Team Fox
/
BAE_QM_MAR9
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Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
workinQM_5thJan_azad
by 
Team Fox
main.cpp@30:22b338b027de, 2016-07-01 (annotated)
- Committer:
- azaddevarm
- Date:
- Fri Jul 01 14:59:12 2016 +0000
- Revision:
- 30:22b338b027de
- Parent:
- 29:bb0d64656ba1
- Child:
- 31:046685b48b71
Final code for EPS;
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" |
| sakthipriya | 0:7b4c00e3912f | 8 | |
| Bragadeesh153 | 13:fb7facaf308b | 9 | #define tm_len 135 |
| Bragadeesh153 | 13:fb7facaf308b | 10 | #define tc_len 11 |
| azaddevarm | 29:bb0d64656ba1 | 11 | //#define batt_heat_low 20 |
| sakthipriya | 9:194afacf7449 | 12 | |
| sakthipriya | 0:7b4c00e3912f | 13 | //***************************************************** flags *************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 14 | uint32_t BAE_STATUS = 0x00000000; |
| sakthipriya | 0:7b4c00e3912f | 15 | uint32_t BAE_ENABLE = 0xFFFFFFFF; |
| sakthipriya | 0:7b4c00e3912f | 16 | |
| sakthipriya | 5:bb592f3185cc | 17 | //i2c// |
| sakthipriya | 5:bb592f3185cc | 18 | char data_send_flag = 'h'; |
| sakthipriya | 5:bb592f3185cc | 19 | |
| sakthipriya | 0:7b4c00e3912f | 20 | //.........acs...............// |
| sakthipriya | 9:194afacf7449 | 21 | /* char ACS_INIT_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 22 | char ACS_DATA_ACQ_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 23 | char ACS_ATS_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 24 | char ACS_MAIN_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 25 | char ACS_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 26 | |
| sakthipriya | 0:7b4c00e3912f | 27 | char ACS_ATS_ENABLE = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 28 | char ACS_DATA_ACQ_ENABLE = 'q'; |
| sakthipriya | 9:194afacf7449 | 29 | char ACS_STATE = 'q';*/ |
| sakthipriya | 9:194afacf7449 | 30 | |
| sakthipriya | 9:194afacf7449 | 31 | uint8_t ACS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 32 | uint8_t ACS_DATA_ACQ_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 33 | uint8_t ACS_ATS_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 34 | uint8_t ACS_MAIN_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 35 | uint8_t ACS_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 36 | |
| sakthipriya | 9:194afacf7449 | 37 | uint8_t ACS_ATS_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 38 | uint8_t ACS_DATA_ACQ_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 39 | uint8_t ACS_STATE = 4; |
| sakthipriya | 0:7b4c00e3912f | 40 | |
| sakthipriya | 0:7b4c00e3912f | 41 | //.....................eps...................// |
| sakthipriya | 0:7b4c00e3912f | 42 | //eps init |
| sakthipriya | 9:194afacf7449 | 43 | /*char EPS_INIT_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 44 | char EPS_BATTERY_GAUGE_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 45 | //eps main |
| sakthipriya | 0:7b4c00e3912f | 46 | char EPS_MAIN_STATUS = 'q'; |
| azaddevarm | 30:22b338b027de | 47 | char EPS_BTRY_TMP_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 48 | char EPS_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 49 | |
| azaddevarm | 29:bb0d64656ba1 | 50 | char EPS_BATTERY_HEATER_ENABLE = 'q'; |
| sakthipriya | 9:194afacf7449 | 51 | */ |
| sakthipriya | 9:194afacf7449 | 52 | |
| sakthipriya | 9:194afacf7449 | 53 | uint8_t EPS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 54 | uint8_t EPS_BATTERY_GAUGE_STATUS = 0; |
| azaddevarm | 28:5f0f2a3f3e8d | 55 | |
| sakthipriya | 9:194afacf7449 | 56 | //eps main |
| sakthipriya | 9:194afacf7449 | 57 | uint8_t EPS_MAIN_STATUS = 0; |
| azaddevarm | 30:22b338b027de | 58 | uint8_t EPS_BTRY_TMP_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 59 | uint8_t EPS_STATUS = 7; //invalid status |
| azaddevarm | 30:22b338b027de | 60 | uint8_t EPS_BTRY_HTR_AUTO = 1; |
| sakthipriya | 9:194afacf7449 | 61 | |
| azaddevarm | 29:bb0d64656ba1 | 62 | int EPS_MAIN_COUNTER = 0; |
| azaddevarm | 29:bb0d64656ba1 | 63 | |
| azaddevarm | 30:22b338b027de | 64 | uint8_t EPS_BTRY_HTR = 0; |
| azaddevarm | 30:22b338b027de | 65 | float EPS_BTRY_TMP_LOW; |
| azaddevarm | 30:22b338b027de | 66 | float EPS_BTRY_TMP_HIGH; |
| azaddevarm | 30:22b338b027de | 67 | int EPS_BAT_TEMP_DEFAULT = 20; |
| azaddevarm | 30:22b338b027de | 68 | |
| azaddevarm | 30:22b338b027de | 69 | |
| sakthipriya | 0:7b4c00e3912f | 70 | |
| azaddevarm | 28:5f0f2a3f3e8d | 71 | //eps cdms fault |
| azaddevarm | 28:5f0f2a3f3e8d | 72 | uint8_t CDMS_SW_STATUS; |
| azaddevarm | 28:5f0f2a3f3e8d | 73 | bool CDMS_OC_FAULT; |
| azaddevarm | 28:5f0f2a3f3e8d | 74 | bool CDMS_SW_ENABLE; |
| azaddevarm | 28:5f0f2a3f3e8d | 75 | int CDMS_FAULT_COUNTER; |
| azaddevarm | 28:5f0f2a3f3e8d | 76 | |
| azaddevarm | 28:5f0f2a3f3e8d | 77 | //eps hw faults |
| azaddevarm | 28:5f0f2a3f3e8d | 78 | |
| azaddevarm | 28:5f0f2a3f3e8d | 79 | uint8_t ACS_TR_Z_SW_STATUS; |
| azaddevarm | 28:5f0f2a3f3e8d | 80 | bool ACS_TR_Z_ENABLE; |
| azaddevarm | 28:5f0f2a3f3e8d | 81 | bool ACS_TR_Z_OC_FAULT; |
| azaddevarm | 28:5f0f2a3f3e8d | 82 | bool ACS_TR_Z_FAULT; //Driver IC fault |
| azaddevarm | 28:5f0f2a3f3e8d | 83 | int ACS_TR_Z_FAULT_COUNTER; |
| azaddevarm | 28:5f0f2a3f3e8d | 84 | |
| azaddevarm | 28:5f0f2a3f3e8d | 85 | uint8_t ACS_TR_XY_SW_STATUS; |
| azaddevarm | 28:5f0f2a3f3e8d | 86 | bool ACS_TR_XY_ENABLE; |
| azaddevarm | 28:5f0f2a3f3e8d | 87 | bool ACS_TR_XY_OC_FAULT; |
| azaddevarm | 28:5f0f2a3f3e8d | 88 | bool ACS_TR_XY_FAULT; //Driver IC fault |
| azaddevarm | 28:5f0f2a3f3e8d | 89 | int ACS_TR_XY_FAULT_COUNTER; |
| azaddevarm | 28:5f0f2a3f3e8d | 90 | |
| azaddevarm | 28:5f0f2a3f3e8d | 91 | uint8_t ACS_ATS1_SW_STATUS; |
| azaddevarm | 28:5f0f2a3f3e8d | 92 | bool ACS_ATS1_ENABLE; |
| azaddevarm | 28:5f0f2a3f3e8d | 93 | bool ACS_ATS1_OC_FAULT; |
| azaddevarm | 28:5f0f2a3f3e8d | 94 | int ACS_ATS1_FAULT_COUNTER; |
| azaddevarm | 28:5f0f2a3f3e8d | 95 | |
| azaddevarm | 28:5f0f2a3f3e8d | 96 | uint8_t ACS_ATS2_SW_STATUS; |
| azaddevarm | 28:5f0f2a3f3e8d | 97 | bool ACS_ATS2_ENABLE; |
| azaddevarm | 28:5f0f2a3f3e8d | 98 | bool ACS_ATS2_OC_FAULT; |
| azaddevarm | 28:5f0f2a3f3e8d | 99 | int ACS_ATS2_FAULT_COUNTER; |
| azaddevarm | 28:5f0f2a3f3e8d | 100 | |
| azaddevarm | 28:5f0f2a3f3e8d | 101 | uint8_t BCN_TX_SW_STATUS; |
| azaddevarm | 28:5f0f2a3f3e8d | 102 | bool BCN_TX_ENABLE; |
| azaddevarm | 28:5f0f2a3f3e8d | 103 | bool BCN_TX_OC_FAULT; |
| azaddevarm | 28:5f0f2a3f3e8d | 104 | int BCN_TX_FAULT_COUNTER; |
| azaddevarm | 28:5f0f2a3f3e8d | 105 | |
| azaddevarm | 30:22b338b027de | 106 | |
| sakthipriya | 0:7b4c00e3912f | 107 | //.......................global variables..................................................................// new hk structure- everything has to changed based on this |
| sakthipriya | 6:036d08b62785 | 108 | uint8_t BAE_data[74]; |
| sakthipriya | 6:036d08b62785 | 109 | char BAE_chardata[74]; |
| sakthipriya | 0:7b4c00e3912f | 110 | |
| sakthipriya | 0:7b4c00e3912f | 111 | |
