Team Fox / Mbed 2 deprecated BAE_Updated_Commissioning

Changes to be made for ATS_Fault logic and ACS_State

Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of Japan_BAE_sensorworking_interrupr_reoccuring_copy by Team Fox

main.cpp@14:a9588f443f1a, 2016-04-14 (annotated)

Committer:
lakshya
Date:
Thu Apr 14 09:34:06 2016 +0000
Revision:
14:a9588f443f1a
Parent:
13:fb7facaf308b 
QM review 1

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"
sakthipriya 0:7b4c00e3912f 8
Bragadeesh153 13:fb7facaf308b 9 #define tm_len 135
Bragadeesh153 13:fb7facaf308b 10 #define tc_len 11
sakthipriya 0:7b4c00e3912f 11 #define batt_heat_low 20
sakthipriya 9:194afacf7449 12
sakthipriya 0:7b4c00e3912f 13 //***************************************************** flags *************************************************************//
sakthipriya 0:7b4c00e3912f 14 uint32_t BAE_STATUS = 0x00000000;
sakthipriya 0:7b4c00e3912f 15 uint32_t BAE_ENABLE = 0xFFFFFFFF;
sakthipriya 0:7b4c00e3912f 16
sakthipriya 5:bb592f3185cc 17 //i2c//
sakthipriya 5:bb592f3185cc 18 char data_send_flag = 'h';
sakthipriya 5:bb592f3185cc 19
sakthipriya 0:7b4c00e3912f 20 //.........acs...............//
sakthipriya 9:194afacf7449 21 /* char ACS_INIT_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 22 char ACS_DATA_ACQ_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 23 char ACS_ATS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 24 char ACS_MAIN_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 25 char ACS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 26
sakthipriya 0:7b4c00e3912f 27 char ACS_ATS_ENABLE = 'q';
sakthipriya 0:7b4c00e3912f 28 char ACS_DATA_ACQ_ENABLE = 'q';
sakthipriya 9:194afacf7449 29 char ACS_STATE = 'q';*/
sakthipriya 9:194afacf7449 30
sakthipriya 9:194afacf7449 31 uint8_t ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 32 uint8_t ACS_DATA_ACQ_STATUS = 0;
sakthipriya 9:194afacf7449 33 uint8_t ACS_ATS_STATUS = 0;
sakthipriya 9:194afacf7449 34 uint8_t ACS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 35 uint8_t ACS_STATUS = 0;
sakthipriya 9:194afacf7449 36
sakthipriya 9:194afacf7449 37 uint8_t ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 38 uint8_t ACS_DATA_ACQ_ENABLE = 1;
sakthipriya 9:194afacf7449 39 uint8_t ACS_STATE = 4;
sakthipriya 0:7b4c00e3912f 40
sakthipriya 0:7b4c00e3912f 41 //.....................eps...................//
sakthipriya 0:7b4c00e3912f 42 //eps init
sakthipriya 9:194afacf7449 43 /*char EPS_INIT_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 44 char EPS_BATTERY_GAUGE_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 45 //eps main
sakthipriya 0:7b4c00e3912f 46 char EPS_MAIN_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 47 char EPS_BATTERY_TEMP_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 48 char EPS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 49
sakthipriya 0:7b4c00e3912f 50 char EPS_BATTERY_HEAT_ENABLE = 'q';
sakthipriya 9:194afacf7449 51 */
sakthipriya 9:194afacf7449 52
sakthipriya 9:194afacf7449 53 uint8_t EPS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 54 uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
sakthipriya 9:194afacf7449 55 //eps main
sakthipriya 9:194afacf7449 56 uint8_t EPS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 57 uint8_t EPS_BATTERY_TEMP_STATUS = 0;
sakthipriya 9:194afacf7449 58 uint8_t EPS_STATUS = 7; //invalid status
sakthipriya 9:194afacf7449 59
sakthipriya 9:194afacf7449 60 uint8_t EPS_BATTERY_HEAT_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 61
sakthipriya 0:7b4c00e3912f 62 //.......................global variables..................................................................// new hk structure- everything has to changed based on this
sakthipriya 6:036d08b62785 63 uint8_t BAE_data[74];
sakthipriya 6:036d08b62785 64 char BAE_chardata[74];
sakthipriya 0:7b4c00e3912f 65
sakthipriya 0:7b4c00e3912f 66
sakthipriya 0:7b4c00e3912f 67 //*************************************Global declarations************************************************//
sakthipriya 0:7b4c00e3912f 68 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 69
sakthipriya 0:7b4c00e3912f 70 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 71 Timer t_start;
sakthipriya 7:a46a1dee4497 72 Timer t_tc;
sakthipriya 7:a46a1dee4497 73 Timer t_tm;
sakthipriya 0:7b4c00e3912f 74 Serial pc(USBTX, USBRX);
sakthipriya 0:7b4c00e3912f 75 int power_flag_dummy=2;
sakthipriya 0:7b4c00e3912f 76 float data[6];
sakthipriya 0:7b4c00e3912f 77
sakthipriya 0:7b4c00e3912f 78 extern float moment[3];
sakthipriya 0:7b4c00e3912f 79 extern uint8_t BCN_FEN;
sakthipriya 1:446a959e36ce 80 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 81 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 82 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 83 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 84
sakthipriya 5:bb592f3185cc 85 int write_ack = 1;
sakthipriya 5:bb592f3185cc 86 int read_ack = 1;
sakthipriya 0:7b4c00e3912f 87 char telecommand[tc_len];
Bragadeesh153 13:fb7facaf308b 88 extern uint8_t telemetry[135];
sakthipriya 5:bb592f3185cc 89
sakthipriya 5:bb592f3185cc 90 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 91 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 92 bool if1check = 0;
lakshya 14:a9588f443f1a 93 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 94
