Team Fox
/
BAE_QM_MAR9
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Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
workinQM_5thJan_azad
by 
Team Fox
main.cpp@18:3662058a7c10, 2016-05-14 (annotated)
- Committer:
- lakshya
- Date:
- Sat May 14 11:19:13 2016 +0000
- Revision:
- 18:3662058a7c10
- Parent:
- 17:fc782f7548c6
- Child:
- 19:79e69017c855
bcn working no hanging; ; rtos timer used for calling bcn_fen ; ( spi connection valid if it waits for too long then maybe BCN_hw is commented make sure it sets the spi ); ; both short and long beacon working; ; also ACS (modifed version as earlier)
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 |
| sakthipriya | 0:7b4c00e3912f | 11 | #define batt_heat_low 20 |
| sakthipriya | 9:194afacf7449 | 12 | |
| sakthipriya | 0:7b4c00e3912f | 13 | //***************************************************** flags *************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 14 | uint32_t BAE_STATUS = 0x00000000; |
| sakthipriya | 0:7b4c00e3912f | 15 | uint32_t BAE_ENABLE = 0xFFFFFFFF; |
| sakthipriya | 0:7b4c00e3912f | 16 | |
| sakthipriya | 5:bb592f3185cc | 17 | //i2c// |
| sakthipriya | 5:bb592f3185cc | 18 | char data_send_flag = 'h'; |
| sakthipriya | 5:bb592f3185cc | 19 | |
| 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; |
| lakshya | 18:3662058a7c10 | 40 | /*added for removing the stuck/hang problem*/ |
| lakshya | 18:3662058a7c10 | 41 | /*does it work? now doing it in main*/ |
| lakshya | 18:3662058a7c10 | 42 | extern uint8_t BCN_FEN; |
| lakshya | 18:3662058a7c10 | 43 | extern void FCTN_BCN_FEN(void const *args); |
| lakshya | 18:3662058a7c10 | 44 | Timeout timeout_bcn; |
| sakthipriya | 0:7b4c00e3912f | 45 | |
| sakthipriya | 0:7b4c00e3912f | 46 | //.....................eps...................// |
| sakthipriya | 0:7b4c00e3912f | 47 | //eps init |
| sakthipriya | 9:194afacf7449 | 48 | /*char EPS_INIT_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 49 | char EPS_BATTERY_GAUGE_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 50 | //eps main |
| sakthipriya | 0:7b4c00e3912f | 51 | char EPS_MAIN_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 52 | char EPS_BATTERY_TEMP_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 53 | char EPS_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 54 | |
| sakthipriya | 0:7b4c00e3912f | 55 | char EPS_BATTERY_HEAT_ENABLE = 'q'; |
| sakthipriya | 9:194afacf7449 | 56 | */ |
| sakthipriya | 9:194afacf7449 | 57 | |
| sakthipriya | 9:194afacf7449 | 58 | uint8_t EPS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 59 | uint8_t EPS_BATTERY_GAUGE_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 60 | //eps main |
| sakthipriya | 9:194afacf7449 | 61 | uint8_t EPS_MAIN_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 62 | uint8_t EPS_BATTERY_TEMP_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 63 | uint8_t EPS_STATUS = 7; //invalid status |
| sakthipriya | 9:194afacf7449 | 64 | |
| sakthipriya | 9:194afacf7449 | 65 | uint8_t EPS_BATTERY_HEAT_ENABLE = 0; |
| sakthipriya | 0:7b4c00e3912f | 66 | |
| sakthipriya | 0:7b4c00e3912f | 67 | //.......................global variables..................................................................// new hk structure- everything has to changed based on this |
| sakthipriya | 6:036d08b62785 | 68 | uint8_t BAE_data[74]; |
| sakthipriya | 6:036d08b62785 | 69 | char BAE_chardata[74]; |
| sakthipriya | 0:7b4c00e3912f | 70 | |
| sakthipriya | 0:7b4c00e3912f | 71 | |
| sakthipriya | 0:7b4c00e3912f | 72 | //*************************************Global declarations************************************************// |
| sakthipriya | 0:7b4c00e3912f | 73 | const int addr = 0x20; //slave address |
| sakthipriya | 0:7b4c00e3912f | 74 | |
| sakthipriya | 0:7b4c00e3912f | 75 | Timer t_rfsilence; |
| sakthipriya | 0:7b4c00e3912f | 76 | Timer t_start; |
| sakthipriya | 7:a46a1dee4497 | 77 | Timer t_tc; |
| sakthipriya | 7:a46a1dee4497 | 78 | Timer t_tm; |
| sakthipriya | 0:7b4c00e3912f | 79 | Serial pc(USBTX, USBRX); |
| sakthipriya | 0:7b4c00e3912f | 80 | int power_flag_dummy=2; |
| sakthipriya | 0:7b4c00e3912f | 81 | float data[6]; |
| sakthipriya | 0:7b4c00e3912f | 82 | |
| sakthipriya | 0:7b4c00e3912f | 83 | extern float moment[3]; |
| sakthipriya | 0:7b4c00e3912f | 84 | extern uint8_t BCN_FEN; |
| sakthipriya | 1:446a959e36ce | 85 | extern BAE_HK_actual actual_data; |
| sakthipriya | 1:446a959e36ce | 86 | extern BAE_HK_quant quant_data; |
| sakthipriya | 1:446a959e36ce | 87 | extern BAE_HK_min_max bae_HK_minmax; |
| sakthipriya | 1:446a959e36ce | 88 | extern BAE_HK_arch arch_data; |
| sakthipriya | 0:7b4c00e3912f | 89 | |
| sakthipriya | 5:bb592f3185cc | 90 | int write_ack = 1; |
| sakthipriya | 5:bb592f3185cc | 91 | int read_ack = 1; |
| sakthipriya | 0:7b4c00e3912f | 92 | char telecommand[tc_len]; |
| Bragadeesh153 | 13:fb7facaf308b | 93 | extern uint8_t telemetry[135]; |
| sakthipriya | 5:bb592f3185cc | 94 | |
| sakthipriya | 5:bb592f3185cc | 95 | bool pf1check = 0; |
| sakthipriya | 5:bb592f3185cc | 96 | bool pf2check = 0; |
| sakthipriya | 5:bb592f3185cc | 97 | bool if1check = 0; |
| lakshya | 14:a9588f443f1a | 98 | bool if2check = 0; |
| sakthipriya | 0:7b4c00e3912f | 99 | |
| sakthipriya | 0:7b4c00e3912f | 100 | //*****************************************************Assigning pins******************************************************// |
| sakthipriya | 9:194afacf7449 | 101 | DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch |
| sakthipriya | 9:194afacf7449 | 102 | DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch |
| sakthipriya | 0:7b4c00e3912f | 103 | InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS |
| sakthipriya | 0:7b4c00e3912f | 104 | DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS |
| lakshya | 14:a9588f443f1a | 105 | I2CSlave slave (PIN1,PIN2);///pin1 pin2 |
| sakthipriya | 0:7b4c00e3912f | 106 | DigitalOut batt_heat(PIN96); |
| sakthipriya | 0:7b4c00e3912f | 107 | |
| sakthipriya | 9:194afacf7449 | 108 | //ATS1_SW_ENABLE = 0; |
| sakthipriya | 0:7b4c00e3912f | 109 | PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal |
| sakthipriya | 0:7b4c00e3912f | 110 | PwmOut PWM2(PIN94); //y |
| sakthipriya | 0:7b4c00e3912f | 111 | PwmOut PWM3(PIN95); //z //PWM output comes from pins p6 |
| sakthipriya | 0:7b4c00e3912f | 112 | |
| sakthipriya | 5:bb592f3185cc | 113 | //........faults |
| sakthipriya | 5:bb592f3185cc | 114 | //Polled Faults |
| sakthipriya | 5:bb592f3185cc | 115 | DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 116 | DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 117 | DigitalIn pf3(PIN83);//Fault Bar for TRXY driver |
