BAE_QM_MAR9

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Team Fox / Mbed 2 deprecated BAE_QM_MAR9

Dependencies: FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

main.cpp@57:60e8f00d93c3, 2016-09-04 (annotated)

Committer:: lakshya
Date:: Sun Sep 04 13:08:33 2016 +0000
Revision:: 57:60e8f00d93c3
Parent:: 55:6ea0d7e9fce2
Child:: 59:0fc0bfafaa9f

latest code to be dumped_ ; scaling for the voltage and current values; checking

Who changed what in which revision?

User	Revision	Line number	New contents of line
lakshya	49:61c9f28332ba	1
lakshya	49:61c9f28332ba	2
sakthipriya	0:7b4c00e3912f	3	#include "mbed.h"
sakthipriya	0:7b4c00e3912f	4	#include "rtos.h"
sakthipriya	0:7b4c00e3912f	5	#include "pin_config.h"
sakthipriya	0:7b4c00e3912f	6	#include "ACS.h"
sakthipriya	0:7b4c00e3912f	7	#include "EPS.h"
sakthipriya	0:7b4c00e3912f	8	#include "BCN.h"
lakshya	49:61c9f28332ba	9	Serial pc(USBTX,USBRX);
lakshya	49:61c9f28332ba	10
sakthipriya	0:7b4c00e3912f	11	#include "TCTM.h"
lakshya	47:d59ba66229ce	12	#define tm_len 134
lakshya	47:d59ba66229ce	13	#define tc_len 135
sakthipriya	0:7b4c00e3912f	14	#define batt_heat_low 20
lakshya	22:950dbe9fbeb8	15	#define print 1
lakshya	39:670133e7ffd8	16	#define PRINT2 1
lakshya	39:670133e7ffd8	17	#define baby 1
lakshya	39:670133e7ffd8	18	#define baby2 1
lakshya	49:61c9f28332ba	19	#define SBC 1
lakshya	49:61c9f28332ba	20
lakshya	49:61c9f28332ba	21
lakshya	49:61c9f28332ba	22
lakshya	49:61c9f28332ba	23	Timer timer_FCTN_ACS_GENPWM_MAIN;
lakshya	49:61c9f28332ba	24	Timer timer_FCTN_ACS_CNTRLALGO;
lakshya	49:61c9f28332ba	25	Timer timer_FCTN_BAE_INIT;
lakshya	49:61c9f28332ba	26	Timer timer_FLASH_INI;
lakshya	49:61c9f28332ba	27	Timer timer_FCTN_ACS_INIT;
lakshya	49:61c9f28332ba	28	Timer timer_FCTN_EPS_INIT;
lakshya	49:61c9f28332ba	29	Timer timer_FCTN_BCN_INIT;
lakshya	49:61c9f28332ba	30	Timer timer_F_ACS;
lakshya	49:61c9f28332ba	31	Timer timer_FCTN_ATS_DATA_ACQ;
lakshya	49:61c9f28332ba	32	extern Timer timer_SENSOR_INIT;
lakshya	49:61c9f28332ba	33	extern Timer timer_CONFIG_UPLOAD;
lakshya	49:61c9f28332ba	34	extern Timer timer_SENSOR_DATA_ACQ;
lakshya	49:61c9f28332ba	35	extern Timer timer_controlmodes;
lakshya	49:61c9f28332ba	36
lakshya	49:61c9f28332ba	37	Timer timer_F_ESP;
lakshya	49:61c9f28332ba	38	Timer timer_minMaxHkData;
lakshya	49:61c9f28332ba	39	Timer timer_FCTN_APPEND_HKDATA;
lakshya	49:61c9f28332ba	40	Timer timer_FCTN_EPS_HANDLE_CDMS_FAULT;
lakshya	49:61c9f28332ba	41	Timer timer_FCTN_EPS_HANDLE_HW_FAULTS;
lakshya	49:61c9f28332ba	42	Timer timer_FCTN_HK_MAIN;
lakshya	49:61c9f28332ba	43	Timer timer_FCTN_BATTERYGAUGE_MAIN;
lakshya	49:61c9f28332ba	44	Timer timer_FCTN_BATT_TEMP_SENSOR_MAIN;
lakshya	49:61c9f28332ba	45	extern Timer timer_alertFlags;
lakshya	49:61c9f28332ba	46	extern Timer timer_soc;
lakshya	49:61c9f28332ba	47	extern Timer timer_FCTN_BATTERYGAUGE_INIT;
lakshya	49:61c9f28332ba	48
lakshya	49:61c9f28332ba	49
lakshya	49:61c9f28332ba	50	Timer timer_F_BCN;
lakshya	49:61c9f28332ba	51	Timer timer_FCTN_BCN_TX_MAIN;
lakshya	49:61c9f28332ba	52	extern Timer timer_Init_BEACON_HW;
lakshya	49:61c9f28332ba	53	extern Timer timer_Set_BCN_TX_STATUS_DISABLED;
lakshya	49:61c9f28332ba	54	extern Timer timer_Set_BCN_TX_STATUS_SUSPENDED;
lakshya	49:61c9f28332ba	55	extern Timer timer_Set_BCN_TX_STATUS_RF_SILENCE;
lakshya	49:61c9f28332ba	56	extern Timer timer_Set_BCN_TX_STATUS_SUCCESS;
lakshya	49:61c9f28332ba	57	extern Timer timer_Set_BCN_TX_STATUS_FAILURE;
lakshya	49:61c9f28332ba	58
lakshya	49:61c9f28332ba	59
sakthipriya	9:194afacf7449	60
lakshya	33:76f2b8735501	61	#define DISABLE_WDOG 0;
lakshya	33:76f2b8735501	62
lakshya	33:76f2b8735501	63	void kick_WDOG()
lakshya	33:76f2b8735501	64	{
lakshya	33:76f2b8735501	65	SIM->SRVCOP=0x55;
lakshya	33:76f2b8735501	66	SIM->SRVCOP=0xAA;
lakshya	33:76f2b8735501	67	printf("\n\rkicked");
lakshya	33:76f2b8735501	68	}
lakshya	33:76f2b8735501	69
lakshya	33:76f2b8735501	70	void init_WDOG()
lakshya	33:76f2b8735501	71	{
lakshya	33:76f2b8735501	72	SIM->COPC=0x0C;
lakshya	33:76f2b8735501	73	kick_WDOG();
lakshya	33:76f2b8735501	74	}
lakshya	33:76f2b8735501	75
lakshya	49:61c9f28332ba	76	DigitalOut time_wdog(PIN68,0);// for determining the time between code
lakshya	20:949d13045431	77
lakshya	19:79e69017c855	78	//********************************************GLOBAL RTOS TIMER*******************************************************//
lakshya	19:79e69017c855	79	RtosTimer *BAE_STANDBY_STATUS_TIMER;
lakshya	19:79e69017c855	80
lakshya	20:949d13045431	81
lakshya	20:949d13045431	82	//bcn heater rtostimers=============================================================================
lakshya	20:949d13045431	83	RtosTimer *HTR_OFF=NULL;
lakshya	20:949d13045431	84	RtosTimer *HTR_CYCLE=NULL;
lakshya	20:949d13045431	85	RtosTimer *HTR_DLY=NULL;
lakshya	20:949d13045431	86
lakshya	33:76f2b8735501	87	//UPTIME TIMERS
lakshya	33:76f2b8735501	88	Timer BAE_uptime;
lakshya	33:76f2b8735501	89	Timer I2C_last;
lakshya	33:76f2b8735501	90
lakshya	33:76f2b8735501	91	void RETURN_UPTIME(float time, uint8_t day,uint8_t hour,uint8_t *min)
lakshya	33:76f2b8735501	92	{
lakshya	33:76f2b8735501	93	day = time/(360024);
lakshya	33:76f2b8735501	94	time = (int)time % (3600*24);
lakshya	33:76f2b8735501	95	*hour = time/(3600);
lakshya	33:76f2b8735501	96	time = (int)time % (3600);
lakshya	33:76f2b8735501	97	*min = time/60;
lakshya	33:76f2b8735501	98	}
lakshya	33:76f2b8735501	99
lakshya	49:61c9f28332ba	100	extern DigitalOut BTRY_HTR_ENABLE;
lakshya	49:61c9f28332ba	101	int eps_btg_read_flag; // flag to check I2C ack on reading from BTG
lakshya	49:61c9f28332ba	102	int eps_btg_writ_flag; // flag to check I2C ack on writing from BTG
lakshya	20:949d13045431	103
lakshya	20:949d13045431	104	uint8_t HTR_CYCLE_COUNTS=0; //Count of heater cycles
lakshya	20:949d13045431	105	uint8_t HTR_CYCLE_START_DLY=0; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya	20:949d13045431	106	uint8_t HTR_ON_DURATION=0; //EPS_HTR_OFF timer duration in minutes
lakshya	20:949d13045431	107	uint16_t HTR_CYCLE_PERIOD =0; //EPS_HTR_CYCLE timer duration - MSB minutes, LSB seconds
lakshya	20:949d13045431	108	uint8_t HTR_CYCLE_COUNTER = 0 ;
lakshya	20:949d13045431	109
lakshya	20:949d13045431	110	uint32_t HTR_CYCLE_PERIOD_DECODER() //To convert HTR_CYCLE_PERIOD to millisecs
lakshya	20:949d13045431	111	{
lakshya	20:949d13045431	112	uint8_t PERIOD_mins, PERIOD_secs;
lakshya	20:949d13045431	113	//pc.printf("\n\r FCTN_HTR_CYCLE_PERIOD");
lakshya	20:949d13045431	114	PERIOD_secs = HTR_CYCLE_PERIOD;
lakshya	20:949d13045431	115	PERIOD_mins = HTR_CYCLE_PERIOD >> 8;
lakshya	20:949d13045431	116	uint32_t period = 1000((int)PERIOD_mins 60 + (int)PERIOD_secs);
lakshya	20:949d13045431	117
lakshya	20:949d13045431	118	return period;
lakshya	20:949d13045431	119	}
lakshya	20:949d13045431	120
lakshya	20:949d13045431	121	void FCTN_EPS_HTR_CYCLE(void const *arg)
lakshya	20:949d13045431	122	{
lakshya	33:76f2b8735501	123	BTRY_HTR_ENABLE = 1;//assuming its active high check
lakshya	20:949d13045431	124	//pc.printf("\n\r on kar diya");
lakshya	20:949d13045431	125	//pc.printf("\n\r FCTN_EPS_HTR_CYCLE");
lakshya	20:949d13045431	126	//tim.reset();
lakshya	20:949d13045431	127	//tim.start();
lakshya	20:949d13045431	128	//HTR_OFF->start(((uint32_t)HTR_ON_DURATION)*1000);
lakshya	20:949d13045431	129	HTR_OFF->start((int)HTR_ON_DURATION601000);
lakshya	20:949d13045431	130	}
lakshya	20:949d13045431	131
lakshya	20:949d13045431	132	void FCTN_EPS_HTR_DLY(void const* arg)
lakshya	20:949d13045431	133	{
lakshya	33:76f2b8735501	134	BTRY_HTR_ENABLE = 1;
lakshya	20:949d13045431	135	HTR_CYCLE_COUNTER = 0;
lakshya	20:949d13045431	136	HTR_OFF->start(((int)HTR_ON_DURATION601000));
lakshya	20:949d13045431	137	//pc.printf("\n\r on kar diya");
lakshya	20:949d13045431	138	//pc.printf("\n\r FCTN_EPS_HTR_DLY");
lakshya	20:949d13045431	139	//tim.start();
lakshya	20:949d13045431	140	HTR_CYCLE->start((uint32_t)HTR_CYCLE_PERIOD_DECODER);
lakshya	20:949d13045431	141	}
lakshya	20:949d13045431	142
lakshya	20:949d13045431	143	void FCTN_EPS_HTR_OFF(void const *arg)
lakshya	20:949d13045431	144	{
lakshya	33:76f2b8735501	145	BTRY_HTR_ENABLE = 0;
lakshya	20:949d13045431	146	//tim.stop();
lakshya	20:949d13045431	147	//pc.printf("\n\r off kar diya");
lakshya	20:949d13045431	148	//pc.printf("\n\r the timer value is %f",tim.read());
lakshya	20:949d13045431	149	//tim.reset();
lakshya	20:949d13045431	150	if(HTR_CYCLE_COUNTS != 0xFF)
lakshya	20:949d13045431	151	{
lakshya	20:949d13045431	152	HTR_CYCLE_COUNTER++;
lakshya	20:949d13045431	153	if( HTR_CYCLE_COUNTER == (int)HTR_CYCLE_COUNTS)//HTR_CYCLE_COUNTS )
lakshya	20:949d13045431	154	HTR_CYCLE->stop();
lakshya	20:949d13045431	155	}
lakshya	20:949d13045431	156	}
lakshya	20:949d13045431	157
lakshya	20:949d13045431	158	//====================================================================================================
lakshya	20:949d13045431	159
lakshya	20:949d13045431	160	//fctn to pass the data to bcn long type
lakshya	33:76f2b8735501	161	//uint8_t CDMS_HK_data[134]; now implemented as LONG_HK_data[0][134];
lakshya	33:76f2b8735501	162	uint8_t LONG_HK_data[2][134];
lakshya	20:949d13045431	163	void FCTN_CDMS_HK_TC(uint8_t tc[])
lakshya	20:949d13045431	164	{
lakshya	20:949d13045431	165	for(int i=0;i<134;i++)
lakshya	33:76f2b8735501	166	LONG_HK_data[0][i] = tc[i];
lakshya	20:949d13045431	167	}
lakshya	20:949d13045431	168
lakshya	20:949d13045431	169	uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off.
