Seeker of Truth ,
bae wrking isr no bcn
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TV_BAE_conops1_1_1
by 
Team Fox
Revision 0:913c9e982740, committed 2015-11-03
- Comitter:
- sakthipriya
- Date:
- Tue Nov 03 14:46:51 2015 +0000
- Commit message:
- i2c in rtos working
Changed in this revision
diff -r 000000000000 -r 913c9e982740 ACS.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ACS.cpp Tue Nov 03 14:46:51 2015 +0000
@@ -0,0 +1,503 @@
+/*------------------------------------------------------------------------------------------------------------------------------------------------------
+-------------------------------------------CONTROL ALGORITHM------------------------------------------------------------------------------------------*/
+#include <mbed.h>
+#include <math.h>
+
+#include "pni.h" //pni header file
+#include "pin_config.h"
+#include "ACS.h"
+
+
+//********************************flags******************************************//
+extern uint32_t BAE_STATUS;
+extern uint32_t BAE_ENABLE;
+extern char ACS_INIT_STATUS;
+extern char ACS_DATA_ACQ_STATUS;
+extern char ACS_ATS_STATUS;
+extern char ACS_MAIN_STATUS;
+extern char ACS_STATUS;
+
+extern char ACS_ATS_ENABLE;
+extern char ACS_DATA_ACQ_ENABLE;
+extern char ACS_STATE;
+
+DigitalOut phase_TR_x(PIN27); // PHASE pin for x-torquerod
+DigitalOut phase_TR_y(PIN28); // PHASE pin for y-torquerod
+DigitalOut phase_TR_z(PIN86); // PHASE pin for z-torquerod
+
+extern PwmOut PWM1; //x //Functions used to generate PWM signal
+extern PwmOut PWM2; //y
+extern PwmOut PWM3; //z //PWM output comes from pins p6
+
+int g_err_flag_TR_x=0; // setting x-flag to zero
+int g_err_flag_TR_y=0; // setting y-flag to zero
+int g_err_flag_TR_z=0; // setting z-flag to zero
+
+extern float data[6];
+
+
+//DigitalOut gpo1(PTC0); // enable of att sens2 switch
+//DigitalOut gpo2(PTC16); // enable of att sens switch
+
+
+Serial pc_acs(USBTX,USBRX); //for usb communication
+void inverse(float mat[3][3],float inv[3][3]);
+
+int ctrl_count = 0;
+float bcopy[3];
+float moment[3];
+ ///////algo working well
+void FCTN_ACS_CNTRLALGO(float b[3],float omega[3])
+{
+ float db[3];
+ float bb[3]={0,0,0};
+ float d[3]={0,0,0};
+ float Jm[3][3]={{0.2730,0,0},{0,0.3018,0},{0,0,0.3031}};
+ float den=0,den2;
+ int i,j; //temporary variables
+ float Mu[2],z[2],dv[2],v[2],u[2],tauc[3]={0,0,0}; //outputs
+ float invJm[3][3];
+ float kmu2=0.07,gamma2=1.9e4,kz2=0.4e-2,kmu=0.003,gamma=5.6e4,kz=0.1e-4;
+
+ //................. calculating db values...........................
+ if(ctrl_count!=0)
+ {
+ for(i=0;i<3;i++)
+ db[i]= (b[i]-bcopy[i])/10;
+ }
+ else
+ {
+ for(i=0;i<3;i++)
+ db[i]= 0;
+ }
+ ctrl_count++;
+ //..................................................................
+ printf("\n\r Entered cntrl algo\n\r");
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",omega[i]);
+ }
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",b[i]);
+ }
+
+ //.........................algo......................................
+ den=sqrt((b[0]*b[0])+(b[1]*b[1])+(b[2]*b[2]));
+ den2=(b[0]*db[0])+(b[1]*db[1])+(b[2]*db[2]);
+ for(i=0;i<3;i++)
+ {
+ db[i]=((db[i]*den*den)-(b[i]*(den2)))/(pow(den,3));
+ //db[i]/=den*den*den;
+ }
+ for(i=0;i<3;i++)
+ {
+ b[i]/=den;
+ }
+ // select kz, kmu, gamma
+ if(b[0]>0.9||b[0]<-0.9)
+ {
+ kz=kz2;
+ kmu=kmu2;
+ gamma=gamma2;
+ }
+ // calculate Mu, v, dv, z, u
+ for(i=0;i<2;i++)
+ {
+ Mu[i]=b[i+1];
+ v[i]=-kmu*Mu[i];
+ dv[i]=-kmu*db[i+1];
+ z[i]=db[i+1]-v[i];
+ u[i]=-kz*z[i]+dv[i]-(Mu[i]/gamma);
+ }
+ inverse(Jm,invJm);
+ for(i=0;i<3;i++)
+ {
+ for(j=0;j<3;j++)
+ bb[i]+=omega[j]*(omega[(i+1)%3]*Jm[(i+2)%3][j]-omega[(i+2)%3]*Jm[(i+1)%3][j]);
+ }
+ for(i=0;i<3;i++)
+ {
+ for(j=0;j<3;j++)
+ d[i]+=bb[j]*invJm[i][j];
+ }
+ bb[1]=u[0]+(d[0]*b[2])-(d[2]*b[0])-(omega[0]*db[2])+(omega[2]*db[0]);
+ bb[2]=u[1]-(d[0]*b[1])+(d[1]*b[0])+(omega[0]*db[1])-(omega[1]*db[0]);
+ bb[0]=0;
+ for(i=0;i<3;i++)
+ {
+ d[i]=invJm[1][i];
+ invJm[1][i]=b[2]*invJm[0][i]-b[0]*invJm[2][i];
+ invJm[2][i]=-b[1]*invJm[0][i]+b[0]*d[i];
+ invJm[0][i]=b[i];
+ }
+ inverse(invJm,Jm);
+ printf("\n \r calculating tauc");
+ for(i=0;i<3;i++)
+ {
+ for(j=0;j<3;j++)
+ tauc[i]+=Jm[i][j]*bb[j]; // calculating torque values
+ printf(" %f \t",tauc[i]);
+ }
+ //..........................tauc to moment conversion..........................
+ printf("\n \r calculating moment");
+ for(i=0;i<3;i++)
+ bcopy[i]=b[i]*den;
+ for(i=0;i<3;i++)
+ {
+ moment[i]=bcopy[(i+1)%3]*tauc[(i+2)%3]-bcopy[(i+2)%3]*tauc[(i+1)%3];
+ moment[i]/=den;
+ printf(" %f \t",moment[i]);
+ }
+ printf("\n\r exited control algo\n");
+}
+//..........................function to find inverse..................
