sakthi priya amirtharaj
/
BAE_vr2_1_3
i2c working with old hk
Fork of BAE_vr2_1_1 by
main.cpp@10:ed6d3b8d1d56, 2014-12-16 (annotated)
- Committer:
- greenroshks
- Date:
- Tue Dec 16 07:44:54 2014 +0000
- Revision:
- 10:ed6d3b8d1d56
- Parent:
- 9:221d218f4690
- Child:
- 12:ba2556c6b990
working
Who changed what in which revision?
User | Revision | Line number | New 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" |
raizel_varun | 9:221d218f4690 | 8 | #include "slave.h" |
greenroshks | 0:8b0d43fe6c05 | 9 | |
greenroshks | 0:8b0d43fe6c05 | 10 | Serial pc(USBTX, USBRX); |
greenroshks | 0:8b0d43fe6c05 | 11 | |
raizel_varun | 9:221d218f4690 | 12 | InterruptIn interrupt(D9); |
raizel_varun | 9:221d218f4690 | 13 | InterruptIn master_reset(D11); |
greenroshks | 0:8b0d43fe6c05 | 14 | |
greenroshks | 0:8b0d43fe6c05 | 15 | |
sakthipriya | 5:255b43e8e21a | 16 | Timer t; //To know the time of execution each thread |
sakthipriya | 4:8f6c24eca109 | 17 | Timer t1; |
sakthipriya | 5:255b43e8e21a | 18 | //To know the time of entering of each thread |
greenroshks | 0:8b0d43fe6c05 | 19 | |
greenroshks | 0:8b0d43fe6c05 | 20 | Thread *ptr_t_hk_acq; |
greenroshks | 0:8b0d43fe6c05 | 21 | Thread *ptr_t_acs; |
greenroshks | 0:8b0d43fe6c05 | 22 | Thread *ptr_t_acs_write2flash; |
greenroshks | 0:8b0d43fe6c05 | 23 | Thread *ptr_t_bea; |
greenroshks | 0:8b0d43fe6c05 | 24 | Thread *ptr_t_bea_telecommand; |
greenroshks | 0:8b0d43fe6c05 | 25 | Thread *ptr_t_fault; |
raizel_varun | 9:221d218f4690 | 26 | Thread *ptr_t_i2c; |
greenroshks | 0:8b0d43fe6c05 | 27 | |
greenroshks | 0:8b0d43fe6c05 | 28 | //-------------------------------------------------------------------------------------------------------------------------------------------------- |
greenroshks | 0:8b0d43fe6c05 | 29 | //TASK 2 : HK |
greenroshks | 0:8b0d43fe6c05 | 30 | //-------------------------------------------------------------------------------------------------------------------------------------------------- |
greenroshks | 0:8b0d43fe6c05 | 31 | |
greenroshks | 0:8b0d43fe6c05 | 32 | |
greenroshks | 0:8b0d43fe6c05 | 33 | |
greenroshks | 0:8b0d43fe6c05 | 34 | void t_hk_acq(void const *args) |
greenroshks | 0:8b0d43fe6c05 | 35 | { |
greenroshks | 0:8b0d43fe6c05 | 36 | |
greenroshks | 0:8b0d43fe6c05 | 37 | while(1) |
greenroshks | 0:8b0d43fe6c05 | 38 | { |
greenroshks | 0:8b0d43fe6c05 | 39 | Thread::signal_wait(0x2); |
greenroshks | 0:8b0d43fe6c05 | 40 | |
greenroshks | 0:8b0d43fe6c05 | 41 | printf("\nTHIS IS HK %f\n",t1.read()); |
greenroshks | 0:8b0d43fe6c05 | 42 | t.start(); |
greenroshks | 0:8b0d43fe6c05 | 43 | |
greenroshks | 0:8b0d43fe6c05 | 44 | FUNC_HK_MAIN(); //Collecting HK data |
greenroshks | 0:8b0d43fe6c05 | 45 | //thread_2.signal_set(0x4); |
