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@56:32b1fb074138, 2016-08-07 (annotated)

Committer:
Bragadeesh153
Date:
Sun Aug 07 07:49:52 2016 +0000
Revision:
56:32b1fb074138
Parent:
54:d6a45982ace1
Child:
57:60e8f00d93c3
TCTM ACK

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 20:949d13045431 353 telemetry[3] = ACS_ATS_STATUS;
lakshya 20:949d13045431 354 telemetry[4] = ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 355 telemetry[4] = (telemetry[4]<<2)| ACS_TR_Z_SW_STATUS;
lakshya 27:61c856be467e 356 telemetry[4] = (telemetry[4]<<4) | ACS_STATE;
lakshya 27:61c856be467e 357 telemetry[5] = ACS_DETUMBLING_ALGO_TYPE;
lakshya 27:61c856be467e 358 telemetry[5] = (telemetry[5]<<2) | BCN_TX_SW_STATUS;
lakshya 20:949d13045431 359 telemetry[5] = (telemetry[5]<<1) | BCN_SPND_TX;
lakshya 20:949d13045431 360 telemetry[5] = (telemetry[5]<<1) | BCN_FEN;
lakshya 20:949d13045431 361 telemetry[5] = (telemetry[5]<<1) | BCN_LONG_MSG_TYPE;
lakshya 20:949d13045431 362 telemetry[5] = (telemetry[5]<<1) | EPS_BTRY_HTR_AUTO;//EPS_BATTERY_HEATER_ENABLE
lakshya 27:61c856be467e 363 telemetry[5] = (telemetry[5]<<1);
lakshya 27:61c856be467e 364 //now one spares in telemetry[5]
lakshya 20:949d13045431 365 telemetry[6] = BAE_RESET_COUNTER;
Bragadeesh153 56:32b1fb074138 366
Bragadeesh153 56:32b1fb074138 367 for(int k=0;k<6;k++)
Bragadeesh153 56:32b1fb074138 368 {
Bragadeesh153 56:32b1fb074138 369 gpc.printf("\n\rtelemetry[%d] : %.02X\r\n", k, telemetry[k]);
Bragadeesh153 56:32b1fb074138 370 }
Bragadeesh153 56:32b1fb074138 371
lakshya 20:949d13045431 372 telemetry[7] = EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 373 telemetry[8] = EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 374 telemetry[9] = ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 375 telemetry[10] = ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 376 telemetry[11] = EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 377 telemetry[12] = EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 378 telemetry[13] = EPS_BAT_TEMP_DEFAULT;
lakshya 20:949d13045431 379
lakshya 20:949d13045431 380 telemetry[14] = ACS_MM_X_COMSN >> 8;
lakshya 20:949d13045431 381 telemetry[15] = ACS_MM_X_COMSN;
lakshya 20:949d13045431 382
lakshya 20:949d13045431 383 telemetry[16] = ACS_MM_Y_COMSN >> 8;
lakshya 20:949d13045431 384 telemetry[17] = ACS_MM_Y_COMSN;
lakshya 20:949d13045431 385
lakshya 20:949d13045431 386 telemetry[18] = ACS_MG_X_COMSN >> 8;
lakshya 20:949d13045431 387 telemetry[19] = ACS_MG_X_COMSN;
lakshya 20:949d13045431 388
lakshya 20:949d13045431 389 telemetry[20] = ACS_MG_Y_COMSN >> 8;
lakshya 20:949d13045431 390 telemetry[21] = ACS_MG_Y_COMSN;
lakshya 20:949d13045431 391
lakshya 20:949d13045431 392 telemetry[22] = ACS_MM_Z_COMSN >> 8;
lakshya 20:949d13045431 393 telemetry[23] = ACS_MM_Z_COMSN;
lakshya 20:949d13045431 394
lakshya 20:949d13045431 395 telemetry[24] = ACS_MG_Z_COMSN >> 8;
lakshya 20:949d13045431 396 telemetry[25] = ACS_MG_Z_COMSN;
lakshya 20:949d13045431 397
lakshya 20:949d13045431 398 telemetry[26] = ACS_Z_FIXED_MOMENT >> 8;
lakshya 20:949d13045431 399 telemetry[27] = ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 400
lakshya 20:949d13045431 401 //BAE RAM PARAMETER
lakshya 20:949d13045431 402 telemetry[28] = BAE_INIT_STATUS;
lakshya 27:61c856be467e 403 telemetry[28] = (telemetry[28]<<1) | BAE_MNG_I2C_STATUS;//changed
lakshya 20:949d13045431 404 telemetry[28] = (telemetry[28]<<1) | BCN_INIT_STATUS;
lakshya 20:949d13045431 405 telemetry[28] = (telemetry[28]<<1) | BCN_TX_MAIN_STATUS;
lakshya 20:949d13045431 406 telemetry[28] = (telemetry[28]<<3) | BCN_TX_STATUS;
lakshya 27:61c856be467e 407 telemetry[28] = (telemetry[28]<<1) | ACS_INIT_STATUS;
lakshya 20:949d13045431 408
lakshya 20:949d13045431 409 telemetry[29] = ACS_DATA_ACQ_STATUS;
lakshya 20:949d13045431 410 telemetry[29] = (telemetry[29]<<1) | ACS_MAIN_STATUS;
lakshya 27:61c856be467e 411 telemetry[29] = (telemetry[29]<<4) | ACS_STATUS;
lakshya 20:949d13045431 412 telemetry[29] = (telemetry[29]<<1) | EPS_INIT_STATUS;
lakshya 20:949d13045431 413
lakshya 27:61c856be467e 414 telemetry[30] = EPS_BATTERY_GAUGE_STATUS;
lakshya 27:61c856be467e 415 telemetry[30] = (telemetry[30]<<1) | EPS_MAIN_STATUS;
lakshya 33:76f2b8735501 416 telemetry[30] = (telemetry[30]<<1) | EPS_BTRY_TMP_STATUS;
lakshya 20:949d13045431 417 telemetry[30] = (telemetry[30]<<3) | EPS_STATUS;
lakshya 20:949d13045431 418 telemetry[30] = (telemetry[30]<<2) | CDMS_SW_STATUS;
lakshya 20:949d13045431 419 // telemetry[30] = (telemetry[30]<<1) | EPS_BTRY_HTR_STATUS;//new to : implement
lakshya 33:76f2b8735501 420
lakshya 33:76f2b8735501 421 telemetry[31] = EPS_BTRY_HTR; //new to : implement
lakshya 27:61c856be467e 422 //spare 4
lakshya 27:61c856be467e 423 telemetry[31] = (telemetry[31]<<7) | BAE_STANDBY;
lakshya 20:949d13045431 424 // 6 next telemetries value to be given by registers
lakshya 20:949d13045431 425 telemetry[32] = ATS1_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 426 telemetry[33] = ATS1_SENTRAL_STATUS_RGTR;
Bragadeesh153 56:32b1fb074138 427 //printf("SENTRAL_STATUS is : %.02X\r\n",ATS1_SENTRAL_STATUS_RGTR);
lakshya 20:949d13045431 428 telemetry[34] = ATS1_ERROR_RGTR;
lakshya 20:949d13045431 429 telemetry[35] = ATS2_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 430 telemetry[36] = ATS2_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 431 telemetry[37] = ATS2_ERROR_RGTR;
lakshya 20:949d13045431 432
lakshya 20:949d13045431 433 telemetry[38] = BCN_FAIL_COUNT;
lakshya 20:949d13045431 434 telemetry[39] = actual_data.power_mode;
lakshya 20:949d13045431 435 telemetry[40] = HTR_CYCLE_COUNTER;//new to : implement
lakshya 20:949d13045431 436
lakshya 20:949d13045431 437 telemetry[41] = BAE_I2C_COUNTER;
lakshya 20:949d13045431 438 telemetry[42] = BAE_I2C_COUNTER>>8;
lakshya 20:949d13045431 439 telemetry[43] = ACS_MAIN_COUNTER;
lakshya 20:949d13045431 440 telemetry[44] = ACS_MAIN_COUNTER>>8;
lakshya 20:949d13045431 441 telemetry[45] = BCN_TX_MAIN_COUNTER;
lakshya 20:949d13045431 442 telemetry[46] = BCN_TX_MAIN_COUNTER>>8;
lakshya 20:949d13045431 443 telemetry[47] = EPS_MAIN_COUNTER;
lakshya 20:949d13045431 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 49:61c9f28332ba 448 telemetry[49] = days;
lakshya 49:61c9f28332ba 449 RETURN_UPTIME(I2C_last.read(),&days,&hours,&mins);
lakshya 49:61c9f28332ba 450 telemetry[49] = (telemetry[49]<<3) | (hours>>2);
lakshya 49:61c9f28332ba 451 telemetry[50] = hours;
lakshya 49:61c9f28332ba 452 telemetry[50] = (telemetry[50]<<6) | mins;
lakshya 49:61c9f28332ba 453
lakshya 20:949d13045431 454 //sending in uint can be converted back to int by direct conversion for +values
lakshya 20:949d13045431 455 //make sure to convert baack to int for getting negative values
lakshya 20:949d13045431 456 //algo for that done
lakshya 49:61c9f28332ba 457 telemetry[51] = actual_data.bit_data_acs_mm[0];
lakshya 49:61c9f28332ba 458 telemetry[52] = actual_data.bit_data_acs_mm[0]>>8;
lakshya 49:61c9f28332ba 459 telemetry[53] = actual_data.bit_data_acs_mm[1];
lakshya 49:61c9f28332ba 460 telemetry[54] = actual_data.bit_data_acs_mm[1]>>8;
lakshya 49:61c9f28332ba 461 telemetry[55] = actual_data.bit_data_acs_mm[2];
lakshya 49:61c9f28332ba 462 telemetry[56] = actual_data.bit_data_acs_mm[2]>>8;
lakshya 20:949d13045431 463
lakshya 49:61c9f28332ba 464 telemetry[57] = actual_data.bit_data_acs_mg[0];
lakshya 49:61c9f28332ba 465 telemetry[58] = actual_data.bit_data_acs_mg[0]>>8;
Bragadeesh153 56:32b1fb074138 466 printf("MGX0 is : %.02X \r\n",(uint8_t)actual_data.bit_data_acs_mg[0]);
Bragadeesh153 56:32b1fb074138 467 printf("MGX1 is : %.02X \r\n",(uint8_t)(actual_data.bit_data_acs_mg[0]>>8));
lakshya 49:61c9f28332ba 468 telemetry[59] = actual_data.bit_data_acs_mg[1];
lakshya 49:61c9f28332ba 469 telemetry[60] = actual_data.bit_data_acs_mg[1]>>8;
lakshya 49:61c9f28332ba 470 telemetry[61] = actual_data.bit_data_acs_mg[2];
lakshya 49:61c9f28332ba 471 telemetry[62] = actual_data.bit_data_acs_mg[2]>>8;
lakshya 20:949d13045431 472
lakshya 49:61c9f28332ba 473 telemetry[63] = BCN_TX_OC_FAULT;
lakshya 49:61c9f28332ba 474 telemetry[63] = (telemetry[63]<<1) | ACS_TR_XY_ENABLE;
lakshya 49:61c9f28332ba 475 telemetry[63] = (telemetry[63]<<1) | ACS_TR_Z_ENABLE;
lakshya 49:61c9f28332ba 476 telemetry[63] = (telemetry[63]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 49:61c9f28332ba 477 telemetry[63] = (telemetry[63]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 49:61c9f28332ba 478 telemetry[63] = (telemetry[63]<<1) | ACS_TR_XY_FAULT;
lakshya 49:61c9f28332ba 479 telemetry[63] = (telemetry[63]<<1) | EPS_CHARGER_FAULT;
lakshya 49:61c9f28332ba 480 telemetry[63] = (telemetry[63]<<1) | EPS_CHARGER_STATUS;
lakshya 20:949d13045431 481
lakshya 49:61c9f28332ba 482 telemetry[64] = EPS_BATTERY_GAUGE_ALERT;
lakshya 49:61c9f28332ba 483 telemetry[64] = (telemetry[64]<<1) | CDMS_OC_FAULT;
lakshya 49:61c9f28332ba 484 telemetry[64] = (telemetry[64]<<1) | ACS_ATS1_OC_FAULT;
lakshya 49:61c9f28332ba 485 telemetry[64] = (telemetry[64]<<1) | ACS_ATS2_OC_FAULT;
lakshya 49:61c9f28332ba 486 telemetry[64] = (telemetry[64]<<1) | ACS_TR_Z_FAULT;
lakshya 49:61c9f28332ba 487 telemetry[64] = (telemetry[64]<<3);
lakshya 20:949d13045431 488 //3 spare
lakshya 20:949d13045431 489
lakshya 49:61c9f28332ba 490 telemetry[65] = ACS_TR_X_PWM;
lakshya 49:61c9f28332ba 491 telemetry[66] = ACS_TR_Y_PWM;
lakshya 49:61c9f28332ba 492 telemetry[67] = ACS_TR_Z_PWM;
lakshya 20:949d13045431 493 //spare byte
lakshya 20:949d13045431 494 //assigned it to counter HTR_CYCLE_COUNTER
lakshya 20:949d13045431 495
lakshya 20:949d13045431 496 //assign it b_scz_angle
lakshya 49:61c9f28332ba 497 telemetry[68] = B_SCZ_ANGLE>>4;
lakshya 49:61c9f28332ba 498 telemetry[68] = (telemetry[68]<<1) | alarmmode;
lakshya 49:61c9f28332ba 499 telemetry[68] = (telemetry[68]<<1) | controlmode_mms;
lakshya 49:61c9f28332ba 500 telemetry[68] = (telemetry[68]<<1) | singularity_flag_mms;
lakshya 49:61c9f28332ba 501 telemetry[68] = (telemetry[68]<<1);
lakshya 49:61c9f28332ba 502 //1 bit spare
lakshya 20:949d13045431 503
lakshya 20:949d13045431 504 for(int i=0;i<9;i++)
lakshya 20:949d13045431 505 {
lakshya 49:61c9f28332ba 506 telemetry[69+i] = invjm_mms[i];
lakshya 20:949d13045431 507 telemetry[80+i] = jm_mms[i];
lakshya 20:949d13045431 508 }
lakshya 20:949d13045431 509
lakshya 53:459b71b1861c 510 for(int i=1;i<3;i++)
lakshya 49:61c9f28332ba 511 telemetry[78+i] = bb_mms[i];
lakshya 20:949d13045431 512
lakshya 20:949d13045431 513 for(int i=0;i<16;i++)
lakshya 20:949d13045431 514 {
lakshya 20:949d13045431 515 telemetry[89+i] = quant_data.voltage_quant[i];
lakshya 20:949d13045431 516 telemetry[105+i] = quant_data.current_quant[i];
lakshya 20:949d13045431 517 }
lakshya 20:949d13045431 518
lakshya 20:949d13045431 519 telemetry[121] = quant_data.Batt_voltage_quant;
lakshya 20:949d13045431 520 telemetry[122] = quant_data.BAE_temp_quant;
lakshya 20:949d13045431 521 telemetry[123] = (uint8_t)(actual_data.Batt_gauge_actual[1]);
lakshya 20:949d13045431 522 telemetry[124] = quant_data.Batt_temp_quant[0];
lakshya 20:949d13045431 523 telemetry[125] = quant_data.Batt_temp_quant[1];
lakshya 20:949d13045431 524 telemetry[126] = BCN_TMP;
lakshya 20:949d13045431 525
lakshya 20:949d13045431 526 //* ANY USE?
