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@9:f66c57a01e05, 2016-02-03 (annotated)

Committer:
Bragadeesh153
Date:
Wed Feb 03 18:41:17 2016 +0000
Revision:
9:f66c57a01e05
Parent:
8:aad4f22221b1 
To be debugged

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
Bragadeesh153 9:f66c57a01e05 11
sakthipriya 0:7b4c00e3912f 12 #define batt_heat_low 20
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
Bragadeesh153 9:f66c57a01e05 17
sakthipriya 5:bb592f3185cc 18 //i2c//
sakthipriya 5:bb592f3185cc 19 char data_send_flag = 'h';
sakthipriya 5:bb592f3185cc 20
sakthipriya 0:7b4c00e3912f 21 //.........acs...............//
sakthipriya 0:7b4c00e3912f 22 char ACS_INIT_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 23 char ACS_DATA_ACQ_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 24 char ACS_ATS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 25 char ACS_MAIN_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 26 char ACS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 27
sakthipriya 0:7b4c00e3912f 28 char ACS_ATS_ENABLE = 'q';
sakthipriya 0:7b4c00e3912f 29 char ACS_DATA_ACQ_ENABLE = 'q';
sakthipriya 0:7b4c00e3912f 30 char ACS_STATE = 'q';
sakthipriya 0:7b4c00e3912f 31
sakthipriya 0:7b4c00e3912f 32 //.....................eps...................//
sakthipriya 0:7b4c00e3912f 33 //eps init
sakthipriya 0:7b4c00e3912f 34 char EPS_INIT_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 35 char EPS_BATTERY_GAUGE_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 36 //eps main
sakthipriya 0:7b4c00e3912f 37 char EPS_MAIN_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 38 char EPS_BATTERY_TEMP_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 39 char EPS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 40
sakthipriya 0:7b4c00e3912f 41 char EPS_BATTERY_HEAT_ENABLE = 'q';
sakthipriya 0:7b4c00e3912f 42
sakthipriya 0:7b4c00e3912f 43 //.......................global variables..................................................................// new hk structure- everything has to changed based on this
sakthipriya 6:036d08b62785 44 uint8_t BAE_data[74];
sakthipriya 6:036d08b62785 45 char BAE_chardata[74];
sakthipriya 0:7b4c00e3912f 46
sakthipriya 0:7b4c00e3912f 47
sakthipriya 0:7b4c00e3912f 48 //*************************************Global declarations************************************************//
sakthipriya 0:7b4c00e3912f 49 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 50
sakthipriya 0:7b4c00e3912f 51 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 52 Timer t_start;
sakthipriya 7:a46a1dee4497 53 Timer t_tc;
sakthipriya 7:a46a1dee4497 54 Timer t_tm;
sakthipriya 0:7b4c00e3912f 55 Serial pc(USBTX, USBRX);
sakthipriya 0:7b4c00e3912f 56 int power_flag_dummy=2;
sakthipriya 0:7b4c00e3912f 57 float data[6];
sakthipriya 0:7b4c00e3912f 58
sakthipriya 0:7b4c00e3912f 59 extern float moment[3];
gkumar 8:aad4f22221b1 60 int flag_firsttime=1, controlmode, alarmmode=0;
gkumar 8:aad4f22221b1 61 float b_old[3];
sakthipriya 0:7b4c00e3912f 62 extern uint8_t BCN_FEN;
sakthipriya 1:446a959e36ce 63 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 64 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 65 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 66 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 67
sakthipriya 5:bb592f3185cc 68 int write_ack = 1;
sakthipriya 5:bb592f3185cc 69 int read_ack = 1;
sakthipriya 0:7b4c00e3912f 70 char telecommand[tc_len];
sakthipriya 3:07e15677a75c 71 char* telemetry;
sakthipriya 5:bb592f3185cc 72
sakthipriya 5:bb592f3185cc 73 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 74 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 75 bool if1check = 0;
sakthipriya 5:bb592f3185cc 76 bool if2check = 1;
sakthipriya 0:7b4c00e3912f 77
sakthipriya 0:7b4c00e3912f 78 //*****************************************************Assigning pins******************************************************//
sakthipriya 0:7b4c00e3912f 79 DigitalOut gpo1(PTC0); // enable of att sens2 switch
sakthipriya 0:7b4c00e3912f 80 DigitalOut gpo2(PTC16); // enable of att sens switch
sakthipriya 0:7b4c00e3912f 81 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
sakthipriya 0:7b4c00e3912f 82 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
sakthipriya 0:7b4c00e3912f 83 I2CSlave slave (PIN1,PIN2);
sakthipriya 0:7b4c00e3912f 84 DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 85
sakthipriya 0:7b4c00e3912f 86 //gpo1 = 0;
Bragadeesh153 9:f66c57a01e05 87 //PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
Bragadeesh153 9:f66c57a01e05 88 //PwmOut PWM2(PIN94); //y
Bragadeesh153 9:f66c57a01e05 89 //PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 90
sakthipriya 5:bb592f3185cc 91 //........faults
sakthipriya 5:bb592f3185cc 92 //Polled Faults
sakthipriya 5:bb592f3185cc 93 DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
sakthipriya 5:bb592f3185cc 94 DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
sakthipriya 5:bb592f3185cc 95 DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 96
sakthipriya 5:bb592f3185cc 97 //Interrupt based faults
sakthipriya 5:bb592f3185cc 98 //InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal
sakthipriya 5:bb592f3185cc 99 InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault
sakthipriya 5:bb592f3185cc 100 InterruptIn ir3(PIN89);//TRZ Driver Fault Bar
