Team Fox
/
BAE_QM_MAR9
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Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
workinQM_5thJan_azad
by 
Team Fox
main.cpp@19:79e69017c855, 2016-06-04 (annotated)
- Committer:
- lakshya
- Date:
- Sat Jun 04 11:29:13 2016 +0000
- Revision:
- 19:79e69017c855
- Parent:
- 18:3662058a7c10
- Child:
- 20:949d13045431
before going home
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 |
| sakthipriya | 9:194afacf7449 | 11 | |
| lakshya | 19:79e69017c855 | 12 | //**********************************************GLOBAL RTOS TIMER*********************************************************// |
| lakshya | 19:79e69017c855 | 13 | RtosTimer *BAE_STANDBY_STATUS_TIMER; |
| lakshya | 19:79e69017c855 | 14 | |
| lakshya | 19:79e69017c855 | 15 | void BAE_STANDBY_STATUS_RESET(const void* arg) |
| lakshya | 19:79e69017c855 | 16 | { |
| lakshya | 19:79e69017c855 | 17 | printf("\n\rBAE standby reset to 0x00"); |
| lakshya | 19:79e69017c855 | 18 | BAE_STANDBY=0x00; |
| lakshya | 19:79e69017c855 | 19 | } |
| lakshya | 19:79e69017c855 | 20 | |
| lakshya | 19:79e69017c855 | 21 | /*no problem in first stopping and then starting even when for the first time*/ |
| lakshya | 19:79e69017c855 | 22 | void BAE_STANDBY_TIMER_RESET() |
| lakshya | 19:79e69017c855 | 23 | { |
| lakshya | 19:79e69017c855 | 24 | BAE_STANDBY_STATUS_TIMER->stop(); |
| lakshya | 19:79e69017c855 | 25 | 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 | 26 | } |
| lakshya | 19:79e69017c855 | 27 | |
| sakthipriya | 0:7b4c00e3912f | 28 | //***************************************************** flags *************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 29 | uint32_t BAE_STATUS = 0x00000000; |
| sakthipriya | 0:7b4c00e3912f | 30 | uint32_t BAE_ENABLE = 0xFFFFFFFF; |
| sakthipriya | 0:7b4c00e3912f | 31 | |
| sakthipriya | 5:bb592f3185cc | 32 | //i2c// |
| sakthipriya | 5:bb592f3185cc | 33 | char data_send_flag = 'h'; |
| sakthipriya | 5:bb592f3185cc | 34 | |
| lakshya | 19:79e69017c855 | 35 | //.........bae......................................// |
| lakshya | 19:79e69017c855 | 36 | uint8_t BAE_INIT_STATUS=0; |
| lakshya | 19:79e69017c855 | 37 | uint8_t BAE_I2CRX_STATUS=0; |
| sakthipriya | 0:7b4c00e3912f | 38 | |
| lakshya | 19:79e69017c855 | 39 | //.........acs......................................// |
| lakshya | 19:79e69017c855 | 40 | /* removed character initialized values */ |
| sakthipriya | 9:194afacf7449 | 41 | |
| sakthipriya | 9:194afacf7449 | 42 | uint8_t ACS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 43 | uint8_t ACS_DATA_ACQ_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 44 | uint8_t ACS_ATS_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 45 | uint8_t ACS_MAIN_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 46 | uint8_t ACS_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 47 | |
| sakthipriya | 9:194afacf7449 | 48 | uint8_t ACS_ATS_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 49 | uint8_t ACS_DATA_ACQ_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 50 | uint8_t ACS_STATE = 4; |
| lakshya | 19:79e69017c855 | 51 | |
| lakshya | 19:79e69017c855 | 52 | //_______________________bcn__________________________// |
| lakshya | 19:79e69017c855 | 53 | |
| lakshya | 18:3662058a7c10 | 54 | /*added for removing the stuck/hang problem*/ |
| lakshya | 18:3662058a7c10 | 55 | /*does it work? now doing it in main*/ |
| lakshya | 19:79e69017c855 | 56 | //it works great |
| lakshya | 18:3662058a7c10 | 57 | extern uint8_t BCN_FEN; |
| lakshya | 18:3662058a7c10 | 58 | extern void FCTN_BCN_FEN(void const *args); |
| lakshya | 18:3662058a7c10 | 59 | Timeout timeout_bcn; |
| lakshya | 19:79e69017c855 | 60 | /*long beacon data/sending*/ |
| lakshya | 19:79e69017c855 | 61 | /*be sure it is created in bcn.cpp*/ |
| lakshya | 19:79e69017c855 | 62 | extern void LONG_BCN_DATA(uint8_t* ); |
| sakthipriya | 0:7b4c00e3912f | 63 | |
| sakthipriya | 0:7b4c00e3912f | 64 | //.....................eps...................// |
| lakshya | 19:79e69017c855 | 65 | /* removed character initialization*/ |
| sakthipriya | 0:7b4c00e3912f | 66 | //eps init |
| sakthipriya | 9:194afacf7449 | 67 | uint8_t EPS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 68 | uint8_t EPS_BATTERY_GAUGE_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 69 | //eps main |
| sakthipriya | 9:194afacf7449 | 70 | uint8_t EPS_MAIN_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 71 | uint8_t EPS_BATTERY_TEMP_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 72 | uint8_t EPS_STATUS = 7; //invalid status |
| sakthipriya | 9:194afacf7449 | 73 | |
| sakthipriya | 9:194afacf7449 | 74 | uint8_t EPS_BATTERY_HEAT_ENABLE = 0; |
| sakthipriya | 0:7b4c00e3912f | 75 | |
| sakthipriya | 0:7b4c00e3912f | 76 | //.......................global variables..................................................................// new hk structure- everything has to changed based on this |
| sakthipriya | 6:036d08b62785 | 77 | uint8_t BAE_data[74]; |
| sakthipriya | 6:036d08b62785 | 78 | char BAE_chardata[74]; |
| lakshya | 19:79e69017c855 | 79 | uint8_t BAE_RESET_COUNTER = 0; // INITIALIZATION or do you want to initialize evertime the main is reset? or is it same |
| lakshya | 19:79e69017c855 | 80 | uint32_t BAE_I2C_COUNTER = 0; |
| lakshya | 19:79e69017c855 | 81 | uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off. |
| sakthipriya | 0:7b4c00e3912f | 82 | |
| sakthipriya | 0:7b4c00e3912f | 83 | //*************************************Global declarations************************************************// |
| sakthipriya | 0:7b4c00e3912f | 84 | const int addr = 0x20; //slave address |
| sakthipriya | 0:7b4c00e3912f | 85 | |
| sakthipriya | 0:7b4c00e3912f | 86 | Timer t_rfsilence; |
| sakthipriya | 0:7b4c00e3912f | 87 | Timer t_start; |
| lakshya | 19:79e69017c855 | 88 | /*defined as of now to check execution time*/ |
| lakshya | 19:79e69017c855 | 89 | /*remember to remove them*/ |
| lakshya | 19:79e69017c855 | 90 | Timer t_acs; |
| lakshya | 19:79e69017c855 | 91 | Timer t_eps; |
| lakshya | 19:79e69017c855 | 92 | |
| sakthipriya | 7:a46a1dee4497 | 93 | Timer t_tc; |
| sakthipriya | 7:a46a1dee4497 | 94 | Timer t_tm; |
| sakthipriya | 0:7b4c00e3912f | 95 | Serial pc(USBTX, USBRX); |
| sakthipriya | 0:7b4c00e3912f | 96 | int power_flag_dummy=2; |
| sakthipriya | 0:7b4c00e3912f | 97 | float data[6]; |
| sakthipriya | 0:7b4c00e3912f | 98 | |
| sakthipriya | 0:7b4c00e3912f | 99 | extern float moment[3]; |
| sakthipriya | 0:7b4c00e3912f | 100 | extern uint8_t BCN_FEN; |
| sakthipriya | 1:446a959e36ce | 101 | extern BAE_HK_actual actual_data; |
| sakthipriya | 1:446a959e36ce | 102 | extern BAE_HK_quant quant_data; |
| sakthipriya | 1:446a959e36ce | 103 | extern BAE_HK_min_max bae_HK_minmax; |
| sakthipriya | 1:446a959e36ce | 104 | extern BAE_HK_arch arch_data; |
| sakthipriya | 0:7b4c00e3912f | 105 | |
| sakthipriya | 5:bb592f3185cc | 106 | int write_ack = 1; |
| sakthipriya | 5:bb592f3185cc | 107 | int read_ack = 1; |
| sakthipriya | 0:7b4c00e3912f | 108 | char telecommand[tc_len]; |
| Bragadeesh153 | 13:fb7facaf308b | 109 | extern uint8_t telemetry[135]; |
| sakthipriya | 5:bb592f3185cc | 110 | |
| sakthipriya | 5:bb592f3185cc | 111 | bool pf1check = 0; |
