FINAL ACS TO BE USED FOR TESTING. COMMISSIONING, ACS MAIN, DATA ACQ ALL DONE.
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of ACS_FULL_Flowchart_BAE by
main.cpp
- Committer:
- sakthipriya
- Date:
- 2015-12-24
- Revision:
- 1:446a959e36ce
- Parent:
- 0:7b4c00e3912f
- Child:
- 3:07e15677a75c
File content as of revision 1:446a959e36ce:
#include "mbed.h" #include "rtos.h" #include "pin_config.h" #include "ACS.h" #include "EPS.h" #include "BCN.h" #include "TCTM.h" #define tm_len 134 #define tc_len 135 #define bae_data_len 150 #define batt_heat_low 20 //***************************************************** flags *************************************************************// uint32_t BAE_STATUS = 0x00000000; uint32_t BAE_ENABLE = 0xFFFFFFFF; //.........acs...............// char ACS_INIT_STATUS = 'q'; char ACS_DATA_ACQ_STATUS = 'q'; char ACS_ATS_STATUS = 'q'; char ACS_MAIN_STATUS = 'q'; char ACS_STATUS = 'q'; char ACS_ATS_ENABLE = 'q'; char ACS_DATA_ACQ_ENABLE = 'q'; char ACS_STATE = 'q'; //.....................eps...................// //eps init char EPS_INIT_STATUS = 'q'; char EPS_BATTERY_GAUGE_STATUS = 'q'; //eps main char EPS_MAIN_STATUS = 'q'; char EPS_BATTERY_TEMP_STATUS = 'q'; char EPS_STATUS = 'q'; char EPS_BATTERY_HEAT_ENABLE = 'q'; //.......................global variables..................................................................// new hk structure- everything has to changed based on this char BAE_data[bae_data_len]; //*************************************Global declarations************************************************// const int addr = 0x20; //slave address Timer t_rfsilence; Timer t_start; Serial pc(USBTX, USBRX); int power_flag_dummy=2; float data[6]; extern float moment[3]; extern uint8_t BCN_FEN; extern BAE_HK_actual actual_data; extern BAE_HK_quant quant_data; extern BAE_HK_min_max bae_HK_minmax; extern BAE_HK_arch arch_data; bool write_ack = 1; bool read_ack = 1; char telecommand[tc_len]; char telemetry[tm_len]; char data_send_flag = 'h'; //*****************************************************Assigning pins******************************************************// DigitalOut gpo1(PTC0); // enable of att sens2 switch DigitalOut gpo2(PTC16); // enable of att sens switch InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS I2CSlave slave (PIN1,PIN2); DigitalOut batt_heat(PIN96); //gpo1 = 0; PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal PwmOut PWM2(PIN94); //y PwmOut PWM3(PIN95); //z //PWM output comes from pins p6 /*****************************************************************Threads USed***********************************************************************************/ Thread *ptr_t_acs; Thread *ptr_t_eps; Thread *ptr_t_bcn; Thread *ptr_t_i2c; /*********************************************************FCTN HEADERS***********************************************************************************/ void FCTN_ISR_I2C(); void FCTN_TM(); //*******************************************ACS THREAD**************************************************// void T_ACS(void const *args) { float b1[3]={-23.376,-37.56,14.739}, omega1[3]={-1.52,2.746,0.7629}, moment1[3]= {1.0498,-1.0535,1.3246}; //b1[3] = {22, 22,10}; //omega1[3] = {2.1,3.0,1.5}; // gpo1 = 0; // att sens2 switch is disabled // gpo2 = 0; // att sens switch is disabled while(1) { Thread::signal_wait(0x1); ACS_MAIN_STATUS = 's'; //set ACS_MAIN_STATUS flag PWM1 = 0; //clear pwm pins PWM2 = 0; //clear pwm pins PWM3 = 0; //clear pwm pins pc.printf("\n\rEntered ACS %f\n",t_start.read()); if(ACS_DATA_ACQ_ENABLE == 'e')// check if ACS_DATA_ACQ_ENABLE = 1? { FLAG(); FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3 pc.printf("gyro values\n\r"); //printing the angular velocity and magnetic field values for(int i=0; i<3; i++) { pc.printf("%f\n\r",data[i]); } pc.printf("mag values\n\r"); for(int i=3; i<6; i++) { pc.printf("%f\n\r",data[i]); for(int i=0;i<3;i++) { omega1[i]= data[i]; b1[i] = data[i+3]; } } }//if ACS_DATA_ACQ_ENABLE = 1 else { // Z axis actuation is the only final solution, } if(ACS_STATE == '0') // check ACS_STATE = ACS_CONTROL_OFF? { printf("\n\r acs control off\n"); FLAG(); ACS_STATUS = '0'; // set ACS_STATUS = ACS_CONTROL_OFF PWM1 = 0; //clear pwm pins PWM2 = 0; //clear pwm pins PWM3 = 0; //clear pwm pins } else { if(actual_data.power_mode>1) { if(ACS_STATE == '2') // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY { FLAG(); printf("\n\r z axis moment only\n"); ACS_STATUS = '2'; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY // FCTN_ACS_CNTRLALGO(b1, omega1); moment[0] = 0; moment[1] = 0; moment[2] =1.3;// is a dummy value FCTN_ACS_GENPWM_MAIN(moment) ; } else { if(ACS_STATE == '3') // check ACS_STATE = ACS_DATA_ACQ_FAILURE { FLAG(); printf("\n\r acs data failure "); ACS_STATUS = '3'; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE PWM1 = 0; //clear pwm pins PWM2 = 0; //clear pwm pins PWM3 = 0; //clear pwm pins } else { if(ACS_STATE == '4') // check ACS_STATE = ACS_NOMINAL_ONLY { FLAG(); printf("\n\r nominal"); ACS_STATUS = '4'; // set ACS_STATUS = ACS_NOMINAL_ONLY FCTN_ACS_CNTRLALGO(b1,omega1); printf("\n\r moment values returned by control algo \n"); for(int i=0; i<3; i++) { printf("%f\t",moment[i]); } FCTN_ACS_GENPWM_MAIN(moment) ; } else { if(ACS_STATE == '5') // check ACS_STATE = ACS_AUTO_CONTROL { FLAG(); printf("\n\r auto control"); ACS_STATUS = '5'; // set ACS_STATUS = ACS_AUTO_CONTROL //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code } else { if(ACS_STATE == '6') // check ACS_STATE = ACS_DETUMBLING_ONLY { FLAG(); printf("\n\r Entered detumbling \n"); ACS_STATUS = '6'; // set ACS_STATUS = ACS_DETUMBLING_ONLY FCTN_ACS_CNTRLALGO(b1,omega1); // detumbling code has to be included FCTN_ACS_GENPWM_MAIN(moment) ; } else { FLAG(); printf("\n\r invalid state"); ACS_STATUS = '7' ; // set ACS_STATUS = INVALID STATE PWM1 = 0; //clear pwm pins PWM2 = 0; //clear pwm pins PWM3 = 0; //clear pwm pins }//else of invalid }//else of autocontrol }//else of nominal }//else of data acg failure }//else fo z axis moment only }//if power >2 else { FLAG(); printf("\n\r low power"); ACS_STATUS = '1'; // set ACS_STATUS = ACS_LOW_POWER PWM1 = 0; //clear pwm pins PWM2 = 0; //clear pwm pins PWM3 = 0; //clear pwm pins } } //else for acs control off ACS_MAIN_STATUS = 'c'; //clear ACS_MAIN_STATUS flag }//while ends } //***************************************************EPS THREAD***********************************************// void T_EPS(void const *args) { while(1) { Thread::signal_wait(0x2); pc.printf("\n\rEntered EPS %f\n",t_start.read()); EPS_MAIN_STATUS = 's'; // Set EPS main status //FCTN_READ_HK(); //FCTN_APPEND_HKDATA(); FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual); if (actual_data.Batt_gauge_actual[1] == 200) //data not received { actual_data.power_mode = 1; EPS_BATTERY_GAUGE_STATUS = 'c'; //clear EPS_BATTERY_GAUGE_STATUS } else { FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level EPS_BATTERY_GAUGE_STATUS = 's'; //set EPS_BATTERY_GAUGE_STATUS } /* if( Temperature data received) { FCTN_BATT_TEMP_SENSOR_MAIN(); EPS_BATTERY_TEMP_STATUS = 's'; //set EPS_BATTERY_TEMP_STATUS if(EPS_BATTERY_HEAT_ENABLE = 'e') { if(actual_data.Batt_temp_actual[0] < batt_heat_low) { batt_heat = 1; //turn on battery heater } else { batt_heat = 0; //turn off battery heater } } else if(EPS_BATTERY_HEAT_ENABLE = 'd) { EPS_STATUS = EPS_BATTERY_HEATER_DISABLED; } } else { Set battery temp to XX EPS_BATTERY_TEMP_STATUS = 'c'; //clear EPS_BATTERY_TEMP_STATUS EPS_STATUS = EPS_ERR_BATTERY_TEMP; } EPS_MAIN_STATUS = 'c'; // clear EPS main status */ } } //**************************************************BCN THREAD*******************************************************************// void T_BCN(void const *args) { while(1) { Thread::signal_wait(0x3); pc.printf("\n\rEntered BCN %f\n",t_start.read()); P_BCN_TX_MAIN(); } } //**************************************************TCTM THREAD*******************************************************************// void T_TC(void const * args) { while(1) { Thread::signal_wait(0x4); wait_us(200); // can be between 38 to 15700 if( slave.receive() == 0) slave.stop(); else if( slave.receive() == 1) // slave writes to master { write_ack=slave.write(telemetry,tm_len); } else if( slave.receive()==3 || slave.receive()==2) // slave read { read_ack=slave.read(telecommand,tc_len); pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand); pc.printf("\n\r Executing Telecommand \n"); FCTN_TC_DECODE((uint8_t*) telecommand); FCTN_TM(); } } } void FCTN_TM() { irpt_2_mstr = 0; pc.printf("\n\r Telemetry Generation \n"); irpt_2_mstr = 1; } //******************************************************* I2C *******************************************************************// void