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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

TCTM.cpp@33:76f2b8735501, 2016-07-04 (annotated)

Committer:
lakshya
Date:
Mon Jul 04 04:29:59 2016 +0000
Revision:
33:76f2b8735501
Parent:
27:61c856be467e
Child:
34:1b41c34b12ea
Child:
39:670133e7ffd8
watch_dog to be implemented ; fine detailings

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;
lakshya 20:949d13045431 44 extern uint8_t alarmmode;
lakshya 20:949d13045431 45 extern uint8_t controlmode_mms;
lakshya 20:949d13045431 46 extern uint8_t invjm_mms[9];
lakshya 20:949d13045431 47 extern uint8_t jm_mms[9];
lakshya 20:949d13045431 48 extern uint8_t bb_mms[3];
lakshya 20:949d13045431 49 extern uint8_t singularity_flag_mms;
lakshya 20:949d13045431 50 extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya 20:949d13045431 51 extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 52
lakshya 20:949d13045431 53 extern uint8_t ATS1_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 54 extern uint8_t ATS1_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 55 extern uint8_t ATS1_ERROR_RGTR;
lakshya 20:949d13045431 56 extern uint8_t ATS2_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 57 extern uint8_t ATS2_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 58 extern uint8_t ATS2_ERROR_RGTR;
lakshya 20:949d13045431 59 //change
lakshya 20:949d13045431 60 extern uint16_t ACS_MM_X_COMSN;
lakshya 20:949d13045431 61 extern uint16_t ACS_MM_Y_COMSN;
lakshya 20:949d13045431 62 extern uint16_t ACS_MG_X_COMSN;
lakshya 20:949d13045431 63 extern uint16_t ACS_MG_Y_COMSN;
lakshya 20:949d13045431 64 extern uint16_t ACS_MM_Z_COMSN;
lakshya 20:949d13045431 65 extern uint16_t ACS_MG_Z_COMSN;
lakshya 20:949d13045431 66 //acs func
lakshya 20:949d13045431 67 extern void F_ACS();
lakshya 20:949d13045431 68 extern int SENSOR_INIT();
lakshya 20:949d13045431 69 extern int FCTN_ACS_INIT();
lakshya 20:949d13045431 70 extern int SENSOR_DATA_ACQ();
lakshya 20:949d13045431 71 extern int FCTN_ATS_DATA_ACQ();
lakshya 20:949d13045431 72 extern void FCTN_ACS_GENPWM_MAIN(float Moment[3]);
lakshya 20:949d13045431 73 extern void FCTN_ACS_CNTRLALGO(float*,float*,int);
lakshya 20:949d13045431 74
lakshya 20:949d13045431 75
lakshya 20:949d13045431 76 //main
lakshya 20:949d13045431 77 extern uint8_t ACS_ATS_STATUS;
lakshya 20:949d13045431 78 extern uint16_t ACS_MAIN_COUNTER;//change\apply
lakshya 20:949d13045431 79 extern uint8_t HTR_CYCLE_COUNTER;
lakshya 20:949d13045431 80 extern RtosTimer *HTR_CYCLE;
lakshya 20:949d13045431 81 extern uint8_t HTR_CYCLE_COUNTS; //Count of heater cycles
lakshya 20:949d13045431 82 extern uint8_t HTR_CYCLE_START_DLY; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya 20:949d13045431 83 extern uint8_t HTR_ON_DURATION; //EPS_HTR_OFF timer duration in minutes
lakshya 20:949d13045431 84 extern uint16_t HTR_CYCLE_PERIOD;
lakshya 20:949d13045431 85
lakshya 20:949d13045431 86 extern DigitalOut ACS_TR_XY_ENABLE;
lakshya 20:949d13045431 87 extern DigitalOut ACS_TR_Z_ENABLE;
lakshya 20:949d13045431 88 extern DigitalOut ACS_TR_XY_OC_FAULT;
lakshya 20:949d13045431 89 extern DigitalOut ACS_TR_Z_OC_FAULT;
lakshya 20:949d13045431 90 extern DigitalOut ACS_TR_XY_FAULT;
lakshya 20:949d13045431 91 extern DigitalOut ACS_TR_Z_FAULT;
lakshya 20:949d13045431 92 extern DigitalOut ACS_ATS1_OC_FAULT;
lakshya 20:949d13045431 93 extern DigitalOut ACS_ATS2_OC_FAULT;
sakthipriya 0:7b4c00e3912f 94
sakthipriya 9:194afacf7449 95 extern DigitalOut ATS1_SW_ENABLE; // enable of att sens2 switch
sakthipriya 9:194afacf7449 96 extern DigitalOut ATS2_SW_ENABLE; // enable of att sens switch
sakthipriya 5:bb592f3185cc 97
lakshya 20:949d13045431 98 extern DigitalOut DRV_Z_EN;
lakshya 20:949d13045431 99 extern DigitalOut DRV_XY_EN;
Bragadeesh153 13:fb7facaf308b 100 extern DigitalOut TRXY_SW; //TR XY Switch if any TR_SW error arises then it is same as TR_SW_EN
sakthipriya 5:bb592f3185cc 101 extern DigitalOut TRZ_SW; //TR Z Switch
lakshya 20:949d13045431 102
lakshya 20:949d13045431 103 extern DigitalOut phase_TR_x;
lakshya 20:949d13045431 104 extern DigitalOut phase_TR_y;
lakshya 20:949d13045431 105 extern DigitalOut phase_TR_z;
lakshya 20:949d13045431 106
lakshya 20:949d13045431 107
lakshya 20:949d13045431 108 //CDMS
sakthipriya 5:bb592f3185cc 109 extern DigitalOut CDMS_RESET; // CDMS RESET
lakshya 20:949d13045431 110 extern uint8_t CDMS_SW_STATUS;
lakshya 20:949d13045431 111 extern DigitalOut CDMS_OC_FAULT;
lakshya 20:949d13045431 112
lakshya 20:949d13045431 113
lakshya 20:949d13045431 114 //BCN
sakthipriya 5:bb592f3185cc 115 extern DigitalOut BCN_SW; //Beacon switch
lakshya 10:f93407b97750 116 extern uint8_t BCN_TX_STATUS;
lakshya 10:f93407b97750 117 extern uint8_t BCN_FEN;
lakshya 20:949d13045431 118 extern uint8_t BCN_SPND_TX;
lakshya 20:949d13045431 119 extern uint8_t BCN_TX_MAIN_STATUS;
lakshya 20:949d13045431 120 extern uint8_t BCN_TX_SW_STATUS;
lakshya 20:949d13045431 121 extern uint8_t BCN_LONG_MSG_TYPE;
lakshya 20:949d13045431 122 extern uint8_t BCN_INIT_STATUS;
lakshya 20:949d13045431 123 extern uint8_t BCN_FAIL_COUNT;
lakshya 20:949d13045431 124 extern uint16_t BCN_TX_MAIN_COUNTER;
lakshya 20:949d13045431 125 extern DigitalOut BCN_TX_OC_FAULT;
lakshya 20:949d13045431 126 extern uint8_t BCN_TMP;
lakshya 20:949d13045431 127 extern void F_BCN();
lakshya 20:949d13045431 128 extern void FCTN_BCN_TX_MAIN();
lakshya 33:76f2b8735501 129 extern uint8_t SHORT_HK_data[15];
lakshya 33:76f2b8735501 130 extern void FCTN_BCN_SPND_TX();
lakshya 20:949d13045431 131
lakshya 20:949d13045431 132
lakshya 20:949d13045431 133 //BAE
lakshya 20:949d13045431 134 extern uint8_t BAE_STANDBY;
lakshya 20:949d13045431 135 extern uint8_t BAE_INIT_STATUS;
lakshya 20:949d13045431 136 extern uint8_t BAE_RESET_COUNTER;
lakshya 27:61c856be467e 137 extern uint8_t BAE_MNG_I2C_STATUS;
lakshya 20:949d13045431 138 /*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 139
lakshya 20:949d13045431 140 extern uint32_t BAE_STATUS;//extern uint32_t BAE_STATUS;
lakshya 20:949d13045431 141 extern BAE_HK_quant quant_data;
sakthipriya 4:39a4ae8c7ecd 142 extern BAE_HK_actual actual_data;
sakthipriya 4:39a4ae8c7ecd 143 extern BAE_HK_min_max bae_HK_minmax;
Bragadeesh153 13:fb7facaf308b 144 //extern DigitalOut TRXY_SW;
lakshya 11:1fdb94ae6563 145 //extern DigitalOut TRZ_SW_EN; //same as TRZ_SW
lakshya 11:1fdb94ae6563 146 extern uint32_t BAE_ENABLE;
lakshya 20:949d13045431 147 extern uint16_t BAE_I2C_COUNTER;
lakshya 33:76f2b8735501 148 extern uint8_t LONG_HK_data[2][134];
lakshya 20:949d13045431 149 //extern uint8_t BCN_FAIL_COUNT;
lakshya 20:949d13045431 150
lakshya 11:1fdb94ae6563 151
lakshya 20:949d13045431 152 //EPS
lakshya 20:949d13045431 153 extern bool firstCount;
lakshya 20:949d13045431 154 extern uint8_t EPS_BTRY_HTR_AUTO;
lakshya 20:949d13045431 155 extern uint8_t EPS_BATT_TEMP_LOW;
lakshya 20:949d13045431 156 extern uint8_t EPS_BATT_TEMP_HIGH;
lakshya 20:949d13045431 157 extern uint8_t EPS_BATT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 158 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 159 extern uint8_t EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 160 extern uint8_t EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 161 extern uint8_t EPS_INIT_STATUS;
lakshya 20:949d13045431 162 extern uint8_t EPS_BATTERY_GAUGE_STATUS ;
lakshya 20:949d13045431 163 extern uint8_t EPS_MAIN_STATUS;
lakshya 33:76f2b8735501 164 extern uint8_t EPS_BTRY_TMP_STATUS ;
lakshya 20:949d13045431 165 extern uint8_t EPS_STATUS ;
lakshya 20:949d13045431 166 extern uint8_t EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 167 extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 168 extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya 20:949d13045431 169 extern uint16_t EPS_MAIN_COUNTER;
lakshya 33:76f2b8735501 170 extern uint8_t EPS_BTRY_HTR;
lakshya 11:1fdb94ae6563 171
lakshya 20:949d13045431 172 extern DigitalOut SelectLineb3; // MSB of Select Lines
lakshya 20:949d13045431 173 extern DigitalOut SelectLineb2;
lakshya 20:949d13045431 174 extern DigitalOut SelectLineb1;
lakshya 20:949d13045431 175 extern DigitalOut SelectLineb0;
lakshya 20:949d13045431 176 extern DigitalOut EPS_CHARGER_FAULT;
lakshya 20:949d13045431 177 extern DigitalOut EPS_CHARGER_STATUS;
lakshya 20:949d13045431 178 extern DigitalOut EPS_BATTERY_GAUGE_ALERT;
lakshya 20:949d13045431 179
lakshya 20:949d13045431 180 extern void F_EPS();
lakshya 20:949d13045431 181 extern AnalogIn CurrentInput;
lakshya 20:949d13045431 182
lakshya 20:949d13045431 183 //--------------------check this refer prashant
lakshya 11:1fdb94ae6563 184
Bragadeesh153 13:fb7facaf308b 185 extern PwmOut PWM1; //x //Functions used to generate PWM signal
lakshya 11:1fdb94ae6563 186 extern PwmOut PWM2; //y
lakshya 11:1fdb94ae6563 187 extern PwmOut PWM3; //z //PWM output comes from pins p6
lakshya 11:1fdb94ae6563 188
lakshya 20:949d13045431 189 //included after home
lakshya 11:1fdb94ae6563 190 //extern void FCTN_ACS_GENPWM_MAIN();
lakshya 20:949d13045431 191
lakshya 20:949d13045431 192 uint16_t crc_hk_data()//gencrc16_for_me()
lakshya 20:949d13045431 193 {
lakshya 33:76f2b8735501 194 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 195 return crc;
lakshya 33:76f2b8735501 196 }
lakshya 33:76f2b8735501 197
lakshya 33:76f2b8735501 198 uint8_t crc8_short()
lakshya 33:76f2b8735501 199 {
lakshya 33:76f2b8735501 200 uint8_t crc = CRC::crc8_gen(SHORT_HK_data,14);
lakshya 20:949d13045431 201 return crc;
lakshya 20:949d13045431 202 }
lakshya 20:949d13045431 203
lakshya 20:949d13045431 204 float uint16_to_float(float min,float max,uint16_t scale)
lakshya 20:949d13045431 205 {
lakshya 20:949d13045431 206 float div=max-min;
lakshya 20:949d13045431 207 div=(div/(65535.0));
lakshya 20:949d13045431 208 return ((div*(float)scale)+ min);
lakshya 20:949d13045431 209 }
lakshya 11:1fdb94ae6563 210
lakshya 20:949d13045431 211 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 212 {
lakshya 20:949d13045431 213 if(val>max)
lakshya 20:949d13045431 214 {return 0xffff;
lakshya 20:949d13045431 215 }
lakshya 20:949d13045431 216 if(val<min)
lakshya 20:949d13045431 217 {return 0x0000;
lakshya 20:949d13045431 218 }
lakshya 20:949d13045431 219 float div=max-min;
lakshya 20:949d13045431 220 div=(65535.0/div);
lakshya 20:949d13045431 221 val=((val-min)*div);
lakshya 20:949d13045431 222 printf("\n\r the scale is %x",(uint16_t)val);
lakshya 20:949d13045431 223 return (uint16_t)val;
lakshya 20:949d13045431 224 }
sakthipriya 5:bb592f3185cc 225
lakshya 20:949d13045431 226 void gen_I_TM()
lakshya 20:949d13045431 227 {
lakshya 20:949d13045431 228 telemetry[0] = 0xB0;
lakshya 20:949d13045431 229 for(int i=1;i<11;i++)
lakshya 20:949d13045431 230 telemetry[i] = 0x00;
lakshya 20:949d13045431 231 uint16_t crc = CRC::crc16_gen(telemetry,11);//BAE_chardata i.e char data type usesd earlier
lakshya 20:949d13045431 232 telemetry[11] = (uint8_t)(crc >> 8);
lakshya 20:949d13045431 233 telemetry[12] = (uint8_t)crc ;
lakshya 20:949d13045431 234 for(int i=13;i<135;i++)
lakshya 20:949d13045431 235 telemetry[i] = 0x00;
lakshya 20:949d13045431 236 }
lakshya 20:949d13045431 237 void FCTN__UINT (uint8_t input[2], float* output)
lakshya 11:1fdb94ae6563 238 {
lakshya 11:1fdb94ae6563 239
lakshya 11:1fdb94ae6563 240 *output = (float) input[1];
lakshya 11:1fdb94ae6563 241 *output = *output/100.0; //input[0] integer part
lakshya 11:1fdb94ae6563 242 *output = *output + (float) input[0]; //input[1] decimal part correct to two decimal places
lakshya 11:1fdb94ae6563 243 }
lakshya 11:1fdb94ae6563 244
lakshya 10:f93407b97750 245 float angle(float x,float y,float z)
lakshya 10:f93407b97750 246 {
lakshya 10:f93407b97750 247 float mag_total=sqrt(x*x + y*y + z*z);
lakshya 10:f93407b97750 248 float cos_z = z/mag_total;
lakshya 10:f93407b97750 249 float theta_z = acosf(cos_z);
Bragadeesh153 13:fb7facaf308b 250
lakshya 10:f93407b97750 251 return theta_z;
lakshya 10:f93407b97750 252 //printf("/n cos_zz= %f /t theta_z= %f /n",cos_z,theta_z);
lakshya 10:f93407b97750 253 }
lakshya 10:f93407b97750 254
Bragadeesh153 13:fb7facaf308b 255 //uint8_t tm1[134];
Bragadeesh153 13:fb7facaf308b 256
Bragadeesh153 13:fb7facaf308b 257 void FCTN_BAE_TM_TC (uint8_t* tc)
sakthipriya 3:07e15677a75c 258 {
lakshya 19:79e69017c855 259 //tm1[0] = 1;
lakshya 19:79e69017c855 260 //calculating crc
lakshya 20:949d13045431 261 for(int i=0;i<134;i++)
lakshya 20:949d13045431 262 {
lakshya 20:949d13045431 263 telemetry[i]=tc[i];
lakshya 20:949d13045431 264 }
