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@5:bb592f3185cc, 2015-12-31 (annotated)
- Committer:
- sakthipriya
- Date:
- Thu Dec 31 17:12:52 2015 +0000
- Revision:
- 5:bb592f3185cc
- Parent:
- 4:39a4ae8c7ecd
- Child:
- 6:036d08b62785
final version of BAE
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 | 0:7b4c00e3912f | 7 | |
sakthipriya | 5:bb592f3185cc | 8 | extern DigitalOut gpo1; // enable of att sens2 switch |
sakthipriya | 5:bb592f3185cc | 9 | extern DigitalOut gpo2; // enable of att sens switch |
sakthipriya | 5:bb592f3185cc | 10 | |
sakthipriya | 5:bb592f3185cc | 11 | extern DigitalOut TRXY_SW; //TR XY Switch |
sakthipriya | 5:bb592f3185cc | 12 | extern DigitalOut TRZ_SW; //TR Z Switch |
sakthipriya | 5:bb592f3185cc | 13 | extern DigitalOut CDMS_RESET; // CDMS RESET |
sakthipriya | 5:bb592f3185cc | 14 | extern DigitalOut BCN_SW; //Beacon switch |
sakthipriya | 4:39a4ae8c7ecd | 15 | |
sakthipriya | 4:39a4ae8c7ecd | 16 | extern BAE_HK_actual actual_data; |
sakthipriya | 4:39a4ae8c7ecd | 17 | extern BAE_HK_min_max bae_HK_minmax; |
sakthipriya | 4:39a4ae8c7ecd | 18 | extern uint32_t BAE_STATUS; |
sakthipriya | 5:bb592f3185cc | 19 | extern float data[6]; |
sakthipriya | 5:bb592f3185cc | 20 | extern float moment[3]; |
sakthipriya | 5:bb592f3185cc | 21 | |
sakthipriya | 5:bb592f3185cc | 22 | extern void FCTN_ATS_DATA_ACQ(); |
sakthipriya | 5:bb592f3185cc | 23 | extern void FCTN_ACS_CNTRLALGO(float*,float*); |
sakthipriya | 0:7b4c00e3912f | 24 | |
sakthipriya | 3:07e15677a75c | 25 | uint8_t* FCTN_BAE_TM_TC (uint8_t* tc) |
sakthipriya | 0:7b4c00e3912f | 26 | |
sakthipriya | 3:07e15677a75c | 27 | { |
sakthipriya | 3:07e15677a75c | 28 | uint8_t service_type=(tc[2]&0xF0); |
sakthipriya | 3:07e15677a75c | 29 | uint8_t* tm; |
sakthipriya | 3:07e15677a75c | 30 | uint16_t crc16; |
sakthipriya | 3:07e15677a75c | 31 | |
sakthipriya | 3:07e15677a75c | 32 | |
sakthipriya | 3:07e15677a75c | 33 | switch(service_type) |
sakthipriya | 3:07e15677a75c | 34 | { |
sakthipriya | 3:07e15677a75c | 35 | case 0x60: |
sakthipriya | 3:07e15677a75c | 36 | { |
sakthipriya | 3:07e15677a75c | 37 | printf("Memory Management Service\r\n"); |
sakthipriya | 3:07e15677a75c | 38 | uint8_t service_subtype=(tc[2]&0x0F); |
sakthipriya | 3:07e15677a75c | 39 | |
sakthipriya | 3:07e15677a75c | 40 | switch(service_subtype) |
sakthipriya | 3:07e15677a75c | 41 | { |
sakthipriya | 3:07e15677a75c | 42 | case 0x01: |
sakthipriya | 3:07e15677a75c | 43 | { |
sakthipriya | 3:07e15677a75c | 44 | printf("Read from Flash\r\n"); |
sakthipriya | 3:07e15677a75c | 45 | } |
sakthipriya | 3:07e15677a75c | 46 | case 0x02: |
sakthipriya | 3:07e15677a75c | 47 | { |
sakthipriya | 4:39a4ae8c7ecd | 48 | printf("Read from RAM\r\n"); |
sakthipriya | 4:39a4ae8c7ecd | 49 | switch(tc[3]) |
sakthipriya | 4:39a4ae8c7ecd | 50 | { |
sakthipriya | 5:bb592f3185cc | 51 | case 0x01: |
sakthipriya | 5:bb592f3185cc | 52 | { |
sakthipriya | 5:bb592f3185cc | 53 | printf("Read MUX DATA\r\n"); |
sakthipriya | 5:bb592f3185cc | 54 | tm[0] = 0x60; |
sakthipriya | 5:bb592f3185cc | 55 | tm[1] = tc[0]; |
sakthipriya | 5:bb592f3185cc | 56 | tm[2] = ACK_CODE; |
sakthipriya | 5:bb592f3185cc | 57 | for(int i=0; i<16; i++) //16*4 = 64 bytes //tm[4] to tm[67] filled |
sakthipriya | 5:bb592f3185cc | 58 | FCTN_CONVERT_FLOAT(actual_data.voltage_actual[i], &tm[4+(i*4)]); |
sakthipriya | 5:bb592f3185cc | 59 | for(int i=0; i<12; i++) //12*4 = 48 //tm[68] to tm[115] filled |
sakthipriya | 5:bb592f3185cc | 60 | FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&tm[68 + (i*4)]); |
sakthipriya | 5:bb592f3185cc | 61 | for (int i=116; i<132;i++) |
sakthipriya | 5:bb592f3185cc | 62 | { |
sakthipriya | 5:bb592f3185cc | 63 | tm[i] = 0x00; |
sakthipriya | 5:bb592f3185cc | 64 | } |
sakthipriya | 5:bb592f3185cc | 65 | crc16 = CRC::crc16_gen(tm,132); |
sakthipriya | 5:bb592f3185cc | 66 | tm[132] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 5:bb592f3185cc | 67 | tm[133] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 5:bb592f3185cc | 68 | return tm; |
sakthipriya | 5:bb592f3185cc | 69 | } |
sakthipriya | 5:bb592f3185cc | 70 | case 0x02: |
sakthipriya | 4:39a4ae8c7ecd | 71 | { |
sakthipriya | 4:39a4ae8c7ecd | 72 | printf("Read HK\r\n"); |
sakthipriya | 4:39a4ae8c7ecd | 73 | tm[0] = 0x60; |
sakthipriya | 4:39a4ae8c7ecd | 74 | tm[1] = tc[0]; |
sakthipriya | 4:39a4ae8c7ecd | 75 | tm[2] = ACK_CODE; |
sakthipriya | 5:bb592f3185cc | 76 | FCTN_CONVERT_FLOAT(actual_data.Batt_temp_actual[0],&tm[4]); //tm[4]-tm[7] |
sakthipriya | 5:bb592f3185cc | 77 | FCTN_CONVERT_FLOAT(actual_data.Batt_temp_actual[1],&tm[8]); //tm[8]- tm[11] |
sakthipriya | 5:bb592f3185cc | 78 | for(int i=0; i<4; i++) |
sakthipriya | 5:bb592f3185cc | 79 | FCTN_CONVERT_FLOAT(actual_data.Batt_gauge_actual[i],&tm[12+(i*4)]); //tm[12] - tm[27] |
sakthipriya | 5:bb592f3185cc | 80 | FCTN_CONVERT_FLOAT(actual_data.BAE_temp_actual,&tm[28]); //tm[28] - tm[31] |
sakthipriya | 5:bb592f3185cc | 81 | tm[32] = (uint8_t)actual_data.power_mode; |
sakthipriya | 5:bb592f3185cc | 82 | tm[33] = actual_data.faultPoll_status; |
sakthipriya | 5:bb592f3185cc | 83 | tm[34] = actual_data.faultIr_status; |
sakthipriya | 5:bb592f3185cc | 84 | for(int i=0; i<3; i++) |
sakthipriya | 5:bb592f3185cc | 85 | FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[i],&tm[35+(i*4)]); //35 -46 |
sakthipriya | 5:bb592f3185cc | 86 | for(int i=0; i<3; i++) |
sakthipriya | 5:bb592f3185cc | 87 | FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[i],&tm[47+(i*4)]); //47 -58 |
sakthipriya | 5:bb592f3185cc | 88 | FCTN_CONVERT_FLOAT(actual_data.Batt_voltage_actual,&tm[59]); //59 - 62 |
