Team Fox
/
RAJANGAM_REVIEW_BAE_CODE
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Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
QM_BAE_review_1
by 
Team Fox
Diff: main.cpp
- Revision:
- 21:81c888bb6125
- Parent:
- 20:949d13045431
--- a/main.cpp Fri Jul 01 17:55:30 2016 +0000
+++ b/main.cpp Fri Jul 01 17:59:04 2016 +0000
@@ -1,1144 +0,0 @@
-#include "mbed.h"
-#include "rtos.h"
-#include "pin_config.h"
-#include "ACS.h"
-#include "EPS.h"
-#include "BCN.h"
-#include "TCTM.h"
-#define tm_len 135
-#define tc_len 11
-#define batt_heat_low 20
-
-DigitalOut time_wdog(PIN68);// for determining the time between code
-
-//**********************************************GLOBAL RTOS TIMER*********************************************************//
-RtosTimer *BAE_STANDBY_STATUS_TIMER;
-
-
-//bcn heater rtostimers=============================================================================
-RtosTimer *HTR_OFF=NULL;
-RtosTimer *HTR_CYCLE=NULL;
-RtosTimer *HTR_DLY=NULL;
-
-extern DigitalOut EN_BTRY_HT;
-
-uint8_t HTR_CYCLE_COUNTS=0; //Count of heater cycles
-uint8_t HTR_CYCLE_START_DLY=0; //EPS_HTR_DLY_TIMER timer duration in minutes
-uint8_t HTR_ON_DURATION=0; //EPS_HTR_OFF timer duration in minutes
-uint16_t HTR_CYCLE_PERIOD =0; //EPS_HTR_CYCLE timer duration - MSB minutes, LSB seconds
-uint8_t HTR_CYCLE_COUNTER = 0 ;
-
-uint32_t HTR_CYCLE_PERIOD_DECODER() //To convert HTR_CYCLE_PERIOD to millisecs
-{
- uint8_t PERIOD_mins, PERIOD_secs;
- //pc.printf("\n\r FCTN_HTR_CYCLE_PERIOD");
- PERIOD_secs = HTR_CYCLE_PERIOD;
- PERIOD_mins = HTR_CYCLE_PERIOD >> 8;
- uint32_t period = 1000*((int)PERIOD_mins * 60 + (int)PERIOD_secs);
-
- return period;
-}
-
-void FCTN_EPS_HTR_CYCLE(void const *arg)
-{
- EN_BTRY_HT = 1;//assuming its active high check
- //pc.printf("\n\r on kar diya");
- //pc.printf("\n\r FCTN_EPS_HTR_CYCLE");
- //tim.reset();
- //tim.start();
- //HTR_OFF->start(((uint32_t)HTR_ON_DURATION)*1000);
- HTR_OFF->start((int)HTR_ON_DURATION*60*1000);
-}
-
-void FCTN_EPS_HTR_DLY(void const* arg)
-{
- EN_BTRY_HT = 1;
- HTR_CYCLE_COUNTER = 0;
- HTR_OFF->start(((int)HTR_ON_DURATION*60*1000));
- //pc.printf("\n\r on kar diya");
- //pc.printf("\n\r FCTN_EPS_HTR_DLY");
- //tim.start();
- HTR_CYCLE->start((uint32_t)HTR_CYCLE_PERIOD_DECODER);
-}
-
-void FCTN_EPS_HTR_OFF(void const *arg)
-{
- EN_BTRY_HT = 0;
- //tim.stop();
- //pc.printf("\n\r off kar diya");
- //pc.printf("\n\r the timer value is %f",tim.read());
- //tim.reset();
- if(HTR_CYCLE_COUNTS != 0xFF)
- {
- HTR_CYCLE_COUNTER++;
- if( HTR_CYCLE_COUNTER == (int)HTR_CYCLE_COUNTS)//HTR_CYCLE_COUNTS )
- HTR_CYCLE->stop();
- }
-}
-
-//====================================================================================================
-
-//fctn to pass the data to bcn long type
-uint8_t CDMS_HK_data[134];
-void FCTN_CDMS_HK_TC(uint8_t tc[])
-{
- for(int i=0;i<134;i++)
- CDMS_HK_data[i] = tc[i];
-}
-
-uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off.
