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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

main.cpp@48:9fd15e3e0b53, 2016-07-08 (annotated)

Committer:
lakshya
Date:
Fri Jul 08 08:25:39 2016 +0000
Revision:
48:9fd15e3e0b53
Parent:
47:d59ba66229ce
Child:
49:61c9f28332ba
editing.....

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakthipriya 0:7b4c00e3912f 1 #include "mbed.h"
sakthipriya 0:7b4c00e3912f 2 #include "rtos.h"
sakthipriya 0:7b4c00e3912f 3 #include "pin_config.h"
sakthipriya 0:7b4c00e3912f 4 #include "ACS.h"
sakthipriya 0:7b4c00e3912f 5 #include "EPS.h"
sakthipriya 0:7b4c00e3912f 6 #include "BCN.h"
sakthipriya 0:7b4c00e3912f 7 #include "TCTM.h"
lakshya 47:d59ba66229ce 8 #define tm_len 134
lakshya 47:d59ba66229ce 9 #define tc_len 135
sakthipriya 0:7b4c00e3912f 10 #define batt_heat_low 20
lakshya 22:950dbe9fbeb8 11 #define print 1
lakshya 39:670133e7ffd8 12 #define PRINT2 1
lakshya 39:670133e7ffd8 13 #define baby 1
lakshya 39:670133e7ffd8 14 #define baby2 1
sakthipriya 9:194afacf7449 15
lakshya 33:76f2b8735501 16 #define DISABLE_WDOG 0;
lakshya 33:76f2b8735501 17
lakshya 33:76f2b8735501 18 void kick_WDOG()
lakshya 33:76f2b8735501 19 {
lakshya 33:76f2b8735501 20 SIM->SRVCOP=0x55;
lakshya 33:76f2b8735501 21 SIM->SRVCOP=0xAA;
lakshya 33:76f2b8735501 22 printf("\n\rkicked");
lakshya 33:76f2b8735501 23 }
lakshya 33:76f2b8735501 24
lakshya 33:76f2b8735501 25 void init_WDOG()
lakshya 33:76f2b8735501 26 {
lakshya 33:76f2b8735501 27 SIM->COPC=0x0C;
lakshya 33:76f2b8735501 28 kick_WDOG();
lakshya 33:76f2b8735501 29 }
lakshya 33:76f2b8735501 30
lakshya 39:670133e7ffd8 31 DigitalInOut time_wdog(PIN68);// for determining the time between code
lakshya 20:949d13045431 32
lakshya 19:79e69017c855 33 //**********************************************GLOBAL RTOS TIMER*********************************************************//
lakshya 19:79e69017c855 34 RtosTimer *BAE_STANDBY_STATUS_TIMER;
lakshya 19:79e69017c855 35
lakshya 20:949d13045431 36
lakshya 20:949d13045431 37 //bcn heater rtostimers=============================================================================
lakshya 20:949d13045431 38 RtosTimer *HTR_OFF=NULL;
lakshya 20:949d13045431 39 RtosTimer *HTR_CYCLE=NULL;
lakshya 20:949d13045431 40 RtosTimer *HTR_DLY=NULL;
lakshya 20:949d13045431 41
lakshya 33:76f2b8735501 42 //UPTIME TIMERS
lakshya 33:76f2b8735501 43 Timer BAE_uptime;
lakshya 33:76f2b8735501 44 Timer I2C_last;
lakshya 33:76f2b8735501 45
lakshya 33:76f2b8735501 46 void RETURN_UPTIME(float time, uint8_t *day,uint8_t *hour,uint8_t *min)
lakshya 33:76f2b8735501 47 {
lakshya 33:76f2b8735501 48 *day = time/(3600*24);
lakshya 33:76f2b8735501 49 time = (int)time % (3600*24);
lakshya 33:76f2b8735501 50 *hour = time/(3600);
lakshya 33:76f2b8735501 51 time = (int)time % (3600);
lakshya 33:76f2b8735501 52 *min = time/60;
lakshya 33:76f2b8735501 53 }
lakshya 33:76f2b8735501 54
lakshya 39:670133e7ffd8 55 extern DigitalInOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 56
lakshya 20:949d13045431 57 uint8_t HTR_CYCLE_COUNTS=0; //Count of heater cycles
lakshya 20:949d13045431 58 uint8_t HTR_CYCLE_START_DLY=0; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya 20:949d13045431 59 uint8_t HTR_ON_DURATION=0; //EPS_HTR_OFF timer duration in minutes
lakshya 20:949d13045431 60 uint16_t HTR_CYCLE_PERIOD =0; //EPS_HTR_CYCLE timer duration - MSB minutes, LSB seconds
lakshya 20:949d13045431 61 uint8_t HTR_CYCLE_COUNTER = 0 ;
lakshya 20:949d13045431 62
lakshya 20:949d13045431 63 uint32_t HTR_CYCLE_PERIOD_DECODER() //To convert HTR_CYCLE_PERIOD to millisecs
lakshya 20:949d13045431 64 {
lakshya 20:949d13045431 65 uint8_t PERIOD_mins, PERIOD_secs;
lakshya 20:949d13045431 66 //pc.printf("\n\r FCTN_HTR_CYCLE_PERIOD");
lakshya 20:949d13045431 67 PERIOD_secs = HTR_CYCLE_PERIOD;
lakshya 20:949d13045431 68 PERIOD_mins = HTR_CYCLE_PERIOD >> 8;
lakshya 20:949d13045431 69 uint32_t period = 1000*((int)PERIOD_mins * 60 + (int)PERIOD_secs);
lakshya 20:949d13045431 70
lakshya 20:949d13045431 71 return period;
lakshya 20:949d13045431 72 }
lakshya 20:949d13045431 73
lakshya 20:949d13045431 74 void FCTN_EPS_HTR_CYCLE(void const *arg)
lakshya 20:949d13045431 75 {
lakshya 33:76f2b8735501 76 BTRY_HTR_ENABLE = 1;//assuming its active high check
lakshya 20:949d13045431 77 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 78 //pc.printf("\n\r FCTN_EPS_HTR_CYCLE");
lakshya 20:949d13045431 79 //tim.reset();
lakshya 20:949d13045431 80 //tim.start();
lakshya 20:949d13045431 81 //HTR_OFF->start(((uint32_t)HTR_ON_DURATION)*1000);
lakshya 20:949d13045431 82 HTR_OFF->start((int)HTR_ON_DURATION*60*1000);
lakshya 20:949d13045431 83 }
lakshya 20:949d13045431 84
lakshya 20:949d13045431 85 void FCTN_EPS_HTR_DLY(void const* arg)
lakshya 20:949d13045431 86 {
lakshya 33:76f2b8735501 87 BTRY_HTR_ENABLE = 1;
lakshya 20:949d13045431 88 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 89 HTR_OFF->start(((int)HTR_ON_DURATION*60*1000));
lakshya 20:949d13045431 90 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 91 //pc.printf("\n\r FCTN_EPS_HTR_DLY");
lakshya 20:949d13045431 92 //tim.start();
lakshya 20:949d13045431 93 HTR_CYCLE->start((uint32_t)HTR_CYCLE_PERIOD_DECODER);
lakshya 20:949d13045431 94 }
lakshya 20:949d13045431 95
lakshya 20:949d13045431 96 void FCTN_EPS_HTR_OFF(void const *arg)
lakshya 20:949d13045431 97 {
lakshya 33:76f2b8735501 98 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 99 //tim.stop();
lakshya 20:949d13045431 100 //pc.printf("\n\r off kar diya");
lakshya 20:949d13045431 101 //pc.printf("\n\r the timer value is %f",tim.read());
lakshya 20:949d13045431 102 //tim.reset();
lakshya 20:949d13045431 103 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 104 {
lakshya 20:949d13045431 105 HTR_CYCLE_COUNTER++;
lakshya 20:949d13045431 106 if( HTR_CYCLE_COUNTER == (int)HTR_CYCLE_COUNTS)//HTR_CYCLE_COUNTS )
lakshya 20:949d13045431 107 HTR_CYCLE->stop();
lakshya 20:949d13045431 108 }
lakshya 20:949d13045431 109 }
lakshya 20:949d13045431 110
lakshya 20:949d13045431 111 //====================================================================================================
lakshya 20:949d13045431 112
lakshya 20:949d13045431 113 //fctn to pass the data to bcn long type
lakshya 33:76f2b8735501 114 //uint8_t CDMS_HK_data[134]; now implemented as LONG_HK_data[0][134];
lakshya 33:76f2b8735501 115 uint8_t LONG_HK_data[2][134];
lakshya 20:949d13045431 116 void FCTN_CDMS_HK_TC(uint8_t tc[])
lakshya 20:949d13045431 117 {
lakshya 20:949d13045431 118 for(int i=0;i<134;i++)
lakshya 33:76f2b8735501 119 LONG_HK_data[0][i] = tc[i];
lakshya 20:949d13045431 120 }
lakshya 20:949d13045431 121
lakshya 20:949d13045431 122 uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off.
