File content as of revision 19:79e69017c855:

#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 135
#define tc_len 11
#define batt_heat_low 20

//**********************************************GLOBAL RTOS TIMER*********************************************************//
RtosTimer *BAE_STANDBY_STATUS_TIMER;

void BAE_STANDBY_STATUS_RESET(const void* arg)
{
    printf("\n\rBAE standby reset to 0x00");
    BAE_STANDBY=0x00;
}

/*no problem in first stopping and then starting even when for the first time*/
void BAE_STANDBY_TIMER_RESET()
{
    BAE_STANDBY_STATUS_TIMER->stop();
    BAE_STANDBY_STATUS_TIMER->start(30000);//20 min ie 20*60=1200 sec or 1200,000 milisec but for testing setting it to 30sec
}

//***************************************************** flags *************************************************************//
uint32_t BAE_STATUS = 0x00000000;
uint32_t BAE_ENABLE = 0xFFFFFFFF;

//i2c//
char data_send_flag = 'h'; 

//.........bae......................................//
uint8_t BAE_INIT_STATUS=0;
uint8_t BAE_I2CRX_STATUS=0;

//.........acs......................................//
/* removed character initialized values */

uint8_t ACS_INIT_STATUS = 0;
uint8_t ACS_DATA_ACQ_STATUS = 0;
uint8_t ACS_ATS_STATUS = 0;
uint8_t ACS_MAIN_STATUS = 0;
uint8_t ACS_STATUS = 0;

uint8_t ACS_ATS_ENABLE = 1;
uint8_t ACS_DATA_ACQ_ENABLE = 1;
uint8_t ACS_STATE = 4;

//_______________________bcn__________________________//

/*added for removing the stuck/hang problem*/
/*does it work? now doing it in main*/
//it works great
extern uint8_t BCN_FEN;
extern void FCTN_BCN_FEN(void const *args);
Timeout timeout_bcn;
/*long beacon data/sending*/
/*be sure it is created in bcn.cpp*/
extern void LONG_BCN_DATA(uint8_t* );

//.....................eps...................//
/* removed character initialization*/
//eps init
uint8_t EPS_INIT_STATUS = 0;
uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
//eps main
uint8_t EPS_MAIN_STATUS = 0;
uint8_t EPS_BATTERY_TEMP_STATUS = 0;
uint8_t EPS_STATUS = 7; //invalid status

uint8_t EPS_BATTERY_HEAT_ENABLE = 0;

//.......................global variables..................................................................// new hk structure- everything has to changed based on this
uint8_t BAE_data[74];  
char BAE_chardata[74];     
uint8_t BAE_RESET_COUNTER = 0; // INITIALIZATION or do you want to initialize evertime the main is reset? or is it same    
uint32_t BAE_I2C_COUNTER = 0;
uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off.

//*************************************Global declarations************************************************//
const int addr = 0x20;                                            //slave address 

Timer t_rfsilence;
Timer t_start;
/*defined as of now to check execution time*/
/*remember to remove them*/
Timer t_acs;
Timer t_eps;

Timer t_tc;
Timer t_tm;
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;

int write_ack = 1;
int read_ack = 1;
char telecommand[tc_len];
extern uint8_t telemetry[135];

bool pf1check = 0;
bool pf2check = 0;
bool if1check = 0;
bool if2check = 0;

//*****************************************************Assigning pins******************************************************//
DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch
DigitalOut ATS2_SW_ENABLE(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);///pin1 pin2
DigitalOut batt_heat(PIN96);

//ATS1_SW_ENABLE = 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

//........faults
//Polled Faults
DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
 
//Interrupt based faults
//InterruptIn  ir1(PIN73);//Battery Gauge - Alert Bar Signal
InterruptIn  ir2(PIN72);//TRXY Driver TR switch Fault
InterruptIn  ir3(PIN89);//TRZ Driver Fault Bar
InterruptIn  ir4(PIN91);//TRZ Driver TR switch Fault
InterruptIn  ir5(PIN79);//CDMS - Switch Fault
InterruptIn  ir6(PIN80);//Beacon- Switch OC bar
InterruptIn  ir7(PIN42);//Charger IC - Fault Bar


DigitalOut TRXY_SW(PIN71);  //TR XY Switch
DigitalOut DRV_Z_EN(PIN88);    //Sleep pin of driver z
DigitalOut TRZ_SW(PIN40);  //TR Z Switch
DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET
DigitalOut BCN_SW(PIN14);      //Beacon switch
DigitalOut DRV_XY_EN(PIN82);


