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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of RAJANGAM_REVIEW_BAE_CODE by Team Fox

TCTM.cpp@81:bc0837c54fbf, 2016-12-10 (annotated)

Committer:
azaddevarm
Date:
Sat Dec 10 14:42:56 2016 +0000
Revision:
81:bc0837c54fbf
Parent:
80:da657c390c27
Child:
83:78b6a62cdf6a
SHORT_HK_data_AQ called to populate short bcn data;; BCN_SPND_Tx algo changed to switch BCN on by GPIO if BCN_TX_SW_STATUS = 3

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"
lakshya 73:d2bca4d2cc64 8 #include "BCN.h"
sakthipriya 5:bb592f3185cc 9 #include "pin_config.h"
sakthipriya 5:bb592f3185cc 10 #include "FreescaleIAP.h"
sakthipriya 6:036d08b62785 11 #include "inttypes.h"
sakthipriya 6:036d08b62785 12 #include "iostream"
sakthipriya 6:036d08b62785 13 #include "stdint.h"
sakthipriya 6:036d08b62785 14 #include "cassert"
lakshya 10:f93407b97750 15 #include"math.h"
lakshya 10:f93407b97750 16
lakshya 49:61c9f28332ba 17 //Serial pc(USBTX,USBRX);
lakshya 49:61c9f28332ba 18
lakshya 49:61c9f28332ba 19 Serial gpc(USBTX, USBRX);
lakshya 49:61c9f28332ba 20
lakshya 49:61c9f28332ba 21
lakshya 19:79e69017c855 22 //**********************************STATUS_PARAMETERS*****************************************************
lakshya 19:79e69017c855 23 uint8_t BCN_TX_SW_ENABLE=0x00;
lakshya 19:79e69017c855 24
lakshya 19:79e69017c855 25 //***********************************FOR STANDBY TIMER****************************************************
lakshya 19:79e69017c855 26 extern void BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 27
lakshya 49:61c9f28332ba 28 uint8_t telemetry[134];
lakshya 19:79e69017c855 29
lakshya 20:949d13045431 30 //*****************PARA******************************
lakshya 20:949d13045431 31
lakshya 20:949d13045431 32 //ACS
lakshya 20:949d13045431 33 extern float db[3];
lakshya 20:949d13045431 34 extern float data[6];
lakshya 20:949d13045431 35 extern float b_old[3]; // Unit: Tesla
lakshya 20:949d13045431 36 extern float moment[3];
lakshya 20:949d13045431 37 extern uint8_t ACS_STATE;
lakshya 20:949d13045431 38 extern uint8_t ACS_STATUS;
lakshya 20:949d13045431 39 extern uint8_t flag_firsttime;
lakshya 20:949d13045431 40 extern uint8_t ACS_DETUMBLING_ALGO_TYPE;
lakshya 20:949d13045431 41 extern uint8_t ACS_INIT_STATUS;
lakshya 20:949d13045431 42 extern uint8_t ACS_DATA_ACQ_STATUS;
lakshya 20:949d13045431 43 extern uint8_t ACS_MAIN_STATUS;
lakshya 20:949d13045431 44 extern uint8_t ACS_MAG_TIME_DELAY;
lakshya 20:949d13045431 45 extern uint8_t ACS_DEMAG_TIME_DELAY;
lakshya 20:949d13045431 46 extern uint8_t ACS_Z_FIXED_MOMENT;
lakshya 20:949d13045431 47 extern uint8_t ACS_TR_X_PWM;
lakshya 20:949d13045431 48 extern uint8_t ACS_TR_Y_PWM;
lakshya 20:949d13045431 49 extern uint8_t ACS_TR_Z_PWM;
lakshya 39:670133e7ffd8 50 extern uint8_t B_SCZ_ANGLE;
lakshya 20:949d13045431 51 extern uint8_t alarmmode;
lakshya 20:949d13045431 52 extern uint8_t controlmode_mms;
lakshya 20:949d13045431 53 extern uint8_t invjm_mms[9];
lakshya 20:949d13045431 54 extern uint8_t jm_mms[9];
lakshya 20:949d13045431 55 extern uint8_t bb_mms[3];
lakshya 20:949d13045431 56 extern uint8_t singularity_flag_mms;
lakshya 20:949d13045431 57 extern uint8_t ACS_TR_Z_SW_STATUS;
lakshya 20:949d13045431 58 extern uint8_t ACS_TR_XY_SW_STATUS;
lakshya 20:949d13045431 59
lakshya 20:949d13045431 60 extern uint8_t ATS1_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 61 extern uint8_t ATS1_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 62 extern uint8_t ATS1_ERROR_RGTR;
lakshya 20:949d13045431 63 extern uint8_t ATS2_EVENT_STATUS_RGTR;
lakshya 20:949d13045431 64 extern uint8_t ATS2_SENTRAL_STATUS_RGTR;
lakshya 20:949d13045431 65 extern uint8_t ATS2_ERROR_RGTR;
lakshya 20:949d13045431 66 //change
lakshya 20:949d13045431 67 extern uint16_t ACS_MM_X_COMSN;
lakshya 20:949d13045431 68 extern uint16_t ACS_MM_Y_COMSN;
lakshya 20:949d13045431 69 extern uint16_t ACS_MG_X_COMSN;
lakshya 20:949d13045431 70 extern uint16_t ACS_MG_Y_COMSN;
lakshya 20:949d13045431 71 extern uint16_t ACS_MM_Z_COMSN;
lakshya 20:949d13045431 72 extern uint16_t ACS_MG_Z_COMSN;
lakshya 20:949d13045431 73 //acs func
lakshya 20:949d13045431 74 extern void F_ACS();
lakshya 20:949d13045431 75 extern int SENSOR_INIT();
lakshya 20:949d13045431 76 extern int FCTN_ACS_INIT();
lakshya 20:949d13045431 77 extern int SENSOR_DATA_ACQ();
lakshya 20:949d13045431 78 extern int FCTN_ATS_DATA_ACQ();
lakshya 20:949d13045431 79 extern void FCTN_ACS_GENPWM_MAIN(float Moment[3]);
lakshya 20:949d13045431 80 extern void FCTN_ACS_CNTRLALGO(float*,float*,int);
lakshya 20:949d13045431 81
lakshya 20:949d13045431 82
lakshya 20:949d13045431 83 //main
lakshya 49:61c9f28332ba 84 extern Timer BAE_uptime;
lakshya 49:61c9f28332ba 85 extern Timer I2C_last;
lakshya 49:61c9f28332ba 86 extern uint8_t BAE_RESET_COUNTER;
lakshya 49:61c9f28332ba 87 extern void RETURN_UPTIME(float time, uint8_t *day,uint8_t *hour,uint8_t *min);
lakshya 49:61c9f28332ba 88
lakshya 20:949d13045431 89 extern uint8_t ACS_ATS_STATUS;
lakshya 20:949d13045431 90 extern uint16_t ACS_MAIN_COUNTER;//change\apply
lakshya 20:949d13045431 91 extern uint8_t HTR_CYCLE_COUNTER;
lakshya 20:949d13045431 92 extern RtosTimer *HTR_CYCLE;
lakshya 20:949d13045431 93 extern uint8_t HTR_CYCLE_COUNTS; //Count of heater cycles
