Team Fox / Mbed 2 deprecated QM_BAE_review_1_EPS_updated

Updated EPS code with flowchart v2.3 (CDMS and HW faults)

Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of QM_BAE_review_1_EPS_faults by Mohamed Azad

main.cpp@17:bb0d64656ba1, 2016-06-23 (annotated)

Committer:
azaddevarm
Date:
Thu Jun 23 12:14:28 2016 +0000
Revision:
17:bb0d64656ba1
Parent:
16:5f0f2a3f3e8d 
Updated EPS code with flowchart v2.3

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
azaddevarm 17:bb0d64656ba1 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
azaddevarm 17:bb0d64656ba1 50 char EPS_BATTERY_HEATER_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;
azaddevarm 16:5f0f2a3f3e8d 55
sakthipriya 9:194afacf7449 56 //eps main
sakthipriya 9:194afacf7449 57 uint8_t EPS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 58 uint8_t EPS_BATTERY_TEMP_STATUS = 0;
sakthipriya 9:194afacf7449 59 uint8_t EPS_STATUS = 7; //invalid status
sakthipriya 9:194afacf7449 60
azaddevarm 17:bb0d64656ba1 61 int EPS_MAIN_COUNTER = 0;
azaddevarm 17:bb0d64656ba1 62
azaddevarm 17:bb0d64656ba1 63 uint8_t EPS_BATTERY_HEATER_ENABLE = 0;
azaddevarm 17:bb0d64656ba1 64 float EPS_BAT_TEMP_LOW = 20.0;
sakthipriya 0:7b4c00e3912f 65
azaddevarm 16:5f0f2a3f3e8d 66 //eps cdms fault
azaddevarm 16:5f0f2a3f3e8d 67 uint8_t CDMS_SW_STATUS;
azaddevarm 16:5f0f2a3f3e8d 68 bool CDMS_OC_FAULT;
azaddevarm 16:5f0f2a3f3e8d 69 bool CDMS_SW_ENABLE;
azaddevarm 16:5f0f2a3f3e8d 70 int CDMS_FAULT_COUNTER;
azaddevarm 16:5f0f2a3f3e8d 71
azaddevarm 16:5f0f2a3f3e8d 72 //eps hw faults
azaddevarm 16:5f0f2a3f3e8d 73
azaddevarm 16:5f0f2a3f3e8d 74 uint8_t ACS_TR_Z_SW_STATUS;
azaddevarm 16:5f0f2a3f3e8d 75 bool ACS_TR_Z_ENABLE;
azaddevarm 16:5f0f2a3f3e8d 76 bool ACS_TR_Z_OC_FAULT;
azaddevarm 16:5f0f2a3f3e8d 77 bool ACS_TR_Z_FAULT; //Driver IC fault
azaddevarm 16:5f0f2a3f3e8d 78 int ACS_TR_Z_FAULT_COUNTER;
azaddevarm 16:5f0f2a3f3e8d 79
azaddevarm 16:5f0f2a3f3e8d 80 uint8_t ACS_TR_XY_SW_STATUS;
azaddevarm 16:5f0f2a3f3e8d 81 bool ACS_TR_XY_ENABLE;
azaddevarm 16:5f0f2a3f3e8d 82 bool ACS_TR_XY_OC_FAULT;
azaddevarm 16:5f0f2a3f3e8d 83 bool ACS_TR_XY_FAULT; //Driver IC fault
azaddevarm 16:5f0f2a3f3e8d 84 int ACS_TR_XY_FAULT_COUNTER;
azaddevarm 16:5f0f2a3f3e8d 85
azaddevarm 16:5f0f2a3f3e8d 86 uint8_t ACS_ATS1_SW_STATUS;
azaddevarm 16:5f0f2a3f3e8d 87 bool ACS_ATS1_ENABLE;
azaddevarm 16:5f0f2a3f3e8d 88 bool ACS_ATS1_OC_FAULT;
azaddevarm 16:5f0f2a3f3e8d 89 int ACS_ATS1_FAULT_COUNTER;
azaddevarm 16:5f0f2a3f3e8d 90
azaddevarm 16:5f0f2a3f3e8d 91 uint8_t ACS_ATS2_SW_STATUS;
azaddevarm 16:5f0f2a3f3e8d 92 bool ACS_ATS2_ENABLE;
azaddevarm 16:5f0f2a3f3e8d 93 bool ACS_ATS2_OC_FAULT;
azaddevarm 16:5f0f2a3f3e8d 94 int ACS_ATS2_FAULT_COUNTER;
azaddevarm 16:5f0f2a3f3e8d 95
azaddevarm 16:5f0f2a3f3e8d 96 uint8_t BCN_TX_SW_STATUS;
azaddevarm 16:5f0f2a3f3e8d 97 bool BCN_TX_ENABLE;
azaddevarm 16:5f0f2a3f3e8d 98 bool BCN_TX_OC_FAULT;
azaddevarm 16:5f0f2a3f3e8d 99 int BCN_TX_FAULT_COUNTER;
azaddevarm 16:5f0f2a3f3e8d 100
sakthipriya 0:7b4c00e3912f 101 //.......................global variables..................................................................// new hk structure- everything has to changed based on this
sakthipriya 6:036d08b62785 102 uint8_t BAE_data[74];
sakthipriya 6:036d08b62785 103 char BAE_chardata[74];
sakthipriya 0:7b4c00e3912f 104
sakthipriya 0:7b4c00e3912f 105
sakthipriya 0:7b4c00e3912f 106 //*************************************Global declarations************************************************//
sakthipriya 0:7b4c00e3912f 107 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 108
sakthipriya 0:7b4c00e3912f 109 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 110 Timer t_start;
sakthipriya 7:a46a1dee4497 111 Timer t_tc;
sakthipriya 7:a46a1dee4497 112 Timer t_tm;
sakthipriya 0:7b4c00e3912f 113 Serial pc(USBTX, USBRX);
sakthipriya 0:7b4c00e3912f 114 int power_flag_dummy=2;
sakthipriya 0:7b4c00e3912f 115 float data[6];
sakthipriya 0:7b4c00e3912f 116
sakthipriya 0:7b4c00e3912f 117 extern float moment[3];
sakthipriya 0:7b4c00e3912f 118 extern uint8_t BCN_FEN;
sakthipriya 1:446a959e36ce 119 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 120 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 121 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 122 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 123
sakthipriya 5:bb592f3185cc 124 int write_ack = 1;
sakthipriya 5:bb592f3185cc 125 int read_ack = 1;
sakthipriya 0:7b4c00e3912f 126 char telecommand[tc_len];
Bragadeesh153 13:fb7facaf308b 127 extern uint8_t telemetry[135];
sakthipriya 5:bb592f3185cc 128
sakthipriya 5:bb592f3185cc 129 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 130 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 131 bool if1check = 0;
lakshya 14:a9588f443f1a 132 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 133
sakthipriya 0:7b4c00e3912f 134 //*****************************************************Assigning pins******************************************************//
sakthipriya 9:194afacf7449 135 DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch
sakthipriya 9:194afacf7449 136 DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch
sakthipriya 0:7b4c00e3912f 137 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
sakthipriya 0:7b4c00e3912f 138 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya 14:a9588f443f1a 139 I2CSlave slave (PIN1,PIN2);///pin1 pin2
sakthipriya 0:7b4c00e3912f 140 DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 141