/*****************************************************************Threads USed***********************************************************************************/
Thread *ptr_t_i2c;


/*********************************************************FCTN HEADERS***********************************************************************************/
void FCTN_ISR_I2C();
void FCTN_TM();
void F_ACS();
void F_EPS();
void F_BCN();

//*******************************************ACS THREAD**************************************************//
uint8_t iterP1;
uint8_t iterP2;
uint8_t iterI1;
uint8_t iterI2;

 
void F_ACS()
{
    t_acs.start();    
    if(pf1check == 1)
    {
        if(iterP1 >= 3)
        {
            ATS1_SW_ENABLE = 1;  // turn off ats1 permanently
            //FCTN_SWITCH_ATS(0);  // switch on ATS2    
        }
        else    
        {
        ATS1_SW_ENABLE = 0;
        iterP1++;
        }
        pf1check = 0;
    }
    if(pf2check == 1)
    {
        if(iterP1 >= 3)
        {
            ATS2_SW_ENABLE = 1;  // turn off ats2 permanently
            ACS_DATA_ACQ_ENABLE = 0;
            ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY    
        }
        else    
        {
            ATS2_SW_ENABLE = 0;
            iterP2++;
        }
        pf2check = 0;
    }
    if(if1check == 1)
    {
        if(iterI1 >= 3)
        {
            TRXY_SW = 0;  // turn off TRXY permanently
        }
        else    
        {
            TRXY_SW = 1;   //switch on TRXY
            iterI1++;
        }
    }    
    if(if2check == 1)
    {
        if(iterI2 >= 3)
        {
            TRZ_SW = 0;  // turn off TRZ permanently
            ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY  
        }
        else    
        {
            TRZ_SW = 1;   //switch on Z
            iterI2++;
        }
    }
    
    //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};
    // ATS1_SW_ENABLE = 0;  // att sens2 switch is disabled
    // ATS2_SW_ENABLE = 0; // att sens switch is disabled
     
    
        
    //Thread::signal_wait(0x1);  
    ACS_MAIN_STATUS = 1; //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 == 1)// 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++) 
        {
            printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
        }
        pc.printf("mag values\n\r");
        for(int i=0; i<3; i++) 
        {
            pc.printf("%f\n\r",actual_data.Bvalue_actual[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) ; /*printf statements*/
                }
                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(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual);
                            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(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual);  // 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

    printf("\n\rlow power crossed and pwm no hang");
    ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag 
    
    t_acs.stop();
    printf("\n\r the time for acs is %f",(float)t_acs.read_ms());
    t_acs.reset();
        
}

//***************************************************EPS THREAD***********************************************//

void F_EPS()
{ 
    t_eps.start();
    
        pc.printf("\n\rEntered EPS   %f\n",t_start.read());
        EPS_MAIN_STATUS = 1; // Set EPS main status
        FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
        pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
        EPS_BATTERY_TEMP_STATUS = 1;          //set EPS_BATTERY_TEMP_STATUS
        if(EPS_BATTERY_HEAT_ENABLE == 1)
        {
            if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm
            {
                batt_heat = 1;    //turn on battery heater
            }
            else
            {
                batt_heat = 0;     //turn off battery heater
            }
              
        } 
        else if(EPS_BATTERY_HEAT_ENABLE == 0)
        {
            EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED
        }
        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 = 0;           //clear EPS_BATTERY_GAUGE_STATUS
          
        }
        else
        {
            FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]);            //updating power level 
            EPS_BATTERY_GAUGE_STATUS = 1;           //set EPS_BATTERY_GAUGE_STATUS
        }
        // if( Temperature data received)
        //{
        //}
//        else
//        {
//          Set battery temp to XX  
//          EPS_BATTERY_TEMP_STATUS = 0;          //clear EPS_BATTERY_TEMP_STATUS
//          EPS_STATUS = EPS_ERR_BATTERY_TEMP;
//        }
        FCTN_HK_MAIN();
        FCTN_APPEND_HKDATA();
        minMaxHkData();
        EPS_MAIN_STATUS = 0; // clear EPS main status
        
        t_eps.stop();
        printf("\n\r the time for eps is %f",(float)t_eps.read_ms()); 
        t_eps.reset();

}

//**************************************************BCN THREAD*******************************************************************//

void F_BCN()
{
          pc.printf("\n\rEntered BCN   %f\n",t_start.read());
          
          FCTN_BCN_TX_MAIN();
    
