FINAL ACS TO BE USED FOR TESTING. COMMISSIONING, ACS MAIN, DATA ACQ ALL DONE.
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of ACS_FULL_Flowchart_BAE by
TCTM.cpp@18:21740620c65e, 2016-06-13 (annotated)
- Committer:
- Bragadeesh153
- Date:
- Mon Jun 13 13:44:31 2016 +0000
- Revision:
- 18:21740620c65e
- Parent:
- 16:cc77770d787f
- Child:
- 19:403cb36e22ed
ACS algo commissioning done, Hardware comissioning yet to be finalised
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" |
Bragadeesh153 | 18:21740620c65e | 4 | #include "ACS.h" |
sakthipriya | 4:39a4ae8c7ecd | 5 | #include "EPS.h" |
sakthipriya | 5:bb592f3185cc | 6 | #include "pin_config.h" |
sakthipriya | 5:bb592f3185cc | 7 | #include "FreescaleIAP.h" |
sakthipriya | 6:036d08b62785 | 8 | #include "inttypes.h" |
sakthipriya | 6:036d08b62785 | 9 | #include "iostream" |
sakthipriya | 6:036d08b62785 | 10 | #include "stdint.h" |
sakthipriya | 6:036d08b62785 | 11 | #include "cassert" |
lakshya | 10:f93407b97750 | 12 | #include"math.h" |
lakshya | 10:f93407b97750 | 13 | |
lakshya | 11:1fdb94ae6563 | 14 | /*define the pins for digital out*/ |
sakthipriya | 0:7b4c00e3912f | 15 | |
sakthipriya | 9:194afacf7449 | 16 | extern DigitalOut ATS1_SW_ENABLE; // enable of att sens2 switch |
sakthipriya | 9:194afacf7449 | 17 | extern DigitalOut ATS2_SW_ENABLE; // enable of att sens switch |
Bragadeesh153 | 18:21740620c65e | 18 | extern DigitalOut DRV_Z_EN; |
Bragadeesh153 | 18:21740620c65e | 19 | extern DigitalOut DRV_XY_EN; |
Bragadeesh153 | 18:21740620c65e | 20 | extern uint8_t ACS_STATUS; |
Bragadeesh153 | 18:21740620c65e | 21 | extern float b_old[3]; // Unit: Tesla |
Bragadeesh153 | 18:21740620c65e | 22 | extern float db[3]; |
Bragadeesh153 | 18:21740620c65e | 23 | extern uint8_t flag_firsttime; |
Bragadeesh153 | 18:21740620c65e | 24 | extern uint8_t ACS_DETUMBLING_ALGO_TYPE; |
sakthipriya | 5:bb592f3185cc | 25 | |
Bragadeesh153 | 13:fb7facaf308b | 26 | extern DigitalOut TRXY_SW; //TR XY Switch if any TR_SW error arises then it is same as TR_SW_EN |
sakthipriya | 5:bb592f3185cc | 27 | extern DigitalOut TRZ_SW; //TR Z Switch |
sakthipriya | 5:bb592f3185cc | 28 | extern DigitalOut CDMS_RESET; // CDMS RESET |
sakthipriya | 5:bb592f3185cc | 29 | extern DigitalOut BCN_SW; //Beacon switch |
lakshya | 10:f93407b97750 | 30 | extern uint8_t BCN_TX_STATUS; |
lakshya | 10:f93407b97750 | 31 | extern uint8_t BCN_FEN; |
sakthipriya | 4:39a4ae8c7ecd | 32 | extern BAE_HK_actual actual_data; |
sakthipriya | 4:39a4ae8c7ecd | 33 | extern BAE_HK_min_max bae_HK_minmax; |
sakthipriya | 4:39a4ae8c7ecd | 34 | extern uint32_t BAE_STATUS; |
sakthipriya | 5:bb592f3185cc | 35 | extern float data[6]; |
sakthipriya | 5:bb592f3185cc | 36 | extern float moment[3]; |
lakshya | 10:f93407b97750 | 37 | extern uint8_t ACS_STATE; |
lakshya | 10:f93407b97750 | 38 | extern DigitalOut EN_BTRY_HT; |
lakshya | 10:f93407b97750 | 39 | extern DigitalOut phase_TR_x; |
lakshya | 10:f93407b97750 | 40 | extern DigitalOut phase_TR_y; |
lakshya | 10:f93407b97750 | 41 | extern DigitalOut phase_TR_z; |
lakshya | 10:f93407b97750 | 42 | extern BAE_HK_quant quant_data; |
Bragadeesh153 | 13:fb7facaf308b | 43 | //extern DigitalOut TRXY_SW; |
lakshya | 11:1fdb94ae6563 | 44 | //extern DigitalOut TRZ_SW_EN; //same as TRZ_SW |
lakshya | 11:1fdb94ae6563 | 45 | extern uint32_t BAE_ENABLE; |
lakshya | 11:1fdb94ae6563 | 46 | //extern DigitalOut ACS_ACQ_DATA_ENABLE; |
lakshya | 11:1fdb94ae6563 | 47 | |
lakshya | 11:1fdb94ae6563 | 48 | /*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 | 49 | extern uint8_t BAE_RESET_COUNTER=0; |
lakshya | 11:1fdb94ae6563 | 50 | |
lakshya | 14:a9588f443f1a | 51 | //extern uint8_t BCN_FAIL_COUNT; |
lakshya | 11:1fdb94ae6563 | 52 | |
Bragadeesh153 | 13:fb7facaf308b | 53 | extern PwmOut PWM1; //x //Functions used to generate PWM signal |
lakshya | 11:1fdb94ae6563 | 54 | extern PwmOut PWM2; //y |
lakshya | 11:1fdb94ae6563 | 55 | extern PwmOut PWM3; //z //PWM output comes from pins p6 |
lakshya | 11:1fdb94ae6563 | 56 | |
lakshya | 11:1fdb94ae6563 | 57 | extern void F_ACS(); |
lakshya | 11:1fdb94ae6563 | 58 | extern void F_BCN(); |
lakshya | 11:1fdb94ae6563 | 59 | //extern void FCTN_ACS_GENPWM_MAIN(); |
lakshya | 11:1fdb94ae6563 | 60 | extern void F_EPS(); |
lakshya | 11:1fdb94ae6563 | 61 | extern void FCTN_ACS_GENPWM_MAIN(float Moment[3]); |
Bragadeesh153 | 16:cc77770d787f | 62 | extern int FCTN_ACS_INIT(); |
Bragadeesh153 | 18:21740620c65e | 63 | extern int SENSOR_DATA_ACQ(); |
Bragadeesh153 | 18:21740620c65e | 64 | extern int SENSOR_INIT(); |
sakthipriya | 5:bb592f3185cc | 65 | |
Bragadeesh153 | 16:cc77770d787f | 66 | extern int FCTN_ATS_DATA_ACQ(); |
Bragadeesh153 | 18:21740620c65e | 67 | extern void FCTN_ACS_CNTRLALGO(float*,float*,int); |
Bragadeesh153 | 13:fb7facaf308b | 68 | uint8_t telemetry[135]; |
lakshya | 11:1fdb94ae6563 | 69 | |
lakshya | 11:1fdb94ae6563 | 70 | void FCTN_CONVERT_UINT (uint8_t input[2], float* output) |
lakshya | 11:1fdb94ae6563 | 71 | { |
lakshya | 11:1fdb94ae6563 | 72 | |
lakshya | 11:1fdb94ae6563 | 73 | *output = (float) input[1]; |
lakshya | 11:1fdb94ae6563 | 74 | *output = *output/100.0; //input[0] integer part |
lakshya | 11:1fdb94ae6563 | 75 | *output = *output + (float) input[0]; //input[1] decimal part correct to two decimal places |
lakshya | 11:1fdb94ae6563 | 76 | } |
lakshya | 11:1fdb94ae6563 | 77 | |
lakshya | 10:f93407b97750 | 78 | float angle(float x,float y,float z) |
lakshya | 10:f93407b97750 | 79 | { |
lakshya | 10:f93407b97750 | 80 | float mag_total=sqrt(x*x + y*y + z*z); |
lakshya | 10:f93407b97750 | 81 | float cos_z = z/mag_total; |
lakshya | 10:f93407b97750 | 82 | float theta_z = acosf(cos_z); |
Bragadeesh153 | 13:fb7facaf308b | 83 | |
lakshya | 10:f93407b97750 | 84 | return theta_z; |
lakshya | 10:f93407b97750 | 85 | //printf("/n cos_zz= %f /t theta_z= %f /n",cos_z,theta_z); |
lakshya | 10:f93407b97750 | 86 | } |
lakshya | 10:f93407b97750 | 87 | |
Bragadeesh153 | 13:fb7facaf308b | 88 | //uint8_t tm1[134]; |
Bragadeesh153 | 13:fb7facaf308b | 89 | |
Bragadeesh153 | 13:fb7facaf308b | 90 | void FCTN_BAE_TM_TC (uint8_t* tc) |
sakthipriya | 0:7b4c00e3912f | 91 | |
sakthipriya | 3:07e15677a75c | 92 | { |
Bragadeesh153 | 13:fb7facaf308b | 93 | // tm1[0] = 1; |
sakthipriya | 3:07e15677a75c | 94 | uint8_t service_type=(tc[2]&0xF0); |
lakshya | 15:e09aaaccf134 | 95 | /*chaged*/ |
lakshya | 15:e09aaaccf134 | 96 | uint8_t* tm; // without it some identifier error |
sakthipriya | 3:07e15677a75c | 97 | uint16_t crc16; |
Bragadeesh153 | 13:fb7facaf308b | 98 | |
Bragadeesh153 | 13:fb7facaf308b | 99 | |
sakthipriya | 3:07e15677a75c | 100 | switch(service_type) |
sakthipriya | 3:07e15677a75c | 101 | { |
sakthipriya | 3:07e15677a75c | 102 | case 0x60: |
sakthipriya | 3:07e15677a75c | 103 | { |
sakthipriya | 3:07e15677a75c | 104 | printf("Memory Management Service\r\n"); |
sakthipriya | 3:07e15677a75c | 105 | uint8_t service_subtype=(tc[2]&0x0F); |
Bragadeesh153 | 13:fb7facaf308b | 106 | |
sakthipriya | 3:07e15677a75c | 107 | switch(service_subtype) |
sakthipriya | 3:07e15677a75c | 108 | { |
sakthipriya | 3:07e15677a75c | 109 | case 0x01: |
sakthipriya | 3:07e15677a75c | 110 | { |
sakthipriya | 3:07e15677a75c | 111 | printf("Read from Flash\r\n"); |
lakshya | 15:e09aaaccf134 | 112 | uint16_t jj; |
lakshya | 15:e09aaaccf134 | 113 | uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4]; |
lakshya | 15:e09aaaccf134 | 114 | switch(MID) |
lakshya | 15:e09aaaccf134 | 115 | {case 0x1100:jj=0x00;// using uint16_t as jj typesimilarly used in FCTN_CDMS_WR_FLASH |
lakshya | 15:e09aaaccf134 | 116 | break; |
lakshya | 15:e09aaaccf134 | 117 | case 0x0100:jj=0x01; |
lakshya | 15:e09aaaccf134 | 118 | break; |
lakshya | 15:e09aaaccf134 | 119 | case 0x0101:jj=0x02; |
lakshya | 15:e09aaaccf134 | 120 | break; |
lakshya | 15:e09aaaccf134 | 121 | case 0x0102:jj=0x03; |
lakshya | 15:e09aaaccf134 | 122 | break; |
lakshya | 15:e09aaaccf134 | 123 | case 0x0107:jj=0x04; |
lakshya | 15:e09aaaccf134 | 124 | break; |
lakshya | 15:e09aaaccf134 | 125 | case 0x0103:jj=0x05; |
lakshya | 15:e09aaaccf134 | 126 | break; |
lakshya | 15:e09aaaccf134 | 127 | case 0x0104:jj=0x05; |
lakshya | 15:e09aaaccf134 | 128 | break; |
lakshya | 15:e09aaaccf134 | 129 | case 0x0105:jj=0x06; |
lakshya | 15:e09aaaccf134 | 130 | break; |
lakshya | 15:e09aaaccf134 | 131 | case 0x0106:jj=0x07; |
lakshya | 15:e09aaaccf134 | 132 | break; |
lakshya | 15:e09aaaccf134 | 133 | } |
lakshya | 15:e09aaaccf134 | 134 | /*pointer....!!!!*/ |
lakshya | 15:e09aaaccf134 | 135 | uint32_t FLASH_TEMP = FCTN_CDMS_RD_FLASH(jj); |
lakshya | 15:e09aaaccf134 | 136 | |
lakshya | 15:e09aaaccf134 | 137 | tm[0] = 0x60; |
lakshya | 15:e09aaaccf134 | 138 | tm[1] = tc[0]; |
lakshya | 15:e09aaaccf134 | 139 | tm[2] = ACK_CODE; |
lakshya | 15:e09aaaccf134 | 140 | for(int i=0; i<8*4; i+=4) |
lakshya | 15:e09aaaccf134 | 141 | { |
lakshya | 15:e09aaaccf134 | 142 | tm[4+i] =(uint8_t )(((FLASH_TEMP)>>24)&0xFF); |
lakshya | 15:e09aaaccf134 | 143 | tm[5+i] =(uint8_t ) (((FLASH_TEMP)>>16)&0xFF); |
lakshya | 15:e09aaaccf134 | 144 | tm[6+i] =(uint8_t ) (((FLASH_TEMP)>>8)&0xFF); |
lakshya | 15:e09aaaccf134 | 145 | tm[7+i] =(uint8_t ) ((FLASH_TEMP) & 0xFF); |
lakshya | 15:e09aaaccf134 | 146 | |
lakshya | 15:e09aaaccf134 | 147 | } |
lakshya | 15:e09aaaccf134 | 148 | |
lakshya | 15:e09aaaccf134 | 149 | |
lakshya | 15:e09aaaccf134 | 150 | for (int i=4+8*4; i<132;i++) |
lakshya | 15:e09aaaccf134 | 151 | { |
lakshya | 15:e09aaaccf134 | 152 | tm[i] = 0x00; |
lakshya | 15:e09aaaccf134 | 153 | } |
lakshya | 15:e09aaaccf134 | 154 | crc16 = CRC::crc16_gen(tm,132); |
lakshya | 15:e09aaaccf134 | 155 | tm[132] = (uint8_t)((crc16&0xFF00)>>8); |
lakshya | 15:e09aaaccf134 | 156 | tm[133] = (uint8_t)(crc16&0x00FF); |
