Team Fox / Mbed 2 deprecated ACS_FULL_Flowchart_BAE

ACS completed fully. All cases to be tested

Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of ACS_Flowchart_BAE by Team Fox

main.cpp@17:1e1955f3db75, 2016-06-09 (annotated)

Committer:
Bragadeesh153
Date:
Thu Jun 09 14:12:55 2016 +0000
Revision:
17:1e1955f3db75
Parent:
16:cc77770d787f
Child:
18:21740620c65e
ACS_LATEST_CODE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakthipriya 0:7b4c00e3912f 1 #include "mbed.h"
sakthipriya 0:7b4c00e3912f 2 #include "rtos.h"
sakthipriya 0:7b4c00e3912f 3 #include "pin_config.h"
sakthipriya 0:7b4c00e3912f 4 #include "ACS.h"
sakthipriya 0:7b4c00e3912f 5 #include "EPS.h"
sakthipriya 0:7b4c00e3912f 6 #include "BCN.h"
sakthipriya 0:7b4c00e3912f 7 #include "TCTM.h"
sakthipriya 0:7b4c00e3912f 8
Bragadeesh153 13:fb7facaf308b 9 #define tm_len 135
Bragadeesh153 13:fb7facaf308b 10 #define tc_len 11
sakthipriya 0:7b4c00e3912f 11 #define batt_heat_low 20
sakthipriya 9:194afacf7449 12
sakthipriya 0:7b4c00e3912f 13 //***************************************************** flags *************************************************************//
sakthipriya 0:7b4c00e3912f 14 uint32_t BAE_STATUS = 0x00000000;
sakthipriya 0:7b4c00e3912f 15 uint32_t BAE_ENABLE = 0xFFFFFFFF;
sakthipriya 0:7b4c00e3912f 16
sakthipriya 5:bb592f3185cc 17 //i2c//
sakthipriya 5:bb592f3185cc 18 char data_send_flag = 'h';
sakthipriya 5:bb592f3185cc 19
Bragadeesh153 17:1e1955f3db75 20 //.........ACS...............//
sakthipriya 0:7b4c00e3912f 21
sakthipriya 9:194afacf7449 22
sakthipriya 9:194afacf7449 23 uint8_t ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 24 uint8_t ACS_DATA_ACQ_STATUS = 0;
Bragadeesh153 16:cc77770d787f 25 uint8_t ACS_ATS_STATUS = 0x60;
sakthipriya 9:194afacf7449 26 uint8_t ACS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 27 uint8_t ACS_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 28 uint8_t ACS_DETUMBLING_ALGO_TYPE = 0;
Bragadeesh153 17:1e1955f3db75 29
Bragadeesh153 17:1e1955f3db75 30 uint8_t ACS_TR_Z_SW_STATUS=1;
Bragadeesh153 17:1e1955f3db75 31 uint8_t ACS_TR_XY_SW_STATUS=1;
sakthipriya 9:194afacf7449 32
sakthipriya 9:194afacf7449 33 uint8_t ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 34 uint8_t ACS_DATA_ACQ_ENABLE = 1;
Bragadeesh153 17:1e1955f3db75 35 uint8_t ACS_STATE = 7;
sakthipriya 0:7b4c00e3912f 36
Bragadeesh153 17:1e1955f3db75 37 //.....................EPS...................//
sakthipriya 0:7b4c00e3912f 38 //eps init
sakthipriya 9:194afacf7449 39
sakthipriya 9:194afacf7449 40 uint8_t EPS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 41 uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
sakthipriya 9:194afacf7449 42 //eps main
sakthipriya 9:194afacf7449 43 uint8_t EPS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 44 uint8_t EPS_BATTERY_TEMP_STATUS = 0;
sakthipriya 9:194afacf7449 45 uint8_t EPS_STATUS = 7; //invalid status
sakthipriya 9:194afacf7449 46
sakthipriya 9:194afacf7449 47 uint8_t EPS_BATTERY_HEAT_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 48
sakthipriya 0:7b4c00e3912f 49 //.......................global variables..................................................................// new hk structure- everything has to changed based on this
sakthipriya 6:036d08b62785 50 uint8_t BAE_data[74];
sakthipriya 6:036d08b62785 51 char BAE_chardata[74];
sakthipriya 0:7b4c00e3912f 52
sakthipriya 0:7b4c00e3912f 53
sakthipriya 0:7b4c00e3912f 54 //*************************************Global declarations************************************************//
sakthipriya 0:7b4c00e3912f 55 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 56
sakthipriya 0:7b4c00e3912f 57 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 58 Timer t_start;
sakthipriya 7:a46a1dee4497 59 Timer t_tc;
sakthipriya 7:a46a1dee4497 60 Timer t_tm;
Bragadeesh153 17:1e1955f3db75 61
sakthipriya 0:7b4c00e3912f 62 Serial pc(USBTX, USBRX);
sakthipriya 0:7b4c00e3912f 63 int power_flag_dummy=2;
Bragadeesh153 17:1e1955f3db75 64
Bragadeesh153 17:1e1955f3db75 65 extern float gyro_data[3];
Bragadeesh153 17:1e1955f3db75 66 extern float mag_data[3];
sakthipriya 0:7b4c00e3912f 67
sakthipriya 0:7b4c00e3912f 68 extern float moment[3];
Bragadeesh153 17:1e1955f3db75 69 extern float b_old[3]; // Unit: Tesla
Bragadeesh153 17:1e1955f3db75 70 extern float db[3];
Bragadeesh153 17:1e1955f3db75 71 extern uint8_t flag_firsttime;
Bragadeesh153 17:1e1955f3db75 72 extern uint8_t alarmmode;
Bragadeesh153 17:1e1955f3db75 73
Bragadeesh153 17:1e1955f3db75 74
sakthipriya 0:7b4c00e3912f 75 extern uint8_t BCN_FEN;
sakthipriya 1:446a959e36ce 76 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 77 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 78 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 79 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 80
sakthipriya 5:bb592f3185cc 81 int write_ack = 1;
sakthipriya 5:bb592f3185cc 82 int read_ack = 1;
sakthipriya 0:7b4c00e3912f 83 char telecommand[tc_len];
Bragadeesh153 13:fb7facaf308b 84 extern uint8_t telemetry[135];
sakthipriya 5:bb592f3185cc 85
sakthipriya 5:bb592f3185cc 86 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 87 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 88 bool if1check = 0;
lakshya 14:a9588f443f1a 89 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 90
sakthipriya 0:7b4c00e3912f 91 //*****************************************************Assigning pins******************************************************//
sakthipriya 9:194afacf7449 92 DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch
sakthipriya 9:194afacf7449 93 DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch
Bragadeesh153 16:cc77770d787f 94
sakthipriya 0:7b4c00e3912f 95 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
sakthipriya 0:7b4c00e3912f 96 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya 14:a9588f443f1a 97 I2CSlave slave (PIN1,PIN2);///pin1 pin2
sakthipriya 0:7b4c00e3912f 98 DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 99
sakthipriya 9:194afacf7449 100 //ATS1_SW_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 101 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 102 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 103 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 104