lakshya	20:949d13045431	170
lakshya	19:79e69017c855	171	void BAE_STANDBY_STATUS_RESET(const void* arg)
lakshya	19:79e69017c855	172	{
lakshya	19:79e69017c855	173	printf("\n\rBAE standby reset to 0x00");
lakshya	19:79e69017c855	174	BAE_STANDBY=0x00;
lakshya	19:79e69017c855	175	}
lakshya	19:79e69017c855	176
lakshya	20:949d13045431	177
lakshya	19:79e69017c855	178	/no problem in first stopping and then starting even when for the first time/
lakshya	19:79e69017c855	179	void BAE_STANDBY_TIMER_RESET()
lakshya	19:79e69017c855	180	{
lakshya	19:79e69017c855	181	BAE_STANDBY_STATUS_TIMER->stop();
lakshya	19:79e69017c855	182	BAE_STANDBY_STATUS_TIMER->start(30000);//20 min ie 20*60=1200 sec or 1200,000 milisec but for testing setting it to 30sec
lakshya	19:79e69017c855	183	}
lakshya	19:79e69017c855	184
lakshya	20:949d13045431	185	extern void gen_I_TM();
lakshya	20:949d13045431	186
lakshya	20:949d13045431	187	//************* FLAGS **************************//
sakthipriya	0:7b4c00e3912f	188	uint32_t BAE_STATUS = 0x00000000;
sakthipriya	0:7b4c00e3912f	189	uint32_t BAE_ENABLE = 0xFFFFFFFF;
sakthipriya	0:7b4c00e3912f	190
sakthipriya	5:bb592f3185cc	191	//i2c//
sakthipriya	5:bb592f3185cc	192	char data_send_flag = 'h';
lakshya	20:949d13045431	193	//uint8_t BAE_MNG_I2C_STATUS = 0;
sakthipriya	5:bb592f3185cc	194
lakshya	20:949d13045431	195	//BAE
lakshya	19:79e69017c855	196	uint8_t BAE_INIT_STATUS=0;
lakshya	20:949d13045431	197	uint8_t BAE_MNG_I2C_STATUS=0;
sakthipriya	0:7b4c00e3912f	198
sakthipriya	9:194afacf7449	199
lakshya	20:949d13045431	200	//ACS
sakthipriya	9:194afacf7449	201	uint8_t ACS_INIT_STATUS = 0;
sakthipriya	9:194afacf7449	202	uint8_t ACS_DATA_ACQ_STATUS = 0;
lakshya	20:949d13045431	203	uint8_t ACS_ATS_STATUS = 0x73;
sakthipriya	9:194afacf7449	204	uint8_t ACS_MAIN_STATUS = 0;
sakthipriya	9:194afacf7449	205	uint8_t ACS_STATUS = 0;
lakshya	20:949d13045431	206	uint8_t ACS_DETUMBLING_ALGO_TYPE = 0;
sakthipriya	9:194afacf7449	207	uint8_t ACS_ATS_ENABLE = 1;
sakthipriya	9:194afacf7449	208	uint8_t ACS_DATA_ACQ_ENABLE = 1;
lakshya	49:61c9f28332ba	209	uint8_t ACS_STATE = 3;
lakshya	19:79e69017c855	210
lakshya	20:949d13045431	211	extern uint16_t ACS_MM_X_COMSN;
lakshya	20:949d13045431	212	extern uint16_t ACS_MM_Y_COMSN;
lakshya	20:949d13045431	213	extern uint16_t ACS_MG_X_COMSN;
lakshya	20:949d13045431	214	extern uint16_t ACS_MG_Y_COMSN;
lakshya	20:949d13045431	215	extern uint16_t ACS_MM_Z_COMSN;
lakshya	20:949d13045431	216	extern uint16_t ACS_MG_Z_COMSN;
lakshya	20:949d13045431	217
lakshya	27:61c856be467e	218	extern uint8_t controlmode_mms;
lakshya	49:61c9f28332ba	219	extern uint8_t B_SCZ_ANGLE;
lakshya	20:949d13045431	220	//BCN
lakshya	18:3662058a7c10	221	extern uint8_t BCN_FEN;
lakshya	18:3662058a7c10	222	extern void FCTN_BCN_FEN(void const *args);
lakshya	20:949d13045431	223	extern void LONG_BCN_DATA(uint8_t* );
lakshya	20:949d13045431	224	extern uint16_t gencrc16_for_me();//for calculating the crc of baehk data before sendingkk as including crc causes problem
lakshya	48:9fd15e3e0b53	225	extern DigitalOut BTRY_HTR_ENABLE;
lakshya	20:949d13045431	226
lakshya	20:949d13045431	227
lakshya	18:3662058a7c10	228	Timeout timeout_bcn;
lakshya	19:79e69017c855	229	/long beacon data/sending/
lakshya	19:79e69017c855	230	/be sure it is created in bcn.cpp/
sakthipriya	0:7b4c00e3912f	231
lakshya	20:949d13045431	232	//EPS
sakthipriya	9:194afacf7449	233	uint8_t EPS_INIT_STATUS = 0;
sakthipriya	9:194afacf7449	234	uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
sakthipriya	9:194afacf7449	235	uint8_t EPS_MAIN_STATUS = 0;
lakshya	33:76f2b8735501	236	uint8_t EPS_BTRY_TMP_STATUS = 0;/// to be diss
sakthipriya	9:194afacf7449	237	uint8_t EPS_STATUS = 7; //invalid status
lakshya	33:76f2b8735501	238	uint8_t EPS_BTRY_HTR = 0;
sakthipriya	9:194afacf7449	239
lakshya	20:949d13045431	240	uint8_t EPS_BTRY_HTR_AUTO = 1;
lakshya	20:949d13045431	241	extern uint8_t EPS_SOC_LEVEL_12;
lakshya	20:949d13045431	242	extern uint8_t EPS_SOC_LEVEL_23;
lakshya	20:949d13045431	243	extern uint8_t EPS_BAT_TEMP_LOW;
lakshya	20:949d13045431	244	extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya	20:949d13045431	245	extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya	33:76f2b8735501	246	float EPS_BTRY_TMP_AVG;
lakshya	49:61c9f28332ba	247	extern DigitalOut BTRY_HTR_ENABLE;
lakshya	33:76f2b8735501	248
lakshya	33:76f2b8735501	249	//extern void FCTN_BATTERYGAUGE_MAIN(float*Battery_parameters);
lakshya	20:949d13045431	250
lakshya	20:949d13045431	251
lakshya	20:949d13045431	252	//********************GLOBAL DECLARATIONS******************************//
lakshya	20:949d13045431	253
lakshya	20:949d13045431	254	//CDMS
lakshya	20:949d13045431	255	//eps cdms fault
lakshya	20:949d13045431	256	uint8_t CDMS_SW_STATUS;
lakshya	48:9fd15e3e0b53	257	DigitalIn CDMS_OC_FAULT(PIN79);
lakshya	20:949d13045431	258	bool CDMS_SW_ENABLE;
lakshya	20:949d13045431	259	int CDMS_FAULT_COUNTER = 0;
lakshya	20:949d13045431	260
lakshya	20:949d13045431	261
lakshya	20:949d13045431	262	//BAE new hk structure- everything has to changed based on this
lakshya	20:949d13045431	263	char BAE_chardata[74];
lakshya	33:76f2b8735501	264	// uint8_t LONG_HK_data[2][134];
lakshya	33:76f2b8735501	265	//uint8_t BAE_HK_data[134]; now known as LONG_HK_data[1][i];
lakshya	20:949d13045431	266	uint8_t BAE_RESET_COUNTER;// INITIALIZATION or do you want to initialize evertime the main is reset? or is it same
lakshya	20:949d13045431	267	uint16_t BAE_I2C_COUNTER = 0;//change/apply
lakshya	20:949d13045431	268	//uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off.
lakshya	20:949d13045431	269
lakshya	20:949d13045431	270	//BCN
lakshya	20:949d13045431	271	//uint16_t BCN_TX_MAIN_COUNTER = 0;
lakshya	20:949d13045431	272	uint8_t BCN_LONG_MSG_TYPE = 1;
sakthipriya	0:7b4c00e3912f	273
lakshya	49:61c9f28332ba	274	DigitalIn BCN_TX_OC_FAULT(PIN80);
lakshya	20:949d13045431	275	int BCN_TX_FAULT_COUNTER;
lakshya	20:949d13045431	276
lakshya	20:949d13045431	277	//ACS
lakshya	20:949d13045431	278	uint16_t ACS_MAIN_COUNTER = 0;
lakshya	20:949d13045431	279
lakshya	20:949d13045431	280	//eps hw faults
lakshya	20:949d13045431	281	//uint8_t ACS_TR_Z_SW_STATUS;
Bragadeesh153	52:daa685b0e390	282	DigitalOut ACS_TR_Z_ENABLE(PIN40,0);
lakshya	48:9fd15e3e0b53	283	DigitalIn ACS_TR_Z_OC_FAULT(PIN91);
lakshya	48:9fd15e3e0b53	284	DigitalIn ACS_TR_Z_FAULT(PIN89); //Driver IC fault
lakshya	20:949d13045431	285	int ACS_TR_Z_FAULT_COUNTER = 0;
sakthipriya	0:7b4c00e3912f	286
lakshya	49:61c9f28332ba	287
lakshya	49:61c9f28332ba	288	InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
lakshya	49:61c9f28332ba	289	DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
Bragadeesh153	52:daa685b0e390	290
lakshya	49:61c9f28332ba	291
Bragadeesh153	52:daa685b0e390	292
lakshya	49:61c9f28332ba	293
lakshya	20:949d13045431	294	//uint8_t ACS_TR_XY_SW_STATUS;
Bragadeesh153	52:daa685b0e390	295	DigitalOut ACS_TR_XY_ENABLE(PIN71,0);
Bragadeesh153	52:daa685b0e390	296	DigitalIn ACS_TR_XY_OC_FAULT(PIN77);
lakshya	48:9fd15e3e0b53	297	DigitalIn ACS_TR_XY_FAULT(PIN83); //Driver IC fault
lakshya	20:949d13045431	298	int ACS_TR_XY_FAULT_COUNTER = 0;
lakshya	20:949d13045431	299
lakshya	20:949d13045431	300	//bool ACS_ATS1_ENABLE;
Bragadeesh153	52:daa685b0e390	301	DigitalIn ACS_ATS1_OC_FAULT(PIN39);
lakshya	48:9fd15e3e0b53	302	int ACS_TS1_FAULT_COUNTER = 0;
lakshya	20:949d13045431	303
lakshya	20:949d13045431	304	//bool ACS_ATS2_ENABLE;
Bragadeesh153	52:daa685b0e390	305	DigitalIn ACS_ATS2_OC_FAULT(PIN41);
lakshya	20:949d13045431	306	int ACS_ATS2_FAULT_COUNTER;
lakshya	20:949d13045431	307
lakshya	20:949d13045431	308	//EPS
lakshya	20:949d13045431	309	int EPS_MAIN_COUNTER = 0;
lakshya	20:949d13045431	310
lakshya	20:949d13045431	311
lakshya	20:949d13045431	312	//GEN DEC FOR TESTING or to be DECIDED whre to ASSIGN HERE
sakthipriya	0:7b4c00e3912f	313	const int addr = 0x20; //slave address
sakthipriya	0:7b4c00e3912f	314	Timer t_rfsilence;
sakthipriya	0:7b4c00e3912f	315	Timer t_start;
lakshya	19:79e69017c855	316	/defined as of now to check execution time/
lakshya	19:79e69017c855	317	/remember to remove them/
lakshya	19:79e69017c855	318	Timer t_acs;
lakshya	19:79e69017c855	319	Timer t_eps;
lakshya	20:949d13045431	320	//Timer t_tc;
sakthipriya	7:a46a1dee4497	321	Timer t_tm;
lakshya	49:61c9f28332ba	322
sakthipriya	0:7b4c00e3912f	323	int power_flag_dummy=2;
sakthipriya	0:7b4c00e3912f	324	float data[6];
sakthipriya	0:7b4c00e3912f	325
lakshya	20:949d13045431	326
lakshya	20:949d13045431	327	//***********EXTERN PARA******
lakshya	20:949d13045431	328
lakshya	20:949d13045431	329	//BAE
lakshya	20:949d13045431	330
sakthipriya	1:446a959e36ce	331	extern BAE_HK_actual actual_data;
sakthipriya	1:446a959e36ce	332	extern BAE_HK_quant quant_data;
sakthipriya	1:446a959e36ce	333	extern BAE_HK_min_max bae_HK_minmax;
sakthipriya	1:446a959e36ce	334	extern BAE_HK_arch arch_data;
sakthipriya	0:7b4c00e3912f	335
lakshya	20:949d13045431	336
lakshya	20:949d13045431	337	//BCN
lakshya	20:949d13045431	338	extern uint8_t BCN_FEN;
lakshya	20:949d13045431	339	extern uint8_t BCN_TX_SW_STATUS;
lakshya	20:949d13045431	340	extern uint8_t BCN_SPND_TX;
lakshya	20:949d13045431	341
lakshya	20:949d13045431	342
lakshya	20:949d13045431	343	//TCTM
lakshya	49:61c9f28332ba	344	extern uint8_t telemetry[tm_len];
lakshya	20:949d13045431	345
lakshya	20:949d13045431	346
lakshya	20:949d13045431	347	//ACS
lakshya	20:949d13045431	348	extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya	20:949d13045431	349	extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya	20:949d13045431	350	extern float gyro_data[3];
lakshya	20:949d13045431	351	extern float mag_data[3];
lakshya	20:949d13045431	352	extern float moment[3];
lakshya	20:949d13045431	353	extern float b_old[3]; // Unit: Tesla
lakshya	20:949d13045431	354	extern float db[3];
lakshya	20:949d13045431	355	extern uint8_t flag_firsttime;
lakshya	20:949d13045431	356	extern uint8_t ACS_MAG_TIME_DELAY;
lakshya	20:949d13045431	357	extern uint8_t ACS_DEMAG_TIME_DELAY;
lakshya	20:949d13045431	358	extern uint16_t ACS_Z_FIXED_MOMENT;
lakshya	20:949d13045431	359
lakshya	39:670133e7ffd8	360	int write_ack;
lakshya	39:670133e7ffd8	361	int read_ack;
sakthipriya	0:7b4c00e3912f	362	char telecommand[tc_len];
lakshya	20:949d13045431	363
sakthipriya	5:bb592f3185cc	364
sakthipriya	5:bb592f3185cc	365	bool pf1check = 0;
sakthipriya	5:bb592f3185cc	366	bool pf2check = 0;
sakthipriya	5:bb592f3185cc	367	bool if1check = 0;
lakshya	14:a9588f443f1a	368	bool if2check = 0;
sakthipriya	0:7b4c00e3912f	369
lakshya	20:949d13045431	370	//ASSIGNING PINS//
Bragadeesh153	52:daa685b0e390	371	DigitalOut ATS1_SW_ENABLE(PIN90,1); // enable of att sens2 switch
Bragadeesh153	52:daa685b0e390	372	DigitalOut ATS2_SW_ENABLE(PIN61,0); // enable of att sens switch
