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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

main.cpp@44:da258a0977a4, 2016-07-11 (annotated)

Committer:
azaddevarm
Date:
Mon Jul 11 19:01:12 2016 +0000
Revision:
44:da258a0977a4
Parent:
43:dec54ff03d3f 
Updated EPS with v2.8, updated powermode code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakthipriya 0:7b4c00e3912f 1 #include "mbed.h"
sakthipriya 0:7b4c00e3912f 2 #include "rtos.h"
sakthipriya 0:7b4c00e3912f 3 #include "pin_config.h"
sakthipriya 0:7b4c00e3912f 4 #include "ACS.h"
sakthipriya 0:7b4c00e3912f 5 #include "EPS.h"
sakthipriya 0:7b4c00e3912f 6 #include "BCN.h"
sakthipriya 0:7b4c00e3912f 7 #include "TCTM.h"
Bragadeesh153 13:fb7facaf308b 8 #define tm_len 135
lakshya 39:670133e7ffd8 9 #define tc_len 134
sakthipriya 0:7b4c00e3912f 10 #define batt_heat_low 20
lakshya 22:950dbe9fbeb8 11 #define print 1
lakshya 39:670133e7ffd8 12 #define PRINT2 1
lakshya 39:670133e7ffd8 13 #define baby 1
lakshya 39:670133e7ffd8 14 #define baby2 1
sakthipriya 9:194afacf7449 15
lakshya 33:76f2b8735501 16 #define DISABLE_WDOG 0;
lakshya 33:76f2b8735501 17
lakshya 33:76f2b8735501 18 void kick_WDOG()
lakshya 33:76f2b8735501 19 {
lakshya 33:76f2b8735501 20 SIM->SRVCOP=0x55;
lakshya 33:76f2b8735501 21 SIM->SRVCOP=0xAA;
lakshya 33:76f2b8735501 22 printf("\n\rkicked");
lakshya 33:76f2b8735501 23 }
lakshya 33:76f2b8735501 24
lakshya 33:76f2b8735501 25 void init_WDOG()
lakshya 33:76f2b8735501 26 {
lakshya 33:76f2b8735501 27 SIM->COPC=0x0C;
lakshya 33:76f2b8735501 28 kick_WDOG();
lakshya 33:76f2b8735501 29 }
lakshya 33:76f2b8735501 30
lakshya 39:670133e7ffd8 31 DigitalInOut time_wdog(PIN68);// for determining the time between code
lakshya 20:949d13045431 32
lakshya 19:79e69017c855 33 //**********************************************GLOBAL RTOS TIMER*********************************************************//
lakshya 19:79e69017c855 34 RtosTimer *BAE_STANDBY_STATUS_TIMER;
lakshya 19:79e69017c855 35
lakshya 20:949d13045431 36
lakshya 20:949d13045431 37 //bcn heater rtostimers=============================================================================
lakshya 20:949d13045431 38 RtosTimer *HTR_OFF=NULL;
lakshya 20:949d13045431 39 RtosTimer *HTR_CYCLE=NULL;
lakshya 20:949d13045431 40 RtosTimer *HTR_DLY=NULL;
lakshya 20:949d13045431 41
lakshya 33:76f2b8735501 42 //UPTIME TIMERS
lakshya 33:76f2b8735501 43 Timer BAE_uptime;
lakshya 33:76f2b8735501 44 Timer I2C_last;
lakshya 33:76f2b8735501 45
lakshya 33:76f2b8735501 46 void RETURN_UPTIME(float time, uint8_t *day,uint8_t *hour,uint8_t *min)
lakshya 33:76f2b8735501 47 {
lakshya 33:76f2b8735501 48 *day = time/(3600*24);
lakshya 33:76f2b8735501 49 time = (int)time % (3600*24);
lakshya 33:76f2b8735501 50 *hour = time/(3600);
lakshya 33:76f2b8735501 51 time = (int)time % (3600);
lakshya 33:76f2b8735501 52 *min = time/60;
lakshya 33:76f2b8735501 53 }
lakshya 33:76f2b8735501 54
lakshya 39:670133e7ffd8 55 extern DigitalInOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 56
lakshya 20:949d13045431 57 uint8_t HTR_CYCLE_COUNTS=0; //Count of heater cycles
lakshya 20:949d13045431 58 uint8_t HTR_CYCLE_START_DLY=0; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya 20:949d13045431 59 uint8_t HTR_ON_DURATION=0; //EPS_HTR_OFF timer duration in minutes
lakshya 20:949d13045431 60 uint16_t HTR_CYCLE_PERIOD =0; //EPS_HTR_CYCLE timer duration - MSB minutes, LSB seconds
lakshya 20:949d13045431 61 uint8_t HTR_CYCLE_COUNTER = 0 ;
lakshya 20:949d13045431 62
lakshya 20:949d13045431 63 uint32_t HTR_CYCLE_PERIOD_DECODER() //To convert HTR_CYCLE_PERIOD to millisecs
lakshya 20:949d13045431 64 {
lakshya 20:949d13045431 65 uint8_t PERIOD_mins, PERIOD_secs;
lakshya 20:949d13045431 66 //pc.printf("\n\r FCTN_HTR_CYCLE_PERIOD");
lakshya 20:949d13045431 67 PERIOD_secs = HTR_CYCLE_PERIOD;
lakshya 20:949d13045431 68 PERIOD_mins = HTR_CYCLE_PERIOD >> 8;
lakshya 20:949d13045431 69 uint32_t period = 1000*((int)PERIOD_mins * 60 + (int)PERIOD_secs);
lakshya 20:949d13045431 70
lakshya 20:949d13045431 71 return period;
lakshya 20:949d13045431 72 }
lakshya 20:949d13045431 73
lakshya 20:949d13045431 74 void FCTN_EPS_HTR_CYCLE(void const *arg)
lakshya 20:949d13045431 75 {
lakshya 33:76f2b8735501 76 BTRY_HTR_ENABLE = 1;//assuming its active high check
lakshya 20:949d13045431 77 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 78 //pc.printf("\n\r FCTN_EPS_HTR_CYCLE");
lakshya 20:949d13045431 79 //tim.reset();
lakshya 20:949d13045431 80 //tim.start();
lakshya 20:949d13045431 81 //HTR_OFF->start(((uint32_t)HTR_ON_DURATION)*1000);
lakshya 20:949d13045431 82 HTR_OFF->start((int)HTR_ON_DURATION*60*1000);
lakshya 20:949d13045431 83 }
lakshya 20:949d13045431 84
lakshya 20:949d13045431 85 void FCTN_EPS_HTR_DLY(void const* arg)
lakshya 20:949d13045431 86 {
lakshya 33:76f2b8735501 87 BTRY_HTR_ENABLE = 1;
lakshya 20:949d13045431 88 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 89 HTR_OFF->start(((int)HTR_ON_DURATION*60*1000));
lakshya 20:949d13045431 90 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 91 //pc.printf("\n\r FCTN_EPS_HTR_DLY");
lakshya 20:949d13045431 92 //tim.start();
lakshya 20:949d13045431 93 HTR_CYCLE->start((uint32_t)HTR_CYCLE_PERIOD_DECODER);
lakshya 20:949d13045431 94 }
lakshya 20:949d13045431 95
lakshya 20:949d13045431 96 void FCTN_EPS_HTR_OFF(void const *arg)
lakshya 20:949d13045431 97 {
lakshya 33:76f2b8735501 98 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 99 //tim.stop();
lakshya 20:949d13045431 100 //pc.printf("\n\r off kar diya");
lakshya 20:949d13045431 101 //pc.printf("\n\r the timer value is %f",tim.read());
lakshya 20:949d13045431 102 //tim.reset();
lakshya 20:949d13045431 103 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 104 {
lakshya 20:949d13045431 105 HTR_CYCLE_COUNTER++;
lakshya 20:949d13045431 106 if( HTR_CYCLE_COUNTER == (int)HTR_CYCLE_COUNTS)//HTR_CYCLE_COUNTS )
lakshya 20:949d13045431 107 HTR_CYCLE->stop();
lakshya 20:949d13045431 108 }
lakshya 20:949d13045431 109 }
lakshya 20:949d13045431 110
lakshya 20:949d13045431 111 //====================================================================================================
lakshya 20:949d13045431 112
lakshya 20:949d13045431 113 //fctn to pass the data to bcn long type
lakshya 33:76f2b8735501 114 //uint8_t CDMS_HK_data[134]; now implemented as LONG_HK_data[0][134];
lakshya 33:76f2b8735501 115 uint8_t LONG_HK_data[2][134];
lakshya 20:949d13045431 116 void FCTN_CDMS_HK_TC(uint8_t tc[])
lakshya 20:949d13045431 117 {
lakshya 20:949d13045431 118 for(int i=0;i<134;i++)
lakshya 33:76f2b8735501 119 LONG_HK_data[0][i] = tc[i];
lakshya 20:949d13045431 120 }
lakshya 20:949d13045431 121
lakshya 20:949d13045431 122 uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off.
