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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

TCTM.cpp@92:0d6e6ff9b7c9, 2017-01-04 (annotated)

Committer:
azaddevarm
Date:
Wed Jan 04 09:47:03 2017 +0000
Revision:
92:0d6e6ff9b7c9
Parent:
83:78b6a62cdf6a
Child:
93:e3fd5439e919
Moved short_bcn_aq to f_bcn, printing long msg type

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lakshya 49:61c9f28332ba 1
sakthipriya 0:7b4c00e3912f 2 #include "mbed.h"
lakshya 20:949d13045431 3 #include "rtos.h"
sakthipriya 0:7b4c00e3912f 4 #include "TCTM.h"
sakthipriya 3:07e15677a75c 5 #include "crc.h"
sakthipriya 4:39a4ae8c7ecd 6 #include "EPS.h"
lakshya 20:949d13045431 7 #include "ACS.h"
lakshya 73:d2bca4d2cc64 8 #include "BCN.h"
sakthipriya 5:bb592f3185cc 9 #include "pin_config.h"
sakthipriya 5:bb592f3185cc 10 #include "FreescaleIAP.h"
sakthipriya 6:036d08b62785 11 #include "inttypes.h"
sakthipriya 6:036d08b62785 12 #include "iostream"
sakthipriya 6:036d08b62785 13 #include "stdint.h"
sakthipriya 6:036d08b62785 14 #include "cassert"
lakshya 10:f93407b97750 15 #include"math.h"
lakshya 10:f93407b97750 16
lakshya 49:61c9f28332ba 17 //Serial pc(USBTX,USBRX);
lakshya 49:61c9f28332ba 18
lakshya 49:61c9f28332ba 19 Serial gpc(USBTX, USBRX);
lakshya 49:61c9f28332ba 20
lakshya 49:61c9f28332ba 21
lakshya 19:79e69017c855 22 //**********************************STATUS_PARAMETERS*****************************************************
lakshya 19:79e69017c855 23 uint8_t BCN_TX_SW_ENABLE=0x00;
lakshya 19:79e69017c855 24
lakshya 19:79e69017c855 25 //***********************************FOR STANDBY TIMER****************************************************
lakshya 19:79e69017c855 26 extern void BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 27
lakshya 49:61c9f28332ba 28 uint8_t telemetry[134];
lakshya 19:79e69017c855 29
lakshya 20:949d13045431 30 //*****************PARA******************************
lakshya 20:949d13045431 31
lakshya 20:949d13045431 32 //ACS
lakshya 20:949d13045431 33 extern float db[3];
lakshya 20:949d13045431 34 extern float data[6];
lakshya 20:949d13045431 35 extern float b_old[3]; // Unit: Tesla
lakshya 20:949d13045431 36 extern float moment[3];
lakshya 20:949d13045431 37 extern uint8_t ACS_STATE;
lakshya 20:949d13045431 38 extern uint8_t ACS_STATUS;
lakshya 20:949d13045431 39 extern uint8_t flag_firsttime;
lakshya 20:949d13045431 40 extern uint8_t ACS_DETUMBLING_ALGO_TYPE;
lakshya 20:949d13045431 41 extern uint8_t ACS_INIT_STATUS;
lakshya 20:949d13045431 42 extern uint8_t ACS_DATA_ACQ_STATUS;
lakshya 20:949d13045431 43 extern uint8_t ACS_MAIN_STATUS;
lakshya 20:949d13045431 44 extern uint8_t ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 45 extern uint8_t ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 46 extern uint8_t ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 47 extern uint8_t ACS_TR_X_PWM;
lakshya 20:949d13045431 48 extern uint8_t ACS_TR_Y_PWM;
lakshya 20:949d13045431 49 extern uint8_t ACS_TR_Z_PWM;
lakshya 39:670133e7ffd8 50 extern uint8_t B_SCZ_ANGLE;
lakshya 20:949d13045431 51 extern uint8_t alarmmode;
lakshya 20:949d13045431 52 extern uint8_t controlmode_mms;
lakshya 20:949d13045431 53 extern uint8_t invjm_mms[9];
lakshya 20:949d13045431 54 extern uint8_t jm_mms[9];
lakshya 20:949d13045431 55 extern uint8_t bb_mms[3];
lakshya 20:949d13045431 56 extern uint8_t singularity_flag_mms;
lakshya 20:949d13045431 57 extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya 20:949d13045431 58 extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 59
lakshya 20:949d13045431 60 extern uint8_t ATS1_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 61 extern uint8_t ATS1_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 62 extern uint8_t ATS1_ERROR_RGTR;
lakshya 20:949d13045431 63 extern uint8_t ATS2_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 64 extern uint8_t ATS2_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 65 extern uint8_t ATS2_ERROR_RGTR;
lakshya 20:949d13045431 66 //change
lakshya 20:949d13045431 67 extern uint16_t ACS_MM_X_COMSN;
lakshya 20:949d13045431 68 extern uint16_t ACS_MM_Y_COMSN;
lakshya 20:949d13045431 69 extern uint16_t ACS_MG_X_COMSN;
lakshya 20:949d13045431 70 extern uint16_t ACS_MG_Y_COMSN;
lakshya 20:949d13045431 71 extern uint16_t ACS_MM_Z_COMSN;
lakshya 20:949d13045431 72 extern uint16_t ACS_MG_Z_COMSN;
lakshya 20:949d13045431 73 //acs func
lakshya 20:949d13045431 74 extern void F_ACS();
lakshya 20:949d13045431 75 extern int SENSOR_INIT();
lakshya 20:949d13045431 76 extern int FCTN_ACS_INIT();
lakshya 20:949d13045431 77 extern int SENSOR_DATA_ACQ();
lakshya 20:949d13045431 78 extern int FCTN_ATS_DATA_ACQ();
lakshya 20:949d13045431 79 extern void FCTN_ACS_GENPWM_MAIN(float Moment[3]);
lakshya 20:949d13045431 80 extern void FCTN_ACS_CNTRLALGO(float*,float*,int);
lakshya 20:949d13045431 81
lakshya 20:949d13045431 82
lakshya 20:949d13045431 83 //main
lakshya 49:61c9f28332ba 84 extern Timer BAE_uptime;
lakshya 49:61c9f28332ba 85 extern Timer I2C_last;
lakshya 49:61c9f28332ba 86 extern uint8_t BAE_RESET_COUNTER;
lakshya 49:61c9f28332ba 87 extern void RETURN_UPTIME(float time, uint8_t *day,uint8_t *hour,uint8_t *min);
lakshya 49:61c9f28332ba 88
lakshya 20:949d13045431 89 extern uint8_t ACS_ATS_STATUS;
lakshya 20:949d13045431 90 extern uint16_t ACS_MAIN_COUNTER;//change\apply
lakshya 20:949d13045431 91 extern uint8_t HTR_CYCLE_COUNTER;
lakshya 20:949d13045431 92 extern RtosTimer *HTR_CYCLE;
lakshya 20:949d13045431 93 extern uint8_t HTR_CYCLE_COUNTS; //Count of heater cycles
lakshya 20:949d13045431 94 extern uint8_t HTR_CYCLE_START_DLY; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya 20:949d13045431 95 extern uint8_t HTR_ON_DURATION; //EPS_HTR_OFF timer duration in minutes
lakshya 20:949d13045431 96 extern uint16_t HTR_CYCLE_PERIOD;
lakshya 20:949d13045431 97
lakshya 49:61c9f28332ba 98 extern DigitalOut ACS_TR_XY_ENABLE;
lakshya 49:61c9f28332ba 99 extern DigitalOut ACS_TR_Z_ENABLE;
lakshya 49:61c9f28332ba 100 extern DigitalIn ACS_TR_XY_OC_FAULT;
lakshya 49:61c9f28332ba 101 extern DigitalIn ACS_TR_Z_OC_FAULT;
lakshya 49:61c9f28332ba 102 extern DigitalIn ACS_TR_XY_FAULT;
lakshya 49:61c9f28332ba 103 extern DigitalIn ACS_TR_Z_FAULT;
lakshya 49:61c9f28332ba 104 extern DigitalIn ACS_ATS1_OC_FAULT;
lakshya 49:61c9f28332ba 105 extern DigitalIn ACS_ATS2_OC_FAULT;
sakthipriya 0:7b4c00e3912f 106
lakshya 49:61c9f28332ba 107 extern DigitalOut ATS1_SW_ENABLE; // enable of att sens2 switch
lakshya 49:61c9f28332ba 108 extern DigitalOut ATS2_SW_ENABLE; // enable of att sens switch
sakthipriya 5:bb592f3185cc 109
lakshya 49:61c9f28332ba 110 extern DigitalOut DRV_Z_EN;
lakshya 49:61c9f28332ba 111 extern DigitalOut DRV_XY_EN;
Bragadeesh153 52:daa685b0e390 112 //extern DigitalOut TRXY_SW; //TR XY Switch if any TR_SW error arises then it is same as TR_SW_EN
Bragadeesh153 52:daa685b0e390 113 //extern DigitalOut TRZ_SW; //TR Z Switch
lakshya 20:949d13045431 114
lakshya 49:61c9f28332ba 115 extern DigitalOut phase_TR_x;
lakshya 49:61c9f28332ba 116 extern DigitalOut phase_TR_y;
lakshya 49:61c9f28332ba 117 extern DigitalOut phase_TR_z;
lakshya 20:949d13045431 118
lakshya 20:949d13045431 119
lakshya 20:949d13045431 120 //CDMS
lakshya 49:61c9f28332ba 121 extern DigitalOut CDMS_RESET; // CDMS RESET
lakshya 20:949d13045431 122 extern uint8_t CDMS_SW_STATUS;
lakshya 49:61c9f28332ba 123 extern DigitalIn CDMS_OC_FAULT;
lakshya 20:949d13045431 124
lakshya 20:949d13045431 125
lakshya 20:949d13045431 126 //BCN
lakshya 49:61c9f28332ba 127 extern DigitalOut BCN_SW; //Beacon switch
lakshya 10:f93407b97750 128 extern uint8_t BCN_TX_STATUS;
lakshya 10:f93407b97750 129 extern uint8_t BCN_FEN;
lakshya 20:949d13045431 130 extern uint8_t BCN_SPND_TX;
lakshya 20:949d13045431 131 extern uint8_t BCN_TX_MAIN_STATUS;
lakshya 20:949d13045431 132 extern uint8_t BCN_TX_SW_STATUS;
lakshya 20:949d13045431 133 extern uint8_t BCN_LONG_MSG_TYPE;
lakshya 20:949d13045431 134 extern uint8_t BCN_INIT_STATUS;
lakshya 20:949d13045431 135 extern uint8_t BCN_FAIL_COUNT;
lakshya 20:949d13045431 136 extern uint16_t BCN_TX_MAIN_COUNTER;
lakshya 49:61c9f28332ba 137 extern DigitalIn BCN_TX_OC_FAULT;
lakshya 20:949d13045431 138 extern uint8_t BCN_TMP;
lakshya 20:949d13045431 139 extern void F_BCN();
lakshya 20:949d13045431 140 extern void FCTN_BCN_TX_MAIN();
lakshya 33:76f2b8735501 141 extern uint8_t SHORT_HK_data[15];
lakshya 33:76f2b8735501 142 extern void FCTN_BCN_SPND_TX();
lakshya 67:c0dd13285d80 143 extern void FCTN_BCN_INIT();
lakshya 20:949d13045431 144
lakshya 73:d2bca4d2cc64 145 extern uint8_t readreg(uint8_t reg);
lakshya 73:d2bca4d2cc64 146 extern void writereg(uint8_t reg,uint8_t val);
lakshya 73:d2bca4d2cc64 147
lakshya 20:949d13045431 148
lakshya 20:949d13045431 149 //BAE
lakshya 20:949d13045431 150 extern uint8_t BAE_STANDBY;
lakshya 20:949d13045431 151 extern uint8_t BAE_INIT_STATUS;
lakshya 20:949d13045431 152 extern uint8_t BAE_RESET_COUNTER;
lakshya 27:61c856be467e 153 extern uint8_t BAE_MNG_I2C_STATUS;
lakshya 20:949d13045431 154 /*given a default value as of now shuld read value from flash and increment it write it back very time it starts(bae)*/
lakshya 20:949d13045431 155
lakshya 20:949d13045431 156 extern uint32_t BAE_STATUS;//extern uint32_t BAE_STATUS;
lakshya 20:949d13045431 157 extern BAE_HK_quant quant_data;
sakthipriya 4:39a4ae8c7ecd 158 extern BAE_HK_actual actual_data;
sakthipriya 4:39a4ae8c7ecd 159 extern BAE_HK_min_max bae_HK_minmax;
Bragadeesh153 13:fb7facaf308b 160 //extern DigitalOut TRXY_SW;
lakshya 11:1fdb94ae6563 161 //extern DigitalOut TRZ_SW_EN; //same as TRZ_SW
lakshya 11:1fdb94ae6563 162 extern uint32_t BAE_ENABLE;
lakshya 20:949d13045431 163 extern uint16_t BAE_I2C_COUNTER;
lakshya 33:76f2b8735501 164 extern uint8_t LONG_HK_data[2][134];
lakshya 20:949d13045431 165 //extern uint8_t BCN_FAIL_COUNT;
lakshya 20:949d13045431 166
lakshya 11:1fdb94ae6563 167
lakshya 20:949d13045431 168 //EPS
lakshya 20:949d13045431 169 extern bool firstCount;
lakshya 20:949d13045431 170 extern uint8_t EPS_BTRY_HTR_AUTO;
lakshya 20:949d13045431 171 extern uint8_t EPS_BATT_TEMP_LOW;
lakshya 20:949d13045431 172 extern uint8_t EPS_BATT_TEMP_HIGH;
lakshya 20:949d13045431 173 extern uint8_t EPS_BATT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 174 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 175 extern uint8_t EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 176 extern uint8_t EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 177 extern uint8_t EPS_INIT_STATUS;
lakshya 20:949d13045431 178 extern uint8_t EPS_BATTERY_GAUGE_STATUS ;
lakshya 20:949d13045431 179 extern uint8_t EPS_MAIN_STATUS;
lakshya 33:76f2b8735501 180 extern uint8_t EPS_BTRY_TMP_STATUS ;
lakshya 20:949d13045431 181 extern uint8_t EPS_STATUS ;
lakshya 20:949d13045431 182 extern uint8_t EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 183 extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 184 extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya 20:949d13045431 185 extern uint16_t EPS_MAIN_COUNTER;
lakshya 33:76f2b8735501 186 extern uint8_t EPS_BTRY_HTR;
lakshya 11:1fdb94ae6563 187
lakshya 20:949d13045431 188 extern DigitalOut SelectLineb3; // MSB of Select Lines
lakshya 20:949d13045431 189 extern DigitalOut SelectLineb2;
lakshya 20:949d13045431 190 extern DigitalOut SelectLineb1;
lakshya 20:949d13045431 191 extern DigitalOut SelectLineb0;
lakshya 49:61c9f28332ba 192 extern DigitalIn EPS_CHARGER_FAULT;
lakshya 49:61c9f28332ba 193 extern DigitalIn EPS_CHARGER_STATUS;
lakshya 49:61c9f28332ba 194 extern DigitalIn EPS_BATTERY_GAUGE_ALERT;
lakshya 20:949d13045431 195
lakshya 20:949d13045431 196 extern void F_EPS();
lakshya 20:949d13045431 197 extern AnalogIn CurrentInput;
lakshya 20:949d13045431 198
lakshya 20:949d13045431 199 //--------------------check this refer prashant
lakshya 11:1fdb94ae6563 200
Bragadeesh153 13:fb7facaf308b 201 extern PwmOut PWM1; //x //Functions used to generate PWM signal
lakshya 11:1fdb94ae6563 202 extern PwmOut PWM2; //y
lakshya 11:1fdb94ae6563 203 extern PwmOut PWM3; //z //PWM output comes from pins p6
lakshya 11:1fdb94ae6563 204
lakshya 20:949d13045431 205 //included after home
lakshya 11:1fdb94ae6563 206 //extern void FCTN_ACS_GENPWM_MAIN();
lakshya 20:949d13045431 207
lakshya 20:949d13045431 208 uint16_t crc_hk_data()//gencrc16_for_me()
lakshya 20:949d13045431 209 {
lakshya 33:76f2b8735501 210 uint16_t crc = CRC::crc16_gen(&LONG_HK_data[1][0],132);//BAE_chardata i.e char data type usesd earlier BAE_HK_data
lakshya 33:76f2b8735501 211 return crc;
lakshya 33:76f2b8735501 212 }
lakshya 33:76f2b8735501 213
lakshya 33:76f2b8735501 214 uint8_t crc8_short()
lakshya 33:76f2b8735501 215 {
lakshya 33:76f2b8735501 216 uint8_t crc = CRC::crc8_gen(SHORT_HK_data,14);
lakshya 20:949d13045431 217 return crc;
lakshya 20:949d13045431 218 }
lakshya 20:949d13045431 219
lakshya 20:949d13045431 220 float uint16_to_float(float min,float max,uint16_t scale)
lakshya 20:949d13045431 221 {
lakshya 20:949d13045431 222 float div=max-min;
lakshya 20:949d13045431 223 div=(div/(65535.0));
lakshya 20:949d13045431 224 return ((div*(float)scale)+ min);
lakshya 20:949d13045431 225 }
lakshya 11:1fdb94ae6563 226
lakshya 20:949d13045431 227 uint16_t float_to_uint16(float min,float max,float val) //takes care of -ve num as its scale with min and max as reference
lakshya 20:949d13045431 228 {
lakshya 20:949d13045431 229 if(val>max)
lakshya 20:949d13045431 230 {return 0xffff;
lakshya 20:949d13045431 231 }
lakshya 20:949d13045431 232 if(val<min)
lakshya 20:949d13045431 233 {return 0x0000;
lakshya 20:949d13045431 234 }
lakshya 20:949d13045431 235 float div=max-min;
lakshya 20:949d13045431 236 div=(65535.0/div);
lakshya 20:949d13045431 237 val=((val-min)*div);
Bragadeesh153 56:32b1fb074138 238 //gpc.printf("\n\r the scale is %x",(uint16_t)val);
lakshya 20:949d13045431 239 return (uint16_t)val;
lakshya 20:949d13045431 240 }
sakthipriya 5:bb592f3185cc 241
lakshya 20:949d13045431 242 void gen_I_TM()
lakshya 20:949d13045431 243 {
