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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

TCTM.cpp@35:7193e581932f, 2016-07-04 (annotated)

Committer:
Bragadeesh153
Date:
Mon Jul 04 13:32:29 2016 +0000
Revision:
35:7193e581932f
Parent:
34:1b41c34b12ea 
ACS_CONFIG

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakthipriya 0:7b4c00e3912f 1 #include "mbed.h"
lakshya 20:949d13045431 2 #include "rtos.h"
sakthipriya 0:7b4c00e3912f 3 #include "TCTM.h"
sakthipriya 3:07e15677a75c 4 #include "crc.h"
sakthipriya 4:39a4ae8c7ecd 5 #include "EPS.h"
lakshya 20:949d13045431 6 #include "ACS.h"
sakthipriya 5:bb592f3185cc 7 #include "pin_config.h"
sakthipriya 5:bb592f3185cc 8 #include "FreescaleIAP.h"
sakthipriya 6:036d08b62785 9 #include "inttypes.h"
sakthipriya 6:036d08b62785 10 #include "iostream"
sakthipriya 6:036d08b62785 11 #include "stdint.h"
sakthipriya 6:036d08b62785 12 #include "cassert"
lakshya 10:f93407b97750 13 #include"math.h"
lakshya 10:f93407b97750 14
lakshya 19:79e69017c855 15 //**********************************STATUS_PARAMETERS*****************************************************
lakshya 19:79e69017c855 16 uint8_t BCN_TX_SW_ENABLE=0x00;
lakshya 19:79e69017c855 17
lakshya 19:79e69017c855 18 //***********************************FOR STANDBY TIMER****************************************************
lakshya 19:79e69017c855 19 extern void BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 20
lakshya 20:949d13045431 21 uint8_t telemetry[135];
lakshya 20:949d13045431 22 extern uint8_t BAE_HK_data[134];
lakshya 19:79e69017c855 23
lakshya 20:949d13045431 24 //*****************PARA******************************
lakshya 20:949d13045431 25
lakshya 20:949d13045431 26 //ACS
lakshya 20:949d13045431 27 extern float db[3];
lakshya 20:949d13045431 28 extern float data[6];
lakshya 20:949d13045431 29 extern float b_old[3]; // Unit: Tesla
lakshya 20:949d13045431 30 extern float moment[3];
lakshya 20:949d13045431 31 extern uint8_t ACS_STATE;
lakshya 20:949d13045431 32 extern uint8_t ACS_STATUS;
lakshya 20:949d13045431 33 extern uint8_t flag_firsttime;
lakshya 20:949d13045431 34 extern uint8_t ACS_DETUMBLING_ALGO_TYPE;
lakshya 20:949d13045431 35 extern uint8_t ACS_INIT_STATUS;
lakshya 20:949d13045431 36 extern uint8_t ACS_DATA_ACQ_STATUS;
lakshya 20:949d13045431 37 extern uint8_t ACS_MAIN_STATUS;
lakshya 20:949d13045431 38 extern uint8_t ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 39 extern uint8_t ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 40 extern uint8_t ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 41 extern uint8_t ACS_TR_X_PWM;
lakshya 20:949d13045431 42 extern uint8_t ACS_TR_Y_PWM;
lakshya 20:949d13045431 43 extern uint8_t ACS_TR_Z_PWM;
Bragadeesh153 34:1b41c34b12ea 44 extern uint8_t B_SCZ_ANGLE;
lakshya 20:949d13045431 45 extern uint8_t alarmmode;
lakshya 20:949d13045431 46 extern uint8_t controlmode_mms;
lakshya 20:949d13045431 47 extern uint8_t invjm_mms[9];
lakshya 20:949d13045431 48 extern uint8_t jm_mms[9];
lakshya 20:949d13045431 49 extern uint8_t bb_mms[3];
lakshya 20:949d13045431 50 extern uint8_t singularity_flag_mms;
lakshya 20:949d13045431 51 extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya 20:949d13045431 52 extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 53
lakshya 20:949d13045431 54 extern uint8_t ATS1_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 55 extern uint8_t ATS1_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 56 extern uint8_t ATS1_ERROR_RGTR;
lakshya 20:949d13045431 57 extern uint8_t ATS2_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 58 extern uint8_t ATS2_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 59 extern uint8_t ATS2_ERROR_RGTR;
lakshya 20:949d13045431 60 //change
lakshya 20:949d13045431 61 extern uint16_t ACS_MM_X_COMSN;
lakshya 20:949d13045431 62 extern uint16_t ACS_MM_Y_COMSN;
lakshya 20:949d13045431 63 extern uint16_t ACS_MG_X_COMSN;
lakshya 20:949d13045431 64 extern uint16_t ACS_MG_Y_COMSN;
lakshya 20:949d13045431 65 extern uint16_t ACS_MM_Z_COMSN;
lakshya 20:949d13045431 66 extern uint16_t ACS_MG_Z_COMSN;
lakshya 20:949d13045431 67 //acs func
lakshya 20:949d13045431 68 extern void F_ACS();
lakshya 20:949d13045431 69 extern int SENSOR_INIT();
lakshya 20:949d13045431 70 extern int FCTN_ACS_INIT();
lakshya 20:949d13045431 71 extern int SENSOR_DATA_ACQ();
lakshya 20:949d13045431 72 extern int FCTN_ATS_DATA_ACQ();
lakshya 20:949d13045431 73 extern void FCTN_ACS_GENPWM_MAIN(float Moment[3]);
lakshya 20:949d13045431 74 extern void FCTN_ACS_CNTRLALGO(float*,float*,int);
lakshya 20:949d13045431 75
lakshya 20:949d13045431 76
lakshya 20:949d13045431 77 //main
lakshya 20:949d13045431 78 extern uint8_t ACS_ATS_STATUS;
lakshya 20:949d13045431 79 extern uint16_t ACS_MAIN_COUNTER;//change\apply
lakshya 20:949d13045431 80 extern uint8_t HTR_CYCLE_COUNTER;
lakshya 20:949d13045431 81 extern RtosTimer *HTR_CYCLE;
lakshya 20:949d13045431 82 extern uint8_t HTR_CYCLE_COUNTS; //Count of heater cycles
lakshya 20:949d13045431 83 extern uint8_t HTR_CYCLE_START_DLY; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya 20:949d13045431 84 extern uint8_t HTR_ON_DURATION; //EPS_HTR_OFF timer duration in minutes
lakshya 20:949d13045431 85 extern uint16_t HTR_CYCLE_PERIOD;
lakshya 20:949d13045431 86
lakshya 20:949d13045431 87 extern DigitalOut ACS_TR_XY_ENABLE;
lakshya 20:949d13045431 88 extern DigitalOut ACS_TR_Z_ENABLE;
lakshya 20:949d13045431 89 extern DigitalOut ACS_TR_XY_OC_FAULT;
lakshya 20:949d13045431 90 extern DigitalOut ACS_TR_Z_OC_FAULT;
lakshya 20:949d13045431 91 extern DigitalOut ACS_TR_XY_FAULT;
lakshya 20:949d13045431 92 extern DigitalOut ACS_TR_Z_FAULT;
lakshya 20:949d13045431 93 extern DigitalOut ACS_ATS1_OC_FAULT;
lakshya 20:949d13045431 94 extern DigitalOut ACS_ATS2_OC_FAULT;
sakthipriya 0:7b4c00e3912f 95
sakthipriya 9:194afacf7449 96 extern DigitalOut ATS1_SW_ENABLE; // enable of att sens2 switch
sakthipriya 9:194afacf7449 97 extern DigitalOut ATS2_SW_ENABLE; // enable of att sens switch
sakthipriya 5:bb592f3185cc 98
lakshya 20:949d13045431 99 extern DigitalOut DRV_Z_EN;
lakshya 20:949d13045431 100 extern DigitalOut DRV_XY_EN;
Bragadeesh153 13:fb7facaf308b 101 extern DigitalOut TRXY_SW; //TR XY Switch if any TR_SW error arises then it is same as TR_SW_EN
sakthipriya 5:bb592f3185cc 102 extern DigitalOut TRZ_SW; //TR Z Switch
lakshya 20:949d13045431 103
lakshya 20:949d13045431 104 extern DigitalOut phase_TR_x;
lakshya 20:949d13045431 105 extern DigitalOut phase_TR_y;
lakshya 20:949d13045431 106 extern DigitalOut phase_TR_z;
lakshya 20:949d13045431 107
lakshya 20:949d13045431 108
lakshya 20:949d13045431 109 //CDMS
sakthipriya 5:bb592f3185cc 110 extern DigitalOut CDMS_RESET; // CDMS RESET
lakshya 20:949d13045431 111 extern uint8_t CDMS_SW_STATUS;
lakshya 20:949d13045431 112 extern DigitalOut CDMS_OC_FAULT;
lakshya 20:949d13045431 113
lakshya 20:949d13045431 114
lakshya 20:949d13045431 115 //BCN
sakthipriya 5:bb592f3185cc 116 extern DigitalOut BCN_SW; //Beacon switch
lakshya 10:f93407b97750 117 extern uint8_t BCN_TX_STATUS;
lakshya 10:f93407b97750 118 extern uint8_t BCN_FEN;
lakshya 20:949d13045431 119 extern uint8_t BCN_SPND_TX;
lakshya 20:949d13045431 120 extern uint8_t BCN_TX_MAIN_STATUS;
lakshya 20:949d13045431 121 extern uint8_t BCN_TX_SW_STATUS;
lakshya 20:949d13045431 122 extern uint8_t BCN_LONG_MSG_TYPE;
lakshya 20:949d13045431 123 extern uint8_t BCN_INIT_STATUS;
lakshya 20:949d13045431 124 extern uint8_t BCN_FAIL_COUNT;
lakshya 20:949d13045431 125 extern uint16_t BCN_TX_MAIN_COUNTER;
lakshya 20:949d13045431 126 extern DigitalOut BCN_TX_OC_FAULT;
lakshya 20:949d13045431 127 extern uint8_t BCN_TMP;
lakshya 20:949d13045431 128 extern void F_BCN();
lakshya 20:949d13045431 129 extern void FCTN_BCN_TX_MAIN();
lakshya 33:76f2b8735501 130 extern uint8_t SHORT_HK_data[15];
lakshya 33:76f2b8735501 131 extern void FCTN_BCN_SPND_TX();
lakshya 20:949d13045431 132
lakshya 20:949d13045431 133
lakshya 20:949d13045431 134 //BAE
lakshya 20:949d13045431 135 extern uint8_t BAE_STANDBY;
lakshya 20:949d13045431 136 extern uint8_t BAE_INIT_STATUS;
lakshya 20:949d13045431 137 extern uint8_t BAE_RESET_COUNTER;
lakshya 27:61c856be467e 138 extern uint8_t BAE_MNG_I2C_STATUS;
lakshya 20:949d13045431 139 /*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 140
lakshya 20:949d13045431 141 extern uint32_t BAE_STATUS;//extern uint32_t BAE_STATUS;
lakshya 20:949d13045431 142 extern BAE_HK_quant quant_data;
sakthipriya 4:39a4ae8c7ecd 143 extern BAE_HK_actual actual_data;
sakthipriya 4:39a4ae8c7ecd 144 extern BAE_HK_min_max bae_HK_minmax;
Bragadeesh153 13:fb7facaf308b 145 //extern DigitalOut TRXY_SW;
lakshya 11:1fdb94ae6563 146 //extern DigitalOut TRZ_SW_EN; //same as TRZ_SW
lakshya 11:1fdb94ae6563 147 extern uint32_t BAE_ENABLE;
lakshya 20:949d13045431 148 extern uint16_t BAE_I2C_COUNTER;
lakshya 33:76f2b8735501 149 extern uint8_t LONG_HK_data[2][134];
lakshya 20:949d13045431 150 //extern uint8_t BCN_FAIL_COUNT;
lakshya 20:949d13045431 151
lakshya 11:1fdb94ae6563 152
lakshya 20:949d13045431 153 //EPS
lakshya 20:949d13045431 154 extern bool firstCount;
lakshya 20:949d13045431 155 extern uint8_t EPS_BTRY_HTR_AUTO;
lakshya 20:949d13045431 156 extern uint8_t EPS_BATT_TEMP_LOW;
lakshya 20:949d13045431 157 extern uint8_t EPS_BATT_TEMP_HIGH;
lakshya 20:949d13045431 158 extern uint8_t EPS_BATT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 159 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 160 extern uint8_t EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 161 extern uint8_t EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 162 extern uint8_t EPS_INIT_STATUS;
lakshya 20:949d13045431 163 extern uint8_t EPS_BATTERY_GAUGE_STATUS ;
lakshya 20:949d13045431 164 extern uint8_t EPS_MAIN_STATUS;
lakshya 33:76f2b8735501 165 extern uint8_t EPS_BTRY_TMP_STATUS ;
lakshya 20:949d13045431 166 extern uint8_t EPS_STATUS ;
lakshya 20:949d13045431 167 extern uint8_t EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 168 extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 169 extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya 20:949d13045431 170 extern uint16_t EPS_MAIN_COUNTER;
lakshya 33:76f2b8735501 171 extern uint8_t EPS_BTRY_HTR;
lakshya 11:1fdb94ae6563 172
lakshya 20:949d13045431 173 extern DigitalOut SelectLineb3; // MSB of Select Lines
lakshya 20:949d13045431 174 extern DigitalOut SelectLineb2;
lakshya 20:949d13045431 175 extern DigitalOut SelectLineb1;
lakshya 20:949d13045431 176 extern DigitalOut SelectLineb0;
lakshya 20:949d13045431 177 extern DigitalOut EPS_CHARGER_FAULT;
lakshya 20:949d13045431 178 extern DigitalOut EPS_CHARGER_STATUS;
lakshya 20:949d13045431 179 extern DigitalOut EPS_BATTERY_GAUGE_ALERT;
lakshya 20:949d13045431 180
lakshya 20:949d13045431 181 extern void F_EPS();
lakshya 20:949d13045431 182 extern AnalogIn CurrentInput;
lakshya 20:949d13045431 183
lakshya 20:949d13045431 184 //--------------------check this refer prashant
lakshya 11:1fdb94ae6563 185
Bragadeesh153 13:fb7facaf308b 186 extern PwmOut PWM1; //x //Functions used to generate PWM signal
lakshya 11:1fdb94ae6563 187 extern PwmOut PWM2; //y
lakshya 11:1fdb94ae6563 188 extern PwmOut PWM3; //z //PWM output comes from pins p6
lakshya 11:1fdb94ae6563 189
lakshya 20:949d13045431 190 //included after home
lakshya 11:1fdb94ae6563 191 //extern void FCTN_ACS_GENPWM_MAIN();
lakshya 20:949d13045431 192
lakshya 20:949d13045431 193 uint16_t crc_hk_data()//gencrc16_for_me()
lakshya 20:949d13045431 194 {
lakshya 33:76f2b8735501 195 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 196 return crc;
lakshya 33:76f2b8735501 197 }
lakshya 33:76f2b8735501 198
lakshya 33:76f2b8735501 199 uint8_t crc8_short()
lakshya 33:76f2b8735501 200 {
lakshya 33:76f2b8735501 201 uint8_t crc = CRC::crc8_gen(SHORT_HK_data,14);
lakshya 20:949d13045431 202 return crc;
lakshya 20:949d13045431 203 }
lakshya 20:949d13045431 204
lakshya 20:949d13045431 205 float uint16_to_float(float min,float max,uint16_t scale)
lakshya 20:949d13045431 206 {
lakshya 20:949d13045431 207 float div=max-min;
lakshya 20:949d13045431 208 div=(div/(65535.0));
lakshya 20:949d13045431 209 return ((div*(float)scale)+ min);
lakshya 20:949d13045431 210 }
lakshya 11:1fdb94ae6563 211
lakshya 20:949d13045431 212 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 213 {
lakshya 20:949d13045431 214 if(val>max)
lakshya 20:949d13045431 215 {return 0xffff;
lakshya 20:949d13045431 216 }
lakshya 20:949d13045431 217 if(val<min)
lakshya 20:949d13045431 218 {return 0x0000;
lakshya 20:949d13045431 219 }
lakshya 20:949d13045431 220 float div=max-min;
lakshya 20:949d13045431 221 div=(65535.0/div);
lakshya 20:949d13045431 222 val=((val-min)*div);
lakshya 20:949d13045431 223 printf("\n\r the scale is %x",(uint16_t)val);
lakshya 20:949d13045431 224 return (uint16_t)val;
lakshya 20:949d13045431 225 }
sakthipriya 5:bb592f3185cc 226
lakshya 20:949d13045431 227 void gen_I_TM()
lakshya 20:949d13045431 228 {
lakshya 20:949d13045431 229 telemetry[0] = 0xB0;
lakshya 20:949d13045431 230 for(int i=1;i<11;i++)
lakshya 20:949d13045431 231 telemetry[i] = 0x00;
lakshya 20:949d13045431 232 uint16_t crc = CRC::crc16_gen(telemetry,11);//BAE_chardata i.e char data type usesd earlier
lakshya 20:949d13045431 233 telemetry[11] = (uint8_t)(crc >> 8);
lakshya 20:949d13045431 234 telemetry[12] = (uint8_t)crc ;
lakshya 20:949d13045431 235 for(int i=13;i<135;i++)
lakshya 20:949d13045431 236 telemetry[i] = 0x00;
lakshya 20:949d13045431 237 }
lakshya 20:949d13045431 238 void FCTN__UINT (uint8_t input[2], float* output)
lakshya 11:1fdb94ae6563 239 {
lakshya 11:1fdb94ae6563 240
lakshya 11:1fdb94ae6563 241 *output = (float) input[1];