lakshya 20:949d13045431 527 ///if(BCN_TX_STATUS==2)
lakshya 20:949d13045431 528 /// telemetry[3] = telemetry[3]|0x20;
lakshya 20:949d13045431 529 ///else
lakshya 20:949d13045431 530 ///telemetry[3] = telemetry[3] & 0xDF;
lakshya 19:79e69017c855 531
lakshya 19:79e69017c855 532 //actual_data.AngularSpeed_actual[0]=5.32498;
lakshya 20:949d13045431 533 ///for(int i=0; i<3; i++)
lakshya 20:949d13045431 534 /// FCTN_CONVERT_FLOAT((float)actual_data.Bvalue_actual[i],&telemetry[26+ (i*4)]);
lakshya 20:949d13045431 535 ///for(int i=0; i<3; i++)
lakshya 20:949d13045431 536 /// FCTN_CONVERT_FLOAT((float)actual_data.AngularSpeed_actual[i],&telemetry[38+(i*4)]);
lakshya 20:949d13045431 537 ///
lakshya 20:949d13045431 538 for (int i=127; i<132;i++)
lakshya 19:79e69017c855 539 {
lakshya 19:79e69017c855 540 telemetry[i] = 0x00;
lakshya 19:79e69017c855 541 }
Bragadeesh153 56:32b1fb074138 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);
Bragadeesh153 56:32b1fb074138 546 //for(int j=0;j<=133;j++)
Bragadeesh153 56:32b1fb074138 547 //{
Bragadeesh153 56:32b1fb074138 548 //printf("Telemetry[%d] : %.02X\r\n",j, telemetry[j]);
Bragadeesh153 56:32b1fb074138 549 //}
Bragadeesh153 56:32b1fb074138 550 gpc.printf("\n\rCRC : %.02X %.02X\r\n", telemetry[132],telemetry[133]);
lakshya 19:79e69017c855 551
lakshya 19:79e69017c855 552 break;
lakshya 19:79e69017c855 553 }
lakshya 19:79e69017c855 554 case 0x0001:
lakshya 19:79e69017c855 555 {
lakshya 49:61c9f28332ba 556 gpc.printf("\r\nhk data tm");
Bragadeesh153 54:d6a45982ace1 557 telemetry[0] = 0x30;
lakshya 19:79e69017c855 558 telemetry[1] = tc[0];
lakshya 19:79e69017c855 559 telemetry[2] = ACK_CODE;
lakshya 19:79e69017c855 560
lakshya 19:79e69017c855 561 for(int i;i<16;i++)
lakshya 20:949d13045431 562 {
lakshya 20:949d13045431 563 telemetry[i+3] = bae_HK_minmax.voltage_max[i];
lakshya 20:949d13045431 564 telemetry[i+19] = bae_HK_minmax.current_max[i];
lakshya 20:949d13045431 565 }
lakshya 19:79e69017c855 566
lakshya 53:459b71b1861c 567 telemetry[35] = bae_HK_minmax.Batt_voltage_max;
lakshya 20:949d13045431 568 telemetry[36] = bae_HK_minmax.BAE_temp_max;
lakshya 19:79e69017c855 569
lakshya 20:949d13045431 570 telemetry[37] = bae_HK_minmax.Batt_SOC_max;
lakshya 19:79e69017c855 571
lakshya 20:949d13045431 572 telemetry[38] = bae_HK_minmax.Batt_temp_max[0];
lakshya 20:949d13045431 573 telemetry[39] = bae_HK_minmax.Batt_temp_max[1];
lakshya 19:79e69017c855 574
lakshya 20:949d13045431 575 /*BCN temp there*/
lakshya 20:949d13045431 576 telemetry[40] = bae_HK_minmax.BCN_TEMP_max;
lakshya 19:79e69017c855 577
lakshya 19:79e69017c855 578 for(int i=0; i<3; i++)
lakshya 20:949d13045431 579 {
lakshya 53:459b71b1861c 580 telemetry[41+(2*i)] = (bae_HK_minmax.bit_data_acs_mm_max[i]>>8);
lakshya 53:459b71b1861c 581 telemetry[42+(2*i)] = bae_HK_minmax.bit_data_acs_mm_max[i];
lakshya 53:459b71b1861c 582
lakshya 53:459b71b1861c 583 telemetry[47+(2*i)] = (bae_HK_minmax.bit_data_acs_mg_max[i]>>8);
lakshya 53:459b71b1861c 584 telemetry[48+(2*i)] = bae_HK_minmax.bit_data_acs_mg_max[i];
lakshya 20:949d13045431 585 }
lakshya 19:79e69017c855 586
lakshya 19:79e69017c855 587 /*min data*/
lakshya 19:79e69017c855 588
lakshya 19:79e69017c855 589 for(int i;i<16;i++)
lakshya 53:459b71b1861c 590 telemetry[i+53] = bae_HK_minmax.voltage_min[i];
lakshya 19:79e69017c855 591
lakshya 20:949d13045431 592 for(int i;i<16;i++)
lakshya 53:459b71b1861c 593 telemetry[i+69] = bae_HK_minmax.current_min[i];
lakshya 19:79e69017c855 594
lakshya 53:459b71b1861c 595 telemetry[85] = bae_HK_minmax.Batt_voltage_min;
lakshya 53:459b71b1861c 596 telemetry[86] = bae_HK_minmax.BAE_temp_min;
lakshya 19:79e69017c855 597
lakshya 19:79e69017c855 598 /*battery soc*/
lakshya 53:459b71b1861c 599 telemetry[87] = bae_HK_minmax.Batt_SOC_min;
lakshya 19:79e69017c855 600
lakshya 53:459b71b1861c 601 telemetry[88] = bae_HK_minmax.Batt_temp_min[0];
lakshya 53:459b71b1861c 602 telemetry[89] = bae_HK_minmax.Batt_temp_min[1];
lakshya 19:79e69017c855 603 //huhu//
lakshya 19:79e69017c855 604
lakshya 20:949d13045431 605 /*BCN temp named as BCN_TS_BUFFER there*/
lakshya 53:459b71b1861c 606 telemetry[90] = bae_HK_minmax.BCN_TEMP_min;
lakshya 19:79e69017c855 607
lakshya 19:79e69017c855 608 for(int i=0; i<3; i++)
lakshya 20:949d13045431 609 {
lakshya 53:459b71b1861c 610 telemetry[91+(2*i)] = (bae_HK_minmax.bit_data_acs_mm_min[i]>>8);
lakshya 53:459b71b1861c 611 telemetry[92+(2*i)] = bae_HK_minmax.bit_data_acs_mm_min[i];
lakshya 53:459b71b1861c 612
lakshya 53:459b71b1861c 613 telemetry[97+(2*i)] = (bae_HK_minmax.bit_data_acs_mg_min[i]>>8);
lakshya 53:459b71b1861c 614 telemetry[98+(2*i)] = bae_HK_minmax.bit_data_acs_mg_min[i];
lakshya 20:949d13045431 615 }
lakshya 20:949d13045431 616
lakshya 53:459b71b1861c 617 telemetry[103] = BCN_TX_OC_FAULT;
lakshya 53:459b71b1861c 618 telemetry[103] = (telemetry[103]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 53:459b71b1861c 619 telemetry[103] = (telemetry[103]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 53:459b71b1861c 620 telemetry[103] = (telemetry[103]<<1) | ACS_TR_XY_FAULT;
lakshya 20:949d13045431 621 //EPS CHARGER
lakshya 53:459b71b1861c 622 telemetry[103] = (telemetry[103]<<1) | EPS_CHARGER_FAULT;//eps_charger;
lakshya 53:459b71b1861c 623 telemetry[103] = (telemetry[103]<<1) | CDMS_OC_FAULT;
lakshya 53:459b71b1861c 624 telemetry[103] = (telemetry[103]<<1) | ACS_ATS1_OC_FAULT;
lakshya 53:459b71b1861c 625 telemetry[103] = (telemetry[103]<<1) | ACS_ATS2_OC_FAULT;
lakshya 20:949d13045431 626
lakshya 53:459b71b1861c 627 telemetry[104] = (ACS_TR_Z_FAULT<<7);
lakshya 20:949d13045431 628 //spare 23 bits
lakshya 53:459b71b1861c 629 telemetry[105] = 0x00;
lakshya 53:459b71b1861c 630 telemetry[106] = 0x00;
lakshya 20:949d13045431 631
lakshya 53:459b71b1861c 632 for (int i=107; i<132;i++)
lakshya 19:79e69017c855 633 {
lakshya 19:79e69017c855 634 telemetry[i] = 0x00;
lakshya 19:79e69017c855 635 }
lakshya 19:79e69017c855 636 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 637 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 638 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 639 break;
lakshya 19:79e69017c855 640 }
lakshya 19:79e69017c855 641 default://invalid MID
lakshya 19:79e69017c855 642 {
lakshya 19:79e69017c855 643 //ACK_L234_telemetry
lakshya 19:79e69017c855 644 telemetry[0]=0xB0;
lakshya 19:79e69017c855 645 telemetry[1]=tc[0];
lakshya 19:79e69017c855 646 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 647 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 648 {
lakshya 19:79e69017c855 649 telemetry[i]=0x00;
lakshya 19:79e69017c855 650 }
lakshya 19:79e69017c855 651 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 652 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 653 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 654 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 655 {
lakshya 19:79e69017c855 656 telemetry[i]=0x00;
lakshya 19:79e69017c855 657 }
lakshya 19:79e69017c855 658 break;
lakshya 19:79e69017c855 659 }
lakshya 19:79e69017c855 660 }
lakshya 19:79e69017c855 661 break;
lakshya 19:79e69017c855 662 }
lakshya 19:79e69017c855 663 case 0x05:
lakshya 19:79e69017c855 664 {
lakshya 49:61c9f28332ba 665 gpc.printf("\n\rdata for mms 0x05 flash");
lakshya 19:79e69017c855 666 /*changed*/
lakshya 49:61c9f28332ba 667 gpc.printf("\n\rwrite on flash\n");
lakshya 20:949d13045431 668 uint32_t FLASH_DATA;//256 bits
lakshya 19:79e69017c855 669
lakshya 19:79e69017c855 670 uint8_t VALID_MID;//to determine wether mid is valid or not otherwise to much repetition of code 1 meaning valid
lakshya 19:79e69017c855 671
lakshya 19:79e69017c855 672 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 673 switch(MID )
lakshya 19:79e69017c855 674 {
lakshya 20:949d13045431 675 case 0x1100:
lakshya 19:79e69017c855 676 {
lakshya 20:949d13045431 677 //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 678 //FCTN_BAE_WR_FLASH(0,FLASH_DATA[0]);
lakshya 20:949d13045431 679 BCN_LONG_MSG_TYPE = tc[8];
lakshya 20:949d13045431 680 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 681 FLASH_DATA = (FLASH_DATA & 0xFFFFFBFF) | (10<<(uint32_t)tc[8]);//see if uint8 to uint32 conversion works
lakshya 20:949d13045431 682 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 683 VALID_MID=1;
lakshya 19:79e69017c855 684 break;
lakshya 19:79e69017c855 685 }
lakshya 19:79e69017c855 686 case 0x0101:
lakshya 19:79e69017c855 687 {
lakshya 20:949d13045431 688 //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 689 ACS_DETUMBLING_ALGO_TYPE = (tc[8] & 0x01);
lakshya 49:61c9f28332ba 690 //===============================================
lakshya 49:61c9f28332ba 691 ACS_STATE = 4;
lakshya 49:61c9f28332ba 692 //tc[8] = 1001_
lakshya 49:61c9f28332ba 693 //ACS_STATE = (tc[8]>>1) & 0x0F;
lakshya 20:949d13045431 694 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 695 FLASH_DATA = (FLASH_DATA & 0xFFF07FFF) | (15<<(uint32_t)tc[8]);
lakshya 20:949d13045431 696 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 697 VALID_MID=1;
lakshya 19:79e69017c855 698 break;
lakshya 19:79e69017c855 699 }
lakshya 19:79e69017c855 700
lakshya 19:79e69017c855 701 case 0x0102:
lakshya 19:79e69017c855 702 {
lakshya 20:949d13045431 703 //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 704 //EPS_BATTERY_HEATER_ENABLE = tc[8];
lakshya 20:949d13045431 705 EPS_BTRY_HTR_AUTO = tc[8];
lakshya 20:949d13045431 706 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 707 FLASH_DATA = (FLASH_DATA & 0xFFFFFDFF) | (9<<(uint32_t)tc[8]);
lakshya 20:949d13045431 708 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 709 VALID_MID=1;
lakshya 19:79e69017c855 710 break;
lakshya 19:79e69017c855 711 }
lakshya 19:79e69017c855 712
lakshya 19:79e69017c855 713 case 0x0103:
lakshya 19:79e69017c855 714 {
lakshya 20:949d13045431 715 //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 716 ACS_MAG_TIME_DELAY = tc[7];
lakshya 20:949d13045431 717 ACS_DEMAG_TIME_DELAY = tc[8];
lakshya 20:949d13045431 718 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 719 FLASH_DATA = (FLASH_DATA & 0xFFFF0000) | (8<<(uint32_t)tc[7]) | ((uint32_t)tc[8]);
lakshya 20:949d13045431 720 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 721 VALID_MID=1;
lakshya 19:79e69017c855 722 break;
lakshya 19:79e69017c855 723 }
lakshya 19:79e69017c855 724 case 0x0104:
lakshya 19:79e69017c855 725 {
lakshya 20:949d13045431 726 //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 727 ACS_Z_FIXED_MOMENT = (8<<(uint16_t)tc[7]) | (uint16_t)tc[8];
lakshya 20:949d13045431 728 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(6);
lakshya 20:949d13045431 729 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)ACS_Z_FIXED_MOMENT<<16);
lakshya 20:949d13045431 730 FCTN_BAE_WR_FLASH(6,FLASH_DATA);
lakshya 19:79e69017c855 731 VALID_MID=1;
lakshya 19:79e69017c855 732 break;
lakshya 19:79e69017c855 733 }
lakshya 20:949d13045431 734 case 0x0106:
lakshya 19:79e69017c855 735 {
lakshya 20:949d13045431 736 //FLASH_DATA[6] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 20:949d13045431 737 ACS_MM_Z_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 738 ACS_MG_Z_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 739 FLASH_DATA = ((uint32_t)ACS_MM_Z_COMSN<<16) | (uint32_t)ACS_MG_Z_COMSN;
lakshya 20:949d13045431 740 FCTN_BAE_WR_FLASH(5,FLASH_DATA);
lakshya 20:949d13045431 741 VALID_MID=1;
lakshya 20:949d13045431 742 break;
lakshya 20:949d13045431 743 }
lakshya 20:949d13045431 744 case 0x0107:
lakshya 20:949d13045431 745 {
lakshya 20:949d13045431 746 //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 747 EPS_SOC_LEVEL_12 = tc[7];
lakshya 20:949d13045431 748 EPS_SOC_LEVEL_23 = tc[8];
lakshya 20:949d13045431 749 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 750 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)tc[7]<<24) | ((uint32_t)tc[8]<<16);