lakshya 20:949d13045431 123
lakshya 19:79e69017c855 124 void BAE_STANDBY_STATUS_RESET(const void* arg)
lakshya 19:79e69017c855 125 {
lakshya 19:79e69017c855 126 printf("\n\rBAE standby reset to 0x00");
lakshya 19:79e69017c855 127 BAE_STANDBY=0x00;
lakshya 19:79e69017c855 128 }
lakshya 19:79e69017c855 129
lakshya 20:949d13045431 130
lakshya 19:79e69017c855 131 /*no problem in first stopping and then starting even when for the first time*/
lakshya 19:79e69017c855 132 void BAE_STANDBY_TIMER_RESET()
lakshya 19:79e69017c855 133 {
lakshya 19:79e69017c855 134 BAE_STANDBY_STATUS_TIMER->stop();
lakshya 19:79e69017c855 135 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 136 }
lakshya 19:79e69017c855 137
lakshya 20:949d13045431 138 extern void gen_I_TM();
lakshya 20:949d13045431 139
lakshya 20:949d13045431 140 //*************** FLAGS ****************************//
sakthipriya 0:7b4c00e3912f 141 uint32_t BAE_STATUS = 0x00000000;
sakthipriya 0:7b4c00e3912f 142 uint32_t BAE_ENABLE = 0xFFFFFFFF;
sakthipriya 0:7b4c00e3912f 143
sakthipriya 5:bb592f3185cc 144 //i2c//
sakthipriya 5:bb592f3185cc 145 char data_send_flag = 'h';
lakshya 20:949d13045431 146 //uint8_t BAE_MNG_I2C_STATUS = 0;
sakthipriya 5:bb592f3185cc 147
lakshya 20:949d13045431 148 //BAE
lakshya 19:79e69017c855 149 uint8_t BAE_INIT_STATUS=0;
lakshya 20:949d13045431 150 uint8_t BAE_MNG_I2C_STATUS=0;
sakthipriya 0:7b4c00e3912f 151
sakthipriya 9:194afacf7449 152
lakshya 20:949d13045431 153 //ACS
sakthipriya 9:194afacf7449 154 uint8_t ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 155 uint8_t ACS_DATA_ACQ_STATUS = 0;
lakshya 20:949d13045431 156 uint8_t ACS_ATS_STATUS = 0x73;
sakthipriya 9:194afacf7449 157 uint8_t ACS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 158 uint8_t ACS_STATUS = 0;
lakshya 20:949d13045431 159 uint8_t ACS_DETUMBLING_ALGO_TYPE = 0;
sakthipriya 9:194afacf7449 160 uint8_t ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 161 uint8_t ACS_DATA_ACQ_ENABLE = 1;
lakshya 33:76f2b8735501 162 uint8_t ACS_STATE = 8;
lakshya 19:79e69017c855 163
lakshya 20:949d13045431 164 extern uint16_t ACS_MM_X_COMSN;
lakshya 20:949d13045431 165 extern uint16_t ACS_MM_Y_COMSN;
lakshya 20:949d13045431 166 extern uint16_t ACS_MG_X_COMSN;
lakshya 20:949d13045431 167 extern uint16_t ACS_MG_Y_COMSN;
lakshya 20:949d13045431 168 extern uint16_t ACS_MM_Z_COMSN;
lakshya 20:949d13045431 169 extern uint16_t ACS_MG_Z_COMSN;
lakshya 20:949d13045431 170
lakshya 27:61c856be467e 171 extern uint8_t controlmode_mms;
lakshya 27:61c856be467e 172
lakshya 20:949d13045431 173 //BCN
lakshya 18:3662058a7c10 174 extern uint8_t BCN_FEN;
lakshya 18:3662058a7c10 175 extern void FCTN_BCN_FEN(void const *args);
lakshya 20:949d13045431 176 extern void LONG_BCN_DATA(uint8_t* );
lakshya 20:949d13045431 177 extern uint16_t gencrc16_for_me();//for calculating the crc of baehk data before sendingkk as including crc causes problem
lakshya 48:9fd15e3e0b53 178 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 179
lakshya 20:949d13045431 180
lakshya 18:3662058a7c10 181 Timeout timeout_bcn;
lakshya 19:79e69017c855 182 /*long beacon data/sending*/
lakshya 19:79e69017c855 183 /*be sure it is created in bcn.cpp*/
sakthipriya 0:7b4c00e3912f 184
lakshya 20:949d13045431 185 //EPS
sakthipriya 9:194afacf7449 186 uint8_t EPS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 187 uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
sakthipriya 9:194afacf7449 188 uint8_t EPS_MAIN_STATUS = 0;
lakshya 33:76f2b8735501 189 uint8_t EPS_BTRY_TMP_STATUS = 0;/// to be diss
sakthipriya 9:194afacf7449 190 uint8_t EPS_STATUS = 7; //invalid status
lakshya 33:76f2b8735501 191 uint8_t EPS_BTRY_HTR = 0;
sakthipriya 9:194afacf7449 192
lakshya 20:949d13045431 193 uint8_t EPS_BTRY_HTR_AUTO = 1;
lakshya 20:949d13045431 194 extern uint8_t EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 195 extern uint8_t EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 196 extern uint8_t EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 197 extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 198 extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 199 float EPS_BTRY_TMP_AVG;
lakshya 39:670133e7ffd8 200 extern DigitalInOut BTRY_HTR_ENABLE;
lakshya 33:76f2b8735501 201
lakshya 33:76f2b8735501 202 //extern void FCTN_BATTERYGAUGE_MAIN(float*Battery_parameters);
lakshya 20:949d13045431 203
lakshya 20:949d13045431 204
lakshya 20:949d13045431 205 //**********************GLOBAL DECLARATIONS********************************//
lakshya 20:949d13045431 206
lakshya 20:949d13045431 207 //CDMS
lakshya 20:949d13045431 208 //eps cdms fault
lakshya 20:949d13045431 209 uint8_t CDMS_SW_STATUS;
lakshya 48:9fd15e3e0b53 210 DigitalIn CDMS_OC_FAULT(PIN79);
lakshya 20:949d13045431 211 bool CDMS_SW_ENABLE;
lakshya 20:949d13045431 212 int CDMS_FAULT_COUNTER = 0;
lakshya 20:949d13045431 213
lakshya 20:949d13045431 214
lakshya 20:949d13045431 215 //BAE new hk structure- everything has to changed based on this
lakshya 20:949d13045431 216 char BAE_chardata[74];
lakshya 33:76f2b8735501 217 // uint8_t LONG_HK_data[2][134];
lakshya 33:76f2b8735501 218 //uint8_t BAE_HK_data[134]; now known as LONG_HK_data[1][i];
lakshya 20:949d13045431 219 uint8_t BAE_RESET_COUNTER;// INITIALIZATION or do you want to initialize evertime the main is reset? or is it same
lakshya 20:949d13045431 220 uint16_t BAE_I2C_COUNTER = 0;//change/apply
lakshya 20:949d13045431 221 //uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off.
lakshya 20:949d13045431 222
lakshya 20:949d13045431 223 //BCN
lakshya 20:949d13045431 224 //uint16_t BCN_TX_MAIN_COUNTER = 0;
lakshya 20:949d13045431 225 uint8_t BCN_LONG_MSG_TYPE = 1;
sakthipriya 0:7b4c00e3912f 226
lakshya 39:670133e7ffd8 227 DigitalInOut BCN_TX_OC_FAULT(PIN80);
lakshya 20:949d13045431 228 int BCN_TX_FAULT_COUNTER;
lakshya 20:949d13045431 229
lakshya 20:949d13045431 230 //ACS
lakshya 20:949d13045431 231 uint16_t ACS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 232
lakshya 20:949d13045431 233 //eps hw faults
lakshya 20:949d13045431 234 //uint8_t ACS_TR_Z_SW_STATUS;
lakshya 48:9fd15e3e0b53 235 DigitalOut ACS_TR_Z_ENABLE(PIN40);
lakshya 48:9fd15e3e0b53 236 DigitalIn ACS_TR_Z_OC_FAULT(PIN91);
lakshya 48:9fd15e3e0b53 237 DigitalIn ACS_TR_Z_FAULT(PIN89); //Driver IC fault
lakshya 20:949d13045431 238 int ACS_TR_Z_FAULT_COUNTER = 0;
sakthipriya 0:7b4c00e3912f 239
lakshya 20:949d13045431 240 //uint8_t ACS_TR_XY_SW_STATUS;
lakshya 48:9fd15e3e0b53 241 DigitalOut ACS_TR_XY_ENABLE(PIN71);
lakshya 48:9fd15e3e0b53 242 DigitalIn ACS_TR_XY_OC_FAULT(PIN72);
lakshya 48:9fd15e3e0b53 243 DigitalIn ACS_TR_XY_FAULT(PIN83); //Driver IC fault
lakshya 20:949d13045431 244 int ACS_TR_XY_FAULT_COUNTER = 0;
lakshya 20:949d13045431 245
lakshya 20:949d13045431 246 //bool ACS_ATS1_ENABLE;
lakshya 48:9fd15e3e0b53 247 DigitalIn ACS_ATS1_OC_FAULT(PIN5);
lakshya 48:9fd15e3e0b53 248 int ACS_TS1_FAULT_COUNTER = 0;
lakshya 20:949d13045431 249
lakshya 20:949d13045431 250 //bool ACS_ATS2_ENABLE;
lakshya 48:9fd15e3e0b53 251 DigitalIn ACS_ATS2_OC_FAULT(PIN97);
lakshya 20:949d13045431 252 int ACS_ATS2_FAULT_COUNTER;
lakshya 20:949d13045431 253
lakshya 20:949d13045431 254 //EPS
lakshya 20:949d13045431 255 int EPS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 256
lakshya 20:949d13045431 257
lakshya 20:949d13045431 258 //GEN DEC FOR TESTING or to be DECIDED whre to ASSIGN HERE
sakthipriya 0:7b4c00e3912f 259 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 260 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 261 Timer t_start;
lakshya 19:79e69017c855 262 /*defined as of now to check execution time*/
lakshya 19:79e69017c855 263 /*remember to remove them*/
lakshya 19:79e69017c855 264 Timer t_acs;
lakshya 19:79e69017c855 265 Timer t_eps;
lakshya 20:949d13045431 266 //Timer t_tc;
sakthipriya 7:a46a1dee4497 267 Timer t_tm;
sakthipriya 0:7b4c00e3912f 268 Serial pc(USBTX, USBRX);
sakthipriya 0:7b4c00e3912f 269 int power_flag_dummy=2;
sakthipriya 0:7b4c00e3912f 270 float data[6];
sakthipriya 0:7b4c00e3912f 271
lakshya 20:949d13045431 272
lakshya 20:949d13045431 273 //*************EXTERN PARA********
lakshya 20:949d13045431 274
lakshya 20:949d13045431 275 //BAE
lakshya 20:949d13045431 276
sakthipriya 1:446a959e36ce 277 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 278 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 279 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 280 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 281
lakshya 20:949d13045431 282