}

//**************************************************TCTM THREAD*******************************************************************//

void T_TC(void const * args)
{   
      while(1)
        {            
          Thread::signal_wait(0x4);
          wait_us(200);// se if it can be changed
          
          /*SHOULD IT BE PLACED INSIDE OR OUTSIDE?*/
          BAE_I2CRX_STATUS=1;
          FLAG();  
          BAE_I2C_COUNTER++;
          //printf("\n\rreached\n");                                             // can be between 38 to 15700
          if( slave.receive() == 0)        
            {
                slave.stop();
                //printf("\n\rnot send\n");
            }     
          else if( slave.receive() == 1)                                     // slave writes to master
            {
                if(data_send_flag == 'h')
                    {
                        irpt_2_mstr =1;// wait till cdms code is changed
                        
                        FCTN_APPEND_HKDATA();
                        // pc.printf("\n\r here");
                        write_ack=slave.write(BAE_chardata,74); 
                        if(write_ack==0)// wait till cdms code is changed
                
                            {
                                irpt_2_mstr = 0;
                                printf("\n\rgot interrupt\n");
                            }
                    }
                else if(data_send_flag == 't')
                    {
                        write_ack=slave.write((char*)telemetry,tm_len);
                        data_send_flag = 'h';
                        if(write_ack==0)                
                            irpt_2_mstr = 0;
                    }       
         }
         else if( slave.receive()==3 ||  slave.receive()==2)             // slave read 
            {
                read_ack=slave.read(telecommand,tc_len);
                t_tc.start();
                //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_BAE_TM_TC((uint8_t*) telecommand);
                //telemetry = (char*)temp;
          
                FCTN_TM();
                t_tc.stop();
                printf("\n\r time taken %d",t_tc.read_us());
                t_tc.reset();
                // for(int i = 0; i<134; i++)
                //pc.printf("%c", telemetry[i]);
             } 
       
      
/*implemented when cdms send telecommand as t and long bcn data seperately
            {
                read_ack=slave.read(telecommand,tc_len);
                t_tc.start();
           
                //*code for differentiating wether the given data is tc or long beacon asssuming the first bit differentiate
                if(telecommand[0]=='t') //*i.e telecommand is recieved
                    {
                        pc.printf("\n\r data is = %x ",telecommand[0]); 
                        //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand);
                        pc.printf("\n\r Executing Telecommand "); 
                        // FCTN_TC_DECODE((uint8_t*) telecommand);
           
                        FCTN_BAE_TM_TC((uint8_t*) telecommand);
                        //telemetry = (char*)temp;
          
                        FCTN_TM();
///                     t_tc.stop();
///                     printf("\n\r time taken %d",t_tc.read_us());
///                     t_tc.reset();
                        // for(int i = 0; i<134; i++)
                        //pc.printf("%c", telemetry[i]);
                     }
                
                else if(telecommand[0]=='l') //*i.e long beacon data is recieved* / 
                    {   
                        pc.printf("\n\r sending the long beacon data ");
                        /*if data is to send as in uint8 format if it is to be send as char 
                                                    then just forward it without converting* /
                        //*creating a new function here to update the long beacon data everytime cdms sends it* /
                        LONG_BCN_DATA((uint8_t*)telecommand);
                        //here long beacon structure change
///                     t_tc.stop();
///                     printf("\n\r time taken %d",t_tc.read_us());
///                     t_tc.reset();
                     }
                else 
                    {
                        pc.printf("\n\r none of case met a miss ");
///                     t_tc.stop();
///                     printf("\n\r time taken %d",t_tc.read_us());
///                     t_tc.reset();
                     }
                
                t_tc.stop();
                printf("\n\r time taken %d",t_tc.read_us());
                t_tc.reset(); 
      
             }
*/
          BAE_I2CRX_STATUS=0;
          FLAG(); 
         
         }
}

void FCTN_TM()
{
    //irpt_2_mstr = 0; 
    data_send_flag = 't';
    pc.printf("\n\r Telemetry Generation \n");
    irpt_2_mstr = 1;   
}


//******************************************************* I2C *******************************************************************//

void FCTN_I2C_ISR()
{
     ptr_t_i2c->signal_set(0x4);
}


//***********************************************************FAULTS***************************************************************//
/*void ir1clear()
{
    actual_data.faultIr_status |= 0x01;   // alert
 
}*/


 
void ir2clear()
{
    actual_data.faultIr_status |= 0x02;
    TRXY_SW = 0;   // Switch off TR XY
    if1check = 1;
}
 
void ir3clear()
{
    actual_data.faultIr_status |= 0x04;
    DRV_Z_EN = 0;
    wait_us(1);
    DRV_Z_EN = 1;
 
