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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

main.cpp@52:daa685b0e390, 2016-07-22 (annotated)

Committer:
Bragadeesh153
Date:
Fri Jul 22 22:21:05 2016 +0000
Revision:
52:daa685b0e390
Parent:
50:6001287f3045
Child:
55:6ea0d7e9fce2
ACS default state made 0x0B; Active high, low changed for all switches; All variables as per SBC; EPS faults changed

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 52:daa685b0e390 282 DigitalOut ACS_TR_Z_ENABLE(PIN40,0);
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)
Bragadeesh153 52:daa685b0e390 404 uint32_t ARR_INITIAL_VAL[8]={0x73532600,0x505A4141,0x1A1A1400,0x00000000,0x00000000,0x00000000,0xCBA20000,0x00000000};//to be done
lakshya 20:949d13045431 405
lakshya 20:949d13045431 406 void FLASH_INI()
lakshya 20:949d13045431 407 {
lakshya 49:61c9f28332ba 408 uint32_t read[8];
lakshya 20:949d13045431 409 for(int i=0;i<8;i++)
lakshya 20:949d13045431 410 {
lakshya 20:949d13045431 411 read[i] = FCTN_BAE_RD_FLASH_ENTITY(i);
lakshya 22:950dbe9fbeb8 412 //printf("\n\r val is read after starting %x ",read[i]);
lakshya 20:949d13045431 413 }
lakshya 20:949d13045431 414
lakshya 20:949d13045431 415 if(read[0] == -1)
lakshya 20:949d13045431 416 for(int j=0;j<8;j++)
lakshya 20:949d13045431 417 {
lakshya 20:949d13045431 418 FCTN_BAE_WR_FLASH(j,ARR_INITIAL_VAL[j]);
lakshya 39:670133e7ffd8 419 ACS_ATS_STATUS = ARR_INITIAL_VAL[0]>>24;
lakshya 39:670133e7ffd8 420 ACS_TR_XY_SW_STATUS = ((uint8_t)(ARR_INITIAL_VAL[0]>>22))&0x03;
lakshya 39:670133e7ffd8 421 ACS_TR_Z_SW_STATUS = (ARR_INITIAL_VAL[0]>>20)&0x03;
lakshya 39:670133e7ffd8 422 ACS_STATE = (ARR_INITIAL_VAL[0]>>16)&0x0F;
lakshya 49:61c9f28332ba 423 //pc.pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 39:670133e7ffd8 424 ACS_DETUMBLING_ALGO_TYPE = (ARR_INITIAL_VAL[0]>>15)&0x01;
lakshya 50:6001287f3045 425 BCN_TX_SW_STATUS = 1;//((uint8_t)(ARR_INITIAL_VAL[0]>>14))&0x03;
lakshya 39:670133e7ffd8 426 BCN_SPND_TX = ((uint8_t)(ARR_INITIAL_VAL[0]>>12))&0x01;
lakshya 39:670133e7ffd8 427 BCN_FEN = ((uint8_t)(ARR_INITIAL_VAL[0]>>11))&0x01;
lakshya 39:670133e7ffd8 428 BCN_LONG_MSG_TYPE = ((uint8_t)(ARR_INITIAL_VAL[0]>>10))&0x01;
lakshya 39:670133e7ffd8 429 EPS_BTRY_HTR_AUTO = ((uint8_t)(ARR_INITIAL_VAL[0]>>9))&0x03;//EPS_BATTERY_HEATER_ENABLE
lakshya 39:670133e7ffd8 430 //now one spares in telemetry[5]
lakshya 39:670133e7ffd8 431
lakshya 39:670133e7ffd8 432 //updating the reset counter
lakshya 39:670133e7ffd8 433 BAE_RESET_COUNTER = ((uint8_t)(ARR_INITIAL_VAL[0]));
lakshya 39:670133e7ffd8 434 EPS_SOC_LEVEL_12 = (uint8_t)(ARR_INITIAL_VAL[1]>>24);
lakshya 39:670133e7ffd8 435 EPS_SOC_LEVEL_23 = (uint8_t)(ARR_INITIAL_VAL[1]>>16);
lakshya 39:670133e7ffd8 436 ACS_MAG_TIME_DELAY = (uint8_t)(ARR_INITIAL_VAL[1]>>8);
lakshya 39:670133e7ffd8 437 ACS_DEMAG_TIME_DELAY = (uint8_t)ARR_INITIAL_VAL[1];
lakshya 39:670133e7ffd8 438
lakshya 39:670133e7ffd8 439 EPS_BAT_TEMP_LOW = (uint8_t)(ARR_INITIAL_VAL[2]>>24);
lakshya 39:670133e7ffd8 440 EPS_BAT_TEMP_HIGH = (uint8_t)(ARR_INITIAL_VAL[2]>>16);
lakshya 39:670133e7ffd8 441 EPS_BAT_TEMP_DEFAULT = (uint8_t)(ARR_INITIAL_VAL[2]>>8);
lakshya 39:670133e7ffd8 442
lakshya 39:670133e7ffd8 443 ACS_MM_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[3]>>16);
lakshya 39:670133e7ffd8 444 ACS_MM_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[3];
lakshya 39:670133e7ffd8 445
lakshya 39:670133e7ffd8 446 ACS_MG_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[4]>>16);
lakshya 39:670133e7ffd8 447 ACS_MG_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[4];
lakshya 39:670133e7ffd8 448
lakshya 39:670133e7ffd8 449 ACS_MM_Z_COMSN = (uint16_t)(ARR_INITIAL_VAL[5]>>16);
lakshya 39:670133e7ffd8 450 ACS_MG_Z_COMSN = (uint16_t)ARR_INITIAL_VAL[5];
lakshya 39:670133e7ffd8 451
lakshya 39:670133e7ffd8 452 ACS_Z_FIXED_MOMENT = (uint16_t)(ARR_INITIAL_VAL[6]>>16);//assignvalues
lakshya 39:670133e7ffd8 453
lakshya 39:670133e7ffd8 454 }
lakshya 20:949d13045431 455 else
lakshya 20:949d13045431 456 {
lakshya 20:949d13045431 457 for(int j=0;j<8;j++)
lakshya 20:949d13045431 458 {
lakshya 20:949d13045431 459 read[j] = FCTN_BAE_RD_FLASH_ENTITY(j);
lakshya 20:949d13045431 460 }
lakshya 20:949d13045431 461 ACS_ATS_STATUS = read[0]>>24;
lakshya 20:949d13045431 462 ACS_TR_XY_SW_STATUS = ((uint8_t)(read[0]>>22))&0x03;
lakshya 20:949d13045431 463 ACS_TR_Z_SW_STATUS = (read[0]>>20)&0x03;
lakshya 27:61c856be467e 464 ACS_STATE = (read[0]>>16)&0x0F;
lakshya 39:670133e7ffd8 465 //pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 27:61c856be467e 466 ACS_DETUMBLING_ALGO_TYPE = (read[0]>>15)&0x01;
lakshya 50:6001287f3045 467 BCN_TX_SW_STATUS = 1;//((uint8_t)(read[0]>>13))&0x03;
lakshya 27:61c856be467e 468 BCN_SPND_TX = ((uint8_t)(read[0]>>12))&0x01;
lakshya 27:61c856be467e 469 BCN_FEN = ((uint8_t)(read[0]>>11))&0x01;
lakshya 27:61c856be467e 470 BCN_LONG_MSG_TYPE = ((uint8_t)(read[0]>>10))&0x01;
lakshya 49:61c9f28332ba 471 EPS_BTRY_HTR_AUTO = ((uint8_t)(read[0]>>9))&0x01;//EPS_BATTERY_HEATER_ENABLE
lakshya 27:61c856be467e 472 //now one spares in telemetry[5]
lakshya 20:949d13045431 473
lakshya 20:949d13045431 474 //updating the reset counter
lakshya 20:949d13045431 475 BAE_RESET_COUNTER = ((uint8_t)(read[0]))+1;
lakshya 20:949d13045431 476 read[0]=(read[0]&0xffffff00) | (uint32_t)BAE_RESET_COUNTER;
lakshya 20:949d13045431 477 FCTN_BAE_WR_FLASH(0,read[0]);
lakshya 39:670133e7ffd8 478 pc.printf("\n\r reset counter %d",BAE_RESET_COUNTER);
lakshya 20:949d13045431 479
lakshya 20:949d13045431 480
lakshya 20:949d13045431 481 EPS_SOC_LEVEL_12 = (uint8_t)(read[1]>>24);
lakshya 20:949d13045431 482 EPS_SOC_LEVEL_23 = (uint8_t)(read[1]>>16);
lakshya 20:949d13045431 483 ACS_MAG_TIME_DELAY = (uint8_t)(read[1]>>8);
lakshya 20:949d13045431 484 ACS_DEMAG_TIME_DELAY = (uint8_t)read[1];
lakshya 20:949d13045431 485
lakshya 20:949d13045431 486 EPS_BAT_TEMP_LOW = (uint8_t)(read[2]>>24);
lakshya 20:949d13045431 487 EPS_BAT_TEMP_HIGH = (uint8_t)(read[2]>>16);
lakshya 20:949d13045431 488 EPS_BAT_TEMP_DEFAULT = (uint8_t)(read[2]>>8);
lakshya 20:949d13045431 489
lakshya 20:949d13045431 490 ACS_MM_X_COMSN = (uint16_t)(read[3]>>16);
lakshya 20:949d13045431 491 ACS_MM_Y_COMSN = (uint16_t)read[3];
lakshya 20:949d13045431 492
lakshya 20:949d13045431 493 ACS_MG_X_COMSN = (uint16_t)(read[4]>>16);
lakshya 20:949d13045431 494 ACS_MG_Y_COMSN = (uint16_t)read[4];
lakshya 20:949d13045431 495
lakshya 20:949d13045431 496 ACS_MM_Z_COMSN = (uint16_t)(read[5]>>16);
lakshya 20:949d13045431 497 ACS_MG_Z_COMSN = (uint16_t)read[5];
lakshya 20:949d13045431 498
lakshya 20:949d13045431 499 ACS_Z_FIXED_MOMENT = (uint16_t)(read[6]>>16);//assignvalues
lakshya 20:949d13045431 500
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
sakthipriya 0:7b4c00e3912f 508 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 0:7b4c00e3912f 509 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 510
lakshya 19:79e69017c855 511
sakthipriya 0:7b4c00e3912f 512 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 513 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 514 void FCTN_TM();
sakthipriya 3:07e15677a75c 515 void F_ACS();
sakthipriya 3:07e15677a75c 516 void F_EPS();
sakthipriya 3:07e15677a75c 517 void F_BCN();
sakthipriya 0:7b4c00e3912f 518
lakshya 20:949d13045431 519 //I2C