lakshya 20:949d13045431 283 //BCN
lakshya 20:949d13045431 284 extern uint8_t BCN_FEN;
lakshya 20:949d13045431 285 extern uint8_t BCN_TX_SW_STATUS;
lakshya 20:949d13045431 286 extern uint8_t BCN_SPND_TX;
lakshya 20:949d13045431 287
lakshya 20:949d13045431 288
lakshya 20:949d13045431 289 //TCTM
lakshya 20:949d13045431 290 extern uint8_t telemetry[135];
lakshya 20:949d13045431 291
lakshya 20:949d13045431 292
lakshya 20:949d13045431 293 //ACS
lakshya 20:949d13045431 294 extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya 20:949d13045431 295 extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 296 extern float gyro_data[3];
lakshya 20:949d13045431 297 extern float mag_data[3];
lakshya 20:949d13045431 298 extern float moment[3];
lakshya 20:949d13045431 299 extern float b_old[3]; // Unit: Tesla
lakshya 20:949d13045431 300 extern float db[3];
lakshya 20:949d13045431 301 extern uint8_t flag_firsttime;
lakshya 20:949d13045431 302 extern uint8_t ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 303 extern uint8_t ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 304 extern uint16_t ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 305
lakshya 39:670133e7ffd8 306 int write_ack;
lakshya 39:670133e7ffd8 307 int read_ack;
sakthipriya 0:7b4c00e3912f 308 char telecommand[tc_len];
lakshya 20:949d13045431 309
sakthipriya 5:bb592f3185cc 310
sakthipriya 5:bb592f3185cc 311 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 312 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 313 bool if1check = 0;
lakshya 14:a9588f443f1a 314 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 315
lakshya 20:949d13045431 316 //ASSIGNING PINS//
lakshya 47:d59ba66229ce 317 DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch
lakshya 47:d59ba66229ce 318 DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch
sakthipriya 0:7b4c00e3912f 319 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
sakthipriya 0:7b4c00e3912f 320 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya 14:a9588f443f1a 321 I2CSlave slave (PIN1,PIN2);///pin1 pin2
lakshya 20:949d13045431 322 //DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 323
sakthipriya 9:194afacf7449 324 //ATS1_SW_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 325 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 326 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 327 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 328
sakthipriya 5:bb592f3185cc 329 //........faults
sakthipriya 5:bb592f3185cc 330 //Polled Faults
lakshya 48:9fd15e3e0b53 331 //DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
lakshya 48:9fd15e3e0b53 332 //DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
lakshya 48:9fd15e3e0b53 333 //DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 334
lakshya 48:9fd15e3e0b53 335 DigitalOut TRXY_SW(PIN71,1); //TR XY Switch
lakshya 48:9fd15e3e0b53 336 DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z
lakshya 48:9fd15e3e0b53 337 DigitalOut TRZ_SW(PIN40,1); //TR Z Switch
lakshya 19:79e69017c855 338 DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET
lakshya 47:d59ba66229ce 339 DigitalOut BCN_SW(PIN14,0); //Beacon switch
lakshya 39:670133e7ffd8 340 DigitalInOut DRV_XY_EN(PIN82);
sakthipriya 0:7b4c00e3912f 341
lakshya 19:79e69017c855 342
lakshya 20:949d13045431 343
lakshya 20:949d13045431 344 //================================================================================
lakshya 20:949d13045431 345 //default flash array some filler bits added (detail in MMS file)
lakshya 27:61c856be467e 346 uint32_t ARR_INITIAL_VAL[8]={0x73582600,0x505A4141,0x1A1A1400,0x00000000,0x00000000,0x00000000,0xCBA20000,0x00000000};//to be done
lakshya 20:949d13045431 347
lakshya 20:949d13045431 348 void FLASH_INI()
lakshya 20:949d13045431 349 {
lakshya 48:9fd15e3e0b53 350 uint t32_t read[8];
lakshya 20:949d13045431 351 for(int i=0;i<8;i++)
lakshya 20:949d13045431 352 {
lakshya 20:949d13045431 353 read[i] = FCTN_BAE_RD_FLASH_ENTITY(i);
lakshya 22:950dbe9fbeb8 354 //printf("\n\r val is read after starting %x ",read[i]);
lakshya 20:949d13045431 355 }
lakshya 20:949d13045431 356
lakshya 20:949d13045431 357 if(read[0] == -1)
lakshya 20:949d13045431 358 for(int j=0;j<8;j++)
lakshya 20:949d13045431 359 {
lakshya 20:949d13045431 360 FCTN_BAE_WR_FLASH(j,ARR_INITIAL_VAL[j]);
lakshya 39:670133e7ffd8 361 ACS_ATS_STATUS = ARR_INITIAL_VAL[0]>>24;
lakshya 39:670133e7ffd8 362 ACS_TR_XY_SW_STATUS = ((uint8_t)(ARR_INITIAL_VAL[0]>>22))&0x03;
lakshya 39:670133e7ffd8 363 ACS_TR_Z_SW_STATUS = (ARR_INITIAL_VAL[0]>>20)&0x03;
lakshya 39:670133e7ffd8 364 ACS_STATE = (ARR_INITIAL_VAL[0]>>16)&0x0F;
lakshya 39:670133e7ffd8 365 //pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 39:670133e7ffd8 366 ACS_DETUMBLING_ALGO_TYPE = (ARR_INITIAL_VAL[0]>>15)&0x01;
lakshya 39:670133e7ffd8 367 BCN_TX_SW_STATUS = ((uint8_t)(ARR_INITIAL_VAL[0]>>13))&0x03;
lakshya 39:670133e7ffd8 368 BCN_SPND_TX = ((uint8_t)(ARR_INITIAL_VAL[0]>>12))&0x01;
lakshya 39:670133e7ffd8 369 BCN_FEN = ((uint8_t)(ARR_INITIAL_VAL[0]>>11))&0x01;
lakshya 39:670133e7ffd8 370 BCN_LONG_MSG_TYPE = ((uint8_t)(ARR_INITIAL_VAL[0]>>10))&0x01;
lakshya 39:670133e7ffd8 371 EPS_BTRY_HTR_AUTO = ((uint8_t)(ARR_INITIAL_VAL[0]>>9))&0x03;//EPS_BATTERY_HEATER_ENABLE
lakshya 39:670133e7ffd8 372 //now one spares in telemetry[5]
lakshya 39:670133e7ffd8 373
lakshya 39:670133e7ffd8 374 //updating the reset counter
lakshya 39:670133e7ffd8 375 BAE_RESET_COUNTER = ((uint8_t)(ARR_INITIAL_VAL[0]));
lakshya 39:670133e7ffd8 376 EPS_SOC_LEVEL_12 = (uint8_t)(ARR_INITIAL_VAL[1]>>24);
lakshya 39:670133e7ffd8 377 EPS_SOC_LEVEL_23 = (uint8_t)(ARR_INITIAL_VAL[1]>>16);
lakshya 39:670133e7ffd8 378 ACS_MAG_TIME_DELAY = (uint8_t)(ARR_INITIAL_VAL[1]>>8);
lakshya 39:670133e7ffd8 379 ACS_DEMAG_TIME_DELAY = (uint8_t)ARR_INITIAL_VAL[1];
lakshya 39:670133e7ffd8 380
lakshya 39:670133e7ffd8 381 EPS_BAT_TEMP_LOW = (uint8_t)(ARR_INITIAL_VAL[2]>>24);
lakshya 39:670133e7ffd8 382 EPS_BAT_TEMP_HIGH = (uint8_t)(ARR_INITIAL_VAL[2]>>16);
lakshya 39:670133e7ffd8 383 EPS_BAT_TEMP_DEFAULT = (uint8_t)(ARR_INITIAL_VAL[2]>>8);
lakshya 39:670133e7ffd8 384
lakshya 39:670133e7ffd8 385 ACS_MM_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[3]>>16);
lakshya 39:670133e7ffd8 386 ACS_MM_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[3];
lakshya 39:670133e7ffd8 387
lakshya 39:670133e7ffd8 388 ACS_MG_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[4]>>16);
lakshya 39:670133e7ffd8 389 ACS_MG_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[4];
lakshya 39:670133e7ffd8 390
lakshya 39:670133e7ffd8 391 ACS_MM_Z_COMSN = (uint16_t)(ARR_INITIAL_VAL[5]>>16);
lakshya 39:670133e7ffd8 392 ACS_MG_Z_COMSN = (uint16_t)ARR_INITIAL_VAL[5];
lakshya 39:670133e7ffd8 393
lakshya 39:670133e7ffd8 394 ACS_Z_FIXED_MOMENT = (uint16_t)(ARR_INITIAL_VAL[6]>>16);//assignvalues
lakshya 39:670133e7ffd8 395
lakshya 39:670133e7ffd8 396 }
lakshya 20:949d13045431 397 else
lakshya 20:949d13045431 398 {
lakshya 20:949d13045431 399 for(int j=0;j<8;j++)
lakshya 20:949d13045431 400 {
lakshya 20:949d13045431 401 read[j] = FCTN_BAE_RD_FLASH_ENTITY(j);
lakshya 20:949d13045431 402 }
lakshya 20:949d13045431 403 ACS_ATS_STATUS = read[0]>>24;
lakshya 20:949d13045431 404 ACS_TR_XY_SW_STATUS = ((uint8_t)(read[0]>>22))&0x03;
lakshya 20:949d13045431 405 ACS_TR_Z_SW_STATUS = (read[0]>>20)&0x03;
lakshya 27:61c856be467e 406 ACS_STATE = (read[0]>>16)&0x0F;
lakshya 39:670133e7ffd8 407 //pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 27:61c856be467e 408 ACS_DETUMBLING_ALGO_TYPE = (read[0]>>15)&0x01;
lakshya 27:61c856be467e 409 BCN_TX_SW_STATUS = ((uint8_t)(read[0]>>13))&0x03;
lakshya 27:61c856be467e 410 BCN_SPND_TX = ((uint8_t)(read[0]>>12))&0x01;
lakshya 27:61c856be467e 411 BCN_FEN = ((uint8_t)(read[0]>>11))&0x01;
lakshya 27:61c856be467e 412 BCN_LONG_MSG_TYPE = ((uint8_t)(read[0]>>10))&0x01;
lakshya 27:61c856be467e 413 EPS_BTRY_HTR_AUTO = ((uint8_t)(read[0]>>9))&0x03;//EPS_BATTERY_HEATER_ENABLE
lakshya 27:61c856be467e 414 //now one spares in telemetry[5]
lakshya 20:949d13045431 415
lakshya 20:949d13045431 416 //updating the reset counter
lakshya 20:949d13045431 417 BAE_RESET_COUNTER = ((uint8_t)(read[0]))+1;
lakshya 20:949d13045431 418 read[0]=(read[0]&0xffffff00) | (uint32_t)BAE_RESET_COUNTER;
lakshya 20:949d13045431 419 FCTN_BAE_WR_FLASH(0,read[0]);
lakshya 39:670133e7ffd8 420 pc.printf("\n\r reset counter %d",BAE_RESET_COUNTER);
lakshya 20:949d13045431 421
lakshya 20:949d13045431 422
lakshya 20:949d13045431 423 EPS_SOC_LEVEL_12 = (uint8_t)(read[1]>>24);