| sakthipriya | 5:bb592f3185cc | 112 | bool pf2check = 0; |
| sakthipriya | 5:bb592f3185cc | 113 | bool if1check = 0; |
| lakshya | 14:a9588f443f1a | 114 | bool if2check = 0; |
| sakthipriya | 0:7b4c00e3912f | 115 | |
| sakthipriya | 0:7b4c00e3912f | 116 | //*****************************************************Assigning pins******************************************************// |
| sakthipriya | 9:194afacf7449 | 117 | DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch |
| sakthipriya | 9:194afacf7449 | 118 | DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch |
| sakthipriya | 0:7b4c00e3912f | 119 | InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS |
| sakthipriya | 0:7b4c00e3912f | 120 | DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS |
| lakshya | 14:a9588f443f1a | 121 | I2CSlave slave (PIN1,PIN2);///pin1 pin2 |
| sakthipriya | 0:7b4c00e3912f | 122 | DigitalOut batt_heat(PIN96); |
| sakthipriya | 0:7b4c00e3912f | 123 | |
| sakthipriya | 9:194afacf7449 | 124 | //ATS1_SW_ENABLE = 0; |
| sakthipriya | 0:7b4c00e3912f | 125 | PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal |
| sakthipriya | 0:7b4c00e3912f | 126 | PwmOut PWM2(PIN94); //y |
| sakthipriya | 0:7b4c00e3912f | 127 | PwmOut PWM3(PIN95); //z //PWM output comes from pins p6 |
| sakthipriya | 0:7b4c00e3912f | 128 | |
| sakthipriya | 5:bb592f3185cc | 129 | //........faults |
| sakthipriya | 5:bb592f3185cc | 130 | //Polled Faults |
| sakthipriya | 5:bb592f3185cc | 131 | DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 132 | DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 133 | DigitalIn pf3(PIN83);//Fault Bar for TRXY driver |
| sakthipriya | 5:bb592f3185cc | 134 | |
| sakthipriya | 5:bb592f3185cc | 135 | //Interrupt based faults |
| lakshya | 14:a9588f443f1a | 136 | //InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal |
| sakthipriya | 5:bb592f3185cc | 137 | InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault |
| sakthipriya | 5:bb592f3185cc | 138 | InterruptIn ir3(PIN89);//TRZ Driver Fault Bar |
| sakthipriya | 5:bb592f3185cc | 139 | InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault |
| sakthipriya | 5:bb592f3185cc | 140 | InterruptIn ir5(PIN79);//CDMS - Switch Fault |
| sakthipriya | 5:bb592f3185cc | 141 | InterruptIn ir6(PIN80);//Beacon- Switch OC bar |
| sakthipriya | 5:bb592f3185cc | 142 | InterruptIn ir7(PIN42);//Charger IC - Fault Bar |
| sakthipriya | 5:bb592f3185cc | 143 | |
| lakshya | 14:a9588f443f1a | 144 | |
| Bragadeesh153 | 13:fb7facaf308b | 145 | DigitalOut TRXY_SW(PIN71); //TR XY Switch |
| Bragadeesh153 | 13:fb7facaf308b | 146 | DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z |
| sakthipriya | 5:bb592f3185cc | 147 | DigitalOut TRZ_SW(PIN40); //TR Z Switch |
| lakshya | 19:79e69017c855 | 148 | DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET |
| sakthipriya | 5:bb592f3185cc | 149 | DigitalOut BCN_SW(PIN14); //Beacon switch |
| Bragadeesh153 | 13:fb7facaf308b | 150 | DigitalOut DRV_XY_EN(PIN82); |
| sakthipriya | 0:7b4c00e3912f | 151 | |
| lakshya | 19:79e69017c855 | 152 | |
| sakthipriya | 0:7b4c00e3912f | 153 | /*****************************************************************Threads USed***********************************************************************************/ |
| sakthipriya | 0:7b4c00e3912f | 154 | Thread *ptr_t_i2c; |
| sakthipriya | 0:7b4c00e3912f | 155 | |
| lakshya | 19:79e69017c855 | 156 | |
| sakthipriya | 0:7b4c00e3912f | 157 | /*********************************************************FCTN HEADERS***********************************************************************************/ |
| sakthipriya | 0:7b4c00e3912f | 158 | void FCTN_ISR_I2C(); |
| sakthipriya | 0:7b4c00e3912f | 159 | void FCTN_TM(); |
| sakthipriya | 3:07e15677a75c | 160 | void F_ACS(); |
| sakthipriya | 3:07e15677a75c | 161 | void F_EPS(); |
| sakthipriya | 3:07e15677a75c | 162 | void F_BCN(); |
| sakthipriya | 0:7b4c00e3912f | 163 | |
| sakthipriya | 0:7b4c00e3912f | 164 | //*******************************************ACS THREAD**************************************************// |
| sakthipriya | 5:bb592f3185cc | 165 | uint8_t iterP1; |
| sakthipriya | 5:bb592f3185cc | 166 | uint8_t iterP2; |
| sakthipriya | 5:bb592f3185cc | 167 | uint8_t iterI1; |
| sakthipriya | 5:bb592f3185cc | 168 | uint8_t iterI2; |
| sakthipriya | 0:7b4c00e3912f | 169 | |
| sakthipriya | 5:bb592f3185cc | 170 | |
| sakthipriya | 3:07e15677a75c | 171 | void F_ACS() |
| sakthipriya | 0:7b4c00e3912f | 172 | { |
| lakshya | 19:79e69017c855 | 173 | t_acs.start(); |
| sakthipriya | 5:bb592f3185cc | 174 | if(pf1check == 1) |
| sakthipriya | 5:bb592f3185cc | 175 | { |
| sakthipriya | 5:bb592f3185cc | 176 | if(iterP1 >= 3) |
| sakthipriya | 5:bb592f3185cc | 177 | { |
| sakthipriya | 9:194afacf7449 | 178 | ATS1_SW_ENABLE = 1; // turn off ats1 permanently |
| sakthipriya | 5:bb592f3185cc | 179 | //FCTN_SWITCH_ATS(0); // switch on ATS2 |
| sakthipriya | 5:bb592f3185cc | 180 | } |
| sakthipriya | 5:bb592f3185cc | 181 | else |
| sakthipriya | 5:bb592f3185cc | 182 | { |
| sakthipriya | 9:194afacf7449 | 183 | ATS1_SW_ENABLE = 0; |
| sakthipriya | 5:bb592f3185cc | 184 | iterP1++; |
| sakthipriya | 5:bb592f3185cc | 185 | } |
| sakthipriya | 9:194afacf7449 | 186 | pf1check = 0; |
| sakthipriya | 5:bb592f3185cc | 187 | } |
| sakthipriya | 5:bb592f3185cc | 188 | if(pf2check == 1) |
| sakthipriya | 5:bb592f3185cc | 189 | { |
| sakthipriya | 5:bb592f3185cc | 190 | if(iterP1 >= 3) |
| sakthipriya | 5:bb592f3185cc | 191 | { |
| sakthipriya | 9:194afacf7449 | 192 | ATS2_SW_ENABLE = 1; // turn off ats2 permanently |
| Bragadeesh153 | 13:fb7facaf308b | 193 | ACS_DATA_ACQ_ENABLE = 0; |
| Bragadeesh153 | 13:fb7facaf308b | 194 | ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 5:bb592f3185cc | 195 | } |
| sakthipriya | 5:bb592f3185cc | 196 | else |
| sakthipriya | 5:bb592f3185cc | 197 | { |
| lakshya | 19:79e69017c855 | 198 | ATS2_SW_ENABLE = 0; |
| lakshya | 19:79e69017c855 | 199 | iterP2++; |
| sakthipriya | 5:bb592f3185cc | 200 | } |
| sakthipriya | 9:194afacf7449 | 201 | pf2check = 0; |
| sakthipriya | 5:bb592f3185cc | 202 | } |
| lakshya | 19:79e69017c855 | 203 | if(if1check == 1) |
| sakthipriya | 5:bb592f3185cc | 204 | { |
| sakthipriya | 5:bb592f3185cc | 205 | if(iterI1 >= 3) |
| sakthipriya | 5:bb592f3185cc | 206 | { |
| Bragadeesh153 | 13:fb7facaf308b | 207 | TRXY_SW = 0; // turn off TRXY permanently |
| sakthipriya | 5:bb592f3185cc | 208 | } |
| sakthipriya | 5:bb592f3185cc | 209 | else |
| sakthipriya | 5:bb592f3185cc | 210 | { |
| lakshya | 19:79e69017c855 | 211 | TRXY_SW = 1; //switch on TRXY |
| lakshya | 19:79e69017c855 | 212 | iterI1++; |
| sakthipriya | 5:bb592f3185cc | 213 | } |
| sakthipriya | 5:bb592f3185cc | 214 | } |
| sakthipriya | 5:bb592f3185cc | 215 | if(if2check == 1) |
| sakthipriya | 5:bb592f3185cc | 216 | { |
| sakthipriya | 5:bb592f3185cc | 217 | if(iterI2 >= 3) |
| sakthipriya | 5:bb592f3185cc | 218 | { |
| sakthipriya | 5:bb592f3185cc | 219 | TRZ_SW = 0; // turn off TRZ permanently |
| Bragadeesh153 | 13:fb7facaf308b | 220 | ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 5:bb592f3185cc | 221 | } |
| sakthipriya | 5:bb592f3185cc | 222 | else |
