Team Fox
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BAE_CODE_MARCH_2017
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Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
workinQM_5thJan_azad
by 
Team Fox
main.cpp@34:1b41c34b12ea, 2016-07-04 (annotated)
- Committer:
- Bragadeesh153
- Date:
- Mon Jul 04 07:01:26 2016 +0000
- Revision:
- 34:1b41c34b12ea
- Parent:
- 33:76f2b8735501
- Child:
- 35:7193e581932f
UPDATED SCZ_ANGLE and COMMISSIONING
Who changed what in which revision?
| User | Revision | Line number | New 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" |
| Bragadeesh153 | 13:fb7facaf308b | 8 | #define tm_len 135 |
| Bragadeesh153 | 13:fb7facaf308b | 9 | #define tc_len 11 |
| sakthipriya | 0:7b4c00e3912f | 10 | #define batt_heat_low 20 |
| lakshya | 22:950dbe9fbeb8 | 11 | #define print 1 |
| sakthipriya | 9:194afacf7449 | 12 | |
| lakshya | 33:76f2b8735501 | 13 | #define DISABLE_WDOG 0; |
| lakshya | 33:76f2b8735501 | 14 | |
| lakshya | 33:76f2b8735501 | 15 | void kick_WDOG() |
| lakshya | 33:76f2b8735501 | 16 | { |
| lakshya | 33:76f2b8735501 | 17 | SIM->SRVCOP=0x55; |
| lakshya | 33:76f2b8735501 | 18 | SIM->SRVCOP=0xAA; |
| lakshya | 33:76f2b8735501 | 19 | printf("\n\rkicked"); |
| lakshya | 33:76f2b8735501 | 20 | } |
| lakshya | 33:76f2b8735501 | 21 | |
| lakshya | 33:76f2b8735501 | 22 | void init_WDOG() |
| lakshya | 33:76f2b8735501 | 23 | { |
| lakshya | 33:76f2b8735501 | 24 | SIM->COPC=0x0C; |
| lakshya | 33:76f2b8735501 | 25 | kick_WDOG(); |
| lakshya | 33:76f2b8735501 | 26 | } |
| lakshya | 33:76f2b8735501 | 27 | |
| lakshya | 20:949d13045431 | 28 | DigitalOut time_wdog(PIN68);// for determining the time between code |
| lakshya | 20:949d13045431 | 29 | |
| lakshya | 19:79e69017c855 | 30 | //**********************************************GLOBAL RTOS TIMER*********************************************************// |
| lakshya | 19:79e69017c855 | 31 | RtosTimer *BAE_STANDBY_STATUS_TIMER; |
| lakshya | 19:79e69017c855 | 32 | |
| lakshya | 20:949d13045431 | 33 | |
| lakshya | 20:949d13045431 | 34 | //bcn heater rtostimers============================================================================= |
| lakshya | 20:949d13045431 | 35 | RtosTimer *HTR_OFF=NULL; |
| lakshya | 20:949d13045431 | 36 | RtosTimer *HTR_CYCLE=NULL; |
| lakshya | 20:949d13045431 | 37 | RtosTimer *HTR_DLY=NULL; |
| lakshya | 20:949d13045431 | 38 | |
| lakshya | 33:76f2b8735501 | 39 | //UPTIME TIMERS |
| lakshya | 33:76f2b8735501 | 40 | Timer BAE_uptime; |
| lakshya | 33:76f2b8735501 | 41 | Timer I2C_last; |
| lakshya | 33:76f2b8735501 | 42 | |
| lakshya | 33:76f2b8735501 | 43 | void RETURN_UPTIME(float time, uint8_t *day,uint8_t *hour,uint8_t *min) |
| lakshya | 33:76f2b8735501 | 44 | { |
| lakshya | 33:76f2b8735501 | 45 | *day = time/(3600*24); |
| lakshya | 33:76f2b8735501 | 46 | time = (int)time % (3600*24); |
| lakshya | 33:76f2b8735501 | 47 | *hour = time/(3600); |
| lakshya | 33:76f2b8735501 | 48 | time = (int)time % (3600); |
| lakshya | 33:76f2b8735501 | 49 | *min = time/60; |
| lakshya | 33:76f2b8735501 | 50 | } |
| lakshya | 33:76f2b8735501 | 51 | |
| lakshya | 33:76f2b8735501 | 52 | extern DigitalOut BTRY_HTR_ENABLE; |
| lakshya | 20:949d13045431 | 53 | |
| lakshya | 20:949d13045431 | 54 | uint8_t HTR_CYCLE_COUNTS=0; //Count of heater cycles |
| lakshya | 20:949d13045431 | 55 | uint8_t HTR_CYCLE_START_DLY=0; //EPS_HTR_DLY_TIMER timer duration in minutes |
| lakshya | 20:949d13045431 | 56 | uint8_t HTR_ON_DURATION=0; //EPS_HTR_OFF timer duration in minutes |
| lakshya | 20:949d13045431 | 57 | uint16_t HTR_CYCLE_PERIOD =0; //EPS_HTR_CYCLE timer duration - MSB minutes, LSB seconds |
| lakshya | 20:949d13045431 | 58 | uint8_t HTR_CYCLE_COUNTER = 0 ; |
| lakshya | 20:949d13045431 | 59 | |
| lakshya | 20:949d13045431 | 60 | uint32_t HTR_CYCLE_PERIOD_DECODER() //To convert HTR_CYCLE_PERIOD to millisecs |
| lakshya | 20:949d13045431 | 61 | { |
| lakshya | 20:949d13045431 | 62 | uint8_t PERIOD_mins, PERIOD_secs; |
| lakshya | 20:949d13045431 | 63 | //pc.printf("\n\r FCTN_HTR_CYCLE_PERIOD"); |
| lakshya | 20:949d13045431 | 64 | PERIOD_secs = HTR_CYCLE_PERIOD; |
| lakshya | 20:949d13045431 | 65 | PERIOD_mins = HTR_CYCLE_PERIOD >> 8; |
| lakshya | 20:949d13045431 | 66 | uint32_t period = 1000*((int)PERIOD_mins * 60 + (int)PERIOD_secs); |
| lakshya | 20:949d13045431 | 67 | |
| lakshya | 20:949d13045431 | 68 | return period; |
| lakshya | 20:949d13045431 | 69 | } |
| lakshya | 20:949d13045431 | 70 | |
| lakshya | 20:949d13045431 | 71 | void FCTN_EPS_HTR_CYCLE(void const *arg) |
| lakshya | 20:949d13045431 | 72 | { |
| lakshya | 33:76f2b8735501 | 73 | BTRY_HTR_ENABLE = 1;//assuming its active high check |
| lakshya | 20:949d13045431 | 74 | //pc.printf("\n\r on kar diya"); |
| lakshya | 20:949d13045431 | 75 | //pc.printf("\n\r FCTN_EPS_HTR_CYCLE"); |
| lakshya | 20:949d13045431 | 76 | //tim.reset(); |
| lakshya | 20:949d13045431 | 77 | //tim.start(); |
| lakshya | 20:949d13045431 | 78 | //HTR_OFF->start(((uint32_t)HTR_ON_DURATION)*1000); |
| lakshya | 20:949d13045431 | 79 | HTR_OFF->start((int)HTR_ON_DURATION*60*1000); |
| lakshya | 20:949d13045431 | 80 | } |
| lakshya | 20:949d13045431 | 81 | |
| lakshya | 20:949d13045431 | 82 | void FCTN_EPS_HTR_DLY(void const* arg) |
| lakshya | 20:949d13045431 | 83 | { |
| lakshya | 33:76f2b8735501 | 84 | BTRY_HTR_ENABLE = 1; |
| lakshya | 20:949d13045431 | 85 | HTR_CYCLE_COUNTER = 0; |
| lakshya | 20:949d13045431 | 86 | HTR_OFF->start(((int)HTR_ON_DURATION*60*1000)); |
| lakshya | 20:949d13045431 | 87 | //pc.printf("\n\r on kar diya"); |
| lakshya | 20:949d13045431 | 88 | //pc.printf("\n\r FCTN_EPS_HTR_DLY"); |
| lakshya | 20:949d13045431 | 89 | //tim.start(); |
| lakshya | 20:949d13045431 | 90 | HTR_CYCLE->start((uint32_t)HTR_CYCLE_PERIOD_DECODER); |
| lakshya | 20:949d13045431 | 91 | } |
| lakshya | 20:949d13045431 | 92 | |
| lakshya | 20:949d13045431 | 93 | void FCTN_EPS_HTR_OFF(void const *arg) |
| lakshya | 20:949d13045431 | 94 | { |
| lakshya | 33:76f2b8735501 | 95 | BTRY_HTR_ENABLE = 0; |
| lakshya | 20:949d13045431 | 96 | //tim.stop(); |
| lakshya | 20:949d13045431 | 97 | //pc.printf("\n\r off kar diya"); |
| lakshya | 20:949d13045431 | 98 | //pc.printf("\n\r the timer value is %f",tim.read()); |
| lakshya | 20:949d13045431 | 99 | //tim.reset(); |
| lakshya | 20:949d13045431 | 100 | if(HTR_CYCLE_COUNTS != 0xFF) |
| lakshya | 20:949d13045431 | 101 | { |
| lakshya | 20:949d13045431 | 102 | HTR_CYCLE_COUNTER++; |
| lakshya | 20:949d13045431 | 103 | if( HTR_CYCLE_COUNTER == (int)HTR_CYCLE_COUNTS)//HTR_CYCLE_COUNTS ) |
| lakshya | 20:949d13045431 | 104 | HTR_CYCLE->stop(); |
| lakshya | 20:949d13045431 | 105 | } |
| lakshya | 20:949d13045431 | 106 | } |
| lakshya | 20:949d13045431 | 107 | |
| lakshya | 20:949d13045431 | 108 | //==================================================================================================== |
| lakshya | 20:949d13045431 | 109 | |
| lakshya | 20:949d13045431 | 110 | //fctn to pass the data to bcn long type |
| lakshya | 33:76f2b8735501 | 111 | //uint8_t CDMS_HK_data[134]; now implemented as LONG_HK_data[0][134]; |
| lakshya | 33:76f2b8735501 | 112 | uint8_t LONG_HK_data[2][134]; |
| lakshya | 20:949d13045431 | 113 | void FCTN_CDMS_HK_TC(uint8_t tc[]) |
| lakshya | 20:949d13045431 | 114 | { |
| lakshya | 20:949d13045431 | 115 | for(int i=0;i<134;i++) |
| lakshya | 33:76f2b8735501 | 116 | LONG_HK_data[0][i] = tc[i]; |
| lakshya | 20:949d13045431 | 117 | } |
| lakshya | 20:949d13045431 | 118 | |
| lakshya | 20:949d13045431 | 119 | uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off. |
| lakshya | 20:949d13045431 | 120 | |
| lakshya | 19:79e69017c855 | 121 | void BAE_STANDBY_STATUS_RESET(const void* arg) |
| lakshya | 19:79e69017c855 | 122 | { |
| lakshya | 19:79e69017c855 | 123 | printf("\n\rBAE standby reset to 0x00"); |
| lakshya | 19:79e69017c855 | 124 | BAE_STANDBY=0x00; |
| lakshya | 19:79e69017c855 | 125 | } |
| lakshya | 19:79e69017c855 | 126 | |
| lakshya | 20:949d13045431 | 127 | |
| lakshya | 19:79e69017c855 | 128 | /*no problem in first stopping and then starting even when for the first time*/ |
| lakshya | 19:79e69017c855 | 129 | void BAE_STANDBY_TIMER_RESET() |
| lakshya | 19:79e69017c855 | 130 | { |
| lakshya | 19:79e69017c855 | 131 | BAE_STANDBY_STATUS_TIMER->stop(); |
| lakshya | 19:79e69017c855 | 132 | BAE_STANDBY_STATUS_TIMER->start(30000);//20 min ie 20*60=1200 sec or 1200,000 milisec but for testing setting it to 30sec |
| lakshya | 19:79e69017c855 | 133 | } |
| lakshya | 19:79e69017c855 | 134 | |
| lakshya | 20:949d13045431 | 135 | extern void gen_I_TM(); |
| lakshya | 20:949d13045431 | 136 | |
| lakshya | 20:949d13045431 | 137 | //*************** FLAGS ****************************// |
| sakthipriya | 0:7b4c00e3912f | 138 | uint32_t BAE_STATUS = 0x00000000; |
| sakthipriya | 0:7b4c00e3912f | 139 | uint32_t BAE_ENABLE = 0xFFFFFFFF; |
| sakthipriya | 0:7b4c00e3912f | 140 | |
| sakthipriya | 5:bb592f3185cc | 141 | //i2c// |
| sakthipriya | 5:bb592f3185cc | 142 | char data_send_flag = 'h'; |
| lakshya | 20:949d13045431 | 143 | //uint8_t BAE_MNG_I2C_STATUS = 0; |
| sakthipriya | 5:bb592f3185cc | 144 | |
| lakshya | 20:949d13045431 | 145 | //BAE |
| lakshya | 19:79e69017c855 | 146 | uint8_t BAE_INIT_STATUS=0; |
| lakshya | 20:949d13045431 | 147 | uint8_t BAE_MNG_I2C_STATUS=0; |
| sakthipriya | 0:7b4c00e3912f | 148 | |
| sakthipriya | 9:194afacf7449 | 149 | |
| lakshya | 20:949d13045431 | 150 | //ACS |
| sakthipriya | 9:194afacf7449 | 151 | uint8_t ACS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 152 | uint8_t ACS_DATA_ACQ_STATUS = 0; |
