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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

main.cpp@68:abeaa67d84f5, 2016-11-28 (annotated)

Committer:
Bragadeesh153
Date:
Mon Nov 28 07:19:19 2016 +0000
Revision:
68:abeaa67d84f5
Parent:
65:d1b12729fcdc 
.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lakshya 49:61c9f28332ba 1
lakshya 49:61c9f28332ba 2
sakthipriya 0:7b4c00e3912f 3 #include "mbed.h"
sakthipriya 0:7b4c00e3912f 4 #include "rtos.h"
sakthipriya 0:7b4c00e3912f 5 #include "pin_config.h"
sakthipriya 0:7b4c00e3912f 6 #include "ACS.h"
sakthipriya 0:7b4c00e3912f 7 #include "EPS.h"
sakthipriya 0:7b4c00e3912f 8 #include "BCN.h"
lakshya 49:61c9f28332ba 9 Serial pc(USBTX,USBRX);
lakshya 49:61c9f28332ba 10
sakthipriya 0:7b4c00e3912f 11 #include "TCTM.h"
lakshya 47:d59ba66229ce 12 #define tm_len 134
lakshya 47:d59ba66229ce 13 #define tc_len 135
sakthipriya 0:7b4c00e3912f 14 #define batt_heat_low 20
lakshya 22:950dbe9fbeb8 15 #define print 1
lakshya 39:670133e7ffd8 16 #define PRINT2 1
lakshya 39:670133e7ffd8 17 #define baby 1
lakshya 39:670133e7ffd8 18 #define baby2 1
lakshya 49:61c9f28332ba 19 #define SBC 1
lakshya 49:61c9f28332ba 20
lakshya 49:61c9f28332ba 21
lakshya 49:61c9f28332ba 22
lakshya 49:61c9f28332ba 23 Timer timer_FCTN_ACS_GENPWM_MAIN;
lakshya 49:61c9f28332ba 24 Timer timer_FCTN_ACS_CNTRLALGO;
lakshya 49:61c9f28332ba 25 Timer timer_FCTN_BAE_INIT;
lakshya 49:61c9f28332ba 26 Timer timer_FLASH_INI;
lakshya 49:61c9f28332ba 27 Timer timer_FCTN_ACS_INIT;
lakshya 49:61c9f28332ba 28 Timer timer_FCTN_EPS_INIT;
lakshya 49:61c9f28332ba 29 Timer timer_FCTN_BCN_INIT;
lakshya 49:61c9f28332ba 30 Timer timer_F_ACS;
lakshya 49:61c9f28332ba 31 Timer timer_FCTN_ATS_DATA_ACQ;
lakshya 49:61c9f28332ba 32 extern Timer timer_SENSOR_INIT;
lakshya 49:61c9f28332ba 33 extern Timer timer_CONFIG_UPLOAD;
lakshya 49:61c9f28332ba 34 extern Timer timer_SENSOR_DATA_ACQ;
lakshya 49:61c9f28332ba 35 extern Timer timer_controlmodes;
lakshya 49:61c9f28332ba 36
lakshya 49:61c9f28332ba 37 Timer timer_F_ESP;
lakshya 49:61c9f28332ba 38 Timer timer_minMaxHkData;
lakshya 49:61c9f28332ba 39 Timer timer_FCTN_APPEND_HKDATA;
lakshya 49:61c9f28332ba 40 Timer timer_FCTN_EPS_HANDLE_CDMS_FAULT;
lakshya 49:61c9f28332ba 41 Timer timer_FCTN_EPS_HANDLE_HW_FAULTS;
lakshya 49:61c9f28332ba 42 Timer timer_FCTN_HK_MAIN;
lakshya 49:61c9f28332ba 43 Timer timer_FCTN_BATTERYGAUGE_MAIN;
lakshya 49:61c9f28332ba 44 Timer timer_FCTN_BATT_TEMP_SENSOR_MAIN;
lakshya 49:61c9f28332ba 45 extern Timer timer_alertFlags;
lakshya 49:61c9f28332ba 46 extern Timer timer_soc;
lakshya 49:61c9f28332ba 47 extern Timer timer_FCTN_BATTERYGAUGE_INIT;
lakshya 49:61c9f28332ba 48
lakshya 49:61c9f28332ba 49
lakshya 49:61c9f28332ba 50 Timer timer_F_BCN;
lakshya 49:61c9f28332ba 51 Timer timer_FCTN_BCN_TX_MAIN;
lakshya 49:61c9f28332ba 52 extern Timer timer_Init_BEACON_HW;
lakshya 49:61c9f28332ba 53 extern Timer timer_Set_BCN_TX_STATUS_DISABLED;
lakshya 49:61c9f28332ba 54 extern Timer timer_Set_BCN_TX_STATUS_SUSPENDED;
lakshya 49:61c9f28332ba 55 extern Timer timer_Set_BCN_TX_STATUS_RF_SILENCE;
lakshya 49:61c9f28332ba 56 extern Timer timer_Set_BCN_TX_STATUS_SUCCESS;
lakshya 49:61c9f28332ba 57 extern Timer timer_Set_BCN_TX_STATUS_FAILURE;
lakshya 49:61c9f28332ba 58
lakshya 49:61c9f28332ba 59
sakthipriya 9:194afacf7449 60
lakshya 33:76f2b8735501 61 #define DISABLE_WDOG 0;
lakshya 33:76f2b8735501 62
lakshya 33:76f2b8735501 63 void kick_WDOG()
lakshya 33:76f2b8735501 64 {
lakshya 33:76f2b8735501 65 SIM->SRVCOP=0x55;
lakshya 33:76f2b8735501 66 SIM->SRVCOP=0xAA;
lakshya 33:76f2b8735501 67 printf("\n\rkicked");
lakshya 33:76f2b8735501 68 }
lakshya 33:76f2b8735501 69
lakshya 33:76f2b8735501 70 void init_WDOG()
lakshya 33:76f2b8735501 71 {
lakshya 33:76f2b8735501 72 SIM->COPC=0x0C;
lakshya 33:76f2b8735501 73 kick_WDOG();
lakshya 33:76f2b8735501 74 }
lakshya 33:76f2b8735501 75
lakshya 49:61c9f28332ba 76 DigitalOut time_wdog(PIN68,0);// for determining the time between code
lakshya 20:949d13045431 77
lakshya 19:79e69017c855 78 //**********************************************GLOBAL RTOS TIMER*********************************************************//
lakshya 19:79e69017c855 79 RtosTimer *BAE_STANDBY_STATUS_TIMER;
lakshya 19:79e69017c855 80
lakshya 20:949d13045431 81
lakshya 20:949d13045431 82 //bcn heater rtostimers=============================================================================
lakshya 20:949d13045431 83 RtosTimer *HTR_OFF=NULL;
lakshya 20:949d13045431 84 RtosTimer *HTR_CYCLE=NULL;
lakshya 20:949d13045431 85 RtosTimer *HTR_DLY=NULL;
lakshya 20:949d13045431 86
lakshya 33:76f2b8735501 87 //UPTIME TIMERS
lakshya 33:76f2b8735501 88 Timer BAE_uptime;
lakshya 33:76f2b8735501 89 Timer I2C_last;
lakshya 33:76f2b8735501 90
lakshya 33:76f2b8735501 91 void RETURN_UPTIME(float time, uint8_t *day,uint8_t *hour,uint8_t *min)
lakshya 33:76f2b8735501 92 {
lakshya 33:76f2b8735501 93 *day = time/(3600*24);
lakshya 33:76f2b8735501 94 time = (int)time % (3600*24);
lakshya 33:76f2b8735501 95 *hour = time/(3600);
lakshya 33:76f2b8735501 96 time = (int)time % (3600);
lakshya 33:76f2b8735501 97 *min = time/60;
lakshya 33:76f2b8735501 98 }
lakshya 33:76f2b8735501 99
lakshya 49:61c9f28332ba 100 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 49:61c9f28332ba 101 int eps_btg_read_flag; // flag to check I2C ack on reading from BTG
lakshya 49:61c9f28332ba 102 int eps_btg_writ_flag; // flag to check I2C ack on writing from BTG
lakshya 20:949d13045431 103
lakshya 20:949d13045431 104 uint8_t HTR_CYCLE_COUNTS=0; //Count of heater cycles
lakshya 20:949d13045431 105 uint8_t HTR_CYCLE_START_DLY=0; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya 20:949d13045431 106 uint8_t HTR_ON_DURATION=0; //EPS_HTR_OFF timer duration in minutes
lakshya 20:949d13045431 107 uint16_t HTR_CYCLE_PERIOD =0; //EPS_HTR_CYCLE timer duration - MSB minutes, LSB seconds
lakshya 20:949d13045431 108 uint8_t HTR_CYCLE_COUNTER = 0 ;
lakshya 20:949d13045431 109
lakshya 20:949d13045431 110 uint32_t HTR_CYCLE_PERIOD_DECODER() //To convert HTR_CYCLE_PERIOD to millisecs
lakshya 20:949d13045431 111 {
lakshya 20:949d13045431 112 uint8_t PERIOD_mins, PERIOD_secs;
lakshya 20:949d13045431 113 //pc.printf("\n\r FCTN_HTR_CYCLE_PERIOD");
lakshya 20:949d13045431 114 PERIOD_secs = HTR_CYCLE_PERIOD;
lakshya 20:949d13045431 115 PERIOD_mins = HTR_CYCLE_PERIOD >> 8;
lakshya 20:949d13045431 116 uint32_t period = 1000*((int)PERIOD_mins * 60 + (int)PERIOD_secs);
lakshya 20:949d13045431 117
lakshya 20:949d13045431 118 return period;
lakshya 20:949d13045431 119 }
lakshya 20:949d13045431 120
lakshya 20:949d13045431 121 void FCTN_EPS_HTR_CYCLE(void const *arg)
lakshya 20:949d13045431 122 {
lakshya 33:76f2b8735501 123 BTRY_HTR_ENABLE = 1;//assuming its active high check
lakshya 20:949d13045431 124 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 125 //pc.printf("\n\r FCTN_EPS_HTR_CYCLE");
lakshya 20:949d13045431 126 //tim.reset();
lakshya 20:949d13045431 127 //tim.start();
lakshya 20:949d13045431 128 //HTR_OFF->start(((uint32_t)HTR_ON_DURATION)*1000);
lakshya 20:949d13045431 129 HTR_OFF->start((int)HTR_ON_DURATION*60*1000);
lakshya 20:949d13045431 130 }
lakshya 20:949d13045431 131
lakshya 20:949d13045431 132 void FCTN_EPS_HTR_DLY(void const* arg)
lakshya 20:949d13045431 133 {
lakshya 33:76f2b8735501 134 BTRY_HTR_ENABLE = 1;
lakshya 20:949d13045431 135 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 136 HTR_OFF->start(((int)HTR_ON_DURATION*60*1000));
lakshya 20:949d13045431 137 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 138 //pc.printf("\n\r FCTN_EPS_HTR_DLY");
lakshya 20:949d13045431 139 //tim.start();
lakshya 20:949d13045431 140 HTR_CYCLE->start((uint32_t)HTR_CYCLE_PERIOD_DECODER);
lakshya 20:949d13045431 141 }
lakshya 20:949d13045431 142
lakshya 20:949d13045431 143 void FCTN_EPS_HTR_OFF(void const *arg)
lakshya 20:949d13045431 144 {
lakshya 33:76f2b8735501 145 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 146 //tim.stop();
lakshya 20:949d13045431 147 //pc.printf("\n\r off kar diya");
lakshya 20:949d13045431 148 //pc.printf("\n\r the timer value is %f",tim.read());
lakshya 20:949d13045431 149 //tim.reset();
lakshya 20:949d13045431 150 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 151 {
lakshya 20:949d13045431 152 HTR_CYCLE_COUNTER++;
lakshya 20:949d13045431 153 if( HTR_CYCLE_COUNTER == (int)HTR_CYCLE_COUNTS)//HTR_CYCLE_COUNTS )
lakshya 20:949d13045431 154 HTR_CYCLE->stop();
lakshya 20:949d13045431 155 }
lakshya 20:949d13045431 156 }
lakshya 20:949d13045431 157
lakshya 20:949d13045431 158 //====================================================================================================
lakshya 20:949d13045431 159
lakshya 20:949d13045431 160 //fctn to pass the data to bcn long type
lakshya 33:76f2b8735501 161 //uint8_t CDMS_HK_data[134]; now implemented as LONG_HK_data[0][134];
lakshya 33:76f2b8735501 162 uint8_t LONG_HK_data[2][134];
lakshya 20:949d13045431 163 void FCTN_CDMS_HK_TC(uint8_t tc[])
lakshya 20:949d13045431 164 {
lakshya 20:949d13045431 165 for(int i=0;i<134;i++)
lakshya 33:76f2b8735501 166 LONG_HK_data[0][i] = tc[i];
lakshya 20:949d13045431 167 }
lakshya 20:949d13045431 168
lakshya 20:949d13045431 169 uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off.