+void inverse(float mat[3][3],float inv[3][3])
+{
+ int i,j;
+ float det=0;
+ for(i=0;i<3;i++)
+ {
+ for(j=0;j<3;j++)
+ inv[j][i]=(mat[(i+1)%3][(j+1)%3]*mat[(i+2)%3][(j+2)%3])-(mat[(i+2)%3][(j+1)%3]*mat[(i+1)%3][(j+2)%3]);
+ }
+ det+=(mat[0][0]*inv[0][0])+(mat[0][1]*inv[1][0])+(mat[0][2]*inv[2][0]);
+ for(i=0;i<3;i++)
+ {
+ for(j=0;j<3;j++)
+ inv[i][j]/=det;
+ }
+}
+
+
+I2C i2c (PTC9,PTC8); //PTC9-sda,PTC8-scl for the attitude sensors and battery gauge
+
+void FCTN_ACS_INIT(void); //initialization of registers happens
+void FCTN_ATS_DATA_ACQ(); //data is obtained
+void T_OUT(); //timeout function to stop infinite loop
+Timeout to; //Timeout variable to
+int toFlag;
+
+int count =0; // Time for which the BAE uC is running (in seconds)
+void T_OUT()
+{
+ toFlag=0; //as T_OUT function gets called the while loop gets terminated
+}
+
+
+//DEFINING VARIABLES
+char cmd[2];
+char raw_gyro[6];
+char raw_mag[6];
+char store,status;
+int16_t bit_data;
+float gyro_data[3], mag_data[3],combined_values[6];
+float senstivity_gyro =6.5536; //senstivity is obtained from 2^15/5000dps
+float senstivity_mag =32.768; //senstivity is obtained from 2^15/1000microtesla
+float gyro_error[3]= {0,0,0}, mag_error[3]= {0,0,0};
+
+void FCTN_ACS_INIT()
+{
+ ACS_INIT_STATUS = 's'; //set ACS_INIT_STATUS flag
+ FLAG();
+ pc_acs.printf("Attitude sensor init called \n \r");
+ //FLAG();
+ cmd[0]=RESETREQ;
+ cmd[1]=BIT_RESREQ;
+ i2c.write(SLAVE_ADDR,cmd,2); //When 0x01 is written in reset request register Emulates a hard power down/power up
+ wait_ms(2000); //waiting for loading configuration file stored in EEPROM
+ cmd[0]=SENTRALSTATUS;
+ i2c.write(SLAVE_ADDR,cmd,1);
+ i2c.read(SLAVE_ADDR_READ,&store,1);
+ wait_ms(100);
+ //to check whether EEPROM is uploaded
+ switch((int)store) {
+ case(3): {
+ break;
+ }
+ case(11): {
+ break;
+ }
+ default: {
+ cmd[0]=RESETREQ;
+ cmd[1]=BIT_RESREQ;
+ i2c.write(SLAVE_ADDR,cmd,2);
+ wait_ms(2000);
+ }
+ }
+ pc_acs.printf("Sentral Status is %x\n \r",(int)store);
+ cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors
+ cmd[1]=BIT_RUN_ENB;
+ i2c.write(SLAVE_ADDR,cmd,2);
+ wait_ms(100);
+ cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer
+ cmd[1]=BIT_MAGODR;
+ i2c.write(SLAVE_ADDR,cmd,2);
+ wait_ms(100);
+ cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope
+ cmd[1]=BIT_GYROODR;
+ i2c.write(SLAVE_ADDR,cmd,2);
+ wait_ms(100);
+ cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values
+ cmd[1]=0x00;
+ i2c.write(SLAVE_ADDR,cmd,2);
+ wait_ms(100);
+ cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values
+ cmd[1]=BIT_EVT_ENB;
+ i2c.write(SLAVE_ADDR,cmd,2);
+ wait_ms(100);
+ ACS_INIT_STATUS = 'c'; //set ACS_INIT_STATUS flag
+}
+
+void FCTN_ATS_DATA_ACQ()
+{
+ ACS_DATA_ACQ_STATUS = 's'; //set ACS_DATA_ACQ_STATUS flag for att sens 2
+ if( ACS_ATS_ENABLE == 'e')
+ {
+ FLAG();
+ pc_acs.printf("attitude sensor execution called \n \r");
+ toFlag=1; //toFlag is set to 1 so that it enters while loop
+ to.attach(&T_OUT,2); //after 2 seconds the while loop gets terminated
+ while(toFlag) {
+ cmd[0]=EVT_STATUS;
+ i2c.write(SLAVE_ADDR,cmd,1);
+ i2c.read(SLAVE_ADDR_READ,&status,1);
+ wait_ms(100);
+ pc_acs.printf("Event Status is %x\n \r",(int)status);
+ //if the 6th and 4th bit are 1 then it implies that gyro and magnetometer values are ready to take
+ if(((int)status&40)==40) {
+ cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x
+ i2c.write(SLAVE_ADDR,cmd,1);
+ i2c.read(SLAVE_ADDR_READ,raw_gyro,6);
+ cmd[0]=MAG_XOUT_H; //LSB of x
+ i2c.write(SLAVE_ADDR,cmd,1);
+ i2c.read(SLAVE_ADDR_READ,raw_mag,6);
+ // pc_acs.printf("\nGyro Values:\n");
+ for(int i=0; i<3; i++) {
+ //concatenating gyro LSB and MSB to get 16 bit signed data values
+ bit_data= ((int16_t)raw_gyro[2*i+1]<<8)|(int16_t)raw_gyro[2*i];
+ gyro_data[i]=(float)bit_data;
+ gyro_data[i]=gyro_data[i]/senstivity_gyro;
+ gyro_data[i]+=gyro_error[i];
+ // pc_acs.printf("%f\t",gyro_data[i]);
+ }
+ // pc_acs.printf("\nMag Values:\n");
+ for(int i=0; i<3; i++) {
+ //concatenating mag LSB and MSB to get 16 bit signed data values
+ bit_data= ((int16_t)raw_mag[2*i+1]<<8)|(int16_t)raw_mag[2*i];
+ mag_data[i]=(float)bit_data;
+ mag_data[i]=mag_data[i]/senstivity_mag;
+ mag_data[i]+=mag_error[i];
+ // pc_acs.printf("%f\t",mag_data[i]);
+ }
+ for(int i=0; i<3; i++) {
+ data[i]=gyro_data[i];
+ data[i+3]=mag_data[i];
+ }
+ // return(combined_values); //returning poiter combined values
+ }
+ //checking for the error
+ else if (((int)status&2)==2) {
+ FCTN_ACS_INIT(); //when there is any error then Again inilization is done to remove error
+ }
+ }
+ }
+ else //ACS_DATA_ACQ_STATUS = ACS_DATA_ACQ_FAILURE
+ {
+ ACS_DATA_ACQ_STATUS = 'f';
+ }
+ ACS_DATA_ACQ_STATUS = 'c'; //clear ACS_DATA_ACQ_STATUS flag for att sens 2
+}
+
+void FCTN_ACS_GENPWM_MAIN(float Moment[3])
+{
+ printf("\n\rEntered executable PWMGEN function\n"); // entering the PWMGEN executable function
+
+ float l_duty_cycle_x=0; //Duty cycle of Moment in x direction
+ float l_current_x=0; //Current sent in x TR's
+ float l_duty_cycle_y=0; //Duty cycle of Moment in y direction
+ float l_current_y=0; //Current sent in y TR's
+ float l_duty_cycle_z=0; //Duty cycle of Moment in z direction
+ float l_current_z=0; //Current sent in z TR's
+
+
+ for(int i = 0 ; i<3;i++)
+ {
+ // printf(" %f \t ",Moment[i]); // taking the moment values from control algorithm as inputs
+ }
+
+ //----------------------------- x-direction TR --------------------------------------------//
+
+
+ float l_moment_x = Moment[0]; //Moment in x direction
+
+ phase_TR_x = 1; // setting the default current direction
+ if (l_moment_x <0)
+ {
+ phase_TR_x = 0; // if the moment value is negative, we send the abs value of corresponding current in opposite direction by setting the phase pin high
+ l_moment_x = abs(l_moment_x);
+ }
+
+ l_current_x = l_moment_x * TR_CONSTANT ; //Moment and Current always have the linear relationship
+ pc_acs.printf("current in trx is %f \r \n",l_current_x);
+ if( l_current_x>0 && l_current_x < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100%
+ {
+ l_duty_cycle_x = 6*1000000*pow(l_current_x,4) - 377291*pow(l_current_x,3) + 4689.6*pow(l_current_x,2) + 149.19*l_current_x - 0.0008; // calculating upto 0.1% dutycycle by polynomial interpolation
+ pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x);
+ PWM1.period(TIME_PERIOD);
+ PWM1 = l_duty_cycle_x/100 ;
+ }
+ else if( l_current_x >= 0.006 && l_current_x < 0.0116)
+ {
+ l_duty_cycle_x = 1*100000000*pow(l_current_x,4) - 5*1000000*pow(l_current_x,3) + 62603*pow(l_current_x,2) - 199.29*l_current_x + 0.7648;// calculating upto 1% dutycycle by polynomial interpolation
+ pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x);
+ PWM1.period(TIME_PERIOD);
+ PWM1 = l_duty_cycle_x/100 ;
+ }
+ else if (l_current_x >= 0.0116 && l_current_x < 0.0624)
+ {
+ l_duty_cycle_x = 212444*pow(l_current_x,4) - 33244*pow(l_current_x,3) + 1778.4*pow(l_current_x,2) + 120.91*l_current_x + 0.3878; // calculating upto 10% dutycycle by polynomial interpolation
+ pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x);
+ PWM1.period(TIME_PERIOD);
+ PWM1 = l_duty_cycle_x/100 ;
+ }
+ else if(l_current_x >= 0.0624 && l_current_x < 0.555)
+ {
+ l_duty_cycle_x = 331.15*pow(l_current_x,4) - 368.09*pow(l_current_x,3) + 140.43*pow(l_current_x,2) + 158.59*l_current_x + 0.0338; // calculating upto 100% dutycycle by polynomial interpolation
+ pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x);
+ PWM1.period(TIME_PERIOD);
+ PWM1 = l_duty_cycle_x/100 ;
+ }
+ else if(l_current_x==0)
+ {
+ printf("\n \r l_current_x====0");
+ l_duty_cycle_x = 0; // default value of duty cycle
+ pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x);
+ PWM1.period(TIME_PERIOD);
+ PWM1 = l_duty_cycle_x/100 ;
+ }
+ else //not necessary
+ {
+ g_err_flag_TR_x = 1;
+ }
+
+ //------------------------------------- y-direction TR--------------------------------------//
+
+
+ float l_moment_y = Moment[1]; //Moment in y direction
+
