ACS data acq changed completely. Tested and working. Deals all faults.
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of QM_BAE_review_1 by
TCTM.cpp@6:036d08b62785, 2016-01-22 (annotated)
- Committer:
- sakthipriya
- Date:
- Fri Jan 22 19:51:50 2016 +0000
- Revision:
- 6:036d08b62785
- Parent:
- 5:bb592f3185cc
- Child:
- 8:82250e41da81
i2c prob again
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" |
sakthipriya | 0:7b4c00e3912f | 11 | |
sakthipriya | 5:bb592f3185cc | 12 | extern DigitalOut gpo1; // enable of att sens2 switch |
sakthipriya | 5:bb592f3185cc | 13 | extern DigitalOut gpo2; // enable of att sens switch |
sakthipriya | 5:bb592f3185cc | 14 | |
sakthipriya | 5:bb592f3185cc | 15 | extern DigitalOut TRXY_SW; //TR XY Switch |
sakthipriya | 5:bb592f3185cc | 16 | extern DigitalOut TRZ_SW; //TR Z Switch |
sakthipriya | 5:bb592f3185cc | 17 | extern DigitalOut CDMS_RESET; // CDMS RESET |
sakthipriya | 5:bb592f3185cc | 18 | extern DigitalOut BCN_SW; //Beacon switch |
sakthipriya | 4:39a4ae8c7ecd | 19 | |
sakthipriya | 4:39a4ae8c7ecd | 20 | extern BAE_HK_actual actual_data; |
sakthipriya | 4:39a4ae8c7ecd | 21 | extern BAE_HK_min_max bae_HK_minmax; |
sakthipriya | 4:39a4ae8c7ecd | 22 | extern uint32_t BAE_STATUS; |
sakthipriya | 5:bb592f3185cc | 23 | extern float data[6]; |
sakthipriya | 5:bb592f3185cc | 24 | extern float moment[3]; |
sakthipriya | 5:bb592f3185cc | 25 | |
sakthipriya | 5:bb592f3185cc | 26 | extern void FCTN_ATS_DATA_ACQ(); |
sakthipriya | 5:bb592f3185cc | 27 | extern void FCTN_ACS_CNTRLALGO(float*,float*); |
sakthipriya | 0:7b4c00e3912f | 28 | |
sakthipriya | 3:07e15677a75c | 29 | uint8_t* FCTN_BAE_TM_TC (uint8_t* tc) |
sakthipriya | 0:7b4c00e3912f | 30 | |
sakthipriya | 3:07e15677a75c | 31 | { |
sakthipriya | 3:07e15677a75c | 32 | uint8_t service_type=(tc[2]&0xF0); |
sakthipriya | 3:07e15677a75c | 33 | uint8_t* tm; |
sakthipriya | 3:07e15677a75c | 34 | uint16_t crc16; |
sakthipriya | 3:07e15677a75c | 35 | |
sakthipriya | 3:07e15677a75c | 36 | |
sakthipriya | 3:07e15677a75c | 37 | switch(service_type) |
sakthipriya | 3:07e15677a75c | 38 | { |
sakthipriya | 3:07e15677a75c | 39 | case 0x60: |
sakthipriya | 3:07e15677a75c | 40 | { |
sakthipriya | 3:07e15677a75c | 41 | printf("Memory Management Service\r\n"); |
sakthipriya | 3:07e15677a75c | 42 | uint8_t service_subtype=(tc[2]&0x0F); |
sakthipriya | 3:07e15677a75c | 43 | |
sakthipriya | 3:07e15677a75c | 44 | switch(service_subtype) |
sakthipriya | 3:07e15677a75c | 45 | { |
sakthipriya | 3:07e15677a75c | 46 | case 0x01: |
sakthipriya | 3:07e15677a75c | 47 | { |
sakthipriya | 3:07e15677a75c | 48 | printf("Read from Flash\r\n"); |
sakthipriya | 3:07e15677a75c | 49 | } |
sakthipriya | 3:07e15677a75c | 50 | case 0x02: |
sakthipriya | 3:07e15677a75c | 51 | { |
sakthipriya | 4:39a4ae8c7ecd | 52 | printf("Read from RAM\r\n"); |
sakthipriya | 4:39a4ae8c7ecd | 53 | switch(tc[3]) |
sakthipriya | 4:39a4ae8c7ecd | 54 | { |
sakthipriya | 5:bb592f3185cc | 55 | case 0x01: |
sakthipriya | 5:bb592f3185cc | 56 | { |
sakthipriya | 5:bb592f3185cc | 57 | printf("Read MUX DATA\r\n"); |
sakthipriya | 5:bb592f3185cc | 58 | tm[0] = 0x60; |
sakthipriya | 5:bb592f3185cc | 59 | tm[1] = tc[0]; |
sakthipriya | 5:bb592f3185cc | 60 | tm[2] = ACK_CODE; |
sakthipriya | 5:bb592f3185cc | 61 | for(int i=0; i<16; i++) //16*4 = 64 bytes //tm[4] to tm[67] filled |
sakthipriya | 5:bb592f3185cc | 62 | FCTN_CONVERT_FLOAT(actual_data.voltage_actual[i], &tm[4+(i*4)]); |
sakthipriya | 5:bb592f3185cc | 63 | for(int i=0; i<12; i++) //12*4 = 48 //tm[68] to tm[115] filled |
sakthipriya | 5:bb592f3185cc | 64 | FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&tm[68 + (i*4)]); |
sakthipriya | 5:bb592f3185cc | 65 | for (int i=116; i<132;i++) |
sakthipriya | 5:bb592f3185cc | 66 | { |
sakthipriya | 5:bb592f3185cc | 67 | tm[i] = 0x00; |
sakthipriya | 5:bb592f3185cc | 68 | } |
sakthipriya | 5:bb592f3185cc | 69 | crc16 = CRC::crc16_gen(tm,132); |
sakthipriya | 5:bb592f3185cc | 70 | tm[132] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 5:bb592f3185cc | 71 | tm[133] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 5:bb592f3185cc | 72 | return tm; |
sakthipriya | 5:bb592f3185cc | 73 | } |
sakthipriya | 5:bb592f3185cc | 74 | case 0x02: |
sakthipriya | 4:39a4ae8c7ecd | 75 | { |
sakthipriya | 4:39a4ae8c7ecd | 76 | printf("Read HK\r\n"); |
sakthipriya | 4:39a4ae8c7ecd | 77 | tm[0] = 0x60; |
sakthipriya | 4:39a4ae8c7ecd | 78 | tm[1] = tc[0]; |
sakthipriya | 4:39a4ae8c7ecd | 79 | tm[2] = ACK_CODE; |
sakthipriya | 5:bb592f3185cc | 80 | FCTN_CONVERT_FLOAT(actual_data.Batt_temp_actual[0],&tm[4]); //tm[4]-tm[7] |
sakthipriya | 5:bb592f3185cc | 81 | FCTN_CONVERT_FLOAT(actual_data.Batt_temp_actual[1],&tm[8]); //tm[8]- tm[11] |
sakthipriya | 5:bb592f3185cc | 82 | for(int i=0; i<4; i++) |
sakthipriya | 5:bb592f3185cc | 83 | FCTN_CONVERT_FLOAT(actual_data.Batt_gauge_actual[i],&tm[12+(i*4)]); //tm[12] - tm[27] |
sakthipriya | 5:bb592f3185cc | 84 | FCTN_CONVERT_FLOAT(actual_data.BAE_temp_actual,&tm[28]); //tm[28] - tm[31] |
sakthipriya | 5:bb592f3185cc | 85 | tm[32] = (uint8_t)actual_data.power_mode; |
sakthipriya | 5:bb592f3185cc | 86 | tm[33] = actual_data.faultPoll_status; |
sakthipriya | 5:bb592f3185cc | 87 | tm[34] = actual_data.faultIr_status; |
sakthipriya | 5:bb592f3185cc | 88 | for(int i=0; i<3; i++) |
sakthipriya | 5:bb592f3185cc | 89 | FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[i],&tm[35+(i*4)]); //35 -46 |
sakthipriya | 5:bb592f3185cc | 90 | for(int i=0; i<3; i++) |
sakthipriya | 5:bb592f3185cc | 91 | FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[i],&tm[47+(i*4)]); //47 -58 |
sakthipriya | 5:bb592f3185cc | 92 | FCTN_CONVERT_FLOAT(actual_data.Batt_voltage_actual,&tm[59]); //59 - 62 |
