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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

TCTM.cpp@49:61c9f28332ba, 2016-07-14 (annotated)

Committer:
lakshya
Date:
Thu Jul 14 23:04:26 2016 +0000
Revision:
49:61c9f28332ba
Parent:
47:d59ba66229ce
Child:
52:daa685b0e390
bcn last I2C + longbcn data testesd; 15 th july

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lakshya 49:61c9f28332ba 1
sakthipriya 0:7b4c00e3912f 2 #include "mbed.h"
lakshya 20:949d13045431 3 #include "rtos.h"
sakthipriya 0:7b4c00e3912f 4 #include "TCTM.h"
sakthipriya 3:07e15677a75c 5 #include "crc.h"
sakthipriya 4:39a4ae8c7ecd 6 #include "EPS.h"
lakshya 20:949d13045431 7 #include "ACS.h"
sakthipriya 5:bb592f3185cc 8 #include "pin_config.h"
sakthipriya 5:bb592f3185cc 9 #include "FreescaleIAP.h"
sakthipriya 6:036d08b62785 10 #include "inttypes.h"
sakthipriya 6:036d08b62785 11 #include "iostream"
sakthipriya 6:036d08b62785 12 #include "stdint.h"
sakthipriya 6:036d08b62785 13 #include "cassert"
lakshya 10:f93407b97750 14 #include"math.h"
lakshya 10:f93407b97750 15
lakshya 49:61c9f28332ba 16 //Serial pc(USBTX,USBRX);
lakshya 49:61c9f28332ba 17
lakshya 49:61c9f28332ba 18 Serial gpc(USBTX, USBRX);
lakshya 49:61c9f28332ba 19
lakshya 49:61c9f28332ba 20
lakshya 19:79e69017c855 21 //**********************************STATUS_PARAMETERS*****************************************************
lakshya 19:79e69017c855 22 uint8_t BCN_TX_SW_ENABLE=0x00;
lakshya 19:79e69017c855 23
lakshya 19:79e69017c855 24 //***********************************FOR STANDBY TIMER****************************************************
lakshya 19:79e69017c855 25 extern void BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 26
lakshya 49:61c9f28332ba 27 uint8_t telemetry[134];
lakshya 19:79e69017c855 28
lakshya 20:949d13045431 29 //*****************PARA******************************
lakshya 20:949d13045431 30
lakshya 20:949d13045431 31 //ACS
lakshya 20:949d13045431 32 extern float db[3];
lakshya 20:949d13045431 33 extern float data[6];
lakshya 20:949d13045431 34 extern float b_old[3]; // Unit: Tesla
lakshya 20:949d13045431 35 extern float moment[3];
lakshya 20:949d13045431 36 extern uint8_t ACS_STATE;
lakshya 20:949d13045431 37 extern uint8_t ACS_STATUS;
lakshya 20:949d13045431 38 extern uint8_t flag_firsttime;
lakshya 20:949d13045431 39 extern uint8_t ACS_DETUMBLING_ALGO_TYPE;
lakshya 20:949d13045431 40 extern uint8_t ACS_INIT_STATUS;
lakshya 20:949d13045431 41 extern uint8_t ACS_DATA_ACQ_STATUS;
lakshya 20:949d13045431 42 extern uint8_t ACS_MAIN_STATUS;
lakshya 20:949d13045431 43 extern uint8_t ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 44 extern uint8_t ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 45 extern uint8_t ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 46 extern uint8_t ACS_TR_X_PWM;
lakshya 20:949d13045431 47 extern uint8_t ACS_TR_Y_PWM;
lakshya 20:949d13045431 48 extern uint8_t ACS_TR_Z_PWM;
lakshya 39:670133e7ffd8 49 extern uint8_t B_SCZ_ANGLE;
lakshya 20:949d13045431 50 extern uint8_t alarmmode;
lakshya 20:949d13045431 51 extern uint8_t controlmode_mms;
lakshya 20:949d13045431 52 extern uint8_t invjm_mms[9];
lakshya 20:949d13045431 53 extern uint8_t jm_mms[9];
lakshya 20:949d13045431 54 extern uint8_t bb_mms[3];
lakshya 20:949d13045431 55 extern uint8_t singularity_flag_mms;
lakshya 20:949d13045431 56 extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya 20:949d13045431 57 extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 58
lakshya 20:949d13045431 59 extern uint8_t ATS1_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 60 extern uint8_t ATS1_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 61 extern uint8_t ATS1_ERROR_RGTR;
lakshya 20:949d13045431 62 extern uint8_t ATS2_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 63 extern uint8_t ATS2_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 64 extern uint8_t ATS2_ERROR_RGTR;
lakshya 20:949d13045431 65 //change
lakshya 20:949d13045431 66 extern uint16_t ACS_MM_X_COMSN;
lakshya 20:949d13045431 67 extern uint16_t ACS_MM_Y_COMSN;
lakshya 20:949d13045431 68 extern uint16_t ACS_MG_X_COMSN;
lakshya 20:949d13045431 69 extern uint16_t ACS_MG_Y_COMSN;
lakshya 20:949d13045431 70 extern uint16_t ACS_MM_Z_COMSN;
lakshya 20:949d13045431 71 extern uint16_t ACS_MG_Z_COMSN;
lakshya 20:949d13045431 72 //acs func
lakshya 20:949d13045431 73 extern void F_ACS();
lakshya 20:949d13045431 74 extern int SENSOR_INIT();
lakshya 20:949d13045431 75 extern int FCTN_ACS_INIT();
lakshya 20:949d13045431 76 extern int SENSOR_DATA_ACQ();
lakshya 20:949d13045431 77 extern int FCTN_ATS_DATA_ACQ();
lakshya 20:949d13045431 78 extern void FCTN_ACS_GENPWM_MAIN(float Moment[3]);
lakshya 20:949d13045431 79 extern void FCTN_ACS_CNTRLALGO(float*,float*,int);
lakshya 20:949d13045431 80
lakshya 20:949d13045431 81
lakshya 20:949d13045431 82 //main
lakshya 49:61c9f28332ba 83 extern Timer BAE_uptime;
lakshya 49:61c9f28332ba 84 extern Timer I2C_last;
lakshya 49:61c9f28332ba 85 extern uint8_t BAE_RESET_COUNTER;
lakshya 49:61c9f28332ba 86 extern void RETURN_UPTIME(float time, uint8_t *day,uint8_t *hour,uint8_t *min);
lakshya 49:61c9f28332ba 87
lakshya 20:949d13045431 88 extern uint8_t ACS_ATS_STATUS;
lakshya 20:949d13045431 89 extern uint16_t ACS_MAIN_COUNTER;//change\apply
lakshya 20:949d13045431 90 extern uint8_t HTR_CYCLE_COUNTER;
lakshya 20:949d13045431 91 extern RtosTimer *HTR_CYCLE;
lakshya 20:949d13045431 92 extern uint8_t HTR_CYCLE_COUNTS; //Count of heater cycles
lakshya 20:949d13045431 93 extern uint8_t HTR_CYCLE_START_DLY; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya 20:949d13045431 94 extern uint8_t HTR_ON_DURATION; //EPS_HTR_OFF timer duration in minutes
lakshya 20:949d13045431 95 extern uint16_t HTR_CYCLE_PERIOD;
lakshya 20:949d13045431 96
lakshya 49:61c9f28332ba 97 extern DigitalOut ACS_TR_XY_ENABLE;
lakshya 49:61c9f28332ba 98 extern DigitalOut ACS_TR_Z_ENABLE;
lakshya 49:61c9f28332ba 99 extern DigitalIn ACS_TR_XY_OC_FAULT;
lakshya 49:61c9f28332ba 100 extern DigitalIn ACS_TR_Z_OC_FAULT;
lakshya 49:61c9f28332ba 101 extern DigitalIn ACS_TR_XY_FAULT;
lakshya 49:61c9f28332ba 102 extern DigitalIn ACS_TR_Z_FAULT;
lakshya 49:61c9f28332ba 103 extern DigitalIn ACS_ATS1_OC_FAULT;
lakshya 49:61c9f28332ba 104 extern DigitalIn ACS_ATS2_OC_FAULT;
sakthipriya 0:7b4c00e3912f 105
lakshya 49:61c9f28332ba 106 extern DigitalOut ATS1_SW_ENABLE; // enable of att sens2 switch
lakshya 49:61c9f28332ba 107 extern DigitalOut ATS2_SW_ENABLE; // enable of att sens switch
sakthipriya 5:bb592f3185cc 108
lakshya 49:61c9f28332ba 109 extern DigitalOut DRV_Z_EN;
lakshya 49:61c9f28332ba 110 extern DigitalOut DRV_XY_EN;
lakshya 49:61c9f28332ba 111 extern DigitalOut TRXY_SW; //TR XY Switch if any TR_SW error arises then it is same as TR_SW_EN
lakshya 49:61c9f28332ba 112 extern DigitalOut TRZ_SW; //TR Z Switch
lakshya 20:949d13045431 113
lakshya 49:61c9f28332ba 114 extern DigitalOut phase_TR_x;
lakshya 49:61c9f28332ba 115 extern DigitalOut phase_TR_y;
lakshya 49:61c9f28332ba 116 extern DigitalOut phase_TR_z;
lakshya 20:949d13045431 117
lakshya 20:949d13045431 118
lakshya 20:949d13045431 119 //CDMS
lakshya 49:61c9f28332ba 120 extern DigitalOut CDMS_RESET; // CDMS RESET
lakshya 20:949d13045431 121 extern uint8_t CDMS_SW_STATUS;
lakshya 49:61c9f28332ba 122 extern DigitalIn CDMS_OC_FAULT;
lakshya 20:949d13045431 123
lakshya 20:949d13045431 124
lakshya 20:949d13045431 125 //BCN
lakshya 49:61c9f28332ba 126 extern DigitalOut BCN_SW; //Beacon switch
lakshya 10:f93407b97750 127 extern uint8_t BCN_TX_STATUS;
lakshya 10:f93407b97750 128 extern uint8_t BCN_FEN;
lakshya 20:949d13045431 129 extern uint8_t BCN_SPND_TX;
lakshya 20:949d13045431 130 extern uint8_t BCN_TX_MAIN_STATUS;
lakshya 20:949d13045431 131 extern uint8_t BCN_TX_SW_STATUS;
lakshya 20:949d13045431 132 extern uint8_t BCN_LONG_MSG_TYPE;
lakshya 20:949d13045431 133 extern uint8_t BCN_INIT_STATUS;
lakshya 20:949d13045431 134 extern uint8_t BCN_FAIL_COUNT;
lakshya 20:949d13045431 135 extern uint16_t BCN_TX_MAIN_COUNTER;
lakshya 49:61c9f28332ba 136 extern DigitalIn BCN_TX_OC_FAULT;
lakshya 20:949d13045431 137 extern uint8_t BCN_TMP;
lakshya 20:949d13045431 138 extern void F_BCN();
lakshya 20:949d13045431 139 extern void FCTN_BCN_TX_MAIN();
lakshya 33:76f2b8735501 140 extern uint8_t SHORT_HK_data[15];
lakshya 33:76f2b8735501 141 extern void FCTN_BCN_SPND_TX();
lakshya 20:949d13045431 142
lakshya 20:949d13045431 143
lakshya 20:949d13045431 144 //BAE
lakshya 20:949d13045431 145 extern uint8_t BAE_STANDBY;
lakshya 20:949d13045431 146 extern uint8_t BAE_INIT_STATUS;
lakshya 20:949d13045431 147 extern uint8_t BAE_RESET_COUNTER;
lakshya 27:61c856be467e 148 extern uint8_t BAE_MNG_I2C_STATUS;
lakshya 20:949d13045431 149 /*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 150
lakshya 20:949d13045431 151 extern uint32_t BAE_STATUS;//extern uint32_t BAE_STATUS;
lakshya 20:949d13045431 152 extern BAE_HK_quant quant_data;
sakthipriya 4:39a4ae8c7ecd 153 extern BAE_HK_actual actual_data;
sakthipriya 4:39a4ae8c7ecd 154 extern BAE_HK_min_max bae_HK_minmax;
Bragadeesh153 13:fb7facaf308b 155 //extern DigitalOut TRXY_SW;
lakshya 11:1fdb94ae6563 156 //extern DigitalOut TRZ_SW_EN; //same as TRZ_SW
lakshya 11:1fdb94ae6563 157 extern uint32_t BAE_ENABLE;
lakshya 20:949d13045431 158 extern uint16_t BAE_I2C_COUNTER;
lakshya 33:76f2b8735501 159 extern uint8_t LONG_HK_data[2][134];
lakshya 20:949d13045431 160 //extern uint8_t BCN_FAIL_COUNT;
lakshya 20:949d13045431 161
lakshya 11:1fdb94ae6563 162
lakshya 20:949d13045431 163 //EPS
lakshya 20:949d13045431 164 extern bool firstCount;
lakshya 20:949d13045431 165 extern uint8_t EPS_BTRY_HTR_AUTO;
lakshya 20:949d13045431 166 extern uint8_t EPS_BATT_TEMP_LOW;
lakshya 20:949d13045431 167 extern uint8_t EPS_BATT_TEMP_HIGH;
lakshya 20:949d13045431 168 extern uint8_t EPS_BATT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 169 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 170 extern uint8_t EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 171 extern uint8_t EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 172 extern uint8_t EPS_INIT_STATUS;
lakshya 20:949d13045431 173 extern uint8_t EPS_BATTERY_GAUGE_STATUS ;
lakshya 20:949d13045431 174 extern uint8_t EPS_MAIN_STATUS;
lakshya 33:76f2b8735501 175 extern uint8_t EPS_BTRY_TMP_STATUS ;
lakshya 20:949d13045431 176 extern uint8_t EPS_STATUS ;
lakshya 20:949d13045431 177 extern uint8_t EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 178 extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 179 extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya 20:949d13045431 180 extern uint16_t EPS_MAIN_COUNTER;
lakshya 33:76f2b8735501 181 extern uint8_t EPS_BTRY_HTR;
lakshya 11:1fdb94ae6563 182
lakshya 20:949d13045431 183 extern DigitalOut SelectLineb3; // MSB of Select Lines
lakshya 20:949d13045431 184 extern DigitalOut SelectLineb2;
lakshya 20:949d13045431 185 extern DigitalOut SelectLineb1;
lakshya 20:949d13045431 186 extern DigitalOut SelectLineb0;
lakshya 49:61c9f28332ba 187 extern DigitalIn EPS_CHARGER_FAULT;
lakshya 49:61c9f28332ba 188 extern DigitalIn EPS_CHARGER_STATUS;
lakshya 49:61c9f28332ba 189 extern DigitalIn EPS_BATTERY_GAUGE_ALERT;
lakshya 20:949d13045431 190
lakshya 20:949d13045431 191 extern void F_EPS();
lakshya 20:949d13045431 192 extern AnalogIn CurrentInput;
lakshya 20:949d13045431 193
lakshya 20:949d13045431 194 //--------------------check this refer prashant
lakshya 11:1fdb94ae6563 195
Bragadeesh153 13:fb7facaf308b 196 extern PwmOut PWM1; //x //Functions used to generate PWM signal
lakshya 11:1fdb94ae6563 197 extern PwmOut PWM2; //y
lakshya 11:1fdb94ae6563 198 extern PwmOut PWM3; //z //PWM output comes from pins p6
lakshya 11:1fdb94ae6563 199
lakshya 20:949d13045431 200 //included after home
lakshya 11:1fdb94ae6563 201 //extern void FCTN_ACS_GENPWM_MAIN();
lakshya 20:949d13045431 202
lakshya 20:949d13045431 203 uint16_t crc_hk_data()//gencrc16_for_me()
lakshya 20:949d13045431 204 {
lakshya 33:76f2b8735501 205 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 206 return crc;
lakshya 33:76f2b8735501 207 }
lakshya 33:76f2b8735501 208
lakshya 33:76f2b8735501 209 uint8_t crc8_short()
lakshya 33:76f2b8735501 210 {
lakshya 33:76f2b8735501 211 uint8_t crc = CRC::crc8_gen(SHORT_HK_data,14);
lakshya 20:949d13045431 212 return crc;
lakshya 20:949d13045431 213 }
lakshya 20:949d13045431 214
lakshya 20:949d13045431 215 float uint16_to_float(float min,float max,uint16_t scale)
lakshya 20:949d13045431 216 {
lakshya 20:949d13045431 217 float div=max-min;
lakshya 20:949d13045431 218 div=(div/(65535.0));
lakshya 20:949d13045431 219 return ((div*(float)scale)+ min);
lakshya 20:949d13045431 220 }
lakshya 11:1fdb94ae6563 221
lakshya 20:949d13045431 222 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 223 {
lakshya 20:949d13045431 224 if(val>max)
lakshya 20:949d13045431 225 {return 0xffff;
lakshya 20:949d13045431 226 }
lakshya 20:949d13045431 227 if(val<min)
lakshya 20:949d13045431 228 {return 0x0000;
lakshya 20:949d13045431 229 }
lakshya 20:949d13045431 230 float div=max-min;
lakshya 20:949d13045431 231 div=(65535.0/div);
lakshya 20:949d13045431 232 val=((val-min)*div);
lakshya 49:61c9f28332ba 233 gpc.printf("\n\r the scale is %x",(uint16_t)val);
lakshya 20:949d13045431 234 return (uint16_t)val;
lakshya 20:949d13045431 235 }
sakthipriya 5:bb592f3185cc 236
lakshya 20:949d13045431 237 void gen_I_TM()
lakshya 20:949d13045431 238 {
lakshya 20:949d13045431 239 telemetry[0] = 0xB0;
lakshya 20:949d13045431 240 for(int i=1;i<11;i++)
lakshya 20:949d13045431 241 telemetry[i] = 0x00;