lakshya | 15:e09aaaccf134 | 157 | |
Bragadeesh153 | 13:fb7facaf308b | 158 | break; |
sakthipriya | 3:07e15677a75c | 159 | } |
sakthipriya | 3:07e15677a75c | 160 | case 0x02: |
sakthipriya | 3:07e15677a75c | 161 | { |
lakshya | 15:e09aaaccf134 | 162 | printf("Read from RAM\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 163 | uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4]; |
Bragadeesh153 | 13:fb7facaf308b | 164 | switch(MID) |
Bragadeesh153 | 13:fb7facaf308b | 165 | { |
Bragadeesh153 | 13:fb7facaf308b | 166 | |
lakshya | 10:f93407b97750 | 167 | case 0x0001: |
Bragadeesh153 | 13:fb7facaf308b | 168 | { |
lakshya | 15:e09aaaccf134 | 169 | printf("\nRead from MID 0001 hk\n"); |
Bragadeesh153 | 13:fb7facaf308b | 170 | |
Bragadeesh153 | 13:fb7facaf308b | 171 | /*taking some varible till we find some thing more useful*/ |
Bragadeesh153 | 13:fb7facaf308b | 172 | //uint8_t ref_val=0x01; |
Bragadeesh153 | 13:fb7facaf308b | 173 | telemetry[0] = 1; |
Bragadeesh153 | 13:fb7facaf308b | 174 | telemetry[1] = tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 175 | telemetry[2] = ACK_CODE; |
Bragadeesh153 | 13:fb7facaf308b | 176 | /*random or with bcn_tx_sw_enable assuming it is 1 bit in length |
Bragadeesh153 | 13:fb7facaf308b | 177 | how to get that we dont know, now we just assume it to be so*/ |
Bragadeesh153 | 13:fb7facaf308b | 178 | telemetry[3] = (BCN_SW); |
Bragadeesh153 | 13:fb7facaf308b | 179 | telemetry[3] = telemetry[3]|(TRXY_SW<<1); |
Bragadeesh153 | 13:fb7facaf308b | 180 | telemetry[3] = telemetry[3]|(TRZ_SW<<2); |
Bragadeesh153 | 13:fb7facaf308b | 181 | telemetry[3] = telemetry[3]|(ATS1_SW_ENABLE<<3); |
Bragadeesh153 | 13:fb7facaf308b | 182 | telemetry[3] = telemetry[3]|(ATS2_SW_ENABLE<<4); |
Bragadeesh153 | 13:fb7facaf308b | 183 | |
Bragadeesh153 | 13:fb7facaf308b | 184 | if(BCN_TX_STATUS==2) |
Bragadeesh153 | 13:fb7facaf308b | 185 | telemetry[3] = telemetry[3]|0x20; |
Bragadeesh153 | 13:fb7facaf308b | 186 | else |
Bragadeesh153 | 13:fb7facaf308b | 187 | telemetry[3] = telemetry[3] & 0xDF; |
Bragadeesh153 | 13:fb7facaf308b | 188 | |
Bragadeesh153 | 13:fb7facaf308b | 189 | telemetry[3] = telemetry[3]|(BCN_FEN<<6); |
Bragadeesh153 | 13:fb7facaf308b | 190 | uint8_t mask_val=BAE_ENABLE & 0x00000008; |
Bragadeesh153 | 13:fb7facaf308b | 191 | /*can be a problem see if any error occurs*/ |
Bragadeesh153 | 13:fb7facaf308b | 192 | telemetry[3] = telemetry[3]|(mask_val<<7); |
Bragadeesh153 | 13:fb7facaf308b | 193 | |
Bragadeesh153 | 13:fb7facaf308b | 194 | /*not included in the code yet*/ |
Bragadeesh153 | 13:fb7facaf308b | 195 | telemetry[4] = BAE_RESET_COUNTER; |
Bragadeesh153 | 13:fb7facaf308b | 196 | telemetry[5] = ACS_STATE; |
Bragadeesh153 | 13:fb7facaf308b | 197 | telemetry[5] = telemetry[5]|(EN_BTRY_HT<<3); |
Bragadeesh153 | 13:fb7facaf308b | 198 | telemetry[5] = telemetry[5]|(phase_TR_x<<4); |
Bragadeesh153 | 13:fb7facaf308b | 199 | telemetry[5] = telemetry[5]|(phase_TR_y<<5); |
Bragadeesh153 | 13:fb7facaf308b | 200 | telemetry[5] = telemetry[5]|(phase_TR_z<<6); |
Bragadeesh153 | 13:fb7facaf308b | 201 | /*spare to be fixed*/ |
Bragadeesh153 | 13:fb7facaf308b | 202 | //telemetry[5] = telemetry[5]|(Spare))<<7); |
Bragadeesh153 | 13:fb7facaf308b | 203 | /**/ |
Bragadeesh153 | 13:fb7facaf308b | 204 | uint8_t soc_powerlevel_2=50; |
Bragadeesh153 | 13:fb7facaf308b | 205 | uint8_t soc_powerlevel_3=65; |
Bragadeesh153 | 13:fb7facaf308b | 206 | |
Bragadeesh153 | 13:fb7facaf308b | 207 | telemetry[6] = soc_powerlevel_2; |
Bragadeesh153 | 13:fb7facaf308b | 208 | telemetry[7] = soc_powerlevel_3; |
lakshya | 10:f93407b97750 | 209 | |
Bragadeesh153 | 13:fb7facaf308b | 210 | /*to be fixed*/ |
Bragadeesh153 | 13:fb7facaf308b | 211 | telemetry[8] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 212 | telemetry[9] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 213 | telemetry[10] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 214 | telemetry[11] = 0; |
Bragadeesh153 | 13:fb7facaf308b | 215 | //telemetry[8] = Torque Rod X Offset; |
Bragadeesh153 | 13:fb7facaf308b | 216 | //telemetry[9] = Torque Rod Y Offset; |
Bragadeesh153 | 13:fb7facaf308b | 217 | //telemetry[10] = Torque Rod Z Offset; |
Bragadeesh153 | 13:fb7facaf308b | 218 | //telemetry[11] = ACS_DEMAG_TIME_DELAY; |
Bragadeesh153 | 13:fb7facaf308b | 219 | telemetry[12] = (BAE_STATUS>>24) & 0xFF; |
Bragadeesh153 | 13:fb7facaf308b | 220 | telemetry[13] = (BAE_STATUS>>16) & 0xFF; |
Bragadeesh153 | 13:fb7facaf308b | 221 | telemetry[14] = (BAE_STATUS>>8) & 0xFF; |
Bragadeesh153 | 13:fb7facaf308b | 222 | telemetry[15] = BAE_STATUS & 0xFF; |
Bragadeesh153 | 13:fb7facaf308b | 223 | |
Bragadeesh153 | 13:fb7facaf308b | 224 | /*to be fixed*/ |
lakshya | 14:a9588f443f1a | 225 | //telemetry[16] = BCN_FAIL_COUNT; |
Bragadeesh153 | 13:fb7facaf308b | 226 | telemetry[17] = actual_data.power_mode; |
Bragadeesh153 | 13:fb7facaf308b | 227 | /*to be fixed*/ |
Bragadeesh153 | 13:fb7facaf308b | 228 | uint16_t P_BAE_I2CRX_COUNTER=0; |
Bragadeesh153 | 13:fb7facaf308b | 229 | uint16_t P_ACS_MAIN_COUNTER=0; |
Bragadeesh153 | 13:fb7facaf308b | 230 | uint16_t P_BCN_TX_MAIN_COUNTER=0; |
Bragadeesh153 | 13:fb7facaf308b | 231 | uint16_t P_EPS_MAIN_COUNTER=0; |
Bragadeesh153 | 13:fb7facaf308b | 232 | |
Bragadeesh153 | 13:fb7facaf308b | 233 | telemetry[18] = P_BAE_I2CRX_COUNTER>>8; |
Bragadeesh153 | 13:fb7facaf308b | 234 | telemetry[19] = P_BAE_I2CRX_COUNTER; |
Bragadeesh153 | 13:fb7facaf308b | 235 | telemetry[20] = P_ACS_MAIN_COUNTER>>8; |
Bragadeesh153 | 13:fb7facaf308b | 236 | telemetry[21] = P_ACS_MAIN_COUNTER; |
Bragadeesh153 | 13:fb7facaf308b | 237 | telemetry[22] = P_BCN_TX_MAIN_COUNTER>>8; |
Bragadeesh153 | 13:fb7facaf308b | 238 | telemetry[23] = P_BCN_TX_MAIN_COUNTER; |
Bragadeesh153 | 13:fb7facaf308b | 239 | telemetry[24] = P_EPS_MAIN_COUNTER>>8; |
Bragadeesh153 | 13:fb7facaf308b | 240 | telemetry[25] = P_EPS_MAIN_COUNTER; |
Bragadeesh153 | 13:fb7facaf308b | 241 | |
lakshya | 15:e09aaaccf134 | 242 | //actual_data.AngularSpeed_actual[0]=5.32498; |
Bragadeesh153 | 13:fb7facaf308b | 243 | for(int i=0; i<3; i++) |
lakshya | 15:e09aaaccf134 | 244 | FCTN_CONVERT_FLOAT((float)actual_data.Bvalue_actual[i],&telemetry[26+ (i*4)]); |
Bragadeesh153 | 13:fb7facaf308b | 245 | for(int i=0; i<3; i++) |
lakshya | 15:e09aaaccf134 | 246 | FCTN_CONVERT_FLOAT((float)actual_data.AngularSpeed_actual[i],&telemetry[38+(i*4)]); |
lakshya | 15:e09aaaccf134 | 247 | |
lakshya | 15:e09aaaccf134 | 248 | //printf("\n\rthe value is 38\t %x\n",telemetry[38]); |
lakshya | 15:e09aaaccf134 | 249 | //printf("\n\rthe value is 39\t%x\n",telemetry[39]); |
lakshya | 15:e09aaaccf134 | 250 | //printf("\n\rthe value is 40\t%x\n",telemetry[40]); |
lakshya | 15:e09aaaccf134 | 251 | //printf("\n\rthe value is 41\t%x\n",telemetry[41]); |
lakshya | 15:e09aaaccf134 | 252 | //printf("\n\rthe value true\t%f\n",actual_data.AngularSpeed_actual[0]); |
lakshya | 15:e09aaaccf134 | 253 | |
lakshya | 15:e09aaaccf134 | 254 | |
lakshya | 15:e09aaaccf134 | 255 | //uint32_t input_stage1=0x00000000; |
lakshya | 15:e09aaaccf134 | 256 | //uint8_t output1[4]; |
lakshya | 15:e09aaaccf134 | 257 | //output1[0]=(uint32_t)(telemetry[38]); |
lakshya | 15:e09aaaccf134 | 258 | //output1[1]=(uint32_t)(telemetry[39]); |
lakshya | 15:e09aaaccf134 | 259 | //output1[2]=(uint32_t)(telemetry[40]); |
lakshya | 15:e09aaaccf134 | 260 | //output1[3]=(uint32_t)(telemetry[41]); |
lakshya | 15:e09aaaccf134 | 261 | |
lakshya | 15:e09aaaccf134 | 262 | //input_stage1=output[3]+(output[2]*(0x100))+(output[1]*(0x10000))+(output[0]*(0x1000000)); |
lakshya | 15:e09aaaccf134 | 263 | //input_stage1=(output1[0]<<24) | (output1[1]<<16) | (output1[2]<<8) | (output1[3]); |
lakshya | 15:e09aaaccf134 | 264 | |
lakshya | 15:e09aaaccf134 | 265 | |
lakshya | 15:e09aaaccf134 | 266 | //assert(sizeof(float) == sizeof(uint32_t)); |
lakshya | 15:e09aaaccf134 | 267 | //float* temp1 = reinterpret_cast<float*>(&input_stage1); |
lakshya | 15:e09aaaccf134 | 268 | |
lakshya | 15:e09aaaccf134 | 269 | //printf("\n\r the value is: %f \n",*temp1); |
Bragadeesh153 | 13:fb7facaf308b | 270 | |
Bragadeesh153 | 13:fb7facaf308b | 271 | //FAULT_FLAG(); |
Bragadeesh153 | 13:fb7facaf308b | 272 | telemetry[50] = actual_data.faultIr_status; |
Bragadeesh153 | 13:fb7facaf308b | 273 | telemetry[51] = actual_data.faultPoll_status; |
Bragadeesh153 | 13:fb7facaf308b | 274 | //Bdot Rotation Speed of Command telemetry[52-53] |
Bragadeesh153 | 13:fb7facaf308b | 275 | //Bdot Output Current telemetry[54] |
Bragadeesh153 | 13:fb7facaf308b | 276 | //float l_pmw1 = (PWM1); |
Bragadeesh153 | 13:fb7facaf308b | 277 | //float l_pmw2 = PWM2; |
Bragadeesh153 | 13:fb7facaf308b | 278 | //float l_pmw3 = PWM3; |
Bragadeesh153 | 13:fb7facaf308b | 279 | |
lakshya | 11:1fdb94ae6563 | 280 | /*__________________________________________________________________*/ |
Bragadeesh153 | 13:fb7facaf308b | 281 | |
lakshya | 11:1fdb94ae6563 | 282 | /*change and check if changing it to PWM1 causes problem*/ |
Bragadeesh153 | 13:fb7facaf308b | 283 | |
lakshya | 11:1fdb94ae6563 | 284 | /*___________________________________________________________________*/ |
Bragadeesh153 | 13:fb7facaf308b | 285 | |
lakshya | 11:1fdb94ae6563 | 286 | float PWM_measured[3]; |
Bragadeesh153 | 13:fb7facaf308b | 287 | |
Bragadeesh153 | 13:fb7facaf308b | 288 | PWM_measured[0] = PWM1.read(); |
Bragadeesh153 | 13:fb7facaf308b | 289 | PWM_measured[1] = PWM2.read(); |
Bragadeesh153 | 13:fb7facaf308b | 290 | PWM_measured[2] = PWM3.read(); |
Bragadeesh153 | 13:fb7facaf308b | 291 | |
Bragadeesh153 | 13:fb7facaf308b | 292 | FCTN_CONVERT_FLOAT(PWM_measured[0], &telemetry[55]); |
Bragadeesh153 | 13:fb7facaf308b | 293 | FCTN_CONVERT_FLOAT(PWM_measured[1], &telemetry[59]); |