lakshya 20:949d13045431 123
lakshya 19:79e69017c855 124 void BAE_STANDBY_STATUS_RESET(const void* arg)
lakshya 19:79e69017c855 125 {
lakshya 19:79e69017c855 126 printf("\n\rBAE standby reset to 0x00");
lakshya 19:79e69017c855 127 BAE_STANDBY=0x00;
lakshya 19:79e69017c855 128 }
lakshya 19:79e69017c855 129
lakshya 20:949d13045431 130
lakshya 19:79e69017c855 131 /*no problem in first stopping and then starting even when for the first time*/
lakshya 19:79e69017c855 132 void BAE_STANDBY_TIMER_RESET()
lakshya 19:79e69017c855 133 {
lakshya 19:79e69017c855 134 BAE_STANDBY_STATUS_TIMER->stop();
lakshya 19:79e69017c855 135 BAE_STANDBY_STATUS_TIMER->start(30000);//20 min ie 20*60=1200 sec or 1200,000 milisec but for testing setting it to 30sec
lakshya 19:79e69017c855 136 }
lakshya 19:79e69017c855 137
lakshya 20:949d13045431 138 extern void gen_I_TM();
lakshya 20:949d13045431 139
lakshya 20:949d13045431 140 //*************** FLAGS ****************************//
sakthipriya 0:7b4c00e3912f 141 uint32_t BAE_STATUS = 0x00000000;
sakthipriya 0:7b4c00e3912f 142 uint32_t BAE_ENABLE = 0xFFFFFFFF;
sakthipriya 0:7b4c00e3912f 143
sakthipriya 5:bb592f3185cc 144 //i2c//
sakthipriya 5:bb592f3185cc 145 char data_send_flag = 'h';
lakshya 20:949d13045431 146 //uint8_t BAE_MNG_I2C_STATUS = 0;
sakthipriya 5:bb592f3185cc 147
lakshya 20:949d13045431 148 //BAE
lakshya 19:79e69017c855 149 uint8_t BAE_INIT_STATUS=0;
lakshya 20:949d13045431 150 uint8_t BAE_MNG_I2C_STATUS=0;
sakthipriya 0:7b4c00e3912f 151
sakthipriya 9:194afacf7449 152
lakshya 20:949d13045431 153 //ACS
sakthipriya 9:194afacf7449 154 uint8_t ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 155 uint8_t ACS_DATA_ACQ_STATUS = 0;
lakshya 20:949d13045431 156 uint8_t ACS_ATS_STATUS = 0x73;
sakthipriya 9:194afacf7449 157 uint8_t ACS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 158 uint8_t ACS_STATUS = 0;
lakshya 20:949d13045431 159 uint8_t ACS_DETUMBLING_ALGO_TYPE = 0;
sakthipriya 9:194afacf7449 160 uint8_t ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 161 uint8_t ACS_DATA_ACQ_ENABLE = 1;
lakshya 33:76f2b8735501 162 uint8_t ACS_STATE = 8;
lakshya 19:79e69017c855 163
lakshya 20:949d13045431 164 extern uint16_t ACS_MM_X_COMSN;
lakshya 20:949d13045431 165 extern uint16_t ACS_MM_Y_COMSN;
lakshya 20:949d13045431 166 extern uint16_t ACS_MG_X_COMSN;
lakshya 20:949d13045431 167 extern uint16_t ACS_MG_Y_COMSN;
lakshya 20:949d13045431 168 extern uint16_t ACS_MM_Z_COMSN;
lakshya 20:949d13045431 169 extern uint16_t ACS_MG_Z_COMSN;
lakshya 20:949d13045431 170
lakshya 27:61c856be467e 171 extern uint8_t controlmode_mms;
lakshya 27:61c856be467e 172
lakshya 20:949d13045431 173 //BCN
lakshya 18:3662058a7c10 174 extern uint8_t BCN_FEN;
lakshya 18:3662058a7c10 175 extern void FCTN_BCN_FEN(void const *args);
lakshya 20:949d13045431 176 extern void LONG_BCN_DATA(uint8_t* );
lakshya 20:949d13045431 177 extern uint16_t gencrc16_for_me();//for calculating the crc of baehk data before sendingkk as including crc causes problem
lakshya 39:670133e7ffd8 178 extern DigitalInOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 179
lakshya 20:949d13045431 180
lakshya 18:3662058a7c10 181 Timeout timeout_bcn;
lakshya 19:79e69017c855 182 /*long beacon data/sending*/
lakshya 19:79e69017c855 183 /*be sure it is created in bcn.cpp*/
sakthipriya 0:7b4c00e3912f 184
lakshya 20:949d13045431 185 //EPS
sakthipriya 9:194afacf7449 186 uint8_t EPS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 187 uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
sakthipriya 9:194afacf7449 188 uint8_t EPS_MAIN_STATUS = 0;
lakshya 33:76f2b8735501 189 uint8_t EPS_BTRY_TMP_STATUS = 0;/// to be diss
sakthipriya 9:194afacf7449 190 uint8_t EPS_STATUS = 7; //invalid status
lakshya 33:76f2b8735501 191 uint8_t EPS_BTRY_HTR = 0;
sakthipriya 9:194afacf7449 192
lakshya 20:949d13045431 193 uint8_t EPS_BTRY_HTR_AUTO = 1;
lakshya 20:949d13045431 194 extern uint8_t EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 195 extern uint8_t EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 196 extern uint8_t EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 197 extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 198 extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 199 float EPS_BTRY_TMP_AVG;
lakshya 39:670133e7ffd8 200 extern DigitalInOut BTRY_HTR_ENABLE;
azaddevarm 44:da258a0977a4 201 int eps_btg_read_flag; // flag to check I2C ack on reading from BTG
azaddevarm 44:da258a0977a4 202 int eps_btg_writ_flag; // flag to check I2C ack on writing from BTG
lakshya 33:76f2b8735501 203 //extern void FCTN_BATTERYGAUGE_MAIN(float*Battery_parameters);
lakshya 20:949d13045431 204
lakshya 20:949d13045431 205
lakshya 20:949d13045431 206 //**********************GLOBAL DECLARATIONS********************************//
lakshya 20:949d13045431 207
lakshya 20:949d13045431 208 //CDMS
lakshya 20:949d13045431 209 //eps cdms fault
lakshya 20:949d13045431 210 uint8_t CDMS_SW_STATUS;
azaddevarm 43:dec54ff03d3f 211 DigitalIn CDMS_OC_FAULT(PIN79);
lakshya 20:949d13045431 212 bool CDMS_SW_ENABLE;
lakshya 20:949d13045431 213 int CDMS_FAULT_COUNTER = 0;
lakshya 20:949d13045431 214
lakshya 20:949d13045431 215
lakshya 20:949d13045431 216 //BAE new hk structure- everything has to changed based on this
lakshya 20:949d13045431 217 char BAE_chardata[74];
lakshya 33:76f2b8735501 218 // uint8_t LONG_HK_data[2][134];
lakshya 33:76f2b8735501 219 //uint8_t BAE_HK_data[134]; now known as LONG_HK_data[1][i];
lakshya 20:949d13045431 220 uint8_t BAE_RESET_COUNTER;// INITIALIZATION or do you want to initialize evertime the main is reset? or is it same
lakshya 20:949d13045431 221 uint16_t BAE_I2C_COUNTER = 0;//change/apply
lakshya 20:949d13045431 222 //uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off.
lakshya 20:949d13045431 223
lakshya 20:949d13045431 224 //BCN
lakshya 20:949d13045431 225 //uint16_t BCN_TX_MAIN_COUNTER = 0;
lakshya 20:949d13045431 226 uint8_t BCN_LONG_MSG_TYPE = 1;
sakthipriya 0:7b4c00e3912f 227
azaddevarm 43:dec54ff03d3f 228 DigitalIn BCN_TX_OC_FAULT(PIN80);
lakshya 20:949d13045431 229 int BCN_TX_FAULT_COUNTER;
lakshya 20:949d13045431 230
lakshya 20:949d13045431 231 //ACS
lakshya 20:949d13045431 232 uint16_t ACS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 233
lakshya 20:949d13045431 234 //eps hw faults
lakshya 20:949d13045431 235 //uint8_t ACS_TR_Z_SW_STATUS;
lakshya 39:670133e7ffd8 236 DigitalInOut ACS_TR_Z_ENABLE(PIN40);
lakshya 39:670133e7ffd8 237 DigitalInOut ACS_TR_Z_OC_FAULT(PIN91);
lakshya 39:670133e7ffd8 238 DigitalInOut ACS_TR_Z_FAULT(PIN89); //Driver IC fault
lakshya 20:949d13045431 239 int ACS_TR_Z_FAULT_COUNTER = 0;
sakthipriya 0:7b4c00e3912f 240
lakshya 20:949d13045431 241 //uint8_t ACS_TR_XY_SW_STATUS;
lakshya 39:670133e7ffd8 242 DigitalInOut ACS_TR_XY_ENABLE(PIN71);
lakshya 39:670133e7ffd8 243 DigitalInOut ACS_TR_XY_OC_FAULT(PIN72);
lakshya 39:670133e7ffd8 244 DigitalInOut ACS_TR_XY_FAULT(PIN83); //Driver IC fault
lakshya 20:949d13045431 245 int ACS_TR_XY_FAULT_COUNTER = 0;
lakshya 20:949d13045431 246
lakshya 20:949d13045431 247 //bool ACS_ATS1_ENABLE;
lakshya 39:670133e7ffd8 248 DigitalInOut ACS_ATS1_OC_FAULT(PIN97);
lakshya 20:949d13045431 249 int ACS_ATS1_FAULT_COUNTER = 0;
lakshya 20:949d13045431 250
lakshya 20:949d13045431 251 //bool ACS_ATS2_ENABLE;
lakshya 39:670133e7ffd8 252 DigitalInOut ACS_ATS2_OC_FAULT(PIN5);
lakshya 20:949d13045431 253 int ACS_ATS2_FAULT_COUNTER;
lakshya 20:949d13045431 254
lakshya 20:949d13045431 255 //EPS
lakshya 20:949d13045431 256 int EPS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 257
lakshya 20:949d13045431 258
lakshya 20:949d13045431 259 //GEN DEC FOR TESTING or to be DECIDED whre to ASSIGN HERE
sakthipriya 0:7b4c00e3912f 260 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 261 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 262 Timer t_start;
lakshya 19:79e69017c855 263 /*defined as of now to check execution time*/
lakshya 19:79e69017c855 264 /*remember to remove them*/
lakshya 19:79e69017c855 265 Timer t_acs;
lakshya 19:79e69017c855 266 Timer t_eps;
lakshya 20:949d13045431 267 //Timer t_tc;
sakthipriya 7:a46a1dee4497 268 Timer t_tm;
sakthipriya 0:7b4c00e3912f 269 Serial pc(USBTX, USBRX);
sakthipriya 0:7b4c00e3912f 270 int power_flag_dummy=2;
sakthipriya 0:7b4c00e3912f 271 float data[6];
sakthipriya 0:7b4c00e3912f 272
lakshya 20:949d13045431 273
lakshya 20:949d13045431 274 //*************EXTERN PARA********
lakshya 20:949d13045431 275
lakshya 20:949d13045431 276 //BAE
lakshya 20:949d13045431 277
sakthipriya 1:446a959e36ce 278 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 279 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 280 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 281 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 282