lakshya 20:949d13045431 751 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 752 VALID_MID=1;
lakshya 19:79e69017c855 753 break;
lakshya 19:79e69017c855 754 }
lakshya 20:949d13045431 755 case 0x0108:
lakshya 19:79e69017c855 756 {
lakshya 20:949d13045431 757 //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 758 ACS_MM_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 759 ACS_MM_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 760 FLASH_DATA = ((uint32_t)ACS_MM_X_COMSN<<16) | (uint32_t)ACS_MM_Y_COMSN;
lakshya 20:949d13045431 761 FCTN_BAE_WR_FLASH(3,FLASH_DATA);
lakshya 19:79e69017c855 762 VALID_MID=1;
lakshya 19:79e69017c855 763 break;
lakshya 19:79e69017c855 764 }
lakshya 20:949d13045431 765 case 0x0109:
lakshya 19:79e69017c855 766 {
lakshya 20:949d13045431 767 //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 768 ACS_MG_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 769 ACS_MG_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 770 FLASH_DATA = ((uint32_t)ACS_MG_X_COMSN<<16) | (uint32_t)ACS_MG_Y_COMSN;
lakshya 20:949d13045431 771 FCTN_BAE_WR_FLASH(4,FLASH_DATA);
lakshya 19:79e69017c855 772 VALID_MID=1;
lakshya 19:79e69017c855 773 break;
lakshya 19:79e69017c855 774 }
lakshya 19:79e69017c855 775
lakshya 19:79e69017c855 776 default:
lakshya 19:79e69017c855 777 {
lakshya 49:61c9f28332ba 778 gpc.printf("Invalid MMS case 0x05 invalid MID\r\n");
lakshya 19:79e69017c855 779 VALID_MID=0;
lakshya 19:79e69017c855 780 //ACK_L234_telemetry
lakshya 19:79e69017c855 781 break;
lakshya 19:79e69017c855 782
lakshya 19:79e69017c855 783 }
lakshya 19:79e69017c855 784 }
lakshya 19:79e69017c855 785
lakshya 19:79e69017c855 786 if(VALID_MID==1)//valid MID
lakshya 19:79e69017c855 787 {
lakshya 19:79e69017c855 788 telemetry[0]=0xB0;//or 0x60? check
lakshya 19:79e69017c855 789 telemetry[1]=tc[0];
lakshya 19:79e69017c855 790 telemetry[2]=0xA0;// when valid
lakshya 19:79e69017c855 791 }
lakshya 19:79e69017c855 792 else if(VALID_MID==0)//invalid MID
lakshya 19:79e69017c855 793 {
lakshya 19:79e69017c855 794 telemetry[0]=0xB0;
lakshya 19:79e69017c855 795 telemetry[1]=tc[0];
lakshya 19:79e69017c855 796 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 797 }
lakshya 19:79e69017c855 798
lakshya 19:79e69017c855 799 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 800 {
lakshya 19:79e69017c855 801 telemetry[i]=0x00;
lakshya 19:79e69017c855 802 }
lakshya 19:79e69017c855 803 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 804 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 805 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 806 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 807 {
lakshya 19:79e69017c855 808 telemetry[i]=0x00;
lakshya 19:79e69017c855 809 }
lakshya 19:79e69017c855 810
lakshya 49:61c9f28332ba 811 gpc.printf("\n\rWritten on Flash");
lakshya 19:79e69017c855 812 break;
lakshya 19:79e69017c855 813 }
lakshya 19:79e69017c855 814 default://when invalid service subtype
lakshya 19:79e69017c855 815 {
lakshya 49:61c9f28332ba 816 gpc.printf("\n\r MMS invalid Service Subtype");
lakshya 19:79e69017c855 817 //ACK_L234_telemetry
lakshya 19:79e69017c855 818 telemetry[0]=0xB0;
lakshya 19:79e69017c855 819 telemetry[1]=tc[0];
lakshya 19:79e69017c855 820 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 821 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 822 {
lakshya 19:79e69017c855 823 telemetry[i]=0x00;
lakshya 19:79e69017c855 824 }
lakshya 19:79e69017c855 825 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 826 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 827 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 828 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 829 {
lakshya 19:79e69017c855 830 telemetry[i]=0x00;
lakshya 19:79e69017c855 831 }
lakshya 19:79e69017c855 832 break;
lakshya 19:79e69017c855 833 }
lakshya 19:79e69017c855 834 }
lakshya 19:79e69017c855 835 break;
lakshya 19:79e69017c855 836 }
lakshya 19:79e69017c855 837 case 0x80:
lakshya 19:79e69017c855 838 {
lakshya 49:61c9f28332ba 839 //gpc.printf("Function Management Service\r\n");
lakshya 19:79e69017c855 840 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 841 switch(service_subtype)
lakshya 19:79e69017c855 842 {
lakshya 19:79e69017c855 843 case 0x01:
lakshya 19:79e69017c855 844 {
lakshya 49:61c9f28332ba 845 gpc.printf("\n\rFMS Activated");
lakshya 19:79e69017c855 846 uint8_t fid=tc[3];//changed from pid to fid
lakshya 19:79e69017c855 847 switch(fid)
lakshya 19:79e69017c855 848 {
lakshya 19:79e69017c855 849 case 0xE0:
lakshya 19:79e69017c855 850 {
lakshya 20:949d13045431 851 float mag_data_comm[3]={uint16_to_float(-1000,1000,ACS_MM_X_COMSN),uint16_to_float(-1000,1000,ACS_MM_Y_COMSN),uint16_to_float(-1000,1000,ACS_MM_Z_COMSN)};
lakshya 20:949d13045431 852 float gyro_data_comm[3]={uint16_to_float(-5000,5000,ACS_MG_X_COMSN),uint16_to_float(-5000,5000,ACS_MG_Y_COMSN),uint16_to_float(-5000,5000,ACS_MG_Z_COMSN)};
lakshya 20:949d13045431 853 float moment_comm[3];
lakshya 49:61c9f28332ba 854 gpc.printf("ACS_COMSN SOFTWARE\r\n");
lakshya 19:79e69017c855 855 //ACK_L234_telemetry
lakshya 20:949d13045431 856 ACS_STATE = tc[4];
lakshya 49:61c9f28332ba 857 if(ACS_STATE == 2) // Nominal mode
lakshya 20:949d13045431 858 {
lakshya 49:61c9f28332ba 859 gpc.printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 860 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 861 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 862 for(int i=0; i<3; i++)
lakshya 20:949d13045431 863 {
lakshya 49:61c9f28332ba 864 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 865 }
lakshya 20:949d13045431 866
lakshya 20:949d13045431 867 }
lakshya 49:61c9f28332ba 868 else if(ACS_STATE == 3) // Auto Control
lakshya 20:949d13045431 869 {
lakshya 49:61c9f28332ba 870 gpc.printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 871 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 872 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 873 for(int i=0; i<3; i++)
lakshya 20:949d13045431 874 {
lakshya 49:61c9f28332ba 875 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 876 }
lakshya 20:949d13045431 877 }
lakshya 49:61c9f28332ba 878 else if(ACS_STATE == 4) // Detumbling
lakshya 20:949d13045431 879 {
lakshya 20:949d13045431 880 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 881 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 882 for(int i=0; i<3; i++)
lakshya 20:949d13045431 883 {
lakshya 49:61c9f28332ba 884 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 885 }
lakshya 20:949d13045431 886 }
lakshya 19:79e69017c855 887 else
lakshya 19:79e69017c855 888 {
lakshya 20:949d13045431 889 ACS_STATUS = 7;
lakshya 19:79e69017c855 890 }
lakshya 20:949d13045431 891
lakshya 20:949d13045431 892 // Control algo commissioning
lakshya 39:670133e7ffd8 893 uint16_t moment_ret;
lakshya 49:61c9f28332ba 894 telemetry[0] = 0x78;
lakshya 49:61c9f28332ba 895 telemetry[1] = tc[0];
lakshya 49:61c9f28332ba 896 telemetry[2] = ACK_CODE;
lakshya 39:670133e7ffd8 897 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 898 telemetry[4] = ACS_STATUS;
lakshya 39:670133e7ffd8 899 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 900 telemetry[5] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 901 telemetry[6] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 902 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 903 telemetry[7] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 904 telemetry[8] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 905 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[2]);
lakshya 39:670133e7ffd8 906 telemetry[9] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 907 telemetry[10] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 908
lakshya 39:670133e7ffd8 909 //FCTN_CONVERT_FLOAT(moment_comm[0],&telemetry[4]); //telemetry[4] - telemetry[7]
lakshya 39:670133e7ffd8 910 //FCTN_CONVERT_FLOAT(moment_comm[1],&telemetry[8]); //telemetry[8] - telemetry[11]
lakshya 39:670133e7ffd8 911 //FCTN_CONVERT_FLOAT(moment_comm[2],&telemetry[12]); //telemetry[12] - telemetry[15]
lakshya 19:79e69017c855 912 // to include commission TR as well
lakshya 39:670133e7ffd8 913 for(uint8_t i=11;i<132;i++)
lakshya 19:79e69017c855 914 {
lakshya 19:79e69017c855 915 telemetry[i]=0x00;
lakshya 19:79e69017c855 916 }
lakshya 19:79e69017c855 917 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 918 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 919 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 920 break;
lakshya 19:79e69017c855 921 }
lakshya 19:79e69017c855 922 case 0xE1:
lakshya 19:79e69017c855 923 {
lakshya 49:61c9f28332ba 924 gpc.printf("HARDWARE_COMSN\r\n");
lakshya 19:79e69017c855 925 //ACK_L234_telemetry
lakshya 39:670133e7ffd8 926 uint8_t SENSOR_NO;
lakshya 20:949d13045431 927
lakshya 20:949d13045431 928 int init1=0;
lakshya 20:949d13045431 929 int init2=0;
lakshya 20:949d13045431 930 int data1=0;
lakshya 20:949d13045431 931 int data2=0;
lakshya 39:670133e7ffd8 932
lakshya 39:670133e7ffd8 933 uint16_t assign_val;
lakshya 19:79e69017c855 934
lakshya 20:949d13045431 935 float PWM_tc[3];
Bragadeesh153 54:d6a45982ace1 936 PWM_tc[0]=(float(tc[4]))/256;
Bragadeesh153 54:d6a45982ace1 937 PWM_tc[1]=(float(tc[5]))/256;
Bragadeesh153 54:d6a45982ace1 938 PWM_tc[2]=(float(tc[6]))/256;
lakshya 20:949d13045431 939
lakshya 20:949d13045431 940 DRV_Z_EN = 1;
lakshya 20:949d13045431 941 DRV_XY_EN = 1;
lakshya 49:61c9f28332ba 942 telemetry[0]=0x78;
lakshya 19:79e69017c855 943 telemetry[1]=tc[0];
lakshya 19:79e69017c855 944 telemetry[2]=ACK_CODE;
lakshya 39:670133e7ffd8 945 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 946
lakshya 39:670133e7ffd8 947 SENSOR_NO = 0;
lakshya 19:79e69017c855 948
lakshya 20:949d13045431 949 PWM1 = 0;
lakshya 20:949d13045431 950 PWM2 = 0;
lakshya 20:949d13045431 951 PWM3 = 0;
lakshya 20:949d13045431 952
lakshya 20:949d13045431 953 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 954 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 955 wait_ms(5);
Bragadeesh153 52:daa685b0e390 956 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 957 wait_ms(5);
lakshya 20:949d13045431 958 //will it lead to causing delay in i2c interrupt
lakshya 20:949d13045431 959 init1 = SENSOR_INIT();
lakshya 20:949d13045431 960 if( init1 == 1)
lakshya 20:949d13045431 961 {
lakshya 20:949d13045431 962 data1 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 963 }
Bragadeesh153 52:daa685b0e390 964 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 965 wait_ms(5);
lakshya 20:949d13045431 966 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 967 wait_ms(5);
lakshya 20:949d13045431 968
lakshya 20:949d13045431 969 if(data1 == 0)
lakshya 20:949d13045431 970 {
lakshya 20:949d13045431 971 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 972 wait_ms(5);
lakshya 20:949d13045431 973 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
lakshya 20:949d13045431 974 }
lakshya 20:949d13045431 975 else if(data1==1)
lakshya 20:949d13045431 976 {
lakshya 20:949d13045431 977 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x10;
lakshya 20:949d13045431 978 }
lakshya 20:949d13045431 979 else if(data1==2)
lakshya 20:949d13045431 980 {
lakshya 20:949d13045431 981 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x20;
lakshya 20:949d13045431 982 }
lakshya 20:949d13045431 983 else if(data1==3)
lakshya 20:949d13045431 984 {
lakshya 20:949d13045431 985 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x30;
lakshya 20:949d13045431 986 }
lakshya 39:670133e7ffd8 987
lakshya 39:670133e7ffd8 988 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 989 telemetry[5] = (assign_val>>8);
lakshya 39:670133e7ffd8 990 telemetry[6] = assign_val;
lakshya 39:670133e7ffd8 991