lakshya 20:949d13045431 242 uint16_t crc = CRC::crc16_gen(telemetry,11);//BAE_chardata i.e char data type usesd earlier
lakshya 20:949d13045431 243 telemetry[11] = (uint8_t)(crc >> 8);
lakshya 20:949d13045431 244 telemetry[12] = (uint8_t)crc ;
lakshya 20:949d13045431 245 for(int i=13;i<135;i++)
lakshya 20:949d13045431 246 telemetry[i] = 0x00;
lakshya 20:949d13045431 247 }
lakshya 20:949d13045431 248 void FCTN__UINT (uint8_t input[2], float* output)
lakshya 11:1fdb94ae6563 249 {
lakshya 11:1fdb94ae6563 250
lakshya 11:1fdb94ae6563 251 *output = (float) input[1];
lakshya 11:1fdb94ae6563 252 *output = *output/100.0; //input[0] integer part
lakshya 11:1fdb94ae6563 253 *output = *output + (float) input[0]; //input[1] decimal part correct to two decimal places
lakshya 11:1fdb94ae6563 254 }
lakshya 11:1fdb94ae6563 255
lakshya 10:f93407b97750 256 float angle(float x,float y,float z)
lakshya 10:f93407b97750 257 {
lakshya 10:f93407b97750 258 float mag_total=sqrt(x*x + y*y + z*z);
lakshya 10:f93407b97750 259 float cos_z = z/mag_total;
lakshya 10:f93407b97750 260 float theta_z = acosf(cos_z);
Bragadeesh153 13:fb7facaf308b 261
lakshya 10:f93407b97750 262 return theta_z;
lakshya 49:61c9f28332ba 263 //gpc.printf("/n cos_zz= %f /t theta_z= %f /n",cos_z,theta_z);
lakshya 10:f93407b97750 264 }
lakshya 10:f93407b97750 265
Bragadeesh153 13:fb7facaf308b 266 //uint8_t tm1[134];
Bragadeesh153 13:fb7facaf308b 267
Bragadeesh153 13:fb7facaf308b 268 void FCTN_BAE_TM_TC (uint8_t* tc)
sakthipriya 3:07e15677a75c 269 {
lakshya 19:79e69017c855 270 //tm1[0] = 1;
lakshya 19:79e69017c855 271 //calculating crc
lakshya 20:949d13045431 272 for(int i=0;i<134;i++)
lakshya 20:949d13045431 273 {
lakshya 20:949d13045431 274 telemetry[i]=tc[i];
lakshya 20:949d13045431 275 }
lakshya 20:949d13045431 276
lakshya 19:79e69017c855 277
lakshya 15:e09aaaccf134 278 /*chaged*/
lakshya 15:e09aaaccf134 279 uint8_t* tm; // without it some identifier error
lakshya 20:949d13045431 280 uint16_t crc16=CRC::crc16_gen(telemetry,9); //implementing crc
lakshya 49:61c9f28332ba 281 gpc.printf("\n\r the crc is %x",crc16);
lakshya 19:79e69017c855 282 if( ( ((uint8_t)((crc16 & 0xFF00)>>8)==tc[9]) && ((uint8_t)(crc16 & 0x00FF)==tc[10]) )== 0 )
lakshya 19:79e69017c855 283 {
lakshya 19:79e69017c855 284 telemetry[0]=0xB0;
lakshya 19:79e69017c855 285 telemetry[1]=0x00;//tc psc defined for this case
lakshya 19:79e69017c855 286 telemetry[2]=0x01;//ack code for this case
lakshya 19:79e69017c855 287 for(int i=3;i<11;i++)
lakshya 20:949d13045431 288 {
lakshya 19:79e69017c855 289 telemetry[i]=0x00;
lakshya 19:79e69017c855 290 }
lakshya 19:79e69017c855 291 //add crc
lakshya 19:79e69017c855 292 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 293 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 294 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 49:61c9f28332ba 295 gpc.printf("\n\rincorrect crc");
lakshya 19:79e69017c855 296 for(int i=13;i<134;i++)
lakshya 19:79e69017c855 297 {
lakshya 19:79e69017c855 298 telemetry[i]=0x00;
lakshya 19:79e69017c855 299 }
lakshya 19:79e69017c855 300 }
lakshya 19:79e69017c855 301 else
lakshya 19:79e69017c855 302 {
lakshya 19:79e69017c855 303 //check apid
lakshya 19:79e69017c855 304 uint8_t apid_check=((tc[1]&0xC0)>>6);
lakshya 19:79e69017c855 305 if(apid_check!=0x01)
lakshya 19:79e69017c855 306 {
lakshya 19:79e69017c855 307 telemetry[0]=0xB0;
lakshya 19:79e69017c855 308 telemetry[1]=tc[0];//tc psc defined for this case
lakshya 19:79e69017c855 309 telemetry[2]=0x02;//ack code for this case
lakshya 19:79e69017c855 310 for(int i=3;i<11;i++)
Bragadeesh153 13:fb7facaf308b 311 {
lakshya 19:79e69017c855 312 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 313 }
Bragadeesh153 13:fb7facaf308b 314 crc16 = CRC::crc16_gen(telemetry,11);
Bragadeesh153 13:fb7facaf308b 315 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
Bragadeesh153 13:fb7facaf308b 316 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 49:61c9f28332ba 317 gpc.printf("\n\rillegal TC packet APID don't match");
lakshya 19:79e69017c855 318 for(int i=13;i<134;i++)
Bragadeesh153 13:fb7facaf308b 319 {
Bragadeesh153 13:fb7facaf308b 320 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 321 }
sakthipriya 3:07e15677a75c 322 }
lakshya 19:79e69017c855 323 else
lakshya 19:79e69017c855 324 {// all the possible cases of fms and mms
lakshya 19:79e69017c855 325 uint8_t service_type=(tc[2]&0xF0);
lakshya 19:79e69017c855 326 //check for fms first
lakshya 19:79e69017c855 327 switch(service_type)
lakshya 19:79e69017c855 328 {
lakshya 19:79e69017c855 329 case 0x60:
lakshya 19:79e69017c855 330 {
lakshya 49:61c9f28332ba 331 gpc.printf("Memory Management Service\r\n");
lakshya 19:79e69017c855 332 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 333 switch(service_subtype)
lakshya 19:79e69017c855 334 {
lakshya 19:79e69017c855 335 case 0x02:
lakshya 19:79e69017c855 336 {
lakshya 49:61c9f28332ba 337 gpc.printf("\n\rRead from RAM");
lakshya 19:79e69017c855 338 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 339 switch(MID)
lakshya 19:79e69017c855 340 {
lakshya 19:79e69017c855 341 case 0x0000://changed from 0001
lakshya 19:79e69017c855 342 {
lakshya 49:61c9f28332ba 343 gpc.printf("\n\rRead from MID 0000 \n");
lakshya 49:61c9f28332ba 344 gpc.printf("\n\rReading flash parameters");
lakshya 19:79e69017c855 345
lakshya 19:79e69017c855 346 /*taking some varible till we find some thing more useful*/
lakshya 19:79e69017c855 347 //uint8_t ref_val=0x01;
lakshya 47:d59ba66229ce 348 telemetry[0] = 0x60;
lakshya 19:79e69017c855 349 telemetry[1] = tc[0];
lakshya 19:79e69017c855 350 telemetry[2] = ACK_CODE;
lakshya 19:79e69017c855 351 /*random or with bcn_tx_sw_enable assuming it is 1 bit in length
lakshya 19:79e69017c855 352 how to get that we dont know, now we just assume it to be so*/
lakshya 20:949d13045431 353 telemetry[3] = ACS_ATS_STATUS;
lakshya 20:949d13045431 354 telemetry[4] = ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 355 telemetry[4] = (telemetry[4]<<2)| ACS_TR_Z_SW_STATUS;
lakshya 27:61c856be467e 356 telemetry[4] = (telemetry[4]<<4) | ACS_STATE;
lakshya 27:61c856be467e 357 telemetry[5] = ACS_DETUMBLING_ALGO_TYPE;
lakshya 27:61c856be467e 358 telemetry[5] = (telemetry[5]<<2) | BCN_TX_SW_STATUS;
lakshya 20:949d13045431 359 telemetry[5] = (telemetry[5]<<1) | BCN_SPND_TX;
lakshya 20:949d13045431 360 telemetry[5] = (telemetry[5]<<1) | BCN_FEN;
lakshya 20:949d13045431 361 telemetry[5] = (telemetry[5]<<1) | BCN_LONG_MSG_TYPE;
lakshya 20:949d13045431 362 telemetry[5] = (telemetry[5]<<1) | EPS_BTRY_HTR_AUTO;//EPS_BATTERY_HEATER_ENABLE
lakshya 27:61c856be467e 363 telemetry[5] = (telemetry[5]<<1);
lakshya 27:61c856be467e 364 //now one spares in telemetry[5]
lakshya 20:949d13045431 365 telemetry[6] = BAE_RESET_COUNTER;
lakshya 20:949d13045431 366 telemetry[7] = EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 367 telemetry[8] = EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 368 telemetry[9] = ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 369 telemetry[10] = ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 370 telemetry[11] = EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 371 telemetry[12] = EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 372 telemetry[13] = EPS_BAT_TEMP_DEFAULT;
lakshya 20:949d13045431 373
lakshya 20:949d13045431 374 telemetry[14] = ACS_MM_X_COMSN >> 8;
lakshya 20:949d13045431 375 telemetry[15] = ACS_MM_X_COMSN;
lakshya 20:949d13045431 376
lakshya 20:949d13045431 377 telemetry[16] = ACS_MM_Y_COMSN >> 8;
lakshya 20:949d13045431 378 telemetry[17] = ACS_MM_Y_COMSN;
lakshya 20:949d13045431 379
lakshya 20:949d13045431 380 telemetry[18] = ACS_MG_X_COMSN >> 8;
lakshya 20:949d13045431 381 telemetry[19] = ACS_MG_X_COMSN;
lakshya 20:949d13045431 382
lakshya 20:949d13045431 383 telemetry[20] = ACS_MG_Y_COMSN >> 8;
lakshya 20:949d13045431 384 telemetry[21] = ACS_MG_Y_COMSN;
lakshya 20:949d13045431 385
lakshya 20:949d13045431 386 telemetry[22] = ACS_MM_Z_COMSN >> 8;
lakshya 20:949d13045431 387 telemetry[23] = ACS_MM_Z_COMSN;
lakshya 20:949d13045431 388
lakshya 20:949d13045431 389 telemetry[24] = ACS_MG_Z_COMSN >> 8;
lakshya 20:949d13045431 390 telemetry[25] = ACS_MG_Z_COMSN;
lakshya 20:949d13045431 391
lakshya 20:949d13045431 392 telemetry[26] = ACS_Z_FIXED_MOMENT >> 8;
lakshya 20:949d13045431 393 telemetry[27] = ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 394
lakshya 20:949d13045431 395 //BAE RAM PARAMETER
lakshya 20:949d13045431 396 telemetry[28] = BAE_INIT_STATUS;
lakshya 27:61c856be467e 397 telemetry[28] = (telemetry[28]<<1) | BAE_MNG_I2C_STATUS;//changed
lakshya 20:949d13045431 398 telemetry[28] = (telemetry[28]<<1) | BCN_INIT_STATUS;
lakshya 20:949d13045431 399 telemetry[28] = (telemetry[28]<<1) | BCN_TX_MAIN_STATUS;
lakshya 20:949d13045431 400 telemetry[28] = (telemetry[28]<<3) | BCN_TX_STATUS;
lakshya 27:61c856be467e 401 telemetry[28] = (telemetry[28]<<1) | ACS_INIT_STATUS;
lakshya 20:949d13045431 402
lakshya 20:949d13045431 403 telemetry[29] = ACS_DATA_ACQ_STATUS;
lakshya 20:949d13045431 404 telemetry[29] = (telemetry[29]<<1) | ACS_MAIN_STATUS;
lakshya 27:61c856be467e 405 telemetry[29] = (telemetry[29]<<4) | ACS_STATUS;
lakshya 20:949d13045431 406 telemetry[29] = (telemetry[29]<<1) | EPS_INIT_STATUS;
lakshya 20:949d13045431 407
lakshya 27:61c856be467e 408 telemetry[30] = EPS_BATTERY_GAUGE_STATUS;
lakshya 27:61c856be467e 409 telemetry[30] = (telemetry[30]<<1) | EPS_MAIN_STATUS;
lakshya 33:76f2b8735501 410 telemetry[30] = (telemetry[30]<<1) | EPS_BTRY_TMP_STATUS;
lakshya 20:949d13045431 411 telemetry[30] = (telemetry[30]<<3) | EPS_STATUS;
lakshya 20:949d13045431 412 telemetry[30] = (telemetry[30]<<2) | CDMS_SW_STATUS;
lakshya 20:949d13045431 413 // telemetry[30] = (telemetry[30]<<1) | EPS_BTRY_HTR_STATUS;//new to : implement
lakshya 33:76f2b8735501 414
lakshya 33:76f2b8735501 415 telemetry[31] = EPS_BTRY_HTR; //new to : implement
lakshya 27:61c856be467e 416 //spare 4
lakshya 27:61c856be467e 417 telemetry[31] = (telemetry[31]<<7) | BAE_STANDBY;
lakshya 20:949d13045431 418 // 6 next telemetries value to be given by registers
lakshya 20:949d13045431 419 telemetry[32] = ATS1_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 420 telemetry[33] = ATS1_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 421 telemetry[34] = ATS1_ERROR_RGTR;
lakshya 20:949d13045431 422 telemetry[35] = ATS2_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 423 telemetry[36] = ATS2_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 424 telemetry[37] = ATS2_ERROR_RGTR;
lakshya 20:949d13045431 425
lakshya 20:949d13045431 426 telemetry[38] = BCN_FAIL_COUNT;
lakshya 20:949d13045431 427 telemetry[39] = actual_data.power_mode;
lakshya 20:949d13045431 428 telemetry[40] = HTR_CYCLE_COUNTER;//new to : implement
lakshya 20:949d13045431 429
lakshya 20:949d13045431 430 telemetry[41] = BAE_I2C_COUNTER;
lakshya 20:949d13045431 431 telemetry[42] = BAE_I2C_COUNTER>>8;
lakshya 20:949d13045431 432 telemetry[43] = ACS_MAIN_COUNTER;
lakshya 20:949d13045431 433 telemetry[44] = ACS_MAIN_COUNTER>>8;
lakshya 20:949d13045431 434 telemetry[45] = BCN_TX_MAIN_COUNTER;
lakshya 20:949d13045431 435 telemetry[46] = BCN_TX_MAIN_COUNTER>>8;
lakshya 20:949d13045431 436 telemetry[47] = EPS_MAIN_COUNTER;
lakshya 20:949d13045431 437 telemetry[48] = EPS_MAIN_COUNTER>>8;
lakshya 49:61c9f28332ba 438
lakshya 49:61c9f28332ba 439 uint8_t days,hours,mins;
lakshya 49:61c9f28332ba 440 RETURN_UPTIME(BAE_uptime.read(),&days,&hours,&mins);
lakshya 49:61c9f28332ba 441 telemetry[49] = days;
lakshya 49:61c9f28332ba 442 RETURN_UPTIME(I2C_last.read(),&days,&hours,&mins);
lakshya 49:61c9f28332ba 443 telemetry[49] = (telemetry[49]<<3) | (hours>>2);
lakshya 49:61c9f28332ba 444 telemetry[50] = hours;
lakshya 49:61c9f28332ba 445 telemetry[50] = (telemetry[50]<<6) | mins;
lakshya 49:61c9f28332ba 446
lakshya 20:949d13045431 447 //sending in uint can be converted back to int by direct conversion for +values
lakshya 20:949d13045431 448 //make sure to convert baack to int for getting negative values
lakshya 20:949d13045431 449 //algo for that done
lakshya 49:61c9f28332ba 450 telemetry[51] = actual_data.bit_data_acs_mm[0];
lakshya 49:61c9f28332ba 451 telemetry[52] = actual_data.bit_data_acs_mm[0]>>8;
lakshya 49:61c9f28332ba 452 telemetry[53] = actual_data.bit_data_acs_mm[1];
lakshya 49:61c9f28332ba 453 telemetry[54] = actual_data.bit_data_acs_mm[1]>>8;
lakshya 49:61c9f28332ba 454 telemetry[55] = actual_data.bit_data_acs_mm[2];
lakshya 49:61c9f28332ba 455 telemetry[56] = actual_data.bit_data_acs_mm[2]>>8;
lakshya 20:949d13045431 456
lakshya 49:61c9f28332ba 457 telemetry[57] = actual_data.bit_data_acs_mg[0];
lakshya 49:61c9f28332ba 458 telemetry[58] = actual_data.bit_data_acs_mg[0]>>8;
lakshya 49:61c9f28332ba 459 telemetry[59] = actual_data.bit_data_acs_mg[1];
lakshya 49:61c9f28332ba 460 telemetry[60] = actual_data.bit_data_acs_mg[1]>>8;
lakshya 49:61c9f28332ba 461 telemetry[61] = actual_data.bit_data_acs_mg[2];
lakshya 49:61c9f28332ba 462 telemetry[62] = actual_data.bit_data_acs_mg[2]>>8;
lakshya 20:949d13045431 463
lakshya 49:61c9f28332ba 464 telemetry[63] = BCN_TX_OC_FAULT;
lakshya 49:61c9f28332ba 465 telemetry[63] = (telemetry[63]<<1) | ACS_TR_XY_ENABLE;
lakshya 49:61c9f28332ba 466 telemetry[63] = (telemetry[63]<<1) | ACS_TR_Z_ENABLE;
lakshya 49:61c9f28332ba 467 telemetry[63] = (telemetry[63]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 49:61c9f28332ba 468 telemetry[63] = (telemetry[63]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 49:61c9f28332ba 469 telemetry[63] = (telemetry[63]<<1) | ACS_TR_XY_FAULT;
lakshya 49:61c9f28332ba 470 telemetry[63] = (telemetry[63]<<1) | EPS_CHARGER_FAULT;
