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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

main.cpp@77:6a5f6e1c7a35, 2016-12-10 (annotated)

Committer:
azaddevarm
Date:
Sat Dec 10 13:25:06 2016 +0000
Revision:
77:6a5f6e1c7a35
Parent:
76:293693fb7949
Child:
80:da657c390c27
CDMS fault updated with CDMS_RESET pin

Who changed what in which revision?

UserRevisionLine numberNew 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"
lakshya 49:61c9f28332ba 7 Serial pc(USBTX,USBRX);
lakshya 49:61c9f28332ba 8
sakthipriya 0:7b4c00e3912f 9 #include "TCTM.h"
lakshya 47:d59ba66229ce 10 #define tm_len 134
lakshya 47:d59ba66229ce 11 #define tc_len 135
sakthipriya 0:7b4c00e3912f 12 #define batt_heat_low 20
lakshya 22:950dbe9fbeb8 13 #define print 1
lakshya 39:670133e7ffd8 14 #define PRINT2 1
lakshya 39:670133e7ffd8 15 #define baby 1
lakshya 39:670133e7ffd8 16 #define baby2 1
lakshya 49:61c9f28332ba 17 #define SBC 1
lakshya 49:61c9f28332ba 18
lakshya 49:61c9f28332ba 19 Timer timer_FCTN_ACS_GENPWM_MAIN;
lakshya 49:61c9f28332ba 20 Timer timer_FCTN_ACS_CNTRLALGO;
lakshya 49:61c9f28332ba 21 Timer timer_FCTN_BAE_INIT;
lakshya 49:61c9f28332ba 22 Timer timer_FLASH_INI;
lakshya 49:61c9f28332ba 23 Timer timer_FCTN_ACS_INIT;
lakshya 49:61c9f28332ba 24 Timer timer_FCTN_EPS_INIT;
lakshya 49:61c9f28332ba 25 Timer timer_FCTN_BCN_INIT;
lakshya 49:61c9f28332ba 26 Timer timer_F_ACS;
lakshya 49:61c9f28332ba 27 Timer timer_FCTN_ATS_DATA_ACQ;
lakshya 49:61c9f28332ba 28 extern Timer timer_SENSOR_INIT;
lakshya 49:61c9f28332ba 29 extern Timer timer_CONFIG_UPLOAD;
lakshya 49:61c9f28332ba 30 extern Timer timer_SENSOR_DATA_ACQ;
lakshya 49:61c9f28332ba 31 extern Timer timer_controlmodes;
lakshya 49:61c9f28332ba 32
lakshya 49:61c9f28332ba 33 Timer timer_F_ESP;
lakshya 49:61c9f28332ba 34 Timer timer_minMaxHkData;
lakshya 49:61c9f28332ba 35 Timer timer_FCTN_APPEND_HKDATA;
lakshya 49:61c9f28332ba 36 Timer timer_FCTN_EPS_HANDLE_CDMS_FAULT;
lakshya 49:61c9f28332ba 37 Timer timer_FCTN_EPS_HANDLE_HW_FAULTS;
lakshya 49:61c9f28332ba 38 Timer timer_FCTN_HK_MAIN;
lakshya 49:61c9f28332ba 39 Timer timer_FCTN_BATTERYGAUGE_MAIN;
lakshya 49:61c9f28332ba 40 Timer timer_FCTN_BATT_TEMP_SENSOR_MAIN;
lakshya 49:61c9f28332ba 41 extern Timer timer_alertFlags;
lakshya 49:61c9f28332ba 42 extern Timer timer_soc;
lakshya 49:61c9f28332ba 43 extern Timer timer_FCTN_BATTERYGAUGE_INIT;
lakshya 49:61c9f28332ba 44
lakshya 49:61c9f28332ba 45 Timer timer_F_BCN;
lakshya 49:61c9f28332ba 46 Timer timer_FCTN_BCN_TX_MAIN;
lakshya 49:61c9f28332ba 47 extern Timer timer_Init_BEACON_HW;
lakshya 49:61c9f28332ba 48 extern Timer timer_Set_BCN_TX_STATUS_DISABLED;
lakshya 49:61c9f28332ba 49 extern Timer timer_Set_BCN_TX_STATUS_SUSPENDED;
lakshya 49:61c9f28332ba 50 extern Timer timer_Set_BCN_TX_STATUS_RF_SILENCE;
lakshya 49:61c9f28332ba 51 extern Timer timer_Set_BCN_TX_STATUS_SUCCESS;
lakshya 49:61c9f28332ba 52 extern Timer timer_Set_BCN_TX_STATUS_FAILURE;
lakshya 49:61c9f28332ba 53
lakshya 33:76f2b8735501 54 #define DISABLE_WDOG 0;
lakshya 33:76f2b8735501 55
lakshya 33:76f2b8735501 56 void kick_WDOG()
lakshya 33:76f2b8735501 57 {
lakshya 33:76f2b8735501 58 SIM->SRVCOP=0x55;
lakshya 33:76f2b8735501 59 SIM->SRVCOP=0xAA;
lakshya 33:76f2b8735501 60 printf("\n\rkicked");
lakshya 33:76f2b8735501 61 }
lakshya 33:76f2b8735501 62
lakshya 33:76f2b8735501 63 void init_WDOG()
lakshya 33:76f2b8735501 64 {
lakshya 33:76f2b8735501 65 SIM->COPC=0x0C;
lakshya 33:76f2b8735501 66 kick_WDOG();
lakshya 33:76f2b8735501 67 }
lakshya 33:76f2b8735501 68
lakshya 49:61c9f28332ba 69 DigitalOut time_wdog(PIN68,0);// for determining the time between code
lakshya 20:949d13045431 70
lakshya 19:79e69017c855 71 //**********************************************GLOBAL RTOS TIMER*********************************************************//
lakshya 19:79e69017c855 72 RtosTimer *BAE_STANDBY_STATUS_TIMER;
lakshya 19:79e69017c855 73
lakshya 20:949d13045431 74 //bcn heater rtostimers=============================================================================
lakshya 20:949d13045431 75 RtosTimer *HTR_OFF=NULL;
lakshya 20:949d13045431 76 RtosTimer *HTR_CYCLE=NULL;
lakshya 20:949d13045431 77 RtosTimer *HTR_DLY=NULL;
lakshya 20:949d13045431 78
lakshya 33:76f2b8735501 79 //UPTIME TIMERS
lakshya 33:76f2b8735501 80 Timer BAE_uptime;
lakshya 33:76f2b8735501 81 Timer I2C_last;
lakshya 33:76f2b8735501 82
lakshya 33:76f2b8735501 83 void RETURN_UPTIME(float time, uint8_t *day,uint8_t *hour,uint8_t *min)
lakshya 33:76f2b8735501 84 {
lakshya 33:76f2b8735501 85 *day = time/(3600*24);
lakshya 33:76f2b8735501 86 time = (int)time % (3600*24);
lakshya 33:76f2b8735501 87 *hour = time/(3600);
lakshya 33:76f2b8735501 88 time = (int)time % (3600);
lakshya 33:76f2b8735501 89 *min = time/60;
lakshya 33:76f2b8735501 90 }
lakshya 33:76f2b8735501 91
lakshya 49:61c9f28332ba 92 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 49:61c9f28332ba 93 int eps_btg_read_flag; // flag to check I2C ack on reading from BTG
lakshya 49:61c9f28332ba 94 int eps_btg_writ_flag; // flag to check I2C ack on writing from BTG
lakshya 20:949d13045431 95
lakshya 20:949d13045431 96 uint8_t HTR_CYCLE_COUNTS=0; //Count of heater cycles
lakshya 20:949d13045431 97 uint8_t HTR_CYCLE_START_DLY=0; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya 20:949d13045431 98 uint8_t HTR_ON_DURATION=0; //EPS_HTR_OFF timer duration in minutes
lakshya 20:949d13045431 99 uint16_t HTR_CYCLE_PERIOD =0; //EPS_HTR_CYCLE timer duration - MSB minutes, LSB seconds
lakshya 20:949d13045431 100 uint8_t HTR_CYCLE_COUNTER = 0 ;
lakshya 20:949d13045431 101
lakshya 20:949d13045431 102 uint32_t HTR_CYCLE_PERIOD_DECODER() //To convert HTR_CYCLE_PERIOD to millisecs
lakshya 20:949d13045431 103 {
lakshya 20:949d13045431 104 uint8_t PERIOD_mins, PERIOD_secs;
lakshya 20:949d13045431 105 //pc.printf("\n\r FCTN_HTR_CYCLE_PERIOD");
lakshya 20:949d13045431 106 PERIOD_secs = HTR_CYCLE_PERIOD;
lakshya 20:949d13045431 107 PERIOD_mins = HTR_CYCLE_PERIOD >> 8;
lakshya 20:949d13045431 108 uint32_t period = 1000*((int)PERIOD_mins * 60 + (int)PERIOD_secs);
lakshya 20:949d13045431 109
lakshya 20:949d13045431 110 return period;
lakshya 20:949d13045431 111 }
lakshya 20:949d13045431 112
lakshya 20:949d13045431 113 void FCTN_EPS_HTR_CYCLE(void const *arg)
lakshya 20:949d13045431 114 {
lakshya 33:76f2b8735501 115 BTRY_HTR_ENABLE = 1;//assuming its active high check
lakshya 20:949d13045431 116 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 117 //pc.printf("\n\r FCTN_EPS_HTR_CYCLE");
lakshya 20:949d13045431 118 //tim.reset();
lakshya 20:949d13045431 119 //tim.start();
lakshya 20:949d13045431 120 //HTR_OFF->start(((uint32_t)HTR_ON_DURATION)*1000);
lakshya 20:949d13045431 121 HTR_OFF->start((int)HTR_ON_DURATION*60*1000);
lakshya 20:949d13045431 122 }
lakshya 20:949d13045431 123
lakshya 20:949d13045431 124 void FCTN_EPS_HTR_DLY(void const* arg)
lakshya 20:949d13045431 125 {
lakshya 33:76f2b8735501 126 BTRY_HTR_ENABLE = 1;
lakshya 20:949d13045431 127 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 128 HTR_OFF->start(((int)HTR_ON_DURATION*60*1000));
lakshya 20:949d13045431 129 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 130 //pc.printf("\n\r FCTN_EPS_HTR_DLY");
lakshya 20:949d13045431 131 //tim.start();
lakshya 20:949d13045431 132 HTR_CYCLE->start((uint32_t)HTR_CYCLE_PERIOD_DECODER);
lakshya 20:949d13045431 133 }
lakshya 20:949d13045431 134
lakshya 20:949d13045431 135 void FCTN_EPS_HTR_OFF(void const *arg)
lakshya 20:949d13045431 136 {
lakshya 33:76f2b8735501 137 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 138 //tim.stop();
lakshya 20:949d13045431 139 //pc.printf("\n\r off kar diya");
lakshya 20:949d13045431 140 //pc.printf("\n\r the timer value is %f",tim.read());
lakshya 20:949d13045431 141 //tim.reset();
lakshya 20:949d13045431 142 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 143 {
lakshya 20:949d13045431 144 HTR_CYCLE_COUNTER++;
lakshya 20:949d13045431 145 if( HTR_CYCLE_COUNTER == (int)HTR_CYCLE_COUNTS)//HTR_CYCLE_COUNTS )
lakshya 20:949d13045431 146 HTR_CYCLE->stop();
lakshya 20:949d13045431 147 }
lakshya 20:949d13045431 148 }
lakshya 20:949d13045431 149
lakshya 20:949d13045431 150 //====================================================================================================
lakshya 20:949d13045431 151
lakshya 20:949d13045431 152 //fctn to pass the data to bcn long type
lakshya 33:76f2b8735501 153 //uint8_t CDMS_HK_data[134]; now implemented as LONG_HK_data[0][134];
lakshya 33:76f2b8735501 154 uint8_t LONG_HK_data[2][134];
lakshya 20:949d13045431 155 void FCTN_CDMS_HK_TC(uint8_t tc[])
lakshya 20:949d13045431 156 {
lakshya 20:949d13045431 157 for(int i=0;i<134;i++)
lakshya 33:76f2b8735501 158 LONG_HK_data[0][i] = tc[i];
lakshya 20:949d13045431 159 }
lakshya 20:949d13045431 160
lakshya 66:a5d2b8dc6b9e 161 uint8_t BAE_STANDBY=0x07;// as Bcn Acs Eps last three bits BAE order , refer to switch off.//old convection now *****0***** means off
lakshya 20:949d13045431 162
lakshya 19:79e69017c855 163 void BAE_STANDBY_STATUS_RESET(const void* arg)
lakshya 19:79e69017c855 164 {
lakshya 19:79e69017c855 165 printf("\n\rBAE standby reset to 0x00");
lakshya 66:a5d2b8dc6b9e 166 BAE_STANDBY=0x07;
lakshya 19:79e69017c855 167 }
lakshya 19:79e69017c855 168
lakshya 20:949d13045431 169
lakshya 19:79e69017c855 170 /*no problem in first stopping and then starting even when for the first time*/
lakshya 19:79e69017c855 171 void BAE_STANDBY_TIMER_RESET()
lakshya 19:79e69017c855 172 {
lakshya 19:79e69017c855 173 BAE_STANDBY_STATUS_TIMER->stop();
lakshya 19:79e69017c855 174 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 175 }
lakshya 19:79e69017c855 176
lakshya 20:949d13045431 177 extern void gen_I_TM();
lakshya 20:949d13045431 178
lakshya 20:949d13045431 179 //*************** FLAGS ****************************//
sakthipriya 0:7b4c00e3912f 180 uint32_t BAE_STATUS = 0x00000000;
sakthipriya 0:7b4c00e3912f 181 uint32_t BAE_ENABLE = 0xFFFFFFFF;
sakthipriya 0:7b4c00e3912f 182
sakthipriya 5:bb592f3185cc 183 //i2c//
sakthipriya 5:bb592f3185cc 184 char data_send_flag = 'h';
lakshya 20:949d13045431 185 //uint8_t BAE_MNG_I2C_STATUS = 0;
sakthipriya 5:bb592f3185cc 186
lakshya 20:949d13045431 187 //BAE
lakshya 19:79e69017c855 188 uint8_t BAE_INIT_STATUS=0;
