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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

main.cpp@101:cf1976e16f28, 2017-03-28 (annotated)

Committer:
samp1234
Date:
Tue Mar 28 08:48:42 2017 +0000
Revision:
101:cf1976e16f28
Parent:
100:af43bc82d3eb 
Fixed and Tested Minmax

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakthipriya 0:7b4c00e3912f 1 #include "mbed.h"
sakthipriya 0:7b4c00e3912f 2 #include "rtos.h"
sakthipriya 0:7b4c00e3912f 3 #include "pin_config.h"
sakthipriya 0:7b4c00e3912f 4 #include "ACS.h"
sakthipriya 0:7b4c00e3912f 5 #include "EPS.h"
sakthipriya 0:7b4c00e3912f 6 #include "BCN.h"
lakshya 98:321edb143f26 7 #include "InterruptIn.h"
lakshya 49:61c9f28332ba 8 Serial pc(USBTX,USBRX);
lakshya 49:61c9f28332ba 9
sakthipriya 0:7b4c00e3912f 10 #include "TCTM.h"
lakshya 47:d59ba66229ce 11 #define tm_len 134
lakshya 47:d59ba66229ce 12 #define tc_len 135
sakthipriya 0:7b4c00e3912f 13 #define batt_heat_low 20
lakshya 22:950dbe9fbeb8 14 #define print 1
lakshya 39:670133e7ffd8 15 #define PRINT2 1
lakshya 39:670133e7ffd8 16 #define baby 1
lakshya 39:670133e7ffd8 17 #define baby2 1
lakshya 49:61c9f28332ba 18 #define SBC 1
lakshya 49:61c9f28332ba 19
lakshya 49:61c9f28332ba 20 Timer timer_FCTN_ACS_GENPWM_MAIN;
lakshya 49:61c9f28332ba 21 Timer timer_FCTN_ACS_CNTRLALGO;
lakshya 49:61c9f28332ba 22 Timer timer_FCTN_BAE_INIT;
lakshya 49:61c9f28332ba 23 Timer timer_FLASH_INI;
lakshya 49:61c9f28332ba 24 Timer timer_FCTN_ACS_INIT;
lakshya 49:61c9f28332ba 25 Timer timer_FCTN_EPS_INIT;
lakshya 49:61c9f28332ba 26 Timer timer_FCTN_BCN_INIT;
lakshya 49:61c9f28332ba 27 Timer timer_F_ACS;
lakshya 49:61c9f28332ba 28 Timer timer_FCTN_ATS_DATA_ACQ;
lakshya 49:61c9f28332ba 29 extern Timer timer_SENSOR_INIT;
lakshya 49:61c9f28332ba 30 extern Timer timer_CONFIG_UPLOAD;
lakshya 49:61c9f28332ba 31 extern Timer timer_SENSOR_DATA_ACQ;
lakshya 49:61c9f28332ba 32 extern Timer timer_controlmodes;
lakshya 49:61c9f28332ba 33
lakshya 49:61c9f28332ba 34 Timer timer_F_ESP;
lakshya 49:61c9f28332ba 35 Timer timer_minMaxHkData;
lakshya 49:61c9f28332ba 36 Timer timer_FCTN_APPEND_HKDATA;
lakshya 49:61c9f28332ba 37 Timer timer_FCTN_EPS_HANDLE_CDMS_FAULT;
lakshya 49:61c9f28332ba 38 Timer timer_FCTN_EPS_HANDLE_HW_FAULTS;
lakshya 49:61c9f28332ba 39 Timer timer_FCTN_HK_MAIN;
lakshya 49:61c9f28332ba 40 Timer timer_FCTN_BATTERYGAUGE_MAIN;
lakshya 49:61c9f28332ba 41 Timer timer_FCTN_BATT_TEMP_SENSOR_MAIN;
lakshya 49:61c9f28332ba 42 extern Timer timer_alertFlags;
lakshya 49:61c9f28332ba 43 extern Timer timer_soc;
lakshya 49:61c9f28332ba 44 extern Timer timer_FCTN_BATTERYGAUGE_INIT;
lakshya 49:61c9f28332ba 45
lakshya 49:61c9f28332ba 46 Timer timer_F_BCN;
lakshya 49:61c9f28332ba 47 Timer timer_FCTN_BCN_TX_MAIN;
lakshya 49:61c9f28332ba 48 extern Timer timer_Init_BEACON_HW;
lakshya 49:61c9f28332ba 49 extern Timer timer_Set_BCN_TX_STATUS_DISABLED;
lakshya 49:61c9f28332ba 50 extern Timer timer_Set_BCN_TX_STATUS_SUSPENDED;
lakshya 49:61c9f28332ba 51 extern Timer timer_Set_BCN_TX_STATUS_RF_SILENCE;
lakshya 49:61c9f28332ba 52 extern Timer timer_Set_BCN_TX_STATUS_SUCCESS;
lakshya 49:61c9f28332ba 53 extern Timer timer_Set_BCN_TX_STATUS_FAILURE;
samp1234 99:2cc5c0c98cb3 54 extern float Read_I_D_IN_COMTX();
samp1234 99:2cc5c0c98cb3 55 extern void Read_V_D_IN_COMTX();
lakshya 49:61c9f28332ba 56
lakshya 33:76f2b8735501 57 #define DISABLE_WDOG 0;
lakshya 33:76f2b8735501 58
lakshya 33:76f2b8735501 59 void kick_WDOG()
lakshya 33:76f2b8735501 60 {
lakshya 33:76f2b8735501 61 SIM->SRVCOP=0x55;
lakshya 33:76f2b8735501 62 SIM->SRVCOP=0xAA;
lakshya 33:76f2b8735501 63 printf("\n\rkicked");
lakshya 33:76f2b8735501 64 }
lakshya 33:76f2b8735501 65
lakshya 33:76f2b8735501 66 void init_WDOG()
lakshya 33:76f2b8735501 67 {
lakshya 33:76f2b8735501 68 SIM->COPC=0x0C;
lakshya 33:76f2b8735501 69 kick_WDOG();
lakshya 33:76f2b8735501 70 }
lakshya 33:76f2b8735501 71
lakshya 49:61c9f28332ba 72 DigitalOut time_wdog(PIN68,0);// for determining the time between code
lakshya 20:949d13045431 73
lakshya 19:79e69017c855 74 //**********************************************GLOBAL RTOS TIMER*********************************************************//
lakshya 19:79e69017c855 75 RtosTimer *BAE_STANDBY_STATUS_TIMER;
lakshya 19:79e69017c855 76
lakshya 20:949d13045431 77 //bcn heater rtostimers=============================================================================
lakshya 20:949d13045431 78 RtosTimer *HTR_OFF=NULL;
lakshya 20:949d13045431 79 RtosTimer *HTR_CYCLE=NULL;
lakshya 20:949d13045431 80 RtosTimer *HTR_DLY=NULL;
lakshya 20:949d13045431 81
lakshya 33:76f2b8735501 82 //UPTIME TIMERS
lakshya 33:76f2b8735501 83 Timer BAE_uptime;
lakshya 33:76f2b8735501 84 Timer I2C_last;
lakshya 33:76f2b8735501 85
lakshya 33:76f2b8735501 86 void RETURN_UPTIME(float time, uint8_t *day,uint8_t *hour,uint8_t *min)
lakshya 33:76f2b8735501 87 {
samp1234 99:2cc5c0c98cb3 88 printf("\n\r the time relayed is %f\n",time);
lakshya 33:76f2b8735501 89 *day = time/(3600*24);
lakshya 33:76f2b8735501 90 time = (int)time % (3600*24);
lakshya 33:76f2b8735501 91 *hour = time/(3600);
lakshya 33:76f2b8735501 92 time = (int)time % (3600);
lakshya 33:76f2b8735501 93 *min = time/60;
lakshya 33:76f2b8735501 94 }
lakshya 33:76f2b8735501 95
lakshya 49:61c9f28332ba 96 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 49:61c9f28332ba 97 int eps_btg_read_flag; // flag to check I2C ack on reading from BTG
lakshya 49:61c9f28332ba 98 int eps_btg_writ_flag; // flag to check I2C ack on writing from BTG
lakshya 20:949d13045431 99
lakshya 20:949d13045431 100 uint8_t HTR_CYCLE_COUNTS=0; //Count of heater cycles
lakshya 20:949d13045431 101 uint8_t HTR_CYCLE_START_DLY=0; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya 20:949d13045431 102 uint8_t HTR_ON_DURATION=0; //EPS_HTR_OFF timer duration in minutes
lakshya 20:949d13045431 103 uint16_t HTR_CYCLE_PERIOD =0; //EPS_HTR_CYCLE timer duration - MSB minutes, LSB seconds
lakshya 20:949d13045431 104 uint8_t HTR_CYCLE_COUNTER = 0 ;
lakshya 20:949d13045431 105
lakshya 20:949d13045431 106 uint32_t HTR_CYCLE_PERIOD_DECODER() //To convert HTR_CYCLE_PERIOD to millisecs
lakshya 20:949d13045431 107 {
lakshya 20:949d13045431 108 uint8_t PERIOD_mins, PERIOD_secs;
lakshya 20:949d13045431 109 //pc.printf("\n\r FCTN_HTR_CYCLE_PERIOD");
lakshya 20:949d13045431 110 PERIOD_secs = HTR_CYCLE_PERIOD;
lakshya 20:949d13045431 111 PERIOD_mins = HTR_CYCLE_PERIOD >> 8;
lakshya 20:949d13045431 112 uint32_t period = 1000*((int)PERIOD_mins * 60 + (int)PERIOD_secs);
lakshya 20:949d13045431 113
lakshya 20:949d13045431 114 return period;
lakshya 20:949d13045431 115 }
lakshya 20:949d13045431 116
lakshya 20:949d13045431 117 void FCTN_EPS_HTR_CYCLE(void const *arg)
lakshya 20:949d13045431 118 {
lakshya 33:76f2b8735501 119 BTRY_HTR_ENABLE = 1;//assuming its active high check
lakshya 20:949d13045431 120 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 121 //pc.printf("\n\r FCTN_EPS_HTR_CYCLE");
lakshya 20:949d13045431 122 //tim.reset();
lakshya 20:949d13045431 123 //tim.start();
lakshya 20:949d13045431 124 //HTR_OFF->start(((uint32_t)HTR_ON_DURATION)*1000);
lakshya 20:949d13045431 125 HTR_OFF->start((int)HTR_ON_DURATION*60*1000);
lakshya 20:949d13045431 126 }
lakshya 20:949d13045431 127
lakshya 20:949d13045431 128 void FCTN_EPS_HTR_DLY(void const* arg)
lakshya 20:949d13045431 129 {
lakshya 33:76f2b8735501 130 BTRY_HTR_ENABLE = 1;
lakshya 20:949d13045431 131 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 132 HTR_OFF->start(((int)HTR_ON_DURATION*60*1000));
lakshya 20:949d13045431 133 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 134 //pc.printf("\n\r FCTN_EPS_HTR_DLY");
lakshya 20:949d13045431 135 //tim.start();
lakshya 20:949d13045431 136 HTR_CYCLE->start((uint32_t)HTR_CYCLE_PERIOD_DECODER);
lakshya 20:949d13045431 137 }
lakshya 20:949d13045431 138
lakshya 20:949d13045431 139 void FCTN_EPS_HTR_OFF(void const *arg)
lakshya 20:949d13045431 140 {
lakshya 33:76f2b8735501 141 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 142 //tim.stop();
lakshya 20:949d13045431 143 //pc.printf("\n\r off kar diya");
lakshya 20:949d13045431 144 //pc.printf("\n\r the timer value is %f",tim.read());
lakshya 20:949d13045431 145 //tim.reset();
lakshya 20:949d13045431 146 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 147 {
lakshya 20:949d13045431 148 HTR_CYCLE_COUNTER++;
lakshya 20:949d13045431 149 if( HTR_CYCLE_COUNTER == (int)HTR_CYCLE_COUNTS)//HTR_CYCLE_COUNTS )
lakshya 20:949d13045431 150 HTR_CYCLE->stop();
lakshya 20:949d13045431 151 }
lakshya 20:949d13045431 152 }
lakshya 20:949d13045431 153
lakshya 20:949d13045431 154 //====================================================================================================
lakshya 20:949d13045431 155
lakshya 20:949d13045431 156 //fctn to pass the data to bcn long type
lakshya 33:76f2b8735501 157 //uint8_t CDMS_HK_data[134]; now implemented as LONG_HK_data[0][134];
lakshya 33:76f2b8735501 158 uint8_t LONG_HK_data[2][134];
samp1234 99:2cc5c0c98cb3 159 extern uint16_t crc_hk_data_type();
samp1234 99:2cc5c0c98cb3 160
lakshya 20:949d13045431 161 void FCTN_CDMS_HK_TC(uint8_t tc[])
lakshya 20:949d13045431 162 {
lakshya 20:949d13045431 163 for(int i=0;i<134;i++)
samp1234 99:2cc5c0c98cb3 164 LONG_HK_data[0][i] = tc[i];
samp1234 99:2cc5c0c98cb3 165
samp1234 99:2cc5c0c98cb3 166 uint16_t crc;
samp1234 99:2cc5c0c98cb3 167 crc = crc_hk_data_type();
samp1234 99:2cc5c0c98cb3 168 LONG_HK_data[0][132] = (uint8_t)(crc >> 8);
samp1234 99:2cc5c0c98cb3 169 LONG_HK_data[0][133] = crc;
samp1234 99:2cc5c0c98cb3 170
lakshya 20:949d13045431 171 }
lakshya 20:949d13045431 172
lakshya 66:a5d2b8dc6b9e 173 uint8_t BAE_STANDBY=0x07;// as Bcn Acs Eps last three bits BAE order , refer to switch off.//old convection now *****0***** means off
lakshya 20:949d13045431 174
lakshya 19:79e69017c855 175 void BAE_STANDBY_STATUS_RESET(const void* arg)
lakshya 19:79e69017c855 176 {
lakshya 19:79e69017c855 177 printf("\n\rBAE standby reset to 0x00");
lakshya 66:a5d2b8dc6b9e 178 BAE_STANDBY=0x07;
lakshya 19:79e69017c855 179 }
lakshya 19:79e69017c855 180
lakshya 20:949d13045431 181
lakshya 19:79e69017c855 182 /*no problem in first stopping and then starting even when for the first time*/
lakshya 19:79e69017c855 183 void BAE_STANDBY_TIMER_RESET()
lakshya 19:79e69017c855 184 {
lakshya 19:79e69017c855 185 BAE_STANDBY_STATUS_TIMER->stop();
lakshya 19:79e69017c855 186 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 187 }
lakshya 19:79e69017c855 188
lakshya 20:949d13045431 189 extern void gen_I_TM();
lakshya 20:949d13045431 190
lakshya 20:949d13045431 191 //*************** FLAGS ****************************//
sakthipriya 0:7b4c00e3912f 192 uint32_t BAE_STATUS = 0x00000000;
