Prasanth B J / Mbed 2 deprecated ACS_Flowchart_BAE

I2C BAE standalone hardware testing

Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of ACS_Flowchart_BAE_1 by Team Fox

main.cpp@17:8a8024c45dc0, 2016-06-24 (annotated)

Committer:
prasanthbj05
Date:
Fri Jun 24 08:08:52 2016 +0000
Revision:
17:8a8024c45dc0
Parent:
16:cc77770d787f
Child:
18:95f0cc565ee3
I2C working with printfs;

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
Bragadeesh153 13:fb7facaf308b 9 #define tm_len 135
Bragadeesh153 13:fb7facaf308b 10 #define tc_len 11
sakthipriya 0:7b4c00e3912f 11 #define batt_heat_low 20
prasanthbj05 17:8a8024c45dc0 12 #define PRINT 1
sakthipriya 9:194afacf7449 13
sakthipriya 0:7b4c00e3912f 14 //***************************************************** flags *************************************************************//
sakthipriya 0:7b4c00e3912f 15 uint32_t BAE_STATUS = 0x00000000;
sakthipriya 0:7b4c00e3912f 16 uint32_t BAE_ENABLE = 0xFFFFFFFF;
sakthipriya 0:7b4c00e3912f 17
sakthipriya 5:bb592f3185cc 18 //i2c//
sakthipriya 5:bb592f3185cc 19 char data_send_flag = 'h';
sakthipriya 5:bb592f3185cc 20
sakthipriya 0:7b4c00e3912f 21 //.........acs...............//
sakthipriya 9:194afacf7449 22 /* char ACS_INIT_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 23 char ACS_DATA_ACQ_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 24 char ACS_ATS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 25 char ACS_MAIN_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 26 char ACS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 27
sakthipriya 0:7b4c00e3912f 28 char ACS_ATS_ENABLE = 'q';
sakthipriya 0:7b4c00e3912f 29 char ACS_DATA_ACQ_ENABLE = 'q';
sakthipriya 9:194afacf7449 30 char ACS_STATE = 'q';*/
sakthipriya 9:194afacf7449 31
sakthipriya 9:194afacf7449 32 uint8_t ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 33 uint8_t ACS_DATA_ACQ_STATUS = 0;
Bragadeesh153 16:cc77770d787f 34 uint8_t ACS_ATS_STATUS = 0x60;
sakthipriya 9:194afacf7449 35 uint8_t ACS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 36 uint8_t ACS_STATUS = 0;
sakthipriya 9:194afacf7449 37
sakthipriya 9:194afacf7449 38 uint8_t ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 39 uint8_t ACS_DATA_ACQ_ENABLE = 1;
sakthipriya 9:194afacf7449 40 uint8_t ACS_STATE = 4;
sakthipriya 0:7b4c00e3912f 41
sakthipriya 0:7b4c00e3912f 42 //.....................eps...................//
sakthipriya 0:7b4c00e3912f 43 //eps init
sakthipriya 9:194afacf7449 44 /*char EPS_INIT_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 45 char EPS_BATTERY_GAUGE_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 46 //eps main
sakthipriya 0:7b4c00e3912f 47 char EPS_MAIN_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 48 char EPS_BATTERY_TEMP_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 49 char EPS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 50
sakthipriya 0:7b4c00e3912f 51 char EPS_BATTERY_HEAT_ENABLE = 'q';
sakthipriya 9:194afacf7449 52 */
sakthipriya 9:194afacf7449 53
sakthipriya 9:194afacf7449 54 uint8_t EPS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 55 uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
sakthipriya 9:194afacf7449 56 //eps main
sakthipriya 9:194afacf7449 57 uint8_t EPS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 58 uint8_t EPS_BATTERY_TEMP_STATUS = 0;
sakthipriya 9:194afacf7449 59 uint8_t EPS_STATUS = 7; //invalid status
sakthipriya 9:194afacf7449 60
sakthipriya 9:194afacf7449 61 uint8_t EPS_BATTERY_HEAT_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 62
sakthipriya 0:7b4c00e3912f 63 //.......................global variables..................................................................// new hk structure- everything has to changed based on this
sakthipriya 6:036d08b62785 64 uint8_t BAE_data[74];
sakthipriya 6:036d08b62785 65 char BAE_chardata[74];
sakthipriya 0:7b4c00e3912f 66
sakthipriya 0:7b4c00e3912f 67
sakthipriya 0:7b4c00e3912f 68 //*************************************Global declarations************************************************//
sakthipriya 0:7b4c00e3912f 69 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 70
sakthipriya 0:7b4c00e3912f 71 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 72 Timer t_start;
sakthipriya 7:a46a1dee4497 73 Timer t_tc;
sakthipriya 7:a46a1dee4497 74 Timer t_tm;
prasanthbj05 17:8a8024c45dc0 75 Timer synch;
sakthipriya 0:7b4c00e3912f 76 Serial pc(USBTX, USBRX);
sakthipriya 0:7b4c00e3912f 77 int power_flag_dummy=2;
sakthipriya 0:7b4c00e3912f 78 float data[6];
sakthipriya 0:7b4c00e3912f 79
sakthipriya 0:7b4c00e3912f 80 extern float moment[3];
sakthipriya 0:7b4c00e3912f 81 extern uint8_t BCN_FEN;
sakthipriya 1:446a959e36ce 82 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 83 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 84 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 85 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 86
sakthipriya 5:bb592f3185cc 87 int write_ack = 1;
sakthipriya 5:bb592f3185cc 88 int read_ack = 1;
prasanthbj05 17:8a8024c45dc0 89 uint8_t telecommand[11];
Bragadeesh153 13:fb7facaf308b 90 extern uint8_t telemetry[135];
sakthipriya 5:bb592f3185cc 91
sakthipriya 5:bb592f3185cc 92 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 93 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 94 bool if1check = 0;
lakshya 14:a9588f443f1a 95 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 96
sakthipriya 0:7b4c00e3912f 97 //*****************************************************Assigning pins******************************************************//
sakthipriya 9:194afacf7449 98 DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch
sakthipriya 9:194afacf7449 99 DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch
Bragadeesh153 16:cc77770d787f 100
sakthipriya 0:7b4c00e3912f 101 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
sakthipriya 0:7b4c00e3912f 102 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya 14:a9588f443f1a 103 I2CSlave slave (PIN1,PIN2);///pin1 pin2
sakthipriya 0:7b4c00e3912f 104 DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 105
sakthipriya 9:194afacf7449 106 //ATS1_SW_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 107 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 108 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 109 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 110
sakthipriya 5:bb592f3185cc 111 //........faults
sakthipriya 5:bb592f3185cc 112 //Polled Faults
sakthipriya 5:bb592f3185cc 113 DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
sakthipriya 5:bb592f3185cc 114 DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
sakthipriya 5:bb592f3185cc 115 DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 116
sakthipriya 5:bb592f3185cc 117 //Interrupt based faults
lakshya 14:a9588f443f1a 118 //InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal
sakthipriya 5:bb592f3185cc 119 InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault
sakthipriya 5:bb592f3185cc 120 InterruptIn ir3(PIN89);//TRZ Driver Fault Bar
sakthipriya 5:bb592f3185cc 121 InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault
sakthipriya 5:bb592f3185cc 122 InterruptIn ir5(PIN79);//CDMS - Switch Fault
sakthipriya 5:bb592f3185cc 123 InterruptIn ir6(PIN80);//Beacon- Switch OC bar
sakthipriya 5:bb592f3185cc 124 InterruptIn ir7(PIN42);//Charger IC - Fault Bar
sakthipriya 5:bb592f3185cc 125
