Team Fox / Mbed 2 deprecated RAJANGAM_REVIEW_BAE_CODE

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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of QM_BAE_review_1 by Team Fox

TCTM.cpp@59:0fc0bfafaa9f, 2016-09-04 (annotated)

Committer:
Bragadeesh153
Date:
Sun Sep 04 19:06:02 2016 +0000
Revision:
59:0fc0bfafaa9f
Parent:
58:c4203e162d12
Child:
63:55d32e7dcad7
FINAL CODE FOR QM , BAE HK almost fully verified

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 19:79e69017c855 282 if( ( ((uint8_t)((crc16 & 0xFF00)>>8)==tc[9]) && ((uint8_t)(crc16 & 0x00FF)==tc[10]) )== 0 )
lakshya 19:79e69017c855 283 {
lakshya 19:79e69017c855 284 telemetry[0]=0xB0;
lakshya 19:79e69017c855 285 telemetry[1]=0x00;//tc psc defined for this case
lakshya 19:79e69017c855 286 telemetry[2]=0x01;//ack code for this case
lakshya 19:79e69017c855 287 for(int i=3;i<11;i++)
lakshya 20:949d13045431 288 {
lakshya 19:79e69017c855 289 telemetry[i]=0x00;
lakshya 19:79e69017c855 290 }
lakshya 19:79e69017c855 291 //add crc
lakshya 19:79e69017c855 292 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 293 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 294 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 49:61c9f28332ba 295 gpc.printf("\n\rincorrect crc");
lakshya 19:79e69017c855 296 for(int i=13;i<134;i++)
lakshya 19:79e69017c855 297 {
lakshya 19:79e69017c855 298 telemetry[i]=0x00;
lakshya 19:79e69017c855 299 }
lakshya 19:79e69017c855 300 }
lakshya 19:79e69017c855 301 else
lakshya 19:79e69017c855 302 {
lakshya 19:79e69017c855 303 //check apid
lakshya 19:79e69017c855 304 uint8_t apid_check=((tc[1]&0xC0)>>6);
lakshya 19:79e69017c855 305 if(apid_check!=0x01)
lakshya 19:79e69017c855 306 {
lakshya 19:79e69017c855 307 telemetry[0]=0xB0;
lakshya 19:79e69017c855 308 telemetry[1]=tc[0];//tc psc defined for this case
lakshya 19:79e69017c855 309 telemetry[2]=0x02;//ack code for this case
lakshya 19:79e69017c855 310 for(int i=3;i<11;i++)
Bragadeesh153 13:fb7facaf308b 311 {
lakshya 19:79e69017c855 312 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 313 }
Bragadeesh153 13:fb7facaf308b 314 crc16 = CRC::crc16_gen(telemetry,11);
Bragadeesh153 13:fb7facaf308b 315 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
Bragadeesh153 13:fb7facaf308b 316 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 49:61c9f28332ba 317 gpc.printf("\n\rillegal TC packet APID don't match");
lakshya 19:79e69017c855 318 for(int i=13;i<134;i++)
Bragadeesh153 13:fb7facaf308b 319 {
Bragadeesh153 13:fb7facaf308b 320 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 321 }
sakthipriya 3:07e15677a75c 322 }
lakshya 19:79e69017c855 323 else
lakshya 19:79e69017c855 324 {// all the possible cases of fms and mms
lakshya 19:79e69017c855 325 uint8_t service_type=(tc[2]&0xF0);
lakshya 19:79e69017c855 326 //check for fms first
lakshya 19:79e69017c855 327 switch(service_type)
lakshya 19:79e69017c855 328 {
lakshya 19:79e69017c855 329 case 0x60:
lakshya 19:79e69017c855 330 {
lakshya 49:61c9f28332ba 331 gpc.printf("Memory Management Service\r\n");
lakshya 19:79e69017c855 332 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 333 switch(service_subtype)
lakshya 19:79e69017c855 334 {
lakshya 19:79e69017c855 335 case 0x02:
lakshya 19:79e69017c855 336 {
lakshya 49:61c9f28332ba 337 gpc.printf("\n\rRead from RAM");
lakshya 19:79e69017c855 338 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 339 switch(MID)
lakshya 19:79e69017c855 340 {
lakshya 19:79e69017c855 341 case 0x0000://changed from 0001
lakshya 19:79e69017c855 342 {
lakshya 49:61c9f28332ba 343 gpc.printf("\n\rRead from MID 0000 \n");
lakshya 49:61c9f28332ba 344 gpc.printf("\n\rReading flash parameters");
lakshya 19:79e69017c855 345
lakshya 19:79e69017c855 346 /*taking some varible till we find some thing more useful*/
lakshya 19:79e69017c855 347 //uint8_t ref_val=0x01;
Bragadeesh153 54:d6a45982ace1 348 telemetry[0] = 0x30;
lakshya 19:79e69017c855 349 telemetry[1] = tc[0];
lakshya 19:79e69017c855 350 telemetry[2] = ACK_CODE;
lakshya 19:79e69017c855 351 /*random or with bcn_tx_sw_enable assuming it is 1 bit in length
lakshya 19:79e69017c855 352 how to get that we dont know, now we just assume it to be so*/
lakshya 57:60e8f00d93c3 353 telemetry[3] = 0x00;
lakshya 57:60e8f00d93c3 354 telemetry[4] = ACS_ATS_STATUS;
lakshya 57:60e8f00d93c3 355 telemetry[5] = ACS_TR_XY_SW_STATUS;
lakshya 57:60e8f00d93c3 356 telemetry[5] = (telemetry[5]<<2)| ACS_TR_Z_SW_STATUS;
lakshya 57:60e8f00d93c3 357 telemetry[5] = (telemetry[5]<<4) | ACS_STATE;
lakshya 57:60e8f00d93c3 358 telemetry[6] = ACS_DETUMBLING_ALGO_TYPE;
lakshya 57:60e8f00d93c3 359 telemetry[6] = (telemetry[6]<<2) | BCN_TX_SW_STATUS;
lakshya 57:60e8f00d93c3 360 telemetry[6] = (telemetry[6]<<1) | BCN_SPND_TX;
lakshya 57:60e8f00d93c3 361 telemetry[6] = (telemetry[6]<<1) | BCN_FEN;
lakshya 57:60e8f00d93c3 362 telemetry[6] = (telemetry[6]<<1) | BCN_LONG_MSG_TYPE;
lakshya 57:60e8f00d93c3 363 telemetry[6] = (telemetry[6]<<1) | EPS_BTRY_HTR_AUTO;//EPS_BATTERY_HEATER_ENABLE
lakshya 57:60e8f00d93c3 364 telemetry[6] = (telemetry[6]<<1);
lakshya 57:60e8f00d93c3 365 //now one spares in telemetry[6]
lakshya 57:60e8f00d93c3 366 telemetry[7] = BAE_RESET_COUNTER;
lakshya 57:60e8f00d93c3 367 telemetry[8] = EPS_SOC_LEVEL_12;
lakshya 57:60e8f00d93c3 368 telemetry[9] = EPS_SOC_LEVEL_23;
lakshya 57:60e8f00d93c3 369 telemetry[10] = ACS_MAG_TIME_DELAY;
lakshya 57:60e8f00d93c3 370 telemetry[11] = ACS_DEMAG_TIME_DELAY;
lakshya 57:60e8f00d93c3 371 telemetry[12] = EPS_BAT_TEMP_LOW;
lakshya 57:60e8f00d93c3 372 telemetry[13] = EPS_BAT_TEMP_HIGH;
lakshya 57:60e8f00d93c3 373 telemetry[14] = EPS_BAT_TEMP_DEFAULT;
Bragadeesh153 56:32b1fb074138 374
lakshya 57:60e8f00d93c3 375 telemetry[15] = ACS_MM_X_COMSN >> 8;
lakshya 57:60e8f00d93c3 376 telemetry[16] = ACS_MM_X_COMSN;
lakshya 57:60e8f00d93c3 377 printf("\n\r the mm x commission %d",ACS_MM_X_COMSN);
lakshya 57:60e8f00d93c3 378
lakshya 57:60e8f00d93c3 379 telemetry[17] = ACS_MM_Y_COMSN >> 8;
lakshya 57:60e8f00d93c3 380 telemetry[18] = ACS_MM_Y_COMSN;
lakshya 20:949d13045431 381
lakshya 57:60e8f00d93c3 382 telemetry[19] = ACS_MG_X_COMSN >> 8;
lakshya 57:60e8f00d93c3 383 telemetry[20] = ACS_MG_X_COMSN;
lakshya 20:949d13045431 384
lakshya 57:60e8f00d93c3 385 telemetry[21] = ACS_MG_Y_COMSN >> 8;
lakshya 57:60e8f00d93c3 386 telemetry[22] = ACS_MG_Y_COMSN;
lakshya 20:949d13045431 387
lakshya 57:60e8f00d93c3 388 telemetry[23] = ACS_MM_Z_COMSN >> 8;
lakshya 57:60e8f00d93c3 389 telemetry[24] = ACS_MM_Z_COMSN;
lakshya 20:949d13045431 390
lakshya 57:60e8f00d93c3 391 telemetry[25] = ACS_MG_Z_COMSN >> 8;
lakshya 57:60e8f00d93c3 392 telemetry[26] = ACS_MG_Z_COMSN;
lakshya 20:949d13045431 393
lakshya 57:60e8f00d93c3 394 telemetry[27] = ACS_Z_FIXED_MOMENT >> 8;
lakshya 57:60e8f00d93c3 395 telemetry[28] = ACS_Z_FIXED_MOMENT;
lakshya 57:60e8f00d93c3 396 printf("\n\r the z_fixed_moment %d",ACS_Z_FIXED_MOMENT);
lakshya 57:60e8f00d93c3 397
lakshya 20:949d13045431 398
lakshya 20:949d13045431 399 //BAE RAM PARAMETER
lakshya 57:60e8f00d93c3 400 telemetry[29] = BAE_INIT_STATUS;
lakshya 57:60e8f00d93c3 401 telemetry[29] = (telemetry[29]<<1) | BAE_MNG_I2C_STATUS;//changed
lakshya 57:60e8f00d93c3 402 telemetry[29] = (telemetry[29]<<1) | BCN_INIT_STATUS;
lakshya 57:60e8f00d93c3 403 telemetry[29] = (telemetry[29]<<1) | BCN_TX_MAIN_STATUS;
lakshya 57:60e8f00d93c3 404 telemetry[29] = (telemetry[29]<<3) | BCN_TX_STATUS;
lakshya 57:60e8f00d93c3 405 telemetry[29] = (telemetry[29]<<1) | ACS_INIT_STATUS;
lakshya 20:949d13045431 406
lakshya 57:60e8f00d93c3 407 telemetry[30] = ACS_DATA_ACQ_STATUS;
lakshya 57:60e8f00d93c3 408 telemetry[30] = (telemetry[30]<<1) | ACS_MAIN_STATUS;
lakshya 57:60e8f00d93c3 409 telemetry[30] = (telemetry[30]<<4) | ACS_STATUS;
lakshya 57:60e8f00d93c3 410 telemetry[30] = (telemetry[30]<<1) | EPS_INIT_STATUS;
lakshya 20:949d13045431 411
lakshya 57:60e8f00d93c3 412 telemetry[31] = EPS_BATTERY_GAUGE_STATUS;
lakshya 57:60e8f00d93c3 413 telemetry[31] = (telemetry[31]<<1) | EPS_MAIN_STATUS;
lakshya 57:60e8f00d93c3 414 telemetry[31] = (telemetry[31]<<1) | EPS_BTRY_TMP_STATUS;
lakshya 57:60e8f00d93c3 415 telemetry[31] = (telemetry[31]<<3) | EPS_STATUS;
lakshya 57:60e8f00d93c3 416 telemetry[31] = (telemetry[31]<<2) | CDMS_SW_STATUS;
lakshya 20:949d13045431 417 // telemetry[30] = (telemetry[30]<<1) | EPS_BTRY_HTR_STATUS;//new to : implement
lakshya 33:76f2b8735501 418
lakshya 57:60e8f00d93c3 419 telemetry[32] = EPS_BTRY_HTR; //new to : implement
lakshya 27:61c856be467e 420 //spare 4
lakshya 57:60e8f00d93c3 421 telemetry[32] = (telemetry[32]<<7) | BAE_STANDBY;
lakshya 20:949d13045431 422 // 6 next telemetries value to be given by registers
lakshya 57:60e8f00d93c3 423 telemetry[33] = ATS1_EVENT_STATUS_RGTR;
lakshya 57:60e8f00d93c3 424 telemetry[34] = ATS1_SENTRAL_STATUS_RGTR;
lakshya 57:60e8f00d93c3 425 telemetry[35] = ATS1_ERROR_RGTR;
lakshya 57:60e8f00d93c3 426 telemetry[36] = ATS2_EVENT_STATUS_RGTR;
lakshya 57:60e8f00d93c3 427 telemetry[37] = ATS2_SENTRAL_STATUS_RGTR;
lakshya 57:60e8f00d93c3 428 telemetry[38] = ATS2_ERROR_RGTR;
lakshya 20:949d13045431 429
Bragadeesh153 59:0fc0bfafaa9f 430 //printf("EVENT SENTRAL ERROR %.02X %.02X %.02X",ATS1_EVENT_STATUS_RGTR,ATS1_SENTRAL_STATUS_RGTR,ATS1_ERROR_RGTR);
Bragadeesh153 59:0fc0bfafaa9f 431
lakshya 57:60e8f00d93c3 432 telemetry[39] = BCN_FAIL_COUNT;
lakshya 57:60e8f00d93c3 433 telemetry[40] = actual_data.power_mode;
lakshya 57:60e8f00d93c3 434 telemetry[41] = HTR_CYCLE_COUNTER;//new to : implement
lakshya 20:949d13045431 435
lakshya 58:c4203e162d12 436 // GS changed order has to be updated in the telemetry sheet or jithin should change the order
lakshya 58:c4203e162d12 437 telemetry[43] = BAE_I2C_COUNTER;
lakshya 58:c4203e162d12 438 telemetry[42] = BAE_I2C_COUNTER>>8;
lakshya 58:c4203e162d12 439 telemetry[45] = ACS_MAIN_COUNTER;
lakshya 58:c4203e162d12 440 telemetry[44] = ACS_MAIN_COUNTER>>8;
lakshya 58:c4203e162d12 441 telemetry[47] = BCN_TX_MAIN_COUNTER;
lakshya 58:c4203e162d12 442 telemetry[46] = BCN_TX_MAIN_COUNTER>>8;
lakshya 58:c4203e162d12 443 telemetry[49] = EPS_MAIN_COUNTER;
lakshya 58:c4203e162d12 444 telemetry[48] = EPS_MAIN_COUNTER>>8;
lakshya 49:61c9f28332ba 445
lakshya 49:61c9f28332ba 446 uint8_t days,hours,mins;
lakshya 49:61c9f28332ba 447 RETURN_UPTIME(BAE_uptime.read(),&days,&hours,&mins);
lakshya 57:60e8f00d93c3 448 printf("\n\r the values bae of days,hour,min %d, %d, %d",days,hours,mins);
lakshya 57:60e8f00d93c3 449
lakshya 57:60e8f00d93c3 450 telemetry[50] = days;
lakshya 49:61c9f28332ba 451 RETURN_UPTIME(I2C_last.read(),&days,&hours,&mins);
lakshya 57:60e8f00d93c3 452 telemetry[50] = (telemetry[50]<<3) | (hours>>2);
lakshya 57:60e8f00d93c3 453 telemetry[51] = hours;
lakshya 57:60e8f00d93c3 454 telemetry[51] = (telemetry[51]<<6) | mins;
lakshya 57:60e8f00d93c3 455
lakshya 57:60e8f00d93c3 456 printf("\n\r the values of bae uptime %f",BAE_uptime.read());
lakshya 57:60e8f00d93c3 457 printf("\n\r the values i2c of days,hour,min %d, %d, %d",days,hours,mins);
lakshya 57:60e8f00d93c3 458
lakshya 49:61c9f28332ba 459
lakshya 20:949d13045431 460 //sending in uint can be converted back to int by direct conversion for +values
lakshya 20:949d13045431 461 //make sure to convert baack to int for getting negative values
lakshya 20:949d13045431 462 //algo for that done
lakshya 58:c4203e162d12 463
lakshya 58:c4203e162d12 464 uint16_t scaled;
lakshya 20:949d13045431 465
lakshya 58:c4203e162d12 466 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 58:c4203e162d12 467 telemetry[52] = (scaled>>8);
lakshya 58:c4203e162d12 468 telemetry[53] = scaled;
lakshya 58:c4203e162d12 469 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 58:c4203e162d12 470 telemetry[54] = (scaled>>8);
lakshya 58:c4203e162d12 471 telemetry[55] = scaled;
lakshya 58:c4203e162d12 472 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 58:c4203e162d12 473 telemetry[56] = (scaled>>8);
lakshya 58:c4203e162d12 474 telemetry[57] = scaled;
lakshya 58:c4203e162d12 475 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 58:c4203e162d12 476 telemetry[58] = (scaled>>8);
lakshya 58:c4203e162d12 477 telemetry[59] = scaled;