sakthipriya | 5:bb592f3185cc | 93 | for (int i=63; i<132;i++) |
sakthipriya | 4:39a4ae8c7ecd | 94 | { |
sakthipriya | 5:bb592f3185cc | 95 | tm[i] = 0x00; |
sakthipriya | 4:39a4ae8c7ecd | 96 | } |
sakthipriya | 4:39a4ae8c7ecd | 97 | crc16 = CRC::crc16_gen(tm,132); |
sakthipriya | 4:39a4ae8c7ecd | 98 | tm[132] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 4:39a4ae8c7ecd | 99 | tm[133] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 5:bb592f3185cc | 100 | return tm; |
sakthipriya | 4:39a4ae8c7ecd | 101 | |
sakthipriya | 5:bb592f3185cc | 102 | } |
sakthipriya | 5:bb592f3185cc | 103 | case 0x03: |
sakthipriya | 4:39a4ae8c7ecd | 104 | { |
sakthipriya | 4:39a4ae8c7ecd | 105 | printf("Read min max data"); |
sakthipriya | 5:bb592f3185cc | 106 | tm[0] = 0x60; |
sakthipriya | 5:bb592f3185cc | 107 | tm[1] = tc[0]; |
sakthipriya | 5:bb592f3185cc | 108 | tm[2] = ACK_CODE; |
sakthipriya | 5:bb592f3185cc | 109 | for(int i=4; i<20; i++) |
sakthipriya | 5:bb592f3185cc | 110 | tm[i] = (uint8_t)bae_HK_minmax.voltage_max[i-4]; |
sakthipriya | 5:bb592f3185cc | 111 | for(int i=20; i<32; i++) |
sakthipriya | 5:bb592f3185cc | 112 | tm[i] = (uint8_t)bae_HK_minmax.current_max[i-20]; |
sakthipriya | 5:bb592f3185cc | 113 | tm[32] = (uint8_t)bae_HK_minmax.Batt_temp_max[0]; |
sakthipriya | 5:bb592f3185cc | 114 | tm[33] = (uint8_t)bae_HK_minmax.Batt_temp_max[1]; |
sakthipriya | 5:bb592f3185cc | 115 | tm[34] = (uint8_t)bae_HK_minmax.Batt_gauge_max[0]; |
sakthipriya | 5:bb592f3185cc | 116 | tm[35] = (uint8_t)bae_HK_minmax.Batt_gauge_max[1]; |
sakthipriya | 5:bb592f3185cc | 117 | tm[36] = (uint8_t)bae_HK_minmax.Batt_gauge_max[2]; |
sakthipriya | 5:bb592f3185cc | 118 | tm[37] = (uint8_t)bae_HK_minmax.BAE_temp_max; |
sakthipriya | 5:bb592f3185cc | 119 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[0],&tm[38]); //tm[38] - tm[41] |
sakthipriya | 5:bb592f3185cc | 120 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[1],&tm[42]); //tm[42] - tm[45] |
sakthipriya | 5:bb592f3185cc | 121 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[2],&tm[46]); //tm[46] - tm[49] |
sakthipriya | 5:bb592f3185cc | 122 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[0],&tm[50]); //tm[50] - tm[53] |
sakthipriya | 5:bb592f3185cc | 123 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[1],&tm[54]); //tm[54] - tm[57] |
sakthipriya | 5:bb592f3185cc | 124 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[2],&tm[58]); //tm[58] - tm[61] |
sakthipriya | 5:bb592f3185cc | 125 | tm[62] = (uint8_t)bae_HK_minmax.Bvalue_max[0]; |
sakthipriya | 5:bb592f3185cc | 126 | tm[63] = (uint8_t)bae_HK_minmax.Bvalue_max[1]; |
sakthipriya | 5:bb592f3185cc | 127 | tm[64] = (uint8_t)bae_HK_minmax.Bvalue_max[2]; |
sakthipriya | 5:bb592f3185cc | 128 | tm[65] = (uint8_t)bae_HK_minmax.Batt_voltage_max; |
sakthipriya | 5:bb592f3185cc | 129 | for(int i=66; i<82; i++) |
sakthipriya | 5:bb592f3185cc | 130 | tm[i] = (uint8_t)bae_HK_minmax.voltage_min[i-66]; |
sakthipriya | 5:bb592f3185cc | 131 | for(int i=82; i<94; i++) |
sakthipriya | 5:bb592f3185cc | 132 | tm[i] = (uint8_t)bae_HK_minmax.current_min[i-82]; |
sakthipriya | 5:bb592f3185cc | 133 | tm[94] = (uint8_t)bae_HK_minmax.Batt_temp_min[0]; |
sakthipriya | 5:bb592f3185cc | 134 | tm[95] = (uint8_t)bae_HK_minmax.Batt_temp_min[1]; |
sakthipriya | 5:bb592f3185cc | 135 | tm[96] = (uint8_t)bae_HK_minmax.Batt_gauge_min[0]; |
sakthipriya | 5:bb592f3185cc | 136 | tm[97] = (uint8_t)bae_HK_minmax.Batt_gauge_min[1]; |
sakthipriya | 5:bb592f3185cc | 137 | tm[98] = (uint8_t)bae_HK_minmax.Batt_gauge_min[2]; |
sakthipriya | 5:bb592f3185cc | 138 | tm[99] = (uint8_t)bae_HK_minmax.BAE_temp_min; |
sakthipriya | 5:bb592f3185cc | 139 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[0],&tm[100]); //tm[100] - tm[103] |
sakthipriya | 5:bb592f3185cc | 140 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[1],&tm[104]); //tm[104] - tm[107] |
sakthipriya | 5:bb592f3185cc | 141 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[2],&tm[108]); //tm[108] - tm[111] |
sakthipriya | 5:bb592f3185cc | 142 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[0],&tm[112]); //tm[112] - tm[115] |
sakthipriya | 5:bb592f3185cc | 143 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[1],&tm[116]); //tm[116] - tm[119] |
sakthipriya | 5:bb592f3185cc | 144 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[2],&tm[120]); //tm[120] - tm[123] |
sakthipriya | 5:bb592f3185cc | 145 | tm[124] = (uint8_t)bae_HK_minmax.Batt_voltage_min; |
sakthipriya | 5:bb592f3185cc | 146 | for (int i=125; i<132;i++) |
sakthipriya | 5:bb592f3185cc | 147 | { |
sakthipriya | 5:bb592f3185cc | 148 | tm[i] = 0x00; |
sakthipriya | 5:bb592f3185cc | 149 | } |
sakthipriya | 5:bb592f3185cc | 150 | crc16 = CRC::crc16_gen(tm,132); |
sakthipriya | 5:bb592f3185cc | 151 | tm[132] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 5:bb592f3185cc | 152 | tm[133] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 5:bb592f3185cc | 153 | return tm; |
sakthipriya | 4:39a4ae8c7ecd | 154 | } |
sakthipriya | 5:bb592f3185cc | 155 | case 0x04: |
sakthipriya | 4:39a4ae8c7ecd | 156 | { |
sakthipriya | 4:39a4ae8c7ecd | 157 | printf("Read status"); |
sakthipriya | 5:bb592f3185cc | 158 | tm[0] = 0x60; |
sakthipriya | 5:bb592f3185cc | 159 | tm[1] = tc[0]; |
sakthipriya | 5:bb592f3185cc | 160 | tm[2] = ACK_CODE; |
sakthipriya | 5:bb592f3185cc | 161 | tm[4] = (BAE_STATUS>>24) & 0xFF; |
sakthipriya | 5:bb592f3185cc | 162 | tm[5] = (BAE_STATUS>>16) & 0xFF; |
sakthipriya | 5:bb592f3185cc | 163 | tm[6] = (BAE_STATUS>>8) & 0xFF; |
sakthipriya | 5:bb592f3185cc | 164 | tm[7] = BAE_STATUS & 0xFF; |