sakthipriya 5:bb592f3185cc 105 //........faults
sakthipriya 5:bb592f3185cc 106 //Polled Faults
sakthipriya 5:bb592f3185cc 107 DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
sakthipriya 5:bb592f3185cc 108 DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
sakthipriya 5:bb592f3185cc 109 DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 110
sakthipriya 5:bb592f3185cc 111 //Interrupt based faults
lakshya 14:a9588f443f1a 112 //InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal
sakthipriya 5:bb592f3185cc 113 InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault
sakthipriya 5:bb592f3185cc 114 InterruptIn ir3(PIN89);//TRZ Driver Fault Bar
sakthipriya 5:bb592f3185cc 115 InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault
sakthipriya 5:bb592f3185cc 116 InterruptIn ir5(PIN79);//CDMS - Switch Fault
sakthipriya 5:bb592f3185cc 117 InterruptIn ir6(PIN80);//Beacon- Switch OC bar
sakthipriya 5:bb592f3185cc 118 InterruptIn ir7(PIN42);//Charger IC - Fault Bar
sakthipriya 5:bb592f3185cc 119
lakshya 14:a9588f443f1a 120
Bragadeesh153 13:fb7facaf308b 121
Bragadeesh153 13:fb7facaf308b 122 DigitalOut TRXY_SW(PIN71); //TR XY Switch
Bragadeesh153 13:fb7facaf308b 123 DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z
sakthipriya 5:bb592f3185cc 124 DigitalOut TRZ_SW(PIN40); //TR Z Switch
sakthipriya 5:bb592f3185cc 125 DigitalOut CDMS_RESET(PIN7); // CDMS RESET
sakthipriya 5:bb592f3185cc 126 DigitalOut BCN_SW(PIN14); //Beacon switch
Bragadeesh153 13:fb7facaf308b 127 DigitalOut DRV_XY_EN(PIN82);
sakthipriya 0:7b4c00e3912f 128
sakthipriya 0:7b4c00e3912f 129 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 3:07e15677a75c 130
sakthipriya 0:7b4c00e3912f 131 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 132
sakthipriya 0:7b4c00e3912f 133 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 134
sakthipriya 0:7b4c00e3912f 135 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 136 void FCTN_TM();
sakthipriya 3:07e15677a75c 137 void F_ACS();
sakthipriya 3:07e15677a75c 138 void F_EPS();
sakthipriya 3:07e15677a75c 139 void F_BCN();
sakthipriya 0:7b4c00e3912f 140
sakthipriya 0:7b4c00e3912f 141 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 142 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 143 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 144 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 145 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 146
Bragadeesh153 17:1e1955f3db75 147 extern float max_array(float arr[3]);
Bragadeesh153 17:1e1955f3db75 148
sakthipriya 3:07e15677a75c 149 void F_ACS()
sakthipriya 0:7b4c00e3912f 150 {
sakthipriya 8:82250e41da81 151
Bragadeesh153 17:1e1955f3db75 152 pc.printf("Entered ACS.\n\r");
sakthipriya 9:194afacf7449 153
Bragadeesh153 17:1e1955f3db75 154 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
sakthipriya 8:82250e41da81 155
sakthipriya 0:7b4c00e3912f 156 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 157 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 158 PWM3 = 0; //clear pwm pins
Bragadeesh153 17:1e1955f3db75 159
Bragadeesh153 17:1e1955f3db75 160
Bragadeesh153 17:1e1955f3db75 161 ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ();
sakthipriya 0:7b4c00e3912f 162
Bragadeesh153 17:1e1955f3db75 163 //printing the angular speed and magnetic field values
Bragadeesh153 17:1e1955f3db75 164
Bragadeesh153 17:1e1955f3db75 165 pc.printf("gyro values\n\r");
sakthipriya 0:7b4c00e3912f 166 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 167 {
lakshya 15:e09aaaccf134 168 printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
sakthipriya 0:7b4c00e3912f 169 }
Bragadeesh153 17:1e1955f3db75 170
sakthipriya 0:7b4c00e3912f 171 pc.printf("mag values\n\r");
sakthipriya 6:036d08b62785 172 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 173 {
sakthipriya 6:036d08b62785 174 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
sakthipriya 5:bb592f3185cc 175 }
Bragadeesh153 17:1e1955f3db75 176
Bragadeesh153 17:1e1955f3db75 177 for(int i=0;i<3;i++)
sakthipriya 0:7b4c00e3912f 178 {
Bragadeesh153 17:1e1955f3db75 179 mag_data[i] = actual_data.Bvalue_actual[i]/1000000;
Bragadeesh153 17:1e1955f3db75 180 gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180;
sakthipriya 0:7b4c00e3912f 181 }
Bragadeesh153 17:1e1955f3db75 182
Bragadeesh153 17:1e1955f3db75 183
Bragadeesh153 17:1e1955f3db75 184
Bragadeesh153 17:1e1955f3db75 185 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
sakthipriya 0:7b4c00e3912f 186 {
sakthipriya 0:7b4c00e3912f 187 printf("\n\r acs control off\n");
sakthipriya 9:194afacf7449 188 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
Bragadeesh153 17:1e1955f3db75 189
Bragadeesh153 17:1e1955f3db75 190 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 191 return;
Bragadeesh153 17:1e1955f3db75 192 }
Bragadeesh153 17:1e1955f3db75 193
Bragadeesh153 17:1e1955f3db75 194 else if(actual_data.power_mode<2)
Bragadeesh153 17:1e1955f3db75 195 {
Bragadeesh153 17:1e1955f3db75 196 printf("\n\r Low Power \n\r");
Bragadeesh153 17:1e1955f3db75 197
Bragadeesh153 17:1e1955f3db75 198 DRV_Z_EN = 0;
Bragadeesh153 17:1e1955f3db75 199 DRV_XY_EN = 0;
Bragadeesh153 17:1e1955f3db75 200
Bragadeesh153 17:1e1955f3db75 201 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
Bragadeesh153 17:1e1955f3db75 202
Bragadeesh153 17:1e1955f3db75 203 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 204 return;
Bragadeesh153 17:1e1955f3db75 205
sakthipriya 0:7b4c00e3912f 206 }
Bragadeesh153 17:1e1955f3db75 207
Bragadeesh153 17:1e1955f3db75 208 else if(ACS_TR_Z_SW_STATUS != 1)
Bragadeesh153 17:1e1955f3db75 209 {
Bragadeesh153 17:1e1955f3db75 210 DRV_Z_EN = 0;
Bragadeesh153 17:1e1955f3db75 211 DRV_XY_EN = 0;
Bragadeesh153 17:1e1955f3db75 212
Bragadeesh153 17:1e1955f3db75 213 ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED
Bragadeesh153 17:1e1955f3db75 214
Bragadeesh153 17:1e1955f3db75 215 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 216 return;
Bragadeesh153 17:1e1955f3db75 217 }
Bragadeesh153 17:1e1955f3db75 218