raizel_varun | 9:221d218f4690 | 46 | //FUNC_I2C_SLAVE_MAIN(24); //Sending to CDMS via I2C |
greenroshks | 0:8b0d43fe6c05 | 47 | |
greenroshks | 0:8b0d43fe6c05 | 48 | t.stop(); |
greenroshks | 0:8b0d43fe6c05 | 49 | printf("The time to execute hk_acq is %f seconds\n",t.read()); |
greenroshks | 0:8b0d43fe6c05 | 50 | t.reset(); |
greenroshks | 0:8b0d43fe6c05 | 51 | } |
greenroshks | 0:8b0d43fe6c05 | 52 | } |
greenroshks | 0:8b0d43fe6c05 | 53 | |
greenroshks | 0:8b0d43fe6c05 | 54 | //--------------------------------------------------------------------------------------------------------------------------------------- |
greenroshks | 0:8b0d43fe6c05 | 55 | //TASK 1 : ACS |
greenroshks | 0:8b0d43fe6c05 | 56 | //--------------------------------------------------------------------------------------------------------------------------------------- |
greenroshks | 0:8b0d43fe6c05 | 57 | typedef struct { |
greenroshks | 0:8b0d43fe6c05 | 58 | float mag_field; |
greenroshks | 0:8b0d43fe6c05 | 59 | float omega; |
greenroshks | 0:8b0d43fe6c05 | 60 | } sensor_data; |
greenroshks | 0:8b0d43fe6c05 | 61 | |
greenroshks | 0:8b0d43fe6c05 | 62 | Mail <sensor_data, 16> q_acs; |
greenroshks | 0:8b0d43fe6c05 | 63 | |
greenroshks | 0:8b0d43fe6c05 | 64 | void func_acs_readdata(sensor_data *ptr) |
greenroshks | 0:8b0d43fe6c05 | 65 | { |
greenroshks | 0:8b0d43fe6c05 | 66 | printf("Reading the data\n"); |
greenroshks | 0:8b0d43fe6c05 | 67 | ptr -> mag_field = 10; |
greenroshks | 0:8b0d43fe6c05 | 68 | ptr -> omega = 3; |
greenroshks | 0:8b0d43fe6c05 | 69 | } |
greenroshks | 0:8b0d43fe6c05 | 70 | |
greenroshks | 0:8b0d43fe6c05 | 71 | void func_acs_ctrlalgo() |
greenroshks | 0:8b0d43fe6c05 | 72 | { |
greenroshks | 0:8b0d43fe6c05 | 73 | printf("Executing control algo\n"); |
greenroshks | 0:8b0d43fe6c05 | 74 | } |
greenroshks | 0:8b0d43fe6c05 | 75 | |
greenroshks | 0:8b0d43fe6c05 | 76 | |
greenroshks | 0:8b0d43fe6c05 | 77 | |
greenroshks | 0:8b0d43fe6c05 | 78 | void func_acs_write2flash(sensor_data *ptr2) |
greenroshks | 0:8b0d43fe6c05 | 79 | { |
greenroshks | 0:8b0d43fe6c05 | 80 | printf("The magnetic field is %.2f T\n\r",ptr2->mag_field); |
greenroshks | 0:8b0d43fe6c05 | 81 | printf("The angular velocity is %.2f rad/s\n\r",ptr2->omega); |
greenroshks | 0:8b0d43fe6c05 | 82 | } |
greenroshks | 0:8b0d43fe6c05 | 83 | |
sakthipriya | 5:255b43e8e21a | 84 | int acs_pflag = 1; |
greenroshks | 0:8b0d43fe6c05 | 85 | void t_acs(void const *args) |
greenroshks | 0:8b0d43fe6c05 | 86 | { |
greenroshks | 0:8b0d43fe6c05 | 87 | while(1) |
greenroshks | 0:8b0d43fe6c05 | 88 | { |
greenroshks | 0:8b0d43fe6c05 | 89 | Thread::signal_wait(0x1); |
greenroshks | 0:8b0d43fe6c05 | 90 | printf("\nTHIS IS ACS %f\n",t1.read()); |
