Team Fox / Mbed 2 deprecated BAE_ACS_FULLYDONE_153

FINAL ACS TO BE USED FOR TESTING. COMMISSIONING, ACS MAIN, DATA ACQ ALL DONE.

Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of ACS_FULL_Flowchart_BAE by Team Fox

main.cpp@19:403cb36e22ed, 2016-06-28 (annotated)

Committer:
Bragadeesh153
Date:
Tue Jun 28 10:11:54 2016 +0000
Revision:
19:403cb36e22ed
Parent:
18:21740620c65e 
FINAL ACS TO BE USED FOR TESTING

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
Bragadeesh153 17:1e1955f3db75 20 //.........ACS...............//
sakthipriya 0:7b4c00e3912f 21
sakthipriya 9:194afacf7449 22
sakthipriya 9:194afacf7449 23 uint8_t ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 24 uint8_t ACS_DATA_ACQ_STATUS = 0;
Bragadeesh153 19:403cb36e22ed 25 uint8_t ACS_ATS_STATUS = 0x73;
sakthipriya 9:194afacf7449 26 uint8_t ACS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 27 uint8_t ACS_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 28 uint8_t ACS_DETUMBLING_ALGO_TYPE = 0;
Bragadeesh153 17:1e1955f3db75 29
Bragadeesh153 17:1e1955f3db75 30 uint8_t ACS_TR_Z_SW_STATUS=1;
Bragadeesh153 17:1e1955f3db75 31 uint8_t ACS_TR_XY_SW_STATUS=1;
sakthipriya 9:194afacf7449 32
sakthipriya 9:194afacf7449 33 uint8_t ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 34 uint8_t ACS_DATA_ACQ_ENABLE = 1;
Bragadeesh153 17:1e1955f3db75 35 uint8_t ACS_STATE = 7;
sakthipriya 0:7b4c00e3912f 36
Bragadeesh153 17:1e1955f3db75 37 //.....................EPS...................//
sakthipriya 0:7b4c00e3912f 38 //eps init
sakthipriya 9:194afacf7449 39
sakthipriya 9:194afacf7449 40 uint8_t EPS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 41 uint8_t EPS_BATTERY_GAUGE_STATUS = 0;
sakthipriya 9:194afacf7449 42 //eps main
sakthipriya 9:194afacf7449 43 uint8_t EPS_MAIN_STATUS = 0;
sakthipriya 9:194afacf7449 44 uint8_t EPS_BATTERY_TEMP_STATUS = 0;
sakthipriya 9:194afacf7449 45 uint8_t EPS_STATUS = 7; //invalid status
sakthipriya 9:194afacf7449 46
sakthipriya 9:194afacf7449 47 uint8_t EPS_BATTERY_HEAT_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 48
sakthipriya 0:7b4c00e3912f 49 //.......................global variables..................................................................// new hk structure- everything has to changed based on this
sakthipriya 6:036d08b62785 50 uint8_t BAE_data[74];
sakthipriya 6:036d08b62785 51 char BAE_chardata[74];
sakthipriya 0:7b4c00e3912f 52
sakthipriya 0:7b4c00e3912f 53
sakthipriya 0:7b4c00e3912f 54 //*************************************Global declarations************************************************//
sakthipriya 0:7b4c00e3912f 55 const int addr = 0x20; //slave address
sakthipriya 0:7b4c00e3912f 56
sakthipriya 0:7b4c00e3912f 57 Timer t_rfsilence;
sakthipriya 0:7b4c00e3912f 58 Timer t_start;
sakthipriya 7:a46a1dee4497 59 Timer t_tc;
sakthipriya 7:a46a1dee4497 60 Timer t_tm;
Bragadeesh153 17:1e1955f3db75 61
sakthipriya 0:7b4c00e3912f 62 Serial pc(USBTX, USBRX);
sakthipriya 0:7b4c00e3912f 63 int power_flag_dummy=2;
Bragadeesh153 17:1e1955f3db75 64
Bragadeesh153 17:1e1955f3db75 65 extern float gyro_data[3];
Bragadeesh153 17:1e1955f3db75 66 extern float mag_data[3];
sakthipriya 0:7b4c00e3912f 67
Bragadeesh153 19:403cb36e22ed 68 float moment[3];
Bragadeesh153 17:1e1955f3db75 69
Bragadeesh153 17:1e1955f3db75 70
sakthipriya 0:7b4c00e3912f 71 extern uint8_t BCN_FEN;
sakthipriya 1:446a959e36ce 72 extern BAE_HK_actual actual_data;
sakthipriya 1:446a959e36ce 73 extern BAE_HK_quant quant_data;
sakthipriya 1:446a959e36ce 74 extern BAE_HK_min_max bae_HK_minmax;
sakthipriya 1:446a959e36ce 75 extern BAE_HK_arch arch_data;
sakthipriya 0:7b4c00e3912f 76
sakthipriya 5:bb592f3185cc 77 int write_ack = 1;
sakthipriya 5:bb592f3185cc 78 int read_ack = 1;
sakthipriya 0:7b4c00e3912f 79 char telecommand[tc_len];
Bragadeesh153 13:fb7facaf308b 80 extern uint8_t telemetry[135];
sakthipriya 5:bb592f3185cc 81
sakthipriya 5:bb592f3185cc 82 bool pf1check = 0;
sakthipriya 5:bb592f3185cc 83 bool pf2check = 0;
sakthipriya 5:bb592f3185cc 84 bool if1check = 0;
lakshya 14:a9588f443f1a 85 bool if2check = 0;
sakthipriya 0:7b4c00e3912f 86
sakthipriya 0:7b4c00e3912f 87 //*****************************************************Assigning pins******************************************************//
sakthipriya 9:194afacf7449 88 DigitalOut ATS1_SW_ENABLE(PTC0); // enable of att sens2 switch
sakthipriya 9:194afacf7449 89 DigitalOut ATS2_SW_ENABLE(PTC16); // enable of att sens switch
Bragadeesh153 16:cc77770d787f 90
sakthipriya 0:7b4c00e3912f 91 InterruptIn irpt_4m_mstr(PIN38); //I2c interrupt from CDMS
sakthipriya 0:7b4c00e3912f 92 DigitalOut irpt_2_mstr(PIN4); //I2C interrupt to CDMS
lakshya 14:a9588f443f1a 93 I2CSlave slave (PIN1,PIN2);///pin1 pin2
sakthipriya 0:7b4c00e3912f 94 DigitalOut batt_heat(PIN96);
sakthipriya 0:7b4c00e3912f 95
sakthipriya 9:194afacf7449 96 //ATS1_SW_ENABLE = 0;
sakthipriya 0:7b4c00e3912f 97 PwmOut PWM1(PIN93); //x //Functions used to generate PWM signal
sakthipriya 0:7b4c00e3912f 98 PwmOut PWM2(PIN94); //y
sakthipriya 0:7b4c00e3912f 99 PwmOut PWM3(PIN95); //z //PWM output comes from pins p6
sakthipriya 0:7b4c00e3912f 100
sakthipriya 5:bb592f3185cc 101 //........faults
sakthipriya 5:bb592f3185cc 102 //Polled Faults
sakthipriya 5:bb592f3185cc 103 DigitalIn pf1(PIN5);//Attitude Sensor 1 OC bar fault signal
sakthipriya 5:bb592f3185cc 104 DigitalIn pf2(PIN97);//Attitude Sensor 2 OC bar fault signal
sakthipriya 5:bb592f3185cc 105 DigitalIn pf3(PIN83);//Fault Bar for TRXY driver
sakthipriya 5:bb592f3185cc 106
sakthipriya 5:bb592f3185cc 107 //Interrupt based faults
lakshya 14:a9588f443f1a 108 //InterruptIn ir1(PIN73);//Battery Gauge - Alert Bar Signal
sakthipriya 5:bb592f3185cc 109 InterruptIn ir2(PIN72);//TRXY Driver TR switch Fault