lakshya 20:949d13045431 189 uint8_t BAE_MNG_I2C_STATUS=0;
sakthipriya 0:7b4c00e3912f 190
sakthipriya 9:194afacf7449 191
lakshya 20:949d13045431 192 //ACS
sakthipriya 9:194afacf7449 193 uint8_t ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 194 uint8_t ACS_DATA_ACQ_STATUS = 0;
lakshya 20:949d13045431 195 uint8_t ACS_ATS_STATUS = 0x73;
sakthipriya 9:194afacf7449 196 uint8_t ACS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 197 uint8_t ACS_STATUS = 0;
lakshya 20:949d13045431 198 uint8_t ACS_DETUMBLING_ALGO_TYPE = 0;
sakthipriya 9:194afacf7449 199 uint8_t ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 200 uint8_t ACS_DATA_ACQ_ENABLE = 1;
lakshya 49:61c9f28332ba 201 uint8_t ACS_STATE = 3;
lakshya 19:79e69017c855 202
lakshya 20:949d13045431 203 extern uint16_t ACS_MM_X_COMSN;
lakshya 20:949d13045431 204 extern uint16_t ACS_MM_Y_COMSN;
lakshya 20:949d13045431 205 extern uint16_t ACS_MG_X_COMSN;
lakshya 20:949d13045431 206 extern uint16_t ACS_MG_Y_COMSN;
lakshya 20:949d13045431 207 extern uint16_t ACS_MM_Z_COMSN;
lakshya 20:949d13045431 208 extern uint16_t ACS_MG_Z_COMSN;
lakshya 20:949d13045431 209
lakshya 27:61c856be467e 210 extern uint8_t controlmode_mms;
lakshya 49:61c9f28332ba 211 extern uint8_t B_SCZ_ANGLE;
lakshya 20:949d13045431 212 //BCN
lakshya 18:3662058a7c10 213 extern uint8_t BCN_FEN;
lakshya 18:3662058a7c10 214 extern void FCTN_BCN_FEN(void const *args);
lakshya 20:949d13045431 215 extern void LONG_BCN_DATA(uint8_t* );
lakshya 20:949d13045431 216 extern uint16_t gencrc16_for_me();//for calculating the crc of baehk data before sendingkk as including crc causes problem
lakshya 48:9fd15e3e0b53 217 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 218
lakshya 20:949d13045431 219
lakshya 18:3662058a7c10 220 Timeout timeout_bcn;
lakshya 19:79e69017c855 221 /*long beacon data/sending*/
lakshya 19:79e69017c855 222 /*be sure it is created in bcn.cpp*/
sakthipriya 0:7b4c00e3912f 223
lakshya 20:949d13045431 224 //EPS
sakthipriya 9:194afacf7449 225 uint8_t EPS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 226 uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
sakthipriya 9:194afacf7449 227 uint8_t EPS_MAIN_STATUS = 0;
lakshya 33:76f2b8735501 228 uint8_t EPS_BTRY_TMP_STATUS = 0;/// to be diss
sakthipriya 9:194afacf7449 229 uint8_t EPS_STATUS = 7; //invalid status
lakshya 33:76f2b8735501 230 uint8_t EPS_BTRY_HTR = 0;
sakthipriya 9:194afacf7449 231
lakshya 20:949d13045431 232 uint8_t EPS_BTRY_HTR_AUTO = 1;
lakshya 20:949d13045431 233 extern uint8_t EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 234 extern uint8_t EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 235 extern uint8_t EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 236 extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 237 extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 238 float EPS_BTRY_TMP_AVG;
lakshya 49:61c9f28332ba 239 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 33:76f2b8735501 240
lakshya 33:76f2b8735501 241 //extern void FCTN_BATTERYGAUGE_MAIN(float*Battery_parameters);
lakshya 20:949d13045431 242
lakshya 20:949d13045431 243
lakshya 20:949d13045431 244 //**********************GLOBAL DECLARATIONS********************************//
lakshya 20:949d13045431 245
lakshya 20:949d13045431 246 //CDMS
lakshya 20:949d13045431 247 //eps cdms fault
lakshya 20:949d13045431 248 uint8_t CDMS_SW_STATUS;
lakshya 48:9fd15e3e0b53 249 DigitalIn CDMS_OC_FAULT(PIN79);
azaddevarm 77:6a5f6e1c7a35 250 //bool CDMS_SW_ENABLE; //Temp name for CDMS_RESET pin
lakshya 20:949d13045431 251 int CDMS_FAULT_COUNTER = 0;
lakshya 20:949d13045431 252
lakshya 20:949d13045431 253
lakshya 20:949d13045431 254 //BAE new hk structure- everything has to changed based on this
lakshya 20:949d13045431 255 char BAE_chardata[74];
lakshya 33:76f2b8735501 256 // uint8_t LONG_HK_data[2][134];
lakshya 33:76f2b8735501 257 //uint8_t BAE_HK_data[134]; now known as LONG_HK_data[1][i];
lakshya 20:949d13045431 258 uint8_t BAE_RESET_COUNTER;// INITIALIZATION or do you want to initialize evertime the main is reset? or is it same
lakshya 20:949d13045431 259 uint16_t BAE_I2C_COUNTER = 0;//change/apply
lakshya 66:a5d2b8dc6b9e 260 //uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1old convection refer to switch off. chnaged now 0 means offfffffffff FU==
lakshya 20:949d13045431 261
lakshya 20:949d13045431 262 //BCN
lakshya 20:949d13045431 263 //uint16_t BCN_TX_MAIN_COUNTER = 0;
lakshya 20:949d13045431 264 uint8_t BCN_LONG_MSG_TYPE = 1;
sakthipriya 0:7b4c00e3912f 265
lakshya 49:61c9f28332ba 266 DigitalIn BCN_TX_OC_FAULT(PIN80);
lakshya 20:949d13045431 267 int BCN_TX_FAULT_COUNTER;
lakshya 20:949d13045431 268
lakshya 20:949d13045431 269 //ACS
lakshya 20:949d13045431 270 uint16_t ACS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 271
lakshya 20:949d13045431 272 //eps hw faults
lakshya 20:949d13045431 273 //uint8_t ACS_TR_Z_SW_STATUS;
Bragadeesh153 65:d1b12729fcdc 274 DigitalOut ACS_TR_Z_ENABLE(PIN40,0); //SWITCH
lakshya 48:9fd15e3e0b53 275 DigitalIn ACS_TR_Z_OC_FAULT(PIN91);
lakshya 48:9fd15e3e0b53 276 DigitalIn ACS_TR_Z_FAULT(PIN89); //Driver IC fault
lakshya 20:949d13045431 277 int ACS_TR_Z_FAULT_COUNTER = 0;
sakthipriya 0:7b4c00e3912f 278
lakshya 49:61c9f28332ba 279
lakshya 49:61c9f28332ba 280 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
lakshya 49:61c9f28332ba 281 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
Bragadeesh153 52:daa685b0e390 282
lakshya 49:61c9f28332ba 283
Bragadeesh153 52:daa685b0e390 284
lakshya 49:61c9f28332ba 285
lakshya 20:949d13045431 286 //uint8_t ACS_TR_XY_SW_STATUS;
Bragadeesh153 52:daa685b0e390 287 DigitalOut ACS_TR_XY_ENABLE(PIN71,0);
Bragadeesh153 52:daa685b0e390 288 DigitalIn ACS_TR_XY_OC_FAULT(PIN77);
lakshya 48:9fd15e3e0b53 289 DigitalIn ACS_TR_XY_FAULT(PIN83); //Driver IC fault
lakshya 20:949d13045431 290 int ACS_TR_XY_FAULT_COUNTER = 0;
lakshya 20:949d13045431 291
lakshya 20:949d13045431 292 //bool ACS_ATS1_ENABLE;
Bragadeesh153 52:daa685b0e390 293 DigitalIn ACS_ATS1_OC_FAULT(PIN39);
lakshya 48:9fd15e3e0b53 294 int ACS_TS1_FAULT_COUNTER = 0;
lakshya 20:949d13045431 295
lakshya 20:949d13045431 296 //bool ACS_ATS2_ENABLE;
Bragadeesh153 52:daa685b0e390 297 DigitalIn ACS_ATS2_OC_FAULT(PIN41);
lakshya 20:949d13045431 298 int ACS_ATS2_FAULT_COUNTER;
lakshya 20:949d13045431 299
lakshya 20:949d13045431 300 //EPS
lakshya 20:949d13045431 301 int EPS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 302
lakshya 20:949d13045431 303
lakshya 20:949d13045431 304 //GEN DEC FOR TESTING or to be DECIDED whre to ASSIGN HERE
sakthipriya 0:7b4c00e3912f 305 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 306 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 307 Timer t_start;
lakshya 19:79e69017c855 308 /*defined as of now to check execution time*/
lakshya 19:79e69017c855 309 /*remember to remove them*/
lakshya 19:79e69017c855 310 Timer t_acs;
lakshya 19:79e69017c855 311 Timer t_eps;
lakshya 20:949d13045431 312 //Timer t_tc;
sakthipriya 7:a46a1dee4497 313 Timer t_tm;
lakshya 49:61c9f28332ba 314
sakthipriya 0:7b4c00e3912f 315 int power_flag_dummy=2;
sakthipriya 0:7b4c00e3912f 316 float data[6];
sakthipriya 0:7b4c00e3912f 317
lakshya 20:949d13045431 318
lakshya 20:949d13045431 319 //*************EXTERN PARA********
lakshya 20:949d13045431 320
lakshya 20:949d13045431 321 //BAE
lakshya 20:949d13045431 322
sakthipriya 1:446a959e36ce 323 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 324 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 325 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 326 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 327
lakshya 20:949d13045431 328
lakshya 20:949d13045431 329 //BCN
lakshya 20:949d13045431 330 extern uint8_t BCN_FEN;
lakshya 20:949d13045431 331 extern uint8_t BCN_TX_SW_STATUS;
lakshya 20:949d13045431 332 extern uint8_t BCN_SPND_TX;
lakshya 20:949d13045431 333
lakshya 20:949d13045431 334
lakshya 20:949d13045431 335 //TCTM
lakshya 49:61c9f28332ba 336 extern uint8_t telemetry[tm_len];
lakshya 20:949d13045431 337
lakshya 20:949d13045431 338
lakshya 20:949d13045431 339 //ACS
lakshya 20:949d13045431 340 extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya 20:949d13045431 341 extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 342 extern float gyro_data[3];
lakshya 20:949d13045431 343 extern float mag_data[3];
lakshya 20:949d13045431 344 extern float moment[3];
lakshya 20:949d13045431 345 extern float b_old[3]; // Unit: Tesla
lakshya 20:949d13045431 346 extern float db[3];
lakshya 20:949d13045431 347 extern uint8_t flag_firsttime;
lakshya 20:949d13045431 348 extern uint8_t ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 349 extern uint8_t ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 350 extern uint16_t ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 351
lakshya 39:670133e7ffd8 352 int write_ack;
lakshya 39:670133e7ffd8 353 int read_ack;
sakthipriya 0:7b4c00e3912f 354 char telecommand[tc_len];
lakshya 20:949d13045431 355
sakthipriya 5:bb592f3185cc 356
sakthipriya 5:bb592f3185cc 357 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 358 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 359 bool if1check = 0;
lakshya 14:a9588f443f1a 360 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 361
lakshya 20:949d13045431 362 //ASSIGNING PINS//
Bragadeesh153 52:daa685b0e390 363 DigitalOut ATS1_SW_ENABLE(PIN90,1); // enable of att sens2 switch
Bragadeesh153 52:daa685b0e390 364 DigitalOut ATS2_SW_ENABLE(PIN61,0); // enable of att sens switch
lakshya 49:61c9f28332ba 365 ////InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
lakshya 49:61c9f28332ba 366 ////DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya 14:a9588f443f1a 367 I2CSlave slave (PIN1,PIN2);///pin1 pin2
lakshya 20:949d13045431 368 //DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 369
sakthipriya 9:194afacf7449 370 //ATS1_SW_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 371 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 372 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 373 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 374
sakthipriya 5:bb592f3185cc 375 //........faults
sakthipriya 5:bb592f3185cc 376 //Polled Faults
lakshya 48:9fd15e3e0b53 377 //DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