greenroshks | 0:8b0d43fe6c05 | 91 | t.start(); |
greenroshks | 0:8b0d43fe6c05 | 92 | sensor_data *ptr = q_acs.alloc(); |
greenroshks | 0:8b0d43fe6c05 | 93 | |
greenroshks | 0:8b0d43fe6c05 | 94 | func_acs_readdata(ptr); |
raizel_varun | 7:f06840d848e3 | 95 | //printf("\ngdhd\n"); |
greenroshks | 0:8b0d43fe6c05 | 96 | q_acs.put(ptr); |
sakthipriya | 5:255b43e8e21a | 97 | if(acs_pflag == 1) |
sakthipriya | 5:255b43e8e21a | 98 | { |
greenroshks | 0:8b0d43fe6c05 | 99 | func_acs_ctrlalgo(); |
greenroshks | 0:8b0d43fe6c05 | 100 | FUNC_ACS_GENPWM(); //Generating PWM signal. |
sakthipriya | 5:255b43e8e21a | 101 | } |
greenroshks | 0:8b0d43fe6c05 | 102 | |
greenroshks | 0:8b0d43fe6c05 | 103 | t.reset(); |
greenroshks | 0:8b0d43fe6c05 | 104 | } |
greenroshks | 0:8b0d43fe6c05 | 105 | } |
greenroshks | 0:8b0d43fe6c05 | 106 | |
greenroshks | 0:8b0d43fe6c05 | 107 | void t_acs_write2flash(void const *args) |
greenroshks | 0:8b0d43fe6c05 | 108 | { |
greenroshks | 0:8b0d43fe6c05 | 109 | while(1) |
greenroshks | 0:8b0d43fe6c05 | 110 | { |
greenroshks | 0:8b0d43fe6c05 | 111 | //printf("Writing in the flash\n"); |
greenroshks | 0:8b0d43fe6c05 | 112 | osEvent evt = q_acs.get(); |
greenroshks | 0:8b0d43fe6c05 | 113 | if(evt.status == osEventMail) |
greenroshks | 0:8b0d43fe6c05 | 114 | { |
greenroshks | 0:8b0d43fe6c05 | 115 | sensor_data *ptr = (sensor_data*)evt.value.p; |
greenroshks | 0:8b0d43fe6c05 | 116 | func_acs_write2flash(ptr); |
greenroshks | 0:8b0d43fe6c05 | 117 | q_acs.free(ptr); |
greenroshks | 0:8b0d43fe6c05 | 118 | } |
greenroshks | 0:8b0d43fe6c05 | 119 | printf("Writing acs data in the flash\n"); |
greenroshks | 0:8b0d43fe6c05 | 120 | } |
greenroshks | 0:8b0d43fe6c05 | 121 | } |
greenroshks | 0:8b0d43fe6c05 | 122 | |
greenroshks | 0:8b0d43fe6c05 | 123 | |
greenroshks | 0:8b0d43fe6c05 | 124 | //---------------------------------------------------BEACON-------------------------------------------------------------------------------------------- |
greenroshks | 0:8b0d43fe6c05 | 125 | |
greenroshks | 0:8b0d43fe6c05 | 126 | int beac_flag=0; //To receive telecommand from ground. |
greenroshks | 0:8b0d43fe6c05 | 127 | |
greenroshks | 0:8b0d43fe6c05 | 128 | |
greenroshks | 0:8b0d43fe6c05 | 129 | void t_bea_telecommand(void const *args) |
greenroshks | 0:8b0d43fe6c05 | 130 | { |
greenroshks | 0:8b0d43fe6c05 | 131 | char c = pc.getc(); |
greenroshks | 0:8b0d43fe6c05 | 132 | if(c=='a') |
greenroshks | 0:8b0d43fe6c05 | 133 | { |
greenroshks | 0:8b0d43fe6c05 | 134 | printf("Telecommand detected\n"); |
greenroshks | 0:8b0d43fe6c05 | 135 | beac_flag=1; |
greenroshks | 0:8b0d43fe6c05 | 136 | } |
greenroshks | 0:8b0d43fe6c05 | 137 | } |
greenroshks | 0:8b0d43fe6c05 | 138 | |
