Team Fox / Mbed 2 deprecated ACS_Flowchart_BAE

ACS data acq changed completely. Tested and working. Deals all faults.

Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of QM_BAE_review_1 by Team Fox

main.cpp@16:cc77770d787f, 2016-06-03 (annotated)

Committer:
Bragadeesh153
Date:
Fri Jun 03 13:53:55 2016 +0000
Revision:
16:cc77770d787f
Parent:
15:e09aaaccf134 
ACS Data_Acq updated. Tested and working.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakthipriya 0:7b4c00e3912f 1 #include "mbed.h"
sakthipriya 0:7b4c00e3912f 2 #include "rtos.h"
sakthipriya 0:7b4c00e3912f 3 #include "pin_config.h"
sakthipriya 0:7b4c00e3912f 4 #include "ACS.h"
sakthipriya 0:7b4c00e3912f 5 #include "EPS.h"
sakthipriya 0:7b4c00e3912f 6 #include "BCN.h"
sakthipriya 0:7b4c00e3912f 7 #include "TCTM.h"
sakthipriya 0:7b4c00e3912f 8
Bragadeesh153 13:fb7facaf308b 9 #define tm_len 135
Bragadeesh153 13:fb7facaf308b 10 #define tc_len 11
sakthipriya 0:7b4c00e3912f 11 #define batt_heat_low 20
sakthipriya 9:194afacf7449 12
sakthipriya 0:7b4c00e3912f 13 //***************************************************** flags *************************************************************//
sakthipriya 0:7b4c00e3912f 14 uint32_t BAE_STATUS = 0x00000000;
sakthipriya 0:7b4c00e3912f 15 uint32_t BAE_ENABLE = 0xFFFFFFFF;
sakthipriya 0:7b4c00e3912f 16
sakthipriya 5:bb592f3185cc 17 //i2c//
sakthipriya 5:bb592f3185cc 18 char data_send_flag = 'h';
sakthipriya 5:bb592f3185cc 19
sakthipriya 0:7b4c00e3912f 20 //.........acs...............//
sakthipriya 9:194afacf7449 21 /* char ACS_INIT_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 22 char ACS_DATA_ACQ_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 23 char ACS_ATS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 24 char ACS_MAIN_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 25 char ACS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 26
sakthipriya 0:7b4c00e3912f 27 char ACS_ATS_ENABLE = 'q';
sakthipriya 0:7b4c00e3912f 28 char ACS_DATA_ACQ_ENABLE = 'q';
sakthipriya 9:194afacf7449 29 char ACS_STATE = 'q';*/
sakthipriya 9:194afacf7449 30
sakthipriya 9:194afacf7449 31 uint8_t ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 32 uint8_t ACS_DATA_ACQ_STATUS = 0;
Bragadeesh153 16:cc77770d787f 33 uint8_t ACS_ATS_STATUS = 0x60;
sakthipriya 9:194afacf7449 34 uint8_t ACS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 35 uint8_t ACS_STATUS = 0;
sakthipriya 9:194afacf7449 36
sakthipriya 9:194afacf7449 37 uint8_t ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 38 uint8_t ACS_DATA_ACQ_ENABLE = 1;
sakthipriya 9:194afacf7449 39 uint8_t ACS_STATE = 4;
sakthipriya 0:7b4c00e3912f 40
sakthipriya 0:7b4c00e3912f 41 //.....................eps...................//
sakthipriya 0:7b4c00e3912f 42 //eps init
sakthipriya 9:194afacf7449 43 /*char EPS_INIT_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 44 char EPS_BATTERY_GAUGE_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 45 //eps main
sakthipriya 0:7b4c00e3912f 46 char EPS_MAIN_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 47 char EPS_BATTERY_TEMP_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 48 char EPS_STATUS = 'q';
sakthipriya 0:7b4c00e3912f 49
sakthipriya 0:7b4c00e3912f 50 char EPS_BATTERY_HEAT_ENABLE = 'q';
sakthipriya 9:194afacf7449 51 */
sakthipriya 9:194afacf7449 52
sakthipriya 9:194afacf7449 53 uint8_t EPS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 54 uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
sakthipriya 9:194afacf7449 55 //eps main
sakthipriya 9:194afacf7449 56 uint8_t EPS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 57 uint8_t EPS_BATTERY_TEMP_STATUS = 0;
sakthipriya 9:194afacf7449 58 uint8_t EPS_STATUS = 7; //invalid status
sakthipriya 9:194afacf7449 59
sakthipriya 9:194afacf7449 60 uint8_t EPS_BATTERY_HEAT_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 61
sakthipriya 0:7b4c00e3912f 62 //.......................global variables..................................................................// new hk structure- everything has to changed based on this
sakthipriya 6:036d08b62785 63 uint8_t BAE_data[74];
sakthipriya 6:036d08b62785 64 char BAE_chardata[74];
sakthipriya 0:7b4c00e3912f 65
sakthipriya 0:7b4c00e3912f 66
sakthipriya 0:7b4c00e3912f 67 //*************************************Global declarations************************************************//
sakthipriya 0:7b4c00e3912f 68 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 69
sakthipriya 0:7b4c00e3912f 70 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 71 Timer t_start;
sakthipriya 7:a46a1dee4497 72 Timer t_tc;
sakthipriya 7:a46a1dee4497 73 Timer t_tm;
sakthipriya 0:7b4c00e3912f 74 Serial pc(USBTX, USBRX);
sakthipriya 0:7b4c00e3912f 75 int power_flag_dummy=2;
sakthipriya 0:7b4c00e3912f 76 float data[6];
sakthipriya 0:7b4c00e3912f 77
sakthipriya 0:7b4c00e3912f 78 extern float moment[3];
sakthipriya 0:7b4c00e3912f 79 extern uint8_t BCN_FEN;
sakthipriya 1:446a959e36ce 80 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 81 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 82 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 83 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 84
sakthipriya 5:bb592f3185cc 85 int write_ack = 1;
sakthipriya 5:bb592f3185cc 86 int read_ack = 1;
sakthipriya 0:7b4c00e3912f 87 char telecommand[tc_len];
Bragadeesh153 13:fb7facaf308b 88 extern uint8_t telemetry[135];
sakthipriya 5:bb592f3185cc 89
