Team Fox
/
BAE_QM_MAR9
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Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
workinQM_5thJan_azad
by 
Team Fox
main.cpp@27:61c856be467e, 2016-07-02 (annotated)
- Committer:
- lakshya
- Date:
- Sat Jul 02 14:06:34 2016 +0000
- Revision:
- 27:61c856be467e
- Parent:
- 22:950dbe9fbeb8
- Child:
- 33:76f2b8735501
changing now ; updating bcn
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| sakthipriya | 0:7b4c00e3912f | 1 | #include "mbed.h" |
| sakthipriya | 0:7b4c00e3912f | 2 | #include "rtos.h" |
| sakthipriya | 0:7b4c00e3912f | 3 | #include "pin_config.h" |
| sakthipriya | 0:7b4c00e3912f | 4 | #include "ACS.h" |
| sakthipriya | 0:7b4c00e3912f | 5 | #include "EPS.h" |
| sakthipriya | 0:7b4c00e3912f | 6 | #include "BCN.h" |
| sakthipriya | 0:7b4c00e3912f | 7 | #include "TCTM.h" |
| Bragadeesh153 | 13:fb7facaf308b | 8 | #define tm_len 135 |
| Bragadeesh153 | 13:fb7facaf308b | 9 | #define tc_len 11 |
| sakthipriya | 0:7b4c00e3912f | 10 | #define batt_heat_low 20 |
| lakshya | 22:950dbe9fbeb8 | 11 | #define print 1 |
| sakthipriya | 9:194afacf7449 | 12 | |
| lakshya | 20:949d13045431 | 13 | DigitalOut time_wdog(PIN68);// for determining the time between code |
| lakshya | 20:949d13045431 | 14 | |
| lakshya | 19:79e69017c855 | 15 | //**********************************************GLOBAL RTOS TIMER*********************************************************// |
| lakshya | 19:79e69017c855 | 16 | RtosTimer *BAE_STANDBY_STATUS_TIMER; |
| lakshya | 19:79e69017c855 | 17 | |
| lakshya | 20:949d13045431 | 18 | |
| lakshya | 20:949d13045431 | 19 | //bcn heater rtostimers============================================================================= |
| lakshya | 20:949d13045431 | 20 | RtosTimer *HTR_OFF=NULL; |
| lakshya | 20:949d13045431 | 21 | RtosTimer *HTR_CYCLE=NULL; |
| lakshya | 20:949d13045431 | 22 | RtosTimer *HTR_DLY=NULL; |
| lakshya | 20:949d13045431 | 23 | |
| lakshya | 20:949d13045431 | 24 | extern DigitalOut EN_BTRY_HT; |
| lakshya | 20:949d13045431 | 25 | |
| lakshya | 20:949d13045431 | 26 | uint8_t HTR_CYCLE_COUNTS=0; //Count of heater cycles |
| lakshya | 20:949d13045431 | 27 | uint8_t HTR_CYCLE_START_DLY=0; //EPS_HTR_DLY_TIMER timer duration in minutes |
| lakshya | 20:949d13045431 | 28 | uint8_t HTR_ON_DURATION=0; //EPS_HTR_OFF timer duration in minutes |
| lakshya | 20:949d13045431 | 29 | uint16_t HTR_CYCLE_PERIOD =0; //EPS_HTR_CYCLE timer duration - MSB minutes, LSB seconds |
| lakshya | 20:949d13045431 | 30 | uint8_t HTR_CYCLE_COUNTER = 0 ; |
| lakshya | 20:949d13045431 | 31 | |
| lakshya | 20:949d13045431 | 32 | uint32_t HTR_CYCLE_PERIOD_DECODER() //To convert HTR_CYCLE_PERIOD to millisecs |
| lakshya | 20:949d13045431 | 33 | { |
| lakshya | 20:949d13045431 | 34 | uint8_t PERIOD_mins, PERIOD_secs; |
| lakshya | 20:949d13045431 | 35 | //pc.printf("\n\r FCTN_HTR_CYCLE_PERIOD"); |
| lakshya | 20:949d13045431 | 36 | PERIOD_secs = HTR_CYCLE_PERIOD; |
| lakshya | 20:949d13045431 | 37 | PERIOD_mins = HTR_CYCLE_PERIOD >> 8; |
| lakshya | 20:949d13045431 | 38 | uint32_t period = 1000*((int)PERIOD_mins * 60 + (int)PERIOD_secs); |
| lakshya | 20:949d13045431 | 39 | |
| lakshya | 20:949d13045431 | 40 | return period; |
| lakshya | 20:949d13045431 | 41 | } |
| lakshya | 20:949d13045431 | 42 | |
| lakshya | 20:949d13045431 | 43 | void FCTN_EPS_HTR_CYCLE(void const *arg) |
| lakshya | 20:949d13045431 | 44 | { |
| lakshya | 20:949d13045431 | 45 | EN_BTRY_HT = 1;//assuming its active high check |
| lakshya | 20:949d13045431 | 46 | //pc.printf("\n\r on kar diya"); |
| lakshya | 20:949d13045431 | 47 | //pc.printf("\n\r FCTN_EPS_HTR_CYCLE"); |
| lakshya | 20:949d13045431 | 48 | //tim.reset(); |
| lakshya | 20:949d13045431 | 49 | //tim.start(); |
| lakshya | 20:949d13045431 | 50 | //HTR_OFF->start(((uint32_t)HTR_ON_DURATION)*1000); |
| lakshya | 20:949d13045431 | 51 | HTR_OFF->start((int)HTR_ON_DURATION*60*1000); |
| lakshya | 20:949d13045431 | 52 | } |
| lakshya | 20:949d13045431 | 53 | |
| lakshya | 20:949d13045431 | 54 | void FCTN_EPS_HTR_DLY(void const* arg) |
| lakshya | 20:949d13045431 | 55 | { |
| lakshya | 20:949d13045431 | 56 | EN_BTRY_HT = 1; |
| lakshya | 20:949d13045431 | 57 | HTR_CYCLE_COUNTER = 0; |
| lakshya | 20:949d13045431 | 58 | HTR_OFF->start(((int)HTR_ON_DURATION*60*1000)); |
| lakshya | 20:949d13045431 | 59 | //pc.printf("\n\r on kar diya"); |
| lakshya | 20:949d13045431 | 60 | //pc.printf("\n\r FCTN_EPS_HTR_DLY"); |
| lakshya | 20:949d13045431 | 61 | //tim.start(); |
| lakshya | 20:949d13045431 | 62 | HTR_CYCLE->start((uint32_t)HTR_CYCLE_PERIOD_DECODER); |
| lakshya | 20:949d13045431 | 63 | } |
| lakshya | 20:949d13045431 | 64 | |
| lakshya | 20:949d13045431 | 65 | void FCTN_EPS_HTR_OFF(void const *arg) |
| lakshya | 20:949d13045431 | 66 | { |
| lakshya | 20:949d13045431 | 67 | EN_BTRY_HT = 0; |
| lakshya | 20:949d13045431 | 68 | //tim.stop(); |
| lakshya | 20:949d13045431 | 69 | //pc.printf("\n\r off kar diya"); |
| lakshya | 20:949d13045431 | 70 | //pc.printf("\n\r the timer value is %f",tim.read()); |
| lakshya | 20:949d13045431 | 71 | //tim.reset(); |
| lakshya | 20:949d13045431 | 72 | if(HTR_CYCLE_COUNTS != 0xFF) |
| lakshya | 20:949d13045431 | 73 | { |
| lakshya | 20:949d13045431 | 74 | HTR_CYCLE_COUNTER++; |
| lakshya | 20:949d13045431 | 75 | if( HTR_CYCLE_COUNTER == (int)HTR_CYCLE_COUNTS)//HTR_CYCLE_COUNTS ) |
| lakshya | 20:949d13045431 | 76 | HTR_CYCLE->stop(); |
| lakshya | 20:949d13045431 | 77 | } |
| lakshya | 20:949d13045431 | 78 | } |
| lakshya | 20:949d13045431 | 79 | |
| lakshya | 20:949d13045431 | 80 | //==================================================================================================== |
| lakshya | 20:949d13045431 | 81 | |
| lakshya | 20:949d13045431 | 82 | //fctn to pass the data to bcn long type |
| lakshya | 20:949d13045431 | 83 | uint8_t CDMS_HK_data[134]; |
| lakshya | 20:949d13045431 | 84 | void FCTN_CDMS_HK_TC(uint8_t tc[]) |
| lakshya | 20:949d13045431 | 85 | { |
| lakshya | 20:949d13045431 | 86 | for(int i=0;i<134;i++) |
| lakshya | 20:949d13045431 | 87 | CDMS_HK_data[i] = tc[i]; |
| lakshya | 20:949d13045431 | 88 | } |
| lakshya | 20:949d13045431 | 89 | |
| lakshya | 20:949d13045431 | 90 | uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off. |
| lakshya | 20:949d13045431 | 91 | |
| lakshya | 19:79e69017c855 | 92 | void BAE_STANDBY_STATUS_RESET(const void* arg) |
| lakshya | 19:79e69017c855 | 93 | { |
| lakshya | 19:79e69017c855 | 94 | printf("\n\rBAE standby reset to 0x00"); |
| lakshya | 19:79e69017c855 | 95 | BAE_STANDBY=0x00; |
| lakshya | 19:79e69017c855 | 96 | } |
| lakshya | 19:79e69017c855 | 97 | |
| lakshya | 20:949d13045431 | 98 | |
| lakshya | 19:79e69017c855 | 99 | /*no problem in first stopping and then starting even when for the first time*/ |
| lakshya | 19:79e69017c855 | 100 | void BAE_STANDBY_TIMER_RESET() |
| lakshya | 19:79e69017c855 | 101 | { |
| lakshya | 19:79e69017c855 | 102 | BAE_STANDBY_STATUS_TIMER->stop(); |
| lakshya | 19:79e69017c855 | 103 | 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 | 104 | } |
| lakshya | 19:79e69017c855 | 105 | |
| lakshya | 20:949d13045431 | 106 | extern void gen_I_TM(); |
| lakshya | 20:949d13045431 | 107 | |
| lakshya | 20:949d13045431 | 108 | //*************** FLAGS ****************************// |
| sakthipriya | 0:7b4c00e3912f | 109 | uint32_t BAE_STATUS = 0x00000000; |
| sakthipriya | 0:7b4c00e3912f | 110 | uint32_t BAE_ENABLE = 0xFFFFFFFF; |
| sakthipriya | 0:7b4c00e3912f | 111 | |
| sakthipriya | 5:bb592f3185cc | 112 | //i2c// |
| sakthipriya | 5:bb592f3185cc | 113 | char data_send_flag = 'h'; |
| lakshya | 20:949d13045431 | 114 | //uint8_t BAE_MNG_I2C_STATUS = 0; |
| sakthipriya | 5:bb592f3185cc | 115 | |
| lakshya | 20:949d13045431 | 116 | //BAE |
| lakshya | 19:79e69017c855 | 117 | uint8_t BAE_INIT_STATUS=0; |
| lakshya | 20:949d13045431 | 118 | uint8_t BAE_MNG_I2C_STATUS=0; |
| sakthipriya | 0:7b4c00e3912f | 119 | |
| sakthipriya | 9:194afacf7449 | 120 | |
| lakshya | 20:949d13045431 | 121 | //ACS |
| sakthipriya | 9:194afacf7449 | 122 | uint8_t ACS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 123 | uint8_t ACS_DATA_ACQ_STATUS = 0; |
| lakshya | 20:949d13045431 | 124 | uint8_t ACS_ATS_STATUS = 0x73; |
| sakthipriya | 9:194afacf7449 | 125 | uint8_t ACS_MAIN_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 126 | uint8_t ACS_STATUS = 0; |
| lakshya | 20:949d13045431 | 127 | uint8_t ACS_DETUMBLING_ALGO_TYPE = 0; |
| sakthipriya | 9:194afacf7449 | 128 | uint8_t ACS_ATS_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 129 | uint8_t ACS_DATA_ACQ_ENABLE = 1; |
| lakshya | 20:949d13045431 | 130 | uint8_t ACS_STATE = 7; |
| lakshya | 19:79e69017c855 | 131 | |
| lakshya | 20:949d13045431 | 132 | extern uint16_t ACS_MM_X_COMSN; |
| lakshya | 20:949d13045431 | 133 | extern uint16_t ACS_MM_Y_COMSN; |
| lakshya | 20:949d13045431 | 134 | extern uint16_t ACS_MG_X_COMSN; |
| lakshya | 20:949d13045431 | 135 | extern uint16_t ACS_MG_Y_COMSN; |
