Team Fox / Mbed 2 deprecated Japan_BAE_sensorworking

I2C working only once, sensor working well, commissioning updated to be tested, Wohoooo!!! :-D

Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of Japan_BAE1 by Team Fox

main.cpp@12:af1d7e18b868, 2016-04-13 (annotated)

Committer:
Bragadeesh153
Date:
Wed Apr 13 18:34:28 2016 +0000
Revision:
12:af1d7e18b868
Parent:
9:194afacf7449
Child:
13:fb7facaf308b
Working

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