lakshya	49:61c9f28332ba	373	////InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
lakshya	49:61c9f28332ba	374	////DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya	14:a9588f443f1a	375	I2CSlave slave (PIN1,PIN2);///pin1 pin2
lakshya	20:949d13045431	376	//DigitalOut batt_heat(PIN96);
sakthipriya	0:7b4c00e3912f	377
sakthipriya	9:194afacf7449	378	//ATS1_SW_ENABLE = 0;
sakthipriya	0:7b4c00e3912f	379	PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya	0:7b4c00e3912f	380	PwmOut PWM2(PIN94); //y
sakthipriya	0:7b4c00e3912f	381	PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya	0:7b4c00e3912f	382
sakthipriya	5:bb592f3185cc	383	//........faults
sakthipriya	5:bb592f3185cc	384	//Polled Faults
lakshya	48:9fd15e3e0b53	385	//DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
lakshya	48:9fd15e3e0b53	386	//DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
lakshya	48:9fd15e3e0b53	387	//DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya	5:bb592f3185cc	388
Bragadeesh153	52:daa685b0e390	389
Bragadeesh153	52:daa685b0e390	390	DigitalOut DRV_XY_EN(PIN82,0); // DRV XY en
Bragadeesh153	52:daa685b0e390	391	//DigitalOut TRXY_SW(PIN71,0); //TR XY Switch
Bragadeesh153	52:daa685b0e390	392	DigitalOut DRV_Z_EN(PIN88,0); //Sleep pin of driver z //DISABLE by default
Bragadeesh153	52:daa685b0e390	393	//DigitalOut TRZ_SW(PIN40,0); //TR Z Switch
Bragadeesh153	52:daa685b0e390	394
lakshya	19:79e69017c855	395	DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET
Bragadeesh153	52:daa685b0e390	396
Bragadeesh153	52:daa685b0e390	397	DigitalOut CDMS_OC_ENA(PIN70,1);
sakthipriya	0:7b4c00e3912f	398
Bragadeesh153	52:daa685b0e390	399	DigitalOut BCN_SW(PIN65,1); //IN TEMPORARY SBC
Bragadeesh153	52:daa685b0e390	400	//DigitalOut BCN_SW(PIN14,1); //Beacon switch //IN QM SBC, TO BE CHANGED
lakshya	20:949d13045431	401
lakshya	20:949d13045431	402	//================================================================================
lakshya	20:949d13045431	403	//default flash array some filler bits added (detail in MMS file)
Bragadeesh153	52:daa685b0e390	404	uint32_t ARR_INITIAL_VAL[8]={0x73532600,0x505A4141,0x1A1A1400,0x00000000,0x00000000,0x00000000,0xCBA20000,0x00000000};//to be done
lakshya	20:949d13045431	405
lakshya	20:949d13045431	406	void FLASH_INI()
lakshya	20:949d13045431	407	{
lakshya	49:61c9f28332ba	408	uint32_t read[8];
lakshya	20:949d13045431	409	for(int i=0;i<8;i++)
lakshya	20:949d13045431	410	{
lakshya	20:949d13045431	411	read[i] = FCTN_BAE_RD_FLASH_ENTITY(i);
lakshya	22:950dbe9fbeb8	412	//printf("\n\r val is read after starting %x ",read[i]);
lakshya	20:949d13045431	413	}
lakshya	20:949d13045431	414
lakshya	20:949d13045431	415	if(read[0] == -1)
lakshya	20:949d13045431	416	for(int j=0;j<8;j++)
lakshya	20:949d13045431	417	{
lakshya	20:949d13045431	418	FCTN_BAE_WR_FLASH(j,ARR_INITIAL_VAL[j]);
lakshya	39:670133e7ffd8	419	ACS_ATS_STATUS = ARR_INITIAL_VAL[0]>>24;
lakshya	39:670133e7ffd8	420	ACS_TR_XY_SW_STATUS = ((uint8_t)(ARR_INITIAL_VAL[0]>>22))&0x03;
lakshya	39:670133e7ffd8	421	ACS_TR_Z_SW_STATUS = (ARR_INITIAL_VAL[0]>>20)&0x03;
lakshya	39:670133e7ffd8	422	ACS_STATE = (ARR_INITIAL_VAL[0]>>16)&0x0F;
lakshya	49:61c9f28332ba	423	//pc.pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya	39:670133e7ffd8	424	ACS_DETUMBLING_ALGO_TYPE = (ARR_INITIAL_VAL[0]>>15)&0x01;
lakshya	50:6001287f3045	425	BCN_TX_SW_STATUS = 1;//((uint8_t)(ARR_INITIAL_VAL[0]>>14))&0x03;
lakshya	39:670133e7ffd8	426	BCN_SPND_TX = ((uint8_t)(ARR_INITIAL_VAL[0]>>12))&0x01;
lakshya	39:670133e7ffd8	427	BCN_FEN = ((uint8_t)(ARR_INITIAL_VAL[0]>>11))&0x01;
lakshya	39:670133e7ffd8	428	BCN_LONG_MSG_TYPE = ((uint8_t)(ARR_INITIAL_VAL[0]>>10))&0x01;
lakshya	39:670133e7ffd8	429	EPS_BTRY_HTR_AUTO = ((uint8_t)(ARR_INITIAL_VAL[0]>>9))&0x03;//EPS_BATTERY_HEATER_ENABLE
lakshya	39:670133e7ffd8	430	//now one spares in telemetry[5]
lakshya	39:670133e7ffd8	431
lakshya	39:670133e7ffd8	432	//updating the reset counter
lakshya	39:670133e7ffd8	433	BAE_RESET_COUNTER = ((uint8_t)(ARR_INITIAL_VAL[0]));
lakshya	39:670133e7ffd8	434	EPS_SOC_LEVEL_12 = (uint8_t)(ARR_INITIAL_VAL[1]>>24);
lakshya	39:670133e7ffd8	435	EPS_SOC_LEVEL_23 = (uint8_t)(ARR_INITIAL_VAL[1]>>16);
lakshya	39:670133e7ffd8	436	ACS_MAG_TIME_DELAY = (uint8_t)(ARR_INITIAL_VAL[1]>>8);
lakshya	39:670133e7ffd8	437	ACS_DEMAG_TIME_DELAY = (uint8_t)ARR_INITIAL_VAL[1];
lakshya	39:670133e7ffd8	438
lakshya	39:670133e7ffd8	439	EPS_BAT_TEMP_LOW = (uint8_t)(ARR_INITIAL_VAL[2]>>24);
lakshya	39:670133e7ffd8	440	EPS_BAT_TEMP_HIGH = (uint8_t)(ARR_INITIAL_VAL[2]>>16);
lakshya	39:670133e7ffd8	441	EPS_BAT_TEMP_DEFAULT = (uint8_t)(ARR_INITIAL_VAL[2]>>8);
lakshya	39:670133e7ffd8	442
lakshya	39:670133e7ffd8	443	ACS_MM_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[3]>>16);
lakshya	39:670133e7ffd8	444	ACS_MM_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[3];
lakshya	39:670133e7ffd8	445
lakshya	39:670133e7ffd8	446	ACS_MG_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[4]>>16);
lakshya	39:670133e7ffd8	447	ACS_MG_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[4];
lakshya	39:670133e7ffd8	448
lakshya	39:670133e7ffd8	449	ACS_MM_Z_COMSN = (uint16_t)(ARR_INITIAL_VAL[5]>>16);
lakshya	39:670133e7ffd8	450	ACS_MG_Z_COMSN = (uint16_t)ARR_INITIAL_VAL[5];
lakshya	39:670133e7ffd8	451
lakshya	39:670133e7ffd8	452	ACS_Z_FIXED_MOMENT = (uint16_t)(ARR_INITIAL_VAL[6]>>16);//assignvalues
lakshya	39:670133e7ffd8	453
lakshya	39:670133e7ffd8	454	}
lakshya	20:949d13045431	455	else
lakshya	20:949d13045431	456	{
lakshya	20:949d13045431	457	for(int j=0;j<8;j++)
lakshya	20:949d13045431	458	{
lakshya	20:949d13045431	459	read[j] = FCTN_BAE_RD_FLASH_ENTITY(j);
lakshya	20:949d13045431	460	}
lakshya	20:949d13045431	461	ACS_ATS_STATUS = read[0]>>24;
lakshya	20:949d13045431	462	ACS_TR_XY_SW_STATUS = ((uint8_t)(read[0]>>22))&0x03;
lakshya	20:949d13045431	463	ACS_TR_Z_SW_STATUS = (read[0]>>20)&0x03;
lakshya	27:61c856be467e	464	ACS_STATE = (read[0]>>16)&0x0F;
lakshya	39:670133e7ffd8	465	//pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya	27:61c856be467e	466	ACS_DETUMBLING_ALGO_TYPE = (read[0]>>15)&0x01;
lakshya	50:6001287f3045	467	BCN_TX_SW_STATUS = 1;//((uint8_t)(read[0]>>13))&0x03;
lakshya	27:61c856be467e	468	BCN_SPND_TX = ((uint8_t)(read[0]>>12))&0x01;
lakshya	27:61c856be467e	469	BCN_FEN = ((uint8_t)(read[0]>>11))&0x01;
lakshya	27:61c856be467e	470	BCN_LONG_MSG_TYPE = ((uint8_t)(read[0]>>10))&0x01;
lakshya	49:61c9f28332ba	471	EPS_BTRY_HTR_AUTO = ((uint8_t)(read[0]>>9))&0x01;//EPS_BATTERY_HEATER_ENABLE
lakshya	27:61c856be467e	472	//now one spares in telemetry[5]
lakshya	20:949d13045431	473
lakshya	20:949d13045431	474	//updating the reset counter
lakshya	20:949d13045431	475	BAE_RESET_COUNTER = ((uint8_t)(read[0]))+1;
lakshya	20:949d13045431	476	read[0]=(read[0]&0xffffff00) \| (uint32_t)BAE_RESET_COUNTER;
lakshya	20:949d13045431	477	FCTN_BAE_WR_FLASH(0,read[0]);
lakshya	39:670133e7ffd8	478	pc.printf("\n\r reset counter %d",BAE_RESET_COUNTER);
lakshya	20:949d13045431	479
lakshya	20:949d13045431	480
lakshya	20:949d13045431	481	EPS_SOC_LEVEL_12 = (uint8_t)(read[1]>>24);
lakshya	20:949d13045431	482	EPS_SOC_LEVEL_23 = (uint8_t)(read[1]>>16);
lakshya	20:949d13045431	483	ACS_MAG_TIME_DELAY = (uint8_t)(read[1]>>8);
lakshya	20:949d13045431	484	ACS_DEMAG_TIME_DELAY = (uint8_t)read[1];
lakshya	20:949d13045431	485
lakshya	20:949d13045431	486	EPS_BAT_TEMP_LOW = (uint8_t)(read[2]>>24);
lakshya	20:949d13045431	487	EPS_BAT_TEMP_HIGH = (uint8_t)(read[2]>>16);
lakshya	20:949d13045431	488	EPS_BAT_TEMP_DEFAULT = (uint8_t)(read[2]>>8);
lakshya	20:949d13045431	489
lakshya	20:949d13045431	490	ACS_MM_X_COMSN = (uint16_t)(read[3]>>16);
lakshya	20:949d13045431	491	ACS_MM_Y_COMSN = (uint16_t)read[3];
lakshya	20:949d13045431	492
lakshya	20:949d13045431	493	ACS_MG_X_COMSN = (uint16_t)(read[4]>>16);
lakshya	20:949d13045431	494	ACS_MG_Y_COMSN = (uint16_t)read[4];
lakshya	20:949d13045431	495
lakshya	20:949d13045431	496	ACS_MM_Z_COMSN = (uint16_t)(read[5]>>16);
lakshya	20:949d13045431	497	ACS_MG_Z_COMSN = (uint16_t)read[5];
lakshya	20:949d13045431	498
lakshya	20:949d13045431	499	ACS_Z_FIXED_MOMENT = (uint16_t)(read[6]>>16);//assignvalues
lakshya	20:949d13045431	500
lakshya	20:949d13045431	501	}
lakshya	20:949d13045431	502
lakshya	20:949d13045431	503	}
lakshya	20:949d13045431	504	//================================================================================
lakshya	20:949d13045431	505
lakshya	20:949d13045431	506
lakshya	20:949d13045431	507
sakthipriya	0:7b4c00e3912f	508	/***************************************************************Threads USed*********************************************************************************/
sakthipriya	0:7b4c00e3912f	509	Thread *ptr_t_i2c;
sakthipriya	0:7b4c00e3912f	510
lakshya	19:79e69017c855	511
sakthipriya	0:7b4c00e3912f	512	/*******************************************************FCTN HEADERS*********************************************************************************/
sakthipriya	0:7b4c00e3912f	513	void FCTN_ISR_I2C();
sakthipriya	0:7b4c00e3912f	514	void FCTN_TM();
sakthipriya	3:07e15677a75c	515	void F_ACS();
sakthipriya	3:07e15677a75c	516	void F_EPS();
sakthipriya	3:07e15677a75c	517	void F_BCN();
sakthipriya	0:7b4c00e3912f	518
lakshya	20:949d13045431	519	//I2C
lakshya	20:949d13045431	520	uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working
lakshya	20:949d13045431	521	uint16_t crc16_check;
lakshya	20:949d13045431	522	void I2C_busreset()
lakshya	20:949d13045431	523	{
lakshya	20:949d13045431	524	PORTE->PCR[1] &= 0xfffffffb;
lakshya	20:949d13045431	525	PORTE->PCR[0] &= 0xfffffffb;
lakshya	20:949d13045431	526	I2C1->C1 &= 0x7f;
lakshya	20:949d13045431	527	SIM->SCGC4 &= 0xffffff7f;
lakshya	20:949d13045431	528	SIM->SCGC4 \|= 0x00000080;
lakshya	20:949d13045431	529	I2C1->C1 \|= 0x80;
lakshya	20:949d13045431	530	PORTE->PCR[1] \|= 0x00000004;
lakshya	20:949d13045431	531	PORTE->PCR[0] \|= 0x00000004;
lakshya	39:670133e7ffd8	532	wait_ms(1);
lakshya	20:949d13045431	533	}
lakshya	20:949d13045431	534
sakthipriya	0:7b4c00e3912f	535	//*****************************************ACS THREAD************************************************//
sakthipriya	5:bb592f3185cc	536	uint8_t iterP1;
sakthipriya	5:bb592f3185cc	537	uint8_t iterP2;
sakthipriya	5:bb592f3185cc	538	uint8_t iterI1;
sakthipriya	5:bb592f3185cc	539	uint8_t iterI2;
sakthipriya	0:7b4c00e3912f	540
lakshya	20:949d13045431	541	//FLOAT TO UINT_8 CONVERSION FUNCTION
lakshya	20:949d13045431	542	extern uint8_t float_to_uint8(float min,float max,float val);
lakshya	20:949d13045431	543
lakshya	49:61c9f28332ba	544	//#define print 0
lakshya	20:949d13045431	545
sakthipriya	3:07e15677a75c	546	void F_ACS()
sakthipriya	0:7b4c00e3912f	547	{
lakshya	20:949d13045431	548	ACS_MAIN_COUNTER++;
lakshya	20:949d13045431	549	//time_wdog = 1;