sakthipriya 9:194afacf7449 142 //ATS1_SW_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 143 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 144 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 145 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 146
sakthipriya 5:bb592f3185cc 147 //........faults
sakthipriya 5:bb592f3185cc 148 //Polled Faults
sakthipriya 5:bb592f3185cc 149 DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
sakthipriya 5:bb592f3185cc 150 DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
sakthipriya 5:bb592f3185cc 151 DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 152
sakthipriya 5:bb592f3185cc 153 //Interrupt based faults
lakshya 14:a9588f443f1a 154 //InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal
sakthipriya 5:bb592f3185cc 155 InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault
sakthipriya 5:bb592f3185cc 156 InterruptIn ir3(PIN89);//TRZ Driver Fault Bar
sakthipriya 5:bb592f3185cc 157 InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault
sakthipriya 5:bb592f3185cc 158 InterruptIn ir5(PIN79);//CDMS - Switch Fault
sakthipriya 5:bb592f3185cc 159 InterruptIn ir6(PIN80);//Beacon- Switch OC bar
sakthipriya 5:bb592f3185cc 160 InterruptIn ir7(PIN42);//Charger IC - Fault Bar
sakthipriya 5:bb592f3185cc 161
lakshya 14:a9588f443f1a 162
Bragadeesh153 13:fb7facaf308b 163 //DigitalOut TRXY_SW_EN(PIN71); //TR XY Switch
Bragadeesh153 13:fb7facaf308b 164 //DigitalOut DRV_Z_SLP(PIN88); //Sleep pin of driver z
Bragadeesh153 13:fb7facaf308b 165 //DigitalOut TRZ_SW(PIN40); //TR Z Switch
Bragadeesh153 13:fb7facaf308b 166 //DigitalOut CDMS_RESET(PIN7); // CDMS RESET
Bragadeesh153 13:fb7facaf308b 167 //DigitalOut BCN_SW(PIN14); //Beacon switch
Bragadeesh153 13:fb7facaf308b 168 //DigitalOut DRV_XY_SLP(PIN82);
Bragadeesh153 13:fb7facaf308b 169
Bragadeesh153 13:fb7facaf308b 170
Bragadeesh153 13:fb7facaf308b 171 DigitalOut TRXY_SW(PIN71); //TR XY Switch
Bragadeesh153 13:fb7facaf308b 172 DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z
sakthipriya 5:bb592f3185cc 173 DigitalOut TRZ_SW(PIN40); //TR Z Switch
sakthipriya 5:bb592f3185cc 174 DigitalOut CDMS_RESET(PIN7); // CDMS RESET
sakthipriya 5:bb592f3185cc 175 DigitalOut BCN_SW(PIN14); //Beacon switch
Bragadeesh153 13:fb7facaf308b 176 DigitalOut DRV_XY_EN(PIN82);
sakthipriya 0:7b4c00e3912f 177
sakthipriya 0:7b4c00e3912f 178 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 3:07e15677a75c 179
sakthipriya 0:7b4c00e3912f 180 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 181
sakthipriya 0:7b4c00e3912f 182 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 183
sakthipriya 0:7b4c00e3912f 184 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 185 void FCTN_TM();
sakthipriya 3:07e15677a75c 186 void F_ACS();
sakthipriya 3:07e15677a75c 187 void F_EPS();
sakthipriya 3:07e15677a75c 188 void F_BCN();
sakthipriya 0:7b4c00e3912f 189
sakthipriya 0:7b4c00e3912f 190 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 191 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 192 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 193 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 194 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 195
sakthipriya 5:bb592f3185cc 196
sakthipriya 3:07e15677a75c 197 void F_ACS()
sakthipriya 0:7b4c00e3912f 198 {
sakthipriya 8:82250e41da81 199
sakthipriya 9:194afacf7449 200
sakthipriya 8:82250e41da81 201 //...................//
sakthipriya 8:82250e41da81 202
sakthipriya 5:bb592f3185cc 203 if(pf1check == 1)
sakthipriya 5:bb592f3185cc 204 {
sakthipriya 5:bb592f3185cc 205 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 206 {
sakthipriya 9:194afacf7449 207 ATS1_SW_ENABLE = 1; // turn off ats1 permanently
sakthipriya 5:bb592f3185cc 208 //FCTN_SWITCH_ATS(0); // switch on ATS2
sakthipriya 5:bb592f3185cc 209 }
sakthipriya 5:bb592f3185cc 210 else
sakthipriya 5:bb592f3185cc 211 {
sakthipriya 9:194afacf7449 212 ATS1_SW_ENABLE = 0;
sakthipriya 5:bb592f3185cc 213 iterP1++;
sakthipriya 5:bb592f3185cc 214 }
sakthipriya 9:194afacf7449 215 pf1check = 0;
sakthipriya 5:bb592f3185cc 216 }
sakthipriya 5:bb592f3185cc 217 if(pf2check == 1)
sakthipriya 5:bb592f3185cc 218 {
sakthipriya 5:bb592f3185cc 219 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 220 {
sakthipriya 9:194afacf7449 221 ATS2_SW_ENABLE = 1; // turn off ats2 permanently
Bragadeesh153 13:fb7facaf308b 222 ACS_DATA_ACQ_ENABLE = 0;
Bragadeesh153 13:fb7facaf308b 223 ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 224 }
sakthipriya 5:bb592f3185cc 225 else
sakthipriya 5:bb592f3185cc 226 {
sakthipriya 9:194afacf7449 227 ATS2_SW_ENABLE = 0;
sakthipriya 5:bb592f3185cc 228 iterP2++;
sakthipriya 5:bb592f3185cc 229 }
sakthipriya 9:194afacf7449 230 pf2check = 0;
sakthipriya 5:bb592f3185cc 231 }
sakthipriya 5:bb592f3185cc 232 if(if1check == 1)
sakthipriya 5:bb592f3185cc 233 {
sakthipriya 5:bb592f3185cc 234 if(iterI1 >= 3)
sakthipriya 5:bb592f3185cc 235 {
Bragadeesh153 13:fb7facaf308b 236 TRXY_SW = 0; // turn off TRXY permanently
sakthipriya 5:bb592f3185cc 237 }
sakthipriya 5:bb592f3185cc 238 else
sakthipriya 5:bb592f3185cc 239 {
Bragadeesh153 13:fb7facaf308b 240 TRXY_SW = 1; //switch on TRXY
sakthipriya 5:bb592f3185cc 241 iterI1++;
sakthipriya 5:bb592f3185cc 242 }
sakthipriya 5:bb592f3185cc 243 }
sakthipriya 5:bb592f3185cc 244 if(if2check == 1)
sakthipriya 5:bb592f3185cc 245 {
sakthipriya 5:bb592f3185cc 246 if(iterI2 >= 3)
sakthipriya 5:bb592f3185cc 247 {
sakthipriya 5:bb592f3185cc 248 TRZ_SW = 0; // turn off TRZ permanently
Bragadeesh153 13:fb7facaf308b 249 ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 250 }
sakthipriya 5:bb592f3185cc 251 else
