Team Fox / Mbed 2 deprecated TFR_BAE_vr1_1_Debug153

To be debugged

Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of TFR_BAE_vr1_1_Debug153 by Bragadeesh S

main.cpp@8:aad4f22221b1, 2016-01-25 (annotated)

Committer:
gkumar
Date:
Mon Jan 25 17:27:26 2016 +0000
Revision:
8:aad4f22221b1
Parent:
7:a46a1dee4497
Child:
9:f66c57a01e05
Updated PWM and control algo codes

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 0:7b4c00e3912f 12 //***************************************************** flags *************************************************************//
sakthipriya 0:7b4c00e3912f 13 uint32_t BAE_STATUS = 0x00000000;
sakthipriya 0:7b4c00e3912f 14 uint32_t BAE_ENABLE = 0xFFFFFFFF;
sakthipriya 0:7b4c00e3912f 15
sakthipriya 5:bb592f3185cc 16 //i2c//
sakthipriya 5:bb592f3185cc 17 char data_send_flag = 'h';
sakthipriya 5:bb592f3185cc 18
sakthipriya 0:7b4c00e3912f 19 //.........acs...............//
sakthipriya 0:7b4c00e3912f 20 char ACS_INIT_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 21 char ACS_DATA_ACQ_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 22 char ACS_ATS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 23 char ACS_MAIN_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 24 char ACS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 25
sakthipriya 0:7b4c00e3912f 26 char ACS_ATS_ENABLE = 'q';
sakthipriya 0:7b4c00e3912f 27 char ACS_DATA_ACQ_ENABLE = 'q';
sakthipriya 0:7b4c00e3912f 28 char ACS_STATE = 'q';
sakthipriya 0:7b4c00e3912f 29
sakthipriya 0:7b4c00e3912f 30 //.....................eps...................//
sakthipriya 0:7b4c00e3912f 31 //eps init
sakthipriya 0:7b4c00e3912f 32 char EPS_INIT_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 33 char EPS_BATTERY_GAUGE_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 34 //eps main
sakthipriya 0:7b4c00e3912f 35 char EPS_MAIN_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 36 char EPS_BATTERY_TEMP_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 37 char EPS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 38
sakthipriya 0:7b4c00e3912f 39 char EPS_BATTERY_HEAT_ENABLE = 'q';
sakthipriya 0:7b4c00e3912f 40
sakthipriya 0:7b4c00e3912f 41 //.......................global variables..................................................................// new hk structure- everything has to changed based on this
sakthipriya 6:036d08b62785 42 uint8_t BAE_data[74];
sakthipriya 6:036d08b62785 43 char BAE_chardata[74];
sakthipriya 0:7b4c00e3912f 44
sakthipriya 0:7b4c00e3912f 45
sakthipriya 0:7b4c00e3912f 46 //*************************************Global declarations************************************************//
sakthipriya 0:7b4c00e3912f 47 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 48
sakthipriya 0:7b4c00e3912f 49 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 50 Timer t_start;
sakthipriya 7:a46a1dee4497 51 Timer t_tc;
sakthipriya 7:a46a1dee4497 52 Timer t_tm;
sakthipriya 0:7b4c00e3912f 53 Serial pc(USBTX, USBRX);
sakthipriya 0:7b4c00e3912f 54 int power_flag_dummy=2;
sakthipriya 0:7b4c00e3912f 55 float data[6];
sakthipriya 0:7b4c00e3912f 56
sakthipriya 0:7b4c00e3912f 57 extern float moment[3];
gkumar 8:aad4f22221b1 58 int flag_firsttime=1, controlmode, alarmmode=0;
gkumar 8:aad4f22221b1 59 float b_old[3];
sakthipriya 0:7b4c00e3912f 60 extern uint8_t BCN_FEN;
sakthipriya 1:446a959e36ce 61 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 62 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 63 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 64 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 65
sakthipriya 5:bb592f3185cc 66 int write_ack = 1;
sakthipriya 5:bb592f3185cc 67 int read_ack = 1;
sakthipriya 0:7b4c00e3912f 68 char telecommand[tc_len];
sakthipriya 3:07e15677a75c 69 char* telemetry;
sakthipriya 5:bb592f3185cc 70
sakthipriya 5:bb592f3185cc 71 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 72 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 73 bool if1check = 0;
sakthipriya 5:bb592f3185cc 74 bool if2check = 1;
sakthipriya 0:7b4c00e3912f 75
sakthipriya 0:7b4c00e3912f 76 //*****************************************************Assigning pins******************************************************//
sakthipriya 0:7b4c00e3912f 77 DigitalOut gpo1(PTC0); // enable of att sens2 switch
sakthipriya 0:7b4c00e3912f 78 DigitalOut gpo2(PTC16); // enable of att sens switch
sakthipriya 0:7b4c00e3912f 79 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
sakthipriya 0:7b4c00e3912f 80 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
sakthipriya 0:7b4c00e3912f 81 I2CSlave slave (PIN1,PIN2);
sakthipriya 0:7b4c00e3912f 82 DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 83
sakthipriya 0:7b4c00e3912f 84 //gpo1 = 0;
sakthipriya 0:7b4c00e3912f 85 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 86 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 87 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 88
sakthipriya 5:bb592f3185cc 89 //........faults
sakthipriya 5:bb592f3185cc 90 //Polled Faults
sakthipriya 5:bb592f3185cc 91 DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
sakthipriya 5:bb592f3185cc 92 DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
sakthipriya 5:bb592f3185cc 93 DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 94
sakthipriya 5:bb592f3185cc 95 //Interrupt based faults