sakthipriya | 5:bb592f3185cc | 165 | for (int i=8; i<132;i++) |
sakthipriya | 5:bb592f3185cc | 166 | { |
sakthipriya | 5:bb592f3185cc | 167 | tm[i] = 0x00; |
sakthipriya | 5:bb592f3185cc | 168 | } |
sakthipriya | 5:bb592f3185cc | 169 | crc16 = CRC::crc16_gen(tm,132); |
sakthipriya | 5:bb592f3185cc | 170 | tm[132] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 5:bb592f3185cc | 171 | tm[133] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 5:bb592f3185cc | 172 | return tm; |
sakthipriya | 4:39a4ae8c7ecd | 173 | |
sakthipriya | 4:39a4ae8c7ecd | 174 | } |
sakthipriya | 4:39a4ae8c7ecd | 175 | } |
sakthipriya | 3:07e15677a75c | 176 | } |
sakthipriya | 3:07e15677a75c | 177 | case 0x05: |
sakthipriya | 3:07e15677a75c | 178 | { |
sakthipriya | 3:07e15677a75c | 179 | printf("Write on Flash\r\n"); |
sakthipriya | 3:07e15677a75c | 180 | } |
sakthipriya | 3:07e15677a75c | 181 | default: |
sakthipriya | 3:07e15677a75c | 182 | { |
sakthipriya | 3:07e15677a75c | 183 | printf("Invalid TC"); |
sakthipriya | 3:07e15677a75c | 184 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 185 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 186 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 187 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 188 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 189 | { |
sakthipriya | 3:07e15677a75c | 190 | tm[i]=0x00; |
sakthipriya | 0:7b4c00e3912f | 191 | } |
sakthipriya | 3:07e15677a75c | 192 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 193 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 194 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 195 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 196 | { |
sakthipriya | 3:07e15677a75c | 197 | tm[i]=0x00; |
sakthipriya | 0:7b4c00e3912f | 198 | } |
sakthipriya | 3:07e15677a75c | 199 | return tm; |
sakthipriya | 3:07e15677a75c | 200 | } |
sakthipriya | 3:07e15677a75c | 201 | } |
sakthipriya | 0:7b4c00e3912f | 202 | } |
sakthipriya | 0:7b4c00e3912f | 203 | |
sakthipriya | 3:07e15677a75c | 204 | case 0x80: |
sakthipriya | 3:07e15677a75c | 205 | { |
sakthipriya | 3:07e15677a75c | 206 | printf("Function Management Service\r\n"); |
sakthipriya | 3:07e15677a75c | 207 | uint8_t service_subtype=(tc[2]&0x0F); |
sakthipriya | 3:07e15677a75c | 208 | |
sakthipriya | 3:07e15677a75c | 209 | switch(service_subtype) |
sakthipriya | 3:07e15677a75c | 210 | { |
sakthipriya | 3:07e15677a75c | 211 | case 0x01: |
sakthipriya | 3:07e15677a75c | 212 | { |
sakthipriya | 3:07e15677a75c | 213 | printf("FMS Activated\r\n"); |
sakthipriya | 3:07e15677a75c | 214 | |
sakthipriya | 3:07e15677a75c | 215 | uint8_t pid=tc[3]; |
sakthipriya | 3:07e15677a75c | 216 | switch(pid) |
sakthipriya | 3:07e15677a75c | 217 | { |
sakthipriya | 5:bb592f3185cc | 218 | case 0xE0: |
sakthipriya | 3:07e15677a75c | 219 | { |
sakthipriya | 5:bb592f3185cc | 220 | printf("ACS_COMSN\r\n"); |
sakthipriya | 3:07e15677a75c | 221 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 222 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 223 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 224 | tm[2]=ACK_CODE; |
sakthipriya | 5:bb592f3185cc | 225 | FCTN_ATS_DATA_ACQ(); //get data |
sakthipriya | 5:bb592f3185cc | 226 | printf("gyro values\n\r"); |
sakthipriya | 5:bb592f3185cc | 227 | for(int i=0; i<3; i++) |
sakthipriya | 5:bb592f3185cc | 228 | printf("%f\n\r",data[i]); |
sakthipriya | 5:bb592f3185cc | 229 | printf("mag values\n\r"); |
sakthipriya | 5:bb592f3185cc | 230 | for(int i=3; i<6; i++) |
sakthipriya | 5:bb592f3185cc | 231 | printf("%f\n\r",data[i]); |
sakthipriya | 5:bb592f3185cc | 232 | FCTN_CONVERT_FLOAT(data[0],&tm[4]); //tm[4] - tm[7] |
sakthipriya | 5:bb592f3185cc | 233 | FCTN_CONVERT_FLOAT(data[1],&tm[8]); //tm[8] - tm[11] |
sakthipriya | 5:bb592f3185cc | 234 | FCTN_CONVERT_FLOAT(data[2],&tm[12]); //tm[12] - tm[15] |
sakthipriya | 5:bb592f3185cc | 235 | FCTN_CONVERT_FLOAT(data[0],&tm[16]); //tm[16] - tm[19] |
sakthipriya | 5:bb592f3185cc | 236 | FCTN_CONVERT_FLOAT(data[1],&tm[20]); //tm[20] - tm[23] |
sakthipriya | 5:bb592f3185cc | 237 | FCTN_CONVERT_FLOAT(data[2],&tm[24]); //tm[24] - tm[27] |
sakthipriya | 5:bb592f3185cc | 238 | if((data[0]<8) && (data[1]<8) && (data[2] <8)) |
sakthipriya | 5:bb592f3185cc | 239 | tm[28] = 1; // gyro values in correct range |
sakthipriya | 5:bb592f3185cc | 240 | else |
sakthipriya | 5:bb592f3185cc | 241 | tm[28] = 0; |
sakthipriya | 5:bb592f3185cc | 242 | if ((data[3] > 20 ) && (data[4] >20) && (data[5]>20)&& (data[3] < 50 ) && (data[4] <50) && (data[5]<50)) |
sakthipriya | 5:bb592f3185cc | 243 | tm[29] = 1; // mag values in correct range |
sakthipriya | 5:bb592f3185cc | 244 | else |
sakthipriya | 5:bb592f3185cc | 245 | tm[29] = 0; |
sakthipriya | 5:bb592f3185cc | 246 | |
sakthipriya | 5:bb592f3185cc | 247 | float B[3],W[3]; |
sakthipriya | 5:bb592f3185cc | 248 | B[0] = B0; |
sakthipriya | 5:bb592f3185cc | 249 | B[1] = B1; |
sakthipriya | 5:bb592f3185cc | 250 | B[2] = B2; |
sakthipriya | 5:bb592f3185cc | 251 | W[0] = W0; |
sakthipriya | 5:bb592f3185cc | 252 | W[1] = W1; |
sakthipriya | 5:bb592f3185cc | 253 | W[2] = W2; |
sakthipriya | 5:bb592f3185cc | 254 | // Control algo commissioning |
sakthipriya | 5:bb592f3185cc | 255 | FCTN_ACS_CNTRLALGO(B,W); |
sakthipriya | 5:bb592f3185cc | 256 | FCTN_CONVERT_FLOAT(moment[0],&tm[30]); //tm[30] - tm[33] |
sakthipriya | 5:bb592f3185cc | 257 | FCTN_CONVERT_FLOAT(moment[1],&tm[34]); //tm[34] - tm[37] |
sakthipriya | 5:bb592f3185cc | 258 | FCTN_CONVERT_FLOAT(moment[2],&tm[38]); //tm[38] - tm[41] |
sakthipriya | 5:bb592f3185cc | 259 | // to include commission TR as well |
sakthipriya | 5:bb592f3185cc | 260 | for(uint8_t i=42;i<132;i++) |
sakthipriya | 3:07e15677a75c | 261 | { |