| lakshya | 20:949d13045431 | 153 | uint8_t ACS_ATS_STATUS = 0x73; |
| sakthipriya | 9:194afacf7449 | 154 | uint8_t ACS_MAIN_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 155 | uint8_t ACS_STATUS = 0; |
| lakshya | 20:949d13045431 | 156 | uint8_t ACS_DETUMBLING_ALGO_TYPE = 0; |
| sakthipriya | 9:194afacf7449 | 157 | uint8_t ACS_ATS_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 158 | uint8_t ACS_DATA_ACQ_ENABLE = 1; |
| lakshya | 33:76f2b8735501 | 159 | uint8_t ACS_STATE = 8; |
| lakshya | 19:79e69017c855 | 160 | |
| lakshya | 20:949d13045431 | 161 | extern uint16_t ACS_MM_X_COMSN; |
| lakshya | 20:949d13045431 | 162 | extern uint16_t ACS_MM_Y_COMSN; |
| lakshya | 20:949d13045431 | 163 | extern uint16_t ACS_MG_X_COMSN; |
| lakshya | 20:949d13045431 | 164 | extern uint16_t ACS_MG_Y_COMSN; |
| lakshya | 20:949d13045431 | 165 | extern uint16_t ACS_MM_Z_COMSN; |
| lakshya | 20:949d13045431 | 166 | extern uint16_t ACS_MG_Z_COMSN; |
| lakshya | 20:949d13045431 | 167 | |
| Bragadeesh153 | 34:1b41c34b12ea | 168 | extern uint8_t B_SCZ_ANGLE; |
| Bragadeesh153 | 34:1b41c34b12ea | 169 | |
| lakshya | 27:61c856be467e | 170 | extern uint8_t controlmode_mms; |
| lakshya | 27:61c856be467e | 171 | |
| lakshya | 20:949d13045431 | 172 | //BCN |
| lakshya | 18:3662058a7c10 | 173 | extern uint8_t BCN_FEN; |
| lakshya | 18:3662058a7c10 | 174 | extern void FCTN_BCN_FEN(void const *args); |
| lakshya | 20:949d13045431 | 175 | extern void LONG_BCN_DATA(uint8_t* ); |
| lakshya | 20:949d13045431 | 176 | extern uint16_t gencrc16_for_me();//for calculating the crc of baehk data before sendingkk as including crc causes problem |
| lakshya | 33:76f2b8735501 | 177 | extern DigitalOut BTRY_HTR_ENABLE; |
| lakshya | 20:949d13045431 | 178 | |
| lakshya | 20:949d13045431 | 179 | |
| lakshya | 18:3662058a7c10 | 180 | Timeout timeout_bcn; |
| lakshya | 19:79e69017c855 | 181 | /*long beacon data/sending*/ |
| lakshya | 19:79e69017c855 | 182 | /*be sure it is created in bcn.cpp*/ |
| sakthipriya | 0:7b4c00e3912f | 183 | |
| lakshya | 20:949d13045431 | 184 | //EPS |
| sakthipriya | 9:194afacf7449 | 185 | uint8_t EPS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 186 | uint8_t EPS_BATTERY_GAUGE_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 187 | uint8_t EPS_MAIN_STATUS = 0; |
| lakshya | 33:76f2b8735501 | 188 | uint8_t EPS_BTRY_TMP_STATUS = 0;/// to be diss |
| sakthipriya | 9:194afacf7449 | 189 | uint8_t EPS_STATUS = 7; //invalid status |
| lakshya | 33:76f2b8735501 | 190 | uint8_t EPS_BTRY_HTR = 0; |
| sakthipriya | 9:194afacf7449 | 191 | |
| lakshya | 20:949d13045431 | 192 | uint8_t EPS_BTRY_HTR_AUTO = 1; |
| lakshya | 20:949d13045431 | 193 | extern uint8_t EPS_SOC_LEVEL_12; |
| lakshya | 20:949d13045431 | 194 | extern uint8_t EPS_SOC_LEVEL_23; |
| lakshya | 20:949d13045431 | 195 | extern uint8_t EPS_BAT_TEMP_LOW; |
| lakshya | 20:949d13045431 | 196 | extern uint8_t EPS_BAT_TEMP_HIGH; |
| lakshya | 20:949d13045431 | 197 | extern uint8_t EPS_BAT_TEMP_DEFAULT; |
| lakshya | 33:76f2b8735501 | 198 | float EPS_BTRY_TMP_AVG; |
| lakshya | 33:76f2b8735501 | 199 | extern DigitalOut BTRY_HTR_ENABLE; |
| lakshya | 33:76f2b8735501 | 200 | |
| lakshya | 33:76f2b8735501 | 201 | //extern void FCTN_BATTERYGAUGE_MAIN(float*Battery_parameters); |
| lakshya | 20:949d13045431 | 202 | |
| lakshya | 20:949d13045431 | 203 | |
| lakshya | 20:949d13045431 | 204 | //**********************GLOBAL DECLARATIONS********************************// |
| lakshya | 20:949d13045431 | 205 | |
| lakshya | 20:949d13045431 | 206 | //CDMS |
| lakshya | 20:949d13045431 | 207 | //eps cdms fault |
| lakshya | 20:949d13045431 | 208 | uint8_t CDMS_SW_STATUS; |
| lakshya | 20:949d13045431 | 209 | DigitalOut CDMS_OC_FAULT(PIN79); |
| lakshya | 20:949d13045431 | 210 | bool CDMS_SW_ENABLE; |
| lakshya | 20:949d13045431 | 211 | int CDMS_FAULT_COUNTER = 0; |
| lakshya | 20:949d13045431 | 212 | |
| lakshya | 20:949d13045431 | 213 | |
| lakshya | 20:949d13045431 | 214 | //BAE new hk structure- everything has to changed based on this |
| lakshya | 20:949d13045431 | 215 | char BAE_chardata[74]; |
| lakshya | 33:76f2b8735501 | 216 | // uint8_t LONG_HK_data[2][134]; |
| lakshya | 33:76f2b8735501 | 217 | //uint8_t BAE_HK_data[134]; now known as LONG_HK_data[1][i]; |
| lakshya | 20:949d13045431 | 218 | uint8_t BAE_RESET_COUNTER;// INITIALIZATION or do you want to initialize evertime the main is reset? or is it same |
| lakshya | 20:949d13045431 | 219 | uint16_t BAE_I2C_COUNTER = 0;//change/apply |
| lakshya | 20:949d13045431 | 220 | //uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off. |
| lakshya | 20:949d13045431 | 221 | |
| lakshya | 20:949d13045431 | 222 | //BCN |
| lakshya | 20:949d13045431 | 223 | //uint16_t BCN_TX_MAIN_COUNTER = 0; |
| lakshya | 20:949d13045431 | 224 | uint8_t BCN_LONG_MSG_TYPE = 1; |
| sakthipriya | 0:7b4c00e3912f | 225 | |
| lakshya | 20:949d13045431 | 226 | DigitalOut BCN_TX_OC_FAULT(PIN80); |
| lakshya | 20:949d13045431 | 227 | int BCN_TX_FAULT_COUNTER; |
| lakshya | 20:949d13045431 | 228 | |
| lakshya | 20:949d13045431 | 229 | //ACS |
| lakshya | 20:949d13045431 | 230 | uint16_t ACS_MAIN_COUNTER = 0; |
| lakshya | 20:949d13045431 | 231 | |
| lakshya | 20:949d13045431 | 232 | //eps hw faults |
| lakshya | 20:949d13045431 | 233 | //uint8_t ACS_TR_Z_SW_STATUS; |
| lakshya | 20:949d13045431 | 234 | DigitalOut ACS_TR_Z_ENABLE(PIN40); |
| lakshya | 20:949d13045431 | 235 | DigitalOut ACS_TR_Z_OC_FAULT(PIN91); |
| lakshya | 20:949d13045431 | 236 | DigitalOut ACS_TR_Z_FAULT(PIN89); //Driver IC fault |
| lakshya | 20:949d13045431 | 237 | int ACS_TR_Z_FAULT_COUNTER = 0; |
| sakthipriya | 0:7b4c00e3912f | 238 | |
| lakshya | 20:949d13045431 | 239 | //uint8_t ACS_TR_XY_SW_STATUS; |
| lakshya | 20:949d13045431 | 240 | DigitalOut ACS_TR_XY_ENABLE(PIN71); |
| lakshya | 20:949d13045431 | 241 | DigitalOut ACS_TR_XY_OC_FAULT(PIN72); |
| lakshya | 20:949d13045431 | 242 | DigitalOut ACS_TR_XY_FAULT(PIN83); //Driver IC fault |
| lakshya | 20:949d13045431 | 243 | int ACS_TR_XY_FAULT_COUNTER = 0; |
| lakshya | 20:949d13045431 | 244 | |
| lakshya | 20:949d13045431 | 245 | //bool ACS_ATS1_ENABLE; |
| lakshya | 20:949d13045431 | 246 | DigitalOut ACS_ATS1_OC_FAULT(PIN97); |
| lakshya | 20:949d13045431 | 247 | int ACS_ATS1_FAULT_COUNTER = 0; |
| lakshya | 20:949d13045431 | 248 | |
| lakshya | 20:949d13045431 | 249 | //bool ACS_ATS2_ENABLE; |
| lakshya | 20:949d13045431 | 250 | DigitalOut ACS_ATS2_OC_FAULT(PIN5); |
| lakshya | 20:949d13045431 | 251 | int ACS_ATS2_FAULT_COUNTER; |
| lakshya | 20:949d13045431 | 252 | |
| lakshya | 20:949d13045431 | 253 | //EPS |
| lakshya | 20:949d13045431 | 254 | int EPS_MAIN_COUNTER = 0; |
| lakshya | 20:949d13045431 | 255 | |
| lakshya | 20:949d13045431 | 256 | |
| lakshya | 20:949d13045431 | 257 | //GEN DEC FOR TESTING or to be DECIDED whre to ASSIGN HERE |
| sakthipriya | 0:7b4c00e3912f | 258 | const int addr = 0x20; //slave address |
| sakthipriya | 0:7b4c00e3912f | 259 | Timer t_rfsilence; |
| sakthipriya | 0:7b4c00e3912f | 260 | Timer t_start; |
| lakshya | 19:79e69017c855 | 261 | /*defined as of now to check execution time*/ |
| lakshya | 19:79e69017c855 | 262 | /*remember to remove them*/ |
| lakshya | 19:79e69017c855 | 263 | Timer t_acs; |
| lakshya | 19:79e69017c855 | 264 | Timer t_eps; |
| lakshya | 20:949d13045431 | 265 | //Timer t_tc; |
| sakthipriya | 7:a46a1dee4497 | 266 | Timer t_tm; |
| sakthipriya | 0:7b4c00e3912f | 267 | Serial pc(USBTX, USBRX); |
| sakthipriya | 0:7b4c00e3912f | 268 | int power_flag_dummy=2; |
| sakthipriya | 0:7b4c00e3912f | 269 | float data[6]; |
| sakthipriya | 0:7b4c00e3912f | 270 | |
| lakshya | 20:949d13045431 | 271 | |
| lakshya | 20:949d13045431 | 272 | //*************EXTERN PARA******** |
| lakshya | 20:949d13045431 | 273 | |
| lakshya | 20:949d13045431 | 274 | //BAE |
| lakshya | 20:949d13045431 | 275 | |
| sakthipriya | 1:446a959e36ce | 276 | extern BAE_HK_actual actual_data; |
| sakthipriya | 1:446a959e36ce | 277 | extern BAE_HK_quant quant_data; |
| sakthipriya | 1:446a959e36ce | 278 | extern BAE_HK_min_max bae_HK_minmax; |
| sakthipriya | 1:446a959e36ce | 279 | extern BAE_HK_arch arch_data; |
| sakthipriya | 0:7b4c00e3912f | 280 | |
| lakshya | 20:949d13045431 | 281 | |
| lakshya | 20:949d13045431 | 282 | //BCN |
| lakshya | 20:949d13045431 | 283 | extern uint8_t BCN_FEN; |
| lakshya | 20:949d13045431 | 284 | extern uint8_t BCN_TX_SW_STATUS; |
| lakshya | 20:949d13045431 | 285 | extern uint8_t BCN_SPND_TX; |
| lakshya | 20:949d13045431 | 286 | |
| lakshya | 20:949d13045431 | 287 | |
| lakshya | 20:949d13045431 | 288 | //TCTM |
| lakshya | 20:949d13045431 | 289 | extern uint8_t telemetry[135]; |
| lakshya | 20:949d13045431 | 290 | |
| lakshya | 20:949d13045431 | 291 | |
| lakshya | 20:949d13045431 | 292 | //ACS |
| lakshya | 20:949d13045431 | 293 | extern uint8_t ACS_TR_Z_SW_STATUS; |
| lakshya | 20:949d13045431 | 294 | extern uint8_t ACS_TR_XY_SW_STATUS; |
| lakshya | 20:949d13045431 | 295 | extern float gyro_data[3]; |
| lakshya | 20:949d13045431 | 296 | extern float mag_data[3]; |
| lakshya | 20:949d13045431 | 297 | extern float moment[3]; |
| lakshya | 20:949d13045431 | 298 | extern float b_old[3]; // Unit: Tesla |
| lakshya | 20:949d13045431 | 299 | extern float db[3]; |
| lakshya | 20:949d13045431 | 300 | extern uint8_t flag_firsttime; |
| lakshya | 20:949d13045431 | 301 | extern uint8_t ACS_MAG_TIME_DELAY; |
| lakshya | 20:949d13045431 | 302 | extern uint8_t ACS_DEMAG_TIME_DELAY; |
| lakshya | 20:949d13045431 | 303 | extern uint16_t ACS_Z_FIXED_MOMENT; |
| lakshya | 20:949d13045431 | 304 | |
| sakthipriya | 5:bb592f3185cc | 305 | int write_ack = 1; |