sakthipriya 5:bb592f3185cc 252 {
sakthipriya 5:bb592f3185cc 253 TRZ_SW = 1; //switch on Z
sakthipriya 5:bb592f3185cc 254 iterI2++;
sakthipriya 5:bb592f3185cc 255 }
sakthipriya 5:bb592f3185cc 256 }
sakthipriya 5:bb592f3185cc 257
sakthipriya 6:036d08b62785 258 //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 259 //b1[3] = {22, 22,10};
sakthipriya 0:7b4c00e3912f 260 //omega1[3] = {2.1,3.0,1.5};
sakthipriya 9:194afacf7449 261 // ATS1_SW_ENABLE = 0; // att sens2 switch is disabled
sakthipriya 9:194afacf7449 262 // ATS2_SW_ENABLE = 0; // att sens switch is disabled
sakthipriya 0:7b4c00e3912f 263
sakthipriya 3:07e15677a75c 264
sakthipriya 0:7b4c00e3912f 265
sakthipriya 3:07e15677a75c 266 //Thread::signal_wait(0x1);
sakthipriya 9:194afacf7449 267 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 268 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 269 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 270 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 271 pc.printf("\n\rEntered ACS %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 272
sakthipriya 9:194afacf7449 273 if(ACS_DATA_ACQ_ENABLE == 1)// check if ACS_DATA_ACQ_ENABLE = 1?
sakthipriya 0:7b4c00e3912f 274 {
Bragadeesh153 13:fb7facaf308b 275 //FLAG();
sakthipriya 0:7b4c00e3912f 276 FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
sakthipriya 0:7b4c00e3912f 277 pc.printf("gyro values\n\r"); //printing the angular velocity and magnetic field values
sakthipriya 0:7b4c00e3912f 278 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 279 {
lakshya 15:e09aaaccf134 280 printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
sakthipriya 0:7b4c00e3912f 281 }
sakthipriya 0:7b4c00e3912f 282 pc.printf("mag values\n\r");
sakthipriya 6:036d08b62785 283 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 284 {
sakthipriya 6:036d08b62785 285 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
sakthipriya 5:bb592f3185cc 286 }
sakthipriya 6:036d08b62785 287 // for(int i=0;i<3;i++)
sakthipriya 6:036d08b62785 288 // {
sakthipriya 6:036d08b62785 289 // omega1[i]= data[i];
sakthipriya 6:036d08b62785 290 // b1[i] = data[i+3];
sakthipriya 6:036d08b62785 291 // }
sakthipriya 0:7b4c00e3912f 292 }//if ACS_DATA_ACQ_ENABLE = 1
sakthipriya 0:7b4c00e3912f 293 else
sakthipriya 0:7b4c00e3912f 294 {
sakthipriya 0:7b4c00e3912f 295 // Z axis actuation is the only final solution,
sakthipriya 0:7b4c00e3912f 296 }
sakthipriya 9:194afacf7449 297 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
sakthipriya 0:7b4c00e3912f 298 {
sakthipriya 0:7b4c00e3912f 299 printf("\n\r acs control off\n");
sakthipriya 0:7b4c00e3912f 300 FLAG();
sakthipriya 9:194afacf7449 301 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 302 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 303 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 304 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 305 }
sakthipriya 0:7b4c00e3912f 306 else
sakthipriya 0:7b4c00e3912f 307 {
sakthipriya 1:446a959e36ce 308 if(actual_data.power_mode>1)
sakthipriya 0:7b4c00e3912f 309
sakthipriya 0:7b4c00e3912f 310 {
sakthipriya 9:194afacf7449 311 if(ACS_STATE == 2) // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 312 {
sakthipriya 0:7b4c00e3912f 313 FLAG();
sakthipriya 0:7b4c00e3912f 314 printf("\n\r z axis moment only\n");
sakthipriya 9:194afacf7449 315 ACS_STATUS = 2; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 316 // FCTN_ACS_CNTRLALGO(b1, omega1);
sakthipriya 0:7b4c00e3912f 317 moment[0] = 0;
sakthipriya 0:7b4c00e3912f 318 moment[1] = 0;
sakthipriya 0:7b4c00e3912f 319 moment[2] =1.3;// is a dummy value
sakthipriya 0:7b4c00e3912f 320 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 321 }
sakthipriya 0:7b4c00e3912f 322 else
sakthipriya 0:7b4c00e3912f 323 {
sakthipriya 9:194afacf7449 324 if(ACS_STATE == 3) // check ACS_STATE = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 325 {
sakthipriya 0:7b4c00e3912f 326 FLAG();
sakthipriya 0:7b4c00e3912f 327 printf("\n\r acs data failure ");
sakthipriya 9:194afacf7449 328 ACS_STATUS = 3; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 329 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 330 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 331 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 332 }
sakthipriya 0:7b4c00e3912f 333 else
sakthipriya 0:7b4c00e3912f 334 {
sakthipriya 9:194afacf7449 335 if(ACS_STATE == 4) // check ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 336 {
sakthipriya 0:7b4c00e3912f 337 FLAG();
sakthipriya 0:7b4c00e3912f 338 printf("\n\r nominal");
sakthipriya 9:194afacf7449 339 ACS_STATUS = 4; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 6:036d08b62785 340 FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual);
sakthipriya 0:7b4c00e3912f 341 printf("\n\r moment values returned by control algo \n");
sakthipriya 0:7b4c00e3912f 342 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 343 {
sakthipriya 0:7b4c00e3912f 344 printf("%f\t",moment[i]);
sakthipriya 0:7b4c00e3912f 345 }
sakthipriya 0:7b4c00e3912f 346 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 347 }
sakthipriya 0:7b4c00e3912f 348 else
sakthipriya 0:7b4c00e3912f 349 {
sakthipriya 9:194afacf7449 350 if(ACS_STATE == 5) // check ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 351 {
sakthipriya 0:7b4c00e3912f 352 FLAG();
sakthipriya 0:7b4c00e3912f 353 printf("\n\r auto control");
sakthipriya 9:194afacf7449 354 ACS_STATUS = 5; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 355 //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code
sakthipriya 0:7b4c00e3912f 356 }