lakshya 20:949d13045431 244 telemetry[0] = 0xB0;
lakshya 20:949d13045431 245 for(int i=1;i<11;i++)
lakshya 20:949d13045431 246 telemetry[i] = 0x00;
lakshya 20:949d13045431 247 uint16_t crc = CRC::crc16_gen(telemetry,11);//BAE_chardata i.e char data type usesd earlier
lakshya 20:949d13045431 248 telemetry[11] = (uint8_t)(crc >> 8);
lakshya 20:949d13045431 249 telemetry[12] = (uint8_t)crc ;
lakshya 20:949d13045431 250 for(int i=13;i<135;i++)
lakshya 20:949d13045431 251 telemetry[i] = 0x00;
lakshya 20:949d13045431 252 }
lakshya 20:949d13045431 253 void FCTN__UINT (uint8_t input[2], float* output)
lakshya 11:1fdb94ae6563 254 {
lakshya 11:1fdb94ae6563 255
lakshya 11:1fdb94ae6563 256 *output = (float) input[1];
lakshya 11:1fdb94ae6563 257 *output = *output/100.0; //input[0] integer part
lakshya 11:1fdb94ae6563 258 *output = *output + (float) input[0]; //input[1] decimal part correct to two decimal places
lakshya 11:1fdb94ae6563 259 }
lakshya 11:1fdb94ae6563 260
lakshya 10:f93407b97750 261 float angle(float x,float y,float z)
lakshya 10:f93407b97750 262 {
lakshya 10:f93407b97750 263 float mag_total=sqrt(x*x + y*y + z*z);
lakshya 10:f93407b97750 264 float cos_z = z/mag_total;
lakshya 10:f93407b97750 265 float theta_z = acosf(cos_z);
Bragadeesh153 13:fb7facaf308b 266
lakshya 10:f93407b97750 267 return theta_z;
lakshya 49:61c9f28332ba 268 //gpc.printf("/n cos_zz= %f /t theta_z= %f /n",cos_z,theta_z);
lakshya 10:f93407b97750 269 }
lakshya 10:f93407b97750 270
Bragadeesh153 13:fb7facaf308b 271 //uint8_t tm1[134];
Bragadeesh153 13:fb7facaf308b 272
Bragadeesh153 13:fb7facaf308b 273 void FCTN_BAE_TM_TC (uint8_t* tc)
sakthipriya 3:07e15677a75c 274 {
lakshya 19:79e69017c855 275 //tm1[0] = 1;
lakshya 19:79e69017c855 276 //calculating crc
lakshya 20:949d13045431 277 for(int i=0;i<134;i++)
lakshya 20:949d13045431 278 {
lakshya 20:949d13045431 279 telemetry[i]=tc[i];
lakshya 20:949d13045431 280 }
lakshya 20:949d13045431 281
lakshya 19:79e69017c855 282
azaddevarm 83:78b6a62cdf6a 283 /*changed*/
lakshya 15:e09aaaccf134 284 uint8_t* tm; // without it some identifier error
lakshya 20:949d13045431 285 uint16_t crc16=CRC::crc16_gen(telemetry,9); //implementing crc
lakshya 49:61c9f28332ba 286 gpc.printf("\n\r the crc is %x",crc16);
lakshya 66:a5d2b8dc6b9e 287 // for(int qw=0;qw<11;qw++);
lakshya 66:a5d2b8dc6b9e 288 // gpc.printf("\n\r the telecommand %d \t %x",qw,tc[qw]);
lakshya 66:a5d2b8dc6b9e 289 // pc.printf("\n the tc provided is %s \n" , tc");
lakshya 19:79e69017c855 290 if( ( ((uint8_t)((crc16 & 0xFF00)>>8)==tc[9]) && ((uint8_t)(crc16 & 0x00FF)==tc[10]) )== 0 )
lakshya 19:79e69017c855 291 {
lakshya 19:79e69017c855 292 telemetry[0]=0xB0;
lakshya 19:79e69017c855 293 telemetry[1]=0x00;//tc psc defined for this case
lakshya 19:79e69017c855 294 telemetry[2]=0x01;//ack code for this case
lakshya 19:79e69017c855 295 for(int i=3;i<11;i++)
lakshya 20:949d13045431 296 {
lakshya 19:79e69017c855 297 telemetry[i]=0x00;
lakshya 19:79e69017c855 298 }
lakshya 19:79e69017c855 299 //add crc
lakshya 19:79e69017c855 300 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 301 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 302 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 49:61c9f28332ba 303 gpc.printf("\n\rincorrect crc");
lakshya 19:79e69017c855 304 for(int i=13;i<134;i++)
lakshya 19:79e69017c855 305 {
lakshya 19:79e69017c855 306 telemetry[i]=0x00;
lakshya 19:79e69017c855 307 }
lakshya 19:79e69017c855 308 }
lakshya 19:79e69017c855 309 else
lakshya 19:79e69017c855 310 {
lakshya 19:79e69017c855 311 //check apid
lakshya 19:79e69017c855 312 uint8_t apid_check=((tc[1]&0xC0)>>6);
lakshya 19:79e69017c855 313 if(apid_check!=0x01)
lakshya 19:79e69017c855 314 {
lakshya 19:79e69017c855 315 telemetry[0]=0xB0;
lakshya 19:79e69017c855 316 telemetry[1]=tc[0];//tc psc defined for this case
lakshya 19:79e69017c855 317 telemetry[2]=0x02;//ack code for this case
lakshya 19:79e69017c855 318 for(int i=3;i<11;i++)
Bragadeesh153 13:fb7facaf308b 319 {
lakshya 19:79e69017c855 320 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 321 }
Bragadeesh153 13:fb7facaf308b 322 crc16 = CRC::crc16_gen(telemetry,11);
Bragadeesh153 13:fb7facaf308b 323 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
Bragadeesh153 13:fb7facaf308b 324 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 49:61c9f28332ba 325 gpc.printf("\n\rillegal TC packet APID don't match");
lakshya 19:79e69017c855 326 for(int i=13;i<134;i++)
Bragadeesh153 13:fb7facaf308b 327 {
Bragadeesh153 13:fb7facaf308b 328 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 329 }
sakthipriya 3:07e15677a75c 330 }
lakshya 19:79e69017c855 331 else
lakshya 19:79e69017c855 332 {// all the possible cases of fms and mms
lakshya 19:79e69017c855 333 uint8_t service_type=(tc[2]&0xF0);
lakshya 19:79e69017c855 334 //check for fms first
lakshya 19:79e69017c855 335 switch(service_type)
lakshya 19:79e69017c855 336 {
lakshya 19:79e69017c855 337 case 0x60:
lakshya 19:79e69017c855 338 {
lakshya 49:61c9f28332ba 339 gpc.printf("Memory Management Service\r\n");
lakshya 19:79e69017c855 340 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 341 switch(service_subtype)
lakshya 19:79e69017c855 342 {
lakshya 19:79e69017c855 343 case 0x02:
lakshya 19:79e69017c855 344 {
lakshya 49:61c9f28332ba 345 gpc.printf("\n\rRead from RAM");
lakshya 19:79e69017c855 346 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 347 switch(MID)
lakshya 19:79e69017c855 348 {
lakshya 19:79e69017c855 349 case 0x0000://changed from 0001
lakshya 19:79e69017c855 350 {
lakshya 49:61c9f28332ba 351 gpc.printf("\n\rRead from MID 0000 \n");
lakshya 49:61c9f28332ba 352 gpc.printf("\n\rReading flash parameters");
lakshya 19:79e69017c855 353
lakshya 19:79e69017c855 354 /*taking some varible till we find some thing more useful*/
lakshya 19:79e69017c855 355 //uint8_t ref_val=0x01;
Bragadeesh153 54:d6a45982ace1 356 telemetry[0] = 0x30;
lakshya 19:79e69017c855 357 telemetry[1] = tc[0];
lakshya 19:79e69017c855 358 telemetry[2] = ACK_CODE;
lakshya 19:79e69017c855 359 /*random or with bcn_tx_sw_enable assuming it is 1 bit in length
lakshya 19:79e69017c855 360 how to get that we dont know, now we just assume it to be so*/
lakshya 57:60e8f00d93c3 361 telemetry[3] = 0x00;
lakshya 57:60e8f00d93c3 362 telemetry[4] = ACS_ATS_STATUS;
lakshya 57:60e8f00d93c3 363 telemetry[5] = ACS_TR_XY_SW_STATUS;
lakshya 57:60e8f00d93c3 364 telemetry[5] = (telemetry[5]<<2)| ACS_TR_Z_SW_STATUS;
lakshya 57:60e8f00d93c3 365 telemetry[5] = (telemetry[5]<<4) | ACS_STATE;
lakshya 57:60e8f00d93c3 366 telemetry[6] = ACS_DETUMBLING_ALGO_TYPE;
lakshya 57:60e8f00d93c3 367 telemetry[6] = (telemetry[6]<<2) | BCN_TX_SW_STATUS;
lakshya 57:60e8f00d93c3 368 telemetry[6] = (telemetry[6]<<1) | BCN_SPND_TX;
lakshya 57:60e8f00d93c3 369 telemetry[6] = (telemetry[6]<<1) | BCN_FEN;
lakshya 57:60e8f00d93c3 370 telemetry[6] = (telemetry[6]<<1) | BCN_LONG_MSG_TYPE;
lakshya 57:60e8f00d93c3 371 telemetry[6] = (telemetry[6]<<1) | EPS_BTRY_HTR_AUTO;//EPS_BATTERY_HEATER_ENABLE
lakshya 57:60e8f00d93c3 372 telemetry[6] = (telemetry[6]<<1);
lakshya 57:60e8f00d93c3 373 //now one spares in telemetry[6]
lakshya 57:60e8f00d93c3 374 telemetry[7] = BAE_RESET_COUNTER;
lakshya 57:60e8f00d93c3 375 telemetry[8] = EPS_SOC_LEVEL_12;
lakshya 57:60e8f00d93c3 376 telemetry[9] = EPS_SOC_LEVEL_23;
lakshya 57:60e8f00d93c3 377 telemetry[10] = ACS_MAG_TIME_DELAY;
lakshya 57:60e8f00d93c3 378 telemetry[11] = ACS_DEMAG_TIME_DELAY;
lakshya 57:60e8f00d93c3 379 telemetry[12] = EPS_BAT_TEMP_LOW;
lakshya 57:60e8f00d93c3 380 telemetry[13] = EPS_BAT_TEMP_HIGH;
lakshya 57:60e8f00d93c3 381 telemetry[14] = EPS_BAT_TEMP_DEFAULT;
Bragadeesh153 56:32b1fb074138 382
lakshya 57:60e8f00d93c3 383 telemetry[15] = ACS_MM_X_COMSN >> 8;
lakshya 57:60e8f00d93c3 384 telemetry[16] = ACS_MM_X_COMSN;
lakshya 57:60e8f00d93c3 385 printf("\n\r the mm x commission %d",ACS_MM_X_COMSN);
lakshya 57:60e8f00d93c3 386
lakshya 57:60e8f00d93c3 387 telemetry[17] = ACS_MM_Y_COMSN >> 8;
lakshya 57:60e8f00d93c3 388 telemetry[18] = ACS_MM_Y_COMSN;
lakshya 20:949d13045431 389
lakshya 57:60e8f00d93c3 390 telemetry[19] = ACS_MG_X_COMSN >> 8;
lakshya 57:60e8f00d93c3 391 telemetry[20] = ACS_MG_X_COMSN;
lakshya 20:949d13045431 392
lakshya 57:60e8f00d93c3 393 telemetry[21] = ACS_MG_Y_COMSN >> 8;
lakshya 57:60e8f00d93c3 394 telemetry[22] = ACS_MG_Y_COMSN;
lakshya 20:949d13045431 395
lakshya 57:60e8f00d93c3 396 telemetry[23] = ACS_MM_Z_COMSN >> 8;
lakshya 57:60e8f00d93c3 397 telemetry[24] = ACS_MM_Z_COMSN;
lakshya 20:949d13045431 398
lakshya 57:60e8f00d93c3 399 telemetry[25] = ACS_MG_Z_COMSN >> 8;
lakshya 57:60e8f00d93c3 400 telemetry[26] = ACS_MG_Z_COMSN;
lakshya 20:949d13045431 401
lakshya 57:60e8f00d93c3 402 telemetry[27] = ACS_Z_FIXED_MOMENT >> 8;
lakshya 57:60e8f00d93c3 403 telemetry[28] = ACS_Z_FIXED_MOMENT;
lakshya 57:60e8f00d93c3 404 printf("\n\r the z_fixed_moment %d",ACS_Z_FIXED_MOMENT);
lakshya 57:60e8f00d93c3 405
lakshya 20:949d13045431 406
lakshya 20:949d13045431 407 //BAE RAM PARAMETER
lakshya 57:60e8f00d93c3 408 telemetry[29] = BAE_INIT_STATUS;
lakshya 57:60e8f00d93c3 409 telemetry[29] = (telemetry[29]<<1) | BAE_MNG_I2C_STATUS;//changed
lakshya 57:60e8f00d93c3 410 telemetry[29] = (telemetry[29]<<1) | BCN_INIT_STATUS;
lakshya 57:60e8f00d93c3 411 telemetry[29] = (telemetry[29]<<1) | BCN_TX_MAIN_STATUS;
lakshya 57:60e8f00d93c3 412 telemetry[29] = (telemetry[29]<<3) | BCN_TX_STATUS;
lakshya 57:60e8f00d93c3 413 telemetry[29] = (telemetry[29]<<1) | ACS_INIT_STATUS;
lakshya 20:949d13045431 414
lakshya 57:60e8f00d93c3 415 telemetry[30] = ACS_DATA_ACQ_STATUS;
lakshya 57:60e8f00d93c3 416 telemetry[30] = (telemetry[30]<<1) | ACS_MAIN_STATUS;
lakshya 57:60e8f00d93c3 417 telemetry[30] = (telemetry[30]<<4) | ACS_STATUS;
lakshya 57:60e8f00d93c3 418 telemetry[30] = (telemetry[30]<<1) | EPS_INIT_STATUS;
lakshya 20:949d13045431 419
lakshya 57:60e8f00d93c3 420 telemetry[31] = EPS_BATTERY_GAUGE_STATUS;
lakshya 57:60e8f00d93c3 421 telemetry[31] = (telemetry[31]<<1) | EPS_MAIN_STATUS;
lakshya 57:60e8f00d93c3 422 telemetry[31] = (telemetry[31]<<1) | EPS_BTRY_TMP_STATUS;
lakshya 57:60e8f00d93c3 423 telemetry[31] = (telemetry[31]<<3) | EPS_STATUS;
lakshya 63:55d32e7dcad7 424 telemetry[31] = (telemetry[31]<<2) | CDMS_SW_STATUS;
lakshya 20:949d13045431 425 // telemetry[30] = (telemetry[30]<<1) | EPS_BTRY_HTR_STATUS;//new to : implement
lakshya 33:76f2b8735501 426
lakshya 57:60e8f00d93c3 427 telemetry[32] = EPS_BTRY_HTR; //new to : implement
lakshya 27:61c856be467e 428 //spare 4
lakshya 57:60e8f00d93c3 429 telemetry[32] = (telemetry[32]<<7) | BAE_STANDBY;
lakshya 20:949d13045431 430 // 6 next telemetries value to be given by registers
lakshya 57:60e8f00d93c3 431 telemetry[33] = ATS1_EVENT_STATUS_RGTR;
lakshya 57:60e8f00d93c3 432 telemetry[34] = ATS1_SENTRAL_STATUS_RGTR;
lakshya 57:60e8f00d93c3 433 telemetry[35] = ATS1_ERROR_RGTR;
lakshya 57:60e8f00d93c3 434 telemetry[36] = ATS2_EVENT_STATUS_RGTR;
lakshya 57:60e8f00d93c3 435 telemetry[37] = ATS2_SENTRAL_STATUS_RGTR;
lakshya 57:60e8f00d93c3 436 telemetry[38] = ATS2_ERROR_RGTR;
lakshya 20:949d13045431 437
lakshya 57:60e8f00d93c3 438 telemetry[39] = BCN_FAIL_COUNT;
lakshya 57:60e8f00d93c3 439 telemetry[40] = actual_data.power_mode;
lakshya 57:60e8f00d93c3 440 telemetry[41] = HTR_CYCLE_COUNTER;//new to : implement
lakshya 20:949d13045431 441
lakshya 58:c4203e162d12 442 // GS changed order has to be updated in the telemetry sheet or jithin should change the order
lakshya 58:c4203e162d12 443 telemetry[43] = BAE_I2C_COUNTER;
lakshya 58:c4203e162d12 444 telemetry[42] = BAE_I2C_COUNTER>>8;
lakshya 58:c4203e162d12 445 telemetry[45] = ACS_MAIN_COUNTER;
lakshya 58:c4203e162d12 446 telemetry[44] = ACS_MAIN_COUNTER>>8;
lakshya 58:c4203e162d12 447 telemetry[47] = BCN_TX_MAIN_COUNTER;
lakshya 58:c4203e162d12 448 telemetry[46] = BCN_TX_MAIN_COUNTER>>8;
lakshya 58:c4203e162d12 449 telemetry[49] = EPS_MAIN_COUNTER;
lakshya 58:c4203e162d12 450 telemetry[48] = EPS_MAIN_COUNTER>>8;
lakshya 49:61c9f28332ba 451
lakshya 49:61c9f28332ba 452 uint8_t days,hours,mins;
lakshya 49:61c9f28332ba 453 RETURN_UPTIME(BAE_uptime.read(),&days,&hours,&mins);
lakshya 57:60e8f00d93c3 454 printf("\n\r the values bae of days,hour,min %d, %d, %d",days,hours,mins);
lakshya 57:60e8f00d93c3 455
lakshya 57:60e8f00d93c3 456 telemetry[50] = days;
lakshya 49:61c9f28332ba 457 RETURN_UPTIME(I2C_last.read(),&days,&hours,&mins);
lakshya 57:60e8f00d93c3 458 telemetry[50] = (telemetry[50]<<3) | (hours>>2);
lakshya 57:60e8f00d93c3 459 telemetry[51] = hours;
lakshya 57:60e8f00d93c3 460 telemetry[51] = (telemetry[51]<<6) | mins;
lakshya 57:60e8f00d93c3 461
lakshya 57:60e8f00d93c3 462 printf("\n\r the values of bae uptime %f",BAE_uptime.read());
lakshya 57:60e8f00d93c3 463 printf("\n\r the values i2c of days,hour,min %d, %d, %d",days,hours,mins);
lakshya 57:60e8f00d93c3 464
lakshya 49:61c9f28332ba 465
lakshya 20:949d13045431 466 //sending in uint can be converted back to int by direct conversion for +values
lakshya 20:949d13045431 467 //make sure to convert baack to int for getting negative values
lakshya 20:949d13045431 468 //algo for that done
lakshya 58:c4203e162d12 469
lakshya 58:c4203e162d12 470 uint16_t scaled;
lakshya 20:949d13045431 471
lakshya 58:c4203e162d12 472 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 58:c4203e162d12 473 telemetry[52] = (scaled>>8);
lakshya 58:c4203e162d12 474 telemetry[53] = scaled;
lakshya 58:c4203e162d12 475 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 58:c4203e162d12 476 telemetry[54] = (scaled>>8);
lakshya 58:c4203e162d12 477 telemetry[55] = scaled;
lakshya 58:c4203e162d12 478 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 58:c4203e162d12 479 telemetry[56] = (scaled>>8);
lakshya 58:c4203e162d12 480 telemetry[57] = scaled;
lakshya 58:c4203e162d12 481 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 58:c4203e162d12 482 telemetry[58] = (scaled>>8);
lakshya 58:c4203e162d12 483 telemetry[59] = scaled;
lakshya 58:c4203e162d12 484 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 58:c4203e162d12 485 telemetry[60] = (scaled>>8);
