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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of QM_BAE_review_1 by Team Fox

TCTM.cpp@63:55d32e7dcad7, 2016-10-28 (annotated)

Committer:
lakshya
Date:
Fri Oct 28 11:47:20 2016 +0000
Revision:
63:55d32e7dcad7
Parent:
59:0fc0bfafaa9f
Child:
64:241406992336
braga changes added+vol multiplied by 10 before sendign

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lakshya 49:61c9f28332ba 1
sakthipriya 0:7b4c00e3912f 2 #include "mbed.h"
lakshya 20:949d13045431 3 #include "rtos.h"
sakthipriya 0:7b4c00e3912f 4 #include "TCTM.h"
sakthipriya 3:07e15677a75c 5 #include "crc.h"
sakthipriya 4:39a4ae8c7ecd 6 #include "EPS.h"
lakshya 20:949d13045431 7 #include "ACS.h"
sakthipriya 5:bb592f3185cc 8 #include "pin_config.h"
sakthipriya 5:bb592f3185cc 9 #include "FreescaleIAP.h"
sakthipriya 6:036d08b62785 10 #include "inttypes.h"
sakthipriya 6:036d08b62785 11 #include "iostream"
sakthipriya 6:036d08b62785 12 #include "stdint.h"
sakthipriya 6:036d08b62785 13 #include "cassert"
lakshya 10:f93407b97750 14 #include"math.h"
lakshya 10:f93407b97750 15
lakshya 49:61c9f28332ba 16 //Serial pc(USBTX,USBRX);
lakshya 49:61c9f28332ba 17
lakshya 49:61c9f28332ba 18 Serial gpc(USBTX, USBRX);
lakshya 49:61c9f28332ba 19
lakshya 49:61c9f28332ba 20
lakshya 19:79e69017c855 21 //**********************************STATUS_PARAMETERS*****************************************************
lakshya 19:79e69017c855 22 uint8_t BCN_TX_SW_ENABLE=0x00;
lakshya 19:79e69017c855 23
lakshya 19:79e69017c855 24 //***********************************FOR STANDBY TIMER****************************************************
lakshya 19:79e69017c855 25 extern void BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 26
lakshya 49:61c9f28332ba 27 uint8_t telemetry[134];
lakshya 19:79e69017c855 28
lakshya 20:949d13045431 29 //*****************PARA******************************
lakshya 20:949d13045431 30
lakshya 20:949d13045431 31 //ACS
lakshya 20:949d13045431 32 extern float db[3];
lakshya 20:949d13045431 33 extern float data[6];
lakshya 20:949d13045431 34 extern float b_old[3]; // Unit: Tesla
lakshya 20:949d13045431 35 extern float moment[3];
lakshya 20:949d13045431 36 extern uint8_t ACS_STATE;
lakshya 20:949d13045431 37 extern uint8_t ACS_STATUS;
lakshya 20:949d13045431 38 extern uint8_t flag_firsttime;
lakshya 20:949d13045431 39 extern uint8_t ACS_DETUMBLING_ALGO_TYPE;
lakshya 20:949d13045431 40 extern uint8_t ACS_INIT_STATUS;
lakshya 20:949d13045431 41 extern uint8_t ACS_DATA_ACQ_STATUS;
lakshya 20:949d13045431 42 extern uint8_t ACS_MAIN_STATUS;
lakshya 20:949d13045431 43 extern uint8_t ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 44 extern uint8_t ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 45 extern uint8_t ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 46 extern uint8_t ACS_TR_X_PWM;
lakshya 20:949d13045431 47 extern uint8_t ACS_TR_Y_PWM;
lakshya 20:949d13045431 48 extern uint8_t ACS_TR_Z_PWM;
lakshya 39:670133e7ffd8 49 extern uint8_t B_SCZ_ANGLE;
lakshya 20:949d13045431 50 extern uint8_t alarmmode;
lakshya 20:949d13045431 51 extern uint8_t controlmode_mms;
lakshya 20:949d13045431 52 extern uint8_t invjm_mms[9];
lakshya 20:949d13045431 53 extern uint8_t jm_mms[9];
lakshya 20:949d13045431 54 extern uint8_t bb_mms[3];
lakshya 20:949d13045431 55 extern uint8_t singularity_flag_mms;
lakshya 20:949d13045431 56 extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya 20:949d13045431 57 extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 58
lakshya 20:949d13045431 59 extern uint8_t ATS1_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 60 extern uint8_t ATS1_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 61 extern uint8_t ATS1_ERROR_RGTR;
lakshya 20:949d13045431 62 extern uint8_t ATS2_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 63 extern uint8_t ATS2_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 64 extern uint8_t ATS2_ERROR_RGTR;
lakshya 20:949d13045431 65 //change
lakshya 20:949d13045431 66 extern uint16_t ACS_MM_X_COMSN;
lakshya 20:949d13045431 67 extern uint16_t ACS_MM_Y_COMSN;
lakshya 20:949d13045431 68 extern uint16_t ACS_MG_X_COMSN;
lakshya 20:949d13045431 69 extern uint16_t ACS_MG_Y_COMSN;
lakshya 20:949d13045431 70 extern uint16_t ACS_MM_Z_COMSN;
lakshya 20:949d13045431 71 extern uint16_t ACS_MG_Z_COMSN;
lakshya 20:949d13045431 72 //acs func
lakshya 20:949d13045431 73 extern void F_ACS();
lakshya 20:949d13045431 74 extern int SENSOR_INIT();
lakshya 20:949d13045431 75 extern int FCTN_ACS_INIT();
lakshya 20:949d13045431 76 extern int SENSOR_DATA_ACQ();
lakshya 20:949d13045431 77 extern int FCTN_ATS_DATA_ACQ();
lakshya 20:949d13045431 78 extern void FCTN_ACS_GENPWM_MAIN(float Moment[3]);
lakshya 20:949d13045431 79 extern void FCTN_ACS_CNTRLALGO(float*,float*,int);
lakshya 20:949d13045431 80
lakshya 20:949d13045431 81
lakshya 20:949d13045431 82 //main
lakshya 49:61c9f28332ba 83 extern Timer BAE_uptime;
lakshya 49:61c9f28332ba 84 extern Timer I2C_last;
lakshya 49:61c9f28332ba 85 extern uint8_t BAE_RESET_COUNTER;
lakshya 49:61c9f28332ba 86 extern void RETURN_UPTIME(float time, uint8_t *day,uint8_t *hour,uint8_t *min);
lakshya 49:61c9f28332ba 87
lakshya 20:949d13045431 88 extern uint8_t ACS_ATS_STATUS;
lakshya 20:949d13045431 89 extern uint16_t ACS_MAIN_COUNTER;//change\apply
lakshya 20:949d13045431 90 extern uint8_t HTR_CYCLE_COUNTER;
lakshya 20:949d13045431 91 extern RtosTimer *HTR_CYCLE;
lakshya 20:949d13045431 92 extern uint8_t HTR_CYCLE_COUNTS; //Count of heater cycles
lakshya 20:949d13045431 93 extern uint8_t HTR_CYCLE_START_DLY; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya 20:949d13045431 94 extern uint8_t HTR_ON_DURATION; //EPS_HTR_OFF timer duration in minutes
lakshya 20:949d13045431 95 extern uint16_t HTR_CYCLE_PERIOD;
lakshya 20:949d13045431 96
lakshya 49:61c9f28332ba 97 extern DigitalOut ACS_TR_XY_ENABLE;
lakshya 49:61c9f28332ba 98 extern DigitalOut ACS_TR_Z_ENABLE;
lakshya 49:61c9f28332ba 99 extern DigitalIn ACS_TR_XY_OC_FAULT;
lakshya 49:61c9f28332ba 100 extern DigitalIn ACS_TR_Z_OC_FAULT;
lakshya 49:61c9f28332ba 101 extern DigitalIn ACS_TR_XY_FAULT;
lakshya 49:61c9f28332ba 102 extern DigitalIn ACS_TR_Z_FAULT;
lakshya 49:61c9f28332ba 103 extern DigitalIn ACS_ATS1_OC_FAULT;
lakshya 49:61c9f28332ba 104 extern DigitalIn ACS_ATS2_OC_FAULT;
sakthipriya 0:7b4c00e3912f 105
lakshya 49:61c9f28332ba 106 extern DigitalOut ATS1_SW_ENABLE; // enable of att sens2 switch
lakshya 49:61c9f28332ba 107 extern DigitalOut ATS2_SW_ENABLE; // enable of att sens switch
sakthipriya 5:bb592f3185cc 108
lakshya 49:61c9f28332ba 109 extern DigitalOut DRV_Z_EN;
lakshya 49:61c9f28332ba 110 extern DigitalOut DRV_XY_EN;
Bragadeesh153 52:daa685b0e390 111 //extern DigitalOut TRXY_SW; //TR XY Switch if any TR_SW error arises then it is same as TR_SW_EN
Bragadeesh153 52:daa685b0e390 112 //extern DigitalOut TRZ_SW; //TR Z Switch
lakshya 20:949d13045431 113
lakshya 49:61c9f28332ba 114 extern DigitalOut phase_TR_x;
lakshya 49:61c9f28332ba 115 extern DigitalOut phase_TR_y;
lakshya 49:61c9f28332ba 116 extern DigitalOut phase_TR_z;
lakshya 20:949d13045431 117
lakshya 20:949d13045431 118
lakshya 20:949d13045431 119 //CDMS
lakshya 49:61c9f28332ba 120 extern DigitalOut CDMS_RESET; // CDMS RESET
lakshya 20:949d13045431 121 extern uint8_t CDMS_SW_STATUS;
lakshya 49:61c9f28332ba 122 extern DigitalIn CDMS_OC_FAULT;
lakshya 20:949d13045431 123
lakshya 20:949d13045431 124
lakshya 20:949d13045431 125 //BCN
lakshya 49:61c9f28332ba 126 extern DigitalOut BCN_SW; //Beacon switch
lakshya 10:f93407b97750 127 extern uint8_t BCN_TX_STATUS;
lakshya 10:f93407b97750 128 extern uint8_t BCN_FEN;
lakshya 20:949d13045431 129 extern uint8_t BCN_SPND_TX;
lakshya 20:949d13045431 130 extern uint8_t BCN_TX_MAIN_STATUS;
lakshya 20:949d13045431 131 extern uint8_t BCN_TX_SW_STATUS;
lakshya 20:949d13045431 132 extern uint8_t BCN_LONG_MSG_TYPE;
lakshya 20:949d13045431 133 extern uint8_t BCN_INIT_STATUS;
lakshya 20:949d13045431 134 extern uint8_t BCN_FAIL_COUNT;
lakshya 20:949d13045431 135 extern uint16_t BCN_TX_MAIN_COUNTER;
lakshya 49:61c9f28332ba 136 extern DigitalIn BCN_TX_OC_FAULT;
lakshya 20:949d13045431 137 extern uint8_t BCN_TMP;
lakshya 20:949d13045431 138 extern void F_BCN();
lakshya 20:949d13045431 139 extern void FCTN_BCN_TX_MAIN();
lakshya 33:76f2b8735501 140 extern uint8_t SHORT_HK_data[15];
lakshya 33:76f2b8735501 141 extern void FCTN_BCN_SPND_TX();
lakshya 20:949d13045431 142
lakshya 20:949d13045431 143
lakshya 20:949d13045431 144 //BAE
lakshya 20:949d13045431 145 extern uint8_t BAE_STANDBY;
lakshya 20:949d13045431 146 extern uint8_t BAE_INIT_STATUS;
lakshya 20:949d13045431 147 extern uint8_t BAE_RESET_COUNTER;
lakshya 27:61c856be467e 148 extern uint8_t BAE_MNG_I2C_STATUS;
lakshya 20:949d13045431 149 /*given a default value as of now shuld read value from flash and increment it write it back very time it starts(bae)*/
lakshya 20:949d13045431 150
lakshya 20:949d13045431 151 extern uint32_t BAE_STATUS;//extern uint32_t BAE_STATUS;
lakshya 20:949d13045431 152 extern BAE_HK_quant quant_data;
sakthipriya 4:39a4ae8c7ecd 153 extern BAE_HK_actual actual_data;
sakthipriya 4:39a4ae8c7ecd 154 extern BAE_HK_min_max bae_HK_minmax;
Bragadeesh153 13:fb7facaf308b 155 //extern DigitalOut TRXY_SW;
lakshya 11:1fdb94ae6563 156 //extern DigitalOut TRZ_SW_EN; //same as TRZ_SW
lakshya 11:1fdb94ae6563 157 extern uint32_t BAE_ENABLE;
lakshya 20:949d13045431 158 extern uint16_t BAE_I2C_COUNTER;
lakshya 33:76f2b8735501 159 extern uint8_t LONG_HK_data[2][134];
lakshya 20:949d13045431 160 //extern uint8_t BCN_FAIL_COUNT;
lakshya 20:949d13045431 161
lakshya 11:1fdb94ae6563 162
lakshya 20:949d13045431 163 //EPS
lakshya 20:949d13045431 164 extern bool firstCount;
lakshya 20:949d13045431 165 extern uint8_t EPS_BTRY_HTR_AUTO;
lakshya 20:949d13045431 166 extern uint8_t EPS_BATT_TEMP_LOW;
lakshya 20:949d13045431 167 extern uint8_t EPS_BATT_TEMP_HIGH;
lakshya 20:949d13045431 168 extern uint8_t EPS_BATT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 169 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 170 extern uint8_t EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 171 extern uint8_t EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 172 extern uint8_t EPS_INIT_STATUS;
lakshya 20:949d13045431 173 extern uint8_t EPS_BATTERY_GAUGE_STATUS ;
lakshya 20:949d13045431 174 extern uint8_t EPS_MAIN_STATUS;
lakshya 33:76f2b8735501 175 extern uint8_t EPS_BTRY_TMP_STATUS ;
lakshya 20:949d13045431 176 extern uint8_t EPS_STATUS ;
lakshya 20:949d13045431 177 extern uint8_t EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 178 extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 179 extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya 20:949d13045431 180 extern uint16_t EPS_MAIN_COUNTER;
lakshya 33:76f2b8735501 181 extern uint8_t EPS_BTRY_HTR;
lakshya 11:1fdb94ae6563 182
lakshya 20:949d13045431 183 extern DigitalOut SelectLineb3; // MSB of Select Lines
lakshya 20:949d13045431 184 extern DigitalOut SelectLineb2;
lakshya 20:949d13045431 185 extern DigitalOut SelectLineb1;
lakshya 20:949d13045431 186 extern DigitalOut SelectLineb0;
lakshya 49:61c9f28332ba 187 extern DigitalIn EPS_CHARGER_FAULT;
lakshya 49:61c9f28332ba 188 extern DigitalIn EPS_CHARGER_STATUS;
lakshya 49:61c9f28332ba 189 extern DigitalIn EPS_BATTERY_GAUGE_ALERT;
lakshya 20:949d13045431 190
lakshya 20:949d13045431 191 extern void F_EPS();
lakshya 20:949d13045431 192 extern AnalogIn CurrentInput;
lakshya 20:949d13045431 193
lakshya 20:949d13045431 194 //--------------------check this refer prashant
lakshya 11:1fdb94ae6563 195
Bragadeesh153 13:fb7facaf308b 196 extern PwmOut PWM1; //x //Functions used to generate PWM signal
lakshya 11:1fdb94ae6563 197 extern PwmOut PWM2; //y
lakshya 11:1fdb94ae6563 198 extern PwmOut PWM3; //z //PWM output comes from pins p6
lakshya 11:1fdb94ae6563 199
lakshya 20:949d13045431 200 //included after home
lakshya 11:1fdb94ae6563 201 //extern void FCTN_ACS_GENPWM_MAIN();
lakshya 20:949d13045431 202
lakshya 20:949d13045431 203 uint16_t crc_hk_data()//gencrc16_for_me()
lakshya 20:949d13045431 204 {
lakshya 33:76f2b8735501 205 uint16_t crc = CRC::crc16_gen(&LONG_HK_data[1][0],132);//BAE_chardata i.e char data type usesd earlier BAE_HK_data
lakshya 33:76f2b8735501 206 return crc;
lakshya 33:76f2b8735501 207 }
lakshya 33:76f2b8735501 208
lakshya 33:76f2b8735501 209 uint8_t crc8_short()
lakshya 33:76f2b8735501 210 {
lakshya 33:76f2b8735501 211 uint8_t crc = CRC::crc8_gen(SHORT_HK_data,14);
lakshya 20:949d13045431 212 return crc;
lakshya 20:949d13045431 213 }
lakshya 20:949d13045431 214
lakshya 20:949d13045431 215 float uint16_to_float(float min,float max,uint16_t scale)
lakshya 20:949d13045431 216 {
lakshya 20:949d13045431 217 float div=max-min;
lakshya 20:949d13045431 218 div=(div/(65535.0));
lakshya 20:949d13045431 219 return ((div*(float)scale)+ min);
lakshya 20:949d13045431 220 }
lakshya 11:1fdb94ae6563 221
lakshya 20:949d13045431 222 uint16_t float_to_uint16(float min,float max,float val) //takes care of -ve num as its scale with min and max as reference
lakshya 20:949d13045431 223 {
lakshya 20:949d13045431 224 if(val>max)
lakshya 20:949d13045431 225 {return 0xffff;
lakshya 20:949d13045431 226 }
lakshya 20:949d13045431 227 if(val<min)
lakshya 20:949d13045431 228 {return 0x0000;
lakshya 20:949d13045431 229 }
lakshya 20:949d13045431 230 float div=max-min;
lakshya 20:949d13045431 231 div=(65535.0/div);
lakshya 20:949d13045431 232 val=((val-min)*div);
Bragadeesh153 56:32b1fb074138 233 //gpc.printf("\n\r the scale is %x",(uint16_t)val);
lakshya 20:949d13045431 234 return (uint16_t)val;
lakshya 20:949d13045431 235 }
sakthipriya 5:bb592f3185cc 236
lakshya 20:949d13045431 237 void gen_I_TM()
lakshya 20:949d13045431 238 {
lakshya 20:949d13045431 239 telemetry[0] = 0xB0;
lakshya 20:949d13045431 240 for(int i=1;i<11;i++)
lakshya 20:949d13045431 241 telemetry[i] = 0x00;
lakshya 20:949d13045431 242 uint16_t crc = CRC::crc16_gen(telemetry,11);//BAE_chardata i.e char data type usesd earlier
lakshya 20:949d13045431 243 telemetry[11] = (uint8_t)(crc >> 8);
