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PWM and ALGO updated.. PWM getting generated
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of TFR_BAE_vr1_1working_finally_PWM_CTRLALGO_update by
TCTM.cpp
- Committer:
- sakthipriya
- Date:
- 2015-12-31
- Revision:
- 5:bb592f3185cc
- Parent:
- 4:39a4ae8c7ecd
- Child:
- 6:036d08b62785
File content as of revision 5:bb592f3185cc:
#include "mbed.h" #include "TCTM.h" #include "crc.h" #include "EPS.h" #include "pin_config.h" #include "FreescaleIAP.h" extern DigitalOut gpo1; // enable of att sens2 switch extern DigitalOut gpo2; // enable of att sens switch extern DigitalOut TRXY_SW; //TR XY Switch extern DigitalOut TRZ_SW; //TR Z Switch extern DigitalOut CDMS_RESET; // CDMS RESET extern DigitalOut BCN_SW; //Beacon switch extern BAE_HK_actual actual_data; extern BAE_HK_min_max bae_HK_minmax; extern uint32_t BAE_STATUS; extern float data[6]; extern float moment[3]; extern void FCTN_ATS_DATA_ACQ(); extern void FCTN_ACS_CNTRLALGO(float*,float*); uint8_t* FCTN_BAE_TM_TC (uint8_t* tc) { uint8_t service_type=(tc[2]&0xF0); uint8_t* tm; uint16_t crc16; switch(service_type) { case 0x60: { printf("Memory Management Service\r\n"); uint8_t service_subtype=(tc[2]&0x0F); switch(service_subtype) { case 0x01: { printf("Read from Flash\r\n"); } case 0x02: { printf("Read from RAM\r\n"); switch(tc[3]) { case 0x01: { printf("Read MUX DATA\r\n"); tm[0] = 0x60; tm[1] = tc[0]; tm[2] = ACK_CODE; for(int i=0; i<16; i++) //16*4 = 64 bytes //tm[4] to tm[67] filled FCTN_CONVERT_FLOAT(actual_data.voltage_actual[i], &tm[4+(i*4)]); for(int i=0; i<12; i++) //12*4 = 48 //tm[68] to tm[115] filled FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&tm[68 + (i*4)]); for (int i=116; i<132;i++) { tm[i] = 0x00; } crc16 = CRC::crc16_gen(tm,132); tm[132] = (uint8_t)((crc16&0xFF00)>>8); tm[133] = (uint8_t)(crc16&0x00FF); return tm; } case 0x02: { printf("Read HK\r\n"); tm[0] = 0x60; tm[1] = tc[0]; tm[2] = ACK_CODE; FCTN_CONVERT_FLOAT(actual_data.Batt_temp_actual[0],&tm[4]); //tm[4]-tm[7] FCTN_CONVERT_FLOAT(actual_data.Batt_temp_actual[1],&tm[8]); //tm[8]- tm[11] for(int i=0; i<4; i++) FCTN_CONVERT_FLOAT(actual_data.Batt_gauge_actual[i],&tm[12+(i*4)]); //tm[12] - tm[27] FCTN_CONVERT_FLOAT(actual_data.BAE_temp_actual,&tm[28]); //tm[28] - tm[31] tm[32] = (uint8_t)actual_data.power_mode; tm[33] = actual_data.faultPoll_status; tm[34] = actual_data.faultIr_status; for(int i=0; i<3; i++) FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[i],&tm[35+(i*4)]); //35 -46 for(int i=0; i<3; i++) FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[i],&tm[47+(i*4)]); //47 -58 FCTN_CONVERT_FLOAT(actual_data.Batt_voltage_actual,&tm[59]); //59 - 62 for (int i=63; i<132;i++) { tm[i] = 0x00; } crc16 = CRC::crc16_gen(tm,132); tm[132] = (uint8_t)((crc16&0xFF00)>>8); tm[133] = (uint8_t)(crc16&0x00FF); return tm; } case 0x03: { printf("Read min max data"); tm[0] = 0x60; tm[1] = tc[0]; tm[2] = ACK_CODE; for(int i=4; i<20; i++) tm[i] = (uint8_t)bae_HK_minmax.voltage_max[i-4]; for(int i=20; i<32; i++) tm[i] = (uint8_t)bae_HK_minmax.current_max[i-20]; tm[32] = (uint8_t)bae_HK_minmax.Batt_temp_max[0]; tm[33] = (uint8_t)bae_HK_minmax.Batt_temp_max[1]; tm[34] = (uint8_t)bae_HK_minmax.Batt_gauge_max[0]; tm[35] = (uint8_t)bae_HK_minmax.Batt_gauge_max[1]; tm[36] = (uint8_t)bae_HK_minmax.Batt_gauge_max[2]; tm[37] = (uint8_t)bae_HK_minmax.BAE_temp_max; FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[0],&tm[38]); //tm[38] - tm[41] FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[1],&tm[42]); //tm[42] - tm[45] FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[2],&tm[46]); //tm[46] - tm[49] FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[0],&tm[50]); //tm[50] - tm[53] FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[1],&tm[54]); //tm[54] - tm[57] FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[2],&tm[58]); //tm[58] - tm[61] tm[62] = (uint8_t)bae_HK_minmax.Bvalue_max[0]; tm[63] = (uint8_t)bae_HK_minmax.Bvalue_max[1]; tm[64] = (uint8_t)bae_HK_minmax.Bvalue_max[2]; tm[65] = (uint8_t)bae_HK_minmax.Batt_voltage_max; for(int