lakshya 20:949d13045431 283
lakshya 20:949d13045431 284 //BCN
lakshya 20:949d13045431 285 extern uint8_t BCN_FEN;
lakshya 20:949d13045431 286 extern uint8_t BCN_TX_SW_STATUS;
lakshya 20:949d13045431 287 extern uint8_t BCN_SPND_TX;
lakshya 20:949d13045431 288
lakshya 20:949d13045431 289
lakshya 20:949d13045431 290 //TCTM
lakshya 20:949d13045431 291 extern uint8_t telemetry[135];
lakshya 20:949d13045431 292
lakshya 20:949d13045431 293
lakshya 20:949d13045431 294 //ACS
lakshya 20:949d13045431 295 extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya 20:949d13045431 296 extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 297 extern float gyro_data[3];
lakshya 20:949d13045431 298 extern float mag_data[3];
lakshya 20:949d13045431 299 extern float moment[3];
lakshya 20:949d13045431 300 extern float b_old[3]; // Unit: Tesla
lakshya 20:949d13045431 301 extern float db[3];
lakshya 20:949d13045431 302 extern uint8_t flag_firsttime;
lakshya 20:949d13045431 303 extern uint8_t ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 304 extern uint8_t ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 305 extern uint16_t ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 306
lakshya 39:670133e7ffd8 307 int write_ack;
lakshya 39:670133e7ffd8 308 int read_ack;
sakthipriya 0:7b4c00e3912f 309 char telecommand[tc_len];
lakshya 20:949d13045431 310
sakthipriya 5:bb592f3185cc 311
sakthipriya 5:bb592f3185cc 312 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 313 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 314 bool if1check = 0;
lakshya 14:a9588f443f1a 315 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 316
lakshya 20:949d13045431 317 //ASSIGNING PINS//
lakshya 39:670133e7ffd8 318 DigitalInOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch
lakshya 39:670133e7ffd8 319 DigitalInOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch
sakthipriya 0:7b4c00e3912f 320 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
sakthipriya 0:7b4c00e3912f 321 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya 14:a9588f443f1a 322 I2CSlave slave (PIN1,PIN2);///pin1 pin2
lakshya 20:949d13045431 323 //DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 324
sakthipriya 9:194afacf7449 325 //ATS1_SW_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 326 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 327 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 328 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 329
sakthipriya 5:bb592f3185cc 330 //........faults
sakthipriya 5:bb592f3185cc 331 //Polled Faults
lakshya 39:670133e7ffd8 332 DigitalInOut pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
lakshya 39:670133e7ffd8 333 DigitalInOut pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
lakshya 39:670133e7ffd8 334 DigitalInOut pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 335
lakshya 39:670133e7ffd8 336 DigitalInOut TRXY_SW(PIN71); //TR XY Switch
lakshya 39:670133e7ffd8 337 DigitalInOut DRV_Z_EN(PIN88); //Sleep pin of driver z
lakshya 39:670133e7ffd8 338 DigitalInOut TRZ_SW(PIN40); //TR Z Switch
lakshya 19:79e69017c855 339 DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET
lakshya 39:670133e7ffd8 340 DigitalInOut BCN_SW(PIN14); //Beacon switch
lakshya 39:670133e7ffd8 341 DigitalInOut DRV_XY_EN(PIN82);
sakthipriya 0:7b4c00e3912f 342
lakshya 19:79e69017c855 343
lakshya 20:949d13045431 344
lakshya 20:949d13045431 345 //================================================================================
lakshya 20:949d13045431 346 //default flash array some filler bits added (detail in MMS file)
lakshya 27:61c856be467e 347 uint32_t ARR_INITIAL_VAL[8]={0x73582600,0x505A4141,0x1A1A1400,0x00000000,0x00000000,0x00000000,0xCBA20000,0x00000000};//to be done
lakshya 20:949d13045431 348
lakshya 20:949d13045431 349 void FLASH_INI()
lakshya 20:949d13045431 350 {
lakshya 20:949d13045431 351 uint32_t read[8];
lakshya 20:949d13045431 352 for(int i=0;i<8;i++)
lakshya 20:949d13045431 353 {
lakshya 20:949d13045431 354 read[i] = FCTN_BAE_RD_FLASH_ENTITY(i);
lakshya 22:950dbe9fbeb8 355 //printf("\n\r val is read after starting %x ",read[i]);
lakshya 20:949d13045431 356 }
lakshya 20:949d13045431 357
lakshya 20:949d13045431 358 if(read[0] == -1)
lakshya 20:949d13045431 359 for(int j=0;j<8;j++)
lakshya 20:949d13045431 360 {
lakshya 20:949d13045431 361 FCTN_BAE_WR_FLASH(j,ARR_INITIAL_VAL[j]);
lakshya 39:670133e7ffd8 362 ACS_ATS_STATUS = ARR_INITIAL_VAL[0]>>24;
lakshya 39:670133e7ffd8 363 ACS_TR_XY_SW_STATUS = ((uint8_t)(ARR_INITIAL_VAL[0]>>22))&0x03;
lakshya 39:670133e7ffd8 364 ACS_TR_Z_SW_STATUS = (ARR_INITIAL_VAL[0]>>20)&0x03;
lakshya 39:670133e7ffd8 365 ACS_STATE = (ARR_INITIAL_VAL[0]>>16)&0x0F;
lakshya 39:670133e7ffd8 366 //pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 39:670133e7ffd8 367 ACS_DETUMBLING_ALGO_TYPE = (ARR_INITIAL_VAL[0]>>15)&0x01;
lakshya 39:670133e7ffd8 368 BCN_TX_SW_STATUS = ((uint8_t)(ARR_INITIAL_VAL[0]>>13))&0x03;
lakshya 39:670133e7ffd8 369 BCN_SPND_TX = ((uint8_t)(ARR_INITIAL_VAL[0]>>12))&0x01;
lakshya 39:670133e7ffd8 370 BCN_FEN = ((uint8_t)(ARR_INITIAL_VAL[0]>>11))&0x01;
lakshya 39:670133e7ffd8 371 BCN_LONG_MSG_TYPE = ((uint8_t)(ARR_INITIAL_VAL[0]>>10))&0x01;
lakshya 39:670133e7ffd8 372 EPS_BTRY_HTR_AUTO = ((uint8_t)(ARR_INITIAL_VAL[0]>>9))&0x03;//EPS_BATTERY_HEATER_ENABLE
lakshya 39:670133e7ffd8 373 //now one spares in telemetry[5]
lakshya 39:670133e7ffd8 374
lakshya 39:670133e7ffd8 375 //updating the reset counter
lakshya 39:670133e7ffd8 376 BAE_RESET_COUNTER = ((uint8_t)(ARR_INITIAL_VAL[0]));
lakshya 39:670133e7ffd8 377 EPS_SOC_LEVEL_12 = (uint8_t)(ARR_INITIAL_VAL[1]>>24);
lakshya 39:670133e7ffd8 378 EPS_SOC_LEVEL_23 = (uint8_t)(ARR_INITIAL_VAL[1]>>16);
lakshya 39:670133e7ffd8 379 ACS_MAG_TIME_DELAY = (uint8_t)(ARR_INITIAL_VAL[1]>>8);
lakshya 39:670133e7ffd8 380 ACS_DEMAG_TIME_DELAY = (uint8_t)ARR_INITIAL_VAL[1];
lakshya 39:670133e7ffd8 381
lakshya 39:670133e7ffd8 382 EPS_BAT_TEMP_LOW = (uint8_t)(ARR_INITIAL_VAL[2]>>24);
lakshya 39:670133e7ffd8 383 EPS_BAT_TEMP_HIGH = (uint8_t)(ARR_INITIAL_VAL[2]>>16);
lakshya 39:670133e7ffd8 384 EPS_BAT_TEMP_DEFAULT = (uint8_t)(ARR_INITIAL_VAL[2]>>8);
lakshya 39:670133e7ffd8 385
lakshya 39:670133e7ffd8 386 ACS_MM_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[3]>>16);
lakshya 39:670133e7ffd8 387 ACS_MM_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[3];
lakshya 39:670133e7ffd8 388
lakshya 39:670133e7ffd8 389 ACS_MG_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[4]>>16);
lakshya 39:670133e7ffd8 390 ACS_MG_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[4];
lakshya 39:670133e7ffd8 391
lakshya 39:670133e7ffd8 392 ACS_MM_Z_COMSN = (uint16_t)(ARR_INITIAL_VAL[5]>>16);
lakshya 39:670133e7ffd8 393 ACS_MG_Z_COMSN = (uint16_t)ARR_INITIAL_VAL[5];
lakshya 39:670133e7ffd8 394
lakshya 39:670133e7ffd8 395 ACS_Z_FIXED_MOMENT = (uint16_t)(ARR_INITIAL_VAL[6]>>16);//assignvalues
lakshya 39:670133e7ffd8 396
lakshya 39:670133e7ffd8 397 }
lakshya 20:949d13045431 398 else
lakshya 20:949d13045431 399 {
lakshya 20:949d13045431 400 for(int j=0;j<8;j++)
lakshya 20:949d13045431 401 {
lakshya 20:949d13045431 402 read[j] = FCTN_BAE_RD_FLASH_ENTITY(j);
lakshya 20:949d13045431 403 }
lakshya 20:949d13045431 404 ACS_ATS_STATUS = read[0]>>24;
lakshya 20:949d13045431 405 ACS_TR_XY_SW_STATUS = ((uint8_t)(read[0]>>22))&0x03;
lakshya 20:949d13045431 406 ACS_TR_Z_SW_STATUS = (read[0]>>20)&0x03;
lakshya 27:61c856be467e 407 ACS_STATE = (read[0]>>16)&0x0F;
lakshya 39:670133e7ffd8 408 //pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 27:61c856be467e 409 ACS_DETUMBLING_ALGO_TYPE = (read[0]>>15)&0x01;
lakshya 27:61c856be467e 410 BCN_TX_SW_STATUS = ((uint8_t)(read[0]>>13))&0x03;
lakshya 27:61c856be467e 411 BCN_SPND_TX = ((uint8_t)(read[0]>>12))&0x01;
lakshya 27:61c856be467e 412 BCN_FEN = ((uint8_t)(read[0]>>11))&0x01;
lakshya 27:61c856be467e 413 BCN_LONG_MSG_TYPE = ((uint8_t)(read[0]>>10))&0x01;
lakshya 27:61c856be467e 414 EPS_BTRY_HTR_AUTO = ((uint8_t)(read[0]>>9))&0x03;//EPS_BATTERY_HEATER_ENABLE
lakshya 27:61c856be467e 415 //now one spares in telemetry[5]
lakshya 20:949d13045431 416
lakshya 20:949d13045431 417 //updating the reset counter
lakshya 20:949d13045431 418 BAE_RESET_COUNTER = ((uint8_t)(read[0]))+1;
lakshya 20:949d13045431 419 read[0]=(read[0]&0xffffff00) | (uint32_t)BAE_RESET_COUNTER;
lakshya 20:949d13045431 420 FCTN_BAE_WR_FLASH(0,read[0]);
lakshya 39:670133e7ffd8 421 pc.printf("\n\r reset counter %d",BAE_RESET_COUNTER);
lakshya 20:949d13045431 422
lakshya 20:949d13045431 423