sakthipriya 5:bb592f3185cc 96 //InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal
sakthipriya 5:bb592f3185cc 97 InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault
sakthipriya 5:bb592f3185cc 98 InterruptIn ir3(PIN89);//TRZ Driver Fault Bar
sakthipriya 5:bb592f3185cc 99 InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault
sakthipriya 5:bb592f3185cc 100 InterruptIn ir5(PIN79);//CDMS - Switch Fault
sakthipriya 5:bb592f3185cc 101 InterruptIn ir6(PIN80);//Beacon- Switch OC bar
sakthipriya 5:bb592f3185cc 102 InterruptIn ir7(PIN42);//Charger IC - Fault Bar
sakthipriya 5:bb592f3185cc 103
sakthipriya 5:bb592f3185cc 104 DigitalOut TRXY_SW(PIN71); //TR XY Switch
sakthipriya 5:bb592f3185cc 105 DigitalOut DRV_Z_SLP(PIN88); //Sleep pin of driver z
sakthipriya 5:bb592f3185cc 106 DigitalOut TRZ_SW(PIN40); //TR Z Switch
sakthipriya 5:bb592f3185cc 107 DigitalOut CDMS_RESET(PIN7); // CDMS RESET
sakthipriya 5:bb592f3185cc 108 DigitalOut BCN_SW(PIN14); //Beacon switch
sakthipriya 5:bb592f3185cc 109 DigitalOut DRV_XY_SLP(PIN82);
sakthipriya 5:bb592f3185cc 110
sakthipriya 5:bb592f3185cc 111
sakthipriya 5:bb592f3185cc 112
sakthipriya 0:7b4c00e3912f 113
sakthipriya 0:7b4c00e3912f 114 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 3:07e15677a75c 115
sakthipriya 0:7b4c00e3912f 116 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 117
sakthipriya 0:7b4c00e3912f 118 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 119
sakthipriya 0:7b4c00e3912f 120 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 121 void FCTN_TM();
sakthipriya 3:07e15677a75c 122 void F_ACS();
sakthipriya 3:07e15677a75c 123 void F_EPS();
sakthipriya 3:07e15677a75c 124 void F_BCN();
sakthipriya 0:7b4c00e3912f 125
sakthipriya 0:7b4c00e3912f 126 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 127 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 128 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 129 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 130 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 131
sakthipriya 5:bb592f3185cc 132
sakthipriya 3:07e15677a75c 133 void F_ACS()
sakthipriya 0:7b4c00e3912f 134 {
sakthipriya 5:bb592f3185cc 135 if(pf1check == 1)
sakthipriya 5:bb592f3185cc 136 {
sakthipriya 5:bb592f3185cc 137 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 138 {
sakthipriya 5:bb592f3185cc 139 gpo1 = 1; // turn off ats1 permanently
sakthipriya 5:bb592f3185cc 140 //FCTN_SWITCH_ATS(0); // switch on ATS2
sakthipriya 5:bb592f3185cc 141 }
sakthipriya 5:bb592f3185cc 142 else
sakthipriya 5:bb592f3185cc 143 {
sakthipriya 5:bb592f3185cc 144 gpo1 = 0;
sakthipriya 5:bb592f3185cc 145 iterP1++;
sakthipriya 5:bb592f3185cc 146 }
sakthipriya 5:bb592f3185cc 147 }
sakthipriya 5:bb592f3185cc 148 if(pf2check == 1)
sakthipriya 5:bb592f3185cc 149 {
sakthipriya 5:bb592f3185cc 150 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 151 {
sakthipriya 5:bb592f3185cc 152 gpo2 = 1; // turn off ats2 permanently
sakthipriya 5:bb592f3185cc 153 ACS_DATA_ACQ_ENABLE == 'd';
sakthipriya 5:bb592f3185cc 154 ACS_STATE == '2' ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 155 }
sakthipriya 5:bb592f3185cc 156 else
sakthipriya 5:bb592f3185cc 157 {
sakthipriya 5:bb592f3185cc 158 gpo2 = 0;
sakthipriya 5:bb592f3185cc 159 iterP2++;
sakthipriya 5:bb592f3185cc 160 }
sakthipriya 5:bb592f3185cc 161 }
sakthipriya 5:bb592f3185cc 162 if(if1check == 1)
sakthipriya 5:bb592f3185cc 163 {
sakthipriya 5:bb592f3185cc 164 if(iterI1 >= 3)
sakthipriya 5:bb592f3185cc 165 {
sakthipriya 5:bb592f3185cc 166 TRXY_SW = 0; // turn off TRXY permanently
sakthipriya 5:bb592f3185cc 167 }
sakthipriya 5:bb592f3185cc 168 else
sakthipriya 5:bb592f3185cc 169 {
sakthipriya 5:bb592f3185cc 170 TRXY_SW = 1; //switch on TRXY
sakthipriya 5:bb592f3185cc 171 iterI1++;
sakthipriya 5:bb592f3185cc 172 }
sakthipriya 5:bb592f3185cc 173 }
sakthipriya 5:bb592f3185cc 174 if(if2check == 1)
sakthipriya 5:bb592f3185cc 175 {
sakthipriya 5:bb592f3185cc 176 if(iterI2 >= 3)
sakthipriya 5:bb592f3185cc 177 {
sakthipriya 5:bb592f3185cc 178 TRZ_SW = 0; // turn off TRZ permanently
sakthipriya 5:bb592f3185cc 179 ACS_STATE == '2' ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 180 }
sakthipriya 5:bb592f3185cc 181 else
sakthipriya 5:bb592f3185cc 182 {
sakthipriya 5:bb592f3185cc 183 TRZ_SW = 1; //switch on Z
sakthipriya 5:bb592f3185cc 184 iterI2++;
sakthipriya 5:bb592f3185cc 185 }
sakthipriya 5:bb592f3185cc 186 }
sakthipriya 5:bb592f3185cc 187
sakthipriya 6:036d08b62785 188 //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 189 //b1[3] = {22, 22,10};
sakthipriya 0:7b4c00e3912f 190 //omega1[3] = {2.1,3.0,1.5};
sakthipriya 0:7b4c00e3912f 191 // gpo1 = 0; // att sens2 switch is disabled
sakthipriya 0:7b4c00e3912f 192 // gpo2 = 0; // att sens switch is disabled
sakthipriya 0:7b4c00e3912f 193
sakthipriya 3:07e15677a75c 194
sakthipriya 0:7b4c00e3912f 195
sakthipriya 3:07e15677a75c 196 //Thread::signal_wait(0x1);
sakthipriya 0:7b4c00e3912f 197 ACS_MAIN_STATUS = 's'; //set ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 198 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 199 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 200 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 201 pc.printf("\n\rEntered ACS %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 202
sakthipriya 0:7b4c00e3912f 203 if(ACS_DATA_ACQ_ENABLE == 'e')// check if ACS_DATA_ACQ_ENABLE = 1?