lakshya 20:949d13045431 424 EPS_SOC_LEVEL_23 = (uint8_t)(read[1]>>16);
lakshya 20:949d13045431 425 ACS_MAG_TIME_DELAY = (uint8_t)(read[1]>>8);
lakshya 20:949d13045431 426 ACS_DEMAG_TIME_DELAY = (uint8_t)read[1];
lakshya 20:949d13045431 427
lakshya 20:949d13045431 428 EPS_BAT_TEMP_LOW = (uint8_t)(read[2]>>24);
lakshya 20:949d13045431 429 EPS_BAT_TEMP_HIGH = (uint8_t)(read[2]>>16);
lakshya 20:949d13045431 430 EPS_BAT_TEMP_DEFAULT = (uint8_t)(read[2]>>8);
lakshya 20:949d13045431 431
lakshya 20:949d13045431 432 ACS_MM_X_COMSN = (uint16_t)(read[3]>>16);
lakshya 20:949d13045431 433 ACS_MM_Y_COMSN = (uint16_t)read[3];
lakshya 20:949d13045431 434
lakshya 20:949d13045431 435 ACS_MG_X_COMSN = (uint16_t)(read[4]>>16);
lakshya 20:949d13045431 436 ACS_MG_Y_COMSN = (uint16_t)read[4];
lakshya 20:949d13045431 437
lakshya 20:949d13045431 438 ACS_MM_Z_COMSN = (uint16_t)(read[5]>>16);
lakshya 20:949d13045431 439 ACS_MG_Z_COMSN = (uint16_t)read[5];
lakshya 20:949d13045431 440
lakshya 20:949d13045431 441 ACS_Z_FIXED_MOMENT = (uint16_t)(read[6]>>16);//assignvalues
lakshya 20:949d13045431 442
lakshya 20:949d13045431 443 }
lakshya 20:949d13045431 444
lakshya 20:949d13045431 445 }
lakshya 20:949d13045431 446 //================================================================================
lakshya 20:949d13045431 447
lakshya 20:949d13045431 448
lakshya 20:949d13045431 449
sakthipriya 0:7b4c00e3912f 450 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 0:7b4c00e3912f 451 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 452
lakshya 19:79e69017c855 453
sakthipriya 0:7b4c00e3912f 454 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 455 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 456 void FCTN_TM();
sakthipriya 3:07e15677a75c 457 void F_ACS();
sakthipriya 3:07e15677a75c 458 void F_EPS();
sakthipriya 3:07e15677a75c 459 void F_BCN();
sakthipriya 0:7b4c00e3912f 460
lakshya 20:949d13045431 461 //I2C
lakshya 20:949d13045431 462 uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working
lakshya 20:949d13045431 463 uint16_t crc16_check;
lakshya 20:949d13045431 464 void I2C_busreset()
lakshya 20:949d13045431 465 {
lakshya 20:949d13045431 466 PORTE->PCR[1] &= 0xfffffffb;
lakshya 20:949d13045431 467 PORTE->PCR[0] &= 0xfffffffb;
lakshya 20:949d13045431 468 I2C1->C1 &= 0x7f;
lakshya 20:949d13045431 469 SIM->SCGC4 &= 0xffffff7f;
lakshya 20:949d13045431 470 SIM->SCGC4 |= 0x00000080;
lakshya 20:949d13045431 471 I2C1->C1 |= 0x80;
lakshya 20:949d13045431 472 PORTE->PCR[1] |= 0x00000004;
lakshya 20:949d13045431 473 PORTE->PCR[0] |= 0x00000004;
lakshya 39:670133e7ffd8 474 wait_ms(1);
lakshya 20:949d13045431 475 }
lakshya 20:949d13045431 476
sakthipriya 0:7b4c00e3912f 477 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 478 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 479 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 480 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 481 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 482
lakshya 20:949d13045431 483 //FLOAT TO UINT_8 CONVERSION FUNCTION
lakshya 20:949d13045431 484 extern uint8_t float_to_uint8(float min,float max,float val);
lakshya 20:949d13045431 485
lakshya 20:949d13045431 486 #define print 0
lakshya 20:949d13045431 487
sakthipriya 3:07e15677a75c 488 void F_ACS()
sakthipriya 0:7b4c00e3912f 489 {
lakshya 20:949d13045431 490 ACS_MAIN_COUNTER++;
lakshya 20:949d13045431 491 //time_wdog = 1;
lakshya 20:949d13045431 492 pc.printf("Entered ACS.\n\r");
lakshya 20:949d13045431 493
lakshya 20:949d13045431 494 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
lakshya 20:949d13045431 495 FLAG();
sakthipriya 5:bb592f3185cc 496
lakshya 20:949d13045431 497 ACS_MAIN_COUNTER+=1;
sakthipriya 3:07e15677a75c 498
sakthipriya 0:7b4c00e3912f 499 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 500 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 501 PWM3 = 0; //clear pwm pins
lakshya 20:949d13045431 502
lakshya 20:949d13045431 503 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 504 ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ();
sakthipriya 0:7b4c00e3912f 505
lakshya 20:949d13045431 506 #if print
lakshya 20:949d13045431 507 printing the angular speed and magnetic field values
lakshya 20:949d13045431 508 pc.printf("gyro values\n\r");
lakshya 19:79e69017c855 509 for(int i=0; i<3; i++)
lakshya 20:949d13045431 510 {
lakshya 20:949d13045431 511 printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
lakshya 20:949d13045431 512 }
lakshya 20:949d13045431 513
lakshya 19:79e69017c855 514 pc.printf("mag values\n\r");
lakshya 19:79e69017c855 515 for(int i=0; i<3; i++)
lakshya 20:949d13045431 516 {
lakshya 20:949d13045431 517 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
lakshya 20:949d13045431 518 }
lakshya 20:949d13045431 519 #endif
lakshya 20:949d13045431 520
lakshya 20:949d13045431 521 for(int i=0;i<3;i++)
lakshya 19:79e69017c855 522 {
lakshya 20:949d13045431 523 mag_data[i] = actual_data.Bvalue_actual[i]/1000000;
lakshya 20:949d13045431 524 gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180;
lakshya 20:949d13045431 525 }
lakshya 20:949d13045431 526
lakshya 20:949d13045431 527 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
lakshya 20:949d13045431 528 {
lakshya 20:949d13045431 529 #if print
lakshya 20:949d13045431 530 printf("\n\r acs control off\n");
lakshya 20:949d13045431 531 #endif
lakshya 20:949d13045431 532 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
lakshya 20:949d13045431 533 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 534 return;
lakshya 20:949d13045431 535 }
lakshya 20:949d13045431 536 else if(actual_data.power_mode<=2)
lakshya 20:949d13045431 537 {
lakshya 20:949d13045431 538 #if print
lakshya 20:949d13045431 539 printf("\n\r Low Power \n\r");
lakshya 20:949d13045431 540 #endif
lakshya 20:949d13045431 541 DRV_Z_EN = 0;
lakshya 20:949d13045431 542 DRV_XY_EN = 0;
lakshya 20:949d13045431 543 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
lakshya 20:949d13045431 544 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 545 return;
lakshya 20:949d13045431 546
lakshya 20:949d13045431 547 }
lakshya 20:949d13045431 548 else if(ACS_TR_Z_SW_STATUS != 1)
lakshya 20:949d13045431 549 {
lakshya 20:949d13045431 550 DRV_Z_EN = 0;
lakshya 20:949d13045431 551 DRV_XY_EN = 0;
lakshya 20:949d13045431 552 ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED
lakshya 20:949d13045431 553 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 554 return;
lakshya 20:949d13045431 555 }
lakshya 20:949d13045431 556 else if(ACS_TR_XY_SW_STATUS != 1)
lakshya 20:949d13045431 557 {
lakshya 20:949d13045431 558 DRV_Z_EN = 1;
lakshya 20:949d13045431 559 DRV_XY_EN = 0;
lakshya 20:949d13045431 560 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only
lakshya 20:949d13045431 561 moment[0] = 0;
lakshya 20:949d13045431 562 moment[1] = 0;
lakshya 20:949d13045431 563 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 564
lakshya 20:949d13045431 565 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 566 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 567 return;
lakshya 19:79e69017c855 568 }
lakshya 20:949d13045431 569 else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1))
lakshya 20:949d13045431 570 {
lakshya 20:949d13045431 571 DRV_Z_EN = 1;
lakshya 20:949d13045431 572 DRV_XY_EN = 0;
lakshya 20:949d13045431 573 ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only
lakshya 20:949d13045431 574
lakshya 20:949d13045431 575 moment[0] = 0;
lakshya 20:949d13045431 576 moment[1] = 0;
lakshya 20:949d13045431 577 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 578
lakshya 20:949d13045431 579 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 580 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 581 return;
lakshya 20:949d13045431 582 }
lakshya 20:949d13045431 583 else if(ACS_STATE == 5)
lakshya 20:949d13045431 584 {
lakshya 20:949d13045431 585 DRV_Z_EN = 1;
lakshya 20:949d13045431 586 DRV_XY_EN = 0;
lakshya 20:949d13045431 587 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only
sakthipriya 0:7b4c00e3912f 588
lakshya 20:949d13045431 589 moment[0] = 0;
lakshya 20:949d13045431 590 moment[1] = 0;
lakshya 20:949d13045431 591 moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value
lakshya 20:949d13045431 592 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 593
lakshya 20:949d13045431 594 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 595 return;
lakshya 20:949d13045431 596 }
