Prasanth B J
I2C BAE standalone hardware testing
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
ACS_Flowchart_BAE_1
by 
Team Fox
main.cpp
- Committer:
- prasanthbj05
- Date:
- 2016-06-24
- Revision:
- 17:8a8024c45dc0
- Parent:
- 16:cc77770d787f
- Child:
- 18:95f0cc565ee3
File content as of revision 17:8a8024c45dc0:
#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 135
#define tc_len 11
#define batt_heat_low 20
#define PRINT 1
//***************************************************** flags *************************************************************//
uint32_t BAE_STATUS = 0x00000000;
uint32_t BAE_ENABLE = 0xFFFFFFFF;
//i2c//
char data_send_flag = 'h';
//.........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';*/
uint8_t ACS_INIT_STATUS = 0;
uint8_t ACS_DATA_ACQ_STATUS = 0;
uint8_t ACS_ATS_STATUS = 0x60;
uint8_t ACS_MAIN_STATUS = 0;
uint8_t ACS_STATUS = 0;
uint8_t ACS_ATS_ENABLE = 1;
uint8_t ACS_DATA_ACQ_ENABLE = 1;
uint8_t ACS_STATE = 4;
//.....................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';
*/
uint8_t EPS_INIT_STATUS = 0;
uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
//eps main
uint8_t EPS_MAIN_STATUS = 0;
uint8_t EPS_BATTERY_TEMP_STATUS = 0;
uint8_t EPS_STATUS = 7; //invalid status
uint8_t EPS_BATTERY_HEAT_ENABLE = 0;
//.......................global variables..................................................................// new hk structure- everything has to changed based on this
uint8_t BAE_data[74];
char BAE_chardata[74];
//*************************************Global declarations************************************************//
const int addr = 0x20; //slave address
Timer t_rfsilence;
Timer t_start;
Timer t_tc;
Timer t_tm;
Timer synch;
Serial pc(USBTX, USBRX);
int power_flag_dummy=2;
float data[6];
extern float moment[3];
extern uint8_t BCN_FEN;
extern BAE_HK_actual actual_data;
extern BAE_HK_quant quant_data;
extern BAE_HK_min_max bae_HK_minmax;
extern BAE_HK_arch arch_data;
int write_ack = 1;
int read_ack = 1;
uint8_t telecommand[11];
extern uint8_t telemetry[135];
bool pf1check = 0;
bool pf2check = 0;
bool if1check = 0;
bool if2check = 0;
//*****************************************************Assigning pins******************************************************//
DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch
DigitalOut ATS2_SW_ENABLE(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);///pin1 pin2
DigitalOut batt_heat(PIN96);
//ATS1_SW_ENABLE = 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
//........faults
//Polled Faults
DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
//Interrupt based faults
//InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal
InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault
InterruptIn ir3(PIN89);//TRZ Driver Fault Bar
InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault
InterruptIn ir5(PIN79);//CDMS - Switch Fault
InterruptIn ir6(PIN80);//Beacon- Switch OC bar
InterruptIn ir7(PIN42);//Charger IC - Fault Bar
//DigitalOut TRXY_SW_EN(PIN71); //TR XY Switch
//DigitalOut DRV_Z_SLP(PIN88); //Sleep pin of driver z
//DigitalOut TRZ_SW(PIN40); //TR Z Switch
//DigitalOut CDMS_RESET(PIN7); // CDMS RESET
//DigitalOut BCN_SW(PIN14); //Beacon switch
//DigitalOut DRV_XY_SLP(PIN82);
DigitalOut TRXY_SW(PIN71); //TR XY Switch
DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z
DigitalOut TRZ_SW(PIN40); //TR Z Switch
DigitalOut CDMS_RESET(PIN7,1); // CDMS RESET
DigitalOut BCN_SW(PIN14); //Beacon switch
DigitalOut DRV_XY_EN(PIN82);
/*****************************************************************Threads USed***********************************************************************************/
