ACS completed fully. All cases to be tested
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of ACS_Flowchart_BAE by
TCTM.cpp@15:e09aaaccf134, 2016-04-19 (annotated)
- Committer:
- lakshya
- Date:
- Tue Apr 19 21:27:07 2016 +0000
- Revision:
- 15:e09aaaccf134
- Parent:
- 14:a9588f443f1a
- Child:
- 16:cc77770d787f
checking
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sakthipriya | 0:7b4c00e3912f | 1 | #include "mbed.h" |
sakthipriya | 0:7b4c00e3912f | 2 | #include "TCTM.h" |
sakthipriya | 3:07e15677a75c | 3 | #include "crc.h" |
sakthipriya | 4:39a4ae8c7ecd | 4 | #include "EPS.h" |
sakthipriya | 5:bb592f3185cc | 5 | #include "pin_config.h" |
sakthipriya | 5:bb592f3185cc | 6 | #include "FreescaleIAP.h" |
sakthipriya | 6:036d08b62785 | 7 | #include "inttypes.h" |
sakthipriya | 6:036d08b62785 | 8 | #include "iostream" |
sakthipriya | 6:036d08b62785 | 9 | #include "stdint.h" |
sakthipriya | 6:036d08b62785 | 10 | #include "cassert" |
lakshya | 10:f93407b97750 | 11 | #include"math.h" |
lakshya | 10:f93407b97750 | 12 | |
lakshya | 11:1fdb94ae6563 | 13 | /*define the pins for digital out*/ |
sakthipriya | 0:7b4c00e3912f | 14 | |
sakthipriya | 9:194afacf7449 | 15 | extern DigitalOut ATS1_SW_ENABLE; // enable of att sens2 switch |
sakthipriya | 9:194afacf7449 | 16 | extern DigitalOut ATS2_SW_ENABLE; // enable of att sens switch |
sakthipriya | 5:bb592f3185cc | 17 | |
Bragadeesh153 | 13:fb7facaf308b | 18 | extern DigitalOut TRXY_SW; //TR XY Switch if any TR_SW error arises then it is same as TR_SW_EN |
sakthipriya | 5:bb592f3185cc | 19 | extern DigitalOut TRZ_SW; //TR Z Switch |
sakthipriya | 5:bb592f3185cc | 20 | extern DigitalOut CDMS_RESET; // CDMS RESET |
sakthipriya | 5:bb592f3185cc | 21 | extern DigitalOut BCN_SW; //Beacon switch |
lakshya | 10:f93407b97750 | 22 | extern uint8_t BCN_TX_STATUS; |
lakshya | 10:f93407b97750 | 23 | extern uint8_t BCN_FEN; |
sakthipriya | 4:39a4ae8c7ecd | 24 | extern BAE_HK_actual actual_data; |
sakthipriya | 4:39a4ae8c7ecd | 25 | extern BAE_HK_min_max bae_HK_minmax; |
sakthipriya | 4:39a4ae8c7ecd | 26 | extern uint32_t BAE_STATUS; |
sakthipriya | 5:bb592f3185cc | 27 | extern float data[6]; |
sakthipriya | 5:bb592f3185cc | 28 | extern float moment[3]; |
lakshya | 10:f93407b97750 | 29 | extern uint8_t ACS_STATE; |
lakshya | 10:f93407b97750 | 30 | extern DigitalOut EN_BTRY_HT; |
lakshya | 10:f93407b97750 | 31 | extern DigitalOut phase_TR_x; |
lakshya | 10:f93407b97750 | 32 | extern DigitalOut phase_TR_y; |
lakshya | 10:f93407b97750 | 33 | extern DigitalOut phase_TR_z; |
lakshya | 10:f93407b97750 | 34 | extern BAE_HK_quant quant_data; |
Bragadeesh153 | 13:fb7facaf308b | 35 | //extern DigitalOut TRXY_SW; |
lakshya | 11:1fdb94ae6563 | 36 | //extern DigitalOut TRZ_SW_EN; //same as TRZ_SW |
lakshya | 11:1fdb94ae6563 | 37 | extern uint32_t BAE_ENABLE; |
lakshya | 11:1fdb94ae6563 | 38 | //extern DigitalOut ACS_ACQ_DATA_ENABLE; |
lakshya | 11:1fdb94ae6563 | 39 | |
lakshya | 11:1fdb94ae6563 | 40 | /*given a default value as of now shuld read value from flash and increment it write it back very time it starts(bae)*/ |
lakshya | 11:1fdb94ae6563 | 41 | extern uint8_t BAE_RESET_COUNTER=0; |
lakshya | 11:1fdb94ae6563 | 42 | |
lakshya | 14:a9588f443f1a | 43 | //extern uint8_t BCN_FAIL_COUNT; |
lakshya | 11:1fdb94ae6563 | 44 | |
Bragadeesh153 | 13:fb7facaf308b | 45 | extern PwmOut PWM1; //x //Functions used to generate PWM signal |
lakshya | 11:1fdb94ae6563 | 46 | extern PwmOut PWM2; //y |
lakshya | 11:1fdb94ae6563 | 47 | extern PwmOut PWM3; //z //PWM output comes from pins p6 |
lakshya | 11:1fdb94ae6563 | 48 | |
lakshya | 11:1fdb94ae6563 | 49 | extern void F_ACS(); |
lakshya | 11:1fdb94ae6563 | 50 | extern void F_BCN(); |
lakshya | 11:1fdb94ae6563 | 51 | //extern void FCTN_ACS_GENPWM_MAIN(); |
lakshya | 11:1fdb94ae6563 | 52 | extern void F_EPS(); |
lakshya | 11:1fdb94ae6563 | 53 | extern void FCTN_ACS_GENPWM_MAIN(float Moment[3]); |
Bragadeesh153 | 13:fb7facaf308b | 54 | extern void FCTN_ACS_INIT(); |
lakshya | 11:1fdb94ae6563 | 55 | |
sakthipriya | 5:bb592f3185cc | 56 | |
sakthipriya | 5:bb592f3185cc | 57 | extern void FCTN_ATS_DATA_ACQ(); |
sakthipriya | 5:bb592f3185cc | 58 | extern void FCTN_ACS_CNTRLALGO(float*,float*); |
Bragadeesh153 | 13:fb7facaf308b | 59 | uint8_t telemetry[135]; |
lakshya | 11:1fdb94ae6563 | 60 | |
lakshya | 11:1fdb94ae6563 | 61 | void FCTN_CONVERT_UINT (uint8_t input[2], float* output) |
lakshya | 11:1fdb94ae6563 | 62 | { |
lakshya | 11:1fdb94ae6563 | 63 | |
lakshya | 11:1fdb94ae6563 | 64 | *output = (float) input[1]; |
lakshya | 11:1fdb94ae6563 | 65 | *output = *output/100.0; //input[0] integer part |
lakshya | 11:1fdb94ae6563 | 66 | *output = *output + (float) input[0]; //input[1] decimal part correct to two decimal places |
lakshya | 11:1fdb94ae6563 | 67 | } |
lakshya | 11:1fdb94ae6563 | 68 | |
lakshya | 10:f93407b97750 | 69 | float angle(float x,float y,float z) |
lakshya | 10:f93407b97750 | 70 | { |
lakshya | 10:f93407b97750 | 71 | float mag_total=sqrt(x*x + y*y + z*z); |
lakshya | 10:f93407b97750 | 72 | float cos_z = z/mag_total; |
lakshya | 10:f93407b97750 | 73 | float theta_z = acosf(cos_z); |
Bragadeesh153 | 13:fb7facaf308b | 74 | |
lakshya | 10:f93407b97750 | 75 | return theta_z; |
lakshya | 10:f93407b97750 | 76 | //printf("/n cos_zz= %f /t theta_z= %f /n",cos_z,theta_z); |
lakshya | 10:f93407b97750 | 77 | } |
lakshya | 10:f93407b97750 | 78 | |
Bragadeesh153 | 13:fb7facaf308b | 79 | //uint8_t tm1[134]; |
Bragadeesh153 | 13:fb7facaf308b | 80 | |
Bragadeesh153 | 13:fb7facaf308b | 81 | void FCTN_BAE_TM_TC (uint8_t* tc) |
sakthipriya | 0:7b4c00e3912f | 82 | |
sakthipriya | 3:07e15677a75c | 83 | { |
Bragadeesh153 | 13:fb7facaf308b | 84 | // tm1[0] = 1; |
sakthipriya | 3:07e15677a75c | 85 | uint8_t service_type=(tc[2]&0xF0); |
lakshya | 15:e09aaaccf134 | 86 | /*chaged*/ |
lakshya | 15:e09aaaccf134 | 87 | uint8_t* tm; // without it some identifier error |
sakthipriya | 3:07e15677a75c | 88 | uint16_t crc16; |
Bragadeesh153 | 13:fb7facaf308b | 89 | |
Bragadeesh153 | 13:fb7facaf308b | 90 | |
sakthipriya | 3:07e15677a75c | 91 | switch(service_type) |
sakthipriya | 3:07e15677a75c | 92 | { |
sakthipriya | 3:07e15677a75c | 93 | case 0x60: |
sakthipriya | 3:07e15677a75c | 94 | { |
sakthipriya | 3:07e15677a75c | 95 | printf("Memory Management Service\r\n"); |
sakthipriya | 3:07e15677a75c | 96 | uint8_t service_subtype=(tc[2]&0x0F); |
Bragadeesh153 | 13:fb7facaf308b | 97 | |
sakthipriya | 3:07e15677a75c | 98 | switch(service_subtype) |
sakthipriya | 3:07e15677a75c | 99 | { |
sakthipriya | 3:07e15677a75c | 100 | case 0x01: |
sakthipriya | 3:07e15677a75c | 101 | { |
sakthipriya | 3:07e15677a75c | 102 | printf("Read from Flash\r\n"); |
lakshya | 15:e09aaaccf134 | 103 | uint16_t jj; |
lakshya | 15:e09aaaccf134 | 104 | uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4]; |
lakshya | 15:e09aaaccf134 | 105 | switch(MID) |
lakshya | 15:e09aaaccf134 | 106 | {case 0x1100:jj=0x00;// using uint16_t as jj typesimilarly used in FCTN_CDMS_WR_FLASH |
lakshya | 15:e09aaaccf134 | 107 | break; |
lakshya | 15:e09aaaccf134 | 108 | case 0x0100:jj=0x01; |
lakshya | 15:e09aaaccf134 | 109 | break; |
lakshya | 15:e09aaaccf134 | 110 | case 0x0101:jj=0x02; |
lakshya | 15:e09aaaccf134 | 111 | break; |
lakshya | 15:e09aaaccf134 | 112 | case 0x0102:jj=0x03; |
lakshya | 15:e09aaaccf134 | 113 | break; |
lakshya | 15:e09aaaccf134 | 114 | case 0x0107:jj=0x04; |
lakshya | 15:e09aaaccf134 | 115 | break; |
lakshya | 15:e09aaaccf134 | 116 | case 0x0103:jj=0x05; |
lakshya | 15:e09aaaccf134 | 117 | break; |
lakshya | 15:e09aaaccf134 | 118 | case 0x0104:jj=0x05; |
lakshya | 15:e09aaaccf134 | 119 | break; |
lakshya | 15:e09aaaccf134 | 120 | case 0x0105:jj=0x06; |
lakshya | 15:e09aaaccf134 | 121 | break; |
lakshya | 15:e09aaaccf134 | 122 | case 0x0106:jj=0x07; |
lakshya | 15:e09aaaccf134 | 123 | break; |
lakshya | 15:e09aaaccf134 | 124 | } |
lakshya | 15:e09aaaccf134 | 125 | /*pointer....!!!!*/ |
lakshya | 15:e09aaaccf134 | 126 | uint32_t FLASH_TEMP = FCTN_CDMS_RD_FLASH(jj); |
lakshya | 15:e09aaaccf134 | 127 | |
lakshya | 15:e09aaaccf134 | 128 | tm[0] = 0x60; |
lakshya | 15:e09aaaccf134 | 129 | tm[1] = tc[0]; |
lakshya | 15:e09aaaccf134 | 130 | tm[2] = ACK_CODE; |
lakshya | 15:e09aaaccf134 | 131 | for(int i=0; i<8*4; i+=4) |
lakshya | 15:e09aaaccf134 | 132 | { |
lakshya | 15:e09aaaccf134 | 133 | tm[4+i] =(uint8_t )(((FLASH_TEMP)>>24)&0xFF); |
lakshya | 15:e09aaaccf134 | 134 | tm[5+i] =(uint8_t ) (((FLASH_TEMP)>>16)&0xFF); |
lakshya | 15:e09aaaccf134 | 135 | tm[6+i] =(uint8_t ) (((FLASH_TEMP)>>8)&0xFF); |
lakshya | 15:e09aaaccf134 | 136 | tm[7+i] =(uint8_t ) ((FLASH_TEMP) & 0xFF); |
lakshya | 15:e09aaaccf134 | 137 | |
lakshya | 15:e09aaaccf134 | 138 | } |
lakshya | 15:e09aaaccf134 | 139 | |
lakshya | 15:e09aaaccf134 | 140 | |
lakshya | 15:e09aaaccf134 | 141 | for (int i=4+8*4; i<132;i++) |
lakshya | 15:e09aaaccf134 | 142 | { |
lakshya | 15:e09aaaccf134 | 143 | tm[i] = 0x00; |
lakshya | 15:e09aaaccf134 | 144 | } |
lakshya | 15:e09aaaccf134 | 145 | crc16 = CRC::crc16_gen(tm,132); |
lakshya | 15:e09aaaccf134 | 146 | tm[132] = (uint8_t)((crc16&0xFF00)>>8); |
lakshya | 15:e09aaaccf134 | 147 | tm[133] = (uint8_t)(crc16&0x00FF); |
lakshya | 15:e09aaaccf134 | 148 | |
Bragadeesh153 | 13:fb7facaf308b | 149 | break; |
sakthipriya | 3:07e15677a75c | 150 | } |
sakthipriya | 3:07e15677a75c | 151 | case 0x02: |
sakthipriya | 3:07e15677a75c | 152 | { |