lakshya 48:9fd15e3e0b53 378 //DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
lakshya 48:9fd15e3e0b53 379 //DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 380
Bragadeesh153 52:daa685b0e390 381
Bragadeesh153 52:daa685b0e390 382 DigitalOut DRV_XY_EN(PIN82,0); // DRV XY en
Bragadeesh153 52:daa685b0e390 383 //DigitalOut TRXY_SW(PIN71,0); //TR XY Switch
Bragadeesh153 52:daa685b0e390 384 DigitalOut DRV_Z_EN(PIN88,0); //Sleep pin of driver z //DISABLE by default
Bragadeesh153 52:daa685b0e390 385 //DigitalOut TRZ_SW(PIN40,0); //TR Z Switch
Bragadeesh153 52:daa685b0e390 386
lakshya 19:79e69017c855 387 DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET
Bragadeesh153 52:daa685b0e390 388
Bragadeesh153 52:daa685b0e390 389 DigitalOut CDMS_OC_ENA(PIN70,1);
sakthipriya 0:7b4c00e3912f 390
lakshya 66:a5d2b8dc6b9e 391 DigitalOut BCN_SW(PIN64,1); // PIN changed to 64 (previous 65 ) //IN TEMPORARY SBC
Bragadeesh153 52:daa685b0e390 392 //DigitalOut BCN_SW(PIN14,1); //Beacon switch //IN QM SBC, TO BE CHANGED
lakshya 20:949d13045431 393
lakshya 20:949d13045431 394 //================================================================================
lakshya 20:949d13045431 395 //default flash array some filler bits added (detail in MMS file)
lakshya 63:55d32e7dcad7 396 //uint32_t ARR_INITIAL_VAL[8]={0x73532600,0x505A4141,0x1A1A1400,0x00000000,0x00000000,0x00000000,0xCBA20000,0x00000000};//to be done
lakshya 73:d2bca4d2cc64 397 uint32_t ARR_INITIAL_VAL[8]={0x7C532600,0x505A4141,0x1A1A1400,0x001E0028,0x001E0028,0x00320032,0xCBA2010A,0x00000000};//to be done
lakshya 20:949d13045431 398
lakshya 20:949d13045431 399 void FLASH_INI()
lakshya 20:949d13045431 400 {
lakshya 49:61c9f28332ba 401 uint32_t read[8];
lakshya 20:949d13045431 402 for(int i=0;i<8;i++)
lakshya 20:949d13045431 403 {
lakshya 20:949d13045431 404 read[i] = FCTN_BAE_RD_FLASH_ENTITY(i);
lakshya 22:950dbe9fbeb8 405 //printf("\n\r val is read after starting %x ",read[i]);
lakshya 20:949d13045431 406 }
lakshya 20:949d13045431 407
lakshya 20:949d13045431 408 if(read[0] == -1)
lakshya 20:949d13045431 409 for(int j=0;j<8;j++)
lakshya 20:949d13045431 410 {
lakshya 20:949d13045431 411 FCTN_BAE_WR_FLASH(j,ARR_INITIAL_VAL[j]);
lakshya 39:670133e7ffd8 412 ACS_ATS_STATUS = ARR_INITIAL_VAL[0]>>24;
lakshya 39:670133e7ffd8 413 ACS_TR_XY_SW_STATUS = ((uint8_t)(ARR_INITIAL_VAL[0]>>22))&0x03;
lakshya 39:670133e7ffd8 414 ACS_TR_Z_SW_STATUS = (ARR_INITIAL_VAL[0]>>20)&0x03;
lakshya 39:670133e7ffd8 415 ACS_STATE = (ARR_INITIAL_VAL[0]>>16)&0x0F;
lakshya 49:61c9f28332ba 416 //pc.pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 39:670133e7ffd8 417 ACS_DETUMBLING_ALGO_TYPE = (ARR_INITIAL_VAL[0]>>15)&0x01;
lakshya 50:6001287f3045 418 BCN_TX_SW_STATUS = 1;//((uint8_t)(ARR_INITIAL_VAL[0]>>14))&0x03;
lakshya 39:670133e7ffd8 419 BCN_SPND_TX = ((uint8_t)(ARR_INITIAL_VAL[0]>>12))&0x01;
lakshya 39:670133e7ffd8 420 BCN_FEN = ((uint8_t)(ARR_INITIAL_VAL[0]>>11))&0x01;
lakshya 39:670133e7ffd8 421 BCN_LONG_MSG_TYPE = ((uint8_t)(ARR_INITIAL_VAL[0]>>10))&0x01;
lakshya 39:670133e7ffd8 422 EPS_BTRY_HTR_AUTO = ((uint8_t)(ARR_INITIAL_VAL[0]>>9))&0x03;//EPS_BATTERY_HEATER_ENABLE
lakshya 39:670133e7ffd8 423 //now one spares in telemetry[5]
lakshya 39:670133e7ffd8 424
lakshya 39:670133e7ffd8 425 //updating the reset counter
lakshya 39:670133e7ffd8 426 BAE_RESET_COUNTER = ((uint8_t)(ARR_INITIAL_VAL[0]));
lakshya 39:670133e7ffd8 427 EPS_SOC_LEVEL_12 = (uint8_t)(ARR_INITIAL_VAL[1]>>24);
lakshya 39:670133e7ffd8 428 EPS_SOC_LEVEL_23 = (uint8_t)(ARR_INITIAL_VAL[1]>>16);
lakshya 39:670133e7ffd8 429 ACS_MAG_TIME_DELAY = (uint8_t)(ARR_INITIAL_VAL[1]>>8);
lakshya 39:670133e7ffd8 430 ACS_DEMAG_TIME_DELAY = (uint8_t)ARR_INITIAL_VAL[1];
lakshya 39:670133e7ffd8 431
lakshya 39:670133e7ffd8 432 EPS_BAT_TEMP_LOW = (uint8_t)(ARR_INITIAL_VAL[2]>>24);
lakshya 39:670133e7ffd8 433 EPS_BAT_TEMP_HIGH = (uint8_t)(ARR_INITIAL_VAL[2]>>16);
lakshya 39:670133e7ffd8 434 EPS_BAT_TEMP_DEFAULT = (uint8_t)(ARR_INITIAL_VAL[2]>>8);
lakshya 39:670133e7ffd8 435
lakshya 39:670133e7ffd8 436 ACS_MM_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[3]>>16);
lakshya 39:670133e7ffd8 437 ACS_MM_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[3];
lakshya 39:670133e7ffd8 438
lakshya 39:670133e7ffd8 439 ACS_MG_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[4]>>16);
lakshya 39:670133e7ffd8 440 ACS_MG_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[4];
lakshya 39:670133e7ffd8 441
lakshya 39:670133e7ffd8 442 ACS_MM_Z_COMSN = (uint16_t)(ARR_INITIAL_VAL[5]>>16);
lakshya 39:670133e7ffd8 443 ACS_MG_Z_COMSN = (uint16_t)ARR_INITIAL_VAL[5];
lakshya 39:670133e7ffd8 444
lakshya 39:670133e7ffd8 445 ACS_Z_FIXED_MOMENT = (uint16_t)(ARR_INITIAL_VAL[6]>>16);//assignvalues
lakshya 39:670133e7ffd8 446
lakshya 39:670133e7ffd8 447 }
lakshya 20:949d13045431 448 else
lakshya 20:949d13045431 449 {
lakshya 20:949d13045431 450 for(int j=0;j<8;j++)
lakshya 20:949d13045431 451 {
lakshya 20:949d13045431 452 read[j] = FCTN_BAE_RD_FLASH_ENTITY(j);
lakshya 20:949d13045431 453 }
lakshya 20:949d13045431 454 ACS_ATS_STATUS = read[0]>>24;
lakshya 20:949d13045431 455 ACS_TR_XY_SW_STATUS = ((uint8_t)(read[0]>>22))&0x03;
lakshya 20:949d13045431 456 ACS_TR_Z_SW_STATUS = (read[0]>>20)&0x03;
lakshya 27:61c856be467e 457 ACS_STATE = (read[0]>>16)&0x0F;
lakshya 39:670133e7ffd8 458 //pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 27:61c856be467e 459 ACS_DETUMBLING_ALGO_TYPE = (read[0]>>15)&0x01;
lakshya 50:6001287f3045 460 BCN_TX_SW_STATUS = 1;//((uint8_t)(read[0]>>13))&0x03;
lakshya 27:61c856be467e 461 BCN_SPND_TX = ((uint8_t)(read[0]>>12))&0x01;
lakshya 27:61c856be467e 462 BCN_FEN = ((uint8_t)(read[0]>>11))&0x01;
lakshya 27:61c856be467e 463 BCN_LONG_MSG_TYPE = ((uint8_t)(read[0]>>10))&0x01;
lakshya 49:61c9f28332ba 464 EPS_BTRY_HTR_AUTO = ((uint8_t)(read[0]>>9))&0x01;//EPS_BATTERY_HEATER_ENABLE
lakshya 27:61c856be467e 465 //now one spares in telemetry[5]
lakshya 20:949d13045431 466
lakshya 20:949d13045431 467 //updating the reset counter
lakshya 20:949d13045431 468 BAE_RESET_COUNTER = ((uint8_t)(read[0]))+1;
lakshya 20:949d13045431 469 read[0]=(read[0]&0xffffff00) | (uint32_t)BAE_RESET_COUNTER;
lakshya 20:949d13045431 470 FCTN_BAE_WR_FLASH(0,read[0]);
lakshya 39:670133e7ffd8 471 pc.printf("\n\r reset counter %d",BAE_RESET_COUNTER);
lakshya 20:949d13045431 472
lakshya 20:949d13045431 473
lakshya 20:949d13045431 474 EPS_SOC_LEVEL_12 = (uint8_t)(read[1]>>24);
lakshya 20:949d13045431 475 EPS_SOC_LEVEL_23 = (uint8_t)(read[1]>>16);
lakshya 20:949d13045431 476 ACS_MAG_TIME_DELAY = (uint8_t)(read[1]>>8);
lakshya 20:949d13045431 477 ACS_DEMAG_TIME_DELAY = (uint8_t)read[1];
lakshya 20:949d13045431 478
lakshya 20:949d13045431 479 EPS_BAT_TEMP_LOW = (uint8_t)(read[2]>>24);
lakshya 20:949d13045431 480 EPS_BAT_TEMP_HIGH = (uint8_t)(read[2]>>16);
lakshya 20:949d13045431 481 EPS_BAT_TEMP_DEFAULT = (uint8_t)(read[2]>>8);
lakshya 20:949d13045431 482
lakshya 20:949d13045431 483 ACS_MM_X_COMSN = (uint16_t)(read[3]>>16);
lakshya 20:949d13045431 484 ACS_MM_Y_COMSN = (uint16_t)read[3];
lakshya 20:949d13045431 485
lakshya 20:949d13045431 486 ACS_MG_X_COMSN = (uint16_t)(read[4]>>16);
lakshya 20:949d13045431 487 ACS_MG_Y_COMSN = (uint16_t)read[4];
lakshya 20:949d13045431 488
lakshya 20:949d13045431 489 ACS_MM_Z_COMSN = (uint16_t)(read[5]>>16);
lakshya 20:949d13045431 490 ACS_MG_Z_COMSN = (uint16_t)read[5];
lakshya 20:949d13045431 491
lakshya 20:949d13045431 492 ACS_Z_FIXED_MOMENT = (uint16_t)(read[6]>>16);//assignvalues
lakshya 20:949d13045431 493
lakshya 20:949d13045431 494 }
lakshya 20:949d13045431 495
lakshya 20:949d13045431 496 }
lakshya 20:949d13045431 497 //================================================================================
lakshya 20:949d13045431 498
lakshya 20:949d13045431 499
lakshya 20:949d13045431 500
sakthipriya 0:7b4c00e3912f 501 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 0:7b4c00e3912f 502 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 503
lakshya 19:79e69017c855 504
sakthipriya 0:7b4c00e3912f 505 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 506 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 507 void FCTN_TM();
sakthipriya 3:07e15677a75c 508 void F_ACS();
sakthipriya 3:07e15677a75c 509 void F_EPS();
sakthipriya 3:07e15677a75c 510 void F_BCN();
sakthipriya 0:7b4c00e3912f 511
lakshya 20:949d13045431 512 //I2C
lakshya 20:949d13045431 513 uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working
lakshya 20:949d13045431 514 uint16_t crc16_check;
lakshya 20:949d13045431 515 void I2C_busreset()
lakshya 20:949d13045431 516 {
lakshya 20:949d13045431 517 PORTE->PCR[1] &= 0xfffffffb;
lakshya 20:949d13045431 518 PORTE->PCR[0] &= 0xfffffffb;
lakshya 20:949d13045431 519 I2C1->C1 &= 0x7f;
lakshya 20:949d13045431 520 SIM->SCGC4 &= 0xffffff7f;
lakshya 20:949d13045431 521 SIM->SCGC4 |= 0x00000080;
lakshya 20:949d13045431 522 I2C1->C1 |= 0x80;
lakshya 20:949d13045431 523 PORTE->PCR[1] |= 0x00000004;
lakshya 20:949d13045431 524 PORTE->PCR[0] |= 0x00000004;
lakshya 39:670133e7ffd8 525 wait_ms(1);
lakshya 20:949d13045431 526 }
lakshya 20:949d13045431 527
sakthipriya 0:7b4c00e3912f 528 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 529 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 530 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 531 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 532 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 533
lakshya 20:949d13045431 534 //FLOAT TO UINT_8 CONVERSION FUNCTION
lakshya 20:949d13045431 535 extern uint8_t float_to_uint8(float min,float max,float val);
lakshya 20:949d13045431 536
lakshya 49:61c9f28332ba 537 //#define print 0
lakshya 20:949d13045431 538
sakthipriya 3:07e15677a75c 539 void F_ACS()
sakthipriya 0:7b4c00e3912f 540 {
lakshya 20:949d13045431 541 ACS_MAIN_COUNTER++;
lakshya 20:949d13045431 542 //time_wdog = 1;
lakshya 20:949d13045431 543 pc.printf("Entered ACS.\n\r");
lakshya 20:949d13045431 544
lakshya 20:949d13045431 545 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
lakshya 49:61c9f28332ba 546 //FLAG();
sakthipriya 3:07e15677a75c 547
sakthipriya 0:7b4c00e3912f 548 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 549 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 550 PWM3 = 0; //clear pwm pins