Bragadeesh153 17:1e1955f3db75 219 else if(ACS_TR_XY_SW_STATUS != 1)
Bragadeesh153 17:1e1955f3db75 220 {
Bragadeesh153 17:1e1955f3db75 221
Bragadeesh153 17:1e1955f3db75 222 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 223 DRV_XY_EN = 0;
Bragadeesh153 17:1e1955f3db75 224
Bragadeesh153 17:1e1955f3db75 225 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only
Bragadeesh153 17:1e1955f3db75 226
Bragadeesh153 17:1e1955f3db75 227 moment[0] = 0;
Bragadeesh153 17:1e1955f3db75 228 moment[1] = 0;
Bragadeesh153 17:1e1955f3db75 229 moment[2] =1.3; // is a dummy value
Bragadeesh153 17:1e1955f3db75 230
Bragadeesh153 17:1e1955f3db75 231
Bragadeesh153 17:1e1955f3db75 232
Bragadeesh153 17:1e1955f3db75 233 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 17:1e1955f3db75 234
Bragadeesh153 17:1e1955f3db75 235 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 236 return;
Bragadeesh153 17:1e1955f3db75 237
Bragadeesh153 17:1e1955f3db75 238 }
Bragadeesh153 17:1e1955f3db75 239
Bragadeesh153 17:1e1955f3db75 240 else if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 241 {
Bragadeesh153 17:1e1955f3db75 242 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 243 DRV_XY_EN = 0;
Bragadeesh153 17:1e1955f3db75 244
Bragadeesh153 17:1e1955f3db75 245 ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only
Bragadeesh153 17:1e1955f3db75 246
Bragadeesh153 17:1e1955f3db75 247 moment[0] = 0;
Bragadeesh153 17:1e1955f3db75 248 moment[1] = 0;
Bragadeesh153 17:1e1955f3db75 249 moment[2] =1.3; // is a dummy value
Bragadeesh153 17:1e1955f3db75 250 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 17:1e1955f3db75 251
Bragadeesh153 17:1e1955f3db75 252 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 253 return;
Bragadeesh153 17:1e1955f3db75 254
Bragadeesh153 17:1e1955f3db75 255 }
Bragadeesh153 17:1e1955f3db75 256
Bragadeesh153 17:1e1955f3db75 257 else if(ACS_STATE == 5)
Bragadeesh153 17:1e1955f3db75 258 {
Bragadeesh153 17:1e1955f3db75 259
Bragadeesh153 17:1e1955f3db75 260 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 261 DRV_XY_EN = 0;
Bragadeesh153 17:1e1955f3db75 262
Bragadeesh153 17:1e1955f3db75 263 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only
Bragadeesh153 17:1e1955f3db75 264
Bragadeesh153 17:1e1955f3db75 265 moment[0] = 0;
Bragadeesh153 17:1e1955f3db75 266 moment[1] = 0;
Bragadeesh153 17:1e1955f3db75 267 moment[2] =1.3; // 1.3 is a dummy value
Bragadeesh153 17:1e1955f3db75 268 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 17:1e1955f3db75 269
Bragadeesh153 17:1e1955f3db75 270 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 271 return;
Bragadeesh153 17:1e1955f3db75 272
Bragadeesh153 17:1e1955f3db75 273 }
Bragadeesh153 17:1e1955f3db75 274
Bragadeesh153 17:1e1955f3db75 275 else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available
Bragadeesh153 17:1e1955f3db75 276 {
Bragadeesh153 17:1e1955f3db75 277 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 278 DRV_XY_EN = 1;
Bragadeesh153 17:1e1955f3db75 279
Bragadeesh153 17:1e1955f3db75 280 ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL
Bragadeesh153 17:1e1955f3db75 281
Bragadeesh153 17:1e1955f3db75 282 float db[3];
Bragadeesh153 17:1e1955f3db75 283
Bragadeesh153 17:1e1955f3db75 284 if(flag_firsttime==1)
Bragadeesh153 17:1e1955f3db75 285 {
Bragadeesh153 17:1e1955f3db75 286 for(int i=0;i<3;i++)
Bragadeesh153 17:1e1955f3db75 287 {
Bragadeesh153 17:1e1955f3db75 288 db[i]=0; // Unit: Tesla/Second
Bragadeesh153 17:1e1955f3db75 289 }
Bragadeesh153 17:1e1955f3db75 290 flag_firsttime=0;
Bragadeesh153 17:1e1955f3db75 291 }
Bragadeesh153 17:1e1955f3db75 292
Bragadeesh153 17:1e1955f3db75 293 else
Bragadeesh153 17:1e1955f3db75 294 {
Bragadeesh153 17:1e1955f3db75 295 for(int i=0;i<3;i++)
sakthipriya 0:7b4c00e3912f 296 {
Bragadeesh153 17:1e1955f3db75 297 db[i]= (mag_data[i]-b_old[i])/sampling_time; // Unit: Tesla/Second
sakthipriya 0:7b4c00e3912f 298 }
Bragadeesh153 17:1e1955f3db75 299 }
Bragadeesh153 17:1e1955f3db75 300
Bragadeesh153 17:1e1955f3db75 301
Bragadeesh153 17:1e1955f3db75 302
Bragadeesh153 17:1e1955f3db75 303 for(int i=0;i<3;i++)
Bragadeesh153 17:1e1955f3db75 304 {
Bragadeesh153 17:1e1955f3db75 305 moment[i]=-kdetumble*db[i];
Bragadeesh153 17:1e1955f3db75 306 b_old[i]= mag_data[i]; // Unit: Tesla/Second
Bragadeesh153 17:1e1955f3db75 307 }
Bragadeesh153 17:1e1955f3db75 308
Bragadeesh153 17:1e1955f3db75 309 printf("\n\r Moment values returned by control algo \n");
Bragadeesh153 17:1e1955f3db75 310 for(int i=0; i<3; i++)
Bragadeesh153 17:1e1955f3db75 311 {
Bragadeesh153 17:1e1955f3db75 312 printf("%f\t",moment[i]);
Bragadeesh153 17:1e1955f3db75 313 }
Bragadeesh153 17:1e1955f3db75 314
Bragadeesh153 17:1e1955f3db75 315 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 17:1e1955f3db75 316
Bragadeesh153 17:1e1955f3db75 317 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 318 return;
Bragadeesh153 17:1e1955f3db75 319
Bragadeesh153 17:1e1955f3db75 320 }
Bragadeesh153 17:1e1955f3db75 321
Bragadeesh153 17:1e1955f3db75 322 else if(ACS_STATE == 7) // Nominal mode
Bragadeesh153 17:1e1955f3db75 323 {
Bragadeesh153 17:1e1955f3db75 324
Bragadeesh153 17:1e1955f3db75 325 printf("\n\r Nominal mode \n");
Bragadeesh153 17:1e1955f3db75 326 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 327 DRV_XY_EN = 1;
Bragadeesh153 17:1e1955f3db75 328
Bragadeesh153 17:1e1955f3db75 329 alarmmode = 0;
Bragadeesh153 17:1e1955f3db75 330 float normalising_fact;
Bragadeesh153 17:1e1955f3db75 331
Bragadeesh153 17:1e1955f3db75 332 if(flag_firsttime==1)
Bragadeesh153 17:1e1955f3db75 333 {
Bragadeesh153 17:1e1955f3db75 334 for(int i=0;i<3;i++)
Bragadeesh153 17:1e1955f3db75 335 {
Bragadeesh153 17:1e1955f3db75 336 db[i]=0; // Unit: Tesla/Second
Bragadeesh153 17:1e1955f3db75 337 }
Bragadeesh153 17:1e1955f3db75 338 flag_firsttime=0;
Bragadeesh153 17:1e1955f3db75 339 }
Bragadeesh153 17:1e1955f3db75 340 else
Bragadeesh153 17:1e1955f3db75 341 {
Bragadeesh153 17:1e1955f3db75 342 for(int i=0;i<3;i++)
sakthipriya 0:7b4c00e3912f 343 {
Bragadeesh153 17:1e1955f3db75 344 db[i]= (mag_data[i]-b_old[i])/sampling_time; // Unit: Tesla/Second
Bragadeesh153 17:1e1955f3db75 345 }
Bragadeesh153 17:1e1955f3db75 346 }
Bragadeesh153 17:1e1955f3db75 347