lakshya 58:c4203e162d12 478 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 58:c4203e162d12 479 telemetry[60] = (scaled>>8);
lakshya 58:c4203e162d12 480 telemetry[61] = scaled;
lakshya 58:c4203e162d12 481 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 58:c4203e162d12 482 telemetry[62] = (scaled>>8);
lakshya 58:c4203e162d12 483 telemetry[63] = scaled;
lakshya 58:c4203e162d12 484
lakshya 57:60e8f00d93c3 485 telemetry[64] = BCN_TX_OC_FAULT;
lakshya 57:60e8f00d93c3 486 telemetry[64] = (telemetry[64]<<1) | ACS_TR_XY_ENABLE;
lakshya 57:60e8f00d93c3 487 telemetry[64] = (telemetry[64]<<1) | ACS_TR_Z_ENABLE;
lakshya 57:60e8f00d93c3 488 telemetry[64] = (telemetry[64]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 57:60e8f00d93c3 489 telemetry[64] = (telemetry[64]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 57:60e8f00d93c3 490 telemetry[64] = (telemetry[64]<<1) | ACS_TR_XY_FAULT;
lakshya 57:60e8f00d93c3 491 telemetry[64] = (telemetry[64]<<1) | EPS_CHARGER_FAULT;
lakshya 57:60e8f00d93c3 492 telemetry[64] = (telemetry[64]<<1) | EPS_CHARGER_STATUS;
lakshya 20:949d13045431 493
lakshya 57:60e8f00d93c3 494 telemetry[65] = EPS_BATTERY_GAUGE_ALERT;
lakshya 57:60e8f00d93c3 495 telemetry[65] = (telemetry[65]<<1) | CDMS_OC_FAULT;
lakshya 57:60e8f00d93c3 496 telemetry[65] = (telemetry[65]<<1) | ACS_ATS1_OC_FAULT;
lakshya 57:60e8f00d93c3 497 telemetry[65] = (telemetry[65]<<1) | ACS_ATS2_OC_FAULT;
lakshya 57:60e8f00d93c3 498 telemetry[65] = (telemetry[65]<<1) | ACS_TR_Z_FAULT;
lakshya 57:60e8f00d93c3 499 telemetry[65] = (telemetry[65]<<3);
lakshya 20:949d13045431 500 //3 spare
lakshya 20:949d13045431 501
lakshya 57:60e8f00d93c3 502 telemetry[66] = ACS_TR_X_PWM;
lakshya 57:60e8f00d93c3 503 telemetry[67] = ACS_TR_Y_PWM;
lakshya 57:60e8f00d93c3 504 telemetry[68] = ACS_TR_Z_PWM;
lakshya 20:949d13045431 505 //spare byte
lakshya 20:949d13045431 506 //assigned it to counter HTR_CYCLE_COUNTER
lakshya 20:949d13045431 507
lakshya 20:949d13045431 508 //assign it b_scz_angle
lakshya 57:60e8f00d93c3 509 telemetry[69] = B_SCZ_ANGLE>>4;
lakshya 57:60e8f00d93c3 510 telemetry[69] = (telemetry[69]<<1) | alarmmode;
lakshya 57:60e8f00d93c3 511 telemetry[69] = (telemetry[69]<<1) | controlmode_mms;
lakshya 57:60e8f00d93c3 512 telemetry[69] = (telemetry[69]<<1) | singularity_flag_mms;
lakshya 57:60e8f00d93c3 513 telemetry[69] = (telemetry[69]<<1);
lakshya 49:61c9f28332ba 514 //1 bit spare
lakshya 20:949d13045431 515
lakshya 20:949d13045431 516 for(int i=0;i<9;i++)
lakshya 20:949d13045431 517 {
lakshya 57:60e8f00d93c3 518 telemetry[70+i] = invjm_mms[i];
lakshya 57:60e8f00d93c3 519 telemetry[81+i] = jm_mms[i];
lakshya 20:949d13045431 520 }
lakshya 20:949d13045431 521
lakshya 53:459b71b1861c 522 for(int i=1;i<3;i++)
lakshya 57:60e8f00d93c3 523 telemetry[79+i] = bb_mms[i];
lakshya 20:949d13045431 524
lakshya 20:949d13045431 525 for(int i=0;i<16;i++)
lakshya 20:949d13045431 526 {
lakshya 57:60e8f00d93c3 527 telemetry[90+i] = quant_data.voltage_quant[i];
lakshya 57:60e8f00d93c3 528 telemetry[106+i] = quant_data.current_quant[i];
lakshya 20:949d13045431 529 }
lakshya 20:949d13045431 530
lakshya 57:60e8f00d93c3 531 telemetry[122] = quant_data.Batt_voltage_quant;
lakshya 57:60e8f00d93c3 532 telemetry[123] = quant_data.BAE_temp_quant;
lakshya 57:60e8f00d93c3 533 telemetry[124] = (uint8_t)(actual_data.Batt_gauge_actual[1]);
lakshya 57:60e8f00d93c3 534 telemetry[125] = quant_data.Batt_temp_quant[0];
lakshya 57:60e8f00d93c3 535 telemetry[126] = quant_data.Batt_temp_quant[1];
lakshya 58:c4203e162d12 536
lakshya 57:60e8f00d93c3 537 telemetry[127] = BCN_TMP;
lakshya 20:949d13045431 538
lakshya 57:60e8f00d93c3 539 for (int i=128; i<132;i++)
lakshya 19:79e69017c855 540 {
lakshya 19:79e69017c855 541 telemetry[i] = 0x00;
lakshya 19:79e69017c855 542 }
lakshya 19:79e69017c855 543 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 544 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 545 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 546
lakshya 19:79e69017c855 547 break;
lakshya 19:79e69017c855 548 }
lakshya 19:79e69017c855 549 case 0x0001:
lakshya 19:79e69017c855 550 {
lakshya 49:61c9f28332ba 551 gpc.printf("\r\nhk data tm");
lakshya 57:60e8f00d93c3 552 telemetry[0] = 0x30; // changed0x06 shifted by 1 bit 0x03
lakshya 19:79e69017c855 553 telemetry[1] = tc[0];
lakshya 19:79e69017c855 554 telemetry[2] = ACK_CODE;
lakshya 57:60e8f00d93c3 555 telemetry[3] = 0x00;
lakshya 19:79e69017c855 556
lakshya 19:79e69017c855 557 for(int i;i<16;i++)
lakshya 20:949d13045431 558 {
lakshya 57:60e8f00d93c3 559 telemetry[i+4] = bae_HK_minmax.voltage_max[i];
lakshya 57:60e8f00d93c3 560 telemetry[i+20] = bae_HK_minmax.current_max[i];
lakshya 20:949d13045431 561 }
lakshya 19:79e69017c855 562
lakshya 57:60e8f00d93c3 563 telemetry[36] = bae_HK_minmax.Batt_voltage_max;
lakshya 57:60e8f00d93c3 564 telemetry[37] = bae_HK_minmax.BAE_temp_max;
lakshya 19:79e69017c855 565
lakshya 57:60e8f00d93c3 566 telemetry[38] = bae_HK_minmax.Batt_SOC_max;
lakshya 19:79e69017c855 567
lakshya 57:60e8f00d93c3 568 telemetry[39] = bae_HK_minmax.Batt_temp_max[0];
lakshya 57:60e8f00d93c3 569 telemetry[40] = bae_HK_minmax.Batt_temp_max[1];
lakshya 19:79e69017c855 570
lakshya 20:949d13045431 571 /*BCN temp there*/
lakshya 57:60e8f00d93c3 572 telemetry[41] = bae_HK_minmax.BCN_TEMP_max;
lakshya 19:79e69017c855 573
lakshya 19:79e69017c855 574 for(int i=0; i<3; i++)
lakshya 20:949d13045431 575 {
lakshya 57:60e8f00d93c3 576 telemetry[42+(2*i)] = (bae_HK_minmax.bit_data_acs_mm_max[i]>>8);
lakshya 57:60e8f00d93c3 577 telemetry[43+(2*i)] = bae_HK_minmax.bit_data_acs_mm_max[i];
lakshya 53:459b71b1861c 578
lakshya 57:60e8f00d93c3 579 telemetry[48+(2*i)] = (bae_HK_minmax.bit_data_acs_mg_max[i]>>8);
lakshya 57:60e8f00d93c3 580 telemetry[49+(2*i)] = bae_HK_minmax.bit_data_acs_mg_max[i];
lakshya 20:949d13045431 581 }
lakshya 19:79e69017c855 582
lakshya 19:79e69017c855 583 /*min data*/
lakshya 19:79e69017c855 584
lakshya 19:79e69017c855 585 for(int i;i<16;i++)
lakshya 57:60e8f00d93c3 586 telemetry[i+54] = bae_HK_minmax.voltage_min[i];
lakshya 19:79e69017c855 587
lakshya 20:949d13045431 588 for(int i;i<16;i++)
lakshya 57:60e8f00d93c3 589 telemetry[i+70] = bae_HK_minmax.current_min[i];
lakshya 19:79e69017c855 590
lakshya 57:60e8f00d93c3 591 telemetry[86] = bae_HK_minmax.Batt_voltage_min;
lakshya 57:60e8f00d93c3 592 telemetry[87] = bae_HK_minmax.BAE_temp_min;
lakshya 19:79e69017c855 593
lakshya 19:79e69017c855 594 /*battery soc*/
lakshya 57:60e8f00d93c3 595 telemetry[88] = bae_HK_minmax.Batt_SOC_min;
lakshya 19:79e69017c855 596
lakshya 57:60e8f00d93c3 597 telemetry[89] = bae_HK_minmax.Batt_temp_min[0];
lakshya 57:60e8f00d93c3 598 telemetry[90] = bae_HK_minmax.Batt_temp_min[1];
lakshya 19:79e69017c855 599 //huhu//
lakshya 19:79e69017c855 600
lakshya 20:949d13045431 601 /*BCN temp named as BCN_TS_BUFFER there*/
lakshya 57:60e8f00d93c3 602 telemetry[91] = bae_HK_minmax.BCN_TEMP_min;
lakshya 19:79e69017c855 603
lakshya 19:79e69017c855 604 for(int i=0; i<3; i++)
lakshya 20:949d13045431 605 {
lakshya 57:60e8f00d93c3 606 telemetry[92+(2*i)] = (bae_HK_minmax.bit_data_acs_mm_min[i]>>8);
lakshya 57:60e8f00d93c3 607 telemetry[93+(2*i)] = bae_HK_minmax.bit_data_acs_mm_min[i];
lakshya 53:459b71b1861c 608
lakshya 57:60e8f00d93c3 609 telemetry[98+(2*i)] = (bae_HK_minmax.bit_data_acs_mg_min[i]>>8);
lakshya 57:60e8f00d93c3 610 telemetry[99+(2*i)] = bae_HK_minmax.bit_data_acs_mg_min[i];
lakshya 20:949d13045431 611 }
lakshya 20:949d13045431 612
lakshya 57:60e8f00d93c3 613 telemetry[104] = BCN_TX_OC_FAULT;
lakshya 57:60e8f00d93c3 614 telemetry[104] = (telemetry[104]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 57:60e8f00d93c3 615 telemetry[104] = (telemetry[104]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 57:60e8f00d93c3 616 telemetry[104] = (telemetry[104]<<1) | ACS_TR_XY_FAULT;
lakshya 20:949d13045431 617 //EPS CHARGER
lakshya 57:60e8f00d93c3 618 telemetry[104] = (telemetry[104]<<1) | EPS_CHARGER_FAULT;//eps_charger;
lakshya 57:60e8f00d93c3 619 telemetry[104] = (telemetry[104]<<1) | CDMS_OC_FAULT;
lakshya 57:60e8f00d93c3 620 telemetry[104] = (telemetry[104]<<1) | ACS_ATS1_OC_FAULT;
lakshya 57:60e8f00d93c3 621 telemetry[104] = (telemetry[104]<<1) | ACS_ATS2_OC_FAULT;
lakshya 20:949d13045431 622
lakshya 57:60e8f00d93c3 623 telemetry[105] = (ACS_TR_Z_FAULT<<7);
lakshya 20:949d13045431 624 //spare 23 bits
lakshya 53:459b71b1861c 625 telemetry[106] = 0x00;
lakshya 57:60e8f00d93c3 626 telemetry[107] = 0x00;
lakshya 20:949d13045431 627
lakshya 57:60e8f00d93c3 628 for (int i=108; i<132;i++)
lakshya 19:79e69017c855 629 {
lakshya 19:79e69017c855 630 telemetry[i] = 0x00;
lakshya 19:79e69017c855 631 }
lakshya 19:79e69017c855 632 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 633 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 634 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 635 break;
lakshya 19:79e69017c855 636 }
lakshya 19:79e69017c855 637 default://invalid MID
lakshya 19:79e69017c855 638 {
lakshya 19:79e69017c855 639 //ACK_L234_telemetry
lakshya 57:60e8f00d93c3 640 telemetry[0]=0xB0; // check if this needs to be changed
lakshya 19:79e69017c855 641 telemetry[1]=tc[0];
lakshya 19:79e69017c855 642 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 643 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 644 {
lakshya 19:79e69017c855 645 telemetry[i]=0x00;
lakshya 19:79e69017c855 646 }
lakshya 19:79e69017c855 647 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 648 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 649 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 650 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 651 {
lakshya 19:79e69017c855 652 telemetry[i]=0x00;
lakshya 19:79e69017c855 653 }
lakshya 19:79e69017c855 654 break;
lakshya 19:79e69017c855 655 }
lakshya 19:79e69017c855 656 }
lakshya 19:79e69017c855 657 break;
lakshya 57:60e8f00d93c3 658 }
lakshya 19:79e69017c855 659 case 0x05:
lakshya 19:79e69017c855 660 {
lakshya 49:61c9f28332ba 661 gpc.printf("\n\rdata for mms 0x05 flash");
lakshya 19:79e69017c855 662 /*changed*/
lakshya 49:61c9f28332ba 663 gpc.printf("\n\rwrite on flash\n");
lakshya 20:949d13045431 664 uint32_t FLASH_DATA;//256 bits
lakshya 19:79e69017c855 665
lakshya 19:79e69017c855 666 uint8_t VALID_MID;//to determine wether mid is valid or not otherwise to much repetition of code 1 meaning valid
lakshya 19:79e69017c855 667
lakshya 19:79e69017c855 668 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 669 switch(MID )
lakshya 19:79e69017c855 670 {
lakshya 20:949d13045431 671 case 0x1100:
lakshya 19:79e69017c855 672 {
lakshya 20:949d13045431 673 //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 674 //FCTN_BAE_WR_FLASH(0,FLASH_DATA[0]);
lakshya 20:949d13045431 675 BCN_LONG_MSG_TYPE = tc[8];
lakshya 20:949d13045431 676 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 677 FLASH_DATA = (FLASH_DATA & 0xFFFFFBFF) | (10<<(uint32_t)tc[8]);//see if uint8 to uint32 conversion works
lakshya 20:949d13045431 678 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 679 VALID_MID=1;
lakshya 19:79e69017c855 680 break;
lakshya 19:79e69017c855 681 }
lakshya 19:79e69017c855 682 case 0x0101:
lakshya 19:79e69017c855 683 {
lakshya 20:949d13045431 684 //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 685 ACS_DETUMBLING_ALGO_TYPE = (tc[8] & 0x01);
lakshya 49:61c9f28332ba 686 //===============================================
lakshya 49:61c9f28332ba 687 ACS_STATE = 4;
lakshya 49:61c9f28332ba 688 //tc[8] = 1001_
lakshya 49:61c9f28332ba 689 //ACS_STATE = (tc[8]>>1) & 0x0F;
lakshya 20:949d13045431 690 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 691 FLASH_DATA = (FLASH_DATA & 0xFFF07FFF) | (15<<(uint32_t)tc[8]);
lakshya 20:949d13045431 692 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 693 VALID_MID=1;
lakshya 19:79e69017c855 694 break;
lakshya 19:79e69017c855 695 }
lakshya 19:79e69017c855 696
lakshya 19:79e69017c855 697 case 0x0102:
lakshya 19:79e69017c855 698 {
lakshya 20:949d13045431 699 //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 700 //EPS_BATTERY_HEATER_ENABLE = tc[8];
lakshya 20:949d13045431 701 EPS_BTRY_HTR_AUTO = tc[8];