Bragadeesh153 | 13:fb7facaf308b | 294 | FCTN_CONVERT_FLOAT(PWM_measured[2], &telemetry[63]); |
lakshya | 10:f93407b97750 | 295 | float attitude_ang = angle(actual_data.Bvalue_actual[0],actual_data.Bvalue_actual[1],actual_data.Bvalue_actual[2]); |
Bragadeesh153 | 13:fb7facaf308b | 296 | FCTN_CONVERT_FLOAT(attitude_ang, &telemetry[67]); |
lakshya | 10:f93407b97750 | 297 | |
lakshya | 10:f93407b97750 | 298 | for (int i=0; i<16; i++) |
Bragadeesh153 | 13:fb7facaf308b | 299 | telemetry[68+i] = quant_data.voltage_quant[i]; |
lakshya | 10:f93407b97750 | 300 | for (int i=0; i<12; i++) |
Bragadeesh153 | 13:fb7facaf308b | 301 | telemetry[84+i] = quant_data.current_quant[i]; |
Bragadeesh153 | 13:fb7facaf308b | 302 | //telemetry[96] |
Bragadeesh153 | 13:fb7facaf308b | 303 | //telemetry[97] |
Bragadeesh153 | 13:fb7facaf308b | 304 | //telemetry[98] |
Bragadeesh153 | 13:fb7facaf308b | 305 | //telemetry[99] |
Bragadeesh153 | 13:fb7facaf308b | 306 | telemetry[100] = quant_data.Batt_voltage_quant; |
Bragadeesh153 | 13:fb7facaf308b | 307 | telemetry[101] = quant_data.BAE_temp_quant; |
Bragadeesh153 | 13:fb7facaf308b | 308 | telemetry[102] = quant_data.Batt_gauge_quant[1]; |
Bragadeesh153 | 13:fb7facaf308b | 309 | telemetry[103] = quant_data.Batt_temp_quant[0]; |
Bragadeesh153 | 13:fb7facaf308b | 310 | telemetry[104] = quant_data.Batt_temp_quant[1]; |
Bragadeesh153 | 13:fb7facaf308b | 311 | |
Bragadeesh153 | 13:fb7facaf308b | 312 | //telemetry[105] = beacon temperature; |
Bragadeesh153 | 13:fb7facaf308b | 313 | |
lakshya | 10:f93407b97750 | 314 | for (int i=105; i<132;i++) |
sakthipriya | 8:82250e41da81 | 315 | { |
Bragadeesh153 | 13:fb7facaf308b | 316 | telemetry[i] = 0x00; |
sakthipriya | 5:bb592f3185cc | 317 | } |
Bragadeesh153 | 13:fb7facaf308b | 318 | crc16 = CRC::crc16_gen(telemetry,132); |
Bragadeesh153 | 13:fb7facaf308b | 319 | telemetry[132] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 320 | telemetry[133] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 321 | |
Bragadeesh153 | 13:fb7facaf308b | 322 | break; |
Bragadeesh153 | 13:fb7facaf308b | 323 | } |
Bragadeesh153 | 13:fb7facaf308b | 324 | case 0x0002: |
Bragadeesh153 | 13:fb7facaf308b | 325 | { |
lakshya | 15:e09aaaccf134 | 326 | printf("\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 327 | telemetry[0] = 0x60; |
Bragadeesh153 | 13:fb7facaf308b | 328 | telemetry[1] = tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 329 | telemetry[2] = ACK_CODE; |
Bragadeesh153 | 13:fb7facaf308b | 330 | |
Bragadeesh153 | 13:fb7facaf308b | 331 | for(int i;i<16;i++) |
Bragadeesh153 | 13:fb7facaf308b | 332 | telemetry[i+3] = bae_HK_minmax.voltage_max[i]; |
Bragadeesh153 | 13:fb7facaf308b | 333 | |
Bragadeesh153 | 13:fb7facaf308b | 334 | for(int i;i<12;i++) |
Bragadeesh153 | 13:fb7facaf308b | 335 | telemetry[i+18] = bae_HK_minmax.current_max[i]; |
Bragadeesh153 | 13:fb7facaf308b | 336 | |
Bragadeesh153 | 13:fb7facaf308b | 337 | telemetry[29] = bae_HK_minmax.Batt_voltage_max;; |
Bragadeesh153 | 13:fb7facaf308b | 338 | telemetry[30] = bae_HK_minmax.BAE_temp_max; |
Bragadeesh153 | 13:fb7facaf308b | 339 | |
Bragadeesh153 | 13:fb7facaf308b | 340 | /*battery soc*/ |
Bragadeesh153 | 13:fb7facaf308b | 341 | //telemetry[31] = BAE_HK_min_max bae_HK_minmax.voltage_max; |
Bragadeesh153 | 13:fb7facaf308b | 342 | |
Bragadeesh153 | 13:fb7facaf308b | 343 | telemetry[32] = bae_HK_minmax.Batt_temp_max[0]; |
Bragadeesh153 | 13:fb7facaf308b | 344 | telemetry[33] = bae_HK_minmax.Batt_temp_max[1]; |
Bragadeesh153 | 13:fb7facaf308b | 345 | |
Bragadeesh153 | 13:fb7facaf308b | 346 | /*BCN temp not there*/ |
Bragadeesh153 | 13:fb7facaf308b | 347 | //telemetry[34] = BAE_HK_min_max bae_HK_minmax.; |
Bragadeesh153 | 13:fb7facaf308b | 348 | |
Bragadeesh153 | 13:fb7facaf308b | 349 | for(int i=0; i<3; i++) |
Bragadeesh153 | 13:fb7facaf308b | 350 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[i],&telemetry[35+(i*4)]); |
Bragadeesh153 | 13:fb7facaf308b | 351 | |
Bragadeesh153 | 13:fb7facaf308b | 352 | for(int i=0; i<3; i++) |
Bragadeesh153 | 13:fb7facaf308b | 353 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[i],&telemetry[47+(i*4)]); |
Bragadeesh153 | 13:fb7facaf308b | 354 | |
Bragadeesh153 | 13:fb7facaf308b | 355 | /*min data*/ |
Bragadeesh153 | 13:fb7facaf308b | 356 | |
Bragadeesh153 | 13:fb7facaf308b | 357 | for(int i;i<16;i++) |
Bragadeesh153 | 13:fb7facaf308b | 358 | telemetry[i+59] = bae_HK_minmax.voltage_min[i]; |
Bragadeesh153 | 13:fb7facaf308b | 359 | |
Bragadeesh153 | 13:fb7facaf308b | 360 | for(int i;i<12;i++) |
Bragadeesh153 | 13:fb7facaf308b | 361 | telemetry[i+74] = bae_HK_minmax.current_min[i]; |
Bragadeesh153 | 13:fb7facaf308b | 362 | |
Bragadeesh153 | 13:fb7facaf308b | 363 | telemetry[86] = bae_HK_minmax.Batt_voltage_min; |
Bragadeesh153 | 13:fb7facaf308b | 364 | telemetry[87] = bae_HK_minmax.BAE_temp_min; |
Bragadeesh153 | 13:fb7facaf308b | 365 | |
Bragadeesh153 | 13:fb7facaf308b | 366 | /*battery soc*/ |
Bragadeesh153 | 13:fb7facaf308b | 367 | //telemetry[88] = BAE_HK_min_max bae_HK_minmax.voltage_max; |
Bragadeesh153 | 13:fb7facaf308b | 368 | |
Bragadeesh153 | 13:fb7facaf308b | 369 | telemetry[89] = bae_HK_minmax.Batt_temp_min[0]; |
Bragadeesh153 | 13:fb7facaf308b | 370 | telemetry[90] = bae_HK_minmax.Batt_temp_min[1]; |
Bragadeesh153 | 13:fb7facaf308b | 371 | //huhu// |
Bragadeesh153 | 13:fb7facaf308b | 372 | |
Bragadeesh153 | 13:fb7facaf308b | 373 | /*BCN temp not there*/ |
Bragadeesh153 | 13:fb7facaf308b | 374 | //telemetry[91] = BAE_HK_min_max bae_HK_minmax.; |
Bragadeesh153 | 13:fb7facaf308b | 375 | |
Bragadeesh153 | 13:fb7facaf308b | 376 | for(int i=0; i<3; i++) |
Bragadeesh153 | 13:fb7facaf308b | 377 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[i],&telemetry[91+(i*4)]); |
Bragadeesh153 | 13:fb7facaf308b | 378 | |
Bragadeesh153 | 13:fb7facaf308b | 379 | for(int i=0; i<3; i++) |
Bragadeesh153 | 13:fb7facaf308b | 380 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[i],&telemetry[103+(i*4)]); |
Bragadeesh153 | 13:fb7facaf308b | 381 | |
Bragadeesh153 | 13:fb7facaf308b | 382 | |
Bragadeesh153 | 13:fb7facaf308b | 383 | for (int i=115; i<132;i++) |
Bragadeesh153 | 13:fb7facaf308b | 384 | { |
Bragadeesh153 | 13:fb7facaf308b | 385 | telemetry[i] = 0x00; |
Bragadeesh153 | 13:fb7facaf308b | 386 | } |
Bragadeesh153 | 13:fb7facaf308b | 387 | crc16 = CRC::crc16_gen(telemetry,132); |
Bragadeesh153 | 13:fb7facaf308b | 388 | telemetry[132] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 389 | telemetry[133] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 390 | break; |
Bragadeesh153 | 13:fb7facaf308b | 391 | } |
Bragadeesh153 | 13:fb7facaf308b | 392 | } |
Bragadeesh153 | 13:fb7facaf308b | 393 | break; |
Bragadeesh153 | 13:fb7facaf308b | 394 | } |
sakthipriya | 3:07e15677a75c | 395 | case 0x05: |
sakthipriya | 3:07e15677a75c | 396 | { |
lakshya | 15:e09aaaccf134 | 397 | printf("\nRead from MID 0001 min max\n"); |
lakshya | 15:e09aaaccf134 | 398 | /*changed*/ |
lakshya | 15:e09aaaccf134 | 399 | printf("\n\rwrite on flash\n"); |
lakshya | 15:e09aaaccf134 | 400 | uint32_t FLASH_DATA[8]; |
lakshya | 15:e09aaaccf134 | 401 | |
lakshya | 15:e09aaaccf134 | 402 | uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4]; |
lakshya | 15:e09aaaccf134 | 403 | switch(MID ) |
lakshya | 15:e09aaaccf134 | 404 | { |
lakshya | 15:e09aaaccf134 | 405 | |
lakshya | 15:e09aaaccf134 | 406 | case 0x0100: |
lakshya | 15:e09aaaccf134 | 407 | { |
lakshya | 15:e09aaaccf134 | 408 | 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 | 409 | FCTN_CDMS_WR_FLASH(0x00,FLASH_DATA[0]); |
lakshya | 15:e09aaaccf134 | 410 | break; |
lakshya | 15:e09aaaccf134 | 411 | } |
lakshya | 15:e09aaaccf134 | 412 | case 0x0101: |
lakshya | 15:e09aaaccf134 | 413 | { |
lakshya | 15:e09aaaccf134 | 414 | 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 | 415 | FCTN_CDMS_WR_FLASH(0x01,FLASH_DATA[1]); |
lakshya | 15:e09aaaccf134 | 416 | break; |
lakshya | 15:e09aaaccf134 | 417 | } |
lakshya | 15:e09aaaccf134 | 418 | |
lakshya | 15:e09aaaccf134 | 419 | case 0x0102: |
lakshya | 15:e09aaaccf134 | 420 | { |
lakshya | 15:e09aaaccf134 | 421 | 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 | 422 | FCTN_CDMS_WR_FLASH(0x02,FLASH_DATA[2]); |
lakshya | 15:e09aaaccf134 | 423 | break; |
lakshya | 15:e09aaaccf134 | 424 | } |
lakshya | 15:e09aaaccf134 | 425 | |
lakshya | 15:e09aaaccf134 | 426 | case 0x0103: |
lakshya | 15:e09aaaccf134 | 427 | { |
lakshya | 15:e09aaaccf134 | 428 | 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 | 429 | FCTN_CDMS_WR_FLASH(0x03,FLASH_DATA[3]); |
lakshya | 15:e09aaaccf134 | 430 | break; |
lakshya | 15:e09aaaccf134 | 431 | } |
lakshya | 15:e09aaaccf134 | 432 | case 0x0104: |
lakshya | 15:e09aaaccf134 | 433 | { |
lakshya | 15:e09aaaccf134 | 434 | 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 | 435 | FCTN_CDMS_WR_FLASH(0x04,FLASH_DATA[4]); |
lakshya | 15:e09aaaccf134 | 436 | break; |
lakshya | 15:e09aaaccf134 | 437 | } |
lakshya | 15:e09aaaccf134 | 438 | |
lakshya | 15:e09aaaccf134 | 439 | case 0x0105: |
lakshya | 15:e09aaaccf134 | 440 | { |
lakshya | 15:e09aaaccf134 | 441 | 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 | 442 | FCTN_CDMS_WR_FLASH(0x05,FLASH_DATA[5]); |
lakshya | 15:e09aaaccf134 | 443 | break; |
lakshya | 15:e09aaaccf134 | 444 | } |
lakshya | 15:e09aaaccf134 | 445 | case 0x0106: |
lakshya | 15:e09aaaccf134 | 446 | { |
lakshya | 15:e09aaaccf134 | 447 | 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 | 448 | FCTN_CDMS_WR_FLASH(0x06,FLASH_DATA[6]); |
lakshya | 15:e09aaaccf134 | 449 | break; |
lakshya | 15:e09aaaccf134 | 450 | } |
lakshya | 15:e09aaaccf134 | 451 | |
lakshya | 15:e09aaaccf134 | 452 | case 0x0107: |
lakshya | 15:e09aaaccf134 | 453 | { |
lakshya | 15:e09aaaccf134 | 454 | 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 | 455 | FCTN_CDMS_WR_FLASH(0x07,FLASH_DATA[7]); |