sakthipriya 0:7b4c00e3912f 95 //*****************************************************Assigning pins******************************************************//
sakthipriya 9:194afacf7449 96 DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch
sakthipriya 9:194afacf7449 97 DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch
sakthipriya 0:7b4c00e3912f 98 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
sakthipriya 0:7b4c00e3912f 99 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya 14:a9588f443f1a 100 I2CSlave slave (PIN1,PIN2);///pin1 pin2
sakthipriya 0:7b4c00e3912f 101 DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 102
sakthipriya 9:194afacf7449 103 //ATS1_SW_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 104 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 105 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 106 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 107
sakthipriya 5:bb592f3185cc 108 //........faults
sakthipriya 5:bb592f3185cc 109 //Polled Faults
sakthipriya 5:bb592f3185cc 110 DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
sakthipriya 5:bb592f3185cc 111 DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
sakthipriya 5:bb592f3185cc 112 DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 113
sakthipriya 5:bb592f3185cc 114 //Interrupt based faults
lakshya 14:a9588f443f1a 115 //InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal
sakthipriya 5:bb592f3185cc 116 InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault
sakthipriya 5:bb592f3185cc 117 InterruptIn ir3(PIN89);//TRZ Driver Fault Bar
sakthipriya 5:bb592f3185cc 118 InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault
sakthipriya 5:bb592f3185cc 119 InterruptIn ir5(PIN79);//CDMS - Switch Fault
sakthipriya 5:bb592f3185cc 120 InterruptIn ir6(PIN80);//Beacon- Switch OC bar
sakthipriya 5:bb592f3185cc 121 InterruptIn ir7(PIN42);//Charger IC - Fault Bar
sakthipriya 5:bb592f3185cc 122
lakshya 14:a9588f443f1a 123
Bragadeesh153 13:fb7facaf308b 124 //DigitalOut TRXY_SW_EN(PIN71); //TR XY Switch
Bragadeesh153 13:fb7facaf308b 125 //DigitalOut DRV_Z_SLP(PIN88); //Sleep pin of driver z
Bragadeesh153 13:fb7facaf308b 126 //DigitalOut TRZ_SW(PIN40); //TR Z Switch
Bragadeesh153 13:fb7facaf308b 127 //DigitalOut CDMS_RESET(PIN7); // CDMS RESET
Bragadeesh153 13:fb7facaf308b 128 //DigitalOut BCN_SW(PIN14); //Beacon switch
Bragadeesh153 13:fb7facaf308b 129 //DigitalOut DRV_XY_SLP(PIN82);
Bragadeesh153 13:fb7facaf308b 130
Bragadeesh153 13:fb7facaf308b 131
Bragadeesh153 13:fb7facaf308b 132 DigitalOut TRXY_SW(PIN71); //TR XY Switch
Bragadeesh153 13:fb7facaf308b 133 DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z
sakthipriya 5:bb592f3185cc 134 DigitalOut TRZ_SW(PIN40); //TR Z Switch
sakthipriya 5:bb592f3185cc 135 DigitalOut CDMS_RESET(PIN7); // CDMS RESET
sakthipriya 5:bb592f3185cc 136 DigitalOut BCN_SW(PIN14); //Beacon switch
Bragadeesh153 13:fb7facaf308b 137 DigitalOut DRV_XY_EN(PIN82);
sakthipriya 0:7b4c00e3912f 138
sakthipriya 0:7b4c00e3912f 139 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 3:07e15677a75c 140
sakthipriya 0:7b4c00e3912f 141 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 142
sakthipriya 0:7b4c00e3912f 143 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 144
sakthipriya 0:7b4c00e3912f 145 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 146 void FCTN_TM();
sakthipriya 3:07e15677a75c 147 void F_ACS();
sakthipriya 3:07e15677a75c 148 void F_EPS();
sakthipriya 3:07e15677a75c 149 void F_BCN();
sakthipriya 0:7b4c00e3912f 150
sakthipriya 0:7b4c00e3912f 151 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 152 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 153 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 154 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 155 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 156
sakthipriya 5:bb592f3185cc 157
sakthipriya 3:07e15677a75c 158 void F_ACS()
sakthipriya 0:7b4c00e3912f 159 {
sakthipriya 8:82250e41da81 160
sakthipriya 9:194afacf7449 161
sakthipriya 8:82250e41da81 162 //...................//
sakthipriya 8:82250e41da81 163
sakthipriya 5:bb592f3185cc 164 if(pf1check == 1)
sakthipriya 5:bb592f3185cc 165 {
sakthipriya 5:bb592f3185cc 166 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 167 {
sakthipriya 9:194afacf7449 168 ATS1_SW_ENABLE = 1; // turn off ats1 permanently
sakthipriya 5:bb592f3185cc 169 //FCTN_SWITCH_ATS(0); // switch on ATS2
sakthipriya 5:bb592f3185cc 170 }
sakthipriya 5:bb592f3185cc 171 else
sakthipriya 5:bb592f3185cc 172 {
sakthipriya 9:194afacf7449 173 ATS1_SW_ENABLE = 0;
sakthipriya 5:bb592f3185cc 174 iterP1++;
sakthipriya 5:bb592f3185cc 175 }
sakthipriya 9:194afacf7449 176 pf1check = 0;
sakthipriya 5:bb592f3185cc 177 }
sakthipriya 5:bb592f3185cc 178 if(pf2check == 1)
sakthipriya 5:bb592f3185cc 179 {
sakthipriya 5:bb592f3185cc 180 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 181 {
sakthipriya 9:194afacf7449 182 ATS2_SW_ENABLE = 1; // turn off ats2 permanently
Bragadeesh153 13:fb7facaf308b 183 ACS_DATA_ACQ_ENABLE = 0;
Bragadeesh153 13:fb7facaf308b 184 ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 185 }
sakthipriya 5:bb592f3185cc 186 else
sakthipriya 5:bb592f3185cc 187 {
sakthipriya 9:194afacf7449 188 ATS2_SW_ENABLE = 0;
sakthipriya 5:bb592f3185cc 189 iterP2++;
sakthipriya 5:bb592f3185cc 190 }
sakthipriya 9:194afacf7449 191 pf2check = 0;