greenroshks | 0:8b0d43fe6c05 | 139 | void t_bea(void const *args) |
greenroshks | 0:8b0d43fe6c05 | 140 | { |
greenroshks | 0:8b0d43fe6c05 | 141 | |
greenroshks | 0:8b0d43fe6c05 | 142 | while(1) |
greenroshks | 0:8b0d43fe6c05 | 143 | { |
greenroshks | 0:8b0d43fe6c05 | 144 | Thread::signal_wait(0x3); |
greenroshks | 0:8b0d43fe6c05 | 145 | printf("\nTHIS IS BEACON %f\n",t1.read()); |
greenroshks | 0:8b0d43fe6c05 | 146 | t.start(); |
greenroshks | 0:8b0d43fe6c05 | 147 | |
greenroshks | 0:8b0d43fe6c05 | 148 | |
greenroshks | 0:8b0d43fe6c05 | 149 | |
greenroshks | 0:8b0d43fe6c05 | 150 | FUNC_BEA(); |
greenroshks | 0:8b0d43fe6c05 | 151 | |
greenroshks | 0:8b0d43fe6c05 | 152 | |
greenroshks | 0:8b0d43fe6c05 | 153 | if(beac_flag==1) |
greenroshks | 0:8b0d43fe6c05 | 154 | { |
greenroshks | 0:8b0d43fe6c05 | 155 | Thread::wait(600000); |
greenroshks | 0:8b0d43fe6c05 | 156 | beac_flag = 0; |
greenroshks | 0:8b0d43fe6c05 | 157 | } |
greenroshks | 0:8b0d43fe6c05 | 158 | |
greenroshks | 0:8b0d43fe6c05 | 159 | printf("The time to execute beacon thread is %f seconds\n",t.read()); |
greenroshks | 0:8b0d43fe6c05 | 160 | t.reset(); |
greenroshks | 0:8b0d43fe6c05 | 161 | } |
greenroshks | 0:8b0d43fe6c05 | 162 | } |
greenroshks | 0:8b0d43fe6c05 | 163 | |
greenroshks | 0:8b0d43fe6c05 | 164 | //--------------------------------------------------------------------------------------------------------------------------------------------------- |
greenroshks | 0:8b0d43fe6c05 | 165 | //TASK 4 : FAULT MANAGEMENT |
greenroshks | 0:8b0d43fe6c05 | 166 | //--------------------------------------------------------------------------------------------------------------------------------------------------- |
greenroshks | 0:8b0d43fe6c05 | 167 | //Dummy fault rectifier functions |
greenroshks | 0:8b0d43fe6c05 | 168 | |
sakthipriya | 2:80b8a2e999f7 | 169 | /*Mail<int,16> faults; |
greenroshks | 0:8b0d43fe6c05 | 170 | |
greenroshks | 0:8b0d43fe6c05 | 171 | void FUNC_FAULT_FUNCT1() |
greenroshks | 0:8b0d43fe6c05 | 172 | { |
greenroshks | 0:8b0d43fe6c05 | 173 | printf("\nFault 1 detected... \n"); |
greenroshks | 0:8b0d43fe6c05 | 174 | } |
greenroshks | 0:8b0d43fe6c05 | 175 | |
greenroshks | 0:8b0d43fe6c05 | 176 | void FUNC_FAULT_FUNCT2() |
greenroshks | 0:8b0d43fe6c05 | 177 | { |
greenroshks | 0:8b0d43fe6c05 | 178 | printf("\nFault 2 detected...\n"); |
greenroshks | 0:8b0d43fe6c05 | 179 | } |
greenroshks | 0:8b0d43fe6c05 | 180 | |
greenroshks | 0:8b0d43fe6c05 | 181 | void T_FAULT(void const *args) |
greenroshks | 0:8b0d43fe6c05 | 182 | { |
greenroshks | 0:8b0d43fe6c05 | 183 | while(1) |
greenroshks | 0:8b0d43fe6c05 | 184 | { |
greenroshks | 0:8b0d43fe6c05 | 185 | osEvent evt = faults.get(); |
