Team Fox
/
BAE_QM_MAR9
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
workinQM_5thJan_azad
by 
Team Fox
main.cpp@20:949d13045431, 2016-07-01 (annotated)
- Committer:
- lakshya
- Date:
- Fri Jul 01 17:55:30 2016 +0000
- Revision:
- 20:949d13045431
- Parent:
- 19:79e69017c855
- Child:
- 21:81c888bb6125
- Child:
- 22:950dbe9fbeb8
BAE final 1.0 (1st july); ; BCN and EPS code to be upgraded; +; testing and troubleshooting to be done ; +; watchdog to be implemented; ; comparing with flowcharts.
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 | 20:949d13045431 | 12 | DigitalOut time_wdog(PIN68);// for determining the time between code |
| lakshya | 20:949d13045431 | 13 | |
| lakshya | 19:79e69017c855 | 14 | //**********************************************GLOBAL RTOS TIMER*********************************************************// |
| lakshya | 19:79e69017c855 | 15 | RtosTimer *BAE_STANDBY_STATUS_TIMER; |
| lakshya | 19:79e69017c855 | 16 | |
| lakshya | 20:949d13045431 | 17 | |
| lakshya | 20:949d13045431 | 18 | //bcn heater rtostimers============================================================================= |
| lakshya | 20:949d13045431 | 19 | RtosTimer *HTR_OFF=NULL; |
| lakshya | 20:949d13045431 | 20 | RtosTimer *HTR_CYCLE=NULL; |
| lakshya | 20:949d13045431 | 21 | RtosTimer *HTR_DLY=NULL; |
| lakshya | 20:949d13045431 | 22 | |
| lakshya | 20:949d13045431 | 23 | extern DigitalOut EN_BTRY_HT; |
| lakshya | 20:949d13045431 | 24 | |
| lakshya | 20:949d13045431 | 25 | uint8_t HTR_CYCLE_COUNTS=0; //Count of heater cycles |
| lakshya | 20:949d13045431 | 26 | uint8_t HTR_CYCLE_START_DLY=0; //EPS_HTR_DLY_TIMER timer duration in minutes |
| lakshya | 20:949d13045431 | 27 | uint8_t HTR_ON_DURATION=0; //EPS_HTR_OFF timer duration in minutes |
| lakshya | 20:949d13045431 | 28 | uint16_t HTR_CYCLE_PERIOD =0; //EPS_HTR_CYCLE timer duration - MSB minutes, LSB seconds |
| lakshya | 20:949d13045431 | 29 | uint8_t HTR_CYCLE_COUNTER = 0 ; |
| lakshya | 20:949d13045431 | 30 | |
| lakshya | 20:949d13045431 | 31 | uint32_t HTR_CYCLE_PERIOD_DECODER() //To convert HTR_CYCLE_PERIOD to millisecs |
| lakshya | 20:949d13045431 | 32 | { |
| lakshya | 20:949d13045431 | 33 | uint8_t PERIOD_mins, PERIOD_secs; |
| lakshya | 20:949d13045431 | 34 | //pc.printf("\n\r FCTN_HTR_CYCLE_PERIOD"); |
| lakshya | 20:949d13045431 | 35 | PERIOD_secs = HTR_CYCLE_PERIOD; |
| lakshya | 20:949d13045431 | 36 | PERIOD_mins = HTR_CYCLE_PERIOD >> 8; |
| lakshya | 20:949d13045431 | 37 | uint32_t period = 1000*((int)PERIOD_mins * 60 + (int)PERIOD_secs); |
| lakshya | 20:949d13045431 | 38 | |
| lakshya | 20:949d13045431 | 39 | return period; |
| lakshya | 20:949d13045431 | 40 | } |
| lakshya | 20:949d13045431 | 41 | |
| lakshya | 20:949d13045431 | 42 | void FCTN_EPS_HTR_CYCLE(void const *arg) |
| lakshya | 20:949d13045431 | 43 | { |
| lakshya | 20:949d13045431 | 44 | EN_BTRY_HT = 1;//assuming its active high check |
| lakshya | 20:949d13045431 | 45 | //pc.printf("\n\r on kar diya"); |
| lakshya | 20:949d13045431 | 46 | //pc.printf("\n\r FCTN_EPS_HTR_CYCLE"); |
| lakshya | 20:949d13045431 | 47 | //tim.reset(); |
| lakshya | 20:949d13045431 | 48 | //tim.start(); |
| lakshya | 20:949d13045431 | 49 | //HTR_OFF->start(((uint32_t)HTR_ON_DURATION)*1000); |
| lakshya | 20:949d13045431 | 50 | HTR_OFF->start((int)HTR_ON_DURATION*60*1000); |
| lakshya | 20:949d13045431 | 51 | } |
| lakshya | 20:949d13045431 | 52 | |
| lakshya | 20:949d13045431 | 53 | void FCTN_EPS_HTR_DLY(void const* arg) |
| lakshya | 20:949d13045431 | 54 | { |
| lakshya | 20:949d13045431 | 55 | EN_BTRY_HT = 1; |
| lakshya | 20:949d13045431 | 56 | HTR_CYCLE_COUNTER = 0; |
| lakshya | 20:949d13045431 | 57 | HTR_OFF->start(((int)HTR_ON_DURATION*60*1000)); |
| lakshya | 20:949d13045431 | 58 | //pc.printf("\n\r on kar diya"); |
| lakshya | 20:949d13045431 | 59 | //pc.printf("\n\r FCTN_EPS_HTR_DLY"); |
| lakshya | 20:949d13045431 | 60 | //tim.start(); |
| lakshya | 20:949d13045431 | 61 | HTR_CYCLE->start((uint32_t)HTR_CYCLE_PERIOD_DECODER); |
| lakshya | 20:949d13045431 | 62 | } |
| lakshya | 20:949d13045431 | 63 | |
| lakshya | 20:949d13045431 | 64 | void FCTN_EPS_HTR_OFF(void const *arg) |
| lakshya | 20:949d13045431 | 65 | { |
| lakshya | 20:949d13045431 | 66 | EN_BTRY_HT = 0; |
| lakshya | 20:949d13045431 | 67 | //tim.stop(); |
| lakshya | 20:949d13045431 | 68 | //pc.printf("\n\r off kar diya"); |
| lakshya | 20:949d13045431 | 69 | //pc.printf("\n\r the timer value is %f",tim.read()); |
| lakshya | 20:949d13045431 | 70 | //tim.reset(); |
| lakshya | 20:949d13045431 | 71 | if(HTR_CYCLE_COUNTS != 0xFF) |
| lakshya | 20:949d13045431 | 72 | { |
| lakshya | 20:949d13045431 | 73 | HTR_CYCLE_COUNTER++; |
| lakshya | 20:949d13045431 | 74 | if( HTR_CYCLE_COUNTER == (int)HTR_CYCLE_COUNTS)//HTR_CYCLE_COUNTS ) |
| lakshya | 20:949d13045431 | 75 | HTR_CYCLE->stop(); |
| lakshya | 20:949d13045431 | 76 | } |
| lakshya | 20:949d13045431 | 77 | } |
| lakshya | 20:949d13045431 | 78 | |
| lakshya | 20:949d13045431 | 79 | //==================================================================================================== |
| lakshya | 20:949d13045431 | 80 | |
| lakshya | 20:949d13045431 | 81 | //fctn to pass the data to bcn long type |
| lakshya | 20:949d13045431 | 82 | uint8_t CDMS_HK_data[134]; |
| lakshya | 20:949d13045431 | 83 | void FCTN_CDMS_HK_TC(uint8_t tc[]) |
| lakshya | 20:949d13045431 | 84 | { |
| lakshya | 20:949d13045431 | 85 | for(int i=0;i<134;i++) |
| lakshya | 20:949d13045431 | 86 | CDMS_HK_data[i] = tc[i]; |
| lakshya | 20:949d13045431 | 87 | } |
| lakshya | 20:949d13045431 | 88 | |
| lakshya | 20:949d13045431 | 89 | uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off. |
| lakshya | 20:949d13045431 | 90 | |
| lakshya | 19:79e69017c855 | 91 | void BAE_STANDBY_STATUS_RESET(const void* arg) |
| lakshya | 19:79e69017c855 | 92 | { |
| lakshya | 19:79e69017c855 | 93 | printf("\n\rBAE standby reset to 0x00"); |
| lakshya | 19:79e69017c855 | 94 | BAE_STANDBY=0x00; |
| lakshya | 19:79e69017c855 | 95 | } |
| lakshya | 19:79e69017c855 | 96 | |
| lakshya | 20:949d13045431 | 97 | |
| lakshya | 19:79e69017c855 | 98 | /*no problem in first stopping and then starting even when for the first time*/ |
| lakshya | 19:79e69017c855 | 99 | void BAE_STANDBY_TIMER_RESET() |
| lakshya | 19:79e69017c855 | 100 | { |
| lakshya | 19:79e69017c855 | 101 | BAE_STANDBY_STATUS_TIMER->stop(); |
| lakshya | 19:79e69017c855 | 102 | 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 | 103 | } |
| lakshya | 19:79e69017c855 | 104 | |
| lakshya | 20:949d13045431 | 105 | extern void gen_I_TM(); |
| lakshya | 20:949d13045431 | 106 | |
| lakshya | 20:949d13045431 | 107 | //*************** FLAGS ****************************// |
| sakthipriya | 0:7b4c00e3912f | 108 | uint32_t BAE_STATUS = 0x00000000; |
| sakthipriya | 0:7b4c00e3912f | 109 | uint32_t BAE_ENABLE = 0xFFFFFFFF; |
| sakthipriya | 0:7b4c00e3912f | 110 | |
| sakthipriya | 5:bb592f3185cc | 111 | //i2c// |
| sakthipriya | 5:bb592f3185cc | 112 | char data_send_flag = 'h'; |
| lakshya | 20:949d13045431 | 113 | //uint8_t BAE_MNG_I2C_STATUS = 0; |
| sakthipriya | 5:bb592f3185cc | 114 | |
| lakshya | 20:949d13045431 | 115 | //BAE |
| lakshya | 19:79e69017c855 | 116 | uint8_t BAE_INIT_STATUS=0; |
| lakshya | 20:949d13045431 | 117 | uint8_t BAE_MNG_I2C_STATUS=0; |
| sakthipriya | 0:7b4c00e3912f | 118 | |
| sakthipriya | 9:194afacf7449 | 119 | |
| lakshya | 20:949d13045431 | 120 | //ACS |
| sakthipriya | 9:194afacf7449 | 121 | uint8_t ACS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 122 | uint8_t ACS_DATA_ACQ_STATUS = 0; |
| lakshya | 20:949d13045431 | 123 | uint8_t ACS_ATS_STATUS = 0x73; |
| sakthipriya | 9:194afacf7449 | 124 | uint8_t ACS_MAIN_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 125 | uint8_t ACS_STATUS = 0; |
| lakshya | 20:949d13045431 | 126 | uint8_t ACS_DETUMBLING_ALGO_TYPE = 0; |
| sakthipriya | 9:194afacf7449 | 127 | uint8_t ACS_ATS_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 128 | uint8_t ACS_DATA_ACQ_ENABLE = 1; |
| lakshya | 20:949d13045431 | 129 | uint8_t ACS_STATE = 7; |
| lakshya | 19:79e69017c855 | 130 | |
| lakshya | 20:949d13045431 | 131 | extern uint16_t ACS_MM_X_COMSN; |
| lakshya | 20:949d13045431 | 132 | extern uint16_t ACS_MM_Y_COMSN; |
| lakshya | 20:949d13045431 | 133 | extern uint16_t ACS_MG_X_COMSN; |
| lakshya | 20:949d13045431 | 134 | extern uint16_t ACS_MG_Y_COMSN; |
| lakshya | 20:949d13045431 | 135 | extern uint16_t ACS_MM_Z_COMSN; |
| lakshya | 20:949d13045431 | 136 | extern uint16_t ACS_MG_Z_COMSN; |
| lakshya | 20:949d13045431 | 137 | |
| lakshya | 20:949d13045431 | 138 | //BCN |
| lakshya | 18:3662058a7c10 | 139 | extern uint8_t BCN_FEN; |
| lakshya | 18:3662058a7c10 | 140 | extern void FCTN_BCN_FEN(void const *args); |
| lakshya | 20:949d13045431 | 141 | extern void LONG_BCN_DATA(uint8_t* ); |
