Team Fox
/
BAE_QM_MAR9
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
workinQM_5thJan_azad
by 
Team Fox
main.cpp@32:623747b1cecb, 2016-07-03 (annotated)
- Committer:
- azaddevarm
- Date:
- Sun Jul 03 17:49:37 2016 +0000
- Revision:
- 32:623747b1cecb
- Parent:
- 31:046685b48b71
Updated EPS with flowchart v2.6;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| sakthipriya | 0:7b4c00e3912f | 1 | #include "mbed.h" |
| sakthipriya | 0:7b4c00e3912f | 2 | #include "rtos.h" |
| sakthipriya | 0:7b4c00e3912f | 3 | #include "pin_config.h" |
| sakthipriya | 0:7b4c00e3912f | 4 | #include "ACS.h" |
| sakthipriya | 0:7b4c00e3912f | 5 | #include "EPS.h" |
| sakthipriya | 0:7b4c00e3912f | 6 | #include "BCN.h" |
| sakthipriya | 0:7b4c00e3912f | 7 | #include "TCTM.h" |
| sakthipriya | 0:7b4c00e3912f | 8 | |
| Bragadeesh153 | 13:fb7facaf308b | 9 | #define tm_len 135 |
| Bragadeesh153 | 13:fb7facaf308b | 10 | #define tc_len 11 |
| azaddevarm | 29:bb0d64656ba1 | 11 | //#define batt_heat_low 20 |
| sakthipriya | 9:194afacf7449 | 12 | |
| sakthipriya | 0:7b4c00e3912f | 13 | //***************************************************** flags *************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 14 | uint32_t BAE_STATUS = 0x00000000; |
| sakthipriya | 0:7b4c00e3912f | 15 | uint32_t BAE_ENABLE = 0xFFFFFFFF; |
| sakthipriya | 0:7b4c00e3912f | 16 | |
| sakthipriya | 5:bb592f3185cc | 17 | //i2c// |
| sakthipriya | 5:bb592f3185cc | 18 | char data_send_flag = 'h'; |
| sakthipriya | 5:bb592f3185cc | 19 | |
| sakthipriya | 0:7b4c00e3912f | 20 | //.........acs...............// |
| sakthipriya | 9:194afacf7449 | 21 | /* char ACS_INIT_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 22 | char ACS_DATA_ACQ_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 23 | char ACS_ATS_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 24 | char ACS_MAIN_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 25 | char ACS_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 26 | |
| sakthipriya | 0:7b4c00e3912f | 27 | char ACS_ATS_ENABLE = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 28 | char ACS_DATA_ACQ_ENABLE = 'q'; |
| sakthipriya | 9:194afacf7449 | 29 | char ACS_STATE = 'q';*/ |
| sakthipriya | 9:194afacf7449 | 30 | |
| sakthipriya | 9:194afacf7449 | 31 | uint8_t ACS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 32 | uint8_t ACS_DATA_ACQ_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 33 | uint8_t ACS_ATS_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 34 | uint8_t ACS_MAIN_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 35 | uint8_t ACS_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 36 | |
| sakthipriya | 9:194afacf7449 | 37 | uint8_t ACS_ATS_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 38 | uint8_t ACS_DATA_ACQ_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 39 | uint8_t ACS_STATE = 4; |
| sakthipriya | 0:7b4c00e3912f | 40 | |
| sakthipriya | 0:7b4c00e3912f | 41 | //.....................eps...................// |
| sakthipriya | 0:7b4c00e3912f | 42 | //eps init |
| sakthipriya | 9:194afacf7449 | 43 | /*char EPS_INIT_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 44 | char EPS_BATTERY_GAUGE_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 45 | //eps main |
| sakthipriya | 0:7b4c00e3912f | 46 | char EPS_MAIN_STATUS = 'q'; |
| azaddevarm | 30:22b338b027de | 47 | char EPS_BTRY_TMP_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 48 | char EPS_STATUS = 'q'; |
| sakthipriya | 0:7b4c00e3912f | 49 | |
| azaddevarm | 29:bb0d64656ba1 | 50 | char EPS_BATTERY_HEATER_ENABLE = 'q'; |
| sakthipriya | 9:194afacf7449 | 51 | */ |
| sakthipriya | 9:194afacf7449 | 52 | |
| sakthipriya | 9:194afacf7449 | 53 | uint8_t EPS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 54 | uint8_t EPS_BATTERY_GAUGE_STATUS = 0; |
| azaddevarm | 28:5f0f2a3f3e8d | 55 | |
| sakthipriya | 9:194afacf7449 | 56 | //eps main |
| sakthipriya | 9:194afacf7449 | 57 | uint8_t EPS_MAIN_STATUS = 0; |
| azaddevarm | 30:22b338b027de | 58 | uint8_t EPS_BTRY_TMP_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 59 | uint8_t EPS_STATUS = 7; //invalid status |
| azaddevarm | 30:22b338b027de | 60 | uint8_t EPS_BTRY_HTR_AUTO = 1; |
| sakthipriya | 9:194afacf7449 | 61 | |
| azaddevarm | 29:bb0d64656ba1 | 62 | int EPS_MAIN_COUNTER = 0; |
| azaddevarm | 29:bb0d64656ba1 | 63 | |
| azaddevarm | 30:22b338b027de | 64 | uint8_t EPS_BTRY_HTR = 0; |
| azaddevarm | 30:22b338b027de | 65 | float EPS_BTRY_TMP_LOW; |
| azaddevarm | 30:22b338b027de | 66 | float EPS_BTRY_TMP_HIGH; |
| azaddevarm | 32:623747b1cecb | 67 | float EPS_BTRY_TMP_AVG; |
| azaddevarm | 30:22b338b027de | 68 | int EPS_BAT_TEMP_DEFAULT = 20; |
| azaddevarm | 30:22b338b027de | 69 | |
| azaddevarm | 30:22b338b027de | 70 | |
| sakthipriya | 0:7b4c00e3912f | 71 | |
| azaddevarm | 28:5f0f2a3f3e8d | 72 | //eps cdms fault |
| azaddevarm | 28:5f0f2a3f3e8d | 73 | uint8_t CDMS_SW_STATUS; |
| azaddevarm | 28:5f0f2a3f3e8d | 74 | bool CDMS_OC_FAULT; |
| azaddevarm | 28:5f0f2a3f3e8d | 75 | bool CDMS_SW_ENABLE; |
| azaddevarm | 28:5f0f2a3f3e8d | 76 | int CDMS_FAULT_COUNTER; |
| azaddevarm | 28:5f0f2a3f3e8d | 77 | |
| azaddevarm | 28:5f0f2a3f3e8d | 78 | //eps hw faults |
| azaddevarm | 28:5f0f2a3f3e8d | 79 | |
| azaddevarm | 28:5f0f2a3f3e8d | 80 | uint8_t ACS_TR_Z_SW_STATUS; |
| azaddevarm | 28:5f0f2a3f3e8d | 81 | bool ACS_TR_Z_ENABLE; |
| azaddevarm | 28:5f0f2a3f3e8d | 82 | bool ACS_TR_Z_OC_FAULT; |
| azaddevarm | 28:5f0f2a3f3e8d | 83 | bool ACS_TR_Z_FAULT; //Driver IC fault |
| azaddevarm | 28:5f0f2a3f3e8d | 84 | int ACS_TR_Z_FAULT_COUNTER; |
| azaddevarm | 28:5f0f2a3f3e8d | 85 | |
| azaddevarm | 28:5f0f2a3f3e8d | 86 | uint8_t ACS_TR_XY_SW_STATUS; |
| azaddevarm | 28:5f0f2a3f3e8d | 87 | bool ACS_TR_XY_ENABLE; |
| azaddevarm | 28:5f0f2a3f3e8d | 88 | bool ACS_TR_XY_OC_FAULT; |
| azaddevarm | 28:5f0f2a3f3e8d | 89 | bool ACS_TR_XY_FAULT; //Driver IC fault |
| azaddevarm | 28:5f0f2a3f3e8d | 90 | int ACS_TR_XY_FAULT_COUNTER; |
| azaddevarm | 28:5f0f2a3f3e8d | 91 | |
| azaddevarm | 28:5f0f2a3f3e8d | 92 | uint8_t ACS_ATS1_SW_STATUS; |
| azaddevarm | 28:5f0f2a3f3e8d | 93 | bool ACS_ATS1_ENABLE; |
| azaddevarm | 28:5f0f2a3f3e8d | 94 | bool ACS_ATS1_OC_FAULT; |
| azaddevarm | 28:5f0f2a3f3e8d | 95 | int ACS_ATS1_FAULT_COUNTER; |
| azaddevarm | 28:5f0f2a3f3e8d | 96 | |
| azaddevarm | 28:5f0f2a3f3e8d | 97 | uint8_t ACS_ATS2_SW_STATUS; |
| azaddevarm | 28:5f0f2a3f3e8d | 98 | bool ACS_ATS2_ENABLE; |
| azaddevarm | 28:5f0f2a3f3e8d | 99 | bool ACS_ATS2_OC_FAULT; |
| azaddevarm | 28:5f0f2a3f3e8d | 100 | int ACS_ATS2_FAULT_COUNTER; |
| azaddevarm | 28:5f0f2a3f3e8d | 101 | |
| azaddevarm | 28:5f0f2a3f3e8d | 102 | uint8_t BCN_TX_SW_STATUS; |
| azaddevarm | 28:5f0f2a3f3e8d | 103 | bool BCN_TX_ENABLE; |
| azaddevarm | 28:5f0f2a3f3e8d | 104 | bool BCN_TX_OC_FAULT; |
| azaddevarm | 28:5f0f2a3f3e8d | 105 | int BCN_TX_FAULT_COUNTER; |
| azaddevarm | 28:5f0f2a3f3e8d | 106 | |
| azaddevarm | 30:22b338b027de | 107 | |
| sakthipriya | 0:7b4c00e3912f | 108 | //.......................global variables..................................................................// new hk structure- everything has to changed based on this |