| sakthipriya | 0:7b4c00e3912f | 112 | //*************************************Global declarations************************************************// |
| sakthipriya | 0:7b4c00e3912f | 113 | const int addr = 0x20; //slave address |
| sakthipriya | 0:7b4c00e3912f | 114 | |
| sakthipriya | 0:7b4c00e3912f | 115 | Timer t_rfsilence; |
| sakthipriya | 0:7b4c00e3912f | 116 | Timer t_start; |
| sakthipriya | 7:a46a1dee4497 | 117 | Timer t_tc; |
| sakthipriya | 7:a46a1dee4497 | 118 | Timer t_tm; |
| sakthipriya | 0:7b4c00e3912f | 119 | Serial pc(USBTX, USBRX); |
| sakthipriya | 0:7b4c00e3912f | 120 | int power_flag_dummy=2; |
| sakthipriya | 0:7b4c00e3912f | 121 | float data[6]; |
| sakthipriya | 0:7b4c00e3912f | 122 | |
| sakthipriya | 0:7b4c00e3912f | 123 | extern float moment[3]; |
| sakthipriya | 0:7b4c00e3912f | 124 | extern uint8_t BCN_FEN; |
| sakthipriya | 1:446a959e36ce | 125 | extern BAE_HK_actual actual_data; |
| sakthipriya | 1:446a959e36ce | 126 | extern BAE_HK_quant quant_data; |
| sakthipriya | 1:446a959e36ce | 127 | extern BAE_HK_min_max bae_HK_minmax; |
| sakthipriya | 1:446a959e36ce | 128 | extern BAE_HK_arch arch_data; |
| sakthipriya | 0:7b4c00e3912f | 129 | |
| sakthipriya | 5:bb592f3185cc | 130 | int write_ack = 1; |
| sakthipriya | 5:bb592f3185cc | 131 | int read_ack = 1; |
| sakthipriya | 0:7b4c00e3912f | 132 | char telecommand[tc_len]; |
| Bragadeesh153 | 13:fb7facaf308b | 133 | extern uint8_t telemetry[135]; |
| sakthipriya | 5:bb592f3185cc | 134 | |
| sakthipriya | 5:bb592f3185cc | 135 | bool pf1check = 0; |
| sakthipriya | 5:bb592f3185cc | 136 | bool pf2check = 0; |
| sakthipriya | 5:bb592f3185cc | 137 | bool if1check = 0; |
| lakshya | 14:a9588f443f1a | 138 | bool if2check = 0; |
| sakthipriya | 0:7b4c00e3912f | 139 | |
| sakthipriya | 0:7b4c00e3912f | 140 | //*****************************************************Assigning pins******************************************************// |
| sakthipriya | 9:194afacf7449 | 141 | DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch |
| sakthipriya | 9:194afacf7449 | 142 | DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch |
| sakthipriya | 0:7b4c00e3912f | 143 | InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS |
| sakthipriya | 0:7b4c00e3912f | 144 | DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS |
| lakshya | 14:a9588f443f1a | 145 | I2CSlave slave (PIN1,PIN2);///pin1 pin2 |
| azaddevarm | 30:22b338b027de | 146 | DigitalOut BTRY_HTR_ENABLE(BATT_HEAT); //BTRY_HEAT |
| sakthipriya | 0:7b4c00e3912f | 147 | |
| sakthipriya | 9:194afacf7449 | 148 | //ATS1_SW_ENABLE = 0; |
| sakthipriya | 0:7b4c00e3912f | 149 | PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal |
| sakthipriya | 0:7b4c00e3912f | 150 | PwmOut PWM2(PIN94); //y |
| sakthipriya | 0:7b4c00e3912f | 151 | PwmOut PWM3(PIN95); //z //PWM output comes from pins p6 |
| sakthipriya | 0:7b4c00e3912f | 152 | |
| sakthipriya | 5:bb592f3185cc | 153 | //........faults |
| sakthipriya | 5:bb592f3185cc | 154 | //Polled Faults |
| sakthipriya | 5:bb592f3185cc | 155 | DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 156 | DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 157 | DigitalIn pf3(PIN83);//Fault Bar for TRXY driver |
| sakthipriya | 5:bb592f3185cc | 158 | |
| sakthipriya | 5:bb592f3185cc | 159 | //Interrupt based faults |
| lakshya | 14:a9588f443f1a | 160 | //InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal |
| sakthipriya | 5:bb592f3185cc | 161 | InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault |
| sakthipriya | 5:bb592f3185cc | 162 | InterruptIn ir3(PIN89);//TRZ Driver Fault Bar |
| sakthipriya | 5:bb592f3185cc | 163 | InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault |
| sakthipriya | 5:bb592f3185cc | 164 | InterruptIn ir5(PIN79);//CDMS - Switch Fault |
| sakthipriya | 5:bb592f3185cc | 165 | InterruptIn ir6(PIN80);//Beacon- Switch OC bar |
| sakthipriya | 5:bb592f3185cc | 166 | InterruptIn ir7(PIN42);//Charger IC - Fault Bar |
| sakthipriya | 5:bb592f3185cc | 167 | |
| lakshya | 14:a9588f443f1a | 168 | |
| Bragadeesh153 | 13:fb7facaf308b | 169 | //DigitalOut TRXY_SW_EN(PIN71); //TR XY Switch |
| Bragadeesh153 | 13:fb7facaf308b | 170 | //DigitalOut DRV_Z_SLP(PIN88); //Sleep pin of driver z |
| Bragadeesh153 | 13:fb7facaf308b | 171 | //DigitalOut TRZ_SW(PIN40); //TR Z Switch |
| Bragadeesh153 | 13:fb7facaf308b | 172 | //DigitalOut CDMS_RESET(PIN7); // CDMS RESET |
| Bragadeesh153 | 13:fb7facaf308b | 173 | //DigitalOut BCN_SW(PIN14); //Beacon switch |
| Bragadeesh153 | 13:fb7facaf308b | 174 | //DigitalOut DRV_XY_SLP(PIN82); |
| Bragadeesh153 | 13:fb7facaf308b | 175 | |
| Bragadeesh153 | 13:fb7facaf308b | 176 | |
| Bragadeesh153 | 13:fb7facaf308b | 177 | DigitalOut TRXY_SW(PIN71); //TR XY Switch |
| Bragadeesh153 | 13:fb7facaf308b | 178 | DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z |
| sakthipriya | 5:bb592f3185cc | 179 | DigitalOut TRZ_SW(PIN40); //TR Z Switch |
| sakthipriya | 5:bb592f3185cc | 180 | DigitalOut CDMS_RESET(PIN7); // CDMS RESET |
| sakthipriya | 5:bb592f3185cc | 181 | DigitalOut BCN_SW(PIN14); //Beacon switch |
| Bragadeesh153 | 13:fb7facaf308b | 182 | DigitalOut DRV_XY_EN(PIN82); |
| sakthipriya | 0:7b4c00e3912f | 183 | |
| sakthipriya | 0:7b4c00e3912f | 184 | /*****************************************************************Threads USed***********************************************************************************/ |
| sakthipriya | 3:07e15677a75c | 185 | |
| sakthipriya | 0:7b4c00e3912f | 186 | Thread *ptr_t_i2c; |
| sakthipriya | 0:7b4c00e3912f | 187 | |
| sakthipriya | 0:7b4c00e3912f | 188 | /*********************************************************FCTN HEADERS***********************************************************************************/ |
| sakthipriya | 0:7b4c00e3912f | 189 | |
| sakthipriya | 0:7b4c00e3912f | 190 | void FCTN_ISR_I2C(); |
| sakthipriya | 0:7b4c00e3912f | 191 | void FCTN_TM(); |
| sakthipriya | 3:07e15677a75c | 192 | void F_ACS(); |
| sakthipriya | 3:07e15677a75c | 193 | void F_EPS(); |
| sakthipriya | 3:07e15677a75c | 194 | void F_BCN(); |
| sakthipriya | 0:7b4c00e3912f | 195 | |
| sakthipriya | 0:7b4c00e3912f | 196 | //*******************************************ACS THREAD**************************************************// |
| sakthipriya | 5:bb592f3185cc | 197 | uint8_t iterP1; |
| sakthipriya | 5:bb592f3185cc | 198 | uint8_t iterP2; |
| sakthipriya | 5:bb592f3185cc | 199 | uint8_t iterI1; |
| sakthipriya | 5:bb592f3185cc | 200 | uint8_t iterI2; |
| sakthipriya | 0:7b4c00e3912f | 201 | |
| sakthipriya | 5:bb592f3185cc | 202 | |
| sakthipriya | 3:07e15677a75c | 203 | void F_ACS() |
| sakthipriya | 0:7b4c00e3912f | 204 | { |
| sakthipriya | 8:82250e41da81 | 205 | |
| sakthipriya | 9:194afacf7449 | 206 | |
| sakthipriya | 8:82250e41da81 | 207 | //...................// |
| sakthipriya | 8:82250e41da81 | 208 | |
| sakthipriya | 5:bb592f3185cc | 209 | if(pf1check == 1) |
| sakthipriya | 5:bb592f3185cc | 210 | { |
