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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

main.cpp@61:9348606edee2, 2016-10-28 (annotated)

Committer:
Bragadeesh153
Date:
Fri Oct 28 10:02:40 2016 +0000
Revision:
61:9348606edee2
Parent:
59:0fc0bfafaa9f
Child:
63:55d32e7dcad7
TR switch enable also updated apart from driver enable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lakshya 49:61c9f28332ba 1
lakshya 49:61c9f28332ba 2
sakthipriya 0:7b4c00e3912f 3 #include "mbed.h"
sakthipriya 0:7b4c00e3912f 4 #include "rtos.h"
sakthipriya 0:7b4c00e3912f 5 #include "pin_config.h"
sakthipriya 0:7b4c00e3912f 6 #include "ACS.h"
sakthipriya 0:7b4c00e3912f 7 #include "EPS.h"
sakthipriya 0:7b4c00e3912f 8 #include "BCN.h"
lakshya 49:61c9f28332ba 9 Serial pc(USBTX,USBRX);
lakshya 49:61c9f28332ba 10
sakthipriya 0:7b4c00e3912f 11 #include "TCTM.h"
lakshya 47:d59ba66229ce 12 #define tm_len 134
lakshya 47:d59ba66229ce 13 #define tc_len 135
sakthipriya 0:7b4c00e3912f 14 #define batt_heat_low 20
lakshya 22:950dbe9fbeb8 15 #define print 1
lakshya 39:670133e7ffd8 16 #define PRINT2 1
lakshya 39:670133e7ffd8 17 #define baby 1
lakshya 39:670133e7ffd8 18 #define baby2 1
lakshya 49:61c9f28332ba 19 #define SBC 1
lakshya 49:61c9f28332ba 20
lakshya 49:61c9f28332ba 21
lakshya 49:61c9f28332ba 22
lakshya 49:61c9f28332ba 23 Timer timer_FCTN_ACS_GENPWM_MAIN;
lakshya 49:61c9f28332ba 24 Timer timer_FCTN_ACS_CNTRLALGO;
lakshya 49:61c9f28332ba 25 Timer timer_FCTN_BAE_INIT;
lakshya 49:61c9f28332ba 26 Timer timer_FLASH_INI;
lakshya 49:61c9f28332ba 27 Timer timer_FCTN_ACS_INIT;
lakshya 49:61c9f28332ba 28 Timer timer_FCTN_EPS_INIT;
lakshya 49:61c9f28332ba 29 Timer timer_FCTN_BCN_INIT;
lakshya 49:61c9f28332ba 30 Timer timer_F_ACS;
lakshya 49:61c9f28332ba 31 Timer timer_FCTN_ATS_DATA_ACQ;
lakshya 49:61c9f28332ba 32 extern Timer timer_SENSOR_INIT;
lakshya 49:61c9f28332ba 33 extern Timer timer_CONFIG_UPLOAD;
lakshya 49:61c9f28332ba 34 extern Timer timer_SENSOR_DATA_ACQ;
lakshya 49:61c9f28332ba 35 extern Timer timer_controlmodes;
lakshya 49:61c9f28332ba 36
lakshya 49:61c9f28332ba 37 Timer timer_F_ESP;
lakshya 49:61c9f28332ba 38 Timer timer_minMaxHkData;
lakshya 49:61c9f28332ba 39 Timer timer_FCTN_APPEND_HKDATA;
lakshya 49:61c9f28332ba 40 Timer timer_FCTN_EPS_HANDLE_CDMS_FAULT;
lakshya 49:61c9f28332ba 41 Timer timer_FCTN_EPS_HANDLE_HW_FAULTS;
lakshya 49:61c9f28332ba 42 Timer timer_FCTN_HK_MAIN;
lakshya 49:61c9f28332ba 43 Timer timer_FCTN_BATTERYGAUGE_MAIN;
lakshya 49:61c9f28332ba 44 Timer timer_FCTN_BATT_TEMP_SENSOR_MAIN;
lakshya 49:61c9f28332ba 45 extern Timer timer_alertFlags;
lakshya 49:61c9f28332ba 46 extern Timer timer_soc;
lakshya 49:61c9f28332ba 47 extern Timer timer_FCTN_BATTERYGAUGE_INIT;
lakshya 49:61c9f28332ba 48
lakshya 49:61c9f28332ba 49
lakshya 49:61c9f28332ba 50 Timer timer_F_BCN;
lakshya 49:61c9f28332ba 51 Timer timer_FCTN_BCN_TX_MAIN;
lakshya 49:61c9f28332ba 52 extern Timer timer_Init_BEACON_HW;
lakshya 49:61c9f28332ba 53 extern Timer timer_Set_BCN_TX_STATUS_DISABLED;
lakshya 49:61c9f28332ba 54 extern Timer timer_Set_BCN_TX_STATUS_SUSPENDED;
lakshya 49:61c9f28332ba 55 extern Timer timer_Set_BCN_TX_STATUS_RF_SILENCE;
lakshya 49:61c9f28332ba 56 extern Timer timer_Set_BCN_TX_STATUS_SUCCESS;
lakshya 49:61c9f28332ba 57 extern Timer timer_Set_BCN_TX_STATUS_FAILURE;
lakshya 49:61c9f28332ba 58
lakshya 49:61c9f28332ba 59
sakthipriya 9:194afacf7449 60
lakshya 33:76f2b8735501 61 #define DISABLE_WDOG 0;
lakshya 33:76f2b8735501 62
lakshya 33:76f2b8735501 63 void kick_WDOG()
lakshya 33:76f2b8735501 64 {
lakshya 33:76f2b8735501 65 SIM->SRVCOP=0x55;
lakshya 33:76f2b8735501 66 SIM->SRVCOP=0xAA;
lakshya 33:76f2b8735501 67 printf("\n\rkicked");
lakshya 33:76f2b8735501 68 }
lakshya 33:76f2b8735501 69
lakshya 33:76f2b8735501 70 void init_WDOG()
lakshya 33:76f2b8735501 71 {
lakshya 33:76f2b8735501 72 SIM->COPC=0x0C;
lakshya 33:76f2b8735501 73 kick_WDOG();
lakshya 33:76f2b8735501 74 }
lakshya 33:76f2b8735501 75
lakshya 49:61c9f28332ba 76 DigitalOut time_wdog(PIN68,0);// for determining the time between code
lakshya 20:949d13045431 77
lakshya 19:79e69017c855 78 //**********************************************GLOBAL RTOS TIMER*********************************************************//
lakshya 19:79e69017c855 79 RtosTimer *BAE_STANDBY_STATUS_TIMER;
lakshya 19:79e69017c855 80
lakshya 20:949d13045431 81
lakshya 20:949d13045431 82 //bcn heater rtostimers=============================================================================
lakshya 20:949d13045431 83 RtosTimer *HTR_OFF=NULL;
lakshya 20:949d13045431 84 RtosTimer *HTR_CYCLE=NULL;
lakshya 20:949d13045431 85 RtosTimer *HTR_DLY=NULL;
lakshya 20:949d13045431 86
lakshya 33:76f2b8735501 87 //UPTIME TIMERS
lakshya 33:76f2b8735501 88 Timer BAE_uptime;
lakshya 33:76f2b8735501 89 Timer I2C_last;
lakshya 33:76f2b8735501 90
lakshya 33:76f2b8735501 91 void RETURN_UPTIME(float time, uint8_t *day,uint8_t *hour,uint8_t *min)
lakshya 33:76f2b8735501 92 {
lakshya 33:76f2b8735501 93 *day = time/(3600*24);
lakshya 33:76f2b8735501 94 time = (int)time % (3600*24);
lakshya 33:76f2b8735501 95 *hour = time/(3600);
lakshya 33:76f2b8735501 96 time = (int)time % (3600);
lakshya 33:76f2b8735501 97 *min = time/60;
lakshya 33:76f2b8735501 98 }
lakshya 33:76f2b8735501 99
lakshya 49:61c9f28332ba 100 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 49:61c9f28332ba 101 int eps_btg_read_flag; // flag to check I2C ack on reading from BTG
lakshya 49:61c9f28332ba 102 int eps_btg_writ_flag; // flag to check I2C ack on writing from BTG
lakshya 20:949d13045431 103
lakshya 20:949d13045431 104 uint8_t HTR_CYCLE_COUNTS=0; //Count of heater cycles
lakshya 20:949d13045431 105 uint8_t HTR_CYCLE_START_DLY=0; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya 20:949d13045431 106 uint8_t HTR_ON_DURATION=0; //EPS_HTR_OFF timer duration in minutes
lakshya 20:949d13045431 107 uint16_t HTR_CYCLE_PERIOD =0; //EPS_HTR_CYCLE timer duration - MSB minutes, LSB seconds
lakshya 20:949d13045431 108 uint8_t HTR_CYCLE_COUNTER = 0 ;
lakshya 20:949d13045431 109
lakshya 20:949d13045431 110 uint32_t HTR_CYCLE_PERIOD_DECODER() //To convert HTR_CYCLE_PERIOD to millisecs
lakshya 20:949d13045431 111 {
lakshya 20:949d13045431 112 uint8_t PERIOD_mins, PERIOD_secs;
lakshya 20:949d13045431 113 //pc.printf("\n\r FCTN_HTR_CYCLE_PERIOD");
lakshya 20:949d13045431 114 PERIOD_secs = HTR_CYCLE_PERIOD;
lakshya 20:949d13045431 115 PERIOD_mins = HTR_CYCLE_PERIOD >> 8;
lakshya 20:949d13045431 116 uint32_t period = 1000*((int)PERIOD_mins * 60 + (int)PERIOD_secs);
lakshya 20:949d13045431 117
lakshya 20:949d13045431 118 return period;
lakshya 20:949d13045431 119 }
lakshya 20:949d13045431 120
lakshya 20:949d13045431 121 void FCTN_EPS_HTR_CYCLE(void const *arg)
lakshya 20:949d13045431 122 {
lakshya 33:76f2b8735501 123 BTRY_HTR_ENABLE = 1;//assuming its active high check
lakshya 20:949d13045431 124 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 125 //pc.printf("\n\r FCTN_EPS_HTR_CYCLE");
lakshya 20:949d13045431 126 //tim.reset();
lakshya 20:949d13045431 127 //tim.start();
lakshya 20:949d13045431 128 //HTR_OFF->start(((uint32_t)HTR_ON_DURATION)*1000);
lakshya 20:949d13045431 129 HTR_OFF->start((int)HTR_ON_DURATION*60*1000);
lakshya 20:949d13045431 130 }
lakshya 20:949d13045431 131
lakshya 20:949d13045431 132 void FCTN_EPS_HTR_DLY(void const* arg)
lakshya 20:949d13045431 133 {
lakshya 33:76f2b8735501 134 BTRY_HTR_ENABLE = 1;
lakshya 20:949d13045431 135 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 136 HTR_OFF->start(((int)HTR_ON_DURATION*60*1000));
lakshya 20:949d13045431 137 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 138 //pc.printf("\n\r FCTN_EPS_HTR_DLY");
lakshya 20:949d13045431 139 //tim.start();
lakshya 20:949d13045431 140 HTR_CYCLE->start((uint32_t)HTR_CYCLE_PERIOD_DECODER);
lakshya 20:949d13045431 141 }
lakshya 20:949d13045431 142
lakshya 20:949d13045431 143 void FCTN_EPS_HTR_OFF(void const *arg)
lakshya 20:949d13045431 144 {
lakshya 33:76f2b8735501 145 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 146 //tim.stop();
lakshya 20:949d13045431 147 //pc.printf("\n\r off kar diya");
lakshya 20:949d13045431 148 //pc.printf("\n\r the timer value is %f",tim.read());
lakshya 20:949d13045431 149 //tim.reset();
lakshya 20:949d13045431 150 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 151 {
lakshya 20:949d13045431 152 HTR_CYCLE_COUNTER++;
lakshya 20:949d13045431 153 if( HTR_CYCLE_COUNTER == (int)HTR_CYCLE_COUNTS)//HTR_CYCLE_COUNTS )
lakshya 20:949d13045431 154 HTR_CYCLE->stop();
lakshya 20:949d13045431 155 }
lakshya 20:949d13045431 156 }
lakshya 20:949d13045431 157
lakshya 20:949d13045431 158 //====================================================================================================
lakshya 20:949d13045431 159
lakshya 20:949d13045431 160 //fctn to pass the data to bcn long type
lakshya 33:76f2b8735501 161 //uint8_t CDMS_HK_data[134]; now implemented as LONG_HK_data[0][134];
lakshya 33:76f2b8735501 162 uint8_t LONG_HK_data[2][134];
lakshya 20:949d13045431 163 void FCTN_CDMS_HK_TC(uint8_t tc[])
lakshya 20:949d13045431 164 {
lakshya 20:949d13045431 165 for(int i=0;i<134;i++)
lakshya 33:76f2b8735501 166 LONG_HK_data[0][i] = tc[i];
lakshya 20:949d13045431 167 }
lakshya 20:949d13045431 168
lakshya 20:949d13045431 169 uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off.