lakshya 20:949d13045431 597 else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available
lakshya 20:949d13045431 598 {
lakshya 20:949d13045431 599 DRV_Z_EN = 1;
lakshya 20:949d13045431 600 DRV_XY_EN = 1;
lakshya 20:949d13045431 601
lakshya 20:949d13045431 602 ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL
lakshya 20:949d13045431 603 ACS_DETUMBLING_ALGO_TYPE = 0x01;
lakshya 20:949d13045431 604 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 605 controlmode_mms=0x00;
lakshya 20:949d13045431 606 #if print
lakshya 20:949d13045431 607 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 608 #endif
lakshya 20:949d13045431 609 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 610 {
lakshya 20:949d13045431 611 printf("%f\t",moment[i]);
lakshya 19:79e69017c855 612 }
lakshya 20:949d13045431 613 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 614 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 615 return;
lakshya 20:949d13045431 616 }
lakshya 20:949d13045431 617 else if(ACS_STATE == 7) // Nominal mode
lakshya 20:949d13045431 618 {
lakshya 20:949d13045431 619 #if print
lakshya 20:949d13045431 620 printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 621 #endif
lakshya 20:949d13045431 622 DRV_Z_EN = 1;
lakshya 20:949d13045431 623 DRV_XY_EN = 1;
lakshya 20:949d13045431 624 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 625 controlmode_mms = 0x01;
lakshya 20:949d13045431 626 #if print
lakshya 20:949d13045431 627 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 628 #endif
lakshya 20:949d13045431 629 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 630 {
lakshya 20:949d13045431 631 printf("%f\t",moment[i]);
lakshya 20:949d13045431 632 }
lakshya 20:949d13045431 633 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 634 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 635 return;
lakshya 20:949d13045431 636 }
lakshya 20:949d13045431 637 else if(ACS_STATE == 8) // Auto Control
lakshya 20:949d13045431 638 {
lakshya 20:949d13045431 639 #if print
lakshya 20:949d13045431 640 printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 641 #endif
lakshya 20:949d13045431 642 DRV_Z_EN = 1;
lakshya 20:949d13045431 643 DRV_XY_EN = 1;
lakshya 20:949d13045431 644 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 645 controlmode_mms = 0x00;
lakshya 20:949d13045431 646 #if print
lakshya 20:949d13045431 647 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 648 for(int i=0; i<3; i++)
lakshya 19:79e69017c855 649 {
lakshya 20:949d13045431 650 printf("%f\t",moment[i]);
lakshya 20:949d13045431 651 }
lakshya 20:949d13045431 652 #endif
lakshya 20:949d13045431 653 FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function
lakshya 20:949d13045431 654 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 655 return;
lakshya 20:949d13045431 656 }
lakshya 20:949d13045431 657 else if(ACS_STATE == 9) // Detumbling
lakshya 20:949d13045431 658 {
lakshya 20:949d13045431 659 DRV_Z_EN = 1;
lakshya 20:949d13045431 660 DRV_XY_EN = 1;
lakshya 20:949d13045431 661 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 662 controlmode_mms = 0x00;
lakshya 20:949d13045431 663 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 664 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 665 return;
lakshya 20:949d13045431 666 }
lakshya 20:949d13045431 667 ACS_STATUS = 7; //INVALID_STATE
lakshya 20:949d13045431 668 DRV_Z_EN = 0;
lakshya 20:949d13045431 669 DRV_XY_EN = 0;
lakshya 20:949d13045431 670 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
lakshya 20:949d13045431 671 }
lakshya 19:79e69017c855 672
lakshya 19:79e69017c855 673
sakthipriya 0:7b4c00e3912f 674 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 675
lakshya 33:76f2b8735501 676
sakthipriya 3:07e15677a75c 677 void F_EPS()
lakshya 20:949d13045431 678 {
lakshya 33:76f2b8735501 679 float eps_btry_temp;
lakshya 33:76f2b8735501 680 pc.printf("\n\rEntered EPS %f\n\r",t_start.read());
lakshya 33:76f2b8735501 681 EPS_MAIN_STATUS = 1; // Set EPS main status
lakshya 33:76f2b8735501 682 EPS_MAIN_COUNTER++;
lakshya 33:76f2b8735501 683 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
lakshya 33:76f2b8735501 684 pc.printf("Battery temperature %f %f\n\r" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
lakshya 33:76f2b8735501 685 EPS_BTRY_TMP_AVG = ( actual_data.Batt_temp_actual[0] + actual_data.Batt_temp_actual[1] )/2.0;
lakshya 33:76f2b8735501 686 if(abs(actual_data.Batt_temp_actual[0] - actual_data.Batt_temp_actual[1]) > 10)
lakshya 33:76f2b8735501 687 {
lakshya 33:76f2b8735501 688 EPS_BTRY_TMP_STATUS = 0; //clear EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 689 eps_btry_temp = (float) EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 690 }
lakshya 33:76f2b8735501 691 else
lakshya 33:76f2b8735501 692 {
lakshya 33:76f2b8735501 693 EPS_BTRY_TMP_STATUS = 1; //set EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 694 eps_btry_temp = EPS_BTRY_TMP_AVG;
lakshya 33:76f2b8735501 695 }
lakshya 33:76f2b8735501 696
lakshya 33:76f2b8735501 697 if(EPS_BTRY_HTR_AUTO == 0)
lakshya 33:76f2b8735501 698 EPS_STATUS = 1; //EPS_BATTERY_HEATER_DISABLED
lakshya 33:76f2b8735501 699 else if( EPS_BTRY_TMP_STATUS == 0 )
lakshya 33:76f2b8735501 700 {
lakshya 33:76f2b8735501 701 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 702 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 703 EPS_STATUS = 0; //Set EPS_ERR_BATTERY_TEMP
lakshya 33:76f2b8735501 704 }
lakshya 33:76f2b8735501 705 else
lakshya 33:76f2b8735501 706 {
lakshya 33:76f2b8735501 707 if( EPS_BTRY_HTR == 1 && eps_btry_temp >= EPS_BAT_TEMP_HIGH )
lakshya 33:76f2b8735501 708 {
lakshya 33:76f2b8735501 709 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 710 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 711 EPS_STATUS = 4; //Set EPS_BATTERY_HEATER_OFF
lakshya 33:76f2b8735501 712 }
lakshya 33:76f2b8735501 713 else if( EPS_BTRY_HTR == 0 && eps_btry_temp < EPS_BAT_TEMP_LOW )
lakshya 33:76f2b8735501 714 {
lakshya 33:76f2b8735501 715 BTRY_HTR_ENABLE = 1;
lakshya 33:76f2b8735501 716 EPS_BTRY_HTR = 1;
lakshya 33:76f2b8735501 717 EPS_STATUS = 5; //Set EPS_BATTERY_HEATER_ON
lakshya 33:76f2b8735501 718 }
lakshya 33:76f2b8735501 719 }
lakshya 33:76f2b8735501 720
lakshya 33:76f2b8735501 721 unsigned short statusreg = read(REG_STATUS);
lakshya 33:76f2b8735501 722 if( EPS_BATTERY_GAUGE_STATUS == 0 ) reset();
lakshya 33:76f2b8735501 723 if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set
lakshya 19:79e69017c855 724 {
lakshya 33:76f2b8735501 725 printf("REG_STATUS = %d\r\n",read(REG_STATUS));
lakshya 33:76f2b8735501 726 FCTN_BATTERYGAUGE_INIT();
lakshya 33:76f2b8735501 727 }
lakshya 33:76f2b8735501 728 int BTG_MAIN_FLAG = FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual, eps_btry_temp);
lakshya 33:76f2b8735501 729 if( BTG_MAIN_FLAG == 0 ) //Data not received
lakshya 33:76f2b8735501 730 {
lakshya 33:76f2b8735501 731 actual_data.power_mode = 1;
lakshya 33:76f2b8735501 732 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 733 }
lakshya 33:76f2b8735501 734 else
lakshya 33:76f2b8735501 735 {
lakshya 33:76f2b8735501 736 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
lakshya 33:76f2b8735501 737 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 738 }
lakshya 33:76f2b8735501 739
lakshya 33:76f2b8735501 740 FCTN_HK_MAIN();
lakshya 33:76f2b8735501 741 // printf("\n\r here");
lakshya 33:76f2b8735501 742 FCTN_EPS_HANDLE_HW_FAULTS();
lakshya 33:76f2b8735501 743 FCTN_EPS_HANDLE_CDMS_FAULT();
lakshya 33:76f2b8735501 744 FCTN_APPEND_HKDATA();
lakshya 33:76f2b8735501 745 minMaxHkData();
lakshya 33:76f2b8735501 746 //printf("\n\r here");
lakshya 33:76f2b8735501 747 EPS_MAIN_STATUS = 0; // clear EPS main status
lakshya 33:76f2b8735501 748
sakthipriya 0:7b4c00e3912f 749 }
lakshya 33:76f2b8735501 750
lakshya 20:949d13045431 751
sakthipriya 0:7b4c00e3912f 752 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 753
sakthipriya 3:07e15677a75c 754 void F_BCN()
sakthipriya 0:7b4c00e3912f 755 {
lakshya 20:949d13045431 756 pc.printf("\n\rEntered BCN %f\n",t_start.read());
lakshya 20:949d13045431 757 //BCN_TX_MAIN_COUNTER=+1;
lakshya 20:949d13045431 758 FCTN_BCN_TX_MAIN();
sakthipriya 0:7b4c00e3912f 759 }
sakthipriya 0:7b4c00e3912f 760
sakthipriya 0:7b4c00e3912f 761 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 762
lakshya 39:670133e7ffd8 763 //===================================================================
sakthipriya 0:7b4c00e3912f 764 void T_TC(void const * args)
lakshya 19:79e69017c855 765 {