lakshya 11:1fdb94ae6563 242 *output = *output/100.0; //input[0] integer part
lakshya 11:1fdb94ae6563 243 *output = *output + (float) input[0]; //input[1] decimal part correct to two decimal places
lakshya 11:1fdb94ae6563 244 }
lakshya 11:1fdb94ae6563 245
lakshya 10:f93407b97750 246 float angle(float x,float y,float z)
lakshya 10:f93407b97750 247 {
lakshya 10:f93407b97750 248 float mag_total=sqrt(x*x + y*y + z*z);
lakshya 10:f93407b97750 249 float cos_z = z/mag_total;
lakshya 10:f93407b97750 250 float theta_z = acosf(cos_z);
Bragadeesh153 13:fb7facaf308b 251
lakshya 10:f93407b97750 252 return theta_z;
lakshya 10:f93407b97750 253 //printf("/n cos_zz= %f /t theta_z= %f /n",cos_z,theta_z);
lakshya 10:f93407b97750 254 }
lakshya 10:f93407b97750 255
Bragadeesh153 13:fb7facaf308b 256 //uint8_t tm1[134];
Bragadeesh153 13:fb7facaf308b 257
Bragadeesh153 13:fb7facaf308b 258 void FCTN_BAE_TM_TC (uint8_t* tc)
sakthipriya 3:07e15677a75c 259 {
lakshya 19:79e69017c855 260 //tm1[0] = 1;
lakshya 19:79e69017c855 261 //calculating crc
lakshya 20:949d13045431 262 for(int i=0;i<134;i++)
lakshya 20:949d13045431 263 {
lakshya 20:949d13045431 264 telemetry[i]=tc[i];
lakshya 20:949d13045431 265 }
lakshya 20:949d13045431 266
lakshya 19:79e69017c855 267
lakshya 15:e09aaaccf134 268 /*chaged*/
lakshya 15:e09aaaccf134 269 uint8_t* tm; // without it some identifier error
lakshya 20:949d13045431 270 uint16_t crc16=CRC::crc16_gen(telemetry,9); //implementing crc
lakshya 20:949d13045431 271 printf("\n\r the crc is %x",crc16);
lakshya 19:79e69017c855 272 if( ( ((uint8_t)((crc16 & 0xFF00)>>8)==tc[9]) && ((uint8_t)(crc16 & 0x00FF)==tc[10]) )== 0 )
lakshya 19:79e69017c855 273 {
lakshya 19:79e69017c855 274 telemetry[0]=0xB0;
lakshya 19:79e69017c855 275 telemetry[1]=0x00;//tc psc defined for this case
lakshya 19:79e69017c855 276 telemetry[2]=0x01;//ack code for this case
lakshya 19:79e69017c855 277 for(int i=3;i<11;i++)
lakshya 20:949d13045431 278 {
lakshya 19:79e69017c855 279 telemetry[i]=0x00;
lakshya 19:79e69017c855 280 }
lakshya 19:79e69017c855 281 //add crc
lakshya 19:79e69017c855 282 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 283 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 284 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 285 printf("\n\rincorrect crc");
lakshya 19:79e69017c855 286 for(int i=13;i<134;i++)
lakshya 19:79e69017c855 287 {
lakshya 19:79e69017c855 288 telemetry[i]=0x00;
lakshya 19:79e69017c855 289 }
lakshya 19:79e69017c855 290 }
lakshya 19:79e69017c855 291 else
lakshya 19:79e69017c855 292 {
lakshya 19:79e69017c855 293 //check apid
lakshya 19:79e69017c855 294 uint8_t apid_check=((tc[1]&0xC0)>>6);
lakshya 19:79e69017c855 295 if(apid_check!=0x01)
lakshya 19:79e69017c855 296 {
lakshya 19:79e69017c855 297 telemetry[0]=0xB0;
lakshya 19:79e69017c855 298 telemetry[1]=tc[0];//tc psc defined for this case
lakshya 19:79e69017c855 299 telemetry[2]=0x02;//ack code for this case
lakshya 19:79e69017c855 300 for(int i=3;i<11;i++)
Bragadeesh153 13:fb7facaf308b 301 {
lakshya 19:79e69017c855 302 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 303 }
Bragadeesh153 13:fb7facaf308b 304 crc16 = CRC::crc16_gen(telemetry,11);
Bragadeesh153 13:fb7facaf308b 305 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
Bragadeesh153 13:fb7facaf308b 306 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 307 printf("\n\rillegal TC packet APID don't match");
lakshya 19:79e69017c855 308 for(int i=13;i<134;i++)
Bragadeesh153 13:fb7facaf308b 309 {
Bragadeesh153 13:fb7facaf308b 310 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 311 }
sakthipriya 3:07e15677a75c 312 }
lakshya 19:79e69017c855 313 else
lakshya 19:79e69017c855 314 {// all the possible cases of fms and mms
lakshya 19:79e69017c855 315 uint8_t service_type=(tc[2]&0xF0);
lakshya 19:79e69017c855 316 //check for fms first
lakshya 19:79e69017c855 317 switch(service_type)
lakshya 19:79e69017c855 318 {
lakshya 19:79e69017c855 319 case 0x60:
lakshya 19:79e69017c855 320 {
lakshya 19:79e69017c855 321 printf("Memory Management Service\r\n");
lakshya 19:79e69017c855 322 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 323 switch(service_subtype)
lakshya 19:79e69017c855 324 {
lakshya 19:79e69017c855 325 case 0x02:
lakshya 19:79e69017c855 326 {
lakshya 19:79e69017c855 327 printf("\n\rRead from RAM");
lakshya 19:79e69017c855 328 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 329 switch(MID)
lakshya 19:79e69017c855 330 {
lakshya 19:79e69017c855 331 case 0x0000://changed from 0001
lakshya 19:79e69017c855 332 {
lakshya 19:79e69017c855 333 printf("\n\rRead from MID 0000 \n");
lakshya 19:79e69017c855 334 printf("\n\rReading flash parameters");
lakshya 19:79e69017c855 335
lakshya 19:79e69017c855 336 /*taking some varible till we find some thing more useful*/
lakshya 19:79e69017c855 337 //uint8_t ref_val=0x01;
lakshya 19:79e69017c855 338 telemetry[0] = 1;
lakshya 19:79e69017c855 339 telemetry[1] = tc[0];
lakshya 19:79e69017c855 340 telemetry[2] = ACK_CODE;
lakshya 19:79e69017c855 341 /*random or with bcn_tx_sw_enable assuming it is 1 bit in length
lakshya 19:79e69017c855 342 how to get that we dont know, now we just assume it to be so*/
lakshya 20:949d13045431 343 telemetry[3] = ACS_ATS_STATUS;
lakshya 20:949d13045431 344 telemetry[4] = ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 345 telemetry[4] = (telemetry[4]<<2)| ACS_TR_Z_SW_STATUS;
lakshya 27:61c856be467e 346 telemetry[4] = (telemetry[4]<<4) | ACS_STATE;
lakshya 27:61c856be467e 347 telemetry[5] = ACS_DETUMBLING_ALGO_TYPE;
lakshya 27:61c856be467e 348 telemetry[5] = (telemetry[5]<<2) | BCN_TX_SW_STATUS;
lakshya 20:949d13045431 349 telemetry[5] = (telemetry[5]<<1) | BCN_SPND_TX;
lakshya 20:949d13045431 350 telemetry[5] = (telemetry[5]<<1) | BCN_FEN;
lakshya 20:949d13045431 351 telemetry[5] = (telemetry[5]<<1) | BCN_LONG_MSG_TYPE;
lakshya 20:949d13045431 352 telemetry[5] = (telemetry[5]<<1) | EPS_BTRY_HTR_AUTO;//EPS_BATTERY_HEATER_ENABLE
lakshya 27:61c856be467e 353 telemetry[5] = (telemetry[5]<<1);
lakshya 27:61c856be467e 354 //now one spares in telemetry[5]
lakshya 20:949d13045431 355 telemetry[6] = BAE_RESET_COUNTER;
lakshya 20:949d13045431 356 telemetry[7] = EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 357 telemetry[8] = EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 358 telemetry[9] = ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 359 telemetry[10] = ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 360 telemetry[11] = EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 361 telemetry[12] = EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 362 telemetry[13] = EPS_BAT_TEMP_DEFAULT;
lakshya 20:949d13045431 363
lakshya 20:949d13045431 364 telemetry[14] = ACS_MM_X_COMSN >> 8;
lakshya 20:949d13045431 365 telemetry[15] = ACS_MM_X_COMSN;
lakshya 20:949d13045431 366
lakshya 20:949d13045431 367 telemetry[16] = ACS_MM_Y_COMSN >> 8;
lakshya 20:949d13045431 368 telemetry[17] = ACS_MM_Y_COMSN;
lakshya 20:949d13045431 369
lakshya 20:949d13045431 370 telemetry[18] = ACS_MG_X_COMSN >> 8;
lakshya 20:949d13045431 371 telemetry[19] = ACS_MG_X_COMSN;
lakshya 20:949d13045431 372
lakshya 20:949d13045431 373 telemetry[20] = ACS_MG_Y_COMSN >> 8;
lakshya 20:949d13045431 374 telemetry[21] = ACS_MG_Y_COMSN;
lakshya 20:949d13045431 375
lakshya 20:949d13045431 376 telemetry[22] = ACS_MM_Z_COMSN >> 8;
lakshya 20:949d13045431 377 telemetry[23] = ACS_MM_Z_COMSN;
lakshya 20:949d13045431 378
lakshya 20:949d13045431 379 telemetry[24] = ACS_MG_Z_COMSN >> 8;
lakshya 20:949d13045431 380 telemetry[25] = ACS_MG_Z_COMSN;
lakshya 20:949d13045431 381
lakshya 20:949d13045431 382 telemetry[26] = ACS_Z_FIXED_MOMENT >> 8;
lakshya 20:949d13045431 383 telemetry[27] = ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 384
lakshya 20:949d13045431 385 //BAE RAM PARAMETER
lakshya 20:949d13045431 386 telemetry[28] = BAE_INIT_STATUS;
lakshya 27:61c856be467e 387 telemetry[28] = (telemetry[28]<<1) | BAE_MNG_I2C_STATUS;//changed
lakshya 20:949d13045431 388 telemetry[28] = (telemetry[28]<<1) | BCN_INIT_STATUS;
lakshya 20:949d13045431 389 telemetry[28] = (telemetry[28]<<1) | BCN_TX_MAIN_STATUS;
lakshya 20:949d13045431 390 telemetry[28] = (telemetry[28]<<3) | BCN_TX_STATUS;
lakshya 27:61c856be467e 391 telemetry[28] = (telemetry[28]<<1) | ACS_INIT_STATUS;
lakshya 20:949d13045431 392
lakshya 20:949d13045431 393 telemetry[29] = ACS_DATA_ACQ_STATUS;
lakshya 20:949d13045431 394 telemetry[29] = (telemetry[29]<<1) | ACS_MAIN_STATUS;
lakshya 27:61c856be467e 395 telemetry[29] = (telemetry[29]<<4) | ACS_STATUS;
lakshya 20:949d13045431 396 telemetry[29] = (telemetry[29]<<1) | EPS_INIT_STATUS;
lakshya 20:949d13045431 397
lakshya 27:61c856be467e 398 telemetry[30] = EPS_BATTERY_GAUGE_STATUS;
lakshya 27:61c856be467e 399 telemetry[30] = (telemetry[30]<<1) | EPS_MAIN_STATUS;
lakshya 33:76f2b8735501 400 telemetry[30] = (telemetry[30]<<1) | EPS_BTRY_TMP_STATUS;
lakshya 20:949d13045431 401 telemetry[30] = (telemetry[30]<<3) | EPS_STATUS;
lakshya 20:949d13045431 402 telemetry[30] = (telemetry[30]<<2) | CDMS_SW_STATUS;
lakshya 20:949d13045431 403 // telemetry[30] = (telemetry[30]<<1) | EPS_BTRY_HTR_STATUS;//new to : implement
lakshya 33:76f2b8735501 404
lakshya 33:76f2b8735501 405 telemetry[31] = EPS_BTRY_HTR; //new to : implement
lakshya 27:61c856be467e 406 //spare 4
lakshya 27:61c856be467e 407 telemetry[31] = (telemetry[31]<<7) | BAE_STANDBY;
lakshya 20:949d13045431 408 // 6 next telemetries value to be given by registers
lakshya 20:949d13045431 409 telemetry[32] = ATS1_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 410 telemetry[33] = ATS1_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 411 telemetry[34] = ATS1_ERROR_RGTR;
lakshya 20:949d13045431 412 telemetry[35] = ATS2_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 413 telemetry[36] = ATS2_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 414 telemetry[37] = ATS2_ERROR_RGTR;
lakshya 20:949d13045431 415
lakshya 20:949d13045431 416 telemetry[38] = BCN_FAIL_COUNT;
lakshya 20:949d13045431 417 telemetry[39] = actual_data.power_mode;
lakshya 20:949d13045431 418 telemetry[40] = HTR_CYCLE_COUNTER;//new to : implement
lakshya 20:949d13045431 419
lakshya 20:949d13045431 420 telemetry[41] = BAE_I2C_COUNTER;
lakshya 20:949d13045431 421 telemetry[42] = BAE_I2C_COUNTER>>8;
lakshya 20:949d13045431 422 telemetry[43] = ACS_MAIN_COUNTER;
lakshya 20:949d13045431 423 telemetry[44] = ACS_MAIN_COUNTER>>8;
lakshya 20:949d13045431 424 telemetry[45] = BCN_TX_MAIN_COUNTER;
lakshya 20:949d13045431 425 telemetry[46] = BCN_TX_MAIN_COUNTER>>8;
lakshya 20:949d13045431 426 telemetry[47] = EPS_MAIN_COUNTER;
lakshya 20:949d13045431 427 telemetry[48] = EPS_MAIN_COUNTER>>8;
lakshya 20:949d13045431 428 //sending in uint can be converted back to int by direct conversion for +values
lakshya 20:949d13045431 429 //make sure to convert baack to int for getting negative values
lakshya 20:949d13045431 430 //algo for that done
lakshya 20:949d13045431 431 telemetry[49] = actual_data.bit_data_acs_mm[0];
lakshya 20:949d13045431 432 telemetry[50] = actual_data.bit_data_acs_mm[0]>>8;
lakshya 20:949d13045431 433 telemetry[51] = actual_data.bit_data_acs_mm[1];
lakshya 20:949d13045431 434 telemetry[52] = actual_data.bit_data_acs_mm[1]>>8;
lakshya 20:949d13045431 435 telemetry[53] = actual_data.bit_data_acs_mm[2];
lakshya 20:949d13045431 436 telemetry[54] = actual_data.bit_data_acs_mm[2]>>8;
lakshya 20:949d13045431 437
lakshya 20:949d13045431 438 telemetry[55] = actual_data.bit_data_acs_mg[0];
lakshya 20:949d13045431 439 telemetry[56] = actual_data.bit_data_acs_mg[0]>>8;
lakshya 20:949d13045431 440 telemetry[57] = actual_data.bit_data_acs_mg[1];
lakshya 20:949d13045431 441 telemetry[58] = actual_data.bit_data_acs_mg[1]>>8;
lakshya 20:949d13045431 442 telemetry[59] = actual_data.bit_data_acs_mg[2];
lakshya 20:949d13045431 443 telemetry[60] = actual_data.bit_data_acs_mg[2]>>8;
lakshya 20:949d13045431 444
lakshya 20:949d13045431 445 telemetry[61] = BCN_TX_OC_FAULT;
lakshya 20:949d13045431 446 telemetry[61] = (telemetry[61]<<1) | ACS_TR_XY_ENABLE;
lakshya 20:949d13045431 447 telemetry[61] = (telemetry[61]<<1) | ACS_TR_Z_ENABLE;
lakshya 20:949d13045431 448 telemetry[61] = (telemetry[61]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 20:949d13045431 449 telemetry[61] = (telemetry[61]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 20:949d13045431 450 telemetry[61] = (telemetry[61]<<1) | ACS_TR_XY_FAULT;
lakshya 20:949d13045431 451 telemetry[61] = (telemetry[61]<<1) | EPS_CHARGER_FAULT;
lakshya 20:949d13045431 452 telemetry[61] = (telemetry[61]<<1) | EPS_CHARGER_STATUS;
lakshya 20:949d13045431 453
lakshya 27:61c856be467e 454 telemetry[62] = EPS_BATTERY_GAUGE_ALERT;
lakshya 20:949d13045431 455 telemetry[62] = (telemetry[62]<<1) | CDMS_OC_FAULT;
lakshya 20:949d13045431 456 telemetry[62] = (telemetry[62]<<1) | ACS_ATS1_OC_FAULT;
lakshya 20:949d13045431 457 telemetry[62] = (telemetry[62]<<1) | ACS_ATS2_OC_FAULT;
lakshya 20:949d13045431 458 telemetry[62] = (telemetry[62]<<1) | ACS_TR_Z_FAULT;
lakshya 27:61c856be467e 459 telemetry[62] = (telemetry[62]<<3);
lakshya 20:949d13045431 460 //3 spare
lakshya 20:949d13045431 461
lakshya 20:949d13045431 462 telemetry[63] = ACS_TR_X_PWM;
lakshya 20:949d13045431 463 telemetry[64] = ACS_TR_Y_PWM;
lakshya 20:949d13045431 464 telemetry[65] = ACS_TR_Z_PWM;
lakshya 20:949d13045431 465 //spare byte
lakshya 20:949d13045431 466 //assigned it to counter HTR_CYCLE_COUNTER
lakshya 20:949d13045431 467
lakshya 20:949d13045431 468 //assign it b_scz_angle
Bragadeesh153 34:1b41c34b12ea 469 telemetry[66] = B_SCZ_ANGLE;
lakshya 20:949d13045431 470 telemetry[66] = (telemetry[65]<<1) | alarmmode;