Bragadeesh153 17:1e1955f3db75 348 controlmodes(mag_data,db,gyro_data, 0);
Bragadeesh153 17:1e1955f3db75 349
Bragadeesh153 17:1e1955f3db75 350 if(max_array(moment)>MmntMax)
Bragadeesh153 17:1e1955f3db75 351 {
Bragadeesh153 17:1e1955f3db75 352 normalising_fact=max_array(moment)/MmntMax;
Bragadeesh153 17:1e1955f3db75 353 for(int i=0;i<3;i++)
Bragadeesh153 17:1e1955f3db75 354 {
Bragadeesh153 17:1e1955f3db75 355 moment[i]/=normalising_fact; // Unit: Ampere*Meter^2
Bragadeesh153 17:1e1955f3db75 356 }
Bragadeesh153 17:1e1955f3db75 357 }
Bragadeesh153 17:1e1955f3db75 358
Bragadeesh153 17:1e1955f3db75 359 for(int i=0;i<3;i++)
Bragadeesh153 17:1e1955f3db75 360 {
Bragadeesh153 17:1e1955f3db75 361 b_old[i]= mag_data[i]; // Unit: Tesla/Second
Bragadeesh153 17:1e1955f3db75 362 }
Bragadeesh153 17:1e1955f3db75 363
Bragadeesh153 17:1e1955f3db75 364 printf("\n\r Moment values returned by control algo \n");
Bragadeesh153 17:1e1955f3db75 365 for(int i=0; i<3; i++)
Bragadeesh153 17:1e1955f3db75 366 {
Bragadeesh153 17:1e1955f3db75 367 printf("%f\t",moment[i]);
Bragadeesh153 17:1e1955f3db75 368 }
Bragadeesh153 17:1e1955f3db75 369 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 17:1e1955f3db75 370
Bragadeesh153 17:1e1955f3db75 371 ACS_STATUS = 5; // set ACS_STATUS = ACS_NOMINAL_ONLY
Bragadeesh153 17:1e1955f3db75 372
Bragadeesh153 17:1e1955f3db75 373 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 374 return;
Bragadeesh153 17:1e1955f3db75 375
Bragadeesh153 17:1e1955f3db75 376 }
Bragadeesh153 17:1e1955f3db75 377
Bragadeesh153 17:1e1955f3db75 378 else if(ACS_STATE == 8) // Auto Control
Bragadeesh153 17:1e1955f3db75 379 {
Bragadeesh153 17:1e1955f3db75 380
Bragadeesh153 17:1e1955f3db75 381 printf("\n\r Auto control mode \n");
Bragadeesh153 17:1e1955f3db75 382 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 383 DRV_XY_EN = 1;
Bragadeesh153 17:1e1955f3db75 384
Bragadeesh153 17:1e1955f3db75 385
Bragadeesh153 17:1e1955f3db75 386 alarmmode=0;
Bragadeesh153 17:1e1955f3db75 387 FCTN_ACS_CNTRLALGO(mag_data,gyro_data);
Bragadeesh153 17:1e1955f3db75 388 printf("\n\r Moment values returned by control algo \n");
Bragadeesh153 17:1e1955f3db75 389 for(int i=0; i<3; i++)
Bragadeesh153 17:1e1955f3db75 390 {
Bragadeesh153 17:1e1955f3db75 391 printf("%f\t",moment[i]);
Bragadeesh153 17:1e1955f3db75 392 }
Bragadeesh153 17:1e1955f3db75 393 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 17:1e1955f3db75 394 ACS_STATUS = 6; // set ACS_STATUS = ACS_AUTO_CONTROL
Bragadeesh153 17:1e1955f3db75 395
Bragadeesh153 17:1e1955f3db75 396 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 397 return;
Bragadeesh153 17:1e1955f3db75 398 }
Bragadeesh153 17:1e1955f3db75 399
Bragadeesh153 17:1e1955f3db75 400 else if(ACS_STATE == 9) // Detumbling
Bragadeesh153 17:1e1955f3db75 401 {
Bragadeesh153 17:1e1955f3db75 402 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 403 DRV_XY_EN = 1;
sakthipriya 0:7b4c00e3912f 404
Bragadeesh153 17:1e1955f3db75 405 if(flag_firsttime==1)
Bragadeesh153 17:1e1955f3db75 406 {
Bragadeesh153 17:1e1955f3db75 407 for(int i=0;i<3;i++)
Bragadeesh153 17:1e1955f3db75 408 {
Bragadeesh153 17:1e1955f3db75 409 db[i]=0; // Unit: Tesla/Second
Bragadeesh153 17:1e1955f3db75 410 }
Bragadeesh153 17:1e1955f3db75 411 flag_firsttime=0;
Bragadeesh153 17:1e1955f3db75 412 }
Bragadeesh153 17:1e1955f3db75 413
Bragadeesh153 17:1e1955f3db75 414 else
Bragadeesh153 17:1e1955f3db75 415 {
Bragadeesh153 17:1e1955f3db75 416 for(int i=0;i<3;i++)
Bragadeesh153 17:1e1955f3db75 417 {
Bragadeesh153 17:1e1955f3db75 418 db[i]= (mag_data[i]-b_old[i])/sampling_time; // Unit: Tesla/Second
Bragadeesh153 17:1e1955f3db75 419 }
Bragadeesh153 17:1e1955f3db75 420 }
Bragadeesh153 17:1e1955f3db75 421
Bragadeesh153 17:1e1955f3db75 422
Bragadeesh153 17:1e1955f3db75 423 if (ACS_DETUMBLING_ALGO_TYPE == 0)
Bragadeesh153 17:1e1955f3db75 424 {
Bragadeesh153 17:1e1955f3db75 425
Bragadeesh153 17:1e1955f3db75 426 for(int i=0;i<3;i++)
Bragadeesh153 17:1e1955f3db75 427 {
Bragadeesh153 17:1e1955f3db75 428 moment[i]=-kdetumble*(mag_data[(i+1)%3]*gyro_data[(i+2)%3]-mag_data[(i+2)%3]*gyro_data[(i+1)%3]); // Unit: Ampere*Meter^2
Bragadeesh153 17:1e1955f3db75 429 }
Bragadeesh153 17:1e1955f3db75 430
Bragadeesh153 17:1e1955f3db75 431
Bragadeesh153 17:1e1955f3db75 432 ACS_STATUS = 6; // set ACS_STATUS = ACS_BOMEGA_CONTROL
Bragadeesh153 17:1e1955f3db75 433 }
Bragadeesh153 17:1e1955f3db75 434
Bragadeesh153 17:1e1955f3db75 435 else if(ACS_DETUMBLING_ALGO_TYPE == 1)
Bragadeesh153 17:1e1955f3db75 436 {
Bragadeesh153 17:1e1955f3db75 437
Bragadeesh153 17:1e1955f3db75 438 for(int i=0;i<3;i++)
Bragadeesh153 17:1e1955f3db75 439 {
Bragadeesh153 17:1e1955f3db75 440 moment[i]=-kdetumble*db[i]; // Unit: Ampere*Meter^2
Bragadeesh153 17:1e1955f3db75 441 }
Bragadeesh153 17:1e1955f3db75 442
Bragadeesh153 17:1e1955f3db75 443 ACS_STATUS = 4; // set ACS_STATUS = ACS_BDOT_CONTROL
Bragadeesh153 17:1e1955f3db75 444 }
Bragadeesh153 17:1e1955f3db75 445
Bragadeesh153 17:1e1955f3db75 446 for(int i=0;i<3;i++)
Bragadeesh153 17:1e1955f3db75 447 {
Bragadeesh153 17:1e1955f3db75 448
Bragadeesh153 17:1e1955f3db75 449 b_old[i]= mag_data[i]; // Unit: Tesla/Second
Bragadeesh153 17:1e1955f3db75 450 }
Bragadeesh153 17:1e1955f3db75 451
Bragadeesh153 17:1e1955f3db75 452 printf("\n\r Moment values returned by control algo \n");
Bragadeesh153 17:1e1955f3db75 453 for(int i=0; i<3; i++)
Bragadeesh153 17:1e1955f3db75 454 {
Bragadeesh153 17:1e1955f3db75 455 printf("%f\t",moment[i]);
Bragadeesh153 17:1e1955f3db75 456 }
Bragadeesh153 17:1e1955f3db75 457 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 17:1e1955f3db75 458
Bragadeesh153 17:1e1955f3db75 459 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 460 return;
Bragadeesh153 17:1e1955f3db75 461 }
Bragadeesh153 17:1e1955f3db75 462
Bragadeesh153 17:1e1955f3db75 463 ACS_STATUS = 7; //INVALID_STATE
Bragadeesh153 17:1e1955f3db75 464 DRV_Z_EN = 0;
Bragadeesh153 17:1e1955f3db75 465 DRV_XY_EN = 0;
sakthipriya 9:194afacf7449 466 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
sakthipriya 3:07e15677a75c 467
sakthipriya 0:7b4c00e3912f 468 }
sakthipriya 0:7b4c00e3912f 469 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 470