sakthipriya 5:bb592f3185cc 192 }
sakthipriya 5:bb592f3185cc 193 if(if1check == 1)
sakthipriya 5:bb592f3185cc 194 {
sakthipriya 5:bb592f3185cc 195 if(iterI1 >= 3)
sakthipriya 5:bb592f3185cc 196 {
Bragadeesh153 13:fb7facaf308b 197 TRXY_SW = 0; // turn off TRXY permanently
sakthipriya 5:bb592f3185cc 198 }
sakthipriya 5:bb592f3185cc 199 else
sakthipriya 5:bb592f3185cc 200 {
Bragadeesh153 13:fb7facaf308b 201 TRXY_SW = 1; //switch on TRXY
sakthipriya 5:bb592f3185cc 202 iterI1++;
sakthipriya 5:bb592f3185cc 203 }
sakthipriya 5:bb592f3185cc 204 }
sakthipriya 5:bb592f3185cc 205 if(if2check == 1)
sakthipriya 5:bb592f3185cc 206 {
sakthipriya 5:bb592f3185cc 207 if(iterI2 >= 3)
sakthipriya 5:bb592f3185cc 208 {
sakthipriya 5:bb592f3185cc 209 TRZ_SW = 0; // turn off TRZ permanently
Bragadeesh153 13:fb7facaf308b 210 ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 211 }
sakthipriya 5:bb592f3185cc 212 else
sakthipriya 5:bb592f3185cc 213 {
sakthipriya 5:bb592f3185cc 214 TRZ_SW = 1; //switch on Z
sakthipriya 5:bb592f3185cc 215 iterI2++;
sakthipriya 5:bb592f3185cc 216 }
sakthipriya 5:bb592f3185cc 217 }
sakthipriya 5:bb592f3185cc 218
sakthipriya 6:036d08b62785 219 //float b1[3]={-23.376,-37.56,14.739}, omega1[3]={-1.52,2.746,0.7629}, moment1[3]= {1.0498,-1.0535,1.3246};
sakthipriya 0:7b4c00e3912f 220 //b1[3] = {22, 22,10};
sakthipriya 0:7b4c00e3912f 221 //omega1[3] = {2.1,3.0,1.5};
sakthipriya 9:194afacf7449 222 // ATS1_SW_ENABLE = 0; // att sens2 switch is disabled
sakthipriya 9:194afacf7449 223 // ATS2_SW_ENABLE = 0; // att sens switch is disabled
sakthipriya 0:7b4c00e3912f 224
sakthipriya 3:07e15677a75c 225
sakthipriya 0:7b4c00e3912f 226
sakthipriya 3:07e15677a75c 227 //Thread::signal_wait(0x1);
sakthipriya 9:194afacf7449 228 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 229 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 230 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 231 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 232 pc.printf("\n\rEntered ACS %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 233
sakthipriya 9:194afacf7449 234 if(ACS_DATA_ACQ_ENABLE == 1)// check if ACS_DATA_ACQ_ENABLE = 1?
sakthipriya 0:7b4c00e3912f 235 {
Bragadeesh153 13:fb7facaf308b 236 //FLAG();
sakthipriya 0:7b4c00e3912f 237 FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
sakthipriya 0:7b4c00e3912f 238 pc.printf("gyro values\n\r"); //printing the angular velocity and magnetic field values
sakthipriya 0:7b4c00e3912f 239 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 240 {
sakthipriya 6:036d08b62785 241 pc.printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
sakthipriya 0:7b4c00e3912f 242 }
sakthipriya 0:7b4c00e3912f 243 pc.printf("mag values\n\r");
sakthipriya 6:036d08b62785 244 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 245 {
sakthipriya 6:036d08b62785 246 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
sakthipriya 5:bb592f3185cc 247 }
sakthipriya 6:036d08b62785 248 // for(int i=0;i<3;i++)
sakthipriya 6:036d08b62785 249 // {
sakthipriya 6:036d08b62785 250 // omega1[i]= data[i];
sakthipriya 6:036d08b62785 251 // b1[i] = data[i+3];
sakthipriya 6:036d08b62785 252 // }
sakthipriya 0:7b4c00e3912f 253 }//if ACS_DATA_ACQ_ENABLE = 1
sakthipriya 0:7b4c00e3912f 254 else
sakthipriya 0:7b4c00e3912f 255 {
sakthipriya 0:7b4c00e3912f 256 // Z axis actuation is the only final solution,
sakthipriya 0:7b4c00e3912f 257 }
sakthipriya 9:194afacf7449 258 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
sakthipriya 0:7b4c00e3912f 259 {
sakthipriya 0:7b4c00e3912f 260 printf("\n\r acs control off\n");
sakthipriya 0:7b4c00e3912f 261 FLAG();
sakthipriya 9:194afacf7449 262 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 263 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 264 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 265 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 266 }
sakthipriya 0:7b4c00e3912f 267 else
sakthipriya 0:7b4c00e3912f 268 {
sakthipriya 1:446a959e36ce 269 if(actual_data.power_mode>1)
sakthipriya 0:7b4c00e3912f 270
sakthipriya 0:7b4c00e3912f 271 {
sakthipriya 9:194afacf7449 272 if(ACS_STATE == 2) // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 273 {
sakthipriya 0:7b4c00e3912f 274 FLAG();
sakthipriya 0:7b4c00e3912f 275 printf("\n\r z axis moment only\n");
sakthipriya 9:194afacf7449 276 ACS_STATUS = 2; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 277 // FCTN_ACS_CNTRLALGO(b1, omega1);
sakthipriya 0:7b4c00e3912f 278 moment[0] = 0;
sakthipriya 0:7b4c00e3912f 279 moment[1] = 0;
sakthipriya 0:7b4c00e3912f 280 moment[2] =1.3;// is a dummy value
sakthipriya 0:7b4c00e3912f 281 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 282 }
sakthipriya 0:7b4c00e3912f 283 else
sakthipriya 0:7b4c00e3912f 284 {
sakthipriya 9:194afacf7449 285 if(ACS_STATE == 3) // check ACS_STATE = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 286 {
sakthipriya 0:7b4c00e3912f 287 FLAG();
sakthipriya 0:7b4c00e3912f 288 printf("\n\r acs data failure ");
sakthipriya 9:194afacf7449 289 ACS_STATUS = 3; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 290 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 291 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 292 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 293 }
sakthipriya 0:7b4c00e3912f 294 else
sakthipriya 0:7b4c00e3912f 295 {