| lakshya | 20:949d13045431 | 136 | extern uint16_t ACS_MM_Z_COMSN; |
| lakshya | 20:949d13045431 | 137 | extern uint16_t ACS_MG_Z_COMSN; |
| lakshya | 20:949d13045431 | 138 | |
| lakshya | 27:61c856be467e | 139 | extern uint8_t controlmode_mms; |
| lakshya | 27:61c856be467e | 140 | |
| lakshya | 20:949d13045431 | 141 | //BCN |
| lakshya | 18:3662058a7c10 | 142 | extern uint8_t BCN_FEN; |
| lakshya | 18:3662058a7c10 | 143 | extern void FCTN_BCN_FEN(void const *args); |
| lakshya | 20:949d13045431 | 144 | extern void LONG_BCN_DATA(uint8_t* ); |
| lakshya | 20:949d13045431 | 145 | extern uint16_t gencrc16_for_me();//for calculating the crc of baehk data before sendingkk as including crc causes problem |
| lakshya | 20:949d13045431 | 146 | extern DigitalOut EN_BTRY_HT; |
| lakshya | 20:949d13045431 | 147 | |
| lakshya | 20:949d13045431 | 148 | |
| lakshya | 18:3662058a7c10 | 149 | Timeout timeout_bcn; |
| lakshya | 19:79e69017c855 | 150 | /*long beacon data/sending*/ |
| lakshya | 19:79e69017c855 | 151 | /*be sure it is created in bcn.cpp*/ |
| sakthipriya | 0:7b4c00e3912f | 152 | |
| lakshya | 20:949d13045431 | 153 | //EPS |
| sakthipriya | 9:194afacf7449 | 154 | uint8_t EPS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 155 | uint8_t EPS_BATTERY_GAUGE_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 156 | uint8_t EPS_MAIN_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 157 | uint8_t EPS_BATTERY_TEMP_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 158 | uint8_t EPS_STATUS = 7; //invalid status |
| sakthipriya | 9:194afacf7449 | 159 | |
| lakshya | 20:949d13045431 | 160 | uint8_t EPS_BTRY_HTR_AUTO = 1; |
| lakshya | 20:949d13045431 | 161 | extern uint8_t EPS_SOC_LEVEL_12; |
| lakshya | 20:949d13045431 | 162 | extern uint8_t EPS_SOC_LEVEL_23; |
| lakshya | 20:949d13045431 | 163 | extern uint8_t EPS_BAT_TEMP_LOW; |
| lakshya | 20:949d13045431 | 164 | extern uint8_t EPS_BAT_TEMP_HIGH; |
| lakshya | 20:949d13045431 | 165 | extern uint8_t EPS_BAT_TEMP_DEFAULT; |
| lakshya | 20:949d13045431 | 166 | |
| lakshya | 20:949d13045431 | 167 | |
| lakshya | 20:949d13045431 | 168 | //**********************GLOBAL DECLARATIONS********************************// |
| lakshya | 20:949d13045431 | 169 | |
| lakshya | 20:949d13045431 | 170 | //CDMS |
| lakshya | 20:949d13045431 | 171 | //eps cdms fault |
| lakshya | 20:949d13045431 | 172 | uint8_t CDMS_SW_STATUS; |
| lakshya | 20:949d13045431 | 173 | DigitalOut CDMS_OC_FAULT(PIN79); |
| lakshya | 20:949d13045431 | 174 | bool CDMS_SW_ENABLE; |
| lakshya | 20:949d13045431 | 175 | int CDMS_FAULT_COUNTER = 0; |
| lakshya | 20:949d13045431 | 176 | |
| lakshya | 20:949d13045431 | 177 | |
| lakshya | 20:949d13045431 | 178 | //BAE new hk structure- everything has to changed based on this |
| lakshya | 20:949d13045431 | 179 | char BAE_chardata[74]; |
| lakshya | 20:949d13045431 | 180 | uint8_t BAE_HK_data[134]; |
| lakshya | 20:949d13045431 | 181 | uint8_t BAE_RESET_COUNTER;// INITIALIZATION or do you want to initialize evertime the main is reset? or is it same |
| lakshya | 20:949d13045431 | 182 | uint16_t BAE_I2C_COUNTER = 0;//change/apply |
| lakshya | 20:949d13045431 | 183 | //uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off. |
| lakshya | 20:949d13045431 | 184 | |
| lakshya | 20:949d13045431 | 185 | //BCN |
| lakshya | 20:949d13045431 | 186 | //uint16_t BCN_TX_MAIN_COUNTER = 0; |
| lakshya | 20:949d13045431 | 187 | uint8_t BCN_LONG_MSG_TYPE = 1; |
| sakthipriya | 0:7b4c00e3912f | 188 | |
| lakshya | 20:949d13045431 | 189 | DigitalOut BCN_TX_OC_FAULT(PIN80); |
| lakshya | 20:949d13045431 | 190 | int BCN_TX_FAULT_COUNTER; |
| lakshya | 20:949d13045431 | 191 | |
| lakshya | 20:949d13045431 | 192 | //ACS |
| lakshya | 20:949d13045431 | 193 | uint16_t ACS_MAIN_COUNTER = 0; |
| lakshya | 20:949d13045431 | 194 | |
| lakshya | 20:949d13045431 | 195 | //eps hw faults |
| lakshya | 20:949d13045431 | 196 | //uint8_t ACS_TR_Z_SW_STATUS; |
| lakshya | 20:949d13045431 | 197 | DigitalOut ACS_TR_Z_ENABLE(PIN40); |
| lakshya | 20:949d13045431 | 198 | DigitalOut ACS_TR_Z_OC_FAULT(PIN91); |
| lakshya | 20:949d13045431 | 199 | DigitalOut ACS_TR_Z_FAULT(PIN89); //Driver IC fault |
| lakshya | 20:949d13045431 | 200 | int ACS_TR_Z_FAULT_COUNTER = 0; |
| sakthipriya | 0:7b4c00e3912f | 201 | |
| lakshya | 20:949d13045431 | 202 | //uint8_t ACS_TR_XY_SW_STATUS; |
| lakshya | 20:949d13045431 | 203 | DigitalOut ACS_TR_XY_ENABLE(PIN71); |
| lakshya | 20:949d13045431 | 204 | DigitalOut ACS_TR_XY_OC_FAULT(PIN72); |
| lakshya | 20:949d13045431 | 205 | DigitalOut ACS_TR_XY_FAULT(PIN83); //Driver IC fault |
| lakshya | 20:949d13045431 | 206 | int ACS_TR_XY_FAULT_COUNTER = 0; |
| lakshya | 20:949d13045431 | 207 | |
| lakshya | 20:949d13045431 | 208 | //bool ACS_ATS1_ENABLE; |
| lakshya | 20:949d13045431 | 209 | DigitalOut ACS_ATS1_OC_FAULT(PIN97); |
| lakshya | 20:949d13045431 | 210 | int ACS_ATS1_FAULT_COUNTER = 0; |
| lakshya | 20:949d13045431 | 211 | |
| lakshya | 20:949d13045431 | 212 | //bool ACS_ATS2_ENABLE; |
| lakshya | 20:949d13045431 | 213 | DigitalOut ACS_ATS2_OC_FAULT(PIN5); |
| lakshya | 20:949d13045431 | 214 | int ACS_ATS2_FAULT_COUNTER; |
| lakshya | 20:949d13045431 | 215 | |
| lakshya | 20:949d13045431 | 216 | //EPS |
| lakshya | 20:949d13045431 | 217 | int EPS_MAIN_COUNTER = 0; |
| lakshya | 20:949d13045431 | 218 | |
| lakshya | 20:949d13045431 | 219 | |
| lakshya | 20:949d13045431 | 220 | //GEN DEC FOR TESTING or to be DECIDED whre to ASSIGN HERE |
| sakthipriya | 0:7b4c00e3912f | 221 | const int addr = 0x20; //slave address |
| sakthipriya | 0:7b4c00e3912f | 222 | Timer t_rfsilence; |
| sakthipriya | 0:7b4c00e3912f | 223 | Timer t_start; |
| lakshya | 19:79e69017c855 | 224 | /*defined as of now to check execution time*/ |
| lakshya | 19:79e69017c855 | 225 | /*remember to remove them*/ |
| lakshya | 19:79e69017c855 | 226 | Timer t_acs; |
| lakshya | 19:79e69017c855 | 227 | Timer t_eps; |
| lakshya | 20:949d13045431 | 228 | //Timer t_tc; |
| sakthipriya | 7:a46a1dee4497 | 229 | Timer t_tm; |
| sakthipriya | 0:7b4c00e3912f | 230 | Serial pc(USBTX, USBRX); |
| sakthipriya | 0:7b4c00e3912f | 231 | int power_flag_dummy=2; |
| sakthipriya | 0:7b4c00e3912f | 232 | float data[6]; |
| sakthipriya | 0:7b4c00e3912f | 233 | |
| lakshya | 20:949d13045431 | 234 | |
| lakshya | 20:949d13045431 | 235 | //*************EXTERN PARA******** |
| lakshya | 20:949d13045431 | 236 | |
| lakshya | 20:949d13045431 | 237 | //BAE |
| lakshya | 20:949d13045431 | 238 | |
| sakthipriya | 1:446a959e36ce | 239 | extern BAE_HK_actual actual_data; |
| sakthipriya | 1:446a959e36ce | 240 | extern BAE_HK_quant quant_data; |
| sakthipriya | 1:446a959e36ce | 241 | extern BAE_HK_min_max bae_HK_minmax; |
| sakthipriya | 1:446a959e36ce | 242 | extern BAE_HK_arch arch_data; |
| sakthipriya | 0:7b4c00e3912f | 243 | |
| lakshya | 20:949d13045431 | 244 | |
| lakshya | 20:949d13045431 | 245 | //BCN |
| lakshya | 20:949d13045431 | 246 | extern uint8_t BCN_FEN; |
| lakshya | 20:949d13045431 | 247 | extern uint8_t BCN_TX_SW_STATUS; |
| lakshya | 20:949d13045431 | 248 | extern uint8_t BCN_SPND_TX; |
| lakshya | 20:949d13045431 | 249 | |
| lakshya | 20:949d13045431 | 250 | |
| lakshya | 20:949d13045431 | 251 | //TCTM |
| lakshya | 20:949d13045431 | 252 | extern uint8_t telemetry[135]; |
| lakshya | 20:949d13045431 | 253 | |
| lakshya | 20:949d13045431 | 254 | |
| lakshya | 20:949d13045431 | 255 | //ACS |
| lakshya | 20:949d13045431 | 256 | extern uint8_t ACS_TR_Z_SW_STATUS; |
| lakshya | 20:949d13045431 | 257 | extern uint8_t ACS_TR_XY_SW_STATUS; |
| lakshya | 20:949d13045431 | 258 | extern float gyro_data[3]; |
| lakshya | 20:949d13045431 | 259 | extern float mag_data[3]; |
| lakshya | 20:949d13045431 | 260 | extern float moment[3]; |
| lakshya | 20:949d13045431 | 261 | extern float b_old[3]; // Unit: Tesla |
| lakshya | 20:949d13045431 | 262 | extern float db[3]; |
| lakshya | 20:949d13045431 | 263 | extern uint8_t flag_firsttime; |
| lakshya | 20:949d13045431 | 264 | extern uint8_t ACS_MAG_TIME_DELAY; |
| lakshya | 20:949d13045431 | 265 | extern uint8_t ACS_DEMAG_TIME_DELAY; |
| lakshya | 20:949d13045431 | 266 | extern uint16_t ACS_Z_FIXED_MOMENT; |
| lakshya | 20:949d13045431 | 267 | |
| sakthipriya | 5:bb592f3185cc | 268 | int write_ack = 1; |
| sakthipriya | 5:bb592f3185cc | 269 | int read_ack = 1; |
| sakthipriya | 0:7b4c00e3912f | 270 | char telecommand[tc_len]; |
| lakshya | 20:949d13045431 | 271 | |
| sakthipriya | 5:bb592f3185cc | 272 | |
| sakthipriya | 5:bb592f3185cc | 273 | bool pf1check = 0; |
| sakthipriya | 5:bb592f3185cc | 274 | bool pf2check = 0; |
| sakthipriya | 5:bb592f3185cc | 275 | bool if1check = 0; |
| lakshya | 14:a9588f443f1a | 276 | bool if2check = 0; |
| sakthipriya | 0:7b4c00e3912f | 277 | |
| lakshya | 20:949d13045431 | 278 | //ASSIGNING PINS// |
| sakthipriya | 9:194afacf7449 | 279 | DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch |
| sakthipriya | 9:194afacf7449 | 280 | DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch |
| sakthipriya | 0:7b4c00e3912f | 281 | InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS |
| sakthipriya | 0:7b4c00e3912f | 282 | DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS |
| lakshya | 14:a9588f443f1a | 283 | I2CSlave slave (PIN1,PIN2);///pin1 pin2 |
| lakshya | 20:949d13045431 | 284 | //DigitalOut batt_heat(PIN96); |
| sakthipriya | 0:7b4c00e3912f | 285 | |
| sakthipriya | 9:194afacf7449 | 286 | //ATS1_SW_ENABLE = 0; |
| sakthipriya | 0:7b4c00e3912f | 287 | PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal |
| sakthipriya | 0:7b4c00e3912f | 288 | PwmOut PWM2(PIN94); //y |
| sakthipriya | 0:7b4c00e3912f | 289 | PwmOut PWM3(PIN95); //z //PWM output comes from pins p6 |
| sakthipriya | 0:7b4c00e3912f | 290 | |
| sakthipriya | 5:bb592f3185cc | 291 | //........faults |
| sakthipriya | 5:bb592f3185cc | 292 | //Polled Faults |
| sakthipriya | 5:bb592f3185cc | 293 | DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 294 | DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 295 | DigitalIn pf3(PIN83);//Fault Bar for TRXY driver |
| sakthipriya | 5:bb592f3185cc | 296 | |
| Bragadeesh153 | 13:fb7facaf308b | 297 | DigitalOut TRXY_SW(PIN71); //TR XY Switch |
| Bragadeesh153 | 13:fb7facaf308b | 298 | DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z |
| sakthipriya | 5:bb592f3185cc | 299 | DigitalOut TRZ_SW(PIN40); //TR Z Switch |
| lakshya | 19:79e69017c855 | 300 | DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET |
| sakthipriya | 5:bb592f3185cc | 301 | DigitalOut BCN_SW(PIN14); //Beacon switch |
| Bragadeesh153 | 13:fb7facaf308b | 302 | DigitalOut DRV_XY_EN(PIN82); |
| sakthipriya | 0:7b4c00e3912f | 303 | |
| lakshya | 19:79e69017c855 | 304 | |
| lakshya | 20:949d13045431 | 305 | |
| lakshya | 20:949d13045431 | 306 | //================================================================================ |
| lakshya | 20:949d13045431 | 307 | //default flash array some filler bits added (detail in MMS file) |
| lakshya | 27:61c856be467e | 308 | uint32_t ARR_INITIAL_VAL[8]={0x73582600,0x505A4141,0x1A1A1400,0x00000000,0x00000000,0x00000000,0xCBA20000,0x00000000};//to be done |
| lakshya | 20:949d13045431 | 309 | |
| lakshya | 20:949d13045431 | 310 | void FLASH_INI() |
| lakshya | 20:949d13045431 | 311 | { |
| lakshya | 20:949d13045431 | 312 | uint32_t read[8]; |
| lakshya | 20:949d13045431 | 313 | for(int i=0;i<8;i++) |
| lakshya | 20:949d13045431 | 314 | { |
| lakshya | 20:949d13045431 | 315 | read[i] = FCTN_BAE_RD_FLASH_ENTITY(i); |
| lakshya | 22:950dbe9fbeb8 | 316 | //printf("\n\r val is read after starting %x ",read[i]); |
| lakshya | 20:949d13045431 | 317 | } |
| lakshya | 20:949d13045431 | 318 | |
| lakshya | 20:949d13045431 | 319 | if(read[0] == -1) |
| lakshya | 20:949d13045431 | 320 | for(int j=0;j<8;j++) |
| lakshya | 20:949d13045431 | 321 | { |
| lakshya | 20:949d13045431 | 322 | FCTN_BAE_WR_FLASH(j,ARR_INITIAL_VAL[j]); |
| lakshya | 20:949d13045431 | 323 | } |
| lakshya | 20:949d13045431 | 324 | else |
| lakshya | 20:949d13045431 | 325 | { |
| lakshya | 20:949d13045431 | 326 | for(int j=0;j<8;j++) |
| lakshya | 20:949d13045431 | 327 | { |
| lakshya | 20:949d13045431 | 328 | read[j] = FCTN_BAE_RD_FLASH_ENTITY(j); |
| lakshya | 20:949d13045431 | 329 | } |
| lakshya | 20:949d13045431 | 330 | ACS_ATS_STATUS = read[0]>>24; |
| lakshya | 20:949d13045431 | 331 | ACS_TR_XY_SW_STATUS = ((uint8_t)(read[0]>>22))&0x03; |
| lakshya | 20:949d13045431 | 332 | ACS_TR_Z_SW_STATUS = (read[0]>>20)&0x03; |
| lakshya | 27:61c856be467e | 333 | ACS_STATE = (read[0]>>16)&0x0F; |
| lakshya | 27:61c856be467e | 334 | ACS_DETUMBLING_ALGO_TYPE = (read[0]>>15)&0x01; |
| lakshya | 27:61c856be467e | 335 | BCN_TX_SW_STATUS = ((uint8_t)(read[0]>>13))&0x03; |
| lakshya | 27:61c856be467e | 336 | BCN_SPND_TX = ((uint8_t)(read[0]>>12))&0x01; |
| lakshya | 27:61c856be467e | 337 | BCN_FEN = ((uint8_t)(read[0]>>11))&0x01; |
| lakshya | 27:61c856be467e | 338 | BCN_LONG_MSG_TYPE = ((uint8_t)(read[0]>>10))&0x01; |
| lakshya | 27:61c856be467e | 339 | EPS_BTRY_HTR_AUTO = ((uint8_t)(read[0]>>9))&0x03;//EPS_BATTERY_HEATER_ENABLE |
| lakshya | 27:61c856be467e | 340 | //now one spares in telemetry[5] |
| lakshya | 20:949d13045431 | 341 | |
| lakshya | 20:949d13045431 | 342 | //updating the reset counter |
| lakshya | 20:949d13045431 | 343 | BAE_RESET_COUNTER = ((uint8_t)(read[0]))+1; |
| lakshya | 20:949d13045431 | 344 | read[0]=(read[0]&0xffffff00) | (uint32_t)BAE_RESET_COUNTER; |
| lakshya | 20:949d13045431 | 345 | FCTN_BAE_WR_FLASH(0,read[0]); |
| lakshya | 20:949d13045431 | 346 | |
| lakshya | 20:949d13045431 | 347 | |
| lakshya | 20:949d13045431 | 348 | EPS_SOC_LEVEL_12 = (uint8_t)(read[1]>>24); |
| lakshya | 20:949d13045431 | 349 | EPS_SOC_LEVEL_23 = (uint8_t)(read[1]>>16); |
| lakshya | 20:949d13045431 | 350 | ACS_MAG_TIME_DELAY = (uint8_t)(read[1]>>8); |
| lakshya | 20:949d13045431 | 351 | ACS_DEMAG_TIME_DELAY = (uint8_t)read[1]; |
| lakshya | 20:949d13045431 | 352 | |
| lakshya | 20:949d13045431 | 353 | EPS_BAT_TEMP_LOW = (uint8_t)(read[2]>>24); |
| lakshya | 20:949d13045431 | 354 | EPS_BAT_TEMP_HIGH = (uint8_t)(read[2]>>16); |
| lakshya | 20:949d13045431 | 355 | EPS_BAT_TEMP_DEFAULT = (uint8_t)(read[2]>>8); |
| lakshya | 20:949d13045431 | 356 | |
| lakshya | 20:949d13045431 | 357 | ACS_MM_X_COMSN = (uint16_t)(read[3]>>16); |
| lakshya | 20:949d13045431 | 358 | ACS_MM_Y_COMSN = (uint16_t)read[3]; |
| lakshya | 20:949d13045431 | 359 | |
| lakshya | 20:949d13045431 | 360 | ACS_MG_X_COMSN = (uint16_t)(read[4]>>16); |
| lakshya | 20:949d13045431 | 361 | ACS_MG_Y_COMSN = (uint16_t)read[4]; |
| lakshya | 20:949d13045431 | 362 | |
| lakshya | 20:949d13045431 | 363 | ACS_MM_Z_COMSN = (uint16_t)(read[5]>>16); |
| lakshya | 20:949d13045431 | 364 | ACS_MG_Z_COMSN = (uint16_t)read[5]; |
| lakshya | 20:949d13045431 | 365 | |
| lakshya | 20:949d13045431 | 366 | ACS_Z_FIXED_MOMENT = (uint16_t)(read[6]>>16);//assignvalues |
| lakshya | 20:949d13045431 | 367 | |
| lakshya | 20:949d13045431 | 368 | } |
| lakshya | 20:949d13045431 | 369 | |
| lakshya | 20:949d13045431 | 370 | } |
| lakshya | 20:949d13045431 | 371 | //================================================================================ |
| lakshya | 20:949d13045431 | 372 | |
| lakshya | 20:949d13045431 | 373 | |
| lakshya | 20:949d13045431 | 374 | |
| sakthipriya | 0:7b4c00e3912f | 375 | /*****************************************************************Threads USed***********************************************************************************/ |
| sakthipriya | 0:7b4c00e3912f | 376 | Thread *ptr_t_i2c; |
| sakthipriya | 0:7b4c00e3912f | 377 | |
| lakshya | 19:79e69017c855 | 378 | |
| sakthipriya | 0:7b4c00e3912f | 379 | /*********************************************************FCTN HEADERS***********************************************************************************/ |
| sakthipriya | 0:7b4c00e3912f | 380 | void FCTN_ISR_I2C(); |
| sakthipriya | 0:7b4c00e3912f | 381 | void FCTN_TM(); |
| sakthipriya | 3:07e15677a75c | 382 | void F_ACS(); |
| sakthipriya | 3:07e15677a75c | 383 | void F_EPS(); |
| sakthipriya | 3:07e15677a75c | 384 | void F_BCN(); |
| sakthipriya | 0:7b4c00e3912f | 385 | |
| lakshya | 20:949d13045431 | 386 | //I2C |
| lakshya | 20:949d13045431 | 387 | uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working |
| lakshya | 20:949d13045431 | 388 | uint16_t crc16_check; |
| lakshya | 20:949d13045431 | 389 | void I2C_busreset() |
| lakshya | 20:949d13045431 | 390 | { |
| lakshya | 20:949d13045431 | 391 | PORTE->PCR[1] &= 0xfffffffb; |
| lakshya | 20:949d13045431 | 392 | PORTE->PCR[0] &= 0xfffffffb; |
| lakshya | 20:949d13045431 | 393 | I2C1->C1 &= 0x7f; |
| lakshya | 20:949d13045431 | 394 | SIM->SCGC4 &= 0xffffff7f; |
| lakshya | 20:949d13045431 | 395 | SIM->SCGC4 |= 0x00000080; |
| lakshya | 20:949d13045431 | 396 | I2C1->C1 |= 0x80; |
| lakshya | 20:949d13045431 | 397 | PORTE->PCR[1] |= 0x00000004; |
| lakshya | 20:949d13045431 | 398 | PORTE->PCR[0] |= 0x00000004; |
| lakshya | 20:949d13045431 | 399 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 400 | } |
| lakshya | 20:949d13045431 | 401 | |
| sakthipriya | 0:7b4c00e3912f | 402 | //*******************************************ACS THREAD**************************************************// |
| sakthipriya | 5:bb592f3185cc | 403 | uint8_t iterP1; |
| sakthipriya | 5:bb592f3185cc | 404 | uint8_t iterP2; |
| sakthipriya | 5:bb592f3185cc | 405 | uint8_t iterI1; |
| sakthipriya | 5:bb592f3185cc | 406 | uint8_t iterI2; |
| sakthipriya | 0:7b4c00e3912f | 407 | |
| lakshya | 20:949d13045431 | 408 | //FLOAT TO UINT_8 CONVERSION FUNCTION |
| lakshya | 20:949d13045431 | 409 | extern uint8_t float_to_uint8(float min,float max,float val); |
| lakshya | 20:949d13045431 | 410 | |
| lakshya | 20:949d13045431 | 411 | #define print 0 |
| lakshya | 20:949d13045431 | 412 | |
| sakthipriya | 3:07e15677a75c | 413 | void F_ACS() |
| sakthipriya | 0:7b4c00e3912f | 414 | { |