lakshya 20:949d13045431 471 telemetry[66] = (telemetry[65]<<1) | controlmode_mms;
lakshya 27:61c856be467e 472 telemetry[66] = (telemetry[65]<<2);
lakshya 20:949d13045431 473 //2 bit spare
lakshya 20:949d13045431 474
lakshya 20:949d13045431 475 for(int i=0;i<9;i++)
lakshya 20:949d13045431 476 {
lakshya 20:949d13045431 477 telemetry[67+i] = invjm_mms[i];
lakshya 20:949d13045431 478 telemetry[80+i] = jm_mms[i];
lakshya 20:949d13045431 479 }
lakshya 20:949d13045431 480
lakshya 20:949d13045431 481 for(int i=0;i<3;i++)
lakshya 20:949d13045431 482 telemetry[76+i] = bb_mms[i];
lakshya 20:949d13045431 483
lakshya 20:949d13045431 484 telemetry[79] = singularity_flag_mms;
lakshya 20:949d13045431 485
lakshya 20:949d13045431 486 for(int i=0;i<16;i++)
lakshya 20:949d13045431 487 {
lakshya 20:949d13045431 488 telemetry[89+i] = quant_data.voltage_quant[i];
lakshya 20:949d13045431 489 telemetry[105+i] = quant_data.current_quant[i];
lakshya 20:949d13045431 490 }
lakshya 20:949d13045431 491
lakshya 20:949d13045431 492 telemetry[121] = quant_data.Batt_voltage_quant;
lakshya 20:949d13045431 493 telemetry[122] = quant_data.BAE_temp_quant;
lakshya 20:949d13045431 494 telemetry[123] = (uint8_t)(actual_data.Batt_gauge_actual[1]);
lakshya 20:949d13045431 495 telemetry[124] = quant_data.Batt_temp_quant[0];
lakshya 20:949d13045431 496 telemetry[125] = quant_data.Batt_temp_quant[1];
lakshya 20:949d13045431 497 telemetry[126] = BCN_TMP;
lakshya 20:949d13045431 498
lakshya 20:949d13045431 499 //* ANY USE?
lakshya 20:949d13045431 500 ///if(BCN_TX_STATUS==2)
lakshya 20:949d13045431 501 /// telemetry[3] = telemetry[3]|0x20;
lakshya 20:949d13045431 502 ///else
lakshya 20:949d13045431 503 ///telemetry[3] = telemetry[3] & 0xDF;
lakshya 19:79e69017c855 504
lakshya 19:79e69017c855 505 //actual_data.AngularSpeed_actual[0]=5.32498;
lakshya 20:949d13045431 506 ///for(int i=0; i<3; i++)
lakshya 20:949d13045431 507 /// FCTN_CONVERT_FLOAT((float)actual_data.Bvalue_actual[i],&telemetry[26+ (i*4)]);
lakshya 20:949d13045431 508 ///for(int i=0; i<3; i++)
lakshya 20:949d13045431 509 /// FCTN_CONVERT_FLOAT((float)actual_data.AngularSpeed_actual[i],&telemetry[38+(i*4)]);
lakshya 20:949d13045431 510 ///
lakshya 20:949d13045431 511 for (int i=127; i<132;i++)
lakshya 19:79e69017c855 512 {
lakshya 19:79e69017c855 513 telemetry[i] = 0x00;
lakshya 19:79e69017c855 514 }
lakshya 19:79e69017c855 515 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 516 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 517 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 518
lakshya 19:79e69017c855 519 break;
lakshya 19:79e69017c855 520 }
lakshya 19:79e69017c855 521 case 0x0001:
lakshya 19:79e69017c855 522 {
lakshya 19:79e69017c855 523 printf("\r\nhk data tm");
lakshya 19:79e69017c855 524 telemetry[0] = 0x60;
lakshya 19:79e69017c855 525 telemetry[1] = tc[0];
lakshya 19:79e69017c855 526 telemetry[2] = ACK_CODE;
lakshya 19:79e69017c855 527
lakshya 19:79e69017c855 528 for(int i;i<16;i++)
lakshya 20:949d13045431 529 {
lakshya 20:949d13045431 530 telemetry[i+3] = bae_HK_minmax.voltage_max[i];
lakshya 20:949d13045431 531 telemetry[i+19] = bae_HK_minmax.current_max[i];
lakshya 20:949d13045431 532 }
lakshya 19:79e69017c855 533
lakshya 20:949d13045431 534 telemetry[35] = bae_HK_minmax.Batt_voltage_max;;
lakshya 20:949d13045431 535 telemetry[36] = bae_HK_minmax.BAE_temp_max;
lakshya 19:79e69017c855 536
lakshya 20:949d13045431 537 telemetry[37] = bae_HK_minmax.Batt_SOC_max;
lakshya 19:79e69017c855 538
lakshya 20:949d13045431 539 telemetry[38] = bae_HK_minmax.Batt_temp_max[0];
lakshya 20:949d13045431 540 telemetry[39] = bae_HK_minmax.Batt_temp_max[1];
lakshya 19:79e69017c855 541
lakshya 20:949d13045431 542 /*BCN temp there*/
lakshya 20:949d13045431 543 telemetry[40] = bae_HK_minmax.BCN_TEMP_max;
lakshya 19:79e69017c855 544
lakshya 19:79e69017c855 545 for(int i=0; i<3; i++)
lakshya 20:949d13045431 546 {
lakshya 20:949d13045431 547 telemetry[41+i] = bae_HK_minmax.bit_data_acs_mm_max[i];
lakshya 20:949d13045431 548 telemetry[44+i] = bae_HK_minmax.bit_data_acs_mg_max[i];
lakshya 20:949d13045431 549 }
lakshya 19:79e69017c855 550
lakshya 19:79e69017c855 551 /*min data*/
lakshya 19:79e69017c855 552
lakshya 19:79e69017c855 553 for(int i;i<16;i++)
lakshya 20:949d13045431 554 telemetry[i+47] = bae_HK_minmax.voltage_min[i];
lakshya 19:79e69017c855 555
lakshya 20:949d13045431 556 for(int i;i<16;i++)
lakshya 20:949d13045431 557 telemetry[i+63] = bae_HK_minmax.current_min[i];
lakshya 19:79e69017c855 558
lakshya 20:949d13045431 559 telemetry[79] = bae_HK_minmax.Batt_voltage_min;
lakshya 20:949d13045431 560 telemetry[80] = bae_HK_minmax.BAE_temp_min;
lakshya 19:79e69017c855 561
lakshya 19:79e69017c855 562 /*battery soc*/
lakshya 20:949d13045431 563 telemetry[81] = bae_HK_minmax.Batt_SOC_min;
lakshya 19:79e69017c855 564
lakshya 20:949d13045431 565 telemetry[82] = bae_HK_minmax.Batt_temp_min[0];
lakshya 20:949d13045431 566 telemetry[83] = bae_HK_minmax.Batt_temp_min[1];
lakshya 19:79e69017c855 567 //huhu//
lakshya 19:79e69017c855 568
lakshya 20:949d13045431 569 /*BCN temp named as BCN_TS_BUFFER there*/
lakshya 20:949d13045431 570 telemetry[84] = bae_HK_minmax.BCN_TEMP_min;
lakshya 19:79e69017c855 571
lakshya 19:79e69017c855 572 for(int i=0; i<3; i++)
lakshya 20:949d13045431 573 {
lakshya 20:949d13045431 574 telemetry[85+i] = bae_HK_minmax.bit_data_acs_mm_min[i];
lakshya 20:949d13045431 575 telemetry[88+i] = bae_HK_minmax.bit_data_acs_mg_min[i];
lakshya 20:949d13045431 576 }
lakshya 20:949d13045431 577
lakshya 20:949d13045431 578 telemetry[90] = BCN_TX_OC_FAULT;
lakshya 20:949d13045431 579 telemetry[90] = (telemetry[90]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 20:949d13045431 580 telemetry[90] = (telemetry[90]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 20:949d13045431 581 telemetry[90] = (telemetry[90]<<1) | ACS_TR_XY_FAULT;
lakshya 20:949d13045431 582 //EPS CHARGER
lakshya 20:949d13045431 583 telemetry[90] = (telemetry[90]<<1) | EPS_CHARGER_FAULT;//eps_charger;
lakshya 20:949d13045431 584 telemetry[90] = (telemetry[90]<<1) | CDMS_OC_FAULT;
lakshya 20:949d13045431 585 telemetry[90] = (telemetry[90]<<1) | ACS_ATS1_OC_FAULT;
lakshya 20:949d13045431 586 telemetry[90] = (telemetry[90]<<1) | ACS_ATS2_OC_FAULT;
lakshya 20:949d13045431 587
lakshya 20:949d13045431 588 telemetry[91] = ACS_TR_Z_FAULT;
lakshya 20:949d13045431 589 //spare 23 bits
lakshya 20:949d13045431 590 telemetry[92] = 0x00;
lakshya 20:949d13045431 591 telemetry[93] = 0x00;
lakshya 20:949d13045431 592
lakshya 20:949d13045431 593 for (int i=94; i<132;i++)
lakshya 19:79e69017c855 594 {
lakshya 19:79e69017c855 595 telemetry[i] = 0x00;
lakshya 19:79e69017c855 596 }
lakshya 19:79e69017c855 597 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 598 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 599 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 600 break;
lakshya 19:79e69017c855 601 }
lakshya 19:79e69017c855 602 default://invalid MID
lakshya 19:79e69017c855 603 {
lakshya 19:79e69017c855 604 //ACK_L234_telemetry
lakshya 19:79e69017c855 605 telemetry[0]=0xB0;
lakshya 19:79e69017c855 606 telemetry[1]=tc[0];
lakshya 19:79e69017c855 607 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 608 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 609 {
lakshya 19:79e69017c855 610 telemetry[i]=0x00;
lakshya 19:79e69017c855 611 }
lakshya 19:79e69017c855 612 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 613 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 614 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 615 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 616 {
lakshya 19:79e69017c855 617 telemetry[i]=0x00;
lakshya 19:79e69017c855 618 }
lakshya 19:79e69017c855 619 break;
lakshya 19:79e69017c855 620 }
lakshya 19:79e69017c855 621 }
lakshya 19:79e69017c855 622 break;
lakshya 19:79e69017c855 623 }
lakshya 19:79e69017c855 624 case 0x05:
lakshya 19:79e69017c855 625 {
lakshya 19:79e69017c855 626 printf("\n\rdata for mms 0x05 flash");
lakshya 19:79e69017c855 627 /*changed*/
lakshya 19:79e69017c855 628 printf("\n\rwrite on flash\n");
lakshya 20:949d13045431 629 uint32_t FLASH_DATA;//256 bits
lakshya 19:79e69017c855 630
lakshya 19:79e69017c855 631 uint8_t VALID_MID;//to determine wether mid is valid or not otherwise to much repetition of code 1 meaning valid
lakshya 19:79e69017c855 632
lakshya 19:79e69017c855 633 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 634 switch(MID )
lakshya 19:79e69017c855 635 {
lakshya 20:949d13045431 636 case 0x1100:
lakshya 19:79e69017c855 637 {
lakshya 20:949d13045431 638 //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 639 //FCTN_BAE_WR_FLASH(0,FLASH_DATA[0]);
lakshya 20:949d13045431 640 BCN_LONG_MSG_TYPE = tc[8];
lakshya 20:949d13045431 641 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 642 FLASH_DATA = (FLASH_DATA & 0xFFFFFBFF) | (10<<(uint32_t)tc[8]);//see if uint8 to uint32 conversion works
lakshya 20:949d13045431 643 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 644 VALID_MID=1;
lakshya 19:79e69017c855 645 break;
lakshya 19:79e69017c855 646 }
lakshya 19:79e69017c855 647 case 0x0101:
lakshya 19:79e69017c855 648 {
lakshya 20:949d13045431 649 //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 650 ACS_DETUMBLING_ALGO_TYPE = (tc[8] & 0x01);
lakshya 27:61c856be467e 651 ACS_STATE = (tc[8]>>1) & 0x0F;
lakshya 20:949d13045431 652 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 653 FLASH_DATA = (FLASH_DATA & 0xFFF07FFF) | (15<<(uint32_t)tc[8]);
lakshya 20:949d13045431 654 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 655 VALID_MID=1;
lakshya 19:79e69017c855 656 break;
lakshya 19:79e69017c855 657 }
lakshya 19:79e69017c855 658
lakshya 19:79e69017c855 659 case 0x0102:
lakshya 19:79e69017c855 660 {
lakshya 20:949d13045431 661 //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 662 //EPS_BATTERY_HEATER_ENABLE = tc[8];
lakshya 20:949d13045431 663 EPS_BTRY_HTR_AUTO = tc[8];
lakshya 20:949d13045431 664 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 665 FLASH_DATA = (FLASH_DATA & 0xFFFFFDFF) | (9<<(uint32_t)tc[8]);
lakshya 20:949d13045431 666 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 667 VALID_MID=1;
lakshya 19:79e69017c855 668 break;
lakshya 19:79e69017c855 669 }
lakshya 19:79e69017c855 670
lakshya 19:79e69017c855 671 case 0x0103:
lakshya 19:79e69017c855 672 {
lakshya 20:949d13045431 673 //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 674 ACS_MAG_TIME_DELAY = tc[7];
lakshya 20:949d13045431 675 ACS_DEMAG_TIME_DELAY = tc[8];
lakshya 20:949d13045431 676 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 677 FLASH_DATA = (FLASH_DATA & 0xFFFF0000) | (8<<(uint32_t)tc[7]) | ((uint32_t)tc[8]);
lakshya 20:949d13045431 678 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 679 VALID_MID=1;
lakshya 19:79e69017c855 680 break;
lakshya 19:79e69017c855 681 }
lakshya 19:79e69017c855 682 case 0x0104:
lakshya 19:79e69017c855 683 {
lakshya 20:949d13045431 684 //FLASH_DATA[4] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 20:949d13045431 685 ACS_Z_FIXED_MOMENT = (8<<(uint16_t)tc[7]) | (uint16_t)tc[8];
lakshya 20:949d13045431 686 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(6);
lakshya 20:949d13045431 687 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)ACS_Z_FIXED_MOMENT<<16);
lakshya 20:949d13045431 688 FCTN_BAE_WR_FLASH(6,FLASH_DATA);
lakshya 19:79e69017c855 689 VALID_MID=1;
lakshya 19:79e69017c855 690 break;
lakshya 19:79e69017c855 691 }
lakshya 20:949d13045431 692 case 0x0106:
lakshya 19:79e69017c855 693 {
lakshya 20:949d13045431 694 //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 695 ACS_MM_Z_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 696 ACS_MG_Z_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 697 FLASH_DATA = ((uint32_t)ACS_MM_Z_COMSN<<16) | (uint32_t)ACS_MG_Z_COMSN;
lakshya 20:949d13045431 698 FCTN_BAE_WR_FLASH(5,FLASH_DATA);
lakshya 20:949d13045431 699 VALID_MID=1;
lakshya 20:949d13045431 700 break;
lakshya 20:949d13045431 701 }
lakshya 20:949d13045431 702 case 0x0107:
lakshya 20:949d13045431 703 {
lakshya 20:949d13045431 704 //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 705 EPS_SOC_LEVEL_12 = tc[7];
lakshya 20:949d13045431 706 EPS_SOC_LEVEL_23 = tc[8];
lakshya 20:949d13045431 707 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 708 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)tc[7]<<24) | ((uint32_t)tc[8]<<16);
lakshya 20:949d13045431 709 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 710 VALID_MID=1;
lakshya 19:79e69017c855 711 break;
lakshya 19:79e69017c855 712 }
lakshya 20:949d13045431 713 case 0x0108:
lakshya 19:79e69017c855 714 {
lakshya 20:949d13045431 715 //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 716 ACS_MM_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 717 ACS_MM_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 718 FLASH_DATA = ((uint32_t)ACS_MM_X_COMSN<<16) | (uint32_t)ACS_MM_Y_COMSN;
lakshya 20:949d13045431 719 FCTN_BAE_WR_FLASH(3,FLASH_DATA);
lakshya 19:79e69017c855 720 VALID_MID=1;
lakshya 19:79e69017c855 721 break;
lakshya 19:79e69017c855 722 }
lakshya 20:949d13045431 723 case 0x0109:
lakshya 19:79e69017c855 724 {
lakshya 20:949d13045431 725 //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 726 ACS_MG_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 727 ACS_MG_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 728 FLASH_DATA = ((uint32_t)ACS_MG_X_COMSN<<16) | (uint32_t)ACS_MG_Y_COMSN;
lakshya 20:949d13045431 729 FCTN_BAE_WR_FLASH(4,FLASH_DATA);
lakshya 19:79e69017c855 730 VALID_MID=1;
lakshya 19:79e69017c855 731 break;
lakshya 19:79e69017c855 732 }