lakshya 39:670133e7ffd8 992 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 993 telemetry[7] = (assign_val>>8);
lakshya 39:670133e7ffd8 994 telemetry[8] = assign_val;
lakshya 39:670133e7ffd8 995
lakshya 39:670133e7ffd8 996 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 997 telemetry[9] = (assign_val>>8);
lakshya 39:670133e7ffd8 998 telemetry[10] = assign_val;
lakshya 39:670133e7ffd8 999
lakshya 39:670133e7ffd8 1000 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 1001 telemetry[11] = (assign_val>>8);
lakshya 39:670133e7ffd8 1002 telemetry[12] = assign_val;
lakshya 39:670133e7ffd8 1003
lakshya 39:670133e7ffd8 1004 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 1005 telemetry[13] = (assign_val>>8);
lakshya 39:670133e7ffd8 1006 telemetry[14] = assign_val;
lakshya 39:670133e7ffd8 1007
lakshya 39:670133e7ffd8 1008 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 1009 telemetry[15] = (assign_val>>8);
lakshya 39:670133e7ffd8 1010 telemetry[16] = assign_val;
lakshya 39:670133e7ffd8 1011
lakshya 20:949d13045431 1012 init2 = SENSOR_INIT();
lakshya 20:949d13045431 1013 if( init2 == 1)
lakshya 20:949d13045431 1014 {
lakshya 20:949d13045431 1015 data2 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1016 }
lakshya 39:670133e7ffd8 1017 //uint8_t ats_data=1;
lakshya 19:79e69017c855 1018
lakshya 20:949d13045431 1019 if(data2 == 0)
lakshya 20:949d13045431 1020 {
lakshya 20:949d13045431 1021 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1022 wait_ms(5);
lakshya 20:949d13045431 1023 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x0C;
lakshya 39:670133e7ffd8 1024 SENSOR_NO = 0;
lakshya 20:949d13045431 1025 if(data1 == 2)
lakshya 20:949d13045431 1026 {
Bragadeesh153 52:daa685b0e390 1027 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1028 wait_ms(5);
lakshya 20:949d13045431 1029 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1030 SENSOR_NO = 1;
lakshya 20:949d13045431 1031 }
lakshya 20:949d13045431 1032 else if(data1 == 3)
lakshya 20:949d13045431 1033 {
Bragadeesh153 52:daa685b0e390 1034 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1035 wait_ms(5);
lakshya 20:949d13045431 1036 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 39:670133e7ffd8 1037 SENSOR_NO = 1;
lakshya 20:949d13045431 1038 }
lakshya 20:949d13045431 1039 else if(data1 == 1)
lakshya 20:949d13045431 1040 {
Bragadeesh153 52:daa685b0e390 1041 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1042 wait_ms(5);
lakshya 20:949d13045431 1043 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1044 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1045
lakshya 20:949d13045431 1046 }
lakshya 20:949d13045431 1047
lakshya 20:949d13045431 1048 }
lakshya 20:949d13045431 1049 else if(data2==1)
lakshya 20:949d13045431 1050 {
lakshya 20:949d13045431 1051 if(data1 == 2)
lakshya 20:949d13045431 1052 {
lakshya 20:949d13045431 1053 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1054 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1055 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1056 wait_ms(5);
lakshya 20:949d13045431 1057 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1058 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
lakshya 39:670133e7ffd8 1059 SENSOR_NO = 1;
lakshya 20:949d13045431 1060 }
lakshya 20:949d13045431 1061 else if(data1 == 3)
lakshya 20:949d13045431 1062 {
lakshya 20:949d13045431 1063 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1064 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1065 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1066 wait_ms(5);
lakshya 20:949d13045431 1067 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1068 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1069 SENSOR_NO = 1;
lakshya 20:949d13045431 1070 }
lakshya 20:949d13045431 1071 else
lakshya 20:949d13045431 1072 {
lakshya 20:949d13045431 1073 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1074 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1075 //ats_data = 0;
lakshya 20:949d13045431 1076 }
lakshya 20:949d13045431 1077 }
lakshya 20:949d13045431 1078
lakshya 20:949d13045431 1079 else if(data2==2)
lakshya 20:949d13045431 1080 {
lakshya 20:949d13045431 1081 if(data1 == 3)
lakshya 20:949d13045431 1082 {
lakshya 20:949d13045431 1083 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1084 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1085 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1086 wait_ms(5);
lakshya 20:949d13045431 1087 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x02;
lakshya 20:949d13045431 1088 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1089 SENSOR_NO = 1;
lakshya 20:949d13045431 1090 }
lakshya 20:949d13045431 1091 else
lakshya 20:949d13045431 1092 {
lakshya 20:949d13045431 1093 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1094 SENSOR_NO = 2;
lakshya 20:949d13045431 1095 }
lakshya 20:949d13045431 1096 }
lakshya 20:949d13045431 1097 else if(data2==3)
lakshya 20:949d13045431 1098 {
lakshya 20:949d13045431 1099 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 39:670133e7ffd8 1100 SENSOR_NO = 2;
lakshya 20:949d13045431 1101 }
Bragadeesh153 54:d6a45982ace1 1102
Bragadeesh153 54:d6a45982ace1 1103 SENSOR_NO = 1;
lakshya 39:670133e7ffd8 1104 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1105 telemetry[17] = (assign_val>>8);
lakshya 39:670133e7ffd8 1106 telemetry[18] = assign_val;
lakshya 39:670133e7ffd8 1107
lakshya 39:670133e7ffd8 1108 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1109 telemetry[19] = (assign_val>>8);
lakshya 39:670133e7ffd8 1110 telemetry[20] = assign_val;
lakshya 39:670133e7ffd8 1111
lakshya 39:670133e7ffd8 1112 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1113 telemetry[21] = (assign_val>>8);
lakshya 39:670133e7ffd8 1114 telemetry[22] = assign_val;
lakshya 39:670133e7ffd8 1115
lakshya 39:670133e7ffd8 1116 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 1117 telemetry[23] = (assign_val>>8);
lakshya 39:670133e7ffd8 1118 telemetry[24] = assign_val;
lakshya 39:670133e7ffd8 1119
lakshya 39:670133e7ffd8 1120 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 1121 telemetry[25] = (assign_val>>8);
lakshya 39:670133e7ffd8 1122 telemetry[26] = assign_val;
lakshya 39:670133e7ffd8 1123
lakshya 39:670133e7ffd8 1124 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 1125 telemetry[27] = (assign_val>>8);
lakshya 39:670133e7ffd8 1126 telemetry[28] = assign_val;
lakshya 39:670133e7ffd8 1127
lakshya 39:670133e7ffd8 1128 telemetry[4] = ACS_ATS_STATUS;
lakshya 39:670133e7ffd8 1129
lakshya 19:79e69017c855 1130
lakshya 20:949d13045431 1131 SelectLineb3 =0;
lakshya 20:949d13045431 1132 SelectLineb2 =1;
lakshya 20:949d13045431 1133 SelectLineb1 =0;
lakshya 20:949d13045431 1134 SelectLineb0 =1;
lakshya 20:949d13045431 1135 int resistance;
lakshya 20:949d13045431 1136 PWM1 = PWM_tc[0];
lakshya 20:949d13045431 1137 PWM2 = 0;
lakshya 20:949d13045431 1138 PWM3 = 0;
lakshya 20:949d13045431 1139
lakshya 20:949d13045431 1140 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 39:670133e7ffd8 1141 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1142 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1143 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1144 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1145
lakshya 20:949d13045431 1146 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1147 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1148 {
lakshya 20:949d13045431 1149 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1150 }
lakshya 20:949d13045431 1151 else
lakshya 20:949d13045431 1152 {
lakshya 20:949d13045431 1153 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1154 }
lakshya 20:949d13045431 1155
lakshya 20:949d13045431 1156 //to be edited final tele
lakshya 39:670133e7ffd8 1157 //uint16_t assign_val;
lakshya 20:949d13045431 1158 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 20:949d13045431 1159 telemetry[29] = (assign_val>>8);
lakshya 20:949d13045431 1160 telemetry[30] = assign_val;
lakshya 20:949d13045431 1161
lakshya 20:949d13045431 1162 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 20:949d13045431 1163 telemetry[31] = (assign_val>>8);
lakshya 20:949d13045431 1164 telemetry[32] = assign_val;
lakshya 20:949d13045431 1165
lakshya 20:949d13045431 1166 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 20:949d13045431 1167 telemetry[33] = (assign_val>>8);
lakshya 20:949d13045431 1168 telemetry[34] = assign_val;
lakshya 20:949d13045431 1169
lakshya 20:949d13045431 1170 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 20:949d13045431 1171 telemetry[35] = (assign_val>>8);
lakshya 20:949d13045431 1172 telemetry[36] = assign_val;
lakshya 20:949d13045431 1173
lakshya 20:949d13045431 1174 PWM1 = 0;
lakshya 20:949d13045431 1175 PWM2 = PWM_tc[1];
lakshya 20:949d13045431 1176 PWM3 = 0;
lakshya 20:949d13045431 1177
lakshya 20:949d13045431 1178 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1179
lakshya 39:670133e7ffd8 1180 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1181 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1182 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1183 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1184
lakshya 20:949d13045431 1185
lakshya 20:949d13045431 1186 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1187 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1188 {
lakshya 20:949d13045431 1189 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1190 }
lakshya 20:949d13045431 1191 else
lakshya 20:949d13045431 1192 {
lakshya 20:949d13045431 1193 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1194 }
lakshya 39:670133e7ffd8 1195
lakshya 39:670133e7ffd8 1196 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1197 telemetry[37] = (assign_val>>8);
lakshya 39:670133e7ffd8 1198 telemetry[38] = assign_val;
lakshya 39:670133e7ffd8 1199
lakshya 39:670133e7ffd8 1200 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1201 telemetry[39] = (assign_val>>8);
lakshya 39:670133e7ffd8 1202 telemetry[40] = assign_val;
lakshya 39:670133e7ffd8 1203
lakshya 39:670133e7ffd8 1204 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1205 telemetry[41] = (assign_val>>8);
lakshya 39:670133e7ffd8 1206 telemetry[42] = assign_val;
lakshya 39:670133e7ffd8 1207
lakshya 39:670133e7ffd8 1208 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1209 telemetry[43] = (assign_val>>8);
lakshya 39:670133e7ffd8 1210 telemetry[44] = assign_val;
lakshya 20:949d13045431 1211
lakshya 20:949d13045431 1212 PWM1 = 0;
lakshya 20:949d13045431 1213 PWM2 = 0;
lakshya 20:949d13045431 1214 PWM3 = PWM_tc[2];
lakshya 20:949d13045431 1215
lakshya 20:949d13045431 1216 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1217
lakshya 39:670133e7ffd8 1218 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1219 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1220 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1221 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1222
lakshya 20:949d13045431 1223 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1224 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1225 {
lakshya 20:949d13045431 1226 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1227 }
lakshya 20:949d13045431 1228 else
lakshya 20:949d13045431 1229 {
lakshya 20:949d13045431 1230 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1231 }
lakshya 39:670133e7ffd8 1232 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1233 telemetry[45] = (assign_val>>8);
lakshya 39:670133e7ffd8 1234 telemetry[46] = assign_val;
lakshya 39:670133e7ffd8 1235
lakshya 39:670133e7ffd8 1236 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1237 telemetry[47] = (assign_val>>8);
lakshya 39:670133e7ffd8 1238 telemetry[48] = assign_val;