sakthipriya 5:bb592f3185cc 90 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 91 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 92 bool if1check = 0;
lakshya 14:a9588f443f1a 93 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 94
sakthipriya 0:7b4c00e3912f 95 //*****************************************************Assigning pins******************************************************//
sakthipriya 9:194afacf7449 96 DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch
sakthipriya 9:194afacf7449 97 DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch
Bragadeesh153 16:cc77770d787f 98
sakthipriya 0:7b4c00e3912f 99 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
sakthipriya 0:7b4c00e3912f 100 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya 14:a9588f443f1a 101 I2CSlave slave (PIN1,PIN2);///pin1 pin2
sakthipriya 0:7b4c00e3912f 102 DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 103
sakthipriya 9:194afacf7449 104 //ATS1_SW_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 105 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 106 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 107 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 108
sakthipriya 5:bb592f3185cc 109 //........faults
sakthipriya 5:bb592f3185cc 110 //Polled Faults
sakthipriya 5:bb592f3185cc 111 DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
sakthipriya 5:bb592f3185cc 112 DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
sakthipriya 5:bb592f3185cc 113 DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 114
sakthipriya 5:bb592f3185cc 115 //Interrupt based faults
lakshya 14:a9588f443f1a 116 //InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal
sakthipriya 5:bb592f3185cc 117 InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault
sakthipriya 5:bb592f3185cc 118 InterruptIn ir3(PIN89);//TRZ Driver Fault Bar
sakthipriya 5:bb592f3185cc 119 InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault
sakthipriya 5:bb592f3185cc 120 InterruptIn ir5(PIN79);//CDMS - Switch Fault
sakthipriya 5:bb592f3185cc 121 InterruptIn ir6(PIN80);//Beacon- Switch OC bar
sakthipriya 5:bb592f3185cc 122 InterruptIn ir7(PIN42);//Charger IC - Fault Bar
sakthipriya 5:bb592f3185cc 123
lakshya 14:a9588f443f1a 124
Bragadeesh153 13:fb7facaf308b 125 //DigitalOut TRXY_SW_EN(PIN71); //TR XY Switch
Bragadeesh153 13:fb7facaf308b 126 //DigitalOut DRV_Z_SLP(PIN88); //Sleep pin of driver z
Bragadeesh153 13:fb7facaf308b 127 //DigitalOut TRZ_SW(PIN40); //TR Z Switch
Bragadeesh153 13:fb7facaf308b 128 //DigitalOut CDMS_RESET(PIN7); // CDMS RESET
Bragadeesh153 13:fb7facaf308b 129 //DigitalOut BCN_SW(PIN14); //Beacon switch
Bragadeesh153 13:fb7facaf308b 130 //DigitalOut DRV_XY_SLP(PIN82);
Bragadeesh153 13:fb7facaf308b 131
Bragadeesh153 13:fb7facaf308b 132
Bragadeesh153 13:fb7facaf308b 133 DigitalOut TRXY_SW(PIN71); //TR XY Switch
Bragadeesh153 13:fb7facaf308b 134 DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z
sakthipriya 5:bb592f3185cc 135 DigitalOut TRZ_SW(PIN40); //TR Z Switch
sakthipriya 5:bb592f3185cc 136 DigitalOut CDMS_RESET(PIN7); // CDMS RESET
sakthipriya 5:bb592f3185cc 137 DigitalOut BCN_SW(PIN14); //Beacon switch
Bragadeesh153 13:fb7facaf308b 138 DigitalOut DRV_XY_EN(PIN82);
sakthipriya 0:7b4c00e3912f 139
sakthipriya 0:7b4c00e3912f 140 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 3:07e15677a75c 141
sakthipriya 0:7b4c00e3912f 142 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 143
sakthipriya 0:7b4c00e3912f 144 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 145
sakthipriya 0:7b4c00e3912f 146 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 147 void FCTN_TM();
sakthipriya 3:07e15677a75c 148 void F_ACS();
sakthipriya 3:07e15677a75c 149 void F_EPS();
sakthipriya 3:07e15677a75c 150 void F_BCN();
sakthipriya 0:7b4c00e3912f 151
sakthipriya 0:7b4c00e3912f 152 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 153 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 154 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 155 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 156 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 157
sakthipriya 5:bb592f3185cc 158
sakthipriya 3:07e15677a75c 159 void F_ACS()
sakthipriya 0:7b4c00e3912f 160 {
sakthipriya 8:82250e41da81 161
sakthipriya 9:194afacf7449 162
sakthipriya 8:82250e41da81 163 //...................//
sakthipriya 8:82250e41da81 164
sakthipriya 5:bb592f3185cc 165 if(pf1check == 1)
sakthipriya 5:bb592f3185cc 166 {
sakthipriya 5:bb592f3185cc 167 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 168 {
sakthipriya 9:194afacf7449 169 ATS1_SW_ENABLE = 1; // turn off ats1 permanently
sakthipriya 5:bb592f3185cc 170 //FCTN_SWITCH_ATS(0); // switch on ATS2
sakthipriya 5:bb592f3185cc 171 }
sakthipriya 5:bb592f3185cc 172 else
sakthipriya 5:bb592f3185cc 173 {
sakthipriya 9:194afacf7449 174 ATS1_SW_ENABLE = 0;
sakthipriya 5:bb592f3185cc 175 iterP1++;
sakthipriya 5:bb592f3185cc 176 }
sakthipriya 9:194afacf7449 177 pf1check = 0;
sakthipriya 5:bb592f3185cc 178 }
sakthipriya 5:bb592f3185cc 179 if(pf2check == 1)
sakthipriya 5:bb592f3185cc 180 {
sakthipriya 5:bb592f3185cc 181 if(iterP1 >= 3)
sakthipriya 5:bb592f3185cc 182 {
sakthipriya 9:194afacf7449 183 ATS2_SW_ENABLE = 1; // turn off ats2 permanently
Bragadeesh153 13:fb7facaf308b 184 ACS_DATA_ACQ_ENABLE = 0;
Bragadeesh153 13:fb7facaf308b 185 ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 186 }
sakthipriya 5:bb592f3185cc 187 else
sakthipriya 5:bb592f3185cc 188 {
sakthipriya 9:194afacf7449 189 ATS2_SW_ENABLE = 0;