i=66; i<82; i++) tm[i] = (uint8_t)bae_HK_minmax.voltage_min[i-66]; for(int i=82; i<94; i++) tm[i] = (uint8_t)bae_HK_minmax.current_min[i-82]; tm[94] = (uint8_t)bae_HK_minmax.Batt_temp_min[0]; tm[95] = (uint8_t)bae_HK_minmax.Batt_temp_min[1]; tm[96] = (uint8_t)bae_HK_minmax.Batt_gauge_min[0]; tm[97] = (uint8_t)bae_HK_minmax.Batt_gauge_min[1]; tm[98] = (uint8_t)bae_HK_minmax.Batt_gauge_min[2]; tm[99] = (uint8_t)bae_HK_minmax.BAE_temp_min; FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[0],&tm[100]); //tm[100] - tm[103] FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[1],&tm[104]); //tm[104] - tm[107] FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[2],&tm[108]); //tm[108] - tm[111] FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[0],&tm[112]); //tm[112] - tm[115] FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[1],&tm[116]); //tm[116] - tm[119] FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[2],&tm[120]); //tm[120] - tm[123] tm[124] = (uint8_t)bae_HK_minmax.Batt_voltage_min; for (int i=125; i<132;i++) { tm[i] = 0x00; } crc16 = CRC::crc16_gen(tm,132); tm[132] = (uint8_t)((crc16&0xFF00)>>8); tm[133] = (uint8_t)(crc16&0x00FF); return tm; } case 0x04: { printf("Read status"); tm[0] = 0x60; tm[1] = tc[0]; tm[2] = ACK_CODE; tm[4] = (BAE_STATUS>>24) & 0xFF; tm[5] = (BAE_STATUS>>16) & 0xFF; tm[6] = (BAE_STATUS>>8) & 0xFF; tm[7] = BAE_STATUS & 0xFF; for (int i=8; i<132;i++) { tm[i] = 0x00; } crc16 = CRC::crc16_gen(tm,132); tm[132] = (uint8_t)((crc16&0xFF00)>>8); tm[133] = (uint8_t)(crc16&0x00FF); return tm; } } } case 0x05: { printf("Write on Flash\r\n"); } default: { printf("Invalid TC"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=ACK_CODE; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } } } case 0x80: { printf("Function Management Service\r\n"); uint8_t service_subtype=(tc[2]&0x0F); switch(service_subtype) { case 0x01: { printf("FMS Activated\r\n"); uint8_t pid=tc[3]; switch(pid) { case 0xE0: { printf("ACS_COMSN\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=ACK_CODE; FCTN_ATS_DATA_ACQ(); //get data printf("gyro values\n\r"); for(int i=0; i<3; i++) printf("%f\n\r",data[i]); printf("mag values\n\r"); for(int i=3; i<6; i++) printf("%f\n\r",data[i]); FCTN_CONVERT_FLOAT(data[0],&tm[4]); //tm[4] - tm[7] FCTN_CONVERT_FLOAT(data[1],&tm[8]); //tm[8] - tm[11] FCTN_CONVERT_FLOAT(data[2],&tm[12]); //tm[12] - tm[15] FCTN_CONVERT_FLOAT(data[0],&tm[16]); //tm[16] - tm[19] FCTN_CONVERT_FLOAT(data[1],&tm[20]); //tm[20] - tm[23] FCTN_CONVERT_FLOAT(data[2],&tm[24]); //tm[24] - tm[27] if((data[0]<8) && (data[1]<8) && (data[2] <8)) tm[28] = 1; // gyro values in correct range else tm[28] = 0; if ((data[3] > 20 ) && (data[4] >20) && (data[5]>20)&& (data[3] < 50 ) && (data[4] <50) && (data[5]<50)) tm[29] = 1; // mag values in correct range else tm[29] = 0; float B[3],W[3]; B[0] = B0; B[1] = B1; B[2] = B2; W[0] = W0; W[1] = W1; W[2] = W2; // Control algo commissioning FCTN_ACS_CNTRLALGO(B,W); FCTN_CONVERT_FLOAT(moment[0],&tm[30]); //tm[30] - tm[33] FCTN_CONVERT_FLOAT(moment[1],&tm[34]); //tm[34] - tm[37] FCTN_CONVERT_FLOAT(moment[2],&tm[38]); //tm[38] - tm[41] // to include commission TR as well for(uint8_t i=42;i<132;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,132); tm[133] = (uint8_t)((crc16&0xFF00)>>8); tm[134] = (uint8_t)(crc16&0x00FF); return tm; } /* case 0x02: { printf("Run P_EPS_MAIN\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=ACK_CODE; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x03: { printf("Run P_ACS_INIT\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=ACK_CODE; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x04: { printf("Run P_ACS_ACQ_DATA\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=ACK_CODE; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x05: { printf("Run