lakshya 20:949d13045431 702 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 703 FLASH_DATA = (FLASH_DATA & 0xFFFFFDFF) | (9<<(uint32_t)tc[8]);
lakshya 20:949d13045431 704 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 705 VALID_MID=1;
lakshya 19:79e69017c855 706 break;
lakshya 19:79e69017c855 707 }
lakshya 19:79e69017c855 708
lakshya 19:79e69017c855 709 case 0x0103:
lakshya 19:79e69017c855 710 {
lakshya 20:949d13045431 711 //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 712 ACS_MAG_TIME_DELAY = tc[7];
lakshya 20:949d13045431 713 ACS_DEMAG_TIME_DELAY = tc[8];
lakshya 20:949d13045431 714 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 715 FLASH_DATA = (FLASH_DATA & 0xFFFF0000) | (8<<(uint32_t)tc[7]) | ((uint32_t)tc[8]);
lakshya 20:949d13045431 716 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 717 VALID_MID=1;
lakshya 19:79e69017c855 718 break;
lakshya 19:79e69017c855 719 }
lakshya 19:79e69017c855 720 case 0x0104:
lakshya 19:79e69017c855 721 {
lakshya 20:949d13045431 722 //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 723 ACS_Z_FIXED_MOMENT = (8<<(uint16_t)tc[7]) | (uint16_t)tc[8];
lakshya 20:949d13045431 724 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(6);
lakshya 20:949d13045431 725 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)ACS_Z_FIXED_MOMENT<<16);
lakshya 20:949d13045431 726 FCTN_BAE_WR_FLASH(6,FLASH_DATA);
lakshya 19:79e69017c855 727 VALID_MID=1;
lakshya 19:79e69017c855 728 break;
lakshya 19:79e69017c855 729 }
lakshya 20:949d13045431 730 case 0x0106:
lakshya 19:79e69017c855 731 {
lakshya 20:949d13045431 732 //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 733 ACS_MM_Z_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 734 ACS_MG_Z_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 735 FLASH_DATA = ((uint32_t)ACS_MM_Z_COMSN<<16) | (uint32_t)ACS_MG_Z_COMSN;
lakshya 20:949d13045431 736 FCTN_BAE_WR_FLASH(5,FLASH_DATA);
lakshya 20:949d13045431 737 VALID_MID=1;
lakshya 20:949d13045431 738 break;
lakshya 20:949d13045431 739 }
lakshya 20:949d13045431 740 case 0x0107:
lakshya 20:949d13045431 741 {
lakshya 20:949d13045431 742 //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 743 EPS_SOC_LEVEL_12 = tc[7];
lakshya 20:949d13045431 744 EPS_SOC_LEVEL_23 = tc[8];
lakshya 20:949d13045431 745 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 746 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)tc[7]<<24) | ((uint32_t)tc[8]<<16);
lakshya 20:949d13045431 747 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 748 VALID_MID=1;
lakshya 19:79e69017c855 749 break;
lakshya 19:79e69017c855 750 }
lakshya 20:949d13045431 751 case 0x0108:
lakshya 19:79e69017c855 752 {
lakshya 20:949d13045431 753 //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 754 ACS_MM_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 755 ACS_MM_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 756 FLASH_DATA = ((uint32_t)ACS_MM_X_COMSN<<16) | (uint32_t)ACS_MM_Y_COMSN;
lakshya 20:949d13045431 757 FCTN_BAE_WR_FLASH(3,FLASH_DATA);
lakshya 19:79e69017c855 758 VALID_MID=1;
lakshya 19:79e69017c855 759 break;
lakshya 19:79e69017c855 760 }
lakshya 20:949d13045431 761 case 0x0109:
lakshya 19:79e69017c855 762 {
lakshya 20:949d13045431 763 //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 764 ACS_MG_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 765 ACS_MG_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 766 FLASH_DATA = ((uint32_t)ACS_MG_X_COMSN<<16) | (uint32_t)ACS_MG_Y_COMSN;
lakshya 20:949d13045431 767 FCTN_BAE_WR_FLASH(4,FLASH_DATA);
lakshya 19:79e69017c855 768 VALID_MID=1;
lakshya 19:79e69017c855 769 break;
lakshya 19:79e69017c855 770 }
lakshya 19:79e69017c855 771
lakshya 19:79e69017c855 772 default:
lakshya 19:79e69017c855 773 {
lakshya 49:61c9f28332ba 774 gpc.printf("Invalid MMS case 0x05 invalid MID\r\n");
lakshya 19:79e69017c855 775 VALID_MID=0;
lakshya 19:79e69017c855 776 //ACK_L234_telemetry
lakshya 19:79e69017c855 777 break;
lakshya 19:79e69017c855 778
lakshya 19:79e69017c855 779 }
lakshya 19:79e69017c855 780 }
lakshya 19:79e69017c855 781
lakshya 19:79e69017c855 782 if(VALID_MID==1)//valid MID
lakshya 19:79e69017c855 783 {
lakshya 19:79e69017c855 784 telemetry[0]=0xB0;//or 0x60? check
lakshya 19:79e69017c855 785 telemetry[1]=tc[0];
lakshya 19:79e69017c855 786 telemetry[2]=0xA0;// when valid
lakshya 19:79e69017c855 787 }
lakshya 19:79e69017c855 788 else if(VALID_MID==0)//invalid MID
lakshya 19:79e69017c855 789 {
lakshya 19:79e69017c855 790 telemetry[0]=0xB0;
lakshya 19:79e69017c855 791 telemetry[1]=tc[0];
lakshya 19:79e69017c855 792 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 793 }
lakshya 19:79e69017c855 794
lakshya 19:79e69017c855 795 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 796 {
lakshya 19:79e69017c855 797 telemetry[i]=0x00;
lakshya 19:79e69017c855 798 }
lakshya 19:79e69017c855 799 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 800 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 801 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 802 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 803 {
lakshya 19:79e69017c855 804 telemetry[i]=0x00;
lakshya 19:79e69017c855 805 }
lakshya 19:79e69017c855 806
lakshya 49:61c9f28332ba 807 gpc.printf("\n\rWritten on Flash");
lakshya 19:79e69017c855 808 break;
lakshya 19:79e69017c855 809 }
lakshya 19:79e69017c855 810 default://when invalid service subtype
lakshya 19:79e69017c855 811 {
lakshya 49:61c9f28332ba 812 gpc.printf("\n\r MMS invalid Service Subtype");
lakshya 19:79e69017c855 813 //ACK_L234_telemetry
lakshya 19:79e69017c855 814 telemetry[0]=0xB0;
lakshya 19:79e69017c855 815 telemetry[1]=tc[0];
lakshya 19:79e69017c855 816 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 817 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 818 {
lakshya 19:79e69017c855 819 telemetry[i]=0x00;
lakshya 19:79e69017c855 820 }
lakshya 19:79e69017c855 821 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 822 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 823 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 824 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 825 {
lakshya 19:79e69017c855 826 telemetry[i]=0x00;
lakshya 19:79e69017c855 827 }
lakshya 19:79e69017c855 828 break;
lakshya 19:79e69017c855 829 }
lakshya 19:79e69017c855 830 }
lakshya 19:79e69017c855 831 break;
lakshya 19:79e69017c855 832 }
lakshya 19:79e69017c855 833 case 0x80:
lakshya 19:79e69017c855 834 {
lakshya 49:61c9f28332ba 835 //gpc.printf("Function Management Service\r\n");
lakshya 19:79e69017c855 836 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 837 switch(service_subtype)
lakshya 19:79e69017c855 838 {
lakshya 19:79e69017c855 839 case 0x01:
lakshya 19:79e69017c855 840 {
lakshya 49:61c9f28332ba 841 gpc.printf("\n\rFMS Activated");
lakshya 19:79e69017c855 842 uint8_t fid=tc[3];//changed from pid to fid
lakshya 19:79e69017c855 843 switch(fid)
lakshya 19:79e69017c855 844 {
lakshya 19:79e69017c855 845 case 0xE0:
lakshya 19:79e69017c855 846 {
lakshya 58:c4203e162d12 847 //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 848 //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 849 float mag_data_comm[3] = {ACS_MM_X_COMSN,ACS_MM_Y_COMSN,ACS_MM_Z_COMSN};
lakshya 58:c4203e162d12 850 float gyro_data_comm[3] = {ACS_MG_X_COMSN,ACS_MG_Y_COMSN,ACS_MG_Z_COMSN};
lakshya 20:949d13045431 851 float moment_comm[3];
lakshya 49:61c9f28332ba 852 gpc.printf("ACS_COMSN SOFTWARE\r\n");
lakshya 19:79e69017c855 853 //ACK_L234_telemetry
lakshya 20:949d13045431 854 ACS_STATE = tc[4];
lakshya 49:61c9f28332ba 855 if(ACS_STATE == 2) // Nominal mode
lakshya 20:949d13045431 856 {
lakshya 49:61c9f28332ba 857 gpc.printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 858 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 859 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 860 for(int i=0; i<3; i++)
lakshya 20:949d13045431 861 {
lakshya 49:61c9f28332ba 862 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 863 }
lakshya 20:949d13045431 864
lakshya 20:949d13045431 865 }
lakshya 49:61c9f28332ba 866 else if(ACS_STATE == 3) // Auto Control
lakshya 20:949d13045431 867 {
lakshya 49:61c9f28332ba 868 gpc.printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 869 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 870 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 871 for(int i=0; i<3; i++)
lakshya 20:949d13045431 872 {
lakshya 49:61c9f28332ba 873 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 874 }
lakshya 20:949d13045431 875 }
lakshya 49:61c9f28332ba 876 else if(ACS_STATE == 4) // Detumbling
lakshya 20:949d13045431 877 {
lakshya 20:949d13045431 878 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 879 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 880 for(int i=0; i<3; i++)
lakshya 20:949d13045431 881 {
lakshya 49:61c9f28332ba 882 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 883 }
lakshya 20:949d13045431 884 }
lakshya 19:79e69017c855 885 else
lakshya 19:79e69017c855 886 {
lakshya 20:949d13045431 887 ACS_STATUS = 7;
lakshya 19:79e69017c855 888 }
lakshya 20:949d13045431 889
lakshya 20:949d13045431 890 // Control algo commissioning
lakshya 39:670133e7ffd8 891 uint16_t moment_ret;
lakshya 49:61c9f28332ba 892 telemetry[0] = 0x78;
lakshya 49:61c9f28332ba 893 telemetry[1] = tc[0];
lakshya 49:61c9f28332ba 894 telemetry[2] = ACK_CODE;
lakshya 39:670133e7ffd8 895 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 896 telemetry[4] = ACS_STATUS;
lakshya 39:670133e7ffd8 897 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 898 telemetry[5] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 899 telemetry[6] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 900 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 901 telemetry[7] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 902 telemetry[8] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 903 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[2]);
lakshya 39:670133e7ffd8 904 telemetry[9] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 905 telemetry[10] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 906
lakshya 39:670133e7ffd8 907 //FCTN_CONVERT_FLOAT(moment_comm[0],&telemetry[4]); //telemetry[4] - telemetry[7]
lakshya 39:670133e7ffd8 908 //FCTN_CONVERT_FLOAT(moment_comm[1],&telemetry[8]); //telemetry[8] - telemetry[11]
lakshya 39:670133e7ffd8 909 //FCTN_CONVERT_FLOAT(moment_comm[2],&telemetry[12]); //telemetry[12] - telemetry[15]
lakshya 19:79e69017c855 910 // to include commission TR as well
lakshya 39:670133e7ffd8 911 for(uint8_t i=11;i<132;i++)
lakshya 19:79e69017c855 912 {
lakshya 19:79e69017c855 913 telemetry[i]=0x00;
lakshya 19:79e69017c855 914 }
lakshya 19:79e69017c855 915 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 916 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 917 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 918 break;
lakshya 19:79e69017c855 919 }
lakshya 19:79e69017c855 920 case 0xE1:
lakshya 19:79e69017c855 921 {
lakshya 49:61c9f28332ba 922 gpc.printf("HARDWARE_COMSN\r\n");
lakshya 19:79e69017c855 923 //ACK_L234_telemetry
lakshya 39:670133e7ffd8 924 uint8_t SENSOR_NO;
lakshya 20:949d13045431 925
lakshya 20:949d13045431 926 int init1=0;
lakshya 20:949d13045431 927 int init2=0;
lakshya 20:949d13045431 928 int data1=0;
lakshya 20:949d13045431 929 int data2=0;
lakshya 39:670133e7ffd8 930
lakshya 39:670133e7ffd8 931 uint16_t assign_val;
lakshya 19:79e69017c855 932
lakshya 20:949d13045431 933 float PWM_tc[3];
Bragadeesh153 54:d6a45982ace1 934 PWM_tc[0]=(float(tc[4]))/256;
Bragadeesh153 54:d6a45982ace1 935 PWM_tc[1]=(float(tc[5]))/256;
Bragadeesh153 54:d6a45982ace1 936 PWM_tc[2]=(float(tc[6]))/256;
lakshya 20:949d13045431 937
lakshya 20:949d13045431 938 DRV_Z_EN = 1;
lakshya 20:949d13045431 939 DRV_XY_EN = 1;
lakshya 49:61c9f28332ba 940 telemetry[0]=0x78;
lakshya 19:79e69017c855 941 telemetry[1]=tc[0];
lakshya 19:79e69017c855 942 telemetry[2]=ACK_CODE;
lakshya 39:670133e7ffd8 943 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 944
lakshya 39:670133e7ffd8 945 SENSOR_NO = 0;
lakshya 19:79e69017c855 946
lakshya 20:949d13045431 947 PWM1 = 0;