lakshya 20:949d13045431 170
lakshya 19:79e69017c855 171 void BAE_STANDBY_STATUS_RESET(const void* arg)
lakshya 19:79e69017c855 172 {
lakshya 19:79e69017c855 173 printf("\n\rBAE standby reset to 0x00");
lakshya 19:79e69017c855 174 BAE_STANDBY=0x00;
lakshya 19:79e69017c855 175 }
lakshya 19:79e69017c855 176
lakshya 20:949d13045431 177
lakshya 19:79e69017c855 178 /*no problem in first stopping and then starting even when for the first time*/
lakshya 19:79e69017c855 179 void BAE_STANDBY_TIMER_RESET()
lakshya 19:79e69017c855 180 {
lakshya 19:79e69017c855 181 BAE_STANDBY_STATUS_TIMER->stop();
lakshya 19:79e69017c855 182 BAE_STANDBY_STATUS_TIMER->start(30000);//20 min ie 20*60=1200 sec or 1200,000 milisec but for testing setting it to 30sec
lakshya 19:79e69017c855 183 }
lakshya 19:79e69017c855 184
lakshya 20:949d13045431 185 extern void gen_I_TM();
lakshya 20:949d13045431 186
lakshya 20:949d13045431 187 //*************** FLAGS ****************************//
sakthipriya 0:7b4c00e3912f 188 uint32_t BAE_STATUS = 0x00000000;
sakthipriya 0:7b4c00e3912f 189 uint32_t BAE_ENABLE = 0xFFFFFFFF;
sakthipriya 0:7b4c00e3912f 190
sakthipriya 5:bb592f3185cc 191 //i2c//
sakthipriya 5:bb592f3185cc 192 char data_send_flag = 'h';
lakshya 20:949d13045431 193 //uint8_t BAE_MNG_I2C_STATUS = 0;
sakthipriya 5:bb592f3185cc 194
lakshya 20:949d13045431 195 //BAE
lakshya 19:79e69017c855 196 uint8_t BAE_INIT_STATUS=0;
lakshya 20:949d13045431 197 uint8_t BAE_MNG_I2C_STATUS=0;
sakthipriya 0:7b4c00e3912f 198
sakthipriya 9:194afacf7449 199
lakshya 20:949d13045431 200 //ACS
sakthipriya 9:194afacf7449 201 uint8_t ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 202 uint8_t ACS_DATA_ACQ_STATUS = 0;
lakshya 20:949d13045431 203 uint8_t ACS_ATS_STATUS = 0x73;
sakthipriya 9:194afacf7449 204 uint8_t ACS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 205 uint8_t ACS_STATUS = 0;
lakshya 20:949d13045431 206 uint8_t ACS_DETUMBLING_ALGO_TYPE = 0;
sakthipriya 9:194afacf7449 207 uint8_t ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 208 uint8_t ACS_DATA_ACQ_ENABLE = 1;
lakshya 49:61c9f28332ba 209 uint8_t ACS_STATE = 3;
lakshya 19:79e69017c855 210
lakshya 20:949d13045431 211 extern uint16_t ACS_MM_X_COMSN;
lakshya 20:949d13045431 212 extern uint16_t ACS_MM_Y_COMSN;
lakshya 20:949d13045431 213 extern uint16_t ACS_MG_X_COMSN;
lakshya 20:949d13045431 214 extern uint16_t ACS_MG_Y_COMSN;
lakshya 20:949d13045431 215 extern uint16_t ACS_MM_Z_COMSN;
lakshya 20:949d13045431 216 extern uint16_t ACS_MG_Z_COMSN;
lakshya 20:949d13045431 217
lakshya 27:61c856be467e 218 extern uint8_t controlmode_mms;
lakshya 49:61c9f28332ba 219 extern uint8_t B_SCZ_ANGLE;
lakshya 20:949d13045431 220 //BCN
lakshya 18:3662058a7c10 221 extern uint8_t BCN_FEN;
lakshya 18:3662058a7c10 222 extern void FCTN_BCN_FEN(void const *args);
lakshya 20:949d13045431 223 extern void LONG_BCN_DATA(uint8_t* );
lakshya 20:949d13045431 224 extern uint16_t gencrc16_for_me();//for calculating the crc of baehk data before sendingkk as including crc causes problem
lakshya 48:9fd15e3e0b53 225 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 226
lakshya 20:949d13045431 227
lakshya 18:3662058a7c10 228 Timeout timeout_bcn;
lakshya 19:79e69017c855 229 /*long beacon data/sending*/
lakshya 19:79e69017c855 230 /*be sure it is created in bcn.cpp*/
sakthipriya 0:7b4c00e3912f 231
lakshya 20:949d13045431 232 //EPS
sakthipriya 9:194afacf7449 233 uint8_t EPS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 234 uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
sakthipriya 9:194afacf7449 235 uint8_t EPS_MAIN_STATUS = 0;
lakshya 33:76f2b8735501 236 uint8_t EPS_BTRY_TMP_STATUS = 0;/// to be diss
sakthipriya 9:194afacf7449 237 uint8_t EPS_STATUS = 7; //invalid status
lakshya 33:76f2b8735501 238 uint8_t EPS_BTRY_HTR = 0;
sakthipriya 9:194afacf7449 239
lakshya 20:949d13045431 240 uint8_t EPS_BTRY_HTR_AUTO = 1;
lakshya 20:949d13045431 241 extern uint8_t EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 242 extern uint8_t EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 243 extern uint8_t EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 244 extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 245 extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 246 float EPS_BTRY_TMP_AVG;
lakshya 49:61c9f28332ba 247 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 33:76f2b8735501 248
lakshya 33:76f2b8735501 249 //extern void FCTN_BATTERYGAUGE_MAIN(float*Battery_parameters);
lakshya 20:949d13045431 250
lakshya 20:949d13045431 251
lakshya 20:949d13045431 252 //**********************GLOBAL DECLARATIONS********************************//
lakshya 20:949d13045431 253
lakshya 20:949d13045431 254 //CDMS
lakshya 20:949d13045431 255 //eps cdms fault
lakshya 20:949d13045431 256 uint8_t CDMS_SW_STATUS;
lakshya 48:9fd15e3e0b53 257 DigitalIn CDMS_OC_FAULT(PIN79);
lakshya 20:949d13045431 258 bool CDMS_SW_ENABLE;
lakshya 20:949d13045431 259 int CDMS_FAULT_COUNTER = 0;
lakshya 20:949d13045431 260
lakshya 20:949d13045431 261
lakshya 20:949d13045431 262 //BAE new hk structure- everything has to changed based on this
lakshya 20:949d13045431 263 char BAE_chardata[74];
lakshya 33:76f2b8735501 264 // uint8_t LONG_HK_data[2][134];
lakshya 33:76f2b8735501 265 //uint8_t BAE_HK_data[134]; now known as LONG_HK_data[1][i];
lakshya 20:949d13045431 266 uint8_t BAE_RESET_COUNTER;// INITIALIZATION or do you want to initialize evertime the main is reset? or is it same
lakshya 20:949d13045431 267 uint16_t BAE_I2C_COUNTER = 0;//change/apply
lakshya 20:949d13045431 268 //uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off.
lakshya 20:949d13045431 269
lakshya 20:949d13045431 270 //BCN
lakshya 20:949d13045431 271 //uint16_t BCN_TX_MAIN_COUNTER = 0;
lakshya 20:949d13045431 272 uint8_t BCN_LONG_MSG_TYPE = 1;
sakthipriya 0:7b4c00e3912f 273
lakshya 49:61c9f28332ba 274 DigitalIn BCN_TX_OC_FAULT(PIN80);
lakshya 20:949d13045431 275 int BCN_TX_FAULT_COUNTER;
lakshya 20:949d13045431 276
lakshya 20:949d13045431 277 //ACS
lakshya 20:949d13045431 278 uint16_t ACS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 279
lakshya 20:949d13045431 280 //eps hw faults
lakshya 20:949d13045431 281 //uint8_t ACS_TR_Z_SW_STATUS;
Bragadeesh153 52:daa685b0e390 282 DigitalOut ACS_TR_Z_ENABLE(PIN40,0);
lakshya 48:9fd15e3e0b53 283 DigitalIn ACS_TR_Z_OC_FAULT(PIN91);
lakshya 48:9fd15e3e0b53 284 DigitalIn ACS_TR_Z_FAULT(PIN89); //Driver IC fault
lakshya 20:949d13045431 285 int ACS_TR_Z_FAULT_COUNTER = 0;
sakthipriya 0:7b4c00e3912f 286
lakshya 49:61c9f28332ba 287
lakshya 49:61c9f28332ba 288 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
lakshya 49:61c9f28332ba 289 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
Bragadeesh153 52:daa685b0e390 290
lakshya 49:61c9f28332ba 291
Bragadeesh153 52:daa685b0e390 292
lakshya 49:61c9f28332ba 293
lakshya 20:949d13045431 294 //uint8_t ACS_TR_XY_SW_STATUS;
Bragadeesh153 52:daa685b0e390 295 DigitalOut ACS_TR_XY_ENABLE(PIN71,0);
Bragadeesh153 52:daa685b0e390 296 DigitalIn ACS_TR_XY_OC_FAULT(PIN77);
lakshya 48:9fd15e3e0b53 297 DigitalIn ACS_TR_XY_FAULT(PIN83); //Driver IC fault
lakshya 20:949d13045431 298 int ACS_TR_XY_FAULT_COUNTER = 0;
lakshya 20:949d13045431 299
lakshya 20:949d13045431 300 //bool ACS_ATS1_ENABLE;
Bragadeesh153 52:daa685b0e390 301 DigitalIn ACS_ATS1_OC_FAULT(PIN39);
lakshya 48:9fd15e3e0b53 302 int ACS_TS1_FAULT_COUNTER = 0;
lakshya 20:949d13045431 303
lakshya 20:949d13045431 304 //bool ACS_ATS2_ENABLE;
Bragadeesh153 52:daa685b0e390 305 DigitalIn ACS_ATS2_OC_FAULT(PIN41);
lakshya 20:949d13045431 306 int ACS_ATS2_FAULT_COUNTER;
lakshya 20:949d13045431 307
lakshya 20:949d13045431 308 //EPS
lakshya 20:949d13045431 309 int EPS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 310
lakshya 20:949d13045431 311
lakshya 20:949d13045431 312 //GEN DEC FOR TESTING or to be DECIDED whre to ASSIGN HERE
sakthipriya 0:7b4c00e3912f 313 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 314 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 315 Timer t_start;
lakshya 19:79e69017c855 316 /*defined as of now to check execution time*/
lakshya 19:79e69017c855 317 /*remember to remove them*/
lakshya 19:79e69017c855 318 Timer t_acs;
lakshya 19:79e69017c855 319 Timer t_eps;
lakshya 20:949d13045431 320 //Timer t_tc;
sakthipriya 7:a46a1dee4497 321 Timer t_tm;
lakshya 49:61c9f28332ba 322
sakthipriya 0:7b4c00e3912f 323 int power_flag_dummy=2;
sakthipriya 0:7b4c00e3912f 324 float data[6];
sakthipriya 0:7b4c00e3912f 325
lakshya 20:949d13045431 326
lakshya 20:949d13045431 327 //*************EXTERN PARA********
lakshya 20:949d13045431 328
lakshya 20:949d13045431 329 //BAE
lakshya 20:949d13045431 330
sakthipriya 1:446a959e36ce 331 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 332 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 333 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 334 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 335
lakshya 20:949d13045431 336
lakshya 20:949d13045431 337 //BCN
lakshya 20:949d13045431 338 extern uint8_t BCN_FEN;
lakshya 20:949d13045431 339 extern uint8_t BCN_TX_SW_STATUS;
lakshya 20:949d13045431 340 extern uint8_t BCN_SPND_TX;
lakshya 20:949d13045431 341
lakshya 20:949d13045431 342
lakshya 20:949d13045431 343 //TCTM
lakshya 49:61c9f28332ba 344 extern uint8_t telemetry[tm_len];
lakshya 20:949d13045431 345
lakshya 20:949d13045431 346
lakshya 20:949d13045431 347 //ACS
lakshya 20:949d13045431 348 extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya 20:949d13045431 349 extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 350 extern float gyro_data[3];
lakshya 20:949d13045431 351 extern float mag_data[3];
lakshya 20:949d13045431 352 extern float moment[3];
lakshya 20:949d13045431 353 extern float b_old[3]; // Unit: Tesla
lakshya 20:949d13045431 354 extern float db[3];
lakshya 20:949d13045431 355 extern uint8_t flag_firsttime;
lakshya 20:949d13045431 356 extern uint8_t ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 357 extern uint8_t ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 358 extern uint16_t ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 359
lakshya 39:670133e7ffd8 360 int write_ack;
lakshya 39:670133e7ffd8 361 int read_ack;
sakthipriya 0:7b4c00e3912f 362 char telecommand[tc_len];
lakshya 20:949d13045431 363
sakthipriya 5:bb592f3185cc 364