| sakthipriya | 5:bb592f3185cc | 118 | |
| sakthipriya | 5:bb592f3185cc | 119 | //Interrupt based faults |
| lakshya | 14:a9588f443f1a | 120 | //InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal |
| sakthipriya | 5:bb592f3185cc | 121 | InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault |
| sakthipriya | 5:bb592f3185cc | 122 | InterruptIn ir3(PIN89);//TRZ Driver Fault Bar |
| sakthipriya | 5:bb592f3185cc | 123 | InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault |
| sakthipriya | 5:bb592f3185cc | 124 | InterruptIn ir5(PIN79);//CDMS - Switch Fault |
| sakthipriya | 5:bb592f3185cc | 125 | InterruptIn ir6(PIN80);//Beacon- Switch OC bar |
| sakthipriya | 5:bb592f3185cc | 126 | InterruptIn ir7(PIN42);//Charger IC - Fault Bar |
| sakthipriya | 5:bb592f3185cc | 127 | |
| lakshya | 14:a9588f443f1a | 128 | |
| Bragadeesh153 | 13:fb7facaf308b | 129 | //DigitalOut TRXY_SW_EN(PIN71); //TR XY Switch |
| Bragadeesh153 | 13:fb7facaf308b | 130 | //DigitalOut DRV_Z_SLP(PIN88); //Sleep pin of driver z |
| Bragadeesh153 | 13:fb7facaf308b | 131 | //DigitalOut TRZ_SW(PIN40); //TR Z Switch |
| Bragadeesh153 | 13:fb7facaf308b | 132 | //DigitalOut CDMS_RESET(PIN7); // CDMS RESET |
| Bragadeesh153 | 13:fb7facaf308b | 133 | //DigitalOut BCN_SW(PIN14); //Beacon switch |
| Bragadeesh153 | 13:fb7facaf308b | 134 | //DigitalOut DRV_XY_SLP(PIN82); |
| Bragadeesh153 | 13:fb7facaf308b | 135 | |
| Bragadeesh153 | 13:fb7facaf308b | 136 | |
| Bragadeesh153 | 13:fb7facaf308b | 137 | DigitalOut TRXY_SW(PIN71); //TR XY Switch |
| Bragadeesh153 | 13:fb7facaf308b | 138 | DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z |
| sakthipriya | 5:bb592f3185cc | 139 | DigitalOut TRZ_SW(PIN40); //TR Z Switch |
| sakthipriya | 5:bb592f3185cc | 140 | DigitalOut CDMS_RESET(PIN7); // CDMS RESET |
| sakthipriya | 5:bb592f3185cc | 141 | DigitalOut BCN_SW(PIN14); //Beacon switch |
| Bragadeesh153 | 13:fb7facaf308b | 142 | DigitalOut DRV_XY_EN(PIN82); |
| sakthipriya | 0:7b4c00e3912f | 143 | |
| sakthipriya | 0:7b4c00e3912f | 144 | /*****************************************************************Threads USed***********************************************************************************/ |
| sakthipriya | 3:07e15677a75c | 145 | |
| sakthipriya | 0:7b4c00e3912f | 146 | Thread *ptr_t_i2c; |
| sakthipriya | 0:7b4c00e3912f | 147 | |
| sakthipriya | 0:7b4c00e3912f | 148 | /*********************************************************FCTN HEADERS***********************************************************************************/ |
| sakthipriya | 0:7b4c00e3912f | 149 | |
| sakthipriya | 0:7b4c00e3912f | 150 | void FCTN_ISR_I2C(); |
| sakthipriya | 0:7b4c00e3912f | 151 | void FCTN_TM(); |
| sakthipriya | 3:07e15677a75c | 152 | void F_ACS(); |
| sakthipriya | 3:07e15677a75c | 153 | void F_EPS(); |
| sakthipriya | 3:07e15677a75c | 154 | void F_BCN(); |
| sakthipriya | 0:7b4c00e3912f | 155 | |
| sakthipriya | 0:7b4c00e3912f | 156 | //*******************************************ACS THREAD**************************************************// |
| sakthipriya | 5:bb592f3185cc | 157 | uint8_t iterP1; |
| sakthipriya | 5:bb592f3185cc | 158 | uint8_t iterP2; |
| sakthipriya | 5:bb592f3185cc | 159 | uint8_t iterI1; |
| sakthipriya | 5:bb592f3185cc | 160 | uint8_t iterI2; |
| sakthipriya | 0:7b4c00e3912f | 161 | |
| sakthipriya | 5:bb592f3185cc | 162 | |
| sakthipriya | 3:07e15677a75c | 163 | void F_ACS() |
| sakthipriya | 0:7b4c00e3912f | 164 | { |
| sakthipriya | 8:82250e41da81 | 165 | |
| sakthipriya | 9:194afacf7449 | 166 | |
| sakthipriya | 8:82250e41da81 | 167 | //...................// |
| sakthipriya | 8:82250e41da81 | 168 | |
| sakthipriya | 5:bb592f3185cc | 169 | if(pf1check == 1) |
| sakthipriya | 5:bb592f3185cc | 170 | { |
| sakthipriya | 5:bb592f3185cc | 171 | if(iterP1 >= 3) |
| sakthipriya | 5:bb592f3185cc | 172 | { |
| sakthipriya | 9:194afacf7449 | 173 | ATS1_SW_ENABLE = 1; // turn off ats1 permanently |
| sakthipriya | 5:bb592f3185cc | 174 | //FCTN_SWITCH_ATS(0); // switch on ATS2 |
| sakthipriya | 5:bb592f3185cc | 175 | } |
| sakthipriya | 5:bb592f3185cc | 176 | else |
| sakthipriya | 5:bb592f3185cc | 177 | { |
| sakthipriya | 9:194afacf7449 | 178 | ATS1_SW_ENABLE = 0; |
| sakthipriya | 5:bb592f3185cc | 179 | iterP1++; |
| sakthipriya | 5:bb592f3185cc | 180 | } |
| sakthipriya | 9:194afacf7449 | 181 | pf1check = 0; |
| sakthipriya | 5:bb592f3185cc | 182 | } |
| sakthipriya | 5:bb592f3185cc | 183 | if(pf2check == 1) |
| sakthipriya | 5:bb592f3185cc | 184 | { |
| sakthipriya | 5:bb592f3185cc | 185 | if(iterP1 >= 3) |
| sakthipriya | 5:bb592f3185cc | 186 | { |
| sakthipriya | 9:194afacf7449 | 187 | ATS2_SW_ENABLE = 1; // turn off ats2 permanently |
| Bragadeesh153 | 13:fb7facaf308b | 188 | ACS_DATA_ACQ_ENABLE = 0; |
| Bragadeesh153 | 13:fb7facaf308b | 189 | ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 5:bb592f3185cc | 190 | } |
| sakthipriya | 5:bb592f3185cc | 191 | else |
| sakthipriya | 5:bb592f3185cc | 192 | { |
| sakthipriya | 9:194afacf7449 | 193 | ATS2_SW_ENABLE = 0; |
| sakthipriya | 5:bb592f3185cc | 194 | iterP2++; |
| sakthipriya | 5:bb592f3185cc | 195 | } |
| sakthipriya | 9:194afacf7449 | 196 | pf2check = 0; |
| sakthipriya | 5:bb592f3185cc | 197 | } |
| sakthipriya | 5:bb592f3185cc | 198 | if(if1check == 1) |
| sakthipriya | 5:bb592f3185cc | 199 | { |
| sakthipriya | 5:bb592f3185cc | 200 | if(iterI1 >= 3) |
| sakthipriya | 5:bb592f3185cc | 201 | { |
| Bragadeesh153 | 13:fb7facaf308b | 202 | TRXY_SW = 0; // turn off TRXY permanently |
| sakthipriya | 5:bb592f3185cc | 203 | } |
| sakthipriya | 5:bb592f3185cc | 204 | else |
| sakthipriya | 5:bb592f3185cc | 205 | { |
| Bragadeesh153 | 13:fb7facaf308b | 206 | TRXY_SW = 1; //switch on TRXY |
| sakthipriya | 5:bb592f3185cc | 207 | iterI1++; |
| sakthipriya | 5:bb592f3185cc | 208 | } |
| sakthipriya | 5:bb592f3185cc | 209 | } |
| sakthipriya | 5:bb592f3185cc | 210 | if(if2check == 1) |
| sakthipriya | 5:bb592f3185cc | 211 | { |
| sakthipriya | 5:bb592f3185cc | 212 | if(iterI2 >= 3) |
| sakthipriya | 5:bb592f3185cc | 213 | { |
| sakthipriya | 5:bb592f3185cc | 214 | TRZ_SW = 0; // turn off TRZ permanently |
| Bragadeesh153 | 13:fb7facaf308b | 215 | ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 5:bb592f3185cc | 216 | } |
| sakthipriya | 5:bb592f3185cc | 217 | else |
| sakthipriya | 5:bb592f3185cc | 218 | { |
| sakthipriya | 5:bb592f3185cc | 219 | TRZ_SW = 1; //switch on Z |
| sakthipriya | 5:bb592f3185cc | 220 | iterI2++; |
| sakthipriya | 5:bb592f3185cc | 221 | } |
| sakthipriya | 5:bb592f3185cc | 222 | } |
