Team Fox / Mbed 2 deprecated TR_EXCITATION_TEST

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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of BAE_CODE_MARCH_2017 by Team Fox

main.cpp@98:321edb143f26, 2017-02-14 (annotated)

Committer:
lakshya
Date:
Tue Feb 14 16:18:16 2017 +0000
Revision:
98:321edb143f26
Parent:
97:36a91c432cb1
Child:
101:cb5086eb48b4
14 feb pin changes bcn pin changes to pte16 (pin 14)

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"
lakshya 98:321edb143f26 7 #include "InterruptIn.h"
lakshya 49:61c9f28332ba 8 Serial pc(USBTX,USBRX);
lakshya 49:61c9f28332ba 9
sakthipriya 0:7b4c00e3912f 10 #include "TCTM.h"
lakshya 47:d59ba66229ce 11 #define tm_len 134
lakshya 47:d59ba66229ce 12 #define tc_len 135
sakthipriya 0:7b4c00e3912f 13 #define batt_heat_low 20
lakshya 22:950dbe9fbeb8 14 #define print 1
lakshya 39:670133e7ffd8 15 #define PRINT2 1
lakshya 39:670133e7ffd8 16 #define baby 1
lakshya 39:670133e7ffd8 17 #define baby2 1
lakshya 49:61c9f28332ba 18 #define SBC 1
lakshya 49:61c9f28332ba 19
lakshya 49:61c9f28332ba 20 Timer timer_FCTN_ACS_GENPWM_MAIN;
lakshya 49:61c9f28332ba 21 Timer timer_FCTN_ACS_CNTRLALGO;
lakshya 49:61c9f28332ba 22 Timer timer_FCTN_BAE_INIT;
lakshya 49:61c9f28332ba 23 Timer timer_FLASH_INI;
lakshya 49:61c9f28332ba 24 Timer timer_FCTN_ACS_INIT;
lakshya 49:61c9f28332ba 25 Timer timer_FCTN_EPS_INIT;
lakshya 49:61c9f28332ba 26 Timer timer_FCTN_BCN_INIT;
lakshya 49:61c9f28332ba 27 Timer timer_F_ACS;
lakshya 49:61c9f28332ba 28 Timer timer_FCTN_ATS_DATA_ACQ;
lakshya 49:61c9f28332ba 29 extern Timer timer_SENSOR_INIT;
lakshya 49:61c9f28332ba 30 extern Timer timer_CONFIG_UPLOAD;
lakshya 49:61c9f28332ba 31 extern Timer timer_SENSOR_DATA_ACQ;
lakshya 49:61c9f28332ba 32 extern Timer timer_controlmodes;
lakshya 49:61c9f28332ba 33
lakshya 49:61c9f28332ba 34 Timer timer_F_ESP;
lakshya 49:61c9f28332ba 35 Timer timer_minMaxHkData;
lakshya 49:61c9f28332ba 36 Timer timer_FCTN_APPEND_HKDATA;
lakshya 49:61c9f28332ba 37 Timer timer_FCTN_EPS_HANDLE_CDMS_FAULT;
lakshya 49:61c9f28332ba 38 Timer timer_FCTN_EPS_HANDLE_HW_FAULTS;
lakshya 49:61c9f28332ba 39 Timer timer_FCTN_HK_MAIN;
lakshya 49:61c9f28332ba 40 Timer timer_FCTN_BATTERYGAUGE_MAIN;
lakshya 49:61c9f28332ba 41 Timer timer_FCTN_BATT_TEMP_SENSOR_MAIN;
lakshya 49:61c9f28332ba 42 extern Timer timer_alertFlags;
lakshya 49:61c9f28332ba 43 extern Timer timer_soc;
lakshya 49:61c9f28332ba 44 extern Timer timer_FCTN_BATTERYGAUGE_INIT;
lakshya 49:61c9f28332ba 45
lakshya 49:61c9f28332ba 46 Timer timer_F_BCN;
lakshya 49:61c9f28332ba 47 Timer timer_FCTN_BCN_TX_MAIN;
lakshya 49:61c9f28332ba 48 extern Timer timer_Init_BEACON_HW;
lakshya 49:61c9f28332ba 49 extern Timer timer_Set_BCN_TX_STATUS_DISABLED;
lakshya 49:61c9f28332ba 50 extern Timer timer_Set_BCN_TX_STATUS_SUSPENDED;
lakshya 49:61c9f28332ba 51 extern Timer timer_Set_BCN_TX_STATUS_RF_SILENCE;
lakshya 49:61c9f28332ba 52 extern Timer timer_Set_BCN_TX_STATUS_SUCCESS;
lakshya 49:61c9f28332ba 53 extern Timer timer_Set_BCN_TX_STATUS_FAILURE;
lakshya 49:61c9f28332ba 54
lakshya 33:76f2b8735501 55 #define DISABLE_WDOG 0;
lakshya 33:76f2b8735501 56
lakshya 33:76f2b8735501 57 void kick_WDOG()
lakshya 33:76f2b8735501 58 {
lakshya 33:76f2b8735501 59 SIM->SRVCOP=0x55;
lakshya 33:76f2b8735501 60 SIM->SRVCOP=0xAA;
lakshya 33:76f2b8735501 61 printf("\n\rkicked");
lakshya 33:76f2b8735501 62 }
lakshya 33:76f2b8735501 63
lakshya 33:76f2b8735501 64 void init_WDOG()
lakshya 33:76f2b8735501 65 {
lakshya 33:76f2b8735501 66 SIM->COPC=0x0C;
lakshya 33:76f2b8735501 67 kick_WDOG();
lakshya 33:76f2b8735501 68 }
lakshya 33:76f2b8735501 69
lakshya 49:61c9f28332ba 70 DigitalOut time_wdog(PIN68,0);// for determining the time between code
lakshya 20:949d13045431 71
lakshya 19:79e69017c855 72 //**********************************************GLOBAL RTOS TIMER*********************************************************//
lakshya 19:79e69017c855 73 RtosTimer *BAE_STANDBY_STATUS_TIMER;
lakshya 19:79e69017c855 74
lakshya 20:949d13045431 75 //bcn heater rtostimers=============================================================================
lakshya 20:949d13045431 76 RtosTimer *HTR_OFF=NULL;
lakshya 20:949d13045431 77 RtosTimer *HTR_CYCLE=NULL;
lakshya 20:949d13045431 78 RtosTimer *HTR_DLY=NULL;
lakshya 20:949d13045431 79
lakshya 33:76f2b8735501 80 //UPTIME TIMERS
lakshya 33:76f2b8735501 81 Timer BAE_uptime;
lakshya 33:76f2b8735501 82 Timer I2C_last;
lakshya 33:76f2b8735501 83
lakshya 33:76f2b8735501 84 void RETURN_UPTIME(float time, uint8_t *day,uint8_t *hour,uint8_t *min)
lakshya 33:76f2b8735501 85 {
lakshya 33:76f2b8735501 86 *day = time/(3600*24);
lakshya 33:76f2b8735501 87 time = (int)time % (3600*24);
lakshya 33:76f2b8735501 88 *hour = time/(3600);
lakshya 33:76f2b8735501 89 time = (int)time % (3600);
lakshya 33:76f2b8735501 90 *min = time/60;
lakshya 33:76f2b8735501 91 }
lakshya 33:76f2b8735501 92
lakshya 49:61c9f28332ba 93 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 49:61c9f28332ba 94 int eps_btg_read_flag; // flag to check I2C ack on reading from BTG
lakshya 49:61c9f28332ba 95 int eps_btg_writ_flag; // flag to check I2C ack on writing from BTG
lakshya 20:949d13045431 96
lakshya 20:949d13045431 97 uint8_t HTR_CYCLE_COUNTS=0; //Count of heater cycles
lakshya 20:949d13045431 98 uint8_t HTR_CYCLE_START_DLY=0; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya 20:949d13045431 99 uint8_t HTR_ON_DURATION=0; //EPS_HTR_OFF timer duration in minutes
lakshya 20:949d13045431 100 uint16_t HTR_CYCLE_PERIOD =0; //EPS_HTR_CYCLE timer duration - MSB minutes, LSB seconds
lakshya 20:949d13045431 101 uint8_t HTR_CYCLE_COUNTER = 0 ;
lakshya 20:949d13045431 102
lakshya 20:949d13045431 103 uint32_t HTR_CYCLE_PERIOD_DECODER() //To convert HTR_CYCLE_PERIOD to millisecs
lakshya 20:949d13045431 104 {
lakshya 20:949d13045431 105 uint8_t PERIOD_mins, PERIOD_secs;
lakshya 20:949d13045431 106 //pc.printf("\n\r FCTN_HTR_CYCLE_PERIOD");
lakshya 20:949d13045431 107 PERIOD_secs = HTR_CYCLE_PERIOD;
lakshya 20:949d13045431 108 PERIOD_mins = HTR_CYCLE_PERIOD >> 8;
lakshya 20:949d13045431 109 uint32_t period = 1000*((int)PERIOD_mins * 60 + (int)PERIOD_secs);
lakshya 20:949d13045431 110
lakshya 20:949d13045431 111 return period;
lakshya 20:949d13045431 112 }
lakshya 20:949d13045431 113
lakshya 20:949d13045431 114 void FCTN_EPS_HTR_CYCLE(void const *arg)
lakshya 20:949d13045431 115 {
lakshya 33:76f2b8735501 116 BTRY_HTR_ENABLE = 1;//assuming its active high check
lakshya 20:949d13045431 117 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 118 //pc.printf("\n\r FCTN_EPS_HTR_CYCLE");
lakshya 20:949d13045431 119 //tim.reset();
lakshya 20:949d13045431 120 //tim.start();
lakshya 20:949d13045431 121 //HTR_OFF->start(((uint32_t)HTR_ON_DURATION)*1000);
lakshya 20:949d13045431 122 HTR_OFF->start((int)HTR_ON_DURATION*60*1000);
lakshya 20:949d13045431 123 }
lakshya 20:949d13045431 124
lakshya 20:949d13045431 125 void FCTN_EPS_HTR_DLY(void const* arg)
lakshya 20:949d13045431 126 {
lakshya 33:76f2b8735501 127 BTRY_HTR_ENABLE = 1;
lakshya 20:949d13045431 128 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 129 HTR_OFF->start(((int)HTR_ON_DURATION*60*1000));
lakshya 20:949d13045431 130 //pc.printf("\n\r on kar diya");
lakshya 20:949d13045431 131 //pc.printf("\n\r FCTN_EPS_HTR_DLY");
lakshya 20:949d13045431 132 //tim.start();
lakshya 20:949d13045431 133 HTR_CYCLE->start((uint32_t)HTR_CYCLE_PERIOD_DECODER);
lakshya 20:949d13045431 134 }
lakshya 20:949d13045431 135
lakshya 20:949d13045431 136 void FCTN_EPS_HTR_OFF(void const *arg)
lakshya 20:949d13045431 137 {
lakshya 33:76f2b8735501 138 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 139 //tim.stop();
lakshya 20:949d13045431 140 //pc.printf("\n\r off kar diya");
lakshya 20:949d13045431 141 //pc.printf("\n\r the timer value is %f",tim.read());
lakshya 20:949d13045431 142 //tim.reset();
lakshya 20:949d13045431 143 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 144 {
lakshya 20:949d13045431 145 HTR_CYCLE_COUNTER++;
lakshya 20:949d13045431 146 if( HTR_CYCLE_COUNTER == (int)HTR_CYCLE_COUNTS)//HTR_CYCLE_COUNTS )
lakshya 20:949d13045431 147 HTR_CYCLE->stop();
lakshya 20:949d13045431 148 }
lakshya 20:949d13045431 149 }
lakshya 20:949d13045431 150
lakshya 20:949d13045431 151 //====================================================================================================
lakshya 20:949d13045431 152
lakshya 20:949d13045431 153 //fctn to pass the data to bcn long type
lakshya 33:76f2b8735501 154 //uint8_t CDMS_HK_data[134]; now implemented as LONG_HK_data[0][134];
lakshya 33:76f2b8735501 155 uint8_t LONG_HK_data[2][134];
lakshya 20:949d13045431 156 void FCTN_CDMS_HK_TC(uint8_t tc[])
lakshya 20:949d13045431 157 {
lakshya 20:949d13045431 158 for(int i=0;i<134;i++)
lakshya 33:76f2b8735501 159 LONG_HK_data[0][i] = tc[i];
lakshya 20:949d13045431 160 }
lakshya 20:949d13045431 161
lakshya 66:a5d2b8dc6b9e 162 uint8_t BAE_STANDBY=0x07;// as Bcn Acs Eps last three bits BAE order , refer to switch off.//old convection now *****0***** means off
lakshya 20:949d13045431 163
lakshya 19:79e69017c855 164 void BAE_STANDBY_STATUS_RESET(const void* arg)
lakshya 19:79e69017c855 165 {
lakshya 19:79e69017c855 166 printf("\n\rBAE standby reset to 0x00");
lakshya 66:a5d2b8dc6b9e 167 BAE_STANDBY=0x07;
lakshya 19:79e69017c855 168 }
lakshya 19:79e69017c855 169
lakshya 20:949d13045431 170
lakshya 19:79e69017c855 171 /*no problem in first stopping and then starting even when for the first time*/
lakshya 19:79e69017c855 172 void BAE_STANDBY_TIMER_RESET()
lakshya 19:79e69017c855 173 {
lakshya 19:79e69017c855 174 BAE_STANDBY_STATUS_TIMER->stop();
lakshya 19:79e69017c855 175 BAE_STANDBY_STATUS_TIMER->start(30000);//20 min ie 20*60=1200 sec or 1200,000 milisec but for testing setting it to 30sec
lakshya 19:79e69017c855 176 }
lakshya 19:79e69017c855 177
lakshya 20:949d13045431 178 extern void gen_I_TM();
lakshya 20:949d13045431 179
lakshya 20:949d13045431 180 //*************** FLAGS ****************************//
sakthipriya 0:7b4c00e3912f 181 uint32_t BAE_STATUS = 0x00000000;
sakthipriya 0:7b4c00e3912f 182 uint32_t BAE_ENABLE = 0xFFFFFFFF;
sakthipriya 0:7b4c00e3912f 183
sakthipriya 5:bb592f3185cc 184 //i2c//
sakthipriya 5:bb592f3185cc 185 char data_send_flag = 'h';
lakshya 20:949d13045431 186 //uint8_t BAE_MNG_I2C_STATUS = 0;
sakthipriya 5:bb592f3185cc 187
lakshya 20:949d13045431 188 //BAE
lakshya 19:79e69017c855 189 uint8_t BAE_INIT_STATUS=0;
lakshya 20:949d13045431 190 uint8_t BAE_MNG_I2C_STATUS=0;
sakthipriya 0:7b4c00e3912f 191
sakthipriya 9:194afacf7449 192
lakshya 20:949d13045431 193 //ACS