lakshya 20:949d13045431 551
lakshya 20:949d13045431 552 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 553 ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ();
sakthipriya 0:7b4c00e3912f 554
lakshya 49:61c9f28332ba 555 //#if print
lakshya 49:61c9f28332ba 556 //printing the angular speed and magnetic field values
lakshya 20:949d13045431 557 pc.printf("gyro values\n\r");
lakshya 19:79e69017c855 558 for(int i=0; i<3; i++)
lakshya 20:949d13045431 559 {
lakshya 49:61c9f28332ba 560 pc.printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
lakshya 20:949d13045431 561 }
lakshya 20:949d13045431 562
lakshya 19:79e69017c855 563 pc.printf("mag values\n\r");
lakshya 19:79e69017c855 564 for(int i=0; i<3; i++)
lakshya 20:949d13045431 565 {
lakshya 20:949d13045431 566 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
lakshya 20:949d13045431 567 }
lakshya 49:61c9f28332ba 568 //#endif
lakshya 20:949d13045431 569
lakshya 20:949d13045431 570 for(int i=0;i<3;i++)
lakshya 19:79e69017c855 571 {
lakshya 20:949d13045431 572 mag_data[i] = actual_data.Bvalue_actual[i]/1000000;
lakshya 20:949d13045431 573 gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180;
lakshya 20:949d13045431 574 }
lakshya 49:61c9f28332ba 575
Bragadeesh153 65:d1b12729fcdc 576 float 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 577
lakshya 49:61c9f28332ba 578 if(b_inclination <0)
lakshya 49:61c9f28332ba 579 {
lakshya 49:61c9f28332ba 580 b_inclination = (-1)*b_inclination;
lakshya 49:61c9f28332ba 581 }
Bragadeesh153 65:d1b12729fcdc 582 B_SCZ_ANGLE = (uint8_t)(b_inclination*16);
lakshya 49:61c9f28332ba 583 if( b_inclination >= 16)
lakshya 49:61c9f28332ba 584 {
lakshya 49:61c9f28332ba 585 B_SCZ_ANGLE = 0x0F;
lakshya 49:61c9f28332ba 586 }
lakshya 49:61c9f28332ba 587 if(b_inclination <=0)
lakshya 49:61c9f28332ba 588 {
lakshya 49:61c9f28332ba 589 B_SCZ_ANGLE = 0x00;
lakshya 49:61c9f28332ba 590 }
Bragadeesh153 55:6ea0d7e9fce2 591 //printf("POWER MODE is : %d\r\n",actual_data.power_mode);
lakshya 20:949d13045431 592
lakshya 20:949d13045431 593 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
lakshya 20:949d13045431 594 {
lakshya 20:949d13045431 595 #if print
lakshya 49:61c9f28332ba 596 pc.printf("\n\r acs control off\n");
lakshya 20:949d13045431 597 #endif
lakshya 20:949d13045431 598 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
lakshya 20:949d13045431 599 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 600 return;
lakshya 20:949d13045431 601 }
Bragadeesh153 55:6ea0d7e9fce2 602 else if((actual_data.power_mode<=2)||( (( ACS_STATE)&0x08) == 0x08))
lakshya 20:949d13045431 603 {
Bragadeesh153 52:daa685b0e390 604 //#if print
lakshya 49:61c9f28332ba 605 pc.printf("\n\r Low Power \n\r");
Bragadeesh153 52:daa685b0e390 606 //#endif
lakshya 20:949d13045431 607 DRV_Z_EN = 0;
lakshya 20:949d13045431 608 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 609 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 610 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 611 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
lakshya 20:949d13045431 612 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 613 return;
lakshya 20:949d13045431 614
lakshya 20:949d13045431 615 }
lakshya 20:949d13045431 616 else if(ACS_TR_Z_SW_STATUS != 1)
lakshya 20:949d13045431 617 {
Bragadeesh153 52:daa685b0e390 618 pc.printf("\n\r Z disabled \n\r");
lakshya 20:949d13045431 619 DRV_Z_EN = 0;
lakshya 20:949d13045431 620 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 621 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 622 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 623 ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED
lakshya 20:949d13045431 624 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 625 return;
lakshya 20:949d13045431 626 }
lakshya 20:949d13045431 627 else if(ACS_TR_XY_SW_STATUS != 1)
Bragadeesh153 52:daa685b0e390 628 {
Bragadeesh153 52:daa685b0e390 629 pc.printf("\n\r Z only \n\r");
lakshya 20:949d13045431 630 DRV_Z_EN = 1;
lakshya 20:949d13045431 631 DRV_XY_EN = 0;
lakshya 63:55d32e7dcad7 632 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 633 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 634 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only
lakshya 20:949d13045431 635 moment[0] = 0;
lakshya 20:949d13045431 636 moment[1] = 0;
lakshya 20:949d13045431 637 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 638
lakshya 49:61c9f28332ba 639 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 640 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 641 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 642 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 20:949d13045431 643 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 644 return;
lakshya 19:79e69017c855 645 }
lakshya 20:949d13045431 646 else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1))
lakshya 20:949d13045431 647 {
Bragadeesh153 52:daa685b0e390 648
Bragadeesh153 52:daa685b0e390 649 pc.printf("\n\r Z only no data \n\r");
lakshya 20:949d13045431 650 DRV_Z_EN = 1;
lakshya 20:949d13045431 651 DRV_XY_EN = 0;
lakshya 63:55d32e7dcad7 652 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 653 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 654 ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only
lakshya 20:949d13045431 655
lakshya 20:949d13045431 656 moment[0] = 0;
lakshya 20:949d13045431 657 moment[1] = 0;
lakshya 20:949d13045431 658 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 659
lakshya 49:61c9f28332ba 660 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 661 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 662 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 663 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 664
lakshya 20:949d13045431 665 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 666 return;
lakshya 20:949d13045431 667 }
Bragadeesh153 52:daa685b0e390 668 else if((ACS_STATE == 1)||(ACS_STATE == 9))
lakshya 20:949d13045431 669 {
Bragadeesh153 52:daa685b0e390 670 pc.printf("\n\r Z only by state \n\r");
lakshya 20:949d13045431 671 DRV_Z_EN = 1;
lakshya 20:949d13045431 672 DRV_XY_EN = 0;
lakshya 63:55d32e7dcad7 673 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 674 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 675 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only
sakthipriya 0:7b4c00e3912f 676
lakshya 20:949d13045431 677 moment[0] = 0;
lakshya 20:949d13045431 678 moment[1] = 0;
lakshya 20:949d13045431 679 moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value
lakshya 20:949d13045431 680 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 681
lakshya 20:949d13045431 682 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 683 return;
lakshya 20:949d13045431 684 }
lakshya 20:949d13045431 685 else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available
lakshya 20:949d13045431 686 {
Bragadeesh153 52:daa685b0e390 687 pc.printf("\n\r MM only BDOT \n\r");
lakshya 20:949d13045431 688 DRV_Z_EN = 1;
lakshya 20:949d13045431 689 DRV_XY_EN = 1;
lakshya 63:55d32e7dcad7 690 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 691 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 692
lakshya 20:949d13045431 693 ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL
lakshya 20:949d13045431 694 ACS_DETUMBLING_ALGO_TYPE = 0x01;
lakshya 20:949d13045431 695 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 696 controlmode_mms=0x00;
lakshya 20:949d13045431 697 #if print
lakshya 49:61c9f28332ba 698 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 699 #endif
lakshya 20:949d13045431 700 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 701 {
lakshya 49:61c9f28332ba 702 pc.printf("%f\t",moment[i]);
lakshya 19:79e69017c855 703 }
lakshya 20:949d13045431 704 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 705 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 706 return;
lakshya 20:949d13045431 707 }
Bragadeesh153 52:daa685b0e390 708 else if((ACS_STATE == 2)||(ACS_STATE == 10)) // Nominal mode
lakshya 20:949d13045431 709 {
lakshya 20:949d13045431 710 #if print
lakshya 49:61c9f28332ba 711 pc.printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 712 #endif
lakshya 20:949d13045431 713 DRV_Z_EN = 1;
lakshya 63:55d32e7dcad7 714 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 715 ACS_TR_Z_ENABLE = 1;
lakshya 63:55d32e7dcad7 716 ACS_TR_XY_ENABLE = 1;
lakshya 49:61c9f28332ba 717
lakshya 49:61c9f28332ba 718 //timer_FCTN_ACS_CNTRLALGO.start();
lakshya 20:949d13045431 719 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 720 //timer_FCTN_ACS_CNTRLALGO.stop();
lakshya 49:61c9f28332ba 721 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 722
lakshya 27:61c856be467e 723 controlmode_mms = 0x01;
lakshya 20:949d13045431 724 #if print
lakshya 49:61c9f28332ba 725 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 726 #endif
lakshya 20:949d13045431 727 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 728 {
lakshya 49:61c9f28332ba 729 pc.printf("%f\t",moment[i]);
lakshya 20:949d13045431 730 }
lakshya 49:61c9f28332ba 731
lakshya 49:61c9f28332ba 732 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 733 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 734 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 735 //pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 736
lakshya 20:949d13045431 737 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 738 return;
lakshya 20:949d13045431 739 }
Bragadeesh153 52:daa685b0e390 740 else if((ACS_STATE == 3)||(ACS_STATE == 11)) // Auto Control
lakshya 20:949d13045431 741 {
lakshya 20:949d13045431 742 #if print
lakshya 49:61c9f28332ba 743 pc.printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 744 #endif
lakshya 20:949d13045431 745 DRV_Z_EN = 1;
lakshya 63:55d32e7dcad7 746 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 747 ACS_TR_Z_ENABLE = 1;
lakshya 63:55d32e7dcad7 748 ACS_TR_XY_ENABLE = 1;
lakshya 49:61c9f28332ba 749
lakshya 49:61c9f28332ba 750 timer_FCTN_ACS_CNTRLALGO.start();
lakshya 20:949d13045431 751 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 752 timer_FCTN_ACS_CNTRLALGO.stop();
lakshya 49:61c9f28332ba 753 //pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 754