-
-void BAE_STANDBY_STATUS_RESET(const void* arg)
-{
- printf("\n\rBAE standby reset to 0x00");
- BAE_STANDBY=0x00;
-}
-
-
-/*no problem in first stopping and then starting even when for the first time*/
-void BAE_STANDBY_TIMER_RESET()
-{
- BAE_STANDBY_STATUS_TIMER->stop();
- BAE_STANDBY_STATUS_TIMER->start(30000);//20 min ie 20*60=1200 sec or 1200,000 milisec but for testing setting it to 30sec
-}
-
-extern void gen_I_TM();
-
-//*************** FLAGS ****************************//
-uint32_t BAE_STATUS = 0x00000000;
-uint32_t BAE_ENABLE = 0xFFFFFFFF;
-
-//i2c//
-char data_send_flag = 'h';
-//uint8_t BAE_MNG_I2C_STATUS = 0;
-
-//BAE
-uint8_t BAE_INIT_STATUS=0;
-uint8_t BAE_MNG_I2C_STATUS=0;
-
-
-//ACS
-uint8_t ACS_INIT_STATUS = 0;
-uint8_t ACS_DATA_ACQ_STATUS = 0;
-uint8_t ACS_ATS_STATUS = 0x73;
-uint8_t ACS_MAIN_STATUS = 0;
-uint8_t ACS_STATUS = 0;
-uint8_t ACS_DETUMBLING_ALGO_TYPE = 0;
-uint8_t ACS_ATS_ENABLE = 1;
-uint8_t ACS_DATA_ACQ_ENABLE = 1;
-uint8_t ACS_STATE = 7;
-
-extern uint16_t ACS_MM_X_COMSN;
-extern uint16_t ACS_MM_Y_COMSN;
-extern uint16_t ACS_MG_X_COMSN;
-extern uint16_t ACS_MG_Y_COMSN;
-extern uint16_t ACS_MM_Z_COMSN;
-extern uint16_t ACS_MG_Z_COMSN;
-
-//BCN
-extern uint8_t BCN_FEN;
-extern void FCTN_BCN_FEN(void const *args);
-extern void LONG_BCN_DATA(uint8_t* );
-extern uint16_t gencrc16_for_me();//for calculating the crc of baehk data before sendingkk as including crc causes problem
-extern DigitalOut EN_BTRY_HT;
-
-
-Timeout timeout_bcn;
-/*long beacon data/sending*/
-/*be sure it is created in bcn.cpp*/
-
-//EPS
-uint8_t EPS_INIT_STATUS = 0;
-uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
-uint8_t EPS_MAIN_STATUS = 0;
-uint8_t EPS_BATTERY_TEMP_STATUS = 0;
-uint8_t EPS_STATUS = 7; //invalid status
-
-uint8_t EPS_BTRY_HTR_AUTO = 1;
-extern uint8_t EPS_SOC_LEVEL_12;
-extern uint8_t EPS_SOC_LEVEL_23;
-extern uint8_t EPS_BAT_TEMP_LOW;
-extern uint8_t EPS_BAT_TEMP_HIGH;
-extern uint8_t EPS_BAT_TEMP_DEFAULT;
-
-
-//**********************GLOBAL DECLARATIONS********************************//
-
-//CDMS
-//eps cdms fault
-uint8_t CDMS_SW_STATUS;
-DigitalOut CDMS_OC_FAULT(PIN79);
-bool CDMS_SW_ENABLE;
-int CDMS_FAULT_COUNTER = 0;
-
-
-//BAE new hk structure- everything has to changed based on this
-char BAE_chardata[74];
-uint8_t BAE_HK_data[134];
-uint8_t BAE_RESET_COUNTER;// INITIALIZATION or do you want to initialize evertime the main is reset? or is it same
-uint16_t BAE_I2C_COUNTER = 0;//change/apply
-//uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1 refer to switch off.