sakthipriya 0:7b4c00e3912f 193 uint32_t BAE_ENABLE = 0xFFFFFFFF;
sakthipriya 0:7b4c00e3912f 194
sakthipriya 5:bb592f3185cc 195 //i2c//
sakthipriya 5:bb592f3185cc 196 char data_send_flag = 'h';
lakshya 20:949d13045431 197 //uint8_t BAE_MNG_I2C_STATUS = 0;
sakthipriya 5:bb592f3185cc 198
lakshya 20:949d13045431 199 //BAE
lakshya 19:79e69017c855 200 uint8_t BAE_INIT_STATUS=0;
lakshya 20:949d13045431 201 uint8_t BAE_MNG_I2C_STATUS=0;
sakthipriya 0:7b4c00e3912f 202
sakthipriya 9:194afacf7449 203
lakshya 20:949d13045431 204 //ACS
sakthipriya 9:194afacf7449 205 uint8_t ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 206 uint8_t ACS_DATA_ACQ_STATUS = 0;
lakshya 20:949d13045431 207 uint8_t ACS_ATS_STATUS = 0x73;
sakthipriya 9:194afacf7449 208 uint8_t ACS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 209 uint8_t ACS_STATUS = 0;
lakshya 20:949d13045431 210 uint8_t ACS_DETUMBLING_ALGO_TYPE = 0;
sakthipriya 9:194afacf7449 211 uint8_t ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 212 uint8_t ACS_DATA_ACQ_ENABLE = 1;
lakshya 49:61c9f28332ba 213 uint8_t ACS_STATE = 3;
lakshya 19:79e69017c855 214
lakshya 20:949d13045431 215 extern uint16_t ACS_MM_X_COMSN;
lakshya 20:949d13045431 216 extern uint16_t ACS_MM_Y_COMSN;
lakshya 20:949d13045431 217 extern uint16_t ACS_MG_X_COMSN;
lakshya 20:949d13045431 218 extern uint16_t ACS_MG_Y_COMSN;
lakshya 20:949d13045431 219 extern uint16_t ACS_MM_Z_COMSN;
lakshya 20:949d13045431 220 extern uint16_t ACS_MG_Z_COMSN;
lakshya 20:949d13045431 221
lakshya 27:61c856be467e 222 extern uint8_t controlmode_mms;
lakshya 49:61c9f28332ba 223 extern uint8_t B_SCZ_ANGLE;
lakshya 20:949d13045431 224 //BCN
lakshya 18:3662058a7c10 225 extern uint8_t BCN_FEN;
lakshya 18:3662058a7c10 226 extern void FCTN_BCN_FEN(void const *args);
lakshya 20:949d13045431 227 extern void LONG_BCN_DATA(uint8_t* );
lakshya 20:949d13045431 228 extern uint16_t gencrc16_for_me();//for calculating the crc of baehk data before sendingkk as including crc causes problem
lakshya 48:9fd15e3e0b53 229 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 230
lakshya 20:949d13045431 231
lakshya 18:3662058a7c10 232 Timeout timeout_bcn;
lakshya 19:79e69017c855 233 /*long beacon data/sending*/
lakshya 19:79e69017c855 234 /*be sure it is created in bcn.cpp*/
sakthipriya 0:7b4c00e3912f 235
lakshya 20:949d13045431 236 //EPS
sakthipriya 9:194afacf7449 237 uint8_t EPS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 238 uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
sakthipriya 9:194afacf7449 239 uint8_t EPS_MAIN_STATUS = 0;
lakshya 33:76f2b8735501 240 uint8_t EPS_BTRY_TMP_STATUS = 0;/// to be diss
sakthipriya 9:194afacf7449 241 uint8_t EPS_STATUS = 7; //invalid status
lakshya 33:76f2b8735501 242 uint8_t EPS_BTRY_HTR = 0;
sakthipriya 9:194afacf7449 243
lakshya 20:949d13045431 244 uint8_t EPS_BTRY_HTR_AUTO = 1;
lakshya 20:949d13045431 245 extern uint8_t EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 246 extern uint8_t EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 247 extern uint8_t EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 248 extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 249 extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 250 float EPS_BTRY_TMP_AVG;
lakshya 49:61c9f28332ba 251 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 33:76f2b8735501 252
lakshya 33:76f2b8735501 253 //extern void FCTN_BATTERYGAUGE_MAIN(float*Battery_parameters);
lakshya 20:949d13045431 254
lakshya 20:949d13045431 255
lakshya 20:949d13045431 256 //**********************GLOBAL DECLARATIONS********************************//
lakshya 20:949d13045431 257
lakshya 20:949d13045431 258 //CDMS
lakshya 20:949d13045431 259 //eps cdms fault
lakshya 20:949d13045431 260 uint8_t CDMS_SW_STATUS;
lakshya 48:9fd15e3e0b53 261 DigitalIn CDMS_OC_FAULT(PIN79);
azaddevarm 77:6a5f6e1c7a35 262 //bool CDMS_SW_ENABLE; //Temp name for CDMS_RESET pin
lakshya 20:949d13045431 263 int CDMS_FAULT_COUNTER = 0;
lakshya 20:949d13045431 264
lakshya 20:949d13045431 265
lakshya 20:949d13045431 266 //BAE new hk structure- everything has to changed based on this
lakshya 20:949d13045431 267 char BAE_chardata[74];
lakshya 33:76f2b8735501 268 // uint8_t LONG_HK_data[2][134];
lakshya 33:76f2b8735501 269 //uint8_t BAE_HK_data[134]; now known as LONG_HK_data[1][i];
lakshya 20:949d13045431 270 uint8_t BAE_RESET_COUNTER;// INITIALIZATION or do you want to initialize evertime the main is reset? or is it same
lakshya 20:949d13045431 271 uint16_t BAE_I2C_COUNTER = 0;//change/apply
lakshya 66:a5d2b8dc6b9e 272 //uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1old convection refer to switch off. chnaged now 0 means offfffffffff FU==
lakshya 20:949d13045431 273
lakshya 20:949d13045431 274 //BCN
lakshya 20:949d13045431 275 //uint16_t BCN_TX_MAIN_COUNTER = 0;
lakshya 20:949d13045431 276 uint8_t BCN_LONG_MSG_TYPE = 1;
sakthipriya 0:7b4c00e3912f 277
lakshya 49:61c9f28332ba 278 DigitalIn BCN_TX_OC_FAULT(PIN80);
lakshya 20:949d13045431 279 int BCN_TX_FAULT_COUNTER;
lakshya 20:949d13045431 280
lakshya 20:949d13045431 281 //ACS
lakshya 20:949d13045431 282 uint16_t ACS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 283
lakshya 20:949d13045431 284 //eps hw faults
lakshya 20:949d13045431 285 //uint8_t ACS_TR_Z_SW_STATUS;
Bragadeesh153 65:d1b12729fcdc 286 DigitalOut ACS_TR_Z_ENABLE(PIN40,0); //SWITCH
lakshya 48:9fd15e3e0b53 287 DigitalIn ACS_TR_Z_OC_FAULT(PIN91);
lakshya 48:9fd15e3e0b53 288 DigitalIn ACS_TR_Z_FAULT(PIN89); //Driver IC fault
lakshya 20:949d13045431 289 int ACS_TR_Z_FAULT_COUNTER = 0;
sakthipriya 0:7b4c00e3912f 290
lakshya 49:61c9f28332ba 291
lakshya 49:61c9f28332ba 292 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
lakshya 49:61c9f28332ba 293 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
Bragadeesh153 52:daa685b0e390 294
lakshya 49:61c9f28332ba 295
Bragadeesh153 52:daa685b0e390 296
lakshya 49:61c9f28332ba 297
lakshya 20:949d13045431 298 //uint8_t ACS_TR_XY_SW_STATUS;
Bragadeesh153 52:daa685b0e390 299 DigitalOut ACS_TR_XY_ENABLE(PIN71,0);
Bragadeesh153 52:daa685b0e390 300 DigitalIn ACS_TR_XY_OC_FAULT(PIN77);
lakshya 48:9fd15e3e0b53 301 DigitalIn ACS_TR_XY_FAULT(PIN83); //Driver IC fault
lakshya 20:949d13045431 302 int ACS_TR_XY_FAULT_COUNTER = 0;
lakshya 20:949d13045431 303
lakshya 20:949d13045431 304 //bool ACS_ATS1_ENABLE;
Bragadeesh153 52:daa685b0e390 305 DigitalIn ACS_ATS1_OC_FAULT(PIN39);
lakshya 48:9fd15e3e0b53 306 int ACS_TS1_FAULT_COUNTER = 0;
lakshya 20:949d13045431 307
lakshya 20:949d13045431 308 //bool ACS_ATS2_ENABLE;
Bragadeesh153 52:daa685b0e390 309 DigitalIn ACS_ATS2_OC_FAULT(PIN41);
lakshya 20:949d13045431 310 int ACS_ATS2_FAULT_COUNTER;
lakshya 20:949d13045431 311
lakshya 20:949d13045431 312 //EPS
lakshya 20:949d13045431 313 int EPS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 314
lakshya 20:949d13045431 315
lakshya 20:949d13045431 316 //GEN DEC FOR TESTING or to be DECIDED whre to ASSIGN HERE
sakthipriya 0:7b4c00e3912f 317 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 318 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 319 Timer t_start;
lakshya 19:79e69017c855 320 /*defined as of now to check execution time*/
lakshya 19:79e69017c855 321 /*remember to remove them*/
lakshya 19:79e69017c855 322 Timer t_acs;
lakshya 19:79e69017c855 323 Timer t_eps;
lakshya 20:949d13045431 324 //Timer t_tc;
sakthipriya 7:a46a1dee4497 325 Timer t_tm;
lakshya 49:61c9f28332ba 326
sakthipriya 0:7b4c00e3912f 327 int power_flag_dummy=2;
sakthipriya 0:7b4c00e3912f 328 float data[6];
sakthipriya 0:7b4c00e3912f 329
lakshya 20:949d13045431 330
lakshya 20:949d13045431 331 //*************EXTERN PARA********
lakshya 20:949d13045431 332
lakshya 20:949d13045431 333 //BAE
lakshya 20:949d13045431 334
sakthipriya 1:446a959e36ce 335 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 336 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 337 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 338 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 339
lakshya 20:949d13045431 340
lakshya 20:949d13045431 341 //BCN
lakshya 20:949d13045431 342 extern uint8_t BCN_FEN;
lakshya 20:949d13045431 343 extern uint8_t BCN_TX_SW_STATUS;
lakshya 20:949d13045431 344 extern uint8_t BCN_SPND_TX;
lakshya 20:949d13045431 345
lakshya 20:949d13045431 346
lakshya 20:949d13045431 347 //TCTM
lakshya 49:61c9f28332ba 348 extern uint8_t telemetry[tm_len];
lakshya 20:949d13045431 349
lakshya 20:949d13045431 350
lakshya 20:949d13045431 351 //ACS
lakshya 20:949d13045431 352 extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya 20:949d13045431 353 extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 354 extern float gyro_data[3];
lakshya 20:949d13045431 355 extern float mag_data[3];
lakshya 20:949d13045431 356 extern float moment[3];
lakshya 20:949d13045431 357 extern float b_old[3]; // Unit: Tesla
lakshya 20:949d13045431 358 extern float db[3];
lakshya 20:949d13045431 359 extern uint8_t flag_firsttime;
lakshya 20:949d13045431 360 extern uint8_t ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 361 extern uint8_t ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 362 extern uint16_t ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 363
lakshya 39:670133e7ffd8 364 int write_ack;
lakshya 39:670133e7ffd8 365 int read_ack;
sakthipriya 0:7b4c00e3912f 366 char telecommand[tc_len];
lakshya 20:949d13045431 367
sakthipriya 5:bb592f3185cc 368
sakthipriya 5:bb592f3185cc 369 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 370 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 371 bool if1check = 0;
lakshya 14:a9588f443f1a 372 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 373
lakshya 20:949d13045431 374 //ASSIGNING PINS//
Bragadeesh153 52:daa685b0e390 375 DigitalOut ATS1_SW_ENABLE(PIN90,1); // enable of att sens2 switch
Bragadeesh153 52:daa685b0e390 376 DigitalOut ATS2_SW_ENABLE(PIN61,0); // enable of att sens switch
lakshya 49:61c9f28332ba 377 ////InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
lakshya 49:61c9f28332ba 378 ////DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya 14:a9588f443f1a 379 I2CSlave slave (PIN1,PIN2);///pin1 pin2
lakshya 20:949d13045431 380 //DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 381
sakthipriya 9:194afacf7449 382 //ATS1_SW_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 383 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 384 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 385 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 386
sakthipriya 5:bb592f3185cc 387 //........faults
sakthipriya 5:bb592f3185cc 388 //Polled Faults
lakshya 48:9fd15e3e0b53 389 //DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
