Prasanth B J
I2C BAE standalone hardware testing
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
ACS_Flowchart_BAE_1
by 
Team Fox
Diff: main.cpp
- Revision:
- 0:7b4c00e3912f
- Child:
- 1:446a959e36ce
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Dec 24 19:15:43 2015 +0000
@@ -0,0 +1,505 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "pin_config.h"
+#include "ACS.h"
+#include "EPS.h"
+#include "BCN.h"
+#include "TCTM.h"
+
+#define tm_len 134
+#define tc_len 135
+#define bae_data_len 150
+#define batt_heat_low 20
+//***************************************************** flags *************************************************************//
+uint32_t BAE_STATUS = 0x00000000;
+uint32_t BAE_ENABLE = 0xFFFFFFFF;
+
+//.........acs...............//
+char ACS_INIT_STATUS = 'q';
+char ACS_DATA_ACQ_STATUS = 'q';
+char ACS_ATS_STATUS = 'q';
+char ACS_MAIN_STATUS = 'q';
+char ACS_STATUS = 'q';
+
+char ACS_ATS_ENABLE = 'q';
+char ACS_DATA_ACQ_ENABLE = 'q';
+char ACS_STATE = 'q';
+
+//.....................eps...................//
+//eps init
+char EPS_INIT_STATUS = 'q';
+char EPS_BATTERY_GAUGE_STATUS = 'q';
+//eps main
+char EPS_MAIN_STATUS = 'q';
+char EPS_BATTERY_TEMP_STATUS = 'q';
+char EPS_STATUS = 'q';
+
+char EPS_BATTERY_HEAT_ENABLE = 'q';
+
+//.......................global variables..................................................................// new hk structure- everything has to changed based on this
+char BAE_data[bae_data_len];
+
+
+//*************************************Global declarations************************************************//
+const int addr = 0x20; //slave address
+
+Timer t_rfsilence;
+Timer t_start;
+Serial pc(USBTX, USBRX);
+int power_flag_dummy=2;
+float data[6];
+
+extern float moment[3];
+extern SensorData Sensor;
+extern uint8_t BCN_FEN;
+
+bool write_ack = 1;
+bool read_ack = 1;
+char telecommand[tc_len];
+char telemetry[tm_len];
+char data_send_flag = 'h';
+
+//*****************************************************Assigning pins******************************************************//
+DigitalOut gpo1(PTC0); // enable of att sens2 switch
+DigitalOut gpo2(PTC16); // enable of att sens switch
+InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
+DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
+I2CSlave slave (PIN1,PIN2);
+DigitalOut batt_heat(PIN96);
+
+//gpo1 = 0;
+PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
+PwmOut PWM2(PIN94); //y
+PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
+
+
+/*****************************************************************Threads USed***********************************************************************************/
+Thread *ptr_t_acs;
+Thread *ptr_t_eps;
+Thread *ptr_t_bcn;
+Thread *ptr_t_i2c;
+
+/*********************************************************FCTN HEADERS***********************************************************************************/
+
+void FCTN_ISR_I2C();
+void FCTN_TM();
+
+//*******************************************ACS THREAD**************************************************//
+
+void T_ACS(void const *args)
+{
+ 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};
+ //b1[3] = {22, 22,10};
+ //omega1[3] = {2.1,3.0,1.5};
+ // gpo1 = 0; // att sens2 switch is disabled
+ // gpo2 = 0; // att sens switch is disabled
+
+ while(1)
+ {
+
+ Thread::signal_wait(0x1);
+ ACS_MAIN_STATUS = 's'; //set ACS_MAIN_STATUS flag
+ PWM1 = 0; //clear pwm pins
+ PWM2 = 0; //clear pwm pins
+ PWM3 = 0; //clear pwm pins
+ pc.printf("\n\rEntered ACS %f\n",t_start.read());
+
+ if(ACS_DATA_ACQ_ENABLE == 'e')// check if ACS_DATA_ACQ_ENABLE = 1?