lakshya 20:949d13045431 244 telemetry[12] = (uint8_t)crc ;
lakshya 20:949d13045431 245 for(int i=13;i<135;i++)
lakshya 20:949d13045431 246 telemetry[i] = 0x00;
lakshya 20:949d13045431 247 }
lakshya 20:949d13045431 248 void FCTN__UINT (uint8_t input[2], float* output)
lakshya 11:1fdb94ae6563 249 {
lakshya 11:1fdb94ae6563 250
lakshya 11:1fdb94ae6563 251 *output = (float) input[1];
lakshya 11:1fdb94ae6563 252 *output = *output/100.0; //input[0] integer part
lakshya 11:1fdb94ae6563 253 *output = *output + (float) input[0]; //input[1] decimal part correct to two decimal places
lakshya 11:1fdb94ae6563 254 }
lakshya 11:1fdb94ae6563 255
lakshya 10:f93407b97750 256 float angle(float x,float y,float z)
lakshya 10:f93407b97750 257 {
lakshya 10:f93407b97750 258 float mag_total=sqrt(x*x + y*y + z*z);
lakshya 10:f93407b97750 259 float cos_z = z/mag_total;
lakshya 10:f93407b97750 260 float theta_z = acosf(cos_z);
Bragadeesh153 13:fb7facaf308b 261
lakshya 10:f93407b97750 262 return theta_z;
lakshya 49:61c9f28332ba 263 //gpc.printf("/n cos_zz= %f /t theta_z= %f /n",cos_z,theta_z);
lakshya 10:f93407b97750 264 }
lakshya 10:f93407b97750 265
Bragadeesh153 13:fb7facaf308b 266 //uint8_t tm1[134];
Bragadeesh153 13:fb7facaf308b 267
Bragadeesh153 13:fb7facaf308b 268 void FCTN_BAE_TM_TC (uint8_t* tc)
sakthipriya 3:07e15677a75c 269 {
lakshya 19:79e69017c855 270 //tm1[0] = 1;
lakshya 19:79e69017c855 271 //calculating crc
lakshya 20:949d13045431 272 for(int i=0;i<134;i++)
lakshya 20:949d13045431 273 {
lakshya 20:949d13045431 274 telemetry[i]=tc[i];
lakshya 20:949d13045431 275 }
lakshya 20:949d13045431 276
lakshya 19:79e69017c855 277
lakshya 15:e09aaaccf134 278 /*chaged*/
lakshya 15:e09aaaccf134 279 uint8_t* tm; // without it some identifier error
lakshya 20:949d13045431 280 uint16_t crc16=CRC::crc16_gen(telemetry,9); //implementing crc
lakshya 49:61c9f28332ba 281 gpc.printf("\n\r the crc is %x",crc16);
lakshya 19:79e69017c855 282 if( ( ((uint8_t)((crc16 & 0xFF00)>>8)==tc[9]) && ((uint8_t)(crc16 & 0x00FF)==tc[10]) )== 0 )
lakshya 19:79e69017c855 283 {
lakshya 19:79e69017c855 284 telemetry[0]=0xB0;
lakshya 19:79e69017c855 285 telemetry[1]=0x00;//tc psc defined for this case
lakshya 19:79e69017c855 286 telemetry[2]=0x01;//ack code for this case
lakshya 19:79e69017c855 287 for(int i=3;i<11;i++)
lakshya 20:949d13045431 288 {
lakshya 19:79e69017c855 289 telemetry[i]=0x00;
lakshya 19:79e69017c855 290 }
lakshya 19:79e69017c855 291 //add crc
lakshya 19:79e69017c855 292 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 293 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 294 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 49:61c9f28332ba 295 gpc.printf("\n\rincorrect crc");
lakshya 19:79e69017c855 296 for(int i=13;i<134;i++)
lakshya 19:79e69017c855 297 {
lakshya 19:79e69017c855 298 telemetry[i]=0x00;
lakshya 19:79e69017c855 299 }
lakshya 19:79e69017c855 300 }
lakshya 19:79e69017c855 301 else
lakshya 19:79e69017c855 302 {
lakshya 19:79e69017c855 303 //check apid
lakshya 19:79e69017c855 304 uint8_t apid_check=((tc[1]&0xC0)>>6);
lakshya 19:79e69017c855 305 if(apid_check!=0x01)
lakshya 19:79e69017c855 306 {
lakshya 19:79e69017c855 307 telemetry[0]=0xB0;
lakshya 19:79e69017c855 308 telemetry[1]=tc[0];//tc psc defined for this case
lakshya 19:79e69017c855 309 telemetry[2]=0x02;//ack code for this case
lakshya 19:79e69017c855 310 for(int i=3;i<11;i++)
Bragadeesh153 13:fb7facaf308b 311 {
lakshya 19:79e69017c855 312 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 313 }
Bragadeesh153 13:fb7facaf308b 314 crc16 = CRC::crc16_gen(telemetry,11);
Bragadeesh153 13:fb7facaf308b 315 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
Bragadeesh153 13:fb7facaf308b 316 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 49:61c9f28332ba 317 gpc.printf("\n\rillegal TC packet APID don't match");
lakshya 19:79e69017c855 318 for(int i=13;i<134;i++)
Bragadeesh153 13:fb7facaf308b 319 {
Bragadeesh153 13:fb7facaf308b 320 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 321 }
sakthipriya 3:07e15677a75c 322 }
lakshya 19:79e69017c855 323 else
lakshya 19:79e69017c855 324 {// all the possible cases of fms and mms
lakshya 19:79e69017c855 325 uint8_t service_type=(tc[2]&0xF0);
lakshya 19:79e69017c855 326 //check for fms first
lakshya 19:79e69017c855 327 switch(service_type)
lakshya 19:79e69017c855 328 {
lakshya 19:79e69017c855 329 case 0x60:
lakshya 19:79e69017c855 330 {
lakshya 49:61c9f28332ba 331 gpc.printf("Memory Management Service\r\n");
lakshya 19:79e69017c855 332 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 333 switch(service_subtype)
lakshya 19:79e69017c855 334 {
lakshya 19:79e69017c855 335 case 0x02:
lakshya 19:79e69017c855 336 {
lakshya 49:61c9f28332ba 337 gpc.printf("\n\rRead from RAM");
lakshya 19:79e69017c855 338 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 339 switch(MID)
lakshya 19:79e69017c855 340 {
lakshya 19:79e69017c855 341 case 0x0000://changed from 0001
lakshya 19:79e69017c855 342 {
lakshya 49:61c9f28332ba 343 gpc.printf("\n\rRead from MID 0000 \n");
lakshya 49:61c9f28332ba 344 gpc.printf("\n\rReading flash parameters");
lakshya 19:79e69017c855 345
lakshya 19:79e69017c855 346 /*taking some varible till we find some thing more useful*/
lakshya 19:79e69017c855 347 //uint8_t ref_val=0x01;
Bragadeesh153 54:d6a45982ace1 348 telemetry[0] = 0x30;
lakshya 19:79e69017c855 349 telemetry[1] = tc[0];
lakshya 19:79e69017c855 350 telemetry[2] = ACK_CODE;
lakshya 19:79e69017c855 351 /*random or with bcn_tx_sw_enable assuming it is 1 bit in length
lakshya 19:79e69017c855 352 how to get that we dont know, now we just assume it to be so*/
lakshya 57:60e8f00d93c3 353 telemetry[3] = 0x00;
lakshya 57:60e8f00d93c3 354 telemetry[4] = ACS_ATS_STATUS;
lakshya 57:60e8f00d93c3 355 telemetry[5] = ACS_TR_XY_SW_STATUS;
lakshya 57:60e8f00d93c3 356 telemetry[5] = (telemetry[5]<<2)| ACS_TR_Z_SW_STATUS;
lakshya 57:60e8f00d93c3 357 telemetry[5] = (telemetry[5]<<4) | ACS_STATE;
lakshya 57:60e8f00d93c3 358 telemetry[6] = ACS_DETUMBLING_ALGO_TYPE;
lakshya 57:60e8f00d93c3 359 telemetry[6] = (telemetry[6]<<2) | BCN_TX_SW_STATUS;
lakshya 57:60e8f00d93c3 360 telemetry[6] = (telemetry[6]<<1) | BCN_SPND_TX;
lakshya 57:60e8f00d93c3 361 telemetry[6] = (telemetry[6]<<1) | BCN_FEN;
lakshya 57:60e8f00d93c3 362 telemetry[6] = (telemetry[6]<<1) | BCN_LONG_MSG_TYPE;
lakshya 57:60e8f00d93c3 363 telemetry[6] = (telemetry[6]<<1) | EPS_BTRY_HTR_AUTO;//EPS_BATTERY_HEATER_ENABLE
lakshya 57:60e8f00d93c3 364 telemetry[6] = (telemetry[6]<<1);
lakshya 57:60e8f00d93c3 365 //now one spares in telemetry[6]
lakshya 57:60e8f00d93c3 366 telemetry[7] = BAE_RESET_COUNTER;
lakshya 57:60e8f00d93c3 367 telemetry[8] = EPS_SOC_LEVEL_12;
lakshya 57:60e8f00d93c3 368 telemetry[9] = EPS_SOC_LEVEL_23;
lakshya 57:60e8f00d93c3 369 telemetry[10] = ACS_MAG_TIME_DELAY;
lakshya 57:60e8f00d93c3 370 telemetry[11] = ACS_DEMAG_TIME_DELAY;
lakshya 57:60e8f00d93c3 371 telemetry[12] = EPS_BAT_TEMP_LOW;
lakshya 57:60e8f00d93c3 372 telemetry[13] = EPS_BAT_TEMP_HIGH;
lakshya 57:60e8f00d93c3 373 telemetry[14] = EPS_BAT_TEMP_DEFAULT;
Bragadeesh153 56:32b1fb074138 374
lakshya 57:60e8f00d93c3 375 telemetry[15] = ACS_MM_X_COMSN >> 8;
lakshya 57:60e8f00d93c3 376 telemetry[16] = ACS_MM_X_COMSN;
lakshya 57:60e8f00d93c3 377 printf("\n\r the mm x commission %d",ACS_MM_X_COMSN);
lakshya 57:60e8f00d93c3 378
lakshya 57:60e8f00d93c3 379 telemetry[17] = ACS_MM_Y_COMSN >> 8;
lakshya 57:60e8f00d93c3 380 telemetry[18] = ACS_MM_Y_COMSN;
lakshya 20:949d13045431 381
lakshya 57:60e8f00d93c3 382 telemetry[19] = ACS_MG_X_COMSN >> 8;
lakshya 57:60e8f00d93c3 383 telemetry[20] = ACS_MG_X_COMSN;
lakshya 20:949d13045431 384
lakshya 57:60e8f00d93c3 385 telemetry[21] = ACS_MG_Y_COMSN >> 8;
lakshya 57:60e8f00d93c3 386 telemetry[22] = ACS_MG_Y_COMSN;
lakshya 20:949d13045431 387
lakshya 57:60e8f00d93c3 388 telemetry[23] = ACS_MM_Z_COMSN >> 8;
lakshya 57:60e8f00d93c3 389 telemetry[24] = ACS_MM_Z_COMSN;
lakshya 20:949d13045431 390
lakshya 57:60e8f00d93c3 391 telemetry[25] = ACS_MG_Z_COMSN >> 8;
lakshya 57:60e8f00d93c3 392 telemetry[26] = ACS_MG_Z_COMSN;
lakshya 20:949d13045431 393
lakshya 57:60e8f00d93c3 394 telemetry[27] = ACS_Z_FIXED_MOMENT >> 8;
lakshya 57:60e8f00d93c3 395 telemetry[28] = ACS_Z_FIXED_MOMENT;
lakshya 57:60e8f00d93c3 396 printf("\n\r the z_fixed_moment %d",ACS_Z_FIXED_MOMENT);
lakshya 57:60e8f00d93c3 397
lakshya 20:949d13045431 398
lakshya 20:949d13045431 399 //BAE RAM PARAMETER
lakshya 57:60e8f00d93c3 400 telemetry[29] = BAE_INIT_STATUS;
lakshya 57:60e8f00d93c3 401 telemetry[29] = (telemetry[29]<<1) | BAE_MNG_I2C_STATUS;//changed
lakshya 57:60e8f00d93c3 402 telemetry[29] = (telemetry[29]<<1) | BCN_INIT_STATUS;
lakshya 57:60e8f00d93c3 403 telemetry[29] = (telemetry[29]<<1) | BCN_TX_MAIN_STATUS;
lakshya 57:60e8f00d93c3 404 telemetry[29] = (telemetry[29]<<3) | BCN_TX_STATUS;
lakshya 57:60e8f00d93c3 405 telemetry[29] = (telemetry[29]<<1) | ACS_INIT_STATUS;
lakshya 20:949d13045431 406
lakshya 57:60e8f00d93c3 407 telemetry[30] = ACS_DATA_ACQ_STATUS;
lakshya 57:60e8f00d93c3 408 telemetry[30] = (telemetry[30]<<1) | ACS_MAIN_STATUS;
lakshya 57:60e8f00d93c3 409 telemetry[30] = (telemetry[30]<<4) | ACS_STATUS;
lakshya 57:60e8f00d93c3 410 telemetry[30] = (telemetry[30]<<1) | EPS_INIT_STATUS;
lakshya 20:949d13045431 411
lakshya 57:60e8f00d93c3 412 telemetry[31] = EPS_BATTERY_GAUGE_STATUS;
lakshya 57:60e8f00d93c3 413 telemetry[31] = (telemetry[31]<<1) | EPS_MAIN_STATUS;
lakshya 57:60e8f00d93c3 414 telemetry[31] = (telemetry[31]<<1) | EPS_BTRY_TMP_STATUS;
lakshya 57:60e8f00d93c3 415 telemetry[31] = (telemetry[31]<<3) | EPS_STATUS;
lakshya 63:55d32e7dcad7 416 telemetry[31] = (telemetry[31]<<2) | CDMS_SW_STATUS;
lakshya 20:949d13045431 417 // telemetry[30] = (telemetry[30]<<1) | EPS_BTRY_HTR_STATUS;//new to : implement
lakshya 33:76f2b8735501 418
lakshya 57:60e8f00d93c3 419 telemetry[32] = EPS_BTRY_HTR; //new to : implement
lakshya 27:61c856be467e 420 //spare 4
lakshya 57:60e8f00d93c3 421 telemetry[32] = (telemetry[32]<<7) | BAE_STANDBY;
lakshya 20:949d13045431 422 // 6 next telemetries value to be given by registers
lakshya 57:60e8f00d93c3 423 telemetry[33] = ATS1_EVENT_STATUS_RGTR;
lakshya 57:60e8f00d93c3 424 telemetry[34] = ATS1_SENTRAL_STATUS_RGTR;
lakshya 57:60e8f00d93c3 425 telemetry[35] = ATS1_ERROR_RGTR;
lakshya 57:60e8f00d93c3 426 telemetry[36] = ATS2_EVENT_STATUS_RGTR;
lakshya 57:60e8f00d93c3 427 telemetry[37] = ATS2_SENTRAL_STATUS_RGTR;
lakshya 57:60e8f00d93c3 428 telemetry[38] = ATS2_ERROR_RGTR;
lakshya 20:949d13045431 429
lakshya 57:60e8f00d93c3 430 telemetry[39] = BCN_FAIL_COUNT;
lakshya 57:60e8f00d93c3 431 telemetry[40] = actual_data.power_mode;
lakshya 57:60e8f00d93c3 432 telemetry[41] = HTR_CYCLE_COUNTER;//new to : implement
lakshya 20:949d13045431 433
lakshya 58:c4203e162d12 434 // GS changed order has to be updated in the telemetry sheet or jithin should change the order
lakshya 58:c4203e162d12 435 telemetry[43] = BAE_I2C_COUNTER;
lakshya 58:c4203e162d12 436 telemetry[42] = BAE_I2C_COUNTER>>8;
lakshya 58:c4203e162d12 437 telemetry[45] = ACS_MAIN_COUNTER;
lakshya 58:c4203e162d12 438 telemetry[44] = ACS_MAIN_COUNTER>>8;
lakshya 58:c4203e162d12 439 telemetry[47] = BCN_TX_MAIN_COUNTER;
lakshya 58:c4203e162d12 440 telemetry[46] = BCN_TX_MAIN_COUNTER>>8;
lakshya 58:c4203e162d12 441 telemetry[49] = EPS_MAIN_COUNTER;
lakshya 58:c4203e162d12 442 telemetry[48] = EPS_MAIN_COUNTER>>8;
lakshya 49:61c9f28332ba 443
lakshya 49:61c9f28332ba 444 uint8_t days,hours,mins;
lakshya 49:61c9f28332ba 445 RETURN_UPTIME(BAE_uptime.read(),&days,&hours,&mins);
lakshya 57:60e8f00d93c3 446 printf("\n\r the values bae of days,hour,min %d, %d, %d",days,hours,mins);
lakshya 57:60e8f00d93c3 447
lakshya 57:60e8f00d93c3 448 telemetry[50] = days;
lakshya 49:61c9f28332ba 449 RETURN_UPTIME(I2C_last.read(),&days,&hours,&mins);
lakshya 57:60e8f00d93c3 450 telemetry[50] = (telemetry[50]<<3) | (hours>>2);
lakshya 57:60e8f00d93c3 451 telemetry[51] = hours;
lakshya 57:60e8f00d93c3 452 telemetry[51] = (telemetry[51]<<6) | mins;
lakshya 57:60e8f00d93c3 453
lakshya 57:60e8f00d93c3 454 printf("\n\r the values of bae uptime %f",BAE_uptime.read());
lakshya 57:60e8f00d93c3 455 printf("\n\r the values i2c of days,hour,min %d, %d, %d",days,hours,mins);
lakshya 57:60e8f00d93c3 456
lakshya 49:61c9f28332ba 457
lakshya 20:949d13045431 458 //sending in uint can be converted back to int by direct conversion for +values
lakshya 20:949d13045431 459 //make sure to convert baack to int for getting negative values
lakshya 20:949d13045431 460 //algo for that done
lakshya 58:c4203e162d12 461
lakshya 58:c4203e162d12 462 uint16_t scaled;
lakshya 20:949d13045431 463
lakshya 58:c4203e162d12 464 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 58:c4203e162d12 465 telemetry[52] = (scaled>>8);
lakshya 58:c4203e162d12 466 telemetry[53] = scaled;
lakshya 58:c4203e162d12 467 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 58:c4203e162d12 468 telemetry[54] = (scaled>>8);
lakshya 58:c4203e162d12 469 telemetry[55] = scaled;
lakshya 58:c4203e162d12 470 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 58:c4203e162d12 471 telemetry[56] = (scaled>>8);
lakshya 58:c4203e162d12 472 telemetry[57] = scaled;
lakshya 58:c4203e162d12 473 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 58:c4203e162d12 474 telemetry[58] = (scaled>>8);
lakshya 58:c4203e162d12 475 telemetry[59] = scaled;
lakshya 58:c4203e162d12 476 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 58:c4203e162d12 477 telemetry[60] = (scaled>>8);
lakshya 58:c4203e162d12 478 telemetry[61] = scaled;
lakshya 58:c4203e162d12 479 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 58:c4203e162d12 480 telemetry[62] = (scaled>>8);
lakshya 58:c4203e162d12 481 telemetry[63] = scaled;
lakshya 58:c4203e162d12 482
lakshya 57:60e8f00d93c3 483 telemetry[64] = BCN_TX_OC_FAULT;
lakshya 57:60e8f00d93c3 484 telemetry[64] = (telemetry[64]<<1) | ACS_TR_XY_ENABLE;
lakshya 57:60e8f00d93c3 485 telemetry[64] = (telemetry[64]<<1) | ACS_TR_Z_ENABLE;
lakshya 57:60e8f00d93c3 486 telemetry[64] = (telemetry[64]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 57:60e8f00d93c3 487 telemetry[64] = (telemetry[64]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 57:60e8f00d93c3 488 telemetry[64] = (telemetry[64]<<1) | ACS_TR_XY_FAULT;
