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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