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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

TCTM.cpp@66:a5d2b8dc6b9e, 2016-12-04 (annotated)

Committer:
lakshya
Date:
Sun Dec 04 07:58:20 2016 +0000
Revision:
66:a5d2b8dc6b9e
Parent:
64:241406992336
Child:
67:c0dd13285d80
initial code 4th dec

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;
Bragadeesh153 52:daa685b0e390 111 //extern DigitalOut TRXY_SW; //TR XY Switch if any TR_SW error arises then it is same as TR_SW_EN
Bragadeesh153 52:daa685b0e390 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);
Bragadeesh153 56:32b1fb074138 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 66:a5d2b8dc6b9e 282 // for(int qw=0;qw<11;qw++);
lakshya 66:a5d2b8dc6b9e 283 // gpc.printf("\n\r the telecommand %d \t %x",qw,tc[qw]);
lakshya 66:a5d2b8dc6b9e 284 // pc.printf("\n the tc provided is %s \n" , tc");
lakshya 19:79e69017c855 285 if( ( ((uint8_t)((crc16 & 0xFF00)>>8)==tc[9]) && ((uint8_t)(crc16 & 0x00FF)==tc[10]) )== 0 )
lakshya 19:79e69017c855 286 {
lakshya 19:79e69017c855 287 telemetry[0]=0xB0;
lakshya 19:79e69017c855 288 telemetry[1]=0x00;//tc psc defined for this case
lakshya 19:79e69017c855 289 telemetry[2]=0x01;//ack code for this case
lakshya 19:79e69017c855 290 for(int i=3;i<11;i++)
lakshya 20:949d13045431 291 {
lakshya 19:79e69017c855 292 telemetry[i]=0x00;
lakshya 19:79e69017c855 293 }
lakshya 19:79e69017c855 294 //add crc
lakshya 19:79e69017c855 295 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 296 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 297 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 49:61c9f28332ba 298 gpc.printf("\n\rincorrect crc");
lakshya 19:79e69017c855 299 for(int i=13;i<134;i++)
lakshya 19:79e69017c855 300 {
lakshya 19:79e69017c855 301 telemetry[i]=0x00;
lakshya 19:79e69017c855 302 }
lakshya 19:79e69017c855 303 }
lakshya 19:79e69017c855 304 else
lakshya 19:79e69017c855 305 {
lakshya 19:79e69017c855 306 //check apid
lakshya 19:79e69017c855 307 uint8_t apid_check=((tc[1]&0xC0)>>6);
lakshya 19:79e69017c855 308 if(apid_check!=0x01)
lakshya 19:79e69017c855 309 {
lakshya 19:79e69017c855 310 telemetry[0]=0xB0;
lakshya 19:79e69017c855 311 telemetry[1]=tc[0];//tc psc defined for this case
lakshya 19:79e69017c855 312 telemetry[2]=0x02;//ack code for this case
lakshya 19:79e69017c855 313 for(int i=3;i<11;i++)
Bragadeesh153 13:fb7facaf308b 314 {
lakshya 19:79e69017c855 315 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 316 }
Bragadeesh153 13:fb7facaf308b 317 crc16 = CRC::crc16_gen(telemetry,11);
Bragadeesh153 13:fb7facaf308b 318 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
Bragadeesh153 13:fb7facaf308b 319 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 49:61c9f28332ba 320 gpc.printf("\n\rillegal TC packet APID don't match");
lakshya 19:79e69017c855 321 for(int i=13;i<134;i++)
Bragadeesh153 13:fb7facaf308b 322 {
Bragadeesh153 13:fb7facaf308b 323 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 324 }
sakthipriya 3:07e15677a75c 325 }
lakshya 19:79e69017c855 326 else
lakshya 19:79e69017c855 327 {// all the possible cases of fms and mms
lakshya 19:79e69017c855 328 uint8_t service_type=(tc[2]&0xF0);
lakshya 19:79e69017c855 329 //check for fms first
lakshya 19:79e69017c855 330 switch(service_type)
lakshya 19:79e69017c855 331 {
lakshya 19:79e69017c855 332 case 0x60:
lakshya 19:79e69017c855 333 {
lakshya 49:61c9f28332ba 334 gpc.printf("Memory Management Service\r\n");
lakshya 19:79e69017c855 335 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 336 switch(service_subtype)
lakshya 19:79e69017c855 337 {
lakshya 19:79e69017c855 338 case 0x02:
lakshya 19:79e69017c855 339 {
lakshya 49:61c9f28332ba 340 gpc.printf("\n\rRead from RAM");
lakshya 19:79e69017c855 341 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 342 switch(MID)
lakshya 19:79e69017c855 343 {
lakshya 19:79e69017c855 344 case 0x0000://changed from 0001
lakshya 19:79e69017c855 345 {
lakshya 49:61c9f28332ba 346 gpc.printf("\n\rRead from MID 0000 \n");
lakshya 49:61c9f28332ba 347 gpc.printf("\n\rReading flash parameters");
lakshya 19:79e69017c855 348
lakshya 19:79e69017c855 349 /*taking some varible till we find some thing more useful*/
lakshya 19:79e69017c855 350 //uint8_t ref_val=0x01;
Bragadeesh153 54:d6a45982ace1 351 telemetry[0] = 0x30;
lakshya 19:79e69017c855 352 telemetry[1] = tc[0];
lakshya 19:79e69017c855 353 telemetry[2] = ACK_CODE;
lakshya 19:79e69017c855 354 /*random or with bcn_tx_sw_enable assuming it is 1 bit in length
lakshya 19:79e69017c855 355 how to get that we dont know, now we just assume it to be so*/
lakshya 57:60e8f00d93c3 356 telemetry[3] = 0x00;
lakshya 57:60e8f00d93c3 357 telemetry[4] = ACS_ATS_STATUS;
lakshya 57:60e8f00d93c3 358 telemetry[5] = ACS_TR_XY_SW_STATUS;
lakshya 57:60e8f00d93c3 359 telemetry[5] = (telemetry[5]<<2)| ACS_TR_Z_SW_STATUS;
lakshya 57:60e8f00d93c3 360 telemetry[5] = (telemetry[5]<<4) | ACS_STATE;
lakshya 57:60e8f00d93c3 361 telemetry[6] = ACS_DETUMBLING_ALGO_TYPE;
lakshya 57:60e8f00d93c3 362 telemetry[6] = (telemetry[6]<<2) | BCN_TX_SW_STATUS;
lakshya 57:60e8f00d93c3 363 telemetry[6] = (telemetry[6]<<1) | BCN_SPND_TX;
lakshya 57:60e8f00d93c3 364 telemetry[6] = (telemetry[6]<<1) | BCN_FEN;
lakshya 57:60e8f00d93c3 365 telemetry[6] = (telemetry[6]<<1) | BCN_LONG_MSG_TYPE;
lakshya 57:60e8f00d93c3 366 telemetry[6] = (telemetry[6]<<1) | EPS_BTRY_HTR_AUTO;//EPS_BATTERY_HEATER_ENABLE
lakshya 57:60e8f00d93c3 367 telemetry[6] = (telemetry[6]<<1);
lakshya 57:60e8f00d93c3 368 //now one spares in telemetry[6]
lakshya 57:60e8f00d93c3 369 telemetry[7] = BAE_RESET_COUNTER;
lakshya 57:60e8f00d93c3 370 telemetry[8] = EPS_SOC_LEVEL_12;
lakshya 57:60e8f00d93c3 371 telemetry[9] = EPS_SOC_LEVEL_23;
lakshya 57:60e8f00d93c3 372 telemetry[10] = ACS_MAG_TIME_DELAY;
lakshya 57:60e8f00d93c3 373 telemetry[11] = ACS_DEMAG_TIME_DELAY;
lakshya 57:60e8f00d93c3 374 telemetry[12] = EPS_BAT_TEMP_LOW;
lakshya 57:60e8f00d93c3 375 telemetry[13] = EPS_BAT_TEMP_HIGH;
lakshya 57:60e8f00d93c3 376 telemetry[14] = EPS_BAT_TEMP_DEFAULT;
Bragadeesh153 56:32b1fb074138 377
lakshya 57:60e8f00d93c3 378 telemetry[15] = ACS_MM_X_COMSN >> 8;
lakshya 57:60e8f00d93c3 379 telemetry[16] = ACS_MM_X_COMSN;
lakshya 57:60e8f00d93c3 380 printf("\n\r the mm x commission %d",ACS_MM_X_COMSN);
lakshya 57:60e8f00d93c3 381
lakshya 57:60e8f00d93c3 382 telemetry[17] = ACS_MM_Y_COMSN >> 8;
lakshya 57:60e8f00d93c3 383 telemetry[18] = ACS_MM_Y_COMSN;
lakshya 20:949d13045431 384
lakshya 57:60e8f00d93c3 385 telemetry[19] = ACS_MG_X_COMSN >> 8;
lakshya 57:60e8f00d93c3 386 telemetry[20] = ACS_MG_X_COMSN;
lakshya 20:949d13045431 387
lakshya 57:60e8f00d93c3 388 telemetry[21] = ACS_MG_Y_COMSN >> 8;
lakshya 57:60e8f00d93c3 389 telemetry[22] = ACS_MG_Y_COMSN;
lakshya 20:949d13045431 390
lakshya 57:60e8f00d93c3 391 telemetry[23] = ACS_MM_Z_COMSN >> 8;
lakshya 57:60e8f00d93c3 392 telemetry[24] = ACS_MM_Z_COMSN;
lakshya 20:949d13045431 393
lakshya 57:60e8f00d93c3 394 telemetry[25] = ACS_MG_Z_COMSN >> 8;
lakshya 57:60e8f00d93c3 395 telemetry[26] = ACS_MG_Z_COMSN;
lakshya 20:949d13045431 396
lakshya 57:60e8f00d93c3 397 telemetry[27] = ACS_Z_FIXED_MOMENT >> 8;
lakshya 57:60e8f00d93c3 398 telemetry[28] = ACS_Z_FIXED_MOMENT;
lakshya 57:60e8f00d93c3 399 printf("\n\r the z_fixed_moment %d",ACS_Z_FIXED_MOMENT);
lakshya 57:60e8f00d93c3 400
lakshya 20:949d13045431 401
lakshya 20:949d13045431 402 //BAE RAM PARAMETER
lakshya 57:60e8f00d93c3 403 telemetry[29] = BAE_INIT_STATUS;
lakshya 57:60e8f00d93c3 404 telemetry[29] = (telemetry[29]<<1) | BAE_MNG_I2C_STATUS;//changed
lakshya 57:60e8f00d93c3 405 telemetry[29] = (telemetry[29]<<1) | BCN_INIT_STATUS;
lakshya 57:60e8f00d93c3 406 telemetry[29] = (telemetry[29]<<1) | BCN_TX_MAIN_STATUS;
lakshya 57:60e8f00d93c3 407 telemetry[29] = (telemetry[29]<<3) | BCN_TX_STATUS;
lakshya 57:60e8f00d93c3 408 telemetry[29] = (telemetry[29]<<1) | ACS_INIT_STATUS;
lakshya 20:949d13045431 409
lakshya 57:60e8f00d93c3 410 telemetry[30] = ACS_DATA_ACQ_STATUS;
lakshya 57:60e8f00d93c3 411 telemetry[30] = (telemetry[30]<<1) | ACS_MAIN_STATUS;
lakshya 57:60e8f00d93c3 412 telemetry[30] = (telemetry[30]<<4) | ACS_STATUS;
lakshya 57:60e8f00d93c3 413 telemetry[30] = (telemetry[30]<<1) | EPS_INIT_STATUS;
lakshya 20:949d13045431 414
lakshya 57:60e8f00d93c3 415 telemetry[31] = EPS_BATTERY_GAUGE_STATUS;
lakshya 57:60e8f00d93c3 416 telemetry[31] = (telemetry[31]<<1) | EPS_MAIN_STATUS;
lakshya 57:60e8f00d93c3 417 telemetry[31] = (telemetry[31]<<1) | EPS_BTRY_TMP_STATUS;
lakshya 57:60e8f00d93c3 418 telemetry[31] = (telemetry[31]<<3) | EPS_STATUS;
lakshya 63:55d32e7dcad7 419 telemetry[31] = (telemetry[31]<<2) | CDMS_SW_STATUS;
lakshya 20:949d13045431 420 // telemetry[30] = (telemetry[30]<<1) | EPS_BTRY_HTR_STATUS;//new to : implement
lakshya 33:76f2b8735501 421
lakshya 57:60e8f00d93c3 422 telemetry[32] = EPS_BTRY_HTR; //new to : implement
lakshya 27:61c856be467e 423 //spare 4
lakshya 57:60e8f00d93c3 424 telemetry[32] = (telemetry[32]<<7) | BAE_STANDBY;
lakshya 20:949d13045431 425 // 6 next telemetries value to be given by registers
lakshya 57:60e8f00d93c3 426 telemetry[33] = ATS1_EVENT_STATUS_RGTR;
lakshya 57:60e8f00d93c3 427 telemetry[34] = ATS1_SENTRAL_STATUS_RGTR;
lakshya 57:60e8f00d93c3 428 telemetry[35] = ATS1_ERROR_RGTR;
lakshya 57:60e8f00d93c3 429 telemetry[36] = ATS2_EVENT_STATUS_RGTR;
lakshya 57:60e8f00d93c3 430 telemetry[37] = ATS2_SENTRAL_STATUS_RGTR;
lakshya 57:60e8f00d93c3 431 telemetry[38] = ATS2_ERROR_RGTR;
lakshya 20:949d13045431 432
lakshya 57:60e8f00d93c3 433 telemetry[39] = BCN_FAIL_COUNT;
lakshya 57:60e8f00d93c3 434 telemetry[40] = actual_data.power_mode;
lakshya 57:60e8f00d93c3 435 telemetry[41] = HTR_CYCLE_COUNTER;//new to : implement
lakshya 20:949d13045431 436
lakshya 58:c4203e162d12 437 // GS changed order has to be updated in the telemetry sheet or jithin should change the order
lakshya 58:c4203e162d12 438 telemetry[43] = BAE_I2C_COUNTER;
lakshya 58:c4203e162d12 439 telemetry[42] = BAE_I2C_COUNTER>>8;
lakshya 58:c4203e162d12 440 telemetry[45] = ACS_MAIN_COUNTER;
lakshya 58:c4203e162d12 441 telemetry[44] = ACS_MAIN_COUNTER>>8;
lakshya 58:c4203e162d12 442 telemetry[47] = BCN_TX_MAIN_COUNTER;
lakshya 58:c4203e162d12 443 telemetry[46] = BCN_TX_MAIN_COUNTER>>8;
lakshya 58:c4203e162d12 444 telemetry[49] = EPS_MAIN_COUNTER;
lakshya 58:c4203e162d12 445 telemetry[48] = EPS_MAIN_COUNTER>>8;
lakshya 49:61c9f28332ba 446
lakshya 49:61c9f28332ba 447 uint8_t days,hours,mins;
lakshya 49:61c9f28332ba 448 RETURN_UPTIME(BAE_uptime.read(),&days,&hours,&mins);
lakshya 57:60e8f00d93c3 449 printf("\n\r the values bae of days,hour,min %d, %d, %d",days,hours,mins);
lakshya 57:60e8f00d93c3 450
lakshya 57:60e8f00d93c3 451 telemetry[50] = days;
lakshya 49:61c9f28332ba 452 RETURN_UPTIME(I2C_last.read(),&days,&hours,&mins);
lakshya 57:60e8f00d93c3 453 telemetry[50] = (telemetry[50]<<3) | (hours>>2);
lakshya 57:60e8f00d93c3 454 telemetry[51] = hours;
lakshya 57:60e8f00d93c3 455 telemetry[51] = (telemetry[51]<<6) | mins;
lakshya 57:60e8f00d93c3 456
lakshya 57:60e8f00d93c3 457 printf("\n\r the values of bae uptime %f",BAE_uptime.read());
lakshya 57:60e8f00d93c3 458 printf("\n\r the values i2c of days,hour,min %d, %d, %d",days,hours,mins);
lakshya 57:60e8f00d93c3 459
lakshya 49:61c9f28332ba 460
lakshya 20:949d13045431 461 //sending in uint can be converted back to int by direct conversion for +values
lakshya 20:949d13045431 462 //make sure to convert baack to int for getting negative values
lakshya 20:949d13045431 463 //algo for that done
lakshya 58:c4203e162d12 464
lakshya 58:c4203e162d12 465 uint16_t scaled;
lakshya 20:949d13045431 466
lakshya 58:c4203e162d12 467 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 58:c4203e162d12 468 telemetry[52] = (scaled>>8);
lakshya 58:c4203e162d12 469 telemetry[53] = scaled;
lakshya 58:c4203e162d12 470 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 58:c4203e162d12 471 telemetry[54] = (scaled>>8);
lakshya 58:c4203e162d12 472 telemetry[55] = scaled;
lakshya 58:c4203e162d12 473 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 58:c4203e162d12 474 telemetry[56] = (scaled>>8);
lakshya 58:c4203e162d12 475 telemetry[57] = scaled;