lakshya 20:949d13045431 170
lakshya 19:79e69017c855 171 void BAE_STANDBY_STATUS_RESET(const void* arg)
lakshya 19:79e69017c855 172 {
lakshya 19:79e69017c855 173 printf("\n\rBAE standby reset to 0x00");
lakshya 19:79e69017c855 174 BAE_STANDBY=0x00;
lakshya 19:79e69017c855 175 }
lakshya 19:79e69017c855 176
lakshya 20:949d13045431 177
lakshya 19:79e69017c855 178 /*no problem in first stopping and then starting even when for the first time*/
lakshya 19:79e69017c855 179 void BAE_STANDBY_TIMER_RESET()
lakshya 19:79e69017c855 180 {
lakshya 19:79e69017c855 181 BAE_STANDBY_STATUS_TIMER->stop();
lakshya 19:79e69017c855 182 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 183 }
lakshya 19:79e69017c855 184
lakshya 20:949d13045431 185 extern void gen_I_TM();
lakshya 20:949d13045431 186
lakshya 20:949d13045431 187 //*************** FLAGS ****************************//
sakthipriya 0:7b4c00e3912f 188 uint32_t BAE_STATUS = 0x00000000;
sakthipriya 0:7b4c00e3912f 189 uint32_t BAE_ENABLE = 0xFFFFFFFF;
sakthipriya 0:7b4c00e3912f 190
sakthipriya 5:bb592f3185cc 191 //i2c//
sakthipriya 5:bb592f3185cc 192 char data_send_flag = 'h';
lakshya 20:949d13045431 193 //uint8_t BAE_MNG_I2C_STATUS = 0;
sakthipriya 5:bb592f3185cc 194
lakshya 20:949d13045431 195 //BAE
lakshya 19:79e69017c855 196 uint8_t BAE_INIT_STATUS=0;
lakshya 20:949d13045431 197 uint8_t BAE_MNG_I2C_STATUS=0;
sakthipriya 0:7b4c00e3912f 198
sakthipriya 9:194afacf7449 199
lakshya 20:949d13045431 200 //ACS
sakthipriya 9:194afacf7449 201 uint8_t ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 202 uint8_t ACS_DATA_ACQ_STATUS = 0;
lakshya 20:949d13045431 203 uint8_t ACS_ATS_STATUS = 0x73;
sakthipriya 9:194afacf7449 204 uint8_t ACS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 205 uint8_t ACS_STATUS = 0;
lakshya 20:949d13045431 206 uint8_t ACS_DETUMBLING_ALGO_TYPE = 0;
sakthipriya 9:194afacf7449 207 uint8_t ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 208 uint8_t ACS_DATA_ACQ_ENABLE = 1;
lakshya 49:61c9f28332ba 209 uint8_t ACS_STATE = 3;
lakshya 19:79e69017c855 210
lakshya 20:949d13045431 211 extern uint16_t ACS_MM_X_COMSN;
lakshya 20:949d13045431 212 extern uint16_t ACS_MM_Y_COMSN;
lakshya 20:949d13045431 213 extern uint16_t ACS_MG_X_COMSN;
lakshya 20:949d13045431 214 extern uint16_t ACS_MG_Y_COMSN;
lakshya 20:949d13045431 215 extern uint16_t ACS_MM_Z_COMSN;
lakshya 20:949d13045431 216 extern uint16_t ACS_MG_Z_COMSN;
lakshya 20:949d13045431 217
lakshya 27:61c856be467e 218 extern uint8_t controlmode_mms;
lakshya 49:61c9f28332ba 219 extern uint8_t B_SCZ_ANGLE;
lakshya 20:949d13045431 220 //BCN
lakshya 18:3662058a7c10 221 extern uint8_t BCN_FEN;
lakshya 18:3662058a7c10 222 extern void FCTN_BCN_FEN(void const *args);
lakshya 20:949d13045431 223 extern void LONG_BCN_DATA(uint8_t* );
lakshya 20:949d13045431 224 extern uint16_t gencrc16_for_me();//for calculating the crc of baehk data before sendingkk as including crc causes problem
lakshya 48:9fd15e3e0b53 225 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 226
lakshya 20:949d13045431 227
lakshya 18:3662058a7c10 228 Timeout timeout_bcn;
lakshya 19:79e69017c855 229 /*long beacon data/sending*/
lakshya 19:79e69017c855 230 /*be sure it is created in bcn.cpp*/
sakthipriya 0:7b4c00e3912f 231
lakshya 20:949d13045431 232 //EPS
sakthipriya 9:194afacf7449 233 uint8_t EPS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 234 uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
sakthipriya 9:194afacf7449 235 uint8_t EPS_MAIN_STATUS = 0;
lakshya 33:76f2b8735501 236 uint8_t EPS_BTRY_TMP_STATUS = 0;/// to be diss
sakthipriya 9:194afacf7449 237 uint8_t EPS_STATUS = 7; //invalid status
lakshya 33:76f2b8735501 238 uint8_t EPS_BTRY_HTR = 0;
sakthipriya 9:194afacf7449 239
lakshya 20:949d13045431 240 uint8_t EPS_BTRY_HTR_AUTO = 1;
lakshya 20:949d13045431 241 extern uint8_t EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 242 extern uint8_t EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 243 extern uint8_t EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 244 extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 245 extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 246 float EPS_BTRY_TMP_AVG;
lakshya 49:61c9f28332ba 247 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 33:76f2b8735501 248
lakshya 33:76f2b8735501 249 //extern void FCTN_BATTERYGAUGE_MAIN(float*Battery_parameters);
lakshya 20:949d13045431 250
lakshya 20:949d13045431 251
lakshya 20:949d13045431 252 //**********************GLOBAL DECLARATIONS********************************//
lakshya 20:949d13045431 253
lakshya 20:949d13045431 254 //CDMS
lakshya 20:949d13045431 255 //eps cdms fault
lakshya 20:949d13045431 256 uint8_t CDMS_SW_STATUS;
lakshya 48:9fd15e3e0b53 257 DigitalIn CDMS_OC_FAULT(PIN79);
lakshya 20:949d13045431 258 bool CDMS_SW_ENABLE;
lakshya 20:949d13045431 259 int CDMS_FAULT_COUNTER = 0;
lakshya 20:949d13045431 260
lakshya 20:949d13045431 261
lakshya 20:949d13045431 262 //BAE new hk structure- everything has to changed based on this
lakshya 20:949d13045431 263 char BAE_chardata[74];
lakshya 33:76f2b8735501 264 // uint8_t LONG_HK_data[2][134];
lakshya 33:76f2b8735501 265 //uint8_t BAE_HK_data[134]; now known as LONG_HK_data[1][i];
lakshya 20:949d13045431 266 uint8_t BAE_RESET_COUNTER;// INITIALIZATION or do you want to initialize evertime the main is reset? or is it same
lakshya 20:949d13045431 267 uint16_t BAE_I2C_COUNTER = 0;//change/apply
lakshya 20:949d13045431 268 //uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off.
lakshya 20:949d13045431 269
lakshya 20:949d13045431 270 //BCN
lakshya 20:949d13045431 271 //uint16_t BCN_TX_MAIN_COUNTER = 0;
lakshya 20:949d13045431 272 uint8_t BCN_LONG_MSG_TYPE = 1;
sakthipriya 0:7b4c00e3912f 273
lakshya 49:61c9f28332ba 274 DigitalIn BCN_TX_OC_FAULT(PIN80);
lakshya 20:949d13045431 275 int BCN_TX_FAULT_COUNTER;
lakshya 20:949d13045431 276
lakshya 20:949d13045431 277 //ACS
lakshya 20:949d13045431 278 uint16_t ACS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 279
lakshya 20:949d13045431 280 //eps hw faults
lakshya 20:949d13045431 281 //uint8_t ACS_TR_Z_SW_STATUS;
Bragadeesh153 65:d1b12729fcdc 282 DigitalOut ACS_TR_Z_ENABLE(PIN40,0); //SWITCH
lakshya 48:9fd15e3e0b53 283 DigitalIn ACS_TR_Z_OC_FAULT(PIN91);
lakshya 48:9fd15e3e0b53 284 DigitalIn ACS_TR_Z_FAULT(PIN89); //Driver IC fault
lakshya 20:949d13045431 285 int ACS_TR_Z_FAULT_COUNTER = 0;
sakthipriya 0:7b4c00e3912f 286
lakshya 49:61c9f28332ba 287
lakshya 49:61c9f28332ba 288 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
lakshya 49:61c9f28332ba 289 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
Bragadeesh153 52:daa685b0e390 290
lakshya 49:61c9f28332ba 291
Bragadeesh153 52:daa685b0e390 292
lakshya 49:61c9f28332ba 293
lakshya 20:949d13045431 294 //uint8_t ACS_TR_XY_SW_STATUS;
Bragadeesh153 52:daa685b0e390 295 DigitalOut ACS_TR_XY_ENABLE(PIN71,0);
Bragadeesh153 52:daa685b0e390 296 DigitalIn ACS_TR_XY_OC_FAULT(PIN77);
lakshya 48:9fd15e3e0b53 297 DigitalIn ACS_TR_XY_FAULT(PIN83); //Driver IC fault
lakshya 20:949d13045431 298 int ACS_TR_XY_FAULT_COUNTER = 0;
lakshya 20:949d13045431 299
lakshya 20:949d13045431 300 //bool ACS_ATS1_ENABLE;
Bragadeesh153 52:daa685b0e390 301 DigitalIn ACS_ATS1_OC_FAULT(PIN39);
lakshya 48:9fd15e3e0b53 302 int ACS_TS1_FAULT_COUNTER = 0;
lakshya 20:949d13045431 303
lakshya 20:949d13045431 304 //bool ACS_ATS2_ENABLE;
Bragadeesh153 52:daa685b0e390 305 DigitalIn ACS_ATS2_OC_FAULT(PIN41);
lakshya 20:949d13045431 306 int ACS_ATS2_FAULT_COUNTER;
lakshya 20:949d13045431 307
lakshya 20:949d13045431 308 //EPS
lakshya 20:949d13045431 309 int EPS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 310
lakshya 20:949d13045431 311
lakshya 20:949d13045431 312 //GEN DEC FOR TESTING or to be DECIDED whre to ASSIGN HERE
sakthipriya 0:7b4c00e3912f 313 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 314 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 315 Timer t_start;
lakshya 19:79e69017c855 316 /*defined as of now to check execution time*/
lakshya 19:79e69017c855 317 /*remember to remove them*/
lakshya 19:79e69017c855 318 Timer t_acs;
lakshya 19:79e69017c855 319 Timer t_eps;
lakshya 20:949d13045431 320 //Timer t_tc;
sakthipriya 7:a46a1dee4497 321 Timer t_tm;
lakshya 49:61c9f28332ba 322
sakthipriya 0:7b4c00e3912f 323 int power_flag_dummy=2;
sakthipriya 0:7b4c00e3912f 324 float data[6];
sakthipriya 0:7b4c00e3912f 325
lakshya 20:949d13045431 326
lakshya 20:949d13045431 327 //*************EXTERN PARA********
lakshya 20:949d13045431 328
lakshya 20:949d13045431 329 //BAE
lakshya 20:949d13045431 330
sakthipriya 1:446a959e36ce 331 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 332 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 333 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 334 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 335
lakshya 20:949d13045431 336
lakshya 20:949d13045431 337 //BCN
lakshya 20:949d13045431 338 extern uint8_t BCN_FEN;
lakshya 20:949d13045431 339 extern uint8_t BCN_TX_SW_STATUS;
lakshya 20:949d13045431 340 extern uint8_t BCN_SPND_TX;
lakshya 20:949d13045431 341
lakshya 20:949d13045431 342
lakshya 20:949d13045431 343 //TCTM
lakshya 49:61c9f28332ba 344 extern uint8_t telemetry[tm_len];
lakshya 20:949d13045431 345
lakshya 20:949d13045431 346
lakshya 20:949d13045431 347 //ACS
lakshya 20:949d13045431 348 extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya 20:949d13045431 349 extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 350 extern float gyro_data[3];
lakshya 20:949d13045431 351 extern float mag_data[3];
lakshya 20:949d13045431 352 extern float moment[3];
lakshya 20:949d13045431 353 extern float b_old[3]; // Unit: Tesla
lakshya 20:949d13045431 354 extern float db[3];
lakshya 20:949d13045431 355 extern uint8_t flag_firsttime;
lakshya 20:949d13045431 356 extern uint8_t ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 357 extern uint8_t ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 358 extern uint16_t ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 359
lakshya 39:670133e7ffd8 360 int write_ack;
lakshya 39:670133e7ffd8 361 int read_ack;
sakthipriya 0:7b4c00e3912f 362 char telecommand[tc_len];
lakshya 20:949d13045431 363
sakthipriya 5:bb592f3185cc 364
sakthipriya 5:bb592f3185cc 365 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 366 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 367 bool if1check = 0;