sakthipriya 5:bb592f3185cc 110 InterruptIn ir3(PIN89);//TRZ Driver Fault Bar
sakthipriya 5:bb592f3185cc 111 InterruptIn ir4(PIN91);//TRZ Driver TR switch Fault
sakthipriya 5:bb592f3185cc 112 InterruptIn ir5(PIN79);//CDMS - Switch Fault
sakthipriya 5:bb592f3185cc 113 InterruptIn ir6(PIN80);//Beacon- Switch OC bar
sakthipriya 5:bb592f3185cc 114 InterruptIn ir7(PIN42);//Charger IC - Fault Bar
sakthipriya 5:bb592f3185cc 115
lakshya 14:a9588f443f1a 116
Bragadeesh153 13:fb7facaf308b 117
Bragadeesh153 13:fb7facaf308b 118 DigitalOut TRXY_SW(PIN71); //TR XY Switch
Bragadeesh153 13:fb7facaf308b 119 DigitalOut DRV_Z_EN(PIN88); //Sleep pin of driver z
sakthipriya 5:bb592f3185cc 120 DigitalOut TRZ_SW(PIN40); //TR Z Switch
sakthipriya 5:bb592f3185cc 121 DigitalOut CDMS_RESET(PIN7); // CDMS RESET
sakthipriya 5:bb592f3185cc 122 DigitalOut BCN_SW(PIN14); //Beacon switch
Bragadeesh153 13:fb7facaf308b 123 DigitalOut DRV_XY_EN(PIN82);
sakthipriya 0:7b4c00e3912f 124
sakthipriya 0:7b4c00e3912f 125 /*****************************************************************Threads USed***********************************************************************************/
sakthipriya 3:07e15677a75c 126
sakthipriya 0:7b4c00e3912f 127 Thread *ptr_t_i2c;
sakthipriya 0:7b4c00e3912f 128
sakthipriya 0:7b4c00e3912f 129 /*********************************************************FCTN HEADERS***********************************************************************************/
sakthipriya 0:7b4c00e3912f 130
sakthipriya 0:7b4c00e3912f 131 void FCTN_ISR_I2C();
sakthipriya 0:7b4c00e3912f 132 void FCTN_TM();
sakthipriya 3:07e15677a75c 133 void F_ACS();
sakthipriya 3:07e15677a75c 134 void F_EPS();
sakthipriya 3:07e15677a75c 135 void F_BCN();
sakthipriya 0:7b4c00e3912f 136
sakthipriya 0:7b4c00e3912f 137 //*******************************************ACS THREAD**************************************************//
sakthipriya 5:bb592f3185cc 138 uint8_t iterP1;
sakthipriya 5:bb592f3185cc 139 uint8_t iterP2;
sakthipriya 5:bb592f3185cc 140 uint8_t iterI1;
sakthipriya 5:bb592f3185cc 141 uint8_t iterI2;
sakthipriya 0:7b4c00e3912f 142
Bragadeesh153 17:1e1955f3db75 143 extern float max_array(float arr[3]);
Bragadeesh153 17:1e1955f3db75 144
sakthipriya 3:07e15677a75c 145 void F_ACS()
sakthipriya 0:7b4c00e3912f 146 {
Bragadeesh153 19:403cb36e22ed 147
Bragadeesh153 17:1e1955f3db75 148 pc.printf("Entered ACS.\n\r");
sakthipriya 9:194afacf7449 149
Bragadeesh153 17:1e1955f3db75 150 ACS_MAIN_STATUS = 1; //set ACS_MAIN_STATUS flag
sakthipriya 8:82250e41da81 151
sakthipriya 0:7b4c00e3912f 152 PWM1 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 153 PWM2 = 0; //clear pwm pins
sakthipriya 0:7b4c00e3912f 154 PWM3 = 0; //clear pwm pins
Bragadeesh153 17:1e1955f3db75 155
Bragadeesh153 19:403cb36e22ed 156 wait_ms(ACS_DEMAG_TIME_DELAY);
Bragadeesh153 19:403cb36e22ed 157
Bragadeesh153 19:403cb36e22ed 158
Bragadeesh153 17:1e1955f3db75 159
Bragadeesh153 17:1e1955f3db75 160 ACS_DATA_ACQ_STATUS = (uint8_t) FCTN_ATS_DATA_ACQ();
sakthipriya 0:7b4c00e3912f 161
Bragadeesh153 17:1e1955f3db75 162 //printing the angular speed and magnetic field values
Bragadeesh153 17:1e1955f3db75 163
Bragadeesh153 17:1e1955f3db75 164 pc.printf("gyro values\n\r");
sakthipriya 0:7b4c00e3912f 165 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 166 {
lakshya 15:e09aaaccf134 167 printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
sakthipriya 0:7b4c00e3912f 168 }
Bragadeesh153 17:1e1955f3db75 169
sakthipriya 0:7b4c00e3912f 170 pc.printf("mag values\n\r");
sakthipriya 6:036d08b62785 171 for(int i=0; i<3; i++)
sakthipriya 0:7b4c00e3912f 172 {
sakthipriya 6:036d08b62785 173 pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
sakthipriya 5:bb592f3185cc 174 }
Bragadeesh153 17:1e1955f3db75 175
Bragadeesh153 17:1e1955f3db75 176 for(int i=0;i<3;i++)
sakthipriya 0:7b4c00e3912f 177 {
Bragadeesh153 17:1e1955f3db75 178 mag_data[i] = actual_data.Bvalue_actual[i]/1000000;
Bragadeesh153 17:1e1955f3db75 179 gyro_data[i] = actual_data.AngularSpeed_actual[i]*3.14159/180;
sakthipriya 0:7b4c00e3912f 180 }
Bragadeesh153 17:1e1955f3db75 181
Bragadeesh153 17:1e1955f3db75 182
Bragadeesh153 17:1e1955f3db75 183
Bragadeesh153 17:1e1955f3db75 184 if(ACS_STATE == 0) // check ACS_STATE = ACS_CONTROL_OFF?
sakthipriya 0:7b4c00e3912f 185 {
sakthipriya 0:7b4c00e3912f 186 printf("\n\r acs control off\n");
sakthipriya 9:194afacf7449 187 ACS_STATUS = 0; // set ACS_STATUS = ACS_CONTROL_OFF
Bragadeesh153 17:1e1955f3db75 188
Bragadeesh153 17:1e1955f3db75 189 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 190 return;
Bragadeesh153 17:1e1955f3db75 191 }
Bragadeesh153 17:1e1955f3db75 192
Bragadeesh153 17:1e1955f3db75 193 else if(actual_data.power_mode<2)
Bragadeesh153 17:1e1955f3db75 194 {
Bragadeesh153 17:1e1955f3db75 195 printf("\n\r Low Power \n\r");
Bragadeesh153 17:1e1955f3db75 196
Bragadeesh153 17:1e1955f3db75 197 DRV_Z_EN = 0;
Bragadeesh153 17:1e1955f3db75 198 DRV_XY_EN = 0;
Bragadeesh153 17:1e1955f3db75 199
Bragadeesh153 17:1e1955f3db75 200 ACS_STATUS = 1; // set ACS_STATUS = ACS_LOW_POWER
Bragadeesh153 17:1e1955f3db75 201
Bragadeesh153 17:1e1955f3db75 202 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 203 return;
Bragadeesh153 17:1e1955f3db75 204
sakthipriya 0:7b4c00e3912f 205 }
Bragadeesh153 17:1e1955f3db75 206
Bragadeesh153 17:1e1955f3db75 207 else if(ACS_TR_Z_SW_STATUS != 1)
Bragadeesh153 17:1e1955f3db75 208 {
Bragadeesh153 17:1e1955f3db75 209 DRV_Z_EN = 0;
Bragadeesh153 17:1e1955f3db75 210 DRV_XY_EN = 0;
Bragadeesh153 17:1e1955f3db75 211
Bragadeesh153 17:1e1955f3db75 212 ACS_STATUS = 2; // set ACS_STAUS = ACS_TRZ_DISABLED
Bragadeesh153 17:1e1955f3db75 213
Bragadeesh153 17:1e1955f3db75 214 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 215 return;