lakshya 20:949d13045431 94 extern uint8_t HTR_CYCLE_START_DLY; //EPS_HTR_DLY_TIMER timer duration in minutes
lakshya 20:949d13045431 95 extern uint8_t HTR_ON_DURATION; //EPS_HTR_OFF timer duration in minutes
lakshya 20:949d13045431 96 extern uint16_t HTR_CYCLE_PERIOD;
lakshya 20:949d13045431 97
lakshya 49:61c9f28332ba 98 extern DigitalOut ACS_TR_XY_ENABLE;
lakshya 49:61c9f28332ba 99 extern DigitalOut ACS_TR_Z_ENABLE;
lakshya 49:61c9f28332ba 100 extern DigitalIn ACS_TR_XY_OC_FAULT;
lakshya 49:61c9f28332ba 101 extern DigitalIn ACS_TR_Z_OC_FAULT;
lakshya 49:61c9f28332ba 102 extern DigitalIn ACS_TR_XY_FAULT;
lakshya 49:61c9f28332ba 103 extern DigitalIn ACS_TR_Z_FAULT;
lakshya 49:61c9f28332ba 104 extern DigitalIn ACS_ATS1_OC_FAULT;
lakshya 49:61c9f28332ba 105 extern DigitalIn ACS_ATS2_OC_FAULT;
sakthipriya 0:7b4c00e3912f 106
lakshya 49:61c9f28332ba 107 extern DigitalOut ATS1_SW_ENABLE; // enable of att sens2 switch
lakshya 49:61c9f28332ba 108 extern DigitalOut ATS2_SW_ENABLE; // enable of att sens switch
sakthipriya 5:bb592f3185cc 109
lakshya 49:61c9f28332ba 110 extern DigitalOut DRV_Z_EN;
lakshya 49:61c9f28332ba 111 extern DigitalOut DRV_XY_EN;
Bragadeesh153 52:daa685b0e390 112 //extern DigitalOut TRXY_SW; //TR XY Switch if any TR_SW error arises then it is same as TR_SW_EN
Bragadeesh153 52:daa685b0e390 113 //extern DigitalOut TRZ_SW; //TR Z Switch
lakshya 20:949d13045431 114
lakshya 49:61c9f28332ba 115 extern DigitalOut phase_TR_x;
lakshya 49:61c9f28332ba 116 extern DigitalOut phase_TR_y;
lakshya 49:61c9f28332ba 117 extern DigitalOut phase_TR_z;
lakshya 20:949d13045431 118
lakshya 20:949d13045431 119
lakshya 20:949d13045431 120 //CDMS
lakshya 49:61c9f28332ba 121 extern DigitalOut CDMS_RESET; // CDMS RESET
lakshya 20:949d13045431 122 extern uint8_t CDMS_SW_STATUS;
lakshya 49:61c9f28332ba 123 extern DigitalIn CDMS_OC_FAULT;
lakshya 20:949d13045431 124
lakshya 20:949d13045431 125
lakshya 20:949d13045431 126 //BCN
lakshya 49:61c9f28332ba 127 extern DigitalOut BCN_SW; //Beacon switch
lakshya 10:f93407b97750 128 extern uint8_t BCN_TX_STATUS;
lakshya 10:f93407b97750 129 extern uint8_t BCN_FEN;
lakshya 20:949d13045431 130 extern uint8_t BCN_SPND_TX;
lakshya 20:949d13045431 131 extern uint8_t BCN_TX_MAIN_STATUS;
lakshya 20:949d13045431 132 extern uint8_t BCN_TX_SW_STATUS;
lakshya 20:949d13045431 133 extern uint8_t BCN_LONG_MSG_TYPE;
lakshya 20:949d13045431 134 extern uint8_t BCN_INIT_STATUS;
lakshya 20:949d13045431 135 extern uint8_t BCN_FAIL_COUNT;
lakshya 20:949d13045431 136 extern uint16_t BCN_TX_MAIN_COUNTER;
lakshya 49:61c9f28332ba 137 extern DigitalIn BCN_TX_OC_FAULT;
lakshya 20:949d13045431 138 extern uint8_t BCN_TMP;
lakshya 20:949d13045431 139 extern void F_BCN();
lakshya 20:949d13045431 140 extern void FCTN_BCN_TX_MAIN();
lakshya 33:76f2b8735501 141 extern uint8_t SHORT_HK_data[15];
lakshya 33:76f2b8735501 142 extern void FCTN_BCN_SPND_TX();
lakshya 67:c0dd13285d80 143 extern void FCTN_BCN_INIT();
lakshya 20:949d13045431 144
lakshya 73:d2bca4d2cc64 145 extern uint8_t readreg(uint8_t reg);
lakshya 73:d2bca4d2cc64 146 extern void writereg(uint8_t reg,uint8_t val);
lakshya 73:d2bca4d2cc64 147
lakshya 20:949d13045431 148
lakshya 20:949d13045431 149 //BAE
lakshya 20:949d13045431 150 extern uint8_t BAE_STANDBY;
lakshya 20:949d13045431 151 extern uint8_t BAE_INIT_STATUS;
lakshya 20:949d13045431 152 extern uint8_t BAE_RESET_COUNTER;
lakshya 27:61c856be467e 153 extern uint8_t BAE_MNG_I2C_STATUS;
lakshya 20:949d13045431 154 /*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 155
lakshya 20:949d13045431 156 extern uint32_t BAE_STATUS;//extern uint32_t BAE_STATUS;
lakshya 20:949d13045431 157 extern BAE_HK_quant quant_data;
sakthipriya 4:39a4ae8c7ecd 158 extern BAE_HK_actual actual_data;
sakthipriya 4:39a4ae8c7ecd 159 extern BAE_HK_min_max bae_HK_minmax;
Bragadeesh153 13:fb7facaf308b 160 //extern DigitalOut TRXY_SW;
lakshya 11:1fdb94ae6563 161 //extern DigitalOut TRZ_SW_EN; //same as TRZ_SW
lakshya 11:1fdb94ae6563 162 extern uint32_t BAE_ENABLE;
lakshya 20:949d13045431 163 extern uint16_t BAE_I2C_COUNTER;
lakshya 33:76f2b8735501 164 extern uint8_t LONG_HK_data[2][134];
lakshya 20:949d13045431 165 //extern uint8_t BCN_FAIL_COUNT;
lakshya 20:949d13045431 166
lakshya 11:1fdb94ae6563 167
lakshya 20:949d13045431 168 //EPS
lakshya 20:949d13045431 169 extern bool firstCount;
lakshya 20:949d13045431 170 extern uint8_t EPS_BTRY_HTR_AUTO;
lakshya 20:949d13045431 171 extern uint8_t EPS_BATT_TEMP_LOW;
lakshya 20:949d13045431 172 extern uint8_t EPS_BATT_TEMP_HIGH;
lakshya 20:949d13045431 173 extern uint8_t EPS_BATT_TEMP_DEFAULT;
lakshya 33:76f2b8735501 174 extern DigitalOut BTRY_HTR_ENABLE;
lakshya 20:949d13045431 175 extern uint8_t EPS_SOC_LEVEL_12;
lakshya 20:949d13045431 176 extern uint8_t EPS_SOC_LEVEL_23;
lakshya 20:949d13045431 177 extern uint8_t EPS_INIT_STATUS;
lakshya 20:949d13045431 178 extern uint8_t EPS_BATTERY_GAUGE_STATUS ;
lakshya 20:949d13045431 179 extern uint8_t EPS_MAIN_STATUS;
lakshya 33:76f2b8735501 180 extern uint8_t EPS_BTRY_TMP_STATUS ;
lakshya 20:949d13045431 181 extern uint8_t EPS_STATUS ;
lakshya 20:949d13045431 182 extern uint8_t EPS_BAT_TEMP_LOW;
lakshya 20:949d13045431 183 extern uint8_t EPS_BAT_TEMP_HIGH;
lakshya 20:949d13045431 184 extern uint8_t EPS_BAT_TEMP_DEFAULT;