lakshya 14:a9588f443f1a 126
Bragadeesh153 13:fb7facaf308b 127 //DigitalOut TRXY_SW_EN(PIN71); //TR XY Switch
Bragadeesh153 13:fb7facaf308b 128 //DigitalOut DRV_Z_SLP(PIN88); //Sleep pin of driver z
Bragadeesh153 13:fb7facaf308b 129 //DigitalOut TRZ_SW(PIN40); //TR Z Switch
Bragadeesh153 13:fb7facaf308b 130 //DigitalOut CDMS_RESET(PIN7); // CDMS RESET
Bragadeesh153 13:fb7facaf308b 131 //DigitalOut BCN_SW(PIN14); //Beacon switch
Bragadeesh153 13:fb7facaf308b 132 //DigitalOut DRV_XY_SLP(PIN82);
Bragadeesh153 13:fb7facaf308b 133
Bragadeesh153 13:fb7facaf308b 134
Bragadeesh153 13:fb7facaf308b 135 DigitalOut TRXY_SW(PIN71); //TR XY Switch
Bragadeesh153 13:fb7facaf308b 136 DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z
sakthipriya 5:bb592f3185cc 137 DigitalOut TRZ_SW(PIN40); //TR Z Switch
prasanthbj05 17:8a8024c45dc0 138 DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET
sakthipriya 5:bb592f3185cc 139 DigitalOut BCN_SW(PIN14); //Beacon switch
Bragadeesh153 13:fb7facaf308b 140 DigitalOut DRV_XY_EN(PIN82);
sakthipriya 0:7b4c00e3912f 141
sakthipriya 0:7b4c00e3912f 142 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 3:07e15677a75c 143
sakthipriya 0:7b4c00e3912f 144 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 145
sakthipriya 0:7b4c00e3912f 146 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 147
sakthipriya 0:7b4c00e3912f 148 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 149 void FCTN_TM();
sakthipriya 3:07e15677a75c 150 void F_ACS();
sakthipriya 3:07e15677a75c 151 void F_EPS();
sakthipriya 3:07e15677a75c 152 void F_BCN();
sakthipriya 0:7b4c00e3912f 153
sakthipriya 0:7b4c00e3912f 154 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 155 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 156 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 157 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 158 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 159
sakthipriya 5:bb592f3185cc 160
sakthipriya 3:07e15677a75c 161 void F_ACS()
sakthipriya 0:7b4c00e3912f 162 {
sakthipriya 8:82250e41da81 163
sakthipriya 9:194afacf7449 164
sakthipriya 8:82250e41da81 165 //...................//
sakthipriya 8:82250e41da81 166
sakthipriya 5:bb592f3185cc 167 if(pf1check == 1)
sakthipriya 5:bb592f3185cc 168 {
sakthipriya 5:bb592f3185cc 169 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 170 {
sakthipriya 9:194afacf7449 171 ATS1_SW_ENABLE = 1; // turn off ats1 permanently
sakthipriya 5:bb592f3185cc 172 //FCTN_SWITCH_ATS(0); // switch on ATS2
sakthipriya 5:bb592f3185cc 173 }
sakthipriya 5:bb592f3185cc 174 else
sakthipriya 5:bb592f3185cc 175 {
sakthipriya 9:194afacf7449 176 ATS1_SW_ENABLE = 0;
sakthipriya 5:bb592f3185cc 177 iterP1++;
sakthipriya 5:bb592f3185cc 178 }
sakthipriya 9:194afacf7449 179 pf1check = 0;
sakthipriya 5:bb592f3185cc 180 }
sakthipriya 5:bb592f3185cc 181 if(pf2check == 1)
sakthipriya 5:bb592f3185cc 182 {
sakthipriya 5:bb592f3185cc 183 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 184 {
sakthipriya 9:194afacf7449 185 ATS2_SW_ENABLE = 1; // turn off ats2 permanently
Bragadeesh153 13:fb7facaf308b 186 ACS_DATA_ACQ_ENABLE = 0;
Bragadeesh153 13:fb7facaf308b 187 ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 188 }
sakthipriya 5:bb592f3185cc 189 else
sakthipriya 5:bb592f3185cc 190 {
sakthipriya 9:194afacf7449 191 ATS2_SW_ENABLE = 0;
sakthipriya 5:bb592f3185cc 192 iterP2++;
sakthipriya 5:bb592f3185cc 193 }
sakthipriya 9:194afacf7449 194 pf2check = 0;
sakthipriya 5:bb592f3185cc 195 }
sakthipriya 5:bb592f3185cc 196 if(if1check == 1)
sakthipriya 5:bb592f3185cc 197 {
sakthipriya 5:bb592f3185cc 198 if(iterI1 >= 3)
sakthipriya 5:bb592f3185cc 199 {
Bragadeesh153 13:fb7facaf308b 200 TRXY_SW = 0; // turn off TRXY permanently
sakthipriya 5:bb592f3185cc 201 }
sakthipriya 5:bb592f3185cc 202 else
sakthipriya 5:bb592f3185cc 203 {
Bragadeesh153 13:fb7facaf308b 204 TRXY_SW = 1; //switch on TRXY
sakthipriya 5:bb592f3185cc 205 iterI1++;
sakthipriya 5:bb592f3185cc 206 }
sakthipriya 5:bb592f3185cc 207 }
sakthipriya 5:bb592f3185cc 208 if(if2check == 1)
sakthipriya 5:bb592f3185cc 209 {
sakthipriya 5:bb592f3185cc 210 if(iterI2 >= 3)
sakthipriya 5:bb592f3185cc 211 {
sakthipriya 5:bb592f3185cc 212 TRZ_SW = 0; // turn off TRZ permanently
Bragadeesh153 13:fb7facaf308b 213 ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 214 }
sakthipriya 5:bb592f3185cc 215 else
sakthipriya 5:bb592f3185cc 216 {
sakthipriya 5:bb592f3185cc 217 TRZ_SW = 1; //switch on Z
sakthipriya 5:bb592f3185cc 218 iterI2++;
sakthipriya 5:bb592f3185cc 219 }
sakthipriya 5:bb592f3185cc 220 }
sakthipriya 5:bb592f3185cc 221
sakthipriya 6:036d08b62785 222 //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 223 //b1[3] = {22, 22,10};
sakthipriya 0:7b4c00e3912f 224 //omega1[3] = {2.1,3.0,1.5};
sakthipriya 9:194afacf7449 225 // ATS1_SW_ENABLE = 0; // att sens2 switch is disabled
sakthipriya 9:194afacf7449 226 // ATS2_SW_ENABLE = 0; // att sens switch is disabled
sakthipriya 0:7b4c00e3912f 227
sakthipriya 3:07e15677a75c 228
sakthipriya 0:7b4c00e3912f 229
sakthipriya 3:07e15677a75c 230 //Thread::signal_wait(0x1);
sakthipriya 9:194afacf7449 231 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 232 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 233 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 234 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 235 pc.printf("\n\rEntered ACS %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 236
sakthipriya 9:194afacf7449 237 if(ACS_DATA_ACQ_ENABLE == 1)// check if ACS_DATA_ACQ_ENABLE = 1?
sakthipriya 0:7b4c00e3912f 238 {
Bragadeesh153 13:fb7facaf308b 239 //FLAG();
sakthipriya 0:7b4c00e3912f 240 FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
sakthipriya 0:7b4c00e3912f 241 pc.printf("gyro values\n\r"); //printing the angular velocity and magnetic field values
sakthipriya 0:7b4c00e3912f 242 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 243 {
lakshya 15:e09aaaccf134 244 printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
sakthipriya 0:7b4c00e3912f 245 }
sakthipriya 0:7b4c00e3912f 246 pc.printf("mag values\n\r");
sakthipriya 6:036d08b62785 247 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 248 {
sakthipriya 6:036d08b62785 249 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
sakthipriya 5:bb592f3185cc 250 }
sakthipriya 6:036d08b62785 251 // for(int i=0;i<3;i++)
sakthipriya 6:036d08b62785 252 // {
sakthipriya 6:036d08b62785 253 // omega1[i]= data[i];
sakthipriya 6:036d08b62785 254 // b1[i] = data[i+3];
sakthipriya 6:036d08b62785 255 // }
sakthipriya 0:7b4c00e3912f 256 }//if ACS_DATA_ACQ_ENABLE = 1
sakthipriya 0:7b4c00e3912f 257 else
sakthipriya 0:7b4c00e3912f 258 {
sakthipriya 0:7b4c00e3912f 259 // Z axis actuation is the only final solution,
sakthipriya 0:7b4c00e3912f 260 }
sakthipriya 9:194afacf7449 261 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
sakthipriya 0:7b4c00e3912f 262 {
sakthipriya 0:7b4c00e3912f 263 printf("\n\r acs control off\n");
sakthipriya 0:7b4c00e3912f 264 FLAG();
sakthipriya 9:194afacf7449 265 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 266 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 267 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 268 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 269 }
sakthipriya 0:7b4c00e3912f 270 else
sakthipriya 0:7b4c00e3912f 271 {
sakthipriya 1:446a959e36ce 272 if(actual_data.power_mode>1)