}
 
void ir4clear()
{
    if2check = 1;
    actual_data.faultIr_status |= 0x08;
    TRZ_SW = 0;
}
 
void ir5clear()
{
    actual_data.faultIr_status |= 0x10;
    CDMS_RESET = 0;
    wait_us(1);
    CDMS_RESET = 1;
}
 
void ir6clear()
{
    actual_data.faultIr_status |= 0x20;
    BCN_SW = 0;
    wait_us(1);
    BCN_SW = 1;
}
 
void ir7clear()
{
    actual_data.faultIr_status |= 0x40;
}
uint8_t iter2=0,iter4 = 0; 



void pollfault()
{   
    
    
 
    if (pf1==0)                // OC_ATS1
    { 
        pf1check=1;
        actual_data.faultPoll_status |=0x01 ;
        ATS1_SW_ENABLE = 1;  // turn off ats1  // to be turned on next cycle in ACS
    }
    else actual_data.faultPoll_status &= 0xFE;
 
    if (pf2==0)
    {   
        pf2check=1;
        actual_data.faultPoll_status |=0x02 ;
        ATS2_SW_ENABLE = 1;  // turn off ats2  // turn on in ACS
    }
    else actual_data.faultPoll_status &= 0xFD;
 
    if (pf3==0)
    {   actual_data.faultPoll_status |=0x04 ;
        DRV_XY_EN = 0;
        wait_us(1);
        DRV_XY_EN = 1;
    }
    else actual_data.faultPoll_status &= 0xFB;
 
 
 
 
    /*if (ir1==1)
    {
        actual_data.faultIr_status &=0xFE;
    }*/
   
    if (ir2==1)
    {
        actual_data.faultIr_status &=0xFD;
    }
    if (ir3==1)
    {
        actual_data.faultIr_status &=0xFB;
    }
    if (ir4==1)
    {
        actual_data.faultIr_status &=0xF7;
    }
    if (ir5==1)
    {
        actual_data.faultIr_status &=0xEF;
    }
    if (ir6==1)
    {
        actual_data.faultIr_status &=0xDF;
    }if (ir7==1)
    {
        actual_data.faultIr_status &=0xBF;
    }
    
 
}
  

//------------------------------------------------------------------------------------------------------------------------------------------------
//SCHEDULER
//------------------------------------------------------------------------------------------------------------------------------------------------
uint8_t schedcount=1;
void T_SC(void const *args)
{    
///    printf("\n\r in scheduler");
   
   /*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.!!!*/
   
    if(schedcount == 7)                         //to reset the counter
    {
        schedcount = 1;
    }
    if(schedcount%1==0)
    {
        if( BAE_STANDBY!=0x02 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
            {
                pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
                F_ACS();
            }
    }
    
    if(schedcount%2==0)
    {   
        if( BAE_STANDBY!=0x01 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x07)
            F_EPS();
    }
    if(schedcount%3==0)
    {
        if(BAE_STANDBY!=0x04 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
            F_BCN();
    }
    schedcount++;
    printf("\n\r exited scheduler h");
    printf("\n\r time taken %f",t_start.read());
}

Timer t_flag;

void FLAG()
{

//.............bae..................//
    if(BAE_INIT_STATUS == 1)
        BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001;
    else if(BAE_INIT_STATUS == 0)
        BAE_STATUS &= 0xFFFFFFFE;
        
    if(BAE_I2CRX_STATUS == 1)   
        BAE_STATUS = BAE_STATUS | 0x00000002;
    if(BAE_I2CRX_STATUS == 0)   
        BAE_STATUS &= 0xFFFFFFFD;    
//.............acs..................//    
    if(ACS_INIT_STATUS == 1)
        BAE_STATUS = BAE_STATUS | 0x00000080;  //set ACS_INIT_STATUS flag
    else if(ACS_INIT_STATUS == 0)
        BAE_STATUS &= 0xFFFFFF7F;              //clear ACS_INIT_STATUS flag 
    
    if(ACS_DATA_ACQ_STATUS == 1)
        BAE_STATUS =BAE_STATUS | 0x00000100;     //set ACS_DATA_ACQ_STATUS flag
    else if(ACS_DATA_ACQ_STATUS == 0)
        BAE_STATUS &= 0xFFFFFEFF;      //clear ACS_DATA_ACQ_STATUS flag    
    
