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Diff: main.cpp
- Revision:
- 7:5cf19bfdbacd
- Parent:
- 6:82153349cc9b
diff -r 82153349cc9b -r 5cf19bfdbacd main.cpp --- a/main.cpp Tue Jul 15 10:04:38 2014 +0000 +++ b/main.cpp Thu Jul 17 11:22:41 2014 +0000 @@ -1,328 +1,14 @@ #include "mbed.h" -#include "rtos.h" -#include "HK.h" #include "slave.h" -#include "beacon.h" -#include "ACS.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("\nEntered t_hk_send2cdms\n"); - /*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); - FUNC_I2C_SLAVE_MAIN(24); - /*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_GENPWM(); - - /*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 acsd data 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(); - beacon_func(); - //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%1==0) - { - ptr_t_acs -> signal_set(0x1); - } - if(schedcount%2==0) - { - ptr_t_hk_acq -> signal_set(0x2); - } - if(schedcount%3==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(10000); - printf("\n%f\n",t1.read()); - - while(1) + while(true) { - Thread::wait(10000); - ; + wait(0.5); + FUNC_I2C_SLAVE_MAIN(24); + wait(10); } - -} \ No newline at end of file +} \ No newline at end of file