lakshya 27:61c856be467e 755 controlmode_mms = 0x00;
lakshya 20:949d13045431 756 #if print
lakshya 49:61c9f28332ba 757 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 758 for(int i=0; i<3; i++)
lakshya 19:79e69017c855 759 {
lakshya 49:61c9f28332ba 760 pc.printf("%f\t",moment[i]);
lakshya 20:949d13045431 761 }
lakshya 20:949d13045431 762 #endif
Bragadeesh153 52:daa685b0e390 763 pc.printf("\r\n");
lakshya 49:61c9f28332ba 764 timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 765 FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function
lakshya 49:61c9f28332ba 766 timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 767 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 768
lakshya 20:949d13045431 769 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 770 return;
lakshya 20:949d13045431 771 }
Bragadeesh153 52:daa685b0e390 772 else if((ACS_STATE == 4)||(ACS_STATE == 12)) // Detumbling
lakshya 20:949d13045431 773 {
Bragadeesh153 52:daa685b0e390 774 pc.printf("\n\r Detumbling \n\r");
lakshya 20:949d13045431 775 DRV_Z_EN = 1;
lakshya 63:55d32e7dcad7 776 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 777 ACS_TR_Z_ENABLE = 1;
lakshya 63:55d32e7dcad7 778 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 779 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 780 controlmode_mms = 0x00;
lakshya 20:949d13045431 781 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 782 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 783 return;
lakshya 20:949d13045431 784 }
lakshya 20:949d13045431 785 ACS_STATUS = 7; //INVALID_STATE
lakshya 20:949d13045431 786 DRV_Z_EN = 0;
Bragadeesh153 61:9348606edee2 787 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 788 ACS_TR_XY_ENABLE = 0;
lakshya 63:55d32e7dcad7 789 DRV_XY_EN = 0;
lakshya 20:949d13045431 790 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
lakshya 20:949d13045431 791 }
lakshya 19:79e69017c855 792
lakshya 19:79e69017c855 793
sakthipriya 0:7b4c00e3912f 794 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 795
lakshya 33:76f2b8735501 796
sakthipriya 3:07e15677a75c 797 void F_EPS()
lakshya 20:949d13045431 798 {
lakshya 33:76f2b8735501 799 float eps_btry_temp;
lakshya 33:76f2b8735501 800 pc.printf("\n\rEntered EPS %f\n\r",t_start.read());
lakshya 33:76f2b8735501 801 EPS_MAIN_STATUS = 1; // Set EPS main status
lakshya 33:76f2b8735501 802 EPS_MAIN_COUNTER++;
lakshya 49:61c9f28332ba 803
lakshya 49:61c9f28332ba 804 timer_FCTN_BATT_TEMP_SENSOR_MAIN.reset();
lakshya 49:61c9f28332ba 805 timer_FCTN_BATT_TEMP_SENSOR_MAIN.start();
lakshya 33:76f2b8735501 806 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
lakshya 49:61c9f28332ba 807 timer_FCTN_BATT_TEMP_SENSOR_MAIN.stop();
lakshya 49:61c9f28332ba 808
lakshya 33:76f2b8735501 809 pc.printf("Battery temperature %f %f\n\r" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
lakshya 33:76f2b8735501 810 EPS_BTRY_TMP_AVG = ( actual_data.Batt_temp_actual[0] + actual_data.Batt_temp_actual[1] )/2.0;
lakshya 33:76f2b8735501 811 if(abs(actual_data.Batt_temp_actual[0] - actual_data.Batt_temp_actual[1]) > 10)
lakshya 33:76f2b8735501 812 {
lakshya 33:76f2b8735501 813 EPS_BTRY_TMP_STATUS = 0; //clear EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 814 eps_btry_temp = (float) EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 815 }
lakshya 33:76f2b8735501 816 else
lakshya 33:76f2b8735501 817 {
lakshya 33:76f2b8735501 818 EPS_BTRY_TMP_STATUS = 1; //set EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 819 eps_btry_temp = EPS_BTRY_TMP_AVG;
lakshya 33:76f2b8735501 820 }
lakshya 33:76f2b8735501 821
lakshya 33:76f2b8735501 822 if(EPS_BTRY_HTR_AUTO == 0)
lakshya 33:76f2b8735501 823 EPS_STATUS = 1; //EPS_BATTERY_HEATER_DISABLED
lakshya 33:76f2b8735501 824 else if( EPS_BTRY_TMP_STATUS == 0 )
lakshya 33:76f2b8735501 825 {
lakshya 33:76f2b8735501 826 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 827 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 828 EPS_STATUS = 0; //Set EPS_ERR_BATTERY_TEMP
lakshya 33:76f2b8735501 829 }
lakshya 33:76f2b8735501 830 else
lakshya 33:76f2b8735501 831 {
lakshya 33:76f2b8735501 832 if( EPS_BTRY_HTR == 1 && eps_btry_temp >= EPS_BAT_TEMP_HIGH )
lakshya 33:76f2b8735501 833 {
lakshya 33:76f2b8735501 834 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 835 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 836 EPS_STATUS = 4; //Set EPS_BATTERY_HEATER_OFF
lakshya 33:76f2b8735501 837 }
lakshya 33:76f2b8735501 838 else if( EPS_BTRY_HTR == 0 && eps_btry_temp < EPS_BAT_TEMP_LOW )
lakshya 33:76f2b8735501 839 {
lakshya 33:76f2b8735501 840 BTRY_HTR_ENABLE = 1;
lakshya 33:76f2b8735501 841 EPS_BTRY_HTR = 1;
lakshya 33:76f2b8735501 842 EPS_STATUS = 5; //Set EPS_BATTERY_HEATER_ON
lakshya 33:76f2b8735501 843 }
lakshya 33:76f2b8735501 844 }
lakshya 33:76f2b8735501 845
lakshya 33:76f2b8735501 846 unsigned short statusreg = read(REG_STATUS);
lakshya 33:76f2b8735501 847 if( EPS_BATTERY_GAUGE_STATUS == 0 ) reset();
lakshya 33:76f2b8735501 848 if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set
lakshya 19:79e69017c855 849 {
lakshya 49:61c9f28332ba 850 pc.printf("REG_STATUS = %d\r\n",read(REG_STATUS));
lakshya 33:76f2b8735501 851 FCTN_BATTERYGAUGE_INIT();
lakshya 49:61c9f28332ba 852 }
lakshya 49:61c9f28332ba 853 timer_FCTN_BATTERYGAUGE_MAIN.reset();
lakshya 49:61c9f28332ba 854 timer_FCTN_BATTERYGAUGE_MAIN.start();
lakshya 33:76f2b8735501 855 int BTG_MAIN_FLAG = FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual, eps_btry_temp);
lakshya 49:61c9f28332ba 856 timer_FCTN_BATTERYGAUGE_MAIN.stop();
lakshya 49:61c9f28332ba 857
lakshya 33:76f2b8735501 858 if( BTG_MAIN_FLAG == 0 ) //Data not received
lakshya 33:76f2b8735501 859 {
azaddevarm 75:d05b0005ca50 860 actual_data.power_mode = 0;
lakshya 33:76f2b8735501 861 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 862 }
lakshya 33:76f2b8735501 863 else
lakshya 33:76f2b8735501 864 {
lakshya 33:76f2b8735501 865 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
lakshya 33:76f2b8735501 866 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 867 }
lakshya 49:61c9f28332ba 868
lakshya 49:61c9f28332ba 869 timer_FCTN_HK_MAIN.reset();
lakshya 49:61c9f28332ba 870 timer_FCTN_HK_MAIN.start();
lakshya 33:76f2b8735501 871 FCTN_HK_MAIN();
lakshya 49:61c9f28332ba 872 timer_FCTN_HK_MAIN.stop();
lakshya 49:61c9f28332ba 873 // pc.printf("ere");
lakshya 49:61c9f28332ba 874
lakshya 49:61c9f28332ba 875 timer_FCTN_EPS_HANDLE_HW_FAULTS.reset();
lakshya 49:61c9f28332ba 876 timer_FCTN_EPS_HANDLE_HW_FAULTS.start();
lakshya 33:76f2b8735501 877 FCTN_EPS_HANDLE_HW_FAULTS();
lakshya 49:61c9f28332ba 878 timer_FCTN_EPS_HANDLE_HW_FAULTS.stop();
lakshya 49:61c9f28332ba 879
lakshya 49:61c9f28332ba 880 timer_FCTN_EPS_HANDLE_CDMS_FAULT.reset();
lakshya 49:61c9f28332ba 881 timer_FCTN_EPS_HANDLE_CDMS_FAULT.start();
lakshya 33:76f2b8735501 882 FCTN_EPS_HANDLE_CDMS_FAULT();
lakshya 49:61c9f28332ba 883 timer_FCTN_EPS_HANDLE_CDMS_FAULT.stop();
lakshya 49:61c9f28332ba 884
lakshya 49:61c9f28332ba 885 timer_FCTN_APPEND_HKDATA.reset();
lakshya 49:61c9f28332ba 886 timer_FCTN_APPEND_HKDATA.start();
lakshya 33:76f2b8735501 887 FCTN_APPEND_HKDATA();
lakshya 49:61c9f28332ba 888 timer_FCTN_APPEND_HKDATA.stop();
lakshya 49:61c9f28332ba 889
lakshya 49:61c9f28332ba 890 timer_minMaxHkData.reset();
lakshya 49:61c9f28332ba 891 timer_minMaxHkData.start();
lakshya 33:76f2b8735501 892 minMaxHkData();
lakshya 49:61c9f28332ba 893 timer_minMaxHkData.stop();
lakshya 49:61c9f28332ba 894
lakshya 49:61c9f28332ba 895 //pc.printf("ere");
lakshya 33:76f2b8735501 896 EPS_MAIN_STATUS = 0; // clear EPS main status
lakshya 33:76f2b8735501 897
sakthipriya 0:7b4c00e3912f 898 }
lakshya 33:76f2b8735501 899
lakshya 20:949d13045431 900
sakthipriya 0:7b4c00e3912f 901 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 902
sakthipriya 3:07e15677a75c 903 void F_BCN()
sakthipriya 0:7b4c00e3912f 904 {
lakshya 20:949d13045431 905 pc.printf("\n\rEntered BCN %f\n",t_start.read());
lakshya 20:949d13045431 906 //BCN_TX_MAIN_COUNTER=+1;
lakshya 49:61c9f28332ba 907
lakshya 49:61c9f28332ba 908 timer_FCTN_BCN_TX_MAIN.reset();
lakshya 49:61c9f28332ba 909 timer_FCTN_BCN_TX_MAIN.start();
lakshya 20:949d13045431 910 FCTN_BCN_TX_MAIN();
lakshya 49:61c9f28332ba 911 timer_FCTN_BCN_TX_MAIN.stop();
sakthipriya 0:7b4c00e3912f 912 }
sakthipriya 0:7b4c00e3912f 913
sakthipriya 0:7b4c00e3912f 914 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 915
lakshya 39:670133e7ffd8 916 //===================================================================
sakthipriya 0:7b4c00e3912f 917 void T_TC(void const * args)
lakshya 19:79e69017c855 918 {
lakshya 20:949d13045431 919 while(1)
lakshya 39:670133e7ffd8 920 {
lakshya 39:670133e7ffd8 921 Thread::signal_wait(0x4);
lakshya 39:670133e7ffd8 922 wait_us(300);
lakshya 49:61c9f28332ba 923
lakshya 39:670133e7ffd8 924 BAE_MNG_I2C_STATUS =1 ;
lakshya 57:60e8f00d93c3 925 //I2C_last.reset();
lakshya 57:60e8f00d93c3 926 //I2C_last.start();
lakshya 49:61c9f28332ba 927 // pc.printf("\n\r intrpet");
lakshya 39:670133e7ffd8 928 if( slave.receive() == 0)
lakshya 39:670133e7ffd8 929 {
lakshya 39:670133e7ffd8 930 pdir_ss1=PTE->PDIR; /////////edited
lakshya 39:670133e7ffd8 931 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 932 data_send_flag = 'h';
lakshya 39:670133e7ffd8 933 slave.stop();
lakshya 39:670133e7ffd8 934 if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed
lakshya 39:670133e7ffd8 935 {
lakshya 39:670133e7ffd8 936 I2C_busreset(); /////////edited
lakshya 39:670133e7ffd8 937 }
lakshya 39:670133e7ffd8 938 pdir_ss2=PTE->PDIR;
lakshya 39:670133e7ffd8 939 pc.printf("\n\rSlave not addressed");
lakshya 39:670133e7ffd8 940 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss1);
lakshya 39:670133e7ffd8 941 #if PRINT2
lakshya 39:670133e7ffd8 942 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss2);
lakshya 39:670133e7ffd8 943 #endif
lakshya 39:670133e7ffd8 944 }
lakshya 39:670133e7ffd8 945 else if( slave.receive() == 1) // slave writes to master
lakshya 39:670133e7ffd8 946 {
lakshya 39:670133e7ffd8 947 BAE_I2C_COUNTER++; //////////edited
lakshya 67:c0dd13285d80 948 // pc.printf("\n\r writing....");// changed
lakshya 39:670133e7ffd8 949 if(data_send_flag == 'h') //to be renamed as BAE_I2C_STATUS