lakshya 19:79e69017c855 733
lakshya 19:79e69017c855 734 default:
lakshya 19:79e69017c855 735 {
lakshya 19:79e69017c855 736 printf("Invalid MMS case 0x05 invalid MID\r\n");
lakshya 19:79e69017c855 737 VALID_MID=0;
lakshya 19:79e69017c855 738 //ACK_L234_telemetry
lakshya 19:79e69017c855 739 break;
lakshya 19:79e69017c855 740
lakshya 19:79e69017c855 741 }
lakshya 19:79e69017c855 742 }
lakshya 19:79e69017c855 743
lakshya 19:79e69017c855 744 if(VALID_MID==1)//valid MID
lakshya 19:79e69017c855 745 {
lakshya 19:79e69017c855 746 telemetry[0]=0xB0;//or 0x60? check
lakshya 19:79e69017c855 747 telemetry[1]=tc[0];
lakshya 19:79e69017c855 748 telemetry[2]=0xA0;// when valid
lakshya 19:79e69017c855 749 }
lakshya 19:79e69017c855 750 else if(VALID_MID==0)//invalid MID
lakshya 19:79e69017c855 751 {
lakshya 19:79e69017c855 752 telemetry[0]=0xB0;
lakshya 19:79e69017c855 753 telemetry[1]=tc[0];
lakshya 19:79e69017c855 754 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 755 }
lakshya 19:79e69017c855 756
lakshya 19:79e69017c855 757 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 758 {
lakshya 19:79e69017c855 759 telemetry[i]=0x00;
lakshya 19:79e69017c855 760 }
lakshya 19:79e69017c855 761 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 762 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 763 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 764 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 765 {
lakshya 19:79e69017c855 766 telemetry[i]=0x00;
lakshya 19:79e69017c855 767 }
lakshya 19:79e69017c855 768
lakshya 19:79e69017c855 769 printf("\n\rWritten on Flash");
lakshya 19:79e69017c855 770 break;
lakshya 19:79e69017c855 771 }
lakshya 19:79e69017c855 772 default://when invalid service subtype
lakshya 19:79e69017c855 773 {
lakshya 19:79e69017c855 774 printf("\n\r MMS invalid Service Subtype");
lakshya 19:79e69017c855 775 //ACK_L234_telemetry
lakshya 19:79e69017c855 776 telemetry[0]=0xB0;
lakshya 19:79e69017c855 777 telemetry[1]=tc[0];
lakshya 19:79e69017c855 778 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 779 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 780 {
lakshya 19:79e69017c855 781 telemetry[i]=0x00;
lakshya 19:79e69017c855 782 }
lakshya 19:79e69017c855 783 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 784 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 785 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 786 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 787 {
lakshya 19:79e69017c855 788 telemetry[i]=0x00;
lakshya 19:79e69017c855 789 }
lakshya 19:79e69017c855 790 break;
lakshya 19:79e69017c855 791 }
lakshya 19:79e69017c855 792 }
lakshya 19:79e69017c855 793 break;
lakshya 19:79e69017c855 794 }
lakshya 19:79e69017c855 795 case 0x80:
lakshya 19:79e69017c855 796 {
lakshya 19:79e69017c855 797 //printf("Function Management Service\r\n");
lakshya 19:79e69017c855 798 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 799 switch(service_subtype)
lakshya 19:79e69017c855 800 {
lakshya 19:79e69017c855 801 case 0x01:
lakshya 19:79e69017c855 802 {
lakshya 19:79e69017c855 803 printf("\n\rFMS Activated");
lakshya 19:79e69017c855 804 uint8_t fid=tc[3];//changed from pid to fid
lakshya 19:79e69017c855 805 switch(fid)
lakshya 19:79e69017c855 806 {
lakshya 19:79e69017c855 807 case 0xE0:
lakshya 19:79e69017c855 808 {
lakshya 20:949d13045431 809 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 20:949d13045431 810 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 20:949d13045431 811 float moment_comm[3];
lakshya 20:949d13045431 812 printf("ACS_COMSN SOFTWARE\r\n");
lakshya 19:79e69017c855 813 //ACK_L234_telemetry
lakshya 20:949d13045431 814 ACS_STATE = tc[4];
lakshya 20:949d13045431 815 if(ACS_STATE == 7) // Nominal mode
lakshya 20:949d13045431 816 {
lakshya 20:949d13045431 817 printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 818 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 20:949d13045431 819 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 820 for(int i=0; i<3; i++)
lakshya 20:949d13045431 821 {
lakshya 20:949d13045431 822 printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 823 }
lakshya 20:949d13045431 824
lakshya 20:949d13045431 825 }
lakshya 20:949d13045431 826 else if(ACS_STATE == 8) // Auto Control
lakshya 20:949d13045431 827 {
lakshya 20:949d13045431 828 printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 829 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 20:949d13045431 830 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 831 for(int i=0; i<3; i++)
lakshya 20:949d13045431 832 {
lakshya 20:949d13045431 833 printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 834 }
lakshya 20:949d13045431 835 }
lakshya 20:949d13045431 836 else if(ACS_STATE == 9) // Detumbling
lakshya 20:949d13045431 837 {
lakshya 20:949d13045431 838 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 20:949d13045431 839 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 840 for(int i=0; i<3; i++)
lakshya 20:949d13045431 841 {
lakshya 20:949d13045431 842 printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 843 }
lakshya 20:949d13045431 844 }
lakshya 19:79e69017c855 845 else
lakshya 19:79e69017c855 846 {
lakshya 20:949d13045431 847 ACS_STATUS = 7;
lakshya 19:79e69017c855 848 }
lakshya 20:949d13045431 849
lakshya 20:949d13045431 850 // Control algo commissioning
Bragadeesh153 34:1b41c34b12ea 851 uint16_t moment_ret;
Bragadeesh153 34:1b41c34b12ea 852 telemetry[3] = 0x00;
Bragadeesh153 34:1b41c34b12ea 853 telemetry[4] = ACS_STATUS;
Bragadeesh153 35:7193e581932f 854 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
Bragadeesh153 34:1b41c34b12ea 855 telemetry[5] = (uint8_t)(moment_ret>>8);
Bragadeesh153 34:1b41c34b12ea 856 telemetry[6] = (uint8_t)moment_ret;
Bragadeesh153 35:7193e581932f 857 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
Bragadeesh153 34:1b41c34b12ea 858 telemetry[7] = (uint8_t)(moment_ret>>8);
Bragadeesh153 34:1b41c34b12ea 859 telemetry[8] = (uint8_t)moment_ret;
Bragadeesh153 34:1b41c34b12ea 860 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[2]);
Bragadeesh153 34:1b41c34b12ea 861 telemetry[9] = (uint8_t)(moment_ret>>8);
Bragadeesh153 34:1b41c34b12ea 862 telemetry[10] = (uint8_t)moment_ret;
Bragadeesh153 34:1b41c34b12ea 863
Bragadeesh153 34:1b41c34b12ea 864 //FCTN_CONVERT_FLOAT(moment_comm[0],&telemetry[4]); //telemetry[4] - telemetry[7]
Bragadeesh153 34:1b41c34b12ea 865 //FCTN_CONVERT_FLOAT(moment_comm[1],&telemetry[8]); //telemetry[8] - telemetry[11]
Bragadeesh153 34:1b41c34b12ea 866 //FCTN_CONVERT_FLOAT(moment_comm[2],&telemetry[12]); //telemetry[12] - telemetry[15]
lakshya 19:79e69017c855 867 // to include commission TR as well
Bragadeesh153 34:1b41c34b12ea 868 for(uint8_t i=11;i<132;i++)
lakshya 19:79e69017c855 869 {
lakshya 19:79e69017c855 870 telemetry[i]=0x00;
lakshya 19:79e69017c855 871 }
lakshya 19:79e69017c855 872 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 20:949d13045431 873 telemetry[133] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 20:949d13045431 874 telemetry[134] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 875 break;
lakshya 19:79e69017c855 876 }
lakshya 19:79e69017c855 877 case 0xE1:
lakshya 19:79e69017c855 878 {
lakshya 20:949d13045431 879 printf("HARDWARE_COMSN\r\n");
lakshya 19:79e69017c855 880 //ACK_L234_telemetry
lakshya 20:949d13045431 881
Bragadeesh153 34:1b41c34b12ea 882 uint8_t SENSOR_NO;
Bragadeesh153 34:1b41c34b12ea 883
lakshya 20:949d13045431 884 int init1=0;
lakshya 20:949d13045431 885 int init2=0;
lakshya 20:949d13045431 886 int data1=0;
lakshya 20:949d13045431 887 int data2=0;
Bragadeesh153 34:1b41c34b12ea 888
Bragadeesh153 34:1b41c34b12ea 889 uint16_t assign_val;
lakshya 19:79e69017c855 890
lakshya 20:949d13045431 891 float PWM_tc[3];
Bragadeesh153 34:1b41c34b12ea 892 PWM_tc[0]=(float(tc[4]))/32768 - 1;
Bragadeesh153 34:1b41c34b12ea 893 PWM_tc[1]=(float(tc[5]))/32768 - 1;
Bragadeesh153 34:1b41c34b12ea 894 PWM_tc[2]=(float(tc[6]))/32768 - 1;
lakshya 20:949d13045431 895
lakshya 20:949d13045431 896 DRV_Z_EN = 1;
lakshya 20:949d13045431 897 DRV_XY_EN = 1;
lakshya 20:949d13045431 898 telemetry[0]=0xB0;
lakshya 19:79e69017c855 899 telemetry[1]=tc[0];
lakshya 19:79e69017c855 900 telemetry[2]=ACK_CODE;
Bragadeesh153 34:1b41c34b12ea 901 telemetry[3] = 0x00;
Bragadeesh153 34:1b41c34b12ea 902
Bragadeesh153 34:1b41c34b12ea 903 SENSOR_NO = 0;
lakshya 19:79e69017c855 904
lakshya 20:949d13045431 905 PWM1 = 0;
lakshya 20:949d13045431 906 PWM2 = 0;
lakshya 20:949d13045431 907 PWM3 = 0;
lakshya 20:949d13045431 908
lakshya 20:949d13045431 909 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 910 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 911 wait_ms(5);
lakshya 20:949d13045431 912 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 913 wait_ms(5);
lakshya 20:949d13045431 914 //will it lead to causing delay in i2c interrupt
lakshya 20:949d13045431 915 init1 = SENSOR_INIT();
lakshya 20:949d13045431 916 if( init1 == 1)
lakshya 20:949d13045431 917 {
lakshya 20:949d13045431 918 data1 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 919 }
lakshya 20:949d13045431 920 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 921 wait_ms(5);
lakshya 20:949d13045431 922 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 923 wait_ms(5);
lakshya 20:949d13045431 924
lakshya 20:949d13045431 925 if(data1 == 0)
lakshya 20:949d13045431 926 {
lakshya 20:949d13045431 927 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 928 wait_ms(5);
lakshya 20:949d13045431 929 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
Bragadeesh153 34:1b41c34b12ea 930
lakshya 20:949d13045431 931 }
lakshya 20:949d13045431 932 else if(data1==1)
lakshya 20:949d13045431 933 {
lakshya 20:949d13045431 934 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x10;
lakshya 20:949d13045431 935 }
lakshya 20:949d13045431 936 else if(data1==2)
lakshya 20:949d13045431 937 {
lakshya 20:949d13045431 938 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x20;
lakshya 20:949d13045431 939 }
lakshya 20:949d13045431 940 else if(data1==3)
lakshya 20:949d13045431 941 {
lakshya 20:949d13045431 942 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x30;
lakshya 20:949d13045431 943 }
Bragadeesh153 34:1b41c34b12ea 944
Bragadeesh153 34:1b41c34b12ea 945
Bragadeesh153 34:1b41c34b12ea 946
Bragadeesh153 34:1b41c34b12ea 947
Bragadeesh153 34:1b41c34b12ea 948 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
Bragadeesh153 34:1b41c34b12ea 949 telemetry[5] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 950 telemetry[6] = assign_val;
Bragadeesh153 34:1b41c34b12ea 951
Bragadeesh153 34:1b41c34b12ea 952 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
Bragadeesh153 34:1b41c34b12ea 953 telemetry[7] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 954 telemetry[8] = assign_val;
Bragadeesh153 34:1b41c34b12ea 955
Bragadeesh153 34:1b41c34b12ea 956 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
Bragadeesh153 34:1b41c34b12ea 957 telemetry[9] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 958 telemetry[10] = assign_val;
Bragadeesh153 34:1b41c34b12ea 959
Bragadeesh153 34:1b41c34b12ea 960 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
Bragadeesh153 34:1b41c34b12ea 961 telemetry[11] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 962 telemetry[12] = assign_val;
Bragadeesh153 34:1b41c34b12ea 963
Bragadeesh153 34:1b41c34b12ea 964 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
Bragadeesh153 34:1b41c34b12ea 965 telemetry[13] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 966 telemetry[14] = assign_val;
Bragadeesh153 34:1b41c34b12ea 967
Bragadeesh153 34:1b41c34b12ea 968 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
Bragadeesh153 34:1b41c34b12ea 969 telemetry[15] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 970 telemetry[16] = assign_val;
Bragadeesh153 34:1b41c34b12ea 971
Bragadeesh153 34:1b41c34b12ea 972
lakshya 20:949d13045431 973 init2 = SENSOR_INIT();
lakshya 20:949d13045431 974 if( init2 == 1)
lakshya 20:949d13045431 975 {
lakshya 20:949d13045431 976 data2 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 977 }
Bragadeesh153 34:1b41c34b12ea 978 //uint8_t ats_data=1;
lakshya 19:79e69017c855 979
lakshya 20:949d13045431 980 if(data2 == 0)
lakshya 20:949d13045431 981 {
lakshya 20:949d13045431 982 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 983 wait_ms(5);
lakshya 20:949d13045431 984 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x0C;
Bragadeesh153 34:1b41c34b12ea 985 SENSOR_NO = 0;
lakshya 20:949d13045431 986 if(data1 == 2)
lakshya 20:949d13045431 987 {
lakshya 20:949d13045431 988 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 989 wait_ms(5);
lakshya 20:949d13045431 990 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
Bragadeesh153 34:1b41c34b12ea 991 SENSOR_NO = 1;
lakshya 20:949d13045431 992 }
lakshya 20:949d13045431 993 else if(data1 == 3)
lakshya 20:949d13045431 994 {
lakshya 20:949d13045431 995 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 996 wait_ms(5);
lakshya 20:949d13045431 997 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
Bragadeesh153 34:1b41c34b12ea 998 SENSOR_NO = 1;
lakshya 20:949d13045431 999 }
lakshya 20:949d13045431 1000 else if(data1 == 1)
lakshya 20:949d13045431 1001 {
lakshya 20:949d13045431 1002 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1003 wait_ms(5);
lakshya 20:949d13045431 1004 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
Bragadeesh153 34:1b41c34b12ea 1005 SENSOR_NO = 0;
lakshya 20:949d13045431 1006 }
lakshya 20:949d13045431 1007
lakshya 20:949d13045431 1008 }
lakshya 20:949d13045431 1009 else if(data2==1)
lakshya 20:949d13045431 1010 {