Bragadeesh153 17:1e1955f3db75 216 }
Bragadeesh153 17:1e1955f3db75 217
Bragadeesh153 17:1e1955f3db75 218 else if(ACS_TR_XY_SW_STATUS != 1)
Bragadeesh153 17:1e1955f3db75 219 {
Bragadeesh153 17:1e1955f3db75 220
Bragadeesh153 17:1e1955f3db75 221 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 222 DRV_XY_EN = 0;
Bragadeesh153 17:1e1955f3db75 223
Bragadeesh153 17:1e1955f3db75 224 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED , Z axis only
Bragadeesh153 17:1e1955f3db75 225
Bragadeesh153 17:1e1955f3db75 226 moment[0] = 0;
Bragadeesh153 17:1e1955f3db75 227 moment[1] = 0;
Bragadeesh153 19:403cb36e22ed 228 moment[2] =ACS_Z_FIXED_MOMENT; // is a dummy value
Bragadeesh153 17:1e1955f3db75 229
Bragadeesh153 17:1e1955f3db75 230
Bragadeesh153 17:1e1955f3db75 231
Bragadeesh153 17:1e1955f3db75 232 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 17:1e1955f3db75 233
Bragadeesh153 17:1e1955f3db75 234 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 235 return;
Bragadeesh153 17:1e1955f3db75 236
Bragadeesh153 17:1e1955f3db75 237 }
Bragadeesh153 17:1e1955f3db75 238
Bragadeesh153 19:403cb36e22ed 239 else if((ACS_DATA_ACQ_STATUS == 0)||(ACS_DATA_ACQ_STATUS == 1))
sakthipriya 0:7b4c00e3912f 240 {
Bragadeesh153 17:1e1955f3db75 241 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 242 DRV_XY_EN = 0;
Bragadeesh153 17:1e1955f3db75 243
Bragadeesh153 17:1e1955f3db75 244 ACS_STATUS = 3; // set Set ACS_STATUS = ACS_DATA_ACQN_FAILURE , Z axis only
Bragadeesh153 17:1e1955f3db75 245
Bragadeesh153 17:1e1955f3db75 246 moment[0] = 0;
Bragadeesh153 17:1e1955f3db75 247 moment[1] = 0;
Bragadeesh153 19:403cb36e22ed 248 moment[2] =ACS_Z_FIXED_MOMENT; // is a dummy value
Bragadeesh153 17:1e1955f3db75 249 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 17:1e1955f3db75 250
Bragadeesh153 17:1e1955f3db75 251 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 252 return;
Bragadeesh153 17:1e1955f3db75 253
Bragadeesh153 17:1e1955f3db75 254 }
Bragadeesh153 17:1e1955f3db75 255
Bragadeesh153 17:1e1955f3db75 256 else if(ACS_STATE == 5)
Bragadeesh153 17:1e1955f3db75 257 {
Bragadeesh153 17:1e1955f3db75 258
Bragadeesh153 17:1e1955f3db75 259 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 260 DRV_XY_EN = 0;
Bragadeesh153 17:1e1955f3db75 261
Bragadeesh153 17:1e1955f3db75 262 ACS_STATUS = 3; // set ACS_STAUS = ACS_TRXY_DISABLED by ACS_STATE i.e Z axis only
Bragadeesh153 17:1e1955f3db75 263
Bragadeesh153 17:1e1955f3db75 264 moment[0] = 0;
Bragadeesh153 17:1e1955f3db75 265 moment[1] = 0;
Bragadeesh153 19:403cb36e22ed 266 moment[2] =ACS_Z_FIXED_MOMENT; // 1.3 is a dummy value
Bragadeesh153 17:1e1955f3db75 267 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 17:1e1955f3db75 268
Bragadeesh153 17:1e1955f3db75 269 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 270 return;
Bragadeesh153 17:1e1955f3db75 271
Bragadeesh153 17:1e1955f3db75 272 }
Bragadeesh153 17:1e1955f3db75 273
Bragadeesh153 17:1e1955f3db75 274 else if(ACS_DATA_ACQ_STATUS == 2) // MM only is available
Bragadeesh153 17:1e1955f3db75 275 {
Bragadeesh153 17:1e1955f3db75 276 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 277 DRV_XY_EN = 1;
Bragadeesh153 17:1e1955f3db75 278
Bragadeesh153 17:1e1955f3db75 279 ACS_STATUS = 4; // set Set ACS_STATUS = ACS_BDOT_CONTROL
Bragadeesh153 17:1e1955f3db75 280
Bragadeesh153 17:1e1955f3db75 281
Bragadeesh153 19:403cb36e22ed 282 ACS_DETUMBLING_ALGO_TYPE = 0x01;
Bragadeesh153 19:403cb36e22ed 283 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
Bragadeesh153 17:1e1955f3db75 284
Bragadeesh153 17:1e1955f3db75 285 printf("\n\r Moment values returned by control algo \n");
Bragadeesh153 17:1e1955f3db75 286 for(int i=0; i<3; i++)
Bragadeesh153 17:1e1955f3db75 287 {
Bragadeesh153 17:1e1955f3db75 288 printf("%f\t",moment[i]);
Bragadeesh153 17:1e1955f3db75 289 }
Bragadeesh153 17:1e1955f3db75 290
Bragadeesh153 17:1e1955f3db75 291 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 17:1e1955f3db75 292
Bragadeesh153 19:403cb36e22ed 293
Bragadeesh153 17:1e1955f3db75 294 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 295 return;
Bragadeesh153 17:1e1955f3db75 296
Bragadeesh153 17:1e1955f3db75 297 }
Bragadeesh153 17:1e1955f3db75 298
Bragadeesh153 17:1e1955f3db75 299 else if(ACS_STATE == 7) // Nominal mode
Bragadeesh153 17:1e1955f3db75 300 {
Bragadeesh153 17:1e1955f3db75 301
Bragadeesh153 17:1e1955f3db75 302 printf("\n\r Nominal mode \n");
Bragadeesh153 17:1e1955f3db75 303 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 304 DRV_XY_EN = 1;
Bragadeesh153 17:1e1955f3db75 305
Bragadeesh153 19:403cb36e22ed 306 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
Bragadeesh153 17:1e1955f3db75 307
Bragadeesh153 17:1e1955f3db75 308 printf("\n\r Moment values returned by control algo \n");
Bragadeesh153 17:1e1955f3db75 309 for(int i=0; i<3; i++)
Bragadeesh153 17:1e1955f3db75 310 {
Bragadeesh153 17:1e1955f3db75 311 printf("%f\t",moment[i]);
Bragadeesh153 17:1e1955f3db75 312 }
Bragadeesh153 17:1e1955f3db75 313 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 17:1e1955f3db75 314
Bragadeesh153 17:1e1955f3db75 315
Bragadeesh153 17:1e1955f3db75 316 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 317 return;
Bragadeesh153 17:1e1955f3db75 318
Bragadeesh153 17:1e1955f3db75 319 }
Bragadeesh153 17:1e1955f3db75 320
Bragadeesh153 17:1e1955f3db75 321 else if(ACS_STATE == 8) // Auto Control
Bragadeesh153 17:1e1955f3db75 322 {
Bragadeesh153 17:1e1955f3db75 323
Bragadeesh153 17:1e1955f3db75 324 printf("\n\r Auto control mode \n");
Bragadeesh153 17:1e1955f3db75 325 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 326 DRV_XY_EN = 1;
Bragadeesh153 18:21740620c65e 327
Bragadeesh153 19:403cb36e22ed 328 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