sakthipriya 0:7b4c00e3912f 273
sakthipriya 0:7b4c00e3912f 274 {
sakthipriya 9:194afacf7449 275 if(ACS_STATE == 2) // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 276 {
sakthipriya 0:7b4c00e3912f 277 FLAG();
sakthipriya 0:7b4c00e3912f 278 printf("\n\r z axis moment only\n");
sakthipriya 9:194afacf7449 279 ACS_STATUS = 2; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 280 // FCTN_ACS_CNTRLALGO(b1, omega1);
sakthipriya 0:7b4c00e3912f 281 moment[0] = 0;
sakthipriya 0:7b4c00e3912f 282 moment[1] = 0;
sakthipriya 0:7b4c00e3912f 283 moment[2] =1.3;// is a dummy value
sakthipriya 0:7b4c00e3912f 284 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 285 }
sakthipriya 0:7b4c00e3912f 286 else
sakthipriya 0:7b4c00e3912f 287 {
sakthipriya 9:194afacf7449 288 if(ACS_STATE == 3) // check ACS_STATE = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 289 {
sakthipriya 0:7b4c00e3912f 290 FLAG();
sakthipriya 0:7b4c00e3912f 291 printf("\n\r acs data failure ");
sakthipriya 9:194afacf7449 292 ACS_STATUS = 3; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 293 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 294 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 295 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 296 }
sakthipriya 0:7b4c00e3912f 297 else
sakthipriya 0:7b4c00e3912f 298 {
sakthipriya 9:194afacf7449 299 if(ACS_STATE == 4) // check ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 300 {
sakthipriya 0:7b4c00e3912f 301 FLAG();
sakthipriya 0:7b4c00e3912f 302 printf("\n\r nominal");
sakthipriya 9:194afacf7449 303 ACS_STATUS = 4; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 6:036d08b62785 304 FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual);
sakthipriya 0:7b4c00e3912f 305 printf("\n\r moment values returned by control algo \n");
sakthipriya 0:7b4c00e3912f 306 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 307 {
sakthipriya 0:7b4c00e3912f 308 printf("%f\t",moment[i]);
sakthipriya 0:7b4c00e3912f 309 }
sakthipriya 0:7b4c00e3912f 310 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 311 }
sakthipriya 0:7b4c00e3912f 312 else
sakthipriya 0:7b4c00e3912f 313 {
sakthipriya 9:194afacf7449 314 if(ACS_STATE == 5) // check ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 315 {
sakthipriya 0:7b4c00e3912f 316 FLAG();
sakthipriya 0:7b4c00e3912f 317 printf("\n\r auto control");
sakthipriya 9:194afacf7449 318 ACS_STATUS = 5; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 319 //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code
sakthipriya 0:7b4c00e3912f 320 }
sakthipriya 0:7b4c00e3912f 321 else
sakthipriya 0:7b4c00e3912f 322 {
sakthipriya 9:194afacf7449 323 if(ACS_STATE == 6) // check ACS_STATE = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 324 {
sakthipriya 0:7b4c00e3912f 325 FLAG();
sakthipriya 0:7b4c00e3912f 326 printf("\n\r Entered detumbling \n");
sakthipriya 9:194afacf7449 327 ACS_STATUS = 6; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 6:036d08b62785 328 FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); // detumbling code has to be included
sakthipriya 0:7b4c00e3912f 329 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 330 }
sakthipriya 0:7b4c00e3912f 331 else
sakthipriya 0:7b4c00e3912f 332 {
sakthipriya 0:7b4c00e3912f 333 FLAG();
sakthipriya 0:7b4c00e3912f 334 printf("\n\r invalid state");
sakthipriya 9:194afacf7449 335 ACS_STATUS = 7 ; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 336 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 337 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 338 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 339 }//else of invalid
sakthipriya 0:7b4c00e3912f 340 }//else of autocontrol
sakthipriya 0:7b4c00e3912f 341 }//else of nominal
sakthipriya 0:7b4c00e3912f 342 }//else of data acg failure
sakthipriya 0:7b4c00e3912f 343
sakthipriya 0:7b4c00e3912f 344 }//else fo z axis moment only
sakthipriya 0:7b4c00e3912f 345 }//if power >2
sakthipriya 0:7b4c00e3912f 346 else
sakthipriya 0:7b4c00e3912f 347 {
sakthipriya 0:7b4c00e3912f 348 FLAG();
sakthipriya 0:7b4c00e3912f 349 printf("\n\r low power");
sakthipriya 9:194afacf7449 350 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 351 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 352 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 353 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 354 }
sakthipriya 0:7b4c00e3912f 355 } //else for acs control off
sakthipriya 9:194afacf7449 356 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
sakthipriya 3:07e15677a75c 357
sakthipriya 0:7b4c00e3912f 358 }
sakthipriya 0:7b4c00e3912f 359 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 360
sakthipriya 3:07e15677a75c 361 void F_EPS()
sakthipriya 0:7b4c00e3912f 362 {
sakthipriya 3:07e15677a75c 363
sakthipriya 0:7b4c00e3912f 364 pc.printf("\n\rEntered EPS %f\n",t_start.read());
sakthipriya 9:194afacf7449 365 EPS_MAIN_STATUS = 1; // Set EPS main status
sakthipriya 3:07e15677a75c 366 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
sakthipriya 3:07e15677a75c 367 pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
sakthipriya 9:194afacf7449 368 EPS_BATTERY_TEMP_STATUS = 1; //set EPS_BATTERY_TEMP_STATUS
sakthipriya 9:194afacf7449 369 if(EPS_BATTERY_HEAT_ENABLE == 1)
sakthipriya 3:07e15677a75c 370 {
sakthipriya 5:bb592f3185cc 371 if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm
sakthipriya 3:07e15677a75c 372 {
sakthipriya 3:07e15677a75c 373 batt_heat = 1; //turn on battery heater
sakthipriya 3:07e15677a75c 374 }
sakthipriya 3:07e15677a75c 375 else
sakthipriya 3:07e15677a75c 376 {
sakthipriya 3:07e15677a75c 377 batt_heat = 0; //turn off battery heater
sakthipriya 3:07e15677a75c 378 }
sakthipriya 3:07e15677a75c 379
sakthipriya 3:07e15677a75c 380 }
sakthipriya 9:194afacf7449 381 else if(EPS_BATTERY_HEAT_ENABLE == 0)
sakthipriya 3:07e15677a75c 382 {
sakthipriya 3:07e15677a75c 383 EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED
sakthipriya 3:07e15677a75c 384 }
sakthipriya 0:7b4c00e3912f 385 FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual);
sakthipriya 1:446a959e36ce 386 if (actual_data.Batt_gauge_actual[1] == 200) //data not received
sakthipriya 0:7b4c00e3912f 387 {
sakthipriya 0:7b4c00e3912f 388 actual_data.power_mode = 1;
sakthipriya 9:194afacf7449 389 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 390
sakthipriya 0:7b4c00e3912f 391 }
sakthipriya 0:7b4c00e3912f 392 else
sakthipriya 0:7b4c00e3912f 393 {
sakthipriya 1:446a959e36ce 394 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
sakthipriya 9:194afacf7449 395 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 396 }
sakthipriya 3:07e15677a75c 397 // if( Temperature data received)
sakthipriya 3:07e15677a75c 398 //{
sakthipriya 3:07e15677a75c 399
sakthipriya 0:7b4c00e3912f 400
sakthipriya 3:07e15677a75c 401 // }
sakthipriya 3:07e15677a75c 402 // else
sakthipriya 3:07e15677a75c 403 // {
sakthipriya 3:07e15677a75c 404 // Set battery temp to XX
sakthipriya 9:194afacf7449 405 // EPS_BATTERY_TEMP_STATUS = 0; //clear EPS_BATTERY_TEMP_STATUS
sakthipriya 3:07e15677a75c 406 // EPS_STATUS = EPS_ERR_BATTERY_TEMP;
sakthipriya 3:07e15677a75c 407 // }
sakthipriya 3:07e15677a75c 408 FCTN_HK_MAIN();
sakthipriya 6:036d08b62785 409 // printf("\n\r here");
sakthipriya 5:bb592f3185cc 410 FCTN_APPEND_HKDATA();
sakthipriya 5:bb592f3185cc 411 minMaxHkData();