lakshya 20:949d13045431 185 extern uint16_t EPS_MAIN_COUNTER;
lakshya 33:76f2b8735501 186 extern uint8_t EPS_BTRY_HTR;
lakshya 11:1fdb94ae6563 187
lakshya 20:949d13045431 188 extern DigitalOut SelectLineb3; // MSB of Select Lines
lakshya 20:949d13045431 189 extern DigitalOut SelectLineb2;
lakshya 20:949d13045431 190 extern DigitalOut SelectLineb1;
lakshya 20:949d13045431 191 extern DigitalOut SelectLineb0;
lakshya 49:61c9f28332ba 192 extern DigitalIn EPS_CHARGER_FAULT;
lakshya 49:61c9f28332ba 193 extern DigitalIn EPS_CHARGER_STATUS;
lakshya 49:61c9f28332ba 194 extern DigitalIn EPS_BATTERY_GAUGE_ALERT;
lakshya 20:949d13045431 195
lakshya 20:949d13045431 196 extern void F_EPS();
lakshya 20:949d13045431 197 extern AnalogIn CurrentInput;
lakshya 20:949d13045431 198
lakshya 20:949d13045431 199 //--------------------check this refer prashant
lakshya 11:1fdb94ae6563 200
Bragadeesh153 13:fb7facaf308b 201 extern PwmOut PWM1; //x //Functions used to generate PWM signal
lakshya 11:1fdb94ae6563 202 extern PwmOut PWM2; //y
lakshya 11:1fdb94ae6563 203 extern PwmOut PWM3; //z //PWM output comes from pins p6
lakshya 11:1fdb94ae6563 204
lakshya 20:949d13045431 205 //included after home
lakshya 11:1fdb94ae6563 206 //extern void FCTN_ACS_GENPWM_MAIN();
lakshya 20:949d13045431 207
lakshya 20:949d13045431 208 uint16_t crc_hk_data()//gencrc16_for_me()
lakshya 20:949d13045431 209 {
lakshya 33:76f2b8735501 210 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 211 return crc;
lakshya 33:76f2b8735501 212 }
lakshya 33:76f2b8735501 213
lakshya 33:76f2b8735501 214 uint8_t crc8_short()
lakshya 33:76f2b8735501 215 {
lakshya 33:76f2b8735501 216 uint8_t crc = CRC::crc8_gen(SHORT_HK_data,14);
lakshya 20:949d13045431 217 return crc;
lakshya 20:949d13045431 218 }
lakshya 20:949d13045431 219
lakshya 20:949d13045431 220 float uint16_to_float(float min,float max,uint16_t scale)
lakshya 20:949d13045431 221 {
lakshya 20:949d13045431 222 float div=max-min;
lakshya 20:949d13045431 223 div=(div/(65535.0));
lakshya 20:949d13045431 224 return ((div*(float)scale)+ min);
lakshya 20:949d13045431 225 }
lakshya 11:1fdb94ae6563 226
lakshya 20:949d13045431 227 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 228 {
lakshya 20:949d13045431 229 if(val>max)
lakshya 20:949d13045431 230 {return 0xffff;
lakshya 20:949d13045431 231 }
lakshya 20:949d13045431 232 if(val<min)
lakshya 20:949d13045431 233 {return 0x0000;
lakshya 20:949d13045431 234 }
lakshya 20:949d13045431 235 float div=max-min;
lakshya 20:949d13045431 236 div=(65535.0/div);
lakshya 20:949d13045431 237 val=((val-min)*div);
Bragadeesh153 56:32b1fb074138 238 //gpc.printf("\n\r the scale is %x",(uint16_t)val);
lakshya 20:949d13045431 239 return (uint16_t)val;
lakshya 20:949d13045431 240 }
sakthipriya 5:bb592f3185cc 241
lakshya 20:949d13045431 242 void gen_I_TM()
lakshya 20:949d13045431 243 {
lakshya 20:949d13045431 244 telemetry[0] = 0xB0;
lakshya 20:949d13045431 245 for(int i=1;i<11;i++)
lakshya 20:949d13045431 246 telemetry[i] = 0x00;
lakshya 20:949d13045431 247 uint16_t crc = CRC::crc16_gen(telemetry,11);//BAE_chardata i.e char data type usesd earlier
lakshya 20:949d13045431 248 telemetry[11] = (uint8_t)(crc >> 8);
lakshya 20:949d13045431 249 telemetry[12] = (uint8_t)crc ;
lakshya 20:949d13045431 250 for(int i=13;i<135;i++)
lakshya 20:949d13045431 251 telemetry[i] = 0x00;
lakshya 20:949d13045431 252 }
lakshya 20:949d13045431 253 void FCTN__UINT (uint8_t input[2], float* output)
lakshya 11:1fdb94ae6563 254 {
lakshya 11:1fdb94ae6563 255
lakshya 11:1fdb94ae6563 256 *output = (float) input[1];
lakshya 11:1fdb94ae6563 257 *output = *output/100.0; //input[0] integer part
lakshya 11:1fdb94ae6563 258 *output = *output + (float) input[0]; //input[1] decimal part correct to two decimal places
lakshya 11:1fdb94ae6563 259 }
lakshya 11:1fdb94ae6563 260
lakshya 10:f93407b97750 261 float angle(float x,float y,float z)
lakshya 10:f93407b97750 262 {
lakshya 10:f93407b97750 263 float mag_total=sqrt(x*x + y*y + z*z);
lakshya 10:f93407b97750 264 float cos_z = z/mag_total;
lakshya 10:f93407b97750 265 float theta_z = acosf(cos_z);
Bragadeesh153 13:fb7facaf308b 266
lakshya 10:f93407b97750 267 return theta_z;
lakshya 49:61c9f28332ba 268 //gpc.printf("/n cos_zz= %f /t theta_z= %f /n",cos_z,theta_z);
lakshya 10:f93407b97750 269 }
lakshya 10:f93407b97750 270
Bragadeesh153 13:fb7facaf308b 271 //uint8_t tm1[134];
Bragadeesh153 13:fb7facaf308b 272
Bragadeesh153 13:fb7facaf308b 273 void FCTN_BAE_TM_TC (uint8_t* tc)
sakthipriya 3:07e15677a75c 274 {
lakshya 19:79e69017c855 275 //tm1[0] = 1;
lakshya 19:79e69017c855 276 //calculating crc
lakshya 20:949d13045431 277 for(int i=0;i<134;i++)
lakshya 20:949d13045431 278 {
lakshya 20:949d13045431 279 telemetry[i]=tc[i];
lakshya 20:949d13045431 280 }
lakshya 20:949d13045431 281
lakshya 19:79e69017c855 282
lakshya 15:e09aaaccf134 283 /*chaged*/
lakshya 15:e09aaaccf134 284 uint8_t* tm; // without it some identifier error
lakshya 20:949d13045431 285 uint16_t crc16=CRC::crc16_gen(telemetry,9); //implementing crc
lakshya 49:61c9f28332ba 286 gpc.printf("\n\r the crc is %x",crc16);
lakshya 66:a5d2b8dc6b9e 287 // for(int qw=0;qw<11;qw++);
lakshya 66:a5d2b8dc6b9e 288 // gpc.printf("\n\r the telecommand %d \t %x",qw,tc[qw]);