lakshya 20:949d13045431 520 uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working
lakshya 20:949d13045431 521 uint16_t crc16_check;
lakshya 20:949d13045431 522 void I2C_busreset()
lakshya 20:949d13045431 523 {
lakshya 20:949d13045431 524 PORTE->PCR[1] &= 0xfffffffb;
lakshya 20:949d13045431 525 PORTE->PCR[0] &= 0xfffffffb;
lakshya 20:949d13045431 526 I2C1->C1 &= 0x7f;
lakshya 20:949d13045431 527 SIM->SCGC4 &= 0xffffff7f;
lakshya 20:949d13045431 528 SIM->SCGC4 |= 0x00000080;
lakshya 20:949d13045431 529 I2C1->C1 |= 0x80;
lakshya 20:949d13045431 530 PORTE->PCR[1] |= 0x00000004;
lakshya 20:949d13045431 531 PORTE->PCR[0] |= 0x00000004;
lakshya 39:670133e7ffd8 532 wait_ms(1);
lakshya 20:949d13045431 533 }
lakshya 20:949d13045431 534
sakthipriya 0:7b4c00e3912f 535 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 536 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 537 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 538 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 539 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 540
lakshya 20:949d13045431 541 //FLOAT TO UINT_8 CONVERSION FUNCTION
lakshya 20:949d13045431 542 extern uint8_t float_to_uint8(float min,float max,float val);
lakshya 20:949d13045431 543
lakshya 49:61c9f28332ba 544 //#define print 0
lakshya 20:949d13045431 545
sakthipriya 3:07e15677a75c 546 void F_ACS()
sakthipriya 0:7b4c00e3912f 547 {
lakshya 20:949d13045431 548 ACS_MAIN_COUNTER++;
lakshya 20:949d13045431 549 //time_wdog = 1;
lakshya 20:949d13045431 550 pc.printf("Entered ACS.\n\r");
lakshya 20:949d13045431 551
lakshya 20:949d13045431 552 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
lakshya 49:61c9f28332ba 553 //FLAG();
sakthipriya 3:07e15677a75c 554
sakthipriya 0:7b4c00e3912f 555 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 556 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 557 PWM3 = 0; //clear pwm pins
lakshya 20:949d13045431 558
lakshya 20:949d13045431 559 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 560 ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ();
sakthipriya 0:7b4c00e3912f 561
lakshya 49:61c9f28332ba 562 //#if print
lakshya 49:61c9f28332ba 563 //printing the angular speed and magnetic field values
lakshya 20:949d13045431 564 pc.printf("gyro values\n\r");
lakshya 19:79e69017c855 565 for(int i=0; i<3; i++)
lakshya 20:949d13045431 566 {
lakshya 49:61c9f28332ba 567 pc.printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
lakshya 20:949d13045431 568 }
lakshya 20:949d13045431 569
lakshya 19:79e69017c855 570 pc.printf("mag values\n\r");
lakshya 19:79e69017c855 571 for(int i=0; i<3; i++)
lakshya 20:949d13045431 572 {
lakshya 20:949d13045431 573 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
lakshya 20:949d13045431 574 }
lakshya 49:61c9f28332ba 575 //#endif
lakshya 20:949d13045431 576
lakshya 20:949d13045431 577 for(int i=0;i<3;i++)
lakshya 19:79e69017c855 578 {
lakshya 20:949d13045431 579 mag_data[i] = actual_data.Bvalue_actual[i]/1000000;
lakshya 20:949d13045431 580 gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180;
lakshya 20:949d13045431 581 }
lakshya 49:61c9f28332ba 582
lakshya 49:61c9f28332ba 583 int 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 584
lakshya 49:61c9f28332ba 585 if(b_inclination <0)
lakshya 49:61c9f28332ba 586 {
lakshya 49:61c9f28332ba 587 b_inclination = (-1)*b_inclination;
lakshya 49:61c9f28332ba 588 }
lakshya 49:61c9f28332ba 589 B_SCZ_ANGLE = (uint8_t)b_inclination;
lakshya 49:61c9f28332ba 590 if( b_inclination >= 16)
lakshya 49:61c9f28332ba 591 {
lakshya 49:61c9f28332ba 592 B_SCZ_ANGLE = 0x0F;
lakshya 49:61c9f28332ba 593 }
lakshya 49:61c9f28332ba 594 if(b_inclination <=0)
lakshya 49:61c9f28332ba 595 {
lakshya 49:61c9f28332ba 596 B_SCZ_ANGLE = 0x00;
lakshya 49:61c9f28332ba 597 }
lakshya 20:949d13045431 598
lakshya 20:949d13045431 599 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
lakshya 20:949d13045431 600 {
lakshya 20:949d13045431 601 #if print
lakshya 49:61c9f28332ba 602 pc.printf("\n\r acs control off\n");
lakshya 20:949d13045431 603 #endif
lakshya 20:949d13045431 604 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
lakshya 20:949d13045431 605 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 606 return;
lakshya 20:949d13045431 607 }
Bragadeesh153 52:daa685b0e390 608 else if((actual_data.power_mode<=2)&&( (( ACS_STATE)&0x08) != 0x08))
lakshya 20:949d13045431 609 {
Bragadeesh153 52:daa685b0e390 610 //#if print
lakshya 49:61c9f28332ba 611 pc.printf("\n\r Low Power \n\r");
Bragadeesh153 52:daa685b0e390 612 //#endif
lakshya 20:949d13045431 613 DRV_Z_EN = 0;
lakshya 20:949d13045431 614 DRV_XY_EN = 0;
lakshya 20:949d13045431 615 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
lakshya 20:949d13045431 616 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 617 return;
lakshya 20:949d13045431 618
lakshya 20:949d13045431 619 }
lakshya 20:949d13045431 620 else if(ACS_TR_Z_SW_STATUS != 1)
lakshya 20:949d13045431 621 {
Bragadeesh153 52:daa685b0e390 622 pc.printf("\n\r Z disabled \n\r");
lakshya 20:949d13045431 623 DRV_Z_EN = 0;
lakshya 20:949d13045431 624 DRV_XY_EN = 0;
lakshya 20:949d13045431 625 ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED
lakshya 20:949d13045431 626 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 627 return;
lakshya 20:949d13045431 628 }
lakshya 20:949d13045431 629 else if(ACS_TR_XY_SW_STATUS != 1)
Bragadeesh153 52:daa685b0e390 630 {
Bragadeesh153 52:daa685b0e390 631 pc.printf("\n\r Z only \n\r");
lakshya 20:949d13045431 632 DRV_Z_EN = 1;
lakshya 20:949d13045431 633 DRV_XY_EN = 0;
lakshya 20:949d13045431 634 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only
lakshya 20:949d13045431 635 moment[0] = 0;
lakshya 20:949d13045431 636 moment[1] = 0;
lakshya 20:949d13045431 637 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 638
lakshya 49:61c9f28332ba 639 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 640 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 641 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 642 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 20:949d13045431 643 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 644 return;
lakshya 19:79e69017c855 645 }
lakshya 20:949d13045431 646 else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1))
lakshya 20:949d13045431 647 {
Bragadeesh153 52:daa685b0e390 648
Bragadeesh153 52:daa685b0e390 649 pc.printf("\n\r Z only no data \n\r");
lakshya 20:949d13045431 650 DRV_Z_EN = 1;
lakshya 20:949d13045431 651 DRV_XY_EN = 0;
lakshya 20:949d13045431 652 ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only
lakshya 20:949d13045431 653
lakshya 20:949d13045431 654 moment[0] = 0;
lakshya 20:949d13045431 655 moment[1] = 0;
lakshya 20:949d13045431 656 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 657
lakshya 49:61c9f28332ba 658 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 659 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 660 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 661 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 662
lakshya 20:949d13045431 663 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 664 return;
lakshya 20:949d13045431 665 }
Bragadeesh153 52:daa685b0e390 666 else if((ACS_STATE == 1)||(ACS_STATE == 9))
lakshya 20:949d13045431 667 {