-
-//BCN
-//uint16_t BCN_TX_MAIN_COUNTER = 0;
-uint8_t BCN_LONG_MSG_TYPE = 1;
-
-DigitalOut BCN_TX_OC_FAULT(PIN80);
-int BCN_TX_FAULT_COUNTER;
-
-//ACS
-uint16_t ACS_MAIN_COUNTER = 0;
-
-//eps hw faults
-//uint8_t ACS_TR_Z_SW_STATUS;
-DigitalOut ACS_TR_Z_ENABLE(PIN40);
-DigitalOut ACS_TR_Z_OC_FAULT(PIN91);
-DigitalOut ACS_TR_Z_FAULT(PIN89); //Driver IC fault
-int ACS_TR_Z_FAULT_COUNTER = 0;
-
-//uint8_t ACS_TR_XY_SW_STATUS;
-DigitalOut ACS_TR_XY_ENABLE(PIN71);
-DigitalOut ACS_TR_XY_OC_FAULT(PIN72);
-DigitalOut ACS_TR_XY_FAULT(PIN83); //Driver IC fault
-int ACS_TR_XY_FAULT_COUNTER = 0;
-
-//bool ACS_ATS1_ENABLE;
-DigitalOut ACS_ATS1_OC_FAULT(PIN97);
-int ACS_ATS1_FAULT_COUNTER = 0;
-
-//bool ACS_ATS2_ENABLE;
-DigitalOut ACS_ATS2_OC_FAULT(PIN5);
-int ACS_ATS2_FAULT_COUNTER;
-
-//EPS
-int EPS_MAIN_COUNTER = 0;
-
-
-//GEN DEC FOR TESTING or to be DECIDED whre to ASSIGN HERE
-const int addr = 0x20; //slave address
-Timer t_rfsilence;
-Timer t_start;
-/*defined as of now to check execution time*/
-/*remember to remove them*/
-Timer t_acs;
-Timer t_eps;
-//Timer t_tc;
-Timer t_tm;
-Serial pc(USBTX, USBRX);
-int power_flag_dummy=2;
-float data[6];
-
-
-//*************EXTERN PARA********
-
-//BAE
-
-extern BAE_HK_actual actual_data;
-extern BAE_HK_quant quant_data;
-extern BAE_HK_min_max bae_HK_minmax;
-extern BAE_HK_arch arch_data;
-
-
-//BCN
-extern uint8_t BCN_FEN;
-extern uint8_t BCN_TX_SW_STATUS;
-extern uint8_t BCN_SPND_TX;
-
-
-//TCTM
-extern uint8_t telemetry[135];
-
-
-//ACS
-extern uint8_t ACS_TR_Z_SW_STATUS;
-extern uint8_t ACS_TR_XY_SW_STATUS;
-extern float gyro_data[3];
-extern float mag_data[3];
-extern float moment[3];
-extern float b_old[3]; // Unit: Tesla
-extern float db[3];
-extern uint8_t flag_firsttime;
-extern uint8_t ACS_MAG_TIME_DELAY;
-extern uint8_t ACS_DEMAG_TIME_DELAY;
-extern uint16_t ACS_Z_FIXED_MOMENT;
-
-int write_ack = 1;
-int read_ack = 1;
-char telecommand[tc_len];
-
-
-bool pf1check = 0;
-bool pf2check = 0;
-bool if1check = 0;
-bool if2check = 0;
-
-//ASSIGNING PINS//
-DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch
-DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch
-InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
-DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
-I2CSlave slave (PIN1,PIN2);///pin1 pin2
-//DigitalOut batt_heat(PIN96);
-
-//ATS1_SW_ENABLE = 0;
-PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
-PwmOut PWM2(PIN94); //y
-PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
-
-//........faults
-//Polled Faults
-DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
-DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
-DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
-
-DigitalOut TRXY_SW(PIN71); //TR XY Switch
-DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z
-DigitalOut TRZ_SW(PIN40); //TR Z Switch
-DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET
-DigitalOut BCN_SW(PIN14); //Beacon switch
-DigitalOut DRV_XY_EN(PIN82);
-
-
-
-//================================================================================
-//default flash array some filler bits added (detail in MMS file)
-uint32_t ARR_INITIAL_VAL[8]={0x33574C00,0x505A4141,0x1A1A1400,0x00000000,0x00000000,0x00000000,0xCBA20000,0x00000000};//to be done
-
-void FLASH_INI()
-{
- uint32_t read[8];
- for(int i=0;i<8;i++)
- {
- read[i] = FCTN_BAE_RD_FLASH_ENTITY(i);
- printf("\n\r val is read after starting %x ",read[i]);
- }
-
- if(read[0] == -1)
- for(int j=0;j<8;j++)
- {
- FCTN_BAE_WR_FLASH(j,ARR_INITIAL_VAL[j]);
- }
- else
- {
- for(int j=0;j<8;j++)
- {
- read[j] = FCTN_BAE_RD_FLASH_ENTITY(j);
- }
- ACS_ATS_STATUS = read[0]>>24;
- ACS_TR_XY_SW_STATUS = ((uint8_t)(read[0]>>22))&0x03;
- ACS_TR_Z_SW_STATUS = (read[0]>>20)&0x03;
- ACS_DETUMBLING_ALGO_TYPE = (read[0]>>19)&0x01;
- ACS_STATE = (read[0]>>16)&0x07;
- BCN_TX_SW_STATUS = ((uint8_t)(read[0]>>14))&0x03;
- BCN_SPND_TX = ((uint8_t)(read[0]>>13))&0x01;
- BCN_FEN = ((uint8_t)(read[0]>>12))&0x01;
- BCN_LONG_MSG_TYPE = ((uint8_t)(read[0]>>11))&0x01;
- EPS_BTRY_HTR_AUTO = ((uint8_t)(read[0]>>10))&0x03;//EPS_BATTERY_HEATER_ENABLE
- //now two spares in telemetry[5]