+ phase_TR_y = 1; // setting the default current direction
+ if (l_moment_y <0)
+ {
+ phase_TR_y = 0; //if the moment value is negative, we send the abs value of corresponding current in opposite direction by setting the phase pin high
+ l_moment_y = abs(l_moment_y);
+ }
+
+
+ l_current_y = l_moment_y * TR_CONSTANT ; //Moment and Current always have the linear relationship
+ pc_acs.printf("current in try is %f \r \n",l_current_y);
+ if( l_current_y>0 && l_current_y < 0.006 )//Current and Duty cycle have the linear relationship between 1% and 100%
+ {
+ l_duty_cycle_y = 6*1000000*pow(l_current_y,4) - 377291*pow(l_current_y,3) + 4689.6*pow(l_current_y,2) + 149.19*l_current_y - 0.0008; // calculating upto 0.1% dutycycle by polynomial interpolation
+ pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y);
+ PWM2.period(TIME_PERIOD);
+ PWM2 = l_duty_cycle_y/100 ;
+ }
+ else if( l_current_y >= 0.006 && l_current_y < 0.0116)
+ {
+ l_duty_cycle_y = 1*100000000*pow(l_current_y,4) - 5*1000000*pow(l_current_y,3) + 62603*pow(l_current_y,2) - 199.29*l_current_y + 0.7648;// calculating upto 1% dutycycle by polynomial interpolation
+ pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y);
+ PWM2.period(TIME_PERIOD);
+ PWM2 = l_duty_cycle_y/100 ;
+ }
+ else if (l_current_y >= 0.0116&& l_current_y < 0.0624)
+ {
+ l_duty_cycle_y = 212444*pow(l_current_y,4) - 33244*pow(l_current_y,3) + 1778.4*pow(l_current_y,2) + 120.91*l_current_y + 0.3878;// calculating upto 10% dutycycle by polynomial interpolation
+ pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y);
+ PWM2.period(TIME_PERIOD);
+ PWM2 = l_duty_cycle_y/100 ;
+ }
+ else if(l_current_y >= 0.0624 && l_current_y < 0.555)
+ {
+ l_duty_cycle_y = 331.15*pow(l_current_y,4) - 368.09*pow(l_current_y,3) + 140.43*pow(l_current_y,2) + 158.59*l_current_y + 0.0338;// calculating upto 100% dutycycle by polynomial interpolation
+ pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y);
+ PWM2.period(TIME_PERIOD);
+ PWM2 = l_duty_cycle_y/100 ;
+ }
+ else if(l_current_y==0)
+ {
+ printf("\n \r l_current_y====0");
+ l_duty_cycle_y = 0; // default value of duty cycle
+ pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y);
+ PWM2.period(TIME_PERIOD);
+ PWM2 = l_duty_cycle_y/100 ;
+ }
+ else // not necessary
+ {
+ g_err_flag_TR_y = 1;
+ }
+
+ //----------------------------------------------- z-direction TR -------------------------//
+
+
+ float l_moment_z = Moment[2]; //Moment in z direction
+
+ phase_TR_z = 1; // setting the default current direction
+ if (l_moment_z <0)
+ {
+ phase_TR_z = 0; //if the moment value is negative, we send the abs value of corresponding current in opposite direction by setting the phase pin high
+ l_moment_z = abs(l_moment_z);
+ }
+
+
+ l_current_z = l_moment_z * TR_CONSTANT ; //Moment and Current always have the linear relationship
+ pc_acs.printf("current in trz is %f \r \n",l_current_z);
+ if( l_current_z>0 && l_current_z < 0.006 )//Current and Duty cycle have the linear relationship between 1% and 100%
+ {
+ l_duty_cycle_z = 6*1000000*pow(l_current_z,4) - 377291*pow(l_current_z,3) + 4689.6*pow(l_current_z,2) + 149.19*l_current_z - 0.0008;// calculating upto 0.1% dutycycle by polynomial interpolation
+ pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z);
+ PWM3.period(TIME_PERIOD);
+ PWM3 = l_duty_cycle_z/100 ;
+ }
+ else if( l_current_z >= 0.006 && l_current_z < 0.0116)
+ {
+ l_duty_cycle_z = 1*100000000*pow(l_current_z,4) - 5*1000000*pow(l_current_z,3) + 62603*pow(l_current_z,2) - 199.29*l_current_z + 0.7648;// calculating upto 1% dutycycle by polynomial interpolation
+ pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z);
+ PWM3.period(TIME_PERIOD);
+ PWM3 = l_duty_cycle_z/100 ;
+ }
+ else if (l_current_z >= 0.0116 && l_current_z < 0.0624)
+ {
+ l_duty_cycle_z = 212444*pow(l_current_z,4) - 33244*pow(l_current_z,3) + 1778.4*pow(l_current_z,2) + 120.91*l_current_z + 0.3878;// calculating upto 10% dutycycle by polynomial interpolation
+ pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z);
+ PWM3.period(TIME_PERIOD);
+ PWM3 = l_duty_cycle_z/100 ;
+ }
+ else if(l_current_z >= 0.0624 && l_current_z < 0.555)
+ {
+ l_duty_cycle_z = 331.15*pow(l_current_z,4) - 368.09*pow(l_current_z,3) + 140.43*pow(l_current_z,2) + 158.59*l_current_z + 0.0338;// calculating upto 100% dutycycle by polynomial interpolation
+ pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z);
+ PWM3.period(TIME_PERIOD);
+ PWM3 = l_duty_cycle_z/100 ;
+ }
+ else if(l_current_z==0)
+ {
+ printf("\n \r l_current_z====0");
+ l_duty_cycle_z = 0; // default value of duty cycle
+ pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z);
+ PWM3.period(TIME_PERIOD);
+ PWM3 = l_duty_cycle_z/100 ;
+ }
+ else // not necessary
+ {
+ g_err_flag_TR_z = 1;
+ }
+
+ //-----------------------------------------exiting the function-----------------------------------//
+
+ printf("\n\rExited executable PWMGEN function\n\r"); // stating the successful exit of TR function
+
+}
+
+
+
\ No newline at end of file
diff -r 000000000000 -r 913c9e982740 ACS.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ACS.h Tue Nov 03 14:46:51 2015 +0000 @@ -0,0 +1,19 @@ +#include "mbed.h" +#include "math.h" +#include "pni.h" + +//........................................... +#define TIME_PERIOD 0.02 +#define TR_CONSTANT 0.3 + +void FCTN_ACS_GENPWM_MAIN(float*); +void FCTN_ACS_CNTRLALGO(float*,float*); +void inverse(float mat[3][3],float inv[3][3]); +extern void FLAG(); + +void FCTN_ATS_SWITCH(bool); +void FCTN_ACS_INIT(); //initialization of registers happens +//void FCTN_ATS_DATA_ACQ(float*,float*); // main function: checks errors, gets data, switches on/off the sensor +//void FCTN_GET_DATA(float*,float*); //data is obtained +void FCTN_T_OUT(); //timeout function to stop infinite loop +void FCTN_ATS_DATA_ACQ();
diff -r 000000000000 -r 913c9e982740 BCN.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/BCN.cpp Tue Nov 03 14:46:51 2015 +0000
@@ -0,0 +1,403 @@
+#include "BCN.h"
+#include <stdio.h>
+#include "pin_config.h"
+
+Serial pc_bcn(USBTX, USBRX); //tx,rx
+SPI spi(PIN16, PIN17, PIN15); // mosi, miso, sclk
+DigitalOut cs(PIN6); //slave select or chip select
+Timer t;
+Timer t_i;
+Ticker loop;
+
+
+//GLOBAL VARIABLES
+uint8_t BCN_INIT_STATUS;
+uint8_t BCN_TX_MAIN_STATUS;
+uint8_t BCN_TX_STATUS;
+uint8_t BCN_TX_EN = 1; //hardcoding for now //check where is this variable toggled??
+uint8_t BCN_FEN = 1; //write this to non-erasable memory.
+uint8_t BCN_STANDBY = 0; //hardcoding for now //check where is this variable toggled??
+uint8_t BCN_TS_BUFFER; // For Temperature
+
+
+void P_BCN_INIT()
+{
+ pc_bcn.printf("P_BCN_INIT\n");
+ BCN_INIT_STATUS = 1;
+ Init_BEACON_HW();
+ if (BCN_FEN == 0)
+ t.start();//Start the timer for RF_Silence
+ BCN_INIT_STATUS = 0;
+}
+void P_BCN_FEN()
+{
+ pc_bcn.printf("P_FEN\n");
+ BCN_FEN = 1;//write this value to flash
+}
+void P_BCN_TX_MAIN()
+{
+ pc_bcn.printf("P_BCN_TX_MAIN\n");
+ BCN_TX_MAIN_STATUS = 1;
+
+ if(BCN_FEN == 1)
+ {
+ if(BCN_TX_EN == 1)
+ {
+ //Measure and store BCN temperature in BCN_TS_BUFFER
+ BCN_TS_BUFFER = check_Temperature();
+ pc_bcn.printf("\n\ntemperature = %d\n\n",BCN_TS_BUFFER);
+ //Get BCN_HK data from BCN HW(SPI) //Store BCN_HK data in BCN_HK_BUFFER
+ if(BCN_STANDBY == 1 )
+ {
+ Set_BCN_TX_STATUS(BCN_TX_STANDBY);
+ BCN_TX_MAIN_STATUS = 0;
+
+ // break;
+ }
+ else
+ {
+ //transmit short beacon and long beacon
+ t_i.start();
+ int begin = t_i.read_us();
+ SHORT_BCN_TX();
+ LONG_BCN_TX();
+ t_i.stop();
+ int end = t_i.read_us();
+ pc_bcn.printf("The time required for short and long is %d seconds\r\n", end-begin);
+
+ if(Check_ACK_RECEIVED() == 1)
+ {
+ Set_BCN_TX_STATUS(BCN_TX_SUCCESS);
+ BCN_TX_MAIN_STATUS = 0;
+ }
+ else
+ {
+ Set_BCN_TX_STATUS(BCN_TX_FAILURE);
+ BCN_TX_MAIN_STATUS = 0;
+
+ }
+ }
+ }
+ else
+ {
+ Set_BCN_TX_STATUS(BCN_TX_DISABLED);
+ BCN_TX_MAIN_STATUS = 0;
+ }
+ }
+ else
+ {
+ Set_BCN_TX_STATUS(BCN_RF_SILENCE); //Window of RF Silence: None of the Txs should be on.