lakshya 20:949d13045431 948 PWM2 = 0;
lakshya 20:949d13045431 949 PWM3 = 0;
lakshya 20:949d13045431 950
lakshya 20:949d13045431 951 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 952 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 953 wait_ms(5);
Bragadeesh153 52:daa685b0e390 954 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 955 wait_ms(5);
lakshya 20:949d13045431 956 //will it lead to causing delay in i2c interrupt
lakshya 20:949d13045431 957 init1 = SENSOR_INIT();
lakshya 20:949d13045431 958 if( init1 == 1)
lakshya 20:949d13045431 959 {
lakshya 20:949d13045431 960 data1 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 961 }
Bragadeesh153 52:daa685b0e390 962 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 963 wait_ms(5);
lakshya 20:949d13045431 964 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 965 wait_ms(5);
lakshya 20:949d13045431 966
lakshya 20:949d13045431 967 if(data1 == 0)
lakshya 20:949d13045431 968 {
lakshya 20:949d13045431 969 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 970 wait_ms(5);
lakshya 20:949d13045431 971 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
lakshya 20:949d13045431 972 }
lakshya 20:949d13045431 973 else if(data1==1)
lakshya 20:949d13045431 974 {
lakshya 20:949d13045431 975 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x10;
lakshya 20:949d13045431 976 }
lakshya 20:949d13045431 977 else if(data1==2)
lakshya 20:949d13045431 978 {
lakshya 20:949d13045431 979 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x20;
lakshya 20:949d13045431 980 }
lakshya 20:949d13045431 981 else if(data1==3)
lakshya 20:949d13045431 982 {
lakshya 20:949d13045431 983 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x30;
lakshya 20:949d13045431 984 }
lakshya 39:670133e7ffd8 985
lakshya 39:670133e7ffd8 986 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 987 telemetry[5] = (assign_val>>8);
lakshya 39:670133e7ffd8 988 telemetry[6] = assign_val;
lakshya 39:670133e7ffd8 989
lakshya 39:670133e7ffd8 990 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 991 telemetry[7] = (assign_val>>8);
lakshya 39:670133e7ffd8 992 telemetry[8] = assign_val;
lakshya 39:670133e7ffd8 993
lakshya 39:670133e7ffd8 994 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 995 telemetry[9] = (assign_val>>8);
lakshya 39:670133e7ffd8 996 telemetry[10] = assign_val;
lakshya 39:670133e7ffd8 997
lakshya 39:670133e7ffd8 998 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 999 telemetry[11] = (assign_val>>8);
lakshya 39:670133e7ffd8 1000 telemetry[12] = assign_val;
lakshya 39:670133e7ffd8 1001
lakshya 39:670133e7ffd8 1002 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 1003 telemetry[13] = (assign_val>>8);
lakshya 39:670133e7ffd8 1004 telemetry[14] = assign_val;
lakshya 39:670133e7ffd8 1005
lakshya 39:670133e7ffd8 1006 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 1007 telemetry[15] = (assign_val>>8);
lakshya 39:670133e7ffd8 1008 telemetry[16] = assign_val;
lakshya 39:670133e7ffd8 1009
lakshya 20:949d13045431 1010 init2 = SENSOR_INIT();
lakshya 20:949d13045431 1011 if( init2 == 1)
lakshya 20:949d13045431 1012 {
lakshya 20:949d13045431 1013 data2 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1014 }
lakshya 39:670133e7ffd8 1015 //uint8_t ats_data=1;
lakshya 19:79e69017c855 1016
lakshya 20:949d13045431 1017 if(data2 == 0)
lakshya 20:949d13045431 1018 {
lakshya 20:949d13045431 1019 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1020 wait_ms(5);
lakshya 20:949d13045431 1021 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x0C;
lakshya 39:670133e7ffd8 1022 SENSOR_NO = 0;
lakshya 20:949d13045431 1023 if(data1 == 2)
lakshya 20:949d13045431 1024 {
Bragadeesh153 52:daa685b0e390 1025 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1026 wait_ms(5);
lakshya 20:949d13045431 1027 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1028 SENSOR_NO = 1;
lakshya 20:949d13045431 1029 }
lakshya 20:949d13045431 1030 else if(data1 == 3)
lakshya 20:949d13045431 1031 {
Bragadeesh153 52:daa685b0e390 1032 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1033 wait_ms(5);
lakshya 20:949d13045431 1034 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 39:670133e7ffd8 1035 SENSOR_NO = 1;
lakshya 20:949d13045431 1036 }
lakshya 20:949d13045431 1037 else if(data1 == 1)
lakshya 20:949d13045431 1038 {
Bragadeesh153 52:daa685b0e390 1039 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1040 wait_ms(5);
lakshya 20:949d13045431 1041 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1042 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1043
lakshya 20:949d13045431 1044 }
lakshya 20:949d13045431 1045
lakshya 20:949d13045431 1046 }
lakshya 20:949d13045431 1047 else if(data2==1)
lakshya 20:949d13045431 1048 {
lakshya 20:949d13045431 1049 if(data1 == 2)
lakshya 20:949d13045431 1050 {
lakshya 20:949d13045431 1051 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1052 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1053 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1054 wait_ms(5);
lakshya 20:949d13045431 1055 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1056 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
lakshya 39:670133e7ffd8 1057 SENSOR_NO = 1;
lakshya 20:949d13045431 1058 }
lakshya 20:949d13045431 1059 else if(data1 == 3)
lakshya 20:949d13045431 1060 {
lakshya 20:949d13045431 1061 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1062 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1063 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1064 wait_ms(5);
lakshya 20:949d13045431 1065 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1066 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1067 SENSOR_NO = 1;
lakshya 20:949d13045431 1068 }
lakshya 20:949d13045431 1069 else
lakshya 20:949d13045431 1070 {
lakshya 20:949d13045431 1071 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1072 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1073 //ats_data = 0;
lakshya 20:949d13045431 1074 }
lakshya 20:949d13045431 1075 }
lakshya 20:949d13045431 1076
lakshya 20:949d13045431 1077 else if(data2==2)
lakshya 20:949d13045431 1078 {
lakshya 20:949d13045431 1079 if(data1 == 3)
lakshya 20:949d13045431 1080 {
lakshya 20:949d13045431 1081 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1082 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1083 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1084 wait_ms(5);
lakshya 20:949d13045431 1085 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x02;
lakshya 20:949d13045431 1086 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1087 SENSOR_NO = 1;
lakshya 20:949d13045431 1088 }
lakshya 20:949d13045431 1089 else
lakshya 20:949d13045431 1090 {
lakshya 20:949d13045431 1091 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1092 SENSOR_NO = 2;
lakshya 20:949d13045431 1093 }
lakshya 20:949d13045431 1094 }
lakshya 20:949d13045431 1095 else if(data2==3)
lakshya 20:949d13045431 1096 {
lakshya 20:949d13045431 1097 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 39:670133e7ffd8 1098 SENSOR_NO = 2;
lakshya 20:949d13045431 1099 }
Bragadeesh153 54:d6a45982ace1 1100
Bragadeesh153 54:d6a45982ace1 1101 SENSOR_NO = 1;
lakshya 39:670133e7ffd8 1102 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1103 telemetry[17] = (assign_val>>8);
lakshya 39:670133e7ffd8 1104 telemetry[18] = assign_val;
lakshya 39:670133e7ffd8 1105
lakshya 39:670133e7ffd8 1106 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1107 telemetry[19] = (assign_val>>8);
lakshya 39:670133e7ffd8 1108 telemetry[20] = assign_val;
lakshya 39:670133e7ffd8 1109
lakshya 39:670133e7ffd8 1110 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1111 telemetry[21] = (assign_val>>8);
lakshya 39:670133e7ffd8 1112 telemetry[22] = assign_val;
lakshya 39:670133e7ffd8 1113
lakshya 39:670133e7ffd8 1114 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 1115 telemetry[23] = (assign_val>>8);
lakshya 39:670133e7ffd8 1116 telemetry[24] = assign_val;
lakshya 39:670133e7ffd8 1117
lakshya 39:670133e7ffd8 1118 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 1119 telemetry[25] = (assign_val>>8);
lakshya 39:670133e7ffd8 1120 telemetry[26] = assign_val;
lakshya 39:670133e7ffd8 1121
lakshya 39:670133e7ffd8 1122 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 1123 telemetry[27] = (assign_val>>8);
lakshya 39:670133e7ffd8 1124 telemetry[28] = assign_val;
lakshya 39:670133e7ffd8 1125
lakshya 39:670133e7ffd8 1126 telemetry[4] = ACS_ATS_STATUS;
lakshya 39:670133e7ffd8 1127
lakshya 19:79e69017c855 1128
lakshya 20:949d13045431 1129 SelectLineb3 =0;
lakshya 20:949d13045431 1130 SelectLineb2 =1;
lakshya 20:949d13045431 1131 SelectLineb1 =0;
lakshya 20:949d13045431 1132 SelectLineb0 =1;
lakshya 20:949d13045431 1133 int resistance;
lakshya 20:949d13045431 1134 PWM1 = PWM_tc[0];
lakshya 20:949d13045431 1135 PWM2 = 0;
lakshya 20:949d13045431 1136 PWM3 = 0;
lakshya 20:949d13045431 1137
lakshya 20:949d13045431 1138 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 39:670133e7ffd8 1139 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1140 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1141 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1142 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1143
lakshya 20:949d13045431 1144 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1145 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1146 {
lakshya 20:949d13045431 1147 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1148 }
lakshya 20:949d13045431 1149 else
lakshya 20:949d13045431 1150 {
lakshya 20:949d13045431 1151 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1152 }
lakshya 20:949d13045431 1153
lakshya 20:949d13045431 1154 //to be edited final tele
lakshya 39:670133e7ffd8 1155 //uint16_t assign_val;
lakshya 20:949d13045431 1156 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 20:949d13045431 1157 telemetry[29] = (assign_val>>8);
lakshya 20:949d13045431 1158 telemetry[30] = assign_val;
lakshya 20:949d13045431 1159
lakshya 20:949d13045431 1160 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 20:949d13045431 1161 telemetry[31] = (assign_val>>8);
lakshya 20:949d13045431 1162 telemetry[32] = assign_val;
lakshya 20:949d13045431 1163
lakshya 20:949d13045431 1164 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 20:949d13045431 1165 telemetry[33] = (assign_val>>8);
lakshya 20:949d13045431 1166 telemetry[34] = assign_val;
lakshya 20:949d13045431 1167
lakshya 20:949d13045431 1168 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 20:949d13045431 1169 telemetry[35] = (assign_val>>8);
lakshya 20:949d13045431 1170 telemetry[36] = assign_val;
lakshya 20:949d13045431 1171
lakshya 20:949d13045431 1172 PWM1 = 0;
lakshya 20:949d13045431 1173 PWM2 = PWM_tc[1];
lakshya 20:949d13045431 1174 PWM3 = 0;
lakshya 20:949d13045431 1175
lakshya 20:949d13045431 1176 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1177
lakshya 39:670133e7ffd8 1178 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1179 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1180 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1181 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1182
lakshya 20:949d13045431 1183
lakshya 20:949d13045431 1184 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1185 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1186 {
lakshya 20:949d13045431 1187 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1188 }
lakshya 20:949d13045431 1189 else
lakshya 20:949d13045431 1190 {
lakshya 20:949d13045431 1191 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1192 }
lakshya 39:670133e7ffd8 1193
lakshya 39:670133e7ffd8 1194 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1195 telemetry[37] = (assign_val>>8);
lakshya 39:670133e7ffd8 1196 telemetry[38] = assign_val;
lakshya 39:670133e7ffd8 1197
lakshya 39:670133e7ffd8 1198 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1199 telemetry[39] = (assign_val>>8);
lakshya 39:670133e7ffd8 1200 telemetry[40] = assign_val;
lakshya 39:670133e7ffd8 1201
lakshya 39:670133e7ffd8 1202 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1203 telemetry[41] = (assign_val>>8);