lakshya 20:949d13045431 1239
lakshya 39:670133e7ffd8 1240 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1241 telemetry[49] = (assign_val>>8);
lakshya 39:670133e7ffd8 1242 telemetry[50] = assign_val;
lakshya 39:670133e7ffd8 1243
lakshya 39:670133e7ffd8 1244 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1245 telemetry[51] = (assign_val>>8);
lakshya 39:670133e7ffd8 1246 telemetry[52] = assign_val;
lakshya 39:670133e7ffd8 1247
lakshya 20:949d13045431 1248 PWM1 = 0;
lakshya 20:949d13045431 1249 PWM2 = 0;
lakshya 20:949d13045431 1250 PWM3 = 0;
lakshya 20:949d13045431 1251
lakshya 20:949d13045431 1252 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1253
lakshya 39:670133e7ffd8 1254 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1255 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1256 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1257 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1258
lakshya 20:949d13045431 1259 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1260 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1261 {
lakshya 20:949d13045431 1262 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1263 }
lakshya 20:949d13045431 1264 else
lakshya 20:949d13045431 1265 {
lakshya 20:949d13045431 1266 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1267 }
lakshya 39:670133e7ffd8 1268
lakshya 39:670133e7ffd8 1269 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1270 telemetry[53] = (assign_val>>8);
lakshya 39:670133e7ffd8 1271 telemetry[54] = assign_val;
lakshya 39:670133e7ffd8 1272
lakshya 39:670133e7ffd8 1273 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1274 telemetry[55] = (assign_val>>8);
lakshya 39:670133e7ffd8 1275 telemetry[56] = assign_val;
lakshya 39:670133e7ffd8 1276
lakshya 39:670133e7ffd8 1277 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1278 telemetry[57] = (assign_val>>8);
lakshya 39:670133e7ffd8 1279 telemetry[58] = assign_val;
lakshya 20:949d13045431 1280
lakshya 20:949d13045431 1281 // for(int i=0; i<12; i++)
lakshya 20:949d13045431 1282 // FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&telemetry[16 + (i*4)]);
lakshya 20:949d13045431 1283
lakshya 20:949d13045431 1284 // FCTN_ATS_DATA_ACQ(); //get data
lakshya 19:79e69017c855 1285
lakshya 20:949d13045431 1286 // to include commission TR as well
lakshya 39:670133e7ffd8 1287
lakshya 49:61c9f28332ba 1288 telemetry[59] = SENSOR_NO;
lakshya 39:670133e7ffd8 1289
lakshya 39:670133e7ffd8 1290 for(uint8_t i=60;i<132;i++)
lakshya 19:79e69017c855 1291 {
lakshya 20:949d13045431 1292 telemetry[i]=0x00;
lakshya 19:79e69017c855 1293 }
lakshya 19:79e69017c855 1294
lakshya 19:79e69017c855 1295 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 1296 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 1297 telemetry[133] = (uint8_t)(crc16&0x00FF);
Bragadeesh153 56:32b1fb074138 1298
Bragadeesh153 56:32b1fb074138 1299 if(data1 == 0)
Bragadeesh153 56:32b1fb074138 1300 {
Bragadeesh153 56:32b1fb074138 1301 ATS1_SW_ENABLE = 0;
Bragadeesh153 56:32b1fb074138 1302 //wait_ms(5);
Bragadeesh153 56:32b1fb074138 1303 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
Bragadeesh153 56:32b1fb074138 1304 }
Bragadeesh153 56:32b1fb074138 1305 else if(data1==1)
Bragadeesh153 56:32b1fb074138 1306 {
Bragadeesh153 56:32b1fb074138 1307 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1308 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x40;
Bragadeesh153 56:32b1fb074138 1309 }
Bragadeesh153 56:32b1fb074138 1310 else if(data1==2)
Bragadeesh153 56:32b1fb074138 1311 {
Bragadeesh153 56:32b1fb074138 1312 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1313 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
Bragadeesh153 56:32b1fb074138 1314 }
Bragadeesh153 56:32b1fb074138 1315 else if(data1==3)
Bragadeesh153 56:32b1fb074138 1316 {
Bragadeesh153 56:32b1fb074138 1317 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1318 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
Bragadeesh153 56:32b1fb074138 1319 }
Bragadeesh153 56:32b1fb074138 1320 printf("Exited HW\r\n");
lakshya 19:79e69017c855 1321 break;
lakshya 19:79e69017c855 1322 }
lakshya 19:79e69017c855 1323 case 0xE2:
lakshya 19:79e69017c855 1324 {
lakshya 20:949d13045431 1325 uint8_t BCN_SPND_STATE;
lakshya 20:949d13045431 1326 BCN_SPND_STATE=tc[4];
lakshya 20:949d13045431 1327 if(BCN_SPND_STATE==0x00)
lakshya 19:79e69017c855 1328 {
lakshya 20:949d13045431 1329 BCN_SPND_TX=0;
lakshya 19:79e69017c855 1330 //stop BCN_STANDBY_TIMER.stop();//create
lakshya 19:79e69017c855 1331 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1332 }
lakshya 20:949d13045431 1333 else if(BCN_SPND_STATE==0x01)
lakshya 19:79e69017c855 1334 {
lakshya 33:76f2b8735501 1335 FCTN_BCN_SPND_TX();
lakshya 19:79e69017c855 1336 //stop BCN_STANDBY_TIMER.start();//create
lakshya 19:79e69017c855 1337 if(BCN_TX_MAIN_STATUS==0)
lakshya 19:79e69017c855 1338 {
lakshya 19:79e69017c855 1339 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1340 }
lakshya 19:79e69017c855 1341 else if(BCN_TX_MAIN_STATUS==1)
lakshya 19:79e69017c855 1342 {
lakshya 19:79e69017c855 1343 telemetry[2]=0xC0;
lakshya 19:79e69017c855 1344 }
lakshya 19:79e69017c855 1345 }
lakshya 19:79e69017c855 1346 else
lakshya 19:79e69017c855 1347 {
lakshya 19:79e69017c855 1348 telemetry[2]=0x02;
lakshya 19:79e69017c855 1349 }
lakshya 19:79e69017c855 1350 //ACK_L234_telemetry
lakshya 19:79e69017c855 1351 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1352 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1353 //ack_code taken care above
lakshya 19:79e69017c855 1354 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1355 {
lakshya 19:79e69017c855 1356 telemetry[i]=0x00;
lakshya 19:79e69017c855 1357 }
lakshya 19:79e69017c855 1358 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1359 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1360 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1361 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1362 {
lakshya 19:79e69017c855 1363 telemetry[i]=0x00;
lakshya 19:79e69017c855 1364 }
lakshya 19:79e69017c855 1365 break;
lakshya 19:79e69017c855 1366 }
lakshya 20:949d13045431 1367 case 0xE3:
lakshya 20:949d13045431 1368 {
lakshya 20:949d13045431 1369 if(EPS_BTRY_HTR_AUTO != 0)
lakshya 20:949d13045431 1370 telemetry[2]=0x87;
lakshya 20:949d13045431 1371 else
lakshya 20:949d13045431 1372 {
lakshya 20:949d13045431 1373 HTR_CYCLE_COUNTS = tc[4];
lakshya 20:949d13045431 1374 if(HTR_CYCLE_COUNTS==0x00)
lakshya 20:949d13045431 1375 {
lakshya 33:76f2b8735501 1376 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 1377 HTR_CYCLE->stop();
lakshya 20:949d13045431 1378 //clear EPS_BTRY_HTR is it
lakshya 20:949d13045431 1379 EPS_BTRY_HTR_AUTO = 0;
lakshya 20:949d13045431 1380
lakshya 20:949d13045431 1381 }
lakshya 20:949d13045431 1382 else
lakshya 20:949d13045431 1383 {
lakshya 20:949d13045431 1384 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 1385 {
lakshya 20:949d13045431 1386 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 1387 }
lakshya 20:949d13045431 1388 //uint8_t HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1389 HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1390 HTR_ON_DURATION = tc[6];
lakshya 20:949d13045431 1391
lakshya 20:949d13045431 1392 //make it uint16_t
lakshya 20:949d13045431 1393 HTR_CYCLE_PERIOD = (tc[7]<<8) | tc[8];
lakshya 20:949d13045431 1394 //start BTRY_HTR_DLY_TIMER;
lakshya 20:949d13045431 1395 }
lakshya 20:949d13045431 1396 telemetry[2]=0xA0;
lakshya 20:949d13045431 1397 }
lakshya 20:949d13045431 1398 //ACK_L234_telemetry
lakshya 20:949d13045431 1399 telemetry[0]=0xB0;
lakshya 20:949d13045431 1400 telemetry[1]=tc[0];
lakshya 20:949d13045431 1401 //ACK code taken care of
lakshya 20:949d13045431 1402 for(uint8_t i=3;i<11;i++)
lakshya 20:949d13045431 1403 {
lakshya 20:949d13045431 1404 telemetry[i]=0x00;
lakshya 20:949d13045431 1405 }
lakshya 20:949d13045431 1406 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 20:949d13045431 1407 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 20:949d13045431 1408 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 20:949d13045431 1409 for(uint8_t i=13;i<134;i++)
lakshya 20:949d13045431 1410 {
lakshya 20:949d13045431 1411 telemetry[i]=0x00;
lakshya 20:949d13045431 1412 }
lakshya 20:949d13045431 1413
lakshya 20:949d13045431 1414 break;
lakshya 20:949d13045431 1415 }
lakshya 19:79e69017c855 1416 case 0x01:
lakshya 19:79e69017c855 1417 { if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1418 {
lakshya 49:61c9f28332ba 1419 gpc.printf("\n\rRun P_EPS_INIT");
lakshya 19:79e69017c855 1420 FCTN_EPS_INIT();
lakshya 19:79e69017c855 1421 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1422 }
lakshya 19:79e69017c855 1423 else
lakshya 19:79e69017c855 1424 {
lakshya 49:61c9f28332ba 1425 gpc.printf("\n\runable to Run P_EPS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1426 telemetry[2]=0x87;
lakshya 19:79e69017c855 1427 }
lakshya 19:79e69017c855 1428
lakshya 19:79e69017c855 1429 //ACK_L234_telemetry
lakshya 19:79e69017c855 1430 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1431 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1432 //ACK code taken care of
lakshya 19:79e69017c855 1433 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1434 {
lakshya 19:79e69017c855 1435 telemetry[i]=0x00;
lakshya 19:79e69017c855 1436 }
lakshya 19:79e69017c855 1437 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1438 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1439 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1440 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1441 {
lakshya 19:79e69017c855 1442 telemetry[i]=0x00;
lakshya 19:79e69017c855 1443 }
lakshya 19:79e69017c855 1444
lakshya 19:79e69017c855 1445 break;
lakshya 19:79e69017c855 1446 }
lakshya 19:79e69017c855 1447 case 0x02:
lakshya 19:79e69017c855 1448 {
lakshya 19:79e69017c855 1449 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1450 {
lakshya 49:61c9f28332ba 1451 gpc.printf("\n\rRun P_EPS_MAIN");
lakshya 19:79e69017c855 1452 F_EPS();
lakshya 19:79e69017c855 1453 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1454 }
lakshya 19:79e69017c855 1455 else
lakshya 19:79e69017c855 1456 {
lakshya 49:61c9f28332ba 1457 gpc.printf("\n\runable to Run P_EPS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1458 telemetry[2]=0x87;
lakshya 19:79e69017c855 1459 }
lakshya 19:79e69017c855 1460
lakshya 19:79e69017c855 1461 //ACK_L234_telemetry
lakshya 19:79e69017c855 1462 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1463 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1464 //ACK code taken care of
lakshya 19:79e69017c855 1465 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1466 {
lakshya 19:79e69017c855 1467 telemetry[i]=0x00;
lakshya 19:79e69017c855 1468 }
lakshya 19:79e69017c855 1469 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1470 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1471 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1472 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1473 {
lakshya 19:79e69017c855 1474 telemetry[i]=0x00;
lakshya 19:79e69017c855 1475 }
lakshya 19:79e69017c855 1476 break;
lakshya 19:79e69017c855 1477 }
lakshya 19:79e69017c855 1478 case 0x03:
lakshya 19:79e69017c855 1479 {
lakshya 19:79e69017c855 1480 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1481 {
lakshya 49:61c9f28332ba 1482 gpc.printf("\n\rRun P_ACS_INIT");
lakshya 19:79e69017c855 1483 FCTN_ACS_INIT();
lakshya 19:79e69017c855 1484 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1485 }
lakshya 19:79e69017c855 1486 else
lakshya 19:79e69017c855 1487 {
lakshya 49:61c9f28332ba 1488 gpc.printf("\n\runable to Run P_ACS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1489 telemetry[2]=0x87;