lakshya 39:670133e7ffd8 950 {
lakshya 49:61c9f28332ba 951 irpt_2_mstr =1;
lakshya 49:61c9f28332ba 952 //pc.printf("\n\r hk "); //wait till cdms code is changed
lakshya 39:670133e7ffd8 953 FCTN_APPEND_HKDATA();
lakshya 39:670133e7ffd8 954 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 955 //crc is already being added
lakshya 39:670133e7ffd8 956 write_ack=slave.write((char*)BAE_chardata,134);
lakshya 39:670133e7ffd8 957 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 958 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 959 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 960 if(write_ack==0)// wait till cdms code is changed
lakshya 20:949d13045431 961 {
lakshya 49:61c9f28332ba 962 /*checking the tc timings*/
lakshya 49:61c9f28332ba 963 // time_wdog = 1;
lakshya 49:61c9f28332ba 964
lakshya 39:670133e7ffd8 965 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 966 {
lakshya 39:670133e7ffd8 967 wait_ms(1);
lakshya 39:670133e7ffd8 968 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 969 i2c_count++;
lakshya 39:670133e7ffd8 970 }
lakshya 39:670133e7ffd8 971 if(((pdir_tm1 & 0x00000003)==3))
lakshya 20:949d13045431 972 {
lakshya 39:670133e7ffd8 973 pc.printf("\n\rWrite HK success");
lakshya 49:61c9f28332ba 974 // data_send_flag = 'h';
lakshya 57:60e8f00d93c3 975 irpt_2_mstr = 0;
lakshya 57:60e8f00d93c3 976 I2C_last.reset();
lakshya 57:60e8f00d93c3 977 I2C_last.start(); //////////edited
lakshya 19:79e69017c855 978 }
lakshya 39:670133e7ffd8 979 else
lakshya 39:670133e7ffd8 980 {
lakshya 39:670133e7ffd8 981 #if baby
lakshya 39:670133e7ffd8 982 pc.printf("\n\rWrite HK failed");
lakshya 39:670133e7ffd8 983 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 984 #endif
lakshya 39:670133e7ffd8 985 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 986 I2C_busreset();
lakshya 39:670133e7ffd8 987 #if baby2
lakshya 39:670133e7ffd8 988 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 989 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 990 #endif
lakshya 39:670133e7ffd8 991 }
lakshya 39:670133e7ffd8 992 }
lakshya 39:670133e7ffd8 993 else
lakshya 39:670133e7ffd8 994 {
lakshya 39:670133e7ffd8 995 #if baby1
lakshya 39:670133e7ffd8 996 pc.printf("\n\rWrite Ack failed(HK)");
lakshya 39:670133e7ffd8 997 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 998 #endif
lakshya 39:670133e7ffd8 999 I2C_busreset();
lakshya 39:670133e7ffd8 1000 #if baby2
lakshya 39:670133e7ffd8 1001 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1002 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 1003 #endif
lakshya 20:949d13045431 1004 }
lakshya 39:670133e7ffd8 1005 i2c_count=0;
lakshya 39:670133e7ffd8 1006 }
lakshya 49:61c9f28332ba 1007 else if (data_send_flag == 't') //else if(telecommand[1]&0xC0 == 't')
lakshya 39:670133e7ffd8 1008 {
lakshya 39:670133e7ffd8 1009 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 1010 write_ack=slave.write((char*)telemetry,134); ////////edited(size)
lakshya 39:670133e7ffd8 1011 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 1012 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 1013 irpt_2_mstr = 0;
lakshya 49:61c9f28332ba 1014 data_send_flag = 'h';
lakshya 49:61c9f28332ba 1015 // pc.printf("\n\r h set here");
lakshya 39:670133e7ffd8 1016 if(write_ack==0)
lakshya 39:670133e7ffd8 1017 {
lakshya 39:670133e7ffd8 1018 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 1019 {
lakshya 39:670133e7ffd8 1020 wait_ms(1);
lakshya 39:670133e7ffd8 1021 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 1022 i2c_count++;
lakshya 39:670133e7ffd8 1023 }
lakshya 39:670133e7ffd8 1024 if(((pdir_tm1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 1025 {
lakshya 39:670133e7ffd8 1026 pc.printf("\n\rWrite TM success");
lakshya 57:60e8f00d93c3 1027 I2C_last.reset();
lakshya 57:60e8f00d93c3 1028 I2C_last.start();
lakshya 39:670133e7ffd8 1029 }
lakshya 39:670133e7ffd8 1030 else
lakshya 39:670133e7ffd8 1031 {
lakshya 39:670133e7ffd8 1032 #if baby
lakshya 39:670133e7ffd8 1033 pc.printf("\n\rWrite TM failed");
lakshya 39:670133e7ffd8 1034 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1035 #endif
lakshya 39:670133e7ffd8 1036 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 1037 I2C_busreset();
lakshya 39:670133e7ffd8 1038 #if baby2
lakshya 39:670133e7ffd8 1039 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1040 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1041 #endif
lakshya 39:670133e7ffd8 1042 }
lakshya 39:670133e7ffd8 1043 }
lakshya 39:670133e7ffd8 1044 else
lakshya 20:949d13045431 1045 {
lakshya 39:670133e7ffd8 1046 #if baby
lakshya 39:670133e7ffd8 1047 pc.printf("\n\rWrite Ack failed");
lakshya 39:670133e7ffd8 1048 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1049 #endif
lakshya 39:670133e7ffd8 1050 I2C_busreset();
lakshya 39:670133e7ffd8 1051 #if baby2
lakshya 39:670133e7ffd8 1052 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1053 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1054 #endif
lakshya 20:949d13045431 1055 }
lakshya 39:670133e7ffd8 1056 i2c_count=0;
lakshya 49:61c9f28332ba 1057 }
lakshya 49:61c9f28332ba 1058 // else
lakshya 49:61c9f28332ba 1059 // pc.printf("\n\r hey something wrong");
lakshya 39:670133e7ffd8 1060 }
lakshya 39:670133e7ffd8 1061 else if( slave.receive()==3 || slave.receive()==2) // slave read
lakshya 39:670133e7ffd8 1062 {
lakshya 39:670133e7ffd8 1063 BAE_I2C_COUNTER++;
lakshya 49:61c9f28332ba 1064
lakshya 49:61c9f28332ba 1065 /*checking the tc timings*/
lakshya 49:61c9f28332ba 1066 time_wdog = 1;
lakshya 49:61c9f28332ba 1067
lakshya 39:670133e7ffd8 1068 uint8_t i2c_count = 0;
lakshya 39:670133e7ffd8 1069 read_ack=slave.read((char *)telecommand,135); //read() function returns acknowledgement
lakshya 39:670133e7ffd8 1070 wait_ms(1);
lakshya 39:670133e7ffd8 1071 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 1072 if(read_ack==0) //read() says it was successful
lakshya 39:670133e7ffd8 1073 {
lakshya 39:670133e7ffd8 1074 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 1075 {
lakshya 39:670133e7ffd8 1076 wait_ms(1);
lakshya 39:670133e7ffd8 1077 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 1078 i2c_count++;
lakshya 39:670133e7ffd8 1079 }
lakshya 39:670133e7ffd8 1080 if(((pdir_tc1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 1081 {
lakshya 49:61c9f28332ba 1082 //pc.printf("\n\n\rRead TC success");
lakshya 39:670133e7ffd8 1083 if(telecommand[0] == 0x00) /////////////edited
lakshya 49:61c9f28332ba 1084 {
lakshya 49:61c9f28332ba 1085 FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited
lakshya 49:61c9f28332ba 1086 data_send_flag = 'h';
lakshya 57:60e8f00d93c3 1087 pc.printf("\n\n\rRead LBCN QM is comming");
lakshya 57:60e8f00d93c3 1088 I2C_last.reset();
lakshya 57:60e8f00d93c3 1089 I2C_last.start();
lakshya 49:61c9f28332ba 1090 }
lakshya 39:670133e7ffd8 1091 else
lakshya 39:670133e7ffd8 1092 {
lakshya 49:61c9f28332ba 1093 pc.printf("\n\r Read TC SUCESS");
lakshya 39:670133e7ffd8 1094 FCTN_BAE_TM_TC((uint8_t*) telecommand);
lakshya 39:670133e7ffd8 1095 data_send_flag = 't';
lakshya 39:670133e7ffd8 1096 irpt_2_mstr = 1;
lakshya 57:60e8f00d93c3 1097 I2C_last.reset();
lakshya 57:60e8f00d93c3 1098 I2C_last.start();
lakshya 49:61c9f28332ba 1099
lakshya 39:670133e7ffd8 1100 }
lakshya 39:670133e7ffd8 1101 }
lakshya 39:670133e7ffd8 1102 else //either or both of SDA and SCL lines low
lakshya 20:949d13045431 1103 {
lakshya 39:670133e7ffd8 1104 #if baby
lakshya 39:670133e7ffd8 1105 pc.printf("\n\rRead TC failed");
lakshya 39:670133e7ffd8 1106 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1107 #endif
lakshya 39:670133e7ffd8 1108 I2C_busreset();
lakshya 39:670133e7ffd8 1109 #if baby2
lakshya 39:670133e7ffd8 1110 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1111 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 1112 #endif
lakshya 39:670133e7ffd8 1113 gen_I_TM();
lakshya 39:670133e7ffd8 1114 data_send_flag = 't';
lakshya 39:670133e7ffd8 1115 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 1116 }
lakshya 39:670133e7ffd8 1117 }
lakshya 39:670133e7ffd8 1118 else //read() says it was not successful
lakshya 39:670133e7ffd8 1119 {
lakshya 39:670133e7ffd8 1120 #if baby
lakshya 39:670133e7ffd8 1121 pc.printf("\n\rRead Ack failed");
lakshya 39:670133e7ffd8 1122 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1123 #endif
lakshya 39:670133e7ffd8 1124 I2C_busreset();
lakshya 39:670133e7ffd8 1125 #if baby2
lakshya 39:670133e7ffd8 1126 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1127 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1128 #endif
lakshya 39:670133e7ffd8 1129 //pc.printf("\n\r no data case");
lakshya 39:670133e7ffd8 1130 gen_I_TM();
lakshya 39:670133e7ffd8 1131 data_send_flag = 't';
lakshya 39:670133e7ffd8 1132 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 1133 }
lakshya 39:670133e7ffd8 1134 i2c_count = 0;
lakshya 39:670133e7ffd8 1135 }
lakshya 39:670133e7ffd8 1136 BAE_MNG_I2C_STATUS=0;
lakshya 39:670133e7ffd8 1137 }
sakthipriya 0:7b4c00e3912f 1138 }
lakshya 39:670133e7ffd8 1139
sakthipriya 0:7b4c00e3912f 1140 void FCTN_TM()
lakshya 20:949d13045431 1141 {
sakthipriya 5:bb592f3185cc 1142 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 1143 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 1144 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 1145 }
sakthipriya 0:7b4c00e3912f 1146
sakthipriya 0:7b4c00e3912f 1147
sakthipriya 0:7b4c00e3912f 1148 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 1149
sakthipriya 0:7b4c00e3912f 1150 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 1151 {
lakshya 20:949d13045431 1152 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 1153 }
sakthipriya 0:7b4c00e3912f 1154
sakthipriya 0:7b4c00e3912f 1155
sakthipriya 5:bb592f3185cc 1156 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 1157
sakthipriya 5:bb592f3185cc 1158 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 1159
sakthipriya 5:bb592f3185cc 1160 void pollfault()
sakthipriya 5:bb592f3185cc 1161 {
Bragadeesh153 52:daa685b0e390 1162 //if (ACS_ATS1_OC_FAULT==0) // OC_ATS1
Bragadeesh153 52:daa685b0e390 1163 if(0)
lakshya 20:949d13045431 1164 {
lakshya 20:949d13045431 1165 pf1check=1;
lakshya 20:949d13045431 1166 actual_data.faultPoll_status |=0x01 ;