lakshya 49:61c9f28332ba 471 telemetry[63] = (telemetry[63]<<1) | EPS_CHARGER_STATUS;
lakshya 20:949d13045431 472
lakshya 49:61c9f28332ba 473 telemetry[64] = EPS_BATTERY_GAUGE_ALERT;
lakshya 49:61c9f28332ba 474 telemetry[64] = (telemetry[64]<<1) | CDMS_OC_FAULT;
lakshya 49:61c9f28332ba 475 telemetry[64] = (telemetry[64]<<1) | ACS_ATS1_OC_FAULT;
lakshya 49:61c9f28332ba 476 telemetry[64] = (telemetry[64]<<1) | ACS_ATS2_OC_FAULT;
lakshya 49:61c9f28332ba 477 telemetry[64] = (telemetry[64]<<1) | ACS_TR_Z_FAULT;
lakshya 49:61c9f28332ba 478 telemetry[64] = (telemetry[64]<<3);
lakshya 20:949d13045431 479 //3 spare
lakshya 20:949d13045431 480
lakshya 49:61c9f28332ba 481 telemetry[65] = ACS_TR_X_PWM;
lakshya 49:61c9f28332ba 482 telemetry[66] = ACS_TR_Y_PWM;
lakshya 49:61c9f28332ba 483 telemetry[67] = ACS_TR_Z_PWM;
lakshya 20:949d13045431 484 //spare byte
lakshya 20:949d13045431 485 //assigned it to counter HTR_CYCLE_COUNTER
lakshya 20:949d13045431 486
lakshya 20:949d13045431 487 //assign it b_scz_angle
lakshya 49:61c9f28332ba 488 telemetry[68] = B_SCZ_ANGLE>>4;
lakshya 49:61c9f28332ba 489 telemetry[68] = (telemetry[68]<<1) | alarmmode;
lakshya 49:61c9f28332ba 490 telemetry[68] = (telemetry[68]<<1) | controlmode_mms;
lakshya 49:61c9f28332ba 491 telemetry[68] = (telemetry[68]<<1) | singularity_flag_mms;
lakshya 49:61c9f28332ba 492 telemetry[68] = (telemetry[68]<<1);
lakshya 49:61c9f28332ba 493 //1 bit spare
lakshya 20:949d13045431 494
lakshya 20:949d13045431 495 for(int i=0;i<9;i++)
lakshya 20:949d13045431 496 {
lakshya 49:61c9f28332ba 497 telemetry[69+i] = invjm_mms[i];
lakshya 20:949d13045431 498 telemetry[80+i] = jm_mms[i];
lakshya 20:949d13045431 499 }
lakshya 20:949d13045431 500
lakshya 49:61c9f28332ba 501 for(int i=0;i<2;i++)
lakshya 49:61c9f28332ba 502 telemetry[78+i] = bb_mms[i];
lakshya 20:949d13045431 503
lakshya 20:949d13045431 504 for(int i=0;i<16;i++)
lakshya 20:949d13045431 505 {
lakshya 20:949d13045431 506 telemetry[89+i] = quant_data.voltage_quant[i];
lakshya 20:949d13045431 507 telemetry[105+i] = quant_data.current_quant[i];
lakshya 20:949d13045431 508 }
lakshya 20:949d13045431 509
lakshya 20:949d13045431 510 telemetry[121] = quant_data.Batt_voltage_quant;
lakshya 20:949d13045431 511 telemetry[122] = quant_data.BAE_temp_quant;
lakshya 20:949d13045431 512 telemetry[123] = (uint8_t)(actual_data.Batt_gauge_actual[1]);
lakshya 20:949d13045431 513 telemetry[124] = quant_data.Batt_temp_quant[0];
lakshya 20:949d13045431 514 telemetry[125] = quant_data.Batt_temp_quant[1];
lakshya 20:949d13045431 515 telemetry[126] = BCN_TMP;
lakshya 20:949d13045431 516
lakshya 20:949d13045431 517 //* ANY USE?
lakshya 20:949d13045431 518 ///if(BCN_TX_STATUS==2)
lakshya 20:949d13045431 519 /// telemetry[3] = telemetry[3]|0x20;
lakshya 20:949d13045431 520 ///else
lakshya 20:949d13045431 521 ///telemetry[3] = telemetry[3] & 0xDF;
lakshya 19:79e69017c855 522
lakshya 19:79e69017c855 523 //actual_data.AngularSpeed_actual[0]=5.32498;
lakshya 20:949d13045431 524 ///for(int i=0; i<3; i++)
lakshya 20:949d13045431 525 /// FCTN_CONVERT_FLOAT((float)actual_data.Bvalue_actual[i],&telemetry[26+ (i*4)]);
lakshya 20:949d13045431 526 ///for(int i=0; i<3; i++)
lakshya 20:949d13045431 527 /// FCTN_CONVERT_FLOAT((float)actual_data.AngularSpeed_actual[i],&telemetry[38+(i*4)]);
lakshya 20:949d13045431 528 ///
lakshya 20:949d13045431 529 for (int i=127; i<132;i++)
lakshya 19:79e69017c855 530 {
lakshya 19:79e69017c855 531 telemetry[i] = 0x00;
lakshya 19:79e69017c855 532 }
lakshya 19:79e69017c855 533 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 534 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 535 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 536
lakshya 19:79e69017c855 537 break;
lakshya 19:79e69017c855 538 }
lakshya 19:79e69017c855 539 case 0x0001:
lakshya 19:79e69017c855 540 {
lakshya 49:61c9f28332ba 541 gpc.printf("\r\nhk data tm");
lakshya 19:79e69017c855 542 telemetry[0] = 0x60;
lakshya 19:79e69017c855 543 telemetry[1] = tc[0];
lakshya 19:79e69017c855 544 telemetry[2] = ACK_CODE;
lakshya 19:79e69017c855 545
lakshya 19:79e69017c855 546 for(int i;i<16;i++)
lakshya 20:949d13045431 547 {
lakshya 20:949d13045431 548 telemetry[i+3] = bae_HK_minmax.voltage_max[i];
lakshya 20:949d13045431 549 telemetry[i+19] = bae_HK_minmax.current_max[i];
lakshya 20:949d13045431 550 }
lakshya 19:79e69017c855 551
lakshya 20:949d13045431 552 telemetry[35] = bae_HK_minmax.Batt_voltage_max;;
lakshya 20:949d13045431 553 telemetry[36] = bae_HK_minmax.BAE_temp_max;
lakshya 19:79e69017c855 554
lakshya 20:949d13045431 555 telemetry[37] = bae_HK_minmax.Batt_SOC_max;
lakshya 19:79e69017c855 556
lakshya 20:949d13045431 557 telemetry[38] = bae_HK_minmax.Batt_temp_max[0];
lakshya 20:949d13045431 558 telemetry[39] = bae_HK_minmax.Batt_temp_max[1];
lakshya 19:79e69017c855 559
lakshya 20:949d13045431 560 /*BCN temp there*/
lakshya 20:949d13045431 561 telemetry[40] = bae_HK_minmax.BCN_TEMP_max;
lakshya 19:79e69017c855 562
lakshya 19:79e69017c855 563 for(int i=0; i<3; i++)
lakshya 20:949d13045431 564 {
lakshya 20:949d13045431 565 telemetry[41+i] = bae_HK_minmax.bit_data_acs_mm_max[i];
lakshya 20:949d13045431 566 telemetry[44+i] = bae_HK_minmax.bit_data_acs_mg_max[i];
lakshya 20:949d13045431 567 }
lakshya 19:79e69017c855 568
lakshya 19:79e69017c855 569 /*min data*/
lakshya 19:79e69017c855 570
lakshya 19:79e69017c855 571 for(int i;i<16;i++)
lakshya 20:949d13045431 572 telemetry[i+47] = bae_HK_minmax.voltage_min[i];
lakshya 19:79e69017c855 573
lakshya 20:949d13045431 574 for(int i;i<16;i++)
lakshya 20:949d13045431 575 telemetry[i+63] = bae_HK_minmax.current_min[i];
lakshya 19:79e69017c855 576
lakshya 20:949d13045431 577 telemetry[79] = bae_HK_minmax.Batt_voltage_min;
lakshya 20:949d13045431 578 telemetry[80] = bae_HK_minmax.BAE_temp_min;
lakshya 19:79e69017c855 579
lakshya 19:79e69017c855 580 /*battery soc*/
lakshya 20:949d13045431 581 telemetry[81] = bae_HK_minmax.Batt_SOC_min;
lakshya 19:79e69017c855 582
lakshya 20:949d13045431 583 telemetry[82] = bae_HK_minmax.Batt_temp_min[0];
lakshya 20:949d13045431 584 telemetry[83] = bae_HK_minmax.Batt_temp_min[1];
lakshya 19:79e69017c855 585 //huhu//
lakshya 19:79e69017c855 586
lakshya 20:949d13045431 587 /*BCN temp named as BCN_TS_BUFFER there*/
lakshya 20:949d13045431 588 telemetry[84] = bae_HK_minmax.BCN_TEMP_min;
lakshya 19:79e69017c855 589
lakshya 19:79e69017c855 590 for(int i=0; i<3; i++)
lakshya 20:949d13045431 591 {
lakshya 20:949d13045431 592 telemetry[85+i] = bae_HK_minmax.bit_data_acs_mm_min[i];
lakshya 20:949d13045431 593 telemetry[88+i] = bae_HK_minmax.bit_data_acs_mg_min[i];
lakshya 20:949d13045431 594 }
lakshya 20:949d13045431 595
lakshya 20:949d13045431 596 telemetry[90] = BCN_TX_OC_FAULT;
lakshya 20:949d13045431 597 telemetry[90] = (telemetry[90]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 20:949d13045431 598 telemetry[90] = (telemetry[90]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 20:949d13045431 599 telemetry[90] = (telemetry[90]<<1) | ACS_TR_XY_FAULT;
lakshya 20:949d13045431 600 //EPS CHARGER
lakshya 20:949d13045431 601 telemetry[90] = (telemetry[90]<<1) | EPS_CHARGER_FAULT;//eps_charger;
lakshya 20:949d13045431 602 telemetry[90] = (telemetry[90]<<1) | CDMS_OC_FAULT;
lakshya 20:949d13045431 603 telemetry[90] = (telemetry[90]<<1) | ACS_ATS1_OC_FAULT;
lakshya 20:949d13045431 604 telemetry[90] = (telemetry[90]<<1) | ACS_ATS2_OC_FAULT;
lakshya 20:949d13045431 605
lakshya 20:949d13045431 606 telemetry[91] = ACS_TR_Z_FAULT;
lakshya 20:949d13045431 607 //spare 23 bits
lakshya 20:949d13045431 608 telemetry[92] = 0x00;
lakshya 20:949d13045431 609 telemetry[93] = 0x00;
lakshya 20:949d13045431 610
lakshya 20:949d13045431 611 for (int i=94; i<132;i++)
lakshya 19:79e69017c855 612 {
lakshya 19:79e69017c855 613 telemetry[i] = 0x00;
lakshya 19:79e69017c855 614 }
lakshya 19:79e69017c855 615 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 616 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 617 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 618 break;
lakshya 19:79e69017c855 619 }
lakshya 19:79e69017c855 620 default://invalid MID
lakshya 19:79e69017c855 621 {
lakshya 19:79e69017c855 622 //ACK_L234_telemetry
lakshya 19:79e69017c855 623 telemetry[0]=0xB0;
lakshya 19:79e69017c855 624 telemetry[1]=tc[0];
lakshya 19:79e69017c855 625 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 626 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 627 {
lakshya 19:79e69017c855 628 telemetry[i]=0x00;
lakshya 19:79e69017c855 629 }
lakshya 19:79e69017c855 630 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 631 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 632 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 633 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 634 {
lakshya 19:79e69017c855 635 telemetry[i]=0x00;
lakshya 19:79e69017c855 636 }
lakshya 19:79e69017c855 637 break;
lakshya 19:79e69017c855 638 }
lakshya 19:79e69017c855 639 }
lakshya 19:79e69017c855 640 break;
lakshya 19:79e69017c855 641 }
lakshya 19:79e69017c855 642 case 0x05:
lakshya 19:79e69017c855 643 {
lakshya 49:61c9f28332ba 644 gpc.printf("\n\rdata for mms 0x05 flash");
lakshya 19:79e69017c855 645 /*changed*/
lakshya 49:61c9f28332ba 646 gpc.printf("\n\rwrite on flash\n");
lakshya 20:949d13045431 647 uint32_t FLASH_DATA;//256 bits
lakshya 19:79e69017c855 648
lakshya 19:79e69017c855 649 uint8_t VALID_MID;//to determine wether mid is valid or not otherwise to much repetition of code 1 meaning valid
lakshya 19:79e69017c855 650
lakshya 19:79e69017c855 651 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 652 switch(MID )
lakshya 19:79e69017c855 653 {
lakshya 20:949d13045431 654 case 0x1100:
lakshya 19:79e69017c855 655 {
lakshya 20:949d13045431 656 //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 657 //FCTN_BAE_WR_FLASH(0,FLASH_DATA[0]);
lakshya 20:949d13045431 658 BCN_LONG_MSG_TYPE = tc[8];
lakshya 20:949d13045431 659 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 660 FLASH_DATA = (FLASH_DATA & 0xFFFFFBFF) | (10<<(uint32_t)tc[8]);//see if uint8 to uint32 conversion works
lakshya 20:949d13045431 661 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 662 VALID_MID=1;
lakshya 19:79e69017c855 663 break;
lakshya 19:79e69017c855 664 }
lakshya 19:79e69017c855 665 case 0x0101:
lakshya 19:79e69017c855 666 {
lakshya 20:949d13045431 667 //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 668 ACS_DETUMBLING_ALGO_TYPE = (tc[8] & 0x01);
lakshya 49:61c9f28332ba 669 //===============================================
lakshya 49:61c9f28332ba 670 ACS_STATE = 4;
lakshya 49:61c9f28332ba 671 //tc[8] = 1001_
lakshya 49:61c9f28332ba 672 //ACS_STATE = (tc[8]>>1) & 0x0F;
lakshya 20:949d13045431 673 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 674 FLASH_DATA = (FLASH_DATA & 0xFFF07FFF) | (15<<(uint32_t)tc[8]);
lakshya 20:949d13045431 675 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 676 VALID_MID=1;
lakshya 19:79e69017c855 677 break;
lakshya 19:79e69017c855 678 }
lakshya 19:79e69017c855 679
lakshya 19:79e69017c855 680 case 0x0102:
lakshya 19:79e69017c855 681 {
lakshya 20:949d13045431 682 //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 683 //EPS_BATTERY_HEATER_ENABLE = tc[8];
lakshya 20:949d13045431 684 EPS_BTRY_HTR_AUTO = tc[8];
lakshya 20:949d13045431 685 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 686 FLASH_DATA = (FLASH_DATA & 0xFFFFFDFF) | (9<<(uint32_t)tc[8]);
lakshya 20:949d13045431 687 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 688 VALID_MID=1;
lakshya 19:79e69017c855 689 break;
lakshya 19:79e69017c855 690 }
lakshya 19:79e69017c855 691
lakshya 19:79e69017c855 692 case 0x0103:
lakshya 19:79e69017c855 693 {
lakshya 20:949d13045431 694 //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 695 ACS_MAG_TIME_DELAY = tc[7];
lakshya 20:949d13045431 696 ACS_DEMAG_TIME_DELAY = tc[8];
lakshya 20:949d13045431 697 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 698 FLASH_DATA = (FLASH_DATA & 0xFFFF0000) | (8<<(uint32_t)tc[7]) | ((uint32_t)tc[8]);
lakshya 20:949d13045431 699 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 700 VALID_MID=1;
lakshya 19:79e69017c855 701 break;
lakshya 19:79e69017c855 702 }
lakshya 19:79e69017c855 703 case 0x0104:
lakshya 19:79e69017c855 704 {
lakshya 20:949d13045431 705 //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 706 ACS_Z_FIXED_MOMENT = (8<<(uint16_t)tc[7]) | (uint16_t)tc[8];
lakshya 20:949d13045431 707 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(6);
lakshya 20:949d13045431 708 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)ACS_Z_FIXED_MOMENT<<16);
lakshya 20:949d13045431 709 FCTN_BAE_WR_FLASH(6,FLASH_DATA);
lakshya 19:79e69017c855 710 VALID_MID=1;
lakshya 19:79e69017c855 711 break;
lakshya 19:79e69017c855 712 }
lakshya 20:949d13045431 713 case 0x0106:
lakshya 19:79e69017c855 714 {
lakshya 20:949d13045431 715 //FLASH_DATA[6] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 20:949d13045431 716 ACS_MM_Z_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 717 ACS_MG_Z_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 718 FLASH_DATA = ((uint32_t)ACS_MM_Z_COMSN<<16) | (uint32_t)ACS_MG_Z_COMSN;
lakshya 20:949d13045431 719 FCTN_BAE_WR_FLASH(5,FLASH_DATA);
lakshya 20:949d13045431 720 VALID_MID=1;
lakshya 20:949d13045431 721 break;
lakshya 20:949d13045431 722 }
lakshya 20:949d13045431 723 case 0x0107:
lakshya 20:949d13045431 724 {
lakshya 20:949d13045431 725 //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 726 EPS_SOC_LEVEL_12 = tc[7];
lakshya 20:949d13045431 727 EPS_SOC_LEVEL_23 = tc[8];