lakshya 57:60e8f00d93c3 489 telemetry[64] = (telemetry[64]<<1) | EPS_CHARGER_FAULT;
lakshya 57:60e8f00d93c3 490 telemetry[64] = (telemetry[64]<<1) | EPS_CHARGER_STATUS;
lakshya 20:949d13045431 491
lakshya 57:60e8f00d93c3 492 telemetry[65] = EPS_BATTERY_GAUGE_ALERT;
lakshya 57:60e8f00d93c3 493 telemetry[65] = (telemetry[65]<<1) | CDMS_OC_FAULT;
lakshya 57:60e8f00d93c3 494 telemetry[65] = (telemetry[65]<<1) | ACS_ATS1_OC_FAULT;
lakshya 57:60e8f00d93c3 495 telemetry[65] = (telemetry[65]<<1) | ACS_ATS2_OC_FAULT;
lakshya 57:60e8f00d93c3 496 telemetry[65] = (telemetry[65]<<1) | ACS_TR_Z_FAULT;
lakshya 57:60e8f00d93c3 497 telemetry[65] = (telemetry[65]<<3);
lakshya 20:949d13045431 498 //3 spare
lakshya 20:949d13045431 499
lakshya 57:60e8f00d93c3 500 telemetry[66] = ACS_TR_X_PWM;
lakshya 57:60e8f00d93c3 501 telemetry[67] = ACS_TR_Y_PWM;
lakshya 57:60e8f00d93c3 502 telemetry[68] = ACS_TR_Z_PWM;
lakshya 20:949d13045431 503 //spare byte
lakshya 20:949d13045431 504 //assigned it to counter HTR_CYCLE_COUNTER
lakshya 20:949d13045431 505
lakshya 20:949d13045431 506 //assign it b_scz_angle
lakshya 57:60e8f00d93c3 507 telemetry[69] = B_SCZ_ANGLE>>4;
lakshya 57:60e8f00d93c3 508 telemetry[69] = (telemetry[69]<<1) | alarmmode;
lakshya 57:60e8f00d93c3 509 telemetry[69] = (telemetry[69]<<1) | controlmode_mms;
lakshya 57:60e8f00d93c3 510 telemetry[69] = (telemetry[69]<<1) | singularity_flag_mms;
lakshya 57:60e8f00d93c3 511 telemetry[69] = (telemetry[69]<<1);
lakshya 49:61c9f28332ba 512 //1 bit spare
lakshya 20:949d13045431 513
lakshya 20:949d13045431 514 for(int i=0;i<9;i++)
lakshya 20:949d13045431 515 {
lakshya 57:60e8f00d93c3 516 telemetry[70+i] = invjm_mms[i];
lakshya 57:60e8f00d93c3 517 telemetry[81+i] = jm_mms[i];
lakshya 20:949d13045431 518 }
lakshya 20:949d13045431 519
lakshya 53:459b71b1861c 520 for(int i=1;i<3;i++)
lakshya 57:60e8f00d93c3 521 telemetry[79+i] = bb_mms[i];
lakshya 20:949d13045431 522
lakshya 20:949d13045431 523 for(int i=0;i<16;i++)
lakshya 20:949d13045431 524 {
lakshya 63:55d32e7dcad7 525 telemetry[90+i] = (quant_data.voltage_quant[i]>>3)+(quant_data.voltage_quant[i]>>1); /*multiplied by 10 */
lakshya 57:60e8f00d93c3 526 telemetry[106+i] = quant_data.current_quant[i];
lakshya 63:55d32e7dcad7 527 /*check the working*/
lakshya 20:949d13045431 528 }
lakshya 20:949d13045431 529
lakshya 57:60e8f00d93c3 530 telemetry[122] = quant_data.Batt_voltage_quant;
lakshya 57:60e8f00d93c3 531 telemetry[123] = quant_data.BAE_temp_quant;
lakshya 57:60e8f00d93c3 532 telemetry[124] = (uint8_t)(actual_data.Batt_gauge_actual[1]);
lakshya 57:60e8f00d93c3 533 telemetry[125] = quant_data.Batt_temp_quant[0];
lakshya 57:60e8f00d93c3 534 telemetry[126] = quant_data.Batt_temp_quant[1];
lakshya 58:c4203e162d12 535
lakshya 57:60e8f00d93c3 536 telemetry[127] = BCN_TMP;
lakshya 20:949d13045431 537
lakshya 57:60e8f00d93c3 538 for (int i=128; i<132;i++)
lakshya 19:79e69017c855 539 {
lakshya 19:79e69017c855 540 telemetry[i] = 0x00;
lakshya 19:79e69017c855 541 }
lakshya 19:79e69017c855 542 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 543 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 544 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 545
lakshya 19:79e69017c855 546 break;
lakshya 19:79e69017c855 547 }
lakshya 19:79e69017c855 548 case 0x0001:
lakshya 19:79e69017c855 549 {
lakshya 49:61c9f28332ba 550 gpc.printf("\r\nhk data tm");
lakshya 57:60e8f00d93c3 551 telemetry[0] = 0x30; // changed0x06 shifted by 1 bit 0x03
lakshya 19:79e69017c855 552 telemetry[1] = tc[0];
lakshya 19:79e69017c855 553 telemetry[2] = ACK_CODE;
lakshya 57:60e8f00d93c3 554 telemetry[3] = 0x00;
lakshya 19:79e69017c855 555
lakshya 19:79e69017c855 556 for(int i;i<16;i++)
lakshya 20:949d13045431 557 {
lakshya 63:55d32e7dcad7 558 telemetry[i+4] = (bae_HK_minmax.voltage_max[i]<<3)+(bae_HK_minmax.voltage_max[i]<<2);
lakshya 57:60e8f00d93c3 559 telemetry[i+20] = bae_HK_minmax.current_max[i];
lakshya 20:949d13045431 560 }
lakshya 19:79e69017c855 561
lakshya 63:55d32e7dcad7 562 telemetry[36] = (bae_HK_minmax.Batt_voltage_max<<3)+(bae_HK_minmax.Batt_voltage_max<<2);
lakshya 57:60e8f00d93c3 563 telemetry[37] = bae_HK_minmax.BAE_temp_max;
lakshya 19:79e69017c855 564
lakshya 57:60e8f00d93c3 565 telemetry[38] = bae_HK_minmax.Batt_SOC_max;
lakshya 19:79e69017c855 566
lakshya 57:60e8f00d93c3 567 telemetry[39] = bae_HK_minmax.Batt_temp_max[0];
lakshya 57:60e8f00d93c3 568 telemetry[40] = bae_HK_minmax.Batt_temp_max[1];
lakshya 19:79e69017c855 569
lakshya 20:949d13045431 570 /*BCN temp there*/
lakshya 57:60e8f00d93c3 571 telemetry[41] = bae_HK_minmax.BCN_TEMP_max;
lakshya 19:79e69017c855 572
lakshya 19:79e69017c855 573 for(int i=0; i<3; i++)
lakshya 20:949d13045431 574 {
lakshya 57:60e8f00d93c3 575 telemetry[42+(2*i)] = (bae_HK_minmax.bit_data_acs_mm_max[i]>>8);
lakshya 57:60e8f00d93c3 576 telemetry[43+(2*i)] = bae_HK_minmax.bit_data_acs_mm_max[i];
lakshya 53:459b71b1861c 577
lakshya 57:60e8f00d93c3 578 telemetry[48+(2*i)] = (bae_HK_minmax.bit_data_acs_mg_max[i]>>8);
lakshya 57:60e8f00d93c3 579 telemetry[49+(2*i)] = bae_HK_minmax.bit_data_acs_mg_max[i];
lakshya 20:949d13045431 580 }
lakshya 19:79e69017c855 581
lakshya 19:79e69017c855 582 /*min data*/
lakshya 19:79e69017c855 583
lakshya 19:79e69017c855 584 for(int i;i<16;i++)
lakshya 63:55d32e7dcad7 585 telemetry[i+54] = (bae_HK_minmax.voltage_min[i]<<3)+(bae_HK_minmax.voltage_min[i]<<1);
lakshya 19:79e69017c855 586
lakshya 20:949d13045431 587 for(int i;i<16;i++)
lakshya 57:60e8f00d93c3 588 telemetry[i+70] = bae_HK_minmax.current_min[i];
lakshya 19:79e69017c855 589
lakshya 63:55d32e7dcad7 590 telemetry[86] = (bae_HK_minmax.Batt_voltage_min<<3)+(bae_HK_minmax.Batt_voltage_min<<1);
lakshya 57:60e8f00d93c3 591 telemetry[87] = bae_HK_minmax.BAE_temp_min;
lakshya 19:79e69017c855 592
lakshya 19:79e69017c855 593 /*battery soc*/
lakshya 57:60e8f00d93c3 594 telemetry[88] = bae_HK_minmax.Batt_SOC_min;
lakshya 19:79e69017c855 595
lakshya 57:60e8f00d93c3 596 telemetry[89] = bae_HK_minmax.Batt_temp_min[0];
lakshya 57:60e8f00d93c3 597 telemetry[90] = bae_HK_minmax.Batt_temp_min[1];
lakshya 19:79e69017c855 598 //huhu//
lakshya 19:79e69017c855 599
lakshya 20:949d13045431 600 /*BCN temp named as BCN_TS_BUFFER there*/
lakshya 57:60e8f00d93c3 601 telemetry[91] = bae_HK_minmax.BCN_TEMP_min;
lakshya 19:79e69017c855 602
lakshya 19:79e69017c855 603 for(int i=0; i<3; i++)
lakshya 20:949d13045431 604 {
lakshya 57:60e8f00d93c3 605 telemetry[92+(2*i)] = (bae_HK_minmax.bit_data_acs_mm_min[i]>>8);
lakshya 57:60e8f00d93c3 606 telemetry[93+(2*i)] = bae_HK_minmax.bit_data_acs_mm_min[i];
lakshya 53:459b71b1861c 607
lakshya 57:60e8f00d93c3 608 telemetry[98+(2*i)] = (bae_HK_minmax.bit_data_acs_mg_min[i]>>8);
lakshya 57:60e8f00d93c3 609 telemetry[99+(2*i)] = bae_HK_minmax.bit_data_acs_mg_min[i];
lakshya 20:949d13045431 610 }
lakshya 20:949d13045431 611
lakshya 57:60e8f00d93c3 612 telemetry[104] = BCN_TX_OC_FAULT;
lakshya 57:60e8f00d93c3 613 telemetry[104] = (telemetry[104]<<1) | ACS_TR_XY_OC_FAULT;
lakshya 57:60e8f00d93c3 614 telemetry[104] = (telemetry[104]<<1) | ACS_TR_Z_OC_FAULT;
lakshya 57:60e8f00d93c3 615 telemetry[104] = (telemetry[104]<<1) | ACS_TR_XY_FAULT;
lakshya 20:949d13045431 616 //EPS CHARGER
lakshya 57:60e8f00d93c3 617 telemetry[104] = (telemetry[104]<<1) | EPS_CHARGER_FAULT;//eps_charger;
lakshya 57:60e8f00d93c3 618 telemetry[104] = (telemetry[104]<<1) | CDMS_OC_FAULT;
lakshya 57:60e8f00d93c3 619 telemetry[104] = (telemetry[104]<<1) | ACS_ATS1_OC_FAULT;
lakshya 57:60e8f00d93c3 620 telemetry[104] = (telemetry[104]<<1) | ACS_ATS2_OC_FAULT;
lakshya 20:949d13045431 621
lakshya 57:60e8f00d93c3 622 telemetry[105] = (ACS_TR_Z_FAULT<<7);
lakshya 20:949d13045431 623 //spare 23 bits
lakshya 53:459b71b1861c 624 telemetry[106] = 0x00;
lakshya 57:60e8f00d93c3 625 telemetry[107] = 0x00;
lakshya 20:949d13045431 626
lakshya 57:60e8f00d93c3 627 for (int i=108; i<132;i++)
lakshya 19:79e69017c855 628 {
lakshya 19:79e69017c855 629 telemetry[i] = 0x00;
lakshya 19:79e69017c855 630 }
lakshya 19:79e69017c855 631 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 632 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 633 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 634 break;
lakshya 19:79e69017c855 635 }
lakshya 19:79e69017c855 636 default://invalid MID
lakshya 19:79e69017c855 637 {
lakshya 19:79e69017c855 638 //ACK_L234_telemetry
lakshya 57:60e8f00d93c3 639 telemetry[0]=0xB0; // check if this needs to be changed
lakshya 19:79e69017c855 640 telemetry[1]=tc[0];
lakshya 19:79e69017c855 641 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 642 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 643 {
lakshya 19:79e69017c855 644 telemetry[i]=0x00;
lakshya 19:79e69017c855 645 }
lakshya 19:79e69017c855 646 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 647 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 648 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 649 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 650 {
lakshya 19:79e69017c855 651 telemetry[i]=0x00;
lakshya 19:79e69017c855 652 }
lakshya 19:79e69017c855 653 break;
lakshya 19:79e69017c855 654 }
lakshya 19:79e69017c855 655 }
lakshya 19:79e69017c855 656 break;
lakshya 57:60e8f00d93c3 657 }
lakshya 19:79e69017c855 658 case 0x05:
lakshya 19:79e69017c855 659 {
lakshya 49:61c9f28332ba 660 gpc.printf("\n\rdata for mms 0x05 flash");
lakshya 19:79e69017c855 661 /*changed*/
lakshya 49:61c9f28332ba 662 gpc.printf("\n\rwrite on flash\n");
lakshya 20:949d13045431 663 uint32_t FLASH_DATA;//256 bits
lakshya 19:79e69017c855 664
lakshya 19:79e69017c855 665 uint8_t VALID_MID;//to determine wether mid is valid or not otherwise to much repetition of code 1 meaning valid
lakshya 19:79e69017c855 666
lakshya 19:79e69017c855 667 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 668 switch(MID )
lakshya 19:79e69017c855 669 {
lakshya 20:949d13045431 670 case 0x1100:
lakshya 19:79e69017c855 671 {
lakshya 20:949d13045431 672 //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 673 //FCTN_BAE_WR_FLASH(0,FLASH_DATA[0]);
lakshya 20:949d13045431 674 BCN_LONG_MSG_TYPE = tc[8];
lakshya 20:949d13045431 675 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 676 FLASH_DATA = (FLASH_DATA & 0xFFFFFBFF) | (10<<(uint32_t)tc[8]);//see if uint8 to uint32 conversion works
lakshya 20:949d13045431 677 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 678 VALID_MID=1;
lakshya 19:79e69017c855 679 break;
lakshya 19:79e69017c855 680 }
lakshya 19:79e69017c855 681 case 0x0101:
lakshya 19:79e69017c855 682 {
lakshya 20:949d13045431 683 //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 684 ACS_DETUMBLING_ALGO_TYPE = (tc[8] & 0x01);
lakshya 49:61c9f28332ba 685 //===============================================
lakshya 49:61c9f28332ba 686 ACS_STATE = 4;
lakshya 49:61c9f28332ba 687 //tc[8] = 1001_
lakshya 49:61c9f28332ba 688 //ACS_STATE = (tc[8]>>1) & 0x0F;
lakshya 20:949d13045431 689 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 690 FLASH_DATA = (FLASH_DATA & 0xFFF07FFF) | (15<<(uint32_t)tc[8]);
lakshya 20:949d13045431 691 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 692 VALID_MID=1;
lakshya 19:79e69017c855 693 break;
lakshya 19:79e69017c855 694 }
lakshya 19:79e69017c855 695
lakshya 19:79e69017c855 696 case 0x0102:
lakshya 19:79e69017c855 697 {
lakshya 20:949d13045431 698 //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 699 //EPS_BATTERY_HEATER_ENABLE = tc[8];
lakshya 20:949d13045431 700 EPS_BTRY_HTR_AUTO = tc[8];
lakshya 20:949d13045431 701 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 702 FLASH_DATA = (FLASH_DATA & 0xFFFFFDFF) | (9<<(uint32_t)tc[8]);
lakshya 20:949d13045431 703 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 704 VALID_MID=1;
lakshya 19:79e69017c855 705 break;
lakshya 19:79e69017c855 706 }
lakshya 19:79e69017c855 707
lakshya 19:79e69017c855 708 case 0x0103:
lakshya 19:79e69017c855 709 {
lakshya 20:949d13045431 710 //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 711 ACS_MAG_TIME_DELAY = tc[7];
lakshya 20:949d13045431 712 ACS_DEMAG_TIME_DELAY = tc[8];
lakshya 20:949d13045431 713 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 714 FLASH_DATA = (FLASH_DATA & 0xFFFF0000) | (8<<(uint32_t)tc[7]) | ((uint32_t)tc[8]);
lakshya 20:949d13045431 715 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 716 VALID_MID=1;
lakshya 19:79e69017c855 717 break;
lakshya 19:79e69017c855 718 }
lakshya 19:79e69017c855 719 case 0x0104:
lakshya 19:79e69017c855 720 {
lakshya 20:949d13045431 721 //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 722 ACS_Z_FIXED_MOMENT = (8<<(uint16_t)tc[7]) | (uint16_t)tc[8];
lakshya 20:949d13045431 723 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(6);
lakshya 20:949d13045431 724 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)ACS_Z_FIXED_MOMENT<<16);
lakshya 20:949d13045431 725 FCTN_BAE_WR_FLASH(6,FLASH_DATA);
lakshya 19:79e69017c855 726 VALID_MID=1;
lakshya 19:79e69017c855 727 break;
lakshya 19:79e69017c855 728 }
lakshya 20:949d13045431 729 case 0x0106:
lakshya 19:79e69017c855 730 {
lakshya 20:949d13045431 731 //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 732 ACS_MM_Z_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 733 ACS_MG_Z_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 734 FLASH_DATA = ((uint32_t)ACS_MM_Z_COMSN<<16) | (uint32_t)ACS_MG_Z_COMSN;
lakshya 20:949d13045431 735 FCTN_BAE_WR_FLASH(5,FLASH_DATA);
lakshya 20:949d13045431 736 VALID_MID=1;
lakshya 20:949d13045431 737 break;
lakshya 20:949d13045431 738 }
lakshya 20:949d13045431 739 case 0x0107:
lakshya 20:949d13045431 740 {
lakshya 20:949d13045431 741 //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 742 EPS_SOC_LEVEL_12 = tc[7];
lakshya 20:949d13045431 743 EPS_SOC_LEVEL_23 = tc[8];
lakshya 20:949d13045431 744 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 745 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)tc[7]<<24) | ((uint32_t)tc[8]<<16);
lakshya 20:949d13045431 746 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 747 VALID_MID=1;