| lakshya | 20:949d13045431 | 415 | ACS_MAIN_COUNTER++; |
| lakshya | 20:949d13045431 | 416 | //time_wdog = 1; |
| lakshya | 20:949d13045431 | 417 | pc.printf("Entered ACS.\n\r"); |
| lakshya | 20:949d13045431 | 418 | |
| lakshya | 20:949d13045431 | 419 | ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag |
| lakshya | 20:949d13045431 | 420 | FLAG(); |
| sakthipriya | 5:bb592f3185cc | 421 | |
| lakshya | 20:949d13045431 | 422 | ACS_MAIN_COUNTER+=1; |
| sakthipriya | 3:07e15677a75c | 423 | |
| sakthipriya | 0:7b4c00e3912f | 424 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 425 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 426 | PWM3 = 0; //clear pwm pins |
| lakshya | 20:949d13045431 | 427 | |
| lakshya | 20:949d13045431 | 428 | wait_ms(ACS_DEMAG_TIME_DELAY); |
| lakshya | 20:949d13045431 | 429 | ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ(); |
| sakthipriya | 0:7b4c00e3912f | 430 | |
| lakshya | 20:949d13045431 | 431 | #if print |
| lakshya | 20:949d13045431 | 432 | printing the angular speed and magnetic field values |
| lakshya | 20:949d13045431 | 433 | pc.printf("gyro values\n\r"); |
| lakshya | 19:79e69017c855 | 434 | for(int i=0; i<3; i++) |
| lakshya | 20:949d13045431 | 435 | { |
| lakshya | 20:949d13045431 | 436 | printf("%f\n\r",actual_data.AngularSpeed_actual[i]); |
| lakshya | 20:949d13045431 | 437 | } |
| lakshya | 20:949d13045431 | 438 | |
| lakshya | 19:79e69017c855 | 439 | pc.printf("mag values\n\r"); |
| lakshya | 19:79e69017c855 | 440 | for(int i=0; i<3; i++) |
| lakshya | 20:949d13045431 | 441 | { |
| lakshya | 20:949d13045431 | 442 | pc.printf("%f\n\r",actual_data.Bvalue_actual[i]); |
| lakshya | 20:949d13045431 | 443 | } |
| lakshya | 20:949d13045431 | 444 | #endif |
| lakshya | 20:949d13045431 | 445 | |
| lakshya | 20:949d13045431 | 446 | for(int i=0;i<3;i++) |
| lakshya | 19:79e69017c855 | 447 | { |
| lakshya | 20:949d13045431 | 448 | mag_data[i] = actual_data.Bvalue_actual[i]/1000000; |
| lakshya | 20:949d13045431 | 449 | gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180; |
| lakshya | 20:949d13045431 | 450 | } |
| lakshya | 20:949d13045431 | 451 | |
| lakshya | 20:949d13045431 | 452 | if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF? |
| lakshya | 20:949d13045431 | 453 | { |
| lakshya | 20:949d13045431 | 454 | #if print |
| lakshya | 20:949d13045431 | 455 | printf("\n\r acs control off\n"); |
| lakshya | 20:949d13045431 | 456 | #endif |
| lakshya | 20:949d13045431 | 457 | ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF |
| lakshya | 20:949d13045431 | 458 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 459 | return; |
| lakshya | 20:949d13045431 | 460 | } |
| lakshya | 20:949d13045431 | 461 | else if(actual_data.power_mode<=2) |
| lakshya | 20:949d13045431 | 462 | { |
| lakshya | 20:949d13045431 | 463 | #if print |
| lakshya | 20:949d13045431 | 464 | printf("\n\r Low Power \n\r"); |
| lakshya | 20:949d13045431 | 465 | #endif |
| lakshya | 20:949d13045431 | 466 | DRV_Z_EN = 0; |
| lakshya | 20:949d13045431 | 467 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 468 | ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER |
| lakshya | 20:949d13045431 | 469 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 470 | return; |
| lakshya | 20:949d13045431 | 471 | |
| lakshya | 20:949d13045431 | 472 | } |
| lakshya | 20:949d13045431 | 473 | else if(ACS_TR_Z_SW_STATUS != 1) |
| lakshya | 20:949d13045431 | 474 | { |
| lakshya | 20:949d13045431 | 475 | DRV_Z_EN = 0; |
| lakshya | 20:949d13045431 | 476 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 477 | ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED |
| lakshya | 20:949d13045431 | 478 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 479 | return; |
| lakshya | 20:949d13045431 | 480 | } |
| lakshya | 20:949d13045431 | 481 | else if(ACS_TR_XY_SW_STATUS != 1) |
| lakshya | 20:949d13045431 | 482 | { |
| lakshya | 20:949d13045431 | 483 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 484 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 485 | ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only |
| lakshya | 20:949d13045431 | 486 | moment[0] = 0; |
| lakshya | 20:949d13045431 | 487 | moment[1] = 0; |
| lakshya | 20:949d13045431 | 488 | moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value |
| lakshya | 20:949d13045431 | 489 | |
| lakshya | 20:949d13045431 | 490 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 491 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 492 | return; |
| lakshya | 19:79e69017c855 | 493 | } |
| lakshya | 20:949d13045431 | 494 | else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1)) |
| lakshya | 20:949d13045431 | 495 | { |
| lakshya | 20:949d13045431 | 496 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 497 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 498 | ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only |
| lakshya | 20:949d13045431 | 499 | |
| lakshya | 20:949d13045431 | 500 | moment[0] = 0; |
| lakshya | 20:949d13045431 | 501 | moment[1] = 0; |
| lakshya | 20:949d13045431 | 502 | moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value |
| lakshya | 20:949d13045431 | 503 | |
| lakshya | 20:949d13045431 | 504 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 505 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 506 | return; |
| lakshya | 20:949d13045431 | 507 | } |
| lakshya | 20:949d13045431 | 508 | else if(ACS_STATE == 5) |
| lakshya | 20:949d13045431 | 509 | { |
| lakshya | 20:949d13045431 | 510 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 511 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 512 | ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only |
| sakthipriya | 0:7b4c00e3912f | 513 | |
| lakshya | 20:949d13045431 | 514 | moment[0] = 0; |
| lakshya | 20:949d13045431 | 515 | moment[1] = 0; |
| lakshya | 20:949d13045431 | 516 | moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value |
| lakshya | 20:949d13045431 | 517 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 518 | |
| lakshya | 20:949d13045431 | 519 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 520 | return; |
| lakshya | 20:949d13045431 | 521 | } |
| lakshya | 20:949d13045431 | 522 | else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available |
| lakshya | 20:949d13045431 | 523 | { |
| lakshya | 20:949d13045431 | 524 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 525 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 526 | |
| lakshya | 20:949d13045431 | 527 | ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL |
| lakshya | 20:949d13045431 | 528 | ACS_DETUMBLING_ALGO_TYPE = 0x01; |
| lakshya | 20:949d13045431 | 529 | FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE); |
| lakshya | 27:61c856be467e | 530 | controlmode_mms=0x00; |
| lakshya | 20:949d13045431 | 531 | #if print |
| lakshya | 20:949d13045431 | 532 | printf("\n\r Moment values returned by control algo \n"); |
| lakshya | 20:949d13045431 | 533 | #endif |
| lakshya | 20:949d13045431 | 534 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 535 | { |
| lakshya | 20:949d13045431 | 536 | printf("%f\t",moment[i]); |
| lakshya | 19:79e69017c855 | 537 | } |
| lakshya | 20:949d13045431 | 538 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 539 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 540 | return; |
| lakshya | 20:949d13045431 | 541 | } |
| lakshya | 20:949d13045431 | 542 | else if(ACS_STATE == 7) // Nominal mode |
| lakshya | 20:949d13045431 | 543 | { |
| lakshya | 20:949d13045431 | 544 | #if print |
| lakshya | 20:949d13045431 | 545 | printf("\n\r Nominal mode \n"); |
| lakshya | 20:949d13045431 | 546 | #endif |
| lakshya | 20:949d13045431 | 547 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 548 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 549 | FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE); |
| lakshya | 27:61c856be467e | 550 | controlmode_mms = 0x01; |
| lakshya | 20:949d13045431 | 551 | #if print |
| lakshya | 20:949d13045431 | 552 | printf("\n\r Moment values returned by control algo \n"); |
| lakshya | 20:949d13045431 | 553 | #endif |
| lakshya | 20:949d13045431 | 554 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 555 | { |
| lakshya | 20:949d13045431 | 556 | printf("%f\t",moment[i]); |
| lakshya | 20:949d13045431 | 557 | } |
| lakshya | 20:949d13045431 | 558 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 559 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 560 | return; |
| lakshya | 20:949d13045431 | 561 | } |
| lakshya | 20:949d13045431 | 562 | else if(ACS_STATE == 8) // Auto Control |
| lakshya | 20:949d13045431 | 563 | { |
| lakshya | 20:949d13045431 | 564 | #if print |
| lakshya | 20:949d13045431 | 565 | printf("\n\r Auto control mode \n"); |
| lakshya | 20:949d13045431 | 566 | #endif |
| lakshya | 20:949d13045431 | 567 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 568 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 569 | FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE); |