sakthipriya | 5:bb592f3185cc | 89 | for (int i=63; i<132;i++) |
sakthipriya | 4:39a4ae8c7ecd | 90 | { |
sakthipriya | 5:bb592f3185cc | 91 | tm[i] = 0x00; |
sakthipriya | 4:39a4ae8c7ecd | 92 | } |
sakthipriya | 4:39a4ae8c7ecd | 93 | crc16 = CRC::crc16_gen(tm,132); |
sakthipriya | 4:39a4ae8c7ecd | 94 | tm[132] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 4:39a4ae8c7ecd | 95 | tm[133] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 5:bb592f3185cc | 96 | return tm; |
sakthipriya | 4:39a4ae8c7ecd | 97 | |
sakthipriya | 5:bb592f3185cc | 98 | } |
sakthipriya | 5:bb592f3185cc | 99 | case 0x03: |
sakthipriya | 4:39a4ae8c7ecd | 100 | { |
sakthipriya | 4:39a4ae8c7ecd | 101 | printf("Read min max data"); |
sakthipriya | 5:bb592f3185cc | 102 | tm[0] = 0x60; |
sakthipriya | 5:bb592f3185cc | 103 | tm[1] = tc[0]; |
sakthipriya | 5:bb592f3185cc | 104 | tm[2] = ACK_CODE; |
sakthipriya | 5:bb592f3185cc | 105 | for(int i=4; i<20; i++) |
sakthipriya | 5:bb592f3185cc | 106 | tm[i] = (uint8_t)bae_HK_minmax.voltage_max[i-4]; |
sakthipriya | 5:bb592f3185cc | 107 | for(int i=20; i<32; i++) |
sakthipriya | 5:bb592f3185cc | 108 | tm[i] = (uint8_t)bae_HK_minmax.current_max[i-20]; |
sakthipriya | 5:bb592f3185cc | 109 | tm[32] = (uint8_t)bae_HK_minmax.Batt_temp_max[0]; |
sakthipriya | 5:bb592f3185cc | 110 | tm[33] = (uint8_t)bae_HK_minmax.Batt_temp_max[1]; |
sakthipriya | 5:bb592f3185cc | 111 | tm[34] = (uint8_t)bae_HK_minmax.Batt_gauge_max[0]; |
sakthipriya | 5:bb592f3185cc | 112 | tm[35] = (uint8_t)bae_HK_minmax.Batt_gauge_max[1]; |
sakthipriya | 5:bb592f3185cc | 113 | tm[36] = (uint8_t)bae_HK_minmax.Batt_gauge_max[2]; |
sakthipriya | 5:bb592f3185cc | 114 | tm[37] = (uint8_t)bae_HK_minmax.BAE_temp_max; |
sakthipriya | 5:bb592f3185cc | 115 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[0],&tm[38]); //tm[38] - tm[41] |
sakthipriya | 5:bb592f3185cc | 116 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[1],&tm[42]); //tm[42] - tm[45] |
sakthipriya | 5:bb592f3185cc | 117 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[2],&tm[46]); //tm[46] - tm[49] |
sakthipriya | 5:bb592f3185cc | 118 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[0],&tm[50]); //tm[50] - tm[53] |
sakthipriya | 5:bb592f3185cc | 119 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[1],&tm[54]); //tm[54] - tm[57] |
sakthipriya | 5:bb592f3185cc | 120 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[2],&tm[58]); //tm[58] - tm[61] |
sakthipriya | 5:bb592f3185cc | 121 | tm[62] = (uint8_t)bae_HK_minmax.Bvalue_max[0]; |
sakthipriya | 5:bb592f3185cc | 122 | tm[63] = (uint8_t)bae_HK_minmax.Bvalue_max[1]; |
sakthipriya | 5:bb592f3185cc | 123 | tm[64] = (uint8_t)bae_HK_minmax.Bvalue_max[2]; |
sakthipriya | 5:bb592f3185cc | 124 | tm[65] = (uint8_t)bae_HK_minmax.Batt_voltage_max; |
sakthipriya | 5:bb592f3185cc | 125 | for(int i=66; i<82; i++) |
sakthipriya | 5:bb592f3185cc | 126 | tm[i] = (uint8_t)bae_HK_minmax.voltage_min[i-66]; |
sakthipriya | 5:bb592f3185cc | 127 | for(int i=82; i<94; i++) |
sakthipriya | 5:bb592f3185cc | 128 | tm[i] = (uint8_t)bae_HK_minmax.current_min[i-82]; |
sakthipriya | 5:bb592f3185cc | 129 | tm[94] = (uint8_t)bae_HK_minmax.Batt_temp_min[0]; |
sakthipriya | 5:bb592f3185cc | 130 | tm[95] = (uint8_t)bae_HK_minmax.Batt_temp_min[1]; |
sakthipriya | 5:bb592f3185cc | 131 | tm[96] = (uint8_t)bae_HK_minmax.Batt_gauge_min[0]; |
sakthipriya | 5:bb592f3185cc | 132 | tm[97] = (uint8_t)bae_HK_minmax.Batt_gauge_min[1]; |
sakthipriya | 5:bb592f3185cc | 133 | tm[98] = (uint8_t)bae_HK_minmax.Batt_gauge_min[2]; |
sakthipriya | 5:bb592f3185cc | 134 | tm[99] = (uint8_t)bae_HK_minmax.BAE_temp_min; |
sakthipriya | 5:bb592f3185cc | 135 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[0],&tm[100]); //tm[100] - tm[103] |
sakthipriya | 5:bb592f3185cc | 136 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[1],&tm[104]); //tm[104] - tm[107] |
sakthipriya | 5:bb592f3185cc | 137 | FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[2],&tm[108]); //tm[108] - tm[111] |
sakthipriya | 5:bb592f3185cc | 138 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[0],&tm[112]); //tm[112] - tm[115] |
sakthipriya | 5:bb592f3185cc | 139 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[1],&tm[116]); //tm[116] - tm[119] |
sakthipriya | 5:bb592f3185cc | 140 | FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[2],&tm[120]); //tm[120] - tm[123] |
sakthipriya | 5:bb592f3185cc | 141 | tm[124] = (uint8_t)bae_HK_minmax.Batt_voltage_min; |
sakthipriya | 5:bb592f3185cc | 142 | for (int i=125; i<132;i++) |
sakthipriya | 5:bb592f3185cc | 143 | { |
sakthipriya | 5:bb592f3185cc | 144 | tm[i] = 0x00; |
sakthipriya | 5:bb592f3185cc | 145 | } |
sakthipriya | 5:bb592f3185cc | 146 | crc16 = CRC::crc16_gen(tm,132); |
sakthipriya | 5:bb592f3185cc | 147 | tm[132] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 5:bb592f3185cc | 148 | tm[133] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 5:bb592f3185cc | 149 | return tm; |
sakthipriya | 4:39a4ae8c7ecd | 150 | } |
sakthipriya | 5:bb592f3185cc | 151 | case 0x04: |
sakthipriya | 4:39a4ae8c7ecd | 152 | { |
sakthipriya | 4:39a4ae8c7ecd | 153 | printf("Read status"); |
sakthipriya | 5:bb592f3185cc | 154 | tm[0] = 0x60; |
sakthipriya | 5:bb592f3185cc | 155 | tm[1] = tc[0]; |
sakthipriya | 5:bb592f3185cc | 156 | tm[2] = ACK_CODE; |
sakthipriya | 5:bb592f3185cc | 157 | tm[4] = (BAE_STATUS>>24) & 0xFF; |
sakthipriya | 5:bb592f3185cc | 158 | tm[5] = (BAE_STATUS>>16) & 0xFF; |
sakthipriya | 5:bb592f3185cc | 159 | tm[6] = (BAE_STATUS>>8) & 0xFF; |