lakshya 20:949d13045431 1011 if(data1 == 2)
lakshya 20:949d13045431 1012 {
lakshya 20:949d13045431 1013 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1014 wait_ms(5);
lakshya 20:949d13045431 1015 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1016 wait_ms(5);
lakshya 20:949d13045431 1017 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1018 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
Bragadeesh153 34:1b41c34b12ea 1019 SENSOR_NO = 1;
lakshya 20:949d13045431 1020 }
lakshya 20:949d13045431 1021 else if(data1 == 3)
lakshya 20:949d13045431 1022 {
lakshya 20:949d13045431 1023 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1024 wait_ms(5);
lakshya 20:949d13045431 1025 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1026 wait_ms(5);
lakshya 20:949d13045431 1027 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1028 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
Bragadeesh153 34:1b41c34b12ea 1029 SENSOR_NO = 1;
lakshya 20:949d13045431 1030 }
lakshya 20:949d13045431 1031 else
lakshya 20:949d13045431 1032 {
lakshya 20:949d13045431 1033 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
Bragadeesh153 34:1b41c34b12ea 1034 SENSOR_NO = 0;
lakshya 20:949d13045431 1035 }
lakshya 20:949d13045431 1036 }
lakshya 20:949d13045431 1037
lakshya 20:949d13045431 1038 else if(data2==2)
lakshya 20:949d13045431 1039 {
lakshya 20:949d13045431 1040 if(data1 == 3)
lakshya 20:949d13045431 1041 {
lakshya 20:949d13045431 1042 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1043 wait_ms(5);
lakshya 20:949d13045431 1044 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1045 wait_ms(5);
lakshya 20:949d13045431 1046 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x02;
lakshya 20:949d13045431 1047 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
Bragadeesh153 34:1b41c34b12ea 1048 SENSOR_NO = 1;
lakshya 20:949d13045431 1049 }
lakshya 20:949d13045431 1050 else
lakshya 20:949d13045431 1051 {
lakshya 20:949d13045431 1052 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
Bragadeesh153 34:1b41c34b12ea 1053 SENSOR_NO = 2;
lakshya 20:949d13045431 1054 }
lakshya 20:949d13045431 1055 }
lakshya 20:949d13045431 1056 else if(data2==3)
lakshya 20:949d13045431 1057 {
lakshya 20:949d13045431 1058 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
Bragadeesh153 34:1b41c34b12ea 1059 SENSOR_NO = 2;
lakshya 20:949d13045431 1060 }
Bragadeesh153 34:1b41c34b12ea 1061
Bragadeesh153 34:1b41c34b12ea 1062 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
Bragadeesh153 34:1b41c34b12ea 1063 telemetry[17] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1064 telemetry[18] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1065
Bragadeesh153 34:1b41c34b12ea 1066 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
Bragadeesh153 34:1b41c34b12ea 1067 telemetry[19] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1068 telemetry[20] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1069
Bragadeesh153 34:1b41c34b12ea 1070 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
Bragadeesh153 34:1b41c34b12ea 1071 telemetry[21] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1072 telemetry[22] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1073
Bragadeesh153 34:1b41c34b12ea 1074 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
Bragadeesh153 34:1b41c34b12ea 1075 telemetry[23] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1076 telemetry[24] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1077
Bragadeesh153 34:1b41c34b12ea 1078 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
Bragadeesh153 34:1b41c34b12ea 1079 telemetry[25] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1080 telemetry[26] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1081
Bragadeesh153 34:1b41c34b12ea 1082 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
Bragadeesh153 34:1b41c34b12ea 1083 telemetry[27] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1084 telemetry[28] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1085
Bragadeesh153 34:1b41c34b12ea 1086 telemetry[4] = ACS_ATS_STATUS;
lakshya 19:79e69017c855 1087
lakshya 20:949d13045431 1088 SelectLineb3 =0;
lakshya 20:949d13045431 1089 SelectLineb2 =1;
lakshya 20:949d13045431 1090 SelectLineb1 =0;
lakshya 20:949d13045431 1091 SelectLineb0 =1;
lakshya 20:949d13045431 1092 int resistance;
lakshya 20:949d13045431 1093 PWM1 = PWM_tc[0];
lakshya 20:949d13045431 1094 PWM2 = 0;
lakshya 20:949d13045431 1095 PWM3 = 0;
lakshya 20:949d13045431 1096
lakshya 20:949d13045431 1097 wait_ms(ACS_DEMAG_TIME_DELAY);
Bragadeesh153 34:1b41c34b12ea 1098 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1099 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1100 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1101 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1102
lakshya 20:949d13045431 1103 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1104 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1105 {
lakshya 20:949d13045431 1106 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1107 }
lakshya 20:949d13045431 1108 else
lakshya 20:949d13045431 1109 {
lakshya 20:949d13045431 1110 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1111 }
lakshya 20:949d13045431 1112
lakshya 20:949d13045431 1113 //to be edited final tele
Bragadeesh153 34:1b41c34b12ea 1114
lakshya 20:949d13045431 1115 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 20:949d13045431 1116 telemetry[29] = (assign_val>>8);
lakshya 20:949d13045431 1117 telemetry[30] = assign_val;
lakshya 20:949d13045431 1118
lakshya 20:949d13045431 1119 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 20:949d13045431 1120 telemetry[31] = (assign_val>>8);
lakshya 20:949d13045431 1121 telemetry[32] = assign_val;
lakshya 20:949d13045431 1122
lakshya 20:949d13045431 1123 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 20:949d13045431 1124 telemetry[33] = (assign_val>>8);
lakshya 20:949d13045431 1125 telemetry[34] = assign_val;
lakshya 20:949d13045431 1126
lakshya 20:949d13045431 1127 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 20:949d13045431 1128 telemetry[35] = (assign_val>>8);
lakshya 20:949d13045431 1129 telemetry[36] = assign_val;
lakshya 20:949d13045431 1130
lakshya 20:949d13045431 1131 PWM1 = 0;
lakshya 20:949d13045431 1132 PWM2 = PWM_tc[1];
lakshya 20:949d13045431 1133 PWM3 = 0;
lakshya 20:949d13045431 1134
lakshya 20:949d13045431 1135 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1136
Bragadeesh153 34:1b41c34b12ea 1137 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1138 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1139 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1140 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1141
lakshya 20:949d13045431 1142
lakshya 20:949d13045431 1143 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1144 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1145 {
lakshya 20:949d13045431 1146 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1147 }
lakshya 20:949d13045431 1148 else
lakshya 20:949d13045431 1149 {
lakshya 20:949d13045431 1150 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1151 }
Bragadeesh153 34:1b41c34b12ea 1152 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
Bragadeesh153 34:1b41c34b12ea 1153 telemetry[37] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1154 telemetry[38] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1155
Bragadeesh153 34:1b41c34b12ea 1156 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
Bragadeesh153 34:1b41c34b12ea 1157 telemetry[39] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1158 telemetry[40] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1159
Bragadeesh153 34:1b41c34b12ea 1160 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
Bragadeesh153 34:1b41c34b12ea 1161 telemetry[41] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1162 telemetry[42] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1163
Bragadeesh153 34:1b41c34b12ea 1164 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
Bragadeesh153 34:1b41c34b12ea 1165 telemetry[43] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1166 telemetry[44] = assign_val;
lakshya 20:949d13045431 1167
lakshya 20:949d13045431 1168 PWM1 = 0;
lakshya 20:949d13045431 1169 PWM2 = 0;
lakshya 20:949d13045431 1170 PWM3 = PWM_tc[2];
lakshya 20:949d13045431 1171
lakshya 20:949d13045431 1172 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1173
Bragadeesh153 34:1b41c34b12ea 1174 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1175 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1176 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1177 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1178
lakshya 20:949d13045431 1179 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1180 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1181 {
lakshya 20:949d13045431 1182 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1183 }
lakshya 20:949d13045431 1184 else
lakshya 20:949d13045431 1185 {
lakshya 20:949d13045431 1186 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1187 }
lakshya 20:949d13045431 1188
Bragadeesh153 34:1b41c34b12ea 1189 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
Bragadeesh153 34:1b41c34b12ea 1190 telemetry[45] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1191 telemetry[46] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1192
Bragadeesh153 34:1b41c34b12ea 1193 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
Bragadeesh153 34:1b41c34b12ea 1194 telemetry[47] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1195 telemetry[48] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1196
Bragadeesh153 34:1b41c34b12ea 1197 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
Bragadeesh153 34:1b41c34b12ea 1198 telemetry[49] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1199 telemetry[50] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1200
Bragadeesh153 34:1b41c34b12ea 1201 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
Bragadeesh153 34:1b41c34b12ea 1202 telemetry[51] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1203 telemetry[52] = assign_val;
lakshya 20:949d13045431 1204
lakshya 20:949d13045431 1205 PWM1 = 0;
lakshya 20:949d13045431 1206 PWM2 = 0;
lakshya 20:949d13045431 1207 PWM3 = 0;
lakshya 20:949d13045431 1208
lakshya 20:949d13045431 1209 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1210
Bragadeesh153 34:1b41c34b12ea 1211 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1212 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1213 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1214 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1215
lakshya 20:949d13045431 1216 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1217 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1218 {
lakshya 20:949d13045431 1219 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1220 }
lakshya 20:949d13045431 1221 else
lakshya 20:949d13045431 1222 {
lakshya 20:949d13045431 1223 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1224 }
Bragadeesh153 34:1b41c34b12ea 1225
Bragadeesh153 34:1b41c34b12ea 1226 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
Bragadeesh153 34:1b41c34b12ea 1227 telemetry[53] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1228 telemetry[54] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1229
Bragadeesh153 34:1b41c34b12ea 1230 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
Bragadeesh153 34:1b41c34b12ea 1231 telemetry[55] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1232 telemetry[56] = assign_val;
Bragadeesh153 34:1b41c34b12ea 1233
Bragadeesh153 34:1b41c34b12ea 1234 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
Bragadeesh153 34:1b41c34b12ea 1235 telemetry[57] = (assign_val>>8);
Bragadeesh153 34:1b41c34b12ea 1236 telemetry[58] = assign_val;
lakshya 20:949d13045431 1237
lakshya 20:949d13045431 1238 // for(int i=0; i<12; i++)
lakshya 20:949d13045431 1239 // FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&telemetry[16 + (i*4)]);
lakshya 20:949d13045431 1240
lakshya 20:949d13045431 1241 // FCTN_ATS_DATA_ACQ(); //get data
lakshya 19:79e69017c855 1242
lakshya 20:949d13045431 1243 // to include commission TR as well
Bragadeesh153 34:1b41c34b12ea 1244
Bragadeesh153 34:1b41c34b12ea 1245 telemetry[58] = SENSOR_NO;
Bragadeesh153 34:1b41c34b12ea 1246
Bragadeesh153 34:1b41c34b12ea 1247 for(uint8_t i=60;i<132;i++)
lakshya 19:79e69017c855 1248 {
lakshya 20:949d13045431 1249 telemetry[i]=0x00;
lakshya 19:79e69017c855 1250 }
lakshya 19:79e69017c855 1251
lakshya 19:79e69017c855 1252 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 20:949d13045431 1253 telemetry[133] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 20:949d13045431 1254 telemetry[134] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1255 break;
lakshya 19:79e69017c855 1256 }
lakshya 19:79e69017c855 1257 case 0xE2:
lakshya 19:79e69017c855 1258 {
lakshya 20:949d13045431 1259 uint8_t BCN_SPND_STATE;
lakshya 20:949d13045431 1260 BCN_SPND_STATE=tc[4];
lakshya 20:949d13045431 1261 if(BCN_SPND_STATE==0x00)
lakshya 19:79e69017c855 1262 {
lakshya 20:949d13045431 1263 BCN_SPND_TX=0;
lakshya 19:79e69017c855 1264 //stop BCN_STANDBY_TIMER.stop();//create
lakshya 19:79e69017c855 1265 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1266 }
lakshya 20:949d13045431 1267 else if(BCN_SPND_STATE==0x01)
lakshya 19:79e69017c855 1268 {
lakshya 33:76f2b8735501 1269 FCTN_BCN_SPND_TX();
lakshya 19:79e69017c855 1270 //stop BCN_STANDBY_TIMER.start();//create
lakshya 19:79e69017c855 1271 if(BCN_TX_MAIN_STATUS==0)
lakshya 19:79e69017c855 1272 {