lakshya 58:c4203e162d12 476 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 58:c4203e162d12 477 telemetry[58] = (scaled>>8);
lakshya 58:c4203e162d12 478 telemetry[59] = scaled;
lakshya 58:c4203e162d12 479 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 58:c4203e162d12 480 telemetry[60] = (scaled>>8);
lakshya 58:c4203e162d12 481 telemetry[61] = scaled;
lakshya 58:c4203e162d12 482 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 58:c4203e162d12 483 telemetry[62] = (scaled>>8);
lakshya 58:c4203e162d12 484 telemetry[63] = scaled;
lakshya 58:c4203e162d12 485
lakshya 57:60e8f00d93c3 486 telemetry[64] = BCN_TX_OC_FAULT;
lakshya 57:60e8f00d93c3 487 telemetry[64] = (telemetry[64]<<1) | ACS_TR_XY_ENABLE;
lakshya 57:60e8f00d93c3 488 telemetry[64] = (telemetry[64]<<1) | ACS_TR_Z_ENABLE;
lakshya 57:60e8f00d93c3 489 telemetry[64] = (telemetry[64]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 57:60e8f00d93c3 490 telemetry[64] = (telemetry[64]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 57:60e8f00d93c3 491 telemetry[64] = (telemetry[64]<<1) | ACS_TR_XY_FAULT;
lakshya 57:60e8f00d93c3 492 telemetry[64] = (telemetry[64]<<1) | EPS_CHARGER_FAULT;
lakshya 57:60e8f00d93c3 493 telemetry[64] = (telemetry[64]<<1) | EPS_CHARGER_STATUS;
lakshya 20:949d13045431 494
lakshya 57:60e8f00d93c3 495 telemetry[65] = EPS_BATTERY_GAUGE_ALERT;
lakshya 57:60e8f00d93c3 496 telemetry[65] = (telemetry[65]<<1) | CDMS_OC_FAULT;
lakshya 57:60e8f00d93c3 497 telemetry[65] = (telemetry[65]<<1) | ACS_ATS1_OC_FAULT;
lakshya 57:60e8f00d93c3 498 telemetry[65] = (telemetry[65]<<1) | ACS_ATS2_OC_FAULT;
lakshya 57:60e8f00d93c3 499 telemetry[65] = (telemetry[65]<<1) | ACS_TR_Z_FAULT;
lakshya 57:60e8f00d93c3 500 telemetry[65] = (telemetry[65]<<3);
lakshya 20:949d13045431 501 //3 spare
lakshya 20:949d13045431 502
lakshya 57:60e8f00d93c3 503 telemetry[66] = ACS_TR_X_PWM;
lakshya 57:60e8f00d93c3 504 telemetry[67] = ACS_TR_Y_PWM;
lakshya 57:60e8f00d93c3 505 telemetry[68] = ACS_TR_Z_PWM;
lakshya 20:949d13045431 506 //spare byte
lakshya 20:949d13045431 507 //assigned it to counter HTR_CYCLE_COUNTER
lakshya 20:949d13045431 508
lakshya 20:949d13045431 509 //assign it b_scz_angle
lakshya 57:60e8f00d93c3 510 telemetry[69] = B_SCZ_ANGLE>>4;
lakshya 57:60e8f00d93c3 511 telemetry[69] = (telemetry[69]<<1) | alarmmode;
lakshya 57:60e8f00d93c3 512 telemetry[69] = (telemetry[69]<<1) | controlmode_mms;
lakshya 57:60e8f00d93c3 513 telemetry[69] = (telemetry[69]<<1) | singularity_flag_mms;
lakshya 57:60e8f00d93c3 514 telemetry[69] = (telemetry[69]<<1);
lakshya 49:61c9f28332ba 515 //1 bit spare
lakshya 20:949d13045431 516
lakshya 20:949d13045431 517 for(int i=0;i<9;i++)
lakshya 20:949d13045431 518 {
lakshya 57:60e8f00d93c3 519 telemetry[70+i] = invjm_mms[i];
lakshya 57:60e8f00d93c3 520 telemetry[81+i] = jm_mms[i];
lakshya 20:949d13045431 521 }
lakshya 20:949d13045431 522
lakshya 53:459b71b1861c 523 for(int i=1;i<3;i++)
lakshya 57:60e8f00d93c3 524 telemetry[79+i] = bb_mms[i];
lakshya 20:949d13045431 525
lakshya 20:949d13045431 526 for(int i=0;i<16;i++)
lakshya 20:949d13045431 527 {
lakshya 66:a5d2b8dc6b9e 528 telemetry[90+i] = (uint8_t)(quant_data.voltage_quant[i]);//changed (uint8_t)(quant_data.voltage_quant[i]<<3)+(quant_data.voltage_quant[i]<<1); /*multiplied by 10 */
lakshya 64:241406992336 529 //printf("\n\r %d \t %d",i,telemetry[90+i]);
lakshya 57:60e8f00d93c3 530 telemetry[106+i] = quant_data.current_quant[i];
lakshya 63:55d32e7dcad7 531 /*check the working*/
lakshya 20:949d13045431 532 }
lakshya 20:949d13045431 533
lakshya 66:a5d2b8dc6b9e 534 telemetry[122] = quant_data.Batt_voltage_quant;// changed (quant_data.Batt_voltage_quant<<3)+(quant_data.Batt_voltage_quant<<1);
lakshya 57:60e8f00d93c3 535 telemetry[123] = quant_data.BAE_temp_quant;
lakshya 57:60e8f00d93c3 536 telemetry[124] = (uint8_t)(actual_data.Batt_gauge_actual[1]);
lakshya 57:60e8f00d93c3 537 telemetry[125] = quant_data.Batt_temp_quant[0];
lakshya 57:60e8f00d93c3 538 telemetry[126] = quant_data.Batt_temp_quant[1];
lakshya 58:c4203e162d12 539
lakshya 57:60e8f00d93c3 540 telemetry[127] = BCN_TMP;
lakshya 20:949d13045431 541
lakshya 57:60e8f00d93c3 542 for (int i=128; i<132;i++)
lakshya 19:79e69017c855 543 {
lakshya 19:79e69017c855 544 telemetry[i] = 0x00;
lakshya 19:79e69017c855 545 }
lakshya 19:79e69017c855 546 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 547 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 548 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 549
lakshya 19:79e69017c855 550 break;
lakshya 19:79e69017c855 551 }
lakshya 19:79e69017c855 552 case 0x0001:
lakshya 19:79e69017c855 553 {
lakshya 66:a5d2b8dc6b9e 554 gpc.printf("\r\nmin_max hk data tm");
lakshya 57:60e8f00d93c3 555 telemetry[0] = 0x30; // changed0x06 shifted by 1 bit 0x03
lakshya 19:79e69017c855 556 telemetry[1] = tc[0];
lakshya 19:79e69017c855 557 telemetry[2] = ACK_CODE;
lakshya 57:60e8f00d93c3 558 telemetry[3] = 0x00;
lakshya 19:79e69017c855 559
lakshya 19:79e69017c855 560 for(int i;i<16;i++)
lakshya 20:949d13045431 561 {
lakshya 66:a5d2b8dc6b9e 562 telemetry[i+4] = (uint8_t)bae_HK_minmax.voltage_max[i];//(bae_HK_minmax.voltage_max[i]<<3)+(bae_HK_minmax.voltage_max[i]<<2);
lakshya 57:60e8f00d93c3 563 telemetry[i+20] = bae_HK_minmax.current_max[i];
lakshya 20:949d13045431 564 }
lakshya 19:79e69017c855 565
lakshya 66:a5d2b8dc6b9e 566 telemetry[36] = (uint8_t)bae_HK_minmax.Batt_voltage_max;//(bae_HK_minmax.Batt_voltage_max<<3)+(bae_HK_minmax.Batt_voltage_max<<2);
lakshya 57:60e8f00d93c3 567 telemetry[37] = bae_HK_minmax.BAE_temp_max;
lakshya 19:79e69017c855 568
lakshya 57:60e8f00d93c3 569 telemetry[38] = bae_HK_minmax.Batt_SOC_max;
lakshya 19:79e69017c855 570
lakshya 57:60e8f00d93c3 571 telemetry[39] = bae_HK_minmax.Batt_temp_max[0];
lakshya 57:60e8f00d93c3 572 telemetry[40] = bae_HK_minmax.Batt_temp_max[1];
lakshya 19:79e69017c855 573
lakshya 20:949d13045431 574 /*BCN temp there*/
lakshya 57:60e8f00d93c3 575 telemetry[41] = bae_HK_minmax.BCN_TEMP_max;
lakshya 19:79e69017c855 576
lakshya 19:79e69017c855 577 for(int i=0; i<3; i++)
lakshya 20:949d13045431 578 {
lakshya 57:60e8f00d93c3 579 telemetry[42+(2*i)] = (bae_HK_minmax.bit_data_acs_mm_max[i]>>8);
lakshya 57:60e8f00d93c3 580 telemetry[43+(2*i)] = bae_HK_minmax.bit_data_acs_mm_max[i];
lakshya 53:459b71b1861c 581
lakshya 57:60e8f00d93c3 582 telemetry[48+(2*i)] = (bae_HK_minmax.bit_data_acs_mg_max[i]>>8);
lakshya 57:60e8f00d93c3 583 telemetry[49+(2*i)] = bae_HK_minmax.bit_data_acs_mg_max[i];
lakshya 20:949d13045431 584 }
lakshya 19:79e69017c855 585
lakshya 19:79e69017c855 586 /*min data*/
lakshya 19:79e69017c855 587
lakshya 19:79e69017c855 588 for(int i;i<16;i++)
lakshya 66:a5d2b8dc6b9e 589 { telemetry[i+54] = (uint8_t)bae_HK_minmax.voltage_min[i];//(bae_HK_minmax.voltage_min[i]<<3)+(bae_HK_minmax.voltage_min[i]<<1);
lakshya 66:a5d2b8dc6b9e 590 //for(int i;i<16;i++)
lakshya 66:a5d2b8dc6b9e 591 telemetry[i+70] = bae_HK_minmax.current_min[i];
lakshya 66:a5d2b8dc6b9e 592 }
lakshya 19:79e69017c855 593
lakshya 66:a5d2b8dc6b9e 594 telemetry[86] = (uint8_t)bae_HK_minmax.Batt_voltage_min;//(bae_HK_minmax.Batt_voltage_min<<3)+(bae_HK_minmax.Batt_voltage_min<<1);
lakshya 57:60e8f00d93c3 595 telemetry[87] = bae_HK_minmax.BAE_temp_min;
lakshya 19:79e69017c855 596
lakshya 19:79e69017c855 597 /*battery soc*/
lakshya 57:60e8f00d93c3 598 telemetry[88] = bae_HK_minmax.Batt_SOC_min;
lakshya 19:79e69017c855 599
lakshya 57:60e8f00d93c3 600 telemetry[89] = bae_HK_minmax.Batt_temp_min[0];
lakshya 57:60e8f00d93c3 601 telemetry[90] = bae_HK_minmax.Batt_temp_min[1];
lakshya 19:79e69017c855 602 //huhu//
lakshya 19:79e69017c855 603
lakshya 20:949d13045431 604 /*BCN temp named as BCN_TS_BUFFER there*/
lakshya 57:60e8f00d93c3 605 telemetry[91] = bae_HK_minmax.BCN_TEMP_min;
lakshya 19:79e69017c855 606
lakshya 19:79e69017c855 607 for(int i=0; i<3; i++)
lakshya 20:949d13045431 608 {
lakshya 57:60e8f00d93c3 609 telemetry[92+(2*i)] = (bae_HK_minmax.bit_data_acs_mm_min[i]>>8);
lakshya 57:60e8f00d93c3 610 telemetry[93+(2*i)] = bae_HK_minmax.bit_data_acs_mm_min[i];
lakshya 53:459b71b1861c 611
lakshya 57:60e8f00d93c3 612 telemetry[98+(2*i)] = (bae_HK_minmax.bit_data_acs_mg_min[i]>>8);
lakshya 57:60e8f00d93c3 613 telemetry[99+(2*i)] = bae_HK_minmax.bit_data_acs_mg_min[i];
lakshya 20:949d13045431 614 }
lakshya 20:949d13045431 615
lakshya 57:60e8f00d93c3 616 telemetry[104] = BCN_TX_OC_FAULT;
lakshya 57:60e8f00d93c3 617 telemetry[104] = (telemetry[104]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 57:60e8f00d93c3 618 telemetry[104] = (telemetry[104]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 57:60e8f00d93c3 619 telemetry[104] = (telemetry[104]<<1) | ACS_TR_XY_FAULT;
lakshya 20:949d13045431 620 //EPS CHARGER
lakshya 57:60e8f00d93c3 621 telemetry[104] = (telemetry[104]<<1) | EPS_CHARGER_FAULT;//eps_charger;
lakshya 57:60e8f00d93c3 622 telemetry[104] = (telemetry[104]<<1) | CDMS_OC_FAULT;
lakshya 57:60e8f00d93c3 623 telemetry[104] = (telemetry[104]<<1) | ACS_ATS1_OC_FAULT;
lakshya 57:60e8f00d93c3 624 telemetry[104] = (telemetry[104]<<1) | ACS_ATS2_OC_FAULT;
lakshya 20:949d13045431 625
lakshya 57:60e8f00d93c3 626 telemetry[105] = (ACS_TR_Z_FAULT<<7);
lakshya 20:949d13045431 627 //spare 23 bits
lakshya 53:459b71b1861c 628 telemetry[106] = 0x00;
lakshya 57:60e8f00d93c3 629 telemetry[107] = 0x00;
lakshya 20:949d13045431 630
lakshya 57:60e8f00d93c3 631 for (int i=108; i<132;i++)
lakshya 19:79e69017c855 632 {
lakshya 19:79e69017c855 633 telemetry[i] = 0x00;
lakshya 19:79e69017c855 634 }
lakshya 19:79e69017c855 635 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 636 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 637 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 638 break;
lakshya 19:79e69017c855 639 }
lakshya 19:79e69017c855 640 default://invalid MID
lakshya 19:79e69017c855 641 {
lakshya 19:79e69017c855 642 //ACK_L234_telemetry
lakshya 57:60e8f00d93c3 643 telemetry[0]=0xB0; // check if this needs to be changed
lakshya 19:79e69017c855 644 telemetry[1]=tc[0];
lakshya 19:79e69017c855 645 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 646 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 647 {
lakshya 19:79e69017c855 648 telemetry[i]=0x00;
lakshya 19:79e69017c855 649 }
lakshya 19:79e69017c855 650 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 651 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 652 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 653 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 654 {
lakshya 19:79e69017c855 655 telemetry[i]=0x00;
lakshya 19:79e69017c855 656 }
lakshya 19:79e69017c855 657 break;
lakshya 19:79e69017c855 658 }
lakshya 19:79e69017c855 659 }
lakshya 19:79e69017c855 660 break;
lakshya 57:60e8f00d93c3 661 }
lakshya 19:79e69017c855 662 case 0x05:
lakshya 19:79e69017c855 663 {
lakshya 49:61c9f28332ba 664 gpc.printf("\n\rdata for mms 0x05 flash");
lakshya 19:79e69017c855 665 /*changed*/
lakshya 49:61c9f28332ba 666 gpc.printf("\n\rwrite on flash\n");
lakshya 20:949d13045431 667 uint32_t FLASH_DATA;//256 bits
lakshya 19:79e69017c855 668
lakshya 19:79e69017c855 669 uint8_t VALID_MID;//to determine wether mid is valid or not otherwise to much repetition of code 1 meaning valid
lakshya 19:79e69017c855 670
lakshya 19:79e69017c855 671 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 672 switch(MID )
lakshya 19:79e69017c855 673 {
lakshya 20:949d13045431 674 case 0x1100:
lakshya 19:79e69017c855 675 {
lakshya 20:949d13045431 676 //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 677 //FCTN_BAE_WR_FLASH(0,FLASH_DATA[0]);
lakshya 20:949d13045431 678 BCN_LONG_MSG_TYPE = tc[8];
lakshya 20:949d13045431 679 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 680 FLASH_DATA = (FLASH_DATA & 0xFFFFFBFF) | (10<<(uint32_t)tc[8]);//see if uint8 to uint32 conversion works
lakshya 20:949d13045431 681 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 682 VALID_MID=1;
lakshya 19:79e69017c855 683 break;
lakshya 19:79e69017c855 684 }
lakshya 19:79e69017c855 685 case 0x0101:
lakshya 19:79e69017c855 686 {
lakshya 20:949d13045431 687 //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 688 ACS_DETUMBLING_ALGO_TYPE = (tc[8] & 0x01);
