Team Fox / Mbed 2 deprecated TFR_BAE_vr1_1working_finally_PWM_CTRLALGO_update

PWM and ALGO updated.. PWM getting generated

Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of TFR_BAE_vr1_1working_finally_PWM_update by Team Fox

main.cpp@8:24f73f54e44a, 2016-03-06 (annotated)

Committer:
Bragadeesh153
Date:
Sun Mar 06 12:41:03 2016 +0000
Revision:
8:24f73f54e44a
Parent:
7:a46a1dee4497
Child:
9:c74c43a77ae9
FOR TESTING, INTERRUPTS DISABLED

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];
sakthipriya 0:7b4c00e3912f 58 extern uint8_t BCN_FEN;
sakthipriya 1:446a959e36ce 59 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 60 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 61 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 62 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 63
sakthipriya 5:bb592f3185cc 64 int write_ack = 1;
sakthipriya 5:bb592f3185cc 65 int read_ack = 1;
sakthipriya 0:7b4c00e3912f 66 char telecommand[tc_len];
sakthipriya 3:07e15677a75c 67 char* telemetry;
sakthipriya 5:bb592f3185cc 68
sakthipriya 5:bb592f3185cc 69 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 70 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 71 bool if1check = 0;
Bragadeesh153 8:24f73f54e44a 72 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 73
sakthipriya 0:7b4c00e3912f 74 //*****************************************************Assigning pins******************************************************//
sakthipriya 0:7b4c00e3912f 75 DigitalOut gpo1(PTC0); // enable of att sens2 switch
sakthipriya 0:7b4c00e3912f 76 DigitalOut gpo2(PTC16); // enable of att sens switch
sakthipriya 0:7b4c00e3912f 77 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
sakthipriya 0:7b4c00e3912f 78 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
sakthipriya 0:7b4c00e3912f 79 I2CSlave slave (PIN1,PIN2);
sakthipriya 0:7b4c00e3912f 80 DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 81
sakthipriya 0:7b4c00e3912f 82 //gpo1 = 0;
sakthipriya 0:7b4c00e3912f 83 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 84 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 85 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 86
sakthipriya 5:bb592f3185cc 87 //........faults
sakthipriya 5:bb592f3185cc 88 //Polled Faults
sakthipriya 5:bb592f3185cc 89 DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
sakthipriya 5:bb592f3185cc 90 DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
sakthipriya 5:bb592f3185cc 91 DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 92
sakthipriya 5:bb592f3185cc 93 //Interrupt based faults
sakthipriya 5:bb592f3185cc 94 //InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal
sakthipriya 5:bb592f3185cc 95 InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault
sakthipriya 5:bb592f3185cc 96 InterruptIn ir3(PIN89);//TRZ Driver Fault Bar
sakthipriya 5:bb592f3185cc 97 InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault
sakthipriya 5:bb592f3185cc 98 InterruptIn ir5(PIN79);//CDMS - Switch Fault
sakthipriya 5:bb592f3185cc 99 InterruptIn ir6(PIN80);//Beacon- Switch OC bar
sakthipriya 5:bb592f3185cc 100 InterruptIn ir7(PIN42);//Charger IC - Fault Bar
sakthipriya 5:bb592f3185cc 101
sakthipriya 5:bb592f3185cc 102 DigitalOut TRXY_SW(PIN71); //TR XY Switch
Bragadeesh153 8:24f73f54e44a 103 DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z
sakthipriya 5:bb592f3185cc 104 DigitalOut TRZ_SW(PIN40); //TR Z Switch
sakthipriya 5:bb592f3185cc 105 DigitalOut CDMS_RESET(PIN7); // CDMS RESET
sakthipriya 5:bb592f3185cc 106 DigitalOut BCN_SW(PIN14); //Beacon switch
Bragadeesh153 8:24f73f54e44a 107 DigitalOut DRV_XY_EN(PIN82);
sakthipriya 5:bb592f3185cc 108
sakthipriya 5:bb592f3185cc 109
sakthipriya 0:7b4c00e3912f 110
sakthipriya 0:7b4c00e3912f 111 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 3:07e15677a75c 112
sakthipriya 0:7b4c00e3912f 113 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 114
sakthipriya 0:7b4c00e3912f 115 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 116
sakthipriya 0:7b4c00e3912f 117 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 118 void FCTN_TM();
sakthipriya 3:07e15677a75c 119 void F_ACS();
sakthipriya 3:07e15677a75c 120 void F_EPS();
sakthipriya 3:07e15677a75c 121 void F_BCN();
sakthipriya 0:7b4c00e3912f 122
sakthipriya 0:7b4c00e3912f 123 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 124 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 125 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 126 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 127 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 128
sakthipriya 5:bb592f3185cc 129