lakshya	20:949d13045431	550	pc.printf("Entered ACS.\n\r");
lakshya	20:949d13045431	551
lakshya	20:949d13045431	552	ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
lakshya	49:61c9f28332ba	553	//FLAG();
sakthipriya	3:07e15677a75c	554
sakthipriya	0:7b4c00e3912f	555	PWM1 = 0; //clear pwm pins
sakthipriya	0:7b4c00e3912f	556	PWM2 = 0; //clear pwm pins
sakthipriya	0:7b4c00e3912f	557	PWM3 = 0; //clear pwm pins
lakshya	20:949d13045431	558
lakshya	20:949d13045431	559	wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya	20:949d13045431	560	ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ();
sakthipriya	0:7b4c00e3912f	561
lakshya	49:61c9f28332ba	562	//#if print
lakshya	49:61c9f28332ba	563	//printing the angular speed and magnetic field values
lakshya	20:949d13045431	564	pc.printf("gyro values\n\r");
lakshya	19:79e69017c855	565	for(int i=0; i<3; i++)
lakshya	20:949d13045431	566	{
lakshya	49:61c9f28332ba	567	pc.printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
lakshya	20:949d13045431	568	}
lakshya	20:949d13045431	569
lakshya	19:79e69017c855	570	pc.printf("mag values\n\r");
lakshya	19:79e69017c855	571	for(int i=0; i<3; i++)
lakshya	20:949d13045431	572	{
lakshya	20:949d13045431	573	pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
lakshya	20:949d13045431	574	}
lakshya	49:61c9f28332ba	575	//#endif
lakshya	20:949d13045431	576
lakshya	20:949d13045431	577	for(int i=0;i<3;i++)
lakshya	19:79e69017c855	578	{
lakshya	20:949d13045431	579	mag_data[i] = actual_data.Bvalue_actual[i]/1000000;
lakshya	20:949d13045431	580	gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180;
lakshya	20:949d13045431	581	}
lakshya	49:61c9f28332ba	582
lakshya	49:61c9f28332ba	583	int b_inclination = mag_data[2]/sqrt(mag_data[0]mag_data[0]+mag_data[1]mag_data[1]+mag_data[2]*mag_data[2]);
lakshya	49:61c9f28332ba	584
lakshya	49:61c9f28332ba	585	if(b_inclination <0)
lakshya	49:61c9f28332ba	586	{
lakshya	49:61c9f28332ba	587	b_inclination = (-1)*b_inclination;
lakshya	49:61c9f28332ba	588	}
lakshya	49:61c9f28332ba	589	B_SCZ_ANGLE = (uint8_t)b_inclination;
lakshya	49:61c9f28332ba	590	if( b_inclination >= 16)
lakshya	49:61c9f28332ba	591	{
lakshya	49:61c9f28332ba	592	B_SCZ_ANGLE = 0x0F;
lakshya	49:61c9f28332ba	593	}
lakshya	49:61c9f28332ba	594	if(b_inclination <=0)
lakshya	49:61c9f28332ba	595	{
lakshya	49:61c9f28332ba	596	B_SCZ_ANGLE = 0x00;
lakshya	49:61c9f28332ba	597	}
Bragadeesh153	55:6ea0d7e9fce2	598	//printf("POWER MODE is : %d\r\n",actual_data.power_mode);
lakshya	20:949d13045431	599
lakshya	20:949d13045431	600	if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
lakshya	20:949d13045431	601	{
lakshya	20:949d13045431	602	#if print
lakshya	49:61c9f28332ba	603	pc.printf("\n\r acs control off\n");
lakshya	20:949d13045431	604	#endif
lakshya	20:949d13045431	605	ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
lakshya	20:949d13045431	606	ACS_MAIN_STATUS = 0;
lakshya	20:949d13045431	607	return;
lakshya	20:949d13045431	608	}
Bragadeesh153	55:6ea0d7e9fce2	609	else if((actual_data.power_mode<=2)\|\|( (( ACS_STATE)&0x08) == 0x08))
lakshya	20:949d13045431	610	{
Bragadeesh153	52:daa685b0e390	611	//#if print
lakshya	49:61c9f28332ba	612	pc.printf("\n\r Low Power \n\r");
Bragadeesh153	52:daa685b0e390	613	//#endif
lakshya	20:949d13045431	614	DRV_Z_EN = 0;
lakshya	20:949d13045431	615	DRV_XY_EN = 0;
lakshya	20:949d13045431	616	ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
lakshya	20:949d13045431	617	ACS_MAIN_STATUS = 0;
lakshya	20:949d13045431	618	return;
lakshya	20:949d13045431	619
lakshya	20:949d13045431	620	}
lakshya	20:949d13045431	621	else if(ACS_TR_Z_SW_STATUS != 1)
lakshya	20:949d13045431	622	{
Bragadeesh153	52:daa685b0e390	623	pc.printf("\n\r Z disabled \n\r");
lakshya	20:949d13045431	624	DRV_Z_EN = 0;
lakshya	20:949d13045431	625	DRV_XY_EN = 0;
lakshya	20:949d13045431	626	ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED
lakshya	20:949d13045431	627	ACS_MAIN_STATUS = 0;
lakshya	20:949d13045431	628	return;
lakshya	20:949d13045431	629	}
lakshya	20:949d13045431	630	else if(ACS_TR_XY_SW_STATUS != 1)
Bragadeesh153	52:daa685b0e390	631	{
Bragadeesh153	52:daa685b0e390	632	pc.printf("\n\r Z only \n\r");
lakshya	20:949d13045431	633	DRV_Z_EN = 1;
lakshya	20:949d13045431	634	DRV_XY_EN = 0;
lakshya	20:949d13045431	635	ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only
lakshya	20:949d13045431	636	moment[0] = 0;
lakshya	20:949d13045431	637	moment[1] = 0;
lakshya	20:949d13045431	638	moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya	20:949d13045431	639
lakshya	49:61c9f28332ba	640	//timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya	20:949d13045431	641	FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya	49:61c9f28332ba	642	//timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya	49:61c9f28332ba	643	//pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya	20:949d13045431	644	ACS_MAIN_STATUS = 0;
lakshya	20:949d13045431	645	return;
lakshya	19:79e69017c855	646	}
lakshya	20:949d13045431	647	else if((ACS_DATA_ACQ_STATUS == 0)\|\|(ACS_DATA_ACQ_STATUS == 1))
lakshya	20:949d13045431	648	{
Bragadeesh153	52:daa685b0e390	649
Bragadeesh153	52:daa685b0e390	650	pc.printf("\n\r Z only no data \n\r");
lakshya	20:949d13045431	651	DRV_Z_EN = 1;
lakshya	20:949d13045431	652	DRV_XY_EN = 0;
lakshya	20:949d13045431	653	ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only
lakshya	20:949d13045431	654
lakshya	20:949d13045431	655	moment[0] = 0;
lakshya	20:949d13045431	656	moment[1] = 0;
lakshya	20:949d13045431	657	moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya	20:949d13045431	658
lakshya	49:61c9f28332ba	659	//timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya	20:949d13045431	660	FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya	49:61c9f28332ba	661	//timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya	49:61c9f28332ba	662	//pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya	49:61c9f28332ba	663
lakshya	20:949d13045431	664	ACS_MAIN_STATUS = 0;
lakshya	20:949d13045431	665	return;
lakshya	20:949d13045431	666	}
Bragadeesh153	52:daa685b0e390	667	else if((ACS_STATE == 1)\|\|(ACS_STATE == 9))
lakshya	20:949d13045431	668	{
Bragadeesh153	52:daa685b0e390	669	pc.printf("\n\r Z only by state \n\r");
lakshya	20:949d13045431	670	DRV_Z_EN = 1;
lakshya	20:949d13045431	671	DRV_XY_EN = 0;
lakshya	20:949d13045431	672	ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only
sakthipriya	0:7b4c00e3912f	673
lakshya	20:949d13045431	674	moment[0] = 0;
lakshya	20:949d13045431	675	moment[1] = 0;
lakshya	20:949d13045431	676	moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value
lakshya	20:949d13045431	677	FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya	20:949d13045431	678
lakshya	20:949d13045431	679	ACS_MAIN_STATUS = 0;
lakshya	20:949d13045431	680	return;
lakshya	20:949d13045431	681	}
lakshya	20:949d13045431	682	else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available
lakshya	20:949d13045431	683	{
Bragadeesh153	52:daa685b0e390	684	pc.printf("\n\r MM only BDOT \n\r");
lakshya	20:949d13045431	685	DRV_Z_EN = 1;
lakshya	20:949d13045431	686	DRV_XY_EN = 1;
lakshya	20:949d13045431	687
lakshya	20:949d13045431	688	ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL
lakshya	20:949d13045431	689	ACS_DETUMBLING_ALGO_TYPE = 0x01;
lakshya	20:949d13045431	690	FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya	27:61c856be467e	691	controlmode_mms=0x00;
lakshya	20:949d13045431	692	#if print
lakshya	49:61c9f28332ba	693	pc.printf("\n\r Moment values returned by control algo \n");
lakshya	20:949d13045431	694	#endif
lakshya	20:949d13045431	695	for(int i=0; i<3; i++)
sakthipriya	0:7b4c00e3912f	696	{
lakshya	49:61c9f28332ba	697	pc.printf("%f\t",moment[i]);
lakshya	19:79e69017c855	698	}
lakshya	20:949d13045431	699	FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya	20:949d13045431	700	ACS_MAIN_STATUS = 0;
lakshya	20:949d13045431	701	return;
lakshya	20:949d13045431	702	}
Bragadeesh153	52:daa685b0e390	703	else if((ACS_STATE == 2)\|\|(ACS_STATE == 10)) // Nominal mode
lakshya	20:949d13045431	704	{
lakshya	20:949d13045431	705	#if print
lakshya	49:61c9f28332ba	706	pc.printf("\n\r Nominal mode \n");
lakshya	20:949d13045431	707	#endif
lakshya	20:949d13045431	708	DRV_Z_EN = 1;
lakshya	49:61c9f28332ba	709	DRV_XY_EN = 1;
lakshya	49:61c9f28332ba	710
lakshya	49:61c9f28332ba	711	//timer_FCTN_ACS_CNTRLALGO.start();
lakshya	20:949d13045431	712	FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya	49:61c9f28332ba	713	//timer_FCTN_ACS_CNTRLALGO.stop();
lakshya	49:61c9f28332ba	714	//pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya	49:61c9f28332ba	715
lakshya	27:61c856be467e	716	controlmode_mms = 0x01;
lakshya	20:949d13045431	717	#if print
lakshya	49:61c9f28332ba	718	pc.printf("\n\r Moment values returned by control algo \n");
lakshya	20:949d13045431	719	#endif
lakshya	20:949d13045431	720	for(int i=0; i<3; i++)
sakthipriya	0:7b4c00e3912f	721	{
lakshya	49:61c9f28332ba	722	pc.printf("%f\t",moment[i]);
lakshya	20:949d13045431	723	}
lakshya	49:61c9f28332ba	724
lakshya	49:61c9f28332ba	725	//timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya	20:949d13045431	726	FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya	49:61c9f28332ba	727	//timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya	49:61c9f28332ba	728	//pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya	49:61c9f28332ba	729
lakshya	20:949d13045431	730	ACS_MAIN_STATUS = 0;
lakshya	20:949d13045431	731	return;
lakshya	20:949d13045431	732	}
Bragadeesh153	52:daa685b0e390	733	else if((ACS_STATE == 3)\|\|(ACS_STATE == 11)) // Auto Control
lakshya	20:949d13045431	734	{
lakshya	20:949d13045431	735	#if print
lakshya	49:61c9f28332ba	736	pc.printf("\n\r Auto control mode \n");
lakshya	20:949d13045431	737	#endif
lakshya	20:949d13045431	738	DRV_Z_EN = 1;
lakshya	20:949d13045431	739	DRV_XY_EN = 1;
lakshya	49:61c9f28332ba	740
lakshya	49:61c9f28332ba	741	timer_FCTN_ACS_CNTRLALGO.start();
lakshya	20:949d13045431	742	FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya	49:61c9f28332ba	743	timer_FCTN_ACS_CNTRLALGO.stop();
lakshya	49:61c9f28332ba	744	//pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya	49:61c9f28332ba	745
lakshya	27:61c856be467e	746	controlmode_mms = 0x00;
lakshya	20:949d13045431	747	#if print
lakshya	49:61c9f28332ba	748	pc.printf("\n\r Moment values returned by control algo \n");
lakshya	20:949d13045431	749	for(int i=0; i<3; i++)
lakshya	19:79e69017c855	750	{
lakshya	49:61c9f28332ba	751	pc.printf("%f\t",moment[i]);
lakshya	20:949d13045431	752	}
lakshya	20:949d13045431	753	#endif
Bragadeesh153	52:daa685b0e390	754	pc.printf("\r\n");
lakshya	49:61c9f28332ba	755	timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya	20:949d13045431	756	FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function