sakthipriya 9:194afacf7449 296 if(ACS_STATE == 4) // check ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 297 {
sakthipriya 0:7b4c00e3912f 298 FLAG();
sakthipriya 0:7b4c00e3912f 299 printf("\n\r nominal");
sakthipriya 9:194afacf7449 300 ACS_STATUS = 4; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 6:036d08b62785 301 FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual);
sakthipriya 0:7b4c00e3912f 302 printf("\n\r moment values returned by control algo \n");
sakthipriya 0:7b4c00e3912f 303 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 304 {
sakthipriya 0:7b4c00e3912f 305 printf("%f\t",moment[i]);
sakthipriya 0:7b4c00e3912f 306 }
sakthipriya 0:7b4c00e3912f 307 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 308 }
sakthipriya 0:7b4c00e3912f 309 else
sakthipriya 0:7b4c00e3912f 310 {
sakthipriya 9:194afacf7449 311 if(ACS_STATE == 5) // check ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 312 {
sakthipriya 0:7b4c00e3912f 313 FLAG();
sakthipriya 0:7b4c00e3912f 314 printf("\n\r auto control");
sakthipriya 9:194afacf7449 315 ACS_STATUS = 5; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 316 //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code
sakthipriya 0:7b4c00e3912f 317 }
sakthipriya 0:7b4c00e3912f 318 else
sakthipriya 0:7b4c00e3912f 319 {
sakthipriya 9:194afacf7449 320 if(ACS_STATE == 6) // check ACS_STATE = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 321 {
sakthipriya 0:7b4c00e3912f 322 FLAG();
sakthipriya 0:7b4c00e3912f 323 printf("\n\r Entered detumbling \n");
sakthipriya 9:194afacf7449 324 ACS_STATUS = 6; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 6:036d08b62785 325 FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); // detumbling code has to be included
sakthipriya 0:7b4c00e3912f 326 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 327 }
sakthipriya 0:7b4c00e3912f 328 else
sakthipriya 0:7b4c00e3912f 329 {
sakthipriya 0:7b4c00e3912f 330 FLAG();
sakthipriya 0:7b4c00e3912f 331 printf("\n\r invalid state");
sakthipriya 9:194afacf7449 332 ACS_STATUS = 7 ; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 333 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 334 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 335 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 336 }//else of invalid
sakthipriya 0:7b4c00e3912f 337 }//else of autocontrol
sakthipriya 0:7b4c00e3912f 338 }//else of nominal
sakthipriya 0:7b4c00e3912f 339 }//else of data acg failure
sakthipriya 0:7b4c00e3912f 340
sakthipriya 0:7b4c00e3912f 341 }//else fo z axis moment only
sakthipriya 0:7b4c00e3912f 342 }//if power >2
sakthipriya 0:7b4c00e3912f 343 else
sakthipriya 0:7b4c00e3912f 344 {
sakthipriya 0:7b4c00e3912f 345 FLAG();
sakthipriya 0:7b4c00e3912f 346 printf("\n\r low power");
sakthipriya 9:194afacf7449 347 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 348 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 349 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 350 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 351 }
sakthipriya 0:7b4c00e3912f 352 } //else for acs control off
sakthipriya 9:194afacf7449 353 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
sakthipriya 3:07e15677a75c 354
sakthipriya 0:7b4c00e3912f 355 }
sakthipriya 0:7b4c00e3912f 356 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 357
sakthipriya 3:07e15677a75c 358 void F_EPS()
sakthipriya 0:7b4c00e3912f 359 {
sakthipriya 3:07e15677a75c 360
sakthipriya 0:7b4c00e3912f 361 pc.printf("\n\rEntered EPS %f\n",t_start.read());
sakthipriya 9:194afacf7449 362 EPS_MAIN_STATUS = 1; // Set EPS main status
sakthipriya 3:07e15677a75c 363 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
sakthipriya 3:07e15677a75c 364 pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
sakthipriya 9:194afacf7449 365 EPS_BATTERY_TEMP_STATUS = 1; //set EPS_BATTERY_TEMP_STATUS
sakthipriya 9:194afacf7449 366 if(EPS_BATTERY_HEAT_ENABLE == 1)
sakthipriya 3:07e15677a75c 367 {
sakthipriya 5:bb592f3185cc 368 if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm
sakthipriya 3:07e15677a75c 369 {
sakthipriya 3:07e15677a75c 370 batt_heat = 1; //turn on battery heater
sakthipriya 3:07e15677a75c 371 }
sakthipriya 3:07e15677a75c 372 else
sakthipriya 3:07e15677a75c 373 {
sakthipriya 3:07e15677a75c 374 batt_heat = 0; //turn off battery heater
sakthipriya 3:07e15677a75c 375 }
sakthipriya 3:07e15677a75c 376
sakthipriya 3:07e15677a75c 377 }
sakthipriya 9:194afacf7449 378 else if(EPS_BATTERY_HEAT_ENABLE == 0)
sakthipriya 3:07e15677a75c 379 {
sakthipriya 3:07e15677a75c 380 EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED
sakthipriya 3:07e15677a75c 381 }
sakthipriya 0:7b4c00e3912f 382 FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual);
sakthipriya 1:446a959e36ce 383 if (actual_data.Batt_gauge_actual[1] == 200) //data not received
sakthipriya 0:7b4c00e3912f 384 {
sakthipriya 0:7b4c00e3912f 385 actual_data.power_mode = 1;
sakthipriya 9:194afacf7449 386 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 387
sakthipriya 0:7b4c00e3912f 388 }
sakthipriya 0:7b4c00e3912f 389 else
sakthipriya 0:7b4c00e3912f 390 {
sakthipriya 1:446a959e36ce 391 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
sakthipriya 9:194afacf7449 392 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 393 }
sakthipriya 3:07e15677a75c 394 // if( Temperature data received)
sakthipriya 3:07e15677a75c 395 //{