sakthipriya 9:194afacf7449 194 uint8_t ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 195 uint8_t ACS_DATA_ACQ_STATUS = 0;
lakshya 20:949d13045431 196 uint8_t ACS_ATS_STATUS = 0x73;
sakthipriya 9:194afacf7449 197 uint8_t ACS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 198 uint8_t ACS_STATUS = 0;
lakshya 20:949d13045431 199 uint8_t ACS_DETUMBLING_ALGO_TYPE = 0;
sakthipriya 9:194afacf7449 200 uint8_t ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 201 uint8_t ACS_DATA_ACQ_ENABLE = 1;
lakshya 49:61c9f28332ba 202 uint8_t ACS_STATE = 3;
lakshya 19:79e69017c855 203
lakshya 20:949d13045431 204 extern uint16_t ACS_MM_X_COMSN;
lakshya 20:949d13045431 205 extern uint16_t ACS_MM_Y_COMSN;
lakshya 20:949d13045431 206 extern uint16_t ACS_MG_X_COMSN;
lakshya 20:949d13045431 207 extern uint16_t ACS_MG_Y_COMSN;
lakshya 20:949d13045431 208 extern uint16_t ACS_MM_Z_COMSN;
lakshya 20:949d13045431 209 extern uint16_t ACS_MG_Z_COMSN;
lakshya 20:949d13045431 210
lakshya 27:61c856be467e 211 extern uint8_t controlmode_mms;
lakshya 49:61c9f28332ba 212 extern uint8_t B_SCZ_ANGLE;
lakshya 20:949d13045431 213 //BCN
lakshya 18:3662058a7c10 214 extern uint8_t BCN_FEN;
lakshya 18:3662058a7c10 215 extern void FCTN_BCN_FEN(void const *args);
lakshya 20:949d13045431 216 extern void LONG_BCN_DATA(uint8_t* );
lakshya 20:949d13045431 217 extern uint16_t gencrc16_for_me();//for calculating the crc of baehk data before sendingkk as including crc causes problem
lakshya 48:9fd15e3e0b53 218 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 219
lakshya 20:949d13045431 220
lakshya 18:3662058a7c10 221 Timeout timeout_bcn;
lakshya 19:79e69017c855 222 /*long beacon data/sending*/
lakshya 19:79e69017c855 223 /*be sure it is created in bcn.cpp*/
sakthipriya 0:7b4c00e3912f 224
lakshya 20:949d13045431 225 //EPS
sakthipriya 9:194afacf7449 226 uint8_t EPS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 227 uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
sakthipriya 9:194afacf7449 228 uint8_t EPS_MAIN_STATUS = 0;
lakshya 33:76f2b8735501 229 uint8_t EPS_BTRY_TMP_STATUS = 0;/// to be diss
sakthipriya 9:194afacf7449 230 uint8_t EPS_STATUS = 7; //invalid status
lakshya 33:76f2b8735501 231 uint8_t EPS_BTRY_HTR = 0;
sakthipriya 9:194afacf7449 232
lakshya 20:949d13045431 233 uint8_t EPS_BTRY_HTR_AUTO = 1;
lakshya 20:949d13045431 234 extern uint8_t EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 235 extern uint8_t EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 236 extern uint8_t EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 237 extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 238 extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 239 float EPS_BTRY_TMP_AVG;
lakshya 49:61c9f28332ba 240 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 33:76f2b8735501 241
lakshya 33:76f2b8735501 242 //extern void FCTN_BATTERYGAUGE_MAIN(float*Battery_parameters);
lakshya 20:949d13045431 243
lakshya 20:949d13045431 244
lakshya 20:949d13045431 245 //**********************GLOBAL DECLARATIONS********************************//
lakshya 20:949d13045431 246
lakshya 20:949d13045431 247 //CDMS
lakshya 20:949d13045431 248 //eps cdms fault
lakshya 20:949d13045431 249 uint8_t CDMS_SW_STATUS;
lakshya 48:9fd15e3e0b53 250 DigitalIn CDMS_OC_FAULT(PIN79);
azaddevarm 77:6a5f6e1c7a35 251 //bool CDMS_SW_ENABLE; //Temp name for CDMS_RESET pin
lakshya 20:949d13045431 252 int CDMS_FAULT_COUNTER = 0;
lakshya 20:949d13045431 253
lakshya 20:949d13045431 254
lakshya 20:949d13045431 255 //BAE new hk structure- everything has to changed based on this
lakshya 20:949d13045431 256 char BAE_chardata[74];
lakshya 33:76f2b8735501 257 // uint8_t LONG_HK_data[2][134];
lakshya 33:76f2b8735501 258 //uint8_t BAE_HK_data[134]; now known as LONG_HK_data[1][i];
lakshya 20:949d13045431 259 uint8_t BAE_RESET_COUNTER;// INITIALIZATION or do you want to initialize evertime the main is reset? or is it same
lakshya 20:949d13045431 260 uint16_t BAE_I2C_COUNTER = 0;//change/apply
lakshya 66:a5d2b8dc6b9e 261 //uint8_t BAE_STANDBY=0x00;// as Bcn Acs Eps last three bits BAE order , 1old convection refer to switch off. chnaged now 0 means offfffffffff FU==
lakshya 20:949d13045431 262
lakshya 20:949d13045431 263 //BCN
lakshya 20:949d13045431 264 //uint16_t BCN_TX_MAIN_COUNTER = 0;
lakshya 20:949d13045431 265 uint8_t BCN_LONG_MSG_TYPE = 1;
sakthipriya 0:7b4c00e3912f 266
lakshya 49:61c9f28332ba 267 DigitalIn BCN_TX_OC_FAULT(PIN80);
lakshya 20:949d13045431 268 int BCN_TX_FAULT_COUNTER;
lakshya 20:949d13045431 269
lakshya 20:949d13045431 270 //ACS
lakshya 20:949d13045431 271 uint16_t ACS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 272
lakshya 20:949d13045431 273 //eps hw faults
lakshya 20:949d13045431 274 //uint8_t ACS_TR_Z_SW_STATUS;
Bragadeesh153 65:d1b12729fcdc 275 DigitalOut ACS_TR_Z_ENABLE(PIN40,0); //SWITCH
lakshya 48:9fd15e3e0b53 276 DigitalIn ACS_TR_Z_OC_FAULT(PIN91);
lakshya 48:9fd15e3e0b53 277 DigitalIn ACS_TR_Z_FAULT(PIN89); //Driver IC fault
lakshya 20:949d13045431 278 int ACS_TR_Z_FAULT_COUNTER = 0;
sakthipriya 0:7b4c00e3912f 279
lakshya 49:61c9f28332ba 280
lakshya 49:61c9f28332ba 281 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
lakshya 49:61c9f28332ba 282 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
Bragadeesh153 52:daa685b0e390 283
lakshya 49:61c9f28332ba 284
Bragadeesh153 52:daa685b0e390 285
lakshya 49:61c9f28332ba 286
lakshya 20:949d13045431 287 //uint8_t ACS_TR_XY_SW_STATUS;
Bragadeesh153 52:daa685b0e390 288 DigitalOut ACS_TR_XY_ENABLE(PIN71,0);
Bragadeesh153 52:daa685b0e390 289 DigitalIn ACS_TR_XY_OC_FAULT(PIN77);
lakshya 48:9fd15e3e0b53 290 DigitalIn ACS_TR_XY_FAULT(PIN83); //Driver IC fault
lakshya 20:949d13045431 291 int ACS_TR_XY_FAULT_COUNTER = 0;
lakshya 20:949d13045431 292
lakshya 20:949d13045431 293 //bool ACS_ATS1_ENABLE;
Bragadeesh153 52:daa685b0e390 294 DigitalIn ACS_ATS1_OC_FAULT(PIN39);
lakshya 48:9fd15e3e0b53 295 int ACS_TS1_FAULT_COUNTER = 0;
lakshya 20:949d13045431 296
lakshya 20:949d13045431 297 //bool ACS_ATS2_ENABLE;
Bragadeesh153 52:daa685b0e390 298 DigitalIn ACS_ATS2_OC_FAULT(PIN41);
lakshya 20:949d13045431 299 int ACS_ATS2_FAULT_COUNTER;
lakshya 20:949d13045431 300
lakshya 20:949d13045431 301 //EPS
lakshya 20:949d13045431 302 int EPS_MAIN_COUNTER = 0;
lakshya 20:949d13045431 303
lakshya 20:949d13045431 304
lakshya 20:949d13045431 305 //GEN DEC FOR TESTING or to be DECIDED whre to ASSIGN HERE
sakthipriya 0:7b4c00e3912f 306 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 307 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 308 Timer t_start;
lakshya 19:79e69017c855 309 /*defined as of now to check execution time*/
lakshya 19:79e69017c855 310 /*remember to remove them*/
lakshya 19:79e69017c855 311 Timer t_acs;
lakshya 19:79e69017c855 312 Timer t_eps;
lakshya 20:949d13045431 313 //Timer t_tc;
sakthipriya 7:a46a1dee4497 314 Timer t_tm;
lakshya 49:61c9f28332ba 315
sakthipriya 0:7b4c00e3912f 316 int power_flag_dummy=2;
sakthipriya 0:7b4c00e3912f 317 float data[6];
sakthipriya 0:7b4c00e3912f 318
lakshya 20:949d13045431 319
lakshya 20:949d13045431 320 //*************EXTERN PARA********
lakshya 20:949d13045431 321
lakshya 20:949d13045431 322 //BAE
lakshya 20:949d13045431 323
sakthipriya 1:446a959e36ce 324 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 325 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 326 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 327 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 328
lakshya 20:949d13045431 329
lakshya 20:949d13045431 330 //BCN
lakshya 20:949d13045431 331 extern uint8_t BCN_FEN;
lakshya 20:949d13045431 332 extern uint8_t BCN_TX_SW_STATUS;
lakshya 20:949d13045431 333 extern uint8_t BCN_SPND_TX;
lakshya 20:949d13045431 334
lakshya 20:949d13045431 335
lakshya 20:949d13045431 336 //TCTM
lakshya 49:61c9f28332ba 337 extern uint8_t telemetry[tm_len];
lakshya 20:949d13045431 338
lakshya 20:949d13045431 339
lakshya 20:949d13045431 340 //ACS
lakshya 20:949d13045431 341 extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya 20:949d13045431 342 extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 343 extern float gyro_data[3];
lakshya 20:949d13045431 344 extern float mag_data[3];
lakshya 20:949d13045431 345 extern float moment[3];
lakshya 20:949d13045431 346 extern float b_old[3]; // Unit: Tesla
lakshya 20:949d13045431 347 extern float db[3];
lakshya 20:949d13045431 348 extern uint8_t flag_firsttime;
lakshya 20:949d13045431 349 extern uint8_t ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 350 extern uint8_t ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 351 extern uint16_t ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 352
lakshya 39:670133e7ffd8 353 int write_ack;
lakshya 39:670133e7ffd8 354 int read_ack;
sakthipriya 0:7b4c00e3912f 355 char telecommand[tc_len];
lakshya 20:949d13045431 356
sakthipriya 5:bb592f3185cc 357
sakthipriya 5:bb592f3185cc 358 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 359 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 360 bool if1check = 0;
lakshya 14:a9588f443f1a 361 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 362
lakshya 20:949d13045431 363 //ASSIGNING PINS//
Bragadeesh153 52:daa685b0e390 364 DigitalOut ATS1_SW_ENABLE(PIN90,1); // enable of att sens2 switch
Bragadeesh153 52:daa685b0e390 365 DigitalOut ATS2_SW_ENABLE(PIN61,0); // enable of att sens switch
lakshya 49:61c9f28332ba 366 ////InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
lakshya 49:61c9f28332ba 367 ////DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya 14:a9588f443f1a 368 I2CSlave slave (PIN1,PIN2);///pin1 pin2
lakshya 20:949d13045431 369 //DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 370
sakthipriya 9:194afacf7449 371 //ATS1_SW_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 372 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 373 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 374 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 375
sakthipriya 5:bb592f3185cc 376 //........faults
sakthipriya 5:bb592f3185cc 377 //Polled Faults
lakshya 48:9fd15e3e0b53 378 //DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
lakshya 48:9fd15e3e0b53 379 //DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
lakshya 48:9fd15e3e0b53 380 //DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 381
Bragadeesh153 52:daa685b0e390 382
Bragadeesh153 52:daa685b0e390 383 DigitalOut DRV_XY_EN(PIN82,0); // DRV XY en
Bragadeesh153 52:daa685b0e390 384 //DigitalOut TRXY_SW(PIN71,0); //TR XY Switch
Bragadeesh153 52:daa685b0e390 385 DigitalOut DRV_Z_EN(PIN88,0); //Sleep pin of driver z //DISABLE by default