lakshya 14:a9588f443f1a 368 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 369
lakshya 20:949d13045431 370 //ASSIGNING PINS//
Bragadeesh153 52:daa685b0e390 371 DigitalOut ATS1_SW_ENABLE(PIN90,1); // enable of att sens2 switch
Bragadeesh153 52:daa685b0e390 372 DigitalOut ATS2_SW_ENABLE(PIN61,0); // enable of att sens switch
lakshya 49:61c9f28332ba 373 ////InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
lakshya 49:61c9f28332ba 374 ////DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya 14:a9588f443f1a 375 I2CSlave slave (PIN1,PIN2);///pin1 pin2
lakshya 20:949d13045431 376 //DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 377
sakthipriya 9:194afacf7449 378 //ATS1_SW_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 379 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 380 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 381 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 382
sakthipriya 5:bb592f3185cc 383 //........faults
sakthipriya 5:bb592f3185cc 384 //Polled Faults
lakshya 48:9fd15e3e0b53 385 //DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
lakshya 48:9fd15e3e0b53 386 //DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
lakshya 48:9fd15e3e0b53 387 //DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 388
Bragadeesh153 52:daa685b0e390 389
Bragadeesh153 52:daa685b0e390 390 DigitalOut DRV_XY_EN(PIN82,0); // DRV XY en
Bragadeesh153 52:daa685b0e390 391 //DigitalOut TRXY_SW(PIN71,0); //TR XY Switch
Bragadeesh153 52:daa685b0e390 392 DigitalOut DRV_Z_EN(PIN88,0); //Sleep pin of driver z //DISABLE by default
Bragadeesh153 52:daa685b0e390 393 //DigitalOut TRZ_SW(PIN40,0); //TR Z Switch
Bragadeesh153 52:daa685b0e390 394
lakshya 19:79e69017c855 395 DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET
Bragadeesh153 52:daa685b0e390 396
Bragadeesh153 52:daa685b0e390 397 DigitalOut CDMS_OC_ENA(PIN70,1);
sakthipriya 0:7b4c00e3912f 398
Bragadeesh153 52:daa685b0e390 399 DigitalOut BCN_SW(PIN65,1); //IN TEMPORARY SBC
Bragadeesh153 52:daa685b0e390 400 //DigitalOut BCN_SW(PIN14,1); //Beacon switch //IN QM SBC, TO BE CHANGED
lakshya 20:949d13045431 401
lakshya 20:949d13045431 402 //================================================================================
lakshya 20:949d13045431 403 //default flash array some filler bits added (detail in MMS file)
lakshya 63:55d32e7dcad7 404 //uint32_t ARR_INITIAL_VAL[8]={0x73532600,0x505A4141,0x1A1A1400,0x00000000,0x00000000,0x00000000,0xCBA20000,0x00000000};//to be done
Bragadeesh153 68:abeaa67d84f5 405 uint32_t ARR_INITIAL_VAL[8]={0x7C532600,0x505A4141,0x1A1A1400,0x001E0028,0x00030004,0x00320005,0xCBA2010A,0x00000000};//to be done
lakshya 20:949d13045431 406
lakshya 20:949d13045431 407 void FLASH_INI()
lakshya 20:949d13045431 408 {
lakshya 49:61c9f28332ba 409 uint32_t read[8];
lakshya 20:949d13045431 410 for(int i=0;i<8;i++)
lakshya 20:949d13045431 411 {
lakshya 20:949d13045431 412 read[i] = FCTN_BAE_RD_FLASH_ENTITY(i);
lakshya 22:950dbe9fbeb8 413 //printf("\n\r val is read after starting %x ",read[i]);
lakshya 20:949d13045431 414 }
lakshya 20:949d13045431 415
lakshya 20:949d13045431 416 if(read[0] == -1)
lakshya 20:949d13045431 417 for(int j=0;j<8;j++)
lakshya 20:949d13045431 418 {
lakshya 20:949d13045431 419 FCTN_BAE_WR_FLASH(j,ARR_INITIAL_VAL[j]);
lakshya 39:670133e7ffd8 420 ACS_ATS_STATUS = ARR_INITIAL_VAL[0]>>24;
lakshya 39:670133e7ffd8 421 ACS_TR_XY_SW_STATUS = ((uint8_t)(ARR_INITIAL_VAL[0]>>22))&0x03;
lakshya 39:670133e7ffd8 422 ACS_TR_Z_SW_STATUS = (ARR_INITIAL_VAL[0]>>20)&0x03;
lakshya 39:670133e7ffd8 423 ACS_STATE = (ARR_INITIAL_VAL[0]>>16)&0x0F;
lakshya 49:61c9f28332ba 424 //pc.pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 39:670133e7ffd8 425 ACS_DETUMBLING_ALGO_TYPE = (ARR_INITIAL_VAL[0]>>15)&0x01;
lakshya 50:6001287f3045 426 BCN_TX_SW_STATUS = 1;//((uint8_t)(ARR_INITIAL_VAL[0]>>14))&0x03;
lakshya 39:670133e7ffd8 427 BCN_SPND_TX = ((uint8_t)(ARR_INITIAL_VAL[0]>>12))&0x01;
lakshya 39:670133e7ffd8 428 BCN_FEN = ((uint8_t)(ARR_INITIAL_VAL[0]>>11))&0x01;
lakshya 39:670133e7ffd8 429 BCN_LONG_MSG_TYPE = ((uint8_t)(ARR_INITIAL_VAL[0]>>10))&0x01;
lakshya 39:670133e7ffd8 430 EPS_BTRY_HTR_AUTO = ((uint8_t)(ARR_INITIAL_VAL[0]>>9))&0x03;//EPS_BATTERY_HEATER_ENABLE
lakshya 39:670133e7ffd8 431 //now one spares in telemetry[5]
lakshya 39:670133e7ffd8 432
lakshya 39:670133e7ffd8 433 //updating the reset counter
lakshya 39:670133e7ffd8 434 BAE_RESET_COUNTER = ((uint8_t)(ARR_INITIAL_VAL[0]));
lakshya 39:670133e7ffd8 435 EPS_SOC_LEVEL_12 = (uint8_t)(ARR_INITIAL_VAL[1]>>24);
lakshya 39:670133e7ffd8 436 EPS_SOC_LEVEL_23 = (uint8_t)(ARR_INITIAL_VAL[1]>>16);
lakshya 39:670133e7ffd8 437 ACS_MAG_TIME_DELAY = (uint8_t)(ARR_INITIAL_VAL[1]>>8);
lakshya 39:670133e7ffd8 438 ACS_DEMAG_TIME_DELAY = (uint8_t)ARR_INITIAL_VAL[1];
lakshya 39:670133e7ffd8 439
lakshya 39:670133e7ffd8 440 EPS_BAT_TEMP_LOW = (uint8_t)(ARR_INITIAL_VAL[2]>>24);
lakshya 39:670133e7ffd8 441 EPS_BAT_TEMP_HIGH = (uint8_t)(ARR_INITIAL_VAL[2]>>16);
lakshya 39:670133e7ffd8 442 EPS_BAT_TEMP_DEFAULT = (uint8_t)(ARR_INITIAL_VAL[2]>>8);
lakshya 39:670133e7ffd8 443
lakshya 39:670133e7ffd8 444 ACS_MM_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[3]>>16);
lakshya 39:670133e7ffd8 445 ACS_MM_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[3];
lakshya 39:670133e7ffd8 446
lakshya 39:670133e7ffd8 447 ACS_MG_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[4]>>16);
lakshya 39:670133e7ffd8 448 ACS_MG_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[4];
lakshya 39:670133e7ffd8 449
lakshya 39:670133e7ffd8 450 ACS_MM_Z_COMSN = (uint16_t)(ARR_INITIAL_VAL[5]>>16);
lakshya 39:670133e7ffd8 451 ACS_MG_Z_COMSN = (uint16_t)ARR_INITIAL_VAL[5];
lakshya 39:670133e7ffd8 452
lakshya 39:670133e7ffd8 453 ACS_Z_FIXED_MOMENT = (uint16_t)(ARR_INITIAL_VAL[6]>>16);//assignvalues
lakshya 39:670133e7ffd8 454
lakshya 39:670133e7ffd8 455 }
lakshya 20:949d13045431 456 else
lakshya 20:949d13045431 457 {
lakshya 20:949d13045431 458 for(int j=0;j<8;j++)
lakshya 20:949d13045431 459 {
lakshya 20:949d13045431 460 read[j] = FCTN_BAE_RD_FLASH_ENTITY(j);
lakshya 20:949d13045431 461 }
lakshya 20:949d13045431 462 ACS_ATS_STATUS = read[0]>>24;
lakshya 20:949d13045431 463 ACS_TR_XY_SW_STATUS = ((uint8_t)(read[0]>>22))&0x03;
lakshya 20:949d13045431 464 ACS_TR_Z_SW_STATUS = (read[0]>>20)&0x03;
lakshya 27:61c856be467e 465 ACS_STATE = (read[0]>>16)&0x0F;
lakshya 39:670133e7ffd8 466 //pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 27:61c856be467e 467 ACS_DETUMBLING_ALGO_TYPE = (read[0]>>15)&0x01;
lakshya 50:6001287f3045 468 BCN_TX_SW_STATUS = 1;//((uint8_t)(read[0]>>13))&0x03;
lakshya 27:61c856be467e 469 BCN_SPND_TX = ((uint8_t)(read[0]>>12))&0x01;
lakshya 27:61c856be467e 470 BCN_FEN = ((uint8_t)(read[0]>>11))&0x01;
lakshya 27:61c856be467e 471 BCN_LONG_MSG_TYPE = ((uint8_t)(read[0]>>10))&0x01;
lakshya 49:61c9f28332ba 472 EPS_BTRY_HTR_AUTO = ((uint8_t)(read[0]>>9))&0x01;//EPS_BATTERY_HEATER_ENABLE
lakshya 27:61c856be467e 473 //now one spares in telemetry[5]
lakshya 20:949d13045431 474
lakshya 20:949d13045431 475 //updating the reset counter
lakshya 20:949d13045431 476 BAE_RESET_COUNTER = ((uint8_t)(read[0]))+1;
lakshya 20:949d13045431 477 read[0]=(read[0]&0xffffff00) | (uint32_t)BAE_RESET_COUNTER;
lakshya 20:949d13045431 478 FCTN_BAE_WR_FLASH(0,read[0]);
lakshya 39:670133e7ffd8 479 pc.printf("\n\r reset counter %d",BAE_RESET_COUNTER);
lakshya 20:949d13045431 480
lakshya 20:949d13045431 481
lakshya 20:949d13045431 482 EPS_SOC_LEVEL_12 = (uint8_t)(read[1]>>24);
lakshya 20:949d13045431 483 EPS_SOC_LEVEL_23 = (uint8_t)(read[1]>>16);
lakshya 20:949d13045431 484 ACS_MAG_TIME_DELAY = (uint8_t)(read[1]>>8);
lakshya 20:949d13045431 485 ACS_DEMAG_TIME_DELAY = (uint8_t)read[1];
lakshya 20:949d13045431 486
lakshya 20:949d13045431 487 EPS_BAT_TEMP_LOW = (uint8_t)(read[2]>>24);
lakshya 20:949d13045431 488 EPS_BAT_TEMP_HIGH = (uint8_t)(read[2]>>16);
lakshya 20:949d13045431 489 EPS_BAT_TEMP_DEFAULT = (uint8_t)(read[2]>>8);
lakshya 20:949d13045431 490
lakshya 20:949d13045431 491 ACS_MM_X_COMSN = (uint16_t)(read[3]>>16);
lakshya 20:949d13045431 492 ACS_MM_Y_COMSN = (uint16_t)read[3];
lakshya 20:949d13045431 493
lakshya 20:949d13045431 494 ACS_MG_X_COMSN = (uint16_t)(read[4]>>16);
lakshya 20:949d13045431 495 ACS_MG_Y_COMSN = (uint16_t)read[4];
lakshya 20:949d13045431 496
lakshya 20:949d13045431 497 ACS_MM_Z_COMSN = (uint16_t)(read[5]>>16);
lakshya 20:949d13045431 498 ACS_MG_Z_COMSN = (uint16_t)read[5];
lakshya 20:949d13045431 499
lakshya 20:949d13045431 500 ACS_Z_FIXED_MOMENT = (uint16_t)(read[6]>>16);//assignvalues
lakshya 20:949d13045431 501
lakshya 20:949d13045431 502 }
lakshya 20:949d13045431 503
lakshya 20:949d13045431 504 }
lakshya 20:949d13045431 505 //================================================================================
lakshya 20:949d13045431 506
lakshya 20:949d13045431 507
lakshya 20:949d13045431 508
sakthipriya 0:7b4c00e3912f 509 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 0:7b4c00e3912f 510 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 511
lakshya 19:79e69017c855 512
sakthipriya 0:7b4c00e3912f 513 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 514 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 515 void FCTN_TM();
sakthipriya 3:07e15677a75c 516 void F_ACS();
sakthipriya 3:07e15677a75c 517 void F_EPS();
sakthipriya 3:07e15677a75c 518 void F_BCN();
sakthipriya 0:7b4c00e3912f 519
lakshya 20:949d13045431 520 //I2C
lakshya 20:949d13045431 521 uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working
lakshya 20:949d13045431 522 uint16_t crc16_check;
lakshya 20:949d13045431 523 void I2C_busreset()
lakshya 20:949d13045431 524 {
lakshya 20:949d13045431 525 PORTE->PCR[1] &= 0xfffffffb;
lakshya 20:949d13045431 526 PORTE->PCR[0] &= 0xfffffffb;
lakshya 20:949d13045431 527 I2C1->C1 &= 0x7f;
lakshya 20:949d13045431 528 SIM->SCGC4 &= 0xffffff7f;
lakshya 20:949d13045431 529 SIM->SCGC4 |= 0x00000080;
lakshya 20:949d13045431 530 I2C1->C1 |= 0x80;
lakshya 20:949d13045431 531 PORTE->PCR[1] |= 0x00000004;
lakshya 20:949d13045431 532 PORTE->PCR[0] |= 0x00000004;
lakshya 39:670133e7ffd8 533 wait_ms(1);
lakshya 20:949d13045431 534 }
lakshya 20:949d13045431 535
sakthipriya 0:7b4c00e3912f 536 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 537 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 538 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 539 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 540 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 541