sakthipriya 5:bb592f3185cc 101 InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault
sakthipriya 5:bb592f3185cc 102 InterruptIn ir5(PIN79);//CDMS - Switch Fault
sakthipriya 5:bb592f3185cc 103 InterruptIn ir6(PIN80);//Beacon- Switch OC bar
sakthipriya 5:bb592f3185cc 104 InterruptIn ir7(PIN42);//Charger IC - Fault Bar
sakthipriya 5:bb592f3185cc 105
sakthipriya 5:bb592f3185cc 106 DigitalOut TRXY_SW(PIN71); //TR XY Switch
sakthipriya 5:bb592f3185cc 107 DigitalOut DRV_Z_SLP(PIN88); //Sleep pin of driver z
sakthipriya 5:bb592f3185cc 108 DigitalOut TRZ_SW(PIN40); //TR Z Switch
sakthipriya 5:bb592f3185cc 109 DigitalOut CDMS_RESET(PIN7); // CDMS RESET
sakthipriya 5:bb592f3185cc 110 DigitalOut BCN_SW(PIN14); //Beacon switch
sakthipriya 5:bb592f3185cc 111 DigitalOut DRV_XY_SLP(PIN82);
sakthipriya 5:bb592f3185cc 112
Bragadeesh153 9:f66c57a01e05 113 extern PwmOut PWM1; //x //Functions used to generate PWM signal
Bragadeesh153 9:f66c57a01e05 114 extern PwmOut PWM2; //y
Bragadeesh153 9:f66c57a01e05 115 extern PwmOut PWM3; //z //PWM output comes from pins p6
Bragadeesh153 9:f66c57a01e05 116
sakthipriya 5:bb592f3185cc 117
sakthipriya 5:bb592f3185cc 118
sakthipriya 0:7b4c00e3912f 119
sakthipriya 0:7b4c00e3912f 120 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 3:07e15677a75c 121
sakthipriya 0:7b4c00e3912f 122 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 123
sakthipriya 0:7b4c00e3912f 124 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 125
sakthipriya 0:7b4c00e3912f 126 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 127 void FCTN_TM();
sakthipriya 3:07e15677a75c 128 void F_ACS();
sakthipriya 3:07e15677a75c 129 void F_EPS();
sakthipriya 3:07e15677a75c 130 void F_BCN();
sakthipriya 0:7b4c00e3912f 131
sakthipriya 0:7b4c00e3912f 132 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 133 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 134 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 135 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 136 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 137
sakthipriya 5:bb592f3185cc 138
sakthipriya 3:07e15677a75c 139 void F_ACS()
sakthipriya 0:7b4c00e3912f 140 {
sakthipriya 5:bb592f3185cc 141 if(pf1check == 1)
sakthipriya 5:bb592f3185cc 142 {
sakthipriya 5:bb592f3185cc 143 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 144 {
sakthipriya 5:bb592f3185cc 145 gpo1 = 1; // turn off ats1 permanently
sakthipriya 5:bb592f3185cc 146 //FCTN_SWITCH_ATS(0); // switch on ATS2
sakthipriya 5:bb592f3185cc 147 }
sakthipriya 5:bb592f3185cc 148 else
sakthipriya 5:bb592f3185cc 149 {
sakthipriya 5:bb592f3185cc 150 gpo1 = 0;
sakthipriya 5:bb592f3185cc 151 iterP1++;
sakthipriya 5:bb592f3185cc 152 }
sakthipriya 5:bb592f3185cc 153 }
sakthipriya 5:bb592f3185cc 154 if(pf2check == 1)
sakthipriya 5:bb592f3185cc 155 {
sakthipriya 5:bb592f3185cc 156 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 157 {
sakthipriya 5:bb592f3185cc 158 gpo2 = 1; // turn off ats2 permanently
sakthipriya 5:bb592f3185cc 159 ACS_DATA_ACQ_ENABLE == 'd';
sakthipriya 5:bb592f3185cc 160 ACS_STATE == '2' ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 161 }
sakthipriya 5:bb592f3185cc 162 else
sakthipriya 5:bb592f3185cc 163 {
sakthipriya 5:bb592f3185cc 164 gpo2 = 0;
sakthipriya 5:bb592f3185cc 165 iterP2++;
sakthipriya 5:bb592f3185cc 166 }
sakthipriya 5:bb592f3185cc 167 }
sakthipriya 5:bb592f3185cc 168 if(if1check == 1)
sakthipriya 5:bb592f3185cc 169 {
sakthipriya 5:bb592f3185cc 170 if(iterI1 >= 3)
sakthipriya 5:bb592f3185cc 171 {
sakthipriya 5:bb592f3185cc 172 TRXY_SW = 0; // turn off TRXY permanently
sakthipriya 5:bb592f3185cc 173 }
sakthipriya 5:bb592f3185cc 174 else
sakthipriya 5:bb592f3185cc 175 {
sakthipriya 5:bb592f3185cc 176 TRXY_SW = 1; //switch on TRXY
sakthipriya 5:bb592f3185cc 177 iterI1++;
sakthipriya 5:bb592f3185cc 178 }
sakthipriya 5:bb592f3185cc 179 }
sakthipriya 5:bb592f3185cc 180 if(if2check == 1)
sakthipriya 5:bb592f3185cc 181 {
sakthipriya 5:bb592f3185cc 182 if(iterI2 >= 3)
sakthipriya 5:bb592f3185cc 183 {
sakthipriya 5:bb592f3185cc 184 TRZ_SW = 0; // turn off TRZ permanently
sakthipriya 5:bb592f3185cc 185 ACS_STATE == '2' ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 186 }
sakthipriya 5:bb592f3185cc 187 else
sakthipriya 5:bb592f3185cc 188 {
sakthipriya 5:bb592f3185cc 189 TRZ_SW = 1; //switch on Z
sakthipriya 5:bb592f3185cc 190 iterI2++;
sakthipriya 5:bb592f3185cc 191 }
sakthipriya 5:bb592f3185cc 192 }
sakthipriya 5:bb592f3185cc 193
sakthipriya 6:036d08b62785 194 //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 195 //b1[3] = {22, 22,10};
sakthipriya 0:7b4c00e3912f 196 //omega1[3] = {2.1,3.0,1.5};
sakthipriya 0:7b4c00e3912f 197 // gpo1 = 0; // att sens2 switch is disabled
sakthipriya 0:7b4c00e3912f 198 // gpo2 = 0; // att sens switch is disabled
sakthipriya 0:7b4c00e3912f 199
sakthipriya 3:07e15677a75c 200
sakthipriya 0:7b4c00e3912f 201
sakthipriya 3:07e15677a75c 202 //Thread::signal_wait(0x1);
sakthipriya 0:7b4c00e3912f 203 ACS_MAIN_STATUS = 's'; //set ACS_MAIN_STATUS flag
Bragadeesh153 9:f66c57a01e05 204 //PWM1 = 0; //clear pwm pins
Bragadeesh153 9:f66c57a01e05 205 //PWM2 = 0; //clear pwm pins
Bragadeesh153 9:f66c57a01e05 206 //PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 207 pc.printf("\n\rEntered ACS %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 208
sakthipriya 0:7b4c00e3912f 209 if(ACS_DATA_ACQ_ENABLE == 'e')// check if ACS_DATA_ACQ_ENABLE = 1?