lakshya 49:61c9f28332ba 689 //===============================================
lakshya 49:61c9f28332ba 690 ACS_STATE = 4;
lakshya 49:61c9f28332ba 691 //tc[8] = 1001_
lakshya 49:61c9f28332ba 692 //ACS_STATE = (tc[8]>>1) & 0x0F;
lakshya 20:949d13045431 693 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 694 FLASH_DATA = (FLASH_DATA & 0xFFF07FFF) | (15<<(uint32_t)tc[8]);
lakshya 20:949d13045431 695 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 696 VALID_MID=1;
lakshya 19:79e69017c855 697 break;
lakshya 19:79e69017c855 698 }
lakshya 19:79e69017c855 699
lakshya 19:79e69017c855 700 case 0x0102:
lakshya 19:79e69017c855 701 {
lakshya 20:949d13045431 702 //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 703 //EPS_BATTERY_HEATER_ENABLE = tc[8];
lakshya 20:949d13045431 704 EPS_BTRY_HTR_AUTO = tc[8];
lakshya 20:949d13045431 705 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 706 FLASH_DATA = (FLASH_DATA & 0xFFFFFDFF) | (9<<(uint32_t)tc[8]);
lakshya 20:949d13045431 707 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 708 VALID_MID=1;
lakshya 19:79e69017c855 709 break;
lakshya 19:79e69017c855 710 }
lakshya 19:79e69017c855 711
lakshya 19:79e69017c855 712 case 0x0103:
lakshya 19:79e69017c855 713 {
lakshya 20:949d13045431 714 //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 715 ACS_MAG_TIME_DELAY = tc[7];
lakshya 20:949d13045431 716 ACS_DEMAG_TIME_DELAY = tc[8];
lakshya 20:949d13045431 717 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 718 FLASH_DATA = (FLASH_DATA & 0xFFFF0000) | (8<<(uint32_t)tc[7]) | ((uint32_t)tc[8]);
lakshya 20:949d13045431 719 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 720 VALID_MID=1;
lakshya 19:79e69017c855 721 break;
lakshya 19:79e69017c855 722 }
lakshya 19:79e69017c855 723 case 0x0104:
lakshya 19:79e69017c855 724 {
lakshya 20:949d13045431 725 //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 726 ACS_Z_FIXED_MOMENT = (8<<(uint16_t)tc[7]) | (uint16_t)tc[8];
lakshya 20:949d13045431 727 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(6);
lakshya 20:949d13045431 728 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)ACS_Z_FIXED_MOMENT<<16);
lakshya 20:949d13045431 729 FCTN_BAE_WR_FLASH(6,FLASH_DATA);
lakshya 19:79e69017c855 730 VALID_MID=1;
lakshya 19:79e69017c855 731 break;
lakshya 19:79e69017c855 732 }
lakshya 20:949d13045431 733 case 0x0106:
lakshya 19:79e69017c855 734 {
lakshya 20:949d13045431 735 //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 736 ACS_MM_Z_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 737 ACS_MG_Z_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 738 FLASH_DATA = ((uint32_t)ACS_MM_Z_COMSN<<16) | (uint32_t)ACS_MG_Z_COMSN;
lakshya 20:949d13045431 739 FCTN_BAE_WR_FLASH(5,FLASH_DATA);
lakshya 20:949d13045431 740 VALID_MID=1;
lakshya 20:949d13045431 741 break;
lakshya 20:949d13045431 742 }
lakshya 20:949d13045431 743 case 0x0107:
lakshya 20:949d13045431 744 {
lakshya 20:949d13045431 745 //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 746 EPS_SOC_LEVEL_12 = tc[7];
lakshya 20:949d13045431 747 EPS_SOC_LEVEL_23 = tc[8];
lakshya 20:949d13045431 748 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 749 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)tc[7]<<24) | ((uint32_t)tc[8]<<16);
lakshya 20:949d13045431 750 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 751 VALID_MID=1;
lakshya 19:79e69017c855 752 break;
lakshya 19:79e69017c855 753 }
lakshya 20:949d13045431 754 case 0x0108:
lakshya 19:79e69017c855 755 {
lakshya 20:949d13045431 756 //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 757 ACS_MM_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 758 ACS_MM_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 759 FLASH_DATA = ((uint32_t)ACS_MM_X_COMSN<<16) | (uint32_t)ACS_MM_Y_COMSN;
lakshya 20:949d13045431 760 FCTN_BAE_WR_FLASH(3,FLASH_DATA);
lakshya 19:79e69017c855 761 VALID_MID=1;
lakshya 19:79e69017c855 762 break;
lakshya 19:79e69017c855 763 }
lakshya 20:949d13045431 764 case 0x0109:
lakshya 19:79e69017c855 765 {
lakshya 20:949d13045431 766 //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 767 ACS_MG_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 768 ACS_MG_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 769 FLASH_DATA = ((uint32_t)ACS_MG_X_COMSN<<16) | (uint32_t)ACS_MG_Y_COMSN;
lakshya 20:949d13045431 770 FCTN_BAE_WR_FLASH(4,FLASH_DATA);
lakshya 19:79e69017c855 771 VALID_MID=1;
lakshya 19:79e69017c855 772 break;
lakshya 19:79e69017c855 773 }
lakshya 19:79e69017c855 774
lakshya 19:79e69017c855 775 default:
lakshya 19:79e69017c855 776 {
lakshya 49:61c9f28332ba 777 gpc.printf("Invalid MMS case 0x05 invalid MID\r\n");
lakshya 19:79e69017c855 778 VALID_MID=0;
lakshya 19:79e69017c855 779 //ACK_L234_telemetry
lakshya 19:79e69017c855 780 break;
lakshya 19:79e69017c855 781
lakshya 19:79e69017c855 782 }
lakshya 19:79e69017c855 783 }
lakshya 19:79e69017c855 784
lakshya 19:79e69017c855 785 if(VALID_MID==1)//valid MID
lakshya 19:79e69017c855 786 {
lakshya 19:79e69017c855 787 telemetry[0]=0xB0;//or 0x60? check
lakshya 19:79e69017c855 788 telemetry[1]=tc[0];
lakshya 19:79e69017c855 789 telemetry[2]=0xA0;// when valid
lakshya 19:79e69017c855 790 }
lakshya 19:79e69017c855 791 else if(VALID_MID==0)//invalid MID
lakshya 19:79e69017c855 792 {
lakshya 19:79e69017c855 793 telemetry[0]=0xB0;
lakshya 19:79e69017c855 794 telemetry[1]=tc[0];
lakshya 19:79e69017c855 795 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 796 }
lakshya 19:79e69017c855 797
lakshya 19:79e69017c855 798 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 799 {
lakshya 19:79e69017c855 800 telemetry[i]=0x00;
lakshya 19:79e69017c855 801 }
lakshya 19:79e69017c855 802 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 803 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 804 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 805 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 806 {
lakshya 19:79e69017c855 807 telemetry[i]=0x00;
lakshya 19:79e69017c855 808 }
lakshya 19:79e69017c855 809
lakshya 49:61c9f28332ba 810 gpc.printf("\n\rWritten on Flash");
lakshya 19:79e69017c855 811 break;
lakshya 19:79e69017c855 812 }
lakshya 19:79e69017c855 813 default://when invalid service subtype
lakshya 19:79e69017c855 814 {
lakshya 49:61c9f28332ba 815 gpc.printf("\n\r MMS invalid Service Subtype");
lakshya 19:79e69017c855 816 //ACK_L234_telemetry
lakshya 19:79e69017c855 817 telemetry[0]=0xB0;
lakshya 19:79e69017c855 818 telemetry[1]=tc[0];
lakshya 19:79e69017c855 819 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 820 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 821 {
lakshya 19:79e69017c855 822 telemetry[i]=0x00;
lakshya 19:79e69017c855 823 }
lakshya 19:79e69017c855 824 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 825 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 826 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 827 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 828 {
lakshya 19:79e69017c855 829 telemetry[i]=0x00;
lakshya 19:79e69017c855 830 }
lakshya 19:79e69017c855 831 break;
lakshya 19:79e69017c855 832 }
lakshya 19:79e69017c855 833 }
lakshya 19:79e69017c855 834 break;
lakshya 19:79e69017c855 835 }
lakshya 19:79e69017c855 836 case 0x80:
lakshya 19:79e69017c855 837 {
lakshya 66:a5d2b8dc6b9e 838 gpc.printf("Function Management Service\r\n");//changed
lakshya 19:79e69017c855 839 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 840 switch(service_subtype)
lakshya 19:79e69017c855 841 {
lakshya 19:79e69017c855 842 case 0x01:
lakshya 19:79e69017c855 843 {
lakshya 66:a5d2b8dc6b9e 844 gpc.printf("\n\rFMS Activated daa");
lakshya 19:79e69017c855 845 uint8_t fid=tc[3];//changed from pid to fid
lakshya 19:79e69017c855 846 switch(fid)
lakshya 19:79e69017c855 847 {
lakshya 19:79e69017c855 848 case 0xE0:
lakshya 19:79e69017c855 849 {
lakshya 58:c4203e162d12 850 //float mag_data_comm[3]={uint16_to_float(-1000,1000,ACS_MM_X_COMSN),uint16_to_float(-1000,1000,ACS_MM_Y_COMSN),uint16_to_float(-1000,1000,ACS_MM_Z_COMSN)};
lakshya 58:c4203e162d12 851 //float gyro_data_comm[3]={uint16_to_float(-5000,5000,ACS_MG_X_COMSN),uint16_to_float(-5000,5000,ACS_MG_Y_COMSN),uint16_to_float(-5000,5000,ACS_MG_Z_COMSN)};
lakshya 58:c4203e162d12 852 float mag_data_comm[3] = {ACS_MM_X_COMSN,ACS_MM_Y_COMSN,ACS_MM_Z_COMSN};
lakshya 58:c4203e162d12 853 float gyro_data_comm[3] = {ACS_MG_X_COMSN,ACS_MG_Y_COMSN,ACS_MG_Z_COMSN};
lakshya 20:949d13045431 854 float moment_comm[3];
lakshya 49:61c9f28332ba 855 gpc.printf("ACS_COMSN SOFTWARE\r\n");
lakshya 19:79e69017c855 856 //ACK_L234_telemetry
lakshya 20:949d13045431 857 ACS_STATE = tc[4];
lakshya 49:61c9f28332ba 858 if(ACS_STATE == 2) // Nominal mode
lakshya 20:949d13045431 859 {
lakshya 49:61c9f28332ba 860 gpc.printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 861 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 862 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 863 for(int i=0; i<3; i++)
lakshya 20:949d13045431 864 {
lakshya 49:61c9f28332ba 865 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 866 }
lakshya 20:949d13045431 867
lakshya 20:949d13045431 868 }
lakshya 49:61c9f28332ba 869 else if(ACS_STATE == 3) // Auto Control
lakshya 20:949d13045431 870 {
lakshya 49:61c9f28332ba 871 gpc.printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 872 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 873 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 874 for(int i=0; i<3; i++)
lakshya 20:949d13045431 875 {
lakshya 49:61c9f28332ba 876 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 877 }
lakshya 20:949d13045431 878 }
lakshya 49:61c9f28332ba 879 else if(ACS_STATE == 4) // Detumbling
lakshya 20:949d13045431 880 {
lakshya 20:949d13045431 881 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 882 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 883 for(int i=0; i<3; i++)
lakshya 20:949d13045431 884 {
lakshya 49:61c9f28332ba 885 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 886 }
lakshya 20:949d13045431 887 }
lakshya 19:79e69017c855 888 else
lakshya 19:79e69017c855 889 {
lakshya 20:949d13045431 890 ACS_STATUS = 7;
lakshya 19:79e69017c855 891 }
lakshya 20:949d13045431 892
lakshya 20:949d13045431 893 // Control algo commissioning
lakshya 39:670133e7ffd8 894 uint16_t moment_ret;
lakshya 49:61c9f28332ba 895 telemetry[0] = 0x78;
lakshya 49:61c9f28332ba 896 telemetry[1] = tc[0];
lakshya 49:61c9f28332ba 897 telemetry[2] = ACK_CODE;
lakshya 39:670133e7ffd8 898 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 899 telemetry[4] = ACS_STATUS;
lakshya 39:670133e7ffd8 900 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 901 telemetry[5] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 902 telemetry[6] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 903 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 904 telemetry[7] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 905 telemetry[8] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 906 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[2]);
lakshya 39:670133e7ffd8 907 telemetry[9] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 908 telemetry[10] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 909
lakshya 39:670133e7ffd8 910 //FCTN_CONVERT_FLOAT(moment_comm[0],&telemetry[4]); //telemetry[4] - telemetry[7]
lakshya 39:670133e7ffd8 911 //FCTN_CONVERT_FLOAT(moment_comm[1],&telemetry[8]); //telemetry[8] - telemetry[11]
lakshya 39:670133e7ffd8 912 //FCTN_CONVERT_FLOAT(moment_comm[2],&telemetry[12]); //telemetry[12] - telemetry[15]
lakshya 19:79e69017c855 913 // to include commission TR as well
lakshya 39:670133e7ffd8 914 for(uint8_t i=11;i<132;i++)
lakshya 19:79e69017c855 915 {
lakshya 19:79e69017c855 916 telemetry[i]=0x00;
lakshya 19:79e69017c855 917 }
lakshya 19:79e69017c855 918 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 919 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 920 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 921 break;
lakshya 19:79e69017c855 922 }
lakshya 19:79e69017c855 923 case 0xE1:
lakshya 19:79e69017c855 924 {
lakshya 49:61c9f28332ba 925 gpc.printf("HARDWARE_COMSN\r\n");
