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:
- 18:95f0cc565ee3
- Parent:
- 17:8a8024c45dc0
- Child:
- 19:95ba0ed3370c
--- a/main.cpp Fri Jun 24 08:08:52 2016 +0000
+++ b/main.cpp Mon Jul 04 17:46:48 2016 +0000
@@ -6,10 +6,22 @@
#include "BCN.h"
#include "TCTM.h"
+//#include "crc.h"
+//namespace CRC{
+// };
+#define TOPBIT16 (1 << 15)
+#define TOPBIT8 (1 << 7)
+#define POLYNOMIAL16 0x1021
+#define POLYNOMIAL8 0xEA
+
#define tm_len 135
#define tc_len 11
#define batt_heat_low 20
+
+//temporary definitions
#define PRINT 1
+#define PRINT2 1
+//DigitalOut temp_irpt(PIN88);
//***************************************************** flags *************************************************************//
uint32_t BAE_STATUS = 0x00000000;
@@ -62,8 +74,7 @@
//.......................global variables..................................................................// new hk structure- everything has to changed based on this
uint8_t BAE_data[74];
-char BAE_chardata[74];
-
+uint8_t BAE_chardata[74];
//*************************************Global declarations************************************************//
const int addr = 0x20; //slave address
@@ -86,7 +97,7 @@
int write_ack = 1;
int read_ack = 1;
-uint8_t telecommand[11];
+uint8_t telecommand[930];
extern uint8_t telemetry[135];
bool pf1check = 0;
@@ -151,6 +162,42 @@
void F_EPS();
void F_BCN();
+//delete
+uint16_t crc16_gen2(const unsigned char message[], unsigned int nBytes){
+ uint16_t remainder = 0xffff;
+ int byte;
+ char bit;
+
+ for( byte = 0 ; byte < nBytes ; byte++ ){
+ /*
+ Bring the data byte by byte
+ each time only one byte is brought
+ 0 xor x = x
+ */
+ remainder = remainder ^ ( message[byte] << 8 );
+
+ for( bit = 8 ; bit > 0 ; bit--){
+ /*
+ for each bit, xor the remainder with polynomial
+ if the MSB is 1
+ */
+ if(remainder & TOPBIT16){
+ remainder = (remainder << 1) ^ POLYNOMIAL16;
+ /*
+ each time the remainder is xor-ed with polynomial, the MSB is made zero
+ hence the first digit of the remainder is ignored in the loop
+ */
+ }
+ else{
+ remainder = (remainder << 1);
+ }
+ }
+ }
+
+ return remainder;
+ }
+
+
//*******************************************ACS THREAD**************************************************//
uint8_t iterP1;
uint8_t iterP2;
@@ -411,7 +458,6 @@
minMaxHkData();
//printf("\n\r here");
EPS_MAIN_STATUS = 0; // clear EPS main status
-
}
//**************************************************BCN THREAD*******************************************************************//
@@ -426,7 +472,7 @@
}
//**************************************************TCTM THREAD*******************************************************************//
-/*void I2C_busreset(void)
+/*void I2C_busreset_test(void)
{
uint8_t count=0;
if((PORTE->PCR[1] & PORT_PCR_MUX(6)) && (PORTE->PCR[0] & PORT_PCR_MUX(6)))
@@ -490,18 +536,18 @@
}
void debug2()
{
- printf("\n\rI2C1->A1 = 0x%02X",I2C1->A1);
- printf("\n\rI2C1->F = 0x%02X",I2C1->F);
- printf("\n\rI2C1->C1 = 0x%02X",I2C1->C1);
- printf("\n\rI2C1->S = 0x%02X",I2C1->S);
- printf("\n\rI2C1->D = 0x%02X",I2C1->D);
- printf("\n\rI2C1->C2 = 0x%02X",I2C1->C2);
- printf("\n\rI2C1->FLT = 0x%02X",I2C1->FLT);
- printf("\n\rI2C1->RA = 0x%02X",I2C1->RA);