sakthipriya 3:07e15677a75c 130 void F_ACS()
sakthipriya 0:7b4c00e3912f 131 {
sakthipriya 5:bb592f3185cc 132 if(pf1check == 1)
sakthipriya 5:bb592f3185cc 133 {
sakthipriya 5:bb592f3185cc 134 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 135 {
sakthipriya 5:bb592f3185cc 136 gpo1 = 1; // turn off ats1 permanently
sakthipriya 5:bb592f3185cc 137 //FCTN_SWITCH_ATS(0); // switch on ATS2
sakthipriya 5:bb592f3185cc 138 }
sakthipriya 5:bb592f3185cc 139 else
sakthipriya 5:bb592f3185cc 140 {
sakthipriya 5:bb592f3185cc 141 gpo1 = 0;
sakthipriya 5:bb592f3185cc 142 iterP1++;
sakthipriya 5:bb592f3185cc 143 }
sakthipriya 5:bb592f3185cc 144 }
sakthipriya 5:bb592f3185cc 145 if(pf2check == 1)
sakthipriya 5:bb592f3185cc 146 {
sakthipriya 5:bb592f3185cc 147 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 148 {
sakthipriya 5:bb592f3185cc 149 gpo2 = 1; // turn off ats2 permanently
sakthipriya 5:bb592f3185cc 150 ACS_DATA_ACQ_ENABLE == 'd';
sakthipriya 5:bb592f3185cc 151 ACS_STATE == '2' ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 152 }
sakthipriya 5:bb592f3185cc 153 else
sakthipriya 5:bb592f3185cc 154 {
sakthipriya 5:bb592f3185cc 155 gpo2 = 0;
sakthipriya 5:bb592f3185cc 156 iterP2++;
sakthipriya 5:bb592f3185cc 157 }
sakthipriya 5:bb592f3185cc 158 }
sakthipriya 5:bb592f3185cc 159 if(if1check == 1)
sakthipriya 5:bb592f3185cc 160 {
sakthipriya 5:bb592f3185cc 161 if(iterI1 >= 3)
sakthipriya 5:bb592f3185cc 162 {
sakthipriya 5:bb592f3185cc 163 TRXY_SW = 0; // turn off TRXY permanently
sakthipriya 5:bb592f3185cc 164 }
sakthipriya 5:bb592f3185cc 165 else
sakthipriya 5:bb592f3185cc 166 {
sakthipriya 5:bb592f3185cc 167 TRXY_SW = 1; //switch on TRXY
sakthipriya 5:bb592f3185cc 168 iterI1++;
sakthipriya 5:bb592f3185cc 169 }
sakthipriya 5:bb592f3185cc 170 }
sakthipriya 5:bb592f3185cc 171 if(if2check == 1)
sakthipriya 5:bb592f3185cc 172 {
sakthipriya 5:bb592f3185cc 173 if(iterI2 >= 3)
sakthipriya 5:bb592f3185cc 174 {
sakthipriya 5:bb592f3185cc 175 TRZ_SW = 0; // turn off TRZ permanently
sakthipriya 5:bb592f3185cc 176 ACS_STATE == '2' ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 177 }
sakthipriya 5:bb592f3185cc 178 else
sakthipriya 5:bb592f3185cc 179 {
sakthipriya 5:bb592f3185cc 180 TRZ_SW = 1; //switch on Z
sakthipriya 5:bb592f3185cc 181 iterI2++;
sakthipriya 5:bb592f3185cc 182 }
sakthipriya 5:bb592f3185cc 183 }
sakthipriya 5:bb592f3185cc 184
sakthipriya 6:036d08b62785 185 //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 186 //b1[3] = {22, 22,10};
sakthipriya 0:7b4c00e3912f 187 //omega1[3] = {2.1,3.0,1.5};
sakthipriya 0:7b4c00e3912f 188 // gpo1 = 0; // att sens2 switch is disabled
sakthipriya 0:7b4c00e3912f 189 // gpo2 = 0; // att sens switch is disabled
sakthipriya 0:7b4c00e3912f 190
sakthipriya 3:07e15677a75c 191
sakthipriya 0:7b4c00e3912f 192
sakthipriya 3:07e15677a75c 193 //Thread::signal_wait(0x1);
sakthipriya 0:7b4c00e3912f 194 ACS_MAIN_STATUS = 's'; //set ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 195 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 196 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 197 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 198 pc.printf("\n\rEntered ACS %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 199
sakthipriya 0:7b4c00e3912f 200 if(ACS_DATA_ACQ_ENABLE == 'e')// check if ACS_DATA_ACQ_ENABLE = 1?
sakthipriya 0:7b4c00e3912f 201 {
sakthipriya 0:7b4c00e3912f 202 FLAG();
sakthipriya 0:7b4c00e3912f 203 FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
sakthipriya 0:7b4c00e3912f 204 pc.printf("gyro values\n\r"); //printing the angular velocity and magnetic field values
sakthipriya 0:7b4c00e3912f 205 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 206 {
sakthipriya 6:036d08b62785 207 pc.printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
sakthipriya 0:7b4c00e3912f 208 }
sakthipriya 0:7b4c00e3912f 209 pc.printf("mag values\n\r");
sakthipriya 6:036d08b62785 210 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 211 {
sakthipriya 6:036d08b62785 212 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
sakthipriya 5:bb592f3185cc 213 }
sakthipriya 6:036d08b62785 214 // for(int i=0;i<3;i++)
sakthipriya 6:036d08b62785 215 // {
sakthipriya 6:036d08b62785 216 // omega1[i]= data[i];
sakthipriya 6:036d08b62785 217 // b1[i] = data[i+3];
sakthipriya 6:036d08b62785 218 // }
sakthipriya 0:7b4c00e3912f 219 }//if ACS_DATA_ACQ_ENABLE = 1
sakthipriya 0:7b4c00e3912f 220 else
sakthipriya 0:7b4c00e3912f 221 {
sakthipriya 0:7b4c00e3912f 222 // Z axis actuation is the only final solution,
sakthipriya 0:7b4c00e3912f 223 }
sakthipriya 0:7b4c00e3912f 224 if(ACS_STATE == '0') // check ACS_STATE = ACS_CONTROL_OFF?