Bragadeesh153 17:1e1955f3db75 329 printf("\n\r Moment values returned by control algo \n");
Bragadeesh153 17:1e1955f3db75 330 for(int i=0; i<3; i++)
Bragadeesh153 17:1e1955f3db75 331 {
Bragadeesh153 17:1e1955f3db75 332 printf("%f\t",moment[i]);
Bragadeesh153 17:1e1955f3db75 333 }
Bragadeesh153 17:1e1955f3db75 334 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 18:21740620c65e 335 // set ACS_STATUS in function
Bragadeesh153 17:1e1955f3db75 336
Bragadeesh153 17:1e1955f3db75 337 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 338 return;
Bragadeesh153 17:1e1955f3db75 339 }
Bragadeesh153 17:1e1955f3db75 340
Bragadeesh153 17:1e1955f3db75 341 else if(ACS_STATE == 9) // Detumbling
Bragadeesh153 17:1e1955f3db75 342 {
Bragadeesh153 17:1e1955f3db75 343 DRV_Z_EN = 1;
Bragadeesh153 17:1e1955f3db75 344 DRV_XY_EN = 1;
sakthipriya 0:7b4c00e3912f 345
Bragadeesh153 19:403cb36e22ed 346 FCTN_ACS_CNTRLALGO(moment,mag_data,gyro_data,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
Bragadeesh153 17:1e1955f3db75 347 FCTN_ACS_GENPWM_MAIN(moment) ;
Bragadeesh153 17:1e1955f3db75 348
Bragadeesh153 17:1e1955f3db75 349 ACS_MAIN_STATUS = 0;
Bragadeesh153 17:1e1955f3db75 350 return;
Bragadeesh153 17:1e1955f3db75 351 }
Bragadeesh153 17:1e1955f3db75 352
Bragadeesh153 17:1e1955f3db75 353 ACS_STATUS = 7; //INVALID_STATE
Bragadeesh153 17:1e1955f3db75 354 DRV_Z_EN = 0;
Bragadeesh153 17:1e1955f3db75 355 DRV_XY_EN = 0;
sakthipriya 9:194afacf7449 356 ACS_MAIN_STATUS = 0; //clear ACS_MAIN_STATUS flag
sakthipriya 3:07e15677a75c 357
sakthipriya 0:7b4c00e3912f 358 }
sakthipriya 0:7b4c00e3912f 359 //***************************************************EPS THREAD***********************************************//
sakthipriya 0:7b4c00e3912f 360
sakthipriya 3:07e15677a75c 361 void F_EPS()
sakthipriya 0:7b4c00e3912f 362 {
sakthipriya 3:07e15677a75c 363
sakthipriya 0:7b4c00e3912f 364 pc.printf("\n\rEntered EPS %f\n",t_start.read());
sakthipriya 9:194afacf7449 365 EPS_MAIN_STATUS = 1; // Set EPS main status
sakthipriya 3:07e15677a75c 366 FCTN_BATT_TEMP_SENSOR_MAIN(actual_data.Batt_temp_actual);
sakthipriya 3:07e15677a75c 367 pc.printf("\n\r Battery temperature %f %f" ,actual_data.Batt_temp_actual[0], actual_data.Batt_temp_actual[1]);
sakthipriya 9:194afacf7449 368 EPS_BATTERY_TEMP_STATUS = 1; //set EPS_BATTERY_TEMP_STATUS
sakthipriya 9:194afacf7449 369 if(EPS_BATTERY_HEAT_ENABLE == 1)
sakthipriya 3:07e15677a75c 370 {
sakthipriya 5:bb592f3185cc 371 if((actual_data.Batt_temp_actual[0] < batt_heat_low) && (actual_data.Batt_temp_actual[1] < batt_heat_low)) // to confirm
sakthipriya 3:07e15677a75c 372 {
sakthipriya 3:07e15677a75c 373 batt_heat = 1; //turn on battery heater
sakthipriya 3:07e15677a75c 374 }
sakthipriya 3:07e15677a75c 375 else
sakthipriya 3:07e15677a75c 376 {
sakthipriya 3:07e15677a75c 377 batt_heat = 0; //turn off battery heater
sakthipriya 3:07e15677a75c 378 }
sakthipriya 3:07e15677a75c 379
sakthipriya 3:07e15677a75c 380 }
sakthipriya 9:194afacf7449 381 else if(EPS_BATTERY_HEAT_ENABLE == 0)
sakthipriya 3:07e15677a75c 382 {
sakthipriya 3:07e15677a75c 383 EPS_STATUS = 1;//EPS_STATUS = EPS_BATTERY_HEATER_DISABLED
sakthipriya 3:07e15677a75c 384 }
sakthipriya 0:7b4c00e3912f 385 FCTN_BATTERYGAUGE_MAIN(actual_data.Batt_gauge_actual);
sakthipriya 1:446a959e36ce 386 if (actual_data.Batt_gauge_actual[1] == 200) //data not received
sakthipriya 0:7b4c00e3912f 387 {
sakthipriya 0:7b4c00e3912f 388 actual_data.power_mode = 1;
sakthipriya 9:194afacf7449 389 EPS_BATTERY_GAUGE_STATUS = 0; //clear EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 390
sakthipriya 0:7b4c00e3912f 391 }
sakthipriya 0:7b4c00e3912f 392 else
sakthipriya 0:7b4c00e3912f 393 {
sakthipriya 1:446a959e36ce 394 FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]); //updating power level
sakthipriya 9:194afacf7449 395 EPS_BATTERY_GAUGE_STATUS = 1; //set EPS_BATTERY_GAUGE_STATUS
sakthipriya 0:7b4c00e3912f 396 }
sakthipriya 3:07e15677a75c 397 // if( Temperature data received)
sakthipriya 3:07e15677a75c 398 //{
sakthipriya 3:07e15677a75c 399
sakthipriya 0:7b4c00e3912f 400
sakthipriya 3:07e15677a75c 401 // }
sakthipriya 3:07e15677a75c 402 // else
sakthipriya 3:07e15677a75c 403 // {
sakthipriya 3:07e15677a75c 404 // Set battery temp to XX
sakthipriya 9:194afacf7449 405 // EPS_BATTERY_TEMP_STATUS = 0; //clear EPS_BATTERY_TEMP_STATUS
sakthipriya 3:07e15677a75c 406 // EPS_STATUS = EPS_ERR_BATTERY_TEMP;
sakthipriya 3:07e15677a75c 407 // }
sakthipriya 3:07e15677a75c 408 FCTN_HK_MAIN();
sakthipriya 6:036d08b62785 409 // printf("\n\r here");
sakthipriya 5:bb592f3185cc 410 FCTN_APPEND_HKDATA();
sakthipriya 5:bb592f3185cc 411 minMaxHkData();
sakthipriya 6:036d08b62785 412 //printf("\n\r here");
sakthipriya 9:194afacf7449 413 EPS_MAIN_STATUS = 0; // clear EPS main status
sakthipriya 3:07e15677a75c 414
sakthipriya 0:7b4c00e3912f 415 }
sakthipriya 0:7b4c00e3912f 416
sakthipriya 0:7b4c00e3912f 417 //**************************************************BCN THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 418
sakthipriya 3:07e15677a75c 419 void F_BCN()
sakthipriya 0:7b4c00e3912f 420 {
sakthipriya 3:07e15677a75c 421
sakthipriya 0:7b4c00e3912f 422 pc.printf("\n\rEntered BCN %f\n",t_start.read());
sakthipriya 0:7b4c00e3912f 423
Bragadeesh153 12:af1d7e18b868 424 FCTN_BCN_TX_MAIN();
sakthipriya 0:7b4c00e3912f 425
sakthipriya 0:7b4c00e3912f 426 }
sakthipriya 0:7b4c00e3912f 427
sakthipriya 0:7b4c00e3912f 428 //**************************************************TCTM THREAD*******************************************************************//
sakthipriya 0:7b4c00e3912f 429
sakthipriya 0:7b4c00e3912f 430 void T_TC(void const * args)
sakthipriya 0:7b4c00e3912f 431 {