lakshya 20:949d13045431 542 //FLOAT TO UINT_8 CONVERSION FUNCTION
lakshya 20:949d13045431 543 extern uint8_t float_to_uint8(float min,float max,float val);
lakshya 20:949d13045431 544
lakshya 49:61c9f28332ba 545 //#define print 0
lakshya 20:949d13045431 546
sakthipriya 3:07e15677a75c 547 void F_ACS()
sakthipriya 0:7b4c00e3912f 548 {
lakshya 20:949d13045431 549 ACS_MAIN_COUNTER++;
lakshya 20:949d13045431 550 //time_wdog = 1;
lakshya 20:949d13045431 551 pc.printf("Entered ACS.\n\r");
lakshya 20:949d13045431 552
lakshya 20:949d13045431 553 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
lakshya 49:61c9f28332ba 554 //FLAG();
sakthipriya 3:07e15677a75c 555
sakthipriya 0:7b4c00e3912f 556 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 557 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 558 PWM3 = 0; //clear pwm pins
lakshya 20:949d13045431 559
lakshya 20:949d13045431 560 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 561 ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ();
sakthipriya 0:7b4c00e3912f 562
lakshya 49:61c9f28332ba 563 //#if print
lakshya 49:61c9f28332ba 564 //printing the angular speed and magnetic field values
lakshya 20:949d13045431 565 pc.printf("gyro values\n\r");
lakshya 19:79e69017c855 566 for(int i=0; i<3; i++)
lakshya 20:949d13045431 567 {
lakshya 49:61c9f28332ba 568 pc.printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
lakshya 20:949d13045431 569 }
lakshya 20:949d13045431 570
lakshya 19:79e69017c855 571 pc.printf("mag values\n\r");
lakshya 19:79e69017c855 572 for(int i=0; i<3; i++)
lakshya 20:949d13045431 573 {
lakshya 20:949d13045431 574 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
lakshya 20:949d13045431 575 }
lakshya 49:61c9f28332ba 576 //#endif
lakshya 20:949d13045431 577
lakshya 20:949d13045431 578 for(int i=0;i<3;i++)
lakshya 19:79e69017c855 579 {
lakshya 20:949d13045431 580 mag_data[i] = actual_data.Bvalue_actual[i]/1000000;
lakshya 20:949d13045431 581 gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180;
lakshya 20:949d13045431 582 }
lakshya 49:61c9f28332ba 583
Bragadeesh153 65:d1b12729fcdc 584 float b_inclination = mag_data[2]/sqrt(mag_data[0]*mag_data[0]+mag_data[1]*mag_data[1]+mag_data[2]*mag_data[2]);
lakshya 49:61c9f28332ba 585
lakshya 49:61c9f28332ba 586 if(b_inclination <0)
lakshya 49:61c9f28332ba 587 {
lakshya 49:61c9f28332ba 588 b_inclination = (-1)*b_inclination;
lakshya 49:61c9f28332ba 589 }
Bragadeesh153 65:d1b12729fcdc 590 B_SCZ_ANGLE = (uint8_t)(b_inclination*16);
lakshya 49:61c9f28332ba 591 if( b_inclination >= 16)
lakshya 49:61c9f28332ba 592 {
lakshya 49:61c9f28332ba 593 B_SCZ_ANGLE = 0x0F;
lakshya 49:61c9f28332ba 594 }
lakshya 49:61c9f28332ba 595 if(b_inclination <=0)
lakshya 49:61c9f28332ba 596 {
lakshya 49:61c9f28332ba 597 B_SCZ_ANGLE = 0x00;
lakshya 49:61c9f28332ba 598 }
Bragadeesh153 55:6ea0d7e9fce2 599 //printf("POWER MODE is : %d\r\n",actual_data.power_mode);
lakshya 20:949d13045431 600
lakshya 20:949d13045431 601 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
lakshya 20:949d13045431 602 {
lakshya 20:949d13045431 603 #if print
lakshya 49:61c9f28332ba 604 pc.printf("\n\r acs control off\n");
lakshya 20:949d13045431 605 #endif
lakshya 20:949d13045431 606 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
lakshya 20:949d13045431 607 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 608 return;
lakshya 20:949d13045431 609 }
Bragadeesh153 55:6ea0d7e9fce2 610 else if((actual_data.power_mode<=2)||( (( ACS_STATE)&0x08) == 0x08))
lakshya 20:949d13045431 611 {
Bragadeesh153 52:daa685b0e390 612 //#if print
lakshya 49:61c9f28332ba 613 pc.printf("\n\r Low Power \n\r");
Bragadeesh153 52:daa685b0e390 614 //#endif
lakshya 20:949d13045431 615 DRV_Z_EN = 0;
lakshya 20:949d13045431 616 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 617 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 618 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 619 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
lakshya 20:949d13045431 620 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 621 return;
lakshya 20:949d13045431 622
lakshya 20:949d13045431 623 }
lakshya 20:949d13045431 624 else if(ACS_TR_Z_SW_STATUS != 1)
lakshya 20:949d13045431 625 {
Bragadeesh153 52:daa685b0e390 626 pc.printf("\n\r Z disabled \n\r");
lakshya 20:949d13045431 627 DRV_Z_EN = 0;
lakshya 20:949d13045431 628 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 629 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 630 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 631 ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED
lakshya 20:949d13045431 632 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 633 return;
lakshya 20:949d13045431 634 }
lakshya 20:949d13045431 635 else if(ACS_TR_XY_SW_STATUS != 1)
Bragadeesh153 52:daa685b0e390 636 {
Bragadeesh153 52:daa685b0e390 637 pc.printf("\n\r Z only \n\r");
lakshya 20:949d13045431 638 DRV_Z_EN = 1;
lakshya 20:949d13045431 639 DRV_XY_EN = 0;
lakshya 63:55d32e7dcad7 640 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 641 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 642 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only
lakshya 20:949d13045431 643 moment[0] = 0;
lakshya 20:949d13045431 644 moment[1] = 0;
lakshya 20:949d13045431 645 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 646
lakshya 49:61c9f28332ba 647 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 648 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 649 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 650 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 20:949d13045431 651 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 652 return;
lakshya 19:79e69017c855 653 }
lakshya 20:949d13045431 654 else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1))
lakshya 20:949d13045431 655 {
Bragadeesh153 52:daa685b0e390 656
Bragadeesh153 52:daa685b0e390 657 pc.printf("\n\r Z only no data \n\r");
lakshya 20:949d13045431 658 DRV_Z_EN = 1;
lakshya 20:949d13045431 659 DRV_XY_EN = 0;
lakshya 63:55d32e7dcad7 660 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 661 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 662 ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only
lakshya 20:949d13045431 663
lakshya 20:949d13045431 664 moment[0] = 0;
lakshya 20:949d13045431 665 moment[1] = 0;
lakshya 20:949d13045431 666 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 667
lakshya 49:61c9f28332ba 668 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 669 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 670 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 671 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 672
lakshya 20:949d13045431 673 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 674 return;
lakshya 20:949d13045431 675 }
Bragadeesh153 52:daa685b0e390 676 else if((ACS_STATE == 1)||(ACS_STATE == 9))
lakshya 20:949d13045431 677 {
Bragadeesh153 52:daa685b0e390 678 pc.printf("\n\r Z only by state \n\r");
lakshya 20:949d13045431 679 DRV_Z_EN = 1;
lakshya 20:949d13045431 680 DRV_XY_EN = 0;
lakshya 63:55d32e7dcad7 681 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 682 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 683 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only
sakthipriya 0:7b4c00e3912f 684
lakshya 20:949d13045431 685 moment[0] = 0;
lakshya 20:949d13045431 686 moment[1] = 0;
lakshya 20:949d13045431 687 moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value
lakshya 20:949d13045431 688 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 689
lakshya 20:949d13045431 690 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 691 return;
lakshya 20:949d13045431 692 }
lakshya 20:949d13045431 693 else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available
lakshya 20:949d13045431 694 {
Bragadeesh153 52:daa685b0e390 695 pc.printf("\n\r MM only BDOT \n\r");
lakshya 20:949d13045431 696 DRV_Z_EN = 1;
lakshya 20:949d13045431 697 DRV_XY_EN = 1;
lakshya 63:55d32e7dcad7 698 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 699 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 700
lakshya 20:949d13045431 701 ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL
lakshya 20:949d13045431 702 ACS_DETUMBLING_ALGO_TYPE = 0x01;
lakshya 20:949d13045431 703 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 704 controlmode_mms=0x00;
lakshya 20:949d13045431 705 #if print
lakshya 49:61c9f28332ba 706 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 707 #endif
lakshya 20:949d13045431 708 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 709 {
lakshya 49:61c9f28332ba 710 pc.printf("%f\t",moment[i]);
lakshya 19:79e69017c855 711 }
lakshya 20:949d13045431 712 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 713 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 714 return;
lakshya 20:949d13045431 715 }
Bragadeesh153 52:daa685b0e390 716 else if((ACS_STATE == 2)||(ACS_STATE == 10)) // Nominal mode
lakshya 20:949d13045431 717 {
lakshya 20:949d13045431 718 #if print
lakshya 49:61c9f28332ba 719 pc.printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 720 #endif
lakshya 20:949d13045431 721 DRV_Z_EN = 1;
lakshya 63:55d32e7dcad7 722 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 723 ACS_TR_Z_ENABLE = 1;
lakshya 63:55d32e7dcad7 724 ACS_TR_XY_ENABLE = 1;
lakshya 49:61c9f28332ba 725
lakshya 49:61c9f28332ba 726 //timer_FCTN_ACS_CNTRLALGO.start();
lakshya 20:949d13045431 727 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 728 //timer_FCTN_ACS_CNTRLALGO.stop();
lakshya 49:61c9f28332ba 729 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 730
lakshya 27:61c856be467e 731 controlmode_mms = 0x01;
lakshya 20:949d13045431 732 #if print
lakshya 49:61c9f28332ba 733 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 734 #endif
lakshya 20:949d13045431 735 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 736 {
lakshya 49:61c9f28332ba 737 pc.printf("%f\t",moment[i]);
lakshya 20:949d13045431 738 }
lakshya 49:61c9f28332ba 739
lakshya 49:61c9f28332ba 740 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 741 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 742 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 743 //pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 744