lakshya 48:9fd15e3e0b53 390 //DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
lakshya 48:9fd15e3e0b53 391 //DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 392
Bragadeesh153 52:daa685b0e390 393
Bragadeesh153 52:daa685b0e390 394 DigitalOut DRV_XY_EN(PIN82,0); // DRV XY en
Bragadeesh153 52:daa685b0e390 395 //DigitalOut TRXY_SW(PIN71,0); //TR XY Switch
Bragadeesh153 52:daa685b0e390 396 DigitalOut DRV_Z_EN(PIN88,0); //Sleep pin of driver z //DISABLE by default
Bragadeesh153 52:daa685b0e390 397 //DigitalOut TRZ_SW(PIN40,0); //TR Z Switch
Bragadeesh153 52:daa685b0e390 398
lakshya 19:79e69017c855 399 DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET
Bragadeesh153 52:daa685b0e390 400
Bragadeesh153 52:daa685b0e390 401 DigitalOut CDMS_OC_ENA(PIN70,1);
sakthipriya 0:7b4c00e3912f 402
samp1234 99:2cc5c0c98cb3 403 DigitalOut BCN_SW(PIN64,1); // PIN changed to 64 (previous 65 ) //IN TEMPORARY SBC
samp1234 99:2cc5c0c98cb3 404 //DigitalOut BCN_SW(PIN14,1); //Beacon switch //IN QM SBC, TO BE CHANGED
lakshya 20:949d13045431 405
lakshya 20:949d13045431 406 //================================================================================
lakshya 20:949d13045431 407 //default flash array some filler bits added (detail in MMS file)
lakshya 63:55d32e7dcad7 408 //uint32_t ARR_INITIAL_VAL[8]={0x73532600,0x505A4141,0x1A1A1400,0x00000000,0x00000000,0x00000000,0xCBA20000,0x00000000};//to be done
Bragadeesh153 85:55a87500895a 409 uint32_t ARR_INITIAL_VAL[8]={0x7C532600,0x505A4141,0x1A1A1400,0x001E0028,0x00030004,0x00320005,0xCBA2010A,0x00000000};//to be done
lakshya 20:949d13045431 410
lakshya 20:949d13045431 411 void FLASH_INI()
lakshya 20:949d13045431 412 {
lakshya 49:61c9f28332ba 413 uint32_t read[8];
lakshya 20:949d13045431 414 for(int i=0;i<8;i++)
lakshya 20:949d13045431 415 {
lakshya 20:949d13045431 416 read[i] = FCTN_BAE_RD_FLASH_ENTITY(i);
lakshya 22:950dbe9fbeb8 417 //printf("\n\r val is read after starting %x ",read[i]);
lakshya 20:949d13045431 418 }
lakshya 20:949d13045431 419
lakshya 20:949d13045431 420 if(read[0] == -1)
lakshya 20:949d13045431 421 for(int j=0;j<8;j++)
lakshya 20:949d13045431 422 {
lakshya 20:949d13045431 423 FCTN_BAE_WR_FLASH(j,ARR_INITIAL_VAL[j]);
lakshya 39:670133e7ffd8 424 ACS_ATS_STATUS = ARR_INITIAL_VAL[0]>>24;
lakshya 39:670133e7ffd8 425 ACS_TR_XY_SW_STATUS = ((uint8_t)(ARR_INITIAL_VAL[0]>>22))&0x03;
lakshya 39:670133e7ffd8 426 ACS_TR_Z_SW_STATUS = (ARR_INITIAL_VAL[0]>>20)&0x03;
lakshya 39:670133e7ffd8 427 ACS_STATE = (ARR_INITIAL_VAL[0]>>16)&0x0F;
lakshya 49:61c9f28332ba 428 //pc.pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 39:670133e7ffd8 429 ACS_DETUMBLING_ALGO_TYPE = (ARR_INITIAL_VAL[0]>>15)&0x01;
azaddevarm 80:da657c390c27 430 BCN_TX_SW_STATUS = ((uint8_t)(ARR_INITIAL_VAL[0]>>14))&0x03; //Need to verify, initial value must be 1
lakshya 39:670133e7ffd8 431 BCN_SPND_TX = ((uint8_t)(ARR_INITIAL_VAL[0]>>12))&0x01;
lakshya 39:670133e7ffd8 432 BCN_FEN = ((uint8_t)(ARR_INITIAL_VAL[0]>>11))&0x01;
lakshya 39:670133e7ffd8 433 BCN_LONG_MSG_TYPE = ((uint8_t)(ARR_INITIAL_VAL[0]>>10))&0x01;
lakshya 39:670133e7ffd8 434 EPS_BTRY_HTR_AUTO = ((uint8_t)(ARR_INITIAL_VAL[0]>>9))&0x03;//EPS_BATTERY_HEATER_ENABLE
lakshya 39:670133e7ffd8 435 //now one spares in telemetry[5]
lakshya 39:670133e7ffd8 436
lakshya 39:670133e7ffd8 437 //updating the reset counter
lakshya 39:670133e7ffd8 438 BAE_RESET_COUNTER = ((uint8_t)(ARR_INITIAL_VAL[0]));
lakshya 39:670133e7ffd8 439 EPS_SOC_LEVEL_12 = (uint8_t)(ARR_INITIAL_VAL[1]>>24);
lakshya 39:670133e7ffd8 440 EPS_SOC_LEVEL_23 = (uint8_t)(ARR_INITIAL_VAL[1]>>16);
lakshya 39:670133e7ffd8 441 ACS_MAG_TIME_DELAY = (uint8_t)(ARR_INITIAL_VAL[1]>>8);
lakshya 39:670133e7ffd8 442 ACS_DEMAG_TIME_DELAY = (uint8_t)ARR_INITIAL_VAL[1];
lakshya 39:670133e7ffd8 443
lakshya 39:670133e7ffd8 444 EPS_BAT_TEMP_LOW = (uint8_t)(ARR_INITIAL_VAL[2]>>24);
lakshya 39:670133e7ffd8 445 EPS_BAT_TEMP_HIGH = (uint8_t)(ARR_INITIAL_VAL[2]>>16);
lakshya 39:670133e7ffd8 446 EPS_BAT_TEMP_DEFAULT = (uint8_t)(ARR_INITIAL_VAL[2]>>8);
lakshya 39:670133e7ffd8 447
lakshya 39:670133e7ffd8 448 ACS_MM_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[3]>>16);
lakshya 39:670133e7ffd8 449 ACS_MM_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[3];
lakshya 39:670133e7ffd8 450
lakshya 39:670133e7ffd8 451 ACS_MG_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[4]>>16);
lakshya 39:670133e7ffd8 452 ACS_MG_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[4];
lakshya 39:670133e7ffd8 453
lakshya 39:670133e7ffd8 454 ACS_MM_Z_COMSN = (uint16_t)(ARR_INITIAL_VAL[5]>>16);
lakshya 39:670133e7ffd8 455 ACS_MG_Z_COMSN = (uint16_t)ARR_INITIAL_VAL[5];
lakshya 39:670133e7ffd8 456
lakshya 39:670133e7ffd8 457 ACS_Z_FIXED_MOMENT = (uint16_t)(ARR_INITIAL_VAL[6]>>16);//assignvalues
lakshya 39:670133e7ffd8 458
lakshya 39:670133e7ffd8 459 }
lakshya 20:949d13045431 460 else
lakshya 20:949d13045431 461 {
lakshya 20:949d13045431 462 for(int j=0;j<8;j++)
lakshya 20:949d13045431 463 {
lakshya 20:949d13045431 464 read[j] = FCTN_BAE_RD_FLASH_ENTITY(j);
lakshya 20:949d13045431 465 }
lakshya 20:949d13045431 466 ACS_ATS_STATUS = read[0]>>24;
lakshya 20:949d13045431 467 ACS_TR_XY_SW_STATUS = ((uint8_t)(read[0]>>22))&0x03;
lakshya 20:949d13045431 468 ACS_TR_Z_SW_STATUS = (read[0]>>20)&0x03;
lakshya 27:61c856be467e 469 ACS_STATE = (read[0]>>16)&0x0F;
lakshya 39:670133e7ffd8 470 //pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 27:61c856be467e 471 ACS_DETUMBLING_ALGO_TYPE = (read[0]>>15)&0x01;
azaddevarm 80:da657c390c27 472 BCN_TX_SW_STATUS = ((uint8_t)(read[0]>>13))&0x03; //Need to verify, initial value must be 1
lakshya 27:61c856be467e 473 BCN_SPND_TX = ((uint8_t)(read[0]>>12))&0x01;
lakshya 27:61c856be467e 474 BCN_FEN = ((uint8_t)(read[0]>>11))&0x01;
lakshya 27:61c856be467e 475 BCN_LONG_MSG_TYPE = ((uint8_t)(read[0]>>10))&0x01;
lakshya 49:61c9f28332ba 476 EPS_BTRY_HTR_AUTO = ((uint8_t)(read[0]>>9))&0x01;//EPS_BATTERY_HEATER_ENABLE
lakshya 27:61c856be467e 477 //now one spares in telemetry[5]
lakshya 20:949d13045431 478
lakshya 20:949d13045431 479 //updating the reset counter
lakshya 20:949d13045431 480 BAE_RESET_COUNTER = ((uint8_t)(read[0]))+1;
lakshya 20:949d13045431 481 read[0]=(read[0]&0xffffff00) | (uint32_t)BAE_RESET_COUNTER;
lakshya 20:949d13045431 482 FCTN_BAE_WR_FLASH(0,read[0]);
lakshya 39:670133e7ffd8 483 pc.printf("\n\r reset counter %d",BAE_RESET_COUNTER);
lakshya 20:949d13045431 484
lakshya 20:949d13045431 485
lakshya 20:949d13045431 486 EPS_SOC_LEVEL_12 = (uint8_t)(read[1]>>24);
lakshya 20:949d13045431 487 EPS_SOC_LEVEL_23 = (uint8_t)(read[1]>>16);
lakshya 20:949d13045431 488 ACS_MAG_TIME_DELAY = (uint8_t)(read[1]>>8);
lakshya 20:949d13045431 489 ACS_DEMAG_TIME_DELAY = (uint8_t)read[1];
lakshya 20:949d13045431 490
lakshya 20:949d13045431 491 EPS_BAT_TEMP_LOW = (uint8_t)(read[2]>>24);
lakshya 20:949d13045431 492 EPS_BAT_TEMP_HIGH = (uint8_t)(read[2]>>16);
lakshya 20:949d13045431 493 EPS_BAT_TEMP_DEFAULT = (uint8_t)(read[2]>>8);
lakshya 20:949d13045431 494
lakshya 20:949d13045431 495 ACS_MM_X_COMSN = (uint16_t)(read[3]>>16);
lakshya 20:949d13045431 496 ACS_MM_Y_COMSN = (uint16_t)read[3];
lakshya 20:949d13045431 497
lakshya 20:949d13045431 498 ACS_MG_X_COMSN = (uint16_t)(read[4]>>16);
lakshya 20:949d13045431 499 ACS_MG_Y_COMSN = (uint16_t)read[4];
lakshya 20:949d13045431 500
lakshya 20:949d13045431 501 ACS_MM_Z_COMSN = (uint16_t)(read[5]>>16);
lakshya 20:949d13045431 502 ACS_MG_Z_COMSN = (uint16_t)read[5];
lakshya 20:949d13045431 503
lakshya 20:949d13045431 504 ACS_Z_FIXED_MOMENT = (uint16_t)(read[6]>>16);//assignvalues
lakshya 20:949d13045431 505
lakshya 20:949d13045431 506 }
lakshya 20:949d13045431 507
lakshya 20:949d13045431 508 }
lakshya 20:949d13045431 509 //================================================================================
lakshya 20:949d13045431 510
lakshya 20:949d13045431 511
lakshya 20:949d13045431 512
sakthipriya 0:7b4c00e3912f 513 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 0:7b4c00e3912f 514 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 515
lakshya 19:79e69017c855 516
sakthipriya 0:7b4c00e3912f 517 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 518 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 519 void FCTN_TM();
sakthipriya 3:07e15677a75c 520 void F_ACS();
sakthipriya 3:07e15677a75c 521 void F_EPS();
sakthipriya 3:07e15677a75c 522 void F_BCN();
sakthipriya 0:7b4c00e3912f 523
lakshya 20:949d13045431 524 //I2C
lakshya 20:949d13045431 525 uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working
lakshya 20:949d13045431 526 uint16_t crc16_check;
lakshya 20:949d13045431 527 void I2C_busreset()
lakshya 20:949d13045431 528 {
lakshya 20:949d13045431 529 PORTE->PCR[1] &= 0xfffffffb;
lakshya 20:949d13045431 530 PORTE->PCR[0] &= 0xfffffffb;
lakshya 20:949d13045431 531 I2C1->C1 &= 0x7f;
lakshya 20:949d13045431 532 SIM->SCGC4 &= 0xffffff7f;
lakshya 20:949d13045431 533 SIM->SCGC4 |= 0x00000080;
lakshya 20:949d13045431 534 I2C1->C1 |= 0x80;
lakshya 20:949d13045431 535 PORTE->PCR[1] |= 0x00000004;
lakshya 20:949d13045431 536 PORTE->PCR[0] |= 0x00000004;
lakshya 39:670133e7ffd8 537 wait_ms(1);
lakshya 20:949d13045431 538 }
lakshya 20:949d13045431 539
sakthipriya 0:7b4c00e3912f 540 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 541 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 542 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 543 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 544 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 545
lakshya 20:949d13045431 546 //FLOAT TO UINT_8 CONVERSION FUNCTION
lakshya 20:949d13045431 547 extern uint8_t float_to_uint8(float min,float max,float val);
lakshya 20:949d13045431 548
lakshya 49:61c9f28332ba 549 //#define print 0
lakshya 20:949d13045431 550
sakthipriya 3:07e15677a75c 551 void F_ACS()
sakthipriya 0:7b4c00e3912f 552 {
lakshya 20:949d13045431 553 ACS_MAIN_COUNTER++;
lakshya 20:949d13045431 554 //time_wdog = 1;
lakshya 20:949d13045431 555 pc.printf("Entered ACS.\n\r");
lakshya 20:949d13045431 556
lakshya 20:949d13045431 557 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
lakshya 49:61c9f28332ba 558 //FLAG();
sakthipriya 3:07e15677a75c 559
sakthipriya 0:7b4c00e3912f 560 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 561 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 562 PWM3 = 0; //clear pwm pins
lakshya 20:949d13045431 563
lakshya 20:949d13045431 564 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 565 ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ();
sakthipriya 0:7b4c00e3912f 566
lakshya 49:61c9f28332ba 567 //#if print
lakshya 49:61c9f28332ba 568 //printing the angular speed and magnetic field values
