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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

main.cpp@41:5df2bed2157d, 2016-07-08 (annotated)

Committer:
Bragadeesh153
Date:
Fri Jul 08 08:14:29 2016 +0000
Revision:
41:5df2bed2157d
Parent:
40:c2538d97e78b 
BAE CODE used for testing telecommands

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"
Bragadeesh153 41:5df2bed2157d 8 #define tm_len 134
Bragadeesh153 41:5df2bed2157d 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
Bragadeesh153 40:c2538d97e78b 55 extern DigitalOut 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
Bragadeesh153 40:c2538d97e78b 178
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;
Bragadeesh153 40:c2538d97e78b 200
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;
Bragadeesh153 40:c2538d97e78b 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
Bragadeesh153 40:c2538d97e78b 227 DigitalIn 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;
Bragadeesh153 40:c2538d97e78b 235 DigitalOut ACS_TR_Z_ENABLE(PIN40);
Bragadeesh153 40:c2538d97e78b 236 DigitalIn ACS_TR_Z_OC_FAULT(PIN91);
Bragadeesh153 40:c2538d97e78b 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;
Bragadeesh153 40:c2538d97e78b 241 DigitalOut ACS_TR_XY_ENABLE(PIN71);
Bragadeesh153 40:c2538d97e78b 242 DigitalIn ACS_TR_XY_OC_FAULT(PIN72);
Bragadeesh153 40:c2538d97e78b 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;
Bragadeesh153 40:c2538d97e78b 247 DigitalIn ACS_ATS1_OC_FAULT(PIN97);
lakshya 20:949d13045431 248 int ACS_ATS1_FAULT_COUNTER = 0;
lakshya 20:949d13045431 249
lakshya 20:949d13045431 250 //bool ACS_ATS2_ENABLE;
Bragadeesh153 40:c2538d97e78b 251 DigitalIn ACS_ATS2_OC_FAULT(PIN5);
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
Bragadeesh153 41:5df2bed2157d 290 extern uint8_t telemetry[tm_len];
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//
Bragadeesh153 40:c2538d97e78b 317 DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch
Bragadeesh153 40:c2538d97e78b 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
Bragadeesh153 40:c2538d97e78b 331 DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
Bragadeesh153 40:c2538d97e78b 332 DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
Bragadeesh153 40:c2538d97e78b 333 DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 334
Bragadeesh153 40:c2538d97e78b 335 DigitalOut TRXY_SW(PIN71); //TR XY Switch
Bragadeesh153 40:c2538d97e78b 336 DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z
Bragadeesh153 40:c2538d97e78b 337 DigitalOut TRZ_SW(PIN40); //TR Z Switch
lakshya 19:79e69017c855 338 DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET
Bragadeesh153 40:c2538d97e78b 339 DigitalOut BCN_SW(PIN14); //Beacon switch
Bragadeesh153 40:c2538d97e78b 340 DigitalOut 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 20:949d13045431 350 uint32_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
Bragadeesh153 41:5df2bed2157d 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
Bragadeesh153 41:5df2bed2157d 521 pc.printf("gyro values\n\r");
Bragadeesh153 41:5df2bed2157d 522 for(int i=0; i<3; i++)
Bragadeesh153 41:5df2bed2157d 523 {
Bragadeesh153 41:5df2bed2157d 524 printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
Bragadeesh153 41:5df2bed2157d 525 }
Bragadeesh153 41:5df2bed2157d 526
Bragadeesh153 41:5df2bed2157d 527 pc.printf("mag values\n\r");
Bragadeesh153 41:5df2bed2157d 528 for(int i=0; i<3; i++)
Bragadeesh153 41:5df2bed2157d 529 {
Bragadeesh153 41:5df2bed2157d 530 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
Bragadeesh153 41:5df2bed2157d 531 }
Bragadeesh153 41:5df2bed2157d 532
lakshya 20:949d13045431 533 for(int i=0;i<3;i++)
lakshya 19:79e69017c855 534 {
lakshya 20:949d13045431 535 mag_data[i] = actual_data.Bvalue_actual[i]/1000000;
lakshya 20:949d13045431 536 gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180;
Bragadeesh153 41:5df2bed2157d 537 //mag_data[i] = 32/1000000;
Bragadeesh153 41:5df2bed2157d 538 //gyro_data[i] = 1.5*3.14159/180;
lakshya 20:949d13045431 539 }
lakshya 20:949d13045431 540
lakshya 20:949d13045431 541 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
lakshya 20:949d13045431 542 {
Bragadeesh153 41:5df2bed2157d 543 //#if print
lakshya 20:949d13045431 544 printf("\n\r acs control off\n");
Bragadeesh153 41:5df2bed2157d 545 //#endif
lakshya 20:949d13045431 546 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
lakshya 20:949d13045431 547 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 548 return;
lakshya 20:949d13045431 549 }
lakshya 20:949d13045431 550 else if(actual_data.power_mode<=2)
lakshya 20:949d13045431 551 {
Bragadeesh153 41:5df2bed2157d 552 //#if print
lakshya 20:949d13045431 553 printf("\n\r Low Power \n\r");
Bragadeesh153 41:5df2bed2157d 554 //#endif
lakshya 20:949d13045431 555 DRV_Z_EN = 0;
lakshya 20:949d13045431 556 DRV_XY_EN = 0;
lakshya 20:949d13045431 557 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
lakshya 20:949d13045431 558 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 559 return;
lakshya 20:949d13045431 560
lakshya 20:949d13045431 561 }
lakshya 20:949d13045431 562 else if(ACS_TR_Z_SW_STATUS != 1)
lakshya 20:949d13045431 563 {
lakshya 20:949d13045431 564 DRV_Z_EN = 0;