| sakthipriya | 5:bb592f3185cc | 306 | int read_ack = 1; |
| sakthipriya | 0:7b4c00e3912f | 307 | char telecommand[tc_len]; |
| lakshya | 20:949d13045431 | 308 | |
| sakthipriya | 5:bb592f3185cc | 309 | |
| sakthipriya | 5:bb592f3185cc | 310 | bool pf1check = 0; |
| sakthipriya | 5:bb592f3185cc | 311 | bool pf2check = 0; |
| sakthipriya | 5:bb592f3185cc | 312 | bool if1check = 0; |
| lakshya | 14:a9588f443f1a | 313 | bool if2check = 0; |
| sakthipriya | 0:7b4c00e3912f | 314 | |
| lakshya | 20:949d13045431 | 315 | //ASSIGNING PINS// |
| sakthipriya | 9:194afacf7449 | 316 | DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch |
| sakthipriya | 9:194afacf7449 | 317 | DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch |
| sakthipriya | 0:7b4c00e3912f | 318 | InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS |
| sakthipriya | 0:7b4c00e3912f | 319 | DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS |
| lakshya | 14:a9588f443f1a | 320 | I2CSlave slave (PIN1,PIN2);///pin1 pin2 |
| lakshya | 20:949d13045431 | 321 | //DigitalOut batt_heat(PIN96); |
| sakthipriya | 0:7b4c00e3912f | 322 | |
| sakthipriya | 9:194afacf7449 | 323 | //ATS1_SW_ENABLE = 0; |
| sakthipriya | 0:7b4c00e3912f | 324 | PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal |
| sakthipriya | 0:7b4c00e3912f | 325 | PwmOut PWM2(PIN94); //y |
| sakthipriya | 0:7b4c00e3912f | 326 | PwmOut PWM3(PIN95); //z //PWM output comes from pins p6 |
| sakthipriya | 0:7b4c00e3912f | 327 | |
| sakthipriya | 5:bb592f3185cc | 328 | //........faults |
| sakthipriya | 5:bb592f3185cc | 329 | //Polled Faults |
| sakthipriya | 5:bb592f3185cc | 330 | DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 331 | DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 332 | DigitalIn pf3(PIN83);//Fault Bar for TRXY driver |
| sakthipriya | 5:bb592f3185cc | 333 | |
| Bragadeesh153 | 13:fb7facaf308b | 334 | DigitalOut TRXY_SW(PIN71); //TR XY Switch |
| Bragadeesh153 | 13:fb7facaf308b | 335 | DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z |
| sakthipriya | 5:bb592f3185cc | 336 | DigitalOut TRZ_SW(PIN40); //TR Z Switch |
| lakshya | 19:79e69017c855 | 337 | DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET |
| sakthipriya | 5:bb592f3185cc | 338 | DigitalOut BCN_SW(PIN14); //Beacon switch |
| Bragadeesh153 | 13:fb7facaf308b | 339 | DigitalOut DRV_XY_EN(PIN82); |
| sakthipriya | 0:7b4c00e3912f | 340 | |
| lakshya | 19:79e69017c855 | 341 | |
| lakshya | 20:949d13045431 | 342 | |
| lakshya | 20:949d13045431 | 343 | //================================================================================ |
| lakshya | 20:949d13045431 | 344 | //default flash array some filler bits added (detail in MMS file) |
| lakshya | 27:61c856be467e | 345 | uint32_t ARR_INITIAL_VAL[8]={0x73582600,0x505A4141,0x1A1A1400,0x00000000,0x00000000,0x00000000,0xCBA20000,0x00000000};//to be done |
| lakshya | 20:949d13045431 | 346 | |
| lakshya | 20:949d13045431 | 347 | void FLASH_INI() |
| lakshya | 20:949d13045431 | 348 | { |
| lakshya | 20:949d13045431 | 349 | uint32_t read[8]; |
| lakshya | 20:949d13045431 | 350 | for(int i=0;i<8;i++) |
| lakshya | 20:949d13045431 | 351 | { |
| lakshya | 20:949d13045431 | 352 | read[i] = FCTN_BAE_RD_FLASH_ENTITY(i); |
| lakshya | 22:950dbe9fbeb8 | 353 | //printf("\n\r val is read after starting %x ",read[i]); |
| lakshya | 20:949d13045431 | 354 | } |
| lakshya | 20:949d13045431 | 355 | |
| lakshya | 20:949d13045431 | 356 | if(read[0] == -1) |
| lakshya | 20:949d13045431 | 357 | for(int j=0;j<8;j++) |
| lakshya | 20:949d13045431 | 358 | { |
| lakshya | 20:949d13045431 | 359 | FCTN_BAE_WR_FLASH(j,ARR_INITIAL_VAL[j]); |
| lakshya | 20:949d13045431 | 360 | } |
| lakshya | 20:949d13045431 | 361 | else |
| lakshya | 20:949d13045431 | 362 | { |
| lakshya | 20:949d13045431 | 363 | for(int j=0;j<8;j++) |
| lakshya | 20:949d13045431 | 364 | { |
| lakshya | 20:949d13045431 | 365 | read[j] = FCTN_BAE_RD_FLASH_ENTITY(j); |
| lakshya | 20:949d13045431 | 366 | } |
| lakshya | 20:949d13045431 | 367 | ACS_ATS_STATUS = read[0]>>24; |
| lakshya | 20:949d13045431 | 368 | ACS_TR_XY_SW_STATUS = ((uint8_t)(read[0]>>22))&0x03; |
| lakshya | 20:949d13045431 | 369 | ACS_TR_Z_SW_STATUS = (read[0]>>20)&0x03; |
| lakshya | 27:61c856be467e | 370 | ACS_STATE = (read[0]>>16)&0x0F; |
| lakshya | 27:61c856be467e | 371 | ACS_DETUMBLING_ALGO_TYPE = (read[0]>>15)&0x01; |
| lakshya | 27:61c856be467e | 372 | BCN_TX_SW_STATUS = ((uint8_t)(read[0]>>13))&0x03; |
| lakshya | 27:61c856be467e | 373 | BCN_SPND_TX = ((uint8_t)(read[0]>>12))&0x01; |
| lakshya | 27:61c856be467e | 374 | BCN_FEN = ((uint8_t)(read[0]>>11))&0x01; |
| lakshya | 27:61c856be467e | 375 | BCN_LONG_MSG_TYPE = ((uint8_t)(read[0]>>10))&0x01; |
| lakshya | 27:61c856be467e | 376 | EPS_BTRY_HTR_AUTO = ((uint8_t)(read[0]>>9))&0x03;//EPS_BATTERY_HEATER_ENABLE |
| lakshya | 27:61c856be467e | 377 | //now one spares in telemetry[5] |
| lakshya | 20:949d13045431 | 378 | |
| lakshya | 20:949d13045431 | 379 | //updating the reset counter |
| lakshya | 20:949d13045431 | 380 | BAE_RESET_COUNTER = ((uint8_t)(read[0]))+1; |
| lakshya | 20:949d13045431 | 381 | read[0]=(read[0]&0xffffff00) | (uint32_t)BAE_RESET_COUNTER; |
| lakshya | 20:949d13045431 | 382 | FCTN_BAE_WR_FLASH(0,read[0]); |
| lakshya | 20:949d13045431 | 383 | |
| lakshya | 20:949d13045431 | 384 | |
| lakshya | 20:949d13045431 | 385 | EPS_SOC_LEVEL_12 = (uint8_t)(read[1]>>24); |
| lakshya | 20:949d13045431 | 386 | EPS_SOC_LEVEL_23 = (uint8_t)(read[1]>>16); |
| lakshya | 20:949d13045431 | 387 | ACS_MAG_TIME_DELAY = (uint8_t)(read[1]>>8); |
| lakshya | 20:949d13045431 | 388 | ACS_DEMAG_TIME_DELAY = (uint8_t)read[1]; |
| lakshya | 20:949d13045431 | 389 | |
| lakshya | 20:949d13045431 | 390 | EPS_BAT_TEMP_LOW = (uint8_t)(read[2]>>24); |
| lakshya | 20:949d13045431 | 391 | EPS_BAT_TEMP_HIGH = (uint8_t)(read[2]>>16); |
| lakshya | 20:949d13045431 | 392 | EPS_BAT_TEMP_DEFAULT = (uint8_t)(read[2]>>8); |
| lakshya | 20:949d13045431 | 393 | |
| lakshya | 20:949d13045431 | 394 | ACS_MM_X_COMSN = (uint16_t)(read[3]>>16); |
| lakshya | 20:949d13045431 | 395 | ACS_MM_Y_COMSN = (uint16_t)read[3]; |
| lakshya | 20:949d13045431 | 396 | |
| lakshya | 20:949d13045431 | 397 | ACS_MG_X_COMSN = (uint16_t)(read[4]>>16); |
| lakshya | 20:949d13045431 | 398 | ACS_MG_Y_COMSN = (uint16_t)read[4]; |
| lakshya | 20:949d13045431 | 399 | |
| lakshya | 20:949d13045431 | 400 | ACS_MM_Z_COMSN = (uint16_t)(read[5]>>16); |
| lakshya | 20:949d13045431 | 401 | ACS_MG_Z_COMSN = (uint16_t)read[5]; |
| lakshya | 20:949d13045431 | 402 | |
| lakshya | 20:949d13045431 | 403 | ACS_Z_FIXED_MOMENT = (uint16_t)(read[6]>>16);//assignvalues |
| lakshya | 20:949d13045431 | 404 | |
| lakshya | 20:949d13045431 | 405 | } |
| lakshya | 20:949d13045431 | 406 | |
| lakshya | 20:949d13045431 | 407 | } |
| lakshya | 20:949d13045431 | 408 | //================================================================================ |
| lakshya | 20:949d13045431 | 409 | |
| lakshya | 20:949d13045431 | 410 | |
| lakshya | 20:949d13045431 | 411 | |
| sakthipriya | 0:7b4c00e3912f | 412 | /*****************************************************************Threads USed***********************************************************************************/ |
| sakthipriya | 0:7b4c00e3912f | 413 | Thread *ptr_t_i2c; |
| sakthipriya | 0:7b4c00e3912f | 414 | |
| lakshya | 19:79e69017c855 | 415 | |
| sakthipriya | 0:7b4c00e3912f | 416 | /*********************************************************FCTN HEADERS***********************************************************************************/ |
| sakthipriya | 0:7b4c00e3912f | 417 | void FCTN_ISR_I2C(); |
| sakthipriya | 0:7b4c00e3912f | 418 | void FCTN_TM(); |
| sakthipriya | 3:07e15677a75c | 419 | void F_ACS(); |
| sakthipriya | 3:07e15677a75c | 420 | void F_EPS(); |
| sakthipriya | 3:07e15677a75c | 421 | void F_BCN(); |
| sakthipriya | 0:7b4c00e3912f | 422 | |
| lakshya | 20:949d13045431 | 423 | //I2C |
| lakshya | 20:949d13045431 | 424 | uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working |
| lakshya | 20:949d13045431 | 425 | uint16_t crc16_check; |
| lakshya | 20:949d13045431 | 426 | void I2C_busreset() |
| lakshya | 20:949d13045431 | 427 | { |
| lakshya | 20:949d13045431 | 428 | PORTE->PCR[1] &= 0xfffffffb; |
| lakshya | 20:949d13045431 | 429 | PORTE->PCR[0] &= 0xfffffffb; |
| lakshya | 20:949d13045431 | 430 | I2C1->C1 &= 0x7f; |
| lakshya | 20:949d13045431 | 431 | SIM->SCGC4 &= 0xffffff7f; |
| lakshya | 20:949d13045431 | 432 | SIM->SCGC4 |= 0x00000080; |
| lakshya | 20:949d13045431 | 433 | I2C1->C1 |= 0x80; |
| lakshya | 20:949d13045431 | 434 | PORTE->PCR[1] |= 0x00000004; |
| lakshya | 20:949d13045431 | 435 | PORTE->PCR[0] |= 0x00000004; |
| lakshya | 20:949d13045431 | 436 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 437 | } |
| lakshya | 20:949d13045431 | 438 | |
| sakthipriya | 0:7b4c00e3912f | 439 | //*******************************************ACS THREAD**************************************************// |
| sakthipriya | 5:bb592f3185cc | 440 | uint8_t iterP1; |
| sakthipriya | 5:bb592f3185cc | 441 | uint8_t iterP2; |
| sakthipriya | 5:bb592f3185cc | 442 | uint8_t iterI1; |
| sakthipriya | 5:bb592f3185cc | 443 | uint8_t iterI2; |
| sakthipriya | 0:7b4c00e3912f | 444 | |
| lakshya | 20:949d13045431 | 445 | //FLOAT TO UINT_8 CONVERSION FUNCTION |
| lakshya | 20:949d13045431 | 446 | extern uint8_t float_to_uint8(float min,float max,float val); |
| lakshya | 20:949d13045431 | 447 | |
| lakshya | 20:949d13045431 | 448 | #define print 0 |
| lakshya | 20:949d13045431 | 449 | |
| sakthipriya | 3:07e15677a75c | 450 | void F_ACS() |
| sakthipriya | 0:7b4c00e3912f | 451 | { |