lakshya 20:949d13045431 569 pc.printf("gyro values\n\r");
lakshya 19:79e69017c855 570 for(int i=0; i<3; i++)
lakshya 20:949d13045431 571 {
lakshya 49:61c9f28332ba 572 pc.printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
lakshya 20:949d13045431 573 }
lakshya 20:949d13045431 574
lakshya 19:79e69017c855 575 pc.printf("mag values\n\r");
lakshya 19:79e69017c855 576 for(int i=0; i<3; i++)
lakshya 20:949d13045431 577 {
lakshya 20:949d13045431 578 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
lakshya 20:949d13045431 579 }
lakshya 49:61c9f28332ba 580 //#endif
lakshya 20:949d13045431 581
lakshya 20:949d13045431 582 for(int i=0;i<3;i++)
lakshya 19:79e69017c855 583 {
lakshya 20:949d13045431 584 mag_data[i] = actual_data.Bvalue_actual[i]/1000000;
lakshya 20:949d13045431 585 gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180;
lakshya 20:949d13045431 586 }
lakshya 49:61c9f28332ba 587
Bragadeesh153 65:d1b12729fcdc 588 float b_inclination = mag_data[2]/sqrt(mag_data[0]*mag_data[0]+mag_data[1]*mag_data[1]+mag_data[2]*mag_data[2]);
lakshya 49:61c9f28332ba 589
lakshya 49:61c9f28332ba 590 if(b_inclination <0)
lakshya 49:61c9f28332ba 591 {
lakshya 49:61c9f28332ba 592 b_inclination = (-1)*b_inclination;
lakshya 49:61c9f28332ba 593 }
Bragadeesh153 65:d1b12729fcdc 594 B_SCZ_ANGLE = (uint8_t)(b_inclination*16);
lakshya 49:61c9f28332ba 595 if( b_inclination >= 16)
lakshya 49:61c9f28332ba 596 {
lakshya 49:61c9f28332ba 597 B_SCZ_ANGLE = 0x0F;
lakshya 49:61c9f28332ba 598 }
lakshya 49:61c9f28332ba 599 if(b_inclination <=0)
lakshya 49:61c9f28332ba 600 {
lakshya 49:61c9f28332ba 601 B_SCZ_ANGLE = 0x00;
lakshya 49:61c9f28332ba 602 }
Bragadeesh153 55:6ea0d7e9fce2 603 //printf("POWER MODE is : %d\r\n",actual_data.power_mode);
lakshya 20:949d13045431 604
lakshya 20:949d13045431 605 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
lakshya 20:949d13045431 606 {
lakshya 20:949d13045431 607 #if print
lakshya 49:61c9f28332ba 608 pc.printf("\n\r acs control off\n");
lakshya 20:949d13045431 609 #endif
lakshya 20:949d13045431 610 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
lakshya 20:949d13045431 611 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 612 return;
lakshya 20:949d13045431 613 }
Bragadeesh153 55:6ea0d7e9fce2 614 else if((actual_data.power_mode<=2)||( (( ACS_STATE)&0x08) == 0x08))
lakshya 20:949d13045431 615 {
Bragadeesh153 52:daa685b0e390 616 //#if print
Bragadeesh153 87:051ec436e75f 617 pc.printf("\n\r \n\r");
Bragadeesh153 52:daa685b0e390 618 //#endif
lakshya 20:949d13045431 619 DRV_Z_EN = 0;
lakshya 20:949d13045431 620 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 621 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 622 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 623 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
lakshya 20:949d13045431 624 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 625 return;
lakshya 20:949d13045431 626
lakshya 20:949d13045431 627 }
lakshya 20:949d13045431 628 else if(ACS_TR_Z_SW_STATUS != 1)
lakshya 20:949d13045431 629 {
Bragadeesh153 52:daa685b0e390 630 pc.printf("\n\r Z disabled \n\r");
lakshya 20:949d13045431 631 DRV_Z_EN = 0;
lakshya 20:949d13045431 632 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 633 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 634 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 635 ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED
lakshya 20:949d13045431 636 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 637 return;
lakshya 20:949d13045431 638 }
lakshya 20:949d13045431 639 else if(ACS_TR_XY_SW_STATUS != 1)
Bragadeesh153 52:daa685b0e390 640 {
Bragadeesh153 52:daa685b0e390 641 pc.printf("\n\r Z only \n\r");
lakshya 20:949d13045431 642 DRV_Z_EN = 1;
lakshya 20:949d13045431 643 DRV_XY_EN = 0;
lakshya 63:55d32e7dcad7 644 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 645 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 646 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only
lakshya 20:949d13045431 647 moment[0] = 0;
lakshya 20:949d13045431 648 moment[1] = 0;
lakshya 20:949d13045431 649 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 650
lakshya 49:61c9f28332ba 651 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 652 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 653 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 654 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 20:949d13045431 655 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 656 return;
lakshya 19:79e69017c855 657 }
lakshya 20:949d13045431 658 else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1))
lakshya 20:949d13045431 659 {
Bragadeesh153 52:daa685b0e390 660
Bragadeesh153 52:daa685b0e390 661 pc.printf("\n\r Z only no data \n\r");
lakshya 20:949d13045431 662 DRV_Z_EN = 1;
lakshya 20:949d13045431 663 DRV_XY_EN = 0;
lakshya 63:55d32e7dcad7 664 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 665 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 666 ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only
lakshya 20:949d13045431 667
lakshya 20:949d13045431 668 moment[0] = 0;
lakshya 20:949d13045431 669 moment[1] = 0;
lakshya 20:949d13045431 670 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 671
lakshya 49:61c9f28332ba 672 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 673 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 674 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 675 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 676
lakshya 20:949d13045431 677 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 678 return;
lakshya 20:949d13045431 679 }
Bragadeesh153 52:daa685b0e390 680 else if((ACS_STATE == 1)||(ACS_STATE == 9))
lakshya 20:949d13045431 681 {
Bragadeesh153 52:daa685b0e390 682 pc.printf("\n\r Z only by state \n\r");
lakshya 20:949d13045431 683 DRV_Z_EN = 1;
lakshya 20:949d13045431 684 DRV_XY_EN = 0;
lakshya 63:55d32e7dcad7 685 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 686 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 687 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only
sakthipriya 0:7b4c00e3912f 688
lakshya 20:949d13045431 689 moment[0] = 0;
lakshya 20:949d13045431 690 moment[1] = 0;
lakshya 20:949d13045431 691 moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value
lakshya 20:949d13045431 692 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 693
lakshya 20:949d13045431 694 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 695 return;
lakshya 20:949d13045431 696 }
lakshya 20:949d13045431 697 else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available
lakshya 20:949d13045431 698 {
Bragadeesh153 52:daa685b0e390 699 pc.printf("\n\r MM only BDOT \n\r");
lakshya 20:949d13045431 700 DRV_Z_EN = 1;
lakshya 20:949d13045431 701 DRV_XY_EN = 1;
lakshya 63:55d32e7dcad7 702 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 703 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 704
lakshya 20:949d13045431 705 ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL
lakshya 20:949d13045431 706 ACS_DETUMBLING_ALGO_TYPE = 0x01;
lakshya 20:949d13045431 707 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 708 controlmode_mms=0x00;
lakshya 20:949d13045431 709 #if print
lakshya 49:61c9f28332ba 710 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 711 #endif
lakshya 20:949d13045431 712 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 713 {
lakshya 49:61c9f28332ba 714 pc.printf("%f\t",moment[i]);
lakshya 19:79e69017c855 715 }
lakshya 20:949d13045431 716 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 717 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 718 return;
lakshya 20:949d13045431 719 }
Bragadeesh153 52:daa685b0e390 720 else if((ACS_STATE == 2)||(ACS_STATE == 10)) // Nominal mode
lakshya 20:949d13045431 721 {
lakshya 20:949d13045431 722 #if print
lakshya 49:61c9f28332ba 723 pc.printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 724 #endif
lakshya 20:949d13045431 725 DRV_Z_EN = 1;
lakshya 63:55d32e7dcad7 726 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 727 ACS_TR_Z_ENABLE = 1;
lakshya 63:55d32e7dcad7 728 ACS_TR_XY_ENABLE = 1;
lakshya 49:61c9f28332ba 729
lakshya 49:61c9f28332ba 730 //timer_FCTN_ACS_CNTRLALGO.start();
lakshya 20:949d13045431 731 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 732 //timer_FCTN_ACS_CNTRLALGO.stop();
lakshya 49:61c9f28332ba 733 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 734
lakshya 27:61c856be467e 735 controlmode_mms = 0x01;
lakshya 20:949d13045431 736 #if print
lakshya 49:61c9f28332ba 737 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 738 #endif
lakshya 20:949d13045431 739 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 740 {
lakshya 49:61c9f28332ba 741 pc.printf("%f\t",moment[i]);
lakshya 20:949d13045431 742 }
lakshya 49:61c9f28332ba 743
lakshya 49:61c9f28332ba 744 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 745 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 746 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 747 //pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 748
lakshya 20:949d13045431 749 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 750 return;
lakshya 20:949d13045431 751 }
Bragadeesh153 52:daa685b0e390 752 else if((ACS_STATE == 3)||(ACS_STATE == 11)) // Auto Control
lakshya 20:949d13045431 753 {
lakshya 20:949d13045431 754 #if print
lakshya 49:61c9f28332ba 755 pc.printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 756 #endif
lakshya 20:949d13045431 757 DRV_Z_EN = 1;
lakshya 63:55d32e7dcad7 758 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 759 ACS_TR_Z_ENABLE = 1;
samp1234 100:af43bc82d3eb 760 ACS_TR_XY_ENABLE = 1;
lakshya 49:61c9f28332ba 761
lakshya 49:61c9f28332ba 762 timer_FCTN_ACS_CNTRLALGO.start();
lakshya 20:949d13045431 763 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 764 timer_FCTN_ACS_CNTRLALGO.stop();
lakshya 49:61c9f28332ba 765 //pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 766
lakshya 27:61c856be467e 767 controlmode_mms = 0x00;
lakshya 20:949d13045431 768 #if print
lakshya 49:61c9f28332ba 769 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 770 for(int i=0; i<3; i++)
lakshya 19:79e69017c855 771 {
lakshya 49:61c9f28332ba 772 pc.printf("%f\t",moment[i]);
lakshya 20:949d13045431 773 }
lakshya 20:949d13045431 774 #endif
Bragadeesh153 52:daa685b0e390 775 pc.printf("\r\n");
lakshya 49:61c9f28332ba 776 timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 777 FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function
lakshya 49:61c9f28332ba 778 timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 779 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 780