lakshya 39:670133e7ffd8 1204 telemetry[42] = assign_val;
lakshya 39:670133e7ffd8 1205
lakshya 39:670133e7ffd8 1206 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1207 telemetry[43] = (assign_val>>8);
lakshya 39:670133e7ffd8 1208 telemetry[44] = assign_val;
lakshya 20:949d13045431 1209
lakshya 20:949d13045431 1210 PWM1 = 0;
lakshya 20:949d13045431 1211 PWM2 = 0;
lakshya 20:949d13045431 1212 PWM3 = PWM_tc[2];
lakshya 20:949d13045431 1213
lakshya 20:949d13045431 1214 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1215
lakshya 39:670133e7ffd8 1216 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1217 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1218 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1219 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1220
lakshya 20:949d13045431 1221 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1222 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1223 {
lakshya 20:949d13045431 1224 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1225 }
lakshya 20:949d13045431 1226 else
lakshya 20:949d13045431 1227 {
lakshya 20:949d13045431 1228 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1229 }
lakshya 39:670133e7ffd8 1230 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1231 telemetry[45] = (assign_val>>8);
lakshya 39:670133e7ffd8 1232 telemetry[46] = assign_val;
lakshya 39:670133e7ffd8 1233
lakshya 39:670133e7ffd8 1234 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1235 telemetry[47] = (assign_val>>8);
lakshya 39:670133e7ffd8 1236 telemetry[48] = assign_val;
lakshya 20:949d13045431 1237
lakshya 39:670133e7ffd8 1238 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1239 telemetry[49] = (assign_val>>8);
lakshya 39:670133e7ffd8 1240 telemetry[50] = assign_val;
lakshya 39:670133e7ffd8 1241
lakshya 39:670133e7ffd8 1242 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1243 telemetry[51] = (assign_val>>8);
lakshya 39:670133e7ffd8 1244 telemetry[52] = assign_val;
lakshya 39:670133e7ffd8 1245
lakshya 20:949d13045431 1246 PWM1 = 0;
lakshya 20:949d13045431 1247 PWM2 = 0;
lakshya 20:949d13045431 1248 PWM3 = 0;
lakshya 20:949d13045431 1249
lakshya 20:949d13045431 1250 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1251
lakshya 39:670133e7ffd8 1252 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1253 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1254 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1255 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1256
lakshya 20:949d13045431 1257 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1258 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1259 {
lakshya 20:949d13045431 1260 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1261 }
lakshya 20:949d13045431 1262 else
lakshya 20:949d13045431 1263 {
lakshya 20:949d13045431 1264 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1265 }
lakshya 39:670133e7ffd8 1266
lakshya 39:670133e7ffd8 1267 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1268 telemetry[53] = (assign_val>>8);
lakshya 39:670133e7ffd8 1269 telemetry[54] = assign_val;
lakshya 39:670133e7ffd8 1270
lakshya 39:670133e7ffd8 1271 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1272 telemetry[55] = (assign_val>>8);
lakshya 39:670133e7ffd8 1273 telemetry[56] = assign_val;
lakshya 39:670133e7ffd8 1274
lakshya 39:670133e7ffd8 1275 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1276 telemetry[57] = (assign_val>>8);
lakshya 39:670133e7ffd8 1277 telemetry[58] = assign_val;
lakshya 20:949d13045431 1278
lakshya 20:949d13045431 1279 // for(int i=0; i<12; i++)
lakshya 20:949d13045431 1280 // FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&telemetry[16 + (i*4)]);
lakshya 20:949d13045431 1281
lakshya 20:949d13045431 1282 // FCTN_ATS_DATA_ACQ(); //get data
lakshya 19:79e69017c855 1283
lakshya 20:949d13045431 1284 // to include commission TR as well
lakshya 39:670133e7ffd8 1285
lakshya 49:61c9f28332ba 1286 telemetry[59] = SENSOR_NO;
lakshya 39:670133e7ffd8 1287
lakshya 39:670133e7ffd8 1288 for(uint8_t i=60;i<132;i++)
lakshya 19:79e69017c855 1289 {
lakshya 20:949d13045431 1290 telemetry[i]=0x00;
lakshya 19:79e69017c855 1291 }
lakshya 19:79e69017c855 1292
lakshya 19:79e69017c855 1293 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 1294 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 1295 telemetry[133] = (uint8_t)(crc16&0x00FF);
Bragadeesh153 56:32b1fb074138 1296
Bragadeesh153 56:32b1fb074138 1297 if(data1 == 0)
Bragadeesh153 56:32b1fb074138 1298 {
Bragadeesh153 56:32b1fb074138 1299 ATS1_SW_ENABLE = 0;
Bragadeesh153 56:32b1fb074138 1300 //wait_ms(5);
Bragadeesh153 56:32b1fb074138 1301 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
Bragadeesh153 56:32b1fb074138 1302 }
Bragadeesh153 56:32b1fb074138 1303 else if(data1==1)
Bragadeesh153 56:32b1fb074138 1304 {
Bragadeesh153 56:32b1fb074138 1305 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1306 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x40;
Bragadeesh153 56:32b1fb074138 1307 }
Bragadeesh153 56:32b1fb074138 1308 else if(data1==2)
Bragadeesh153 56:32b1fb074138 1309 {
Bragadeesh153 56:32b1fb074138 1310 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1311 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
Bragadeesh153 56:32b1fb074138 1312 }
Bragadeesh153 56:32b1fb074138 1313 else if(data1==3)
Bragadeesh153 56:32b1fb074138 1314 {
Bragadeesh153 56:32b1fb074138 1315 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1316 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
Bragadeesh153 56:32b1fb074138 1317 }
Bragadeesh153 56:32b1fb074138 1318 printf("Exited HW\r\n");
lakshya 19:79e69017c855 1319 break;
lakshya 19:79e69017c855 1320 }
lakshya 19:79e69017c855 1321 case 0xE2:
lakshya 19:79e69017c855 1322 {
lakshya 20:949d13045431 1323 uint8_t BCN_SPND_STATE;
lakshya 20:949d13045431 1324 BCN_SPND_STATE=tc[4];
lakshya 20:949d13045431 1325 if(BCN_SPND_STATE==0x00)
lakshya 19:79e69017c855 1326 {
lakshya 20:949d13045431 1327 BCN_SPND_TX=0;
lakshya 19:79e69017c855 1328 //stop BCN_STANDBY_TIMER.stop();//create
lakshya 19:79e69017c855 1329 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1330 }
lakshya 20:949d13045431 1331 else if(BCN_SPND_STATE==0x01)
lakshya 19:79e69017c855 1332 {
lakshya 33:76f2b8735501 1333 FCTN_BCN_SPND_TX();
lakshya 19:79e69017c855 1334 //stop BCN_STANDBY_TIMER.start();//create
lakshya 19:79e69017c855 1335 if(BCN_TX_MAIN_STATUS==0)
lakshya 19:79e69017c855 1336 {
lakshya 19:79e69017c855 1337 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1338 }
lakshya 19:79e69017c855 1339 else if(BCN_TX_MAIN_STATUS==1)
lakshya 19:79e69017c855 1340 {
lakshya 19:79e69017c855 1341 telemetry[2]=0xC0;
lakshya 19:79e69017c855 1342 }
lakshya 19:79e69017c855 1343 }
lakshya 19:79e69017c855 1344 else
lakshya 19:79e69017c855 1345 {
lakshya 19:79e69017c855 1346 telemetry[2]=0x02;
lakshya 19:79e69017c855 1347 }
lakshya 19:79e69017c855 1348 //ACK_L234_telemetry
lakshya 19:79e69017c855 1349 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1350 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1351 //ack_code taken care above
lakshya 19:79e69017c855 1352 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1353 {
lakshya 19:79e69017c855 1354 telemetry[i]=0x00;
lakshya 19:79e69017c855 1355 }
lakshya 19:79e69017c855 1356 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1357 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1358 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1359 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1360 {
lakshya 19:79e69017c855 1361 telemetry[i]=0x00;
lakshya 19:79e69017c855 1362 }
lakshya 19:79e69017c855 1363 break;
lakshya 19:79e69017c855 1364 }
lakshya 20:949d13045431 1365 case 0xE3:
lakshya 20:949d13045431 1366 {
lakshya 20:949d13045431 1367 if(EPS_BTRY_HTR_AUTO != 0)
lakshya 20:949d13045431 1368 telemetry[2]=0x87;
lakshya 20:949d13045431 1369 else
lakshya 20:949d13045431 1370 {
lakshya 20:949d13045431 1371 HTR_CYCLE_COUNTS = tc[4];
lakshya 20:949d13045431 1372 if(HTR_CYCLE_COUNTS==0x00)
lakshya 20:949d13045431 1373 {
lakshya 33:76f2b8735501 1374 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 1375 HTR_CYCLE->stop();
lakshya 20:949d13045431 1376 //clear EPS_BTRY_HTR is it
lakshya 20:949d13045431 1377 EPS_BTRY_HTR_AUTO = 0;
lakshya 20:949d13045431 1378
lakshya 20:949d13045431 1379 }
lakshya 20:949d13045431 1380 else
lakshya 20:949d13045431 1381 {
lakshya 20:949d13045431 1382 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 1383 {
lakshya 20:949d13045431 1384 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 1385 }
lakshya 20:949d13045431 1386 //uint8_t HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1387 HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1388 HTR_ON_DURATION = tc[6];
lakshya 20:949d13045431 1389
lakshya 20:949d13045431 1390 //make it uint16_t
lakshya 20:949d13045431 1391 HTR_CYCLE_PERIOD = (tc[7]<<8) | tc[8];
lakshya 20:949d13045431 1392 //start BTRY_HTR_DLY_TIMER;
lakshya 20:949d13045431 1393 }
lakshya 20:949d13045431 1394 telemetry[2]=0xA0;
lakshya 20:949d13045431 1395 }
lakshya 20:949d13045431 1396 //ACK_L234_telemetry
lakshya 20:949d13045431 1397 telemetry[0]=0xB0;
lakshya 20:949d13045431 1398 telemetry[1]=tc[0];
lakshya 20:949d13045431 1399 //ACK code taken care of
lakshya 20:949d13045431 1400 for(uint8_t i=3;i<11;i++)
lakshya 20:949d13045431 1401 {
lakshya 20:949d13045431 1402 telemetry[i]=0x00;
lakshya 20:949d13045431 1403 }
lakshya 20:949d13045431 1404 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 20:949d13045431 1405 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 20:949d13045431 1406 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 20:949d13045431 1407 for(uint8_t i=13;i<134;i++)
lakshya 20:949d13045431 1408 {
lakshya 20:949d13045431 1409 telemetry[i]=0x00;
lakshya 20:949d13045431 1410 }
lakshya 20:949d13045431 1411
lakshya 20:949d13045431 1412 break;
lakshya 20:949d13045431 1413 }
lakshya 19:79e69017c855 1414 case 0x01:
lakshya 19:79e69017c855 1415 { if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1416 {
lakshya 49:61c9f28332ba 1417 gpc.printf("\n\rRun P_EPS_INIT");
lakshya 19:79e69017c855 1418 FCTN_EPS_INIT();
lakshya 19:79e69017c855 1419 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1420 }
lakshya 19:79e69017c855 1421 else
lakshya 19:79e69017c855 1422 {
lakshya 49:61c9f28332ba 1423 gpc.printf("\n\runable to Run P_EPS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1424 telemetry[2]=0x87;
lakshya 19:79e69017c855 1425 }
lakshya 19:79e69017c855 1426
lakshya 19:79e69017c855 1427 //ACK_L234_telemetry
lakshya 19:79e69017c855 1428 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1429 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1430 //ACK code taken care of
lakshya 19:79e69017c855 1431 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1432 {
lakshya 19:79e69017c855 1433 telemetry[i]=0x00;
lakshya 19:79e69017c855 1434 }
lakshya 19:79e69017c855 1435 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1436 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1437 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1438 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1439 {
lakshya 19:79e69017c855 1440 telemetry[i]=0x00;
lakshya 19:79e69017c855 1441 }
lakshya 19:79e69017c855 1442
lakshya 19:79e69017c855 1443 break;
lakshya 19:79e69017c855 1444 }
lakshya 19:79e69017c855 1445 case 0x02:
lakshya 19:79e69017c855 1446 {
lakshya 19:79e69017c855 1447 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1448 {
lakshya 49:61c9f28332ba 1449 gpc.printf("\n\rRun P_EPS_MAIN");
lakshya 19:79e69017c855 1450 F_EPS();
lakshya 19:79e69017c855 1451 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1452 }
lakshya 19:79e69017c855 1453 else
lakshya 19:79e69017c855 1454 {
lakshya 49:61c9f28332ba 1455 gpc.printf("\n\runable to Run P_EPS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1456 telemetry[2]=0x87;
lakshya 19:79e69017c855 1457 }
lakshya 19:79e69017c855 1458
lakshya 19:79e69017c855 1459 //ACK_L234_telemetry