| sakthipriya | 5:bb592f3185cc | 223 | { |
| lakshya | 19:79e69017c855 | 224 | TRZ_SW = 1; //switch on Z |
| lakshya | 19:79e69017c855 | 225 | iterI2++; |
| sakthipriya | 5:bb592f3185cc | 226 | } |
| sakthipriya | 5:bb592f3185cc | 227 | } |
| sakthipriya | 5:bb592f3185cc | 228 | |
| sakthipriya | 6:036d08b62785 | 229 | //float b1[3]={-23.376,-37.56,14.739}, omega1[3]={-1.52,2.746,0.7629}, moment1[3]= {1.0498,-1.0535,1.3246}; |
| sakthipriya | 0:7b4c00e3912f | 230 | //b1[3] = {22, 22,10}; |
| sakthipriya | 0:7b4c00e3912f | 231 | //omega1[3] = {2.1,3.0,1.5}; |
| sakthipriya | 9:194afacf7449 | 232 | // ATS1_SW_ENABLE = 0; // att sens2 switch is disabled |
| sakthipriya | 9:194afacf7449 | 233 | // ATS2_SW_ENABLE = 0; // att sens switch is disabled |
| sakthipriya | 0:7b4c00e3912f | 234 | |
| sakthipriya | 3:07e15677a75c | 235 | |
| sakthipriya | 0:7b4c00e3912f | 236 | |
| sakthipriya | 3:07e15677a75c | 237 | //Thread::signal_wait(0x1); |
| sakthipriya | 9:194afacf7449 | 238 | ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 239 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 240 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 241 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 242 | pc.printf("\n\rEntered ACS %f\n",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 243 | |
| sakthipriya | 9:194afacf7449 | 244 | if(ACS_DATA_ACQ_ENABLE == 1)// check if ACS_DATA_ACQ_ENABLE = 1? |
| sakthipriya | 0:7b4c00e3912f | 245 | { |
| lakshya | 19:79e69017c855 | 246 | //FLAG(); |
| lakshya | 19:79e69017c855 | 247 | FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3 |
| lakshya | 19:79e69017c855 | 248 | pc.printf("gyro values\n\r"); //printing the angular velocity and magnetic field values |
| lakshya | 19:79e69017c855 | 249 | for(int i=0; i<3; i++) |
| lakshya | 19:79e69017c855 | 250 | { |
| lakshya | 19:79e69017c855 | 251 | printf("%f\n\r",actual_data.AngularSpeed_actual[i]); |
| lakshya | 19:79e69017c855 | 252 | } |
| lakshya | 19:79e69017c855 | 253 | pc.printf("mag values\n\r"); |
| lakshya | 19:79e69017c855 | 254 | for(int i=0; i<3; i++) |
| lakshya | 19:79e69017c855 | 255 | { |
| lakshya | 19:79e69017c855 | 256 | pc.printf("%f\n\r",actual_data.Bvalue_actual[i]); |
| lakshya | 19:79e69017c855 | 257 | } |
| lakshya | 19:79e69017c855 | 258 | // for(int i=0;i<3;i++) |
| lakshya | 19:79e69017c855 | 259 | // { |
| lakshya | 19:79e69017c855 | 260 | // omega1[i]= data[i]; |
| lakshya | 19:79e69017c855 | 261 | // b1[i] = data[i+3]; |
| lakshya | 19:79e69017c855 | 262 | // } |
| sakthipriya | 0:7b4c00e3912f | 263 | }//if ACS_DATA_ACQ_ENABLE = 1 |
| lakshya | 19:79e69017c855 | 264 | else |
| sakthipriya | 0:7b4c00e3912f | 265 | { |
| sakthipriya | 0:7b4c00e3912f | 266 | // Z axis actuation is the only final solution, |
| sakthipriya | 0:7b4c00e3912f | 267 | } |
| sakthipriya | 9:194afacf7449 | 268 | if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF? |
| sakthipriya | 0:7b4c00e3912f | 269 | { |
| sakthipriya | 0:7b4c00e3912f | 270 | printf("\n\r acs control off\n"); |
| sakthipriya | 0:7b4c00e3912f | 271 | FLAG(); |
| sakthipriya | 9:194afacf7449 | 272 | ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 273 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 274 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 275 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 276 | } |
| sakthipriya | 0:7b4c00e3912f | 277 | else |
| sakthipriya | 0:7b4c00e3912f | 278 | { |
| sakthipriya | 1:446a959e36ce | 279 | if(actual_data.power_mode>1) |
| sakthipriya | 0:7b4c00e3912f | 280 | |
| sakthipriya | 0:7b4c00e3912f | 281 | { |
| sakthipriya | 9:194afacf7449 | 282 | if(ACS_STATE == 2) // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 283 | { |
| sakthipriya | 0:7b4c00e3912f | 284 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 285 | printf("\n\r z axis moment only\n"); |
| sakthipriya | 9:194afacf7449 | 286 | ACS_STATUS = 2; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 287 | // FCTN_ACS_CNTRLALGO(b1, omega1); |
| sakthipriya | 0:7b4c00e3912f | 288 | moment[0] = 0; |
| sakthipriya | 0:7b4c00e3912f | 289 | moment[1] = 0; |
| sakthipriya | 0:7b4c00e3912f | 290 | moment[2] =1.3;// is a dummy value |
| lakshya | 19:79e69017c855 | 291 | FCTN_ACS_GENPWM_MAIN(moment) ; /*printf statements*/ |
| lakshya | 19:79e69017c855 | 292 | } |
| lakshya | 19:79e69017c855 | 293 | else |
| sakthipriya | 0:7b4c00e3912f | 294 | { |
| lakshya | 19:79e69017c855 | 295 | if(ACS_STATE == 3) // check ACS_STATE = ACS_DATA_ACQ_FAILURE |
| lakshya | 19:79e69017c855 | 296 | { |
| lakshya | 19:79e69017c855 | 297 | FLAG(); |
| lakshya | 19:79e69017c855 | 298 | printf("\n\r acs data failure "); |
| lakshya | 19:79e69017c855 | 299 | ACS_STATUS = 3; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 300 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 301 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 302 | PWM3 = 0; //clear pwm pins |
| lakshya | 19:79e69017c855 | 303 | } |
| lakshya | 19:79e69017c855 | 304 | else |
| lakshya | 19:79e69017c855 | 305 | { |
| lakshya | 19:79e69017c855 | 306 | if(ACS_STATE == 4) // check ACS_STATE = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 307 | { |
| sakthipriya | 0:7b4c00e3912f | 308 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 309 | printf("\n\r nominal"); |
| sakthipriya | 9:194afacf7449 | 310 | ACS_STATUS = 4; // set ACS_STATUS = ACS_NOMINAL_ONLY |
| sakthipriya | 6:036d08b62785 | 311 | FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); |
| sakthipriya | 0:7b4c00e3912f | 312 | printf("\n\r moment values returned by control algo \n"); |
| sakthipriya | 0:7b4c00e3912f | 313 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 314 | { |
| sakthipriya | 0:7b4c00e3912f | 315 | printf("%f\t",moment[i]); |
| sakthipriya | 0:7b4c00e3912f | 316 | } |
| sakthipriya | 0:7b4c00e3912f | 317 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| sakthipriya | 0:7b4c00e3912f | 318 | } |
| sakthipriya | 0:7b4c00e3912f | 319 | else |
| sakthipriya | 0:7b4c00e3912f | 320 | { |
| sakthipriya | 9:194afacf7449 | 321 | if(ACS_STATE == 5) // check ACS_STATE = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 322 | { |
| sakthipriya | 0:7b4c00e3912f | 323 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 324 | printf("\n\r auto control"); |
| sakthipriya | 9:194afacf7449 | 325 | ACS_STATUS = 5; // set ACS_STATUS = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 326 | //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code |
| sakthipriya | 0:7b4c00e3912f | 327 | } |
| sakthipriya | 0:7b4c00e3912f | 328 | else |
| sakthipriya | 0:7b4c00e3912f | 329 | { |
| sakthipriya | 9:194afacf7449 | 330 | if(ACS_STATE == 6) // check ACS_STATE = ACS_DETUMBLING_ONLY |
| sakthipriya | 0:7b4c00e3912f | 331 | { |
| sakthipriya | 0:7b4c00e3912f | 332 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 333 | printf("\n\r Entered detumbling \n"); |
| sakthipriya | 9:194afacf7449 | 334 | ACS_STATUS = 6; // set ACS_STATUS = ACS_DETUMBLING_ONLY |
| sakthipriya | 6:036d08b62785 | 335 | FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); // detumbling code has to be included |
| sakthipriya | 0:7b4c00e3912f | 336 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| sakthipriya | 0:7b4c00e3912f | 337 | } |