lakshya	49:61c9f28332ba	757	timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya	49:61c9f28332ba	758	//pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya	49:61c9f28332ba	759
lakshya	20:949d13045431	760	ACS_MAIN_STATUS = 0;
lakshya	20:949d13045431	761	return;
lakshya	20:949d13045431	762	}
Bragadeesh153	52:daa685b0e390	763	else if((ACS_STATE == 4)\|\|(ACS_STATE == 12)) // Detumbling
lakshya	20:949d13045431	764	{
Bragadeesh153	52:daa685b0e390	765	pc.printf("\n\r Detumbling \n\r");
lakshya	20:949d13045431	766	DRV_Z_EN = 1;
lakshya	20:949d13045431	767	DRV_XY_EN = 1;
lakshya	20:949d13045431	768	FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya	27:61c856be467e	769	controlmode_mms = 0x00;
lakshya	20:949d13045431	770	FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya	20:949d13045431	771	ACS_MAIN_STATUS = 0;
lakshya	20:949d13045431	772	return;
lakshya	20:949d13045431	773	}
lakshya	20:949d13045431	774	ACS_STATUS = 7; //INVALID_STATE
lakshya	20:949d13045431	775	DRV_Z_EN = 0;
lakshya	20:949d13045431	776	DRV_XY_EN = 0;
lakshya	20:949d13045431	777	ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
lakshya	20:949d13045431	778	}
lakshya	19:79e69017c855	779
lakshya	19:79e69017c855	780
sakthipriya	0:7b4c00e3912f	781	//*************************************************EPS THREAD*********************************************//
sakthipriya	0:7b4c00e3912f	782
lakshya	33:76f2b8735501	783
sakthipriya	3:07e15677a75c	784	void F_EPS()
lakshya	20:949d13045431	785	{
lakshya	33:76f2b8735501	786	float eps_btry_temp;
lakshya	33:76f2b8735501	787	pc.printf("\n\rEntered EPS %f\n\r",t_start.read());
lakshya	33:76f2b8735501	788	EPS_MAIN_STATUS = 1; // Set EPS main status
lakshya	33:76f2b8735501	789	EPS_MAIN_COUNTER++;
lakshya	49:61c9f28332ba	790
lakshya	49:61c9f28332ba	791	timer_FCTN_BATT_TEMP_SENSOR_MAIN.reset();
lakshya	49:61c9f28332ba	792	timer_FCTN_BATT_TEMP_SENSOR_MAIN.start();
lakshya	33:76f2b8735501	793	FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
lakshya	49:61c9f28332ba	794	timer_FCTN_BATT_TEMP_SENSOR_MAIN.stop();
lakshya	49:61c9f28332ba	795
lakshya	33:76f2b8735501	796	pc.printf("Battery temperature %f %f\n\r" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
lakshya	33:76f2b8735501	797	EPS_BTRY_TMP_AVG = ( actual_data.Batt_temp_actual[0] + actual_data.Batt_temp_actual[1] )/2.0;
lakshya	33:76f2b8735501	798	if(abs(actual_data.Batt_temp_actual[0] - actual_data.Batt_temp_actual[1]) > 10)
lakshya	33:76f2b8735501	799	{
lakshya	33:76f2b8735501	800	EPS_BTRY_TMP_STATUS = 0; //clear EPS_BTRY_TMP_STATUS
lakshya	33:76f2b8735501	801	eps_btry_temp = (float) EPS_BAT_TEMP_DEFAULT;
lakshya	33:76f2b8735501	802	}
lakshya	33:76f2b8735501	803	else
lakshya	33:76f2b8735501	804	{
lakshya	33:76f2b8735501	805	EPS_BTRY_TMP_STATUS = 1; //set EPS_BTRY_TMP_STATUS
lakshya	33:76f2b8735501	806	eps_btry_temp = EPS_BTRY_TMP_AVG;
lakshya	33:76f2b8735501	807	}
lakshya	33:76f2b8735501	808
lakshya	33:76f2b8735501	809	if(EPS_BTRY_HTR_AUTO == 0)
lakshya	33:76f2b8735501	810	EPS_STATUS = 1; //EPS_BATTERY_HEATER_DISABLED
lakshya	33:76f2b8735501	811	else if( EPS_BTRY_TMP_STATUS == 0 )
lakshya	33:76f2b8735501	812	{
lakshya	33:76f2b8735501	813	BTRY_HTR_ENABLE = 0;
lakshya	33:76f2b8735501	814	EPS_BTRY_HTR = 0;
lakshya	33:76f2b8735501	815	EPS_STATUS = 0; //Set EPS_ERR_BATTERY_TEMP
lakshya	33:76f2b8735501	816	}
lakshya	33:76f2b8735501	817	else
lakshya	33:76f2b8735501	818	{
lakshya	33:76f2b8735501	819	if( EPS_BTRY_HTR == 1 && eps_btry_temp >= EPS_BAT_TEMP_HIGH )
lakshya	33:76f2b8735501	820	{
lakshya	33:76f2b8735501	821	BTRY_HTR_ENABLE = 0;
lakshya	33:76f2b8735501	822	EPS_BTRY_HTR = 0;
lakshya	33:76f2b8735501	823	EPS_STATUS = 4; //Set EPS_BATTERY_HEATER_OFF
lakshya	33:76f2b8735501	824	}
lakshya	33:76f2b8735501	825	else if( EPS_BTRY_HTR == 0 && eps_btry_temp < EPS_BAT_TEMP_LOW )
lakshya	33:76f2b8735501	826	{
lakshya	33:76f2b8735501	827	BTRY_HTR_ENABLE = 1;
lakshya	33:76f2b8735501	828	EPS_BTRY_HTR = 1;
lakshya	33:76f2b8735501	829	EPS_STATUS = 5; //Set EPS_BATTERY_HEATER_ON
lakshya	33:76f2b8735501	830	}
lakshya	33:76f2b8735501	831	}
lakshya	33:76f2b8735501	832
lakshya	33:76f2b8735501	833	unsigned short statusreg = read(REG_STATUS);
lakshya	33:76f2b8735501	834	if( EPS_BATTERY_GAUGE_STATUS == 0 ) reset();
lakshya	33:76f2b8735501	835	if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set
lakshya	19:79e69017c855	836	{
lakshya	49:61c9f28332ba	837	pc.printf("REG_STATUS = %d\r\n",read(REG_STATUS));
lakshya	33:76f2b8735501	838	FCTN_BATTERYGAUGE_INIT();
lakshya	49:61c9f28332ba	839	}
lakshya	49:61c9f28332ba	840	timer_FCTN_BATTERYGAUGE_MAIN.reset();
lakshya	49:61c9f28332ba	841	timer_FCTN_BATTERYGAUGE_MAIN.start();
lakshya	33:76f2b8735501	842	int BTG_MAIN_FLAG = FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual, eps_btry_temp);
lakshya	49:61c9f28332ba	843	timer_FCTN_BATTERYGAUGE_MAIN.stop();
lakshya	49:61c9f28332ba	844
lakshya	33:76f2b8735501	845	if( BTG_MAIN_FLAG == 0 ) //Data not received
lakshya	33:76f2b8735501	846	{
lakshya	33:76f2b8735501	847	actual_data.power_mode = 1;
lakshya	33:76f2b8735501	848	EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
lakshya	33:76f2b8735501	849	}
lakshya	33:76f2b8735501	850	else
lakshya	33:76f2b8735501	851	{
lakshya	33:76f2b8735501	852	FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
lakshya	33:76f2b8735501	853	EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
lakshya	33:76f2b8735501	854	}
lakshya	49:61c9f28332ba	855
lakshya	49:61c9f28332ba	856	timer_FCTN_HK_MAIN.reset();
lakshya	49:61c9f28332ba	857	timer_FCTN_HK_MAIN.start();
lakshya	33:76f2b8735501	858	FCTN_HK_MAIN();
lakshya	49:61c9f28332ba	859	timer_FCTN_HK_MAIN.stop();
lakshya	49:61c9f28332ba	860	// pc.printf("ere");
lakshya	49:61c9f28332ba	861
lakshya	49:61c9f28332ba	862	timer_FCTN_EPS_HANDLE_HW_FAULTS.reset();
lakshya	49:61c9f28332ba	863	timer_FCTN_EPS_HANDLE_HW_FAULTS.start();
lakshya	33:76f2b8735501	864	FCTN_EPS_HANDLE_HW_FAULTS();
lakshya	49:61c9f28332ba	865	timer_FCTN_EPS_HANDLE_HW_FAULTS.stop();
lakshya	49:61c9f28332ba	866
lakshya	49:61c9f28332ba	867	timer_FCTN_EPS_HANDLE_CDMS_FAULT.reset();
lakshya	49:61c9f28332ba	868	timer_FCTN_EPS_HANDLE_CDMS_FAULT.start();
lakshya	33:76f2b8735501	869	FCTN_EPS_HANDLE_CDMS_FAULT();
lakshya	49:61c9f28332ba	870	timer_FCTN_EPS_HANDLE_CDMS_FAULT.stop();
lakshya	49:61c9f28332ba	871
lakshya	49:61c9f28332ba	872	timer_FCTN_APPEND_HKDATA.reset();
lakshya	49:61c9f28332ba	873	timer_FCTN_APPEND_HKDATA.start();
lakshya	33:76f2b8735501	874	FCTN_APPEND_HKDATA();
lakshya	49:61c9f28332ba	875	timer_FCTN_APPEND_HKDATA.stop();
lakshya	49:61c9f28332ba	876
lakshya	49:61c9f28332ba	877	timer_minMaxHkData.reset();
lakshya	49:61c9f28332ba	878	timer_minMaxHkData.start();
lakshya	33:76f2b8735501	879	minMaxHkData();
lakshya	49:61c9f28332ba	880	timer_minMaxHkData.stop();
lakshya	49:61c9f28332ba	881
lakshya	49:61c9f28332ba	882	//pc.printf("ere");
lakshya	33:76f2b8735501	883	EPS_MAIN_STATUS = 0; // clear EPS main status
lakshya	33:76f2b8735501	884
sakthipriya	0:7b4c00e3912f	885	}
lakshya	33:76f2b8735501	886
lakshya	20:949d13045431	887
sakthipriya	0:7b4c00e3912f	888	//************************************************BCN THREAD*****************************************************************//
sakthipriya	0:7b4c00e3912f	889
sakthipriya	3:07e15677a75c	890	void F_BCN()
sakthipriya	0:7b4c00e3912f	891	{
lakshya	20:949d13045431	892	pc.printf("\n\rEntered BCN %f\n",t_start.read());
lakshya	20:949d13045431	893	//BCN_TX_MAIN_COUNTER=+1;
lakshya	49:61c9f28332ba	894
lakshya	49:61c9f28332ba	895	timer_FCTN_BCN_TX_MAIN.reset();
lakshya	49:61c9f28332ba	896	timer_FCTN_BCN_TX_MAIN.start();
lakshya	20:949d13045431	897	FCTN_BCN_TX_MAIN();
lakshya	49:61c9f28332ba	898	timer_FCTN_BCN_TX_MAIN.stop();
sakthipriya	0:7b4c00e3912f	899	}
sakthipriya	0:7b4c00e3912f	900
sakthipriya	0:7b4c00e3912f	901	//************************************************TCTM THREAD*****************************************************************//
sakthipriya	0:7b4c00e3912f	902
lakshya	39:670133e7ffd8	903	//===================================================================
sakthipriya	0:7b4c00e3912f	904	void T_TC(void const * args)
lakshya	19:79e69017c855	905	{
lakshya	20:949d13045431	906	while(1)
lakshya	39:670133e7ffd8	907	{
lakshya	39:670133e7ffd8	908	Thread::signal_wait(0x4);
lakshya	39:670133e7ffd8	909	wait_us(300);
lakshya	49:61c9f28332ba	910
lakshya	39:670133e7ffd8	911	BAE_MNG_I2C_STATUS =1 ;
lakshya	57:60e8f00d93c3	912	//I2C_last.reset();
lakshya	57:60e8f00d93c3	913	//I2C_last.start();
lakshya	49:61c9f28332ba	914	// pc.printf("\n\r intrpet");
lakshya	39:670133e7ffd8	915	if( slave.receive() == 0)
lakshya	39:670133e7ffd8	916	{
lakshya	39:670133e7ffd8	917	pdir_ss1=PTE->PDIR; /////////edited
lakshya	39:670133e7ffd8	918	irpt_2_mstr = 0;
lakshya	39:670133e7ffd8	919	data_send_flag = 'h';
lakshya	39:670133e7ffd8	920	slave.stop();
lakshya	39:670133e7ffd8	921	if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed
lakshya	39:670133e7ffd8	922	{
lakshya	39:670133e7ffd8	923	I2C_busreset(); /////////edited
lakshya	39:670133e7ffd8	924	}
lakshya	39:670133e7ffd8	925	pdir_ss2=PTE->PDIR;
lakshya	39:670133e7ffd8	926	pc.printf("\n\rSlave not addressed");
lakshya	39:670133e7ffd8	927	pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss1);
lakshya	39:670133e7ffd8	928	#if PRINT2
lakshya	39:670133e7ffd8	929	pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss2);
lakshya	39:670133e7ffd8	930	#endif
lakshya	39:670133e7ffd8	931	}
lakshya	39:670133e7ffd8	932	else if( slave.receive() == 1) // slave writes to master
lakshya	39:670133e7ffd8	933	{
lakshya	39:670133e7ffd8	934	BAE_I2C_COUNTER++; //////////edited
lakshya	39:670133e7ffd8	935	if(data_send_flag == 'h') //to be renamed as BAE_I2C_STATUS
lakshya	39:670133e7ffd8	936	{
lakshya	49:61c9f28332ba	937	irpt_2_mstr =1;
lakshya	49:61c9f28332ba	938	//pc.printf("\n\r hk "); //wait till cdms code is changed
lakshya	39:670133e7ffd8	939	FCTN_APPEND_HKDATA();
lakshya	39:670133e7ffd8	940	uint8_t i2c_count =0;
lakshya	39:670133e7ffd8	941	//crc is already being added
lakshya	39:670133e7ffd8	942	write_ack=slave.write((char*)BAE_chardata,134);
lakshya	39:670133e7ffd8	943	wait_ms(1); //for correct values of register to be updated
lakshya	39:670133e7ffd8	944	pdir_tm1=PTE->PDIR;
lakshya	39:670133e7ffd8	945	irpt_2_mstr = 0;
lakshya	39:670133e7ffd8	946	if(write_ack==0)// wait till cdms code is changed
lakshya	20:949d13045431	947	{
lakshya	49:61c9f28332ba	948	/checking the tc timings/
lakshya	49:61c9f28332ba	949	// time_wdog = 1;
lakshya	49:61c9f28332ba	950
lakshya	39:670133e7ffd8	951	while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya	39:670133e7ffd8	952	{
lakshya	39:670133e7ffd8	953	wait_ms(1);
lakshya	39:670133e7ffd8	954	pdir_tm1=PTE->PDIR;