Bragadeesh153 52:daa685b0e390 668 pc.printf("\n\r Z only by state \n\r");
lakshya 20:949d13045431 669 DRV_Z_EN = 1;
lakshya 20:949d13045431 670 DRV_XY_EN = 0;
lakshya 20:949d13045431 671 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only
sakthipriya 0:7b4c00e3912f 672
lakshya 20:949d13045431 673 moment[0] = 0;
lakshya 20:949d13045431 674 moment[1] = 0;
lakshya 20:949d13045431 675 moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value
lakshya 20:949d13045431 676 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 677
lakshya 20:949d13045431 678 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 679 return;
lakshya 20:949d13045431 680 }
lakshya 20:949d13045431 681 else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available
lakshya 20:949d13045431 682 {
Bragadeesh153 52:daa685b0e390 683 pc.printf("\n\r MM only BDOT \n\r");
lakshya 20:949d13045431 684 DRV_Z_EN = 1;
lakshya 20:949d13045431 685 DRV_XY_EN = 1;
lakshya 20:949d13045431 686
lakshya 20:949d13045431 687 ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL
lakshya 20:949d13045431 688 ACS_DETUMBLING_ALGO_TYPE = 0x01;
lakshya 20:949d13045431 689 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 690 controlmode_mms=0x00;
lakshya 20:949d13045431 691 #if print
lakshya 49:61c9f28332ba 692 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 693 #endif
lakshya 20:949d13045431 694 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 695 {
lakshya 49:61c9f28332ba 696 pc.printf("%f\t",moment[i]);
lakshya 19:79e69017c855 697 }
lakshya 20:949d13045431 698 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 699 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 700 return;
lakshya 20:949d13045431 701 }
Bragadeesh153 52:daa685b0e390 702 else if((ACS_STATE == 2)||(ACS_STATE == 10)) // Nominal mode
lakshya 20:949d13045431 703 {
lakshya 20:949d13045431 704 #if print
lakshya 49:61c9f28332ba 705 pc.printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 706 #endif
lakshya 20:949d13045431 707 DRV_Z_EN = 1;
lakshya 49:61c9f28332ba 708 DRV_XY_EN = 1;
lakshya 49:61c9f28332ba 709
lakshya 49:61c9f28332ba 710 //timer_FCTN_ACS_CNTRLALGO.start();
lakshya 20:949d13045431 711 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 712 //timer_FCTN_ACS_CNTRLALGO.stop();
lakshya 49:61c9f28332ba 713 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 714
lakshya 27:61c856be467e 715 controlmode_mms = 0x01;
lakshya 20:949d13045431 716 #if print
lakshya 49:61c9f28332ba 717 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 718 #endif
lakshya 20:949d13045431 719 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 720 {
lakshya 49:61c9f28332ba 721 pc.printf("%f\t",moment[i]);
lakshya 20:949d13045431 722 }
lakshya 49:61c9f28332ba 723
lakshya 49:61c9f28332ba 724 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 725 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 726 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 727 //pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 728
lakshya 20:949d13045431 729 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 730 return;
lakshya 20:949d13045431 731 }
Bragadeesh153 52:daa685b0e390 732 else if((ACS_STATE == 3)||(ACS_STATE == 11)) // Auto Control
lakshya 20:949d13045431 733 {
lakshya 20:949d13045431 734 #if print
lakshya 49:61c9f28332ba 735 pc.printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 736 #endif
lakshya 20:949d13045431 737 DRV_Z_EN = 1;
lakshya 20:949d13045431 738 DRV_XY_EN = 1;
lakshya 49:61c9f28332ba 739
lakshya 49:61c9f28332ba 740 timer_FCTN_ACS_CNTRLALGO.start();
lakshya 20:949d13045431 741 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 742 timer_FCTN_ACS_CNTRLALGO.stop();
lakshya 49:61c9f28332ba 743 //pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 744
lakshya 27:61c856be467e 745 controlmode_mms = 0x00;
lakshya 20:949d13045431 746 #if print
lakshya 49:61c9f28332ba 747 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 748 for(int i=0; i<3; i++)
lakshya 19:79e69017c855 749 {
lakshya 49:61c9f28332ba 750 pc.printf("%f\t",moment[i]);
lakshya 20:949d13045431 751 }
lakshya 20:949d13045431 752 #endif
Bragadeesh153 52:daa685b0e390 753 pc.printf("\r\n");
lakshya 49:61c9f28332ba 754 timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 755 FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function
lakshya 49:61c9f28332ba 756 timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 757 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 758
lakshya 20:949d13045431 759 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 760 return;
lakshya 20:949d13045431 761 }
Bragadeesh153 52:daa685b0e390 762 else if((ACS_STATE == 4)||(ACS_STATE == 12)) // Detumbling
lakshya 20:949d13045431 763 {
Bragadeesh153 52:daa685b0e390 764 pc.printf("\n\r Detumbling \n\r");
lakshya 20:949d13045431 765 DRV_Z_EN = 1;
lakshya 20:949d13045431 766 DRV_XY_EN = 1;
lakshya 20:949d13045431 767 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 768 controlmode_mms = 0x00;
lakshya 20:949d13045431 769 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 770 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 771 return;
lakshya 20:949d13045431 772 }
lakshya 20:949d13045431 773 ACS_STATUS = 7; //INVALID_STATE
lakshya 20:949d13045431 774 DRV_Z_EN = 0;
lakshya 20:949d13045431 775 DRV_XY_EN = 0;
lakshya 20:949d13045431 776 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
lakshya 20:949d13045431 777 }
lakshya 19:79e69017c855 778
lakshya 19:79e69017c855 779
sakthipriya 0:7b4c00e3912f 780 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 781
lakshya 33:76f2b8735501 782
sakthipriya 3:07e15677a75c 783 void F_EPS()
lakshya 20:949d13045431 784 {
lakshya 33:76f2b8735501 785 float eps_btry_temp;
lakshya 33:76f2b8735501 786 pc.printf("\n\rEntered EPS %f\n\r",t_start.read());
lakshya 33:76f2b8735501 787 EPS_MAIN_STATUS = 1; // Set EPS main status
lakshya 33:76f2b8735501 788 EPS_MAIN_COUNTER++;
lakshya 49:61c9f28332ba 789
lakshya 49:61c9f28332ba 790 timer_FCTN_BATT_TEMP_SENSOR_MAIN.reset();
lakshya 49:61c9f28332ba 791 timer_FCTN_BATT_TEMP_SENSOR_MAIN.start();
lakshya 33:76f2b8735501 792 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
lakshya 49:61c9f28332ba 793 timer_FCTN_BATT_TEMP_SENSOR_MAIN.stop();
lakshya 49:61c9f28332ba 794
lakshya 33:76f2b8735501 795 pc.printf("Battery temperature %f %f\n\r" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
lakshya 33:76f2b8735501 796 EPS_BTRY_TMP_AVG = ( actual_data.Batt_temp_actual[0] + actual_data.Batt_temp_actual[1] )/2.0;
lakshya 33:76f2b8735501 797 if(abs(actual_data.Batt_temp_actual[0] - actual_data.Batt_temp_actual[1]) > 10)
lakshya 33:76f2b8735501 798 {
lakshya 33:76f2b8735501 799 EPS_BTRY_TMP_STATUS = 0; //clear EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 800 eps_btry_temp = (float) EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 801 }
lakshya 33:76f2b8735501 802 else
lakshya 33:76f2b8735501 803 {
lakshya 33:76f2b8735501 804 EPS_BTRY_TMP_STATUS = 1; //set EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 805 eps_btry_temp = EPS_BTRY_TMP_AVG;
lakshya 33:76f2b8735501 806 }
lakshya 33:76f2b8735501 807
lakshya 33:76f2b8735501 808 if(EPS_BTRY_HTR_AUTO == 0)
lakshya 33:76f2b8735501 809 EPS_STATUS = 1; //EPS_BATTERY_HEATER_DISABLED
lakshya 33:76f2b8735501 810 else if( EPS_BTRY_TMP_STATUS == 0 )