sakthipriya 0:7b4c00e3912f 210 {
sakthipriya 0:7b4c00e3912f 211 FLAG();
sakthipriya 0:7b4c00e3912f 212 FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
gkumar 8:aad4f22221b1 213 pc.printf("gyro values in rad/sec \n\r"); //printing the angular velocity and magnetic field values
sakthipriya 0:7b4c00e3912f 214 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 215 {
sakthipriya 6:036d08b62785 216 pc.printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
sakthipriya 0:7b4c00e3912f 217 }
gkumar 8:aad4f22221b1 218 pc.printf("mag values in Tesla \n\r");
sakthipriya 6:036d08b62785 219 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 220 {
sakthipriya 6:036d08b62785 221 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
sakthipriya 5:bb592f3185cc 222 }
sakthipriya 6:036d08b62785 223 // for(int i=0;i<3;i++)
sakthipriya 6:036d08b62785 224 // {
sakthipriya 6:036d08b62785 225 // omega1[i]= data[i];
sakthipriya 6:036d08b62785 226 // b1[i] = data[i+3];
sakthipriya 6:036d08b62785 227 // }
sakthipriya 0:7b4c00e3912f 228 }//if ACS_DATA_ACQ_ENABLE = 1
sakthipriya 0:7b4c00e3912f 229 else
sakthipriya 0:7b4c00e3912f 230 {
sakthipriya 0:7b4c00e3912f 231 // Z axis actuation is the only final solution,
sakthipriya 0:7b4c00e3912f 232 }
sakthipriya 0:7b4c00e3912f 233 if(ACS_STATE == '0') // check ACS_STATE = ACS_CONTROL_OFF?
sakthipriya 0:7b4c00e3912f 234 {
sakthipriya 0:7b4c00e3912f 235 printf("\n\r acs control off\n");
sakthipriya 0:7b4c00e3912f 236 FLAG();
sakthipriya 0:7b4c00e3912f 237 ACS_STATUS = '0'; // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 238 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 239 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 240 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 241 }
sakthipriya 0:7b4c00e3912f 242 else
sakthipriya 0:7b4c00e3912f 243 {
sakthipriya 1:446a959e36ce 244 if(actual_data.power_mode>1)
sakthipriya 0:7b4c00e3912f 245
sakthipriya 0:7b4c00e3912f 246 {
sakthipriya 0:7b4c00e3912f 247 if(ACS_STATE == '2') // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 248 {
sakthipriya 0:7b4c00e3912f 249 FLAG();
sakthipriya 0:7b4c00e3912f 250 printf("\n\r z axis moment only\n");
sakthipriya 0:7b4c00e3912f 251 ACS_STATUS = '2'; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 252 // FCTN_ACS_CNTRLALGO(b1, omega1);
sakthipriya 0:7b4c00e3912f 253 moment[0] = 0;
sakthipriya 0:7b4c00e3912f 254 moment[1] = 0;
sakthipriya 0:7b4c00e3912f 255 moment[2] =1.3;// is a dummy value
sakthipriya 0:7b4c00e3912f 256 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 257 }
sakthipriya 0:7b4c00e3912f 258 else
sakthipriya 0:7b4c00e3912f 259 {
sakthipriya 0:7b4c00e3912f 260 if(ACS_STATE == '3') // check ACS_STATE = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 261 {
sakthipriya 0:7b4c00e3912f 262 FLAG();
sakthipriya 0:7b4c00e3912f 263 printf("\n\r acs data failure ");
sakthipriya 0:7b4c00e3912f 264 ACS_STATUS = '3'; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 265 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 266 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 267 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 268 }
sakthipriya 0:7b4c00e3912f 269 else
sakthipriya 0:7b4c00e3912f 270 {
sakthipriya 0:7b4c00e3912f 271 if(ACS_STATE == '4') // check ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 272 {
sakthipriya 0:7b4c00e3912f 273 FLAG();
sakthipriya 0:7b4c00e3912f 274 printf("\n\r nominal");
sakthipriya 0:7b4c00e3912f 275 ACS_STATUS = '4'; // set ACS_STATUS = ACS_NOMINAL_ONLY
gkumar 8:aad4f22221b1 276 FCTN_ACS_CNTRLALGO(moment,actual_data.Bvalue_actual,actual_data.AngularSpeed_actual,b_old,alarmmode, flag_firsttime, controlmode);
sakthipriya 0:7b4c00e3912f 277 printf("\n\r moment values returned by control algo \n");
Bragadeesh153 9:f66c57a01e05 278 moment[0] = moment[1] = moment[2] = 0.8 ;
Bragadeesh153 9:f66c57a01e05 279
sakthipriya 0:7b4c00e3912f 280 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 281 {
sakthipriya 0:7b4c00e3912f 282 printf("%f\t",moment[i]);
Bragadeesh153 9:f66c57a01e05 283
sakthipriya 0:7b4c00e3912f 284 }
Bragadeesh153 9:f66c57a01e05 285 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 9:f66c57a01e05 286 //PWM1 = 0.95;
Bragadeesh153 9:f66c57a01e05 287 //PWM3 = 0.95;
Bragadeesh153 9:f66c57a01e05 288 //PWM2 = 0.95;
sakthipriya 0:7b4c00e3912f 289 }
sakthipriya 0:7b4c00e3912f 290 else
sakthipriya 0:7b4c00e3912f 291 {
sakthipriya 0:7b4c00e3912f 292 if(ACS_STATE == '5') // check ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 293 {
sakthipriya 0:7b4c00e3912f 294 FLAG();
sakthipriya 0:7b4c00e3912f 295 printf("\n\r auto control");
sakthipriya 0:7b4c00e3912f 296 ACS_STATUS = '5'; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 297 //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code
sakthipriya 0:7b4c00e3912f 298 }
sakthipriya 0:7b4c00e3912f 299 else
sakthipriya 0:7b4c00e3912f 300 {