Bragadeesh153 52:daa685b0e390 386 //DigitalOut TRZ_SW(PIN40,0); //TR Z Switch
Bragadeesh153 52:daa685b0e390 387
lakshya 19:79e69017c855 388 DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET
Bragadeesh153 52:daa685b0e390 389
Bragadeesh153 52:daa685b0e390 390 DigitalOut CDMS_OC_ENA(PIN70,1);
sakthipriya 0:7b4c00e3912f 391
lakshya 98:321edb143f26 392 //DigitalOut BCN_SW(PIN64,1); // PIN changed to 64 (previous 65 ) //IN TEMPORARY SBC
lakshya 98:321edb143f26 393 DigitalOut BCN_SW(PIN14,1); //Beacon switch //IN QM SBC, TO BE CHANGED
lakshya 20:949d13045431 394
lakshya 20:949d13045431 395 //================================================================================
lakshya 20:949d13045431 396 //default flash array some filler bits added (detail in MMS file)
lakshya 63:55d32e7dcad7 397 //uint32_t ARR_INITIAL_VAL[8]={0x73532600,0x505A4141,0x1A1A1400,0x00000000,0x00000000,0x00000000,0xCBA20000,0x00000000};//to be done
Bragadeesh153 85:55a87500895a 398 uint32_t ARR_INITIAL_VAL[8]={0x7C532600,0x505A4141,0x1A1A1400,0x001E0028,0x00030004,0x00320005,0xCBA2010A,0x00000000};//to be done
lakshya 20:949d13045431 399
lakshya 20:949d13045431 400 void FLASH_INI()
lakshya 20:949d13045431 401 {
lakshya 49:61c9f28332ba 402 uint32_t read[8];
lakshya 20:949d13045431 403 for(int i=0;i<8;i++)
lakshya 20:949d13045431 404 {
lakshya 20:949d13045431 405 read[i] = FCTN_BAE_RD_FLASH_ENTITY(i);
lakshya 22:950dbe9fbeb8 406 //printf("\n\r val is read after starting %x ",read[i]);
lakshya 20:949d13045431 407 }
lakshya 20:949d13045431 408
lakshya 20:949d13045431 409 if(read[0] == -1)
lakshya 20:949d13045431 410 for(int j=0;j<8;j++)
lakshya 20:949d13045431 411 {
lakshya 20:949d13045431 412 FCTN_BAE_WR_FLASH(j,ARR_INITIAL_VAL[j]);
lakshya 39:670133e7ffd8 413 ACS_ATS_STATUS = ARR_INITIAL_VAL[0]>>24;
lakshya 39:670133e7ffd8 414 ACS_TR_XY_SW_STATUS = ((uint8_t)(ARR_INITIAL_VAL[0]>>22))&0x03;
lakshya 39:670133e7ffd8 415 ACS_TR_Z_SW_STATUS = (ARR_INITIAL_VAL[0]>>20)&0x03;
lakshya 39:670133e7ffd8 416 ACS_STATE = (ARR_INITIAL_VAL[0]>>16)&0x0F;
lakshya 49:61c9f28332ba 417 //pc.pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 39:670133e7ffd8 418 ACS_DETUMBLING_ALGO_TYPE = (ARR_INITIAL_VAL[0]>>15)&0x01;
azaddevarm 80:da657c390c27 419 BCN_TX_SW_STATUS = ((uint8_t)(ARR_INITIAL_VAL[0]>>14))&0x03; //Need to verify, initial value must be 1
lakshya 39:670133e7ffd8 420 BCN_SPND_TX = ((uint8_t)(ARR_INITIAL_VAL[0]>>12))&0x01;
lakshya 39:670133e7ffd8 421 BCN_FEN = ((uint8_t)(ARR_INITIAL_VAL[0]>>11))&0x01;
lakshya 39:670133e7ffd8 422 BCN_LONG_MSG_TYPE = ((uint8_t)(ARR_INITIAL_VAL[0]>>10))&0x01;
lakshya 39:670133e7ffd8 423 EPS_BTRY_HTR_AUTO = ((uint8_t)(ARR_INITIAL_VAL[0]>>9))&0x03;//EPS_BATTERY_HEATER_ENABLE
lakshya 39:670133e7ffd8 424 //now one spares in telemetry[5]
lakshya 39:670133e7ffd8 425
lakshya 39:670133e7ffd8 426 //updating the reset counter
lakshya 39:670133e7ffd8 427 BAE_RESET_COUNTER = ((uint8_t)(ARR_INITIAL_VAL[0]));
lakshya 39:670133e7ffd8 428 EPS_SOC_LEVEL_12 = (uint8_t)(ARR_INITIAL_VAL[1]>>24);
lakshya 39:670133e7ffd8 429 EPS_SOC_LEVEL_23 = (uint8_t)(ARR_INITIAL_VAL[1]>>16);
lakshya 39:670133e7ffd8 430 ACS_MAG_TIME_DELAY = (uint8_t)(ARR_INITIAL_VAL[1]>>8);
lakshya 39:670133e7ffd8 431 ACS_DEMAG_TIME_DELAY = (uint8_t)ARR_INITIAL_VAL[1];
lakshya 39:670133e7ffd8 432
lakshya 39:670133e7ffd8 433 EPS_BAT_TEMP_LOW = (uint8_t)(ARR_INITIAL_VAL[2]>>24);
lakshya 39:670133e7ffd8 434 EPS_BAT_TEMP_HIGH = (uint8_t)(ARR_INITIAL_VAL[2]>>16);
lakshya 39:670133e7ffd8 435 EPS_BAT_TEMP_DEFAULT = (uint8_t)(ARR_INITIAL_VAL[2]>>8);
lakshya 39:670133e7ffd8 436
lakshya 39:670133e7ffd8 437 ACS_MM_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[3]>>16);
lakshya 39:670133e7ffd8 438 ACS_MM_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[3];
lakshya 39:670133e7ffd8 439
lakshya 39:670133e7ffd8 440 ACS_MG_X_COMSN = (uint16_t)(ARR_INITIAL_VAL[4]>>16);
lakshya 39:670133e7ffd8 441 ACS_MG_Y_COMSN = (uint16_t)ARR_INITIAL_VAL[4];
lakshya 39:670133e7ffd8 442
lakshya 39:670133e7ffd8 443 ACS_MM_Z_COMSN = (uint16_t)(ARR_INITIAL_VAL[5]>>16);
lakshya 39:670133e7ffd8 444 ACS_MG_Z_COMSN = (uint16_t)ARR_INITIAL_VAL[5];
lakshya 39:670133e7ffd8 445
lakshya 39:670133e7ffd8 446 ACS_Z_FIXED_MOMENT = (uint16_t)(ARR_INITIAL_VAL[6]>>16);//assignvalues
lakshya 39:670133e7ffd8 447
lakshya 39:670133e7ffd8 448 }
lakshya 20:949d13045431 449 else
lakshya 20:949d13045431 450 {
lakshya 20:949d13045431 451 for(int j=0;j<8;j++)
lakshya 20:949d13045431 452 {
lakshya 20:949d13045431 453 read[j] = FCTN_BAE_RD_FLASH_ENTITY(j);
lakshya 20:949d13045431 454 }
lakshya 20:949d13045431 455 ACS_ATS_STATUS = read[0]>>24;
lakshya 20:949d13045431 456 ACS_TR_XY_SW_STATUS = ((uint8_t)(read[0]>>22))&0x03;
lakshya 20:949d13045431 457 ACS_TR_Z_SW_STATUS = (read[0]>>20)&0x03;
lakshya 27:61c856be467e 458 ACS_STATE = (read[0]>>16)&0x0F;
lakshya 39:670133e7ffd8 459 //pc.printf("\n\r acs state in starting is %x",ACS_STATE);
lakshya 27:61c856be467e 460 ACS_DETUMBLING_ALGO_TYPE = (read[0]>>15)&0x01;
azaddevarm 80:da657c390c27 461 BCN_TX_SW_STATUS = ((uint8_t)(read[0]>>13))&0x03; //Need to verify, initial value must be 1
lakshya 27:61c856be467e 462 BCN_SPND_TX = ((uint8_t)(read[0]>>12))&0x01;
lakshya 27:61c856be467e 463 BCN_FEN = ((uint8_t)(read[0]>>11))&0x01;
lakshya 27:61c856be467e 464 BCN_LONG_MSG_TYPE = ((uint8_t)(read[0]>>10))&0x01;
lakshya 49:61c9f28332ba 465 EPS_BTRY_HTR_AUTO = ((uint8_t)(read[0]>>9))&0x01;//EPS_BATTERY_HEATER_ENABLE
lakshya 27:61c856be467e 466 //now one spares in telemetry[5]
lakshya 20:949d13045431 467
lakshya 20:949d13045431 468 //updating the reset counter
lakshya 20:949d13045431 469 BAE_RESET_COUNTER = ((uint8_t)(read[0]))+1;
lakshya 20:949d13045431 470 read[0]=(read[0]&0xffffff00) | (uint32_t)BAE_RESET_COUNTER;
lakshya 20:949d13045431 471 FCTN_BAE_WR_FLASH(0,read[0]);
lakshya 39:670133e7ffd8 472 pc.printf("\n\r reset counter %d",BAE_RESET_COUNTER);
lakshya 20:949d13045431 473
lakshya 20:949d13045431 474
lakshya 20:949d13045431 475 EPS_SOC_LEVEL_12 = (uint8_t)(read[1]>>24);
lakshya 20:949d13045431 476 EPS_SOC_LEVEL_23 = (uint8_t)(read[1]>>16);
lakshya 20:949d13045431 477 ACS_MAG_TIME_DELAY = (uint8_t)(read[1]>>8);
lakshya 20:949d13045431 478 ACS_DEMAG_TIME_DELAY = (uint8_t)read[1];
lakshya 20:949d13045431 479
lakshya 20:949d13045431 480 EPS_BAT_TEMP_LOW = (uint8_t)(read[2]>>24);
lakshya 20:949d13045431 481 EPS_BAT_TEMP_HIGH = (uint8_t)(read[2]>>16);
lakshya 20:949d13045431 482 EPS_BAT_TEMP_DEFAULT = (uint8_t)(read[2]>>8);
lakshya 20:949d13045431 483
lakshya 20:949d13045431 484 ACS_MM_X_COMSN = (uint16_t)(read[3]>>16);
lakshya 20:949d13045431 485 ACS_MM_Y_COMSN = (uint16_t)read[3];
lakshya 20:949d13045431 486
lakshya 20:949d13045431 487 ACS_MG_X_COMSN = (uint16_t)(read[4]>>16);
lakshya 20:949d13045431 488 ACS_MG_Y_COMSN = (uint16_t)read[4];
lakshya 20:949d13045431 489
lakshya 20:949d13045431 490 ACS_MM_Z_COMSN = (uint16_t)(read[5]>>16);
lakshya 20:949d13045431 491 ACS_MG_Z_COMSN = (uint16_t)read[5];
lakshya 20:949d13045431 492
lakshya 20:949d13045431 493 ACS_Z_FIXED_MOMENT = (uint16_t)(read[6]>>16);//assignvalues
lakshya 20:949d13045431 494
lakshya 20:949d13045431 495 }
lakshya 20:949d13045431 496
lakshya 20:949d13045431 497 }
lakshya 20:949d13045431 498 //================================================================================
lakshya 20:949d13045431 499
lakshya 20:949d13045431 500
lakshya 20:949d13045431 501
sakthipriya 0:7b4c00e3912f 502 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 0:7b4c00e3912f 503 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 504
lakshya 19:79e69017c855 505
sakthipriya 0:7b4c00e3912f 506 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 507 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 508 void FCTN_TM();
sakthipriya 3:07e15677a75c 509 void F_ACS();
sakthipriya 3:07e15677a75c 510 void F_EPS();
sakthipriya 3:07e15677a75c 511 void F_BCN();
sakthipriya 0:7b4c00e3912f 512
lakshya 20:949d13045431 513 //I2C
lakshya 20:949d13045431 514 uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working
lakshya 20:949d13045431 515 uint16_t crc16_check;
lakshya 20:949d13045431 516 void I2C_busreset()
lakshya 20:949d13045431 517 {
lakshya 20:949d13045431 518 PORTE->PCR[1] &= 0xfffffffb;
lakshya 20:949d13045431 519 PORTE->PCR[0] &= 0xfffffffb;
lakshya 20:949d13045431 520 I2C1->C1 &= 0x7f;
lakshya 20:949d13045431 521 SIM->SCGC4 &= 0xffffff7f;
lakshya 20:949d13045431 522 SIM->SCGC4 |= 0x00000080;
lakshya 20:949d13045431 523 I2C1->C1 |= 0x80;
lakshya 20:949d13045431 524 PORTE->PCR[1] |= 0x00000004;
lakshya 20:949d13045431 525 PORTE->PCR[0] |= 0x00000004;
lakshya 39:670133e7ffd8 526 wait_ms(1);
lakshya 20:949d13045431 527 }
lakshya 20:949d13045431 528
sakthipriya 0:7b4c00e3912f 529 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 530 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 531 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 532 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 533 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 534
lakshya 20:949d13045431 535 //FLOAT TO UINT_8 CONVERSION FUNCTION
lakshya 20:949d13045431 536 extern uint8_t float_to_uint8(float min,float max,float val);
lakshya 20:949d13045431 537
lakshya 49:61c9f28332ba 538 //#define print 0
lakshya 20:949d13045431 539
sakthipriya 3:07e15677a75c 540 void F_ACS()
sakthipriya 0:7b4c00e3912f 541 {
lakshya 20:949d13045431 542 ACS_MAIN_COUNTER++;
lakshya 20:949d13045431 543 //time_wdog = 1;
lakshya 20:949d13045431 544 pc.printf("Entered ACS.\n\r");
lakshya 20:949d13045431 545
lakshya 20:949d13045431 546 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
lakshya 49:61c9f28332ba 547 //FLAG();
sakthipriya 3:07e15677a75c 548
sakthipriya 0:7b4c00e3912f 549 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 550 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 551 PWM3 = 0; //clear pwm pins
lakshya 20:949d13045431 552
lakshya 20:949d13045431 553 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 554 ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ();
sakthipriya 0:7b4c00e3912f 555
lakshya 49:61c9f28332ba 556 //#if print
lakshya 49:61c9f28332ba 557 //printing the angular speed and magnetic field values
lakshya 20:949d13045431 558 pc.printf("gyro values\n\r");
lakshya 19:79e69017c855 559 for(int i=0; i<3; i++)
lakshya 20:949d13045431 560 {
lakshya 49:61c9f28332ba 561 pc.printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
lakshya 20:949d13045431 562 }
lakshya 20:949d13045431 563
lakshya 19:79e69017c855 564 pc.printf("mag values\n\r");
lakshya 19:79e69017c855 565 for(int i=0; i<3; i++)