| lakshya | 20:949d13045431 | 142 | extern uint16_t gencrc16_for_me();//for calculating the crc of baehk data before sendingkk as including crc causes problem |
| lakshya | 20:949d13045431 | 143 | extern DigitalOut EN_BTRY_HT; |
| lakshya | 20:949d13045431 | 144 | |
| lakshya | 20:949d13045431 | 145 | |
| lakshya | 18:3662058a7c10 | 146 | Timeout timeout_bcn; |
| lakshya | 19:79e69017c855 | 147 | /*long beacon data/sending*/ |
| lakshya | 19:79e69017c855 | 148 | /*be sure it is created in bcn.cpp*/ |
| sakthipriya | 0:7b4c00e3912f | 149 | |
| lakshya | 20:949d13045431 | 150 | //EPS |
| sakthipriya | 9:194afacf7449 | 151 | uint8_t EPS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 152 | uint8_t EPS_BATTERY_GAUGE_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 153 | uint8_t EPS_MAIN_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 154 | uint8_t EPS_BATTERY_TEMP_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 155 | uint8_t EPS_STATUS = 7; //invalid status |
| sakthipriya | 9:194afacf7449 | 156 | |
| lakshya | 20:949d13045431 | 157 | uint8_t EPS_BTRY_HTR_AUTO = 1; |
| lakshya | 20:949d13045431 | 158 | extern uint8_t EPS_SOC_LEVEL_12; |
| lakshya | 20:949d13045431 | 159 | extern uint8_t EPS_SOC_LEVEL_23; |
| lakshya | 20:949d13045431 | 160 | extern uint8_t EPS_BAT_TEMP_LOW; |
| lakshya | 20:949d13045431 | 161 | extern uint8_t EPS_BAT_TEMP_HIGH; |
| lakshya | 20:949d13045431 | 162 | extern uint8_t EPS_BAT_TEMP_DEFAULT; |
| lakshya | 20:949d13045431 | 163 | |
| lakshya | 20:949d13045431 | 164 | |
| lakshya | 20:949d13045431 | 165 | //**********************GLOBAL DECLARATIONS********************************// |
| lakshya | 20:949d13045431 | 166 | |
| lakshya | 20:949d13045431 | 167 | //CDMS |
| lakshya | 20:949d13045431 | 168 | //eps cdms fault |
| lakshya | 20:949d13045431 | 169 | uint8_t CDMS_SW_STATUS; |
| lakshya | 20:949d13045431 | 170 | DigitalOut CDMS_OC_FAULT(PIN79); |
| lakshya | 20:949d13045431 | 171 | bool CDMS_SW_ENABLE; |
| lakshya | 20:949d13045431 | 172 | int CDMS_FAULT_COUNTER = 0; |
| lakshya | 20:949d13045431 | 173 | |
| lakshya | 20:949d13045431 | 174 | |
| lakshya | 20:949d13045431 | 175 | //BAE new hk structure- everything has to changed based on this |
| lakshya | 20:949d13045431 | 176 | char BAE_chardata[74]; |
| lakshya | 20:949d13045431 | 177 | uint8_t BAE_HK_data[134]; |
| lakshya | 20:949d13045431 | 178 | uint8_t BAE_RESET_COUNTER;// INITIALIZATION or do you want to initialize evertime the main is reset? or is it same |
| lakshya | 20:949d13045431 | 179 | uint16_t BAE_I2C_COUNTER = 0;//change/apply |
| lakshya | 20:949d13045431 | 180 | //uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off. |
| lakshya | 20:949d13045431 | 181 | |
| lakshya | 20:949d13045431 | 182 | //BCN |
| lakshya | 20:949d13045431 | 183 | //uint16_t BCN_TX_MAIN_COUNTER = 0; |
| lakshya | 20:949d13045431 | 184 | uint8_t BCN_LONG_MSG_TYPE = 1; |
| sakthipriya | 0:7b4c00e3912f | 185 | |
| lakshya | 20:949d13045431 | 186 | DigitalOut BCN_TX_OC_FAULT(PIN80); |
| lakshya | 20:949d13045431 | 187 | int BCN_TX_FAULT_COUNTER; |
| lakshya | 20:949d13045431 | 188 | |
| lakshya | 20:949d13045431 | 189 | //ACS |
| lakshya | 20:949d13045431 | 190 | uint16_t ACS_MAIN_COUNTER = 0; |
| lakshya | 20:949d13045431 | 191 | |
| lakshya | 20:949d13045431 | 192 | //eps hw faults |
| lakshya | 20:949d13045431 | 193 | //uint8_t ACS_TR_Z_SW_STATUS; |
| lakshya | 20:949d13045431 | 194 | DigitalOut ACS_TR_Z_ENABLE(PIN40); |
| lakshya | 20:949d13045431 | 195 | DigitalOut ACS_TR_Z_OC_FAULT(PIN91); |
| lakshya | 20:949d13045431 | 196 | DigitalOut ACS_TR_Z_FAULT(PIN89); //Driver IC fault |
| lakshya | 20:949d13045431 | 197 | int ACS_TR_Z_FAULT_COUNTER = 0; |
| sakthipriya | 0:7b4c00e3912f | 198 | |
| lakshya | 20:949d13045431 | 199 | //uint8_t ACS_TR_XY_SW_STATUS; |
| lakshya | 20:949d13045431 | 200 | DigitalOut ACS_TR_XY_ENABLE(PIN71); |
| lakshya | 20:949d13045431 | 201 | DigitalOut ACS_TR_XY_OC_FAULT(PIN72); |
| lakshya | 20:949d13045431 | 202 | DigitalOut ACS_TR_XY_FAULT(PIN83); //Driver IC fault |
| lakshya | 20:949d13045431 | 203 | int ACS_TR_XY_FAULT_COUNTER = 0; |
| lakshya | 20:949d13045431 | 204 | |
| lakshya | 20:949d13045431 | 205 | //bool ACS_ATS1_ENABLE; |
| lakshya | 20:949d13045431 | 206 | DigitalOut ACS_ATS1_OC_FAULT(PIN97); |
| lakshya | 20:949d13045431 | 207 | int ACS_ATS1_FAULT_COUNTER = 0; |
| lakshya | 20:949d13045431 | 208 | |
| lakshya | 20:949d13045431 | 209 | //bool ACS_ATS2_ENABLE; |
| lakshya | 20:949d13045431 | 210 | DigitalOut ACS_ATS2_OC_FAULT(PIN5); |
| lakshya | 20:949d13045431 | 211 | int ACS_ATS2_FAULT_COUNTER; |
| lakshya | 20:949d13045431 | 212 | |
| lakshya | 20:949d13045431 | 213 | //EPS |
| lakshya | 20:949d13045431 | 214 | int EPS_MAIN_COUNTER = 0; |
| lakshya | 20:949d13045431 | 215 | |
| lakshya | 20:949d13045431 | 216 | |
| lakshya | 20:949d13045431 | 217 | //GEN DEC FOR TESTING or to be DECIDED whre to ASSIGN HERE |
| sakthipriya | 0:7b4c00e3912f | 218 | const int addr = 0x20; //slave address |
| sakthipriya | 0:7b4c00e3912f | 219 | Timer t_rfsilence; |
| sakthipriya | 0:7b4c00e3912f | 220 | Timer t_start; |
| lakshya | 19:79e69017c855 | 221 | /*defined as of now to check execution time*/ |
| lakshya | 19:79e69017c855 | 222 | /*remember to remove them*/ |
| lakshya | 19:79e69017c855 | 223 | Timer t_acs; |
| lakshya | 19:79e69017c855 | 224 | Timer t_eps; |
| lakshya | 20:949d13045431 | 225 | //Timer t_tc; |
| sakthipriya | 7:a46a1dee4497 | 226 | Timer t_tm; |
| sakthipriya | 0:7b4c00e3912f | 227 | Serial pc(USBTX, USBRX); |
| sakthipriya | 0:7b4c00e3912f | 228 | int power_flag_dummy=2; |
| sakthipriya | 0:7b4c00e3912f | 229 | float data[6]; |
| sakthipriya | 0:7b4c00e3912f | 230 | |
| lakshya | 20:949d13045431 | 231 | |
| lakshya | 20:949d13045431 | 232 | //*************EXTERN PARA******** |
| lakshya | 20:949d13045431 | 233 | |
| lakshya | 20:949d13045431 | 234 | //BAE |
| lakshya | 20:949d13045431 | 235 | |
| sakthipriya | 1:446a959e36ce | 236 | extern BAE_HK_actual actual_data; |
| sakthipriya | 1:446a959e36ce | 237 | extern BAE_HK_quant quant_data; |
| sakthipriya | 1:446a959e36ce | 238 | extern BAE_HK_min_max bae_HK_minmax; |
| sakthipriya | 1:446a959e36ce | 239 | extern BAE_HK_arch arch_data; |
| sakthipriya | 0:7b4c00e3912f | 240 | |
| lakshya | 20:949d13045431 | 241 | |
| lakshya | 20:949d13045431 | 242 | //BCN |
| lakshya | 20:949d13045431 | 243 | extern uint8_t BCN_FEN; |
| lakshya | 20:949d13045431 | 244 | extern uint8_t BCN_TX_SW_STATUS; |
| lakshya | 20:949d13045431 | 245 | extern uint8_t BCN_SPND_TX; |
| lakshya | 20:949d13045431 | 246 | |
| lakshya | 20:949d13045431 | 247 | |
| lakshya | 20:949d13045431 | 248 | //TCTM |
| lakshya | 20:949d13045431 | 249 | extern uint8_t telemetry[135]; |
| lakshya | 20:949d13045431 | 250 | |
| lakshya | 20:949d13045431 | 251 | |
| lakshya | 20:949d13045431 | 252 | //ACS |
| lakshya | 20:949d13045431 | 253 | extern uint8_t ACS_TR_Z_SW_STATUS; |
| lakshya | 20:949d13045431 | 254 | extern uint8_t ACS_TR_XY_SW_STATUS; |
| lakshya | 20:949d13045431 | 255 | extern float gyro_data[3]; |
| lakshya | 20:949d13045431 | 256 | extern float mag_data[3]; |
| lakshya | 20:949d13045431 | 257 | extern float moment[3]; |
| lakshya | 20:949d13045431 | 258 | extern float b_old[3]; // Unit: Tesla |
| lakshya | 20:949d13045431 | 259 | extern float db[3]; |
| lakshya | 20:949d13045431 | 260 | extern uint8_t flag_firsttime; |
| lakshya | 20:949d13045431 | 261 | extern uint8_t ACS_MAG_TIME_DELAY; |
| lakshya | 20:949d13045431 | 262 | extern uint8_t ACS_DEMAG_TIME_DELAY; |
| lakshya | 20:949d13045431 | 263 | extern uint16_t ACS_Z_FIXED_MOMENT; |
| lakshya | 20:949d13045431 | 264 | |
| sakthipriya | 5:bb592f3185cc | 265 | int write_ack = 1; |
| sakthipriya | 5:bb592f3185cc | 266 | int read_ack = 1; |
| sakthipriya | 0:7b4c00e3912f | 267 | char telecommand[tc_len]; |
| lakshya | 20:949d13045431 | 268 | |
| sakthipriya | 5:bb592f3185cc | 269 | |
| sakthipriya | 5:bb592f3185cc | 270 | bool pf1check = 0; |
| sakthipriya | 5:bb592f3185cc | 271 | bool pf2check = 0; |
| sakthipriya | 5:bb592f3185cc | 272 | bool if1check = 0; |
| lakshya | 14:a9588f443f1a | 273 | bool if2check = 0; |
| sakthipriya | 0:7b4c00e3912f | 274 | |
| lakshya | 20:949d13045431 | 275 | //ASSIGNING PINS// |
| sakthipriya | 9:194afacf7449 | 276 | DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch |
| sakthipriya | 9:194afacf7449 | 277 | DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch |
| sakthipriya | 0:7b4c00e3912f | 278 | InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS |
| sakthipriya | 0:7b4c00e3912f | 279 | DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS |
| lakshya | 14:a9588f443f1a | 280 | I2CSlave slave (PIN1,PIN2);///pin1 pin2 |
| lakshya | 20:949d13045431 | 281 | //DigitalOut batt_heat(PIN96); |
| sakthipriya | 0:7b4c00e3912f | 282 | |