lakshya 20:949d13045431 728 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 729 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)tc[7]<<24) | ((uint32_t)tc[8]<<16);
lakshya 20:949d13045431 730 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 731 VALID_MID=1;
lakshya 19:79e69017c855 732 break;
lakshya 19:79e69017c855 733 }
lakshya 20:949d13045431 734 case 0x0108:
lakshya 19:79e69017c855 735 {
lakshya 20:949d13045431 736 //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 737 ACS_MM_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 738 ACS_MM_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 739 FLASH_DATA = ((uint32_t)ACS_MM_X_COMSN<<16) | (uint32_t)ACS_MM_Y_COMSN;
lakshya 20:949d13045431 740 FCTN_BAE_WR_FLASH(3,FLASH_DATA);
lakshya 19:79e69017c855 741 VALID_MID=1;
lakshya 19:79e69017c855 742 break;
lakshya 19:79e69017c855 743 }
lakshya 20:949d13045431 744 case 0x0109:
lakshya 19:79e69017c855 745 {
lakshya 20:949d13045431 746 //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 747 ACS_MG_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 748 ACS_MG_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 749 FLASH_DATA = ((uint32_t)ACS_MG_X_COMSN<<16) | (uint32_t)ACS_MG_Y_COMSN;
lakshya 20:949d13045431 750 FCTN_BAE_WR_FLASH(4,FLASH_DATA);
lakshya 19:79e69017c855 751 VALID_MID=1;
lakshya 19:79e69017c855 752 break;
lakshya 19:79e69017c855 753 }
lakshya 19:79e69017c855 754
lakshya 19:79e69017c855 755 default:
lakshya 19:79e69017c855 756 {
lakshya 49:61c9f28332ba 757 gpc.printf("Invalid MMS case 0x05 invalid MID\r\n");
lakshya 19:79e69017c855 758 VALID_MID=0;
lakshya 19:79e69017c855 759 //ACK_L234_telemetry
lakshya 19:79e69017c855 760 break;
lakshya 19:79e69017c855 761
lakshya 19:79e69017c855 762 }
lakshya 19:79e69017c855 763 }
lakshya 19:79e69017c855 764
lakshya 19:79e69017c855 765 if(VALID_MID==1)//valid MID
lakshya 19:79e69017c855 766 {
lakshya 19:79e69017c855 767 telemetry[0]=0xB0;//or 0x60? check
lakshya 19:79e69017c855 768 telemetry[1]=tc[0];
lakshya 19:79e69017c855 769 telemetry[2]=0xA0;// when valid
lakshya 19:79e69017c855 770 }
lakshya 19:79e69017c855 771 else if(VALID_MID==0)//invalid MID
lakshya 19:79e69017c855 772 {
lakshya 19:79e69017c855 773 telemetry[0]=0xB0;
lakshya 19:79e69017c855 774 telemetry[1]=tc[0];
lakshya 19:79e69017c855 775 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 776 }
lakshya 19:79e69017c855 777
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
lakshya 49:61c9f28332ba 790 gpc.printf("\n\rWritten on Flash");
lakshya 19:79e69017c855 791 break;
lakshya 19:79e69017c855 792 }
lakshya 19:79e69017c855 793 default://when invalid service subtype
lakshya 19:79e69017c855 794 {
lakshya 49:61c9f28332ba 795 gpc.printf("\n\r MMS invalid Service Subtype");
lakshya 19:79e69017c855 796 //ACK_L234_telemetry
lakshya 19:79e69017c855 797 telemetry[0]=0xB0;
lakshya 19:79e69017c855 798 telemetry[1]=tc[0];
lakshya 19:79e69017c855 799 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 800 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 801 {
lakshya 19:79e69017c855 802 telemetry[i]=0x00;
lakshya 19:79e69017c855 803 }
lakshya 19:79e69017c855 804 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 805 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 806 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 807 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 808 {
lakshya 19:79e69017c855 809 telemetry[i]=0x00;
lakshya 19:79e69017c855 810 }
lakshya 19:79e69017c855 811 break;
lakshya 19:79e69017c855 812 }
lakshya 19:79e69017c855 813 }
lakshya 19:79e69017c855 814 break;
lakshya 19:79e69017c855 815 }
lakshya 19:79e69017c855 816 case 0x80:
lakshya 19:79e69017c855 817 {
lakshya 49:61c9f28332ba 818 //gpc.printf("Function Management Service\r\n");
lakshya 19:79e69017c855 819 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 820 switch(service_subtype)
lakshya 19:79e69017c855 821 {
lakshya 19:79e69017c855 822 case 0x01:
lakshya 19:79e69017c855 823 {
lakshya 49:61c9f28332ba 824 gpc.printf("\n\rFMS Activated");
lakshya 19:79e69017c855 825 uint8_t fid=tc[3];//changed from pid to fid
lakshya 19:79e69017c855 826 switch(fid)
lakshya 19:79e69017c855 827 {
lakshya 19:79e69017c855 828 case 0xE0:
lakshya 19:79e69017c855 829 {
lakshya 20:949d13045431 830 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 831 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 832 float moment_comm[3];
lakshya 49:61c9f28332ba 833 gpc.printf("ACS_COMSN SOFTWARE\r\n");
lakshya 19:79e69017c855 834 //ACK_L234_telemetry
lakshya 20:949d13045431 835 ACS_STATE = tc[4];
lakshya 49:61c9f28332ba 836 if(ACS_STATE == 2) // Nominal mode
lakshya 20:949d13045431 837 {
lakshya 49:61c9f28332ba 838 gpc.printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 839 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 840 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 841 for(int i=0; i<3; i++)
lakshya 20:949d13045431 842 {
lakshya 49:61c9f28332ba 843 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 844 }
lakshya 20:949d13045431 845
lakshya 20:949d13045431 846 }
lakshya 49:61c9f28332ba 847 else if(ACS_STATE == 3) // Auto Control
lakshya 20:949d13045431 848 {
lakshya 49:61c9f28332ba 849 gpc.printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 850 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 851 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 852 for(int i=0; i<3; i++)
lakshya 20:949d13045431 853 {
lakshya 49:61c9f28332ba 854 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 855 }
lakshya 20:949d13045431 856 }
lakshya 49:61c9f28332ba 857 else if(ACS_STATE == 4) // Detumbling
lakshya 20:949d13045431 858 {
lakshya 20:949d13045431 859 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 860 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 861 for(int i=0; i<3; i++)
lakshya 20:949d13045431 862 {
lakshya 49:61c9f28332ba 863 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 864 }
lakshya 20:949d13045431 865 }
lakshya 19:79e69017c855 866 else
lakshya 19:79e69017c855 867 {
lakshya 20:949d13045431 868 ACS_STATUS = 7;
lakshya 19:79e69017c855 869 }
lakshya 20:949d13045431 870
lakshya 20:949d13045431 871 // Control algo commissioning
lakshya 39:670133e7ffd8 872 uint16_t moment_ret;
lakshya 49:61c9f28332ba 873 telemetry[0] = 0x78;
lakshya 49:61c9f28332ba 874 telemetry[1] = tc[0];
lakshya 49:61c9f28332ba 875 telemetry[2] = ACK_CODE;
lakshya 39:670133e7ffd8 876 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 877 telemetry[4] = ACS_STATUS;
lakshya 39:670133e7ffd8 878 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 879 telemetry[5] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 880 telemetry[6] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 881 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 882 telemetry[7] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 883 telemetry[8] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 884 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[2]);
lakshya 39:670133e7ffd8 885 telemetry[9] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 886 telemetry[10] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 887
lakshya 39:670133e7ffd8 888 //FCTN_CONVERT_FLOAT(moment_comm[0],&telemetry[4]); //telemetry[4] - telemetry[7]
lakshya 39:670133e7ffd8 889 //FCTN_CONVERT_FLOAT(moment_comm[1],&telemetry[8]); //telemetry[8] - telemetry[11]
lakshya 39:670133e7ffd8 890 //FCTN_CONVERT_FLOAT(moment_comm[2],&telemetry[12]); //telemetry[12] - telemetry[15]
lakshya 19:79e69017c855 891 // to include commission TR as well
lakshya 39:670133e7ffd8 892 for(uint8_t i=11;i<132;i++)
lakshya 19:79e69017c855 893 {
lakshya 19:79e69017c855 894 telemetry[i]=0x00;
lakshya 19:79e69017c855 895 }
lakshya 19:79e69017c855 896 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 897 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 898 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 899 break;
lakshya 19:79e69017c855 900 }
lakshya 19:79e69017c855 901 case 0xE1:
lakshya 19:79e69017c855 902 {
lakshya 49:61c9f28332ba 903 gpc.printf("HARDWARE_COMSN\r\n");
lakshya 19:79e69017c855 904 //ACK_L234_telemetry
lakshya 39:670133e7ffd8 905 uint8_t SENSOR_NO;
lakshya 20:949d13045431 906
lakshya 20:949d13045431 907 int init1=0;
lakshya 20:949d13045431 908 int init2=0;
lakshya 20:949d13045431 909 int data1=0;
lakshya 20:949d13045431 910 int data2=0;
lakshya 39:670133e7ffd8 911
lakshya 39:670133e7ffd8 912 uint16_t assign_val;
lakshya 19:79e69017c855 913
lakshya 20:949d13045431 914 float PWM_tc[3];
lakshya 39:670133e7ffd8 915 PWM_tc[0]=(float(tc[4]))/32768 - 1;
lakshya 39:670133e7ffd8 916 PWM_tc[1]=(float(tc[5]))/32768 - 1;
lakshya 39:670133e7ffd8 917 PWM_tc[2]=(float(tc[6]))/32768 - 1;
lakshya 20:949d13045431 918
lakshya 20:949d13045431 919 DRV_Z_EN = 1;
lakshya 20:949d13045431 920 DRV_XY_EN = 1;
lakshya 49:61c9f28332ba 921 telemetry[0]=0x78;
lakshya 19:79e69017c855 922 telemetry[1]=tc[0];
lakshya 19:79e69017c855 923 telemetry[2]=ACK_CODE;
lakshya 39:670133e7ffd8 924 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 925
lakshya 39:670133e7ffd8 926 SENSOR_NO = 0;
lakshya 19:79e69017c855 927
lakshya 20:949d13045431 928 PWM1 = 0;
lakshya 20:949d13045431 929 PWM2 = 0;
lakshya 20:949d13045431 930 PWM3 = 0;
lakshya 20:949d13045431 931
lakshya 20:949d13045431 932 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 933 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 934 wait_ms(5);
lakshya 20:949d13045431 935 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 936 wait_ms(5);
lakshya 20:949d13045431 937 //will it lead to causing delay in i2c interrupt
lakshya 20:949d13045431 938 init1 = SENSOR_INIT();
lakshya 20:949d13045431 939 if( init1 == 1)
lakshya 20:949d13045431 940 {
lakshya 20:949d13045431 941 data1 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 942 }
lakshya 20:949d13045431 943 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 944 wait_ms(5);
lakshya 20:949d13045431 945 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 946 wait_ms(5);
lakshya 20:949d13045431 947
lakshya 20:949d13045431 948 if(data1 == 0)
lakshya 20:949d13045431 949 {
lakshya 20:949d13045431 950 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 951 wait_ms(5);
lakshya 20:949d13045431 952 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
lakshya 20:949d13045431 953 }
lakshya 20:949d13045431 954 else if(data1==1)
lakshya 20:949d13045431 955 {
lakshya 20:949d13045431 956 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x10;
lakshya 20:949d13045431 957 }
lakshya 20:949d13045431 958 else if(data1==2)
lakshya 20:949d13045431 959 {
lakshya 20:949d13045431 960 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x20;
lakshya 20:949d13045431 961 }
lakshya 20:949d13045431 962 else if(data1==3)
lakshya 20:949d13045431 963 {
lakshya 20:949d13045431 964 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x30;
lakshya 20:949d13045431 965 }
lakshya 39:670133e7ffd8 966
lakshya 39:670133e7ffd8 967 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 968 telemetry[5] = (assign_val>>8);
lakshya 39:670133e7ffd8 969 telemetry[6] = assign_val;
lakshya 39:670133e7ffd8 970
lakshya 39:670133e7ffd8 971 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 972 telemetry[7] = (assign_val>>8);
lakshya 39:670133e7ffd8 973 telemetry[8] = assign_val;
lakshya 39:670133e7ffd8 974
lakshya 39:670133e7ffd8 975 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 976 telemetry[9] = (assign_val>>8);
lakshya 39:670133e7ffd8 977 telemetry[10] = assign_val;
lakshya 39:670133e7ffd8 978
lakshya 39:670133e7ffd8 979 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 980 telemetry[11] = (assign_val>>8);
lakshya 39:670133e7ffd8 981 telemetry[12] = assign_val;
lakshya 39:670133e7ffd8 982
lakshya 39:670133e7ffd8 983 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 984 telemetry[13] = (assign_val>>8);
lakshya 39:670133e7ffd8 985 telemetry[14] = assign_val;
lakshya 39:670133e7ffd8 986
lakshya 39:670133e7ffd8 987 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 988 telemetry[15] = (assign_val>>8);
lakshya 39:670133e7ffd8 989 telemetry[16] = assign_val;
lakshya 39:670133e7ffd8 990
lakshya 20:949d13045431 991 init2 = SENSOR_INIT();
lakshya 20:949d13045431 992 if( init2 == 1)
lakshya 20:949d13045431 993 {
lakshya 20:949d13045431 994 data2 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 995 }
lakshya 39:670133e7ffd8 996 //uint8_t ats_data=1;
lakshya 19:79e69017c855 997
lakshya 20:949d13045431 998 if(data2 == 0)
lakshya 20:949d13045431 999 {
lakshya 20:949d13045431 1000 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1001 wait_ms(5);
lakshya 20:949d13045431 1002 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x0C;
lakshya 39:670133e7ffd8 1003 SENSOR_NO = 0;
lakshya 20:949d13045431 1004 if(data1 == 2)
lakshya 20:949d13045431 1005 {
lakshya 20:949d13045431 1006 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1007 wait_ms(5);
lakshya 20:949d13045431 1008 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1009 SENSOR_NO = 1;
lakshya 20:949d13045431 1010 }
lakshya 20:949d13045431 1011 else if(data1 == 3)
lakshya 20:949d13045431 1012 {
lakshya 20:949d13045431 1013 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1014 wait_ms(5);
lakshya 20:949d13045431 1015 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 39:670133e7ffd8 1016 SENSOR_NO = 1;
lakshya 20:949d13045431 1017 }
lakshya 20:949d13045431 1018 else if(data1 == 1)
lakshya 20:949d13045431 1019 {
lakshya 20:949d13045431 1020 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1021 wait_ms(5);
lakshya 20:949d13045431 1022 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1023 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1024