lakshya 58:c4203e162d12 486 telemetry[61] = scaled;
lakshya 58:c4203e162d12 487 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 58:c4203e162d12 488 telemetry[62] = (scaled>>8);
lakshya 58:c4203e162d12 489 telemetry[63] = scaled;
lakshya 58:c4203e162d12 490
lakshya 67:c0dd13285d80 491 telemetry[64] = (~BCN_TX_OC_FAULT);
lakshya 57:60e8f00d93c3 492 telemetry[64] = (telemetry[64]<<1) | ACS_TR_XY_ENABLE;
lakshya 57:60e8f00d93c3 493 telemetry[64] = (telemetry[64]<<1) | ACS_TR_Z_ENABLE;
lakshya 67:c0dd13285d80 494 telemetry[64] = (telemetry[64]<<1) | (~ACS_TR_XY_OC_FAULT);
lakshya 67:c0dd13285d80 495 telemetry[64] = (telemetry[64]<<1) | (~ACS_TR_Z_OC_FAULT);
lakshya 67:c0dd13285d80 496 telemetry[64] = (telemetry[64]<<1) | (~ACS_TR_XY_FAULT);
lakshya 67:c0dd13285d80 497 telemetry[64] = (telemetry[64]<<1) | (~EPS_CHARGER_FAULT);
lakshya 57:60e8f00d93c3 498 telemetry[64] = (telemetry[64]<<1) | EPS_CHARGER_STATUS;
lakshya 20:949d13045431 499
lakshya 57:60e8f00d93c3 500 telemetry[65] = EPS_BATTERY_GAUGE_ALERT;
lakshya 67:c0dd13285d80 501 telemetry[65] = (telemetry[65]<<1) | (~CDMS_OC_FAULT);
lakshya 67:c0dd13285d80 502 telemetry[65] = (telemetry[65]<<1) | (~ACS_ATS1_OC_FAULT);
lakshya 67:c0dd13285d80 503 telemetry[65] = (telemetry[65]<<1) | (~ACS_ATS2_OC_FAULT);
lakshya 67:c0dd13285d80 504 telemetry[65] = (telemetry[65]<<1) | (~ACS_TR_Z_FAULT);
lakshya 57:60e8f00d93c3 505 telemetry[65] = (telemetry[65]<<3);
lakshya 20:949d13045431 506 //3 spare
lakshya 20:949d13045431 507
lakshya 57:60e8f00d93c3 508 telemetry[66] = ACS_TR_X_PWM;
lakshya 57:60e8f00d93c3 509 telemetry[67] = ACS_TR_Y_PWM;
lakshya 57:60e8f00d93c3 510 telemetry[68] = ACS_TR_Z_PWM;
lakshya 20:949d13045431 511 //spare byte
lakshya 20:949d13045431 512 //assigned it to counter HTR_CYCLE_COUNTER
lakshya 20:949d13045431 513
lakshya 20:949d13045431 514 //assign it b_scz_angle
lakshya 57:60e8f00d93c3 515 telemetry[69] = B_SCZ_ANGLE>>4;
lakshya 57:60e8f00d93c3 516 telemetry[69] = (telemetry[69]<<1) | alarmmode;
lakshya 57:60e8f00d93c3 517 telemetry[69] = (telemetry[69]<<1) | controlmode_mms;
lakshya 57:60e8f00d93c3 518 telemetry[69] = (telemetry[69]<<1) | singularity_flag_mms;
lakshya 57:60e8f00d93c3 519 telemetry[69] = (telemetry[69]<<1);
lakshya 49:61c9f28332ba 520 //1 bit spare
lakshya 20:949d13045431 521
lakshya 20:949d13045431 522 for(int i=0;i<9;i++)
lakshya 20:949d13045431 523 {
lakshya 57:60e8f00d93c3 524 telemetry[70+i] = invjm_mms[i];
lakshya 57:60e8f00d93c3 525 telemetry[81+i] = jm_mms[i];
lakshya 20:949d13045431 526 }
lakshya 20:949d13045431 527
lakshya 53:459b71b1861c 528 for(int i=1;i<3;i++)
lakshya 57:60e8f00d93c3 529 telemetry[79+i] = bb_mms[i];
lakshya 20:949d13045431 530
lakshya 20:949d13045431 531 for(int i=0;i<16;i++)
lakshya 20:949d13045431 532 {
lakshya 66:a5d2b8dc6b9e 533 telemetry[90+i] = (uint8_t)(quant_data.voltage_quant[i]);//changed (uint8_t)(quant_data.voltage_quant[i]<<3)+(quant_data.voltage_quant[i]<<1); /*multiplied by 10 */
lakshya 64:241406992336 534 //printf("\n\r %d \t %d",i,telemetry[90+i]);
lakshya 57:60e8f00d93c3 535 telemetry[106+i] = quant_data.current_quant[i];
lakshya 63:55d32e7dcad7 536 /*check the working*/
lakshya 20:949d13045431 537 }
lakshya 20:949d13045431 538
lakshya 66:a5d2b8dc6b9e 539 telemetry[122] = quant_data.Batt_voltage_quant;// changed (quant_data.Batt_voltage_quant<<3)+(quant_data.Batt_voltage_quant<<1);
lakshya 57:60e8f00d93c3 540 telemetry[123] = quant_data.BAE_temp_quant;
lakshya 57:60e8f00d93c3 541 telemetry[124] = (uint8_t)(actual_data.Batt_gauge_actual[1]);
lakshya 57:60e8f00d93c3 542 telemetry[125] = quant_data.Batt_temp_quant[0];
lakshya 57:60e8f00d93c3 543 telemetry[126] = quant_data.Batt_temp_quant[1];
lakshya 58:c4203e162d12 544
lakshya 57:60e8f00d93c3 545 telemetry[127] = BCN_TMP;
lakshya 20:949d13045431 546
lakshya 57:60e8f00d93c3 547 for (int i=128; i<132;i++)
lakshya 19:79e69017c855 548 {
lakshya 19:79e69017c855 549 telemetry[i] = 0x00;
lakshya 19:79e69017c855 550 }
lakshya 19:79e69017c855 551 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 552 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 553 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 554
lakshya 19:79e69017c855 555 break;
lakshya 19:79e69017c855 556 }
lakshya 19:79e69017c855 557 case 0x0001:
lakshya 19:79e69017c855 558 {
lakshya 67:c0dd13285d80 559 gpc.printf("\r\nHK data min max");
lakshya 57:60e8f00d93c3 560 telemetry[0] = 0x30; // changed0x06 shifted by 1 bit 0x03
lakshya 19:79e69017c855 561 telemetry[1] = tc[0];
lakshya 19:79e69017c855 562 telemetry[2] = ACK_CODE;
lakshya 57:60e8f00d93c3 563 telemetry[3] = 0x00;
lakshya 19:79e69017c855 564
lakshya 19:79e69017c855 565 for(int i;i<16;i++)
lakshya 20:949d13045431 566 {
lakshya 66:a5d2b8dc6b9e 567 telemetry[i+4] = (uint8_t)bae_HK_minmax.voltage_max[i];//(bae_HK_minmax.voltage_max[i]<<3)+(bae_HK_minmax.voltage_max[i]<<2);
lakshya 57:60e8f00d93c3 568 telemetry[i+20] = bae_HK_minmax.current_max[i];
lakshya 20:949d13045431 569 }
lakshya 19:79e69017c855 570
lakshya 66:a5d2b8dc6b9e 571 telemetry[36] = (uint8_t)bae_HK_minmax.Batt_voltage_max;//(bae_HK_minmax.Batt_voltage_max<<3)+(bae_HK_minmax.Batt_voltage_max<<2);
lakshya 57:60e8f00d93c3 572 telemetry[37] = bae_HK_minmax.BAE_temp_max;
lakshya 19:79e69017c855 573
lakshya 57:60e8f00d93c3 574 telemetry[38] = bae_HK_minmax.Batt_SOC_max;
lakshya 19:79e69017c855 575
lakshya 57:60e8f00d93c3 576 telemetry[39] = bae_HK_minmax.Batt_temp_max[0];
lakshya 57:60e8f00d93c3 577 telemetry[40] = bae_HK_minmax.Batt_temp_max[1];
lakshya 19:79e69017c855 578
lakshya 20:949d13045431 579 /*BCN temp there*/
lakshya 57:60e8f00d93c3 580 telemetry[41] = bae_HK_minmax.BCN_TEMP_max;
lakshya 19:79e69017c855 581
lakshya 19:79e69017c855 582 for(int i=0; i<3; i++)
lakshya 20:949d13045431 583 {
lakshya 57:60e8f00d93c3 584 telemetry[42+(2*i)] = (bae_HK_minmax.bit_data_acs_mm_max[i]>>8);
lakshya 57:60e8f00d93c3 585 telemetry[43+(2*i)] = bae_HK_minmax.bit_data_acs_mm_max[i];
lakshya 53:459b71b1861c 586
lakshya 57:60e8f00d93c3 587 telemetry[48+(2*i)] = (bae_HK_minmax.bit_data_acs_mg_max[i]>>8);
lakshya 57:60e8f00d93c3 588 telemetry[49+(2*i)] = bae_HK_minmax.bit_data_acs_mg_max[i];
lakshya 20:949d13045431 589 }
lakshya 19:79e69017c855 590
lakshya 19:79e69017c855 591 /*min data*/
lakshya 19:79e69017c855 592
lakshya 19:79e69017c855 593 for(int i;i<16;i++)
lakshya 66:a5d2b8dc6b9e 594 { telemetry[i+54] = (uint8_t)bae_HK_minmax.voltage_min[i];//(bae_HK_minmax.voltage_min[i]<<3)+(bae_HK_minmax.voltage_min[i]<<1);
lakshya 66:a5d2b8dc6b9e 595 //for(int i;i<16;i++)
lakshya 66:a5d2b8dc6b9e 596 telemetry[i+70] = bae_HK_minmax.current_min[i];
lakshya 66:a5d2b8dc6b9e 597 }
lakshya 19:79e69017c855 598
lakshya 66:a5d2b8dc6b9e 599 telemetry[86] = (uint8_t)bae_HK_minmax.Batt_voltage_min;//(bae_HK_minmax.Batt_voltage_min<<3)+(bae_HK_minmax.Batt_voltage_min<<1);
lakshya 57:60e8f00d93c3 600 telemetry[87] = bae_HK_minmax.BAE_temp_min;
lakshya 19:79e69017c855 601
lakshya 19:79e69017c855 602 /*battery soc*/
lakshya 57:60e8f00d93c3 603 telemetry[88] = bae_HK_minmax.Batt_SOC_min;
lakshya 19:79e69017c855 604
lakshya 57:60e8f00d93c3 605 telemetry[89] = bae_HK_minmax.Batt_temp_min[0];
lakshya 57:60e8f00d93c3 606 telemetry[90] = bae_HK_minmax.Batt_temp_min[1];
lakshya 19:79e69017c855 607 //huhu//
lakshya 19:79e69017c855 608
lakshya 20:949d13045431 609 /*BCN temp named as BCN_TS_BUFFER there*/
lakshya 57:60e8f00d93c3 610 telemetry[91] = bae_HK_minmax.BCN_TEMP_min;
lakshya 19:79e69017c855 611
lakshya 19:79e69017c855 612 for(int i=0; i<3; i++)
lakshya 20:949d13045431 613 {
lakshya 57:60e8f00d93c3 614 telemetry[92+(2*i)] = (bae_HK_minmax.bit_data_acs_mm_min[i]>>8);
lakshya 57:60e8f00d93c3 615 telemetry[93+(2*i)] = bae_HK_minmax.bit_data_acs_mm_min[i];
lakshya 53:459b71b1861c 616
lakshya 57:60e8f00d93c3 617 telemetry[98+(2*i)] = (bae_HK_minmax.bit_data_acs_mg_min[i]>>8);
lakshya 57:60e8f00d93c3 618 telemetry[99+(2*i)] = bae_HK_minmax.bit_data_acs_mg_min[i];
lakshya 20:949d13045431 619 }
lakshya 67:c0dd13285d80 620 telemetry[104] = (~(BCN_TX_OC_FAULT));
lakshya 67:c0dd13285d80 621 telemetry[104] = (telemetry[104]<<1) | (~(ACS_TR_XY_OC_FAULT));
lakshya 67:c0dd13285d80 622 telemetry[104] = (telemetry[104]<<1) | (~(ACS_TR_Z_OC_FAULT));
lakshya 67:c0dd13285d80 623 telemetry[104] = (telemetry[104]<<1) | (~(ACS_TR_XY_FAULT));
lakshya 20:949d13045431 624 //EPS CHARGER
lakshya 67:c0dd13285d80 625 telemetry[104] = (telemetry[104]<<1) | (~(EPS_CHARGER_FAULT));//eps_charger;
lakshya 67:c0dd13285d80 626 telemetry[104] = (telemetry[104]<<1) | (~(CDMS_OC_FAULT));
lakshya 67:c0dd13285d80 627 telemetry[104] = (telemetry[104]<<1) | (~(ACS_ATS1_OC_FAULT));
lakshya 67:c0dd13285d80 628 telemetry[104] = (telemetry[104]<<1) | (~(ACS_ATS2_OC_FAULT));
lakshya 20:949d13045431 629
lakshya 57:60e8f00d93c3 630 telemetry[105] = (ACS_TR_Z_FAULT<<7);
lakshya 20:949d13045431 631 //spare 23 bits
lakshya 53:459b71b1861c 632 telemetry[106] = 0x00;
lakshya 57:60e8f00d93c3 633 telemetry[107] = 0x00;
lakshya 20:949d13045431 634
lakshya 57:60e8f00d93c3 635 for (int i=108; i<132;i++)
lakshya 19:79e69017c855 636 {
lakshya 19:79e69017c855 637 telemetry[i] = 0x00;
lakshya 19:79e69017c855 638 }
lakshya 19:79e69017c855 639 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 640 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 641 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 642 break;
lakshya 19:79e69017c855 643 }
lakshya 19:79e69017c855 644 default://invalid MID
lakshya 19:79e69017c855 645 {
lakshya 19:79e69017c855 646 //ACK_L234_telemetry
lakshya 57:60e8f00d93c3 647 telemetry[0]=0xB0; // check if this needs to be changed
lakshya 19:79e69017c855 648 telemetry[1]=tc[0];
lakshya 19:79e69017c855 649 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 650 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 651 {
lakshya 19:79e69017c855 652 telemetry[i]=0x00;
lakshya 19:79e69017c855 653 }
lakshya 19:79e69017c855 654 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 655 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 656 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 657 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 658 {
lakshya 19:79e69017c855 659 telemetry[i]=0x00;
lakshya 19:79e69017c855 660 }
lakshya 19:79e69017c855 661 break;
lakshya 19:79e69017c855 662 }
lakshya 19:79e69017c855 663 }
lakshya 19:79e69017c855 664 break;
lakshya 57:60e8f00d93c3 665 }
lakshya 19:79e69017c855 666 case 0x05:
lakshya 19:79e69017c855 667 {
lakshya 67:c0dd13285d80 668 gpc.printf("\n\rDATA for mms 0x05 flash");
lakshya 19:79e69017c855 669 /*changed*/
lakshya 67:c0dd13285d80 670 gpc.printf("\n\rWrite on flash\n");
lakshya 20:949d13045431 671 uint32_t FLASH_DATA;//256 bits
lakshya 19:79e69017c855 672
lakshya 19:79e69017c855 673 uint8_t VALID_MID;//to determine wether mid is valid or not otherwise to much repetition of code 1 meaning valid
lakshya 19:79e69017c855 674
lakshya 19:79e69017c855 675 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 676 switch(MID )
lakshya 19:79e69017c855 677 {
lakshya 20:949d13045431 678 case 0x1100:
lakshya 19:79e69017c855 679 {
lakshya 20:949d13045431 680 //FLASH_DATA[0] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[8]);
lakshya 20:949d13045431 681 //FCTN_BAE_WR_FLASH(0,FLASH_DATA[0]);
lakshya 20:949d13045431 682 BCN_LONG_MSG_TYPE = tc[8];
azaddevarm 92:0d6e6ff9b7c9 683 gpc.printf("\n\rReceived BCN_LMB_TYPE tc, new BCN_LONG_MSG_TYPE = %d",tc[8]);
lakshya 20:949d13045431 684 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 685 FLASH_DATA = (FLASH_DATA & 0xFFFFFBFF) | (10<<(uint32_t)tc[8]);//see if uint8 to uint32 conversion works
lakshya 20:949d13045431 686 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 687 VALID_MID=1;
lakshya 19:79e69017c855 688 break;
lakshya 19:79e69017c855 689 }
lakshya 19:79e69017c855 690 case 0x0101:
lakshya 19:79e69017c855 691 {
lakshya 20:949d13045431 692 //FLASH_DATA[1] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 27:61c856be467e 693 ACS_DETUMBLING_ALGO_TYPE = (tc[8] & 0x01);
lakshya 49:61c9f28332ba 694 //===============================================
lakshya 49:61c9f28332ba 695 ACS_STATE = 4;
lakshya 49:61c9f28332ba 696 //tc[8] = 1001_
lakshya 49:61c9f28332ba 697 //ACS_STATE = (tc[8]>>1) & 0x0F;
lakshya 20:949d13045431 698 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 699 FLASH_DATA = (FLASH_DATA & 0xFFF07FFF) | (15<<(uint32_t)tc[8]);
lakshya 20:949d13045431 700 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 701 VALID_MID=1;
lakshya 19:79e69017c855 702 break;
lakshya 19:79e69017c855 703 }
lakshya 19:79e69017c855 704
lakshya 19:79e69017c855 705 case 0x0102:
lakshya 19:79e69017c855 706 {
lakshya 20:949d13045431 707 //FLASH_DATA[2] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 20:949d13045431 708 //EPS_BATTERY_HEATER_ENABLE = tc[8];
lakshya 20:949d13045431 709 EPS_BTRY_HTR_AUTO = tc[8];
lakshya 20:949d13045431 710 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 711 FLASH_DATA = (FLASH_DATA & 0xFFFFFDFF) | (9<<(uint32_t)tc[8]);
lakshya 20:949d13045431 712 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 713 VALID_MID=1;
lakshya 19:79e69017c855 714 break;
lakshya 19:79e69017c855 715 }
lakshya 19:79e69017c855 716
lakshya 19:79e69017c855 717 case 0x0103:
lakshya 19:79e69017c855 718 {
lakshya 20:949d13045431 719 //FLASH_DATA[3] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 20:949d13045431 720 ACS_MAG_TIME_DELAY = tc[7];
lakshya 20:949d13045431 721 ACS_DEMAG_TIME_DELAY = tc[8];
lakshya 20:949d13045431 722 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 723 FLASH_DATA = (FLASH_DATA & 0xFFFF0000) | (8<<(uint32_t)tc[7]) | ((uint32_t)tc[8]);
lakshya 20:949d13045431 724 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 725 VALID_MID=1;
lakshya 19:79e69017c855 726 break;
lakshya 19:79e69017c855 727 }
lakshya 19:79e69017c855 728 case 0x0104:
lakshya 19:79e69017c855 729 {