sakthipriya 3:07e15677a75c 471 void F_EPS()
sakthipriya 0:7b4c00e3912f 472 {
sakthipriya 3:07e15677a75c 473
sakthipriya 0:7b4c00e3912f 474 pc.printf("\n\rEntered EPS %f\n",t_start.read());
sakthipriya 9:194afacf7449 475 EPS_MAIN_STATUS = 1; // Set EPS main status
sakthipriya 3:07e15677a75c 476 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
sakthipriya 3:07e15677a75c 477 pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
sakthipriya 9:194afacf7449 478 EPS_BATTERY_TEMP_STATUS = 1; //set EPS_BATTERY_TEMP_STATUS
sakthipriya 9:194afacf7449 479 if(EPS_BATTERY_HEAT_ENABLE == 1)
sakthipriya 3:07e15677a75c 480 {
sakthipriya 5:bb592f3185cc 481 if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm
sakthipriya 3:07e15677a75c 482 {
sakthipriya 3:07e15677a75c 483 batt_heat = 1; //turn on battery heater
sakthipriya 3:07e15677a75c 484 }
sakthipriya 3:07e15677a75c 485 else
sakthipriya 3:07e15677a75c 486 {
sakthipriya 3:07e15677a75c 487 batt_heat = 0; //turn off battery heater
sakthipriya 3:07e15677a75c 488 }
sakthipriya 3:07e15677a75c 489
sakthipriya 3:07e15677a75c 490 }
sakthipriya 9:194afacf7449 491 else if(EPS_BATTERY_HEAT_ENABLE == 0)
sakthipriya 3:07e15677a75c 492 {
sakthipriya 3:07e15677a75c 493 EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED
sakthipriya 3:07e15677a75c 494 }
sakthipriya 0:7b4c00e3912f 495 FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual);
sakthipriya 1:446a959e36ce 496 if (actual_data.Batt_gauge_actual[1] == 200) //data not received
sakthipriya 0:7b4c00e3912f 497 {
sakthipriya 0:7b4c00e3912f 498 actual_data.power_mode = 1;
sakthipriya 9:194afacf7449 499 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 500
sakthipriya 0:7b4c00e3912f 501 }
sakthipriya 0:7b4c00e3912f 502 else
sakthipriya 0:7b4c00e3912f 503 {
sakthipriya 1:446a959e36ce 504 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
sakthipriya 9:194afacf7449 505 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 506 }
sakthipriya 3:07e15677a75c 507 // if( Temperature data received)
sakthipriya 3:07e15677a75c 508 //{
sakthipriya 3:07e15677a75c 509
sakthipriya 0:7b4c00e3912f 510
sakthipriya 3:07e15677a75c 511 // }
sakthipriya 3:07e15677a75c 512 // else
sakthipriya 3:07e15677a75c 513 // {
sakthipriya 3:07e15677a75c 514 // Set battery temp to XX
sakthipriya 9:194afacf7449 515 // EPS_BATTERY_TEMP_STATUS = 0; //clear EPS_BATTERY_TEMP_STATUS
sakthipriya 3:07e15677a75c 516 // EPS_STATUS = EPS_ERR_BATTERY_TEMP;
sakthipriya 3:07e15677a75c 517 // }
sakthipriya 3:07e15677a75c 518 FCTN_HK_MAIN();
sakthipriya 6:036d08b62785 519 // printf("\n\r here");
sakthipriya 5:bb592f3185cc 520 FCTN_APPEND_HKDATA();
sakthipriya 5:bb592f3185cc 521 minMaxHkData();
sakthipriya 6:036d08b62785 522 //printf("\n\r here");
sakthipriya 9:194afacf7449 523 EPS_MAIN_STATUS = 0; // clear EPS main status
sakthipriya 3:07e15677a75c 524
sakthipriya 0:7b4c00e3912f 525 }
sakthipriya 0:7b4c00e3912f 526
sakthipriya 0:7b4c00e3912f 527 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 528
sakthipriya 3:07e15677a75c 529 void F_BCN()
sakthipriya 0:7b4c00e3912f 530 {
sakthipriya 3:07e15677a75c 531
sakthipriya 0:7b4c00e3912f 532 pc.printf("\n\rEntered BCN %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 533
Bragadeesh153 12:af1d7e18b868 534 FCTN_BCN_TX_MAIN();
sakthipriya 0:7b4c00e3912f 535
sakthipriya 0:7b4c00e3912f 536 }
sakthipriya 0:7b4c00e3912f 537
sakthipriya 0:7b4c00e3912f 538 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 539
sakthipriya 0:7b4c00e3912f 540 void T_TC(void const * args)
sakthipriya 0:7b4c00e3912f 541 {
sakthipriya 0:7b4c00e3912f 542 while(1)
sakthipriya 0:7b4c00e3912f 543 {
sakthipriya 0:7b4c00e3912f 544 Thread::signal_wait(0x4);
lakshya 15:e09aaaccf134 545 wait_us(200);
lakshya 15:e09aaaccf134 546 //printf("\n\rreached\n"); // can be between 38 to 15700
sakthipriya 0:7b4c00e3912f 547 if( slave.receive() == 0)
lakshya 15:e09aaaccf134 548 {slave.stop();
lakshya 15:e09aaaccf134 549 //printf("\n\rnot send\n");
lakshya 15:e09aaaccf134 550 }
sakthipriya 0:7b4c00e3912f 551 else if( slave.receive() == 1) // slave writes to master
sakthipriya 0:7b4c00e3912f 552 {
sakthipriya 5:bb592f3185cc 553 if(data_send_flag == 'h')
sakthipriya 6:036d08b62785 554 {
sakthipriya 6:036d08b62785 555 //FCTN_APPEND_HKDATA();
sakthipriya 6:036d08b62785 556 // pc.printf("\n\r here");
sakthipriya 6:036d08b62785 557 write_ack=slave.write(BAE_chardata,74);
Bragadeesh153 13:fb7facaf308b 558 if(write_ack==0)
lakshya 15:e09aaaccf134 559 {irpt_2_mstr = 0;
lakshya 15:e09aaaccf134 560 printf("\n\rgot interrupt\n");
lakshya 15:e09aaaccf134 561 }
sakthipriya 6:036d08b62785 562 }
sakthipriya 5:bb592f3185cc 563 else if(data_send_flag == 't')
sakthipriya 5:bb592f3185cc 564 {
Bragadeesh153 13:fb7facaf308b 565 write_ack=slave.write((char*)telemetry,tm_len);
sakthipriya 5:bb592f3185cc 566 data_send_flag = 'h';
Bragadeesh153 13:fb7facaf308b 567 if(write_ack==0)
Bragadeesh153 13:fb7facaf308b 568 irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 569 }
sakthipriya 0:7b4c00e3912f 570 }
sakthipriya 0:7b4c00e3912f 571 else if( slave.receive()==3 || slave.receive()==2) // slave read
sakthipriya 0:7b4c00e3912f 572 {
sakthipriya 5:bb592f3185cc 573 read_ack=slave.read(telecommand,tc_len);
sakthipriya 7:a46a1dee4497 574 t_tc.start();
sakthipriya 6:036d08b62785 575 //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand);
sakthipriya 7:a46a1dee4497 576 pc.printf("\n\r Executing Telecommand \n");
sakthipriya 3:07e15677a75c 577 // FCTN_TC_DECODE((uint8_t*) telecommand);
sakthipriya 7:a46a1dee4497 578
Bragadeesh153 13:fb7facaf308b 579 FCTN_BAE_TM_TC((uint8_t*) telecommand);
Bragadeesh153 13:fb7facaf308b 580 //telemetry = (char*)temp;
sakthipriya 7:a46a1dee4497 581
sakthipriya 5:bb592f3185cc 582 FCTN_TM();
sakthipriya 7:a46a1dee4497 583 t_tc.stop();
sakthipriya 7:a46a1dee4497 584 printf("\n\r time taken %d",t_tc.read_us());
sakthipriya 7:a46a1dee4497 585 t_tc.reset();
sakthipriya 3:07e15677a75c 586 // for(int i = 0; i<134; i++)
sakthipriya 3:07e15677a75c 587 //pc.printf("%c", telemetry[i]);
sakthipriya 0:7b4c00e3912f 588 }
sakthipriya 0:7b4c00e3912f 589
sakthipriya 6:036d08b62785 590
sakthipriya 0:7b4c00e3912f 591 }