sakthipriya 0:7b4c00e3912f 225 {
sakthipriya 0:7b4c00e3912f 226 printf("\n\r acs control off\n");
sakthipriya 0:7b4c00e3912f 227 FLAG();
sakthipriya 0:7b4c00e3912f 228 ACS_STATUS = '0'; // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 229 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 230 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 231 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 232 }
sakthipriya 0:7b4c00e3912f 233 else
sakthipriya 0:7b4c00e3912f 234 {
sakthipriya 1:446a959e36ce 235 if(actual_data.power_mode>1)
sakthipriya 0:7b4c00e3912f 236
sakthipriya 0:7b4c00e3912f 237 {
sakthipriya 0:7b4c00e3912f 238 if(ACS_STATE == '2') // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 239 {
sakthipriya 0:7b4c00e3912f 240 FLAG();
sakthipriya 0:7b4c00e3912f 241 printf("\n\r z axis moment only\n");
sakthipriya 0:7b4c00e3912f 242 ACS_STATUS = '2'; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 243 // FCTN_ACS_CNTRLALGO(b1, omega1);
sakthipriya 0:7b4c00e3912f 244 moment[0] = 0;
sakthipriya 0:7b4c00e3912f 245 moment[1] = 0;
sakthipriya 0:7b4c00e3912f 246 moment[2] =1.3;// is a dummy value
sakthipriya 0:7b4c00e3912f 247 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 248 }
sakthipriya 0:7b4c00e3912f 249 else
sakthipriya 0:7b4c00e3912f 250 {
sakthipriya 0:7b4c00e3912f 251 if(ACS_STATE == '3') // check ACS_STATE = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 252 {
sakthipriya 0:7b4c00e3912f 253 FLAG();
sakthipriya 0:7b4c00e3912f 254 printf("\n\r acs data failure ");
sakthipriya 0:7b4c00e3912f 255 ACS_STATUS = '3'; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 256 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 257 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 258 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 259 }
sakthipriya 0:7b4c00e3912f 260 else
sakthipriya 0:7b4c00e3912f 261 {
sakthipriya 0:7b4c00e3912f 262 if(ACS_STATE == '4') // check ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 263 {
sakthipriya 0:7b4c00e3912f 264 FLAG();
sakthipriya 0:7b4c00e3912f 265 printf("\n\r nominal");
sakthipriya 0:7b4c00e3912f 266 ACS_STATUS = '4'; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 6:036d08b62785 267 FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual);
sakthipriya 0:7b4c00e3912f 268 printf("\n\r moment values returned by control algo \n");
sakthipriya 0:7b4c00e3912f 269 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 270 {
sakthipriya 0:7b4c00e3912f 271 printf("%f\t",moment[i]);
sakthipriya 0:7b4c00e3912f 272 }
Bragadeesh153 8:24f73f54e44a 273
Bragadeesh153 8:24f73f54e44a 274
Bragadeesh153 8:24f73f54e44a 275 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 8:24f73f54e44a 276
Bragadeesh153 8:24f73f54e44a 277 //PWM1 = 0.5;
Bragadeesh153 8:24f73f54e44a 278 //PWM2 = 0.5;
Bragadeesh153 8:24f73f54e44a 279 //PWM3 = 0.5;
sakthipriya 0:7b4c00e3912f 280 }
sakthipriya 0:7b4c00e3912f 281 else
sakthipriya 0:7b4c00e3912f 282 {
sakthipriya 0:7b4c00e3912f 283 if(ACS_STATE == '5') // check ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 284 {
sakthipriya 0:7b4c00e3912f 285 FLAG();
sakthipriya 0:7b4c00e3912f 286 printf("\n\r auto control");
sakthipriya 0:7b4c00e3912f 287 ACS_STATUS = '5'; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 288 //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code
sakthipriya 0:7b4c00e3912f 289 }
sakthipriya 0:7b4c00e3912f 290 else
sakthipriya 0:7b4c00e3912f 291 {
sakthipriya 0:7b4c00e3912f 292 if(ACS_STATE == '6') // check ACS_STATE = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 293 {
sakthipriya 0:7b4c00e3912f 294 FLAG();
sakthipriya 0:7b4c00e3912f 295 printf("\n\r Entered detumbling \n");
sakthipriya 0:7b4c00e3912f 296 ACS_STATUS = '6'; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 6:036d08b62785 297 FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); // detumbling code has to be included
sakthipriya 0:7b4c00e3912f 298 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 299 }
sakthipriya 0:7b4c00e3912f 300 else
sakthipriya 0:7b4c00e3912f 301 {
sakthipriya 0:7b4c00e3912f 302 FLAG();
sakthipriya 0:7b4c00e3912f 303 printf("\n\r invalid state");
sakthipriya 0:7b4c00e3912f 304 ACS_STATUS = '7' ; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 305 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 306 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 307 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 308 }//else of invalid
sakthipriya 0:7b4c00e3912f 309 }//else of autocontrol
sakthipriya 0:7b4c00e3912f 310 }//else of nominal
sakthipriya 0:7b4c00e3912f 311 }//else of data acg failure
sakthipriya 0:7b4c00e3912f 312
sakthipriya 0:7b4c00e3912f 313 }//else fo z axis moment only
sakthipriya 0:7b4c00e3912f 314 }//if power >2