| lakshya | 20:949d13045431 | 452 | ACS_MAIN_COUNTER++; |
| lakshya | 20:949d13045431 | 453 | //time_wdog = 1; |
| lakshya | 20:949d13045431 | 454 | pc.printf("Entered ACS.\n\r"); |
| lakshya | 20:949d13045431 | 455 | |
| lakshya | 20:949d13045431 | 456 | ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag |
| lakshya | 20:949d13045431 | 457 | FLAG(); |
| sakthipriya | 5:bb592f3185cc | 458 | |
| lakshya | 20:949d13045431 | 459 | ACS_MAIN_COUNTER+=1; |
| sakthipriya | 3:07e15677a75c | 460 | |
| sakthipriya | 0:7b4c00e3912f | 461 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 462 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 463 | PWM3 = 0; //clear pwm pins |
| lakshya | 20:949d13045431 | 464 | |
| lakshya | 20:949d13045431 | 465 | wait_ms(ACS_DEMAG_TIME_DELAY); |
| lakshya | 20:949d13045431 | 466 | ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ(); |
| sakthipriya | 0:7b4c00e3912f | 467 | |
| lakshya | 20:949d13045431 | 468 | #if print |
| lakshya | 20:949d13045431 | 469 | printing the angular speed and magnetic field values |
| lakshya | 20:949d13045431 | 470 | pc.printf("gyro values\n\r"); |
| lakshya | 19:79e69017c855 | 471 | for(int i=0; i<3; i++) |
| lakshya | 20:949d13045431 | 472 | { |
| lakshya | 20:949d13045431 | 473 | printf("%f\n\r",actual_data.AngularSpeed_actual[i]); |
| lakshya | 20:949d13045431 | 474 | } |
| lakshya | 20:949d13045431 | 475 | |
| lakshya | 19:79e69017c855 | 476 | pc.printf("mag values\n\r"); |
| lakshya | 19:79e69017c855 | 477 | for(int i=0; i<3; i++) |
| lakshya | 20:949d13045431 | 478 | { |
| lakshya | 20:949d13045431 | 479 | pc.printf("%f\n\r",actual_data.Bvalue_actual[i]); |
| lakshya | 20:949d13045431 | 480 | } |
| lakshya | 20:949d13045431 | 481 | #endif |
| lakshya | 20:949d13045431 | 482 | |
| lakshya | 20:949d13045431 | 483 | for(int i=0;i<3;i++) |
| lakshya | 19:79e69017c855 | 484 | { |
| lakshya | 20:949d13045431 | 485 | mag_data[i] = actual_data.Bvalue_actual[i]/1000000; |
| lakshya | 20:949d13045431 | 486 | gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180; |
| lakshya | 20:949d13045431 | 487 | } |
| Bragadeesh153 | 34:1b41c34b12ea | 488 | |
| Bragadeesh153 | 34:1b41c34b12ea | 489 | int b_inclination = mag_data[2]/(mag_data[0]*mag_data[0]+mag_data[1]*mag_data[1]+mag_data[2]*mag_data[2]) ; |
| Bragadeesh153 | 34:1b41c34b12ea | 490 | if(b_inclination <0) |
| Bragadeesh153 | 34:1b41c34b12ea | 491 | b_inclination = (-1)*b_inclination; |
| Bragadeesh153 | 34:1b41c34b12ea | 492 | |
| Bragadeesh153 | 34:1b41c34b12ea | 493 | |
| Bragadeesh153 | 34:1b41c34b12ea | 494 | |
| Bragadeesh153 | 34:1b41c34b12ea | 495 | b_inclination = b_inclination*16; |
| Bragadeesh153 | 34:1b41c34b12ea | 496 | printf("\n\r the scale is %x",(uint16_t)val); |
| Bragadeesh153 | 34:1b41c34b12ea | 497 | B_SCZ_ANGLE = (uint8_t)b_inclination; |
| Bragadeesh153 | 34:1b41c34b12ea | 498 | if(b_inclination>=16) |
| Bragadeesh153 | 34:1b41c34b12ea | 499 | {B_SCZ_ANGLE = 0x0F; |
| Bragadeesh153 | 34:1b41c34b12ea | 500 | } |
| Bragadeesh153 | 34:1b41c34b12ea | 501 | if(b_inclination<0) |
| Bragadeesh153 | 34:1b41c34b12ea | 502 | {B_SCZ_ANGLE = 0x00; |
| Bragadeesh153 | 34:1b41c34b12ea | 503 | } |
| Bragadeesh153 | 34:1b41c34b12ea | 504 | |
| Bragadeesh153 | 34:1b41c34b12ea | 505 | |
| Bragadeesh153 | 34:1b41c34b12ea | 506 | |
| lakshya | 20:949d13045431 | 507 | |
| lakshya | 20:949d13045431 | 508 | if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF? |
| lakshya | 20:949d13045431 | 509 | { |
| lakshya | 20:949d13045431 | 510 | #if print |
| lakshya | 20:949d13045431 | 511 | printf("\n\r acs control off\n"); |
| lakshya | 20:949d13045431 | 512 | #endif |
| lakshya | 20:949d13045431 | 513 | ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF |
| lakshya | 20:949d13045431 | 514 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 515 | return; |
| lakshya | 20:949d13045431 | 516 | } |
| lakshya | 20:949d13045431 | 517 | else if(actual_data.power_mode<=2) |
| lakshya | 20:949d13045431 | 518 | { |
| lakshya | 20:949d13045431 | 519 | #if print |
| lakshya | 20:949d13045431 | 520 | printf("\n\r Low Power \n\r"); |
| lakshya | 20:949d13045431 | 521 | #endif |
| lakshya | 20:949d13045431 | 522 | DRV_Z_EN = 0; |
| lakshya | 20:949d13045431 | 523 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 524 | ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER |
| lakshya | 20:949d13045431 | 525 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 526 | return; |
| lakshya | 20:949d13045431 | 527 | |
| lakshya | 20:949d13045431 | 528 | } |
| lakshya | 20:949d13045431 | 529 | else if(ACS_TR_Z_SW_STATUS != 1) |
| lakshya | 20:949d13045431 | 530 | { |
| lakshya | 20:949d13045431 | 531 | DRV_Z_EN = 0; |
| lakshya | 20:949d13045431 | 532 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 533 | ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED |
| lakshya | 20:949d13045431 | 534 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 535 | return; |
| lakshya | 20:949d13045431 | 536 | } |
| lakshya | 20:949d13045431 | 537 | else if(ACS_TR_XY_SW_STATUS != 1) |
| lakshya | 20:949d13045431 | 538 | { |
| lakshya | 20:949d13045431 | 539 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 540 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 541 | ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only |
| lakshya | 20:949d13045431 | 542 | moment[0] = 0; |
| lakshya | 20:949d13045431 | 543 | moment[1] = 0; |
| lakshya | 20:949d13045431 | 544 | moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value |
| lakshya | 20:949d13045431 | 545 | |
| lakshya | 20:949d13045431 | 546 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 547 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 548 | return; |
| lakshya | 19:79e69017c855 | 549 | } |
| lakshya | 20:949d13045431 | 550 | else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1)) |
| lakshya | 20:949d13045431 | 551 | { |
| lakshya | 20:949d13045431 | 552 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 553 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 554 | ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only |
| lakshya | 20:949d13045431 | 555 | |
| lakshya | 20:949d13045431 | 556 | moment[0] = 0; |
| lakshya | 20:949d13045431 | 557 | moment[1] = 0; |
| lakshya | 20:949d13045431 | 558 | moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value |
| lakshya | 20:949d13045431 | 559 | |
| lakshya | 20:949d13045431 | 560 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 561 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 562 | return; |
| lakshya | 20:949d13045431 | 563 | } |
| lakshya | 20:949d13045431 | 564 | else if(ACS_STATE == 5) |
| lakshya | 20:949d13045431 | 565 | { |
| lakshya | 20:949d13045431 | 566 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 567 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 568 | ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only |
| sakthipriya | 0:7b4c00e3912f | 569 | |
| lakshya | 20:949d13045431 | 570 | moment[0] = 0; |
| lakshya | 20:949d13045431 | 571 | moment[1] = 0; |
| lakshya | 20:949d13045431 | 572 | moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value |
| lakshya | 20:949d13045431 | 573 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 574 | |
| lakshya | 20:949d13045431 | 575 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 576 | return; |
| lakshya | 20:949d13045431 | 577 | } |
| lakshya | 20:949d13045431 | 578 | else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available |
| lakshya | 20:949d13045431 | 579 | { |
| lakshya | 20:949d13045431 | 580 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 581 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 582 | |
| lakshya | 20:949d13045431 | 583 | ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL |
| lakshya | 20:949d13045431 | 584 | ACS_DETUMBLING_ALGO_TYPE = 0x01; |
| lakshya | 20:949d13045431 | 585 | FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE); |
| lakshya | 27:61c856be467e | 586 | controlmode_mms=0x00; |
| lakshya | 20:949d13045431 | 587 | #if print |
| lakshya | 20:949d13045431 | 588 | printf("\n\r Moment values returned by control algo \n"); |
| lakshya | 20:949d13045431 | 589 | #endif |
| lakshya | 20:949d13045431 | 590 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 591 | { |
| lakshya | 20:949d13045431 | 592 | printf("%f\t",moment[i]); |
| lakshya | 19:79e69017c855 | 593 | } |
| lakshya | 20:949d13045431 | 594 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 595 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 596 | return; |
| lakshya | 20:949d13045431 | 597 | } |
| lakshya | 20:949d13045431 | 598 | else if(ACS_STATE == 7) // Nominal mode |
| lakshya | 20:949d13045431 | 599 | { |
| lakshya | 20:949d13045431 | 600 | #if print |
| lakshya | 20:949d13045431 | 601 | printf("\n\r Nominal mode \n"); |
| lakshya | 20:949d13045431 | 602 | #endif |
| lakshya | 20:949d13045431 | 603 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 604 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 605 | FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE); |
| lakshya | 27:61c856be467e | 606 | controlmode_mms = 0x01; |
| lakshya | 20:949d13045431 | 607 | #if print |
| lakshya | 20:949d13045431 | 608 | printf("\n\r Moment values returned by control algo \n"); |
| lakshya | 20:949d13045431 | 609 | #endif |
| lakshya | 20:949d13045431 | 610 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 611 | { |
| lakshya | 20:949d13045431 | 612 | printf("%f\t",moment[i]); |
| lakshya | 20:949d13045431 | 613 | } |