lakshya 20:949d13045431 424 EPS_SOC_LEVEL_12 = (uint8_t)(read[1]>>24);
lakshya 20:949d13045431 425 EPS_SOC_LEVEL_23 = (uint8_t)(read[1]>>16);
lakshya 20:949d13045431 426 ACS_MAG_TIME_DELAY = (uint8_t)(read[1]>>8);
lakshya 20:949d13045431 427 ACS_DEMAG_TIME_DELAY = (uint8_t)read[1];
lakshya 20:949d13045431 428
lakshya 20:949d13045431 429 EPS_BAT_TEMP_LOW = (uint8_t)(read[2]>>24);
lakshya 20:949d13045431 430 EPS_BAT_TEMP_HIGH = (uint8_t)(read[2]>>16);
lakshya 20:949d13045431 431 EPS_BAT_TEMP_DEFAULT = (uint8_t)(read[2]>>8);
lakshya 20:949d13045431 432
lakshya 20:949d13045431 433 ACS_MM_X_COMSN = (uint16_t)(read[3]>>16);
lakshya 20:949d13045431 434 ACS_MM_Y_COMSN = (uint16_t)read[3];
lakshya 20:949d13045431 435
lakshya 20:949d13045431 436 ACS_MG_X_COMSN = (uint16_t)(read[4]>>16);
lakshya 20:949d13045431 437 ACS_MG_Y_COMSN = (uint16_t)read[4];
lakshya 20:949d13045431 438
lakshya 20:949d13045431 439 ACS_MM_Z_COMSN = (uint16_t)(read[5]>>16);
lakshya 20:949d13045431 440 ACS_MG_Z_COMSN = (uint16_t)read[5];
lakshya 20:949d13045431 441
lakshya 20:949d13045431 442 ACS_Z_FIXED_MOMENT = (uint16_t)(read[6]>>16);//assignvalues
lakshya 20:949d13045431 443
lakshya 20:949d13045431 444 }
lakshya 20:949d13045431 445
lakshya 20:949d13045431 446 }
lakshya 20:949d13045431 447 //================================================================================
lakshya 20:949d13045431 448
lakshya 20:949d13045431 449
lakshya 20:949d13045431 450
sakthipriya 0:7b4c00e3912f 451 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 0:7b4c00e3912f 452 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 453
lakshya 19:79e69017c855 454
sakthipriya 0:7b4c00e3912f 455 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 456 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 457 void FCTN_TM();
sakthipriya 3:07e15677a75c 458 void F_ACS();
sakthipriya 3:07e15677a75c 459 void F_EPS();
sakthipriya 3:07e15677a75c 460 void F_BCN();
sakthipriya 0:7b4c00e3912f 461
lakshya 20:949d13045431 462 //I2C
lakshya 20:949d13045431 463 uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working
lakshya 20:949d13045431 464 uint16_t crc16_check;
lakshya 20:949d13045431 465 void I2C_busreset()
lakshya 20:949d13045431 466 {
lakshya 20:949d13045431 467 PORTE->PCR[1] &= 0xfffffffb;
lakshya 20:949d13045431 468 PORTE->PCR[0] &= 0xfffffffb;
lakshya 20:949d13045431 469 I2C1->C1 &= 0x7f;
lakshya 20:949d13045431 470 SIM->SCGC4 &= 0xffffff7f;
lakshya 20:949d13045431 471 SIM->SCGC4 |= 0x00000080;
lakshya 20:949d13045431 472 I2C1->C1 |= 0x80;
lakshya 20:949d13045431 473 PORTE->PCR[1] |= 0x00000004;
lakshya 20:949d13045431 474 PORTE->PCR[0] |= 0x00000004;
lakshya 39:670133e7ffd8 475 wait_ms(1);
lakshya 20:949d13045431 476 }
lakshya 20:949d13045431 477
sakthipriya 0:7b4c00e3912f 478 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 479 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 480 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 481 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 482 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 483
lakshya 20:949d13045431 484 //FLOAT TO UINT_8 CONVERSION FUNCTION
lakshya 20:949d13045431 485 extern uint8_t float_to_uint8(float min,float max,float val);
lakshya 20:949d13045431 486
lakshya 20:949d13045431 487 #define print 0
lakshya 20:949d13045431 488
sakthipriya 3:07e15677a75c 489 void F_ACS()
sakthipriya 0:7b4c00e3912f 490 {
lakshya 20:949d13045431 491 ACS_MAIN_COUNTER++;
lakshya 20:949d13045431 492 //time_wdog = 1;
lakshya 20:949d13045431 493 pc.printf("Entered ACS.\n\r");
lakshya 20:949d13045431 494
lakshya 20:949d13045431 495 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
lakshya 20:949d13045431 496 FLAG();
sakthipriya 5:bb592f3185cc 497
lakshya 20:949d13045431 498 ACS_MAIN_COUNTER+=1;
sakthipriya 3:07e15677a75c 499
sakthipriya 0:7b4c00e3912f 500 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 501 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 502 PWM3 = 0; //clear pwm pins
lakshya 20:949d13045431 503
lakshya 20:949d13045431 504 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 505 ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ();
sakthipriya 0:7b4c00e3912f 506
lakshya 20:949d13045431 507 #if print
lakshya 20:949d13045431 508 printing the angular speed and magnetic field values
lakshya 20:949d13045431 509 pc.printf("gyro values\n\r");
lakshya 19:79e69017c855 510 for(int i=0; i<3; i++)
lakshya 20:949d13045431 511 {
lakshya 20:949d13045431 512 printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
lakshya 20:949d13045431 513 }
lakshya 20:949d13045431 514
lakshya 19:79e69017c855 515 pc.printf("mag values\n\r");
lakshya 19:79e69017c855 516 for(int i=0; i<3; i++)
lakshya 20:949d13045431 517 {
lakshya 20:949d13045431 518 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
lakshya 20:949d13045431 519 }
lakshya 20:949d13045431 520 #endif
lakshya 20:949d13045431 521
lakshya 20:949d13045431 522 for(int i=0;i<3;i++)
lakshya 19:79e69017c855 523 {
lakshya 20:949d13045431 524 mag_data[i] = actual_data.Bvalue_actual[i]/1000000;
lakshya 20:949d13045431 525 gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180;
lakshya 20:949d13045431 526 }
lakshya 20:949d13045431 527
lakshya 20:949d13045431 528 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
lakshya 20:949d13045431 529 {
lakshya 20:949d13045431 530 #if print
lakshya 20:949d13045431 531 printf("\n\r acs control off\n");
lakshya 20:949d13045431 532 #endif
lakshya 20:949d13045431 533 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
lakshya 20:949d13045431 534 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 535 return;
lakshya 20:949d13045431 536 }
lakshya 20:949d13045431 537 else if(actual_data.power_mode<=2)
lakshya 20:949d13045431 538 {
lakshya 20:949d13045431 539 #if print
lakshya 20:949d13045431 540 printf("\n\r Low Power \n\r");
lakshya 20:949d13045431 541 #endif
lakshya 20:949d13045431 542 DRV_Z_EN = 0;
lakshya 20:949d13045431 543 DRV_XY_EN = 0;
lakshya 20:949d13045431 544 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
lakshya 20:949d13045431 545 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 546 return;
lakshya 20:949d13045431 547
lakshya 20:949d13045431 548 }
lakshya 20:949d13045431 549 else if(ACS_TR_Z_SW_STATUS != 1)
lakshya 20:949d13045431 550 {
lakshya 20:949d13045431 551 DRV_Z_EN = 0;
lakshya 20:949d13045431 552 DRV_XY_EN = 0;
lakshya 20:949d13045431 553 ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED
lakshya 20:949d13045431 554 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 555 return;
lakshya 20:949d13045431 556 }
lakshya 20:949d13045431 557 else if(ACS_TR_XY_SW_STATUS != 1)
lakshya 20:949d13045431 558 {
lakshya 20:949d13045431 559 DRV_Z_EN = 1;
lakshya 20:949d13045431 560 DRV_XY_EN = 0;
lakshya 20:949d13045431 561 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only
lakshya 20:949d13045431 562 moment[0] = 0;
lakshya 20:949d13045431 563 moment[1] = 0;
lakshya 20:949d13045431 564 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 565
lakshya 20:949d13045431 566 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 567 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 568 return;
lakshya 19:79e69017c855 569 }
lakshya 20:949d13045431 570 else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1))
lakshya 20:949d13045431 571 {
lakshya 20:949d13045431 572 DRV_Z_EN = 1;
lakshya 20:949d13045431 573 DRV_XY_EN = 0;
lakshya 20:949d13045431 574 ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only
lakshya 20:949d13045431 575
lakshya 20:949d13045431 576 moment[0] = 0;
lakshya 20:949d13045431 577 moment[1] = 0;
lakshya 20:949d13045431 578 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 579
lakshya 20:949d13045431 580 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 581 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 582 return;
lakshya 20:949d13045431 583 }
lakshya 20:949d13045431 584 else if(ACS_STATE == 5)
lakshya 20:949d13045431 585 {
lakshya 20:949d13045431 586 DRV_Z_EN = 1;
lakshya 20:949d13045431 587 DRV_XY_EN = 0;
lakshya 20:949d13045431 588 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only
sakthipriya 0:7b4c00e3912f 589
lakshya 20:949d13045431 590 moment[0] = 0;
lakshya 20:949d13045431 591 moment[1] = 0;
lakshya 20:949d13045431 592 moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value
lakshya 20:949d13045431 593 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 594
lakshya 20:949d13045431 595 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 596 return;
lakshya 20:949d13045431 597 }
lakshya 20:949d13045431 598 else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available