lakshya 20:949d13045431 730 //FLASH_DATA[4] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 67:c0dd13285d80 731 ACS_Z_FIXED_MOMENT = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 732 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(6);
lakshya 20:949d13045431 733 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)ACS_Z_FIXED_MOMENT<<16);
lakshya 20:949d13045431 734 FCTN_BAE_WR_FLASH(6,FLASH_DATA);
lakshya 19:79e69017c855 735 VALID_MID=1;
lakshya 19:79e69017c855 736 break;
lakshya 19:79e69017c855 737 }
lakshya 67:c0dd13285d80 738 case 0x0105:
lakshya 67:c0dd13285d80 739 {
lakshya 67:c0dd13285d80 740 //FLASH_DATA[4] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 67:c0dd13285d80 741 EPS_BAT_TEMP_DEFAULT=(uint8_t)tc[6];
lakshya 67:c0dd13285d80 742 EPS_BAT_TEMP_LOW=(uint8_t)tc[7];
lakshya 67:c0dd13285d80 743 EPS_BAT_TEMP_HIGH=(uint8_t)tc[8];
lakshya 67:c0dd13285d80 744 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(2);
lakshya 67:c0dd13285d80 745 FLASH_DATA = (FLASH_DATA & 0x000000FF) | ((uint32_t)EPS_BAT_TEMP_DEFAULT<<24) | ((uint32_t)EPS_BAT_TEMP_LOW<<16) | ((uint32_t)EPS_BAT_TEMP_LOW<<8);
lakshya 67:c0dd13285d80 746 FCTN_BAE_WR_FLASH(6,FLASH_DATA);
lakshya 67:c0dd13285d80 747 VALID_MID=1;
lakshya 67:c0dd13285d80 748 break;
lakshya 67:c0dd13285d80 749 }
lakshya 20:949d13045431 750 case 0x0106:
lakshya 19:79e69017c855 751 {
lakshya 20:949d13045431 752 //FLASH_DATA[6] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 20:949d13045431 753 ACS_MM_Z_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 754 ACS_MG_Z_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 755 FLASH_DATA = ((uint32_t)ACS_MM_Z_COMSN<<16) | (uint32_t)ACS_MG_Z_COMSN;
lakshya 20:949d13045431 756 FCTN_BAE_WR_FLASH(5,FLASH_DATA);
lakshya 20:949d13045431 757 VALID_MID=1;
lakshya 20:949d13045431 758 break;
lakshya 20:949d13045431 759 }
lakshya 20:949d13045431 760 case 0x0107:
lakshya 20:949d13045431 761 {
lakshya 20:949d13045431 762 //FLASH_DATA[5] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 20:949d13045431 763 EPS_SOC_LEVEL_12 = tc[7];
lakshya 20:949d13045431 764 EPS_SOC_LEVEL_23 = tc[8];
lakshya 20:949d13045431 765 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 766 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)tc[7]<<24) | ((uint32_t)tc[8]<<16);
lakshya 20:949d13045431 767 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 768 VALID_MID=1;
lakshya 19:79e69017c855 769 break;
lakshya 19:79e69017c855 770 }
lakshya 20:949d13045431 771 case 0x0108:
lakshya 19:79e69017c855 772 {
lakshya 20:949d13045431 773 //FLASH_DATA[6] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 20:949d13045431 774 ACS_MM_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 775 ACS_MM_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 776 FLASH_DATA = ((uint32_t)ACS_MM_X_COMSN<<16) | (uint32_t)ACS_MM_Y_COMSN;
lakshya 20:949d13045431 777 FCTN_BAE_WR_FLASH(3,FLASH_DATA);
lakshya 19:79e69017c855 778 VALID_MID=1;
lakshya 19:79e69017c855 779 break;
lakshya 19:79e69017c855 780 }
lakshya 20:949d13045431 781 case 0x0109:
lakshya 19:79e69017c855 782 {
lakshya 20:949d13045431 783 //FLASH_DATA[7] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 20:949d13045431 784 ACS_MG_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 785 ACS_MG_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 786 FLASH_DATA = ((uint32_t)ACS_MG_X_COMSN<<16) | (uint32_t)ACS_MG_Y_COMSN;
lakshya 20:949d13045431 787 FCTN_BAE_WR_FLASH(4,FLASH_DATA);
lakshya 19:79e69017c855 788 VALID_MID=1;
lakshya 19:79e69017c855 789 break;
lakshya 19:79e69017c855 790 }
lakshya 19:79e69017c855 791
lakshya 19:79e69017c855 792 default:
lakshya 19:79e69017c855 793 {
lakshya 49:61c9f28332ba 794 gpc.printf("Invalid MMS case 0x05 invalid MID\r\n");
lakshya 19:79e69017c855 795 VALID_MID=0;
lakshya 19:79e69017c855 796 //ACK_L234_telemetry
lakshya 19:79e69017c855 797 break;
lakshya 19:79e69017c855 798
lakshya 19:79e69017c855 799 }
lakshya 19:79e69017c855 800 }
lakshya 19:79e69017c855 801
lakshya 19:79e69017c855 802 if(VALID_MID==1)//valid MID
lakshya 19:79e69017c855 803 {
lakshya 19:79e69017c855 804 telemetry[0]=0xB0;//or 0x60? check
lakshya 19:79e69017c855 805 telemetry[1]=tc[0];
lakshya 19:79e69017c855 806 telemetry[2]=0xA0;// when valid
lakshya 19:79e69017c855 807 }
lakshya 19:79e69017c855 808 else if(VALID_MID==0)//invalid MID
lakshya 19:79e69017c855 809 {
lakshya 19:79e69017c855 810 telemetry[0]=0xB0;
lakshya 19:79e69017c855 811 telemetry[1]=tc[0];
lakshya 19:79e69017c855 812 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 813 }
lakshya 19:79e69017c855 814
lakshya 19:79e69017c855 815 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 816 {
lakshya 19:79e69017c855 817 telemetry[i]=0x00;
lakshya 19:79e69017c855 818 }
lakshya 19:79e69017c855 819 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 820 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 821 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 822 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 823 {
lakshya 19:79e69017c855 824 telemetry[i]=0x00;
lakshya 19:79e69017c855 825 }
lakshya 19:79e69017c855 826
lakshya 49:61c9f28332ba 827 gpc.printf("\n\rWritten on Flash");
lakshya 19:79e69017c855 828 break;
lakshya 19:79e69017c855 829 }
lakshya 19:79e69017c855 830 default://when invalid service subtype
lakshya 19:79e69017c855 831 {
lakshya 49:61c9f28332ba 832 gpc.printf("\n\r MMS invalid Service Subtype");
lakshya 19:79e69017c855 833 //ACK_L234_telemetry
lakshya 19:79e69017c855 834 telemetry[0]=0xB0;
lakshya 19:79e69017c855 835 telemetry[1]=tc[0];
lakshya 19:79e69017c855 836 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 837 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 838 {
lakshya 19:79e69017c855 839 telemetry[i]=0x00;
lakshya 19:79e69017c855 840 }
lakshya 19:79e69017c855 841 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 842 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 843 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 844 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 845 {
lakshya 19:79e69017c855 846 telemetry[i]=0x00;
lakshya 19:79e69017c855 847 }
lakshya 19:79e69017c855 848 break;
lakshya 19:79e69017c855 849 }
lakshya 19:79e69017c855 850 }
lakshya 19:79e69017c855 851 break;
lakshya 19:79e69017c855 852 }
lakshya 19:79e69017c855 853 case 0x80:
lakshya 19:79e69017c855 854 {
lakshya 66:a5d2b8dc6b9e 855 gpc.printf("Function Management Service\r\n");//changed
lakshya 19:79e69017c855 856 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 857 switch(service_subtype)
lakshya 19:79e69017c855 858 {
lakshya 19:79e69017c855 859 case 0x01:
lakshya 19:79e69017c855 860 {
lakshya 67:c0dd13285d80 861 gpc.printf("\n\rFMS Activated");
lakshya 19:79e69017c855 862 uint8_t fid=tc[3];//changed from pid to fid
lakshya 19:79e69017c855 863 switch(fid)
lakshya 19:79e69017c855 864 {
lakshya 19:79e69017c855 865 case 0xE0:
lakshya 19:79e69017c855 866 {
lakshya 58:c4203e162d12 867 //float mag_data_comm[3]={uint16_to_float(-1000,1000,ACS_MM_X_COMSN),uint16_to_float(-1000,1000,ACS_MM_Y_COMSN),uint16_to_float(-1000,1000,ACS_MM_Z_COMSN)};
lakshya 58:c4203e162d12 868 //float gyro_data_comm[3]={uint16_to_float(-5000,5000,ACS_MG_X_COMSN),uint16_to_float(-5000,5000,ACS_MG_Y_COMSN),uint16_to_float(-5000,5000,ACS_MG_Z_COMSN)};
lakshya 58:c4203e162d12 869 float mag_data_comm[3] = {ACS_MM_X_COMSN,ACS_MM_Y_COMSN,ACS_MM_Z_COMSN};
lakshya 58:c4203e162d12 870 float gyro_data_comm[3] = {ACS_MG_X_COMSN,ACS_MG_Y_COMSN,ACS_MG_Z_COMSN};
lakshya 20:949d13045431 871 float moment_comm[3];
lakshya 49:61c9f28332ba 872 gpc.printf("ACS_COMSN SOFTWARE\r\n");
lakshya 19:79e69017c855 873 //ACK_L234_telemetry
lakshya 20:949d13045431 874 ACS_STATE = tc[4];
lakshya 49:61c9f28332ba 875 if(ACS_STATE == 2) // Nominal mode
lakshya 20:949d13045431 876 {
lakshya 49:61c9f28332ba 877 gpc.printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 878 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 879 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 880 for(int i=0; i<3; i++)
lakshya 20:949d13045431 881 {
lakshya 49:61c9f28332ba 882 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 883 }
lakshya 20:949d13045431 884
lakshya 20:949d13045431 885 }
lakshya 49:61c9f28332ba 886 else if(ACS_STATE == 3) // Auto Control
lakshya 20:949d13045431 887 {
lakshya 49:61c9f28332ba 888 gpc.printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 889 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 890 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 891 for(int i=0; i<3; i++)
lakshya 20:949d13045431 892 {
lakshya 49:61c9f28332ba 893 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 894 }
lakshya 20:949d13045431 895 }
lakshya 49:61c9f28332ba 896 else if(ACS_STATE == 4) // Detumbling
lakshya 20:949d13045431 897 {
lakshya 20:949d13045431 898 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 899 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 900 for(int i=0; i<3; i++)
lakshya 20:949d13045431 901 {
lakshya 49:61c9f28332ba 902 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 903 }
lakshya 20:949d13045431 904 }
lakshya 19:79e69017c855 905 else
lakshya 19:79e69017c855 906 {
lakshya 20:949d13045431 907 ACS_STATUS = 7;
lakshya 19:79e69017c855 908 }
lakshya 20:949d13045431 909
lakshya 20:949d13045431 910 // Control algo commissioning
lakshya 39:670133e7ffd8 911 uint16_t moment_ret;
lakshya 49:61c9f28332ba 912 telemetry[0] = 0x78;
lakshya 49:61c9f28332ba 913 telemetry[1] = tc[0];
lakshya 49:61c9f28332ba 914 telemetry[2] = ACK_CODE;
lakshya 39:670133e7ffd8 915 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 916 telemetry[4] = ACS_STATUS;
lakshya 39:670133e7ffd8 917 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 918 telemetry[5] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 919 telemetry[6] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 920 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 921 telemetry[7] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 922 telemetry[8] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 923 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[2]);
lakshya 39:670133e7ffd8 924 telemetry[9] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 925 telemetry[10] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 926
lakshya 39:670133e7ffd8 927 //FCTN_CONVERT_FLOAT(moment_comm[0],&telemetry[4]); //telemetry[4] - telemetry[7]
lakshya 39:670133e7ffd8 928 //FCTN_CONVERT_FLOAT(moment_comm[1],&telemetry[8]); //telemetry[8] - telemetry[11]
lakshya 39:670133e7ffd8 929 //FCTN_CONVERT_FLOAT(moment_comm[2],&telemetry[12]); //telemetry[12] - telemetry[15]
lakshya 19:79e69017c855 930 // to include commission TR as well
lakshya 39:670133e7ffd8 931 for(uint8_t i=11;i<132;i++)
lakshya 19:79e69017c855 932 {
lakshya 19:79e69017c855 933 telemetry[i]=0x00;
lakshya 19:79e69017c855 934 }
lakshya 19:79e69017c855 935 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 936 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 937 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 938 break;
lakshya 19:79e69017c855 939 }
lakshya 19:79e69017c855 940 case 0xE1:
lakshya 19:79e69017c855 941 {
lakshya 49:61c9f28332ba 942 gpc.printf("HARDWARE_COMSN\r\n");
lakshya 19:79e69017c855 943 //ACK_L234_telemetry
lakshya 39:670133e7ffd8 944 uint8_t SENSOR_NO;
lakshya 20:949d13045431 945
lakshya 20:949d13045431 946 int init1=0;
lakshya 20:949d13045431 947 int init2=0;
lakshya 20:949d13045431 948 int data1=0;
lakshya 20:949d13045431 949 int data2=0;
lakshya 39:670133e7ffd8 950
lakshya 39:670133e7ffd8 951 uint16_t assign_val;
lakshya 19:79e69017c855 952
lakshya 20:949d13045431 953 float PWM_tc[3];
Bragadeesh153 54:d6a45982ace1 954 PWM_tc[0]=(float(tc[4]))/256;
Bragadeesh153 54:d6a45982ace1 955 PWM_tc[1]=(float(tc[5]))/256;
Bragadeesh153 54:d6a45982ace1 956 PWM_tc[2]=(float(tc[6]))/256;
lakshya 20:949d13045431 957
lakshya 20:949d13045431 958 DRV_Z_EN = 1;
lakshya 20:949d13045431 959 DRV_XY_EN = 1;
lakshya 49:61c9f28332ba 960 telemetry[0]=0x78;
lakshya 19:79e69017c855 961 telemetry[1]=tc[0];
lakshya 19:79e69017c855 962 telemetry[2]=ACK_CODE;
lakshya 39:670133e7ffd8 963 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 964
lakshya 39:670133e7ffd8 965 SENSOR_NO = 0;
lakshya 19:79e69017c855 966
lakshya 20:949d13045431 967 PWM1 = 0;
lakshya 20:949d13045431 968 PWM2 = 0;
lakshya 20:949d13045431 969 PWM3 = 0;
lakshya 20:949d13045431 970
lakshya 20:949d13045431 971 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 972 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 973 wait_ms(5);
Bragadeesh153 52:daa685b0e390 974 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 975 wait_ms(5);
lakshya 20:949d13045431 976 //will it lead to causing delay in i2c interrupt
lakshya 20:949d13045431 977 init1 = SENSOR_INIT();
lakshya 20:949d13045431 978 if( init1 == 1)
lakshya 20:949d13045431 979 {
lakshya 20:949d13045431 980 data1 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 981 }
Bragadeesh153 52:daa685b0e390 982 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 983 wait_ms(5);
lakshya 20:949d13045431 984 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 985 wait_ms(5);
lakshya 20:949d13045431 986
lakshya 20:949d13045431 987 if(data1 == 0)
lakshya 20:949d13045431 988 {
lakshya 20:949d13045431 989 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 990 wait_ms(5);
lakshya 20:949d13045431 991 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
lakshya 20:949d13045431 992 }
lakshya 20:949d13045431 993 else if(data1==1)
lakshya 20:949d13045431 994 {
lakshya 20:949d13045431 995 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x10;
lakshya 20:949d13045431 996 }
lakshya 20:949d13045431 997 else if(data1==2)
lakshya 20:949d13045431 998 {
lakshya 20:949d13045431 999 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x20;
lakshya 20:949d13045431 1000 }
lakshya 20:949d13045431 1001 else if(data1==3)
lakshya 20:949d13045431 1002 {
lakshya 20:949d13045431 1003 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x30;
lakshya 20:949d13045431 1004 }
lakshya 39:670133e7ffd8 1005