sakthipriya 5:bb592f3185cc 365 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 366 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 367 bool if1check = 0;
lakshya 14:a9588f443f1a 368 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 369
lakshya 20:949d13045431 370 //ASSIGNING PINS//
Bragadeesh153 52:daa685b0e390 371 DigitalOut ATS1_SW_ENABLE(PIN90,1); // enable of att sens2 switch
Bragadeesh153 52:daa685b0e390 372 DigitalOut ATS2_SW_ENABLE(PIN61,0); // enable of att sens switch
lakshya 49:61c9f28332ba 373 ////InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
lakshya 49:61c9f28332ba 374 ////DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya 14:a9588f443f1a 375 I2CSlave slave (PIN1,PIN2);///pin1 pin2
lakshya 20:949d13045431 376 //DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 377
sakthipriya 9:194afacf7449 378 //ATS1_SW_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 379 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 380 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 381 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 382
sakthipriya 5:bb592f3185cc 383 //........faults
sakthipriya 5:bb592f3185cc 384 //Polled Faults
lakshya 48:9fd15e3e0b53 385 //DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
lakshya 48:9fd15e3e0b53 386 //DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
lakshya 48:9fd15e3e0b53 387 //DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 388
Bragadeesh153 52:daa685b0e390 389
Bragadeesh153 52:daa685b0e390 390 DigitalOut DRV_XY_EN(PIN82,0); // DRV XY en
Bragadeesh153 52:daa685b0e390 391 //DigitalOut TRXY_SW(PIN71,0); //TR XY Switch
Bragadeesh153 52:daa685b0e390 392 DigitalOut DRV_Z_EN(PIN88,0); //Sleep pin of driver z //DISABLE by default
Bragadeesh153 52:daa685b0e390 393 //DigitalOut TRZ_SW(PIN40,0); //TR Z Switch
Bragadeesh153 52:daa685b0e390 394
lakshya 19:79e69017c855 395 DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET
Bragadeesh153 52:daa685b0e390 396
Bragadeesh153 52:daa685b0e390 397 DigitalOut CDMS_OC_ENA(PIN70,1);
sakthipriya 0:7b4c00e3912f 398
Bragadeesh153 52:daa685b0e390 399 DigitalOut BCN_SW(PIN65,1); //IN TEMPORARY SBC
Bragadeesh153 52:daa685b0e390 400 //DigitalOut BCN_SW(PIN14,1); //Beacon switch //IN QM SBC, TO BE CHANGED
lakshya 20:949d13045431 401
lakshya 20:949d13045431 402 //================================================================================
lakshya 20:949d13045431 403 //default flash array some filler bits added (detail in MMS file)
Bragadeesh153 59:0fc0bfafaa9f 404 uint32_t ARR_INITIAL_VAL[8]={0x73532600,0x505A4141,0x1A1A1400,0x001E0028,0x001E0028,0x00320032,0xCBA2010A,0x00000000};//to be done
lakshya 20:949d13045431 405
lakshya 20:949d13045431 406 void FLASH_INI()
lakshya 20:949d13045431 407 {
lakshya 49:61c9f28332ba 408 uint32_t read[8];
lakshya 20:949d13045431 409 for(int i=0;i<8;i++)
lakshya 20:949d13045431 410 {
lakshya 20:949d13045431 411 read[i] = FCTN_BAE_RD_FLASH_ENTITY(i);
lakshya 22:950dbe9fbeb8 412 //printf("\n\r val is read after starting %x ",read[i]);
lakshya 20:949d13045431 413 }
lakshya 20:949d13045431 414
lakshya 20:949d13045431 415 if(read[0] == -1)
lakshya 20:949d13045431 416 for(int j=0;j<8;j++)
lakshya 20:949d13045431 417 {
lakshya 20:949d13045431 418 FCTN_BAE_WR_FLASH(j,ARR_INITIAL_VAL[j]);
lakshya 39:670133e7ffd8 419 ACS_ATS_STATUS = ARR_INITIAL_VAL[0]>>24;
lakshya 39:670133e7ffd8 420 ACS_TR_XY_SW_STATUS = ((uint8_t)(ARR_INITIAL_VAL[0]>>22))&0x03;
lakshya 39:670133e7ffd8 421 ACS_TR_Z_SW_STATUS = (ARR_INITIAL_VAL[0]>>20)&0x03;
lakshya 39:670133e7ffd8 422 ACS_STATE = (ARR_INITIAL_VAL[0]>>16)&0x0F;
lakshya 49:61c9f28332ba 423 //pc.pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 39:670133e7ffd8 424 ACS_DETUMBLING_ALGO_TYPE = (ARR_INITIAL_VAL[0]>>15)&0x01;
lakshya 50:6001287f3045 425 BCN_TX_SW_STATUS = 1;//((uint8_t)(ARR_INITIAL_VAL[0]>>14))&0x03;
lakshya 39:670133e7ffd8 426 BCN_SPND_TX = ((uint8_t)(ARR_INITIAL_VAL[0]>>12))&0x01;
lakshya 39:670133e7ffd8 427 BCN_FEN = ((uint8_t)(ARR_INITIAL_VAL[0]>>11))&0x01;
lakshya 39:670133e7ffd8 428 BCN_LONG_MSG_TYPE = ((uint8_t)(ARR_INITIAL_VAL[0]>>10))&0x01;
lakshya 39:670133e7ffd8 429 EPS_BTRY_HTR_AUTO = ((uint8_t)(ARR_INITIAL_VAL[0]>>9))&0x03;//EPS_BATTERY_HEATER_ENABLE
lakshya 39:670133e7ffd8 430 //now one spares in telemetry[5]
lakshya 39:670133e7ffd8 431
lakshya 39:670133e7ffd8 432 //updating the reset counter
lakshya 39:670133e7ffd8 433 BAE_RESET_COUNTER = ((uint8_t)(ARR_INITIAL_VAL[0]));
lakshya 39:670133e7ffd8 434 EPS_SOC_LEVEL_12 = (uint8_t)(ARR_INITIAL_VAL[1]>>24);
lakshya 39:670133e7ffd8 435 EPS_SOC_LEVEL_23 = (uint8_t)(ARR_INITIAL_VAL[1]>>16);
lakshya 39:670133e7ffd8 436 ACS_MAG_TIME_DELAY = (uint8_t)(ARR_INITIAL_VAL[1]>>8);
lakshya 39:670133e7ffd8 437 ACS_DEMAG_TIME_DELAY = (uint8_t)ARR_INITIAL_VAL[1];
lakshya 39:670133e7ffd8 438
lakshya 39:670133e7ffd8 439 EPS_BAT_TEMP_LOW = (uint8_t)(ARR_INITIAL_VAL[2]>>24);
lakshya 39:670133e7ffd8 440 EPS_BAT_TEMP_HIGH = (uint8_t)(ARR_INITIAL_VAL[2]>>16);
lakshya 39:670133e7ffd8 441 EPS_BAT_TEMP_DEFAULT = (uint8_t)(ARR_INITIAL_VAL[2]>>8);
lakshya 39:670133e7ffd8 442
lakshya 39:670133e7ffd8 443 ACS_MM_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[3]>>16);
lakshya 39:670133e7ffd8 444 ACS_MM_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[3];
lakshya 39:670133e7ffd8 445
lakshya 39:670133e7ffd8 446 ACS_MG_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[4]>>16);
lakshya 39:670133e7ffd8 447 ACS_MG_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[4];
lakshya 39:670133e7ffd8 448
lakshya 39:670133e7ffd8 449 ACS_MM_Z_COMSN = (uint16_t)(ARR_INITIAL_VAL[5]>>16);
lakshya 39:670133e7ffd8 450 ACS_MG_Z_COMSN = (uint16_t)ARR_INITIAL_VAL[5];
lakshya 39:670133e7ffd8 451
lakshya 39:670133e7ffd8 452 ACS_Z_FIXED_MOMENT = (uint16_t)(ARR_INITIAL_VAL[6]>>16);//assignvalues
lakshya 39:670133e7ffd8 453
lakshya 39:670133e7ffd8 454 }
lakshya 20:949d13045431 455 else
lakshya 20:949d13045431 456 {
lakshya 20:949d13045431 457 for(int j=0;j<8;j++)
lakshya 20:949d13045431 458 {
lakshya 20:949d13045431 459 read[j] = FCTN_BAE_RD_FLASH_ENTITY(j);
lakshya 20:949d13045431 460 }
lakshya 20:949d13045431 461 ACS_ATS_STATUS = read[0]>>24;
lakshya 20:949d13045431 462 ACS_TR_XY_SW_STATUS = ((uint8_t)(read[0]>>22))&0x03;
lakshya 20:949d13045431 463 ACS_TR_Z_SW_STATUS = (read[0]>>20)&0x03;
lakshya 27:61c856be467e 464 ACS_STATE = (read[0]>>16)&0x0F;
lakshya 39:670133e7ffd8 465 //pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 27:61c856be467e 466 ACS_DETUMBLING_ALGO_TYPE = (read[0]>>15)&0x01;
lakshya 50:6001287f3045 467 BCN_TX_SW_STATUS = 1;//((uint8_t)(read[0]>>13))&0x03;
lakshya 27:61c856be467e 468 BCN_SPND_TX = ((uint8_t)(read[0]>>12))&0x01;
lakshya 27:61c856be467e 469 BCN_FEN = ((uint8_t)(read[0]>>11))&0x01;
lakshya 27:61c856be467e 470 BCN_LONG_MSG_TYPE = ((uint8_t)(read[0]>>10))&0x01;
lakshya 49:61c9f28332ba 471 EPS_BTRY_HTR_AUTO = ((uint8_t)(read[0]>>9))&0x01;//EPS_BATTERY_HEATER_ENABLE
lakshya 27:61c856be467e 472 //now one spares in telemetry[5]
lakshya 20:949d13045431 473
lakshya 20:949d13045431 474 //updating the reset counter
lakshya 20:949d13045431 475 BAE_RESET_COUNTER = ((uint8_t)(read[0]))+1;
lakshya 20:949d13045431 476 read[0]=(read[0]&0xffffff00) | (uint32_t)BAE_RESET_COUNTER;
lakshya 20:949d13045431 477 FCTN_BAE_WR_FLASH(0,read[0]);
lakshya 39:670133e7ffd8 478 pc.printf("\n\r reset counter %d",BAE_RESET_COUNTER);
lakshya 20:949d13045431 479
lakshya 20:949d13045431 480
lakshya 20:949d13045431 481 EPS_SOC_LEVEL_12 = (uint8_t)(read[1]>>24);
lakshya 20:949d13045431 482 EPS_SOC_LEVEL_23 = (uint8_t)(read[1]>>16);
lakshya 20:949d13045431 483 ACS_MAG_TIME_DELAY = (uint8_t)(read[1]>>8);
lakshya 20:949d13045431 484 ACS_DEMAG_TIME_DELAY = (uint8_t)read[1];
lakshya 20:949d13045431 485
lakshya 20:949d13045431 486 EPS_BAT_TEMP_LOW = (uint8_t)(read[2]>>24);
lakshya 20:949d13045431 487 EPS_BAT_TEMP_HIGH = (uint8_t)(read[2]>>16);
lakshya 20:949d13045431 488 EPS_BAT_TEMP_DEFAULT = (uint8_t)(read[2]>>8);
lakshya 20:949d13045431 489
lakshya 20:949d13045431 490 ACS_MM_X_COMSN = (uint16_t)(read[3]>>16);
lakshya 20:949d13045431 491 ACS_MM_Y_COMSN = (uint16_t)read[3];
lakshya 20:949d13045431 492
lakshya 20:949d13045431 493 ACS_MG_X_COMSN = (uint16_t)(read[4]>>16);
lakshya 20:949d13045431 494 ACS_MG_Y_COMSN = (uint16_t)read[4];
lakshya 20:949d13045431 495
lakshya 20:949d13045431 496 ACS_MM_Z_COMSN = (uint16_t)(read[5]>>16);
lakshya 20:949d13045431 497 ACS_MG_Z_COMSN = (uint16_t)read[5];
lakshya 20:949d13045431 498
lakshya 20:949d13045431 499 ACS_Z_FIXED_MOMENT = (uint16_t)(read[6]>>16);//assignvalues
lakshya 20:949d13045431 500
lakshya 20:949d13045431 501 }
lakshya 20:949d13045431 502
lakshya 20:949d13045431 503 }
lakshya 20:949d13045431 504 //================================================================================
lakshya 20:949d13045431 505
lakshya 20:949d13045431 506
lakshya 20:949d13045431 507
sakthipriya 0:7b4c00e3912f 508 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 0:7b4c00e3912f 509 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 510
lakshya 19:79e69017c855 511
sakthipriya 0:7b4c00e3912f 512 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 513 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 514 void FCTN_TM();
sakthipriya 3:07e15677a75c 515 void F_ACS();
sakthipriya 3:07e15677a75c 516 void F_EPS();
sakthipriya 3:07e15677a75c 517 void F_BCN();
sakthipriya 0:7b4c00e3912f 518
lakshya 20:949d13045431 519 //I2C
lakshya 20:949d13045431 520 uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working
lakshya 20:949d13045431 521 uint16_t crc16_check;
lakshya 20:949d13045431 522 void I2C_busreset()
lakshya 20:949d13045431 523 {
lakshya 20:949d13045431 524 PORTE->PCR[1] &= 0xfffffffb;
lakshya 20:949d13045431 525 PORTE->PCR[0] &= 0xfffffffb;
lakshya 20:949d13045431 526 I2C1->C1 &= 0x7f;
lakshya 20:949d13045431 527 SIM->SCGC4 &= 0xffffff7f;
lakshya 20:949d13045431 528 SIM->SCGC4 |= 0x00000080;
lakshya 20:949d13045431 529 I2C1->C1 |= 0x80;
lakshya 20:949d13045431 530 PORTE->PCR[1] |= 0x00000004;
lakshya 20:949d13045431 531 PORTE->PCR[0] |= 0x00000004;
lakshya 39:670133e7ffd8 532 wait_ms(1);
lakshya 20:949d13045431 533 }
lakshya 20:949d13045431 534
sakthipriya 0:7b4c00e3912f 535 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 536 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 537 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 538 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 539 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 540