sakthipriya | 5:bb592f3185cc | 160 | tm[7] = BAE_STATUS & 0xFF; |
sakthipriya | 5:bb592f3185cc | 161 | for (int i=8; i<132;i++) |
sakthipriya | 5:bb592f3185cc | 162 | { |
sakthipriya | 5:bb592f3185cc | 163 | tm[i] = 0x00; |
sakthipriya | 5:bb592f3185cc | 164 | } |
sakthipriya | 5:bb592f3185cc | 165 | crc16 = CRC::crc16_gen(tm,132); |
sakthipriya | 5:bb592f3185cc | 166 | tm[132] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 5:bb592f3185cc | 167 | tm[133] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 5:bb592f3185cc | 168 | return tm; |
sakthipriya | 4:39a4ae8c7ecd | 169 | |
sakthipriya | 4:39a4ae8c7ecd | 170 | } |
sakthipriya | 4:39a4ae8c7ecd | 171 | } |
sakthipriya | 3:07e15677a75c | 172 | } |
sakthipriya | 3:07e15677a75c | 173 | case 0x05: |
sakthipriya | 3:07e15677a75c | 174 | { |
sakthipriya | 3:07e15677a75c | 175 | printf("Write on Flash\r\n"); |
sakthipriya | 3:07e15677a75c | 176 | } |
sakthipriya | 3:07e15677a75c | 177 | default: |
sakthipriya | 3:07e15677a75c | 178 | { |
sakthipriya | 3:07e15677a75c | 179 | printf("Invalid TC"); |
sakthipriya | 3:07e15677a75c | 180 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 181 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 182 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 183 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 184 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 185 | { |
sakthipriya | 3:07e15677a75c | 186 | tm[i]=0x00; |
sakthipriya | 0:7b4c00e3912f | 187 | } |
sakthipriya | 3:07e15677a75c | 188 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 189 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 190 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 191 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 192 | { |
sakthipriya | 3:07e15677a75c | 193 | tm[i]=0x00; |
sakthipriya | 0:7b4c00e3912f | 194 | } |
sakthipriya | 3:07e15677a75c | 195 | return tm; |
sakthipriya | 3:07e15677a75c | 196 | } |
sakthipriya | 3:07e15677a75c | 197 | } |
sakthipriya | 0:7b4c00e3912f | 198 | } |
sakthipriya | 0:7b4c00e3912f | 199 | |
sakthipriya | 3:07e15677a75c | 200 | case 0x80: |
sakthipriya | 3:07e15677a75c | 201 | { |
sakthipriya | 3:07e15677a75c | 202 | printf("Function Management Service\r\n"); |
sakthipriya | 3:07e15677a75c | 203 | uint8_t service_subtype=(tc[2]&0x0F); |
sakthipriya | 3:07e15677a75c | 204 | |
sakthipriya | 3:07e15677a75c | 205 | switch(service_subtype) |
sakthipriya | 3:07e15677a75c | 206 | { |
sakthipriya | 3:07e15677a75c | 207 | case 0x01: |
sakthipriya | 3:07e15677a75c | 208 | { |
sakthipriya | 3:07e15677a75c | 209 | printf("FMS Activated\r\n"); |
sakthipriya | 3:07e15677a75c | 210 | |
sakthipriya | 3:07e15677a75c | 211 | uint8_t pid=tc[3]; |
sakthipriya | 3:07e15677a75c | 212 | switch(pid) |
sakthipriya | 3:07e15677a75c | 213 | { |
sakthipriya | 5:bb592f3185cc | 214 | case 0xE0: |
sakthipriya | 3:07e15677a75c | 215 | { |
sakthipriya | 5:bb592f3185cc | 216 | printf("ACS_COMSN\r\n"); |
sakthipriya | 3:07e15677a75c | 217 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 218 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 219 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 220 | tm[2]=ACK_CODE; |
sakthipriya | 5:bb592f3185cc | 221 | FCTN_ATS_DATA_ACQ(); //get data |
sakthipriya | 5:bb592f3185cc | 222 | printf("gyro values\n\r"); |
sakthipriya | 5:bb592f3185cc | 223 | for(int i=0; i<3; i++) |
sakthipriya | 5:bb592f3185cc | 224 | printf("%f\n\r",data[i]); |
sakthipriya | 5:bb592f3185cc | 225 | printf("mag values\n\r"); |
sakthipriya | 5:bb592f3185cc | 226 | for(int i=3; i<6; i++) |
sakthipriya | 5:bb592f3185cc | 227 | printf("%f\n\r",data[i]); |
sakthipriya | 5:bb592f3185cc | 228 | FCTN_CONVERT_FLOAT(data[0],&tm[4]); //tm[4] - tm[7] |
sakthipriya | 5:bb592f3185cc | 229 | FCTN_CONVERT_FLOAT(data[1],&tm[8]); //tm[8] - tm[11] |
sakthipriya | 5:bb592f3185cc | 230 | FCTN_CONVERT_FLOAT(data[2],&tm[12]); //tm[12] - tm[15] |
sakthipriya | 5:bb592f3185cc | 231 | FCTN_CONVERT_FLOAT(data[0],&tm[16]); //tm[16] - tm[19] |
sakthipriya | 5:bb592f3185cc | 232 | FCTN_CONVERT_FLOAT(data[1],&tm[20]); //tm[20] - tm[23] |
sakthipriya | 5:bb592f3185cc | 233 | FCTN_CONVERT_FLOAT(data[2],&tm[24]); //tm[24] - tm[27] |
sakthipriya | 5:bb592f3185cc | 234 | if((data[0]<8) && (data[1]<8) && (data[2] <8)) |
sakthipriya | 5:bb592f3185cc | 235 | tm[28] = 1; // gyro values in correct range |
sakthipriya | 5:bb592f3185cc | 236 | else |
sakthipriya | 5:bb592f3185cc | 237 | tm[28] = 0; |
sakthipriya | 5:bb592f3185cc | 238 | if ((data[3] > 20 ) && (data[4] >20) && (data[5]>20)&& (data[3] < 50 ) && (data[4] <50) && (data[5]<50)) |
sakthipriya | 5:bb592f3185cc | 239 | tm[29] = 1; // mag values in correct range |
sakthipriya | 5:bb592f3185cc | 240 | else |
sakthipriya | 5:bb592f3185cc | 241 | tm[29] = 0; |
sakthipriya | 5:bb592f3185cc | 242 | |
sakthipriya | 5:bb592f3185cc | 243 | float B[3],W[3]; |
sakthipriya | 5:bb592f3185cc | 244 | B[0] = B0; |
sakthipriya | 5:bb592f3185cc | 245 | B[1] = B1; |
sakthipriya | 5:bb592f3185cc | 246 | B[2] = B2; |
sakthipriya | 5:bb592f3185cc | 247 | W[0] = W0; |
sakthipriya | 5:bb592f3185cc | 248 | W[1] = W1; |
sakthipriya | 5:bb592f3185cc | 249 | W[2] = W2; |
sakthipriya | 5:bb592f3185cc | 250 | // Control algo commissioning |
sakthipriya | 5:bb592f3185cc | 251 | FCTN_ACS_CNTRLALGO(B,W); |
sakthipriya | 5:bb592f3185cc | 252 | FCTN_CONVERT_FLOAT(moment[0],&tm[30]); //tm[30] - tm[33] |
sakthipriya | 5:bb592f3185cc | 253 | FCTN_CONVERT_FLOAT(moment[1],&tm[34]); //tm[34] - tm[37] |
sakthipriya | 5:bb592f3185cc | 254 | FCTN_CONVERT_FLOAT(moment[2],&tm[38]); //tm[38] - tm[41] |