sakthipriya 6:036d08b62785 412 //printf("\n\r here");
sakthipriya 9:194afacf7449 413 EPS_MAIN_STATUS = 0; // clear EPS main status
sakthipriya 3:07e15677a75c 414
sakthipriya 0:7b4c00e3912f 415 }
sakthipriya 0:7b4c00e3912f 416
sakthipriya 0:7b4c00e3912f 417 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 418
sakthipriya 3:07e15677a75c 419 void F_BCN()
sakthipriya 0:7b4c00e3912f 420 {
sakthipriya 3:07e15677a75c 421
sakthipriya 0:7b4c00e3912f 422 pc.printf("\n\rEntered BCN %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 423
Bragadeesh153 12:af1d7e18b868 424 FCTN_BCN_TX_MAIN();
sakthipriya 0:7b4c00e3912f 425
sakthipriya 0:7b4c00e3912f 426 }
sakthipriya 0:7b4c00e3912f 427
sakthipriya 0:7b4c00e3912f 428 //**************************************************TCTM THREAD*******************************************************************//
prasanthbj05 17:8a8024c45dc0 429 /*void I2C_busreset(void)
prasanthbj05 17:8a8024c45dc0 430 {
prasanthbj05 17:8a8024c45dc0 431 uint8_t count=0;
prasanthbj05 17:8a8024c45dc0 432 if((PORTE->PCR[1] & PORT_PCR_MUX(6)) && (PORTE->PCR[0] & PORT_PCR_MUX(6)))
prasanthbj05 17:8a8024c45dc0 433 {
prasanthbj05 17:8a8024c45dc0 434 printf("\n\rResetting\n\r");
prasanthbj05 17:8a8024c45dc0 435 I2C1->C1 &= 0x7f; // Disable I2C1 bus
prasanthbj05 17:8a8024c45dc0 436 PORTE->PCR[1] = PORT_PCR_MUX(1); // PTE1 Alt1 (pin)
prasanthbj05 17:8a8024c45dc0 437 PORTE->PCR[0] = PORT_PCR_MUX(1); // PTE0 Alt1 (pin)
prasanthbj05 17:8a8024c45dc0 438 while(((PTE->PDIR & 0x3) != 3) && (count<10)) // When PTE0 / PTE1 are not 1 : I2C1 bus lock-up
prasanthbj05 17:8a8024c45dc0 439 {
prasanthbj05 17:8a8024c45dc0 440 PTE->PDDR |= 0x3; // Set PTE1 and PTE0 as a GPIO output so we can bit bang it
prasanthbj05 17:8a8024c45dc0 441 PTE->PDOR |= 0x2; // Set PTE1 (SCL) pin high;
prasanthbj05 17:8a8024c45dc0 442 wait_ms(1);
prasanthbj05 17:8a8024c45dc0 443 PTE->PDOR |= 0x1; // Set PTE0 (SDA) pin high;
prasanthbj05 17:8a8024c45dc0 444 wait_ms(1);
prasanthbj05 17:8a8024c45dc0 445 count++;
prasanthbj05 17:8a8024c45dc0 446 wait(1);
prasanthbj05 17:8a8024c45dc0 447 }
prasanthbj05 17:8a8024c45dc0 448 // Reinstate I2C1 bus pins
prasanthbj05 17:8a8024c45dc0 449 PORTE->PCR[1] = PORT_PCR_MUX(6); // PTE1 Alt6 (SCL)
prasanthbj05 17:8a8024c45dc0 450 PORTE->PCR[0] = PORT_PCR_MUX(6); // PTE0 Alt6 (SDA)
prasanthbj05 17:8a8024c45dc0 451 I2C1->C1 |= 0x80; // Enable I2C1 bus
prasanthbj05 17:8a8024c45dc0 452 printf("Count: %d\n\r",count);
prasanthbj05 17:8a8024c45dc0 453 //wait(1);
prasanthbj05 17:8a8024c45dc0 454 }
prasanthbj05 17:8a8024c45dc0 455
prasanthbj05 17:8a8024c45dc0 456 }*/
prasanthbj05 17:8a8024c45dc0 457 #define PORT_PCR_MUX_MASK2 0x00000700u
prasanthbj05 17:8a8024c45dc0 458 void debug()
prasanthbj05 17:8a8024c45dc0 459 {
prasanthbj05 17:8a8024c45dc0 460 // uint32_t temp=0x0AF30000;
prasanthbj05 17:8a8024c45dc0 461 //printf("\n\rTemp = %08X",temp);
prasanthbj05 17:8a8024c45dc0 462 //pc.printf("\n\rPORTE->PCR[0] = 0x%08X",PORTE->PCR[0]);
prasanthbj05 17:8a8024c45dc0 463 //pc.printf("\n\rPORTE->PCR[1] = 0x%08X",PORTE->PCR[1]);
prasanthbj05 17:8a8024c45dc0 464 pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
prasanthbj05 17:8a8024c45dc0 465 }
prasanthbj05 17:8a8024c45dc0 466 void debug1()
prasanthbj05 17:8a8024c45dc0 467 {
prasanthbj05 17:8a8024c45dc0 468 printf("\n\r Before disabling");
prasanthbj05 17:8a8024c45dc0 469 debug();
prasanthbj05 17:8a8024c45dc0 470 //wait_ms(50);
prasanthbj05 17:8a8024c45dc0 471 I2C1->C1 &= 0x7f;
prasanthbj05 17:8a8024c45dc0 472 printf("\n\r After muxing ");
prasanthbj05 17:8a8024c45dc0 473 PORTE->PCR[1] = PORT_PCR_MUX(1); // PTE24 Alt1 (pin)
prasanthbj05 17:8a8024c45dc0 474 PORTE->PCR[0] = PORT_PCR_MUX(1); // PTE25 Alt1 (pin)
prasanthbj05 17:8a8024c45dc0 475 PTE->PDDR |= 0x3; // Set PTE1 and PTE0 as a GPIO output so we can bit bang it
prasanthbj05 17:8a8024c45dc0 476 PTE->PDOR |= 0x2; // Set PTE1 (SCL) pin high;
prasanthbj05 17:8a8024c45dc0 477 wait_ms(1);
prasanthbj05 17:8a8024c45dc0 478 PTE->PDOR |= 0x1; // Set PTE0 (SDA) pin high;
prasanthbj05 17:8a8024c45dc0 479 wait_ms(1);
prasanthbj05 17:8a8024c45dc0 480 debug();
prasanthbj05 17:8a8024c45dc0 481 PORTE->PCR[1] &= (~(PORT_PCR_MUX_MASK2));
prasanthbj05 17:8a8024c45dc0 482 PORTE->PCR[0] &= (~(PORT_PCR_MUX_MASK2));
prasanthbj05 17:8a8024c45dc0 483 PORTE->PCR[1] |= PORT_PCR_MUX(6); // PTE24 Alt6 (pin)
prasanthbj05 17:8a8024c45dc0 484 PORTE->PCR[0] |= PORT_PCR_MUX(6); // PTE25 Alt6 (pin)
prasanthbj05 17:8a8024c45dc0 485 PORTE->PCR[1] |= 0x00000004;
prasanthbj05 17:8a8024c45dc0 486 PORTE->PCR[0] |= 0x00000004;
prasanthbj05 17:8a8024c45dc0 487 I2C1->C1 |= 0x80; // Enable I2C1 bus
prasanthbj05 17:8a8024c45dc0 488 printf("\n\r After enabling I2C");
prasanthbj05 17:8a8024c45dc0 489 debug();
prasanthbj05 17:8a8024c45dc0 490 }
prasanthbj05 17:8a8024c45dc0 491 void debug2()
prasanthbj05 17:8a8024c45dc0 492 {
prasanthbj05 17:8a8024c45dc0 493 printf("\n\rI2C1->A1 = 0x%02X",I2C1->A1);
prasanthbj05 17:8a8024c45dc0 494 printf("\n\rI2C1->F = 0x%02X",I2C1->F);
prasanthbj05 17:8a8024c45dc0 495 printf("\n\rI2C1->C1 = 0x%02X",I2C1->C1);
prasanthbj05 17:8a8024c45dc0 496 printf("\n\rI2C1->S = 0x%02X",I2C1->S);
prasanthbj05 17:8a8024c45dc0 497 printf("\n\rI2C1->D = 0x%02X",I2C1->D);
prasanthbj05 17:8a8024c45dc0 498 printf("\n\rI2C1->C2 = 0x%02X",I2C1->C2);
prasanthbj05 17:8a8024c45dc0 499 printf("\n\rI2C1->FLT = 0x%02X",I2C1->FLT);
prasanthbj05 17:8a8024c45dc0 500 printf("\n\rI2C1->RA = 0x%02X",I2C1->RA);
prasanthbj05 17:8a8024c45dc0 501 printf("\n\rI2C1->SMB = 0x%02X",I2C1->SMB);
prasanthbj05 17:8a8024c45dc0 502 printf("\n\rI2C1->A2 = 0x%02X",I2C1->A2);
prasanthbj05 17:8a8024c45dc0 503 printf("\n\rI2C1->SLTH = 0x%02X",I2C1->SLTH);
prasanthbj05 17:8a8024c45dc0 504 printf("\n\rI2C1->SLTL = 0x%02X\n",I2C1->SLTL);
prasanthbj05 17:8a8024c45dc0 505 }
sakthipriya 0:7b4c00e3912f 506
prasanthbj05 17:8a8024c45dc0 507 void debug3()
prasanthbj05 17:8a8024c45dc0 508 {
prasanthbj05 17:8a8024c45dc0 509 //pc.printf("\n\r Resetting I2C");
prasanthbj05 17:8a8024c45dc0 510 //debug2();
prasanthbj05 17:8a8024c45dc0 511 //printf("\n\r SIM->SCGC4 = 0x%08X",SIM->SCGC4);
prasanthbj05 17:8a8024c45dc0 512 PORTE->PCR[1] &= 0xfffffffb;
prasanthbj05 17:8a8024c45dc0 513 PORTE->PCR[0] &= 0xfffffffb;
prasanthbj05 17:8a8024c45dc0 514 I2C1->C1 &= 0x7f;
prasanthbj05 17:8a8024c45dc0 515 //wait_ms(2);
prasanthbj05 17:8a8024c45dc0 516 SIM->SCGC4 &= 0xffffff7f;
prasanthbj05 17:8a8024c45dc0 517 //printf("\n\r SIM->SCGC4 = 0x%08X",SIM->SCGC4);
prasanthbj05 17:8a8024c45dc0 518 //wait_ms(10);
prasanthbj05 17:8a8024c45dc0 519 SIM->SCGC4 |= 0x00000080;
prasanthbj05 17:8a8024c45dc0 520 //printf("\n\r SIM->SCGC4 = 0x%08X",SIM->SCGC4);
prasanthbj05 17:8a8024c45dc0 521 //wait_ms(10);
prasanthbj05 17:8a8024c45dc0 522 I2C1->C1 |= 0x80;
prasanthbj05 17:8a8024c45dc0 523 PORTE->PCR[1] |= 0x00000004;
prasanthbj05 17:8a8024c45dc0 524 PORTE->PCR[0] |= 0x00000004;
prasanthbj05 17:8a8024c45dc0 525 //wait_ms(10);
prasanthbj05 17:8a8024c45dc0 526 wait_ms(2);
prasanthbj05 17:8a8024c45dc0 527 //printf("\n\r After enabling clock");
prasanthbj05 17:8a8024c45dc0 528 //debug2();
prasanthbj05 17:8a8024c45dc0 529 //printf("\n");
prasanthbj05 17:8a8024c45dc0 530 }
prasanthbj05 17:8a8024c45dc0 531 void I2C_busreset()
prasanthbj05 17:8a8024c45dc0 532 {
prasanthbj05 17:8a8024c45dc0 533 //Thread::wait(1);
prasanthbj05 17:8a8024c45dc0 534 PORTE->PCR[1] &= 0xfffffffb;
prasanthbj05 17:8a8024c45dc0 535 //Thread::wait(1);