| sakthipriya | 9:194afacf7449 | 283 | //ATS1_SW_ENABLE = 0; |
| sakthipriya | 0:7b4c00e3912f | 284 | PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal |
| sakthipriya | 0:7b4c00e3912f | 285 | PwmOut PWM2(PIN94); //y |
| sakthipriya | 0:7b4c00e3912f | 286 | PwmOut PWM3(PIN95); //z //PWM output comes from pins p6 |
| sakthipriya | 0:7b4c00e3912f | 287 | |
| sakthipriya | 5:bb592f3185cc | 288 | //........faults |
| sakthipriya | 5:bb592f3185cc | 289 | //Polled Faults |
| sakthipriya | 5:bb592f3185cc | 290 | DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 291 | DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 292 | DigitalIn pf3(PIN83);//Fault Bar for TRXY driver |
| sakthipriya | 5:bb592f3185cc | 293 | |
| Bragadeesh153 | 13:fb7facaf308b | 294 | DigitalOut TRXY_SW(PIN71); //TR XY Switch |
| Bragadeesh153 | 13:fb7facaf308b | 295 | DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z |
| sakthipriya | 5:bb592f3185cc | 296 | DigitalOut TRZ_SW(PIN40); //TR Z Switch |
| lakshya | 19:79e69017c855 | 297 | DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET |
| sakthipriya | 5:bb592f3185cc | 298 | DigitalOut BCN_SW(PIN14); //Beacon switch |
| Bragadeesh153 | 13:fb7facaf308b | 299 | DigitalOut DRV_XY_EN(PIN82); |
| sakthipriya | 0:7b4c00e3912f | 300 | |
| lakshya | 19:79e69017c855 | 301 | |
| lakshya | 20:949d13045431 | 302 | |
| lakshya | 20:949d13045431 | 303 | //================================================================================ |
| lakshya | 20:949d13045431 | 304 | //default flash array some filler bits added (detail in MMS file) |
| lakshya | 20:949d13045431 | 305 | uint32_t ARR_INITIAL_VAL[8]={0x33574C00,0x505A4141,0x1A1A1400,0x00000000,0x00000000,0x00000000,0xCBA20000,0x00000000};//to be done |
| lakshya | 20:949d13045431 | 306 | |
| lakshya | 20:949d13045431 | 307 | void FLASH_INI() |
| lakshya | 20:949d13045431 | 308 | { |
| lakshya | 20:949d13045431 | 309 | uint32_t read[8]; |
| lakshya | 20:949d13045431 | 310 | for(int i=0;i<8;i++) |
| lakshya | 20:949d13045431 | 311 | { |
| lakshya | 20:949d13045431 | 312 | read[i] = FCTN_BAE_RD_FLASH_ENTITY(i); |
| lakshya | 20:949d13045431 | 313 | printf("\n\r val is read after starting %x ",read[i]); |
| lakshya | 20:949d13045431 | 314 | } |
| lakshya | 20:949d13045431 | 315 | |
| lakshya | 20:949d13045431 | 316 | if(read[0] == -1) |
| lakshya | 20:949d13045431 | 317 | for(int j=0;j<8;j++) |
| lakshya | 20:949d13045431 | 318 | { |
| lakshya | 20:949d13045431 | 319 | FCTN_BAE_WR_FLASH(j,ARR_INITIAL_VAL[j]); |
| lakshya | 20:949d13045431 | 320 | } |
| lakshya | 20:949d13045431 | 321 | else |
| lakshya | 20:949d13045431 | 322 | { |
| lakshya | 20:949d13045431 | 323 | for(int j=0;j<8;j++) |
| lakshya | 20:949d13045431 | 324 | { |
| lakshya | 20:949d13045431 | 325 | read[j] = FCTN_BAE_RD_FLASH_ENTITY(j); |
| lakshya | 20:949d13045431 | 326 | } |
| lakshya | 20:949d13045431 | 327 | ACS_ATS_STATUS = read[0]>>24; |
| lakshya | 20:949d13045431 | 328 | ACS_TR_XY_SW_STATUS = ((uint8_t)(read[0]>>22))&0x03; |
| lakshya | 20:949d13045431 | 329 | ACS_TR_Z_SW_STATUS = (read[0]>>20)&0x03; |
| lakshya | 20:949d13045431 | 330 | ACS_DETUMBLING_ALGO_TYPE = (read[0]>>19)&0x01; |
| lakshya | 20:949d13045431 | 331 | ACS_STATE = (read[0]>>16)&0x07; |
| lakshya | 20:949d13045431 | 332 | BCN_TX_SW_STATUS = ((uint8_t)(read[0]>>14))&0x03; |
| lakshya | 20:949d13045431 | 333 | BCN_SPND_TX = ((uint8_t)(read[0]>>13))&0x01; |
| lakshya | 20:949d13045431 | 334 | BCN_FEN = ((uint8_t)(read[0]>>12))&0x01; |
| lakshya | 20:949d13045431 | 335 | BCN_LONG_MSG_TYPE = ((uint8_t)(read[0]>>11))&0x01; |
| lakshya | 20:949d13045431 | 336 | EPS_BTRY_HTR_AUTO = ((uint8_t)(read[0]>>10))&0x03;//EPS_BATTERY_HEATER_ENABLE |
| lakshya | 20:949d13045431 | 337 | //now two spares in telemetry[5] |
| lakshya | 20:949d13045431 | 338 | |
| lakshya | 20:949d13045431 | 339 | //updating the reset counter |
| lakshya | 20:949d13045431 | 340 | BAE_RESET_COUNTER = ((uint8_t)(read[0]))+1; |
| lakshya | 20:949d13045431 | 341 | read[0]=(read[0]&0xffffff00) | (uint32_t)BAE_RESET_COUNTER; |
| lakshya | 20:949d13045431 | 342 | FCTN_BAE_WR_FLASH(0,read[0]); |
| lakshya | 20:949d13045431 | 343 | |
| lakshya | 20:949d13045431 | 344 | |
| lakshya | 20:949d13045431 | 345 | EPS_SOC_LEVEL_12 = (uint8_t)(read[1]>>24); |
| lakshya | 20:949d13045431 | 346 | EPS_SOC_LEVEL_23 = (uint8_t)(read[1]>>16); |
| lakshya | 20:949d13045431 | 347 | ACS_MAG_TIME_DELAY = (uint8_t)(read[1]>>8); |
| lakshya | 20:949d13045431 | 348 | ACS_DEMAG_TIME_DELAY = (uint8_t)read[1]; |
| lakshya | 20:949d13045431 | 349 | |
| lakshya | 20:949d13045431 | 350 | EPS_BAT_TEMP_LOW = (uint8_t)(read[2]>>24); |
| lakshya | 20:949d13045431 | 351 | EPS_BAT_TEMP_HIGH = (uint8_t)(read[2]>>16); |
| lakshya | 20:949d13045431 | 352 | EPS_BAT_TEMP_DEFAULT = (uint8_t)(read[2]>>8); |
| lakshya | 20:949d13045431 | 353 | |
| lakshya | 20:949d13045431 | 354 | ACS_MM_X_COMSN = (uint16_t)(read[3]>>16); |
| lakshya | 20:949d13045431 | 355 | ACS_MM_Y_COMSN = (uint16_t)read[3]; |
| lakshya | 20:949d13045431 | 356 | |
| lakshya | 20:949d13045431 | 357 | ACS_MG_X_COMSN = (uint16_t)(read[4]>>16); |
| lakshya | 20:949d13045431 | 358 | ACS_MG_Y_COMSN = (uint16_t)read[4]; |
| lakshya | 20:949d13045431 | 359 | |
| lakshya | 20:949d13045431 | 360 | ACS_MM_Z_COMSN = (uint16_t)(read[5]>>16); |
| lakshya | 20:949d13045431 | 361 | ACS_MG_Z_COMSN = (uint16_t)read[5]; |
| lakshya | 20:949d13045431 | 362 | |
| lakshya | 20:949d13045431 | 363 | ACS_Z_FIXED_MOMENT = (uint16_t)(read[6]>>16);//assignvalues |
| lakshya | 20:949d13045431 | 364 | |
| lakshya | 20:949d13045431 | 365 | } |
| lakshya | 20:949d13045431 | 366 | |
| lakshya | 20:949d13045431 | 367 | } |
| lakshya | 20:949d13045431 | 368 | //================================================================================ |
| lakshya | 20:949d13045431 | 369 | |
| lakshya | 20:949d13045431 | 370 | |
| lakshya | 20:949d13045431 | 371 | |
| sakthipriya | 0:7b4c00e3912f | 372 | /*****************************************************************Threads USed***********************************************************************************/ |
| sakthipriya | 0:7b4c00e3912f | 373 | Thread *ptr_t_i2c; |
| sakthipriya | 0:7b4c00e3912f | 374 | |
| lakshya | 19:79e69017c855 | 375 | |
| sakthipriya | 0:7b4c00e3912f | 376 | /*********************************************************FCTN HEADERS***********************************************************************************/ |
| sakthipriya | 0:7b4c00e3912f | 377 | void FCTN_ISR_I2C(); |
| sakthipriya | 0:7b4c00e3912f | 378 | void FCTN_TM(); |
| sakthipriya | 3:07e15677a75c | 379 | void F_ACS(); |
| sakthipriya | 3:07e15677a75c | 380 | void F_EPS(); |
| sakthipriya | 3:07e15677a75c | 381 | void F_BCN(); |
| sakthipriya | 0:7b4c00e3912f | 382 | |
| lakshya | 20:949d13045431 | 383 | //I2C |
| lakshya | 20:949d13045431 | 384 | uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working |
| lakshya | 20:949d13045431 | 385 | uint16_t crc16_check; |
| lakshya | 20:949d13045431 | 386 | void I2C_busreset() |
| lakshya | 20:949d13045431 | 387 | { |
| lakshya | 20:949d13045431 | 388 | PORTE->PCR[1] &= 0xfffffffb; |
| lakshya | 20:949d13045431 | 389 | PORTE->PCR[0] &= 0xfffffffb; |
| lakshya | 20:949d13045431 | 390 | I2C1->C1 &= 0x7f; |
| lakshya | 20:949d13045431 | 391 | SIM->SCGC4 &= 0xffffff7f; |
| lakshya | 20:949d13045431 | 392 | SIM->SCGC4 |= 0x00000080; |
| lakshya | 20:949d13045431 | 393 | I2C1->C1 |= 0x80; |
| lakshya | 20:949d13045431 | 394 | PORTE->PCR[1] |= 0x00000004; |
| lakshya | 20:949d13045431 | 395 | PORTE->PCR[0] |= 0x00000004; |
| lakshya | 20:949d13045431 | 396 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 397 | } |
| lakshya | 20:949d13045431 | 398 | |
| sakthipriya | 0:7b4c00e3912f | 399 | //*******************************************ACS THREAD**************************************************// |
| sakthipriya | 5:bb592f3185cc | 400 | uint8_t iterP1; |
| sakthipriya | 5:bb592f3185cc | 401 | uint8_t iterP2; |
| sakthipriya | 5:bb592f3185cc | 402 | uint8_t iterI1; |
| sakthipriya | 5:bb592f3185cc | 403 | uint8_t iterI2; |
| sakthipriya | 0:7b4c00e3912f | 404 | |
| lakshya | 20:949d13045431 | 405 | //FLOAT TO UINT_8 CONVERSION FUNCTION |
| lakshya | 20:949d13045431 | 406 | extern uint8_t float_to_uint8(float min,float max,float val); |
| lakshya | 20:949d13045431 | 407 | |
| lakshya | 20:949d13045431 | 408 | #define print 0 |
| lakshya | 20:949d13045431 | 409 | |
| sakthipriya | 3:07e15677a75c | 410 | void F_ACS() |
| sakthipriya | 0:7b4c00e3912f | 411 | { |
| lakshya | 20:949d13045431 | 412 | ACS_MAIN_COUNTER++; |
| lakshya | 20:949d13045431 | 413 | //time_wdog = 1; |
| lakshya | 20:949d13045431 | 414 | pc.printf("Entered ACS.\n\r"); |
| lakshya | 20:949d13045431 | 415 | |
| lakshya | 20:949d13045431 | 416 | ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag |
| lakshya | 20:949d13045431 | 417 | FLAG(); |
| sakthipriya | 5:bb592f3185cc | 418 | |
| lakshya | 20:949d13045431 | 419 | ACS_MAIN_COUNTER+=1; |
| sakthipriya | 3:07e15677a75c | 420 | |
| sakthipriya | 0:7b4c00e3912f | 421 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 422 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 423 | PWM3 = 0; //clear pwm pins |
| lakshya | 20:949d13045431 | 424 | |
| lakshya | 20:949d13045431 | 425 | wait_ms(ACS_DEMAG_TIME_DELAY); |
| lakshya | 20:949d13045431 | 426 | ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ(); |
| sakthipriya | 0:7b4c00e3912f | 427 | |
| lakshya | 20:949d13045431 | 428 | #if print |
| lakshya | 20:949d13045431 | 429 | printing the angular speed and magnetic field values |
| lakshya | 20:949d13045431 | 430 | pc.printf("gyro values\n\r"); |
| lakshya | 19:79e69017c855 | 431 | for(int i=0; i<3; i++) |
| lakshya | 20:949d13045431 | 432 | { |
| lakshya | 20:949d13045431 | 433 | printf("%f\n\r",actual_data.AngularSpeed_actual[i]); |
| lakshya | 20:949d13045431 | 434 | } |
| lakshya | 20:949d13045431 | 435 | |
| lakshya | 19:79e69017c855 | 436 | pc.printf("mag values\n\r"); |
| lakshya | 19:79e69017c855 | 437 | for(int i=0; i<3; i++) |
| lakshya | 20:949d13045431 | 438 | { |
| lakshya | 20:949d13045431 | 439 | pc.printf("%f\n\r",actual_data.Bvalue_actual[i]); |
| lakshya | 20:949d13045431 | 440 | } |
| lakshya | 20:949d13045431 | 441 | #endif |
| lakshya | 20:949d13045431 | 442 | |
| lakshya | 20:949d13045431 | 443 | for(int i=0;i<3;i++) |
| lakshya | 19:79e69017c855 | 444 | { |
| lakshya | 20:949d13045431 | 445 | mag_data[i] = actual_data.Bvalue_actual[i]/1000000; |
| lakshya | 20:949d13045431 | 446 | gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180; |
| lakshya | 20:949d13045431 | 447 | } |
| lakshya | 20:949d13045431 | 448 | |
| lakshya | 20:949d13045431 | 449 | if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF? |
| lakshya | 20:949d13045431 | 450 | { |
| lakshya | 20:949d13045431 | 451 | #if print |
| lakshya | 20:949d13045431 | 452 | printf("\n\r acs control off\n"); |
| lakshya | 20:949d13045431 | 453 | #endif |
| lakshya | 20:949d13045431 | 454 | ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF |
| lakshya | 20:949d13045431 | 455 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 456 | return; |
| lakshya | 20:949d13045431 | 457 | } |
| lakshya | 20:949d13045431 | 458 | else if(actual_data.power_mode<=2) |
| lakshya | 20:949d13045431 | 459 | { |
| lakshya | 20:949d13045431 | 460 | #if print |
| lakshya | 20:949d13045431 | 461 | printf("\n\r Low Power \n\r"); |
| lakshya | 20:949d13045431 | 462 | #endif |
| lakshya | 20:949d13045431 | 463 | DRV_Z_EN = 0; |
| lakshya | 20:949d13045431 | 464 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 465 | ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER |
| lakshya | 20:949d13045431 | 466 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 467 | return; |
| lakshya | 20:949d13045431 | 468 | |
| lakshya | 20:949d13045431 | 469 | } |
| lakshya | 20:949d13045431 | 470 | else if(ACS_TR_Z_SW_STATUS != 1) |
| lakshya | 20:949d13045431 | 471 | { |
| lakshya | 20:949d13045431 | 472 | DRV_Z_EN = 0; |
| lakshya | 20:949d13045431 | 473 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 474 | ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED |
| lakshya | 20:949d13045431 | 475 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 476 | return; |
| lakshya | 20:949d13045431 | 477 | } |
| lakshya | 20:949d13045431 | 478 | else if(ACS_TR_XY_SW_STATUS != 1) |
| lakshya | 20:949d13045431 | 479 | { |
| lakshya | 20:949d13045431 | 480 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 481 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 482 | ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only |
| lakshya | 20:949d13045431 | 483 | moment[0] = 0; |
| lakshya | 20:949d13045431 | 484 | moment[1] = 0; |
| lakshya | 20:949d13045431 | 485 | moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value |
| lakshya | 20:949d13045431 | 486 | |
| lakshya | 20:949d13045431 | 487 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 488 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 489 | return; |
| lakshya | 19:79e69017c855 | 490 | } |
| lakshya | 20:949d13045431 | 491 | else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1)) |
| lakshya | 20:949d13045431 | 492 | { |
| lakshya | 20:949d13045431 | 493 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 494 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 495 | ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only |
| lakshya | 20:949d13045431 | 496 | |
| lakshya | 20:949d13045431 | 497 | moment[0] = 0; |
| lakshya | 20:949d13045431 | 498 | moment[1] = 0; |
| lakshya | 20:949d13045431 | 499 | moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value |
| lakshya | 20:949d13045431 | 500 | |
| lakshya | 20:949d13045431 | 501 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 502 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 503 | return; |
| lakshya | 20:949d13045431 | 504 | } |
| lakshya | 20:949d13045431 | 505 | else if(ACS_STATE == 5) |
| lakshya | 20:949d13045431 | 506 | { |
| lakshya | 20:949d13045431 | 507 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 508 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 509 | ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only |
| sakthipriya | 0:7b4c00e3912f | 510 | |
| lakshya | 20:949d13045431 | 511 | moment[0] = 0; |
| lakshya | 20:949d13045431 | 512 | moment[1] = 0; |
| lakshya | 20:949d13045431 | 513 | moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value |
| lakshya | 20:949d13045431 | 514 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 515 | |
| lakshya | 20:949d13045431 | 516 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 517 | return; |
| lakshya | 20:949d13045431 | 518 | } |
| lakshya | 20:949d13045431 | 519 | else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available |
| lakshya | 20:949d13045431 | 520 | { |
| lakshya | 20:949d13045431 | 521 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 522 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 523 | |
| lakshya | 20:949d13045431 | 524 | ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL |
| lakshya | 20:949d13045431 | 525 | ACS_DETUMBLING_ALGO_TYPE = 0x01; |
| lakshya | 20:949d13045431 | 526 | FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE); |
| lakshya | 20:949d13045431 | 527 | #if print |
| lakshya | 20:949d13045431 | 528 | printf("\n\r Moment values returned by control algo \n"); |
| lakshya | 20:949d13045431 | 529 | #endif |
| lakshya | 20:949d13045431 | 530 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 531 | { |
| lakshya | 20:949d13045431 | 532 | printf("%f\t",moment[i]); |
| lakshya | 19:79e69017c855 | 533 | } |
| lakshya | 20:949d13045431 | 534 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 535 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 536 | return; |
| lakshya | 20:949d13045431 | 537 | } |
| lakshya | 20:949d13045431 | 538 | else if(ACS_STATE == 7) // Nominal mode |
| lakshya | 20:949d13045431 | 539 | { |
| lakshya | 20:949d13045431 | 540 | #if print |
| lakshya | 20:949d13045431 | 541 | printf("\n\r Nominal mode \n"); |
| lakshya | 20:949d13045431 | 542 | #endif |
| lakshya | 20:949d13045431 | 543 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 544 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 545 | FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE); |
| lakshya | 20:949d13045431 | 546 | #if print |
| lakshya | 20:949d13045431 | 547 | printf("\n\r Moment values returned by control algo \n"); |
| lakshya | 20:949d13045431 | 548 | #endif |
| lakshya | 20:949d13045431 | 549 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 550 | { |
| lakshya | 20:949d13045431 | 551 | printf("%f\t",moment[i]); |
| lakshya | 20:949d13045431 | 552 | } |
| lakshya | 20:949d13045431 | 553 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 554 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 555 | return; |
| lakshya | 20:949d13045431 | 556 | } |
| lakshya | 20:949d13045431 | 557 | else if(ACS_STATE == 8) // Auto Control |
| lakshya | 20:949d13045431 | 558 | { |
| lakshya | 20:949d13045431 | 559 | #if print |
| lakshya | 20:949d13045431 | 560 | printf("\n\r Auto control mode \n"); |
| lakshya | 20:949d13045431 | 561 | #endif |
| lakshya | 20:949d13045431 | 562 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 563 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 564 | FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE); |
| lakshya | 20:949d13045431 | 565 | #if print |
| lakshya | 20:949d13045431 | 566 | printf("\n\r Moment values returned by control algo \n"); |
| lakshya | 20:949d13045431 | 567 | for(int i=0; i<3; i++) |
| lakshya | 19:79e69017c855 | 568 | { |