lakshya | 15:e09aaaccf134 | 153 | printf("Read from RAM\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 154 | uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4]; |
Bragadeesh153 | 13:fb7facaf308b | 155 | switch(MID) |
Bragadeesh153 | 13:fb7facaf308b | 156 | { |
Bragadeesh153 | 13:fb7facaf308b | 157 | |
lakshya | 10:f93407b97750 | 158 | case 0x0001: |
Bragadeesh153 | 13:fb7facaf308b | 159 | { |
lakshya | 15:e09aaaccf134 | 160 | printf("\nRead from MID 0001 hk\n"); |
Bragadeesh153 | 13:fb7facaf308b | 161 | |
Bragadeesh153 | 13:fb7facaf308b | 162 | /*taking some varible till we find some thing more useful*/ |
Bragadeesh153 | 13:fb7facaf308b | 163 | //uint8_t ref_val=0x01; |
Bragadeesh153 | 13:fb7facaf308b | 164 | telemetry[0] = 1; |
Bragadeesh153 | 13:fb7facaf308b | 165 | telemetry[1] = tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 166 | telemetry[2] = ACK_CODE; |
Bragadeesh153 | 13:fb7facaf308b | 167 | /*random or with bcn_tx_sw_enable assuming it is 1 bit in length |
Bragadeesh153 | 13:fb7facaf308b | 168 | how to get that we dont know, now we just assume it to be so*/ |
Bragadeesh153 | 13:fb7facaf308b | 169 | telemetry[3] = (BCN_SW); |
Bragadeesh153 | 13:fb7facaf308b | 170 | telemetry[3] = telemetry[3]|(TRXY_SW<<1); |
Bragadeesh153 | 13:fb7facaf308b | 171 | telemetry[3] = telemetry[3]|(TRZ_SW<<2); |
Bragadeesh153 | 13:fb7facaf308b | 172 | telemetry[3] = telemetry[3]|(ATS1_SW_ENABLE<<3); |
Bragadeesh153 | 13:fb7facaf308b | 173 | telemetry[3] = telemetry[3]|(ATS2_SW_ENABLE<<4); |
Bragadeesh153 | 13:fb7facaf308b | 174 | |
Bragadeesh153 | 13:fb7facaf308b | 175 | if(BCN_TX_STATUS==2) |
Bragadeesh153 | 13:fb7facaf308b | 176 | telemetry[3] = telemetry[3]|0x20; |
Bragadeesh153 | 13:fb7facaf308b | 177 | else |
Bragadeesh153 | 13:fb7facaf308b | 178 | telemetry[3] = telemetry[3] & 0xDF; |
Bragadeesh153 | 13:fb7facaf308b | 179 | |
Bragadeesh153 | 13:fb7facaf308b | 180 | telemetry[3] = telemetry[3]|(BCN_FEN<<6); |
Bragadeesh153 | 13:fb7facaf308b | 181 | uint8_t mask_val=BAE_ENABLE & 0x00000008; |
Bragadeesh153 | 13:fb7facaf308b | 182 | /*can be a problem see if any error occurs*/ |
Bragadeesh153 | 13:fb7facaf308b | 183 | telemetry[3] = telemetry[3]|(mask_val<<7); |
Bragadeesh153 | 13:fb7facaf308b | 184 | |
Bragadeesh153 | 13:fb7facaf308b | 185 | /*not included in the code yet*/ |
Bragadeesh153 | 13:fb7facaf308b | 186 | telemetry[4] = BAE_RESET_COUNTER; |
Bragadeesh153 | 13:fb7facaf308b | 187 | telemetry[5] = ACS_STATE; |
Bragadeesh153 | 13:fb7facaf308b | 188 | telemetry[5] = telemetry[5]|(EN_BTRY_HT<<3); |
Bragadeesh153 | 13:fb7facaf308b | 189 | telemetry[5] = telemetry[5]|(phase_TR_x<<4); |
Bragadeesh153 | 13:fb7facaf308b | 190 | telemetry[5] = telemetry[5]|(phase_TR_y<<5); |
Bragadeesh153 | 13:fb7facaf308b | 191 | telemetry[5] = telemetry[5]|(phase_TR_z<<6); |
Bragadeesh153 | 13:fb7facaf308b | 192 | /*spare to be fixed*/ |
Bragadeesh153 | 13:fb7facaf308b | 193 | //telemetry[5] = telemetry[5]|(Spare))<<7); |
Bragadeesh153 | 13:fb7facaf308b | 194 | /**/ |
Bragadeesh153 | 13:fb7facaf308b | 195 | uint8_t soc_powerlevel_2=50; |
Bragadeesh153 | 13:fb7facaf308b | 196 | uint8_t soc_powerlevel_3=65; |
Bragadeesh153 | 13:fb7facaf308b | 197 | |
Bragadeesh153 | 13:fb7facaf308b | 198 | telemetry[6] = soc_powerlevel_2; |
Bragadeesh153 | 13:fb7facaf308b | 199 | telemetry[7] = soc_powerlevel_3; |
lakshya | 10:f93407b97750 | 200 | |
Bragadeesh153 | 13:fb7facaf308b | 201 | /*to be fixed*/ |
Bragadeesh153 | 13:fb7facaf308b | 202 | telemetry[8] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 203 | telemetry[9] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 204 | telemetry[10] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 205 | telemetry[11] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 206 | //telemetry[8] = Torque Rod X Offset; |
Bragadeesh153 | 13:fb7facaf308b | 207 | //telemetry[9] = Torque Rod Y Offset; |
Bragadeesh153 | 13:fb7facaf308b | 208 | //telemetry[10] = Torque Rod Z Offset; |
Bragadeesh153 | 13:fb7facaf308b | 209 | //telemetry[11] = ACS_DEMAG_TIME_DELAY; |
Bragadeesh153 | 13:fb7facaf308b | 210 | telemetry[12] = (BAE_STATUS>>24) & 0xFF; |
Bragadeesh153 | 13:fb7facaf308b | 211 | telemetry[13] = (BAE_STATUS>>16) & 0xFF; |
Bragadeesh153 | 13:fb7facaf308b | 212 | telemetry[14] = (BAE_STATUS>>8) & 0xFF; |
Bragadeesh153 | 13:fb7facaf308b | 213 | telemetry[15] = BAE_STATUS & 0xFF; |
Bragadeesh153 | 13:fb7facaf308b | 214 | |
Bragadeesh153 | 13:fb7facaf308b | 215 | /*to be fixed*/ |
lakshya | 14:a9588f443f1a | 216 | //telemetry[16] = BCN_FAIL_COUNT; |
Bragadeesh153 | 13:fb7facaf308b | 217 | telemetry[17] = actual_data.power_mode; |
Bragadeesh153 | 13:fb7facaf308b | 218 | /*to be fixed*/ |
Bragadeesh153 | 13:fb7facaf308b | 219 | uint16_t P_BAE_I2CRX_COUNTER=0; |
Bragadeesh153 | 13:fb7facaf308b | 220 | uint16_t P_ACS_MAIN_COUNTER=0; |
Bragadeesh153 | 13:fb7facaf308b | 221 | uint16_t P_BCN_TX_MAIN_COUNTER=0; |
Bragadeesh153 | 13:fb7facaf308b | 222 | uint16_t P_EPS_MAIN_COUNTER=0; |
Bragadeesh153 | 13:fb7facaf308b | 223 | |
Bragadeesh153 | 13:fb7facaf308b | 224 | telemetry[18] = P_BAE_I2CRX_COUNTER>>8; |
Bragadeesh153 | 13:fb7facaf308b | 225 | telemetry[19] = P_BAE_I2CRX_COUNTER; |
Bragadeesh153 | 13:fb7facaf308b | 226 | telemetry[20] = P_ACS_MAIN_COUNTER>>8; |
Bragadeesh153 | 13:fb7facaf308b | 227 | telemetry[21] = P_ACS_MAIN_COUNTER; |
Bragadeesh153 | 13:fb7facaf308b | 228 | telemetry[22] = P_BCN_TX_MAIN_COUNTER>>8; |
Bragadeesh153 | 13:fb7facaf308b | 229 | telemetry[23] = P_BCN_TX_MAIN_COUNTER; |
Bragadeesh153 | 13:fb7facaf308b | 230 | telemetry[24] = P_EPS_MAIN_COUNTER>>8; |
Bragadeesh153 | 13:fb7facaf308b | 231 | telemetry[25] = P_EPS_MAIN_COUNTER; |
Bragadeesh153 | 13:fb7facaf308b | 232 | |
lakshya | 15:e09aaaccf134 | 233 | //actual_data.AngularSpeed_actual[0]=5.32498; |
Bragadeesh153 | 13:fb7facaf308b | 234 | for(int i=0; i<3; i++) |
lakshya | 15:e09aaaccf134 | 235 | FCTN_CONVERT_FLOAT((float)actual_data.Bvalue_actual[i],&telemetry[26+ (i*4)]); |
Bragadeesh153 | 13:fb7facaf308b | 236 | for(int i=0; i<3; i++) |
lakshya | 15:e09aaaccf134 | 237 | FCTN_CONVERT_FLOAT((float)actual_data.AngularSpeed_actual[i],&telemetry[38+(i*4)]); |
lakshya | 15:e09aaaccf134 | 238 | |
lakshya | 15:e09aaaccf134 | 239 | //printf("\n\rthe value is 38\t %x\n",telemetry[38]); |
lakshya | 15:e09aaaccf134 | 240 | //printf("\n\rthe value is 39\t%x\n",telemetry[39]); |
lakshya | 15:e09aaaccf134 | 241 | //printf("\n\rthe value is 40\t%x\n",telemetry[40]); |
lakshya | 15:e09aaaccf134 | 242 | //printf("\n\rthe value is 41\t%x\n",telemetry[41]); |
lakshya | 15:e09aaaccf134 | 243 | //printf("\n\rthe value true\t%f\n",actual_data.AngularSpeed_actual[0]); |
lakshya | 15:e09aaaccf134 | 244 | |
lakshya | 15:e09aaaccf134 | 245 | |
lakshya | 15:e09aaaccf134 | 246 | //uint32_t input_stage1=0x00000000; |
lakshya | 15:e09aaaccf134 | 247 | //uint8_t output1[4]; |
lakshya | 15:e09aaaccf134 | 248 | //output1[0]=(uint32_t)(telemetry[38]); |
lakshya | 15:e09aaaccf134 | 249 | //output1[1]=(uint32_t)(telemetry[39]); |
lakshya | 15:e09aaaccf134 | 250 | //output1[2]=(uint32_t)(telemetry[40]); |
lakshya | 15:e09aaaccf134 | 251 | //output1[3]=(uint32_t)(telemetry[41]); |
lakshya | 15:e09aaaccf134 | 252 | |
lakshya | 15:e09aaaccf134 | 253 | //input_stage1=output[3]+(output[2]*(0x100))+(output[1]*(0x10000))+(output[0]*(0x1000000)); |
lakshya | 15:e09aaaccf134 | 254 | //input_stage1=(output1[0]<<24) | (output1[1]<<16) | (output1[2]<<8) | (output1[3]); |
lakshya | 15:e09aaaccf134 | 255 | |
lakshya | 15:e09aaaccf134 | 256 | |
lakshya | 15:e09aaaccf134 | 257 | //assert(sizeof(float) == sizeof(uint32_t)); |
lakshya | 15:e09aaaccf134 | 258 | //float* temp1 = reinterpret_cast<float*>(&input_stage1); |
lakshya | 15:e09aaaccf134 | 259 | |
lakshya | 15:e09aaaccf134 | 260 | //printf("\n\r the value is: %f \n",*temp1); |
Bragadeesh153 | 13:fb7facaf308b | 261 | |
Bragadeesh153 | 13:fb7facaf308b | 262 | //FAULT_FLAG(); |
Bragadeesh153 | 13:fb7facaf308b | 263 | telemetry[50] = actual_data.faultIr_status; |
Bragadeesh153 | 13:fb7facaf308b | 264 | telemetry[51] = actual_data.faultPoll_status; |
Bragadeesh153 | 13:fb7facaf308b | 265 | //Bdot Rotation Speed of Command telemetry[52-53] |
Bragadeesh153 | 13:fb7facaf308b | 266 | //Bdot Output Current telemetry[54] |
Bragadeesh153 | 13:fb7facaf308b | 267 | //float l_pmw1 = (PWM1); |
Bragadeesh153 | 13:fb7facaf308b | 268 | //float l_pmw2 = PWM2; |
Bragadeesh153 | 13:fb7facaf308b | 269 | //float l_pmw3 = PWM3; |
Bragadeesh153 | 13:fb7facaf308b | 270 | |
lakshya | 11:1fdb94ae6563 | 271 | /*__________________________________________________________________*/ |
Bragadeesh153 | 13:fb7facaf308b | 272 | |
lakshya | 11:1fdb94ae6563 | 273 | /*change and check if changing it to PWM1 causes problem*/ |
Bragadeesh153 | 13:fb7facaf308b | 274 | |
lakshya | 11:1fdb94ae6563 | 275 | /*___________________________________________________________________*/ |
Bragadeesh153 | 13:fb7facaf308b | 276 | |
lakshya | 11:1fdb94ae6563 | 277 | float PWM_measured[3]; |
Bragadeesh153 | 13:fb7facaf308b | 278 | |
Bragadeesh153 | 13:fb7facaf308b | 279 | PWM_measured[0] = PWM1.read(); |
Bragadeesh153 | 13:fb7facaf308b | 280 | PWM_measured[1] = PWM2.read(); |
Bragadeesh153 | 13:fb7facaf308b | 281 | PWM_measured[2] = PWM3.read(); |
Bragadeesh153 | 13:fb7facaf308b | 282 | |
Bragadeesh153 | 13:fb7facaf308b | 283 | FCTN_CONVERT_FLOAT(PWM_measured[0], &telemetry[55]); |