sakthipriya 5:bb592f3185cc 190 iterP2++;
sakthipriya 5:bb592f3185cc 191 }
sakthipriya 9:194afacf7449 192 pf2check = 0;
sakthipriya 5:bb592f3185cc 193 }
sakthipriya 5:bb592f3185cc 194 if(if1check == 1)
sakthipriya 5:bb592f3185cc 195 {
sakthipriya 5:bb592f3185cc 196 if(iterI1 >= 3)
sakthipriya 5:bb592f3185cc 197 {
Bragadeesh153 13:fb7facaf308b 198 TRXY_SW = 0; // turn off TRXY permanently
sakthipriya 5:bb592f3185cc 199 }
sakthipriya 5:bb592f3185cc 200 else
sakthipriya 5:bb592f3185cc 201 {
Bragadeesh153 13:fb7facaf308b 202 TRXY_SW = 1; //switch on TRXY
sakthipriya 5:bb592f3185cc 203 iterI1++;
sakthipriya 5:bb592f3185cc 204 }
sakthipriya 5:bb592f3185cc 205 }
sakthipriya 5:bb592f3185cc 206 if(if2check == 1)
sakthipriya 5:bb592f3185cc 207 {
sakthipriya 5:bb592f3185cc 208 if(iterI2 >= 3)
sakthipriya 5:bb592f3185cc 209 {
sakthipriya 5:bb592f3185cc 210 TRZ_SW = 0; // turn off TRZ permanently
Bragadeesh153 13:fb7facaf308b 211 ACS_STATE = 2 ; // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 5:bb592f3185cc 212 }
sakthipriya 5:bb592f3185cc 213 else
sakthipriya 5:bb592f3185cc 214 {
sakthipriya 5:bb592f3185cc 215 TRZ_SW = 1; //switch on Z
sakthipriya 5:bb592f3185cc 216 iterI2++;
sakthipriya 5:bb592f3185cc 217 }
sakthipriya 5:bb592f3185cc 218 }
sakthipriya 5:bb592f3185cc 219
sakthipriya 6:036d08b62785 220 //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};
sakthipriya 0:7b4c00e3912f 221 //b1[3] = {22, 22,10};
sakthipriya 0:7b4c00e3912f 222 //omega1[3] = {2.1,3.0,1.5};
sakthipriya 9:194afacf7449 223 // ATS1_SW_ENABLE = 0; // att sens2 switch is disabled
sakthipriya 9:194afacf7449 224 // ATS2_SW_ENABLE = 0; // att sens switch is disabled
sakthipriya 0:7b4c00e3912f 225
sakthipriya 3:07e15677a75c 226
sakthipriya 0:7b4c00e3912f 227
sakthipriya 3:07e15677a75c 228 //Thread::signal_wait(0x1);
sakthipriya 9:194afacf7449 229 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 230 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 231 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 232 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 233 pc.printf("\n\rEntered ACS %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 234
sakthipriya 9:194afacf7449 235 if(ACS_DATA_ACQ_ENABLE == 1)// check if ACS_DATA_ACQ_ENABLE = 1?
sakthipriya 0:7b4c00e3912f 236 {
Bragadeesh153 13:fb7facaf308b 237 //FLAG();
sakthipriya 0:7b4c00e3912f 238 FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
sakthipriya 0:7b4c00e3912f 239 pc.printf("gyro values\n\r"); //printing the angular velocity and magnetic field values
sakthipriya 0:7b4c00e3912f 240 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 241 {
lakshya 15:e09aaaccf134 242 printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
sakthipriya 0:7b4c00e3912f 243 }
sakthipriya 0:7b4c00e3912f 244 pc.printf("mag values\n\r");
sakthipriya 6:036d08b62785 245 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 246 {
sakthipriya 6:036d08b62785 247 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
sakthipriya 5:bb592f3185cc 248 }
sakthipriya 6:036d08b62785 249 // for(int i=0;i<3;i++)
sakthipriya 6:036d08b62785 250 // {
sakthipriya 6:036d08b62785 251 // omega1[i]= data[i];
sakthipriya 6:036d08b62785 252 // b1[i] = data[i+3];
sakthipriya 6:036d08b62785 253 // }
sakthipriya 0:7b4c00e3912f 254 }//if ACS_DATA_ACQ_ENABLE = 1
sakthipriya 0:7b4c00e3912f 255 else
sakthipriya 0:7b4c00e3912f 256 {
sakthipriya 0:7b4c00e3912f 257 // Z axis actuation is the only final solution,
sakthipriya 0:7b4c00e3912f 258 }
sakthipriya 9:194afacf7449 259 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
sakthipriya 0:7b4c00e3912f 260 {
sakthipriya 0:7b4c00e3912f 261 printf("\n\r acs control off\n");
sakthipriya 0:7b4c00e3912f 262 FLAG();
sakthipriya 9:194afacf7449 263 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 264 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 265 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 266 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 267 }
sakthipriya 0:7b4c00e3912f 268 else
sakthipriya 0:7b4c00e3912f 269 {
sakthipriya 1:446a959e36ce 270 if(actual_data.power_mode>1)
sakthipriya 0:7b4c00e3912f 271
sakthipriya 0:7b4c00e3912f 272 {
sakthipriya 9:194afacf7449 273 if(ACS_STATE == 2) // check ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 274 {
sakthipriya 0:7b4c00e3912f 275 FLAG();
sakthipriya 0:7b4c00e3912f 276 printf("\n\r z axis moment only\n");
sakthipriya 9:194afacf7449 277 ACS_STATUS = 2; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 278 // FCTN_ACS_CNTRLALGO(b1, omega1);
sakthipriya 0:7b4c00e3912f 279 moment[0] = 0;
sakthipriya 0:7b4c00e3912f 280 moment[1] = 0;
sakthipriya 0:7b4c00e3912f 281 moment[2] =1.3;// is a dummy value
sakthipriya 0:7b4c00e3912f 282 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 283 }
sakthipriya 0:7b4c00e3912f 284 else
sakthipriya 0:7b4c00e3912f 285 {
sakthipriya 9:194afacf7449 286 if(ACS_STATE == 3) // check ACS_STATE = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 287 {
sakthipriya 0:7b4c00e3912f 288 FLAG();
sakthipriya 0:7b4c00e3912f 289 printf("\n\r acs data failure ");
sakthipriya 9:194afacf7449 290 ACS_STATUS = 3; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 291 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 292 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 293 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 294 }
sakthipriya 0:7b4c00e3912f 295 else
sakthipriya 0:7b4c00e3912f 296 {