lakshya 19:79e69017c855 748 break;
lakshya 19:79e69017c855 749 }
lakshya 20:949d13045431 750 case 0x0108:
lakshya 19:79e69017c855 751 {
lakshya 20:949d13045431 752 //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 753 ACS_MM_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 754 ACS_MM_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 755 FLASH_DATA = ((uint32_t)ACS_MM_X_COMSN<<16) | (uint32_t)ACS_MM_Y_COMSN;
lakshya 20:949d13045431 756 FCTN_BAE_WR_FLASH(3,FLASH_DATA);
lakshya 19:79e69017c855 757 VALID_MID=1;
lakshya 19:79e69017c855 758 break;
lakshya 19:79e69017c855 759 }
lakshya 20:949d13045431 760 case 0x0109:
lakshya 19:79e69017c855 761 {
lakshya 20:949d13045431 762 //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 763 ACS_MG_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 764 ACS_MG_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 765 FLASH_DATA = ((uint32_t)ACS_MG_X_COMSN<<16) | (uint32_t)ACS_MG_Y_COMSN;
lakshya 20:949d13045431 766 FCTN_BAE_WR_FLASH(4,FLASH_DATA);
lakshya 19:79e69017c855 767 VALID_MID=1;
lakshya 19:79e69017c855 768 break;
lakshya 19:79e69017c855 769 }
lakshya 19:79e69017c855 770
lakshya 19:79e69017c855 771 default:
lakshya 19:79e69017c855 772 {
lakshya 49:61c9f28332ba 773 gpc.printf("Invalid MMS case 0x05 invalid MID\r\n");
lakshya 19:79e69017c855 774 VALID_MID=0;
lakshya 19:79e69017c855 775 //ACK_L234_telemetry
lakshya 19:79e69017c855 776 break;
lakshya 19:79e69017c855 777
lakshya 19:79e69017c855 778 }
lakshya 19:79e69017c855 779 }
lakshya 19:79e69017c855 780
lakshya 19:79e69017c855 781 if(VALID_MID==1)//valid MID
lakshya 19:79e69017c855 782 {
lakshya 19:79e69017c855 783 telemetry[0]=0xB0;//or 0x60? check
lakshya 19:79e69017c855 784 telemetry[1]=tc[0];
lakshya 19:79e69017c855 785 telemetry[2]=0xA0;// when valid
lakshya 19:79e69017c855 786 }
lakshya 19:79e69017c855 787 else if(VALID_MID==0)//invalid MID
lakshya 19:79e69017c855 788 {
lakshya 19:79e69017c855 789 telemetry[0]=0xB0;
lakshya 19:79e69017c855 790 telemetry[1]=tc[0];
lakshya 19:79e69017c855 791 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 792 }
lakshya 19:79e69017c855 793
lakshya 19:79e69017c855 794 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 795 {
lakshya 19:79e69017c855 796 telemetry[i]=0x00;
lakshya 19:79e69017c855 797 }
lakshya 19:79e69017c855 798 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 799 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 800 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 801 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 802 {
lakshya 19:79e69017c855 803 telemetry[i]=0x00;
lakshya 19:79e69017c855 804 }
lakshya 19:79e69017c855 805
lakshya 49:61c9f28332ba 806 gpc.printf("\n\rWritten on Flash");
lakshya 19:79e69017c855 807 break;
lakshya 19:79e69017c855 808 }
lakshya 19:79e69017c855 809 default://when invalid service subtype
lakshya 19:79e69017c855 810 {
lakshya 49:61c9f28332ba 811 gpc.printf("\n\r MMS invalid Service Subtype");
lakshya 19:79e69017c855 812 //ACK_L234_telemetry
lakshya 19:79e69017c855 813 telemetry[0]=0xB0;
lakshya 19:79e69017c855 814 telemetry[1]=tc[0];
lakshya 19:79e69017c855 815 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 816 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 817 {
lakshya 19:79e69017c855 818 telemetry[i]=0x00;
lakshya 19:79e69017c855 819 }
lakshya 19:79e69017c855 820 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 821 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 822 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 823 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 824 {
lakshya 19:79e69017c855 825 telemetry[i]=0x00;
lakshya 19:79e69017c855 826 }
lakshya 19:79e69017c855 827 break;
lakshya 19:79e69017c855 828 }
lakshya 19:79e69017c855 829 }
lakshya 19:79e69017c855 830 break;
lakshya 19:79e69017c855 831 }
lakshya 19:79e69017c855 832 case 0x80:
lakshya 19:79e69017c855 833 {
lakshya 49:61c9f28332ba 834 //gpc.printf("Function Management Service\r\n");
lakshya 19:79e69017c855 835 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 836 switch(service_subtype)
lakshya 19:79e69017c855 837 {
lakshya 19:79e69017c855 838 case 0x01:
lakshya 19:79e69017c855 839 {
lakshya 49:61c9f28332ba 840 gpc.printf("\n\rFMS Activated");
lakshya 19:79e69017c855 841 uint8_t fid=tc[3];//changed from pid to fid
lakshya 19:79e69017c855 842 switch(fid)
lakshya 19:79e69017c855 843 {
lakshya 19:79e69017c855 844 case 0xE0:
lakshya 19:79e69017c855 845 {
lakshya 58:c4203e162d12 846 //float mag_data_comm[3]={uint16_to_float(-1000,1000,ACS_MM_X_COMSN),uint16_to_float(-1000,1000,ACS_MM_Y_COMSN),uint16_to_float(-1000,1000,ACS_MM_Z_COMSN)};
lakshya 58:c4203e162d12 847 //float gyro_data_comm[3]={uint16_to_float(-5000,5000,ACS_MG_X_COMSN),uint16_to_float(-5000,5000,ACS_MG_Y_COMSN),uint16_to_float(-5000,5000,ACS_MG_Z_COMSN)};
lakshya 58:c4203e162d12 848 float mag_data_comm[3] = {ACS_MM_X_COMSN,ACS_MM_Y_COMSN,ACS_MM_Z_COMSN};
lakshya 58:c4203e162d12 849 float gyro_data_comm[3] = {ACS_MG_X_COMSN,ACS_MG_Y_COMSN,ACS_MG_Z_COMSN};
lakshya 20:949d13045431 850 float moment_comm[3];
lakshya 49:61c9f28332ba 851 gpc.printf("ACS_COMSN SOFTWARE\r\n");
lakshya 19:79e69017c855 852 //ACK_L234_telemetry
lakshya 20:949d13045431 853 ACS_STATE = tc[4];
lakshya 49:61c9f28332ba 854 if(ACS_STATE == 2) // Nominal mode
lakshya 20:949d13045431 855 {
lakshya 49:61c9f28332ba 856 gpc.printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 857 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 858 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 859 for(int i=0; i<3; i++)
lakshya 20:949d13045431 860 {
lakshya 49:61c9f28332ba 861 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 862 }
lakshya 20:949d13045431 863
lakshya 20:949d13045431 864 }
lakshya 49:61c9f28332ba 865 else if(ACS_STATE == 3) // Auto Control
lakshya 20:949d13045431 866 {
lakshya 49:61c9f28332ba 867 gpc.printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 868 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 869 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 870 for(int i=0; i<3; i++)
lakshya 20:949d13045431 871 {
lakshya 49:61c9f28332ba 872 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 873 }
lakshya 20:949d13045431 874 }
lakshya 49:61c9f28332ba 875 else if(ACS_STATE == 4) // Detumbling
lakshya 20:949d13045431 876 {
lakshya 20:949d13045431 877 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 878 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 879 for(int i=0; i<3; i++)
lakshya 20:949d13045431 880 {
lakshya 49:61c9f28332ba 881 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 882 }
lakshya 20:949d13045431 883 }
lakshya 19:79e69017c855 884 else
lakshya 19:79e69017c855 885 {
lakshya 20:949d13045431 886 ACS_STATUS = 7;
lakshya 19:79e69017c855 887 }
lakshya 20:949d13045431 888
lakshya 20:949d13045431 889 // Control algo commissioning
lakshya 39:670133e7ffd8 890 uint16_t moment_ret;
lakshya 49:61c9f28332ba 891 telemetry[0] = 0x78;
lakshya 49:61c9f28332ba 892 telemetry[1] = tc[0];
lakshya 49:61c9f28332ba 893 telemetry[2] = ACK_CODE;
lakshya 39:670133e7ffd8 894 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 895 telemetry[4] = ACS_STATUS;
lakshya 39:670133e7ffd8 896 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 897 telemetry[5] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 898 telemetry[6] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 899 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 900 telemetry[7] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 901 telemetry[8] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 902 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[2]);
lakshya 39:670133e7ffd8 903 telemetry[9] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 904 telemetry[10] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 905
lakshya 39:670133e7ffd8 906 //FCTN_CONVERT_FLOAT(moment_comm[0],&telemetry[4]); //telemetry[4] - telemetry[7]
lakshya 39:670133e7ffd8 907 //FCTN_CONVERT_FLOAT(moment_comm[1],&telemetry[8]); //telemetry[8] - telemetry[11]
lakshya 39:670133e7ffd8 908 //FCTN_CONVERT_FLOAT(moment_comm[2],&telemetry[12]); //telemetry[12] - telemetry[15]
lakshya 19:79e69017c855 909 // to include commission TR as well
lakshya 39:670133e7ffd8 910 for(uint8_t i=11;i<132;i++)
lakshya 19:79e69017c855 911 {
lakshya 19:79e69017c855 912 telemetry[i]=0x00;
lakshya 19:79e69017c855 913 }
lakshya 19:79e69017c855 914 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 915 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 916 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 917 break;
lakshya 19:79e69017c855 918 }
lakshya 19:79e69017c855 919 case 0xE1:
lakshya 19:79e69017c855 920 {
lakshya 49:61c9f28332ba 921 gpc.printf("HARDWARE_COMSN\r\n");
lakshya 19:79e69017c855 922 //ACK_L234_telemetry
lakshya 39:670133e7ffd8 923 uint8_t SENSOR_NO;
lakshya 20:949d13045431 924
lakshya 20:949d13045431 925 int init1=0;
lakshya 20:949d13045431 926 int init2=0;
lakshya 20:949d13045431 927 int data1=0;
lakshya 20:949d13045431 928 int data2=0;
lakshya 39:670133e7ffd8 929
lakshya 39:670133e7ffd8 930 uint16_t assign_val;
lakshya 19:79e69017c855 931
lakshya 20:949d13045431 932 float PWM_tc[3];
Bragadeesh153 54:d6a45982ace1 933 PWM_tc[0]=(float(tc[4]))/256;
Bragadeesh153 54:d6a45982ace1 934 PWM_tc[1]=(float(tc[5]))/256;
Bragadeesh153 54:d6a45982ace1 935 PWM_tc[2]=(float(tc[6]))/256;
lakshya 20:949d13045431 936
lakshya 20:949d13045431 937 DRV_Z_EN = 1;
lakshya 20:949d13045431 938 DRV_XY_EN = 1;
lakshya 49:61c9f28332ba 939 telemetry[0]=0x78;
lakshya 19:79e69017c855 940 telemetry[1]=tc[0];
lakshya 19:79e69017c855 941 telemetry[2]=ACK_CODE;
lakshya 39:670133e7ffd8 942 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 943
lakshya 39:670133e7ffd8 944 SENSOR_NO = 0;
lakshya 19:79e69017c855 945
lakshya 20:949d13045431 946 PWM1 = 0;
lakshya 20:949d13045431 947 PWM2 = 0;
lakshya 20:949d13045431 948 PWM3 = 0;
lakshya 20:949d13045431 949
lakshya 20:949d13045431 950 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 951 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 952 wait_ms(5);
Bragadeesh153 52:daa685b0e390 953 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 954 wait_ms(5);
lakshya 20:949d13045431 955 //will it lead to causing delay in i2c interrupt
lakshya 20:949d13045431 956 init1 = SENSOR_INIT();
lakshya 20:949d13045431 957 if( init1 == 1)
lakshya 20:949d13045431 958 {
lakshya 20:949d13045431 959 data1 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 960 }
Bragadeesh153 52:daa685b0e390 961 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 962 wait_ms(5);
lakshya 20:949d13045431 963 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 964 wait_ms(5);
lakshya 20:949d13045431 965
lakshya 20:949d13045431 966 if(data1 == 0)
lakshya 20:949d13045431 967 {
lakshya 20:949d13045431 968 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 969 wait_ms(5);
lakshya 20:949d13045431 970 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
lakshya 20:949d13045431 971 }
lakshya 20:949d13045431 972 else if(data1==1)
lakshya 20:949d13045431 973 {
lakshya 20:949d13045431 974 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x10;
lakshya 20:949d13045431 975 }
lakshya 20:949d13045431 976 else if(data1==2)
lakshya 20:949d13045431 977 {
lakshya 20:949d13045431 978 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x20;
lakshya 20:949d13045431 979 }
lakshya 20:949d13045431 980 else if(data1==3)
lakshya 20:949d13045431 981 {
lakshya 20:949d13045431 982 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x30;
lakshya 20:949d13045431 983 }
lakshya 39:670133e7ffd8 984
lakshya 39:670133e7ffd8 985 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 986 telemetry[5] = (assign_val>>8);
lakshya 39:670133e7ffd8 987 telemetry[6] = assign_val;
lakshya 39:670133e7ffd8 988
lakshya 39:670133e7ffd8 989 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 990 telemetry[7] = (assign_val>>8);
lakshya 39:670133e7ffd8 991 telemetry[8] = assign_val;
lakshya 39:670133e7ffd8 992
lakshya 39:670133e7ffd8 993 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 994 telemetry[9] = (assign_val>>8);
lakshya 39:670133e7ffd8 995 telemetry[10] = assign_val;
lakshya 39:670133e7ffd8 996
lakshya 39:670133e7ffd8 997 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 998 telemetry[11] = (assign_val>>8);
lakshya 39:670133e7ffd8 999 telemetry[12] = assign_val;
lakshya 39:670133e7ffd8 1000
lakshya 39:670133e7ffd8 1001 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 1002 telemetry[13] = (assign_val>>8);
lakshya 39:670133e7ffd8 1003 telemetry[14] = assign_val;
lakshya 39:670133e7ffd8 1004
lakshya 39:670133e7ffd8 1005 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 1006 telemetry[15] = (assign_val>>8);
lakshya 39:670133e7ffd8 1007 telemetry[16] = assign_val;
lakshya 39:670133e7ffd8 1008
lakshya 20:949d13045431 1009 init2 = SENSOR_INIT();
lakshya 20:949d13045431 1010 if( init2 == 1)
lakshya 20:949d13045431 1011 {
lakshya 20:949d13045431 1012 data2 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1013 }
lakshya 39:670133e7ffd8 1014 //uint8_t ats_data=1;
lakshya 19:79e69017c855 1015
lakshya 20:949d13045431 1016 if(data2 == 0)
lakshya 20:949d13045431 1017 {
lakshya 20:949d13045431 1018 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1019 wait_ms(5);
lakshya 20:949d13045431 1020 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x0C;
lakshya 39:670133e7ffd8 1021 SENSOR_NO = 0;
lakshya 20:949d13045431 1022 if(data1 == 2)
lakshya 20:949d13045431 1023 {
Bragadeesh153 52:daa685b0e390 1024 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1025 wait_ms(5);
lakshya 20:949d13045431 1026 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1027 SENSOR_NO = 1;
lakshya 20:949d13045431 1028 }
lakshya 20:949d13045431 1029 else if(data1 == 3)
lakshya 20:949d13045431 1030 {
Bragadeesh153 52:daa685b0e390 1031 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1032 wait_ms(5);
lakshya 20:949d13045431 1033 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 39:670133e7ffd8 1034 SENSOR_NO = 1;
lakshya 20:949d13045431 1035 }
lakshya 20:949d13045431 1036 else if(data1 == 1)