+ BCN_TX_MAIN_STATUS = 0;
+ }
+}
+
+void Set_BCN_TX_STATUS(uint8_t STATUS)
+{
+ BCN_TX_STATUS = STATUS;
+}
+
+uint8_t check_Temperature()
+{
+ uint8_t temperature;
+ writereg(RF22_REG_0F_ADC_CONFIGURATION,0x80);
+ writereg(RF22_REG_12_Temperature_Sensor_Calibration,0x20);
+ wait(1);
+ temperature = readreg(RF22_REG_11_ADC_Value);
+ temperature = (float)temperature*0.5 - 64;
+ return temperature;
+}
+
+void SHORT_BCN_TX()
+{
+ writereg(RF22_REG_6E_TX_DATA_RATE,0x01);
+ writereg(RF22_REG_6F_TX_DATA_RATE,0x4F);//160bps
+ writereg(RF22_REG_3E_PACKET_LENGTH,SHORT_TX_DATA); //short packet length
+ /*
+ init();
+ //init complete
+ pc_bcn.printf("init complete.....press t to send\n");
+ while(pc_bcn.getc()=='t')
+ { */
+ //button.rise(&interrupt_func); //interrupt enabled ( rising edge of pin 9)
+ wait(0.02); // pl. update this value or even avoid it!!!
+ int i=0;
+ //extract values from short_beacon[]
+ struct Short_beacon
+ {
+ uint8_t Voltage[1];
+ uint8_t AngularSpeed[2];
+ uint8_t SubsystemStatus[1];
+ uint8_t Temp[3];
+ uint8_t ErrorFlag[1];
+ }Shortbeacon = { {0x88}, {0x99, 0xAA} , {0xAA},{0xAA,0xDD,0xEE}, {0x00} };
+
+ //filling hk data
+ //uint8_t short_beacon[] = { 0xAB, 0x8A, 0xE2, 0xBB, 0xB8, 0xA2, 0x8E,Shortbeacon.Voltage[0],Shortbeacon.AngularSpeed[0], Shortbeacon.AngularSpeed[1],Shortbeacon.SubsystemStatus[0],Shortbeacon.Temp[0],Shortbeacon.Temp[1],Shortbeacon.Temp[2],Shortbeacon.ErrorFlag[0]};
+ uint8_t short_beacon[] = { 0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77,Shortbeacon.Voltage[0],Shortbeacon.AngularSpeed[0], Shortbeacon.AngularSpeed[1],Shortbeacon.SubsystemStatus[0],Shortbeacon.Temp[0],Shortbeacon.Temp[1],Shortbeacon.Temp[2],Shortbeacon.ErrorFlag[0]};
+
+ //uint8_t short_beacon[15];
+// for(int i = 0;i<15;i++)
+// {
+// short_beacon[i] = 0xAA;
+// }
+
+ //writereg(RF22_REG_07_OPERATING_MODE1,0x01); //ready mode ??
+ clearTxBuf();
+ //writing data first time
+ int byte = 0;
+ cs = 0;
+ spi.write(0xFF);
+ pc_bcn.printf("line 151");
+ for (int byte_counter = 0; byte_counter <15 ; byte_counter++)
+ {
+ for(int j = 3; j >= 0 ; j--)
+ {
+ if((short_beacon[byte_counter] & (uint8_t) pow(2.0,(j*2+1)))!= pow(2.0,(j*2+1)))
+ {
+ byte=0x00;
+ }
+ else
+ {
+ byte=0xF0;
+ }
+ if((short_beacon[byte_counter] & (uint8_t) pow(2.0,j*2))!= pow(2.0,j*2))
+ {
+ byte=byte | 0x00;
+ }
+ else
+ {
+ byte=byte | 0x0F;
+ }
+ spi.write(byte);
+ }
+ }
+
+ cs = 1;
+ pc_bcn.printf("line 177\n");
+ //Set to Tx mode
+ writereg(RF22_REG_07_OPERATING_MODE1,0x09);
+
+ //Check for fifoThresh
+ while((readreg(RF22_REG_03_INTERRUPT_STATUS1) & 0x20) != 0x20);
+ //pc_bcn.printf("fifothresh1?\n");
+ pc_bcn.printf("line 184\n");
+ //rf22.waitPacketSent();
+ while((readreg(RF22_REG_03_INTERRUPT_STATUS1) & 0x04) != 0x04);
+ //pc_bcn.printf(" chk pkt sent!\r\n");
+ pc_bcn.printf("Short packet sent\r\n");
+
+ writereg(RF22_REG_07_OPERATING_MODE1,0x00); //standby mode
+
+}
+void LONG_BCN_TX()
+{
+ writereg(RF22_REG_6E_TX_DATA_RATE,0x04);
+ writereg(RF22_REG_6F_TX_DATA_RATE,0xEA);//600 bps
+ writereg(RF22_REG_3E_PACKET_LENGTH,LONG_TX_DATA); //long packet length
+ wait(0.02);
+
+
+ //get long_beacon array
+
+ uint8_t Long_beacon[75];
+ for(int i = 0;i<75;i++)
+ {
+ Long_beacon[i] = 0xA0;
+ }
+
+
+
+
+ //setModeIdle();
+ writereg(RF22_REG_07_OPERATING_MODE1,0x01); //ready mode
+ clearTxBuf();
+ //writing data first time
+ cs = 0;
+ spi.write(0xFF);
+ for(int i=0; i<60;i++)
+ {
+ spi.write(Long_beacon[i]);
+ }
+ cs = 1;
+
+ //Set to Tx mode
+ writereg(RF22_REG_07_OPERATING_MODE1,0x09);
+
+ //Check for fifoThresh
+ while((readreg(RF22_REG_03_INTERRUPT_STATUS1) & 0x20) != 0x20);
+
+ cs = 0;
+ spi.write(0xFF);
+ for(int i=60; i<75;i++)
+ {
+ spi.write(Long_beacon[i]);
+ }
+ cs = 1;
+ wait(0.01);
+ //Check for fifoThresh
+ while((readreg(RF22_REG_03_INTERRUPT_STATUS1) & 0x20) != 0x20);
+
+ //Check for packetsent interrupt
+ while((readreg(RF22_REG_03_INTERRUPT_STATUS1) & 0x04) != 0x04);
+
+ pc_bcn.printf("Long packet sent\r\n");
+
+ writereg(RF22_REG_07_OPERATING_MODE1,0x00); //standby mode
+}
+void reset_uC()
+{
+ P_BCN_INIT();
+}
+void writereg(uint8_t reg,uint8_t val)
+{
+ uint8_t count = 0;
+ for(;;count++)
+ {
+ int read_val =0; cs = 0;spi.write(reg | 0x80);spi.write(val);cs = 1;
+ if(reg != 0x7 && reg != 0x58 && reg != 0xF)
+ {
+ read_val = readreg(reg);
+ if (read_val == val)
+ {
+ break;
+ }
+ else if(count == 5)
+ {
+ reset_uC(), printf("reg = 0x%X\n",reg);break;
+ }
+ }
+ else
+ break;
+ }
+}
+uint8_t readreg(uint8_t reg)
+{
+ uint8_t val;cs = 0;spi.write(reg & ~0x80);val = spi.write(0);cs = 1;return val;
+}
+void clearTxBuf()
+{
+ writereg(RF22_REG_08_OPERATING_MODE2,0x01);
+ writereg(RF22_REG_08_OPERATING_MODE2,0x00);
+}
+uint8_t setFrequency(double centre,float afcPullInRange)
+{
+ uint8_t fbsel = 0x40;
+ uint8_t afclimiter;
+ if (centre >= 480.0) {
+ centre /= 2;
+ fbsel |= 0x20;
+ afclimiter = afcPullInRange * 1000000.0 / 1250.0;
+ } else {
+ if (afcPullInRange < 0.0 || afcPullInRange > 0.159375)
+ return false;
+ afclimiter = afcPullInRange * 1000000.0 / 625.0;
+ }
+ centre /= 10.0;
+ double integerPart = floor(centre);
+ double fractionalPart = centre - integerPart;
+
+ uint8_t fb = (uint8_t)integerPart - 24; // Range 0 to 23
+ fbsel |= fb;
+ uint16_t fc = fractionalPart * 64000;
+ writereg(RF22_REG_73_FREQUENCY_OFFSET1, 0); // REVISIT
+ writereg(RF22_REG_74_FREQUENCY_OFFSET2, 0);
+ writereg(RF22_REG_75_FREQUENCY_BAND_SELECT, fbsel);
+ writereg(RF22_REG_76_NOMINAL_CARRIER_FREQUENCY1, fc >> 8);
+ writereg(RF22_REG_77_NOMINAL_CARRIER_FREQUENCY0, fc & 0xff);
+ writereg(RF22_REG_2A_AFC_LIMITER, afclimiter);
+ return 0;
+}
+
+
+void Init_BEACON_HW()
+{
+ cs=1; // chip must be deselected
+ spi.format(8,0);
+ spi.frequency(10000000); //10MHz SCLK
+
+ //should either have a flag for invalid SPI or discard this for actual case or add reset
+ if (readreg(RF22_REG_00_DEVICE_TYPE) == 0x08)
+ pc_bcn.printf("spi connection valid\r\n");
+ else
+ {pc_bcn.printf("error in spi connection\r\n");
+ reset_uC();
+ }
+
+ writereg(RF22_REG_07_OPERATING_MODE1,0x80); //sw_reset
+ wait(1); //takes time to reset
+
+ clearTxBuf();
+
+ writereg(RF22_REG_07_OPERATING_MODE1,0x00); //standby mode
+
+ //txfifoalmostempty
+ writereg(RF22_REG_7D_TX_FIFO_CONTROL2,30);
+
+ //Packet-engine registers
+ writereg(RF22_REG_30_DATA_ACCESS_CONTROL,0x00);
+
+ writereg(RF22_REG_33_HEADER_CONTROL2,0x08);
+ writereg(RF22_REG_34_PREAMBLE_LENGTH,0x00);
+
+ writereg(RF22_REG_0B_GPIO_CONFIGURATION0,0x15); // TX state
+ writereg(RF22_REG_0C_GPIO_CONFIGURATION1,0x12); // RX state
+
+ setFrequency(435.0,05);
+
+ if((readreg(RF22_REG_02_DEVICE_STATUS)& 0x08)!= 0x00)
+ {
+ //pc_bcn.printf("frequency not set properly\r\n");
+ reset_uC();
+ }
+
+ //set Modem Configuration
+ writereg(RF22_REG_1C_IF_FILTER_BANDWIDTH,0xdf);
+ writereg(RF22_REG_1F_CLOCK_RECOVERY_GEARSHIFT_OVERRIDE,0x03);
+ writereg(RF22_REG_20_CLOCK_RECOVERY_OVERSAMPLING_RATE,0x39);
+ writereg(RF22_REG_21_CLOCK_RECOVERY_OFFSET2,0x20);
+ writereg(RF22_REG_22_CLOCK_RECOVERY_OFFSET1,0x68); //updated 20 to 25 reg values from excel sheet for 1.2 Khz freq. deviation,fsk
+ writereg(RF22_REG_23_CLOCK_RECOVERY_OFFSET0,0xdc);
+ writereg(RF22_REG_24_CLOCK_RECOVERY_TIMING_LOOP_GAIN1,0x00);
+ writereg(RF22_REG_25_CLOCK_RECOVERY_TIMING_LOOP_GAIN0,0x6B);
+ writereg(RF22_REG_2C_OOK_COUNTER_VALUE_1,0x2C);
+ writereg(RF22_REG_2D_OOK_COUNTER_VALUE_2,0x11); //not required for fsk (OOK counter value)
+ writereg(RF22_REG_2E_SLICER_PEAK_HOLD,0x2A); //??