sakthipriya 0:7b4c00e3912f 315 else
sakthipriya 0:7b4c00e3912f 316 {
sakthipriya 0:7b4c00e3912f 317 FLAG();
sakthipriya 0:7b4c00e3912f 318 printf("\n\r low power");
sakthipriya 0:7b4c00e3912f 319 ACS_STATUS = '1'; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 320 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 321 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 322 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 323 }
sakthipriya 0:7b4c00e3912f 324 } //else for acs control off
sakthipriya 0:7b4c00e3912f 325 ACS_MAIN_STATUS = 'c'; //clear ACS_MAIN_STATUS flag
sakthipriya 3:07e15677a75c 326
sakthipriya 0:7b4c00e3912f 327 }
sakthipriya 0:7b4c00e3912f 328 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 329
sakthipriya 3:07e15677a75c 330 void F_EPS()
sakthipriya 0:7b4c00e3912f 331 {
sakthipriya 3:07e15677a75c 332
sakthipriya 0:7b4c00e3912f 333 pc.printf("\n\rEntered EPS %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 334 EPS_MAIN_STATUS = 's'; // Set EPS main status
sakthipriya 3:07e15677a75c 335 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
sakthipriya 3:07e15677a75c 336 pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
sakthipriya 3:07e15677a75c 337 EPS_BATTERY_TEMP_STATUS = 's'; //set EPS_BATTERY_TEMP_STATUS
sakthipriya 3:07e15677a75c 338 if(EPS_BATTERY_HEAT_ENABLE == 'e')
sakthipriya 3:07e15677a75c 339 {
sakthipriya 5:bb592f3185cc 340 if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm
sakthipriya 3:07e15677a75c 341 {
sakthipriya 3:07e15677a75c 342 batt_heat = 1; //turn on battery heater
sakthipriya 3:07e15677a75c 343 }
sakthipriya 3:07e15677a75c 344 else
sakthipriya 3:07e15677a75c 345 {
sakthipriya 3:07e15677a75c 346 batt_heat = 0; //turn off battery heater
sakthipriya 3:07e15677a75c 347 }
sakthipriya 3:07e15677a75c 348
sakthipriya 3:07e15677a75c 349 }
sakthipriya 3:07e15677a75c 350 else if(EPS_BATTERY_HEAT_ENABLE == 'd')
sakthipriya 3:07e15677a75c 351 {
sakthipriya 3:07e15677a75c 352 EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED
sakthipriya 3:07e15677a75c 353 }
sakthipriya 0:7b4c00e3912f 354 FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual);
sakthipriya 1:446a959e36ce 355 if (actual_data.Batt_gauge_actual[1] == 200) //data not received
sakthipriya 0:7b4c00e3912f 356 {
sakthipriya 0:7b4c00e3912f 357 actual_data.power_mode = 1;
sakthipriya 0:7b4c00e3912f 358 EPS_BATTERY_GAUGE_STATUS = 'c'; //clear EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 359
sakthipriya 0:7b4c00e3912f 360 }
sakthipriya 0:7b4c00e3912f 361 else
sakthipriya 0:7b4c00e3912f 362 {
sakthipriya 1:446a959e36ce 363 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
sakthipriya 0:7b4c00e3912f 364 EPS_BATTERY_GAUGE_STATUS = 's'; //set EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 365 }
sakthipriya 3:07e15677a75c 366 // if( Temperature data received)
sakthipriya 3:07e15677a75c 367 //{
sakthipriya 3:07e15677a75c 368
sakthipriya 0:7b4c00e3912f 369
sakthipriya 3:07e15677a75c 370 // }
sakthipriya 3:07e15677a75c 371 // else
sakthipriya 3:07e15677a75c 372 // {
sakthipriya 3:07e15677a75c 373 // Set battery temp to XX
sakthipriya 3:07e15677a75c 374 // EPS_BATTERY_TEMP_STATUS = 'c'; //clear EPS_BATTERY_TEMP_STATUS
sakthipriya 3:07e15677a75c 375 // EPS_STATUS = EPS_ERR_BATTERY_TEMP;
sakthipriya 3:07e15677a75c 376 // }
sakthipriya 3:07e15677a75c 377 FCTN_HK_MAIN();
sakthipriya 6:036d08b62785 378 // printf("\n\r here");
sakthipriya 5:bb592f3185cc 379 FCTN_APPEND_HKDATA();
sakthipriya 5:bb592f3185cc 380 minMaxHkData();
sakthipriya 6:036d08b62785 381 //printf("\n\r here");
sakthipriya 3:07e15677a75c 382 EPS_MAIN_STATUS = 'c'; // clear EPS main status
sakthipriya 3:07e15677a75c 383
sakthipriya 0:7b4c00e3912f 384 }
sakthipriya 0:7b4c00e3912f 385
sakthipriya 0:7b4c00e3912f 386 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 387
sakthipriya 3:07e15677a75c 388 void F_BCN()
sakthipriya 0:7b4c00e3912f 389 {
sakthipriya 3:07e15677a75c 390
sakthipriya 0:7b4c00e3912f 391 pc.printf("\n\rEntered BCN %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 392
sakthipriya 0:7b4c00e3912f 393 P_BCN_TX_MAIN();
sakthipriya 0:7b4c00e3912f 394
sakthipriya 0:7b4c00e3912f 395 }
sakthipriya 0:7b4c00e3912f 396
sakthipriya 0:7b4c00e3912f 397 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 398
sakthipriya 0:7b4c00e3912f 399 void T_TC(void const * args)
sakthipriya 0:7b4c00e3912f 400 {
sakthipriya 0:7b4c00e3912f 401 while(1)
sakthipriya 0:7b4c00e3912f 402 {
sakthipriya 0:7b4c00e3912f 403 Thread::signal_wait(0x4);
sakthipriya 0:7b4c00e3912f 404 wait_us(200); // can be between 38 to 15700
sakthipriya 0:7b4c00e3912f 405 if( slave.receive() == 0)
sakthipriya 0:7b4c00e3912f 406 slave.stop();
sakthipriya 0:7b4c00e3912f 407 else if( slave.receive() == 1) // slave writes to master