sakthipriya 0:7b4c00e3912f 592 }
sakthipriya 0:7b4c00e3912f 593
sakthipriya 0:7b4c00e3912f 594 void FCTN_TM()
sakthipriya 0:7b4c00e3912f 595 {
sakthipriya 4:39a4ae8c7ecd 596 //irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 597 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 598 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 599 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 600 }
sakthipriya 0:7b4c00e3912f 601
sakthipriya 0:7b4c00e3912f 602
sakthipriya 0:7b4c00e3912f 603 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 604
sakthipriya 0:7b4c00e3912f 605 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 606 {
sakthipriya 0:7b4c00e3912f 607 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 608 }
sakthipriya 0:7b4c00e3912f 609
sakthipriya 0:7b4c00e3912f 610
sakthipriya 5:bb592f3185cc 611 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 612 /*void ir1clear()
sakthipriya 5:bb592f3185cc 613 {
sakthipriya 5:bb592f3185cc 614 actual_data.faultIr_status |= 0x01; // alert
sakthipriya 5:bb592f3185cc 615
sakthipriya 5:bb592f3185cc 616 }*/
sakthipriya 5:bb592f3185cc 617
sakthipriya 5:bb592f3185cc 618
sakthipriya 5:bb592f3185cc 619
sakthipriya 5:bb592f3185cc 620 void ir2clear()
sakthipriya 5:bb592f3185cc 621 {
sakthipriya 5:bb592f3185cc 622 actual_data.faultIr_status |= 0x02;
Bragadeesh153 13:fb7facaf308b 623 TRXY_SW = 0; // Switch off TR XY
sakthipriya 5:bb592f3185cc 624 if1check = 1;
sakthipriya 5:bb592f3185cc 625 }
sakthipriya 5:bb592f3185cc 626
sakthipriya 5:bb592f3185cc 627 void ir3clear()
sakthipriya 5:bb592f3185cc 628 {
sakthipriya 5:bb592f3185cc 629 actual_data.faultIr_status |= 0x04;
Bragadeesh153 13:fb7facaf308b 630 DRV_Z_EN = 0;
sakthipriya 5:bb592f3185cc 631 wait_us(1);
Bragadeesh153 13:fb7facaf308b 632 DRV_Z_EN = 1;
sakthipriya 5:bb592f3185cc 633
sakthipriya 5:bb592f3185cc 634 }
sakthipriya 5:bb592f3185cc 635
sakthipriya 5:bb592f3185cc 636 void ir4clear()
sakthipriya 5:bb592f3185cc 637 {
sakthipriya 5:bb592f3185cc 638 if2check = 1;
sakthipriya 5:bb592f3185cc 639 actual_data.faultIr_status |= 0x08;
sakthipriya 5:bb592f3185cc 640 TRZ_SW = 0;
sakthipriya 5:bb592f3185cc 641 }
sakthipriya 5:bb592f3185cc 642
sakthipriya 5:bb592f3185cc 643 void ir5clear()
sakthipriya 5:bb592f3185cc 644 {
sakthipriya 5:bb592f3185cc 645 actual_data.faultIr_status |= 0x10;
sakthipriya 5:bb592f3185cc 646 CDMS_RESET = 0;
sakthipriya 5:bb592f3185cc 647 wait_us(1);
sakthipriya 5:bb592f3185cc 648 CDMS_RESET = 1;
sakthipriya 5:bb592f3185cc 649 }
sakthipriya 5:bb592f3185cc 650
sakthipriya 5:bb592f3185cc 651 void ir6clear()
sakthipriya 5:bb592f3185cc 652 {
sakthipriya 5:bb592f3185cc 653 actual_data.faultIr_status |= 0x20;
sakthipriya 5:bb592f3185cc 654 BCN_SW = 0;
sakthipriya 5:bb592f3185cc 655 wait_us(1);
sakthipriya 5:bb592f3185cc 656 BCN_SW = 1;
sakthipriya 5:bb592f3185cc 657 }
sakthipriya 5:bb592f3185cc 658
sakthipriya 5:bb592f3185cc 659 void ir7clear()
sakthipriya 5:bb592f3185cc 660 {
sakthipriya 5:bb592f3185cc 661 actual_data.faultIr_status |= 0x40;
sakthipriya 5:bb592f3185cc 662 }
sakthipriya 5:bb592f3185cc 663 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 664
sakthipriya 5:bb592f3185cc 665
sakthipriya 5:bb592f3185cc 666
sakthipriya 5:bb592f3185cc 667 void pollfault()
sakthipriya 5:bb592f3185cc 668 {
sakthipriya 5:bb592f3185cc 669
sakthipriya 5:bb592f3185cc 670
sakthipriya 5:bb592f3185cc 671
sakthipriya 5:bb592f3185cc 672 if (pf1==0) // OC_ATS1
sakthipriya 5:bb592f3185cc 673 {
sakthipriya 5:bb592f3185cc 674 pf1check=1;
sakthipriya 5:bb592f3185cc 675 actual_data.faultPoll_status |=0x01 ;
sakthipriya 9:194afacf7449 676 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
sakthipriya 5:bb592f3185cc 677 }
sakthipriya 5:bb592f3185cc 678 else actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 679
sakthipriya 5:bb592f3185cc 680 if (pf2==0)
sakthipriya 5:bb592f3185cc 681 {
sakthipriya 5:bb592f3185cc 682 pf2check=1;
sakthipriya 5:bb592f3185cc 683 actual_data.faultPoll_status |=0x02 ;
sakthipriya 9:194afacf7449 684 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
sakthipriya 5:bb592f3185cc 685 }
sakthipriya 5:bb592f3185cc 686 else actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 687
sakthipriya 5:bb592f3185cc 688 if (pf3==0)
sakthipriya 5:bb592f3185cc 689 { actual_data.faultPoll_status |=0x04 ;
Bragadeesh153 13:fb7facaf308b 690 DRV_XY_EN = 0;
sakthipriya 5:bb592f3185cc 691 wait_us(1);
Bragadeesh153 13:fb7facaf308b 692 DRV_XY_EN = 1;
sakthipriya 5:bb592f3185cc 693 }
sakthipriya 5:bb592f3185cc 694 else actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 695
sakthipriya 5:bb592f3185cc 696
sakthipriya 5:bb592f3185cc 697
sakthipriya 5:bb592f3185cc 698
sakthipriya 5:bb592f3185cc 699 /*if (ir1==1)
sakthipriya 5:bb592f3185cc 700 {
sakthipriya 5:bb592f3185cc 701 actual_data.faultIr_status &=0xFE;
sakthipriya 5:bb592f3185cc 702 }*/
lakshya 14:a9588f443f1a 703
sakthipriya 5:bb592f3185cc 704 if (ir2==1)
sakthipriya 5:bb592f3185cc 705 {
sakthipriya 5:bb592f3185cc 706 actual_data.faultIr_status &=0xFD;
sakthipriya 5:bb592f3185cc 707 }
sakthipriya 5:bb592f3185cc 708 if (ir3==1)
sakthipriya 5:bb592f3185cc 709 {
sakthipriya 5:bb592f3185cc 710 actual_data.faultIr_status &=0xFB;
sakthipriya 5:bb592f3185cc 711 }
sakthipriya 5:bb592f3185cc 712 if (ir4==1)
sakthipriya 5:bb592f3185cc 713 {
sakthipriya 5:bb592f3185cc 714 actual_data.faultIr_status &=0xF7;
sakthipriya 5:bb592f3185cc 715 }
sakthipriya 5:bb592f3185cc 716 if (ir5==1)
sakthipriya 5:bb592f3185cc 717 {
sakthipriya 5:bb592f3185cc 718 actual_data.faultIr_status &=0xEF;
sakthipriya 5:bb592f3185cc 719 }
sakthipriya 5:bb592f3185cc 720 if (ir6==1)
sakthipriya 5:bb592f3185cc 721 {
sakthipriya 5:bb592f3185cc 722 actual_data.faultIr_status &=0xDF;
sakthipriya 5:bb592f3185cc 723 }if (ir7==1)
sakthipriya 5:bb592f3185cc 724 {
sakthipriya 5:bb592f3185cc 725 actual_data.faultIr_status &=0xBF;
sakthipriya 5:bb592f3185cc 726 }
lakshya 14:a9588f443f1a 727
sakthipriya 5:bb592f3185cc 728
sakthipriya 5:bb592f3185cc 729 }
sakthipriya 5:bb592f3185cc 730
sakthipriya 5:bb592f3185cc 731
sakthipriya 0:7b4c00e3912f 732 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 733 //SCHEDULER