| lakshya | 27:61c856be467e | 570 | controlmode_mms = 0x00; |
| lakshya | 20:949d13045431 | 571 | #if print |
| lakshya | 20:949d13045431 | 572 | printf("\n\r Moment values returned by control algo \n"); |
| lakshya | 20:949d13045431 | 573 | for(int i=0; i<3; i++) |
| lakshya | 19:79e69017c855 | 574 | { |
| lakshya | 20:949d13045431 | 575 | printf("%f\t",moment[i]); |
| lakshya | 20:949d13045431 | 576 | } |
| lakshya | 20:949d13045431 | 577 | #endif |
| lakshya | 20:949d13045431 | 578 | FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function |
| lakshya | 20:949d13045431 | 579 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 580 | return; |
| lakshya | 20:949d13045431 | 581 | } |
| lakshya | 20:949d13045431 | 582 | else if(ACS_STATE == 9) // Detumbling |
| lakshya | 20:949d13045431 | 583 | { |
| lakshya | 20:949d13045431 | 584 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 585 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 586 | FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE); |
| lakshya | 27:61c856be467e | 587 | controlmode_mms = 0x00; |
| lakshya | 20:949d13045431 | 588 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 589 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 590 | return; |
| lakshya | 20:949d13045431 | 591 | } |
| lakshya | 20:949d13045431 | 592 | ACS_STATUS = 7; //INVALID_STATE |
| lakshya | 20:949d13045431 | 593 | DRV_Z_EN = 0; |
| lakshya | 20:949d13045431 | 594 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 595 | ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag |
| lakshya | 20:949d13045431 | 596 | } |
| lakshya | 19:79e69017c855 | 597 | |
| lakshya | 19:79e69017c855 | 598 | |
| sakthipriya | 0:7b4c00e3912f | 599 | //***************************************************EPS THREAD***********************************************// |
| sakthipriya | 0:7b4c00e3912f | 600 | |
| sakthipriya | 3:07e15677a75c | 601 | void F_EPS() |
| lakshya | 20:949d13045431 | 602 | { |
| lakshya | 20:949d13045431 | 603 | //time_wdog = 1; |
| lakshya | 19:79e69017c855 | 604 | t_eps.start(); |
| lakshya | 20:949d13045431 | 605 | EPS_MAIN_STATUS = 1; // Set EPS main status |
| lakshya | 20:949d13045431 | 606 | FLAG(); |
| lakshya | 20:949d13045431 | 607 | EPS_MAIN_COUNTER+=1; |
| lakshya | 22:950dbe9fbeb8 | 608 | //if print |
| sakthipriya | 0:7b4c00e3912f | 609 | pc.printf("\n\rEntered EPS %f\n",t_start.read()); |
| lakshya | 22:950dbe9fbeb8 | 610 | //#endif |
| lakshya | 20:949d13045431 | 611 | |
| lakshya | 20:949d13045431 | 612 | |
| lakshya | 20:949d13045431 | 613 | FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual); |
| lakshya | 22:950dbe9fbeb8 | 614 | //#if print |
| lakshya | 19:79e69017c855 | 615 | pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]); |
| lakshya | 22:950dbe9fbeb8 | 616 | //#endif |
| lakshya | 20:949d13045431 | 617 | EPS_BATTERY_TEMP_STATUS = 1; //set EPS_BATTERY_TEMP_STATUS |
| lakshya | 20:949d13045431 | 618 | if(EPS_BTRY_HTR_AUTO == 1) |
| lakshya | 19:79e69017c855 | 619 | { |
| lakshya | 19:79e69017c855 | 620 | if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm |
| lakshya | 20:949d13045431 | 621 | { |
| lakshya | 20:949d13045431 | 622 | EN_BTRY_HT = 1; //turn on battery heater //earlier named as batt_heat |
| lakshya | 20:949d13045431 | 623 | } |
| lakshya | 19:79e69017c855 | 624 | else |
| lakshya | 20:949d13045431 | 625 | { |
| lakshya | 20:949d13045431 | 626 | EN_BTRY_HT = 0; //turn off battery heater |
| lakshya | 20:949d13045431 | 627 | } |
| lakshya | 19:79e69017c855 | 628 | } |
| lakshya | 20:949d13045431 | 629 | else if(EPS_BTRY_HTR_AUTO == 0) |
| lakshya | 19:79e69017c855 | 630 | { |
| lakshya | 19:79e69017c855 | 631 | EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED |
| lakshya | 19:79e69017c855 | 632 | } |
| lakshya | 20:949d13045431 | 633 | FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual); |
| lakshya | 20:949d13045431 | 634 | if (actual_data.Batt_gauge_actual[1] == 200) //data not received |
| sakthipriya | 0:7b4c00e3912f | 635 | { |
| lakshya | 19:79e69017c855 | 636 | actual_data.power_mode = 1; |
| lakshya | 19:79e69017c855 | 637 | EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS |
| sakthipriya | 0:7b4c00e3912f | 638 | } |
| lakshya | 20:949d13045431 | 639 | else |
| sakthipriya | 0:7b4c00e3912f | 640 | { |
| lakshya | 19:79e69017c855 | 641 | FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level |
| lakshya | 19:79e69017c855 | 642 | EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS |
| sakthipriya | 0:7b4c00e3912f | 643 | } |
| lakshya | 20:949d13045431 | 644 | FCTN_HK_MAIN(); |
| lakshya | 20:949d13045431 | 645 | FCTN_APPEND_HKDATA(); |
| lakshya | 20:949d13045431 | 646 | minMaxHkData(); |
| lakshya | 20:949d13045431 | 647 | EPS_MAIN_STATUS = 0; // clear EPS main status |
| lakshya | 20:949d13045431 | 648 | t_eps.stop(); |
| lakshya | 20:949d13045431 | 649 | #if print |
| lakshya | 19:79e69017c855 | 650 | printf("\n\r the time for eps is %f",(float)t_eps.read_ms()); |
| lakshya | 20:949d13045431 | 651 | #endif |
| lakshya | 20:949d13045431 | 652 | t_eps.reset(); |
| sakthipriya | 3:07e15677a75c | 653 | |
| sakthipriya | 0:7b4c00e3912f | 654 | } |
| sakthipriya | 0:7b4c00e3912f | 655 | |
| lakshya | 20:949d13045431 | 656 | |
| sakthipriya | 0:7b4c00e3912f | 657 | //**************************************************BCN THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 658 | |
| sakthipriya | 3:07e15677a75c | 659 | void F_BCN() |
| sakthipriya | 0:7b4c00e3912f | 660 | { |
| lakshya | 20:949d13045431 | 661 | pc.printf("\n\rEntered BCN %f\n",t_start.read()); |
| lakshya | 20:949d13045431 | 662 | //BCN_TX_MAIN_COUNTER=+1; |
| lakshya | 20:949d13045431 | 663 | FCTN_BCN_TX_MAIN(); |
| sakthipriya | 0:7b4c00e3912f | 664 | } |
| sakthipriya | 0:7b4c00e3912f | 665 | |
| sakthipriya | 0:7b4c00e3912f | 666 | //**************************************************TCTM THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 667 | |
| sakthipriya | 0:7b4c00e3912f | 668 | void T_TC(void const * args) |
| lakshya | 19:79e69017c855 | 669 | { |
| lakshya | 20:949d13045431 | 670 | while(1) |
| lakshya | 19:79e69017c855 | 671 | { |
| lakshya | 20:949d13045431 | 672 | Thread::signal_wait(0x4); |
| lakshya | 20:949d13045431 | 673 | //wait_us(200);// se if it can be changed//@Lakshya:It can't be changed :) |
| lakshya | 20:949d13045431 | 674 | wait_us(300); |
| lakshya | 20:949d13045431 | 675 | BAE_MNG_I2C_STATUS =1 ; |
| lakshya | 20:949d13045431 | 676 | FLAG(); |
| lakshya | 20:949d13045431 | 677 | //earlier BAE_I2CRX_STATUS=1; |
| lakshya | 20:949d13045431 | 678 | #if print |
| lakshya | 20:949d13045431 | 679 | printf("\n\rreached\n"); |
| lakshya | 20:949d13045431 | 680 | #endif // can be between 38 to 15700 |
| lakshya | 20:949d13045431 | 681 | if( slave.receive() == 0) |
| lakshya | 20:949d13045431 | 682 | { |
| lakshya | 20:949d13045431 | 683 | irpt_2_mstr = 0; |
| lakshya | 20:949d13045431 | 684 | data_send_flag = 'h'; |
| lakshya | 20:949d13045431 | 685 | pc.printf("\n\rSlave not addressed"); |
| lakshya | 20:949d13045431 | 686 | pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss1); |
| lakshya | 20:949d13045431 | 687 | slave.stop(); |
| lakshya | 20:949d13045431 | 688 | pdir_ss1=PTE->PDIR; /////////edited |
| lakshya | 20:949d13045431 | 689 | if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed |
| lakshya | 20:949d13045431 | 690 | { |
| lakshya | 20:949d13045431 | 691 | I2C_busreset(); /////////edited |
| lakshya | 19:79e69017c855 | 692 | } |
| lakshya | 20:949d13045431 | 693 | /*pdir_ss2=PTE->PDIR; |
| lakshya | 20:949d13045431 | 694 | #if PRINT2 |
| lakshya | 20:949d13045431 | 695 | pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss2); |
| lakshya | 20:949d13045431 | 696 | #endif*/ |
| lakshya | 20:949d13045431 | 697 | #if print |
| lakshya | 20:949d13045431 | 698 | printf("\n\rnot send\n"); |
| lakshya | 20:949d13045431 | 699 | #endif |
| lakshya | 20:949d13045431 | 700 | } |
| lakshya | 20:949d13045431 | 701 | else if( slave.receive() == 1) // slave writes to master |
| lakshya | 20:949d13045431 | 702 | { |
| lakshya | 20:949d13045431 | 703 | BAE_I2C_COUNTER++; //////////edited |
| lakshya | 20:949d13045431 | 704 | if(data_send_flag = 'h') //to be renamed as BAE_I2C_STATUS |
| lakshya | 20:949d13045431 | 705 | { |
| lakshya | 20:949d13045431 | 706 | irpt_2_mstr =1; //wait till cdms code is changed |
| lakshya | 20:949d13045431 | 707 | FCTN_APPEND_HKDATA(); |
| lakshya | 20:949d13045431 | 708 | uint8_t i2c_count =0; |
| lakshya | 20:949d13045431 | 709 | //crc is already being added |
| lakshya | 20:949d13045431 | 710 | write_ack=slave.write((char*)BAE_chardata,134); |
| lakshya | 20:949d13045431 | 711 | Thread::wait(1); //for correct values of register to be updated |
| lakshya | 20:949d13045431 | 712 | pdir_tm1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 713 | irpt_2_mstr = 0; |