greenroshks | 0:8b0d43fe6c05 | 186 | if(evt.status==osEventMail) |
greenroshks | 0:8b0d43fe6c05 | 187 | { |
greenroshks | 0:8b0d43fe6c05 | 188 | int *fault_id= (int *)evt.value.p; |
greenroshks | 0:8b0d43fe6c05 | 189 | switch(*fault_id) |
greenroshks | 0:8b0d43fe6c05 | 190 | { |
greenroshks | 0:8b0d43fe6c05 | 191 | case 1: FUNC_FAULT_FUNCT1(); |
greenroshks | 0:8b0d43fe6c05 | 192 | break; |
greenroshks | 0:8b0d43fe6c05 | 193 | case 2: FUNC_FAULT_FUNCT2(); |
greenroshks | 0:8b0d43fe6c05 | 194 | break; |
greenroshks | 0:8b0d43fe6c05 | 195 | } |
greenroshks | 0:8b0d43fe6c05 | 196 | faults.free(fault_id); |
greenroshks | 0:8b0d43fe6c05 | 197 | } |
greenroshks | 0:8b0d43fe6c05 | 198 | } |
sakthipriya | 2:80b8a2e999f7 | 199 | }*/ |
sakthipriya | 5:255b43e8e21a | 200 | |
sakthipriya | 5:255b43e8e21a | 201 | extern SensorData Sensor; |
raizel_varun | 6:e65b1ab79f36 | 202 | |
raizel_varun | 6:e65b1ab79f36 | 203 | |
sakthipriya | 2:80b8a2e999f7 | 204 | void T_FAULT(void const *args) |
sakthipriya | 4:8f6c24eca109 | 205 | { |
sakthipriya | 5:255b43e8e21a | 206 | Sensor.power_mode='0'; |
sakthipriya | 2:80b8a2e999f7 | 207 | while(1) |
sakthipriya | 2:80b8a2e999f7 | 208 | { |
sakthipriya | 2:80b8a2e999f7 | 209 | Thread :: signal_wait(0x2); |
sakthipriya | 2:80b8a2e999f7 | 210 | FAULTS(); |
sakthipriya | 5:255b43e8e21a | 211 | POWER(Sensor.power_mode); |
sakthipriya | 5:255b43e8e21a | 212 | //Sensor.power_mode++; //testing ... should be removed |
sakthipriya | 2:80b8a2e999f7 | 213 | } |
greenroshks | 0:8b0d43fe6c05 | 214 | } |
greenroshks | 0:8b0d43fe6c05 | 215 | |
raizel_varun | 9:221d218f4690 | 216 | //--------------------------------------------------------------------------------------------------------------------------------------------------- |
raizel_varun | 9:221d218f4690 | 217 | //TASK 5 : i2c data |
raizel_varun | 9:221d218f4690 | 218 | //--------------------------------------------------------------------------------------------------------------------------------------------------- |
raizel_varun | 9:221d218f4690 | 219 | |
raizel_varun | 9:221d218f4690 | 220 | |
raizel_varun | 9:221d218f4690 | 221 | void C_FUNC_INT() |
raizel_varun | 9:221d218f4690 | 222 | { |
raizel_varun | 9:221d218f4690 | 223 | FUNC_INT(); |
raizel_varun | 9:221d218f4690 | 224 | ptr_t_i2c->signal_set(0x4); |
raizel_varun | 9:221d218f4690 | 225 | |
raizel_varun | 9:221d218f4690 | 226 | } |
raizel_varun | 9:221d218f4690 | 227 | |
raizel_varun | 9:221d218f4690 | 228 | void C_FUNC_RESET() |
raizel_varun | 9:221d218f4690 | 229 | { |
raizel_varun | 9:221d218f4690 | 230 | FUNC_RESET(); |
raizel_varun | 9:221d218f4690 | 231 | } |
raizel_varun | 9:221d218f4690 | 232 | |
raizel_varun | 9:221d218f4690 | 233 | |