lakshya 66:a5d2b8dc6b9e 289 // pc.printf("\n the tc provided is %s \n" , tc");
lakshya 19:79e69017c855 290 if( ( ((uint8_t)((crc16 & 0xFF00)>>8)==tc[9]) && ((uint8_t)(crc16 & 0x00FF)==tc[10]) )== 0 )
lakshya 19:79e69017c855 291 {
lakshya 19:79e69017c855 292 telemetry[0]=0xB0;
lakshya 19:79e69017c855 293 telemetry[1]=0x00;//tc psc defined for this case
lakshya 19:79e69017c855 294 telemetry[2]=0x01;//ack code for this case
lakshya 19:79e69017c855 295 for(int i=3;i<11;i++)
lakshya 20:949d13045431 296 {
lakshya 19:79e69017c855 297 telemetry[i]=0x00;
lakshya 19:79e69017c855 298 }
lakshya 19:79e69017c855 299 //add crc
lakshya 19:79e69017c855 300 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 301 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 302 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 49:61c9f28332ba 303 gpc.printf("\n\rincorrect crc");
lakshya 19:79e69017c855 304 for(int i=13;i<134;i++)
lakshya 19:79e69017c855 305 {
lakshya 19:79e69017c855 306 telemetry[i]=0x00;
lakshya 19:79e69017c855 307 }
lakshya 19:79e69017c855 308 }
lakshya 19:79e69017c855 309 else
lakshya 19:79e69017c855 310 {
lakshya 19:79e69017c855 311 //check apid
lakshya 19:79e69017c855 312 uint8_t apid_check=((tc[1]&0xC0)>>6);
lakshya 19:79e69017c855 313 if(apid_check!=0x01)
lakshya 19:79e69017c855 314 {
lakshya 19:79e69017c855 315 telemetry[0]=0xB0;
lakshya 19:79e69017c855 316 telemetry[1]=tc[0];//tc psc defined for this case
lakshya 19:79e69017c855 317 telemetry[2]=0x02;//ack code for this case
lakshya 19:79e69017c855 318 for(int i=3;i<11;i++)
Bragadeesh153 13:fb7facaf308b 319 {
lakshya 19:79e69017c855 320 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 321 }
Bragadeesh153 13:fb7facaf308b 322 crc16 = CRC::crc16_gen(telemetry,11);
Bragadeesh153 13:fb7facaf308b 323 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
Bragadeesh153 13:fb7facaf308b 324 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 49:61c9f28332ba 325 gpc.printf("\n\rillegal TC packet APID don't match");
lakshya 19:79e69017c855 326 for(int i=13;i<134;i++)
Bragadeesh153 13:fb7facaf308b 327 {
Bragadeesh153 13:fb7facaf308b 328 telemetry[i]=0x00;
Bragadeesh153 13:fb7facaf308b 329 }
sakthipriya 3:07e15677a75c 330 }
lakshya 19:79e69017c855 331 else
lakshya 19:79e69017c855 332 {// all the possible cases of fms and mms
lakshya 19:79e69017c855 333 uint8_t service_type=(tc[2]&0xF0);
lakshya 19:79e69017c855 334 //check for fms first
lakshya 19:79e69017c855 335 switch(service_type)
lakshya 19:79e69017c855 336 {
lakshya 19:79e69017c855 337 case 0x60:
lakshya 19:79e69017c855 338 {
lakshya 49:61c9f28332ba 339 gpc.printf("Memory Management Service\r\n");
lakshya 19:79e69017c855 340 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 341 switch(service_subtype)
lakshya 19:79e69017c855 342 {
lakshya 19:79e69017c855 343 case 0x02:
lakshya 19:79e69017c855 344 {
lakshya 49:61c9f28332ba 345 gpc.printf("\n\rRead from RAM");
lakshya 19:79e69017c855 346 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 347 switch(MID)
lakshya 19:79e69017c855 348 {
lakshya 19:79e69017c855 349 case 0x0000://changed from 0001
lakshya 19:79e69017c855 350 {
lakshya 49:61c9f28332ba 351 gpc.printf("\n\rRead from MID 0000 \n");
lakshya 49:61c9f28332ba 352 gpc.printf("\n\rReading flash parameters");
lakshya 19:79e69017c855 353
lakshya 19:79e69017c855 354 /*taking some varible till we find some thing more useful*/
lakshya 19:79e69017c855 355 //uint8_t ref_val=0x01;
Bragadeesh153 54:d6a45982ace1 356 telemetry[0] = 0x30;
lakshya 19:79e69017c855 357 telemetry[1] = tc[0];
lakshya 19:79e69017c855 358 telemetry[2] = ACK_CODE;
lakshya 19:79e69017c855 359 /*random or with bcn_tx_sw_enable assuming it is 1 bit in length
lakshya 19:79e69017c855 360 how to get that we dont know, now we just assume it to be so*/
lakshya 57:60e8f00d93c3 361 telemetry[3] = 0x00;
lakshya 57:60e8f00d93c3 362 telemetry[4] = ACS_ATS_STATUS;
lakshya 57:60e8f00d93c3 363 telemetry[5] = ACS_TR_XY_SW_STATUS;
lakshya 57:60e8f00d93c3 364 telemetry[5] = (telemetry[5]<<2)| ACS_TR_Z_SW_STATUS;
lakshya 57:60e8f00d93c3 365 telemetry[5] = (telemetry[5]<<4) | ACS_STATE;
lakshya 57:60e8f00d93c3 366 telemetry[6] = ACS_DETUMBLING_ALGO_TYPE;
lakshya 57:60e8f00d93c3 367 telemetry[6] = (telemetry[6]<<2) | BCN_TX_SW_STATUS;
lakshya 57:60e8f00d93c3 368 telemetry[6] = (telemetry[6]<<1) | BCN_SPND_TX;
lakshya 57:60e8f00d93c3 369 telemetry[6] = (telemetry[6]<<1) | BCN_FEN;
lakshya 57:60e8f00d93c3 370 telemetry[6] = (telemetry[6]<<1) | BCN_LONG_MSG_TYPE;
lakshya 57:60e8f00d93c3 371 telemetry[6] = (telemetry[6]<<1) | EPS_BTRY_HTR_AUTO;//EPS_BATTERY_HEATER_ENABLE
lakshya 57:60e8f00d93c3 372 telemetry[6] = (telemetry[6]<<1);
lakshya 57:60e8f00d93c3 373 //now one spares in telemetry[6]
lakshya 57:60e8f00d93c3 374 telemetry[7] = BAE_RESET_COUNTER;
lakshya 57:60e8f00d93c3 375 telemetry[8] = EPS_SOC_LEVEL_12;
lakshya 57:60e8f00d93c3 376 telemetry[9] = EPS_SOC_LEVEL_23;
lakshya 57:60e8f00d93c3 377 telemetry[10] = ACS_MAG_TIME_DELAY;
lakshya 57:60e8f00d93c3 378 telemetry[11] = ACS_DEMAG_TIME_DELAY;
lakshya 57:60e8f00d93c3 379 telemetry[12] = EPS_BAT_TEMP_LOW;
lakshya 57:60e8f00d93c3 380 telemetry[13] = EPS_BAT_TEMP_HIGH;
lakshya 57:60e8f00d93c3 381 telemetry[14] = EPS_BAT_TEMP_DEFAULT;
Bragadeesh153 56:32b1fb074138 382