    if(ACS_ATS_ENABLE == 1)
        BAE_ENABLE |= 0x00000004;
    else if(ACS_ATS_ENABLE == 0)
        BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
    
    if(ACS_DATA_ACQ_STATUS == 'f')
        BAE_STATUS |= 0x00000200;
    
    if(ACS_MAIN_STATUS == 1)
        BAE_STATUS = (BAE_STATUS | 0x00001000);     //set ACS_MAIN_STATUS flag
   else if(ACS_MAIN_STATUS == 0)
        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==1)                                  // Set EPS_INIT_STATUS
    BAE_STATUS |= 0x00010000;                     
else if(EPS_INIT_STATUS==0)                              // Clear
    BAE_STATUS &= 0xFFFEFFFF;


if (EPS_MAIN_STATUS==1)                              // Set EPS_MAIIN_STATUS
    BAE_STATUS |= 0x00040000;
else if(EPS_MAIN_STATUS==0)                          // Clear
    BAE_STATUS &= 0xFFFBFFFF;


if (EPS_BATTERY_GAUGE_STATUS==1)              // Set EPS_BATTERY_GAUGE_STATUS
    BAE_STATUS |= 0x00020000;
else if(EPS_BATTERY_GAUGE_STATUS==0)          // Clear
    BAE_STATUS &= 0xFFFDFFFF;


if (EPS_BATTERY_TEMP_STATUS==1)             // Set EPS_BATTERY_TEMP_STATUS
    BAE_STATUS |= 0x00080000;
else if(EPS_BATTERY_TEMP_STATUS==0)       // Clear
    BAE_STATUS &= 0xFFF7FFFF;

if (EPS_STATUS==0)
    BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF);                             // Set EPS_ERR_BATTERY_TEMP
else if (EPS_STATUS==1)
    BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000;           // Set EPS_BATTERY_HEATER_DISABLED
else if (EPS_STATUS==2)
    BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000;           // Set EPS_ERR_HEATER_SWITCH_OFF
else if (EPS_STATUS==3)
    BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000;          // Set EPS_ERR_HEATER_SWITCH_ON
else if (EPS_STATUS==4)
    BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000;          // Set EPS_BATTERY_HEATER_OFF
else if (EPS_STATUS==5)
    BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000;          // Set EPS_BATTERY_HEATER_ON   
    

    if(EPS_BATTERY_HEAT_ENABLE == 1)
        BAE_ENABLE |= 0x00000080;
    else if(EPS_BATTERY_HEAT_ENABLE == 0)
        BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;    
    

   
    pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
}

void FCTN_BAE_INIT()
{
    printf("\n\r Initialising BAE _________________________________________________________________________________");
    BAE_INIT_STATUS=1;
    FLAG();
    
    //..........intial status....//
    ACS_STATE = 4;
    ACS_ATS_ENABLE = 1;
    ACS_DATA_ACQ_ENABLE = 1;
    EPS_BATTERY_HEAT_ENABLE = 1;
    actual_data.power_mode=3;
    
    //............intializing pins................//
    ATS1_SW_ENABLE = 0;
    ATS2_SW_ENABLE = 1;

    DRV_XY_EN = 1;
    DRV_Z_EN = 1;
    TRZ_SW = 1;
    TRXY_SW = 1;
    
    //...........order mentioned in flow chart.................//
    FCTN_ACS_INIT();
    FCTN_EPS_INIT();
    FCTN_BCN_INIT();
    
    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 */
    uint32_t data_modify=data_flash & 0x000000FF;
    data_modify +=1;
    data_modify |=data_flash;
    FCTN_BAE_WR_FLASH(0,data_modify)
    printf("\n\rthe number of reset %d",data_modify);

    BAE_INIT_STATUS=0;
    FLAG();
}

int main()
{
    pc.printf("\n\r BAE Activated. Testing Version 1.2 \n");
    CDMS_RESET = 1;  
      
    /*BCN_FEN == 0 //dummy implementation removed  */
    //FLAG();
    FCTN_BAE_INIT();
    
    slave.address(addr);
    irpt_2_mstr = 0;
    
    ptr_t_i2c = new Thread(T_TC);
    ptr_t_i2c->set_priority(osPriorityHigh);
        
    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()); 
    
    /*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*/
    //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce);
    
    /*static allocation*/
    RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce);
    BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER;
    
   RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce);
   /*later change it to 30 min 1800 seconds*/
   bcn_start_timer.start(20000);

    while(1);                                                   //required to prevent main from terminating
}