lakshya 33:76f2b8735501 811 {
lakshya 33:76f2b8735501 812 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 813 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 814 EPS_STATUS = 0; //Set EPS_ERR_BATTERY_TEMP
lakshya 33:76f2b8735501 815 }
lakshya 33:76f2b8735501 816 else
lakshya 33:76f2b8735501 817 {
lakshya 33:76f2b8735501 818 if( EPS_BTRY_HTR == 1 && eps_btry_temp >= EPS_BAT_TEMP_HIGH )
lakshya 33:76f2b8735501 819 {
lakshya 33:76f2b8735501 820 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 821 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 822 EPS_STATUS = 4; //Set EPS_BATTERY_HEATER_OFF
lakshya 33:76f2b8735501 823 }
lakshya 33:76f2b8735501 824 else if( EPS_BTRY_HTR == 0 && eps_btry_temp < EPS_BAT_TEMP_LOW )
lakshya 33:76f2b8735501 825 {
lakshya 33:76f2b8735501 826 BTRY_HTR_ENABLE = 1;
lakshya 33:76f2b8735501 827 EPS_BTRY_HTR = 1;
lakshya 33:76f2b8735501 828 EPS_STATUS = 5; //Set EPS_BATTERY_HEATER_ON
lakshya 33:76f2b8735501 829 }
lakshya 33:76f2b8735501 830 }
lakshya 33:76f2b8735501 831
lakshya 33:76f2b8735501 832 unsigned short statusreg = read(REG_STATUS);
lakshya 33:76f2b8735501 833 if( EPS_BATTERY_GAUGE_STATUS == 0 ) reset();
lakshya 33:76f2b8735501 834 if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set
lakshya 19:79e69017c855 835 {
lakshya 49:61c9f28332ba 836 pc.printf("REG_STATUS = %d\r\n",read(REG_STATUS));
lakshya 33:76f2b8735501 837 FCTN_BATTERYGAUGE_INIT();
lakshya 49:61c9f28332ba 838 }
lakshya 49:61c9f28332ba 839 timer_FCTN_BATTERYGAUGE_MAIN.reset();
lakshya 49:61c9f28332ba 840 timer_FCTN_BATTERYGAUGE_MAIN.start();
lakshya 33:76f2b8735501 841 int BTG_MAIN_FLAG = FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual, eps_btry_temp);
lakshya 49:61c9f28332ba 842 timer_FCTN_BATTERYGAUGE_MAIN.stop();
lakshya 49:61c9f28332ba 843
lakshya 33:76f2b8735501 844 if( BTG_MAIN_FLAG == 0 ) //Data not received
lakshya 33:76f2b8735501 845 {
lakshya 33:76f2b8735501 846 actual_data.power_mode = 1;
lakshya 33:76f2b8735501 847 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 848 }
lakshya 33:76f2b8735501 849 else
lakshya 33:76f2b8735501 850 {
lakshya 33:76f2b8735501 851 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
lakshya 33:76f2b8735501 852 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 853 }
lakshya 49:61c9f28332ba 854
lakshya 49:61c9f28332ba 855 timer_FCTN_HK_MAIN.reset();
lakshya 49:61c9f28332ba 856 timer_FCTN_HK_MAIN.start();
lakshya 33:76f2b8735501 857 FCTN_HK_MAIN();
lakshya 49:61c9f28332ba 858 timer_FCTN_HK_MAIN.stop();
lakshya 49:61c9f28332ba 859 // pc.printf("ere");
lakshya 49:61c9f28332ba 860
lakshya 49:61c9f28332ba 861 timer_FCTN_EPS_HANDLE_HW_FAULTS.reset();
lakshya 49:61c9f28332ba 862 timer_FCTN_EPS_HANDLE_HW_FAULTS.start();
lakshya 33:76f2b8735501 863 FCTN_EPS_HANDLE_HW_FAULTS();
lakshya 49:61c9f28332ba 864 timer_FCTN_EPS_HANDLE_HW_FAULTS.stop();
lakshya 49:61c9f28332ba 865
lakshya 49:61c9f28332ba 866 timer_FCTN_EPS_HANDLE_CDMS_FAULT.reset();
lakshya 49:61c9f28332ba 867 timer_FCTN_EPS_HANDLE_CDMS_FAULT.start();
lakshya 33:76f2b8735501 868 FCTN_EPS_HANDLE_CDMS_FAULT();
lakshya 49:61c9f28332ba 869 timer_FCTN_EPS_HANDLE_CDMS_FAULT.stop();
lakshya 49:61c9f28332ba 870
lakshya 49:61c9f28332ba 871 timer_FCTN_APPEND_HKDATA.reset();
lakshya 49:61c9f28332ba 872 timer_FCTN_APPEND_HKDATA.start();
lakshya 33:76f2b8735501 873 FCTN_APPEND_HKDATA();
lakshya 49:61c9f28332ba 874 timer_FCTN_APPEND_HKDATA.stop();
lakshya 49:61c9f28332ba 875
lakshya 49:61c9f28332ba 876 timer_minMaxHkData.reset();
lakshya 49:61c9f28332ba 877 timer_minMaxHkData.start();
lakshya 33:76f2b8735501 878 minMaxHkData();
lakshya 49:61c9f28332ba 879 timer_minMaxHkData.stop();
lakshya 49:61c9f28332ba 880
lakshya 49:61c9f28332ba 881 //pc.printf("ere");
lakshya 33:76f2b8735501 882 EPS_MAIN_STATUS = 0; // clear EPS main status
lakshya 33:76f2b8735501 883
sakthipriya 0:7b4c00e3912f 884 }
lakshya 33:76f2b8735501 885
lakshya 20:949d13045431 886
sakthipriya 0:7b4c00e3912f 887 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 888
sakthipriya 3:07e15677a75c 889 void F_BCN()
sakthipriya 0:7b4c00e3912f 890 {
lakshya 20:949d13045431 891 pc.printf("\n\rEntered BCN %f\n",t_start.read());
lakshya 20:949d13045431 892 //BCN_TX_MAIN_COUNTER=+1;
lakshya 49:61c9f28332ba 893
lakshya 49:61c9f28332ba 894 timer_FCTN_BCN_TX_MAIN.reset();
lakshya 49:61c9f28332ba 895 timer_FCTN_BCN_TX_MAIN.start();
lakshya 20:949d13045431 896 FCTN_BCN_TX_MAIN();
lakshya 49:61c9f28332ba 897 timer_FCTN_BCN_TX_MAIN.stop();
sakthipriya 0:7b4c00e3912f 898 }
sakthipriya 0:7b4c00e3912f 899
sakthipriya 0:7b4c00e3912f 900 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 901
lakshya 39:670133e7ffd8 902 //===================================================================
sakthipriya 0:7b4c00e3912f 903 void T_TC(void const * args)
lakshya 19:79e69017c855 904 {
lakshya 20:949d13045431 905 while(1)
lakshya 39:670133e7ffd8 906 {
lakshya 39:670133e7ffd8 907 Thread::signal_wait(0x4);
lakshya 39:670133e7ffd8 908 wait_us(300);
lakshya 49:61c9f28332ba 909
lakshya 39:670133e7ffd8 910 BAE_MNG_I2C_STATUS =1 ;
lakshya 39:670133e7ffd8 911 I2C_last.reset();
lakshya 39:670133e7ffd8 912 I2C_last.start();
lakshya 49:61c9f28332ba 913 // pc.printf("\n\r intrpet");
lakshya 39:670133e7ffd8 914 if( slave.receive() == 0)
lakshya 39:670133e7ffd8 915 {
lakshya 39:670133e7ffd8 916 pdir_ss1=PTE->PDIR; /////////edited
lakshya 39:670133e7ffd8 917 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 918 data_send_flag = 'h';
lakshya 39:670133e7ffd8 919 slave.stop();
lakshya 39:670133e7ffd8 920 if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed
lakshya 39:670133e7ffd8 921 {
lakshya 39:670133e7ffd8 922 I2C_busreset(); /////////edited
lakshya 39:670133e7ffd8 923 }
lakshya 39:670133e7ffd8 924 pdir_ss2=PTE->PDIR;
lakshya 39:670133e7ffd8 925 pc.printf("\n\rSlave not addressed");
lakshya 39:670133e7ffd8 926 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss1);
lakshya 39:670133e7ffd8 927 #if PRINT2
lakshya 39:670133e7ffd8 928 pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss2);
lakshya 39:670133e7ffd8 929 #endif
lakshya 39:670133e7ffd8 930 }
lakshya 39:670133e7ffd8 931 else if( slave.receive() == 1) // slave writes to master
lakshya 39:670133e7ffd8 932 {
lakshya 39:670133e7ffd8 933 BAE_I2C_COUNTER++; //////////edited
lakshya 39:670133e7ffd8 934 if(data_send_flag == 'h') //to be renamed as BAE_I2C_STATUS
lakshya 39:670133e7ffd8 935 {
lakshya 49:61c9f28332ba 936 irpt_2_mstr =1;
lakshya 49:61c9f28332ba 937 //pc.printf("\n\r hk "); //wait till cdms code is changed
lakshya 39:670133e7ffd8 938 FCTN_APPEND_HKDATA();
lakshya 39:670133e7ffd8 939 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 940 //crc is already being added
lakshya 39:670133e7ffd8 941 write_ack=slave.write((char*)BAE_chardata,134);
lakshya 39:670133e7ffd8 942 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 943 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 944 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 945 if(write_ack==0)// wait till cdms code is changed
lakshya 20:949d13045431 946 {
lakshya 49:61c9f28332ba 947 /*checking the tc timings*/
lakshya 49:61c9f28332ba 948 // time_wdog = 1;
lakshya 49:61c9f28332ba 949
lakshya 39:670133e7ffd8 950 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 951 {