| sakthipriya | 0:7b4c00e3912f | 338 | else |
| sakthipriya | 0:7b4c00e3912f | 339 | { |
| sakthipriya | 0:7b4c00e3912f | 340 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 341 | printf("\n\r invalid state"); |
| sakthipriya | 9:194afacf7449 | 342 | ACS_STATUS = 7 ; // set ACS_STATUS = INVALID STATE |
| sakthipriya | 0:7b4c00e3912f | 343 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 344 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 345 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 346 | }//else of invalid |
| sakthipriya | 0:7b4c00e3912f | 347 | }//else of autocontrol |
| sakthipriya | 0:7b4c00e3912f | 348 | }//else of nominal |
| lakshya | 19:79e69017c855 | 349 | }//else of data acg failure |
| sakthipriya | 0:7b4c00e3912f | 350 | }//else fo z axis moment only |
| sakthipriya | 0:7b4c00e3912f | 351 | }//if power >2 |
| sakthipriya | 0:7b4c00e3912f | 352 | else |
| sakthipriya | 0:7b4c00e3912f | 353 | { |
| sakthipriya | 0:7b4c00e3912f | 354 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 355 | printf("\n\r low power"); |
| sakthipriya | 9:194afacf7449 | 356 | ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER |
| sakthipriya | 0:7b4c00e3912f | 357 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 358 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 359 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 360 | } |
| sakthipriya | 0:7b4c00e3912f | 361 | } //else for acs control off |
| lakshya | 19:79e69017c855 | 362 | |
| lakshya | 18:3662058a7c10 | 363 | printf("\n\rlow power crossed and pwm no hang"); |
| sakthipriya | 9:194afacf7449 | 364 | ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag |
| lakshya | 19:79e69017c855 | 365 | |
| lakshya | 19:79e69017c855 | 366 | t_acs.stop(); |
| lakshya | 19:79e69017c855 | 367 | printf("\n\r the time for acs is %f",(float)t_acs.read_ms()); |
| lakshya | 19:79e69017c855 | 368 | t_acs.reset(); |
| sakthipriya | 3:07e15677a75c | 369 | |
| sakthipriya | 0:7b4c00e3912f | 370 | } |
| lakshya | 19:79e69017c855 | 371 | |
| sakthipriya | 0:7b4c00e3912f | 372 | //***************************************************EPS THREAD***********************************************// |
| sakthipriya | 0:7b4c00e3912f | 373 | |
| sakthipriya | 3:07e15677a75c | 374 | void F_EPS() |
| lakshya | 19:79e69017c855 | 375 | { |
| lakshya | 19:79e69017c855 | 376 | t_eps.start(); |
| sakthipriya | 3:07e15677a75c | 377 | |
| sakthipriya | 0:7b4c00e3912f | 378 | pc.printf("\n\rEntered EPS %f\n",t_start.read()); |
| sakthipriya | 9:194afacf7449 | 379 | EPS_MAIN_STATUS = 1; // Set EPS main status |
| sakthipriya | 3:07e15677a75c | 380 | FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual); |
| lakshya | 19:79e69017c855 | 381 | pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]); |
| lakshya | 19:79e69017c855 | 382 | EPS_BATTERY_TEMP_STATUS = 1; //set EPS_BATTERY_TEMP_STATUS |
| lakshya | 19:79e69017c855 | 383 | if(EPS_BATTERY_HEAT_ENABLE == 1) |
| lakshya | 19:79e69017c855 | 384 | { |
| lakshya | 19:79e69017c855 | 385 | if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm |
| lakshya | 19:79e69017c855 | 386 | { |
| lakshya | 19:79e69017c855 | 387 | batt_heat = 1; //turn on battery heater |
| lakshya | 19:79e69017c855 | 388 | } |
| lakshya | 19:79e69017c855 | 389 | else |
| lakshya | 19:79e69017c855 | 390 | { |
| lakshya | 19:79e69017c855 | 391 | batt_heat = 0; //turn off battery heater |
| lakshya | 19:79e69017c855 | 392 | } |
| sakthipriya | 3:07e15677a75c | 393 | |
| lakshya | 19:79e69017c855 | 394 | } |
| lakshya | 19:79e69017c855 | 395 | else if(EPS_BATTERY_HEAT_ENABLE == 0) |
| lakshya | 19:79e69017c855 | 396 | { |
| lakshya | 19:79e69017c855 | 397 | EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED |
| lakshya | 19:79e69017c855 | 398 | } |
| sakthipriya | 0:7b4c00e3912f | 399 | FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual); |
| sakthipriya | 1:446a959e36ce | 400 | if (actual_data.Batt_gauge_actual[1] == 200) //data not received |
| sakthipriya | 0:7b4c00e3912f | 401 | { |
| lakshya | 19:79e69017c855 | 402 | actual_data.power_mode = 1; |
| lakshya | 19:79e69017c855 | 403 | EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS |
| sakthipriya | 0:7b4c00e3912f | 404 | |
| sakthipriya | 0:7b4c00e3912f | 405 | } |
| sakthipriya | 0:7b4c00e3912f | 406 | else |
| sakthipriya | 0:7b4c00e3912f | 407 | { |
| lakshya | 19:79e69017c855 | 408 | FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level |
| lakshya | 19:79e69017c855 | 409 | EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS |
| sakthipriya | 0:7b4c00e3912f | 410 | } |
| lakshya | 19:79e69017c855 | 411 | // if( Temperature data received) |
| sakthipriya | 3:07e15677a75c | 412 | //{ |
| lakshya | 19:79e69017c855 | 413 | //} |
| sakthipriya | 3:07e15677a75c | 414 | // else |
| sakthipriya | 3:07e15677a75c | 415 | // { |
| sakthipriya | 3:07e15677a75c | 416 | // Set battery temp to XX |
| sakthipriya | 9:194afacf7449 | 417 | // EPS_BATTERY_TEMP_STATUS = 0; //clear EPS_BATTERY_TEMP_STATUS |
| sakthipriya | 3:07e15677a75c | 418 | // EPS_STATUS = EPS_ERR_BATTERY_TEMP; |
| sakthipriya | 3:07e15677a75c | 419 | // } |
| sakthipriya | 3:07e15677a75c | 420 | FCTN_HK_MAIN(); |
| sakthipriya | 5:bb592f3185cc | 421 | FCTN_APPEND_HKDATA(); |
| sakthipriya | 5:bb592f3185cc | 422 | minMaxHkData(); |
| lakshya | 19:79e69017c855 | 423 | EPS_MAIN_STATUS = 0; // clear EPS main status |
| lakshya | 19:79e69017c855 | 424 | |
| lakshya | 19:79e69017c855 | 425 | t_eps.stop(); |
| lakshya | 19:79e69017c855 | 426 | printf("\n\r the time for eps is %f",(float)t_eps.read_ms()); |
| lakshya | 19:79e69017c855 | 427 | t_eps.reset(); |
| sakthipriya | 3:07e15677a75c | 428 | |
| sakthipriya | 0:7b4c00e3912f | 429 | } |
| sakthipriya | 0:7b4c00e3912f | 430 | |
| sakthipriya | 0:7b4c00e3912f | 431 | //**************************************************BCN THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 432 | |
| sakthipriya | 3:07e15677a75c | 433 | void F_BCN() |
| sakthipriya | 0:7b4c00e3912f | 434 | { |
| sakthipriya | 0:7b4c00e3912f | 435 | pc.printf("\n\rEntered BCN %f\n",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 436 | |
| Bragadeesh153 | 12:af1d7e18b868 | 437 | FCTN_BCN_TX_MAIN(); |
| sakthipriya | 0:7b4c00e3912f | 438 | |
| sakthipriya | 0:7b4c00e3912f | 439 | } |
| sakthipriya | 0:7b4c00e3912f | 440 | |
| sakthipriya | 0:7b4c00e3912f | 441 | //**************************************************TCTM THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 442 | |
| sakthipriya | 0:7b4c00e3912f | 443 | void T_TC(void const * args) |
| lakshya | 19:79e69017c855 | 444 | { |
| sakthipriya | 0:7b4c00e3912f | 445 | while(1) |
| lakshya | 19:79e69017c855 | 446 | { |
| lakshya | 19:79e69017c855 | 447 | Thread::signal_wait(0x4); |
| lakshya | 19:79e69017c855 | 448 | wait_us(200);// se if it can be changed |
| lakshya | 19:79e69017c855 | 449 | |
| lakshya | 19:79e69017c855 | 450 | /*SHOULD IT BE PLACED INSIDE OR OUTSIDE?*/ |
| lakshya | 19:79e69017c855 | 451 | BAE_I2CRX_STATUS=1; |
| lakshya | 19:79e69017c855 | 452 | FLAG(); |
| lakshya | 19:79e69017c855 | 453 | BAE_I2C_COUNTER++; |
| lakshya | 19:79e69017c855 | 454 | //printf("\n\rreached\n"); // can be between 38 to 15700 |