lakshya 20:949d13045431 1167 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
lakshya 20:949d13045431 1168 }
lakshya 20:949d13045431 1169 else
lakshya 20:949d13045431 1170 actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 1171
Bragadeesh153 52:daa685b0e390 1172 //if(ACS_ATS2_OC_FAULT==0)
Bragadeesh153 52:daa685b0e390 1173 if(0)
lakshya 20:949d13045431 1174 {
lakshya 20:949d13045431 1175 pf2check=1;
lakshya 20:949d13045431 1176 actual_data.faultPoll_status |=0x02 ;
lakshya 20:949d13045431 1177 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
lakshya 20:949d13045431 1178 }
lakshya 20:949d13045431 1179 else
lakshya 20:949d13045431 1180 actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 1181
lakshya 48:9fd15e3e0b53 1182 if (ACS_TR_XY_FAULT==0)
lakshya 20:949d13045431 1183 {
lakshya 20:949d13045431 1184 actual_data.faultPoll_status |=0x04 ;
lakshya 20:949d13045431 1185 DRV_XY_EN = 0;
lakshya 20:949d13045431 1186 wait_us(1);
lakshya 20:949d13045431 1187 DRV_XY_EN = 1;
lakshya 20:949d13045431 1188 }
lakshya 20:949d13045431 1189 else
lakshya 20:949d13045431 1190 actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 1191 }
sakthipriya 5:bb592f3185cc 1192
sakthipriya 0:7b4c00e3912f 1193 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 1194 //SCHEDULER
sakthipriya 0:7b4c00e3912f 1195 //------------------------------------------------------------------------------------------------------------------------------------------------
lakshya 20:949d13045431 1196
sakthipriya 0:7b4c00e3912f 1197 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 1198 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 1199 {
lakshya 20:949d13045431 1200 #if print
lakshya 49:61c9f28332ba 1201 pc.printf("\n\r in scheduler");
lakshya 20:949d13045431 1202 #endif
lakshya 19:79e69017c855 1203 /*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 1204 if(schedcount == 13) //to reset the counter
sakthipriya 0:7b4c00e3912f 1205 schedcount = 1;
sakthipriya 0:7b4c00e3912f 1206 if(schedcount%1==0)
lakshya 20:949d13045431 1207 {
lakshya 66:a5d2b8dc6b9e 1208 if( BAE_STANDBY==0x02 || BAE_STANDBY==0x03 || BAE_STANDBY==0x06 || BAE_STANDBY==0x07)
lakshya 20:949d13045431 1209 {
lakshya 66:a5d2b8dc6b9e 1210 pc.printf("\n reahed here working till stage one acs");
lakshya 20:949d13045431 1211 pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
lakshya 49:61c9f28332ba 1212 timer_F_ACS.reset();
lakshya 49:61c9f28332ba 1213 timer_F_ACS.start();
Bragadeesh153 52:daa685b0e390 1214 F_ACS();
lakshya 49:61c9f28332ba 1215 timer_F_ACS.stop();
lakshya 49:61c9f28332ba 1216 /*pc.printf("\n\r timer_F_ACS is %f",timer_F_ACS.read());
lakshya 49:61c9f28332ba 1217 pc.printf("\n\r timer_SENSOR_INIT is %f",timer_SENSOR_INIT.read());
lakshya 49:61c9f28332ba 1218 pc.printf("\n\r timer_CONFIG_UPLOAD is %f",timer_CONFIG_UPLOAD.read());
lakshya 49:61c9f28332ba 1219 pc.printf("\n\r timer_SENSOR_DATA_ACQ is %f",timer_SENSOR_DATA_ACQ.read());
lakshya 49:61c9f28332ba 1220 pc.printf("\n\r timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 1221 pc.printf("\n\r timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 1222 pc.printf("\n\r timer_controlmodes is %f",timer_controlmodes.read());
lakshya 49:61c9f28332ba 1223 */
lakshya 20:949d13045431 1224 //time_wdog = 0;
lakshya 20:949d13045431 1225 }
sakthipriya 0:7b4c00e3912f 1226
lakshya 20:949d13045431 1227 }
lakshya 33:76f2b8735501 1228 if(schedcount%4==0)
lakshya 20:949d13045431 1229 {
lakshya 66:a5d2b8dc6b9e 1230 if( BAE_STANDBY==0x01 || BAE_STANDBY==0x03 || BAE_STANDBY==0x05 || BAE_STANDBY==0x07)
lakshya 20:949d13045431 1231 {
lakshya 66:a5d2b8dc6b9e 1232 pc.printf("\n reahed here working till stage one eps");
lakshya 20:949d13045431 1233 //time_wdog = 1;
lakshya 49:61c9f28332ba 1234 timer_F_ESP.reset();
lakshya 49:61c9f28332ba 1235 timer_F_ESP.start();
lakshya 20:949d13045431 1236 F_EPS();
lakshya 49:61c9f28332ba 1237 timer_F_ESP.stop();
lakshya 49:61c9f28332ba 1238 pc.printf("\n\r timer_F_ESP is %f",timer_F_ESP.read());
lakshya 49:61c9f28332ba 1239 /* pc.printf("\n\r timer_FCTN_BATTERYGAUGE_INIT is %f",timer_FCTN_BATTERYGAUGE_INIT.read());
lakshya 49:61c9f28332ba 1240 pc.printf("\n\r timer_alertFlags is %f",timer_alertFlags.read());
lakshya 49:61c9f28332ba 1241 pc.printf("\n\r timer_soc is %f",timer_soc.read());
lakshya 49:61c9f28332ba 1242 pc.printf("\n\r timer_FCTN_BATT_TEMP_SENSOR_MAIN is %f",timer_FCTN_BATT_TEMP_SENSOR_MAIN.read());
lakshya 49:61c9f28332ba 1243 pc.printf("\n\r timer_FCTN_BATTERYGAUGE_MAIN is %f",timer_FCTN_BATTERYGAUGE_MAIN.read());
lakshya 49:61c9f28332ba 1244 pc.printf("\n\r timer_FCTN_HK_MAIN is %f",timer_FCTN_HK_MAIN.read());
lakshya 49:61c9f28332ba 1245 pc.printf("\n\r timer_FCTN_EPS_HANDLE_HW_FAULTS is %f",timer_FCTN_EPS_HANDLE_HW_FAULTS.read());
lakshya 49:61c9f28332ba 1246 pc.printf("\n\r timer_FCTN_EPS_HANDLE_CDMS_FAULT is %f",timer_FCTN_EPS_HANDLE_CDMS_FAULT.read());
lakshya 49:61c9f28332ba 1247 pc.printf("\n\r timer_FCTN_APPEND_HKDATA is %f",timer_FCTN_APPEND_HKDATA.read());
lakshya 49:61c9f28332ba 1248 pc.printf("\n\r timer_minMaxHkData is %f",timer_minMaxHkData.read());
lakshya 49:61c9f28332ba 1249 */
lakshya 20:949d13045431 1250 }
lakshya 20:949d13045431 1251 //time_wdog = 0;
lakshya 20:949d13045431 1252 }
lakshya 33:76f2b8735501 1253 if(schedcount%6==0)
lakshya 20:949d13045431 1254 {
lakshya 66:a5d2b8dc6b9e 1255 if(BAE_STANDBY==0x04 || BAE_STANDBY==0x05 || BAE_STANDBY==0x06 || BAE_STANDBY==0x07)
lakshya 66:a5d2b8dc6b9e 1256 {
lakshya 66:a5d2b8dc6b9e 1257 pc.printf("\n reahed here working till stage one bcn");
lakshya 66:a5d2b8dc6b9e 1258 // time_wdog = 0;
lakshya 49:61c9f28332ba 1259 timer_F_BCN.reset();
lakshya 49:61c9f28332ba 1260 timer_F_BCN.start();
lakshya 49:61c9f28332ba 1261 F_BCN();
lakshya 49:61c9f28332ba 1262 timer_F_BCN.stop();
lakshya 49:61c9f28332ba 1263 /*pc.printf("\n\r timer_F_BCN is %f",timer_F_BCN.read());
lakshya 49:61c9f28332ba 1264 pc.printf("\n\r timer_Init_BEACON_HW is %f",timer_Init_BEACON_HW.read());
lakshya 49:61c9f28332ba 1265 pc.printf("\n\r timer_FCTN_BCN_TX_MAIN is %f",timer_FCTN_BCN_TX_MAIN.read());
lakshya 49:61c9f28332ba 1266 pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUCCESS is %f",timer_Set_BCN_TX_STATUS_SUCCESS.read());
lakshya 49:61c9f28332ba 1267 pc.printf("\n\r timer_Set_BCN_TX_STATUS_FAILURE is %f",timer_Set_BCN_TX_STATUS_FAILURE.read());
lakshya 49:61c9f28332ba 1268 pc.printf("\n\r timer_Set_BCN_TX_STATUS_DISABLED is %f",timer_Set_BCN_TX_STATUS_DISABLED.read());
lakshya 49:61c9f28332ba 1269 pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUSPENDED is %f",timer_Set_BCN_TX_STATUS_SUSPENDED.read());
lakshya 49:61c9f28332ba 1270 pc.printf("\n\r timer_Set_BCN_TX_STATUS_RF_SILENCE is %f",timer_Set_BCN_TX_STATUS_RF_SILENCE.read());
lakshya 49:61c9f28332ba 1271 */}
lakshya 20:949d13045431 1272 }
sakthipriya 0:7b4c00e3912f 1273 schedcount++;
lakshya 20:949d13045431 1274 #if print
lakshya 20:949d13045431 1275 printf("\n\r exited scheduler h");
lakshya 20:949d13045431 1276 printf("\n\r time taken %f",t_start.read());
lakshya 20:949d13045431 1277 #endif
sakthipriya 0:7b4c00e3912f 1278 }
sakthipriya 0:7b4c00e3912f 1279
lakshya 20:949d13045431 1280
sakthipriya 0:7b4c00e3912f 1281 Timer t_flag;
lakshya 19:79e69017c855 1282
lakshya 20:949d13045431 1283
sakthipriya 0:7b4c00e3912f 1284 void FLAG()
sakthipriya 0:7b4c00e3912f 1285 {
lakshya 20:949d13045431 1286
lakshya 20:949d13045431 1287 //I2C
lakshya 20:949d13045431 1288 //if(BAE_MNG_I2C_STATUS == 1)
lakshya 20:949d13045431 1289 // BAE_STATUS = BAE_STATUS | 0x10000000;
lakshya 20:949d13045431 1290 //else if(BAE_MNG_I2C_STATUS == 0)
lakshya 20:949d13045431 1291 // BAE_STATUS &= 0xEFFFFFF;
lakshya 19:79e69017c855 1292
lakshya 19:79e69017c855 1293 //.............bae..................//
lakshya 19:79e69017c855 1294 if(BAE_INIT_STATUS == 1)
lakshya 19:79e69017c855 1295 BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001;
lakshya 19:79e69017c855 1296 else if(BAE_INIT_STATUS == 0)
lakshya 19:79e69017c855 1297 BAE_STATUS &= 0xFFFFFFFE;
lakshya 19:79e69017c855 1298
lakshya 20:949d13045431 1299 if(BAE_MNG_I2C_STATUS == 1)
lakshya 19:79e69017c855 1300 BAE_STATUS = BAE_STATUS | 0x00000002;
lakshya 20:949d13045431 1301 if(BAE_MNG_I2C_STATUS == 0)
lakshya 19:79e69017c855 1302 BAE_STATUS &= 0xFFFFFFFD;
lakshya 20:949d13045431 1303
sakthipriya 0:7b4c00e3912f 1304 //.............acs..................//
sakthipriya 9:194afacf7449 1305 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1306 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 1307 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1308 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 1309
sakthipriya 9:194afacf7449 1310 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1311 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 1312 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1313 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 1314
sakthipriya 9:194afacf7449 1315 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 1316 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 1317 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 1318 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 1319
sakthipriya 0:7b4c00e3912f 1320 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 1321 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 1322
sakthipriya 9:194afacf7449 1323 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1324 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 1325 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1326 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 1327
sakthipriya 0:7b4c00e3912f 1328 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 1329 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1330 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 1331 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 1332 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 1333 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1334 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 1335 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1336 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 1337 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1338 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 1339 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1340 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 1341 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 1342 else