sakthipriya 0:7b4c00e3912f 432 while(1)
sakthipriya 0:7b4c00e3912f 433 {
sakthipriya 0:7b4c00e3912f 434 Thread::signal_wait(0x4);
lakshya 15:e09aaaccf134 435 wait_us(200);
lakshya 15:e09aaaccf134 436 //printf("\n\rreached\n"); // can be between 38 to 15700
sakthipriya 0:7b4c00e3912f 437 if( slave.receive() == 0)
lakshya 15:e09aaaccf134 438 {slave.stop();
lakshya 15:e09aaaccf134 439 //printf("\n\rnot send\n");
lakshya 15:e09aaaccf134 440 }
sakthipriya 0:7b4c00e3912f 441 else if( slave.receive() == 1) // slave writes to master
sakthipriya 0:7b4c00e3912f 442 {
sakthipriya 5:bb592f3185cc 443 if(data_send_flag == 'h')
sakthipriya 6:036d08b62785 444 {
sakthipriya 6:036d08b62785 445 //FCTN_APPEND_HKDATA();
sakthipriya 6:036d08b62785 446 // pc.printf("\n\r here");
sakthipriya 6:036d08b62785 447 write_ack=slave.write(BAE_chardata,74);
Bragadeesh153 13:fb7facaf308b 448 if(write_ack==0)
lakshya 15:e09aaaccf134 449 {irpt_2_mstr = 0;
lakshya 15:e09aaaccf134 450 printf("\n\rgot interrupt\n");
lakshya 15:e09aaaccf134 451 }
sakthipriya 6:036d08b62785 452 }
sakthipriya 5:bb592f3185cc 453 else if(data_send_flag == 't')
sakthipriya 5:bb592f3185cc 454 {
Bragadeesh153 13:fb7facaf308b 455 write_ack=slave.write((char*)telemetry,tm_len);
sakthipriya 5:bb592f3185cc 456 data_send_flag = 'h';
Bragadeesh153 13:fb7facaf308b 457 if(write_ack==0)
Bragadeesh153 13:fb7facaf308b 458 irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 459 }
sakthipriya 0:7b4c00e3912f 460 }
sakthipriya 0:7b4c00e3912f 461 else if( slave.receive()==3 || slave.receive()==2) // slave read
sakthipriya 0:7b4c00e3912f 462 {
sakthipriya 5:bb592f3185cc 463 read_ack=slave.read(telecommand,tc_len);
sakthipriya 7:a46a1dee4497 464 t_tc.start();
sakthipriya 6:036d08b62785 465 //pc.printf("\n\rTELECOMMAND received from CDMS is %s \n",telecommand);
sakthipriya 7:a46a1dee4497 466 pc.printf("\n\r Executing Telecommand \n");
sakthipriya 3:07e15677a75c 467 // FCTN_TC_DECODE((uint8_t*) telecommand);
sakthipriya 7:a46a1dee4497 468
Bragadeesh153 13:fb7facaf308b 469 FCTN_BAE_TM_TC((uint8_t*) telecommand);
Bragadeesh153 13:fb7facaf308b 470 //telemetry = (char*)temp;
sakthipriya 7:a46a1dee4497 471
sakthipriya 5:bb592f3185cc 472 FCTN_TM();
sakthipriya 7:a46a1dee4497 473 t_tc.stop();
sakthipriya 7:a46a1dee4497 474 printf("\n\r time taken %d",t_tc.read_us());
sakthipriya 7:a46a1dee4497 475 t_tc.reset();
sakthipriya 3:07e15677a75c 476 // for(int i = 0; i<134; i++)
sakthipriya 3:07e15677a75c 477 //pc.printf("%c", telemetry[i]);
sakthipriya 0:7b4c00e3912f 478 }
sakthipriya 0:7b4c00e3912f 479
sakthipriya 6:036d08b62785 480
sakthipriya 0:7b4c00e3912f 481 }
sakthipriya 0:7b4c00e3912f 482 }
sakthipriya 0:7b4c00e3912f 483
sakthipriya 0:7b4c00e3912f 484 void FCTN_TM()
sakthipriya 0:7b4c00e3912f 485 {
sakthipriya 4:39a4ae8c7ecd 486 //irpt_2_mstr = 0;
sakthipriya 5:bb592f3185cc 487 data_send_flag = 't';
sakthipriya 0:7b4c00e3912f 488 pc.printf("\n\r Telemetry Generation \n");
sakthipriya 0:7b4c00e3912f 489 irpt_2_mstr = 1;
sakthipriya 0:7b4c00e3912f 490 }
sakthipriya 0:7b4c00e3912f 491
sakthipriya 0:7b4c00e3912f 492
sakthipriya 0:7b4c00e3912f 493 //******************************************************* I2C *******************************************************************//
sakthipriya 0:7b4c00e3912f 494
sakthipriya 0:7b4c00e3912f 495 void FCTN_I2C_ISR()
sakthipriya 0:7b4c00e3912f 496 {
sakthipriya 0:7b4c00e3912f 497 ptr_t_i2c->signal_set(0x4);
sakthipriya 0:7b4c00e3912f 498 }
sakthipriya 0:7b4c00e3912f 499
sakthipriya 0:7b4c00e3912f 500
sakthipriya 5:bb592f3185cc 501 //***********************************************************FAULTS***************************************************************//
sakthipriya 5:bb592f3185cc 502 /*void ir1clear()
sakthipriya 5:bb592f3185cc 503 {
sakthipriya 5:bb592f3185cc 504 actual_data.faultIr_status |= 0x01; // alert
sakthipriya 5:bb592f3185cc 505
sakthipriya 5:bb592f3185cc 506 }*/
sakthipriya 5:bb592f3185cc 507
sakthipriya 5:bb592f3185cc 508
sakthipriya 5:bb592f3185cc 509
sakthipriya 5:bb592f3185cc 510 void ir2clear()
sakthipriya 5:bb592f3185cc 511 {
sakthipriya 5:bb592f3185cc 512 actual_data.faultIr_status |= 0x02;
Bragadeesh153 13:fb7facaf308b 513 TRXY_SW = 0; // Switch off TR XY
sakthipriya 5:bb592f3185cc 514 if1check = 1;
sakthipriya 5:bb592f3185cc 515 }
sakthipriya 5:bb592f3185cc 516
sakthipriya 5:bb592f3185cc 517 void ir3clear()
sakthipriya 5:bb592f3185cc 518 {
sakthipriya 5:bb592f3185cc 519 actual_data.faultIr_status |= 0x04;
Bragadeesh153 13:fb7facaf308b 520 DRV_Z_EN = 0;
sakthipriya 5:bb592f3185cc 521 wait_us(1);
Bragadeesh153 13:fb7facaf308b 522 DRV_Z_EN = 1;
sakthipriya 5:bb592f3185cc 523
sakthipriya 5:bb592f3185cc 524 }
sakthipriya 5:bb592f3185cc 525
sakthipriya 5:bb592f3185cc 526 void ir4clear()
sakthipriya 5:bb592f3185cc 527 {
sakthipriya 5:bb592f3185cc 528 if2check = 1;
sakthipriya 5:bb592f3185cc 529 actual_data.faultIr_status |= 0x08;
sakthipriya 5:bb592f3185cc 530 TRZ_SW = 0;
sakthipriya 5:bb592f3185cc 531 }
sakthipriya 5:bb592f3185cc 532
sakthipriya 5:bb592f3185cc 533 void ir5clear()
sakthipriya 5:bb592f3185cc 534 {
sakthipriya 5:bb592f3185cc 535 actual_data.faultIr_status |= 0x10;
sakthipriya 5:bb592f3185cc 536 CDMS_RESET = 0;
sakthipriya 5:bb592f3185cc 537 wait_us(1);
sakthipriya 5:bb592f3185cc 538 CDMS_RESET = 1;
sakthipriya 5:bb592f3185cc 539 }
sakthipriya 5:bb592f3185cc 540
sakthipriya 5:bb592f3185cc 541 void ir6clear()
sakthipriya 5:bb592f3185cc 542 {
sakthipriya 5:bb592f3185cc 543 actual_data.faultIr_status |= 0x20;
sakthipriya 5:bb592f3185cc 544 BCN_SW = 0;
sakthipriya 5:bb592f3185cc 545 wait_us(1);
sakthipriya 5:bb592f3185cc 546 BCN_SW = 1;
sakthipriya 5:bb592f3185cc 547 }
sakthipriya 5:bb592f3185cc 548
sakthipriya 5:bb592f3185cc 549 void ir7clear()