sakthipriya 0:7b4c00e3912f 301 if(ACS_STATE == '6') // check ACS_STATE = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 302 {
sakthipriya 0:7b4c00e3912f 303 FLAG();
sakthipriya 0:7b4c00e3912f 304 printf("\n\r Entered detumbling \n");
sakthipriya 0:7b4c00e3912f 305 ACS_STATUS = '6'; // set ACS_STATUS = ACS_DETUMBLING_ONLY
gkumar 8:aad4f22221b1 306 //FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); // detumbling code has to be included
gkumar 8:aad4f22221b1 307 FCTN_ACS_CNTRLALGO(moment,actual_data.Bvalue_actual,actual_data.AngularSpeed_actual,b_old,alarmmode, flag_firsttime, controlmode);
sakthipriya 0:7b4c00e3912f 308 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 309 }
sakthipriya 0:7b4c00e3912f 310 else
sakthipriya 0:7b4c00e3912f 311 {
sakthipriya 0:7b4c00e3912f 312 FLAG();
sakthipriya 0:7b4c00e3912f 313 printf("\n\r invalid state");
sakthipriya 0:7b4c00e3912f 314 ACS_STATUS = '7' ; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 315 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 316 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 317 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 318 }//else of invalid
sakthipriya 0:7b4c00e3912f 319 }//else of autocontrol
sakthipriya 0:7b4c00e3912f 320 }//else of nominal
sakthipriya 0:7b4c00e3912f 321 }//else of data acg failure
sakthipriya 0:7b4c00e3912f 322
sakthipriya 0:7b4c00e3912f 323 }//else fo z axis moment only
sakthipriya 0:7b4c00e3912f 324 }//if power >2
sakthipriya 0:7b4c00e3912f 325 else
sakthipriya 0:7b4c00e3912f 326 {
sakthipriya 0:7b4c00e3912f 327 FLAG();
sakthipriya 0:7b4c00e3912f 328 printf("\n\r low power");
sakthipriya 0:7b4c00e3912f 329 ACS_STATUS = '1'; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 330 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 331 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 332 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 333 }
sakthipriya 0:7b4c00e3912f 334 } //else for acs control off
sakthipriya 0:7b4c00e3912f 335 ACS_MAIN_STATUS = 'c'; //clear ACS_MAIN_STATUS flag
sakthipriya 3:07e15677a75c 336
sakthipriya 0:7b4c00e3912f 337 }
sakthipriya 0:7b4c00e3912f 338 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 339
sakthipriya 3:07e15677a75c 340 void F_EPS()
sakthipriya 0:7b4c00e3912f 341 {
sakthipriya 3:07e15677a75c 342
sakthipriya 0:7b4c00e3912f 343 pc.printf("\n\rEntered EPS %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 344 EPS_MAIN_STATUS = 's'; // Set EPS main status
sakthipriya 3:07e15677a75c 345 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
sakthipriya 3:07e15677a75c 346 pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
sakthipriya 3:07e15677a75c 347 EPS_BATTERY_TEMP_STATUS = 's'; //set EPS_BATTERY_TEMP_STATUS
sakthipriya 3:07e15677a75c 348 if(EPS_BATTERY_HEAT_ENABLE == 'e')
sakthipriya 3:07e15677a75c 349 {
sakthipriya 5:bb592f3185cc 350 if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm
sakthipriya 3:07e15677a75c 351 {
sakthipriya 3:07e15677a75c 352 batt_heat = 1; //turn on battery heater
sakthipriya 3:07e15677a75c 353 }
sakthipriya 3:07e15677a75c 354 else
sakthipriya 3:07e15677a75c 355 {
sakthipriya 3:07e15677a75c 356 batt_heat = 0; //turn off battery heater
sakthipriya 3:07e15677a75c 357 }
sakthipriya 3:07e15677a75c 358
sakthipriya 3:07e15677a75c 359 }
sakthipriya 3:07e15677a75c 360 else if(EPS_BATTERY_HEAT_ENABLE == 'd')
sakthipriya 3:07e15677a75c 361 {
sakthipriya 3:07e15677a75c 362 EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED
sakthipriya 3:07e15677a75c 363 }
sakthipriya 0:7b4c00e3912f 364 FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual);
sakthipriya 1:446a959e36ce 365 if (actual_data.Batt_gauge_actual[1] == 200) //data not received
sakthipriya 0:7b4c00e3912f 366 {
sakthipriya 0:7b4c00e3912f 367 actual_data.power_mode = 1;
sakthipriya 0:7b4c00e3912f 368 EPS_BATTERY_GAUGE_STATUS = 'c'; //clear EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 369
sakthipriya 0:7b4c00e3912f 370 }
sakthipriya 0:7b4c00e3912f 371 else
sakthipriya 0:7b4c00e3912f 372 {
sakthipriya 1:446a959e36ce 373 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
sakthipriya 0:7b4c00e3912f 374 EPS_BATTERY_GAUGE_STATUS = 's'; //set EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 375 }
sakthipriya 3:07e15677a75c 376 // if( Temperature data received)
sakthipriya 3:07e15677a75c 377 //{
sakthipriya 3:07e15677a75c 378
sakthipriya 0:7b4c00e3912f 379
sakthipriya 3:07e15677a75c 380 // }
sakthipriya 3:07e15677a75c 381 // else
sakthipriya 3:07e15677a75c 382 // {
sakthipriya 3:07e15677a75c 383 // Set battery temp to XX
sakthipriya 3:07e15677a75c 384 // EPS_BATTERY_TEMP_STATUS = 'c'; //clear EPS_BATTERY_TEMP_STATUS
sakthipriya 3:07e15677a75c 385 // EPS_STATUS = EPS_ERR_BATTERY_TEMP;
sakthipriya 3:07e15677a75c 386 // }
sakthipriya 3:07e15677a75c 387 FCTN_HK_MAIN();
sakthipriya 6:036d08b62785 388 // printf("\n\r here");
sakthipriya 5:bb592f3185cc 389 FCTN_APPEND_HKDATA();
sakthipriya 5:bb592f3185cc 390 minMaxHkData();