sakthipriya 0:7b4c00e3912f 357 else
sakthipriya 0:7b4c00e3912f 358 {
sakthipriya 9:194afacf7449 359 if(ACS_STATE == 6) // check ACS_STATE = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 360 {
sakthipriya 0:7b4c00e3912f 361 FLAG();
sakthipriya 0:7b4c00e3912f 362 printf("\n\r Entered detumbling \n");
sakthipriya 9:194afacf7449 363 ACS_STATUS = 6; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 6:036d08b62785 364 FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); // detumbling code has to be included
sakthipriya 0:7b4c00e3912f 365 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 366 }
sakthipriya 0:7b4c00e3912f 367 else
sakthipriya 0:7b4c00e3912f 368 {
sakthipriya 0:7b4c00e3912f 369 FLAG();
sakthipriya 0:7b4c00e3912f 370 printf("\n\r invalid state");
sakthipriya 9:194afacf7449 371 ACS_STATUS = 7 ; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 372 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 373 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 374 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 375 }//else of invalid
sakthipriya 0:7b4c00e3912f 376 }//else of autocontrol
sakthipriya 0:7b4c00e3912f 377 }//else of nominal
sakthipriya 0:7b4c00e3912f 378 }//else of data acg failure
sakthipriya 0:7b4c00e3912f 379
sakthipriya 0:7b4c00e3912f 380 }//else fo z axis moment only
sakthipriya 0:7b4c00e3912f 381 }//if power >2
sakthipriya 0:7b4c00e3912f 382 else
sakthipriya 0:7b4c00e3912f 383 {
sakthipriya 0:7b4c00e3912f 384 FLAG();
sakthipriya 0:7b4c00e3912f 385 printf("\n\r low power");
sakthipriya 9:194afacf7449 386 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 387 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 388 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 389 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 390 }
sakthipriya 0:7b4c00e3912f 391 } //else for acs control off
sakthipriya 9:194afacf7449 392 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
sakthipriya 3:07e15677a75c 393
sakthipriya 0:7b4c00e3912f 394 }
sakthipriya 0:7b4c00e3912f 395 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 396
sakthipriya 3:07e15677a75c 397 void F_EPS()
sakthipriya 0:7b4c00e3912f 398 {
sakthipriya 3:07e15677a75c 399
sakthipriya 0:7b4c00e3912f 400 pc.printf("\n\rEntered EPS %f\n",t_start.read());
sakthipriya 9:194afacf7449 401 EPS_MAIN_STATUS = 1; // Set EPS main status
azaddevarm 17:bb0d64656ba1 402 EPS_MAIN_COUNTER++;
sakthipriya 3:07e15677a75c 403 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
sakthipriya 3:07e15677a75c 404 pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
sakthipriya 9:194afacf7449 405 EPS_BATTERY_TEMP_STATUS = 1; //set EPS_BATTERY_TEMP_STATUS
azaddevarm 17:bb0d64656ba1 406 if(EPS_BATTERY_HEATER_ENABLE == 1)
sakthipriya 3:07e15677a75c 407 {
azaddevarm 17:bb0d64656ba1 408 if((actual_data.Batt_temp_actual[0] < EPS_BAT_TEMP_LOW) && (actual_data.Batt_temp_actual[1] < EPS_BAT_TEMP_LOW)) // to confirm
sakthipriya 3:07e15677a75c 409 {
sakthipriya 3:07e15677a75c 410 batt_heat = 1; //turn on battery heater
azaddevarm 17:bb0d64656ba1 411 if( actual_data.current_actual[12] == 0 )
azaddevarm 17:bb0d64656ba1 412 EPS_STATUS = 3; // Set EPS_ERR_HEATER_SWITCH_ON
azaddevarm 17:bb0d64656ba1 413 else
azaddevarm 17:bb0d64656ba1 414 EPS_STATUS = 5; // Set EPS_BATTERY_HEATER_ON
sakthipriya 3:07e15677a75c 415 }
sakthipriya 3:07e15677a75c 416 else
sakthipriya 3:07e15677a75c 417 {
sakthipriya 3:07e15677a75c 418 batt_heat = 0; //turn off battery heater
azaddevarm 17:bb0d64656ba1 419 if( actual_data.current_actual[12] == 0 )
azaddevarm 17:bb0d64656ba1 420 EPS_STATUS = 2; // Set EPS_ERR_HEATER_SWITCH_OFF
azaddevarm 17:bb0d64656ba1 421 else
azaddevarm 17:bb0d64656ba1 422 EPS_STATUS = 4; // Set EPS_BATTERY_HEATER_OFF
sakthipriya 3:07e15677a75c 423 }
sakthipriya 3:07e15677a75c 424
sakthipriya 3:07e15677a75c 425 }
azaddevarm 17:bb0d64656ba1 426 else if(EPS_BATTERY_HEATER_ENABLE == 0)
sakthipriya 3:07e15677a75c 427 {
sakthipriya 3:07e15677a75c 428 EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED
sakthipriya 3:07e15677a75c 429 }
azaddevarm 17:bb0d64656ba1 430
azaddevarm 17:bb0d64656ba1 431 int BTG_MAIN_FLAG = 0; //Flag to check whether data received from gauge
azaddevarm 17:bb0d64656ba1 432 if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set
sakthipriya 0:7b4c00e3912f 433 {
azaddevarm 17:bb0d64656ba1 434 FCTN_BATTERYGAUGE_INIT();
azaddevarm 17:bb0d64656ba1 435 write(REG_STATUS, read(REG_STATUS) & 0xFEFF); //Clearing Reset Indicator bit
azaddevarm 17:bb0d64656ba1 436 if( EPS_BATTERY_TEMP_STATUS == 1 )
azaddevarm 17:bb0d64656ba1 437 {
azaddevarm 17:bb0d64656ba1 438 FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual);
azaddevarm 17:bb0d64656ba1 439 BTG_MAIN_FLAG = 1;
azaddevarm 17:bb0d64656ba1 440 }
azaddevarm 17:bb0d64656ba1 441 else
azaddevarm 17:bb0d64656ba1 442 {
azaddevarm 17:bb0d64656ba1 443 actual_data.power_mode = 1;
azaddevarm 17:bb0d64656ba1 444 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
azaddevarm 17:bb0d64656ba1 445 }
sakthipriya 0:7b4c00e3912f 446 }
azaddevarm 17:bb0d64656ba1 447 if( read(REG_STATUS) & 0x0100 == 0x0000 )
sakthipriya 0:7b4c00e3912f 448 {
azaddevarm 17:bb0d64656ba1 449 FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual);
azaddevarm 17:bb0d64656ba1 450 BTG_MAIN_FLAG = 1;
sakthipriya 0:7b4c00e3912f 451 }
azaddevarm 17:bb0d64656ba1 452 if( BTG_MAIN_FLAG == 1 )
azaddevarm 17:bb0d64656ba1 453 if (actual_data.Batt_gauge_actual[1] == 200) //data not received
azaddevarm 17:bb0d64656ba1 454 {
azaddevarm 17:bb0d64656ba1 455 actual_data.power_mode = 1;