lakshya 20:949d13045431 265
lakshya 19:79e69017c855 266
lakshya 15:e09aaaccf134 267 /*chaged*/
lakshya 15:e09aaaccf134 268 uint8_t* tm; // without it some identifier error
lakshya 20:949d13045431 269 uint16_t crc16=CRC::crc16_gen(telemetry,9); //implementing crc
lakshya 20:949d13045431 270 printf("\n\r the crc is %x",crc16);
lakshya 19:79e69017c855 271 if( ( ((uint8_t)((crc16 & 0xFF00)>>8)==tc[9]) && ((uint8_t)(crc16 & 0x00FF)==tc[10]) )== 0 )
lakshya 19:79e69017c855 272 {
lakshya 19:79e69017c855 273 telemetry[0]=0xB0;
lakshya 19:79e69017c855 274 telemetry[1]=0x00;//tc psc defined for this case
lakshya 19:79e69017c855 275 telemetry[2]=0x01;//ack code for this case
lakshya 19:79e69017c855 276 for(int i=3;i<11;i++)
lakshya 20:949d13045431 277 {
lakshya 19:79e69017c855 278 telemetry[i]=0x00;
lakshya 19:79e69017c855 279 }
lakshya 19:79e69017c855 280 //add crc
lakshya 19:79e69017c855 281 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 282 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 283 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 284 printf("\n\rincorrect crc");
lakshya 19:79e69017c855 285 for(int i=13;i<134;i++)
lakshya 19:79e69017c855 286 {
lakshya 19:79e69017c855 287 telemetry[i]=0x00;
lakshya 19:79e69017c855 288 }
lakshya 19:79e69017c855 289 }
lakshya 19:79e69017c855 290 else
lakshya 19:79e69017c855 291 {
lakshya 19:79e69017c855 292 //check apid
lakshya 19:79e69017c855 293 uint8_t apid_check=((tc[1]&0xC0)>>6);
lakshya 19:79e69017c855 294 if(apid_check!=0x01)
lakshya 19:79e69017c855 295 {
lakshya 19:79e69017c855 296 telemetry[0]=0xB0;
lakshya 19:79e69017c855 297 telemetry[1]=tc[0];//tc psc defined for this case
lakshya 19:79e69017c855 298 telemetry[2]=0x02;//ack code for this case
lakshya 19:79e69017c855 299 for(int i=3;i<11;i++)
Bragadeesh153 13:fb7facaf308b 300 {
lakshya 19:79e69017c855 301 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 302 }
Bragadeesh153 13:fb7facaf308b 303 crc16 = CRC::crc16_gen(telemetry,11);
Bragadeesh153 13:fb7facaf308b 304 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
Bragadeesh153 13:fb7facaf308b 305 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 306 printf("\n\rillegal TC packet APID don't match");
lakshya 19:79e69017c855 307 for(int i=13;i<134;i++)
Bragadeesh153 13:fb7facaf308b 308 {
Bragadeesh153 13:fb7facaf308b 309 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 310 }
sakthipriya 3:07e15677a75c 311 }
lakshya 19:79e69017c855 312 else
lakshya 19:79e69017c855 313 {// all the possible cases of fms and mms
lakshya 19:79e69017c855 314 uint8_t service_type=(tc[2]&0xF0);
lakshya 19:79e69017c855 315 //check for fms first
lakshya 19:79e69017c855 316 switch(service_type)
lakshya 19:79e69017c855 317 {
lakshya 19:79e69017c855 318 case 0x60:
lakshya 19:79e69017c855 319 {
lakshya 19:79e69017c855 320 printf("Memory Management Service\r\n");
lakshya 19:79e69017c855 321 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 322 switch(service_subtype)
lakshya 19:79e69017c855 323 {
lakshya 19:79e69017c855 324 case 0x02:
lakshya 19:79e69017c855 325 {
lakshya 19:79e69017c855 326 printf("\n\rRead from RAM");
lakshya 19:79e69017c855 327 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 328 switch(MID)
lakshya 19:79e69017c855 329 {
lakshya 19:79e69017c855 330 case 0x0000://changed from 0001
lakshya 19:79e69017c855 331 {
lakshya 19:79e69017c855 332 printf("\n\rRead from MID 0000 \n");
lakshya 19:79e69017c855 333 printf("\n\rReading flash parameters");
lakshya 19:79e69017c855 334
lakshya 19:79e69017c855 335 /*taking some varible till we find some thing more useful*/
lakshya 19:79e69017c855 336 //uint8_t ref_val=0x01;
lakshya 19:79e69017c855 337 telemetry[0] = 1;
lakshya 19:79e69017c855 338 telemetry[1] = tc[0];
lakshya 19:79e69017c855 339 telemetry[2] = ACK_CODE;
lakshya 19:79e69017c855 340 /*random or with bcn_tx_sw_enable assuming it is 1 bit in length
lakshya 19:79e69017c855 341 how to get that we dont know, now we just assume it to be so*/
lakshya 20:949d13045431 342 telemetry[3] = ACS_ATS_STATUS;
lakshya 20:949d13045431 343 telemetry[4] = ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 344 telemetry[4] = (telemetry[4]<<2)| ACS_TR_Z_SW_STATUS;
lakshya 27:61c856be467e 345 telemetry[4] = (telemetry[4]<<4) | ACS_STATE;
lakshya 27:61c856be467e 346 telemetry[5] = ACS_DETUMBLING_ALGO_TYPE;
lakshya 27:61c856be467e 347 telemetry[5] = (telemetry[5]<<2) | BCN_TX_SW_STATUS;
lakshya 20:949d13045431 348 telemetry[5] = (telemetry[5]<<1) | BCN_SPND_TX;
lakshya 20:949d13045431 349 telemetry[5] = (telemetry[5]<<1) | BCN_FEN;
lakshya 20:949d13045431 350 telemetry[5] = (telemetry[5]<<1) | BCN_LONG_MSG_TYPE;
lakshya 20:949d13045431 351 telemetry[5] = (telemetry[5]<<1) | EPS_BTRY_HTR_AUTO;//EPS_BATTERY_HEATER_ENABLE
lakshya 27:61c856be467e 352 telemetry[5] = (telemetry[5]<<1);
lakshya 27:61c856be467e 353 //now one spares in telemetry[5]
lakshya 20:949d13045431 354 telemetry[6] = BAE_RESET_COUNTER;
lakshya 20:949d13045431 355 telemetry[7] = EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 356 telemetry[8] = EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 357 telemetry[9] = ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 358 telemetry[10] = ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 359 telemetry[11] = EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 360 telemetry[12] = EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 361 telemetry[13] = EPS_BAT_TEMP_DEFAULT;
lakshya 20:949d13045431 362
lakshya 20:949d13045431 363 telemetry[14] = ACS_MM_X_COMSN >> 8;
lakshya 20:949d13045431 364 telemetry[15] = ACS_MM_X_COMSN;
lakshya 20:949d13045431 365
lakshya 20:949d13045431 366 telemetry[16] = ACS_MM_Y_COMSN >> 8;
lakshya 20:949d13045431 367 telemetry[17] = ACS_MM_Y_COMSN;
lakshya 20:949d13045431 368
lakshya 20:949d13045431 369 telemetry[18] = ACS_MG_X_COMSN >> 8;
lakshya 20:949d13045431 370 telemetry[19] = ACS_MG_X_COMSN;
lakshya 20:949d13045431 371
lakshya 20:949d13045431 372 telemetry[20] = ACS_MG_Y_COMSN >> 8;
lakshya 20:949d13045431 373 telemetry[21] = ACS_MG_Y_COMSN;
lakshya 20:949d13045431 374
lakshya 20:949d13045431 375 telemetry[22] = ACS_MM_Z_COMSN >> 8;
lakshya 20:949d13045431 376 telemetry[23] = ACS_MM_Z_COMSN;
lakshya 20:949d13045431 377
lakshya 20:949d13045431 378 telemetry[24] = ACS_MG_Z_COMSN >> 8;
lakshya 20:949d13045431 379 telemetry[25] = ACS_MG_Z_COMSN;
lakshya 20:949d13045431 380
lakshya 20:949d13045431 381 telemetry[26] = ACS_Z_FIXED_MOMENT >> 8;
lakshya 20:949d13045431 382 telemetry[27] = ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 383
lakshya 20:949d13045431 384 //BAE RAM PARAMETER
lakshya 20:949d13045431 385 telemetry[28] = BAE_INIT_STATUS;
lakshya 27:61c856be467e 386 telemetry[28] = (telemetry[28]<<1) | BAE_MNG_I2C_STATUS;//changed
lakshya 20:949d13045431 387 telemetry[28] = (telemetry[28]<<1) | BCN_INIT_STATUS;
lakshya 20:949d13045431 388 telemetry[28] = (telemetry[28]<<1) | BCN_TX_MAIN_STATUS;
lakshya 20:949d13045431 389 telemetry[28] = (telemetry[28]<<3) | BCN_TX_STATUS;
lakshya 27:61c856be467e 390 telemetry[28] = (telemetry[28]<<1) | ACS_INIT_STATUS;
lakshya 20:949d13045431 391
lakshya 20:949d13045431 392 telemetry[29] = ACS_DATA_ACQ_STATUS;
lakshya 20:949d13045431 393 telemetry[29] = (telemetry[29]<<1) | ACS_MAIN_STATUS;
lakshya 27:61c856be467e 394 telemetry[29] = (telemetry[29]<<4) | ACS_STATUS;
lakshya 20:949d13045431 395 telemetry[29] = (telemetry[29]<<1) | EPS_INIT_STATUS;
lakshya 20:949d13045431 396
lakshya 27:61c856be467e 397 telemetry[30] = EPS_BATTERY_GAUGE_STATUS;
lakshya 27:61c856be467e 398 telemetry[30] = (telemetry[30]<<1) | EPS_MAIN_STATUS;
lakshya 33:76f2b8735501 399 telemetry[30] = (telemetry[30]<<1) | EPS_BTRY_TMP_STATUS;
lakshya 20:949d13045431 400 telemetry[30] = (telemetry[30]<<3) | EPS_STATUS;
lakshya 20:949d13045431 401 telemetry[30] = (telemetry[30]<<2) | CDMS_SW_STATUS;
lakshya 20:949d13045431 402 // telemetry[30] = (telemetry[30]<<1) | EPS_BTRY_HTR_STATUS;//new to : implement
lakshya 33:76f2b8735501 403
lakshya 33:76f2b8735501 404 telemetry[31] = EPS_BTRY_HTR; //new to : implement
lakshya 27:61c856be467e 405 //spare 4
lakshya 27:61c856be467e 406 telemetry[31] = (telemetry[31]<<7) | BAE_STANDBY;
lakshya 20:949d13045431 407 // 6 next telemetries value to be given by registers
lakshya 20:949d13045431 408 telemetry[32] = ATS1_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 409 telemetry[33] = ATS1_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 410 telemetry[34] = ATS1_ERROR_RGTR;
lakshya 20:949d13045431 411 telemetry[35] = ATS2_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 412 telemetry[36] = ATS2_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 413 telemetry[37] = ATS2_ERROR_RGTR;
lakshya 20:949d13045431 414
lakshya 20:949d13045431 415 telemetry[38] = BCN_FAIL_COUNT;
lakshya 20:949d13045431 416 telemetry[39] = actual_data.power_mode;
lakshya 20:949d13045431 417 telemetry[40] = HTR_CYCLE_COUNTER;//new to : implement
lakshya 20:949d13045431 418
lakshya 20:949d13045431 419 telemetry[41] = BAE_I2C_COUNTER;
lakshya 20:949d13045431 420 telemetry[42] = BAE_I2C_COUNTER>>8;
lakshya 20:949d13045431 421 telemetry[43] = ACS_MAIN_COUNTER;
lakshya 20:949d13045431 422 telemetry[44] = ACS_MAIN_COUNTER>>8;
lakshya 20:949d13045431 423 telemetry[45] = BCN_TX_MAIN_COUNTER;
lakshya 20:949d13045431 424 telemetry[46] = BCN_TX_MAIN_COUNTER>>8;
lakshya 20:949d13045431 425 telemetry[47] = EPS_MAIN_COUNTER;
lakshya 20:949d13045431 426 telemetry[48] = EPS_MAIN_COUNTER>>8;
lakshya 20:949d13045431 427 //sending in uint can be converted back to int by direct conversion for +values
lakshya 20:949d13045431 428 //make sure to convert baack to int for getting negative values
lakshya 20:949d13045431 429 //algo for that done
lakshya 20:949d13045431 430 telemetry[49] = actual_data.bit_data_acs_mm[0];
lakshya 20:949d13045431 431 telemetry[50] = actual_data.bit_data_acs_mm[0]>>8;
lakshya 20:949d13045431 432 telemetry[51] = actual_data.bit_data_acs_mm[1];
lakshya 20:949d13045431 433 telemetry[52] = actual_data.bit_data_acs_mm[1]>>8;
lakshya 20:949d13045431 434 telemetry[53] = actual_data.bit_data_acs_mm[2];
lakshya 20:949d13045431 435 telemetry[54] = actual_data.bit_data_acs_mm[2]>>8;
lakshya 20:949d13045431 436
lakshya 20:949d13045431 437 telemetry[55] = actual_data.bit_data_acs_mg[0];
lakshya 20:949d13045431 438 telemetry[56] = actual_data.bit_data_acs_mg[0]>>8;
lakshya 20:949d13045431 439 telemetry[57] = actual_data.bit_data_acs_mg[1];
lakshya 20:949d13045431 440 telemetry[58] = actual_data.bit_data_acs_mg[1]>>8;
lakshya 20:949d13045431 441 telemetry[59] = actual_data.bit_data_acs_mg[2];
lakshya 20:949d13045431 442 telemetry[60] = actual_data.bit_data_acs_mg[2]>>8;
lakshya 20:949d13045431 443
lakshya 20:949d13045431 444 telemetry[61] = BCN_TX_OC_FAULT;
lakshya 20:949d13045431 445 telemetry[61] = (telemetry[61]<<1) | ACS_TR_XY_ENABLE;
lakshya 20:949d13045431 446 telemetry[61] = (telemetry[61]<<1) | ACS_TR_Z_ENABLE;
lakshya 20:949d13045431 447 telemetry[61] = (telemetry[61]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 20:949d13045431 448 telemetry[61] = (telemetry[61]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 20:949d13045431 449 telemetry[61] = (telemetry[61]<<1) | ACS_TR_XY_FAULT;
lakshya 20:949d13045431 450 telemetry[61] = (telemetry[61]<<1) | EPS_CHARGER_FAULT;
lakshya 20:949d13045431 451 telemetry[61] = (telemetry[61]<<1) | EPS_CHARGER_STATUS;
lakshya 20:949d13045431 452
lakshya 27:61c856be467e 453 telemetry[62] = EPS_BATTERY_GAUGE_ALERT;
lakshya 20:949d13045431 454 telemetry[62] = (telemetry[62]<<1) | CDMS_OC_FAULT;
lakshya 20:949d13045431 455 telemetry[62] = (telemetry[62]<<1) | ACS_ATS1_OC_FAULT;
lakshya 20:949d13045431 456 telemetry[62] = (telemetry[62]<<1) | ACS_ATS2_OC_FAULT;
lakshya 20:949d13045431 457 telemetry[62] = (telemetry[62]<<1) | ACS_TR_Z_FAULT;
lakshya 27:61c856be467e 458 telemetry[62] = (telemetry[62]<<3);
lakshya 20:949d13045431 459 //3 spare
lakshya 20:949d13045431 460
lakshya 20:949d13045431 461 telemetry[63] = ACS_TR_X_PWM;
lakshya 20:949d13045431 462 telemetry[64] = ACS_TR_Y_PWM;
lakshya 20:949d13045431 463 telemetry[65] = ACS_TR_Z_PWM;
lakshya 20:949d13045431 464 //spare byte
lakshya 20:949d13045431 465 //assigned it to counter HTR_CYCLE_COUNTER
lakshya 20:949d13045431 466
lakshya 20:949d13045431 467 //assign it b_scz_angle
lakshya 20:949d13045431 468 telemetry[66] = 0x00;
lakshya 20:949d13045431 469 telemetry[66] = (telemetry[65]<<1) | alarmmode;