sakthipriya 0:7b4c00e3912f 204 {
sakthipriya 0:7b4c00e3912f 205 FLAG();
sakthipriya 0:7b4c00e3912f 206 FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
gkumar 8:aad4f22221b1 207 pc.printf("gyro values in rad/sec \n\r"); //printing the angular velocity and magnetic field values
sakthipriya 0:7b4c00e3912f 208 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 209 {
sakthipriya 6:036d08b62785 210 pc.printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
sakthipriya 0:7b4c00e3912f 211 }
gkumar 8:aad4f22221b1 212 pc.printf("mag values in Tesla \n\r");
sakthipriya 6:036d08b62785 213 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 214 {
sakthipriya 6:036d08b62785 215 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
sakthipriya 5:bb592f3185cc 216 }
sakthipriya 6:036d08b62785 217 // for(int i=0;i<3;i++)
sakthipriya 6:036d08b62785 218 // {
sakthipriya 6:036d08b62785 219 // omega1[i]= data[i];
sakthipriya 6:036d08b62785 220 // b1[i] = data[i+3];
sakthipriya 6:036d08b62785 221 // }
sakthipriya 0:7b4c00e3912f 222 }//if ACS_DATA_ACQ_ENABLE = 1
sakthipriya 0:7b4c00e3912f 223 else
sakthipriya 0:7b4c00e3912f 224 {
sakthipriya 0:7b4c00e3912f 225 // Z axis actuation is the only final solution,
sakthipriya 0:7b4c00e3912f 226 }
sakthipriya 0:7b4c00e3912f 227 if(ACS_STATE == '0') // check ACS_STATE = ACS_CONTROL_OFF?
sakthipriya 0:7b4c00e3912f 228 {
sakthipriya 0:7b4c00e3912f 229 printf("\n\r acs control off\n");
sakthipriya 0:7b4c00e3912f 230 FLAG();
sakthipriya 0:7b4c00e3912f 231 ACS_STATUS = '0'; // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 232 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 233 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 234 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 235 }
sakthipriya 0:7b4c00e3912f 236 else
sakthipriya 0:7b4c00e3912f 237 {
sakthipriya 1:446a959e36ce 238 if(actual_data.power_mode>1)
sakthipriya 0:7b4c00e3912f 239
sakthipriya 0:7b4c00e3912f 240 {
sakthipriya 0:7b4c00e3912f 241 if(ACS_STATE == '2') // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 242 {
sakthipriya 0:7b4c00e3912f 243 FLAG();
sakthipriya 0:7b4c00e3912f 244 printf("\n\r z axis moment only\n");
sakthipriya 0:7b4c00e3912f 245 ACS_STATUS = '2'; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 246 // FCTN_ACS_CNTRLALGO(b1, omega1);
sakthipriya 0:7b4c00e3912f 247 moment[0] = 0;
sakthipriya 0:7b4c00e3912f 248 moment[1] = 0;
sakthipriya 0:7b4c00e3912f 249 moment[2] =1.3;// is a dummy value
sakthipriya 0:7b4c00e3912f 250 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 251 }
sakthipriya 0:7b4c00e3912f 252 else
sakthipriya 0:7b4c00e3912f 253 {
sakthipriya 0:7b4c00e3912f 254 if(ACS_STATE == '3') // check ACS_STATE = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 255 {
sakthipriya 0:7b4c00e3912f 256 FLAG();
sakthipriya 0:7b4c00e3912f 257 printf("\n\r acs data failure ");
sakthipriya 0:7b4c00e3912f 258 ACS_STATUS = '3'; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 259 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 260 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 261 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 262 }
sakthipriya 0:7b4c00e3912f 263 else
sakthipriya 0:7b4c00e3912f 264 {
sakthipriya 0:7b4c00e3912f 265 if(ACS_STATE == '4') // check ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 266 {
sakthipriya 0:7b4c00e3912f 267 FLAG();
sakthipriya 0:7b4c00e3912f 268 printf("\n\r nominal");
sakthipriya 0:7b4c00e3912f 269 ACS_STATUS = '4'; // set ACS_STATUS = ACS_NOMINAL_ONLY
gkumar 8:aad4f22221b1 270 FCTN_ACS_CNTRLALGO(moment,actual_data.Bvalue_actual,actual_data.AngularSpeed_actual,b_old,alarmmode, flag_firsttime, controlmode);
sakthipriya 0:7b4c00e3912f 271 printf("\n\r moment values returned by control algo \n");
sakthipriya 0:7b4c00e3912f 272 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 273 {
sakthipriya 0:7b4c00e3912f 274 printf("%f\t",moment[i]);
sakthipriya 0:7b4c00e3912f 275 }
sakthipriya 0:7b4c00e3912f 276 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 277 }
sakthipriya 0:7b4c00e3912f 278 else
sakthipriya 0:7b4c00e3912f 279 {
sakthipriya 0:7b4c00e3912f 280 if(ACS_STATE == '5') // check ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 281 {
sakthipriya 0:7b4c00e3912f 282 FLAG();
sakthipriya 0:7b4c00e3912f 283 printf("\n\r auto control");
sakthipriya 0:7b4c00e3912f 284 ACS_STATUS = '5'; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 285 //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code
sakthipriya 0:7b4c00e3912f 286 }
sakthipriya 0:7b4c00e3912f 287 else
sakthipriya 0:7b4c00e3912f 288 {
sakthipriya 0:7b4c00e3912f 289 if(ACS_STATE == '6') // check ACS_STATE = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 290 {
sakthipriya 0:7b4c00e3912f 291 FLAG();
sakthipriya 0:7b4c00e3912f 292 printf("\n\r Entered detumbling \n");
sakthipriya 0:7b4c00e3912f 293 ACS_STATUS = '6'; // set ACS_STATUS = ACS_DETUMBLING_ONLY