azaddevarm 17:bb0d64656ba1 456 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
azaddevarm 17:bb0d64656ba1 457 }
azaddevarm 17:bb0d64656ba1 458 else
azaddevarm 17:bb0d64656ba1 459 {
azaddevarm 17:bb0d64656ba1 460 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
azaddevarm 17:bb0d64656ba1 461 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
azaddevarm 17:bb0d64656ba1 462 }
sakthipriya 3:07e15677a75c 463 // if( Temperature data received)
sakthipriya 3:07e15677a75c 464 //{
sakthipriya 3:07e15677a75c 465
sakthipriya 0:7b4c00e3912f 466
sakthipriya 3:07e15677a75c 467 // }
sakthipriya 3:07e15677a75c 468 // else
sakthipriya 3:07e15677a75c 469 // {
sakthipriya 3:07e15677a75c 470 // Set battery temp to XX
sakthipriya 9:194afacf7449 471 // EPS_BATTERY_TEMP_STATUS = 0; //clear EPS_BATTERY_TEMP_STATUS
sakthipriya 3:07e15677a75c 472 // EPS_STATUS = EPS_ERR_BATTERY_TEMP;
sakthipriya 3:07e15677a75c 473 // }
sakthipriya 3:07e15677a75c 474 FCTN_HK_MAIN();
sakthipriya 6:036d08b62785 475 // printf("\n\r here");
azaddevarm 17:bb0d64656ba1 476 FCTN_EPS_HANDLE_HW_FAULTS();
azaddevarm 17:bb0d64656ba1 477 FCTN_EPS_HANDLE_CDMS_FAULT();
sakthipriya 5:bb592f3185cc 478 FCTN_APPEND_HKDATA();
sakthipriya 5:bb592f3185cc 479 minMaxHkData();
sakthipriya 6:036d08b62785 480 //printf("\n\r here");
sakthipriya 9:194afacf7449 481 EPS_MAIN_STATUS = 0; // clear EPS main status
sakthipriya 3:07e15677a75c 482
sakthipriya 0:7b4c00e3912f 483 }
sakthipriya 0:7b4c00e3912f 484
sakthipriya 0:7b4c00e3912f 485 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 486
sakthipriya 3:07e15677a75c 487 void F_BCN()
sakthipriya 0:7b4c00e3912f 488 {
sakthipriya 3:07e15677a75c 489
sakthipriya 0:7b4c00e3912f 490 pc.printf("\n\rEntered BCN %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 491
Bragadeesh153 12:af1d7e18b868 492 FCTN_BCN_TX_MAIN();
sakthipriya 0:7b4c00e3912f 493
sakthipriya 0:7b4c00e3912f 494 }
sakthipriya 0:7b4c00e3912f 495
sakthipriya 0:7b4c00e3912f 496 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 497
sakthipriya 0:7b4c00e3912f 498 void T_TC(void const * args)
sakthipriya 0:7b4c00e3912f 499 {
sakthipriya 0:7b4c00e3912f 500 while(1)
sakthipriya 0:7b4c00e3912f 501 {
sakthipriya 0:7b4c00e3912f 502 Thread::signal_wait(0x4);
lakshya 15:e09aaaccf134 503 wait_us(200);
lakshya 15:e09aaaccf134 504 //printf("\n\rreached\n"); // can be between 38 to 15700
sakthipriya 0:7b4c00e3912f 505 if( slave.receive() == 0)
lakshya 15:e09aaaccf134 506 {slave.stop();
lakshya 15:e09aaaccf134 507 //printf("\n\rnot send\n");
lakshya 15:e09aaaccf134 508 }
sakthipriya 0:7b4c00e3912f 509 else if( slave.receive() == 1) // slave writes to master
sakthipriya 0:7b4c00e3912f 510 {
sakthipriya 5:bb592f3185cc 511 if(data_send_flag == 'h')
sakthipriya 6:036d08b62785 512 {
sakthipriya 6:036d08b62785 513 //FCTN_APPEND_HKDATA();
sakthipriya 6:036d08b62785 514 // pc.printf("\n\r here");
sakthipriya 6:036d08b62785 515 write_ack=slave.write(BAE_chardata,74);
Bragadeesh153 13:fb7facaf308b 516 if(write_ack==0)
lakshya 15:e09aaaccf134 517 {irpt_2_mstr = 0;
lakshya 15:e09aaaccf134 518 printf("\n\rgot interrupt\n");
lakshya 15:e09aaaccf134 519 }
sakthipriya 6:036d08b62785 520 }
sakthipriya 5:bb592f3185cc 521 else if(data_send_flag == 't')
sakthipriya 5:bb592f3185cc 522 {
Bragadeesh153 13:fb7facaf308b 523 write_ack=slave.write((char*)telemetry,tm_len);
sakthipriya 5:bb592f3185cc 524 data_send_flag = 'h';
Bragadeesh153 13:fb7facaf308b 525 if(write_ack==0)
Bragadeesh153 13:fb7facaf308b 526 irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 527 }
sakthipriya 0:7b4c00e3912f 528 }
sakthipriya 0:7b4c00e3912f 529 else if( slave.receive()==3 || slave.receive()==2) // slave read
sakthipriya 0:7b4c00e3912f 530 {
sakthipriya 5:bb592f3185cc 531 read_ack=slave.read(telecommand,tc_len);
sakthipriya 7:a46a1dee4497 532 t_tc.start();
sakthipriya 6:036d08b62785 533 //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand);
sakthipriya 7:a46a1dee4497 534 pc.printf("\n\r Executing Telecommand \n");
sakthipriya 3:07e15677a75c 535 // FCTN_TC_DECODE((uint8_t*) telecommand);
sakthipriya 7:a46a1dee4497 536
Bragadeesh153 13:fb7facaf308b 537 FCTN_BAE_TM_TC((uint8_t*) telecommand);
Bragadeesh153 13:fb7facaf308b 538 //telemetry = (char*)temp;
sakthipriya 7:a46a1dee4497 539
sakthipriya 5:bb592f3185cc 540 FCTN_TM();
sakthipriya 7:a46a1dee4497 541 t_tc.stop();
sakthipriya 7:a46a1dee4497 542 printf("\n\r time taken %d",t_tc.read_us());
sakthipriya 7:a46a1dee4497 543 t_tc.reset();
sakthipriya 3:07e15677a75c 544 // for(int i = 0; i<134; i++)
sakthipriya 3:07e15677a75c 545 //pc.printf("%c", telemetry[i]);
sakthipriya 0:7b4c00e3912f 546 }
sakthipriya 0:7b4c00e3912f 547
sakthipriya 6:036d08b62785 548
sakthipriya 0:7b4c00e3912f 549 }
sakthipriya 0:7b4c00e3912f 550 }
sakthipriya 0:7b4c00e3912f 551
sakthipriya 0:7b4c00e3912f 552 void FCTN_TM()
sakthipriya 0:7b4c00e3912f 553 {
sakthipriya 4:39a4ae8c7ecd 554 //irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 555 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 556 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 557 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 558 }
sakthipriya 0:7b4c00e3912f 559
sakthipriya 0:7b4c00e3912f 560
sakthipriya 0:7b4c00e3912f 561 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 562
sakthipriya 0:7b4c00e3912f 563 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 564 {
sakthipriya 0:7b4c00e3912f 565 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 566 }
sakthipriya 0:7b4c00e3912f 567
sakthipriya 0:7b4c00e3912f 568