| sakthipriya | 6:036d08b62785 | 109 | uint8_t BAE_data[74]; |
| sakthipriya | 6:036d08b62785 | 110 | char BAE_chardata[74]; |
| sakthipriya | 0:7b4c00e3912f | 111 | |
| sakthipriya | 0:7b4c00e3912f | 112 | |
| sakthipriya | 0:7b4c00e3912f | 113 | //*************************************Global declarations************************************************// |
| sakthipriya | 0:7b4c00e3912f | 114 | const int addr = 0x20; //slave address |
| sakthipriya | 0:7b4c00e3912f | 115 | |
| sakthipriya | 0:7b4c00e3912f | 116 | Timer t_rfsilence; |
| sakthipriya | 0:7b4c00e3912f | 117 | Timer t_start; |
| sakthipriya | 7:a46a1dee4497 | 118 | Timer t_tc; |
| sakthipriya | 7:a46a1dee4497 | 119 | Timer t_tm; |
| sakthipriya | 0:7b4c00e3912f | 120 | Serial pc(USBTX, USBRX); |
| sakthipriya | 0:7b4c00e3912f | 121 | int power_flag_dummy=2; |
| sakthipriya | 0:7b4c00e3912f | 122 | float data[6]; |
| sakthipriya | 0:7b4c00e3912f | 123 | |
| sakthipriya | 0:7b4c00e3912f | 124 | extern float moment[3]; |
| sakthipriya | 0:7b4c00e3912f | 125 | extern uint8_t BCN_FEN; |
| sakthipriya | 1:446a959e36ce | 126 | extern BAE_HK_actual actual_data; |
| sakthipriya | 1:446a959e36ce | 127 | extern BAE_HK_quant quant_data; |
| sakthipriya | 1:446a959e36ce | 128 | extern BAE_HK_min_max bae_HK_minmax; |
| sakthipriya | 1:446a959e36ce | 129 | extern BAE_HK_arch arch_data; |
| sakthipriya | 0:7b4c00e3912f | 130 | |
| sakthipriya | 5:bb592f3185cc | 131 | int write_ack = 1; |
| sakthipriya | 5:bb592f3185cc | 132 | int read_ack = 1; |
| sakthipriya | 0:7b4c00e3912f | 133 | char telecommand[tc_len]; |
| Bragadeesh153 | 13:fb7facaf308b | 134 | extern uint8_t telemetry[135]; |
| sakthipriya | 5:bb592f3185cc | 135 | |
| sakthipriya | 5:bb592f3185cc | 136 | bool pf1check = 0; |
| sakthipriya | 5:bb592f3185cc | 137 | bool pf2check = 0; |
| sakthipriya | 5:bb592f3185cc | 138 | bool if1check = 0; |
| lakshya | 14:a9588f443f1a | 139 | bool if2check = 0; |
| sakthipriya | 0:7b4c00e3912f | 140 | |
| sakthipriya | 0:7b4c00e3912f | 141 | //*****************************************************Assigning pins******************************************************// |
| sakthipriya | 9:194afacf7449 | 142 | DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch |
| sakthipriya | 9:194afacf7449 | 143 | DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch |
| sakthipriya | 0:7b4c00e3912f | 144 | InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS |
| sakthipriya | 0:7b4c00e3912f | 145 | DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS |
| lakshya | 14:a9588f443f1a | 146 | I2CSlave slave (PIN1,PIN2);///pin1 pin2 |
| azaddevarm | 30:22b338b027de | 147 | DigitalOut BTRY_HTR_ENABLE(BATT_HEAT); //BTRY_HEAT |
| sakthipriya | 0:7b4c00e3912f | 148 | |
| sakthipriya | 9:194afacf7449 | 149 | //ATS1_SW_ENABLE = 0; |
| sakthipriya | 0:7b4c00e3912f | 150 | PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal |
| sakthipriya | 0:7b4c00e3912f | 151 | PwmOut PWM2(PIN94); //y |
| sakthipriya | 0:7b4c00e3912f | 152 | PwmOut PWM3(PIN95); //z //PWM output comes from pins p6 |
| sakthipriya | 0:7b4c00e3912f | 153 | |
| sakthipriya | 5:bb592f3185cc | 154 | //........faults |
| sakthipriya | 5:bb592f3185cc | 155 | //Polled Faults |
| sakthipriya | 5:bb592f3185cc | 156 | DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 157 | DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal |
| sakthipriya | 5:bb592f3185cc | 158 | DigitalIn pf3(PIN83);//Fault Bar for TRXY driver |
| sakthipriya | 5:bb592f3185cc | 159 | |
| sakthipriya | 5:bb592f3185cc | 160 | //Interrupt based faults |
| lakshya | 14:a9588f443f1a | 161 | //InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal |
| sakthipriya | 5:bb592f3185cc | 162 | InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault |
| sakthipriya | 5:bb592f3185cc | 163 | InterruptIn ir3(PIN89);//TRZ Driver Fault Bar |
| sakthipriya | 5:bb592f3185cc | 164 | InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault |
| sakthipriya | 5:bb592f3185cc | 165 | InterruptIn ir5(PIN79);//CDMS - Switch Fault |
| sakthipriya | 5:bb592f3185cc | 166 | InterruptIn ir6(PIN80);//Beacon- Switch OC bar |
| sakthipriya | 5:bb592f3185cc | 167 | InterruptIn ir7(PIN42);//Charger IC - Fault Bar |
| sakthipriya | 5:bb592f3185cc | 168 | |
| lakshya | 14:a9588f443f1a | 169 | |
| Bragadeesh153 | 13:fb7facaf308b | 170 | //DigitalOut TRXY_SW_EN(PIN71); //TR XY Switch |
| Bragadeesh153 | 13:fb7facaf308b | 171 | //DigitalOut DRV_Z_SLP(PIN88); //Sleep pin of driver z |
| Bragadeesh153 | 13:fb7facaf308b | 172 | //DigitalOut TRZ_SW(PIN40); //TR Z Switch |
| Bragadeesh153 | 13:fb7facaf308b | 173 | //DigitalOut CDMS_RESET(PIN7); // CDMS RESET |
| Bragadeesh153 | 13:fb7facaf308b | 174 | //DigitalOut BCN_SW(PIN14); //Beacon switch |
| Bragadeesh153 | 13:fb7facaf308b | 175 | //DigitalOut DRV_XY_SLP(PIN82); |
| Bragadeesh153 | 13:fb7facaf308b | 176 | |
| Bragadeesh153 | 13:fb7facaf308b | 177 | |
| Bragadeesh153 | 13:fb7facaf308b | 178 | DigitalOut TRXY_SW(PIN71); //TR XY Switch |
| Bragadeesh153 | 13:fb7facaf308b | 179 | DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z |
| sakthipriya | 5:bb592f3185cc | 180 | DigitalOut TRZ_SW(PIN40); //TR Z Switch |
| sakthipriya | 5:bb592f3185cc | 181 | DigitalOut CDMS_RESET(PIN7); // CDMS RESET |
| sakthipriya | 5:bb592f3185cc | 182 | DigitalOut BCN_SW(PIN14); //Beacon switch |
| Bragadeesh153 | 13:fb7facaf308b | 183 | DigitalOut DRV_XY_EN(PIN82); |
| sakthipriya | 0:7b4c00e3912f | 184 | |
| sakthipriya | 0:7b4c00e3912f | 185 | /*****************************************************************Threads USed***********************************************************************************/ |
| sakthipriya | 3:07e15677a75c | 186 | |
| sakthipriya | 0:7b4c00e3912f | 187 | Thread *ptr_t_i2c; |
| sakthipriya | 0:7b4c00e3912f | 188 | |
| sakthipriya | 0:7b4c00e3912f | 189 | /*********************************************************FCTN HEADERS***********************************************************************************/ |
| sakthipriya | 0:7b4c00e3912f | 190 | |
| sakthipriya | 0:7b4c00e3912f | 191 | void FCTN_ISR_I2C(); |
| sakthipriya | 0:7b4c00e3912f | 192 | void FCTN_TM(); |
| sakthipriya | 3:07e15677a75c | 193 | void F_ACS(); |
| sakthipriya | 3:07e15677a75c | 194 | void F_EPS(); |
| sakthipriya | 3:07e15677a75c | 195 | void F_BCN(); |
| sakthipriya | 0:7b4c00e3912f | 196 | |
| sakthipriya | 0:7b4c00e3912f | 197 | //*******************************************ACS THREAD**************************************************// |
| sakthipriya | 5:bb592f3185cc | 198 | uint8_t iterP1; |
| sakthipriya | 5:bb592f3185cc | 199 | uint8_t iterP2; |
| sakthipriya | 5:bb592f3185cc | 200 | uint8_t iterI1; |
| sakthipriya | 5:bb592f3185cc | 201 | uint8_t iterI2; |
| sakthipriya | 0:7b4c00e3912f | 202 | |
| sakthipriya | 5:bb592f3185cc | 203 | |
| sakthipriya | 3:07e15677a75c | 204 | void F_ACS() |
| sakthipriya | 0:7b4c00e3912f | 205 | { |
| sakthipriya | 8:82250e41da81 | 206 | |
| sakthipriya | 9:194afacf7449 | 207 | |
| sakthipriya | 8:82250e41da81 | 208 | //...................// |