| sakthipriya | 5:bb592f3185cc | 223 | |
| sakthipriya | 6:036d08b62785 | 224 | //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 | 225 | //b1[3] = {22, 22,10}; |
| sakthipriya | 0:7b4c00e3912f | 226 | //omega1[3] = {2.1,3.0,1.5}; |
| sakthipriya | 9:194afacf7449 | 227 | // ATS1_SW_ENABLE = 0; // att sens2 switch is disabled |
| sakthipriya | 9:194afacf7449 | 228 | // ATS2_SW_ENABLE = 0; // att sens switch is disabled |
| sakthipriya | 0:7b4c00e3912f | 229 | |
| sakthipriya | 3:07e15677a75c | 230 | |
| sakthipriya | 0:7b4c00e3912f | 231 | |
| sakthipriya | 3:07e15677a75c | 232 | //Thread::signal_wait(0x1); |
| sakthipriya | 9:194afacf7449 | 233 | ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 234 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 235 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 236 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 237 | pc.printf("\n\rEntered ACS %f\n",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 238 | |
| sakthipriya | 9:194afacf7449 | 239 | if(ACS_DATA_ACQ_ENABLE == 1)// check if ACS_DATA_ACQ_ENABLE = 1? |
| sakthipriya | 0:7b4c00e3912f | 240 | { |
| Bragadeesh153 | 13:fb7facaf308b | 241 | //FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 242 | FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3 |
| sakthipriya | 0:7b4c00e3912f | 243 | pc.printf("gyro values\n\r"); //printing the angular velocity and magnetic field values |
| sakthipriya | 0:7b4c00e3912f | 244 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 245 | { |
| lakshya | 15:e09aaaccf134 | 246 | printf("%f\n\r",actual_data.AngularSpeed_actual[i]); |
| sakthipriya | 0:7b4c00e3912f | 247 | } |
| sakthipriya | 0:7b4c00e3912f | 248 | pc.printf("mag values\n\r"); |
| sakthipriya | 6:036d08b62785 | 249 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 250 | { |
| sakthipriya | 6:036d08b62785 | 251 | pc.printf("%f\n\r",actual_data.Bvalue_actual[i]); |
| sakthipriya | 5:bb592f3185cc | 252 | } |
| sakthipriya | 6:036d08b62785 | 253 | // for(int i=0;i<3;i++) |
| sakthipriya | 6:036d08b62785 | 254 | // { |
| sakthipriya | 6:036d08b62785 | 255 | // omega1[i]= data[i]; |
| sakthipriya | 6:036d08b62785 | 256 | // b1[i] = data[i+3]; |
| sakthipriya | 6:036d08b62785 | 257 | // } |
| sakthipriya | 0:7b4c00e3912f | 258 | }//if ACS_DATA_ACQ_ENABLE = 1 |
| sakthipriya | 0:7b4c00e3912f | 259 | else |
| sakthipriya | 0:7b4c00e3912f | 260 | { |
| sakthipriya | 0:7b4c00e3912f | 261 | // Z axis actuation is the only final solution, |
| sakthipriya | 0:7b4c00e3912f | 262 | } |
| sakthipriya | 9:194afacf7449 | 263 | if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF? |
| sakthipriya | 0:7b4c00e3912f | 264 | { |
| sakthipriya | 0:7b4c00e3912f | 265 | printf("\n\r acs control off\n"); |
| sakthipriya | 0:7b4c00e3912f | 266 | FLAG(); |
| sakthipriya | 9:194afacf7449 | 267 | ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 268 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 269 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 270 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 271 | } |
| sakthipriya | 0:7b4c00e3912f | 272 | else |
| sakthipriya | 0:7b4c00e3912f | 273 | { |
| sakthipriya | 1:446a959e36ce | 274 | if(actual_data.power_mode>1) |
| sakthipriya | 0:7b4c00e3912f | 275 | |
| sakthipriya | 0:7b4c00e3912f | 276 | { |
| sakthipriya | 9:194afacf7449 | 277 | if(ACS_STATE == 2) // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 278 | { |
| sakthipriya | 0:7b4c00e3912f | 279 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 280 | printf("\n\r z axis moment only\n"); |
| sakthipriya | 9:194afacf7449 | 281 | ACS_STATUS = 2; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 282 | // FCTN_ACS_CNTRLALGO(b1, omega1); |
| sakthipriya | 0:7b4c00e3912f | 283 | moment[0] = 0; |
| sakthipriya | 0:7b4c00e3912f | 284 | moment[1] = 0; |
| sakthipriya | 0:7b4c00e3912f | 285 | moment[2] =1.3;// is a dummy value |
| sakthipriya | 0:7b4c00e3912f | 286 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| sakthipriya | 0:7b4c00e3912f | 287 | } |
| sakthipriya | 0:7b4c00e3912f | 288 | else |
| sakthipriya | 0:7b4c00e3912f | 289 | { |
| sakthipriya | 9:194afacf7449 | 290 | if(ACS_STATE == 3) // check ACS_STATE = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 291 | { |
| sakthipriya | 0:7b4c00e3912f | 292 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 293 | printf("\n\r acs data failure "); |
| sakthipriya | 9:194afacf7449 | 294 | ACS_STATUS = 3; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 295 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 296 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 297 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 298 | } |
| sakthipriya | 0:7b4c00e3912f | 299 | else |
| sakthipriya | 0:7b4c00e3912f | 300 | { |
| sakthipriya | 9:194afacf7449 | 301 | if(ACS_STATE == 4) // check ACS_STATE = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 302 | { |
| sakthipriya | 0:7b4c00e3912f | 303 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 304 | printf("\n\r nominal"); |
| sakthipriya | 9:194afacf7449 | 305 | ACS_STATUS = 4; // set ACS_STATUS = ACS_NOMINAL_ONLY |
| sakthipriya | 6:036d08b62785 | 306 | FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); |
| sakthipriya | 0:7b4c00e3912f | 307 | printf("\n\r moment values returned by control algo \n"); |
| sakthipriya | 0:7b4c00e3912f | 308 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 309 | { |
| sakthipriya | 0:7b4c00e3912f | 310 | printf("%f\t",moment[i]); |
| sakthipriya | 0:7b4c00e3912f | 311 | } |
| sakthipriya | 0:7b4c00e3912f | 312 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| sakthipriya | 0:7b4c00e3912f | 313 | } |
| sakthipriya | 0:7b4c00e3912f | 314 | else |
| sakthipriya | 0:7b4c00e3912f | 315 | { |
| sakthipriya | 9:194afacf7449 | 316 | if(ACS_STATE == 5) // check ACS_STATE = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 317 | { |
| sakthipriya | 0:7b4c00e3912f | 318 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 319 | printf("\n\r auto control"); |
| sakthipriya | 9:194afacf7449 | 320 | ACS_STATUS = 5; // set ACS_STATUS = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 321 | //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code |
| sakthipriya | 0:7b4c00e3912f | 322 | } |
| sakthipriya | 0:7b4c00e3912f | 323 | else |
| sakthipriya | 0:7b4c00e3912f | 324 | { |
| sakthipriya | 9:194afacf7449 | 325 | if(ACS_STATE == 6) // check ACS_STATE = ACS_DETUMBLING_ONLY |
| sakthipriya | 0:7b4c00e3912f | 326 | { |
| sakthipriya | 0:7b4c00e3912f | 327 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 328 | printf("\n\r Entered detumbling \n"); |