sakthipriya 6:036d08b62785 391 //printf("\n\r here");
sakthipriya 3:07e15677a75c 392 EPS_MAIN_STATUS = 'c'; // clear EPS main status
sakthipriya 3:07e15677a75c 393
sakthipriya 0:7b4c00e3912f 394 }
sakthipriya 0:7b4c00e3912f 395
sakthipriya 0:7b4c00e3912f 396 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 397
sakthipriya 3:07e15677a75c 398 void F_BCN()
sakthipriya 0:7b4c00e3912f 399 {
sakthipriya 3:07e15677a75c 400
sakthipriya 0:7b4c00e3912f 401 pc.printf("\n\rEntered BCN %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 402
sakthipriya 0:7b4c00e3912f 403 P_BCN_TX_MAIN();
sakthipriya 0:7b4c00e3912f 404
sakthipriya 0:7b4c00e3912f 405 }
sakthipriya 0:7b4c00e3912f 406
sakthipriya 0:7b4c00e3912f 407 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 408
sakthipriya 0:7b4c00e3912f 409 void T_TC(void const * args)
sakthipriya 0:7b4c00e3912f 410 {
sakthipriya 0:7b4c00e3912f 411 while(1)
sakthipriya 0:7b4c00e3912f 412 {
sakthipriya 0:7b4c00e3912f 413 Thread::signal_wait(0x4);
sakthipriya 0:7b4c00e3912f 414 wait_us(200); // can be between 38 to 15700
sakthipriya 0:7b4c00e3912f 415 if( slave.receive() == 0)
sakthipriya 0:7b4c00e3912f 416 slave.stop();
sakthipriya 0:7b4c00e3912f 417 else if( slave.receive() == 1) // slave writes to master
sakthipriya 0:7b4c00e3912f 418 {
sakthipriya 5:bb592f3185cc 419 if(data_send_flag == 'h')
sakthipriya 6:036d08b62785 420 {
sakthipriya 6:036d08b62785 421 //FCTN_APPEND_HKDATA();
sakthipriya 6:036d08b62785 422 // pc.printf("\n\r here");
sakthipriya 6:036d08b62785 423 write_ack=slave.write(BAE_chardata,74);
sakthipriya 6:036d08b62785 424 }
sakthipriya 5:bb592f3185cc 425 else if(data_send_flag == 't')
sakthipriya 5:bb592f3185cc 426 {
sakthipriya 5:bb592f3185cc 427 write_ack=slave.write(telemetry,tm_len);
sakthipriya 5:bb592f3185cc 428 data_send_flag = 'h';
sakthipriya 5:bb592f3185cc 429 irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 430 }
sakthipriya 0:7b4c00e3912f 431 }
sakthipriya 0:7b4c00e3912f 432 else if( slave.receive()==3 || slave.receive()==2) // slave read
sakthipriya 0:7b4c00e3912f 433 {
sakthipriya 5:bb592f3185cc 434 read_ack=slave.read(telecommand,tc_len);
sakthipriya 7:a46a1dee4497 435 t_tc.start();
sakthipriya 6:036d08b62785 436 //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand);
sakthipriya 7:a46a1dee4497 437 pc.printf("\n\r Executing Telecommand \n");
sakthipriya 3:07e15677a75c 438 // FCTN_TC_DECODE((uint8_t*) telecommand);
sakthipriya 7:a46a1dee4497 439
sakthipriya 3:07e15677a75c 440 uint8_t* temp = FCTN_BAE_TM_TC((uint8_t*) telecommand);
sakthipriya 3:07e15677a75c 441 telemetry = (char*)temp;
sakthipriya 7:a46a1dee4497 442
sakthipriya 5:bb592f3185cc 443 FCTN_TM();
sakthipriya 7:a46a1dee4497 444 t_tc.stop();
sakthipriya 7:a46a1dee4497 445 printf("\n\r time taken %d",t_tc.read_us());
sakthipriya 7:a46a1dee4497 446 t_tc.reset();
sakthipriya 3:07e15677a75c 447 // for(int i = 0; i<134; i++)
sakthipriya 3:07e15677a75c 448 //pc.printf("%c", telemetry[i]);
sakthipriya 0:7b4c00e3912f 449 }
sakthipriya 0:7b4c00e3912f 450
sakthipriya 6:036d08b62785 451
sakthipriya 0:7b4c00e3912f 452 }
sakthipriya 0:7b4c00e3912f 453 }
sakthipriya 0:7b4c00e3912f 454
sakthipriya 0:7b4c00e3912f 455 void FCTN_TM()
sakthipriya 0:7b4c00e3912f 456 {
sakthipriya 4:39a4ae8c7ecd 457 //irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 458 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 459 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 460 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 461 }
sakthipriya 0:7b4c00e3912f 462
sakthipriya 0:7b4c00e3912f 463
sakthipriya 0:7b4c00e3912f 464 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 465
sakthipriya 0:7b4c00e3912f 466 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 467 {
sakthipriya 0:7b4c00e3912f 468 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 469 }
sakthipriya 0:7b4c00e3912f 470
sakthipriya 0:7b4c00e3912f 471
sakthipriya 5:bb592f3185cc 472 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 473 /*void ir1clear()
sakthipriya 5:bb592f3185cc 474 {
sakthipriya 5:bb592f3185cc 475 actual_data.faultIr_status |= 0x01; // alert
sakthipriya 5:bb592f3185cc 476
sakthipriya 5:bb592f3185cc 477 }*/
sakthipriya 5:bb592f3185cc 478
sakthipriya 5:bb592f3185cc 479
sakthipriya 5:bb592f3185cc 480
sakthipriya 5:bb592f3185cc 481 void ir2clear()
sakthipriya 5:bb592f3185cc 482 {
sakthipriya 5:bb592f3185cc 483 actual_data.faultIr_status |= 0x02;
sakthipriya 5:bb592f3185cc 484 TRXY_SW = 0; // Switch off TR XY
sakthipriya 5:bb592f3185cc 485 if1check = 1;
sakthipriya 5:bb592f3185cc 486 }
sakthipriya 5:bb592f3185cc 487
sakthipriya 5:bb592f3185cc 488 void ir3clear()
sakthipriya 5:bb592f3185cc 489 {
sakthipriya 5:bb592f3185cc 490 actual_data.faultIr_status |= 0x04;
sakthipriya 5:bb592f3185cc 491 DRV_Z_SLP = 0;
sakthipriya 5:bb592f3185cc 492 wait_us(1);
sakthipriya 5:bb592f3185cc 493 DRV_Z_SLP = 1;
sakthipriya 5:bb592f3185cc 494
sakthipriya 5:bb592f3185cc 495 }
sakthipriya 5:bb592f3185cc 496