sakthipriya 0:7b4c00e3912f 408 {
sakthipriya 5:bb592f3185cc 409 if(data_send_flag == 'h')
sakthipriya 6:036d08b62785 410 {
sakthipriya 6:036d08b62785 411 //FCTN_APPEND_HKDATA();
sakthipriya 6:036d08b62785 412 // pc.printf("\n\r here");
sakthipriya 6:036d08b62785 413 write_ack=slave.write(BAE_chardata,74);
sakthipriya 6:036d08b62785 414 }
sakthipriya 5:bb592f3185cc 415 else if(data_send_flag == 't')
sakthipriya 5:bb592f3185cc 416 {
sakthipriya 5:bb592f3185cc 417 write_ack=slave.write(telemetry,tm_len);
sakthipriya 5:bb592f3185cc 418 data_send_flag = 'h';
sakthipriya 5:bb592f3185cc 419 irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 420 }
sakthipriya 0:7b4c00e3912f 421 }
sakthipriya 0:7b4c00e3912f 422 else if( slave.receive()==3 || slave.receive()==2) // slave read
sakthipriya 0:7b4c00e3912f 423 {
sakthipriya 5:bb592f3185cc 424 read_ack=slave.read(telecommand,tc_len);
sakthipriya 7:a46a1dee4497 425 t_tc.start();
sakthipriya 6:036d08b62785 426 //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand);
sakthipriya 7:a46a1dee4497 427 pc.printf("\n\r Executing Telecommand \n");
sakthipriya 3:07e15677a75c 428 // FCTN_TC_DECODE((uint8_t*) telecommand);
sakthipriya 7:a46a1dee4497 429
sakthipriya 3:07e15677a75c 430 uint8_t* temp = FCTN_BAE_TM_TC((uint8_t*) telecommand);
sakthipriya 3:07e15677a75c 431 telemetry = (char*)temp;
sakthipriya 7:a46a1dee4497 432
sakthipriya 5:bb592f3185cc 433 FCTN_TM();
sakthipriya 7:a46a1dee4497 434 t_tc.stop();
sakthipriya 7:a46a1dee4497 435 printf("\n\r time taken %d",t_tc.read_us());
sakthipriya 7:a46a1dee4497 436 t_tc.reset();
sakthipriya 3:07e15677a75c 437 // for(int i = 0; i<134; i++)
sakthipriya 3:07e15677a75c 438 //pc.printf("%c", telemetry[i]);
sakthipriya 0:7b4c00e3912f 439 }
sakthipriya 0:7b4c00e3912f 440
sakthipriya 6:036d08b62785 441
sakthipriya 0:7b4c00e3912f 442 }
sakthipriya 0:7b4c00e3912f 443 }
sakthipriya 0:7b4c00e3912f 444
sakthipriya 0:7b4c00e3912f 445 void FCTN_TM()
sakthipriya 0:7b4c00e3912f 446 {
sakthipriya 4:39a4ae8c7ecd 447 //irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 448 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 449 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 450 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 451 }
sakthipriya 0:7b4c00e3912f 452
sakthipriya 0:7b4c00e3912f 453
sakthipriya 0:7b4c00e3912f 454 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 455
sakthipriya 0:7b4c00e3912f 456 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 457 {
sakthipriya 0:7b4c00e3912f 458 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 459 }
sakthipriya 0:7b4c00e3912f 460
sakthipriya 0:7b4c00e3912f 461
sakthipriya 5:bb592f3185cc 462 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 463 /*void ir1clear()
sakthipriya 5:bb592f3185cc 464 {
sakthipriya 5:bb592f3185cc 465 actual_data.faultIr_status |= 0x01; // alert
sakthipriya 5:bb592f3185cc 466
sakthipriya 5:bb592f3185cc 467 }*/
sakthipriya 5:bb592f3185cc 468
sakthipriya 5:bb592f3185cc 469
sakthipriya 5:bb592f3185cc 470
sakthipriya 5:bb592f3185cc 471 void ir2clear()
sakthipriya 5:bb592f3185cc 472 {
sakthipriya 5:bb592f3185cc 473 actual_data.faultIr_status |= 0x02;
sakthipriya 5:bb592f3185cc 474 TRXY_SW = 0; // Switch off TR XY
sakthipriya 5:bb592f3185cc 475 if1check = 1;
sakthipriya 5:bb592f3185cc 476 }
sakthipriya 5:bb592f3185cc 477
sakthipriya 5:bb592f3185cc 478 void ir3clear()
sakthipriya 5:bb592f3185cc 479 {
sakthipriya 5:bb592f3185cc 480 actual_data.faultIr_status |= 0x04;
Bragadeesh153 8:24f73f54e44a 481 DRV_Z_EN = 0;
sakthipriya 5:bb592f3185cc 482 wait_us(1);
Bragadeesh153 8:24f73f54e44a 483 DRV_Z_EN = 1;
sakthipriya 5:bb592f3185cc 484
sakthipriya 5:bb592f3185cc 485 }
sakthipriya 5:bb592f3185cc 486
sakthipriya 5:bb592f3185cc 487 void ir4clear()
sakthipriya 5:bb592f3185cc 488 {
sakthipriya 5:bb592f3185cc 489 if2check = 1;
sakthipriya 5:bb592f3185cc 490 actual_data.faultIr_status |= 0x08;
sakthipriya 5:bb592f3185cc 491 TRZ_SW = 0;
sakthipriya 5:bb592f3185cc 492 }
sakthipriya 5:bb592f3185cc 493
sakthipriya 5:bb592f3185cc 494 void ir5clear()
sakthipriya 5:bb592f3185cc 495 {
sakthipriya 5:bb592f3185cc 496 actual_data.faultIr_status |= 0x10;
sakthipriya 5:bb592f3185cc 497 CDMS_RESET = 0;
sakthipriya 5:bb592f3185cc 498 wait_us(1);
sakthipriya 5:bb592f3185cc 499 CDMS_RESET = 1;
sakthipriya 5:bb592f3185cc 500 }
sakthipriya 5:bb592f3185cc 501
sakthipriya 5:bb592f3185cc 502 void ir6clear()
sakthipriya 5:bb592f3185cc 503 {
sakthipriya 5:bb592f3185cc 504 actual_data.faultIr_status |= 0x20;
sakthipriya 5:bb592f3185cc 505 BCN_SW = 0;
sakthipriya 5:bb592f3185cc 506 wait_us(1);
sakthipriya 5:bb592f3185cc 507 BCN_SW = 1;
sakthipriya 5:bb592f3185cc 508 }
sakthipriya 5:bb592f3185cc 509
sakthipriya 5:bb592f3185cc 510 void ir7clear()