lakshya 20:949d13045431 781 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 782 return;
lakshya 20:949d13045431 783 }
Bragadeesh153 52:daa685b0e390 784 else if((ACS_STATE == 4)||(ACS_STATE == 12)) // Detumbling
lakshya 20:949d13045431 785 {
Bragadeesh153 52:daa685b0e390 786 pc.printf("\n\r Detumbling \n\r");
lakshya 20:949d13045431 787 DRV_Z_EN = 1;
lakshya 63:55d32e7dcad7 788 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 789 ACS_TR_Z_ENABLE = 1;
lakshya 63:55d32e7dcad7 790 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 791 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 792 controlmode_mms = 0x00;
lakshya 20:949d13045431 793 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 794 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 795 return;
lakshya 20:949d13045431 796 }
lakshya 20:949d13045431 797 ACS_STATUS = 7; //INVALID_STATE
lakshya 20:949d13045431 798 DRV_Z_EN = 0;
Bragadeesh153 61:9348606edee2 799 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 800 ACS_TR_XY_ENABLE = 0;
lakshya 63:55d32e7dcad7 801 DRV_XY_EN = 0;
lakshya 20:949d13045431 802 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
lakshya 20:949d13045431 803 }
lakshya 19:79e69017c855 804
lakshya 19:79e69017c855 805
sakthipriya 0:7b4c00e3912f 806 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 807
lakshya 33:76f2b8735501 808
sakthipriya 3:07e15677a75c 809 void F_EPS()
lakshya 20:949d13045431 810 {
lakshya 33:76f2b8735501 811 float eps_btry_temp;
lakshya 33:76f2b8735501 812 pc.printf("\n\rEntered EPS %f\n\r",t_start.read());
lakshya 33:76f2b8735501 813 EPS_MAIN_STATUS = 1; // Set EPS main status
lakshya 33:76f2b8735501 814 EPS_MAIN_COUNTER++;
lakshya 49:61c9f28332ba 815
lakshya 49:61c9f28332ba 816 timer_FCTN_BATT_TEMP_SENSOR_MAIN.reset();
lakshya 49:61c9f28332ba 817 timer_FCTN_BATT_TEMP_SENSOR_MAIN.start();
lakshya 33:76f2b8735501 818 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
lakshya 49:61c9f28332ba 819 timer_FCTN_BATT_TEMP_SENSOR_MAIN.stop();
samp1234 101:cf1976e16f28 820
lakshya 33:76f2b8735501 821 pc.printf("Battery temperature %f %f\n\r" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
lakshya 33:76f2b8735501 822 EPS_BTRY_TMP_AVG = ( actual_data.Batt_temp_actual[0] + actual_data.Batt_temp_actual[1] )/2.0;
samp1234 101:cf1976e16f28 823
lakshya 33:76f2b8735501 824 if(abs(actual_data.Batt_temp_actual[0] - actual_data.Batt_temp_actual[1]) > 10)
lakshya 33:76f2b8735501 825 {
lakshya 33:76f2b8735501 826 EPS_BTRY_TMP_STATUS = 0; //clear EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 827 eps_btry_temp = (float) EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 828 }
lakshya 33:76f2b8735501 829 else
lakshya 33:76f2b8735501 830 {
lakshya 33:76f2b8735501 831 EPS_BTRY_TMP_STATUS = 1; //set EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 832 eps_btry_temp = EPS_BTRY_TMP_AVG;
lakshya 33:76f2b8735501 833 }
lakshya 33:76f2b8735501 834
lakshya 33:76f2b8735501 835 if(EPS_BTRY_HTR_AUTO == 0)
lakshya 33:76f2b8735501 836 EPS_STATUS = 1; //EPS_BATTERY_HEATER_DISABLED
lakshya 33:76f2b8735501 837 else if( EPS_BTRY_TMP_STATUS == 0 )
lakshya 33:76f2b8735501 838 {
lakshya 33:76f2b8735501 839 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 840 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 841 EPS_STATUS = 0; //Set EPS_ERR_BATTERY_TEMP
lakshya 33:76f2b8735501 842 }
lakshya 33:76f2b8735501 843 else
lakshya 33:76f2b8735501 844 {
lakshya 33:76f2b8735501 845 if( EPS_BTRY_HTR == 1 && eps_btry_temp >= EPS_BAT_TEMP_HIGH )
lakshya 33:76f2b8735501 846 {
lakshya 33:76f2b8735501 847 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 848 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 849 EPS_STATUS = 4; //Set EPS_BATTERY_HEATER_OFF
lakshya 33:76f2b8735501 850 }
lakshya 33:76f2b8735501 851 else if( EPS_BTRY_HTR == 0 && eps_btry_temp < EPS_BAT_TEMP_LOW )
lakshya 33:76f2b8735501 852 {
lakshya 33:76f2b8735501 853 BTRY_HTR_ENABLE = 1;
lakshya 33:76f2b8735501 854 EPS_BTRY_HTR = 1;
lakshya 33:76f2b8735501 855 EPS_STATUS = 5; //Set EPS_BATTERY_HEATER_ON
lakshya 33:76f2b8735501 856 }
lakshya 33:76f2b8735501 857 }
lakshya 33:76f2b8735501 858
lakshya 33:76f2b8735501 859 unsigned short statusreg = read(REG_STATUS);
lakshya 33:76f2b8735501 860 if( EPS_BATTERY_GAUGE_STATUS == 0 ) reset();
lakshya 33:76f2b8735501 861 if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set
lakshya 19:79e69017c855 862 {
lakshya 49:61c9f28332ba 863 pc.printf("REG_STATUS = %d\r\n",read(REG_STATUS));
lakshya 33:76f2b8735501 864 FCTN_BATTERYGAUGE_INIT();
lakshya 49:61c9f28332ba 865 }
lakshya 49:61c9f28332ba 866 timer_FCTN_BATTERYGAUGE_MAIN.reset();
lakshya 49:61c9f28332ba 867 timer_FCTN_BATTERYGAUGE_MAIN.start();
lakshya 33:76f2b8735501 868 int BTG_MAIN_FLAG = FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual, eps_btry_temp);
azaddevarm 96:6603fedb6b69 869 pc.printf("\n\rvalue returned by function %d\n\r",(int)actual_data.Batt_gauge_actual[1]); ////23jan see if this works.!! only problem can be data type conversion.!!
azaddevarm 96:6603fedb6b69 870
lakshya 49:61c9f28332ba 871 timer_FCTN_BATTERYGAUGE_MAIN.stop();
lakshya 49:61c9f28332ba 872
Bragadeesh153 87:051ec436e75f 873 if( BTG_MAIN_FLAG == 1 ) //Data not received
lakshya 33:76f2b8735501 874 {
azaddevarm 75:d05b0005ca50 875 actual_data.power_mode = 0;
lakshya 33:76f2b8735501 876 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 877 }
lakshya 33:76f2b8735501 878 else
lakshya 33:76f2b8735501 879 {
lakshya 33:76f2b8735501 880 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
lakshya 33:76f2b8735501 881 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 882 }
azaddevarm 94:17172893d231 883
azaddevarm 94:17172893d231 884 pc.printf("\n\rPower Level: %d\n\r", actual_data.power_mode);
lakshya 49:61c9f28332ba 885
lakshya 49:61c9f28332ba 886 timer_FCTN_HK_MAIN.reset();
lakshya 49:61c9f28332ba 887 timer_FCTN_HK_MAIN.start();
lakshya 33:76f2b8735501 888 FCTN_HK_MAIN();
lakshya 49:61c9f28332ba 889 timer_FCTN_HK_MAIN.stop();
lakshya 49:61c9f28332ba 890 // pc.printf("ere");
lakshya 49:61c9f28332ba 891
lakshya 49:61c9f28332ba 892 timer_FCTN_EPS_HANDLE_HW_FAULTS.reset();
lakshya 49:61c9f28332ba 893 timer_FCTN_EPS_HANDLE_HW_FAULTS.start();
lakshya 33:76f2b8735501 894 FCTN_EPS_HANDLE_HW_FAULTS();
lakshya 49:61c9f28332ba 895 timer_FCTN_EPS_HANDLE_HW_FAULTS.stop();
lakshya 49:61c9f28332ba 896
lakshya 49:61c9f28332ba 897 timer_FCTN_EPS_HANDLE_CDMS_FAULT.reset();
lakshya 49:61c9f28332ba 898 timer_FCTN_EPS_HANDLE_CDMS_FAULT.start();
lakshya 33:76f2b8735501 899 FCTN_EPS_HANDLE_CDMS_FAULT();
lakshya 49:61c9f28332ba 900 timer_FCTN_EPS_HANDLE_CDMS_FAULT.stop();
lakshya 49:61c9f28332ba 901
lakshya 49:61c9f28332ba 902 timer_FCTN_APPEND_HKDATA.reset();
lakshya 49:61c9f28332ba 903 timer_FCTN_APPEND_HKDATA.start();
lakshya 33:76f2b8735501 904 FCTN_APPEND_HKDATA();
lakshya 49:61c9f28332ba 905 timer_FCTN_APPEND_HKDATA.stop();
lakshya 49:61c9f28332ba 906
lakshya 49:61c9f28332ba 907 timer_minMaxHkData.reset();
lakshya 49:61c9f28332ba 908 timer_minMaxHkData.start();
lakshya 33:76f2b8735501 909 minMaxHkData();
lakshya 49:61c9f28332ba 910 timer_minMaxHkData.stop();
lakshya 49:61c9f28332ba 911
lakshya 49:61c9f28332ba 912 //pc.printf("ere");
lakshya 33:76f2b8735501 913 EPS_MAIN_STATUS = 0; // clear EPS main status
lakshya 33:76f2b8735501 914
sakthipriya 0:7b4c00e3912f 915 }
lakshya 33:76f2b8735501 916
lakshya 20:949d13045431 917
sakthipriya 0:7b4c00e3912f 918 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 919
sakthipriya 3:07e15677a75c 920 void F_BCN()
sakthipriya 0:7b4c00e3912f 921 {
lakshya 20:949d13045431 922 pc.printf("\n\rEntered BCN %f\n",t_start.read());
lakshya 20:949d13045431 923 //BCN_TX_MAIN_COUNTER=+1;
lakshya 49:61c9f28332ba 924
lakshya 49:61c9f28332ba 925 timer_FCTN_BCN_TX_MAIN.reset();
lakshya 49:61c9f28332ba 926 timer_FCTN_BCN_TX_MAIN.start();
azaddevarm 92:0d6e6ff9b7c9 927 SHORT_HK_data_AQ();
azaddevarm 92:0d6e6ff9b7c9 928 pc.printf("\n\rBCN_LONG_MSG_TYPE = %d",BCN_LONG_MSG_TYPE);
lakshya 20:949d13045431 929 FCTN_BCN_TX_MAIN();
lakshya 49:61c9f28332ba 930 timer_FCTN_BCN_TX_MAIN.stop();
sakthipriya 0:7b4c00e3912f 931 }
sakthipriya 0:7b4c00e3912f 932
sakthipriya 0:7b4c00e3912f 933 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 934
lakshya 39:670133e7ffd8 935 //===================================================================
sakthipriya 0:7b4c00e3912f 936 void T_TC(void const * args)
lakshya 19:79e69017c855 937 {
lakshya 20:949d13045431 938 while(1)
lakshya 39:670133e7ffd8 939 {
lakshya 39:670133e7ffd8 940 Thread::signal_wait(0x4);
samp1234 101:cf1976e16f28 941 wait_us(300); // restore it
samp1234 101:cf1976e16f28 942
lakshya 98:321edb143f26 943 //__disable_irq();
lakshya 49:61c9f28332ba 944
lakshya 39:670133e7ffd8 945 BAE_MNG_I2C_STATUS =1 ;
lakshya 57:60e8f00d93c3 946 //I2C_last.reset();
lakshya 57:60e8f00d93c3 947 //I2C_last.start();
lakshya 49:61c9f28332ba 948 // pc.printf("\n\r intrpet");
lakshya 39:670133e7ffd8 949 if( slave.receive() == 0)
lakshya 39:670133e7ffd8 950 {
lakshya 97:36a91c432cb1 951 //pc.printf("\n\r case 0");
lakshya 39:670133e7ffd8 952 pdir_ss1=PTE->PDIR; /////////edited
lakshya 39:670133e7ffd8 953 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 954 data_send_flag = 'h';
lakshya 39:670133e7ffd8 955 slave.stop();
lakshya 39:670133e7ffd8 956 if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed
lakshya 39:670133e7ffd8 957 {
lakshya 39:670133e7ffd8 958 I2C_busreset(); /////////edited
lakshya 39:670133e7ffd8 959 }
lakshya 39:670133e7ffd8 960 pdir_ss2=PTE->PDIR;
lakshya 39:670133e7ffd8 961 pc.printf("\n\rSlave not addressed");
lakshya 97:36a91c432cb1 962 pc.printf("\n\rPTE->DIR1 = 0x%08X",pdir_ss1);
lakshya 39:670133e7ffd8 963 #if PRINT2
lakshya 97:36a91c432cb1 964 pc.printf("\n\rPTE->DIR2 = 0x%08X",pdir_ss2);
lakshya 39:670133e7ffd8 965 #endif
lakshya 39:670133e7ffd8 966 }
lakshya 39:670133e7ffd8 967 else if( slave.receive() == 1) // slave writes to master
lakshya 39:670133e7ffd8 968 {
lakshya 39:670133e7ffd8 969 BAE_I2C_COUNTER++; //////////edited
lakshya 67:c0dd13285d80 970 // pc.printf("\n\r writing....");// changed
lakshya 39:670133e7ffd8 971 if(data_send_flag == 'h') //to be renamed as BAE_I2C_STATUS
lakshya 39:670133e7ffd8 972 {
lakshya 49:61c9f28332ba 973 irpt_2_mstr =1;
lakshya 49:61c9f28332ba 974 //pc.printf("\n\r hk "); //wait till cdms code is changed
lakshya 97:36a91c432cb1 975 //FCTN_APPEND_HKDATA();
lakshya 39:670133e7ffd8 976 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 977 //crc is already being added
lakshya 97:36a91c432cb1 978 // write_ack=slave.write((char*)BAE_chardata,134);
lakshya 97:36a91c432cb1 979 write_ack=slave.write((char*)LONG_HK_data[1],134);