lakshya 20:949d13045431 470 telemetry[66] = (telemetry[65]<<1) | controlmode_mms;
lakshya 27:61c856be467e 471 telemetry[66] = (telemetry[65]<<2);
lakshya 20:949d13045431 472 //2 bit spare
lakshya 20:949d13045431 473
lakshya 20:949d13045431 474 for(int i=0;i<9;i++)
lakshya 20:949d13045431 475 {
lakshya 20:949d13045431 476 telemetry[67+i] = invjm_mms[i];
lakshya 20:949d13045431 477 telemetry[80+i] = jm_mms[i];
lakshya 20:949d13045431 478 }
lakshya 20:949d13045431 479
lakshya 20:949d13045431 480 for(int i=0;i<3;i++)
lakshya 20:949d13045431 481 telemetry[76+i] = bb_mms[i];
lakshya 20:949d13045431 482
lakshya 20:949d13045431 483 telemetry[79] = singularity_flag_mms;
lakshya 20:949d13045431 484
lakshya 20:949d13045431 485 for(int i=0;i<16;i++)
lakshya 20:949d13045431 486 {
lakshya 20:949d13045431 487 telemetry[89+i] = quant_data.voltage_quant[i];
lakshya 20:949d13045431 488 telemetry[105+i] = quant_data.current_quant[i];
lakshya 20:949d13045431 489 }
lakshya 20:949d13045431 490
lakshya 20:949d13045431 491 telemetry[121] = quant_data.Batt_voltage_quant;
lakshya 20:949d13045431 492 telemetry[122] = quant_data.BAE_temp_quant;
lakshya 20:949d13045431 493 telemetry[123] = (uint8_t)(actual_data.Batt_gauge_actual[1]);
lakshya 20:949d13045431 494 telemetry[124] = quant_data.Batt_temp_quant[0];
lakshya 20:949d13045431 495 telemetry[125] = quant_data.Batt_temp_quant[1];
lakshya 20:949d13045431 496 telemetry[126] = BCN_TMP;
lakshya 20:949d13045431 497
lakshya 20:949d13045431 498 //* ANY USE?
lakshya 20:949d13045431 499 ///if(BCN_TX_STATUS==2)
lakshya 20:949d13045431 500 /// telemetry[3] = telemetry[3]|0x20;
lakshya 20:949d13045431 501 ///else
lakshya 20:949d13045431 502 ///telemetry[3] = telemetry[3] & 0xDF;
lakshya 19:79e69017c855 503
lakshya 19:79e69017c855 504 //actual_data.AngularSpeed_actual[0]=5.32498;
lakshya 20:949d13045431 505 ///for(int i=0; i<3; i++)
lakshya 20:949d13045431 506 /// FCTN_CONVERT_FLOAT((float)actual_data.Bvalue_actual[i],&telemetry[26+ (i*4)]);
lakshya 20:949d13045431 507 ///for(int i=0; i<3; i++)
lakshya 20:949d13045431 508 /// FCTN_CONVERT_FLOAT((float)actual_data.AngularSpeed_actual[i],&telemetry[38+(i*4)]);
lakshya 20:949d13045431 509 ///
lakshya 20:949d13045431 510 for (int i=127; i<132;i++)
lakshya 19:79e69017c855 511 {
lakshya 19:79e69017c855 512 telemetry[i] = 0x00;
lakshya 19:79e69017c855 513 }
lakshya 19:79e69017c855 514 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 515 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 516 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 517
lakshya 19:79e69017c855 518 break;
lakshya 19:79e69017c855 519 }
lakshya 19:79e69017c855 520 case 0x0001:
lakshya 19:79e69017c855 521 {
lakshya 19:79e69017c855 522 printf("\r\nhk data tm");
lakshya 19:79e69017c855 523 telemetry[0] = 0x60;
lakshya 19:79e69017c855 524 telemetry[1] = tc[0];
lakshya 19:79e69017c855 525 telemetry[2] = ACK_CODE;
lakshya 19:79e69017c855 526
lakshya 19:79e69017c855 527 for(int i;i<16;i++)
lakshya 20:949d13045431 528 {
lakshya 20:949d13045431 529 telemetry[i+3] = bae_HK_minmax.voltage_max[i];
lakshya 20:949d13045431 530 telemetry[i+19] = bae_HK_minmax.current_max[i];
lakshya 20:949d13045431 531 }
lakshya 19:79e69017c855 532
lakshya 20:949d13045431 533 telemetry[35] = bae_HK_minmax.Batt_voltage_max;;
lakshya 20:949d13045431 534 telemetry[36] = bae_HK_minmax.BAE_temp_max;
lakshya 19:79e69017c855 535
lakshya 20:949d13045431 536 telemetry[37] = bae_HK_minmax.Batt_SOC_max;
lakshya 19:79e69017c855 537
lakshya 20:949d13045431 538 telemetry[38] = bae_HK_minmax.Batt_temp_max[0];
lakshya 20:949d13045431 539 telemetry[39] = bae_HK_minmax.Batt_temp_max[1];
lakshya 19:79e69017c855 540
lakshya 20:949d13045431 541 /*BCN temp there*/
lakshya 20:949d13045431 542 telemetry[40] = bae_HK_minmax.BCN_TEMP_max;
lakshya 19:79e69017c855 543
lakshya 19:79e69017c855 544 for(int i=0; i<3; i++)
lakshya 20:949d13045431 545 {
lakshya 20:949d13045431 546 telemetry[41+i] = bae_HK_minmax.bit_data_acs_mm_max[i];
lakshya 20:949d13045431 547 telemetry[44+i] = bae_HK_minmax.bit_data_acs_mg_max[i];
lakshya 20:949d13045431 548 }
lakshya 19:79e69017c855 549
lakshya 19:79e69017c855 550 /*min data*/
lakshya 19:79e69017c855 551
lakshya 19:79e69017c855 552 for(int i;i<16;i++)
lakshya 20:949d13045431 553 telemetry[i+47] = bae_HK_minmax.voltage_min[i];
lakshya 19:79e69017c855 554
lakshya 20:949d13045431 555 for(int i;i<16;i++)
lakshya 20:949d13045431 556 telemetry[i+63] = bae_HK_minmax.current_min[i];
lakshya 19:79e69017c855 557
lakshya 20:949d13045431 558 telemetry[79] = bae_HK_minmax.Batt_voltage_min;
lakshya 20:949d13045431 559 telemetry[80] = bae_HK_minmax.BAE_temp_min;
lakshya 19:79e69017c855 560
lakshya 19:79e69017c855 561 /*battery soc*/
lakshya 20:949d13045431 562 telemetry[81] = bae_HK_minmax.Batt_SOC_min;
lakshya 19:79e69017c855 563
lakshya 20:949d13045431 564 telemetry[82] = bae_HK_minmax.Batt_temp_min[0];
lakshya 20:949d13045431 565 telemetry[83] = bae_HK_minmax.Batt_temp_min[1];
lakshya 19:79e69017c855 566 //huhu//
lakshya 19:79e69017c855 567
lakshya 20:949d13045431 568 /*BCN temp named as BCN_TS_BUFFER there*/
lakshya 20:949d13045431 569 telemetry[84] = bae_HK_minmax.BCN_TEMP_min;
lakshya 19:79e69017c855 570
lakshya 19:79e69017c855 571 for(int i=0; i<3; i++)
lakshya 20:949d13045431 572 {
lakshya 20:949d13045431 573 telemetry[85+i] = bae_HK_minmax.bit_data_acs_mm_min[i];
lakshya 20:949d13045431 574 telemetry[88+i] = bae_HK_minmax.bit_data_acs_mg_min[i];
lakshya 20:949d13045431 575 }
lakshya 20:949d13045431 576
lakshya 20:949d13045431 577 telemetry[90] = BCN_TX_OC_FAULT;
lakshya 20:949d13045431 578 telemetry[90] = (telemetry[90]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 20:949d13045431 579 telemetry[90] = (telemetry[90]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 20:949d13045431 580 telemetry[90] = (telemetry[90]<<1) | ACS_TR_XY_FAULT;
lakshya 20:949d13045431 581 //EPS CHARGER
lakshya 20:949d13045431 582 telemetry[90] = (telemetry[90]<<1) | EPS_CHARGER_FAULT;//eps_charger;
lakshya 20:949d13045431 583 telemetry[90] = (telemetry[90]<<1) | CDMS_OC_FAULT;
lakshya 20:949d13045431 584 telemetry[90] = (telemetry[90]<<1) | ACS_ATS1_OC_FAULT;
lakshya 20:949d13045431 585 telemetry[90] = (telemetry[90]<<1) | ACS_ATS2_OC_FAULT;
lakshya 20:949d13045431 586
lakshya 20:949d13045431 587 telemetry[91] = ACS_TR_Z_FAULT;
lakshya 20:949d13045431 588 //spare 23 bits
lakshya 20:949d13045431 589 telemetry[92] = 0x00;
lakshya 20:949d13045431 590 telemetry[93] = 0x00;
lakshya 20:949d13045431 591
lakshya 20:949d13045431 592 for (int i=94; i<132;i++)
lakshya 19:79e69017c855 593 {
lakshya 19:79e69017c855 594 telemetry[i] = 0x00;
lakshya 19:79e69017c855 595 }
lakshya 19:79e69017c855 596 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 597 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 598 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 599 break;
lakshya 19:79e69017c855 600 }
lakshya 19:79e69017c855 601 default://invalid MID
lakshya 19:79e69017c855 602 {
lakshya 19:79e69017c855 603 //ACK_L234_telemetry
lakshya 19:79e69017c855 604 telemetry[0]=0xB0;
lakshya 19:79e69017c855 605 telemetry[1]=tc[0];
lakshya 19:79e69017c855 606 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 607 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 608 {
lakshya 19:79e69017c855 609 telemetry[i]=0x00;
lakshya 19:79e69017c855 610 }
lakshya 19:79e69017c855 611 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 612 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 613 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 614 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 615 {
lakshya 19:79e69017c855 616 telemetry[i]=0x00;
lakshya 19:79e69017c855 617 }
lakshya 19:79e69017c855 618 break;
lakshya 19:79e69017c855 619 }
lakshya 19:79e69017c855 620 }
lakshya 19:79e69017c855 621 break;
lakshya 19:79e69017c855 622 }
lakshya 19:79e69017c855 623 case 0x05:
lakshya 19:79e69017c855 624 {
lakshya 19:79e69017c855 625 printf("\n\rdata for mms 0x05 flash");
lakshya 19:79e69017c855 626 /*changed*/
lakshya 19:79e69017c855 627 printf("\n\rwrite on flash\n");
lakshya 20:949d13045431 628 uint32_t FLASH_DATA;//256 bits
lakshya 19:79e69017c855 629
lakshya 19:79e69017c855 630 uint8_t VALID_MID;//to determine wether mid is valid or not otherwise to much repetition of code 1 meaning valid
lakshya 19:79e69017c855 631
lakshya 19:79e69017c855 632 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 633 switch(MID )
lakshya 19:79e69017c855 634 {
lakshya 20:949d13045431 635 case 0x1100:
lakshya 19:79e69017c855 636 {
lakshya 20:949d13045431 637 //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 638 //FCTN_BAE_WR_FLASH(0,FLASH_DATA[0]);
lakshya 20:949d13045431 639 BCN_LONG_MSG_TYPE = tc[8];
lakshya 20:949d13045431 640 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 641 FLASH_DATA = (FLASH_DATA & 0xFFFFFBFF) | (10<<(uint32_t)tc[8]);//see if uint8 to uint32 conversion works
lakshya 20:949d13045431 642 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 643 VALID_MID=1;
lakshya 19:79e69017c855 644 break;
lakshya 19:79e69017c855 645 }
lakshya 19:79e69017c855 646 case 0x0101:
lakshya 19:79e69017c855 647 {
lakshya 20:949d13045431 648 //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 649 ACS_DETUMBLING_ALGO_TYPE = (tc[8] & 0x01);
lakshya 27:61c856be467e 650 ACS_STATE = (tc[8]>>1) & 0x0F;
lakshya 20:949d13045431 651 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 652 FLASH_DATA = (FLASH_DATA & 0xFFF07FFF) | (15<<(uint32_t)tc[8]);
lakshya 20:949d13045431 653 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 654 VALID_MID=1;
lakshya 19:79e69017c855 655 break;
lakshya 19:79e69017c855 656 }
lakshya 19:79e69017c855 657
lakshya 19:79e69017c855 658 case 0x0102:
lakshya 19:79e69017c855 659 {
lakshya 20:949d13045431 660 //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 661 //EPS_BATTERY_HEATER_ENABLE = tc[8];
lakshya 20:949d13045431 662 EPS_BTRY_HTR_AUTO = tc[8];
lakshya 20:949d13045431 663 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 664 FLASH_DATA = (FLASH_DATA & 0xFFFFFDFF) | (9<<(uint32_t)tc[8]);
lakshya 20:949d13045431 665 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 666 VALID_MID=1;
lakshya 19:79e69017c855 667 break;
lakshya 19:79e69017c855 668 }
lakshya 19:79e69017c855 669
lakshya 19:79e69017c855 670 case 0x0103:
lakshya 19:79e69017c855 671 {
lakshya 20:949d13045431 672 //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 673 ACS_MAG_TIME_DELAY = tc[7];
lakshya 20:949d13045431 674 ACS_DEMAG_TIME_DELAY = tc[8];
lakshya 20:949d13045431 675 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 676 FLASH_DATA = (FLASH_DATA & 0xFFFF0000) | (8<<(uint32_t)tc[7]) | ((uint32_t)tc[8]);
lakshya 20:949d13045431 677 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 678 VALID_MID=1;
lakshya 19:79e69017c855 679 break;
lakshya 19:79e69017c855 680 }
lakshya 19:79e69017c855 681 case 0x0104:
lakshya 19:79e69017c855 682 {
lakshya 20:949d13045431 683 //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 684 ACS_Z_FIXED_MOMENT = (8<<(uint16_t)tc[7]) | (uint16_t)tc[8];
lakshya 20:949d13045431 685 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(6);
lakshya 20:949d13045431 686 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)ACS_Z_FIXED_MOMENT<<16);
lakshya 20:949d13045431 687 FCTN_BAE_WR_FLASH(6,FLASH_DATA);
lakshya 19:79e69017c855 688 VALID_MID=1;
lakshya 19:79e69017c855 689 break;
lakshya 19:79e69017c855 690 }
lakshya 20:949d13045431 691 case 0x0106:
lakshya 19:79e69017c855 692 {
lakshya 20:949d13045431 693 //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 694 ACS_MM_Z_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 695 ACS_MG_Z_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 696 FLASH_DATA = ((uint32_t)ACS_MM_Z_COMSN<<16) | (uint32_t)ACS_MG_Z_COMSN;
lakshya 20:949d13045431 697 FCTN_BAE_WR_FLASH(5,FLASH_DATA);
lakshya 20:949d13045431 698 VALID_MID=1;
lakshya 20:949d13045431 699 break;
lakshya 20:949d13045431 700 }
lakshya 20:949d13045431 701 case 0x0107:
lakshya 20:949d13045431 702 {
lakshya 20:949d13045431 703 //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 704 EPS_SOC_LEVEL_12 = tc[7];
lakshya 20:949d13045431 705 EPS_SOC_LEVEL_23 = tc[8];
lakshya 20:949d13045431 706 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 707 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)tc[7]<<24) | ((uint32_t)tc[8]<<16);
lakshya 20:949d13045431 708 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 709 VALID_MID=1;
lakshya 19:79e69017c855 710 break;