Bragadeesh153 | 13:fb7facaf308b | 284 | FCTN_CONVERT_FLOAT(PWM_measured[1], &telemetry[59]); |
Bragadeesh153 | 13:fb7facaf308b | 285 | FCTN_CONVERT_FLOAT(PWM_measured[2], &telemetry[63]); |
lakshya | 10:f93407b97750 | 286 | float attitude_ang = angle(actual_data.Bvalue_actual[0],actual_data.Bvalue_actual[1],actual_data.Bvalue_actual[2]); |
Bragadeesh153 | 13:fb7facaf308b | 287 | FCTN_CONVERT_FLOAT(attitude_ang, &telemetry[67]); |
lakshya | 10:f93407b97750 | 288 | |
lakshya | 10:f93407b97750 | 289 | for (int i=0; i<16; i++) |
Bragadeesh153 | 13:fb7facaf308b | 290 | telemetry[68+i] = quant_data.voltage_quant[i]; |
lakshya | 10:f93407b97750 | 291 | for (int i=0; i<12; i++) |
Bragadeesh153 | 13:fb7facaf308b | 292 | telemetry[84+i] = quant_data.current_quant[i]; |
Bragadeesh153 | 13:fb7facaf308b | 293 | //telemetry[96] |
Bragadeesh153 | 13:fb7facaf308b | 294 | //telemetry[97] |
Bragadeesh153 | 13:fb7facaf308b | 295 | //telemetry[98] |
Bragadeesh153 | 13:fb7facaf308b | 296 | //telemetry[99] |
Bragadeesh153 | 13:fb7facaf308b | 297 | telemetry[100] = quant_data.Batt_voltage_quant; |
Bragadeesh153 | 13:fb7facaf308b | 298 | telemetry[101] = quant_data.BAE_temp_quant; |
Bragadeesh153 | 13:fb7facaf308b | 299 | telemetry[102] = quant_data.Batt_gauge_quant[1]; |
Bragadeesh153 | 13:fb7facaf308b | 300 | telemetry[103] = quant_data.Batt_temp_quant[0]; |
Bragadeesh153 | 13:fb7facaf308b | 301 | telemetry[104] = quant_data.Batt_temp_quant[1]; |
Bragadeesh153 | 13:fb7facaf308b | 302 | |
Bragadeesh153 | 13:fb7facaf308b | 303 | //telemetry[105] = beacon temperature; |
Bragadeesh153 | 13:fb7facaf308b | 304 | |
lakshya | 10:f93407b97750 | 305 | for (int i=105; i<132;i++) |
sakthipriya | 8:82250e41da81 | 306 | { |
Bragadeesh153 | 13:fb7facaf308b | 307 | telemetry[i] = 0x00; |
sakthipriya | 5:bb592f3185cc | 308 | } |
Bragadeesh153 | 13:fb7facaf308b | 309 | crc16 = CRC::crc16_gen(telemetry,132); |
Bragadeesh153 | 13:fb7facaf308b | 310 | telemetry[132] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 311 | telemetry[133] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 312 | |
Bragadeesh153 | 13:fb7facaf308b | 313 | break; |
Bragadeesh153 | 13:fb7facaf308b | 314 | } |
Bragadeesh153 | 13:fb7facaf308b | 315 | case 0x0002: |
Bragadeesh153 | 13:fb7facaf308b | 316 | { |
lakshya | 15:e09aaaccf134 | 317 | printf("\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 318 | telemetry[0] = 0x60; |
Bragadeesh153 | 13:fb7facaf308b | 319 | telemetry[1] = tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 320 | telemetry[2] = ACK_CODE; |
Bragadeesh153 | 13:fb7facaf308b | 321 | |
Bragadeesh153 | 13:fb7facaf308b | 322 | for(int i;i<16;i++) |
Bragadeesh153 | 13:fb7facaf308b | 323 | telemetry[i+3] = bae_HK_minmax.voltage_max[i]; |
Bragadeesh153 | 13:fb7facaf308b | 324 | |
Bragadeesh153 | 13:fb7facaf308b | 325 | for(int i;i<12;i++) |
Bragadeesh153 | 13:fb7facaf308b | 326 | telemetry[i+18] = bae_HK_minmax.current_max[i]; |
Bragadeesh153 | 13:fb7facaf308b | 327 | |
Bragadeesh153 | 13:fb7facaf308b | 328 | telemetry[29] = bae_HK_minmax.Batt_voltage_max;; |
Bragadeesh153 | 13:fb7facaf308b | 329 | telemetry[30] = bae_HK_minmax.BAE_temp_max; |
Bragadeesh153 | 13:fb7facaf308b | 330 | |
Bragadeesh153 | 13:fb7facaf308b | 331 | /*battery soc*/ |
Bragadeesh153 | 13:fb7facaf308b | 332 | //telemetry[31] = BAE_HK_min_max bae_HK_minmax.voltage_max; |
Bragadeesh153 | 13:fb7facaf308b | 333 | |
Bragadeesh153 | 13:fb7facaf308b | 334 | telemetry[32] = bae_HK_minmax.Batt_temp_max[0]; |
Bragadeesh153 | 13:fb7facaf308b | 335 | telemetry[33] = bae_HK_minmax.Batt_temp_max[1]; |
Bragadeesh153 | 13:fb7facaf308b | 336 | |
Bragadeesh153 | 13:fb7facaf308b | 337 | /*BCN temp not there*/ |
Bragadeesh153 | 13:fb7facaf308b | 338 | //telemetry[34] = BAE_HK_min_max bae_HK_minmax.; |
Bragadeesh153 | 13:fb7facaf308b | 339 | |
Bragadeesh153 | 13:fb7facaf308b | 340 | for(int i=0; i<3; i++) |
Bragadeesh153 | 13:fb7facaf308b | 341 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[i],&telemetry[35+(i*4)]); |
Bragadeesh153 | 13:fb7facaf308b | 342 | |
Bragadeesh153 | 13:fb7facaf308b | 343 | for(int i=0; i<3; i++) |
Bragadeesh153 | 13:fb7facaf308b | 344 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[i],&telemetry[47+(i*4)]); |
Bragadeesh153 | 13:fb7facaf308b | 345 | |
Bragadeesh153 | 13:fb7facaf308b | 346 | /*min data*/ |
Bragadeesh153 | 13:fb7facaf308b | 347 | |
Bragadeesh153 | 13:fb7facaf308b | 348 | for(int i;i<16;i++) |
Bragadeesh153 | 13:fb7facaf308b | 349 | telemetry[i+59] = bae_HK_minmax.voltage_min[i]; |
Bragadeesh153 | 13:fb7facaf308b | 350 | |
Bragadeesh153 | 13:fb7facaf308b | 351 | for(int i;i<12;i++) |
Bragadeesh153 | 13:fb7facaf308b | 352 | telemetry[i+74] = bae_HK_minmax.current_min[i]; |
Bragadeesh153 | 13:fb7facaf308b | 353 | |
Bragadeesh153 | 13:fb7facaf308b | 354 | telemetry[86] = bae_HK_minmax.Batt_voltage_min; |
Bragadeesh153 | 13:fb7facaf308b | 355 | telemetry[87] = bae_HK_minmax.BAE_temp_min; |
Bragadeesh153 | 13:fb7facaf308b | 356 | |
Bragadeesh153 | 13:fb7facaf308b | 357 | /*battery soc*/ |
Bragadeesh153 | 13:fb7facaf308b | 358 | //telemetry[88] = BAE_HK_min_max bae_HK_minmax.voltage_max; |
Bragadeesh153 | 13:fb7facaf308b | 359 | |
Bragadeesh153 | 13:fb7facaf308b | 360 | telemetry[89] = bae_HK_minmax.Batt_temp_min[0]; |
Bragadeesh153 | 13:fb7facaf308b | 361 | telemetry[90] = bae_HK_minmax.Batt_temp_min[1]; |
Bragadeesh153 | 13:fb7facaf308b | 362 | //huhu// |
Bragadeesh153 | 13:fb7facaf308b | 363 | |
Bragadeesh153 | 13:fb7facaf308b | 364 | /*BCN temp not there*/ |
Bragadeesh153 | 13:fb7facaf308b | 365 | //telemetry[91] = BAE_HK_min_max bae_HK_minmax.; |
Bragadeesh153 | 13:fb7facaf308b | 366 | |
Bragadeesh153 | 13:fb7facaf308b | 367 | for(int i=0; i<3; i++) |
Bragadeesh153 | 13:fb7facaf308b | 368 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[i],&telemetry[91+(i*4)]); |
Bragadeesh153 | 13:fb7facaf308b | 369 | |
Bragadeesh153 | 13:fb7facaf308b | 370 | for(int i=0; i<3; i++) |
Bragadeesh153 | 13:fb7facaf308b | 371 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[i],&telemetry[103+(i*4)]); |
Bragadeesh153 | 13:fb7facaf308b | 372 | |
Bragadeesh153 | 13:fb7facaf308b | 373 | |
Bragadeesh153 | 13:fb7facaf308b | 374 | for (int i=115; i<132;i++) |
Bragadeesh153 | 13:fb7facaf308b | 375 | { |
Bragadeesh153 | 13:fb7facaf308b | 376 | telemetry[i] = 0x00; |
Bragadeesh153 | 13:fb7facaf308b | 377 | } |
Bragadeesh153 | 13:fb7facaf308b | 378 | crc16 = CRC::crc16_gen(telemetry,132); |
Bragadeesh153 | 13:fb7facaf308b | 379 | telemetry[132] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 380 | telemetry[133] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 381 | break; |
Bragadeesh153 | 13:fb7facaf308b | 382 | } |
Bragadeesh153 | 13:fb7facaf308b | 383 | } |
Bragadeesh153 | 13:fb7facaf308b | 384 | break; |
Bragadeesh153 | 13:fb7facaf308b | 385 | } |
sakthipriya | 3:07e15677a75c | 386 | case 0x05: |
sakthipriya | 3:07e15677a75c | 387 | { |
lakshya | 15:e09aaaccf134 | 388 | printf("\nRead from MID 0001 min max\n"); |
lakshya | 15:e09aaaccf134 | 389 | /*changed*/ |
lakshya | 15:e09aaaccf134 | 390 | printf("\n\rwrite on flash\n"); |
lakshya | 15:e09aaaccf134 | 391 | uint32_t FLASH_DATA[8]; |
lakshya | 15:e09aaaccf134 | 392 | |
lakshya | 15:e09aaaccf134 | 393 | uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4]; |
lakshya | 15:e09aaaccf134 | 394 | switch(MID ) |
lakshya | 15:e09aaaccf134 | 395 | { |
lakshya | 15:e09aaaccf134 | 396 | |
lakshya | 15:e09aaaccf134 | 397 | case 0x0100: |
lakshya | 15:e09aaaccf134 | 398 | { |
lakshya | 15:e09aaaccf134 | 399 | FLASH_DATA[0] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]); |
lakshya | 15:e09aaaccf134 | 400 | FCTN_CDMS_WR_FLASH(0x00,FLASH_DATA[0]); |
lakshya | 15:e09aaaccf134 | 401 | break; |
lakshya | 15:e09aaaccf134 | 402 | } |
lakshya | 15:e09aaaccf134 | 403 | case 0x0101: |
lakshya | 15:e09aaaccf134 | 404 | { |
lakshya | 15:e09aaaccf134 | 405 | FLASH_DATA[1] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]); |
lakshya | 15:e09aaaccf134 | 406 | FCTN_CDMS_WR_FLASH(0x01,FLASH_DATA[1]); |
lakshya | 15:e09aaaccf134 | 407 | break; |
lakshya | 15:e09aaaccf134 | 408 | } |
lakshya | 15:e09aaaccf134 | 409 | |
lakshya | 15:e09aaaccf134 | 410 | case 0x0102: |
lakshya | 15:e09aaaccf134 | 411 | { |
lakshya | 15:e09aaaccf134 | 412 | FLASH_DATA[2] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]); |
lakshya | 15:e09aaaccf134 | 413 | FCTN_CDMS_WR_FLASH(0x02,FLASH_DATA[2]); |
lakshya | 15:e09aaaccf134 | 414 | break; |
lakshya | 15:e09aaaccf134 | 415 | } |
lakshya | 15:e09aaaccf134 | 416 | |
lakshya | 15:e09aaaccf134 | 417 | case 0x0103: |
lakshya | 15:e09aaaccf134 | 418 | { |
lakshya | 15:e09aaaccf134 | 419 | FLASH_DATA[3] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]); |
lakshya | 15:e09aaaccf134 | 420 | FCTN_CDMS_WR_FLASH(0x03,FLASH_DATA[3]); |
lakshya | 15:e09aaaccf134 | 421 | break; |
lakshya | 15:e09aaaccf134 | 422 | } |
lakshya | 15:e09aaaccf134 | 423 | case 0x0104: |
lakshya | 15:e09aaaccf134 | 424 | { |
lakshya | 15:e09aaaccf134 | 425 | FLASH_DATA[4] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]); |
lakshya | 15:e09aaaccf134 | 426 | FCTN_CDMS_WR_FLASH(0x04,FLASH_DATA[4]); |
lakshya | 15:e09aaaccf134 | 427 | break; |
lakshya | 15:e09aaaccf134 | 428 | } |
lakshya | 15:e09aaaccf134 | 429 | |
lakshya | 15:e09aaaccf134 | 430 | case 0x0105: |
lakshya | 15:e09aaaccf134 | 431 | { |