lakshya 20:949d13045431 566 {
lakshya 20:949d13045431 567 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
lakshya 20:949d13045431 568 }
lakshya 49:61c9f28332ba 569 //#endif
lakshya 20:949d13045431 570
lakshya 20:949d13045431 571 for(int i=0;i<3;i++)
lakshya 19:79e69017c855 572 {
lakshya 20:949d13045431 573 mag_data[i] = actual_data.Bvalue_actual[i]/1000000;
lakshya 20:949d13045431 574 gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180;
lakshya 20:949d13045431 575 }
lakshya 49:61c9f28332ba 576
Bragadeesh153 65:d1b12729fcdc 577 float b_inclination = mag_data[2]/sqrt(mag_data[0]*mag_data[0]+mag_data[1]*mag_data[1]+mag_data[2]*mag_data[2]);
lakshya 49:61c9f28332ba 578
lakshya 49:61c9f28332ba 579 if(b_inclination <0)
lakshya 49:61c9f28332ba 580 {
lakshya 49:61c9f28332ba 581 b_inclination = (-1)*b_inclination;
lakshya 49:61c9f28332ba 582 }
Bragadeesh153 65:d1b12729fcdc 583 B_SCZ_ANGLE = (uint8_t)(b_inclination*16);
lakshya 49:61c9f28332ba 584 if( b_inclination >= 16)
lakshya 49:61c9f28332ba 585 {
lakshya 49:61c9f28332ba 586 B_SCZ_ANGLE = 0x0F;
lakshya 49:61c9f28332ba 587 }
lakshya 49:61c9f28332ba 588 if(b_inclination <=0)
lakshya 49:61c9f28332ba 589 {
lakshya 49:61c9f28332ba 590 B_SCZ_ANGLE = 0x00;
lakshya 49:61c9f28332ba 591 }
Bragadeesh153 55:6ea0d7e9fce2 592 //printf("POWER MODE is : %d\r\n",actual_data.power_mode);
lakshya 20:949d13045431 593
lakshya 20:949d13045431 594 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
lakshya 20:949d13045431 595 {
lakshya 20:949d13045431 596 #if print
lakshya 49:61c9f28332ba 597 pc.printf("\n\r acs control off\n");
lakshya 20:949d13045431 598 #endif
lakshya 20:949d13045431 599 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
lakshya 20:949d13045431 600 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 601 return;
lakshya 20:949d13045431 602 }
Bragadeesh153 55:6ea0d7e9fce2 603 else if((actual_data.power_mode<=2)||( (( ACS_STATE)&0x08) == 0x08))
lakshya 20:949d13045431 604 {
Bragadeesh153 52:daa685b0e390 605 //#if print
Bragadeesh153 87:051ec436e75f 606 pc.printf("\n\r \n\r");
Bragadeesh153 52:daa685b0e390 607 //#endif
lakshya 20:949d13045431 608 DRV_Z_EN = 0;
lakshya 20:949d13045431 609 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 610 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 611 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 612 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
lakshya 20:949d13045431 613 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 614 return;
lakshya 20:949d13045431 615
lakshya 20:949d13045431 616 }
lakshya 20:949d13045431 617 else if(ACS_TR_Z_SW_STATUS != 1)
lakshya 20:949d13045431 618 {
Bragadeesh153 52:daa685b0e390 619 pc.printf("\n\r Z disabled \n\r");
lakshya 20:949d13045431 620 DRV_Z_EN = 0;
lakshya 20:949d13045431 621 DRV_XY_EN = 0;
Bragadeesh153 61:9348606edee2 622 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 623 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 624 ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED
lakshya 20:949d13045431 625 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 626 return;
lakshya 20:949d13045431 627 }
lakshya 20:949d13045431 628 else if(ACS_TR_XY_SW_STATUS != 1)
Bragadeesh153 52:daa685b0e390 629 {
Bragadeesh153 52:daa685b0e390 630 pc.printf("\n\r Z only \n\r");
lakshya 20:949d13045431 631 DRV_Z_EN = 1;
lakshya 20:949d13045431 632 DRV_XY_EN = 0;
lakshya 63:55d32e7dcad7 633 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 634 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 635 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only
lakshya 20:949d13045431 636 moment[0] = 0;
lakshya 20:949d13045431 637 moment[1] = 0;
lakshya 20:949d13045431 638 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 639
lakshya 49:61c9f28332ba 640 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 641 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 642 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 643 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 20:949d13045431 644 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 645 return;
lakshya 19:79e69017c855 646 }
lakshya 20:949d13045431 647 else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1))
lakshya 20:949d13045431 648 {
Bragadeesh153 52:daa685b0e390 649
Bragadeesh153 52:daa685b0e390 650 pc.printf("\n\r Z only no data \n\r");
lakshya 20:949d13045431 651 DRV_Z_EN = 1;
lakshya 20:949d13045431 652 DRV_XY_EN = 0;
lakshya 63:55d32e7dcad7 653 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 654 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 655 ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only
lakshya 20:949d13045431 656
lakshya 20:949d13045431 657 moment[0] = 0;
lakshya 20:949d13045431 658 moment[1] = 0;
lakshya 20:949d13045431 659 moment[2] = ACS_Z_FIXED_MOMENT; // is a dummy value
lakshya 20:949d13045431 660
lakshya 49:61c9f28332ba 661 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 662 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 663 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 664 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 665
lakshya 20:949d13045431 666 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 667 return;
lakshya 20:949d13045431 668 }
Bragadeesh153 52:daa685b0e390 669 else if((ACS_STATE == 1)||(ACS_STATE == 9))
lakshya 20:949d13045431 670 {
Bragadeesh153 52:daa685b0e390 671 pc.printf("\n\r Z only by state \n\r");
lakshya 20:949d13045431 672 DRV_Z_EN = 1;
lakshya 20:949d13045431 673 DRV_XY_EN = 0;
lakshya 63:55d32e7dcad7 674 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 675 ACS_TR_XY_ENABLE = 0;
lakshya 20:949d13045431 676 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only
sakthipriya 0:7b4c00e3912f 677
lakshya 20:949d13045431 678 moment[0] = 0;
lakshya 20:949d13045431 679 moment[1] = 0;
lakshya 20:949d13045431 680 moment[2] = ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value
lakshya 20:949d13045431 681 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 682
lakshya 20:949d13045431 683 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 684 return;
lakshya 20:949d13045431 685 }
lakshya 20:949d13045431 686 else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available
lakshya 20:949d13045431 687 {
Bragadeesh153 52:daa685b0e390 688 pc.printf("\n\r MM only BDOT \n\r");
lakshya 20:949d13045431 689 DRV_Z_EN = 1;
lakshya 20:949d13045431 690 DRV_XY_EN = 1;
lakshya 63:55d32e7dcad7 691 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 61:9348606edee2 692 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 693
lakshya 20:949d13045431 694 ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL
lakshya 20:949d13045431 695 ACS_DETUMBLING_ALGO_TYPE = 0x01;
lakshya 20:949d13045431 696 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 697 controlmode_mms=0x00;
lakshya 20:949d13045431 698 #if print
lakshya 49:61c9f28332ba 699 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 700 #endif
lakshya 20:949d13045431 701 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 702 {
lakshya 49:61c9f28332ba 703 pc.printf("%f\t",moment[i]);
lakshya 19:79e69017c855 704 }
lakshya 20:949d13045431 705 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 706 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 707 return;
lakshya 20:949d13045431 708 }
Bragadeesh153 52:daa685b0e390 709 else if((ACS_STATE == 2)||(ACS_STATE == 10)) // Nominal mode
lakshya 20:949d13045431 710 {
lakshya 20:949d13045431 711 #if print
lakshya 49:61c9f28332ba 712 pc.printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 713 #endif
lakshya 20:949d13045431 714 DRV_Z_EN = 1;
lakshya 63:55d32e7dcad7 715 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 716 ACS_TR_Z_ENABLE = 1;
lakshya 63:55d32e7dcad7 717 ACS_TR_XY_ENABLE = 1;
lakshya 49:61c9f28332ba 718
lakshya 49:61c9f28332ba 719 //timer_FCTN_ACS_CNTRLALGO.start();
lakshya 20:949d13045431 720 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 721 //timer_FCTN_ACS_CNTRLALGO.stop();
lakshya 49:61c9f28332ba 722 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 723
lakshya 27:61c856be467e 724 controlmode_mms = 0x01;
lakshya 20:949d13045431 725 #if print
lakshya 49:61c9f28332ba 726 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 727 #endif
lakshya 20:949d13045431 728 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 729 {
lakshya 49:61c9f28332ba 730 pc.printf("%f\t",moment[i]);
lakshya 20:949d13045431 731 }
lakshya 49:61c9f28332ba 732
lakshya 49:61c9f28332ba 733 //timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 734 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 49:61c9f28332ba 735 //timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 736 //pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 737
lakshya 20:949d13045431 738 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 739 return;
lakshya 20:949d13045431 740 }
Bragadeesh153 52:daa685b0e390 741 else if((ACS_STATE == 3)||(ACS_STATE == 11)) // Auto Control
lakshya 20:949d13045431 742 {
lakshya 20:949d13045431 743 #if print
lakshya 49:61c9f28332ba 744 pc.printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 745 #endif
lakshya 20:949d13045431 746 DRV_Z_EN = 1;
lakshya 63:55d32e7dcad7 747 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 748 ACS_TR_Z_ENABLE = 1;
lakshya 63:55d32e7dcad7 749 ACS_TR_XY_ENABLE = 1;
lakshya 49:61c9f28332ba 750
lakshya 49:61c9f28332ba 751 timer_FCTN_ACS_CNTRLALGO.start();
lakshya 20:949d13045431 752 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 753 timer_FCTN_ACS_CNTRLALGO.stop();
lakshya 49:61c9f28332ba 754 //pc.printf("\n\r the timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 755
lakshya 27:61c856be467e 756 controlmode_mms = 0x00;
lakshya 20:949d13045431 757 #if print
lakshya 49:61c9f28332ba 758 pc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 759 for(int i=0; i<3; i++)
lakshya 19:79e69017c855 760 {
lakshya 49:61c9f28332ba 761 pc.printf("%f\t",moment[i]);
lakshya 20:949d13045431 762 }
lakshya 20:949d13045431 763 #endif
Bragadeesh153 52:daa685b0e390 764 pc.printf("\r\n");
lakshya 49:61c9f28332ba 765 timer_FCTN_ACS_GENPWM_MAIN.start();
lakshya 20:949d13045431 766 FCTN_ACS_GENPWM_MAIN(moment) ;// set ACS_STATUS in function
lakshya 49:61c9f28332ba 767 timer_FCTN_ACS_GENPWM_MAIN.stop();
lakshya 49:61c9f28332ba 768 //pc.printf("\n\r the timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 769
lakshya 20:949d13045431 770 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 771 return;
lakshya 20:949d13045431 772 }
Bragadeesh153 52:daa685b0e390 773 else if((ACS_STATE == 4)||(ACS_STATE == 12)) // Detumbling