- printf("\n\rI2C1->SMB = 0x%02X",I2C1->SMB);
- printf("\n\rI2C1->A2 = 0x%02X",I2C1->A2);
- printf("\n\rI2C1->SLTH = 0x%02X",I2C1->SLTH);
- printf("\n\rI2C1->SLTL = 0x%02X\n",I2C1->SLTL);
+ pc.printf("\n\rI2C1->A1 = 0x%02X",I2C1->A1);
+ pc.printf("\n\rI2C1->F = 0x%02X",I2C1->F);
+ pc.printf("\n\rI2C1->C1 = 0x%02X",I2C1->C1);
+ pc.printf("\n\rI2C1->S = 0x%02X",I2C1->S);
+ pc.printf("\n\rI2C1->D = 0x%02X",I2C1->D);
+ pc.printf("\n\rI2C1->C2 = 0x%02X",I2C1->C2);
+ pc.printf("\n\rI2C1->FLT = 0x%02X",I2C1->FLT);
+ pc.printf("\n\rI2C1->RA = 0x%02X",I2C1->RA);
+ pc.printf("\n\rI2C1->SMB = 0x%02X",I2C1->SMB);
+ pc.printf("\n\rI2C1->A2 = 0x%02X",I2C1->A2);
+ pc.printf("\n\rI2C1->SLTH = 0x%02X",I2C1->SLTH);
+ pc.printf("\n\rI2C1->SLTL = 0x%02X\n",I2C1->SLTL);
}
void debug3()
@@ -530,152 +576,142 @@
}
void I2C_busreset()
{
- //Thread::wait(1);
PORTE->PCR[1] &= 0xfffffffb;
- //Thread::wait(1);
PORTE->PCR[0] &= 0xfffffffb;
- //Thread::wait(1);
I2C1->C1 &= 0x7f;
- //Thread::wait(1);
SIM->SCGC4 &= 0xffffff7f;
- //Thread::wait(1);
SIM->SCGC4 |= 0x00000080;
- //Thread::wait(1);
I2C1->C1 |= 0x80;
- //Thread::wait(1);
PORTE->PCR[1] |= 0x00000004;
- //Thread::wait(1);
PORTE->PCR[0] |= 0x00000004;
Thread::wait(1);
}
-uint32_t pdirtc1,pdirtc2,pdirtm1,pdirtm2,pdirss1,pdirss2;
+uint32_t pdir_tc1,pdir_tc2,pdir_tm1,pdir_tm2,pdir_ss1,pdir_ss2;//variables used to verify i2c working
+uint16_t crc16_check;
void T_TC(void const * args)
{
while(1)
{
//pc.printf("\n\n\rWaiting");
- Thread::signal_wait(0x4);
- wait_us(300); // can be between 38 to 15700
- if( slave.receive() == 0)
- {
- //synch.stop();
- //pdirss1=PTE->PDIR;
+ Thread::signal_wait(0x4); //signalled by ISR when CDMS sends an interrupt
+ wait_us(300); // can be between 38 to 15700 but currently fixed as 300us
+ if( slave.receive() == 0) //Slave not addressed
+ {
irpt_2_mstr = 0;
data_send_flag = 'h';
#if PRINT
- pc.printf("\n\rSlave stop");
- pc.printf("\n\rPTE->DIR = 0x%08X",pdirss1);
+ pc.printf("\n\rSlave not addressed");
+ pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss1);
#endif
slave.stop();
- I2C_busreset();
- pdirss2=PTE->PDIR;
- #if PRINT
- pc.printf("\n\rPTE->DIR = 0x%08X",pdirss2);
+ pdir_ss1=PTE->PDIR;
+ if(((pdir_ss1 & 0x00000003)!=3))
+ {
+ I2C_busreset();
+ }
+ pdir_ss2=PTE->PDIR;
+ #if PRINT2
+ pc.printf("\n\rPTE->DIR = 0x%08X",pdir_ss2);
#endif
- //pc.printf("\n\rPTE->DIR = 0x%08X",pdir2);
}
else if( slave.receive() == 1) // slave writes to master
{
- if(data_send_flag == 'h')
+ if(data_send_flag == 'h') //Send Housekeeping data
{
//FCTN_APPEND_HKDATA();
- // pc.printf("\n\r here");
- write_ack=slave.write(BAE_chardata,74);
+ crc16_check = crc16_gen2(BAE_chardata,72);
+ BAE_chardata[72] = (uint8_t)((crc16_check&0xFF00)>>8);
+ BAE_chardata[73] = (uint8_t)(crc16_check&0x00FF);
+ write_ack=slave.write((char*)BAE_chardata,74);
irpt_2_mstr = 0;
if(write_ack==0)
{
irpt_2_mstr = 0;
- pc.printf("\n\rgot interrupt\n");
+ pc.printf("\n\rHK data sent\n");
}
}
- else if(data_send_flag == 't')
- {
+ else if(data_send_flag == 't') //Send Telemetry corresponding to Telecommand
+ {
uint8_t i2c_count =0;
- write_ack=slave.write((char*)telemetry,135);
- Thread::wait(1);
- pdirtm1=PTE->PDIR;