lakshya 20:949d13045431 745 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 746 return;
lakshya 20:949d13045431 747 }
Bragadeesh153 52:daa685b0e390 748 else if((ACS_STATE == 3)||(ACS_STATE == 11)) // Auto Control
lakshya 20:949d13045431 749 {
lakshya 20:949d13045431 750 #if print
lakshya 49:61c9f28332ba 751 pc.printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 752 #endif
lakshya 20:949d13045431 753 DRV_Z_EN = 1;
lakshya 63:55d32e7dcad7 754 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 755 ACS_TR_Z_ENABLE = 1;
lakshya 63:55d32e7dcad7 756 ACS_TR_XY_ENABLE = 1;
lakshya 49:61c9f28332ba 757
lakshya 49:61c9f28332ba 758 timer_FCTN_ACS_CNTRLALGO.start();
lakshya 20:949d13045431 759 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 760 timer_FCTN_ACS_CNTRLALGO.stop();
lakshya 49:61c9f28332ba 761 //pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 762
lakshya 27:61c856be467e 763 controlmode_mms = 0x00;
lakshya 20:949d13045431 764 #if print
lakshya 49:61c9f28332ba 765 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 766 for(int i=0; i<3; i++)
lakshya 19:79e69017c855 767 {
lakshya 49:61c9f28332ba 768 pc.printf("%f\t",moment[i]);
lakshya 20:949d13045431 769 }
lakshya 20:949d13045431 770 #endif
Bragadeesh153 52:daa685b0e390 771 pc.printf("\r\n");
lakshya 49:61c9f28332ba 772 timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 773 FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function
lakshya 49:61c9f28332ba 774 timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 775 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 776
lakshya 20:949d13045431 777 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 778 return;
lakshya 20:949d13045431 779 }
Bragadeesh153 52:daa685b0e390 780 else if((ACS_STATE == 4)||(ACS_STATE == 12)) // Detumbling
lakshya 20:949d13045431 781 {
Bragadeesh153 52:daa685b0e390 782 pc.printf("\n\r Detumbling \n\r");
lakshya 20:949d13045431 783 DRV_Z_EN = 1;
lakshya 63:55d32e7dcad7 784 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 785 ACS_TR_Z_ENABLE = 1;
lakshya 63:55d32e7dcad7 786 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 787 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 788 controlmode_mms = 0x00;
lakshya 20:949d13045431 789 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 790 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 791 return;
lakshya 20:949d13045431 792 }
lakshya 20:949d13045431 793 ACS_STATUS = 7; //INVALID_STATE
lakshya 20:949d13045431 794 DRV_Z_EN = 0;
Bragadeesh153 61:9348606edee2 795 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 796 ACS_TR_XY_ENABLE = 0;
lakshya 63:55d32e7dcad7 797 DRV_XY_EN = 0;
lakshya 20:949d13045431 798 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
lakshya 20:949d13045431 799 }
lakshya 19:79e69017c855 800
lakshya 19:79e69017c855 801
sakthipriya 0:7b4c00e3912f 802 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 803
lakshya 33:76f2b8735501 804
sakthipriya 3:07e15677a75c 805 void F_EPS()
lakshya 20:949d13045431 806 {
lakshya 33:76f2b8735501 807 float eps_btry_temp;
lakshya 33:76f2b8735501 808 pc.printf("\n\rEntered EPS %f\n\r",t_start.read());
lakshya 33:76f2b8735501 809 EPS_MAIN_STATUS = 1; // Set EPS main status
lakshya 33:76f2b8735501 810 EPS_MAIN_COUNTER++;
lakshya 49:61c9f28332ba 811
lakshya 49:61c9f28332ba 812 timer_FCTN_BATT_TEMP_SENSOR_MAIN.reset();
lakshya 49:61c9f28332ba 813 timer_FCTN_BATT_TEMP_SENSOR_MAIN.start();
lakshya 33:76f2b8735501 814 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
lakshya 49:61c9f28332ba 815 timer_FCTN_BATT_TEMP_SENSOR_MAIN.stop();
lakshya 49:61c9f28332ba 816
lakshya 33:76f2b8735501 817 pc.printf("Battery temperature %f %f\n\r" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
lakshya 33:76f2b8735501 818 EPS_BTRY_TMP_AVG = ( actual_data.Batt_temp_actual[0] + actual_data.Batt_temp_actual[1] )/2.0;
lakshya 33:76f2b8735501 819 if(abs(actual_data.Batt_temp_actual[0] - actual_data.Batt_temp_actual[1]) > 10)
lakshya 33:76f2b8735501 820 {
lakshya 33:76f2b8735501 821 EPS_BTRY_TMP_STATUS = 0; //clear EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 822 eps_btry_temp = (float) EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 823 }
lakshya 33:76f2b8735501 824 else
lakshya 33:76f2b8735501 825 {
lakshya 33:76f2b8735501 826 EPS_BTRY_TMP_STATUS = 1; //set EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 827 eps_btry_temp = EPS_BTRY_TMP_AVG;
lakshya 33:76f2b8735501 828 }
lakshya 33:76f2b8735501 829
lakshya 33:76f2b8735501 830 if(EPS_BTRY_HTR_AUTO == 0)
lakshya 33:76f2b8735501 831 EPS_STATUS = 1; //EPS_BATTERY_HEATER_DISABLED
lakshya 33:76f2b8735501 832 else if( EPS_BTRY_TMP_STATUS == 0 )
lakshya 33:76f2b8735501 833 {
lakshya 33:76f2b8735501 834 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 835 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 836 EPS_STATUS = 0; //Set EPS_ERR_BATTERY_TEMP
lakshya 33:76f2b8735501 837 }
lakshya 33:76f2b8735501 838 else
lakshya 33:76f2b8735501 839 {
lakshya 33:76f2b8735501 840 if( EPS_BTRY_HTR == 1 && eps_btry_temp >= EPS_BAT_TEMP_HIGH )
lakshya 33:76f2b8735501 841 {
lakshya 33:76f2b8735501 842 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 843 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 844 EPS_STATUS = 4; //Set EPS_BATTERY_HEATER_OFF
lakshya 33:76f2b8735501 845 }
lakshya 33:76f2b8735501 846 else if( EPS_BTRY_HTR == 0 && eps_btry_temp < EPS_BAT_TEMP_LOW )
lakshya 33:76f2b8735501 847 {
lakshya 33:76f2b8735501 848 BTRY_HTR_ENABLE = 1;
lakshya 33:76f2b8735501 849 EPS_BTRY_HTR = 1;
lakshya 33:76f2b8735501 850 EPS_STATUS = 5; //Set EPS_BATTERY_HEATER_ON
lakshya 33:76f2b8735501 851 }
lakshya 33:76f2b8735501 852 }
lakshya 33:76f2b8735501 853
lakshya 33:76f2b8735501 854 unsigned short statusreg = read(REG_STATUS);
lakshya 33:76f2b8735501 855 if( EPS_BATTERY_GAUGE_STATUS == 0 ) reset();
lakshya 33:76f2b8735501 856 if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set
lakshya 19:79e69017c855 857 {
lakshya 49:61c9f28332ba 858 pc.printf("REG_STATUS = %d\r\n",read(REG_STATUS));
lakshya 33:76f2b8735501 859 FCTN_BATTERYGAUGE_INIT();
lakshya 49:61c9f28332ba 860 }
lakshya 49:61c9f28332ba 861 timer_FCTN_BATTERYGAUGE_MAIN.reset();
lakshya 49:61c9f28332ba 862 timer_FCTN_BATTERYGAUGE_MAIN.start();
lakshya 33:76f2b8735501 863 int BTG_MAIN_FLAG = FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual, eps_btry_temp);
lakshya 49:61c9f28332ba 864 timer_FCTN_BATTERYGAUGE_MAIN.stop();
lakshya 49:61c9f28332ba 865
lakshya 33:76f2b8735501 866 if( BTG_MAIN_FLAG == 0 ) //Data not received
lakshya 33:76f2b8735501 867 {
lakshya 33:76f2b8735501 868 actual_data.power_mode = 1;
lakshya 33:76f2b8735501 869 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 870 }
lakshya 33:76f2b8735501 871 else
lakshya 33:76f2b8735501 872 {
lakshya 33:76f2b8735501 873 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
lakshya 33:76f2b8735501 874 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 875 }
lakshya 49:61c9f28332ba 876
lakshya 49:61c9f28332ba 877 timer_FCTN_HK_MAIN.reset();
lakshya 49:61c9f28332ba 878 timer_FCTN_HK_MAIN.start();
lakshya 33:76f2b8735501 879 FCTN_HK_MAIN();
lakshya 49:61c9f28332ba 880 timer_FCTN_HK_MAIN.stop();
lakshya 49:61c9f28332ba 881 // pc.printf("ere");
lakshya 49:61c9f28332ba 882
lakshya 49:61c9f28332ba 883 timer_FCTN_EPS_HANDLE_HW_FAULTS.reset();
lakshya 49:61c9f28332ba 884 timer_FCTN_EPS_HANDLE_HW_FAULTS.start();
lakshya 33:76f2b8735501 885 FCTN_EPS_HANDLE_HW_FAULTS();
lakshya 49:61c9f28332ba 886 timer_FCTN_EPS_HANDLE_HW_FAULTS.stop();
lakshya 49:61c9f28332ba 887
lakshya 49:61c9f28332ba 888 timer_FCTN_EPS_HANDLE_CDMS_FAULT.reset();
lakshya 49:61c9f28332ba 889 timer_FCTN_EPS_HANDLE_CDMS_FAULT.start();
lakshya 33:76f2b8735501 890 FCTN_EPS_HANDLE_CDMS_FAULT();
lakshya 49:61c9f28332ba 891 timer_FCTN_EPS_HANDLE_CDMS_FAULT.stop();
lakshya 49:61c9f28332ba 892
lakshya 49:61c9f28332ba 893 timer_FCTN_APPEND_HKDATA.reset();
lakshya 49:61c9f28332ba 894 timer_FCTN_APPEND_HKDATA.start();
lakshya 33:76f2b8735501 895 FCTN_APPEND_HKDATA();
lakshya 49:61c9f28332ba 896 timer_FCTN_APPEND_HKDATA.stop();
lakshya 49:61c9f28332ba 897
lakshya 49:61c9f28332ba 898 timer_minMaxHkData.reset();
lakshya 49:61c9f28332ba 899 timer_minMaxHkData.start();
lakshya 33:76f2b8735501 900 minMaxHkData();
lakshya 49:61c9f28332ba 901 timer_minMaxHkData.stop();
lakshya 49:61c9f28332ba 902
lakshya 49:61c9f28332ba 903 //pc.printf("ere");
lakshya 33:76f2b8735501 904 EPS_MAIN_STATUS = 0; // clear EPS main status
lakshya 33:76f2b8735501 905
sakthipriya 0:7b4c00e3912f 906 }
lakshya 33:76f2b8735501 907
lakshya 20:949d13045431 908
sakthipriya 0:7b4c00e3912f 909 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 910
sakthipriya 3:07e15677a75c 911 void F_BCN()
sakthipriya 0:7b4c00e3912f 912 {
lakshya 20:949d13045431 913 pc.printf("\n\rEntered BCN %f\n",t_start.read());
lakshya 20:949d13045431 914 //BCN_TX_MAIN_COUNTER=+1;
lakshya 49:61c9f28332ba 915
lakshya 49:61c9f28332ba 916 timer_FCTN_BCN_TX_MAIN.reset();
lakshya 49:61c9f28332ba 917 timer_FCTN_BCN_TX_MAIN.start();
lakshya 20:949d13045431 918 FCTN_BCN_TX_MAIN();
lakshya 49:61c9f28332ba 919 timer_FCTN_BCN_TX_MAIN.stop();
sakthipriya 0:7b4c00e3912f 920 }
sakthipriya 0:7b4c00e3912f 921
sakthipriya 0:7b4c00e3912f 922 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 923
lakshya 39:670133e7ffd8 924 //===================================================================
sakthipriya 0:7b4c00e3912f 925 void T_TC(void const * args)
lakshya 19:79e69017c855 926 {
lakshya 20:949d13045431 927 while(1)
lakshya 39:670133e7ffd8 928 {
lakshya 39:670133e7ffd8 929 Thread::signal_wait(0x4);
lakshya 39:670133e7ffd8 930 wait_us(300);
lakshya 49:61c9f28332ba 931
lakshya 39:670133e7ffd8 932 BAE_MNG_I2C_STATUS =1 ;
lakshya 57:60e8f00d93c3 933 //I2C_last.reset();
lakshya 57:60e8f00d93c3 934 //I2C_last.start();
lakshya 49:61c9f28332ba 935 // pc.printf("\n\r intrpet");
lakshya 39:670133e7ffd8 936 if( slave.receive() == 0)
lakshya 39:670133e7ffd8 937 {
lakshya 39:670133e7ffd8 938 pdir_ss1=PTE->PDIR; /////////edited
lakshya 39:670133e7ffd8 939 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 940 data_send_flag = 'h';
lakshya 39:670133e7ffd8 941 slave.stop();
lakshya 39:670133e7ffd8 942 if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed
lakshya 39:670133e7ffd8 943 {
lakshya 39:670133e7ffd8 944 I2C_busreset(); /////////edited