| lakshya | 20:949d13045431 | 569 | printf("%f\t",moment[i]); |
| lakshya | 20:949d13045431 | 570 | } |
| lakshya | 20:949d13045431 | 571 | #endif |
| lakshya | 20:949d13045431 | 572 | FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function |
| lakshya | 20:949d13045431 | 573 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 574 | return; |
| lakshya | 20:949d13045431 | 575 | } |
| lakshya | 20:949d13045431 | 576 | else if(ACS_STATE == 9) // Detumbling |
| lakshya | 20:949d13045431 | 577 | { |
| lakshya | 20:949d13045431 | 578 | DRV_Z_EN = 1; |
| lakshya | 20:949d13045431 | 579 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 580 | FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE); |
| lakshya | 20:949d13045431 | 581 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| lakshya | 20:949d13045431 | 582 | ACS_MAIN_STATUS = 0; |
| lakshya | 20:949d13045431 | 583 | return; |
| lakshya | 20:949d13045431 | 584 | } |
| lakshya | 20:949d13045431 | 585 | ACS_STATUS = 7; //INVALID_STATE |
| lakshya | 20:949d13045431 | 586 | DRV_Z_EN = 0; |
| lakshya | 20:949d13045431 | 587 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 588 | ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag |
| lakshya | 20:949d13045431 | 589 | } |
| lakshya | 19:79e69017c855 | 590 | |
| lakshya | 19:79e69017c855 | 591 | |
| sakthipriya | 0:7b4c00e3912f | 592 | //***************************************************EPS THREAD***********************************************// |
| sakthipriya | 0:7b4c00e3912f | 593 | |
| sakthipriya | 3:07e15677a75c | 594 | void F_EPS() |
| lakshya | 20:949d13045431 | 595 | { |
| lakshya | 20:949d13045431 | 596 | //time_wdog = 1; |
| lakshya | 19:79e69017c855 | 597 | t_eps.start(); |
| lakshya | 20:949d13045431 | 598 | EPS_MAIN_STATUS = 1; // Set EPS main status |
| lakshya | 20:949d13045431 | 599 | FLAG(); |
| lakshya | 20:949d13045431 | 600 | EPS_MAIN_COUNTER+=1; |
| lakshya | 20:949d13045431 | 601 | #if print |
| sakthipriya | 0:7b4c00e3912f | 602 | pc.printf("\n\rEntered EPS %f\n",t_start.read()); |
| lakshya | 20:949d13045431 | 603 | #endif |
| lakshya | 20:949d13045431 | 604 | |
| lakshya | 20:949d13045431 | 605 | |
| lakshya | 20:949d13045431 | 606 | FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual); |
| lakshya | 20:949d13045431 | 607 | #if print |
| lakshya | 19:79e69017c855 | 608 | pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]); |
| lakshya | 20:949d13045431 | 609 | #endif |
| lakshya | 20:949d13045431 | 610 | EPS_BATTERY_TEMP_STATUS = 1; //set EPS_BATTERY_TEMP_STATUS |
| lakshya | 20:949d13045431 | 611 | if(EPS_BTRY_HTR_AUTO == 1) |
| lakshya | 19:79e69017c855 | 612 | { |
| lakshya | 19:79e69017c855 | 613 | if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm |
| lakshya | 20:949d13045431 | 614 | { |
| lakshya | 20:949d13045431 | 615 | EN_BTRY_HT = 1; //turn on battery heater //earlier named as batt_heat |
| lakshya | 20:949d13045431 | 616 | } |
| lakshya | 19:79e69017c855 | 617 | else |
| lakshya | 20:949d13045431 | 618 | { |
| lakshya | 20:949d13045431 | 619 | EN_BTRY_HT = 0; //turn off battery heater |
| lakshya | 20:949d13045431 | 620 | } |
| lakshya | 19:79e69017c855 | 621 | } |
| lakshya | 20:949d13045431 | 622 | else if(EPS_BTRY_HTR_AUTO == 0) |
| lakshya | 19:79e69017c855 | 623 | { |
| lakshya | 19:79e69017c855 | 624 | EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED |
| lakshya | 19:79e69017c855 | 625 | } |
| lakshya | 20:949d13045431 | 626 | FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual); |
| lakshya | 20:949d13045431 | 627 | if (actual_data.Batt_gauge_actual[1] == 200) //data not received |
| sakthipriya | 0:7b4c00e3912f | 628 | { |
| lakshya | 19:79e69017c855 | 629 | actual_data.power_mode = 1; |
| lakshya | 19:79e69017c855 | 630 | EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS |
| sakthipriya | 0:7b4c00e3912f | 631 | } |
| lakshya | 20:949d13045431 | 632 | else |
| sakthipriya | 0:7b4c00e3912f | 633 | { |
| lakshya | 19:79e69017c855 | 634 | FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level |
| lakshya | 19:79e69017c855 | 635 | EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS |
| sakthipriya | 0:7b4c00e3912f | 636 | } |
| lakshya | 20:949d13045431 | 637 | FCTN_HK_MAIN(); |
| lakshya | 20:949d13045431 | 638 | FCTN_APPEND_HKDATA(); |
| lakshya | 20:949d13045431 | 639 | minMaxHkData(); |
| lakshya | 20:949d13045431 | 640 | EPS_MAIN_STATUS = 0; // clear EPS main status |
| lakshya | 20:949d13045431 | 641 | t_eps.stop(); |
| lakshya | 20:949d13045431 | 642 | #if print |
| lakshya | 19:79e69017c855 | 643 | printf("\n\r the time for eps is %f",(float)t_eps.read_ms()); |
| lakshya | 20:949d13045431 | 644 | #endif |
| lakshya | 20:949d13045431 | 645 | t_eps.reset(); |
| sakthipriya | 3:07e15677a75c | 646 | |
| sakthipriya | 0:7b4c00e3912f | 647 | } |
| sakthipriya | 0:7b4c00e3912f | 648 | |
| lakshya | 20:949d13045431 | 649 | |
| sakthipriya | 0:7b4c00e3912f | 650 | //**************************************************BCN THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 651 | |
| sakthipriya | 3:07e15677a75c | 652 | void F_BCN() |
| sakthipriya | 0:7b4c00e3912f | 653 | { |
| lakshya | 20:949d13045431 | 654 | pc.printf("\n\rEntered BCN %f\n",t_start.read()); |
| lakshya | 20:949d13045431 | 655 | //BCN_TX_MAIN_COUNTER=+1; |
| lakshya | 20:949d13045431 | 656 | FCTN_BCN_TX_MAIN(); |
| sakthipriya | 0:7b4c00e3912f | 657 | } |
| sakthipriya | 0:7b4c00e3912f | 658 | |
| sakthipriya | 0:7b4c00e3912f | 659 | //**************************************************TCTM THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 660 | |
| sakthipriya | 0:7b4c00e3912f | 661 | void T_TC(void const * args) |
| lakshya | 19:79e69017c855 | 662 | { |
| lakshya | 20:949d13045431 | 663 | while(1) |
| lakshya | 19:79e69017c855 | 664 | { |
| lakshya | 20:949d13045431 | 665 | Thread::signal_wait(0x4); |
| lakshya | 20:949d13045431 | 666 | //wait_us(200);// se if it can be changed//@Lakshya:It can't be changed :) |
| lakshya | 20:949d13045431 | 667 | wait_us(300); |
| lakshya | 20:949d13045431 | 668 | BAE_MNG_I2C_STATUS =1 ; |
| lakshya | 20:949d13045431 | 669 | FLAG(); |
| lakshya | 20:949d13045431 | 670 | //earlier BAE_I2CRX_STATUS=1; |
| lakshya | 20:949d13045431 | 671 | #if print |
| lakshya | 20:949d13045431 | 672 | printf("\n\rreached\n"); |
| lakshya | 20:949d13045431 | 673 | #endif // can be between 38 to 15700 |
| lakshya | 20:949d13045431 | 674 | if( slave.receive() == 0) |
| lakshya | 20:949d13045431 | 675 | { |
| lakshya | 20:949d13045431 | 676 | irpt_2_mstr = 0; |
| lakshya | 20:949d13045431 | 677 | data_send_flag = 'h'; |
| lakshya | 20:949d13045431 | 678 | pc.printf("\n\rSlave not addressed"); |
| lakshya | 20:949d13045431 | 679 | pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss1); |
| lakshya | 20:949d13045431 | 680 | slave.stop(); |
| lakshya | 20:949d13045431 | 681 | pdir_ss1=PTE->PDIR; /////////edited |
| lakshya | 20:949d13045431 | 682 | if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed |
| lakshya | 20:949d13045431 | 683 | { |
| lakshya | 20:949d13045431 | 684 | I2C_busreset(); /////////edited |
| lakshya | 19:79e69017c855 | 685 | } |
| lakshya | 20:949d13045431 | 686 | /*pdir_ss2=PTE->PDIR; |
| lakshya | 20:949d13045431 | 687 | #if PRINT2 |
| lakshya | 20:949d13045431 | 688 | pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss2); |
| lakshya | 20:949d13045431 | 689 | #endif*/ |
| lakshya | 20:949d13045431 | 690 | #if print |
| lakshya | 20:949d13045431 | 691 | printf("\n\rnot send\n"); |
| lakshya | 20:949d13045431 | 692 | #endif |
| lakshya | 20:949d13045431 | 693 | } |
| lakshya | 20:949d13045431 | 694 | else if( slave.receive() == 1) // slave writes to master |
| lakshya | 20:949d13045431 | 695 | { |
| lakshya | 20:949d13045431 | 696 | BAE_I2C_COUNTER++; //////////edited |
| lakshya | 20:949d13045431 | 697 | if(data_send_flag = 'h') //to be renamed as BAE_I2C_STATUS |
| lakshya | 20:949d13045431 | 698 | { |
| lakshya | 20:949d13045431 | 699 | irpt_2_mstr =1; //wait till cdms code is changed |
| lakshya | 20:949d13045431 | 700 | FCTN_APPEND_HKDATA(); |
| lakshya | 20:949d13045431 | 701 | uint8_t i2c_count =0; |
| lakshya | 20:949d13045431 | 702 | //crc is already being added |
| lakshya | 20:949d13045431 | 703 | write_ack=slave.write((char*)BAE_chardata,134); |
| lakshya | 20:949d13045431 | 704 | Thread::wait(1); //for correct values of register to be updated |
| lakshya | 20:949d13045431 | 705 | pdir_tm1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 706 | irpt_2_mstr = 0; |
| lakshya | 20:949d13045431 | 707 | if(write_ack==0)// wait till cdms code is changed |
| lakshya | 20:949d13045431 | 708 | { |
| lakshya | 20:949d13045431 | 709 | while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10) |
| lakshya | 20:949d13045431 | 710 | { |