lakshya 19:79e69017c855 1460 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1461 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1462 //ACK code taken care of
lakshya 19:79e69017c855 1463 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1464 {
lakshya 19:79e69017c855 1465 telemetry[i]=0x00;
lakshya 19:79e69017c855 1466 }
lakshya 19:79e69017c855 1467 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1468 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1469 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1470 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1471 {
lakshya 19:79e69017c855 1472 telemetry[i]=0x00;
lakshya 19:79e69017c855 1473 }
lakshya 19:79e69017c855 1474 break;
lakshya 19:79e69017c855 1475 }
lakshya 19:79e69017c855 1476 case 0x03:
lakshya 19:79e69017c855 1477 {
lakshya 19:79e69017c855 1478 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1479 {
lakshya 49:61c9f28332ba 1480 gpc.printf("\n\rRun P_ACS_INIT");
lakshya 19:79e69017c855 1481 FCTN_ACS_INIT();
lakshya 19:79e69017c855 1482 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1483 }
lakshya 19:79e69017c855 1484 else
lakshya 19:79e69017c855 1485 {
lakshya 49:61c9f28332ba 1486 gpc.printf("\n\runable to Run P_ACS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1487 telemetry[2]=0x87;
lakshya 19:79e69017c855 1488 }
lakshya 19:79e69017c855 1489
lakshya 19:79e69017c855 1490 //ACK_L234_telemetry
lakshya 19:79e69017c855 1491 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1492 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1493 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1494 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1495 {
lakshya 19:79e69017c855 1496 telemetry[i]=0x00;
lakshya 19:79e69017c855 1497 }
lakshya 19:79e69017c855 1498 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1499 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1500 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1501 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1502 {
lakshya 19:79e69017c855 1503 telemetry[i]=0x00;
lakshya 19:79e69017c855 1504 }
lakshya 19:79e69017c855 1505 break;
lakshya 19:79e69017c855 1506 }
lakshya 19:79e69017c855 1507 case 0x05:
lakshya 19:79e69017c855 1508 {
lakshya 19:79e69017c855 1509 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1510 {
lakshya 49:61c9f28332ba 1511 gpc.printf("\n\rRun P_ACS_MAIN");
lakshya 19:79e69017c855 1512 F_ACS();
lakshya 19:79e69017c855 1513 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1514 }
lakshya 19:79e69017c855 1515 else
lakshya 19:79e69017c855 1516 {
lakshya 49:61c9f28332ba 1517 gpc.printf("\n\runable to Run P_ACS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1518 telemetry[2]=0x87;
lakshya 19:79e69017c855 1519 }
lakshya 19:79e69017c855 1520
lakshya 19:79e69017c855 1521 //ACK_L234_TM
lakshya 19:79e69017c855 1522 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1523 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1524 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1525 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1526 {
lakshya 19:79e69017c855 1527 telemetry[i]=0x00;
lakshya 19:79e69017c855 1528 }
lakshya 19:79e69017c855 1529
lakshya 19:79e69017c855 1530 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1531 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1532 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1533 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1534 {
lakshya 19:79e69017c855 1535 telemetry[i]=0x00;
lakshya 19:79e69017c855 1536 }
lakshya 19:79e69017c855 1537 break;
lakshya 19:79e69017c855 1538 }
lakshya 19:79e69017c855 1539 case 0x06:
lakshya 19:79e69017c855 1540 {
lakshya 19:79e69017c855 1541 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1542 {
lakshya 49:61c9f28332ba 1543 gpc.printf("\n\rRun P_BCN_INIT");
lakshya 19:79e69017c855 1544 F_BCN();
lakshya 19:79e69017c855 1545 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1546 }
lakshya 19:79e69017c855 1547 else
lakshya 19:79e69017c855 1548 {
lakshya 49:61c9f28332ba 1549 gpc.printf("\n\runable to Run P_BCN_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1550 telemetry[2]=0x87;
lakshya 19:79e69017c855 1551 }
lakshya 19:79e69017c855 1552
lakshya 19:79e69017c855 1553 //ACK_L234_TM
lakshya 19:79e69017c855 1554 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1555 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1556 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1557 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1558 {
lakshya 19:79e69017c855 1559 telemetry[i]=0x00;
lakshya 19:79e69017c855 1560 }
lakshya 19:79e69017c855 1561 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1562 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1563 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1564 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1565 {
lakshya 19:79e69017c855 1566 telemetry[i]=0x00;
lakshya 19:79e69017c855 1567 }
lakshya 19:79e69017c855 1568 break;
lakshya 19:79e69017c855 1569 }
lakshya 19:79e69017c855 1570 case 0x07:
lakshya 19:79e69017c855 1571 {
lakshya 19:79e69017c855 1572 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1573 {
lakshya 49:61c9f28332ba 1574 gpc.printf("\n\rRun P_BCN_TX_MAIN");
lakshya 19:79e69017c855 1575 FCTN_BCN_TX_MAIN();//correct function check once
lakshya 19:79e69017c855 1576 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1577 }
lakshya 19:79e69017c855 1578 else
lakshya 19:79e69017c855 1579 {
lakshya 49:61c9f28332ba 1580 gpc.printf("\n\runable to Run P_BCN_TX_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1581 telemetry[2]=0x87;
lakshya 19:79e69017c855 1582 }
lakshya 19:79e69017c855 1583
lakshya 19:79e69017c855 1584 //ACK_L234_TM
lakshya 19:79e69017c855 1585 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1586 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1587 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1588 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1589 {
lakshya 19:79e69017c855 1590 telemetry[i]=0x00;
lakshya 19:79e69017c855 1591 }
lakshya 19:79e69017c855 1592 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1593 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1594 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1595 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1596 {
lakshya 19:79e69017c855 1597 telemetry[i]=0x00;
lakshya 19:79e69017c855 1598 }
lakshya 19:79e69017c855 1599 break;
lakshya 19:79e69017c855 1600 }
lakshya 19:79e69017c855 1601 case 0x11:
lakshya 19:79e69017c855 1602 {
lakshya 49:61c9f28332ba 1603 gpc.printf("\n\rSW_ON_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1604 //ACK_L234_TM
lakshya 19:79e69017c855 1605 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1606 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1607 //____________________________________________************************************
lakshya 19:79e69017c855 1608 /*
lakshya 19:79e69017c855 1609 ATS PIN OR STATUS YET TO BE DECIDED. DECIDED THAT IT IS PIN TC CAN SWITCH ON/OFF THE SENSOR
lakshya 19:79e69017c855 1610 */
lakshya 19:79e69017c855 1611 ATS2_SW_ENABLE = 1; // making sure we switch off the other
lakshya 39:670133e7ffd8 1612 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 39:670133e7ffd8 1613 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0) | 0x0C ;
Bragadeesh153 52:daa685b0e390 1614 ATS1_SW_ENABLE = 1;
lakshya 39:670133e7ffd8 1615 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F);
lakshya 39:670133e7ffd8 1616 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F)|0x40;
lakshya 19:79e69017c855 1617 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1618 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1619 {
lakshya 19:79e69017c855 1620 telemetry[i]=0x00;
lakshya 19:79e69017c855 1621 }
lakshya 19:79e69017c855 1622 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1623 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1624 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1625 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1626 {
lakshya 19:79e69017c855 1627 telemetry[i]=0x00;
lakshya 19:79e69017c855 1628 }
lakshya 19:79e69017c855 1629 break;
lakshya 19:79e69017c855 1630 }
lakshya 19:79e69017c855 1631 case 0x12:
lakshya 19:79e69017c855 1632 {
lakshya 49:61c9f28332ba 1633 gpc.printf("\n\rSW_ON_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1634 //ACK_L234_TM
lakshya 19:79e69017c855 1635 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1636 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1637 ATS1_SW_ENABLE = 0; //make sure u switch off the other
lakshya 39:670133e7ffd8 1638 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F) | 0xC0 ;
lakshya 19:79e69017c855 1639 ATS2_SW_ENABLE = 0;
lakshya 39:670133e7ffd8 1640 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0)|0x04;
lakshya 19:79e69017c855 1641 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1642 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1643 {
lakshya 19:79e69017c855 1644 telemetry[i]=0x00;
lakshya 19:79e69017c855 1645 }
lakshya 19:79e69017c855 1646 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1647 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1648 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1649 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1650 {
lakshya 19:79e69017c855 1651 telemetry[i]=0x00;
lakshya 19:79e69017c855 1652 }
lakshya 19:79e69017c855 1653 break;
lakshya 19:79e69017c855 1654 }
lakshya 19:79e69017c855 1655 case 0x13:
lakshya 19:79e69017c855 1656 {
lakshya 49:61c9f28332ba 1657 gpc.printf("\n\rSW_ON_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1658 //ACK_L234_TM
lakshya 19:79e69017c855 1659 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1660 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1661 DRV_XY_EN = 1;//1 SWITCH enable here
Bragadeesh153 52:daa685b0e390 1662 ACS_TR_XY_ENABLE = 1;
lakshya 19:79e69017c855 1663 ACS_TR_XY_SW_STATUS=0x01;
lakshya 19:79e69017c855 1664 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1665 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1666 {
lakshya 19:79e69017c855 1667 telemetry[i]=0x00;
lakshya 19:79e69017c855 1668 }
lakshya 19:79e69017c855 1669 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1670 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1671 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1672 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1673 {
lakshya 19:79e69017c855 1674 telemetry[i]=0x00;
lakshya 19:79e69017c855 1675 }
lakshya 19:79e69017c855 1676 break;
lakshya 19:79e69017c855 1677 }
lakshya 19:79e69017c855 1678 case 0x14:
lakshya 19:79e69017c855 1679 {
lakshya 49:61c9f28332ba 1680 gpc.printf("\n\rSW_ON_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1681 //ACK_L234_TM
lakshya 19:79e69017c855 1682 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1683 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1684 DRV_Z_EN = 1;
Bragadeesh153 52:daa685b0e390 1685 ACS_TR_Z_ENABLE = 1;
lakshya 19:79e69017c855 1686 ACS_TR_Z_SW_STATUS=0x01;
lakshya 19:79e69017c855 1687 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1688 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1689 {
lakshya 19:79e69017c855 1690 telemetry[i]=0x00;
lakshya 19:79e69017c855 1691 }
lakshya 19:79e69017c855 1692 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1693 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1694 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1695 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1696 {
lakshya 19:79e69017c855 1697 telemetry[i]=0x00;
lakshya 19:79e69017c855 1698 }
lakshya 19:79e69017c855 1699 break;
lakshya 19:79e69017c855 1700 }
lakshya 19:79e69017c855 1701 case 0x15:
lakshya 19:79e69017c855 1702 {
lakshya 49:61c9f28332ba 1703 gpc.printf("\n\rSW_ON_BCN_TX_SW_ENABLE");
lakshya 19:79e69017c855 1704 //ACK_L234_TM
lakshya 19:79e69017c855 1705 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1706 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1707 BCN_SW = 0;//here 0 is switch enable
lakshya 19:79e69017c855 1708 BCN_TX_SW_ENABLE=0x01;
lakshya 19:79e69017c855 1709 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1710 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1711 {