lakshya 57:60e8f00d93c3 383 telemetry[15] = ACS_MM_X_COMSN >> 8;
lakshya 57:60e8f00d93c3 384 telemetry[16] = ACS_MM_X_COMSN;
lakshya 57:60e8f00d93c3 385 printf("\n\r the mm x commission %d",ACS_MM_X_COMSN);
lakshya 57:60e8f00d93c3 386
lakshya 57:60e8f00d93c3 387 telemetry[17] = ACS_MM_Y_COMSN >> 8;
lakshya 57:60e8f00d93c3 388 telemetry[18] = ACS_MM_Y_COMSN;
lakshya 20:949d13045431 389
lakshya 57:60e8f00d93c3 390 telemetry[19] = ACS_MG_X_COMSN >> 8;
lakshya 57:60e8f00d93c3 391 telemetry[20] = ACS_MG_X_COMSN;
lakshya 20:949d13045431 392
lakshya 57:60e8f00d93c3 393 telemetry[21] = ACS_MG_Y_COMSN >> 8;
lakshya 57:60e8f00d93c3 394 telemetry[22] = ACS_MG_Y_COMSN;
lakshya 20:949d13045431 395
lakshya 57:60e8f00d93c3 396 telemetry[23] = ACS_MM_Z_COMSN >> 8;
lakshya 57:60e8f00d93c3 397 telemetry[24] = ACS_MM_Z_COMSN;
lakshya 20:949d13045431 398
lakshya 57:60e8f00d93c3 399 telemetry[25] = ACS_MG_Z_COMSN >> 8;
lakshya 57:60e8f00d93c3 400 telemetry[26] = ACS_MG_Z_COMSN;
lakshya 20:949d13045431 401
lakshya 57:60e8f00d93c3 402 telemetry[27] = ACS_Z_FIXED_MOMENT >> 8;
lakshya 57:60e8f00d93c3 403 telemetry[28] = ACS_Z_FIXED_MOMENT;
lakshya 57:60e8f00d93c3 404 printf("\n\r the z_fixed_moment %d",ACS_Z_FIXED_MOMENT);
lakshya 57:60e8f00d93c3 405
lakshya 20:949d13045431 406
lakshya 20:949d13045431 407 //BAE RAM PARAMETER
lakshya 57:60e8f00d93c3 408 telemetry[29] = BAE_INIT_STATUS;
lakshya 57:60e8f00d93c3 409 telemetry[29] = (telemetry[29]<<1) | BAE_MNG_I2C_STATUS;//changed
lakshya 57:60e8f00d93c3 410 telemetry[29] = (telemetry[29]<<1) | BCN_INIT_STATUS;
lakshya 57:60e8f00d93c3 411 telemetry[29] = (telemetry[29]<<1) | BCN_TX_MAIN_STATUS;
lakshya 57:60e8f00d93c3 412 telemetry[29] = (telemetry[29]<<3) | BCN_TX_STATUS;
lakshya 57:60e8f00d93c3 413 telemetry[29] = (telemetry[29]<<1) | ACS_INIT_STATUS;
lakshya 20:949d13045431 414
lakshya 57:60e8f00d93c3 415 telemetry[30] = ACS_DATA_ACQ_STATUS;
lakshya 57:60e8f00d93c3 416 telemetry[30] = (telemetry[30]<<1) | ACS_MAIN_STATUS;
lakshya 57:60e8f00d93c3 417 telemetry[30] = (telemetry[30]<<4) | ACS_STATUS;
lakshya 57:60e8f00d93c3 418 telemetry[30] = (telemetry[30]<<1) | EPS_INIT_STATUS;
lakshya 20:949d13045431 419
lakshya 57:60e8f00d93c3 420 telemetry[31] = EPS_BATTERY_GAUGE_STATUS;
lakshya 57:60e8f00d93c3 421 telemetry[31] = (telemetry[31]<<1) | EPS_MAIN_STATUS;
lakshya 57:60e8f00d93c3 422 telemetry[31] = (telemetry[31]<<1) | EPS_BTRY_TMP_STATUS;
lakshya 57:60e8f00d93c3 423 telemetry[31] = (telemetry[31]<<3) | EPS_STATUS;
lakshya 63:55d32e7dcad7 424 telemetry[31] = (telemetry[31]<<2) | CDMS_SW_STATUS;
lakshya 20:949d13045431 425 // telemetry[30] = (telemetry[30]<<1) | EPS_BTRY_HTR_STATUS;//new to : implement
lakshya 33:76f2b8735501 426
lakshya 57:60e8f00d93c3 427 telemetry[32] = EPS_BTRY_HTR; //new to : implement
lakshya 27:61c856be467e 428 //spare 4
lakshya 57:60e8f00d93c3 429 telemetry[32] = (telemetry[32]<<7) | BAE_STANDBY;
lakshya 20:949d13045431 430 // 6 next telemetries value to be given by registers
lakshya 57:60e8f00d93c3 431 telemetry[33] = ATS1_EVENT_STATUS_RGTR;
lakshya 57:60e8f00d93c3 432 telemetry[34] = ATS1_SENTRAL_STATUS_RGTR;
lakshya 57:60e8f00d93c3 433 telemetry[35] = ATS1_ERROR_RGTR;
lakshya 57:60e8f00d93c3 434 telemetry[36] = ATS2_EVENT_STATUS_RGTR;
lakshya 57:60e8f00d93c3 435 telemetry[37] = ATS2_SENTRAL_STATUS_RGTR;
lakshya 57:60e8f00d93c3 436 telemetry[38] = ATS2_ERROR_RGTR;
lakshya 20:949d13045431 437
lakshya 57:60e8f00d93c3 438 telemetry[39] = BCN_FAIL_COUNT;
lakshya 57:60e8f00d93c3 439 telemetry[40] = actual_data.power_mode;
lakshya 57:60e8f00d93c3 440 telemetry[41] = HTR_CYCLE_COUNTER;//new to : implement
lakshya 20:949d13045431 441
lakshya 58:c4203e162d12 442 // GS changed order has to be updated in the telemetry sheet or jithin should change the order
lakshya 58:c4203e162d12 443 telemetry[43] = BAE_I2C_COUNTER;
lakshya 58:c4203e162d12 444 telemetry[42] = BAE_I2C_COUNTER>>8;
lakshya 58:c4203e162d12 445 telemetry[45] = ACS_MAIN_COUNTER;
lakshya 58:c4203e162d12 446 telemetry[44] = ACS_MAIN_COUNTER>>8;
lakshya 58:c4203e162d12 447 telemetry[47] = BCN_TX_MAIN_COUNTER;
lakshya 58:c4203e162d12 448 telemetry[46] = BCN_TX_MAIN_COUNTER>>8;
lakshya 58:c4203e162d12 449 telemetry[49] = EPS_MAIN_COUNTER;
lakshya 58:c4203e162d12 450 telemetry[48] = EPS_MAIN_COUNTER>>8;
lakshya 49:61c9f28332ba 451
lakshya 49:61c9f28332ba 452 uint8_t days,hours,mins;
lakshya 49:61c9f28332ba 453 RETURN_UPTIME(BAE_uptime.read(),&days,&hours,&mins);
lakshya 57:60e8f00d93c3 454 printf("\n\r the values bae of days,hour,min %d, %d, %d",days,hours,mins);
lakshya 57:60e8f00d93c3 455
lakshya 57:60e8f00d93c3 456 telemetry[50] = days;
lakshya 49:61c9f28332ba 457 RETURN_UPTIME(I2C_last.read(),&days,&hours,&mins);
lakshya 57:60e8f00d93c3 458 telemetry[50] = (telemetry[50]<<3) | (hours>>2);
lakshya 57:60e8f00d93c3 459 telemetry[51] = hours;
lakshya 57:60e8f00d93c3 460 telemetry[51] = (telemetry[51]<<6) | mins;
lakshya 57:60e8f00d93c3 461
lakshya 57:60e8f00d93c3 462 printf("\n\r the values of bae uptime %f",BAE_uptime.read());
lakshya 57:60e8f00d93c3 463 printf("\n\r the values i2c of days,hour,min %d, %d, %d",days,hours,mins);
lakshya 57:60e8f00d93c3 464
lakshya 49:61c9f28332ba 465
lakshya 20:949d13045431 466 //sending in uint can be converted back to int by direct conversion for +values