lakshya 39:670133e7ffd8 952 wait_ms(1);
lakshya 39:670133e7ffd8 953 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 954 i2c_count++;
lakshya 39:670133e7ffd8 955 }
lakshya 39:670133e7ffd8 956 if(((pdir_tm1 & 0x00000003)==3))
lakshya 20:949d13045431 957 {
lakshya 39:670133e7ffd8 958 pc.printf("\n\rWrite HK success");
lakshya 49:61c9f28332ba 959 // data_send_flag = 'h';
lakshya 39:670133e7ffd8 960 irpt_2_mstr = 0; //////////edited
lakshya 19:79e69017c855 961 }
lakshya 39:670133e7ffd8 962 else
lakshya 39:670133e7ffd8 963 {
lakshya 39:670133e7ffd8 964 #if baby
lakshya 39:670133e7ffd8 965 pc.printf("\n\rWrite HK failed");
lakshya 39:670133e7ffd8 966 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 967 #endif
lakshya 39:670133e7ffd8 968 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 969 I2C_busreset();
lakshya 39:670133e7ffd8 970 #if baby2
lakshya 39:670133e7ffd8 971 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 972 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 973 #endif
lakshya 39:670133e7ffd8 974 }
lakshya 39:670133e7ffd8 975 }
lakshya 39:670133e7ffd8 976 else
lakshya 39:670133e7ffd8 977 {
lakshya 39:670133e7ffd8 978 #if baby1
lakshya 39:670133e7ffd8 979 pc.printf("\n\rWrite Ack failed(HK)");
lakshya 39:670133e7ffd8 980 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 981 #endif
lakshya 39:670133e7ffd8 982 I2C_busreset();
lakshya 39:670133e7ffd8 983 #if baby2
lakshya 39:670133e7ffd8 984 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 985 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 986 #endif
lakshya 20:949d13045431 987 }
lakshya 39:670133e7ffd8 988 i2c_count=0;
lakshya 39:670133e7ffd8 989 }
lakshya 49:61c9f28332ba 990 else if (data_send_flag == 't') //else if(telecommand[1]&0xC0 == 't')
lakshya 39:670133e7ffd8 991 {
lakshya 39:670133e7ffd8 992 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 993 write_ack=slave.write((char*)telemetry,134); ////////edited(size)
lakshya 39:670133e7ffd8 994 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 995 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 996 irpt_2_mstr = 0;
lakshya 49:61c9f28332ba 997 data_send_flag = 'h';
lakshya 49:61c9f28332ba 998 // pc.printf("\n\r h set here");
lakshya 39:670133e7ffd8 999 if(write_ack==0)
lakshya 39:670133e7ffd8 1000 {
lakshya 39:670133e7ffd8 1001 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 1002 {
lakshya 39:670133e7ffd8 1003 wait_ms(1);
lakshya 39:670133e7ffd8 1004 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 1005 i2c_count++;
lakshya 39:670133e7ffd8 1006 }
lakshya 39:670133e7ffd8 1007 if(((pdir_tm1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 1008 {
lakshya 39:670133e7ffd8 1009 pc.printf("\n\rWrite TM success");
lakshya 39:670133e7ffd8 1010 }
lakshya 39:670133e7ffd8 1011 else
lakshya 39:670133e7ffd8 1012 {
lakshya 39:670133e7ffd8 1013 #if baby
lakshya 39:670133e7ffd8 1014 pc.printf("\n\rWrite TM failed");
lakshya 39:670133e7ffd8 1015 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1016 #endif
lakshya 39:670133e7ffd8 1017 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 1018 I2C_busreset();
lakshya 39:670133e7ffd8 1019 #if baby2
lakshya 39:670133e7ffd8 1020 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1021 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1022 #endif
lakshya 39:670133e7ffd8 1023 }
lakshya 39:670133e7ffd8 1024 }
lakshya 39:670133e7ffd8 1025 else
lakshya 20:949d13045431 1026 {
lakshya 39:670133e7ffd8 1027 #if baby
lakshya 39:670133e7ffd8 1028 pc.printf("\n\rWrite Ack failed");
lakshya 39:670133e7ffd8 1029 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1030 #endif
lakshya 39:670133e7ffd8 1031 I2C_busreset();
lakshya 39:670133e7ffd8 1032 #if baby2
lakshya 39:670133e7ffd8 1033 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1034 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1035 #endif
lakshya 20:949d13045431 1036 }
lakshya 39:670133e7ffd8 1037 i2c_count=0;
lakshya 49:61c9f28332ba 1038 }
lakshya 49:61c9f28332ba 1039 // else
lakshya 49:61c9f28332ba 1040 // pc.printf("\n\r hey something wrong");
lakshya 39:670133e7ffd8 1041 }
lakshya 39:670133e7ffd8 1042 else if( slave.receive()==3 || slave.receive()==2) // slave read
lakshya 39:670133e7ffd8 1043 {
lakshya 39:670133e7ffd8 1044 BAE_I2C_COUNTER++;
lakshya 49:61c9f28332ba 1045
lakshya 49:61c9f28332ba 1046 /*checking the tc timings*/
lakshya 49:61c9f28332ba 1047 time_wdog = 1;
lakshya 49:61c9f28332ba 1048
lakshya 39:670133e7ffd8 1049 uint8_t i2c_count = 0;
lakshya 39:670133e7ffd8 1050 read_ack=slave.read((char *)telecommand,135); //read() function returns acknowledgement
lakshya 39:670133e7ffd8 1051 wait_ms(1);
lakshya 39:670133e7ffd8 1052 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 1053 if(read_ack==0) //read() says it was successful
lakshya 39:670133e7ffd8 1054 {
lakshya 39:670133e7ffd8 1055 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 1056 {
lakshya 39:670133e7ffd8 1057 wait_ms(1);
lakshya 39:670133e7ffd8 1058 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 1059 i2c_count++;
lakshya 39:670133e7ffd8 1060 }
lakshya 39:670133e7ffd8 1061 if(((pdir_tc1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 1062 {
lakshya 49:61c9f28332ba 1063 //pc.printf("\n\n\rRead TC success");
lakshya 39:670133e7ffd8 1064 if(telecommand[0] == 0x00) /////////////edited
lakshya 49:61c9f28332ba 1065 {
lakshya 49:61c9f28332ba 1066 FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited
lakshya 49:61c9f28332ba 1067 data_send_flag = 'h';
lakshya 49:61c9f28332ba 1068 pc.printf("\n\n\rRead LBCN QM is comming");
lakshya 49:61c9f28332ba 1069 }
lakshya 39:670133e7ffd8 1070 else
lakshya 39:670133e7ffd8 1071 {
lakshya 49:61c9f28332ba 1072 pc.printf("\n\r Read TC SUCESS");
lakshya 39:670133e7ffd8 1073 FCTN_BAE_TM_TC((uint8_t*) telecommand);
lakshya 39:670133e7ffd8 1074 data_send_flag = 't';
lakshya 39:670133e7ffd8 1075 irpt_2_mstr = 1;
lakshya 49:61c9f28332ba 1076
lakshya 39:670133e7ffd8 1077 }
lakshya 39:670133e7ffd8 1078 }
lakshya 39:670133e7ffd8 1079 else //either or both of SDA and SCL lines low
lakshya 20:949d13045431 1080 {
lakshya 39:670133e7ffd8 1081 #if baby
lakshya 39:670133e7ffd8 1082 pc.printf("\n\rRead TC failed");
lakshya 39:670133e7ffd8 1083 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1084 #endif
lakshya 39:670133e7ffd8 1085 I2C_busreset();
lakshya 39:670133e7ffd8 1086 #if baby2
lakshya 39:670133e7ffd8 1087 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1088 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 1089 #endif
lakshya 39:670133e7ffd8 1090 gen_I_TM();
lakshya 39:670133e7ffd8 1091 data_send_flag = 't';
lakshya 39:670133e7ffd8 1092 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 1093 }
lakshya 39:670133e7ffd8 1094 }
lakshya 39:670133e7ffd8 1095 else //read() says it was not successful
lakshya 39:670133e7ffd8 1096 {
lakshya 39:670133e7ffd8 1097 #if baby
lakshya 39:670133e7ffd8 1098 pc.printf("\n\rRead Ack failed");
lakshya 39:670133e7ffd8 1099 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1100 #endif
lakshya 39:670133e7ffd8 1101 I2C_busreset();
lakshya 39:670133e7ffd8 1102 #if baby2
lakshya 39:670133e7ffd8 1103 pdir_tm2 = PTE->PDIR;
lakshya 39:670133e7ffd8 1104 pc.printf("\n\rPTE->PDIR = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1105 #endif