sakthipriya 5:bb592f3185cc 497 void ir4clear()
sakthipriya 5:bb592f3185cc 498 {
sakthipriya 5:bb592f3185cc 499 if2check = 1;
sakthipriya 5:bb592f3185cc 500 actual_data.faultIr_status |= 0x08;
sakthipriya 5:bb592f3185cc 501 TRZ_SW = 0;
sakthipriya 5:bb592f3185cc 502 }
sakthipriya 5:bb592f3185cc 503
sakthipriya 5:bb592f3185cc 504 void ir5clear()
sakthipriya 5:bb592f3185cc 505 {
sakthipriya 5:bb592f3185cc 506 actual_data.faultIr_status |= 0x10;
sakthipriya 5:bb592f3185cc 507 CDMS_RESET = 0;
sakthipriya 5:bb592f3185cc 508 wait_us(1);
sakthipriya 5:bb592f3185cc 509 CDMS_RESET = 1;
sakthipriya 5:bb592f3185cc 510 }
sakthipriya 5:bb592f3185cc 511
sakthipriya 5:bb592f3185cc 512 void ir6clear()
sakthipriya 5:bb592f3185cc 513 {
sakthipriya 5:bb592f3185cc 514 actual_data.faultIr_status |= 0x20;
sakthipriya 5:bb592f3185cc 515 BCN_SW = 0;
sakthipriya 5:bb592f3185cc 516 wait_us(1);
sakthipriya 5:bb592f3185cc 517 BCN_SW = 1;
sakthipriya 5:bb592f3185cc 518 }
sakthipriya 5:bb592f3185cc 519
sakthipriya 5:bb592f3185cc 520 void ir7clear()
sakthipriya 5:bb592f3185cc 521 {
sakthipriya 5:bb592f3185cc 522 actual_data.faultIr_status |= 0x40;
sakthipriya 5:bb592f3185cc 523 }
sakthipriya 5:bb592f3185cc 524 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 525
sakthipriya 5:bb592f3185cc 526
sakthipriya 5:bb592f3185cc 527
sakthipriya 5:bb592f3185cc 528 void pollfault()
sakthipriya 5:bb592f3185cc 529 {
sakthipriya 5:bb592f3185cc 530
sakthipriya 5:bb592f3185cc 531
sakthipriya 5:bb592f3185cc 532
sakthipriya 5:bb592f3185cc 533 if (pf1==0) // OC_ATS1
sakthipriya 5:bb592f3185cc 534 {
sakthipriya 5:bb592f3185cc 535 pf1check=1;
sakthipriya 5:bb592f3185cc 536 actual_data.faultPoll_status |=0x01 ;
sakthipriya 5:bb592f3185cc 537 gpo1 = 1; // turn off ats1 // to be turned on next cycle in ACS
sakthipriya 5:bb592f3185cc 538 }
sakthipriya 5:bb592f3185cc 539 else actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 540
sakthipriya 5:bb592f3185cc 541 if (pf2==0)
sakthipriya 5:bb592f3185cc 542 {
sakthipriya 5:bb592f3185cc 543 pf2check=1;
sakthipriya 5:bb592f3185cc 544 actual_data.faultPoll_status |=0x02 ;
sakthipriya 5:bb592f3185cc 545 gpo2 = 1; // turn off ats2 // turn on in ACS
sakthipriya 5:bb592f3185cc 546 }
sakthipriya 5:bb592f3185cc 547 else actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 548
sakthipriya 5:bb592f3185cc 549 if (pf3==0)
sakthipriya 5:bb592f3185cc 550 { actual_data.faultPoll_status |=0x04 ;
sakthipriya 5:bb592f3185cc 551 DRV_XY_SLP = 0;
sakthipriya 5:bb592f3185cc 552 wait_us(1);
sakthipriya 5:bb592f3185cc 553 DRV_XY_SLP = 1;
sakthipriya 5:bb592f3185cc 554 }
sakthipriya 5:bb592f3185cc 555 else actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 556
sakthipriya 5:bb592f3185cc 557
sakthipriya 5:bb592f3185cc 558
sakthipriya 5:bb592f3185cc 559
sakthipriya 5:bb592f3185cc 560 /*if (ir1==1)
sakthipriya 5:bb592f3185cc 561 {
sakthipriya 5:bb592f3185cc 562 actual_data.faultIr_status &=0xFE;
sakthipriya 5:bb592f3185cc 563 }*/
sakthipriya 5:bb592f3185cc 564 if (ir2==1)
sakthipriya 5:bb592f3185cc 565 {
sakthipriya 5:bb592f3185cc 566 actual_data.faultIr_status &=0xFD;
sakthipriya 5:bb592f3185cc 567 }
sakthipriya 5:bb592f3185cc 568 if (ir3==1)
sakthipriya 5:bb592f3185cc 569 {
sakthipriya 5:bb592f3185cc 570 actual_data.faultIr_status &=0xFB;
sakthipriya 5:bb592f3185cc 571 }
sakthipriya 5:bb592f3185cc 572 if (ir4==1)
sakthipriya 5:bb592f3185cc 573 {
sakthipriya 5:bb592f3185cc 574 actual_data.faultIr_status &=0xF7;
sakthipriya 5:bb592f3185cc 575 }
sakthipriya 5:bb592f3185cc 576 if (ir5==1)
sakthipriya 5:bb592f3185cc 577 {
sakthipriya 5:bb592f3185cc 578 actual_data.faultIr_status &=0xEF;
sakthipriya 5:bb592f3185cc 579 }
sakthipriya 5:bb592f3185cc 580 if (ir6==1)
sakthipriya 5:bb592f3185cc 581 {
sakthipriya 5:bb592f3185cc 582 actual_data.faultIr_status &=0xDF;
sakthipriya 5:bb592f3185cc 583 }if (ir7==1)
sakthipriya 5:bb592f3185cc 584 {
sakthipriya 5:bb592f3185cc 585 actual_data.faultIr_status &=0xBF;
sakthipriya 5:bb592f3185cc 586 }
sakthipriya 5:bb592f3185cc 587
sakthipriya 5:bb592f3185cc 588 }
sakthipriya 5:bb592f3185cc 589
sakthipriya 5:bb592f3185cc 590
sakthipriya 0:7b4c00e3912f 591 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 592 //SCHEDULER
sakthipriya 0:7b4c00e3912f 593 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 594 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 595 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 596 {
sakthipriya 0:7b4c00e3912f 597 printf("\n\r in scheduler");
sakthipriya 0:7b4c00e3912f 598
sakthipriya 0:7b4c00e3912f 599 if(schedcount == 7) //to reset the counter
sakthipriya 0:7b4c00e3912f 600 {
sakthipriya 0:7b4c00e3912f 601 schedcount = 1;
sakthipriya 0:7b4c00e3912f 602 }
sakthipriya 0:7b4c00e3912f 603 if(schedcount%1==0)
sakthipriya 0:7b4c00e3912f 604 {
sakthipriya 3:07e15677a75c 605 F_ACS();
sakthipriya 0:7b4c00e3912f 606 }
sakthipriya 0:7b4c00e3912f 607
sakthipriya 0:7b4c00e3912f 608 if(schedcount%2==0)
sakthipriya 0:7b4c00e3912f 609 {