lakshya 19:79e69017c855 926 //ACK_L234_telemetry
lakshya 39:670133e7ffd8 927 uint8_t SENSOR_NO;
lakshya 20:949d13045431 928
lakshya 20:949d13045431 929 int init1=0;
lakshya 20:949d13045431 930 int init2=0;
lakshya 20:949d13045431 931 int data1=0;
lakshya 20:949d13045431 932 int data2=0;
lakshya 39:670133e7ffd8 933
lakshya 39:670133e7ffd8 934 uint16_t assign_val;
lakshya 19:79e69017c855 935
lakshya 20:949d13045431 936 float PWM_tc[3];
Bragadeesh153 54:d6a45982ace1 937 PWM_tc[0]=(float(tc[4]))/256;
Bragadeesh153 54:d6a45982ace1 938 PWM_tc[1]=(float(tc[5]))/256;
Bragadeesh153 54:d6a45982ace1 939 PWM_tc[2]=(float(tc[6]))/256;
lakshya 20:949d13045431 940
lakshya 20:949d13045431 941 DRV_Z_EN = 1;
lakshya 20:949d13045431 942 DRV_XY_EN = 1;
lakshya 49:61c9f28332ba 943 telemetry[0]=0x78;
lakshya 19:79e69017c855 944 telemetry[1]=tc[0];
lakshya 19:79e69017c855 945 telemetry[2]=ACK_CODE;
lakshya 39:670133e7ffd8 946 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 947
lakshya 39:670133e7ffd8 948 SENSOR_NO = 0;
lakshya 19:79e69017c855 949
lakshya 20:949d13045431 950 PWM1 = 0;
lakshya 20:949d13045431 951 PWM2 = 0;
lakshya 20:949d13045431 952 PWM3 = 0;
lakshya 20:949d13045431 953
lakshya 20:949d13045431 954 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 955 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 956 wait_ms(5);
Bragadeesh153 52:daa685b0e390 957 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 958 wait_ms(5);
lakshya 20:949d13045431 959 //will it lead to causing delay in i2c interrupt
lakshya 20:949d13045431 960 init1 = SENSOR_INIT();
lakshya 20:949d13045431 961 if( init1 == 1)
lakshya 20:949d13045431 962 {
lakshya 20:949d13045431 963 data1 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 964 }
Bragadeesh153 52:daa685b0e390 965 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 966 wait_ms(5);
lakshya 20:949d13045431 967 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 968 wait_ms(5);
lakshya 20:949d13045431 969
lakshya 20:949d13045431 970 if(data1 == 0)
lakshya 20:949d13045431 971 {
lakshya 20:949d13045431 972 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 973 wait_ms(5);
lakshya 20:949d13045431 974 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
lakshya 20:949d13045431 975 }
lakshya 20:949d13045431 976 else if(data1==1)
lakshya 20:949d13045431 977 {
lakshya 20:949d13045431 978 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x10;
lakshya 20:949d13045431 979 }
lakshya 20:949d13045431 980 else if(data1==2)
lakshya 20:949d13045431 981 {
lakshya 20:949d13045431 982 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x20;
lakshya 20:949d13045431 983 }
lakshya 20:949d13045431 984 else if(data1==3)
lakshya 20:949d13045431 985 {
lakshya 20:949d13045431 986 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x30;
lakshya 20:949d13045431 987 }
lakshya 39:670133e7ffd8 988
lakshya 39:670133e7ffd8 989 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 990 telemetry[5] = (assign_val>>8);
lakshya 39:670133e7ffd8 991 telemetry[6] = assign_val;
lakshya 39:670133e7ffd8 992
lakshya 39:670133e7ffd8 993 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 994 telemetry[7] = (assign_val>>8);
lakshya 39:670133e7ffd8 995 telemetry[8] = assign_val;
lakshya 39:670133e7ffd8 996
lakshya 39:670133e7ffd8 997 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 998 telemetry[9] = (assign_val>>8);
lakshya 39:670133e7ffd8 999 telemetry[10] = assign_val;
lakshya 39:670133e7ffd8 1000
lakshya 39:670133e7ffd8 1001 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 1002 telemetry[11] = (assign_val>>8);
lakshya 39:670133e7ffd8 1003 telemetry[12] = assign_val;
lakshya 39:670133e7ffd8 1004
lakshya 39:670133e7ffd8 1005 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 1006 telemetry[13] = (assign_val>>8);
lakshya 39:670133e7ffd8 1007 telemetry[14] = assign_val;
lakshya 39:670133e7ffd8 1008
lakshya 39:670133e7ffd8 1009 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 1010 telemetry[15] = (assign_val>>8);
lakshya 39:670133e7ffd8 1011 telemetry[16] = assign_val;
lakshya 39:670133e7ffd8 1012
lakshya 20:949d13045431 1013 init2 = SENSOR_INIT();
lakshya 20:949d13045431 1014 if( init2 == 1)
lakshya 20:949d13045431 1015 {
lakshya 20:949d13045431 1016 data2 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1017 }
lakshya 39:670133e7ffd8 1018 //uint8_t ats_data=1;
lakshya 19:79e69017c855 1019
lakshya 20:949d13045431 1020 if(data2 == 0)
lakshya 20:949d13045431 1021 {
lakshya 20:949d13045431 1022 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1023 wait_ms(5);
lakshya 20:949d13045431 1024 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x0C;
lakshya 39:670133e7ffd8 1025 SENSOR_NO = 0;
lakshya 20:949d13045431 1026 if(data1 == 2)
lakshya 20:949d13045431 1027 {
Bragadeesh153 52:daa685b0e390 1028 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1029 wait_ms(5);
lakshya 20:949d13045431 1030 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1031 SENSOR_NO = 1;
lakshya 20:949d13045431 1032 }
lakshya 20:949d13045431 1033 else if(data1 == 3)
lakshya 20:949d13045431 1034 {
Bragadeesh153 52:daa685b0e390 1035 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1036 wait_ms(5);
lakshya 20:949d13045431 1037 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 39:670133e7ffd8 1038 SENSOR_NO = 1;
lakshya 20:949d13045431 1039 }
lakshya 20:949d13045431 1040 else if(data1 == 1)
lakshya 20:949d13045431 1041 {
Bragadeesh153 52:daa685b0e390 1042 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1043 wait_ms(5);
lakshya 20:949d13045431 1044 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1045 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1046
lakshya 20:949d13045431 1047 }
lakshya 20:949d13045431 1048
lakshya 20:949d13045431 1049 }
lakshya 20:949d13045431 1050 else if(data2==1)
lakshya 20:949d13045431 1051 {
lakshya 20:949d13045431 1052 if(data1 == 2)
lakshya 20:949d13045431 1053 {
lakshya 20:949d13045431 1054 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1055 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1056 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1057 wait_ms(5);
lakshya 20:949d13045431 1058 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1059 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
lakshya 39:670133e7ffd8 1060 SENSOR_NO = 1;
lakshya 20:949d13045431 1061 }
lakshya 20:949d13045431 1062 else if(data1 == 3)
lakshya 20:949d13045431 1063 {
lakshya 20:949d13045431 1064 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1065 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1066 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1067 wait_ms(5);
lakshya 20:949d13045431 1068 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1069 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1070 SENSOR_NO = 1;
lakshya 20:949d13045431 1071 }
lakshya 20:949d13045431 1072 else
lakshya 20:949d13045431 1073 {
lakshya 20:949d13045431 1074 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1075 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1076 //ats_data = 0;
lakshya 20:949d13045431 1077 }
lakshya 20:949d13045431 1078 }
lakshya 20:949d13045431 1079
lakshya 20:949d13045431 1080 else if(data2==2)
lakshya 20:949d13045431 1081 {
lakshya 20:949d13045431 1082 if(data1 == 3)
lakshya 20:949d13045431 1083 {
lakshya 20:949d13045431 1084 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1085 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1086 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1087 wait_ms(5);
lakshya 20:949d13045431 1088 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x02;
lakshya 20:949d13045431 1089 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1090 SENSOR_NO = 1;
lakshya 20:949d13045431 1091 }
lakshya 20:949d13045431 1092 else
lakshya 20:949d13045431 1093 {
lakshya 20:949d13045431 1094 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1095 SENSOR_NO = 2;
lakshya 20:949d13045431 1096 }
lakshya 20:949d13045431 1097 }
lakshya 20:949d13045431 1098 else if(data2==3)
lakshya 20:949d13045431 1099 {
lakshya 20:949d13045431 1100 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 39:670133e7ffd8 1101 SENSOR_NO = 2;
lakshya 20:949d13045431 1102 }
Bragadeesh153 54:d6a45982ace1 1103
Bragadeesh153 54:d6a45982ace1 1104 SENSOR_NO = 1;
lakshya 39:670133e7ffd8 1105 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1106 telemetry[17] = (assign_val>>8);
lakshya 39:670133e7ffd8 1107 telemetry[18] = assign_val;
lakshya 39:670133e7ffd8 1108
lakshya 39:670133e7ffd8 1109 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1110 telemetry[19] = (assign_val>>8);
lakshya 39:670133e7ffd8 1111 telemetry[20] = assign_val;
lakshya 39:670133e7ffd8 1112
lakshya 39:670133e7ffd8 1113 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1114 telemetry[21] = (assign_val>>8);
lakshya 39:670133e7ffd8 1115 telemetry[22] = assign_val;
lakshya 39:670133e7ffd8 1116
lakshya 39:670133e7ffd8 1117 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 1118 telemetry[23] = (assign_val>>8);
lakshya 39:670133e7ffd8 1119 telemetry[24] = assign_val;
lakshya 39:670133e7ffd8 1120
lakshya 39:670133e7ffd8 1121 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 1122 telemetry[25] = (assign_val>>8);
lakshya 39:670133e7ffd8 1123 telemetry[26] = assign_val;
lakshya 39:670133e7ffd8 1124
lakshya 39:670133e7ffd8 1125 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 1126 telemetry[27] = (assign_val>>8);
lakshya 39:670133e7ffd8 1127 telemetry[28] = assign_val;
lakshya 39:670133e7ffd8 1128
lakshya 39:670133e7ffd8 1129 telemetry[4] = ACS_ATS_STATUS;
lakshya 39:670133e7ffd8 1130
lakshya 19:79e69017c855 1131
lakshya 20:949d13045431 1132 SelectLineb3 =0;
lakshya 20:949d13045431 1133 SelectLineb2 =1;
lakshya 20:949d13045431 1134 SelectLineb1 =0;
lakshya 20:949d13045431 1135 SelectLineb0 =1;
lakshya 20:949d13045431 1136 int resistance;
lakshya 20:949d13045431 1137 PWM1 = PWM_tc[0];
lakshya 20:949d13045431 1138 PWM2 = 0;
lakshya 20:949d13045431 1139 PWM3 = 0;
lakshya 20:949d13045431 1140
lakshya 20:949d13045431 1141 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 39:670133e7ffd8 1142 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1143 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1144 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1145 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1146
lakshya 20:949d13045431 1147 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1148 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1149 {
lakshya 20:949d13045431 1150 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1151 }
lakshya 20:949d13045431 1152 else
lakshya 20:949d13045431 1153 {
lakshya 20:949d13045431 1154 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1155 }
lakshya 20:949d13045431 1156
lakshya 20:949d13045431 1157 //to be edited final tele
lakshya 39:670133e7ffd8 1158 //uint16_t assign_val;
lakshya 20:949d13045431 1159 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 20:949d13045431 1160 telemetry[29] = (assign_val>>8);
lakshya 20:949d13045431 1161 telemetry[30] = assign_val;
lakshya 20:949d13045431 1162
lakshya 20:949d13045431 1163 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 20:949d13045431 1164 telemetry[31] = (assign_val>>8);
lakshya 20:949d13045431 1165 telemetry[32] = assign_val;
lakshya 20:949d13045431 1166
lakshya 20:949d13045431 1167 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 20:949d13045431 1168 telemetry[33] = (assign_val>>8);
lakshya 20:949d13045431 1169 telemetry[34] = assign_val;
lakshya 20:949d13045431 1170
lakshya 20:949d13045431 1171 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 20:949d13045431 1172 telemetry[35] = (assign_val>>8);
lakshya 20:949d13045431 1173 telemetry[36] = assign_val;
lakshya 20:949d13045431 1174
lakshya 20:949d13045431 1175 PWM1 = 0;
lakshya 20:949d13045431 1176 PWM2 = PWM_tc[1];
lakshya 20:949d13045431 1177 PWM3 = 0;
lakshya 20:949d13045431 1178
lakshya 20:949d13045431 1179 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1180
lakshya 39:670133e7ffd8 1181 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1182 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1183 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1184 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1185