lakshya 20:949d13045431 1025 }
lakshya 20:949d13045431 1026
lakshya 20:949d13045431 1027 }
lakshya 20:949d13045431 1028 else if(data2==1)
lakshya 20:949d13045431 1029 {
lakshya 20:949d13045431 1030 if(data1 == 2)
lakshya 20:949d13045431 1031 {
lakshya 20:949d13045431 1032 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1033 wait_ms(5);
lakshya 20:949d13045431 1034 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1035 wait_ms(5);
lakshya 20:949d13045431 1036 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1037 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
lakshya 39:670133e7ffd8 1038 SENSOR_NO = 1;
lakshya 20:949d13045431 1039 }
lakshya 20:949d13045431 1040 else if(data1 == 3)
lakshya 20:949d13045431 1041 {
lakshya 20:949d13045431 1042 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1043 wait_ms(5);
lakshya 20:949d13045431 1044 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1045 wait_ms(5);
lakshya 20:949d13045431 1046 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1047 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1048 SENSOR_NO = 1;
lakshya 20:949d13045431 1049 }
lakshya 20:949d13045431 1050 else
lakshya 20:949d13045431 1051 {
lakshya 20:949d13045431 1052 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1053 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1054 //ats_data = 0;
lakshya 20:949d13045431 1055 }
lakshya 20:949d13045431 1056 }
lakshya 20:949d13045431 1057
lakshya 20:949d13045431 1058 else if(data2==2)
lakshya 20:949d13045431 1059 {
lakshya 20:949d13045431 1060 if(data1 == 3)
lakshya 20:949d13045431 1061 {
lakshya 20:949d13045431 1062 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1063 wait_ms(5);
lakshya 20:949d13045431 1064 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1065 wait_ms(5);
lakshya 20:949d13045431 1066 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x02;
lakshya 20:949d13045431 1067 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1068 SENSOR_NO = 1;
lakshya 20:949d13045431 1069 }
lakshya 20:949d13045431 1070 else
lakshya 20:949d13045431 1071 {
lakshya 20:949d13045431 1072 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1073 SENSOR_NO = 2;
lakshya 20:949d13045431 1074 }
lakshya 20:949d13045431 1075 }
lakshya 20:949d13045431 1076 else if(data2==3)
lakshya 20:949d13045431 1077 {
lakshya 20:949d13045431 1078 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 39:670133e7ffd8 1079 SENSOR_NO = 2;
lakshya 20:949d13045431 1080 }
lakshya 39:670133e7ffd8 1081
lakshya 39:670133e7ffd8 1082 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1083 telemetry[17] = (assign_val>>8);
lakshya 39:670133e7ffd8 1084 telemetry[18] = assign_val;
lakshya 39:670133e7ffd8 1085
lakshya 39:670133e7ffd8 1086 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1087 telemetry[19] = (assign_val>>8);
lakshya 39:670133e7ffd8 1088 telemetry[20] = assign_val;
lakshya 39:670133e7ffd8 1089
lakshya 39:670133e7ffd8 1090 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1091 telemetry[21] = (assign_val>>8);
lakshya 39:670133e7ffd8 1092 telemetry[22] = assign_val;
lakshya 39:670133e7ffd8 1093
lakshya 39:670133e7ffd8 1094 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 1095 telemetry[23] = (assign_val>>8);
lakshya 39:670133e7ffd8 1096 telemetry[24] = assign_val;
lakshya 39:670133e7ffd8 1097
lakshya 39:670133e7ffd8 1098 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 1099 telemetry[25] = (assign_val>>8);
lakshya 39:670133e7ffd8 1100 telemetry[26] = assign_val;
lakshya 39:670133e7ffd8 1101
lakshya 39:670133e7ffd8 1102 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 1103 telemetry[27] = (assign_val>>8);
lakshya 39:670133e7ffd8 1104 telemetry[28] = assign_val;
lakshya 39:670133e7ffd8 1105
lakshya 39:670133e7ffd8 1106 telemetry[4] = ACS_ATS_STATUS;
lakshya 39:670133e7ffd8 1107
lakshya 19:79e69017c855 1108
lakshya 20:949d13045431 1109 SelectLineb3 =0;
lakshya 20:949d13045431 1110 SelectLineb2 =1;
lakshya 20:949d13045431 1111 SelectLineb1 =0;
lakshya 20:949d13045431 1112 SelectLineb0 =1;
lakshya 20:949d13045431 1113 int resistance;
lakshya 20:949d13045431 1114 PWM1 = PWM_tc[0];
lakshya 20:949d13045431 1115 PWM2 = 0;
lakshya 20:949d13045431 1116 PWM3 = 0;
lakshya 20:949d13045431 1117
lakshya 20:949d13045431 1118 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 39:670133e7ffd8 1119 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1120 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1121 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1122 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1123
lakshya 20:949d13045431 1124 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1125 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1126 {
lakshya 20:949d13045431 1127 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1128 }
lakshya 20:949d13045431 1129 else
lakshya 20:949d13045431 1130 {
lakshya 20:949d13045431 1131 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1132 }
lakshya 20:949d13045431 1133
lakshya 20:949d13045431 1134 //to be edited final tele
lakshya 39:670133e7ffd8 1135 //uint16_t assign_val;
lakshya 20:949d13045431 1136 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 20:949d13045431 1137 telemetry[29] = (assign_val>>8);
lakshya 20:949d13045431 1138 telemetry[30] = assign_val;
lakshya 20:949d13045431 1139
lakshya 20:949d13045431 1140 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 20:949d13045431 1141 telemetry[31] = (assign_val>>8);
lakshya 20:949d13045431 1142 telemetry[32] = assign_val;
lakshya 20:949d13045431 1143
lakshya 20:949d13045431 1144 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 20:949d13045431 1145 telemetry[33] = (assign_val>>8);
lakshya 20:949d13045431 1146 telemetry[34] = assign_val;
lakshya 20:949d13045431 1147
lakshya 20:949d13045431 1148 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 20:949d13045431 1149 telemetry[35] = (assign_val>>8);
lakshya 20:949d13045431 1150 telemetry[36] = assign_val;
lakshya 20:949d13045431 1151
lakshya 20:949d13045431 1152 PWM1 = 0;
lakshya 20:949d13045431 1153 PWM2 = PWM_tc[1];
lakshya 20:949d13045431 1154 PWM3 = 0;
lakshya 20:949d13045431 1155
lakshya 20:949d13045431 1156 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1157
lakshya 39:670133e7ffd8 1158 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1159 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1160 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1161 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1162
lakshya 20:949d13045431 1163
lakshya 20:949d13045431 1164 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1165 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1166 {
lakshya 20:949d13045431 1167 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1168 }
lakshya 20:949d13045431 1169 else
lakshya 20:949d13045431 1170 {
lakshya 20:949d13045431 1171 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1172 }
lakshya 39:670133e7ffd8 1173
lakshya 39:670133e7ffd8 1174 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1175 telemetry[37] = (assign_val>>8);
lakshya 39:670133e7ffd8 1176 telemetry[38] = assign_val;
lakshya 39:670133e7ffd8 1177
lakshya 39:670133e7ffd8 1178 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1179 telemetry[39] = (assign_val>>8);
lakshya 39:670133e7ffd8 1180 telemetry[40] = assign_val;
lakshya 39:670133e7ffd8 1181
lakshya 39:670133e7ffd8 1182 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1183 telemetry[41] = (assign_val>>8);
lakshya 39:670133e7ffd8 1184 telemetry[42] = assign_val;
lakshya 39:670133e7ffd8 1185
lakshya 39:670133e7ffd8 1186 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1187 telemetry[43] = (assign_val>>8);
lakshya 39:670133e7ffd8 1188 telemetry[44] = assign_val;
lakshya 20:949d13045431 1189
lakshya 20:949d13045431 1190 PWM1 = 0;
lakshya 20:949d13045431 1191 PWM2 = 0;
lakshya 20:949d13045431 1192 PWM3 = PWM_tc[2];
lakshya 20:949d13045431 1193
lakshya 20:949d13045431 1194 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1195
lakshya 39:670133e7ffd8 1196 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1197 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1198 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1199 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1200
lakshya 20:949d13045431 1201 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1202 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1203 {
lakshya 20:949d13045431 1204 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1205 }
lakshya 20:949d13045431 1206 else
lakshya 20:949d13045431 1207 {
lakshya 20:949d13045431 1208 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1209 }
lakshya 39:670133e7ffd8 1210 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1211 telemetry[45] = (assign_val>>8);
lakshya 39:670133e7ffd8 1212 telemetry[46] = assign_val;
lakshya 39:670133e7ffd8 1213
lakshya 39:670133e7ffd8 1214 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1215 telemetry[47] = (assign_val>>8);
lakshya 39:670133e7ffd8 1216 telemetry[48] = assign_val;
lakshya 20:949d13045431 1217
lakshya 39:670133e7ffd8 1218 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1219 telemetry[49] = (assign_val>>8);
lakshya 39:670133e7ffd8 1220 telemetry[50] = assign_val;
lakshya 39:670133e7ffd8 1221
lakshya 39:670133e7ffd8 1222 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1223 telemetry[51] = (assign_val>>8);
lakshya 39:670133e7ffd8 1224 telemetry[52] = assign_val;
lakshya 39:670133e7ffd8 1225
lakshya 20:949d13045431 1226 PWM1 = 0;
lakshya 20:949d13045431 1227 PWM2 = 0;
lakshya 20:949d13045431 1228 PWM3 = 0;
lakshya 20:949d13045431 1229
lakshya 20:949d13045431 1230 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1231
lakshya 39:670133e7ffd8 1232 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1233 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1234 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1235 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1236
lakshya 20:949d13045431 1237 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1238 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1239 {
lakshya 20:949d13045431 1240 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1241 }
lakshya 20:949d13045431 1242 else
lakshya 20:949d13045431 1243 {
lakshya 20:949d13045431 1244 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1245 }
lakshya 39:670133e7ffd8 1246
lakshya 39:670133e7ffd8 1247 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1248 telemetry[53] = (assign_val>>8);
lakshya 39:670133e7ffd8 1249 telemetry[54] = assign_val;
lakshya 39:670133e7ffd8 1250
lakshya 39:670133e7ffd8 1251 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1252 telemetry[55] = (assign_val>>8);
lakshya 39:670133e7ffd8 1253 telemetry[56] = assign_val;
lakshya 39:670133e7ffd8 1254
lakshya 39:670133e7ffd8 1255 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1256 telemetry[57] = (assign_val>>8);
lakshya 39:670133e7ffd8 1257 telemetry[58] = assign_val;
lakshya 20:949d13045431 1258
lakshya 20:949d13045431 1259 // for(int i=0; i<12; i++)
lakshya 20:949d13045431 1260 // FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&telemetry[16 + (i*4)]);
lakshya 20:949d13045431 1261
lakshya 20:949d13045431 1262 // FCTN_ATS_DATA_ACQ(); //get data
lakshya 19:79e69017c855 1263
lakshya 20:949d13045431 1264 // to include commission TR as well
lakshya 39:670133e7ffd8 1265
lakshya 49:61c9f28332ba 1266 telemetry[59] = SENSOR_NO;
lakshya 39:670133e7ffd8 1267
lakshya 39:670133e7ffd8 1268 for(uint8_t i=60;i<132;i++)
lakshya 19:79e69017c855 1269 {
lakshya 20:949d13045431 1270 telemetry[i]=0x00;
lakshya 19:79e69017c855 1271 }
lakshya 19:79e69017c855 1272
lakshya 19:79e69017c855 1273 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 1274 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 1275 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1276 break;
lakshya 19:79e69017c855 1277 }
lakshya 19:79e69017c855 1278 case 0xE2:
lakshya 19:79e69017c855 1279 {
lakshya 20:949d13045431 1280 uint8_t BCN_SPND_STATE;
lakshya 20:949d13045431 1281 BCN_SPND_STATE=tc[4];
lakshya 20:949d13045431 1282 if(BCN_SPND_STATE==0x00)
lakshya 19:79e69017c855 1283 {
lakshya 20:949d13045431 1284 BCN_SPND_TX=0;
lakshya 19:79e69017c855 1285 //stop BCN_STANDBY_TIMER.stop();//create
lakshya 19:79e69017c855 1286 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1287 }
lakshya 20:949d13045431 1288 else if(BCN_SPND_STATE==0x01)
lakshya 19:79e69017c855 1289 {
lakshya 33:76f2b8735501 1290 FCTN_BCN_SPND_TX();
lakshya 19:79e69017c855 1291 //stop BCN_STANDBY_TIMER.start();//create
lakshya 19:79e69017c855 1292 if(BCN_TX_MAIN_STATUS==0)
lakshya 19:79e69017c855 1293 {
lakshya 19:79e69017c855 1294 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1295 }
lakshya 19:79e69017c855 1296 else if(BCN_TX_MAIN_STATUS==1)
lakshya 19:79e69017c855 1297 {
lakshya 19:79e69017c855 1298 telemetry[2]=0xC0;
lakshya 19:79e69017c855 1299 }
lakshya 19:79e69017c855 1300 }
lakshya 19:79e69017c855 1301 else
lakshya 19:79e69017c855 1302 {
lakshya 19:79e69017c855 1303 telemetry[2]=0x02;
lakshya 19:79e69017c855 1304 }
lakshya 19:79e69017c855 1305 //ACK_L234_telemetry
lakshya 19:79e69017c855 1306 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1307 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1308 //ack_code taken care above
lakshya 19:79e69017c855 1309 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1310 {
lakshya 19:79e69017c855 1311 telemetry[i]=0x00;
lakshya 19:79e69017c855 1312 }