lakshya 39:670133e7ffd8 980 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 981 pdir_tm1=PTE->PDIR;
lakshya 97:36a91c432cb1 982 irpt_2_mstr = 0;
lakshya 97:36a91c432cb1 983 // pc.printf("\n\r case 0.1");
lakshya 39:670133e7ffd8 984 if(write_ack==0)// wait till cdms code is changed
lakshya 20:949d13045431 985 {
lakshya 49:61c9f28332ba 986 /*checking the tc timings*/
lakshya 49:61c9f28332ba 987 // time_wdog = 1;
lakshya 49:61c9f28332ba 988
lakshya 39:670133e7ffd8 989 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 990 {
lakshya 39:670133e7ffd8 991 wait_ms(1);
lakshya 39:670133e7ffd8 992 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 993 i2c_count++;
lakshya 39:670133e7ffd8 994 }
lakshya 39:670133e7ffd8 995 if(((pdir_tm1 & 0x00000003)==3))
lakshya 20:949d13045431 996 {
lakshya 39:670133e7ffd8 997 pc.printf("\n\rWrite HK success");
lakshya 49:61c9f28332ba 998 // data_send_flag = 'h';
lakshya 57:60e8f00d93c3 999 irpt_2_mstr = 0;
lakshya 57:60e8f00d93c3 1000 I2C_last.reset();
lakshya 57:60e8f00d93c3 1001 I2C_last.start(); //////////edited
lakshya 19:79e69017c855 1002 }
lakshya 39:670133e7ffd8 1003 else
lakshya 39:670133e7ffd8 1004 {
lakshya 39:670133e7ffd8 1005 #if baby
lakshya 39:670133e7ffd8 1006 pc.printf("\n\rWrite HK failed");
lakshya 97:36a91c432cb1 1007 /// pc.printf("\n\rPTE->PDIR1 = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1008 #endif
lakshya 39:670133e7ffd8 1009 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 1010 I2C_busreset();
lakshya 39:670133e7ffd8 1011 #if baby2
lakshya 39:670133e7ffd8 1012 pdir_tm2 = PTE->PDIR;
lakshya 97:36a91c432cb1 1013 pc.printf("\n\rPTE->PDIR2 = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1014 #endif
lakshya 39:670133e7ffd8 1015 }
lakshya 39:670133e7ffd8 1016 }
lakshya 39:670133e7ffd8 1017 else
lakshya 39:670133e7ffd8 1018 {
lakshya 39:670133e7ffd8 1019 #if baby1
lakshya 39:670133e7ffd8 1020 pc.printf("\n\rWrite Ack failed(HK)");
lakshya 97:36a91c432cb1 1021 pc.printf("\n\rPTE->PDIR3 = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1022 #endif
lakshya 39:670133e7ffd8 1023 I2C_busreset();
lakshya 39:670133e7ffd8 1024 #if baby2
lakshya 39:670133e7ffd8 1025 pdir_tm2 = PTE->PDIR;
lakshya 97:36a91c432cb1 1026 pc.printf("\n\rPTE->PDIR4 = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 1027 #endif
lakshya 20:949d13045431 1028 }
lakshya 39:670133e7ffd8 1029 i2c_count=0;
lakshya 39:670133e7ffd8 1030 }
lakshya 49:61c9f28332ba 1031 else if (data_send_flag == 't') //else if(telecommand[1]&0xC0 == 't')
lakshya 39:670133e7ffd8 1032 {
lakshya 39:670133e7ffd8 1033 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 1034 write_ack=slave.write((char*)telemetry,134); ////////edited(size)
lakshya 39:670133e7ffd8 1035 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 1036 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 1037 irpt_2_mstr = 0;
lakshya 49:61c9f28332ba 1038 data_send_flag = 'h';
lakshya 49:61c9f28332ba 1039 // pc.printf("\n\r h set here");
lakshya 39:670133e7ffd8 1040 if(write_ack==0)
lakshya 39:670133e7ffd8 1041 {
lakshya 39:670133e7ffd8 1042 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 1043 {
lakshya 39:670133e7ffd8 1044 wait_ms(1);
lakshya 39:670133e7ffd8 1045 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 1046 i2c_count++;
lakshya 39:670133e7ffd8 1047 }
lakshya 39:670133e7ffd8 1048 if(((pdir_tm1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 1049 {
lakshya 39:670133e7ffd8 1050 pc.printf("\n\rWrite TM success");
lakshya 57:60e8f00d93c3 1051 I2C_last.reset();
lakshya 57:60e8f00d93c3 1052 I2C_last.start();
samp1234 99:2cc5c0c98cb3 1053 // wait_ms(5);
samp1234 99:2cc5c0c98cb3 1054 /* Read_I_D_IN_COMTX();
samp1234 99:2cc5c0c98cb3 1055 wait_ms(2);
samp1234 99:2cc5c0c98cb3 1056 Read_I_D_IN_COMTX();
samp1234 99:2cc5c0c98cb3 1057 wait_ms(2);
samp1234 99:2cc5c0c98cb3 1058 Read_V_D_IN_COMTX();
samp1234 99:2cc5c0c98cb3 1059 wait_ms(2);
samp1234 99:2cc5c0c98cb3 1060 Read_V_D_IN_COMTX();
samp1234 99:2cc5c0c98cb3 1061 */
lakshya 39:670133e7ffd8 1062 }
lakshya 39:670133e7ffd8 1063 else
lakshya 39:670133e7ffd8 1064 {
lakshya 39:670133e7ffd8 1065 #if baby
lakshya 39:670133e7ffd8 1066 pc.printf("\n\rWrite TM failed");
lakshya 97:36a91c432cb1 1067 pc.printf("\n\rPTE->PDIR5 = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1068 #endif
lakshya 39:670133e7ffd8 1069 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 1070 I2C_busreset();
lakshya 39:670133e7ffd8 1071 #if baby2
lakshya 39:670133e7ffd8 1072 pdir_tm2 = PTE->PDIR;
lakshya 97:36a91c432cb1 1073 pc.printf("\n\rPTE->PDIR6 = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1074 #endif
lakshya 39:670133e7ffd8 1075 }
lakshya 39:670133e7ffd8 1076 }
lakshya 39:670133e7ffd8 1077 else
lakshya 20:949d13045431 1078 {
lakshya 39:670133e7ffd8 1079 #if baby
lakshya 39:670133e7ffd8 1080 pc.printf("\n\rWrite Ack failed");
lakshya 97:36a91c432cb1 1081 pc.printf("\n\rPTE->PDIR7 = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1082 #endif
lakshya 39:670133e7ffd8 1083 I2C_busreset();
lakshya 39:670133e7ffd8 1084 #if baby2
lakshya 39:670133e7ffd8 1085 pdir_tm2 = PTE->PDIR;
lakshya 97:36a91c432cb1 1086 pc.printf("\n\rPTE->PDIR8 = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1087 #endif
lakshya 20:949d13045431 1088 }
lakshya 39:670133e7ffd8 1089 i2c_count=0;
lakshya 49:61c9f28332ba 1090 }
lakshya 49:61c9f28332ba 1091 // else
lakshya 49:61c9f28332ba 1092 // pc.printf("\n\r hey something wrong");
lakshya 39:670133e7ffd8 1093 }
lakshya 39:670133e7ffd8 1094 else if( slave.receive()==3 || slave.receive()==2) // slave read
lakshya 39:670133e7ffd8 1095 {
samp1234 99:2cc5c0c98cb3 1096 // pc.printf("\n\r the value %d \n\r",telecommand[0]);
lakshya 39:670133e7ffd8 1097 BAE_I2C_COUNTER++;
lakshya 49:61c9f28332ba 1098
lakshya 49:61c9f28332ba 1099 /*checking the tc timings*/
lakshya 49:61c9f28332ba 1100 time_wdog = 1;
lakshya 49:61c9f28332ba 1101
samp1234 99:2cc5c0c98cb3 1102 uint8_t i2c_count = 0;
samp1234 99:2cc5c0c98cb3 1103 wait_ms(1);
lakshya 39:670133e7ffd8 1104 read_ack=slave.read((char *)telecommand,135); //read() function returns acknowledgement
lakshya 97:36a91c432cb1 1105
lakshya 97:36a91c432cb1 1106
samp1234 99:2cc5c0c98cb3 1107 // pc.printf("\n\r the value %d \n\r",telecommand[0]);
lakshya 97:36a91c432cb1 1108
lakshya 97:36a91c432cb1 1109
samp1234 99:2cc5c0c98cb3 1110 //wait_ms(1);
lakshya 39:670133e7ffd8 1111 pdir_tc1=PTE->PDIR;
samp1234 99:2cc5c0c98cb3 1112
samp1234 99:2cc5c0c98cb3 1113 pc.printf("\n\r pdir_tc1 0x%08X \n\r",pdir_tc1);
samp1234 99:2cc5c0c98cb3 1114
lakshya 39:670133e7ffd8 1115 if(read_ack==0) //read() says it was successful
lakshya 39:670133e7ffd8 1116 {
lakshya 39:670133e7ffd8 1117 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 1118 {
lakshya 39:670133e7ffd8 1119 wait_ms(1);
lakshya 39:670133e7ffd8 1120 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 1121 i2c_count++;
lakshya 39:670133e7ffd8 1122 }
lakshya 39:670133e7ffd8 1123 if(((pdir_tc1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 1124 {
lakshya 49:61c9f28332ba 1125 //pc.printf("\n\n\rRead TC success");
lakshya 39:670133e7ffd8 1126 if(telecommand[0] == 0x00) /////////////edited
lakshya 49:61c9f28332ba 1127 {
lakshya 49:61c9f28332ba 1128 FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited
lakshya 49:61c9f28332ba 1129 data_send_flag = 'h';
lakshya 57:60e8f00d93c3 1130 pc.printf("\n\n\rRead LBCN QM is comming");
lakshya 57:60e8f00d93c3 1131 I2C_last.reset();
lakshya 57:60e8f00d93c3 1132 I2C_last.start();
lakshya 49:61c9f28332ba 1133 }
lakshya 39:670133e7ffd8 1134 else
lakshya 39:670133e7ffd8 1135 {
lakshya 49:61c9f28332ba 1136 pc.printf("\n\r Read TC SUCESS");
lakshya 39:670133e7ffd8 1137 FCTN_BAE_TM_TC((uint8_t*) telecommand);
lakshya 39:670133e7ffd8 1138 data_send_flag = 't';
lakshya 39:670133e7ffd8 1139 irpt_2_mstr = 1;
lakshya 57:60e8f00d93c3 1140 I2C_last.reset();
lakshya 57:60e8f00d93c3 1141 I2C_last.start();
lakshya 49:61c9f28332ba 1142
lakshya 39:670133e7ffd8 1143 }
lakshya 39:670133e7ffd8 1144 }
lakshya 39:670133e7ffd8 1145 else //either or both of SDA and SCL lines low
lakshya 20:949d13045431 1146 {
lakshya 39:670133e7ffd8 1147 #if baby
lakshya 39:670133e7ffd8 1148 pc.printf("\n\rRead TC failed");
lakshya 97:36a91c432cb1 1149 pc.printf("\n\rPTE->PDIR9 = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1150 #endif
lakshya 39:670133e7ffd8 1151 I2C_busreset();
lakshya 39:670133e7ffd8 1152 #if baby2
lakshya 39:670133e7ffd8 1153 pdir_tm2 = PTE->PDIR;
lakshya 97:36a91c432cb1 1154 pc.printf("\n\rPTE->PDIR10 = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 1155 #endif
lakshya 39:670133e7ffd8 1156 gen_I_TM();
lakshya 39:670133e7ffd8 1157 data_send_flag = 't';
lakshya 39:670133e7ffd8 1158 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 1159 }
lakshya 39:670133e7ffd8 1160 }
lakshya 39:670133e7ffd8 1161 else //read() says it was not successful
lakshya 39:670133e7ffd8 1162 {
lakshya 39:670133e7ffd8 1163 #if baby
lakshya 39:670133e7ffd8 1164 pc.printf("\n\rRead Ack failed");
lakshya 97:36a91c432cb1 1165 pc.printf("\n\rPTE->PDIR11 = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1166 #endif
samp1234 99:2cc5c0c98cb3 1167 wait_ms(1);
lakshya 39:670133e7ffd8 1168 I2C_busreset();
samp1234 99:2cc5c0c98cb3 1169 wait_ms(1);
lakshya 39:670133e7ffd8 1170 #if baby2
lakshya 39:670133e7ffd8 1171 pdir_tm2 = PTE->PDIR;
lakshya 97:36a91c432cb1 1172 pc.printf("\n\rPTE->PDIR12 = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1173 #endif
lakshya 39:670133e7ffd8 1174 //pc.printf("\n\r no data case");
lakshya 39:670133e7ffd8 1175 gen_I_TM();
lakshya 39:670133e7ffd8 1176 data_send_flag = 't';
lakshya 39:670133e7ffd8 1177 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 1178 }
lakshya 39:670133e7ffd8 1179 i2c_count = 0;
lakshya 39:670133e7ffd8 1180 }
lakshya 39:670133e7ffd8 1181 BAE_MNG_I2C_STATUS=0;
lakshya 98:321edb143f26 1182 //__enable_irq();
lakshya 39:670133e7ffd8 1183 }
sakthipriya 0:7b4c00e3912f 1184 }
lakshya 39:670133e7ffd8 1185
sakthipriya 0:7b4c00e3912f 1186 void FCTN_TM()
lakshya 20:949d13045431 1187 {
sakthipriya 5:bb592f3185cc 1188 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 1189 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 1190 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 1191 }
sakthipriya 0:7b4c00e3912f 1192
sakthipriya 0:7b4c00e3912f 1193
sakthipriya 0:7b4c00e3912f 1194 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 1195
sakthipriya 0:7b4c00e3912f 1196 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 1197 {
lakshya 20:949d13045431 1198 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 1199 }
sakthipriya 0:7b4c00e3912f 1200
sakthipriya 0:7b4c00e3912f 1201