sakthipriya 5:bb592f3185cc 550 {
sakthipriya 5:bb592f3185cc 551 actual_data.faultIr_status |= 0x40;
sakthipriya 5:bb592f3185cc 552 }
sakthipriya 5:bb592f3185cc 553 uint8_t iter2=0,iter4 = 0;
sakthipriya 5:bb592f3185cc 554
sakthipriya 5:bb592f3185cc 555
sakthipriya 5:bb592f3185cc 556
sakthipriya 5:bb592f3185cc 557 void pollfault()
sakthipriya 5:bb592f3185cc 558 {
sakthipriya 5:bb592f3185cc 559
sakthipriya 5:bb592f3185cc 560
sakthipriya 5:bb592f3185cc 561
sakthipriya 5:bb592f3185cc 562 if (pf1==0) // OC_ATS1
sakthipriya 5:bb592f3185cc 563 {
sakthipriya 5:bb592f3185cc 564 pf1check=1;
sakthipriya 5:bb592f3185cc 565 actual_data.faultPoll_status |=0x01 ;
sakthipriya 9:194afacf7449 566 ATS1_SW_ENABLE = 1; // turn off ats1 // to be turned on next cycle in ACS
sakthipriya 5:bb592f3185cc 567 }
sakthipriya 5:bb592f3185cc 568 else actual_data.faultPoll_status &= 0xFE;
sakthipriya 5:bb592f3185cc 569
sakthipriya 5:bb592f3185cc 570 if (pf2==0)
sakthipriya 5:bb592f3185cc 571 {
sakthipriya 5:bb592f3185cc 572 pf2check=1;
sakthipriya 5:bb592f3185cc 573 actual_data.faultPoll_status |=0x02 ;
sakthipriya 9:194afacf7449 574 ATS2_SW_ENABLE = 1; // turn off ats2 // turn on in ACS
sakthipriya 5:bb592f3185cc 575 }
sakthipriya 5:bb592f3185cc 576 else actual_data.faultPoll_status &= 0xFD;
sakthipriya 5:bb592f3185cc 577
sakthipriya 5:bb592f3185cc 578 if (pf3==0)
sakthipriya 5:bb592f3185cc 579 { actual_data.faultPoll_status |=0x04 ;
Bragadeesh153 13:fb7facaf308b 580 DRV_XY_EN = 0;
sakthipriya 5:bb592f3185cc 581 wait_us(1);
Bragadeesh153 13:fb7facaf308b 582 DRV_XY_EN = 1;
sakthipriya 5:bb592f3185cc 583 }
sakthipriya 5:bb592f3185cc 584 else actual_data.faultPoll_status &= 0xFB;
sakthipriya 5:bb592f3185cc 585
sakthipriya 5:bb592f3185cc 586
sakthipriya 5:bb592f3185cc 587
sakthipriya 5:bb592f3185cc 588
sakthipriya 5:bb592f3185cc 589 /*if (ir1==1)
sakthipriya 5:bb592f3185cc 590 {
sakthipriya 5:bb592f3185cc 591 actual_data.faultIr_status &=0xFE;
sakthipriya 5:bb592f3185cc 592 }*/
lakshya 14:a9588f443f1a 593
sakthipriya 5:bb592f3185cc 594 if (ir2==1)
sakthipriya 5:bb592f3185cc 595 {
sakthipriya 5:bb592f3185cc 596 actual_data.faultIr_status &=0xFD;
sakthipriya 5:bb592f3185cc 597 }
sakthipriya 5:bb592f3185cc 598 if (ir3==1)
sakthipriya 5:bb592f3185cc 599 {
sakthipriya 5:bb592f3185cc 600 actual_data.faultIr_status &=0xFB;
sakthipriya 5:bb592f3185cc 601 }
sakthipriya 5:bb592f3185cc 602 if (ir4==1)
sakthipriya 5:bb592f3185cc 603 {
sakthipriya 5:bb592f3185cc 604 actual_data.faultIr_status &=0xF7;
sakthipriya 5:bb592f3185cc 605 }
sakthipriya 5:bb592f3185cc 606 if (ir5==1)
sakthipriya 5:bb592f3185cc 607 {
sakthipriya 5:bb592f3185cc 608 actual_data.faultIr_status &=0xEF;
sakthipriya 5:bb592f3185cc 609 }
sakthipriya 5:bb592f3185cc 610 if (ir6==1)
sakthipriya 5:bb592f3185cc 611 {
sakthipriya 5:bb592f3185cc 612 actual_data.faultIr_status &=0xDF;
sakthipriya 5:bb592f3185cc 613 }if (ir7==1)
sakthipriya 5:bb592f3185cc 614 {
sakthipriya 5:bb592f3185cc 615 actual_data.faultIr_status &=0xBF;
sakthipriya 5:bb592f3185cc 616 }
lakshya 14:a9588f443f1a 617
sakthipriya 5:bb592f3185cc 618
sakthipriya 5:bb592f3185cc 619 }
sakthipriya 5:bb592f3185cc 620
sakthipriya 5:bb592f3185cc 621
sakthipriya 0:7b4c00e3912f 622 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 623 //SCHEDULER
sakthipriya 0:7b4c00e3912f 624 //------------------------------------------------------------------------------------------------------------------------------------------------
sakthipriya 0:7b4c00e3912f 625 uint8_t schedcount=1;
sakthipriya 0:7b4c00e3912f 626 void T_SC(void const *args)
sakthipriya 0:7b4c00e3912f 627 {
sakthipriya 0:7b4c00e3912f 628 printf("\n\r in scheduler");
sakthipriya 0:7b4c00e3912f 629
sakthipriya 0:7b4c00e3912f 630 if(schedcount == 7) //to reset the counter
sakthipriya 0:7b4c00e3912f 631 {
sakthipriya 0:7b4c00e3912f 632 schedcount = 1;
sakthipriya 0:7b4c00e3912f 633 }
sakthipriya 0:7b4c00e3912f 634 if(schedcount%1==0)
Bragadeesh153 17:1e1955f3db75 635 {
Bragadeesh153 17:1e1955f3db75 636
Bragadeesh153 17:1e1955f3db75 637
Bragadeesh153 17:1e1955f3db75 638 pc.printf("\n\r\r\r\r \t\t******ACS******\r\r\r\r\r");
Bragadeesh153 17:1e1955f3db75 639
Bragadeesh153 17:1e1955f3db75 640 pc.printf("ACSSTATE IS !!!!!! = %x !!\n\r",ACS_STATE);
Bragadeesh153 17:1e1955f3db75 641
Bragadeesh153 17:1e1955f3db75 642 float acs_start = (float) t_start.read();
Bragadeesh153 17:1e1955f3db75 643
Bragadeesh153 17:1e1955f3db75 644 F_ACS();
Bragadeesh153 17:1e1955f3db75 645
Bragadeesh153 17:1e1955f3db75 646 float acs_end = float( t_start.read() - acs_start ) ;
Bragadeesh153 17:1e1955f3db75 647 printf("\nTime taken for ACS is:\t %f\n\r",acs_end);
Bragadeesh153 17:1e1955f3db75 648
Bragadeesh153 17:1e1955f3db75 649 pc.printf("\n\r\r\r\r \t\t******ACS EXIT******\r\r\r\r\r");
Bragadeesh153 17:1e1955f3db75 650
sakthipriya 0:7b4c00e3912f 651 }
sakthipriya 0:7b4c00e3912f 652
sakthipriya 0:7b4c00e3912f 653 if(schedcount%2==0)
sakthipriya 0:7b4c00e3912f 654 {
Bragadeesh153 13:fb7facaf308b 655 // F_EPS();
sakthipriya 0:7b4c00e3912f 656 }
lakshya 14:a9588f443f1a 657 if(schedcount%1==0)
sakthipriya 0:7b4c00e3912f 658 {
Bragadeesh153 12:af1d7e18b868 659 F_BCN();
sakthipriya 0:7b4c00e3912f 660 }
sakthipriya 0:7b4c00e3912f 661 schedcount++;
sakthipriya 0:7b4c00e3912f 662 printf("\n\r exited scheduler");
sakthipriya 0:7b4c00e3912f 663 }
sakthipriya 0:7b4c00e3912f 664
sakthipriya 0:7b4c00e3912f 665 Timer t_flag;
sakthipriya 0:7b4c00e3912f 666 void FLAG()
sakthipriya 0:7b4c00e3912f 667 {
sakthipriya 0:7b4c00e3912f 668
sakthipriya 0:7b4c00e3912f 669 //.............acs..................//
sakthipriya 9:194afacf7449 670 if(ACS_INIT_STATUS == 1)
sakthipriya 0:7b4c00e3912f 671 BAE_STATUS = BAE_STATUS | 0x00000080; //set ACS_INIT_STATUS flag