lakshya 19:79e69017c855 1313 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1314 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1315 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1316 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1317 {
lakshya 19:79e69017c855 1318 telemetry[i]=0x00;
lakshya 19:79e69017c855 1319 }
lakshya 19:79e69017c855 1320 break;
lakshya 19:79e69017c855 1321 }
lakshya 20:949d13045431 1322 case 0xE3:
lakshya 20:949d13045431 1323 {
lakshya 20:949d13045431 1324 if(EPS_BTRY_HTR_AUTO != 0)
lakshya 20:949d13045431 1325 telemetry[2]=0x87;
lakshya 20:949d13045431 1326 else
lakshya 20:949d13045431 1327 {
lakshya 20:949d13045431 1328 HTR_CYCLE_COUNTS = tc[4];
lakshya 20:949d13045431 1329 if(HTR_CYCLE_COUNTS==0x00)
lakshya 20:949d13045431 1330 {
lakshya 33:76f2b8735501 1331 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 1332 HTR_CYCLE->stop();
lakshya 20:949d13045431 1333 //clear EPS_BTRY_HTR is it
lakshya 20:949d13045431 1334 EPS_BTRY_HTR_AUTO = 0;
lakshya 20:949d13045431 1335
lakshya 20:949d13045431 1336 }
lakshya 20:949d13045431 1337 else
lakshya 20:949d13045431 1338 {
lakshya 20:949d13045431 1339 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 1340 {
lakshya 20:949d13045431 1341 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 1342 }
lakshya 20:949d13045431 1343 //uint8_t HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1344 HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1345 HTR_ON_DURATION = tc[6];
lakshya 20:949d13045431 1346
lakshya 20:949d13045431 1347 //make it uint16_t
lakshya 20:949d13045431 1348 HTR_CYCLE_PERIOD = (tc[7]<<8) | tc[8];
lakshya 20:949d13045431 1349 //start BTRY_HTR_DLY_TIMER;
lakshya 20:949d13045431 1350 }
lakshya 20:949d13045431 1351 telemetry[2]=0xA0;
lakshya 20:949d13045431 1352 }
lakshya 20:949d13045431 1353 //ACK_L234_telemetry
lakshya 20:949d13045431 1354 telemetry[0]=0xB0;
lakshya 20:949d13045431 1355 telemetry[1]=tc[0];
lakshya 20:949d13045431 1356 //ACK code taken care of
lakshya 20:949d13045431 1357 for(uint8_t i=3;i<11;i++)
lakshya 20:949d13045431 1358 {
lakshya 20:949d13045431 1359 telemetry[i]=0x00;
lakshya 20:949d13045431 1360 }
lakshya 20:949d13045431 1361 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 20:949d13045431 1362 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 20:949d13045431 1363 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 20:949d13045431 1364 for(uint8_t i=13;i<134;i++)
lakshya 20:949d13045431 1365 {
lakshya 20:949d13045431 1366 telemetry[i]=0x00;
lakshya 20:949d13045431 1367 }
lakshya 20:949d13045431 1368
lakshya 20:949d13045431 1369 break;
lakshya 20:949d13045431 1370 }
lakshya 19:79e69017c855 1371 case 0x01:
lakshya 19:79e69017c855 1372 { if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1373 {
lakshya 49:61c9f28332ba 1374 gpc.printf("\n\rRun P_EPS_INIT");
lakshya 19:79e69017c855 1375 FCTN_EPS_INIT();
lakshya 19:79e69017c855 1376 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1377 }
lakshya 19:79e69017c855 1378 else
lakshya 19:79e69017c855 1379 {
lakshya 49:61c9f28332ba 1380 gpc.printf("\n\runable to Run P_EPS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1381 telemetry[2]=0x87;
lakshya 19:79e69017c855 1382 }
lakshya 19:79e69017c855 1383
lakshya 19:79e69017c855 1384 //ACK_L234_telemetry
lakshya 19:79e69017c855 1385 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1386 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1387 //ACK code taken care of
lakshya 19:79e69017c855 1388 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1389 {
lakshya 19:79e69017c855 1390 telemetry[i]=0x00;
lakshya 19:79e69017c855 1391 }
lakshya 19:79e69017c855 1392 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1393 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1394 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1395 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1396 {
lakshya 19:79e69017c855 1397 telemetry[i]=0x00;
lakshya 19:79e69017c855 1398 }
lakshya 19:79e69017c855 1399
lakshya 19:79e69017c855 1400 break;
lakshya 19:79e69017c855 1401 }
lakshya 19:79e69017c855 1402 case 0x02:
lakshya 19:79e69017c855 1403 {
lakshya 19:79e69017c855 1404 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1405 {
lakshya 49:61c9f28332ba 1406 gpc.printf("\n\rRun P_EPS_MAIN");
lakshya 19:79e69017c855 1407 F_EPS();
lakshya 19:79e69017c855 1408 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1409 }
lakshya 19:79e69017c855 1410 else
lakshya 19:79e69017c855 1411 {
lakshya 49:61c9f28332ba 1412 gpc.printf("\n\runable to Run P_EPS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1413 telemetry[2]=0x87;
lakshya 19:79e69017c855 1414 }
lakshya 19:79e69017c855 1415
lakshya 19:79e69017c855 1416 //ACK_L234_telemetry
lakshya 19:79e69017c855 1417 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1418 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1419 //ACK code taken care of
lakshya 19:79e69017c855 1420 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1421 {
lakshya 19:79e69017c855 1422 telemetry[i]=0x00;
lakshya 19:79e69017c855 1423 }
lakshya 19:79e69017c855 1424 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1425 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1426 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1427 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1428 {
lakshya 19:79e69017c855 1429 telemetry[i]=0x00;
lakshya 19:79e69017c855 1430 }
lakshya 19:79e69017c855 1431 break;
lakshya 19:79e69017c855 1432 }
lakshya 19:79e69017c855 1433 case 0x03:
lakshya 19:79e69017c855 1434 {
lakshya 19:79e69017c855 1435 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1436 {
lakshya 49:61c9f28332ba 1437 gpc.printf("\n\rRun P_ACS_INIT");
lakshya 19:79e69017c855 1438 FCTN_ACS_INIT();
lakshya 19:79e69017c855 1439 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1440 }
lakshya 19:79e69017c855 1441 else
lakshya 19:79e69017c855 1442 {
lakshya 49:61c9f28332ba 1443 gpc.printf("\n\runable to Run P_ACS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1444 telemetry[2]=0x87;
lakshya 19:79e69017c855 1445 }
lakshya 19:79e69017c855 1446
lakshya 19:79e69017c855 1447 //ACK_L234_telemetry
lakshya 19:79e69017c855 1448 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1449 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1450 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1451 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1452 {
lakshya 19:79e69017c855 1453 telemetry[i]=0x00;
lakshya 19:79e69017c855 1454 }
lakshya 19:79e69017c855 1455 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1456 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1457 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1458 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1459 {
lakshya 19:79e69017c855 1460 telemetry[i]=0x00;
lakshya 19:79e69017c855 1461 }
lakshya 19:79e69017c855 1462 break;
lakshya 19:79e69017c855 1463 }
lakshya 19:79e69017c855 1464 case 0x05:
lakshya 19:79e69017c855 1465 {
lakshya 19:79e69017c855 1466 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1467 {
lakshya 49:61c9f28332ba 1468 gpc.printf("\n\rRun P_ACS_MAIN");
lakshya 19:79e69017c855 1469 F_ACS();
lakshya 19:79e69017c855 1470 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1471 }
lakshya 19:79e69017c855 1472 else
lakshya 19:79e69017c855 1473 {
lakshya 49:61c9f28332ba 1474 gpc.printf("\n\runable to Run P_ACS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1475 telemetry[2]=0x87;
lakshya 19:79e69017c855 1476 }
lakshya 19:79e69017c855 1477
lakshya 19:79e69017c855 1478 //ACK_L234_TM
lakshya 19:79e69017c855 1479 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1480 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1481 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1482 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1483 {
lakshya 19:79e69017c855 1484 telemetry[i]=0x00;
lakshya 19:79e69017c855 1485 }
lakshya 19:79e69017c855 1486
lakshya 19:79e69017c855 1487 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1488 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1489 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1490 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1491 {
lakshya 19:79e69017c855 1492 telemetry[i]=0x00;
lakshya 19:79e69017c855 1493 }
lakshya 19:79e69017c855 1494 break;
lakshya 19:79e69017c855 1495 }
lakshya 19:79e69017c855 1496 case 0x06:
lakshya 19:79e69017c855 1497 {
lakshya 19:79e69017c855 1498 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1499 {
lakshya 49:61c9f28332ba 1500 gpc.printf("\n\rRun P_BCN_INIT");
lakshya 19:79e69017c855 1501 F_BCN();
lakshya 19:79e69017c855 1502 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1503 }
lakshya 19:79e69017c855 1504 else
lakshya 19:79e69017c855 1505 {
lakshya 49:61c9f28332ba 1506 gpc.printf("\n\runable to Run P_BCN_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1507 telemetry[2]=0x87;
lakshya 19:79e69017c855 1508 }
lakshya 19:79e69017c855 1509
lakshya 19:79e69017c855 1510 //ACK_L234_TM
lakshya 19:79e69017c855 1511 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1512 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1513 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1514 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1515 {
lakshya 19:79e69017c855 1516 telemetry[i]=0x00;
lakshya 19:79e69017c855 1517 }
lakshya 19:79e69017c855 1518 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1519 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1520 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1521 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1522 {
lakshya 19:79e69017c855 1523 telemetry[i]=0x00;
lakshya 19:79e69017c855 1524 }
lakshya 19:79e69017c855 1525 break;
lakshya 19:79e69017c855 1526 }
lakshya 19:79e69017c855 1527 case 0x07:
lakshya 19:79e69017c855 1528 {
lakshya 19:79e69017c855 1529 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1530 {
lakshya 49:61c9f28332ba 1531 gpc.printf("\n\rRun P_BCN_TX_MAIN");
lakshya 19:79e69017c855 1532 FCTN_BCN_TX_MAIN();//correct function check once
lakshya 19:79e69017c855 1533 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1534 }
lakshya 19:79e69017c855 1535 else
lakshya 19:79e69017c855 1536 {
lakshya 49:61c9f28332ba 1537 gpc.printf("\n\runable to Run P_BCN_TX_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1538 telemetry[2]=0x87;
lakshya 19:79e69017c855 1539 }
lakshya 19:79e69017c855 1540
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 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1545 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1546 {
lakshya 19:79e69017c855 1547 telemetry[i]=0x00;
lakshya 19:79e69017c855 1548 }
lakshya 19:79e69017c855 1549 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1550 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1551 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1552 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1553 {
lakshya 19:79e69017c855 1554 telemetry[i]=0x00;
lakshya 19:79e69017c855 1555 }
lakshya 19:79e69017c855 1556 break;
lakshya 19:79e69017c855 1557 }
lakshya 19:79e69017c855 1558 case 0x11:
lakshya 19:79e69017c855 1559 {
lakshya 49:61c9f28332ba 1560 gpc.printf("\n\rSW_ON_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1561 //ACK_L234_TM
lakshya 19:79e69017c855 1562 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1563 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1564 //____________________________________________************************************
lakshya 19:79e69017c855 1565 /*
lakshya 19:79e69017c855 1566 ATS PIN OR STATUS YET TO BE DECIDED. DECIDED THAT IT IS PIN TC CAN SWITCH ON/OFF THE SENSOR
lakshya 19:79e69017c855 1567 */
lakshya 19:79e69017c855 1568 ATS2_SW_ENABLE = 1; // making sure we switch off the other
lakshya 39:670133e7ffd8 1569 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 39:670133e7ffd8 1570 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0) | 0x0C ;
lakshya 19:79e69017c855 1571 ATS1_SW_ENABLE = 0;
lakshya 39:670133e7ffd8 1572 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F);
lakshya 39:670133e7ffd8 1573 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F)|0x40;
lakshya 19:79e69017c855 1574 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1575 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1576 {
lakshya 19:79e69017c855 1577 telemetry[i]=0x00;
lakshya 19:79e69017c855 1578 }
lakshya 19:79e69017c855 1579 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1580 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1581 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1582 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1583 {
lakshya 19:79e69017c855 1584 telemetry[i]=0x00;
lakshya 19:79e69017c855 1585 }
lakshya 19:79e69017c855 1586 break;
lakshya 19:79e69017c855 1587 }
lakshya 19:79e69017c855 1588 case 0x12:
lakshya 19:79e69017c855 1589 {
lakshya 49:61c9f28332ba 1590 gpc.printf("\n\rSW_ON_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1591 //ACK_L234_TM
lakshya 19:79e69017c855 1592 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1593 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1594 ATS1_SW_ENABLE = 1; //make sure u switch off the other
lakshya 39:670133e7ffd8 1595 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F) | 0xC0 ;
lakshya 19:79e69017c855 1596 ATS2_SW_ENABLE = 0;
lakshya 39:670133e7ffd8 1597 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0)|0x04;
lakshya 19:79e69017c855 1598 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1599 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1600 {
lakshya 19:79e69017c855 1601 telemetry[i]=0x00;
lakshya 19:79e69017c855 1602 }