sakthipriya | 3:07e15677a75c | 262 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 263 | } |
sakthipriya | 5:bb592f3185cc | 264 | |
sakthipriya | 5:bb592f3185cc | 265 | crc16 = CRC::crc16_gen(tm,132); |
sakthipriya | 5:bb592f3185cc | 266 | tm[133] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 5:bb592f3185cc | 267 | tm[134] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 268 | return tm; |
sakthipriya | 3:07e15677a75c | 269 | |
sakthipriya | 3:07e15677a75c | 270 | } |
sakthipriya | 5:bb592f3185cc | 271 | /* case 0x02: |
sakthipriya | 3:07e15677a75c | 272 | { |
sakthipriya | 3:07e15677a75c | 273 | printf("Run P_EPS_MAIN\r\n"); |
sakthipriya | 3:07e15677a75c | 274 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 275 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 276 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 277 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 278 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 279 | { |
sakthipriya | 3:07e15677a75c | 280 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 281 | } |
sakthipriya | 3:07e15677a75c | 282 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 283 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 284 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 285 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 286 | { |
sakthipriya | 3:07e15677a75c | 287 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 288 | } |
sakthipriya | 3:07e15677a75c | 289 | return tm; |
sakthipriya | 3:07e15677a75c | 290 | } |
sakthipriya | 3:07e15677a75c | 291 | case 0x03: |
sakthipriya | 3:07e15677a75c | 292 | { |
sakthipriya | 3:07e15677a75c | 293 | printf("Run P_ACS_INIT\r\n"); |
sakthipriya | 3:07e15677a75c | 294 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 295 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 296 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 297 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 298 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 299 | { |
sakthipriya | 3:07e15677a75c | 300 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 301 | } |
sakthipriya | 3:07e15677a75c | 302 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 303 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 304 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 305 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 306 | { |
sakthipriya | 3:07e15677a75c | 307 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 308 | } |
sakthipriya | 3:07e15677a75c | 309 | return tm; |
sakthipriya | 3:07e15677a75c | 310 | } |
sakthipriya | 3:07e15677a75c | 311 | case 0x04: |
sakthipriya | 3:07e15677a75c | 312 | { |
sakthipriya | 3:07e15677a75c | 313 | printf("Run P_ACS_ACQ_DATA\r\n"); |
sakthipriya | 3:07e15677a75c | 314 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 315 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 316 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 317 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 318 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 319 | { |
sakthipriya | 3:07e15677a75c | 320 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 321 | } |
sakthipriya | 3:07e15677a75c | 322 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 323 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 324 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 325 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 326 | { |
sakthipriya | 3:07e15677a75c | 327 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 328 | } |
sakthipriya | 3:07e15677a75c | 329 | return tm; |
sakthipriya | 3:07e15677a75c | 330 | } |
sakthipriya | 3:07e15677a75c | 331 | case 0x05: |
sakthipriya | 3:07e15677a75c | 332 | { |
sakthipriya | 3:07e15677a75c | 333 | printf("Run P_ACS_MAIN\r\n"); |
sakthipriya | 3:07e15677a75c | 334 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 335 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 336 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 337 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 338 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 339 | { |
sakthipriya | 3:07e15677a75c | 340 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 341 | } |
sakthipriya | 3:07e15677a75c | 342 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 343 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 344 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 345 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 346 | { |
sakthipriya | 3:07e15677a75c | 347 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 348 | } |
sakthipriya | 3:07e15677a75c | 349 | return tm; |
sakthipriya | 3:07e15677a75c | 350 | } |
sakthipriya | 3:07e15677a75c | 351 | case 0x06: |
sakthipriya | 3:07e15677a75c | 352 | { |
sakthipriya | 3:07e15677a75c | 353 | printf("Run P_BCN_INIT\r\n"); |
sakthipriya | 3:07e15677a75c | 354 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 355 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 356 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 357 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 358 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 359 | { |
sakthipriya | 3:07e15677a75c | 360 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 361 | } |
sakthipriya | 3:07e15677a75c | 362 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 363 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 364 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 365 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 366 | { |
sakthipriya | 3:07e15677a75c | 367 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 368 | } |