| sakthipriya | 9:194afacf7449 | 329 | ACS_STATUS = 6; // set ACS_STATUS = ACS_DETUMBLING_ONLY |
| sakthipriya | 6:036d08b62785 | 330 | FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); // detumbling code has to be included |
| sakthipriya | 0:7b4c00e3912f | 331 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| sakthipriya | 0:7b4c00e3912f | 332 | } |
| sakthipriya | 0:7b4c00e3912f | 333 | else |
| sakthipriya | 0:7b4c00e3912f | 334 | { |
| sakthipriya | 0:7b4c00e3912f | 335 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 336 | printf("\n\r invalid state"); |
| sakthipriya | 9:194afacf7449 | 337 | ACS_STATUS = 7 ; // set ACS_STATUS = INVALID STATE |
| sakthipriya | 0:7b4c00e3912f | 338 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 339 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 340 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 341 | }//else of invalid |
| sakthipriya | 0:7b4c00e3912f | 342 | }//else of autocontrol |
| sakthipriya | 0:7b4c00e3912f | 343 | }//else of nominal |
| sakthipriya | 0:7b4c00e3912f | 344 | }//else of data acg failure |
| sakthipriya | 0:7b4c00e3912f | 345 | |
| sakthipriya | 0:7b4c00e3912f | 346 | }//else fo z axis moment only |
| sakthipriya | 0:7b4c00e3912f | 347 | }//if power >2 |
| sakthipriya | 0:7b4c00e3912f | 348 | else |
| sakthipriya | 0:7b4c00e3912f | 349 | { |
| sakthipriya | 0:7b4c00e3912f | 350 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 351 | printf("\n\r low power"); |
| sakthipriya | 9:194afacf7449 | 352 | ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER |
| sakthipriya | 0:7b4c00e3912f | 353 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 354 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 355 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 356 | } |
| sakthipriya | 0:7b4c00e3912f | 357 | } //else for acs control off |
| lakshya | 18:3662058a7c10 | 358 | /// |
| lakshya | 18:3662058a7c10 | 359 | printf("\n\rlow power crossed and pwm no hang"); |
| sakthipriya | 9:194afacf7449 | 360 | ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag |
| sakthipriya | 3:07e15677a75c | 361 | |
| sakthipriya | 0:7b4c00e3912f | 362 | } |
| sakthipriya | 0:7b4c00e3912f | 363 | //***************************************************EPS THREAD***********************************************// |
| sakthipriya | 0:7b4c00e3912f | 364 | |
| sakthipriya | 3:07e15677a75c | 365 | void F_EPS() |
| sakthipriya | 0:7b4c00e3912f | 366 | { |
| sakthipriya | 3:07e15677a75c | 367 | |
| sakthipriya | 0:7b4c00e3912f | 368 | pc.printf("\n\rEntered EPS %f\n",t_start.read()); |
| sakthipriya | 9:194afacf7449 | 369 | EPS_MAIN_STATUS = 1; // Set EPS main status |
| sakthipriya | 3:07e15677a75c | 370 | FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual); |
| sakthipriya | 3:07e15677a75c | 371 | pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]); |
| sakthipriya | 9:194afacf7449 | 372 | EPS_BATTERY_TEMP_STATUS = 1; //set EPS_BATTERY_TEMP_STATUS |
| sakthipriya | 9:194afacf7449 | 373 | if(EPS_BATTERY_HEAT_ENABLE == 1) |
| sakthipriya | 3:07e15677a75c | 374 | { |
| sakthipriya | 5:bb592f3185cc | 375 | if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm |
| sakthipriya | 3:07e15677a75c | 376 | { |
| sakthipriya | 3:07e15677a75c | 377 | batt_heat = 1; //turn on battery heater |
| sakthipriya | 3:07e15677a75c | 378 | } |
| sakthipriya | 3:07e15677a75c | 379 | else |
| sakthipriya | 3:07e15677a75c | 380 | { |
| sakthipriya | 3:07e15677a75c | 381 | batt_heat = 0; //turn off battery heater |
| sakthipriya | 3:07e15677a75c | 382 | } |
| sakthipriya | 3:07e15677a75c | 383 | |
| sakthipriya | 3:07e15677a75c | 384 | } |
| sakthipriya | 9:194afacf7449 | 385 | else if(EPS_BATTERY_HEAT_ENABLE == 0) |
| sakthipriya | 3:07e15677a75c | 386 | { |
| sakthipriya | 3:07e15677a75c | 387 | EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED |
| sakthipriya | 3:07e15677a75c | 388 | } |
| sakthipriya | 0:7b4c00e3912f | 389 | FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual); |
| sakthipriya | 1:446a959e36ce | 390 | if (actual_data.Batt_gauge_actual[1] == 200) //data not received |
| sakthipriya | 0:7b4c00e3912f | 391 | { |
| sakthipriya | 0:7b4c00e3912f | 392 | actual_data.power_mode = 1; |
| sakthipriya | 9:194afacf7449 | 393 | EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS |
| sakthipriya | 0:7b4c00e3912f | 394 | |
| sakthipriya | 0:7b4c00e3912f | 395 | } |
| sakthipriya | 0:7b4c00e3912f | 396 | else |
| sakthipriya | 0:7b4c00e3912f | 397 | { |
| sakthipriya | 1:446a959e36ce | 398 | FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level |
| sakthipriya | 9:194afacf7449 | 399 | EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS |
| sakthipriya | 0:7b4c00e3912f | 400 | } |
| sakthipriya | 3:07e15677a75c | 401 | // if( Temperature data received) |
| sakthipriya | 3:07e15677a75c | 402 | //{ |
| sakthipriya | 3:07e15677a75c | 403 | |
| sakthipriya | 0:7b4c00e3912f | 404 | |
| sakthipriya | 3:07e15677a75c | 405 | // } |
| sakthipriya | 3:07e15677a75c | 406 | // else |
| sakthipriya | 3:07e15677a75c | 407 | // { |
| sakthipriya | 3:07e15677a75c | 408 | // Set battery temp to XX |
| sakthipriya | 9:194afacf7449 | 409 | // EPS_BATTERY_TEMP_STATUS = 0; //clear EPS_BATTERY_TEMP_STATUS |
| sakthipriya | 3:07e15677a75c | 410 | // EPS_STATUS = EPS_ERR_BATTERY_TEMP; |
| sakthipriya | 3:07e15677a75c | 411 | // } |
| sakthipriya | 3:07e15677a75c | 412 | FCTN_HK_MAIN(); |
| sakthipriya | 6:036d08b62785 | 413 | // printf("\n\r here"); |
| sakthipriya | 5:bb592f3185cc | 414 | FCTN_APPEND_HKDATA(); |
| sakthipriya | 5:bb592f3185cc | 415 | minMaxHkData(); |
| sakthipriya | 6:036d08b62785 | 416 | //printf("\n\r here"); |
| sakthipriya | 9:194afacf7449 | 417 | EPS_MAIN_STATUS = 0; // clear EPS main status |
| sakthipriya | 3:07e15677a75c | 418 | |
| sakthipriya | 0:7b4c00e3912f | 419 | } |
| sakthipriya | 0:7b4c00e3912f | 420 | |
| sakthipriya | 0:7b4c00e3912f | 421 | //**************************************************BCN THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 422 | |
| sakthipriya | 3:07e15677a75c | 423 | void F_BCN() |
| sakthipriya | 0:7b4c00e3912f | 424 | { |
| sakthipriya | 3:07e15677a75c | 425 | |
| sakthipriya | 0:7b4c00e3912f | 426 | pc.printf("\n\rEntered BCN %f\n",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 427 | |
| Bragadeesh153 | 12:af1d7e18b868 | 428 | FCTN_BCN_TX_MAIN(); |
| sakthipriya | 0:7b4c00e3912f | 429 | |
| sakthipriya | 0:7b4c00e3912f | 430 | } |
| sakthipriya | 0:7b4c00e3912f | 431 | |