+ write_ack=slave.write((char*)telemetry,134);
+ Thread::wait(1); //for correct values of register to be updated
+ pdir_tm1=PTE->PDIR;
irpt_2_mstr = 0;
//data_send_flag = 'h';
if(write_ack==0)
{
- while(((pdirtm1 & 0x00000003)!=3)&& i2c_count<10)
+ while(((pdir_tm1 & 0x00000003)!=3)&& i2c_count<10)
{
Thread::wait(1);
- pdirtm1=PTE->PDIR;
+ pdir_tm1=PTE->PDIR;
i2c_count++;
}
- if(((pdirtm1 & 0x00000003)==3))
+ if(((pdir_tm1 & 0x00000003)==3))
{
pc.printf("\n\rWrite TM success");
- //pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
}
else
{
- //Resetting should be done here
-
#if PRINT
pc.printf("\n\rWrite TM error");
- pc.printf("\n\rPTE->DIR = 0x%08X",pdirtm1);
+ pc.printf("\n\rPTE->DIR = 0x%08X",pdir_tm1);
#endif
- I2C_busreset();
- pdirtm2=PTE->PDIR;
- #if PRINT
- pc.printf("\n\rPTE->DIR = 0x%08X",pdirtm2);
+ wait_ms(20); //should be atleast 7ms for correct operation but fix this value as 20ms
+ I2C_busreset();
+ #if PRINT2
+ pdir_tm2=PTE->PDIR;
+ pc.printf("\n\rPTE->DIR = 0x%08X",pdir_tm2);
#endif
}
//pc.printf("\n\rTM count:%d",i2c_count);
}
else
- {
- //Thread::wait(30);
+ {
#if PRINT
pc.printf("\nTM ack failed");
- pc.printf("\n\rPTE->DIR = 0x%08X",pdirtm1);
- #endif
- I2C_busreset();
- pdirtm2=PTE->PDIR;
- #if PRINT
- pc.printf("\n\rPTE->DIR = 0x%08X",pdirtm2);
+ pc.printf("\n\rPTE->DIR = 0x%08X",pdir_tm1);
#endif
- //Thread::wait(10);
- //pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
- //debug3();
- //wait_ms(10);
- //pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
+ I2C_busreset();
+ #if PRINT2
+ pdir_tm2=PTE->PDIR;
+ pc.printf("\n\rPTE->DIR = 0x%08X",pdir_tm2);
+ #endif
}
- i2c_count=0;
+ //i2c_count=0;
+ irpt_2_mstr = 0;
}
else if(data_send_flag == 'i')
{
- //to be filled
- data_send_flag = 'h';
+ data_send_flag = 'h';
+ //to be filled by Lakshya during code integration
+ ///////////////////////////////////////////////
+ ///////////////////////////////////////////////
}
}
- else if( slave.receive()==3 || slave.receive()==2) // slave read
+ else if( slave.receive()==3 || slave.receive()==2) // slave reads from master
{
uint8_t i2c_count = 0;
- synch.stop();
- read_ack=slave.read((char *)telecommand,11);
+ data_send_flag = 't';
+ read_ack=slave.read((char *)telecommand,11); //read() function returns acknowledgement
Thread::wait(1);
- pdirtc1=PTE->PDIR;
- irpt_2_mstr = 1;
- data_send_flag = 't';
- if(read_ack==0)
+ pdir_tc1=PTE->PDIR;
+ if(read_ack==0) //read() says it was successful
{
- while(((pdirtc1 & 0x00000003)!=3)&& i2c_count<10)
+ while(((pdir_tc1 & 0x00000003)!=3)&& i2c_count<10)//checking if SDA and SCL lines are logic 0 and not more than 10 times(10ms)
{
Thread::wait(1);
- pdirtc1=PTE->PDIR;
+ pdir_tc1=PTE->PDIR;
i2c_count++;
}
- if(((pdirtc1 & 0x00000003)==3))
+ if(((pdir_tc1 & 0x00000003)==3))
{
- pc.printf("\n\n\rRead TC success");
-
- // FCTN_TC_DECODE((uint8_t*) telecommand);
+ pc.printf("\n\n\rRead TC success");
+ //FCTN_TC_DECODE((uint8_t*) telecommand);
//FCTN_BAE_TM_TC((uint8_t*) telecommand);
//telemetry = (char*)temp;
- //FCTN_TM();
+ //data_send_flag = 't';
+ //pc.printf("\n\r Telemetry Generation \n");
+ //irpt_2_mstr = 1;
//uint8_t read_ack2 = (uint8_t)(PTE->PDIR & 0x00000003);