lakshya 39:670133e7ffd8 1006 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1007 telemetry[5] = (assign_val>>8);
lakshya 39:670133e7ffd8 1008 telemetry[6] = assign_val;
lakshya 39:670133e7ffd8 1009
lakshya 39:670133e7ffd8 1010 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1011 telemetry[7] = (assign_val>>8);
lakshya 39:670133e7ffd8 1012 telemetry[8] = assign_val;
lakshya 39:670133e7ffd8 1013
lakshya 39:670133e7ffd8 1014 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1015 telemetry[9] = (assign_val>>8);
lakshya 39:670133e7ffd8 1016 telemetry[10] = assign_val;
lakshya 39:670133e7ffd8 1017
lakshya 39:670133e7ffd8 1018 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 1019 telemetry[11] = (assign_val>>8);
lakshya 39:670133e7ffd8 1020 telemetry[12] = assign_val;
lakshya 39:670133e7ffd8 1021
lakshya 39:670133e7ffd8 1022 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 1023 telemetry[13] = (assign_val>>8);
lakshya 39:670133e7ffd8 1024 telemetry[14] = assign_val;
lakshya 39:670133e7ffd8 1025
lakshya 39:670133e7ffd8 1026 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 1027 telemetry[15] = (assign_val>>8);
lakshya 39:670133e7ffd8 1028 telemetry[16] = assign_val;
lakshya 39:670133e7ffd8 1029
lakshya 20:949d13045431 1030 init2 = SENSOR_INIT();
lakshya 20:949d13045431 1031 if( init2 == 1)
lakshya 20:949d13045431 1032 {
lakshya 20:949d13045431 1033 data2 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1034 }
lakshya 39:670133e7ffd8 1035 //uint8_t ats_data=1;
lakshya 19:79e69017c855 1036
lakshya 20:949d13045431 1037 if(data2 == 0)
lakshya 20:949d13045431 1038 {
lakshya 20:949d13045431 1039 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1040 wait_ms(5);
lakshya 20:949d13045431 1041 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x0C;
lakshya 39:670133e7ffd8 1042 SENSOR_NO = 0;
lakshya 20:949d13045431 1043 if(data1 == 2)
lakshya 20:949d13045431 1044 {
Bragadeesh153 52:daa685b0e390 1045 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1046 wait_ms(5);
lakshya 20:949d13045431 1047 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1048 SENSOR_NO = 1;
lakshya 20:949d13045431 1049 }
lakshya 20:949d13045431 1050 else if(data1 == 3)
lakshya 20:949d13045431 1051 {
Bragadeesh153 52:daa685b0e390 1052 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1053 wait_ms(5);
lakshya 20:949d13045431 1054 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 39:670133e7ffd8 1055 SENSOR_NO = 1;
lakshya 20:949d13045431 1056 }
lakshya 20:949d13045431 1057 else if(data1 == 1)
lakshya 20:949d13045431 1058 {
Bragadeesh153 52:daa685b0e390 1059 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1060 wait_ms(5);
lakshya 20:949d13045431 1061 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1062 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1063
lakshya 20:949d13045431 1064 }
lakshya 20:949d13045431 1065
lakshya 20:949d13045431 1066 }
lakshya 20:949d13045431 1067 else if(data2==1)
lakshya 20:949d13045431 1068 {
lakshya 20:949d13045431 1069 if(data1 == 2)
lakshya 20:949d13045431 1070 {
lakshya 20:949d13045431 1071 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1072 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1073 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1074 wait_ms(5);
lakshya 20:949d13045431 1075 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1076 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
lakshya 39:670133e7ffd8 1077 SENSOR_NO = 1;
lakshya 20:949d13045431 1078 }
lakshya 20:949d13045431 1079 else if(data1 == 3)
lakshya 20:949d13045431 1080 {
lakshya 20:949d13045431 1081 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1082 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1083 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1084 wait_ms(5);
lakshya 20:949d13045431 1085 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1086 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1087 SENSOR_NO = 1;
lakshya 20:949d13045431 1088 }
lakshya 20:949d13045431 1089 else
lakshya 20:949d13045431 1090 {
lakshya 20:949d13045431 1091 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1092 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1093 //ats_data = 0;
lakshya 20:949d13045431 1094 }
lakshya 20:949d13045431 1095 }
lakshya 20:949d13045431 1096
lakshya 20:949d13045431 1097 else if(data2==2)
lakshya 20:949d13045431 1098 {
lakshya 20:949d13045431 1099 if(data1 == 3)
lakshya 20:949d13045431 1100 {
lakshya 20:949d13045431 1101 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1102 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1103 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1104 wait_ms(5);
lakshya 20:949d13045431 1105 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x02;
lakshya 20:949d13045431 1106 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1107 SENSOR_NO = 1;
lakshya 20:949d13045431 1108 }
lakshya 20:949d13045431 1109 else
lakshya 20:949d13045431 1110 {
lakshya 20:949d13045431 1111 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1112 SENSOR_NO = 2;
lakshya 20:949d13045431 1113 }
lakshya 20:949d13045431 1114 }
lakshya 20:949d13045431 1115 else if(data2==3)
lakshya 20:949d13045431 1116 {
lakshya 20:949d13045431 1117 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 39:670133e7ffd8 1118 SENSOR_NO = 2;
lakshya 20:949d13045431 1119 }
Bragadeesh153 54:d6a45982ace1 1120
Bragadeesh153 54:d6a45982ace1 1121 SENSOR_NO = 1;
lakshya 39:670133e7ffd8 1122 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1123 telemetry[17] = (assign_val>>8);
lakshya 39:670133e7ffd8 1124 telemetry[18] = assign_val;
lakshya 39:670133e7ffd8 1125
lakshya 39:670133e7ffd8 1126 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1127 telemetry[19] = (assign_val>>8);
lakshya 39:670133e7ffd8 1128 telemetry[20] = assign_val;
lakshya 39:670133e7ffd8 1129
lakshya 39:670133e7ffd8 1130 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1131 telemetry[21] = (assign_val>>8);
lakshya 39:670133e7ffd8 1132 telemetry[22] = assign_val;
lakshya 39:670133e7ffd8 1133
lakshya 39:670133e7ffd8 1134 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 1135 telemetry[23] = (assign_val>>8);
lakshya 39:670133e7ffd8 1136 telemetry[24] = assign_val;
lakshya 39:670133e7ffd8 1137
lakshya 39:670133e7ffd8 1138 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 1139 telemetry[25] = (assign_val>>8);
lakshya 39:670133e7ffd8 1140 telemetry[26] = assign_val;
lakshya 39:670133e7ffd8 1141
lakshya 39:670133e7ffd8 1142 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 1143 telemetry[27] = (assign_val>>8);
lakshya 39:670133e7ffd8 1144 telemetry[28] = assign_val;
lakshya 39:670133e7ffd8 1145
lakshya 39:670133e7ffd8 1146 telemetry[4] = ACS_ATS_STATUS;
lakshya 39:670133e7ffd8 1147
lakshya 19:79e69017c855 1148
lakshya 20:949d13045431 1149 SelectLineb3 =0;
lakshya 20:949d13045431 1150 SelectLineb2 =1;
lakshya 20:949d13045431 1151 SelectLineb1 =0;
lakshya 20:949d13045431 1152 SelectLineb0 =1;
lakshya 20:949d13045431 1153 int resistance;
lakshya 20:949d13045431 1154 PWM1 = PWM_tc[0];
lakshya 20:949d13045431 1155 PWM2 = 0;
lakshya 20:949d13045431 1156 PWM3 = 0;
lakshya 20:949d13045431 1157
lakshya 20:949d13045431 1158 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 39:670133e7ffd8 1159 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1160 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1161 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1162 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1163
lakshya 20:949d13045431 1164 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1165 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1166 {
lakshya 20:949d13045431 1167 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1168 }
lakshya 20:949d13045431 1169 else
lakshya 20:949d13045431 1170 {
lakshya 20:949d13045431 1171 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1172 }
lakshya 20:949d13045431 1173
lakshya 20:949d13045431 1174 //to be edited final tele
lakshya 39:670133e7ffd8 1175 //uint16_t assign_val;
lakshya 20:949d13045431 1176 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 20:949d13045431 1177 telemetry[29] = (assign_val>>8);
lakshya 20:949d13045431 1178 telemetry[30] = assign_val;
lakshya 20:949d13045431 1179
lakshya 20:949d13045431 1180 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 20:949d13045431 1181 telemetry[31] = (assign_val>>8);
lakshya 20:949d13045431 1182 telemetry[32] = assign_val;
lakshya 20:949d13045431 1183
lakshya 20:949d13045431 1184 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 20:949d13045431 1185 telemetry[33] = (assign_val>>8);
lakshya 20:949d13045431 1186 telemetry[34] = assign_val;
lakshya 20:949d13045431 1187
lakshya 20:949d13045431 1188 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 20:949d13045431 1189 telemetry[35] = (assign_val>>8);
lakshya 20:949d13045431 1190 telemetry[36] = assign_val;
lakshya 20:949d13045431 1191
lakshya 20:949d13045431 1192 PWM1 = 0;
lakshya 20:949d13045431 1193 PWM2 = PWM_tc[1];
lakshya 20:949d13045431 1194 PWM3 = 0;
lakshya 20:949d13045431 1195
lakshya 20:949d13045431 1196 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1197
lakshya 39:670133e7ffd8 1198 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1199 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1200 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1201 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1202
lakshya 20:949d13045431 1203
lakshya 20:949d13045431 1204 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1205 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1206 {
lakshya 20:949d13045431 1207 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1208 }
lakshya 20:949d13045431 1209 else
lakshya 20:949d13045431 1210 {
lakshya 20:949d13045431 1211 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1212 }
lakshya 39:670133e7ffd8 1213
lakshya 39:670133e7ffd8 1214 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1215 telemetry[37] = (assign_val>>8);
lakshya 39:670133e7ffd8 1216 telemetry[38] = assign_val;
lakshya 39:670133e7ffd8 1217
lakshya 39:670133e7ffd8 1218 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1219 telemetry[39] = (assign_val>>8);
lakshya 39:670133e7ffd8 1220 telemetry[40] = assign_val;
lakshya 39:670133e7ffd8 1221
lakshya 39:670133e7ffd8 1222 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1223 telemetry[41] = (assign_val>>8);
lakshya 39:670133e7ffd8 1224 telemetry[42] = assign_val;
lakshya 39:670133e7ffd8 1225
lakshya 39:670133e7ffd8 1226 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1227 telemetry[43] = (assign_val>>8);
lakshya 39:670133e7ffd8 1228 telemetry[44] = assign_val;
lakshya 20:949d13045431 1229
lakshya 20:949d13045431 1230 PWM1 = 0;
lakshya 20:949d13045431 1231 PWM2 = 0;
lakshya 20:949d13045431 1232 PWM3 = PWM_tc[2];
lakshya 20:949d13045431 1233
lakshya 20:949d13045431 1234 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1235
lakshya 39:670133e7ffd8 1236 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1237 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1238 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1239 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1240
lakshya 20:949d13045431 1241 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1242 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1243 {
lakshya 20:949d13045431 1244 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1245 }
lakshya 20:949d13045431 1246 else
lakshya 20:949d13045431 1247 {
lakshya 20:949d13045431 1248 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1249 }
lakshya 39:670133e7ffd8 1250 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1251 telemetry[45] = (assign_val>>8);
lakshya 39:670133e7ffd8 1252 telemetry[46] = assign_val;
lakshya 39:670133e7ffd8 1253
lakshya 39:670133e7ffd8 1254 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1255 telemetry[47] = (assign_val>>8);
lakshya 39:670133e7ffd8 1256 telemetry[48] = assign_val;
lakshya 20:949d13045431 1257
lakshya 39:670133e7ffd8 1258 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1259 telemetry[49] = (assign_val>>8);
lakshya 39:670133e7ffd8 1260 telemetry[50] = assign_val;
lakshya 39:670133e7ffd8 1261
lakshya 39:670133e7ffd8 1262 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1263 telemetry[51] = (assign_val>>8);
lakshya 39:670133e7ffd8 1264 telemetry[52] = assign_val;
lakshya 39:670133e7ffd8 1265
lakshya 20:949d13045431 1266 PWM1 = 0;
lakshya 20:949d13045431 1267 PWM2 = 0;
lakshya 20:949d13045431 1268 PWM3 = 0;
lakshya 20:949d13045431 1269
lakshya 20:949d13045431 1270 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1271
lakshya 39:670133e7ffd8 1272 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1273 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1274 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1275 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1276
lakshya 20:949d13045431 1277 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1278 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1279 {
lakshya 20:949d13045431 1280 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1281 }
lakshya 20:949d13045431 1282 else
lakshya 20:949d13045431 1283 {
lakshya 20:949d13045431 1284 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1285 }
lakshya 39:670133e7ffd8 1286
lakshya 39:670133e7ffd8 1287 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1288 telemetry[53] = (assign_val>>8);
lakshya 39:670133e7ffd8 1289 telemetry[54] = assign_val;
lakshya 39:670133e7ffd8 1290
lakshya 39:670133e7ffd8 1291 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1292 telemetry[55] = (assign_val>>8);
lakshya 39:670133e7ffd8 1293 telemetry[56] = assign_val;
lakshya 39:670133e7ffd8 1294
lakshya 39:670133e7ffd8 1295 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1296 telemetry[57] = (assign_val>>8);
lakshya 39:670133e7ffd8 1297 telemetry[58] = assign_val;
lakshya 20:949d13045431 1298
lakshya 20:949d13045431 1299 // for(int i=0; i<12; i++)