lakshya 19:79e69017c855 711 }
lakshya 20:949d13045431 712 case 0x0108:
lakshya 19:79e69017c855 713 {
lakshya 20:949d13045431 714 //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 715 ACS_MM_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 716 ACS_MM_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 717 FLASH_DATA = ((uint32_t)ACS_MM_X_COMSN<<16) | (uint32_t)ACS_MM_Y_COMSN;
lakshya 20:949d13045431 718 FCTN_BAE_WR_FLASH(3,FLASH_DATA);
lakshya 19:79e69017c855 719 VALID_MID=1;
lakshya 19:79e69017c855 720 break;
lakshya 19:79e69017c855 721 }
lakshya 20:949d13045431 722 case 0x0109:
lakshya 19:79e69017c855 723 {
lakshya 20:949d13045431 724 //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 725 ACS_MG_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 726 ACS_MG_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 727 FLASH_DATA = ((uint32_t)ACS_MG_X_COMSN<<16) | (uint32_t)ACS_MG_Y_COMSN;
lakshya 20:949d13045431 728 FCTN_BAE_WR_FLASH(4,FLASH_DATA);
lakshya 19:79e69017c855 729 VALID_MID=1;
lakshya 19:79e69017c855 730 break;
lakshya 19:79e69017c855 731 }
lakshya 19:79e69017c855 732
lakshya 19:79e69017c855 733 default:
lakshya 19:79e69017c855 734 {
lakshya 19:79e69017c855 735 printf("Invalid MMS case 0x05 invalid MID\r\n");
lakshya 19:79e69017c855 736 VALID_MID=0;
lakshya 19:79e69017c855 737 //ACK_L234_telemetry
lakshya 19:79e69017c855 738 break;
lakshya 19:79e69017c855 739
lakshya 19:79e69017c855 740 }
lakshya 19:79e69017c855 741 }
lakshya 19:79e69017c855 742
lakshya 19:79e69017c855 743 if(VALID_MID==1)//valid MID
lakshya 19:79e69017c855 744 {
lakshya 19:79e69017c855 745 telemetry[0]=0xB0;//or 0x60? check
lakshya 19:79e69017c855 746 telemetry[1]=tc[0];
lakshya 19:79e69017c855 747 telemetry[2]=0xA0;// when valid
lakshya 19:79e69017c855 748 }
lakshya 19:79e69017c855 749 else if(VALID_MID==0)//invalid MID
lakshya 19:79e69017c855 750 {
lakshya 19:79e69017c855 751 telemetry[0]=0xB0;
lakshya 19:79e69017c855 752 telemetry[1]=tc[0];
lakshya 19:79e69017c855 753 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 754 }
lakshya 19:79e69017c855 755
lakshya 19:79e69017c855 756 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 757 {
lakshya 19:79e69017c855 758 telemetry[i]=0x00;
lakshya 19:79e69017c855 759 }
lakshya 19:79e69017c855 760 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 761 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 762 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 763 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 764 {
lakshya 19:79e69017c855 765 telemetry[i]=0x00;
lakshya 19:79e69017c855 766 }
lakshya 19:79e69017c855 767
lakshya 19:79e69017c855 768 printf("\n\rWritten on Flash");
lakshya 19:79e69017c855 769 break;
lakshya 19:79e69017c855 770 }
lakshya 19:79e69017c855 771 default://when invalid service subtype
lakshya 19:79e69017c855 772 {
lakshya 19:79e69017c855 773 printf("\n\r MMS invalid Service Subtype");
lakshya 19:79e69017c855 774 //ACK_L234_telemetry
lakshya 19:79e69017c855 775 telemetry[0]=0xB0;
lakshya 19:79e69017c855 776 telemetry[1]=tc[0];
lakshya 19:79e69017c855 777 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 778 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 779 {
lakshya 19:79e69017c855 780 telemetry[i]=0x00;
lakshya 19:79e69017c855 781 }
lakshya 19:79e69017c855 782 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 783 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 784 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 785 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 786 {
lakshya 19:79e69017c855 787 telemetry[i]=0x00;
lakshya 19:79e69017c855 788 }
lakshya 19:79e69017c855 789 break;
lakshya 19:79e69017c855 790 }
lakshya 19:79e69017c855 791 }
lakshya 19:79e69017c855 792 break;
lakshya 19:79e69017c855 793 }
lakshya 19:79e69017c855 794 case 0x80:
lakshya 19:79e69017c855 795 {
lakshya 19:79e69017c855 796 //printf("Function Management Service\r\n");
lakshya 19:79e69017c855 797 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 798 switch(service_subtype)
lakshya 19:79e69017c855 799 {
lakshya 19:79e69017c855 800 case 0x01:
lakshya 19:79e69017c855 801 {
lakshya 19:79e69017c855 802 printf("\n\rFMS Activated");
lakshya 19:79e69017c855 803 uint8_t fid=tc[3];//changed from pid to fid
lakshya 19:79e69017c855 804 switch(fid)
lakshya 19:79e69017c855 805 {
lakshya 19:79e69017c855 806 case 0xE0:
lakshya 19:79e69017c855 807 {
lakshya 20:949d13045431 808 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 809 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 810 float moment_comm[3];
lakshya 20:949d13045431 811 printf("ACS_COMSN SOFTWARE\r\n");
lakshya 19:79e69017c855 812 //ACK_L234_telemetry
lakshya 20:949d13045431 813 ACS_STATE = tc[4];
lakshya 20:949d13045431 814 if(ACS_STATE == 7) // Nominal mode
lakshya 20:949d13045431 815 {
lakshya 20:949d13045431 816 printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 817 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 20:949d13045431 818 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 819 for(int i=0; i<3; i++)
lakshya 20:949d13045431 820 {
lakshya 20:949d13045431 821 printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 822 }
lakshya 20:949d13045431 823
lakshya 20:949d13045431 824 }
lakshya 20:949d13045431 825 else if(ACS_STATE == 8) // Auto Control
lakshya 20:949d13045431 826 {
lakshya 20:949d13045431 827 printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 828 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 20:949d13045431 829 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 830 for(int i=0; i<3; i++)
lakshya 20:949d13045431 831 {
lakshya 20:949d13045431 832 printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 833 }
lakshya 20:949d13045431 834 }
lakshya 20:949d13045431 835 else if(ACS_STATE == 9) // Detumbling
lakshya 20:949d13045431 836 {
lakshya 20:949d13045431 837 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 20:949d13045431 838 printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 839 for(int i=0; i<3; i++)
lakshya 20:949d13045431 840 {
lakshya 20:949d13045431 841 printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 842 }
lakshya 20:949d13045431 843 }
lakshya 19:79e69017c855 844 else
lakshya 19:79e69017c855 845 {
lakshya 20:949d13045431 846 ACS_STATUS = 7;
lakshya 19:79e69017c855 847 }
lakshya 20:949d13045431 848
lakshya 20:949d13045431 849 // Control algo commissioning
lakshya 20:949d13045431 850 FCTN_CONVERT_FLOAT(moment_comm[0],&telemetry[4]); //telemetry[4] - telemetry[7]
lakshya 20:949d13045431 851 FCTN_CONVERT_FLOAT(moment_comm[1],&telemetry[8]); //telemetry[8] - telemetry[11]
lakshya 20:949d13045431 852 FCTN_CONVERT_FLOAT(moment_comm[2],&telemetry[12]); //telemetry[12] - telemetry[15]
lakshya 19:79e69017c855 853 // to include commission TR as well
lakshya 19:79e69017c855 854 for(uint8_t i=16;i<132;i++)
lakshya 19:79e69017c855 855 {
lakshya 19:79e69017c855 856 telemetry[i]=0x00;
lakshya 19:79e69017c855 857 }
lakshya 19:79e69017c855 858 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 20:949d13045431 859 telemetry[133] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 20:949d13045431 860 telemetry[134] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 861 break;
lakshya 19:79e69017c855 862 }
lakshya 19:79e69017c855 863 case 0xE1:
lakshya 19:79e69017c855 864 {
lakshya 20:949d13045431 865 printf("HARDWARE_COMSN\r\n");
lakshya 19:79e69017c855 866 //ACK_L234_telemetry
lakshya 20:949d13045431 867
lakshya 20:949d13045431 868 int init1=0;
lakshya 20:949d13045431 869 int init2=0;
lakshya 20:949d13045431 870 int data1=0;
lakshya 20:949d13045431 871 int data2=0;
lakshya 19:79e69017c855 872
lakshya 20:949d13045431 873 float PWM_tc[3];
lakshya 20:949d13045431 874 PWM_tc[0]=(float(tc[4]))*1;
lakshya 20:949d13045431 875 PWM_tc[1]=(float(tc[4]))*1;
lakshya 20:949d13045431 876 PWM_tc[2]=(float(tc[4]))*1;
lakshya 20:949d13045431 877
lakshya 20:949d13045431 878 DRV_Z_EN = 1;
lakshya 20:949d13045431 879 DRV_XY_EN = 1;
lakshya 20:949d13045431 880 telemetry[0]=0xB0;
lakshya 19:79e69017c855 881 telemetry[1]=tc[0];
lakshya 19:79e69017c855 882 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 883
lakshya 20:949d13045431 884 PWM1 = 0;
lakshya 20:949d13045431 885 PWM2 = 0;
lakshya 20:949d13045431 886 PWM3 = 0;
lakshya 20:949d13045431 887
lakshya 20:949d13045431 888 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 889 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 890 wait_ms(5);
lakshya 20:949d13045431 891 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 892 wait_ms(5);
lakshya 20:949d13045431 893 //will it lead to causing delay in i2c interrupt
lakshya 20:949d13045431 894 init1 = SENSOR_INIT();
lakshya 20:949d13045431 895 if( init1 == 1)
lakshya 20:949d13045431 896 {
lakshya 20:949d13045431 897 data1 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 898 }
lakshya 20:949d13045431 899 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 900 wait_ms(5);
lakshya 20:949d13045431 901 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 902 wait_ms(5);
lakshya 20:949d13045431 903
lakshya 20:949d13045431 904 if(data1 == 0)
lakshya 20:949d13045431 905 {
lakshya 20:949d13045431 906 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 907 wait_ms(5);
lakshya 20:949d13045431 908 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
lakshya 20:949d13045431 909 }
lakshya 20:949d13045431 910 else if(data1==1)
lakshya 20:949d13045431 911 {
lakshya 20:949d13045431 912 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x10;
lakshya 20:949d13045431 913 }
lakshya 20:949d13045431 914 else if(data1==2)
lakshya 20:949d13045431 915 {
lakshya 20:949d13045431 916 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x20;
lakshya 20:949d13045431 917 }
lakshya 20:949d13045431 918 else if(data1==3)
lakshya 20:949d13045431 919 {
lakshya 20:949d13045431 920 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x30;
lakshya 20:949d13045431 921 }
lakshya 20:949d13045431 922 init2 = SENSOR_INIT();
lakshya 20:949d13045431 923 if( init2 == 1)
lakshya 20:949d13045431 924 {
lakshya 20:949d13045431 925 data2 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 926 }
lakshya 20:949d13045431 927 uint8_t ats_data=1;
lakshya 19:79e69017c855 928
lakshya 20:949d13045431 929 if(data2 == 0)
lakshya 20:949d13045431 930 {
lakshya 20:949d13045431 931 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 932 wait_ms(5);
lakshya 20:949d13045431 933 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x0C;
lakshya 20:949d13045431 934 if(data1 == 2)
lakshya 20:949d13045431 935 {
lakshya 20:949d13045431 936 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 937 wait_ms(5);
lakshya 20:949d13045431 938 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 20:949d13045431 939 }
lakshya 20:949d13045431 940 else if(data1 == 3)
lakshya 20:949d13045431 941 {
lakshya 20:949d13045431 942 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 943 wait_ms(5);
lakshya 20:949d13045431 944 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 20:949d13045431 945 }
lakshya 20:949d13045431 946 else if(data1 == 1)
lakshya 20:949d13045431 947 {
lakshya 20:949d13045431 948 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 949 wait_ms(5);
lakshya 20:949d13045431 950 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 20:949d13045431 951 ats_data = 0;
lakshya 20:949d13045431 952 }
lakshya 20:949d13045431 953
lakshya 20:949d13045431 954 }
lakshya 20:949d13045431 955 else if(data2==1)
lakshya 20:949d13045431 956 {
lakshya 20:949d13045431 957 if(data1 == 2)
lakshya 20:949d13045431 958 {
lakshya 20:949d13045431 959 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 960 wait_ms(5);
lakshya 20:949d13045431 961 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 962 wait_ms(5);
lakshya 20:949d13045431 963 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 964 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
lakshya 20:949d13045431 965 }
lakshya 20:949d13045431 966 else if(data1 == 3)
lakshya 20:949d13045431 967 {
lakshya 20:949d13045431 968 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 969 wait_ms(5);
lakshya 20:949d13045431 970 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 971 wait_ms(5);
lakshya 20:949d13045431 972 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 973 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 20:949d13045431 974 }
lakshya 20:949d13045431 975 else
lakshya 20:949d13045431 976 {