lakshya 20:949d13045431 1037 {
Bragadeesh153 52:daa685b0e390 1038 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1039 wait_ms(5);
lakshya 20:949d13045431 1040 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1041 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1042
lakshya 20:949d13045431 1043 }
lakshya 20:949d13045431 1044
lakshya 20:949d13045431 1045 }
lakshya 20:949d13045431 1046 else if(data2==1)
lakshya 20:949d13045431 1047 {
lakshya 20:949d13045431 1048 if(data1 == 2)
lakshya 20:949d13045431 1049 {
lakshya 20:949d13045431 1050 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1051 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1052 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1053 wait_ms(5);
lakshya 20:949d13045431 1054 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1055 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
lakshya 39:670133e7ffd8 1056 SENSOR_NO = 1;
lakshya 20:949d13045431 1057 }
lakshya 20:949d13045431 1058 else if(data1 == 3)
lakshya 20:949d13045431 1059 {
lakshya 20:949d13045431 1060 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1061 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1062 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1063 wait_ms(5);
lakshya 20:949d13045431 1064 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1065 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1066 SENSOR_NO = 1;
lakshya 20:949d13045431 1067 }
lakshya 20:949d13045431 1068 else
lakshya 20:949d13045431 1069 {
lakshya 20:949d13045431 1070 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1071 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1072 //ats_data = 0;
lakshya 20:949d13045431 1073 }
lakshya 20:949d13045431 1074 }
lakshya 20:949d13045431 1075
lakshya 20:949d13045431 1076 else if(data2==2)
lakshya 20:949d13045431 1077 {
lakshya 20:949d13045431 1078 if(data1 == 3)
lakshya 20:949d13045431 1079 {
lakshya 20:949d13045431 1080 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1081 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1082 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1083 wait_ms(5);
lakshya 20:949d13045431 1084 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x02;
lakshya 20:949d13045431 1085 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1086 SENSOR_NO = 1;
lakshya 20:949d13045431 1087 }
lakshya 20:949d13045431 1088 else
lakshya 20:949d13045431 1089 {
lakshya 20:949d13045431 1090 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1091 SENSOR_NO = 2;
lakshya 20:949d13045431 1092 }
lakshya 20:949d13045431 1093 }
lakshya 20:949d13045431 1094 else if(data2==3)
lakshya 20:949d13045431 1095 {
lakshya 20:949d13045431 1096 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 39:670133e7ffd8 1097 SENSOR_NO = 2;
lakshya 20:949d13045431 1098 }
Bragadeesh153 54:d6a45982ace1 1099
Bragadeesh153 54:d6a45982ace1 1100 SENSOR_NO = 1;
lakshya 39:670133e7ffd8 1101 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1102 telemetry[17] = (assign_val>>8);
lakshya 39:670133e7ffd8 1103 telemetry[18] = assign_val;
lakshya 39:670133e7ffd8 1104
lakshya 39:670133e7ffd8 1105 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1106 telemetry[19] = (assign_val>>8);
lakshya 39:670133e7ffd8 1107 telemetry[20] = assign_val;
lakshya 39:670133e7ffd8 1108
lakshya 39:670133e7ffd8 1109 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1110 telemetry[21] = (assign_val>>8);
lakshya 39:670133e7ffd8 1111 telemetry[22] = assign_val;
lakshya 39:670133e7ffd8 1112
lakshya 39:670133e7ffd8 1113 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 1114 telemetry[23] = (assign_val>>8);
lakshya 39:670133e7ffd8 1115 telemetry[24] = assign_val;
lakshya 39:670133e7ffd8 1116
lakshya 39:670133e7ffd8 1117 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 1118 telemetry[25] = (assign_val>>8);
lakshya 39:670133e7ffd8 1119 telemetry[26] = assign_val;
lakshya 39:670133e7ffd8 1120
lakshya 39:670133e7ffd8 1121 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 1122 telemetry[27] = (assign_val>>8);
lakshya 39:670133e7ffd8 1123 telemetry[28] = assign_val;
lakshya 39:670133e7ffd8 1124
lakshya 39:670133e7ffd8 1125 telemetry[4] = ACS_ATS_STATUS;
lakshya 39:670133e7ffd8 1126
lakshya 19:79e69017c855 1127
lakshya 20:949d13045431 1128 SelectLineb3 =0;
lakshya 20:949d13045431 1129 SelectLineb2 =1;
lakshya 20:949d13045431 1130 SelectLineb1 =0;
lakshya 20:949d13045431 1131 SelectLineb0 =1;
lakshya 20:949d13045431 1132 int resistance;
lakshya 20:949d13045431 1133 PWM1 = PWM_tc[0];
lakshya 20:949d13045431 1134 PWM2 = 0;
lakshya 20:949d13045431 1135 PWM3 = 0;
lakshya 20:949d13045431 1136
lakshya 20:949d13045431 1137 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 39:670133e7ffd8 1138 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1139 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1140 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1141 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1142
lakshya 20:949d13045431 1143 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1144 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1145 {
lakshya 20:949d13045431 1146 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1147 }
lakshya 20:949d13045431 1148 else
lakshya 20:949d13045431 1149 {
lakshya 20:949d13045431 1150 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1151 }
lakshya 20:949d13045431 1152
lakshya 20:949d13045431 1153 //to be edited final tele
lakshya 39:670133e7ffd8 1154 //uint16_t assign_val;
lakshya 20:949d13045431 1155 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 20:949d13045431 1156 telemetry[29] = (assign_val>>8);
lakshya 20:949d13045431 1157 telemetry[30] = assign_val;
lakshya 20:949d13045431 1158
lakshya 20:949d13045431 1159 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 20:949d13045431 1160 telemetry[31] = (assign_val>>8);
lakshya 20:949d13045431 1161 telemetry[32] = assign_val;
lakshya 20:949d13045431 1162
lakshya 20:949d13045431 1163 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 20:949d13045431 1164 telemetry[33] = (assign_val>>8);
lakshya 20:949d13045431 1165 telemetry[34] = assign_val;
lakshya 20:949d13045431 1166
lakshya 20:949d13045431 1167 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 20:949d13045431 1168 telemetry[35] = (assign_val>>8);
lakshya 20:949d13045431 1169 telemetry[36] = assign_val;
lakshya 20:949d13045431 1170
lakshya 20:949d13045431 1171 PWM1 = 0;
lakshya 20:949d13045431 1172 PWM2 = PWM_tc[1];
lakshya 20:949d13045431 1173 PWM3 = 0;
lakshya 20:949d13045431 1174
lakshya 20:949d13045431 1175 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1176
lakshya 39:670133e7ffd8 1177 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1178 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1179 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1180 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1181
lakshya 20:949d13045431 1182
lakshya 20:949d13045431 1183 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1184 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1185 {
lakshya 20:949d13045431 1186 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1187 }
lakshya 20:949d13045431 1188 else
lakshya 20:949d13045431 1189 {
lakshya 20:949d13045431 1190 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1191 }
lakshya 39:670133e7ffd8 1192
lakshya 39:670133e7ffd8 1193 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1194 telemetry[37] = (assign_val>>8);
lakshya 39:670133e7ffd8 1195 telemetry[38] = assign_val;
lakshya 39:670133e7ffd8 1196
lakshya 39:670133e7ffd8 1197 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1198 telemetry[39] = (assign_val>>8);
lakshya 39:670133e7ffd8 1199 telemetry[40] = assign_val;
lakshya 39:670133e7ffd8 1200
lakshya 39:670133e7ffd8 1201 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1202 telemetry[41] = (assign_val>>8);
lakshya 39:670133e7ffd8 1203 telemetry[42] = assign_val;
lakshya 39:670133e7ffd8 1204
lakshya 39:670133e7ffd8 1205 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1206 telemetry[43] = (assign_val>>8);
lakshya 39:670133e7ffd8 1207 telemetry[44] = assign_val;
lakshya 20:949d13045431 1208
lakshya 20:949d13045431 1209 PWM1 = 0;
lakshya 20:949d13045431 1210 PWM2 = 0;
lakshya 20:949d13045431 1211 PWM3 = PWM_tc[2];
lakshya 20:949d13045431 1212
lakshya 20:949d13045431 1213 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1214
lakshya 39:670133e7ffd8 1215 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1216 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1217 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1218 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1219
lakshya 20:949d13045431 1220 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1221 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1222 {
lakshya 20:949d13045431 1223 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1224 }
lakshya 20:949d13045431 1225 else
lakshya 20:949d13045431 1226 {
lakshya 20:949d13045431 1227 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1228 }
lakshya 39:670133e7ffd8 1229 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1230 telemetry[45] = (assign_val>>8);
lakshya 39:670133e7ffd8 1231 telemetry[46] = assign_val;
lakshya 39:670133e7ffd8 1232
lakshya 39:670133e7ffd8 1233 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1234 telemetry[47] = (assign_val>>8);
lakshya 39:670133e7ffd8 1235 telemetry[48] = assign_val;
lakshya 20:949d13045431 1236
lakshya 39:670133e7ffd8 1237 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1238 telemetry[49] = (assign_val>>8);
lakshya 39:670133e7ffd8 1239 telemetry[50] = assign_val;
lakshya 39:670133e7ffd8 1240
lakshya 39:670133e7ffd8 1241 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1242 telemetry[51] = (assign_val>>8);
lakshya 39:670133e7ffd8 1243 telemetry[52] = assign_val;
lakshya 39:670133e7ffd8 1244
lakshya 20:949d13045431 1245 PWM1 = 0;
lakshya 20:949d13045431 1246 PWM2 = 0;
lakshya 20:949d13045431 1247 PWM3 = 0;
lakshya 20:949d13045431 1248
lakshya 20:949d13045431 1249 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1250
lakshya 39:670133e7ffd8 1251 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1252 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1253 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1254 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1255
lakshya 20:949d13045431 1256 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1257 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1258 {
lakshya 20:949d13045431 1259 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1260 }
lakshya 20:949d13045431 1261 else
lakshya 20:949d13045431 1262 {
lakshya 20:949d13045431 1263 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1264 }
lakshya 39:670133e7ffd8 1265
lakshya 39:670133e7ffd8 1266 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1267 telemetry[53] = (assign_val>>8);
lakshya 39:670133e7ffd8 1268 telemetry[54] = assign_val;
lakshya 39:670133e7ffd8 1269
lakshya 39:670133e7ffd8 1270 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1271 telemetry[55] = (assign_val>>8);
lakshya 39:670133e7ffd8 1272 telemetry[56] = assign_val;
lakshya 39:670133e7ffd8 1273
lakshya 39:670133e7ffd8 1274 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1275 telemetry[57] = (assign_val>>8);
lakshya 39:670133e7ffd8 1276 telemetry[58] = assign_val;
lakshya 20:949d13045431 1277
lakshya 20:949d13045431 1278 // for(int i=0; i<12; i++)
lakshya 20:949d13045431 1279 // FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&telemetry[16 + (i*4)]);
lakshya 20:949d13045431 1280
lakshya 20:949d13045431 1281 // FCTN_ATS_DATA_ACQ(); //get data
lakshya 19:79e69017c855 1282
lakshya 20:949d13045431 1283 // to include commission TR as well
lakshya 39:670133e7ffd8 1284
lakshya 49:61c9f28332ba 1285 telemetry[59] = SENSOR_NO;
lakshya 39:670133e7ffd8 1286
lakshya 39:670133e7ffd8 1287 for(uint8_t i=60;i<132;i++)
lakshya 19:79e69017c855 1288 {
lakshya 20:949d13045431 1289 telemetry[i]=0x00;
lakshya 19:79e69017c855 1290 }
lakshya 19:79e69017c855 1291
lakshya 19:79e69017c855 1292 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 1293 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 1294 telemetry[133] = (uint8_t)(crc16&0x00FF);
Bragadeesh153 56:32b1fb074138 1295
Bragadeesh153 56:32b1fb074138 1296 if(data1 == 0)
Bragadeesh153 56:32b1fb074138 1297 {
Bragadeesh153 56:32b1fb074138 1298 ATS1_SW_ENABLE = 0;
Bragadeesh153 56:32b1fb074138 1299 //wait_ms(5);
Bragadeesh153 56:32b1fb074138 1300 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
Bragadeesh153 56:32b1fb074138 1301 }
Bragadeesh153 56:32b1fb074138 1302 else if(data1==1)
Bragadeesh153 56:32b1fb074138 1303 {
Bragadeesh153 56:32b1fb074138 1304 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1305 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x40;
Bragadeesh153 56:32b1fb074138 1306 }
Bragadeesh153 56:32b1fb074138 1307 else if(data1==2)
Bragadeesh153 56:32b1fb074138 1308 {
Bragadeesh153 56:32b1fb074138 1309 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1310 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
Bragadeesh153 56:32b1fb074138 1311 }
Bragadeesh153 56:32b1fb074138 1312 else if(data1==3)
Bragadeesh153 56:32b1fb074138 1313 {
Bragadeesh153 56:32b1fb074138 1314 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1315 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
Bragadeesh153 56:32b1fb074138 1316 }
Bragadeesh153 56:32b1fb074138 1317 printf("Exited HW\r\n");
lakshya 19:79e69017c855 1318 break;
lakshya 19:79e69017c855 1319 }
lakshya 19:79e69017c855 1320 case 0xE2:
lakshya 19:79e69017c855 1321 {
lakshya 20:949d13045431 1322 uint8_t BCN_SPND_STATE;
lakshya 20:949d13045431 1323 BCN_SPND_STATE=tc[4];
lakshya 20:949d13045431 1324 if(BCN_SPND_STATE==0x00)
lakshya 19:79e69017c855 1325 {
lakshya 20:949d13045431 1326 BCN_SPND_TX=0;
lakshya 19:79e69017c855 1327 //stop BCN_STANDBY_TIMER.stop();//create
lakshya 19:79e69017c855 1328 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1329 }
lakshya 20:949d13045431 1330 else if(BCN_SPND_STATE==0x01)
lakshya 19:79e69017c855 1331 {