| sakthipriya | 5:bb592f3185cc | 211 | if(iterP1 >= 3) |
| sakthipriya | 5:bb592f3185cc | 212 | { |
| sakthipriya | 9:194afacf7449 | 213 | ATS1_SW_ENABLE = 1; // turn off ats1 permanently |
| sakthipriya | 5:bb592f3185cc | 214 | //FCTN_SWITCH_ATS(0); // switch on ATS2 |
| sakthipriya | 5:bb592f3185cc | 215 | } |
| sakthipriya | 5:bb592f3185cc | 216 | else |
| sakthipriya | 5:bb592f3185cc | 217 | { |
| sakthipriya | 9:194afacf7449 | 218 | ATS1_SW_ENABLE = 0; |
| sakthipriya | 5:bb592f3185cc | 219 | iterP1++; |
| sakthipriya | 5:bb592f3185cc | 220 | } |
| sakthipriya | 9:194afacf7449 | 221 | pf1check = 0; |
| sakthipriya | 5:bb592f3185cc | 222 | } |
| sakthipriya | 5:bb592f3185cc | 223 | if(pf2check == 1) |
| sakthipriya | 5:bb592f3185cc | 224 | { |
| sakthipriya | 5:bb592f3185cc | 225 | if(iterP1 >= 3) |
| sakthipriya | 5:bb592f3185cc | 226 | { |
| sakthipriya | 9:194afacf7449 | 227 | ATS2_SW_ENABLE = 1; // turn off ats2 permanently |
| Bragadeesh153 | 13:fb7facaf308b | 228 | ACS_DATA_ACQ_ENABLE = 0; |
| Bragadeesh153 | 13:fb7facaf308b | 229 | ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 5:bb592f3185cc | 230 | } |
| sakthipriya | 5:bb592f3185cc | 231 | else |
| sakthipriya | 5:bb592f3185cc | 232 | { |
| sakthipriya | 9:194afacf7449 | 233 | ATS2_SW_ENABLE = 0; |
| sakthipriya | 5:bb592f3185cc | 234 | iterP2++; |
| sakthipriya | 5:bb592f3185cc | 235 | } |
| sakthipriya | 9:194afacf7449 | 236 | pf2check = 0; |
| sakthipriya | 5:bb592f3185cc | 237 | } |
| sakthipriya | 5:bb592f3185cc | 238 | if(if1check == 1) |
| sakthipriya | 5:bb592f3185cc | 239 | { |
| sakthipriya | 5:bb592f3185cc | 240 | if(iterI1 >= 3) |
| sakthipriya | 5:bb592f3185cc | 241 | { |
| Bragadeesh153 | 13:fb7facaf308b | 242 | TRXY_SW = 0; // turn off TRXY permanently |
| sakthipriya | 5:bb592f3185cc | 243 | } |
| sakthipriya | 5:bb592f3185cc | 244 | else |
| sakthipriya | 5:bb592f3185cc | 245 | { |
| Bragadeesh153 | 13:fb7facaf308b | 246 | TRXY_SW = 1; //switch on TRXY |
| sakthipriya | 5:bb592f3185cc | 247 | iterI1++; |
| sakthipriya | 5:bb592f3185cc | 248 | } |
| sakthipriya | 5:bb592f3185cc | 249 | } |
| sakthipriya | 5:bb592f3185cc | 250 | if(if2check == 1) |
| sakthipriya | 5:bb592f3185cc | 251 | { |
| sakthipriya | 5:bb592f3185cc | 252 | if(iterI2 >= 3) |
| sakthipriya | 5:bb592f3185cc | 253 | { |
| sakthipriya | 5:bb592f3185cc | 254 | TRZ_SW = 0; // turn off TRZ permanently |
| Bragadeesh153 | 13:fb7facaf308b | 255 | ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 5:bb592f3185cc | 256 | } |
| sakthipriya | 5:bb592f3185cc | 257 | else |
| sakthipriya | 5:bb592f3185cc | 258 | { |
| sakthipriya | 5:bb592f3185cc | 259 | TRZ_SW = 1; //switch on Z |
| sakthipriya | 5:bb592f3185cc | 260 | iterI2++; |
| sakthipriya | 5:bb592f3185cc | 261 | } |
| sakthipriya | 5:bb592f3185cc | 262 | } |
| sakthipriya | 5:bb592f3185cc | 263 | |
| sakthipriya | 6:036d08b62785 | 264 | //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}; |
| sakthipriya | 0:7b4c00e3912f | 265 | //b1[3] = {22, 22,10}; |
| sakthipriya | 0:7b4c00e3912f | 266 | //omega1[3] = {2.1,3.0,1.5}; |
| sakthipriya | 9:194afacf7449 | 267 | // ATS1_SW_ENABLE = 0; // att sens2 switch is disabled |
| sakthipriya | 9:194afacf7449 | 268 | // ATS2_SW_ENABLE = 0; // att sens switch is disabled |
| sakthipriya | 0:7b4c00e3912f | 269 | |
| sakthipriya | 3:07e15677a75c | 270 | |
| sakthipriya | 0:7b4c00e3912f | 271 | |
| sakthipriya | 3:07e15677a75c | 272 | //Thread::signal_wait(0x1); |
| sakthipriya | 9:194afacf7449 | 273 | ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 274 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 275 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 276 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 277 | pc.printf("\n\rEntered ACS %f\n",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 278 | |
| sakthipriya | 9:194afacf7449 | 279 | if(ACS_DATA_ACQ_ENABLE == 1)// check if ACS_DATA_ACQ_ENABLE = 1? |
| sakthipriya | 0:7b4c00e3912f | 280 | { |
| Bragadeesh153 | 13:fb7facaf308b | 281 | //FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 282 | FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3 |
| sakthipriya | 0:7b4c00e3912f | 283 | pc.printf("gyro values\n\r"); //printing the angular velocity and magnetic field values |
| sakthipriya | 0:7b4c00e3912f | 284 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 285 | { |
| lakshya | 15:e09aaaccf134 | 286 | printf("%f\n\r",actual_data.AngularSpeed_actual[i]); |
| sakthipriya | 0:7b4c00e3912f | 287 | } |
| sakthipriya | 0:7b4c00e3912f | 288 | pc.printf("mag values\n\r"); |
| sakthipriya | 6:036d08b62785 | 289 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 290 | { |
| sakthipriya | 6:036d08b62785 | 291 | pc.printf("%f\n\r",actual_data.Bvalue_actual[i]); |
| sakthipriya | 5:bb592f3185cc | 292 | } |
| sakthipriya | 6:036d08b62785 | 293 | // for(int i=0;i<3;i++) |
| sakthipriya | 6:036d08b62785 | 294 | // { |
| sakthipriya | 6:036d08b62785 | 295 | // omega1[i]= data[i]; |
| sakthipriya | 6:036d08b62785 | 296 | // b1[i] = data[i+3]; |
| sakthipriya | 6:036d08b62785 | 297 | // } |
| sakthipriya | 0:7b4c00e3912f | 298 | }//if ACS_DATA_ACQ_ENABLE = 1 |
| sakthipriya | 0:7b4c00e3912f | 299 | else |
| sakthipriya | 0:7b4c00e3912f | 300 | { |
| sakthipriya | 0:7b4c00e3912f | 301 | // Z axis actuation is the only final solution, |
| sakthipriya | 0:7b4c00e3912f | 302 | } |
| sakthipriya | 9:194afacf7449 | 303 | if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF? |
| sakthipriya | 0:7b4c00e3912f | 304 | { |
| sakthipriya | 0:7b4c00e3912f | 305 | printf("\n\r acs control off\n"); |
| sakthipriya | 0:7b4c00e3912f | 306 | FLAG(); |
| sakthipriya | 9:194afacf7449 | 307 | ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 308 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 309 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 310 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 311 | } |
| sakthipriya | 0:7b4c00e3912f | 312 | else |
| sakthipriya | 0:7b4c00e3912f | 313 | { |
| sakthipriya | 1:446a959e36ce | 314 | if(actual_data.power_mode>1) |
| sakthipriya | 0:7b4c00e3912f | 315 | |
| sakthipriya | 0:7b4c00e3912f | 316 | { |
| sakthipriya | 9:194afacf7449 | 317 | if(ACS_STATE == 2) // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 318 | { |
| sakthipriya | 0:7b4c00e3912f | 319 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 320 | printf("\n\r z axis moment only\n"); |
| sakthipriya | 9:194afacf7449 | 321 | ACS_STATUS = 2; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 322 | // FCTN_ACS_CNTRLALGO(b1, omega1); |
| sakthipriya | 0:7b4c00e3912f | 323 | moment[0] = 0; |
| sakthipriya | 0:7b4c00e3912f | 324 | moment[1] = 0; |
| sakthipriya | 0:7b4c00e3912f | 325 | moment[2] =1.3;// is a dummy value |
| sakthipriya | 0:7b4c00e3912f | 326 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| sakthipriya | 0:7b4c00e3912f | 327 | } |
| sakthipriya | 0:7b4c00e3912f | 328 | else |
| sakthipriya | 0:7b4c00e3912f | 329 | { |