lakshya 20:949d13045431 1186
lakshya 20:949d13045431 1187 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1188 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1189 {
lakshya 20:949d13045431 1190 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1191 }
lakshya 20:949d13045431 1192 else
lakshya 20:949d13045431 1193 {
lakshya 20:949d13045431 1194 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1195 }
lakshya 39:670133e7ffd8 1196
lakshya 39:670133e7ffd8 1197 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1198 telemetry[37] = (assign_val>>8);
lakshya 39:670133e7ffd8 1199 telemetry[38] = assign_val;
lakshya 39:670133e7ffd8 1200
lakshya 39:670133e7ffd8 1201 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1202 telemetry[39] = (assign_val>>8);
lakshya 39:670133e7ffd8 1203 telemetry[40] = assign_val;
lakshya 39:670133e7ffd8 1204
lakshya 39:670133e7ffd8 1205 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1206 telemetry[41] = (assign_val>>8);
lakshya 39:670133e7ffd8 1207 telemetry[42] = assign_val;
lakshya 39:670133e7ffd8 1208
lakshya 39:670133e7ffd8 1209 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1210 telemetry[43] = (assign_val>>8);
lakshya 39:670133e7ffd8 1211 telemetry[44] = assign_val;
lakshya 20:949d13045431 1212
lakshya 20:949d13045431 1213 PWM1 = 0;
lakshya 20:949d13045431 1214 PWM2 = 0;
lakshya 20:949d13045431 1215 PWM3 = PWM_tc[2];
lakshya 20:949d13045431 1216
lakshya 20:949d13045431 1217 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1218
lakshya 39:670133e7ffd8 1219 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1220 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1221 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1222 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1223
lakshya 20:949d13045431 1224 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1225 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1226 {
lakshya 20:949d13045431 1227 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1228 }
lakshya 20:949d13045431 1229 else
lakshya 20:949d13045431 1230 {
lakshya 20:949d13045431 1231 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1232 }
lakshya 39:670133e7ffd8 1233 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1234 telemetry[45] = (assign_val>>8);
lakshya 39:670133e7ffd8 1235 telemetry[46] = assign_val;
lakshya 39:670133e7ffd8 1236
lakshya 39:670133e7ffd8 1237 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1238 telemetry[47] = (assign_val>>8);
lakshya 39:670133e7ffd8 1239 telemetry[48] = assign_val;
lakshya 20:949d13045431 1240
lakshya 39:670133e7ffd8 1241 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1242 telemetry[49] = (assign_val>>8);
lakshya 39:670133e7ffd8 1243 telemetry[50] = assign_val;
lakshya 39:670133e7ffd8 1244
lakshya 39:670133e7ffd8 1245 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1246 telemetry[51] = (assign_val>>8);
lakshya 39:670133e7ffd8 1247 telemetry[52] = assign_val;
lakshya 39:670133e7ffd8 1248
lakshya 20:949d13045431 1249 PWM1 = 0;
lakshya 20:949d13045431 1250 PWM2 = 0;
lakshya 20:949d13045431 1251 PWM3 = 0;
lakshya 20:949d13045431 1252
lakshya 20:949d13045431 1253 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1254
lakshya 39:670133e7ffd8 1255 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1256 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1257 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1258 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1259
lakshya 20:949d13045431 1260 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1261 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1262 {
lakshya 20:949d13045431 1263 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1264 }
lakshya 20:949d13045431 1265 else
lakshya 20:949d13045431 1266 {
lakshya 20:949d13045431 1267 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1268 }
lakshya 39:670133e7ffd8 1269
lakshya 39:670133e7ffd8 1270 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1271 telemetry[53] = (assign_val>>8);
lakshya 39:670133e7ffd8 1272 telemetry[54] = assign_val;
lakshya 39:670133e7ffd8 1273
lakshya 39:670133e7ffd8 1274 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1275 telemetry[55] = (assign_val>>8);
lakshya 39:670133e7ffd8 1276 telemetry[56] = assign_val;
lakshya 39:670133e7ffd8 1277
lakshya 39:670133e7ffd8 1278 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1279 telemetry[57] = (assign_val>>8);
lakshya 39:670133e7ffd8 1280 telemetry[58] = assign_val;
lakshya 20:949d13045431 1281
lakshya 20:949d13045431 1282 // for(int i=0; i<12; i++)
lakshya 20:949d13045431 1283 // FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&telemetry[16 + (i*4)]);
lakshya 20:949d13045431 1284
lakshya 20:949d13045431 1285 // FCTN_ATS_DATA_ACQ(); //get data
lakshya 19:79e69017c855 1286
lakshya 20:949d13045431 1287 // to include commission TR as well
lakshya 39:670133e7ffd8 1288
lakshya 49:61c9f28332ba 1289 telemetry[59] = SENSOR_NO;
lakshya 39:670133e7ffd8 1290
lakshya 39:670133e7ffd8 1291 for(uint8_t i=60;i<132;i++)
lakshya 19:79e69017c855 1292 {
lakshya 20:949d13045431 1293 telemetry[i]=0x00;
lakshya 19:79e69017c855 1294 }
lakshya 19:79e69017c855 1295
lakshya 19:79e69017c855 1296 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 1297 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 1298 telemetry[133] = (uint8_t)(crc16&0x00FF);
Bragadeesh153 56:32b1fb074138 1299
Bragadeesh153 56:32b1fb074138 1300 if(data1 == 0)
Bragadeesh153 56:32b1fb074138 1301 {
Bragadeesh153 56:32b1fb074138 1302 ATS1_SW_ENABLE = 0;
Bragadeesh153 56:32b1fb074138 1303 //wait_ms(5);
Bragadeesh153 56:32b1fb074138 1304 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
Bragadeesh153 56:32b1fb074138 1305 }
Bragadeesh153 56:32b1fb074138 1306 else if(data1==1)
Bragadeesh153 56:32b1fb074138 1307 {
Bragadeesh153 56:32b1fb074138 1308 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1309 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x40;
Bragadeesh153 56:32b1fb074138 1310 }
Bragadeesh153 56:32b1fb074138 1311 else if(data1==2)
Bragadeesh153 56:32b1fb074138 1312 {
Bragadeesh153 56:32b1fb074138 1313 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1314 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
Bragadeesh153 56:32b1fb074138 1315 }
Bragadeesh153 56:32b1fb074138 1316 else if(data1==3)
Bragadeesh153 56:32b1fb074138 1317 {
Bragadeesh153 56:32b1fb074138 1318 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1319 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
Bragadeesh153 56:32b1fb074138 1320 }
Bragadeesh153 56:32b1fb074138 1321 printf("Exited HW\r\n");
lakshya 19:79e69017c855 1322 break;
lakshya 19:79e69017c855 1323 }
lakshya 19:79e69017c855 1324 case 0xE2:
lakshya 19:79e69017c855 1325 {
lakshya 66:a5d2b8dc6b9e 1326 gpc.printf("\n\renterd E2 case");
lakshya 20:949d13045431 1327 uint8_t BCN_SPND_STATE;
lakshya 20:949d13045431 1328 BCN_SPND_STATE=tc[4];
lakshya 20:949d13045431 1329 if(BCN_SPND_STATE==0x00)
lakshya 19:79e69017c855 1330 {
lakshya 20:949d13045431 1331 BCN_SPND_TX=0;
lakshya 19:79e69017c855 1332 //stop BCN_STANDBY_TIMER.stop();//create
lakshya 19:79e69017c855 1333 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1334 }
lakshya 20:949d13045431 1335 else if(BCN_SPND_STATE==0x01)
lakshya 19:79e69017c855 1336 {
lakshya 33:76f2b8735501 1337 FCTN_BCN_SPND_TX();
lakshya 66:a5d2b8dc6b9e 1338 //BCN_SW =1;
lakshya 19:79e69017c855 1339 //stop BCN_STANDBY_TIMER.start();//create
lakshya 19:79e69017c855 1340 if(BCN_TX_MAIN_STATUS==0)
lakshya 19:79e69017c855 1341 {
lakshya 19:79e69017c855 1342 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1343 }
lakshya 19:79e69017c855 1344 else if(BCN_TX_MAIN_STATUS==1)
lakshya 19:79e69017c855 1345 {
lakshya 19:79e69017c855 1346 telemetry[2]=0xC0;
lakshya 19:79e69017c855 1347 }
lakshya 19:79e69017c855 1348 }
lakshya 19:79e69017c855 1349 else
lakshya 19:79e69017c855 1350 {
lakshya 19:79e69017c855 1351 telemetry[2]=0x02;
lakshya 19:79e69017c855 1352 }
lakshya 19:79e69017c855 1353 //ACK_L234_telemetry
lakshya 19:79e69017c855 1354 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1355 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1356 //ack_code taken care above
lakshya 19:79e69017c855 1357 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1358 {
lakshya 19:79e69017c855 1359 telemetry[i]=0x00;
lakshya 19:79e69017c855 1360 }
lakshya 19:79e69017c855 1361 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1362 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1363 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1364 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1365 {
lakshya 19:79e69017c855 1366 telemetry[i]=0x00;
lakshya 19:79e69017c855 1367 }
lakshya 19:79e69017c855 1368 break;
lakshya 19:79e69017c855 1369 }
lakshya 20:949d13045431 1370 case 0xE3:
lakshya 20:949d13045431 1371 {
lakshya 20:949d13045431 1372 if(EPS_BTRY_HTR_AUTO != 0)
lakshya 20:949d13045431 1373 telemetry[2]=0x87;
lakshya 20:949d13045431 1374 else
lakshya 20:949d13045431 1375 {
lakshya 20:949d13045431 1376 HTR_CYCLE_COUNTS = tc[4];
lakshya 20:949d13045431 1377 if(HTR_CYCLE_COUNTS==0x00)
lakshya 20:949d13045431 1378 {
lakshya 33:76f2b8735501 1379 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 1380 HTR_CYCLE->stop();
lakshya 20:949d13045431 1381 //clear EPS_BTRY_HTR is it
lakshya 20:949d13045431 1382 EPS_BTRY_HTR_AUTO = 0;
lakshya 20:949d13045431 1383
lakshya 20:949d13045431 1384 }
lakshya 20:949d13045431 1385 else
lakshya 20:949d13045431 1386 {
lakshya 20:949d13045431 1387 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 1388 {
lakshya 20:949d13045431 1389 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 1390 }
lakshya 20:949d13045431 1391 //uint8_t HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1392 HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1393 HTR_ON_DURATION = tc[6];
lakshya 20:949d13045431 1394
lakshya 20:949d13045431 1395 //make it uint16_t
lakshya 20:949d13045431 1396 HTR_CYCLE_PERIOD = (tc[7]<<8) | tc[8];
lakshya 20:949d13045431 1397 //start BTRY_HTR_DLY_TIMER;
lakshya 20:949d13045431 1398 }
lakshya 20:949d13045431 1399 telemetry[2]=0xA0;
lakshya 20:949d13045431 1400 }
lakshya 20:949d13045431 1401 //ACK_L234_telemetry
lakshya 20:949d13045431 1402 telemetry[0]=0xB0;
lakshya 20:949d13045431 1403 telemetry[1]=tc[0];
lakshya 20:949d13045431 1404 //ACK code taken care of
lakshya 20:949d13045431 1405 for(uint8_t i=3;i<11;i++)
lakshya 20:949d13045431 1406 {
lakshya 20:949d13045431 1407 telemetry[i]=0x00;
lakshya 20:949d13045431 1408 }
lakshya 20:949d13045431 1409 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 20:949d13045431 1410 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 20:949d13045431 1411 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 20:949d13045431 1412 for(uint8_t i=13;i<134;i++)
lakshya 20:949d13045431 1413 {
lakshya 20:949d13045431 1414 telemetry[i]=0x00;
lakshya 20:949d13045431 1415 }
lakshya 20:949d13045431 1416
lakshya 20:949d13045431 1417 break;
lakshya 20:949d13045431 1418 }
lakshya 19:79e69017c855 1419 case 0x01:
lakshya 19:79e69017c855 1420 { if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1421 {
lakshya 49:61c9f28332ba 1422 gpc.printf("\n\rRun P_EPS_INIT");
lakshya 19:79e69017c855 1423 FCTN_EPS_INIT();
lakshya 19:79e69017c855 1424 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1425 }
lakshya 19:79e69017c855 1426 else
lakshya 19:79e69017c855 1427 {
lakshya 49:61c9f28332ba 1428 gpc.printf("\n\runable to Run P_EPS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1429 telemetry[2]=0x87;
lakshya 19:79e69017c855 1430 }
lakshya 19:79e69017c855 1431
lakshya 19:79e69017c855 1432 //ACK_L234_telemetry
lakshya 19:79e69017c855 1433 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1434 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1435 //ACK code taken care of
lakshya 19:79e69017c855 1436 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1437 {
lakshya 19:79e69017c855 1438 telemetry[i]=0x00;
lakshya 19:79e69017c855 1439 }
