------------------------------------------
+//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();
+    
+     FUNC_ACS_MAG_INIT();
+     FUNC_ACS_INIT_GYR();
+
+    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(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(osPriorityAboveNormal);
+    ptr_t_i2c->set_priority(osPriorityHigh);
+    ptr_t_hk_acq->set_priority(osPriorityAboveNormal);
+    //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(&FUNC_I2C_RESET);
+    interrupt.rise(&FUNC_I2C_INT);
+       
+    while(1)
+    {   
+        //Thread::wait(10000);
+         //ir2master(); 
+         Thread::wait(5000);
+    }
+    
+}