raizel_varun | 9:221d218f4690 | 234 | void C_T_I2C_BAE(void const * args) |
raizel_varun | 9:221d218f4690 | 235 | { |
raizel_varun | 9:221d218f4690 | 236 | //char data_send,data_receive; |
raizel_varun | 9:221d218f4690 | 237 | while(1) |
raizel_varun | 9:221d218f4690 | 238 | { |
raizel_varun | 9:221d218f4690 | 239 | Thread::signal_wait(0x4); |
raizel_varun | 9:221d218f4690 | 240 | T_I2C_BAE(); |
raizel_varun | 9:221d218f4690 | 241 | //i2c_status = temp; |
raizel_varun | 9:221d218f4690 | 242 | //wait(0.5); |
raizel_varun | 9:221d218f4690 | 243 | /*printf("\n entered thread\n\r"); |
raizel_varun | 9:221d218f4690 | 244 | if(i2c_status == 0 && reset !=1) |
raizel_varun | 9:221d218f4690 | 245 | { |
raizel_varun | 9:221d218f4690 | 246 | |
raizel_varun | 9:221d218f4690 | 247 | FUNC_I2C_WRITE2CDMS(&data_receive); |
raizel_varun | 9:221d218f4690 | 248 | i2c_data * i2c_data_r = i2c_data_receive.alloc(); |
raizel_varun | 9:221d218f4690 | 249 | i2c_data_r->data = data_receive; |
raizel_varun | 9:221d218f4690 | 250 | i2c_data_r->length = 1; |
raizel_varun | 9:221d218f4690 | 251 | i2c_data_receive.put(i2c_data_r); |
raizel_varun | 9:221d218f4690 | 252 | printf("\n Data received from CDMS is %c\n\r",data_receive); |
raizel_varun | 9:221d218f4690 | 253 | i2c_data_receive.free(i2c_data_r); // This has to be done from a differen thread |
raizel_varun | 9:221d218f4690 | 254 | |
raizel_varun | 9:221d218f4690 | 255 | } |
raizel_varun | 9:221d218f4690 | 256 | else if(i2c_status ==1 && reset !=1) |
raizel_varun | 9:221d218f4690 | 257 | { |
raizel_varun | 9:221d218f4690 | 258 | osEvent evt = i2c_data_send.get(); |
raizel_varun | 9:221d218f4690 | 259 | if (evt.status == osEventMail) |
raizel_varun | 9:221d218f4690 | 260 | { |
raizel_varun | 9:221d218f4690 | 261 | i2c_data *i2c_data_s = (i2c_data*)evt.value.p; |
raizel_varun | 9:221d218f4690 | 262 | data_send = i2c_data_s -> data; |
raizel_varun | 9:221d218f4690 | 263 | FUNC_I2C_WRITE2CDMS(&data_send); |
raizel_varun | 9:221d218f4690 | 264 | printf("\nData sent to CDMS is %c\n\r",data_send); |
raizel_varun | 9:221d218f4690 | 265 | i2c_data_send.free(i2c_data_s); |
raizel_varun | 9:221d218f4690 | 266 | i2c_status = 0; |
raizel_varun | 9:221d218f4690 | 267 | //temp = i2c_status; |
raizel_varun | 9:221d218f4690 | 268 | } |
raizel_varun | 9:221d218f4690 | 269 | } |
raizel_varun | 9:221d218f4690 | 270 | */ |
raizel_varun | 9:221d218f4690 | 271 | } |
raizel_varun | 9:221d218f4690 | 272 | } |
raizel_varun | 9:221d218f4690 | 273 | |
raizel_varun | 9:221d218f4690 | 274 | |
raizel_varun | 9:221d218f4690 | 275 | |
raizel_varun | 9:221d218f4690 | 276 | |
raizel_varun | 9:221d218f4690 | 277 | |
raizel_varun | 9:221d218f4690 | 278 | |
