Team Fox / Mbed 2 deprecated RAJANGAM_REVIEW_BAE_CODE

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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of QM_BAE_review_1 by Team Fox

TCTM.cpp@58:c4203e162d12, 2016-09-04 (annotated)

Committer:
lakshya
Date:
Sun Sep 04 18:05:31 2016 +0000
Revision:
58:c4203e162d12
Parent:
57:60e8f00d93c3
Child:
59:0fc0bfafaa9f
Child:
62:3a4a37d3d4a7
counters done, short bcn populated, acs values received,tmp values corrected, bcn tmp received; 4thsep

Who changed what in which revision?

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