+ {
+ FLAG();
+ FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
+ pc.printf("gyro values\n\r"); //printing the angular velocity and magnetic field values
+ for(int i=0; i<3; i++)
+ {
+ pc.printf("%f\n\r",data[i]);
+ }
+ pc.printf("mag values\n\r");
+ for(int i=3; i<6; i++)
+ {
+ pc.printf("%f\n\r",data[i]);
+
+ for(int i=0;i<3;i++)
+ {
+ omega1[i]= data[i];
+ b1[i] = data[i+3];
+ }
+ }
+ }//if ACS_DATA_ACQ_ENABLE = 1
+ else
+ {
+ // Z axis actuation is the only final solution,
+ }
+ if(ACS_STATE == '0') // check ACS_STATE = ACS_CONTROL_OFF?
+ {
+ printf("\n\r acs control off\n");
+ FLAG();
+ ACS_STATUS = '0'; // set ACS_STATUS = ACS_CONTROL_OFF
+ PWM1 = 0; //clear pwm pins
+ PWM2 = 0; //clear pwm pins
+ PWM3 = 0; //clear pwm pins
+ }
+ else
+ {
+ if(Sensor.power_mode>1)
+
+ {
+ if(ACS_STATE == '2') // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
+ {
+ FLAG();
+ printf("\n\r z axis moment only\n");
+ ACS_STATUS = '2'; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
+ // FCTN_ACS_CNTRLALGO(b1, omega1);
+ moment[0] = 0;
+ moment[1] = 0;
+ moment[2] =1.3;// is a dummy value
+ FCTN_ACS_GENPWM_MAIN(moment) ;
+ }
+ else
+ {
+ if(ACS_STATE == '3') // check ACS_STATE = ACS_DATA_ACQ_FAILURE
+ {
+ FLAG();
+ printf("\n\r acs data failure ");
+ ACS_STATUS = '3'; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
+ PWM1 = 0; //clear pwm pins
+ PWM2 = 0; //clear pwm pins
+ PWM3 = 0; //clear pwm pins
+ }
+ else
+ {
+ if(ACS_STATE == '4') // check ACS_STATE = ACS_NOMINAL_ONLY
+ {
+ FLAG();
+ printf("\n\r nominal");
+ ACS_STATUS = '4'; // set ACS_STATUS = ACS_NOMINAL_ONLY
+ FCTN_ACS_CNTRLALGO(b1,omega1);
+ printf("\n\r moment values returned by control algo \n");
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",moment[i]);
+ }
+ FCTN_ACS_GENPWM_MAIN(moment) ;
+ }
+ else
+ {
+ if(ACS_STATE == '5') // check ACS_STATE = ACS_AUTO_CONTROL
+ {
+ FLAG();
+ printf("\n\r auto control");
+ ACS_STATUS = '5'; // set ACS_STATUS = ACS_AUTO_CONTROL
+ //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code
+ }
+ else
+ {
+ if(ACS_STATE == '6') // check ACS_STATE = ACS_DETUMBLING_ONLY
+ {
+ FLAG();
+ printf("\n\r Entered detumbling \n");
+ ACS_STATUS = '6'; // set ACS_STATUS = ACS_DETUMBLING_ONLY
+ FCTN_ACS_CNTRLALGO(b1,omega1); // detumbling code has to be included
+ FCTN_ACS_GENPWM_MAIN(moment) ;
+ }
+ else
+ {
+ FLAG();
+ printf("\n\r invalid state");
+ ACS_STATUS = '7' ; // set ACS_STATUS = INVALID STATE
+ PWM1 = 0; //clear pwm pins
+ PWM2 = 0; //clear pwm pins
+ PWM3 = 0; //clear pwm pins
+ }//else of invalid
+ }//else of autocontrol
+ }//else of nominal
+ }//else of data acg failure
+
+ }//else fo z axis moment only
+ }//if power >2
+ else
+ {
+ FLAG();
+ printf("\n\r low power");
+ ACS_STATUS = '1'; // set ACS_STATUS = ACS_LOW_POWER
+ PWM1 = 0; //clear pwm pins
+ PWM2 = 0; //clear pwm pins
+ PWM3 = 0; //clear pwm pins
+ }
+ } //else for acs control off
+
+
+
+ ACS_MAIN_STATUS = 'c'; //clear ACS_MAIN_STATUS flag
+ }//while ends
+
+
+}
+//***************************************************EPS THREAD***********************************************//
+
+void T_EPS(void const *args)
+{
+ while(1)
+ {
+ Thread::signal_wait(0x2);
+ pc.printf("\n\rEntered EPS %f\n",t_start.read());
+ EPS_MAIN_STATUS = 's'; // Set EPS main status
+ //FCTN_READ_HK();
+ //FCTN_APPEND_HKDATA();
+ FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual);
+ if (actual_data.Battery_gauge_actual[1] == 200) //data not received