| sakthipriya | 8:82250e41da81 | 209 | |
| sakthipriya | 5:bb592f3185cc | 210 | if(pf1check == 1) |
| sakthipriya | 5:bb592f3185cc | 211 | { |
| sakthipriya | 5:bb592f3185cc | 212 | if(iterP1 >= 3) |
| sakthipriya | 5:bb592f3185cc | 213 | { |
| sakthipriya | 9:194afacf7449 | 214 | ATS1_SW_ENABLE = 1; // turn off ats1 permanently |
| sakthipriya | 5:bb592f3185cc | 215 | //FCTN_SWITCH_ATS(0); // switch on ATS2 |
| sakthipriya | 5:bb592f3185cc | 216 | } |
| sakthipriya | 5:bb592f3185cc | 217 | else |
| sakthipriya | 5:bb592f3185cc | 218 | { |
| sakthipriya | 9:194afacf7449 | 219 | ATS1_SW_ENABLE = 0; |
| sakthipriya | 5:bb592f3185cc | 220 | iterP1++; |
| sakthipriya | 5:bb592f3185cc | 221 | } |
| sakthipriya | 9:194afacf7449 | 222 | pf1check = 0; |
| sakthipriya | 5:bb592f3185cc | 223 | } |
| sakthipriya | 5:bb592f3185cc | 224 | if(pf2check == 1) |
| sakthipriya | 5:bb592f3185cc | 225 | { |
| sakthipriya | 5:bb592f3185cc | 226 | if(iterP1 >= 3) |
| sakthipriya | 5:bb592f3185cc | 227 | { |
| sakthipriya | 9:194afacf7449 | 228 | ATS2_SW_ENABLE = 1; // turn off ats2 permanently |
| Bragadeesh153 | 13:fb7facaf308b | 229 | ACS_DATA_ACQ_ENABLE = 0; |
| Bragadeesh153 | 13:fb7facaf308b | 230 | ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 5:bb592f3185cc | 231 | } |
| sakthipriya | 5:bb592f3185cc | 232 | else |
| sakthipriya | 5:bb592f3185cc | 233 | { |
| sakthipriya | 9:194afacf7449 | 234 | ATS2_SW_ENABLE = 0; |
| sakthipriya | 5:bb592f3185cc | 235 | iterP2++; |
| sakthipriya | 5:bb592f3185cc | 236 | } |
| sakthipriya | 9:194afacf7449 | 237 | pf2check = 0; |
| sakthipriya | 5:bb592f3185cc | 238 | } |
| sakthipriya | 5:bb592f3185cc | 239 | if(if1check == 1) |
| sakthipriya | 5:bb592f3185cc | 240 | { |
| sakthipriya | 5:bb592f3185cc | 241 | if(iterI1 >= 3) |
| sakthipriya | 5:bb592f3185cc | 242 | { |
| Bragadeesh153 | 13:fb7facaf308b | 243 | TRXY_SW = 0; // turn off TRXY permanently |
| sakthipriya | 5:bb592f3185cc | 244 | } |
| sakthipriya | 5:bb592f3185cc | 245 | else |
| sakthipriya | 5:bb592f3185cc | 246 | { |
| Bragadeesh153 | 13:fb7facaf308b | 247 | TRXY_SW = 1; //switch on TRXY |
| sakthipriya | 5:bb592f3185cc | 248 | iterI1++; |
| sakthipriya | 5:bb592f3185cc | 249 | } |
| sakthipriya | 5:bb592f3185cc | 250 | } |
| sakthipriya | 5:bb592f3185cc | 251 | if(if2check == 1) |
| sakthipriya | 5:bb592f3185cc | 252 | { |
| sakthipriya | 5:bb592f3185cc | 253 | if(iterI2 >= 3) |
| sakthipriya | 5:bb592f3185cc | 254 | { |
| sakthipriya | 5:bb592f3185cc | 255 | TRZ_SW = 0; // turn off TRZ permanently |
| Bragadeesh153 | 13:fb7facaf308b | 256 | ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 5:bb592f3185cc | 257 | } |
| sakthipriya | 5:bb592f3185cc | 258 | else |
| sakthipriya | 5:bb592f3185cc | 259 | { |
| sakthipriya | 5:bb592f3185cc | 260 | TRZ_SW = 1; //switch on Z |
| sakthipriya | 5:bb592f3185cc | 261 | iterI2++; |
| sakthipriya | 5:bb592f3185cc | 262 | } |
| sakthipriya | 5:bb592f3185cc | 263 | } |
| sakthipriya | 5:bb592f3185cc | 264 | |
| sakthipriya | 6:036d08b62785 | 265 | //float b1[3]={-23.376,-37.56,14.739}, omega1[3]={-1.52,2.746,0.7629}, moment1[3]= {1.0498,-1.0535,1.3246}; |
| sakthipriya | 0:7b4c00e3912f | 266 | //b1[3] = {22, 22,10}; |
| sakthipriya | 0:7b4c00e3912f | 267 | //omega1[3] = {2.1,3.0,1.5}; |
| sakthipriya | 9:194afacf7449 | 268 | // ATS1_SW_ENABLE = 0; // att sens2 switch is disabled |
| sakthipriya | 9:194afacf7449 | 269 | // ATS2_SW_ENABLE = 0; // att sens switch is disabled |
| sakthipriya | 0:7b4c00e3912f | 270 | |
| sakthipriya | 3:07e15677a75c | 271 | |
| sakthipriya | 0:7b4c00e3912f | 272 | |
| sakthipriya | 3:07e15677a75c | 273 | //Thread::signal_wait(0x1); |
| sakthipriya | 9:194afacf7449 | 274 | ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 275 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 276 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 277 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 278 | pc.printf("\n\rEntered ACS %f\n",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 279 | |
| sakthipriya | 9:194afacf7449 | 280 | if(ACS_DATA_ACQ_ENABLE == 1)// check if ACS_DATA_ACQ_ENABLE = 1? |
| sakthipriya | 0:7b4c00e3912f | 281 | { |
| Bragadeesh153 | 13:fb7facaf308b | 282 | //FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 283 | FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3 |
| sakthipriya | 0:7b4c00e3912f | 284 | pc.printf("gyro values\n\r"); //printing the angular velocity and magnetic field values |
| sakthipriya | 0:7b4c00e3912f | 285 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 286 | { |
| lakshya | 15:e09aaaccf134 | 287 | printf("%f\n\r",actual_data.AngularSpeed_actual[i]); |
| sakthipriya | 0:7b4c00e3912f | 288 | } |
| sakthipriya | 0:7b4c00e3912f | 289 | pc.printf("mag values\n\r"); |
| sakthipriya | 6:036d08b62785 | 290 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 291 | { |
| sakthipriya | 6:036d08b62785 | 292 | pc.printf("%f\n\r",actual_data.Bvalue_actual[i]); |
| sakthipriya | 5:bb592f3185cc | 293 | } |
| sakthipriya | 6:036d08b62785 | 294 | // for(int i=0;i<3;i++) |
| sakthipriya | 6:036d08b62785 | 295 | // { |
| sakthipriya | 6:036d08b62785 | 296 | // omega1[i]= data[i]; |
| sakthipriya | 6:036d08b62785 | 297 | // b1[i] = data[i+3]; |
| sakthipriya | 6:036d08b62785 | 298 | // } |
| sakthipriya | 0:7b4c00e3912f | 299 | }//if ACS_DATA_ACQ_ENABLE = 1 |
| sakthipriya | 0:7b4c00e3912f | 300 | else |
| sakthipriya | 0:7b4c00e3912f | 301 | { |
| sakthipriya | 0:7b4c00e3912f | 302 | // Z axis actuation is the only final solution, |
| sakthipriya | 0:7b4c00e3912f | 303 | } |
| sakthipriya | 9:194afacf7449 | 304 | if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF? |
| sakthipriya | 0:7b4c00e3912f | 305 | { |
| sakthipriya | 0:7b4c00e3912f | 306 | printf("\n\r acs control off\n"); |
| sakthipriya | 0:7b4c00e3912f | 307 | FLAG(); |
| sakthipriya | 9:194afacf7449 | 308 | ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 309 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 310 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 311 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 312 | } |
| sakthipriya | 0:7b4c00e3912f | 313 | else |
| sakthipriya | 0:7b4c00e3912f | 314 | { |
| sakthipriya | 1:446a959e36ce | 315 | if(actual_data.power_mode>1) |
| sakthipriya | 0:7b4c00e3912f | 316 | |
| sakthipriya | 0:7b4c00e3912f | 317 | { |
| sakthipriya | 9:194afacf7449 | 318 | if(ACS_STATE == 2) // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 319 | { |
| sakthipriya | 0:7b4c00e3912f | 320 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 321 | printf("\n\r z axis moment only\n"); |
| sakthipriya | 9:194afacf7449 | 322 | ACS_STATUS = 2; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 323 | // FCTN_ACS_CNTRLALGO(b1, omega1); |
| sakthipriya | 0:7b4c00e3912f | 324 | moment[0] = 0; |
| sakthipriya | 0:7b4c00e3912f | 325 | moment[1] = 0; |
| sakthipriya | 0:7b4c00e3912f | 326 | moment[2] =1.3;// is a dummy value |
| sakthipriya | 0:7b4c00e3912f | 327 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| sakthipriya | 0:7b4c00e3912f | 328 | } |