+ writereg(RF22_REG_58,0x80);
+ writereg(RF22_REG_69_AGC_OVERRIDE1,0x60);
+
+ //Data rate set later
+
+ writereg(RF22_REG_70_MODULATION_CONTROL1,0x20);
+ writereg(RF22_REG_71_MODULATION_CONTROL2,0x21);//ook = 0x21
+
+ //set tx power
+ writereg(RF22_REG_6D_TX_POWER,0x07); //20dbm
+
+ //TX_packet_length written later
+}
+bool Check_ACK_RECEIVED()
+{
+ if((readreg(RF22_REG_03_INTERRUPT_STATUS1) & 0x04) == 0x04)
+ {
+ printf("Packet sent: ACK received\r\n");
+ return 1;
+ }
+ else
+ {
+ pc_bcn.printf("Packet not sent\r\n");
+ return 0;
+ }
+}
+/*int main()
+{
+ P_BCN_INIT();
+
+ loop.attach(&P_BCN_TX_MAIN, 10.0);
+
+ while(t.read() < RF_SILENCE_TIME);
+
+ P_BCN_FEN();
+
+ while(1);
+
+}*/
\ No newline at end of file
diff -r 000000000000 -r 913c9e982740 BCN.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BCN.h Tue Nov 03 14:46:51 2015 +0000 @@ -0,0 +1,127 @@ +#include "mbed.h" + +//STATES +#define BCN_RF_SILENCE 0 +#define BCN_TX_DISABLED 1 +#define BCN_TX_STANDBY 2 +#define BCN_TX_FAILURE 3 +#define BCN_TX_SUCCESS 4 + +//Size of tx data +#define SHORT_TX_DATA 60 //in bytes +#define LONG_TX_DATA 75 //in bytes + +//#define RF_SILENCE_TIME 5 //in seconds +#define RF_SILENCE_TIME 10 + +//FUNCTION PROTOTYPING +void P_BCN_INIT(); +void P_BCN_FEN(); +void P_BCN_TX_MAIN(); +void Set_BCN_TX_STATUS(uint8_t); +uint8_t check_Temperature(); +void SHORT_BCN_TX(); +void LONG_BCN_TX(); +void Init_BEACON_HW(); +void writereg(uint8_t,uint8_t); +uint8_t readreg(uint8_t); +void clearTxBuf(); +uint8_t setFrequency(double,float); +bool Check_ACK_RECEIVED(); +void reset_uC(); + +#define RF22_MAX_MESSAGE_LEN 255 + +//These values we set for FIFO thresholds +#define RF22_TXFFAEM_THRESHOLD 40 + +//Registers +#define RF22_REG_00_DEVICE_TYPE 0x00 +#define RF22_REG_02_DEVICE_STATUS 0x02 +#define RF22_REG_03_INTERRUPT_STATUS1 0x03 +#define RF22_REG_04_INTERRUPT_STATUS2 0x04 +#define RF22_REG_07_OPERATING_MODE1 0x07 +#define RF22_REG_08_OPERATING_MODE2 0x08 +#define RF22_REG_09_OSCILLATOR_LOAD_CAPACITANCE 0x09 +#define RF22_REG_0B_GPIO_CONFIGURATION0 0x0b +#define RF22_REG_0C_GPIO_CONFIGURATION1 0x0c +#define RF22_REG_0D_GPIO_CONFIGURATION2 0x0d +#define RF22_REG_0F_ADC_CONFIGURATION 0x0f +#define RF22_REG_11_ADC_Value 0x11 +#define RF22_REG_12_Temperature_Sensor_Calibration 0x12 +#define RF22_REG_1C_IF_FILTER_BANDWIDTH 0x1c +#define RF22_REG_1F_CLOCK_RECOVERY_GEARSHIFT_OVERRIDE 0x1f +#define RF22_REG_20_CLOCK_RECOVERY_OVERSAMPLING_RATE 0x20 +#define RF22_REG_21_CLOCK_RECOVERY_OFFSET2 0x21 +#define RF22_REG_22_CLOCK_RECOVERY_OFFSET1 0x22 +#define RF22_REG_23_CLOCK_RECOVERY_OFFSET0 0x23 +#define RF22_REG_24_CLOCK_RECOVERY_TIMING_LOOP_GAIN1 0x24 +#define RF22_REG_25_CLOCK_RECOVERY_TIMING_LOOP_GAIN0 0x25 +#define RF22_REG_26_RSSI 0x26 +#define RF22_REG_27_RSSI_THRESHOLD 0x27 +#define RF22_REG_28_ANTENNA_DIVERSITY1 0x28 +#define RF22_REG_29_ANTENNA_DIVERSITY2 0x29 +#define RF22_REG_2A_AFC_LIMITER 0x2a +#define RF22_REG_2B_AFC_CORRECTION_READ 0x2b +#define RF22_REG_2C_OOK_COUNTER_VALUE_1 0x2c +#define RF22_REG_2D_OOK_COUNTER_VALUE_2 0x2d +#define RF22_REG_2E_SLICER_PEAK_HOLD 0x2e +#define RF22_REG_30_DATA_ACCESS_CONTROL 0x30 +#define RF22_REG_31_EZMAC_STATUS 0x31 +#define RF22_REG_32_HEADER_CONTROL1 0x32 +#define RF22_REG_33_HEADER_CONTROL2 0x33 +#define RF22_REG_34_PREAMBLE_LENGTH 0x34 +#define RF22_REG_35_PREAMBLE_DETECTION_CONTROL1 0x35 +#define RF22_REG_36_SYNC_WORD3 0x36 +#define RF22_REG_37_SYNC_WORD2 0x37 +#define RF22_REG_38_SYNC_WORD1 0x38 +#define RF22_REG_39_SYNC_WORD0 0x39 +#define RF22_REG_3A_TRANSMIT_HEADER3 0x3a +#define RF22_REG_3B_TRANSMIT_HEADER2 0x3b +#define RF22_REG_3C_TRANSMIT_HEADER1 0x3c +#define RF22_REG_3D_TRANSMIT_HEADER0 0x3d +#define RF22_REG_3E_PACKET_LENGTH 0x3e +#define RF22_REG_3F_CHECK_HEADER3 0x3f +#define RF22_REG_40_CHECK_HEADER2 0x40 +#define RF22_REG_41_CHECK_HEADER1 0x41 +#define RF22_REG_42_CHECK_HEADER0 0x42 +#define RF22_REG_43_HEADER_ENABLE3 0x43 +#define RF22_REG_44_HEADER_ENABLE2 0x44 +#define RF22_REG_45_HEADER_ENABLE1 0x45 +#define RF22_REG_46_HEADER_ENABLE0 0x46 +#define RF22_REG_47_RECEIVED_HEADER3 0x47 +#define RF22_REG_48_RECEIVED_HEADER2 0x48 +#define RF22_REG_49_RECEIVED_HEADER1 0x49 +#define RF22_REG_4A_RECEIVED_HEADER0 0x4a +#define RF22_REG_4B_RECEIVED_PACKET_LENGTH 0x4b +#define RF22_REG_58 0x58 +#define RF22_REG_60_CHANNEL_FILTER_COEFFICIENT_ADDRESS 0x60 +#define RF22_REG_61_CHANNEL_FILTER_COEFFICIENT_VALUE 0x61 +#define RF22_REG_62_CRYSTAL_OSCILLATOR_POR_CONTROL 0x62 +#define RF22_REG_63_RC_OSCILLATOR_COARSE_CALIBRATION 0x63 +#define RF22_REG_64_RC_OSCILLATOR_FINE_CALIBRATION 0x64 +#define RF22_REG_65_LDO_CONTROL_OVERRIDE 0x65 +#define RF22_REG_66_LDO_LEVEL_SETTINGS 0x66 +#define RF22_REG_67_DELTA_SIGMA_ADC_TUNING1 0x67 +#define RF22_REG_68_DELTA_SIGMA_ADC_TUNING2 0x68 +#define RF22_REG_69_AGC_OVERRIDE1 0x69 +#define RF22_REG_6A_AGC_OVERRIDE2 0x6a +#define RF22_REG_6B_GFSK_FIR_FILTER_COEFFICIENT_ADDRESS 0x6b +#define RF22_REG_6C_GFSK_FIR_FILTER_COEFFICIENT_VALUE 0x6c +#define RF22_REG_6D_TX_POWER 0x6d +#define RF22_REG_6E_TX_DATA_RATE 0x6e +#define RF22_REG_6F_TX_DATA_RATE 0x6f +#define RF22_REG_70_MODULATION_CONTROL1 0x70 +#define RF22_REG_71_MODULATION_CONTROL2 0x71 +#define RF22_REG_72_FREQUENCY_DEVIATION 0x72 +#define RF22_REG_73_FREQUENCY_OFFSET1 0x73 +#define RF22_REG_74_FREQUENCY_OFFSET2 0x74 +#define RF22_REG_75_FREQUENCY_BAND_SELECT 0x75 +#define RF22_REG_76_NOMINAL_CARRIER_FREQUENCY1 0x76 +#define RF22_REG_77_NOMINAL_CARRIER_FREQUENCY0 0x77 +#define RF22_REG_79_FREQUENCY_HOPPING_CHANNEL_SELECT 0x79 +#define RF22_REG_7A_FREQUENCY_HOPPING_STEP_SIZE 0x7a +#define RF22_REG_7C_TX_FIFO_CONTROL1 0x7c +#define RF22_REG_7D_TX_FIFO_CONTROL2 0x7d +#define RF22_REG_7E_RX_FIFO_CONTROL 0x7e +#define RF22_REG_7F_FIFO_ACCESS 0x7f \ No newline at end of file