lakshya 20:949d13045431 565 DRV_XY_EN = 0;
lakshya 20:949d13045431 566 ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED
lakshya 20:949d13045431 567 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 568 return;
lakshya 20:949d13045431 569 }
lakshya 20:949d13045431 570 else if(ACS_TR_XY_SW_STATUS != 1)
lakshya 20:949d13045431 571 {
lakshya 20:949d13045431 572 DRV_Z_EN = 1;
lakshya 20:949d13045431 573 DRV_XY_EN = 0;
lakshya 20:949d13045431 574 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only
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 19:79e69017c855 582 }
lakshya 20:949d13045431 583 else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1))
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 Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only
lakshya 20:949d13045431 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; // is a dummy value
lakshya 20:949d13045431 592
lakshya 20:949d13045431 593 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 594 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 595 return;
lakshya 20:949d13045431 596 }
lakshya 20:949d13045431 597 else if(ACS_STATE == 5)
lakshya 20:949d13045431 598 {
lakshya 20:949d13045431 599 DRV_Z_EN = 1;
lakshya 20:949d13045431 600 DRV_XY_EN = 0;
lakshya 20:949d13045431 601 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only
sakthipriya 0:7b4c00e3912f 602
lakshya 20:949d13045431 603 moment[0] = 0;
lakshya 20:949d13045431 604 moment[1] = 0;
lakshya 20:949d13045431 605 moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value
lakshya 20:949d13045431 606 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 607
lakshya 20:949d13045431 608 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 609 return;
lakshya 20:949d13045431 610 }
lakshya 20:949d13045431 611 else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available
lakshya 20:949d13045431 612 {
lakshya 20:949d13045431 613 DRV_Z_EN = 1;
lakshya 20:949d13045431 614 DRV_XY_EN = 1;
lakshya 20:949d13045431 615
lakshya 20:949d13045431 616 ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL
lakshya 20:949d13045431 617 ACS_DETUMBLING_ALGO_TYPE = 0x01;
lakshya 20:949d13045431 618 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 619 controlmode_mms=0x00;
Bragadeesh153 41:5df2bed2157d 620 //#if print
lakshya 20:949d13045431 621 printf("\n\r Moment values returned by control algo \n");
Bragadeesh153 41:5df2bed2157d 622 //#endif
lakshya 20:949d13045431 623 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 624 {
lakshya 20:949d13045431 625 printf("%f\t",moment[i]);
lakshya 19:79e69017c855 626 }
lakshya 20:949d13045431 627 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 628 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 629 return;
lakshya 20:949d13045431 630 }
lakshya 20:949d13045431 631 else if(ACS_STATE == 7) // Nominal mode
lakshya 20:949d13045431 632 {
Bragadeesh153 41:5df2bed2157d 633 //#if print
lakshya 20:949d13045431 634 printf("\n\r Nominal mode \n");
Bragadeesh153 41:5df2bed2157d 635 //#endif
lakshya 20:949d13045431 636 DRV_Z_EN = 1;
lakshya 20:949d13045431 637 DRV_XY_EN = 1;
lakshya 20:949d13045431 638 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 639 controlmode_mms = 0x01;
lakshya 20:949d13045431 640 #if print
lakshya 20:949d13045431 641 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 642 #endif
lakshya 20:949d13045431 643 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 644 {
lakshya 20:949d13045431 645 printf("%f\t",moment[i]);
lakshya 20:949d13045431 646 }
lakshya 20:949d13045431 647 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 648 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 649 return;
lakshya 20:949d13045431 650 }
lakshya 20:949d13045431 651 else if(ACS_STATE == 8) // Auto Control
lakshya 20:949d13045431 652 {
Bragadeesh153 41:5df2bed2157d 653 //#if print
lakshya 20:949d13045431 654 printf("\n\r Auto control mode \n");
Bragadeesh153 41:5df2bed2157d 655 //#endif
lakshya 20:949d13045431 656 DRV_Z_EN = 1;
Bragadeesh153 41:5df2bed2157d 657 DRV_XY_EN = 1;
Bragadeesh153 41:5df2bed2157d 658 //moment[1] = 0;
Bragadeesh153 41:5df2bed2157d 659 //moment[2]= 0;
Bragadeesh153 41:5df2bed2157d 660 // moment[0] = 0;
lakshya 20:949d13045431 661 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 662 controlmode_mms = 0x00;
Bragadeesh153 41:5df2bed2157d 663
Bragadeesh153 41:5df2bed2157d 664 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 665 for(int i=0; i<3; i++)
lakshya 19:79e69017c855 666 {
lakshya 20:949d13045431 667 printf("%f\t",moment[i]);
lakshya 20:949d13045431 668 }
Bragadeesh153 41:5df2bed2157d 669
lakshya 20:949d13045431 670 FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function
lakshya 20:949d13045431 671 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 672 return;
lakshya 20:949d13045431 673 }
lakshya 20:949d13045431 674 else if(ACS_STATE == 9) // Detumbling
lakshya 20:949d13045431 675 {
Bragadeesh153 41:5df2bed2157d 676 printf("Detumbling mode\r\n");
lakshya 20:949d13045431 677 DRV_Z_EN = 1;
lakshya 20:949d13045431 678 DRV_XY_EN = 1;
lakshya 20:949d13045431 679 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 680 controlmode_mms = 0x00;
