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Fork of all_combined_week6 by
main.cpp
- Committer:
- greenroshks
- Date:
- 2014-07-12
- Revision:
- 5:c7cd684d25a8
- Parent:
- 4:79b97f9cab00
- Child:
- 6:82153349cc9b
File content as of revision 5:c7cd684d25a8:
#include "mbed.h" #include "rtos.h" #include "HK.h" #include "slave.h" #include "ShortBeacon.h" //watda? Serial pc(USBTX, USBRX); 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_fault; //----------------------------------------------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(); Thread::signal_wait(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()); FUNC_I2C_SLAVE_MAIN(24); 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 %f\n",t1.read()); t.start(); 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 %f\n",t1.read()); t.start(); sensor_data *ptr = q_acs.alloc(); func_acs_readdata(ptr); q_acs.put(ptr); func_acs_ctrlalgo(); func_acs_pwmgen(); 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 beac_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"); 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(); 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(beac_flag==0) { //func_bea_readbaeflash(); //func_bea_spiwrite(); Thread::wait(30000); } else { 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() { pc.printf("\nFault 1 detected... \n"); } void FUNC_FAULT_FUNCT2() { pc.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); } } } //------------------------------------------------------------------------------------------------------------------------------------------------ //SCHEDULER //------------------------------------------------------------------------------------------------------------------------------------------------ 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%10==0) { ptr_t_acs -> signal_set(0x1); } if(schedcount%20==0) { ptr_t_hk_acq -> signal_set(0x2); } if(schedcount%30==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_sc = new Thread(t_sc); ptr_t_fault -> set_priority(osPriorityRealtime); ptr_t_acs->set_priority(osPriorityHigh); 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); /*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); ----------------------------------------------------------------------------------------------*/ pc.printf("\n T_FAULT priority is %d",ptr_t_fault->get_priority()); pc.printf("\n T_ACS priority is %d",ptr_t_acs->get_priority()); pc.printf("\n T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority()); pc.printf("\n T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority()); pc.printf("\n T_BEA priority is %d",ptr_t_bea->get_priority()); RtosTimer t_sc_timer(t_sc,osTimerPeriodic); t_sc_timer.start(1000); printf("\n%f\n",t1.read()); while(1) { //Thread::wait(1000); ; } }