+ {
+ actual_data.power_mode = 1;
+ EPS_BATTERY_GAUGE_STATUS = 'c'; //clear EPS_BATTERY_GAUGE_STATUS
+
+ }
+ else
+ {
+ FCTN_EPS_POWERMODE(actual_data.Battery_gauge_actual[1]); //updating power level
+ EPS_BATTERY_GAUGE_STATUS = 's'; //set EPS_BATTERY_GAUGE_STATUS
+ }
+ /* if( Temperature data received)
+ {
+ FCTN_BATT_TEMP_SENSOR_MAIN();
+ EPS_BATTERY_TEMP_STATUS = 's'; //set EPS_BATTERY_TEMP_STATUS
+ if(EPS_BATTERY_HEAT_ENABLE = 'e')
+ {
+ if(actual_data.Batt_temp_actual[0] < batt_heat_low)
+ {
+ batt_heat = 1; //turn on battery heater
+ }
+ else
+ {
+ batt_heat = 0; //turn off battery heater
+ }
+
+ }
+ else if(EPS_BATTERY_HEAT_ENABLE = 'd)
+ {
+ EPS_STATUS = EPS_BATTERY_HEATER_DISABLED;
+ }
+
+ }
+ else
+ {
+ Set battery temp to XX
+ EPS_BATTERY_TEMP_STATUS = 'c'; //clear EPS_BATTERY_TEMP_STATUS
+ EPS_STATUS = EPS_ERR_BATTERY_TEMP;
+ }
+
+ EPS_MAIN_STATUS = 'c'; // clear EPS main status */
+
+ }
+
+}
+
+//**************************************************BCN THREAD*******************************************************************//
+
+void T_BCN(void const *args)
+{
+ while(1)
+ {
+ Thread::signal_wait(0x3);
+ pc.printf("\n\rEntered BCN %f\n",t_start.read());
+
+ P_BCN_TX_MAIN();
+ }
+
+}
+
+//**************************************************TCTM THREAD*******************************************************************//
+
+void T_TC(void const * args)
+{
+ while(1)
+ {
+ Thread::signal_wait(0x4);
+ wait_us(200); // can be between 38 to 15700
+ if( slave.receive() == 0)
+ slave.stop();
+ else if( slave.receive() == 1) // slave writes to master
+ {
+ write_ack=slave.write(telemetry,tm_len);
+ }
+ else if( slave.receive()==3 || slave.receive()==2) // slave read
+ {
+ read_ack=slave.read(telecommand,tc_len);
+ pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand);
+ pc.printf("\n\r Executing Telecommand \n");
+ FCTN_TC_DECODE((uint8_t*) telecommand);
+ FCTN_TM();
+ }
+
+ }
+}
+
+void FCTN_TM()
+{
+ irpt_2_mstr = 0;
+ pc.printf("\n\r Telemetry Generation \n");
+ irpt_2_mstr = 1;
+}
+
+
+//******************************************************* I2C *******************************************************************//
+
+void FCTN_I2C_ISR()
+{
+ ptr_t_i2c->signal_set(0x4);
+}
+
+
+//------------------------------------------------------------------------------------------------------------------------------------------------
+//SCHEDULER
+//------------------------------------------------------------------------------------------------------------------------------------------------
+uint8_t schedcount=1;
+void T_SC(void const *args)
+{
+ printf("\n\r in scheduler");
+
+ if(schedcount == 7) //to reset the counter
+ {
+ schedcount = 1;
+ }
+ if(schedcount%1==0)
+ {
+ ptr_t_acs -> signal_set(0x1);
+ }
+
+ if(schedcount%2==0)
+ {
+ // ptr_t_eps -> signal_set(0x2);
+
+ }
+ if(schedcount%3==0)
+ {
+ //ptr_t_bcn -> signal_set(0x3);
+ }
+ schedcount++;
+ printf("\n\r exited scheduler");
+}
+
+Timer t_flag;
+void FLAG()
+{
+
+//.............acs..................//
+ if(ACS_INIT_STATUS == 's')
+ BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
+ else if(ACS_INIT_STATUS == 'c')
+ BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
+
+ if(ACS_DATA_ACQ_STATUS == 's')
+ BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
+ else if(ACS_DATA_ACQ_STATUS == 'c')
+ BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
+
+ if(ACS_ATS_ENABLE == 'e')
+ BAE_ENABLE |= 0x00000004;