prasanthbj05 17:8a8024c45dc0 536 PORTE->PCR[0] &= 0xfffffffb;
prasanthbj05 17:8a8024c45dc0 537 //Thread::wait(1);
prasanthbj05 17:8a8024c45dc0 538 I2C1->C1 &= 0x7f;
prasanthbj05 17:8a8024c45dc0 539 //Thread::wait(1);
prasanthbj05 17:8a8024c45dc0 540 SIM->SCGC4 &= 0xffffff7f;
prasanthbj05 17:8a8024c45dc0 541 //Thread::wait(1);
prasanthbj05 17:8a8024c45dc0 542 SIM->SCGC4 |= 0x00000080;
prasanthbj05 17:8a8024c45dc0 543 //Thread::wait(1);
prasanthbj05 17:8a8024c45dc0 544 I2C1->C1 |= 0x80;
prasanthbj05 17:8a8024c45dc0 545 //Thread::wait(1);
prasanthbj05 17:8a8024c45dc0 546 PORTE->PCR[1] |= 0x00000004;
prasanthbj05 17:8a8024c45dc0 547 //Thread::wait(1);
prasanthbj05 17:8a8024c45dc0 548 PORTE->PCR[0] |= 0x00000004;
prasanthbj05 17:8a8024c45dc0 549 Thread::wait(1);
prasanthbj05 17:8a8024c45dc0 550 }
prasanthbj05 17:8a8024c45dc0 551 uint32_t pdirtc1,pdirtc2,pdirtm1,pdirtm2,pdirss1,pdirss2;
sakthipriya 0:7b4c00e3912f 552 void T_TC(void const * args)
sakthipriya 0:7b4c00e3912f 553 {
sakthipriya 0:7b4c00e3912f 554 while(1)
prasanthbj05 17:8a8024c45dc0 555 {
prasanthbj05 17:8a8024c45dc0 556 //pc.printf("\n\n\rWaiting");
sakthipriya 0:7b4c00e3912f 557 Thread::signal_wait(0x4);
prasanthbj05 17:8a8024c45dc0 558 wait_us(300); // can be between 38 to 15700
sakthipriya 0:7b4c00e3912f 559 if( slave.receive() == 0)
prasanthbj05 17:8a8024c45dc0 560 {
prasanthbj05 17:8a8024c45dc0 561 //synch.stop();
prasanthbj05 17:8a8024c45dc0 562 //pdirss1=PTE->PDIR;
prasanthbj05 17:8a8024c45dc0 563 irpt_2_mstr = 0;
prasanthbj05 17:8a8024c45dc0 564 data_send_flag = 'h';
prasanthbj05 17:8a8024c45dc0 565 #if PRINT
prasanthbj05 17:8a8024c45dc0 566 pc.printf("\n\rSlave stop");
prasanthbj05 17:8a8024c45dc0 567 pc.printf("\n\rPTE->DIR = 0x%08X",pdirss1);
prasanthbj05 17:8a8024c45dc0 568 #endif
prasanthbj05 17:8a8024c45dc0 569 slave.stop();
prasanthbj05 17:8a8024c45dc0 570 I2C_busreset();
prasanthbj05 17:8a8024c45dc0 571 pdirss2=PTE->PDIR;
prasanthbj05 17:8a8024c45dc0 572 #if PRINT
prasanthbj05 17:8a8024c45dc0 573 pc.printf("\n\rPTE->DIR = 0x%08X",pdirss2);
prasanthbj05 17:8a8024c45dc0 574 #endif
prasanthbj05 17:8a8024c45dc0 575 //pc.printf("\n\rPTE->DIR = 0x%08X",pdir2);
prasanthbj05 17:8a8024c45dc0 576 }
prasanthbj05 17:8a8024c45dc0 577 else if( slave.receive() == 1) // slave writes to master
sakthipriya 0:7b4c00e3912f 578 {
sakthipriya 5:bb592f3185cc 579 if(data_send_flag == 'h')
sakthipriya 6:036d08b62785 580 {
sakthipriya 6:036d08b62785 581 //FCTN_APPEND_HKDATA();
sakthipriya 6:036d08b62785 582 // pc.printf("\n\r here");
prasanthbj05 17:8a8024c45dc0 583 write_ack=slave.write(BAE_chardata,74);
prasanthbj05 17:8a8024c45dc0 584 irpt_2_mstr = 0;
Bragadeesh153 13:fb7facaf308b 585 if(write_ack==0)
prasanthbj05 17:8a8024c45dc0 586 {
prasanthbj05 17:8a8024c45dc0 587 irpt_2_mstr = 0;
prasanthbj05 17:8a8024c45dc0 588 pc.printf("\n\rgot interrupt\n");
prasanthbj05 17:8a8024c45dc0 589 }
sakthipriya 6:036d08b62785 590 }
sakthipriya 5:bb592f3185cc 591 else if(data_send_flag == 't')
sakthipriya 5:bb592f3185cc 592 {
prasanthbj05 17:8a8024c45dc0 593 uint8_t i2c_count =0;
prasanthbj05 17:8a8024c45dc0 594 write_ack=slave.write((char*)telemetry,135);
prasanthbj05 17:8a8024c45dc0 595 Thread::wait(1);
prasanthbj05 17:8a8024c45dc0 596 pdirtm1=PTE->PDIR;
prasanthbj05 17:8a8024c45dc0 597 irpt_2_mstr = 0;
prasanthbj05 17:8a8024c45dc0 598 //data_send_flag = 'h';
prasanthbj05 17:8a8024c45dc0 599 if(write_ack==0)
prasanthbj05 17:8a8024c45dc0 600 {
prasanthbj05 17:8a8024c45dc0 601 while(((pdirtm1 & 0x00000003)!=3)&& i2c_count<10)
prasanthbj05 17:8a8024c45dc0 602 {
prasanthbj05 17:8a8024c45dc0 603 Thread::wait(1);
prasanthbj05 17:8a8024c45dc0 604 pdirtm1=PTE->PDIR;
prasanthbj05 17:8a8024c45dc0 605 i2c_count++;
prasanthbj05 17:8a8024c45dc0 606 }
prasanthbj05 17:8a8024c45dc0 607 if(((pdirtm1 & 0x00000003)==3))
prasanthbj05 17:8a8024c45dc0 608 {
prasanthbj05 17:8a8024c45dc0 609 pc.printf("\n\rWrite TM success");
prasanthbj05 17:8a8024c45dc0 610 //pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
prasanthbj05 17:8a8024c45dc0 611 }
prasanthbj05 17:8a8024c45dc0 612 else
prasanthbj05 17:8a8024c45dc0 613 {
prasanthbj05 17:8a8024c45dc0 614 //Resetting should be done here
prasanthbj05 17:8a8024c45dc0 615
prasanthbj05 17:8a8024c45dc0 616 #if PRINT
prasanthbj05 17:8a8024c45dc0 617 pc.printf("\n\rWrite TM error");
prasanthbj05 17:8a8024c45dc0 618 pc.printf("\n\rPTE->DIR = 0x%08X",pdirtm1);
prasanthbj05 17:8a8024c45dc0 619 #endif
prasanthbj05 17:8a8024c45dc0 620 I2C_busreset();
prasanthbj05 17:8a8024c45dc0 621 pdirtm2=PTE->PDIR;
prasanthbj05 17:8a8024c45dc0 622 #if PRINT
prasanthbj05 17:8a8024c45dc0 623 pc.printf("\n\rPTE->DIR = 0x%08X",pdirtm2);
prasanthbj05 17:8a8024c45dc0 624 #endif
prasanthbj05 17:8a8024c45dc0 625 }
prasanthbj05 17:8a8024c45dc0 626 //pc.printf("\n\rTM count:%d",i2c_count);
prasanthbj05 17:8a8024c45dc0 627 }
prasanthbj05 17:8a8024c45dc0 628 else
prasanthbj05 17:8a8024c45dc0 629 {
prasanthbj05 17:8a8024c45dc0 630 //Thread::wait(30);
prasanthbj05 17:8a8024c45dc0 631 #if PRINT
prasanthbj05 17:8a8024c45dc0 632 pc.printf("\nTM ack failed");
prasanthbj05 17:8a8024c45dc0 633 pc.printf("\n\rPTE->DIR = 0x%08X",pdirtm1);
prasanthbj05 17:8a8024c45dc0 634 #endif
prasanthbj05 17:8a8024c45dc0 635 I2C_busreset();
prasanthbj05 17:8a8024c45dc0 636 pdirtm2=PTE->PDIR;
prasanthbj05 17:8a8024c45dc0 637 #if PRINT
prasanthbj05 17:8a8024c45dc0 638 pc.printf("\n\rPTE->DIR = 0x%08X",pdirtm2);
prasanthbj05 17:8a8024c45dc0 639 #endif
prasanthbj05 17:8a8024c45dc0 640 //Thread::wait(10);
prasanthbj05 17:8a8024c45dc0 641 //pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
prasanthbj05 17:8a8024c45dc0 642 //debug3();
prasanthbj05 17:8a8024c45dc0 643 //wait_ms(10);
prasanthbj05 17:8a8024c45dc0 644 //pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
prasanthbj05 17:8a8024c45dc0 645 }
prasanthbj05 17:8a8024c45dc0 646 i2c_count=0;
prasanthbj05 17:8a8024c45dc0 647 }
prasanthbj05 17:8a8024c45dc0 648 else if(data_send_flag == 'i')
prasanthbj05 17:8a8024c45dc0 649 {
prasanthbj05 17:8a8024c45dc0 650 //to be filled
prasanthbj05 17:8a8024c45dc0 651 data_send_flag = 'h';
prasanthbj05 17:8a8024c45dc0 652 }
sakthipriya 0:7b4c00e3912f 653 }
sakthipriya 0:7b4c00e3912f 654 else if( slave.receive()==3 || slave.receive()==2) // slave read
sakthipriya 0:7b4c00e3912f 655 {
prasanthbj05 17:8a8024c45dc0 656 uint8_t i2c_count = 0;
prasanthbj05 17:8a8024c45dc0 657 synch.stop();
prasanthbj05 17:8a8024c45dc0 658 read_ack=slave.read((char *)telecommand,11);
prasanthbj05 17:8a8024c45dc0 659 Thread::wait(1);
prasanthbj05 17:8a8024c45dc0 660 pdirtc1=PTE->PDIR;
prasanthbj05 17:8a8024c45dc0 661 irpt_2_mstr = 1;
prasanthbj05 17:8a8024c45dc0 662 data_send_flag = 't';
prasanthbj05 17:8a8024c45dc0 663 if(read_ack==0)
prasanthbj05 17:8a8024c45dc0 664 {
prasanthbj05 17:8a8024c45dc0 665 while(((pdirtc1 & 0x00000003)!=3)&& i2c_count<10)
prasanthbj05 17:8a8024c45dc0 666 {
prasanthbj05 17:8a8024c45dc0 667 Thread::wait(1);
prasanthbj05 17:8a8024c45dc0 668 pdirtc1=PTE->PDIR;
prasanthbj05 17:8a8024c45dc0 669 i2c_count++;
prasanthbj05 17:8a8024c45dc0 670 }
prasanthbj05 17:8a8024c45dc0 671 if(((pdirtc1 & 0x00000003)==3))
prasanthbj05 17:8a8024c45dc0 672 {
prasanthbj05 17:8a8024c45dc0 673 pc.printf("\n\n\rRead TC success");
prasanthbj05 17:8a8024c45dc0 674
prasanthbj05 17:8a8024c45dc0 675 // FCTN_TC_DECODE((uint8_t*) telecommand);