lakshya 39:670133e7ffd8 1106 //pc.printf("\n\r no data case");
lakshya 39:670133e7ffd8 1107 gen_I_TM();
lakshya 39:670133e7ffd8 1108 data_send_flag = 't';
lakshya 39:670133e7ffd8 1109 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 1110 }
lakshya 39:670133e7ffd8 1111 i2c_count = 0;
lakshya 39:670133e7ffd8 1112 }
lakshya 39:670133e7ffd8 1113 BAE_MNG_I2C_STATUS=0;
lakshya 39:670133e7ffd8 1114 }
sakthipriya 0:7b4c00e3912f 1115 }
lakshya 39:670133e7ffd8 1116
sakthipriya 0:7b4c00e3912f 1117 void FCTN_TM()
lakshya 20:949d13045431 1118 {
sakthipriya 5:bb592f3185cc 1119 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 1120 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 1121 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 1122 }
sakthipriya 0:7b4c00e3912f 1123
sakthipriya 0:7b4c00e3912f 1124
sakthipriya 0:7b4c00e3912f 1125 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 1126
sakthipriya 0:7b4c00e3912f 1127 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 1128 {
lakshya 20:949d13045431 1129 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 1130 }
sakthipriya 0:7b4c00e3912f 1131
sakthipriya 0:7b4c00e3912f 1132
sakthipriya 5:bb592f3185cc 1133 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 1134
sakthipriya 5:bb592f3185cc 1135 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 1136
sakthipriya 5:bb592f3185cc 1137 void pollfault()
sakthipriya 5:bb592f3185cc 1138 {
Bragadeesh153 52:daa685b0e390 1139 //if (ACS_ATS1_OC_FAULT==0) // OC_ATS1
Bragadeesh153 52:daa685b0e390 1140 if(0)
lakshya 20:949d13045431 1141 {
lakshya 20:949d13045431 1142 pf1check=1;
lakshya 20:949d13045431 1143 actual_data.faultPoll_status |=0x01 ;
lakshya 20:949d13045431 1144 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
lakshya 20:949d13045431 1145 }
lakshya 20:949d13045431 1146 else
lakshya 20:949d13045431 1147 actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 1148
Bragadeesh153 52:daa685b0e390 1149 //if(ACS_ATS2_OC_FAULT==0)
Bragadeesh153 52:daa685b0e390 1150 if(0)
lakshya 20:949d13045431 1151 {
lakshya 20:949d13045431 1152 pf2check=1;
lakshya 20:949d13045431 1153 actual_data.faultPoll_status |=0x02 ;
lakshya 20:949d13045431 1154 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
lakshya 20:949d13045431 1155 }
lakshya 20:949d13045431 1156 else
lakshya 20:949d13045431 1157 actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 1158
lakshya 48:9fd15e3e0b53 1159 if (ACS_TR_XY_FAULT==0)
lakshya 20:949d13045431 1160 {
lakshya 20:949d13045431 1161 actual_data.faultPoll_status |=0x04 ;
lakshya 20:949d13045431 1162 DRV_XY_EN = 0;
lakshya 20:949d13045431 1163 wait_us(1);
lakshya 20:949d13045431 1164 DRV_XY_EN = 1;
lakshya 20:949d13045431 1165 }
lakshya 20:949d13045431 1166 else
lakshya 20:949d13045431 1167 actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 1168 }
sakthipriya 5:bb592f3185cc 1169
sakthipriya 0:7b4c00e3912f 1170 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 1171 //SCHEDULER
sakthipriya 0:7b4c00e3912f 1172 //------------------------------------------------------------------------------------------------------------------------------------------------
lakshya 20:949d13045431 1173
sakthipriya 0:7b4c00e3912f 1174 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 1175 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 1176 {
lakshya 20:949d13045431 1177 #if print
lakshya 49:61c9f28332ba 1178 pc.printf("\n\r in scheduler");
lakshya 20:949d13045431 1179 #endif
lakshya 19:79e69017c855 1180 /*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 1181 if(schedcount == 13) //to reset the counter
sakthipriya 0:7b4c00e3912f 1182 schedcount = 1;
sakthipriya 0:7b4c00e3912f 1183 if(schedcount%1==0)
lakshya 20:949d13045431 1184 {
lakshya 20:949d13045431 1185 if( BAE_STANDBY!=0x02 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1186 {
lakshya 20:949d13045431 1187 pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
lakshya 49:61c9f28332ba 1188 timer_F_ACS.reset();
lakshya 49:61c9f28332ba 1189 timer_F_ACS.start();
Bragadeesh153 52:daa685b0e390 1190 F_ACS();
lakshya 49:61c9f28332ba 1191 timer_F_ACS.stop();
lakshya 49:61c9f28332ba 1192 /*pc.printf("\n\r timer_F_ACS is %f",timer_F_ACS.read());
lakshya 49:61c9f28332ba 1193 pc.printf("\n\r timer_SENSOR_INIT is %f",timer_SENSOR_INIT.read());
lakshya 49:61c9f28332ba 1194 pc.printf("\n\r timer_CONFIG_UPLOAD is %f",timer_CONFIG_UPLOAD.read());
lakshya 49:61c9f28332ba 1195 pc.printf("\n\r timer_SENSOR_DATA_ACQ is %f",timer_SENSOR_DATA_ACQ.read());
lakshya 49:61c9f28332ba 1196 pc.printf("\n\r timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 1197 pc.printf("\n\r timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 1198 pc.printf("\n\r timer_controlmodes is %f",timer_controlmodes.read());
lakshya 49:61c9f28332ba 1199 */
lakshya 20:949d13045431 1200 //time_wdog = 0;
lakshya 20:949d13045431 1201 }
sakthipriya 0:7b4c00e3912f 1202
lakshya 20:949d13045431 1203 }
lakshya 33:76f2b8735501 1204 if(schedcount%4==0)
lakshya 20:949d13045431 1205 {
lakshya 20:949d13045431 1206 if( BAE_STANDBY!=0x01 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x07)
lakshya 20:949d13045431 1207 {
lakshya 20:949d13045431 1208 //time_wdog = 1;
lakshya 49:61c9f28332ba 1209 timer_F_ESP.reset();
lakshya 49:61c9f28332ba 1210 timer_F_ESP.start();
lakshya 20:949d13045431 1211 F_EPS();
lakshya 49:61c9f28332ba 1212 timer_F_ESP.stop();
lakshya 49:61c9f28332ba 1213 pc.printf("\n\r timer_F_ESP is %f",timer_F_ESP.read());
lakshya 49:61c9f28332ba 1214 /* pc.printf("\n\r timer_FCTN_BATTERYGAUGE_INIT is %f",timer_FCTN_BATTERYGAUGE_INIT.read());
lakshya 49:61c9f28332ba 1215 pc.printf("\n\r timer_alertFlags is %f",timer_alertFlags.read());
lakshya 49:61c9f28332ba 1216 pc.printf("\n\r timer_soc is %f",timer_soc.read());
lakshya 49:61c9f28332ba 1217 pc.printf("\n\r timer_FCTN_BATT_TEMP_SENSOR_MAIN is %f",timer_FCTN_BATT_TEMP_SENSOR_MAIN.read());
lakshya 49:61c9f28332ba 1218 pc.printf("\n\r timer_FCTN_BATTERYGAUGE_MAIN is %f",timer_FCTN_BATTERYGAUGE_MAIN.read());
lakshya 49:61c9f28332ba 1219 pc.printf("\n\r timer_FCTN_HK_MAIN is %f",timer_FCTN_HK_MAIN.read());
lakshya 49:61c9f28332ba 1220 pc.printf("\n\r timer_FCTN_EPS_HANDLE_HW_FAULTS is %f",timer_FCTN_EPS_HANDLE_HW_FAULTS.read());
lakshya 49:61c9f28332ba 1221 pc.printf("\n\r timer_FCTN_EPS_HANDLE_CDMS_FAULT is %f",timer_FCTN_EPS_HANDLE_CDMS_FAULT.read());
lakshya 49:61c9f28332ba 1222 pc.printf("\n\r timer_FCTN_APPEND_HKDATA is %f",timer_FCTN_APPEND_HKDATA.read());
lakshya 49:61c9f28332ba 1223 pc.printf("\n\r timer_minMaxHkData is %f",timer_minMaxHkData.read());
lakshya 49:61c9f28332ba 1224 */
lakshya 20:949d13045431 1225 }
lakshya 20:949d13045431 1226 //time_wdog = 0;
lakshya 20:949d13045431 1227 }
lakshya 33:76f2b8735501 1228 if(schedcount%6==0)
lakshya 20:949d13045431 1229 {
lakshya 22:950dbe9fbeb8 1230 if(BAE_STANDBY!=0x04 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
lakshya 49:61c9f28332ba 1231 { // time_wdog = 0;
lakshya 49:61c9f28332ba 1232 timer_F_BCN.reset();
lakshya 49:61c9f28332ba 1233 timer_F_BCN.start();
lakshya 49:61c9f28332ba 1234 F_BCN();
lakshya 49:61c9f28332ba 1235 timer_F_BCN.stop();
lakshya 49:61c9f28332ba 1236 /*pc.printf("\n\r timer_F_BCN is %f",timer_F_BCN.read());
lakshya 49:61c9f28332ba 1237 pc.printf("\n\r timer_Init_BEACON_HW is %f",timer_Init_BEACON_HW.read());