lakshya 20:949d13045431 541 //FLOAT TO UINT_8 CONVERSION FUNCTION
lakshya 20:949d13045431 542 extern uint8_t float_to_uint8(float min,float max,float val);
lakshya 20:949d13045431 543
lakshya 49:61c9f28332ba 544 //#define print 0
lakshya 20:949d13045431 545
sakthipriya 3:07e15677a75c 546 void F_ACS()
sakthipriya 0:7b4c00e3912f 547 {
lakshya 20:949d13045431 548 ACS_MAIN_COUNTER++;
lakshya 20:949d13045431 549 //time_wdog = 1;
lakshya 20:949d13045431 550 pc.printf("Entered ACS.\n\r");
lakshya 20:949d13045431 551
lakshya 20:949d13045431 552 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
lakshya 49:61c9f28332ba 553 //FLAG();
sakthipriya 3:07e15677a75c 554
sakthipriya 0:7b4c00e3912f 555 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 556 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 557 PWM3 = 0; //clear pwm pins
lakshya 20:949d13045431 558
lakshya 20:949d13045431 559 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 560 ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ();
sakthipriya 0:7b4c00e3912f 561
lakshya 49:61c9f28332ba 562 //#if print
lakshya 49:61c9f28332ba 563 //printing the angular speed and magnetic field values
lakshya 20:949d13045431 564 pc.printf("gyro values\n\r");
lakshya 19:79e69017c855 565 for(int i=0; i<3; i++)
lakshya 20:949d13045431 566 {
lakshya 49:61c9f28332ba 567 pc.printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
lakshya 20:949d13045431 568 }
lakshya 20:949d13045431 569
lakshya 19:79e69017c855 570 pc.printf("mag values\n\r");
lakshya 19:79e69017c855 571 for(int i=0; i<3; i++)
lakshya 20:949d13045431 572 {
lakshya 20:949d13045431 573 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
lakshya 20:949d13045431 574 }
lakshya 49:61c9f28332ba 575 //#endif
lakshya 20:949d13045431 576
lakshya 20:949d13045431 577 for(int i=0;i<3;i++)
lakshya 19:79e69017c855 578 {
lakshya 20:949d13045431 579 mag_data[i] = actual_data.Bvalue_actual[i]/1000000;
lakshya 20:949d13045431 580 gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180;
lakshya 20:949d13045431 581 }
lakshya 49:61c9f28332ba 582
lakshya 49:61c9f28332ba 583 int b_inclination = mag_data[2]/sqrt(mag_data[0]*mag_data[0]+mag_data[1]*mag_data[1]+mag_data[2]*mag_data[2]);
lakshya 49:61c9f28332ba 584
lakshya 49:61c9f28332ba 585 if(b_inclination <0)
lakshya 49:61c9f28332ba 586 {
lakshya 49:61c9f28332ba 587 b_inclination = (-1)*b_inclination;
lakshya 49:61c9f28332ba 588 }
lakshya 49:61c9f28332ba 589 B_SCZ_ANGLE = (uint8_t)b_inclination;
lakshya 49:61c9f28332ba 590 if( b_inclination >= 16)
lakshya 49:61c9f28332ba 591 {
lakshya 49:61c9f28332ba 592 B_SCZ_ANGLE = 0x0F;
lakshya 49:61c9f28332ba 593 }
lakshya 49:61c9f28332ba 594 if(b_inclination <=0)
lakshya 49:61c9f28332ba 595 {
lakshya 49:61c9f28332ba 596 B_SCZ_ANGLE = 0x00;
lakshya 49:61c9f28332ba 597 }
Bragadeesh153 55:6ea0d7e9fce2 598 //printf("POWER MODE is : %d\r\n",actual_data.power_mode);
lakshya 20:949d13045431 599
lakshya 20:949d13045431 600 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
lakshya 20:949d13045431 601 {
lakshya 20:949d13045431 602 #if print
lakshya 49:61c9f28332ba 603 pc.printf("\n\r acs control off\n");
lakshya 20:949d13045431 604 #endif
lakshya 20:949d13045431 605 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
lakshya 20:949d13045431 606 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 607 return;
lakshya 20:949d13045431 608 }
Bragadeesh153 55:6ea0d7e9fce2 609 else if((actual_data.power_mode<=2)||( (( ACS_STATE)&0x08) == 0x08))
lakshya 20:949d13045431 610 {
Bragadeesh153 52:daa685b0e390 611 //#if print
lakshya 49:61c9f28332ba 612 pc.printf("\n\r Low Power \n\r");
Bragadeesh153 52:daa685b0e390 613 //#endif
lakshya 20:949d13045431 614 DRV_Z_EN = 0;
lakshya 20:949d13045431 615 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 616 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 617 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 618 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
lakshya 20:949d13045431 619 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 620 return;
lakshya 20:949d13045431 621
lakshya 20:949d13045431 622 }
lakshya 20:949d13045431 623 else if(ACS_TR_Z_SW_STATUS != 1)
lakshya 20:949d13045431 624 {
Bragadeesh153 52:daa685b0e390 625 pc.printf("\n\r Z disabled \n\r");
lakshya 20:949d13045431 626 DRV_Z_EN = 0;
lakshya 20:949d13045431 627 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 628 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 629 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 630 ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED
lakshya 20:949d13045431 631 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 632 return;
lakshya 20:949d13045431 633 }
lakshya 20:949d13045431 634 else if(ACS_TR_XY_SW_STATUS != 1)
Bragadeesh153 52:daa685b0e390 635 {
Bragadeesh153 52:daa685b0e390 636 pc.printf("\n\r Z only \n\r");
lakshya 20:949d13045431 637 DRV_Z_EN = 1;
lakshya 20:949d13045431 638 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 639 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 640 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 641 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only
lakshya 20:949d13045431 642 moment[0] = 0;
lakshya 20:949d13045431 643 moment[1] = 0;
lakshya 20:949d13045431 644 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 645
lakshya 49:61c9f28332ba 646 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 647 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 648 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 649 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 20:949d13045431 650 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 651 return;
lakshya 19:79e69017c855 652 }
lakshya 20:949d13045431 653 else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1))
lakshya 20:949d13045431 654 {
Bragadeesh153 52:daa685b0e390 655
Bragadeesh153 52:daa685b0e390 656 pc.printf("\n\r Z only no data \n\r");
lakshya 20:949d13045431 657 DRV_Z_EN = 1;
lakshya 20:949d13045431 658 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 659 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 660 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 661 ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only
lakshya 20:949d13045431 662
lakshya 20:949d13045431 663 moment[0] = 0;
lakshya 20:949d13045431 664 moment[1] = 0;
lakshya 20:949d13045431 665 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 666
lakshya 49:61c9f28332ba 667 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 668 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 669 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 670 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 671
lakshya 20:949d13045431 672 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 673 return;
lakshya 20:949d13045431 674 }
Bragadeesh153 52:daa685b0e390 675 else if((ACS_STATE == 1)||(ACS_STATE == 9))
lakshya 20:949d13045431 676 {
Bragadeesh153 52:daa685b0e390 677 pc.printf("\n\r Z only by state \n\r");
lakshya 20:949d13045431 678 DRV_Z_EN = 1;
lakshya 20:949d13045431 679 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 680 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 681 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 682 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only
sakthipriya 0:7b4c00e3912f 683
lakshya 20:949d13045431 684 moment[0] = 0;
lakshya 20:949d13045431 685 moment[1] = 0;
lakshya 20:949d13045431 686 moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value
lakshya 20:949d13045431 687 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 688
lakshya 20:949d13045431 689 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 690 return;
lakshya 20:949d13045431 691 }
lakshya 20:949d13045431 692 else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available
lakshya 20:949d13045431 693 {
Bragadeesh153 52:daa685b0e390 694 pc.printf("\n\r MM only BDOT \n\r");
lakshya 20:949d13045431 695 DRV_Z_EN = 1;
lakshya 20:949d13045431 696 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 697 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 698 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 699
lakshya 20:949d13045431 700 ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL
lakshya 20:949d13045431 701 ACS_DETUMBLING_ALGO_TYPE = 0x01;
lakshya 20:949d13045431 702 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 703 controlmode_mms=0x00;
lakshya 20:949d13045431 704 #if print
lakshya 49:61c9f28332ba 705 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 706 #endif
lakshya 20:949d13045431 707 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 708 {
lakshya 49:61c9f28332ba 709 pc.printf("%f\t",moment[i]);
lakshya 19:79e69017c855 710 }
lakshya 20:949d13045431 711 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 712 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 713 return;
lakshya 20:949d13045431 714 }
Bragadeesh153 52:daa685b0e390 715 else if((ACS_STATE == 2)||(ACS_STATE == 10)) // Nominal mode
lakshya 20:949d13045431 716 {
lakshya 20:949d13045431 717 #if print
lakshya 49:61c9f28332ba 718 pc.printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 719 #endif
lakshya 20:949d13045431 720 DRV_Z_EN = 1;
Bragadeesh153 61:9348606edee2 721 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 722 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 723 ACS_TR_XY_ENABLE = 1;
lakshya 49:61c9f28332ba 724
lakshya 49:61c9f28332ba 725 //timer_FCTN_ACS_CNTRLALGO.start();
lakshya 20:949d13045431 726 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 727 //timer_FCTN_ACS_CNTRLALGO.stop();
lakshya 49:61c9f28332ba 728 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 729
lakshya 27:61c856be467e 730 controlmode_mms = 0x01;
lakshya 20:949d13045431 731 #if print
lakshya 49:61c9f28332ba 732 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 733 #endif
lakshya 20:949d13045431 734 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 735 {
lakshya 49:61c9f28332ba 736 pc.printf("%f\t",moment[i]);
lakshya 20:949d13045431 737 }
lakshya 49:61c9f28332ba 738
lakshya 49:61c9f28332ba 739 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 740 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 741 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 742 //pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 743