lakshya 20:949d13045431 774 {
Bragadeesh153 52:daa685b0e390 775 pc.printf("\n\r Detumbling \n\r");
lakshya 20:949d13045431 776 DRV_Z_EN = 1;
lakshya 63:55d32e7dcad7 777 DRV_XY_EN = 1;
Bragadeesh153 61:9348606edee2 778 ACS_TR_Z_ENABLE = 1;
lakshya 63:55d32e7dcad7 779 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 780 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 27:61c856be467e 781 controlmode_mms = 0x00;
lakshya 20:949d13045431 782 FCTN_ACS_GENPWM_MAIN(moment) ;
lakshya 20:949d13045431 783 ACS_MAIN_STATUS = 0;
lakshya 20:949d13045431 784 return;
lakshya 20:949d13045431 785 }
lakshya 20:949d13045431 786 ACS_STATUS = 7; //INVALID_STATE
lakshya 20:949d13045431 787 DRV_Z_EN = 0;
Bragadeesh153 61:9348606edee2 788 ACS_TR_Z_ENABLE = 0;
Bragadeesh153 61:9348606edee2 789 ACS_TR_XY_ENABLE = 0;
lakshya 63:55d32e7dcad7 790 DRV_XY_EN = 0;
lakshya 20:949d13045431 791 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
lakshya 20:949d13045431 792 }
lakshya 19:79e69017c855 793
lakshya 19:79e69017c855 794
sakthipriya 0:7b4c00e3912f 795 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 796
lakshya 33:76f2b8735501 797
sakthipriya 3:07e15677a75c 798 void F_EPS()
lakshya 20:949d13045431 799 {
lakshya 33:76f2b8735501 800 float eps_btry_temp;
lakshya 33:76f2b8735501 801 pc.printf("\n\rEntered EPS %f\n\r",t_start.read());
lakshya 33:76f2b8735501 802 EPS_MAIN_STATUS = 1; // Set EPS main status
lakshya 33:76f2b8735501 803 EPS_MAIN_COUNTER++;
lakshya 49:61c9f28332ba 804
lakshya 49:61c9f28332ba 805 timer_FCTN_BATT_TEMP_SENSOR_MAIN.reset();
lakshya 49:61c9f28332ba 806 timer_FCTN_BATT_TEMP_SENSOR_MAIN.start();
lakshya 33:76f2b8735501 807 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
lakshya 49:61c9f28332ba 808 timer_FCTN_BATT_TEMP_SENSOR_MAIN.stop();
lakshya 49:61c9f28332ba 809
lakshya 33:76f2b8735501 810 pc.printf("Battery temperature %f %f\n\r" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
lakshya 33:76f2b8735501 811 EPS_BTRY_TMP_AVG = ( actual_data.Batt_temp_actual[0] + actual_data.Batt_temp_actual[1] )/2.0;
lakshya 33:76f2b8735501 812 if(abs(actual_data.Batt_temp_actual[0] - actual_data.Batt_temp_actual[1]) > 10)
lakshya 33:76f2b8735501 813 {
lakshya 33:76f2b8735501 814 EPS_BTRY_TMP_STATUS = 0; //clear EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 815 eps_btry_temp = (float) EPS_BAT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 816 }
lakshya 33:76f2b8735501 817 else
lakshya 33:76f2b8735501 818 {
lakshya 33:76f2b8735501 819 EPS_BTRY_TMP_STATUS = 1; //set EPS_BTRY_TMP_STATUS
lakshya 33:76f2b8735501 820 eps_btry_temp = EPS_BTRY_TMP_AVG;
lakshya 33:76f2b8735501 821 }
lakshya 33:76f2b8735501 822
lakshya 33:76f2b8735501 823 if(EPS_BTRY_HTR_AUTO == 0)
lakshya 33:76f2b8735501 824 EPS_STATUS = 1; //EPS_BATTERY_HEATER_DISABLED
lakshya 33:76f2b8735501 825 else if( EPS_BTRY_TMP_STATUS == 0 )
lakshya 33:76f2b8735501 826 {
lakshya 33:76f2b8735501 827 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 828 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 829 EPS_STATUS = 0; //Set EPS_ERR_BATTERY_TEMP
lakshya 33:76f2b8735501 830 }
lakshya 33:76f2b8735501 831 else
lakshya 33:76f2b8735501 832 {
lakshya 33:76f2b8735501 833 if( EPS_BTRY_HTR == 1 && eps_btry_temp >= EPS_BAT_TEMP_HIGH )
lakshya 33:76f2b8735501 834 {
lakshya 33:76f2b8735501 835 BTRY_HTR_ENABLE = 0;
lakshya 33:76f2b8735501 836 EPS_BTRY_HTR = 0;
lakshya 33:76f2b8735501 837 EPS_STATUS = 4; //Set EPS_BATTERY_HEATER_OFF
lakshya 33:76f2b8735501 838 }
lakshya 33:76f2b8735501 839 else if( EPS_BTRY_HTR == 0 && eps_btry_temp < EPS_BAT_TEMP_LOW )
lakshya 33:76f2b8735501 840 {
lakshya 33:76f2b8735501 841 BTRY_HTR_ENABLE = 1;
lakshya 33:76f2b8735501 842 EPS_BTRY_HTR = 1;
lakshya 33:76f2b8735501 843 EPS_STATUS = 5; //Set EPS_BATTERY_HEATER_ON
lakshya 33:76f2b8735501 844 }
lakshya 33:76f2b8735501 845 }
lakshya 33:76f2b8735501 846
lakshya 33:76f2b8735501 847 unsigned short statusreg = read(REG_STATUS);
lakshya 33:76f2b8735501 848 if( EPS_BATTERY_GAUGE_STATUS == 0 ) reset();
lakshya 33:76f2b8735501 849 if( read(REG_STATUS) & 0x0100 == 0x0100 ) //checking if Reset Indicator bit is set
lakshya 19:79e69017c855 850 {
lakshya 49:61c9f28332ba 851 pc.printf("REG_STATUS = %d\r\n",read(REG_STATUS));
lakshya 33:76f2b8735501 852 FCTN_BATTERYGAUGE_INIT();
lakshya 49:61c9f28332ba 853 }
lakshya 49:61c9f28332ba 854 timer_FCTN_BATTERYGAUGE_MAIN.reset();
lakshya 49:61c9f28332ba 855 timer_FCTN_BATTERYGAUGE_MAIN.start();
lakshya 33:76f2b8735501 856 int BTG_MAIN_FLAG = FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual, eps_btry_temp);
azaddevarm 96:6603fedb6b69 857 pc.printf("\n\rvalue returned by function %d\n\r",(int)actual_data.Batt_gauge_actual[1]); ////23jan see if this works.!! only problem can be data type conversion.!!
azaddevarm 96:6603fedb6b69 858
lakshya 49:61c9f28332ba 859 timer_FCTN_BATTERYGAUGE_MAIN.stop();
lakshya 49:61c9f28332ba 860
Bragadeesh153 87:051ec436e75f 861 if( BTG_MAIN_FLAG == 1 ) //Data not received
lakshya 33:76f2b8735501 862 {
azaddevarm 75:d05b0005ca50 863 actual_data.power_mode = 0;
lakshya 33:76f2b8735501 864 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 865 }
lakshya 33:76f2b8735501 866 else
lakshya 33:76f2b8735501 867 {
lakshya 33:76f2b8735501 868 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
lakshya 33:76f2b8735501 869 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
lakshya 33:76f2b8735501 870 }
azaddevarm 94:17172893d231 871
azaddevarm 94:17172893d231 872 pc.printf("\n\rPower Level: %d\n\r", actual_data.power_mode);
lakshya 49:61c9f28332ba 873
lakshya 49:61c9f28332ba 874 timer_FCTN_HK_MAIN.reset();
lakshya 49:61c9f28332ba 875 timer_FCTN_HK_MAIN.start();
lakshya 33:76f2b8735501 876 FCTN_HK_MAIN();
lakshya 49:61c9f28332ba 877 timer_FCTN_HK_MAIN.stop();
lakshya 49:61c9f28332ba 878 // pc.printf("ere");
lakshya 49:61c9f28332ba 879
lakshya 49:61c9f28332ba 880 timer_FCTN_EPS_HANDLE_HW_FAULTS.reset();
lakshya 49:61c9f28332ba 881 timer_FCTN_EPS_HANDLE_HW_FAULTS.start();
lakshya 33:76f2b8735501 882 FCTN_EPS_HANDLE_HW_FAULTS();
lakshya 49:61c9f28332ba 883 timer_FCTN_EPS_HANDLE_HW_FAULTS.stop();
lakshya 49:61c9f28332ba 884
lakshya 49:61c9f28332ba 885 timer_FCTN_EPS_HANDLE_CDMS_FAULT.reset();
lakshya 49:61c9f28332ba 886 timer_FCTN_EPS_HANDLE_CDMS_FAULT.start();
lakshya 33:76f2b8735501 887 FCTN_EPS_HANDLE_CDMS_FAULT();
lakshya 49:61c9f28332ba 888 timer_FCTN_EPS_HANDLE_CDMS_FAULT.stop();
lakshya 49:61c9f28332ba 889
lakshya 49:61c9f28332ba 890 timer_FCTN_APPEND_HKDATA.reset();
lakshya 49:61c9f28332ba 891 timer_FCTN_APPEND_HKDATA.start();
lakshya 33:76f2b8735501 892 FCTN_APPEND_HKDATA();
lakshya 49:61c9f28332ba 893 timer_FCTN_APPEND_HKDATA.stop();
lakshya 49:61c9f28332ba 894
lakshya 49:61c9f28332ba 895 timer_minMaxHkData.reset();
lakshya 49:61c9f28332ba 896 timer_minMaxHkData.start();
lakshya 33:76f2b8735501 897 minMaxHkData();
lakshya 49:61c9f28332ba 898 timer_minMaxHkData.stop();
lakshya 49:61c9f28332ba 899
lakshya 49:61c9f28332ba 900 //pc.printf("ere");
lakshya 33:76f2b8735501 901 EPS_MAIN_STATUS = 0; // clear EPS main status
lakshya 33:76f2b8735501 902
sakthipriya 0:7b4c00e3912f 903 }
lakshya 33:76f2b8735501 904
lakshya 20:949d13045431 905
sakthipriya 0:7b4c00e3912f 906 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 907
sakthipriya 3:07e15677a75c 908 void F_BCN()
sakthipriya 0:7b4c00e3912f 909 {
lakshya 20:949d13045431 910 pc.printf("\n\rEntered BCN %f\n",t_start.read());
lakshya 20:949d13045431 911 //BCN_TX_MAIN_COUNTER=+1;
lakshya 49:61c9f28332ba 912
lakshya 49:61c9f28332ba 913 timer_FCTN_BCN_TX_MAIN.reset();
lakshya 49:61c9f28332ba 914 timer_FCTN_BCN_TX_MAIN.start();
azaddevarm 92:0d6e6ff9b7c9 915 SHORT_HK_data_AQ();
azaddevarm 92:0d6e6ff9b7c9 916 pc.printf("\n\rBCN_LONG_MSG_TYPE = %d",BCN_LONG_MSG_TYPE);
lakshya 20:949d13045431 917 FCTN_BCN_TX_MAIN();
lakshya 49:61c9f28332ba 918 timer_FCTN_BCN_TX_MAIN.stop();
sakthipriya 0:7b4c00e3912f 919 }
sakthipriya 0:7b4c00e3912f 920
sakthipriya 0:7b4c00e3912f 921 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 922
lakshya 39:670133e7ffd8 923 //===================================================================
sakthipriya 0:7b4c00e3912f 924 void T_TC(void const * args)
lakshya 19:79e69017c855 925 {
lakshya 20:949d13045431 926 while(1)
lakshya 39:670133e7ffd8 927 {
lakshya 39:670133e7ffd8 928 Thread::signal_wait(0x4);
lakshya 39:670133e7ffd8 929 wait_us(300);
lakshya 98:321edb143f26 930 //__disable_irq();
lakshya 49:61c9f28332ba 931
lakshya 39:670133e7ffd8 932 BAE_MNG_I2C_STATUS =1 ;
lakshya 57:60e8f00d93c3 933 //I2C_last.reset();
lakshya 57:60e8f00d93c3 934 //I2C_last.start();
lakshya 49:61c9f28332ba 935 // pc.printf("\n\r intrpet");
lakshya 39:670133e7ffd8 936 if( slave.receive() == 0)
lakshya 39:670133e7ffd8 937 {
lakshya 97:36a91c432cb1 938 //pc.printf("\n\r case 0");
lakshya 39:670133e7ffd8 939 pdir_ss1=PTE->PDIR; /////////edited
lakshya 39:670133e7ffd8 940 irpt_2_mstr = 0;
lakshya 39:670133e7ffd8 941 data_send_flag = 'h';
lakshya 39:670133e7ffd8 942 slave.stop();
lakshya 39:670133e7ffd8 943 if(((pdir_ss1 & 0x00000003)!=3)) //check if bus has freezed
lakshya 39:670133e7ffd8 944 {
lakshya 39:670133e7ffd8 945 I2C_busreset(); /////////edited
lakshya 39:670133e7ffd8 946 }
lakshya 39:670133e7ffd8 947 pdir_ss2=PTE->PDIR;
lakshya 39:670133e7ffd8 948 pc.printf("\n\rSlave not addressed");
lakshya 97:36a91c432cb1 949 pc.printf("\n\rPTE->DIR1 = 0x%08X",pdir_ss1);
lakshya 39:670133e7ffd8 950 #if PRINT2
lakshya 97:36a91c432cb1 951 pc.printf("\n\rPTE->DIR2 = 0x%08X",pdir_ss2);
lakshya 39:670133e7ffd8 952 #endif
lakshya 39:670133e7ffd8 953 }
lakshya 39:670133e7ffd8 954 else if( slave.receive() == 1) // slave writes to master
lakshya 39:670133e7ffd8 955 {
lakshya 39:670133e7ffd8 956 BAE_I2C_COUNTER++; //////////edited
lakshya 67:c0dd13285d80 957 // pc.printf("\n\r writing....");// changed
lakshya 39:670133e7ffd8 958 if(data_send_flag == 'h') //to be renamed as BAE_I2C_STATUS
lakshya 39:670133e7ffd8 959 {
lakshya 49:61c9f28332ba 960 irpt_2_mstr =1;
lakshya 49:61c9f28332ba 961 //pc.printf("\n\r hk "); //wait till cdms code is changed
lakshya 97:36a91c432cb1 962 //FCTN_APPEND_HKDATA();
lakshya 39:670133e7ffd8 963 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 964 //crc is already being added
lakshya 97:36a91c432cb1 965 // write_ack=slave.write((char*)BAE_chardata,134);
lakshya 97:36a91c432cb1 966 write_ack=slave.write((char*)LONG_HK_data[1],134);
lakshya 39:670133e7ffd8 967 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 968 pdir_tm1=PTE->PDIR;
lakshya 97:36a91c432cb1 969 irpt_2_mstr = 0;