lakshya	39:670133e7ffd8	955	i2c_count++;
lakshya	39:670133e7ffd8	956	}
lakshya	39:670133e7ffd8	957	if(((pdir_tm1 & 0x00000003)==3))
lakshya	20:949d13045431	958	{
lakshya	39:670133e7ffd8	959	pc.printf("\n\rWrite HK success");
lakshya	49:61c9f28332ba	960	// data_send_flag = 'h';
lakshya	57:60e8f00d93c3	961	irpt_2_mstr = 0;
lakshya	57:60e8f00d93c3	962	I2C_last.reset();
lakshya	57:60e8f00d93c3	963	I2C_last.start(); //////////edited
lakshya	19:79e69017c855	964	}
lakshya	39:670133e7ffd8	965	else
lakshya	39:670133e7ffd8	966	{
lakshya	39:670133e7ffd8	967	#if baby
lakshya	39:670133e7ffd8	968	pc.printf("\n\rWrite HK failed");
lakshya	39:670133e7ffd8	969	pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya	39:670133e7ffd8	970	#endif
lakshya	39:670133e7ffd8	971	wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya	39:670133e7ffd8	972	I2C_busreset();
lakshya	39:670133e7ffd8	973	#if baby2
lakshya	39:670133e7ffd8	974	pdir_tm2 = PTE->PDIR;
lakshya	39:670133e7ffd8	975	pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya	39:670133e7ffd8	976	#endif
lakshya	39:670133e7ffd8	977	}
lakshya	39:670133e7ffd8	978	}
lakshya	39:670133e7ffd8	979	else
lakshya	39:670133e7ffd8	980	{
lakshya	39:670133e7ffd8	981	#if baby1
lakshya	39:670133e7ffd8	982	pc.printf("\n\rWrite Ack failed(HK)");
lakshya	39:670133e7ffd8	983	pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya	39:670133e7ffd8	984	#endif
lakshya	39:670133e7ffd8	985	I2C_busreset();
lakshya	39:670133e7ffd8	986	#if baby2
lakshya	39:670133e7ffd8	987	pdir_tm2 = PTE->PDIR;
lakshya	39:670133e7ffd8	988	pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya	20:949d13045431	989	#endif
lakshya	20:949d13045431	990	}
lakshya	39:670133e7ffd8	991	i2c_count=0;
lakshya	39:670133e7ffd8	992	}
lakshya	49:61c9f28332ba	993	else if (data_send_flag == 't') //else if(telecommand[1]&0xC0 == 't')
lakshya	39:670133e7ffd8	994	{
lakshya	39:670133e7ffd8	995	uint8_t i2c_count =0;
lakshya	39:670133e7ffd8	996	write_ack=slave.write((char*)telemetry,134); ////////edited(size)
lakshya	39:670133e7ffd8	997	wait_ms(1); //for correct values of register to be updated
lakshya	39:670133e7ffd8	998	pdir_tm1=PTE->PDIR;
lakshya	39:670133e7ffd8	999	irpt_2_mstr = 0;
lakshya	49:61c9f28332ba	1000	data_send_flag = 'h';
lakshya	49:61c9f28332ba	1001	// pc.printf("\n\r h set here");
lakshya	39:670133e7ffd8	1002	if(write_ack==0)
lakshya	39:670133e7ffd8	1003	{
lakshya	39:670133e7ffd8	1004	while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya	39:670133e7ffd8	1005	{
lakshya	39:670133e7ffd8	1006	wait_ms(1);
lakshya	39:670133e7ffd8	1007	pdir_tm1=PTE->PDIR;
lakshya	39:670133e7ffd8	1008	i2c_count++;
lakshya	39:670133e7ffd8	1009	}
lakshya	39:670133e7ffd8	1010	if(((pdir_tm1 & 0x00000003)==3))
lakshya	39:670133e7ffd8	1011	{
lakshya	39:670133e7ffd8	1012	pc.printf("\n\rWrite TM success");
lakshya	57:60e8f00d93c3	1013	I2C_last.reset();
lakshya	57:60e8f00d93c3	1014	I2C_last.start();
lakshya	39:670133e7ffd8	1015	}
lakshya	39:670133e7ffd8	1016	else
lakshya	39:670133e7ffd8	1017	{
lakshya	39:670133e7ffd8	1018	#if baby
lakshya	39:670133e7ffd8	1019	pc.printf("\n\rWrite TM failed");
lakshya	39:670133e7ffd8	1020	pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya	39:670133e7ffd8	1021	#endif
lakshya	39:670133e7ffd8	1022	wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya	39:670133e7ffd8	1023	I2C_busreset();
lakshya	39:670133e7ffd8	1024	#if baby2
lakshya	39:670133e7ffd8	1025	pdir_tm2 = PTE->PDIR;
lakshya	39:670133e7ffd8	1026	pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya	39:670133e7ffd8	1027	#endif
lakshya	39:670133e7ffd8	1028	}
lakshya	39:670133e7ffd8	1029	}
lakshya	39:670133e7ffd8	1030	else
lakshya	20:949d13045431	1031	{
lakshya	39:670133e7ffd8	1032	#if baby
lakshya	39:670133e7ffd8	1033	pc.printf("\n\rWrite Ack failed");
lakshya	39:670133e7ffd8	1034	pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya	39:670133e7ffd8	1035	#endif
lakshya	39:670133e7ffd8	1036	I2C_busreset();
lakshya	39:670133e7ffd8	1037	#if baby2
lakshya	39:670133e7ffd8	1038	pdir_tm2 = PTE->PDIR;
lakshya	39:670133e7ffd8	1039	pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya	39:670133e7ffd8	1040	#endif
lakshya	20:949d13045431	1041	}
lakshya	39:670133e7ffd8	1042	i2c_count=0;
lakshya	49:61c9f28332ba	1043	}
lakshya	49:61c9f28332ba	1044	// else
lakshya	49:61c9f28332ba	1045	// pc.printf("\n\r hey something wrong");
lakshya	39:670133e7ffd8	1046	}
lakshya	39:670133e7ffd8	1047	else if( slave.receive()==3 \|\| slave.receive()==2) // slave read
lakshya	39:670133e7ffd8	1048	{
lakshya	39:670133e7ffd8	1049	BAE_I2C_COUNTER++;
lakshya	49:61c9f28332ba	1050
lakshya	49:61c9f28332ba	1051	/checking the tc timings/
lakshya	49:61c9f28332ba	1052	time_wdog = 1;
lakshya	49:61c9f28332ba	1053
lakshya	39:670133e7ffd8	1054	uint8_t i2c_count = 0;
lakshya	39:670133e7ffd8	1055	read_ack=slave.read((char *)telecommand,135); //read() function returns acknowledgement
lakshya	39:670133e7ffd8	1056	wait_ms(1);
lakshya	39:670133e7ffd8	1057	pdir_tc1=PTE->PDIR;
lakshya	39:670133e7ffd8	1058	if(read_ack==0) //read() says it was successful
lakshya	39:670133e7ffd8	1059	{
lakshya	39:670133e7ffd8	1060	while(((pdir_tc1 & 0x00000003)!=3)&& i2c_count<10)//checking if SDA and SCL lines are logic 0 and not more than 10 times(10ms)
lakshya	39:670133e7ffd8	1061	{
lakshya	39:670133e7ffd8	1062	wait_ms(1);
lakshya	39:670133e7ffd8	1063	pdir_tc1=PTE->PDIR;
lakshya	39:670133e7ffd8	1064	i2c_count++;
lakshya	39:670133e7ffd8	1065	}
lakshya	39:670133e7ffd8	1066	if(((pdir_tc1 & 0x00000003)==3))
lakshya	39:670133e7ffd8	1067	{
lakshya	49:61c9f28332ba	1068	//pc.printf("\n\n\rRead TC success");
lakshya	39:670133e7ffd8	1069	if(telecommand[0] == 0x00) /////////////edited
lakshya	49:61c9f28332ba	1070	{
lakshya	49:61c9f28332ba	1071	FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited
lakshya	49:61c9f28332ba	1072	data_send_flag = 'h';
lakshya	57:60e8f00d93c3	1073	pc.printf("\n\n\rRead LBCN QM is comming");
lakshya	57:60e8f00d93c3	1074	I2C_last.reset();
lakshya	57:60e8f00d93c3	1075	I2C_last.start();
lakshya	49:61c9f28332ba	1076	}
lakshya	39:670133e7ffd8	1077	else
lakshya	39:670133e7ffd8	1078	{
lakshya	49:61c9f28332ba	1079	pc.printf("\n\r Read TC SUCESS");
lakshya	39:670133e7ffd8	1080	FCTN_BAE_TM_TC((uint8_t*) telecommand);
lakshya	39:670133e7ffd8	1081	data_send_flag = 't';
lakshya	39:670133e7ffd8	1082	irpt_2_mstr = 1;
lakshya	57:60e8f00d93c3	1083	I2C_last.reset();
lakshya	57:60e8f00d93c3	1084	I2C_last.start();
lakshya	49:61c9f28332ba	1085
lakshya	39:670133e7ffd8	1086	}
lakshya	39:670133e7ffd8	1087	}
lakshya	39:670133e7ffd8	1088	else //either or both of SDA and SCL lines low
lakshya	20:949d13045431	1089	{
lakshya	39:670133e7ffd8	1090	#if baby
lakshya	39:670133e7ffd8	1091	pc.printf("\n\rRead TC failed");
lakshya	39:670133e7ffd8	1092	pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya	39:670133e7ffd8	1093	#endif
lakshya	39:670133e7ffd8	1094	I2C_busreset();
lakshya	39:670133e7ffd8	1095	#if baby2
lakshya	39:670133e7ffd8	1096	pdir_tm2 = PTE->PDIR;
lakshya	39:670133e7ffd8	1097	pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya	20:949d13045431	1098	#endif
lakshya	39:670133e7ffd8	1099	gen_I_TM();
lakshya	39:670133e7ffd8	1100	data_send_flag = 't';
lakshya	39:670133e7ffd8	1101	irpt_2_mstr = 1; /////////////added
lakshya	39:670133e7ffd8	1102	}
lakshya	39:670133e7ffd8	1103	}
lakshya	39:670133e7ffd8	1104	else //read() says it was not successful
lakshya	39:670133e7ffd8	1105	{
lakshya	39:670133e7ffd8	1106	#if baby
lakshya	39:670133e7ffd8	1107	pc.printf("\n\rRead Ack failed");
lakshya	39:670133e7ffd8	1108	pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya	39:670133e7ffd8	1109	#endif
lakshya	39:670133e7ffd8	1110	I2C_busreset();
lakshya	39:670133e7ffd8	1111	#if baby2
lakshya	39:670133e7ffd8	1112	pdir_tm2 = PTE->PDIR;
lakshya	39:670133e7ffd8	1113	pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya	39:670133e7ffd8	1114	#endif
lakshya	39:670133e7ffd8	1115	//pc.printf("\n\r no data case");
lakshya	39:670133e7ffd8	1116	gen_I_TM();
lakshya	39:670133e7ffd8	1117	data_send_flag = 't';
lakshya	39:670133e7ffd8	1118	irpt_2_mstr = 1; /////////////added
lakshya	39:670133e7ffd8	1119	}
lakshya	39:670133e7ffd8	1120	i2c_count = 0;
lakshya	39:670133e7ffd8	1121	}
lakshya	39:670133e7ffd8	1122	BAE_MNG_I2C_STATUS=0;
lakshya	39:670133e7ffd8	1123	}
sakthipriya	0:7b4c00e3912f	1124	}
lakshya	39:670133e7ffd8	1125
sakthipriya	0:7b4c00e3912f	1126	void FCTN_TM()
lakshya	20:949d13045431	1127	{
sakthipriya	5:bb592f3185cc	1128	data_send_flag = 't';
sakthipriya	0:7b4c00e3912f	1129	pc.printf("\n\r Telemetry Generation \n");
sakthipriya	0:7b4c00e3912f	1130	irpt_2_mstr = 1;
sakthipriya	0:7b4c00e3912f	1131	}
sakthipriya	0:7b4c00e3912f	1132
sakthipriya	0:7b4c00e3912f	1133
sakthipriya	0:7b4c00e3912f	1134	//***************************************************** I2C *****************************************************************//
sakthipriya	0:7b4c00e3912f	1135
sakthipriya	0:7b4c00e3912f	1136	void FCTN_I2C_ISR()
sakthipriya	0:7b4c00e3912f	1137	{
lakshya	20:949d13045431	1138	ptr_t_i2c->signal_set(0x4);
sakthipriya	0:7b4c00e3912f	1139	}
sakthipriya	0:7b4c00e3912f	1140
sakthipriya	0:7b4c00e3912f	1141
sakthipriya	5:bb592f3185cc	1142	//*********************************************************FAULTS*************************************************************//
sakthipriya	5:bb592f3185cc	1143
sakthipriya	5:bb592f3185cc	1144	uint8_t iter2=0,iter4 = 0;
sakthipriya	5:bb592f3185cc	1145
sakthipriya	5:bb592f3185cc	1146	void pollfault()
sakthipriya	5:bb592f3185cc	1147	{
Bragadeesh153	52:daa685b0e390	1148	//if (ACS_ATS1_OC_FAULT==0) // OC_ATS1
Bragadeesh153	52:daa685b0e390	1149	if(0)
lakshya	20:949d13045431	1150	{
lakshya	20:949d13045431	1151	pf1check=1;
lakshya	20:949d13045431	1152	actual_data.faultPoll_status \|=0x01 ;
lakshya	20:949d13045431	1153	ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
lakshya	20:949d13045431	1154	}
lakshya	20:949d13045431	1155	else
lakshya	20:949d13045431	1156	actual_data.faultPoll_status &= 0xFE;
sakthipriya	5:bb592f3185cc	1157
Bragadeesh153	52:daa685b0e390	1158	//if(ACS_ATS2_OC_FAULT==0)
Bragadeesh153	52:daa685b0e390	1159	if(0)
lakshya	20:949d13045431	1160	{
lakshya	20:949d13045431	1161	pf2check=1;
lakshya	20:949d13045431	1162	actual_data.faultPoll_status \|=0x02 ;
lakshya	20:949d13045431	1163	ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
lakshya	20:949d13045431	1164	}
lakshya	20:949d13045431	1165	else
lakshya	20:949d13045431	1166	actual_data.faultPoll_status &= 0xFD;
sakthipriya	5:bb592f3185cc	1167
lakshya	48:9fd15e3e0b53	1168	if (ACS_TR_XY_FAULT==0)
lakshya	20:949d13045431	1169	{
lakshya	20:949d13045431	1170	actual_data.faultPoll_status \|=0x04 ;
lakshya	20:949d13045431	1171	DRV_XY_EN = 0;
lakshya	20:949d13045431	1172	wait_us(1);