lakshya 20:949d13045431 1300 // FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&telemetry[16 + (i*4)]);
lakshya 20:949d13045431 1301
lakshya 20:949d13045431 1302 // FCTN_ATS_DATA_ACQ(); //get data
lakshya 19:79e69017c855 1303
lakshya 20:949d13045431 1304 // to include commission TR as well
lakshya 39:670133e7ffd8 1305
lakshya 49:61c9f28332ba 1306 telemetry[59] = SENSOR_NO;
lakshya 39:670133e7ffd8 1307
lakshya 39:670133e7ffd8 1308 for(uint8_t i=60;i<132;i++)
lakshya 19:79e69017c855 1309 {
lakshya 20:949d13045431 1310 telemetry[i]=0x00;
lakshya 19:79e69017c855 1311 }
lakshya 19:79e69017c855 1312
lakshya 19:79e69017c855 1313 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 1314 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 1315 telemetry[133] = (uint8_t)(crc16&0x00FF);
Bragadeesh153 56:32b1fb074138 1316
Bragadeesh153 56:32b1fb074138 1317 if(data1 == 0)
Bragadeesh153 56:32b1fb074138 1318 {
Bragadeesh153 56:32b1fb074138 1319 ATS1_SW_ENABLE = 0;
Bragadeesh153 56:32b1fb074138 1320 //wait_ms(5);
Bragadeesh153 56:32b1fb074138 1321 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
Bragadeesh153 56:32b1fb074138 1322 }
Bragadeesh153 56:32b1fb074138 1323 else if(data1==1)
Bragadeesh153 56:32b1fb074138 1324 {
Bragadeesh153 56:32b1fb074138 1325 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1326 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x40;
Bragadeesh153 56:32b1fb074138 1327 }
Bragadeesh153 56:32b1fb074138 1328 else if(data1==2)
Bragadeesh153 56:32b1fb074138 1329 {
Bragadeesh153 56:32b1fb074138 1330 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1331 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
Bragadeesh153 56:32b1fb074138 1332 }
Bragadeesh153 56:32b1fb074138 1333 else if(data1==3)
Bragadeesh153 56:32b1fb074138 1334 {
Bragadeesh153 56:32b1fb074138 1335 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1336 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
Bragadeesh153 56:32b1fb074138 1337 }
Bragadeesh153 56:32b1fb074138 1338 printf("Exited HW\r\n");
lakshya 19:79e69017c855 1339 break;
lakshya 19:79e69017c855 1340 }
lakshya 19:79e69017c855 1341 case 0xE2:
azaddevarm 81:bc0837c54fbf 1342 { //BCN_SW active high - samp
lakshya 20:949d13045431 1343 uint8_t BCN_SPND_STATE;
lakshya 20:949d13045431 1344 BCN_SPND_STATE=tc[4];
lakshya 74:2c82080db98b 1345 if(BCN_SPND_STATE==0x00)// to switch on bcn
lakshya 19:79e69017c855 1346 {
lakshya 20:949d13045431 1347 BCN_SPND_TX=0;
azaddevarm 81:bc0837c54fbf 1348 if( BCN_TX_SW_STATUS == 3 )
azaddevarm 81:bc0837c54fbf 1349 {
azaddevarm 81:bc0837c54fbf 1350 BCN_SW = 1;
azaddevarm 81:bc0837c54fbf 1351 BCN_TX_SW_STATUS = 1;
azaddevarm 81:bc0837c54fbf 1352 }
lakshya 19:79e69017c855 1353 //stop BCN_STANDBY_TIMER.stop();//create
lakshya 19:79e69017c855 1354 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1355 }
lakshya 20:949d13045431 1356 else if(BCN_SPND_STATE==0x01)
lakshya 19:79e69017c855 1357 {
lakshya 73:d2bca4d2cc64 1358 FCTN_BCN_SPND_TX();//direct implementation of function
lakshya 73:d2bca4d2cc64 1359 /*{
lakshya 73:d2bca4d2cc64 1360 //printf("BCN_SPND\n\r");
lakshya 73:d2bca4d2cc64 1361 BCN_SPND_TX = 1;
lakshya 73:d2bca4d2cc64 1362 if( BCN_TX_MAIN_STATUS == 1 && BCN_TX_SW_STATUS == 1 )
lakshya 73:d2bca4d2cc64 1363 {
lakshya 73:d2bca4d2cc64 1364 writereg(RF22_REG_07_OPERATING_MODE1,0x00); //standby mode
lakshya 73:d2bca4d2cc64 1365 if( readreg(RF22_REG_07_OPERATING_MODE1) & 0x08 == 0x08 )
lakshya 73:d2bca4d2cc64 1366 {
lakshya 73:d2bca4d2cc64 1367 BCN_SW = 0;
lakshya 73:d2bca4d2cc64 1368 BCN_TX_SW_STATUS = 3;
lakshya 73:d2bca4d2cc64 1369 uint32_t FLASH_DATA;
lakshya 73:d2bca4d2cc64 1370 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0); //updated in flash
lakshya 73:d2bca4d2cc64 1371 FLASH_DATA = (FLASH_DATA | 0x00006000);
lakshya 73:d2bca4d2cc64 1372 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 73:d2bca4d2cc64 1373 }
lakshya 73:d2bca4d2cc64 1374 }*/
lakshya 73:d2bca4d2cc64 1375 //}
lakshya 66:a5d2b8dc6b9e 1376 //BCN_SW =1;
lakshya 19:79e69017c855 1377 //stop BCN_STANDBY_TIMER.start();//create
lakshya 19:79e69017c855 1378 if(BCN_TX_MAIN_STATUS==0)
lakshya 19:79e69017c855 1379 {
lakshya 19:79e69017c855 1380 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1381 }
lakshya 19:79e69017c855 1382 else if(BCN_TX_MAIN_STATUS==1)
lakshya 19:79e69017c855 1383 {
lakshya 73:d2bca4d2cc64 1384 telemetry[2]=0xA0; //changed
lakshya 19:79e69017c855 1385 }
lakshya 19:79e69017c855 1386 }
lakshya 19:79e69017c855 1387 else
lakshya 19:79e69017c855 1388 {
lakshya 19:79e69017c855 1389 telemetry[2]=0x02;
lakshya 19:79e69017c855 1390 }
lakshya 19:79e69017c855 1391 //ACK_L234_telemetry
lakshya 19:79e69017c855 1392 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1393 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1394 //ack_code taken care above
lakshya 19:79e69017c855 1395 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1396 {
lakshya 19:79e69017c855 1397 telemetry[i]=0x00;
lakshya 19:79e69017c855 1398 }
lakshya 19:79e69017c855 1399 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1400 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1401 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1402 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1403 {
lakshya 19:79e69017c855 1404 telemetry[i]=0x00;
lakshya 19:79e69017c855 1405 }
lakshya 19:79e69017c855 1406 break;
lakshya 19:79e69017c855 1407 }
lakshya 20:949d13045431 1408 case 0xE3:
lakshya 20:949d13045431 1409 {
lakshya 67:c0dd13285d80 1410 gpc.printf("\n\n\rE3 batter heater\n");
lakshya 67:c0dd13285d80 1411
lakshya 20:949d13045431 1412 if(EPS_BTRY_HTR_AUTO != 0)
lakshya 20:949d13045431 1413 telemetry[2]=0x87;
lakshya 20:949d13045431 1414 else
lakshya 20:949d13045431 1415 {
lakshya 20:949d13045431 1416 HTR_CYCLE_COUNTS = tc[4];
lakshya 20:949d13045431 1417 if(HTR_CYCLE_COUNTS==0x00)
lakshya 20:949d13045431 1418 {
lakshya 33:76f2b8735501 1419 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 1420 HTR_CYCLE->stop();
lakshya 20:949d13045431 1421 //clear EPS_BTRY_HTR is it
lakshya 20:949d13045431 1422 EPS_BTRY_HTR_AUTO = 0;
lakshya 67:c0dd13285d80 1423 gpc.printf("\n\n\rheater OFF\n");
lakshya 20:949d13045431 1424
lakshya 20:949d13045431 1425 }
lakshya 20:949d13045431 1426 else
lakshya 20:949d13045431 1427 {
lakshya 67:c0dd13285d80 1428 gpc.printf("\n\n\rheater ON\n");
lakshya 67:c0dd13285d80 1429
lakshya 20:949d13045431 1430 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 1431 {
lakshya 20:949d13045431 1432 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 1433 }
lakshya 20:949d13045431 1434 //uint8_t HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1435 HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1436 HTR_ON_DURATION = tc[6];
lakshya 20:949d13045431 1437
lakshya 20:949d13045431 1438 //make it uint16_t
lakshya 20:949d13045431 1439 HTR_CYCLE_PERIOD = (tc[7]<<8) | tc[8];
lakshya 20:949d13045431 1440 //start BTRY_HTR_DLY_TIMER;
lakshya 20:949d13045431 1441 }
lakshya 20:949d13045431 1442 telemetry[2]=0xA0;
lakshya 20:949d13045431 1443 }
lakshya 20:949d13045431 1444 //ACK_L234_telemetry
lakshya 20:949d13045431 1445 telemetry[0]=0xB0;
lakshya 20:949d13045431 1446 telemetry[1]=tc[0];
lakshya 20:949d13045431 1447 //ACK code taken care of
lakshya 20:949d13045431 1448 for(uint8_t i=3;i<11;i++)
lakshya 20:949d13045431 1449 {
lakshya 20:949d13045431 1450 telemetry[i]=0x00;
lakshya 20:949d13045431 1451 }
lakshya 20:949d13045431 1452 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 20:949d13045431 1453 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 20:949d13045431 1454 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 20:949d13045431 1455 for(uint8_t i=13;i<134;i++)
lakshya 20:949d13045431 1456 {
lakshya 20:949d13045431 1457 telemetry[i]=0x00;
lakshya 20:949d13045431 1458 }
lakshya 20:949d13045431 1459
lakshya 20:949d13045431 1460 break;
lakshya 20:949d13045431 1461 }
lakshya 19:79e69017c855 1462 case 0x01:
lakshya 67:c0dd13285d80 1463 { if(BAE_STANDBY==0x00)
lakshya 19:79e69017c855 1464 {
lakshya 67:c0dd13285d80 1465 gpc.printf("\n\n\rRun P_EPS_INIT\n");
lakshya 19:79e69017c855 1466 FCTN_EPS_INIT();
lakshya 19:79e69017c855 1467 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1468 }
lakshya 19:79e69017c855 1469 else
lakshya 19:79e69017c855 1470 {
lakshya 67:c0dd13285d80 1471 gpc.printf("\n\runable to Run P_EPS_INIT as BAE_STATUS not 000 ");;
lakshya 19:79e69017c855 1472 telemetry[2]=0x87;
lakshya 19:79e69017c855 1473 }
lakshya 19:79e69017c855 1474
lakshya 19:79e69017c855 1475 //ACK_L234_telemetry
lakshya 19:79e69017c855 1476 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1477 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1478 //ACK code taken care of
lakshya 19:79e69017c855 1479 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1480 {
lakshya 19:79e69017c855 1481 telemetry[i]=0x00;
lakshya 19:79e69017c855 1482 }
lakshya 19:79e69017c855 1483 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1484 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1485 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1486 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1487 {
lakshya 19:79e69017c855 1488 telemetry[i]=0x00;
lakshya 19:79e69017c855 1489 }
lakshya 19:79e69017c855 1490
lakshya 19:79e69017c855 1491 break;
lakshya 19:79e69017c855 1492 }
lakshya 19:79e69017c855 1493 case 0x02:
lakshya 19:79e69017c855 1494 {
lakshya 67:c0dd13285d80 1495 if(BAE_STANDBY==0x00)
lakshya 19:79e69017c855 1496 {
lakshya 67:c0dd13285d80 1497 gpc.printf("\n\n\rRun P_EPS_MAIN\n");
lakshya 19:79e69017c855 1498 F_EPS();
lakshya 19:79e69017c855 1499 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1500 }
lakshya 19:79e69017c855 1501 else
lakshya 19:79e69017c855 1502 {
lakshya 67:c0dd13285d80 1503 gpc.printf("\n\runable to Run P_EPS_MAIN as BAE_STATUS not 000 ");;
lakshya 19:79e69017c855 1504 telemetry[2]=0x87;
lakshya 19:79e69017c855 1505 }
lakshya 19:79e69017c855 1506
lakshya 19:79e69017c855 1507 //ACK_L234_telemetry
lakshya 19:79e69017c855 1508 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1509 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1510 //ACK code taken care of
lakshya 19:79e69017c855 1511 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1512 {
lakshya 19:79e69017c855 1513 telemetry[i]=0x00;
lakshya 19:79e69017c855 1514 }
lakshya 19:79e69017c855 1515 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1516 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1517 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1518 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1519 {
lakshya 19:79e69017c855 1520 telemetry[i]=0x00;
lakshya 19:79e69017c855 1521 }
lakshya 19:79e69017c855 1522 break;
lakshya 19:79e69017c855 1523 }
lakshya 19:79e69017c855 1524 case 0x03:
lakshya 19:79e69017c855 1525 {
lakshya 67:c0dd13285d80 1526 if(BAE_STANDBY==0x00)
lakshya 19:79e69017c855 1527 {
lakshya 67:c0dd13285d80 1528 gpc.printf("\n\n\rRun P_ACS_INIT\n");
lakshya 19:79e69017c855 1529 FCTN_ACS_INIT();
lakshya 19:79e69017c855 1530 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1531 }
lakshya 19:79e69017c855 1532 else
lakshya 19:79e69017c855 1533 {
lakshya 67:c0dd13285d80 1534 gpc.printf("\n\runable to Run P_ACS_INIT as BAE_STATUS not 000 ");;
lakshya 19:79e69017c855 1535 telemetry[2]=0x87;
lakshya 19:79e69017c855 1536 }
lakshya 19:79e69017c855 1537
lakshya 19:79e69017c855 1538 //ACK_L234_telemetry
lakshya 19:79e69017c855 1539 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1540 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1541 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1542 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1543 {
lakshya 19:79e69017c855 1544 telemetry[i]=0x00;
lakshya 19:79e69017c855 1545 }
lakshya 19:79e69017c855 1546 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1547 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1548 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1549 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1550 {
lakshya 19:79e69017c855 1551 telemetry[i]=0x00;
lakshya 19:79e69017c855 1552 }
lakshya 19:79e69017c855 1553 break;
lakshya 19:79e69017c855 1554 }
lakshya 19:79e69017c855 1555 case 0x05:
lakshya 19:79e69017c855 1556 {
lakshya 67:c0dd13285d80 1557 if(BAE_STANDBY==0x00)
lakshya 19:79e69017c855 1558 {
lakshya 67:c0dd13285d80 1559 gpc.printf("\n\n\rRun P_ACS_MAIN\n");
lakshya 19:79e69017c855 1560 F_ACS();
lakshya 19:79e69017c855 1561 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1562 }
lakshya 19:79e69017c855 1563 else
lakshya 19:79e69017c855 1564 {
lakshya 67:c0dd13285d80 1565 gpc.printf("\n\runable to Run P_ACS_MAIN as BAE_STATUS not 000 ");;
lakshya 19:79e69017c855 1566 telemetry[2]=0x87;
lakshya 19:79e69017c855 1567 }
lakshya 19:79e69017c855 1568
lakshya 19:79e69017c855 1569 //ACK_L234_TM
lakshya 19:79e69017c855 1570 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1571 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1572 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1573 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1574 {
lakshya 19:79e69017c855 1575 telemetry[i]=0x00;
lakshya 19:79e69017c855 1576 }
lakshya 19:79e69017c855 1577
lakshya 19:79e69017c855 1578 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1579 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1580 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1581 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1582 {
lakshya 19:79e69017c855 1583 telemetry[i]=0x00;
lakshya 19:79e69017c855 1584 }
lakshya 19:79e69017c855 1585 break;
lakshya 19:79e69017c855 1586 }
lakshya 19:79e69017c855 1587 case 0x06:
lakshya 19:79e69017c855 1588 {
lakshya 67:c0dd13285d80 1589 if(BAE_STANDBY==0x00)
lakshya 19:79e69017c855 1590 {
lakshya 67:c0dd13285d80 1591 gpc.printf("\n\n\rRun P_BCN_INIT\n");
lakshya 67:c0dd13285d80 1592 // F_BCN(); why was this written?
lakshya 67:c0dd13285d80 1593
lakshya 67:c0dd13285d80 1594 FCTN_BCN_INIT(); // does this makes sense??