lakshya 97:36a91c432cb1 970 // pc.printf("\n\r case 0.1");
lakshya 39:670133e7ffd8 971 if(write_ack==0)// wait till cdms code is changed
lakshya 20:949d13045431 972 {
lakshya 49:61c9f28332ba 973 /*checking the tc timings*/
lakshya 49:61c9f28332ba 974 // time_wdog = 1;
lakshya 49:61c9f28332ba 975
lakshya 39:670133e7ffd8 976 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 977 {
lakshya 39:670133e7ffd8 978 wait_ms(1);
lakshya 39:670133e7ffd8 979 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 980 i2c_count++;
lakshya 39:670133e7ffd8 981 }
lakshya 39:670133e7ffd8 982 if(((pdir_tm1 & 0x00000003)==3))
lakshya 20:949d13045431 983 {
lakshya 39:670133e7ffd8 984 pc.printf("\n\rWrite HK success");
lakshya 49:61c9f28332ba 985 // data_send_flag = 'h';
lakshya 57:60e8f00d93c3 986 irpt_2_mstr = 0;
lakshya 57:60e8f00d93c3 987 I2C_last.reset();
lakshya 57:60e8f00d93c3 988 I2C_last.start(); //////////edited
lakshya 19:79e69017c855 989 }
lakshya 39:670133e7ffd8 990 else
lakshya 39:670133e7ffd8 991 {
lakshya 39:670133e7ffd8 992 #if baby
lakshya 39:670133e7ffd8 993 pc.printf("\n\rWrite HK failed");
lakshya 97:36a91c432cb1 994 /// pc.printf("\n\rPTE->PDIR1 = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 995 #endif
lakshya 39:670133e7ffd8 996 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 997 I2C_busreset();
lakshya 39:670133e7ffd8 998 #if baby2
lakshya 39:670133e7ffd8 999 pdir_tm2 = PTE->PDIR;
lakshya 97:36a91c432cb1 1000 pc.printf("\n\rPTE->PDIR2 = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1001 #endif
lakshya 39:670133e7ffd8 1002 }
lakshya 39:670133e7ffd8 1003 }
lakshya 39:670133e7ffd8 1004 else
lakshya 39:670133e7ffd8 1005 {
lakshya 39:670133e7ffd8 1006 #if baby1
lakshya 39:670133e7ffd8 1007 pc.printf("\n\rWrite Ack failed(HK)");
lakshya 97:36a91c432cb1 1008 pc.printf("\n\rPTE->PDIR3 = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1009 #endif
lakshya 39:670133e7ffd8 1010 I2C_busreset();
lakshya 39:670133e7ffd8 1011 #if baby2
lakshya 39:670133e7ffd8 1012 pdir_tm2 = PTE->PDIR;
lakshya 97:36a91c432cb1 1013 pc.printf("\n\rPTE->PDIR4 = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 1014 #endif
lakshya 20:949d13045431 1015 }
lakshya 39:670133e7ffd8 1016 i2c_count=0;
lakshya 39:670133e7ffd8 1017 }
lakshya 49:61c9f28332ba 1018 else if (data_send_flag == 't') //else if(telecommand[1]&0xC0 == 't')
lakshya 39:670133e7ffd8 1019 {
lakshya 39:670133e7ffd8 1020 uint8_t i2c_count =0;
lakshya 39:670133e7ffd8 1021 write_ack=slave.write((char*)telemetry,134); ////////edited(size)
lakshya 39:670133e7ffd8 1022 wait_ms(1); //for correct values of register to be updated
lakshya 39:670133e7ffd8 1023 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 1024 irpt_2_mstr = 0;
lakshya 49:61c9f28332ba 1025 data_send_flag = 'h';
lakshya 49:61c9f28332ba 1026 // pc.printf("\n\r h set here");
lakshya 39:670133e7ffd8 1027 if(write_ack==0)
lakshya 39:670133e7ffd8 1028 {
lakshya 39:670133e7ffd8 1029 while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
lakshya 39:670133e7ffd8 1030 {
lakshya 39:670133e7ffd8 1031 wait_ms(1);
lakshya 39:670133e7ffd8 1032 pdir_tm1=PTE->PDIR;
lakshya 39:670133e7ffd8 1033 i2c_count++;
lakshya 39:670133e7ffd8 1034 }
lakshya 39:670133e7ffd8 1035 if(((pdir_tm1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 1036 {
lakshya 39:670133e7ffd8 1037 pc.printf("\n\rWrite TM success");
lakshya 57:60e8f00d93c3 1038 I2C_last.reset();
lakshya 57:60e8f00d93c3 1039 I2C_last.start();
lakshya 39:670133e7ffd8 1040 }
lakshya 39:670133e7ffd8 1041 else
lakshya 39:670133e7ffd8 1042 {
lakshya 39:670133e7ffd8 1043 #if baby
lakshya 39:670133e7ffd8 1044 pc.printf("\n\rWrite TM failed");
lakshya 97:36a91c432cb1 1045 pc.printf("\n\rPTE->PDIR5 = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1046 #endif
lakshya 39:670133e7ffd8 1047 wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
lakshya 39:670133e7ffd8 1048 I2C_busreset();
lakshya 39:670133e7ffd8 1049 #if baby2
lakshya 39:670133e7ffd8 1050 pdir_tm2 = PTE->PDIR;
lakshya 97:36a91c432cb1 1051 pc.printf("\n\rPTE->PDIR6 = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1052 #endif
lakshya 39:670133e7ffd8 1053 }
lakshya 39:670133e7ffd8 1054 }
lakshya 39:670133e7ffd8 1055 else
lakshya 20:949d13045431 1056 {
lakshya 39:670133e7ffd8 1057 #if baby
lakshya 39:670133e7ffd8 1058 pc.printf("\n\rWrite Ack failed");
lakshya 97:36a91c432cb1 1059 pc.printf("\n\rPTE->PDIR7 = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1060 #endif
lakshya 39:670133e7ffd8 1061 I2C_busreset();
lakshya 39:670133e7ffd8 1062 #if baby2
lakshya 39:670133e7ffd8 1063 pdir_tm2 = PTE->PDIR;
lakshya 97:36a91c432cb1 1064 pc.printf("\n\rPTE->PDIR8 = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1065 #endif
lakshya 20:949d13045431 1066 }
lakshya 39:670133e7ffd8 1067 i2c_count=0;
lakshya 49:61c9f28332ba 1068 }
lakshya 49:61c9f28332ba 1069 // else
lakshya 49:61c9f28332ba 1070 // pc.printf("\n\r hey something wrong");
lakshya 39:670133e7ffd8 1071 }
lakshya 39:670133e7ffd8 1072 else if( slave.receive()==3 || slave.receive()==2) // slave read
lakshya 39:670133e7ffd8 1073 {
lakshya 97:36a91c432cb1 1074 pc.printf("\n\r the value %d \n\r",telecommand[0]);
lakshya 39:670133e7ffd8 1075 BAE_I2C_COUNTER++;
lakshya 49:61c9f28332ba 1076
lakshya 49:61c9f28332ba 1077 /*checking the tc timings*/
lakshya 49:61c9f28332ba 1078 time_wdog = 1;
lakshya 49:61c9f28332ba 1079
lakshya 39:670133e7ffd8 1080 uint8_t i2c_count = 0;
lakshya 39:670133e7ffd8 1081 read_ack=slave.read((char *)telecommand,135); //read() function returns acknowledgement
lakshya 97:36a91c432cb1 1082
lakshya 97:36a91c432cb1 1083
lakshya 97:36a91c432cb1 1084 pc.printf("\n\r the value %d \n\r",telecommand[0]);
lakshya 97:36a91c432cb1 1085
lakshya 97:36a91c432cb1 1086
lakshya 39:670133e7ffd8 1087 wait_ms(1);
lakshya 39:670133e7ffd8 1088 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 1089 if(read_ack==0) //read() says it was successful
lakshya 39:670133e7ffd8 1090 {
lakshya 39:670133e7ffd8 1091 while(((pdir_tc1 & 0x00000003)!=3)&& i2c_count<10)//checking if SDA and SCL lines are logic 0 and not more than 10 times(10ms)
lakshya 39:670133e7ffd8 1092 {
lakshya 39:670133e7ffd8 1093 wait_ms(1);
lakshya 39:670133e7ffd8 1094 pdir_tc1=PTE->PDIR;
lakshya 39:670133e7ffd8 1095 i2c_count++;
lakshya 39:670133e7ffd8 1096 }
lakshya 39:670133e7ffd8 1097 if(((pdir_tc1 & 0x00000003)==3))
lakshya 39:670133e7ffd8 1098 {
lakshya 49:61c9f28332ba 1099 //pc.printf("\n\n\rRead TC success");
lakshya 39:670133e7ffd8 1100 if(telecommand[0] == 0x00) /////////////edited
lakshya 49:61c9f28332ba 1101 {
lakshya 49:61c9f28332ba 1102 FCTN_CDMS_HK_TC((uint8_t*) telecommand); /////////////edited
lakshya 49:61c9f28332ba 1103 data_send_flag = 'h';
lakshya 57:60e8f00d93c3 1104 pc.printf("\n\n\rRead LBCN QM is comming");
lakshya 57:60e8f00d93c3 1105 I2C_last.reset();
lakshya 57:60e8f00d93c3 1106 I2C_last.start();
lakshya 49:61c9f28332ba 1107 }
lakshya 39:670133e7ffd8 1108 else
lakshya 39:670133e7ffd8 1109 {
lakshya 49:61c9f28332ba 1110 pc.printf("\n\r Read TC SUCESS");
lakshya 39:670133e7ffd8 1111 FCTN_BAE_TM_TC((uint8_t*) telecommand);
lakshya 39:670133e7ffd8 1112 data_send_flag = 't';
lakshya 39:670133e7ffd8 1113 irpt_2_mstr = 1;
lakshya 57:60e8f00d93c3 1114 I2C_last.reset();
lakshya 57:60e8f00d93c3 1115 I2C_last.start();
lakshya 49:61c9f28332ba 1116
lakshya 39:670133e7ffd8 1117 }
lakshya 39:670133e7ffd8 1118 }
lakshya 39:670133e7ffd8 1119 else //either or both of SDA and SCL lines low
lakshya 20:949d13045431 1120 {
lakshya 39:670133e7ffd8 1121 #if baby
lakshya 39:670133e7ffd8 1122 pc.printf("\n\rRead TC failed");
lakshya 97:36a91c432cb1 1123 pc.printf("\n\rPTE->PDIR9 = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1124 #endif
lakshya 39:670133e7ffd8 1125 I2C_busreset();
lakshya 39:670133e7ffd8 1126 #if baby2
lakshya 39:670133e7ffd8 1127 pdir_tm2 = PTE->PDIR;
lakshya 97:36a91c432cb1 1128 pc.printf("\n\rPTE->PDIR10 = 0x%08X",pdir_tm2);
lakshya 20:949d13045431 1129 #endif
lakshya 39:670133e7ffd8 1130 gen_I_TM();
lakshya 39:670133e7ffd8 1131 data_send_flag = 't';
lakshya 39:670133e7ffd8 1132 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 1133 }
lakshya 39:670133e7ffd8 1134 }
lakshya 39:670133e7ffd8 1135 else //read() says it was not successful
lakshya 39:670133e7ffd8 1136 {
lakshya 39:670133e7ffd8 1137 #if baby
lakshya 39:670133e7ffd8 1138 pc.printf("\n\rRead Ack failed");
lakshya 97:36a91c432cb1 1139 pc.printf("\n\rPTE->PDIR11 = 0x%08X",pdir_tm1);
lakshya 39:670133e7ffd8 1140 #endif
lakshya 39:670133e7ffd8 1141 I2C_busreset();
lakshya 39:670133e7ffd8 1142 #if baby2
lakshya 39:670133e7ffd8 1143 pdir_tm2 = PTE->PDIR;
lakshya 97:36a91c432cb1 1144 pc.printf("\n\rPTE->PDIR12 = 0x%08X",pdir_tm2);
lakshya 39:670133e7ffd8 1145 #endif
lakshya 39:670133e7ffd8 1146 //pc.printf("\n\r no data case");
lakshya 39:670133e7ffd8 1147 gen_I_TM();
lakshya 39:670133e7ffd8 1148 data_send_flag = 't';
lakshya 39:670133e7ffd8 1149 irpt_2_mstr = 1; /////////////added
lakshya 39:670133e7ffd8 1150 }
lakshya 39:670133e7ffd8 1151 i2c_count = 0;
lakshya 39:670133e7ffd8 1152 }
lakshya 39:670133e7ffd8 1153 BAE_MNG_I2C_STATUS=0;
lakshya 98:321edb143f26 1154 //__enable_irq();
lakshya 39:670133e7ffd8 1155 }
sakthipriya 0:7b4c00e3912f 1156 }
lakshya 39:670133e7ffd8 1157
sakthipriya 0:7b4c00e3912f 1158 void FCTN_TM()
lakshya 20:949d13045431 1159 {
sakthipriya 5:bb592f3185cc 1160 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 1161 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 1162 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 1163 }
sakthipriya 0:7b4c00e3912f 1164
sakthipriya 0:7b4c00e3912f 1165
sakthipriya 0:7b4c00e3912f 1166 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 1167
sakthipriya 0:7b4c00e3912f 1168 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 1169 {
lakshya 20:949d13045431 1170 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 1171 }
sakthipriya 0:7b4c00e3912f 1172
sakthipriya 0:7b4c00e3912f 1173
sakthipriya 5:bb592f3185cc 1174 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 1175
sakthipriya 5:bb592f3185cc 1176 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 1177
sakthipriya 5:bb592f3185cc 1178 void pollfault()
sakthipriya 5:bb592f3185cc 1179 {
Bragadeesh153 52:daa685b0e390 1180 //if (ACS_ATS1_OC_FAULT==0) // OC_ATS1
Bragadeesh153 52:daa685b0e390 1181 if(0)
lakshya 20:949d13045431 1182 {
lakshya 20:949d13045431 1183 pf1check=1;
lakshya 20:949d13045431 1184 actual_data.faultPoll_status |=0x01 ;
lakshya 20:949d13045431 1185 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
lakshya 20:949d13045431 1186 }
lakshya 20:949d13045431 1187 else