diff -r 000000000000 -r 913c9e982740 EPS.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/EPS.cpp Tue Nov 03 14:46:51 2015 +0000
@@ -0,0 +1,376 @@
+#include "EPS.h"
+#include "pin_config.h"
+/***********************************************global variable declaration***************************************************************/
+extern uint32_t BAE_STATUS;
+extern uint32_t BAE_ENABLE;
+extern char hk_data[25];
+const char RCOMP0= 0x97;
+SensorData Sensor;
+SensorDataQuantised SensorQuantised;
+ShortBeacy Shortbeacon;
+
+
+/***********************************************Configuring Peripherals*******************************************************************/
+Serial pc_eps(USBTX,USBRX);
+
+I2C BG_I2C(D14,D15); //i2c btwn bae and battery gauge
+DigitalOut SelectLinesA[] = {PIN43,PIN44,PIN45,PIN46}; //to mux1=>voltage mux , PTA 13-16 , CHNGE TO PIN43 LATER
+DigitalOut SelectLinesB[] = {PIN56,PIN57,PIN58,PIN59}; //to mux2=>current mux(differential mux) , PTB 3,7,8,9
+ //MSB is SelectLines[0],LSB is SelectLines[3]
+AnalogIn CurrentInput(PIN53); // output from Current Mux PTB0
+AnalogIn VoltageInput(PIN54); // output from Voltage Multiplexer PTB1
+AnalogIn Vbatt_ang(VBATT); //VBATT of battery gauge
+
+SPI BTemp_spi(PTD6,PTD7,PTD5); //MOSI,MISO,SLK
+DigitalOut BTemp_ssn1(PTD4); //Slave select1
+DigitalOut BTemp_ssn2(PTD2);//Slave select2
+DigitalOut BTemp_PS(PTB0);
+DigitalOut BTemp_HS(PTB1);
+
+DigitalOut TRXY(TRXY_DR_EN); //active high
+DigitalOut TRZ(TRZ_DR_EN); //active high
+DigitalOut EN3V3A(ENBL3V3A);
+DigitalOut EN_BTRY_HT(BATT_HEAT);
+//DigitalIn BTRY_HT_OUTPUT(BATT_HEAT_OUTPUT);
+
+//*********************************************************flags********************************************************//
+extern char EPS_INIT_STATUS ;
+extern char EPS_BATTERY_GAUGE_STATUS ;
+extern char EPS_MAIN_STATUS;
+extern char EPS_BATTERY_TEMP_STATUS ;
+extern char EPS_STATUS ;
+
+extern char EPS_BATTERY_HEAT_ENABLE ;
+
+//----------------------------------------------------EPS INIT---------------------------------------------------------------------------//
+void FCTN_EPS_INIT()
+{
+ printf("\n\r eps init \n");
+ EPS_INIT_STATUS = 's' ; //set EPS_INIT_STATUS flag
+ FLAG();
+ FCTN_EPS_BG_INIT();
+ FCTN_EPS_BTEMP_INIT();
+ EN3V3A = 1; //enable dc dc converter A
+ char value=BG_alertFlags();
+ unsigned short value_u= (short int )value;
+ value_u &=0x0001;
+ if(value_u ==0x0001) // battery gauge not initialised
+ {
+ Sensor.power_mode = 1;
+ Sensor.SOC = 80; //dummy
+ FCTN_EPS_POWERMODE(Sensor.SOC);
+ EPS_BATTERY_GAUGE_STATUS = 'c'; //clear EPS_BATTERY_GAUGE_STATUS
+ }
+ else
+ {
+ Sensor.SOC = BG_soc();
+ Sensor.SOC = 80; //dummy
+ Sensor.Vbatt = Vbatt_ang.read()*3.3;
+ FCTN_EPS_POWERMODE(Sensor.SOC);
+ EPS_BATTERY_GAUGE_STATUS = 's'; //set EPS_BATTERY_GAUGE_STATUS
+ }
+
+ EPS_INIT_STATUS = 'c' ; //clear EPS_INIT_STATUS flag
+
+}
+
+//---------------------------------------------battery Temp sensor code------------------------------------------------------------------//
+void FCTN_EPS_BTEMP_INIT()
+{
+ BTemp_ssn1=1;BTemp_ssn2=1;
+ BTemp_PS=0; //power switch control enable
+ BTemp_HS=0; //heater switch
+ BTemp_spi.format(8,3);
+ BTemp_spi.frequency(1000000);
+}
+
+//----------------------------------------------------Battery Gauge code-----------------------------------------------------------------//
+
+void FCTN_EPS_BG_INIT()
+{
+ BG_disableSleep();
+ BG_disableHibernate();
+ BG_socChangeAlertEnabled(true); //enabling alert on soc changing by 1%
+ BG_emptyAlertThreshold(32);//setting empty alert threshold to 32% soc
+ BG_vAlertMinMaxThreshold();//set min, max value of Valrt register
+ BG_vResetThresholdSet();//set threshold voltage for reset
+ BG_vResetAlertEnabled(true);//enable alert on reset for V < Vreset
+}
+
+unsigned short BG_readReg(char reg)
+{
+ //Create a temporary buffer
+ char buff[2] = {0,0};
+
+ //Select the register
+ BG_I2C.write(BG_ADDR, ®, 1, true);
+
+ //Read the 16-bit register
+ BG_I2C.read(BG_ADDR, buff, 2);
+
+ //Return the combined 16-bit value
+ return (buff[0] << 8) | buff[1];
+}
+
+void BG_writeReg(char reg, unsigned short data)
+{
+ //Create a temporary buffer
+ char buff[3];
+
+ //Load the register address and 16-bit data
+ buff[0] = reg;
+ buff[1] = data >> 8;
+ buff[2] = data;
+
+ //Write the data
+ BG_I2C.write(BG_ADDR, buff, 3);
+}
+
+
+
+// Command the MAX17049 to perform a power-on reset
+void BG_reset()
+{
+ //Write the POR command
+ BG_writeReg(REG_CMD, 0x5400);
+}
+
+// Command the MAX17049 to perform a QuickStart
+void BG_quickStart()
+{
+ //Read the current 16-bit register value
+ unsigned short value = BG_readReg(REG_MODE);
+
+ //Set the QuickStart bit
+ value |= (1 << 14);
+
+ //Write the value back out
+ BG_writeReg(REG_MODE, value);
+}
+
+
+//disable sleep
+void BG_disableSleep()
+{
+ unsigned short value = BG_readReg(REG_MODE);
+ value &= ~(1 << 13);
+ BG_writeReg(REG_MODE, value);
+}
+
+//disable the hibernate of the MAX17049
+void BG_disableHibernate()
+{
+ BG_writeReg(REG_HIBRT, 0x0000);
+}
+
+
+// Enable or disable the SOC 1% change alert on the MAX17049
+void BG_socChangeAlertEnabled(bool enabled)
+{
+ //Read the current 16-bit register value
+ unsigned short value = BG_readReg(REG_CONFIG);
+
+ //Set or clear the ALSC bit
+ if (enabled)
+ value |= (1 << 6);
+ else
+ value &= ~(1 << 6);
+
+ //Write the value back out
+ BG_writeReg(REG_CONFIG, value);
+}
+
+float BG_compensation()
+{
+ //Read the 16-bit register value
+ unsigned short value = BG_readReg(REG_CONFIG);
+
+ //Return only the upper byte
+ return (char)(value >> 8);
+}
+
+void BG_compensation(char rcomp)
+{
+ //Read the current 16-bit register value