Thread *ptr_t_i2c;
/*********************************************************FCTN HEADERS***********************************************************************************/
void FCTN_ISR_I2C();
void FCTN_TM();
void F_ACS();
void F_EPS();
void F_BCN();
//*******************************************ACS THREAD**************************************************//
uint8_t iterP1;
uint8_t iterP2;
uint8_t iterI1;
uint8_t iterI2;
void F_ACS()
{
//...................//
if(pf1check == 1)
{
if(iterP1 >= 3)
{
ATS1_SW_ENABLE = 1; // turn off ats1 permanently
//FCTN_SWITCH_ATS(0); // switch on ATS2
}
else
{
ATS1_SW_ENABLE = 0;
iterP1++;
}
pf1check = 0;
}
if(pf2check == 1)
{
if(iterP1 >= 3)
{
ATS2_SW_ENABLE = 1; // turn off ats2 permanently
ACS_DATA_ACQ_ENABLE = 0;
ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
}
else
{
ATS2_SW_ENABLE = 0;
iterP2++;
}
pf2check = 0;
}
if(if1check == 1)
{
if(iterI1 >= 3)
{
TRXY_SW = 0; // turn off TRXY permanently
}
else
{
TRXY_SW = 1; //switch on TRXY
iterI1++;
}
}
if(if2check == 1)
{
if(iterI2 >= 3)
{
TRZ_SW = 0; // turn off TRZ permanently
ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
}
else
{
TRZ_SW = 1; //switch on Z
iterI2++;
}
}
//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};
// ATS1_SW_ENABLE = 0; // att sens2 switch is disabled
// ATS2_SW_ENABLE = 0; // att sens switch is disabled
//Thread::signal_wait(0x1);
ACS_MAIN_STATUS = 1; //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 == 1)// 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++)
{
printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
}
pc.printf("mag values\n\r");
for(int i=0; i<3; i++)
{
pc.printf("%f\n\r",actual_data.Bvalue_actual[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(actual_data.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(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual);
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(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); // 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 = 0; //clear ACS_MAIN_STATUS flag
}
//***************************************************EPS THREAD***********************************************//
void F_EPS()
{
pc.printf("\n\rEntered EPS %f\n",t_start.read());
EPS_MAIN_STATUS = 1; // Set EPS main status
FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
EPS_BATTERY_TEMP_STATUS = 1; //set EPS_BATTERY_TEMP_STATUS
if(EPS_BATTERY_HEAT_ENABLE == 1)
{
if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm
{
batt_heat = 1; //turn on battery heater
}
else
{
batt_heat = 0; //turn off battery heater
}
}
else if(EPS_BATTERY_HEAT_ENABLE == 0)
{
EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED
}
FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual);
if (actual_data.Batt_gauge_actual[1] == 200) //data not received
{
actual_data.power_mode = 1;
EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
}
else
{
FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
}
// if( Temperature data received)
//{
// }
// else
// {
// Set battery temp to XX
// EPS_BATTERY_TEMP_STATUS = 0; //clear EPS_BATTERY_TEMP_STATUS
// EPS_STATUS = EPS_ERR_BATTERY_TEMP;
// }
FCTN_HK_MAIN();
// printf("\n\r here");
FCTN_APPEND_HKDATA();
minMaxHkData();
//printf("\n\r here");
EPS_MAIN_STATUS = 0; // clear EPS main status
}
//**************************************************BCN THREAD*******************************************************************//
void F_BCN()
{
pc.printf("\n\rEntered BCN %f\n",t_start.read());
FCTN_BCN_TX_MAIN();
}
//**************************************************TCTM THREAD*******************************************************************//