lakshya	20:949d13045431	1173	DRV_XY_EN = 1;
lakshya	20:949d13045431	1174	}
lakshya	20:949d13045431	1175	else
lakshya	20:949d13045431	1176	actual_data.faultPoll_status &= 0xFB;
sakthipriya	5:bb592f3185cc	1177	}
sakthipriya	5:bb592f3185cc	1178
sakthipriya	0:7b4c00e3912f	1179	//------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya	0:7b4c00e3912f	1180	//SCHEDULER
sakthipriya	0:7b4c00e3912f	1181	//------------------------------------------------------------------------------------------------------------------------------------------------
lakshya	20:949d13045431	1182
sakthipriya	0:7b4c00e3912f	1183	uint8_t schedcount=1;
sakthipriya	0:7b4c00e3912f	1184	void T_SC(void const *args)
sakthipriya	0:7b4c00e3912f	1185	{
lakshya	20:949d13045431	1186	#if print
lakshya	49:61c9f28332ba	1187	pc.printf("\n\r in scheduler");
lakshya	20:949d13045431	1188	#endif
lakshya	19:79e69017c855	1189	/if keeping thish many cases creates a problem then make 3 seperate flagvariable i.e bae_standby_acs so on that will make it easy.!!!/
lakshya	33:76f2b8735501	1190	if(schedcount == 13) //to reset the counter
sakthipriya	0:7b4c00e3912f	1191	schedcount = 1;
sakthipriya	0:7b4c00e3912f	1192	if(schedcount%1==0)
lakshya	20:949d13045431	1193	{
lakshya	20:949d13045431	1194	if( BAE_STANDBY!=0x02 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
lakshya	20:949d13045431	1195	{
lakshya	20:949d13045431	1196	pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
lakshya	49:61c9f28332ba	1197	timer_F_ACS.reset();
lakshya	49:61c9f28332ba	1198	timer_F_ACS.start();
Bragadeesh153	52:daa685b0e390	1199	F_ACS();
lakshya	49:61c9f28332ba	1200	timer_F_ACS.stop();
lakshya	49:61c9f28332ba	1201	/*pc.printf("\n\r timer_F_ACS is %f",timer_F_ACS.read());
lakshya	49:61c9f28332ba	1202	pc.printf("\n\r timer_SENSOR_INIT is %f",timer_SENSOR_INIT.read());
lakshya	49:61c9f28332ba	1203	pc.printf("\n\r timer_CONFIG_UPLOAD is %f",timer_CONFIG_UPLOAD.read());
lakshya	49:61c9f28332ba	1204	pc.printf("\n\r timer_SENSOR_DATA_ACQ is %f",timer_SENSOR_DATA_ACQ.read());
lakshya	49:61c9f28332ba	1205	pc.printf("\n\r timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya	49:61c9f28332ba	1206	pc.printf("\n\r timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya	49:61c9f28332ba	1207	pc.printf("\n\r timer_controlmodes is %f",timer_controlmodes.read());
lakshya	49:61c9f28332ba	1208	*/
lakshya	20:949d13045431	1209	//time_wdog = 0;
lakshya	20:949d13045431	1210	}
sakthipriya	0:7b4c00e3912f	1211
lakshya	20:949d13045431	1212	}
lakshya	33:76f2b8735501	1213	if(schedcount%4==0)
lakshya	20:949d13045431	1214	{
lakshya	20:949d13045431	1215	if( BAE_STANDBY!=0x01 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x07)
lakshya	20:949d13045431	1216	{
lakshya	20:949d13045431	1217	//time_wdog = 1;
lakshya	49:61c9f28332ba	1218	timer_F_ESP.reset();
lakshya	49:61c9f28332ba	1219	timer_F_ESP.start();
lakshya	20:949d13045431	1220	F_EPS();
lakshya	49:61c9f28332ba	1221	timer_F_ESP.stop();
lakshya	49:61c9f28332ba	1222	pc.printf("\n\r timer_F_ESP is %f",timer_F_ESP.read());
lakshya	49:61c9f28332ba	1223	/* pc.printf("\n\r timer_FCTN_BATTERYGAUGE_INIT is %f",timer_FCTN_BATTERYGAUGE_INIT.read());
lakshya	49:61c9f28332ba	1224	pc.printf("\n\r timer_alertFlags is %f",timer_alertFlags.read());
lakshya	49:61c9f28332ba	1225	pc.printf("\n\r timer_soc is %f",timer_soc.read());
lakshya	49:61c9f28332ba	1226	pc.printf("\n\r timer_FCTN_BATT_TEMP_SENSOR_MAIN is %f",timer_FCTN_BATT_TEMP_SENSOR_MAIN.read());
lakshya	49:61c9f28332ba	1227	pc.printf("\n\r timer_FCTN_BATTERYGAUGE_MAIN is %f",timer_FCTN_BATTERYGAUGE_MAIN.read());
lakshya	49:61c9f28332ba	1228	pc.printf("\n\r timer_FCTN_HK_MAIN is %f",timer_FCTN_HK_MAIN.read());
lakshya	49:61c9f28332ba	1229	pc.printf("\n\r timer_FCTN_EPS_HANDLE_HW_FAULTS is %f",timer_FCTN_EPS_HANDLE_HW_FAULTS.read());
lakshya	49:61c9f28332ba	1230	pc.printf("\n\r timer_FCTN_EPS_HANDLE_CDMS_FAULT is %f",timer_FCTN_EPS_HANDLE_CDMS_FAULT.read());
lakshya	49:61c9f28332ba	1231	pc.printf("\n\r timer_FCTN_APPEND_HKDATA is %f",timer_FCTN_APPEND_HKDATA.read());
lakshya	49:61c9f28332ba	1232	pc.printf("\n\r timer_minMaxHkData is %f",timer_minMaxHkData.read());
lakshya	49:61c9f28332ba	1233	*/
lakshya	20:949d13045431	1234	}
lakshya	20:949d13045431	1235	//time_wdog = 0;
lakshya	20:949d13045431	1236	}
lakshya	33:76f2b8735501	1237	if(schedcount%6==0)
lakshya	20:949d13045431	1238	{
lakshya	22:950dbe9fbeb8	1239	if(BAE_STANDBY!=0x04 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
lakshya	49:61c9f28332ba	1240	{ // time_wdog = 0;
lakshya	49:61c9f28332ba	1241	timer_F_BCN.reset();
lakshya	49:61c9f28332ba	1242	timer_F_BCN.start();
lakshya	49:61c9f28332ba	1243	F_BCN();
lakshya	49:61c9f28332ba	1244	timer_F_BCN.stop();
lakshya	49:61c9f28332ba	1245	/*pc.printf("\n\r timer_F_BCN is %f",timer_F_BCN.read());
lakshya	49:61c9f28332ba	1246	pc.printf("\n\r timer_Init_BEACON_HW is %f",timer_Init_BEACON_HW.read());
lakshya	49:61c9f28332ba	1247	pc.printf("\n\r timer_FCTN_BCN_TX_MAIN is %f",timer_FCTN_BCN_TX_MAIN.read());
lakshya	49:61c9f28332ba	1248	pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUCCESS is %f",timer_Set_BCN_TX_STATUS_SUCCESS.read());
lakshya	49:61c9f28332ba	1249	pc.printf("\n\r timer_Set_BCN_TX_STATUS_FAILURE is %f",timer_Set_BCN_TX_STATUS_FAILURE.read());
lakshya	49:61c9f28332ba	1250	pc.printf("\n\r timer_Set_BCN_TX_STATUS_DISABLED is %f",timer_Set_BCN_TX_STATUS_DISABLED.read());
lakshya	49:61c9f28332ba	1251	pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUSPENDED is %f",timer_Set_BCN_TX_STATUS_SUSPENDED.read());
lakshya	49:61c9f28332ba	1252	pc.printf("\n\r timer_Set_BCN_TX_STATUS_RF_SILENCE is %f",timer_Set_BCN_TX_STATUS_RF_SILENCE.read());
lakshya	49:61c9f28332ba	1253	*/}
lakshya	20:949d13045431	1254	}
sakthipriya	0:7b4c00e3912f	1255	schedcount++;
lakshya	20:949d13045431	1256	#if print
lakshya	20:949d13045431	1257	printf("\n\r exited scheduler h");
lakshya	20:949d13045431	1258	printf("\n\r time taken %f",t_start.read());
lakshya	20:949d13045431	1259	#endif
sakthipriya	0:7b4c00e3912f	1260	}
sakthipriya	0:7b4c00e3912f	1261
lakshya	20:949d13045431	1262
sakthipriya	0:7b4c00e3912f	1263	Timer t_flag;
lakshya	19:79e69017c855	1264
lakshya	20:949d13045431	1265
sakthipriya	0:7b4c00e3912f	1266	void FLAG()
sakthipriya	0:7b4c00e3912f	1267	{
lakshya	20:949d13045431	1268
lakshya	20:949d13045431	1269	//I2C
lakshya	20:949d13045431	1270	//if(BAE_MNG_I2C_STATUS == 1)
lakshya	20:949d13045431	1271	// BAE_STATUS = BAE_STATUS \| 0x10000000;
lakshya	20:949d13045431	1272	//else if(BAE_MNG_I2C_STATUS == 0)
lakshya	20:949d13045431	1273	// BAE_STATUS &= 0xEFFFFFF;
lakshya	19:79e69017c855	1274
lakshya	19:79e69017c855	1275	//.............bae..................//
lakshya	19:79e69017c855	1276	if(BAE_INIT_STATUS == 1)
lakshya	19:79e69017c855	1277	BAE_STATUS = BAE_STATUS \| 0x00000001; //BAE_STATUS \|= 0x00000001;
lakshya	19:79e69017c855	1278	else if(BAE_INIT_STATUS == 0)
lakshya	19:79e69017c855	1279	BAE_STATUS &= 0xFFFFFFFE;
lakshya	19:79e69017c855	1280
lakshya	20:949d13045431	1281	if(BAE_MNG_I2C_STATUS == 1)
lakshya	19:79e69017c855	1282	BAE_STATUS = BAE_STATUS \| 0x00000002;
lakshya	20:949d13045431	1283	if(BAE_MNG_I2C_STATUS == 0)
lakshya	19:79e69017c855	1284	BAE_STATUS &= 0xFFFFFFFD;
lakshya	20:949d13045431	1285
sakthipriya	0:7b4c00e3912f	1286	//.............acs..................//
sakthipriya	9:194afacf7449	1287	if(ACS_INIT_STATUS == 1)
sakthipriya	0:7b4c00e3912f	1288	BAE_STATUS = BAE_STATUS \| 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya	9:194afacf7449	1289	else if(ACS_INIT_STATUS == 0)
sakthipriya	0:7b4c00e3912f	1290	BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya	0:7b4c00e3912f	1291
sakthipriya	9:194afacf7449	1292	if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya	0:7b4c00e3912f	1293	BAE_STATUS =BAE_STATUS \| 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya	9:194afacf7449	1294	else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya	0:7b4c00e3912f	1295	BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya	0:7b4c00e3912f	1296
sakthipriya	9:194afacf7449	1297	if(ACS_ATS_ENABLE == 1)
sakthipriya	0:7b4c00e3912f	1298	BAE_ENABLE \|= 0x00000004;
sakthipriya	9:194afacf7449	1299	else if(ACS_ATS_ENABLE == 0)
sakthipriya	0:7b4c00e3912f	1300	BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB \| 0x00000004;
sakthipriya	0:7b4c00e3912f	1301
sakthipriya	0:7b4c00e3912f	1302	if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya	0:7b4c00e3912f	1303	BAE_STATUS \|= 0x00000200;
sakthipriya	0:7b4c00e3912f	1304
sakthipriya	9:194afacf7449	1305	if(ACS_MAIN_STATUS == 1)
sakthipriya	0:7b4c00e3912f	1306	BAE_STATUS = (BAE_STATUS \| 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya	9:194afacf7449	1307	else if(ACS_MAIN_STATUS == 0)
sakthipriya	0:7b4c00e3912f	1308	BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya	0:7b4c00e3912f	1309
sakthipriya	0:7b4c00e3912f	1310	if(ACS_STATUS == '0')
sakthipriya	0:7b4c00e3912f	1311	BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya	0:7b4c00e3912f	1312	else if(ACS_STATUS == '1')
sakthipriya	0:7b4c00e3912f	1313	BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) \| 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya	0:7b4c00e3912f	1314	else if(ACS_STATUS == '2')
sakthipriya	0:7b4c00e3912f	1315	BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)\| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya	0:7b4c00e3912f	1316	else if(ACS_STATUS == '3')
sakthipriya	0:7b4c00e3912f	1317	BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) \| 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya	0:7b4c00e3912f	1318	else if(ACS_STATUS == '4')
sakthipriya	0:7b4c00e3912f	1319	BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) \| 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya	0:7b4c00e3912f	1320	else if(ACS_STATUS == '5')
sakthipriya	0:7b4c00e3912f	1321	BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) \| 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya	0:7b4c00e3912f	1322	else if(ACS_STATUS == '6')
sakthipriya	0:7b4c00e3912f	1323	BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) \| 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya	0:7b4c00e3912f	1324	else
sakthipriya	0:7b4c00e3912f	1325	BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) \| 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya	0:7b4c00e3912f	1326
sakthipriya	0:7b4c00e3912f	1327	if(ACS_STATE == '0')
sakthipriya	0:7b4c00e3912f	1328	BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya	0:7b4c00e3912f	1329	else if(ACS_STATE == '2')
sakthipriya	0:7b4c00e3912f	1330	BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)\| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya	0:7b4c00e3912f	1331	else if(ACS_STATE == '3')