| sakthipriya | 9:194afacf7449 | 330 | if(ACS_STATE == 3) // check ACS_STATE = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 331 | { |
| sakthipriya | 0:7b4c00e3912f | 332 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 333 | printf("\n\r acs data failure "); |
| sakthipriya | 9:194afacf7449 | 334 | ACS_STATUS = 3; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 335 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 336 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 337 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 338 | } |
| sakthipriya | 0:7b4c00e3912f | 339 | else |
| sakthipriya | 0:7b4c00e3912f | 340 | { |
| sakthipriya | 9:194afacf7449 | 341 | if(ACS_STATE == 4) // check ACS_STATE = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 342 | { |
| sakthipriya | 0:7b4c00e3912f | 343 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 344 | printf("\n\r nominal"); |
| sakthipriya | 9:194afacf7449 | 345 | ACS_STATUS = 4; // set ACS_STATUS = ACS_NOMINAL_ONLY |
| sakthipriya | 6:036d08b62785 | 346 | FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); |
| sakthipriya | 0:7b4c00e3912f | 347 | printf("\n\r moment values returned by control algo \n"); |
| sakthipriya | 0:7b4c00e3912f | 348 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 349 | { |
| sakthipriya | 0:7b4c00e3912f | 350 | printf("%f\t",moment[i]); |
| sakthipriya | 0:7b4c00e3912f | 351 | } |
| sakthipriya | 0:7b4c00e3912f | 352 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| sakthipriya | 0:7b4c00e3912f | 353 | } |
| sakthipriya | 0:7b4c00e3912f | 354 | else |
| sakthipriya | 0:7b4c00e3912f | 355 | { |
| sakthipriya | 9:194afacf7449 | 356 | if(ACS_STATE == 5) // check ACS_STATE = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 357 | { |
| sakthipriya | 0:7b4c00e3912f | 358 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 359 | printf("\n\r auto control"); |
| sakthipriya | 9:194afacf7449 | 360 | ACS_STATUS = 5; // set ACS_STATUS = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 361 | //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code |
| sakthipriya | 0:7b4c00e3912f | 362 | } |
| sakthipriya | 0:7b4c00e3912f | 363 | else |
| sakthipriya | 0:7b4c00e3912f | 364 | { |
| sakthipriya | 9:194afacf7449 | 365 | if(ACS_STATE == 6) // check ACS_STATE = ACS_DETUMBLING_ONLY |
| sakthipriya | 0:7b4c00e3912f | 366 | { |
| sakthipriya | 0:7b4c00e3912f | 367 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 368 | printf("\n\r Entered detumbling \n"); |
| sakthipriya | 9:194afacf7449 | 369 | ACS_STATUS = 6; // set ACS_STATUS = ACS_DETUMBLING_ONLY |
| sakthipriya | 6:036d08b62785 | 370 | FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); // detumbling code has to be included |
| sakthipriya | 0:7b4c00e3912f | 371 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| sakthipriya | 0:7b4c00e3912f | 372 | } |
| sakthipriya | 0:7b4c00e3912f | 373 | else |
| sakthipriya | 0:7b4c00e3912f | 374 | { |
| sakthipriya | 0:7b4c00e3912f | 375 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 376 | printf("\n\r invalid state"); |
| sakthipriya | 9:194afacf7449 | 377 | ACS_STATUS = 7 ; // set ACS_STATUS = INVALID STATE |
| sakthipriya | 0:7b4c00e3912f | 378 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 379 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 380 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 381 | }//else of invalid |
| sakthipriya | 0:7b4c00e3912f | 382 | }//else of autocontrol |
| sakthipriya | 0:7b4c00e3912f | 383 | }//else of nominal |
| sakthipriya | 0:7b4c00e3912f | 384 | }//else of data acg failure |
| sakthipriya | 0:7b4c00e3912f | 385 | |
| sakthipriya | 0:7b4c00e3912f | 386 | }//else fo z axis moment only |
| sakthipriya | 0:7b4c00e3912f | 387 | }//if power >2 |
| sakthipriya | 0:7b4c00e3912f | 388 | else |
| sakthipriya | 0:7b4c00e3912f | 389 | { |
| sakthipriya | 0:7b4c00e3912f | 390 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 391 | printf("\n\r low power"); |
| sakthipriya | 9:194afacf7449 | 392 | ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER |
| sakthipriya | 0:7b4c00e3912f | 393 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 394 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 395 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 396 | } |
| sakthipriya | 0:7b4c00e3912f | 397 | } //else for acs control off |
| sakthipriya | 9:194afacf7449 | 398 | ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag |
| sakthipriya | 3:07e15677a75c | 399 | |
| sakthipriya | 0:7b4c00e3912f | 400 | } |
| sakthipriya | 0:7b4c00e3912f | 401 | //***************************************************EPS THREAD***********************************************// |
| sakthipriya | 0:7b4c00e3912f | 402 | |
| sakthipriya | 3:07e15677a75c | 403 | void F_EPS() |
| sakthipriya | 0:7b4c00e3912f | 404 | { |
| azaddevarm | 30:22b338b027de | 405 | float eps_btry_temp; |
| azaddevarm | 30:22b338b027de | 406 | pc.printf("\n\rEntered EPS %f\n",t_start.read()); |
| azaddevarm | 30:22b338b027de | 407 | EPS_MAIN_STATUS = 1; // Set EPS main status |
| azaddevarm | 30:22b338b027de | 408 | EPS_MAIN_COUNTER++; |
| azaddevarm | 30:22b338b027de | 409 | FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual); |
| azaddevarm | 30:22b338b027de | 410 | pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]); |
| azaddevarm | 30:22b338b027de | 411 | if(abs(actual_data.Batt_temp_actual[0] - actual_data.Batt_temp_actual[1]) > 10) |
| azaddevarm | 30:22b338b027de | 412 | { |
| azaddevarm | 30:22b338b027de | 413 | EPS_BTRY_TMP_STATUS = 0; //clear EPS_BTRY_TMP_STATUS |
| azaddevarm | 30:22b338b027de | 414 | eps_btry_temp = (float) EPS_BAT_TEMP_DEFAULT; |
| azaddevarm | 30:22b338b027de | 415 | } |
| azaddevarm | 30:22b338b027de | 416 | else |
| azaddevarm | 30:22b338b027de | 417 | { |
| azaddevarm | 30:22b338b027de | 418 | EPS_BTRY_TMP_STATUS = 1; //set EPS_BTRY_TMP_STATUS |
| azaddevarm | 30:22b338b027de | 419 | eps_btry_temp = ( actual_data.Batt_temp_actual[0] + actual_data.Batt_temp_actual[1] )/2; |
| azaddevarm | 30:22b338b027de | 420 | } |
| azaddevarm | 30:22b338b027de | 421 | |
| azaddevarm | 30:22b338b027de | 422 | if(EPS_BTRY_HTR_AUTO == 0) |
| azaddevarm | 30:22b338b027de | 423 | EPS_STATUS = 1; //EPS_BATTERY_HEATER_DISABLED |
| azaddevarm | 30:22b338b027de | 424 | else if( EPS_BTRY_TMP_STATUS == 0 ) |
| azaddevarm | 30:22b338b027de | 425 | { |
| azaddevarm | 30:22b338b027de | 426 | BTRY_HTR_ENABLE = 0; |
| azaddevarm | 30:22b338b027de | 427 | EPS_BTRY_HTR = 0; |
| azaddevarm | 30:22b338b027de | 428 | EPS_STATUS = 0; //Set EPS_ERR_BATTERY_TEMP |
| azaddevarm | 30:22b338b027de | 429 | } |
| azaddevarm | 30:22b338b027de | 430 | else |
| azaddevarm | 30:22b338b027de | 431 | { |
| azaddevarm | 30:22b338b027de | 432 | if( EPS_BTRY_HTR == 1 && eps_btry_temp >= EPS_BTRY_TMP_HIGH ) |
| azaddevarm | 30:22b338b027de | 433 | { |
| azaddevarm | 30:22b338b027de | 434 | BTRY_HTR_ENABLE = 0; |