gkumar 8:aad4f22221b1 294 //FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); // detumbling code has to be included
gkumar 8:aad4f22221b1 295 FCTN_ACS_CNTRLALGO(moment,actual_data.Bvalue_actual,actual_data.AngularSpeed_actual,b_old,alarmmode, flag_firsttime, controlmode);
sakthipriya 0:7b4c00e3912f 296 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 297 }
sakthipriya 0:7b4c00e3912f 298 else
sakthipriya 0:7b4c00e3912f 299 {
sakthipriya 0:7b4c00e3912f 300 FLAG();
sakthipriya 0:7b4c00e3912f 301 printf("\n\r invalid state");
sakthipriya 0:7b4c00e3912f 302 ACS_STATUS = '7' ; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 303 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 304 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 305 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 306 }//else of invalid
sakthipriya 0:7b4c00e3912f 307 }//else of autocontrol
sakthipriya 0:7b4c00e3912f 308 }//else of nominal
sakthipriya 0:7b4c00e3912f 309 }//else of data acg failure
sakthipriya 0:7b4c00e3912f 310
sakthipriya 0:7b4c00e3912f 311 }//else fo z axis moment only
sakthipriya 0:7b4c00e3912f 312 }//if power >2
sakthipriya 0:7b4c00e3912f 313 else
sakthipriya 0:7b4c00e3912f 314 {
sakthipriya 0:7b4c00e3912f 315 FLAG();
sakthipriya 0:7b4c00e3912f 316 printf("\n\r low power");
sakthipriya 0:7b4c00e3912f 317 ACS_STATUS = '1'; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 318 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 319 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 320 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 321 }
sakthipriya 0:7b4c00e3912f 322 } //else for acs control off
sakthipriya 0:7b4c00e3912f 323 ACS_MAIN_STATUS = 'c'; //clear ACS_MAIN_STATUS flag
sakthipriya 3:07e15677a75c 324
sakthipriya 0:7b4c00e3912f 325 }
sakthipriya 0:7b4c00e3912f 326 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 327
sakthipriya 3:07e15677a75c 328 void F_EPS()
sakthipriya 0:7b4c00e3912f 329 {
sakthipriya 3:07e15677a75c 330
sakthipriya 0:7b4c00e3912f 331 pc.printf("\n\rEntered EPS %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 332 EPS_MAIN_STATUS = 's'; // Set EPS main status
sakthipriya 3:07e15677a75c 333 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
sakthipriya 3:07e15677a75c 334 pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
sakthipriya 3:07e15677a75c 335 EPS_BATTERY_TEMP_STATUS = 's'; //set EPS_BATTERY_TEMP_STATUS
sakthipriya 3:07e15677a75c 336 if(EPS_BATTERY_HEAT_ENABLE == 'e')
sakthipriya 3:07e15677a75c 337 {
sakthipriya 5:bb592f3185cc 338 if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm
sakthipriya 3:07e15677a75c 339 {
sakthipriya 3:07e15677a75c 340 batt_heat = 1; //turn on battery heater
sakthipriya 3:07e15677a75c 341 }
sakthipriya 3:07e15677a75c 342 else
sakthipriya 3:07e15677a75c 343 {
sakthipriya 3:07e15677a75c 344 batt_heat = 0; //turn off battery heater
sakthipriya 3:07e15677a75c 345 }
sakthipriya 3:07e15677a75c 346
sakthipriya 3:07e15677a75c 347 }
sakthipriya 3:07e15677a75c 348 else if(EPS_BATTERY_HEAT_ENABLE == 'd')
sakthipriya 3:07e15677a75c 349 {
sakthipriya 3:07e15677a75c 350 EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED
sakthipriya 3:07e15677a75c 351 }
sakthipriya 0:7b4c00e3912f 352 FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual);
sakthipriya 1:446a959e36ce 353 if (actual_data.Batt_gauge_actual[1] == 200) //data not received
sakthipriya 0:7b4c00e3912f 354 {
sakthipriya 0:7b4c00e3912f 355 actual_data.power_mode = 1;
sakthipriya 0:7b4c00e3912f 356 EPS_BATTERY_GAUGE_STATUS = 'c'; //clear EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 357
sakthipriya 0:7b4c00e3912f 358 }
sakthipriya 0:7b4c00e3912f 359 else
sakthipriya 0:7b4c00e3912f 360 {
sakthipriya 1:446a959e36ce 361 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
sakthipriya 0:7b4c00e3912f 362 EPS_BATTERY_GAUGE_STATUS = 's'; //set EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 363 }
sakthipriya 3:07e15677a75c 364 // if( Temperature data received)
sakthipriya 3:07e15677a75c 365 //{
sakthipriya 3:07e15677a75c 366
sakthipriya 0:7b4c00e3912f 367
sakthipriya 3:07e15677a75c 368 // }
sakthipriya 3:07e15677a75c 369 // else
sakthipriya 3:07e15677a75c 370 // {
sakthipriya 3:07e15677a75c 371 // Set battery temp to XX
sakthipriya 3:07e15677a75c 372 // EPS_BATTERY_TEMP_STATUS = 'c'; //clear EPS_BATTERY_TEMP_STATUS
sakthipriya 3:07e15677a75c 373 // EPS_STATUS = EPS_ERR_BATTERY_TEMP;
sakthipriya 3:07e15677a75c 374 // }
sakthipriya 3:07e15677a75c 375 FCTN_HK_MAIN();
sakthipriya 6:036d08b62785 376 // printf("\n\r here");
sakthipriya 5:bb592f3185cc 377 FCTN_APPEND_HKDATA();
sakthipriya 5:bb592f3185cc 378 minMaxHkData();
sakthipriya 6:036d08b62785 379 //printf("\n\r here");
sakthipriya 3:07e15677a75c 380 EPS_MAIN_STATUS = 'c'; // clear EPS main status
sakthipriya 3:07e15677a75c 381
sakthipriya 0:7b4c00e3912f 382 }