lakshya 39:670133e7ffd8 945 }
lakshya 39:670133e7ffd8 946 pdir_ss2=PTE->PDIR;
lakshya 39:670133e7ffd8 947 pc.printf("\n\rSlave not addressed");
lakshya 39:670133e7ffd8 948 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss1);
lakshya 39:670133e7ffd8 949 #if PRINT2
lakshya 39:670133e7ffd8 950 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss2);
lakshya 39:670133e7ffd8 951 #endif
lakshya 39:670133e7ffd8 952 }
lakshya 39:670133e7ffd8 953 else if( slave.receive() == 1) // slave writes to master
lakshya 39:670133e7ffd8 954 {
lakshya 39:670133e7ffd8 955 BAE_I2C_COUNTER++; //////////edited
lakshya 39:670133e7ffd8 956 if(data_send_flag == 'h') //to be renamed as BAE_I2C_STATUS
lakshya 39:670133e7ffd8 957 {
lakshya 49:61c9f28332ba 958 irpt_2_mstr =1;
lakshya 49:61c9f28332ba 959 //pc.printf("\n\r hk "); //wait till cdms code is changed
lakshya 39:670133e7ffd8 960 FCTN_APPEND_HKDATA();
lakshya 39:670133e7ffd8 961 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 962 //crc is already being added
lakshya 39:670133e7ffd8 963 write_ack=slave.write((char*)BAE_chardata,134);
lakshya 39:670133e7ffd8 964 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 965 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 966 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 967 if(write_ack==0)// wait till cdms code is changed
lakshya 20:949d13045431 968 {
lakshya 49:61c9f28332ba 969 /*checking the tc timings*/
lakshya 49:61c9f28332ba 970 // time_wdog = 1;
lakshya 49:61c9f28332ba 971
lakshya 39:670133e7ffd8 972 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 973 {
lakshya 39:670133e7ffd8 974 wait_ms(1);
lakshya 39:670133e7ffd8 975 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 976 i2c_count++;
lakshya 39:670133e7ffd8 977 }
lakshya 39:670133e7ffd8 978 if(((pdir_tm1 & 0x00000003)==3))
lakshya 20:949d13045431 979 {
lakshya 39:670133e7ffd8 980 pc.printf("\n\rWrite HK success");
lakshya 49:61c9f28332ba 981 // data_send_flag = 'h';
lakshya 57:60e8f00d93c3 982 irpt_2_mstr = 0;
lakshya 57:60e8f00d93c3 983 I2C_last.reset();
lakshya 57:60e8f00d93c3 984 I2C_last.start(); //////////edited
lakshya 19:79e69017c855 985 }
lakshya 39:670133e7ffd8 986 else
lakshya 39:670133e7ffd8 987 {
lakshya 39:670133e7ffd8 988 #if baby
lakshya 39:670133e7ffd8 989 pc.printf("\n\rWrite HK failed");
lakshya 39:670133e7ffd8 990 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 991 #endif
lakshya 39:670133e7ffd8 992 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 993 I2C_busreset();
lakshya 39:670133e7ffd8 994 #if baby2
lakshya 39:670133e7ffd8 995 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 996 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 997 #endif
lakshya 39:670133e7ffd8 998 }
lakshya 39:670133e7ffd8 999 }
lakshya 39:670133e7ffd8 1000 else
lakshya 39:670133e7ffd8 1001 {
lakshya 39:670133e7ffd8 1002 #if baby1
lakshya 39:670133e7ffd8 1003 pc.printf("\n\rWrite Ack failed(HK)");
lakshya 39:670133e7ffd8 1004 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1005 #endif
lakshya 39:670133e7ffd8 1006 I2C_busreset();
lakshya 39:670133e7ffd8 1007 #if baby2
lakshya 39:670133e7ffd8 1008 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1009 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 1010 #endif
lakshya 20:949d13045431 1011 }
lakshya 39:670133e7ffd8 1012 i2c_count=0;
lakshya 39:670133e7ffd8 1013 }
lakshya 49:61c9f28332ba 1014 else if (data_send_flag == 't') //else if(telecommand[1]&0xC0 == 't')
lakshya 39:670133e7ffd8 1015 {
lakshya 39:670133e7ffd8 1016 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 1017 write_ack=slave.write((char*)telemetry,134); ////////edited(size)
lakshya 39:670133e7ffd8 1018 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 1019 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 1020 irpt_2_mstr = 0;
lakshya 49:61c9f28332ba 1021 data_send_flag = 'h';
lakshya 49:61c9f28332ba 1022 // pc.printf("\n\r h set here");
lakshya 39:670133e7ffd8 1023 if(write_ack==0)
lakshya 39:670133e7ffd8 1024 {
lakshya 39:670133e7ffd8 1025 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 1026 {
lakshya 39:670133e7ffd8 1027 wait_ms(1);
lakshya 39:670133e7ffd8 1028 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 1029 i2c_count++;
lakshya 39:670133e7ffd8 1030 }
lakshya 39:670133e7ffd8 1031 if(((pdir_tm1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 1032 {
lakshya 39:670133e7ffd8 1033 pc.printf("\n\rWrite TM success");
lakshya 57:60e8f00d93c3 1034 I2C_last.reset();
lakshya 57:60e8f00d93c3 1035 I2C_last.start();
lakshya 39:670133e7ffd8 1036 }
lakshya 39:670133e7ffd8 1037 else
lakshya 39:670133e7ffd8 1038 {
lakshya 39:670133e7ffd8 1039 #if baby
lakshya 39:670133e7ffd8 1040 pc.printf("\n\rWrite TM failed");
lakshya 39:670133e7ffd8 1041 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1042 #endif
lakshya 39:670133e7ffd8 1043 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 1044 I2C_busreset();
lakshya 39:670133e7ffd8 1045 #if baby2
lakshya 39:670133e7ffd8 1046 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1047 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1048 #endif
lakshya 39:670133e7ffd8 1049 }
lakshya 39:670133e7ffd8 1050 }
lakshya 39:670133e7ffd8 1051 else
lakshya 20:949d13045431 1052 {
lakshya 39:670133e7ffd8 1053 #if baby
lakshya 39:670133e7ffd8 1054 pc.printf("\n\rWrite Ack failed");
lakshya 39:670133e7ffd8 1055 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1056 #endif
lakshya 39:670133e7ffd8 1057 I2C_busreset();
lakshya 39:670133e7ffd8 1058 #if baby2
lakshya 39:670133e7ffd8 1059 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1060 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1061 #endif
lakshya 20:949d13045431 1062 }
lakshya 39:670133e7ffd8 1063 i2c_count=0;
lakshya 49:61c9f28332ba 1064 }
lakshya 49:61c9f28332ba 1065 // else
lakshya 49:61c9f28332ba 1066 // pc.printf("\n\r hey something wrong");
lakshya 39:670133e7ffd8 1067 }
lakshya 39:670133e7ffd8 1068 else if( slave.receive()==3 || slave.receive()==2) // slave read
lakshya 39:670133e7ffd8 1069 {
lakshya 39:670133e7ffd8 1070 BAE_I2C_COUNTER++;
lakshya 49:61c9f28332ba 1071
lakshya 49:61c9f28332ba 1072 /*checking the tc timings*/
lakshya 49:61c9f28332ba 1073 time_wdog = 1;
lakshya 49:61c9f28332ba 1074
lakshya 39:670133e7ffd8 1075 uint8_t i2c_count = 0;
lakshya 39:670133e7ffd8 1076 read_ack=slave.read((char *)telecommand,135); //read() function returns acknowledgement
lakshya 39:670133e7ffd8 1077 wait_ms(1);
lakshya 39:670133e7ffd8 1078 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 1079 if(read_ack==0) //read() says it was successful
lakshya 39:670133e7ffd8 1080 {
lakshya 39:670133e7ffd8 1081 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 1082 {
lakshya 39:670133e7ffd8 1083 wait_ms(1);
lakshya 39:670133e7ffd8 1084 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 1085 i2c_count++;
lakshya 39:670133e7ffd8 1086 }
lakshya 39:670133e7ffd8 1087 if(((pdir_tc1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 1088 {
lakshya 49:61c9f28332ba 1089 //pc.printf("\n\n\rRead TC success");
lakshya 39:670133e7ffd8 1090 if(telecommand[0] == 0x00) /////////////edited
lakshya 49:61c9f28332ba 1091 {
lakshya 49:61c9f28332ba 1092 FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited
lakshya 49:61c9f28332ba 1093 data_send_flag = 'h';
lakshya 57:60e8f00d93c3 1094 pc.printf("\n\n\rRead LBCN QM is comming");
lakshya 57:60e8f00d93c3 1095 I2C_last.reset();
lakshya 57:60e8f00d93c3 1096 I2C_last.start();
lakshya 49:61c9f28332ba 1097 }
lakshya 39:670133e7ffd8 1098 else
lakshya 39:670133e7ffd8 1099 {
lakshya 49:61c9f28332ba 1100 pc.printf("\n\r Read TC SUCESS");
lakshya 39:670133e7ffd8 1101 FCTN_BAE_TM_TC((uint8_t*) telecommand);
lakshya 39:670133e7ffd8 1102 data_send_flag = 't';
lakshya 39:670133e7ffd8 1103 irpt_2_mstr = 1;
lakshya 57:60e8f00d93c3 1104 I2C_last.reset();
lakshya 57:60e8f00d93c3 1105 I2C_last.start();
lakshya 49:61c9f28332ba 1106
lakshya 39:670133e7ffd8 1107 }
lakshya 39:670133e7ffd8 1108 }
lakshya 39:670133e7ffd8 1109 else //either or both of SDA and SCL lines low
lakshya 20:949d13045431 1110 {
lakshya 39:670133e7ffd8 1111 #if baby
lakshya 39:670133e7ffd8 1112 pc.printf("\n\rRead TC failed");
lakshya 39:670133e7ffd8 1113 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1114 #endif
lakshya 39:670133e7ffd8 1115 I2C_busreset();
lakshya 39:670133e7ffd8 1116 #if baby2
lakshya 39:670133e7ffd8 1117 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1118 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 1119 #endif
lakshya 39:670133e7ffd8 1120 gen_I_TM();
lakshya 39:670133e7ffd8 1121 data_send_flag = 't';
lakshya 39:670133e7ffd8 1122 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 1123 }
lakshya 39:670133e7ffd8 1124 }
lakshya 39:670133e7ffd8 1125 else //read() says it was not successful
lakshya 39:670133e7ffd8 1126 {
lakshya 39:670133e7ffd8 1127 #if baby
lakshya 39:670133e7ffd8 1128 pc.printf("\n\rRead Ack failed");
lakshya 39:670133e7ffd8 1129 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1130 #endif
lakshya 39:670133e7ffd8 1131 I2C_busreset();
lakshya 39:670133e7ffd8 1132 #if baby2
lakshya 39:670133e7ffd8 1133 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1134 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1135 #endif
lakshya 39:670133e7ffd8 1136 //pc.printf("\n\r no data case");
lakshya 39:670133e7ffd8 1137 gen_I_TM();
lakshya 39:670133e7ffd8 1138 data_send_flag = 't';
lakshya 39:670133e7ffd8 1139 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 1140 }
lakshya 39:670133e7ffd8 1141 i2c_count = 0;
lakshya 39:670133e7ffd8 1142 }
lakshya 39:670133e7ffd8 1143 BAE_MNG_I2C_STATUS=0;
lakshya 39:670133e7ffd8 1144 }
sakthipriya 0:7b4c00e3912f 1145 }
lakshya 39:670133e7ffd8 1146
sakthipriya 0:7b4c00e3912f 1147 void FCTN_TM()
lakshya 20:949d13045431 1148 {
sakthipriya 5:bb592f3185cc 1149 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 1150 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 1151 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 1152 }
sakthipriya 0:7b4c00e3912f 1153
sakthipriya 0:7b4c00e3912f 1154
sakthipriya 0:7b4c00e3912f 1155 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 1156
sakthipriya 0:7b4c00e3912f 1157 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 1158 {
lakshya 20:949d13045431 1159 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 1160 }