| sakthipriya | 0:7b4c00e3912f | 432 | //**************************************************TCTM THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 433 | |
| sakthipriya | 0:7b4c00e3912f | 434 | void T_TC(void const * args) |
| sakthipriya | 0:7b4c00e3912f | 435 | { |
| sakthipriya | 0:7b4c00e3912f | 436 | while(1) |
| sakthipriya | 0:7b4c00e3912f | 437 | { |
| sakthipriya | 0:7b4c00e3912f | 438 | Thread::signal_wait(0x4); |
| lakshya | 15:e09aaaccf134 | 439 | wait_us(200); |
| lakshya | 15:e09aaaccf134 | 440 | //printf("\n\rreached\n"); // can be between 38 to 15700 |
| sakthipriya | 0:7b4c00e3912f | 441 | if( slave.receive() == 0) |
| lakshya | 15:e09aaaccf134 | 442 | {slave.stop(); |
| lakshya | 15:e09aaaccf134 | 443 | //printf("\n\rnot send\n"); |
| lakshya | 15:e09aaaccf134 | 444 | } |
| sakthipriya | 0:7b4c00e3912f | 445 | else if( slave.receive() == 1) // slave writes to master |
| sakthipriya | 0:7b4c00e3912f | 446 | { |
| sakthipriya | 5:bb592f3185cc | 447 | if(data_send_flag == 'h') |
| sakthipriya | 6:036d08b62785 | 448 | { |
| sakthipriya | 6:036d08b62785 | 449 | //FCTN_APPEND_HKDATA(); |
| sakthipriya | 6:036d08b62785 | 450 | // pc.printf("\n\r here"); |
| sakthipriya | 6:036d08b62785 | 451 | write_ack=slave.write(BAE_chardata,74); |
| Bragadeesh153 | 13:fb7facaf308b | 452 | if(write_ack==0) |
| lakshya | 15:e09aaaccf134 | 453 | {irpt_2_mstr = 0; |
| lakshya | 15:e09aaaccf134 | 454 | printf("\n\rgot interrupt\n"); |
| lakshya | 15:e09aaaccf134 | 455 | } |
| sakthipriya | 6:036d08b62785 | 456 | } |
| sakthipriya | 5:bb592f3185cc | 457 | else if(data_send_flag == 't') |
| sakthipriya | 5:bb592f3185cc | 458 | { |
| Bragadeesh153 | 13:fb7facaf308b | 459 | write_ack=slave.write((char*)telemetry,tm_len); |
| sakthipriya | 5:bb592f3185cc | 460 | data_send_flag = 'h'; |
| Bragadeesh153 | 13:fb7facaf308b | 461 | if(write_ack==0) |
| Bragadeesh153 | 13:fb7facaf308b | 462 | irpt_2_mstr = 0; |
| sakthipriya | 5:bb592f3185cc | 463 | } |
| sakthipriya | 0:7b4c00e3912f | 464 | } |
| sakthipriya | 0:7b4c00e3912f | 465 | else if( slave.receive()==3 || slave.receive()==2) // slave read |
| sakthipriya | 0:7b4c00e3912f | 466 | { |
| sakthipriya | 5:bb592f3185cc | 467 | read_ack=slave.read(telecommand,tc_len); |
| sakthipriya | 7:a46a1dee4497 | 468 | t_tc.start(); |
| sakthipriya | 6:036d08b62785 | 469 | //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand); |
| sakthipriya | 7:a46a1dee4497 | 470 | pc.printf("\n\r Executing Telecommand \n"); |
| sakthipriya | 3:07e15677a75c | 471 | // FCTN_TC_DECODE((uint8_t*) telecommand); |
| sakthipriya | 7:a46a1dee4497 | 472 | |
| Bragadeesh153 | 13:fb7facaf308b | 473 | FCTN_BAE_TM_TC((uint8_t*) telecommand); |
| Bragadeesh153 | 13:fb7facaf308b | 474 | //telemetry = (char*)temp; |
| sakthipriya | 7:a46a1dee4497 | 475 | |
| sakthipriya | 5:bb592f3185cc | 476 | FCTN_TM(); |
| sakthipriya | 7:a46a1dee4497 | 477 | t_tc.stop(); |
| sakthipriya | 7:a46a1dee4497 | 478 | printf("\n\r time taken %d",t_tc.read_us()); |
| sakthipriya | 7:a46a1dee4497 | 479 | t_tc.reset(); |
| sakthipriya | 3:07e15677a75c | 480 | // for(int i = 0; i<134; i++) |
| sakthipriya | 3:07e15677a75c | 481 | //pc.printf("%c", telemetry[i]); |
| sakthipriya | 0:7b4c00e3912f | 482 | } |
| sakthipriya | 0:7b4c00e3912f | 483 | |
| sakthipriya | 6:036d08b62785 | 484 | |
| sakthipriya | 0:7b4c00e3912f | 485 | } |
| sakthipriya | 0:7b4c00e3912f | 486 | } |
| sakthipriya | 0:7b4c00e3912f | 487 | |
| sakthipriya | 0:7b4c00e3912f | 488 | void FCTN_TM() |
| sakthipriya | 0:7b4c00e3912f | 489 | { |
| sakthipriya | 4:39a4ae8c7ecd | 490 | //irpt_2_mstr = 0; |
| sakthipriya | 5:bb592f3185cc | 491 | data_send_flag = 't'; |
| sakthipriya | 0:7b4c00e3912f | 492 | pc.printf("\n\r Telemetry Generation \n"); |
| sakthipriya | 0:7b4c00e3912f | 493 | irpt_2_mstr = 1; |
| sakthipriya | 0:7b4c00e3912f | 494 | } |
| sakthipriya | 0:7b4c00e3912f | 495 | |
| sakthipriya | 0:7b4c00e3912f | 496 | |
| sakthipriya | 0:7b4c00e3912f | 497 | //******************************************************* I2C *******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 498 | |
| sakthipriya | 0:7b4c00e3912f | 499 | void FCTN_I2C_ISR() |
| sakthipriya | 0:7b4c00e3912f | 500 | { |
| sakthipriya | 0:7b4c00e3912f | 501 | ptr_t_i2c->signal_set(0x4); |
| sakthipriya | 0:7b4c00e3912f | 502 | } |
| sakthipriya | 0:7b4c00e3912f | 503 | |
| sakthipriya | 0:7b4c00e3912f | 504 | |
| sakthipriya | 5:bb592f3185cc | 505 | //***********************************************************FAULTS***************************************************************// |
| sakthipriya | 5:bb592f3185cc | 506 | /*void ir1clear() |
| sakthipriya | 5:bb592f3185cc | 507 | { |
| sakthipriya | 5:bb592f3185cc | 508 | actual_data.faultIr_status |= 0x01; // alert |
| sakthipriya | 5:bb592f3185cc | 509 | |
| sakthipriya | 5:bb592f3185cc | 510 | }*/ |
| sakthipriya | 5:bb592f3185cc | 511 | |
| sakthipriya | 5:bb592f3185cc | 512 | |
| sakthipriya | 5:bb592f3185cc | 513 | |
| sakthipriya | 5:bb592f3185cc | 514 | void ir2clear() |
| sakthipriya | 5:bb592f3185cc | 515 | { |
| sakthipriya | 5:bb592f3185cc | 516 | actual_data.faultIr_status |= 0x02; |
| Bragadeesh153 | 13:fb7facaf308b | 517 | TRXY_SW = 0; // Switch off TR XY |
| sakthipriya | 5:bb592f3185cc | 518 | if1check = 1; |
| sakthipriya | 5:bb592f3185cc | 519 | } |
| sakthipriya | 5:bb592f3185cc | 520 | |
| sakthipriya | 5:bb592f3185cc | 521 | void ir3clear() |
| sakthipriya | 5:bb592f3185cc | 522 | { |
| sakthipriya | 5:bb592f3185cc | 523 | actual_data.faultIr_status |= 0x04; |
| Bragadeesh153 | 13:fb7facaf308b | 524 | DRV_Z_EN = 0; |
| sakthipriya | 5:bb592f3185cc | 525 | wait_us(1); |
| Bragadeesh153 | 13:fb7facaf308b | 526 | DRV_Z_EN = 1; |
| sakthipriya | 5:bb592f3185cc | 527 | |
| sakthipriya | 5:bb592f3185cc | 528 | } |
| sakthipriya | 5:bb592f3185cc | 529 | |
| sakthipriya | 5:bb592f3185cc | 530 | void ir4clear() |
| sakthipriya | 5:bb592f3185cc | 531 | { |
| sakthipriya | 5:bb592f3185cc | 532 | if2check = 1; |
| sakthipriya | 5:bb592f3185cc | 533 | actual_data.faultIr_status |= 0x08; |
| sakthipriya | 5:bb592f3185cc | 534 | TRZ_SW = 0; |
| sakthipriya | 5:bb592f3185cc | 535 | } |
| sakthipriya | 5:bb592f3185cc | 536 | |
| sakthipriya | 5:bb592f3185cc | 537 | void ir5clear() |
| sakthipriya | 5:bb592f3185cc | 538 | { |
| sakthipriya | 5:bb592f3185cc | 539 | actual_data.faultIr_status |= 0x10; |
| sakthipriya | 5:bb592f3185cc | 540 | CDMS_RESET = 0; |
| sakthipriya | 5:bb592f3185cc | 541 | wait_us(1); |
| sakthipriya | 5:bb592f3185cc | 542 | CDMS_RESET = 1; |
| sakthipriya | 5:bb592f3185cc | 543 | } |
| sakthipriya | 5:bb592f3185cc | 544 | |