| azaddevarm | 30:22b338b027de | 435 | EPS_BTRY_HTR = 0; |
| azaddevarm | 30:22b338b027de | 436 | EPS_STATUS = 4; //Set EPS_BATTERY_HEATER_OFF |
| azaddevarm | 30:22b338b027de | 437 | } |
| azaddevarm | 30:22b338b027de | 438 | else if( EPS_BTRY_HTR == 0 && eps_btry_temp < EPS_BTRY_TMP_LOW ) |
| azaddevarm | 30:22b338b027de | 439 | { |
| azaddevarm | 30:22b338b027de | 440 | BTRY_HTR_ENABLE = 1; |
| azaddevarm | 30:22b338b027de | 441 | EPS_BTRY_HTR = 1; |
| azaddevarm | 30:22b338b027de | 442 | EPS_STATUS = 5; //Set EPS_BATTERY_HEATER_ON |
| azaddevarm | 30:22b338b027de | 443 | } |
| azaddevarm | 30:22b338b027de | 444 | } |
| azaddevarm | 30:22b338b027de | 445 | |
| azaddevarm | 30:22b338b027de | 446 | unsigned short statusreg = read(REG_STATUS); |
| azaddevarm | 30:22b338b027de | 447 | if( EPS_BATTERY_GAUGE_STATUS == 0 ) reset(); |
| azaddevarm | 29:bb0d64656ba1 | 448 | if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set |
| azaddevarm | 29:bb0d64656ba1 | 449 | FCTN_BATTERYGAUGE_INIT(); |
| azaddevarm | 30:22b338b027de | 450 | |
| azaddevarm | 30:22b338b027de | 451 | int BTG_MAIN_FLAG = FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual, eps_btry_temp); |
| azaddevarm | 30:22b338b027de | 452 | if( BTG_MAIN_FLAG == 0 ) //Data not received |
| azaddevarm | 29:bb0d64656ba1 | 453 | { |
| azaddevarm | 29:bb0d64656ba1 | 454 | actual_data.power_mode = 1; |
| azaddevarm | 29:bb0d64656ba1 | 455 | EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS |
| azaddevarm | 29:bb0d64656ba1 | 456 | } |
| azaddevarm | 30:22b338b027de | 457 | else |
| azaddevarm | 29:bb0d64656ba1 | 458 | { |
| azaddevarm | 29:bb0d64656ba1 | 459 | FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level |
| azaddevarm | 29:bb0d64656ba1 | 460 | EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS |
| azaddevarm | 29:bb0d64656ba1 | 461 | } |
| azaddevarm | 30:22b338b027de | 462 | |
| sakthipriya | 3:07e15677a75c | 463 | FCTN_HK_MAIN(); |
| sakthipriya | 6:036d08b62785 | 464 | // printf("\n\r here"); |
| azaddevarm | 29:bb0d64656ba1 | 465 | FCTN_EPS_HANDLE_HW_FAULTS(); |
| azaddevarm | 29:bb0d64656ba1 | 466 | FCTN_EPS_HANDLE_CDMS_FAULT(); |
| sakthipriya | 5:bb592f3185cc | 467 | FCTN_APPEND_HKDATA(); |
| sakthipriya | 5:bb592f3185cc | 468 | minMaxHkData(); |
| sakthipriya | 6:036d08b62785 | 469 | //printf("\n\r here"); |
| sakthipriya | 9:194afacf7449 | 470 | EPS_MAIN_STATUS = 0; // clear EPS main status |
| sakthipriya | 3:07e15677a75c | 471 | |
| sakthipriya | 0:7b4c00e3912f | 472 | } |
| sakthipriya | 0:7b4c00e3912f | 473 | |
| sakthipriya | 0:7b4c00e3912f | 474 | //**************************************************BCN THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 475 | |
| sakthipriya | 3:07e15677a75c | 476 | void F_BCN() |
| sakthipriya | 0:7b4c00e3912f | 477 | { |
| sakthipriya | 3:07e15677a75c | 478 | |
| sakthipriya | 0:7b4c00e3912f | 479 | pc.printf("\n\rEntered BCN %f\n",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 480 | |
| Bragadeesh153 | 12:af1d7e18b868 | 481 | FCTN_BCN_TX_MAIN(); |
| sakthipriya | 0:7b4c00e3912f | 482 | |
| sakthipriya | 0:7b4c00e3912f | 483 | } |
| sakthipriya | 0:7b4c00e3912f | 484 | |
| sakthipriya | 0:7b4c00e3912f | 485 | //**************************************************TCTM THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 486 | |
| sakthipriya | 0:7b4c00e3912f | 487 | void T_TC(void const * args) |
| sakthipriya | 0:7b4c00e3912f | 488 | { |
| sakthipriya | 0:7b4c00e3912f | 489 | while(1) |
| sakthipriya | 0:7b4c00e3912f | 490 | { |
| sakthipriya | 0:7b4c00e3912f | 491 | Thread::signal_wait(0x4); |
| lakshya | 15:e09aaaccf134 | 492 | wait_us(200); |
| lakshya | 15:e09aaaccf134 | 493 | //printf("\n\rreached\n"); // can be between 38 to 15700 |
| sakthipriya | 0:7b4c00e3912f | 494 | if( slave.receive() == 0) |
| lakshya | 15:e09aaaccf134 | 495 | {slave.stop(); |
| lakshya | 15:e09aaaccf134 | 496 | //printf("\n\rnot send\n"); |
| lakshya | 15:e09aaaccf134 | 497 | } |
| sakthipriya | 0:7b4c00e3912f | 498 | else if( slave.receive() == 1) // slave writes to master |
| sakthipriya | 0:7b4c00e3912f | 499 | { |
| sakthipriya | 5:bb592f3185cc | 500 | if(data_send_flag == 'h') |
| sakthipriya | 6:036d08b62785 | 501 | { |
| sakthipriya | 6:036d08b62785 | 502 | //FCTN_APPEND_HKDATA(); |
| sakthipriya | 6:036d08b62785 | 503 | // pc.printf("\n\r here"); |
| sakthipriya | 6:036d08b62785 | 504 | write_ack=slave.write(BAE_chardata,74); |
| Bragadeesh153 | 13:fb7facaf308b | 505 | if(write_ack==0) |
| lakshya | 15:e09aaaccf134 | 506 | {irpt_2_mstr = 0; |
| lakshya | 15:e09aaaccf134 | 507 | printf("\n\rgot interrupt\n"); |
| lakshya | 15:e09aaaccf134 | 508 | } |
| sakthipriya | 6:036d08b62785 | 509 | } |
| sakthipriya | 5:bb592f3185cc | 510 | else if(data_send_flag == 't') |
| sakthipriya | 5:bb592f3185cc | 511 | { |
| Bragadeesh153 | 13:fb7facaf308b | 512 | write_ack=slave.write((char*)telemetry,tm_len); |
| sakthipriya | 5:bb592f3185cc | 513 | data_send_flag = 'h'; |
| Bragadeesh153 | 13:fb7facaf308b | 514 | if(write_ack==0) |
| Bragadeesh153 | 13:fb7facaf308b | 515 | irpt_2_mstr = 0; |
| sakthipriya | 5:bb592f3185cc | 516 | } |
| sakthipriya | 0:7b4c00e3912f | 517 | } |
| sakthipriya | 0:7b4c00e3912f | 518 | else if( slave.receive()==3 || slave.receive()==2) // slave read |
| sakthipriya | 0:7b4c00e3912f | 519 | { |
| sakthipriya | 5:bb592f3185cc | 520 | read_ack=slave.read(telecommand,tc_len); |
| sakthipriya | 7:a46a1dee4497 | 521 | t_tc.start(); |
| sakthipriya | 6:036d08b62785 | 522 | //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand); |
| sakthipriya | 7:a46a1dee4497 | 523 | pc.printf("\n\r Executing Telecommand \n"); |
| sakthipriya | 3:07e15677a75c | 524 | // FCTN_TC_DECODE((uint8_t*) telecommand); |
| sakthipriya | 7:a46a1dee4497 | 525 | |
| Bragadeesh153 | 13:fb7facaf308b | 526 | FCTN_BAE_TM_TC((uint8_t*) telecommand); |
| Bragadeesh153 | 13:fb7facaf308b | 527 | //telemetry = (char*)temp; |
| sakthipriya | 7:a46a1dee4497 | 528 | |
| sakthipriya | 5:bb592f3185cc | 529 | FCTN_TM(); |
| sakthipriya | 7:a46a1dee4497 | 530 | t_tc.stop(); |
| sakthipriya | 7:a46a1dee4497 | 531 | printf("\n\r time taken %d",t_tc.read_us()); |
| sakthipriya | 7:a46a1dee4497 | 532 | t_tc.reset(); |
| sakthipriya | 3:07e15677a75c | 533 | // for(int i = 0; i<134; i++) |
| sakthipriya | 3:07e15677a75c | 534 | //pc.printf("%c", telemetry[i]); |
| sakthipriya | 0:7b4c00e3912f | 535 | } |
| sakthipriya | 0:7b4c00e3912f | 536 | |
| sakthipriya | 6:036d08b62785 | 537 | |
| sakthipriya | 0:7b4c00e3912f | 538 | } |
| sakthipriya | 0:7b4c00e3912f | 539 | } |
| sakthipriya | 0:7b4c00e3912f | 540 | |
| sakthipriya | 0:7b4c00e3912f | 541 | void FCTN_TM() |
| sakthipriya | 0:7b4c00e3912f | 542 | { |
| sakthipriya | 4:39a4ae8c7ecd | 543 | //irpt_2_mstr = 0; |
| sakthipriya | 5:bb592f3185cc | 544 | data_send_flag = 't'; |
| sakthipriya | 0:7b4c00e3912f | 545 | pc.printf("\n\r Telemetry Generation \n"); |
| sakthipriya | 0:7b4c00e3912f | 546 | irpt_2_mstr = 1; |