| lakshya | 19:79e69017c855 | 455 | if( slave.receive() == 0) |
| lakshya | 19:79e69017c855 | 456 | { |
| lakshya | 19:79e69017c855 | 457 | slave.stop(); |
| lakshya | 19:79e69017c855 | 458 | //printf("\n\rnot send\n"); |
| lakshya | 15:e09aaaccf134 | 459 | } |
| lakshya | 19:79e69017c855 | 460 | else if( slave.receive() == 1) // slave writes to master |
| sakthipriya | 5:bb592f3185cc | 461 | { |
| lakshya | 19:79e69017c855 | 462 | if(data_send_flag == 'h') |
| lakshya | 19:79e69017c855 | 463 | { |
| lakshya | 19:79e69017c855 | 464 | irpt_2_mstr =1;// wait till cdms code is changed |
| lakshya | 19:79e69017c855 | 465 | |
| lakshya | 19:79e69017c855 | 466 | FCTN_APPEND_HKDATA(); |
| lakshya | 19:79e69017c855 | 467 | // pc.printf("\n\r here"); |
| lakshya | 19:79e69017c855 | 468 | write_ack=slave.write(BAE_chardata,74); |
| lakshya | 19:79e69017c855 | 469 | if(write_ack==0)// wait till cdms code is changed |
| lakshya | 19:79e69017c855 | 470 | |
| lakshya | 19:79e69017c855 | 471 | { |
| lakshya | 19:79e69017c855 | 472 | irpt_2_mstr = 0; |
| lakshya | 19:79e69017c855 | 473 | printf("\n\rgot interrupt\n"); |
| lakshya | 19:79e69017c855 | 474 | } |
| lakshya | 19:79e69017c855 | 475 | } |
| lakshya | 19:79e69017c855 | 476 | else if(data_send_flag == 't') |
| lakshya | 19:79e69017c855 | 477 | { |
| lakshya | 19:79e69017c855 | 478 | write_ack=slave.write((char*)telemetry,tm_len); |
| lakshya | 19:79e69017c855 | 479 | data_send_flag = 'h'; |
| lakshya | 19:79e69017c855 | 480 | if(write_ack==0) |
| lakshya | 19:79e69017c855 | 481 | irpt_2_mstr = 0; |
| lakshya | 19:79e69017c855 | 482 | } |
| lakshya | 19:79e69017c855 | 483 | } |
| lakshya | 19:79e69017c855 | 484 | else if( slave.receive()==3 || slave.receive()==2) // slave read |
| lakshya | 19:79e69017c855 | 485 | { |
| lakshya | 19:79e69017c855 | 486 | read_ack=slave.read(telecommand,tc_len); |
| lakshya | 19:79e69017c855 | 487 | t_tc.start(); |
| lakshya | 19:79e69017c855 | 488 | //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand); |
| lakshya | 19:79e69017c855 | 489 | pc.printf("\n\r Executing Telecommand \n"); |
| lakshya | 19:79e69017c855 | 490 | // FCTN_TC_DECODE((uint8_t*) telecommand); |
| sakthipriya | 7:a46a1dee4497 | 491 | |
| lakshya | 19:79e69017c855 | 492 | FCTN_BAE_TM_TC((uint8_t*) telecommand); |
| lakshya | 19:79e69017c855 | 493 | //telemetry = (char*)temp; |
| sakthipriya | 7:a46a1dee4497 | 494 | |
| lakshya | 19:79e69017c855 | 495 | FCTN_TM(); |
| lakshya | 19:79e69017c855 | 496 | t_tc.stop(); |
| lakshya | 19:79e69017c855 | 497 | printf("\n\r time taken %d",t_tc.read_us()); |
| lakshya | 19:79e69017c855 | 498 | t_tc.reset(); |
| lakshya | 19:79e69017c855 | 499 | // for(int i = 0; i<134; i++) |
| lakshya | 19:79e69017c855 | 500 | //pc.printf("%c", telemetry[i]); |
| lakshya | 19:79e69017c855 | 501 | } |
| sakthipriya | 0:7b4c00e3912f | 502 | |
| sakthipriya | 6:036d08b62785 | 503 | |
| lakshya | 19:79e69017c855 | 504 | /*implemented when cdms send telecommand as t and long bcn data seperately |
| lakshya | 19:79e69017c855 | 505 | { |
| lakshya | 19:79e69017c855 | 506 | read_ack=slave.read(telecommand,tc_len); |
| lakshya | 19:79e69017c855 | 507 | t_tc.start(); |
| lakshya | 19:79e69017c855 | 508 | |
| lakshya | 19:79e69017c855 | 509 | //*code for differentiating wether the given data is tc or long beacon asssuming the first bit differentiate |
| lakshya | 19:79e69017c855 | 510 | if(telecommand[0]=='t') //*i.e telecommand is recieved |
| lakshya | 19:79e69017c855 | 511 | { |
| lakshya | 19:79e69017c855 | 512 | pc.printf("\n\r data is = %x ",telecommand[0]); |
| lakshya | 19:79e69017c855 | 513 | //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand); |
| lakshya | 19:79e69017c855 | 514 | pc.printf("\n\r Executing Telecommand "); |
| lakshya | 19:79e69017c855 | 515 | // FCTN_TC_DECODE((uint8_t*) telecommand); |
| lakshya | 19:79e69017c855 | 516 | |
| lakshya | 19:79e69017c855 | 517 | FCTN_BAE_TM_TC((uint8_t*) telecommand); |
| lakshya | 19:79e69017c855 | 518 | //telemetry = (char*)temp; |
| lakshya | 19:79e69017c855 | 519 | |
| lakshya | 19:79e69017c855 | 520 | FCTN_TM(); |
| lakshya | 19:79e69017c855 | 521 | /// t_tc.stop(); |
| lakshya | 19:79e69017c855 | 522 | /// printf("\n\r time taken %d",t_tc.read_us()); |
| lakshya | 19:79e69017c855 | 523 | /// t_tc.reset(); |
| lakshya | 19:79e69017c855 | 524 | // for(int i = 0; i<134; i++) |
| lakshya | 19:79e69017c855 | 525 | //pc.printf("%c", telemetry[i]); |
| lakshya | 19:79e69017c855 | 526 | } |
| lakshya | 19:79e69017c855 | 527 | |
| lakshya | 19:79e69017c855 | 528 | else if(telecommand[0]=='l') //*i.e long beacon data is recieved* / |
| lakshya | 19:79e69017c855 | 529 | { |
| lakshya | 19:79e69017c855 | 530 | pc.printf("\n\r sending the long beacon data "); |
| lakshya | 19:79e69017c855 | 531 | /*if data is to send as in uint8 format if it is to be send as char |
| lakshya | 19:79e69017c855 | 532 | then just forward it without converting* / |
| lakshya | 19:79e69017c855 | 533 | //*creating a new function here to update the long beacon data everytime cdms sends it* / |
| lakshya | 19:79e69017c855 | 534 | LONG_BCN_DATA((uint8_t*)telecommand); |
| lakshya | 19:79e69017c855 | 535 | //here long beacon structure change |
| lakshya | 19:79e69017c855 | 536 | /// t_tc.stop(); |
| lakshya | 19:79e69017c855 | 537 | /// printf("\n\r time taken %d",t_tc.read_us()); |
| lakshya | 19:79e69017c855 | 538 | /// t_tc.reset(); |
| lakshya | 19:79e69017c855 | 539 | } |
| lakshya | 19:79e69017c855 | 540 | else |
| lakshya | 19:79e69017c855 | 541 | { |
| lakshya | 19:79e69017c855 | 542 | pc.printf("\n\r none of case met a miss "); |
| lakshya | 19:79e69017c855 | 543 | /// t_tc.stop(); |
| lakshya | 19:79e69017c855 | 544 | /// printf("\n\r time taken %d",t_tc.read_us()); |
| lakshya | 19:79e69017c855 | 545 | /// t_tc.reset(); |
| lakshya | 19:79e69017c855 | 546 | } |
| lakshya | 19:79e69017c855 | 547 | |
| lakshya | 19:79e69017c855 | 548 | t_tc.stop(); |
| lakshya | 19:79e69017c855 | 549 | printf("\n\r time taken %d",t_tc.read_us()); |
| lakshya | 19:79e69017c855 | 550 | t_tc.reset(); |
| lakshya | 19:79e69017c855 | 551 | |
| lakshya | 19:79e69017c855 | 552 | } |
| lakshya | 19:79e69017c855 | 553 | */ |
| lakshya | 19:79e69017c855 | 554 | BAE_I2CRX_STATUS=0; |
| lakshya | 19:79e69017c855 | 555 | FLAG(); |
| lakshya | 19:79e69017c855 | 556 | |
| lakshya | 19:79e69017c855 | 557 | } |
| sakthipriya | 0:7b4c00e3912f | 558 | } |
| sakthipriya | 0:7b4c00e3912f | 559 | |
| sakthipriya | 0:7b4c00e3912f | 560 | void FCTN_TM() |
| sakthipriya | 0:7b4c00e3912f | 561 | { |
| sakthipriya | 4:39a4ae8c7ecd | 562 | //irpt_2_mstr = 0; |
| sakthipriya | 5:bb592f3185cc | 563 | data_send_flag = 't'; |
| sakthipriya | 0:7b4c00e3912f | 564 | pc.printf("\n\r Telemetry Generation \n"); |
| sakthipriya | 0:7b4c00e3912f | 565 | irpt_2_mstr = 1; |
| sakthipriya | 0:7b4c00e3912f | 566 | } |
| sakthipriya | 0:7b4c00e3912f | 567 | |
| sakthipriya | 0:7b4c00e3912f | 568 | |
| sakthipriya | 0:7b4c00e3912f | 569 | //******************************************************* I2C *******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 570 | |
| sakthipriya | 0:7b4c00e3912f | 571 | void FCTN_I2C_ISR() |