greenroshks | 0:8b0d43fe6c05 | 279 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
greenroshks | 0:8b0d43fe6c05 | 280 | //SCHEDULER |
greenroshks | 0:8b0d43fe6c05 | 281 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
sakthipriya | 4:8f6c24eca109 | 282 | int beacon_sc = 3; |
greenroshks | 0:8b0d43fe6c05 | 283 | uint16_t schedcount=1; |
greenroshks | 0:8b0d43fe6c05 | 284 | void t_sc(void const *args) |
greenroshks | 0:8b0d43fe6c05 | 285 | { |
greenroshks | 0:8b0d43fe6c05 | 286 | |
greenroshks | 0:8b0d43fe6c05 | 287 | printf("The value of i in scheduler is %d\n",schedcount); |
greenroshks | 0:8b0d43fe6c05 | 288 | if(schedcount == 65532) //to reset the counter |
greenroshks | 0:8b0d43fe6c05 | 289 | { |
greenroshks | 0:8b0d43fe6c05 | 290 | schedcount = 0; |
greenroshks | 0:8b0d43fe6c05 | 291 | } |
greenroshks | 0:8b0d43fe6c05 | 292 | |
greenroshks | 0:8b0d43fe6c05 | 293 | if(schedcount%1==0) |
greenroshks | 0:8b0d43fe6c05 | 294 | { |
greenroshks | 0:8b0d43fe6c05 | 295 | ptr_t_acs -> signal_set(0x1); |
greenroshks | 0:8b0d43fe6c05 | 296 | } |
greenroshks | 0:8b0d43fe6c05 | 297 | if(schedcount%2==0) |
greenroshks | 0:8b0d43fe6c05 | 298 | { |
sakthipriya | 3:02b45de29c0f | 299 | ptr_t_fault -> signal_set(0x2); |
greenroshks | 0:8b0d43fe6c05 | 300 | ptr_t_hk_acq -> signal_set(0x2); |
sakthipriya | 2:80b8a2e999f7 | 301 | |
greenroshks | 0:8b0d43fe6c05 | 302 | } |
sakthipriya | 4:8f6c24eca109 | 303 | if(schedcount%beacon_sc==0) |
greenroshks | 0:8b0d43fe6c05 | 304 | { |
greenroshks | 0:8b0d43fe6c05 | 305 | if(beac_flag==0) |
greenroshks | 0:8b0d43fe6c05 | 306 | { |
greenroshks | 0:8b0d43fe6c05 | 307 | |
greenroshks | 0:8b0d43fe6c05 | 308 | ptr_t_bea -> signal_set(0x3); |
greenroshks | 0:8b0d43fe6c05 | 309 | } |
greenroshks | 0:8b0d43fe6c05 | 310 | } |
greenroshks | 0:8b0d43fe6c05 | 311 | schedcount++; |
greenroshks | 0:8b0d43fe6c05 | 312 | } |
greenroshks | 0:8b0d43fe6c05 | 313 | |
greenroshks | 0:8b0d43fe6c05 | 314 | //--------------------------------------------------------------------------------------------------------------------------------------------- |
greenroshks | 0:8b0d43fe6c05 | 315 | |
greenroshks | 0:8b0d43fe6c05 | 316 | int main() |
greenroshks | 0:8b0d43fe6c05 | 317 | { |
greenroshks | 0:8b0d43fe6c05 | 318 | t1.start(); |
greenroshks | 0:8b0d43fe6c05 | 319 | |
greenroshks | 0:8b0d43fe6c05 | 320 | ptr_t_hk_acq = new Thread(t_hk_acq); |
greenroshks | 0:8b0d43fe6c05 | 321 | ptr_t_acs = new Thread(t_acs); |
greenroshks | 0:8b0d43fe6c05 | 322 | ptr_t_acs_write2flash = new Thread(t_acs_write2flash); |
greenroshks | 0:8b0d43fe6c05 | 323 | ptr_t_bea = new Thread(t_bea); |
greenroshks | 0:8b0d43fe6c05 | 324 | ptr_t_bea_telecommand = new Thread(t_bea_telecommand); |