sakthipriya 0:7b4c00e3912f 383
sakthipriya 0:7b4c00e3912f 384 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 385
sakthipriya 3:07e15677a75c 386 void F_BCN()
sakthipriya 0:7b4c00e3912f 387 {
sakthipriya 3:07e15677a75c 388
sakthipriya 0:7b4c00e3912f 389 pc.printf("\n\rEntered BCN %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 390
sakthipriya 0:7b4c00e3912f 391 P_BCN_TX_MAIN();
sakthipriya 0:7b4c00e3912f 392
sakthipriya 0:7b4c00e3912f 393 }
sakthipriya 0:7b4c00e3912f 394
sakthipriya 0:7b4c00e3912f 395 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 396
sakthipriya 0:7b4c00e3912f 397 void T_TC(void const * args)
sakthipriya 0:7b4c00e3912f 398 {
sakthipriya 0:7b4c00e3912f 399 while(1)
sakthipriya 0:7b4c00e3912f 400 {
sakthipriya 0:7b4c00e3912f 401 Thread::signal_wait(0x4);
sakthipriya 0:7b4c00e3912f 402 wait_us(200); // can be between 38 to 15700
sakthipriya 0:7b4c00e3912f 403 if( slave.receive() == 0)
sakthipriya 0:7b4c00e3912f 404 slave.stop();
sakthipriya 0:7b4c00e3912f 405 else if( slave.receive() == 1) // slave writes to master
sakthipriya 0:7b4c00e3912f 406 {
sakthipriya 5:bb592f3185cc 407 if(data_send_flag == 'h')
sakthipriya 6:036d08b62785 408 {
sakthipriya 6:036d08b62785 409 //FCTN_APPEND_HKDATA();
sakthipriya 6:036d08b62785 410 // pc.printf("\n\r here");
sakthipriya 6:036d08b62785 411 write_ack=slave.write(BAE_chardata,74);
sakthipriya 6:036d08b62785 412 }
sakthipriya 5:bb592f3185cc 413 else if(data_send_flag == 't')
sakthipriya 5:bb592f3185cc 414 {
sakthipriya 5:bb592f3185cc 415 write_ack=slave.write(telemetry,tm_len);
sakthipriya 5:bb592f3185cc 416 data_send_flag = 'h';
sakthipriya 5:bb592f3185cc 417 irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 418 }
sakthipriya 0:7b4c00e3912f 419 }
sakthipriya 0:7b4c00e3912f 420 else if( slave.receive()==3 || slave.receive()==2) // slave read
sakthipriya 0:7b4c00e3912f 421 {
sakthipriya 5:bb592f3185cc 422 read_ack=slave.read(telecommand,tc_len);
sakthipriya 7:a46a1dee4497 423 t_tc.start();
sakthipriya 6:036d08b62785 424 //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand);
sakthipriya 7:a46a1dee4497 425 pc.printf("\n\r Executing Telecommand \n");
sakthipriya 3:07e15677a75c 426 // FCTN_TC_DECODE((uint8_t*) telecommand);
sakthipriya 7:a46a1dee4497 427
sakthipriya 3:07e15677a75c 428 uint8_t* temp = FCTN_BAE_TM_TC((uint8_t*) telecommand);
sakthipriya 3:07e15677a75c 429 telemetry = (char*)temp;
sakthipriya 7:a46a1dee4497 430
sakthipriya 5:bb592f3185cc 431 FCTN_TM();
sakthipriya 7:a46a1dee4497 432 t_tc.stop();
sakthipriya 7:a46a1dee4497 433 printf("\n\r time taken %d",t_tc.read_us());
sakthipriya 7:a46a1dee4497 434 t_tc.reset();
sakthipriya 3:07e15677a75c 435 // for(int i = 0; i<134; i++)
sakthipriya 3:07e15677a75c 436 //pc.printf("%c", telemetry[i]);
sakthipriya 0:7b4c00e3912f 437 }
sakthipriya 0:7b4c00e3912f 438
sakthipriya 6:036d08b62785 439
sakthipriya 0:7b4c00e3912f 440 }
sakthipriya 0:7b4c00e3912f 441 }
sakthipriya 0:7b4c00e3912f 442
sakthipriya 0:7b4c00e3912f 443 void FCTN_TM()
sakthipriya 0:7b4c00e3912f 444 {
sakthipriya 4:39a4ae8c7ecd 445 //irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 446 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 447 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 448 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 449 }
sakthipriya 0:7b4c00e3912f 450
sakthipriya 0:7b4c00e3912f 451
sakthipriya 0:7b4c00e3912f 452 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 453
sakthipriya 0:7b4c00e3912f 454 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 455 {
sakthipriya 0:7b4c00e3912f 456 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 457 }
sakthipriya 0:7b4c00e3912f 458
sakthipriya 0:7b4c00e3912f 459
sakthipriya 5:bb592f3185cc 460 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 461 /*void ir1clear()
sakthipriya 5:bb592f3185cc 462 {
sakthipriya 5:bb592f3185cc 463 actual_data.faultIr_status |= 0x01; // alert
sakthipriya 5:bb592f3185cc 464
sakthipriya 5:bb592f3185cc 465 }*/
sakthipriya 5:bb592f3185cc 466
sakthipriya 5:bb592f3185cc 467
sakthipriya 5:bb592f3185cc 468
sakthipriya 5:bb592f3185cc 469 void ir2clear()
sakthipriya 5:bb592f3185cc 470 {
sakthipriya 5:bb592f3185cc 471 actual_data.faultIr_status |= 0x02;
sakthipriya 5:bb592f3185cc 472 TRXY_SW = 0; // Switch off TR XY
sakthipriya 5:bb592f3185cc 473 if1check = 1;
sakthipriya 5:bb592f3185cc 474 }
sakthipriya 5:bb592f3185cc 475
sakthipriya 5:bb592f3185cc 476 void ir3clear()
sakthipriya 5:bb592f3185cc 477 {
sakthipriya 5:bb592f3185cc 478 actual_data.faultIr_status |= 0x04;
sakthipriya 5:bb592f3185cc 479 DRV_Z_SLP = 0;
sakthipriya 5:bb592f3185cc 480 wait_us(1);
sakthipriya 5:bb592f3185cc 481 DRV_Z_SLP = 1;
sakthipriya 5:bb592f3185cc 482
sakthipriya 5:bb592f3185cc 483 }
sakthipriya 5:bb592f3185cc 484
sakthipriya 5:bb592f3185cc 485 void ir4clear()
sakthipriya 5:bb592f3185cc 486 {
sakthipriya 5:bb592f3185cc 487 if2check = 1;