lakshya 20:949d13045431 977 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 20:949d13045431 978 ats_data = 0;
lakshya 20:949d13045431 979 }
lakshya 20:949d13045431 980 }
lakshya 20:949d13045431 981
lakshya 20:949d13045431 982 else if(data2==2)
lakshya 20:949d13045431 983 {
lakshya 20:949d13045431 984 if(data1 == 3)
lakshya 20:949d13045431 985 {
lakshya 20:949d13045431 986 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 987 wait_ms(5);
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)|0x02;
lakshya 20:949d13045431 991 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 20:949d13045431 992 }
lakshya 20:949d13045431 993 else
lakshya 20:949d13045431 994 {
lakshya 20:949d13045431 995 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 20:949d13045431 996 }
lakshya 20:949d13045431 997 }
lakshya 20:949d13045431 998 else if(data2==3)
lakshya 20:949d13045431 999 {
lakshya 20:949d13045431 1000 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 20:949d13045431 1001 }
lakshya 19:79e69017c855 1002
lakshya 20:949d13045431 1003 SelectLineb3 =0;
lakshya 20:949d13045431 1004 SelectLineb2 =1;
lakshya 20:949d13045431 1005 SelectLineb1 =0;
lakshya 20:949d13045431 1006 SelectLineb0 =1;
lakshya 20:949d13045431 1007 int resistance;
lakshya 20:949d13045431 1008 PWM1 = PWM_tc[0];
lakshya 20:949d13045431 1009 PWM2 = 0;
lakshya 20:949d13045431 1010 PWM3 = 0;
lakshya 20:949d13045431 1011
lakshya 20:949d13045431 1012 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1013 if(ats_data == 0)
lakshya 20:949d13045431 1014 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1015 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1016 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1017
lakshya 20:949d13045431 1018 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1019 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1020 {
lakshya 20:949d13045431 1021 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1022 }
lakshya 20:949d13045431 1023 else
lakshya 20:949d13045431 1024 {
lakshya 20:949d13045431 1025 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1026 }
lakshya 20:949d13045431 1027
lakshya 20:949d13045431 1028 //to be edited final tele
lakshya 20:949d13045431 1029 uint16_t assign_val;
lakshya 20:949d13045431 1030 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 20:949d13045431 1031 telemetry[29] = (assign_val>>8);
lakshya 20:949d13045431 1032 telemetry[30] = assign_val;
lakshya 20:949d13045431 1033
lakshya 20:949d13045431 1034 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 20:949d13045431 1035 telemetry[31] = (assign_val>>8);
lakshya 20:949d13045431 1036 telemetry[32] = assign_val;
lakshya 20:949d13045431 1037
lakshya 20:949d13045431 1038 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 20:949d13045431 1039 telemetry[33] = (assign_val>>8);
lakshya 20:949d13045431 1040 telemetry[34] = assign_val;
lakshya 20:949d13045431 1041
lakshya 20:949d13045431 1042 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 20:949d13045431 1043 telemetry[35] = (assign_val>>8);
lakshya 20:949d13045431 1044 telemetry[36] = assign_val;
lakshya 20:949d13045431 1045
lakshya 20:949d13045431 1046 PWM1 = 0;
lakshya 20:949d13045431 1047 PWM2 = PWM_tc[1];
lakshya 20:949d13045431 1048 PWM3 = 0;
lakshya 20:949d13045431 1049
lakshya 20:949d13045431 1050 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1051
lakshya 20:949d13045431 1052 if(ats_data == 0)
lakshya 20:949d13045431 1053 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1054 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1055 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1056
lakshya 20:949d13045431 1057
lakshya 20:949d13045431 1058 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1059 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1060 {
lakshya 20:949d13045431 1061 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1062 }
lakshya 20:949d13045431 1063 else
lakshya 20:949d13045431 1064 {
lakshya 20:949d13045431 1065 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1066 }
lakshya 20:949d13045431 1067 FCTN_CONVERT_FLOAT(actual_data.current_actual[5],&telemetry[3 + (4*4)]);
lakshya 20:949d13045431 1068 FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[0],&telemetry[3 + (5*4)]);
lakshya 20:949d13045431 1069 FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[1],&telemetry[3 + (6*4)]);
lakshya 20:949d13045431 1070 FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[2],&telemetry[3 + (7*4)]);
lakshya 20:949d13045431 1071
lakshya 20:949d13045431 1072 PWM1 = 0;
lakshya 20:949d13045431 1073 PWM2 = 0;
lakshya 20:949d13045431 1074 PWM3 = PWM_tc[2];
lakshya 20:949d13045431 1075
lakshya 20:949d13045431 1076 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1077
lakshya 20:949d13045431 1078 if(ats_data == 0)
lakshya 20:949d13045431 1079 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1080 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1081 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1082
lakshya 20:949d13045431 1083 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1084 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1085 {
lakshya 20:949d13045431 1086 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1087 }
lakshya 20:949d13045431 1088 else
lakshya 20:949d13045431 1089 {
lakshya 20:949d13045431 1090 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1091 }
lakshya 20:949d13045431 1092
lakshya 20:949d13045431 1093 FCTN_CONVERT_FLOAT(actual_data.current_actual[5],&telemetry[3 + (4*4)]);
lakshya 20:949d13045431 1094 FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[0],&telemetry[3 + (5*4)]);
lakshya 20:949d13045431 1095 FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[1],&telemetry[3 + (6*4)]);
lakshya 20:949d13045431 1096 FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[2],&telemetry[3 + (7*4)]);
lakshya 20:949d13045431 1097
lakshya 20:949d13045431 1098 PWM1 = 0;
lakshya 20:949d13045431 1099 PWM2 = 0;
lakshya 20:949d13045431 1100 PWM3 = 0;
lakshya 20:949d13045431 1101
lakshya 20:949d13045431 1102 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1103
lakshya 20:949d13045431 1104 if(ats_data == 0)
lakshya 20:949d13045431 1105 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1106 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1107 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1108
lakshya 20:949d13045431 1109 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1110 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1111 {
lakshya 20:949d13045431 1112 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1113 }
lakshya 20:949d13045431 1114 else
lakshya 20:949d13045431 1115 {
lakshya 20:949d13045431 1116 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1117 }
lakshya 20:949d13045431 1118 FCTN_CONVERT_FLOAT(actual_data.current_actual[5],&telemetry[3 + (8*4)]);
lakshya 20:949d13045431 1119 FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[0],&telemetry[3 + (9*4)]);
lakshya 20:949d13045431 1120 FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[1],&telemetry[3 + (10*4)]);
lakshya 20:949d13045431 1121 FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[2],&telemetry[3 + (11*4)]);
lakshya 20:949d13045431 1122
lakshya 20:949d13045431 1123 // for(int i=0; i<12; i++)
lakshya 20:949d13045431 1124 // FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&telemetry[16 + (i*4)]);
lakshya 20:949d13045431 1125
lakshya 20:949d13045431 1126 // FCTN_ATS_DATA_ACQ(); //get data
lakshya 19:79e69017c855 1127
lakshya 20:949d13045431 1128 // to include commission TR as well
lakshya 20:949d13045431 1129 for(uint8_t i=35;i<132;i++)
lakshya 19:79e69017c855 1130 {
lakshya 20:949d13045431 1131 telemetry[i]=0x00;
lakshya 19:79e69017c855 1132 }
lakshya 19:79e69017c855 1133
lakshya 19:79e69017c855 1134 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 20:949d13045431 1135 telemetry[133] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 20:949d13045431 1136 telemetry[134] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1137 break;
lakshya 19:79e69017c855 1138 }
lakshya 19:79e69017c855 1139 case 0xE2:
lakshya 19:79e69017c855 1140 {
lakshya 20:949d13045431 1141 uint8_t BCN_SPND_STATE;
lakshya 20:949d13045431 1142 BCN_SPND_STATE=tc[4];
lakshya 20:949d13045431 1143 if(BCN_SPND_STATE==0x00)
lakshya 19:79e69017c855 1144 {
lakshya 20:949d13045431 1145 BCN_SPND_TX=0;
lakshya 19:79e69017c855 1146 //stop BCN_STANDBY_TIMER.stop();//create
lakshya 19:79e69017c855 1147 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1148 }
lakshya 20:949d13045431 1149 else if(BCN_SPND_STATE==0x01)
lakshya 19:79e69017c855 1150 {
lakshya 33:76f2b8735501 1151 FCTN_BCN_SPND_TX();
lakshya 19:79e69017c855 1152 //stop BCN_STANDBY_TIMER.start();//create
lakshya 19:79e69017c855 1153 if(BCN_TX_MAIN_STATUS==0)
lakshya 19:79e69017c855 1154 {
lakshya 19:79e69017c855 1155 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1156 }
lakshya 19:79e69017c855 1157 else if(BCN_TX_MAIN_STATUS==1)
lakshya 19:79e69017c855 1158 {
lakshya 19:79e69017c855 1159 telemetry[2]=0xC0;
lakshya 19:79e69017c855 1160 }
lakshya 19:79e69017c855 1161 }
lakshya 19:79e69017c855 1162 else
lakshya 19:79e69017c855 1163 {
lakshya 19:79e69017c855 1164 telemetry[2]=0x02;
lakshya 19:79e69017c855 1165 }
lakshya 19:79e69017c855 1166 //ACK_L234_telemetry
lakshya 19:79e69017c855 1167 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1168 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1169 //ack_code taken care above
lakshya 19:79e69017c855 1170 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1171 {
lakshya 19:79e69017c855 1172 telemetry[i]=0x00;
lakshya 19:79e69017c855 1173 }
lakshya 19:79e69017c855 1174 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1175 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1176 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1177 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1178 {
lakshya 19:79e69017c855 1179 telemetry[i]=0x00;
lakshya 19:79e69017c855 1180 }
lakshya 19:79e69017c855 1181 break;
lakshya 19:79e69017c855 1182 }
lakshya 20:949d13045431 1183 case 0xE3:
lakshya 20:949d13045431 1184 {
lakshya 20:949d13045431 1185 if(EPS_BTRY_HTR_AUTO != 0)
lakshya 20:949d13045431 1186 telemetry[2]=0x87;
lakshya 20:949d13045431 1187 else
lakshya 20:949d13045431 1188 {
lakshya 20:949d13045431 1189 HTR_CYCLE_COUNTS = tc[4];
lakshya 20:949d13045431 1190 if(HTR_CYCLE_COUNTS==0x00)
lakshya 20:949d13045431 1191 {
lakshya 33:76f2b8735501 1192 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 1193 HTR_CYCLE->stop();
lakshya 20:949d13045431 1194 //clear EPS_BTRY_HTR is it
lakshya 20:949d13045431 1195 EPS_BTRY_HTR_AUTO = 0;
lakshya 20:949d13045431 1196
lakshya 20:949d13045431 1197 }
lakshya 20:949d13045431 1198 else
lakshya 20:949d13045431 1199 {
lakshya 20:949d13045431 1200 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 1201 {
lakshya 20:949d13045431 1202 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 1203 }
lakshya 20:949d13045431 1204 //uint8_t HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1205 HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1206 HTR_ON_DURATION = tc[6];
lakshya 20:949d13045431 1207
lakshya 20:949d13045431 1208 //make it uint16_t
lakshya 20:949d13045431 1209 HTR_CYCLE_PERIOD = (tc[7]<<8) | tc[8];
lakshya 20:949d13045431 1210 //start BTRY_HTR_DLY_TIMER;
lakshya 20:949d13045431 1211 }
lakshya 20:949d13045431 1212 telemetry[2]=0xA0;
lakshya 20:949d13045431 1213 }
lakshya 20:949d13045431 1214 //ACK_L234_telemetry
lakshya 20:949d13045431 1215 telemetry[0]=0xB0;
lakshya 20:949d13045431 1216 telemetry[1]=tc[0];
lakshya 20:949d13045431 1217 //ACK code taken care of
lakshya 20:949d13045431 1218 for(uint8_t i=3;i<11;i++)
lakshya 20:949d13045431 1219 {
lakshya 20:949d13045431 1220 telemetry[i]=0x00;
lakshya 20:949d13045431 1221 }
lakshya 20:949d13045431 1222 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 20:949d13045431 1223 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 20:949d13045431 1224 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 20:949d13045431 1225 for(uint8_t i=13;i<134;i++)
lakshya 20:949d13045431 1226 {
lakshya 20:949d13045431 1227 telemetry[i]=0x00;
lakshya 20:949d13045431 1228 }
lakshya 20:949d13045431 1229
lakshya 20:949d13045431 1230 break;
lakshya 20:949d13045431 1231 }
lakshya 19:79e69017c855 1232 case 0x01:
lakshya 19:79e69017c855 1233 { if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1234 {
lakshya 19:79e69017c855 1235 printf("\n\rRun P_EPS_INIT");