sakthipriya 5:bb592f3185cc 1202 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 1203
sakthipriya 5:bb592f3185cc 1204 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 1205
sakthipriya 5:bb592f3185cc 1206 void pollfault()
sakthipriya 5:bb592f3185cc 1207 {
Bragadeesh153 52:daa685b0e390 1208 //if (ACS_ATS1_OC_FAULT==0) // OC_ATS1
Bragadeesh153 52:daa685b0e390 1209 if(0)
lakshya 20:949d13045431 1210 {
lakshya 20:949d13045431 1211 pf1check=1;
lakshya 20:949d13045431 1212 actual_data.faultPoll_status |=0x01 ;
lakshya 20:949d13045431 1213 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
lakshya 20:949d13045431 1214 }
lakshya 20:949d13045431 1215 else
lakshya 20:949d13045431 1216 actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 1217
Bragadeesh153 52:daa685b0e390 1218 //if(ACS_ATS2_OC_FAULT==0)
Bragadeesh153 52:daa685b0e390 1219 if(0)
lakshya 20:949d13045431 1220 {
lakshya 20:949d13045431 1221 pf2check=1;
lakshya 20:949d13045431 1222 actual_data.faultPoll_status |=0x02 ;
lakshya 20:949d13045431 1223 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
lakshya 20:949d13045431 1224 }
lakshya 20:949d13045431 1225 else
lakshya 20:949d13045431 1226 actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 1227
lakshya 48:9fd15e3e0b53 1228 if (ACS_TR_XY_FAULT==0)
lakshya 20:949d13045431 1229 {
lakshya 20:949d13045431 1230 actual_data.faultPoll_status |=0x04 ;
lakshya 20:949d13045431 1231 DRV_XY_EN = 0;
lakshya 20:949d13045431 1232 wait_us(1);
lakshya 20:949d13045431 1233 DRV_XY_EN = 1;
lakshya 20:949d13045431 1234 }
lakshya 20:949d13045431 1235 else
lakshya 20:949d13045431 1236 actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 1237 }
sakthipriya 5:bb592f3185cc 1238
sakthipriya 0:7b4c00e3912f 1239 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 1240 //SCHEDULER
sakthipriya 0:7b4c00e3912f 1241 //------------------------------------------------------------------------------------------------------------------------------------------------
lakshya 20:949d13045431 1242
sakthipriya 0:7b4c00e3912f 1243 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 1244 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 1245 {
lakshya 20:949d13045431 1246 #if print
lakshya 49:61c9f28332ba 1247 pc.printf("\n\r in scheduler");
lakshya 20:949d13045431 1248 #endif
lakshya 19:79e69017c855 1249 /*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 1250 if(schedcount == 13) //to reset the counter
sakthipriya 0:7b4c00e3912f 1251 schedcount = 1;
sakthipriya 0:7b4c00e3912f 1252 if(schedcount%1==0)
lakshya 20:949d13045431 1253 {
lakshya 66:a5d2b8dc6b9e 1254 if( BAE_STANDBY==0x02 || BAE_STANDBY==0x03 || BAE_STANDBY==0x06 || BAE_STANDBY==0x07)
lakshya 20:949d13045431 1255 {
lakshya 66:a5d2b8dc6b9e 1256 pc.printf("\n reahed here working till stage one acs");
lakshya 20:949d13045431 1257 pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
lakshya 49:61c9f28332ba 1258 timer_F_ACS.reset();
lakshya 49:61c9f28332ba 1259 timer_F_ACS.start();
Bragadeesh153 52:daa685b0e390 1260 F_ACS();
lakshya 97:36a91c432cb1 1261 FCTN_APPEND_HKDATA();
lakshya 49:61c9f28332ba 1262 timer_F_ACS.stop();
lakshya 49:61c9f28332ba 1263 /*pc.printf("\n\r timer_F_ACS is %f",timer_F_ACS.read());
lakshya 49:61c9f28332ba 1264 pc.printf("\n\r timer_SENSOR_INIT is %f",timer_SENSOR_INIT.read());
lakshya 49:61c9f28332ba 1265 pc.printf("\n\r timer_CONFIG_UPLOAD is %f",timer_CONFIG_UPLOAD.read());
lakshya 49:61c9f28332ba 1266 pc.printf("\n\r timer_SENSOR_DATA_ACQ is %f",timer_SENSOR_DATA_ACQ.read());
lakshya 49:61c9f28332ba 1267 pc.printf("\n\r timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 1268 pc.printf("\n\r timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 1269 pc.printf("\n\r timer_controlmodes is %f",timer_controlmodes.read());
lakshya 49:61c9f28332ba 1270 */
lakshya 20:949d13045431 1271 //time_wdog = 0;
lakshya 20:949d13045431 1272 }
sakthipriya 0:7b4c00e3912f 1273
lakshya 20:949d13045431 1274 }
lakshya 33:76f2b8735501 1275 if(schedcount%4==0)
lakshya 20:949d13045431 1276 {
lakshya 66:a5d2b8dc6b9e 1277 if( BAE_STANDBY==0x01 || BAE_STANDBY==0x03 || BAE_STANDBY==0x05 || BAE_STANDBY==0x07)
lakshya 20:949d13045431 1278 {
lakshya 66:a5d2b8dc6b9e 1279 pc.printf("\n reahed here working till stage one eps");
lakshya 20:949d13045431 1280 //time_wdog = 1;
lakshya 49:61c9f28332ba 1281 timer_F_ESP.reset();
lakshya 49:61c9f28332ba 1282 timer_F_ESP.start();
lakshya 20:949d13045431 1283 F_EPS();
lakshya 49:61c9f28332ba 1284 timer_F_ESP.stop();
lakshya 97:36a91c432cb1 1285 int zz;
lakshya 97:36a91c432cb1 1286 pc.printf("\n\r");
lakshya 97:36a91c432cb1 1287 for(zz=0;zz<134;zz++)
lakshya 97:36a91c432cb1 1288 {
lakshya 97:36a91c432cb1 1289 pc.printf("%x ",LONG_HK_data[0][zz]);
lakshya 97:36a91c432cb1 1290 }
lakshya 49:61c9f28332ba 1291 pc.printf("\n\r timer_F_ESP is %f",timer_F_ESP.read());
lakshya 49:61c9f28332ba 1292 /* pc.printf("\n\r timer_FCTN_BATTERYGAUGE_INIT is %f",timer_FCTN_BATTERYGAUGE_INIT.read());
lakshya 49:61c9f28332ba 1293 pc.printf("\n\r timer_alertFlags is %f",timer_alertFlags.read());
lakshya 49:61c9f28332ba 1294 pc.printf("\n\r timer_soc is %f",timer_soc.read());
lakshya 49:61c9f28332ba 1295 pc.printf("\n\r timer_FCTN_BATT_TEMP_SENSOR_MAIN is %f",timer_FCTN_BATT_TEMP_SENSOR_MAIN.read());
lakshya 49:61c9f28332ba 1296 pc.printf("\n\r timer_FCTN_BATTERYGAUGE_MAIN is %f",timer_FCTN_BATTERYGAUGE_MAIN.read());
lakshya 49:61c9f28332ba 1297 pc.printf("\n\r timer_FCTN_HK_MAIN is %f",timer_FCTN_HK_MAIN.read());
lakshya 49:61c9f28332ba 1298 pc.printf("\n\r timer_FCTN_EPS_HANDLE_HW_FAULTS is %f",timer_FCTN_EPS_HANDLE_HW_FAULTS.read());
lakshya 49:61c9f28332ba 1299 pc.printf("\n\r timer_FCTN_EPS_HANDLE_CDMS_FAULT is %f",timer_FCTN_EPS_HANDLE_CDMS_FAULT.read());
lakshya 49:61c9f28332ba 1300 pc.printf("\n\r timer_FCTN_APPEND_HKDATA is %f",timer_FCTN_APPEND_HKDATA.read());
lakshya 49:61c9f28332ba 1301 pc.printf("\n\r timer_minMaxHkData is %f",timer_minMaxHkData.read());
lakshya 49:61c9f28332ba 1302 */
lakshya 20:949d13045431 1303 }
lakshya 20:949d13045431 1304 //time_wdog = 0;
lakshya 20:949d13045431 1305 }
lakshya 33:76f2b8735501 1306 if(schedcount%6==0)
lakshya 20:949d13045431 1307 {
lakshya 66:a5d2b8dc6b9e 1308 if(BAE_STANDBY==0x04 || BAE_STANDBY==0x05 || BAE_STANDBY==0x06 || BAE_STANDBY==0x07)
lakshya 66:a5d2b8dc6b9e 1309 {
azaddevarm 92:0d6e6ff9b7c9 1310 pc.printf("\n reached here working till stage one bcn");
lakshya 66:a5d2b8dc6b9e 1311 // time_wdog = 0;
lakshya 49:61c9f28332ba 1312 timer_F_BCN.reset();
lakshya 49:61c9f28332ba 1313 timer_F_BCN.start();
lakshya 49:61c9f28332ba 1314 F_BCN();
lakshya 49:61c9f28332ba 1315 timer_F_BCN.stop();
lakshya 49:61c9f28332ba 1316 /*pc.printf("\n\r timer_F_BCN is %f",timer_F_BCN.read());
lakshya 49:61c9f28332ba 1317 pc.printf("\n\r timer_Init_BEACON_HW is %f",timer_Init_BEACON_HW.read());
lakshya 49:61c9f28332ba 1318 pc.printf("\n\r timer_FCTN_BCN_TX_MAIN is %f",timer_FCTN_BCN_TX_MAIN.read());
lakshya 49:61c9f28332ba 1319 pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUCCESS is %f",timer_Set_BCN_TX_STATUS_SUCCESS.read());
lakshya 49:61c9f28332ba 1320 pc.printf("\n\r timer_Set_BCN_TX_STATUS_FAILURE is %f",timer_Set_BCN_TX_STATUS_FAILURE.read());
lakshya 49:61c9f28332ba 1321 pc.printf("\n\r timer_Set_BCN_TX_STATUS_DISABLED is %f",timer_Set_BCN_TX_STATUS_DISABLED.read());
lakshya 49:61c9f28332ba 1322 pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUSPENDED is %f",timer_Set_BCN_TX_STATUS_SUSPENDED.read());
lakshya 49:61c9f28332ba 1323 pc.printf("\n\r timer_Set_BCN_TX_STATUS_RF_SILENCE is %f",timer_Set_BCN_TX_STATUS_RF_SILENCE.read());
lakshya 49:61c9f28332ba 1324 */}
lakshya 20:949d13045431 1325 }
sakthipriya 0:7b4c00e3912f 1326 schedcount++;
lakshya 20:949d13045431 1327 #if print
lakshya 20:949d13045431 1328 printf("\n\r exited scheduler h");
lakshya 20:949d13045431 1329 printf("\n\r time taken %f",t_start.read());
lakshya 20:949d13045431 1330 #endif
sakthipriya 0:7b4c00e3912f 1331 }
sakthipriya 0:7b4c00e3912f 1332
lakshya 20:949d13045431 1333
sakthipriya 0:7b4c00e3912f 1334 Timer t_flag;
lakshya 19:79e69017c855 1335
lakshya 20:949d13045431 1336
sakthipriya 0:7b4c00e3912f 1337 void FLAG()
sakthipriya 0:7b4c00e3912f 1338 {
lakshya 20:949d13045431 1339
lakshya 20:949d13045431 1340 //I2C
lakshya 20:949d13045431 1341 //if(BAE_MNG_I2C_STATUS == 1)
lakshya 20:949d13045431 1342 // BAE_STATUS = BAE_STATUS | 0x10000000;
lakshya 20:949d13045431 1343 //else if(BAE_MNG_I2C_STATUS == 0)
lakshya 20:949d13045431 1344 // BAE_STATUS &= 0xEFFFFFF;
lakshya 19:79e69017c855 1345
lakshya 19:79e69017c855 1346 //.............bae..................//
lakshya 19:79e69017c855 1347 if(BAE_INIT_STATUS == 1)
lakshya 19:79e69017c855 1348 BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001;
lakshya 19:79e69017c855 1349 else if(BAE_INIT_STATUS == 0)
lakshya 19:79e69017c855 1350 BAE_STATUS &= 0xFFFFFFFE;
lakshya 19:79e69017c855 1351
lakshya 20:949d13045431 1352 if(BAE_MNG_I2C_STATUS == 1)
lakshya 19:79e69017c855 1353 BAE_STATUS = BAE_STATUS | 0x00000002;
lakshya 20:949d13045431 1354 if(BAE_MNG_I2C_STATUS == 0)
lakshya 19:79e69017c855 1355 BAE_STATUS &= 0xFFFFFFFD;
lakshya 20:949d13045431 1356
sakthipriya 0:7b4c00e3912f 1357 //.............acs..................//
sakthipriya 9:194afacf7449 1358 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1359 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 1360 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1361 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 1362
sakthipriya 9:194afacf7449 1363 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1364 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 1365 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1366 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 1367
sakthipriya 9:194afacf7449 1368 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 1369 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 1370 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 1371 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 1372
sakthipriya 0:7b4c00e3912f 1373 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 1374 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 1375
sakthipriya 9:194afacf7449 1376 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1377 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 1378 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1379 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 1380