sakthipriya 9:194afacf7449 672 else if(ACS_INIT_STATUS == 0)
sakthipriya 0:7b4c00e3912f 673 BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag
sakthipriya 0:7b4c00e3912f 674
sakthipriya 9:194afacf7449 675 if(ACS_DATA_ACQ_STATUS == 1)
sakthipriya 0:7b4c00e3912f 676 BAE_STATUS =BAE_STATUS | 0x00000100; //set ACS_DATA_ACQ_STATUS flag
sakthipriya 9:194afacf7449 677 else if(ACS_DATA_ACQ_STATUS == 0)
sakthipriya 0:7b4c00e3912f 678 BAE_STATUS &= 0xFFFFFEFF; //clear ACS_DATA_ACQ_STATUS flag
sakthipriya 0:7b4c00e3912f 679
sakthipriya 9:194afacf7449 680 if(ACS_ATS_ENABLE == 1)
sakthipriya 0:7b4c00e3912f 681 BAE_ENABLE |= 0x00000004;
sakthipriya 9:194afacf7449 682 else if(ACS_ATS_ENABLE == 0)
sakthipriya 0:7b4c00e3912f 683 BAE_ENABLE = BAE_ENABLE &0xFFFFFFFB | 0x00000004;
sakthipriya 0:7b4c00e3912f 684
sakthipriya 0:7b4c00e3912f 685 if(ACS_DATA_ACQ_STATUS == 'f')
sakthipriya 0:7b4c00e3912f 686 BAE_STATUS |= 0x00000200;
sakthipriya 0:7b4c00e3912f 687
sakthipriya 9:194afacf7449 688 if(ACS_MAIN_STATUS == 1)
sakthipriya 0:7b4c00e3912f 689 BAE_STATUS = (BAE_STATUS | 0x00001000); //set ACS_MAIN_STATUS flag
sakthipriya 9:194afacf7449 690 else if(ACS_MAIN_STATUS == 0)
sakthipriya 0:7b4c00e3912f 691 BAE_STATUS &= 0xFFFFEFFF; //clear ACS_MAIN_STATUS flag
sakthipriya 0:7b4c00e3912f 692
sakthipriya 0:7b4c00e3912f 693 if(ACS_STATUS == '0')
sakthipriya 0:7b4c00e3912f 694 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF); // set ACS_STATUS = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 695 else if(ACS_STATUS == '1')
sakthipriya 0:7b4c00e3912f 696 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x00002000; // set ACS_STATUS = ACS_LOW_POWER
sakthipriya 0:7b4c00e3912f 697 else if(ACS_STATUS == '2')
sakthipriya 0:7b4c00e3912f 698 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF)| 0x00004000; // set ACS_STATUS = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 699 else if(ACS_STATUS == '3')
sakthipriya 0:7b4c00e3912f 700 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00006000; // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 701 else if(ACS_STATUS == '4')
sakthipriya 0:7b4c00e3912f 702 BAE_STATUS = (BAE_STATUS & 0xFFFF1FFF) | 0x00008000; // set ACS_STATUS = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 703 else if(ACS_STATUS == '5')
sakthipriya 0:7b4c00e3912f 704 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000A000; // set ACS_STATUS = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 705 else if(ACS_STATUS == '6')
sakthipriya 0:7b4c00e3912f 706 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000C000; // set ACS_STATUS = ACS_DETUMBLING_ONLY
sakthipriya 0:7b4c00e3912f 707 else
sakthipriya 0:7b4c00e3912f 708 BAE_STATUS =(BAE_STATUS & 0xFFFF1FFF) | 0x0000E000; // set ACS_STATUS = INVALID STATE
sakthipriya 0:7b4c00e3912f 709
sakthipriya 0:7b4c00e3912f 710 if(ACS_STATE == '0')
sakthipriya 0:7b4c00e3912f 711 BAE_ENABLE = (BAE_ENABLE & 0xFFFFFF8F); //ACS_STATE = ACS_CONTROL_OFF
sakthipriya 0:7b4c00e3912f 712 else if(ACS_STATE == '2')
sakthipriya 0:7b4c00e3912f 713 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000020); // ACS_STATE = ACS_ZAXIS_MOMENT_ONLY
sakthipriya 0:7b4c00e3912f 714 else if(ACS_STATE == '3')
sakthipriya 0:7b4c00e3912f 715 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000030); // set ACS_STATUS = ACS_DATA_ACQ_FAILURE
sakthipriya 0:7b4c00e3912f 716 else if(ACS_STATE == '4')
sakthipriya 0:7b4c00e3912f 717 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000040); // ACS_STATE = ACS_NOMINAL_ONLY
sakthipriya 0:7b4c00e3912f 718 else if(ACS_STATE == '5')
sakthipriya 0:7b4c00e3912f 719 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000050); // ACS_STATE = ACS_AUTO_CONTROL
sakthipriya 0:7b4c00e3912f 720 else if(ACS_STATE == '6')
sakthipriya 0:7b4c00e3912f 721 BAE_ENABLE = ((BAE_ENABLE & 0xFFFFFF8F)| 0x00000060); //ACS_STATE = ACS_DETUMBLING_CONTROL
sakthipriya 0:7b4c00e3912f 722
sakthipriya 0:7b4c00e3912f 723 //...............eps......................//
sakthipriya 5:bb592f3185cc 724
sakthipriya 5:bb592f3185cc 725
sakthipriya 9:194afacf7449 726 if (EPS_INIT_STATUS==1) // Set EPS_INIT_STATUS
sakthipriya 5:bb592f3185cc 727 BAE_STATUS |= 0x00010000;
sakthipriya 9:194afacf7449 728 else if(EPS_INIT_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 729 BAE_STATUS &= 0xFFFEFFFF;
sakthipriya 5:bb592f3185cc 730
sakthipriya 5:bb592f3185cc 731
sakthipriya 9:194afacf7449 732 if (EPS_MAIN_STATUS==1) // Set EPS_MAIIN_STATUS
sakthipriya 5:bb592f3185cc 733 BAE_STATUS |= 0x00040000;
sakthipriya 9:194afacf7449 734 else if(EPS_MAIN_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 735 BAE_STATUS &= 0xFFFBFFFF;
sakthipriya 5:bb592f3185cc 736
sakthipriya 5:bb592f3185cc 737
sakthipriya 9:194afacf7449 738 if (EPS_BATTERY_GAUGE_STATUS==1) // Set EPS_BATTERY_GAUGE_STATUS
sakthipriya 5:bb592f3185cc 739 BAE_STATUS |= 0x00020000;
sakthipriya 9:194afacf7449 740 else if(EPS_BATTERY_GAUGE_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 741 BAE_STATUS &= 0xFFFDFFFF;
sakthipriya 5:bb592f3185cc 742
sakthipriya 5:bb592f3185cc 743
sakthipriya 9:194afacf7449 744 if (EPS_BATTERY_TEMP_STATUS==1) // Set EPS_BATTERY_TEMP_STATUS
sakthipriya 5:bb592f3185cc 745 BAE_STATUS |= 0x00080000;
sakthipriya 9:194afacf7449 746 else if(EPS_BATTERY_TEMP_STATUS==0) // Clear
sakthipriya 5:bb592f3185cc 747 BAE_STATUS &= 0xFFF7FFFF;
sakthipriya 5:bb592f3185cc 748
sakthipriya 5:bb592f3185cc 749 if (EPS_STATUS==0)
sakthipriya 5:bb592f3185cc 750 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF); // Set EPS_ERR_BATTERY_TEMP
sakthipriya 5:bb592f3185cc 751 else if (EPS_STATUS==1)
sakthipriya 5:bb592f3185cc 752 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00010000; // Set EPS_BATTERY_HEATER_DISABLED