prasanthbj05 17:8a8024c45dc0 676 //FCTN_BAE_TM_TC((uint8_t*) telecommand);
prasanthbj05 17:8a8024c45dc0 677 //telemetry = (char*)temp;
prasanthbj05 17:8a8024c45dc0 678 //FCTN_TM();
prasanthbj05 17:8a8024c45dc0 679
prasanthbj05 17:8a8024c45dc0 680 //uint8_t read_ack2 = (uint8_t)(PTE->PDIR & 0x00000003);
prasanthbj05 17:8a8024c45dc0 681 //printf("\n\rread_ack2 = %d",read_ack2);
prasanthbj05 17:8a8024c45dc0 682 //if((read_ack ==0)&&(read_ack2==3))
prasanthbj05 17:8a8024c45dc0 683 //if(read_ack==0 && ((PTE->PDIR & 0x00000003)==3))
prasanthbj05 17:8a8024c45dc0 684 //debug2();
prasanthbj05 17:8a8024c45dc0 685 //pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
prasanthbj05 17:8a8024c45dc0 686 //wait_us(10);
prasanthbj05 17:8a8024c45dc0 687 //read_ack2 = (uint8_t)(PTE->PDIR & 0x00000003);
prasanthbj05 17:8a8024c45dc0 688 //tempt.stop();
prasanthbj05 17:8a8024c45dc0 689 //data_send_flag = 't'; //uncomment later
prasanthbj05 17:8a8024c45dc0 690 }
prasanthbj05 17:8a8024c45dc0 691 else
prasanthbj05 17:8a8024c45dc0 692 {
prasanthbj05 17:8a8024c45dc0 693 #if PRINT
prasanthbj05 17:8a8024c45dc0 694 pc.printf("\n\n\rRead TC error");
prasanthbj05 17:8a8024c45dc0 695 pc.printf("\n\rPTE->DIR = 0x%08X",pdirtc1);
prasanthbj05 17:8a8024c45dc0 696 #endif
prasanthbj05 17:8a8024c45dc0 697 I2C_busreset();
prasanthbj05 17:8a8024c45dc0 698 pdirtc2=PTE->PDIR;
prasanthbj05 17:8a8024c45dc0 699 #if PRINT
prasanthbj05 17:8a8024c45dc0 700 pc.printf("\n\rPTE->DIR = 0x%08X",pdirtc2);
prasanthbj05 17:8a8024c45dc0 701 #endif
prasanthbj05 17:8a8024c45dc0 702 //pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
prasanthbj05 17:8a8024c45dc0 703 //debug3();
prasanthbj05 17:8a8024c45dc0 704 //printf("\n\rread_ack2 = %d and time = %d",read_ack2,tempt.read_us());
prasanthbj05 17:8a8024c45dc0 705 //data_send_flag = 'i';
prasanthbj05 17:8a8024c45dc0 706 }
prasanthbj05 17:8a8024c45dc0 707 //pc.printf("\n\rTC count:%d",i2c_count);
prasanthbj05 17:8a8024c45dc0 708 }
prasanthbj05 17:8a8024c45dc0 709 else
prasanthbj05 17:8a8024c45dc0 710 {
prasanthbj05 17:8a8024c45dc0 711 #if PRINT
prasanthbj05 17:8a8024c45dc0 712 pc.printf("\n\n\rTC ack failed");
prasanthbj05 17:8a8024c45dc0 713 pc.printf("\n\rPTE->DIR = 0x%08X",pdirtc1);
prasanthbj05 17:8a8024c45dc0 714 #endif
prasanthbj05 17:8a8024c45dc0 715 I2C_busreset();
prasanthbj05 17:8a8024c45dc0 716 pdirtc2=PTE->PDIR;
prasanthbj05 17:8a8024c45dc0 717 #if PRINT
prasanthbj05 17:8a8024c45dc0 718 pc.printf("\n\rPTE->DIR = 0x%08X",pdirtc2);
prasanthbj05 17:8a8024c45dc0 719 #endif
prasanthbj05 17:8a8024c45dc0 720 //pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
prasanthbj05 17:8a8024c45dc0 721 }
prasanthbj05 17:8a8024c45dc0 722 i2c_count = 0;
prasanthbj05 17:8a8024c45dc0 723 //printf("\n\rSize of data : %d",sizeof(telecommand));
prasanthbj05 17:8a8024c45dc0 724 //printf("\n\rGiven Size : %d\n",11);
prasanthbj05 17:8a8024c45dc0 725 //printf("\n\rREAD_ACK : %d",read_ack);
prasanthbj05 17:8a8024c45dc0 726 //t_tc.start();
prasanthbj05 17:8a8024c45dc0 727 //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand);
prasanthbj05 17:8a8024c45dc0 728 //pc.printf("\n\r Executing Telecommand \n");
prasanthbj05 17:8a8024c45dc0 729
prasanthbj05 17:8a8024c45dc0 730 //t_tc.stop();
prasanthbj05 17:8a8024c45dc0 731 //printf("\n\r time taken %d",t_tc.read_us());
prasanthbj05 17:8a8024c45dc0 732 //t_tc.reset();
sakthipriya 3:07e15677a75c 733 // for(int i = 0; i<134; i++)
sakthipriya 3:07e15677a75c 734 //pc.printf("%c", telemetry[i]);
prasanthbj05 17:8a8024c45dc0 735 }
prasanthbj05 17:8a8024c45dc0 736 //pc.printf("Time after slave.read() = %d",synch.read_us());
prasanthbj05 17:8a8024c45dc0 737 //synch.reset();
prasanthbj05 17:8a8024c45dc0 738 }
sakthipriya 0:7b4c00e3912f 739 }
sakthipriya 0:7b4c00e3912f 740 void FCTN_TM()
sakthipriya 0:7b4c00e3912f 741 {
sakthipriya 4:39a4ae8c7ecd 742 //irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 743 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 744 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 745 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 746 }
sakthipriya 0:7b4c00e3912f 747
sakthipriya 0:7b4c00e3912f 748
sakthipriya 0:7b4c00e3912f 749 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 750
sakthipriya 0:7b4c00e3912f 751 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 752 {
prasanthbj05 17:8a8024c45dc0 753 //synch.start();
sakthipriya 0:7b4c00e3912f 754 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 755 }
sakthipriya 0:7b4c00e3912f 756
sakthipriya 0:7b4c00e3912f 757
sakthipriya 5:bb592f3185cc 758 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 759 /*void ir1clear()
sakthipriya 5:bb592f3185cc 760 {
sakthipriya 5:bb592f3185cc 761 actual_data.faultIr_status |= 0x01; // alert
sakthipriya 5:bb592f3185cc 762
sakthipriya 5:bb592f3185cc 763 }*/
sakthipriya 5:bb592f3185cc 764
sakthipriya 5:bb592f3185cc 765
sakthipriya 5:bb592f3185cc 766
sakthipriya 5:bb592f3185cc 767 void ir2clear()
sakthipriya 5:bb592f3185cc 768 {
sakthipriya 5:bb592f3185cc 769 actual_data.faultIr_status |= 0x02;
Bragadeesh153 13:fb7facaf308b 770 TRXY_SW = 0; // Switch off TR XY
sakthipriya 5:bb592f3185cc 771 if1check = 1;
sakthipriya 5:bb592f3185cc 772 }
sakthipriya 5:bb592f3185cc 773
sakthipriya 5:bb592f3185cc 774 void ir3clear()
sakthipriya 5:bb592f3185cc 775 {
sakthipriya 5:bb592f3185cc 776 actual_data.faultIr_status |= 0x04;
Bragadeesh153 13:fb7facaf308b 777 DRV_Z_EN = 0;
sakthipriya 5:bb592f3185cc 778 wait_us(1);
Bragadeesh153 13:fb7facaf308b 779 DRV_Z_EN = 1;
sakthipriya 5:bb592f3185cc 780
sakthipriya 5:bb592f3185cc 781 }
sakthipriya 5:bb592f3185cc 782
sakthipriya 5:bb592f3185cc 783 void ir4clear()
sakthipriya 5:bb592f3185cc 784 {
sakthipriya 5:bb592f3185cc 785 if2check = 1;
sakthipriya 5:bb592f3185cc 786 actual_data.faultIr_status |= 0x08;
sakthipriya 5:bb592f3185cc 787 TRZ_SW = 0;
sakthipriya 5:bb592f3185cc 788 }
sakthipriya 5:bb592f3185cc 789
sakthipriya 5:bb592f3185cc 790 void ir5clear()
sakthipriya 5:bb592f3185cc 791 {
sakthipriya 5:bb592f3185cc 792 actual_data.faultIr_status |= 0x10;
sakthipriya 5:bb592f3185cc 793 CDMS_RESET = 0;
sakthipriya 5:bb592f3185cc 794 wait_us(1);
sakthipriya 5:bb592f3185cc 795 CDMS_RESET = 1;
sakthipriya 5:bb592f3185cc 796 }
sakthipriya 5:bb592f3185cc 797
sakthipriya 5:bb592f3185cc 798 void ir6clear()
sakthipriya 5:bb592f3185cc 799 {
sakthipriya 5:bb592f3185cc 800 actual_data.faultIr_status |= 0x20;
sakthipriya 5:bb592f3185cc 801 BCN_SW = 0;
sakthipriya 5:bb592f3185cc 802 wait_us(1);
sakthipriya 5:bb592f3185cc 803 BCN_SW = 1;
sakthipriya 5:bb592f3185cc 804 }
sakthipriya 5:bb592f3185cc 805
sakthipriya 5:bb592f3185cc 806 void ir7clear()
sakthipriya 5:bb592f3185cc 807 {
sakthipriya 5:bb592f3185cc 808 actual_data.faultIr_status |= 0x40;
sakthipriya 5:bb592f3185cc 809 }
sakthipriya 5:bb592f3185cc 810 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 811
sakthipriya 5:bb592f3185cc 812
sakthipriya 5:bb592f3185cc 813
sakthipriya 5:bb592f3185cc 814 void pollfault()
sakthipriya 5:bb592f3185cc 815 {
sakthipriya 5:bb592f3185cc 816
sakthipriya 5:bb592f3185cc 817
sakthipriya 5:bb592f3185cc 818
sakthipriya 5:bb592f3185cc 819 if (pf1==0) // OC_ATS1
sakthipriya 5:bb592f3185cc 820 {
sakthipriya 5:bb592f3185cc 821 pf1check=1;
sakthipriya 5:bb592f3185cc 822 actual_data.faultPoll_status |=0x01 ;
sakthipriya 9:194afacf7449 823 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
sakthipriya 5:bb592f3185cc 824 }