lakshya 19:79e69017c855 1603 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1604 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1605 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1606 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1607 {
lakshya 19:79e69017c855 1608 telemetry[i]=0x00;
lakshya 19:79e69017c855 1609 }
lakshya 19:79e69017c855 1610 break;
lakshya 19:79e69017c855 1611 }
lakshya 19:79e69017c855 1612 case 0x13:
lakshya 19:79e69017c855 1613 {
lakshya 49:61c9f28332ba 1614 gpc.printf("\n\rSW_ON_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1615 //ACK_L234_TM
lakshya 19:79e69017c855 1616 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1617 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1618 DRV_XY_EN = 1;//1 SWITCH enable here
lakshya 19:79e69017c855 1619 ACS_TR_XY_SW_STATUS=0x01;
lakshya 19:79e69017c855 1620 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1621 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1622 {
lakshya 19:79e69017c855 1623 telemetry[i]=0x00;
lakshya 19:79e69017c855 1624 }
lakshya 19:79e69017c855 1625 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1626 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1627 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1628 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1629 {
lakshya 19:79e69017c855 1630 telemetry[i]=0x00;
lakshya 19:79e69017c855 1631 }
lakshya 19:79e69017c855 1632 break;
lakshya 19:79e69017c855 1633 }
lakshya 19:79e69017c855 1634 case 0x14:
lakshya 19:79e69017c855 1635 {
lakshya 49:61c9f28332ba 1636 gpc.printf("\n\rSW_ON_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1637 //ACK_L234_TM
lakshya 19:79e69017c855 1638 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1639 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1640 DRV_Z_EN = 1;
lakshya 19:79e69017c855 1641 ACS_TR_Z_SW_STATUS=0x01;
lakshya 19:79e69017c855 1642 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1643 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1644 {
lakshya 19:79e69017c855 1645 telemetry[i]=0x00;
lakshya 19:79e69017c855 1646 }
lakshya 19:79e69017c855 1647 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1648 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1649 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1650 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1651 {
lakshya 19:79e69017c855 1652 telemetry[i]=0x00;
lakshya 19:79e69017c855 1653 }
lakshya 19:79e69017c855 1654 break;
lakshya 19:79e69017c855 1655 }
lakshya 19:79e69017c855 1656 case 0x15:
lakshya 19:79e69017c855 1657 {
lakshya 49:61c9f28332ba 1658 gpc.printf("\n\rSW_ON_BCN_TX_SW_ENABLE");
lakshya 19:79e69017c855 1659 //ACK_L234_TM
lakshya 19:79e69017c855 1660 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1661 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1662 BCN_SW = 0;//here 0 is switch enable
lakshya 19:79e69017c855 1663 BCN_TX_SW_ENABLE=0x01;
lakshya 19:79e69017c855 1664 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1665 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1666 {
lakshya 19:79e69017c855 1667 telemetry[i]=0x00;
lakshya 19:79e69017c855 1668 }
lakshya 19:79e69017c855 1669 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1670 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1671 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1672 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1673 {
lakshya 19:79e69017c855 1674 telemetry[i]=0x00;
lakshya 19:79e69017c855 1675 }
lakshya 19:79e69017c855 1676 break;
lakshya 19:79e69017c855 1677 }
lakshya 19:79e69017c855 1678 case 0x21:
lakshya 19:79e69017c855 1679 {
lakshya 49:61c9f28332ba 1680 gpc.printf("\n\rSW_OFF_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1681 //ACK_L234_TM
lakshya 19:79e69017c855 1682 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1683 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1684 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1685 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F) | 0xC0 ;
lakshya 19:79e69017c855 1686 telemetry[2]=ACK_CODE;
lakshya 49:61c9f28332ba 1687
lakshya 49:61c9f28332ba 1688 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1689 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 49:61c9f28332ba 1690 FLASH_DATA = (FLASH_DATA | 0xC0000000);
lakshya 49:61c9f28332ba 1691 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1692
lakshya 19:79e69017c855 1693 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1694 {
lakshya 19:79e69017c855 1695 telemetry[i]=0x00;
lakshya 19:79e69017c855 1696 }
lakshya 19:79e69017c855 1697 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1698 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1699 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1700 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1701 {
lakshya 19:79e69017c855 1702 telemetry[i]=0x00;
lakshya 19:79e69017c855 1703 }
lakshya 19:79e69017c855 1704 break;
lakshya 19:79e69017c855 1705 }
lakshya 19:79e69017c855 1706 case 0x22:
lakshya 19:79e69017c855 1707 {
lakshya 49:61c9f28332ba 1708 gpc.printf("\n\rSW_OFF_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1709 //ACK_L234_TM
lakshya 19:79e69017c855 1710 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1711 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1712 ATS2_SW_ENABLE = 1;
lakshya 49:61c9f28332ba 1713
lakshya 49:61c9f28332ba 1714 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1715 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 49:61c9f28332ba 1716 FLASH_DATA = (FLASH_DATA | 0x0C000000);
lakshya 49:61c9f28332ba 1717 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1718
lakshya 20:949d13045431 1719 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 19:79e69017c855 1720 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1721 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1722 {
lakshya 19:79e69017c855 1723 telemetry[i]=0x00;
lakshya 19:79e69017c855 1724 }
lakshya 19:79e69017c855 1725 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1726 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1727 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1728 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1729 {
lakshya 19:79e69017c855 1730 telemetry[i]=0x00;
lakshya 19:79e69017c855 1731 }
lakshya 19:79e69017c855 1732 break;
lakshya 19:79e69017c855 1733 }
lakshya 19:79e69017c855 1734 case 0x23:
lakshya 19:79e69017c855 1735 {
lakshya 49:61c9f28332ba 1736 gpc.printf("\n\rSW_OFF_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1737 //ACK_L234_TM
lakshya 19:79e69017c855 1738 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1739 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1740 TRXY_SW= 0;
lakshya 19:79e69017c855 1741 ACS_TR_XY_SW_STATUS=0x03;
lakshya 19:79e69017c855 1742 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1743 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1744 {
lakshya 19:79e69017c855 1745 telemetry[i]=0x00;
lakshya 19:79e69017c855 1746 }
lakshya 19:79e69017c855 1747 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1748 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1749 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1750 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1751 {
lakshya 19:79e69017c855 1752 telemetry[i]=0x00;
lakshya 19:79e69017c855 1753 }
lakshya 19:79e69017c855 1754 break;
lakshya 19:79e69017c855 1755 }
lakshya 19:79e69017c855 1756 case 0x24:
lakshya 19:79e69017c855 1757 {
lakshya 49:61c9f28332ba 1758 gpc.printf("\n\rSW_OFF_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1759 //ACK_L234_TM
lakshya 19:79e69017c855 1760 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1761 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1762 TRZ_SW = 0;
lakshya 19:79e69017c855 1763 ACS_TR_Z_SW_STATUS=0x03;
lakshya 19:79e69017c855 1764 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1765 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1766 {
lakshya 19:79e69017c855 1767 telemetry[i]=0x00;
lakshya 19:79e69017c855 1768 }
lakshya 19:79e69017c855 1769 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1770 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1771 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1772 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1773 {
lakshya 19:79e69017c855 1774 telemetry[i]=0x00;
lakshya 19:79e69017c855 1775 }
lakshya 19:79e69017c855 1776 break;
lakshya 19:79e69017c855 1777 }
lakshya 19:79e69017c855 1778 case 0x25:
lakshya 19:79e69017c855 1779 {
lakshya 49:61c9f28332ba 1780 gpc.printf("\n\rSW_OFF_BCN_TX_SW_ENABLE");
lakshya 19:79e69017c855 1781 //ACK_L234_TM
lakshya 19:79e69017c855 1782 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1783 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1784 BCN_SW = 1;
lakshya 19:79e69017c855 1785 BCN_TX_SW_ENABLE=0x03;
lakshya 19:79e69017c855 1786 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1787 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1788 {
lakshya 19:79e69017c855 1789 telemetry[i]=0x00;
lakshya 19:79e69017c855 1790 }
lakshya 19:79e69017c855 1791 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1792 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1793 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1794 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1795 {
lakshya 19:79e69017c855 1796 telemetry[i]=0x00;
lakshya 19:79e69017c855 1797 }
lakshya 19:79e69017c855 1798 break;
lakshya 19:79e69017c855 1799 }
lakshya 19:79e69017c855 1800 case 0x31:
lakshya 19:79e69017c855 1801 {
lakshya 49:61c9f28332ba 1802 gpc.printf("\n\rACS_ATS1_SW_RESET");
lakshya 19:79e69017c855 1803 //ACK_L234_TM
lakshya 19:79e69017c855 1804 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1805 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1806 ATS2_SW_ENABLE = 1;//as ats switched off
lakshya 19:79e69017c855 1807 ATS1_SW_ENABLE = 1;
lakshya 19:79e69017c855 1808 wait_ms(5);
lakshya 19:79e69017c855 1809 ATS1_SW_ENABLE = 0;
lakshya 19:79e69017c855 1810 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1811 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1812 {
lakshya 19:79e69017c855 1813 telemetry[i]=0x00;
lakshya 19:79e69017c855 1814 }
lakshya 19:79e69017c855 1815 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1816 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1817 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1818 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1819 {
lakshya 19:79e69017c855 1820 telemetry[i]=0x00;
lakshya 19:79e69017c855 1821 }
lakshya 19:79e69017c855 1822 break;
lakshya 19:79e69017c855 1823 }
lakshya 19:79e69017c855 1824 case 0x32:
lakshya 19:79e69017c855 1825 {
lakshya 49:61c9f28332ba 1826 gpc.printf("\n\rACS_ATS2_SW_RESET");
lakshya 19:79e69017c855 1827 //ACK_L234_TM
lakshya 19:79e69017c855 1828 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1829 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1830 ATS1_SW_ENABLE = 1;//as ats1 switched off
lakshya 19:79e69017c855 1831 ATS2_SW_ENABLE = 1;
lakshya 19:79e69017c855 1832 wait_ms(5);
lakshya 19:79e69017c855 1833 ATS2_SW_ENABLE = 0;
lakshya 19:79e69017c855 1834 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1835 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1836 {
lakshya 19:79e69017c855 1837 telemetry[i]=0x00;
lakshya 19:79e69017c855 1838 }
lakshya 19:79e69017c855 1839 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1840 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1841 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1842 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1843 {
lakshya 19:79e69017c855 1844 telemetry[i]=0x00;
lakshya 19:79e69017c855 1845 }
lakshya 19:79e69017c855 1846 break;
lakshya 19:79e69017c855 1847 }
lakshya 19:79e69017c855 1848 case 0x33:
lakshya 19:79e69017c855 1849 {
lakshya 49:61c9f28332ba 1850 gpc.printf("\n\rACS_TR_XY_SW_RESET");
lakshya 19:79e69017c855 1851 //ACK_L234_TM
lakshya 19:79e69017c855 1852 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1853 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1854 TRXY_SW= 0;
lakshya 19:79e69017c855 1855 wait_ms(5);
lakshya 19:79e69017c855 1856 TRXY_SW= 1;
lakshya 19:79e69017c855 1857 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1858 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1859 {
lakshya 19:79e69017c855 1860 telemetry[i]=0x00;
lakshya 19:79e69017c855 1861 }
lakshya 19:79e69017c855 1862 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1863 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1864 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1865 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1866 {
lakshya 19:79e69017c855 1867 telemetry[i]=0x00;
lakshya 19:79e69017c855 1868 }
lakshya 19:79e69017c855 1869 break;
lakshya 19:79e69017c855 1870 }
lakshya 19:79e69017c855 1871 case 0x34:
lakshya 19:79e69017c855 1872 {
lakshya 49:61c9f28332ba 1873 gpc.printf("\n\rACS_TR_Z_SW_RESET");
lakshya 19:79e69017c855 1874 //ACK_L234_TM
lakshya 19:79e69017c855 1875 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1876 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1877 TRZ_SW= 0;
lakshya 19:79e69017c855 1878 wait_ms(5);
lakshya 19:79e69017c855 1879 TRZ_SW= 1;
lakshya 19:79e69017c855 1880 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1881 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1882 {
lakshya 19:79e69017c855 1883 telemetry[i]=0x00;
lakshya 19:79e69017c855 1884 }
lakshya 19:79e69017c855 1885 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1886 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1887 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1888 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1889 {