| sakthipriya | 0:7b4c00e3912f | 572 | { |
| sakthipriya | 0:7b4c00e3912f | 573 | ptr_t_i2c->signal_set(0x4); |
| sakthipriya | 0:7b4c00e3912f | 574 | } |
| sakthipriya | 0:7b4c00e3912f | 575 | |
| sakthipriya | 0:7b4c00e3912f | 576 | |
| sakthipriya | 5:bb592f3185cc | 577 | //***********************************************************FAULTS***************************************************************// |
| sakthipriya | 5:bb592f3185cc | 578 | /*void ir1clear() |
| sakthipriya | 5:bb592f3185cc | 579 | { |
| sakthipriya | 5:bb592f3185cc | 580 | actual_data.faultIr_status |= 0x01; // alert |
| sakthipriya | 5:bb592f3185cc | 581 | |
| sakthipriya | 5:bb592f3185cc | 582 | }*/ |
| sakthipriya | 5:bb592f3185cc | 583 | |
| sakthipriya | 5:bb592f3185cc | 584 | |
| sakthipriya | 5:bb592f3185cc | 585 | |
| sakthipriya | 5:bb592f3185cc | 586 | void ir2clear() |
| sakthipriya | 5:bb592f3185cc | 587 | { |
| sakthipriya | 5:bb592f3185cc | 588 | actual_data.faultIr_status |= 0x02; |
| Bragadeesh153 | 13:fb7facaf308b | 589 | TRXY_SW = 0; // Switch off TR XY |
| sakthipriya | 5:bb592f3185cc | 590 | if1check = 1; |
| sakthipriya | 5:bb592f3185cc | 591 | } |
| sakthipriya | 5:bb592f3185cc | 592 | |
| sakthipriya | 5:bb592f3185cc | 593 | void ir3clear() |
| sakthipriya | 5:bb592f3185cc | 594 | { |
| sakthipriya | 5:bb592f3185cc | 595 | actual_data.faultIr_status |= 0x04; |
| Bragadeesh153 | 13:fb7facaf308b | 596 | DRV_Z_EN = 0; |
| sakthipriya | 5:bb592f3185cc | 597 | wait_us(1); |
| Bragadeesh153 | 13:fb7facaf308b | 598 | DRV_Z_EN = 1; |
| sakthipriya | 5:bb592f3185cc | 599 | |
| sakthipriya | 5:bb592f3185cc | 600 | } |
| sakthipriya | 5:bb592f3185cc | 601 | |
| sakthipriya | 5:bb592f3185cc | 602 | void ir4clear() |
| sakthipriya | 5:bb592f3185cc | 603 | { |
| sakthipriya | 5:bb592f3185cc | 604 | if2check = 1; |
| sakthipriya | 5:bb592f3185cc | 605 | actual_data.faultIr_status |= 0x08; |
| sakthipriya | 5:bb592f3185cc | 606 | TRZ_SW = 0; |
| sakthipriya | 5:bb592f3185cc | 607 | } |
| sakthipriya | 5:bb592f3185cc | 608 | |
| sakthipriya | 5:bb592f3185cc | 609 | void ir5clear() |
| sakthipriya | 5:bb592f3185cc | 610 | { |
| sakthipriya | 5:bb592f3185cc | 611 | actual_data.faultIr_status |= 0x10; |
| sakthipriya | 5:bb592f3185cc | 612 | CDMS_RESET = 0; |
| sakthipriya | 5:bb592f3185cc | 613 | wait_us(1); |
| sakthipriya | 5:bb592f3185cc | 614 | CDMS_RESET = 1; |
| sakthipriya | 5:bb592f3185cc | 615 | } |
| sakthipriya | 5:bb592f3185cc | 616 | |
| sakthipriya | 5:bb592f3185cc | 617 | void ir6clear() |
| sakthipriya | 5:bb592f3185cc | 618 | { |
| sakthipriya | 5:bb592f3185cc | 619 | actual_data.faultIr_status |= 0x20; |
| sakthipriya | 5:bb592f3185cc | 620 | BCN_SW = 0; |
| sakthipriya | 5:bb592f3185cc | 621 | wait_us(1); |
| sakthipriya | 5:bb592f3185cc | 622 | BCN_SW = 1; |
| sakthipriya | 5:bb592f3185cc | 623 | } |
| sakthipriya | 5:bb592f3185cc | 624 | |
| sakthipriya | 5:bb592f3185cc | 625 | void ir7clear() |
| sakthipriya | 5:bb592f3185cc | 626 | { |
| sakthipriya | 5:bb592f3185cc | 627 | actual_data.faultIr_status |= 0x40; |
| sakthipriya | 5:bb592f3185cc | 628 | } |
| sakthipriya | 5:bb592f3185cc | 629 | uint8_t iter2=0,iter4 = 0; |
| sakthipriya | 5:bb592f3185cc | 630 | |
| sakthipriya | 5:bb592f3185cc | 631 | |
| sakthipriya | 5:bb592f3185cc | 632 | |
| sakthipriya | 5:bb592f3185cc | 633 | void pollfault() |
| sakthipriya | 5:bb592f3185cc | 634 | { |
| sakthipriya | 5:bb592f3185cc | 635 | |
| sakthipriya | 5:bb592f3185cc | 636 | |
| sakthipriya | 5:bb592f3185cc | 637 | |
| sakthipriya | 5:bb592f3185cc | 638 | if (pf1==0) // OC_ATS1 |
| sakthipriya | 5:bb592f3185cc | 639 | { |
| sakthipriya | 5:bb592f3185cc | 640 | pf1check=1; |
| sakthipriya | 5:bb592f3185cc | 641 | actual_data.faultPoll_status |=0x01 ; |
| sakthipriya | 9:194afacf7449 | 642 | ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS |
| sakthipriya | 5:bb592f3185cc | 643 | } |
| sakthipriya | 5:bb592f3185cc | 644 | else actual_data.faultPoll_status &= 0xFE; |
| sakthipriya | 5:bb592f3185cc | 645 | |
| sakthipriya | 5:bb592f3185cc | 646 | if (pf2==0) |
| sakthipriya | 5:bb592f3185cc | 647 | { |
| sakthipriya | 5:bb592f3185cc | 648 | pf2check=1; |
| sakthipriya | 5:bb592f3185cc | 649 | actual_data.faultPoll_status |=0x02 ; |
| sakthipriya | 9:194afacf7449 | 650 | ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS |
| sakthipriya | 5:bb592f3185cc | 651 | } |
| sakthipriya | 5:bb592f3185cc | 652 | else actual_data.faultPoll_status &= 0xFD; |
| sakthipriya | 5:bb592f3185cc | 653 | |
| sakthipriya | 5:bb592f3185cc | 654 | if (pf3==0) |
| sakthipriya | 5:bb592f3185cc | 655 | { actual_data.faultPoll_status |=0x04 ; |
| Bragadeesh153 | 13:fb7facaf308b | 656 | DRV_XY_EN = 0; |
| sakthipriya | 5:bb592f3185cc | 657 | wait_us(1); |
| Bragadeesh153 | 13:fb7facaf308b | 658 | DRV_XY_EN = 1; |
| sakthipriya | 5:bb592f3185cc | 659 | } |
| sakthipriya | 5:bb592f3185cc | 660 | else actual_data.faultPoll_status &= 0xFB; |
| sakthipriya | 5:bb592f3185cc | 661 | |
| sakthipriya | 5:bb592f3185cc | 662 | |
| sakthipriya | 5:bb592f3185cc | 663 | |
| sakthipriya | 5:bb592f3185cc | 664 | |
| sakthipriya | 5:bb592f3185cc | 665 | /*if (ir1==1) |
| sakthipriya | 5:bb592f3185cc | 666 | { |
| sakthipriya | 5:bb592f3185cc | 667 | actual_data.faultIr_status &=0xFE; |
| sakthipriya | 5:bb592f3185cc | 668 | }*/ |
| lakshya | 14:a9588f443f1a | 669 | |
| sakthipriya | 5:bb592f3185cc | 670 | if (ir2==1) |
| sakthipriya | 5:bb592f3185cc | 671 | { |
| sakthipriya | 5:bb592f3185cc | 672 | actual_data.faultIr_status &=0xFD; |
| sakthipriya | 5:bb592f3185cc | 673 | } |
| sakthipriya | 5:bb592f3185cc | 674 | if (ir3==1) |
| sakthipriya | 5:bb592f3185cc | 675 | { |
| sakthipriya | 5:bb592f3185cc | 676 | actual_data.faultIr_status &=0xFB; |
| sakthipriya | 5:bb592f3185cc | 677 | } |
| sakthipriya | 5:bb592f3185cc | 678 | if (ir4==1) |
| sakthipriya | 5:bb592f3185cc | 679 | { |
| sakthipriya | 5:bb592f3185cc | 680 | actual_data.faultIr_status &=0xF7; |
| sakthipriya | 5:bb592f3185cc | 681 | } |
| sakthipriya | 5:bb592f3185cc | 682 | if (ir5==1) |
| sakthipriya | 5:bb592f3185cc | 683 | { |
| sakthipriya | 5:bb592f3185cc | 684 | actual_data.faultIr_status &=0xEF; |
| sakthipriya | 5:bb592f3185cc | 685 | } |
| sakthipriya | 5:bb592f3185cc | 686 | if (ir6==1) |
| sakthipriya | 5:bb592f3185cc | 687 | { |
| sakthipriya | 5:bb592f3185cc | 688 | actual_data.faultIr_status &=0xDF; |
| sakthipriya | 5:bb592f3185cc | 689 | }if (ir7==1) |
| sakthipriya | 5:bb592f3185cc | 690 | { |
| sakthipriya | 5:bb592f3185cc | 691 | actual_data.faultIr_status &=0xBF; |
| sakthipriya | 5:bb592f3185cc | 692 | } |
| lakshya | 14:a9588f443f1a | 693 | |
| sakthipriya | 5:bb592f3185cc | 694 | |
| sakthipriya | 5:bb592f3185cc | 695 | } |
| sakthipriya | 5:bb592f3185cc | 696 | |
| sakthipriya | 5:bb592f3185cc | 697 | |
| sakthipriya | 0:7b4c00e3912f | 698 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| sakthipriya | 0:7b4c00e3912f | 699 | //SCHEDULER |
| sakthipriya | 0:7b4c00e3912f | 700 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| sakthipriya | 0:7b4c00e3912f | 701 | uint8_t schedcount=1; |
| sakthipriya | 0:7b4c00e3912f | 702 | void T_SC(void const *args) |
| sakthipriya | 0:7b4c00e3912f | 703 | { |