| lakshya | 20:949d13045431 | 711 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 712 | pdir_tm1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 713 | i2c_count++; |
| lakshya | 20:949d13045431 | 714 | } |
| lakshya | 20:949d13045431 | 715 | if(((pdir_tm1 & 0x00000003)==3)) |
| lakshya | 20:949d13045431 | 716 | { |
| lakshya | 20:949d13045431 | 717 | pc.printf("\n\rWrite HK success"); |
| lakshya | 20:949d13045431 | 718 | data_send_flag = 'h'; |
| lakshya | 20:949d13045431 | 719 | //shoulddn't it be here |
| lakshya | 20:949d13045431 | 720 | irpt_2_mstr = 0; //////////edited |
| lakshya | 20:949d13045431 | 721 | } |
| lakshya | 20:949d13045431 | 722 | else |
| lakshya | 20:949d13045431 | 723 | { |
| lakshya | 20:949d13045431 | 724 | wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms |
| lakshya | 20:949d13045431 | 725 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 726 | } |
| lakshya | 20:949d13045431 | 727 | #if print |
| lakshya | 20:949d13045431 | 728 | pc.printf("\n\rgot interrupt\n"); |
| lakshya | 20:949d13045431 | 729 | #endif |
| lakshya | 20:949d13045431 | 730 | } |
| lakshya | 20:949d13045431 | 731 | else |
| lakshya | 20:949d13045431 | 732 | { |
| lakshya | 20:949d13045431 | 733 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 734 | } |
| lakshya | 20:949d13045431 | 735 | i2c_count=0; |
| lakshya | 20:949d13045431 | 736 | } |
| lakshya | 20:949d13045431 | 737 | else//data_send_flag = "t" //else if(telecommand[1]&0xC0 == 't') |
| lakshya | 20:949d13045431 | 738 | { |
| lakshya | 20:949d13045431 | 739 | uint8_t i2c_count =0; |
| lakshya | 20:949d13045431 | 740 | write_ack=slave.write((char*)telemetry,134); ////////edited(size) |
| lakshya | 20:949d13045431 | 741 | Thread::wait(1); //for correct values of register to be updated |
| lakshya | 20:949d13045431 | 742 | pdir_tm1=PTE->PDIR; |
| lakshya | 19:79e69017c855 | 743 | irpt_2_mstr = 0; |
| lakshya | 20:949d13045431 | 744 | data_send_flag = 'h'; |
| lakshya | 20:949d13045431 | 745 | if(write_ack==0) |
| lakshya | 20:949d13045431 | 746 | { |
| lakshya | 20:949d13045431 | 747 | while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10) |
| lakshya | 20:949d13045431 | 748 | { |
| lakshya | 20:949d13045431 | 749 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 750 | pdir_tm1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 751 | i2c_count++; |
| lakshya | 20:949d13045431 | 752 | } |
| lakshya | 20:949d13045431 | 753 | if(((pdir_tm1 & 0x00000003)==3)) |
| lakshya | 20:949d13045431 | 754 | { |
| lakshya | 20:949d13045431 | 755 | pc.printf("\n\rWrite TM success"); |
| lakshya | 20:949d13045431 | 756 | } |
| lakshya | 20:949d13045431 | 757 | else |
| lakshya | 20:949d13045431 | 758 | { |
| lakshya | 20:949d13045431 | 759 | wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms |
| lakshya | 20:949d13045431 | 760 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 761 | } |
| lakshya | 20:949d13045431 | 762 | } |
| lakshya | 20:949d13045431 | 763 | else |
| lakshya | 20:949d13045431 | 764 | { |
| lakshya | 20:949d13045431 | 765 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 766 | } |
| lakshya | 20:949d13045431 | 767 | i2c_count=0; |
| lakshya | 20:949d13045431 | 768 | } |
| lakshya | 20:949d13045431 | 769 | |
| lakshya | 20:949d13045431 | 770 | } |
| lakshya | 20:949d13045431 | 771 | else if( slave.receive()==3 || slave.receive()==2) // slave read |
| lakshya | 20:949d13045431 | 772 | { |
| lakshya | 20:949d13045431 | 773 | BAE_I2C_COUNTER++; |
| lakshya | 20:949d13045431 | 774 | uint8_t i2c_count = 0; |
| lakshya | 20:949d13045431 | 775 | read_ack=slave.read((char *)telecommand,11); //read() function returns acknowledgement |
| lakshya | 20:949d13045431 | 776 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 777 | pdir_tc1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 778 | if(read_ack==0) //read() says it was successful |
| lakshya | 20:949d13045431 | 779 | { |
| lakshya | 20:949d13045431 | 780 | while(((pdir_tc1 & 0x00000003)!=3)&& i2c_count<10)//checking if SDA and SCL lines are logic 0 and not more than 10 times(10ms) |
| lakshya | 20:949d13045431 | 781 | { |
| lakshya | 20:949d13045431 | 782 | Thread::wait(1); |
| lakshya | 20:949d13045431 | 783 | pdir_tc1=PTE->PDIR; |
| lakshya | 20:949d13045431 | 784 | i2c_count++; |
| lakshya | 20:949d13045431 | 785 | } |
| lakshya | 20:949d13045431 | 786 | if(((pdir_tc1 & 0x00000003)==3)) |
| lakshya | 20:949d13045431 | 787 | { |
| lakshya | 20:949d13045431 | 788 | pc.printf("\n\n\rRead TC success"); |
| lakshya | 20:949d13045431 | 789 | //if(telecommand[1]&0xC0 == 0x00) |
| lakshya | 20:949d13045431 | 790 | if(telecommand[0] == 0x00) /////////////edited |
| lakshya | 20:949d13045431 | 791 | FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited |
| lakshya | 20:949d13045431 | 792 | //FCTN_TC_DECODE((uint8_t*) telecommand); |
| lakshya | 20:949d13045431 | 793 | else |
| lakshya | 20:949d13045431 | 794 | { |
| lakshya | 20:949d13045431 | 795 | FCTN_BAE_TM_TC((uint8_t*) telecommand); |
| lakshya | 20:949d13045431 | 796 | //telemetry = (char*)temp; |
| lakshya | 20:949d13045431 | 797 | data_send_flag = 't'; |
| lakshya | 20:949d13045431 | 798 | //pc.printf("\n\r Telemetry Generation \n"); |
| lakshya | 20:949d13045431 | 799 | irpt_2_mstr = 1; |
| lakshya | 20:949d13045431 | 800 | } |
| lakshya | 20:949d13045431 | 801 | } |
| lakshya | 20:949d13045431 | 802 | else //either or both of SDA and SCL lines low |
| lakshya | 20:949d13045431 | 803 | { |
| lakshya | 20:949d13045431 | 804 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 805 | // data_send_flag = 'i'; |
| lakshya | 20:949d13045431 | 806 | gen_I_TM(); |
| lakshya | 20:949d13045431 | 807 | data_send_flag = 't'; |
| lakshya | 20:949d13045431 | 808 | //shouldn't it be here |
| lakshya | 20:949d13045431 | 809 | irpt_2_mstr = 1; /////////////added |
| lakshya | 20:949d13045431 | 810 | } |
| lakshya | 20:949d13045431 | 811 | } |
| lakshya | 20:949d13045431 | 812 | else //read() says it was not successful |
| lakshya | 20:949d13045431 | 813 | { |
| lakshya | 20:949d13045431 | 814 | I2C_busreset(); |
| lakshya | 20:949d13045431 | 815 | //data_send_flag = 'i'; //'i' = invalid |
| lakshya | 20:949d13045431 | 816 | gen_I_TM(); |
| lakshya | 20:949d13045431 | 817 | data_send_flag = 't'; |
| lakshya | 20:949d13045431 | 818 | irpt_2_mstr = 1; /////////////added |
| lakshya | 20:949d13045431 | 819 | } |
| lakshya | 20:949d13045431 | 820 | i2c_count = 0; |
| lakshya | 20:949d13045431 | 821 | #if print |
| lakshya | 20:949d13045431 | 822 | pc.printf("\n\r time taken %d",t_tc.read_us()); |
| lakshya | 20:949d13045431 | 823 | for(int i = 0; i<134; i++) |
| lakshya | 20:949d13045431 | 824 | pc.printf("%c", telemetry[i]); |
| lakshya | 20:949d13045431 | 825 | #endif |
| lakshya | 20:949d13045431 | 826 | } |
| lakshya | 20:949d13045431 | 827 | //was commented here now in txt file main_i2ccomment on desktp |
| lakshya | 20:949d13045431 | 828 | BAE_MNG_I2C_STATUS=0; |
| lakshya | 20:949d13045431 | 829 | FLAG(); |
| lakshya | 20:949d13045431 | 830 | } |
| sakthipriya | 0:7b4c00e3912f | 831 | } |
| sakthipriya | 0:7b4c00e3912f | 832 | void FCTN_TM() |
| lakshya | 20:949d13045431 | 833 | { |
| sakthipriya | 5:bb592f3185cc | 834 | data_send_flag = 't'; |
| sakthipriya | 0:7b4c00e3912f | 835 | pc.printf("\n\r Telemetry Generation \n"); |
| sakthipriya | 0:7b4c00e3912f | 836 | irpt_2_mstr = 1; |
| sakthipriya | 0:7b4c00e3912f | 837 | } |
| sakthipriya | 0:7b4c00e3912f | 838 | |
| sakthipriya | 0:7b4c00e3912f | 839 | |
| sakthipriya | 0:7b4c00e3912f | 840 | //******************************************************* I2C *******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 841 | |
| sakthipriya | 0:7b4c00e3912f | 842 | void FCTN_I2C_ISR() |
| sakthipriya | 0:7b4c00e3912f | 843 | { |
| lakshya | 20:949d13045431 | 844 | ptr_t_i2c->signal_set(0x4); |
| sakthipriya | 0:7b4c00e3912f | 845 | } |
| sakthipriya | 0:7b4c00e3912f | 846 | |
| sakthipriya | 0:7b4c00e3912f | 847 | |
| sakthipriya | 5:bb592f3185cc | 848 | //***********************************************************FAULTS***************************************************************// |
| sakthipriya | 5:bb592f3185cc | 849 | |
| sakthipriya | 5:bb592f3185cc | 850 | uint8_t iter2=0,iter4 = 0; |
| sakthipriya | 5:bb592f3185cc | 851 | |
| sakthipriya | 5:bb592f3185cc | 852 | void pollfault() |
| sakthipriya | 5:bb592f3185cc | 853 | { |
| lakshya | 20:949d13045431 | 854 | if (pf1==0) // OC_ATS1 |
| lakshya | 20:949d13045431 | 855 | { |
| lakshya | 20:949d13045431 | 856 | pf1check=1; |
| lakshya | 20:949d13045431 | 857 | actual_data.faultPoll_status |=0x01 ; |
| lakshya | 20:949d13045431 | 858 | ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS |
| lakshya | 20:949d13045431 | 859 | } |
| lakshya | 20:949d13045431 | 860 | else |
| lakshya | 20:949d13045431 | 861 | actual_data.faultPoll_status &= 0xFE; |