+ unsigned short value = BG_readReg(REG_CONFIG);
+
+ //Update the register value
+ value &= 0x00FF;
+ value |= rcomp << 8;
+
+ //Write the value back out
+ BG_writeReg(REG_CONFIG, value);
+}
+
+
+void BG_tempCompensation(float temp)
+{
+ //Calculate the new RCOMP value
+ char rcomp;
+ if (temp > 20.0) {
+ rcomp = RCOMP0 + (temp - 20.0) * -0.5;
+ } else {
+ rcomp = RCOMP0 + (temp - 20.0) * -5.0;
+ }
+
+ //Update the RCOMP value
+ BG_compensation(rcomp);
+}
+
+// Determine whether or not the MAX17049 is asserting the ALRT pin
+bool BG_alerting()
+{
+ //Read the 16-bit register value
+ unsigned short value = BG_readReg(REG_CONFIG);
+
+ //Return the status of the ALRT bit
+ if (value & (1 << 5))
+ return true;
+ else
+ return false;
+}
+
+// Command the MAX17049 to de-assert the ALRT pin
+void BG_clearAlert()
+{
+ //Read the current 16-bit register value
+ unsigned short value = BG_readReg(REG_CONFIG);
+
+ //Clear the ALRT bit
+ value &= ~(1 << 5);
+
+ //Write the value back out
+ BG_writeReg(REG_CONFIG, value);
+}
+
+
+//Set the SOC empty alert threshold of the MAX17049
+void BG_emptyAlertThreshold(char threshold)
+{
+ //Read the current 16-bit register value
+ unsigned short value = BG_readReg(REG_CONFIG);
+
+ //Update the register value
+ value &= 0xFFE0;
+ value |= 32 - threshold;
+
+ //Write the 16-bit register
+ BG_writeReg(REG_CONFIG, value);
+}
+
+// Set the low and high voltage alert threshold of the MAX17049
+void BG_vAlertMinMaxThreshold()
+{
+ //Read the current 16-bit register value
+ unsigned short value = BG_readReg(REG_VALRT);
+
+ //Mask off the old value
+ value = 0x96D2; // threshold is betweeen 6 and 8.4 v
+
+ //Write the 16-bit register
+ BG_writeReg(REG_VALRT, value);
+}
+
+
+// Set the reset voltage threshold of the MAX17049
+void BG_vResetThresholdSet()
+{
+ //Read the current 16-bit register value
+ unsigned short value = BG_readReg(REG_VRESET_ID);
+
+ //Mask off the old //value
+ value &= 0x00FF;//Dis=0
+
+ value |= 0x7C00;//corresponding to 2.5 V
+
+
+ //write the 16-bit register
+ BG_writeReg(REG_VRESET_ID, value);
+}
+
+
+// Enable or disable the voltage reset alert on the MAX17049
+void BG_vResetAlertEnabled(bool enabled)
+{
+ //Read the current 16-bit register value
+ unsigned short value = BG_readReg(REG_STATUS);
+
+ //Set or clear the EnVR bit
+ if (enabled)
+ value |= (1 << 14);
+ else
+ value &= ~(1 << 14);
+
+ //Write the value back out
+ BG_writeReg(REG_STATUS, value);
+}
+
+//Get the current alert flags on the MAX17049
+//refer datasheet-status registers section to decode it.
+char BG_alertFlags()
+{
+ //Read the 16-bit register value
+ unsigned short value = BG_readReg(REG_STATUS);
+
+ //Return only the flag bits
+ return (value >> 8) & 0x3F;
+}
+
+// Clear all the alert flags on the MAX17049
+void BG_clearAlertFlags()
+{
+ //Read the current 16-bit register value
+ unsigned short value = BG_readReg(REG_STATUS);
+
+ //Clear the specified flag bits
+ value &= ~( 0x3F<< 8);
+
+ //Write the value back out
+ BG_writeReg(REG_STATUS, value);
+}
+
+// Get the current cell voltage measurement of the MAX17049
+float BG_vcell()
+{
+ //Read the 16-bit raw Vcell value
+ unsigned short value = BG_readReg(REG_VCELL);
+
+ //Return Vcell in volts
+ return value * 0.000078125*2;
+}
+
+// Get the current state of charge measurement of the MAX17049 as a float
+float BG_soc()
+{
+ //Read the 16-bit raw SOC value
+ unsigned short value = BG_readReg(REG_SOC);
+
+ //Return SOC in percent
+ return value * 0.00390625;
+}
+
+
+
+// Get the current C rate measurement of the MAX17049
+float BG_crate()
+{
+ //Read the 16-bit raw C/Rate value
+ short value = BG_readReg(REG_CRATE);
+
+ //Return C/Rate in %/hr
+ return value * 0.208;
+}
+
+
+//----------------------------------------------------Power algo code--------------------------------------------------------------------//
+void FCTN_EPS_POWERMODE(float soc) //dummy algo
+{
+ if(soc >= 80)
+ Sensor.power_mode = 4;
+ else if(soc >= 70 & soc < 80)
+ Sensor.power_mode = 3;
+ else if(soc >= 60 & soc < 70)
+ Sensor.power_mode = 2;
+ else if(soc < 60)
+ Sensor.power_mode = 1;
+}
\ No newline at end of file
diff -r 000000000000 -r 913c9e982740 EPS.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/EPS.h Tue Nov 03 14:46:51 2015 +0000
@@ -0,0 +1,127 @@
+#include "mbed.h"
+#include "pin_config.h"
+//.............Power switching..........
+#define TRXY_DR_EN PIN82 //torque rod driver enable
+#define TRZ_DR_EN PIN88
+#define ENBL3V3A PIN33
+#define VBATT PIN20
+#define BATT_HEAT PIN96
+//#define BATT_HEAT_OUTPUT
+//......................HK.....................
+#define vstart 3.3
+#define vstep 0.84667
+#define cstart 0.0691
+#define cstep 0.09133
+#define tstart -40
+#define tstep 8.33
+#define rsens 0.025
+#define Bnewvalue_start -100//in microTesla...max possible field is .0001 T
+#define Bnewvalue_step 13.333
+#define AngularSpeed_start -10//max possible ang. velocity in space is 10 deg/sec
+#define AngularSpeed_step 1.3333
+//...............Battery Gauge................
+#define BG_ADDR (0x6C) //slave address of battery gauge
+//I2C register addresses
+#define REG_VCELL 0x02
+#define REG_SOC 0x04
+#define REG_MODE 0x06
+#define REG_VERSION 0x08
+#define REG_HIBRT 0x0A
+#define REG_CONFIG 0x0C
+#define REG_VALRT 0x14
+#define REG_CRATE 0x16
+#define REG_VRESET_ID 0x18
+#define REG_STATUS 0x1A
+#define REG_TABLE 0x40
+#define REG_CMD 0xFE
+//..............Battery heater...............
+#define BHT_LOWTHRESH 30 // to be fixed
+#define BHT_HIGHTHRESH 40 // to be fixed
+
+typedef struct SensorData
+{
+ float SOC; //added recently
+ float Vbatt; //added recently
+ float Voltage[15];
+ float Current[7];
+ float Temperature[1];
+ //float PanelTemperature[4]; // not finalised ///there wer 4 values here?