lakshya 20:949d13045431 599 {
lakshya 20:949d13045431 600 DRV_Z_EN = 1;
lakshya 20:949d13045431 601 DRV_XY_EN = 1;
lakshya 20:949d13045431 602
lakshya 20:949d13045431 603 ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL
lakshya 20:949d13045431 604 ACS_DETUMBLING_ALGO_TYPE = 0x01;
lakshya 20:949d13045431 605 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 606 controlmode_mms=0x00;
lakshya 20:949d13045431 607 #if print
lakshya 20:949d13045431 608 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 609 #endif
lakshya 20:949d13045431 610 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 611 {
lakshya 20:949d13045431 612 printf("%f\t",moment[i]);
lakshya 19:79e69017c855 613 }
lakshya 20:949d13045431 614 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 615 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 616 return;
lakshya 20:949d13045431 617 }
lakshya 20:949d13045431 618 else if(ACS_STATE == 7) // Nominal mode
lakshya 20:949d13045431 619 {
lakshya 20:949d13045431 620 #if print
lakshya 20:949d13045431 621 printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 622 #endif
lakshya 20:949d13045431 623 DRV_Z_EN = 1;
lakshya 20:949d13045431 624 DRV_XY_EN = 1;
lakshya 20:949d13045431 625 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 626 controlmode_mms = 0x01;
lakshya 20:949d13045431 627 #if print
lakshya 20:949d13045431 628 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 629 #endif
lakshya 20:949d13045431 630 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 631 {
lakshya 20:949d13045431 632 printf("%f\t",moment[i]);
lakshya 20:949d13045431 633 }
lakshya 20:949d13045431 634 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 635 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 636 return;
lakshya 20:949d13045431 637 }
lakshya 20:949d13045431 638 else if(ACS_STATE == 8) // Auto Control
lakshya 20:949d13045431 639 {
lakshya 20:949d13045431 640 #if print
lakshya 20:949d13045431 641 printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 642 #endif
lakshya 20:949d13045431 643 DRV_Z_EN = 1;
lakshya 20:949d13045431 644 DRV_XY_EN = 1;
lakshya 20:949d13045431 645 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 646 controlmode_mms = 0x00;
lakshya 20:949d13045431 647 #if print
lakshya 20:949d13045431 648 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 649 for(int i=0; i<3; i++)
lakshya 19:79e69017c855 650 {
lakshya 20:949d13045431 651 printf("%f\t",moment[i]);
lakshya 20:949d13045431 652 }
lakshya 20:949d13045431 653 #endif
lakshya 20:949d13045431 654 FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function
lakshya 20:949d13045431 655 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 656 return;
lakshya 20:949d13045431 657 }
lakshya 20:949d13045431 658 else if(ACS_STATE == 9) // Detumbling
lakshya 20:949d13045431 659 {
lakshya 20:949d13045431 660 DRV_Z_EN = 1;
lakshya 20:949d13045431 661 DRV_XY_EN = 1;
lakshya 20:949d13045431 662 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 663 controlmode_mms = 0x00;
lakshya 20:949d13045431 664 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 665 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 666 return;
lakshya 20:949d13045431 667 }
lakshya 20:949d13045431 668 ACS_STATUS = 7; //INVALID_STATE
lakshya 20:949d13045431 669 DRV_Z_EN = 0;
lakshya 20:949d13045431 670 DRV_XY_EN = 0;
lakshya 20:949d13045431 671 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
lakshya 20:949d13045431 672 }
lakshya 19:79e69017c855 673
lakshya 19:79e69017c855 674
sakthipriya 0:7b4c00e3912f 675 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 676
lakshya 33:76f2b8735501 677
sakthipriya 3:07e15677a75c 678 void F_EPS()
lakshya 20:949d13045431 679 {
lakshya 33:76f2b8735501 680 float eps_btry_temp;
azaddevarm 44:da258a0977a4 681 int BTG_MAIN_FLAG,btg_status_flag = 0;
lakshya 33:76f2b8735501 682 pc.printf("\n\rEntered EPS %f\n\r",t_start.read());
lakshya 33:76f2b8735501 683 EPS_MAIN_STATUS = 1; // Set EPS main status
lakshya 33:76f2b8735501 684 EPS_MAIN_COUNTER++;
lakshya 33:76f2b8735501 685 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
lakshya 33:76f2b8735501 686 pc.printf("Battery temperature %f %f\n\r" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
lakshya 33:76f2b8735501 687 EPS_BTRY_TMP_AVG = ( actual_data.Batt_temp_actual[0] + actual_data.Batt_temp_actual[1] )/2.0;
lakshya 33:76f2b8735501 688 if(abs(actual_data.Batt_temp_actual[0] - actual_data.Batt_temp_actual[1]) > 10)
lakshya 33:76f2b8735501 689 {
lakshya 33:76f2b8735501 690 EPS_BTRY_TMP_STATUS = 0; //clear EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 691 eps_btry_temp = (float) EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 692 }
lakshya 33:76f2b8735501 693 else
lakshya 33:76f2b8735501 694 {
lakshya 33:76f2b8735501 695 EPS_BTRY_TMP_STATUS = 1; //set EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 696 eps_btry_temp = EPS_BTRY_TMP_AVG;
lakshya 33:76f2b8735501 697 }
lakshya 33:76f2b8735501 698
lakshya 33:76f2b8735501 699 if(EPS_BTRY_HTR_AUTO == 0)
lakshya 33:76f2b8735501 700 EPS_STATUS = 1; //EPS_BATTERY_HEATER_DISABLED
lakshya 33:76f2b8735501 701 else if( EPS_BTRY_TMP_STATUS == 0 )
lakshya 33:76f2b8735501 702 {
lakshya 33:76f2b8735501 703 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 704 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 705 EPS_STATUS = 0; //Set EPS_ERR_BATTERY_TEMP
lakshya 33:76f2b8735501 706 }
lakshya 33:76f2b8735501 707 else
lakshya 33:76f2b8735501 708 {
lakshya 33:76f2b8735501 709 if( EPS_BTRY_HTR == 1 && eps_btry_temp >= EPS_BAT_TEMP_HIGH )
lakshya 33:76f2b8735501 710 {
lakshya 33:76f2b8735501 711 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 712 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 713 EPS_STATUS = 4; //Set EPS_BATTERY_HEATER_OFF
lakshya 33:76f2b8735501 714 }
lakshya 33:76f2b8735501 715 else if( EPS_BTRY_HTR == 0 && eps_btry_temp < EPS_BAT_TEMP_LOW )
lakshya 33:76f2b8735501 716 {
lakshya 33:76f2b8735501 717 BTRY_HTR_ENABLE = 1;
lakshya 33:76f2b8735501 718 EPS_BTRY_HTR = 1;
lakshya 33:76f2b8735501 719 EPS_STATUS = 5; //Set EPS_BATTERY_HEATER_ON
lakshya 33:76f2b8735501 720 }
lakshya 33:76f2b8735501 721 }
lakshya 33:76f2b8735501 722
lakshya 33:76f2b8735501 723 unsigned short statusreg = read(REG_STATUS);
azaddevarm 44:da258a0977a4 724 if( eps_btg_read_flag != 0 || (read(REG_STATUS) & 0x0100) == 0x0100 )
lakshya 19:79e69017c855 725 {
azaddevarm 44:da258a0977a4 726 printf("REG_STATUS = %d,BTG_INIT\r\n",read(REG_STATUS));
lakshya 33:76f2b8735501 727 FCTN_BATTERYGAUGE_INIT();
azaddevarm 44:da258a0977a4 728 if(EPS_BATTERY_GAUGE_STATUS != 1) btg_status_flag = 1;
azaddevarm 44:da258a0977a4 729
azaddevarm 44:da258a0977a4 730 }
azaddevarm 44:da258a0977a4 731 //if( EPS_BATTERY_GAUGE_STATUS == 0 ) reset();
azaddevarm 44:da258a0977a4 732 //if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set
azaddevarm 44:da258a0977a4 733 //{
azaddevarm 44:da258a0977a4 734 // printf("REG_STATUS = %d\r\n",read(REG_STATUS));
azaddevarm 44:da258a0977a4 735 // FCTN_BATTERYGAUGE_INIT();
azaddevarm 44:da258a0977a4 736 //}
azaddevarm 44:da258a0977a4 737 BTG_MAIN_FLAG = FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual, eps_btry_temp);
azaddevarm 44:da258a0977a4 738 if( BTG_MAIN_FLAG == 1 || btg_status_flag == 1 ) //Data not received
lakshya 33:76f2b8735501 739 {
azaddevarm 44:da258a0977a4 740 actual_data.power_mode = 0;
lakshya 33:76f2b8735501 741 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 742 }
lakshya 33:76f2b8735501 743 else
lakshya 33:76f2b8735501 744 {
lakshya 33:76f2b8735501 745 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
lakshya 33:76f2b8735501 746 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 747 }
lakshya 33:76f2b8735501 748
lakshya 33:76f2b8735501 749 FCTN_HK_MAIN();
lakshya 33:76f2b8735501 750 // printf("\n\r here");
lakshya 33:76f2b8735501 751 FCTN_EPS_HANDLE_HW_FAULTS();
lakshya 33:76f2b8735501 752 FCTN_EPS_HANDLE_CDMS_FAULT();
lakshya 33:76f2b8735501 753 FCTN_APPEND_HKDATA();
lakshya 33:76f2b8735501 754 minMaxHkData();
lakshya 33:76f2b8735501 755 //printf("\n\r here");
lakshya 33:76f2b8735501 756 EPS_MAIN_STATUS = 0; // clear EPS main status
lakshya 33:76f2b8735501 757
sakthipriya 0:7b4c00e3912f 758 }
lakshya 33:76f2b8735501 759
lakshya 20:949d13045431 760
sakthipriya 0:7b4c00e3912f 761 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 762
sakthipriya 3:07e15677a75c 763 void F_BCN()
sakthipriya 0:7b4c00e3912f 764 {
lakshya 20:949d13045431 765 pc.printf("\n\rEntered BCN %f\n",t_start.read());
lakshya 20:949d13045431 766 //BCN_TX_MAIN_COUNTER=+1;
lakshya 20:949d13045431 767 FCTN_BCN_TX_MAIN();
sakthipriya 0:7b4c00e3912f 768 }