sakthipriya 5:bb592f3185cc 488 actual_data.faultIr_status |= 0x08;
sakthipriya 5:bb592f3185cc 489 TRZ_SW = 0;
sakthipriya 5:bb592f3185cc 490 }
sakthipriya 5:bb592f3185cc 491
sakthipriya 5:bb592f3185cc 492 void ir5clear()
sakthipriya 5:bb592f3185cc 493 {
sakthipriya 5:bb592f3185cc 494 actual_data.faultIr_status |= 0x10;
sakthipriya 5:bb592f3185cc 495 CDMS_RESET = 0;
sakthipriya 5:bb592f3185cc 496 wait_us(1);
sakthipriya 5:bb592f3185cc 497 CDMS_RESET = 1;
sakthipriya 5:bb592f3185cc 498 }
sakthipriya 5:bb592f3185cc 499
sakthipriya 5:bb592f3185cc 500 void ir6clear()
sakthipriya 5:bb592f3185cc 501 {
sakthipriya 5:bb592f3185cc 502 actual_data.faultIr_status |= 0x20;
sakthipriya 5:bb592f3185cc 503 BCN_SW = 0;
sakthipriya 5:bb592f3185cc 504 wait_us(1);
sakthipriya 5:bb592f3185cc 505 BCN_SW = 1;
sakthipriya 5:bb592f3185cc 506 }
sakthipriya 5:bb592f3185cc 507
sakthipriya 5:bb592f3185cc 508 void ir7clear()
sakthipriya 5:bb592f3185cc 509 {
sakthipriya 5:bb592f3185cc 510 actual_data.faultIr_status |= 0x40;
sakthipriya 5:bb592f3185cc 511 }
sakthipriya 5:bb592f3185cc 512 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 513
sakthipriya 5:bb592f3185cc 514
sakthipriya 5:bb592f3185cc 515
sakthipriya 5:bb592f3185cc 516 void pollfault()
sakthipriya 5:bb592f3185cc 517 {
sakthipriya 5:bb592f3185cc 518
sakthipriya 5:bb592f3185cc 519
sakthipriya 5:bb592f3185cc 520
sakthipriya 5:bb592f3185cc 521 if (pf1==0) // OC_ATS1
sakthipriya 5:bb592f3185cc 522 {
sakthipriya 5:bb592f3185cc 523 pf1check=1;
sakthipriya 5:bb592f3185cc 524 actual_data.faultPoll_status |=0x01 ;
sakthipriya 5:bb592f3185cc 525 gpo1 = 1; // turn off ats1 // to be turned on next cycle in ACS
sakthipriya 5:bb592f3185cc 526 }
sakthipriya 5:bb592f3185cc 527 else actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 528
sakthipriya 5:bb592f3185cc 529 if (pf2==0)
sakthipriya 5:bb592f3185cc 530 {
sakthipriya 5:bb592f3185cc 531 pf2check=1;
sakthipriya 5:bb592f3185cc 532 actual_data.faultPoll_status |=0x02 ;
sakthipriya 5:bb592f3185cc 533 gpo2 = 1; // turn off ats2 // turn on in ACS
sakthipriya 5:bb592f3185cc 534 }
sakthipriya 5:bb592f3185cc 535 else actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 536
sakthipriya 5:bb592f3185cc 537 if (pf3==0)
sakthipriya 5:bb592f3185cc 538 { actual_data.faultPoll_status |=0x04 ;
sakthipriya 5:bb592f3185cc 539 DRV_XY_SLP = 0;
sakthipriya 5:bb592f3185cc 540 wait_us(1);
sakthipriya 5:bb592f3185cc 541 DRV_XY_SLP = 1;
sakthipriya 5:bb592f3185cc 542 }
sakthipriya 5:bb592f3185cc 543 else actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 544
sakthipriya 5:bb592f3185cc 545
sakthipriya 5:bb592f3185cc 546
sakthipriya 5:bb592f3185cc 547
sakthipriya 5:bb592f3185cc 548 /*if (ir1==1)
sakthipriya 5:bb592f3185cc 549 {
sakthipriya 5:bb592f3185cc 550 actual_data.faultIr_status &=0xFE;
sakthipriya 5:bb592f3185cc 551 }*/
sakthipriya 5:bb592f3185cc 552 if (ir2==1)
sakthipriya 5:bb592f3185cc 553 {
sakthipriya 5:bb592f3185cc 554 actual_data.faultIr_status &=0xFD;
sakthipriya 5:bb592f3185cc 555 }
sakthipriya 5:bb592f3185cc 556 if (ir3==1)
sakthipriya 5:bb592f3185cc 557 {
sakthipriya 5:bb592f3185cc 558 actual_data.faultIr_status &=0xFB;
sakthipriya 5:bb592f3185cc 559 }
sakthipriya 5:bb592f3185cc 560 if (ir4==1)
sakthipriya 5:bb592f3185cc 561 {
sakthipriya 5:bb592f3185cc 562 actual_data.faultIr_status &=0xF7;
sakthipriya 5:bb592f3185cc 563 }
sakthipriya 5:bb592f3185cc 564 if (ir5==1)
sakthipriya 5:bb592f3185cc 565 {
sakthipriya 5:bb592f3185cc 566 actual_data.faultIr_status &=0xEF;
sakthipriya 5:bb592f3185cc 567 }
sakthipriya 5:bb592f3185cc 568 if (ir6==1)
sakthipriya 5:bb592f3185cc 569 {
sakthipriya 5:bb592f3185cc 570 actual_data.faultIr_status &=0xDF;
sakthipriya 5:bb592f3185cc 571 }if (ir7==1)
sakthipriya 5:bb592f3185cc 572 {
sakthipriya 5:bb592f3185cc 573 actual_data.faultIr_status &=0xBF;
sakthipriya 5:bb592f3185cc 574 }
sakthipriya 5:bb592f3185cc 575
sakthipriya 5:bb592f3185cc 576 }
sakthipriya 5:bb592f3185cc 577
sakthipriya 5:bb592f3185cc 578
sakthipriya 0:7b4c00e3912f 579 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 580 //SCHEDULER
sakthipriya 0:7b4c00e3912f 581 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 582 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 583 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 584 {
sakthipriya 0:7b4c00e3912f 585 printf("\n\r in scheduler");
sakthipriya 0:7b4c00e3912f 586
sakthipriya 0:7b4c00e3912f 587 if(schedcount == 7) //to reset the counter
sakthipriya 0:7b4c00e3912f 588 {
sakthipriya 0:7b4c00e3912f 589 schedcount = 1;
sakthipriya 0:7b4c00e3912f 590 }
sakthipriya 0:7b4c00e3912f 591 if(schedcount%1==0)
sakthipriya 0:7b4c00e3912f 592 {
sakthipriya 3:07e15677a75c 593 F_ACS();
sakthipriya 0:7b4c00e3912f 594 }
sakthipriya 0:7b4c00e3912f 595
sakthipriya 0:7b4c00e3912f 596 if(schedcount%2==0)
sakthipriya 0:7b4c00e3912f 597 {
sakthipriya 3:07e15677a75c 598 F_EPS();