sakthipriya 5:bb592f3185cc 753 else if (EPS_STATUS==2)
sakthipriya 5:bb592f3185cc 754 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00020000; // Set EPS_ERR_HEATER_SWITCH_OFF
sakthipriya 5:bb592f3185cc 755 else if (EPS_STATUS==3)
sakthipriya 5:bb592f3185cc 756 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00030000; // Set EPS_ERR_HEATER_SWITCH_ON
sakthipriya 5:bb592f3185cc 757 else if (EPS_STATUS==4)
sakthipriya 5:bb592f3185cc 758 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00040000; // Set EPS_BATTERY_HEATER_OFF
sakthipriya 5:bb592f3185cc 759 else if (EPS_STATUS==5)
sakthipriya 5:bb592f3185cc 760 BAE_STATUS = (BAE_STATUS & 0xFF8FFFFF)|0x00050000; // Set EPS_BATTERY_HEATER_ON
sakthipriya 5:bb592f3185cc 761
sakthipriya 5:bb592f3185cc 762
sakthipriya 9:194afacf7449 763 if(EPS_BATTERY_HEAT_ENABLE == 1)
sakthipriya 5:bb592f3185cc 764 BAE_ENABLE |= 0x00000080;
sakthipriya 9:194afacf7449 765 else if(EPS_BATTERY_HEAT_ENABLE == 0)
sakthipriya 5:bb592f3185cc 766 BAE_ENABLE = BAE_ENABLE &0xFFFFFF7;
sakthipriya 3:07e15677a75c 767
sakthipriya 0:7b4c00e3912f 768
sakthipriya 0:7b4c00e3912f 769
sakthipriya 0:7b4c00e3912f 770 pc.printf("\n\r BAE status %x BAE ENABLE %x ",BAE_STATUS,BAE_ENABLE);
sakthipriya 0:7b4c00e3912f 771 }
sakthipriya 0:7b4c00e3912f 772
sakthipriya 0:7b4c00e3912f 773 void FCTN_BAE_INIT()
sakthipriya 0:7b4c00e3912f 774 {
sakthipriya 0:7b4c00e3912f 775 printf("\n\r Initialising BAE ");
sakthipriya 3:07e15677a75c 776 //..........intial status....//
Bragadeesh153 17:1e1955f3db75 777 ACS_STATE = 8;
sakthipriya 9:194afacf7449 778 ACS_ATS_ENABLE = 1;
sakthipriya 9:194afacf7449 779 ACS_DATA_ACQ_ENABLE = 1;
Bragadeesh153 16:cc77770d787f 780
sakthipriya 9:194afacf7449 781 EPS_BATTERY_HEAT_ENABLE = 1;
Bragadeesh153 13:fb7facaf308b 782 actual_data.power_mode=3;
sakthipriya 9:194afacf7449 783 //............intializing pins................//
Bragadeesh153 16:cc77770d787f 784
Bragadeesh153 16:cc77770d787f 785 ATS2_SW_ENABLE = 1;
Bragadeesh153 16:cc77770d787f 786 ATS1_SW_ENABLE = 1;
Bragadeesh153 16:cc77770d787f 787 wait_ms(5);
sakthipriya 9:194afacf7449 788 ATS1_SW_ENABLE = 0;
Bragadeesh153 16:cc77770d787f 789
Bragadeesh153 16:cc77770d787f 790 ACS_ATS_STATUS = 0x60; //Set Sensor 1 working , Sensor2 working and powered off by default
Bragadeesh153 13:fb7facaf308b 791
Bragadeesh153 13:fb7facaf308b 792 DRV_XY_EN = 1;
Bragadeesh153 13:fb7facaf308b 793 DRV_Z_EN = 1;
Bragadeesh153 13:fb7facaf308b 794 TRZ_SW = 1;
Bragadeesh153 13:fb7facaf308b 795 TRXY_SW = 1;
sakthipriya 9:194afacf7449 796
sakthipriya 3:07e15677a75c 797 //............................//
sakthipriya 3:07e15677a75c 798 FCTN_ACS_INIT();
Bragadeesh153 13:fb7facaf308b 799 // FCTN_EPS_INIT();
lakshya 14:a9588f443f1a 800 //FCTN_BCN_INIT();
sakthipriya 3:07e15677a75c 801
sakthipriya 3:07e15677a75c 802
sakthipriya 0:7b4c00e3912f 803 FLAG();
sakthipriya 0:7b4c00e3912f 804 }
sakthipriya 0:7b4c00e3912f 805
sakthipriya 0:7b4c00e3912f 806 int main()
sakthipriya 0:7b4c00e3912f 807 {
sakthipriya 0:7b4c00e3912f 808 pc.printf("\n\r BAE Activated. Testing Version 1.1 \n");
Bragadeesh153 13:fb7facaf308b 809 CDMS_RESET = 1;
lakshya 14:a9588f443f1a 810 /*if (BCN_FEN == 0) //dummy implementation
sakthipriya 0:7b4c00e3912f 811 {
sakthipriya 0:7b4c00e3912f 812 pc.printf("\n\r RF silence ");
Bragadeesh153 12:af1d7e18b868 813 FCTN_BCN_FEN();
sakthipriya 0:7b4c00e3912f 814 t_rfsilence.start();//Start the timer for RF_Silence
sakthipriya 0:7b4c00e3912f 815 while(t_rfsilence.read() < RF_SILENCE_TIME);
sakthipriya 0:7b4c00e3912f 816 }
sakthipriya 0:7b4c00e3912f 817 */
sakthipriya 3:07e15677a75c 818
sakthipriya 9:194afacf7449 819 //ACS_INIT_STATUS = 0;
sakthipriya 9:194afacf7449 820 //ACS_DATA_ACQ_STATUS = 0;
Bragadeesh153 13:fb7facaf308b 821
Bragadeesh153 13:fb7facaf308b 822
sakthipriya 9:194afacf7449 823
Bragadeesh153 13:fb7facaf308b 824 //FLAG();
sakthipriya 0:7b4c00e3912f 825 FCTN_BAE_INIT();
sakthipriya 3:07e15677a75c 826
sakthipriya 0:7b4c00e3912f 827
sakthipriya 0:7b4c00e3912f 828 //...i2c..
sakthipriya 3:07e15677a75c 829 //strcpy(telemetry,"This is telemetry THis is sample telemetry. ffffffffffffffffffffffffffffff end");
sakthipriya 0:7b4c00e3912f 830 slave.address(addr);
sakthipriya 0:7b4c00e3912f 831 irpt_2_mstr = 0;
sakthipriya 0:7b4c00e3912f 832
sakthipriya 0:7b4c00e3912f 833 ptr_t_i2c = new Thread(T_TC);
sakthipriya 0:7b4c00e3912f 834 ptr_t_i2c->set_priority(osPriorityHigh);
sakthipriya 5:bb592f3185cc 835
sakthipriya 0:7b4c00e3912f 836 irpt_4m_mstr.enable_irq();
sakthipriya 0:7b4c00e3912f 837 irpt_4m_mstr.rise(&FCTN_I2C_ISR);
sakthipriya 5:bb592f3185cc 838 // ir1.fall(&ir1clear); //Battery Gauge - Alert Bar Signal
lakshya 14:a9588f443f1a 839 /* ir2.fall(&ir2clear); //TRXY Driver TR switch Fault
lakshya 14:a9588f443f1a 840 ir3.fall(&ir3clear); //TRZ Driver Fault Bar
lakshya 14:a9588f443f1a 841 ir4.fall(&ir4clear); //TRZ Driver TR switch Fault
lakshya 14:a9588f443f1a 842 ir5.fall(&ir5clear); //CDMS - Switch Fault
lakshya 14:a9588f443f1a 843 ir6.fall(&ir6clear); //Beacon- Switch OC bar
lakshya 14:a9588f443f1a 844 ir7.fall(&ir7clear); //Charger IC - Fault Bar
lakshya 14:a9588f443f1a 845
lakshya 14:a9588f443f1a 846 */
sakthipriya 0:7b4c00e3912f 847 RtosTimer t_sc_timer(T_SC,osTimerPeriodic); // Initiating the scheduler thread
sakthipriya 0:7b4c00e3912f 848 t_sc_timer.start(10000);
sakthipriya 0:7b4c00e3912f 849 t_start.start();
sakthipriya 0:7b4c00e3912f 850 pc.printf("\n\rStarted scheduler %f\n\r",t_start.read());
sakthipriya 0:7b4c00e3912f 851
Bragadeesh153 13:fb7facaf308b 852
sakthipriya 0:7b4c00e3912f 853 //FCTN_BAE_INIT();
sakthipriya 0:7b4c00e3912f 854 while(1); //required to prevent main from terminating
sakthipriya 3:07e15677a75c 855 }
sakthipriya 3:07e15677a75c 856