sakthipriya 0:7b4c00e3912f 1161
sakthipriya 0:7b4c00e3912f 1162
sakthipriya 5:bb592f3185cc 1163 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 1164
sakthipriya 5:bb592f3185cc 1165 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 1166
sakthipriya 5:bb592f3185cc 1167 void pollfault()
sakthipriya 5:bb592f3185cc 1168 {
Bragadeesh153 52:daa685b0e390 1169 //if (ACS_ATS1_OC_FAULT==0) // OC_ATS1
Bragadeesh153 52:daa685b0e390 1170 if(0)
lakshya 20:949d13045431 1171 {
lakshya 20:949d13045431 1172 pf1check=1;
lakshya 20:949d13045431 1173 actual_data.faultPoll_status |=0x01 ;
lakshya 20:949d13045431 1174 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
lakshya 20:949d13045431 1175 }
lakshya 20:949d13045431 1176 else
lakshya 20:949d13045431 1177 actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 1178
Bragadeesh153 52:daa685b0e390 1179 //if(ACS_ATS2_OC_FAULT==0)
Bragadeesh153 52:daa685b0e390 1180 if(0)
lakshya 20:949d13045431 1181 {
lakshya 20:949d13045431 1182 pf2check=1;
lakshya 20:949d13045431 1183 actual_data.faultPoll_status |=0x02 ;
lakshya 20:949d13045431 1184 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
lakshya 20:949d13045431 1185 }
lakshya 20:949d13045431 1186 else
lakshya 20:949d13045431 1187 actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 1188
lakshya 48:9fd15e3e0b53 1189 if (ACS_TR_XY_FAULT==0)
lakshya 20:949d13045431 1190 {
lakshya 20:949d13045431 1191 actual_data.faultPoll_status |=0x04 ;
lakshya 20:949d13045431 1192 DRV_XY_EN = 0;
lakshya 20:949d13045431 1193 wait_us(1);
lakshya 20:949d13045431 1194 DRV_XY_EN = 1;
lakshya 20:949d13045431 1195 }
lakshya 20:949d13045431 1196 else
lakshya 20:949d13045431 1197 actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 1198 }
sakthipriya 5:bb592f3185cc 1199
sakthipriya 0:7b4c00e3912f 1200 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 1201 //SCHEDULER
sakthipriya 0:7b4c00e3912f 1202 //------------------------------------------------------------------------------------------------------------------------------------------------
lakshya 20:949d13045431 1203
sakthipriya 0:7b4c00e3912f 1204 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 1205 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 1206 {
lakshya 20:949d13045431 1207 #if print
lakshya 49:61c9f28332ba 1208 pc.printf("\n\r in scheduler");
lakshya 20:949d13045431 1209 #endif
lakshya 19:79e69017c855 1210 /*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 1211 if(schedcount == 13) //to reset the counter
sakthipriya 0:7b4c00e3912f 1212 schedcount = 1;
sakthipriya 0:7b4c00e3912f 1213 if(schedcount%1==0)
lakshya 20:949d13045431 1214 {
lakshya 20:949d13045431 1215 if( BAE_STANDBY!=0x02 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1216 {
lakshya 20:949d13045431 1217 pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
lakshya 49:61c9f28332ba 1218 timer_F_ACS.reset();
lakshya 49:61c9f28332ba 1219 timer_F_ACS.start();
Bragadeesh153 52:daa685b0e390 1220 F_ACS();
lakshya 49:61c9f28332ba 1221 timer_F_ACS.stop();
lakshya 49:61c9f28332ba 1222 /*pc.printf("\n\r timer_F_ACS is %f",timer_F_ACS.read());
lakshya 49:61c9f28332ba 1223 pc.printf("\n\r timer_SENSOR_INIT is %f",timer_SENSOR_INIT.read());
lakshya 49:61c9f28332ba 1224 pc.printf("\n\r timer_CONFIG_UPLOAD is %f",timer_CONFIG_UPLOAD.read());
lakshya 49:61c9f28332ba 1225 pc.printf("\n\r timer_SENSOR_DATA_ACQ is %f",timer_SENSOR_DATA_ACQ.read());
lakshya 49:61c9f28332ba 1226 pc.printf("\n\r timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 1227 pc.printf("\n\r timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 1228 pc.printf("\n\r timer_controlmodes is %f",timer_controlmodes.read());
lakshya 49:61c9f28332ba 1229 */
lakshya 20:949d13045431 1230 //time_wdog = 0;
lakshya 20:949d13045431 1231 }
sakthipriya 0:7b4c00e3912f 1232
lakshya 20:949d13045431 1233 }
lakshya 33:76f2b8735501 1234 if(schedcount%4==0)
lakshya 20:949d13045431 1235 {
lakshya 20:949d13045431 1236 if( BAE_STANDBY!=0x01 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1237 {
lakshya 20:949d13045431 1238 //time_wdog = 1;
lakshya 49:61c9f28332ba 1239 timer_F_ESP.reset();
lakshya 49:61c9f28332ba 1240 timer_F_ESP.start();
lakshya 20:949d13045431 1241 F_EPS();
lakshya 49:61c9f28332ba 1242 timer_F_ESP.stop();
lakshya 49:61c9f28332ba 1243 pc.printf("\n\r timer_F_ESP is %f",timer_F_ESP.read());
lakshya 49:61c9f28332ba 1244 /* pc.printf("\n\r timer_FCTN_BATTERYGAUGE_INIT is %f",timer_FCTN_BATTERYGAUGE_INIT.read());
lakshya 49:61c9f28332ba 1245 pc.printf("\n\r timer_alertFlags is %f",timer_alertFlags.read());
lakshya 49:61c9f28332ba 1246 pc.printf("\n\r timer_soc is %f",timer_soc.read());
lakshya 49:61c9f28332ba 1247 pc.printf("\n\r timer_FCTN_BATT_TEMP_SENSOR_MAIN is %f",timer_FCTN_BATT_TEMP_SENSOR_MAIN.read());
lakshya 49:61c9f28332ba 1248 pc.printf("\n\r timer_FCTN_BATTERYGAUGE_MAIN is %f",timer_FCTN_BATTERYGAUGE_MAIN.read());
lakshya 49:61c9f28332ba 1249 pc.printf("\n\r timer_FCTN_HK_MAIN is %f",timer_FCTN_HK_MAIN.read());
lakshya 49:61c9f28332ba 1250 pc.printf("\n\r timer_FCTN_EPS_HANDLE_HW_FAULTS is %f",timer_FCTN_EPS_HANDLE_HW_FAULTS.read());
lakshya 49:61c9f28332ba 1251 pc.printf("\n\r timer_FCTN_EPS_HANDLE_CDMS_FAULT is %f",timer_FCTN_EPS_HANDLE_CDMS_FAULT.read());
lakshya 49:61c9f28332ba 1252 pc.printf("\n\r timer_FCTN_APPEND_HKDATA is %f",timer_FCTN_APPEND_HKDATA.read());
lakshya 49:61c9f28332ba 1253 pc.printf("\n\r timer_minMaxHkData is %f",timer_minMaxHkData.read());
lakshya 49:61c9f28332ba 1254 */
lakshya 20:949d13045431 1255 }
lakshya 20:949d13045431 1256 //time_wdog = 0;
lakshya 20:949d13045431 1257 }
lakshya 33:76f2b8735501 1258 if(schedcount%6==0)
lakshya 20:949d13045431 1259 {
lakshya 22:950dbe9fbeb8 1260 if(BAE_STANDBY!=0x04 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
lakshya 49:61c9f28332ba 1261 { // time_wdog = 0;
lakshya 49:61c9f28332ba 1262 timer_F_BCN.reset();
lakshya 49:61c9f28332ba 1263 timer_F_BCN.start();
lakshya 49:61c9f28332ba 1264 F_BCN();
lakshya 49:61c9f28332ba 1265 timer_F_BCN.stop();
lakshya 49:61c9f28332ba 1266 /*pc.printf("\n\r timer_F_BCN is %f",timer_F_BCN.read());
lakshya 49:61c9f28332ba 1267 pc.printf("\n\r timer_Init_BEACON_HW is %f",timer_Init_BEACON_HW.read());
lakshya 49:61c9f28332ba 1268 pc.printf("\n\r timer_FCTN_BCN_TX_MAIN is %f",timer_FCTN_BCN_TX_MAIN.read());
lakshya 49:61c9f28332ba 1269 pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUCCESS is %f",timer_Set_BCN_TX_STATUS_SUCCESS.read());
lakshya 49:61c9f28332ba 1270 pc.printf("\n\r timer_Set_BCN_TX_STATUS_FAILURE is %f",timer_Set_BCN_TX_STATUS_FAILURE.read());
lakshya 49:61c9f28332ba 1271 pc.printf("\n\r timer_Set_BCN_TX_STATUS_DISABLED is %f",timer_Set_BCN_TX_STATUS_DISABLED.read());
lakshya 49:61c9f28332ba 1272 pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUSPENDED is %f",timer_Set_BCN_TX_STATUS_SUSPENDED.read());
lakshya 49:61c9f28332ba 1273 pc.printf("\n\r timer_Set_BCN_TX_STATUS_RF_SILENCE is %f",timer_Set_BCN_TX_STATUS_RF_SILENCE.read());
lakshya 49:61c9f28332ba 1274 */}
lakshya 20:949d13045431 1275 }
sakthipriya 0:7b4c00e3912f 1276 schedcount++;
lakshya 20:949d13045431 1277 #if print
lakshya 20:949d13045431 1278 printf("\n\r exited scheduler h");
lakshya 20:949d13045431 1279 printf("\n\r time taken %f",t_start.read());
lakshya 20:949d13045431 1280 #endif
sakthipriya 0:7b4c00e3912f 1281 }
sakthipriya 0:7b4c00e3912f 1282
lakshya 20:949d13045431 1283
sakthipriya 0:7b4c00e3912f 1284 Timer t_flag;
lakshya 19:79e69017c855 1285
lakshya 20:949d13045431 1286
sakthipriya 0:7b4c00e3912f 1287 void FLAG()
sakthipriya 0:7b4c00e3912f 1288 {
lakshya 20:949d13045431 1289
lakshya 20:949d13045431 1290 //I2C
lakshya 20:949d13045431 1291 //if(BAE_MNG_I2C_STATUS == 1)
lakshya 20:949d13045431 1292 // BAE_STATUS = BAE_STATUS | 0x10000000;
lakshya 20:949d13045431 1293 //else if(BAE_MNG_I2C_STATUS == 0)
lakshya 20:949d13045431 1294 // BAE_STATUS &= 0xEFFFFFF;
lakshya 19:79e69017c855 1295
lakshya 19:79e69017c855 1296 //.............bae..................//
lakshya 19:79e69017c855 1297 if(BAE_INIT_STATUS == 1)
lakshya 19:79e69017c855 1298 BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001;
lakshya 19:79e69017c855 1299 else if(BAE_INIT_STATUS == 0)
lakshya 19:79e69017c855 1300 BAE_STATUS &= 0xFFFFFFFE;
lakshya 19:79e69017c855 1301
lakshya 20:949d13045431 1302 if(BAE_MNG_I2C_STATUS == 1)
lakshya 19:79e69017c855 1303 BAE_STATUS = BAE_STATUS | 0x00000002;
lakshya 20:949d13045431 1304 if(BAE_MNG_I2C_STATUS == 0)
lakshya 19:79e69017c855 1305 BAE_STATUS &= 0xFFFFFFFD;
lakshya 20:949d13045431 1306
sakthipriya 0:7b4c00e3912f 1307 //.............acs..................//
sakthipriya 9:194afacf7449 1308 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1309 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 1310 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1311 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 1312
sakthipriya 9:194afacf7449 1313 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1314 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 1315 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1316 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 1317
sakthipriya 9:194afacf7449 1318 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 1319 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 1320 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 1321 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 1322
sakthipriya 0:7b4c00e3912f 1323 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 1324 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 1325
sakthipriya 9:194afacf7449 1326 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1327 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 1328 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1329 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 1330
sakthipriya 0:7b4c00e3912f 1331 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 1332 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1333 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 1334 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 1335 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 1336 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1337 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 1338 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1339 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 1340 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1341 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 1342 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1343 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 1344 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 1345 else