-
- //updating the reset counter
- BAE_RESET_COUNTER = ((uint8_t)(read[0]))+1;
- read[0]=(read[0]&0xffffff00) | (uint32_t)BAE_RESET_COUNTER;
- FCTN_BAE_WR_FLASH(0,read[0]);
-
-
- EPS_SOC_LEVEL_12 = (uint8_t)(read[1]>>24);
- EPS_SOC_LEVEL_23 = (uint8_t)(read[1]>>16);
- ACS_MAG_TIME_DELAY = (uint8_t)(read[1]>>8);
- ACS_DEMAG_TIME_DELAY = (uint8_t)read[1];
-
- EPS_BAT_TEMP_LOW = (uint8_t)(read[2]>>24);
- EPS_BAT_TEMP_HIGH = (uint8_t)(read[2]>>16);
- EPS_BAT_TEMP_DEFAULT = (uint8_t)(read[2]>>8);
-
- ACS_MM_X_COMSN = (uint16_t)(read[3]>>16);
- ACS_MM_Y_COMSN = (uint16_t)read[3];
-
- ACS_MG_X_COMSN = (uint16_t)(read[4]>>16);
- ACS_MG_Y_COMSN = (uint16_t)read[4];
-
- ACS_MM_Z_COMSN = (uint16_t)(read[5]>>16);
- ACS_MG_Z_COMSN = (uint16_t)read[5];
-
- ACS_Z_FIXED_MOMENT = (uint16_t)(read[6]>>16);//assignvalues
-
- }
-
-}
-//================================================================================
-
-
-
-/*****************************************************************Threads USed***********************************************************************************/
-Thread *ptr_t_i2c;
-
-
-/*********************************************************FCTN HEADERS***********************************************************************************/
-void FCTN_ISR_I2C();
-void FCTN_TM();
-void F_ACS();
-void F_EPS();
-void F_BCN();
-
-//I2C
-uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working
-uint16_t crc16_check;
-void I2C_busreset()
-{
- PORTE->PCR[1] &= 0xfffffffb;
- PORTE->PCR[0] &= 0xfffffffb;
- I2C1->C1 &= 0x7f;
- SIM->SCGC4 &= 0xffffff7f;
- SIM->SCGC4 |= 0x00000080;
- I2C1->C1 |= 0x80;
- PORTE->PCR[1] |= 0x00000004;
- PORTE->PCR[0] |= 0x00000004;
- Thread::wait(1);
-}
-
-//*******************************************ACS THREAD**************************************************//
-uint8_t iterP1;
-uint8_t iterP2;
-uint8_t iterI1;
-uint8_t iterI2;
-
-//FLOAT TO UINT_8 CONVERSION FUNCTION
-extern uint8_t float_to_uint8(float min,float max,float val);
-
-#define print 0
-
-void F_ACS()
-{
- ACS_MAIN_COUNTER++;
- //time_wdog = 1;
- pc.printf("Entered ACS.\n\r");
-
- ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
- FLAG();
-
- ACS_MAIN_COUNTER+=1;
-
- PWM1 = 0; //clear pwm pins
- PWM2 = 0; //clear pwm pins
- PWM3 = 0; //clear pwm pins
-
- wait_ms(ACS_DEMAG_TIME_DELAY);
- ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ();
-
- #if print
- printing the angular speed and magnetic field values
- pc.printf("gyro values\n\r");
- for(int i=0; i<3; i++)
- {
- printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
- }
-
- pc.printf("mag values\n\r");
- for(int i=0; i<3; i++)
- {
- pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
- }
- #endif
-
- for(int i=0;i<3;i++)
- {
- mag_data[i] = actual_data.Bvalue_actual[i]/1000000;
- gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180;
- }
-
- if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
- {
- #if print
- printf("\n\r acs control off\n");
- #endif
- ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
- ACS_MAIN_STATUS = 0;
- return;
- }
- else if(actual_data.power_mode<=2)
- {
- #if print
- printf("\n\r Low Power \n\r");
- #endif
- DRV_Z_EN = 0;
- DRV_XY_EN = 0;
- ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
- ACS_MAIN_STATUS = 0;
- return;
-
- }
- else if(ACS_TR_Z_SW_STATUS != 1)
- {
- DRV_Z_EN = 0;
- DRV_XY_EN = 0;
- ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED
- ACS_MAIN_STATUS = 0;
- return;
- }
- else if(ACS_TR_XY_SW_STATUS != 1)
- {
- DRV_Z_EN = 1;
- DRV_XY_EN = 0;
- ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only
- moment[0] = 0;
- moment[1] = 0;
- moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
-
- FCTN_ACS_GENPWM_MAIN(moment) ;
- ACS_MAIN_STATUS = 0;
- return;
- }
- else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1))
- {
- DRV_Z_EN = 1;
- DRV_XY_EN = 0;
- ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only
-
- moment[0] = 0;
- moment[1] = 0;
- moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
-
- FCTN_ACS_GENPWM_MAIN(moment) ;
- ACS_MAIN_STATUS = 0;
- return;
- }
- else if(ACS_STATE == 5)
- {
- DRV_Z_EN = 1;