lakshya 20:949d13045431 1188 actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 1189
Bragadeesh153 52:daa685b0e390 1190 //if(ACS_ATS2_OC_FAULT==0)
Bragadeesh153 52:daa685b0e390 1191 if(0)
lakshya 20:949d13045431 1192 {
lakshya 20:949d13045431 1193 pf2check=1;
lakshya 20:949d13045431 1194 actual_data.faultPoll_status |=0x02 ;
lakshya 20:949d13045431 1195 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
lakshya 20:949d13045431 1196 }
lakshya 20:949d13045431 1197 else
lakshya 20:949d13045431 1198 actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 1199
lakshya 48:9fd15e3e0b53 1200 if (ACS_TR_XY_FAULT==0)
lakshya 20:949d13045431 1201 {
lakshya 20:949d13045431 1202 actual_data.faultPoll_status |=0x04 ;
lakshya 20:949d13045431 1203 DRV_XY_EN = 0;
lakshya 20:949d13045431 1204 wait_us(1);
lakshya 20:949d13045431 1205 DRV_XY_EN = 1;
lakshya 20:949d13045431 1206 }
lakshya 20:949d13045431 1207 else
lakshya 20:949d13045431 1208 actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 1209 }
sakthipriya 5:bb592f3185cc 1210
sakthipriya 0:7b4c00e3912f 1211 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 1212 //SCHEDULER
sakthipriya 0:7b4c00e3912f 1213 //------------------------------------------------------------------------------------------------------------------------------------------------
lakshya 20:949d13045431 1214
sakthipriya 0:7b4c00e3912f 1215 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 1216 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 1217 {
lakshya 20:949d13045431 1218 #if print
lakshya 49:61c9f28332ba 1219 pc.printf("\n\r in scheduler");
lakshya 20:949d13045431 1220 #endif
lakshya 19:79e69017c855 1221 /*if keeping thish many cases creates a problem then make 3 seperate flagvariable i.e bae_standby_acs so on that will make it easy.!!!*/
lakshya 33:76f2b8735501 1222 if(schedcount == 13) //to reset the counter
sakthipriya 0:7b4c00e3912f 1223 schedcount = 1;
sakthipriya 0:7b4c00e3912f 1224 if(schedcount%1==0)
lakshya 20:949d13045431 1225 {
lakshya 66:a5d2b8dc6b9e 1226 if( BAE_STANDBY==0x02 || BAE_STANDBY==0x03 || BAE_STANDBY==0x06 || BAE_STANDBY==0x07)
lakshya 20:949d13045431 1227 {
lakshya 66:a5d2b8dc6b9e 1228 pc.printf("\n reahed here working till stage one acs");
lakshya 20:949d13045431 1229 pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
lakshya 49:61c9f28332ba 1230 timer_F_ACS.reset();
lakshya 49:61c9f28332ba 1231 timer_F_ACS.start();
Bragadeesh153 52:daa685b0e390 1232 F_ACS();
lakshya 97:36a91c432cb1 1233 FCTN_APPEND_HKDATA();
lakshya 49:61c9f28332ba 1234 timer_F_ACS.stop();
lakshya 49:61c9f28332ba 1235 /*pc.printf("\n\r timer_F_ACS is %f",timer_F_ACS.read());
lakshya 49:61c9f28332ba 1236 pc.printf("\n\r timer_SENSOR_INIT is %f",timer_SENSOR_INIT.read());
lakshya 49:61c9f28332ba 1237 pc.printf("\n\r timer_CONFIG_UPLOAD is %f",timer_CONFIG_UPLOAD.read());
lakshya 49:61c9f28332ba 1238 pc.printf("\n\r timer_SENSOR_DATA_ACQ is %f",timer_SENSOR_DATA_ACQ.read());
lakshya 49:61c9f28332ba 1239 pc.printf("\n\r timer_FCTN_ACS_GENPWM_MAIN is %f",timer_FCTN_ACS_GENPWM_MAIN.read());
lakshya 49:61c9f28332ba 1240 pc.printf("\n\r timer_FCTN_ACS_CNTRLALGO is %f",timer_FCTN_ACS_CNTRLALGO.read());
lakshya 49:61c9f28332ba 1241 pc.printf("\n\r timer_controlmodes is %f",timer_controlmodes.read());
lakshya 49:61c9f28332ba 1242 */
lakshya 20:949d13045431 1243 //time_wdog = 0;
lakshya 20:949d13045431 1244 }
sakthipriya 0:7b4c00e3912f 1245
lakshya 20:949d13045431 1246 }
lakshya 33:76f2b8735501 1247 if(schedcount%4==0)
lakshya 20:949d13045431 1248 {
lakshya 66:a5d2b8dc6b9e 1249 if( BAE_STANDBY==0x01 || BAE_STANDBY==0x03 || BAE_STANDBY==0x05 || BAE_STANDBY==0x07)
lakshya 20:949d13045431 1250 {
lakshya 66:a5d2b8dc6b9e 1251 pc.printf("\n reahed here working till stage one eps");
lakshya 20:949d13045431 1252 //time_wdog = 1;
lakshya 49:61c9f28332ba 1253 timer_F_ESP.reset();
lakshya 49:61c9f28332ba 1254 timer_F_ESP.start();
lakshya 20:949d13045431 1255 F_EPS();
lakshya 49:61c9f28332ba 1256 timer_F_ESP.stop();
lakshya 97:36a91c432cb1 1257 int zz;
lakshya 97:36a91c432cb1 1258 pc.printf("\n\r");
lakshya 97:36a91c432cb1 1259 for(zz=0;zz<134;zz++)
lakshya 97:36a91c432cb1 1260 {
lakshya 97:36a91c432cb1 1261 pc.printf("%x ",LONG_HK_data[0][zz]);
lakshya 97:36a91c432cb1 1262 }
lakshya 49:61c9f28332ba 1263 pc.printf("\n\r timer_F_ESP is %f",timer_F_ESP.read());
lakshya 49:61c9f28332ba 1264 /* pc.printf("\n\r timer_FCTN_BATTERYGAUGE_INIT is %f",timer_FCTN_BATTERYGAUGE_INIT.read());
lakshya 49:61c9f28332ba 1265 pc.printf("\n\r timer_alertFlags is %f",timer_alertFlags.read());
lakshya 49:61c9f28332ba 1266 pc.printf("\n\r timer_soc is %f",timer_soc.read());
lakshya 49:61c9f28332ba 1267 pc.printf("\n\r timer_FCTN_BATT_TEMP_SENSOR_MAIN is %f",timer_FCTN_BATT_TEMP_SENSOR_MAIN.read());
lakshya 49:61c9f28332ba 1268 pc.printf("\n\r timer_FCTN_BATTERYGAUGE_MAIN is %f",timer_FCTN_BATTERYGAUGE_MAIN.read());
lakshya 49:61c9f28332ba 1269 pc.printf("\n\r timer_FCTN_HK_MAIN is %f",timer_FCTN_HK_MAIN.read());
lakshya 49:61c9f28332ba 1270 pc.printf("\n\r timer_FCTN_EPS_HANDLE_HW_FAULTS is %f",timer_FCTN_EPS_HANDLE_HW_FAULTS.read());
lakshya 49:61c9f28332ba 1271 pc.printf("\n\r timer_FCTN_EPS_HANDLE_CDMS_FAULT is %f",timer_FCTN_EPS_HANDLE_CDMS_FAULT.read());
lakshya 49:61c9f28332ba 1272 pc.printf("\n\r timer_FCTN_APPEND_HKDATA is %f",timer_FCTN_APPEND_HKDATA.read());
lakshya 49:61c9f28332ba 1273 pc.printf("\n\r timer_minMaxHkData is %f",timer_minMaxHkData.read());
lakshya 49:61c9f28332ba 1274 */
lakshya 20:949d13045431 1275 }
lakshya 20:949d13045431 1276 //time_wdog = 0;
lakshya 20:949d13045431 1277 }
lakshya 33:76f2b8735501 1278 if(schedcount%6==0)
lakshya 20:949d13045431 1279 {
lakshya 66:a5d2b8dc6b9e 1280 if(BAE_STANDBY==0x04 || BAE_STANDBY==0x05 || BAE_STANDBY==0x06 || BAE_STANDBY==0x07)
lakshya 66:a5d2b8dc6b9e 1281 {
azaddevarm 92:0d6e6ff9b7c9 1282 pc.printf("\n reached here working till stage one bcn");
lakshya 66:a5d2b8dc6b9e 1283 // time_wdog = 0;
lakshya 49:61c9f28332ba 1284 timer_F_BCN.reset();
lakshya 49:61c9f28332ba 1285 timer_F_BCN.start();
lakshya 49:61c9f28332ba 1286 F_BCN();
lakshya 49:61c9f28332ba 1287 timer_F_BCN.stop();
lakshya 49:61c9f28332ba 1288 /*pc.printf("\n\r timer_F_BCN is %f",timer_F_BCN.read());
lakshya 49:61c9f28332ba 1289 pc.printf("\n\r timer_Init_BEACON_HW is %f",timer_Init_BEACON_HW.read());
lakshya 49:61c9f28332ba 1290 pc.printf("\n\r timer_FCTN_BCN_TX_MAIN is %f",timer_FCTN_BCN_TX_MAIN.read());
lakshya 49:61c9f28332ba 1291 pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUCCESS is %f",timer_Set_BCN_TX_STATUS_SUCCESS.read());
lakshya 49:61c9f28332ba 1292 pc.printf("\n\r timer_Set_BCN_TX_STATUS_FAILURE is %f",timer_Set_BCN_TX_STATUS_FAILURE.read());
lakshya 49:61c9f28332ba 1293 pc.printf("\n\r timer_Set_BCN_TX_STATUS_DISABLED is %f",timer_Set_BCN_TX_STATUS_DISABLED.read());
lakshya 49:61c9f28332ba 1294 pc.printf("\n\r timer_Set_BCN_TX_STATUS_SUSPENDED is %f",timer_Set_BCN_TX_STATUS_SUSPENDED.read());
lakshya 49:61c9f28332ba 1295 pc.printf("\n\r timer_Set_BCN_TX_STATUS_RF_SILENCE is %f",timer_Set_BCN_TX_STATUS_RF_SILENCE.read());
lakshya 49:61c9f28332ba 1296 */}
lakshya 20:949d13045431 1297 }
sakthipriya 0:7b4c00e3912f 1298 schedcount++;
lakshya 20:949d13045431 1299 #if print
lakshya 20:949d13045431 1300 printf("\n\r exited scheduler h");
lakshya 20:949d13045431 1301 printf("\n\r time taken %f",t_start.read());
lakshya 20:949d13045431 1302 #endif
sakthipriya 0:7b4c00e3912f 1303 }
sakthipriya 0:7b4c00e3912f 1304
lakshya 20:949d13045431 1305
sakthipriya 0:7b4c00e3912f 1306 Timer t_flag;
lakshya 19:79e69017c855 1307
lakshya 20:949d13045431 1308
sakthipriya 0:7b4c00e3912f 1309 void FLAG()
sakthipriya 0:7b4c00e3912f 1310 {
lakshya 20:949d13045431 1311
lakshya 20:949d13045431 1312 //I2C
lakshya 20:949d13045431 1313 //if(BAE_MNG_I2C_STATUS == 1)
lakshya 20:949d13045431 1314 // BAE_STATUS = BAE_STATUS | 0x10000000;
lakshya 20:949d13045431 1315 //else if(BAE_MNG_I2C_STATUS == 0)
lakshya 20:949d13045431 1316 // BAE_STATUS &= 0xEFFFFFF;
lakshya 19:79e69017c855 1317
lakshya 19:79e69017c855 1318 //.............bae..................//
lakshya 19:79e69017c855 1319 if(BAE_INIT_STATUS == 1)
lakshya 19:79e69017c855 1320 BAE_STATUS = BAE_STATUS | 0x00000001; //BAE_STATUS |= 0x00000001;
lakshya 19:79e69017c855 1321 else if(BAE_INIT_STATUS == 0)
lakshya 19:79e69017c855 1322 BAE_STATUS &= 0xFFFFFFFE;
lakshya 19:79e69017c855 1323
lakshya 20:949d13045431 1324 if(BAE_MNG_I2C_STATUS == 1)
lakshya 19:79e69017c855 1325 BAE_STATUS = BAE_STATUS | 0x00000002;
lakshya 20:949d13045431 1326 if(BAE_MNG_I2C_STATUS == 0)
lakshya 19:79e69017c855 1327 BAE_STATUS &= 0xFFFFFFFD;
lakshya 20:949d13045431 1328
sakthipriya 0:7b4c00e3912f 1329 //.............acs..................//
sakthipriya 9:194afacf7449 1330 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1331 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 1332 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1333 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 1334
sakthipriya 9:194afacf7449 1335 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1336 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 1337 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1338 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 1339
sakthipriya 9:194afacf7449 1340 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 1341 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 1342 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 1343 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 1344
sakthipriya 0:7b4c00e3912f 1345 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 1346 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 1347
sakthipriya 9:194afacf7449 1348 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 1349 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 1350 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 1351 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 1352
sakthipriya 0:7b4c00e3912f 1353 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 1354 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1355 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 1356 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 1357 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 1358 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1359 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 1360 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1361 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 1362 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1363 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 1364 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1365 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 1366 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 1367 else