/*void I2C_busreset(void)
{
uint8_t count=0;
if((PORTE->PCR[1] & PORT_PCR_MUX(6)) && (PORTE->PCR[0] & PORT_PCR_MUX(6)))
{
printf("\n\rResetting\n\r");
I2C1->C1 &= 0x7f; // Disable I2C1 bus
PORTE->PCR[1] = PORT_PCR_MUX(1); // PTE1 Alt1 (pin)
PORTE->PCR[0] = PORT_PCR_MUX(1); // PTE0 Alt1 (pin)
while(((PTE->PDIR & 0x3) != 3) && (count<10)) // When PTE0 / PTE1 are not 1 : I2C1 bus lock-up
{
PTE->PDDR |= 0x3; // Set PTE1 and PTE0 as a GPIO output so we can bit bang it
PTE->PDOR |= 0x2; // Set PTE1 (SCL) pin high;
wait_ms(1);
PTE->PDOR |= 0x1; // Set PTE0 (SDA) pin high;
wait_ms(1);
count++;
wait(1);
}
// Reinstate I2C1 bus pins
PORTE->PCR[1] = PORT_PCR_MUX(6); // PTE1 Alt6 (SCL)
PORTE->PCR[0] = PORT_PCR_MUX(6); // PTE0 Alt6 (SDA)
I2C1->C1 |= 0x80; // Enable I2C1 bus
printf("Count: %d\n\r",count);
//wait(1);
}
}*/
#define PORT_PCR_MUX_MASK2 0x00000700u
void debug()
{
// uint32_t temp=0x0AF30000;
//printf("\n\rTemp = %08X",temp);
//pc.printf("\n\rPORTE->PCR[0] = 0x%08X",PORTE->PCR[0]);
//pc.printf("\n\rPORTE->PCR[1] = 0x%08X",PORTE->PCR[1]);
pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
}
void debug1()
{
printf("\n\r Before disabling");
debug();
//wait_ms(50);
I2C1->C1 &= 0x7f;
printf("\n\r After muxing ");
PORTE->PCR[1] = PORT_PCR_MUX(1); // PTE24 Alt1 (pin)
PORTE->PCR[0] = PORT_PCR_MUX(1); // PTE25 Alt1 (pin)
PTE->PDDR |= 0x3; // Set PTE1 and PTE0 as a GPIO output so we can bit bang it
PTE->PDOR |= 0x2; // Set PTE1 (SCL) pin high;
wait_ms(1);
PTE->PDOR |= 0x1; // Set PTE0 (SDA) pin high;
wait_ms(1);
debug();
PORTE->PCR[1] &= (~(PORT_PCR_MUX_MASK2));
PORTE->PCR[0] &= (~(PORT_PCR_MUX_MASK2));
PORTE->PCR[1] |= PORT_PCR_MUX(6); // PTE24 Alt6 (pin)
PORTE->PCR[0] |= PORT_PCR_MUX(6); // PTE25 Alt6 (pin)
PORTE->PCR[1] |= 0x00000004;
PORTE->PCR[0] |= 0x00000004;
I2C1->C1 |= 0x80; // Enable I2C1 bus
printf("\n\r After enabling I2C");
debug();
}
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);
}
void debug3()
{
//pc.printf("\n\r Resetting I2C");
//debug2();
//printf("\n\r SIM->SCGC4 = 0x%08X",SIM->SCGC4);
PORTE->PCR[1] &= 0xfffffffb;
PORTE->PCR[0] &= 0xfffffffb;
I2C1->C1 &= 0x7f;
//wait_ms(2);
SIM->SCGC4 &= 0xffffff7f;
//printf("\n\r SIM->SCGC4 = 0x%08X",SIM->SCGC4);
//wait_ms(10);
SIM->SCGC4 |= 0x00000080;
//printf("\n\r SIM->SCGC4 = 0x%08X",SIM->SCGC4);
//wait_ms(10);
I2C1->C1 |= 0x80;
PORTE->PCR[1] |= 0x00000004;
PORTE->PCR[0] |= 0x00000004;
//wait_ms(10);
wait_ms(2);
//printf("\n\r After enabling clock");
//debug2();
//printf("\n");
}
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;
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;
irpt_2_mstr = 0;
data_send_flag = 'h';
#if PRINT
pc.printf("\n\rSlave stop");
pc.printf("\n\rPTE->DIR = 0x%08X",pdirss1);
#endif
slave.stop();
I2C_busreset();
pdirss2=PTE->PDIR;
#if PRINT
pc.printf("\n\rPTE->DIR = 0x%08X",pdirss2);
#endif
//pc.printf("\n\rPTE->DIR = 0x%08X",pdir2);
}
else if( slave.receive() == 1) // slave writes to master
{
if(data_send_flag == 'h')
{
//FCTN_APPEND_HKDATA();
// pc.printf("\n\r here");
write_ack=slave.write(BAE_chardata,74);
irpt_2_mstr = 0;
if(write_ack==0)
{
irpt_2_mstr = 0;
pc.printf("\n\rgot interrupt\n");
}
}
else if(data_send_flag == 't')
{
uint8_t i2c_count =0;
write_ack=slave.write((char*)telemetry,135);
Thread::wait(1);
pdirtm1=PTE->PDIR;
irpt_2_mstr = 0;
//data_send_flag = 'h';
if(write_ack==0)
{
while(((pdirtm1 & 0x00000003)!=3)&& i2c_count<10)
{
Thread::wait(1);
pdirtm1=PTE->PDIR;
i2c_count++;
}
if(((pdirtm1 & 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);
#endif
I2C_busreset();
pdirtm2=PTE->PDIR;
#if PRINT
pc.printf("\n\rPTE->DIR = 0x%08X",pdirtm2);
#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);