sakthipriya 0:7b4c00e3912f 1346 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 1347
sakthipriya 0:7b4c00e3912f 1348 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 1349 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1350 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 1351 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1352 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 1353 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1354 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 1355 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1356 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 1357 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1358 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 1359 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 1360
sakthipriya 0:7b4c00e3912f 1361 //...............eps......................//
lakshya 20:949d13045431 1362 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
lakshya 20:949d13045431 1363 BAE_STATUS |= 0x00010000;
lakshya 20:949d13045431 1364 else if(EPS_INIT_STATUS==0) // Clear
lakshya 20:949d13045431 1365 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 1366
sakthipriya 5:bb592f3185cc 1367
lakshya 20:949d13045431 1368 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
lakshya 20:949d13045431 1369 BAE_STATUS |= 0x00040000;
lakshya 20:949d13045431 1370 else if(EPS_MAIN_STATUS==0) // Clear
lakshya 20:949d13045431 1371 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 1372
sakthipriya 5:bb592f3185cc 1373
lakshya 20:949d13045431 1374 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
lakshya 20:949d13045431 1375 BAE_STATUS |= 0x00020000;
lakshya 20:949d13045431 1376 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
lakshya 20:949d13045431 1377 BAE_STATUS &= 0xFFFDFFFF;
lakshya 20:949d13045431 1378
lakshya 33:76f2b8735501 1379 if (EPS_BTRY_TMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
lakshya 20:949d13045431 1380 BAE_STATUS |= 0x00080000;
lakshya 33:76f2b8735501 1381 else if(EPS_BTRY_TMP_STATUS==0) // Clear
lakshya 20:949d13045431 1382 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 1383
lakshya 20:949d13045431 1384 if (EPS_STATUS==0)
lakshya 20:949d13045431 1385 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
lakshya 20:949d13045431 1386 else if (EPS_STATUS==1)
lakshya 20:949d13045431 1387 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
lakshya 20:949d13045431 1388 else if (EPS_STATUS==2)
lakshya 20:949d13045431 1389 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
lakshya 20:949d13045431 1390 else if (EPS_STATUS==3)
lakshya 20:949d13045431 1391 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
lakshya 20:949d13045431 1392 else if (EPS_STATUS==4)
lakshya 20:949d13045431 1393 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
lakshya 20:949d13045431 1394 else if (EPS_STATUS==5)
lakshya 20:949d13045431 1395 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 1396
lakshya 20:949d13045431 1397 if(EPS_BTRY_HTR_AUTO == 1)
sakthipriya 5:bb592f3185cc 1398 BAE_ENABLE |= 0x00000080;
lakshya 20:949d13045431 1399 else if(EPS_BTRY_HTR_AUTO == 0)
sakthipriya 5:bb592f3185cc 1400 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 1401
lakshya 20:949d13045431 1402 #if print
lakshya 20:949d13045431 1403 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
lakshya 20:949d13045431 1404 #endif
lakshya 20:949d13045431 1405 }
sakthipriya 0:7b4c00e3912f 1406
sakthipriya 0:7b4c00e3912f 1407
sakthipriya 0:7b4c00e3912f 1408 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 1409 {
lakshya 20:949d13045431 1410 #if print
lakshya 20:949d13045431 1411 printf("\n\r Initialising BAE _________________________________________________________________________________");
lakshya 20:949d13045431 1412 #endif
lakshya 19:79e69017c855 1413 BAE_INIT_STATUS=1;
lakshya 19:79e69017c855 1414 FLAG();
lakshya 19:79e69017c855 1415
sakthipriya 3:07e15677a75c 1416 //..........intial status....//
Bragadeesh153 13:fb7facaf308b 1417 ACS_STATE = 4;
sakthipriya 9:194afacf7449 1418 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 1419 ACS_DATA_ACQ_ENABLE = 1;
lakshya 20:949d13045431 1420 EPS_BTRY_HTR_AUTO = 1;
Bragadeesh153 13:fb7facaf308b 1421 actual_data.power_mode=3;
lakshya 19:79e69017c855 1422
sakthipriya 9:194afacf7449 1423 //............intializing pins................//
Bragadeesh153 52:daa685b0e390 1424 ATS1_SW_ENABLE = 1;
sakthipriya 9:194afacf7449 1425 ATS2_SW_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 1426
Bragadeesh153 13:fb7facaf308b 1427 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 1428 DRV_Z_EN = 1;
Bragadeesh153 52:daa685b0e390 1429 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 52:daa685b0e390 1430 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 1431
lakshya 20:949d13045431 1432 //time_wdog = 1;
sakthipriya 9:194afacf7449 1433
lakshya 49:61c9f28332ba 1434 kick_WDOG();
lakshya 49:61c9f28332ba 1435 pc.printf("\n\r lvl1");
lakshya 49:61c9f28332ba 1436
lakshya 19:79e69017c855 1437 //...........order mentioned in flow chart.................//
lakshya 49:61c9f28332ba 1438 timer_FCTN_BAE_INIT.reset();
lakshya 49:61c9f28332ba 1439 timer_FCTN_BAE_INIT.start();
sakthipriya 3:07e15677a75c 1440 FCTN_ACS_INIT();
lakshya 49:61c9f28332ba 1441 timer_FCTN_BAE_INIT.stop();
lakshya 49:61c9f28332ba 1442 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 49:61c9f28332ba 1443
lakshya 49:61c9f28332ba 1444 timer_FCTN_EPS_INIT.reset();
lakshya 49:61c9f28332ba 1445 timer_FCTN_EPS_INIT.start();
lakshya 17:fc782f7548c6 1446 FCTN_EPS_INIT();
lakshya 49:61c9f28332ba 1447 timer_FCTN_EPS_INIT.stop();
lakshya 49:61c9f28332ba 1448 pc.printf("\n\r timer_FCTN_EPS_INIT is %f",timer_FCTN_EPS_INIT.read());
lakshya 49:61c9f28332ba 1449
lakshya 49:61c9f28332ba 1450 timer_FCTN_BCN_INIT.reset();
lakshya 49:61c9f28332ba 1451 timer_FCTN_BCN_INIT.start();
lakshya 18:3662058a7c10 1452 FCTN_BCN_INIT();
lakshya 49:61c9f28332ba 1453 timer_FCTN_BCN_INIT.stop();
lakshya 49:61c9f28332ba 1454 pc.printf("\n\r timer_FCTN_BCN_INIT is %f",timer_FCTN_BCN_INIT.read());
lakshya 19:79e69017c855 1455
lakshya 27:61c856be467e 1456 //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 1457 //uint32_t data_modify=data_flash & 0x000000FF;
lakshya 27:61c856be467e 1458 //data_modify +=1;
lakshya 27:61c856be467e 1459 //data_modify |=data_flash;
lakshya 27:61c856be467e 1460 //FCTN_BAE_WR_FLASH(0,data_modify);
lakshya 49:61c9f28332ba 1461 //#if print
lakshya 49:61c9f28332ba 1462 // printf("\n\rthe number of reset %d",data_modify);
lakshya 49:61c9f28332ba 1463 //#endif
lakshya 19:79e69017c855 1464 BAE_INIT_STATUS=0;
sakthipriya 0:7b4c00e3912f 1465 FLAG();
sakthipriya 0:7b4c00e3912f 1466 }
sakthipriya 0:7b4c00e3912f 1467
lakshya 20:949d13045431 1468
sakthipriya 0:7b4c00e3912f 1469 int main()
sakthipriya 0:7b4c00e3912f 1470 {
lakshya 33:76f2b8735501 1471 //BAE_uptime.reset();
lakshya 33:76f2b8735501 1472 BAE_uptime.start();
lakshya 20:949d13045431 1473 //time_wdog = 1;
lakshya 19:79e69017c855 1474 pc.printf("\n\r BAE Activated. Testing Version 1.2 \n");
lakshya 20:949d13045431 1475 //FLASH_INI();
lakshya 49:61c9f28332ba 1476
lakshya 49:61c9f28332ba 1477 time_wdog=1;
lakshya 49:61c9f28332ba 1478 timer_FCTN_BAE_INIT.start();
sakthipriya 0:7b4c00e3912f 1479 FCTN_BAE_INIT();
lakshya 49:61c9f28332ba 1480 timer_FCTN_BAE_INIT.stop();
lakshya 49:61c9f28332ba 1481 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 49:61c9f28332ba 1482
lakshya 49:61c9f28332ba 1483 time_wdog=0;
lakshya 49:61c9f28332ba 1484
lakshya 20:949d13045431 1485 //time_wdog = 0;
lakshya 20:949d13045431 1486
sakthipriya 0:7b4c00e3912f 1487 slave.address(addr);
sakthipriya 0:7b4c00e3912f 1488 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 1489
sakthipriya 0:7b4c00e3912f 1490 ptr_t_i2c = new Thread(T_TC);
lakshya 50:6001287f3045 1491 ptr_t_i2c->set_priority(osPriorityRealtime);
sakthipriya 5:bb592f3185cc 1492
sakthipriya 0:7b4c00e3912f 1493 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 1494 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
lakshya 20:949d13045431 1495
sakthipriya 0:7b4c00e3912f 1496 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
lakshya 33:76f2b8735501 1497 t_sc_timer.start(5000);
sakthipriya 0:7b4c00e3912f 1498 t_start.start();
lakshya 50:6001287f3045 1499
lakshya 20:949d13045431 1500 #if print
lakshya 20:949d13045431 1501 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
lakshya 20:949d13045431 1502 #endif
lakshya 19:79e69017c855 1503 /*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 1504 //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1505 /*static allocation*/
lakshya 19:79e69017c855 1506 RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1507 BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER;
lakshya 18:3662058a7c10 1508
lakshya 20:949d13045431 1509 RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce);
lakshya 20:949d13045431 1510 /*later change it to 30 min 1800 seconds*/
lakshya 20:949d13045431 1511 bcn_start_timer.start(20000);
lakshya 20:949d13045431 1512
lakshya 20:949d13045431 1513 //BCN HTR TIMERS
lakshya 20:949d13045431 1514 RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce);
lakshya 20:949d13045431 1515 HTR_OFF=&EPS_HTR_OFF_TIMER;
lakshya 20:949d13045431 1516
lakshya 49:61c9f28332ba 1517 RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE, osTimerPeriodic);
lakshya 20:949d13045431 1518 HTR_CYCLE=&EPS_HTR_CYCLE_TIMER;
lakshya 20:949d13045431 1519
lakshya 20:949d13045431 1520 RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce);
lakshya 20:949d13045431 1521 HTR_DLY=&EPS_HTR_DLY_TIMER;
lakshya 20:949d13045431 1522
lakshya 49:61c9f28332ba 1523 timer_FLASH_INI.start();
lakshya 20:949d13045431 1524 FLASH_INI();
lakshya 49:61c9f28332ba 1525 timer_FLASH_INI.stop();
lakshya 49:61c9f28332ba 1526 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 20:949d13045431 1527
lakshya 20:949d13045431 1528 while(1); //required to prevent main from terminating
lakshya 18:3662058a7c10 1529
lakshya 20:949d13045431 1530 }