Bragadeesh153 9:f66c57a01e05 610 //F_EPS();
sakthipriya 0:7b4c00e3912f 611 }
sakthipriya 0:7b4c00e3912f 612 if(schedcount%3==0)
sakthipriya 0:7b4c00e3912f 613 {
sakthipriya 3:07e15677a75c 614 // F_BCN();
sakthipriya 0:7b4c00e3912f 615 }
sakthipriya 0:7b4c00e3912f 616 schedcount++;
sakthipriya 0:7b4c00e3912f 617 printf("\n\r exited scheduler");
sakthipriya 0:7b4c00e3912f 618 }
sakthipriya 0:7b4c00e3912f 619
sakthipriya 0:7b4c00e3912f 620 Timer t_flag;
sakthipriya 0:7b4c00e3912f 621 void FLAG()
sakthipriya 0:7b4c00e3912f 622 {
sakthipriya 0:7b4c00e3912f 623
sakthipriya 0:7b4c00e3912f 624 //.............acs..................//
sakthipriya 0:7b4c00e3912f 625 if(ACS_INIT_STATUS == 's')
sakthipriya 0:7b4c00e3912f 626 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 627 else if(ACS_INIT_STATUS == 'c')
sakthipriya 0:7b4c00e3912f 628 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 629
sakthipriya 0:7b4c00e3912f 630 if(ACS_DATA_ACQ_STATUS == 's')
sakthipriya 0:7b4c00e3912f 631 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 632 else if(ACS_DATA_ACQ_STATUS == 'c')
sakthipriya 0:7b4c00e3912f 633 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 634
sakthipriya 0:7b4c00e3912f 635 if(ACS_ATS_ENABLE == 'e')
sakthipriya 0:7b4c00e3912f 636 BAE_ENABLE |= 0x00000004;
sakthipriya 0:7b4c00e3912f 637 else if(ACS_ATS_ENABLE == 'd')
sakthipriya 0:7b4c00e3912f 638 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 639
sakthipriya 0:7b4c00e3912f 640 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 641 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 642
sakthipriya 0:7b4c00e3912f 643 if(ACS_MAIN_STATUS == 's')
sakthipriya 0:7b4c00e3912f 644 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 645 else if(ACS_MAIN_STATUS == 'c')
sakthipriya 0:7b4c00e3912f 646 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 647
sakthipriya 0:7b4c00e3912f 648 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 649 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 650 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 651 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 652 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 653 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 654 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 655 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 656 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 657 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 658 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 659 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 660 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 661 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 662 else
sakthipriya 0:7b4c00e3912f 663 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 664
sakthipriya 0:7b4c00e3912f 665 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 666 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 667 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 668 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 669 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 670 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 671 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 672 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 673 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 674 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 675 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 676 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 677
sakthipriya 0:7b4c00e3912f 678 //...............eps......................//
sakthipriya 5:bb592f3185cc 679
sakthipriya 5:bb592f3185cc 680
sakthipriya 5:bb592f3185cc 681 if (EPS_INIT_STATUS=='s') // Set EPS_INIT_STATUS
sakthipriya 5:bb592f3185cc 682 BAE_STATUS |= 0x00010000;
sakthipriya 5:bb592f3185cc 683 else if(EPS_INIT_STATUS=='c') // Clear
sakthipriya 5:bb592f3185cc 684 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 685
sakthipriya 5:bb592f3185cc 686
sakthipriya 5:bb592f3185cc 687 if (EPS_MAIN_STATUS=='s') // Set EPS_MAIIN_STATUS
sakthipriya 5:bb592f3185cc 688 BAE_STATUS |= 0x00040000;
sakthipriya 5:bb592f3185cc 689 else if(EPS_MAIN_STATUS=='c') // Clear
sakthipriya 5:bb592f3185cc 690 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 691
sakthipriya 5:bb592f3185cc 692
sakthipriya 5:bb592f3185cc 693 if (EPS_BATTERY_GAUGE_STATUS=='s') // Set EPS_BATTERY_GAUGE_STATUS
sakthipriya 5:bb592f3185cc 694 BAE_STATUS |= 0x00020000;
sakthipriya 5:bb592f3185cc 695 else if(EPS_BATTERY_GAUGE_STATUS=='c') // Clear
sakthipriya 5:bb592f3185cc 696 BAE_STATUS &= 0xFFFDFFFF;
sakthipriya 5:bb592f3185cc 697
sakthipriya 5:bb592f3185cc 698
sakthipriya 5:bb592f3185cc 699 if (EPS_BATTERY_TEMP_STATUS=='s') // Set EPS_BATTERY_TEMP_STATUS
sakthipriya 5:bb592f3185cc 700 BAE_STATUS |= 0x00080000;
sakthipriya 5:bb592f3185cc 701 else if(EPS_BATTERY_TEMP_STATUS=='c') // Clear
sakthipriya 5:bb592f3185cc 702 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 703