sakthipriya 9:194afacf7449 297 if(ACS_STATE == 4) // check ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 298 {
sakthipriya 0:7b4c00e3912f 299 FLAG();
sakthipriya 0:7b4c00e3912f 300 printf("\n\r nominal");
sakthipriya 9:194afacf7449 301 ACS_STATUS = 4; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 6:036d08b62785 302 FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual);
sakthipriya 0:7b4c00e3912f 303 printf("\n\r moment values returned by control algo \n");
sakthipriya 0:7b4c00e3912f 304 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 305 {
sakthipriya 0:7b4c00e3912f 306 printf("%f\t",moment[i]);
sakthipriya 0:7b4c00e3912f 307 }
sakthipriya 0:7b4c00e3912f 308 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 309 }
sakthipriya 0:7b4c00e3912f 310 else
sakthipriya 0:7b4c00e3912f 311 {
sakthipriya 9:194afacf7449 312 if(ACS_STATE == 5) // check ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 313 {
sakthipriya 0:7b4c00e3912f 314 FLAG();
sakthipriya 0:7b4c00e3912f 315 printf("\n\r auto control");
sakthipriya 9:194afacf7449 316 ACS_STATUS = 5; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 317 //FCTN_ACS_AUTOCTRL_LOGIC // gotta include this code
sakthipriya 0:7b4c00e3912f 318 }
sakthipriya 0:7b4c00e3912f 319 else
sakthipriya 0:7b4c00e3912f 320 {
sakthipriya 9:194afacf7449 321 if(ACS_STATE == 6) // check ACS_STATE = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 322 {
sakthipriya 0:7b4c00e3912f 323 FLAG();
sakthipriya 0:7b4c00e3912f 324 printf("\n\r Entered detumbling \n");
sakthipriya 9:194afacf7449 325 ACS_STATUS = 6; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 6:036d08b62785 326 FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual); // detumbling code has to be included
sakthipriya 0:7b4c00e3912f 327 FCTN_ACS_GENPWM_MAIN(moment) ;
sakthipriya 0:7b4c00e3912f 328 }
sakthipriya 0:7b4c00e3912f 329 else
sakthipriya 0:7b4c00e3912f 330 {
sakthipriya 0:7b4c00e3912f 331 FLAG();
sakthipriya 0:7b4c00e3912f 332 printf("\n\r invalid state");
sakthipriya 9:194afacf7449 333 ACS_STATUS = 7 ; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 334 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 335 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 336 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 337 }//else of invalid
sakthipriya 0:7b4c00e3912f 338 }//else of autocontrol
sakthipriya 0:7b4c00e3912f 339 }//else of nominal
sakthipriya 0:7b4c00e3912f 340 }//else of data acg failure
sakthipriya 0:7b4c00e3912f 341
sakthipriya 0:7b4c00e3912f 342 }//else fo z axis moment only
sakthipriya 0:7b4c00e3912f 343 }//if power >2
sakthipriya 0:7b4c00e3912f 344 else
sakthipriya 0:7b4c00e3912f 345 {
sakthipriya 0:7b4c00e3912f 346 FLAG();
sakthipriya 0:7b4c00e3912f 347 printf("\n\r low power");
sakthipriya 9:194afacf7449 348 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 349 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 350 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 351 PWM3 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 352 }
sakthipriya 0:7b4c00e3912f 353 } //else for acs control off
sakthipriya 9:194afacf7449 354 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
sakthipriya 3:07e15677a75c 355
sakthipriya 0:7b4c00e3912f 356 }
sakthipriya 0:7b4c00e3912f 357 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 358
sakthipriya 3:07e15677a75c 359 void F_EPS()
sakthipriya 0:7b4c00e3912f 360 {
sakthipriya 3:07e15677a75c 361
sakthipriya 0:7b4c00e3912f 362 pc.printf("\n\rEntered EPS %f\n",t_start.read());
sakthipriya 9:194afacf7449 363 EPS_MAIN_STATUS = 1; // Set EPS main status
sakthipriya 3:07e15677a75c 364 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
sakthipriya 3:07e15677a75c 365 pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
sakthipriya 9:194afacf7449 366 EPS_BATTERY_TEMP_STATUS = 1; //set EPS_BATTERY_TEMP_STATUS
sakthipriya 9:194afacf7449 367 if(EPS_BATTERY_HEAT_ENABLE == 1)
sakthipriya 3:07e15677a75c 368 {
sakthipriya 5:bb592f3185cc 369 if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm
sakthipriya 3:07e15677a75c 370 {
sakthipriya 3:07e15677a75c 371 batt_heat = 1; //turn on battery heater
sakthipriya 3:07e15677a75c 372 }
sakthipriya 3:07e15677a75c 373 else
sakthipriya 3:07e15677a75c 374 {
sakthipriya 3:07e15677a75c 375 batt_heat = 0; //turn off battery heater
sakthipriya 3:07e15677a75c 376 }
sakthipriya 3:07e15677a75c 377
sakthipriya 3:07e15677a75c 378 }
sakthipriya 9:194afacf7449 379 else if(EPS_BATTERY_HEAT_ENABLE == 0)
sakthipriya 3:07e15677a75c 380 {
sakthipriya 3:07e15677a75c 381 EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED
sakthipriya 3:07e15677a75c 382 }
sakthipriya 0:7b4c00e3912f 383 FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual);
sakthipriya 1:446a959e36ce 384 if (actual_data.Batt_gauge_actual[1] == 200) //data not received
sakthipriya 0:7b4c00e3912f 385 {
sakthipriya 0:7b4c00e3912f 386 actual_data.power_mode = 1;
sakthipriya 9:194afacf7449 387 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 388
sakthipriya 0:7b4c00e3912f 389 }
sakthipriya 0:7b4c00e3912f 390 else
sakthipriya 0:7b4c00e3912f 391 {
sakthipriya 1:446a959e36ce 392 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
sakthipriya 9:194afacf7449 393 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 394 }
sakthipriya 3:07e15677a75c 395 // if( Temperature data received)
sakthipriya 3:07e15677a75c 396 //{
sakthipriya 3:07e15677a75c 397
sakthipriya 0:7b4c00e3912f 398
sakthipriya 3:07e15677a75c 399 // }