sakthipriya 5:bb592f3185cc 569 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 570 /*void ir1clear()
sakthipriya 5:bb592f3185cc 571 {
sakthipriya 5:bb592f3185cc 572 actual_data.faultIr_status |= 0x01; // alert
sakthipriya 5:bb592f3185cc 573
sakthipriya 5:bb592f3185cc 574 }*/
sakthipriya 5:bb592f3185cc 575
sakthipriya 5:bb592f3185cc 576
sakthipriya 5:bb592f3185cc 577
sakthipriya 5:bb592f3185cc 578 void ir2clear()
sakthipriya 5:bb592f3185cc 579 {
sakthipriya 5:bb592f3185cc 580 actual_data.faultIr_status |= 0x02;
Bragadeesh153 13:fb7facaf308b 581 TRXY_SW = 0; // Switch off TR XY
sakthipriya 5:bb592f3185cc 582 if1check = 1;
sakthipriya 5:bb592f3185cc 583 }
sakthipriya 5:bb592f3185cc 584
sakthipriya 5:bb592f3185cc 585 void ir3clear()
sakthipriya 5:bb592f3185cc 586 {
sakthipriya 5:bb592f3185cc 587 actual_data.faultIr_status |= 0x04;
Bragadeesh153 13:fb7facaf308b 588 DRV_Z_EN = 0;
sakthipriya 5:bb592f3185cc 589 wait_us(1);
Bragadeesh153 13:fb7facaf308b 590 DRV_Z_EN = 1;
sakthipriya 5:bb592f3185cc 591
sakthipriya 5:bb592f3185cc 592 }
sakthipriya 5:bb592f3185cc 593
sakthipriya 5:bb592f3185cc 594 void ir4clear()
sakthipriya 5:bb592f3185cc 595 {
sakthipriya 5:bb592f3185cc 596 if2check = 1;
sakthipriya 5:bb592f3185cc 597 actual_data.faultIr_status |= 0x08;
sakthipriya 5:bb592f3185cc 598 TRZ_SW = 0;
sakthipriya 5:bb592f3185cc 599 }
sakthipriya 5:bb592f3185cc 600
sakthipriya 5:bb592f3185cc 601 void ir5clear()
sakthipriya 5:bb592f3185cc 602 {
sakthipriya 5:bb592f3185cc 603 actual_data.faultIr_status |= 0x10;
sakthipriya 5:bb592f3185cc 604 CDMS_RESET = 0;
sakthipriya 5:bb592f3185cc 605 wait_us(1);
sakthipriya 5:bb592f3185cc 606 CDMS_RESET = 1;
sakthipriya 5:bb592f3185cc 607 }
sakthipriya 5:bb592f3185cc 608
sakthipriya 5:bb592f3185cc 609 void ir6clear()
sakthipriya 5:bb592f3185cc 610 {
sakthipriya 5:bb592f3185cc 611 actual_data.faultIr_status |= 0x20;
sakthipriya 5:bb592f3185cc 612 BCN_SW = 0;
sakthipriya 5:bb592f3185cc 613 wait_us(1);
sakthipriya 5:bb592f3185cc 614 BCN_SW = 1;
sakthipriya 5:bb592f3185cc 615 }
sakthipriya 5:bb592f3185cc 616
sakthipriya 5:bb592f3185cc 617 void ir7clear()
sakthipriya 5:bb592f3185cc 618 {
sakthipriya 5:bb592f3185cc 619 actual_data.faultIr_status |= 0x40;
sakthipriya 5:bb592f3185cc 620 }
sakthipriya 5:bb592f3185cc 621 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 622
sakthipriya 5:bb592f3185cc 623
sakthipriya 5:bb592f3185cc 624
sakthipriya 5:bb592f3185cc 625 void pollfault()
sakthipriya 5:bb592f3185cc 626 {
sakthipriya 5:bb592f3185cc 627
sakthipriya 5:bb592f3185cc 628
sakthipriya 5:bb592f3185cc 629
sakthipriya 5:bb592f3185cc 630 if (pf1==0) // OC_ATS1
sakthipriya 5:bb592f3185cc 631 {
sakthipriya 5:bb592f3185cc 632 pf1check=1;
sakthipriya 5:bb592f3185cc 633 actual_data.faultPoll_status |=0x01 ;
sakthipriya 9:194afacf7449 634 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
sakthipriya 5:bb592f3185cc 635 }
sakthipriya 5:bb592f3185cc 636 else actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 637
sakthipriya 5:bb592f3185cc 638 if (pf2==0)
sakthipriya 5:bb592f3185cc 639 {
sakthipriya 5:bb592f3185cc 640 pf2check=1;
sakthipriya 5:bb592f3185cc 641 actual_data.faultPoll_status |=0x02 ;
sakthipriya 9:194afacf7449 642 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
sakthipriya 5:bb592f3185cc 643 }
sakthipriya 5:bb592f3185cc 644 else actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 645
sakthipriya 5:bb592f3185cc 646 if (pf3==0)
sakthipriya 5:bb592f3185cc 647 { actual_data.faultPoll_status |=0x04 ;
Bragadeesh153 13:fb7facaf308b 648 DRV_XY_EN = 0;
sakthipriya 5:bb592f3185cc 649 wait_us(1);
Bragadeesh153 13:fb7facaf308b 650 DRV_XY_EN = 1;
sakthipriya 5:bb592f3185cc 651 }
sakthipriya 5:bb592f3185cc 652 else actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 653
sakthipriya 5:bb592f3185cc 654
sakthipriya 5:bb592f3185cc 655
sakthipriya 5:bb592f3185cc 656
sakthipriya 5:bb592f3185cc 657 /*if (ir1==1)
sakthipriya 5:bb592f3185cc 658 {
sakthipriya 5:bb592f3185cc 659 actual_data.faultIr_status &=0xFE;
sakthipriya 5:bb592f3185cc 660 }*/
lakshya 14:a9588f443f1a 661
sakthipriya 5:bb592f3185cc 662 if (ir2==1)
sakthipriya 5:bb592f3185cc 663 {
sakthipriya 5:bb592f3185cc 664 actual_data.faultIr_status &=0xFD;
sakthipriya 5:bb592f3185cc 665 }
sakthipriya 5:bb592f3185cc 666 if (ir3==1)
sakthipriya 5:bb592f3185cc 667 {
sakthipriya 5:bb592f3185cc 668 actual_data.faultIr_status &=0xFB;
sakthipriya 5:bb592f3185cc 669 }
sakthipriya 5:bb592f3185cc 670 if (ir4==1)
sakthipriya 5:bb592f3185cc 671 {
sakthipriya 5:bb592f3185cc 672 actual_data.faultIr_status &=0xF7;
sakthipriya 5:bb592f3185cc 673 }
sakthipriya 5:bb592f3185cc 674 if (ir5==1)
sakthipriya 5:bb592f3185cc 675 {
sakthipriya 5:bb592f3185cc 676 actual_data.faultIr_status &=0xEF;
sakthipriya 5:bb592f3185cc 677 }
sakthipriya 5:bb592f3185cc 678 if (ir6==1)
sakthipriya 5:bb592f3185cc 679 {
sakthipriya 5:bb592f3185cc 680 actual_data.faultIr_status &=0xDF;
sakthipriya 5:bb592f3185cc 681 }if (ir7==1)
sakthipriya 5:bb592f3185cc 682 {
sakthipriya 5:bb592f3185cc 683 actual_data.faultIr_status &=0xBF;
sakthipriya 5:bb592f3185cc 684 }
lakshya 14:a9588f443f1a 685
sakthipriya 5:bb592f3185cc 686
sakthipriya 5:bb592f3185cc 687 }
sakthipriya 5:bb592f3185cc 688
sakthipriya 5:bb592f3185cc 689
sakthipriya 0:7b4c00e3912f 690 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 691 //SCHEDULER
sakthipriya 0:7b4c00e3912f 692 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 693 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 694 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 695 {
sakthipriya 0:7b4c00e3912f 696 printf("\n\r in scheduler");