lakshya 19:79e69017c855 1236 FCTN_EPS_INIT();
lakshya 19:79e69017c855 1237 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1238 }
lakshya 19:79e69017c855 1239 else
lakshya 19:79e69017c855 1240 {
lakshya 19:79e69017c855 1241 printf("\n\runable to Run P_EPS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1242 telemetry[2]=0x87;
lakshya 19:79e69017c855 1243 }
lakshya 19:79e69017c855 1244
lakshya 19:79e69017c855 1245 //ACK_L234_telemetry
lakshya 19:79e69017c855 1246 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1247 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1248 //ACK code taken care of
lakshya 19:79e69017c855 1249 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1250 {
lakshya 19:79e69017c855 1251 telemetry[i]=0x00;
lakshya 19:79e69017c855 1252 }
lakshya 19:79e69017c855 1253 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1254 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1255 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1256 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1257 {
lakshya 19:79e69017c855 1258 telemetry[i]=0x00;
lakshya 19:79e69017c855 1259 }
lakshya 19:79e69017c855 1260
lakshya 19:79e69017c855 1261 break;
lakshya 19:79e69017c855 1262 }
lakshya 19:79e69017c855 1263 case 0x02:
lakshya 19:79e69017c855 1264 {
lakshya 19:79e69017c855 1265 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1266 {
lakshya 19:79e69017c855 1267 printf("\n\rRun P_EPS_MAIN");
lakshya 19:79e69017c855 1268 F_EPS();
lakshya 19:79e69017c855 1269 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1270 }
lakshya 19:79e69017c855 1271 else
lakshya 19:79e69017c855 1272 {
lakshya 19:79e69017c855 1273 printf("\n\runable to Run P_EPS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1274 telemetry[2]=0x87;
lakshya 19:79e69017c855 1275 }
lakshya 19:79e69017c855 1276
lakshya 19:79e69017c855 1277 //ACK_L234_telemetry
lakshya 19:79e69017c855 1278 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1279 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1280 //ACK code taken care of
lakshya 19:79e69017c855 1281 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1282 {
lakshya 19:79e69017c855 1283 telemetry[i]=0x00;
lakshya 19:79e69017c855 1284 }
lakshya 19:79e69017c855 1285 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1286 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1287 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1288 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1289 {
lakshya 19:79e69017c855 1290 telemetry[i]=0x00;
lakshya 19:79e69017c855 1291 }
lakshya 19:79e69017c855 1292 break;
lakshya 19:79e69017c855 1293 }
lakshya 19:79e69017c855 1294 case 0x03:
lakshya 19:79e69017c855 1295 {
lakshya 19:79e69017c855 1296 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1297 {
lakshya 19:79e69017c855 1298 printf("\n\rRun P_ACS_INIT");
lakshya 19:79e69017c855 1299 FCTN_ACS_INIT();
lakshya 19:79e69017c855 1300 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1301 }
lakshya 19:79e69017c855 1302 else
lakshya 19:79e69017c855 1303 {
lakshya 19:79e69017c855 1304 printf("\n\runable to Run P_ACS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1305 telemetry[2]=0x87;
lakshya 19:79e69017c855 1306 }
lakshya 19:79e69017c855 1307
lakshya 19:79e69017c855 1308 //ACK_L234_telemetry
lakshya 19:79e69017c855 1309 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1310 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1311 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1312 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1313 {
lakshya 19:79e69017c855 1314 telemetry[i]=0x00;
lakshya 19:79e69017c855 1315 }
lakshya 19:79e69017c855 1316 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1317 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1318 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1319 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1320 {
lakshya 19:79e69017c855 1321 telemetry[i]=0x00;
lakshya 19:79e69017c855 1322 }
lakshya 19:79e69017c855 1323 break;
lakshya 19:79e69017c855 1324 }
lakshya 19:79e69017c855 1325 case 0x05:
lakshya 19:79e69017c855 1326 {
lakshya 19:79e69017c855 1327 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1328 {
lakshya 19:79e69017c855 1329 printf("\n\rRun P_ACS_MAIN");
lakshya 19:79e69017c855 1330 F_ACS();
lakshya 19:79e69017c855 1331 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1332 }
lakshya 19:79e69017c855 1333 else
lakshya 19:79e69017c855 1334 {
lakshya 19:79e69017c855 1335 printf("\n\runable to Run P_ACS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1336 telemetry[2]=0x87;
lakshya 19:79e69017c855 1337 }
lakshya 19:79e69017c855 1338
lakshya 19:79e69017c855 1339 //ACK_L234_TM
lakshya 19:79e69017c855 1340 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1341 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1342 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1343 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1344 {
lakshya 19:79e69017c855 1345 telemetry[i]=0x00;
lakshya 19:79e69017c855 1346 }
lakshya 19:79e69017c855 1347
lakshya 19:79e69017c855 1348 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1349 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1350 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1351 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1352 {
lakshya 19:79e69017c855 1353 telemetry[i]=0x00;
lakshya 19:79e69017c855 1354 }
lakshya 19:79e69017c855 1355 break;
lakshya 19:79e69017c855 1356 }
lakshya 19:79e69017c855 1357 case 0x06:
lakshya 19:79e69017c855 1358 {
lakshya 19:79e69017c855 1359 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1360 {
lakshya 19:79e69017c855 1361 printf("\n\rRun P_BCN_INIT");
lakshya 19:79e69017c855 1362 F_BCN();
lakshya 19:79e69017c855 1363 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1364 }
lakshya 19:79e69017c855 1365 else
lakshya 19:79e69017c855 1366 {
lakshya 19:79e69017c855 1367 printf("\n\runable to Run P_BCN_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1368 telemetry[2]=0x87;
lakshya 19:79e69017c855 1369 }
lakshya 19:79e69017c855 1370
lakshya 19:79e69017c855 1371 //ACK_L234_TM
lakshya 19:79e69017c855 1372 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1373 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1374 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1375 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1376 {
lakshya 19:79e69017c855 1377 telemetry[i]=0x00;
lakshya 19:79e69017c855 1378 }
lakshya 19:79e69017c855 1379 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1380 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1381 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1382 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1383 {
lakshya 19:79e69017c855 1384 telemetry[i]=0x00;
lakshya 19:79e69017c855 1385 }
lakshya 19:79e69017c855 1386 break;
lakshya 19:79e69017c855 1387 }
lakshya 19:79e69017c855 1388 case 0x07:
lakshya 19:79e69017c855 1389 {
lakshya 19:79e69017c855 1390 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1391 {
lakshya 19:79e69017c855 1392 printf("\n\rRun P_BCN_TX_MAIN");
lakshya 19:79e69017c855 1393 FCTN_BCN_TX_MAIN();//correct function check once
lakshya 19:79e69017c855 1394 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1395 }
lakshya 19:79e69017c855 1396 else
lakshya 19:79e69017c855 1397 {
lakshya 19:79e69017c855 1398 printf("\n\runable to Run P_BCN_TX_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1399 telemetry[2]=0x87;
lakshya 19:79e69017c855 1400 }
lakshya 19:79e69017c855 1401
lakshya 19:79e69017c855 1402 //ACK_L234_TM
lakshya 19:79e69017c855 1403 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1404 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1405 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1406 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1407 {
lakshya 19:79e69017c855 1408 telemetry[i]=0x00;
lakshya 19:79e69017c855 1409 }
lakshya 19:79e69017c855 1410 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1411 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1412 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1413 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1414 {
lakshya 19:79e69017c855 1415 telemetry[i]=0x00;
lakshya 19:79e69017c855 1416 }
lakshya 19:79e69017c855 1417 break;
lakshya 19:79e69017c855 1418 }
lakshya 19:79e69017c855 1419 case 0x11:
lakshya 19:79e69017c855 1420 {
lakshya 19:79e69017c855 1421 printf("\n\rSW_ON_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1422 //ACK_L234_TM
lakshya 19:79e69017c855 1423 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1424 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1425 //____________________________________________************************************
lakshya 19:79e69017c855 1426 /*
lakshya 19:79e69017c855 1427 ATS PIN OR STATUS YET TO BE DECIDED. DECIDED THAT IT IS PIN TC CAN SWITCH ON/OFF THE SENSOR
lakshya 19:79e69017c855 1428 */
lakshya 19:79e69017c855 1429 ATS2_SW_ENABLE = 1; // making sure we switch off the other
lakshya 20:949d13045431 1430 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 20:949d13045431 1431
lakshya 19:79e69017c855 1432 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1433 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F);
lakshya 19:79e69017c855 1434 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1435 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1436 {
lakshya 19:79e69017c855 1437 telemetry[i]=0x00;
lakshya 19:79e69017c855 1438 }
lakshya 19:79e69017c855 1439 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1440 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1441 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1442 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1443 {
lakshya 19:79e69017c855 1444 telemetry[i]=0x00;
lakshya 19:79e69017c855 1445 }
lakshya 19:79e69017c855 1446 break;
lakshya 19:79e69017c855 1447 }
lakshya 19:79e69017c855 1448 case 0x12:
lakshya 19:79e69017c855 1449 {
lakshya 19:79e69017c855 1450 printf("\n\rSW_ON_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1451 //ACK_L234_TM
lakshya 19:79e69017c855 1452 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1453 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1454 ATS1_SW_ENABLE = 1; //make sure u switch off the other
lakshya 20:949d13045431 1455 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F) | 0xC0 ;
lakshya 19:79e69017c855 1456 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 1457 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3);
lakshya 19:79e69017c855 1458 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1459 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1460 {
lakshya 19:79e69017c855 1461 telemetry[i]=0x00;
lakshya 19:79e69017c855 1462 }
lakshya 19:79e69017c855 1463 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1464 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1465 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1466 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1467 {
lakshya 19:79e69017c855 1468 telemetry[i]=0x00;
lakshya 19:79e69017c855 1469 }
lakshya 19:79e69017c855 1470 break;
lakshya 19:79e69017c855 1471 }
lakshya 19:79e69017c855 1472 case 0x13:
lakshya 19:79e69017c855 1473 {
lakshya 19:79e69017c855 1474 printf("\n\rSW_ON_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1475 //ACK_L234_TM
lakshya 19:79e69017c855 1476 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1477 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1478 TRXY_SW = 1;//1 SWITCH enable here
lakshya 19:79e69017c855 1479 ACS_TR_XY_SW_STATUS=0x01;
lakshya 19:79e69017c855 1480 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1481 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1482 {
lakshya 19:79e69017c855 1483 telemetry[i]=0x00;
lakshya 19:79e69017c855 1484 }
lakshya 19:79e69017c855 1485 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1486 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1487 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1488 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1489 {
lakshya 19:79e69017c855 1490 telemetry[i]=0x00;
lakshya 19:79e69017c855 1491 }
lakshya 19:79e69017c855 1492 break;
lakshya 19:79e69017c855 1493 }
lakshya 19:79e69017c855 1494 case 0x14:
lakshya 19:79e69017c855 1495 {
lakshya 19:79e69017c855 1496 printf("\n\rSW_ON_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1497 //ACK_L234_TM