sakthipriya 3:07e15677a75c 400 // else
sakthipriya 3:07e15677a75c 401 // {
sakthipriya 3:07e15677a75c 402 // Set battery temp to XX
sakthipriya 9:194afacf7449 403 // EPS_BATTERY_TEMP_STATUS = 0; //clear EPS_BATTERY_TEMP_STATUS
sakthipriya 3:07e15677a75c 404 // EPS_STATUS = EPS_ERR_BATTERY_TEMP;
sakthipriya 3:07e15677a75c 405 // }
sakthipriya 3:07e15677a75c 406 FCTN_HK_MAIN();
sakthipriya 6:036d08b62785 407 // printf("\n\r here");
sakthipriya 5:bb592f3185cc 408 FCTN_APPEND_HKDATA();
sakthipriya 5:bb592f3185cc 409 minMaxHkData();
sakthipriya 6:036d08b62785 410 //printf("\n\r here");
sakthipriya 9:194afacf7449 411 EPS_MAIN_STATUS = 0; // clear EPS main status
sakthipriya 3:07e15677a75c 412
sakthipriya 0:7b4c00e3912f 413 }
sakthipriya 0:7b4c00e3912f 414
sakthipriya 0:7b4c00e3912f 415 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 416
sakthipriya 3:07e15677a75c 417 void F_BCN()
sakthipriya 0:7b4c00e3912f 418 {
sakthipriya 3:07e15677a75c 419
sakthipriya 0:7b4c00e3912f 420 pc.printf("\n\rEntered BCN %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 421
Bragadeesh153 12:af1d7e18b868 422 FCTN_BCN_TX_MAIN();
sakthipriya 0:7b4c00e3912f 423
sakthipriya 0:7b4c00e3912f 424 }
sakthipriya 0:7b4c00e3912f 425
sakthipriya 0:7b4c00e3912f 426 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 427
sakthipriya 0:7b4c00e3912f 428 void T_TC(void const * args)
sakthipriya 0:7b4c00e3912f 429 {
sakthipriya 0:7b4c00e3912f 430 while(1)
sakthipriya 0:7b4c00e3912f 431 {
sakthipriya 0:7b4c00e3912f 432 Thread::signal_wait(0x4);
lakshya 15:e09aaaccf134 433 wait_us(200);
lakshya 15:e09aaaccf134 434 //printf("\n\rreached\n"); // can be between 38 to 15700
sakthipriya 0:7b4c00e3912f 435 if( slave.receive() == 0)
lakshya 15:e09aaaccf134 436 {slave.stop();
lakshya 15:e09aaaccf134 437 //printf("\n\rnot send\n");
lakshya 15:e09aaaccf134 438 }
sakthipriya 0:7b4c00e3912f 439 else if( slave.receive() == 1) // slave writes to master
sakthipriya 0:7b4c00e3912f 440 {
sakthipriya 5:bb592f3185cc 441 if(data_send_flag == 'h')
sakthipriya 6:036d08b62785 442 {
sakthipriya 6:036d08b62785 443 //FCTN_APPEND_HKDATA();
sakthipriya 6:036d08b62785 444 // pc.printf("\n\r here");
sakthipriya 6:036d08b62785 445 write_ack=slave.write(BAE_chardata,74);
Bragadeesh153 13:fb7facaf308b 446 if(write_ack==0)
lakshya 15:e09aaaccf134 447 {irpt_2_mstr = 0;
lakshya 15:e09aaaccf134 448 printf("\n\rgot interrupt\n");
lakshya 15:e09aaaccf134 449 }
sakthipriya 6:036d08b62785 450 }
sakthipriya 5:bb592f3185cc 451 else if(data_send_flag == 't')
sakthipriya 5:bb592f3185cc 452 {
Bragadeesh153 13:fb7facaf308b 453 write_ack=slave.write((char*)telemetry,tm_len);
sakthipriya 5:bb592f3185cc 454 data_send_flag = 'h';
Bragadeesh153 13:fb7facaf308b 455 if(write_ack==0)
Bragadeesh153 13:fb7facaf308b 456 irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 457 }
sakthipriya 0:7b4c00e3912f 458 }
sakthipriya 0:7b4c00e3912f 459 else if( slave.receive()==3 || slave.receive()==2) // slave read
sakthipriya 0:7b4c00e3912f 460 {
sakthipriya 5:bb592f3185cc 461 read_ack=slave.read(telecommand,tc_len);
sakthipriya 7:a46a1dee4497 462 t_tc.start();
sakthipriya 6:036d08b62785 463 //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand);
sakthipriya 7:a46a1dee4497 464 pc.printf("\n\r Executing Telecommand \n");
sakthipriya 3:07e15677a75c 465 // FCTN_TC_DECODE((uint8_t*) telecommand);
sakthipriya 7:a46a1dee4497 466
Bragadeesh153 13:fb7facaf308b 467 FCTN_BAE_TM_TC((uint8_t*) telecommand);
Bragadeesh153 13:fb7facaf308b 468 //telemetry = (char*)temp;
sakthipriya 7:a46a1dee4497 469
sakthipriya 5:bb592f3185cc 470 FCTN_TM();
sakthipriya 7:a46a1dee4497 471 t_tc.stop();
sakthipriya 7:a46a1dee4497 472 printf("\n\r time taken %d",t_tc.read_us());
sakthipriya 7:a46a1dee4497 473 t_tc.reset();
sakthipriya 3:07e15677a75c 474 // for(int i = 0; i<134; i++)
sakthipriya 3:07e15677a75c 475 //pc.printf("%c", telemetry[i]);
sakthipriya 0:7b4c00e3912f 476 }
sakthipriya 0:7b4c00e3912f 477
sakthipriya 6:036d08b62785 478
sakthipriya 0:7b4c00e3912f 479 }
sakthipriya 0:7b4c00e3912f 480 }
sakthipriya 0:7b4c00e3912f 481
sakthipriya 0:7b4c00e3912f 482 void FCTN_TM()
sakthipriya 0:7b4c00e3912f 483 {
sakthipriya 4:39a4ae8c7ecd 484 //irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 485 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 486 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 487 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 488 }
sakthipriya 0:7b4c00e3912f 489
sakthipriya 0:7b4c00e3912f 490
sakthipriya 0:7b4c00e3912f 491 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 492
sakthipriya 0:7b4c00e3912f 493 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 494 {
sakthipriya 0:7b4c00e3912f 495 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 496 }
sakthipriya 0:7b4c00e3912f 497
sakthipriya 0:7b4c00e3912f 498
sakthipriya 5:bb592f3185cc 499 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 500 /*void ir1clear()
sakthipriya 5:bb592f3185cc 501 {
sakthipriya 5:bb592f3185cc 502 actual_data.faultIr_status |= 0x01; // alert
sakthipriya 5:bb592f3185cc 503
sakthipriya 5:bb592f3185cc 504 }*/
sakthipriya 5:bb592f3185cc 505
sakthipriya 5:bb592f3185cc 506
sakthipriya 5:bb592f3185cc 507
sakthipriya 5:bb592f3185cc 508 void ir2clear()
sakthipriya 5:bb592f3185cc 509 {
sakthipriya 5:bb592f3185cc 510 actual_data.faultIr_status |= 0x02;
Bragadeesh153 13:fb7facaf308b 511 TRXY_SW = 0; // Switch off TR XY
sakthipriya 5:bb592f3185cc 512 if1check = 1;
sakthipriya 5:bb592f3185cc 513 }