lakshya | 15:e09aaaccf134 | 432 | FLASH_DATA[5] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]); |
lakshya | 15:e09aaaccf134 | 433 | FCTN_CDMS_WR_FLASH(0x05,FLASH_DATA[5]); |
lakshya | 15:e09aaaccf134 | 434 | break; |
lakshya | 15:e09aaaccf134 | 435 | } |
lakshya | 15:e09aaaccf134 | 436 | case 0x0106: |
lakshya | 15:e09aaaccf134 | 437 | { |
lakshya | 15:e09aaaccf134 | 438 | FLASH_DATA[6] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]); |
lakshya | 15:e09aaaccf134 | 439 | FCTN_CDMS_WR_FLASH(0x06,FLASH_DATA[6]); |
lakshya | 15:e09aaaccf134 | 440 | break; |
lakshya | 15:e09aaaccf134 | 441 | } |
lakshya | 15:e09aaaccf134 | 442 | |
lakshya | 15:e09aaaccf134 | 443 | case 0x0107: |
lakshya | 15:e09aaaccf134 | 444 | { |
lakshya | 15:e09aaaccf134 | 445 | FLASH_DATA[7] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]); |
lakshya | 15:e09aaaccf134 | 446 | FCTN_CDMS_WR_FLASH(0x07,FLASH_DATA[7]); |
lakshya | 15:e09aaaccf134 | 447 | break; |
lakshya | 15:e09aaaccf134 | 448 | } |
lakshya | 15:e09aaaccf134 | 449 | |
lakshya | 15:e09aaaccf134 | 450 | default: |
lakshya | 15:e09aaaccf134 | 451 | { |
lakshya | 15:e09aaaccf134 | 452 | printf("Invalid MMS\r\n"); |
lakshya | 15:e09aaaccf134 | 453 | } |
lakshya | 15:e09aaaccf134 | 454 | } |
lakshya | 15:e09aaaccf134 | 455 | |
lakshya | 15:e09aaaccf134 | 456 | |
lakshya | 15:e09aaaccf134 | 457 | for (int i=4; i<132;i++) |
lakshya | 15:e09aaaccf134 | 458 | { |
lakshya | 15:e09aaaccf134 | 459 | tm[i] = 0x00; |
lakshya | 15:e09aaaccf134 | 460 | } |
lakshya | 15:e09aaaccf134 | 461 | crc16 = CRC::crc16_gen(tm,132); |
lakshya | 15:e09aaaccf134 | 462 | tm[132] = (uint8_t)((crc16&0xFF00)>>8); |
lakshya | 15:e09aaaccf134 | 463 | tm[133] = (uint8_t)(crc16&0x00FF); |
lakshya | 15:e09aaaccf134 | 464 | tm[0] = 0x60; |
lakshya | 15:e09aaaccf134 | 465 | tm[1] = tc[0]; |
lakshya | 15:e09aaaccf134 | 466 | tm[2] = ACK_CODE; |
lakshya | 15:e09aaaccf134 | 467 | |
lakshya | 15:e09aaaccf134 | 468 | printf("Written on Flash\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 469 | break; |
sakthipriya | 3:07e15677a75c | 470 | } |
sakthipriya | 3:07e15677a75c | 471 | default: |
sakthipriya | 3:07e15677a75c | 472 | { |
sakthipriya | 3:07e15677a75c | 473 | printf("Invalid TC"); |
Bragadeesh153 | 13:fb7facaf308b | 474 | //ACK_L234_telemetry |
Bragadeesh153 | 13:fb7facaf308b | 475 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 476 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 477 | telemetry[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 478 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 479 | { |
Bragadeesh153 | 13:fb7facaf308b | 480 | telemetry[i]=0x00; |
sakthipriya | 0:7b4c00e3912f | 481 | } |
Bragadeesh153 | 13:fb7facaf308b | 482 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 483 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 484 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 485 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 486 | { |
Bragadeesh153 | 13:fb7facaf308b | 487 | telemetry[i]=0x00; |
sakthipriya | 0:7b4c00e3912f | 488 | } |
Bragadeesh153 | 13:fb7facaf308b | 489 | break; |
sakthipriya | 3:07e15677a75c | 490 | } |
sakthipriya | 3:07e15677a75c | 491 | } |
Bragadeesh153 | 13:fb7facaf308b | 492 | break; |
sakthipriya | 0:7b4c00e3912f | 493 | } |
sakthipriya | 3:07e15677a75c | 494 | case 0x80: |
sakthipriya | 3:07e15677a75c | 495 | { |
Bragadeesh153 | 13:fb7facaf308b | 496 | //printf("Function Management Service\r\n"); |
sakthipriya | 3:07e15677a75c | 497 | uint8_t service_subtype=(tc[2]&0x0F); |
sakthipriya | 3:07e15677a75c | 498 | switch(service_subtype) |
sakthipriya | 3:07e15677a75c | 499 | { |
sakthipriya | 3:07e15677a75c | 500 | case 0x01: |
sakthipriya | 3:07e15677a75c | 501 | { |
sakthipriya | 3:07e15677a75c | 502 | printf("FMS Activated\r\n"); |
sakthipriya | 3:07e15677a75c | 503 | uint8_t pid=tc[3]; |
sakthipriya | 3:07e15677a75c | 504 | switch(pid) |
sakthipriya | 3:07e15677a75c | 505 | { |
sakthipriya | 5:bb592f3185cc | 506 | case 0xE0: |
sakthipriya | 3:07e15677a75c | 507 | { |
lakshya | 10:f93407b97750 | 508 | float B[3],W[3]; |
sakthipriya | 5:bb592f3185cc | 509 | printf("ACS_COMSN\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 510 | //ACK_L234_telemetry |
Bragadeesh153 | 13:fb7facaf308b | 511 | |
lakshya | 10:f93407b97750 | 512 | uint8_t B_x[2]; |
lakshya | 10:f93407b97750 | 513 | uint8_t B_y[2]; |
lakshya | 10:f93407b97750 | 514 | uint8_t B_z[2]; |
lakshya | 10:f93407b97750 | 515 | uint8_t W_x[2]; |
lakshya | 10:f93407b97750 | 516 | uint8_t W_y[2]; |
lakshya | 10:f93407b97750 | 517 | uint8_t W_z[2]; |
Bragadeesh153 | 13:fb7facaf308b | 518 | |
lakshya | 10:f93407b97750 | 519 | B_x[0]=tc[3]; |
lakshya | 10:f93407b97750 | 520 | B_x[1]=tc[4]; |
lakshya | 10:f93407b97750 | 521 | B_y[0]=tc[5]; |
lakshya | 10:f93407b97750 | 522 | B_y[1]=tc[6]; |
lakshya | 10:f93407b97750 | 523 | B_z[0]=tc[7]; |
lakshya | 10:f93407b97750 | 524 | B_z[1]=tc[8]; |
Bragadeesh153 | 13:fb7facaf308b | 525 | |
lakshya | 10:f93407b97750 | 526 | W_x[0]=tc[9]; |
lakshya | 10:f93407b97750 | 527 | W_x[1]=tc[10]; |
lakshya | 10:f93407b97750 | 528 | W_y[0]=tc[11]; |
lakshya | 10:f93407b97750 | 529 | W_y[1]=tc[12]; |
lakshya | 10:f93407b97750 | 530 | W_z[0]=tc[13]; |
lakshya | 10:f93407b97750 | 531 | W_z[1]=tc[14]; |
Bragadeesh153 | 13:fb7facaf308b | 532 | |
lakshya | 11:1fdb94ae6563 | 533 | FCTN_CONVERT_UINT(B_x,&B[0]); |
lakshya | 11:1fdb94ae6563 | 534 | FCTN_CONVERT_UINT(B_y,&B[1]); |
lakshya | 11:1fdb94ae6563 | 535 | FCTN_CONVERT_UINT(B_z,&B[2]); |
Bragadeesh153 | 13:fb7facaf308b | 536 | |
lakshya | 10:f93407b97750 | 537 | FCTN_CONVERT_UINT (W_x, &W[0]); |
lakshya | 10:f93407b97750 | 538 | FCTN_CONVERT_UINT (W_y, &W[1]); |
lakshya | 10:f93407b97750 | 539 | FCTN_CONVERT_UINT (W_z, &W[2]); |
Bragadeesh153 | 13:fb7facaf308b | 540 | |
Bragadeesh153 | 13:fb7facaf308b | 541 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 542 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 543 | telemetry[2]=ACK_CODE; |
lakshya | 10:f93407b97750 | 544 | //FCTN_ATS_DATA_ACQ(); //get data |
Bragadeesh153 | 13:fb7facaf308b | 545 | printf("gyro values\n\r"); |
Bragadeesh153 | 13:fb7facaf308b | 546 | for(int i=0; i<3; i++) |
lakshya | 10:f93407b97750 | 547 | printf("%f\n\r",W[i]); |
sakthipriya | 5:bb592f3185cc | 548 | printf("mag values\n\r"); |
Bragadeesh153 | 13:fb7facaf308b | 549 | for(int i=0; i<3; i++) |
lakshya | 10:f93407b97750 | 550 | printf("%f\n\r",B[i]); |
Bragadeesh153 | 13:fb7facaf308b | 551 | /* FCTN_CONVERT_FLOAT(data[0],&telemetry[4]); //telemetry[4] - telemetry[7] |
Bragadeesh153 | 13:fb7facaf308b | 552 | FCTN_CONVERT_FLOAT(data[1],&telemetry[8]); //telemetry[8] - telemetry[11] |
Bragadeesh153 | 13:fb7facaf308b | 553 | FCTN_CONVERT_FLOAT(data[2],&telemetry[12]); //telemetry[12] - telemetry[15] |
Bragadeesh153 | 13:fb7facaf308b | 554 | FCTN_CONVERT_FLOAT(data[0],&telemetry[16]); //telemetry[16] - telemetry[19] |
Bragadeesh153 | 13:fb7facaf308b | 555 | FCTN_CONVERT_FLOAT(data[1],&telemetry[20]); //telemetry[20] - telemetry[23] |
Bragadeesh153 | 13:fb7facaf308b | 556 | FCTN_CONVERT_FLOAT(data[2],&telemetry[24]); //telemetry[24] - telemetry[27] |
sakthipriya | 5:bb592f3185cc | 557 | if((data[0]<8) && (data[1]<8) && (data[2] <8)) |
Bragadeesh153 | 13:fb7facaf308b | 558 | telemetry[28] = 1; // gyro values in correct range |
sakthipriya | 5:bb592f3185cc | 559 | else |
Bragadeesh153 | 13:fb7facaf308b | 560 | telemetry[28] = 0; |
sakthipriya | 5:bb592f3185cc | 561 | if ((data[3] > 20 ) && (data[4] >20) && (data[5]>20)&& (data[3] < 50 ) && (data[4] <50) && (data[5]<50)) |
Bragadeesh153 | 13:fb7facaf308b | 562 | telemetry[29] = 1; // mag values in correct range |
sakthipriya | 5:bb592f3185cc | 563 | else |
Bragadeesh153 | 13:fb7facaf308b | 564 | telemetry[29] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 565 | */ |
Bragadeesh153 | 13:fb7facaf308b | 566 | // float B[3],W[3]; |
lakshya | 10:f93407b97750 | 567 | // B[0] = B0; |
Bragadeesh153 | 13:fb7facaf308b | 568 | // B[1] = B1; |
lakshya | 10:f93407b97750 | 569 | // B[2] = B2; |
lakshya | 10:f93407b97750 | 570 | // W[0] = W0; |
Bragadeesh153 | 13:fb7facaf308b | 571 | // W[1] = W1; |
Bragadeesh153 | 13:fb7facaf308b | 572 | // W[2] = W2; |
sakthipriya | 5:bb592f3185cc | 573 | // Control algo commissioning |
lakshya | 10:f93407b97750 | 574 | /* FCTN_ACS_CNTRLALGO(B,W); |
Bragadeesh153 | 13:fb7facaf308b | 575 | FCTN_CONVERT_FLOAT(moment[0],&telemetry[30]); //telemetry[30] - telemetry[33] |
Bragadeesh153 | 13:fb7facaf308b | 576 | FCTN_CONVERT_FLOAT(moment[1],&telemetry[34]); //telemetry[34] - telemetry[37] |
Bragadeesh153 | 13:fb7facaf308b | 577 | FCTN_CONVERT_FLOAT(moment[2],&telemetry[38]); //telemetry[38] - telemetry[41] |
sakthipriya | 5:bb592f3185cc | 578 | // to include commission TR as well |
sakthipriya | 5:bb592f3185cc | 579 | for(uint8_t i=42;i<132;i++) |
sakthipriya | 3:07e15677a75c | 580 | { |
Bragadeesh153 | 13:fb7facaf308b | 581 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 582 | } |
Bragadeesh153 | 13:fb7facaf308b | 583 | |
Bragadeesh153 | 13:fb7facaf308b | 584 | crc16 = CRC::crc16_gen(telemetry,132); |
Bragadeesh153 | 13:fb7facaf308b | 585 | telemetry[133] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 586 | telemetry[134] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 587 | break; |
Bragadeesh153 | 13:fb7facaf308b | 588 | */ |
Bragadeesh153 | 13:fb7facaf308b | 589 | |
lakshya | 10:f93407b97750 | 590 | // Control algo commissioning |