sakthipriya 0:7b4c00e3912f 1381 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 1382 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1383 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 1384 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 1385 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 1386 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1387 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 1388 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1389 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 1390 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1391 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 1392 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1393 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 1394 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 1395 else
sakthipriya 0:7b4c00e3912f 1396 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 1397
sakthipriya 0:7b4c00e3912f 1398 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 1399 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1400 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 1401 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1402 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 1403 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1404 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 1405 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1406 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 1407 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1408 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 1409 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 1410
sakthipriya 0:7b4c00e3912f 1411 //...............eps......................//
lakshya 20:949d13045431 1412 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
lakshya 20:949d13045431 1413 BAE_STATUS |= 0x00010000;
lakshya 20:949d13045431 1414 else if(EPS_INIT_STATUS==0) // Clear
lakshya 20:949d13045431 1415 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 1416
sakthipriya 5:bb592f3185cc 1417
lakshya 20:949d13045431 1418 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
lakshya 20:949d13045431 1419 BAE_STATUS |= 0x00040000;
lakshya 20:949d13045431 1420 else if(EPS_MAIN_STATUS==0) // Clear
lakshya 20:949d13045431 1421 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 1422
sakthipriya 5:bb592f3185cc 1423
lakshya 20:949d13045431 1424 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
lakshya 20:949d13045431 1425 BAE_STATUS |= 0x00020000;
lakshya 20:949d13045431 1426 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
lakshya 20:949d13045431 1427 BAE_STATUS &= 0xFFFDFFFF;
lakshya 20:949d13045431 1428
lakshya 33:76f2b8735501 1429 if (EPS_BTRY_TMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
lakshya 20:949d13045431 1430 BAE_STATUS |= 0x00080000;
lakshya 33:76f2b8735501 1431 else if(EPS_BTRY_TMP_STATUS==0) // Clear
lakshya 20:949d13045431 1432 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 1433
lakshya 20:949d13045431 1434 if (EPS_STATUS==0)
lakshya 20:949d13045431 1435 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
lakshya 20:949d13045431 1436 else if (EPS_STATUS==1)
lakshya 20:949d13045431 1437 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
lakshya 20:949d13045431 1438 else if (EPS_STATUS==2)
lakshya 20:949d13045431 1439 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
lakshya 20:949d13045431 1440 else if (EPS_STATUS==3)
lakshya 20:949d13045431 1441 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
lakshya 20:949d13045431 1442 else if (EPS_STATUS==4)
lakshya 20:949d13045431 1443 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
lakshya 20:949d13045431 1444 else if (EPS_STATUS==5)
lakshya 20:949d13045431 1445 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 1446
lakshya 20:949d13045431 1447 if(EPS_BTRY_HTR_AUTO == 1)
sakthipriya 5:bb592f3185cc 1448 BAE_ENABLE |= 0x00000080;
lakshya 20:949d13045431 1449 else if(EPS_BTRY_HTR_AUTO == 0)
sakthipriya 5:bb592f3185cc 1450 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 1451
lakshya 20:949d13045431 1452 #if print
lakshya 20:949d13045431 1453 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
lakshya 20:949d13045431 1454 #endif
lakshya 20:949d13045431 1455 }
sakthipriya 0:7b4c00e3912f 1456
sakthipriya 0:7b4c00e3912f 1457
sakthipriya 0:7b4c00e3912f 1458 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 1459 {
lakshya 20:949d13045431 1460 #if print
lakshya 20:949d13045431 1461 printf("\n\r Initialising BAE _________________________________________________________________________________");
lakshya 20:949d13045431 1462 #endif
lakshya 19:79e69017c855 1463 BAE_INIT_STATUS=1;
lakshya 19:79e69017c855 1464 FLAG();
lakshya 19:79e69017c855 1465
sakthipriya 3:07e15677a75c 1466 //..........intial status....//
Bragadeesh153 13:fb7facaf308b 1467 ACS_STATE = 4;
sakthipriya 9:194afacf7449 1468 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 1469 ACS_DATA_ACQ_ENABLE = 1;
lakshya 20:949d13045431 1470 EPS_BTRY_HTR_AUTO = 1;
Bragadeesh153 13:fb7facaf308b 1471 actual_data.power_mode=3;
lakshya 19:79e69017c855 1472
sakthipriya 9:194afacf7449 1473 //............intializing pins................//
Bragadeesh153 52:daa685b0e390 1474 ATS1_SW_ENABLE = 1;
sakthipriya 9:194afacf7449 1475 ATS2_SW_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 1476
Bragadeesh153 13:fb7facaf308b 1477 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 1478 DRV_Z_EN = 1;
Bragadeesh153 52:daa685b0e390 1479 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 52:daa685b0e390 1480 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 1481
lakshya 20:949d13045431 1482 //time_wdog = 1;
sakthipriya 9:194afacf7449 1483
lakshya 49:61c9f28332ba 1484 kick_WDOG();
lakshya 49:61c9f28332ba 1485 pc.printf("\n\r lvl1");
lakshya 49:61c9f28332ba 1486
lakshya 19:79e69017c855 1487 //...........order mentioned in flow chart.................//
lakshya 49:61c9f28332ba 1488 timer_FCTN_BAE_INIT.reset();
lakshya 49:61c9f28332ba 1489 timer_FCTN_BAE_INIT.start();
sakthipriya 3:07e15677a75c 1490 FCTN_ACS_INIT();
lakshya 49:61c9f28332ba 1491 timer_FCTN_BAE_INIT.stop();
lakshya 49:61c9f28332ba 1492 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 49:61c9f28332ba 1493
lakshya 49:61c9f28332ba 1494 timer_FCTN_EPS_INIT.reset();
lakshya 49:61c9f28332ba 1495 timer_FCTN_EPS_INIT.start();
lakshya 17:fc782f7548c6 1496 FCTN_EPS_INIT();
lakshya 49:61c9f28332ba 1497 timer_FCTN_EPS_INIT.stop();
lakshya 49:61c9f28332ba 1498 pc.printf("\n\r timer_FCTN_EPS_INIT is %f",timer_FCTN_EPS_INIT.read());
lakshya 49:61c9f28332ba 1499
lakshya 49:61c9f28332ba 1500 timer_FCTN_BCN_INIT.reset();
lakshya 49:61c9f28332ba 1501 timer_FCTN_BCN_INIT.start();
lakshya 18:3662058a7c10 1502 FCTN_BCN_INIT();
lakshya 49:61c9f28332ba 1503 timer_FCTN_BCN_INIT.stop();
lakshya 49:61c9f28332ba 1504 pc.printf("\n\r timer_FCTN_BCN_INIT is %f",timer_FCTN_BCN_INIT.read());
lakshya 19:79e69017c855 1505
lakshya 27:61c856be467e 1506 //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 1507 //uint32_t data_modify=data_flash & 0x000000FF;
lakshya 27:61c856be467e 1508 //data_modify +=1;
lakshya 27:61c856be467e 1509 //data_modify |=data_flash;
lakshya 27:61c856be467e 1510 //FCTN_BAE_WR_FLASH(0,data_modify);
lakshya 49:61c9f28332ba 1511 //#if print
lakshya 49:61c9f28332ba 1512 // printf("\n\rthe number of reset %d",data_modify);
lakshya 49:61c9f28332ba 1513 //#endif
lakshya 19:79e69017c855 1514 BAE_INIT_STATUS=0;
sakthipriya 0:7b4c00e3912f 1515 FLAG();
sakthipriya 0:7b4c00e3912f 1516 }
sakthipriya 0:7b4c00e3912f 1517
lakshya 20:949d13045431 1518
sakthipriya 0:7b4c00e3912f 1519 int main()
sakthipriya 0:7b4c00e3912f 1520 {
lakshya 33:76f2b8735501 1521 //BAE_uptime.reset();
lakshya 33:76f2b8735501 1522 BAE_uptime.start();
lakshya 20:949d13045431 1523 //time_wdog = 1;
lakshya 19:79e69017c855 1524 pc.printf("\n\r BAE Activated. Testing Version 1.2 \n");
lakshya 20:949d13045431 1525 //FLASH_INI();
lakshya 49:61c9f28332ba 1526
lakshya 49:61c9f28332ba 1527 time_wdog=1;
lakshya 49:61c9f28332ba 1528 timer_FCTN_BAE_INIT.start();
sakthipriya 0:7b4c00e3912f 1529 FCTN_BAE_INIT();
lakshya 49:61c9f28332ba 1530 timer_FCTN_BAE_INIT.stop();
lakshya 49:61c9f28332ba 1531 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 49:61c9f28332ba 1532
lakshya 49:61c9f28332ba 1533 time_wdog=0;
lakshya 49:61c9f28332ba 1534
lakshya 20:949d13045431 1535 //time_wdog = 0;
lakshya 20:949d13045431 1536
sakthipriya 0:7b4c00e3912f 1537 slave.address(addr);
sakthipriya 0:7b4c00e3912f 1538 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 1539
sakthipriya 0:7b4c00e3912f 1540 ptr_t_i2c = new Thread(T_TC);
lakshya 98:321edb143f26 1541 ptr_t_i2c->set_priority(osPriorityRealtime);////osPriorityHigh_Realtime
sakthipriya 5:bb592f3185cc 1542
sakthipriya 0:7b4c00e3912f 1543 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 1544 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
lakshya 20:949d13045431 1545
sakthipriya 0:7b4c00e3912f 1546 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
lakshya 33:76f2b8735501 1547 t_sc_timer.start(5000);
sakthipriya 0:7b4c00e3912f 1548 t_start.start();
lakshya 50:6001287f3045 1549
lakshya 20:949d13045431 1550 #if print
lakshya 20:949d13045431 1551 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
lakshya 20:949d13045431 1552 #endif
lakshya 19:79e69017c855 1553 /*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 1554 //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1555 /*static allocation*/
lakshya 19:79e69017c855 1556 RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1557 BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER;
lakshya 18:3662058a7c10 1558
lakshya 20:949d13045431 1559 RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce);
lakshya 20:949d13045431 1560 /*later change it to 30 min 1800 seconds*/
lakshya 20:949d13045431 1561 bcn_start_timer.start(20000);
lakshya 20:949d13045431 1562
lakshya 20:949d13045431 1563 //BCN HTR TIMERS
lakshya 20:949d13045431 1564 RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce);
lakshya 20:949d13045431 1565 HTR_OFF=&EPS_HTR_OFF_TIMER;
lakshya 20:949d13045431 1566
lakshya 49:61c9f28332ba 1567 RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE, osTimerPeriodic);
lakshya 20:949d13045431 1568 HTR_CYCLE=&EPS_HTR_CYCLE_TIMER;
lakshya 20:949d13045431 1569
lakshya 20:949d13045431 1570 RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce);
lakshya 20:949d13045431 1571 HTR_DLY=&EPS_HTR_DLY_TIMER;
lakshya 20:949d13045431 1572
lakshya 49:61c9f28332ba 1573 timer_FLASH_INI.start();
lakshya 20:949d13045431 1574 FLASH_INI();
lakshya 49:61c9f28332ba 1575 timer_FLASH_INI.stop();
lakshya 49:61c9f28332ba 1576 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 20:949d13045431 1577
lakshya 20:949d13045431 1578 while(1); //required to prevent main from terminating
lakshya 18:3662058a7c10 1579
lakshya 20:949d13045431 1580 }