lakshya | 15:e09aaaccf134 | 456 | break; |
lakshya | 15:e09aaaccf134 | 457 | } |
lakshya | 15:e09aaaccf134 | 458 | |
lakshya | 15:e09aaaccf134 | 459 | default: |
lakshya | 15:e09aaaccf134 | 460 | { |
lakshya | 15:e09aaaccf134 | 461 | printf("Invalid MMS\r\n"); |
lakshya | 15:e09aaaccf134 | 462 | } |
lakshya | 15:e09aaaccf134 | 463 | } |
lakshya | 15:e09aaaccf134 | 464 | |
lakshya | 15:e09aaaccf134 | 465 | |
lakshya | 15:e09aaaccf134 | 466 | for (int i=4; i<132;i++) |
lakshya | 15:e09aaaccf134 | 467 | { |
lakshya | 15:e09aaaccf134 | 468 | tm[i] = 0x00; |
lakshya | 15:e09aaaccf134 | 469 | } |
lakshya | 15:e09aaaccf134 | 470 | crc16 = CRC::crc16_gen(tm,132); |
lakshya | 15:e09aaaccf134 | 471 | tm[132] = (uint8_t)((crc16&0xFF00)>>8); |
lakshya | 15:e09aaaccf134 | 472 | tm[133] = (uint8_t)(crc16&0x00FF); |
lakshya | 15:e09aaaccf134 | 473 | tm[0] = 0x60; |
lakshya | 15:e09aaaccf134 | 474 | tm[1] = tc[0]; |
lakshya | 15:e09aaaccf134 | 475 | tm[2] = ACK_CODE; |
lakshya | 15:e09aaaccf134 | 476 | |
lakshya | 15:e09aaaccf134 | 477 | printf("Written on Flash\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 478 | break; |
sakthipriya | 3:07e15677a75c | 479 | } |
sakthipriya | 3:07e15677a75c | 480 | default: |
sakthipriya | 3:07e15677a75c | 481 | { |
sakthipriya | 3:07e15677a75c | 482 | printf("Invalid TC"); |
Bragadeesh153 | 13:fb7facaf308b | 483 | //ACK_L234_telemetry |
Bragadeesh153 | 13:fb7facaf308b | 484 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 485 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 486 | telemetry[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 487 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 488 | { |
Bragadeesh153 | 13:fb7facaf308b | 489 | telemetry[i]=0x00; |
sakthipriya | 0:7b4c00e3912f | 490 | } |
Bragadeesh153 | 13:fb7facaf308b | 491 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 492 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 493 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 494 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 495 | { |
Bragadeesh153 | 13:fb7facaf308b | 496 | telemetry[i]=0x00; |
sakthipriya | 0:7b4c00e3912f | 497 | } |
Bragadeesh153 | 13:fb7facaf308b | 498 | break; |
sakthipriya | 3:07e15677a75c | 499 | } |
sakthipriya | 3:07e15677a75c | 500 | } |
Bragadeesh153 | 13:fb7facaf308b | 501 | break; |
sakthipriya | 0:7b4c00e3912f | 502 | } |
sakthipriya | 3:07e15677a75c | 503 | case 0x80: |
sakthipriya | 3:07e15677a75c | 504 | { |
Bragadeesh153 | 13:fb7facaf308b | 505 | //printf("Function Management Service\r\n"); |
sakthipriya | 3:07e15677a75c | 506 | uint8_t service_subtype=(tc[2]&0x0F); |
sakthipriya | 3:07e15677a75c | 507 | switch(service_subtype) |
sakthipriya | 3:07e15677a75c | 508 | { |
sakthipriya | 3:07e15677a75c | 509 | case 0x01: |
sakthipriya | 3:07e15677a75c | 510 | { |
sakthipriya | 3:07e15677a75c | 511 | printf("FMS Activated\r\n"); |
sakthipriya | 3:07e15677a75c | 512 | uint8_t pid=tc[3]; |
sakthipriya | 3:07e15677a75c | 513 | switch(pid) |
sakthipriya | 3:07e15677a75c | 514 | { |
sakthipriya | 5:bb592f3185cc | 515 | case 0xE0: |
sakthipriya | 3:07e15677a75c | 516 | { |
Bragadeesh153 | 18:21740620c65e | 517 | float mag_data[3]={0,0,0}; |
Bragadeesh153 | 18:21740620c65e | 518 | float gyro_data[3]={0,0,0}; |
Bragadeesh153 | 18:21740620c65e | 519 | printf("ACS_COMSN SOFTWARE\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 520 | //ACK_L234_telemetry |
Bragadeesh153 | 13:fb7facaf308b | 521 | |
Bragadeesh153 | 18:21740620c65e | 522 | ACS_STATE = tc[4]; |
Bragadeesh153 | 18:21740620c65e | 523 | |
Bragadeesh153 | 18:21740620c65e | 524 | if(ACS_STATE == 7) // Nominal mode |
Bragadeesh153 | 18:21740620c65e | 525 | { |
Bragadeesh153 | 18:21740620c65e | 526 | |
Bragadeesh153 | 18:21740620c65e | 527 | printf("\n\r Nominal mode \n"); |
Bragadeesh153 | 18:21740620c65e | 528 | DRV_Z_EN = 1; |
Bragadeesh153 | 18:21740620c65e | 529 | DRV_XY_EN = 1; |
Bragadeesh153 | 18:21740620c65e | 530 | |
Bragadeesh153 | 18:21740620c65e | 531 | FCTN_ACS_CNTRLALGO(mag_data,gyro_data,1); |
Bragadeesh153 | 18:21740620c65e | 532 | |
Bragadeesh153 | 18:21740620c65e | 533 | printf("\n\r Moment values returned by control algo \n"); |
Bragadeesh153 | 18:21740620c65e | 534 | for(int i=0; i<3; i++) |
Bragadeesh153 | 18:21740620c65e | 535 | { |
Bragadeesh153 | 18:21740620c65e | 536 | printf("%f\t",moment[i]); |
Bragadeesh153 | 18:21740620c65e | 537 | } |
Bragadeesh153 | 18:21740620c65e | 538 | |
Bragadeesh153 | 18:21740620c65e | 539 | ACS_STATUS = 5; // set ACS_STATUS = ACS_NOMINAL_ONLY |
Bragadeesh153 | 18:21740620c65e | 540 | |
Bragadeesh153 | 18:21740620c65e | 541 | } |
Bragadeesh153 | 18:21740620c65e | 542 | |
Bragadeesh153 | 18:21740620c65e | 543 | else if(ACS_STATE == 8) // Auto Control |
Bragadeesh153 | 18:21740620c65e | 544 | { |
Bragadeesh153 | 18:21740620c65e | 545 | |
Bragadeesh153 | 18:21740620c65e | 546 | printf("\n\r Auto control mode \n"); |
Bragadeesh153 | 18:21740620c65e | 547 | DRV_Z_EN = 1; |
Bragadeesh153 | 18:21740620c65e | 548 | DRV_XY_EN = 1; |
Bragadeesh153 | 18:21740620c65e | 549 | |
Bragadeesh153 | 18:21740620c65e | 550 | |
Bragadeesh153 | 18:21740620c65e | 551 | FCTN_ACS_CNTRLALGO(mag_data,gyro_data,0); |
Bragadeesh153 | 18:21740620c65e | 552 | printf("\n\r Moment values returned by control algo \n"); |
Bragadeesh153 | 18:21740620c65e | 553 | for(int i=0; i<3; i++) |
Bragadeesh153 | 18:21740620c65e | 554 | { |
Bragadeesh153 | 18:21740620c65e | 555 | printf("%f\t",moment[i]); |
Bragadeesh153 | 18:21740620c65e | 556 | } |
Bragadeesh153 | 13:fb7facaf308b | 557 | |
Bragadeesh153 | 18:21740620c65e | 558 | } |
Bragadeesh153 | 18:21740620c65e | 559 | |
Bragadeesh153 | 18:21740620c65e | 560 | else if(ACS_STATE == 9) // Detumbling |
sakthipriya | 3:07e15677a75c | 561 | { |
Bragadeesh153 | 18:21740620c65e | 562 | DRV_Z_EN = 1; |
Bragadeesh153 | 18:21740620c65e | 563 | DRV_XY_EN = 1; |
Bragadeesh153 | 18:21740620c65e | 564 | |
Bragadeesh153 | 18:21740620c65e | 565 | if(flag_firsttime==1) |
Bragadeesh153 | 18:21740620c65e | 566 | { |
Bragadeesh153 | 18:21740620c65e | 567 | for(int i=0;i<3;i++) |
Bragadeesh153 | 18:21740620c65e | 568 | { |
Bragadeesh153 | 18:21740620c65e | 569 | db[i]=0; // Unit: Tesla/Second |
Bragadeesh153 | 18:21740620c65e | 570 | } |
Bragadeesh153 | 18:21740620c65e | 571 | flag_firsttime=0; |
Bragadeesh153 | 18:21740620c65e | 572 | } |
Bragadeesh153 | 18:21740620c65e | 573 | |
Bragadeesh153 | 18:21740620c65e | 574 | else |
Bragadeesh153 | 18:21740620c65e | 575 | { |
Bragadeesh153 | 18:21740620c65e | 576 | for(int i=0;i<3;i++) |
Bragadeesh153 | 18:21740620c65e | 577 | { |
Bragadeesh153 | 18:21740620c65e | 578 | db[i]= (mag_data[i]-b_old[i])/sampling_time; // Unit: Tesla/Second |
Bragadeesh153 | 18:21740620c65e | 579 | } |
Bragadeesh153 | 18:21740620c65e | 580 | } |
Bragadeesh153 | 18:21740620c65e | 581 | |
Bragadeesh153 | 18:21740620c65e | 582 | |
Bragadeesh153 | 18:21740620c65e | 583 | if (ACS_DETUMBLING_ALGO_TYPE == 0) |
Bragadeesh153 | 18:21740620c65e | 584 | { |
Bragadeesh153 | 18:21740620c65e | 585 | |
Bragadeesh153 | 18:21740620c65e | 586 | for(int i=0;i<3;i++) |
Bragadeesh153 | 18:21740620c65e | 587 | { |
Bragadeesh153 | 18:21740620c65e | 588 | moment[i]=-kdetumble*(mag_data[(i+1)%3]*gyro_data[(i+2)%3]-mag_data[(i+2)%3]*gyro_data[(i+1)%3]); // Unit: Ampere*Meter^2 |
Bragadeesh153 | 18:21740620c65e | 589 | } |
Bragadeesh153 | 18:21740620c65e | 590 | |
Bragadeesh153 | 18:21740620c65e | 591 | |
Bragadeesh153 | 18:21740620c65e | 592 | ACS_STATUS = 6; // set ACS_STATUS = ACS_BOMEGA_CONTROL |
Bragadeesh153 | 18:21740620c65e | 593 | } |
Bragadeesh153 | 18:21740620c65e | 594 | |
Bragadeesh153 | 18:21740620c65e | 595 | else if(ACS_DETUMBLING_ALGO_TYPE == 1) |
Bragadeesh153 | 18:21740620c65e | 596 | { |
Bragadeesh153 | 18:21740620c65e | 597 | |
Bragadeesh153 | 18:21740620c65e | 598 | for(int i=0;i<3;i++) |
Bragadeesh153 | 18:21740620c65e | 599 | { |
Bragadeesh153 | 18:21740620c65e | 600 | moment[i]=-kdetumble*db[i]; // Unit: Ampere*Meter^2 |
Bragadeesh153 | 18:21740620c65e | 601 | } |
Bragadeesh153 | 18:21740620c65e | 602 | |
Bragadeesh153 | 18:21740620c65e | 603 | ACS_STATUS = 4; // set ACS_STATUS = ACS_BDOT_CONTROL |
Bragadeesh153 | 18:21740620c65e | 604 | } |
Bragadeesh153 | 18:21740620c65e | 605 | |
Bragadeesh153 | 18:21740620c65e | 606 | for(int i=0;i<3;i++) |
Bragadeesh153 | 18:21740620c65e | 607 | { |
Bragadeesh153 | 18:21740620c65e | 608 | |
Bragadeesh153 | 18:21740620c65e | 609 | b_old[i]= mag_data[i]; // Unit: Tesla/Second |
Bragadeesh153 | 18:21740620c65e | 610 | } |
Bragadeesh153 | 18:21740620c65e | 611 | |
Bragadeesh153 | 18:21740620c65e | 612 | printf("\n\r Moment values returned by control algo \n"); |
Bragadeesh153 | 18:21740620c65e | 613 | for(int i=0; i<3; i++) |
Bragadeesh153 | 18:21740620c65e | 614 | { |
Bragadeesh153 | 18:21740620c65e | 615 | printf("%f\t",moment[i]); |
Bragadeesh153 | 18:21740620c65e | 616 | } |
sakthipriya | 3:07e15677a75c | 617 | } |
Bragadeesh153 | 18:21740620c65e | 618 | |
Bragadeesh153 | 18:21740620c65e | 619 | ACS_STATUS = 7; |
Bragadeesh153 | 13:fb7facaf308b | 620 | |
lakshya | 10:f93407b97750 | 621 | // Control algo commissioning |
Bragadeesh153 | 13:fb7facaf308b | 622 | FCTN_CONVERT_FLOAT(moment[0],&telemetry[4]); //telemetry[4] - telemetry[7] |
Bragadeesh153 | 13:fb7facaf308b | 623 | FCTN_CONVERT_FLOAT(moment[1],&telemetry[8]); //telemetry[8] - telemetry[11] |
Bragadeesh153 | 13:fb7facaf308b | 624 | FCTN_CONVERT_FLOAT(moment[2],&telemetry[12]); //telemetry[12] - telemetry[15] |
lakshya | 10:f93407b97750 | 625 | // to include commission TR as well |
lakshya | 10:f93407b97750 | 626 | for(uint8_t i=16;i<132;i++) |
lakshya | 10:f93407b97750 | 627 | { |