lakshya 20:949d13045431 681 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 682 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 683 return;
lakshya 20:949d13045431 684 }
lakshya 20:949d13045431 685 ACS_STATUS = 7; //INVALID_STATE
lakshya 20:949d13045431 686 DRV_Z_EN = 0;
lakshya 20:949d13045431 687 DRV_XY_EN = 0;
lakshya 20:949d13045431 688 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
lakshya 20:949d13045431 689 }
lakshya 19:79e69017c855 690
lakshya 19:79e69017c855 691
sakthipriya 0:7b4c00e3912f 692 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 693
lakshya 33:76f2b8735501 694
sakthipriya 3:07e15677a75c 695 void F_EPS()
lakshya 20:949d13045431 696 {
lakshya 33:76f2b8735501 697 float eps_btry_temp;
lakshya 33:76f2b8735501 698 pc.printf("\n\rEntered EPS %f\n\r",t_start.read());
lakshya 33:76f2b8735501 699 EPS_MAIN_STATUS = 1; // Set EPS main status
lakshya 33:76f2b8735501 700 EPS_MAIN_COUNTER++;
lakshya 33:76f2b8735501 701 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
lakshya 33:76f2b8735501 702 pc.printf("Battery temperature %f %f\n\r" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
lakshya 33:76f2b8735501 703 EPS_BTRY_TMP_AVG = ( actual_data.Batt_temp_actual[0] + actual_data.Batt_temp_actual[1] )/2.0;
lakshya 33:76f2b8735501 704 if(abs(actual_data.Batt_temp_actual[0] - actual_data.Batt_temp_actual[1]) > 10)
lakshya 33:76f2b8735501 705 {
lakshya 33:76f2b8735501 706 EPS_BTRY_TMP_STATUS = 0; //clear EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 707 eps_btry_temp = (float) EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 708 }
lakshya 33:76f2b8735501 709 else
lakshya 33:76f2b8735501 710 {
lakshya 33:76f2b8735501 711 EPS_BTRY_TMP_STATUS = 1; //set EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 712 eps_btry_temp = EPS_BTRY_TMP_AVG;
lakshya 33:76f2b8735501 713 }
lakshya 33:76f2b8735501 714
lakshya 33:76f2b8735501 715 if(EPS_BTRY_HTR_AUTO == 0)
lakshya 33:76f2b8735501 716 EPS_STATUS = 1; //EPS_BATTERY_HEATER_DISABLED
lakshya 33:76f2b8735501 717 else if( EPS_BTRY_TMP_STATUS == 0 )
lakshya 33:76f2b8735501 718 {
lakshya 33:76f2b8735501 719 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 720 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 721 EPS_STATUS = 0; //Set EPS_ERR_BATTERY_TEMP
lakshya 33:76f2b8735501 722 }
lakshya 33:76f2b8735501 723 else
lakshya 33:76f2b8735501 724 {
lakshya 33:76f2b8735501 725 if( EPS_BTRY_HTR == 1 && eps_btry_temp >= EPS_BAT_TEMP_HIGH )
lakshya 33:76f2b8735501 726 {
lakshya 33:76f2b8735501 727 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 728 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 729 EPS_STATUS = 4; //Set EPS_BATTERY_HEATER_OFF
lakshya 33:76f2b8735501 730 }
lakshya 33:76f2b8735501 731 else if( EPS_BTRY_HTR == 0 && eps_btry_temp < EPS_BAT_TEMP_LOW )
lakshya 33:76f2b8735501 732 {
lakshya 33:76f2b8735501 733 BTRY_HTR_ENABLE = 1;
lakshya 33:76f2b8735501 734 EPS_BTRY_HTR = 1;
lakshya 33:76f2b8735501 735 EPS_STATUS = 5; //Set EPS_BATTERY_HEATER_ON
lakshya 33:76f2b8735501 736 }
lakshya 33:76f2b8735501 737 }
lakshya 33:76f2b8735501 738
lakshya 33:76f2b8735501 739 unsigned short statusreg = read(REG_STATUS);
lakshya 33:76f2b8735501 740 if( EPS_BATTERY_GAUGE_STATUS == 0 ) reset();
lakshya 33:76f2b8735501 741 if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set
lakshya 19:79e69017c855 742 {
lakshya 33:76f2b8735501 743 printf("REG_STATUS = %d\r\n",read(REG_STATUS));
lakshya 33:76f2b8735501 744 FCTN_BATTERYGAUGE_INIT();
lakshya 33:76f2b8735501 745 }
lakshya 33:76f2b8735501 746 int BTG_MAIN_FLAG = FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual, eps_btry_temp);
lakshya 33:76f2b8735501 747 if( BTG_MAIN_FLAG == 0 ) //Data not received
lakshya 33:76f2b8735501 748 {
lakshya 33:76f2b8735501 749 actual_data.power_mode = 1;
lakshya 33:76f2b8735501 750 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 751 }
lakshya 33:76f2b8735501 752 else
lakshya 33:76f2b8735501 753 {
lakshya 33:76f2b8735501 754 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
lakshya 33:76f2b8735501 755 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 756 }
lakshya 33:76f2b8735501 757
lakshya 33:76f2b8735501 758 FCTN_HK_MAIN();
lakshya 33:76f2b8735501 759 // printf("\n\r here");
lakshya 33:76f2b8735501 760 FCTN_EPS_HANDLE_HW_FAULTS();
lakshya 33:76f2b8735501 761 FCTN_EPS_HANDLE_CDMS_FAULT();
lakshya 33:76f2b8735501 762 FCTN_APPEND_HKDATA();
lakshya 33:76f2b8735501 763 minMaxHkData();
lakshya 33:76f2b8735501 764 //printf("\n\r here");
lakshya 33:76f2b8735501 765 EPS_MAIN_STATUS = 0; // clear EPS main status
lakshya 33:76f2b8735501 766
sakthipriya 0:7b4c00e3912f 767 }
lakshya 33:76f2b8735501 768
lakshya 20:949d13045431 769
sakthipriya 0:7b4c00e3912f 770 //**************************************************BCN THREAD*******************************************************************//
Bragadeesh153 41:5df2bed2157d 771
sakthipriya 3:07e15677a75c 772 void F_BCN()
sakthipriya 0:7b4c00e3912f 773 {
lakshya 20:949d13045431 774 pc.printf("\n\rEntered BCN %f\n",t_start.read());
lakshya 20:949d13045431 775 //BCN_TX_MAIN_COUNTER=+1;
lakshya 20:949d13045431 776 FCTN_BCN_TX_MAIN();
sakthipriya 0:7b4c00e3912f 777 }