| lakshya | 20:949d13045431 | 714 | if(write_ack==0)// wait till cdms code is changed |
| lakshya | 20:949d13045431 | 715 | { |
| lakshya | 20:949d13045431 | 716 | while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10) |
| lakshya | 20:949d13045431 | 717 | { |
| lakshya | 20:949d13045431 | 718 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 719 | pdir_tm1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 720 | i2c_count++; |
| lakshya | 20:949d13045431 | 721 | } |
| lakshya | 20:949d13045431 | 722 | if(((pdir_tm1 & 0x00000003)==3)) |
| lakshya | 20:949d13045431 | 723 | { |
| lakshya | 20:949d13045431 | 724 | pc.printf("\n\rWrite HK success"); |
| lakshya | 20:949d13045431 | 725 | data_send_flag = 'h'; |
| lakshya | 20:949d13045431 | 726 | //shoulddn't it be here |
| lakshya | 20:949d13045431 | 727 | irpt_2_mstr = 0; //////////edited |
| lakshya | 20:949d13045431 | 728 | } |
| lakshya | 20:949d13045431 | 729 | else |
| lakshya | 20:949d13045431 | 730 | { |
| lakshya | 20:949d13045431 | 731 | wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms |
| lakshya | 20:949d13045431 | 732 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 733 | } |
| lakshya | 20:949d13045431 | 734 | #if print |
| lakshya | 20:949d13045431 | 735 | pc.printf("\n\rgot interrupt\n"); |
| lakshya | 20:949d13045431 | 736 | #endif |
| lakshya | 20:949d13045431 | 737 | } |
| lakshya | 20:949d13045431 | 738 | else |
| lakshya | 20:949d13045431 | 739 | { |
| lakshya | 20:949d13045431 | 740 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 741 | } |
| lakshya | 20:949d13045431 | 742 | i2c_count=0; |
| lakshya | 20:949d13045431 | 743 | } |
| lakshya | 20:949d13045431 | 744 | else//data_send_flag = "t" //else if(telecommand[1]&0xC0 == 't') |
| lakshya | 20:949d13045431 | 745 | { |
| lakshya | 20:949d13045431 | 746 | uint8_t i2c_count =0; |
| lakshya | 20:949d13045431 | 747 | write_ack=slave.write((char*)telemetry,134); ////////edited(size) |
| lakshya | 20:949d13045431 | 748 | Thread::wait(1); //for correct values of register to be updated |
| lakshya | 20:949d13045431 | 749 | pdir_tm1=PTE->PDIR; |
| lakshya | 19:79e69017c855 | 750 | irpt_2_mstr = 0; |
| lakshya | 20:949d13045431 | 751 | data_send_flag = 'h'; |
| lakshya | 20:949d13045431 | 752 | if(write_ack==0) |
| lakshya | 20:949d13045431 | 753 | { |
| lakshya | 20:949d13045431 | 754 | while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10) |
| lakshya | 20:949d13045431 | 755 | { |
| lakshya | 20:949d13045431 | 756 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 757 | pdir_tm1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 758 | i2c_count++; |
| lakshya | 20:949d13045431 | 759 | } |
| lakshya | 20:949d13045431 | 760 | if(((pdir_tm1 & 0x00000003)==3)) |
| lakshya | 20:949d13045431 | 761 | { |
| lakshya | 20:949d13045431 | 762 | pc.printf("\n\rWrite TM success"); |
| lakshya | 20:949d13045431 | 763 | } |
| lakshya | 20:949d13045431 | 764 | else |
| lakshya | 20:949d13045431 | 765 | { |
| lakshya | 20:949d13045431 | 766 | wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms |
| lakshya | 20:949d13045431 | 767 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 768 | } |
| lakshya | 20:949d13045431 | 769 | } |
| lakshya | 20:949d13045431 | 770 | else |
| lakshya | 20:949d13045431 | 771 | { |
| lakshya | 20:949d13045431 | 772 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 773 | } |
| lakshya | 20:949d13045431 | 774 | i2c_count=0; |
| lakshya | 20:949d13045431 | 775 | } |
| lakshya | 20:949d13045431 | 776 | |
| lakshya | 20:949d13045431 | 777 | } |
| lakshya | 20:949d13045431 | 778 | else if( slave.receive()==3 || slave.receive()==2) // slave read |
| lakshya | 20:949d13045431 | 779 | { |
| lakshya | 20:949d13045431 | 780 | BAE_I2C_COUNTER++; |
| lakshya | 20:949d13045431 | 781 | uint8_t i2c_count = 0; |
| lakshya | 20:949d13045431 | 782 | read_ack=slave.read((char *)telecommand,11); //read() function returns acknowledgement |
| lakshya | 20:949d13045431 | 783 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 784 | pdir_tc1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 785 | if(read_ack==0) //read() says it was successful |
| lakshya | 20:949d13045431 | 786 | { |
| lakshya | 20:949d13045431 | 787 | while(((pdir_tc1 & 0x00000003)!=3)&& i2c_count<10)//checking if SDA and SCL lines are logic 0 and not more than 10 times(10ms) |
| lakshya | 20:949d13045431 | 788 | { |
| lakshya | 20:949d13045431 | 789 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 790 | pdir_tc1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 791 | i2c_count++; |
| lakshya | 20:949d13045431 | 792 | } |
| lakshya | 20:949d13045431 | 793 | if(((pdir_tc1 & 0x00000003)==3)) |
| lakshya | 20:949d13045431 | 794 | { |
| lakshya | 20:949d13045431 | 795 | pc.printf("\n\n\rRead TC success"); |
| lakshya | 20:949d13045431 | 796 | //if(telecommand[1]&0xC0 == 0x00) |
| lakshya | 20:949d13045431 | 797 | if(telecommand[0] == 0x00) /////////////edited |
| lakshya | 20:949d13045431 | 798 | FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited |
| lakshya | 20:949d13045431 | 799 | //FCTN_TC_DECODE((uint8_t*) telecommand); |
| lakshya | 20:949d13045431 | 800 | else |
| lakshya | 20:949d13045431 | 801 | { |
| lakshya | 20:949d13045431 | 802 | FCTN_BAE_TM_TC((uint8_t*) telecommand); |
| lakshya | 20:949d13045431 | 803 | //telemetry = (char*)temp; |
| lakshya | 20:949d13045431 | 804 | data_send_flag = 't'; |
| lakshya | 20:949d13045431 | 805 | //pc.printf("\n\r Telemetry Generation \n"); |
| lakshya | 20:949d13045431 | 806 | irpt_2_mstr = 1; |
| lakshya | 20:949d13045431 | 807 | } |
| lakshya | 20:949d13045431 | 808 | } |
| lakshya | 20:949d13045431 | 809 | else //either or both of SDA and SCL lines low |
| lakshya | 20:949d13045431 | 810 | { |
| lakshya | 20:949d13045431 | 811 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 812 | // data_send_flag = 'i'; |
| lakshya | 20:949d13045431 | 813 | gen_I_TM(); |
| lakshya | 20:949d13045431 | 814 | data_send_flag = 't'; |
| lakshya | 20:949d13045431 | 815 | //shouldn't it be here |
| lakshya | 20:949d13045431 | 816 | irpt_2_mstr = 1; /////////////added |
| lakshya | 20:949d13045431 | 817 | } |
| lakshya | 20:949d13045431 | 818 | } |
| lakshya | 20:949d13045431 | 819 | else //read() says it was not successful |
| lakshya | 20:949d13045431 | 820 | { |
| lakshya | 20:949d13045431 | 821 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 822 | //data_send_flag = 'i'; //'i' = invalid |
| lakshya | 20:949d13045431 | 823 | gen_I_TM(); |
| lakshya | 20:949d13045431 | 824 | data_send_flag = 't'; |
| lakshya | 20:949d13045431 | 825 | irpt_2_mstr = 1; /////////////added |
| lakshya | 20:949d13045431 | 826 | } |
| lakshya | 20:949d13045431 | 827 | i2c_count = 0; |
| lakshya | 20:949d13045431 | 828 | #if print |
| lakshya | 20:949d13045431 | 829 | pc.printf("\n\r time taken %d",t_tc.read_us()); |
| lakshya | 20:949d13045431 | 830 | for(int i = 0; i<134; i++) |
| lakshya | 20:949d13045431 | 831 | pc.printf("%c", telemetry[i]); |
| lakshya | 20:949d13045431 | 832 | #endif |
| lakshya | 20:949d13045431 | 833 | } |
| lakshya | 20:949d13045431 | 834 | //was commented here now in txt file main_i2ccomment on desktp |
| lakshya | 20:949d13045431 | 835 | BAE_MNG_I2C_STATUS=0; |
| lakshya | 20:949d13045431 | 836 | FLAG(); |
| lakshya | 20:949d13045431 | 837 | } |
| sakthipriya | 0:7b4c00e3912f | 838 | } |
| sakthipriya | 0:7b4c00e3912f | 839 | void FCTN_TM() |
| lakshya | 20:949d13045431 | 840 | { |
| sakthipriya | 5:bb592f3185cc | 841 | data_send_flag = 't'; |
| sakthipriya | 0:7b4c00e3912f | 842 | pc.printf("\n\r Telemetry Generation \n"); |
| sakthipriya | 0:7b4c00e3912f | 843 | irpt_2_mstr = 1; |
| sakthipriya | 0:7b4c00e3912f | 844 | } |
| sakthipriya | 0:7b4c00e3912f | 845 | |
| sakthipriya | 0:7b4c00e3912f | 846 | |
| sakthipriya | 0:7b4c00e3912f | 847 | //******************************************************* I2C *******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 848 | |
| sakthipriya | 0:7b4c00e3912f | 849 | void FCTN_I2C_ISR() |
| sakthipriya | 0:7b4c00e3912f | 850 | { |
| lakshya | 20:949d13045431 | 851 | ptr_t_i2c->signal_set(0x4); |
| sakthipriya | 0:7b4c00e3912f | 852 | } |
| sakthipriya | 0:7b4c00e3912f | 853 | |
| sakthipriya | 0:7b4c00e3912f | 854 | |
| sakthipriya | 5:bb592f3185cc | 855 | //***********************************************************FAULTS***************************************************************// |
| sakthipriya | 5:bb592f3185cc | 856 | |
| sakthipriya | 5:bb592f3185cc | 857 | uint8_t iter2=0,iter4 = 0; |
| sakthipriya | 5:bb592f3185cc | 858 | |
| sakthipriya | 5:bb592f3185cc | 859 | void pollfault() |
| sakthipriya | 5:bb592f3185cc | 860 | { |
| lakshya | 20:949d13045431 | 861 | if (pf1==0) // OC_ATS1 |
| lakshya | 20:949d13045431 | 862 | { |
| lakshya | 20:949d13045431 | 863 | pf1check=1; |
| lakshya | 20:949d13045431 | 864 | actual_data.faultPoll_status |=0x01 ; |