sakthipriya 0:7b4c00e3912f 769
sakthipriya 0:7b4c00e3912f 770 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 771
lakshya 39:670133e7ffd8 772 //===================================================================
sakthipriya 0:7b4c00e3912f 773 void T_TC(void const * args)
lakshya 19:79e69017c855 774 {
lakshya 20:949d13045431 775 while(1)
lakshya 39:670133e7ffd8 776 {
lakshya 39:670133e7ffd8 777 Thread::signal_wait(0x4);
lakshya 39:670133e7ffd8 778 wait_us(300);
lakshya 39:670133e7ffd8 779 BAE_MNG_I2C_STATUS =1 ;
lakshya 39:670133e7ffd8 780 I2C_last.reset();
lakshya 39:670133e7ffd8 781 I2C_last.start();
lakshya 39:670133e7ffd8 782 pc.printf("\n\r intrpet");
lakshya 39:670133e7ffd8 783 if( slave.receive() == 0)
lakshya 39:670133e7ffd8 784 {
lakshya 39:670133e7ffd8 785 pdir_ss1=PTE->PDIR; /////////edited
lakshya 39:670133e7ffd8 786 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 787 data_send_flag = 'h';
lakshya 39:670133e7ffd8 788 slave.stop();
lakshya 39:670133e7ffd8 789 if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed
lakshya 39:670133e7ffd8 790 {
lakshya 39:670133e7ffd8 791 I2C_busreset(); /////////edited
lakshya 39:670133e7ffd8 792 }
lakshya 39:670133e7ffd8 793 pdir_ss2=PTE->PDIR;
lakshya 39:670133e7ffd8 794 pc.printf("\n\rSlave not addressed");
lakshya 39:670133e7ffd8 795 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss1);
lakshya 39:670133e7ffd8 796 #if PRINT2
lakshya 39:670133e7ffd8 797 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss2);
lakshya 39:670133e7ffd8 798 #endif
lakshya 39:670133e7ffd8 799 }
lakshya 39:670133e7ffd8 800 else if( slave.receive() == 1) // slave writes to master
lakshya 39:670133e7ffd8 801 {
lakshya 39:670133e7ffd8 802 BAE_I2C_COUNTER++; //////////edited
lakshya 39:670133e7ffd8 803 if(data_send_flag == 'h') //to be renamed as BAE_I2C_STATUS
lakshya 39:670133e7ffd8 804 {
lakshya 39:670133e7ffd8 805 irpt_2_mstr =1; //wait till cdms code is changed
lakshya 39:670133e7ffd8 806 FCTN_APPEND_HKDATA();
lakshya 39:670133e7ffd8 807 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 808 //crc is already being added
lakshya 39:670133e7ffd8 809 write_ack=slave.write((char*)BAE_chardata,134);
lakshya 39:670133e7ffd8 810 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 811 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 812 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 813 if(write_ack==0)// wait till cdms code is changed
lakshya 20:949d13045431 814 {
lakshya 39:670133e7ffd8 815 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 816 {
lakshya 39:670133e7ffd8 817 wait_ms(1);
lakshya 39:670133e7ffd8 818 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 819 i2c_count++;
lakshya 39:670133e7ffd8 820 }
lakshya 39:670133e7ffd8 821 if(((pdir_tm1 & 0x00000003)==3))
lakshya 20:949d13045431 822 {
lakshya 39:670133e7ffd8 823 pc.printf("\n\rWrite HK success");
lakshya 39:670133e7ffd8 824 data_send_flag = 'h';
lakshya 39:670133e7ffd8 825 irpt_2_mstr = 0; //////////edited
lakshya 19:79e69017c855 826 }
lakshya 39:670133e7ffd8 827 else
lakshya 39:670133e7ffd8 828 {
lakshya 39:670133e7ffd8 829 #if baby
lakshya 39:670133e7ffd8 830 pc.printf("\n\rWrite HK failed");
lakshya 39:670133e7ffd8 831 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 832 #endif
lakshya 39:670133e7ffd8 833 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 834 I2C_busreset();
lakshya 39:670133e7ffd8 835 #if baby2
lakshya 39:670133e7ffd8 836 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 837 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 838 #endif
lakshya 39:670133e7ffd8 839 }
lakshya 39:670133e7ffd8 840 }
lakshya 39:670133e7ffd8 841 else
lakshya 39:670133e7ffd8 842 {
lakshya 39:670133e7ffd8 843 #if baby1
lakshya 39:670133e7ffd8 844 pc.printf("\n\rWrite Ack failed(HK)");
lakshya 39:670133e7ffd8 845 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 846 #endif
lakshya 39:670133e7ffd8 847 I2C_busreset();
lakshya 39:670133e7ffd8 848 #if baby2
lakshya 39:670133e7ffd8 849 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 850 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 851 #endif
lakshya 20:949d13045431 852 }
lakshya 39:670133e7ffd8 853 i2c_count=0;
lakshya 39:670133e7ffd8 854 }
lakshya 39:670133e7ffd8 855 else//data_send_flag = "t" //else if(telecommand[1]&0xC0 == 't')
lakshya 39:670133e7ffd8 856 {
lakshya 39:670133e7ffd8 857 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 858 write_ack=slave.write((char*)telemetry,134); ////////edited(size)
lakshya 39:670133e7ffd8 859 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 860 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 861 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 862 data_send_flag = 'h';
lakshya 39:670133e7ffd8 863 if(write_ack==0)
lakshya 39:670133e7ffd8 864 {
lakshya 39:670133e7ffd8 865 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 866 {
lakshya 39:670133e7ffd8 867 wait_ms(1);
lakshya 39:670133e7ffd8 868 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 869 i2c_count++;
lakshya 39:670133e7ffd8 870 }
lakshya 39:670133e7ffd8 871 if(((pdir_tm1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 872 {
lakshya 39:670133e7ffd8 873 pc.printf("\n\rWrite TM success");
lakshya 39:670133e7ffd8 874 }
lakshya 39:670133e7ffd8 875 else
lakshya 39:670133e7ffd8 876 {
lakshya 39:670133e7ffd8 877 #if baby
lakshya 39:670133e7ffd8 878 pc.printf("\n\rWrite TM failed");
lakshya 39:670133e7ffd8 879 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 880 #endif
lakshya 39:670133e7ffd8 881 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 882 I2C_busreset();
lakshya 39:670133e7ffd8 883 #if baby2
lakshya 39:670133e7ffd8 884 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 885 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 886 #endif
lakshya 39:670133e7ffd8 887 }
lakshya 39:670133e7ffd8 888 }
lakshya 39:670133e7ffd8 889 else
lakshya 20:949d13045431 890 {
lakshya 39:670133e7ffd8 891 #if baby
lakshya 39:670133e7ffd8 892 pc.printf("\n\rWrite Ack failed");
lakshya 39:670133e7ffd8 893 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 894 #endif
lakshya 39:670133e7ffd8 895 I2C_busreset();
lakshya 39:670133e7ffd8 896 #if baby2
lakshya 39:670133e7ffd8 897 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 898 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 899 #endif
lakshya 20:949d13045431 900 }
lakshya 39:670133e7ffd8 901 i2c_count=0;
lakshya 39:670133e7ffd8 902 }
lakshya 39:670133e7ffd8 903 }
lakshya 39:670133e7ffd8 904 else if( slave.receive()==3 || slave.receive()==2) // slave read
lakshya 39:670133e7ffd8 905 {
lakshya 39:670133e7ffd8 906 BAE_I2C_COUNTER++;
lakshya 39:670133e7ffd8 907 uint8_t i2c_count = 0;
lakshya 39:670133e7ffd8 908 read_ack=slave.read((char *)telecommand,135); //read() function returns acknowledgement
lakshya 39:670133e7ffd8 909 wait_ms(1);
lakshya 39:670133e7ffd8 910 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 911 if(read_ack==0) //read() says it was successful
lakshya 39:670133e7ffd8 912 {
lakshya 39:670133e7ffd8 913 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 914 {
lakshya 39:670133e7ffd8 915 wait_ms(1);
lakshya 39:670133e7ffd8 916 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 917 i2c_count++;
lakshya 39:670133e7ffd8 918 }
lakshya 39:670133e7ffd8 919 if(((pdir_tc1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 920 {
lakshya 39:670133e7ffd8 921 pc.printf("\n\n\rRead TC success");
lakshya 39:670133e7ffd8 922 if(telecommand[0] == 0x00) /////////////edited
lakshya 39:670133e7ffd8 923 FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited
lakshya 39:670133e7ffd8 924 else
lakshya 39:670133e7ffd8 925 {
lakshya 39:670133e7ffd8 926 FCTN_BAE_TM_TC((uint8_t*) telecommand);
lakshya 39:670133e7ffd8 927 data_send_flag = 't';
lakshya 39:670133e7ffd8 928 irpt_2_mstr = 1;
lakshya 39:670133e7ffd8 929 }
lakshya 39:670133e7ffd8 930 }
lakshya 39:670133e7ffd8 931 else //either or both of SDA and SCL lines low
lakshya 20:949d13045431 932 {
lakshya 39:670133e7ffd8 933 #if baby
lakshya 39:670133e7ffd8 934 pc.printf("\n\rRead TC failed");
lakshya 39:670133e7ffd8 935 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 936 #endif
lakshya 39:670133e7ffd8 937 I2C_busreset();
lakshya 39:670133e7ffd8 938 #if baby2
lakshya 39:670133e7ffd8 939 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 940 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 941 #endif
lakshya 39:670133e7ffd8 942 gen_I_TM();
lakshya 39:670133e7ffd8 943 data_send_flag = 't';
lakshya 39:670133e7ffd8 944 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 945 }
lakshya 39:670133e7ffd8 946 }