lakshya 19:79e69017c855 1440 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1441 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1442 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1443 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1444 {
lakshya 19:79e69017c855 1445 telemetry[i]=0x00;
lakshya 19:79e69017c855 1446 }
lakshya 19:79e69017c855 1447
lakshya 19:79e69017c855 1448 break;
lakshya 19:79e69017c855 1449 }
lakshya 19:79e69017c855 1450 case 0x02:
lakshya 19:79e69017c855 1451 {
lakshya 19:79e69017c855 1452 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1453 {
lakshya 49:61c9f28332ba 1454 gpc.printf("\n\rRun P_EPS_MAIN");
lakshya 19:79e69017c855 1455 F_EPS();
lakshya 19:79e69017c855 1456 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1457 }
lakshya 19:79e69017c855 1458 else
lakshya 19:79e69017c855 1459 {
lakshya 49:61c9f28332ba 1460 gpc.printf("\n\runable to Run P_EPS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1461 telemetry[2]=0x87;
lakshya 19:79e69017c855 1462 }
lakshya 19:79e69017c855 1463
lakshya 19:79e69017c855 1464 //ACK_L234_telemetry
lakshya 19:79e69017c855 1465 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1466 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1467 //ACK code taken care of
lakshya 19:79e69017c855 1468 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1469 {
lakshya 19:79e69017c855 1470 telemetry[i]=0x00;
lakshya 19:79e69017c855 1471 }
lakshya 19:79e69017c855 1472 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1473 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1474 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1475 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1476 {
lakshya 19:79e69017c855 1477 telemetry[i]=0x00;
lakshya 19:79e69017c855 1478 }
lakshya 19:79e69017c855 1479 break;
lakshya 19:79e69017c855 1480 }
lakshya 19:79e69017c855 1481 case 0x03:
lakshya 19:79e69017c855 1482 {
lakshya 19:79e69017c855 1483 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1484 {
lakshya 49:61c9f28332ba 1485 gpc.printf("\n\rRun P_ACS_INIT");
lakshya 19:79e69017c855 1486 FCTN_ACS_INIT();
lakshya 19:79e69017c855 1487 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1488 }
lakshya 19:79e69017c855 1489 else
lakshya 19:79e69017c855 1490 {
lakshya 49:61c9f28332ba 1491 gpc.printf("\n\runable to Run P_ACS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1492 telemetry[2]=0x87;
lakshya 19:79e69017c855 1493 }
lakshya 19:79e69017c855 1494
lakshya 19:79e69017c855 1495 //ACK_L234_telemetry
lakshya 19:79e69017c855 1496 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1497 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1498 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1499 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1500 {
lakshya 19:79e69017c855 1501 telemetry[i]=0x00;
lakshya 19:79e69017c855 1502 }
lakshya 19:79e69017c855 1503 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1504 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1505 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1506 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1507 {
lakshya 19:79e69017c855 1508 telemetry[i]=0x00;
lakshya 19:79e69017c855 1509 }
lakshya 19:79e69017c855 1510 break;
lakshya 19:79e69017c855 1511 }
lakshya 19:79e69017c855 1512 case 0x05:
lakshya 19:79e69017c855 1513 {
lakshya 19:79e69017c855 1514 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1515 {
lakshya 49:61c9f28332ba 1516 gpc.printf("\n\rRun P_ACS_MAIN");
lakshya 19:79e69017c855 1517 F_ACS();
lakshya 19:79e69017c855 1518 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1519 }
lakshya 19:79e69017c855 1520 else
lakshya 19:79e69017c855 1521 {
lakshya 49:61c9f28332ba 1522 gpc.printf("\n\runable to Run P_ACS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1523 telemetry[2]=0x87;
lakshya 19:79e69017c855 1524 }
lakshya 19:79e69017c855 1525
lakshya 19:79e69017c855 1526 //ACK_L234_TM
lakshya 19:79e69017c855 1527 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1528 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1529 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1530 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1531 {
lakshya 19:79e69017c855 1532 telemetry[i]=0x00;
lakshya 19:79e69017c855 1533 }
lakshya 19:79e69017c855 1534
lakshya 19:79e69017c855 1535 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1536 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1537 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1538 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1539 {
lakshya 19:79e69017c855 1540 telemetry[i]=0x00;
lakshya 19:79e69017c855 1541 }
lakshya 19:79e69017c855 1542 break;
lakshya 19:79e69017c855 1543 }
lakshya 19:79e69017c855 1544 case 0x06:
lakshya 19:79e69017c855 1545 {
lakshya 19:79e69017c855 1546 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1547 {
lakshya 49:61c9f28332ba 1548 gpc.printf("\n\rRun P_BCN_INIT");
lakshya 19:79e69017c855 1549 F_BCN();
lakshya 19:79e69017c855 1550 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1551 }
lakshya 19:79e69017c855 1552 else
lakshya 19:79e69017c855 1553 {
lakshya 49:61c9f28332ba 1554 gpc.printf("\n\runable to Run P_BCN_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1555 telemetry[2]=0x87;
lakshya 19:79e69017c855 1556 }
lakshya 19:79e69017c855 1557
lakshya 19:79e69017c855 1558 //ACK_L234_TM
lakshya 19:79e69017c855 1559 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1560 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1561 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1562 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1563 {
lakshya 19:79e69017c855 1564 telemetry[i]=0x00;
lakshya 19:79e69017c855 1565 }
lakshya 19:79e69017c855 1566 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1567 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1568 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1569 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1570 {
lakshya 19:79e69017c855 1571 telemetry[i]=0x00;
lakshya 19:79e69017c855 1572 }
lakshya 19:79e69017c855 1573 break;
lakshya 19:79e69017c855 1574 }
lakshya 19:79e69017c855 1575 case 0x07:
lakshya 19:79e69017c855 1576 {
lakshya 19:79e69017c855 1577 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1578 {
lakshya 49:61c9f28332ba 1579 gpc.printf("\n\rRun P_BCN_TX_MAIN");
lakshya 19:79e69017c855 1580 FCTN_BCN_TX_MAIN();//correct function check once
lakshya 19:79e69017c855 1581 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1582 }
lakshya 19:79e69017c855 1583 else
lakshya 19:79e69017c855 1584 {
lakshya 49:61c9f28332ba 1585 gpc.printf("\n\runable to Run P_BCN_TX_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1586 telemetry[2]=0x87;
lakshya 19:79e69017c855 1587 }
lakshya 19:79e69017c855 1588
lakshya 19:79e69017c855 1589 //ACK_L234_TM
lakshya 19:79e69017c855 1590 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1591 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1592 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1593 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1594 {
lakshya 19:79e69017c855 1595 telemetry[i]=0x00;
lakshya 19:79e69017c855 1596 }
lakshya 19:79e69017c855 1597 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1598 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1599 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1600 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1601 {
lakshya 19:79e69017c855 1602 telemetry[i]=0x00;
lakshya 19:79e69017c855 1603 }
lakshya 19:79e69017c855 1604 break;
lakshya 19:79e69017c855 1605 }
lakshya 19:79e69017c855 1606 case 0x11:
lakshya 19:79e69017c855 1607 {
lakshya 49:61c9f28332ba 1608 gpc.printf("\n\rSW_ON_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1609 //ACK_L234_TM
lakshya 19:79e69017c855 1610 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1611 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1612 //____________________________________________************************************
lakshya 19:79e69017c855 1613 /*
lakshya 19:79e69017c855 1614 ATS PIN OR STATUS YET TO BE DECIDED. DECIDED THAT IT IS PIN TC CAN SWITCH ON/OFF THE SENSOR
lakshya 19:79e69017c855 1615 */
lakshya 19:79e69017c855 1616 ATS2_SW_ENABLE = 1; // making sure we switch off the other
lakshya 39:670133e7ffd8 1617 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 39:670133e7ffd8 1618 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0) | 0x0C ;
Bragadeesh153 52:daa685b0e390 1619 ATS1_SW_ENABLE = 1;
lakshya 39:670133e7ffd8 1620 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F);
lakshya 39:670133e7ffd8 1621 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F)|0x40;
lakshya 19:79e69017c855 1622 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1623 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1624 {
lakshya 19:79e69017c855 1625 telemetry[i]=0x00;
lakshya 19:79e69017c855 1626 }
lakshya 19:79e69017c855 1627 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1628 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1629 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1630 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1631 {
lakshya 19:79e69017c855 1632 telemetry[i]=0x00;
lakshya 19:79e69017c855 1633 }
lakshya 19:79e69017c855 1634 break;
lakshya 19:79e69017c855 1635 }
lakshya 19:79e69017c855 1636 case 0x12:
lakshya 19:79e69017c855 1637 {
lakshya 49:61c9f28332ba 1638 gpc.printf("\n\rSW_ON_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1639 //ACK_L234_TM
lakshya 19:79e69017c855 1640 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1641 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1642 ATS1_SW_ENABLE = 0; //make sure u switch off the other
lakshya 39:670133e7ffd8 1643 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F) | 0xC0 ;
lakshya 19:79e69017c855 1644 ATS2_SW_ENABLE = 0;
lakshya 39:670133e7ffd8 1645 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0)|0x04;
lakshya 19:79e69017c855 1646 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1647 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1648 {
lakshya 19:79e69017c855 1649 telemetry[i]=0x00;
lakshya 19:79e69017c855 1650 }
lakshya 19:79e69017c855 1651 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1652 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1653 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1654 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1655 {
lakshya 19:79e69017c855 1656 telemetry[i]=0x00;
lakshya 19:79e69017c855 1657 }
lakshya 19:79e69017c855 1658 break;
lakshya 19:79e69017c855 1659 }
lakshya 19:79e69017c855 1660 case 0x13:
lakshya 19:79e69017c855 1661 {
lakshya 49:61c9f28332ba 1662 gpc.printf("\n\rSW_ON_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1663 //ACK_L234_TM
lakshya 19:79e69017c855 1664 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1665 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1666 DRV_XY_EN = 1;//1 SWITCH enable here
Bragadeesh153 52:daa685b0e390 1667 ACS_TR_XY_ENABLE = 1;
lakshya 19:79e69017c855 1668 ACS_TR_XY_SW_STATUS=0x01;
lakshya 19:79e69017c855 1669 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1670 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1671 {
lakshya 19:79e69017c855 1672 telemetry[i]=0x00;
lakshya 19:79e69017c855 1673 }
lakshya 19:79e69017c855 1674 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1675 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1676 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1677 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1678 {
lakshya 19:79e69017c855 1679 telemetry[i]=0x00;
lakshya 19:79e69017c855 1680 }
lakshya 19:79e69017c855 1681 break;
lakshya 19:79e69017c855 1682 }
lakshya 19:79e69017c855 1683 case 0x14:
lakshya 19:79e69017c855 1684 {
lakshya 49:61c9f28332ba 1685 gpc.printf("\n\rSW_ON_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1686 //ACK_L234_TM
lakshya 19:79e69017c855 1687 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1688 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1689 DRV_Z_EN = 1;
Bragadeesh153 52:daa685b0e390 1690 ACS_TR_Z_ENABLE = 1;
lakshya 19:79e69017c855 1691 ACS_TR_Z_SW_STATUS=0x01;