- DRV_XY_EN = 0;
- ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only
-
- moment[0] = 0;
- moment[1] = 0;
- moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value
- FCTN_ACS_GENPWM_MAIN(moment) ;
-
- ACS_MAIN_STATUS = 0;
- return;
- }
- else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available
- {
- DRV_Z_EN = 1;
- DRV_XY_EN = 1;
-
- ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL
- ACS_DETUMBLING_ALGO_TYPE = 0x01;
- FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
- #if print
- printf("\n\r Moment values returned by control algo \n");
- #endif
- for(int i=0; i<3; i++)
- {
- printf("%f\t",moment[i]);
- }
- FCTN_ACS_GENPWM_MAIN(moment) ;
- ACS_MAIN_STATUS = 0;
- return;
- }
- else if(ACS_STATE == 7) // Nominal mode
- {
- #if print
- printf("\n\r Nominal mode \n");
- #endif
- DRV_Z_EN = 1;
- DRV_XY_EN = 1;
- FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
- #if print
- printf("\n\r Moment values returned by control algo \n");
- #endif
- for(int i=0; i<3; i++)
- {
- printf("%f\t",moment[i]);
- }
- FCTN_ACS_GENPWM_MAIN(moment) ;
- ACS_MAIN_STATUS = 0;
- return;
- }
- else if(ACS_STATE == 8) // Auto Control
- {
- #if print
- printf("\n\r Auto control mode \n");
- #endif
- DRV_Z_EN = 1;
- DRV_XY_EN = 1;
- FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
- #if print
- printf("\n\r Moment values returned by control algo \n");
- for(int i=0; i<3; i++)
- {
- printf("%f\t",moment[i]);
- }
- #endif
- FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function
- ACS_MAIN_STATUS = 0;
- return;
- }
- else if(ACS_STATE == 9) // Detumbling
- {
- DRV_Z_EN = 1;
- DRV_XY_EN = 1;
- FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
- FCTN_ACS_GENPWM_MAIN(moment) ;
- ACS_MAIN_STATUS = 0;
- return;
- }
- ACS_STATUS = 7; //INVALID_STATE
- DRV_Z_EN = 0;
- DRV_XY_EN = 0;
- ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
-}
-
-
-//***************************************************EPS THREAD***********************************************//
-
-void F_EPS()
-{
- //time_wdog = 1;
- t_eps.start();
- EPS_MAIN_STATUS = 1; // Set EPS main status
- FLAG();
- EPS_MAIN_COUNTER+=1;
- #if print
- pc.printf("\n\rEntered EPS %f\n",t_start.read());
- #endif
-
-
- FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
- #if print
- pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
- #endif
- EPS_BATTERY_TEMP_STATUS = 1; //set EPS_BATTERY_TEMP_STATUS
- if(EPS_BTRY_HTR_AUTO == 1)
- {
- if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm
- {
- EN_BTRY_HT = 1; //turn on battery heater //earlier named as batt_heat
- }
- else
- {
- EN_BTRY_HT = 0; //turn off battery heater
- }
- }
- else if(EPS_BTRY_HTR_AUTO == 0)
- {
- EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED
- }
- FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual);
- if (actual_data.Batt_gauge_actual[1] == 200) //data not received
- {
- actual_data.power_mode = 1;
- EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
- }
- else
- {
- FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
- EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
- }
- FCTN_HK_MAIN();
- FCTN_APPEND_HKDATA();
- minMaxHkData();
- EPS_MAIN_STATUS = 0; // clear EPS main status
- t_eps.stop();
- #if print
- printf("\n\r the time for eps is %f",(float)t_eps.read_ms());
- #endif
- t_eps.reset();
-
-}
-
-
-//**************************************************BCN THREAD*******************************************************************//
-
-void F_BCN()
-{
- pc.printf("\n\rEntered BCN %f\n",t_start.read());
- //BCN_TX_MAIN_COUNTER=+1;
- FCTN_BCN_TX_MAIN();
-}
-
-//**************************************************TCTM THREAD*******************************************************************//
-
-void T_TC(void const * args)
-{
- while(1)
- {
- Thread::signal_wait(0x4);
- //wait_us(200);// se if it can be changed//@Lakshya:It can't be changed :)
- wait_us(300);
- BAE_MNG_I2C_STATUS =1 ;
- FLAG();
- //earlier BAE_I2CRX_STATUS=1;
- #if print
- printf("\n\rreached\n");
- #endif // can be between 38 to 15700
- if( slave.receive() == 0)
- {
- irpt_2_mstr = 0;
- data_send_flag = 'h';