sakthipriya 0:7b4c00e3912f 734 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 735 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 736 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 737 {
sakthipriya 0:7b4c00e3912f 738 printf("\n\r in scheduler");
sakthipriya 0:7b4c00e3912f 739
sakthipriya 0:7b4c00e3912f 740 if(schedcount == 7) //to reset the counter
sakthipriya 0:7b4c00e3912f 741 {
sakthipriya 0:7b4c00e3912f 742 schedcount = 1;
sakthipriya 0:7b4c00e3912f 743 }
sakthipriya 0:7b4c00e3912f 744 if(schedcount%1==0)
Bragadeesh153 17:1e1955f3db75 745 {
Bragadeesh153 17:1e1955f3db75 746
Bragadeesh153 17:1e1955f3db75 747
Bragadeesh153 17:1e1955f3db75 748 pc.printf("\n\r\r\r\r \t\t******ACS******\r\r\r\r\r");
Bragadeesh153 17:1e1955f3db75 749
Bragadeesh153 17:1e1955f3db75 750 pc.printf("ACSSTATE IS !!!!!! = %x !!\n\r",ACS_STATE);
Bragadeesh153 17:1e1955f3db75 751
Bragadeesh153 17:1e1955f3db75 752 float acs_start = (float) t_start.read();
Bragadeesh153 17:1e1955f3db75 753
Bragadeesh153 17:1e1955f3db75 754 F_ACS();
Bragadeesh153 17:1e1955f3db75 755
Bragadeesh153 17:1e1955f3db75 756 float acs_end = float( t_start.read() - acs_start ) ;
Bragadeesh153 17:1e1955f3db75 757 printf("\nTime taken for ACS is:\t %f\n\r",acs_end);
Bragadeesh153 17:1e1955f3db75 758
Bragadeesh153 17:1e1955f3db75 759 pc.printf("\n\r\r\r\r \t\t******ACS EXIT******\r\r\r\r\r");
Bragadeesh153 17:1e1955f3db75 760
sakthipriya 0:7b4c00e3912f 761 }
sakthipriya 0:7b4c00e3912f 762
sakthipriya 0:7b4c00e3912f 763 if(schedcount%2==0)
sakthipriya 0:7b4c00e3912f 764 {
Bragadeesh153 13:fb7facaf308b 765 // F_EPS();
sakthipriya 0:7b4c00e3912f 766 }
lakshya 14:a9588f443f1a 767 if(schedcount%1==0)
sakthipriya 0:7b4c00e3912f 768 {
Bragadeesh153 12:af1d7e18b868 769 F_BCN();
sakthipriya 0:7b4c00e3912f 770 }
sakthipriya 0:7b4c00e3912f 771 schedcount++;
sakthipriya 0:7b4c00e3912f 772 printf("\n\r exited scheduler");
sakthipriya 0:7b4c00e3912f 773 }
sakthipriya 0:7b4c00e3912f 774
sakthipriya 0:7b4c00e3912f 775 Timer t_flag;
sakthipriya 0:7b4c00e3912f 776 void FLAG()
sakthipriya 0:7b4c00e3912f 777 {
sakthipriya 0:7b4c00e3912f 778
sakthipriya 0:7b4c00e3912f 779 //.............acs..................//
sakthipriya 9:194afacf7449 780 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 781 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 782 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 783 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 784
sakthipriya 9:194afacf7449 785 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 786 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 787 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 788 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 789
sakthipriya 9:194afacf7449 790 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 791 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 792 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 793 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 794
sakthipriya 0:7b4c00e3912f 795 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 796 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 797
sakthipriya 9:194afacf7449 798 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 799 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 800 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 801 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 802
sakthipriya 0:7b4c00e3912f 803 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 804 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 805 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 806 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 807 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 808 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 809 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 810 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 811 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 812 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 813 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 814 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 815 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 816 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 817 else
sakthipriya 0:7b4c00e3912f 818 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 819
sakthipriya 0:7b4c00e3912f 820 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 821 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 822 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 823 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 824 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 825 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 826 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 827 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 828 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 829 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 830 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 831 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 832
sakthipriya 0:7b4c00e3912f 833 //...............eps......................//
sakthipriya 5:bb592f3185cc 834
sakthipriya 5:bb592f3185cc 835
sakthipriya 9:194afacf7449 836 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
sakthipriya 5:bb592f3185cc 837 BAE_STATUS |= 0x00010000;
sakthipriya 9:194afacf7449 838 else if(EPS_INIT_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 839 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 840
sakthipriya 5:bb592f3185cc 841
sakthipriya 9:194afacf7449 842 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
sakthipriya 5:bb592f3185cc 843 BAE_STATUS |= 0x00040000;
sakthipriya 9:194afacf7449 844 else if(EPS_MAIN_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 845 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 846
sakthipriya 5:bb592f3185cc 847
sakthipriya 9:194afacf7449 848 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
sakthipriya 5:bb592f3185cc 849 BAE_STATUS |= 0x00020000;
sakthipriya 9:194afacf7449 850 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 851 BAE_STATUS &= 0xFFFDFFFF;
sakthipriya 5:bb592f3185cc 852