lakshya 33:76f2b8735501 1332 FCTN_BCN_SPND_TX();
lakshya 19:79e69017c855 1333 //stop BCN_STANDBY_TIMER.start();//create
lakshya 19:79e69017c855 1334 if(BCN_TX_MAIN_STATUS==0)
lakshya 19:79e69017c855 1335 {
lakshya 19:79e69017c855 1336 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1337 }
lakshya 19:79e69017c855 1338 else if(BCN_TX_MAIN_STATUS==1)
lakshya 19:79e69017c855 1339 {
lakshya 19:79e69017c855 1340 telemetry[2]=0xC0;
lakshya 19:79e69017c855 1341 }
lakshya 19:79e69017c855 1342 }
lakshya 19:79e69017c855 1343 else
lakshya 19:79e69017c855 1344 {
lakshya 19:79e69017c855 1345 telemetry[2]=0x02;
lakshya 19:79e69017c855 1346 }
lakshya 19:79e69017c855 1347 //ACK_L234_telemetry
lakshya 19:79e69017c855 1348 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1349 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1350 //ack_code taken care above
lakshya 19:79e69017c855 1351 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1352 {
lakshya 19:79e69017c855 1353 telemetry[i]=0x00;
lakshya 19:79e69017c855 1354 }
lakshya 19:79e69017c855 1355 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1356 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1357 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1358 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1359 {
lakshya 19:79e69017c855 1360 telemetry[i]=0x00;
lakshya 19:79e69017c855 1361 }
lakshya 19:79e69017c855 1362 break;
lakshya 19:79e69017c855 1363 }
lakshya 20:949d13045431 1364 case 0xE3:
lakshya 20:949d13045431 1365 {
lakshya 20:949d13045431 1366 if(EPS_BTRY_HTR_AUTO != 0)
lakshya 20:949d13045431 1367 telemetry[2]=0x87;
lakshya 20:949d13045431 1368 else
lakshya 20:949d13045431 1369 {
lakshya 20:949d13045431 1370 HTR_CYCLE_COUNTS = tc[4];
lakshya 20:949d13045431 1371 if(HTR_CYCLE_COUNTS==0x00)
lakshya 20:949d13045431 1372 {
lakshya 33:76f2b8735501 1373 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 1374 HTR_CYCLE->stop();
lakshya 20:949d13045431 1375 //clear EPS_BTRY_HTR is it
lakshya 20:949d13045431 1376 EPS_BTRY_HTR_AUTO = 0;
lakshya 20:949d13045431 1377
lakshya 20:949d13045431 1378 }
lakshya 20:949d13045431 1379 else
lakshya 20:949d13045431 1380 {
lakshya 20:949d13045431 1381 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 1382 {
lakshya 20:949d13045431 1383 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 1384 }
lakshya 20:949d13045431 1385 //uint8_t HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1386 HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1387 HTR_ON_DURATION = tc[6];
lakshya 20:949d13045431 1388
lakshya 20:949d13045431 1389 //make it uint16_t
lakshya 20:949d13045431 1390 HTR_CYCLE_PERIOD = (tc[7]<<8) | tc[8];
lakshya 20:949d13045431 1391 //start BTRY_HTR_DLY_TIMER;
lakshya 20:949d13045431 1392 }
lakshya 20:949d13045431 1393 telemetry[2]=0xA0;
lakshya 20:949d13045431 1394 }
lakshya 20:949d13045431 1395 //ACK_L234_telemetry
lakshya 20:949d13045431 1396 telemetry[0]=0xB0;
lakshya 20:949d13045431 1397 telemetry[1]=tc[0];
lakshya 20:949d13045431 1398 //ACK code taken care of
lakshya 20:949d13045431 1399 for(uint8_t i=3;i<11;i++)
lakshya 20:949d13045431 1400 {
lakshya 20:949d13045431 1401 telemetry[i]=0x00;
lakshya 20:949d13045431 1402 }
lakshya 20:949d13045431 1403 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 20:949d13045431 1404 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 20:949d13045431 1405 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 20:949d13045431 1406 for(uint8_t i=13;i<134;i++)
lakshya 20:949d13045431 1407 {
lakshya 20:949d13045431 1408 telemetry[i]=0x00;
lakshya 20:949d13045431 1409 }
lakshya 20:949d13045431 1410
lakshya 20:949d13045431 1411 break;
lakshya 20:949d13045431 1412 }
lakshya 19:79e69017c855 1413 case 0x01:
lakshya 19:79e69017c855 1414 { if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1415 {
lakshya 49:61c9f28332ba 1416 gpc.printf("\n\rRun P_EPS_INIT");
lakshya 19:79e69017c855 1417 FCTN_EPS_INIT();
lakshya 19:79e69017c855 1418 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1419 }
lakshya 19:79e69017c855 1420 else
lakshya 19:79e69017c855 1421 {
lakshya 49:61c9f28332ba 1422 gpc.printf("\n\runable to Run P_EPS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1423 telemetry[2]=0x87;
lakshya 19:79e69017c855 1424 }
lakshya 19:79e69017c855 1425
lakshya 19:79e69017c855 1426 //ACK_L234_telemetry
lakshya 19:79e69017c855 1427 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1428 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1429 //ACK code taken care of
lakshya 19:79e69017c855 1430 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1431 {
lakshya 19:79e69017c855 1432 telemetry[i]=0x00;
lakshya 19:79e69017c855 1433 }
lakshya 19:79e69017c855 1434 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1435 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1436 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1437 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1438 {
lakshya 19:79e69017c855 1439 telemetry[i]=0x00;
lakshya 19:79e69017c855 1440 }
lakshya 19:79e69017c855 1441
lakshya 19:79e69017c855 1442 break;
lakshya 19:79e69017c855 1443 }
lakshya 19:79e69017c855 1444 case 0x02:
lakshya 19:79e69017c855 1445 {
lakshya 19:79e69017c855 1446 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1447 {
lakshya 49:61c9f28332ba 1448 gpc.printf("\n\rRun P_EPS_MAIN");
lakshya 19:79e69017c855 1449 F_EPS();
lakshya 19:79e69017c855 1450 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1451 }
lakshya 19:79e69017c855 1452 else
lakshya 19:79e69017c855 1453 {
lakshya 49:61c9f28332ba 1454 gpc.printf("\n\runable to Run P_EPS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1455 telemetry[2]=0x87;
lakshya 19:79e69017c855 1456 }
lakshya 19:79e69017c855 1457
lakshya 19:79e69017c855 1458 //ACK_L234_telemetry
lakshya 19:79e69017c855 1459 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1460 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1461 //ACK code taken care of
lakshya 19:79e69017c855 1462 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1463 {
lakshya 19:79e69017c855 1464 telemetry[i]=0x00;
lakshya 19:79e69017c855 1465 }
lakshya 19:79e69017c855 1466 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1467 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1468 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1469 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1470 {
lakshya 19:79e69017c855 1471 telemetry[i]=0x00;
lakshya 19:79e69017c855 1472 }
lakshya 19:79e69017c855 1473 break;
lakshya 19:79e69017c855 1474 }
lakshya 19:79e69017c855 1475 case 0x03:
lakshya 19:79e69017c855 1476 {
lakshya 19:79e69017c855 1477 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1478 {
lakshya 49:61c9f28332ba 1479 gpc.printf("\n\rRun P_ACS_INIT");
lakshya 19:79e69017c855 1480 FCTN_ACS_INIT();
lakshya 19:79e69017c855 1481 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1482 }
lakshya 19:79e69017c855 1483 else
lakshya 19:79e69017c855 1484 {
lakshya 49:61c9f28332ba 1485 gpc.printf("\n\runable to Run P_ACS_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1486 telemetry[2]=0x87;
lakshya 19:79e69017c855 1487 }
lakshya 19:79e69017c855 1488
lakshya 19:79e69017c855 1489 //ACK_L234_telemetry
lakshya 19:79e69017c855 1490 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1491 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1492 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1493 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1494 {
lakshya 19:79e69017c855 1495 telemetry[i]=0x00;
lakshya 19:79e69017c855 1496 }
lakshya 19:79e69017c855 1497 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1498 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1499 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1500 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1501 {
lakshya 19:79e69017c855 1502 telemetry[i]=0x00;
lakshya 19:79e69017c855 1503 }
lakshya 19:79e69017c855 1504 break;
lakshya 19:79e69017c855 1505 }
lakshya 19:79e69017c855 1506 case 0x05:
lakshya 19:79e69017c855 1507 {
lakshya 19:79e69017c855 1508 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1509 {
lakshya 49:61c9f28332ba 1510 gpc.printf("\n\rRun P_ACS_MAIN");
lakshya 19:79e69017c855 1511 F_ACS();
lakshya 19:79e69017c855 1512 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1513 }
lakshya 19:79e69017c855 1514 else
lakshya 19:79e69017c855 1515 {
lakshya 49:61c9f28332ba 1516 gpc.printf("\n\runable to Run P_ACS_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1517 telemetry[2]=0x87;
lakshya 19:79e69017c855 1518 }
lakshya 19:79e69017c855 1519
lakshya 19:79e69017c855 1520 //ACK_L234_TM
lakshya 19:79e69017c855 1521 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1522 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1523 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1524 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1525 {
lakshya 19:79e69017c855 1526 telemetry[i]=0x00;
lakshya 19:79e69017c855 1527 }
lakshya 19:79e69017c855 1528
lakshya 19:79e69017c855 1529 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1530 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1531 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1532 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1533 {
lakshya 19:79e69017c855 1534 telemetry[i]=0x00;
lakshya 19:79e69017c855 1535 }
lakshya 19:79e69017c855 1536 break;
lakshya 19:79e69017c855 1537 }
lakshya 19:79e69017c855 1538 case 0x06:
lakshya 19:79e69017c855 1539 {
lakshya 19:79e69017c855 1540 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1541 {
lakshya 49:61c9f28332ba 1542 gpc.printf("\n\rRun P_BCN_INIT");
lakshya 19:79e69017c855 1543 F_BCN();
lakshya 19:79e69017c855 1544 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1545 }
lakshya 19:79e69017c855 1546 else
lakshya 19:79e69017c855 1547 {
lakshya 49:61c9f28332ba 1548 gpc.printf("\n\runable to Run P_BCN_INIT as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1549 telemetry[2]=0x87;
lakshya 19:79e69017c855 1550 }
lakshya 19:79e69017c855 1551
lakshya 19:79e69017c855 1552 //ACK_L234_TM
lakshya 19:79e69017c855 1553 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1554 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1555 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1556 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1557 {
lakshya 19:79e69017c855 1558 telemetry[i]=0x00;
lakshya 19:79e69017c855 1559 }
lakshya 19:79e69017c855 1560 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1561 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1562 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1563 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1564 {
lakshya 19:79e69017c855 1565 telemetry[i]=0x00;
lakshya 19:79e69017c855 1566 }
lakshya 19:79e69017c855 1567 break;
lakshya 19:79e69017c855 1568 }
lakshya 19:79e69017c855 1569 case 0x07:
lakshya 19:79e69017c855 1570 {
lakshya 19:79e69017c855 1571 if(BAE_STANDBY==0x07)
lakshya 19:79e69017c855 1572 {
lakshya 49:61c9f28332ba 1573 gpc.printf("\n\rRun P_BCN_TX_MAIN");
lakshya 19:79e69017c855 1574 FCTN_BCN_TX_MAIN();//correct function check once
lakshya 19:79e69017c855 1575 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1576 }
lakshya 19:79e69017c855 1577 else
lakshya 19:79e69017c855 1578 {
lakshya 49:61c9f28332ba 1579 gpc.printf("\n\runable to Run P_BCN_TX_MAIN as BAE_STATUS not 111 ");;
lakshya 19:79e69017c855 1580 telemetry[2]=0x87;
lakshya 19:79e69017c855 1581 }
lakshya 19:79e69017c855 1582
lakshya 19:79e69017c855 1583 //ACK_L234_TM
lakshya 19:79e69017c855 1584 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1585 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1586 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1587 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1588 {
lakshya 19:79e69017c855 1589 telemetry[i]=0x00;
lakshya 19:79e69017c855 1590 }
lakshya 19:79e69017c855 1591 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1592 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1593 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1594 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1595 {
lakshya 19:79e69017c855 1596 telemetry[i]=0x00;
lakshya 19:79e69017c855 1597 }
lakshya 19:79e69017c855 1598 break;
lakshya 19:79e69017c855 1599 }
lakshya 19:79e69017c855 1600 case 0x11:
lakshya 19:79e69017c855 1601 {
lakshya 49:61c9f28332ba 1602 gpc.printf("\n\rSW_ON_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1603 //ACK_L234_TM
lakshya 19:79e69017c855 1604 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1605 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1606 //____________________________________________************************************
lakshya 19:79e69017c855 1607 /*
lakshya 19:79e69017c855 1608 ATS PIN OR STATUS YET TO BE DECIDED. DECIDED THAT IT IS PIN TC CAN SWITCH ON/OFF THE SENSOR
lakshya 19:79e69017c855 1609 */
lakshya 19:79e69017c855 1610 ATS2_SW_ENABLE = 1; // making sure we switch off the other
lakshya 39:670133e7ffd8 1611 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 39:670133e7ffd8 1612 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0) | 0x0C ;
Bragadeesh153 52:daa685b0e390 1613 ATS1_SW_ENABLE = 1;
lakshya 39:670133e7ffd8 1614 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F);
lakshya 39:670133e7ffd8 1615 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F)|0x40;
lakshya 19:79e69017c855 1616 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1617 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1618 {
lakshya 19:79e69017c855 1619 telemetry[i]=0x00;
lakshya 19:79e69017c855 1620 }
lakshya 19:79e69017c855 1621 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1622 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1623 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1624 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1625 {
lakshya 19:79e69017c855 1626 telemetry[i]=0x00;
lakshya 19:79e69017c855 1627 }
lakshya 19:79e69017c855 1628 break;
lakshya 19:79e69017c855 1629 }
lakshya 19:79e69017c855 1630 case 0x12:
lakshya 19:79e69017c855 1631 {