sakthipriya 0:7b4c00e3912f 599 }
sakthipriya 0:7b4c00e3912f 600 if(schedcount%3==0)
sakthipriya 0:7b4c00e3912f 601 {
sakthipriya 3:07e15677a75c 602 // F_BCN();
sakthipriya 0:7b4c00e3912f 603 }
sakthipriya 0:7b4c00e3912f 604 schedcount++;
sakthipriya 0:7b4c00e3912f 605 printf("\n\r exited scheduler");
sakthipriya 0:7b4c00e3912f 606 }
sakthipriya 0:7b4c00e3912f 607
sakthipriya 0:7b4c00e3912f 608 Timer t_flag;
sakthipriya 0:7b4c00e3912f 609 void FLAG()
sakthipriya 0:7b4c00e3912f 610 {
sakthipriya 0:7b4c00e3912f 611
sakthipriya 0:7b4c00e3912f 612 //.............acs..................//
sakthipriya 0:7b4c00e3912f 613 if(ACS_INIT_STATUS == 's')
sakthipriya 0:7b4c00e3912f 614 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 615 else if(ACS_INIT_STATUS == 'c')
sakthipriya 0:7b4c00e3912f 616 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 617
sakthipriya 0:7b4c00e3912f 618 if(ACS_DATA_ACQ_STATUS == 's')
sakthipriya 0:7b4c00e3912f 619 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 620 else if(ACS_DATA_ACQ_STATUS == 'c')
sakthipriya 0:7b4c00e3912f 621 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 622
sakthipriya 0:7b4c00e3912f 623 if(ACS_ATS_ENABLE == 'e')
sakthipriya 0:7b4c00e3912f 624 BAE_ENABLE |= 0x00000004;
sakthipriya 0:7b4c00e3912f 625 else if(ACS_ATS_ENABLE == 'd')
sakthipriya 0:7b4c00e3912f 626 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 627
sakthipriya 0:7b4c00e3912f 628 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 629 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 630
sakthipriya 0:7b4c00e3912f 631 if(ACS_MAIN_STATUS == 's')
sakthipriya 0:7b4c00e3912f 632 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 633 else if(ACS_MAIN_STATUS == 'c')
sakthipriya 0:7b4c00e3912f 634 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 635
sakthipriya 0:7b4c00e3912f 636 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 637 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 638 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 639 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 640 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 641 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 642 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 643 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 644 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 645 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 646 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 647 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 648 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 649 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 650 else
sakthipriya 0:7b4c00e3912f 651 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 652
sakthipriya 0:7b4c00e3912f 653 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 654 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 655 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 656 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 657 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 658 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 659 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 660 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 661 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 662 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 663 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 664 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 665
sakthipriya 0:7b4c00e3912f 666 //...............eps......................//
sakthipriya 5:bb592f3185cc 667
sakthipriya 5:bb592f3185cc 668
sakthipriya 5:bb592f3185cc 669 if (EPS_INIT_STATUS=='s') // Set EPS_INIT_STATUS
sakthipriya 5:bb592f3185cc 670 BAE_STATUS |= 0x00010000;
sakthipriya 5:bb592f3185cc 671 else if(EPS_INIT_STATUS=='c') // Clear
sakthipriya 5:bb592f3185cc 672 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 673
sakthipriya 5:bb592f3185cc 674
sakthipriya 5:bb592f3185cc 675 if (EPS_MAIN_STATUS=='s') // Set EPS_MAIIN_STATUS
sakthipriya 5:bb592f3185cc 676 BAE_STATUS |= 0x00040000;
sakthipriya 5:bb592f3185cc 677 else if(EPS_MAIN_STATUS=='c') // Clear
sakthipriya 5:bb592f3185cc 678 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 679
sakthipriya 5:bb592f3185cc 680
sakthipriya 5:bb592f3185cc 681 if (EPS_BATTERY_GAUGE_STATUS=='s') // Set EPS_BATTERY_GAUGE_STATUS
sakthipriya 5:bb592f3185cc 682 BAE_STATUS |= 0x00020000;
sakthipriya 5:bb592f3185cc 683 else if(EPS_BATTERY_GAUGE_STATUS=='c') // Clear
sakthipriya 5:bb592f3185cc 684 BAE_STATUS &= 0xFFFDFFFF;
sakthipriya 5:bb592f3185cc 685
sakthipriya 5:bb592f3185cc 686
sakthipriya 5:bb592f3185cc 687 if (EPS_BATTERY_TEMP_STATUS=='s') // Set EPS_BATTERY_TEMP_STATUS
sakthipriya 5:bb592f3185cc 688 BAE_STATUS |= 0x00080000;
sakthipriya 5:bb592f3185cc 689 else if(EPS_BATTERY_TEMP_STATUS=='c') // Clear
sakthipriya 5:bb592f3185cc 690 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 691