sakthipriya | 5:bb592f3185cc | 255 | // to include commission TR as well |
sakthipriya | 5:bb592f3185cc | 256 | for(uint8_t i=42;i<132;i++) |
sakthipriya | 3:07e15677a75c | 257 | { |
sakthipriya | 3:07e15677a75c | 258 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 259 | } |
sakthipriya | 5:bb592f3185cc | 260 | |
sakthipriya | 5:bb592f3185cc | 261 | crc16 = CRC::crc16_gen(tm,132); |
sakthipriya | 5:bb592f3185cc | 262 | tm[133] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 5:bb592f3185cc | 263 | tm[134] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 264 | return tm; |
sakthipriya | 3:07e15677a75c | 265 | |
sakthipriya | 3:07e15677a75c | 266 | } |
sakthipriya | 5:bb592f3185cc | 267 | /* case 0x02: |
sakthipriya | 3:07e15677a75c | 268 | { |
sakthipriya | 3:07e15677a75c | 269 | printf("Run P_EPS_MAIN\r\n"); |
sakthipriya | 3:07e15677a75c | 270 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 271 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 272 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 273 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 274 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 275 | { |
sakthipriya | 3:07e15677a75c | 276 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 277 | } |
sakthipriya | 3:07e15677a75c | 278 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 279 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 280 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 281 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 282 | { |
sakthipriya | 3:07e15677a75c | 283 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 284 | } |
sakthipriya | 3:07e15677a75c | 285 | return tm; |
sakthipriya | 3:07e15677a75c | 286 | } |
sakthipriya | 3:07e15677a75c | 287 | case 0x03: |
sakthipriya | 3:07e15677a75c | 288 | { |
sakthipriya | 3:07e15677a75c | 289 | printf("Run P_ACS_INIT\r\n"); |
sakthipriya | 3:07e15677a75c | 290 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 291 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 292 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 293 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 294 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 295 | { |
sakthipriya | 3:07e15677a75c | 296 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 297 | } |
sakthipriya | 3:07e15677a75c | 298 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 299 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 300 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 301 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 302 | { |
sakthipriya | 3:07e15677a75c | 303 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 304 | } |
sakthipriya | 3:07e15677a75c | 305 | return tm; |
sakthipriya | 3:07e15677a75c | 306 | } |
sakthipriya | 3:07e15677a75c | 307 | case 0x04: |
sakthipriya | 3:07e15677a75c | 308 | { |
sakthipriya | 3:07e15677a75c | 309 | printf("Run P_ACS_ACQ_DATA\r\n"); |
sakthipriya | 3:07e15677a75c | 310 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 311 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 312 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 313 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 314 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 315 | { |
sakthipriya | 3:07e15677a75c | 316 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 317 | } |
sakthipriya | 3:07e15677a75c | 318 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 319 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 320 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 321 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 322 | { |
sakthipriya | 3:07e15677a75c | 323 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 324 | } |
sakthipriya | 3:07e15677a75c | 325 | return tm; |
sakthipriya | 3:07e15677a75c | 326 | } |
sakthipriya | 3:07e15677a75c | 327 | case 0x05: |
sakthipriya | 3:07e15677a75c | 328 | { |
sakthipriya | 3:07e15677a75c | 329 | printf("Run P_ACS_MAIN\r\n"); |
sakthipriya | 3:07e15677a75c | 330 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 331 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 332 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 333 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 334 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 335 | { |
sakthipriya | 3:07e15677a75c | 336 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 337 | } |
sakthipriya | 3:07e15677a75c | 338 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 339 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 340 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 341 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 342 | { |
sakthipriya | 3:07e15677a75c | 343 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 344 | } |
sakthipriya | 3:07e15677a75c | 345 | return tm; |
sakthipriya | 3:07e15677a75c | 346 | } |
sakthipriya | 3:07e15677a75c | 347 | case 0x06: |
sakthipriya | 3:07e15677a75c | 348 | { |
sakthipriya | 3:07e15677a75c | 349 | printf("Run P_BCN_INIT\r\n"); |
sakthipriya | 3:07e15677a75c | 350 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 351 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 352 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 353 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 354 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 355 | { |
sakthipriya | 3:07e15677a75c | 356 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 357 | } |