lakshya 20:949d13045431 744 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 745 return;
lakshya 20:949d13045431 746 }
Bragadeesh153 52:daa685b0e390 747 else if((ACS_STATE == 3)||(ACS_STATE == 11)) // Auto Control
lakshya 20:949d13045431 748 {
lakshya 20:949d13045431 749 #if print
lakshya 49:61c9f28332ba 750 pc.printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 751 #endif
lakshya 20:949d13045431 752 DRV_Z_EN = 1;
Bragadeesh153 61:9348606edee2 753 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 754
Bragadeesh153 61:9348606edee2 755 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 756 ACS_TR_XY_ENABLE = 1;
lakshya 49:61c9f28332ba 757
lakshya 49:61c9f28332ba 758 timer_FCTN_ACS_CNTRLALGO.start();
lakshya 20:949d13045431 759 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 760 timer_FCTN_ACS_CNTRLALGO.stop();
lakshya 49:61c9f28332ba 761 //pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 762
lakshya 27:61c856be467e 763 controlmode_mms = 0x00;
lakshya 20:949d13045431 764 #if print
lakshya 49:61c9f28332ba 765 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 766 for(int i=0; i<3; i++)
lakshya 19:79e69017c855 767 {
lakshya 49:61c9f28332ba 768 pc.printf("%f\t",moment[i]);
lakshya 20:949d13045431 769 }
lakshya 20:949d13045431 770 #endif
Bragadeesh153 52:daa685b0e390 771 pc.printf("\r\n");
lakshya 49:61c9f28332ba 772 timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 773 FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function
lakshya 49:61c9f28332ba 774 timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 775 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 776
lakshya 20:949d13045431 777 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 778 return;
lakshya 20:949d13045431 779 }
Bragadeesh153 52:daa685b0e390 780 else if((ACS_STATE == 4)||(ACS_STATE == 12)) // Detumbling
lakshya 20:949d13045431 781 {
Bragadeesh153 52:daa685b0e390 782 pc.printf("\n\r Detumbling \n\r");
lakshya 20:949d13045431 783 DRV_Z_EN = 1;
Bragadeesh153 61:9348606edee2 784 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 785
Bragadeesh153 61:9348606edee2 786 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 787 ACS_TR_XY_ENABLE = 1;
Bragadeesh153 61:9348606edee2 788
lakshya 20:949d13045431 789 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 790 controlmode_mms = 0x00;
lakshya 20:949d13045431 791 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 792 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 793 return;
lakshya 20:949d13045431 794 }
lakshya 20:949d13045431 795 ACS_STATUS = 7; //INVALID_STATE
lakshya 20:949d13045431 796 DRV_Z_EN = 0;
lakshya 20:949d13045431 797 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 798 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 799 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 800 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
lakshya 20:949d13045431 801 }
lakshya 19:79e69017c855 802
lakshya 19:79e69017c855 803
sakthipriya 0:7b4c00e3912f 804 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 805
lakshya 33:76f2b8735501 806
sakthipriya 3:07e15677a75c 807 void F_EPS()
lakshya 20:949d13045431 808 {
lakshya 33:76f2b8735501 809 float eps_btry_temp;
lakshya 33:76f2b8735501 810 pc.printf("\n\rEntered EPS %f\n\r",t_start.read());
lakshya 33:76f2b8735501 811 EPS_MAIN_STATUS = 1; // Set EPS main status
lakshya 33:76f2b8735501 812 EPS_MAIN_COUNTER++;
lakshya 49:61c9f28332ba 813
lakshya 49:61c9f28332ba 814 timer_FCTN_BATT_TEMP_SENSOR_MAIN.reset();
lakshya 49:61c9f28332ba 815 timer_FCTN_BATT_TEMP_SENSOR_MAIN.start();
lakshya 33:76f2b8735501 816 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
lakshya 49:61c9f28332ba 817 timer_FCTN_BATT_TEMP_SENSOR_MAIN.stop();
lakshya 49:61c9f28332ba 818
lakshya 33:76f2b8735501 819 pc.printf("Battery temperature %f %f\n\r" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
lakshya 33:76f2b8735501 820 EPS_BTRY_TMP_AVG = ( actual_data.Batt_temp_actual[0] + actual_data.Batt_temp_actual[1] )/2.0;
lakshya 33:76f2b8735501 821 if(abs(actual_data.Batt_temp_actual[0] - actual_data.Batt_temp_actual[1]) > 10)
lakshya 33:76f2b8735501 822 {
lakshya 33:76f2b8735501 823 EPS_BTRY_TMP_STATUS = 0; //clear EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 824 eps_btry_temp = (float) EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 825 }
lakshya 33:76f2b8735501 826 else
lakshya 33:76f2b8735501 827 {
lakshya 33:76f2b8735501 828 EPS_BTRY_TMP_STATUS = 1; //set EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 829 eps_btry_temp = EPS_BTRY_TMP_AVG;
lakshya 33:76f2b8735501 830 }
lakshya 33:76f2b8735501 831
lakshya 33:76f2b8735501 832 if(EPS_BTRY_HTR_AUTO == 0)
lakshya 33:76f2b8735501 833 EPS_STATUS = 1; //EPS_BATTERY_HEATER_DISABLED
lakshya 33:76f2b8735501 834 else if( EPS_BTRY_TMP_STATUS == 0 )
lakshya 33:76f2b8735501 835 {
lakshya 33:76f2b8735501 836 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 837 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 838 EPS_STATUS = 0; //Set EPS_ERR_BATTERY_TEMP
lakshya 33:76f2b8735501 839 }
lakshya 33:76f2b8735501 840 else
lakshya 33:76f2b8735501 841 {
lakshya 33:76f2b8735501 842 if( EPS_BTRY_HTR == 1 && eps_btry_temp >= EPS_BAT_TEMP_HIGH )
lakshya 33:76f2b8735501 843 {
lakshya 33:76f2b8735501 844 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 845 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 846 EPS_STATUS = 4; //Set EPS_BATTERY_HEATER_OFF
lakshya 33:76f2b8735501 847 }
lakshya 33:76f2b8735501 848 else if( EPS_BTRY_HTR == 0 && eps_btry_temp < EPS_BAT_TEMP_LOW )
lakshya 33:76f2b8735501 849 {
lakshya 33:76f2b8735501 850 BTRY_HTR_ENABLE = 1;
lakshya 33:76f2b8735501 851 EPS_BTRY_HTR = 1;
lakshya 33:76f2b8735501 852 EPS_STATUS = 5; //Set EPS_BATTERY_HEATER_ON
lakshya 33:76f2b8735501 853 }
lakshya 33:76f2b8735501 854 }
lakshya 33:76f2b8735501 855
lakshya 33:76f2b8735501 856 unsigned short statusreg = read(REG_STATUS);
lakshya 33:76f2b8735501 857 if( EPS_BATTERY_GAUGE_STATUS == 0 ) reset();
lakshya 33:76f2b8735501 858 if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set
lakshya 19:79e69017c855 859 {
lakshya 49:61c9f28332ba 860 pc.printf("REG_STATUS = %d\r\n",read(REG_STATUS));
lakshya 33:76f2b8735501 861 FCTN_BATTERYGAUGE_INIT();
lakshya 49:61c9f28332ba 862 }
lakshya 49:61c9f28332ba 863 timer_FCTN_BATTERYGAUGE_MAIN.reset();
lakshya 49:61c9f28332ba 864 timer_FCTN_BATTERYGAUGE_MAIN.start();
lakshya 33:76f2b8735501 865 int BTG_MAIN_FLAG = FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual, eps_btry_temp);
lakshya 49:61c9f28332ba 866 timer_FCTN_BATTERYGAUGE_MAIN.stop();
lakshya 49:61c9f28332ba 867
lakshya 33:76f2b8735501 868 if( BTG_MAIN_FLAG == 0 ) //Data not received
lakshya 33:76f2b8735501 869 {
lakshya 33:76f2b8735501 870 actual_data.power_mode = 1;
lakshya 33:76f2b8735501 871 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 872 }
lakshya 33:76f2b8735501 873 else
lakshya 33:76f2b8735501 874 {
lakshya 33:76f2b8735501 875 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
lakshya 33:76f2b8735501 876 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 877 }
lakshya 49:61c9f28332ba 878
lakshya 49:61c9f28332ba 879 timer_FCTN_HK_MAIN.reset();
lakshya 49:61c9f28332ba 880 timer_FCTN_HK_MAIN.start();
lakshya 33:76f2b8735501 881 FCTN_HK_MAIN();
lakshya 49:61c9f28332ba 882 timer_FCTN_HK_MAIN.stop();
lakshya 49:61c9f28332ba 883 // pc.printf("ere");
lakshya 49:61c9f28332ba 884
lakshya 49:61c9f28332ba 885 timer_FCTN_EPS_HANDLE_HW_FAULTS.reset();
lakshya 49:61c9f28332ba 886 timer_FCTN_EPS_HANDLE_HW_FAULTS.start();
lakshya 33:76f2b8735501 887 FCTN_EPS_HANDLE_HW_FAULTS();
lakshya 49:61c9f28332ba 888 timer_FCTN_EPS_HANDLE_HW_FAULTS.stop();
lakshya 49:61c9f28332ba 889
lakshya 49:61c9f28332ba 890 timer_FCTN_EPS_HANDLE_CDMS_FAULT.reset();
lakshya 49:61c9f28332ba 891 timer_FCTN_EPS_HANDLE_CDMS_FAULT.start();
lakshya 33:76f2b8735501 892 FCTN_EPS_HANDLE_CDMS_FAULT();
lakshya 49:61c9f28332ba 893 timer_FCTN_EPS_HANDLE_CDMS_FAULT.stop();
lakshya 49:61c9f28332ba 894
lakshya 49:61c9f28332ba 895 timer_FCTN_APPEND_HKDATA.reset();
lakshya 49:61c9f28332ba 896 timer_FCTN_APPEND_HKDATA.start();
lakshya 33:76f2b8735501 897 FCTN_APPEND_HKDATA();
lakshya 49:61c9f28332ba 898 timer_FCTN_APPEND_HKDATA.stop();
lakshya 49:61c9f28332ba 899
lakshya 49:61c9f28332ba 900 timer_minMaxHkData.reset();
lakshya 49:61c9f28332ba 901 timer_minMaxHkData.start();
lakshya 33:76f2b8735501 902 minMaxHkData();
lakshya 49:61c9f28332ba 903 timer_minMaxHkData.stop();
lakshya 49:61c9f28332ba 904
lakshya 49:61c9f28332ba 905 //pc.printf("ere");
lakshya 33:76f2b8735501 906 EPS_MAIN_STATUS = 0; // clear EPS main status
lakshya 33:76f2b8735501 907
sakthipriya 0:7b4c00e3912f 908 }
lakshya 33:76f2b8735501 909
lakshya 20:949d13045431 910
sakthipriya 0:7b4c00e3912f 911 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 912
sakthipriya 3:07e15677a75c 913 void F_BCN()
sakthipriya 0:7b4c00e3912f 914 {
lakshya 20:949d13045431 915 pc.printf("\n\rEntered BCN %f\n",t_start.read());
lakshya 20:949d13045431 916 //BCN_TX_MAIN_COUNTER=+1;
lakshya 49:61c9f28332ba 917
lakshya 49:61c9f28332ba 918 timer_FCTN_BCN_TX_MAIN.reset();
lakshya 49:61c9f28332ba 919 timer_FCTN_BCN_TX_MAIN.start();
lakshya 20:949d13045431 920 FCTN_BCN_TX_MAIN();
lakshya 49:61c9f28332ba 921 timer_FCTN_BCN_TX_MAIN.stop();
sakthipriya 0:7b4c00e3912f 922 }
sakthipriya 0:7b4c00e3912f 923
sakthipriya 0:7b4c00e3912f 924 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 925
lakshya 39:670133e7ffd8 926 //===================================================================
sakthipriya 0:7b4c00e3912f 927 void T_TC(void const * args)
lakshya 19:79e69017c855 928 {
lakshya 20:949d13045431 929 while(1)
lakshya 39:670133e7ffd8 930 {
lakshya 39:670133e7ffd8 931 Thread::signal_wait(0x4);
lakshya 39:670133e7ffd8 932 wait_us(300);
lakshya 49:61c9f28332ba 933
lakshya 39:670133e7ffd8 934 BAE_MNG_I2C_STATUS =1 ;
lakshya 57:60e8f00d93c3 935 //I2C_last.reset();
lakshya 57:60e8f00d93c3 936 //I2C_last.start();
lakshya 49:61c9f28332ba 937 // pc.printf("\n\r intrpet");
lakshya 39:670133e7ffd8 938 if( slave.receive() == 0)
lakshya 39:670133e7ffd8 939 {
lakshya 39:670133e7ffd8 940 pdir_ss1=PTE->PDIR; /////////edited
lakshya 39:670133e7ffd8 941 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 942 data_send_flag = 'h';
lakshya 39:670133e7ffd8 943 slave.stop();
lakshya 39:670133e7ffd8 944 if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed
lakshya 39:670133e7ffd8 945 {
lakshya 39:670133e7ffd8 946 I2C_busreset(); /////////edited
lakshya 39:670133e7ffd8 947 }
lakshya 39:670133e7ffd8 948 pdir_ss2=PTE->PDIR;
lakshya 39:670133e7ffd8 949 pc.printf("\n\rSlave not addressed");
lakshya 39:670133e7ffd8 950 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss1);
lakshya 39:670133e7ffd8 951 #if PRINT2
lakshya 39:670133e7ffd8 952 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss2);
lakshya 39:670133e7ffd8 953 #endif
lakshya 39:670133e7ffd8 954 }
lakshya 39:670133e7ffd8 955 else if( slave.receive() == 1) // slave writes to master
lakshya 39:670133e7ffd8 956 {
lakshya 39:670133e7ffd8 957 BAE_I2C_COUNTER++; //////////edited
lakshya 39:670133e7ffd8 958 if(data_send_flag == 'h') //to be renamed as BAE_I2C_STATUS
lakshya 39:670133e7ffd8 959 {
lakshya 49:61c9f28332ba 960 irpt_2_mstr =1;
lakshya 49:61c9f28332ba 961 //pc.printf("\n\r hk "); //wait till cdms code is changed
lakshya 39:670133e7ffd8 962 FCTN_APPEND_HKDATA();
lakshya 39:670133e7ffd8 963 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 964 //crc is already being added
lakshya 39:670133e7ffd8 965 write_ack=slave.write((char*)BAE_chardata,134);
lakshya 39:670133e7ffd8 966 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 967 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 968 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 969 if(write_ack==0)// wait till cdms code is changed
lakshya 20:949d13045431 970 {
lakshya 49:61c9f28332ba 971 /*checking the tc timings*/
lakshya 49:61c9f28332ba 972 // time_wdog = 1;
lakshya 49:61c9f28332ba 973
lakshya 39:670133e7ffd8 974 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 975 {
lakshya 39:670133e7ffd8 976 wait_ms(1);
lakshya 39:670133e7ffd8 977 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 978 i2c_count++;
lakshya 39:670133e7ffd8 979 }
lakshya 39:670133e7ffd8 980 if(((pdir_tm1 & 0x00000003)==3))
lakshya 20:949d13045431 981 {
lakshya 39:670133e7ffd8 982 pc.printf("\n\rWrite HK success");
lakshya 49:61c9f28332ba 983 // data_send_flag = 'h';
lakshya 57:60e8f00d93c3 984 irpt_2_mstr = 0;
lakshya 57:60e8f00d93c3 985 I2C_last.reset();
lakshya 57:60e8f00d93c3 986 I2C_last.start(); //////////edited
lakshya 19:79e69017c855 987 }
lakshya 39:670133e7ffd8 988 else
lakshya 39:670133e7ffd8 989 {
lakshya 39:670133e7ffd8 990 #if baby
lakshya 39:670133e7ffd8 991 pc.printf("\n\rWrite HK failed");
lakshya 39:670133e7ffd8 992 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 993 #endif
lakshya 39:670133e7ffd8 994 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 995 I2C_busreset();
lakshya 39:670133e7ffd8 996 #if baby2
lakshya 39:670133e7ffd8 997 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 998 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 999 #endif
lakshya 39:670133e7ffd8 1000 }
lakshya 39:670133e7ffd8 1001 }
lakshya 39:670133e7ffd8 1002 else
lakshya 39:670133e7ffd8 1003 {
lakshya 39:670133e7ffd8 1004 #if baby1
lakshya 39:670133e7ffd8 1005 pc.printf("\n\rWrite Ack failed(HK)");
lakshya 39:670133e7ffd8 1006 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1007 #endif
lakshya 39:670133e7ffd8 1008 I2C_busreset();
lakshya 39:670133e7ffd8 1009 #if baby2
lakshya 39:670133e7ffd8 1010 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1011 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 1012 #endif
lakshya 20:949d13045431 1013 }
lakshya 39:670133e7ffd8 1014 i2c_count=0;
lakshya 39:670133e7ffd8 1015 }
lakshya 49:61c9f28332ba 1016 else if (data_send_flag == 't') //else if(telecommand[1]&0xC0 == 't')
lakshya 39:670133e7ffd8 1017 {
lakshya 39:670133e7ffd8 1018 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 1019 write_ack=slave.write((char*)telemetry,134); ////////edited(size)
lakshya 39:670133e7ffd8 1020 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 1021 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 1022 irpt_2_mstr = 0;
lakshya 49:61c9f28332ba 1023 data_send_flag = 'h';
lakshya 49:61c9f28332ba 1024 // pc.printf("\n\r h set here");
lakshya 39:670133e7ffd8 1025 if(write_ack==0)
lakshya 39:670133e7ffd8 1026 {
lakshya 39:670133e7ffd8 1027 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 1028 {
lakshya 39:670133e7ffd8 1029 wait_ms(1);
lakshya 39:670133e7ffd8 1030 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 1031 i2c_count++;
lakshya 39:670133e7ffd8 1032 }
lakshya 39:670133e7ffd8 1033 if(((pdir_tm1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 1034 {
lakshya 39:670133e7ffd8 1035 pc.printf("\n\rWrite TM success");
lakshya 57:60e8f00d93c3 1036 I2C_last.reset();
lakshya 57:60e8f00d93c3 1037 I2C_last.start();
lakshya 39:670133e7ffd8 1038 }
lakshya 39:670133e7ffd8 1039 else
lakshya 39:670133e7ffd8 1040 {
lakshya 39:670133e7ffd8 1041 #if baby
lakshya 39:670133e7ffd8 1042 pc.printf("\n\rWrite TM failed");
lakshya 39:670133e7ffd8 1043 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1044 #endif
lakshya 39:670133e7ffd8 1045 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 1046 I2C_busreset();
lakshya 39:670133e7ffd8 1047 #if baby2
lakshya 39:670133e7ffd8 1048 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1049 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1050 #endif
lakshya 39:670133e7ffd8 1051 }
lakshya 39:670133e7ffd8 1052 }
lakshya 39:670133e7ffd8 1053 else
lakshya 20:949d13045431 1054 {
lakshya 39:670133e7ffd8 1055 #if baby
lakshya 39:670133e7ffd8 1056 pc.printf("\n\rWrite Ack failed");
lakshya 39:670133e7ffd8 1057 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1058 #endif
lakshya 39:670133e7ffd8 1059 I2C_busreset();
lakshya 39:670133e7ffd8 1060 #if baby2
lakshya 39:670133e7ffd8 1061 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1062 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1063 #endif
lakshya 20:949d13045431 1064 }
lakshya 39:670133e7ffd8 1065 i2c_count=0;
lakshya 49:61c9f28332ba 1066 }
lakshya 49:61c9f28332ba 1067 // else
lakshya 49:61c9f28332ba 1068 // pc.printf("\n\r hey something wrong");
lakshya 39:670133e7ffd8 1069 }
lakshya 39:670133e7ffd8 1070 else if( slave.receive()==3 || slave.receive()==2) // slave read
lakshya 39:670133e7ffd8 1071 {
lakshya 39:670133e7ffd8 1072 BAE_I2C_COUNTER++;
lakshya 49:61c9f28332ba 1073
lakshya 49:61c9f28332ba 1074 /*checking the tc timings*/
lakshya 49:61c9f28332ba 1075 time_wdog = 1;
lakshya 49:61c9f28332ba 1076
lakshya 39:670133e7ffd8 1077 uint8_t i2c_count = 0;
lakshya 39:670133e7ffd8 1078 read_ack=slave.read((char *)telecommand,135); //read() function returns acknowledgement
lakshya 39:670133e7ffd8 1079 wait_ms(1);
lakshya 39:670133e7ffd8 1080 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 1081 if(read_ack==0) //read() says it was successful
lakshya 39:670133e7ffd8 1082 {
lakshya 39:670133e7ffd8 1083 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 1084 {
lakshya 39:670133e7ffd8 1085 wait_ms(1);
lakshya 39:670133e7ffd8 1086 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 1087 i2c_count++;
lakshya 39:670133e7ffd8 1088 }
lakshya 39:670133e7ffd8 1089 if(((pdir_tc1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 1090 {
lakshya 49:61c9f28332ba 1091 //pc.printf("\n\n\rRead TC success");
lakshya 39:670133e7ffd8 1092 if(telecommand[0] == 0x00) /////////////edited
lakshya 49:61c9f28332ba 1093 {
lakshya 49:61c9f28332ba 1094 FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited
lakshya 49:61c9f28332ba 1095 data_send_flag = 'h';
lakshya 57:60e8f00d93c3 1096 pc.printf("\n\n\rRead LBCN QM is comming");
lakshya 57:60e8f00d93c3 1097 I2C_last.reset();
lakshya 57:60e8f00d93c3 1098 I2C_last.start();
lakshya 49:61c9f28332ba 1099 }
lakshya 39:670133e7ffd8 1100 else
lakshya 39:670133e7ffd8 1101 {
lakshya 49:61c9f28332ba 1102 pc.printf("\n\r Read TC SUCESS");
lakshya 39:670133e7ffd8 1103 FCTN_BAE_TM_TC((uint8_t*) telecommand);
lakshya 39:670133e7ffd8 1104 data_send_flag = 't';
lakshya 39:670133e7ffd8 1105 irpt_2_mstr = 1;
lakshya 57:60e8f00d93c3 1106 I2C_last.reset();
lakshya 57:60e8f00d93c3 1107 I2C_last.start();
lakshya 49:61c9f28332ba 1108
lakshya 39:670133e7ffd8 1109 }
lakshya 39:670133e7ffd8 1110 }
lakshya 39:670133e7ffd8 1111 else //either or both of SDA and SCL lines low
lakshya 20:949d13045431 1112 {
lakshya 39:670133e7ffd8 1113 #if baby
lakshya 39:670133e7ffd8 1114 pc.printf("\n\rRead TC failed");
lakshya 39:670133e7ffd8 1115 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1116 #endif
lakshya 39:670133e7ffd8 1117 I2C_busreset();
lakshya 39:670133e7ffd8 1118 #if baby2
lakshya 39:670133e7ffd8 1119 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1120 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 1121 #endif
lakshya 39:670133e7ffd8 1122 gen_I_TM();
lakshya 39:670133e7ffd8 1123 data_send_flag = 't';
lakshya 39:670133e7ffd8 1124 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 1125 }
lakshya 39:670133e7ffd8 1126 }
lakshya 39:670133e7ffd8 1127 else //read() says it was not successful
lakshya 39:670133e7ffd8 1128 {
lakshya 39:670133e7ffd8 1129 #if baby
lakshya 39:670133e7ffd8 1130 pc.printf("\n\rRead Ack failed");
lakshya 39:670133e7ffd8 1131 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1132 #endif
lakshya 39:670133e7ffd8 1133 I2C_busreset();
lakshya 39:670133e7ffd8 1134 #if baby2
lakshya 39:670133e7ffd8 1135 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1136 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1137 #endif
lakshya 39:670133e7ffd8 1138 //pc.printf("\n\r no data case");
lakshya 39:670133e7ffd8 1139 gen_I_TM();
lakshya 39:670133e7ffd8 1140 data_send_flag = 't';
lakshya 39:670133e7ffd8 1141 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 1142 }
lakshya 39:670133e7ffd8 1143 i2c_count = 0;
lakshya 39:670133e7ffd8 1144 }
lakshya 39:670133e7ffd8 1145 BAE_MNG_I2C_STATUS=0;
lakshya 39:670133e7ffd8 1146 }
sakthipriya 0:7b4c00e3912f 1147 }
lakshya 39:670133e7ffd8 1148
sakthipriya 0:7b4c00e3912f 1149 void FCTN_TM()
lakshya 20:949d13045431 1150 {
sakthipriya 5:bb592f3185cc 1151 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 1152 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 1153 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 1154 }
sakthipriya 0:7b4c00e3912f 1155
sakthipriya 0:7b4c00e3912f 1156
sakthipriya 0:7b4c00e3912f 1157 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 1158
sakthipriya 0:7b4c00e3912f 1159 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 1160 {
lakshya 20:949d13045431 1161 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 1162 }