sakthipriya 5:bb592f3185cc 825 else actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 826
sakthipriya 5:bb592f3185cc 827 if (pf2==0)
sakthipriya 5:bb592f3185cc 828 {
sakthipriya 5:bb592f3185cc 829 pf2check=1;
sakthipriya 5:bb592f3185cc 830 actual_data.faultPoll_status |=0x02 ;
sakthipriya 9:194afacf7449 831 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
sakthipriya 5:bb592f3185cc 832 }
sakthipriya 5:bb592f3185cc 833 else actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 834
sakthipriya 5:bb592f3185cc 835 if (pf3==0)
sakthipriya 5:bb592f3185cc 836 { actual_data.faultPoll_status |=0x04 ;
Bragadeesh153 13:fb7facaf308b 837 DRV_XY_EN = 0;
sakthipriya 5:bb592f3185cc 838 wait_us(1);
Bragadeesh153 13:fb7facaf308b 839 DRV_XY_EN = 1;
sakthipriya 5:bb592f3185cc 840 }
sakthipriya 5:bb592f3185cc 841 else actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 842
sakthipriya 5:bb592f3185cc 843
sakthipriya 5:bb592f3185cc 844
sakthipriya 5:bb592f3185cc 845
sakthipriya 5:bb592f3185cc 846 /*if (ir1==1)
sakthipriya 5:bb592f3185cc 847 {
sakthipriya 5:bb592f3185cc 848 actual_data.faultIr_status &=0xFE;
sakthipriya 5:bb592f3185cc 849 }*/
lakshya 14:a9588f443f1a 850
sakthipriya 5:bb592f3185cc 851 if (ir2==1)
sakthipriya 5:bb592f3185cc 852 {
sakthipriya 5:bb592f3185cc 853 actual_data.faultIr_status &=0xFD;
sakthipriya 5:bb592f3185cc 854 }
sakthipriya 5:bb592f3185cc 855 if (ir3==1)
sakthipriya 5:bb592f3185cc 856 {
sakthipriya 5:bb592f3185cc 857 actual_data.faultIr_status &=0xFB;
sakthipriya 5:bb592f3185cc 858 }
sakthipriya 5:bb592f3185cc 859 if (ir4==1)
sakthipriya 5:bb592f3185cc 860 {
sakthipriya 5:bb592f3185cc 861 actual_data.faultIr_status &=0xF7;
sakthipriya 5:bb592f3185cc 862 }
sakthipriya 5:bb592f3185cc 863 if (ir5==1)
sakthipriya 5:bb592f3185cc 864 {
sakthipriya 5:bb592f3185cc 865 actual_data.faultIr_status &=0xEF;
sakthipriya 5:bb592f3185cc 866 }
sakthipriya 5:bb592f3185cc 867 if (ir6==1)
sakthipriya 5:bb592f3185cc 868 {
sakthipriya 5:bb592f3185cc 869 actual_data.faultIr_status &=0xDF;
sakthipriya 5:bb592f3185cc 870 }if (ir7==1)
sakthipriya 5:bb592f3185cc 871 {
sakthipriya 5:bb592f3185cc 872 actual_data.faultIr_status &=0xBF;
sakthipriya 5:bb592f3185cc 873 }
lakshya 14:a9588f443f1a 874
sakthipriya 5:bb592f3185cc 875
sakthipriya 5:bb592f3185cc 876 }
sakthipriya 5:bb592f3185cc 877
sakthipriya 5:bb592f3185cc 878
sakthipriya 0:7b4c00e3912f 879 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 880 //SCHEDULER
sakthipriya 0:7b4c00e3912f 881 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 882 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 883 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 884 {
prasanthbj05 17:8a8024c45dc0 885 //printf("\n\r in scheduler");
sakthipriya 0:7b4c00e3912f 886
sakthipriya 0:7b4c00e3912f 887 if(schedcount == 7) //to reset the counter
sakthipriya 0:7b4c00e3912f 888 {
sakthipriya 0:7b4c00e3912f 889 schedcount = 1;
sakthipriya 0:7b4c00e3912f 890 }
sakthipriya 0:7b4c00e3912f 891 if(schedcount%1==0)
prasanthbj05 17:8a8024c45dc0 892 { //pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
prasanthbj05 17:8a8024c45dc0 893 //pc.printf("\niterp1 !!!!!! = %x !!\n",iterP1);
prasanthbj05 17:8a8024c45dc0 894 //pc.printf("\niteri2 IS !!!!!! = %x !!\n",iterI2);
prasanthbj05 17:8a8024c45dc0 895 //F_ACS();
sakthipriya 0:7b4c00e3912f 896 }
sakthipriya 0:7b4c00e3912f 897
sakthipriya 0:7b4c00e3912f 898 if(schedcount%2==0)
sakthipriya 0:7b4c00e3912f 899 {
prasanthbj05 17:8a8024c45dc0 900 //F_EPS();
sakthipriya 0:7b4c00e3912f 901 }
lakshya 14:a9588f443f1a 902 if(schedcount%1==0)
sakthipriya 0:7b4c00e3912f 903 {
prasanthbj05 17:8a8024c45dc0 904 //F_BCN();
sakthipriya 0:7b4c00e3912f 905 }
sakthipriya 0:7b4c00e3912f 906 schedcount++;
prasanthbj05 17:8a8024c45dc0 907 //printf("\n\r BAE is alive\n");
sakthipriya 0:7b4c00e3912f 908 }
sakthipriya 0:7b4c00e3912f 909
sakthipriya 0:7b4c00e3912f 910 Timer t_flag;
sakthipriya 0:7b4c00e3912f 911 void FLAG()
sakthipriya 0:7b4c00e3912f 912 {
sakthipriya 0:7b4c00e3912f 913
sakthipriya 0:7b4c00e3912f 914 //.............acs..................//
sakthipriya 9:194afacf7449 915 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 916 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 917 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 918 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 919
sakthipriya 9:194afacf7449 920 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 921 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 922 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 923 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 924
sakthipriya 9:194afacf7449 925 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 926 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 927 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 928 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 929
sakthipriya 0:7b4c00e3912f 930 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 931 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 932
sakthipriya 9:194afacf7449 933 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 934 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 935 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 936 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 937
sakthipriya 0:7b4c00e3912f 938 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 939 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 940 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 941 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 942 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 943 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 944 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 945 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 946 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 947 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 948 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 949 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 950 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 951 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 952 else
sakthipriya 0:7b4c00e3912f 953 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 954
sakthipriya 0:7b4c00e3912f 955 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 956 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 957 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 958 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 959 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 960 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 961 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 962 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 963 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 964 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 965 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 966 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 967
sakthipriya 0:7b4c00e3912f 968 //...............eps......................//
sakthipriya 5:bb592f3185cc 969
sakthipriya 5:bb592f3185cc 970
sakthipriya 9:194afacf7449 971 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
sakthipriya 5:bb592f3185cc 972 BAE_STATUS |= 0x00010000;
sakthipriya 9:194afacf7449 973 else if(EPS_INIT_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 974 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 975