lakshya 19:79e69017c855 1890 telemetry[i]=0x00;
lakshya 19:79e69017c855 1891 }
lakshya 19:79e69017c855 1892 break;
lakshya 19:79e69017c855 1893 }
lakshya 19:79e69017c855 1894 case 0x35:
lakshya 19:79e69017c855 1895 {
lakshya 49:61c9f28332ba 1896 gpc.printf("\n\rBCN_TX_SW_RESET");
lakshya 19:79e69017c855 1897 //ACK_L234_TM
lakshya 19:79e69017c855 1898 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1899 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1900 BCN_SW = 1;
lakshya 19:79e69017c855 1901 wait_ms(5);
lakshya 19:79e69017c855 1902 BCN_SW = 0;
lakshya 19:79e69017c855 1903 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1904 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1905 {
lakshya 19:79e69017c855 1906 telemetry[i]=0x00;
lakshya 19:79e69017c855 1907 }
lakshya 19:79e69017c855 1908 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1909 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1910 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1911 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1912 {
lakshya 19:79e69017c855 1913 telemetry[i]=0x00;
lakshya 19:79e69017c855 1914 }
lakshya 19:79e69017c855 1915 break;
lakshya 19:79e69017c855 1916 }
lakshya 19:79e69017c855 1917 case 0x36:
lakshya 19:79e69017c855 1918 {
lakshya 49:61c9f28332ba 1919 gpc.printf("\n\rBAE_INTERNAL_RESET TO be done ");
lakshya 20:949d13045431 1920 NVIC_SystemReset();
lakshya 19:79e69017c855 1921 break;
lakshya 19:79e69017c855 1922 }
lakshya 19:79e69017c855 1923 case 0x37:
lakshya 19:79e69017c855 1924 {
lakshya 49:61c9f28332ba 1925 gpc.printf("\n\rCDMS_RESET");
lakshya 19:79e69017c855 1926 //ACK_L234_TM
lakshya 19:79e69017c855 1927 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1928 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1929 CDMS_RESET = 0;
lakshya 19:79e69017c855 1930 wait_ms(5);
lakshya 19:79e69017c855 1931 CDMS_RESET = 1;
lakshya 19:79e69017c855 1932 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1933 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1934 {
lakshya 19:79e69017c855 1935 telemetry[i]=0x00;
lakshya 19:79e69017c855 1936 }
lakshya 19:79e69017c855 1937 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1938 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1939 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1940 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1941 {
lakshya 19:79e69017c855 1942 telemetry[i]=0x00;
lakshya 19:79e69017c855 1943 }
lakshya 19:79e69017c855 1944 break;
lakshya 19:79e69017c855 1945 }
lakshya 49:61c9f28332ba 1946 case 0x38://not in IF present in SBC
lakshya 19:79e69017c855 1947 {
lakshya 49:61c9f28332ba 1948 gpc.printf("\n\rCDMS_SW_RESET pin yet to be decided");
lakshya 19:79e69017c855 1949 //ACK_L234_TM
lakshya 19:79e69017c855 1950 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1951 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1952 /*
lakshya 19:79e69017c855 1953 PIN to be DECIDED***************************************************************8
lakshya 19:79e69017c855 1954 */
lakshya 19:79e69017c855 1955 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1956 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1957 {
lakshya 19:79e69017c855 1958 telemetry[i]=0x00;
lakshya 19:79e69017c855 1959 }
lakshya 19:79e69017c855 1960 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1961 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1962 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1963 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1964 {
lakshya 19:79e69017c855 1965 telemetry[i]=0x00;
lakshya 19:79e69017c855 1966 }
lakshya 19:79e69017c855 1967 break;
lakshya 19:79e69017c855 1968 }
lakshya 49:61c9f28332ba 1969 case 0x40://condition changed by AK47 now 00 means off in TC
lakshya 19:79e69017c855 1970 {
lakshya 19:79e69017c855 1971 uint8_t STANDBY_DATA_TC;
lakshya 19:79e69017c855 1972 BAE_STANDBY=0x00;
lakshya 19:79e69017c855 1973 STANDBY_DATA_TC=tc[4];
lakshya 49:61c9f28332ba 1974 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 1975 {
lakshya 19:79e69017c855 1976 BAE_STANDBY |=0x04;
lakshya 19:79e69017c855 1977 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 1978 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 1979 }
lakshya 19:79e69017c855 1980 STANDBY_DATA_TC=tc[5];
lakshya 49:61c9f28332ba 1981 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 1982 {
lakshya 19:79e69017c855 1983 BAE_STANDBY |=0x02;
lakshya 19:79e69017c855 1984 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 1985 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 1986 }
lakshya 19:79e69017c855 1987 STANDBY_DATA_TC=tc[6];
lakshya 49:61c9f28332ba 1988 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 1989 {
lakshya 19:79e69017c855 1990 BAE_STANDBY |=0x01;
lakshya 19:79e69017c855 1991 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 1992 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 1993 }
lakshya 19:79e69017c855 1994 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1995 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1996 telemetry[2]=0xC0;//ack_code for this case
lakshya 19:79e69017c855 1997 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1998 {
lakshya 19:79e69017c855 1999 telemetry[i]=0x00;
lakshya 19:79e69017c855 2000 }
lakshya 19:79e69017c855 2001 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2002 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2003 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2004 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2005 {
lakshya 19:79e69017c855 2006 telemetry[i]=0x00;
lakshya 19:79e69017c855 2007 }
lakshya 19:79e69017c855 2008 break;
lakshya 19:79e69017c855 2009 }
lakshya 19:79e69017c855 2010 case 0x41:
lakshya 19:79e69017c855 2011 {
lakshya 49:61c9f28332ba 2012 gpc.printf("\n\rexecutng BAE reset HK counter");
lakshya 20:949d13045431 2013 firstCount=true;
lakshya 20:949d13045431 2014 void minMaxHkData();
lakshya 49:61c9f28332ba 2015
lakshya 19:79e69017c855 2016 //ACK_L234_TM
lakshya 19:79e69017c855 2017 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2018 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2019 telemetry[2]=0x02;
lakshya 19:79e69017c855 2020 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2021 {
lakshya 19:79e69017c855 2022 telemetry[i]=0x00;
lakshya 19:79e69017c855 2023 }
lakshya 19:79e69017c855 2024 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2025 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2026 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2027 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2028 {
lakshya 19:79e69017c855 2029 telemetry[i]=0x00;
lakshya 19:79e69017c855 2030 }
lakshya 19:79e69017c855 2031 break;
lakshya 19:79e69017c855 2032 }
lakshya 19:79e69017c855 2033 default:
lakshya 19:79e69017c855 2034 {
lakshya 49:61c9f28332ba 2035 gpc.printf("\n\rInvalid TC for FMS no matching FID");
lakshya 19:79e69017c855 2036 //ACK_L234_TM
lakshya 19:79e69017c855 2037 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2038 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2039 telemetry[2]=0x02;
lakshya 19:79e69017c855 2040 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2041 {
lakshya 19:79e69017c855 2042 telemetry[i]=0x00;
lakshya 19:79e69017c855 2043 }
lakshya 19:79e69017c855 2044 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2045 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2046 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2047 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2048 {
lakshya 19:79e69017c855 2049 telemetry[i]=0x00;
lakshya 19:79e69017c855 2050 }
lakshya 19:79e69017c855 2051 break;
lakshya 19:79e69017c855 2052 }
lakshya 19:79e69017c855 2053 }
lakshya 19:79e69017c855 2054 break;
lakshya 19:79e69017c855 2055 }
lakshya 19:79e69017c855 2056 default:
lakshya 19:79e69017c855 2057 {
lakshya 49:61c9f28332ba 2058 gpc.printf("\n\rInvalid TC, FMS service subtype mismacth");
lakshya 19:79e69017c855 2059 //ACK_L234_TM
lakshya 19:79e69017c855 2060 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2061 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2062 telemetry[2]=0x02;
lakshya 19:79e69017c855 2063 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2064 {
lakshya 19:79e69017c855 2065 telemetry[i]=0x00;
lakshya 19:79e69017c855 2066 }
lakshya 19:79e69017c855 2067 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2068 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2069 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2070 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2071 {
lakshya 19:79e69017c855 2072 telemetry[i]=0x00;
lakshya 19:79e69017c855 2073 }
lakshya 19:79e69017c855 2074 break;
lakshya 19:79e69017c855 2075 }
lakshya 19:79e69017c855 2076 }
lakshya 19:79e69017c855 2077 break;
lakshya 19:79e69017c855 2078 }
lakshya 19:79e69017c855 2079 default:
lakshya 19:79e69017c855 2080 {
lakshya 49:61c9f28332ba 2081 gpc.printf("\n\rInvalid TC neither FMS nor MMS");
lakshya 19:79e69017c855 2082 //ACK_L234_TM
lakshya 19:79e69017c855 2083 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2084 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2085 telemetry[2]=0x02;
lakshya 19:79e69017c855 2086 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2087 {
lakshya 19:79e69017c855 2088 telemetry[i]=0x00;
lakshya 19:79e69017c855 2089 }
lakshya 19:79e69017c855 2090 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2091 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2092 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2093 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2094 {
lakshya 19:79e69017c855 2095 telemetry[i]=0x00;
lakshya 19:79e69017c855 2096 }
lakshya 19:79e69017c855 2097 break;
lakshya 19:79e69017c855 2098 }
lakshya 19:79e69017c855 2099 }
lakshya 19:79e69017c855 2100 }
Bragadeesh153 13:fb7facaf308b 2101 }
Bragadeesh153 13:fb7facaf308b 2102 }
sakthipriya 4:39a4ae8c7ecd 2103
sakthipriya 4:39a4ae8c7ecd 2104
Bragadeesh153 13:fb7facaf308b 2105 int strt_add = flash_size() - (2*SECTOR_SIZE);
sakthipriya 4:39a4ae8c7ecd 2106 uint32_t flasharray[8]; //256+(3*1024)
lakshya 19:79e69017c855 2107 /*corrected*/
lakshya 19:79e69017c855 2108 int *nativeflash = (int*)strt_add;
sakthipriya 4:39a4ae8c7ecd 2109
sakthipriya 4:39a4ae8c7ecd 2110 /*Writing to the Flash*/
lakshya 19:79e69017c855 2111 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 2112 {
Bragadeesh153 13:fb7facaf308b 2113 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2114 {
sakthipriya 4:39a4ae8c7ecd 2115 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2116 }
sakthipriya 4:39a4ae8c7ecd 2117 flasharray[j]=fdata;
sakthipriya 4:39a4ae8c7ecd 2118 erase_sector(strt_add);
lakshya 20:949d13045431 2119 program_flash(strt_add, (char*)flasharray,32);
sakthipriya 4:39a4ae8c7ecd 2120 }
lakshya 19:79e69017c855 2121
sakthipriya 4:39a4ae8c7ecd 2122 /*End*/
sakthipriya 4:39a4ae8c7ecd 2123
sakthipriya 4:39a4ae8c7ecd 2124 /*Reading from Flash*/
lakshya 19:79e69017c855 2125 /*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 2126 uint32_t FCTN_BAE_RD_FLASH_ENTITY(uint16_t entity)
sakthipriya 4:39a4ae8c7ecd 2127 {
sakthipriya 4:39a4ae8c7ecd 2128 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2129 {
sakthipriya 4:39a4ae8c7ecd 2130 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2131 }
lakshya 19:79e69017c855 2132 return flasharray[entity];
sakthipriya 4:39a4ae8c7ecd 2133 }
lakshya 19:79e69017c855 2134
lakshya 19:79e69017c855 2135 uint32_t* FCTN_BAE_RD_FLASH()
lakshya 19:79e69017c855 2136 {
lakshya 19:79e69017c855 2137 for(int i=0;i<8;i++)
lakshya 19:79e69017c855 2138 {
lakshya 19:79e69017c855 2139 flasharray[i]=nativeflash[i];
lakshya 19:79e69017c855 2140 }
lakshya 19:79e69017c855 2141 return flasharray;
lakshya 19:79e69017c855 2142 }
lakshya 19:79e69017c855 2143
sakthipriya 5:bb592f3185cc 2144 /*End*/
sakthipriya 5:bb592f3185cc 2145
sakthipriya 5:bb592f3185cc 2146 // Convert float to 4 uint8_t
sakthipriya 5:bb592f3185cc 2147
lakshya 15:e09aaaccf134 2148
sakthipriya 6:036d08b62785 2149 void FCTN_CONVERT_FLOAT(float input, uint8_t output[4])
sakthipriya 5:bb592f3185cc 2150 {
sakthipriya 6:036d08b62785 2151 assert(sizeof(float) == sizeof(uint32_t));
sakthipriya 6:036d08b62785 2152 uint32_t* temp = reinterpret_cast<uint32_t*>(&input);
sakthipriya 6:036d08b62785 2153
sakthipriya 6:036d08b62785 2154 //float* output1 = reinterpret_cast<float*>(temp);
Bragadeesh153 13:fb7facaf308b 2155
lakshya 49:61c9f28332ba 2156 //gpc.printf("\n\r %f ", input);
lakshya 15:e09aaaccf134 2157 //std::cout << "\n\r uint32"<<*temp << std::endl;
sakthipriya 6:036d08b62785 2158
sakthipriya 6:036d08b62785 2159 output[0] =(uint8_t )(((*temp)>>24)&0xFF);
lakshya 15:e09aaaccf134 2160 output[1] =(uint8_t ) (((*temp)>>16)&0xFF);
lakshya 15:e09aaaccf134 2161 output[2] =(uint8_t ) (((*temp)>>8)&0xFF);
lakshya 15:e09aaaccf134 2162 output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic
lakshya 15:e09aaaccf134 2163
lakshya 49:61c9f28332ba 2164 // gpc.printf("\n\rthe values generated are\n");
lakshya 49:61c9f28332ba 2165 /*gpc.printf("\n\r%x\n",output[0]);
lakshya 49:61c9f28332ba 2166 gpc.printf("\n\r%x\n",output[1]);
lakshya 49:61c9f28332ba 2167 gpc.printf("\n\r%x\n",output[2]);
lakshya 49:61c9f28332ba 2168 gpc.printf("\n\r%x\n",output[3]);
lakshya 15:e09aaaccf134 2169 to check the values generated
lakshya 15:e09aaaccf134 2170 */
lakshya 49:61c9f28332ba 2171 //gpc.printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]);
Bragadeesh153 13:fb7facaf308b 2172 //std:: cout << "\n\r uint8 inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl;
Bragadeesh153 13:fb7facaf308b 2173 }