lakshya | 10:f93407b97750 | 591 | FCTN_ACS_CNTRLALGO(B,W); |
Bragadeesh153 | 13:fb7facaf308b | 592 | FCTN_CONVERT_FLOAT(moment[0],&telemetry[4]); //telemetry[4] - telemetry[7] |
Bragadeesh153 | 13:fb7facaf308b | 593 | FCTN_CONVERT_FLOAT(moment[1],&telemetry[8]); //telemetry[8] - telemetry[11] |
Bragadeesh153 | 13:fb7facaf308b | 594 | FCTN_CONVERT_FLOAT(moment[2],&telemetry[12]); //telemetry[12] - telemetry[15] |
lakshya | 10:f93407b97750 | 595 | // to include commission TR as well |
lakshya | 10:f93407b97750 | 596 | for(uint8_t i=16;i<132;i++) |
lakshya | 10:f93407b97750 | 597 | { |
Bragadeesh153 | 13:fb7facaf308b | 598 | telemetry[i]=0x00; |
lakshya | 10:f93407b97750 | 599 | } |
Bragadeesh153 | 13:fb7facaf308b | 600 | |
Bragadeesh153 | 13:fb7facaf308b | 601 | crc16 = CRC::crc16_gen(telemetry,132); |
Bragadeesh153 | 13:fb7facaf308b | 602 | telemetry[133] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 603 | telemetry[134] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 604 | break; |
sakthipriya | 3:07e15677a75c | 605 | } |
lakshya | 10:f93407b97750 | 606 | case 0xE1: |
sakthipriya | 3:07e15677a75c | 607 | { |
Bragadeesh153 | 13:fb7facaf308b | 608 | float moment_tc[3]; |
lakshya | 10:f93407b97750 | 609 | printf("HARDWARE_COMSN\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 610 | //ACK_L234_telemetry |
lakshya | 10:f93407b97750 | 611 | uint8_t M0[2]; |
lakshya | 10:f93407b97750 | 612 | uint8_t M1[2]; |
lakshya | 10:f93407b97750 | 613 | uint8_t M2[2]; |
Bragadeesh153 | 13:fb7facaf308b | 614 | |
lakshya | 10:f93407b97750 | 615 | M0[0]=tc[3]; |
lakshya | 10:f93407b97750 | 616 | M0[1]=tc[4]; |
lakshya | 10:f93407b97750 | 617 | M1[0]=tc[5]; |
lakshya | 10:f93407b97750 | 618 | M1[1]=tc[6]; |
lakshya | 10:f93407b97750 | 619 | M2[0]=tc[7]; |
lakshya | 10:f93407b97750 | 620 | M2[1]=tc[8]; |
Bragadeesh153 | 13:fb7facaf308b | 621 | |
Bragadeesh153 | 13:fb7facaf308b | 622 | |
Bragadeesh153 | 13:fb7facaf308b | 623 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 624 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 625 | telemetry[2]=ACK_CODE; |
lakshya | 10:f93407b97750 | 626 | |
Bragadeesh153 | 13:fb7facaf308b | 627 | float PWM_measured[3]; |
lakshya | 10:f93407b97750 | 628 | |
lakshya | 10:f93407b97750 | 629 | |
Bragadeesh153 | 13:fb7facaf308b | 630 | FCTN_CONVERT_UINT(M0,&moment_tc[0]); |
Bragadeesh153 | 13:fb7facaf308b | 631 | moment_tc[1] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 632 | moment_tc[2] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 633 | FCTN_ACS_GENPWM_MAIN(moment_tc); |
Bragadeesh153 | 13:fb7facaf308b | 634 | PWM_measured[0] = PWM1.read(); |
lakshya | 14:a9588f443f1a | 635 | FCTN_CONVERT_FLOAT(actual_data.current_actual[5],&telemetry[16 + (0*4)]); |
lakshya | 10:f93407b97750 | 636 | |
Bragadeesh153 | 13:fb7facaf308b | 637 | FCTN_CONVERT_UINT(M1, &moment_tc[1]); |
Bragadeesh153 | 13:fb7facaf308b | 638 | moment_tc[0] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 639 | moment_tc[2] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 640 | FCTN_ACS_GENPWM_MAIN(moment_tc); |
Bragadeesh153 | 13:fb7facaf308b | 641 | PWM_measured[1] = PWM2.read(); |
lakshya | 14:a9588f443f1a | 642 | FCTN_CONVERT_FLOAT(actual_data.current_actual[5],&telemetry[16 + (1*4)]); |
Bragadeesh153 | 13:fb7facaf308b | 643 | |
Bragadeesh153 | 13:fb7facaf308b | 644 | FCTN_CONVERT_UINT(M2, &moment_tc[2]); |
Bragadeesh153 | 13:fb7facaf308b | 645 | moment_tc[0] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 646 | moment_tc[1] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 647 | FCTN_ACS_GENPWM_MAIN(moment_tc); |
Bragadeesh153 | 13:fb7facaf308b | 648 | PWM_measured[2] = PWM3.read(); |
lakshya | 14:a9588f443f1a | 649 | FCTN_CONVERT_FLOAT(actual_data.current_actual[5],&telemetry[16 + (2*4)]); |
lakshya | 10:f93407b97750 | 650 | |
Bragadeesh153 | 13:fb7facaf308b | 651 | FCTN_CONVERT_FLOAT(PWM_measured[0],&telemetry[4]); //4-7 |
Bragadeesh153 | 13:fb7facaf308b | 652 | FCTN_CONVERT_FLOAT(PWM_measured[1],&telemetry[8]); //8-11 |
Bragadeesh153 | 13:fb7facaf308b | 653 | FCTN_CONVERT_FLOAT(PWM_measured[2],&telemetry[12]); //12-15 |
Bragadeesh153 | 13:fb7facaf308b | 654 | |
lakshya | 10:f93407b97750 | 655 | |
Bragadeesh153 | 13:fb7facaf308b | 656 | // for(int i=0; i<12; i++) |
Bragadeesh153 | 13:fb7facaf308b | 657 | // FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&telemetry[16 + (i*4)]); |
lakshya | 10:f93407b97750 | 658 | |
Bragadeesh153 | 13:fb7facaf308b | 659 | |
Bragadeesh153 | 13:fb7facaf308b | 660 | // FCTN_ATS_DATA_ACQ(); //get data |
Bragadeesh153 | 13:fb7facaf308b | 661 | |
lakshya | 10:f93407b97750 | 662 | |
lakshya | 10:f93407b97750 | 663 | // to include commission TR as well |
Bragadeesh153 | 13:fb7facaf308b | 664 | for(uint8_t i=28;i<132;i++) |
lakshya | 10:f93407b97750 | 665 | { |
Bragadeesh153 | 13:fb7facaf308b | 666 | telemetry[i]=0x00; |
lakshya | 10:f93407b97750 | 667 | } |
Bragadeesh153 | 13:fb7facaf308b | 668 | |
Bragadeesh153 | 13:fb7facaf308b | 669 | crc16 = CRC::crc16_gen(telemetry,132); |
Bragadeesh153 | 13:fb7facaf308b | 670 | telemetry[133] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 671 | telemetry[134] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 672 | break; |
lakshya | 10:f93407b97750 | 673 | } |
Bragadeesh153 | 13:fb7facaf308b | 674 | case 0x02: |
lakshya | 10:f93407b97750 | 675 | { |
Bragadeesh153 | 13:fb7facaf308b | 676 | |
Bragadeesh153 | 13:fb7facaf308b | 677 | printf("Run P_EPS_MAIN\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 678 | F_EPS(); |
Bragadeesh153 | 13:fb7facaf308b | 679 | //ACK_L234_telemetry |
Bragadeesh153 | 13:fb7facaf308b | 680 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 681 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 682 | telemetry[2]=ACK_CODE; |
lakshya | 10:f93407b97750 | 683 | for(uint8_t i=0;i<133;i++) |
sakthipriya | 3:07e15677a75c | 684 | { |
Bragadeesh153 | 13:fb7facaf308b | 685 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 686 | } |
Bragadeesh153 | 13:fb7facaf308b | 687 | crc16 = CRC::crc16_gen(telemetry,132); |
Bragadeesh153 | 13:fb7facaf308b | 688 | telemetry[132] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 689 | telemetry[133] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 690 | |
sakthipriya | 3:07e15677a75c | 691 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 692 | { |
Bragadeesh153 | 13:fb7facaf308b | 693 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 694 | } |
Bragadeesh153 | 13:fb7facaf308b | 695 | break; |
sakthipriya | 3:07e15677a75c | 696 | } |
Bragadeesh153 | 13:fb7facaf308b | 697 | case 0x03: |
sakthipriya | 3:07e15677a75c | 698 | { |
Bragadeesh153 | 13:fb7facaf308b | 699 | printf("Run P_ACS_INIT\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 700 | FCTN_ACS_INIT(); |
Bragadeesh153 | 13:fb7facaf308b | 701 | //ACK_L234_telemetry |
Bragadeesh153 | 13:fb7facaf308b | 702 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 703 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 704 | telemetry[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 705 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 706 | { |
Bragadeesh153 | 13:fb7facaf308b | 707 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 708 | } |
Bragadeesh153 | 13:fb7facaf308b | 709 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 710 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 711 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 712 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 713 | { |
Bragadeesh153 | 13:fb7facaf308b | 714 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 715 | } |
Bragadeesh153 | 13:fb7facaf308b | 716 | break; |
sakthipriya | 3:07e15677a75c | 717 | } |
sakthipriya | 3:07e15677a75c | 718 | case 0x04: |
sakthipriya | 3:07e15677a75c | 719 | { |
Bragadeesh153 | 13:fb7facaf308b | 720 | |
sakthipriya | 3:07e15677a75c | 721 | printf("Run P_ACS_ACQ_DATA\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 722 | FCTN_ATS_DATA_ACQ(); |
sakthipriya | 3:07e15677a75c | 723 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 724 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 725 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 726 | telemetry[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 727 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 728 | { |
Bragadeesh153 | 13:fb7facaf308b | 729 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 730 | } |
Bragadeesh153 | 13:fb7facaf308b | 731 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 732 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 733 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 734 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 735 | { |
Bragadeesh153 | 13:fb7facaf308b | 736 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 737 | } |
Bragadeesh153 | 13:fb7facaf308b | 738 | break; |
sakthipriya | 3:07e15677a75c | 739 | } |
sakthipriya | 3:07e15677a75c | 740 | case 0x05: |
sakthipriya | 3:07e15677a75c | 741 | { |
sakthipriya | 3:07e15677a75c | 742 | printf("Run P_ACS_MAIN\r\n"); |
lakshya | 10:f93407b97750 | 743 | F_ACS(); |
Bragadeesh153 | 13:fb7facaf308b | 744 | for(int i=0; i<3; i++) |
Bragadeesh153 | 13:fb7facaf308b | 745 | FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[i],&telemetry[(i*4)]); |
lakshya | 10:f93407b97750 | 746 | for(int i=0; i<3; i++) |