sakthipriya 0:7b4c00e3912f 1163
sakthipriya 0:7b4c00e3912f 1164
sakthipriya 5:bb592f3185cc 1165 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 1166
sakthipriya 5:bb592f3185cc 1167 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 1168
sakthipriya 5:bb592f3185cc 1169 void pollfault()
sakthipriya 5:bb592f3185cc 1170 {
Bragadeesh153 52:daa685b0e390 1171 //if (ACS_ATS1_OC_FAULT==0) // OC_ATS1
Bragadeesh153 52:daa685b0e390 1172 if(0)
lakshya 20:949d13045431 1173 {
lakshya 20:949d13045431 1174 pf1check=1;
lakshya 20:949d13045431 1175 actual_data.faultPoll_status |=0x01 ;
lakshya 20:949d13045431 1176 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
lakshya 20:949d13045431 1177 }
lakshya 20:949d13045431 1178 else
lakshya 20:949d13045431 1179 actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 1180
Bragadeesh153 52:daa685b0e390 1181 //if(ACS_ATS2_OC_FAULT==0)
Bragadeesh153 52:daa685b0e390 1182 if(0)
lakshya 20:949d13045431 1183 {
lakshya 20:949d13045431 1184 pf2check=1;
lakshya 20:949d13045431 1185 actual_data.faultPoll_status |=0x02 ;
lakshya 20:949d13045431 1186 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
lakshya 20:949d13045431 1187 }
lakshya 20:949d13045431 1188 else
lakshya 20:949d13045431 1189 actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 1190
lakshya 48:9fd15e3e0b53 1191 if (ACS_TR_XY_FAULT==0)
lakshya 20:949d13045431 1192 {
lakshya 20:949d13045431 1193 actual_data.faultPoll_status |=0x04 ;
lakshya 20:949d13045431 1194 DRV_XY_EN = 0;
lakshya 20:949d13045431 1195 wait_us(1);
lakshya 20:949d13045431 1196 DRV_XY_EN = 1;
lakshya 20:949d13045431 1197 }
lakshya 20:949d13045431 1198 else
lakshya 20:949d13045431 1199 actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 1200 }
sakthipriya 5:bb592f3185cc 1201
sakthipriya 0:7b4c00e3912f 1202 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 1203 //SCHEDULER
sakthipriya 0:7b4c00e3912f 1204 //------------------------------------------------------------------------------------------------------------------------------------------------
lakshya 20:949d13045431 1205
sakthipriya 0:7b4c00e3912f 1206 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 1207 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 1208 {
lakshya 20:949d13045431 1209 #if print
lakshya 49:61c9f28332ba 1210 pc.printf("\n\r in scheduler");
lakshya 20:949d13045431 1211 #endif
lakshya 19:79e69017c855 1212 /*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 1213 if(schedcount == 13) //to reset the counter
sakthipriya 0:7b4c00e3912f 1214 schedcount = 1;
sakthipriya 0:7b4c00e3912f 1215 if(schedcount%1==0)
lakshya 20:949d13045431 1216 {
lakshya 20:949d13045431 1217 if( BAE_STANDBY!=0x02 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1218 {
lakshya 20:949d13045431 1219 pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
lakshya 49:61c9f28332ba 1220 timer_F_ACS.reset();
lakshya 49:61c9f28332ba 1221 timer_F_ACS.start();
Bragadeesh153 52:daa685b0e390 1222 F_ACS();
lakshya 49:61c9f28332ba 1223 timer_F_ACS.stop();
lakshya 49:61c9f28332ba 1224 /*pc.printf("\n\r timer_F_ACS is %f",timer_F_ACS.read());
lakshya 49:61c9f28332ba 1225 pc.printf("\n\r timer_SENSOR_INIT is %f",timer_SENSOR_INIT.read());
lakshya 49:61c9f28332ba 1226 pc.printf("\n\r timer_CONFIG_UPLOAD is %f",timer_CONFIG_UPLOAD.read());
lakshya 49:61c9f28332ba 1227 pc.printf("\n\r timer_SENSOR_DATA_ACQ is %f",timer_SENSOR_DATA_ACQ.read());
lakshya 49:61c9f28332ba 1228 pc.printf("\n\r timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 1229 pc.printf("\n\r timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 1230 pc.printf("\n\r timer_controlmodes is %f",timer_controlmodes.read());
lakshya 49:61c9f28332ba 1231 */
lakshya 20:949d13045431 1232 //time_wdog = 0;
lakshya 20:949d13045431 1233 }
sakthipriya 0:7b4c00e3912f 1234
lakshya 20:949d13045431 1235 }
lakshya 33:76f2b8735501 1236 if(schedcount%4==0)
lakshya 20:949d13045431 1237 {
lakshya 20:949d13045431 1238 if( BAE_STANDBY!=0x01 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1239 {
lakshya 20:949d13045431 1240 //time_wdog = 1;
lakshya 49:61c9f28332ba 1241 timer_F_ESP.reset();
lakshya 49:61c9f28332ba 1242 timer_F_ESP.start();
lakshya 20:949d13045431 1243 F_EPS();
lakshya 49:61c9f28332ba 1244 timer_F_ESP.stop();
lakshya 49:61c9f28332ba 1245 pc.printf("\n\r timer_F_ESP is %f",timer_F_ESP.read());
lakshya 49:61c9f28332ba 1246 /* pc.printf("\n\r timer_FCTN_BATTERYGAUGE_INIT is %f",timer_FCTN_BATTERYGAUGE_INIT.read());
lakshya 49:61c9f28332ba 1247 pc.printf("\n\r timer_alertFlags is %f",timer_alertFlags.read());
lakshya 49:61c9f28332ba 1248 pc.printf("\n\r timer_soc is %f",timer_soc.read());
lakshya 49:61c9f28332ba 1249 pc.printf("\n\r timer_FCTN_BATT_TEMP_SENSOR_MAIN is %f",timer_FCTN_BATT_TEMP_SENSOR_MAIN.read());
lakshya 49:61c9f28332ba 1250 pc.printf("\n\r timer_FCTN_BATTERYGAUGE_MAIN is %f",timer_FCTN_BATTERYGAUGE_MAIN.read());
lakshya 49:61c9f28332ba 1251 pc.printf("\n\r timer_FCTN_HK_MAIN is %f",timer_FCTN_HK_MAIN.read());
lakshya 49:61c9f28332ba 1252 pc.printf("\n\r timer_FCTN_EPS_HANDLE_HW_FAULTS is %f",timer_FCTN_EPS_HANDLE_HW_FAULTS.read());
lakshya 49:61c9f28332ba 1253 pc.printf("\n\r timer_FCTN_EPS_HANDLE_CDMS_FAULT is %f",timer_FCTN_EPS_HANDLE_CDMS_FAULT.read());
lakshya 49:61c9f28332ba 1254 pc.printf("\n\r timer_FCTN_APPEND_HKDATA is %f",timer_FCTN_APPEND_HKDATA.read());
lakshya 49:61c9f28332ba 1255 pc.printf("\n\r timer_minMaxHkData is %f",timer_minMaxHkData.read());
lakshya 49:61c9f28332ba 1256 */
lakshya 20:949d13045431 1257 }
lakshya 20:949d13045431 1258 //time_wdog = 0;
lakshya 20:949d13045431 1259 }
lakshya 33:76f2b8735501 1260 if(schedcount%6==0)
lakshya 20:949d13045431 1261 {
lakshya 22:950dbe9fbeb8 1262 if(BAE_STANDBY!=0x04 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
lakshya 49:61c9f28332ba 1263 { // time_wdog = 0;
lakshya 49:61c9f28332ba 1264 timer_F_BCN.reset();
lakshya 49:61c9f28332ba 1265 timer_F_BCN.start();
lakshya 49:61c9f28332ba 1266 F_BCN();
lakshya 49:61c9f28332ba 1267 timer_F_BCN.stop();
lakshya 49:61c9f28332ba 1268 /*pc.printf("\n\r timer_F_BCN is %f",timer_F_BCN.read());
lakshya 49:61c9f28332ba 1269 pc.printf("\n\r timer_Init_BEACON_HW is %f",timer_Init_BEACON_HW.read());
lakshya 49:61c9f28332ba 1270 pc.printf("\n\r timer_FCTN_BCN_TX_MAIN is %f",timer_FCTN_BCN_TX_MAIN.read());
lakshya 49:61c9f28332ba 1271 pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUCCESS is %f",timer_Set_BCN_TX_STATUS_SUCCESS.read());
lakshya 49:61c9f28332ba 1272 pc.printf("\n\r timer_Set_BCN_TX_STATUS_FAILURE is %f",timer_Set_BCN_TX_STATUS_FAILURE.read());
lakshya 49:61c9f28332ba 1273 pc.printf("\n\r timer_Set_BCN_TX_STATUS_DISABLED is %f",timer_Set_BCN_TX_STATUS_DISABLED.read());
lakshya 49:61c9f28332ba 1274 pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUSPENDED is %f",timer_Set_BCN_TX_STATUS_SUSPENDED.read());
lakshya 49:61c9f28332ba 1275 pc.printf("\n\r timer_Set_BCN_TX_STATUS_RF_SILENCE is %f",timer_Set_BCN_TX_STATUS_RF_SILENCE.read());
lakshya 49:61c9f28332ba 1276 */}
lakshya 20:949d13045431 1277 }
sakthipriya 0:7b4c00e3912f 1278 schedcount++;
lakshya 20:949d13045431 1279 #if print
lakshya 20:949d13045431 1280 printf("\n\r exited scheduler h");
lakshya 20:949d13045431 1281 printf("\n\r time taken %f",t_start.read());
lakshya 20:949d13045431 1282 #endif
sakthipriya 0:7b4c00e3912f 1283 }
sakthipriya 0:7b4c00e3912f 1284
lakshya 20:949d13045431 1285
sakthipriya 0:7b4c00e3912f 1286 Timer t_flag;
lakshya 19:79e69017c855 1287
lakshya 20:949d13045431 1288
sakthipriya 0:7b4c00e3912f 1289 void FLAG()
sakthipriya 0:7b4c00e3912f 1290 {
lakshya 20:949d13045431 1291
lakshya 20:949d13045431 1292 //I2C
lakshya 20:949d13045431 1293 //if(BAE_MNG_I2C_STATUS == 1)
lakshya 20:949d13045431 1294 // BAE_STATUS = BAE_STATUS | 0x10000000;
lakshya 20:949d13045431 1295 //else if(BAE_MNG_I2C_STATUS == 0)
lakshya 20:949d13045431 1296 // BAE_STATUS &= 0xEFFFFFF;
lakshya 19:79e69017c855 1297
lakshya 19:79e69017c855 1298 //.............bae..................//
lakshya 19:79e69017c855 1299 if(BAE_INIT_STATUS == 1)
lakshya 19:79e69017c855 1300 BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001;
lakshya 19:79e69017c855 1301 else if(BAE_INIT_STATUS == 0)
lakshya 19:79e69017c855 1302 BAE_STATUS &= 0xFFFFFFFE;
lakshya 19:79e69017c855 1303
lakshya 20:949d13045431 1304 if(BAE_MNG_I2C_STATUS == 1)
lakshya 19:79e69017c855 1305 BAE_STATUS = BAE_STATUS | 0x00000002;
lakshya 20:949d13045431 1306 if(BAE_MNG_I2C_STATUS == 0)
lakshya 19:79e69017c855 1307 BAE_STATUS &= 0xFFFFFFFD;
lakshya 20:949d13045431 1308
sakthipriya 0:7b4c00e3912f 1309 //.............acs..................//
sakthipriya 9:194afacf7449 1310 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1311 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 1312 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1313 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 1314
sakthipriya 9:194afacf7449 1315 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1316 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 1317 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1318 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 1319
sakthipriya 9:194afacf7449 1320 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 1321 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 1322 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 1323 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 1324
sakthipriya 0:7b4c00e3912f 1325 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 1326 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 1327
sakthipriya 9:194afacf7449 1328 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1329 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 1330 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1331 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 1332
sakthipriya 0:7b4c00e3912f 1333 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 1334 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1335 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 1336 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 1337 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 1338 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1339 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 1340 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1341 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 1342 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1343 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 1344 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1345 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 1346 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 1347 else