lakshya 19:79e69017c855 1273 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1274 }
lakshya 19:79e69017c855 1275 else if(BCN_TX_MAIN_STATUS==1)
lakshya 19:79e69017c855 1276 {
lakshya 19:79e69017c855 1277 telemetry[2]=0xC0;
lakshya 19:79e69017c855 1278 }
lakshya 19:79e69017c855 1279 }
lakshya 19:79e69017c855 1280 else
lakshya 19:79e69017c855 1281 {
lakshya 19:79e69017c855 1282 telemetry[2]=0x02;
lakshya 19:79e69017c855 1283 }
lakshya 19:79e69017c855 1284 //ACK_L234_telemetry
lakshya 19:79e69017c855 1285 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1286 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1287 //ack_code taken care above
lakshya 19:79e69017c855 1288 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1289 {
lakshya 19:79e69017c855 1290 telemetry[i]=0x00;
lakshya 19:79e69017c855 1291 }
lakshya 19:79e69017c855 1292 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1293 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1294 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1295 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1296 {
lakshya 19:79e69017c855 1297 telemetry[i]=0x00;
lakshya 19:79e69017c855 1298 }
lakshya 19:79e69017c855 1299 break;
lakshya 19:79e69017c855 1300 }
lakshya 20:949d13045431 1301 case 0xE3:
lakshya 20:949d13045431 1302 {
lakshya 20:949d13045431 1303 if(EPS_BTRY_HTR_AUTO != 0)
lakshya 20:949d13045431 1304 telemetry[2]=0x87;
lakshya 20:949d13045431 1305 else
lakshya 20:949d13045431 1306 {
lakshya 20:949d13045431 1307 HTR_CYCLE_COUNTS = tc[4];
lakshya 20:949d13045431 1308 if(HTR_CYCLE_COUNTS==0x00)
lakshya 20:949d13045431 1309 {
lakshya 33:76f2b8735501 1310 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 1311 HTR_CYCLE->stop();
lakshya 20:949d13045431 1312 //clear EPS_BTRY_HTR is it
lakshya 20:949d13045431 1313 EPS_BTRY_HTR_AUTO = 0;
lakshya 20:949d13045431 1314
lakshya 20:949d13045431 1315 }
lakshya 20:949d13045431 1316 else
lakshya 20:949d13045431 1317 {
lakshya 20:949d13045431 1318 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 1319 {
lakshya 20:949d13045431 1320 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 1321 }
lakshya 20:949d13045431 1322 //uint8_t HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1323 HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1324 HTR_ON_DURATION = tc[6];
lakshya 20:949d13045431 1325
lakshya 20:949d13045431 1326 //make it uint16_t
lakshya 20:949d13045431 1327 HTR_CYCLE_PERIOD = (tc[7]<<8) | tc[8];
lakshya 20:949d13045431 1328 //start BTRY_HTR_DLY_TIMER;
lakshya 20:949d13045431 1329 }
lakshya 20:949d13045431 1330 telemetry[2]=0xA0;
lakshya 20:949d13045431 1331 }
lakshya 20:949d13045431 1332 //ACK_L234_telemetry
lakshya 20:949d13045431 1333 telemetry[0]=0xB0;
lakshya 20:949d13045431 1334 telemetry[1]=tc[0];
lakshya 20:949d13045431 1335 //ACK code taken care of
lakshya 20:949d13045431 1336 for(uint8_t i=3;i<11;i++)
lakshya 20:949d13045431 1337 {
lakshya 20:949d13045431 1338 telemetry[i]=0x00;
lakshya 20:949d13045431 1339 }
lakshya 20:949d13045431 1340 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 20:949d13045431 1341 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 20:949d13045431 1342 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 20:949d13045431 1343 for(uint8_t i=13;i<134;i++)
lakshya 20:949d13045431 1344 {
lakshya 20:949d13045431 1345 telemetry[i]=0x00;
lakshya 20:949d13045431 1346 }
lakshya 20:949d13045431 1347
lakshya 20:949d13045431 1348 break;
lakshya 20:949d13045431 1349 }
lakshya 19:79e69017c855 1350 case 0x01:
lakshya 19:79e69017c855 1351 { if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1352 {
lakshya 19:79e69017c855 1353 printf("\n\rRun P_EPS_INIT");
lakshya 19:79e69017c855 1354 FCTN_EPS_INIT();
lakshya 19:79e69017c855 1355 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1356 }
lakshya 19:79e69017c855 1357 else
lakshya 19:79e69017c855 1358 {
lakshya 19:79e69017c855 1359 printf("\n\runable to Run P_EPS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1360 telemetry[2]=0x87;
lakshya 19:79e69017c855 1361 }
lakshya 19:79e69017c855 1362
lakshya 19:79e69017c855 1363 //ACK_L234_telemetry
lakshya 19:79e69017c855 1364 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1365 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1366 //ACK code taken care of
lakshya 19:79e69017c855 1367 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1368 {
lakshya 19:79e69017c855 1369 telemetry[i]=0x00;
lakshya 19:79e69017c855 1370 }
lakshya 19:79e69017c855 1371 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1372 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1373 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1374 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1375 {
lakshya 19:79e69017c855 1376 telemetry[i]=0x00;
lakshya 19:79e69017c855 1377 }
lakshya 19:79e69017c855 1378
lakshya 19:79e69017c855 1379 break;
lakshya 19:79e69017c855 1380 }
lakshya 19:79e69017c855 1381 case 0x02:
lakshya 19:79e69017c855 1382 {
lakshya 19:79e69017c855 1383 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1384 {
lakshya 19:79e69017c855 1385 printf("\n\rRun P_EPS_MAIN");
lakshya 19:79e69017c855 1386 F_EPS();
lakshya 19:79e69017c855 1387 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1388 }
lakshya 19:79e69017c855 1389 else
lakshya 19:79e69017c855 1390 {
lakshya 19:79e69017c855 1391 printf("\n\runable to Run P_EPS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1392 telemetry[2]=0x87;
lakshya 19:79e69017c855 1393 }
lakshya 19:79e69017c855 1394
lakshya 19:79e69017c855 1395 //ACK_L234_telemetry
lakshya 19:79e69017c855 1396 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1397 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1398 //ACK code taken care of
lakshya 19:79e69017c855 1399 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1400 {
lakshya 19:79e69017c855 1401 telemetry[i]=0x00;
lakshya 19:79e69017c855 1402 }
lakshya 19:79e69017c855 1403 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1404 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1405 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1406 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1407 {
lakshya 19:79e69017c855 1408 telemetry[i]=0x00;
lakshya 19:79e69017c855 1409 }
lakshya 19:79e69017c855 1410 break;
lakshya 19:79e69017c855 1411 }
lakshya 19:79e69017c855 1412 case 0x03:
lakshya 19:79e69017c855 1413 {
lakshya 19:79e69017c855 1414 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1415 {
lakshya 19:79e69017c855 1416 printf("\n\rRun P_ACS_INIT");
lakshya 19:79e69017c855 1417 FCTN_ACS_INIT();
lakshya 19:79e69017c855 1418 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1419 }
lakshya 19:79e69017c855 1420 else
lakshya 19:79e69017c855 1421 {
lakshya 19:79e69017c855 1422 printf("\n\runable to Run P_ACS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1423 telemetry[2]=0x87;
lakshya 19:79e69017c855 1424 }
lakshya 19:79e69017c855 1425
lakshya 19:79e69017c855 1426 //ACK_L234_telemetry
lakshya 19:79e69017c855 1427 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1428 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1429 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1430 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1431 {
lakshya 19:79e69017c855 1432 telemetry[i]=0x00;
lakshya 19:79e69017c855 1433 }
lakshya 19:79e69017c855 1434 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1435 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1436 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1437 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1438 {
lakshya 19:79e69017c855 1439 telemetry[i]=0x00;
lakshya 19:79e69017c855 1440 }
lakshya 19:79e69017c855 1441 break;
lakshya 19:79e69017c855 1442 }
lakshya 19:79e69017c855 1443 case 0x05:
lakshya 19:79e69017c855 1444 {
lakshya 19:79e69017c855 1445 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1446 {
lakshya 19:79e69017c855 1447 printf("\n\rRun P_ACS_MAIN");
lakshya 19:79e69017c855 1448 F_ACS();
lakshya 19:79e69017c855 1449 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1450 }
lakshya 19:79e69017c855 1451 else
lakshya 19:79e69017c855 1452 {
lakshya 19:79e69017c855 1453 printf("\n\runable to Run P_ACS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1454 telemetry[2]=0x87;
lakshya 19:79e69017c855 1455 }
lakshya 19:79e69017c855 1456
lakshya 19:79e69017c855 1457 //ACK_L234_TM
lakshya 19:79e69017c855 1458 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1459 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1460 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1461 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1462 {
lakshya 19:79e69017c855 1463 telemetry[i]=0x00;
lakshya 19:79e69017c855 1464 }
lakshya 19:79e69017c855 1465
lakshya 19:79e69017c855 1466 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1467 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1468 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1469 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1470 {
lakshya 19:79e69017c855 1471 telemetry[i]=0x00;
lakshya 19:79e69017c855 1472 }
lakshya 19:79e69017c855 1473 break;
lakshya 19:79e69017c855 1474 }
lakshya 19:79e69017c855 1475 case 0x06:
lakshya 19:79e69017c855 1476 {
lakshya 19:79e69017c855 1477 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1478 {
lakshya 19:79e69017c855 1479 printf("\n\rRun P_BCN_INIT");
lakshya 19:79e69017c855 1480 F_BCN();
lakshya 19:79e69017c855 1481 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1482 }
lakshya 19:79e69017c855 1483 else
lakshya 19:79e69017c855 1484 {
lakshya 19:79e69017c855 1485 printf("\n\runable to Run P_BCN_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1486 telemetry[2]=0x87;
lakshya 19:79e69017c855 1487 }
lakshya 19:79e69017c855 1488
lakshya 19:79e69017c855 1489 //ACK_L234_TM
lakshya 19:79e69017c855 1490 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1491 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1492 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1493 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1494 {
lakshya 19:79e69017c855 1495 telemetry[i]=0x00;
lakshya 19:79e69017c855 1496 }
lakshya 19:79e69017c855 1497 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1498 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1499 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1500 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1501 {
lakshya 19:79e69017c855 1502 telemetry[i]=0x00;
lakshya 19:79e69017c855 1503 }
lakshya 19:79e69017c855 1504 break;
lakshya 19:79e69017c855 1505 }
lakshya 19:79e69017c855 1506 case 0x07:
lakshya 19:79e69017c855 1507 {
lakshya 19:79e69017c855 1508 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1509 {
lakshya 19:79e69017c855 1510 printf("\n\rRun P_BCN_TX_MAIN");
lakshya 19:79e69017c855 1511 FCTN_BCN_TX_MAIN();//correct function check once
lakshya 19:79e69017c855 1512 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1513 }
lakshya 19:79e69017c855 1514 else
lakshya 19:79e69017c855 1515 {
lakshya 19:79e69017c855 1516 printf("\n\runable to Run P_BCN_TX_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1517 telemetry[2]=0x87;
lakshya 19:79e69017c855 1518 }
lakshya 19:79e69017c855 1519
lakshya 19:79e69017c855 1520 //ACK_L234_TM
lakshya 19:79e69017c855 1521 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1522 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1523 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1524 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1525 {
lakshya 19:79e69017c855 1526 telemetry[i]=0x00;
lakshya 19:79e69017c855 1527 }
lakshya 19:79e69017c855 1528 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1529 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1530 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1531 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1532 {
lakshya 19:79e69017c855 1533 telemetry[i]=0x00;
lakshya 19:79e69017c855 1534 }
lakshya 19:79e69017c855 1535 break;
lakshya 19:79e69017c855 1536 }
lakshya 19:79e69017c855 1537 case 0x11:
lakshya 19:79e69017c855 1538 {
lakshya 19:79e69017c855 1539 printf("\n\rSW_ON_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1540 //ACK_L234_TM
lakshya 19:79e69017c855 1541 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1542 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1543 //____________________________________________************************************
lakshya 19:79e69017c855 1544 /*
lakshya 19:79e69017c855 1545 ATS PIN OR STATUS YET TO BE DECIDED. DECIDED THAT IT IS PIN TC CAN SWITCH ON/OFF THE SENSOR
lakshya 19:79e69017c855 1546 */
lakshya 19:79e69017c855 1547 ATS2_SW_ENABLE = 1; // making sure we switch off the other
lakshya 20:949d13045431 1548 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 20:949d13045431 1549
lakshya 19:79e69017c855 1550 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1551 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F);
lakshya 19:79e69017c855 1552 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1553 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1554 {
lakshya 19:79e69017c855 1555 telemetry[i]=0x00;
lakshya 19:79e69017c855 1556 }
lakshya 19:79e69017c855 1557 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1558 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1559 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1560 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1561 {
lakshya 19:79e69017c855 1562 telemetry[i]=0x00;
lakshya 19:79e69017c855 1563 }
lakshya 19:79e69017c855 1564 break;
lakshya 19:79e69017c855 1565 }
lakshya 19:79e69017c855 1566 case 0x12:
lakshya 19:79e69017c855 1567 {