sakthipriya 0:7b4c00e3912f 778
sakthipriya 0:7b4c00e3912f 779 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 780
lakshya 39:670133e7ffd8 781 //===================================================================
sakthipriya 0:7b4c00e3912f 782 void T_TC(void const * args)
lakshya 19:79e69017c855 783 {
lakshya 20:949d13045431 784 while(1)
lakshya 39:670133e7ffd8 785 {
lakshya 39:670133e7ffd8 786 Thread::signal_wait(0x4);
lakshya 39:670133e7ffd8 787 wait_us(300);
lakshya 39:670133e7ffd8 788 BAE_MNG_I2C_STATUS =1 ;
lakshya 39:670133e7ffd8 789 I2C_last.reset();
lakshya 39:670133e7ffd8 790 I2C_last.start();
Bragadeesh153 41:5df2bed2157d 791 // pc.printf("\n\r\r\n\r\n\r\n\r\n TELECOMMAND RECEIVED!!\r\n\r\n\r\n\r\n");
lakshya 39:670133e7ffd8 792 if( slave.receive() == 0)
lakshya 39:670133e7ffd8 793 {
lakshya 39:670133e7ffd8 794 pdir_ss1=PTE->PDIR; /////////edited
lakshya 39:670133e7ffd8 795 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 796 data_send_flag = 'h';
lakshya 39:670133e7ffd8 797 slave.stop();
lakshya 39:670133e7ffd8 798 if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed
lakshya 39:670133e7ffd8 799 {
lakshya 39:670133e7ffd8 800 I2C_busreset(); /////////edited
lakshya 39:670133e7ffd8 801 }
lakshya 39:670133e7ffd8 802 pdir_ss2=PTE->PDIR;
lakshya 39:670133e7ffd8 803 pc.printf("\n\rSlave not addressed");
lakshya 39:670133e7ffd8 804 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss1);
lakshya 39:670133e7ffd8 805 #if PRINT2
lakshya 39:670133e7ffd8 806 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss2);
lakshya 39:670133e7ffd8 807 #endif
lakshya 39:670133e7ffd8 808 }
lakshya 39:670133e7ffd8 809 else if( slave.receive() == 1) // slave writes to master
lakshya 39:670133e7ffd8 810 {
lakshya 39:670133e7ffd8 811 BAE_I2C_COUNTER++; //////////edited
lakshya 39:670133e7ffd8 812 if(data_send_flag == 'h') //to be renamed as BAE_I2C_STATUS
lakshya 39:670133e7ffd8 813 {
lakshya 39:670133e7ffd8 814 irpt_2_mstr =1; //wait till cdms code is changed
lakshya 39:670133e7ffd8 815 FCTN_APPEND_HKDATA();
lakshya 39:670133e7ffd8 816 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 817 //crc is already being added
lakshya 39:670133e7ffd8 818 write_ack=slave.write((char*)BAE_chardata,134);
lakshya 39:670133e7ffd8 819 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 820 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 821 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 822 if(write_ack==0)// wait till cdms code is changed
lakshya 20:949d13045431 823 {
lakshya 39:670133e7ffd8 824 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 825 {
lakshya 39:670133e7ffd8 826 wait_ms(1);
lakshya 39:670133e7ffd8 827 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 828 i2c_count++;
lakshya 39:670133e7ffd8 829 }
lakshya 39:670133e7ffd8 830 if(((pdir_tm1 & 0x00000003)==3))
lakshya 20:949d13045431 831 {
lakshya 39:670133e7ffd8 832 pc.printf("\n\rWrite HK success");
lakshya 39:670133e7ffd8 833 data_send_flag = 'h';
lakshya 39:670133e7ffd8 834 irpt_2_mstr = 0; //////////edited
lakshya 19:79e69017c855 835 }
lakshya 39:670133e7ffd8 836 else
lakshya 39:670133e7ffd8 837 {
lakshya 39:670133e7ffd8 838 #if baby
lakshya 39:670133e7ffd8 839 pc.printf("\n\rWrite HK failed");
lakshya 39:670133e7ffd8 840 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 841 #endif
lakshya 39:670133e7ffd8 842 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 843 I2C_busreset();
lakshya 39:670133e7ffd8 844 #if baby2
lakshya 39:670133e7ffd8 845 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 846 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 847 #endif
lakshya 39:670133e7ffd8 848 }
lakshya 39:670133e7ffd8 849 }
lakshya 39:670133e7ffd8 850 else
lakshya 39:670133e7ffd8 851 {
lakshya 39:670133e7ffd8 852 #if baby1
lakshya 39:670133e7ffd8 853 pc.printf("\n\rWrite Ack failed(HK)");
lakshya 39:670133e7ffd8 854 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 855 #endif
lakshya 39:670133e7ffd8 856 I2C_busreset();
lakshya 39:670133e7ffd8 857 #if baby2
lakshya 39:670133e7ffd8 858 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 859 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 860 #endif
lakshya 20:949d13045431 861 }
lakshya 39:670133e7ffd8 862 i2c_count=0;
lakshya 39:670133e7ffd8 863 }
lakshya 39:670133e7ffd8 864 else//data_send_flag = "t" //else if(telecommand[1]&0xC0 == 't')
lakshya 39:670133e7ffd8 865 {
lakshya 39:670133e7ffd8 866 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 867 write_ack=slave.write((char*)telemetry,134); ////////edited(size)
lakshya 39:670133e7ffd8 868 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 869 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 870 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 871 data_send_flag = 'h';
lakshya 39:670133e7ffd8 872 if(write_ack==0)
lakshya 39:670133e7ffd8 873 {
lakshya 39:670133e7ffd8 874 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 875 {
lakshya 39:670133e7ffd8 876 wait_ms(1);
lakshya 39:670133e7ffd8 877 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 878 i2c_count++;
lakshya 39:670133e7ffd8 879 }
lakshya 39:670133e7ffd8 880 if(((pdir_tm1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 881 {