sakthipriya 5:bb592f3185cc 511 {
sakthipriya 5:bb592f3185cc 512 actual_data.faultIr_status |= 0x40;
sakthipriya 5:bb592f3185cc 513 }
sakthipriya 5:bb592f3185cc 514 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 515
sakthipriya 5:bb592f3185cc 516
sakthipriya 5:bb592f3185cc 517
sakthipriya 5:bb592f3185cc 518 void pollfault()
sakthipriya 5:bb592f3185cc 519 {
sakthipriya 5:bb592f3185cc 520
sakthipriya 5:bb592f3185cc 521
sakthipriya 5:bb592f3185cc 522
sakthipriya 5:bb592f3185cc 523 if (pf1==0) // OC_ATS1
sakthipriya 5:bb592f3185cc 524 {
sakthipriya 5:bb592f3185cc 525 pf1check=1;
sakthipriya 5:bb592f3185cc 526 actual_data.faultPoll_status |=0x01 ;
sakthipriya 5:bb592f3185cc 527 gpo1 = 1; // turn off ats1 // to be turned on next cycle in ACS
sakthipriya 5:bb592f3185cc 528 }
sakthipriya 5:bb592f3185cc 529 else actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 530
sakthipriya 5:bb592f3185cc 531 if (pf2==0)
sakthipriya 5:bb592f3185cc 532 {
sakthipriya 5:bb592f3185cc 533 pf2check=1;
sakthipriya 5:bb592f3185cc 534 actual_data.faultPoll_status |=0x02 ;
sakthipriya 5:bb592f3185cc 535 gpo2 = 1; // turn off ats2 // turn on in ACS
sakthipriya 5:bb592f3185cc 536 }
sakthipriya 5:bb592f3185cc 537 else actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 538
sakthipriya 5:bb592f3185cc 539 if (pf3==0)
sakthipriya 5:bb592f3185cc 540 { actual_data.faultPoll_status |=0x04 ;
Bragadeesh153 8:24f73f54e44a 541 DRV_XY_EN = 0;
sakthipriya 5:bb592f3185cc 542 wait_us(1);
Bragadeesh153 8:24f73f54e44a 543 DRV_XY_EN = 1;
sakthipriya 5:bb592f3185cc 544 }
sakthipriya 5:bb592f3185cc 545 else actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 546
sakthipriya 5:bb592f3185cc 547
sakthipriya 5:bb592f3185cc 548
sakthipriya 5:bb592f3185cc 549
sakthipriya 5:bb592f3185cc 550 /*if (ir1==1)
sakthipriya 5:bb592f3185cc 551 {
sakthipriya 5:bb592f3185cc 552 actual_data.faultIr_status &=0xFE;
sakthipriya 5:bb592f3185cc 553 }*/
sakthipriya 5:bb592f3185cc 554 if (ir2==1)
sakthipriya 5:bb592f3185cc 555 {
sakthipriya 5:bb592f3185cc 556 actual_data.faultIr_status &=0xFD;
sakthipriya 5:bb592f3185cc 557 }
sakthipriya 5:bb592f3185cc 558 if (ir3==1)
sakthipriya 5:bb592f3185cc 559 {
sakthipriya 5:bb592f3185cc 560 actual_data.faultIr_status &=0xFB;
sakthipriya 5:bb592f3185cc 561 }
sakthipriya 5:bb592f3185cc 562 if (ir4==1)
sakthipriya 5:bb592f3185cc 563 {
sakthipriya 5:bb592f3185cc 564 actual_data.faultIr_status &=0xF7;
sakthipriya 5:bb592f3185cc 565 }
sakthipriya 5:bb592f3185cc 566 if (ir5==1)
sakthipriya 5:bb592f3185cc 567 {
sakthipriya 5:bb592f3185cc 568 actual_data.faultIr_status &=0xEF;
sakthipriya 5:bb592f3185cc 569 }
sakthipriya 5:bb592f3185cc 570 if (ir6==1)
sakthipriya 5:bb592f3185cc 571 {
sakthipriya 5:bb592f3185cc 572 actual_data.faultIr_status &=0xDF;
sakthipriya 5:bb592f3185cc 573 }if (ir7==1)
sakthipriya 5:bb592f3185cc 574 {
sakthipriya 5:bb592f3185cc 575 actual_data.faultIr_status &=0xBF;
sakthipriya 5:bb592f3185cc 576 }
sakthipriya 5:bb592f3185cc 577
sakthipriya 5:bb592f3185cc 578 }
sakthipriya 5:bb592f3185cc 579
sakthipriya 5:bb592f3185cc 580
sakthipriya 0:7b4c00e3912f 581 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 582 //SCHEDULER
sakthipriya 0:7b4c00e3912f 583 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 584 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 585 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 586 {
sakthipriya 0:7b4c00e3912f 587 printf("\n\r in scheduler");
sakthipriya 0:7b4c00e3912f 588
sakthipriya 0:7b4c00e3912f 589 if(schedcount == 7) //to reset the counter
sakthipriya 0:7b4c00e3912f 590 {
sakthipriya 0:7b4c00e3912f 591 schedcount = 1;
sakthipriya 0:7b4c00e3912f 592 }
sakthipriya 0:7b4c00e3912f 593 if(schedcount%1==0)
sakthipriya 0:7b4c00e3912f 594 {
sakthipriya 3:07e15677a75c 595 F_ACS();
sakthipriya 0:7b4c00e3912f 596 }
sakthipriya 0:7b4c00e3912f 597
sakthipriya 0:7b4c00e3912f 598 if(schedcount%2==0)
sakthipriya 0:7b4c00e3912f 599 {
Bragadeesh153 8:24f73f54e44a 600 //F_EPS();
sakthipriya 0:7b4c00e3912f 601 }
sakthipriya 0:7b4c00e3912f 602 if(schedcount%3==0)
sakthipriya 0:7b4c00e3912f 603 {
sakthipriya 3:07e15677a75c 604 // F_BCN();
sakthipriya 0:7b4c00e3912f 605 }
sakthipriya 0:7b4c00e3912f 606 schedcount++;
sakthipriya 0:7b4c00e3912f 607 printf("\n\r exited scheduler");
sakthipriya 0:7b4c00e3912f 608 }
sakthipriya 0:7b4c00e3912f 609
sakthipriya 0:7b4c00e3912f 610 Timer t_flag;
sakthipriya 0:7b4c00e3912f 611 void FLAG()
sakthipriya 0:7b4c00e3912f 612 {
sakthipriya 0:7b4c00e3912f 613
sakthipriya 0:7b4c00e3912f 614 //.............acs..................//
sakthipriya 0:7b4c00e3912f 615 if(ACS_INIT_STATUS == 's')
sakthipriya 0:7b4c00e3912f 616 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 617 else if(ACS_INIT_STATUS == 'c')