sakthipriya | 3:07e15677a75c | 358 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 359 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 360 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 361 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 362 | { |
sakthipriya | 3:07e15677a75c | 363 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 364 | } |
sakthipriya | 3:07e15677a75c | 365 | return tm; |
sakthipriya | 3:07e15677a75c | 366 | } |
sakthipriya | 3:07e15677a75c | 367 | case 0x07: |
sakthipriya | 3:07e15677a75c | 368 | { |
sakthipriya | 3:07e15677a75c | 369 | printf("Run P_BCN_TX_MAIN\r\n"); |
sakthipriya | 3:07e15677a75c | 370 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 371 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 372 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 373 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 374 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 375 | { |
sakthipriya | 3:07e15677a75c | 376 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 377 | } |
sakthipriya | 3:07e15677a75c | 378 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 379 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 380 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 381 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 382 | { |
sakthipriya | 3:07e15677a75c | 383 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 384 | } |
sakthipriya | 3:07e15677a75c | 385 | return tm; |
sakthipriya | 5:bb592f3185cc | 386 | }*/ |
sakthipriya | 3:07e15677a75c | 387 | case 0x11: |
sakthipriya | 3:07e15677a75c | 388 | { |
sakthipriya | 3:07e15677a75c | 389 | printf("SW_ON_ACS_ATS1_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 390 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 391 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 392 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 393 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 394 | gpo1 = 0; |
sakthipriya | 3:07e15677a75c | 395 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 396 | { |
sakthipriya | 3:07e15677a75c | 397 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 398 | } |
sakthipriya | 3:07e15677a75c | 399 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 400 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 401 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 402 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 403 | { |
sakthipriya | 3:07e15677a75c | 404 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 405 | } |
sakthipriya | 3:07e15677a75c | 406 | return tm; |
sakthipriya | 3:07e15677a75c | 407 | } |
sakthipriya | 3:07e15677a75c | 408 | case 0x12: |
sakthipriya | 3:07e15677a75c | 409 | { |
sakthipriya | 3:07e15677a75c | 410 | printf("SW_ON_ACS_ATS2_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 411 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 412 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 413 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 414 | gpo2 = 0; |
sakthipriya | 5:bb592f3185cc | 415 | tm[2]=1; |
sakthipriya | 3:07e15677a75c | 416 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 417 | { |
sakthipriya | 3:07e15677a75c | 418 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 419 | } |
sakthipriya | 3:07e15677a75c | 420 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 421 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 422 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 423 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 424 | { |
sakthipriya | 3:07e15677a75c | 425 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 426 | } |
sakthipriya | 3:07e15677a75c | 427 | return tm; |
sakthipriya | 3:07e15677a75c | 428 | } |
sakthipriya | 3:07e15677a75c | 429 | case 0x13: |
sakthipriya | 3:07e15677a75c | 430 | { |
sakthipriya | 3:07e15677a75c | 431 | printf("SW_ON_ACS_TR_XY_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 432 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 433 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 434 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 435 | TRXY_SW = 1; |
sakthipriya | 5:bb592f3185cc | 436 | tm[2]=1; |
sakthipriya | 3:07e15677a75c | 437 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 438 | { |
sakthipriya | 3:07e15677a75c | 439 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 440 | } |
sakthipriya | 3:07e15677a75c | 441 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 442 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 443 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 444 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 445 | { |
sakthipriya | 3:07e15677a75c | 446 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 447 | } |
sakthipriya | 3:07e15677a75c | 448 | return tm; |
sakthipriya | 3:07e15677a75c | 449 | } |
sakthipriya | 3:07e15677a75c | 450 | case 0x14: |
sakthipriya | 3:07e15677a75c | 451 | { |
sakthipriya | 3:07e15677a75c | 452 | printf("SW_ON_ACS_TR_Z_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 453 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 454 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 455 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 456 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 457 | TRZ_SW = 1; |
sakthipriya | 3:07e15677a75c | 458 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 459 | { |
sakthipriya | 3:07e15677a75c | 460 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 461 | } |
sakthipriya | 3:07e15677a75c | 462 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 463 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 464 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 465 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 466 | { |