lakshya 39:670133e7ffd8 882 pc.printf("\n\rWrite TM success");
lakshya 39:670133e7ffd8 883 }
lakshya 39:670133e7ffd8 884 else
lakshya 39:670133e7ffd8 885 {
lakshya 39:670133e7ffd8 886 #if baby
lakshya 39:670133e7ffd8 887 pc.printf("\n\rWrite TM failed");
lakshya 39:670133e7ffd8 888 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 889 #endif
lakshya 39:670133e7ffd8 890 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 891 I2C_busreset();
lakshya 39:670133e7ffd8 892 #if baby2
lakshya 39:670133e7ffd8 893 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 894 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 895 #endif
lakshya 39:670133e7ffd8 896 }
lakshya 39:670133e7ffd8 897 }
lakshya 39:670133e7ffd8 898 else
lakshya 20:949d13045431 899 {
lakshya 39:670133e7ffd8 900 #if baby
lakshya 39:670133e7ffd8 901 pc.printf("\n\rWrite Ack failed");
lakshya 39:670133e7ffd8 902 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 903 #endif
lakshya 39:670133e7ffd8 904 I2C_busreset();
lakshya 39:670133e7ffd8 905 #if baby2
lakshya 39:670133e7ffd8 906 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 907 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 908 #endif
lakshya 20:949d13045431 909 }
lakshya 39:670133e7ffd8 910 i2c_count=0;
lakshya 39:670133e7ffd8 911 }
lakshya 39:670133e7ffd8 912 }
lakshya 39:670133e7ffd8 913 else if( slave.receive()==3 || slave.receive()==2) // slave read
lakshya 39:670133e7ffd8 914 {
lakshya 39:670133e7ffd8 915 BAE_I2C_COUNTER++;
lakshya 39:670133e7ffd8 916 uint8_t i2c_count = 0;
lakshya 39:670133e7ffd8 917 read_ack=slave.read((char *)telecommand,135); //read() function returns acknowledgement
lakshya 39:670133e7ffd8 918 wait_ms(1);
lakshya 39:670133e7ffd8 919 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 920 if(read_ack==0) //read() says it was successful
lakshya 39:670133e7ffd8 921 {
lakshya 39:670133e7ffd8 922 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 923 {
lakshya 39:670133e7ffd8 924 wait_ms(1);
lakshya 39:670133e7ffd8 925 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 926 i2c_count++;
lakshya 39:670133e7ffd8 927 }
lakshya 39:670133e7ffd8 928 if(((pdir_tc1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 929 {
lakshya 39:670133e7ffd8 930 pc.printf("\n\n\rRead TC success");
lakshya 39:670133e7ffd8 931 if(telecommand[0] == 0x00) /////////////edited
lakshya 39:670133e7ffd8 932 FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited
lakshya 39:670133e7ffd8 933 else
lakshya 39:670133e7ffd8 934 {
lakshya 39:670133e7ffd8 935 FCTN_BAE_TM_TC((uint8_t*) telecommand);
lakshya 39:670133e7ffd8 936 data_send_flag = 't';
lakshya 39:670133e7ffd8 937 irpt_2_mstr = 1;
lakshya 39:670133e7ffd8 938 }
lakshya 39:670133e7ffd8 939 }
lakshya 39:670133e7ffd8 940 else //either or both of SDA and SCL lines low
lakshya 20:949d13045431 941 {
lakshya 39:670133e7ffd8 942 #if baby
lakshya 39:670133e7ffd8 943 pc.printf("\n\rRead TC failed");
lakshya 39:670133e7ffd8 944 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 945 #endif
lakshya 39:670133e7ffd8 946 I2C_busreset();
lakshya 39:670133e7ffd8 947 #if baby2
lakshya 39:670133e7ffd8 948 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 949 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 950 #endif
lakshya 39:670133e7ffd8 951 gen_I_TM();
lakshya 39:670133e7ffd8 952 data_send_flag = 't';
lakshya 39:670133e7ffd8 953 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 954 }
lakshya 39:670133e7ffd8 955 }
lakshya 39:670133e7ffd8 956 else //read() says it was not successful
lakshya 39:670133e7ffd8 957 {
lakshya 39:670133e7ffd8 958 #if baby
lakshya 39:670133e7ffd8 959 pc.printf("\n\rRead Ack failed");
lakshya 39:670133e7ffd8 960 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 961 #endif
lakshya 39:670133e7ffd8 962 I2C_busreset();
lakshya 39:670133e7ffd8 963 #if baby2
lakshya 39:670133e7ffd8 964 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 965 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 966 #endif
lakshya 39:670133e7ffd8 967 //pc.printf("\n\r no data case");
lakshya 39:670133e7ffd8 968 gen_I_TM();
lakshya 39:670133e7ffd8 969 data_send_flag = 't';
lakshya 39:670133e7ffd8 970 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 971 }
lakshya 39:670133e7ffd8 972 i2c_count = 0;
lakshya 39:670133e7ffd8 973 }
lakshya 39:670133e7ffd8 974 BAE_MNG_I2C_STATUS=0;
lakshya 39:670133e7ffd8 975 }
sakthipriya 0:7b4c00e3912f 976 }
lakshya 39:670133e7ffd8 977
sakthipriya 0:7b4c00e3912f 978 void FCTN_TM()
lakshya 20:949d13045431 979 {
sakthipriya 5:bb592f3185cc 980 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 981 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 982 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 983 }
sakthipriya 0:7b4c00e3912f 984
sakthipriya 0:7b4c00e3912f 985
sakthipriya 0:7b4c00e3912f 986 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 987
sakthipriya 0:7b4c00e3912f 988 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 989 {
lakshya 20:949d13045431 990 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 991 }
sakthipriya 0:7b4c00e3912f 992
sakthipriya 0:7b4c00e3912f 993
sakthipriya 5:bb592f3185cc 994 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 995