sakthipriya 5:bb592f3185cc 704 if (EPS_STATUS==0)
sakthipriya 5:bb592f3185cc 705 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
sakthipriya 5:bb592f3185cc 706 else if (EPS_STATUS==1)
sakthipriya 5:bb592f3185cc 707 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
sakthipriya 5:bb592f3185cc 708 else if (EPS_STATUS==2)
sakthipriya 5:bb592f3185cc 709 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
sakthipriya 5:bb592f3185cc 710 else if (EPS_STATUS==3)
sakthipriya 5:bb592f3185cc 711 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
sakthipriya 5:bb592f3185cc 712 else if (EPS_STATUS==4)
sakthipriya 5:bb592f3185cc 713 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
sakthipriya 5:bb592f3185cc 714 else if (EPS_STATUS==5)
sakthipriya 5:bb592f3185cc 715 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 716
sakthipriya 5:bb592f3185cc 717
sakthipriya 5:bb592f3185cc 718 if(EPS_BATTERY_HEAT_ENABLE == 'e')
sakthipriya 5:bb592f3185cc 719 BAE_ENABLE |= 0x00000080;
sakthipriya 5:bb592f3185cc 720 else if(EPS_BATTERY_HEAT_ENABLE == 'd')
sakthipriya 5:bb592f3185cc 721 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 722
sakthipriya 0:7b4c00e3912f 723
sakthipriya 0:7b4c00e3912f 724
sakthipriya 0:7b4c00e3912f 725 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
sakthipriya 0:7b4c00e3912f 726 }
sakthipriya 0:7b4c00e3912f 727
sakthipriya 0:7b4c00e3912f 728 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 729 {
sakthipriya 0:7b4c00e3912f 730 printf("\n\r Initialising BAE ");
sakthipriya 3:07e15677a75c 731 //..........intial status....//
sakthipriya 3:07e15677a75c 732 ACS_STATE = '4';
sakthipriya 3:07e15677a75c 733 ACS_ATS_ENABLE = 'e';
sakthipriya 3:07e15677a75c 734 ACS_DATA_ACQ_ENABLE = 'e';
sakthipriya 3:07e15677a75c 735 EPS_BATTERY_HEAT_ENABLE = 'e';
sakthipriya 3:07e15677a75c 736 //............................//
sakthipriya 3:07e15677a75c 737 FCTN_ACS_INIT();
Bragadeesh153 9:f66c57a01e05 738 //FCTN_EPS_INIT();
sakthipriya 0:7b4c00e3912f 739 //P_BCN_INIT();
sakthipriya 3:07e15677a75c 740
sakthipriya 3:07e15677a75c 741
sakthipriya 0:7b4c00e3912f 742 FLAG();
sakthipriya 0:7b4c00e3912f 743 }
sakthipriya 0:7b4c00e3912f 744
sakthipriya 0:7b4c00e3912f 745 int main()
sakthipriya 0:7b4c00e3912f 746 {
sakthipriya 0:7b4c00e3912f 747 pc.printf("\n\r BAE Activated. Testing Version 1.1 \n");
sakthipriya 0:7b4c00e3912f 748
sakthipriya 0:7b4c00e3912f 749 /* if (BCN_FEN == 0) //dummy implementation
sakthipriya 0:7b4c00e3912f 750 {
sakthipriya 0:7b4c00e3912f 751 pc.printf("\n\r RF silence ");
sakthipriya 0:7b4c00e3912f 752 P_BCN_FEN();
sakthipriya 0:7b4c00e3912f 753 t_rfsilence.start();//Start the timer for RF_Silence
sakthipriya 0:7b4c00e3912f 754 while(t_rfsilence.read() < RF_SILENCE_TIME);
sakthipriya 0:7b4c00e3912f 755 }
sakthipriya 0:7b4c00e3912f 756 */
sakthipriya 3:07e15677a75c 757
sakthipriya 0:7b4c00e3912f 758 //ACS_INIT_STATUS = 'c';
sakthipriya 0:7b4c00e3912f 759 //ACS_DATA_ACQ_STATUS = 'c';
sakthipriya 0:7b4c00e3912f 760 gpo1 = 0;
sakthipriya 0:7b4c00e3912f 761 FLAG();
sakthipriya 0:7b4c00e3912f 762 FCTN_BAE_INIT();
Bragadeesh153 9:f66c57a01e05 763 actual_data.power_mode = 2;
sakthipriya 3:07e15677a75c 764
sakthipriya 0:7b4c00e3912f 765
sakthipriya 0:7b4c00e3912f 766 //...i2c..
sakthipriya 3:07e15677a75c 767 //strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end");
sakthipriya 0:7b4c00e3912f 768 slave.address(addr);
sakthipriya 0:7b4c00e3912f 769 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 770
sakthipriya 0:7b4c00e3912f 771 ptr_t_i2c = new Thread(T_TC);
sakthipriya 0:7b4c00e3912f 772 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 5:bb592f3185cc 773
sakthipriya 0:7b4c00e3912f 774 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 775 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
sakthipriya 5:bb592f3185cc 776 // ir1.fall(&ir1clear); //Battery Gauge - Alert Bar Signal
sakthipriya 5:bb592f3185cc 777 ir2.fall(&ir2clear); //TRXY Driver TR switch Fault
sakthipriya 5:bb592f3185cc 778 ir3.fall(&ir3clear); //TRZ Driver Fault Bar
sakthipriya 5:bb592f3185cc 779 ir4.fall(&ir4clear); //TRZ Driver TR switch Fault
sakthipriya 5:bb592f3185cc 780 ir5.fall(&ir5clear); //CDMS - Switch Fault
sakthipriya 5:bb592f3185cc 781 ir6.fall(&ir6clear); //Beacon- Switch OC bar
sakthipriya 5:bb592f3185cc 782 ir7.fall(&ir7clear); //Charger IC - Fault Bar
sakthipriya 0:7b4c00e3912f 783 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
sakthipriya 0:7b4c00e3912f 784 t_sc_timer.start(10000);
sakthipriya 0:7b4c00e3912f 785 t_start.start();
sakthipriya 0:7b4c00e3912f 786 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
sakthipriya 0:7b4c00e3912f 787
sakthipriya 0:7b4c00e3912f 788 gpo1 = 0; // att sens2 switch is enabled
sakthipriya 0:7b4c00e3912f 789 //FCTN_BAE_INIT();
sakthipriya 0:7b4c00e3912f 790 while(1); //required to prevent main from terminating
sakthipriya 3:07e15677a75c 791 }
sakthipriya 3:07e15677a75c 792