sakthipriya 3:07e15677a75c 396
sakthipriya 0:7b4c00e3912f 397
sakthipriya 3:07e15677a75c 398 // }
sakthipriya 3:07e15677a75c 399 // else
sakthipriya 3:07e15677a75c 400 // {
sakthipriya 3:07e15677a75c 401 // Set battery temp to XX
sakthipriya 9:194afacf7449 402 // EPS_BATTERY_TEMP_STATUS = 0; //clear EPS_BATTERY_TEMP_STATUS
sakthipriya 3:07e15677a75c 403 // EPS_STATUS = EPS_ERR_BATTERY_TEMP;
sakthipriya 3:07e15677a75c 404 // }
sakthipriya 3:07e15677a75c 405 FCTN_HK_MAIN();
sakthipriya 6:036d08b62785 406 // printf("\n\r here");
sakthipriya 5:bb592f3185cc 407 FCTN_APPEND_HKDATA();
sakthipriya 5:bb592f3185cc 408 minMaxHkData();
sakthipriya 6:036d08b62785 409 //printf("\n\r here");
sakthipriya 9:194afacf7449 410 EPS_MAIN_STATUS = 0; // clear EPS main status
sakthipriya 3:07e15677a75c 411
sakthipriya 0:7b4c00e3912f 412 }
sakthipriya 0:7b4c00e3912f 413
sakthipriya 0:7b4c00e3912f 414 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 415
sakthipriya 3:07e15677a75c 416 void F_BCN()
sakthipriya 0:7b4c00e3912f 417 {
sakthipriya 3:07e15677a75c 418
sakthipriya 0:7b4c00e3912f 419 pc.printf("\n\rEntered BCN %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 420
Bragadeesh153 12:af1d7e18b868 421 FCTN_BCN_TX_MAIN();
sakthipriya 0:7b4c00e3912f 422
sakthipriya 0:7b4c00e3912f 423 }
sakthipriya 0:7b4c00e3912f 424
sakthipriya 0:7b4c00e3912f 425 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 426
sakthipriya 0:7b4c00e3912f 427 void T_TC(void const * args)
sakthipriya 0:7b4c00e3912f 428 {
sakthipriya 0:7b4c00e3912f 429 while(1)
sakthipriya 0:7b4c00e3912f 430 {
sakthipriya 0:7b4c00e3912f 431 Thread::signal_wait(0x4);
sakthipriya 0:7b4c00e3912f 432 wait_us(200); // can be between 38 to 15700
sakthipriya 0:7b4c00e3912f 433 if( slave.receive() == 0)
sakthipriya 0:7b4c00e3912f 434 slave.stop();
sakthipriya 0:7b4c00e3912f 435 else if( slave.receive() == 1) // slave writes to master
sakthipriya 0:7b4c00e3912f 436 {
sakthipriya 5:bb592f3185cc 437 if(data_send_flag == 'h')
sakthipriya 6:036d08b62785 438 {
sakthipriya 6:036d08b62785 439 //FCTN_APPEND_HKDATA();
sakthipriya 6:036d08b62785 440 // pc.printf("\n\r here");
sakthipriya 6:036d08b62785 441 write_ack=slave.write(BAE_chardata,74);
Bragadeesh153 13:fb7facaf308b 442 if(write_ack==0)
Bragadeesh153 13:fb7facaf308b 443 irpt_2_mstr = 0;
sakthipriya 6:036d08b62785 444 }
sakthipriya 5:bb592f3185cc 445 else if(data_send_flag == 't')
sakthipriya 5:bb592f3185cc 446 {
Bragadeesh153 13:fb7facaf308b 447 write_ack=slave.write((char*)telemetry,tm_len);
sakthipriya 5:bb592f3185cc 448 data_send_flag = 'h';
Bragadeesh153 13:fb7facaf308b 449 if(write_ack==0)
Bragadeesh153 13:fb7facaf308b 450 irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 451 }
sakthipriya 0:7b4c00e3912f 452 }
sakthipriya 0:7b4c00e3912f 453 else if( slave.receive()==3 || slave.receive()==2) // slave read
sakthipriya 0:7b4c00e3912f 454 {
sakthipriya 5:bb592f3185cc 455 read_ack=slave.read(telecommand,tc_len);
sakthipriya 7:a46a1dee4497 456 t_tc.start();
sakthipriya 6:036d08b62785 457 //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand);
sakthipriya 7:a46a1dee4497 458 pc.printf("\n\r Executing Telecommand \n");
sakthipriya 3:07e15677a75c 459 // FCTN_TC_DECODE((uint8_t*) telecommand);
sakthipriya 7:a46a1dee4497 460
Bragadeesh153 13:fb7facaf308b 461 FCTN_BAE_TM_TC((uint8_t*) telecommand);
Bragadeesh153 13:fb7facaf308b 462 //telemetry = (char*)temp;
sakthipriya 7:a46a1dee4497 463
sakthipriya 5:bb592f3185cc 464 FCTN_TM();
sakthipriya 7:a46a1dee4497 465 t_tc.stop();
sakthipriya 7:a46a1dee4497 466 printf("\n\r time taken %d",t_tc.read_us());
sakthipriya 7:a46a1dee4497 467 t_tc.reset();
sakthipriya 3:07e15677a75c 468 // for(int i = 0; i<134; i++)
sakthipriya 3:07e15677a75c 469 //pc.printf("%c", telemetry[i]);
sakthipriya 0:7b4c00e3912f 470 }
sakthipriya 0:7b4c00e3912f 471
sakthipriya 6:036d08b62785 472
sakthipriya 0:7b4c00e3912f 473 }
sakthipriya 0:7b4c00e3912f 474 }
sakthipriya 0:7b4c00e3912f 475
sakthipriya 0:7b4c00e3912f 476 void FCTN_TM()
sakthipriya 0:7b4c00e3912f 477 {
sakthipriya 4:39a4ae8c7ecd 478 //irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 479 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 480 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 481 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 482 }
sakthipriya 0:7b4c00e3912f 483
sakthipriya 0:7b4c00e3912f 484
sakthipriya 0:7b4c00e3912f 485 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 486
sakthipriya 0:7b4c00e3912f 487 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 488 {
sakthipriya 0:7b4c00e3912f 489 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 490 }
sakthipriya 0:7b4c00e3912f 491
sakthipriya 0:7b4c00e3912f 492
sakthipriya 5:bb592f3185cc 493 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 494 /*void ir1clear()
sakthipriya 5:bb592f3185cc 495 {
sakthipriya 5:bb592f3185cc 496 actual_data.faultIr_status |= 0x01; // alert
sakthipriya 5:bb592f3185cc 497
sakthipriya 5:bb592f3185cc 498 }*/
sakthipriya 5:bb592f3185cc 499
sakthipriya 5:bb592f3185cc 500
sakthipriya 5:bb592f3185cc 501
sakthipriya 5:bb592f3185cc 502 void ir2clear()
sakthipriya 5:bb592f3185cc 503 {
sakthipriya 5:bb592f3185cc 504 actual_data.faultIr_status |= 0x02;
Bragadeesh153 13:fb7facaf308b 505 TRXY_SW = 0; // Switch off TR XY
sakthipriya 5:bb592f3185cc 506 if1check = 1;
sakthipriya 5:bb592f3185cc 507 }