| sakthipriya | 0:7b4c00e3912f | 329 | else |
| sakthipriya | 0:7b4c00e3912f | 330 | { |
| sakthipriya | 9:194afacf7449 | 331 | if(ACS_STATE == 3) // check ACS_STATE = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 332 | { |
| sakthipriya | 0:7b4c00e3912f | 333 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 334 | printf("\n\r acs data failure "); |
| sakthipriya | 9:194afacf7449 | 335 | ACS_STATUS = 3; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 336 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 337 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 338 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 339 | } |
| sakthipriya | 0:7b4c00e3912f | 340 | else |
| sakthipriya | 0:7b4c00e3912f | 341 | { |
| sakthipriya | 9:194afacf7449 | 342 | if(ACS_STATE == 4) // check ACS_STATE = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 343 | { |
| sakthipriya | 0:7b4c00e3912f | 344 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 345 | printf("\n\r nominal"); |
| sakthipriya | 9:194afacf7449 | 346 | ACS_STATUS = 4; // set ACS_STATUS = ACS_NOMINAL_ONLY |
| sakthipriya | 6:036d08b62785 | 347 | FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); |
| sakthipriya | 0:7b4c00e3912f | 348 | printf("\n\r moment values returned by control algo \n"); |
| sakthipriya | 0:7b4c00e3912f | 349 | for(int i=0; i<3; i++) |
| sakthipriya | 0:7b4c00e3912f | 350 | { |
| sakthipriya | 0:7b4c00e3912f | 351 | printf("%f\t",moment[i]); |
| sakthipriya | 0:7b4c00e3912f | 352 | } |
| sakthipriya | 0:7b4c00e3912f | 353 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| sakthipriya | 0:7b4c00e3912f | 354 | } |
| sakthipriya | 0:7b4c00e3912f | 355 | else |
| sakthipriya | 0:7b4c00e3912f | 356 | { |
| sakthipriya | 9:194afacf7449 | 357 | if(ACS_STATE == 5) // check ACS_STATE = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 358 | { |
| sakthipriya | 0:7b4c00e3912f | 359 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 360 | printf("\n\r auto control"); |
| sakthipriya | 9:194afacf7449 | 361 | ACS_STATUS = 5; // set ACS_STATUS = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 362 | //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code |
| sakthipriya | 0:7b4c00e3912f | 363 | } |
| sakthipriya | 0:7b4c00e3912f | 364 | else |
| sakthipriya | 0:7b4c00e3912f | 365 | { |
| sakthipriya | 9:194afacf7449 | 366 | if(ACS_STATE == 6) // check ACS_STATE = ACS_DETUMBLING_ONLY |
| sakthipriya | 0:7b4c00e3912f | 367 | { |
| sakthipriya | 0:7b4c00e3912f | 368 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 369 | printf("\n\r Entered detumbling \n"); |
| sakthipriya | 9:194afacf7449 | 370 | ACS_STATUS = 6; // set ACS_STATUS = ACS_DETUMBLING_ONLY |
| sakthipriya | 6:036d08b62785 | 371 | FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); // detumbling code has to be included |
| sakthipriya | 0:7b4c00e3912f | 372 | FCTN_ACS_GENPWM_MAIN(moment) ; |
| sakthipriya | 0:7b4c00e3912f | 373 | } |
| sakthipriya | 0:7b4c00e3912f | 374 | else |
| sakthipriya | 0:7b4c00e3912f | 375 | { |
| sakthipriya | 0:7b4c00e3912f | 376 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 377 | printf("\n\r invalid state"); |
| sakthipriya | 9:194afacf7449 | 378 | ACS_STATUS = 7 ; // set ACS_STATUS = INVALID STATE |
| sakthipriya | 0:7b4c00e3912f | 379 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 380 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 381 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 382 | }//else of invalid |
| sakthipriya | 0:7b4c00e3912f | 383 | }//else of autocontrol |
| sakthipriya | 0:7b4c00e3912f | 384 | }//else of nominal |
| sakthipriya | 0:7b4c00e3912f | 385 | }//else of data acg failure |
| sakthipriya | 0:7b4c00e3912f | 386 | |
| sakthipriya | 0:7b4c00e3912f | 387 | }//else fo z axis moment only |
| sakthipriya | 0:7b4c00e3912f | 388 | }//if power >2 |
| sakthipriya | 0:7b4c00e3912f | 389 | else |
| sakthipriya | 0:7b4c00e3912f | 390 | { |
| sakthipriya | 0:7b4c00e3912f | 391 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 392 | printf("\n\r low power"); |
| sakthipriya | 9:194afacf7449 | 393 | ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER |
| sakthipriya | 0:7b4c00e3912f | 394 | PWM1 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 395 | PWM2 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 396 | PWM3 = 0; //clear pwm pins |
| sakthipriya | 0:7b4c00e3912f | 397 | } |
| sakthipriya | 0:7b4c00e3912f | 398 | } //else for acs control off |
| sakthipriya | 9:194afacf7449 | 399 | ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag |
| sakthipriya | 3:07e15677a75c | 400 | |
| sakthipriya | 0:7b4c00e3912f | 401 | } |
| sakthipriya | 0:7b4c00e3912f | 402 | //***************************************************EPS THREAD***********************************************// |
| sakthipriya | 0:7b4c00e3912f | 403 | |
| sakthipriya | 3:07e15677a75c | 404 | void F_EPS() |
| sakthipriya | 0:7b4c00e3912f | 405 | { |
| azaddevarm | 30:22b338b027de | 406 | float eps_btry_temp; |
| azaddevarm | 32:623747b1cecb | 407 | pc.printf("\n\rEntered EPS %f\n\r",t_start.read()); |
| azaddevarm | 30:22b338b027de | 408 | EPS_MAIN_STATUS = 1; // Set EPS main status |
| azaddevarm | 30:22b338b027de | 409 | EPS_MAIN_COUNTER++; |
| azaddevarm | 30:22b338b027de | 410 | FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual); |
| azaddevarm | 32:623747b1cecb | 411 | pc.printf("Battery temperature %f %f\n\r" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]); |
| azaddevarm | 32:623747b1cecb | 412 | EPS_BTRY_TMP_AVG = ( actual_data.Batt_temp_actual[0] + actual_data.Batt_temp_actual[1] )/2; |
| azaddevarm | 30:22b338b027de | 413 | if(abs(actual_data.Batt_temp_actual[0] - actual_data.Batt_temp_actual[1]) > 10) |
| azaddevarm | 30:22b338b027de | 414 | { |
| azaddevarm | 30:22b338b027de | 415 | EPS_BTRY_TMP_STATUS = 0; //clear EPS_BTRY_TMP_STATUS |
| azaddevarm | 30:22b338b027de | 416 | eps_btry_temp = (float) EPS_BAT_TEMP_DEFAULT; |
| azaddevarm | 30:22b338b027de | 417 | } |
| azaddevarm | 30:22b338b027de | 418 | else |
| azaddevarm | 30:22b338b027de | 419 | { |
| azaddevarm | 30:22b338b027de | 420 | EPS_BTRY_TMP_STATUS = 1; //set EPS_BTRY_TMP_STATUS |
| azaddevarm | 32:623747b1cecb | 421 | eps_btry_temp = EPS_BTRY_TMP_AVG; |
| azaddevarm | 30:22b338b027de | 422 | } |
| azaddevarm | 30:22b338b027de | 423 | |
| azaddevarm | 30:22b338b027de | 424 | if(EPS_BTRY_HTR_AUTO == 0) |
| azaddevarm | 30:22b338b027de | 425 | EPS_STATUS = 1; //EPS_BATTERY_HEATER_DISABLED |
| azaddevarm | 30:22b338b027de | 426 | else if( EPS_BTRY_TMP_STATUS == 0 ) |
| azaddevarm | 30:22b338b027de | 427 | { |
| azaddevarm | 30:22b338b027de | 428 | BTRY_HTR_ENABLE = 0; |
| azaddevarm | 30:22b338b027de | 429 | EPS_BTRY_HTR = 0; |
| azaddevarm | 30:22b338b027de | 430 | EPS_STATUS = 0; //Set EPS_ERR_BATTERY_TEMP |
| azaddevarm | 30:22b338b027de | 431 | } |
| azaddevarm | 30:22b338b027de | 432 | else |
| azaddevarm | 30:22b338b027de | 433 | { |
| azaddevarm | 30:22b338b027de | 434 | if( EPS_BTRY_HTR == 1 && eps_btry_temp >= EPS_BTRY_TMP_HIGH ) |
| azaddevarm | 30:22b338b027de | 435 | { |