| sakthipriya | 5:bb592f3185cc | 545 | void ir6clear() |
| sakthipriya | 5:bb592f3185cc | 546 | { |
| sakthipriya | 5:bb592f3185cc | 547 | actual_data.faultIr_status |= 0x20; |
| sakthipriya | 5:bb592f3185cc | 548 | BCN_SW = 0; |
| sakthipriya | 5:bb592f3185cc | 549 | wait_us(1); |
| sakthipriya | 5:bb592f3185cc | 550 | BCN_SW = 1; |
| sakthipriya | 5:bb592f3185cc | 551 | } |
| sakthipriya | 5:bb592f3185cc | 552 | |
| sakthipriya | 5:bb592f3185cc | 553 | void ir7clear() |
| sakthipriya | 5:bb592f3185cc | 554 | { |
| sakthipriya | 5:bb592f3185cc | 555 | actual_data.faultIr_status |= 0x40; |
| sakthipriya | 5:bb592f3185cc | 556 | } |
| sakthipriya | 5:bb592f3185cc | 557 | uint8_t iter2=0,iter4 = 0; |
| sakthipriya | 5:bb592f3185cc | 558 | |
| sakthipriya | 5:bb592f3185cc | 559 | |
| sakthipriya | 5:bb592f3185cc | 560 | |
| sakthipriya | 5:bb592f3185cc | 561 | void pollfault() |
| sakthipriya | 5:bb592f3185cc | 562 | { |
| sakthipriya | 5:bb592f3185cc | 563 | |
| sakthipriya | 5:bb592f3185cc | 564 | |
| sakthipriya | 5:bb592f3185cc | 565 | |
| sakthipriya | 5:bb592f3185cc | 566 | if (pf1==0) // OC_ATS1 |
| sakthipriya | 5:bb592f3185cc | 567 | { |
| sakthipriya | 5:bb592f3185cc | 568 | pf1check=1; |
| sakthipriya | 5:bb592f3185cc | 569 | actual_data.faultPoll_status |=0x01 ; |
| sakthipriya | 9:194afacf7449 | 570 | ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS |
| sakthipriya | 5:bb592f3185cc | 571 | } |
| sakthipriya | 5:bb592f3185cc | 572 | else actual_data.faultPoll_status &= 0xFE; |
| sakthipriya | 5:bb592f3185cc | 573 | |
| sakthipriya | 5:bb592f3185cc | 574 | if (pf2==0) |
| sakthipriya | 5:bb592f3185cc | 575 | { |
| sakthipriya | 5:bb592f3185cc | 576 | pf2check=1; |
| sakthipriya | 5:bb592f3185cc | 577 | actual_data.faultPoll_status |=0x02 ; |
| sakthipriya | 9:194afacf7449 | 578 | ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS |
| sakthipriya | 5:bb592f3185cc | 579 | } |
| sakthipriya | 5:bb592f3185cc | 580 | else actual_data.faultPoll_status &= 0xFD; |
| sakthipriya | 5:bb592f3185cc | 581 | |
| sakthipriya | 5:bb592f3185cc | 582 | if (pf3==0) |
| sakthipriya | 5:bb592f3185cc | 583 | { actual_data.faultPoll_status |=0x04 ; |
| Bragadeesh153 | 13:fb7facaf308b | 584 | DRV_XY_EN = 0; |
| sakthipriya | 5:bb592f3185cc | 585 | wait_us(1); |
| Bragadeesh153 | 13:fb7facaf308b | 586 | DRV_XY_EN = 1; |
| sakthipriya | 5:bb592f3185cc | 587 | } |
| sakthipriya | 5:bb592f3185cc | 588 | else actual_data.faultPoll_status &= 0xFB; |
| sakthipriya | 5:bb592f3185cc | 589 | |
| sakthipriya | 5:bb592f3185cc | 590 | |
| sakthipriya | 5:bb592f3185cc | 591 | |
| sakthipriya | 5:bb592f3185cc | 592 | |
| sakthipriya | 5:bb592f3185cc | 593 | /*if (ir1==1) |
| sakthipriya | 5:bb592f3185cc | 594 | { |
| sakthipriya | 5:bb592f3185cc | 595 | actual_data.faultIr_status &=0xFE; |
| sakthipriya | 5:bb592f3185cc | 596 | }*/ |
| lakshya | 14:a9588f443f1a | 597 | |
| sakthipriya | 5:bb592f3185cc | 598 | if (ir2==1) |
| sakthipriya | 5:bb592f3185cc | 599 | { |
| sakthipriya | 5:bb592f3185cc | 600 | actual_data.faultIr_status &=0xFD; |
| sakthipriya | 5:bb592f3185cc | 601 | } |
| sakthipriya | 5:bb592f3185cc | 602 | if (ir3==1) |
| sakthipriya | 5:bb592f3185cc | 603 | { |
| sakthipriya | 5:bb592f3185cc | 604 | actual_data.faultIr_status &=0xFB; |
| sakthipriya | 5:bb592f3185cc | 605 | } |
| sakthipriya | 5:bb592f3185cc | 606 | if (ir4==1) |
| sakthipriya | 5:bb592f3185cc | 607 | { |
| sakthipriya | 5:bb592f3185cc | 608 | actual_data.faultIr_status &=0xF7; |
| sakthipriya | 5:bb592f3185cc | 609 | } |
| sakthipriya | 5:bb592f3185cc | 610 | if (ir5==1) |
| sakthipriya | 5:bb592f3185cc | 611 | { |
| sakthipriya | 5:bb592f3185cc | 612 | actual_data.faultIr_status &=0xEF; |
| sakthipriya | 5:bb592f3185cc | 613 | } |
| sakthipriya | 5:bb592f3185cc | 614 | if (ir6==1) |
| sakthipriya | 5:bb592f3185cc | 615 | { |
| sakthipriya | 5:bb592f3185cc | 616 | actual_data.faultIr_status &=0xDF; |
| sakthipriya | 5:bb592f3185cc | 617 | }if (ir7==1) |
| sakthipriya | 5:bb592f3185cc | 618 | { |
| sakthipriya | 5:bb592f3185cc | 619 | actual_data.faultIr_status &=0xBF; |
| sakthipriya | 5:bb592f3185cc | 620 | } |
| lakshya | 14:a9588f443f1a | 621 | |
| sakthipriya | 5:bb592f3185cc | 622 | |
| sakthipriya | 5:bb592f3185cc | 623 | } |
| sakthipriya | 5:bb592f3185cc | 624 | |
| sakthipriya | 5:bb592f3185cc | 625 | |
| sakthipriya | 0:7b4c00e3912f | 626 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| sakthipriya | 0:7b4c00e3912f | 627 | //SCHEDULER |
| sakthipriya | 0:7b4c00e3912f | 628 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| sakthipriya | 0:7b4c00e3912f | 629 | uint8_t schedcount=1; |
| sakthipriya | 0:7b4c00e3912f | 630 | void T_SC(void const *args) |
| sakthipriya | 0:7b4c00e3912f | 631 | { |
| sakthipriya | 0:7b4c00e3912f | 632 | printf("\n\r in scheduler"); |
| sakthipriya | 0:7b4c00e3912f | 633 | |
| sakthipriya | 0:7b4c00e3912f | 634 | if(schedcount == 7) //to reset the counter |
| sakthipriya | 0:7b4c00e3912f | 635 | { |
| sakthipriya | 0:7b4c00e3912f | 636 | schedcount = 1; |
| sakthipriya | 0:7b4c00e3912f | 637 | } |
| sakthipriya | 0:7b4c00e3912f | 638 | if(schedcount%1==0) |
| lakshya | 14:a9588f443f1a | 639 | { pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE); |
| lakshya | 14:a9588f443f1a | 640 | pc.printf("\niterp1 !!!!!! = %x !!\n",iterP1); |
| lakshya | 14:a9588f443f1a | 641 | pc.printf("\niteri2 IS !!!!!! = %x !!\n",iterI2); |
| lakshya | 14:a9588f443f1a | 642 | F_ACS(); |
| sakthipriya | 0:7b4c00e3912f | 643 | } |
| sakthipriya | 0:7b4c00e3912f | 644 | |
| sakthipriya | 0:7b4c00e3912f | 645 | if(schedcount%2==0) |
| sakthipriya | 0:7b4c00e3912f | 646 | { |
| lakshya | 18:3662058a7c10 | 647 | printf("\n\rreached scheduler part2 "); |
| lakshya | 18:3662058a7c10 | 648 | //F_EPS(); |
| lakshya | 18:3662058a7c10 | 649 | //F_BCN(); |
| sakthipriya | 0:7b4c00e3912f | 650 | } |
| lakshya | 18:3662058a7c10 | 651 | printf("\n\rexited scheduler part2 "); |
| lakshya | 16:f9e484dc505e | 652 | if(schedcount%3==0) |
| lakshya | 18:3662058a7c10 | 653 | { |
| lakshya | 18:3662058a7c10 | 654 | printf("\n\rreached scheduler part3 "); |
| lakshya | 18:3662058a7c10 | 655 | //F_ACS(); |
| lakshya | 18:3662058a7c10 | 656 | F_BCN(); |
| sakthipriya | 0:7b4c00e3912f | 657 | } |
| sakthipriya | 0:7b4c00e3912f | 658 | schedcount++; |
| lakshya | 18:3662058a7c10 | 659 | //t_start.start(); |
| lakshya | 18:3662058a7c10 | 660 | printf("\n\r did increment %d",schedcount); |
| lakshya | 18:3662058a7c10 | 661 | printf("\n\r ex h"); |
| lakshya | 18:3662058a7c10 | 662 | printf("\n\r time taken %f",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 663 | } |