sakthipriya | 3:07e15677a75c | 369 | return tm; |
sakthipriya | 3:07e15677a75c | 370 | } |
sakthipriya | 3:07e15677a75c | 371 | case 0x07: |
sakthipriya | 3:07e15677a75c | 372 | { |
sakthipriya | 3:07e15677a75c | 373 | printf("Run P_BCN_TX_MAIN\r\n"); |
sakthipriya | 3:07e15677a75c | 374 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 375 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 376 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 377 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 378 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 379 | { |
sakthipriya | 3:07e15677a75c | 380 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 381 | } |
sakthipriya | 3:07e15677a75c | 382 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 383 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 384 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 385 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 386 | { |
sakthipriya | 3:07e15677a75c | 387 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 388 | } |
sakthipriya | 3:07e15677a75c | 389 | return tm; |
sakthipriya | 5:bb592f3185cc | 390 | }*/ |
sakthipriya | 3:07e15677a75c | 391 | case 0x11: |
sakthipriya | 3:07e15677a75c | 392 | { |
sakthipriya | 3:07e15677a75c | 393 | printf("SW_ON_ACS_ATS1_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 394 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 395 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 396 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 397 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 398 | gpo1 = 0; |
sakthipriya | 3:07e15677a75c | 399 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 400 | { |
sakthipriya | 3:07e15677a75c | 401 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 402 | } |
sakthipriya | 3:07e15677a75c | 403 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 404 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 405 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 406 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 407 | { |
sakthipriya | 3:07e15677a75c | 408 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 409 | } |
sakthipriya | 3:07e15677a75c | 410 | return tm; |
sakthipriya | 3:07e15677a75c | 411 | } |
sakthipriya | 3:07e15677a75c | 412 | case 0x12: |
sakthipriya | 3:07e15677a75c | 413 | { |
sakthipriya | 3:07e15677a75c | 414 | printf("SW_ON_ACS_ATS2_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 415 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 416 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 417 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 418 | gpo2 = 0; |
sakthipriya | 5:bb592f3185cc | 419 | tm[2]=1; |
sakthipriya | 3:07e15677a75c | 420 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 421 | { |
sakthipriya | 3:07e15677a75c | 422 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 423 | } |
sakthipriya | 3:07e15677a75c | 424 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 425 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 426 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 427 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 428 | { |
sakthipriya | 3:07e15677a75c | 429 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 430 | } |
sakthipriya | 3:07e15677a75c | 431 | return tm; |
sakthipriya | 3:07e15677a75c | 432 | } |
sakthipriya | 3:07e15677a75c | 433 | case 0x13: |
sakthipriya | 3:07e15677a75c | 434 | { |
sakthipriya | 3:07e15677a75c | 435 | printf("SW_ON_ACS_TR_XY_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 436 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 437 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 438 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 439 | TRXY_SW = 1; |
sakthipriya | 5:bb592f3185cc | 440 | tm[2]=1; |
sakthipriya | 3:07e15677a75c | 441 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 442 | { |
sakthipriya | 3:07e15677a75c | 443 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 444 | } |
sakthipriya | 3:07e15677a75c | 445 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 446 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 447 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 448 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 449 | { |
sakthipriya | 3:07e15677a75c | 450 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 451 | } |
sakthipriya | 3:07e15677a75c | 452 | return tm; |
sakthipriya | 3:07e15677a75c | 453 | } |
sakthipriya | 3:07e15677a75c | 454 | case 0x14: |
sakthipriya | 3:07e15677a75c | 455 | { |
sakthipriya | 3:07e15677a75c | 456 | printf("SW_ON_ACS_TR_Z_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 457 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 458 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 459 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 460 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 461 | TRZ_SW = 1; |
sakthipriya | 3:07e15677a75c | 462 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 463 | { |
sakthipriya | 3:07e15677a75c | 464 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 465 | } |
sakthipriya | 3:07e15677a75c | 466 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 467 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 468 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 469 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 470 | { |
sakthipriya | 3:07e15677a75c | 471 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 472 | } |
sakthipriya | 3:07e15677a75c | 473 | return tm; |
sakthipriya | 3:07e15677a75c | 474 | } |
sakthipriya | 3:07e15677a75c | 475 | case 0x15: |
sakthipriya | 3:07e15677a75c | 476 | { |