lakshya 19:79e69017c855 1498 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1499 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1500 TRZ_SW = 1;
lakshya 19:79e69017c855 1501 ACS_TR_Z_SW_STATUS=0x01;
lakshya 19:79e69017c855 1502 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1503 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1504 {
lakshya 19:79e69017c855 1505 telemetry[i]=0x00;
lakshya 19:79e69017c855 1506 }
lakshya 19:79e69017c855 1507 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1508 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1509 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1510 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1511 {
lakshya 19:79e69017c855 1512 telemetry[i]=0x00;
lakshya 19:79e69017c855 1513 }
lakshya 19:79e69017c855 1514 break;
lakshya 19:79e69017c855 1515 }
lakshya 19:79e69017c855 1516 case 0x15:
lakshya 19:79e69017c855 1517 {
lakshya 19:79e69017c855 1518 printf("\n\rSW_ON_BCN_TX_SW_ENABLE");
lakshya 19:79e69017c855 1519 //ACK_L234_TM
lakshya 19:79e69017c855 1520 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1521 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1522 BCN_SW = 0;//here 0 is switch enable
lakshya 19:79e69017c855 1523 BCN_TX_SW_ENABLE=0x01;
lakshya 19:79e69017c855 1524 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1525 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1526 {
lakshya 19:79e69017c855 1527 telemetry[i]=0x00;
lakshya 19:79e69017c855 1528 }
lakshya 19:79e69017c855 1529 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1530 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1531 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1532 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1533 {
lakshya 19:79e69017c855 1534 telemetry[i]=0x00;
lakshya 19:79e69017c855 1535 }
lakshya 19:79e69017c855 1536 break;
lakshya 19:79e69017c855 1537 }
lakshya 19:79e69017c855 1538 case 0x21:
lakshya 19:79e69017c855 1539 {
lakshya 19:79e69017c855 1540 printf("\n\rSW_OFF_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1541 //ACK_L234_TM
lakshya 19:79e69017c855 1542 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1543 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1544 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1545 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F) | 0xC0 ;
lakshya 19:79e69017c855 1546 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1547 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1548 {
lakshya 19:79e69017c855 1549 telemetry[i]=0x00;
lakshya 19:79e69017c855 1550 }
lakshya 19:79e69017c855 1551 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1552 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1553 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1554 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1555 {
lakshya 19:79e69017c855 1556 telemetry[i]=0x00;
lakshya 19:79e69017c855 1557 }
lakshya 19:79e69017c855 1558 break;
lakshya 19:79e69017c855 1559 }
lakshya 19:79e69017c855 1560 case 0x22:
lakshya 19:79e69017c855 1561 {
lakshya 19:79e69017c855 1562 printf("\n\rSW_OFF_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1563 //ACK_L234_TM
lakshya 19:79e69017c855 1564 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1565 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1566 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1567 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 19:79e69017c855 1568 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1569 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1570 {
lakshya 19:79e69017c855 1571 telemetry[i]=0x00;
lakshya 19:79e69017c855 1572 }
lakshya 19:79e69017c855 1573 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1574 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1575 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1576 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1577 {
lakshya 19:79e69017c855 1578 telemetry[i]=0x00;
lakshya 19:79e69017c855 1579 }
lakshya 19:79e69017c855 1580 break;
lakshya 19:79e69017c855 1581 }
lakshya 19:79e69017c855 1582 case 0x23:
lakshya 19:79e69017c855 1583 {
lakshya 19:79e69017c855 1584 printf("\n\rSW_OFF_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1585 //ACK_L234_TM
lakshya 19:79e69017c855 1586 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1587 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1588 TRXY_SW= 0;
lakshya 19:79e69017c855 1589 ACS_TR_XY_SW_STATUS=0x03;
lakshya 19:79e69017c855 1590 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1591 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1592 {
lakshya 19:79e69017c855 1593 telemetry[i]=0x00;
lakshya 19:79e69017c855 1594 }
lakshya 19:79e69017c855 1595 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1596 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1597 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1598 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1599 {
lakshya 19:79e69017c855 1600 telemetry[i]=0x00;
lakshya 19:79e69017c855 1601 }
lakshya 19:79e69017c855 1602 break;
lakshya 19:79e69017c855 1603 }
lakshya 19:79e69017c855 1604 case 0x24:
lakshya 19:79e69017c855 1605 {
lakshya 19:79e69017c855 1606 printf("\n\rSW_OFF_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1607 //ACK_L234_TM
lakshya 19:79e69017c855 1608 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1609 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1610 TRZ_SW = 0;
lakshya 19:79e69017c855 1611 ACS_TR_Z_SW_STATUS=0x03;
lakshya 19:79e69017c855 1612 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1613 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1614 {
lakshya 19:79e69017c855 1615 telemetry[i]=0x00;
lakshya 19:79e69017c855 1616 }
lakshya 19:79e69017c855 1617 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1618 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1619 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1620 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1621 {
lakshya 19:79e69017c855 1622 telemetry[i]=0x00;
lakshya 19:79e69017c855 1623 }
lakshya 19:79e69017c855 1624 break;
lakshya 19:79e69017c855 1625 }
lakshya 19:79e69017c855 1626 case 0x25:
lakshya 19:79e69017c855 1627 {
lakshya 19:79e69017c855 1628 printf("\n\rSW_OFF_BCN_TX_SW_ENABLE");
lakshya 19:79e69017c855 1629 //ACK_L234_TM
lakshya 19:79e69017c855 1630 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1631 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1632 BCN_SW = 1;
lakshya 19:79e69017c855 1633 BCN_TX_SW_ENABLE=0x03;
lakshya 19:79e69017c855 1634 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1635 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1636 {
lakshya 19:79e69017c855 1637 telemetry[i]=0x00;
lakshya 19:79e69017c855 1638 }
lakshya 19:79e69017c855 1639 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1640 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1641 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1642 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1643 {
lakshya 19:79e69017c855 1644 telemetry[i]=0x00;
lakshya 19:79e69017c855 1645 }
lakshya 19:79e69017c855 1646 break;
lakshya 19:79e69017c855 1647 }
lakshya 19:79e69017c855 1648 case 0x31:
lakshya 19:79e69017c855 1649 {
lakshya 19:79e69017c855 1650 printf("\n\rACS_ATS1_SW_RESET");
lakshya 19:79e69017c855 1651 //ACK_L234_TM
lakshya 19:79e69017c855 1652 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1653 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1654 ATS2_SW_ENABLE = 1;//as ats switched off
lakshya 19:79e69017c855 1655 ATS1_SW_ENABLE = 1;
lakshya 19:79e69017c855 1656 wait_ms(5);
lakshya 19:79e69017c855 1657 ATS1_SW_ENABLE = 0;
lakshya 19:79e69017c855 1658 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1659 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1660 {
lakshya 19:79e69017c855 1661 telemetry[i]=0x00;
lakshya 19:79e69017c855 1662 }
lakshya 19:79e69017c855 1663 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1664 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1665 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1666 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1667 {
lakshya 19:79e69017c855 1668 telemetry[i]=0x00;
lakshya 19:79e69017c855 1669 }
lakshya 19:79e69017c855 1670 break;
lakshya 19:79e69017c855 1671 }
lakshya 19:79e69017c855 1672 case 0x32:
lakshya 19:79e69017c855 1673 {
lakshya 19:79e69017c855 1674 printf("\n\rACS_ATS2_SW_RESET");
lakshya 19:79e69017c855 1675 //ACK_L234_TM
lakshya 19:79e69017c855 1676 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1677 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1678 ATS1_SW_ENABLE = 1;//as ats1 switched off
lakshya 19:79e69017c855 1679 ATS2_SW_ENABLE = 1;
lakshya 19:79e69017c855 1680 wait_ms(5);
lakshya 19:79e69017c855 1681 ATS2_SW_ENABLE = 0;
lakshya 19:79e69017c855 1682 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1683 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1684 {
lakshya 19:79e69017c855 1685 telemetry[i]=0x00;
lakshya 19:79e69017c855 1686 }
lakshya 19:79e69017c855 1687 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1688 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1689 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1690 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1691 {
lakshya 19:79e69017c855 1692 telemetry[i]=0x00;
lakshya 19:79e69017c855 1693 }
lakshya 19:79e69017c855 1694 break;
lakshya 19:79e69017c855 1695 }
lakshya 19:79e69017c855 1696 case 0x33:
lakshya 19:79e69017c855 1697 {
lakshya 19:79e69017c855 1698 printf("\n\rACS_TR_XY_SW_RESET");
lakshya 19:79e69017c855 1699 //ACK_L234_TM
lakshya 19:79e69017c855 1700 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1701 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1702 TRXY_SW= 0;
lakshya 19:79e69017c855 1703 wait_ms(5);
lakshya 19:79e69017c855 1704 TRXY_SW= 1;
lakshya 19:79e69017c855 1705 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1706 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1707 {
lakshya 19:79e69017c855 1708 telemetry[i]=0x00;
lakshya 19:79e69017c855 1709 }
lakshya 19:79e69017c855 1710 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1711 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1712 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1713 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1714 {
lakshya 19:79e69017c855 1715 telemetry[i]=0x00;
lakshya 19:79e69017c855 1716 }
lakshya 19:79e69017c855 1717 break;
lakshya 19:79e69017c855 1718 }
lakshya 19:79e69017c855 1719 case 0x34:
lakshya 19:79e69017c855 1720 {
lakshya 19:79e69017c855 1721 printf("\n\rACS_TR_Z_SW_RESET");
lakshya 19:79e69017c855 1722 //ACK_L234_TM
lakshya 19:79e69017c855 1723 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1724 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1725 TRZ_SW= 0;
lakshya 19:79e69017c855 1726 wait_ms(5);
lakshya 19:79e69017c855 1727 TRZ_SW= 1;
lakshya 19:79e69017c855 1728 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1729 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1730 {
lakshya 19:79e69017c855 1731 telemetry[i]=0x00;
lakshya 19:79e69017c855 1732 }
lakshya 19:79e69017c855 1733 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1734 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1735 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1736 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1737 {
lakshya 19:79e69017c855 1738 telemetry[i]=0x00;
lakshya 19:79e69017c855 1739 }
lakshya 19:79e69017c855 1740 break;
lakshya 19:79e69017c855 1741 }
lakshya 19:79e69017c855 1742 case 0x35:
lakshya 19:79e69017c855 1743 {
lakshya 19:79e69017c855 1744 printf("\n\rBCN_TX_SW_RESET");
lakshya 19:79e69017c855 1745 //ACK_L234_TM
lakshya 19:79e69017c855 1746 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1747 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1748 BCN_SW = 1;
lakshya 19:79e69017c855 1749 wait_ms(5);
lakshya 19:79e69017c855 1750 BCN_SW = 0;
lakshya 19:79e69017c855 1751 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1752 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1753 {
lakshya 19:79e69017c855 1754 telemetry[i]=0x00;
lakshya 19:79e69017c855 1755 }
lakshya 19:79e69017c855 1756 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1757 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1758 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1759 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1760 {
lakshya 19:79e69017c855 1761 telemetry[i]=0x00;
lakshya 19:79e69017c855 1762 }
lakshya 19:79e69017c855 1763 break;