sakthipriya 5:bb592f3185cc 996 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 997
sakthipriya 5:bb592f3185cc 998 void pollfault()
sakthipriya 5:bb592f3185cc 999 {
lakshya 20:949d13045431 1000 if (pf1==0) // OC_ATS1
lakshya 20:949d13045431 1001 {
lakshya 20:949d13045431 1002 pf1check=1;
lakshya 20:949d13045431 1003 actual_data.faultPoll_status |=0x01 ;
lakshya 20:949d13045431 1004 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
lakshya 20:949d13045431 1005 }
lakshya 20:949d13045431 1006 else
lakshya 20:949d13045431 1007 actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 1008
lakshya 20:949d13045431 1009 if(pf2==0)
lakshya 20:949d13045431 1010 {
lakshya 20:949d13045431 1011 pf2check=1;
lakshya 20:949d13045431 1012 actual_data.faultPoll_status |=0x02 ;
lakshya 20:949d13045431 1013 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
lakshya 20:949d13045431 1014 }
lakshya 20:949d13045431 1015 else
lakshya 20:949d13045431 1016 actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 1017
sakthipriya 5:bb592f3185cc 1018 if (pf3==0)
lakshya 20:949d13045431 1019 {
lakshya 20:949d13045431 1020 actual_data.faultPoll_status |=0x04 ;
lakshya 20:949d13045431 1021 DRV_XY_EN = 0;
lakshya 20:949d13045431 1022 wait_us(1);
lakshya 20:949d13045431 1023 DRV_XY_EN = 1;
lakshya 20:949d13045431 1024 }
lakshya 20:949d13045431 1025 else
lakshya 20:949d13045431 1026 actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 1027 }
sakthipriya 5:bb592f3185cc 1028
sakthipriya 0:7b4c00e3912f 1029 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 1030 //SCHEDULER
sakthipriya 0:7b4c00e3912f 1031 //------------------------------------------------------------------------------------------------------------------------------------------------
lakshya 20:949d13045431 1032
sakthipriya 0:7b4c00e3912f 1033 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 1034 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 1035 {
lakshya 20:949d13045431 1036 #if print
lakshya 20:949d13045431 1037 printf("\n\r in scheduler");
lakshya 20:949d13045431 1038 #endif
lakshya 19:79e69017c855 1039 /*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 1040 if(schedcount == 13) //to reset the counter
sakthipriya 0:7b4c00e3912f 1041 schedcount = 1;
sakthipriya 0:7b4c00e3912f 1042 if(schedcount%1==0)
lakshya 20:949d13045431 1043 {
lakshya 20:949d13045431 1044 if( BAE_STANDBY!=0x02 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1045 {
Bragadeesh153 41:5df2bed2157d 1046 pc.printf("\nACS STATE IS !!!!!! = %x !!\r\n",ACS_STATE);
Bragadeesh153 41:5df2bed2157d 1047 pc.printf("\nACS ATS STATUS IS !!!!!! = %x !!\r\n",ACS_ATS_STATUS);
lakshya 20:949d13045431 1048 F_ACS();
lakshya 20:949d13045431 1049 //time_wdog = 0;
lakshya 20:949d13045431 1050 }
sakthipriya 0:7b4c00e3912f 1051
lakshya 20:949d13045431 1052 }
lakshya 33:76f2b8735501 1053 if(schedcount%4==0)
lakshya 20:949d13045431 1054 {
lakshya 20:949d13045431 1055 if( BAE_STANDBY!=0x01 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1056 {
lakshya 20:949d13045431 1057 //time_wdog = 1;
lakshya 20:949d13045431 1058 F_EPS();
lakshya 20:949d13045431 1059 }
lakshya 20:949d13045431 1060 //time_wdog = 0;
lakshya 20:949d13045431 1061 }
lakshya 33:76f2b8735501 1062 if(schedcount%6==0)
lakshya 20:949d13045431 1063 {
lakshya 22:950dbe9fbeb8 1064 if(BAE_STANDBY!=0x04 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1065 // time_wdog = 0;
lakshya 22:950dbe9fbeb8 1066 F_BCN();
lakshya 20:949d13045431 1067 }
sakthipriya 0:7b4c00e3912f 1068 schedcount++;
lakshya 20:949d13045431 1069 #if print
lakshya 20:949d13045431 1070 printf("\n\r exited scheduler h");
lakshya 20:949d13045431 1071 printf("\n\r time taken %f",t_start.read());
lakshya 20:949d13045431 1072 #endif
sakthipriya 0:7b4c00e3912f 1073 }
sakthipriya 0:7b4c00e3912f 1074
lakshya 20:949d13045431 1075
sakthipriya 0:7b4c00e3912f 1076 Timer t_flag;
lakshya 19:79e69017c855 1077
lakshya 20:949d13045431 1078
sakthipriya 0:7b4c00e3912f 1079 void FLAG()
sakthipriya 0:7b4c00e3912f 1080 {
lakshya 20:949d13045431 1081
lakshya 20:949d13045431 1082 //I2C
lakshya 20:949d13045431 1083 //if(BAE_MNG_I2C_STATUS == 1)
lakshya 20:949d13045431 1084 // BAE_STATUS = BAE_STATUS | 0x10000000;
lakshya 20:949d13045431 1085 //else if(BAE_MNG_I2C_STATUS == 0)
lakshya 20:949d13045431 1086 // BAE_STATUS &= 0xEFFFFFF;
lakshya 19:79e69017c855 1087
lakshya 19:79e69017c855 1088 //.............bae..................//
lakshya 19:79e69017c855 1089 if(BAE_INIT_STATUS == 1)
lakshya 19:79e69017c855 1090 BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001;
lakshya 19:79e69017c855 1091 else if(BAE_INIT_STATUS == 0)
lakshya 19:79e69017c855 1092 BAE_STATUS &= 0xFFFFFFFE;
lakshya 19:79e69017c855 1093
lakshya 20:949d13045431 1094 if(BAE_MNG_I2C_STATUS == 1)
lakshya 19:79e69017c855 1095 BAE_STATUS = BAE_STATUS | 0x00000002;
lakshya 20:949d13045431 1096 if(BAE_MNG_I2C_STATUS == 0)
lakshya 19:79e69017c855 1097 BAE_STATUS &= 0xFFFFFFFD;
lakshya 20:949d13045431 1098
sakthipriya 0:7b4c00e3912f 1099 //.............acs..................//