sakthipriya 0:7b4c00e3912f 618 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 619
sakthipriya 0:7b4c00e3912f 620 if(ACS_DATA_ACQ_STATUS == 's')
sakthipriya 0:7b4c00e3912f 621 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 622 else if(ACS_DATA_ACQ_STATUS == 'c')
sakthipriya 0:7b4c00e3912f 623 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 624
sakthipriya 0:7b4c00e3912f 625 if(ACS_ATS_ENABLE == 'e')
sakthipriya 0:7b4c00e3912f 626 BAE_ENABLE |= 0x00000004;
sakthipriya 0:7b4c00e3912f 627 else if(ACS_ATS_ENABLE == 'd')
sakthipriya 0:7b4c00e3912f 628 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 629
sakthipriya 0:7b4c00e3912f 630 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 631 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 632
sakthipriya 0:7b4c00e3912f 633 if(ACS_MAIN_STATUS == 's')
sakthipriya 0:7b4c00e3912f 634 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 635 else if(ACS_MAIN_STATUS == 'c')
sakthipriya 0:7b4c00e3912f 636 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 637
sakthipriya 0:7b4c00e3912f 638 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 639 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 640 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 641 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 642 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 643 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 644 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 645 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 646 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 647 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 648 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 649 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 650 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 651 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 652 else
sakthipriya 0:7b4c00e3912f 653 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 654
sakthipriya 0:7b4c00e3912f 655 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 656 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 657 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 658 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 659 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 660 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 661 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 662 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 663 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 664 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 665 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 666 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 667
sakthipriya 0:7b4c00e3912f 668 //...............eps......................//
sakthipriya 5:bb592f3185cc 669
sakthipriya 5:bb592f3185cc 670
sakthipriya 5:bb592f3185cc 671 if (EPS_INIT_STATUS=='s') // Set EPS_INIT_STATUS
sakthipriya 5:bb592f3185cc 672 BAE_STATUS |= 0x00010000;
sakthipriya 5:bb592f3185cc 673 else if(EPS_INIT_STATUS=='c') // Clear
sakthipriya 5:bb592f3185cc 674 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 675
sakthipriya 5:bb592f3185cc 676
sakthipriya 5:bb592f3185cc 677 if (EPS_MAIN_STATUS=='s') // Set EPS_MAIIN_STATUS
sakthipriya 5:bb592f3185cc 678 BAE_STATUS |= 0x00040000;
sakthipriya 5:bb592f3185cc 679 else if(EPS_MAIN_STATUS=='c') // Clear
sakthipriya 5:bb592f3185cc 680 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 681
sakthipriya 5:bb592f3185cc 682
sakthipriya 5:bb592f3185cc 683 if (EPS_BATTERY_GAUGE_STATUS=='s') // Set EPS_BATTERY_GAUGE_STATUS
sakthipriya 5:bb592f3185cc 684 BAE_STATUS |= 0x00020000;
sakthipriya 5:bb592f3185cc 685 else if(EPS_BATTERY_GAUGE_STATUS=='c') // Clear
sakthipriya 5:bb592f3185cc 686 BAE_STATUS &= 0xFFFDFFFF;
sakthipriya 5:bb592f3185cc 687
sakthipriya 5:bb592f3185cc 688
sakthipriya 5:bb592f3185cc 689 if (EPS_BATTERY_TEMP_STATUS=='s') // Set EPS_BATTERY_TEMP_STATUS
sakthipriya 5:bb592f3185cc 690 BAE_STATUS |= 0x00080000;
sakthipriya 5:bb592f3185cc 691 else if(EPS_BATTERY_TEMP_STATUS=='c') // Clear
sakthipriya 5:bb592f3185cc 692 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 693
sakthipriya 5:bb592f3185cc 694 if (EPS_STATUS==0)
sakthipriya 5:bb592f3185cc 695 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
sakthipriya 5:bb592f3185cc 696 else if (EPS_STATUS==1)
sakthipriya 5:bb592f3185cc 697 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
sakthipriya 5:bb592f3185cc 698 else if (EPS_STATUS==2)
sakthipriya 5:bb592f3185cc 699 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
sakthipriya 5:bb592f3185cc 700 else if (EPS_STATUS==3)
sakthipriya 5:bb592f3185cc 701 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
sakthipriya 5:bb592f3185cc 702 else if (EPS_STATUS==4)