| sakthipriya | 0:7b4c00e3912f | 547 | } |
| sakthipriya | 0:7b4c00e3912f | 548 | |
| sakthipriya | 0:7b4c00e3912f | 549 | |
| sakthipriya | 0:7b4c00e3912f | 550 | //******************************************************* I2C *******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 551 | |
| sakthipriya | 0:7b4c00e3912f | 552 | void FCTN_I2C_ISR() |
| sakthipriya | 0:7b4c00e3912f | 553 | { |
| sakthipriya | 0:7b4c00e3912f | 554 | ptr_t_i2c->signal_set(0x4); |
| sakthipriya | 0:7b4c00e3912f | 555 | } |
| sakthipriya | 0:7b4c00e3912f | 556 | |
| sakthipriya | 0:7b4c00e3912f | 557 | |
| sakthipriya | 5:bb592f3185cc | 558 | //***********************************************************FAULTS***************************************************************// |
| sakthipriya | 5:bb592f3185cc | 559 | /*void ir1clear() |
| sakthipriya | 5:bb592f3185cc | 560 | { |
| sakthipriya | 5:bb592f3185cc | 561 | actual_data.faultIr_status |= 0x01; // alert |
| sakthipriya | 5:bb592f3185cc | 562 | |
| sakthipriya | 5:bb592f3185cc | 563 | }*/ |
| sakthipriya | 5:bb592f3185cc | 564 | |
| sakthipriya | 5:bb592f3185cc | 565 | |
| sakthipriya | 5:bb592f3185cc | 566 | |
| sakthipriya | 5:bb592f3185cc | 567 | void ir2clear() |
| sakthipriya | 5:bb592f3185cc | 568 | { |
| sakthipriya | 5:bb592f3185cc | 569 | actual_data.faultIr_status |= 0x02; |
| Bragadeesh153 | 13:fb7facaf308b | 570 | TRXY_SW = 0; // Switch off TR XY |
| sakthipriya | 5:bb592f3185cc | 571 | if1check = 1; |
| sakthipriya | 5:bb592f3185cc | 572 | } |
| sakthipriya | 5:bb592f3185cc | 573 | |
| sakthipriya | 5:bb592f3185cc | 574 | void ir3clear() |
| sakthipriya | 5:bb592f3185cc | 575 | { |
| sakthipriya | 5:bb592f3185cc | 576 | actual_data.faultIr_status |= 0x04; |
| Bragadeesh153 | 13:fb7facaf308b | 577 | DRV_Z_EN = 0; |
| sakthipriya | 5:bb592f3185cc | 578 | wait_us(1); |
| Bragadeesh153 | 13:fb7facaf308b | 579 | DRV_Z_EN = 1; |
| sakthipriya | 5:bb592f3185cc | 580 | |
| sakthipriya | 5:bb592f3185cc | 581 | } |
| sakthipriya | 5:bb592f3185cc | 582 | |
| sakthipriya | 5:bb592f3185cc | 583 | void ir4clear() |
| sakthipriya | 5:bb592f3185cc | 584 | { |
| sakthipriya | 5:bb592f3185cc | 585 | if2check = 1; |
| sakthipriya | 5:bb592f3185cc | 586 | actual_data.faultIr_status |= 0x08; |
| sakthipriya | 5:bb592f3185cc | 587 | TRZ_SW = 0; |
| sakthipriya | 5:bb592f3185cc | 588 | } |
| sakthipriya | 5:bb592f3185cc | 589 | |
| sakthipriya | 5:bb592f3185cc | 590 | void ir5clear() |
| sakthipriya | 5:bb592f3185cc | 591 | { |
| sakthipriya | 5:bb592f3185cc | 592 | actual_data.faultIr_status |= 0x10; |
| sakthipriya | 5:bb592f3185cc | 593 | CDMS_RESET = 0; |
| sakthipriya | 5:bb592f3185cc | 594 | wait_us(1); |
| sakthipriya | 5:bb592f3185cc | 595 | CDMS_RESET = 1; |
| sakthipriya | 5:bb592f3185cc | 596 | } |
| sakthipriya | 5:bb592f3185cc | 597 | |
| sakthipriya | 5:bb592f3185cc | 598 | void ir6clear() |
| sakthipriya | 5:bb592f3185cc | 599 | { |
| sakthipriya | 5:bb592f3185cc | 600 | actual_data.faultIr_status |= 0x20; |
| sakthipriya | 5:bb592f3185cc | 601 | BCN_SW = 0; |
| sakthipriya | 5:bb592f3185cc | 602 | wait_us(1); |
| sakthipriya | 5:bb592f3185cc | 603 | BCN_SW = 1; |
| sakthipriya | 5:bb592f3185cc | 604 | } |
| sakthipriya | 5:bb592f3185cc | 605 | |
| sakthipriya | 5:bb592f3185cc | 606 | void ir7clear() |
| sakthipriya | 5:bb592f3185cc | 607 | { |
| sakthipriya | 5:bb592f3185cc | 608 | actual_data.faultIr_status |= 0x40; |
| sakthipriya | 5:bb592f3185cc | 609 | } |
| sakthipriya | 5:bb592f3185cc | 610 | uint8_t iter2=0,iter4 = 0; |
| sakthipriya | 5:bb592f3185cc | 611 | |
| sakthipriya | 5:bb592f3185cc | 612 | |
| sakthipriya | 5:bb592f3185cc | 613 | |
| sakthipriya | 5:bb592f3185cc | 614 | void pollfault() |
| sakthipriya | 5:bb592f3185cc | 615 | { |
| sakthipriya | 5:bb592f3185cc | 616 | |
| sakthipriya | 5:bb592f3185cc | 617 | |
| sakthipriya | 5:bb592f3185cc | 618 | |
| sakthipriya | 5:bb592f3185cc | 619 | if (pf1==0) // OC_ATS1 |
| sakthipriya | 5:bb592f3185cc | 620 | { |
| sakthipriya | 5:bb592f3185cc | 621 | pf1check=1; |
| sakthipriya | 5:bb592f3185cc | 622 | actual_data.faultPoll_status |=0x01 ; |
| sakthipriya | 9:194afacf7449 | 623 | ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS |
| sakthipriya | 5:bb592f3185cc | 624 | } |
| sakthipriya | 5:bb592f3185cc | 625 | else actual_data.faultPoll_status &= 0xFE; |
| sakthipriya | 5:bb592f3185cc | 626 | |
| sakthipriya | 5:bb592f3185cc | 627 | if (pf2==0) |
| sakthipriya | 5:bb592f3185cc | 628 | { |
| sakthipriya | 5:bb592f3185cc | 629 | pf2check=1; |
| sakthipriya | 5:bb592f3185cc | 630 | actual_data.faultPoll_status |=0x02 ; |
| sakthipriya | 9:194afacf7449 | 631 | ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS |
| sakthipriya | 5:bb592f3185cc | 632 | } |
| sakthipriya | 5:bb592f3185cc | 633 | else actual_data.faultPoll_status &= 0xFD; |
| sakthipriya | 5:bb592f3185cc | 634 | |
| sakthipriya | 5:bb592f3185cc | 635 | if (pf3==0) |
| sakthipriya | 5:bb592f3185cc | 636 | { actual_data.faultPoll_status |=0x04 ; |
| Bragadeesh153 | 13:fb7facaf308b | 637 | DRV_XY_EN = 0; |
| sakthipriya | 5:bb592f3185cc | 638 | wait_us(1); |
| Bragadeesh153 | 13:fb7facaf308b | 639 | DRV_XY_EN = 1; |
| sakthipriya | 5:bb592f3185cc | 640 | } |
| sakthipriya | 5:bb592f3185cc | 641 | else actual_data.faultPoll_status &= 0xFB; |
| sakthipriya | 5:bb592f3185cc | 642 | |
| sakthipriya | 5:bb592f3185cc | 643 | |
| sakthipriya | 5:bb592f3185cc | 644 | |
| sakthipriya | 5:bb592f3185cc | 645 | |
| sakthipriya | 5:bb592f3185cc | 646 | /*if (ir1==1) |
| sakthipriya | 5:bb592f3185cc | 647 | { |
| sakthipriya | 5:bb592f3185cc | 648 | actual_data.faultIr_status &=0xFE; |
| sakthipriya | 5:bb592f3185cc | 649 | }*/ |
| lakshya | 14:a9588f443f1a | 650 | |
| sakthipriya | 5:bb592f3185cc | 651 | if (ir2==1) |
| sakthipriya | 5:bb592f3185cc | 652 | { |
| sakthipriya | 5:bb592f3185cc | 653 | actual_data.faultIr_status &=0xFD; |
| sakthipriya | 5:bb592f3185cc | 654 | } |
| sakthipriya | 5:bb592f3185cc | 655 | if (ir3==1) |
| sakthipriya | 5:bb592f3185cc | 656 | { |
| sakthipriya | 5:bb592f3185cc | 657 | actual_data.faultIr_status &=0xFB; |
| sakthipriya | 5:bb592f3185cc | 658 | } |
| sakthipriya | 5:bb592f3185cc | 659 | if (ir4==1) |
| sakthipriya | 5:bb592f3185cc | 660 | { |
| sakthipriya | 5:bb592f3185cc | 661 | actual_data.faultIr_status &=0xF7; |
| sakthipriya | 5:bb592f3185cc | 662 | } |
| sakthipriya | 5:bb592f3185cc | 663 | if (ir5==1) |
| sakthipriya | 5:bb592f3185cc | 664 | { |
| sakthipriya | 5:bb592f3185cc | 665 | actual_data.faultIr_status &=0xEF; |
| sakthipriya | 5:bb592f3185cc | 666 | } |
| sakthipriya | 5:bb592f3185cc | 667 | if (ir6==1) |
| sakthipriya | 5:bb592f3185cc | 668 | { |
| sakthipriya | 5:bb592f3185cc | 669 | actual_data.faultIr_status &=0xDF; |
| sakthipriya | 5:bb592f3185cc | 670 | }if (ir7==1) |
| sakthipriya | 5:bb592f3185cc | 671 | { |
| sakthipriya | 5:bb592f3185cc | 672 | actual_data.faultIr_status &=0xBF; |
| sakthipriya | 5:bb592f3185cc | 673 | } |
