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@13:fb7facaf308b, 2016-04-13 (annotated)

Committer:
Bragadeesh153
Date:
Wed Apr 13 21:48:21 2016 +0000
Revision:
13:fb7facaf308b
Parent:
12:af1d7e18b868
Child:
14:a9588f443f1a
Sensor working, datatype changed to uint, commissioning updated, I2C working only once...

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