sakthipriya 5:bb592f3185cc 703 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
sakthipriya 5:bb592f3185cc 704 else if (EPS_STATUS==5)
sakthipriya 5:bb592f3185cc 705 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 706
sakthipriya 5:bb592f3185cc 707
sakthipriya 5:bb592f3185cc 708 if(EPS_BATTERY_HEAT_ENABLE == 'e')
sakthipriya 5:bb592f3185cc 709 BAE_ENABLE |= 0x00000080;
sakthipriya 5:bb592f3185cc 710 else if(EPS_BATTERY_HEAT_ENABLE == 'd')
sakthipriya 5:bb592f3185cc 711 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 712
sakthipriya 0:7b4c00e3912f 713
sakthipriya 0:7b4c00e3912f 714
sakthipriya 0:7b4c00e3912f 715 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
sakthipriya 0:7b4c00e3912f 716 }
sakthipriya 0:7b4c00e3912f 717
sakthipriya 0:7b4c00e3912f 718 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 719 {
sakthipriya 0:7b4c00e3912f 720 printf("\n\r Initialising BAE ");
sakthipriya 3:07e15677a75c 721 //..........intial status....//
sakthipriya 3:07e15677a75c 722 ACS_STATE = '4';
sakthipriya 3:07e15677a75c 723 ACS_ATS_ENABLE = 'e';
sakthipriya 3:07e15677a75c 724 ACS_DATA_ACQ_ENABLE = 'e';
sakthipriya 3:07e15677a75c 725 EPS_BATTERY_HEAT_ENABLE = 'e';
Bragadeesh153 8:24f73f54e44a 726 DRV_XY_EN = 1;
Bragadeesh153 8:24f73f54e44a 727 DRV_Z_EN = 1;
Bragadeesh153 8:24f73f54e44a 728 TRZ_SW = 1;
Bragadeesh153 8:24f73f54e44a 729 TRXY_SW = 1;
sakthipriya 3:07e15677a75c 730 //............................//
sakthipriya 3:07e15677a75c 731 FCTN_ACS_INIT();
Bragadeesh153 8:24f73f54e44a 732 //FCTN_EPS_INIT();
sakthipriya 0:7b4c00e3912f 733 //P_BCN_INIT();
sakthipriya 3:07e15677a75c 734
sakthipriya 3:07e15677a75c 735
sakthipriya 0:7b4c00e3912f 736 FLAG();
sakthipriya 0:7b4c00e3912f 737 }
sakthipriya 0:7b4c00e3912f 738
sakthipriya 0:7b4c00e3912f 739 int main()
sakthipriya 0:7b4c00e3912f 740 {
Bragadeesh153 8:24f73f54e44a 741
Bragadeesh153 8:24f73f54e44a 742
sakthipriya 0:7b4c00e3912f 743 pc.printf("\n\r BAE Activated. Testing Version 1.1 \n");
Bragadeesh153 8:24f73f54e44a 744 actual_data.power_mode=3;
sakthipriya 0:7b4c00e3912f 745
sakthipriya 0:7b4c00e3912f 746 /* if (BCN_FEN == 0) //dummy implementation
sakthipriya 0:7b4c00e3912f 747 {
sakthipriya 0:7b4c00e3912f 748 pc.printf("\n\r RF silence ");
sakthipriya 0:7b4c00e3912f 749 P_BCN_FEN();
sakthipriya 0:7b4c00e3912f 750 t_rfsilence.start();//Start the timer for RF_Silence
sakthipriya 0:7b4c00e3912f 751 while(t_rfsilence.read() < RF_SILENCE_TIME);
sakthipriya 0:7b4c00e3912f 752 }
sakthipriya 0:7b4c00e3912f 753 */
sakthipriya 3:07e15677a75c 754
sakthipriya 0:7b4c00e3912f 755 //ACS_INIT_STATUS = 'c';
sakthipriya 0:7b4c00e3912f 756 //ACS_DATA_ACQ_STATUS = 'c';
sakthipriya 0:7b4c00e3912f 757 gpo1 = 0;
sakthipriya 0:7b4c00e3912f 758 FLAG();
sakthipriya 0:7b4c00e3912f 759 FCTN_BAE_INIT();
sakthipriya 3:07e15677a75c 760
sakthipriya 0:7b4c00e3912f 761
sakthipriya 0:7b4c00e3912f 762 //...i2c..
sakthipriya 3:07e15677a75c 763 //strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end");
sakthipriya 0:7b4c00e3912f 764 slave.address(addr);
sakthipriya 0:7b4c00e3912f 765 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 766
sakthipriya 0:7b4c00e3912f 767 ptr_t_i2c = new Thread(T_TC);
sakthipriya 0:7b4c00e3912f 768 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 5:bb592f3185cc 769
sakthipriya 0:7b4c00e3912f 770 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 771 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
sakthipriya 5:bb592f3185cc 772 // ir1.fall(&ir1clear); //Battery Gauge - Alert Bar Signal
Bragadeesh153 8:24f73f54e44a 773
Bragadeesh153 8:24f73f54e44a 774
Bragadeesh153 8:24f73f54e44a 775 /*ir2.fall(&ir2clear); //TRXY Driver TR switch Fault
sakthipriya 5:bb592f3185cc 776 ir3.fall(&ir3clear); //TRZ Driver Fault Bar
sakthipriya 5:bb592f3185cc 777 ir4.fall(&ir4clear); //TRZ Driver TR switch Fault
sakthipriya 5:bb592f3185cc 778 ir5.fall(&ir5clear); //CDMS - Switch Fault
sakthipriya 5:bb592f3185cc 779 ir6.fall(&ir6clear); //Beacon- Switch OC bar
sakthipriya 5:bb592f3185cc 780 ir7.fall(&ir7clear); //Charger IC - Fault Bar
Bragadeesh153 8:24f73f54e44a 781
Bragadeesh153 8:24f73f54e44a 782 */
Bragadeesh153 8:24f73f54e44a 783
sakthipriya 0:7b4c00e3912f 784 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
sakthipriya 0:7b4c00e3912f 785 t_sc_timer.start(10000);
sakthipriya 0:7b4c00e3912f 786 t_start.start();
sakthipriya 0:7b4c00e3912f 787 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
sakthipriya 0:7b4c00e3912f 788
sakthipriya 0:7b4c00e3912f 789 gpo1 = 0; // att sens2 switch is enabled
sakthipriya 0:7b4c00e3912f 790 //FCTN_BAE_INIT();
sakthipriya 0:7b4c00e3912f 791 while(1); //required to prevent main from terminating
sakthipriya 3:07e15677a75c 792 }
sakthipriya 3:07e15677a75c 793