lakshya 19:79e69017c855 1568 printf("\n\rSW_ON_ACS_ATS2_SW_ENABLE");
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 ATS1_SW_ENABLE = 1; //make sure u switch off the other
lakshya 20:949d13045431 1573 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F) | 0xC0 ;
lakshya 19:79e69017c855 1574 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 1575 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3);
lakshya 19:79e69017c855 1576 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1577 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1578 {
lakshya 19:79e69017c855 1579 telemetry[i]=0x00;
lakshya 19:79e69017c855 1580 }
lakshya 19:79e69017c855 1581 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1582 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1583 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1584 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1585 {
lakshya 19:79e69017c855 1586 telemetry[i]=0x00;
lakshya 19:79e69017c855 1587 }
lakshya 19:79e69017c855 1588 break;
lakshya 19:79e69017c855 1589 }
lakshya 19:79e69017c855 1590 case 0x13:
lakshya 19:79e69017c855 1591 {
lakshya 19:79e69017c855 1592 printf("\n\rSW_ON_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1593 //ACK_L234_TM
lakshya 19:79e69017c855 1594 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1595 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1596 TRXY_SW = 1;//1 SWITCH enable here
lakshya 19:79e69017c855 1597 ACS_TR_XY_SW_STATUS=0x01;
lakshya 19:79e69017c855 1598 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1599 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1600 {
lakshya 19:79e69017c855 1601 telemetry[i]=0x00;
lakshya 19:79e69017c855 1602 }
lakshya 19:79e69017c855 1603 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1604 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1605 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1606 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1607 {
lakshya 19:79e69017c855 1608 telemetry[i]=0x00;
lakshya 19:79e69017c855 1609 }
lakshya 19:79e69017c855 1610 break;
lakshya 19:79e69017c855 1611 }
lakshya 19:79e69017c855 1612 case 0x14:
lakshya 19:79e69017c855 1613 {
lakshya 19:79e69017c855 1614 printf("\n\rSW_ON_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1615 //ACK_L234_TM
lakshya 19:79e69017c855 1616 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1617 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1618 TRZ_SW = 1;
lakshya 19:79e69017c855 1619 ACS_TR_Z_SW_STATUS=0x01;
lakshya 19:79e69017c855 1620 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1621 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1622 {
lakshya 19:79e69017c855 1623 telemetry[i]=0x00;
lakshya 19:79e69017c855 1624 }
lakshya 19:79e69017c855 1625 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1626 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1627 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1628 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1629 {
lakshya 19:79e69017c855 1630 telemetry[i]=0x00;
lakshya 19:79e69017c855 1631 }
lakshya 19:79e69017c855 1632 break;
lakshya 19:79e69017c855 1633 }
lakshya 19:79e69017c855 1634 case 0x15:
lakshya 19:79e69017c855 1635 {
lakshya 19:79e69017c855 1636 printf("\n\rSW_ON_BCN_TX_SW_ENABLE");
lakshya 19:79e69017c855 1637 //ACK_L234_TM
lakshya 19:79e69017c855 1638 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1639 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1640 BCN_SW = 0;//here 0 is switch enable
lakshya 19:79e69017c855 1641 BCN_TX_SW_ENABLE=0x01;
lakshya 19:79e69017c855 1642 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1643 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1644 {
lakshya 19:79e69017c855 1645 telemetry[i]=0x00;
lakshya 19:79e69017c855 1646 }
lakshya 19:79e69017c855 1647 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1648 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1649 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1650 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1651 {
lakshya 19:79e69017c855 1652 telemetry[i]=0x00;
lakshya 19:79e69017c855 1653 }
lakshya 19:79e69017c855 1654 break;
lakshya 19:79e69017c855 1655 }
lakshya 19:79e69017c855 1656 case 0x21:
lakshya 19:79e69017c855 1657 {
lakshya 19:79e69017c855 1658 printf("\n\rSW_OFF_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1659 //ACK_L234_TM
lakshya 19:79e69017c855 1660 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1661 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1662 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1663 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F) | 0xC0 ;
lakshya 19:79e69017c855 1664 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1665 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1666 {
lakshya 19:79e69017c855 1667 telemetry[i]=0x00;
lakshya 19:79e69017c855 1668 }
lakshya 19:79e69017c855 1669 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1670 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1671 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1672 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1673 {
lakshya 19:79e69017c855 1674 telemetry[i]=0x00;
lakshya 19:79e69017c855 1675 }
lakshya 19:79e69017c855 1676 break;
lakshya 19:79e69017c855 1677 }
lakshya 19:79e69017c855 1678 case 0x22:
lakshya 19:79e69017c855 1679 {
lakshya 19:79e69017c855 1680 printf("\n\rSW_OFF_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1681 //ACK_L234_TM
lakshya 19:79e69017c855 1682 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1683 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1684 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1685 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 19:79e69017c855 1686 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1687 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1688 {
lakshya 19:79e69017c855 1689 telemetry[i]=0x00;
lakshya 19:79e69017c855 1690 }
lakshya 19:79e69017c855 1691 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1692 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1693 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1694 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1695 {
lakshya 19:79e69017c855 1696 telemetry[i]=0x00;
lakshya 19:79e69017c855 1697 }
lakshya 19:79e69017c855 1698 break;
lakshya 19:79e69017c855 1699 }
lakshya 19:79e69017c855 1700 case 0x23:
lakshya 19:79e69017c855 1701 {
lakshya 19:79e69017c855 1702 printf("\n\rSW_OFF_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1703 //ACK_L234_TM
lakshya 19:79e69017c855 1704 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1705 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1706 TRXY_SW= 0;
lakshya 19:79e69017c855 1707 ACS_TR_XY_SW_STATUS=0x03;
lakshya 19:79e69017c855 1708 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1709 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1710 {
lakshya 19:79e69017c855 1711 telemetry[i]=0x00;
lakshya 19:79e69017c855 1712 }
lakshya 19:79e69017c855 1713 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1714 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1715 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1716 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1717 {
lakshya 19:79e69017c855 1718 telemetry[i]=0x00;
lakshya 19:79e69017c855 1719 }
lakshya 19:79e69017c855 1720 break;
lakshya 19:79e69017c855 1721 }
lakshya 19:79e69017c855 1722 case 0x24:
lakshya 19:79e69017c855 1723 {
lakshya 19:79e69017c855 1724 printf("\n\rSW_OFF_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1725 //ACK_L234_TM
lakshya 19:79e69017c855 1726 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1727 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1728 TRZ_SW = 0;
lakshya 19:79e69017c855 1729 ACS_TR_Z_SW_STATUS=0x03;
lakshya 19:79e69017c855 1730 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1731 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1732 {
lakshya 19:79e69017c855 1733 telemetry[i]=0x00;
lakshya 19:79e69017c855 1734 }
lakshya 19:79e69017c855 1735 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1736 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1737 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1738 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1739 {
lakshya 19:79e69017c855 1740 telemetry[i]=0x00;
lakshya 19:79e69017c855 1741 }
lakshya 19:79e69017c855 1742 break;
lakshya 19:79e69017c855 1743 }
lakshya 19:79e69017c855 1744 case 0x25:
lakshya 19:79e69017c855 1745 {
lakshya 19:79e69017c855 1746 printf("\n\rSW_OFF_BCN_TX_SW_ENABLE");
lakshya 19:79e69017c855 1747 //ACK_L234_TM
lakshya 19:79e69017c855 1748 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1749 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1750 BCN_SW = 1;
lakshya 19:79e69017c855 1751 BCN_TX_SW_ENABLE=0x03;
lakshya 19:79e69017c855 1752 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1753 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1754 {
lakshya 19:79e69017c855 1755 telemetry[i]=0x00;
lakshya 19:79e69017c855 1756 }
lakshya 19:79e69017c855 1757 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1758 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1759 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1760 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1761 {
lakshya 19:79e69017c855 1762 telemetry[i]=0x00;
lakshya 19:79e69017c855 1763 }
lakshya 19:79e69017c855 1764 break;
lakshya 19:79e69017c855 1765 }
lakshya 19:79e69017c855 1766 case 0x31:
lakshya 19:79e69017c855 1767 {
lakshya 19:79e69017c855 1768 printf("\n\rACS_ATS1_SW_RESET");
lakshya 19:79e69017c855 1769 //ACK_L234_TM
lakshya 19:79e69017c855 1770 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1771 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1772 ATS2_SW_ENABLE = 1;//as ats switched off
lakshya 19:79e69017c855 1773 ATS1_SW_ENABLE = 1;
lakshya 19:79e69017c855 1774 wait_ms(5);
lakshya 19:79e69017c855 1775 ATS1_SW_ENABLE = 0;
lakshya 19:79e69017c855 1776 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1777 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1778 {
lakshya 19:79e69017c855 1779 telemetry[i]=0x00;
lakshya 19:79e69017c855 1780 }
lakshya 19:79e69017c855 1781 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1782 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1783 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1784 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1785 {
lakshya 19:79e69017c855 1786 telemetry[i]=0x00;
lakshya 19:79e69017c855 1787 }
lakshya 19:79e69017c855 1788 break;
lakshya 19:79e69017c855 1789 }
lakshya 19:79e69017c855 1790 case 0x32:
lakshya 19:79e69017c855 1791 {
lakshya 19:79e69017c855 1792 printf("\n\rACS_ATS2_SW_RESET");
lakshya 19:79e69017c855 1793 //ACK_L234_TM
lakshya 19:79e69017c855 1794 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1795 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1796 ATS1_SW_ENABLE = 1;//as ats1 switched off
lakshya 19:79e69017c855 1797 ATS2_SW_ENABLE = 1;
lakshya 19:79e69017c855 1798 wait_ms(5);
lakshya 19:79e69017c855 1799 ATS2_SW_ENABLE = 0;
lakshya 19:79e69017c855 1800 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1801 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1802 {
lakshya 19:79e69017c855 1803 telemetry[i]=0x00;
lakshya 19:79e69017c855 1804 }
lakshya 19:79e69017c855 1805 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1806 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1807 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1808 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1809 {
lakshya 19:79e69017c855 1810 telemetry[i]=0x00;
lakshya 19:79e69017c855 1811 }
lakshya 19:79e69017c855 1812 break;
lakshya 19:79e69017c855 1813 }
lakshya 19:79e69017c855 1814 case 0x33:
lakshya 19:79e69017c855 1815 {
lakshya 19:79e69017c855 1816 printf("\n\rACS_TR_XY_SW_RESET");
lakshya 19:79e69017c855 1817 //ACK_L234_TM
lakshya 19:79e69017c855 1818 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1819 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1820 TRXY_SW= 0;
lakshya 19:79e69017c855 1821 wait_ms(5);
lakshya 19:79e69017c855 1822 TRXY_SW= 1;
lakshya 19:79e69017c855 1823 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1824 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1825 {
lakshya 19:79e69017c855 1826 telemetry[i]=0x00;
lakshya 19:79e69017c855 1827 }
lakshya 19:79e69017c855 1828 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1829 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1830 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1831 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1832 {
lakshya 19:79e69017c855 1833 telemetry[i]=0x00;
lakshya 19:79e69017c855 1834 }
lakshya 19:79e69017c855 1835 break;
lakshya 19:79e69017c855 1836 }
lakshya 19:79e69017c855 1837 case 0x34:
lakshya 19:79e69017c855 1838 {
lakshya 19:79e69017c855 1839 printf("\n\rACS_TR_Z_SW_RESET");
lakshya 19:79e69017c855 1840 //ACK_L234_TM
lakshya 19:79e69017c855 1841 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1842 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1843 TRZ_SW= 0;
lakshya 19:79e69017c855 1844 wait_ms(5);
lakshya 19:79e69017c855 1845 TRZ_SW= 1;
lakshya 19:79e69017c855 1846 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1847 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1848 {
lakshya 19:79e69017c855 1849 telemetry[i]=0x00;
lakshya 19:79e69017c855 1850 }
lakshya 19:79e69017c855 1851 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1852 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1853 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1854 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1855 {