sakthipriya 0:7b4c00e3912f 1343 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 1344
sakthipriya 0:7b4c00e3912f 1345 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 1346 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1347 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 1348 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1349 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 1350 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1351 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 1352 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1353 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 1354 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1355 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 1356 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 1357
sakthipriya 0:7b4c00e3912f 1358 //...............eps......................//
lakshya 20:949d13045431 1359 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
lakshya 20:949d13045431 1360 BAE_STATUS |= 0x00010000;
lakshya 20:949d13045431 1361 else if(EPS_INIT_STATUS==0) // Clear
lakshya 20:949d13045431 1362 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 1363
sakthipriya 5:bb592f3185cc 1364
lakshya 20:949d13045431 1365 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
lakshya 20:949d13045431 1366 BAE_STATUS |= 0x00040000;
lakshya 20:949d13045431 1367 else if(EPS_MAIN_STATUS==0) // Clear
lakshya 20:949d13045431 1368 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 1369
sakthipriya 5:bb592f3185cc 1370
lakshya 20:949d13045431 1371 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
lakshya 20:949d13045431 1372 BAE_STATUS |= 0x00020000;
lakshya 20:949d13045431 1373 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
lakshya 20:949d13045431 1374 BAE_STATUS &= 0xFFFDFFFF;
lakshya 20:949d13045431 1375
lakshya 33:76f2b8735501 1376 if (EPS_BTRY_TMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
lakshya 20:949d13045431 1377 BAE_STATUS |= 0x00080000;
lakshya 33:76f2b8735501 1378 else if(EPS_BTRY_TMP_STATUS==0) // Clear
lakshya 20:949d13045431 1379 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 1380
lakshya 20:949d13045431 1381 if (EPS_STATUS==0)
lakshya 20:949d13045431 1382 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
lakshya 20:949d13045431 1383 else if (EPS_STATUS==1)
lakshya 20:949d13045431 1384 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
lakshya 20:949d13045431 1385 else if (EPS_STATUS==2)
lakshya 20:949d13045431 1386 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
lakshya 20:949d13045431 1387 else if (EPS_STATUS==3)
lakshya 20:949d13045431 1388 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
lakshya 20:949d13045431 1389 else if (EPS_STATUS==4)
lakshya 20:949d13045431 1390 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
lakshya 20:949d13045431 1391 else if (EPS_STATUS==5)
lakshya 20:949d13045431 1392 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 1393
lakshya 20:949d13045431 1394 if(EPS_BTRY_HTR_AUTO == 1)
sakthipriya 5:bb592f3185cc 1395 BAE_ENABLE |= 0x00000080;
lakshya 20:949d13045431 1396 else if(EPS_BTRY_HTR_AUTO == 0)
sakthipriya 5:bb592f3185cc 1397 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 1398
lakshya 20:949d13045431 1399 #if print
lakshya 20:949d13045431 1400 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
lakshya 20:949d13045431 1401 #endif
lakshya 20:949d13045431 1402 }
sakthipriya 0:7b4c00e3912f 1403
sakthipriya 0:7b4c00e3912f 1404
sakthipriya 0:7b4c00e3912f 1405 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 1406 {
lakshya 20:949d13045431 1407 #if print
lakshya 20:949d13045431 1408 printf("\n\r Initialising BAE _________________________________________________________________________________");
lakshya 20:949d13045431 1409 #endif
lakshya 19:79e69017c855 1410 BAE_INIT_STATUS=1;
lakshya 19:79e69017c855 1411 FLAG();
lakshya 19:79e69017c855 1412
sakthipriya 3:07e15677a75c 1413 //..........intial status....//
Bragadeesh153 13:fb7facaf308b 1414 ACS_STATE = 4;
sakthipriya 9:194afacf7449 1415 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 1416 ACS_DATA_ACQ_ENABLE = 1;
lakshya 20:949d13045431 1417 EPS_BTRY_HTR_AUTO = 1;
Bragadeesh153 13:fb7facaf308b 1418 actual_data.power_mode=3;
lakshya 19:79e69017c855 1419
sakthipriya 9:194afacf7449 1420 //............intializing pins................//
Bragadeesh153 52:daa685b0e390 1421 ATS1_SW_ENABLE = 1;
sakthipriya 9:194afacf7449 1422 ATS2_SW_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 1423
Bragadeesh153 13:fb7facaf308b 1424 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 1425 DRV_Z_EN = 1;
Bragadeesh153 52:daa685b0e390 1426 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 52:daa685b0e390 1427 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 1428
lakshya 20:949d13045431 1429 //time_wdog = 1;
sakthipriya 9:194afacf7449 1430
lakshya 49:61c9f28332ba 1431 kick_WDOG();
lakshya 49:61c9f28332ba 1432 pc.printf("\n\r lvl1");
lakshya 49:61c9f28332ba 1433
lakshya 19:79e69017c855 1434 //...........order mentioned in flow chart.................//
lakshya 49:61c9f28332ba 1435 timer_FCTN_BAE_INIT.reset();
lakshya 49:61c9f28332ba 1436 timer_FCTN_BAE_INIT.start();
sakthipriya 3:07e15677a75c 1437 FCTN_ACS_INIT();
lakshya 49:61c9f28332ba 1438 timer_FCTN_BAE_INIT.stop();
lakshya 49:61c9f28332ba 1439 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 49:61c9f28332ba 1440
lakshya 49:61c9f28332ba 1441 timer_FCTN_EPS_INIT.reset();
lakshya 49:61c9f28332ba 1442 timer_FCTN_EPS_INIT.start();
lakshya 17:fc782f7548c6 1443 FCTN_EPS_INIT();
lakshya 49:61c9f28332ba 1444 timer_FCTN_EPS_INIT.stop();
lakshya 49:61c9f28332ba 1445 pc.printf("\n\r timer_FCTN_EPS_INIT is %f",timer_FCTN_EPS_INIT.read());
lakshya 49:61c9f28332ba 1446
lakshya 49:61c9f28332ba 1447 timer_FCTN_BCN_INIT.reset();
lakshya 49:61c9f28332ba 1448 timer_FCTN_BCN_INIT.start();
lakshya 18:3662058a7c10 1449 FCTN_BCN_INIT();
lakshya 49:61c9f28332ba 1450 timer_FCTN_BCN_INIT.stop();
lakshya 49:61c9f28332ba 1451 pc.printf("\n\r timer_FCTN_BCN_INIT is %f",timer_FCTN_BCN_INIT.read());
lakshya 19:79e69017c855 1452
lakshya 27:61c856be467e 1453 //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 1454 //uint32_t data_modify=data_flash & 0x000000FF;
lakshya 27:61c856be467e 1455 //data_modify +=1;
lakshya 27:61c856be467e 1456 //data_modify |=data_flash;
lakshya 27:61c856be467e 1457 //FCTN_BAE_WR_FLASH(0,data_modify);
lakshya 49:61c9f28332ba 1458 //#if print
lakshya 49:61c9f28332ba 1459 // printf("\n\rthe number of reset %d",data_modify);
lakshya 49:61c9f28332ba 1460 //#endif
lakshya 19:79e69017c855 1461 BAE_INIT_STATUS=0;
sakthipriya 0:7b4c00e3912f 1462 FLAG();
sakthipriya 0:7b4c00e3912f 1463 }
sakthipriya 0:7b4c00e3912f 1464
lakshya 20:949d13045431 1465
sakthipriya 0:7b4c00e3912f 1466 int main()
sakthipriya 0:7b4c00e3912f 1467 {
lakshya 33:76f2b8735501 1468 //BAE_uptime.reset();
lakshya 33:76f2b8735501 1469 BAE_uptime.start();
lakshya 20:949d13045431 1470 //time_wdog = 1;
lakshya 19:79e69017c855 1471 pc.printf("\n\r BAE Activated. Testing Version 1.2 \n");
lakshya 20:949d13045431 1472 //FLASH_INI();
lakshya 49:61c9f28332ba 1473
lakshya 49:61c9f28332ba 1474 time_wdog=1;
lakshya 49:61c9f28332ba 1475 timer_FCTN_BAE_INIT.start();
sakthipriya 0:7b4c00e3912f 1476 FCTN_BAE_INIT();
lakshya 49:61c9f28332ba 1477 timer_FCTN_BAE_INIT.stop();
lakshya 49:61c9f28332ba 1478 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 49:61c9f28332ba 1479
lakshya 49:61c9f28332ba 1480 time_wdog=0;
lakshya 49:61c9f28332ba 1481
lakshya 20:949d13045431 1482 //time_wdog = 0;
lakshya 20:949d13045431 1483
sakthipriya 0:7b4c00e3912f 1484 slave.address(addr);
sakthipriya 0:7b4c00e3912f 1485 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 1486
sakthipriya 0:7b4c00e3912f 1487 ptr_t_i2c = new Thread(T_TC);
lakshya 66:a5d2b8dc6b9e 1488 ptr_t_i2c->set_priority(osPriorityHigh);////osPriorityRealtime
sakthipriya 5:bb592f3185cc 1489
sakthipriya 0:7b4c00e3912f 1490 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 1491 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
lakshya 20:949d13045431 1492
sakthipriya 0:7b4c00e3912f 1493 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
lakshya 33:76f2b8735501 1494 t_sc_timer.start(5000);
sakthipriya 0:7b4c00e3912f 1495 t_start.start();
lakshya 50:6001287f3045 1496
lakshya 20:949d13045431 1497 #if print
lakshya 20:949d13045431 1498 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
lakshya 20:949d13045431 1499 #endif
lakshya 19:79e69017c855 1500 /*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 1501 //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1502 /*static allocation*/
lakshya 19:79e69017c855 1503 RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1504 BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER;
lakshya 18:3662058a7c10 1505
lakshya 20:949d13045431 1506 RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce);
lakshya 20:949d13045431 1507 /*later change it to 30 min 1800 seconds*/
lakshya 20:949d13045431 1508 bcn_start_timer.start(20000);
lakshya 20:949d13045431 1509
lakshya 20:949d13045431 1510 //BCN HTR TIMERS
lakshya 20:949d13045431 1511 RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce);
lakshya 20:949d13045431 1512 HTR_OFF=&EPS_HTR_OFF_TIMER;
lakshya 20:949d13045431 1513
lakshya 49:61c9f28332ba 1514 RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE, osTimerPeriodic);
lakshya 20:949d13045431 1515 HTR_CYCLE=&EPS_HTR_CYCLE_TIMER;
lakshya 20:949d13045431 1516
lakshya 20:949d13045431 1517 RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce);
lakshya 20:949d13045431 1518 HTR_DLY=&EPS_HTR_DLY_TIMER;
lakshya 20:949d13045431 1519
lakshya 49:61c9f28332ba 1520 timer_FLASH_INI.start();
lakshya 20:949d13045431 1521 FLASH_INI();
lakshya 49:61c9f28332ba 1522 timer_FLASH_INI.stop();
lakshya 49:61c9f28332ba 1523 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 20:949d13045431 1524
lakshya 20:949d13045431 1525 while(1); //required to prevent main from terminating
lakshya 18:3662058a7c10 1526
lakshya 20:949d13045431 1527 }