Bragadeesh153 | 13:fb7facaf308b | 747 | FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[i],&telemetry[12+(i*4)]); |
Bragadeesh153 | 13:fb7facaf308b | 748 | |
Bragadeesh153 | 13:fb7facaf308b | 749 | telemetry[24] = ACS_STATE; |
Bragadeesh153 | 13:fb7facaf308b | 750 | telemetry[24] = telemetry[5]|(EN_BTRY_HT<<3); |
Bragadeesh153 | 13:fb7facaf308b | 751 | telemetry[24] = telemetry[5]|(phase_TR_x<<4); |
Bragadeesh153 | 13:fb7facaf308b | 752 | telemetry[24] = telemetry[5]|(phase_TR_y<<5); |
Bragadeesh153 | 13:fb7facaf308b | 753 | telemetry[24] = telemetry[5]|(phase_TR_z<<6); |
Bragadeesh153 | 13:fb7facaf308b | 754 | |
lakshya | 11:1fdb94ae6563 | 755 | /*___________________change / check pwm working__________________________________*/ |
Bragadeesh153 | 13:fb7facaf308b | 756 | |
Bragadeesh153 | 13:fb7facaf308b | 757 | FCTN_CONVERT_FLOAT(PWM1,&telemetry[25]); |
Bragadeesh153 | 13:fb7facaf308b | 758 | FCTN_CONVERT_FLOAT(PWM2,&telemetry[29]); |
Bragadeesh153 | 13:fb7facaf308b | 759 | FCTN_CONVERT_FLOAT(PWM3,&telemetry[33]); |
Bragadeesh153 | 13:fb7facaf308b | 760 | |
lakshya | 10:f93407b97750 | 761 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 762 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 763 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 764 | telemetry[2]=ACK_CODE; |
lakshya | 10:f93407b97750 | 765 | for(uint8_t i=3;i<11;i++) |
lakshya | 10:f93407b97750 | 766 | { |
Bragadeesh153 | 13:fb7facaf308b | 767 | telemetry[i]=0x00; |
lakshya | 10:f93407b97750 | 768 | } |
Bragadeesh153 | 13:fb7facaf308b | 769 | |
Bragadeesh153 | 13:fb7facaf308b | 770 | crc16 = CRC::crc16_gen(telemetry,37); |
Bragadeesh153 | 13:fb7facaf308b | 771 | telemetry[37] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 772 | telemetry[38] = (uint8_t)(crc16&0x00FF); |
lakshya | 10:f93407b97750 | 773 | for(uint8_t i=39;i<134;i++) |
lakshya | 10:f93407b97750 | 774 | { |
Bragadeesh153 | 13:fb7facaf308b | 775 | telemetry[i]=0x00; |
lakshya | 10:f93407b97750 | 776 | } |
Bragadeesh153 | 13:fb7facaf308b | 777 | break; |
lakshya | 10:f93407b97750 | 778 | } |
lakshya | 10:f93407b97750 | 779 | case 0x06: |
lakshya | 10:f93407b97750 | 780 | { |
lakshya | 10:f93407b97750 | 781 | F_BCN(); |
Bragadeesh153 | 13:fb7facaf308b | 782 | printf("Run P_BCN_INIT\r\n"); |
sakthipriya | 3:07e15677a75c | 783 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 784 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 785 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 786 | telemetry[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 787 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 788 | { |
Bragadeesh153 | 13:fb7facaf308b | 789 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 790 | } |
Bragadeesh153 | 13:fb7facaf308b | 791 | crc16 = CRC::crc16_gen(telemetry,0); |
Bragadeesh153 | 13:fb7facaf308b | 792 | telemetry[0] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 793 | telemetry[1] = (uint8_t)(crc16&0x00FF); |
lakshya | 10:f93407b97750 | 794 | for(uint8_t i=2;i<134;i++) |
sakthipriya | 3:07e15677a75c | 795 | { |
Bragadeesh153 | 13:fb7facaf308b | 796 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 797 | } |
Bragadeesh153 | 13:fb7facaf308b | 798 | break; |
sakthipriya | 3:07e15677a75c | 799 | } |
sakthipriya | 3:07e15677a75c | 800 | case 0x07: |
sakthipriya | 3:07e15677a75c | 801 | { |
Bragadeesh153 | 13:fb7facaf308b | 802 | printf("Run P_BCN_TX_MAIN\r\n"); |
sakthipriya | 3:07e15677a75c | 803 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 804 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 805 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 806 | telemetry[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 807 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 808 | { |
Bragadeesh153 | 13:fb7facaf308b | 809 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 810 | } |
Bragadeesh153 | 13:fb7facaf308b | 811 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 812 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 813 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 814 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 815 | { |
Bragadeesh153 | 13:fb7facaf308b | 816 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 817 | } |
Bragadeesh153 | 13:fb7facaf308b | 818 | break; |
Bragadeesh153 | 13:fb7facaf308b | 819 | } |
Bragadeesh153 | 13:fb7facaf308b | 820 | case 0x11: |
sakthipriya | 3:07e15677a75c | 821 | { |
sakthipriya | 3:07e15677a75c | 822 | printf("SW_ON_ACS_ATS1_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 823 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 824 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 825 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 826 | telemetry[2]=1; |
lakshya | 10:f93407b97750 | 827 | ATS1_SW_ENABLE = 1; // making sure we switch off the other |
sakthipriya | 9:194afacf7449 | 828 | ATS1_SW_ENABLE = 0; |
sakthipriya | 3:07e15677a75c | 829 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 830 | { |
Bragadeesh153 | 13:fb7facaf308b | 831 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 832 | } |
Bragadeesh153 | 13:fb7facaf308b | 833 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 834 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 835 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 836 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 837 | { |
Bragadeesh153 | 13:fb7facaf308b | 838 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 839 | } |
Bragadeesh153 | 13:fb7facaf308b | 840 | break; |
sakthipriya | 3:07e15677a75c | 841 | } |
sakthipriya | 3:07e15677a75c | 842 | case 0x12: |
sakthipriya | 3:07e15677a75c | 843 | { |
sakthipriya | 3:07e15677a75c | 844 | printf("SW_ON_ACS_ATS2_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 845 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 846 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 847 | telemetry[1]=tc[0]; |
lakshya | 10:f93407b97750 | 848 | ATS1_SW_ENABLE = 1; //make sure u switch off the other |
sakthipriya | 9:194afacf7449 | 849 | ATS2_SW_ENABLE = 0; |
Bragadeesh153 | 13:fb7facaf308b | 850 | telemetry[2]=1; |
sakthipriya | 3:07e15677a75c | 851 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 852 | { |
Bragadeesh153 | 13:fb7facaf308b | 853 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 854 | } |
Bragadeesh153 | 13:fb7facaf308b | 855 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 856 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 857 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 858 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 859 | { |
Bragadeesh153 | 13:fb7facaf308b | 860 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 861 | } |
Bragadeesh153 | 13:fb7facaf308b | 862 | break; |
sakthipriya | 3:07e15677a75c | 863 | } |
sakthipriya | 3:07e15677a75c | 864 | case 0x13: |
sakthipriya | 3:07e15677a75c | 865 | { |
sakthipriya | 3:07e15677a75c | 866 | printf("SW_ON_ACS_TR_XY_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 867 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 868 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 869 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 870 | TRXY_SW = 1; |
Bragadeesh153 | 13:fb7facaf308b | 871 | telemetry[2]=1; |
sakthipriya | 3:07e15677a75c | 872 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 873 | { |
Bragadeesh153 | 13:fb7facaf308b | 874 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 875 | } |
Bragadeesh153 | 13:fb7facaf308b | 876 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 877 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 878 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 879 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 880 | { |
Bragadeesh153 | 13:fb7facaf308b | 881 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 882 | } |
Bragadeesh153 | 13:fb7facaf308b | 883 | break; |
sakthipriya | 3:07e15677a75c | 884 | } |
sakthipriya | 3:07e15677a75c | 885 | case 0x14: |
sakthipriya | 3:07e15677a75c | 886 | { |
sakthipriya | 3:07e15677a75c | 887 | printf("SW_ON_ACS_TR_Z_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 888 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 889 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 890 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 891 | telemetry[2]=1; |
sakthipriya | 5:bb592f3185cc | 892 | TRZ_SW = 1; |
sakthipriya | 3:07e15677a75c | 893 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 894 | { |
Bragadeesh153 | 13:fb7facaf308b | 895 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 896 | } |
Bragadeesh153 | 13:fb7facaf308b | 897 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 898 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 899 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 900 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 901 | { |
Bragadeesh153 | 13:fb7facaf308b | 902 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 903 | } |
Bragadeesh153 | 13:fb7facaf308b | 904 | break; |
sakthipriya | 3:07e15677a75c | 905 | } |
Bragadeesh153 | 13:fb7facaf308b | 906 | case 0x15: |
sakthipriya | 3:07e15677a75c | 907 | { |
sakthipriya | 3:07e15677a75c | 908 | printf("SW_ON_BCN_TX_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 909 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 910 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 911 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 912 | telemetry[2]=1; |