sakthipriya 0:7b4c00e3912f 1368 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 1369
sakthipriya 0:7b4c00e3912f 1370 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 1371 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 1372 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 1373 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 1374 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 1375 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 1376 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 1377 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 1378 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 1379 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 1380 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 1381 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 1382
sakthipriya 0:7b4c00e3912f 1383 //...............eps......................//
lakshya 20:949d13045431 1384 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
lakshya 20:949d13045431 1385 BAE_STATUS |= 0x00010000;
lakshya 20:949d13045431 1386 else if(EPS_INIT_STATUS==0) // Clear
lakshya 20:949d13045431 1387 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 1388
sakthipriya 5:bb592f3185cc 1389
lakshya 20:949d13045431 1390 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
lakshya 20:949d13045431 1391 BAE_STATUS |= 0x00040000;
lakshya 20:949d13045431 1392 else if(EPS_MAIN_STATUS==0) // Clear
lakshya 20:949d13045431 1393 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 1394
sakthipriya 5:bb592f3185cc 1395
lakshya 20:949d13045431 1396 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
lakshya 20:949d13045431 1397 BAE_STATUS |= 0x00020000;
lakshya 20:949d13045431 1398 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
lakshya 20:949d13045431 1399 BAE_STATUS &= 0xFFFDFFFF;
lakshya 20:949d13045431 1400
lakshya 33:76f2b8735501 1401 if (EPS_BTRY_TMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
lakshya 20:949d13045431 1402 BAE_STATUS |= 0x00080000;
lakshya 33:76f2b8735501 1403 else if(EPS_BTRY_TMP_STATUS==0) // Clear
lakshya 20:949d13045431 1404 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 1405
lakshya 20:949d13045431 1406 if (EPS_STATUS==0)
lakshya 20:949d13045431 1407 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
lakshya 20:949d13045431 1408 else if (EPS_STATUS==1)
lakshya 20:949d13045431 1409 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
lakshya 20:949d13045431 1410 else if (EPS_STATUS==2)
lakshya 20:949d13045431 1411 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
lakshya 20:949d13045431 1412 else if (EPS_STATUS==3)
lakshya 20:949d13045431 1413 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
lakshya 20:949d13045431 1414 else if (EPS_STATUS==4)
lakshya 20:949d13045431 1415 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
lakshya 20:949d13045431 1416 else if (EPS_STATUS==5)
lakshya 20:949d13045431 1417 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 1418
lakshya 20:949d13045431 1419 if(EPS_BTRY_HTR_AUTO == 1)
sakthipriya 5:bb592f3185cc 1420 BAE_ENABLE |= 0x00000080;
lakshya 20:949d13045431 1421 else if(EPS_BTRY_HTR_AUTO == 0)
sakthipriya 5:bb592f3185cc 1422 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 1423
lakshya 20:949d13045431 1424 #if print
lakshya 20:949d13045431 1425 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
lakshya 20:949d13045431 1426 #endif
lakshya 20:949d13045431 1427 }
sakthipriya 0:7b4c00e3912f 1428
sakthipriya 0:7b4c00e3912f 1429
sakthipriya 0:7b4c00e3912f 1430 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 1431 {
lakshya 20:949d13045431 1432 #if print
lakshya 20:949d13045431 1433 printf("\n\r Initialising BAE _________________________________________________________________________________");
lakshya 20:949d13045431 1434 #endif
lakshya 19:79e69017c855 1435 BAE_INIT_STATUS=1;
lakshya 19:79e69017c855 1436 FLAG();
lakshya 19:79e69017c855 1437
sakthipriya 3:07e15677a75c 1438 //..........intial status....//
Bragadeesh153 13:fb7facaf308b 1439 ACS_STATE = 4;
sakthipriya 9:194afacf7449 1440 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 1441 ACS_DATA_ACQ_ENABLE = 1;
lakshya 20:949d13045431 1442 EPS_BTRY_HTR_AUTO = 1;
Bragadeesh153 13:fb7facaf308b 1443 actual_data.power_mode=3;
lakshya 19:79e69017c855 1444
sakthipriya 9:194afacf7449 1445 //............intializing pins................//
Bragadeesh153 52:daa685b0e390 1446 ATS1_SW_ENABLE = 1;
sakthipriya 9:194afacf7449 1447 ATS2_SW_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 1448
Bragadeesh153 13:fb7facaf308b 1449 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 1450 DRV_Z_EN = 1;
Bragadeesh153 52:daa685b0e390 1451 ACS_TR_Z_ENABLE = 1;
Bragadeesh153 52:daa685b0e390 1452 ACS_TR_XY_ENABLE = 1;
lakshya 20:949d13045431 1453
lakshya 20:949d13045431 1454 //time_wdog = 1;
sakthipriya 9:194afacf7449 1455
lakshya 49:61c9f28332ba 1456 kick_WDOG();
lakshya 49:61c9f28332ba 1457 pc.printf("\n\r lvl1");
lakshya 49:61c9f28332ba 1458
lakshya 19:79e69017c855 1459 //...........order mentioned in flow chart.................//
lakshya 49:61c9f28332ba 1460 timer_FCTN_BAE_INIT.reset();
lakshya 49:61c9f28332ba 1461 timer_FCTN_BAE_INIT.start();
sakthipriya 3:07e15677a75c 1462 FCTN_ACS_INIT();
lakshya 49:61c9f28332ba 1463 timer_FCTN_BAE_INIT.stop();
lakshya 49:61c9f28332ba 1464 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 49:61c9f28332ba 1465
lakshya 49:61c9f28332ba 1466 timer_FCTN_EPS_INIT.reset();
lakshya 49:61c9f28332ba 1467 timer_FCTN_EPS_INIT.start();
lakshya 17:fc782f7548c6 1468 FCTN_EPS_INIT();
lakshya 49:61c9f28332ba 1469 timer_FCTN_EPS_INIT.stop();
lakshya 49:61c9f28332ba 1470 pc.printf("\n\r timer_FCTN_EPS_INIT is %f",timer_FCTN_EPS_INIT.read());
lakshya 49:61c9f28332ba 1471
lakshya 49:61c9f28332ba 1472 timer_FCTN_BCN_INIT.reset();
lakshya 49:61c9f28332ba 1473 timer_FCTN_BCN_INIT.start();
lakshya 18:3662058a7c10 1474 FCTN_BCN_INIT();
lakshya 49:61c9f28332ba 1475 timer_FCTN_BCN_INIT.stop();
lakshya 49:61c9f28332ba 1476 pc.printf("\n\r timer_FCTN_BCN_INIT is %f",timer_FCTN_BCN_INIT.read());
lakshya 19:79e69017c855 1477
lakshya 27:61c856be467e 1478 //uint32_t data_flash=FCTN_BAE_RD_FLASH_ENTITY(0);/*sending the 0 entity as in mms tc/tm bae_reset_counter is present in first 32 bits */
lakshya 27:61c856be467e 1479 //uint32_t data_modify=data_flash & 0x000000FF;
lakshya 27:61c856be467e 1480 //data_modify +=1;
lakshya 27:61c856be467e 1481 //data_modify |=data_flash;
lakshya 27:61c856be467e 1482 //FCTN_BAE_WR_FLASH(0,data_modify);
lakshya 49:61c9f28332ba 1483 //#if print
lakshya 49:61c9f28332ba 1484 // printf("\n\rthe number of reset %d",data_modify);
lakshya 49:61c9f28332ba 1485 //#endif
lakshya 19:79e69017c855 1486 BAE_INIT_STATUS=0;
sakthipriya 0:7b4c00e3912f 1487 FLAG();
sakthipriya 0:7b4c00e3912f 1488 }
sakthipriya 0:7b4c00e3912f 1489
lakshya 20:949d13045431 1490
sakthipriya 0:7b4c00e3912f 1491 int main()
sakthipriya 0:7b4c00e3912f 1492 {
lakshya 33:76f2b8735501 1493 //BAE_uptime.reset();
lakshya 33:76f2b8735501 1494 BAE_uptime.start();
lakshya 20:949d13045431 1495 //time_wdog = 1;
lakshya 19:79e69017c855 1496 pc.printf("\n\r BAE Activated. Testing Version 1.2 \n");
lakshya 20:949d13045431 1497 //FLASH_INI();
lakshya 49:61c9f28332ba 1498
lakshya 49:61c9f28332ba 1499 time_wdog=1;
lakshya 49:61c9f28332ba 1500 timer_FCTN_BAE_INIT.start();
sakthipriya 0:7b4c00e3912f 1501 FCTN_BAE_INIT();
lakshya 49:61c9f28332ba 1502 timer_FCTN_BAE_INIT.stop();
lakshya 49:61c9f28332ba 1503 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 49:61c9f28332ba 1504
lakshya 49:61c9f28332ba 1505 time_wdog=0;
lakshya 49:61c9f28332ba 1506
lakshya 20:949d13045431 1507 //time_wdog = 0;
lakshya 20:949d13045431 1508
sakthipriya 0:7b4c00e3912f 1509 slave.address(addr);
sakthipriya 0:7b4c00e3912f 1510 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 1511
sakthipriya 0:7b4c00e3912f 1512 ptr_t_i2c = new Thread(T_TC);
lakshya 98:321edb143f26 1513 ptr_t_i2c->set_priority(osPriorityRealtime);////osPriorityHigh_Realtime
sakthipriya 5:bb592f3185cc 1514
sakthipriya 0:7b4c00e3912f 1515 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 1516 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
lakshya 20:949d13045431 1517
sakthipriya 0:7b4c00e3912f 1518 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
lakshya 33:76f2b8735501 1519 t_sc_timer.start(5000);
sakthipriya 0:7b4c00e3912f 1520 t_start.start();
lakshya 50:6001287f3045 1521
lakshya 20:949d13045431 1522 #if print
lakshya 20:949d13045431 1523 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
lakshya 20:949d13045431 1524 #endif
lakshya 19:79e69017c855 1525 /*if one defines it dynamically then one has to take care that the destuct function is calle everytime BAE resets otheriwse it will lead to memory leakage*/
lakshya 20:949d13045431 1526 //BAE_STANDBY_STATUS_TIMER = new RtosTimer(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1527 /*static allocation*/
lakshya 19:79e69017c855 1528 RtosTimer STANDBY_TIMER(BAE_STANDBY_STATUS_RESET,osTimerOnce);
lakshya 19:79e69017c855 1529 BAE_STANDBY_STATUS_TIMER=&STANDBY_TIMER;
lakshya 18:3662058a7c10 1530
lakshya 20:949d13045431 1531 RtosTimer bcn_start_timer(FCTN_BCN_FEN,osTimerOnce);
lakshya 20:949d13045431 1532 /*later change it to 30 min 1800 seconds*/
lakshya 20:949d13045431 1533 bcn_start_timer.start(20000);
lakshya 20:949d13045431 1534
lakshya 20:949d13045431 1535 //BCN HTR TIMERS
lakshya 20:949d13045431 1536 RtosTimer EPS_HTR_OFF_TIMER(FCTN_EPS_HTR_OFF, osTimerOnce);
lakshya 20:949d13045431 1537 HTR_OFF=&EPS_HTR_OFF_TIMER;
lakshya 20:949d13045431 1538
lakshya 49:61c9f28332ba 1539 RtosTimer EPS_HTR_CYCLE_TIMER(FCTN_EPS_HTR_CYCLE, osTimerPeriodic);
lakshya 20:949d13045431 1540 HTR_CYCLE=&EPS_HTR_CYCLE_TIMER;
lakshya 20:949d13045431 1541
lakshya 20:949d13045431 1542 RtosTimer EPS_HTR_DLY_TIMER(FCTN_EPS_HTR_DLY,osTimerOnce);
lakshya 20:949d13045431 1543 HTR_DLY=&EPS_HTR_DLY_TIMER;
lakshya 20:949d13045431 1544
lakshya 49:61c9f28332ba 1545 timer_FLASH_INI.start();
lakshya 20:949d13045431 1546 FLASH_INI();
lakshya 49:61c9f28332ba 1547 timer_FLASH_INI.stop();
lakshya 49:61c9f28332ba 1548 pc.printf("\n\r timer_FCTN_BAE_INIT is %f",timer_FCTN_BAE_INIT.read());
lakshya 20:949d13045431 1549
lakshya 20:949d13045431 1550 while(1); //required to prevent main from terminating
lakshya 18:3662058a7c10 1551
lakshya 20:949d13045431 1552 }