sakthipriya	0:7b4c00e3912f	1332	BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)\| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya	0:7b4c00e3912f	1333	else if(ACS_STATE == '4')
sakthipriya	0:7b4c00e3912f	1334	BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)\| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya	0:7b4c00e3912f	1335	else if(ACS_STATE == '5')
sakthipriya	0:7b4c00e3912f	1336	BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)\| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya	0:7b4c00e3912f	1337	else if(ACS_STATE == '6')
sakthipriya	0:7b4c00e3912f	1338	BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)\| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya	0:7b4c00e3912f	1339
sakthipriya	0:7b4c00e3912f	1340	//...............eps......................//
lakshya	20:949d13045431	1341	if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
lakshya	20:949d13045431	1342	BAE_STATUS \|= 0x00010000;
lakshya	20:949d13045431	1343	else if(EPS_INIT_STATUS==0) // Clear
lakshya	20:949d13045431	1344	BAE_STATUS &= 0xFFFEFFFF;
sakthipriya	5:bb592f3185cc	1345
sakthipriya	5:bb592f3185cc	1346
lakshya	20:949d13045431	1347	if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
lakshya	20:949d13045431	1348	BAE_STATUS \|= 0x00040000;
lakshya	20:949d13045431	1349	else if(EPS_MAIN_STATUS==0) // Clear
lakshya	20:949d13045431	1350	BAE_STATUS &= 0xFFFBFFFF;
sakthipriya	5:bb592f3185cc	1351
sakthipriya	5:bb592f3185cc	1352
lakshya	20:949d13045431	1353	if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
lakshya	20:949d13045431	1354	BAE_STATUS \|= 0x00020000;
lakshya	20:949d13045431	1355	else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
lakshya	20:949d13045431	1356	BAE_STATUS &= 0xFFFDFFFF;
lakshya	20:949d13045431	1357
lakshya	33:76f2b8735501	1358	if (EPS_BTRY_TMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
lakshya	20:949d13045431	1359	BAE_STATUS \|= 0x00080000;
lakshya	33:76f2b8735501	1360	else if(EPS_BTRY_TMP_STATUS==0) // Clear
lakshya	20:949d13045431	1361	BAE_STATUS &= 0xFFF7FFFF;
sakthipriya	5:bb592f3185cc	1362
lakshya	20:949d13045431	1363	if (EPS_STATUS==0)
lakshya	20:949d13045431	1364	BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
lakshya	20:949d13045431	1365	else if (EPS_STATUS==1)
lakshya	20:949d13045431	1366	BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)\|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
lakshya	20:949d13045431	1367	else if (EPS_STATUS==2)
lakshya	20:949d13045431	1368	BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)\|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
lakshya	20:949d13045431	1369	else if (EPS_STATUS==3)
lakshya	20:949d13045431	1370	BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)\|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
lakshya	20:949d13045431	1371	else if (EPS_STATUS==4)
lakshya	20:949d13045431	1372	BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)\|0x00040000; // Set EPS_BATTERY_HEATER_OFF
lakshya	20:949d13045431	1373	else if (EPS_STATUS==5)
lakshya	20:949d13045431	1374	BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)\|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya	5:bb592f3185cc	1375
lakshya	20:949d13045431	1376	if(EPS_BTRY_HTR_AUTO == 1)
sakthipriya	5:bb592f3185cc	1377	BAE_ENABLE \|= 0x00000080;
lakshya	20:949d13045431	1378	else if(EPS_BTRY_HTR_AUTO == 0)
sakthipriya	5:bb592f3185cc	1379	BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya	3:07e15677a75c	1380
lakshya	20:949d13045431	1381	#if print
lakshya	20:949d13045431	1382	pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
lakshya	20:949d13045431	1383	#endif
lakshya	20:949d13045431	1384	}
sakthipriya	0:7b4c00e3912f	1385
sakthipriya	0:7b4c00e3912f	1386
sakthipriya	0:7b4c00e3912f	1387	void FCTN_BAE_INIT()
sakthipriya	0:7b4c00e3912f	1388	{
lakshya	20:949d13045431	1389	#if print
lakshya	20:949d13045431	1390	printf("\n\r Initialising BAE _________________________________________________________________________________");
lakshya	20:949d13045431	1391	#endif
lakshya	19:79e69017c855	1392	BAE_INIT_STATUS=1;
lakshya	19:79e69017c855	1393	FLAG();
lakshya	19:79e69017c855	1394
sakthipriya	3:07e15677a75c	1395	//..........intial status....//
Bragadeesh153	13:fb7facaf308b	1396	ACS_STATE = 4;
sakthipriya	9:194afacf7449	1397	ACS_ATS_ENABLE = 1;
sakthipriya	9:194afacf7449	1398	ACS_DATA_ACQ_ENABLE = 1;
lakshya	20:949d13045431	1399	EPS_BTRY_HTR_AUTO = 1;
Bragadeesh153	13:fb7facaf308b	1400	actual_data.power_mode=3;
lakshya	19:79e69017c855	1401
sakthipriya	9:194afacf7449	1402	//............intializing pins................//
Bragadeesh153	52:daa685b0e390	1403	ATS1_SW_ENABLE = 1;
sakthipriya	9:194afacf7449	1404	ATS2_SW_ENABLE = 1;
Bragadeesh153	13:fb7facaf308b	1405
Bragadeesh153	13:fb7facaf308b	1406	DRV_XY_EN = 1;
Bragadeesh153	13:fb7facaf308b	1407	DRV_Z_EN = 1;
Bragadeesh153	52:daa685b0e390	1408	ACS_TR_Z_ENABLE = 1;
Bragadeesh153	52:daa685b0e390	1409	ACS_TR_XY_ENABLE = 1;
lakshya	20:949d13045431	1410
lakshya	20:949d13045431	1411	//time_wdog = 1;
sakthipriya	9:194afacf7449	1412
lakshya	49:61c9f28332ba	1413	kick_WDOG();
lakshya	49:61c9f28332ba	1414	pc.printf("\n\r lvl1");
lakshya	49:61c9f28332ba	1415
lakshya	19:79e69017c855	1416	//...........order mentioned in flow chart.................//
lakshya	49:61c9f28332ba	1417	timer_FCTN_BAE_INIT.reset();
lakshya	49:61c9f28332ba	1418	timer_FCTN_BAE_INIT.start();
sakthipriya	3:07e15677a75c	1419	FCTN_ACS_INIT();
lakshya	49:61c9f28332ba	1420	timer_FCTN_BAE_INIT.stop();
lakshya	49:61c9f28332ba	1421	pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya	49:61c9f28332ba	1422
lakshya	49:61c9f28332ba	1423	timer_FCTN_EPS_INIT.reset();
lakshya	49:61c9f28332ba	1424	timer_FCTN_EPS_INIT.start();
lakshya	17:fc782f7548c6	1425	FCTN_EPS_INIT();
lakshya	49:61c9f28332ba	1426	timer_FCTN_EPS_INIT.stop();
lakshya	49:61c9f28332ba	1427	pc.printf("\n\r timer_FCTN_EPS_INIT is %f",timer_FCTN_EPS_INIT.read());
lakshya	49:61c9f28332ba	1428
lakshya	49:61c9f28332ba	1429	timer_FCTN_BCN_INIT.reset();
lakshya	49:61c9f28332ba	1430	timer_FCTN_BCN_INIT.start();
lakshya	18:3662058a7c10	1431	FCTN_BCN_INIT();
lakshya	49:61c9f28332ba	1432	timer_FCTN_BCN_INIT.stop();
lakshya	49:61c9f28332ba	1433	pc.printf("\n\r timer_FCTN_BCN_INIT is %f",timer_FCTN_BCN_INIT.read());
lakshya	19:79e69017c855	1434
lakshya	27:61c856be467e	1435	//uint32_t data_flash=FCTN_BAE_RD_FLASH_ENTITY(0);/sending the 0 entity as in mms tc/tm bae_reset_counter is present in first 32 bits /
lakshya	27:61c856be467e	1436	//uint32_t data_modify=data_flash & 0x000000FF;
lakshya	27:61c856be467e	1437	//data_modify +=1;
lakshya	27:61c856be467e	1438	//data_modify \|=data_flash;
lakshya	27:61c856be467e	1439	//FCTN_BAE_WR_FLASH(0,data_modify);
lakshya	49:61c9f28332ba	1440	//#if print
lakshya	49:61c9f28332ba	1441	// printf("\n\rthe number of reset %d",data_modify);
lakshya	49:61c9f28332ba	1442	//#endif
lakshya	19:79e69017c855	1443	BAE_INIT_STATUS=0;
sakthipriya	0:7b4c00e3912f	1444	FLAG();
sakthipriya	0:7b4c00e3912f	1445	}
sakthipriya	0:7b4c00e3912f	1446
lakshya	20:949d13045431	1447
sakthipriya	0:7b4c00e3912f	1448	int main()
sakthipriya	0:7b4c00e3912f	1449	{
lakshya	33:76f2b8735501	1450	//BAE_uptime.reset();
lakshya	33:76f2b8735501	1451	BAE_uptime.start();
lakshya	20:949d13045431	1452	//time_wdog = 1;
lakshya	19:79e69017c855	1453	pc.printf("\n\r BAE Activated. Testing Version 1.2 \n");
lakshya	20:949d13045431	1454	//FLASH_INI();
lakshya	49:61c9f28332ba	1455
lakshya	49:61c9f28332ba	1456	time_wdog=1;
lakshya	49:61c9f28332ba	1457	timer_FCTN_BAE_INIT.start();
sakthipriya	0:7b4c00e3912f	1458	FCTN_BAE_INIT();
lakshya	49:61c9f28332ba	1459	timer_FCTN_BAE_INIT.stop();
lakshya	49:61c9f28332ba	1460	pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya	49:61c9f28332ba	1461
lakshya	49:61c9f28332ba	1462	time_wdog=0;
lakshya	49:61c9f28332ba	1463
lakshya	20:949d13045431	1464	//time_wdog = 0;
lakshya	20:949d13045431	1465
sakthipriya	0:7b4c00e3912f	1466	slave.address(addr);
sakthipriya	0:7b4c00e3912f	1467	irpt_2_mstr = 0;
sakthipriya	0:7b4c00e3912f	1468
sakthipriya	0:7b4c00e3912f	1469	ptr_t_i2c = new Thread(T_TC);
lakshya	50:6001287f3045	1470	ptr_t_i2c->set_priority(osPriorityRealtime);
sakthipriya	5:bb592f3185cc	1471
sakthipriya	0:7b4c00e3912f	1472	irpt_4m_mstr.enable_irq();
sakthipriya	0:7b4c00e3912f	1473	irpt_4m_mstr.rise(&FCTN_I2C_ISR);
lakshya	20:949d13045431	1474
sakthipriya	0:7b4c00e3912f	1475	RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
lakshya	33:76f2b8735501	1476	t_sc_timer.start(5000);
sakthipriya	0:7b4c00e3912f	1477	t_start.start();
lakshya	50:6001287f3045	1478
lakshya	20:949d13045431	1479	#if print
lakshya	20:949d13045431	1480	pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
lakshya	20:949d13045431	1481	#endif
lakshya	19:79e69017c855	1482	/if one defines it dynamically then one has to take care that the destuct function is calle everytime BAE resets otheriwse it will lead to memory leakage/
lakshya	20:949d13045431	1483	//BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya	19:79e69017c855	1484	/static allocation/
lakshya	19:79e69017c855	1485	RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya	19:79e69017c855	1486	BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER;
lakshya	18:3662058a7c10	1487
lakshya	20:949d13045431	1488	RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce);
lakshya	20:949d13045431	1489	/later change it to 30 min 1800 seconds/
lakshya	20:949d13045431	1490	bcn_start_timer.start(20000);
lakshya	20:949d13045431	1491
lakshya	20:949d13045431	1492	//BCN HTR TIMERS
lakshya	20:949d13045431	1493	RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce);
lakshya	20:949d13045431	1494	HTR_OFF=&EPS_HTR_OFF_TIMER;
lakshya	20:949d13045431	1495
lakshya	49:61c9f28332ba	1496	RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE, osTimerPeriodic);
lakshya	20:949d13045431	1497	HTR_CYCLE=&EPS_HTR_CYCLE_TIMER;
lakshya	20:949d13045431	1498
lakshya	20:949d13045431	1499	RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce);
lakshya	20:949d13045431	1500	HTR_DLY=&EPS_HTR_DLY_TIMER;
lakshya	20:949d13045431	1501
lakshya	49:61c9f28332ba	1502	timer_FLASH_INI.start();
lakshya	20:949d13045431	1503	FLASH_INI();
lakshya	49:61c9f28332ba	1504	timer_FLASH_INI.stop();
lakshya	49:61c9f28332ba	1505	pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya	20:949d13045431	1506
lakshya	20:949d13045431	1507	while(1); //required to prevent main from terminating
lakshya	18:3662058a7c10	1508
lakshya	20:949d13045431	1509	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	09 Mar 2017
Imports:	0
Forks:	0
Commits:	102
Dependents:	0
Dependencies:	3
Followers:	39

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main.cpp@57:60e8f00d93c3, 2016-09-04 (annotated)

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