sakthipriya 5:bb592f3185cc 853
sakthipriya 9:194afacf7449 854 if (EPS_BATTERY_TEMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
sakthipriya 5:bb592f3185cc 855 BAE_STATUS |= 0x00080000;
sakthipriya 9:194afacf7449 856 else if(EPS_BATTERY_TEMP_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 857 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 858
sakthipriya 5:bb592f3185cc 859 if (EPS_STATUS==0)
sakthipriya 5:bb592f3185cc 860 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
sakthipriya 5:bb592f3185cc 861 else if (EPS_STATUS==1)
sakthipriya 5:bb592f3185cc 862 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
sakthipriya 5:bb592f3185cc 863 else if (EPS_STATUS==2)
sakthipriya 5:bb592f3185cc 864 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
sakthipriya 5:bb592f3185cc 865 else if (EPS_STATUS==3)
sakthipriya 5:bb592f3185cc 866 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
sakthipriya 5:bb592f3185cc 867 else if (EPS_STATUS==4)
sakthipriya 5:bb592f3185cc 868 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
sakthipriya 5:bb592f3185cc 869 else if (EPS_STATUS==5)
sakthipriya 5:bb592f3185cc 870 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 871
sakthipriya 5:bb592f3185cc 872
sakthipriya 9:194afacf7449 873 if(EPS_BATTERY_HEAT_ENABLE == 1)
sakthipriya 5:bb592f3185cc 874 BAE_ENABLE |= 0x00000080;
sakthipriya 9:194afacf7449 875 else if(EPS_BATTERY_HEAT_ENABLE == 0)
sakthipriya 5:bb592f3185cc 876 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 877
sakthipriya 0:7b4c00e3912f 878
sakthipriya 0:7b4c00e3912f 879
sakthipriya 0:7b4c00e3912f 880 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
sakthipriya 0:7b4c00e3912f 881 }
sakthipriya 0:7b4c00e3912f 882
sakthipriya 0:7b4c00e3912f 883 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 884 {
sakthipriya 0:7b4c00e3912f 885 printf("\n\r Initialising BAE ");
sakthipriya 3:07e15677a75c 886 //..........intial status....//
Bragadeesh153 17:1e1955f3db75 887 ACS_STATE = 8;
sakthipriya 9:194afacf7449 888 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 889 ACS_DATA_ACQ_ENABLE = 1;
Bragadeesh153 16:cc77770d787f 890
sakthipriya 9:194afacf7449 891 EPS_BATTERY_HEAT_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 892 actual_data.power_mode=3;
sakthipriya 9:194afacf7449 893 //............intializing pins................//
Bragadeesh153 16:cc77770d787f 894
Bragadeesh153 16:cc77770d787f 895 ATS2_SW_ENABLE = 1;
Bragadeesh153 16:cc77770d787f 896 ATS1_SW_ENABLE = 1;
Bragadeesh153 16:cc77770d787f 897 wait_ms(5);
sakthipriya 9:194afacf7449 898 ATS1_SW_ENABLE = 0;
Bragadeesh153 16:cc77770d787f 899
Bragadeesh153 16:cc77770d787f 900 ACS_ATS_STATUS = 0x60; //Set Sensor 1 working , Sensor2 working and powered off by default
Bragadeesh153 13:fb7facaf308b 901
Bragadeesh153 13:fb7facaf308b 902 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 903 DRV_Z_EN = 1;
Bragadeesh153 13:fb7facaf308b 904 TRZ_SW = 1;
Bragadeesh153 13:fb7facaf308b 905 TRXY_SW = 1;
sakthipriya 9:194afacf7449 906
sakthipriya 3:07e15677a75c 907 //............................//
sakthipriya 3:07e15677a75c 908 FCTN_ACS_INIT();
Bragadeesh153 13:fb7facaf308b 909 // FCTN_EPS_INIT();
lakshya 14:a9588f443f1a 910 //FCTN_BCN_INIT();
sakthipriya 3:07e15677a75c 911
sakthipriya 3:07e15677a75c 912
sakthipriya 0:7b4c00e3912f 913 FLAG();
sakthipriya 0:7b4c00e3912f 914 }
sakthipriya 0:7b4c00e3912f 915
sakthipriya 0:7b4c00e3912f 916 int main()
sakthipriya 0:7b4c00e3912f 917 {
sakthipriya 0:7b4c00e3912f 918 pc.printf("\n\r BAE Activated. Testing Version 1.1 \n");
Bragadeesh153 13:fb7facaf308b 919 CDMS_RESET = 1;
lakshya 14:a9588f443f1a 920 /*if (BCN_FEN == 0) //dummy implementation
sakthipriya 0:7b4c00e3912f 921 {
sakthipriya 0:7b4c00e3912f 922 pc.printf("\n\r RF silence ");
Bragadeesh153 12:af1d7e18b868 923 FCTN_BCN_FEN();
sakthipriya 0:7b4c00e3912f 924 t_rfsilence.start();//Start the timer for RF_Silence
sakthipriya 0:7b4c00e3912f 925 while(t_rfsilence.read() < RF_SILENCE_TIME);
sakthipriya 0:7b4c00e3912f 926 }
sakthipriya 0:7b4c00e3912f 927 */
sakthipriya 3:07e15677a75c 928
sakthipriya 9:194afacf7449 929 //ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 930 //ACS_DATA_ACQ_STATUS = 0;
Bragadeesh153 13:fb7facaf308b 931
Bragadeesh153 13:fb7facaf308b 932
sakthipriya 9:194afacf7449 933
Bragadeesh153 13:fb7facaf308b 934 //FLAG();
sakthipriya 0:7b4c00e3912f 935 FCTN_BAE_INIT();
sakthipriya 3:07e15677a75c 936
sakthipriya 0:7b4c00e3912f 937
sakthipriya 0:7b4c00e3912f 938 //...i2c..
sakthipriya 3:07e15677a75c 939 //strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end");
sakthipriya 0:7b4c00e3912f 940 slave.address(addr);
sakthipriya 0:7b4c00e3912f 941 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 942
sakthipriya 0:7b4c00e3912f 943 ptr_t_i2c = new Thread(T_TC);
sakthipriya 0:7b4c00e3912f 944 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 5:bb592f3185cc 945
sakthipriya 0:7b4c00e3912f 946 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 947 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
sakthipriya 5:bb592f3185cc 948 // ir1.fall(&ir1clear); //Battery Gauge - Alert Bar Signal
lakshya 14:a9588f443f1a 949 /* ir2.fall(&ir2clear); //TRXY Driver TR switch Fault
lakshya 14:a9588f443f1a 950 ir3.fall(&ir3clear); //TRZ Driver Fault Bar
lakshya 14:a9588f443f1a 951 ir4.fall(&ir4clear); //TRZ Driver TR switch Fault
lakshya 14:a9588f443f1a 952 ir5.fall(&ir5clear); //CDMS - Switch Fault
lakshya 14:a9588f443f1a 953 ir6.fall(&ir6clear); //Beacon- Switch OC bar
lakshya 14:a9588f443f1a 954 ir7.fall(&ir7clear); //Charger IC - Fault Bar
lakshya 14:a9588f443f1a 955
lakshya 14:a9588f443f1a 956 */
sakthipriya 0:7b4c00e3912f 957 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
sakthipriya 0:7b4c00e3912f 958 t_sc_timer.start(10000);
sakthipriya 0:7b4c00e3912f 959 t_start.start();
sakthipriya 0:7b4c00e3912f 960 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
sakthipriya 0:7b4c00e3912f 961
Bragadeesh153 13:fb7facaf308b 962
sakthipriya 0:7b4c00e3912f 963 //FCTN_BAE_INIT();
sakthipriya 0:7b4c00e3912f 964 while(1); //required to prevent main from terminating
sakthipriya 3:07e15677a75c 965 }
sakthipriya 3:07e15677a75c 966