lakshya 49:61c9f28332ba 1632 gpc.printf("\n\rSW_ON_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1633 //ACK_L234_TM
lakshya 19:79e69017c855 1634 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1635 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1636 ATS1_SW_ENABLE = 0; //make sure u switch off the other
lakshya 39:670133e7ffd8 1637 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F) | 0xC0 ;
lakshya 19:79e69017c855 1638 ATS2_SW_ENABLE = 0;
lakshya 39:670133e7ffd8 1639 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0)|0x04;
lakshya 19:79e69017c855 1640 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1641 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1642 {
lakshya 19:79e69017c855 1643 telemetry[i]=0x00;
lakshya 19:79e69017c855 1644 }
lakshya 19:79e69017c855 1645 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1646 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1647 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1648 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1649 {
lakshya 19:79e69017c855 1650 telemetry[i]=0x00;
lakshya 19:79e69017c855 1651 }
lakshya 19:79e69017c855 1652 break;
lakshya 19:79e69017c855 1653 }
lakshya 19:79e69017c855 1654 case 0x13:
lakshya 19:79e69017c855 1655 {
lakshya 49:61c9f28332ba 1656 gpc.printf("\n\rSW_ON_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1657 //ACK_L234_TM
lakshya 19:79e69017c855 1658 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1659 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1660 DRV_XY_EN = 1;//1 SWITCH enable here
Bragadeesh153 52:daa685b0e390 1661 ACS_TR_XY_ENABLE = 1;
lakshya 19:79e69017c855 1662 ACS_TR_XY_SW_STATUS=0x01;
lakshya 19:79e69017c855 1663 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1664 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1665 {
lakshya 19:79e69017c855 1666 telemetry[i]=0x00;
lakshya 19:79e69017c855 1667 }
lakshya 19:79e69017c855 1668 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1669 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1670 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1671 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1672 {
lakshya 19:79e69017c855 1673 telemetry[i]=0x00;
lakshya 19:79e69017c855 1674 }
lakshya 19:79e69017c855 1675 break;
lakshya 19:79e69017c855 1676 }
lakshya 19:79e69017c855 1677 case 0x14:
lakshya 19:79e69017c855 1678 {
lakshya 49:61c9f28332ba 1679 gpc.printf("\n\rSW_ON_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1680 //ACK_L234_TM
lakshya 19:79e69017c855 1681 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1682 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1683 DRV_Z_EN = 1;
Bragadeesh153 52:daa685b0e390 1684 ACS_TR_Z_ENABLE = 1;
lakshya 19:79e69017c855 1685 ACS_TR_Z_SW_STATUS=0x01;
lakshya 19:79e69017c855 1686 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1687 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1688 {
lakshya 19:79e69017c855 1689 telemetry[i]=0x00;
lakshya 19:79e69017c855 1690 }
lakshya 19:79e69017c855 1691 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1692 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1693 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1694 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1695 {
lakshya 19:79e69017c855 1696 telemetry[i]=0x00;
lakshya 19:79e69017c855 1697 }
lakshya 19:79e69017c855 1698 break;
lakshya 19:79e69017c855 1699 }
lakshya 19:79e69017c855 1700 case 0x15:
lakshya 19:79e69017c855 1701 {
lakshya 49:61c9f28332ba 1702 gpc.printf("\n\rSW_ON_BCN_TX_SW_ENABLE");
lakshya 19:79e69017c855 1703 //ACK_L234_TM
lakshya 19:79e69017c855 1704 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1705 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1706 BCN_SW = 0;//here 0 is switch enable
lakshya 19:79e69017c855 1707 BCN_TX_SW_ENABLE=0x01;
lakshya 19:79e69017c855 1708 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1709 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1710 {
lakshya 19:79e69017c855 1711 telemetry[i]=0x00;
lakshya 19:79e69017c855 1712 }
lakshya 19:79e69017c855 1713 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1714 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1715 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1716 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1717 {
lakshya 19:79e69017c855 1718 telemetry[i]=0x00;
lakshya 19:79e69017c855 1719 }
lakshya 19:79e69017c855 1720 break;
lakshya 19:79e69017c855 1721 }
lakshya 19:79e69017c855 1722 case 0x21:
lakshya 19:79e69017c855 1723 {
lakshya 49:61c9f28332ba 1724 gpc.printf("\n\rSW_OFF_ACS_ATS1_SW_ENABLE");
lakshya 19:79e69017c855 1725 //ACK_L234_TM
lakshya 19:79e69017c855 1726 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1727 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1728 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1729 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F) | 0xC0 ;
lakshya 19:79e69017c855 1730 telemetry[2]=ACK_CODE;
lakshya 49:61c9f28332ba 1731
lakshya 49:61c9f28332ba 1732 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1733 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 49:61c9f28332ba 1734 FLASH_DATA = (FLASH_DATA | 0xC0000000);
lakshya 49:61c9f28332ba 1735 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1736
lakshya 19:79e69017c855 1737 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1738 {
lakshya 19:79e69017c855 1739 telemetry[i]=0x00;
lakshya 19:79e69017c855 1740 }
lakshya 19:79e69017c855 1741 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1742 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1743 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1744 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1745 {
lakshya 19:79e69017c855 1746 telemetry[i]=0x00;
lakshya 19:79e69017c855 1747 }
lakshya 19:79e69017c855 1748 break;
lakshya 19:79e69017c855 1749 }
lakshya 19:79e69017c855 1750 case 0x22:
lakshya 19:79e69017c855 1751 {
lakshya 49:61c9f28332ba 1752 gpc.printf("\n\rSW_OFF_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1753 //ACK_L234_TM
lakshya 19:79e69017c855 1754 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1755 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1756 ATS2_SW_ENABLE = 1;
lakshya 49:61c9f28332ba 1757
lakshya 49:61c9f28332ba 1758 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1759 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 49:61c9f28332ba 1760 FLASH_DATA = (FLASH_DATA | 0x0C000000);
lakshya 49:61c9f28332ba 1761 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1762
lakshya 20:949d13045431 1763 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 19:79e69017c855 1764 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1765 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1766 {
lakshya 19:79e69017c855 1767 telemetry[i]=0x00;
lakshya 19:79e69017c855 1768 }
lakshya 19:79e69017c855 1769 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1770 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1771 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1772 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1773 {
lakshya 19:79e69017c855 1774 telemetry[i]=0x00;
lakshya 19:79e69017c855 1775 }
lakshya 19:79e69017c855 1776 break;
lakshya 19:79e69017c855 1777 }
lakshya 19:79e69017c855 1778 case 0x23:
lakshya 19:79e69017c855 1779 {
lakshya 49:61c9f28332ba 1780 gpc.printf("\n\rSW_OFF_ACS_TR_XY_ENABLE");
lakshya 19:79e69017c855 1781 //ACK_L234_TM
lakshya 19:79e69017c855 1782 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1783 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1784 ACS_TR_XY_ENABLE = 0;
lakshya 19:79e69017c855 1785 ACS_TR_XY_SW_STATUS=0x03;
lakshya 19:79e69017c855 1786 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1787 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1788 {
lakshya 19:79e69017c855 1789 telemetry[i]=0x00;
lakshya 19:79e69017c855 1790 }
lakshya 19:79e69017c855 1791 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1792 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1793 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1794 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1795 {
lakshya 19:79e69017c855 1796 telemetry[i]=0x00;
lakshya 19:79e69017c855 1797 }
lakshya 19:79e69017c855 1798 break;
lakshya 19:79e69017c855 1799 }
lakshya 19:79e69017c855 1800 case 0x24:
lakshya 19:79e69017c855 1801 {
lakshya 49:61c9f28332ba 1802 gpc.printf("\n\rSW_OFF_ACS_TR_Z_ENABLE");
lakshya 19:79e69017c855 1803 //ACK_L234_TM
lakshya 19:79e69017c855 1804 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1805 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1806 ACS_TR_Z_ENABLE = 0;
lakshya 19:79e69017c855 1807 ACS_TR_Z_SW_STATUS=0x03;
lakshya 19:79e69017c855 1808 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1809 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1810 {
lakshya 19:79e69017c855 1811 telemetry[i]=0x00;
lakshya 19:79e69017c855 1812 }
lakshya 19:79e69017c855 1813 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1814 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1815 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1816 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1817 {
lakshya 19:79e69017c855 1818 telemetry[i]=0x00;
lakshya 19:79e69017c855 1819 }
lakshya 19:79e69017c855 1820 break;
lakshya 19:79e69017c855 1821 }
lakshya 19:79e69017c855 1822 case 0x25:
lakshya 19:79e69017c855 1823 {
lakshya 49:61c9f28332ba 1824 gpc.printf("\n\rSW_OFF_BCN_TX_SW_ENABLE");
lakshya 19:79e69017c855 1825 //ACK_L234_TM
lakshya 19:79e69017c855 1826 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1827 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1828 BCN_SW = 1;
lakshya 19:79e69017c855 1829 BCN_TX_SW_ENABLE=0x03;
lakshya 19:79e69017c855 1830 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1831 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1832 {
lakshya 19:79e69017c855 1833 telemetry[i]=0x00;
lakshya 19:79e69017c855 1834 }
lakshya 19:79e69017c855 1835 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1836 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1837 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1838 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1839 {
lakshya 19:79e69017c855 1840 telemetry[i]=0x00;
lakshya 19:79e69017c855 1841 }
lakshya 19:79e69017c855 1842 break;
lakshya 19:79e69017c855 1843 }
lakshya 19:79e69017c855 1844 case 0x31:
lakshya 19:79e69017c855 1845 {
lakshya 49:61c9f28332ba 1846 gpc.printf("\n\rACS_ATS1_SW_RESET");
lakshya 19:79e69017c855 1847 //ACK_L234_TM
lakshya 19:79e69017c855 1848 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1849 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1850 ATS2_SW_ENABLE = 1;//as ats switched off
Bragadeesh153 52:daa685b0e390 1851 ATS1_SW_ENABLE = 0;
lakshya 19:79e69017c855 1852 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1853 ATS1_SW_ENABLE = 1;
lakshya 19:79e69017c855 1854 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1855 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1856 {
lakshya 19:79e69017c855 1857 telemetry[i]=0x00;
lakshya 19:79e69017c855 1858 }
lakshya 19:79e69017c855 1859 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1860 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1861 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1862 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1863 {
lakshya 19:79e69017c855 1864 telemetry[i]=0x00;
lakshya 19:79e69017c855 1865 }
lakshya 19:79e69017c855 1866 break;
lakshya 19:79e69017c855 1867 }
lakshya 19:79e69017c855 1868 case 0x32:
lakshya 19:79e69017c855 1869 {
lakshya 49:61c9f28332ba 1870 gpc.printf("\n\rACS_ATS2_SW_RESET");
lakshya 19:79e69017c855 1871 //ACK_L234_TM
lakshya 19:79e69017c855 1872 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1873 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1874 ATS1_SW_ENABLE = 0;//as ats1 switched off
lakshya 19:79e69017c855 1875 ATS2_SW_ENABLE = 1;
lakshya 19:79e69017c855 1876 wait_ms(5);
lakshya 19:79e69017c855 1877 ATS2_SW_ENABLE = 0;
lakshya 19:79e69017c855 1878 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1879 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1880 {
lakshya 19:79e69017c855 1881 telemetry[i]=0x00;
lakshya 19:79e69017c855 1882 }
lakshya 19:79e69017c855 1883 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1884 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1885 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1886 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1887 {
lakshya 19:79e69017c855 1888 telemetry[i]=0x00;
lakshya 19:79e69017c855 1889 }
lakshya 19:79e69017c855 1890 break;
lakshya 19:79e69017c855 1891 }
lakshya 19:79e69017c855 1892 case 0x33:
lakshya 19:79e69017c855 1893 {
lakshya 49:61c9f28332ba 1894 gpc.printf("\n\rACS_TR_XY_SW_RESET");
lakshya 19:79e69017c855 1895 //ACK_L234_TM
lakshya 19:79e69017c855 1896 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1897 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1898 ACS_TR_XY_ENABLE= 0;
lakshya 19:79e69017c855 1899 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1900 ACS_TR_XY_ENABLE= 1;
lakshya 19:79e69017c855 1901 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1902 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1903 {
lakshya 19:79e69017c855 1904 telemetry[i]=0x00;
lakshya 19:79e69017c855 1905 }
lakshya 19:79e69017c855 1906 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1907 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1908 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1909 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1910 {
lakshya 19:79e69017c855 1911 telemetry[i]=0x00;
lakshya 19:79e69017c855 1912 }
lakshya 19:79e69017c855 1913 break;
lakshya 19:79e69017c855 1914 }
lakshya 19:79e69017c855 1915 case 0x34:
lakshya 19:79e69017c855 1916 {
lakshya 49:61c9f28332ba 1917 gpc.printf("\n\rACS_TR_Z_SW_RESET");
lakshya 19:79e69017c855 1918 //ACK_L234_TM
lakshya 19:79e69017c855 1919 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1920 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1921 ACS_TR_Z_ENABLE= 0;
lakshya 19:79e69017c855 1922 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1923 ACS_TR_Z_ENABLE= 1;