sakthipriya | 3:07e15677a75c | 477 | printf("SW_ON_BCN_TX_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 478 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 479 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 480 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 481 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 482 | BCN_SW = 0; |
sakthipriya | 3:07e15677a75c | 483 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 484 | { |
sakthipriya | 3:07e15677a75c | 485 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 486 | } |
sakthipriya | 3:07e15677a75c | 487 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 488 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 489 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 490 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 491 | { |
sakthipriya | 3:07e15677a75c | 492 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 493 | } |
sakthipriya | 3:07e15677a75c | 494 | return tm; |
sakthipriya | 3:07e15677a75c | 495 | } |
sakthipriya | 3:07e15677a75c | 496 | case 0x21: |
sakthipriya | 3:07e15677a75c | 497 | { |
sakthipriya | 3:07e15677a75c | 498 | printf("SW_OFF_ACS_ATS1_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 499 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 500 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 501 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 502 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 503 | gpo1 = 1; |
sakthipriya | 3:07e15677a75c | 504 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 505 | { |
sakthipriya | 3:07e15677a75c | 506 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 507 | } |
sakthipriya | 3:07e15677a75c | 508 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 509 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 510 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 511 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 512 | { |
sakthipriya | 3:07e15677a75c | 513 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 514 | } |
sakthipriya | 3:07e15677a75c | 515 | return tm; |
sakthipriya | 3:07e15677a75c | 516 | } |
sakthipriya | 3:07e15677a75c | 517 | case 0x22: |
sakthipriya | 3:07e15677a75c | 518 | { |
sakthipriya | 3:07e15677a75c | 519 | printf("SW_OFF_ACS_ATS2_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 520 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 521 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 522 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 523 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 524 | gpo2 = 1; |
sakthipriya | 3:07e15677a75c | 525 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 526 | { |
sakthipriya | 3:07e15677a75c | 527 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 528 | } |
sakthipriya | 3:07e15677a75c | 529 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 530 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 531 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 532 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 533 | { |
sakthipriya | 3:07e15677a75c | 534 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 535 | } |
sakthipriya | 3:07e15677a75c | 536 | return tm; |
sakthipriya | 3:07e15677a75c | 537 | } |
sakthipriya | 3:07e15677a75c | 538 | case 0x23: |
sakthipriya | 3:07e15677a75c | 539 | { |
sakthipriya | 3:07e15677a75c | 540 | printf("SW_OFF_ACS_TR_XY_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 541 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 542 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 543 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 544 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 545 | TRXY_SW = 0; |
sakthipriya | 3:07e15677a75c | 546 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 547 | { |
sakthipriya | 3:07e15677a75c | 548 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 549 | } |
sakthipriya | 3:07e15677a75c | 550 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 551 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 552 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 553 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 554 | { |
sakthipriya | 3:07e15677a75c | 555 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 556 | } |
sakthipriya | 3:07e15677a75c | 557 | return tm; |
sakthipriya | 3:07e15677a75c | 558 | } |
sakthipriya | 3:07e15677a75c | 559 | case 0x24: |
sakthipriya | 3:07e15677a75c | 560 | { |
sakthipriya | 3:07e15677a75c | 561 | printf("SW_OFF_ACS_TR_Z_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 562 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 563 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 564 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 565 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 566 | TRZ_SW = 0; |
sakthipriya | 3:07e15677a75c | 567 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 568 | { |
sakthipriya | 3:07e15677a75c | 569 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 570 | } |
sakthipriya | 3:07e15677a75c | 571 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 572 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 573 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 574 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 575 | { |
sakthipriya | 3:07e15677a75c | 576 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 577 | } |
sakthipriya | 3:07e15677a75c | 578 | return tm; |
sakthipriya | 3:07e15677a75c | 579 | } |
sakthipriya | 3:07e15677a75c | 580 | case 0x25: |
sakthipriya | 3:07e15677a75c | 581 | { |