lakshya 39:670133e7ffd8 947 else //read() says it was not successful
lakshya 39:670133e7ffd8 948 {
lakshya 39:670133e7ffd8 949 #if baby
lakshya 39:670133e7ffd8 950 pc.printf("\n\rRead Ack failed");
lakshya 39:670133e7ffd8 951 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 952 #endif
lakshya 39:670133e7ffd8 953 I2C_busreset();
lakshya 39:670133e7ffd8 954 #if baby2
lakshya 39:670133e7ffd8 955 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 956 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 957 #endif
lakshya 39:670133e7ffd8 958 //pc.printf("\n\r no data case");
lakshya 39:670133e7ffd8 959 gen_I_TM();
lakshya 39:670133e7ffd8 960 data_send_flag = 't';
lakshya 39:670133e7ffd8 961 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 962 }
lakshya 39:670133e7ffd8 963 i2c_count = 0;
lakshya 39:670133e7ffd8 964 }
lakshya 39:670133e7ffd8 965 BAE_MNG_I2C_STATUS=0;
lakshya 39:670133e7ffd8 966 }
sakthipriya 0:7b4c00e3912f 967 }
lakshya 39:670133e7ffd8 968
sakthipriya 0:7b4c00e3912f 969 void FCTN_TM()
lakshya 20:949d13045431 970 {
sakthipriya 5:bb592f3185cc 971 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 972 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 973 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 974 }
sakthipriya 0:7b4c00e3912f 975
sakthipriya 0:7b4c00e3912f 976
sakthipriya 0:7b4c00e3912f 977 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 978
sakthipriya 0:7b4c00e3912f 979 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 980 {
lakshya 20:949d13045431 981 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 982 }
sakthipriya 0:7b4c00e3912f 983
sakthipriya 0:7b4c00e3912f 984
sakthipriya 5:bb592f3185cc 985 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 986
sakthipriya 5:bb592f3185cc 987 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 988
sakthipriya 5:bb592f3185cc 989 void pollfault()
sakthipriya 5:bb592f3185cc 990 {
lakshya 20:949d13045431 991 if (pf1==0) // OC_ATS1
lakshya 20:949d13045431 992 {
lakshya 20:949d13045431 993 pf1check=1;
lakshya 20:949d13045431 994 actual_data.faultPoll_status |=0x01 ;
lakshya 20:949d13045431 995 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
lakshya 20:949d13045431 996 }
lakshya 20:949d13045431 997 else
lakshya 20:949d13045431 998 actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 999
lakshya 20:949d13045431 1000 if(pf2==0)
lakshya 20:949d13045431 1001 {
lakshya 20:949d13045431 1002 pf2check=1;
lakshya 20:949d13045431 1003 actual_data.faultPoll_status |=0x02 ;
lakshya 20:949d13045431 1004 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
lakshya 20:949d13045431 1005 }
lakshya 20:949d13045431 1006 else
lakshya 20:949d13045431 1007 actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 1008
sakthipriya 5:bb592f3185cc 1009 if (pf3==0)
lakshya 20:949d13045431 1010 {
lakshya 20:949d13045431 1011 actual_data.faultPoll_status |=0x04 ;
lakshya 20:949d13045431 1012 DRV_XY_EN = 0;
lakshya 20:949d13045431 1013 wait_us(1);
lakshya 20:949d13045431 1014 DRV_XY_EN = 1;
lakshya 20:949d13045431 1015 }
lakshya 20:949d13045431 1016 else
lakshya 20:949d13045431 1017 actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 1018 }
sakthipriya 5:bb592f3185cc 1019
sakthipriya 0:7b4c00e3912f 1020 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 1021 //SCHEDULER
sakthipriya 0:7b4c00e3912f 1022 //------------------------------------------------------------------------------------------------------------------------------------------------
lakshya 20:949d13045431 1023
sakthipriya 0:7b4c00e3912f 1024 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 1025 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 1026 {
lakshya 20:949d13045431 1027 #if print
lakshya 20:949d13045431 1028 printf("\n\r in scheduler");
lakshya 20:949d13045431 1029 #endif
lakshya 19:79e69017c855 1030 /*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 1031 if(schedcount == 13) //to reset the counter
sakthipriya 0:7b4c00e3912f 1032 schedcount = 1;
sakthipriya 0:7b4c00e3912f 1033 if(schedcount%1==0)
lakshya 20:949d13045431 1034 {
lakshya 20:949d13045431 1035 if( BAE_STANDBY!=0x02 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1036 {
azaddevarm 43:dec54ff03d3f 1037 //pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
azaddevarm 42:413cd8c60cfc 1038 //F_ACS();
lakshya 20:949d13045431 1039 //time_wdog = 0;
lakshya 20:949d13045431 1040 }
sakthipriya 0:7b4c00e3912f 1041
lakshya 20:949d13045431 1042 }
lakshya 33:76f2b8735501 1043 if(schedcount%4==0)
lakshya 20:949d13045431 1044 {
lakshya 20:949d13045431 1045 if( BAE_STANDBY!=0x01 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1046 {
lakshya 20:949d13045431 1047 //time_wdog = 1;
azaddevarm 44:da258a0977a4 1048 F_EPS();
lakshya 20:949d13045431 1049 }
lakshya 20:949d13045431 1050 //time_wdog = 0;
lakshya 20:949d13045431 1051 }
lakshya 33:76f2b8735501 1052 if(schedcount%6==0)
lakshya 20:949d13045431 1053 {
lakshya 22:950dbe9fbeb8 1054 if(BAE_STANDBY!=0x04 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
azaddevarm 44:da258a0977a4 1055 {
lakshya 20:949d13045431 1056 // time_wdog = 0;
azaddevarm 44:da258a0977a4 1057 //F_BCN();
azaddevarm 44:da258a0977a4 1058 }
lakshya 20:949d13045431 1059 }
sakthipriya 0:7b4c00e3912f 1060 schedcount++;
lakshya 20:949d13045431 1061 #if print
lakshya 20:949d13045431 1062 printf("\n\r exited scheduler h");
lakshya 20:949d13045431 1063 printf("\n\r time taken %f",t_start.read());
lakshya 20:949d13045431 1064 #endif
sakthipriya 0:7b4c00e3912f 1065 }
sakthipriya 0:7b4c00e3912f 1066
lakshya 20:949d13045431 1067
sakthipriya 0:7b4c00e3912f 1068 Timer t_flag;
lakshya 19:79e69017c855 1069
lakshya 20:949d13045431 1070
sakthipriya 0:7b4c00e3912f 1071 void FLAG()
sakthipriya 0:7b4c00e3912f 1072 {
lakshya 20:949d13045431 1073
lakshya 20:949d13045431 1074 //I2C
lakshya 20:949d13045431 1075 //if(BAE_MNG_I2C_STATUS == 1)
lakshya 20:949d13045431 1076 // BAE_STATUS = BAE_STATUS | 0x10000000;
lakshya 20:949d13045431 1077 //else if(BAE_MNG_I2C_STATUS == 0)
lakshya 20:949d13045431 1078 // BAE_STATUS &= 0xEFFFFFF;
lakshya 19:79e69017c855 1079
lakshya 19:79e69017c855 1080 //.............bae..................//
lakshya 19:79e69017c855 1081 if(BAE_INIT_STATUS == 1)
lakshya 19:79e69017c855 1082 BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001;
lakshya 19:79e69017c855 1083 else if(BAE_INIT_STATUS == 0)
lakshya 19:79e69017c855 1084 BAE_STATUS &= 0xFFFFFFFE;
lakshya 19:79e69017c855 1085
lakshya 20:949d13045431 1086 if(BAE_MNG_I2C_STATUS == 1)
lakshya 19:79e69017c855 1087 BAE_STATUS = BAE_STATUS | 0x00000002;
lakshya 20:949d13045431 1088 if(BAE_MNG_I2C_STATUS == 0)
lakshya 19:79e69017c855 1089 BAE_STATUS &= 0xFFFFFFFD;
lakshya 20:949d13045431 1090
sakthipriya 0:7b4c00e3912f 1091 //.............acs..................//
sakthipriya 9:194afacf7449 1092 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1093 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 1094 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1095 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 1096
sakthipriya 9:194afacf7449 1097 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1098 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 1099 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1100 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 1101
sakthipriya 9:194afacf7449 1102 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 1103 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 1104 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 1105 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 1106
sakthipriya 0:7b4c00e3912f 1107 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 1108 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 1109
sakthipriya 9:194afacf7449 1110 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1111 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 1112 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1113 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 1114
sakthipriya 0:7b4c00e3912f 1115 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 1116 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1117 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 1118 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 1119 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 1120 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1121 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 1122 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1123 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 1124 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1125 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 1126 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1127 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 1128 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 1129 else