sakthipriya | 3:07e15677a75c | 467 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 468 | } |
sakthipriya | 3:07e15677a75c | 469 | return tm; |
sakthipriya | 3:07e15677a75c | 470 | } |
sakthipriya | 3:07e15677a75c | 471 | case 0x15: |
sakthipriya | 3:07e15677a75c | 472 | { |
sakthipriya | 3:07e15677a75c | 473 | printf("SW_ON_BCN_TX_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 474 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 475 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 476 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 477 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 478 | BCN_SW = 0; |
sakthipriya | 3:07e15677a75c | 479 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 480 | { |
sakthipriya | 3:07e15677a75c | 481 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 482 | } |
sakthipriya | 3:07e15677a75c | 483 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 484 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 485 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 486 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 487 | { |
sakthipriya | 3:07e15677a75c | 488 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 489 | } |
sakthipriya | 3:07e15677a75c | 490 | return tm; |
sakthipriya | 3:07e15677a75c | 491 | } |
sakthipriya | 3:07e15677a75c | 492 | case 0x21: |
sakthipriya | 3:07e15677a75c | 493 | { |
sakthipriya | 3:07e15677a75c | 494 | printf("SW_OFF_ACS_ATS1_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 495 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 496 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 497 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 498 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 499 | gpo1 = 1; |
sakthipriya | 3:07e15677a75c | 500 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 501 | { |
sakthipriya | 3:07e15677a75c | 502 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 503 | } |
sakthipriya | 3:07e15677a75c | 504 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 505 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 506 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 507 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 508 | { |
sakthipriya | 3:07e15677a75c | 509 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 510 | } |
sakthipriya | 3:07e15677a75c | 511 | return tm; |
sakthipriya | 3:07e15677a75c | 512 | } |
sakthipriya | 3:07e15677a75c | 513 | case 0x22: |
sakthipriya | 3:07e15677a75c | 514 | { |
sakthipriya | 3:07e15677a75c | 515 | printf("SW_OFF_ACS_ATS2_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 516 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 517 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 518 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 519 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 520 | gpo2 = 1; |
sakthipriya | 3:07e15677a75c | 521 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 522 | { |
sakthipriya | 3:07e15677a75c | 523 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 524 | } |
sakthipriya | 3:07e15677a75c | 525 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 526 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 527 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 528 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 529 | { |
sakthipriya | 3:07e15677a75c | 530 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 531 | } |
sakthipriya | 3:07e15677a75c | 532 | return tm; |
sakthipriya | 3:07e15677a75c | 533 | } |
sakthipriya | 3:07e15677a75c | 534 | case 0x23: |
sakthipriya | 3:07e15677a75c | 535 | { |
sakthipriya | 3:07e15677a75c | 536 | printf("SW_OFF_ACS_TR_XY_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 537 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 538 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 539 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 540 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 541 | TRXY_SW = 0; |
sakthipriya | 3:07e15677a75c | 542 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 543 | { |
sakthipriya | 3:07e15677a75c | 544 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 545 | } |
sakthipriya | 3:07e15677a75c | 546 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 547 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 548 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 549 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 550 | { |
sakthipriya | 3:07e15677a75c | 551 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 552 | } |
sakthipriya | 3:07e15677a75c | 553 | return tm; |
sakthipriya | 3:07e15677a75c | 554 | } |
sakthipriya | 3:07e15677a75c | 555 | case 0x24: |
sakthipriya | 3:07e15677a75c | 556 | { |
sakthipriya | 3:07e15677a75c | 557 | printf("SW_OFF_ACS_TR_Z_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 558 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 559 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 560 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 561 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 562 | TRZ_SW = 0; |
sakthipriya | 3:07e15677a75c | 563 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 564 | { |
sakthipriya | 3:07e15677a75c | 565 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 566 | } |
sakthipriya | 3:07e15677a75c | 567 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 568 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 569 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 570 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 571 | { |