lakshya 19:79e69017c855 1712 telemetry[i]=0x00;
lakshya 19:79e69017c855 1713 }
lakshya 19:79e69017c855 1714 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1715 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1716 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1717 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1718 {
lakshya 19:79e69017c855 1719 telemetry[i]=0x00;
lakshya 19:79e69017c855 1720 }
lakshya 19:79e69017c855 1721 break;
lakshya 19:79e69017c855 1722 }
lakshya 19:79e69017c855 1723 case 0x21:
lakshya 19:79e69017c855 1724 {
lakshya 49:61c9f28332ba 1725 gpc.printf("\n\rSW_OFF_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1726 //ACK_L234_TM
lakshya 19:79e69017c855 1727 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1728 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1729 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1730 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F) | 0xC0 ;
lakshya 19:79e69017c855 1731 telemetry[2]=ACK_CODE;
lakshya 49:61c9f28332ba 1732
lakshya 49:61c9f28332ba 1733 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1734 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 49:61c9f28332ba 1735 FLASH_DATA = (FLASH_DATA | 0xC0000000);
lakshya 49:61c9f28332ba 1736 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1737
lakshya 19:79e69017c855 1738 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1739 {
lakshya 19:79e69017c855 1740 telemetry[i]=0x00;
lakshya 19:79e69017c855 1741 }
lakshya 19:79e69017c855 1742 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1743 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1744 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1745 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1746 {
lakshya 19:79e69017c855 1747 telemetry[i]=0x00;
lakshya 19:79e69017c855 1748 }
lakshya 19:79e69017c855 1749 break;
lakshya 19:79e69017c855 1750 }
lakshya 19:79e69017c855 1751 case 0x22:
lakshya 19:79e69017c855 1752 {
lakshya 49:61c9f28332ba 1753 gpc.printf("\n\rSW_OFF_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1754 //ACK_L234_TM
lakshya 19:79e69017c855 1755 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1756 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1757 ATS2_SW_ENABLE = 1;
lakshya 49:61c9f28332ba 1758
lakshya 49:61c9f28332ba 1759 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1760 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 49:61c9f28332ba 1761 FLASH_DATA = (FLASH_DATA | 0x0C000000);
lakshya 49:61c9f28332ba 1762 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1763
lakshya 20:949d13045431 1764 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 19:79e69017c855 1765 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1766 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1767 {
lakshya 19:79e69017c855 1768 telemetry[i]=0x00;
lakshya 19:79e69017c855 1769 }
lakshya 19:79e69017c855 1770 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1771 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1772 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1773 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1774 {
lakshya 19:79e69017c855 1775 telemetry[i]=0x00;
lakshya 19:79e69017c855 1776 }
lakshya 19:79e69017c855 1777 break;
lakshya 19:79e69017c855 1778 }
lakshya 19:79e69017c855 1779 case 0x23:
lakshya 19:79e69017c855 1780 {
lakshya 49:61c9f28332ba 1781 gpc.printf("\n\rSW_OFF_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1782 //ACK_L234_TM
lakshya 19:79e69017c855 1783 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1784 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1785 ACS_TR_XY_ENABLE = 0;
lakshya 19:79e69017c855 1786 ACS_TR_XY_SW_STATUS=0x03;
lakshya 19:79e69017c855 1787 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1788 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1789 {
lakshya 19:79e69017c855 1790 telemetry[i]=0x00;
lakshya 19:79e69017c855 1791 }
lakshya 19:79e69017c855 1792 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1793 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1794 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1795 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1796 {
lakshya 19:79e69017c855 1797 telemetry[i]=0x00;
lakshya 19:79e69017c855 1798 }
lakshya 19:79e69017c855 1799 break;
lakshya 19:79e69017c855 1800 }
lakshya 19:79e69017c855 1801 case 0x24:
lakshya 19:79e69017c855 1802 {
lakshya 49:61c9f28332ba 1803 gpc.printf("\n\rSW_OFF_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1804 //ACK_L234_TM
lakshya 19:79e69017c855 1805 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1806 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1807 ACS_TR_Z_ENABLE = 0;
lakshya 19:79e69017c855 1808 ACS_TR_Z_SW_STATUS=0x03;
lakshya 19:79e69017c855 1809 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1810 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1811 {
lakshya 19:79e69017c855 1812 telemetry[i]=0x00;
lakshya 19:79e69017c855 1813 }
lakshya 19:79e69017c855 1814 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1815 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1816 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1817 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1818 {
lakshya 19:79e69017c855 1819 telemetry[i]=0x00;
lakshya 19:79e69017c855 1820 }
lakshya 19:79e69017c855 1821 break;
lakshya 19:79e69017c855 1822 }
lakshya 19:79e69017c855 1823 case 0x25:
lakshya 19:79e69017c855 1824 {
lakshya 49:61c9f28332ba 1825 gpc.printf("\n\rSW_OFF_BCN_TX_SW_ENABLE");
lakshya 19:79e69017c855 1826 //ACK_L234_TM
lakshya 19:79e69017c855 1827 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1828 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1829 BCN_SW = 1;
lakshya 19:79e69017c855 1830 BCN_TX_SW_ENABLE=0x03;
lakshya 19:79e69017c855 1831 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1832 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1833 {
lakshya 19:79e69017c855 1834 telemetry[i]=0x00;
lakshya 19:79e69017c855 1835 }
lakshya 19:79e69017c855 1836 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1837 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1838 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1839 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1840 {
lakshya 19:79e69017c855 1841 telemetry[i]=0x00;
lakshya 19:79e69017c855 1842 }
lakshya 19:79e69017c855 1843 break;
lakshya 19:79e69017c855 1844 }
lakshya 19:79e69017c855 1845 case 0x31:
lakshya 19:79e69017c855 1846 {
lakshya 49:61c9f28332ba 1847 gpc.printf("\n\rACS_ATS1_SW_RESET");
lakshya 19:79e69017c855 1848 //ACK_L234_TM
lakshya 19:79e69017c855 1849 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1850 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1851 ATS2_SW_ENABLE = 1;//as ats switched off
Bragadeesh153 52:daa685b0e390 1852 ATS1_SW_ENABLE = 0;
lakshya 19:79e69017c855 1853 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1854 ATS1_SW_ENABLE = 1;
lakshya 19:79e69017c855 1855 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1856 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1857 {
lakshya 19:79e69017c855 1858 telemetry[i]=0x00;
lakshya 19:79e69017c855 1859 }
lakshya 19:79e69017c855 1860 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1861 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1862 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1863 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1864 {
lakshya 19:79e69017c855 1865 telemetry[i]=0x00;
lakshya 19:79e69017c855 1866 }
lakshya 19:79e69017c855 1867 break;
lakshya 19:79e69017c855 1868 }
lakshya 19:79e69017c855 1869 case 0x32:
lakshya 19:79e69017c855 1870 {
lakshya 49:61c9f28332ba 1871 gpc.printf("\n\rACS_ATS2_SW_RESET");
lakshya 19:79e69017c855 1872 //ACK_L234_TM
lakshya 19:79e69017c855 1873 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1874 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1875 ATS1_SW_ENABLE = 0;//as ats1 switched off
lakshya 19:79e69017c855 1876 ATS2_SW_ENABLE = 1;
lakshya 19:79e69017c855 1877 wait_ms(5);
lakshya 19:79e69017c855 1878 ATS2_SW_ENABLE = 0;
lakshya 19:79e69017c855 1879 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1880 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1881 {
lakshya 19:79e69017c855 1882 telemetry[i]=0x00;
lakshya 19:79e69017c855 1883 }
lakshya 19:79e69017c855 1884 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1885 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1886 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1887 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1888 {
lakshya 19:79e69017c855 1889 telemetry[i]=0x00;
lakshya 19:79e69017c855 1890 }
lakshya 19:79e69017c855 1891 break;
lakshya 19:79e69017c855 1892 }
lakshya 19:79e69017c855 1893 case 0x33:
lakshya 19:79e69017c855 1894 {
lakshya 49:61c9f28332ba 1895 gpc.printf("\n\rACS_TR_XY_SW_RESET");
lakshya 19:79e69017c855 1896 //ACK_L234_TM
lakshya 19:79e69017c855 1897 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1898 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1899 ACS_TR_XY_ENABLE= 0;
lakshya 19:79e69017c855 1900 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1901 ACS_TR_XY_ENABLE= 1;
lakshya 19:79e69017c855 1902 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1903 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1904 {
lakshya 19:79e69017c855 1905 telemetry[i]=0x00;
lakshya 19:79e69017c855 1906 }
lakshya 19:79e69017c855 1907 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1908 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1909 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1910 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1911 {
lakshya 19:79e69017c855 1912 telemetry[i]=0x00;
lakshya 19:79e69017c855 1913 }
lakshya 19:79e69017c855 1914 break;
lakshya 19:79e69017c855 1915 }
lakshya 19:79e69017c855 1916 case 0x34:
lakshya 19:79e69017c855 1917 {
lakshya 49:61c9f28332ba 1918 gpc.printf("\n\rACS_TR_Z_SW_RESET");
lakshya 19:79e69017c855 1919 //ACK_L234_TM
lakshya 19:79e69017c855 1920 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1921 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1922 ACS_TR_Z_ENABLE= 0;
lakshya 19:79e69017c855 1923 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1924 ACS_TR_Z_ENABLE= 1;
lakshya 19:79e69017c855 1925 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1926 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1927 {
lakshya 19:79e69017c855 1928 telemetry[i]=0x00;
lakshya 19:79e69017c855 1929 }
lakshya 19:79e69017c855 1930 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1931 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1932 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1933 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1934 {
lakshya 19:79e69017c855 1935 telemetry[i]=0x00;
lakshya 19:79e69017c855 1936 }
lakshya 19:79e69017c855 1937 break;
lakshya 19:79e69017c855 1938 }
lakshya 19:79e69017c855 1939 case 0x35:
lakshya 19:79e69017c855 1940 {
lakshya 49:61c9f28332ba 1941 gpc.printf("\n\rBCN_TX_SW_RESET");
lakshya 19:79e69017c855 1942 //ACK_L234_TM
lakshya 19:79e69017c855 1943 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1944 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1945 BCN_SW = 1;
lakshya 19:79e69017c855 1946 wait_ms(5);
lakshya 19:79e69017c855 1947 BCN_SW = 0;
lakshya 19:79e69017c855 1948 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1949 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1950 {
lakshya 19:79e69017c855 1951 telemetry[i]=0x00;
lakshya 19:79e69017c855 1952 }
lakshya 19:79e69017c855 1953 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1954 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1955 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1956 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1957 {
lakshya 19:79e69017c855 1958 telemetry[i]=0x00;
lakshya 19:79e69017c855 1959 }
lakshya 19:79e69017c855 1960 break;
lakshya 19:79e69017c855 1961 }
lakshya 19:79e69017c855 1962 case 0x36:
lakshya 19:79e69017c855 1963 {
lakshya 49:61c9f28332ba 1964 gpc.printf("\n\rBAE_INTERNAL_RESET TO be done ");