greenroshks | 0:8b0d43fe6c05 | 325 | ptr_t_fault = new Thread(T_FAULT); |
raizel_varun | 9:221d218f4690 | 326 | ptr_t_i2c = new Thread(C_T_I2C_BAE); |
greenroshks | 0:8b0d43fe6c05 | 327 | //ptr_t_sc = new Thread(t_sc); |
raizel_varun | 8:69475d16d23d | 328 | |
raizel_varun | 8:69475d16d23d | 329 | interrupt_fault(); |
raizel_varun | 8:69475d16d23d | 330 | |
greenroshks | 0:8b0d43fe6c05 | 331 | ptr_t_fault -> set_priority(osPriorityRealtime); |
greenroshks | 0:8b0d43fe6c05 | 332 | ptr_t_acs->set_priority(osPriorityHigh); |
raizel_varun | 9:221d218f4690 | 333 | ptr_t_i2c->set_priority(osPriorityAboveNormal); |
greenroshks | 0:8b0d43fe6c05 | 334 | ptr_t_hk_acq->set_priority(osPriorityNormal); |
greenroshks | 0:8b0d43fe6c05 | 335 | ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal); |
greenroshks | 0:8b0d43fe6c05 | 336 | ptr_t_bea->set_priority(osPriorityAboveNormal); |
greenroshks | 0:8b0d43fe6c05 | 337 | ptr_t_bea_telecommand->set_priority(osPriorityIdle); |
greenroshks | 0:8b0d43fe6c05 | 338 | //ptr_t_sc->set_priority(osPriorityAboveNormal); |
greenroshks | 0:8b0d43fe6c05 | 339 | |
greenroshks | 0:8b0d43fe6c05 | 340 | |
greenroshks | 0:8b0d43fe6c05 | 341 | // ---------------------------------------------------------------------------------------------- |
greenroshks | 0:8b0d43fe6c05 | 342 | printf("\n T_FAULT priority is %d",ptr_t_fault->get_priority()); |
greenroshks | 0:8b0d43fe6c05 | 343 | printf("\n T_ACS priority is %d",ptr_t_acs->get_priority()); |
greenroshks | 0:8b0d43fe6c05 | 344 | printf("\n T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority()); |
greenroshks | 0:8b0d43fe6c05 | 345 | printf("\n T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority()); |
greenroshks | 0:8b0d43fe6c05 | 346 | printf("\n T_BEA priority is %d",ptr_t_bea->get_priority()); |
greenroshks | 0:8b0d43fe6c05 | 347 | RtosTimer t_sc_timer(t_sc,osTimerPeriodic); |
greenroshks | 0:8b0d43fe6c05 | 348 | t_sc_timer.start(10000); |
greenroshks | 0:8b0d43fe6c05 | 349 | printf("\n%f\n",t1.read()); |
raizel_varun | 9:221d218f4690 | 350 | |
raizel_varun | 9:221d218f4690 | 351 | |
raizel_varun | 9:221d218f4690 | 352 | |
raizel_varun | 9:221d218f4690 | 353 | master_reset.fall(&C_FUNC_RESET); |
raizel_varun | 9:221d218f4690 | 354 | interrupt.rise(&C_FUNC_INT); |
raizel_varun | 9:221d218f4690 | 355 | |
greenroshks | 0:8b0d43fe6c05 | 356 | while(1) |
raizel_varun | 7:f06840d848e3 | 357 | { |
raizel_varun | 9:221d218f4690 | 358 | //Thread::wait(10000); |
raizel_varun | 9:221d218f4690 | 359 | ir2master(); |
greenroshks | 10:ed6d3b8d1d56 | 360 | Thread::wait(5000); |
greenroshks | 0:8b0d43fe6c05 | 361 | } |
greenroshks | 0:8b0d43fe6c05 | 362 | |
greenroshks | 0:8b0d43fe6c05 | 363 | } |