#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_count=0;
}
else if(data_send_flag == 'i')
{
//to be filled
data_send_flag = 'h';
}
}
else if( slave.receive()==3 || slave.receive()==2) // slave read
{
uint8_t i2c_count = 0;
synch.stop();
read_ack=slave.read((char *)telecommand,11);
Thread::wait(1);
pdirtc1=PTE->PDIR;
irpt_2_mstr = 1;
data_send_flag = 't';
if(read_ack==0)
{
while(((pdirtc1 & 0x00000003)!=3)&& i2c_count<10)
{
Thread::wait(1);
pdirtc1=PTE->PDIR;
i2c_count++;
}
if(((pdirtc1 & 0x00000003)==3))
{
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();
//uint8_t read_ack2 = (uint8_t)(PTE->PDIR & 0x00000003);
//printf("\n\rread_ack2 = %d",read_ack2);
//if((read_ack ==0)&&(read_ack2==3))
//if(read_ack==0 && ((PTE->PDIR & 0x00000003)==3))
//debug2();
//pc.printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
//wait_us(10);
//read_ack2 = (uint8_t)(PTE->PDIR & 0x00000003);
//tempt.stop();
//data_send_flag = 't'; //uncomment later
}
else
{
#if PRINT
pc.printf("\n\n\rRead TC error");
pc.printf("\n\rPTE->DIR = 0x%08X",pdirtc1);
#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);
//debug3();
//printf("\n\rread_ack2 = %d and time = %d",read_ack2,tempt.read_us());
//data_send_flag = 'i';
}
//pc.printf("\n\rTC count:%d",i2c_count);
}
else
{
#if PRINT
pc.printf("\n\n\rTC ack failed");
pc.printf("\n\rPTE->DIR = 0x%08X",pdirtc1);
#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);
}
i2c_count = 0;
//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()
{
//synch.start();
ptr_t_i2c->signal_set(0x4);
}
//***********************************************************FAULTS***************************************************************//
/*void ir1clear()
{
actual_data.faultIr_status |= 0x01; // alert
}*/
void ir2clear()
{
actual_data.faultIr_status |= 0x02;
TRXY_SW = 0; // Switch off TR XY
if1check = 1;
}
void ir3clear()
{
actual_data.faultIr_status |= 0x04;
DRV_Z_EN = 0;
wait_us(1);
DRV_Z_EN = 1;
}
void ir4clear()
{
if2check = 1;
actual_data.faultIr_status |= 0x08;
TRZ_SW = 0;
}
void ir5clear()
{
actual_data.faultIr_status |= 0x10;
CDMS_RESET = 0;
wait_us(1);
CDMS_RESET = 1;
}
void ir6clear()
{
actual_data.faultIr_status |= 0x20;
BCN_SW = 0;
wait_us(1);
BCN_SW = 1;
}
void ir7clear()
{
actual_data.faultIr_status |= 0x40;
}
uint8_t iter2=0,iter4 = 0;
void pollfault()
{
if (pf1==0) // OC_ATS1
{
pf1check=1;
actual_data.faultPoll_status |=0x01 ;
ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
}
else actual_data.faultPoll_status &= 0xFE;
if (pf2==0)
{
pf2check=1;
actual_data.faultPoll_status |=0x02 ;
ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
}
else actual_data.faultPoll_status &= 0xFD;
if (pf3==0)
{ actual_data.faultPoll_status |=0x04 ;
DRV_XY_EN = 0;
wait_us(1);
DRV_XY_EN = 1;
}
else actual_data.faultPoll_status &= 0xFB;
/*if (ir1==1)
{
actual_data.faultIr_status &=0xFE;
}*/
if (ir2==1)
{
actual_data.faultIr_status &=0xFD;
}
if (ir3==1)
{
actual_data.faultIr_status &=0xFB;
}
if (ir4==1)
{
actual_data.faultIr_status &=0xF7;
}
if (ir5==1)
{
actual_data.faultIr_status &=0xEF;
}
if (ir6==1)
{
actual_data.faultIr_status &=0xDF;
}if (ir7==1)
{
actual_data.faultIr_status &=0xBF;
}
}
//------------------------------------------------------------------------------------------------------------------------------------------------
//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)
{ //pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
//pc.printf("\niterp1 !!!!!! = %x !!\n",iterP1);
//pc.printf("\niteri2 IS !!!!!! = %x !!\n",iterI2);
//F_ACS();
}
if(schedcount%2==0)
{
//F_EPS();
}
if(schedcount%1==0)
{
//F_BCN();
}
schedcount++;