lakshya 20:949d13045431 467 //make sure to convert baack to int for getting negative values
lakshya 20:949d13045431 468 //algo for that done
lakshya 58:c4203e162d12 469
lakshya 58:c4203e162d12 470 uint16_t scaled;
lakshya 20:949d13045431 471
lakshya 58:c4203e162d12 472 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 58:c4203e162d12 473 telemetry[52] = (scaled>>8);
lakshya 58:c4203e162d12 474 telemetry[53] = scaled;
lakshya 58:c4203e162d12 475 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 58:c4203e162d12 476 telemetry[54] = (scaled>>8);
lakshya 58:c4203e162d12 477 telemetry[55] = scaled;
lakshya 58:c4203e162d12 478 scaled = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 58:c4203e162d12 479 telemetry[56] = (scaled>>8);
lakshya 58:c4203e162d12 480 telemetry[57] = scaled;
lakshya 58:c4203e162d12 481 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 58:c4203e162d12 482 telemetry[58] = (scaled>>8);
lakshya 58:c4203e162d12 483 telemetry[59] = scaled;
lakshya 58:c4203e162d12 484 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 58:c4203e162d12 485 telemetry[60] = (scaled>>8);
lakshya 58:c4203e162d12 486 telemetry[61] = scaled;
lakshya 58:c4203e162d12 487 scaled = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 58:c4203e162d12 488 telemetry[62] = (scaled>>8);
lakshya 58:c4203e162d12 489 telemetry[63] = scaled;
lakshya 58:c4203e162d12 490
lakshya 67:c0dd13285d80 491 telemetry[64] = (~BCN_TX_OC_FAULT);
lakshya 57:60e8f00d93c3 492 telemetry[64] = (telemetry[64]<<1) | ACS_TR_XY_ENABLE;
lakshya 57:60e8f00d93c3 493 telemetry[64] = (telemetry[64]<<1) | ACS_TR_Z_ENABLE;
lakshya 67:c0dd13285d80 494 telemetry[64] = (telemetry[64]<<1) | (~ACS_TR_XY_OC_FAULT);
lakshya 67:c0dd13285d80 495 telemetry[64] = (telemetry[64]<<1) | (~ACS_TR_Z_OC_FAULT);
lakshya 67:c0dd13285d80 496 telemetry[64] = (telemetry[64]<<1) | (~ACS_TR_XY_FAULT);
lakshya 67:c0dd13285d80 497 telemetry[64] = (telemetry[64]<<1) | (~EPS_CHARGER_FAULT);
lakshya 57:60e8f00d93c3 498 telemetry[64] = (telemetry[64]<<1) | EPS_CHARGER_STATUS;
lakshya 20:949d13045431 499
lakshya 57:60e8f00d93c3 500 telemetry[65] = EPS_BATTERY_GAUGE_ALERT;
lakshya 67:c0dd13285d80 501 telemetry[65] = (telemetry[65]<<1) | (~CDMS_OC_FAULT);
lakshya 67:c0dd13285d80 502 telemetry[65] = (telemetry[65]<<1) | (~ACS_ATS1_OC_FAULT);
lakshya 67:c0dd13285d80 503 telemetry[65] = (telemetry[65]<<1) | (~ACS_ATS2_OC_FAULT);
lakshya 67:c0dd13285d80 504 telemetry[65] = (telemetry[65]<<1) | (~ACS_TR_Z_FAULT);
lakshya 57:60e8f00d93c3 505 telemetry[65] = (telemetry[65]<<3);
lakshya 20:949d13045431 506 //3 spare
lakshya 20:949d13045431 507
lakshya 57:60e8f00d93c3 508 telemetry[66] = ACS_TR_X_PWM;
lakshya 57:60e8f00d93c3 509 telemetry[67] = ACS_TR_Y_PWM;
lakshya 57:60e8f00d93c3 510 telemetry[68] = ACS_TR_Z_PWM;
lakshya 20:949d13045431 511 //spare byte
lakshya 20:949d13045431 512 //assigned it to counter HTR_CYCLE_COUNTER
lakshya 20:949d13045431 513
lakshya 20:949d13045431 514 //assign it b_scz_angle
lakshya 57:60e8f00d93c3 515 telemetry[69] = B_SCZ_ANGLE>>4;
lakshya 57:60e8f00d93c3 516 telemetry[69] = (telemetry[69]<<1) | alarmmode;
lakshya 57:60e8f00d93c3 517 telemetry[69] = (telemetry[69]<<1) | controlmode_mms;
lakshya 57:60e8f00d93c3 518 telemetry[69] = (telemetry[69]<<1) | singularity_flag_mms;
lakshya 57:60e8f00d93c3 519 telemetry[69] = (telemetry[69]<<1);
lakshya 49:61c9f28332ba 520 //1 bit spare
lakshya 20:949d13045431 521
lakshya 20:949d13045431 522 for(int i=0;i<9;i++)
lakshya 20:949d13045431 523 {
lakshya 57:60e8f00d93c3 524 telemetry[70+i] = invjm_mms[i];
lakshya 57:60e8f00d93c3 525 telemetry[81+i] = jm_mms[i];
lakshya 20:949d13045431 526 }
lakshya 20:949d13045431 527
lakshya 53:459b71b1861c 528 for(int i=1;i<3;i++)
lakshya 57:60e8f00d93c3 529 telemetry[79+i] = bb_mms[i];
lakshya 20:949d13045431 530
lakshya 20:949d13045431 531 for(int i=0;i<16;i++)
lakshya 20:949d13045431 532 {
lakshya 66:a5d2b8dc6b9e 533 telemetry[90+i] = (uint8_t)(quant_data.voltage_quant[i]);//changed (uint8_t)(quant_data.voltage_quant[i]<<3)+(quant_data.voltage_quant[i]<<1); /*multiplied by 10 */
lakshya 64:241406992336 534 //printf("\n\r %d \t %d",i,telemetry[90+i]);
lakshya 57:60e8f00d93c3 535 telemetry[106+i] = quant_data.current_quant[i];
lakshya 63:55d32e7dcad7 536 /*check the working*/
lakshya 20:949d13045431 537 }
lakshya 20:949d13045431 538
lakshya 66:a5d2b8dc6b9e 539 telemetry[122] = quant_data.Batt_voltage_quant;// changed (quant_data.Batt_voltage_quant<<3)+(quant_data.Batt_voltage_quant<<1);
lakshya 57:60e8f00d93c3 540 telemetry[123] = quant_data.BAE_temp_quant;
lakshya 57:60e8f00d93c3 541 telemetry[124] = (uint8_t)(actual_data.Batt_gauge_actual[1]);
lakshya 57:60e8f00d93c3 542 telemetry[125] = quant_data.Batt_temp_quant[0];
lakshya 57:60e8f00d93c3 543 telemetry[126] = quant_data.Batt_temp_quant[1];
lakshya 58:c4203e162d12 544
lakshya 57:60e8f00d93c3 545 telemetry[127] = BCN_TMP;
lakshya 20:949d13045431 546
lakshya 57:60e8f00d93c3 547 for (int i=128; i<132;i++)
lakshya 19:79e69017c855 548 {
lakshya 19:79e69017c855 549 telemetry[i] = 0x00;
lakshya 19:79e69017c855 550 }
lakshya 19:79e69017c855 551 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 552 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 553 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 554