P_ACS_MAIN\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=ACK_CODE; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x06: { printf("Run P_BCN_INIT\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=ACK_CODE; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x07: { printf("Run P_BCN_TX_MAIN\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=ACK_CODE; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; }*/ case 0x11: { printf("SW_ON_ACS_ATS1_SW_ENABLE\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=1; gpo1 = 0; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x12: { printf("SW_ON_ACS_ATS2_SW_ENABLE\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; gpo2 = 0; tm[2]=1; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x13: { printf("SW_ON_ACS_TR_XY_ENABLE\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; TRXY_SW = 1; tm[2]=1; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x14: { printf("SW_ON_ACS_TR_Z_ENABLE\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=1; TRZ_SW = 1; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x15: { printf("SW_ON_BCN_TX_SW_ENABLE\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=1; BCN_SW = 0; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x21: { printf("SW_OFF_ACS_ATS1_SW_ENABLE\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=1; gpo1 = 1; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x22: { printf("SW_OFF_ACS_ATS2_SW_ENABLE\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=1; gpo2 = 1; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x23: { printf("SW_OFF_ACS_TR_XY_ENABLE\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=1; TRXY_SW = 0; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x24: { printf("SW_OFF_ACS_TR_Z_ENABLE\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=1; TRZ_SW = 0; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x25: { printf("SW_OFF_BCN_TX_SW_ENABLE\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=1; BCN_SW = 1; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x31: { printf("ACS_ATS1_SW_RESET\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=1; gpo1 = 1; wait_us(1); gpo1 = 0; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x32: { printf("BCN_SW_RESET\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=1; BCN_SW = 1; wait_us(1); BCN_SW = 0; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x33: { printf("ACS_ATS2_SW_RESET\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=1; gpo1 = 1; wait_us(1); gpo1 = 0; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } case 0x34: { printf("CDMS_SW_RESET\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=1; CDMS_RESET = 0; wait_us(1); CDMS_RESET = 1; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } default: { printf("Invalid TC\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=ACK_CODE; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } } default: { printf("Invalid TC\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=ACK_CODE; for(uint8_t i=3;i<11;i++) { tm[i]=0x00; } crc16 = CRC::crc16_gen(tm,11); tm[11] = (uint8_t)((crc16&0xFF00)>>8); tm[12] = (uint8_t)(crc16&0x00FF); for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } return tm; } } } } } } int strt_add = flash_size() - (2*SECTOR_SIZE); uint32_t flasharray[8]; //256+(3*1024) char *nativeflash = (char*)strt_add; /*Writing to the Flash*/ void FCTN_CDMS_WR_FLASH(uint16_t j,uint32_t fdata) //j-position to write address ; fdata - flash data to be written { for(int i=0;i<8;i++) { flasharray[i]=nativeflash[i]; } flasharray[j]=fdata; erase_sector(strt_add); program_flash(strt_add, (char*)&flasharray,4*8); } /*End*/ /*Reading from Flash*/ uint32_t FCTN_CDMS_RD_FLASH(uint16_t j) { for(int i=0;i<8;i++) { flasharray[i]=nativeflash[i]; } return flasharray[j]; } /*End*/ // Convert float to 4 uint8_t void FCTN_CONVERT_FLOAT(float input, uint8_t* output) { uint32_t temp; temp = (uint32_t)input; output[0] = (temp>>24)&0xFF; output[2] = (temp>>16)&0xFF; output[1] = (temp>>8)&0xFF; output[3] = temp & 0xFF; // verify the logic }