lakshya 19:79e69017c855 1595 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1596 }
lakshya 19:79e69017c855 1597 else
lakshya 19:79e69017c855 1598 {
lakshya 67:c0dd13285d80 1599 gpc.printf("\n\runable to Run P_BCN_INIT as BAE_STATUS not 000 ");;
lakshya 19:79e69017c855 1600 telemetry[2]=0x87;
lakshya 19:79e69017c855 1601 }
lakshya 19:79e69017c855 1602
lakshya 19:79e69017c855 1603 //ACK_L234_TM
lakshya 19:79e69017c855 1604 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1605 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1606 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1607 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1608 {
lakshya 19:79e69017c855 1609 telemetry[i]=0x00;
lakshya 19:79e69017c855 1610 }
lakshya 19:79e69017c855 1611 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1612 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1613 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1614 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1615 {
lakshya 19:79e69017c855 1616 telemetry[i]=0x00;
lakshya 19:79e69017c855 1617 }
lakshya 19:79e69017c855 1618 break;
lakshya 19:79e69017c855 1619 }
lakshya 19:79e69017c855 1620 case 0x07:
lakshya 19:79e69017c855 1621 {
lakshya 67:c0dd13285d80 1622 if(BAE_STANDBY==0x00)
lakshya 19:79e69017c855 1623 {
lakshya 67:c0dd13285d80 1624 gpc.printf("\n\n\rRun P_BCN_TX_MAIN\n");
lakshya 19:79e69017c855 1625 FCTN_BCN_TX_MAIN();//correct function check once
lakshya 19:79e69017c855 1626 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1627 }
lakshya 19:79e69017c855 1628 else
lakshya 19:79e69017c855 1629 {
lakshya 67:c0dd13285d80 1630 gpc.printf("\n\runable to Run P_BCN_TX_MAIN as BAE_STATUS not 000 ");;
lakshya 19:79e69017c855 1631 telemetry[2]=0x87;
lakshya 19:79e69017c855 1632 }
lakshya 19:79e69017c855 1633
lakshya 19:79e69017c855 1634 //ACK_L234_TM
lakshya 19:79e69017c855 1635 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1636 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1637 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1638 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1639 {
lakshya 19:79e69017c855 1640 telemetry[i]=0x00;
lakshya 19:79e69017c855 1641 }
lakshya 19:79e69017c855 1642 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1643 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1644 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1645 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1646 {
lakshya 19:79e69017c855 1647 telemetry[i]=0x00;
lakshya 19:79e69017c855 1648 }
lakshya 19:79e69017c855 1649 break;
lakshya 19:79e69017c855 1650 }
lakshya 19:79e69017c855 1651 case 0x11:
lakshya 19:79e69017c855 1652 {
lakshya 67:c0dd13285d80 1653 gpc.printf("\n\n\rSW_ON_ACS_ATS1_SW_ENABLE\n");
lakshya 19:79e69017c855 1654 //ACK_L234_TM
lakshya 19:79e69017c855 1655 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1656 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1657 //____________________________________________************************************
lakshya 19:79e69017c855 1658 /*
lakshya 19:79e69017c855 1659 ATS PIN OR STATUS YET TO BE DECIDED. DECIDED THAT IT IS PIN TC CAN SWITCH ON/OFF THE SENSOR
lakshya 19:79e69017c855 1660 */
lakshya 73:d2bca4d2cc64 1661 ATS2_SW_ENABLE = 0; // making sure we switch off the other
lakshya 39:670133e7ffd8 1662 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 39:670133e7ffd8 1663 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0) | 0x0C ;
lakshya 67:c0dd13285d80 1664 ATS1_SW_ENABLE = 1; // what should the signal be for unabling 0 or 1
lakshya 39:670133e7ffd8 1665 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F);
lakshya 67:c0dd13285d80 1666 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F);// state now 00|0x40; //changed device status
lakshya 19:79e69017c855 1667 telemetry[2]=ACK_CODE;
lakshya 67:c0dd13285d80 1668
lakshya 67:c0dd13285d80 1669 /*update in flash here*/
lakshya 67:c0dd13285d80 1670 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1671 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1672 FLASH_DATA = (FLASH_DATA & 0x3FFFFFFF);
lakshya 67:c0dd13285d80 1673 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1674
lakshya 67:c0dd13285d80 1675
lakshya 19:79e69017c855 1676 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1677 {
lakshya 19:79e69017c855 1678 telemetry[i]=0x00;
lakshya 19:79e69017c855 1679 }
lakshya 19:79e69017c855 1680 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1681 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1682 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1683 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1684 {
lakshya 19:79e69017c855 1685 telemetry[i]=0x00;
lakshya 19:79e69017c855 1686 }
lakshya 19:79e69017c855 1687 break;
lakshya 19:79e69017c855 1688 }
lakshya 19:79e69017c855 1689 case 0x12:
lakshya 19:79e69017c855 1690 {
lakshya 49:61c9f28332ba 1691 gpc.printf("\n\rSW_ON_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1692 //ACK_L234_TM
lakshya 19:79e69017c855 1693 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1694 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1695 ATS1_SW_ENABLE = 0; //make sure u switch off the other
lakshya 39:670133e7ffd8 1696 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F) | 0xC0 ;
lakshya 73:d2bca4d2cc64 1697 ATS2_SW_ENABLE = 1;
lakshya 67:c0dd13285d80 1698 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0);//|0x04; changed here
lakshya 67:c0dd13285d80 1699
lakshya 67:c0dd13285d80 1700 /*update in flash here*/
lakshya 67:c0dd13285d80 1701 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1702 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1703 FLASH_DATA = (FLASH_DATA & 0xF3FFFFFF);
lakshya 67:c0dd13285d80 1704 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1705
lakshya 67:c0dd13285d80 1706
lakshya 19:79e69017c855 1707 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1708 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1709 {
lakshya 19:79e69017c855 1710 telemetry[i]=0x00;
lakshya 19:79e69017c855 1711 }
lakshya 19:79e69017c855 1712 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1713 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1714 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1715 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1716 {
lakshya 19:79e69017c855 1717 telemetry[i]=0x00;
lakshya 19:79e69017c855 1718 }
lakshya 19:79e69017c855 1719 break;
lakshya 19:79e69017c855 1720 }
lakshya 19:79e69017c855 1721 case 0x13:
lakshya 19:79e69017c855 1722 {
lakshya 67:c0dd13285d80 1723 gpc.printf("\n\n\rSW_ON_ACS_TR_XY_ENABLE\n");
lakshya 19:79e69017c855 1724 //ACK_L234_TM
lakshya 19:79e69017c855 1725 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1726 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1727 DRV_XY_EN = 1;//1 SWITCH enable here
Bragadeesh153 52:daa685b0e390 1728 ACS_TR_XY_ENABLE = 1;
lakshya 19:79e69017c855 1729 ACS_TR_XY_SW_STATUS=0x01;
lakshya 67:c0dd13285d80 1730
lakshya 67:c0dd13285d80 1731 /*update in flash here*/
lakshya 67:c0dd13285d80 1732 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1733 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1734 FLASH_DATA = ((FLASH_DATA & 0xFF3FFFFF) | 0x00400000 ) ;
lakshya 67:c0dd13285d80 1735 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1736
lakshya 67:c0dd13285d80 1737
lakshya 19:79e69017c855 1738 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1739 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1740 {
lakshya 19:79e69017c855 1741 telemetry[i]=0x00;
lakshya 19:79e69017c855 1742 }
lakshya 19:79e69017c855 1743 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1744 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1745 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1746 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1747 {
lakshya 19:79e69017c855 1748 telemetry[i]=0x00;
lakshya 19:79e69017c855 1749 }
lakshya 19:79e69017c855 1750 break;
lakshya 19:79e69017c855 1751 }
lakshya 19:79e69017c855 1752 case 0x14:
lakshya 19:79e69017c855 1753 {
lakshya 67:c0dd13285d80 1754 gpc.printf("\n\n\rSW_ON_ACS_TR_Z_ENABLE\n");
lakshya 19:79e69017c855 1755 //ACK_L234_TM
lakshya 19:79e69017c855 1756 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1757 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1758 DRV_Z_EN = 1;
Bragadeesh153 52:daa685b0e390 1759 ACS_TR_Z_ENABLE = 1;
lakshya 19:79e69017c855 1760 ACS_TR_Z_SW_STATUS=0x01;
lakshya 67:c0dd13285d80 1761
lakshya 67:c0dd13285d80 1762 /*update in flash here*/
lakshya 67:c0dd13285d80 1763 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1764 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1765 FLASH_DATA = ((FLASH_DATA & 0xFFCFFFFF) | 0x00100000 ) ;
lakshya 67:c0dd13285d80 1766 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1767
lakshya 67:c0dd13285d80 1768
lakshya 19:79e69017c855 1769 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1770 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1771 {
lakshya 19:79e69017c855 1772 telemetry[i]=0x00;
lakshya 19:79e69017c855 1773 }
lakshya 19:79e69017c855 1774 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1775 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1776 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1777 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1778 {
lakshya 19:79e69017c855 1779 telemetry[i]=0x00;
lakshya 19:79e69017c855 1780 }
lakshya 19:79e69017c855 1781 break;
lakshya 19:79e69017c855 1782 }
lakshya 19:79e69017c855 1783 case 0x15:
lakshya 19:79e69017c855 1784 {
lakshya 67:c0dd13285d80 1785 gpc.printf("\n\n\rSW_ON_BCN_TX_SW_ENABLE\n");
lakshya 19:79e69017c855 1786 //ACK_L234_TM
lakshya 19:79e69017c855 1787 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1788 telemetry[1]=tc[0];
azaddevarm 80:da657c390c27 1789 BCN_SW = 1;//here 1 is switch enable 5th dec
lakshya 67:c0dd13285d80 1790 BCN_TX_SW_STATUS=0x01;//BCN_TX_SW_ENABLE CHANGED TO BCN_TX_SW_STATUS
lakshya 67:c0dd13285d80 1791
lakshya 67:c0dd13285d80 1792 /*update in flash here*/
lakshya 67:c0dd13285d80 1793 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1794 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1795 FLASH_DATA = ((FLASH_DATA & 0xFFFF9FFF) | 0x00002000 ) ;
lakshya 67:c0dd13285d80 1796 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1797
lakshya 67:c0dd13285d80 1798
lakshya 19:79e69017c855 1799 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1800 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1801 {
lakshya 19:79e69017c855 1802 telemetry[i]=0x00;
lakshya 19:79e69017c855 1803 }
lakshya 19:79e69017c855 1804 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1805 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1806 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1807 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1808 {
lakshya 19:79e69017c855 1809 telemetry[i]=0x00;
lakshya 19:79e69017c855 1810 }
lakshya 19:79e69017c855 1811 break;
lakshya 19:79e69017c855 1812 }
lakshya 19:79e69017c855 1813 case 0x21:
lakshya 19:79e69017c855 1814 {
lakshya 67:c0dd13285d80 1815 gpc.printf("\n\n\rSW_OFF_ACS_ATS1_SW_ENABLE\n");
lakshya 19:79e69017c855 1816 //ACK_L234_TM
lakshya 19:79e69017c855 1817 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1818 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1819 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1820 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F) | 0xC0 ;
lakshya 19:79e69017c855 1821 telemetry[2]=ACK_CODE;
lakshya 49:61c9f28332ba 1822
lakshya 67:c0dd13285d80 1823 /*update in flaash here*/
lakshya 49:61c9f28332ba 1824 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1825 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1826 FLASH_DATA = (FLASH_DATA | 0xC0000000 ) ;
lakshya 49:61c9f28332ba 1827 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1828
lakshya 67:c0dd13285d80 1829
lakshya 19:79e69017c855 1830 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1831 {
lakshya 19:79e69017c855 1832 telemetry[i]=0x00;
lakshya 19:79e69017c855 1833 }
lakshya 19:79e69017c855 1834 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1835 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1836 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1837 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1838 {
lakshya 19:79e69017c855 1839 telemetry[i]=0x00;
lakshya 19:79e69017c855 1840 }
lakshya 19:79e69017c855 1841 break;
lakshya 19:79e69017c855 1842 }
lakshya 19:79e69017c855 1843 case 0x22:
lakshya 19:79e69017c855 1844 {
lakshya 49:61c9f28332ba 1845 gpc.printf("\n\rSW_OFF_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1846 //ACK_L234_TM
lakshya 19:79e69017c855 1847 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1848 telemetry[1]=tc[0];
lakshya 73:d2bca4d2cc64 1849 ATS2_SW_ENABLE = 0;
lakshya 49:61c9f28332ba 1850
lakshya 49:61c9f28332ba 1851 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1852 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 49:61c9f28332ba 1853 FLASH_DATA = (FLASH_DATA | 0x0C000000);
lakshya 49:61c9f28332ba 1854 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1855
lakshya 20:949d13045431 1856 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 19:79e69017c855 1857 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1858 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1859 {
lakshya 19:79e69017c855 1860 telemetry[i]=0x00;
lakshya 19:79e69017c855 1861 }
lakshya 19:79e69017c855 1862 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1863 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1864 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1865 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1866 {
lakshya 19:79e69017c855 1867 telemetry[i]=0x00;
lakshya 19:79e69017c855 1868 }
lakshya 19:79e69017c855 1869 break;
lakshya 19:79e69017c855 1870 }
lakshya 19:79e69017c855 1871 case 0x23:
lakshya 19:79e69017c855 1872 {
lakshya 67:c0dd13285d80 1873 gpc.printf("\n\n\rSW_OFF_ACS_TR_XY_ENABLE\n");
lakshya 19:79e69017c855 1874 //ACK_L234_TM
lakshya 19:79e69017c855 1875 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1876 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1877 ACS_TR_XY_ENABLE = 0;
lakshya 19:79e69017c855 1878 ACS_TR_XY_SW_STATUS=0x03;
lakshya 67:c0dd13285d80 1879
lakshya 67:c0dd13285d80 1880 /*update in flash here*/
lakshya 67:c0dd13285d80 1881 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1882 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1883 FLASH_DATA = (FLASH_DATA | 0x00C00000 ) ;
lakshya 67:c0dd13285d80 1884 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1885
lakshya 67:c0dd13285d80 1886
lakshya 19:79e69017c855 1887 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1888 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1889 {
lakshya 19:79e69017c855 1890 telemetry[i]=0x00;
lakshya 19:79e69017c855 1891 }
lakshya 19:79e69017c855 1892 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1893 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1894 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1895 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1896 {
lakshya 19:79e69017c855 1897 telemetry[i]=0x00;
lakshya 19:79e69017c855 1898 }
lakshya 19:79e69017c855 1899 break;
lakshya 19:79e69017c855 1900 }
lakshya 19:79e69017c855 1901 case 0x24:
lakshya 19:79e69017c855 1902 {
lakshya 67:c0dd13285d80 1903 gpc.printf("\n\n\rSW_OFF_ACS_TR_Z_ENABLE\n");
lakshya 19:79e69017c855 1904 //ACK_L234_TM
lakshya 19:79e69017c855 1905 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1906 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1907 ACS_TR_Z_ENABLE = 0;
lakshya 19:79e69017c855 1908 ACS_TR_Z_SW_STATUS=0x03;
lakshya 67:c0dd13285d80 1909
lakshya 67:c0dd13285d80 1910 /*update in flash here*/
lakshya 67:c0dd13285d80 1911 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1912 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1913 FLASH_DATA = (FLASH_DATA | 0x00300000 ) ;
lakshya 67:c0dd13285d80 1914 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1915
lakshya 67:c0dd13285d80 1916
lakshya 19:79e69017c855 1917 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1918 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1919 {
lakshya 19:79e69017c855 1920 telemetry[i]=0x00;
lakshya 19:79e69017c855 1921 }
lakshya 19:79e69017c855 1922 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1923 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1924 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1925 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1926 {
lakshya 19:79e69017c855 1927 telemetry[i]=0x00;
lakshya 19:79e69017c855 1928 }
lakshya 19:79e69017c855 1929 break;
lakshya 19:79e69017c855 1930 }
lakshya 19:79e69017c855 1931 case 0x25:
lakshya 19:79e69017c855 1932 {
lakshya 67:c0dd13285d80 1933 gpc.printf("\n\n\rSW_OFF_BCN_TX_SW_ENABLE\n");
lakshya 19:79e69017c855 1934 //ACK_L234_TM
lakshya 19:79e69017c855 1935 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1936 telemetry[1]=tc[0];
azaddevarm 80:da657c390c27 1937 BCN_SW = 0;// same convention active high 5th dec
lakshya 19:79e69017c855 1938 BCN_TX_SW_ENABLE=0x03;
lakshya 67:c0dd13285d80 1939
lakshya 67:c0dd13285d80 1940 /*update in the flash*/
lakshya 67:c0dd13285d80 1941 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1942 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1943 FLASH_DATA = (FLASH_DATA | 0x00006000 ) ;
lakshya 67:c0dd13285d80 1944 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1945
lakshya 67:c0dd13285d80 1946
lakshya 19:79e69017c855 1947 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1948 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1949 {
lakshya 19:79e69017c855 1950 telemetry[i]=0x00;
lakshya 19:79e69017c855 1951 }
lakshya 19:79e69017c855 1952 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1953 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1954 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1955 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1956 {
lakshya 19:79e69017c855 1957 telemetry[i]=0x00;
lakshya 19:79e69017c855 1958 }
lakshya 19:79e69017c855 1959 break;
lakshya 19:79e69017c855 1960 }
lakshya 19:79e69017c855 1961 case 0x31:
lakshya 19:79e69017c855 1962 {
lakshya 67:c0dd13285d80 1963 gpc.printf("\n\n\rACS_ATS1_SW_RESET\n");
lakshya 19:79e69017c855 1964 //ACK_L234_TM
lakshya 19:79e69017c855 1965 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1966 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1967 ATS2_SW_ENABLE = 1;//as ats switched off
Bragadeesh153 52:daa685b0e390 1968 ATS1_SW_ENABLE = 0;
lakshya 19:79e69017c855 1969 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1970 ATS1_SW_ENABLE = 1;
lakshya 19:79e69017c855 1971 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1972 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1973 {
lakshya 19:79e69017c855 1974 telemetry[i]=0x00;
lakshya 19:79e69017c855 1975 }
lakshya 19:79e69017c855 1976 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1977 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1978 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1979 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1980 {
lakshya 19:79e69017c855 1981 telemetry[i]=0x00;
lakshya 19:79e69017c855 1982 }
lakshya 19:79e69017c855 1983 break;
lakshya 19:79e69017c855 1984 }
lakshya 19:79e69017c855 1985 case 0x32:
lakshya 19:79e69017c855 1986 {
lakshya 67:c0dd13285d80 1987 gpc.printf("\n\n\rACS_ATS2_SW_RESET\n");
lakshya 19:79e69017c855 1988 //ACK_L234_TM
lakshya 19:79e69017c855 1989 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1990 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1991 ATS1_SW_ENABLE = 0;//as ats1 switched off
lakshya 19:79e69017c855 1992 ATS2_SW_ENABLE = 1;
lakshya 19:79e69017c855 1993 wait_ms(5);
lakshya 19:79e69017c855 1994 ATS2_SW_ENABLE = 0;
lakshya 19:79e69017c855 1995 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1996 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1997 {
lakshya 19:79e69017c855 1998 telemetry[i]=0x00;
lakshya 19:79e69017c855 1999 }
lakshya 19:79e69017c855 2000 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2001 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2002 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2003 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2004 {
lakshya 19:79e69017c855 2005 telemetry[i]=0x00;
lakshya 19:79e69017c855 2006 }
lakshya 19:79e69017c855 2007 break;
lakshya 19:79e69017c855 2008 }
lakshya 19:79e69017c855 2009 case 0x33:
lakshya 19:79e69017c855 2010 {
lakshya 67:c0dd13285d80 2011 gpc.printf("\n\n\rACS_TR_XY_SW_RESET\n");
lakshya 19:79e69017c855 2012 //ACK_L234_TM
lakshya 19:79e69017c855 2013 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2014 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 2015 ACS_TR_XY_ENABLE= 0;
lakshya 19:79e69017c855 2016 wait_ms(5);
Bragadeesh153 52:daa685b0e390 2017 ACS_TR_XY_ENABLE= 1;
lakshya 19:79e69017c855 2018 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2019 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2020 {
lakshya 19:79e69017c855 2021 telemetry[i]=0x00;
lakshya 19:79e69017c855 2022 }
lakshya 19:79e69017c855 2023 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2024 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2025 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2026 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2027 {
lakshya 19:79e69017c855 2028 telemetry[i]=0x00;
lakshya 19:79e69017c855 2029 }
lakshya 19:79e69017c855 2030 break;
lakshya 19:79e69017c855 2031 }
lakshya 19:79e69017c855 2032 case 0x34:
lakshya 19:79e69017c855 2033 {
lakshya 67:c0dd13285d80 2034 gpc.printf("\n\n\rACS_TR_Z_SW_RESET\n");
lakshya 19:79e69017c855 2035 //ACK_L234_TM
lakshya 19:79e69017c855 2036 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2037 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 2038 ACS_TR_Z_ENABLE= 0;
lakshya 19:79e69017c855 2039 wait_ms(5);
Bragadeesh153 52:daa685b0e390 2040 ACS_TR_Z_ENABLE= 1;
lakshya 19:79e69017c855 2041 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2042 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2043 {
lakshya 19:79e69017c855 2044 telemetry[i]=0x00;
lakshya 19:79e69017c855 2045 }
lakshya 19:79e69017c855 2046 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2047 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2048 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2049 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2050 {
lakshya 19:79e69017c855 2051 telemetry[i]=0x00;
lakshya 19:79e69017c855 2052 }
lakshya 19:79e69017c855 2053 break;
lakshya 19:79e69017c855 2054 }
lakshya 19:79e69017c855 2055 case 0x35:
lakshya 19:79e69017c855 2056 {
lakshya 67:c0dd13285d80 2057 gpc.printf("\n\n\rBCN_TX_SW_RESET\n");
lakshya 19:79e69017c855 2058 //ACK_L234_TM
lakshya 19:79e69017c855 2059 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2060 telemetry[1]=tc[0];
azaddevarm 80:da657c390c27 2061 BCN_SW = 0; //active high
lakshya 19:79e69017c855 2062 wait_ms(5);
azaddevarm 80:da657c390c27 2063 BCN_SW = 1;
lakshya 19:79e69017c855 2064 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2065 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2066 {
lakshya 19:79e69017c855 2067 telemetry[i]=0x00;
lakshya 19:79e69017c855 2068 }
lakshya 19:79e69017c855 2069 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2070 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2071 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2072 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2073 {
lakshya 19:79e69017c855 2074 telemetry[i]=0x00;
lakshya 19:79e69017c855 2075 }
lakshya 19:79e69017c855 2076 break;
lakshya 19:79e69017c855 2077 }
lakshya 19:79e69017c855 2078 case 0x36:
lakshya 19:79e69017c855 2079 {
lakshya 67:c0dd13285d80 2080 gpc.printf("\n\n\rBAE_INTERNAL_RESET TO be done \n");
lakshya 20:949d13045431 2081 NVIC_SystemReset();
lakshya 19:79e69017c855 2082 break;
lakshya 19:79e69017c855 2083 }
lakshya 19:79e69017c855 2084 case 0x37:
lakshya 19:79e69017c855 2085 {
lakshya 67:c0dd13285d80 2086 gpc.printf("\n\n\rCDMS_RESET\n");
lakshya 19:79e69017c855 2087 //ACK_L234_TM
lakshya 19:79e69017c855 2088 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2089 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2090 CDMS_RESET = 0;
lakshya 19:79e69017c855 2091 wait_ms(5);
lakshya 19:79e69017c855 2092 CDMS_RESET = 1;
lakshya 19:79e69017c855 2093 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2094 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2095 {
lakshya 19:79e69017c855 2096 telemetry[i]=0x00;
lakshya 19:79e69017c855 2097 }
lakshya 19:79e69017c855 2098 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2099 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2100 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2101 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2102 {
lakshya 19:79e69017c855 2103 telemetry[i]=0x00;
lakshya 19:79e69017c855 2104 }
lakshya 19:79e69017c855 2105 break;
lakshya 19:79e69017c855 2106 }
lakshya 49:61c9f28332ba 2107 case 0x38://not in IF present in SBC
lakshya 19:79e69017c855 2108 {
lakshya 49:61c9f28332ba 2109 gpc.printf("\n\rCDMS_SW_RESET pin yet to be decided");
lakshya 19:79e69017c855 2110 //ACK_L234_TM
lakshya 19:79e69017c855 2111 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2112 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2113 /*
lakshya 19:79e69017c855 2114 PIN to be DECIDED***************************************************************8
lakshya 19:79e69017c855 2115 */
lakshya 19:79e69017c855 2116 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2117 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2118 {
lakshya 19:79e69017c855 2119 telemetry[i]=0x00;
lakshya 19:79e69017c855 2120 }
lakshya 19:79e69017c855 2121 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2122 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2123 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2124 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2125 {
lakshya 19:79e69017c855 2126 telemetry[i]=0x00;
lakshya 19:79e69017c855 2127 }
lakshya 19:79e69017c855 2128 break;
lakshya 19:79e69017c855 2129 }
lakshya 49:61c9f28332ba 2130 case 0x40://condition changed by AK47 now 00 means off in TC
lakshya 19:79e69017c855 2131 {
lakshya 67:c0dd13285d80 2132 printf("\n\n\r EN_PRCS\n");
lakshya 19:79e69017c855 2133 uint8_t STANDBY_DATA_TC;
lakshya 66:a5d2b8dc6b9e 2134 BAE_STANDBY=0x07;
lakshya 19:79e69017c855 2135 STANDBY_DATA_TC=tc[4];
lakshya 49:61c9f28332ba 2136 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2137 {
lakshya 67:c0dd13285d80 2138 BAE_STANDBY &=0x03;
lakshya 66:a5d2b8dc6b9e 2139 //$ L BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2140 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2141 }
lakshya 67:c0dd13285d80 2142 STANDBY_DATA_TC=tc[5];
lakshya 49:61c9f28332ba 2143 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2144 {
lakshya 66:a5d2b8dc6b9e 2145 BAE_STANDBY &=0x05;
lakshya 66:a5d2b8dc6b9e 2146 //$ L BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2147 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2148 }
lakshya 67:c0dd13285d80 2149 STANDBY_DATA_TC=tc[6];
lakshya 49:61c9f28332ba 2150 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2151 {
lakshya 66:a5d2b8dc6b9e 2152 BAE_STANDBY &=0x06;
lakshya 66:a5d2b8dc6b9e 2153 //$ L BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2154 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2155 }
lakshya 19:79e69017c855 2156 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2157 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2158 telemetry[2]=0xC0;//ack_code for this case
lakshya 19:79e69017c855 2159 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2160 {
lakshya 19:79e69017c855 2161 telemetry[i]=0x00;
lakshya 19:79e69017c855 2162 }
lakshya 19:79e69017c855 2163 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2164 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2165 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2166 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2167 {
lakshya 19:79e69017c855 2168 telemetry[i]=0x00;
lakshya 19:79e69017c855 2169 }
lakshya 19:79e69017c855 2170 break;
lakshya 19:79e69017c855 2171 }
lakshya 19:79e69017c855 2172 case 0x41:
lakshya 19:79e69017c855 2173 {
lakshya 67:c0dd13285d80 2174 gpc.printf("\n\n\rexecutng BAE reset HK counter\n");
lakshya 20:949d13045431 2175 firstCount=true;
lakshya 20:949d13045431 2176 void minMaxHkData();
lakshya 49:61c9f28332ba 2177
lakshya 19:79e69017c855 2178 //ACK_L234_TM
lakshya 19:79e69017c855 2179 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2180 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2181 telemetry[2]=0x02;
lakshya 19:79e69017c855 2182 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2183 {
lakshya 19:79e69017c855 2184 telemetry[i]=0x00;
lakshya 19:79e69017c855 2185 }
lakshya 19:79e69017c855 2186 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2187 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2188 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2189 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2190 {
lakshya 19:79e69017c855 2191 telemetry[i]=0x00;
lakshya 19:79e69017c855 2192 }
lakshya 19:79e69017c855 2193 break;
lakshya 19:79e69017c855 2194 }
lakshya 19:79e69017c855 2195 default:
lakshya 19:79e69017c855 2196 {
lakshya 49:61c9f28332ba 2197 gpc.printf("\n\rInvalid TC for FMS no matching FID");
lakshya 19:79e69017c855 2198 //ACK_L234_TM
lakshya 19:79e69017c855 2199 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2200 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2201 telemetry[2]=0x02;
lakshya 19:79e69017c855 2202 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2203 {
lakshya 19:79e69017c855 2204 telemetry[i]=0x00;
lakshya 19:79e69017c855 2205 }
lakshya 19:79e69017c855 2206 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2207 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2208 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2209 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2210 {
lakshya 19:79e69017c855 2211 telemetry[i]=0x00;
lakshya 19:79e69017c855 2212 }
lakshya 19:79e69017c855 2213 break;
lakshya 19:79e69017c855 2214 }
lakshya 19:79e69017c855 2215 }
lakshya 19:79e69017c855 2216 break;
lakshya 19:79e69017c855 2217 }
lakshya 19:79e69017c855 2218 default:
lakshya 19:79e69017c855 2219 {
lakshya 49:61c9f28332ba 2220 gpc.printf("\n\rInvalid TC, FMS service subtype mismacth");
lakshya 19:79e69017c855 2221 //ACK_L234_TM
lakshya 19:79e69017c855 2222 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2223 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2224 telemetry[2]=0x02;
lakshya 19:79e69017c855 2225 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2226 {
lakshya 19:79e69017c855 2227 telemetry[i]=0x00;
lakshya 19:79e69017c855 2228 }
lakshya 19:79e69017c855 2229 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2230 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2231 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2232 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2233 {
lakshya 19:79e69017c855 2234 telemetry[i]=0x00;
lakshya 19:79e69017c855 2235 }
lakshya 19:79e69017c855 2236 break;
lakshya 19:79e69017c855 2237 }
lakshya 19:79e69017c855 2238 }
lakshya 19:79e69017c855 2239 break;
lakshya 19:79e69017c855 2240 }
lakshya 19:79e69017c855 2241 default:
lakshya 19:79e69017c855 2242 {
lakshya 49:61c9f28332ba 2243 gpc.printf("\n\rInvalid TC neither FMS nor MMS");
lakshya 19:79e69017c855 2244 //ACK_L234_TM
lakshya 19:79e69017c855 2245 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2246 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2247 telemetry[2]=0x02;
lakshya 19:79e69017c855 2248 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2249 {
lakshya 19:79e69017c855 2250 telemetry[i]=0x00;
lakshya 19:79e69017c855 2251 }
lakshya 19:79e69017c855 2252 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2253 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2254 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2255 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2256 {
lakshya 19:79e69017c855 2257 telemetry[i]=0x00;
lakshya 19:79e69017c855 2258 }
lakshya 19:79e69017c855 2259 break;
lakshya 19:79e69017c855 2260 }
lakshya 19:79e69017c855 2261 }
lakshya 19:79e69017c855 2262 }
Bragadeesh153 13:fb7facaf308b 2263 }
Bragadeesh153 13:fb7facaf308b 2264 }
sakthipriya 4:39a4ae8c7ecd 2265
sakthipriya 4:39a4ae8c7ecd 2266
lakshya 67:c0dd13285d80 2267
Bragadeesh153 13:fb7facaf308b 2268 int strt_add = flash_size() - (2*SECTOR_SIZE);
sakthipriya 4:39a4ae8c7ecd 2269 uint32_t flasharray[8]; //256+(3*1024)
lakshya 19:79e69017c855 2270 /*corrected*/
lakshya 19:79e69017c855 2271 int *nativeflash = (int*)strt_add;
sakthipriya 4:39a4ae8c7ecd 2272
sakthipriya 4:39a4ae8c7ecd 2273 /*Writing to the Flash*/
lakshya 19:79e69017c855 2274 void FCTN_BAE_WR_FLASH(uint16_t j,uint32_t fdata) //j-position to write address ; fdata - flash data to be written
sakthipriya 4:39a4ae8c7ecd 2275 {
Bragadeesh153 13:fb7facaf308b 2276 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2277 {
sakthipriya 4:39a4ae8c7ecd 2278 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2279 }
sakthipriya 4:39a4ae8c7ecd 2280 flasharray[j]=fdata;
sakthipriya 4:39a4ae8c7ecd 2281 erase_sector(strt_add);
lakshya 20:949d13045431 2282 program_flash(strt_add, (char*)flasharray,32);
sakthipriya 4:39a4ae8c7ecd 2283 }
lakshya 19:79e69017c855 2284
sakthipriya 4:39a4ae8c7ecd 2285 /*End*/
sakthipriya 4:39a4ae8c7ecd 2286
sakthipriya 4:39a4ae8c7ecd 2287 /*Reading from Flash*/
lakshya 19:79e69017c855 2288 /*return choice parameter included so that i f we want the whole 32 packet data to be sent back we can do so*/
lakshya 19:79e69017c855 2289 uint32_t FCTN_BAE_RD_FLASH_ENTITY(uint16_t entity)
sakthipriya 4:39a4ae8c7ecd 2290 {
sakthipriya 4:39a4ae8c7ecd 2291 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2292 {
sakthipriya 4:39a4ae8c7ecd 2293 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2294 }
lakshya 19:79e69017c855 2295 return flasharray[entity];
sakthipriya 4:39a4ae8c7ecd 2296 }
lakshya 19:79e69017c855 2297
lakshya 19:79e69017c855 2298 uint32_t* FCTN_BAE_RD_FLASH()
lakshya 19:79e69017c855 2299 {
lakshya 19:79e69017c855 2300 for(int i=0;i<8;i++)
lakshya 19:79e69017c855 2301 {
lakshya 19:79e69017c855 2302 flasharray[i]=nativeflash[i];
lakshya 19:79e69017c855 2303 }
lakshya 19:79e69017c855 2304 return flasharray;
lakshya 19:79e69017c855 2305 }
lakshya 19:79e69017c855 2306
sakthipriya 5:bb592f3185cc 2307 /*End*/
sakthipriya 5:bb592f3185cc 2308
sakthipriya 5:bb592f3185cc 2309 // Convert float to 4 uint8_t
sakthipriya 5:bb592f3185cc 2310
lakshya 15:e09aaaccf134 2311
sakthipriya 6:036d08b62785 2312 void FCTN_CONVERT_FLOAT(float input, uint8_t output[4])
sakthipriya 5:bb592f3185cc 2313 {
sakthipriya 6:036d08b62785 2314 assert(sizeof(float) == sizeof(uint32_t));
sakthipriya 6:036d08b62785 2315 uint32_t* temp = reinterpret_cast<uint32_t*>(&input);
sakthipriya 6:036d08b62785 2316
sakthipriya 6:036d08b62785 2317 //float* output1 = reinterpret_cast<float*>(temp);
Bragadeesh153 13:fb7facaf308b 2318
lakshya 49:61c9f28332ba 2319 //gpc.printf("\n\r %f ", input);
lakshya 15:e09aaaccf134 2320 //std::cout << "\n\r uint32"<<*temp << std::endl;
sakthipriya 6:036d08b62785 2321
sakthipriya 6:036d08b62785 2322 output[0] =(uint8_t )(((*temp)>>24)&0xFF);
lakshya 15:e09aaaccf134 2323 output[1] =(uint8_t ) (((*temp)>>16)&0xFF);
lakshya 15:e09aaaccf134 2324 output[2] =(uint8_t ) (((*temp)>>8)&0xFF);
lakshya 15:e09aaaccf134 2325 output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic
lakshya 15:e09aaaccf134 2326
lakshya 49:61c9f28332ba 2327 // gpc.printf("\n\rthe values generated are\n");
lakshya 49:61c9f28332ba 2328 /*gpc.printf("\n\r%x\n",output[0]);
lakshya 49:61c9f28332ba 2329 gpc.printf("\n\r%x\n",output[1]);
lakshya 49:61c9f28332ba 2330 gpc.printf("\n\r%x\n",output[2]);
lakshya 49:61c9f28332ba 2331 gpc.printf("\n\r%x\n",output[3]);
lakshya 15:e09aaaccf134 2332 to check the values generated
lakshya 15:e09aaaccf134 2333 */
lakshya 49:61c9f28332ba 2334 //gpc.printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]);
Bragadeesh153 13:fb7facaf308b 2335 //std:: cout << "\n\r uint8 inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl;
Bragadeesh153 13:fb7facaf308b 2336 }