- pc.printf("\n\rSlave not addressed");
- pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss1);
- slave.stop();
- pdir_ss1=PTE->PDIR; /////////edited
- if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed
- {
- I2C_busreset(); /////////edited
- }
- /*pdir_ss2=PTE->PDIR;
- #if PRINT2
- pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss2);
- #endif*/
- #if print
- printf("\n\rnot send\n");
- #endif
- }
- else if( slave.receive() == 1) // slave writes to master
- {
- BAE_I2C_COUNTER++; //////////edited
- if(data_send_flag = 'h') //to be renamed as BAE_I2C_STATUS
- {
- irpt_2_mstr =1; //wait till cdms code is changed
- FCTN_APPEND_HKDATA();
- uint8_t i2c_count =0;
- //crc is already being added
- write_ack=slave.write((char*)BAE_chardata,134);
- Thread::wait(1); //for correct values of register to be updated
- pdir_tm1=PTE->PDIR;
- irpt_2_mstr = 0;
- if(write_ack==0)// wait till cdms code is changed
- {
- while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
- {
- Thread::wait(1);
- pdir_tm1=PTE->PDIR;
- i2c_count++;
- }
- if(((pdir_tm1 & 0x00000003)==3))
- {
- pc.printf("\n\rWrite HK success");
- data_send_flag = 'h';
- //shoulddn't it be here
- irpt_2_mstr = 0; //////////edited
- }
- else
- {
- wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
- I2C_busreset();
- }
- #if print
- pc.printf("\n\rgot interrupt\n");
- #endif
- }
- else
- {
- I2C_busreset();
- }
- i2c_count=0;
- }
- else//data_send_flag = "t" //else if(telecommand[1]&0xC0 == 't')
- {
- uint8_t i2c_count =0;
- write_ack=slave.write((char*)telemetry,134); ////////edited(size)
- Thread::wait(1); //for correct values of register to be updated
- pdir_tm1=PTE->PDIR;
- irpt_2_mstr = 0;
- data_send_flag = 'h';
- if(write_ack==0)
- {
- while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
- {
- Thread::wait(1);
- pdir_tm1=PTE->PDIR;
- i2c_count++;
- }
- if(((pdir_tm1 & 0x00000003)==3))
- {
- pc.printf("\n\rWrite TM success");
- }
- else
- {
- wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
- I2C_busreset();
- }
- }
- else
- {
- I2C_busreset();
- }
- i2c_count=0;
- }
-
- }
- else if( slave.receive()==3 || slave.receive()==2) // slave read
- {
- BAE_I2C_COUNTER++;
- uint8_t i2c_count = 0;
- read_ack=slave.read((char *)telecommand,11); //read() function returns acknowledgement
- Thread::wait(1);
- pdir_tc1=PTE->PDIR;
- if(read_ack==0) //read() says it was successful
- {
- while(((pdir_tc1 & 0x00000003)!=3)&& i2c_count<10)//checking if SDA and SCL lines are logic 0 and not more than 10 times(10ms)
- {
- Thread::wait(1);
- pdir_tc1=PTE->PDIR;
- i2c_count++;
- }
- if(((pdir_tc1 & 0x00000003)==3))
- {
- pc.printf("\n\n\rRead TC success");
- //if(telecommand[1]&0xC0 == 0x00)
- if(telecommand[0] == 0x00) /////////////edited
- FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited
- //FCTN_TC_DECODE((uint8_t*) telecommand);
- else
- {
- FCTN_BAE_TM_TC((uint8_t*) telecommand);
- //telemetry = (char*)temp;
- data_send_flag = 't';
- //pc.printf("\n\r Telemetry Generation \n");
- irpt_2_mstr = 1;
- }
- }
- else //either or both of SDA and SCL lines low
- {
- I2C_busreset();
- // data_send_flag = 'i';
- gen_I_TM();
- data_send_flag = 't';
- //shouldn't it be here
- irpt_2_mstr = 1; /////////////added
- }
- }
- else //read() says it was not successful
- {
- I2C_busreset();
- //data_send_flag = 'i'; //'i' = invalid
- gen_I_TM();
- data_send_flag = 't';
- irpt_2_mstr = 1; /////////////added
- }
- i2c_count = 0;
- #if print
- pc.printf("\n\r time taken %d",t_tc.read_us());
- for(int i = 0; i<134; i++)
- pc.printf("%c", telemetry[i]);
- #endif
- }
- //was commented here now in txt file main_i2ccomment on desktp
- BAE_MNG_I2C_STATUS=0;
- FLAG();
- }
-}
-void FCTN_TM()
-{
- data_send_flag = 't';
- pc.printf("\n\r Telemetry Generation \n");
- irpt_2_mstr = 1;
-}
-
-
-//******************************************************* I2C *******************************************************************//
-
-void FCTN_I2C_ISR()
-{
- ptr_t_i2c->signal_set(0x4);
-}
-
-
-//***********************************************************FAULTS***************************************************************//