//printf("\n\rread_ack2 = %d",read_ack2);
@@ -688,64 +724,48 @@
//tempt.stop();
//data_send_flag = 't'; //uncomment later
}
- else
+ else //either or both of SDA and SCL lines low
{
#if PRINT
pc.printf("\n\n\rRead TC error");
- pc.printf("\n\rPTE->DIR = 0x%08X",pdirtc1);
+ pc.printf("\n\rPTE->DIR = 0x%08X",pdir_tc1);
#endif
I2C_busreset();
- pdirtc2=PTE->PDIR;
- #if PRINT
- pc.printf("\n\rPTE->DIR = 0x%08X",pdirtc2);
+ //data_send_flag = 'i';
+ #if PRINT2
+ pdir_tc2=PTE->PDIR;
+ pc.printf("\n\rPTE->DIR = 0x%08X",pdir_tc2);
#endif
- //pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
- //debug3();
- //printf("\n\rread_ack2 = %d and time = %d",read_ack2,tempt.read_us());
- //data_send_flag = 'i';
}
+ //irpt_2_mstr = 1;
//pc.printf("\n\rTC count:%d",i2c_count);
}
- else
+ else //read() says it was not successful
{
#if PRINT
pc.printf("\n\n\rTC ack failed");
- pc.printf("\n\rPTE->DIR = 0x%08X",pdirtc1);
+ pc.printf("\n\rPTE->DIR = 0x%08X",pdir_tc1);
#endif
I2C_busreset();
- pdirtc2=PTE->PDIR;
- #if PRINT
- pc.printf("\n\rPTE->DIR = 0x%08X",pdirtc2);
- #endif
- //pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
+ pdir_tc2 = PTE->PDIR;
+ //data_send_flag = 'i'; //'i' = invalid
+ #if PRINT2
+ pc.printf("\n\rPTE->DIR = 0x%08X",pdir_tc2);
+ #endif
}
i2c_count = 0;
+ irpt_2_mstr = 1;
//printf("\n\rSize of data : %d",sizeof(telecommand));
//printf("\n\rGiven Size : %d\n",11);
//printf("\n\rREAD_ACK : %d",read_ack);
//t_tc.start();
//pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand);
//pc.printf("\n\r Executing Telecommand \n");
-
- //t_tc.stop();
- //printf("\n\r time taken %d",t_tc.read_us());
- //t_tc.reset();
// for(int i = 0; i<134; i++)
//pc.printf("%c", telemetry[i]);
}
- //pc.printf("Time after slave.read() = %d",synch.read_us());
- //synch.reset();
}
}
-void FCTN_TM()
-{
- //irpt_2_mstr = 0;
- data_send_flag = 't';
- pc.printf("\n\r Telemetry Generation \n");
- irpt_2_mstr = 1;
-}
-
-
//******************************************************* I2C *******************************************************************//
void FCTN_I2C_ISR()
@@ -754,7 +774,6 @@
ptr_t_i2c->signal_set(0x4);
}
-
//***********************************************************FAULTS***************************************************************//
/*void ir1clear()
{
@@ -813,9 +832,6 @@
void pollfault()
{
-
-
-
if (pf1==0) // OC_ATS1
{
pf1check=1;
@@ -1002,15 +1018,12 @@
else if (EPS_STATUS==4)
BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
else if (EPS_STATUS==5)
- BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
-
+ BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
if(EPS_BATTERY_HEAT_ENABLE == 1)
BAE_ENABLE |= 0x00000080;
else if(EPS_BATTERY_HEAT_ENABLE == 0)
- BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
-
-
+ BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
}
@@ -1053,6 +1066,7 @@
{
pc.baud(9600);
pc.printf("\n\r BAE Activated. Testing Version 1.1 \n");
+ //slave.frequency(100000);
//CDMS_RESET = 1;
/*if (BCN_FEN == 0) //dummy implementation
{
@@ -1077,6 +1091,7 @@
//...i2c..
//strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end");
slave.address(addr);
+ slave.frequency(50000);
irpt_2_mstr = 0;
ptr_t_i2c = new Thread(T_TC);