sakthipriya 0:7b4c00e3912f 697
sakthipriya 0:7b4c00e3912f 698 if(schedcount == 7) //to reset the counter
sakthipriya 0:7b4c00e3912f 699 {
sakthipriya 0:7b4c00e3912f 700 schedcount = 1;
sakthipriya 0:7b4c00e3912f 701 }
sakthipriya 0:7b4c00e3912f 702 if(schedcount%1==0)
lakshya 14:a9588f443f1a 703 { pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
lakshya 14:a9588f443f1a 704 pc.printf("\niterp1 !!!!!! = %x !!\n",iterP1);
lakshya 14:a9588f443f1a 705 pc.printf("\niteri2 IS !!!!!! = %x !!\n",iterI2);
lakshya 14:a9588f443f1a 706 F_ACS();
sakthipriya 0:7b4c00e3912f 707 }
sakthipriya 0:7b4c00e3912f 708
sakthipriya 0:7b4c00e3912f 709 if(schedcount%2==0)
sakthipriya 0:7b4c00e3912f 710 {
Bragadeesh153 13:fb7facaf308b 711 // F_EPS();
sakthipriya 0:7b4c00e3912f 712 }
lakshya 14:a9588f443f1a 713 if(schedcount%1==0)
sakthipriya 0:7b4c00e3912f 714 {
Bragadeesh153 12:af1d7e18b868 715 F_BCN();
sakthipriya 0:7b4c00e3912f 716 }
sakthipriya 0:7b4c00e3912f 717 schedcount++;
sakthipriya 0:7b4c00e3912f 718 printf("\n\r exited scheduler");
sakthipriya 0:7b4c00e3912f 719 }
sakthipriya 0:7b4c00e3912f 720
sakthipriya 0:7b4c00e3912f 721 Timer t_flag;
sakthipriya 0:7b4c00e3912f 722 void FLAG()
sakthipriya 0:7b4c00e3912f 723 {
sakthipriya 0:7b4c00e3912f 724
sakthipriya 0:7b4c00e3912f 725 //.............acs..................//
sakthipriya 9:194afacf7449 726 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 727 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 728 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 729 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 730
sakthipriya 9:194afacf7449 731 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 732 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 733 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 734 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 735
sakthipriya 9:194afacf7449 736 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 737 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 738 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 739 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 740
sakthipriya 0:7b4c00e3912f 741 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 742 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 743
sakthipriya 9:194afacf7449 744 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 745 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 746 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 747 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 748
sakthipriya 0:7b4c00e3912f 749 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 750 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 751 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 752 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 753 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 754 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 755 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 756 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 757 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 758 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 759 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 760 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 761 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 762 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 763 else
sakthipriya 0:7b4c00e3912f 764 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 765
sakthipriya 0:7b4c00e3912f 766 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 767 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 768 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 769 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 770 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 771 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 772 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 773 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 774 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 775 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 776 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 777 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 778
sakthipriya 0:7b4c00e3912f 779 //...............eps......................//
sakthipriya 5:bb592f3185cc 780
sakthipriya 5:bb592f3185cc 781
sakthipriya 9:194afacf7449 782 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
sakthipriya 5:bb592f3185cc 783 BAE_STATUS |= 0x00010000;
sakthipriya 9:194afacf7449 784 else if(EPS_INIT_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 785 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 786
sakthipriya 5:bb592f3185cc 787
sakthipriya 9:194afacf7449 788 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
sakthipriya 5:bb592f3185cc 789 BAE_STATUS |= 0x00040000;
sakthipriya 9:194afacf7449 790 else if(EPS_MAIN_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 791 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 792
sakthipriya 5:bb592f3185cc 793
sakthipriya 9:194afacf7449 794 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
sakthipriya 5:bb592f3185cc 795 BAE_STATUS |= 0x00020000;
sakthipriya 9:194afacf7449 796 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 797 BAE_STATUS &= 0xFFFDFFFF;
sakthipriya 5:bb592f3185cc 798
sakthipriya 5:bb592f3185cc 799
sakthipriya 9:194afacf7449 800 if (EPS_BATTERY_TEMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
sakthipriya 5:bb592f3185cc 801 BAE_STATUS |= 0x00080000;
sakthipriya 9:194afacf7449 802 else if(EPS_BATTERY_TEMP_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 803 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 804