sakthipriya | 3:07e15677a75c | 582 | printf("SW_OFF_BCN_TX_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 583 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 584 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 585 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 586 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 587 | BCN_SW = 1; |
sakthipriya | 3:07e15677a75c | 588 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 589 | { |
sakthipriya | 3:07e15677a75c | 590 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 591 | } |
sakthipriya | 3:07e15677a75c | 592 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 593 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 594 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 595 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 596 | { |
sakthipriya | 3:07e15677a75c | 597 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 598 | } |
sakthipriya | 3:07e15677a75c | 599 | return tm; |
sakthipriya | 3:07e15677a75c | 600 | } |
sakthipriya | 3:07e15677a75c | 601 | case 0x31: |
sakthipriya | 3:07e15677a75c | 602 | { |
sakthipriya | 5:bb592f3185cc | 603 | printf("ACS_ATS1_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 604 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 605 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 606 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 607 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 608 | gpo1 = 1; |
sakthipriya | 5:bb592f3185cc | 609 | wait_us(1); |
sakthipriya | 5:bb592f3185cc | 610 | gpo1 = 0; |
sakthipriya | 3:07e15677a75c | 611 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 612 | { |
sakthipriya | 3:07e15677a75c | 613 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 614 | } |
sakthipriya | 3:07e15677a75c | 615 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 616 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 617 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 618 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 619 | { |
sakthipriya | 3:07e15677a75c | 620 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 621 | } |
sakthipriya | 3:07e15677a75c | 622 | return tm; |
sakthipriya | 3:07e15677a75c | 623 | } |
sakthipriya | 3:07e15677a75c | 624 | case 0x32: |
sakthipriya | 3:07e15677a75c | 625 | { |
sakthipriya | 3:07e15677a75c | 626 | printf("BCN_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 627 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 628 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 629 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 630 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 631 | BCN_SW = 1; |
sakthipriya | 5:bb592f3185cc | 632 | wait_us(1); |
sakthipriya | 5:bb592f3185cc | 633 | BCN_SW = 0; |
sakthipriya | 3:07e15677a75c | 634 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 635 | { |
sakthipriya | 3:07e15677a75c | 636 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 637 | } |
sakthipriya | 3:07e15677a75c | 638 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 639 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 640 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 641 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 642 | { |
sakthipriya | 3:07e15677a75c | 643 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 644 | } |
sakthipriya | 3:07e15677a75c | 645 | return tm; |
sakthipriya | 3:07e15677a75c | 646 | } |
sakthipriya | 3:07e15677a75c | 647 | case 0x33: |
sakthipriya | 3:07e15677a75c | 648 | { |
sakthipriya | 5:bb592f3185cc | 649 | printf("ACS_ATS2_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 650 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 651 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 652 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 653 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 654 | gpo1 = 1; |
sakthipriya | 5:bb592f3185cc | 655 | wait_us(1); |
sakthipriya | 5:bb592f3185cc | 656 | gpo1 = 0; |
sakthipriya | 3:07e15677a75c | 657 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 658 | { |
sakthipriya | 3:07e15677a75c | 659 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 660 | } |
sakthipriya | 3:07e15677a75c | 661 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 662 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 663 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 664 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 665 | { |
sakthipriya | 3:07e15677a75c | 666 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 667 | } |
sakthipriya | 3:07e15677a75c | 668 | return tm; |
sakthipriya | 3:07e15677a75c | 669 | } |
sakthipriya | 3:07e15677a75c | 670 | case 0x34: |
sakthipriya | 3:07e15677a75c | 671 | { |
sakthipriya | 3:07e15677a75c | 672 | printf("CDMS_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 673 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 674 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 675 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 676 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 677 | CDMS_RESET = 0; |
sakthipriya | 5:bb592f3185cc | 678 | wait_us(1); |
sakthipriya | 5:bb592f3185cc | 679 | CDMS_RESET = 1; |
sakthipriya | 3:07e15677a75c | 680 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 681 | { |
sakthipriya | 3:07e15677a75c | 682 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 683 | } |
sakthipriya | 3:07e15677a75c | 684 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 685 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 686 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 687 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 688 | { |
sakthipriya | 3:07e15677a75c | 689 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 690 | } |