| azaddevarm | 30:22b338b027de | 436 | BTRY_HTR_ENABLE = 0; |
| azaddevarm | 30:22b338b027de | 437 | EPS_BTRY_HTR = 0; |
| azaddevarm | 30:22b338b027de | 438 | EPS_STATUS = 4; //Set EPS_BATTERY_HEATER_OFF |
| azaddevarm | 30:22b338b027de | 439 | } |
| azaddevarm | 30:22b338b027de | 440 | else if( EPS_BTRY_HTR == 0 && eps_btry_temp < EPS_BTRY_TMP_LOW ) |
| azaddevarm | 30:22b338b027de | 441 | { |
| azaddevarm | 30:22b338b027de | 442 | BTRY_HTR_ENABLE = 1; |
| azaddevarm | 30:22b338b027de | 443 | EPS_BTRY_HTR = 1; |
| azaddevarm | 30:22b338b027de | 444 | EPS_STATUS = 5; //Set EPS_BATTERY_HEATER_ON |
| azaddevarm | 30:22b338b027de | 445 | } |
| azaddevarm | 30:22b338b027de | 446 | } |
| azaddevarm | 30:22b338b027de | 447 | |
| azaddevarm | 30:22b338b027de | 448 | unsigned short statusreg = read(REG_STATUS); |
| azaddevarm | 30:22b338b027de | 449 | if( EPS_BATTERY_GAUGE_STATUS == 0 ) reset(); |
| azaddevarm | 29:bb0d64656ba1 | 450 | if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set |
| azaddevarm | 32:623747b1cecb | 451 | { |
| azaddevarm | 32:623747b1cecb | 452 | printf("REG_STATUS = %d\r\n",read(REG_STATUS)); |
| azaddevarm | 29:bb0d64656ba1 | 453 | FCTN_BATTERYGAUGE_INIT(); |
| azaddevarm | 32:623747b1cecb | 454 | } |
| azaddevarm | 30:22b338b027de | 455 | int BTG_MAIN_FLAG = FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual, eps_btry_temp); |
| azaddevarm | 30:22b338b027de | 456 | if( BTG_MAIN_FLAG == 0 ) //Data not received |
| azaddevarm | 29:bb0d64656ba1 | 457 | { |
| azaddevarm | 29:bb0d64656ba1 | 458 | actual_data.power_mode = 1; |
| azaddevarm | 29:bb0d64656ba1 | 459 | EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS |
| azaddevarm | 29:bb0d64656ba1 | 460 | } |
| azaddevarm | 30:22b338b027de | 461 | else |
| azaddevarm | 29:bb0d64656ba1 | 462 | { |
| azaddevarm | 29:bb0d64656ba1 | 463 | FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level |
| azaddevarm | 29:bb0d64656ba1 | 464 | EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS |
| azaddevarm | 29:bb0d64656ba1 | 465 | } |
| azaddevarm | 30:22b338b027de | 466 | |
| sakthipriya | 3:07e15677a75c | 467 | FCTN_HK_MAIN(); |
| sakthipriya | 6:036d08b62785 | 468 | // printf("\n\r here"); |
| azaddevarm | 29:bb0d64656ba1 | 469 | FCTN_EPS_HANDLE_HW_FAULTS(); |
| azaddevarm | 29:bb0d64656ba1 | 470 | FCTN_EPS_HANDLE_CDMS_FAULT(); |
| sakthipriya | 5:bb592f3185cc | 471 | FCTN_APPEND_HKDATA(); |
| sakthipriya | 5:bb592f3185cc | 472 | minMaxHkData(); |
| sakthipriya | 6:036d08b62785 | 473 | //printf("\n\r here"); |
| sakthipriya | 9:194afacf7449 | 474 | EPS_MAIN_STATUS = 0; // clear EPS main status |
| sakthipriya | 3:07e15677a75c | 475 | |
| sakthipriya | 0:7b4c00e3912f | 476 | } |
| sakthipriya | 0:7b4c00e3912f | 477 | |
| sakthipriya | 0:7b4c00e3912f | 478 | //**************************************************BCN THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 479 | |
| sakthipriya | 3:07e15677a75c | 480 | void F_BCN() |
| sakthipriya | 0:7b4c00e3912f | 481 | { |
| sakthipriya | 3:07e15677a75c | 482 | |
| sakthipriya | 0:7b4c00e3912f | 483 | pc.printf("\n\rEntered BCN %f\n",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 484 | |
| Bragadeesh153 | 12:af1d7e18b868 | 485 | FCTN_BCN_TX_MAIN(); |
| sakthipriya | 0:7b4c00e3912f | 486 | |
| sakthipriya | 0:7b4c00e3912f | 487 | } |
| sakthipriya | 0:7b4c00e3912f | 488 | |
| sakthipriya | 0:7b4c00e3912f | 489 | //**************************************************TCTM THREAD*******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 490 | |
| sakthipriya | 0:7b4c00e3912f | 491 | void T_TC(void const * args) |
| sakthipriya | 0:7b4c00e3912f | 492 | { |
| sakthipriya | 0:7b4c00e3912f | 493 | while(1) |
| sakthipriya | 0:7b4c00e3912f | 494 | { |
| sakthipriya | 0:7b4c00e3912f | 495 | Thread::signal_wait(0x4); |
| lakshya | 15:e09aaaccf134 | 496 | wait_us(200); |
| lakshya | 15:e09aaaccf134 | 497 | //printf("\n\rreached\n"); // can be between 38 to 15700 |
| sakthipriya | 0:7b4c00e3912f | 498 | if( slave.receive() == 0) |
| lakshya | 15:e09aaaccf134 | 499 | {slave.stop(); |
| lakshya | 15:e09aaaccf134 | 500 | //printf("\n\rnot send\n"); |
| lakshya | 15:e09aaaccf134 | 501 | } |
| sakthipriya | 0:7b4c00e3912f | 502 | else if( slave.receive() == 1) // slave writes to master |
| sakthipriya | 0:7b4c00e3912f | 503 | { |
| sakthipriya | 5:bb592f3185cc | 504 | if(data_send_flag == 'h') |
| sakthipriya | 6:036d08b62785 | 505 | { |
| sakthipriya | 6:036d08b62785 | 506 | //FCTN_APPEND_HKDATA(); |
| sakthipriya | 6:036d08b62785 | 507 | // pc.printf("\n\r here"); |
| sakthipriya | 6:036d08b62785 | 508 | write_ack=slave.write(BAE_chardata,74); |
| Bragadeesh153 | 13:fb7facaf308b | 509 | if(write_ack==0) |
| lakshya | 15:e09aaaccf134 | 510 | {irpt_2_mstr = 0; |
| lakshya | 15:e09aaaccf134 | 511 | printf("\n\rgot interrupt\n"); |
| lakshya | 15:e09aaaccf134 | 512 | } |
| sakthipriya | 6:036d08b62785 | 513 | } |
| sakthipriya | 5:bb592f3185cc | 514 | else if(data_send_flag == 't') |
| sakthipriya | 5:bb592f3185cc | 515 | { |
| Bragadeesh153 | 13:fb7facaf308b | 516 | write_ack=slave.write((char*)telemetry,tm_len); |
| sakthipriya | 5:bb592f3185cc | 517 | data_send_flag = 'h'; |
| Bragadeesh153 | 13:fb7facaf308b | 518 | if(write_ack==0) |
| Bragadeesh153 | 13:fb7facaf308b | 519 | irpt_2_mstr = 0; |
| sakthipriya | 5:bb592f3185cc | 520 | } |
| sakthipriya | 0:7b4c00e3912f | 521 | } |
| sakthipriya | 0:7b4c00e3912f | 522 | else if( slave.receive()==3 || slave.receive()==2) // slave read |
| sakthipriya | 0:7b4c00e3912f | 523 | { |
| sakthipriya | 5:bb592f3185cc | 524 | read_ack=slave.read(telecommand,tc_len); |
| sakthipriya | 7:a46a1dee4497 | 525 | t_tc.start(); |
| sakthipriya | 6:036d08b62785 | 526 | //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand); |
| sakthipriya | 7:a46a1dee4497 | 527 | pc.printf("\n\r Executing Telecommand \n"); |
| sakthipriya | 3:07e15677a75c | 528 | // FCTN_TC_DECODE((uint8_t*) telecommand); |
| sakthipriya | 7:a46a1dee4497 | 529 | |
| Bragadeesh153 | 13:fb7facaf308b | 530 | FCTN_BAE_TM_TC((uint8_t*) telecommand); |
| Bragadeesh153 | 13:fb7facaf308b | 531 | //telemetry = (char*)temp; |
| sakthipriya | 7:a46a1dee4497 | 532 | |
| sakthipriya | 5:bb592f3185cc | 533 | FCTN_TM(); |
| sakthipriya | 7:a46a1dee4497 | 534 | t_tc.stop(); |
| sakthipriya | 7:a46a1dee4497 | 535 | printf("\n\r time taken %d",t_tc.read_us()); |
| sakthipriya | 7:a46a1dee4497 | 536 | t_tc.reset(); |
| sakthipriya | 3:07e15677a75c | 537 | // for(int i = 0; i<134; i++) |
| sakthipriya | 3:07e15677a75c | 538 | //pc.printf("%c", telemetry[i]); |
| sakthipriya | 0:7b4c00e3912f | 539 | } |
| sakthipriya | 0:7b4c00e3912f | 540 | |
| sakthipriya | 6:036d08b62785 | 541 | |
| sakthipriya | 0:7b4c00e3912f | 542 | } |
| sakthipriya | 0:7b4c00e3912f | 543 | } |
| sakthipriya | 0:7b4c00e3912f | 544 | |
| sakthipriya | 0:7b4c00e3912f | 545 | void FCTN_TM() |
| sakthipriya | 0:7b4c00e3912f | 546 | { |
| sakthipriya | 4:39a4ae8c7ecd | 547 | //irpt_2_mstr = 0; |
| sakthipriya | 5:bb592f3185cc | 548 | data_send_flag = 't'; |
| sakthipriya | 0:7b4c00e3912f | 549 | pc.printf("\n\r Telemetry Generation \n"); |