| lakshya | 20:949d13045431 | 614 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 615 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 616 | return; |
| lakshya | 20:949d13045431 | 617 | } |
| lakshya | 20:949d13045431 | 618 | else if(ACS_STATE == 8) // Auto Control |
| lakshya | 20:949d13045431 | 619 | { |
| lakshya | 20:949d13045431 | 620 | #if print |
| lakshya | 20:949d13045431 | 621 | printf("\n\r Auto control mode \n"); |
| lakshya | 20:949d13045431 | 622 | #endif |
| lakshya | 20:949d13045431 | 623 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 624 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 625 | FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE); |
| lakshya | 27:61c856be467e | 626 | controlmode_mms = 0x00; |
| lakshya | 20:949d13045431 | 627 | #if print |
| lakshya | 20:949d13045431 | 628 | printf("\n\r Moment values returned by control algo \n"); |
| lakshya | 20:949d13045431 | 629 | for(int i=0; i<3; i++) |
| lakshya | 19:79e69017c855 | 630 | { |
| lakshya | 20:949d13045431 | 631 | printf("%f\t",moment[i]); |
| lakshya | 20:949d13045431 | 632 | } |
| lakshya | 20:949d13045431 | 633 | #endif |
| lakshya | 20:949d13045431 | 634 | FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function |
| lakshya | 20:949d13045431 | 635 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 636 | return; |
| lakshya | 20:949d13045431 | 637 | } |
| lakshya | 20:949d13045431 | 638 | else if(ACS_STATE == 9) // Detumbling |
| lakshya | 20:949d13045431 | 639 | { |
| lakshya | 20:949d13045431 | 640 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 641 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 642 | FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE); |
| lakshya | 27:61c856be467e | 643 | controlmode_mms = 0x00; |
| lakshya | 20:949d13045431 | 644 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 645 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 646 | return; |
| lakshya | 20:949d13045431 | 647 | } |
| lakshya | 20:949d13045431 | 648 | ACS_STATUS = 7; //INVALID_STATE |
| lakshya | 20:949d13045431 | 649 | DRV_Z_EN = 0; |
| lakshya | 20:949d13045431 | 650 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 651 | ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag |
| lakshya | 20:949d13045431 | 652 | } |
| lakshya | 19:79e69017c855 | 653 | |
| lakshya | 19:79e69017c855 | 654 | |
| sakthipriya | 0:7b4c00e3912f | 655 | //***************************************************EPS THREAD***********************************************// |
| sakthipriya | 0:7b4c00e3912f | 656 | |
| lakshya | 33:76f2b8735501 | 657 | |
| sakthipriya | 3:07e15677a75c | 658 | void F_EPS() |
| lakshya | 20:949d13045431 | 659 | { |
| lakshya | 33:76f2b8735501 | 660 | float eps_btry_temp; |
| lakshya | 33:76f2b8735501 | 661 | pc.printf("\n\rEntered EPS %f\n\r",t_start.read()); |
| lakshya | 33:76f2b8735501 | 662 | EPS_MAIN_STATUS = 1; // Set EPS main status |
| lakshya | 33:76f2b8735501 | 663 | EPS_MAIN_COUNTER++; |
| lakshya | 33:76f2b8735501 | 664 | FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual); |
| lakshya | 33:76f2b8735501 | 665 | pc.printf("Battery temperature %f %f\n\r" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]); |
| lakshya | 33:76f2b8735501 | 666 | EPS_BTRY_TMP_AVG = ( actual_data.Batt_temp_actual[0] + actual_data.Batt_temp_actual[1] )/2.0; |
| lakshya | 33:76f2b8735501 | 667 | if(abs(actual_data.Batt_temp_actual[0] - actual_data.Batt_temp_actual[1]) > 10) |
| lakshya | 33:76f2b8735501 | 668 | { |
| lakshya | 33:76f2b8735501 | 669 | EPS_BTRY_TMP_STATUS = 0; //clear EPS_BTRY_TMP_STATUS |
| lakshya | 33:76f2b8735501 | 670 | eps_btry_temp = (float) EPS_BAT_TEMP_DEFAULT; |
| lakshya | 33:76f2b8735501 | 671 | } |
| lakshya | 33:76f2b8735501 | 672 | else |
| lakshya | 33:76f2b8735501 | 673 | { |
| lakshya | 33:76f2b8735501 | 674 | EPS_BTRY_TMP_STATUS = 1; //set EPS_BTRY_TMP_STATUS |
| lakshya | 33:76f2b8735501 | 675 | eps_btry_temp = EPS_BTRY_TMP_AVG; |
| lakshya | 33:76f2b8735501 | 676 | } |
| lakshya | 33:76f2b8735501 | 677 | |
| lakshya | 33:76f2b8735501 | 678 | if(EPS_BTRY_HTR_AUTO == 0) |
| lakshya | 33:76f2b8735501 | 679 | EPS_STATUS = 1; //EPS_BATTERY_HEATER_DISABLED |
| lakshya | 33:76f2b8735501 | 680 | else if( EPS_BTRY_TMP_STATUS == 0 ) |
| lakshya | 33:76f2b8735501 | 681 | { |
| lakshya | 33:76f2b8735501 | 682 | BTRY_HTR_ENABLE = 0; |
| lakshya | 33:76f2b8735501 | 683 | EPS_BTRY_HTR = 0; |
| lakshya | 33:76f2b8735501 | 684 | EPS_STATUS = 0; //Set EPS_ERR_BATTERY_TEMP |
| lakshya | 33:76f2b8735501 | 685 | } |
| lakshya | 33:76f2b8735501 | 686 | else |
| lakshya | 33:76f2b8735501 | 687 | { |
| lakshya | 33:76f2b8735501 | 688 | if( EPS_BTRY_HTR == 1 && eps_btry_temp >= EPS_BAT_TEMP_HIGH ) |
| lakshya | 33:76f2b8735501 | 689 | { |
| lakshya | 33:76f2b8735501 | 690 | BTRY_HTR_ENABLE = 0; |
| lakshya | 33:76f2b8735501 | 691 | EPS_BTRY_HTR = 0; |
| lakshya | 33:76f2b8735501 | 692 | EPS_STATUS = 4; //Set EPS_BATTERY_HEATER_OFF |
| lakshya | 33:76f2b8735501 | 693 | } |
| lakshya | 33:76f2b8735501 | 694 | else if( EPS_BTRY_HTR == 0 && eps_btry_temp < EPS_BAT_TEMP_LOW ) |
| lakshya | 33:76f2b8735501 | 695 | { |
| lakshya | 33:76f2b8735501 | 696 | BTRY_HTR_ENABLE = 1; |
| lakshya | 33:76f2b8735501 | 697 | EPS_BTRY_HTR = 1; |
| lakshya | 33:76f2b8735501 | 698 | EPS_STATUS = 5; //Set EPS_BATTERY_HEATER_ON |
| lakshya | 33:76f2b8735501 | 699 | } |
| lakshya | 33:76f2b8735501 | 700 | } |
| lakshya | 33:76f2b8735501 | 701 | |
| lakshya | 33:76f2b8735501 | 702 | unsigned short statusreg = read(REG_STATUS); |
| lakshya | 33:76f2b8735501 | 703 | if( EPS_BATTERY_GAUGE_STATUS == 0 ) reset(); |
| lakshya | 33:76f2b8735501 | 704 | if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set |
| lakshya | 19:79e69017c855 | 705 | { |
| lakshya | 33:76f2b8735501 | 706 | printf("REG_STATUS = %d\r\n",read(REG_STATUS)); |
| lakshya | 33:76f2b8735501 | 707 | FCTN_BATTERYGAUGE_INIT(); |
| lakshya | 33:76f2b8735501 | 708 | } |
| lakshya | 33:76f2b8735501 | 709 | int BTG_MAIN_FLAG = FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual, eps_btry_temp); |
| lakshya | 33:76f2b8735501 | 710 | if( BTG_MAIN_FLAG == 0 ) //Data not received |
| lakshya | 33:76f2b8735501 | 711 | { |
| lakshya | 33:76f2b8735501 | 712 | actual_data.power_mode = 1; |
| lakshya | 33:76f2b8735501 | 713 | EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS |
| lakshya | 33:76f2b8735501 | 714 | } |
| lakshya | 33:76f2b8735501 | 715 | else |
| lakshya | 33:76f2b8735501 | 716 | { |
| lakshya | 33:76f2b8735501 | 717 | FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level |
| lakshya | 33:76f2b8735501 | 718 | EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS |
| lakshya | 33:76f2b8735501 | 719 | } |
| lakshya | 33:76f2b8735501 | 720 | |
| lakshya | 33:76f2b8735501 | 721 | FCTN_HK_MAIN(); |
| lakshya | 33:76f2b8735501 | 722 | // printf("\n\r here"); |
| lakshya | 33:76f2b8735501 | 723 | FCTN_EPS_HANDLE_HW_FAULTS(); |
| lakshya | 33:76f2b8735501 | 724 | FCTN_EPS_HANDLE_CDMS_FAULT(); |
| lakshya | 33:76f2b8735501 | 725 | FCTN_APPEND_HKDATA(); |
| lakshya | 33:76f2b8735501 | 726 | minMaxHkData(); |
| lakshya | 33:76f2b8735501 | 727 | //printf("\n\r here"); |
| lakshya | 33:76f2b8735501 | 728 | EPS_MAIN_STATUS = 0; // clear EPS main status |
| lakshya | 33:76f2b8735501 | 729 | |
| sakthipriya | 0:7b4c00e3912f | 730 | } |
| lakshya | 33:76f2b8735501 | 731 | |
| lakshya | 20:949d13045431 | 732 | |
| sakthipriya | 0:7b4c00e3912f | 733 | //**************************************************BCN THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 734 | |
| sakthipriya | 3:07e15677a75c | 735 | void F_BCN() |
| sakthipriya | 0:7b4c00e3912f | 736 | { |
| lakshya | 20:949d13045431 | 737 | pc.printf("\n\rEntered BCN %f\n",t_start.read()); |
| lakshya | 20:949d13045431 | 738 | //BCN_TX_MAIN_COUNTER=+1; |
| lakshya | 20:949d13045431 | 739 | FCTN_BCN_TX_MAIN(); |
| sakthipriya | 0:7b4c00e3912f | 740 | } |
| sakthipriya | 0:7b4c00e3912f | 741 | |
| sakthipriya | 0:7b4c00e3912f | 742 | //**************************************************TCTM THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 743 | |
| sakthipriya | 0:7b4c00e3912f | 744 | void T_TC(void const * args) |
| lakshya | 19:79e69017c855 | 745 | { |
| lakshya | 20:949d13045431 | 746 | while(1) |
| lakshya | 19:79e69017c855 | 747 | { |
| lakshya | 20:949d13045431 | 748 | Thread::signal_wait(0x4); |
| lakshya | 20:949d13045431 | 749 | //wait_us(200);// se if it can be changed//@Lakshya:It can't be changed :) |
| lakshya | 20:949d13045431 | 750 | wait_us(300); |
| lakshya | 20:949d13045431 | 751 | BAE_MNG_I2C_STATUS =1 ; |
| lakshya | 33:76f2b8735501 | 752 | I2C_last.reset(); |
| lakshya | 33:76f2b8735501 | 753 | I2C_last.start(); |
| lakshya | 20:949d13045431 | 754 | FLAG(); |
| lakshya | 20:949d13045431 | 755 | //earlier BAE_I2CRX_STATUS=1; |
| lakshya | 20:949d13045431 | 756 | #if print |
| lakshya | 20:949d13045431 | 757 | printf("\n\rreached\n"); |
| lakshya | 20:949d13045431 | 758 | #endif // can be between 38 to 15700 |
| lakshya | 20:949d13045431 | 759 | if( slave.receive() == 0) |
| lakshya | 20:949d13045431 | 760 | { |
| lakshya | 20:949d13045431 | 761 | irpt_2_mstr = 0; |
| lakshya | 20:949d13045431 | 762 | data_send_flag = 'h'; |
| lakshya | 20:949d13045431 | 763 | pc.printf("\n\rSlave not addressed"); |
| lakshya | 20:949d13045431 | 764 | pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss1); |
| lakshya | 20:949d13045431 | 765 | slave.stop(); |
| lakshya | 20:949d13045431 | 766 | pdir_ss1=PTE->PDIR; /////////edited |
| lakshya | 20:949d13045431 | 767 | if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed |
| lakshya | 20:949d13045431 | 768 | { |