sakthipriya 9:194afacf7449 1100 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1101 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 1102 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1103 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 1104
sakthipriya 9:194afacf7449 1105 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1106 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 1107 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1108 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 1109
sakthipriya 9:194afacf7449 1110 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 1111 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 1112 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 1113 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 1114
sakthipriya 0:7b4c00e3912f 1115 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 1116 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 1117
sakthipriya 9:194afacf7449 1118 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1119 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 1120 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1121 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 1122
sakthipriya 0:7b4c00e3912f 1123 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 1124 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1125 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 1126 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 1127 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 1128 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1129 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 1130 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1131 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 1132 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1133 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 1134 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1135 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 1136 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 1137 else
sakthipriya 0:7b4c00e3912f 1138 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 1139
sakthipriya 0:7b4c00e3912f 1140 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 1141 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1142 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 1143 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1144 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 1145 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1146 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 1147 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1148 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 1149 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1150 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 1151 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 1152
sakthipriya 0:7b4c00e3912f 1153 //...............eps......................//
lakshya 20:949d13045431 1154 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
lakshya 20:949d13045431 1155 BAE_STATUS |= 0x00010000;
lakshya 20:949d13045431 1156 else if(EPS_INIT_STATUS==0) // Clear
lakshya 20:949d13045431 1157 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 1158
sakthipriya 5:bb592f3185cc 1159
lakshya 20:949d13045431 1160 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
lakshya 20:949d13045431 1161 BAE_STATUS |= 0x00040000;
lakshya 20:949d13045431 1162 else if(EPS_MAIN_STATUS==0) // Clear
lakshya 20:949d13045431 1163 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 1164
sakthipriya 5:bb592f3185cc 1165
lakshya 20:949d13045431 1166 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
lakshya 20:949d13045431 1167 BAE_STATUS |= 0x00020000;
lakshya 20:949d13045431 1168 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
lakshya 20:949d13045431 1169 BAE_STATUS &= 0xFFFDFFFF;
lakshya 20:949d13045431 1170
lakshya 33:76f2b8735501 1171 if (EPS_BTRY_TMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
lakshya 20:949d13045431 1172 BAE_STATUS |= 0x00080000;
lakshya 33:76f2b8735501 1173 else if(EPS_BTRY_TMP_STATUS==0) // Clear
lakshya 20:949d13045431 1174 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 1175
lakshya 20:949d13045431 1176 if (EPS_STATUS==0)
lakshya 20:949d13045431 1177 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
lakshya 20:949d13045431 1178 else if (EPS_STATUS==1)
lakshya 20:949d13045431 1179 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
lakshya 20:949d13045431 1180 else if (EPS_STATUS==2)
lakshya 20:949d13045431 1181 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
lakshya 20:949d13045431 1182 else if (EPS_STATUS==3)
lakshya 20:949d13045431 1183 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
lakshya 20:949d13045431 1184 else if (EPS_STATUS==4)
lakshya 20:949d13045431 1185 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
lakshya 20:949d13045431 1186 else if (EPS_STATUS==5)
lakshya 20:949d13045431 1187 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 1188
lakshya 20:949d13045431 1189 if(EPS_BTRY_HTR_AUTO == 1)
sakthipriya 5:bb592f3185cc 1190 BAE_ENABLE |= 0x00000080;
lakshya 20:949d13045431 1191 else if(EPS_BTRY_HTR_AUTO == 0)
sakthipriya 5:bb592f3185cc 1192 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 1193