sakthipriya 5:bb592f3185cc 514
sakthipriya 5:bb592f3185cc 515 void ir3clear()
sakthipriya 5:bb592f3185cc 516 {
sakthipriya 5:bb592f3185cc 517 actual_data.faultIr_status |= 0x04;
Bragadeesh153 13:fb7facaf308b 518 DRV_Z_EN = 0;
sakthipriya 5:bb592f3185cc 519 wait_us(1);
Bragadeesh153 13:fb7facaf308b 520 DRV_Z_EN = 1;
sakthipriya 5:bb592f3185cc 521
sakthipriya 5:bb592f3185cc 522 }
sakthipriya 5:bb592f3185cc 523
sakthipriya 5:bb592f3185cc 524 void ir4clear()
sakthipriya 5:bb592f3185cc 525 {
sakthipriya 5:bb592f3185cc 526 if2check = 1;
sakthipriya 5:bb592f3185cc 527 actual_data.faultIr_status |= 0x08;
sakthipriya 5:bb592f3185cc 528 TRZ_SW = 0;
sakthipriya 5:bb592f3185cc 529 }
sakthipriya 5:bb592f3185cc 530
sakthipriya 5:bb592f3185cc 531 void ir5clear()
sakthipriya 5:bb592f3185cc 532 {
sakthipriya 5:bb592f3185cc 533 actual_data.faultIr_status |= 0x10;
sakthipriya 5:bb592f3185cc 534 CDMS_RESET = 0;
sakthipriya 5:bb592f3185cc 535 wait_us(1);
sakthipriya 5:bb592f3185cc 536 CDMS_RESET = 1;
sakthipriya 5:bb592f3185cc 537 }
sakthipriya 5:bb592f3185cc 538
sakthipriya 5:bb592f3185cc 539 void ir6clear()
sakthipriya 5:bb592f3185cc 540 {
sakthipriya 5:bb592f3185cc 541 actual_data.faultIr_status |= 0x20;
sakthipriya 5:bb592f3185cc 542 BCN_SW = 0;
sakthipriya 5:bb592f3185cc 543 wait_us(1);
sakthipriya 5:bb592f3185cc 544 BCN_SW = 1;
sakthipriya 5:bb592f3185cc 545 }
sakthipriya 5:bb592f3185cc 546
sakthipriya 5:bb592f3185cc 547 void ir7clear()
sakthipriya 5:bb592f3185cc 548 {
sakthipriya 5:bb592f3185cc 549 actual_data.faultIr_status |= 0x40;
sakthipriya 5:bb592f3185cc 550 }
sakthipriya 5:bb592f3185cc 551 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 552
sakthipriya 5:bb592f3185cc 553
sakthipriya 5:bb592f3185cc 554
sakthipriya 5:bb592f3185cc 555 void pollfault()
sakthipriya 5:bb592f3185cc 556 {
sakthipriya 5:bb592f3185cc 557
sakthipriya 5:bb592f3185cc 558
sakthipriya 5:bb592f3185cc 559
sakthipriya 5:bb592f3185cc 560 if (pf1==0) // OC_ATS1
sakthipriya 5:bb592f3185cc 561 {
sakthipriya 5:bb592f3185cc 562 pf1check=1;
sakthipriya 5:bb592f3185cc 563 actual_data.faultPoll_status |=0x01 ;
sakthipriya 9:194afacf7449 564 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
sakthipriya 5:bb592f3185cc 565 }
sakthipriya 5:bb592f3185cc 566 else actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 567
sakthipriya 5:bb592f3185cc 568 if (pf2==0)
sakthipriya 5:bb592f3185cc 569 {
sakthipriya 5:bb592f3185cc 570 pf2check=1;
sakthipriya 5:bb592f3185cc 571 actual_data.faultPoll_status |=0x02 ;
sakthipriya 9:194afacf7449 572 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
sakthipriya 5:bb592f3185cc 573 }
sakthipriya 5:bb592f3185cc 574 else actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 575
sakthipriya 5:bb592f3185cc 576 if (pf3==0)
sakthipriya 5:bb592f3185cc 577 { actual_data.faultPoll_status |=0x04 ;
Bragadeesh153 13:fb7facaf308b 578 DRV_XY_EN = 0;
sakthipriya 5:bb592f3185cc 579 wait_us(1);
Bragadeesh153 13:fb7facaf308b 580 DRV_XY_EN = 1;
sakthipriya 5:bb592f3185cc 581 }
sakthipriya 5:bb592f3185cc 582 else actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 583
sakthipriya 5:bb592f3185cc 584
sakthipriya 5:bb592f3185cc 585
sakthipriya 5:bb592f3185cc 586
sakthipriya 5:bb592f3185cc 587 /*if (ir1==1)
sakthipriya 5:bb592f3185cc 588 {
sakthipriya 5:bb592f3185cc 589 actual_data.faultIr_status &=0xFE;
sakthipriya 5:bb592f3185cc 590 }*/
lakshya 14:a9588f443f1a 591
sakthipriya 5:bb592f3185cc 592 if (ir2==1)
sakthipriya 5:bb592f3185cc 593 {
sakthipriya 5:bb592f3185cc 594 actual_data.faultIr_status &=0xFD;
sakthipriya 5:bb592f3185cc 595 }
sakthipriya 5:bb592f3185cc 596 if (ir3==1)
sakthipriya 5:bb592f3185cc 597 {
sakthipriya 5:bb592f3185cc 598 actual_data.faultIr_status &=0xFB;
sakthipriya 5:bb592f3185cc 599 }
sakthipriya 5:bb592f3185cc 600 if (ir4==1)
sakthipriya 5:bb592f3185cc 601 {
sakthipriya 5:bb592f3185cc 602 actual_data.faultIr_status &=0xF7;
sakthipriya 5:bb592f3185cc 603 }
sakthipriya 5:bb592f3185cc 604 if (ir5==1)
sakthipriya 5:bb592f3185cc 605 {
sakthipriya 5:bb592f3185cc 606 actual_data.faultIr_status &=0xEF;
sakthipriya 5:bb592f3185cc 607 }
sakthipriya 5:bb592f3185cc 608 if (ir6==1)
sakthipriya 5:bb592f3185cc 609 {
sakthipriya 5:bb592f3185cc 610 actual_data.faultIr_status &=0xDF;
sakthipriya 5:bb592f3185cc 611 }if (ir7==1)
sakthipriya 5:bb592f3185cc 612 {
sakthipriya 5:bb592f3185cc 613 actual_data.faultIr_status &=0xBF;
sakthipriya 5:bb592f3185cc 614 }
lakshya 14:a9588f443f1a 615
sakthipriya 5:bb592f3185cc 616
sakthipriya 5:bb592f3185cc 617 }
sakthipriya 5:bb592f3185cc 618
sakthipriya 5:bb592f3185cc 619
sakthipriya 0:7b4c00e3912f 620 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 621 //SCHEDULER
sakthipriya 0:7b4c00e3912f 622 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 623 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 624 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 625 {
sakthipriya 0:7b4c00e3912f 626 printf("\n\r in scheduler");
sakthipriya 0:7b4c00e3912f 627
sakthipriya 0:7b4c00e3912f 628 if(schedcount == 7) //to reset the counter
sakthipriya 0:7b4c00e3912f 629 {
sakthipriya 0:7b4c00e3912f 630 schedcount = 1;
sakthipriya 0:7b4c00e3912f 631 }
sakthipriya 0:7b4c00e3912f 632 if(schedcount%1==0)
lakshya 14:a9588f443f1a 633 { pc.printf("\nSTATE IS !!!!!! = %x !!\n",ACS_STATE);
lakshya 14:a9588f443f1a 634 pc.printf("\niterp1 !!!!!! = %x !!\n",iterP1);
lakshya 14:a9588f443f1a 635 pc.printf("\niteri2 IS !!!!!! = %x !!\n",iterI2);
lakshya 14:a9588f443f1a 636 F_ACS();