| lakshya | 19:79e69017c855 | 704 | /// printf("\n\r in scheduler"); |
| lakshya | 19:79e69017c855 | 705 | |
| lakshya | 19:79e69017c855 | 706 | /*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 | 707 | |
| sakthipriya | 0:7b4c00e3912f | 708 | if(schedcount == 7) //to reset the counter |
| sakthipriya | 0:7b4c00e3912f | 709 | { |
| sakthipriya | 0:7b4c00e3912f | 710 | schedcount = 1; |
| sakthipriya | 0:7b4c00e3912f | 711 | } |
| sakthipriya | 0:7b4c00e3912f | 712 | if(schedcount%1==0) |
| lakshya | 19:79e69017c855 | 713 | { |
| lakshya | 19:79e69017c855 | 714 | if( BAE_STANDBY!=0x02 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07) |
| lakshya | 19:79e69017c855 | 715 | { |
| lakshya | 19:79e69017c855 | 716 | pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE); |
| lakshya | 19:79e69017c855 | 717 | F_ACS(); |
| lakshya | 19:79e69017c855 | 718 | } |
| sakthipriya | 0:7b4c00e3912f | 719 | } |
| sakthipriya | 0:7b4c00e3912f | 720 | |
| sakthipriya | 0:7b4c00e3912f | 721 | if(schedcount%2==0) |
| lakshya | 19:79e69017c855 | 722 | { |
| lakshya | 19:79e69017c855 | 723 | if( BAE_STANDBY!=0x01 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x07) |
| lakshya | 19:79e69017c855 | 724 | F_EPS(); |
| sakthipriya | 0:7b4c00e3912f | 725 | } |
| lakshya | 16:f9e484dc505e | 726 | if(schedcount%3==0) |
| lakshya | 19:79e69017c855 | 727 | { |
| lakshya | 19:79e69017c855 | 728 | if(BAE_STANDBY!=0x04 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07) |
| lakshya | 19:79e69017c855 | 729 | F_BCN(); |
| sakthipriya | 0:7b4c00e3912f | 730 | } |
| sakthipriya | 0:7b4c00e3912f | 731 | schedcount++; |
| lakshya | 19:79e69017c855 | 732 | printf("\n\r exited scheduler h"); |
| lakshya | 18:3662058a7c10 | 733 | printf("\n\r time taken %f",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 734 | } |
| sakthipriya | 0:7b4c00e3912f | 735 | |
| sakthipriya | 0:7b4c00e3912f | 736 | Timer t_flag; |
| lakshya | 19:79e69017c855 | 737 | |
| sakthipriya | 0:7b4c00e3912f | 738 | void FLAG() |
| sakthipriya | 0:7b4c00e3912f | 739 | { |
| lakshya | 19:79e69017c855 | 740 | |
| lakshya | 19:79e69017c855 | 741 | //.............bae..................// |
| lakshya | 19:79e69017c855 | 742 | if(BAE_INIT_STATUS == 1) |
| lakshya | 19:79e69017c855 | 743 | BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001; |
| lakshya | 19:79e69017c855 | 744 | else if(BAE_INIT_STATUS == 0) |
| lakshya | 19:79e69017c855 | 745 | BAE_STATUS &= 0xFFFFFFFE; |
| lakshya | 19:79e69017c855 | 746 | |
| lakshya | 19:79e69017c855 | 747 | if(BAE_I2CRX_STATUS == 1) |
| lakshya | 19:79e69017c855 | 748 | BAE_STATUS = BAE_STATUS | 0x00000002; |
| lakshya | 19:79e69017c855 | 749 | if(BAE_I2CRX_STATUS == 0) |
| lakshya | 19:79e69017c855 | 750 | BAE_STATUS &= 0xFFFFFFFD; |
| sakthipriya | 0:7b4c00e3912f | 751 | //.............acs..................// |
| sakthipriya | 9:194afacf7449 | 752 | if(ACS_INIT_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 753 | BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag |
| sakthipriya | 9:194afacf7449 | 754 | else if(ACS_INIT_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 755 | BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 756 | |
| sakthipriya | 9:194afacf7449 | 757 | if(ACS_DATA_ACQ_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 758 | BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 9:194afacf7449 | 759 | else if(ACS_DATA_ACQ_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 760 | BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 761 | |
| sakthipriya | 9:194afacf7449 | 762 | if(ACS_ATS_ENABLE == 1) |
| sakthipriya | 0:7b4c00e3912f | 763 | BAE_ENABLE |= 0x00000004; |
| sakthipriya | 9:194afacf7449 | 764 | else if(ACS_ATS_ENABLE == 0) |
| sakthipriya | 0:7b4c00e3912f | 765 | BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004; |
| sakthipriya | 0:7b4c00e3912f | 766 | |
| sakthipriya | 0:7b4c00e3912f | 767 | if(ACS_DATA_ACQ_STATUS == 'f') |
| sakthipriya | 0:7b4c00e3912f | 768 | BAE_STATUS |= 0x00000200; |
| sakthipriya | 0:7b4c00e3912f | 769 | |
| sakthipriya | 9:194afacf7449 | 770 | if(ACS_MAIN_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 771 | BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag |
| sakthipriya | 9:194afacf7449 | 772 | else if(ACS_MAIN_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 773 | BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 774 | |
| sakthipriya | 0:7b4c00e3912f | 775 | if(ACS_STATUS == '0') |
| sakthipriya | 0:7b4c00e3912f | 776 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 777 | else if(ACS_STATUS == '1') |
| sakthipriya | 0:7b4c00e3912f | 778 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER |
| sakthipriya | 0:7b4c00e3912f | 779 | else if(ACS_STATUS == '2') |
| sakthipriya | 0:7b4c00e3912f | 780 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 781 | else if(ACS_STATUS == '3') |
| sakthipriya | 0:7b4c00e3912f | 782 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 783 | else if(ACS_STATUS == '4') |
| sakthipriya | 0:7b4c00e3912f | 784 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 785 | else if(ACS_STATUS == '5') |
| sakthipriya | 0:7b4c00e3912f | 786 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 787 | else if(ACS_STATUS == '6') |
| sakthipriya | 0:7b4c00e3912f | 788 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY |
| sakthipriya | 0:7b4c00e3912f | 789 | else |
| sakthipriya | 0:7b4c00e3912f | 790 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE |
| sakthipriya | 0:7b4c00e3912f | 791 | |
| sakthipriya | 0:7b4c00e3912f | 792 | if(ACS_STATE == '0') |
| sakthipriya | 0:7b4c00e3912f | 793 | BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 794 | else if(ACS_STATE == '2') |
| sakthipriya | 0:7b4c00e3912f | 795 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 796 | else if(ACS_STATE == '3') |
| sakthipriya | 0:7b4c00e3912f | 797 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 798 | else if(ACS_STATE == '4') |
| sakthipriya | 0:7b4c00e3912f | 799 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 800 | else if(ACS_STATE == '5') |
| sakthipriya | 0:7b4c00e3912f | 801 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 802 | else if(ACS_STATE == '6') |
| sakthipriya | 0:7b4c00e3912f | 803 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 804 | |
| sakthipriya | 0:7b4c00e3912f | 805 | //...............eps......................// |
| sakthipriya | 5:bb592f3185cc | 806 | |
| sakthipriya | 5:bb592f3185cc | 807 | |
| sakthipriya | 9:194afacf7449 | 808 | if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS |
| sakthipriya | 5:bb592f3185cc | 809 | BAE_STATUS |= 0x00010000; |
| sakthipriya | 9:194afacf7449 | 810 | else if(EPS_INIT_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 811 | BAE_STATUS &= 0xFFFEFFFF; |
| sakthipriya | 5:bb592f3185cc | 812 | |
| sakthipriya | 5:bb592f3185cc | 813 | |
| sakthipriya | 9:194afacf7449 | 814 | if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS |
| sakthipriya | 5:bb592f3185cc | 815 | BAE_STATUS |= 0x00040000; |
| sakthipriya | 9:194afacf7449 | 816 | else if(EPS_MAIN_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 817 | BAE_STATUS &= 0xFFFBFFFF; |
| sakthipriya | 5:bb592f3185cc | 818 | |