Bragadeesh153 | 13:fb7facaf308b | 628 | telemetry[i]=0x00; |
lakshya | 10:f93407b97750 | 629 | } |
Bragadeesh153 | 13:fb7facaf308b | 630 | |
Bragadeesh153 | 13:fb7facaf308b | 631 | crc16 = CRC::crc16_gen(telemetry,132); |
Bragadeesh153 | 13:fb7facaf308b | 632 | telemetry[133] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 633 | telemetry[134] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 634 | break; |
sakthipriya | 3:07e15677a75c | 635 | } |
lakshya | 10:f93407b97750 | 636 | case 0xE1: |
sakthipriya | 3:07e15677a75c | 637 | { |
lakshya | 10:f93407b97750 | 638 | printf("HARDWARE_COMSN\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 639 | //ACK_L234_telemetry |
Bragadeesh153 | 18:21740620c65e | 640 | |
Bragadeesh153 | 18:21740620c65e | 641 | int init; |
Bragadeesh153 | 18:21740620c65e | 642 | int data; |
Bragadeesh153 | 13:fb7facaf308b | 643 | |
Bragadeesh153 | 18:21740620c65e | 644 | float PWM_tc[3]; |
Bragadeesh153 | 18:21740620c65e | 645 | PWM_tc[0]=(float(tc[4]))*1; |
Bragadeesh153 | 18:21740620c65e | 646 | PWM_tc[1]=(float(tc[4]))*1; |
Bragadeesh153 | 18:21740620c65e | 647 | PWM_tc[2]=(float(tc[4]))*1; |
Bragadeesh153 | 18:21740620c65e | 648 | |
Bragadeesh153 | 18:21740620c65e | 649 | DRV_Z_EN = 1; |
Bragadeesh153 | 18:21740620c65e | 650 | DRV_XY_EN = 1; |
Bragadeesh153 | 18:21740620c65e | 651 | |
Bragadeesh153 | 13:fb7facaf308b | 652 | |
Bragadeesh153 | 13:fb7facaf308b | 653 | |
Bragadeesh153 | 13:fb7facaf308b | 654 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 655 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 656 | telemetry[2]=ACK_CODE; |
lakshya | 10:f93407b97750 | 657 | |
Bragadeesh153 | 18:21740620c65e | 658 | PWM1 = 0; |
Bragadeesh153 | 18:21740620c65e | 659 | PWM2 = 0; |
Bragadeesh153 | 18:21740620c65e | 660 | PWM3 = 0; |
Bragadeesh153 | 18:21740620c65e | 661 | |
Bragadeesh153 | 18:21740620c65e | 662 | wait_ms(ACS_DEMAG_TIME_DELAY); |
Bragadeesh153 | 18:21740620c65e | 663 | |
Bragadeesh153 | 18:21740620c65e | 664 | ATS2_SW_ENABLE = 1; |
Bragadeesh153 | 18:21740620c65e | 665 | ATS1_SW_ENABLE = 0; |
Bragadeesh153 | 18:21740620c65e | 666 | init = SENSOR_INIT(); |
Bragadeesh153 | 18:21740620c65e | 667 | data = SENSOR_DATA_ACQ(); |
Bragadeesh153 | 18:21740620c65e | 668 | |
Bragadeesh153 | 18:21740620c65e | 669 | ATS2_SW_ENABLE = 1; |
Bragadeesh153 | 18:21740620c65e | 670 | ATS1_SW_ENABLE = 0; |
Bragadeesh153 | 18:21740620c65e | 671 | init = SENSOR_INIT(); |
Bragadeesh153 | 18:21740620c65e | 672 | data = SENSOR_DATA_ACQ(); |
Bragadeesh153 | 18:21740620c65e | 673 | |
Bragadeesh153 | 18:21740620c65e | 674 | PWM1 = PWM_tc[0]; |
Bragadeesh153 | 18:21740620c65e | 675 | PWM2 = 0; |
Bragadeesh153 | 18:21740620c65e | 676 | PWM3 = 0; |
Bragadeesh153 | 18:21740620c65e | 677 | |
Bragadeesh153 | 18:21740620c65e | 678 | wait_ms(ACS_DEMAG_TIME_DELAY); |
Bragadeesh153 | 18:21740620c65e | 679 | |
Bragadeesh153 | 18:21740620c65e | 680 | SENSOR_DATA_ACQ(); |
Bragadeesh153 | 18:21740620c65e | 681 | FCTN_CONVERT_FLOAT(actual_data.current_actual[5],&telemetry[3 + (0*4)]); |
Bragadeesh153 | 18:21740620c65e | 682 | FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[0],&telemetry[3 + (1*4)]); |
Bragadeesh153 | 18:21740620c65e | 683 | FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[1],&telemetry[3 + (2*4)]); |
Bragadeesh153 | 18:21740620c65e | 684 | FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[2],&telemetry[3 + (3*4)]); |
lakshya | 10:f93407b97750 | 685 | |
lakshya | 10:f93407b97750 | 686 | |
Bragadeesh153 | 18:21740620c65e | 687 | PWM1 = 0; |
Bragadeesh153 | 18:21740620c65e | 688 | PWM2 = PWM_tc[1]; |
Bragadeesh153 | 18:21740620c65e | 689 | PWM3 = 0; |
Bragadeesh153 | 18:21740620c65e | 690 | |
Bragadeesh153 | 18:21740620c65e | 691 | wait_ms(ACS_DEMAG_TIME_DELAY); |
Bragadeesh153 | 18:21740620c65e | 692 | |
Bragadeesh153 | 18:21740620c65e | 693 | |
Bragadeesh153 | 18:21740620c65e | 694 | |
Bragadeesh153 | 18:21740620c65e | 695 | SENSOR_DATA_ACQ(); |
Bragadeesh153 | 18:21740620c65e | 696 | FCTN_CONVERT_FLOAT(actual_data.current_actual[5],&telemetry[3 + (4*4)]); |
Bragadeesh153 | 18:21740620c65e | 697 | FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[0],&telemetry[3 + (5*4)]); |
Bragadeesh153 | 18:21740620c65e | 698 | FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[1],&telemetry[3 + (6*4)]); |
Bragadeesh153 | 18:21740620c65e | 699 | FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[2],&telemetry[3 + (7*4)]); |
lakshya | 10:f93407b97750 | 700 | |
Bragadeesh153 | 18:21740620c65e | 701 | PWM1 = 0; |
Bragadeesh153 | 18:21740620c65e | 702 | PWM2 = 0; |
Bragadeesh153 | 18:21740620c65e | 703 | PWM3 = PWM_tc[2]; |
Bragadeesh153 | 18:21740620c65e | 704 | |
Bragadeesh153 | 18:21740620c65e | 705 | wait_ms(ACS_DEMAG_TIME_DELAY); |
Bragadeesh153 | 18:21740620c65e | 706 | |
Bragadeesh153 | 18:21740620c65e | 707 | wait_ms(ACS_DEMAG_TIME_DELAY); |
Bragadeesh153 | 13:fb7facaf308b | 708 | |
Bragadeesh153 | 18:21740620c65e | 709 | SENSOR_DATA_ACQ(); |
Bragadeesh153 | 18:21740620c65e | 710 | FCTN_CONVERT_FLOAT(actual_data.current_actual[5],&telemetry[3 + (4*4)]); |
Bragadeesh153 | 18:21740620c65e | 711 | FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[0],&telemetry[3 + (5*4)]); |
Bragadeesh153 | 18:21740620c65e | 712 | FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[1],&telemetry[3 + (6*4)]); |
Bragadeesh153 | 18:21740620c65e | 713 | FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[2],&telemetry[3 + (7*4)]); |
Bragadeesh153 | 18:21740620c65e | 714 | |
Bragadeesh153 | 18:21740620c65e | 715 | |
lakshya | 10:f93407b97750 | 716 | |
lakshya | 10:f93407b97750 | 717 | |
Bragadeesh153 | 13:fb7facaf308b | 718 | // for(int i=0; i<12; i++) |
Bragadeesh153 | 13:fb7facaf308b | 719 | // FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&telemetry[16 + (i*4)]); |
lakshya | 10:f93407b97750 | 720 | |
Bragadeesh153 | 13:fb7facaf308b | 721 | |
Bragadeesh153 | 13:fb7facaf308b | 722 | // FCTN_ATS_DATA_ACQ(); //get data |
Bragadeesh153 | 13:fb7facaf308b | 723 | |
lakshya | 10:f93407b97750 | 724 | |
lakshya | 10:f93407b97750 | 725 | // to include commission TR as well |
Bragadeesh153 | 18:21740620c65e | 726 | for(uint8_t i=35;i<132;i++) |
lakshya | 10:f93407b97750 | 727 | { |
Bragadeesh153 | 13:fb7facaf308b | 728 | telemetry[i]=0x00; |
lakshya | 10:f93407b97750 | 729 | } |
Bragadeesh153 | 13:fb7facaf308b | 730 | |
Bragadeesh153 | 13:fb7facaf308b | 731 | crc16 = CRC::crc16_gen(telemetry,132); |
Bragadeesh153 | 13:fb7facaf308b | 732 | telemetry[133] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 733 | telemetry[134] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 734 | break; |
lakshya | 10:f93407b97750 | 735 | } |
Bragadeesh153 | 13:fb7facaf308b | 736 | case 0x02: |
lakshya | 10:f93407b97750 | 737 | { |
Bragadeesh153 | 13:fb7facaf308b | 738 | |
Bragadeesh153 | 13:fb7facaf308b | 739 | printf("Run P_EPS_MAIN\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 740 | F_EPS(); |
Bragadeesh153 | 13:fb7facaf308b | 741 | //ACK_L234_telemetry |
Bragadeesh153 | 13:fb7facaf308b | 742 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 743 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 744 | telemetry[2]=ACK_CODE; |
lakshya | 10:f93407b97750 | 745 | for(uint8_t i=0;i<133;i++) |
sakthipriya | 3:07e15677a75c | 746 | { |
Bragadeesh153 | 13:fb7facaf308b | 747 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 748 | } |
Bragadeesh153 | 13:fb7facaf308b | 749 | crc16 = CRC::crc16_gen(telemetry,132); |
Bragadeesh153 | 13:fb7facaf308b | 750 | telemetry[132] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 751 | telemetry[133] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 752 | |
sakthipriya | 3:07e15677a75c | 753 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 754 | { |
Bragadeesh153 | 13:fb7facaf308b | 755 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 756 | } |
Bragadeesh153 | 13:fb7facaf308b | 757 | break; |
sakthipriya | 3:07e15677a75c | 758 | } |
Bragadeesh153 | 13:fb7facaf308b | 759 | case 0x03: |
sakthipriya | 3:07e15677a75c | 760 | { |
Bragadeesh153 | 13:fb7facaf308b | 761 | printf("Run P_ACS_INIT\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 762 | FCTN_ACS_INIT(); |
Bragadeesh153 | 13:fb7facaf308b | 763 | //ACK_L234_telemetry |
Bragadeesh153 | 13:fb7facaf308b | 764 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 765 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 766 | telemetry[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 767 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 768 | { |
Bragadeesh153 | 13:fb7facaf308b | 769 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 770 | } |
Bragadeesh153 | 13:fb7facaf308b | 771 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 772 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 773 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 774 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 775 | { |
Bragadeesh153 | 13:fb7facaf308b | 776 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 777 | } |
Bragadeesh153 | 13:fb7facaf308b | 778 | break; |
sakthipriya | 3:07e15677a75c | 779 | } |
sakthipriya | 3:07e15677a75c | 780 | case 0x04: |
sakthipriya | 3:07e15677a75c | 781 | { |
Bragadeesh153 | 13:fb7facaf308b | 782 | |
sakthipriya | 3:07e15677a75c | 783 | printf("Run P_ACS_ACQ_DATA\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 784 | FCTN_ATS_DATA_ACQ(); |
sakthipriya | 3:07e15677a75c | 785 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 786 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 787 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 788 | telemetry[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 789 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 790 | { |