lakshya 19:79e69017c855 1692 telemetry[2]=ACK_CODE;
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 0x15:
lakshya 19:79e69017c855 1707 {
lakshya 49:61c9f28332ba 1708 gpc.printf("\n\rSW_ON_BCN_TX_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 BCN_SW = 0;//here 0 is switch enable
lakshya 19:79e69017c855 1713 BCN_TX_SW_ENABLE=0x01;
lakshya 19:79e69017c855 1714 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1715 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1716 {
lakshya 19:79e69017c855 1717 telemetry[i]=0x00;
lakshya 19:79e69017c855 1718 }
lakshya 19:79e69017c855 1719 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1720 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1721 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1722 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1723 {
lakshya 19:79e69017c855 1724 telemetry[i]=0x00;
lakshya 19:79e69017c855 1725 }
lakshya 19:79e69017c855 1726 break;
lakshya 19:79e69017c855 1727 }
lakshya 19:79e69017c855 1728 case 0x21:
lakshya 19:79e69017c855 1729 {
lakshya 49:61c9f28332ba 1730 gpc.printf("\n\rSW_OFF_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1731 //ACK_L234_TM
lakshya 19:79e69017c855 1732 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1733 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1734 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1735 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F) | 0xC0 ;
lakshya 19:79e69017c855 1736 telemetry[2]=ACK_CODE;
lakshya 49:61c9f28332ba 1737
lakshya 49:61c9f28332ba 1738 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1739 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 49:61c9f28332ba 1740 FLASH_DATA = (FLASH_DATA | 0xC0000000);
lakshya 49:61c9f28332ba 1741 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1742
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 0x22:
lakshya 19:79e69017c855 1757 {
lakshya 49:61c9f28332ba 1758 gpc.printf("\n\rSW_OFF_ACS_ATS2_SW_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 ATS2_SW_ENABLE = 1;
lakshya 49:61c9f28332ba 1763
lakshya 49:61c9f28332ba 1764 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1765 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 49:61c9f28332ba 1766 FLASH_DATA = (FLASH_DATA | 0x0C000000);
lakshya 49:61c9f28332ba 1767 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1768
lakshya 20:949d13045431 1769 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 19:79e69017c855 1770 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1771 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1772 {
lakshya 19:79e69017c855 1773 telemetry[i]=0x00;
lakshya 19:79e69017c855 1774 }
lakshya 19:79e69017c855 1775 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1776 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1777 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1778 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1779 {
lakshya 19:79e69017c855 1780 telemetry[i]=0x00;
lakshya 19:79e69017c855 1781 }
lakshya 19:79e69017c855 1782 break;
lakshya 19:79e69017c855 1783 }
lakshya 19:79e69017c855 1784 case 0x23:
lakshya 19:79e69017c855 1785 {
lakshya 49:61c9f28332ba 1786 gpc.printf("\n\rSW_OFF_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1787 //ACK_L234_TM
lakshya 19:79e69017c855 1788 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1789 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1790 ACS_TR_XY_ENABLE = 0;
lakshya 19:79e69017c855 1791 ACS_TR_XY_SW_STATUS=0x03;
lakshya 19:79e69017c855 1792 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1793 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1794 {
lakshya 19:79e69017c855 1795 telemetry[i]=0x00;
lakshya 19:79e69017c855 1796 }
lakshya 19:79e69017c855 1797 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1798 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1799 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1800 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1801 {
lakshya 19:79e69017c855 1802 telemetry[i]=0x00;
lakshya 19:79e69017c855 1803 }
lakshya 19:79e69017c855 1804 break;
lakshya 19:79e69017c855 1805 }
lakshya 19:79e69017c855 1806 case 0x24:
lakshya 19:79e69017c855 1807 {
lakshya 49:61c9f28332ba 1808 gpc.printf("\n\rSW_OFF_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1809 //ACK_L234_TM
lakshya 19:79e69017c855 1810 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1811 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1812 ACS_TR_Z_ENABLE = 0;
lakshya 19:79e69017c855 1813 ACS_TR_Z_SW_STATUS=0x03;
lakshya 19:79e69017c855 1814 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1815 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1816 {
lakshya 19:79e69017c855 1817 telemetry[i]=0x00;
lakshya 19:79e69017c855 1818 }
lakshya 19:79e69017c855 1819 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1820 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1821 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1822 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1823 {
lakshya 19:79e69017c855 1824 telemetry[i]=0x00;
lakshya 19:79e69017c855 1825 }
lakshya 19:79e69017c855 1826 break;
lakshya 19:79e69017c855 1827 }
lakshya 19:79e69017c855 1828 case 0x25:
lakshya 19:79e69017c855 1829 {
lakshya 49:61c9f28332ba 1830 gpc.printf("\n\rSW_OFF_BCN_TX_SW_ENABLE");
lakshya 66:a5d2b8dc6b9e 1831 gpc.printf("\n\r bcn switched off");
lakshya 19:79e69017c855 1832 //ACK_L234_TM
lakshya 19:79e69017c855 1833 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1834 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1835 BCN_SW = 1;
lakshya 19:79e69017c855 1836 BCN_TX_SW_ENABLE=0x03;
lakshya 19:79e69017c855 1837 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1838 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1839 {
lakshya 19:79e69017c855 1840 telemetry[i]=0x00;
lakshya 19:79e69017c855 1841 }
lakshya 19:79e69017c855 1842 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1843 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1844 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1845 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1846 {
lakshya 19:79e69017c855 1847 telemetry[i]=0x00;
lakshya 19:79e69017c855 1848 }
lakshya 19:79e69017c855 1849 break;
lakshya 19:79e69017c855 1850 }
lakshya 19:79e69017c855 1851 case 0x31:
lakshya 19:79e69017c855 1852 {
lakshya 49:61c9f28332ba 1853 gpc.printf("\n\rACS_ATS1_SW_RESET");
lakshya 19:79e69017c855 1854 //ACK_L234_TM
lakshya 19:79e69017c855 1855 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1856 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1857 ATS2_SW_ENABLE = 1;//as ats switched off
Bragadeesh153 52:daa685b0e390 1858 ATS1_SW_ENABLE = 0;
lakshya 19:79e69017c855 1859 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1860 ATS1_SW_ENABLE = 1;
lakshya 19:79e69017c855 1861 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1862 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1863 {
lakshya 19:79e69017c855 1864 telemetry[i]=0x00;
lakshya 19:79e69017c855 1865 }
lakshya 19:79e69017c855 1866 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1867 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1868 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1869 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1870 {
lakshya 19:79e69017c855 1871 telemetry[i]=0x00;
lakshya 19:79e69017c855 1872 }
lakshya 19:79e69017c855 1873 break;
lakshya 19:79e69017c855 1874 }
lakshya 19:79e69017c855 1875 case 0x32:
lakshya 19:79e69017c855 1876 {
lakshya 49:61c9f28332ba 1877 gpc.printf("\n\rACS_ATS2_SW_RESET");
lakshya 19:79e69017c855 1878 //ACK_L234_TM
lakshya 19:79e69017c855 1879 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1880 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1881 ATS1_SW_ENABLE = 0;//as ats1 switched off
lakshya 19:79e69017c855 1882 ATS2_SW_ENABLE = 1;
lakshya 19:79e69017c855 1883 wait_ms(5);
lakshya 19:79e69017c855 1884 ATS2_SW_ENABLE = 0;
lakshya 19:79e69017c855 1885 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1886 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1887 {
lakshya 19:79e69017c855 1888 telemetry[i]=0x00;
lakshya 19:79e69017c855 1889 }
lakshya 19:79e69017c855 1890 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1891 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1892 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1893 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1894 {
lakshya 19:79e69017c855 1895 telemetry[i]=0x00;
lakshya 19:79e69017c855 1896 }
lakshya 19:79e69017c855 1897 break;
lakshya 19:79e69017c855 1898 }
lakshya 19:79e69017c855 1899 case 0x33:
lakshya 19:79e69017c855 1900 {
lakshya 49:61c9f28332ba 1901 gpc.printf("\n\rACS_TR_XY_SW_RESET");
lakshya 19:79e69017c855 1902 //ACK_L234_TM
lakshya 19:79e69017c855 1903 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1904 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1905 ACS_TR_XY_ENABLE= 0;
lakshya 19:79e69017c855 1906 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1907 ACS_TR_XY_ENABLE= 1;
lakshya 19:79e69017c855 1908 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1909 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1910 {
lakshya 19:79e69017c855 1911 telemetry[i]=0x00;
lakshya 19:79e69017c855 1912 }
lakshya 19:79e69017c855 1913 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1914 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1915 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1916 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1917 {
lakshya 19:79e69017c855 1918 telemetry[i]=0x00;
lakshya 19:79e69017c855 1919 }
lakshya 19:79e69017c855 1920 break;
lakshya 19:79e69017c855 1921 }
lakshya 19:79e69017c855 1922 case 0x34:
lakshya 19:79e69017c855 1923 {
lakshya 49:61c9f28332ba 1924 gpc.printf("\n\rACS_TR_Z_SW_RESET");
lakshya 19:79e69017c855 1925 //ACK_L234_TM
lakshya 19:79e69017c855 1926 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1927 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1928 ACS_TR_Z_ENABLE= 0;
lakshya 19:79e69017c855 1929 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1930 ACS_TR_Z_ENABLE= 1;
lakshya 19:79e69017c855 1931 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1932 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1933 {
lakshya 19:79e69017c855 1934 telemetry[i]=0x00;
lakshya 19:79e69017c855 1935 }
lakshya 19:79e69017c855 1936 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1937 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1938 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1939 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1940 {
lakshya 19:79e69017c855 1941 telemetry[i]=0x00;
lakshya 19:79e69017c855 1942 }
lakshya 19:79e69017c855 1943 break;
lakshya 19:79e69017c855 1944 }
lakshya 19:79e69017c855 1945 case 0x35:
lakshya 19:79e69017c855 1946 {
lakshya 49:61c9f28332ba 1947 gpc.printf("\n\rBCN_TX_SW_RESET");
lakshya 19:79e69017c855 1948 //ACK_L234_TM
lakshya 19:79e69017c855 1949 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1950 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1951 BCN_SW = 1;
lakshya 19:79e69017c855 1952 wait_ms(5);
lakshya 19:79e69017c855 1953 BCN_SW = 0;
lakshya 19:79e69017c855 1954 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1955 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1956 {
lakshya 19:79e69017c855 1957 telemetry[i]=0x00;
lakshya 19:79e69017c855 1958 }
lakshya 19:79e69017c855 1959 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1960 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1961 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1962 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1963 {
lakshya 19:79e69017c855 1964 telemetry[i]=0x00;
lakshya 19:79e69017c855 1965 }
lakshya 19:79e69017c855 1966 break;
lakshya 19:79e69017c855 1967 }
lakshya 19:79e69017c855 1968 case 0x36:
lakshya 19:79e69017c855 1969 {
lakshya 49:61c9f28332ba 1970 gpc.printf("\n\rBAE_INTERNAL_RESET TO be done ");
lakshya 20:949d13045431 1971 NVIC_SystemReset();
lakshya 19:79e69017c855 1972 break;
lakshya 19:79e69017c855 1973 }
lakshya 19:79e69017c855 1974 case 0x37:
lakshya 19:79e69017c855 1975 {