lakshya 20:949d13045431 766 while(1)
lakshya 39:670133e7ffd8 767 {
lakshya 39:670133e7ffd8 768 Thread::signal_wait(0x4);
lakshya 39:670133e7ffd8 769 wait_us(300);
lakshya 39:670133e7ffd8 770 BAE_MNG_I2C_STATUS =1 ;
lakshya 39:670133e7ffd8 771 I2C_last.reset();
lakshya 39:670133e7ffd8 772 I2C_last.start();
lakshya 39:670133e7ffd8 773 pc.printf("\n\r intrpet");
lakshya 39:670133e7ffd8 774 if( slave.receive() == 0)
lakshya 39:670133e7ffd8 775 {
lakshya 39:670133e7ffd8 776 pdir_ss1=PTE->PDIR; /////////edited
lakshya 39:670133e7ffd8 777 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 778 data_send_flag = 'h';
lakshya 39:670133e7ffd8 779 slave.stop();
lakshya 39:670133e7ffd8 780 if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed
lakshya 39:670133e7ffd8 781 {
lakshya 39:670133e7ffd8 782 I2C_busreset(); /////////edited
lakshya 39:670133e7ffd8 783 }
lakshya 39:670133e7ffd8 784 pdir_ss2=PTE->PDIR;
lakshya 39:670133e7ffd8 785 pc.printf("\n\rSlave not addressed");
lakshya 39:670133e7ffd8 786 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss1);
lakshya 39:670133e7ffd8 787 #if PRINT2
lakshya 39:670133e7ffd8 788 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss2);
lakshya 39:670133e7ffd8 789 #endif
lakshya 39:670133e7ffd8 790 }
lakshya 39:670133e7ffd8 791 else if( slave.receive() == 1) // slave writes to master
lakshya 39:670133e7ffd8 792 {
lakshya 39:670133e7ffd8 793 BAE_I2C_COUNTER++; //////////edited
lakshya 39:670133e7ffd8 794 if(data_send_flag == 'h') //to be renamed as BAE_I2C_STATUS
lakshya 39:670133e7ffd8 795 {
lakshya 39:670133e7ffd8 796 irpt_2_mstr =1; //wait till cdms code is changed
lakshya 39:670133e7ffd8 797 FCTN_APPEND_HKDATA();
lakshya 39:670133e7ffd8 798 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 799 //crc is already being added
lakshya 39:670133e7ffd8 800 write_ack=slave.write((char*)BAE_chardata,134);
lakshya 39:670133e7ffd8 801 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 802 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 803 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 804 if(write_ack==0)// wait till cdms code is changed
lakshya 20:949d13045431 805 {
lakshya 39:670133e7ffd8 806 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 807 {
lakshya 39:670133e7ffd8 808 wait_ms(1);
lakshya 39:670133e7ffd8 809 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 810 i2c_count++;
lakshya 39:670133e7ffd8 811 }
lakshya 39:670133e7ffd8 812 if(((pdir_tm1 & 0x00000003)==3))
lakshya 20:949d13045431 813 {
lakshya 39:670133e7ffd8 814 pc.printf("\n\rWrite HK success");
lakshya 39:670133e7ffd8 815 data_send_flag = 'h';
lakshya 39:670133e7ffd8 816 irpt_2_mstr = 0; //////////edited
lakshya 19:79e69017c855 817 }
lakshya 39:670133e7ffd8 818 else
lakshya 39:670133e7ffd8 819 {
lakshya 39:670133e7ffd8 820 #if baby
lakshya 39:670133e7ffd8 821 pc.printf("\n\rWrite HK failed");
lakshya 39:670133e7ffd8 822 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 823 #endif
lakshya 39:670133e7ffd8 824 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 825 I2C_busreset();
lakshya 39:670133e7ffd8 826 #if baby2
lakshya 39:670133e7ffd8 827 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 828 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 829 #endif
lakshya 39:670133e7ffd8 830 }
lakshya 39:670133e7ffd8 831 }
lakshya 39:670133e7ffd8 832 else
lakshya 39:670133e7ffd8 833 {
lakshya 39:670133e7ffd8 834 #if baby1
lakshya 39:670133e7ffd8 835 pc.printf("\n\rWrite Ack failed(HK)");
lakshya 39:670133e7ffd8 836 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 837 #endif
lakshya 39:670133e7ffd8 838 I2C_busreset();
lakshya 39:670133e7ffd8 839 #if baby2
lakshya 39:670133e7ffd8 840 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 841 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 842 #endif
lakshya 20:949d13045431 843 }
lakshya 39:670133e7ffd8 844 i2c_count=0;
lakshya 39:670133e7ffd8 845 }
lakshya 39:670133e7ffd8 846 else//data_send_flag = "t" //else if(telecommand[1]&0xC0 == 't')
lakshya 39:670133e7ffd8 847 {
lakshya 39:670133e7ffd8 848 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 849 write_ack=slave.write((char*)telemetry,134); ////////edited(size)
lakshya 39:670133e7ffd8 850 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 851 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 852 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 853 data_send_flag = 'h';
lakshya 39:670133e7ffd8 854 if(write_ack==0)
lakshya 39:670133e7ffd8 855 {
lakshya 39:670133e7ffd8 856 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 857 {
lakshya 39:670133e7ffd8 858 wait_ms(1);
lakshya 39:670133e7ffd8 859 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 860 i2c_count++;
lakshya 39:670133e7ffd8 861 }
lakshya 39:670133e7ffd8 862 if(((pdir_tm1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 863 {
lakshya 39:670133e7ffd8 864 pc.printf("\n\rWrite TM success");
lakshya 39:670133e7ffd8 865 }
lakshya 39:670133e7ffd8 866 else
lakshya 39:670133e7ffd8 867 {
lakshya 39:670133e7ffd8 868 #if baby
lakshya 39:670133e7ffd8 869 pc.printf("\n\rWrite TM failed");
lakshya 39:670133e7ffd8 870 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 871 #endif
lakshya 39:670133e7ffd8 872 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 873 I2C_busreset();
lakshya 39:670133e7ffd8 874 #if baby2
lakshya 39:670133e7ffd8 875 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 876 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 877 #endif
lakshya 39:670133e7ffd8 878 }
lakshya 39:670133e7ffd8 879 }
lakshya 39:670133e7ffd8 880 else
lakshya 20:949d13045431 881 {
lakshya 39:670133e7ffd8 882 #if baby
lakshya 39:670133e7ffd8 883 pc.printf("\n\rWrite Ack failed");
lakshya 39:670133e7ffd8 884 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 885 #endif
lakshya 39:670133e7ffd8 886 I2C_busreset();
lakshya 39:670133e7ffd8 887 #if baby2
lakshya 39:670133e7ffd8 888 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 889 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 890 #endif
lakshya 20:949d13045431 891 }
lakshya 39:670133e7ffd8 892 i2c_count=0;
lakshya 39:670133e7ffd8 893 }
lakshya 39:670133e7ffd8 894 }
lakshya 39:670133e7ffd8 895 else if( slave.receive()==3 || slave.receive()==2) // slave read
lakshya 39:670133e7ffd8 896 {
lakshya 39:670133e7ffd8 897 BAE_I2C_COUNTER++;
lakshya 39:670133e7ffd8 898 uint8_t i2c_count = 0;
lakshya 39:670133e7ffd8 899 read_ack=slave.read((char *)telecommand,135); //read() function returns acknowledgement
lakshya 39:670133e7ffd8 900 wait_ms(1);
lakshya 39:670133e7ffd8 901 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 902 if(read_ack==0) //read() says it was successful
lakshya 39:670133e7ffd8 903 {
lakshya 39:670133e7ffd8 904 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 905 {
lakshya 39:670133e7ffd8 906 wait_ms(1);
lakshya 39:670133e7ffd8 907 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 908 i2c_count++;
lakshya 39:670133e7ffd8 909 }
lakshya 39:670133e7ffd8 910 if(((pdir_tc1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 911 {
lakshya 39:670133e7ffd8 912 pc.printf("\n\n\rRead TC success");
lakshya 39:670133e7ffd8 913 if(telecommand[0] == 0x00) /////////////edited
lakshya 39:670133e7ffd8 914 FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited
lakshya 39:670133e7ffd8 915 else
lakshya 39:670133e7ffd8 916 {
lakshya 39:670133e7ffd8 917 FCTN_BAE_TM_TC((uint8_t*) telecommand);
lakshya 39:670133e7ffd8 918 data_send_flag = 't';
lakshya 39:670133e7ffd8 919 irpt_2_mstr = 1;
lakshya 39:670133e7ffd8 920 }
lakshya 39:670133e7ffd8 921 }
lakshya 39:670133e7ffd8 922 else //either or both of SDA and SCL lines low
lakshya 20:949d13045431 923 {
lakshya 39:670133e7ffd8 924 #if baby
lakshya 39:670133e7ffd8 925 pc.printf("\n\rRead TC failed");
lakshya 39:670133e7ffd8 926 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 927 #endif
lakshya 39:670133e7ffd8 928 I2C_busreset();
lakshya 39:670133e7ffd8 929 #if baby2
lakshya 39:670133e7ffd8 930 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 931 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 932 #endif
lakshya 39:670133e7ffd8 933 gen_I_TM();
lakshya 39:670133e7ffd8 934 data_send_flag = 't';
lakshya 39:670133e7ffd8 935 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 936 }
lakshya 39:670133e7ffd8 937 }
lakshya 39:670133e7ffd8 938 else //read() says it was not successful
lakshya 39:670133e7ffd8 939 {
lakshya 39:670133e7ffd8 940 #if baby
lakshya 39:670133e7ffd8 941 pc.printf("\n\rRead Ack failed");