Bragadeesh153 | 13:fb7facaf308b | 791 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 792 | } |
Bragadeesh153 | 13:fb7facaf308b | 793 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 794 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 795 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 796 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 797 | { |
Bragadeesh153 | 13:fb7facaf308b | 798 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 799 | } |
Bragadeesh153 | 13:fb7facaf308b | 800 | break; |
sakthipriya | 3:07e15677a75c | 801 | } |
sakthipriya | 3:07e15677a75c | 802 | case 0x05: |
sakthipriya | 3:07e15677a75c | 803 | { |
sakthipriya | 3:07e15677a75c | 804 | printf("Run P_ACS_MAIN\r\n"); |
lakshya | 10:f93407b97750 | 805 | F_ACS(); |
Bragadeesh153 | 13:fb7facaf308b | 806 | for(int i=0; i<3; i++) |
Bragadeesh153 | 13:fb7facaf308b | 807 | FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[i],&telemetry[(i*4)]); |
lakshya | 10:f93407b97750 | 808 | for(int i=0; i<3; i++) |
Bragadeesh153 | 13:fb7facaf308b | 809 | FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[i],&telemetry[12+(i*4)]); |
Bragadeesh153 | 13:fb7facaf308b | 810 | |
Bragadeesh153 | 13:fb7facaf308b | 811 | telemetry[24] = ACS_STATE; |
Bragadeesh153 | 13:fb7facaf308b | 812 | telemetry[24] = telemetry[5]|(EN_BTRY_HT<<3); |
Bragadeesh153 | 13:fb7facaf308b | 813 | telemetry[24] = telemetry[5]|(phase_TR_x<<4); |
Bragadeesh153 | 13:fb7facaf308b | 814 | telemetry[24] = telemetry[5]|(phase_TR_y<<5); |
Bragadeesh153 | 13:fb7facaf308b | 815 | telemetry[24] = telemetry[5]|(phase_TR_z<<6); |
Bragadeesh153 | 13:fb7facaf308b | 816 | |
lakshya | 11:1fdb94ae6563 | 817 | /*___________________change / check pwm working__________________________________*/ |
Bragadeesh153 | 13:fb7facaf308b | 818 | |
Bragadeesh153 | 13:fb7facaf308b | 819 | FCTN_CONVERT_FLOAT(PWM1,&telemetry[25]); |
Bragadeesh153 | 13:fb7facaf308b | 820 | FCTN_CONVERT_FLOAT(PWM2,&telemetry[29]); |
Bragadeesh153 | 13:fb7facaf308b | 821 | FCTN_CONVERT_FLOAT(PWM3,&telemetry[33]); |
Bragadeesh153 | 13:fb7facaf308b | 822 | |
lakshya | 10:f93407b97750 | 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]=ACK_CODE; |
lakshya | 10:f93407b97750 | 827 | for(uint8_t i=3;i<11;i++) |
lakshya | 10:f93407b97750 | 828 | { |
Bragadeesh153 | 13:fb7facaf308b | 829 | telemetry[i]=0x00; |
lakshya | 10:f93407b97750 | 830 | } |
Bragadeesh153 | 13:fb7facaf308b | 831 | |
Bragadeesh153 | 13:fb7facaf308b | 832 | crc16 = CRC::crc16_gen(telemetry,37); |
Bragadeesh153 | 13:fb7facaf308b | 833 | telemetry[37] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 834 | telemetry[38] = (uint8_t)(crc16&0x00FF); |
lakshya | 10:f93407b97750 | 835 | for(uint8_t i=39;i<134;i++) |
lakshya | 10:f93407b97750 | 836 | { |
Bragadeesh153 | 13:fb7facaf308b | 837 | telemetry[i]=0x00; |
lakshya | 10:f93407b97750 | 838 | } |
Bragadeesh153 | 13:fb7facaf308b | 839 | break; |
lakshya | 10:f93407b97750 | 840 | } |
lakshya | 10:f93407b97750 | 841 | case 0x06: |
lakshya | 10:f93407b97750 | 842 | { |
lakshya | 10:f93407b97750 | 843 | F_BCN(); |
Bragadeesh153 | 13:fb7facaf308b | 844 | printf("Run P_BCN_INIT\r\n"); |
sakthipriya | 3:07e15677a75c | 845 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 846 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 847 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 848 | telemetry[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 849 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 850 | { |
Bragadeesh153 | 13:fb7facaf308b | 851 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 852 | } |
Bragadeesh153 | 13:fb7facaf308b | 853 | crc16 = CRC::crc16_gen(telemetry,0); |
Bragadeesh153 | 13:fb7facaf308b | 854 | telemetry[0] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 855 | telemetry[1] = (uint8_t)(crc16&0x00FF); |
lakshya | 10:f93407b97750 | 856 | for(uint8_t i=2;i<134;i++) |
sakthipriya | 3:07e15677a75c | 857 | { |
Bragadeesh153 | 13:fb7facaf308b | 858 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 859 | } |
Bragadeesh153 | 13:fb7facaf308b | 860 | break; |
sakthipriya | 3:07e15677a75c | 861 | } |
sakthipriya | 3:07e15677a75c | 862 | case 0x07: |
sakthipriya | 3:07e15677a75c | 863 | { |
Bragadeesh153 | 13:fb7facaf308b | 864 | printf("Run P_BCN_TX_MAIN\r\n"); |
sakthipriya | 3:07e15677a75c | 865 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 866 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 867 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 868 | telemetry[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 869 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 870 | { |
Bragadeesh153 | 13:fb7facaf308b | 871 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 872 | } |
Bragadeesh153 | 13:fb7facaf308b | 873 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 874 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 875 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 876 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 877 | { |
Bragadeesh153 | 13:fb7facaf308b | 878 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 879 | } |
Bragadeesh153 | 13:fb7facaf308b | 880 | break; |
Bragadeesh153 | 13:fb7facaf308b | 881 | } |
Bragadeesh153 | 13:fb7facaf308b | 882 | case 0x11: |
sakthipriya | 3:07e15677a75c | 883 | { |
sakthipriya | 3:07e15677a75c | 884 | printf("SW_ON_ACS_ATS1_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 885 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 886 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 887 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 888 | telemetry[2]=1; |
lakshya | 10:f93407b97750 | 889 | ATS1_SW_ENABLE = 1; // making sure we switch off the other |
sakthipriya | 9:194afacf7449 | 890 | ATS1_SW_ENABLE = 0; |
sakthipriya | 3:07e15677a75c | 891 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 892 | { |
Bragadeesh153 | 13:fb7facaf308b | 893 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 894 | } |
Bragadeesh153 | 13:fb7facaf308b | 895 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 896 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 897 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 898 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 899 | { |
Bragadeesh153 | 13:fb7facaf308b | 900 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 901 | } |
Bragadeesh153 | 13:fb7facaf308b | 902 | break; |
sakthipriya | 3:07e15677a75c | 903 | } |
sakthipriya | 3:07e15677a75c | 904 | case 0x12: |
sakthipriya | 3:07e15677a75c | 905 | { |
sakthipriya | 3:07e15677a75c | 906 | printf("SW_ON_ACS_ATS2_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 907 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 908 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 909 | telemetry[1]=tc[0]; |
lakshya | 10:f93407b97750 | 910 | ATS1_SW_ENABLE = 1; //make sure u switch off the other |
sakthipriya | 9:194afacf7449 | 911 | ATS2_SW_ENABLE = 0; |
Bragadeesh153 | 13:fb7facaf308b | 912 | telemetry[2]=1; |
sakthipriya | 3:07e15677a75c | 913 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 914 | { |
Bragadeesh153 | 13:fb7facaf308b | 915 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 916 | } |
Bragadeesh153 | 13:fb7facaf308b | 917 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 918 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 919 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 920 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 921 | { |
Bragadeesh153 | 13:fb7facaf308b | 922 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 923 | } |
Bragadeesh153 | 13:fb7facaf308b | 924 | break; |
sakthipriya | 3:07e15677a75c | 925 | } |
sakthipriya | 3:07e15677a75c | 926 | case 0x13: |
sakthipriya | 3:07e15677a75c | 927 | { |
sakthipriya | 3:07e15677a75c | 928 | printf("SW_ON_ACS_TR_XY_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 929 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 930 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 931 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 932 | TRXY_SW = 1; |
Bragadeesh153 | 13:fb7facaf308b | 933 | telemetry[2]=1; |
sakthipriya | 3:07e15677a75c | 934 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 935 | { |
Bragadeesh153 | 13:fb7facaf308b | 936 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 937 | } |
Bragadeesh153 | 13:fb7facaf308b | 938 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 939 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 940 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 941 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 942 | { |
Bragadeesh153 | 13:fb7facaf308b | 943 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 944 | } |
Bragadeesh153 | 13:fb7facaf308b | 945 | break; |
sakthipriya | 3:07e15677a75c | 946 | } |
sakthipriya | 3:07e15677a75c | 947 | case 0x14: |
sakthipriya | 3:07e15677a75c | 948 | { |
sakthipriya | 3:07e15677a75c | 949 | printf("SW_ON_ACS_TR_Z_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 950 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 951 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 952 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 953 | telemetry[2]=1; |
sakthipriya | 5:bb592f3185cc | 954 | TRZ_SW = 1; |
sakthipriya | 3:07e15677a75c | 955 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 956 | { |
Bragadeesh153 | 13:fb7facaf308b | 957 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 958 | } |
Bragadeesh153 | 13:fb7facaf308b | 959 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 960 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 961 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 962 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 963 | { |