sakthipriya 0:7b4c00e3912f 637 }
sakthipriya 0:7b4c00e3912f 638
sakthipriya 0:7b4c00e3912f 639 if(schedcount%2==0)
sakthipriya 0:7b4c00e3912f 640 {
Bragadeesh153 13:fb7facaf308b 641 // F_EPS();
sakthipriya 0:7b4c00e3912f 642 }
lakshya 14:a9588f443f1a 643 if(schedcount%1==0)
sakthipriya 0:7b4c00e3912f 644 {
Bragadeesh153 12:af1d7e18b868 645 F_BCN();
sakthipriya 0:7b4c00e3912f 646 }
sakthipriya 0:7b4c00e3912f 647 schedcount++;
sakthipriya 0:7b4c00e3912f 648 printf("\n\r exited scheduler");
sakthipriya 0:7b4c00e3912f 649 }
sakthipriya 0:7b4c00e3912f 650
sakthipriya 0:7b4c00e3912f 651 Timer t_flag;
sakthipriya 0:7b4c00e3912f 652 void FLAG()
sakthipriya 0:7b4c00e3912f 653 {
sakthipriya 0:7b4c00e3912f 654
sakthipriya 0:7b4c00e3912f 655 //.............acs..................//
sakthipriya 9:194afacf7449 656 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 657 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 658 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 659 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 660
sakthipriya 9:194afacf7449 661 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 662 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 663 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 664 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 665
sakthipriya 9:194afacf7449 666 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 667 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 668 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 669 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 670
sakthipriya 0:7b4c00e3912f 671 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 672 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 673
sakthipriya 9:194afacf7449 674 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 675 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 676 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 677 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 678
sakthipriya 0:7b4c00e3912f 679 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 680 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 681 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 682 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 683 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 684 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 685 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 686 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 687 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 688 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 689 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 690 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 691 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 692 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 693 else
sakthipriya 0:7b4c00e3912f 694 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 695
sakthipriya 0:7b4c00e3912f 696 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 697 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 698 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 699 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 700 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 701 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 702 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 703 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 704 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 705 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 706 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 707 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 708
sakthipriya 0:7b4c00e3912f 709 //...............eps......................//
sakthipriya 5:bb592f3185cc 710
sakthipriya 5:bb592f3185cc 711
sakthipriya 9:194afacf7449 712 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
sakthipriya 5:bb592f3185cc 713 BAE_STATUS |= 0x00010000;
sakthipriya 9:194afacf7449 714 else if(EPS_INIT_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 715 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 716
sakthipriya 5:bb592f3185cc 717
sakthipriya 9:194afacf7449 718 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
sakthipriya 5:bb592f3185cc 719 BAE_STATUS |= 0x00040000;
sakthipriya 9:194afacf7449 720 else if(EPS_MAIN_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 721 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 722
sakthipriya 5:bb592f3185cc 723
sakthipriya 9:194afacf7449 724 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
sakthipriya 5:bb592f3185cc 725 BAE_STATUS |= 0x00020000;
sakthipriya 9:194afacf7449 726 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 727 BAE_STATUS &= 0xFFFDFFFF;
sakthipriya 5:bb592f3185cc 728
sakthipriya 5:bb592f3185cc 729
sakthipriya 9:194afacf7449 730 if (EPS_BATTERY_TEMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
sakthipriya 5:bb592f3185cc 731 BAE_STATUS |= 0x00080000;
sakthipriya 9:194afacf7449 732 else if(EPS_BATTERY_TEMP_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 733 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 734
sakthipriya 5:bb592f3185cc 735 if (EPS_STATUS==0)
sakthipriya 5:bb592f3185cc 736 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
sakthipriya 5:bb592f3185cc 737 else if (EPS_STATUS==1)
sakthipriya 5:bb592f3185cc 738 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
sakthipriya 5:bb592f3185cc 739 else if (EPS_STATUS==2)
