File content as of revision 0:913c9e982740:

#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
}