Bragadeesh153 | 13:fb7facaf308b | 913 | BCN_SW = 0; |
sakthipriya | 3:07e15677a75c | 914 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 915 | { |
Bragadeesh153 | 13:fb7facaf308b | 916 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 917 | } |
Bragadeesh153 | 13:fb7facaf308b | 918 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 919 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 920 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 921 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 922 | { |
Bragadeesh153 | 13:fb7facaf308b | 923 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 924 | } |
Bragadeesh153 | 13:fb7facaf308b | 925 | break; |
sakthipriya | 3:07e15677a75c | 926 | } |
sakthipriya | 3:07e15677a75c | 927 | case 0x21: |
sakthipriya | 3:07e15677a75c | 928 | { |
sakthipriya | 3:07e15677a75c | 929 | printf("SW_OFF_ACS_ATS1_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 930 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 931 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 932 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 933 | telemetry[2]=1; |
sakthipriya | 9:194afacf7449 | 934 | ATS1_SW_ENABLE = 1; |
sakthipriya | 3:07e15677a75c | 935 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 936 | { |
Bragadeesh153 | 13:fb7facaf308b | 937 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 938 | } |
Bragadeesh153 | 13:fb7facaf308b | 939 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 940 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 941 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 942 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 943 | { |
Bragadeesh153 | 13:fb7facaf308b | 944 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 945 | } |
Bragadeesh153 | 13:fb7facaf308b | 946 | break; |
sakthipriya | 3:07e15677a75c | 947 | } |
sakthipriya | 3:07e15677a75c | 948 | case 0x22: |
sakthipriya | 3:07e15677a75c | 949 | { |
sakthipriya | 3:07e15677a75c | 950 | printf("SW_OFF_ACS_ATS2_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 951 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 952 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 953 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 954 | telemetry[2]=1; |
sakthipriya | 9:194afacf7449 | 955 | ATS2_SW_ENABLE = 1; |
sakthipriya | 3:07e15677a75c | 956 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 957 | { |
Bragadeesh153 | 13:fb7facaf308b | 958 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 959 | } |
Bragadeesh153 | 13:fb7facaf308b | 960 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 961 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 962 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 963 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 964 | { |
Bragadeesh153 | 13:fb7facaf308b | 965 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 966 | } |
Bragadeesh153 | 13:fb7facaf308b | 967 | break; |
sakthipriya | 3:07e15677a75c | 968 | } |
sakthipriya | 3:07e15677a75c | 969 | case 0x23: |
sakthipriya | 3:07e15677a75c | 970 | { |
sakthipriya | 3:07e15677a75c | 971 | printf("SW_OFF_ACS_TR_XY_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 972 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 973 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 974 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 975 | telemetry[2]=1; |
Bragadeesh153 | 13:fb7facaf308b | 976 | TRXY_SW= 0; |
sakthipriya | 3:07e15677a75c | 977 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 978 | { |
Bragadeesh153 | 13:fb7facaf308b | 979 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 980 | } |
Bragadeesh153 | 13:fb7facaf308b | 981 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 982 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 983 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 984 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 985 | { |
Bragadeesh153 | 13:fb7facaf308b | 986 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 987 | } |
Bragadeesh153 | 13:fb7facaf308b | 988 | break; |
sakthipriya | 3:07e15677a75c | 989 | } |
sakthipriya | 3:07e15677a75c | 990 | case 0x24: |
sakthipriya | 3:07e15677a75c | 991 | { |
sakthipriya | 3:07e15677a75c | 992 | printf("SW_OFF_ACS_TR_Z_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 993 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 994 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 995 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 996 | telemetry[2]=1; |
sakthipriya | 5:bb592f3185cc | 997 | TRZ_SW = 0; |
sakthipriya | 3:07e15677a75c | 998 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 999 | { |
Bragadeesh153 | 13:fb7facaf308b | 1000 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1001 | } |
Bragadeesh153 | 13:fb7facaf308b | 1002 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1003 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1004 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1005 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1006 | { |
Bragadeesh153 | 13:fb7facaf308b | 1007 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1008 | } |
Bragadeesh153 | 13:fb7facaf308b | 1009 | break; |
sakthipriya | 3:07e15677a75c | 1010 | } |
Bragadeesh153 | 13:fb7facaf308b | 1011 | case 0x25: |
sakthipriya | 3:07e15677a75c | 1012 | { |
sakthipriya | 3:07e15677a75c | 1013 | printf("SW_OFF_BCN_TX_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 1014 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1015 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1016 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1017 | telemetry[2]=1; |
sakthipriya | 5:bb592f3185cc | 1018 | BCN_SW = 1; |
sakthipriya | 3:07e15677a75c | 1019 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1020 | { |
Bragadeesh153 | 13:fb7facaf308b | 1021 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1022 | } |
Bragadeesh153 | 13:fb7facaf308b | 1023 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1024 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1025 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1026 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1027 | { |
Bragadeesh153 | 13:fb7facaf308b | 1028 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1029 | } |
Bragadeesh153 | 13:fb7facaf308b | 1030 | break; |
sakthipriya | 3:07e15677a75c | 1031 | } |
sakthipriya | 3:07e15677a75c | 1032 | case 0x31: |
sakthipriya | 3:07e15677a75c | 1033 | { |
sakthipriya | 5:bb592f3185cc | 1034 | printf("ACS_ATS1_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 1035 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1036 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1037 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1038 | telemetry[2]=1; |
sakthipriya | 9:194afacf7449 | 1039 | ATS1_SW_ENABLE = 1; |
sakthipriya | 5:bb592f3185cc | 1040 | wait_us(1); |
sakthipriya | 9:194afacf7449 | 1041 | ATS1_SW_ENABLE = 0; |
sakthipriya | 3:07e15677a75c | 1042 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1043 | { |
Bragadeesh153 | 13:fb7facaf308b | 1044 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1045 | } |
Bragadeesh153 | 13:fb7facaf308b | 1046 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1047 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1048 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1049 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1050 | { |
Bragadeesh153 | 13:fb7facaf308b | 1051 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1052 | } |
Bragadeesh153 | 13:fb7facaf308b | 1053 | break; |
sakthipriya | 3:07e15677a75c | 1054 | } |
sakthipriya | 3:07e15677a75c | 1055 | case 0x32: |
sakthipriya | 3:07e15677a75c | 1056 | { |
sakthipriya | 3:07e15677a75c | 1057 | printf("BCN_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 1058 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1059 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1060 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1061 | telemetry[2]=1; |
sakthipriya | 5:bb592f3185cc | 1062 | BCN_SW = 1; |
sakthipriya | 5:bb592f3185cc | 1063 | wait_us(1); |
sakthipriya | 5:bb592f3185cc | 1064 | BCN_SW = 0; |
sakthipriya | 3:07e15677a75c | 1065 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1066 | { |
Bragadeesh153 | 13:fb7facaf308b | 1067 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1068 | } |
Bragadeesh153 | 13:fb7facaf308b | 1069 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1070 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1071 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1072 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1073 | { |
Bragadeesh153 | 13:fb7facaf308b | 1074 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1075 | } |
Bragadeesh153 | 13:fb7facaf308b | 1076 | break; |
sakthipriya | 3:07e15677a75c | 1077 | } |
sakthipriya | 3:07e15677a75c | 1078 | case 0x33: |
sakthipriya | 3:07e15677a75c | 1079 | { |
sakthipriya | 5:bb592f3185cc | 1080 | printf("ACS_ATS2_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 1081 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1082 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1083 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1084 | telemetry[2]=1; |
sakthipriya | 9:194afacf7449 | 1085 | ATS1_SW_ENABLE = 1; |
sakthipriya | 5:bb592f3185cc | 1086 | wait_us(1); |
sakthipriya | 9:194afacf7449 | 1087 | ATS1_SW_ENABLE = 0; |