| sakthipriya | 0:7b4c00e3912f | 664 | |
| sakthipriya | 0:7b4c00e3912f | 665 | Timer t_flag; |
| sakthipriya | 0:7b4c00e3912f | 666 | void FLAG() |
| sakthipriya | 0:7b4c00e3912f | 667 | { |
| sakthipriya | 0:7b4c00e3912f | 668 | |
| sakthipriya | 0:7b4c00e3912f | 669 | //.............acs..................// |
| sakthipriya | 9:194afacf7449 | 670 | if(ACS_INIT_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 671 | BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag |
| sakthipriya | 9:194afacf7449 | 672 | else if(ACS_INIT_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 673 | BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 674 | |
| sakthipriya | 9:194afacf7449 | 675 | if(ACS_DATA_ACQ_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 676 | BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 9:194afacf7449 | 677 | else if(ACS_DATA_ACQ_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 678 | BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 679 | |
| sakthipriya | 9:194afacf7449 | 680 | if(ACS_ATS_ENABLE == 1) |
| sakthipriya | 0:7b4c00e3912f | 681 | BAE_ENABLE |= 0x00000004; |
| sakthipriya | 9:194afacf7449 | 682 | else if(ACS_ATS_ENABLE == 0) |
| sakthipriya | 0:7b4c00e3912f | 683 | BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004; |
| sakthipriya | 0:7b4c00e3912f | 684 | |
| sakthipriya | 0:7b4c00e3912f | 685 | if(ACS_DATA_ACQ_STATUS == 'f') |
| sakthipriya | 0:7b4c00e3912f | 686 | BAE_STATUS |= 0x00000200; |
| sakthipriya | 0:7b4c00e3912f | 687 | |
| sakthipriya | 9:194afacf7449 | 688 | if(ACS_MAIN_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 689 | BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag |
| sakthipriya | 9:194afacf7449 | 690 | else if(ACS_MAIN_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 691 | BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 692 | |
| sakthipriya | 0:7b4c00e3912f | 693 | if(ACS_STATUS == '0') |
| sakthipriya | 0:7b4c00e3912f | 694 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 695 | else if(ACS_STATUS == '1') |
| sakthipriya | 0:7b4c00e3912f | 696 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER |
| sakthipriya | 0:7b4c00e3912f | 697 | else if(ACS_STATUS == '2') |
| sakthipriya | 0:7b4c00e3912f | 698 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 699 | else if(ACS_STATUS == '3') |
| sakthipriya | 0:7b4c00e3912f | 700 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 701 | else if(ACS_STATUS == '4') |
| sakthipriya | 0:7b4c00e3912f | 702 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 703 | else if(ACS_STATUS == '5') |
| sakthipriya | 0:7b4c00e3912f | 704 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 705 | else if(ACS_STATUS == '6') |
| sakthipriya | 0:7b4c00e3912f | 706 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY |
| sakthipriya | 0:7b4c00e3912f | 707 | else |
| sakthipriya | 0:7b4c00e3912f | 708 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE |
| sakthipriya | 0:7b4c00e3912f | 709 | |
| sakthipriya | 0:7b4c00e3912f | 710 | if(ACS_STATE == '0') |
| sakthipriya | 0:7b4c00e3912f | 711 | BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 712 | else if(ACS_STATE == '2') |
| sakthipriya | 0:7b4c00e3912f | 713 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 714 | else if(ACS_STATE == '3') |
| sakthipriya | 0:7b4c00e3912f | 715 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 716 | else if(ACS_STATE == '4') |
| sakthipriya | 0:7b4c00e3912f | 717 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 718 | else if(ACS_STATE == '5') |
| sakthipriya | 0:7b4c00e3912f | 719 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 720 | else if(ACS_STATE == '6') |
| sakthipriya | 0:7b4c00e3912f | 721 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 722 | |
| sakthipriya | 0:7b4c00e3912f | 723 | //...............eps......................// |
| sakthipriya | 5:bb592f3185cc | 724 | |
| sakthipriya | 5:bb592f3185cc | 725 | |
| sakthipriya | 9:194afacf7449 | 726 | if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS |
| sakthipriya | 5:bb592f3185cc | 727 | BAE_STATUS |= 0x00010000; |
| sakthipriya | 9:194afacf7449 | 728 | else if(EPS_INIT_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 729 | BAE_STATUS &= 0xFFFEFFFF; |
| sakthipriya | 5:bb592f3185cc | 730 | |
| sakthipriya | 5:bb592f3185cc | 731 | |
| sakthipriya | 9:194afacf7449 | 732 | if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS |
| sakthipriya | 5:bb592f3185cc | 733 | BAE_STATUS |= 0x00040000; |
| sakthipriya | 9:194afacf7449 | 734 | else if(EPS_MAIN_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 735 | BAE_STATUS &= 0xFFFBFFFF; |
| sakthipriya | 5:bb592f3185cc | 736 | |
| sakthipriya | 5:bb592f3185cc | 737 | |
| sakthipriya | 9:194afacf7449 | 738 | if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS |
| sakthipriya | 5:bb592f3185cc | 739 | BAE_STATUS |= 0x00020000; |
| sakthipriya | 9:194afacf7449 | 740 | else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 741 | BAE_STATUS &= 0xFFFDFFFF; |
| sakthipriya | 5:bb592f3185cc | 742 | |
| sakthipriya | 5:bb592f3185cc | 743 | |
| sakthipriya | 9:194afacf7449 | 744 | if (EPS_BATTERY_TEMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS |
| sakthipriya | 5:bb592f3185cc | 745 | BAE_STATUS |= 0x00080000; |
| sakthipriya | 9:194afacf7449 | 746 | else if(EPS_BATTERY_TEMP_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 747 | BAE_STATUS &= 0xFFF7FFFF; |
| sakthipriya | 5:bb592f3185cc | 748 | |
| sakthipriya | 5:bb592f3185cc | 749 | if (EPS_STATUS==0) |
| sakthipriya | 5:bb592f3185cc | 750 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP |
| sakthipriya | 5:bb592f3185cc | 751 | else if (EPS_STATUS==1) |
| sakthipriya | 5:bb592f3185cc | 752 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED |
| sakthipriya | 5:bb592f3185cc | 753 | else if (EPS_STATUS==2) |
| sakthipriya | 5:bb592f3185cc | 754 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF |
| sakthipriya | 5:bb592f3185cc | 755 | else if (EPS_STATUS==3) |
| sakthipriya | 5:bb592f3185cc | 756 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON |
| sakthipriya | 5:bb592f3185cc | 757 | else if (EPS_STATUS==4) |
| sakthipriya | 5:bb592f3185cc | 758 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF |
| sakthipriya | 5:bb592f3185cc | 759 | else if (EPS_STATUS==5) |
| sakthipriya | 5:bb592f3185cc | 760 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON |
| sakthipriya | 5:bb592f3185cc | 761 | |
| sakthipriya | 5:bb592f3185cc | 762 | |
| sakthipriya | 9:194afacf7449 | 763 | if(EPS_BATTERY_HEAT_ENABLE == 1) |