sakthipriya 5:bb592f3185cc 976
sakthipriya 9:194afacf7449 977 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
sakthipriya 5:bb592f3185cc 978 BAE_STATUS |= 0x00040000;
sakthipriya 9:194afacf7449 979 else if(EPS_MAIN_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 980 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 981
sakthipriya 5:bb592f3185cc 982
sakthipriya 9:194afacf7449 983 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
sakthipriya 5:bb592f3185cc 984 BAE_STATUS |= 0x00020000;
sakthipriya 9:194afacf7449 985 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 986 BAE_STATUS &= 0xFFFDFFFF;
sakthipriya 5:bb592f3185cc 987
sakthipriya 5:bb592f3185cc 988
sakthipriya 9:194afacf7449 989 if (EPS_BATTERY_TEMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
sakthipriya 5:bb592f3185cc 990 BAE_STATUS |= 0x00080000;
sakthipriya 9:194afacf7449 991 else if(EPS_BATTERY_TEMP_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 992 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 993
sakthipriya 5:bb592f3185cc 994 if (EPS_STATUS==0)
sakthipriya 5:bb592f3185cc 995 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
sakthipriya 5:bb592f3185cc 996 else if (EPS_STATUS==1)
sakthipriya 5:bb592f3185cc 997 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
sakthipriya 5:bb592f3185cc 998 else if (EPS_STATUS==2)
sakthipriya 5:bb592f3185cc 999 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
sakthipriya 5:bb592f3185cc 1000 else if (EPS_STATUS==3)
sakthipriya 5:bb592f3185cc 1001 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
sakthipriya 5:bb592f3185cc 1002 else if (EPS_STATUS==4)
sakthipriya 5:bb592f3185cc 1003 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
sakthipriya 5:bb592f3185cc 1004 else if (EPS_STATUS==5)
sakthipriya 5:bb592f3185cc 1005 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 1006
sakthipriya 5:bb592f3185cc 1007
sakthipriya 9:194afacf7449 1008 if(EPS_BATTERY_HEAT_ENABLE == 1)
sakthipriya 5:bb592f3185cc 1009 BAE_ENABLE |= 0x00000080;
sakthipriya 9:194afacf7449 1010 else if(EPS_BATTERY_HEAT_ENABLE == 0)
sakthipriya 5:bb592f3185cc 1011 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 1012
sakthipriya 0:7b4c00e3912f 1013
sakthipriya 0:7b4c00e3912f 1014
sakthipriya 0:7b4c00e3912f 1015 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
sakthipriya 0:7b4c00e3912f 1016 }
sakthipriya 0:7b4c00e3912f 1017
sakthipriya 0:7b4c00e3912f 1018 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 1019 {
sakthipriya 0:7b4c00e3912f 1020 printf("\n\r Initialising BAE ");
sakthipriya 3:07e15677a75c 1021 //..........intial status....//
Bragadeesh153 13:fb7facaf308b 1022 ACS_STATE = 4;
sakthipriya 9:194afacf7449 1023 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 1024 ACS_DATA_ACQ_ENABLE = 1;
Bragadeesh153 16:cc77770d787f 1025
Bragadeesh153 16:cc77770d787f 1026
sakthipriya 9:194afacf7449 1027 EPS_BATTERY_HEAT_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 1028 actual_data.power_mode=3;
sakthipriya 9:194afacf7449 1029 //............intializing pins................//
Bragadeesh153 16:cc77770d787f 1030
Bragadeesh153 16:cc77770d787f 1031 ATS2_SW_ENABLE = 1;
Bragadeesh153 16:cc77770d787f 1032 ATS1_SW_ENABLE = 1;
Bragadeesh153 16:cc77770d787f 1033 wait_ms(5);
sakthipriya 9:194afacf7449 1034 ATS1_SW_ENABLE = 0;
Bragadeesh153 16:cc77770d787f 1035
Bragadeesh153 16:cc77770d787f 1036 ACS_ATS_STATUS = 0x60; //Set Sensor 1 working , Sensor2 working and powered off by default
Bragadeesh153 13:fb7facaf308b 1037
Bragadeesh153 13:fb7facaf308b 1038 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 1039 DRV_Z_EN = 1;
Bragadeesh153 13:fb7facaf308b 1040 TRZ_SW = 1;
Bragadeesh153 13:fb7facaf308b 1041 TRXY_SW = 1;
sakthipriya 9:194afacf7449 1042
sakthipriya 3:07e15677a75c 1043 //............................//
prasanthbj05 17:8a8024c45dc0 1044 //FCTN_ACS_INIT();
prasanthbj05 17:8a8024c45dc0 1045 //FCTN_EPS_INIT();
lakshya 14:a9588f443f1a 1046 //FCTN_BCN_INIT();
sakthipriya 3:07e15677a75c 1047
sakthipriya 3:07e15677a75c 1048
sakthipriya 0:7b4c00e3912f 1049 FLAG();
sakthipriya 0:7b4c00e3912f 1050 }
sakthipriya 0:7b4c00e3912f 1051
sakthipriya 0:7b4c00e3912f 1052 int main()
sakthipriya 0:7b4c00e3912f 1053 {
prasanthbj05 17:8a8024c45dc0 1054 pc.baud(9600);
sakthipriya 0:7b4c00e3912f 1055 pc.printf("\n\r BAE Activated. Testing Version 1.1 \n");
prasanthbj05 17:8a8024c45dc0 1056 //CDMS_RESET = 1;
lakshya 14:a9588f443f1a 1057 /*if (BCN_FEN == 0) //dummy implementation
sakthipriya 0:7b4c00e3912f 1058 {
sakthipriya 0:7b4c00e3912f 1059 pc.printf("\n\r RF silence ");
Bragadeesh153 12:af1d7e18b868 1060 FCTN_BCN_FEN();
sakthipriya 0:7b4c00e3912f 1061 t_rfsilence.start();//Start the timer for RF_Silence
sakthipriya 0:7b4c00e3912f 1062 while(t_rfsilence.read() < RF_SILENCE_TIME);
sakthipriya 0:7b4c00e3912f 1063 }
sakthipriya 0:7b4c00e3912f 1064 */
sakthipriya 3:07e15677a75c 1065
sakthipriya 9:194afacf7449 1066 //ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 1067 //ACS_DATA_ACQ_STATUS = 0;
Bragadeesh153 13:fb7facaf308b 1068
Bragadeesh153 13:fb7facaf308b 1069
sakthipriya 9:194afacf7449 1070
Bragadeesh153 13:fb7facaf308b 1071 //FLAG();
sakthipriya 0:7b4c00e3912f 1072 FCTN_BAE_INIT();
prasanthbj05 17:8a8024c45dc0 1073 //pc.printf("\n\rPORTE->PCR[0] = 0x%08X",PORTE->PCR[0]);
prasanthbj05 17:8a8024c45dc0 1074 //pc.printf("\n\rPORTE->PCR[1] = 0x%08X",PORTE->PCR[1]);
sakthipriya 3:07e15677a75c 1075
sakthipriya 0:7b4c00e3912f 1076
sakthipriya 0:7b4c00e3912f 1077 //...i2c..
sakthipriya 3:07e15677a75c 1078 //strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end");
sakthipriya 0:7b4c00e3912f 1079 slave.address(addr);
sakthipriya 0:7b4c00e3912f 1080 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 1081
sakthipriya 0:7b4c00e3912f 1082 ptr_t_i2c = new Thread(T_TC);
sakthipriya 0:7b4c00e3912f 1083 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 5:bb592f3185cc 1084
sakthipriya 0:7b4c00e3912f 1085 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 1086 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
sakthipriya 5:bb592f3185cc 1087 // ir1.fall(&ir1clear); //Battery Gauge - Alert Bar Signal
lakshya 14:a9588f443f1a 1088 /* ir2.fall(&ir2clear); //TRXY Driver TR switch Fault
lakshya 14:a9588f443f1a 1089 ir3.fall(&ir3clear); //TRZ Driver Fault Bar
lakshya 14:a9588f443f1a 1090 ir4.fall(&ir4clear); //TRZ Driver TR switch Fault
lakshya 14:a9588f443f1a 1091 ir5.fall(&ir5clear); //CDMS - Switch Fault
lakshya 14:a9588f443f1a 1092 ir6.fall(&ir6clear); //Beacon- Switch OC bar
lakshya 14:a9588f443f1a 1093 ir7.fall(&ir7clear); //Charger IC - Fault Bar
lakshya 14:a9588f443f1a 1094
lakshya 14:a9588f443f1a 1095 */
sakthipriya 0:7b4c00e3912f 1096 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
sakthipriya 0:7b4c00e3912f 1097 t_sc_timer.start(10000);
sakthipriya 0:7b4c00e3912f 1098 t_start.start();
sakthipriya 0:7b4c00e3912f 1099 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
prasanthbj05 17:8a8024c45dc0 1100 printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
prasanthbj05 17:8a8024c45dc0 1101 //printf("\n\rInitial values\n");
prasanthbj05 17:8a8024c45dc0 1102 //debug();
prasanthbj05 17:8a8024c45dc0 1103 //debug2();
sakthipriya 0:7b4c00e3912f 1104 //FCTN_BAE_INIT();
sakthipriya 0:7b4c00e3912f 1105 while(1); //required to prevent main from terminating
sakthipriya 3:07e15677a75c 1106 }
sakthipriya 3:07e15677a75c 1107