lakshya 19:79e69017c855 1764 }
lakshya 19:79e69017c855 1765 case 0x36:
lakshya 19:79e69017c855 1766 {
lakshya 20:949d13045431 1767 printf("\n\rBAE_INTERNAL_RESET TO be done ??");
lakshya 20:949d13045431 1768 NVIC_SystemReset();
lakshya 19:79e69017c855 1769 break;
lakshya 19:79e69017c855 1770 }
lakshya 19:79e69017c855 1771 case 0x37:
lakshya 19:79e69017c855 1772 {
lakshya 19:79e69017c855 1773 printf("\n\rCDMS_RESET");
lakshya 19:79e69017c855 1774 //ACK_L234_TM
lakshya 19:79e69017c855 1775 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1776 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1777 CDMS_RESET = 0;
lakshya 19:79e69017c855 1778 wait_ms(5);
lakshya 19:79e69017c855 1779 CDMS_RESET = 1;
lakshya 19:79e69017c855 1780 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1781 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1782 {
lakshya 19:79e69017c855 1783 telemetry[i]=0x00;
lakshya 19:79e69017c855 1784 }
lakshya 19:79e69017c855 1785 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1786 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1787 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1788 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1789 {
lakshya 19:79e69017c855 1790 telemetry[i]=0x00;
lakshya 19:79e69017c855 1791 }
lakshya 19:79e69017c855 1792 break;
lakshya 19:79e69017c855 1793 }
lakshya 19:79e69017c855 1794 case 0x38:
lakshya 19:79e69017c855 1795 {
lakshya 19:79e69017c855 1796 printf("\n\rCDMS_SW_RESET pin yet to be decided");
lakshya 19:79e69017c855 1797 //ACK_L234_TM
lakshya 19:79e69017c855 1798 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1799 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1800 /*
lakshya 19:79e69017c855 1801 PIN to be DECIDED***************************************************************8
lakshya 19:79e69017c855 1802 */
lakshya 19:79e69017c855 1803 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1804 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1805 {
lakshya 19:79e69017c855 1806 telemetry[i]=0x00;
lakshya 19:79e69017c855 1807 }
lakshya 19:79e69017c855 1808 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1809 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1810 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1811 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1812 {
lakshya 19:79e69017c855 1813 telemetry[i]=0x00;
lakshya 19:79e69017c855 1814 }
lakshya 19:79e69017c855 1815 break;
lakshya 19:79e69017c855 1816 }
lakshya 19:79e69017c855 1817 case 0x40:
lakshya 19:79e69017c855 1818 {
lakshya 19:79e69017c855 1819 uint8_t STANDBY_DATA_TC;
lakshya 19:79e69017c855 1820 BAE_STANDBY=0x00;
lakshya 19:79e69017c855 1821 STANDBY_DATA_TC=tc[4];
lakshya 19:79e69017c855 1822 if(STANDBY_DATA_TC==0x01)
lakshya 19:79e69017c855 1823 {
lakshya 19:79e69017c855 1824 BAE_STANDBY |=0x04;
lakshya 19:79e69017c855 1825 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 1826 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 1827 }
lakshya 19:79e69017c855 1828 STANDBY_DATA_TC=tc[5];
lakshya 19:79e69017c855 1829 if(STANDBY_DATA_TC==0x01)
lakshya 19:79e69017c855 1830 {
lakshya 19:79e69017c855 1831 BAE_STANDBY |=0x02;
lakshya 19:79e69017c855 1832 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 1833 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 1834 }
lakshya 19:79e69017c855 1835 STANDBY_DATA_TC=tc[6];
lakshya 19:79e69017c855 1836 if(STANDBY_DATA_TC==0x01)
lakshya 19:79e69017c855 1837 {
lakshya 19:79e69017c855 1838 BAE_STANDBY |=0x01;
lakshya 19:79e69017c855 1839 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 1840 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 1841 }
lakshya 19:79e69017c855 1842 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1843 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1844 telemetry[2]=0xC0;//ack_code for this case
lakshya 19:79e69017c855 1845 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1846 {
lakshya 19:79e69017c855 1847 telemetry[i]=0x00;
lakshya 19:79e69017c855 1848 }
lakshya 19:79e69017c855 1849 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1850 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1851 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1852 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1853 {
lakshya 19:79e69017c855 1854 telemetry[i]=0x00;
lakshya 19:79e69017c855 1855 }
lakshya 19:79e69017c855 1856 break;
lakshya 19:79e69017c855 1857 }
lakshya 19:79e69017c855 1858 case 0x41:
lakshya 19:79e69017c855 1859 {
lakshya 19:79e69017c855 1860 printf("\n\rexecutng BAE reset HK counter");
lakshya 20:949d13045431 1861 firstCount=true;
lakshya 20:949d13045431 1862 void minMaxHkData();
lakshya 19:79e69017c855 1863
lakshya 19:79e69017c855 1864 //what to do here??*************************************************
lakshya 19:79e69017c855 1865 //TO BE DONE
lakshya 19:79e69017c855 1866
lakshya 19:79e69017c855 1867 //ACK_L234_TM
lakshya 19:79e69017c855 1868 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1869 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1870 telemetry[2]=0x02;
lakshya 19:79e69017c855 1871 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1872 {
lakshya 19:79e69017c855 1873 telemetry[i]=0x00;
lakshya 19:79e69017c855 1874 }
lakshya 19:79e69017c855 1875 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1876 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1877 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1878 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1879 {
lakshya 19:79e69017c855 1880 telemetry[i]=0x00;
lakshya 19:79e69017c855 1881 }
lakshya 19:79e69017c855 1882 break;
lakshya 19:79e69017c855 1883 }
lakshya 19:79e69017c855 1884 default:
lakshya 19:79e69017c855 1885 {
lakshya 19:79e69017c855 1886 printf("\n\rInvalid TC for FMS no matching FID");
lakshya 19:79e69017c855 1887 //ACK_L234_TM
lakshya 19:79e69017c855 1888 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1889 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1890 telemetry[2]=0x02;
lakshya 19:79e69017c855 1891 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1892 {
lakshya 19:79e69017c855 1893 telemetry[i]=0x00;
lakshya 19:79e69017c855 1894 }
lakshya 19:79e69017c855 1895 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1896 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1897 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1898 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1899 {
lakshya 19:79e69017c855 1900 telemetry[i]=0x00;
lakshya 19:79e69017c855 1901 }
lakshya 19:79e69017c855 1902 break;
lakshya 19:79e69017c855 1903 }
lakshya 19:79e69017c855 1904 }
lakshya 19:79e69017c855 1905 break;
lakshya 19:79e69017c855 1906 }
lakshya 19:79e69017c855 1907 default:
lakshya 19:79e69017c855 1908 {
lakshya 19:79e69017c855 1909 printf("\n\rInvalid TC, FMS service subtype mismacth");
lakshya 19:79e69017c855 1910 //ACK_L234_TM
lakshya 19:79e69017c855 1911 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1912 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1913 telemetry[2]=0x02;
lakshya 19:79e69017c855 1914 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1915 {
lakshya 19:79e69017c855 1916 telemetry[i]=0x00;
lakshya 19:79e69017c855 1917 }
lakshya 19:79e69017c855 1918 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1919 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1920 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1921 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1922 {
lakshya 19:79e69017c855 1923 telemetry[i]=0x00;
lakshya 19:79e69017c855 1924 }
lakshya 19:79e69017c855 1925 break;
lakshya 19:79e69017c855 1926 }
lakshya 19:79e69017c855 1927 }
lakshya 19:79e69017c855 1928 break;
lakshya 19:79e69017c855 1929 }
lakshya 19:79e69017c855 1930 default:
lakshya 19:79e69017c855 1931 {
lakshya 19:79e69017c855 1932 printf("\n\rInvalid TC neither FMS nor MMS");
lakshya 19:79e69017c855 1933 //ACK_L234_TM
lakshya 19:79e69017c855 1934 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1935 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1936 telemetry[2]=0x02;
lakshya 19:79e69017c855 1937 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1938 {
lakshya 19:79e69017c855 1939 telemetry[i]=0x00;
lakshya 19:79e69017c855 1940 }
lakshya 19:79e69017c855 1941 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1942 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1943 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1944 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1945 {
lakshya 19:79e69017c855 1946 telemetry[i]=0x00;
lakshya 19:79e69017c855 1947 }
lakshya 19:79e69017c855 1948 break;
lakshya 19:79e69017c855 1949 }
lakshya 19:79e69017c855 1950 }
lakshya 19:79e69017c855 1951 }
Bragadeesh153 13:fb7facaf308b 1952 }
Bragadeesh153 13:fb7facaf308b 1953 }
sakthipriya 4:39a4ae8c7ecd 1954
sakthipriya 4:39a4ae8c7ecd 1955
Bragadeesh153 13:fb7facaf308b 1956 int strt_add = flash_size() - (2*SECTOR_SIZE);
sakthipriya 4:39a4ae8c7ecd 1957 uint32_t flasharray[8]; //256+(3*1024)
lakshya 19:79e69017c855 1958 /*corrected*/
lakshya 19:79e69017c855 1959 int *nativeflash = (int*)strt_add;
sakthipriya 4:39a4ae8c7ecd 1960
sakthipriya 4:39a4ae8c7ecd 1961 /*Writing to the Flash*/
lakshya 19:79e69017c855 1962 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 1963 {
Bragadeesh153 13:fb7facaf308b 1964 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 1965 {
sakthipriya 4:39a4ae8c7ecd 1966 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 1967 }
sakthipriya 4:39a4ae8c7ecd 1968 flasharray[j]=fdata;
sakthipriya 4:39a4ae8c7ecd 1969 erase_sector(strt_add);
lakshya 20:949d13045431 1970 program_flash(strt_add, (char*)flasharray,32);
sakthipriya 4:39a4ae8c7ecd 1971 }
lakshya 19:79e69017c855 1972
sakthipriya 4:39a4ae8c7ecd 1973 /*End*/
sakthipriya 4:39a4ae8c7ecd 1974
sakthipriya 4:39a4ae8c7ecd 1975 /*Reading from Flash*/
lakshya 19:79e69017c855 1976 /*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 1977 uint32_t FCTN_BAE_RD_FLASH_ENTITY(uint16_t entity)
sakthipriya 4:39a4ae8c7ecd 1978 {
sakthipriya 4:39a4ae8c7ecd 1979 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 1980 {
sakthipriya 4:39a4ae8c7ecd 1981 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 1982 }
lakshya 19:79e69017c855 1983 return flasharray[entity];
sakthipriya 4:39a4ae8c7ecd 1984 }
lakshya 19:79e69017c855 1985
lakshya 19:79e69017c855 1986 uint32_t* FCTN_BAE_RD_FLASH()
lakshya 19:79e69017c855 1987 {
lakshya 19:79e69017c855 1988 for(int i=0;i<8;i++)
lakshya 19:79e69017c855 1989 {
lakshya 19:79e69017c855 1990 flasharray[i]=nativeflash[i];
lakshya 19:79e69017c855 1991 }
lakshya 19:79e69017c855 1992 return flasharray;
lakshya 19:79e69017c855 1993 }
lakshya 19:79e69017c855 1994
sakthipriya 5:bb592f3185cc 1995 /*End*/
sakthipriya 5:bb592f3185cc 1996
sakthipriya 5:bb592f3185cc 1997 // Convert float to 4 uint8_t
sakthipriya 5:bb592f3185cc 1998
lakshya 15:e09aaaccf134 1999
sakthipriya 6:036d08b62785 2000 void FCTN_CONVERT_FLOAT(float input, uint8_t output[4])
sakthipriya 5:bb592f3185cc 2001 {
sakthipriya 6:036d08b62785 2002 assert(sizeof(float) == sizeof(uint32_t));
sakthipriya 6:036d08b62785 2003 uint32_t* temp = reinterpret_cast<uint32_t*>(&input);
sakthipriya 6:036d08b62785 2004
sakthipriya 6:036d08b62785 2005 //float* output1 = reinterpret_cast<float*>(temp);
Bragadeesh153 13:fb7facaf308b 2006
lakshya 15:e09aaaccf134 2007 //printf("\n\r %f ", input);
lakshya 15:e09aaaccf134 2008 //std::cout << "\n\r uint32"<<*temp << std::endl;
sakthipriya 6:036d08b62785 2009
sakthipriya 6:036d08b62785 2010 output[0] =(uint8_t )(((*temp)>>24)&0xFF);
lakshya 15:e09aaaccf134 2011 output[1] =(uint8_t ) (((*temp)>>16)&0xFF);
lakshya 15:e09aaaccf134 2012 output[2] =(uint8_t ) (((*temp)>>8)&0xFF);
lakshya 15:e09aaaccf134 2013 output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic
lakshya 15:e09aaaccf134 2014
lakshya 17:fc782f7548c6 2015 // printf("\n\rthe values generated are\n");
lakshya 15:e09aaaccf134 2016 /*printf("\n\r%x\n",output[0]);
lakshya 15:e09aaaccf134 2017 printf("\n\r%x\n",output[1]);
lakshya 15:e09aaaccf134 2018 printf("\n\r%x\n",output[2]);
lakshya 15:e09aaaccf134 2019 printf("\n\r%x\n",output[3]);
lakshya 15:e09aaaccf134 2020 to check the values generated
lakshya 15:e09aaaccf134 2021 */
sakthipriya 6:036d08b62785 2022 //printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]);
Bragadeesh153 13:fb7facaf308b 2023 //std:: cout << "\n\r uint8 inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl;
Bragadeesh153 13:fb7facaf308b 2024 }