-
-uint8_t iter2=0,iter4 = 0;
-
-void pollfault()
-{
- if (pf1==0) // OC_ATS1
- {
- pf1check=1;
- actual_data.faultPoll_status |=0x01 ;
- ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
- }
- else
- actual_data.faultPoll_status &= 0xFE;
-
- if(pf2==0)
- {
- pf2check=1;
- actual_data.faultPoll_status |=0x02 ;
- ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
- }
- else
- actual_data.faultPoll_status &= 0xFD;
-
- if (pf3==0)
- {
- actual_data.faultPoll_status |=0x04 ;
- DRV_XY_EN = 0;
- wait_us(1);
- DRV_XY_EN = 1;
- }
- else
- actual_data.faultPoll_status &= 0xFB;
-}
-
-//------------------------------------------------------------------------------------------------------------------------------------------------
-//SCHEDULER
-//------------------------------------------------------------------------------------------------------------------------------------------------
-
-uint8_t schedcount=1;
-void T_SC(void const *args)
-{
- #if print
- printf("\n\r in scheduler");
- #endif
- /*if keeping thish many cases creates a problem then make 3 seperate flagvariable i.e bae_standby_acs so on that will make it easy.!!!*/
- if(schedcount == 7) //to reset the counter
- schedcount = 1;
- if(schedcount%1==0)
- {
- if( BAE_STANDBY!=0x02 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
- {
- pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
- F_ACS();
- //time_wdog = 0;
- }
-
- }
- if(schedcount%2==0)
- {
- if( BAE_STANDBY!=0x01 && BAE_STANDBY!=0x03 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x07)
- {
- //time_wdog = 1;
- F_EPS();
- }
- //time_wdog = 0;
- }
- if(schedcount%3==0)
- {
- //if(BAE_STANDBY!=0x04 && BAE_STANDBY!=0x05 && BAE_STANDBY!=0x06 && BAE_STANDBY!=0x07)
- // time_wdog = 0;
- // F_BCN();
- }
- schedcount++;
- #if print
- printf("\n\r exited scheduler h");
- printf("\n\r time taken %f",t_start.read());
- #endif
-}
-
-
-Timer t_flag;
-
-
-void FLAG()
-{
-
-//I2C
- //if(BAE_MNG_I2C_STATUS == 1)
- // BAE_STATUS = BAE_STATUS | 0x10000000;
- //else if(BAE_MNG_I2C_STATUS == 0)
- // BAE_STATUS &= 0xEFFFFFF;
-
-//.............bae..................//
- if(BAE_INIT_STATUS == 1)
- BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001;
- else if(BAE_INIT_STATUS == 0)
- BAE_STATUS &= 0xFFFFFFFE;
-
- if(BAE_MNG_I2C_STATUS == 1)
- BAE_STATUS = BAE_STATUS | 0x00000002;
- if(BAE_MNG_I2C_STATUS == 0)
- BAE_STATUS &= 0xFFFFFFFD;
-
-//.............acs..................//
- if(ACS_INIT_STATUS == 1)
- BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
- else if(ACS_INIT_STATUS == 0)
- BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
-
- if(ACS_DATA_ACQ_STATUS == 1)
- BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
- else if(ACS_DATA_ACQ_STATUS == 0)
- BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
-
- if(ACS_ATS_ENABLE == 1)
- BAE_ENABLE |= 0x00000004;
- else if(ACS_ATS_ENABLE == 0)
- BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
-
- if(ACS_DATA_ACQ_STATUS == 'f')
- BAE_STATUS |= 0x00000200;
-
- if(ACS_MAIN_STATUS == 1)
- BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
- else if(ACS_MAIN_STATUS == 0)
- BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
-
- if(ACS_STATUS == '0')
- BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
- else if(ACS_STATUS == '1')
- BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
- else if(ACS_STATUS == '2')
- BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
- else if(ACS_STATUS == '3')
- BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
- else if(ACS_STATUS == '4')
- BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
- else if(ACS_STATUS == '5')
- BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
- else if(ACS_STATUS == '6')
- BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
- else
- BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
-
- if(ACS_STATE == '0')
- BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
- else if(ACS_STATE == '2')
- BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
- else if(ACS_STATE == '3')
- BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
- else if(ACS_STATE == '4')
- BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
- else if(ACS_STATE == '5')
- BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
- else if(ACS_STATE == '6')
- BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
-
-//...............eps......................//
- if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
- BAE_STATUS |= 0x00010000;
- else if(EPS_INIT_STATUS==0) // Clear
- BAE_STATUS &= 0xFFFEFFFF;
-
-
- if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
- BAE_STATUS |= 0x00040000;
- else if(EPS_MAIN_STATUS==0) // Clear
- BAE_STATUS &= 0xFFFBFFFF;
-
-
- if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
- BAE_STATUS |= 0x00020000;
- else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
- BAE_STATUS &= 0xFFFDFFFF;
-
- if (EPS_BATTERY_TEMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
- BAE_STATUS |= 0x00080000;
- else if(EPS_BATTERY_TEMP_STATUS==0) // Clear
- BAE_STATUS &= 0xFFF7FFFF;
-
- if (EPS_STATUS==0)
- BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
- else if (EPS_STATUS==1)
- BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
- else if (EPS_STATUS==2)
- BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
- else if (EPS_STATUS==3)
- BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
- else if (EPS_STATUS==4)
- BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
- else if (EPS_STATUS==5)
- BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
-
- if(EPS_BTRY_HTR_AUTO == 1)
- BAE_ENABLE |= 0x00000080;
- else if(EPS_BTRY_HTR_AUTO == 0)
- BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
-
- #if print
- pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
- #endif
-}
-
-
-void FCTN_BAE_INIT()
-{
- #if print
- printf("\n\r Initialising BAE _________________________________________________________________________________");
- #endif
- BAE_INIT_STATUS=1;
- FLAG();
-
- //..........intial status....//
- ACS_STATE = 4;
- ACS_ATS_ENABLE = 1;
- ACS_DATA_ACQ_ENABLE = 1;
- EPS_BTRY_HTR_AUTO = 1;
- actual_data.power_mode=3;
-
- //............intializing pins................//
- ATS1_SW_ENABLE = 0;
- ATS2_SW_ENABLE = 1;
-
- DRV_XY_EN = 1;
- DRV_Z_EN = 1;
- TRZ_SW = 1;
- TRXY_SW = 1;
-
- //time_wdog = 1;
-
- //...........order mentioned in flow chart.................//
- FCTN_ACS_INIT();
- FCTN_EPS_INIT();
- FCTN_BCN_INIT();
-
- uint32_t data_flash=FCTN_BAE_RD_FLASH_ENTITY(0);/*sending the 0 entity as in mms tc/tm bae_reset_counter is present in first 32 bits */
- uint32_t data_modify=data_flash & 0x000000FF;
- data_modify +=1;
- data_modify |=data_flash;
- FCTN_BAE_WR_FLASH(0,data_modify);
- #if print
- printf("\n\rthe number of reset %d",data_modify);
- #endif
- BAE_INIT_STATUS=0;
- FLAG();
-}
-
-
-int main()
-{
- //time_wdog = 1;
- pc.printf("\n\r BAE Activated. Testing Version 1.2 \n");
- //FLASH_INI();
- FCTN_BAE_INIT();
- //time_wdog = 0;
-
- slave.address(addr);
- irpt_2_mstr = 0;
-
- ptr_t_i2c = new Thread(T_TC);
- ptr_t_i2c->set_priority(osPriorityHigh);
-
- irpt_4m_mstr.enable_irq();
- irpt_4m_mstr.rise(&FCTN_I2C_ISR);
-
- RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
- t_sc_timer.start(10000);
- t_start.start();
- #if print
- pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
- #endif
- /*if one defines it dynamically then one has to take care that the destuct function is calle everytime BAE resets otheriwse it will lead to memory leakage*/
- //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce);
- /*static allocation*/
- RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce);
- BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER;
-
- RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce);
- /*later change it to 30 min 1800 seconds*/
- bcn_start_timer.start(20000);
-
- //BCN HTR TIMERS
- RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce);
- HTR_OFF=&EPS_HTR_OFF_TIMER;
-
- RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE);
- HTR_CYCLE=&EPS_HTR_CYCLE_TIMER;
-
- RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce);
- HTR_DLY=&EPS_HTR_DLY_TIMER;
-
- FLASH_INI();
-
-while(1); //required to prevent main from terminating
-
-}
\ No newline at end of file