sakthipriya | 3:07e15677a75c | 1088 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1089 | { |
Bragadeesh153 | 13:fb7facaf308b | 1090 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1091 | } |
Bragadeesh153 | 13:fb7facaf308b | 1092 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1093 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1094 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1095 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1096 | { |
Bragadeesh153 | 13:fb7facaf308b | 1097 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1098 | } |
Bragadeesh153 | 13:fb7facaf308b | 1099 | break; |
sakthipriya | 3:07e15677a75c | 1100 | } |
Bragadeesh153 | 13:fb7facaf308b | 1101 | case 0x34: |
sakthipriya | 3:07e15677a75c | 1102 | { |
sakthipriya | 3:07e15677a75c | 1103 | printf("CDMS_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 1104 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1105 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1106 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1107 | telemetry[2]=1; |
sakthipriya | 5:bb592f3185cc | 1108 | CDMS_RESET = 0; |
sakthipriya | 5:bb592f3185cc | 1109 | wait_us(1); |
sakthipriya | 5:bb592f3185cc | 1110 | CDMS_RESET = 1; |
sakthipriya | 3:07e15677a75c | 1111 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1112 | { |
Bragadeesh153 | 13:fb7facaf308b | 1113 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1114 | } |
Bragadeesh153 | 13:fb7facaf308b | 1115 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1116 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1117 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1118 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1119 | { |
Bragadeesh153 | 13:fb7facaf308b | 1120 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1121 | } |
Bragadeesh153 | 13:fb7facaf308b | 1122 | break; |
sakthipriya | 3:07e15677a75c | 1123 | } |
sakthipriya | 3:07e15677a75c | 1124 | default: |
Bragadeesh153 | 13:fb7facaf308b | 1125 | { |
sakthipriya | 3:07e15677a75c | 1126 | printf("Invalid TC\r\n"); |
sakthipriya | 3:07e15677a75c | 1127 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1128 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1129 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1130 | telemetry[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 1131 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1132 | { |
Bragadeesh153 | 13:fb7facaf308b | 1133 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1134 | } |
Bragadeesh153 | 13:fb7facaf308b | 1135 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1136 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1137 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1138 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1139 | { |
Bragadeesh153 | 13:fb7facaf308b | 1140 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1141 | } |
Bragadeesh153 | 13:fb7facaf308b | 1142 | break; |
sakthipriya | 3:07e15677a75c | 1143 | } |
sakthipriya | 3:07e15677a75c | 1144 | } |
Bragadeesh153 | 13:fb7facaf308b | 1145 | break; |
Bragadeesh153 | 13:fb7facaf308b | 1146 | } |
sakthipriya | 3:07e15677a75c | 1147 | default: |
Bragadeesh153 | 13:fb7facaf308b | 1148 | { |
Bragadeesh153 | 13:fb7facaf308b | 1149 | printf("Invalid TC\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 1150 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1151 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1152 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1153 | telemetry[2]=ACK_CODE; |
Bragadeesh153 | 13:fb7facaf308b | 1154 | for(uint8_t i=3;i<11;i++) |
Bragadeesh153 | 13:fb7facaf308b | 1155 | { |
Bragadeesh153 | 13:fb7facaf308b | 1156 | telemetry[i]=0x00; |
Bragadeesh153 | 13:fb7facaf308b | 1157 | } |
Bragadeesh153 | 13:fb7facaf308b | 1158 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1159 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1160 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 1161 | for(uint8_t i=13;i<134;i++) |
Bragadeesh153 | 13:fb7facaf308b | 1162 | { |
Bragadeesh153 | 13:fb7facaf308b | 1163 | telemetry[i]=0x00; |
Bragadeesh153 | 13:fb7facaf308b | 1164 | } |
Bragadeesh153 | 13:fb7facaf308b | 1165 | break; |
sakthipriya | 3:07e15677a75c | 1166 | } |
sakthipriya | 3:07e15677a75c | 1167 | } |
Bragadeesh153 | 13:fb7facaf308b | 1168 | break; |
Bragadeesh153 | 13:fb7facaf308b | 1169 | } |
Bragadeesh153 | 13:fb7facaf308b | 1170 | default: |
Bragadeesh153 | 13:fb7facaf308b | 1171 | { |
Bragadeesh153 | 13:fb7facaf308b | 1172 | printf("Invalid TC\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 1173 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1174 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1175 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1176 | telemetry[2]=ACK_CODE; |
Bragadeesh153 | 13:fb7facaf308b | 1177 | for(uint8_t i=3;i<11;i++) |
Bragadeesh153 | 13:fb7facaf308b | 1178 | { |
Bragadeesh153 | 13:fb7facaf308b | 1179 | telemetry[i]=0x00; |
Bragadeesh153 | 13:fb7facaf308b | 1180 | } |
Bragadeesh153 | 13:fb7facaf308b | 1181 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1182 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1183 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 1184 | for(uint8_t i=13;i<134;i++) |
Bragadeesh153 | 13:fb7facaf308b | 1185 | { |
Bragadeesh153 | 13:fb7facaf308b | 1186 | telemetry[i]=0x00; |
Bragadeesh153 | 13:fb7facaf308b | 1187 | } |
Bragadeesh153 | 13:fb7facaf308b | 1188 | break; |
sakthipriya | 3:07e15677a75c | 1189 | } |
sakthipriya | 3:07e15677a75c | 1190 | } |
Bragadeesh153 | 13:fb7facaf308b | 1191 | } |
sakthipriya | 4:39a4ae8c7ecd | 1192 | |
sakthipriya | 4:39a4ae8c7ecd | 1193 | |
sakthipriya | 4:39a4ae8c7ecd | 1194 | |
sakthipriya | 4:39a4ae8c7ecd | 1195 | |
Bragadeesh153 | 13:fb7facaf308b | 1196 | int strt_add = flash_size() - (2*SECTOR_SIZE); |
sakthipriya | 4:39a4ae8c7ecd | 1197 | uint32_t flasharray[8]; //256+(3*1024) |
sakthipriya | 4:39a4ae8c7ecd | 1198 | char *nativeflash = (char*)strt_add; |
sakthipriya | 4:39a4ae8c7ecd | 1199 | |
sakthipriya | 4:39a4ae8c7ecd | 1200 | /*Writing to the Flash*/ |
sakthipriya | 4:39a4ae8c7ecd | 1201 | void FCTN_CDMS_WR_FLASH(uint16_t j,uint32_t fdata) //j-position to write address ; fdata - flash data to be written |
sakthipriya | 4:39a4ae8c7ecd | 1202 | { |
Bragadeesh153 | 13:fb7facaf308b | 1203 | for(int i=0;i<8;i++) |
sakthipriya | 4:39a4ae8c7ecd | 1204 | { |
sakthipriya | 4:39a4ae8c7ecd | 1205 | flasharray[i]=nativeflash[i]; |
sakthipriya | 4:39a4ae8c7ecd | 1206 | } |
sakthipriya | 4:39a4ae8c7ecd | 1207 | flasharray[j]=fdata; |
sakthipriya | 4:39a4ae8c7ecd | 1208 | erase_sector(strt_add); |
sakthipriya | 4:39a4ae8c7ecd | 1209 | program_flash(strt_add, (char*)&flasharray,4*8); |
sakthipriya | 4:39a4ae8c7ecd | 1210 | } |
sakthipriya | 4:39a4ae8c7ecd | 1211 | /*End*/ |
sakthipriya | 4:39a4ae8c7ecd | 1212 | |
sakthipriya | 4:39a4ae8c7ecd | 1213 | /*Reading from Flash*/ |
sakthipriya | 4:39a4ae8c7ecd | 1214 | uint32_t FCTN_CDMS_RD_FLASH(uint16_t j) |
sakthipriya | 4:39a4ae8c7ecd | 1215 | { |
sakthipriya | 4:39a4ae8c7ecd | 1216 | for(int i=0;i<8;i++) |
sakthipriya | 4:39a4ae8c7ecd | 1217 | { |
sakthipriya | 4:39a4ae8c7ecd | 1218 | flasharray[i]=nativeflash[i]; |
sakthipriya | 4:39a4ae8c7ecd | 1219 | } |
sakthipriya | 4:39a4ae8c7ecd | 1220 | return flasharray[j]; |
sakthipriya | 4:39a4ae8c7ecd | 1221 | } |
sakthipriya | 5:bb592f3185cc | 1222 | /*End*/ |
sakthipriya | 5:bb592f3185cc | 1223 | |
sakthipriya | 5:bb592f3185cc | 1224 | // Convert float to 4 uint8_t |
sakthipriya | 5:bb592f3185cc | 1225 | |
lakshya | 15:e09aaaccf134 | 1226 | |
sakthipriya | 6:036d08b62785 | 1227 | void FCTN_CONVERT_FLOAT(float input, uint8_t output[4]) |
sakthipriya | 5:bb592f3185cc | 1228 | { |
sakthipriya | 6:036d08b62785 | 1229 | assert(sizeof(float) == sizeof(uint32_t)); |
sakthipriya | 6:036d08b62785 | 1230 | uint32_t* temp = reinterpret_cast<uint32_t*>(&input); |
sakthipriya | 6:036d08b62785 | 1231 | |
sakthipriya | 6:036d08b62785 | 1232 | //float* output1 = reinterpret_cast<float*>(temp); |
Bragadeesh153 | 13:fb7facaf308b | 1233 | |
lakshya | 15:e09aaaccf134 | 1234 | //printf("\n\r %f ", input); |
lakshya | 15:e09aaaccf134 | 1235 | //std::cout << "\n\r uint32"<<*temp << std::endl; |
sakthipriya | 6:036d08b62785 | 1236 | |
sakthipriya | 6:036d08b62785 | 1237 | output[0] =(uint8_t )(((*temp)>>24)&0xFF); |
lakshya | 15:e09aaaccf134 | 1238 | output[1] =(uint8_t ) (((*temp)>>16)&0xFF); |
lakshya | 15:e09aaaccf134 | 1239 | output[2] =(uint8_t ) (((*temp)>>8)&0xFF); |
lakshya | 15:e09aaaccf134 | 1240 | output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic |
lakshya | 15:e09aaaccf134 | 1241 | |
lakshya | 15:e09aaaccf134 | 1242 | printf("\n\rthe values generated are\n"); |
lakshya | 15:e09aaaccf134 | 1243 | /*printf("\n\r%x\n",output[0]); |
lakshya | 15:e09aaaccf134 | 1244 | printf("\n\r%x\n",output[1]); |
lakshya | 15:e09aaaccf134 | 1245 | printf("\n\r%x\n",output[2]); |
lakshya | 15:e09aaaccf134 | 1246 | printf("\n\r%x\n",output[3]); |
lakshya | 15:e09aaaccf134 | 1247 | to check the values generated |
lakshya | 15:e09aaaccf134 | 1248 | */ |
sakthipriya | 6:036d08b62785 | 1249 | //printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]); |
Bragadeesh153 | 13:fb7facaf308b | 1250 | //std:: cout << "\n\r uint8 inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl; |
Bragadeesh153 | 13:fb7facaf308b | 1251 | } |