Bragadeesh153 | 13:fb7facaf308b | 964 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 965 | } |
Bragadeesh153 | 13:fb7facaf308b | 966 | break; |
sakthipriya | 3:07e15677a75c | 967 | } |
Bragadeesh153 | 13:fb7facaf308b | 968 | case 0x15: |
sakthipriya | 3:07e15677a75c | 969 | { |
sakthipriya | 3:07e15677a75c | 970 | printf("SW_ON_BCN_TX_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 971 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 972 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 973 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 974 | telemetry[2]=1; |
Bragadeesh153 | 13:fb7facaf308b | 975 | BCN_SW = 0; |
sakthipriya | 3:07e15677a75c | 976 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 977 | { |
Bragadeesh153 | 13:fb7facaf308b | 978 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 979 | } |
Bragadeesh153 | 13:fb7facaf308b | 980 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 981 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 982 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 983 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 984 | { |
Bragadeesh153 | 13:fb7facaf308b | 985 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 986 | } |
Bragadeesh153 | 13:fb7facaf308b | 987 | break; |
sakthipriya | 3:07e15677a75c | 988 | } |
sakthipriya | 3:07e15677a75c | 989 | case 0x21: |
sakthipriya | 3:07e15677a75c | 990 | { |
sakthipriya | 3:07e15677a75c | 991 | printf("SW_OFF_ACS_ATS1_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 992 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 993 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 994 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 995 | telemetry[2]=1; |
sakthipriya | 9:194afacf7449 | 996 | ATS1_SW_ENABLE = 1; |
sakthipriya | 3:07e15677a75c | 997 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 998 | { |
Bragadeesh153 | 13:fb7facaf308b | 999 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1000 | } |
Bragadeesh153 | 13:fb7facaf308b | 1001 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1002 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1003 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1004 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1005 | { |
Bragadeesh153 | 13:fb7facaf308b | 1006 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1007 | } |
Bragadeesh153 | 13:fb7facaf308b | 1008 | break; |
sakthipriya | 3:07e15677a75c | 1009 | } |
sakthipriya | 3:07e15677a75c | 1010 | case 0x22: |
sakthipriya | 3:07e15677a75c | 1011 | { |
sakthipriya | 3:07e15677a75c | 1012 | printf("SW_OFF_ACS_ATS2_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 1013 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1014 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1015 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1016 | telemetry[2]=1; |
sakthipriya | 9:194afacf7449 | 1017 | ATS2_SW_ENABLE = 1; |
sakthipriya | 3:07e15677a75c | 1018 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1019 | { |
Bragadeesh153 | 13:fb7facaf308b | 1020 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1021 | } |
Bragadeesh153 | 13:fb7facaf308b | 1022 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1023 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1024 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1025 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1026 | { |
Bragadeesh153 | 13:fb7facaf308b | 1027 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1028 | } |
Bragadeesh153 | 13:fb7facaf308b | 1029 | break; |
sakthipriya | 3:07e15677a75c | 1030 | } |
sakthipriya | 3:07e15677a75c | 1031 | case 0x23: |
sakthipriya | 3:07e15677a75c | 1032 | { |
sakthipriya | 3:07e15677a75c | 1033 | printf("SW_OFF_ACS_TR_XY_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 1034 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1035 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1036 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1037 | telemetry[2]=1; |
Bragadeesh153 | 13:fb7facaf308b | 1038 | TRXY_SW= 0; |
sakthipriya | 3:07e15677a75c | 1039 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1040 | { |
Bragadeesh153 | 13:fb7facaf308b | 1041 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1042 | } |
Bragadeesh153 | 13:fb7facaf308b | 1043 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1044 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1045 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1046 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1047 | { |
Bragadeesh153 | 13:fb7facaf308b | 1048 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1049 | } |
Bragadeesh153 | 13:fb7facaf308b | 1050 | break; |
sakthipriya | 3:07e15677a75c | 1051 | } |
sakthipriya | 3:07e15677a75c | 1052 | case 0x24: |
sakthipriya | 3:07e15677a75c | 1053 | { |
sakthipriya | 3:07e15677a75c | 1054 | printf("SW_OFF_ACS_TR_Z_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 1055 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1056 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1057 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1058 | telemetry[2]=1; |
sakthipriya | 5:bb592f3185cc | 1059 | TRZ_SW = 0; |
sakthipriya | 3:07e15677a75c | 1060 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1061 | { |
Bragadeesh153 | 13:fb7facaf308b | 1062 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1063 | } |
Bragadeesh153 | 13:fb7facaf308b | 1064 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1065 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1066 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1067 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1068 | { |
Bragadeesh153 | 13:fb7facaf308b | 1069 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1070 | } |
Bragadeesh153 | 13:fb7facaf308b | 1071 | break; |
sakthipriya | 3:07e15677a75c | 1072 | } |
Bragadeesh153 | 13:fb7facaf308b | 1073 | case 0x25: |
sakthipriya | 3:07e15677a75c | 1074 | { |
sakthipriya | 3:07e15677a75c | 1075 | printf("SW_OFF_BCN_TX_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 1076 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1077 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1078 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1079 | telemetry[2]=1; |
sakthipriya | 5:bb592f3185cc | 1080 | BCN_SW = 1; |
sakthipriya | 3:07e15677a75c | 1081 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1082 | { |
Bragadeesh153 | 13:fb7facaf308b | 1083 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1084 | } |
Bragadeesh153 | 13:fb7facaf308b | 1085 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1086 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1087 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1088 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1089 | { |
Bragadeesh153 | 13:fb7facaf308b | 1090 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1091 | } |
Bragadeesh153 | 13:fb7facaf308b | 1092 | break; |
sakthipriya | 3:07e15677a75c | 1093 | } |
sakthipriya | 3:07e15677a75c | 1094 | case 0x31: |
sakthipriya | 3:07e15677a75c | 1095 | { |
sakthipriya | 5:bb592f3185cc | 1096 | printf("ACS_ATS1_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 1097 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1098 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1099 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1100 | telemetry[2]=1; |
sakthipriya | 9:194afacf7449 | 1101 | ATS1_SW_ENABLE = 1; |
sakthipriya | 5:bb592f3185cc | 1102 | wait_us(1); |
sakthipriya | 9:194afacf7449 | 1103 | ATS1_SW_ENABLE = 0; |
sakthipriya | 3:07e15677a75c | 1104 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1105 | { |
Bragadeesh153 | 13:fb7facaf308b | 1106 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1107 | } |
Bragadeesh153 | 13:fb7facaf308b | 1108 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1109 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1110 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1111 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1112 | { |
Bragadeesh153 | 13:fb7facaf308b | 1113 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1114 | } |
Bragadeesh153 | 13:fb7facaf308b | 1115 | break; |
sakthipriya | 3:07e15677a75c | 1116 | } |
sakthipriya | 3:07e15677a75c | 1117 | case 0x32: |
sakthipriya | 3:07e15677a75c | 1118 | { |
sakthipriya | 3:07e15677a75c | 1119 | printf("BCN_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 1120 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1121 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1122 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1123 | telemetry[2]=1; |
sakthipriya | 5:bb592f3185cc | 1124 | BCN_SW = 1; |
sakthipriya | 5:bb592f3185cc | 1125 | wait_us(1); |
sakthipriya | 5:bb592f3185cc | 1126 | BCN_SW = 0; |
sakthipriya | 3:07e15677a75c | 1127 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1128 | { |
Bragadeesh153 | 13:fb7facaf308b | 1129 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1130 | } |
Bragadeesh153 | 13:fb7facaf308b | 1131 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1132 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1133 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1134 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1135 | { |
Bragadeesh153 | 13:fb7facaf308b | 1136 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1137 | } |
Bragadeesh153 | 13:fb7facaf308b | 1138 | break; |
sakthipriya | 3:07e15677a75c | 1139 | } |
sakthipriya | 3:07e15677a75c | 1140 | case 0x33: |
sakthipriya | 3:07e15677a75c | 1141 | { |