| lakshya | 20:949d13045431 | 769 | I2C_busreset(); /////////edited |
| lakshya | 19:79e69017c855 | 770 | } |
| lakshya | 20:949d13045431 | 771 | /*pdir_ss2=PTE->PDIR; |
| lakshya | 20:949d13045431 | 772 | #if PRINT2 |
| lakshya | 20:949d13045431 | 773 | pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss2); |
| lakshya | 20:949d13045431 | 774 | #endif*/ |
| lakshya | 20:949d13045431 | 775 | #if print |
| lakshya | 20:949d13045431 | 776 | printf("\n\rnot send\n"); |
| lakshya | 20:949d13045431 | 777 | #endif |
| lakshya | 20:949d13045431 | 778 | } |
| lakshya | 20:949d13045431 | 779 | else if( slave.receive() == 1) // slave writes to master |
| lakshya | 20:949d13045431 | 780 | { |
| lakshya | 20:949d13045431 | 781 | BAE_I2C_COUNTER++; //////////edited |
| lakshya | 33:76f2b8735501 | 782 | if(data_send_flag == 'h') //to be renamed as BAE_I2C_STATUS |
| lakshya | 20:949d13045431 | 783 | { |
| lakshya | 20:949d13045431 | 784 | irpt_2_mstr =1; //wait till cdms code is changed |
| lakshya | 20:949d13045431 | 785 | FCTN_APPEND_HKDATA(); |
| lakshya | 20:949d13045431 | 786 | uint8_t i2c_count =0; |
| lakshya | 20:949d13045431 | 787 | //crc is already being added |
| lakshya | 20:949d13045431 | 788 | write_ack=slave.write((char*)BAE_chardata,134); |
| lakshya | 20:949d13045431 | 789 | Thread::wait(1); //for correct values of register to be updated |
| lakshya | 20:949d13045431 | 790 | pdir_tm1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 791 | irpt_2_mstr = 0; |
| lakshya | 20:949d13045431 | 792 | if(write_ack==0)// wait till cdms code is changed |
| lakshya | 20:949d13045431 | 793 | { |
| lakshya | 20:949d13045431 | 794 | while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10) |
| lakshya | 20:949d13045431 | 795 | { |
| lakshya | 20:949d13045431 | 796 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 797 | pdir_tm1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 798 | i2c_count++; |
| lakshya | 20:949d13045431 | 799 | } |
| lakshya | 20:949d13045431 | 800 | if(((pdir_tm1 & 0x00000003)==3)) |
| lakshya | 20:949d13045431 | 801 | { |
| lakshya | 20:949d13045431 | 802 | pc.printf("\n\rWrite HK success"); |
| lakshya | 20:949d13045431 | 803 | data_send_flag = 'h'; |
| lakshya | 20:949d13045431 | 804 | //shoulddn't it be here |
| lakshya | 20:949d13045431 | 805 | irpt_2_mstr = 0; //////////edited |
| lakshya | 20:949d13045431 | 806 | } |
| lakshya | 20:949d13045431 | 807 | else |
| lakshya | 20:949d13045431 | 808 | { |
| lakshya | 20:949d13045431 | 809 | wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms |
| lakshya | 20:949d13045431 | 810 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 811 | } |
| lakshya | 20:949d13045431 | 812 | #if print |
| lakshya | 20:949d13045431 | 813 | pc.printf("\n\rgot interrupt\n"); |
| lakshya | 20:949d13045431 | 814 | #endif |
| lakshya | 20:949d13045431 | 815 | } |
| lakshya | 20:949d13045431 | 816 | else |
| lakshya | 20:949d13045431 | 817 | { |
| lakshya | 20:949d13045431 | 818 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 819 | } |
| lakshya | 20:949d13045431 | 820 | i2c_count=0; |
| lakshya | 20:949d13045431 | 821 | } |
| lakshya | 20:949d13045431 | 822 | else//data_send_flag = "t" //else if(telecommand[1]&0xC0 == 't') |
| lakshya | 20:949d13045431 | 823 | { |
| lakshya | 20:949d13045431 | 824 | uint8_t i2c_count =0; |
| lakshya | 20:949d13045431 | 825 | write_ack=slave.write((char*)telemetry,134); ////////edited(size) |
| lakshya | 20:949d13045431 | 826 | Thread::wait(1); //for correct values of register to be updated |
| lakshya | 20:949d13045431 | 827 | pdir_tm1=PTE->PDIR; |
| lakshya | 19:79e69017c855 | 828 | irpt_2_mstr = 0; |
| lakshya | 20:949d13045431 | 829 | data_send_flag = 'h'; |
| lakshya | 20:949d13045431 | 830 | if(write_ack==0) |
| lakshya | 20:949d13045431 | 831 | { |
| lakshya | 20:949d13045431 | 832 | while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10) |
| lakshya | 20:949d13045431 | 833 | { |
| lakshya | 20:949d13045431 | 834 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 835 | pdir_tm1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 836 | i2c_count++; |
| lakshya | 20:949d13045431 | 837 | } |
| lakshya | 20:949d13045431 | 838 | if(((pdir_tm1 & 0x00000003)==3)) |
| lakshya | 20:949d13045431 | 839 | { |
| lakshya | 20:949d13045431 | 840 | pc.printf("\n\rWrite TM success"); |
| lakshya | 20:949d13045431 | 841 | } |
| lakshya | 20:949d13045431 | 842 | else |
| lakshya | 20:949d13045431 | 843 | { |
| lakshya | 20:949d13045431 | 844 | wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms |
| lakshya | 20:949d13045431 | 845 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 846 | } |
| lakshya | 20:949d13045431 | 847 | } |
| lakshya | 20:949d13045431 | 848 | else |
| lakshya | 20:949d13045431 | 849 | { |
| lakshya | 20:949d13045431 | 850 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 851 | } |
| lakshya | 20:949d13045431 | 852 | i2c_count=0; |
| lakshya | 20:949d13045431 | 853 | } |
| lakshya | 20:949d13045431 | 854 | |
| lakshya | 20:949d13045431 | 855 | } |
| lakshya | 20:949d13045431 | 856 | else if( slave.receive()==3 || slave.receive()==2) // slave read |
| lakshya | 20:949d13045431 | 857 | { |
| lakshya | 20:949d13045431 | 858 | BAE_I2C_COUNTER++; |
| lakshya | 20:949d13045431 | 859 | uint8_t i2c_count = 0; |
| lakshya | 20:949d13045431 | 860 | read_ack=slave.read((char *)telecommand,11); //read() function returns acknowledgement |
| lakshya | 20:949d13045431 | 861 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 862 | pdir_tc1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 863 | if(read_ack==0) //read() says it was successful |
| lakshya | 20:949d13045431 | 864 | { |
| lakshya | 20:949d13045431 | 865 | while(((pdir_tc1 & 0x00000003)!=3)&& i2c_count<10)//checking if SDA and SCL lines are logic 0 and not more than 10 times(10ms) |
| lakshya | 20:949d13045431 | 866 | { |
| lakshya | 20:949d13045431 | 867 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 868 | pdir_tc1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 869 | i2c_count++; |
| lakshya | 20:949d13045431 | 870 | } |
| lakshya | 20:949d13045431 | 871 | if(((pdir_tc1 & 0x00000003)==3)) |
| lakshya | 20:949d13045431 | 872 | { |
| lakshya | 20:949d13045431 | 873 | pc.printf("\n\n\rRead TC success"); |
| lakshya | 20:949d13045431 | 874 | //if(telecommand[1]&0xC0 == 0x00) |
| lakshya | 20:949d13045431 | 875 | if(telecommand[0] == 0x00) /////////////edited |
| lakshya | 20:949d13045431 | 876 | FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited |
| lakshya | 20:949d13045431 | 877 | //FCTN_TC_DECODE((uint8_t*) telecommand); |
| lakshya | 20:949d13045431 | 878 | else |
| lakshya | 20:949d13045431 | 879 | { |
| lakshya | 20:949d13045431 | 880 | FCTN_BAE_TM_TC((uint8_t*) telecommand); |
| lakshya | 20:949d13045431 | 881 | //telemetry = (char*)temp; |
| lakshya | 20:949d13045431 | 882 | data_send_flag = 't'; |
| lakshya | 20:949d13045431 | 883 | //pc.printf("\n\r Telemetry Generation \n"); |
| lakshya | 20:949d13045431 | 884 | irpt_2_mstr = 1; |
| lakshya | 20:949d13045431 | 885 | } |
| lakshya | 20:949d13045431 | 886 | } |
| lakshya | 20:949d13045431 | 887 | else //either or both of SDA and SCL lines low |
| lakshya | 20:949d13045431 | 888 | { |
| lakshya | 20:949d13045431 | 889 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 890 | // data_send_flag = 'i'; |
| lakshya | 20:949d13045431 | 891 | gen_I_TM(); |
| lakshya | 20:949d13045431 | 892 | data_send_flag = 't'; |
| lakshya | 20:949d13045431 | 893 | //shouldn't it be here |
| lakshya | 20:949d13045431 | 894 | irpt_2_mstr = 1; /////////////added |
| lakshya | 20:949d13045431 | 895 | } |
| lakshya | 20:949d13045431 | 896 | } |
| lakshya | 20:949d13045431 | 897 | else //read() says it was not successful |
| lakshya | 20:949d13045431 | 898 | { |
| lakshya | 20:949d13045431 | 899 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 900 | //data_send_flag = 'i'; //'i' = invalid |
| lakshya | 20:949d13045431 | 901 | gen_I_TM(); |
| lakshya | 20:949d13045431 | 902 | data_send_flag = 't'; |
| lakshya | 20:949d13045431 | 903 | irpt_2_mstr = 1; /////////////added |
| lakshya | 20:949d13045431 | 904 | } |
| lakshya | 20:949d13045431 | 905 | i2c_count = 0; |
| lakshya | 20:949d13045431 | 906 | #if print |
| lakshya | 20:949d13045431 | 907 | pc.printf("\n\r time taken %d",t_tc.read_us()); |
| lakshya | 20:949d13045431 | 908 | for(int i = 0; i<134; i++) |
| lakshya | 20:949d13045431 | 909 | pc.printf("%c", telemetry[i]); |
| lakshya | 20:949d13045431 | 910 | #endif |
| lakshya | 20:949d13045431 | 911 | } |
| lakshya | 20:949d13045431 | 912 | //was commented here now in txt file main_i2ccomment on desktp |
| lakshya | 20:949d13045431 | 913 | BAE_MNG_I2C_STATUS=0; |
| lakshya | 20:949d13045431 | 914 | FLAG(); |
| lakshya | 20:949d13045431 | 915 | } |
| sakthipriya | 0:7b4c00e3912f | 916 | } |
| sakthipriya | 0:7b4c00e3912f | 917 | void FCTN_TM() |
| lakshya | 20:949d13045431 | 918 | { |
| sakthipriya | 5:bb592f3185cc | 919 | data_send_flag = 't'; |
| sakthipriya | 0:7b4c00e3912f | 920 | pc.printf("\n\r Telemetry Generation \n"); |
| sakthipriya | 0:7b4c00e3912f | 921 | irpt_2_mstr = 1; |
| sakthipriya | 0:7b4c00e3912f | 922 | } |
| sakthipriya | 0:7b4c00e3912f | 923 | |
| sakthipriya | 0:7b4c00e3912f | 924 | |
| sakthipriya | 0:7b4c00e3912f | 925 | //******************************************************* I2C *******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 926 | |
| sakthipriya | 0:7b4c00e3912f | 927 | void FCTN_I2C_ISR() |
| sakthipriya | 0:7b4c00e3912f | 928 | { |
| lakshya | 20:949d13045431 | 929 | ptr_t_i2c->signal_set(0x4); |