| sakthipriya | 5:bb592f3185cc | 819 | |
| sakthipriya | 9:194afacf7449 | 820 | if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS |
| sakthipriya | 5:bb592f3185cc | 821 | BAE_STATUS |= 0x00020000; |
| sakthipriya | 9:194afacf7449 | 822 | else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 823 | BAE_STATUS &= 0xFFFDFFFF; |
| sakthipriya | 5:bb592f3185cc | 824 | |
| sakthipriya | 5:bb592f3185cc | 825 | |
| sakthipriya | 9:194afacf7449 | 826 | if (EPS_BATTERY_TEMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS |
| sakthipriya | 5:bb592f3185cc | 827 | BAE_STATUS |= 0x00080000; |
| sakthipriya | 9:194afacf7449 | 828 | else if(EPS_BATTERY_TEMP_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 829 | BAE_STATUS &= 0xFFF7FFFF; |
| sakthipriya | 5:bb592f3185cc | 830 | |
| sakthipriya | 5:bb592f3185cc | 831 | if (EPS_STATUS==0) |
| sakthipriya | 5:bb592f3185cc | 832 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP |
| sakthipriya | 5:bb592f3185cc | 833 | else if (EPS_STATUS==1) |
| sakthipriya | 5:bb592f3185cc | 834 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED |
| sakthipriya | 5:bb592f3185cc | 835 | else if (EPS_STATUS==2) |
| sakthipriya | 5:bb592f3185cc | 836 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF |
| sakthipriya | 5:bb592f3185cc | 837 | else if (EPS_STATUS==3) |
| sakthipriya | 5:bb592f3185cc | 838 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON |
| sakthipriya | 5:bb592f3185cc | 839 | else if (EPS_STATUS==4) |
| sakthipriya | 5:bb592f3185cc | 840 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF |
| sakthipriya | 5:bb592f3185cc | 841 | else if (EPS_STATUS==5) |
| sakthipriya | 5:bb592f3185cc | 842 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON |
| sakthipriya | 5:bb592f3185cc | 843 | |
| sakthipriya | 5:bb592f3185cc | 844 | |
| sakthipriya | 9:194afacf7449 | 845 | if(EPS_BATTERY_HEAT_ENABLE == 1) |
| sakthipriya | 5:bb592f3185cc | 846 | BAE_ENABLE |= 0x00000080; |
| sakthipriya | 9:194afacf7449 | 847 | else if(EPS_BATTERY_HEAT_ENABLE == 0) |
| sakthipriya | 5:bb592f3185cc | 848 | BAE_ENABLE = BAE_ENABLE &0xFFFFFF7; |
| sakthipriya | 3:07e15677a75c | 849 | |
| sakthipriya | 0:7b4c00e3912f | 850 | |
| sakthipriya | 0:7b4c00e3912f | 851 | |
| sakthipriya | 0:7b4c00e3912f | 852 | pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE); |
| sakthipriya | 0:7b4c00e3912f | 853 | } |
| sakthipriya | 0:7b4c00e3912f | 854 | |
| sakthipriya | 0:7b4c00e3912f | 855 | void FCTN_BAE_INIT() |
| sakthipriya | 0:7b4c00e3912f | 856 | { |
| lakshya | 16:f9e484dc505e | 857 | printf("\n\r Initialising BAE _________________________________________________________________________________"); |
| lakshya | 19:79e69017c855 | 858 | BAE_INIT_STATUS=1; |
| lakshya | 19:79e69017c855 | 859 | FLAG(); |
| lakshya | 19:79e69017c855 | 860 | |
| sakthipriya | 3:07e15677a75c | 861 | //..........intial status....// |
| Bragadeesh153 | 13:fb7facaf308b | 862 | ACS_STATE = 4; |
| sakthipriya | 9:194afacf7449 | 863 | ACS_ATS_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 864 | ACS_DATA_ACQ_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 865 | EPS_BATTERY_HEAT_ENABLE = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 866 | actual_data.power_mode=3; |
| lakshya | 19:79e69017c855 | 867 | |
| sakthipriya | 9:194afacf7449 | 868 | //............intializing pins................// |
| sakthipriya | 9:194afacf7449 | 869 | ATS1_SW_ENABLE = 0; |
| sakthipriya | 9:194afacf7449 | 870 | ATS2_SW_ENABLE = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 871 | |
| Bragadeesh153 | 13:fb7facaf308b | 872 | DRV_XY_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 873 | DRV_Z_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 874 | TRZ_SW = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 875 | TRXY_SW = 1; |
| sakthipriya | 9:194afacf7449 | 876 | |
| lakshya | 19:79e69017c855 | 877 | //...........order mentioned in flow chart.................// |
| sakthipriya | 3:07e15677a75c | 878 | FCTN_ACS_INIT(); |
| lakshya | 17:fc782f7548c6 | 879 | FCTN_EPS_INIT(); |
| lakshya | 18:3662058a7c10 | 880 | FCTN_BCN_INIT(); |
| lakshya | 19:79e69017c855 | 881 | |
| lakshya | 19:79e69017c855 | 882 | 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 | 19:79e69017c855 | 883 | uint32_t data_modify=data_flash & 0x000000FF; |
| lakshya | 19:79e69017c855 | 884 | data_modify +=1; |
| lakshya | 19:79e69017c855 | 885 | data_modify |=data_flash; |
| lakshya | 19:79e69017c855 | 886 | FCTN_BAE_WR_FLASH(0,data_modify) |
| lakshya | 19:79e69017c855 | 887 | printf("\n\rthe number of reset %d",data_modify); |
| sakthipriya | 3:07e15677a75c | 888 | |
| lakshya | 19:79e69017c855 | 889 | BAE_INIT_STATUS=0; |
| sakthipriya | 0:7b4c00e3912f | 890 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 891 | } |
| sakthipriya | 0:7b4c00e3912f | 892 | |
| sakthipriya | 0:7b4c00e3912f | 893 | int main() |
| sakthipriya | 0:7b4c00e3912f | 894 | { |
| lakshya | 19:79e69017c855 | 895 | pc.printf("\n\r BAE Activated. Testing Version 1.2 \n"); |
| Bragadeesh153 | 13:fb7facaf308b | 896 | CDMS_RESET = 1; |
| lakshya | 19:79e69017c855 | 897 | |
| lakshya | 19:79e69017c855 | 898 | /*BCN_FEN == 0 //dummy implementation removed */ |
| Bragadeesh153 | 13:fb7facaf308b | 899 | //FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 900 | FCTN_BAE_INIT(); |
| sakthipriya | 3:07e15677a75c | 901 | |
| sakthipriya | 0:7b4c00e3912f | 902 | slave.address(addr); |
| sakthipriya | 0:7b4c00e3912f | 903 | irpt_2_mstr = 0; |
| sakthipriya | 0:7b4c00e3912f | 904 | |
| sakthipriya | 0:7b4c00e3912f | 905 | ptr_t_i2c = new Thread(T_TC); |
| sakthipriya | 0:7b4c00e3912f | 906 | ptr_t_i2c->set_priority(osPriorityHigh); |
| sakthipriya | 5:bb592f3185cc | 907 | |
| sakthipriya | 0:7b4c00e3912f | 908 | irpt_4m_mstr.enable_irq(); |
| sakthipriya | 0:7b4c00e3912f | 909 | irpt_4m_mstr.rise(&FCTN_I2C_ISR); |
| lakshya | 19:79e69017c855 | 910 | |
| sakthipriya | 0:7b4c00e3912f | 911 | RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread |
| sakthipriya | 0:7b4c00e3912f | 912 | t_sc_timer.start(10000); |
| sakthipriya | 0:7b4c00e3912f | 913 | t_start.start(); |
| sakthipriya | 0:7b4c00e3912f | 914 | pc.printf("\n\rStarted scheduler %f\n\r",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 915 | |
| lakshya | 19:79e69017c855 | 916 | /*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 | 19:79e69017c855 | 917 | //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce); |
| lakshya | 19:79e69017c855 | 918 | |
| lakshya | 19:79e69017c855 | 919 | /*static allocation*/ |
| lakshya | 19:79e69017c855 | 920 | RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce); |
| lakshya | 19:79e69017c855 | 921 | BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER; |
| lakshya | 18:3662058a7c10 | 922 | |
| lakshya | 18:3662058a7c10 | 923 | RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce); |
| lakshya | 18:3662058a7c10 | 924 | /*later change it to 30 min 1800 seconds*/ |
| lakshya | 19:79e69017c855 | 925 | bcn_start_timer.start(20000); |
| lakshya | 18:3662058a7c10 | 926 | |
| sakthipriya | 0:7b4c00e3912f | 927 | while(1); //required to prevent main from terminating |
| sakthipriya | 3:07e15677a75c | 928 | } |
| sakthipriya | 3:07e15677a75c | 929 |