lakshya 19:79e69017c855 1490 }
lakshya 19:79e69017c855 1491
lakshya 19:79e69017c855 1492 //ACK_L234_telemetry
lakshya 19:79e69017c855 1493 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1494 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1495 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1496 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1497 {
lakshya 19:79e69017c855 1498 telemetry[i]=0x00;
lakshya 19:79e69017c855 1499 }
lakshya 19:79e69017c855 1500 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1501 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1502 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1503 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1504 {
lakshya 19:79e69017c855 1505 telemetry[i]=0x00;
lakshya 19:79e69017c855 1506 }
lakshya 19:79e69017c855 1507 break;
lakshya 19:79e69017c855 1508 }
lakshya 19:79e69017c855 1509 case 0x05:
lakshya 19:79e69017c855 1510 {
lakshya 19:79e69017c855 1511 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1512 {
lakshya 49:61c9f28332ba 1513 gpc.printf("\n\rRun P_ACS_MAIN");
lakshya 19:79e69017c855 1514 F_ACS();
lakshya 19:79e69017c855 1515 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1516 }
lakshya 19:79e69017c855 1517 else
lakshya 19:79e69017c855 1518 {
lakshya 49:61c9f28332ba 1519 gpc.printf("\n\runable to Run P_ACS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1520 telemetry[2]=0x87;
lakshya 19:79e69017c855 1521 }
lakshya 19:79e69017c855 1522
lakshya 19:79e69017c855 1523 //ACK_L234_TM
lakshya 19:79e69017c855 1524 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1525 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1526 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1527 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1528 {
lakshya 19:79e69017c855 1529 telemetry[i]=0x00;
lakshya 19:79e69017c855 1530 }
lakshya 19:79e69017c855 1531
lakshya 19:79e69017c855 1532 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1533 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1534 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1535 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1536 {
lakshya 19:79e69017c855 1537 telemetry[i]=0x00;
lakshya 19:79e69017c855 1538 }
lakshya 19:79e69017c855 1539 break;
lakshya 19:79e69017c855 1540 }
lakshya 19:79e69017c855 1541 case 0x06:
lakshya 19:79e69017c855 1542 {
lakshya 19:79e69017c855 1543 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1544 {
lakshya 49:61c9f28332ba 1545 gpc.printf("\n\rRun P_BCN_INIT");
lakshya 19:79e69017c855 1546 F_BCN();
lakshya 19:79e69017c855 1547 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1548 }
lakshya 19:79e69017c855 1549 else
lakshya 19:79e69017c855 1550 {
lakshya 49:61c9f28332ba 1551 gpc.printf("\n\runable to Run P_BCN_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1552 telemetry[2]=0x87;
lakshya 19:79e69017c855 1553 }
lakshya 19:79e69017c855 1554
lakshya 19:79e69017c855 1555 //ACK_L234_TM
lakshya 19:79e69017c855 1556 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1557 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1558 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1559 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1560 {
lakshya 19:79e69017c855 1561 telemetry[i]=0x00;
lakshya 19:79e69017c855 1562 }
lakshya 19:79e69017c855 1563 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1564 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1565 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1566 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1567 {
lakshya 19:79e69017c855 1568 telemetry[i]=0x00;
lakshya 19:79e69017c855 1569 }
lakshya 19:79e69017c855 1570 break;
lakshya 19:79e69017c855 1571 }
lakshya 19:79e69017c855 1572 case 0x07:
lakshya 19:79e69017c855 1573 {
lakshya 19:79e69017c855 1574 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1575 {
lakshya 49:61c9f28332ba 1576 gpc.printf("\n\rRun P_BCN_TX_MAIN");
lakshya 19:79e69017c855 1577 FCTN_BCN_TX_MAIN();//correct function check once
lakshya 19:79e69017c855 1578 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1579 }
lakshya 19:79e69017c855 1580 else
lakshya 19:79e69017c855 1581 {
lakshya 49:61c9f28332ba 1582 gpc.printf("\n\runable to Run P_BCN_TX_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1583 telemetry[2]=0x87;
lakshya 19:79e69017c855 1584 }
lakshya 19:79e69017c855 1585
lakshya 19:79e69017c855 1586 //ACK_L234_TM
lakshya 19:79e69017c855 1587 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1588 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1589 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1590 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1591 {
lakshya 19:79e69017c855 1592 telemetry[i]=0x00;
lakshya 19:79e69017c855 1593 }
lakshya 19:79e69017c855 1594 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1595 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1596 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1597 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1598 {
lakshya 19:79e69017c855 1599 telemetry[i]=0x00;
lakshya 19:79e69017c855 1600 }
lakshya 19:79e69017c855 1601 break;
lakshya 19:79e69017c855 1602 }
lakshya 19:79e69017c855 1603 case 0x11:
lakshya 19:79e69017c855 1604 {
lakshya 49:61c9f28332ba 1605 gpc.printf("\n\rSW_ON_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1606 //ACK_L234_TM
lakshya 19:79e69017c855 1607 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1608 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1609 //____________________________________________************************************
lakshya 19:79e69017c855 1610 /*
lakshya 19:79e69017c855 1611 ATS PIN OR STATUS YET TO BE DECIDED. DECIDED THAT IT IS PIN TC CAN SWITCH ON/OFF THE SENSOR
lakshya 19:79e69017c855 1612 */
lakshya 19:79e69017c855 1613 ATS2_SW_ENABLE = 1; // making sure we switch off the other
lakshya 39:670133e7ffd8 1614 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 39:670133e7ffd8 1615 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0) | 0x0C ;
Bragadeesh153 52:daa685b0e390 1616 ATS1_SW_ENABLE = 1;
lakshya 39:670133e7ffd8 1617 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F);
lakshya 39:670133e7ffd8 1618 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F)|0x40;
lakshya 19:79e69017c855 1619 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1620 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1621 {
lakshya 19:79e69017c855 1622 telemetry[i]=0x00;
lakshya 19:79e69017c855 1623 }
lakshya 19:79e69017c855 1624 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1625 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1626 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1627 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1628 {
lakshya 19:79e69017c855 1629 telemetry[i]=0x00;
lakshya 19:79e69017c855 1630 }
lakshya 19:79e69017c855 1631 break;
lakshya 19:79e69017c855 1632 }
lakshya 19:79e69017c855 1633 case 0x12:
lakshya 19:79e69017c855 1634 {
lakshya 49:61c9f28332ba 1635 gpc.printf("\n\rSW_ON_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1636 //ACK_L234_TM
lakshya 19:79e69017c855 1637 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1638 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1639 ATS1_SW_ENABLE = 0; //make sure u switch off the other
lakshya 39:670133e7ffd8 1640 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F) | 0xC0 ;
lakshya 19:79e69017c855 1641 ATS2_SW_ENABLE = 0;
lakshya 39:670133e7ffd8 1642 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0)|0x04;
lakshya 19:79e69017c855 1643 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1644 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1645 {
lakshya 19:79e69017c855 1646 telemetry[i]=0x00;
lakshya 19:79e69017c855 1647 }
lakshya 19:79e69017c855 1648 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1649 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1650 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1651 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1652 {
lakshya 19:79e69017c855 1653 telemetry[i]=0x00;
lakshya 19:79e69017c855 1654 }
lakshya 19:79e69017c855 1655 break;
lakshya 19:79e69017c855 1656 }
lakshya 19:79e69017c855 1657 case 0x13:
lakshya 19:79e69017c855 1658 {
lakshya 49:61c9f28332ba 1659 gpc.printf("\n\rSW_ON_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1660 //ACK_L234_TM
lakshya 19:79e69017c855 1661 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1662 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1663 DRV_XY_EN = 1;//1 SWITCH enable here
Bragadeesh153 52:daa685b0e390 1664 ACS_TR_XY_ENABLE = 1;
lakshya 19:79e69017c855 1665 ACS_TR_XY_SW_STATUS=0x01;
lakshya 19:79e69017c855 1666 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1667 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1668 {
lakshya 19:79e69017c855 1669 telemetry[i]=0x00;
lakshya 19:79e69017c855 1670 }
lakshya 19:79e69017c855 1671 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1672 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1673 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1674 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1675 {
lakshya 19:79e69017c855 1676 telemetry[i]=0x00;
lakshya 19:79e69017c855 1677 }
lakshya 19:79e69017c855 1678 break;
lakshya 19:79e69017c855 1679 }
lakshya 19:79e69017c855 1680 case 0x14:
lakshya 19:79e69017c855 1681 {
lakshya 49:61c9f28332ba 1682 gpc.printf("\n\rSW_ON_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1683 //ACK_L234_TM
lakshya 19:79e69017c855 1684 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1685 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1686 DRV_Z_EN = 1;
Bragadeesh153 52:daa685b0e390 1687 ACS_TR_Z_ENABLE = 1;
lakshya 19:79e69017c855 1688 ACS_TR_Z_SW_STATUS=0x01;
lakshya 19:79e69017c855 1689 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1690 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1691 {
lakshya 19:79e69017c855 1692 telemetry[i]=0x00;
lakshya 19:79e69017c855 1693 }
lakshya 19:79e69017c855 1694 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1695 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1696 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1697 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1698 {
lakshya 19:79e69017c855 1699 telemetry[i]=0x00;
lakshya 19:79e69017c855 1700 }
lakshya 19:79e69017c855 1701 break;
lakshya 19:79e69017c855 1702 }
lakshya 19:79e69017c855 1703 case 0x15:
lakshya 19:79e69017c855 1704 {
lakshya 49:61c9f28332ba 1705 gpc.printf("\n\rSW_ON_BCN_TX_SW_ENABLE");
lakshya 19:79e69017c855 1706 //ACK_L234_TM
lakshya 19:79e69017c855 1707 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1708 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1709 BCN_SW = 0;//here 0 is switch enable
lakshya 19:79e69017c855 1710 BCN_TX_SW_ENABLE=0x01;
lakshya 19:79e69017c855 1711 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1712 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1713 {
lakshya 19:79e69017c855 1714 telemetry[i]=0x00;
lakshya 19:79e69017c855 1715 }
lakshya 19:79e69017c855 1716 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1717 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1718 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1719 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1720 {
lakshya 19:79e69017c855 1721 telemetry[i]=0x00;
lakshya 19:79e69017c855 1722 }
lakshya 19:79e69017c855 1723 break;
lakshya 19:79e69017c855 1724 }
lakshya 19:79e69017c855 1725 case 0x21:
lakshya 19:79e69017c855 1726 {
lakshya 49:61c9f28332ba 1727 gpc.printf("\n\rSW_OFF_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1728 //ACK_L234_TM
lakshya 19:79e69017c855 1729 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1730 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1731 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1732 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F) | 0xC0 ;