sakthipriya | 3:07e15677a75c | 691 | return tm; |
sakthipriya | 3:07e15677a75c | 692 | } |
sakthipriya | 5:bb592f3185cc | 693 | |
sakthipriya | 5:bb592f3185cc | 694 | |
sakthipriya | 3:07e15677a75c | 695 | default: |
sakthipriya | 3:07e15677a75c | 696 | { |
sakthipriya | 3:07e15677a75c | 697 | printf("Invalid TC\r\n"); |
sakthipriya | 3:07e15677a75c | 698 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 699 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 700 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 701 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 702 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 703 | { |
sakthipriya | 3:07e15677a75c | 704 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 705 | } |
sakthipriya | 3:07e15677a75c | 706 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 707 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 708 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 709 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 710 | { |
sakthipriya | 3:07e15677a75c | 711 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 712 | } |
sakthipriya | 3:07e15677a75c | 713 | return tm; |
sakthipriya | 3:07e15677a75c | 714 | } |
sakthipriya | 3:07e15677a75c | 715 | } |
sakthipriya | 3:07e15677a75c | 716 | |
sakthipriya | 3:07e15677a75c | 717 | default: |
sakthipriya | 3:07e15677a75c | 718 | { |
sakthipriya | 3:07e15677a75c | 719 | printf("Invalid TC\r\n"); |
sakthipriya | 3:07e15677a75c | 720 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 721 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 722 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 723 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 724 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 725 | { |
sakthipriya | 3:07e15677a75c | 726 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 727 | } |
sakthipriya | 3:07e15677a75c | 728 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 729 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 730 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 731 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 732 | { |
sakthipriya | 3:07e15677a75c | 733 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 734 | } |
sakthipriya | 3:07e15677a75c | 735 | return tm; |
sakthipriya | 3:07e15677a75c | 736 | } |
sakthipriya | 3:07e15677a75c | 737 | } |
sakthipriya | 3:07e15677a75c | 738 | } |
sakthipriya | 3:07e15677a75c | 739 | } |
sakthipriya | 3:07e15677a75c | 740 | } |
sakthipriya | 4:39a4ae8c7ecd | 741 | } |
sakthipriya | 4:39a4ae8c7ecd | 742 | |
sakthipriya | 4:39a4ae8c7ecd | 743 | |
sakthipriya | 4:39a4ae8c7ecd | 744 | |
sakthipriya | 4:39a4ae8c7ecd | 745 | |
sakthipriya | 4:39a4ae8c7ecd | 746 | int strt_add = flash_size() - (2*SECTOR_SIZE); |
sakthipriya | 4:39a4ae8c7ecd | 747 | uint32_t flasharray[8]; //256+(3*1024) |
sakthipriya | 4:39a4ae8c7ecd | 748 | char *nativeflash = (char*)strt_add; |
sakthipriya | 4:39a4ae8c7ecd | 749 | |
sakthipriya | 4:39a4ae8c7ecd | 750 | /*Writing to the Flash*/ |
sakthipriya | 4:39a4ae8c7ecd | 751 | 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 | 752 | { |
sakthipriya | 4:39a4ae8c7ecd | 753 | for(int i=0;i<8;i++) |
sakthipriya | 4:39a4ae8c7ecd | 754 | { |
sakthipriya | 4:39a4ae8c7ecd | 755 | flasharray[i]=nativeflash[i]; |
sakthipriya | 4:39a4ae8c7ecd | 756 | } |
sakthipriya | 4:39a4ae8c7ecd | 757 | flasharray[j]=fdata; |
sakthipriya | 4:39a4ae8c7ecd | 758 | erase_sector(strt_add); |
sakthipriya | 4:39a4ae8c7ecd | 759 | program_flash(strt_add, (char*)&flasharray,4*8); |
sakthipriya | 4:39a4ae8c7ecd | 760 | } |
sakthipriya | 4:39a4ae8c7ecd | 761 | /*End*/ |
sakthipriya | 4:39a4ae8c7ecd | 762 | |
sakthipriya | 4:39a4ae8c7ecd | 763 | /*Reading from Flash*/ |
sakthipriya | 4:39a4ae8c7ecd | 764 | uint32_t FCTN_CDMS_RD_FLASH(uint16_t j) |
sakthipriya | 4:39a4ae8c7ecd | 765 | { |
sakthipriya | 4:39a4ae8c7ecd | 766 | for(int i=0;i<8;i++) |
sakthipriya | 4:39a4ae8c7ecd | 767 | { |
sakthipriya | 4:39a4ae8c7ecd | 768 | flasharray[i]=nativeflash[i]; |
sakthipriya | 4:39a4ae8c7ecd | 769 | } |
sakthipriya | 4:39a4ae8c7ecd | 770 | return flasharray[j]; |
sakthipriya | 4:39a4ae8c7ecd | 771 | } |
sakthipriya | 5:bb592f3185cc | 772 | /*End*/ |
sakthipriya | 5:bb592f3185cc | 773 | |
sakthipriya | 5:bb592f3185cc | 774 | // Convert float to 4 uint8_t |
sakthipriya | 5:bb592f3185cc | 775 | |
sakthipriya | 6:036d08b62785 | 776 | void FCTN_CONVERT_FLOAT(float input, uint8_t output[4]) |
sakthipriya | 5:bb592f3185cc | 777 | { |
sakthipriya | 6:036d08b62785 | 778 | assert(sizeof(float) == sizeof(uint32_t)); |
sakthipriya | 6:036d08b62785 | 779 | uint32_t* temp = reinterpret_cast<uint32_t*>(&input); |
sakthipriya | 6:036d08b62785 | 780 | |
sakthipriya | 6:036d08b62785 | 781 | //float* output1 = reinterpret_cast<float*>(temp); |
sakthipriya | 6:036d08b62785 | 782 | |
sakthipriya | 6:036d08b62785 | 783 | printf("\n\r %f ", input); |
sakthipriya | 6:036d08b62785 | 784 | std::cout << "\n\r uint32"<<*temp << std::endl; |
sakthipriya | 6:036d08b62785 | 785 | |
sakthipriya | 6:036d08b62785 | 786 | output[0] =(uint8_t )(((*temp)>>24)&0xFF); |
sakthipriya | 6:036d08b62785 | 787 | output[2] =(uint8_t ) (((*temp)>>16)&0xFF); |
sakthipriya | 6:036d08b62785 | 788 | output[1] =(uint8_t ) (((*temp)>>8)&0xFF); |
sakthipriya | 6:036d08b62785 | 789 | output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic |
sakthipriya | 6:036d08b62785 | 790 | //printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]); |
sakthipriya | 6:036d08b62785 | 791 | //std:: cout << "\n\r uint8 inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl; |
sakthipriya | 5:bb592f3185cc | 792 | } |