sakthipriya 5:bb592f3185cc 508
sakthipriya 5:bb592f3185cc 509 void ir3clear()
sakthipriya 5:bb592f3185cc 510 {
sakthipriya 5:bb592f3185cc 511 actual_data.faultIr_status |= 0x04;
Bragadeesh153 13:fb7facaf308b 512 DRV_Z_EN = 0;
sakthipriya 5:bb592f3185cc 513 wait_us(1);
Bragadeesh153 13:fb7facaf308b 514 DRV_Z_EN = 1;
sakthipriya 5:bb592f3185cc 515
sakthipriya 5:bb592f3185cc 516 }
sakthipriya 5:bb592f3185cc 517
sakthipriya 5:bb592f3185cc 518 void ir4clear()
sakthipriya 5:bb592f3185cc 519 {
sakthipriya 5:bb592f3185cc 520 if2check = 1;
sakthipriya 5:bb592f3185cc 521 actual_data.faultIr_status |= 0x08;
sakthipriya 5:bb592f3185cc 522 TRZ_SW = 0;
sakthipriya 5:bb592f3185cc 523 }
sakthipriya 5:bb592f3185cc 524
sakthipriya 5:bb592f3185cc 525 void ir5clear()
sakthipriya 5:bb592f3185cc 526 {
sakthipriya 5:bb592f3185cc 527 actual_data.faultIr_status |= 0x10;
sakthipriya 5:bb592f3185cc 528 CDMS_RESET = 0;
sakthipriya 5:bb592f3185cc 529 wait_us(1);
sakthipriya 5:bb592f3185cc 530 CDMS_RESET = 1;
sakthipriya 5:bb592f3185cc 531 }
sakthipriya 5:bb592f3185cc 532
sakthipriya 5:bb592f3185cc 533 void ir6clear()
sakthipriya 5:bb592f3185cc 534 {
sakthipriya 5:bb592f3185cc 535 actual_data.faultIr_status |= 0x20;
sakthipriya 5:bb592f3185cc 536 BCN_SW = 0;
sakthipriya 5:bb592f3185cc 537 wait_us(1);
sakthipriya 5:bb592f3185cc 538 BCN_SW = 1;
sakthipriya 5:bb592f3185cc 539 }
sakthipriya 5:bb592f3185cc 540
sakthipriya 5:bb592f3185cc 541 void ir7clear()
sakthipriya 5:bb592f3185cc 542 {
sakthipriya 5:bb592f3185cc 543 actual_data.faultIr_status |= 0x40;
sakthipriya 5:bb592f3185cc 544 }
sakthipriya 5:bb592f3185cc 545 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 546
sakthipriya 5:bb592f3185cc 547
sakthipriya 5:bb592f3185cc 548
sakthipriya 5:bb592f3185cc 549 void pollfault()
sakthipriya 5:bb592f3185cc 550 {
sakthipriya 5:bb592f3185cc 551
sakthipriya 5:bb592f3185cc 552
sakthipriya 5:bb592f3185cc 553
sakthipriya 5:bb592f3185cc 554 if (pf1==0) // OC_ATS1
sakthipriya 5:bb592f3185cc 555 {
sakthipriya 5:bb592f3185cc 556 pf1check=1;
sakthipriya 5:bb592f3185cc 557 actual_data.faultPoll_status |=0x01 ;
sakthipriya 9:194afacf7449 558 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
sakthipriya 5:bb592f3185cc 559 }
sakthipriya 5:bb592f3185cc 560 else actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 561
sakthipriya 5:bb592f3185cc 562 if (pf2==0)
sakthipriya 5:bb592f3185cc 563 {
sakthipriya 5:bb592f3185cc 564 pf2check=1;
sakthipriya 5:bb592f3185cc 565 actual_data.faultPoll_status |=0x02 ;
sakthipriya 9:194afacf7449 566 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
sakthipriya 5:bb592f3185cc 567 }
sakthipriya 5:bb592f3185cc 568 else actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 569
sakthipriya 5:bb592f3185cc 570 if (pf3==0)
sakthipriya 5:bb592f3185cc 571 { actual_data.faultPoll_status |=0x04 ;
Bragadeesh153 13:fb7facaf308b 572 DRV_XY_EN = 0;
sakthipriya 5:bb592f3185cc 573 wait_us(1);
Bragadeesh153 13:fb7facaf308b 574 DRV_XY_EN = 1;
sakthipriya 5:bb592f3185cc 575 }
sakthipriya 5:bb592f3185cc 576 else actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 577
sakthipriya 5:bb592f3185cc 578
sakthipriya 5:bb592f3185cc 579
sakthipriya 5:bb592f3185cc 580
sakthipriya 5:bb592f3185cc 581 /*if (ir1==1)
sakthipriya 5:bb592f3185cc 582 {
sakthipriya 5:bb592f3185cc 583 actual_data.faultIr_status &=0xFE;
sakthipriya 5:bb592f3185cc 584 }*/
lakshya 14:a9588f443f1a 585
sakthipriya 5:bb592f3185cc 586 if (ir2==1)
sakthipriya 5:bb592f3185cc 587 {
sakthipriya 5:bb592f3185cc 588 actual_data.faultIr_status &=0xFD;
sakthipriya 5:bb592f3185cc 589 }
sakthipriya 5:bb592f3185cc 590 if (ir3==1)
sakthipriya 5:bb592f3185cc 591 {
sakthipriya 5:bb592f3185cc 592 actual_data.faultIr_status &=0xFB;
sakthipriya 5:bb592f3185cc 593 }
sakthipriya 5:bb592f3185cc 594 if (ir4==1)
sakthipriya 5:bb592f3185cc 595 {
sakthipriya 5:bb592f3185cc 596 actual_data.faultIr_status &=0xF7;
sakthipriya 5:bb592f3185cc 597 }
sakthipriya 5:bb592f3185cc 598 if (ir5==1)
sakthipriya 5:bb592f3185cc 599 {
sakthipriya 5:bb592f3185cc 600 actual_data.faultIr_status &=0xEF;
sakthipriya 5:bb592f3185cc 601 }
sakthipriya 5:bb592f3185cc 602 if (ir6==1)
sakthipriya 5:bb592f3185cc 603 {
sakthipriya 5:bb592f3185cc 604 actual_data.faultIr_status &=0xDF;
sakthipriya 5:bb592f3185cc 605 }if (ir7==1)
sakthipriya 5:bb592f3185cc 606 {
sakthipriya 5:bb592f3185cc 607 actual_data.faultIr_status &=0xBF;
sakthipriya 5:bb592f3185cc 608 }
lakshya 14:a9588f443f1a 609
sakthipriya 5:bb592f3185cc 610
sakthipriya 5:bb592f3185cc 611 }
sakthipriya 5:bb592f3185cc 612
sakthipriya 5:bb592f3185cc 613
sakthipriya 0:7b4c00e3912f 614 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 615 //SCHEDULER
sakthipriya 0:7b4c00e3912f 616 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 617 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 618 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 619 {
sakthipriya 0:7b4c00e3912f 620 printf("\n\r in scheduler");
sakthipriya 0:7b4c00e3912f 621
sakthipriya 0:7b4c00e3912f 622 if(schedcount == 7) //to reset the counter
sakthipriya 0:7b4c00e3912f 623 {
sakthipriya 0:7b4c00e3912f 624 schedcount = 1;
sakthipriya 0:7b4c00e3912f 625 }
sakthipriya 0:7b4c00e3912f 626 if(schedcount%1==0)
lakshya 14:a9588f443f1a 627 { pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
lakshya 14:a9588f443f1a 628 pc.printf("\niterp1 !!!!!! = %x !!\n",iterP1);