+ else if(ACS_ATS_ENABLE == 'd')
+ BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
+
+ if(ACS_DATA_ACQ_STATUS == 'f')
+ BAE_STATUS |= 0x00000200;
+
+ if(ACS_MAIN_STATUS == 's')
+ BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
+ else if(ACS_MAIN_STATUS == 'c')
+ BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
+
+ if(ACS_STATUS == '0')
+ BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
+ else if(ACS_STATUS == '1')
+ BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
+ else if(ACS_STATUS == '2')
+ BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
+ else if(ACS_STATUS == '3')
+ BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
+ else if(ACS_STATUS == '4')
+ BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
+ else if(ACS_STATUS == '5')
+ BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
+ else if(ACS_STATUS == '6')
+ BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
+ else
+ BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
+
+ if(ACS_STATE == '0')
+ BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
+ else if(ACS_STATE == '2')
+ BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
+ else if(ACS_STATE == '3')
+ BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
+ else if(ACS_STATE == '4')
+ BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
+ else if(ACS_STATE == '5')
+ BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
+ else if(ACS_STATE == '6')
+ BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
+
+//...............eps......................//
+ if(EPS_INIT_STATUS == 's')
+ BAE_STATUS |= 0x00010000; //set EPS_INIT_STATUS flag
+ else if(EPS_INIT_STATUS == 'c')
+ BAE_STATUS &= 0xFFFEFFFF; //clear EPS_INIT_STATUS flag
+ if(EPS_BATTERY_GAUGE_STATUS == 'c')
+ BAE_STATUS &= 0xFFFDFFFF; //clear EPS_BATTERY_GAUGE_STATUS
+ else if(EPS_BATTERY_GAUGE_STATUS == 's')
+ BAE_STATUS |= 0x00020000; //set EPS_BATTERY_GAUGE_STATUS
+
+
+ pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
+}
+
+void FCTN_BAE_INIT()
+{
+ printf("\n\r Initialising BAE ");
+ FCTN_ACS_INIT();
+ FCTN_EPS_INIT();
+ //P_BCN_INIT();
+ FLAG();
+}
+
+int main()
+{
+ pc.printf("\n\r BAE Activated. Testing Version 1.1 \n");
+
+ /* if (BCN_FEN == 0) //dummy implementation
+ {
+ pc.printf("\n\r RF silence ");
+ P_BCN_FEN();
+ t_rfsilence.start();//Start the timer for RF_Silence
+ while(t_rfsilence.read() < RF_SILENCE_TIME);
+ }
+ */
+ ACS_STATE = '4';
+ //ACS_INIT_STATUS = 'c';
+ //ACS_DATA_ACQ_STATUS = 'c';
+ gpo1 = 0;
+ FLAG();
+ FCTN_BAE_INIT();
+ ACS_ATS_ENABLE = 'e';
+ ACS_DATA_ACQ_ENABLE = 'e';
+
+ //...i2c..
+ strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end");
+ slave.address(addr);
+ irpt_2_mstr = 0;
+
+ ptr_t_i2c = new Thread(T_TC);
+ ptr_t_i2c->set_priority(osPriorityHigh);
+ ptr_t_acs = new Thread(T_ACS);
+ ptr_t_acs->set_priority(osPriorityAboveNormal);
+ ptr_t_eps = new Thread(T_EPS);
+ ptr_t_eps->set_priority(osPriorityAboveNormal);
+ ptr_t_bcn = new Thread(T_BCN);
+ ptr_t_bcn->set_priority(osPriorityAboveNormal);
+
+ irpt_4m_mstr.enable_irq();
+ irpt_4m_mstr.rise(&FCTN_I2C_ISR);
+ RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
+ t_sc_timer.start(10000);
+ t_start.start();
+ pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
+
+ gpo1 = 0; // att sens2 switch is enabled
+ //FCTN_BAE_INIT();
+ while(1); //required to prevent main from terminating
+}
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