lakshya 39:670133e7ffd8 942 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 943 #endif
lakshya 39:670133e7ffd8 944 I2C_busreset();
lakshya 39:670133e7ffd8 945 #if baby2
lakshya 39:670133e7ffd8 946 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 947 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 948 #endif
lakshya 39:670133e7ffd8 949 //pc.printf("\n\r no data case");
lakshya 39:670133e7ffd8 950 gen_I_TM();
lakshya 39:670133e7ffd8 951 data_send_flag = 't';
lakshya 39:670133e7ffd8 952 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 953 }
lakshya 39:670133e7ffd8 954 i2c_count = 0;
lakshya 39:670133e7ffd8 955 }
lakshya 39:670133e7ffd8 956 BAE_MNG_I2C_STATUS=0;
lakshya 39:670133e7ffd8 957 }
sakthipriya 0:7b4c00e3912f 958 }
lakshya 39:670133e7ffd8 959
sakthipriya 0:7b4c00e3912f 960 void FCTN_TM()
lakshya 20:949d13045431 961 {
sakthipriya 5:bb592f3185cc 962 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 963 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 964 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 965 }
sakthipriya 0:7b4c00e3912f 966
sakthipriya 0:7b4c00e3912f 967
sakthipriya 0:7b4c00e3912f 968 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 969
sakthipriya 0:7b4c00e3912f 970 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 971 {
lakshya 20:949d13045431 972 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 973 }
sakthipriya 0:7b4c00e3912f 974
sakthipriya 0:7b4c00e3912f 975
sakthipriya 5:bb592f3185cc 976 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 977
sakthipriya 5:bb592f3185cc 978 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 979
sakthipriya 5:bb592f3185cc 980 void pollfault()
sakthipriya 5:bb592f3185cc 981 {
lakshya 48:9fd15e3e0b53 982 if (ACS_ATS1_OC_FAULT==0) // OC_ATS1
lakshya 20:949d13045431 983 {
lakshya 20:949d13045431 984 pf1check=1;
lakshya 20:949d13045431 985 actual_data.faultPoll_status |=0x01 ;
lakshya 20:949d13045431 986 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
lakshya 20:949d13045431 987 }
lakshya 20:949d13045431 988 else
lakshya 20:949d13045431 989 actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 990
lakshya 48:9fd15e3e0b53 991 if(ACS_ATS2_OC_FAULT==0)
lakshya 20:949d13045431 992 {
lakshya 20:949d13045431 993 pf2check=1;
lakshya 20:949d13045431 994 actual_data.faultPoll_status |=0x02 ;
lakshya 20:949d13045431 995 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
lakshya 20:949d13045431 996 }
lakshya 20:949d13045431 997 else
lakshya 20:949d13045431 998 actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 999
lakshya 48:9fd15e3e0b53 1000 if (ACS_TR_XY_FAULT==0)
lakshya 20:949d13045431 1001 {
lakshya 20:949d13045431 1002 actual_data.faultPoll_status |=0x04 ;
lakshya 20:949d13045431 1003 DRV_XY_EN = 0;
lakshya 20:949d13045431 1004 wait_us(1);
lakshya 20:949d13045431 1005 DRV_XY_EN = 1;
lakshya 20:949d13045431 1006 }
lakshya 20:949d13045431 1007 else
lakshya 20:949d13045431 1008 actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 1009 }
sakthipriya 5:bb592f3185cc 1010
sakthipriya 0:7b4c00e3912f 1011 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 1012 //SCHEDULER
sakthipriya 0:7b4c00e3912f 1013 //------------------------------------------------------------------------------------------------------------------------------------------------
lakshya 20:949d13045431 1014
sakthipriya 0:7b4c00e3912f 1015 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 1016 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 1017 {
lakshya 20:949d13045431 1018 #if print
lakshya 20:949d13045431 1019 printf("\n\r in scheduler");
lakshya 20:949d13045431 1020 #endif
lakshya 19:79e69017c855 1021 /*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 1022 if(schedcount == 13) //to reset the counter
sakthipriya 0:7b4c00e3912f 1023 schedcount = 1;
sakthipriya 0:7b4c00e3912f 1024 if(schedcount%1==0)
lakshya 20:949d13045431 1025 {
lakshya 20:949d13045431 1026 if( BAE_STANDBY!=0x02 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1027 {
lakshya 20:949d13045431 1028 pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
lakshya 20:949d13045431 1029 F_ACS();
lakshya 20:949d13045431 1030 //time_wdog = 0;
lakshya 20:949d13045431 1031 }
sakthipriya 0:7b4c00e3912f 1032
lakshya 20:949d13045431 1033 }
lakshya 33:76f2b8735501 1034 if(schedcount%4==0)
lakshya 20:949d13045431 1035 {
lakshya 20:949d13045431 1036 if( BAE_STANDBY!=0x01 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1037 {
lakshya 20:949d13045431 1038 //time_wdog = 1;
lakshya 20:949d13045431 1039 F_EPS();
lakshya 20:949d13045431 1040 }
lakshya 20:949d13045431 1041 //time_wdog = 0;
lakshya 20:949d13045431 1042 }
lakshya 33:76f2b8735501 1043 if(schedcount%6==0)
lakshya 20:949d13045431 1044 {
lakshya 22:950dbe9fbeb8 1045 if(BAE_STANDBY!=0x04 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1046 // time_wdog = 0;
lakshya 22:950dbe9fbeb8 1047 F_BCN();
lakshya 20:949d13045431 1048 }
sakthipriya 0:7b4c00e3912f 1049 schedcount++;
lakshya 20:949d13045431 1050 #if print
lakshya 20:949d13045431 1051 printf("\n\r exited scheduler h");
lakshya 20:949d13045431 1052 printf("\n\r time taken %f",t_start.read());
lakshya 20:949d13045431 1053 #endif
sakthipriya 0:7b4c00e3912f 1054 }
sakthipriya 0:7b4c00e3912f 1055
lakshya 20:949d13045431 1056
sakthipriya 0:7b4c00e3912f 1057 Timer t_flag;
lakshya 19:79e69017c855 1058
lakshya 20:949d13045431 1059
sakthipriya 0:7b4c00e3912f 1060 void FLAG()
sakthipriya 0:7b4c00e3912f 1061 {
lakshya 20:949d13045431 1062
lakshya 20:949d13045431 1063 //I2C
lakshya 20:949d13045431 1064 //if(BAE_MNG_I2C_STATUS == 1)
lakshya 20:949d13045431 1065 // BAE_STATUS = BAE_STATUS | 0x10000000;
lakshya 20:949d13045431 1066 //else if(BAE_MNG_I2C_STATUS == 0)
lakshya 20:949d13045431 1067 // BAE_STATUS &= 0xEFFFFFF;
lakshya 19:79e69017c855 1068
lakshya 19:79e69017c855 1069 //.............bae..................//
lakshya 19:79e69017c855 1070 if(BAE_INIT_STATUS == 1)
lakshya 19:79e69017c855 1071 BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001;
lakshya 19:79e69017c855 1072 else if(BAE_INIT_STATUS == 0)
lakshya 19:79e69017c855 1073 BAE_STATUS &= 0xFFFFFFFE;
lakshya 19:79e69017c855 1074
lakshya 20:949d13045431 1075 if(BAE_MNG_I2C_STATUS == 1)
lakshya 19:79e69017c855 1076 BAE_STATUS = BAE_STATUS | 0x00000002;
lakshya 20:949d13045431 1077 if(BAE_MNG_I2C_STATUS == 0)
lakshya 19:79e69017c855 1078 BAE_STATUS &= 0xFFFFFFFD;
lakshya 20:949d13045431 1079
sakthipriya 0:7b4c00e3912f 1080 //.............acs..................//
sakthipriya 9:194afacf7449 1081 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1082 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 1083 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1084 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 1085
sakthipriya 9:194afacf7449 1086 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1087 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 1088 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1089 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 1090
sakthipriya 9:194afacf7449 1091 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 1092 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 1093 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 1094 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 1095
sakthipriya 0:7b4c00e3912f 1096 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 1097 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 1098
sakthipriya 9:194afacf7449 1099 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1100 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 1101 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1102 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 1103
sakthipriya 0:7b4c00e3912f 1104 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 1105 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1106 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 1107 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 1108 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 1109 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1110 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 1111 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1112 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 1113 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1114 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 1115 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1116 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 1117 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 1118 else