lakshya 14:a9588f443f1a 629 pc.printf("\niteri2 IS !!!!!! = %x !!\n",iterI2);
lakshya 14:a9588f443f1a 630 F_ACS();
sakthipriya 0:7b4c00e3912f 631 }
sakthipriya 0:7b4c00e3912f 632
sakthipriya 0:7b4c00e3912f 633 if(schedcount%2==0)
sakthipriya 0:7b4c00e3912f 634 {
Bragadeesh153 13:fb7facaf308b 635 // F_EPS();
sakthipriya 0:7b4c00e3912f 636 }
lakshya 14:a9588f443f1a 637 if(schedcount%1==0)
sakthipriya 0:7b4c00e3912f 638 {
Bragadeesh153 12:af1d7e18b868 639 F_BCN();
sakthipriya 0:7b4c00e3912f 640 }
sakthipriya 0:7b4c00e3912f 641 schedcount++;
sakthipriya 0:7b4c00e3912f 642 printf("\n\r exited scheduler");
sakthipriya 0:7b4c00e3912f 643 }
sakthipriya 0:7b4c00e3912f 644
sakthipriya 0:7b4c00e3912f 645 Timer t_flag;
sakthipriya 0:7b4c00e3912f 646 void FLAG()
sakthipriya 0:7b4c00e3912f 647 {
sakthipriya 0:7b4c00e3912f 648
sakthipriya 0:7b4c00e3912f 649 //.............acs..................//
sakthipriya 9:194afacf7449 650 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 651 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 652 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 653 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 654
sakthipriya 9:194afacf7449 655 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 656 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 657 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 658 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 659
sakthipriya 9:194afacf7449 660 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 661 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 662 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 663 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 664
sakthipriya 0:7b4c00e3912f 665 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 666 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 667
sakthipriya 9:194afacf7449 668 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 669 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 670 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 671 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 672
sakthipriya 0:7b4c00e3912f 673 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 674 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 675 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 676 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 677 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 678 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 679 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 680 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 681 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 682 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 683 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 684 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 685 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 686 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 687 else
sakthipriya 0:7b4c00e3912f 688 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 689
sakthipriya 0:7b4c00e3912f 690 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 691 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 692 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 693 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 694 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 695 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 696 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 697 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 698 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 699 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 700 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 701 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 702
sakthipriya 0:7b4c00e3912f 703 //...............eps......................//
sakthipriya 5:bb592f3185cc 704
sakthipriya 5:bb592f3185cc 705
sakthipriya 9:194afacf7449 706 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
sakthipriya 5:bb592f3185cc 707 BAE_STATUS |= 0x00010000;
sakthipriya 9:194afacf7449 708 else if(EPS_INIT_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 709 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 710
sakthipriya 5:bb592f3185cc 711
sakthipriya 9:194afacf7449 712 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
sakthipriya 5:bb592f3185cc 713 BAE_STATUS |= 0x00040000;
sakthipriya 9:194afacf7449 714 else if(EPS_MAIN_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 715 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 716
sakthipriya 5:bb592f3185cc 717
sakthipriya 9:194afacf7449 718 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
sakthipriya 5:bb592f3185cc 719 BAE_STATUS |= 0x00020000;
sakthipriya 9:194afacf7449 720 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 721 BAE_STATUS &= 0xFFFDFFFF;
sakthipriya 5:bb592f3185cc 722
sakthipriya 5:bb592f3185cc 723
sakthipriya 9:194afacf7449 724 if (EPS_BATTERY_TEMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
sakthipriya 5:bb592f3185cc 725 BAE_STATUS |= 0x00080000;
sakthipriya 9:194afacf7449 726 else if(EPS_BATTERY_TEMP_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 727 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 728
sakthipriya 5:bb592f3185cc 729 if (EPS_STATUS==0)
sakthipriya 5:bb592f3185cc 730 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