sakthipriya 0:7b4c00e3912f 1130 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 1131
sakthipriya 0:7b4c00e3912f 1132 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 1133 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1134 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 1135 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1136 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 1137 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1138 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 1139 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1140 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 1141 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1142 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 1143 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 1144
sakthipriya 0:7b4c00e3912f 1145 //...............eps......................//
lakshya 20:949d13045431 1146 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
lakshya 20:949d13045431 1147 BAE_STATUS |= 0x00010000;
lakshya 20:949d13045431 1148 else if(EPS_INIT_STATUS==0) // Clear
lakshya 20:949d13045431 1149 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 1150
sakthipriya 5:bb592f3185cc 1151
lakshya 20:949d13045431 1152 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
lakshya 20:949d13045431 1153 BAE_STATUS |= 0x00040000;
lakshya 20:949d13045431 1154 else if(EPS_MAIN_STATUS==0) // Clear
lakshya 20:949d13045431 1155 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 1156
sakthipriya 5:bb592f3185cc 1157
lakshya 20:949d13045431 1158 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
lakshya 20:949d13045431 1159 BAE_STATUS |= 0x00020000;
lakshya 20:949d13045431 1160 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
lakshya 20:949d13045431 1161 BAE_STATUS &= 0xFFFDFFFF;
lakshya 20:949d13045431 1162
lakshya 33:76f2b8735501 1163 if (EPS_BTRY_TMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
lakshya 20:949d13045431 1164 BAE_STATUS |= 0x00080000;
lakshya 33:76f2b8735501 1165 else if(EPS_BTRY_TMP_STATUS==0) // Clear
lakshya 20:949d13045431 1166 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 1167
lakshya 20:949d13045431 1168 if (EPS_STATUS==0)
lakshya 20:949d13045431 1169 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
lakshya 20:949d13045431 1170 else if (EPS_STATUS==1)
lakshya 20:949d13045431 1171 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
lakshya 20:949d13045431 1172 else if (EPS_STATUS==2)
lakshya 20:949d13045431 1173 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
lakshya 20:949d13045431 1174 else if (EPS_STATUS==3)
lakshya 20:949d13045431 1175 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
lakshya 20:949d13045431 1176 else if (EPS_STATUS==4)
lakshya 20:949d13045431 1177 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
lakshya 20:949d13045431 1178 else if (EPS_STATUS==5)
lakshya 20:949d13045431 1179 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 1180
lakshya 20:949d13045431 1181 if(EPS_BTRY_HTR_AUTO == 1)
sakthipriya 5:bb592f3185cc 1182 BAE_ENABLE |= 0x00000080;
lakshya 20:949d13045431 1183 else if(EPS_BTRY_HTR_AUTO == 0)
sakthipriya 5:bb592f3185cc 1184 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 1185
lakshya 20:949d13045431 1186 #if print
lakshya 20:949d13045431 1187 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
lakshya 20:949d13045431 1188 #endif
lakshya 20:949d13045431 1189 }
sakthipriya 0:7b4c00e3912f 1190
sakthipriya 0:7b4c00e3912f 1191
sakthipriya 0:7b4c00e3912f 1192 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 1193 {
lakshya 20:949d13045431 1194 #if print
lakshya 20:949d13045431 1195 printf("\n\r Initialising BAE _________________________________________________________________________________");
lakshya 20:949d13045431 1196 #endif
lakshya 19:79e69017c855 1197 BAE_INIT_STATUS=1;
lakshya 19:79e69017c855 1198 FLAG();
lakshya 19:79e69017c855 1199
sakthipriya 3:07e15677a75c 1200 //..........intial status....//
Bragadeesh153 13:fb7facaf308b 1201 ACS_STATE = 4;
sakthipriya 9:194afacf7449 1202 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 1203 ACS_DATA_ACQ_ENABLE = 1;
lakshya 20:949d13045431 1204 EPS_BTRY_HTR_AUTO = 1;
Bragadeesh153 13:fb7facaf308b 1205 actual_data.power_mode=3;
lakshya 19:79e69017c855 1206
sakthipriya 9:194afacf7449 1207 //............intializing pins................//
sakthipriya 9:194afacf7449 1208 ATS1_SW_ENABLE = 0;
sakthipriya 9:194afacf7449 1209 ATS2_SW_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 1210
Bragadeesh153 13:fb7facaf308b 1211 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 1212 DRV_Z_EN = 1;
Bragadeesh153 13:fb7facaf308b 1213 TRZ_SW = 1;
Bragadeesh153 13:fb7facaf308b 1214 TRXY_SW = 1;
lakshya 20:949d13045431 1215
lakshya 20:949d13045431 1216 //time_wdog = 1;
sakthipriya 9:194afacf7449 1217
lakshya 19:79e69017c855 1218 //...........order mentioned in flow chart.................//
azaddevarm 42:413cd8c60cfc 1219 //FCTN_ACS_INIT();
azaddevarm 44:da258a0977a4 1220 FCTN_EPS_INIT();
azaddevarm 44:da258a0977a4 1221 //FCTN_BCN_INIT();
lakshya 19:79e69017c855 1222
lakshya 27:61c856be467e 1223 //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 1224 //uint32_t data_modify=data_flash & 0x000000FF;
lakshya 27:61c856be467e 1225 //data_modify +=1;
lakshya 27:61c856be467e 1226 //data_modify |=data_flash;
lakshya 27:61c856be467e 1227 //FCTN_BAE_WR_FLASH(0,data_modify);
lakshya 20:949d13045431 1228 #if print
lakshya 20:949d13045431 1229 printf("\n\rthe number of reset %d",data_modify);
lakshya 20:949d13045431 1230 #endif
lakshya 19:79e69017c855 1231 BAE_INIT_STATUS=0;
sakthipriya 0:7b4c00e3912f 1232 FLAG();
sakthipriya 0:7b4c00e3912f 1233 }
sakthipriya 0:7b4c00e3912f 1234
lakshya 20:949d13045431 1235
sakthipriya 0:7b4c00e3912f 1236 int main()
sakthipriya 0:7b4c00e3912f 1237 {
lakshya 33:76f2b8735501 1238 //BAE_uptime.reset();
lakshya 33:76f2b8735501 1239 BAE_uptime.start();
lakshya 20:949d13045431 1240 //time_wdog = 1;
lakshya 19:79e69017c855 1241 pc.printf("\n\r BAE Activated. Testing Version 1.2 \n");
lakshya 20:949d13045431 1242 //FLASH_INI();
sakthipriya 0:7b4c00e3912f 1243 FCTN_BAE_INIT();
lakshya 20:949d13045431 1244 //time_wdog = 0;
lakshya 20:949d13045431 1245
sakthipriya 0:7b4c00e3912f 1246 slave.address(addr);
sakthipriya 0:7b4c00e3912f 1247 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 1248
sakthipriya 0:7b4c00e3912f 1249 ptr_t_i2c = new Thread(T_TC);
sakthipriya 0:7b4c00e3912f 1250 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 5:bb592f3185cc 1251
sakthipriya 0:7b4c00e3912f 1252 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 1253 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
lakshya 20:949d13045431 1254
sakthipriya 0:7b4c00e3912f 1255 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
lakshya 33:76f2b8735501 1256 t_sc_timer.start(5000);
sakthipriya 0:7b4c00e3912f 1257 t_start.start();
lakshya 20:949d13045431 1258 #if print
lakshya 20:949d13045431 1259 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
lakshya 20:949d13045431 1260 #endif
lakshya 19:79e69017c855 1261 /*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 1262 //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1263 /*static allocation*/
lakshya 19:79e69017c855 1264 RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1265 BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER;
lakshya 18:3662058a7c10 1266
lakshya 20:949d13045431 1267 RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce);
lakshya 20:949d13045431 1268 /*later change it to 30 min 1800 seconds*/
lakshya 20:949d13045431 1269 bcn_start_timer.start(20000);
lakshya 20:949d13045431 1270
lakshya 20:949d13045431 1271 //BCN HTR TIMERS
lakshya 20:949d13045431 1272 RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce);
lakshya 20:949d13045431 1273 HTR_OFF=&EPS_HTR_OFF_TIMER;
lakshya 20:949d13045431 1274
lakshya 20:949d13045431 1275 RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE);
lakshya 20:949d13045431 1276 HTR_CYCLE=&EPS_HTR_CYCLE_TIMER;
lakshya 20:949d13045431 1277
lakshya 20:949d13045431 1278 RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce);
lakshya 20:949d13045431 1279 HTR_DLY=&EPS_HTR_DLY_TIMER;
lakshya 20:949d13045431 1280
lakshya 20:949d13045431 1281 FLASH_INI();
lakshya 20:949d13045431 1282
lakshya 20:949d13045431 1283 while(1); //required to prevent main from terminating
lakshya 18:3662058a7c10 1284
lakshya 20:949d13045431 1285 }