| sakthipriya | 0:7b4c00e3912f | 930 | } |
| sakthipriya | 0:7b4c00e3912f | 931 | |
| sakthipriya | 0:7b4c00e3912f | 932 | |
| sakthipriya | 5:bb592f3185cc | 933 | //***********************************************************FAULTS***************************************************************// |
| sakthipriya | 5:bb592f3185cc | 934 | |
| sakthipriya | 5:bb592f3185cc | 935 | uint8_t iter2=0,iter4 = 0; |
| sakthipriya | 5:bb592f3185cc | 936 | |
| sakthipriya | 5:bb592f3185cc | 937 | void pollfault() |
| sakthipriya | 5:bb592f3185cc | 938 | { |
| lakshya | 20:949d13045431 | 939 | if (pf1==0) // OC_ATS1 |
| lakshya | 20:949d13045431 | 940 | { |
| lakshya | 20:949d13045431 | 941 | pf1check=1; |
| lakshya | 20:949d13045431 | 942 | actual_data.faultPoll_status |=0x01 ; |
| lakshya | 20:949d13045431 | 943 | ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS |
| lakshya | 20:949d13045431 | 944 | } |
| lakshya | 20:949d13045431 | 945 | else |
| lakshya | 20:949d13045431 | 946 | actual_data.faultPoll_status &= 0xFE; |
| sakthipriya | 5:bb592f3185cc | 947 | |
| lakshya | 20:949d13045431 | 948 | if(pf2==0) |
| lakshya | 20:949d13045431 | 949 | { |
| lakshya | 20:949d13045431 | 950 | pf2check=1; |
| lakshya | 20:949d13045431 | 951 | actual_data.faultPoll_status |=0x02 ; |
| lakshya | 20:949d13045431 | 952 | ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS |
| lakshya | 20:949d13045431 | 953 | } |
| lakshya | 20:949d13045431 | 954 | else |
| lakshya | 20:949d13045431 | 955 | actual_data.faultPoll_status &= 0xFD; |
| sakthipriya | 5:bb592f3185cc | 956 | |
| sakthipriya | 5:bb592f3185cc | 957 | if (pf3==0) |
| lakshya | 20:949d13045431 | 958 | { |
| lakshya | 20:949d13045431 | 959 | actual_data.faultPoll_status |=0x04 ; |
| lakshya | 20:949d13045431 | 960 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 961 | wait_us(1); |
| lakshya | 20:949d13045431 | 962 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 963 | } |
| lakshya | 20:949d13045431 | 964 | else |
| lakshya | 20:949d13045431 | 965 | actual_data.faultPoll_status &= 0xFB; |
| sakthipriya | 5:bb592f3185cc | 966 | } |
| sakthipriya | 5:bb592f3185cc | 967 | |
| sakthipriya | 0:7b4c00e3912f | 968 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| sakthipriya | 0:7b4c00e3912f | 969 | //SCHEDULER |
| sakthipriya | 0:7b4c00e3912f | 970 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| lakshya | 20:949d13045431 | 971 | |
| sakthipriya | 0:7b4c00e3912f | 972 | uint8_t schedcount=1; |
| sakthipriya | 0:7b4c00e3912f | 973 | void T_SC(void const *args) |
| sakthipriya | 0:7b4c00e3912f | 974 | { |
| lakshya | 20:949d13045431 | 975 | #if print |
| lakshya | 20:949d13045431 | 976 | printf("\n\r in scheduler"); |
| lakshya | 20:949d13045431 | 977 | #endif |
| lakshya | 19:79e69017c855 | 978 | /*if keeping thish many cases creates a problem then make 3 seperate flagvariable i.e bae_standby_acs so on that will make it easy.!!!*/ |
| lakshya | 33:76f2b8735501 | 979 | if(schedcount == 13) //to reset the counter |
| sakthipriya | 0:7b4c00e3912f | 980 | schedcount = 1; |
| sakthipriya | 0:7b4c00e3912f | 981 | if(schedcount%1==0) |
| lakshya | 20:949d13045431 | 982 | { |
| lakshya | 20:949d13045431 | 983 | if( BAE_STANDBY!=0x02 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07) |
| lakshya | 20:949d13045431 | 984 | { |
| lakshya | 20:949d13045431 | 985 | pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE); |
| lakshya | 20:949d13045431 | 986 | F_ACS(); |
| lakshya | 20:949d13045431 | 987 | //time_wdog = 0; |
| lakshya | 20:949d13045431 | 988 | } |
| sakthipriya | 0:7b4c00e3912f | 989 | |
| lakshya | 20:949d13045431 | 990 | } |
| lakshya | 33:76f2b8735501 | 991 | if(schedcount%4==0) |
| lakshya | 20:949d13045431 | 992 | { |
| lakshya | 20:949d13045431 | 993 | if( BAE_STANDBY!=0x01 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x07) |
| lakshya | 20:949d13045431 | 994 | { |
| lakshya | 20:949d13045431 | 995 | //time_wdog = 1; |
| lakshya | 20:949d13045431 | 996 | F_EPS(); |
| lakshya | 20:949d13045431 | 997 | } |
| lakshya | 20:949d13045431 | 998 | //time_wdog = 0; |
| lakshya | 20:949d13045431 | 999 | } |
| lakshya | 33:76f2b8735501 | 1000 | if(schedcount%6==0) |
| lakshya | 20:949d13045431 | 1001 | { |
| lakshya | 22:950dbe9fbeb8 | 1002 | if(BAE_STANDBY!=0x04 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07) |
| lakshya | 20:949d13045431 | 1003 | // time_wdog = 0; |
| lakshya | 22:950dbe9fbeb8 | 1004 | F_BCN(); |
| lakshya | 20:949d13045431 | 1005 | } |
| sakthipriya | 0:7b4c00e3912f | 1006 | schedcount++; |
| lakshya | 20:949d13045431 | 1007 | #if print |
| lakshya | 20:949d13045431 | 1008 | printf("\n\r exited scheduler h"); |
| lakshya | 20:949d13045431 | 1009 | printf("\n\r time taken %f",t_start.read()); |
| lakshya | 20:949d13045431 | 1010 | #endif |
| sakthipriya | 0:7b4c00e3912f | 1011 | } |
| sakthipriya | 0:7b4c00e3912f | 1012 | |
| lakshya | 20:949d13045431 | 1013 | |
| sakthipriya | 0:7b4c00e3912f | 1014 | Timer t_flag; |
| lakshya | 19:79e69017c855 | 1015 | |
| lakshya | 20:949d13045431 | 1016 | |
| sakthipriya | 0:7b4c00e3912f | 1017 | void FLAG() |
| sakthipriya | 0:7b4c00e3912f | 1018 | { |
| lakshya | 20:949d13045431 | 1019 | |
| lakshya | 20:949d13045431 | 1020 | //I2C |
| lakshya | 20:949d13045431 | 1021 | //if(BAE_MNG_I2C_STATUS == 1) |
| lakshya | 20:949d13045431 | 1022 | // BAE_STATUS = BAE_STATUS | 0x10000000; |
| lakshya | 20:949d13045431 | 1023 | //else if(BAE_MNG_I2C_STATUS == 0) |
| lakshya | 20:949d13045431 | 1024 | // BAE_STATUS &= 0xEFFFFFF; |
| lakshya | 19:79e69017c855 | 1025 | |
| lakshya | 19:79e69017c855 | 1026 | //.............bae..................// |
| lakshya | 19:79e69017c855 | 1027 | if(BAE_INIT_STATUS == 1) |
| lakshya | 19:79e69017c855 | 1028 | BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001; |
| lakshya | 19:79e69017c855 | 1029 | else if(BAE_INIT_STATUS == 0) |
| lakshya | 19:79e69017c855 | 1030 | BAE_STATUS &= 0xFFFFFFFE; |
| lakshya | 19:79e69017c855 | 1031 | |
| lakshya | 20:949d13045431 | 1032 | if(BAE_MNG_I2C_STATUS == 1) |
| lakshya | 19:79e69017c855 | 1033 | BAE_STATUS = BAE_STATUS | 0x00000002; |
| lakshya | 20:949d13045431 | 1034 | if(BAE_MNG_I2C_STATUS == 0) |
| lakshya | 19:79e69017c855 | 1035 | BAE_STATUS &= 0xFFFFFFFD; |
| lakshya | 20:949d13045431 | 1036 | |
| sakthipriya | 0:7b4c00e3912f | 1037 | //.............acs..................// |
| sakthipriya | 9:194afacf7449 | 1038 | if(ACS_INIT_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 1039 | BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag |
| sakthipriya | 9:194afacf7449 | 1040 | else if(ACS_INIT_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 1041 | BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 1042 | |
| sakthipriya | 9:194afacf7449 | 1043 | if(ACS_DATA_ACQ_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 1044 | BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 9:194afacf7449 | 1045 | else if(ACS_DATA_ACQ_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 1046 | BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 1047 | |
| sakthipriya | 9:194afacf7449 | 1048 | if(ACS_ATS_ENABLE == 1) |
| sakthipriya | 0:7b4c00e3912f | 1049 | BAE_ENABLE |= 0x00000004; |
| sakthipriya | 9:194afacf7449 | 1050 | else if(ACS_ATS_ENABLE == 0) |
| sakthipriya | 0:7b4c00e3912f | 1051 | BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004; |
| sakthipriya | 0:7b4c00e3912f | 1052 | |
| sakthipriya | 0:7b4c00e3912f | 1053 | if(ACS_DATA_ACQ_STATUS == 'f') |
| sakthipriya | 0:7b4c00e3912f | 1054 | BAE_STATUS |= 0x00000200; |
| sakthipriya | 0:7b4c00e3912f | 1055 | |
| sakthipriya | 9:194afacf7449 | 1056 | if(ACS_MAIN_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 1057 | BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag |
| sakthipriya | 9:194afacf7449 | 1058 | else if(ACS_MAIN_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 1059 | BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 1060 | |
| sakthipriya | 0:7b4c00e3912f | 1061 | if(ACS_STATUS == '0') |
| sakthipriya | 0:7b4c00e3912f | 1062 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 1063 | else if(ACS_STATUS == '1') |
| sakthipriya | 0:7b4c00e3912f | 1064 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER |
| sakthipriya | 0:7b4c00e3912f | 1065 | else if(ACS_STATUS == '2') |
| sakthipriya | 0:7b4c00e3912f | 1066 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 1067 | else if(ACS_STATUS == '3') |
| sakthipriya | 0:7b4c00e3912f | 1068 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 1069 | else if(ACS_STATUS == '4') |
| sakthipriya | 0:7b4c00e3912f | 1070 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 1071 | else if(ACS_STATUS == '5') |
| sakthipriya | 0:7b4c00e3912f | 1072 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 1073 | else if(ACS_STATUS == '6') |
| sakthipriya | 0:7b4c00e3912f | 1074 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY |
| sakthipriya | 0:7b4c00e3912f | 1075 | else |
| sakthipriya | 0:7b4c00e3912f | 1076 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE |
| sakthipriya | 0:7b4c00e3912f | 1077 | |
| sakthipriya | 0:7b4c00e3912f | 1078 | if(ACS_STATE == '0') |
| sakthipriya | 0:7b4c00e3912f | 1079 | BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 1080 | else if(ACS_STATE == '2') |
| sakthipriya | 0:7b4c00e3912f | 1081 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 1082 | else if(ACS_STATE == '3') |
| sakthipriya | 0:7b4c00e3912f | 1083 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 1084 | else if(ACS_STATE == '4') |
| sakthipriya | 0:7b4c00e3912f | 1085 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 1086 | else if(ACS_STATE == '5') |