sakthipriya 5:bb592f3185cc 692 if (EPS_STATUS==0)
sakthipriya 5:bb592f3185cc 693 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
sakthipriya 5:bb592f3185cc 694 else if (EPS_STATUS==1)
sakthipriya 5:bb592f3185cc 695 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
sakthipriya 5:bb592f3185cc 696 else if (EPS_STATUS==2)
sakthipriya 5:bb592f3185cc 697 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
sakthipriya 5:bb592f3185cc 698 else if (EPS_STATUS==3)
sakthipriya 5:bb592f3185cc 699 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
sakthipriya 5:bb592f3185cc 700 else if (EPS_STATUS==4)
sakthipriya 5:bb592f3185cc 701 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
sakthipriya 5:bb592f3185cc 702 else if (EPS_STATUS==5)
sakthipriya 5:bb592f3185cc 703 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 704
sakthipriya 5:bb592f3185cc 705
sakthipriya 5:bb592f3185cc 706 if(EPS_BATTERY_HEAT_ENABLE == 'e')
sakthipriya 5:bb592f3185cc 707 BAE_ENABLE |= 0x00000080;
sakthipriya 5:bb592f3185cc 708 else if(EPS_BATTERY_HEAT_ENABLE == 'd')
sakthipriya 5:bb592f3185cc 709 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 710
sakthipriya 0:7b4c00e3912f 711
sakthipriya 0:7b4c00e3912f 712
sakthipriya 0:7b4c00e3912f 713 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
sakthipriya 0:7b4c00e3912f 714 }
sakthipriya 0:7b4c00e3912f 715
sakthipriya 0:7b4c00e3912f 716 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 717 {
sakthipriya 0:7b4c00e3912f 718 printf("\n\r Initialising BAE ");
sakthipriya 3:07e15677a75c 719 //..........intial status....//
sakthipriya 3:07e15677a75c 720 ACS_STATE = '4';
sakthipriya 3:07e15677a75c 721 ACS_ATS_ENABLE = 'e';
sakthipriya 3:07e15677a75c 722 ACS_DATA_ACQ_ENABLE = 'e';
sakthipriya 3:07e15677a75c 723 EPS_BATTERY_HEAT_ENABLE = 'e';
sakthipriya 3:07e15677a75c 724 //............................//
sakthipriya 3:07e15677a75c 725 FCTN_ACS_INIT();
sakthipriya 0:7b4c00e3912f 726 FCTN_EPS_INIT();
sakthipriya 0:7b4c00e3912f 727 //P_BCN_INIT();
sakthipriya 3:07e15677a75c 728
sakthipriya 3:07e15677a75c 729
sakthipriya 0:7b4c00e3912f 730 FLAG();
sakthipriya 0:7b4c00e3912f 731 }
sakthipriya 0:7b4c00e3912f 732
sakthipriya 0:7b4c00e3912f 733 int main()
sakthipriya 0:7b4c00e3912f 734 {
sakthipriya 0:7b4c00e3912f 735 pc.printf("\n\r BAE Activated. Testing Version 1.1 \n");
sakthipriya 0:7b4c00e3912f 736
sakthipriya 0:7b4c00e3912f 737 /* if (BCN_FEN == 0) //dummy implementation
sakthipriya 0:7b4c00e3912f 738 {
sakthipriya 0:7b4c00e3912f 739 pc.printf("\n\r RF silence ");
sakthipriya 0:7b4c00e3912f 740 P_BCN_FEN();
sakthipriya 0:7b4c00e3912f 741 t_rfsilence.start();//Start the timer for RF_Silence
sakthipriya 0:7b4c00e3912f 742 while(t_rfsilence.read() < RF_SILENCE_TIME);
sakthipriya 0:7b4c00e3912f 743 }
sakthipriya 0:7b4c00e3912f 744 */
sakthipriya 3:07e15677a75c 745
sakthipriya 0:7b4c00e3912f 746 //ACS_INIT_STATUS = 'c';
sakthipriya 0:7b4c00e3912f 747 //ACS_DATA_ACQ_STATUS = 'c';
sakthipriya 0:7b4c00e3912f 748 gpo1 = 0;
sakthipriya 0:7b4c00e3912f 749 FLAG();
sakthipriya 0:7b4c00e3912f 750 FCTN_BAE_INIT();
sakthipriya 3:07e15677a75c 751
sakthipriya 0:7b4c00e3912f 752
sakthipriya 0:7b4c00e3912f 753 //...i2c..
sakthipriya 3:07e15677a75c 754 //strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end");
sakthipriya 0:7b4c00e3912f 755 slave.address(addr);
sakthipriya 0:7b4c00e3912f 756 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 757
sakthipriya 0:7b4c00e3912f 758 ptr_t_i2c = new Thread(T_TC);
sakthipriya 0:7b4c00e3912f 759 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 5:bb592f3185cc 760
sakthipriya 0:7b4c00e3912f 761 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 762 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
sakthipriya 5:bb592f3185cc 763 // ir1.fall(&ir1clear); //Battery Gauge - Alert Bar Signal
sakthipriya 5:bb592f3185cc 764 ir2.fall(&ir2clear); //TRXY Driver TR switch Fault
sakthipriya 5:bb592f3185cc 765 ir3.fall(&ir3clear); //TRZ Driver Fault Bar
sakthipriya 5:bb592f3185cc 766 ir4.fall(&ir4clear); //TRZ Driver TR switch Fault
sakthipriya 5:bb592f3185cc 767 ir5.fall(&ir5clear); //CDMS - Switch Fault
sakthipriya 5:bb592f3185cc 768 ir6.fall(&ir6clear); //Beacon- Switch OC bar
sakthipriya 5:bb592f3185cc 769 ir7.fall(&ir7clear); //Charger IC - Fault Bar
sakthipriya 0:7b4c00e3912f 770 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
sakthipriya 0:7b4c00e3912f 771 t_sc_timer.start(10000);
sakthipriya 0:7b4c00e3912f 772 t_start.start();
sakthipriya 0:7b4c00e3912f 773 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
sakthipriya 0:7b4c00e3912f 774
sakthipriya 0:7b4c00e3912f 775 gpo1 = 0; // att sens2 switch is enabled
sakthipriya 0:7b4c00e3912f 776 //FCTN_BAE_INIT();
sakthipriya 0:7b4c00e3912f 777 while(1); //required to prevent main from terminating
sakthipriya 3:07e15677a75c 778 }
sakthipriya 3:07e15677a75c 779