sakthipriya | 3:07e15677a75c | 572 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 573 | } |
sakthipriya | 3:07e15677a75c | 574 | return tm; |
sakthipriya | 3:07e15677a75c | 575 | } |
sakthipriya | 3:07e15677a75c | 576 | case 0x25: |
sakthipriya | 3:07e15677a75c | 577 | { |
sakthipriya | 3:07e15677a75c | 578 | printf("SW_OFF_BCN_TX_SW_ENABLE\r\n"); |
sakthipriya | 3:07e15677a75c | 579 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 580 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 581 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 582 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 583 | BCN_SW = 1; |
sakthipriya | 3:07e15677a75c | 584 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 585 | { |
sakthipriya | 3:07e15677a75c | 586 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 587 | } |
sakthipriya | 3:07e15677a75c | 588 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 589 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 590 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 591 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 592 | { |
sakthipriya | 3:07e15677a75c | 593 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 594 | } |
sakthipriya | 3:07e15677a75c | 595 | return tm; |
sakthipriya | 3:07e15677a75c | 596 | } |
sakthipriya | 3:07e15677a75c | 597 | case 0x31: |
sakthipriya | 3:07e15677a75c | 598 | { |
sakthipriya | 5:bb592f3185cc | 599 | printf("ACS_ATS1_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 600 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 601 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 602 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 603 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 604 | gpo1 = 1; |
sakthipriya | 5:bb592f3185cc | 605 | wait_us(1); |
sakthipriya | 5:bb592f3185cc | 606 | gpo1 = 0; |
sakthipriya | 3:07e15677a75c | 607 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 608 | { |
sakthipriya | 3:07e15677a75c | 609 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 610 | } |
sakthipriya | 3:07e15677a75c | 611 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 612 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 613 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 614 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 615 | { |
sakthipriya | 3:07e15677a75c | 616 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 617 | } |
sakthipriya | 3:07e15677a75c | 618 | return tm; |
sakthipriya | 3:07e15677a75c | 619 | } |
sakthipriya | 3:07e15677a75c | 620 | case 0x32: |
sakthipriya | 3:07e15677a75c | 621 | { |
sakthipriya | 3:07e15677a75c | 622 | printf("BCN_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 623 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 624 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 625 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 626 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 627 | BCN_SW = 1; |
sakthipriya | 5:bb592f3185cc | 628 | wait_us(1); |
sakthipriya | 5:bb592f3185cc | 629 | BCN_SW = 0; |
sakthipriya | 3:07e15677a75c | 630 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 631 | { |
sakthipriya | 3:07e15677a75c | 632 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 633 | } |
sakthipriya | 3:07e15677a75c | 634 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 635 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 636 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 637 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 638 | { |
sakthipriya | 3:07e15677a75c | 639 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 640 | } |
sakthipriya | 3:07e15677a75c | 641 | return tm; |
sakthipriya | 3:07e15677a75c | 642 | } |
sakthipriya | 3:07e15677a75c | 643 | case 0x33: |
sakthipriya | 3:07e15677a75c | 644 | { |
sakthipriya | 5:bb592f3185cc | 645 | printf("ACS_ATS2_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 646 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 647 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 648 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 649 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 650 | gpo1 = 1; |
sakthipriya | 5:bb592f3185cc | 651 | wait_us(1); |
sakthipriya | 5:bb592f3185cc | 652 | gpo1 = 0; |
sakthipriya | 3:07e15677a75c | 653 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 654 | { |
sakthipriya | 3:07e15677a75c | 655 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 656 | } |
sakthipriya | 3:07e15677a75c | 657 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 658 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 659 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 660 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 661 | { |
sakthipriya | 3:07e15677a75c | 662 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 663 | } |
sakthipriya | 3:07e15677a75c | 664 | return tm; |
sakthipriya | 3:07e15677a75c | 665 | } |
sakthipriya | 3:07e15677a75c | 666 | case 0x34: |
sakthipriya | 3:07e15677a75c | 667 | { |
sakthipriya | 3:07e15677a75c | 668 | printf("CDMS_SW_RESET\r\n"); |
sakthipriya | 3:07e15677a75c | 669 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 670 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 671 | tm[1]=tc[0]; |
sakthipriya | 5:bb592f3185cc | 672 | tm[2]=1; |
sakthipriya | 5:bb592f3185cc | 673 | CDMS_RESET = 0; |
sakthipriya | 5:bb592f3185cc | 674 | wait_us(1); |
sakthipriya | 5:bb592f3185cc | 675 | CDMS_RESET = 1; |