+ float BatteryTemperature[2];
+ char fault_poll; //polled faults
+ char fault_ir; //interrupted faults
+ char clear_fault_poll; //to be confirmed
+ char clear_fault_ir;
+ char power_mode; //power modes
+ float AngularSpeed[3]; //in order x,y,z
+ float Bnewvalue[3]; //in order Bx,By,Bz
+} SensorData;
+
+
+typedef struct SensorDataQuantised
+{
+ char Voltage[8];
+ char Current[4];
+ char Temperature[1];
+ //char PanelTemperature[2];//read by the 4 thermistors on solar panels
+ char BatteryTemperature; //to be populated
+ char faultpoll; //polled faults
+ char faultir; //interrupted faults
+ char power_mode; //power modes
+ char AngularSpeed[2];
+ char Bnewvalue[2];
+
+ //float magnetometer,gyro=>to be addes
+} SensorDataQuantised;
+
+
+typedef struct ShortBeacon
+{
+ char Voltage[1]; //battery voltage from gauge, needs to be quantised
+ char AngularSpeed[2]; //all the 3 data
+ char SubsystemStatus[1]; //power modes
+ char Temp[2]; //temp of solar panel
+ //Temp[0]'s LSB=> PanelTemperature[0], Temp[0]'s MSB=> PanelTemperature[1], Temp[1]'s LSB=> PanelTemperature[2], Temp[1]'s MSB=> PanelTemperature[3]
+ char ErrorFlag[1]; //fault
+}ShortBeacy;
+
+
+/******************************************************function headers************************************************************************/
+void FCTN_EPS_INIT();
+void FCTN_EPS_BTEMP_INIT();
+void FCTN_EPS_BTEMP_MAIN(float*);
+void FCTN_EPS_BTRY_HEATER();
+void FCTN_EPS_BG_INIT();
+void FCTN_EPS_BG_MAIN();
+void FCTN_EPS_POWERMODE(float);
+void FCTN_EPS_CTRLPOWER(int) ;
+int FCTN_QUANTIZE(float ,float ,float );
+void FCTN_WRITE_BEASTRUCT(ShortBeacy* ,SensorDataQuantised );
+void FCTN_EPS_HK_MAIN();
+void FCTN_HK_DATA_CATENATE();
+
+extern void FLAG();
+
+
+unsigned short BG_readReg(char);
+void BG_writeReg(char, unsigned short);
+void BG_reset(); //not used in code
+void BG_quickStart(); //not used in code
+void BG_disableSleep();
+void BG_disableHibernate();
+void BG_socChangeAlertEnabled(bool);
+float BG_compensation(); //not used in code
+void BG_compensation(char);
+void BG_tempCompensation(float);
+bool BG_alerting();
+void BG_clearAlert();
+void BG_emptyAlertThreshold(char);
+void BG_vAlertMinMaxThreshold();
+void BG_vResetThresholdSet();
+void BG_vResetAlertEnabled(bool);
+char BG_alertFlags();
+void BG_clearAlertFlags();
+float BG_vcell();
+float BG_soc();
+
+
+
diff -r 000000000000 -r 913c9e982740 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Nov 03 14:46:51 2015 +0000
@@ -0,0 +1,464 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "pin_config.h"
+#include "ACS.h"
+#include "EPS.h"
+#include "BCN.h"
+
+#define tm_len 1100
+#define tc_len 150
+#define hk_len 150
+
+//***************************************************** 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...................//
+char EPS_INIT_STATUS = 'q';
+char EPS_BATTERY_GAUGE_STATUS = 'q';
+char EPS_MAIN_STATUS = 'q';
+char EPS_BATTERY_TEMP_STATUS = 'q';
+char EPS_STATUS = 'q';
+
+char EPS_BATTERY_HEAT_ENABLE = 'q';
+
+//*************************************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 hk_data[hk_len];
+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);
+
+
+//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());
+
+ }
+
+}
+
+//**************************************************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(0x1);
+ pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand);
+ pc.printf("\n\r Executing Telecommand \n");
+ FCTN_TM();
+ }
+}
+
+void FCTN_TM()
+{
+ pc.printf("\n\r Telemetry Generation \n");
+ data_send_flag = 't';
+ irpt_2_mstr = 1;
+ wait_us(100);
+ irpt_2_mstr = 0;
+
+
+}
+
+
+//******************************************************* I2C *******************************************************************//
+
+void FCTN_I2C_ISR()
+{
+ wait_us(200); // can be between 38 to 15700
+ if( slave.receive() == 0)
+ slave.stop();
+ else if( slave.receive() == 1) // slave writes to master
+ {
+ if(data_send_flag == 'h')
+ write_ack=slave.write(hk_data,hk_len);
+ else if(data_send_flag == 't')
+ {
+ write_ack=slave.write(telemetry,tm_len);
+ data_send_flag = 'h';
+ }
+
+ }
+ else if( slave.receive()==3 || slave.receive()==2) // slave read
+ {
+ read_ack=slave.read(telecommand,tc_len);
+ ptr_t_i2c->signal_set(0x1);
+ }
+}
+
+
+//------------------------------------------------------------------------------------------------------------------------------------------------
+//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 = '0';
+ //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. fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff end");
+ strcpy(hk_data," This is hk hhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhh h 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
+}
\ No newline at end of file
diff -r 000000000000 -r 913c9e982740 mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Tue Nov 03 14:46:51 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#12552ef4e980
diff -r 000000000000 -r 913c9e982740 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Nov 03 14:46:51 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/34e6b704fe68 \ No newline at end of file
diff -r 000000000000 -r 913c9e982740 pin_config.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pin_config.h Tue Nov 03 14:46:51 2015 +0000 @@ -0,0 +1,101 @@ +// 100 LQFP format pin assignment +#define PIN1 PTE0 +#define PIN2 PTE1 +#define PIN3 PTE2 +#define PIN4 PTE3 +#define PIN5 PTE4 +#define PIN6 PTE5 +#define PIN7 PTE6 +//#define 8 +//#define 9 +//#define 10 +//#define 11 +//#define 12 +//#define 13 +#define PIN14 PTE16 +#define PIN15 PTE17 +#define PIN16 PTE18 +#define PIN17 PTE19 +#define PIN18 PTE20 +#define PIN19 PTE21 +#define PIN20 PTE22 +#define PIN21 PTE23 +//#define 22 +//#define 23 +//#define 24 +//#define 25 +#define PIN26 PTE29 +#define PIN27 PTE30 +#define PIN28 PTE31 +//#define 29 +//#define 30 +#define PIN31 PTE24 +#define PIN32 PTE25 +#define PIN33 PTE26 +#define PIN34 PTA0 +#define PIN35 PTA1 +#define PIN36 PTA2 +#define PIN37 PTA3 +#define PIN38 PTA4 +#define PIN39 PTA5 +#define PIN40 PTA6 +#define PIN41 PTA7 +#define PIN42 PTA12 +#define PIN43 PTA13 +#define PIN44 PTA14 +#define PIN45 PTA15 +#define PIN46 PTA16 +#define PIN47 PTA17 +//#define 48 +//#define 49 +#define PIN50 PTA18 +#define PIN51 PTA19 +#define PIN52 PTA20 +#define PIN53 PTB0 +#define PIN54 PTB1 +#define PIN55 PTB2 +#define PIN56 PTB3 +#define PIN57 PTB7 +#define PIN58 PTB8 +#define PIN59 PTB9 +#define PIN60 PTB10 +#define PIN61 PTB11 +#define PIN62 PTB16 +#define PIN63 PTB17 +#define PIN64 PTB18 +#define PIN65 PTB19 +#define PIN66 PTB20 +#define PIN67 PTB21 +#define PIN68 PTB22 +#define PIN69 PTB23 +#define PIN70 PTC0 +#define PIN71 PTC1 +#define PIN72 PTC2 +#define PIN73 PTC3 +//#define 74 +//#define 75 +#define PIN76 PTC20 +#define PIN77 PTC21 +#define PIN78 PTC22 +#define PIN79 PTC23 +#define PIN80 PTC4 +#define PIN81 PTC5 +#define PIN82 PTC6 +#define PIN83 PTC7 +#define PIN84 PTC8 +#define PIN85 PTC9 +#define PIN86 PTC10 +#define PIN87 PTC11 +#define PIN88 PTC12 +#define PIN89 PTC13 +#define PIN90 PTC16 +#define PIN91 PTC17 +#define PIN92 PTC18 +#define PIN93 PTD0 +#define PIN94 PTD1 +#define PIN95 PTD2 +#define PIN96 PTD3 +#define PIN97 PTD4 +#define PIN98 PTD5 +#define PIN99 PTD6 +#define PIN100 PTD7 \ No newline at end of file
diff -r 000000000000 -r 913c9e982740 pni.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pni.h Tue Nov 03 14:46:51 2015 +0000 @@ -0,0 +1,37 @@ +#define SLAVE_ADDR 0x50 +#define SLAVE_ADDR_READ 0x51 +#define SENTRALSTATUS 0x37 +#define RESETREQ 0x9B +#define MAGRATE 0x55 +#define ACCERATE 0x56 +#define GYRORATE 0x57 +#define QRATE_DIV 0x32 +#define ALGO_CTRL 0x54 +#define ENB_EVT 0x33 +#define HOST_CTRL 0x34 +#define EVT_STATUS 0x35 +#define ALGO_STATUS 0x38 +#define GYRO_XOUT_H 0x22 +#define MAG_XOUT_H 0X12 + +//Configaration bits +#define BIT_RESREQ 0x01 +#define BIT_EEP_DET 0x01 +#define BIT_EEP_UPDN 0x02 +#define BIT_EEP_UPERR 0x04 +#define BIT_EEP_IDLE 0x08 +#define BIT_EEP_NODET 0x10 +#define BIT_STBY 0x01 +#define BIT_RAW_ENB 0x02 +#define BIT_HPR_OUT 0x04 +#define BIT_CPU_RES 0x01 +#define BIT_ERR 0x02 +#define BIT_QRES 0x04 +#define BIT_MAG_RES 0x08 +#define BIT_ACC_RES 0x10 +#define BIT_GYRO_RES 0x20 +#define BIT_GYROODR 0x0F +#define BIT_MAGODR 0x64 +#define BIT_RUN_ENB 0x01 +#define BIT_ALGO_RAW 0x02 +#define BIT_EVT_ENB 0X2A \ No newline at end of file