lakshya 20:949d13045431 1194 #if print
lakshya 20:949d13045431 1195 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
lakshya 20:949d13045431 1196 #endif
lakshya 20:949d13045431 1197 }
sakthipriya 0:7b4c00e3912f 1198
sakthipriya 0:7b4c00e3912f 1199
sakthipriya 0:7b4c00e3912f 1200 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 1201 {
lakshya 20:949d13045431 1202 #if print
lakshya 20:949d13045431 1203 printf("\n\r Initialising BAE _________________________________________________________________________________");
lakshya 20:949d13045431 1204 #endif
lakshya 19:79e69017c855 1205 BAE_INIT_STATUS=1;
lakshya 19:79e69017c855 1206 FLAG();
lakshya 19:79e69017c855 1207
sakthipriya 3:07e15677a75c 1208 //..........intial status....//
Bragadeesh153 13:fb7facaf308b 1209 ACS_STATE = 4;
sakthipriya 9:194afacf7449 1210 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 1211 ACS_DATA_ACQ_ENABLE = 1;
lakshya 20:949d13045431 1212 EPS_BTRY_HTR_AUTO = 1;
Bragadeesh153 13:fb7facaf308b 1213 actual_data.power_mode=3;
lakshya 19:79e69017c855 1214
sakthipriya 9:194afacf7449 1215 //............intializing pins................//
sakthipriya 9:194afacf7449 1216 ATS1_SW_ENABLE = 0;
sakthipriya 9:194afacf7449 1217 ATS2_SW_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 1218
Bragadeesh153 13:fb7facaf308b 1219 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 1220 DRV_Z_EN = 1;
Bragadeesh153 13:fb7facaf308b 1221 TRZ_SW = 1;
Bragadeesh153 13:fb7facaf308b 1222 TRXY_SW = 1;
lakshya 20:949d13045431 1223
lakshya 20:949d13045431 1224 //time_wdog = 1;
sakthipriya 9:194afacf7449 1225
lakshya 19:79e69017c855 1226 //...........order mentioned in flow chart.................//
sakthipriya 3:07e15677a75c 1227 FCTN_ACS_INIT();
lakshya 17:fc782f7548c6 1228 FCTN_EPS_INIT();
lakshya 18:3662058a7c10 1229 FCTN_BCN_INIT();
lakshya 19:79e69017c855 1230
lakshya 27:61c856be467e 1231 //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 1232 //uint32_t data_modify=data_flash & 0x000000FF;
lakshya 27:61c856be467e 1233 //data_modify +=1;
lakshya 27:61c856be467e 1234 //data_modify |=data_flash;
lakshya 27:61c856be467e 1235 //FCTN_BAE_WR_FLASH(0,data_modify);
lakshya 20:949d13045431 1236 #if print
lakshya 20:949d13045431 1237 printf("\n\rthe number of reset %d",data_modify);
lakshya 20:949d13045431 1238 #endif
lakshya 19:79e69017c855 1239 BAE_INIT_STATUS=0;
sakthipriya 0:7b4c00e3912f 1240 FLAG();
sakthipriya 0:7b4c00e3912f 1241 }
sakthipriya 0:7b4c00e3912f 1242
lakshya 20:949d13045431 1243
sakthipriya 0:7b4c00e3912f 1244 int main()
sakthipriya 0:7b4c00e3912f 1245 {
lakshya 33:76f2b8735501 1246 //BAE_uptime.reset();
lakshya 33:76f2b8735501 1247 BAE_uptime.start();
lakshya 20:949d13045431 1248 //time_wdog = 1;
lakshya 19:79e69017c855 1249 pc.printf("\n\r BAE Activated. Testing Version 1.2 \n");
lakshya 20:949d13045431 1250 //FLASH_INI();
sakthipriya 0:7b4c00e3912f 1251 FCTN_BAE_INIT();
lakshya 20:949d13045431 1252 //time_wdog = 0;
lakshya 20:949d13045431 1253
sakthipriya 0:7b4c00e3912f 1254 slave.address(addr);
sakthipriya 0:7b4c00e3912f 1255 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 1256
sakthipriya 0:7b4c00e3912f 1257 ptr_t_i2c = new Thread(T_TC);
sakthipriya 0:7b4c00e3912f 1258 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 5:bb592f3185cc 1259
sakthipriya 0:7b4c00e3912f 1260 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 1261 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
lakshya 20:949d13045431 1262
sakthipriya 0:7b4c00e3912f 1263 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
lakshya 33:76f2b8735501 1264 t_sc_timer.start(5000);
sakthipriya 0:7b4c00e3912f 1265 t_start.start();
lakshya 20:949d13045431 1266 #if print
lakshya 20:949d13045431 1267 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
lakshya 20:949d13045431 1268 #endif
lakshya 19:79e69017c855 1269 /*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 1270 //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1271 /*static allocation*/
lakshya 19:79e69017c855 1272 RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1273 BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER;
lakshya 18:3662058a7c10 1274
lakshya 20:949d13045431 1275 RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce);
lakshya 20:949d13045431 1276 /*later change it to 30 min 1800 seconds*/
lakshya 20:949d13045431 1277 bcn_start_timer.start(20000);
lakshya 20:949d13045431 1278
lakshya 20:949d13045431 1279 //BCN HTR TIMERS
lakshya 20:949d13045431 1280 RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce);
lakshya 20:949d13045431 1281 HTR_OFF=&EPS_HTR_OFF_TIMER;
lakshya 20:949d13045431 1282
lakshya 20:949d13045431 1283 RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE);
lakshya 20:949d13045431 1284 HTR_CYCLE=&EPS_HTR_CYCLE_TIMER;
lakshya 20:949d13045431 1285
lakshya 20:949d13045431 1286 RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce);
lakshya 20:949d13045431 1287 HTR_DLY=&EPS_HTR_DLY_TIMER;
lakshya 20:949d13045431 1288
lakshya 20:949d13045431 1289 FLASH_INI();
lakshya 20:949d13045431 1290
lakshya 20:949d13045431 1291 while(1); //required to prevent main from terminating
lakshya 18:3662058a7c10 1292
lakshya 20:949d13045431 1293 }