| sakthipriya | 0:7b4c00e3912f | 550 | irpt_2_mstr = 1; |
| sakthipriya | 0:7b4c00e3912f | 551 | } |
| sakthipriya | 0:7b4c00e3912f | 552 | |
| sakthipriya | 0:7b4c00e3912f | 553 | |
| sakthipriya | 0:7b4c00e3912f | 554 | //******************************************************* I2C *******************************************************************// |
| sakthipriya | 0:7b4c00e3912f | 555 | |
| sakthipriya | 0:7b4c00e3912f | 556 | void FCTN_I2C_ISR() |
| sakthipriya | 0:7b4c00e3912f | 557 | { |
| sakthipriya | 0:7b4c00e3912f | 558 | ptr_t_i2c->signal_set(0x4); |
| sakthipriya | 0:7b4c00e3912f | 559 | } |
| sakthipriya | 0:7b4c00e3912f | 560 | |
| sakthipriya | 0:7b4c00e3912f | 561 | |
| sakthipriya | 5:bb592f3185cc | 562 | //***********************************************************FAULTS***************************************************************// |
| sakthipriya | 5:bb592f3185cc | 563 | /*void ir1clear() |
| sakthipriya | 5:bb592f3185cc | 564 | { |
| sakthipriya | 5:bb592f3185cc | 565 | actual_data.faultIr_status |= 0x01; // alert |
| sakthipriya | 5:bb592f3185cc | 566 | |
| sakthipriya | 5:bb592f3185cc | 567 | }*/ |
| sakthipriya | 5:bb592f3185cc | 568 | |
| sakthipriya | 5:bb592f3185cc | 569 | |
| sakthipriya | 5:bb592f3185cc | 570 | |
| sakthipriya | 5:bb592f3185cc | 571 | void ir2clear() |
| sakthipriya | 5:bb592f3185cc | 572 | { |
| sakthipriya | 5:bb592f3185cc | 573 | actual_data.faultIr_status |= 0x02; |
| Bragadeesh153 | 13:fb7facaf308b | 574 | TRXY_SW = 0; // Switch off TR XY |
| sakthipriya | 5:bb592f3185cc | 575 | if1check = 1; |
| sakthipriya | 5:bb592f3185cc | 576 | } |
| sakthipriya | 5:bb592f3185cc | 577 | |
| sakthipriya | 5:bb592f3185cc | 578 | void ir3clear() |
| sakthipriya | 5:bb592f3185cc | 579 | { |
| sakthipriya | 5:bb592f3185cc | 580 | actual_data.faultIr_status |= 0x04; |
| Bragadeesh153 | 13:fb7facaf308b | 581 | DRV_Z_EN = 0; |
| sakthipriya | 5:bb592f3185cc | 582 | wait_us(1); |
| Bragadeesh153 | 13:fb7facaf308b | 583 | DRV_Z_EN = 1; |
| sakthipriya | 5:bb592f3185cc | 584 | |
| sakthipriya | 5:bb592f3185cc | 585 | } |
| sakthipriya | 5:bb592f3185cc | 586 | |
| sakthipriya | 5:bb592f3185cc | 587 | void ir4clear() |
| sakthipriya | 5:bb592f3185cc | 588 | { |
| sakthipriya | 5:bb592f3185cc | 589 | if2check = 1; |
| sakthipriya | 5:bb592f3185cc | 590 | actual_data.faultIr_status |= 0x08; |
| sakthipriya | 5:bb592f3185cc | 591 | TRZ_SW = 0; |
| sakthipriya | 5:bb592f3185cc | 592 | } |
| sakthipriya | 5:bb592f3185cc | 593 | |
| sakthipriya | 5:bb592f3185cc | 594 | void ir5clear() |
| sakthipriya | 5:bb592f3185cc | 595 | { |
| sakthipriya | 5:bb592f3185cc | 596 | actual_data.faultIr_status |= 0x10; |
| sakthipriya | 5:bb592f3185cc | 597 | CDMS_RESET = 0; |
| sakthipriya | 5:bb592f3185cc | 598 | wait_us(1); |
| sakthipriya | 5:bb592f3185cc | 599 | CDMS_RESET = 1; |
| sakthipriya | 5:bb592f3185cc | 600 | } |
| sakthipriya | 5:bb592f3185cc | 601 | |
| sakthipriya | 5:bb592f3185cc | 602 | void ir6clear() |
| sakthipriya | 5:bb592f3185cc | 603 | { |
| sakthipriya | 5:bb592f3185cc | 604 | actual_data.faultIr_status |= 0x20; |
| sakthipriya | 5:bb592f3185cc | 605 | BCN_SW = 0; |
| sakthipriya | 5:bb592f3185cc | 606 | wait_us(1); |
| sakthipriya | 5:bb592f3185cc | 607 | BCN_SW = 1; |
| sakthipriya | 5:bb592f3185cc | 608 | } |
| sakthipriya | 5:bb592f3185cc | 609 | |
| sakthipriya | 5:bb592f3185cc | 610 | void ir7clear() |
| sakthipriya | 5:bb592f3185cc | 611 | { |
| sakthipriya | 5:bb592f3185cc | 612 | actual_data.faultIr_status |= 0x40; |
| sakthipriya | 5:bb592f3185cc | 613 | } |
| sakthipriya | 5:bb592f3185cc | 614 | uint8_t iter2=0,iter4 = 0; |
| sakthipriya | 5:bb592f3185cc | 615 | |
| sakthipriya | 5:bb592f3185cc | 616 | |
| sakthipriya | 5:bb592f3185cc | 617 | |
| sakthipriya | 5:bb592f3185cc | 618 | void pollfault() |
| sakthipriya | 5:bb592f3185cc | 619 | { |
| sakthipriya | 5:bb592f3185cc | 620 | |
| sakthipriya | 5:bb592f3185cc | 621 | |
| sakthipriya | 5:bb592f3185cc | 622 | |
| sakthipriya | 5:bb592f3185cc | 623 | if (pf1==0) // OC_ATS1 |
| sakthipriya | 5:bb592f3185cc | 624 | { |
| sakthipriya | 5:bb592f3185cc | 625 | pf1check=1; |
| sakthipriya | 5:bb592f3185cc | 626 | actual_data.faultPoll_status |=0x01 ; |
| sakthipriya | 9:194afacf7449 | 627 | ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS |
| sakthipriya | 5:bb592f3185cc | 628 | } |
| sakthipriya | 5:bb592f3185cc | 629 | else actual_data.faultPoll_status &= 0xFE; |
| sakthipriya | 5:bb592f3185cc | 630 | |
| sakthipriya | 5:bb592f3185cc | 631 | if (pf2==0) |
| sakthipriya | 5:bb592f3185cc | 632 | { |
| sakthipriya | 5:bb592f3185cc | 633 | pf2check=1; |
| sakthipriya | 5:bb592f3185cc | 634 | actual_data.faultPoll_status |=0x02 ; |
| sakthipriya | 9:194afacf7449 | 635 | ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS |
| sakthipriya | 5:bb592f3185cc | 636 | } |
| sakthipriya | 5:bb592f3185cc | 637 | else actual_data.faultPoll_status &= 0xFD; |
| sakthipriya | 5:bb592f3185cc | 638 | |
| sakthipriya | 5:bb592f3185cc | 639 | if (pf3==0) |
| sakthipriya | 5:bb592f3185cc | 640 | { actual_data.faultPoll_status |=0x04 ; |
| Bragadeesh153 | 13:fb7facaf308b | 641 | DRV_XY_EN = 0; |
| sakthipriya | 5:bb592f3185cc | 642 | wait_us(1); |
| Bragadeesh153 | 13:fb7facaf308b | 643 | DRV_XY_EN = 1; |
| sakthipriya | 5:bb592f3185cc | 644 | } |
| sakthipriya | 5:bb592f3185cc | 645 | else actual_data.faultPoll_status &= 0xFB; |
| sakthipriya | 5:bb592f3185cc | 646 | |
| sakthipriya | 5:bb592f3185cc | 647 | |
| sakthipriya | 5:bb592f3185cc | 648 | |
| sakthipriya | 5:bb592f3185cc | 649 | |
| sakthipriya | 5:bb592f3185cc | 650 | /*if (ir1==1) |
| sakthipriya | 5:bb592f3185cc | 651 | { |
| sakthipriya | 5:bb592f3185cc | 652 | actual_data.faultIr_status &=0xFE; |
| sakthipriya | 5:bb592f3185cc | 653 | }*/ |
| lakshya | 14:a9588f443f1a | 654 | |
| sakthipriya | 5:bb592f3185cc | 655 | if (ir2==1) |
| sakthipriya | 5:bb592f3185cc | 656 | { |
| sakthipriya | 5:bb592f3185cc | 657 | actual_data.faultIr_status &=0xFD; |
| sakthipriya | 5:bb592f3185cc | 658 | } |
| sakthipriya | 5:bb592f3185cc | 659 | if (ir3==1) |
| sakthipriya | 5:bb592f3185cc | 660 | { |
| sakthipriya | 5:bb592f3185cc | 661 | actual_data.faultIr_status &=0xFB; |
| sakthipriya | 5:bb592f3185cc | 662 | } |
| sakthipriya | 5:bb592f3185cc | 663 | if (ir4==1) |
| sakthipriya | 5:bb592f3185cc | 664 | { |
| sakthipriya | 5:bb592f3185cc | 665 | actual_data.faultIr_status &=0xF7; |
| sakthipriya | 5:bb592f3185cc | 666 | } |
| sakthipriya | 5:bb592f3185cc | 667 | if (ir5==1) |
| sakthipriya | 5:bb592f3185cc | 668 | { |
| sakthipriya | 5:bb592f3185cc | 669 | actual_data.faultIr_status &=0xEF; |
| sakthipriya | 5:bb592f3185cc | 670 | } |
| sakthipriya | 5:bb592f3185cc | 671 | if (ir6==1) |
| sakthipriya | 5:bb592f3185cc | 672 | { |
| sakthipriya | 5:bb592f3185cc | 673 | actual_data.faultIr_status &=0xDF; |
| sakthipriya | 5:bb592f3185cc | 674 | }if (ir7==1) |
| sakthipriya | 5:bb592f3185cc | 675 | { |
| sakthipriya | 5:bb592f3185cc | 676 | actual_data.faultIr_status &=0xBF; |
| sakthipriya | 5:bb592f3185cc | 677 | } |
| lakshya | 14:a9588f443f1a | 678 | |