| sakthipriya | 5:bb592f3185cc | 862 | |
| lakshya | 20:949d13045431 | 863 | if(pf2==0) |
| lakshya | 20:949d13045431 | 864 | { |
| lakshya | 20:949d13045431 | 865 | pf2check=1; |
| lakshya | 20:949d13045431 | 866 | actual_data.faultPoll_status |=0x02 ; |
| lakshya | 20:949d13045431 | 867 | ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS |
| lakshya | 20:949d13045431 | 868 | } |
| lakshya | 20:949d13045431 | 869 | else |
| lakshya | 20:949d13045431 | 870 | actual_data.faultPoll_status &= 0xFD; |
| sakthipriya | 5:bb592f3185cc | 871 | |
| sakthipriya | 5:bb592f3185cc | 872 | if (pf3==0) |
| lakshya | 20:949d13045431 | 873 | { |
| lakshya | 20:949d13045431 | 874 | actual_data.faultPoll_status |=0x04 ; |
| lakshya | 20:949d13045431 | 875 | DRV_XY_EN = 0; |
| lakshya | 20:949d13045431 | 876 | wait_us(1); |
| lakshya | 20:949d13045431 | 877 | DRV_XY_EN = 1; |
| lakshya | 20:949d13045431 | 878 | } |
| lakshya | 20:949d13045431 | 879 | else |
| lakshya | 20:949d13045431 | 880 | actual_data.faultPoll_status &= 0xFB; |
| sakthipriya | 5:bb592f3185cc | 881 | } |
| sakthipriya | 5:bb592f3185cc | 882 | |
| sakthipriya | 0:7b4c00e3912f | 883 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| sakthipriya | 0:7b4c00e3912f | 884 | //SCHEDULER |
| sakthipriya | 0:7b4c00e3912f | 885 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| lakshya | 20:949d13045431 | 886 | |
| sakthipriya | 0:7b4c00e3912f | 887 | uint8_t schedcount=1; |
| sakthipriya | 0:7b4c00e3912f | 888 | void T_SC(void const *args) |
| sakthipriya | 0:7b4c00e3912f | 889 | { |
| lakshya | 20:949d13045431 | 890 | #if print |
| lakshya | 20:949d13045431 | 891 | printf("\n\r in scheduler"); |
| lakshya | 20:949d13045431 | 892 | #endif |
| lakshya | 19:79e69017c855 | 893 | /*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 | 894 | if(schedcount == 7) //to reset the counter |
| sakthipriya | 0:7b4c00e3912f | 895 | schedcount = 1; |
| sakthipriya | 0:7b4c00e3912f | 896 | if(schedcount%1==0) |
| lakshya | 20:949d13045431 | 897 | { |
| lakshya | 20:949d13045431 | 898 | if( BAE_STANDBY!=0x02 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07) |
| lakshya | 20:949d13045431 | 899 | { |
| lakshya | 20:949d13045431 | 900 | pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE); |
| lakshya | 20:949d13045431 | 901 | F_ACS(); |
| lakshya | 20:949d13045431 | 902 | //time_wdog = 0; |
| lakshya | 20:949d13045431 | 903 | } |
| sakthipriya | 0:7b4c00e3912f | 904 | |
| lakshya | 20:949d13045431 | 905 | } |
| sakthipriya | 0:7b4c00e3912f | 906 | if(schedcount%2==0) |
| lakshya | 20:949d13045431 | 907 | { |
| lakshya | 20:949d13045431 | 908 | if( BAE_STANDBY!=0x01 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x07) |
| lakshya | 20:949d13045431 | 909 | { |
| lakshya | 20:949d13045431 | 910 | //time_wdog = 1; |
| lakshya | 20:949d13045431 | 911 | F_EPS(); |
| lakshya | 20:949d13045431 | 912 | } |
| lakshya | 20:949d13045431 | 913 | //time_wdog = 0; |
| lakshya | 20:949d13045431 | 914 | } |
| lakshya | 16:f9e484dc505e | 915 | if(schedcount%3==0) |
| lakshya | 20:949d13045431 | 916 | { |
| lakshya | 20:949d13045431 | 917 | //if(BAE_STANDBY!=0x04 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07) |
| lakshya | 20:949d13045431 | 918 | // time_wdog = 0; |
| lakshya | 20:949d13045431 | 919 | // F_BCN(); |
| lakshya | 20:949d13045431 | 920 | } |
| sakthipriya | 0:7b4c00e3912f | 921 | schedcount++; |
| lakshya | 20:949d13045431 | 922 | #if print |
| lakshya | 20:949d13045431 | 923 | printf("\n\r exited scheduler h"); |
| lakshya | 20:949d13045431 | 924 | printf("\n\r time taken %f",t_start.read()); |
| lakshya | 20:949d13045431 | 925 | #endif |
| sakthipriya | 0:7b4c00e3912f | 926 | } |
| sakthipriya | 0:7b4c00e3912f | 927 | |
| lakshya | 20:949d13045431 | 928 | |
| sakthipriya | 0:7b4c00e3912f | 929 | Timer t_flag; |
| lakshya | 19:79e69017c855 | 930 | |
| lakshya | 20:949d13045431 | 931 | |
| sakthipriya | 0:7b4c00e3912f | 932 | void FLAG() |
| sakthipriya | 0:7b4c00e3912f | 933 | { |
| lakshya | 20:949d13045431 | 934 | |
| lakshya | 20:949d13045431 | 935 | //I2C |
| lakshya | 20:949d13045431 | 936 | //if(BAE_MNG_I2C_STATUS == 1) |
| lakshya | 20:949d13045431 | 937 | // BAE_STATUS = BAE_STATUS | 0x10000000; |
| lakshya | 20:949d13045431 | 938 | //else if(BAE_MNG_I2C_STATUS == 0) |
| lakshya | 20:949d13045431 | 939 | // BAE_STATUS &= 0xEFFFFFF; |
| lakshya | 19:79e69017c855 | 940 | |
| lakshya | 19:79e69017c855 | 941 | //.............bae..................// |
| lakshya | 19:79e69017c855 | 942 | if(BAE_INIT_STATUS == 1) |
| lakshya | 19:79e69017c855 | 943 | BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001; |
| lakshya | 19:79e69017c855 | 944 | else if(BAE_INIT_STATUS == 0) |
| lakshya | 19:79e69017c855 | 945 | BAE_STATUS &= 0xFFFFFFFE; |
| lakshya | 19:79e69017c855 | 946 | |
| lakshya | 20:949d13045431 | 947 | if(BAE_MNG_I2C_STATUS == 1) |
| lakshya | 19:79e69017c855 | 948 | BAE_STATUS = BAE_STATUS | 0x00000002; |
| lakshya | 20:949d13045431 | 949 | if(BAE_MNG_I2C_STATUS == 0) |
| lakshya | 19:79e69017c855 | 950 | BAE_STATUS &= 0xFFFFFFFD; |
| lakshya | 20:949d13045431 | 951 | |
| sakthipriya | 0:7b4c00e3912f | 952 | //.............acs..................// |
| sakthipriya | 9:194afacf7449 | 953 | if(ACS_INIT_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 954 | BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag |
| sakthipriya | 9:194afacf7449 | 955 | else if(ACS_INIT_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 956 | BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 957 | |
| sakthipriya | 9:194afacf7449 | 958 | if(ACS_DATA_ACQ_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 959 | BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 9:194afacf7449 | 960 | else if(ACS_DATA_ACQ_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 961 | BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 962 | |
| sakthipriya | 9:194afacf7449 | 963 | if(ACS_ATS_ENABLE == 1) |
| sakthipriya | 0:7b4c00e3912f | 964 | BAE_ENABLE |= 0x00000004; |
| sakthipriya | 9:194afacf7449 | 965 | else if(ACS_ATS_ENABLE == 0) |
| sakthipriya | 0:7b4c00e3912f | 966 | BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004; |
| sakthipriya | 0:7b4c00e3912f | 967 | |
| sakthipriya | 0:7b4c00e3912f | 968 | if(ACS_DATA_ACQ_STATUS == 'f') |
| sakthipriya | 0:7b4c00e3912f | 969 | BAE_STATUS |= 0x00000200; |
| sakthipriya | 0:7b4c00e3912f | 970 | |
| sakthipriya | 9:194afacf7449 | 971 | if(ACS_MAIN_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 972 | BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag |
| sakthipriya | 9:194afacf7449 | 973 | else if(ACS_MAIN_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 974 | BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 975 | |
| sakthipriya | 0:7b4c00e3912f | 976 | if(ACS_STATUS == '0') |
| sakthipriya | 0:7b4c00e3912f | 977 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 978 | else if(ACS_STATUS == '1') |
| sakthipriya | 0:7b4c00e3912f | 979 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER |
| sakthipriya | 0:7b4c00e3912f | 980 | else if(ACS_STATUS == '2') |
| sakthipriya | 0:7b4c00e3912f | 981 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 982 | else if(ACS_STATUS == '3') |
| sakthipriya | 0:7b4c00e3912f | 983 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 984 | else if(ACS_STATUS == '4') |
| sakthipriya | 0:7b4c00e3912f | 985 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 986 | else if(ACS_STATUS == '5') |
| sakthipriya | 0:7b4c00e3912f | 987 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 988 | else if(ACS_STATUS == '6') |
| sakthipriya | 0:7b4c00e3912f | 989 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY |
| sakthipriya | 0:7b4c00e3912f | 990 | else |
| sakthipriya | 0:7b4c00e3912f | 991 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE |
| sakthipriya | 0:7b4c00e3912f | 992 | |
| sakthipriya | 0:7b4c00e3912f | 993 | if(ACS_STATE == '0') |
| sakthipriya | 0:7b4c00e3912f | 994 | BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 995 | else if(ACS_STATE == '2') |
| sakthipriya | 0:7b4c00e3912f | 996 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 997 | else if(ACS_STATE == '3') |
| sakthipriya | 0:7b4c00e3912f | 998 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 999 | else if(ACS_STATE == '4') |
| sakthipriya | 0:7b4c00e3912f | 1000 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 1001 | else if(ACS_STATE == '5') |
| sakthipriya | 0:7b4c00e3912f | 1002 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 1003 | else if(ACS_STATE == '6') |
| sakthipriya | 0:7b4c00e3912f | 1004 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 1005 | |
| sakthipriya | 0:7b4c00e3912f | 1006 | //...............eps......................// |
| lakshya | 20:949d13045431 | 1007 | if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS |
| lakshya | 20:949d13045431 | 1008 | BAE_STATUS |= 0x00010000; |
| lakshya | 20:949d13045431 | 1009 | else if(EPS_INIT_STATUS==0) // Clear |
| lakshya | 20:949d13045431 | 1010 | BAE_STATUS &= 0xFFFEFFFF; |
| sakthipriya | 5:bb592f3185cc | 1011 | |
| sakthipriya | 5:bb592f3185cc | 1012 | |
| lakshya | 20:949d13045431 | 1013 | if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS |
| lakshya | 20:949d13045431 | 1014 | BAE_STATUS |= 0x00040000; |
| lakshya | 20:949d13045431 | 1015 | else if(EPS_MAIN_STATUS==0) // Clear |
| lakshya | 20:949d13045431 | 1016 | BAE_STATUS &= 0xFFFBFFFF; |
| sakthipriya | 5:bb592f3185cc | 1017 | |
| sakthipriya | 5:bb592f3185cc | 1018 | |
| lakshya | 20:949d13045431 | 1019 | if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS |
| lakshya | 20:949d13045431 | 1020 | BAE_STATUS |= 0x00020000; |
| lakshya | 20:949d13045431 | 1021 | else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear |
| lakshya | 20:949d13045431 | 1022 | BAE_STATUS &= 0xFFFDFFFF; |
| lakshya | 20:949d13045431 | 1023 | |
| lakshya | 20:949d13045431 | 1024 | if (EPS_BATTERY_TEMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS |
| lakshya | 20:949d13045431 | 1025 | BAE_STATUS |= 0x00080000; |
| lakshya | 20:949d13045431 | 1026 | else if(EPS_BATTERY_TEMP_STATUS==0) // Clear |
| lakshya | 20:949d13045431 | 1027 | BAE_STATUS &= 0xFFF7FFFF; |
| sakthipriya | 5:bb592f3185cc | 1028 | |
| lakshya | 20:949d13045431 | 1029 | if (EPS_STATUS==0) |
| lakshya | 20:949d13045431 | 1030 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP |
| lakshya | 20:949d13045431 | 1031 | else if (EPS_STATUS==1) |
| lakshya | 20:949d13045431 | 1032 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED |
| lakshya | 20:949d13045431 | 1033 | else if (EPS_STATUS==2) |
| lakshya | 20:949d13045431 | 1034 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF |
| lakshya | 20:949d13045431 | 1035 | else if (EPS_STATUS==3) |
| lakshya | 20:949d13045431 | 1036 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON |
| lakshya | 20:949d13045431 | 1037 | else if (EPS_STATUS==4) |
| lakshya | 20:949d13045431 | 1038 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF |
| lakshya | 20:949d13045431 | 1039 | else if (EPS_STATUS==5) |
| lakshya | 20:949d13045431 | 1040 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON |
| sakthipriya | 5:bb592f3185cc | 1041 | |
| lakshya | 20:949d13045431 | 1042 | if(EPS_BTRY_HTR_AUTO == 1) |
| sakthipriya | 5:bb592f3185cc | 1043 | BAE_ENABLE |= 0x00000080; |
| lakshya | 20:949d13045431 | 1044 | else if(EPS_BTRY_HTR_AUTO == 0) |
| sakthipriya | 5:bb592f3185cc | 1045 | BAE_ENABLE = BAE_ENABLE &0xFFFFFF7; |
| sakthipriya | 3:07e15677a75c | 1046 | |
| lakshya | 20:949d13045431 | 1047 | #if print |
| lakshya | 20:949d13045431 | 1048 | pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE); |
| lakshya | 20:949d13045431 | 1049 | #endif |
| lakshya | 20:949d13045431 | 1050 | } |
| sakthipriya | 0:7b4c00e3912f | 1051 | |
| sakthipriya | 0:7b4c00e3912f | 1052 | |
| sakthipriya | 0:7b4c00e3912f | 1053 | void FCTN_BAE_INIT() |
| sakthipriya | 0:7b4c00e3912f | 1054 | { |
| lakshya | 20:949d13045431 | 1055 | #if print |
| lakshya | 20:949d13045431 | 1056 | printf("\n\r Initialising BAE _________________________________________________________________________________"); |
| lakshya | 20:949d13045431 | 1057 | #endif |
| lakshya | 19:79e69017c855 | 1058 | BAE_INIT_STATUS=1; |
| lakshya | 19:79e69017c855 | 1059 | FLAG(); |
| lakshya | 19:79e69017c855 | 1060 | |
| sakthipriya | 3:07e15677a75c | 1061 | //..........intial status....// |
| Bragadeesh153 | 13:fb7facaf308b | 1062 | ACS_STATE = 4; |
| sakthipriya | 9:194afacf7449 | 1063 | ACS_ATS_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 1064 | ACS_DATA_ACQ_ENABLE = 1; |
| lakshya | 20:949d13045431 | 1065 | EPS_BTRY_HTR_AUTO = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1066 | actual_data.power_mode=3; |
| lakshya | 19:79e69017c855 | 1067 | |
| sakthipriya | 9:194afacf7449 | 1068 | //............intializing pins................// |
| sakthipriya | 9:194afacf7449 | 1069 | ATS1_SW_ENABLE = 0; |
| sakthipriya | 9:194afacf7449 | 1070 | ATS2_SW_ENABLE = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1071 | |
| Bragadeesh153 | 13:fb7facaf308b | 1072 | DRV_XY_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1073 | DRV_Z_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1074 | TRZ_SW = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 1075 | TRXY_SW = 1; |
| lakshya | 20:949d13045431 | 1076 | |
| lakshya | 20:949d13045431 | 1077 | //time_wdog = 1; |
| sakthipriya | 9:194afacf7449 | 1078 | |
| lakshya | 19:79e69017c855 | 1079 | //...........order mentioned in flow chart.................// |
| sakthipriya | 3:07e15677a75c | 1080 | FCTN_ACS_INIT(); |
| lakshya | 17:fc782f7548c6 | 1081 | FCTN_EPS_INIT(); |
| lakshya | 18:3662058a7c10 | 1082 | FCTN_BCN_INIT(); |
| lakshya | 19:79e69017c855 | 1083 | |
| lakshya | 19:79e69017c855 | 1084 | 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 | 1085 | uint32_t data_modify=data_flash & 0x000000FF; |
| lakshya | 19:79e69017c855 | 1086 | data_modify +=1; |
| lakshya | 19:79e69017c855 | 1087 | data_modify |=data_flash; |
| lakshya | 20:949d13045431 | 1088 | FCTN_BAE_WR_FLASH(0,data_modify); |
| lakshya | 20:949d13045431 | 1089 | #if print |
| lakshya | 20:949d13045431 | 1090 | printf("\n\rthe number of reset %d",data_modify); |
| lakshya | 20:949d13045431 | 1091 | #endif |
| lakshya | 19:79e69017c855 | 1092 | BAE_INIT_STATUS=0; |
| sakthipriya | 0:7b4c00e3912f | 1093 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 1094 | } |
| sakthipriya | 0:7b4c00e3912f | 1095 | |
| lakshya | 20:949d13045431 | 1096 | |
| sakthipriya | 0:7b4c00e3912f | 1097 | int main() |
| sakthipriya | 0:7b4c00e3912f | 1098 | { |
| lakshya | 20:949d13045431 | 1099 | //time_wdog = 1; |
| lakshya | 19:79e69017c855 | 1100 | pc.printf("\n\r BAE Activated. Testing Version 1.2 \n"); |
| lakshya | 20:949d13045431 | 1101 | //FLASH_INI(); |
| sakthipriya | 0:7b4c00e3912f | 1102 | FCTN_BAE_INIT(); |
| lakshya | 20:949d13045431 | 1103 | //time_wdog = 0; |
| lakshya | 20:949d13045431 | 1104 | |
| sakthipriya | 0:7b4c00e3912f | 1105 | slave.address(addr); |
| sakthipriya | 0:7b4c00e3912f | 1106 | irpt_2_mstr = 0; |
| sakthipriya | 0:7b4c00e3912f | 1107 | |
| sakthipriya | 0:7b4c00e3912f | 1108 | ptr_t_i2c = new Thread(T_TC); |
| sakthipriya | 0:7b4c00e3912f | 1109 | ptr_t_i2c->set_priority(osPriorityHigh); |
| sakthipriya | 5:bb592f3185cc | 1110 | |
| sakthipriya | 0:7b4c00e3912f | 1111 | irpt_4m_mstr.enable_irq(); |
| sakthipriya | 0:7b4c00e3912f | 1112 | irpt_4m_mstr.rise(&FCTN_I2C_ISR); |
| lakshya | 20:949d13045431 | 1113 | |
| sakthipriya | 0:7b4c00e3912f | 1114 | RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread |
| sakthipriya | 0:7b4c00e3912f | 1115 | t_sc_timer.start(10000); |
| sakthipriya | 0:7b4c00e3912f | 1116 | t_start.start(); |
| lakshya | 20:949d13045431 | 1117 | #if print |
| lakshya | 20:949d13045431 | 1118 | pc.printf("\n\rStarted scheduler %f\n\r",t_start.read()); |
| lakshya | 20:949d13045431 | 1119 | #endif |
| lakshya | 19:79e69017c855 | 1120 | /*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 | 1121 | //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce); |
| lakshya | 19:79e69017c855 | 1122 | /*static allocation*/ |
| lakshya | 19:79e69017c855 | 1123 | RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce); |
| lakshya | 19:79e69017c855 | 1124 | BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER; |
| lakshya | 18:3662058a7c10 | 1125 | |
| lakshya | 20:949d13045431 | 1126 | RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce); |
| lakshya | 20:949d13045431 | 1127 | /*later change it to 30 min 1800 seconds*/ |
| lakshya | 20:949d13045431 | 1128 | bcn_start_timer.start(20000); |
| lakshya | 20:949d13045431 | 1129 | |
| lakshya | 20:949d13045431 | 1130 | //BCN HTR TIMERS |
| lakshya | 20:949d13045431 | 1131 | RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce); |
| lakshya | 20:949d13045431 | 1132 | HTR_OFF=&EPS_HTR_OFF_TIMER; |
| lakshya | 20:949d13045431 | 1133 | |
| lakshya | 20:949d13045431 | 1134 | RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE); |
| lakshya | 20:949d13045431 | 1135 | HTR_CYCLE=&EPS_HTR_CYCLE_TIMER; |
| lakshya | 20:949d13045431 | 1136 | |
| lakshya | 20:949d13045431 | 1137 | RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce); |
| lakshya | 20:949d13045431 | 1138 | HTR_DLY=&EPS_HTR_DLY_TIMER; |
| lakshya | 20:949d13045431 | 1139 | |
| lakshya | 20:949d13045431 | 1140 | FLASH_INI(); |
| lakshya | 20:949d13045431 | 1141 | |
| lakshya | 20:949d13045431 | 1142 | while(1); //required to prevent main from terminating |
| lakshya | 18:3662058a7c10 | 1143 | |
| lakshya | 20:949d13045431 | 1144 | } |