lakshya 19:79e69017c855 1856 telemetry[i]=0x00;
lakshya 19:79e69017c855 1857 }
lakshya 19:79e69017c855 1858 break;
lakshya 19:79e69017c855 1859 }
lakshya 19:79e69017c855 1860 case 0x35:
lakshya 19:79e69017c855 1861 {
lakshya 19:79e69017c855 1862 printf("\n\rBCN_TX_SW_RESET");
lakshya 19:79e69017c855 1863 //ACK_L234_TM
lakshya 19:79e69017c855 1864 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1865 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1866 BCN_SW = 1;
lakshya 19:79e69017c855 1867 wait_ms(5);
lakshya 19:79e69017c855 1868 BCN_SW = 0;
lakshya 19:79e69017c855 1869 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1870 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1871 {
lakshya 19:79e69017c855 1872 telemetry[i]=0x00;
lakshya 19:79e69017c855 1873 }
lakshya 19:79e69017c855 1874 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1875 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1876 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1877 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1878 {
lakshya 19:79e69017c855 1879 telemetry[i]=0x00;
lakshya 19:79e69017c855 1880 }
lakshya 19:79e69017c855 1881 break;
lakshya 19:79e69017c855 1882 }
lakshya 19:79e69017c855 1883 case 0x36:
lakshya 19:79e69017c855 1884 {
lakshya 20:949d13045431 1885 printf("\n\rBAE_INTERNAL_RESET TO be done ??");
lakshya 20:949d13045431 1886 NVIC_SystemReset();
lakshya 19:79e69017c855 1887 break;
lakshya 19:79e69017c855 1888 }
lakshya 19:79e69017c855 1889 case 0x37:
lakshya 19:79e69017c855 1890 {
lakshya 19:79e69017c855 1891 printf("\n\rCDMS_RESET");
lakshya 19:79e69017c855 1892 //ACK_L234_TM
lakshya 19:79e69017c855 1893 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1894 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1895 CDMS_RESET = 0;
lakshya 19:79e69017c855 1896 wait_ms(5);
lakshya 19:79e69017c855 1897 CDMS_RESET = 1;
lakshya 19:79e69017c855 1898 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1899 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1900 {
lakshya 19:79e69017c855 1901 telemetry[i]=0x00;
lakshya 19:79e69017c855 1902 }
lakshya 19:79e69017c855 1903 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1904 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1905 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1906 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1907 {
lakshya 19:79e69017c855 1908 telemetry[i]=0x00;
lakshya 19:79e69017c855 1909 }
lakshya 19:79e69017c855 1910 break;
lakshya 19:79e69017c855 1911 }
lakshya 19:79e69017c855 1912 case 0x38:
lakshya 19:79e69017c855 1913 {
lakshya 19:79e69017c855 1914 printf("\n\rCDMS_SW_RESET pin yet to be decided");
lakshya 19:79e69017c855 1915 //ACK_L234_TM
lakshya 19:79e69017c855 1916 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1917 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1918 /*
lakshya 19:79e69017c855 1919 PIN to be DECIDED***************************************************************8
lakshya 19:79e69017c855 1920 */
lakshya 19:79e69017c855 1921 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1922 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1923 {
lakshya 19:79e69017c855 1924 telemetry[i]=0x00;
lakshya 19:79e69017c855 1925 }
lakshya 19:79e69017c855 1926 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1927 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1928 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1929 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1930 {
lakshya 19:79e69017c855 1931 telemetry[i]=0x00;
lakshya 19:79e69017c855 1932 }
lakshya 19:79e69017c855 1933 break;
lakshya 19:79e69017c855 1934 }
lakshya 19:79e69017c855 1935 case 0x40:
lakshya 19:79e69017c855 1936 {
lakshya 19:79e69017c855 1937 uint8_t STANDBY_DATA_TC;
lakshya 19:79e69017c855 1938 BAE_STANDBY=0x00;
lakshya 19:79e69017c855 1939 STANDBY_DATA_TC=tc[4];
lakshya 19:79e69017c855 1940 if(STANDBY_DATA_TC==0x01)
lakshya 19:79e69017c855 1941 {
lakshya 19:79e69017c855 1942 BAE_STANDBY |=0x04;
lakshya 19:79e69017c855 1943 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 1944 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 1945 }
lakshya 19:79e69017c855 1946 STANDBY_DATA_TC=tc[5];
lakshya 19:79e69017c855 1947 if(STANDBY_DATA_TC==0x01)
lakshya 19:79e69017c855 1948 {
lakshya 19:79e69017c855 1949 BAE_STANDBY |=0x02;
lakshya 19:79e69017c855 1950 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 1951 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 1952 }
lakshya 19:79e69017c855 1953 STANDBY_DATA_TC=tc[6];
lakshya 19:79e69017c855 1954 if(STANDBY_DATA_TC==0x01)
lakshya 19:79e69017c855 1955 {
lakshya 19:79e69017c855 1956 BAE_STANDBY |=0x01;
lakshya 19:79e69017c855 1957 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 1958 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 1959 }
lakshya 19:79e69017c855 1960 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1961 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1962 telemetry[2]=0xC0;//ack_code for this case
lakshya 19:79e69017c855 1963 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1964 {
lakshya 19:79e69017c855 1965 telemetry[i]=0x00;
lakshya 19:79e69017c855 1966 }
lakshya 19:79e69017c855 1967 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1968 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1969 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1970 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1971 {
lakshya 19:79e69017c855 1972 telemetry[i]=0x00;
lakshya 19:79e69017c855 1973 }
lakshya 19:79e69017c855 1974 break;
lakshya 19:79e69017c855 1975 }
lakshya 19:79e69017c855 1976 case 0x41:
lakshya 19:79e69017c855 1977 {
lakshya 19:79e69017c855 1978 printf("\n\rexecutng BAE reset HK counter");
lakshya 20:949d13045431 1979 firstCount=true;
lakshya 20:949d13045431 1980 void minMaxHkData();
lakshya 19:79e69017c855 1981
lakshya 19:79e69017c855 1982 //what to do here??*************************************************
lakshya 19:79e69017c855 1983 //TO BE DONE
lakshya 19:79e69017c855 1984
lakshya 19:79e69017c855 1985 //ACK_L234_TM
lakshya 19:79e69017c855 1986 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1987 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1988 telemetry[2]=0x02;
lakshya 19:79e69017c855 1989 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1990 {
lakshya 19:79e69017c855 1991 telemetry[i]=0x00;
lakshya 19:79e69017c855 1992 }
lakshya 19:79e69017c855 1993 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1994 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1995 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1996 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1997 {
lakshya 19:79e69017c855 1998 telemetry[i]=0x00;
lakshya 19:79e69017c855 1999 }
lakshya 19:79e69017c855 2000 break;
lakshya 19:79e69017c855 2001 }
lakshya 19:79e69017c855 2002 default:
lakshya 19:79e69017c855 2003 {
lakshya 19:79e69017c855 2004 printf("\n\rInvalid TC for FMS no matching FID");
lakshya 19:79e69017c855 2005 //ACK_L234_TM
lakshya 19:79e69017c855 2006 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2007 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2008 telemetry[2]=0x02;
lakshya 19:79e69017c855 2009 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2010 {
lakshya 19:79e69017c855 2011 telemetry[i]=0x00;
lakshya 19:79e69017c855 2012 }
lakshya 19:79e69017c855 2013 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2014 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2015 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2016 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2017 {
lakshya 19:79e69017c855 2018 telemetry[i]=0x00;
lakshya 19:79e69017c855 2019 }
lakshya 19:79e69017c855 2020 break;
lakshya 19:79e69017c855 2021 }
lakshya 19:79e69017c855 2022 }
lakshya 19:79e69017c855 2023 break;
lakshya 19:79e69017c855 2024 }
lakshya 19:79e69017c855 2025 default:
lakshya 19:79e69017c855 2026 {
lakshya 19:79e69017c855 2027 printf("\n\rInvalid TC, FMS service subtype mismacth");
lakshya 19:79e69017c855 2028 //ACK_L234_TM
lakshya 19:79e69017c855 2029 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2030 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2031 telemetry[2]=0x02;
lakshya 19:79e69017c855 2032 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2033 {
lakshya 19:79e69017c855 2034 telemetry[i]=0x00;
lakshya 19:79e69017c855 2035 }
lakshya 19:79e69017c855 2036 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2037 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2038 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2039 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2040 {
lakshya 19:79e69017c855 2041 telemetry[i]=0x00;
lakshya 19:79e69017c855 2042 }
lakshya 19:79e69017c855 2043 break;
lakshya 19:79e69017c855 2044 }
lakshya 19:79e69017c855 2045 }
lakshya 19:79e69017c855 2046 break;
lakshya 19:79e69017c855 2047 }
lakshya 19:79e69017c855 2048 default:
lakshya 19:79e69017c855 2049 {
lakshya 19:79e69017c855 2050 printf("\n\rInvalid TC neither FMS nor MMS");
lakshya 19:79e69017c855 2051 //ACK_L234_TM
lakshya 19:79e69017c855 2052 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2053 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2054 telemetry[2]=0x02;
lakshya 19:79e69017c855 2055 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2056 {
lakshya 19:79e69017c855 2057 telemetry[i]=0x00;
lakshya 19:79e69017c855 2058 }
lakshya 19:79e69017c855 2059 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2060 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2061 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2062 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2063 {
lakshya 19:79e69017c855 2064 telemetry[i]=0x00;
lakshya 19:79e69017c855 2065 }
lakshya 19:79e69017c855 2066 break;
lakshya 19:79e69017c855 2067 }
lakshya 19:79e69017c855 2068 }
lakshya 19:79e69017c855 2069 }
Bragadeesh153 13:fb7facaf308b 2070 }
Bragadeesh153 13:fb7facaf308b 2071 }
sakthipriya 4:39a4ae8c7ecd 2072
sakthipriya 4:39a4ae8c7ecd 2073
Bragadeesh153 13:fb7facaf308b 2074 int strt_add = flash_size() - (2*SECTOR_SIZE);
sakthipriya 4:39a4ae8c7ecd 2075 uint32_t flasharray[8]; //256+(3*1024)
lakshya 19:79e69017c855 2076 /*corrected*/
lakshya 19:79e69017c855 2077 int *nativeflash = (int*)strt_add;
sakthipriya 4:39a4ae8c7ecd 2078
sakthipriya 4:39a4ae8c7ecd 2079 /*Writing to the Flash*/
lakshya 19:79e69017c855 2080 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 2081 {
Bragadeesh153 13:fb7facaf308b 2082 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2083 {
sakthipriya 4:39a4ae8c7ecd 2084 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2085 }
sakthipriya 4:39a4ae8c7ecd 2086 flasharray[j]=fdata;
sakthipriya 4:39a4ae8c7ecd 2087 erase_sector(strt_add);
lakshya 20:949d13045431 2088 program_flash(strt_add, (char*)flasharray,32);
sakthipriya 4:39a4ae8c7ecd 2089 }
lakshya 19:79e69017c855 2090
sakthipriya 4:39a4ae8c7ecd 2091 /*End*/
sakthipriya 4:39a4ae8c7ecd 2092
sakthipriya 4:39a4ae8c7ecd 2093 /*Reading from Flash*/
lakshya 19:79e69017c855 2094 /*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 2095 uint32_t FCTN_BAE_RD_FLASH_ENTITY(uint16_t entity)
sakthipriya 4:39a4ae8c7ecd 2096 {
sakthipriya 4:39a4ae8c7ecd 2097 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2098 {
sakthipriya 4:39a4ae8c7ecd 2099 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2100 }
lakshya 19:79e69017c855 2101 return flasharray[entity];
sakthipriya 4:39a4ae8c7ecd 2102 }
lakshya 19:79e69017c855 2103
lakshya 19:79e69017c855 2104 uint32_t* FCTN_BAE_RD_FLASH()
lakshya 19:79e69017c855 2105 {
lakshya 19:79e69017c855 2106 for(int i=0;i<8;i++)
lakshya 19:79e69017c855 2107 {
lakshya 19:79e69017c855 2108 flasharray[i]=nativeflash[i];
lakshya 19:79e69017c855 2109 }
lakshya 19:79e69017c855 2110 return flasharray;
lakshya 19:79e69017c855 2111 }
lakshya 19:79e69017c855 2112
sakthipriya 5:bb592f3185cc 2113 /*End*/
sakthipriya 5:bb592f3185cc 2114
sakthipriya 5:bb592f3185cc 2115 // Convert float to 4 uint8_t
sakthipriya 5:bb592f3185cc 2116
lakshya 15:e09aaaccf134 2117
sakthipriya 6:036d08b62785 2118 void FCTN_CONVERT_FLOAT(float input, uint8_t output[4])
sakthipriya 5:bb592f3185cc 2119 {
sakthipriya 6:036d08b62785 2120 assert(sizeof(float) == sizeof(uint32_t));
sakthipriya 6:036d08b62785 2121 uint32_t* temp = reinterpret_cast<uint32_t*>(&input);
sakthipriya 6:036d08b62785 2122
sakthipriya 6:036d08b62785 2123 //float* output1 = reinterpret_cast<float*>(temp);
Bragadeesh153 13:fb7facaf308b 2124
lakshya 15:e09aaaccf134 2125 //printf("\n\r %f ", input);
lakshya 15:e09aaaccf134 2126 //std::cout << "\n\r uint32"<<*temp << std::endl;
sakthipriya 6:036d08b62785 2127
sakthipriya 6:036d08b62785 2128 output[0] =(uint8_t )(((*temp)>>24)&0xFF);
lakshya 15:e09aaaccf134 2129 output[1] =(uint8_t ) (((*temp)>>16)&0xFF);
lakshya 15:e09aaaccf134 2130 output[2] =(uint8_t ) (((*temp)>>8)&0xFF);
lakshya 15:e09aaaccf134 2131 output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic
lakshya 15:e09aaaccf134 2132
lakshya 17:fc782f7548c6 2133 // printf("\n\rthe values generated are\n");
lakshya 15:e09aaaccf134 2134 /*printf("\n\r%x\n",output[0]);
lakshya 15:e09aaaccf134 2135 printf("\n\r%x\n",output[1]);
lakshya 15:e09aaaccf134 2136 printf("\n\r%x\n",output[2]);
lakshya 15:e09aaaccf134 2137 printf("\n\r%x\n",output[3]);
lakshya 15:e09aaaccf134 2138 to check the values generated
lakshya 15:e09aaaccf134 2139 */
sakthipriya 6:036d08b62785 2140 //printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]);
Bragadeesh153 13:fb7facaf308b 2141 //std:: cout << "\n\r uint8 inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl;
Bragadeesh153 13:fb7facaf308b 2142 }