lakshya 19:79e69017c855 1924 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1925 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1926 {
lakshya 19:79e69017c855 1927 telemetry[i]=0x00;
lakshya 19:79e69017c855 1928 }
lakshya 19:79e69017c855 1929 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1930 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1931 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1932 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1933 {
lakshya 19:79e69017c855 1934 telemetry[i]=0x00;
lakshya 19:79e69017c855 1935 }
lakshya 19:79e69017c855 1936 break;
lakshya 19:79e69017c855 1937 }
lakshya 19:79e69017c855 1938 case 0x35:
lakshya 19:79e69017c855 1939 {
lakshya 49:61c9f28332ba 1940 gpc.printf("\n\rBCN_TX_SW_RESET");
lakshya 19:79e69017c855 1941 //ACK_L234_TM
lakshya 19:79e69017c855 1942 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1943 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1944 BCN_SW = 1;
lakshya 19:79e69017c855 1945 wait_ms(5);
lakshya 19:79e69017c855 1946 BCN_SW = 0;
lakshya 19:79e69017c855 1947 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1948 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1949 {
lakshya 19:79e69017c855 1950 telemetry[i]=0x00;
lakshya 19:79e69017c855 1951 }
lakshya 19:79e69017c855 1952 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1953 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1954 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1955 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1956 {
lakshya 19:79e69017c855 1957 telemetry[i]=0x00;
lakshya 19:79e69017c855 1958 }
lakshya 19:79e69017c855 1959 break;
lakshya 19:79e69017c855 1960 }
lakshya 19:79e69017c855 1961 case 0x36:
lakshya 19:79e69017c855 1962 {
lakshya 49:61c9f28332ba 1963 gpc.printf("\n\rBAE_INTERNAL_RESET TO be done ");
lakshya 20:949d13045431 1964 NVIC_SystemReset();
lakshya 19:79e69017c855 1965 break;
lakshya 19:79e69017c855 1966 }
lakshya 19:79e69017c855 1967 case 0x37:
lakshya 19:79e69017c855 1968 {
lakshya 49:61c9f28332ba 1969 gpc.printf("\n\rCDMS_RESET");
lakshya 19:79e69017c855 1970 //ACK_L234_TM
lakshya 19:79e69017c855 1971 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1972 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1973 CDMS_RESET = 0;
lakshya 19:79e69017c855 1974 wait_ms(5);
lakshya 19:79e69017c855 1975 CDMS_RESET = 1;
lakshya 19:79e69017c855 1976 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1977 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1978 {
lakshya 19:79e69017c855 1979 telemetry[i]=0x00;
lakshya 19:79e69017c855 1980 }
lakshya 19:79e69017c855 1981 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1982 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1983 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1984 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1985 {
lakshya 19:79e69017c855 1986 telemetry[i]=0x00;
lakshya 19:79e69017c855 1987 }
lakshya 19:79e69017c855 1988 break;
lakshya 19:79e69017c855 1989 }
lakshya 49:61c9f28332ba 1990 case 0x38://not in IF present in SBC
lakshya 19:79e69017c855 1991 {
lakshya 49:61c9f28332ba 1992 gpc.printf("\n\rCDMS_SW_RESET pin yet to be decided");
lakshya 19:79e69017c855 1993 //ACK_L234_TM
lakshya 19:79e69017c855 1994 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1995 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1996 /*
lakshya 19:79e69017c855 1997 PIN to be DECIDED***************************************************************8
lakshya 19:79e69017c855 1998 */
lakshya 19:79e69017c855 1999 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2000 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2001 {
lakshya 19:79e69017c855 2002 telemetry[i]=0x00;
lakshya 19:79e69017c855 2003 }
lakshya 19:79e69017c855 2004 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2005 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2006 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2007 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2008 {
lakshya 19:79e69017c855 2009 telemetry[i]=0x00;
lakshya 19:79e69017c855 2010 }
lakshya 19:79e69017c855 2011 break;
lakshya 19:79e69017c855 2012 }
lakshya 49:61c9f28332ba 2013 case 0x40://condition changed by AK47 now 00 means off in TC
lakshya 19:79e69017c855 2014 {
lakshya 19:79e69017c855 2015 uint8_t STANDBY_DATA_TC;
lakshya 19:79e69017c855 2016 BAE_STANDBY=0x00;
lakshya 19:79e69017c855 2017 STANDBY_DATA_TC=tc[4];
lakshya 49:61c9f28332ba 2018 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2019 {
lakshya 19:79e69017c855 2020 BAE_STANDBY |=0x04;
lakshya 19:79e69017c855 2021 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2022 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2023 }
lakshya 19:79e69017c855 2024 STANDBY_DATA_TC=tc[5];
lakshya 49:61c9f28332ba 2025 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2026 {
lakshya 19:79e69017c855 2027 BAE_STANDBY |=0x02;
lakshya 19:79e69017c855 2028 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2029 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2030 }
lakshya 19:79e69017c855 2031 STANDBY_DATA_TC=tc[6];
lakshya 49:61c9f28332ba 2032 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2033 {
lakshya 19:79e69017c855 2034 BAE_STANDBY |=0x01;
lakshya 19:79e69017c855 2035 BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2036 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2037 }
lakshya 19:79e69017c855 2038 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2039 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2040 telemetry[2]=0xC0;//ack_code for this case
lakshya 19:79e69017c855 2041 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2042 {
lakshya 19:79e69017c855 2043 telemetry[i]=0x00;
lakshya 19:79e69017c855 2044 }
lakshya 19:79e69017c855 2045 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2046 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2047 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2048 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2049 {
lakshya 19:79e69017c855 2050 telemetry[i]=0x00;
lakshya 19:79e69017c855 2051 }
lakshya 19:79e69017c855 2052 break;
lakshya 19:79e69017c855 2053 }
lakshya 19:79e69017c855 2054 case 0x41:
lakshya 19:79e69017c855 2055 {
lakshya 49:61c9f28332ba 2056 gpc.printf("\n\rexecutng BAE reset HK counter");
lakshya 20:949d13045431 2057 firstCount=true;
lakshya 20:949d13045431 2058 void minMaxHkData();
lakshya 49:61c9f28332ba 2059
lakshya 19:79e69017c855 2060 //ACK_L234_TM
lakshya 19:79e69017c855 2061 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2062 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2063 telemetry[2]=0x02;
lakshya 19:79e69017c855 2064 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2065 {
lakshya 19:79e69017c855 2066 telemetry[i]=0x00;
lakshya 19:79e69017c855 2067 }
lakshya 19:79e69017c855 2068 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2069 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2070 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2071 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2072 {
lakshya 19:79e69017c855 2073 telemetry[i]=0x00;
lakshya 19:79e69017c855 2074 }
lakshya 19:79e69017c855 2075 break;
lakshya 19:79e69017c855 2076 }
lakshya 19:79e69017c855 2077 default:
lakshya 19:79e69017c855 2078 {
lakshya 49:61c9f28332ba 2079 gpc.printf("\n\rInvalid TC for FMS no matching FID");
lakshya 19:79e69017c855 2080 //ACK_L234_TM
lakshya 19:79e69017c855 2081 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2082 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2083 telemetry[2]=0x02;
lakshya 19:79e69017c855 2084 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2085 {
lakshya 19:79e69017c855 2086 telemetry[i]=0x00;
lakshya 19:79e69017c855 2087 }
lakshya 19:79e69017c855 2088 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2089 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2090 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2091 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2092 {
lakshya 19:79e69017c855 2093 telemetry[i]=0x00;
lakshya 19:79e69017c855 2094 }
lakshya 19:79e69017c855 2095 break;
lakshya 19:79e69017c855 2096 }
lakshya 19:79e69017c855 2097 }
lakshya 19:79e69017c855 2098 break;
lakshya 19:79e69017c855 2099 }
lakshya 19:79e69017c855 2100 default:
lakshya 19:79e69017c855 2101 {
lakshya 49:61c9f28332ba 2102 gpc.printf("\n\rInvalid TC, FMS service subtype mismacth");
lakshya 19:79e69017c855 2103 //ACK_L234_TM
lakshya 19:79e69017c855 2104 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2105 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2106 telemetry[2]=0x02;
lakshya 19:79e69017c855 2107 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2108 {
lakshya 19:79e69017c855 2109 telemetry[i]=0x00;
lakshya 19:79e69017c855 2110 }
lakshya 19:79e69017c855 2111 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2112 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2113 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2114 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2115 {
lakshya 19:79e69017c855 2116 telemetry[i]=0x00;
lakshya 19:79e69017c855 2117 }
lakshya 19:79e69017c855 2118 break;
lakshya 19:79e69017c855 2119 }
lakshya 19:79e69017c855 2120 }
lakshya 19:79e69017c855 2121 break;
lakshya 19:79e69017c855 2122 }
lakshya 19:79e69017c855 2123 default:
lakshya 19:79e69017c855 2124 {
lakshya 49:61c9f28332ba 2125 gpc.printf("\n\rInvalid TC neither FMS nor MMS");
lakshya 19:79e69017c855 2126 //ACK_L234_TM
lakshya 19:79e69017c855 2127 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2128 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2129 telemetry[2]=0x02;
lakshya 19:79e69017c855 2130 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2131 {
lakshya 19:79e69017c855 2132 telemetry[i]=0x00;
lakshya 19:79e69017c855 2133 }
lakshya 19:79e69017c855 2134 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2135 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2136 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2137 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2138 {
lakshya 19:79e69017c855 2139 telemetry[i]=0x00;
lakshya 19:79e69017c855 2140 }
lakshya 19:79e69017c855 2141 break;
lakshya 19:79e69017c855 2142 }
lakshya 19:79e69017c855 2143 }
lakshya 19:79e69017c855 2144 }
Bragadeesh153 13:fb7facaf308b 2145 }
Bragadeesh153 13:fb7facaf308b 2146 }
sakthipriya 4:39a4ae8c7ecd 2147
sakthipriya 4:39a4ae8c7ecd 2148
Bragadeesh153 13:fb7facaf308b 2149 int strt_add = flash_size() - (2*SECTOR_SIZE);
sakthipriya 4:39a4ae8c7ecd 2150 uint32_t flasharray[8]; //256+(3*1024)
lakshya 19:79e69017c855 2151 /*corrected*/
lakshya 19:79e69017c855 2152 int *nativeflash = (int*)strt_add;
sakthipriya 4:39a4ae8c7ecd 2153
sakthipriya 4:39a4ae8c7ecd 2154 /*Writing to the Flash*/
lakshya 19:79e69017c855 2155 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 2156 {
Bragadeesh153 13:fb7facaf308b 2157 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2158 {
sakthipriya 4:39a4ae8c7ecd 2159 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2160 }
sakthipriya 4:39a4ae8c7ecd 2161 flasharray[j]=fdata;
sakthipriya 4:39a4ae8c7ecd 2162 erase_sector(strt_add);
lakshya 20:949d13045431 2163 program_flash(strt_add, (char*)flasharray,32);
sakthipriya 4:39a4ae8c7ecd 2164 }
lakshya 19:79e69017c855 2165
sakthipriya 4:39a4ae8c7ecd 2166 /*End*/
sakthipriya 4:39a4ae8c7ecd 2167
sakthipriya 4:39a4ae8c7ecd 2168 /*Reading from Flash*/
lakshya 19:79e69017c855 2169 /*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 2170 uint32_t FCTN_BAE_RD_FLASH_ENTITY(uint16_t entity)
sakthipriya 4:39a4ae8c7ecd 2171 {
sakthipriya 4:39a4ae8c7ecd 2172 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2173 {
sakthipriya 4:39a4ae8c7ecd 2174 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2175 }
lakshya 19:79e69017c855 2176 return flasharray[entity];
sakthipriya 4:39a4ae8c7ecd 2177 }
lakshya 19:79e69017c855 2178
lakshya 19:79e69017c855 2179 uint32_t* FCTN_BAE_RD_FLASH()
lakshya 19:79e69017c855 2180 {
lakshya 19:79e69017c855 2181 for(int i=0;i<8;i++)
lakshya 19:79e69017c855 2182 {
lakshya 19:79e69017c855 2183 flasharray[i]=nativeflash[i];
lakshya 19:79e69017c855 2184 }
lakshya 19:79e69017c855 2185 return flasharray;
lakshya 19:79e69017c855 2186 }
lakshya 19:79e69017c855 2187
sakthipriya 5:bb592f3185cc 2188 /*End*/
sakthipriya 5:bb592f3185cc 2189
sakthipriya 5:bb592f3185cc 2190 // Convert float to 4 uint8_t
sakthipriya 5:bb592f3185cc 2191
lakshya 15:e09aaaccf134 2192
sakthipriya 6:036d08b62785 2193 void FCTN_CONVERT_FLOAT(float input, uint8_t output[4])
sakthipriya 5:bb592f3185cc 2194 {
sakthipriya 6:036d08b62785 2195 assert(sizeof(float) == sizeof(uint32_t));
sakthipriya 6:036d08b62785 2196 uint32_t* temp = reinterpret_cast<uint32_t*>(&input);
sakthipriya 6:036d08b62785 2197
sakthipriya 6:036d08b62785 2198 //float* output1 = reinterpret_cast<float*>(temp);
Bragadeesh153 13:fb7facaf308b 2199
lakshya 49:61c9f28332ba 2200 //gpc.printf("\n\r %f ", input);
lakshya 15:e09aaaccf134 2201 //std::cout << "\n\r uint32"<<*temp << std::endl;
sakthipriya 6:036d08b62785 2202
sakthipriya 6:036d08b62785 2203 output[0] =(uint8_t )(((*temp)>>24)&0xFF);
lakshya 15:e09aaaccf134 2204 output[1] =(uint8_t ) (((*temp)>>16)&0xFF);
lakshya 15:e09aaaccf134 2205 output[2] =(uint8_t ) (((*temp)>>8)&0xFF);
lakshya 15:e09aaaccf134 2206 output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic
lakshya 15:e09aaaccf134 2207
lakshya 49:61c9f28332ba 2208 // gpc.printf("\n\rthe values generated are\n");
lakshya 49:61c9f28332ba 2209 /*gpc.printf("\n\r%x\n",output[0]);
lakshya 49:61c9f28332ba 2210 gpc.printf("\n\r%x\n",output[1]);
lakshya 49:61c9f28332ba 2211 gpc.printf("\n\r%x\n",output[2]);
lakshya 49:61c9f28332ba 2212 gpc.printf("\n\r%x\n",output[3]);
lakshya 15:e09aaaccf134 2213 to check the values generated
lakshya 15:e09aaaccf134 2214 */
lakshya 49:61c9f28332ba 2215 //gpc.printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]);
Bragadeesh153 13:fb7facaf308b 2216 //std:: cout << "\n\r uint8 inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl;
Bragadeesh153 13:fb7facaf308b 2217 }