sakthipriya 5:bb592f3185cc 805 if (EPS_STATUS==0)
sakthipriya 5:bb592f3185cc 806 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
sakthipriya 5:bb592f3185cc 807 else if (EPS_STATUS==1)
sakthipriya 5:bb592f3185cc 808 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
sakthipriya 5:bb592f3185cc 809 else if (EPS_STATUS==2)
sakthipriya 5:bb592f3185cc 810 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
sakthipriya 5:bb592f3185cc 811 else if (EPS_STATUS==3)
sakthipriya 5:bb592f3185cc 812 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
sakthipriya 5:bb592f3185cc 813 else if (EPS_STATUS==4)
sakthipriya 5:bb592f3185cc 814 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
sakthipriya 5:bb592f3185cc 815 else if (EPS_STATUS==5)
sakthipriya 5:bb592f3185cc 816 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 817
sakthipriya 5:bb592f3185cc 818
azaddevarm 17:bb0d64656ba1 819 if(EPS_BATTERY_HEATER_ENABLE == 1)
sakthipriya 5:bb592f3185cc 820 BAE_ENABLE |= 0x00000080;
azaddevarm 17:bb0d64656ba1 821 else if(EPS_BATTERY_HEATER_ENABLE == 0)
sakthipriya 5:bb592f3185cc 822 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 823
sakthipriya 0:7b4c00e3912f 824
sakthipriya 0:7b4c00e3912f 825
sakthipriya 0:7b4c00e3912f 826 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
sakthipriya 0:7b4c00e3912f 827 }
sakthipriya 0:7b4c00e3912f 828
sakthipriya 0:7b4c00e3912f 829 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 830 {
sakthipriya 0:7b4c00e3912f 831 printf("\n\r Initialising BAE ");
sakthipriya 3:07e15677a75c 832 //..........intial status....//
Bragadeesh153 13:fb7facaf308b 833 ACS_STATE = 4;
sakthipriya 9:194afacf7449 834 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 835 ACS_DATA_ACQ_ENABLE = 1;
azaddevarm 17:bb0d64656ba1 836 EPS_BATTERY_HEATER_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 837 actual_data.power_mode=3;
sakthipriya 9:194afacf7449 838 //............intializing pins................//
sakthipriya 9:194afacf7449 839 ATS1_SW_ENABLE = 0;
sakthipriya 9:194afacf7449 840 ATS2_SW_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 841
Bragadeesh153 13:fb7facaf308b 842 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 843 DRV_Z_EN = 1;
Bragadeesh153 13:fb7facaf308b 844 TRZ_SW = 1;
Bragadeesh153 13:fb7facaf308b 845 TRXY_SW = 1;
sakthipriya 9:194afacf7449 846
sakthipriya 3:07e15677a75c 847 //............................//
sakthipriya 3:07e15677a75c 848 FCTN_ACS_INIT();
Bragadeesh153 13:fb7facaf308b 849 // FCTN_EPS_INIT();
lakshya 14:a9588f443f1a 850 //FCTN_BCN_INIT();
sakthipriya 3:07e15677a75c 851
sakthipriya 3:07e15677a75c 852
sakthipriya 0:7b4c00e3912f 853 FLAG();
sakthipriya 0:7b4c00e3912f 854 }
sakthipriya 0:7b4c00e3912f 855
sakthipriya 0:7b4c00e3912f 856 int main()
sakthipriya 0:7b4c00e3912f 857 {
sakthipriya 0:7b4c00e3912f 858 pc.printf("\n\r BAE Activated. Testing Version 1.1 \n");
Bragadeesh153 13:fb7facaf308b 859 CDMS_RESET = 1;
lakshya 14:a9588f443f1a 860 /*if (BCN_FEN == 0) //dummy implementation
sakthipriya 0:7b4c00e3912f 861 {
sakthipriya 0:7b4c00e3912f 862 pc.printf("\n\r RF silence ");
Bragadeesh153 12:af1d7e18b868 863 FCTN_BCN_FEN();
sakthipriya 0:7b4c00e3912f 864 t_rfsilence.start();//Start the timer for RF_Silence
sakthipriya 0:7b4c00e3912f 865 while(t_rfsilence.read() < RF_SILENCE_TIME);
sakthipriya 0:7b4c00e3912f 866 }
sakthipriya 0:7b4c00e3912f 867 */
sakthipriya 3:07e15677a75c 868
sakthipriya 9:194afacf7449 869 //ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 870 //ACS_DATA_ACQ_STATUS = 0;
Bragadeesh153 13:fb7facaf308b 871
Bragadeesh153 13:fb7facaf308b 872
sakthipriya 9:194afacf7449 873
Bragadeesh153 13:fb7facaf308b 874 //FLAG();
sakthipriya 0:7b4c00e3912f 875 FCTN_BAE_INIT();
sakthipriya 3:07e15677a75c 876
sakthipriya 0:7b4c00e3912f 877
sakthipriya 0:7b4c00e3912f 878 //...i2c..
sakthipriya 3:07e15677a75c 879 //strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end");
sakthipriya 0:7b4c00e3912f 880 slave.address(addr);
sakthipriya 0:7b4c00e3912f 881 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 882
sakthipriya 0:7b4c00e3912f 883 ptr_t_i2c = new Thread(T_TC);
sakthipriya 0:7b4c00e3912f 884 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 5:bb592f3185cc 885
sakthipriya 0:7b4c00e3912f 886 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 887 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
sakthipriya 5:bb592f3185cc 888 // ir1.fall(&ir1clear); //Battery Gauge - Alert Bar Signal
lakshya 14:a9588f443f1a 889 /* ir2.fall(&ir2clear); //TRXY Driver TR switch Fault
lakshya 14:a9588f443f1a 890 ir3.fall(&ir3clear); //TRZ Driver Fault Bar
lakshya 14:a9588f443f1a 891 ir4.fall(&ir4clear); //TRZ Driver TR switch Fault
lakshya 14:a9588f443f1a 892 ir5.fall(&ir5clear); //CDMS - Switch Fault
lakshya 14:a9588f443f1a 893 ir6.fall(&ir6clear); //Beacon- Switch OC bar
lakshya 14:a9588f443f1a 894 ir7.fall(&ir7clear); //Charger IC - Fault Bar
lakshya 14:a9588f443f1a 895
lakshya 14:a9588f443f1a 896 */
sakthipriya 0:7b4c00e3912f 897 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
sakthipriya 0:7b4c00e3912f 898 t_sc_timer.start(10000);
sakthipriya 0:7b4c00e3912f 899 t_start.start();
sakthipriya 0:7b4c00e3912f 900 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
sakthipriya 0:7b4c00e3912f 901
Bragadeesh153 13:fb7facaf308b 902
sakthipriya 0:7b4c00e3912f 903 //FCTN_BAE_INIT();
sakthipriya 0:7b4c00e3912f 904 while(1); //required to prevent main from terminating
sakthipriya 3:07e15677a75c 905 }
sakthipriya 3:07e15677a75c 906