lakshya 19:79e69017c855 1733 telemetry[2]=ACK_CODE;
lakshya 49:61c9f28332ba 1734
lakshya 49:61c9f28332ba 1735 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1736 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 49:61c9f28332ba 1737 FLASH_DATA = (FLASH_DATA | 0xC0000000);
lakshya 49:61c9f28332ba 1738 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1739
lakshya 19:79e69017c855 1740 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1741 {
lakshya 19:79e69017c855 1742 telemetry[i]=0x00;
lakshya 19:79e69017c855 1743 }
lakshya 19:79e69017c855 1744 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1745 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1746 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1747 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1748 {
lakshya 19:79e69017c855 1749 telemetry[i]=0x00;
lakshya 19:79e69017c855 1750 }
lakshya 19:79e69017c855 1751 break;
lakshya 19:79e69017c855 1752 }
lakshya 19:79e69017c855 1753 case 0x22:
lakshya 19:79e69017c855 1754 {
lakshya 49:61c9f28332ba 1755 gpc.printf("\n\rSW_OFF_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1756 //ACK_L234_TM
lakshya 19:79e69017c855 1757 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1758 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1759 ATS2_SW_ENABLE = 1;
lakshya 49:61c9f28332ba 1760
lakshya 49:61c9f28332ba 1761 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1762 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 49:61c9f28332ba 1763 FLASH_DATA = (FLASH_DATA | 0x0C000000);
lakshya 49:61c9f28332ba 1764 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1765
lakshya 20:949d13045431 1766 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 19:79e69017c855 1767 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1768 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1769 {
lakshya 19:79e69017c855 1770 telemetry[i]=0x00;
lakshya 19:79e69017c855 1771 }
lakshya 19:79e69017c855 1772 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1773 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1774 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1775 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1776 {
lakshya 19:79e69017c855 1777 telemetry[i]=0x00;
lakshya 19:79e69017c855 1778 }
lakshya 19:79e69017c855 1779 break;
lakshya 19:79e69017c855 1780 }
lakshya 19:79e69017c855 1781 case 0x23:
lakshya 19:79e69017c855 1782 {
lakshya 49:61c9f28332ba 1783 gpc.printf("\n\rSW_OFF_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1784 //ACK_L234_TM
lakshya 19:79e69017c855 1785 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1786 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1787 ACS_TR_XY_ENABLE = 0;
lakshya 19:79e69017c855 1788 ACS_TR_XY_SW_STATUS=0x03;
lakshya 19:79e69017c855 1789 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1790 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1791 {
lakshya 19:79e69017c855 1792 telemetry[i]=0x00;
lakshya 19:79e69017c855 1793 }
lakshya 19:79e69017c855 1794 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1795 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1796 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1797 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1798 {
lakshya 19:79e69017c855 1799 telemetry[i]=0x00;
lakshya 19:79e69017c855 1800 }
lakshya 19:79e69017c855 1801 break;
lakshya 19:79e69017c855 1802 }
lakshya 19:79e69017c855 1803 case 0x24:
lakshya 19:79e69017c855 1804 {
lakshya 49:61c9f28332ba 1805 gpc.printf("\n\rSW_OFF_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1806 //ACK_L234_TM
lakshya 19:79e69017c855 1807 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1808 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1809 ACS_TR_Z_ENABLE = 0;
lakshya 19:79e69017c855 1810 ACS_TR_Z_SW_STATUS=0x03;
lakshya 19:79e69017c855 1811 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1812 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1813 {
lakshya 19:79e69017c855 1814 telemetry[i]=0x00;
lakshya 19:79e69017c855 1815 }
lakshya 19:79e69017c855 1816 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1817 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1818 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1819 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1820 {
lakshya 19:79e69017c855 1821 telemetry[i]=0x00;
lakshya 19:79e69017c855 1822 }
lakshya 19:79e69017c855 1823 break;
lakshya 19:79e69017c855 1824 }
lakshya 19:79e69017c855 1825 case 0x25:
lakshya 19:79e69017c855 1826 {
lakshya 49:61c9f28332ba 1827 gpc.printf("\n\rSW_OFF_BCN_TX_SW_ENABLE");
lakshya 19:79e69017c855 1828 //ACK_L234_TM
lakshya 19:79e69017c855 1829 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1830 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1831 BCN_SW = 1;
lakshya 19:79e69017c855 1832 BCN_TX_SW_ENABLE=0x03;
lakshya 19:79e69017c855 1833 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1834 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1835 {
lakshya 19:79e69017c855 1836 telemetry[i]=0x00;
lakshya 19:79e69017c855 1837 }
lakshya 19:79e69017c855 1838 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1839 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1840 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1841 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1842 {
lakshya 19:79e69017c855 1843 telemetry[i]=0x00;
lakshya 19:79e69017c855 1844 }
lakshya 19:79e69017c855 1845 break;
lakshya 19:79e69017c855 1846 }
lakshya 19:79e69017c855 1847 case 0x31:
lakshya 19:79e69017c855 1848 {
lakshya 49:61c9f28332ba 1849 gpc.printf("\n\rACS_ATS1_SW_RESET");
lakshya 19:79e69017c855 1850 //ACK_L234_TM
lakshya 19:79e69017c855 1851 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1852 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1853 ATS2_SW_ENABLE = 1;//as ats switched off
Bragadeesh153 52:daa685b0e390 1854 ATS1_SW_ENABLE = 0;
lakshya 19:79e69017c855 1855 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1856 ATS1_SW_ENABLE = 1;
lakshya 19:79e69017c855 1857 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1858 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1859 {
lakshya 19:79e69017c855 1860 telemetry[i]=0x00;
lakshya 19:79e69017c855 1861 }
lakshya 19:79e69017c855 1862 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1863 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1864 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1865 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1866 {
lakshya 19:79e69017c855 1867 telemetry[i]=0x00;
lakshya 19:79e69017c855 1868 }
lakshya 19:79e69017c855 1869 break;
lakshya 19:79e69017c855 1870 }
lakshya 19:79e69017c855 1871 case 0x32:
lakshya 19:79e69017c855 1872 {
lakshya 49:61c9f28332ba 1873 gpc.printf("\n\rACS_ATS2_SW_RESET");
lakshya 19:79e69017c855 1874 //ACK_L234_TM
lakshya 19:79e69017c855 1875 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1876 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1877 ATS1_SW_ENABLE = 0;//as ats1 switched off
lakshya 19:79e69017c855 1878 ATS2_SW_ENABLE = 1;
lakshya 19:79e69017c855 1879 wait_ms(5);
lakshya 19:79e69017c855 1880 ATS2_SW_ENABLE = 0;
lakshya 19:79e69017c855 1881 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1882 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1883 {
lakshya 19:79e69017c855 1884 telemetry[i]=0x00;
lakshya 19:79e69017c855 1885 }
lakshya 19:79e69017c855 1886 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1887 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1888 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1889 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1890 {
lakshya 19:79e69017c855 1891 telemetry[i]=0x00;
lakshya 19:79e69017c855 1892 }
lakshya 19:79e69017c855 1893 break;
lakshya 19:79e69017c855 1894 }
lakshya 19:79e69017c855 1895 case 0x33:
lakshya 19:79e69017c855 1896 {
lakshya 49:61c9f28332ba 1897 gpc.printf("\n\rACS_TR_XY_SW_RESET");
lakshya 19:79e69017c855 1898 //ACK_L234_TM
lakshya 19:79e69017c855 1899 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1900 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1901 ACS_TR_XY_ENABLE= 0;
lakshya 19:79e69017c855 1902 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1903 ACS_TR_XY_ENABLE= 1;
lakshya 19:79e69017c855 1904 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1905 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1906 {
lakshya 19:79e69017c855 1907 telemetry[i]=0x00;
lakshya 19:79e69017c855 1908 }
lakshya 19:79e69017c855 1909 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1910 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1911 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1912 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1913 {
lakshya 19:79e69017c855 1914 telemetry[i]=0x00;
lakshya 19:79e69017c855 1915 }
lakshya 19:79e69017c855 1916 break;
lakshya 19:79e69017c855 1917 }
lakshya 19:79e69017c855 1918 case 0x34:
lakshya 19:79e69017c855 1919 {
lakshya 49:61c9f28332ba 1920 gpc.printf("\n\rACS_TR_Z_SW_RESET");
lakshya 19:79e69017c855 1921 //ACK_L234_TM
lakshya 19:79e69017c855 1922 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1923 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1924 ACS_TR_Z_ENABLE= 0;
lakshya 19:79e69017c855 1925 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1926 ACS_TR_Z_ENABLE= 1;
lakshya 19:79e69017c855 1927 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1928 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1929 {
lakshya 19:79e69017c855 1930 telemetry[i]=0x00;
lakshya 19:79e69017c855 1931 }
lakshya 19:79e69017c855 1932 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1933 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1934 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1935 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1936 {
lakshya 19:79e69017c855 1937 telemetry[i]=0x00;
lakshya 19:79e69017c855 1938 }
lakshya 19:79e69017c855 1939 break;
lakshya 19:79e69017c855 1940 }
lakshya 19:79e69017c855 1941 case 0x35:
lakshya 19:79e69017c855 1942 {
lakshya 49:61c9f28332ba 1943 gpc.printf("\n\rBCN_TX_SW_RESET");
lakshya 19:79e69017c855 1944 //ACK_L234_TM
lakshya 19:79e69017c855 1945 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1946 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1947 BCN_SW = 1;
lakshya 19:79e69017c855 1948 wait_ms(5);
lakshya 19:79e69017c855 1949 BCN_SW = 0;
lakshya 19:79e69017c855 1950 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1951 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1952 {
lakshya 19:79e69017c855 1953 telemetry[i]=0x00;
lakshya 19:79e69017c855 1954 }
lakshya 19:79e69017c855 1955 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1956 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1957 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1958 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1959 {
lakshya 19:79e69017c855 1960 telemetry[i]=0x00;
lakshya 19:79e69017c855 1961 }
lakshya 19:79e69017c855 1962 break;
lakshya 19:79e69017c855 1963 }
lakshya 19:79e69017c855 1964 case 0x36:
lakshya 19:79e69017c855 1965 {
lakshya 49:61c9f28332ba 1966 gpc.printf("\n\rBAE_INTERNAL_RESET TO be done ");
lakshya 20:949d13045431 1967 NVIC_SystemReset();
lakshya 19:79e69017c855 1968 break;
lakshya 19:79e69017c855 1969 }
lakshya 19:79e69017c855 1970 case 0x37:
lakshya 19:79e69017c855 1971 {
lakshya 49:61c9f28332ba 1972 gpc.printf("\n\rCDMS_RESET");
lakshya 19:79e69017c855 1973 //ACK_L234_TM
lakshya 19:79e69017c855 1974 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1975 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1976 CDMS_RESET = 0;
lakshya 19:79e69017c855 1977 wait_ms(5);