sakthipriya 5:bb592f3185cc 731 else if (EPS_STATUS==1)
sakthipriya 5:bb592f3185cc 732 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
sakthipriya 5:bb592f3185cc 733 else if (EPS_STATUS==2)
sakthipriya 5:bb592f3185cc 734 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
sakthipriya 5:bb592f3185cc 735 else if (EPS_STATUS==3)
sakthipriya 5:bb592f3185cc 736 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
sakthipriya 5:bb592f3185cc 737 else if (EPS_STATUS==4)
sakthipriya 5:bb592f3185cc 738 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
sakthipriya 5:bb592f3185cc 739 else if (EPS_STATUS==5)
sakthipriya 5:bb592f3185cc 740 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 741
sakthipriya 5:bb592f3185cc 742
sakthipriya 9:194afacf7449 743 if(EPS_BATTERY_HEAT_ENABLE == 1)
sakthipriya 5:bb592f3185cc 744 BAE_ENABLE |= 0x00000080;
sakthipriya 9:194afacf7449 745 else if(EPS_BATTERY_HEAT_ENABLE == 0)
sakthipriya 5:bb592f3185cc 746 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 747
sakthipriya 0:7b4c00e3912f 748
sakthipriya 0:7b4c00e3912f 749
sakthipriya 0:7b4c00e3912f 750 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
sakthipriya 0:7b4c00e3912f 751 }
sakthipriya 0:7b4c00e3912f 752
sakthipriya 0:7b4c00e3912f 753 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 754 {
sakthipriya 0:7b4c00e3912f 755 printf("\n\r Initialising BAE ");
sakthipriya 3:07e15677a75c 756 //..........intial status....//
Bragadeesh153 13:fb7facaf308b 757 ACS_STATE = 4;
sakthipriya 9:194afacf7449 758 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 759 ACS_DATA_ACQ_ENABLE = 1;
sakthipriya 9:194afacf7449 760 EPS_BATTERY_HEAT_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 761 actual_data.power_mode=3;
sakthipriya 9:194afacf7449 762 //............intializing pins................//
sakthipriya 9:194afacf7449 763 ATS1_SW_ENABLE = 0;
sakthipriya 9:194afacf7449 764 ATS2_SW_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 765
Bragadeesh153 13:fb7facaf308b 766 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 767 DRV_Z_EN = 1;
Bragadeesh153 13:fb7facaf308b 768 TRZ_SW = 1;
Bragadeesh153 13:fb7facaf308b 769 TRXY_SW = 1;
sakthipriya 9:194afacf7449 770
sakthipriya 3:07e15677a75c 771 //............................//
sakthipriya 3:07e15677a75c 772 FCTN_ACS_INIT();
Bragadeesh153 13:fb7facaf308b 773 // FCTN_EPS_INIT();
lakshya 14:a9588f443f1a 774 //FCTN_BCN_INIT();
sakthipriya 3:07e15677a75c 775
sakthipriya 3:07e15677a75c 776
sakthipriya 0:7b4c00e3912f 777 FLAG();
sakthipriya 0:7b4c00e3912f 778 }
sakthipriya 0:7b4c00e3912f 779
sakthipriya 0:7b4c00e3912f 780 int main()
sakthipriya 0:7b4c00e3912f 781 {
sakthipriya 0:7b4c00e3912f 782 pc.printf("\n\r BAE Activated. Testing Version 1.1 \n");
Bragadeesh153 13:fb7facaf308b 783 CDMS_RESET = 1;
lakshya 14:a9588f443f1a 784 /*if (BCN_FEN == 0) //dummy implementation
sakthipriya 0:7b4c00e3912f 785 {
sakthipriya 0:7b4c00e3912f 786 pc.printf("\n\r RF silence ");
Bragadeesh153 12:af1d7e18b868 787 FCTN_BCN_FEN();
sakthipriya 0:7b4c00e3912f 788 t_rfsilence.start();//Start the timer for RF_Silence
sakthipriya 0:7b4c00e3912f 789 while(t_rfsilence.read() < RF_SILENCE_TIME);
sakthipriya 0:7b4c00e3912f 790 }
sakthipriya 0:7b4c00e3912f 791 */
sakthipriya 3:07e15677a75c 792
sakthipriya 9:194afacf7449 793 //ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 794 //ACS_DATA_ACQ_STATUS = 0;
Bragadeesh153 13:fb7facaf308b 795
Bragadeesh153 13:fb7facaf308b 796
sakthipriya 9:194afacf7449 797
Bragadeesh153 13:fb7facaf308b 798 //FLAG();
sakthipriya 0:7b4c00e3912f 799 FCTN_BAE_INIT();
sakthipriya 3:07e15677a75c 800
sakthipriya 0:7b4c00e3912f 801
sakthipriya 0:7b4c00e3912f 802 //...i2c..
sakthipriya 3:07e15677a75c 803 //strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end");
sakthipriya 0:7b4c00e3912f 804 slave.address(addr);
sakthipriya 0:7b4c00e3912f 805 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 806
sakthipriya 0:7b4c00e3912f 807 ptr_t_i2c = new Thread(T_TC);
sakthipriya 0:7b4c00e3912f 808 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 5:bb592f3185cc 809
sakthipriya 0:7b4c00e3912f 810 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 811 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
sakthipriya 5:bb592f3185cc 812 // ir1.fall(&ir1clear); //Battery Gauge - Alert Bar Signal
lakshya 14:a9588f443f1a 813 /* ir2.fall(&ir2clear); //TRXY Driver TR switch Fault
lakshya 14:a9588f443f1a 814 ir3.fall(&ir3clear); //TRZ Driver Fault Bar
lakshya 14:a9588f443f1a 815 ir4.fall(&ir4clear); //TRZ Driver TR switch Fault
lakshya 14:a9588f443f1a 816 ir5.fall(&ir5clear); //CDMS - Switch Fault
lakshya 14:a9588f443f1a 817 ir6.fall(&ir6clear); //Beacon- Switch OC bar
lakshya 14:a9588f443f1a 818 ir7.fall(&ir7clear); //Charger IC - Fault Bar
lakshya 14:a9588f443f1a 819
lakshya 14:a9588f443f1a 820 */
sakthipriya 0:7b4c00e3912f 821 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
sakthipriya 0:7b4c00e3912f 822 t_sc_timer.start(10000);
sakthipriya 0:7b4c00e3912f 823 t_start.start();
sakthipriya 0:7b4c00e3912f 824 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
sakthipriya 0:7b4c00e3912f 825
Bragadeesh153 13:fb7facaf308b 826
sakthipriya 0:7b4c00e3912f 827 //FCTN_BAE_INIT();
sakthipriya 0:7b4c00e3912f 828 while(1); //required to prevent main from terminating
sakthipriya 3:07e15677a75c 829 }
sakthipriya 3:07e15677a75c 830