| sakthipriya | 5:bb592f3185cc | 679 | |
| sakthipriya | 5:bb592f3185cc | 680 | } |
| sakthipriya | 5:bb592f3185cc | 681 | |
| sakthipriya | 5:bb592f3185cc | 682 | |
| sakthipriya | 0:7b4c00e3912f | 683 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| sakthipriya | 0:7b4c00e3912f | 684 | //SCHEDULER |
| sakthipriya | 0:7b4c00e3912f | 685 | //------------------------------------------------------------------------------------------------------------------------------------------------ |
| sakthipriya | 0:7b4c00e3912f | 686 | uint8_t schedcount=1; |
| sakthipriya | 0:7b4c00e3912f | 687 | void T_SC(void const *args) |
| sakthipriya | 0:7b4c00e3912f | 688 | { |
| azaddevarm | 32:623747b1cecb | 689 | printf("\n\r in scheduler\r\n"); |
| sakthipriya | 0:7b4c00e3912f | 690 | |
| sakthipriya | 0:7b4c00e3912f | 691 | if(schedcount == 7) //to reset the counter |
| sakthipriya | 0:7b4c00e3912f | 692 | { |
| sakthipriya | 0:7b4c00e3912f | 693 | schedcount = 1; |
| sakthipriya | 0:7b4c00e3912f | 694 | } |
| sakthipriya | 0:7b4c00e3912f | 695 | if(schedcount%1==0) |
| azaddevarm | 30:22b338b027de | 696 | { //pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE); |
| azaddevarm | 30:22b338b027de | 697 | //pc.printf("\niterp1 !!!!!! = %x !!\n",iterP1); |
| azaddevarm | 30:22b338b027de | 698 | //pc.printf("\niteri2 IS !!!!!! = %x !!\n",iterI2); |
| azaddevarm | 30:22b338b027de | 699 | //F_ACS(); |
| sakthipriya | 0:7b4c00e3912f | 700 | } |
| sakthipriya | 0:7b4c00e3912f | 701 | |
| sakthipriya | 0:7b4c00e3912f | 702 | if(schedcount%2==0) |
| sakthipriya | 0:7b4c00e3912f | 703 | { |
| azaddevarm | 30:22b338b027de | 704 | F_EPS(); |
| sakthipriya | 0:7b4c00e3912f | 705 | } |
| lakshya | 14:a9588f443f1a | 706 | if(schedcount%1==0) |
| sakthipriya | 0:7b4c00e3912f | 707 | { |
| azaddevarm | 30:22b338b027de | 708 | // F_BCN(); |
| sakthipriya | 0:7b4c00e3912f | 709 | } |
| sakthipriya | 0:7b4c00e3912f | 710 | schedcount++; |
| sakthipriya | 0:7b4c00e3912f | 711 | printf("\n\r exited scheduler"); |
| sakthipriya | 0:7b4c00e3912f | 712 | } |
| sakthipriya | 0:7b4c00e3912f | 713 | |
| sakthipriya | 0:7b4c00e3912f | 714 | Timer t_flag; |
| sakthipriya | 0:7b4c00e3912f | 715 | void FLAG() |
| sakthipriya | 0:7b4c00e3912f | 716 | { |
| sakthipriya | 0:7b4c00e3912f | 717 | |
| sakthipriya | 0:7b4c00e3912f | 718 | //.............acs..................// |
| sakthipriya | 9:194afacf7449 | 719 | if(ACS_INIT_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 720 | BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag |
| sakthipriya | 9:194afacf7449 | 721 | else if(ACS_INIT_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 722 | BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 723 | |
| sakthipriya | 9:194afacf7449 | 724 | if(ACS_DATA_ACQ_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 725 | BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 9:194afacf7449 | 726 | else if(ACS_DATA_ACQ_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 727 | BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 728 | |
| sakthipriya | 9:194afacf7449 | 729 | if(ACS_ATS_ENABLE == 1) |
| sakthipriya | 0:7b4c00e3912f | 730 | BAE_ENABLE |= 0x00000004; |
| sakthipriya | 9:194afacf7449 | 731 | else if(ACS_ATS_ENABLE == 0) |
| sakthipriya | 0:7b4c00e3912f | 732 | BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004; |
| sakthipriya | 0:7b4c00e3912f | 733 | |
| sakthipriya | 0:7b4c00e3912f | 734 | if(ACS_DATA_ACQ_STATUS == 'f') |
| sakthipriya | 0:7b4c00e3912f | 735 | BAE_STATUS |= 0x00000200; |
| sakthipriya | 0:7b4c00e3912f | 736 | |
| sakthipriya | 9:194afacf7449 | 737 | if(ACS_MAIN_STATUS == 1) |
| sakthipriya | 0:7b4c00e3912f | 738 | BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag |
| sakthipriya | 9:194afacf7449 | 739 | else if(ACS_MAIN_STATUS == 0) |
| sakthipriya | 0:7b4c00e3912f | 740 | BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 741 | |
| sakthipriya | 0:7b4c00e3912f | 742 | if(ACS_STATUS == '0') |
| sakthipriya | 0:7b4c00e3912f | 743 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 744 | else if(ACS_STATUS == '1') |
| sakthipriya | 0:7b4c00e3912f | 745 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER |
| sakthipriya | 0:7b4c00e3912f | 746 | else if(ACS_STATUS == '2') |
| sakthipriya | 0:7b4c00e3912f | 747 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 748 | else if(ACS_STATUS == '3') |
| sakthipriya | 0:7b4c00e3912f | 749 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 750 | else if(ACS_STATUS == '4') |
| sakthipriya | 0:7b4c00e3912f | 751 | BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 752 | else if(ACS_STATUS == '5') |
| sakthipriya | 0:7b4c00e3912f | 753 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 754 | else if(ACS_STATUS == '6') |
| sakthipriya | 0:7b4c00e3912f | 755 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY |
| sakthipriya | 0:7b4c00e3912f | 756 | else |
| sakthipriya | 0:7b4c00e3912f | 757 | BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE |
| sakthipriya | 0:7b4c00e3912f | 758 | |
| sakthipriya | 0:7b4c00e3912f | 759 | if(ACS_STATE == '0') |
| sakthipriya | 0:7b4c00e3912f | 760 | BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF |
| sakthipriya | 0:7b4c00e3912f | 761 | else if(ACS_STATE == '2') |
| sakthipriya | 0:7b4c00e3912f | 762 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY |
| sakthipriya | 0:7b4c00e3912f | 763 | else if(ACS_STATE == '3') |
| sakthipriya | 0:7b4c00e3912f | 764 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 765 | else if(ACS_STATE == '4') |
| sakthipriya | 0:7b4c00e3912f | 766 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY |
| sakthipriya | 0:7b4c00e3912f | 767 | else if(ACS_STATE == '5') |
| sakthipriya | 0:7b4c00e3912f | 768 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 769 | else if(ACS_STATE == '6') |
| sakthipriya | 0:7b4c00e3912f | 770 | BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL |
| sakthipriya | 0:7b4c00e3912f | 771 | |
| sakthipriya | 0:7b4c00e3912f | 772 | //...............eps......................// |
| sakthipriya | 5:bb592f3185cc | 773 | |
| sakthipriya | 5:bb592f3185cc | 774 | |
| sakthipriya | 9:194afacf7449 | 775 | if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS |
| sakthipriya | 5:bb592f3185cc | 776 | BAE_STATUS |= 0x00010000; |
| sakthipriya | 9:194afacf7449 | 777 | else if(EPS_INIT_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 778 | BAE_STATUS &= 0xFFFEFFFF; |
| sakthipriya | 5:bb592f3185cc | 779 | |
| sakthipriya | 5:bb592f3185cc | 780 | |
| sakthipriya | 9:194afacf7449 | 781 | if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS |
| sakthipriya | 5:bb592f3185cc | 782 | BAE_STATUS |= 0x00040000; |
| sakthipriya | 9:194afacf7449 | 783 | else if(EPS_MAIN_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 784 | BAE_STATUS &= 0xFFFBFFFF; |
| sakthipriya | 5:bb592f3185cc | 785 | |
| sakthipriya | 5:bb592f3185cc | 786 | |
| sakthipriya | 9:194afacf7449 | 787 | if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS |
| sakthipriya | 5:bb592f3185cc | 788 | BAE_STATUS |= 0x00020000; |