lakshya 19:79e69017c855 555 break;
lakshya 19:79e69017c855 556 }
lakshya 19:79e69017c855 557 case 0x0001:
lakshya 19:79e69017c855 558 {
lakshya 67:c0dd13285d80 559 gpc.printf("\r\nHK data min max");
lakshya 57:60e8f00d93c3 560 telemetry[0] = 0x30; // changed0x06 shifted by 1 bit 0x03
lakshya 19:79e69017c855 561 telemetry[1] = tc[0];
lakshya 19:79e69017c855 562 telemetry[2] = ACK_CODE;
lakshya 57:60e8f00d93c3 563 telemetry[3] = 0x00;
lakshya 19:79e69017c855 564
lakshya 19:79e69017c855 565 for(int i;i<16;i++)
lakshya 20:949d13045431 566 {
lakshya 66:a5d2b8dc6b9e 567 telemetry[i+4] = (uint8_t)bae_HK_minmax.voltage_max[i];//(bae_HK_minmax.voltage_max[i]<<3)+(bae_HK_minmax.voltage_max[i]<<2);
lakshya 57:60e8f00d93c3 568 telemetry[i+20] = bae_HK_minmax.current_max[i];
lakshya 20:949d13045431 569 }
lakshya 19:79e69017c855 570
lakshya 66:a5d2b8dc6b9e 571 telemetry[36] = (uint8_t)bae_HK_minmax.Batt_voltage_max;//(bae_HK_minmax.Batt_voltage_max<<3)+(bae_HK_minmax.Batt_voltage_max<<2);
lakshya 57:60e8f00d93c3 572 telemetry[37] = bae_HK_minmax.BAE_temp_max;
lakshya 19:79e69017c855 573
lakshya 57:60e8f00d93c3 574 telemetry[38] = bae_HK_minmax.Batt_SOC_max;
lakshya 19:79e69017c855 575
lakshya 57:60e8f00d93c3 576 telemetry[39] = bae_HK_minmax.Batt_temp_max[0];
lakshya 57:60e8f00d93c3 577 telemetry[40] = bae_HK_minmax.Batt_temp_max[1];
lakshya 19:79e69017c855 578
lakshya 20:949d13045431 579 /*BCN temp there*/
lakshya 57:60e8f00d93c3 580 telemetry[41] = bae_HK_minmax.BCN_TEMP_max;
lakshya 19:79e69017c855 581
lakshya 19:79e69017c855 582 for(int i=0; i<3; i++)
lakshya 20:949d13045431 583 {
lakshya 57:60e8f00d93c3 584 telemetry[42+(2*i)] = (bae_HK_minmax.bit_data_acs_mm_max[i]>>8);
lakshya 57:60e8f00d93c3 585 telemetry[43+(2*i)] = bae_HK_minmax.bit_data_acs_mm_max[i];
lakshya 53:459b71b1861c 586
lakshya 57:60e8f00d93c3 587 telemetry[48+(2*i)] = (bae_HK_minmax.bit_data_acs_mg_max[i]>>8);
lakshya 57:60e8f00d93c3 588 telemetry[49+(2*i)] = bae_HK_minmax.bit_data_acs_mg_max[i];
lakshya 20:949d13045431 589 }
lakshya 19:79e69017c855 590
lakshya 19:79e69017c855 591 /*min data*/
lakshya 19:79e69017c855 592
lakshya 19:79e69017c855 593 for(int i;i<16;i++)
lakshya 66:a5d2b8dc6b9e 594 { telemetry[i+54] = (uint8_t)bae_HK_minmax.voltage_min[i];//(bae_HK_minmax.voltage_min[i]<<3)+(bae_HK_minmax.voltage_min[i]<<1);
lakshya 66:a5d2b8dc6b9e 595 //for(int i;i<16;i++)
lakshya 66:a5d2b8dc6b9e 596 telemetry[i+70] = bae_HK_minmax.current_min[i];
lakshya 66:a5d2b8dc6b9e 597 }
lakshya 19:79e69017c855 598
lakshya 66:a5d2b8dc6b9e 599 telemetry[86] = (uint8_t)bae_HK_minmax.Batt_voltage_min;//(bae_HK_minmax.Batt_voltage_min<<3)+(bae_HK_minmax.Batt_voltage_min<<1);
lakshya 57:60e8f00d93c3 600 telemetry[87] = bae_HK_minmax.BAE_temp_min;
lakshya 19:79e69017c855 601
lakshya 19:79e69017c855 602 /*battery soc*/
lakshya 57:60e8f00d93c3 603 telemetry[88] = bae_HK_minmax.Batt_SOC_min;
lakshya 19:79e69017c855 604
lakshya 57:60e8f00d93c3 605 telemetry[89] = bae_HK_minmax.Batt_temp_min[0];
lakshya 57:60e8f00d93c3 606 telemetry[90] = bae_HK_minmax.Batt_temp_min[1];
lakshya 19:79e69017c855 607 //huhu//
lakshya 19:79e69017c855 608
lakshya 20:949d13045431 609 /*BCN temp named as BCN_TS_BUFFER there*/
lakshya 57:60e8f00d93c3 610 telemetry[91] = bae_HK_minmax.BCN_TEMP_min;
lakshya 19:79e69017c855 611
lakshya 19:79e69017c855 612 for(int i=0; i<3; i++)
lakshya 20:949d13045431 613 {
lakshya 57:60e8f00d93c3 614 telemetry[92+(2*i)] = (bae_HK_minmax.bit_data_acs_mm_min[i]>>8);
lakshya 57:60e8f00d93c3 615 telemetry[93+(2*i)] = bae_HK_minmax.bit_data_acs_mm_min[i];
lakshya 53:459b71b1861c 616
lakshya 57:60e8f00d93c3 617 telemetry[98+(2*i)] = (bae_HK_minmax.bit_data_acs_mg_min[i]>>8);
lakshya 57:60e8f00d93c3 618 telemetry[99+(2*i)] = bae_HK_minmax.bit_data_acs_mg_min[i];
lakshya 20:949d13045431 619 }
lakshya 67:c0dd13285d80 620 telemetry[104] = (~(BCN_TX_OC_FAULT));
lakshya 67:c0dd13285d80 621 telemetry[104] = (telemetry[104]<<1) | (~(ACS_TR_XY_OC_FAULT));
lakshya 67:c0dd13285d80 622 telemetry[104] = (telemetry[104]<<1) | (~(ACS_TR_Z_OC_FAULT));
lakshya 67:c0dd13285d80 623 telemetry[104] = (telemetry[104]<<1) | (~(ACS_TR_XY_FAULT));
lakshya 20:949d13045431 624 //EPS CHARGER
lakshya 67:c0dd13285d80 625 telemetry[104] = (telemetry[104]<<1) | (~(EPS_CHARGER_FAULT));//eps_charger;
lakshya 67:c0dd13285d80 626 telemetry[104] = (telemetry[104]<<1) | (~(CDMS_OC_FAULT));
lakshya 67:c0dd13285d80 627 telemetry[104] = (telemetry[104]<<1) | (~(ACS_ATS1_OC_FAULT));
lakshya 67:c0dd13285d80 628 telemetry[104] = (telemetry[104]<<1) | (~(ACS_ATS2_OC_FAULT));
lakshya 20:949d13045431 629
lakshya 57:60e8f00d93c3 630 telemetry[105] = (ACS_TR_Z_FAULT<<7);
lakshya 20:949d13045431 631 //spare 23 bits
lakshya 53:459b71b1861c 632 telemetry[106] = 0x00;
lakshya 57:60e8f00d93c3 633 telemetry[107] = 0x00;
lakshya 20:949d13045431 634
lakshya 57:60e8f00d93c3 635 for (int i=108; i<132;i++)
lakshya 19:79e69017c855 636 {
lakshya 19:79e69017c855 637 telemetry[i] = 0x00;
lakshya 19:79e69017c855 638 }
lakshya 19:79e69017c855 639 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 19:79e69017c855 640 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 641 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 642 break;
lakshya 19:79e69017c855 643 }
lakshya 19:79e69017c855 644 default://invalid MID