lakshya 49:61c9f28332ba 1238 pc.printf("\n\r timer_FCTN_BCN_TX_MAIN is %f",timer_FCTN_BCN_TX_MAIN.read());
lakshya 49:61c9f28332ba 1239 pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUCCESS is %f",timer_Set_BCN_TX_STATUS_SUCCESS.read());
lakshya 49:61c9f28332ba 1240 pc.printf("\n\r timer_Set_BCN_TX_STATUS_FAILURE is %f",timer_Set_BCN_TX_STATUS_FAILURE.read());
lakshya 49:61c9f28332ba 1241 pc.printf("\n\r timer_Set_BCN_TX_STATUS_DISABLED is %f",timer_Set_BCN_TX_STATUS_DISABLED.read());
lakshya 49:61c9f28332ba 1242 pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUSPENDED is %f",timer_Set_BCN_TX_STATUS_SUSPENDED.read());
lakshya 49:61c9f28332ba 1243 pc.printf("\n\r timer_Set_BCN_TX_STATUS_RF_SILENCE is %f",timer_Set_BCN_TX_STATUS_RF_SILENCE.read());
lakshya 49:61c9f28332ba 1244 */}
lakshya 20:949d13045431 1245 }
sakthipriya 0:7b4c00e3912f 1246 schedcount++;
lakshya 20:949d13045431 1247 #if print
lakshya 20:949d13045431 1248 printf("\n\r exited scheduler h");
lakshya 20:949d13045431 1249 printf("\n\r time taken %f",t_start.read());
lakshya 20:949d13045431 1250 #endif
sakthipriya 0:7b4c00e3912f 1251 }
sakthipriya 0:7b4c00e3912f 1252
lakshya 20:949d13045431 1253
sakthipriya 0:7b4c00e3912f 1254 Timer t_flag;
lakshya 19:79e69017c855 1255
lakshya 20:949d13045431 1256
sakthipriya 0:7b4c00e3912f 1257 void FLAG()
sakthipriya 0:7b4c00e3912f 1258 {
lakshya 20:949d13045431 1259
lakshya 20:949d13045431 1260 //I2C
lakshya 20:949d13045431 1261 //if(BAE_MNG_I2C_STATUS == 1)
lakshya 20:949d13045431 1262 // BAE_STATUS = BAE_STATUS | 0x10000000;
lakshya 20:949d13045431 1263 //else if(BAE_MNG_I2C_STATUS == 0)
lakshya 20:949d13045431 1264 // BAE_STATUS &= 0xEFFFFFF;
lakshya 19:79e69017c855 1265
lakshya 19:79e69017c855 1266 //.............bae..................//
lakshya 19:79e69017c855 1267 if(BAE_INIT_STATUS == 1)
lakshya 19:79e69017c855 1268 BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001;
lakshya 19:79e69017c855 1269 else if(BAE_INIT_STATUS == 0)
lakshya 19:79e69017c855 1270 BAE_STATUS &= 0xFFFFFFFE;
lakshya 19:79e69017c855 1271
lakshya 20:949d13045431 1272 if(BAE_MNG_I2C_STATUS == 1)
lakshya 19:79e69017c855 1273 BAE_STATUS = BAE_STATUS | 0x00000002;
lakshya 20:949d13045431 1274 if(BAE_MNG_I2C_STATUS == 0)
lakshya 19:79e69017c855 1275 BAE_STATUS &= 0xFFFFFFFD;
lakshya 20:949d13045431 1276
sakthipriya 0:7b4c00e3912f 1277 //.............acs..................//
sakthipriya 9:194afacf7449 1278 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1279 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 1280 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1281 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 1282
sakthipriya 9:194afacf7449 1283 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1284 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 1285 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1286 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 1287
sakthipriya 9:194afacf7449 1288 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 1289 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 1290 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 1291 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 1292
sakthipriya 0:7b4c00e3912f 1293 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 1294 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 1295
sakthipriya 9:194afacf7449 1296 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1297 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 1298 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1299 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 1300
sakthipriya 0:7b4c00e3912f 1301 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 1302 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1303 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 1304 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 1305 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 1306 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1307 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 1308 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1309 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 1310 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1311 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 1312 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1313 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 1314 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 1315 else
sakthipriya 0:7b4c00e3912f 1316 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 1317
sakthipriya 0:7b4c00e3912f 1318 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 1319 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1320 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 1321 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1322 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 1323 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1324 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 1325 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1326 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 1327 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1328 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 1329 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 1330
sakthipriya 0:7b4c00e3912f 1331 //...............eps......................//
lakshya 20:949d13045431 1332 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
lakshya 20:949d13045431 1333 BAE_STATUS |= 0x00010000;
lakshya 20:949d13045431 1334 else if(EPS_INIT_STATUS==0) // Clear
lakshya 20:949d13045431 1335 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 1336
sakthipriya 5:bb592f3185cc 1337
lakshya 20:949d13045431 1338 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
lakshya 20:949d13045431 1339 BAE_STATUS |= 0x00040000;
lakshya 20:949d13045431 1340 else if(EPS_MAIN_STATUS==0) // Clear
lakshya 20:949d13045431 1341 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 1342
sakthipriya 5:bb592f3185cc 1343
lakshya 20:949d13045431 1344 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
lakshya 20:949d13045431 1345 BAE_STATUS |= 0x00020000;
lakshya 20:949d13045431 1346 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
lakshya 20:949d13045431 1347 BAE_STATUS &= 0xFFFDFFFF;
lakshya 20:949d13045431 1348
lakshya 33:76f2b8735501 1349 if (EPS_BTRY_TMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
lakshya 20:949d13045431 1350 BAE_STATUS |= 0x00080000;
lakshya 33:76f2b8735501 1351 else if(EPS_BTRY_TMP_STATUS==0) // Clear
lakshya 20:949d13045431 1352 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 1353
lakshya 20:949d13045431 1354 if (EPS_STATUS==0)
lakshya 20:949d13045431 1355 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
lakshya 20:949d13045431 1356 else if (EPS_STATUS==1)
lakshya 20:949d13045431 1357 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
lakshya 20:949d13045431 1358 else if (EPS_STATUS==2)
lakshya 20:949d13045431 1359 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
lakshya 20:949d13045431 1360 else if (EPS_STATUS==3)
lakshya 20:949d13045431 1361 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
lakshya 20:949d13045431 1362 else if (EPS_STATUS==4)