| lakshya | 14:a9588f443f1a | 674 | |
| sakthipriya | 5:bb592f3185cc | 675 | |
| sakthipriya | 5:bb592f3185cc | 676 | } |
| sakthipriya | 5:bb592f3185cc | 677 | |
| sakthipriya | 5:bb592f3185cc | 678 | |
| sakthipriya | 0:7b4c00e3912f | 679 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| sakthipriya | 0:7b4c00e3912f | 680 | //SCHEDULER |
| sakthipriya | 0:7b4c00e3912f | 681 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| sakthipriya | 0:7b4c00e3912f | 682 | uint8_t schedcount=1; |
| sakthipriya | 0:7b4c00e3912f | 683 | void T_SC(void const *args) |
| sakthipriya | 0:7b4c00e3912f | 684 | { |
| sakthipriya | 0:7b4c00e3912f | 685 | printf("\n\r in scheduler"); |
| sakthipriya | 0:7b4c00e3912f | 686 | |
| sakthipriya | 0:7b4c00e3912f | 687 | if(schedcount == 7) //to reset the counter |
| sakthipriya | 0:7b4c00e3912f | 688 | { |
| sakthipriya | 0:7b4c00e3912f | 689 | schedcount = 1; |
| sakthipriya | 0:7b4c00e3912f | 690 | } |
| sakthipriya | 0:7b4c00e3912f | 691 | if(schedcount%1==0) |
| azaddevarm | 30:22b338b027de | 692 | { //pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE); |
| azaddevarm | 30:22b338b027de | 693 | //pc.printf("\niterp1 !!!!!! = %x !!\n",iterP1); |
| azaddevarm | 30:22b338b027de | 694 | //pc.printf("\niteri2 IS !!!!!! = %x !!\n",iterI2); |
| azaddevarm | 30:22b338b027de | 695 | //F_ACS(); |
| sakthipriya | 0:7b4c00e3912f | 696 | } |
| sakthipriya | 0:7b4c00e3912f | 697 | |
| sakthipriya | 0:7b4c00e3912f | 698 | if(schedcount%2==0) |
| sakthipriya | 0:7b4c00e3912f | 699 | { |
| azaddevarm | 30:22b338b027de | 700 | F_EPS(); |
| sakthipriya | 0:7b4c00e3912f | 701 | } |
| lakshya | 14:a9588f443f1a | 702 | if(schedcount%1==0) |
| sakthipriya | 0:7b4c00e3912f | 703 | { |
| azaddevarm | 30:22b338b027de | 704 | // F_BCN(); |
| sakthipriya | 0:7b4c00e3912f | 705 | } |
| sakthipriya | 0:7b4c00e3912f | 706 | schedcount++; |
| sakthipriya | 0:7b4c00e3912f | 707 | printf("\n\r exited scheduler"); |
| sakthipriya | 0:7b4c00e3912f | 708 | } |
| sakthipriya | 0:7b4c00e3912f | 709 | |
| sakthipriya | 0:7b4c00e3912f | 710 | Timer t_flag; |
| sakthipriya | 0:7b4c00e3912f | 711 | void FLAG() |
| sakthipriya | 0:7b4c00e3912f | 712 | { |
| sakthipriya | 0:7b4c00e3912f | 713 | |
| sakthipriya | 0:7b4c00e3912f | 714 | //.............acs..................// |
| sakthipriya | 9:194afacf7449 | 715 | if(ACS_INIT_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 716 | BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag |
| sakthipriya | 9:194afacf7449 | 717 | else if(ACS_INIT_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 718 | BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 719 | |
| sakthipriya | 9:194afacf7449 | 720 | if(ACS_DATA_ACQ_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 721 | BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 9:194afacf7449 | 722 | else if(ACS_DATA_ACQ_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 723 | BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 724 | |
| sakthipriya | 9:194afacf7449 | 725 | if(ACS_ATS_ENABLE == 1) |
| sakthipriya | 0:7b4c00e3912f | 726 | BAE_ENABLE |= 0x00000004; |
| sakthipriya | 9:194afacf7449 | 727 | else if(ACS_ATS_ENABLE == 0) |
| sakthipriya | 0:7b4c00e3912f | 728 | BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004; |
| sakthipriya | 0:7b4c00e3912f | 729 | |
| sakthipriya | 0:7b4c00e3912f | 730 | if(ACS_DATA_ACQ_STATUS == 'f') |
| sakthipriya | 0:7b4c00e3912f | 731 | BAE_STATUS |= 0x00000200; |
| sakthipriya | 0:7b4c00e3912f | 732 | |
| sakthipriya | 9:194afacf7449 | 733 | if(ACS_MAIN_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 734 | BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag |
| sakthipriya | 9:194afacf7449 | 735 | else if(ACS_MAIN_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 736 | BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 737 | |
| sakthipriya | 0:7b4c00e3912f | 738 | if(ACS_STATUS == '0') |
| sakthipriya | 0:7b4c00e3912f | 739 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 740 | else if(ACS_STATUS == '1') |
| sakthipriya | 0:7b4c00e3912f | 741 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER |
| sakthipriya | 0:7b4c00e3912f | 742 | else if(ACS_STATUS == '2') |
| sakthipriya | 0:7b4c00e3912f | 743 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 744 | else if(ACS_STATUS == '3') |
| sakthipriya | 0:7b4c00e3912f | 745 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 746 | else if(ACS_STATUS == '4') |
| sakthipriya | 0:7b4c00e3912f | 747 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 748 | else if(ACS_STATUS == '5') |
| sakthipriya | 0:7b4c00e3912f | 749 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 750 | else if(ACS_STATUS == '6') |
| sakthipriya | 0:7b4c00e3912f | 751 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY |
| sakthipriya | 0:7b4c00e3912f | 752 | else |
| sakthipriya | 0:7b4c00e3912f | 753 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE |
| sakthipriya | 0:7b4c00e3912f | 754 | |
| sakthipriya | 0:7b4c00e3912f | 755 | if(ACS_STATE == '0') |
| sakthipriya | 0:7b4c00e3912f | 756 | BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 757 | else if(ACS_STATE == '2') |
| sakthipriya | 0:7b4c00e3912f | 758 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 759 | else if(ACS_STATE == '3') |
| sakthipriya | 0:7b4c00e3912f | 760 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 761 | else if(ACS_STATE == '4') |
| sakthipriya | 0:7b4c00e3912f | 762 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 763 | else if(ACS_STATE == '5') |
| sakthipriya | 0:7b4c00e3912f | 764 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 765 | else if(ACS_STATE == '6') |
| sakthipriya | 0:7b4c00e3912f | 766 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 767 | |
| sakthipriya | 0:7b4c00e3912f | 768 | //...............eps......................// |
| sakthipriya | 5:bb592f3185cc | 769 | |
| sakthipriya | 5:bb592f3185cc | 770 | |
| sakthipriya | 9:194afacf7449 | 771 | if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS |
| sakthipriya | 5:bb592f3185cc | 772 | BAE_STATUS |= 0x00010000; |
| sakthipriya | 9:194afacf7449 | 773 | else if(EPS_INIT_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 774 | BAE_STATUS &= 0xFFFEFFFF; |
| sakthipriya | 5:bb592f3185cc | 775 | |
| sakthipriya | 5:bb592f3185cc | 776 | |
| sakthipriya | 9:194afacf7449 | 777 | if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS |
| sakthipriya | 5:bb592f3185cc | 778 | BAE_STATUS |= 0x00040000; |
| sakthipriya | 9:194afacf7449 | 779 | else if(EPS_MAIN_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 780 | BAE_STATUS &= 0xFFFBFFFF; |
| sakthipriya | 5:bb592f3185cc | 781 | |
| sakthipriya | 5:bb592f3185cc | 782 | |
| sakthipriya | 9:194afacf7449 | 783 | if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS |
| sakthipriya | 5:bb592f3185cc | 784 | BAE_STATUS |= 0x00020000; |
| sakthipriya | 9:194afacf7449 | 785 | else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 786 | BAE_STATUS &= 0xFFFDFFFF; |