| sakthipriya | 9:194afacf7449 | 789 | else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 790 | BAE_STATUS &= 0xFFFDFFFF; |
| sakthipriya | 5:bb592f3185cc | 791 | |
| sakthipriya | 5:bb592f3185cc | 792 | |
| azaddevarm | 30:22b338b027de | 793 | if (EPS_BTRY_TMP_STATUS==1) // Set EPS_BTRY_TMP_STATUS |
| sakthipriya | 5:bb592f3185cc | 794 | BAE_STATUS |= 0x00080000; |
| azaddevarm | 30:22b338b027de | 795 | else if(EPS_BTRY_TMP_STATUS==0) // Clear |
| sakthipriya | 5:bb592f3185cc | 796 | BAE_STATUS &= 0xFFF7FFFF; |
| sakthipriya | 5:bb592f3185cc | 797 | |
| sakthipriya | 5:bb592f3185cc | 798 | if (EPS_STATUS==0) |
| sakthipriya | 5:bb592f3185cc | 799 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP |
| sakthipriya | 5:bb592f3185cc | 800 | else if (EPS_STATUS==1) |
| sakthipriya | 5:bb592f3185cc | 801 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED |
| azaddevarm | 31:046685b48b71 | 802 | /* |
| sakthipriya | 5:bb592f3185cc | 803 | else if (EPS_STATUS==2) |
| sakthipriya | 5:bb592f3185cc | 804 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF |
| sakthipriya | 5:bb592f3185cc | 805 | else if (EPS_STATUS==3) |
| sakthipriya | 5:bb592f3185cc | 806 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON |
| azaddevarm | 31:046685b48b71 | 807 | */ |
| sakthipriya | 5:bb592f3185cc | 808 | else if (EPS_STATUS==4) |
| sakthipriya | 5:bb592f3185cc | 809 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF |
| sakthipriya | 5:bb592f3185cc | 810 | else if (EPS_STATUS==5) |
| sakthipriya | 5:bb592f3185cc | 811 | BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON |
| sakthipriya | 5:bb592f3185cc | 812 | |
| sakthipriya | 5:bb592f3185cc | 813 | |
| azaddevarm | 30:22b338b027de | 814 | if(EPS_BTRY_HTR == 1) |
| sakthipriya | 5:bb592f3185cc | 815 | BAE_ENABLE |= 0x00000080; |
| azaddevarm | 30:22b338b027de | 816 | else if(EPS_BTRY_HTR == 0) |
| sakthipriya | 5:bb592f3185cc | 817 | BAE_ENABLE = BAE_ENABLE &0xFFFFFF7; |
| sakthipriya | 3:07e15677a75c | 818 | |
| sakthipriya | 0:7b4c00e3912f | 819 | |
| sakthipriya | 0:7b4c00e3912f | 820 | |
| sakthipriya | 0:7b4c00e3912f | 821 | pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE); |
| sakthipriya | 0:7b4c00e3912f | 822 | } |
| sakthipriya | 0:7b4c00e3912f | 823 | |
| sakthipriya | 0:7b4c00e3912f | 824 | void FCTN_BAE_INIT() |
| sakthipriya | 0:7b4c00e3912f | 825 | { |
| sakthipriya | 0:7b4c00e3912f | 826 | printf("\n\r Initialising BAE "); |
| sakthipriya | 3:07e15677a75c | 827 | //..........intial status....// |
| Bragadeesh153 | 13:fb7facaf308b | 828 | ACS_STATE = 4; |
| sakthipriya | 9:194afacf7449 | 829 | ACS_ATS_ENABLE = 1; |
| sakthipriya | 9:194afacf7449 | 830 | ACS_DATA_ACQ_ENABLE = 1; |
| azaddevarm | 30:22b338b027de | 831 | EPS_BTRY_HTR = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 832 | actual_data.power_mode=3; |
| sakthipriya | 9:194afacf7449 | 833 | //............intializing pins................// |
| sakthipriya | 9:194afacf7449 | 834 | ATS1_SW_ENABLE = 0; |
| sakthipriya | 9:194afacf7449 | 835 | ATS2_SW_ENABLE = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 836 | |
| Bragadeesh153 | 13:fb7facaf308b | 837 | DRV_XY_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 838 | DRV_Z_EN = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 839 | TRZ_SW = 1; |
| Bragadeesh153 | 13:fb7facaf308b | 840 | TRXY_SW = 1; |
| sakthipriya | 9:194afacf7449 | 841 | |
| sakthipriya | 3:07e15677a75c | 842 | //............................// |
| azaddevarm | 30:22b338b027de | 843 | //FCTN_ACS_INIT(); |
| azaddevarm | 30:22b338b027de | 844 | FCTN_EPS_INIT(); |
| lakshya | 14:a9588f443f1a | 845 | //FCTN_BCN_INIT(); |
| sakthipriya | 3:07e15677a75c | 846 | |
| sakthipriya | 3:07e15677a75c | 847 | |
| sakthipriya | 0:7b4c00e3912f | 848 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 849 | } |
| sakthipriya | 0:7b4c00e3912f | 850 | |
| sakthipriya | 0:7b4c00e3912f | 851 | int main() |
| sakthipriya | 0:7b4c00e3912f | 852 | { |
| sakthipriya | 0:7b4c00e3912f | 853 | pc.printf("\n\r BAE Activated. Testing Version 1.1 \n"); |
| Bragadeesh153 | 13:fb7facaf308b | 854 | CDMS_RESET = 1; |
| lakshya | 14:a9588f443f1a | 855 | /*if (BCN_FEN == 0) //dummy implementation |
| sakthipriya | 0:7b4c00e3912f | 856 | { |
| sakthipriya | 0:7b4c00e3912f | 857 | pc.printf("\n\r RF silence "); |
| Bragadeesh153 | 12:af1d7e18b868 | 858 | FCTN_BCN_FEN(); |
| sakthipriya | 0:7b4c00e3912f | 859 | t_rfsilence.start();//Start the timer for RF_Silence |
| sakthipriya | 0:7b4c00e3912f | 860 | while(t_rfsilence.read() < RF_SILENCE_TIME); |
| sakthipriya | 0:7b4c00e3912f | 861 | } |
| sakthipriya | 0:7b4c00e3912f | 862 | */ |
| sakthipriya | 3:07e15677a75c | 863 | |
| sakthipriya | 9:194afacf7449 | 864 | //ACS_INIT_STATUS = 0; |
| sakthipriya | 9:194afacf7449 | 865 | //ACS_DATA_ACQ_STATUS = 0; |
| Bragadeesh153 | 13:fb7facaf308b | 866 | |
| Bragadeesh153 | 13:fb7facaf308b | 867 | |
| sakthipriya | 9:194afacf7449 | 868 | |
| Bragadeesh153 | 13:fb7facaf308b | 869 | //FLAG(); |
| azaddevarm | 30:22b338b027de | 870 | //FCTN_BAE_INIT(); |
| sakthipriya | 3:07e15677a75c | 871 | |
| sakthipriya | 0:7b4c00e3912f | 872 | |
| sakthipriya | 0:7b4c00e3912f | 873 | //...i2c.. |
| sakthipriya | 3:07e15677a75c | 874 | //strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end"); |
| sakthipriya | 0:7b4c00e3912f | 875 | slave.address(addr); |
| sakthipriya | 0:7b4c00e3912f | 876 | irpt_2_mstr = 0; |
| sakthipriya | 0:7b4c00e3912f | 877 | |
| sakthipriya | 0:7b4c00e3912f | 878 | ptr_t_i2c = new Thread(T_TC); |
| sakthipriya | 0:7b4c00e3912f | 879 | ptr_t_i2c->set_priority(osPriorityHigh); |
| sakthipriya | 5:bb592f3185cc | 880 | |
| sakthipriya | 0:7b4c00e3912f | 881 | irpt_4m_mstr.enable_irq(); |
| sakthipriya | 0:7b4c00e3912f | 882 | irpt_4m_mstr.rise(&FCTN_I2C_ISR); |
| sakthipriya | 5:bb592f3185cc | 883 | // ir1.fall(&ir1clear); //Battery Gauge - Alert Bar Signal |
| lakshya | 14:a9588f443f1a | 884 | /* ir2.fall(&ir2clear); //TRXY Driver TR switch Fault |
| lakshya | 14:a9588f443f1a | 885 | ir3.fall(&ir3clear); //TRZ Driver Fault Bar |
| lakshya | 14:a9588f443f1a | 886 | ir4.fall(&ir4clear); //TRZ Driver TR switch Fault |
| lakshya | 14:a9588f443f1a | 887 | ir5.fall(&ir5clear); //CDMS - Switch Fault |
| lakshya | 14:a9588f443f1a | 888 | ir6.fall(&ir6clear); //Beacon- Switch OC bar |
| lakshya | 14:a9588f443f1a | 889 | ir7.fall(&ir7clear); //Charger IC - Fault Bar |
| lakshya | 14:a9588f443f1a | 890 | |
| lakshya | 14:a9588f443f1a | 891 | */ |
| sakthipriya | 0:7b4c00e3912f | 892 | RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread |
| sakthipriya | 0:7b4c00e3912f | 893 | t_sc_timer.start(10000); |
| sakthipriya | 0:7b4c00e3912f | 894 | t_start.start(); |
| sakthipriya | 0:7b4c00e3912f | 895 | pc.printf("\n\rStarted scheduler %f\n\r",t_start.read()); |
| sakthipriya | 0:7b4c00e3912f | 896 | |
| Bragadeesh153 | 13:fb7facaf308b | 897 | |
| azaddevarm | 32:623747b1cecb | 898 | FCTN_BAE_INIT(); |
| sakthipriya | 0:7b4c00e3912f | 899 | while(1); //required to prevent main from terminating |
| sakthipriya | 3:07e15677a75c | 900 | } |
| sakthipriya | 3:07e15677a75c | 901 |