lakshya 20:949d13045431 1363 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
lakshya 20:949d13045431 1364 else if (EPS_STATUS==5)
lakshya 20:949d13045431 1365 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 1366
lakshya 20:949d13045431 1367 if(EPS_BTRY_HTR_AUTO == 1)
sakthipriya 5:bb592f3185cc 1368 BAE_ENABLE |= 0x00000080;
lakshya 20:949d13045431 1369 else if(EPS_BTRY_HTR_AUTO == 0)
sakthipriya 5:bb592f3185cc 1370 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 1371
lakshya 20:949d13045431 1372 #if print
lakshya 20:949d13045431 1373 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
lakshya 20:949d13045431 1374 #endif
lakshya 20:949d13045431 1375 }
sakthipriya 0:7b4c00e3912f 1376
sakthipriya 0:7b4c00e3912f 1377
sakthipriya 0:7b4c00e3912f 1378 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 1379 {
lakshya 20:949d13045431 1380 #if print
lakshya 20:949d13045431 1381 printf("\n\r Initialising BAE _________________________________________________________________________________");
lakshya 20:949d13045431 1382 #endif
lakshya 19:79e69017c855 1383 BAE_INIT_STATUS=1;
lakshya 19:79e69017c855 1384 FLAG();
lakshya 19:79e69017c855 1385
sakthipriya 3:07e15677a75c 1386 //..........intial status....//
Bragadeesh153 13:fb7facaf308b 1387 ACS_STATE = 4;
sakthipriya 9:194afacf7449 1388 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 1389 ACS_DATA_ACQ_ENABLE = 1;
lakshya 20:949d13045431 1390 EPS_BTRY_HTR_AUTO = 1;
Bragadeesh153 13:fb7facaf308b 1391 actual_data.power_mode=3;
lakshya 19:79e69017c855 1392
sakthipriya 9:194afacf7449 1393 //............intializing pins................//
Bragadeesh153 52:daa685b0e390 1394 ATS1_SW_ENABLE = 1;
sakthipriya 9:194afacf7449 1395 ATS2_SW_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 1396
Bragadeesh153 13:fb7facaf308b 1397 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 1398 DRV_Z_EN = 1;
Bragadeesh153 52:daa685b0e390 1399 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 52:daa685b0e390 1400 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 1401
lakshya 20:949d13045431 1402 //time_wdog = 1;
sakthipriya 9:194afacf7449 1403
lakshya 49:61c9f28332ba 1404 kick_WDOG();
lakshya 49:61c9f28332ba 1405 pc.printf("\n\r lvl1");
lakshya 49:61c9f28332ba 1406
lakshya 19:79e69017c855 1407 //...........order mentioned in flow chart.................//
lakshya 49:61c9f28332ba 1408 timer_FCTN_BAE_INIT.reset();
lakshya 49:61c9f28332ba 1409 timer_FCTN_BAE_INIT.start();
sakthipriya 3:07e15677a75c 1410 FCTN_ACS_INIT();
lakshya 49:61c9f28332ba 1411 timer_FCTN_BAE_INIT.stop();
lakshya 49:61c9f28332ba 1412 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 49:61c9f28332ba 1413
lakshya 49:61c9f28332ba 1414 timer_FCTN_EPS_INIT.reset();
lakshya 49:61c9f28332ba 1415 timer_FCTN_EPS_INIT.start();
lakshya 17:fc782f7548c6 1416 FCTN_EPS_INIT();
lakshya 49:61c9f28332ba 1417 timer_FCTN_EPS_INIT.stop();
lakshya 49:61c9f28332ba 1418 pc.printf("\n\r timer_FCTN_EPS_INIT is %f",timer_FCTN_EPS_INIT.read());
lakshya 49:61c9f28332ba 1419
lakshya 49:61c9f28332ba 1420 timer_FCTN_BCN_INIT.reset();
lakshya 49:61c9f28332ba 1421 timer_FCTN_BCN_INIT.start();
lakshya 18:3662058a7c10 1422 FCTN_BCN_INIT();
lakshya 49:61c9f28332ba 1423 timer_FCTN_BCN_INIT.stop();
lakshya 49:61c9f28332ba 1424 pc.printf("\n\r timer_FCTN_BCN_INIT is %f",timer_FCTN_BCN_INIT.read());
lakshya 19:79e69017c855 1425
lakshya 27:61c856be467e 1426 //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 1427 //uint32_t data_modify=data_flash & 0x000000FF;
lakshya 27:61c856be467e 1428 //data_modify +=1;
lakshya 27:61c856be467e 1429 //data_modify |=data_flash;
lakshya 27:61c856be467e 1430 //FCTN_BAE_WR_FLASH(0,data_modify);
lakshya 49:61c9f28332ba 1431 //#if print
lakshya 49:61c9f28332ba 1432 // printf("\n\rthe number of reset %d",data_modify);
lakshya 49:61c9f28332ba 1433 //#endif
lakshya 19:79e69017c855 1434 BAE_INIT_STATUS=0;
sakthipriya 0:7b4c00e3912f 1435 FLAG();
sakthipriya 0:7b4c00e3912f 1436 }
sakthipriya 0:7b4c00e3912f 1437
lakshya 20:949d13045431 1438
sakthipriya 0:7b4c00e3912f 1439 int main()
sakthipriya 0:7b4c00e3912f 1440 {
lakshya 33:76f2b8735501 1441 //BAE_uptime.reset();
lakshya 33:76f2b8735501 1442 BAE_uptime.start();
lakshya 20:949d13045431 1443 //time_wdog = 1;
lakshya 19:79e69017c855 1444 pc.printf("\n\r BAE Activated. Testing Version 1.2 \n");
lakshya 20:949d13045431 1445 //FLASH_INI();
lakshya 49:61c9f28332ba 1446
lakshya 49:61c9f28332ba 1447 time_wdog=1;
lakshya 49:61c9f28332ba 1448 timer_FCTN_BAE_INIT.start();
sakthipriya 0:7b4c00e3912f 1449 FCTN_BAE_INIT();
lakshya 49:61c9f28332ba 1450 timer_FCTN_BAE_INIT.stop();
lakshya 49:61c9f28332ba 1451 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 49:61c9f28332ba 1452
lakshya 49:61c9f28332ba 1453 time_wdog=0;
lakshya 49:61c9f28332ba 1454
lakshya 20:949d13045431 1455 //time_wdog = 0;
lakshya 20:949d13045431 1456
sakthipriya 0:7b4c00e3912f 1457 slave.address(addr);
sakthipriya 0:7b4c00e3912f 1458 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 1459
sakthipriya 0:7b4c00e3912f 1460 ptr_t_i2c = new Thread(T_TC);
lakshya 50:6001287f3045 1461 ptr_t_i2c->set_priority(osPriorityRealtime);
sakthipriya 5:bb592f3185cc 1462
sakthipriya 0:7b4c00e3912f 1463 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 1464 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
lakshya 20:949d13045431 1465
sakthipriya 0:7b4c00e3912f 1466 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
lakshya 33:76f2b8735501 1467 t_sc_timer.start(5000);
sakthipriya 0:7b4c00e3912f 1468 t_start.start();
lakshya 50:6001287f3045 1469
lakshya 20:949d13045431 1470 #if print
lakshya 20:949d13045431 1471 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
lakshya 20:949d13045431 1472 #endif
lakshya 19:79e69017c855 1473 /*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 1474 //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1475 /*static allocation*/
lakshya 19:79e69017c855 1476 RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1477 BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER;
lakshya 18:3662058a7c10 1478
lakshya 20:949d13045431 1479 RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce);
lakshya 20:949d13045431 1480 /*later change it to 30 min 1800 seconds*/
lakshya 20:949d13045431 1481 bcn_start_timer.start(20000);
lakshya 20:949d13045431 1482
lakshya 20:949d13045431 1483 //BCN HTR TIMERS
lakshya 20:949d13045431 1484 RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce);
lakshya 20:949d13045431 1485 HTR_OFF=&EPS_HTR_OFF_TIMER;
lakshya 20:949d13045431 1486
lakshya 49:61c9f28332ba 1487 RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE, osTimerPeriodic);
lakshya 20:949d13045431 1488 HTR_CYCLE=&EPS_HTR_CYCLE_TIMER;
lakshya 20:949d13045431 1489
lakshya 20:949d13045431 1490 RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce);
lakshya 20:949d13045431 1491 HTR_DLY=&EPS_HTR_DLY_TIMER;
lakshya 20:949d13045431 1492
lakshya 49:61c9f28332ba 1493 timer_FLASH_INI.start();
lakshya 20:949d13045431 1494 FLASH_INI();
lakshya 49:61c9f28332ba 1495 timer_FLASH_INI.stop();
lakshya 49:61c9f28332ba 1496 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 20:949d13045431 1497
lakshya 20:949d13045431 1498 while(1); //required to prevent main from terminating
lakshya 18:3662058a7c10 1499
lakshya 20:949d13045431 1500 }