| sakthipriya | 5:bb592f3185cc | 764 | BAE_ENABLE |= 0x00000080; |
| sakthipriya | 9:194afacf7449 | 765 | else if(EPS_BATTERY_HEAT_ENABLE == 0) |
| sakthipriya | 5:bb592f3185cc | 766 | BAE_ENABLE = BAE_ENABLE &0xFFFFFF7; |
| sakthipriya | 3:07e15677a75c | 767 | |
| sakthipriya | 0:7b4c00e3912f | 768 | |
| sakthipriya | 0:7b4c00e3912f | 769 | |
| sakthipriya | 0:7b4c00e3912f | 770 | pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE); |
| sakthipriya | 0:7b4c00e3912f | 771 | } |
| sakthipriya | 0:7b4c00e3912f | 772 | |
| sakthipriya | 0:7b4c00e3912f | 773 | void FCTN_BAE_INIT() |
| sakthipriya | 0:7b4c00e3912f | 774 | { |
| lakshya | 16:f9e484dc505e | 775 | printf("\n\r Initialising BAE _________________________________________________________________________________"); |
| sakthipriya | 3:07e15677a75c | 776 | //..........intial status....// |
| Bragadeesh153 | 13:fb7facaf308b | 777 | ACS_STATE = 4; |
| sakthipriya | 9:194afacf7449 | 778 | ACS_ATS_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 779 | ACS_DATA_ACQ_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 780 | EPS_BATTERY_HEAT_ENABLE = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 781 | actual_data.power_mode=3; |
| sakthipriya | 9:194afacf7449 | 782 | //............intializing pins................// |
| sakthipriya | 9:194afacf7449 | 783 | ATS1_SW_ENABLE = 0; |
| sakthipriya | 9:194afacf7449 | 784 | ATS2_SW_ENABLE = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 785 | |
| Bragadeesh153 | 13:fb7facaf308b | 786 | DRV_XY_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 787 | DRV_Z_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 788 | TRZ_SW = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 789 | TRXY_SW = 1; |
| sakthipriya | 9:194afacf7449 | 790 | |
| sakthipriya | 3:07e15677a75c | 791 | //............................// |
| sakthipriya | 3:07e15677a75c | 792 | FCTN_ACS_INIT(); |
| lakshya | 17:fc782f7548c6 | 793 | FCTN_EPS_INIT(); |
| lakshya | 18:3662058a7c10 | 794 | FCTN_BCN_INIT(); |
| sakthipriya | 3:07e15677a75c | 795 | |
| sakthipriya | 3:07e15677a75c | 796 | |
| sakthipriya | 0:7b4c00e3912f | 797 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 798 | } |
| sakthipriya | 0:7b4c00e3912f | 799 | |
| sakthipriya | 0:7b4c00e3912f | 800 | int main() |
| sakthipriya | 0:7b4c00e3912f | 801 | { |
| sakthipriya | 0:7b4c00e3912f | 802 | pc.printf("\n\r BAE Activated. Testing Version 1.1 \n"); |
| Bragadeesh153 | 13:fb7facaf308b | 803 | CDMS_RESET = 1; |
| lakshya | 14:a9588f443f1a | 804 | /*if (BCN_FEN == 0) //dummy implementation |
| sakthipriya | 0:7b4c00e3912f | 805 | { |
| sakthipriya | 0:7b4c00e3912f | 806 | pc.printf("\n\r RF silence "); |
| Bragadeesh153 | 12:af1d7e18b868 | 807 | FCTN_BCN_FEN(); |
| sakthipriya | 0:7b4c00e3912f | 808 | t_rfsilence.start();//Start the timer for RF_Silence |
| sakthipriya | 0:7b4c00e3912f | 809 | while(t_rfsilence.read() < RF_SILENCE_TIME); |
| sakthipriya | 0:7b4c00e3912f | 810 | } |
| sakthipriya | 0:7b4c00e3912f | 811 | */ |
| sakthipriya | 3:07e15677a75c | 812 | |
| sakthipriya | 9:194afacf7449 | 813 | //ACS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 814 | //ACS_DATA_ACQ_STATUS = 0; |
| Bragadeesh153 | 13:fb7facaf308b | 815 | |
| Bragadeesh153 | 13:fb7facaf308b | 816 | |
| sakthipriya | 9:194afacf7449 | 817 | |
| Bragadeesh153 | 13:fb7facaf308b | 818 | //FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 819 | FCTN_BAE_INIT(); |
| sakthipriya | 3:07e15677a75c | 820 | |
| sakthipriya | 0:7b4c00e3912f | 821 | |
| sakthipriya | 0:7b4c00e3912f | 822 | //...i2c.. |
| sakthipriya | 3:07e15677a75c | 823 | //strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end"); |
| sakthipriya | 0:7b4c00e3912f | 824 | slave.address(addr); |
| sakthipriya | 0:7b4c00e3912f | 825 | irpt_2_mstr = 0; |
| sakthipriya | 0:7b4c00e3912f | 826 | |
| sakthipriya | 0:7b4c00e3912f | 827 | ptr_t_i2c = new Thread(T_TC); |
| sakthipriya | 0:7b4c00e3912f | 828 | ptr_t_i2c->set_priority(osPriorityHigh); |
| sakthipriya | 5:bb592f3185cc | 829 | |
| sakthipriya | 0:7b4c00e3912f | 830 | irpt_4m_mstr.enable_irq(); |
| sakthipriya | 0:7b4c00e3912f | 831 | irpt_4m_mstr.rise(&FCTN_I2C_ISR); |
| sakthipriya | 5:bb592f3185cc | 832 | // ir1.fall(&ir1clear); //Battery Gauge - Alert Bar Signal |
| lakshya | 14:a9588f443f1a | 833 | /* ir2.fall(&ir2clear); //TRXY Driver TR switch Fault |
| lakshya | 14:a9588f443f1a | 834 | ir3.fall(&ir3clear); //TRZ Driver Fault Bar |
| lakshya | 14:a9588f443f1a | 835 | ir4.fall(&ir4clear); //TRZ Driver TR switch Fault |
| lakshya | 14:a9588f443f1a | 836 | ir5.fall(&ir5clear); //CDMS - Switch Fault |
| lakshya | 14:a9588f443f1a | 837 | ir6.fall(&ir6clear); //Beacon- Switch OC bar |
| lakshya | 14:a9588f443f1a | 838 | ir7.fall(&ir7clear); //Charger IC - Fault Bar |
| lakshya | 14:a9588f443f1a | 839 | |
| lakshya | 14:a9588f443f1a | 840 | */ |
| sakthipriya | 0:7b4c00e3912f | 841 | RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread |
| sakthipriya | 0:7b4c00e3912f | 842 | t_sc_timer.start(10000); |
| sakthipriya | 0:7b4c00e3912f | 843 | t_start.start(); |
| sakthipriya | 0:7b4c00e3912f | 844 | pc.printf("\n\rStarted scheduler %f\n\r",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 845 | |
| lakshya | 18:3662058a7c10 | 846 | |
| lakshya | 18:3662058a7c10 | 847 | RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce); |
| lakshya | 18:3662058a7c10 | 848 | /*later change it to 30 min 1800 seconds*/ |
| lakshya | 18:3662058a7c10 | 849 | bcn_start_timer.start(10000); |
| lakshya | 18:3662058a7c10 | 850 | |
| lakshya | 18:3662058a7c10 | 851 | /*for calling bcn_fen function after 30 min as of now say 40 sec*/ |
| lakshya | 18:3662058a7c10 | 852 | /*but it will be called again and again */ |
| lakshya | 18:3662058a7c10 | 853 | |
| lakshya | 18:3662058a7c10 | 854 | /// even this doesn't work if(t_start.read()>38 && t_start.read()<43) |
| lakshya | 18:3662058a7c10 | 855 | /// if(BCN_FEN==0) |
| lakshya | 18:3662058a7c10 | 856 | /// { |
| lakshya | 18:3662058a7c10 | 857 | /// FCTN_BCN_FEN(); |
| lakshya | 18:3662058a7c10 | 858 | /// printf("\n\r entered the condition \n"); |
| lakshya | 18:3662058a7c10 | 859 | /// } |
| lakshya | 18:3662058a7c10 | 860 | |
| lakshya | 18:3662058a7c10 | 861 | // it won't work timeout_bcn.attach(&FCTN_BCN_FEN,42.0); |
| Bragadeesh153 | 13:fb7facaf308b | 862 | |
| sakthipriya | 0:7b4c00e3912f | 863 | //FCTN_BAE_INIT(); |
| sakthipriya | 0:7b4c00e3912f | 864 | while(1); //required to prevent main from terminating |
| sakthipriya | 3:07e15677a75c | 865 | } |
| sakthipriya | 3:07e15677a75c | 866 |