Diff: main.cpp

Revision:

0:cbe0ea884289

Child:

1:37fa1c3eba16

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jul 10 11:35:40 2014 +0000
@@ -0,0 +1,273 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "hkfinal.h"
+#include "slave.h"
+#include "ShortBeacon.h"
+
+Serial pc(USBTX, USBRX);
+
+DigitalOut led1(LED1);
+
+Timer t;
+Timer t1;
+
+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_sc;
+
+//----------------------------------------------HOUSE-KEEPING(HK)------------------------------------------------------------------------------------------
+//void func_hk_mux()
+//{
+//    pc.printf("Something related to mux\n");
+//}
+//
+//void func_hk_adc()
+//{
+//    pc.printf("Converting analog to digital\n");
+//}
+//
+//void func_hk_write2flash()
+//{
+//    pc.printf("Writing the house keeping data to flash\n");
+//}
+//
+//void func_hk_readram()
+//{
+//    pc.printf("Reading hk data from ram\n");
+//}
+
+//void func_hk_send2cdms()
+//{
+//    pc.printf("Send the data to sd card\n");
+//}
+
+void t_hk_send2cdms(void const *args)
+{
+    while(1)
+    {
+        t.start();
+        
+        printf("The state of hk_acq thread is %d\n",ptr_t_hk_acq->get_state());
+        printf("The state of acs_main thread is %d\n",ptr_t_acs->get_state());
+        printf("The state of acs_write2flash thread is %d\n",ptr_t_acs_write2flash->get_state());
+        printf("The state of beacon thread is %d\n",ptr_t_bea->get_state());
+        Thread::signal_wait(0x4);
+        //func_hk_readram();
+        //func_hk_send2cdms();
+        FUNC_I2C_SLAVE_MAIN();
+        printf("The time to execute send2cdms is %f\n",t.read());
+        t.reset();
+    }
+}
+
+void t_hk_acq(void const *args)
+{
+    Thread thread_2(t_hk_send2cdms);
+    while(1)
+    {
+        Thread::signal_wait(0x2);
+        printf("\nTHIS IS HK\n");
+        t.start();
+        //func_hk_mux();
+        //func_hk_adc();
+        //func_hk_write2flash();
+        FUNC_HK_MAIN();
+        thread_2.signal_set(0x4);
+        printf("The state of hk_acq thread is %d\n",ptr_t_hk_acq->get_state());
+        printf("The state of acs_main thread is %d\n",ptr_t_acs->get_state());
+        printf("The state of acs_write2flash thread is %d\n",ptr_t_acs_write2flash->get_state());
+        printf("The state of beacon thread is %d\n",ptr_t_bea->get_state());
+        t.stop();
+        printf("The time to execute hk_acq is %f seconds\n",t.read());
+        t.reset();
+    }
+}
+
+//---------------------------------------------------------------------------------------------------------------------------------------
+
+typedef struct {
+    float mag_field;
+    float omega;
+    } sensor_data;
+    
+Mail <sensor_data, 16> q_acs;
+    
+void func_acs_readdata(sensor_data *ptr)
+{
+    pc.printf("Reading the data\n");
+    ptr -> mag_field = 10;
+    ptr -> omega = 3;
+}
+
+void func_acs_ctrlalgo()
+{
+    pc.printf("Executing control algo\n");
+}
+
+void func_acs_pwmgen()
+{
+    pc.printf("Generating PWM signal\n");
+}
+
+void func_acs_write2flash(sensor_data *ptr2)
+{
+    pc.printf("The magnetic field is %.2f T\n\r",ptr2->mag_field);
+    pc.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\n");
+        t.start();
+        sensor_data *ptr = q_acs.alloc();
+        func_acs_readdata(ptr);
+        func_acs_ctrlalgo();
+        func_acs_pwmgen();
+        q_acs.put(ptr);
+        printf("The state of hk_acq thread is %d\n",ptr_t_hk_acq->get_state());
+        printf("The state of acs_main thread is %d\n",ptr_t_acs->get_state());
+        printf("The state of acs_write2flash thread is %d\n",ptr_t_acs_write2flash->get_state());
+        printf("The state of beacon thread is %d\n",ptr_t_bea->get_state());
+        printf("The time to execute t_acs is %f seconds\n",t.read());
+            //   Thread::wait(10000);
+        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 in the flash\n");
+    }
+}
+
+//---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
+
+int flag=0;
+
+/*void func_bea_readbaeflash()
+{
+        pc.printf("Reading data from beacon flash\n");
+        wait(0.01);
+}
+
+void func_bea_spiwrite()
+{
+    pc.printf("Writing through SPI\n");
+    wait(0.01);
+}
+*/
+void t_bea_telecommand(void const *args)
+{
+    char c = pc.getc();
+    if(c=='a')
+    {
+        pc.printf("Telecommand detected\n");
+        flag=1;
+    }
+}
+
+void t_bea(void const *args)
+{
+    
+    while(1)
+    {
+        Thread::signal_wait(0x3);
+        printf("\nTHIS IS BEACON\n");
+        t.start();
+        printf("The state of hk_acq thread is %d\n",ptr_t_hk_acq->get_state());
+        printf("The state of acs_main thread is %d\n",ptr_t_acs->get_state());
+        printf("The state of acs_write2flash thread is %d\n",ptr_t_acs_write2flash->get_state());
+        printf("The state of beacon thread is %d\n",ptr_t_bea->get_state());
+        if(flag==0)
+        {
+            //func_bea_readbaeflash();
+            //func_bea_spiwrite();
+            Thread::wait(30000);
+        }
+        else
+        {
+            Thread::wait(10000);
+            flag = 0;
+        }
+        
+        printf("The time to execute beacon thread is %f seconds\n",t.read());
+        t.reset();
+    }
+}
+
+//------------------------------------------------------------------------------------------------------------------------------------------------
+int i=0;
+void t_sc(void const *args)
+{
+    
+    printf("The value of i in scheduler is %d\n",i);
+    if(i%10==0)
+    {
+        ptr_t_acs -> signal_set(0x1);
+    }
+    if(i%20==0)
+    {
+        ptr_t_hk_acq -> signal_set(0x2);
+    }
+    if(i%30==0)
+    {
+        ptr_t_bea -> signal_set(0x3);
+    }
+    i++;
+}
+    
+//---------------------------------------------------------------------------------------------------------------------------------------------
+
+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_sc = new Thread(t_sc);
+
+    ptr_t_acs->set_priority(osPriorityRealtime);
+    ptr_t_hk_acq->set_priority(osPriorityHigh);
+    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);
+    
+    /*RtosTimer for individual thread-------------------------------------------------------------------------------------------
+    RtosTimer t_hk_acq_timer(t_hk_acq, osTimerPeriodic);
+    RtosTimer t_acs_timer(t_acs, osTimerPeriodic);    
+    RtosTimer t_bea_timer(t_bea, osTimerPeriodic);
+    
+    t_hk_acq_timer.start(20000);
+    t_acs_timer.start(10000);
+    t_bea_timer.start(30000);
+    ----------------------------------------------------------------------------------------------*/    
+    
+    RtosTimer t_sc_timer(t_sc,osTimerPeriodic);
+    t_sc_timer.start(1000);
+    printf("%f\n",t1.read());   
+    while(1)
+    {
+        ;
+    }
+    
+}
\ No newline at end of file