| sakthipriya | 5:bb592f3185cc | 787 | |
| sakthipriya | 5:bb592f3185cc | 788 | |
| azaddevarm | 30:22b338b027de | 789 | if (EPS_BTRY_TMP_STATUS==1) // Set EPS_BTRY_TMP_STATUS |
| sakthipriya | 5:bb592f3185cc | 790 | BAE_STATUS |= 0x00080000; |
| azaddevarm | 30:22b338b027de | 791 | else if(EPS_BTRY_TMP_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 792 | BAE_STATUS &= 0xFFF7FFFF; |
| sakthipriya | 5:bb592f3185cc | 793 | |
| sakthipriya | 5:bb592f3185cc | 794 | if (EPS_STATUS==0) |
| sakthipriya | 5:bb592f3185cc | 795 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP |
| sakthipriya | 5:bb592f3185cc | 796 | else if (EPS_STATUS==1) |
| sakthipriya | 5:bb592f3185cc | 797 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED |
| sakthipriya | 5:bb592f3185cc | 798 | else if (EPS_STATUS==2) |
| sakthipriya | 5:bb592f3185cc | 799 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF |
| sakthipriya | 5:bb592f3185cc | 800 | else if (EPS_STATUS==3) |
| sakthipriya | 5:bb592f3185cc | 801 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON |
| sakthipriya | 5:bb592f3185cc | 802 | else if (EPS_STATUS==4) |
| sakthipriya | 5:bb592f3185cc | 803 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF |
| sakthipriya | 5:bb592f3185cc | 804 | else if (EPS_STATUS==5) |
| sakthipriya | 5:bb592f3185cc | 805 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON |
| sakthipriya | 5:bb592f3185cc | 806 | |
| sakthipriya | 5:bb592f3185cc | 807 | |
| azaddevarm | 30:22b338b027de | 808 | if(EPS_BTRY_HTR == 1) |
| sakthipriya | 5:bb592f3185cc | 809 | BAE_ENABLE |= 0x00000080; |
| azaddevarm | 30:22b338b027de | 810 | else if(EPS_BTRY_HTR == 0) |
| sakthipriya | 5:bb592f3185cc | 811 | BAE_ENABLE = BAE_ENABLE &0xFFFFFF7; |
| sakthipriya | 3:07e15677a75c | 812 | |
| sakthipriya | 0:7b4c00e3912f | 813 | |
| sakthipriya | 0:7b4c00e3912f | 814 | |
| sakthipriya | 0:7b4c00e3912f | 815 | pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE); |
| sakthipriya | 0:7b4c00e3912f | 816 | } |
| sakthipriya | 0:7b4c00e3912f | 817 | |
| sakthipriya | 0:7b4c00e3912f | 818 | void FCTN_BAE_INIT() |
| sakthipriya | 0:7b4c00e3912f | 819 | { |
| sakthipriya | 0:7b4c00e3912f | 820 | printf("\n\r Initialising BAE "); |
| sakthipriya | 3:07e15677a75c | 821 | //..........intial status....// |
| Bragadeesh153 | 13:fb7facaf308b | 822 | ACS_STATE = 4; |
| sakthipriya | 9:194afacf7449 | 823 | ACS_ATS_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 824 | ACS_DATA_ACQ_ENABLE = 1; |
| azaddevarm | 30:22b338b027de | 825 | EPS_BTRY_HTR = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 826 | actual_data.power_mode=3; |
| sakthipriya | 9:194afacf7449 | 827 | //............intializing pins................// |
| sakthipriya | 9:194afacf7449 | 828 | ATS1_SW_ENABLE = 0; |
| sakthipriya | 9:194afacf7449 | 829 | ATS2_SW_ENABLE = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 830 | |
| Bragadeesh153 | 13:fb7facaf308b | 831 | DRV_XY_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 832 | DRV_Z_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 833 | TRZ_SW = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 834 | TRXY_SW = 1; |
| sakthipriya | 9:194afacf7449 | 835 | |
| sakthipriya | 3:07e15677a75c | 836 | //............................// |
| azaddevarm | 30:22b338b027de | 837 | //FCTN_ACS_INIT(); |
| azaddevarm | 30:22b338b027de | 838 | FCTN_EPS_INIT(); |
| lakshya | 14:a9588f443f1a | 839 | //FCTN_BCN_INIT(); |
| sakthipriya | 3:07e15677a75c | 840 | |
| sakthipriya | 3:07e15677a75c | 841 | |
| sakthipriya | 0:7b4c00e3912f | 842 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 843 | } |
| sakthipriya | 0:7b4c00e3912f | 844 | |
| sakthipriya | 0:7b4c00e3912f | 845 | int main() |
| sakthipriya | 0:7b4c00e3912f | 846 | { |
| sakthipriya | 0:7b4c00e3912f | 847 | pc.printf("\n\r BAE Activated. Testing Version 1.1 \n"); |
| Bragadeesh153 | 13:fb7facaf308b | 848 | CDMS_RESET = 1; |
| lakshya | 14:a9588f443f1a | 849 | /*if (BCN_FEN == 0) //dummy implementation |
| sakthipriya | 0:7b4c00e3912f | 850 | { |
| sakthipriya | 0:7b4c00e3912f | 851 | pc.printf("\n\r RF silence "); |
| Bragadeesh153 | 12:af1d7e18b868 | 852 | FCTN_BCN_FEN(); |
| sakthipriya | 0:7b4c00e3912f | 853 | t_rfsilence.start();//Start the timer for RF_Silence |
| sakthipriya | 0:7b4c00e3912f | 854 | while(t_rfsilence.read() < RF_SILENCE_TIME); |
| sakthipriya | 0:7b4c00e3912f | 855 | } |
| sakthipriya | 0:7b4c00e3912f | 856 | */ |
| sakthipriya | 3:07e15677a75c | 857 | |
| sakthipriya | 9:194afacf7449 | 858 | //ACS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 859 | //ACS_DATA_ACQ_STATUS = 0; |
| Bragadeesh153 | 13:fb7facaf308b | 860 | |
| Bragadeesh153 | 13:fb7facaf308b | 861 | |
| sakthipriya | 9:194afacf7449 | 862 | |
| Bragadeesh153 | 13:fb7facaf308b | 863 | //FLAG(); |
| azaddevarm | 30:22b338b027de | 864 | //FCTN_BAE_INIT(); |
| sakthipriya | 3:07e15677a75c | 865 | |
| sakthipriya | 0:7b4c00e3912f | 866 | |
| sakthipriya | 0:7b4c00e3912f | 867 | //...i2c.. |
| sakthipriya | 3:07e15677a75c | 868 | //strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end"); |
| sakthipriya | 0:7b4c00e3912f | 869 | slave.address(addr); |
| sakthipriya | 0:7b4c00e3912f | 870 | irpt_2_mstr = 0; |
| sakthipriya | 0:7b4c00e3912f | 871 | |
| sakthipriya | 0:7b4c00e3912f | 872 | ptr_t_i2c = new Thread(T_TC); |
| sakthipriya | 0:7b4c00e3912f | 873 | ptr_t_i2c->set_priority(osPriorityHigh); |
| sakthipriya | 5:bb592f3185cc | 874 | |
| sakthipriya | 0:7b4c00e3912f | 875 | irpt_4m_mstr.enable_irq(); |
| sakthipriya | 0:7b4c00e3912f | 876 | irpt_4m_mstr.rise(&FCTN_I2C_ISR); |
| sakthipriya | 5:bb592f3185cc | 877 | // ir1.fall(&ir1clear); //Battery Gauge - Alert Bar Signal |
| lakshya | 14:a9588f443f1a | 878 | /* ir2.fall(&ir2clear); //TRXY Driver TR switch Fault |
| lakshya | 14:a9588f443f1a | 879 | ir3.fall(&ir3clear); //TRZ Driver Fault Bar |
| lakshya | 14:a9588f443f1a | 880 | ir4.fall(&ir4clear); //TRZ Driver TR switch Fault |
| lakshya | 14:a9588f443f1a | 881 | ir5.fall(&ir5clear); //CDMS - Switch Fault |
| lakshya | 14:a9588f443f1a | 882 | ir6.fall(&ir6clear); //Beacon- Switch OC bar |
| lakshya | 14:a9588f443f1a | 883 | ir7.fall(&ir7clear); //Charger IC - Fault Bar |
| lakshya | 14:a9588f443f1a | 884 | |
| lakshya | 14:a9588f443f1a | 885 | */ |
| sakthipriya | 0:7b4c00e3912f | 886 | RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread |
| sakthipriya | 0:7b4c00e3912f | 887 | t_sc_timer.start(10000); |
| sakthipriya | 0:7b4c00e3912f | 888 | t_start.start(); |
| sakthipriya | 0:7b4c00e3912f | 889 | pc.printf("\n\rStarted scheduler %f\n\r",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 890 | |
| Bragadeesh153 | 13:fb7facaf308b | 891 | |
| sakthipriya | 0:7b4c00e3912f | 892 | //FCTN_BAE_INIT(); |
| sakthipriya | 0:7b4c00e3912f | 893 | while(1); //required to prevent main from terminating |
| sakthipriya | 3:07e15677a75c | 894 | } |
| sakthipriya | 3:07e15677a75c | 895 |