sakthipriya 5:bb592f3185cc 740 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
sakthipriya 5:bb592f3185cc 741 else if (EPS_STATUS==3)
sakthipriya 5:bb592f3185cc 742 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
sakthipriya 5:bb592f3185cc 743 else if (EPS_STATUS==4)
sakthipriya 5:bb592f3185cc 744 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
sakthipriya 5:bb592f3185cc 745 else if (EPS_STATUS==5)
sakthipriya 5:bb592f3185cc 746 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 747
sakthipriya 5:bb592f3185cc 748
sakthipriya 9:194afacf7449 749 if(EPS_BATTERY_HEAT_ENABLE == 1)
sakthipriya 5:bb592f3185cc 750 BAE_ENABLE |= 0x00000080;
sakthipriya 9:194afacf7449 751 else if(EPS_BATTERY_HEAT_ENABLE == 0)
sakthipriya 5:bb592f3185cc 752 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 753
sakthipriya 0:7b4c00e3912f 754
sakthipriya 0:7b4c00e3912f 755
sakthipriya 0:7b4c00e3912f 756 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
sakthipriya 0:7b4c00e3912f 757 }
sakthipriya 0:7b4c00e3912f 758
sakthipriya 0:7b4c00e3912f 759 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 760 {
sakthipriya 0:7b4c00e3912f 761 printf("\n\r Initialising BAE ");
sakthipriya 3:07e15677a75c 762 //..........intial status....//
Bragadeesh153 13:fb7facaf308b 763 ACS_STATE = 4;
sakthipriya 9:194afacf7449 764 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 765 ACS_DATA_ACQ_ENABLE = 1;
Bragadeesh153 16:cc77770d787f 766
Bragadeesh153 16:cc77770d787f 767
sakthipriya 9:194afacf7449 768 EPS_BATTERY_HEAT_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 769 actual_data.power_mode=3;
sakthipriya 9:194afacf7449 770 //............intializing pins................//
Bragadeesh153 16:cc77770d787f 771
Bragadeesh153 16:cc77770d787f 772 ATS2_SW_ENABLE = 1;
Bragadeesh153 16:cc77770d787f 773 ATS1_SW_ENABLE = 1;
Bragadeesh153 16:cc77770d787f 774 wait_ms(5);
sakthipriya 9:194afacf7449 775 ATS1_SW_ENABLE = 0;
Bragadeesh153 16:cc77770d787f 776
Bragadeesh153 16:cc77770d787f 777 ACS_ATS_STATUS = 0x60; //Set Sensor 1 working , Sensor2 working and powered off by default
Bragadeesh153 13:fb7facaf308b 778
Bragadeesh153 13:fb7facaf308b 779 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 780 DRV_Z_EN = 1;
Bragadeesh153 13:fb7facaf308b 781 TRZ_SW = 1;
Bragadeesh153 13:fb7facaf308b 782 TRXY_SW = 1;
sakthipriya 9:194afacf7449 783
sakthipriya 3:07e15677a75c 784 //............................//
sakthipriya 3:07e15677a75c 785 FCTN_ACS_INIT();
Bragadeesh153 13:fb7facaf308b 786 // FCTN_EPS_INIT();
lakshya 14:a9588f443f1a 787 //FCTN_BCN_INIT();
sakthipriya 3:07e15677a75c 788
sakthipriya 3:07e15677a75c 789
sakthipriya 0:7b4c00e3912f 790 FLAG();
sakthipriya 0:7b4c00e3912f 791 }
sakthipriya 0:7b4c00e3912f 792
sakthipriya 0:7b4c00e3912f 793 int main()
sakthipriya 0:7b4c00e3912f 794 {
sakthipriya 0:7b4c00e3912f 795 pc.printf("\n\r BAE Activated. Testing Version 1.1 \n");
Bragadeesh153 13:fb7facaf308b 796 CDMS_RESET = 1;
lakshya 14:a9588f443f1a 797 /*if (BCN_FEN == 0) //dummy implementation
sakthipriya 0:7b4c00e3912f 798 {
sakthipriya 0:7b4c00e3912f 799 pc.printf("\n\r RF silence ");
Bragadeesh153 12:af1d7e18b868 800 FCTN_BCN_FEN();
sakthipriya 0:7b4c00e3912f 801 t_rfsilence.start();//Start the timer for RF_Silence
sakthipriya 0:7b4c00e3912f 802 while(t_rfsilence.read() < RF_SILENCE_TIME);
sakthipriya 0:7b4c00e3912f 803 }
sakthipriya 0:7b4c00e3912f 804 */
sakthipriya 3:07e15677a75c 805
sakthipriya 9:194afacf7449 806 //ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 807 //ACS_DATA_ACQ_STATUS = 0;
Bragadeesh153 13:fb7facaf308b 808
Bragadeesh153 13:fb7facaf308b 809
sakthipriya 9:194afacf7449 810
Bragadeesh153 13:fb7facaf308b 811 //FLAG();
sakthipriya 0:7b4c00e3912f 812 FCTN_BAE_INIT();
sakthipriya 3:07e15677a75c 813
sakthipriya 0:7b4c00e3912f 814
sakthipriya 0:7b4c00e3912f 815 //...i2c..
sakthipriya 3:07e15677a75c 816 //strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end");
sakthipriya 0:7b4c00e3912f 817 slave.address(addr);
sakthipriya 0:7b4c00e3912f 818 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 819
sakthipriya 0:7b4c00e3912f 820 ptr_t_i2c = new Thread(T_TC);
sakthipriya 0:7b4c00e3912f 821 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 5:bb592f3185cc 822
sakthipriya 0:7b4c00e3912f 823 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 824 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
sakthipriya 5:bb592f3185cc 825 // ir1.fall(&ir1clear); //Battery Gauge - Alert Bar Signal
lakshya 14:a9588f443f1a 826 /* ir2.fall(&ir2clear); //TRXY Driver TR switch Fault
lakshya 14:a9588f443f1a 827 ir3.fall(&ir3clear); //TRZ Driver Fault Bar
lakshya 14:a9588f443f1a 828 ir4.fall(&ir4clear); //TRZ Driver TR switch Fault
lakshya 14:a9588f443f1a 829 ir5.fall(&ir5clear); //CDMS - Switch Fault
lakshya 14:a9588f443f1a 830 ir6.fall(&ir6clear); //Beacon- Switch OC bar
lakshya 14:a9588f443f1a 831 ir7.fall(&ir7clear); //Charger IC - Fault Bar
lakshya 14:a9588f443f1a 832
lakshya 14:a9588f443f1a 833 */
sakthipriya 0:7b4c00e3912f 834 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
sakthipriya 0:7b4c00e3912f 835 t_sc_timer.start(10000);
sakthipriya 0:7b4c00e3912f 836 t_start.start();
sakthipriya 0:7b4c00e3912f 837 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
sakthipriya 0:7b4c00e3912f 838
Bragadeesh153 13:fb7facaf308b 839
sakthipriya 0:7b4c00e3912f 840 //FCTN_BAE_INIT();
sakthipriya 0:7b4c00e3912f 841 while(1); //required to prevent main from terminating
sakthipriya 3:07e15677a75c 842 }
sakthipriya 3:07e15677a75c 843