| lakshya | 20:949d13045431 | 865 | ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS |
| lakshya | 20:949d13045431 | 866 | } |
| lakshya | 20:949d13045431 | 867 | else |
| lakshya | 20:949d13045431 | 868 | actual_data.faultPoll_status &= 0xFE; |
| sakthipriya | 5:bb592f3185cc | 869 | |
| lakshya | 20:949d13045431 | 870 | if(pf2==0) |
| lakshya | 20:949d13045431 | 871 | { |
| lakshya | 20:949d13045431 | 872 | pf2check=1; |
| lakshya | 20:949d13045431 | 873 | actual_data.faultPoll_status |=0x02 ; |
| lakshya | 20:949d13045431 | 874 | ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS |
| lakshya | 20:949d13045431 | 875 | } |
| lakshya | 20:949d13045431 | 876 | else |
| lakshya | 20:949d13045431 | 877 | actual_data.faultPoll_status &= 0xFD; |
| sakthipriya | 5:bb592f3185cc | 878 | |
| sakthipriya | 5:bb592f3185cc | 879 | if (pf3==0) |
| lakshya | 20:949d13045431 | 880 | { |
| lakshya | 20:949d13045431 | 881 | actual_data.faultPoll_status |=0x04 ; |
| lakshya | 20:949d13045431 | 882 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 883 | wait_us(1); |
| lakshya | 20:949d13045431 | 884 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 885 | } |
| lakshya | 20:949d13045431 | 886 | else |
| lakshya | 20:949d13045431 | 887 | actual_data.faultPoll_status &= 0xFB; |
| sakthipriya | 5:bb592f3185cc | 888 | } |
| sakthipriya | 5:bb592f3185cc | 889 | |
| sakthipriya | 0:7b4c00e3912f | 890 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| sakthipriya | 0:7b4c00e3912f | 891 | //SCHEDULER |
| sakthipriya | 0:7b4c00e3912f | 892 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| lakshya | 20:949d13045431 | 893 | |
| sakthipriya | 0:7b4c00e3912f | 894 | uint8_t schedcount=1; |
| sakthipriya | 0:7b4c00e3912f | 895 | void T_SC(void const *args) |
| sakthipriya | 0:7b4c00e3912f | 896 | { |
| lakshya | 20:949d13045431 | 897 | #if print |
| lakshya | 20:949d13045431 | 898 | printf("\n\r in scheduler"); |
| lakshya | 20:949d13045431 | 899 | #endif |
| lakshya | 19:79e69017c855 | 900 | /*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.!!!*/ |
| sakthipriya | 0:7b4c00e3912f | 901 | if(schedcount == 7) //to reset the counter |
| sakthipriya | 0:7b4c00e3912f | 902 | schedcount = 1; |
| sakthipriya | 0:7b4c00e3912f | 903 | if(schedcount%1==0) |
| lakshya | 20:949d13045431 | 904 | { |
| lakshya | 20:949d13045431 | 905 | if( BAE_STANDBY!=0x02 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07) |
| lakshya | 20:949d13045431 | 906 | { |
| lakshya | 20:949d13045431 | 907 | pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE); |
| lakshya | 20:949d13045431 | 908 | F_ACS(); |
| lakshya | 20:949d13045431 | 909 | //time_wdog = 0; |
| lakshya | 20:949d13045431 | 910 | } |
| sakthipriya | 0:7b4c00e3912f | 911 | |
| lakshya | 20:949d13045431 | 912 | } |
| sakthipriya | 0:7b4c00e3912f | 913 | if(schedcount%2==0) |
| lakshya | 20:949d13045431 | 914 | { |
| lakshya | 20:949d13045431 | 915 | if( BAE_STANDBY!=0x01 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x07) |
| lakshya | 20:949d13045431 | 916 | { |
| lakshya | 20:949d13045431 | 917 | //time_wdog = 1; |
| lakshya | 20:949d13045431 | 918 | F_EPS(); |
| lakshya | 20:949d13045431 | 919 | } |
| lakshya | 20:949d13045431 | 920 | //time_wdog = 0; |
| lakshya | 20:949d13045431 | 921 | } |
| lakshya | 16:f9e484dc505e | 922 | if(schedcount%3==0) |
| lakshya | 20:949d13045431 | 923 | { |
| lakshya | 22:950dbe9fbeb8 | 924 | if(BAE_STANDBY!=0x04 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07) |
| lakshya | 20:949d13045431 | 925 | // time_wdog = 0; |
| lakshya | 22:950dbe9fbeb8 | 926 | F_BCN(); |
| lakshya | 20:949d13045431 | 927 | } |
| sakthipriya | 0:7b4c00e3912f | 928 | schedcount++; |
| lakshya | 20:949d13045431 | 929 | #if print |
| lakshya | 20:949d13045431 | 930 | printf("\n\r exited scheduler h"); |
| lakshya | 20:949d13045431 | 931 | printf("\n\r time taken %f",t_start.read()); |
| lakshya | 20:949d13045431 | 932 | #endif |
| sakthipriya | 0:7b4c00e3912f | 933 | } |
| sakthipriya | 0:7b4c00e3912f | 934 | |
| lakshya | 20:949d13045431 | 935 | |
| sakthipriya | 0:7b4c00e3912f | 936 | Timer t_flag; |
| lakshya | 19:79e69017c855 | 937 | |
| lakshya | 20:949d13045431 | 938 | |
| sakthipriya | 0:7b4c00e3912f | 939 | void FLAG() |
| sakthipriya | 0:7b4c00e3912f | 940 | { |
| lakshya | 20:949d13045431 | 941 | |
| lakshya | 20:949d13045431 | 942 | //I2C |
| lakshya | 20:949d13045431 | 943 | //if(BAE_MNG_I2C_STATUS == 1) |
| lakshya | 20:949d13045431 | 944 | // BAE_STATUS = BAE_STATUS | 0x10000000; |
| lakshya | 20:949d13045431 | 945 | //else if(BAE_MNG_I2C_STATUS == 0) |
| lakshya | 20:949d13045431 | 946 | // BAE_STATUS &= 0xEFFFFFF; |
| lakshya | 19:79e69017c855 | 947 | |
| lakshya | 19:79e69017c855 | 948 | //.............bae..................// |
| lakshya | 19:79e69017c855 | 949 | if(BAE_INIT_STATUS == 1) |
| lakshya | 19:79e69017c855 | 950 | BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001; |
| lakshya | 19:79e69017c855 | 951 | else if(BAE_INIT_STATUS == 0) |
| lakshya | 19:79e69017c855 | 952 | BAE_STATUS &= 0xFFFFFFFE; |
| lakshya | 19:79e69017c855 | 953 | |
| lakshya | 20:949d13045431 | 954 | if(BAE_MNG_I2C_STATUS == 1) |
| lakshya | 19:79e69017c855 | 955 | BAE_STATUS = BAE_STATUS | 0x00000002; |
| lakshya | 20:949d13045431 | 956 | if(BAE_MNG_I2C_STATUS == 0) |
| lakshya | 19:79e69017c855 | 957 | BAE_STATUS &= 0xFFFFFFFD; |
| lakshya | 20:949d13045431 | 958 | |
| sakthipriya | 0:7b4c00e3912f | 959 | //.............acs..................// |
| sakthipriya | 9:194afacf7449 | 960 | if(ACS_INIT_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 961 | BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag |
| sakthipriya | 9:194afacf7449 | 962 | else if(ACS_INIT_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 963 | BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 964 | |
| sakthipriya | 9:194afacf7449 | 965 | if(ACS_DATA_ACQ_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 966 | BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 9:194afacf7449 | 967 | else if(ACS_DATA_ACQ_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 968 | BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 969 | |
| sakthipriya | 9:194afacf7449 | 970 | if(ACS_ATS_ENABLE == 1) |
| sakthipriya | 0:7b4c00e3912f | 971 | BAE_ENABLE |= 0x00000004; |
| sakthipriya | 9:194afacf7449 | 972 | else if(ACS_ATS_ENABLE == 0) |
| sakthipriya | 0:7b4c00e3912f | 973 | BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004; |
| sakthipriya | 0:7b4c00e3912f | 974 | |
| sakthipriya | 0:7b4c00e3912f | 975 | if(ACS_DATA_ACQ_STATUS == 'f') |
| sakthipriya | 0:7b4c00e3912f | 976 | BAE_STATUS |= 0x00000200; |
| sakthipriya | 0:7b4c00e3912f | 977 | |
| sakthipriya | 9:194afacf7449 | 978 | if(ACS_MAIN_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 979 | BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag |
| sakthipriya | 9:194afacf7449 | 980 | else if(ACS_MAIN_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 981 | BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 982 | |
| sakthipriya | 0:7b4c00e3912f | 983 | if(ACS_STATUS == '0') |
| sakthipriya | 0:7b4c00e3912f | 984 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 985 | else if(ACS_STATUS == '1') |
| sakthipriya | 0:7b4c00e3912f | 986 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER |
| sakthipriya | 0:7b4c00e3912f | 987 | else if(ACS_STATUS == '2') |
| sakthipriya | 0:7b4c00e3912f | 988 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 989 | else if(ACS_STATUS == '3') |
| sakthipriya | 0:7b4c00e3912f | 990 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 991 | else if(ACS_STATUS == '4') |
| sakthipriya | 0:7b4c00e3912f | 992 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 993 | else if(ACS_STATUS == '5') |
| sakthipriya | 0:7b4c00e3912f | 994 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 995 | else if(ACS_STATUS == '6') |
| sakthipriya | 0:7b4c00e3912f | 996 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY |
| sakthipriya | 0:7b4c00e3912f | 997 | else |
| sakthipriya | 0:7b4c00e3912f | 998 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE |
| sakthipriya | 0:7b4c00e3912f | 999 | |
| sakthipriya | 0:7b4c00e3912f | 1000 | if(ACS_STATE == '0') |
| sakthipriya | 0:7b4c00e3912f | 1001 | BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 1002 | else if(ACS_STATE == '2') |
| sakthipriya | 0:7b4c00e3912f | 1003 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 1004 | else if(ACS_STATE == '3') |
| sakthipriya | 0:7b4c00e3912f | 1005 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 1006 | else if(ACS_STATE == '4') |
| sakthipriya | 0:7b4c00e3912f | 1007 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 1008 | else if(ACS_STATE == '5') |
| sakthipriya | 0:7b4c00e3912f | 1009 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 1010 | else if(ACS_STATE == '6') |
| sakthipriya | 0:7b4c00e3912f | 1011 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 1012 | |