FCTN_I2C_ISR() { ptr_t_i2c->signal_set(0x4); } //------------------------------------------------------------------------------------------------------------------------------------------------ //SCHEDULER //------------------------------------------------------------------------------------------------------------------------------------------------ uint8_t schedcount=1; void T_SC(void const *args) { printf("\n\r in scheduler"); if(schedcount == 7) //to reset the counter { schedcount = 1; } if(schedcount%1==0) { //ptr_t_acs -> signal_set(0x1); } if(schedcount%2==0) { ptr_t_eps -> signal_set(0x2); } if(schedcount%3==0) { //ptr_t_bcn -> signal_set(0x3); } schedcount++; printf("\n\r exited scheduler"); } Timer t_flag; void FLAG() { //.............acs..................// if(ACS_INIT_STATUS == 's') BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag else if(ACS_INIT_STATUS == 'c') BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag if(ACS_DATA_ACQ_STATUS == 's') BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag else if(ACS_DATA_ACQ_STATUS == 'c') BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag if(ACS_ATS_ENABLE == 'e') BAE_ENABLE |= 0x00000004; else if(ACS_ATS_ENABLE == 'd') BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004; if(ACS_DATA_ACQ_STATUS == 'f') BAE_STATUS |= 0x00000200; if(ACS_MAIN_STATUS == 's') BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag else if(ACS_MAIN_STATUS == 'c') BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag if(ACS_STATUS == '0') BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF else if(ACS_STATUS == '1') BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER else if(ACS_STATUS == '2') BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY else if(ACS_STATUS == '3') BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE else if(ACS_STATUS == '4') BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY else if(ACS_STATUS == '5') BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL else if(ACS_STATUS == '6') BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY else BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE if(ACS_STATE == '0') BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF else if(ACS_STATE == '2') BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY else if(ACS_STATE == '3') BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE else if(ACS_STATE == '4') BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY else if(ACS_STATE == '5') BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL else if(ACS_STATE == '6') BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL //...............eps......................// if(EPS_INIT_STATUS == 's') BAE_STATUS |= 0x00010000; //set EPS_INIT_STATUS flag else if(EPS_INIT_STATUS == 'c') BAE_STATUS &= 0xFFFEFFFF; //clear EPS_INIT_STATUS flag if(EPS_BATTERY_GAUGE_STATUS == 'c') BAE_STATUS &= 0xFFFDFFFF; //clear EPS_BATTERY_GAUGE_STATUS else if(EPS_BATTERY_GAUGE_STATUS == 's') BAE_STATUS |= 0x00020000; //set EPS_BATTERY_GAUGE_STATUS pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE); } void FCTN_BAE_INIT() { printf("\n\r Initialising BAE "); // FCTN_ACS_INIT(); FCTN_EPS_INIT(); //P_BCN_INIT(); FLAG(); } int main() { pc.printf("\n\r BAE Activated. Testing Version 1.1 \n"); /* if (BCN_FEN == 0) //dummy implementation { pc.printf("\n\r RF silence "); P_BCN_FEN(); t_rfsilence.start();//Start the timer for RF_Silence while(t_rfsilence.read() < RF_SILENCE_TIME); } */ ACS_STATE = '4'; //ACS_INIT_STATUS = 'c'; //ACS_DATA_ACQ_STATUS = 'c'; gpo1 = 0; FLAG(); FCTN_BAE_INIT(); ACS_ATS_ENABLE = 'e'; ACS_DATA_ACQ_ENABLE = 'e'; //...i2c.. strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end"); slave.address(addr); irpt_2_mstr = 0; ptr_t_i2c = new Thread(T_TC); ptr_t_i2c->set_priority(osPriorityHigh); ptr_t_acs = new Thread(T_ACS); ptr_t_acs->set_priority(osPriorityAboveNormal); ptr_t_eps = new Thread(T_EPS); ptr_t_eps->set_priority(osPriorityAboveNormal); ptr_t_bcn = new Thread(T_BCN); ptr_t_bcn->set_priority(osPriorityAboveNormal); irpt_4m_mstr.enable_irq(); irpt_4m_mstr.rise(&FCTN_I2C_ISR); RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread t_sc_timer.start(10000); t_start.start(); pc.printf("\n\rStarted scheduler %f\n\r",t_start.read()); gpo1 = 0; // att sens2 switch is enabled //FCTN_BAE_INIT(); while(1); //required to prevent main from terminating }