sakthipriya | 3:07e15677a75c | 676 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 677 | { |
sakthipriya | 3:07e15677a75c | 678 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 679 | } |
sakthipriya | 3:07e15677a75c | 680 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 681 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 682 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 683 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 684 | { |
sakthipriya | 3:07e15677a75c | 685 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 686 | } |
sakthipriya | 3:07e15677a75c | 687 | return tm; |
sakthipriya | 3:07e15677a75c | 688 | } |
sakthipriya | 5:bb592f3185cc | 689 | |
sakthipriya | 5:bb592f3185cc | 690 | |
sakthipriya | 3:07e15677a75c | 691 | default: |
sakthipriya | 3:07e15677a75c | 692 | { |
sakthipriya | 3:07e15677a75c | 693 | printf("Invalid TC\r\n"); |
sakthipriya | 3:07e15677a75c | 694 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 695 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 696 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 697 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 698 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 699 | { |
sakthipriya | 3:07e15677a75c | 700 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 701 | } |
sakthipriya | 3:07e15677a75c | 702 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 703 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 704 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 705 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 706 | { |
sakthipriya | 3:07e15677a75c | 707 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 708 | } |
sakthipriya | 3:07e15677a75c | 709 | return tm; |
sakthipriya | 3:07e15677a75c | 710 | } |
sakthipriya | 3:07e15677a75c | 711 | } |
sakthipriya | 3:07e15677a75c | 712 | |
sakthipriya | 3:07e15677a75c | 713 | default: |
sakthipriya | 3:07e15677a75c | 714 | { |
sakthipriya | 3:07e15677a75c | 715 | printf("Invalid TC\r\n"); |
sakthipriya | 3:07e15677a75c | 716 | //ACK_L234_TM |
sakthipriya | 3:07e15677a75c | 717 | tm[0]=0xB0; |
sakthipriya | 3:07e15677a75c | 718 | tm[1]=tc[0]; |
sakthipriya | 3:07e15677a75c | 719 | tm[2]=ACK_CODE; |
sakthipriya | 3:07e15677a75c | 720 | for(uint8_t i=3;i<11;i++) |
sakthipriya | 3:07e15677a75c | 721 | { |
sakthipriya | 3:07e15677a75c | 722 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 723 | } |
sakthipriya | 3:07e15677a75c | 724 | crc16 = CRC::crc16_gen(tm,11); |
sakthipriya | 3:07e15677a75c | 725 | tm[11] = (uint8_t)((crc16&0xFF00)>>8); |
sakthipriya | 3:07e15677a75c | 726 | tm[12] = (uint8_t)(crc16&0x00FF); |
sakthipriya | 3:07e15677a75c | 727 | for(uint8_t i=13;i<134;i++) |
sakthipriya | 3:07e15677a75c | 728 | { |
sakthipriya | 3:07e15677a75c | 729 | tm[i]=0x00; |
sakthipriya | 3:07e15677a75c | 730 | } |
sakthipriya | 3:07e15677a75c | 731 | return tm; |
sakthipriya | 3:07e15677a75c | 732 | } |
sakthipriya | 3:07e15677a75c | 733 | } |
sakthipriya | 3:07e15677a75c | 734 | } |
sakthipriya | 3:07e15677a75c | 735 | } |
sakthipriya | 3:07e15677a75c | 736 | } |
sakthipriya | 4:39a4ae8c7ecd | 737 | } |
sakthipriya | 4:39a4ae8c7ecd | 738 | |
sakthipriya | 4:39a4ae8c7ecd | 739 | |
sakthipriya | 4:39a4ae8c7ecd | 740 | |
sakthipriya | 4:39a4ae8c7ecd | 741 | |
sakthipriya | 4:39a4ae8c7ecd | 742 | int strt_add = flash_size() - (2*SECTOR_SIZE); |
sakthipriya | 4:39a4ae8c7ecd | 743 | uint32_t flasharray[8]; //256+(3*1024) |
sakthipriya | 4:39a4ae8c7ecd | 744 | char *nativeflash = (char*)strt_add; |
sakthipriya | 4:39a4ae8c7ecd | 745 | |
sakthipriya | 4:39a4ae8c7ecd | 746 | /*Writing to the Flash*/ |
sakthipriya | 4:39a4ae8c7ecd | 747 | 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 | 748 | { |
sakthipriya | 4:39a4ae8c7ecd | 749 | for(int i=0;i<8;i++) |
sakthipriya | 4:39a4ae8c7ecd | 750 | { |
sakthipriya | 4:39a4ae8c7ecd | 751 | flasharray[i]=nativeflash[i]; |
sakthipriya | 4:39a4ae8c7ecd | 752 | } |
sakthipriya | 4:39a4ae8c7ecd | 753 | flasharray[j]=fdata; |
sakthipriya | 4:39a4ae8c7ecd | 754 | erase_sector(strt_add); |
sakthipriya | 4:39a4ae8c7ecd | 755 | program_flash(strt_add, (char*)&flasharray,4*8); |
sakthipriya | 4:39a4ae8c7ecd | 756 | } |
sakthipriya | 4:39a4ae8c7ecd | 757 | /*End*/ |
sakthipriya | 4:39a4ae8c7ecd | 758 | |
sakthipriya | 4:39a4ae8c7ecd | 759 | /*Reading from Flash*/ |
sakthipriya | 4:39a4ae8c7ecd | 760 | uint32_t FCTN_CDMS_RD_FLASH(uint16_t j) |
sakthipriya | 4:39a4ae8c7ecd | 761 | { |
sakthipriya | 4:39a4ae8c7ecd | 762 | for(int i=0;i<8;i++) |
sakthipriya | 4:39a4ae8c7ecd | 763 | { |
sakthipriya | 4:39a4ae8c7ecd | 764 | flasharray[i]=nativeflash[i]; |
sakthipriya | 4:39a4ae8c7ecd | 765 | } |
sakthipriya | 4:39a4ae8c7ecd | 766 | return flasharray[j]; |
sakthipriya | 4:39a4ae8c7ecd | 767 | } |
sakthipriya | 5:bb592f3185cc | 768 | /*End*/ |
sakthipriya | 5:bb592f3185cc | 769 | |
sakthipriya | 5:bb592f3185cc | 770 | // Convert float to 4 uint8_t |
sakthipriya | 5:bb592f3185cc | 771 | |
sakthipriya | 5:bb592f3185cc | 772 | void FCTN_CONVERT_FLOAT(float input, uint8_t* output) |
sakthipriya | 5:bb592f3185cc | 773 | { |
sakthipriya | 5:bb592f3185cc | 774 | uint32_t temp; |
sakthipriya | 5:bb592f3185cc | 775 | temp = (uint32_t)input; |
sakthipriya | 5:bb592f3185cc | 776 | output[0] = (temp>>24)&0xFF; |
sakthipriya | 5:bb592f3185cc | 777 | output[2] = (temp>>16)&0xFF; |
sakthipriya | 5:bb592f3185cc | 778 | output[1] = (temp>>8)&0xFF; |
sakthipriya | 5:bb592f3185cc | 779 | output[3] = temp & 0xFF; // verify the logic |
sakthipriya | 5:bb592f3185cc | 780 | } |