sakthipriya 0:7b4c00e3912f 1348 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 1349
sakthipriya 0:7b4c00e3912f 1350 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 1351 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1352 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 1353 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1354 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 1355 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1356 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 1357 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1358 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 1359 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1360 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 1361 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 1362
sakthipriya 0:7b4c00e3912f 1363 //...............eps......................//
lakshya 20:949d13045431 1364 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
lakshya 20:949d13045431 1365 BAE_STATUS |= 0x00010000;
lakshya 20:949d13045431 1366 else if(EPS_INIT_STATUS==0) // Clear
lakshya 20:949d13045431 1367 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 1368
sakthipriya 5:bb592f3185cc 1369
lakshya 20:949d13045431 1370 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
lakshya 20:949d13045431 1371 BAE_STATUS |= 0x00040000;
lakshya 20:949d13045431 1372 else if(EPS_MAIN_STATUS==0) // Clear
lakshya 20:949d13045431 1373 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 1374
sakthipriya 5:bb592f3185cc 1375
lakshya 20:949d13045431 1376 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
lakshya 20:949d13045431 1377 BAE_STATUS |= 0x00020000;
lakshya 20:949d13045431 1378 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
lakshya 20:949d13045431 1379 BAE_STATUS &= 0xFFFDFFFF;
lakshya 20:949d13045431 1380
lakshya 33:76f2b8735501 1381 if (EPS_BTRY_TMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
lakshya 20:949d13045431 1382 BAE_STATUS |= 0x00080000;
lakshya 33:76f2b8735501 1383 else if(EPS_BTRY_TMP_STATUS==0) // Clear
lakshya 20:949d13045431 1384 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 1385
lakshya 20:949d13045431 1386 if (EPS_STATUS==0)
lakshya 20:949d13045431 1387 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
lakshya 20:949d13045431 1388 else if (EPS_STATUS==1)
lakshya 20:949d13045431 1389 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
lakshya 20:949d13045431 1390 else if (EPS_STATUS==2)
lakshya 20:949d13045431 1391 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
lakshya 20:949d13045431 1392 else if (EPS_STATUS==3)
lakshya 20:949d13045431 1393 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
lakshya 20:949d13045431 1394 else if (EPS_STATUS==4)
lakshya 20:949d13045431 1395 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
lakshya 20:949d13045431 1396 else if (EPS_STATUS==5)
lakshya 20:949d13045431 1397 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 1398
lakshya 20:949d13045431 1399 if(EPS_BTRY_HTR_AUTO == 1)
sakthipriya 5:bb592f3185cc 1400 BAE_ENABLE |= 0x00000080;
lakshya 20:949d13045431 1401 else if(EPS_BTRY_HTR_AUTO == 0)
sakthipriya 5:bb592f3185cc 1402 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 1403
lakshya 20:949d13045431 1404 #if print
lakshya 20:949d13045431 1405 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
lakshya 20:949d13045431 1406 #endif
lakshya 20:949d13045431 1407 }
sakthipriya 0:7b4c00e3912f 1408
sakthipriya 0:7b4c00e3912f 1409
sakthipriya 0:7b4c00e3912f 1410 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 1411 {
lakshya 20:949d13045431 1412 #if print
lakshya 20:949d13045431 1413 printf("\n\r Initialising BAE _________________________________________________________________________________");
lakshya 20:949d13045431 1414 #endif
lakshya 19:79e69017c855 1415 BAE_INIT_STATUS=1;
lakshya 19:79e69017c855 1416 FLAG();
lakshya 19:79e69017c855 1417
sakthipriya 3:07e15677a75c 1418 //..........intial status....//
Bragadeesh153 13:fb7facaf308b 1419 ACS_STATE = 4;
sakthipriya 9:194afacf7449 1420 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 1421 ACS_DATA_ACQ_ENABLE = 1;
lakshya 20:949d13045431 1422 EPS_BTRY_HTR_AUTO = 1;
Bragadeesh153 13:fb7facaf308b 1423 actual_data.power_mode=3;
lakshya 19:79e69017c855 1424
sakthipriya 9:194afacf7449 1425 //............intializing pins................//
Bragadeesh153 52:daa685b0e390 1426 ATS1_SW_ENABLE = 1;
sakthipriya 9:194afacf7449 1427 ATS2_SW_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 1428
Bragadeesh153 13:fb7facaf308b 1429 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 1430 DRV_Z_EN = 1;
Bragadeesh153 52:daa685b0e390 1431 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 52:daa685b0e390 1432 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 1433
lakshya 20:949d13045431 1434 //time_wdog = 1;
sakthipriya 9:194afacf7449 1435
lakshya 49:61c9f28332ba 1436 kick_WDOG();
lakshya 49:61c9f28332ba 1437 pc.printf("\n\r lvl1");
lakshya 49:61c9f28332ba 1438
lakshya 19:79e69017c855 1439 //...........order mentioned in flow chart.................//
lakshya 49:61c9f28332ba 1440 timer_FCTN_BAE_INIT.reset();
lakshya 49:61c9f28332ba 1441 timer_FCTN_BAE_INIT.start();
sakthipriya 3:07e15677a75c 1442 FCTN_ACS_INIT();
lakshya 49:61c9f28332ba 1443 timer_FCTN_BAE_INIT.stop();
lakshya 49:61c9f28332ba 1444 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 49:61c9f28332ba 1445
lakshya 49:61c9f28332ba 1446 timer_FCTN_EPS_INIT.reset();
lakshya 49:61c9f28332ba 1447 timer_FCTN_EPS_INIT.start();
lakshya 17:fc782f7548c6 1448 FCTN_EPS_INIT();
lakshya 49:61c9f28332ba 1449 timer_FCTN_EPS_INIT.stop();
lakshya 49:61c9f28332ba 1450 pc.printf("\n\r timer_FCTN_EPS_INIT is %f",timer_FCTN_EPS_INIT.read());
lakshya 49:61c9f28332ba 1451
lakshya 49:61c9f28332ba 1452 timer_FCTN_BCN_INIT.reset();
lakshya 49:61c9f28332ba 1453 timer_FCTN_BCN_INIT.start();
lakshya 18:3662058a7c10 1454 FCTN_BCN_INIT();
lakshya 49:61c9f28332ba 1455 timer_FCTN_BCN_INIT.stop();
lakshya 49:61c9f28332ba 1456 pc.printf("\n\r timer_FCTN_BCN_INIT is %f",timer_FCTN_BCN_INIT.read());
lakshya 19:79e69017c855 1457
lakshya 27:61c856be467e 1458 //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 1459 //uint32_t data_modify=data_flash & 0x000000FF;
lakshya 27:61c856be467e 1460 //data_modify +=1;
lakshya 27:61c856be467e 1461 //data_modify |=data_flash;
lakshya 27:61c856be467e 1462 //FCTN_BAE_WR_FLASH(0,data_modify);
lakshya 49:61c9f28332ba 1463 //#if print
lakshya 49:61c9f28332ba 1464 // printf("\n\rthe number of reset %d",data_modify);
lakshya 49:61c9f28332ba 1465 //#endif
lakshya 19:79e69017c855 1466 BAE_INIT_STATUS=0;
sakthipriya 0:7b4c00e3912f 1467 FLAG();
sakthipriya 0:7b4c00e3912f 1468 }
sakthipriya 0:7b4c00e3912f 1469
lakshya 20:949d13045431 1470
sakthipriya 0:7b4c00e3912f 1471 int main()
sakthipriya 0:7b4c00e3912f 1472 {
lakshya 33:76f2b8735501 1473 //BAE_uptime.reset();
lakshya 33:76f2b8735501 1474 BAE_uptime.start();
lakshya 20:949d13045431 1475 //time_wdog = 1;
lakshya 19:79e69017c855 1476 pc.printf("\n\r BAE Activated. Testing Version 1.2 \n");
lakshya 20:949d13045431 1477 //FLASH_INI();
lakshya 49:61c9f28332ba 1478
lakshya 49:61c9f28332ba 1479 time_wdog=1;
lakshya 49:61c9f28332ba 1480 timer_FCTN_BAE_INIT.start();
sakthipriya 0:7b4c00e3912f 1481 FCTN_BAE_INIT();
lakshya 49:61c9f28332ba 1482 timer_FCTN_BAE_INIT.stop();
lakshya 49:61c9f28332ba 1483 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 49:61c9f28332ba 1484
lakshya 49:61c9f28332ba 1485 time_wdog=0;
lakshya 49:61c9f28332ba 1486
lakshya 20:949d13045431 1487 //time_wdog = 0;
lakshya 20:949d13045431 1488
sakthipriya 0:7b4c00e3912f 1489 slave.address(addr);
sakthipriya 0:7b4c00e3912f 1490 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 1491
sakthipriya 0:7b4c00e3912f 1492 ptr_t_i2c = new Thread(T_TC);
lakshya 50:6001287f3045 1493 ptr_t_i2c->set_priority(osPriorityRealtime);
sakthipriya 5:bb592f3185cc 1494
sakthipriya 0:7b4c00e3912f 1495 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 1496 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
lakshya 20:949d13045431 1497
sakthipriya 0:7b4c00e3912f 1498 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
lakshya 33:76f2b8735501 1499 t_sc_timer.start(5000);
sakthipriya 0:7b4c00e3912f 1500 t_start.start();
lakshya 50:6001287f3045 1501
lakshya 20:949d13045431 1502 #if print
lakshya 20:949d13045431 1503 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
lakshya 20:949d13045431 1504 #endif
lakshya 19:79e69017c855 1505 /*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 1506 //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1507 /*static allocation*/
lakshya 19:79e69017c855 1508 RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1509 BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER;
lakshya 18:3662058a7c10 1510
lakshya 20:949d13045431 1511 RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce);
lakshya 20:949d13045431 1512 /*later change it to 30 min 1800 seconds*/
lakshya 20:949d13045431 1513 bcn_start_timer.start(20000);
lakshya 20:949d13045431 1514
lakshya 20:949d13045431 1515 //BCN HTR TIMERS
lakshya 20:949d13045431 1516 RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce);
lakshya 20:949d13045431 1517 HTR_OFF=&EPS_HTR_OFF_TIMER;
lakshya 20:949d13045431 1518
lakshya 49:61c9f28332ba 1519 RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE, osTimerPeriodic);
lakshya 20:949d13045431 1520 HTR_CYCLE=&EPS_HTR_CYCLE_TIMER;
lakshya 20:949d13045431 1521
lakshya 20:949d13045431 1522 RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce);
lakshya 20:949d13045431 1523 HTR_DLY=&EPS_HTR_DLY_TIMER;
lakshya 20:949d13045431 1524
lakshya 49:61c9f28332ba 1525 timer_FLASH_INI.start();
lakshya 20:949d13045431 1526 FLASH_INI();
lakshya 49:61c9f28332ba 1527 timer_FLASH_INI.stop();
lakshya 49:61c9f28332ba 1528 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 20:949d13045431 1529
lakshya 20:949d13045431 1530 while(1); //required to prevent main from terminating
lakshya 18:3662058a7c10 1531
lakshya 20:949d13045431 1532 }