lakshya 20:949d13045431 1965 NVIC_SystemReset();
lakshya 19:79e69017c855 1966 break;
lakshya 19:79e69017c855 1967 }
lakshya 19:79e69017c855 1968 case 0x37:
lakshya 19:79e69017c855 1969 {
lakshya 49:61c9f28332ba 1970 gpc.printf("\n\rCDMS_RESET");
lakshya 19:79e69017c855 1971 //ACK_L234_TM
lakshya 19:79e69017c855 1972 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1973 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1974 CDMS_RESET = 0;
lakshya 19:79e69017c855 1975 wait_ms(5);
lakshya 19:79e69017c855 1976 CDMS_RESET = 1;
lakshya 19:79e69017c855 1977 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1978 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1979 {
lakshya 19:79e69017c855 1980 telemetry[i]=0x00;
lakshya 19:79e69017c855 1981 }
lakshya 19:79e69017c855 1982 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1983 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1984 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1985 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1986 {
lakshya 19:79e69017c855 1987 telemetry[i]=0x00;
lakshya 19:79e69017c855 1988 }
lakshya 19:79e69017c855 1989 break;
lakshya 19:79e69017c855 1990 }
lakshya 49:61c9f28332ba 1991 case 0x38://not in IF present in SBC
lakshya 19:79e69017c855 1992 {
lakshya 49:61c9f28332ba 1993 gpc.printf("\n\rCDMS_SW_RESET pin yet to be decided");
lakshya 19:79e69017c855 1994 //ACK_L234_TM
lakshya 19:79e69017c855 1995 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1996 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1997 /*
lakshya 19:79e69017c855 1998 PIN to be DECIDED***************************************************************8
lakshya 19:79e69017c855 1999 */
lakshya 19:79e69017c855 2000 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2001 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2002 {
lakshya 19:79e69017c855 2003 telemetry[i]=0x00;
lakshya 19:79e69017c855 2004 }
lakshya 19:79e69017c855 2005 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2006 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2007 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2008 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2009 {
lakshya 19:79e69017c855 2010 telemetry[i]=0x00;
lakshya 19:79e69017c855 2011 }
lakshya 19:79e69017c855 2012 break;
lakshya 19:79e69017c855 2013 }
lakshya 49:61c9f28332ba 2014 case 0x40://condition changed by AK47 now 00 means off in TC
lakshya 19:79e69017c855 2015 {
lakshya 19:79e69017c855 2016 uint8_t STANDBY_DATA_TC;
lakshya 19:79e69017c855 2017 BAE_STANDBY=0x00;
lakshya 19:79e69017c855 2018 STANDBY_DATA_TC=tc[4];
lakshya 49:61c9f28332ba 2019 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2020 {
lakshya 19:79e69017c855 2021 BAE_STANDBY |=0x04;
lakshya 19:79e69017c855 2022 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2023 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2024 }
lakshya 19:79e69017c855 2025 STANDBY_DATA_TC=tc[5];
lakshya 49:61c9f28332ba 2026 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2027 {
lakshya 19:79e69017c855 2028 BAE_STANDBY |=0x02;
lakshya 19:79e69017c855 2029 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 19:79e69017c855 2032 STANDBY_DATA_TC=tc[6];
lakshya 49:61c9f28332ba 2033 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2034 {
lakshya 19:79e69017c855 2035 BAE_STANDBY |=0x01;
lakshya 19:79e69017c855 2036 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 19:79e69017c855 2039 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2040 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2041 telemetry[2]=0xC0;//ack_code for this case
lakshya 19:79e69017c855 2042 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2043 {
lakshya 19:79e69017c855 2044 telemetry[i]=0x00;
lakshya 19:79e69017c855 2045 }
lakshya 19:79e69017c855 2046 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2047 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2048 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2049 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2050 {
lakshya 19:79e69017c855 2051 telemetry[i]=0x00;
lakshya 19:79e69017c855 2052 }
lakshya 19:79e69017c855 2053 break;
lakshya 19:79e69017c855 2054 }
lakshya 19:79e69017c855 2055 case 0x41:
lakshya 19:79e69017c855 2056 {
lakshya 49:61c9f28332ba 2057 gpc.printf("\n\rexecutng BAE reset HK counter");
lakshya 20:949d13045431 2058 firstCount=true;
lakshya 20:949d13045431 2059 void minMaxHkData();
lakshya 49:61c9f28332ba 2060
lakshya 19:79e69017c855 2061 //ACK_L234_TM
lakshya 19:79e69017c855 2062 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2063 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2064 telemetry[2]=0x02;
lakshya 19:79e69017c855 2065 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2066 {
lakshya 19:79e69017c855 2067 telemetry[i]=0x00;
lakshya 19:79e69017c855 2068 }
lakshya 19:79e69017c855 2069 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2070 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2071 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2072 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2073 {
lakshya 19:79e69017c855 2074 telemetry[i]=0x00;
lakshya 19:79e69017c855 2075 }
lakshya 19:79e69017c855 2076 break;
lakshya 19:79e69017c855 2077 }
lakshya 19:79e69017c855 2078 default:
lakshya 19:79e69017c855 2079 {
lakshya 49:61c9f28332ba 2080 gpc.printf("\n\rInvalid TC for FMS no matching FID");
lakshya 19:79e69017c855 2081 //ACK_L234_TM
lakshya 19:79e69017c855 2082 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2083 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2084 telemetry[2]=0x02;
lakshya 19:79e69017c855 2085 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2086 {
lakshya 19:79e69017c855 2087 telemetry[i]=0x00;
lakshya 19:79e69017c855 2088 }
lakshya 19:79e69017c855 2089 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2090 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2091 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2092 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2093 {
lakshya 19:79e69017c855 2094 telemetry[i]=0x00;
lakshya 19:79e69017c855 2095 }
lakshya 19:79e69017c855 2096 break;
lakshya 19:79e69017c855 2097 }
lakshya 19:79e69017c855 2098 }
lakshya 19:79e69017c855 2099 break;
lakshya 19:79e69017c855 2100 }
lakshya 19:79e69017c855 2101 default:
lakshya 19:79e69017c855 2102 {
lakshya 49:61c9f28332ba 2103 gpc.printf("\n\rInvalid TC, FMS service subtype mismacth");
lakshya 19:79e69017c855 2104 //ACK_L234_TM
lakshya 19:79e69017c855 2105 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2106 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2107 telemetry[2]=0x02;
lakshya 19:79e69017c855 2108 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2109 {
lakshya 19:79e69017c855 2110 telemetry[i]=0x00;
lakshya 19:79e69017c855 2111 }
lakshya 19:79e69017c855 2112 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2113 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2114 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2115 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2116 {
lakshya 19:79e69017c855 2117 telemetry[i]=0x00;
lakshya 19:79e69017c855 2118 }
lakshya 19:79e69017c855 2119 break;
lakshya 19:79e69017c855 2120 }
lakshya 19:79e69017c855 2121 }
lakshya 19:79e69017c855 2122 break;
lakshya 19:79e69017c855 2123 }
lakshya 19:79e69017c855 2124 default:
lakshya 19:79e69017c855 2125 {
lakshya 49:61c9f28332ba 2126 gpc.printf("\n\rInvalid TC neither FMS nor MMS");
lakshya 19:79e69017c855 2127 //ACK_L234_TM
lakshya 19:79e69017c855 2128 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2129 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2130 telemetry[2]=0x02;
lakshya 19:79e69017c855 2131 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2132 {
lakshya 19:79e69017c855 2133 telemetry[i]=0x00;
lakshya 19:79e69017c855 2134 }
lakshya 19:79e69017c855 2135 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2136 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2137 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2138 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2139 {
lakshya 19:79e69017c855 2140 telemetry[i]=0x00;
lakshya 19:79e69017c855 2141 }
lakshya 19:79e69017c855 2142 break;
lakshya 19:79e69017c855 2143 }
lakshya 19:79e69017c855 2144 }
lakshya 19:79e69017c855 2145 }
Bragadeesh153 13:fb7facaf308b 2146 }
Bragadeesh153 13:fb7facaf308b 2147 }
sakthipriya 4:39a4ae8c7ecd 2148
sakthipriya 4:39a4ae8c7ecd 2149
Bragadeesh153 13:fb7facaf308b 2150 int strt_add = flash_size() - (2*SECTOR_SIZE);
sakthipriya 4:39a4ae8c7ecd 2151 uint32_t flasharray[8]; //256+(3*1024)
lakshya 19:79e69017c855 2152 /*corrected*/
lakshya 19:79e69017c855 2153 int *nativeflash = (int*)strt_add;
sakthipriya 4:39a4ae8c7ecd 2154
sakthipriya 4:39a4ae8c7ecd 2155 /*Writing to the Flash*/
lakshya 19:79e69017c855 2156 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 2157 {
Bragadeesh153 13:fb7facaf308b 2158 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2159 {
sakthipriya 4:39a4ae8c7ecd 2160 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2161 }
sakthipriya 4:39a4ae8c7ecd 2162 flasharray[j]=fdata;
sakthipriya 4:39a4ae8c7ecd 2163 erase_sector(strt_add);
lakshya 20:949d13045431 2164 program_flash(strt_add, (char*)flasharray,32);
sakthipriya 4:39a4ae8c7ecd 2165 }
lakshya 19:79e69017c855 2166
sakthipriya 4:39a4ae8c7ecd 2167 /*End*/
sakthipriya 4:39a4ae8c7ecd 2168
sakthipriya 4:39a4ae8c7ecd 2169 /*Reading from Flash*/
lakshya 19:79e69017c855 2170 /*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 2171 uint32_t FCTN_BAE_RD_FLASH_ENTITY(uint16_t entity)
sakthipriya 4:39a4ae8c7ecd 2172 {
sakthipriya 4:39a4ae8c7ecd 2173 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2174 {
sakthipriya 4:39a4ae8c7ecd 2175 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2176 }
lakshya 19:79e69017c855 2177 return flasharray[entity];
sakthipriya 4:39a4ae8c7ecd 2178 }
lakshya 19:79e69017c855 2179
lakshya 19:79e69017c855 2180 uint32_t* FCTN_BAE_RD_FLASH()
lakshya 19:79e69017c855 2181 {
lakshya 19:79e69017c855 2182 for(int i=0;i<8;i++)
lakshya 19:79e69017c855 2183 {
lakshya 19:79e69017c855 2184 flasharray[i]=nativeflash[i];
lakshya 19:79e69017c855 2185 }
lakshya 19:79e69017c855 2186 return flasharray;
lakshya 19:79e69017c855 2187 }
lakshya 19:79e69017c855 2188
sakthipriya 5:bb592f3185cc 2189 /*End*/
sakthipriya 5:bb592f3185cc 2190
sakthipriya 5:bb592f3185cc 2191 // Convert float to 4 uint8_t
sakthipriya 5:bb592f3185cc 2192
lakshya 15:e09aaaccf134 2193
sakthipriya 6:036d08b62785 2194 void FCTN_CONVERT_FLOAT(float input, uint8_t output[4])
sakthipriya 5:bb592f3185cc 2195 {
sakthipriya 6:036d08b62785 2196 assert(sizeof(float) == sizeof(uint32_t));
sakthipriya 6:036d08b62785 2197 uint32_t* temp = reinterpret_cast<uint32_t*>(&input);
sakthipriya 6:036d08b62785 2198
sakthipriya 6:036d08b62785 2199 //float* output1 = reinterpret_cast<float*>(temp);
Bragadeesh153 13:fb7facaf308b 2200
lakshya 49:61c9f28332ba 2201 //gpc.printf("\n\r %f ", input);
lakshya 15:e09aaaccf134 2202 //std::cout << "\n\r uint32"<<*temp << std::endl;
sakthipriya 6:036d08b62785 2203
sakthipriya 6:036d08b62785 2204 output[0] =(uint8_t )(((*temp)>>24)&0xFF);
lakshya 15:e09aaaccf134 2205 output[1] =(uint8_t ) (((*temp)>>16)&0xFF);
lakshya 15:e09aaaccf134 2206 output[2] =(uint8_t ) (((*temp)>>8)&0xFF);
lakshya 15:e09aaaccf134 2207 output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic
lakshya 15:e09aaaccf134 2208
lakshya 49:61c9f28332ba 2209 // gpc.printf("\n\rthe values generated are\n");
lakshya 49:61c9f28332ba 2210 /*gpc.printf("\n\r%x\n",output[0]);
lakshya 49:61c9f28332ba 2211 gpc.printf("\n\r%x\n",output[1]);
lakshya 49:61c9f28332ba 2212 gpc.printf("\n\r%x\n",output[2]);
lakshya 49:61c9f28332ba 2213 gpc.printf("\n\r%x\n",output[3]);
lakshya 15:e09aaaccf134 2214 to check the values generated
lakshya 15:e09aaaccf134 2215 */
lakshya 49:61c9f28332ba 2216 //gpc.printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]);
Bragadeesh153 13:fb7facaf308b 2217 //std:: cout << "\n\r uint8 inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl;
Bragadeesh153 13:fb7facaf308b 2218 }