sakthipriya | 5:bb592f3185cc | 1142 | printf("ACS_ATS2_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 1143 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1144 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1145 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1146 | telemetry[2]=1; |
sakthipriya | 9:194afacf7449 | 1147 | ATS1_SW_ENABLE = 1; |
sakthipriya | 5:bb592f3185cc | 1148 | wait_us(1); |
sakthipriya | 9:194afacf7449 | 1149 | ATS1_SW_ENABLE = 0; |
sakthipriya | 3:07e15677a75c | 1150 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1151 | { |
Bragadeesh153 | 13:fb7facaf308b | 1152 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1153 | } |
Bragadeesh153 | 13:fb7facaf308b | 1154 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1155 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1156 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1157 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1158 | { |
Bragadeesh153 | 13:fb7facaf308b | 1159 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1160 | } |
Bragadeesh153 | 13:fb7facaf308b | 1161 | break; |
sakthipriya | 3:07e15677a75c | 1162 | } |
Bragadeesh153 | 13:fb7facaf308b | 1163 | case 0x34: |
sakthipriya | 3:07e15677a75c | 1164 | { |
sakthipriya | 3:07e15677a75c | 1165 | printf("CDMS_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 1166 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1167 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1168 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1169 | telemetry[2]=1; |
sakthipriya | 5:bb592f3185cc | 1170 | CDMS_RESET = 0; |
sakthipriya | 5:bb592f3185cc | 1171 | wait_us(1); |
sakthipriya | 5:bb592f3185cc | 1172 | CDMS_RESET = 1; |
sakthipriya | 3:07e15677a75c | 1173 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1174 | { |
Bragadeesh153 | 13:fb7facaf308b | 1175 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1176 | } |
Bragadeesh153 | 13:fb7facaf308b | 1177 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1178 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1179 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1180 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1181 | { |
Bragadeesh153 | 13:fb7facaf308b | 1182 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1183 | } |
Bragadeesh153 | 13:fb7facaf308b | 1184 | break; |
sakthipriya | 3:07e15677a75c | 1185 | } |
sakthipriya | 3:07e15677a75c | 1186 | default: |
Bragadeesh153 | 13:fb7facaf308b | 1187 | { |
sakthipriya | 3:07e15677a75c | 1188 | printf("Invalid TC\r\n"); |
sakthipriya | 3:07e15677a75c | 1189 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1190 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1191 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1192 | telemetry[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 1193 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 1194 | { |
Bragadeesh153 | 13:fb7facaf308b | 1195 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1196 | } |
Bragadeesh153 | 13:fb7facaf308b | 1197 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1198 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1199 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 1200 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 1201 | { |
Bragadeesh153 | 13:fb7facaf308b | 1202 | telemetry[i]=0x00; |
sakthipriya | 3:07e15677a75c | 1203 | } |
Bragadeesh153 | 13:fb7facaf308b | 1204 | break; |
sakthipriya | 3:07e15677a75c | 1205 | } |
sakthipriya | 3:07e15677a75c | 1206 | } |
Bragadeesh153 | 13:fb7facaf308b | 1207 | break; |
Bragadeesh153 | 13:fb7facaf308b | 1208 | } |
sakthipriya | 3:07e15677a75c | 1209 | default: |
Bragadeesh153 | 13:fb7facaf308b | 1210 | { |
Bragadeesh153 | 13:fb7facaf308b | 1211 | printf("Invalid TC\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 1212 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1213 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1214 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1215 | telemetry[2]=ACK_CODE; |
Bragadeesh153 | 13:fb7facaf308b | 1216 | for(uint8_t i=3;i<11;i++) |
Bragadeesh153 | 13:fb7facaf308b | 1217 | { |
Bragadeesh153 | 13:fb7facaf308b | 1218 | telemetry[i]=0x00; |
Bragadeesh153 | 13:fb7facaf308b | 1219 | } |
Bragadeesh153 | 13:fb7facaf308b | 1220 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1221 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1222 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 1223 | for(uint8_t i=13;i<134;i++) |
Bragadeesh153 | 13:fb7facaf308b | 1224 | { |
Bragadeesh153 | 13:fb7facaf308b | 1225 | telemetry[i]=0x00; |
Bragadeesh153 | 13:fb7facaf308b | 1226 | } |
Bragadeesh153 | 13:fb7facaf308b | 1227 | break; |
sakthipriya | 3:07e15677a75c | 1228 | } |
sakthipriya | 3:07e15677a75c | 1229 | } |
Bragadeesh153 | 13:fb7facaf308b | 1230 | break; |
Bragadeesh153 | 13:fb7facaf308b | 1231 | } |
Bragadeesh153 | 13:fb7facaf308b | 1232 | default: |
Bragadeesh153 | 13:fb7facaf308b | 1233 | { |
Bragadeesh153 | 13:fb7facaf308b | 1234 | printf("Invalid TC\r\n"); |
Bragadeesh153 | 13:fb7facaf308b | 1235 | //ACK_L234_TM |
Bragadeesh153 | 13:fb7facaf308b | 1236 | telemetry[0]=0xB0; |
Bragadeesh153 | 13:fb7facaf308b | 1237 | telemetry[1]=tc[0]; |
Bragadeesh153 | 13:fb7facaf308b | 1238 | telemetry[2]=ACK_CODE; |
Bragadeesh153 | 13:fb7facaf308b | 1239 | for(uint8_t i=3;i<11;i++) |
Bragadeesh153 | 13:fb7facaf308b | 1240 | { |
Bragadeesh153 | 13:fb7facaf308b | 1241 | telemetry[i]=0x00; |
Bragadeesh153 | 13:fb7facaf308b | 1242 | } |
Bragadeesh153 | 13:fb7facaf308b | 1243 | crc16 = CRC::crc16_gen(telemetry,11); |
Bragadeesh153 | 13:fb7facaf308b | 1244 | telemetry[11] = (uint8_t)((crc16&0xFF00)>>8); |
Bragadeesh153 | 13:fb7facaf308b | 1245 | telemetry[12] = (uint8_t)(crc16&0x00FF); |
Bragadeesh153 | 13:fb7facaf308b | 1246 | for(uint8_t i=13;i<134;i++) |
Bragadeesh153 | 13:fb7facaf308b | 1247 | { |
Bragadeesh153 | 13:fb7facaf308b | 1248 | telemetry[i]=0x00; |
Bragadeesh153 | 13:fb7facaf308b | 1249 | } |
Bragadeesh153 | 13:fb7facaf308b | 1250 | break; |
sakthipriya | 3:07e15677a75c | 1251 | } |
sakthipriya | 3:07e15677a75c | 1252 | } |
Bragadeesh153 | 13:fb7facaf308b | 1253 | } |
sakthipriya | 4:39a4ae8c7ecd | 1254 | |
sakthipriya | 4:39a4ae8c7ecd | 1255 | |
sakthipriya | 4:39a4ae8c7ecd | 1256 | |
sakthipriya | 4:39a4ae8c7ecd | 1257 | |
Bragadeesh153 | 13:fb7facaf308b | 1258 | int strt_add = flash_size() - (2*SECTOR_SIZE); |
sakthipriya | 4:39a4ae8c7ecd | 1259 | uint32_t flasharray[8]; //256+(3*1024) |
sakthipriya | 4:39a4ae8c7ecd | 1260 | char *nativeflash = (char*)strt_add; |
sakthipriya | 4:39a4ae8c7ecd | 1261 | |
sakthipriya | 4:39a4ae8c7ecd | 1262 | /*Writing to the Flash*/ |
sakthipriya | 4:39a4ae8c7ecd | 1263 | 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 | 1264 | { |
Bragadeesh153 | 13:fb7facaf308b | 1265 | for(int i=0;i<8;i++) |
sakthipriya | 4:39a4ae8c7ecd | 1266 | { |
sakthipriya | 4:39a4ae8c7ecd | 1267 | flasharray[i]=nativeflash[i]; |
sakthipriya | 4:39a4ae8c7ecd | 1268 | } |
sakthipriya | 4:39a4ae8c7ecd | 1269 | flasharray[j]=fdata; |
sakthipriya | 4:39a4ae8c7ecd | 1270 | erase_sector(strt_add); |
sakthipriya | 4:39a4ae8c7ecd | 1271 | program_flash(strt_add, (char*)&flasharray,4*8); |
sakthipriya | 4:39a4ae8c7ecd | 1272 | } |
sakthipriya | 4:39a4ae8c7ecd | 1273 | /*End*/ |
sakthipriya | 4:39a4ae8c7ecd | 1274 | |
sakthipriya | 4:39a4ae8c7ecd | 1275 | /*Reading from Flash*/ |
sakthipriya | 4:39a4ae8c7ecd | 1276 | uint32_t FCTN_CDMS_RD_FLASH(uint16_t j) |
sakthipriya | 4:39a4ae8c7ecd | 1277 | { |
sakthipriya | 4:39a4ae8c7ecd | 1278 | for(int i=0;i<8;i++) |
sakthipriya | 4:39a4ae8c7ecd | 1279 | { |
sakthipriya | 4:39a4ae8c7ecd | 1280 | flasharray[i]=nativeflash[i]; |
sakthipriya | 4:39a4ae8c7ecd | 1281 | } |
sakthipriya | 4:39a4ae8c7ecd | 1282 | return flasharray[j]; |
sakthipriya | 4:39a4ae8c7ecd | 1283 | } |
sakthipriya | 5:bb592f3185cc | 1284 | /*End*/ |
sakthipriya | 5:bb592f3185cc | 1285 | |
sakthipriya | 5:bb592f3185cc | 1286 | // Convert float to 4 uint8_t |
sakthipriya | 5:bb592f3185cc | 1287 | |
lakshya | 15:e09aaaccf134 | 1288 | |
sakthipriya | 6:036d08b62785 | 1289 | void FCTN_CONVERT_FLOAT(float input, uint8_t output[4]) |
sakthipriya | 5:bb592f3185cc | 1290 | { |
sakthipriya | 6:036d08b62785 | 1291 | assert(sizeof(float) == sizeof(uint32_t)); |
sakthipriya | 6:036d08b62785 | 1292 | uint32_t* temp = reinterpret_cast<uint32_t*>(&input); |
sakthipriya | 6:036d08b62785 | 1293 | |
sakthipriya | 6:036d08b62785 | 1294 | //float* output1 = reinterpret_cast<float*>(temp); |
Bragadeesh153 | 13:fb7facaf308b | 1295 | |
lakshya | 15:e09aaaccf134 | 1296 | //printf("\n\r %f ", input); |
lakshya | 15:e09aaaccf134 | 1297 | //std::cout << "\n\r uint32"<<*temp << std::endl; |
sakthipriya | 6:036d08b62785 | 1298 | |
sakthipriya | 6:036d08b62785 | 1299 | output[0] =(uint8_t )(((*temp)>>24)&0xFF); |
lakshya | 15:e09aaaccf134 | 1300 | output[1] =(uint8_t ) (((*temp)>>16)&0xFF); |
lakshya | 15:e09aaaccf134 | 1301 | output[2] =(uint8_t ) (((*temp)>>8)&0xFF); |
lakshya | 15:e09aaaccf134 | 1302 | output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic |
lakshya | 15:e09aaaccf134 | 1303 | |
lakshya | 15:e09aaaccf134 | 1304 | printf("\n\rthe values generated are\n"); |
lakshya | 15:e09aaaccf134 | 1305 | /*printf("\n\r%x\n",output[0]); |
lakshya | 15:e09aaaccf134 | 1306 | printf("\n\r%x\n",output[1]); |
lakshya | 15:e09aaaccf134 | 1307 | printf("\n\r%x\n",output[2]); |
lakshya | 15:e09aaaccf134 | 1308 | printf("\n\r%x\n",output[3]); |
lakshya | 15:e09aaaccf134 | 1309 | to check the values generated |
lakshya | 15:e09aaaccf134 | 1310 | */ |
sakthipriya | 6:036d08b62785 | 1311 | //printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]); |
Bragadeesh153 | 13:fb7facaf308b | 1312 | //std:: cout << "\n\r uint8 inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl; |
Bragadeesh153 | 13:fb7facaf308b | 1313 | } |