//printf("\n\r BAE is alive\n");
}
Timer t_flag;
void FLAG()
{
//.............acs..................//
if(ACS_INIT_STATUS == 1)
BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
else if(ACS_INIT_STATUS == 0)
BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
if(ACS_DATA_ACQ_STATUS == 1)
BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
else if(ACS_DATA_ACQ_STATUS == 0)
BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
if(ACS_ATS_ENABLE == 1)
BAE_ENABLE |= 0x00000004;
else if(ACS_ATS_ENABLE == 0)
BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
if(ACS_DATA_ACQ_STATUS == 'f')
BAE_STATUS |= 0x00000200;
if(ACS_MAIN_STATUS == 1)
BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
else if(ACS_MAIN_STATUS == 0)
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==1) // Set EPS_INIT_STATUS
BAE_STATUS |= 0x00010000;
else if(EPS_INIT_STATUS==0) // Clear
BAE_STATUS &= 0xFFFEFFFF;
if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
BAE_STATUS |= 0x00040000;
else if(EPS_MAIN_STATUS==0) // Clear
BAE_STATUS &= 0xFFFBFFFF;
if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
BAE_STATUS |= 0x00020000;
else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
BAE_STATUS &= 0xFFFDFFFF;
if (EPS_BATTERY_TEMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
BAE_STATUS |= 0x00080000;
else if(EPS_BATTERY_TEMP_STATUS==0) // Clear
BAE_STATUS &= 0xFFF7FFFF;
if (EPS_STATUS==0)
BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
else if (EPS_STATUS==1)
BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
else if (EPS_STATUS==2)
BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
else if (EPS_STATUS==3)
BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
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
if(EPS_BATTERY_HEAT_ENABLE == 1)
BAE_ENABLE |= 0x00000080;
else if(EPS_BATTERY_HEAT_ENABLE == 0)
BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
}
void FCTN_BAE_INIT()
{
printf("\n\r Initialising BAE ");
//..........intial status....//
ACS_STATE = 4;
ACS_ATS_ENABLE = 1;
ACS_DATA_ACQ_ENABLE = 1;
EPS_BATTERY_HEAT_ENABLE = 1;
actual_data.power_mode=3;
//............intializing pins................//
ATS2_SW_ENABLE = 1;
ATS1_SW_ENABLE = 1;
wait_ms(5);
ATS1_SW_ENABLE = 0;
ACS_ATS_STATUS = 0x60; //Set Sensor 1 working , Sensor2 working and powered off by default
DRV_XY_EN = 1;
DRV_Z_EN = 1;
TRZ_SW = 1;
TRXY_SW = 1;
//............................//
//FCTN_ACS_INIT();
//FCTN_EPS_INIT();
//FCTN_BCN_INIT();
FLAG();
}
int main()
{
pc.baud(9600);
pc.printf("\n\r BAE Activated. Testing Version 1.1 \n");
//CDMS_RESET = 1;
/*if (BCN_FEN == 0) //dummy implementation
{
pc.printf("\n\r RF silence ");
FCTN_BCN_FEN();
t_rfsilence.start();//Start the timer for RF_Silence
while(t_rfsilence.read() < RF_SILENCE_TIME);
}
*/
//ACS_INIT_STATUS = 0;
//ACS_DATA_ACQ_STATUS = 0;
//FLAG();
FCTN_BAE_INIT();
//pc.printf("\n\rPORTE->PCR[0] = 0x%08X",PORTE->PCR[0]);
//pc.printf("\n\rPORTE->PCR[1] = 0x%08X",PORTE->PCR[1]);
//...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);
irpt_4m_mstr.enable_irq();
irpt_4m_mstr.rise(&FCTN_I2C_ISR);
// ir1.fall(&ir1clear); //Battery Gauge - Alert Bar Signal
/* ir2.fall(&ir2clear); //TRXY Driver TR switch Fault
ir3.fall(&ir3clear); //TRZ Driver Fault Bar
ir4.fall(&ir4clear); //TRZ Driver TR switch Fault
ir5.fall(&ir5clear); //CDMS - Switch Fault
ir6.fall(&ir6clear); //Beacon- Switch OC bar
ir7.fall(&ir7clear); //Charger IC - Fault Bar
*/
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());
printf("\n\rPTE->DIR = 0x%08X",PTE->PDIR);
//printf("\n\rInitial values\n");
//debug();
//debug2();
//FCTN_BAE_INIT();
while(1); //required to prevent main from terminating
}