sakthipriya 0:7b4c00e3912f 1119 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 1120
sakthipriya 0:7b4c00e3912f 1121 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 1122 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1123 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 1124 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1125 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 1126 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1127 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 1128 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1129 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 1130 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1131 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 1132 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 1133
sakthipriya 0:7b4c00e3912f 1134 //...............eps......................//
lakshya 20:949d13045431 1135 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
lakshya 20:949d13045431 1136 BAE_STATUS |= 0x00010000;
lakshya 20:949d13045431 1137 else if(EPS_INIT_STATUS==0) // Clear
lakshya 20:949d13045431 1138 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 1139
sakthipriya 5:bb592f3185cc 1140
lakshya 20:949d13045431 1141 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
lakshya 20:949d13045431 1142 BAE_STATUS |= 0x00040000;
lakshya 20:949d13045431 1143 else if(EPS_MAIN_STATUS==0) // Clear
lakshya 20:949d13045431 1144 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 1145
sakthipriya 5:bb592f3185cc 1146
lakshya 20:949d13045431 1147 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
lakshya 20:949d13045431 1148 BAE_STATUS |= 0x00020000;
lakshya 20:949d13045431 1149 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
lakshya 20:949d13045431 1150 BAE_STATUS &= 0xFFFDFFFF;
lakshya 20:949d13045431 1151
lakshya 33:76f2b8735501 1152 if (EPS_BTRY_TMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
lakshya 20:949d13045431 1153 BAE_STATUS |= 0x00080000;
lakshya 33:76f2b8735501 1154 else if(EPS_BTRY_TMP_STATUS==0) // Clear
lakshya 20:949d13045431 1155 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 1156
lakshya 20:949d13045431 1157 if (EPS_STATUS==0)
lakshya 20:949d13045431 1158 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
lakshya 20:949d13045431 1159 else if (EPS_STATUS==1)
lakshya 20:949d13045431 1160 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
lakshya 20:949d13045431 1161 else if (EPS_STATUS==2)
lakshya 20:949d13045431 1162 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
lakshya 20:949d13045431 1163 else if (EPS_STATUS==3)
lakshya 20:949d13045431 1164 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
lakshya 20:949d13045431 1165 else if (EPS_STATUS==4)
lakshya 20:949d13045431 1166 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
lakshya 20:949d13045431 1167 else if (EPS_STATUS==5)
lakshya 20:949d13045431 1168 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 1169
lakshya 20:949d13045431 1170 if(EPS_BTRY_HTR_AUTO == 1)
sakthipriya 5:bb592f3185cc 1171 BAE_ENABLE |= 0x00000080;
lakshya 20:949d13045431 1172 else if(EPS_BTRY_HTR_AUTO == 0)
sakthipriya 5:bb592f3185cc 1173 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 1174
lakshya 20:949d13045431 1175 #if print
lakshya 20:949d13045431 1176 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
lakshya 20:949d13045431 1177 #endif
lakshya 20:949d13045431 1178 }
sakthipriya 0:7b4c00e3912f 1179
sakthipriya 0:7b4c00e3912f 1180
sakthipriya 0:7b4c00e3912f 1181 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 1182 {
lakshya 20:949d13045431 1183 #if print
lakshya 20:949d13045431 1184 printf("\n\r Initialising BAE _________________________________________________________________________________");
lakshya 20:949d13045431 1185 #endif
lakshya 19:79e69017c855 1186 BAE_INIT_STATUS=1;
lakshya 19:79e69017c855 1187 FLAG();
lakshya 19:79e69017c855 1188
sakthipriya 3:07e15677a75c 1189 //..........intial status....//
Bragadeesh153 13:fb7facaf308b 1190 ACS_STATE = 4;
sakthipriya 9:194afacf7449 1191 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 1192 ACS_DATA_ACQ_ENABLE = 1;
lakshya 20:949d13045431 1193 EPS_BTRY_HTR_AUTO = 1;
Bragadeesh153 13:fb7facaf308b 1194 actual_data.power_mode=3;
lakshya 19:79e69017c855 1195
sakthipriya 9:194afacf7449 1196 //............intializing pins................//
sakthipriya 9:194afacf7449 1197 ATS1_SW_ENABLE = 0;
sakthipriya 9:194afacf7449 1198 ATS2_SW_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 1199
Bragadeesh153 13:fb7facaf308b 1200 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 1201 DRV_Z_EN = 1;
Bragadeesh153 13:fb7facaf308b 1202 TRZ_SW = 1;
Bragadeesh153 13:fb7facaf308b 1203 TRXY_SW = 1;
lakshya 20:949d13045431 1204
lakshya 20:949d13045431 1205 //time_wdog = 1;
sakthipriya 9:194afacf7449 1206
lakshya 19:79e69017c855 1207 //...........order mentioned in flow chart.................//
sakthipriya 3:07e15677a75c 1208 FCTN_ACS_INIT();
lakshya 17:fc782f7548c6 1209 FCTN_EPS_INIT();
lakshya 18:3662058a7c10 1210 FCTN_BCN_INIT();
lakshya 19:79e69017c855 1211
lakshya 27:61c856be467e 1212 //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 1213 //uint32_t data_modify=data_flash & 0x000000FF;
lakshya 27:61c856be467e 1214 //data_modify +=1;
lakshya 27:61c856be467e 1215 //data_modify |=data_flash;
lakshya 27:61c856be467e 1216 //FCTN_BAE_WR_FLASH(0,data_modify);
lakshya 20:949d13045431 1217 #if print
lakshya 20:949d13045431 1218 printf("\n\rthe number of reset %d",data_modify);
lakshya 20:949d13045431 1219 #endif
lakshya 19:79e69017c855 1220 BAE_INIT_STATUS=0;
sakthipriya 0:7b4c00e3912f 1221 FLAG();
sakthipriya 0:7b4c00e3912f 1222 }
sakthipriya 0:7b4c00e3912f 1223
lakshya 20:949d13045431 1224
sakthipriya 0:7b4c00e3912f 1225 int main()
sakthipriya 0:7b4c00e3912f 1226 {
lakshya 33:76f2b8735501 1227 //BAE_uptime.reset();
lakshya 33:76f2b8735501 1228 BAE_uptime.start();
lakshya 20:949d13045431 1229 //time_wdog = 1;
lakshya 19:79e69017c855 1230 pc.printf("\n\r BAE Activated. Testing Version 1.2 \n");
lakshya 20:949d13045431 1231 //FLASH_INI();
sakthipriya 0:7b4c00e3912f 1232 FCTN_BAE_INIT();
lakshya 20:949d13045431 1233 //time_wdog = 0;
lakshya 20:949d13045431 1234
sakthipriya 0:7b4c00e3912f 1235 slave.address(addr);
sakthipriya 0:7b4c00e3912f 1236 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 1237
sakthipriya 0:7b4c00e3912f 1238 ptr_t_i2c = new Thread(T_TC);
sakthipriya 0:7b4c00e3912f 1239 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 5:bb592f3185cc 1240
sakthipriya 0:7b4c00e3912f 1241 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 1242 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
lakshya 20:949d13045431 1243
sakthipriya 0:7b4c00e3912f 1244 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
lakshya 33:76f2b8735501 1245 t_sc_timer.start(5000);
sakthipriya 0:7b4c00e3912f 1246 t_start.start();
lakshya 20:949d13045431 1247 #if print
lakshya 20:949d13045431 1248 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
lakshya 20:949d13045431 1249 #endif
lakshya 19:79e69017c855 1250 /*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 1251 //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1252 /*static allocation*/
lakshya 19:79e69017c855 1253 RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1254 BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER;
lakshya 18:3662058a7c10 1255
lakshya 20:949d13045431 1256 RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce);
lakshya 20:949d13045431 1257 /*later change it to 30 min 1800 seconds*/
lakshya 20:949d13045431 1258 bcn_start_timer.start(20000);
lakshya 20:949d13045431 1259
lakshya 20:949d13045431 1260 //BCN HTR TIMERS
lakshya 20:949d13045431 1261 RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce);
lakshya 20:949d13045431 1262 HTR_OFF=&EPS_HTR_OFF_TIMER;
lakshya 20:949d13045431 1263
lakshya 20:949d13045431 1264 RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE);
lakshya 20:949d13045431 1265 HTR_CYCLE=&EPS_HTR_CYCLE_TIMER;
lakshya 20:949d13045431 1266
lakshya 20:949d13045431 1267 RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce);
lakshya 20:949d13045431 1268 HTR_DLY=&EPS_HTR_DLY_TIMER;
lakshya 20:949d13045431 1269
lakshya 20:949d13045431 1270 FLASH_INI();
lakshya 20:949d13045431 1271
lakshya 20:949d13045431 1272 while(1); //required to prevent main from terminating
lakshya 18:3662058a7c10 1273
lakshya 20:949d13045431 1274 }