lakshya 19:79e69017c855 1978 CDMS_RESET = 1;
lakshya 19:79e69017c855 1979 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1980 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1981 {
lakshya 19:79e69017c855 1982 telemetry[i]=0x00;
lakshya 19:79e69017c855 1983 }
lakshya 19:79e69017c855 1984 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1985 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1986 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1987 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1988 {
lakshya 19:79e69017c855 1989 telemetry[i]=0x00;
lakshya 19:79e69017c855 1990 }
lakshya 19:79e69017c855 1991 break;
lakshya 19:79e69017c855 1992 }
lakshya 49:61c9f28332ba 1993 case 0x38://not in IF present in SBC
lakshya 19:79e69017c855 1994 {
lakshya 49:61c9f28332ba 1995 gpc.printf("\n\rCDMS_SW_RESET pin yet to be decided");
lakshya 19:79e69017c855 1996 //ACK_L234_TM
lakshya 19:79e69017c855 1997 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1998 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1999 /*
lakshya 19:79e69017c855 2000 PIN to be DECIDED***************************************************************8
lakshya 19:79e69017c855 2001 */
lakshya 19:79e69017c855 2002 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2003 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2004 {
lakshya 19:79e69017c855 2005 telemetry[i]=0x00;
lakshya 19:79e69017c855 2006 }
lakshya 19:79e69017c855 2007 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2008 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2009 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2010 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2011 {
lakshya 19:79e69017c855 2012 telemetry[i]=0x00;
lakshya 19:79e69017c855 2013 }
lakshya 19:79e69017c855 2014 break;
lakshya 19:79e69017c855 2015 }
lakshya 49:61c9f28332ba 2016 case 0x40://condition changed by AK47 now 00 means off in TC
lakshya 19:79e69017c855 2017 {
lakshya 19:79e69017c855 2018 uint8_t STANDBY_DATA_TC;
lakshya 19:79e69017c855 2019 BAE_STANDBY=0x00;
lakshya 19:79e69017c855 2020 STANDBY_DATA_TC=tc[4];
lakshya 49:61c9f28332ba 2021 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2022 {
lakshya 19:79e69017c855 2023 BAE_STANDBY |=0x04;
lakshya 19:79e69017c855 2024 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2025 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2026 }
lakshya 19:79e69017c855 2027 STANDBY_DATA_TC=tc[5];
lakshya 49:61c9f28332ba 2028 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2029 {
lakshya 19:79e69017c855 2030 BAE_STANDBY |=0x02;
lakshya 19:79e69017c855 2031 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2032 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2033 }
lakshya 19:79e69017c855 2034 STANDBY_DATA_TC=tc[6];
lakshya 49:61c9f28332ba 2035 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2036 {
lakshya 19:79e69017c855 2037 BAE_STANDBY |=0x01;
lakshya 19:79e69017c855 2038 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2039 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2040 }
lakshya 19:79e69017c855 2041 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2042 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2043 telemetry[2]=0xC0;//ack_code for this case
lakshya 19:79e69017c855 2044 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2045 {
lakshya 19:79e69017c855 2046 telemetry[i]=0x00;
lakshya 19:79e69017c855 2047 }
lakshya 19:79e69017c855 2048 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2049 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2050 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2051 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2052 {
lakshya 19:79e69017c855 2053 telemetry[i]=0x00;
lakshya 19:79e69017c855 2054 }
lakshya 19:79e69017c855 2055 break;
lakshya 19:79e69017c855 2056 }
lakshya 19:79e69017c855 2057 case 0x41:
lakshya 19:79e69017c855 2058 {
lakshya 49:61c9f28332ba 2059 gpc.printf("\n\rexecutng BAE reset HK counter");
lakshya 20:949d13045431 2060 firstCount=true;
lakshya 20:949d13045431 2061 void minMaxHkData();
lakshya 49:61c9f28332ba 2062
lakshya 19:79e69017c855 2063 //ACK_L234_TM
lakshya 19:79e69017c855 2064 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2065 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2066 telemetry[2]=0x02;
lakshya 19:79e69017c855 2067 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2068 {
lakshya 19:79e69017c855 2069 telemetry[i]=0x00;
lakshya 19:79e69017c855 2070 }
lakshya 19:79e69017c855 2071 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2072 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2073 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2074 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2075 {
lakshya 19:79e69017c855 2076 telemetry[i]=0x00;
lakshya 19:79e69017c855 2077 }
lakshya 19:79e69017c855 2078 break;
lakshya 19:79e69017c855 2079 }
lakshya 19:79e69017c855 2080 default:
lakshya 19:79e69017c855 2081 {
lakshya 49:61c9f28332ba 2082 gpc.printf("\n\rInvalid TC for FMS no matching FID");
lakshya 19:79e69017c855 2083 //ACK_L234_TM
lakshya 19:79e69017c855 2084 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2085 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2086 telemetry[2]=0x02;
lakshya 19:79e69017c855 2087 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2088 {
lakshya 19:79e69017c855 2089 telemetry[i]=0x00;
lakshya 19:79e69017c855 2090 }
lakshya 19:79e69017c855 2091 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2092 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2093 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2094 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2095 {
lakshya 19:79e69017c855 2096 telemetry[i]=0x00;
lakshya 19:79e69017c855 2097 }
lakshya 19:79e69017c855 2098 break;
lakshya 19:79e69017c855 2099 }
lakshya 19:79e69017c855 2100 }
lakshya 19:79e69017c855 2101 break;
lakshya 19:79e69017c855 2102 }
lakshya 19:79e69017c855 2103 default:
lakshya 19:79e69017c855 2104 {
lakshya 49:61c9f28332ba 2105 gpc.printf("\n\rInvalid TC, FMS service subtype mismacth");
lakshya 19:79e69017c855 2106 //ACK_L234_TM
lakshya 19:79e69017c855 2107 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2108 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2109 telemetry[2]=0x02;
lakshya 19:79e69017c855 2110 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2111 {
lakshya 19:79e69017c855 2112 telemetry[i]=0x00;
lakshya 19:79e69017c855 2113 }
lakshya 19:79e69017c855 2114 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2115 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2116 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2117 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2118 {
lakshya 19:79e69017c855 2119 telemetry[i]=0x00;
lakshya 19:79e69017c855 2120 }
lakshya 19:79e69017c855 2121 break;
lakshya 19:79e69017c855 2122 }
lakshya 19:79e69017c855 2123 }
lakshya 19:79e69017c855 2124 break;
lakshya 19:79e69017c855 2125 }
lakshya 19:79e69017c855 2126 default:
lakshya 19:79e69017c855 2127 {
lakshya 49:61c9f28332ba 2128 gpc.printf("\n\rInvalid TC neither FMS nor MMS");
lakshya 19:79e69017c855 2129 //ACK_L234_TM
lakshya 19:79e69017c855 2130 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2131 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2132 telemetry[2]=0x02;
lakshya 19:79e69017c855 2133 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2134 {
lakshya 19:79e69017c855 2135 telemetry[i]=0x00;
lakshya 19:79e69017c855 2136 }
lakshya 19:79e69017c855 2137 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2138 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2139 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2140 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2141 {
lakshya 19:79e69017c855 2142 telemetry[i]=0x00;
lakshya 19:79e69017c855 2143 }
lakshya 19:79e69017c855 2144 break;
lakshya 19:79e69017c855 2145 }
lakshya 19:79e69017c855 2146 }
lakshya 19:79e69017c855 2147 }
Bragadeesh153 13:fb7facaf308b 2148 }
Bragadeesh153 13:fb7facaf308b 2149 }
sakthipriya 4:39a4ae8c7ecd 2150
sakthipriya 4:39a4ae8c7ecd 2151
Bragadeesh153 13:fb7facaf308b 2152 int strt_add = flash_size() - (2*SECTOR_SIZE);
sakthipriya 4:39a4ae8c7ecd 2153 uint32_t flasharray[8]; //256+(3*1024)
lakshya 19:79e69017c855 2154 /*corrected*/
lakshya 19:79e69017c855 2155 int *nativeflash = (int*)strt_add;
sakthipriya 4:39a4ae8c7ecd 2156
sakthipriya 4:39a4ae8c7ecd 2157 /*Writing to the Flash*/
lakshya 19:79e69017c855 2158 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 2159 {
Bragadeesh153 13:fb7facaf308b 2160 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2161 {
sakthipriya 4:39a4ae8c7ecd 2162 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2163 }
sakthipriya 4:39a4ae8c7ecd 2164 flasharray[j]=fdata;
sakthipriya 4:39a4ae8c7ecd 2165 erase_sector(strt_add);
lakshya 20:949d13045431 2166 program_flash(strt_add, (char*)flasharray,32);
sakthipriya 4:39a4ae8c7ecd 2167 }
lakshya 19:79e69017c855 2168
sakthipriya 4:39a4ae8c7ecd 2169 /*End*/
sakthipriya 4:39a4ae8c7ecd 2170
sakthipriya 4:39a4ae8c7ecd 2171 /*Reading from Flash*/
lakshya 19:79e69017c855 2172 /*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 2173 uint32_t FCTN_BAE_RD_FLASH_ENTITY(uint16_t entity)
sakthipriya 4:39a4ae8c7ecd 2174 {
sakthipriya 4:39a4ae8c7ecd 2175 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2176 {
sakthipriya 4:39a4ae8c7ecd 2177 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2178 }
lakshya 19:79e69017c855 2179 return flasharray[entity];
sakthipriya 4:39a4ae8c7ecd 2180 }
lakshya 19:79e69017c855 2181
lakshya 19:79e69017c855 2182 uint32_t* FCTN_BAE_RD_FLASH()
lakshya 19:79e69017c855 2183 {
lakshya 19:79e69017c855 2184 for(int i=0;i<8;i++)
lakshya 19:79e69017c855 2185 {
lakshya 19:79e69017c855 2186 flasharray[i]=nativeflash[i];
lakshya 19:79e69017c855 2187 }
lakshya 19:79e69017c855 2188 return flasharray;
lakshya 19:79e69017c855 2189 }
lakshya 19:79e69017c855 2190
sakthipriya 5:bb592f3185cc 2191 /*End*/
sakthipriya 5:bb592f3185cc 2192
sakthipriya 5:bb592f3185cc 2193 // Convert float to 4 uint8_t
sakthipriya 5:bb592f3185cc 2194
lakshya 15:e09aaaccf134 2195
sakthipriya 6:036d08b62785 2196 void FCTN_CONVERT_FLOAT(float input, uint8_t output[4])
sakthipriya 5:bb592f3185cc 2197 {
sakthipriya 6:036d08b62785 2198 assert(sizeof(float) == sizeof(uint32_t));
sakthipriya 6:036d08b62785 2199 uint32_t* temp = reinterpret_cast<uint32_t*>(&input);
sakthipriya 6:036d08b62785 2200
sakthipriya 6:036d08b62785 2201 //float* output1 = reinterpret_cast<float*>(temp);
Bragadeesh153 13:fb7facaf308b 2202
lakshya 49:61c9f28332ba 2203 //gpc.printf("\n\r %f ", input);
lakshya 15:e09aaaccf134 2204 //std::cout << "\n\r uint32"<<*temp << std::endl;
sakthipriya 6:036d08b62785 2205
sakthipriya 6:036d08b62785 2206 output[0] =(uint8_t )(((*temp)>>24)&0xFF);
lakshya 15:e09aaaccf134 2207 output[1] =(uint8_t ) (((*temp)>>16)&0xFF);
lakshya 15:e09aaaccf134 2208 output[2] =(uint8_t ) (((*temp)>>8)&0xFF);
lakshya 15:e09aaaccf134 2209 output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic
lakshya 15:e09aaaccf134 2210
lakshya 49:61c9f28332ba 2211 // gpc.printf("\n\rthe values generated are\n");
lakshya 49:61c9f28332ba 2212 /*gpc.printf("\n\r%x\n",output[0]);
lakshya 49:61c9f28332ba 2213 gpc.printf("\n\r%x\n",output[1]);
lakshya 49:61c9f28332ba 2214 gpc.printf("\n\r%x\n",output[2]);
lakshya 49:61c9f28332ba 2215 gpc.printf("\n\r%x\n",output[3]);
lakshya 15:e09aaaccf134 2216 to check the values generated
lakshya 15:e09aaaccf134 2217 */
lakshya 49:61c9f28332ba 2218 //gpc.printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]);
Bragadeesh153 13:fb7facaf308b 2219 //std:: cout << "\n\r uint8 inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl;
Bragadeesh153 13:fb7facaf308b 2220 }