lakshya 49:61c9f28332ba 1976 gpc.printf("\n\rCDMS_RESET");
lakshya 19:79e69017c855 1977 //ACK_L234_TM
lakshya 19:79e69017c855 1978 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1979 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1980 CDMS_RESET = 0;
lakshya 19:79e69017c855 1981 wait_ms(5);
lakshya 19:79e69017c855 1982 CDMS_RESET = 1;
lakshya 19:79e69017c855 1983 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1984 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1985 {
lakshya 19:79e69017c855 1986 telemetry[i]=0x00;
lakshya 19:79e69017c855 1987 }
lakshya 19:79e69017c855 1988 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1989 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1990 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1991 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1992 {
lakshya 19:79e69017c855 1993 telemetry[i]=0x00;
lakshya 19:79e69017c855 1994 }
lakshya 19:79e69017c855 1995 break;
lakshya 19:79e69017c855 1996 }
lakshya 49:61c9f28332ba 1997 case 0x38://not in IF present in SBC
lakshya 19:79e69017c855 1998 {
lakshya 49:61c9f28332ba 1999 gpc.printf("\n\rCDMS_SW_RESET pin yet to be decided");
lakshya 19:79e69017c855 2000 //ACK_L234_TM
lakshya 19:79e69017c855 2001 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2002 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2003 /*
lakshya 19:79e69017c855 2004 PIN to be DECIDED***************************************************************8
lakshya 19:79e69017c855 2005 */
lakshya 19:79e69017c855 2006 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2007 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2008 {
lakshya 19:79e69017c855 2009 telemetry[i]=0x00;
lakshya 19:79e69017c855 2010 }
lakshya 19:79e69017c855 2011 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2012 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2013 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2014 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2015 {
lakshya 19:79e69017c855 2016 telemetry[i]=0x00;
lakshya 19:79e69017c855 2017 }
lakshya 19:79e69017c855 2018 break;
lakshya 19:79e69017c855 2019 }
lakshya 49:61c9f28332ba 2020 case 0x40://condition changed by AK47 now 00 means off in TC
lakshya 19:79e69017c855 2021 {
lakshya 66:a5d2b8dc6b9e 2022 printf("\n entering 0x40 case");
lakshya 19:79e69017c855 2023 uint8_t STANDBY_DATA_TC;
lakshya 66:a5d2b8dc6b9e 2024 BAE_STANDBY=0x07;
lakshya 19:79e69017c855 2025 STANDBY_DATA_TC=tc[4];
lakshya 49:61c9f28332ba 2026 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2027 {
lakshya 66:a5d2b8dc6b9e 2028 BAE_STANDBY &=0x03;//for bcn
lakshya 66:a5d2b8dc6b9e 2029 //$ L BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2030 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2031 }
lakshya 66:a5d2b8dc6b9e 2032 STANDBY_DATA_TC=tc[5];//for acs
lakshya 49:61c9f28332ba 2033 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2034 {
lakshya 66:a5d2b8dc6b9e 2035 BAE_STANDBY &=0x05;
lakshya 66:a5d2b8dc6b9e 2036 //$ L BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2037 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2038 }
lakshya 66:a5d2b8dc6b9e 2039 STANDBY_DATA_TC=tc[6];//eps
lakshya 49:61c9f28332ba 2040 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2041 {
lakshya 66:a5d2b8dc6b9e 2042 BAE_STANDBY &=0x06;
lakshya 66:a5d2b8dc6b9e 2043 //$ L BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2044 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2045 }
lakshya 19:79e69017c855 2046 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2047 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2048 telemetry[2]=0xC0;//ack_code for this case
lakshya 19:79e69017c855 2049 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2050 {
lakshya 19:79e69017c855 2051 telemetry[i]=0x00;
lakshya 19:79e69017c855 2052 }
lakshya 19:79e69017c855 2053 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2054 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2055 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2056 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2057 {
lakshya 19:79e69017c855 2058 telemetry[i]=0x00;
lakshya 19:79e69017c855 2059 }
lakshya 19:79e69017c855 2060 break;
lakshya 19:79e69017c855 2061 }
lakshya 19:79e69017c855 2062 case 0x41:
lakshya 19:79e69017c855 2063 {
lakshya 49:61c9f28332ba 2064 gpc.printf("\n\rexecutng BAE reset HK counter");
lakshya 20:949d13045431 2065 firstCount=true;
lakshya 20:949d13045431 2066 void minMaxHkData();
lakshya 49:61c9f28332ba 2067
lakshya 19:79e69017c855 2068 //ACK_L234_TM
lakshya 19:79e69017c855 2069 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2070 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2071 telemetry[2]=0x02;
lakshya 19:79e69017c855 2072 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2073 {
lakshya 19:79e69017c855 2074 telemetry[i]=0x00;
lakshya 19:79e69017c855 2075 }
lakshya 19:79e69017c855 2076 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2077 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2078 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2079 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2080 {
lakshya 19:79e69017c855 2081 telemetry[i]=0x00;
lakshya 19:79e69017c855 2082 }
lakshya 19:79e69017c855 2083 break;
lakshya 19:79e69017c855 2084 }
lakshya 19:79e69017c855 2085 default:
lakshya 19:79e69017c855 2086 {
lakshya 49:61c9f28332ba 2087 gpc.printf("\n\rInvalid TC for FMS no matching FID");
lakshya 19:79e69017c855 2088 //ACK_L234_TM
lakshya 19:79e69017c855 2089 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2090 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2091 telemetry[2]=0x02;
lakshya 19:79e69017c855 2092 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2093 {
lakshya 19:79e69017c855 2094 telemetry[i]=0x00;
lakshya 19:79e69017c855 2095 }
lakshya 19:79e69017c855 2096 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2097 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2098 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2099 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2100 {
lakshya 19:79e69017c855 2101 telemetry[i]=0x00;
lakshya 19:79e69017c855 2102 }
lakshya 19:79e69017c855 2103 break;
lakshya 19:79e69017c855 2104 }
lakshya 19:79e69017c855 2105 }
lakshya 19:79e69017c855 2106 break;
lakshya 19:79e69017c855 2107 }
lakshya 19:79e69017c855 2108 default:
lakshya 19:79e69017c855 2109 {
lakshya 49:61c9f28332ba 2110 gpc.printf("\n\rInvalid TC, FMS service subtype mismacth");
lakshya 19:79e69017c855 2111 //ACK_L234_TM
lakshya 19:79e69017c855 2112 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2113 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2114 telemetry[2]=0x02;
lakshya 19:79e69017c855 2115 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2116 {
lakshya 19:79e69017c855 2117 telemetry[i]=0x00;
lakshya 19:79e69017c855 2118 }
lakshya 19:79e69017c855 2119 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2120 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2121 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2122 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2123 {
lakshya 19:79e69017c855 2124 telemetry[i]=0x00;
lakshya 19:79e69017c855 2125 }
lakshya 19:79e69017c855 2126 break;
lakshya 19:79e69017c855 2127 }
lakshya 19:79e69017c855 2128 }
lakshya 19:79e69017c855 2129 break;
lakshya 19:79e69017c855 2130 }
lakshya 19:79e69017c855 2131 default:
lakshya 19:79e69017c855 2132 {
lakshya 49:61c9f28332ba 2133 gpc.printf("\n\rInvalid TC neither FMS nor MMS");
lakshya 19:79e69017c855 2134 //ACK_L234_TM
lakshya 19:79e69017c855 2135 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2136 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2137 telemetry[2]=0x02;
lakshya 19:79e69017c855 2138 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2139 {
lakshya 19:79e69017c855 2140 telemetry[i]=0x00;
lakshya 19:79e69017c855 2141 }
lakshya 19:79e69017c855 2142 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2143 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2144 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2145 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2146 {
lakshya 19:79e69017c855 2147 telemetry[i]=0x00;
lakshya 19:79e69017c855 2148 }
lakshya 19:79e69017c855 2149 break;
lakshya 19:79e69017c855 2150 }
lakshya 19:79e69017c855 2151 }
lakshya 19:79e69017c855 2152 }
Bragadeesh153 13:fb7facaf308b 2153 }
Bragadeesh153 13:fb7facaf308b 2154 }
sakthipriya 4:39a4ae8c7ecd 2155
sakthipriya 4:39a4ae8c7ecd 2156
Bragadeesh153 13:fb7facaf308b 2157 int strt_add = flash_size() - (2*SECTOR_SIZE);
sakthipriya 4:39a4ae8c7ecd 2158 uint32_t flasharray[8]; //256+(3*1024)
lakshya 19:79e69017c855 2159 /*corrected*/
lakshya 19:79e69017c855 2160 int *nativeflash = (int*)strt_add;
sakthipriya 4:39a4ae8c7ecd 2161
sakthipriya 4:39a4ae8c7ecd 2162 /*Writing to the Flash*/
lakshya 19:79e69017c855 2163 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 2164 {
Bragadeesh153 13:fb7facaf308b 2165 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2166 {
sakthipriya 4:39a4ae8c7ecd 2167 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2168 }
sakthipriya 4:39a4ae8c7ecd 2169 flasharray[j]=fdata;
sakthipriya 4:39a4ae8c7ecd 2170 erase_sector(strt_add);
lakshya 20:949d13045431 2171 program_flash(strt_add, (char*)flasharray,32);
sakthipriya 4:39a4ae8c7ecd 2172 }
lakshya 19:79e69017c855 2173
sakthipriya 4:39a4ae8c7ecd 2174 /*End*/
sakthipriya 4:39a4ae8c7ecd 2175
sakthipriya 4:39a4ae8c7ecd 2176 /*Reading from Flash*/
lakshya 19:79e69017c855 2177 /*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 2178 uint32_t FCTN_BAE_RD_FLASH_ENTITY(uint16_t entity)
sakthipriya 4:39a4ae8c7ecd 2179 {
sakthipriya 4:39a4ae8c7ecd 2180 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2181 {
sakthipriya 4:39a4ae8c7ecd 2182 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2183 }
lakshya 19:79e69017c855 2184 return flasharray[entity];
sakthipriya 4:39a4ae8c7ecd 2185 }
lakshya 19:79e69017c855 2186
lakshya 19:79e69017c855 2187 uint32_t* FCTN_BAE_RD_FLASH()
lakshya 19:79e69017c855 2188 {
lakshya 19:79e69017c855 2189 for(int i=0;i<8;i++)
lakshya 19:79e69017c855 2190 {
lakshya 19:79e69017c855 2191 flasharray[i]=nativeflash[i];
lakshya 19:79e69017c855 2192 }
lakshya 19:79e69017c855 2193 return flasharray;
lakshya 19:79e69017c855 2194 }
lakshya 19:79e69017c855 2195
sakthipriya 5:bb592f3185cc 2196 /*End*/
sakthipriya 5:bb592f3185cc 2197
sakthipriya 5:bb592f3185cc 2198 // Convert float to 4 uint8_t
sakthipriya 5:bb592f3185cc 2199
lakshya 15:e09aaaccf134 2200
sakthipriya 6:036d08b62785 2201 void FCTN_CONVERT_FLOAT(float input, uint8_t output[4])
sakthipriya 5:bb592f3185cc 2202 {
sakthipriya 6:036d08b62785 2203 assert(sizeof(float) == sizeof(uint32_t));
sakthipriya 6:036d08b62785 2204 uint32_t* temp = reinterpret_cast<uint32_t*>(&input);
sakthipriya 6:036d08b62785 2205
sakthipriya 6:036d08b62785 2206 //float* output1 = reinterpret_cast<float*>(temp);
Bragadeesh153 13:fb7facaf308b 2207
lakshya 49:61c9f28332ba 2208 //gpc.printf("\n\r %f ", input);
lakshya 15:e09aaaccf134 2209 //std::cout << "\n\r uint32"<<*temp << std::endl;
sakthipriya 6:036d08b62785 2210
sakthipriya 6:036d08b62785 2211 output[0] =(uint8_t )(((*temp)>>24)&0xFF);
lakshya 15:e09aaaccf134 2212 output[1] =(uint8_t ) (((*temp)>>16)&0xFF);
lakshya 15:e09aaaccf134 2213 output[2] =(uint8_t ) (((*temp)>>8)&0xFF);
lakshya 15:e09aaaccf134 2214 output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic
lakshya 15:e09aaaccf134 2215
lakshya 49:61c9f28332ba 2216 // gpc.printf("\n\rthe values generated are\n");
lakshya 49:61c9f28332ba 2217 /*gpc.printf("\n\r%x\n",output[0]);
lakshya 49:61c9f28332ba 2218 gpc.printf("\n\r%x\n",output[1]);
lakshya 49:61c9f28332ba 2219 gpc.printf("\n\r%x\n",output[2]);
lakshya 49:61c9f28332ba 2220 gpc.printf("\n\r%x\n",output[3]);
lakshya 15:e09aaaccf134 2221 to check the values generated
lakshya 15:e09aaaccf134 2222 */
lakshya 49:61c9f28332ba 2223 //gpc.printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]);
Bragadeesh153 13:fb7facaf308b 2224 //std:: cout << "\n\r uint8 inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl;
Bragadeesh153 13:fb7facaf308b 2225 }