| sakthipriya | 0:7b4c00e3912f | 1013 | //...............eps......................// |
| lakshya | 20:949d13045431 | 1014 | if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS |
| lakshya | 20:949d13045431 | 1015 | BAE_STATUS |= 0x00010000; |
| lakshya | 20:949d13045431 | 1016 | else if(EPS_INIT_STATUS==0) // Clear |
| lakshya | 20:949d13045431 | 1017 | BAE_STATUS &= 0xFFFEFFFF; |
| sakthipriya | 5:bb592f3185cc | 1018 | |
| sakthipriya | 5:bb592f3185cc | 1019 | |
| lakshya | 20:949d13045431 | 1020 | if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS |
| lakshya | 20:949d13045431 | 1021 | BAE_STATUS |= 0x00040000; |
| lakshya | 20:949d13045431 | 1022 | else if(EPS_MAIN_STATUS==0) // Clear |
| lakshya | 20:949d13045431 | 1023 | BAE_STATUS &= 0xFFFBFFFF; |
| sakthipriya | 5:bb592f3185cc | 1024 | |
| sakthipriya | 5:bb592f3185cc | 1025 | |
| lakshya | 20:949d13045431 | 1026 | if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS |
| lakshya | 20:949d13045431 | 1027 | BAE_STATUS |= 0x00020000; |
| lakshya | 20:949d13045431 | 1028 | else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear |
| lakshya | 20:949d13045431 | 1029 | BAE_STATUS &= 0xFFFDFFFF; |
| lakshya | 20:949d13045431 | 1030 | |
| lakshya | 20:949d13045431 | 1031 | if (EPS_BATTERY_TEMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS |
| lakshya | 20:949d13045431 | 1032 | BAE_STATUS |= 0x00080000; |
| lakshya | 20:949d13045431 | 1033 | else if(EPS_BATTERY_TEMP_STATUS==0) // Clear |
| lakshya | 20:949d13045431 | 1034 | BAE_STATUS &= 0xFFF7FFFF; |
| sakthipriya | 5:bb592f3185cc | 1035 | |
| lakshya | 20:949d13045431 | 1036 | if (EPS_STATUS==0) |
| lakshya | 20:949d13045431 | 1037 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP |
| lakshya | 20:949d13045431 | 1038 | else if (EPS_STATUS==1) |
| lakshya | 20:949d13045431 | 1039 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED |
| lakshya | 20:949d13045431 | 1040 | else if (EPS_STATUS==2) |
| lakshya | 20:949d13045431 | 1041 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF |
| lakshya | 20:949d13045431 | 1042 | else if (EPS_STATUS==3) |
| lakshya | 20:949d13045431 | 1043 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON |
| lakshya | 20:949d13045431 | 1044 | else if (EPS_STATUS==4) |
| lakshya | 20:949d13045431 | 1045 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF |
| lakshya | 20:949d13045431 | 1046 | else if (EPS_STATUS==5) |
| lakshya | 20:949d13045431 | 1047 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON |
| sakthipriya | 5:bb592f3185cc | 1048 | |
| lakshya | 20:949d13045431 | 1049 | if(EPS_BTRY_HTR_AUTO == 1) |
| sakthipriya | 5:bb592f3185cc | 1050 | BAE_ENABLE |= 0x00000080; |
| lakshya | 20:949d13045431 | 1051 | else if(EPS_BTRY_HTR_AUTO == 0) |
| sakthipriya | 5:bb592f3185cc | 1052 | BAE_ENABLE = BAE_ENABLE &0xFFFFFF7; |
| sakthipriya | 3:07e15677a75c | 1053 | |
| lakshya | 20:949d13045431 | 1054 | #if print |
| lakshya | 20:949d13045431 | 1055 | pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE); |
| lakshya | 20:949d13045431 | 1056 | #endif |
| lakshya | 20:949d13045431 | 1057 | } |
| sakthipriya | 0:7b4c00e3912f | 1058 | |
| sakthipriya | 0:7b4c00e3912f | 1059 | |
| sakthipriya | 0:7b4c00e3912f | 1060 | void FCTN_BAE_INIT() |
| sakthipriya | 0:7b4c00e3912f | 1061 | { |
| lakshya | 20:949d13045431 | 1062 | #if print |
| lakshya | 20:949d13045431 | 1063 | printf("\n\r Initialising BAE _________________________________________________________________________________"); |
| lakshya | 20:949d13045431 | 1064 | #endif |
| lakshya | 19:79e69017c855 | 1065 | BAE_INIT_STATUS=1; |
| lakshya | 19:79e69017c855 | 1066 | FLAG(); |
| lakshya | 19:79e69017c855 | 1067 | |
| sakthipriya | 3:07e15677a75c | 1068 | //..........intial status....// |
| Bragadeesh153 | 13:fb7facaf308b | 1069 | ACS_STATE = 4; |
| sakthipriya | 9:194afacf7449 | 1070 | ACS_ATS_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 1071 | ACS_DATA_ACQ_ENABLE = 1; |
| lakshya | 20:949d13045431 | 1072 | EPS_BTRY_HTR_AUTO = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1073 | actual_data.power_mode=3; |
| lakshya | 19:79e69017c855 | 1074 | |
| sakthipriya | 9:194afacf7449 | 1075 | //............intializing pins................// |
| sakthipriya | 9:194afacf7449 | 1076 | ATS1_SW_ENABLE = 0; |
| sakthipriya | 9:194afacf7449 | 1077 | ATS2_SW_ENABLE = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1078 | |
| Bragadeesh153 | 13:fb7facaf308b | 1079 | DRV_XY_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1080 | DRV_Z_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1081 | TRZ_SW = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1082 | TRXY_SW = 1; |
| lakshya | 20:949d13045431 | 1083 | |
| lakshya | 20:949d13045431 | 1084 | //time_wdog = 1; |
| sakthipriya | 9:194afacf7449 | 1085 | |
| lakshya | 19:79e69017c855 | 1086 | //...........order mentioned in flow chart.................// |
| sakthipriya | 3:07e15677a75c | 1087 | FCTN_ACS_INIT(); |
| lakshya | 17:fc782f7548c6 | 1088 | FCTN_EPS_INIT(); |
| lakshya | 18:3662058a7c10 | 1089 | FCTN_BCN_INIT(); |
| lakshya | 19:79e69017c855 | 1090 | |
| lakshya | 27:61c856be467e | 1091 | //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 | 1092 | //uint32_t data_modify=data_flash & 0x000000FF; |
| lakshya | 27:61c856be467e | 1093 | //data_modify +=1; |
| lakshya | 27:61c856be467e | 1094 | //data_modify |=data_flash; |
| lakshya | 27:61c856be467e | 1095 | //FCTN_BAE_WR_FLASH(0,data_modify); |
| lakshya | 20:949d13045431 | 1096 | #if print |
| lakshya | 20:949d13045431 | 1097 | printf("\n\rthe number of reset %d",data_modify); |
| lakshya | 20:949d13045431 | 1098 | #endif |
| lakshya | 19:79e69017c855 | 1099 | BAE_INIT_STATUS=0; |
| sakthipriya | 0:7b4c00e3912f | 1100 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 1101 | } |
| sakthipriya | 0:7b4c00e3912f | 1102 | |
| lakshya | 20:949d13045431 | 1103 | |
| sakthipriya | 0:7b4c00e3912f | 1104 | int main() |
| sakthipriya | 0:7b4c00e3912f | 1105 | { |
| lakshya | 20:949d13045431 | 1106 | //time_wdog = 1; |
| lakshya | 19:79e69017c855 | 1107 | pc.printf("\n\r BAE Activated. Testing Version 1.2 \n"); |
| lakshya | 20:949d13045431 | 1108 | //FLASH_INI(); |
| sakthipriya | 0:7b4c00e3912f | 1109 | FCTN_BAE_INIT(); |
| lakshya | 20:949d13045431 | 1110 | //time_wdog = 0; |
| lakshya | 20:949d13045431 | 1111 | |
| sakthipriya | 0:7b4c00e3912f | 1112 | slave.address(addr); |
| sakthipriya | 0:7b4c00e3912f | 1113 | irpt_2_mstr = 0; |
| sakthipriya | 0:7b4c00e3912f | 1114 | |
| sakthipriya | 0:7b4c00e3912f | 1115 | ptr_t_i2c = new Thread(T_TC); |
| sakthipriya | 0:7b4c00e3912f | 1116 | ptr_t_i2c->set_priority(osPriorityHigh); |
| sakthipriya | 5:bb592f3185cc | 1117 | |
| sakthipriya | 0:7b4c00e3912f | 1118 | irpt_4m_mstr.enable_irq(); |
| sakthipriya | 0:7b4c00e3912f | 1119 | irpt_4m_mstr.rise(&FCTN_I2C_ISR); |
| lakshya | 20:949d13045431 | 1120 | |
| sakthipriya | 0:7b4c00e3912f | 1121 | RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread |
| sakthipriya | 0:7b4c00e3912f | 1122 | t_sc_timer.start(10000); |
| sakthipriya | 0:7b4c00e3912f | 1123 | t_start.start(); |
| lakshya | 20:949d13045431 | 1124 | #if print |
| lakshya | 20:949d13045431 | 1125 | pc.printf("\n\rStarted scheduler %f\n\r",t_start.read()); |
| lakshya | 20:949d13045431 | 1126 | #endif |
| lakshya | 19:79e69017c855 | 1127 | /*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 | 1128 | //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce); |
| lakshya | 19:79e69017c855 | 1129 | /*static allocation*/ |
| lakshya | 19:79e69017c855 | 1130 | RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce); |
| lakshya | 19:79e69017c855 | 1131 | BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER; |
| lakshya | 18:3662058a7c10 | 1132 | |
| lakshya | 20:949d13045431 | 1133 | RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce); |
| lakshya | 20:949d13045431 | 1134 | /*later change it to 30 min 1800 seconds*/ |
| lakshya | 20:949d13045431 | 1135 | bcn_start_timer.start(20000); |
| lakshya | 20:949d13045431 | 1136 | |
| lakshya | 20:949d13045431 | 1137 | //BCN HTR TIMERS |
| lakshya | 20:949d13045431 | 1138 | RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce); |
| lakshya | 20:949d13045431 | 1139 | HTR_OFF=&EPS_HTR_OFF_TIMER; |
| lakshya | 20:949d13045431 | 1140 | |
| lakshya | 20:949d13045431 | 1141 | RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE); |
| lakshya | 20:949d13045431 | 1142 | HTR_CYCLE=&EPS_HTR_CYCLE_TIMER; |
| lakshya | 20:949d13045431 | 1143 | |
| lakshya | 20:949d13045431 | 1144 | RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce); |
| lakshya | 20:949d13045431 | 1145 | HTR_DLY=&EPS_HTR_DLY_TIMER; |
| lakshya | 20:949d13045431 | 1146 | |
| lakshya | 20:949d13045431 | 1147 | FLASH_INI(); |
| lakshya | 20:949d13045431 | 1148 | |
| lakshya | 20:949d13045431 | 1149 | while(1); //required to prevent main from terminating |
| lakshya | 18:3662058a7c10 | 1150 | |
| lakshya | 20:949d13045431 | 1151 | } |