| sakthipriya | 0:7b4c00e3912f | 1087 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 1088 | else if(ACS_STATE == '6') |
| sakthipriya | 0:7b4c00e3912f | 1089 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 1090 | |
| sakthipriya | 0:7b4c00e3912f | 1091 | //...............eps......................// |
| lakshya | 20:949d13045431 | 1092 | if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS |
| lakshya | 20:949d13045431 | 1093 | BAE_STATUS |= 0x00010000; |
| lakshya | 20:949d13045431 | 1094 | else if(EPS_INIT_STATUS==0) // Clear |
| lakshya | 20:949d13045431 | 1095 | BAE_STATUS &= 0xFFFEFFFF; |
| sakthipriya | 5:bb592f3185cc | 1096 | |
| sakthipriya | 5:bb592f3185cc | 1097 | |
| lakshya | 20:949d13045431 | 1098 | if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS |
| lakshya | 20:949d13045431 | 1099 | BAE_STATUS |= 0x00040000; |
| lakshya | 20:949d13045431 | 1100 | else if(EPS_MAIN_STATUS==0) // Clear |
| lakshya | 20:949d13045431 | 1101 | BAE_STATUS &= 0xFFFBFFFF; |
| sakthipriya | 5:bb592f3185cc | 1102 | |
| sakthipriya | 5:bb592f3185cc | 1103 | |
| lakshya | 20:949d13045431 | 1104 | if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS |
| lakshya | 20:949d13045431 | 1105 | BAE_STATUS |= 0x00020000; |
| lakshya | 20:949d13045431 | 1106 | else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear |
| lakshya | 20:949d13045431 | 1107 | BAE_STATUS &= 0xFFFDFFFF; |
| lakshya | 20:949d13045431 | 1108 | |
| lakshya | 33:76f2b8735501 | 1109 | if (EPS_BTRY_TMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS |
| lakshya | 20:949d13045431 | 1110 | BAE_STATUS |= 0x00080000; |
| lakshya | 33:76f2b8735501 | 1111 | else if(EPS_BTRY_TMP_STATUS==0) // Clear |
| lakshya | 20:949d13045431 | 1112 | BAE_STATUS &= 0xFFF7FFFF; |
| sakthipriya | 5:bb592f3185cc | 1113 | |
| lakshya | 20:949d13045431 | 1114 | if (EPS_STATUS==0) |
| lakshya | 20:949d13045431 | 1115 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP |
| lakshya | 20:949d13045431 | 1116 | else if (EPS_STATUS==1) |
| lakshya | 20:949d13045431 | 1117 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED |
| lakshya | 20:949d13045431 | 1118 | else if (EPS_STATUS==2) |
| lakshya | 20:949d13045431 | 1119 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF |
| lakshya | 20:949d13045431 | 1120 | else if (EPS_STATUS==3) |
| lakshya | 20:949d13045431 | 1121 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON |
| lakshya | 20:949d13045431 | 1122 | else if (EPS_STATUS==4) |
| lakshya | 20:949d13045431 | 1123 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF |
| lakshya | 20:949d13045431 | 1124 | else if (EPS_STATUS==5) |
| lakshya | 20:949d13045431 | 1125 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON |
| sakthipriya | 5:bb592f3185cc | 1126 | |
| lakshya | 20:949d13045431 | 1127 | if(EPS_BTRY_HTR_AUTO == 1) |
| sakthipriya | 5:bb592f3185cc | 1128 | BAE_ENABLE |= 0x00000080; |
| lakshya | 20:949d13045431 | 1129 | else if(EPS_BTRY_HTR_AUTO == 0) |
| sakthipriya | 5:bb592f3185cc | 1130 | BAE_ENABLE = BAE_ENABLE &0xFFFFFF7; |
| sakthipriya | 3:07e15677a75c | 1131 | |
| lakshya | 20:949d13045431 | 1132 | #if print |
| lakshya | 20:949d13045431 | 1133 | pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE); |
| lakshya | 20:949d13045431 | 1134 | #endif |
| lakshya | 20:949d13045431 | 1135 | } |
| sakthipriya | 0:7b4c00e3912f | 1136 | |
| sakthipriya | 0:7b4c00e3912f | 1137 | |
| sakthipriya | 0:7b4c00e3912f | 1138 | void FCTN_BAE_INIT() |
| sakthipriya | 0:7b4c00e3912f | 1139 | { |
| lakshya | 20:949d13045431 | 1140 | #if print |
| lakshya | 20:949d13045431 | 1141 | printf("\n\r Initialising BAE _________________________________________________________________________________"); |
| lakshya | 20:949d13045431 | 1142 | #endif |
| lakshya | 19:79e69017c855 | 1143 | BAE_INIT_STATUS=1; |
| lakshya | 19:79e69017c855 | 1144 | FLAG(); |
| lakshya | 19:79e69017c855 | 1145 | |
| sakthipriya | 3:07e15677a75c | 1146 | //..........intial status....// |
| Bragadeesh153 | 13:fb7facaf308b | 1147 | ACS_STATE = 4; |
| sakthipriya | 9:194afacf7449 | 1148 | ACS_ATS_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 1149 | ACS_DATA_ACQ_ENABLE = 1; |
| lakshya | 20:949d13045431 | 1150 | EPS_BTRY_HTR_AUTO = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1151 | actual_data.power_mode=3; |
| lakshya | 19:79e69017c855 | 1152 | |
| sakthipriya | 9:194afacf7449 | 1153 | //............intializing pins................// |
| sakthipriya | 9:194afacf7449 | 1154 | ATS1_SW_ENABLE = 0; |
| sakthipriya | 9:194afacf7449 | 1155 | ATS2_SW_ENABLE = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1156 | |
| Bragadeesh153 | 13:fb7facaf308b | 1157 | DRV_XY_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1158 | DRV_Z_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1159 | TRZ_SW = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1160 | TRXY_SW = 1; |
| lakshya | 20:949d13045431 | 1161 | |
| lakshya | 20:949d13045431 | 1162 | //time_wdog = 1; |
| sakthipriya | 9:194afacf7449 | 1163 | |
| lakshya | 19:79e69017c855 | 1164 | //...........order mentioned in flow chart.................// |
| sakthipriya | 3:07e15677a75c | 1165 | FCTN_ACS_INIT(); |
| lakshya | 17:fc782f7548c6 | 1166 | FCTN_EPS_INIT(); |
| lakshya | 18:3662058a7c10 | 1167 | FCTN_BCN_INIT(); |
| lakshya | 19:79e69017c855 | 1168 | |
| lakshya | 27:61c856be467e | 1169 | //uint32_t data_flash=FCTN_BAE_RD_FLASH_ENTITY(0);/*sending the 0 entity as in mms tc/tm bae_reset_counter is present in first 32 bits */ |
| lakshya | 27:61c856be467e | 1170 | //uint32_t data_modify=data_flash & 0x000000FF; |
| lakshya | 27:61c856be467e | 1171 | //data_modify +=1; |
| lakshya | 27:61c856be467e | 1172 | //data_modify |=data_flash; |
| lakshya | 27:61c856be467e | 1173 | //FCTN_BAE_WR_FLASH(0,data_modify); |
| lakshya | 20:949d13045431 | 1174 | #if print |
| lakshya | 20:949d13045431 | 1175 | printf("\n\rthe number of reset %d",data_modify); |
| lakshya | 20:949d13045431 | 1176 | #endif |
| lakshya | 19:79e69017c855 | 1177 | BAE_INIT_STATUS=0; |
| sakthipriya | 0:7b4c00e3912f | 1178 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 1179 | } |
| sakthipriya | 0:7b4c00e3912f | 1180 | |
| lakshya | 20:949d13045431 | 1181 | |
| sakthipriya | 0:7b4c00e3912f | 1182 | int main() |
| sakthipriya | 0:7b4c00e3912f | 1183 | { |
| lakshya | 33:76f2b8735501 | 1184 | //BAE_uptime.reset(); |
| lakshya | 33:76f2b8735501 | 1185 | BAE_uptime.start(); |
| lakshya | 20:949d13045431 | 1186 | //time_wdog = 1; |
| lakshya | 19:79e69017c855 | 1187 | pc.printf("\n\r BAE Activated. Testing Version 1.2 \n"); |
| lakshya | 20:949d13045431 | 1188 | //FLASH_INI(); |
| sakthipriya | 0:7b4c00e3912f | 1189 | FCTN_BAE_INIT(); |
| lakshya | 20:949d13045431 | 1190 | //time_wdog = 0; |
| lakshya | 20:949d13045431 | 1191 | |
| sakthipriya | 0:7b4c00e3912f | 1192 | slave.address(addr); |
| sakthipriya | 0:7b4c00e3912f | 1193 | irpt_2_mstr = 0; |
| sakthipriya | 0:7b4c00e3912f | 1194 | |
| sakthipriya | 0:7b4c00e3912f | 1195 | ptr_t_i2c = new Thread(T_TC); |
| sakthipriya | 0:7b4c00e3912f | 1196 | ptr_t_i2c->set_priority(osPriorityHigh); |
| sakthipriya | 5:bb592f3185cc | 1197 | |
| sakthipriya | 0:7b4c00e3912f | 1198 | irpt_4m_mstr.enable_irq(); |
| sakthipriya | 0:7b4c00e3912f | 1199 | irpt_4m_mstr.rise(&FCTN_I2C_ISR); |
| lakshya | 20:949d13045431 | 1200 | |
| sakthipriya | 0:7b4c00e3912f | 1201 | RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread |
| lakshya | 33:76f2b8735501 | 1202 | t_sc_timer.start(5000); |
| sakthipriya | 0:7b4c00e3912f | 1203 | t_start.start(); |
| lakshya | 20:949d13045431 | 1204 | #if print |
| lakshya | 20:949d13045431 | 1205 | pc.printf("\n\rStarted scheduler %f\n\r",t_start.read()); |
| lakshya | 20:949d13045431 | 1206 | #endif |
| lakshya | 19:79e69017c855 | 1207 | /*if one defines it dynamically then one has to take care that the destuct function is calle everytime BAE resets otheriwse it will lead to memory leakage*/ |
| lakshya | 20:949d13045431 | 1208 | //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce); |
| lakshya | 19:79e69017c855 | 1209 | /*static allocation*/ |
| lakshya | 19:79e69017c855 | 1210 | RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce); |
| lakshya | 19:79e69017c855 | 1211 | BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER; |
| lakshya | 18:3662058a7c10 | 1212 | |
| lakshya | 20:949d13045431 | 1213 | RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce); |
| lakshya | 20:949d13045431 | 1214 | /*later change it to 30 min 1800 seconds*/ |
| lakshya | 20:949d13045431 | 1215 | bcn_start_timer.start(20000); |
| lakshya | 20:949d13045431 | 1216 | |
| lakshya | 20:949d13045431 | 1217 | //BCN HTR TIMERS |
| lakshya | 20:949d13045431 | 1218 | RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce); |
| lakshya | 20:949d13045431 | 1219 | HTR_OFF=&EPS_HTR_OFF_TIMER; |
| lakshya | 20:949d13045431 | 1220 | |
| lakshya | 20:949d13045431 | 1221 | RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE); |
| lakshya | 20:949d13045431 | 1222 | HTR_CYCLE=&EPS_HTR_CYCLE_TIMER; |
| lakshya | 20:949d13045431 | 1223 | |
| lakshya | 20:949d13045431 | 1224 | RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce); |
| lakshya | 20:949d13045431 | 1225 | HTR_DLY=&EPS_HTR_DLY_TIMER; |
| lakshya | 20:949d13045431 | 1226 | |
| lakshya | 20:949d13045431 | 1227 | FLASH_INI(); |
| lakshya | 20:949d13045431 | 1228 | |
| lakshya | 20:949d13045431 | 1229 | while(1); //required to prevent main from terminating |
| lakshya | 18:3662058a7c10 | 1230 | |
| lakshya | 20:949d13045431 | 1231 | } |