lakshya 19:79e69017c855 645 {
lakshya 19:79e69017c855 646 //ACK_L234_telemetry
lakshya 57:60e8f00d93c3 647 telemetry[0]=0xB0; // check if this needs to be changed
lakshya 19:79e69017c855 648 telemetry[1]=tc[0];
lakshya 19:79e69017c855 649 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 650 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 651 {
lakshya 19:79e69017c855 652 telemetry[i]=0x00;
lakshya 19:79e69017c855 653 }
lakshya 19:79e69017c855 654 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 655 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 656 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 657 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 658 {
lakshya 19:79e69017c855 659 telemetry[i]=0x00;
lakshya 19:79e69017c855 660 }
lakshya 19:79e69017c855 661 break;
lakshya 19:79e69017c855 662 }
lakshya 19:79e69017c855 663 }
lakshya 19:79e69017c855 664 break;
lakshya 57:60e8f00d93c3 665 }
lakshya 19:79e69017c855 666 case 0x05:
lakshya 19:79e69017c855 667 {
lakshya 67:c0dd13285d80 668 gpc.printf("\n\rDATA for mms 0x05 flash");
lakshya 19:79e69017c855 669 /*changed*/
lakshya 67:c0dd13285d80 670 gpc.printf("\n\rWrite on flash\n");
lakshya 20:949d13045431 671 uint32_t FLASH_DATA;//256 bits
lakshya 19:79e69017c855 672
lakshya 19:79e69017c855 673 uint8_t VALID_MID;//to determine wether mid is valid or not otherwise to much repetition of code 1 meaning valid
lakshya 19:79e69017c855 674
lakshya 19:79e69017c855 675 uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
lakshya 19:79e69017c855 676 switch(MID )
lakshya 19:79e69017c855 677 {
lakshya 20:949d13045431 678 case 0x1100:
lakshya 19:79e69017c855 679 {
lakshya 20:949d13045431 680 //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 681 //FCTN_BAE_WR_FLASH(0,FLASH_DATA[0]);
lakshya 20:949d13045431 682 BCN_LONG_MSG_TYPE = tc[8];
lakshya 20:949d13045431 683 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 684 FLASH_DATA = (FLASH_DATA & 0xFFFFFBFF) | (10<<(uint32_t)tc[8]);//see if uint8 to uint32 conversion works
lakshya 20:949d13045431 685 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 686 VALID_MID=1;
lakshya 19:79e69017c855 687 break;
lakshya 19:79e69017c855 688 }
lakshya 19:79e69017c855 689 case 0x0101:
lakshya 19:79e69017c855 690 {
lakshya 20:949d13045431 691 //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 692 ACS_DETUMBLING_ALGO_TYPE = (tc[8] & 0x01);
lakshya 49:61c9f28332ba 693 //===============================================
lakshya 49:61c9f28332ba 694 ACS_STATE = 4;
lakshya 49:61c9f28332ba 695 //tc[8] = 1001_
lakshya 49:61c9f28332ba 696 //ACS_STATE = (tc[8]>>1) & 0x0F;
lakshya 20:949d13045431 697 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 698 FLASH_DATA = (FLASH_DATA & 0xFFF07FFF) | (15<<(uint32_t)tc[8]);
lakshya 20:949d13045431 699 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 700 VALID_MID=1;
lakshya 19:79e69017c855 701 break;
lakshya 19:79e69017c855 702 }
lakshya 19:79e69017c855 703
lakshya 19:79e69017c855 704 case 0x0102:
lakshya 19:79e69017c855 705 {
lakshya 20:949d13045431 706 //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 707 //EPS_BATTERY_HEATER_ENABLE = tc[8];
lakshya 20:949d13045431 708 EPS_BTRY_HTR_AUTO = tc[8];
lakshya 20:949d13045431 709 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 27:61c856be467e 710 FLASH_DATA = (FLASH_DATA & 0xFFFFFDFF) | (9<<(uint32_t)tc[8]);
lakshya 20:949d13045431 711 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 19:79e69017c855 712 VALID_MID=1;
lakshya 19:79e69017c855 713 break;
lakshya 19:79e69017c855 714 }
lakshya 19:79e69017c855 715
lakshya 19:79e69017c855 716 case 0x0103:
lakshya 19:79e69017c855 717 {
lakshya 20:949d13045431 718 //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 719 ACS_MAG_TIME_DELAY = tc[7];
lakshya 20:949d13045431 720 ACS_DEMAG_TIME_DELAY = tc[8];
lakshya 20:949d13045431 721 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 722 FLASH_DATA = (FLASH_DATA & 0xFFFF0000) | (8<<(uint32_t)tc[7]) | ((uint32_t)tc[8]);
lakshya 20:949d13045431 723 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 724 VALID_MID=1;
lakshya 19:79e69017c855 725 break;
lakshya 19:79e69017c855 726 }
lakshya 19:79e69017c855 727 case 0x0104:
lakshya 19:79e69017c855 728 {
lakshya 20:949d13045431 729 //FLASH_DATA[4] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 67:c0dd13285d80 730 ACS_Z_FIXED_MOMENT = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 731 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(6);
lakshya 20:949d13045431 732 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)ACS_Z_FIXED_MOMENT<<16);
lakshya 20:949d13045431 733 FCTN_BAE_WR_FLASH(6,FLASH_DATA);
lakshya 19:79e69017c855 734 VALID_MID=1;
lakshya 19:79e69017c855 735 break;
lakshya 19:79e69017c855 736 }
lakshya 67:c0dd13285d80 737 case 0x0105:
lakshya 67:c0dd13285d80 738 {
lakshya 67:c0dd13285d80 739 //FLASH_DATA[4] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
lakshya 67:c0dd13285d80 740 EPS_BAT_TEMP_DEFAULT=(uint8_t)tc[6];
lakshya 67:c0dd13285d80 741 EPS_BAT_TEMP_LOW=(uint8_t)tc[7];
lakshya 67:c0dd13285d80 742 EPS_BAT_TEMP_HIGH=(uint8_t)tc[8];
lakshya 67:c0dd13285d80 743 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(2);
lakshya 67:c0dd13285d80 744 FLASH_DATA = (FLASH_DATA & 0x000000FF) | ((uint32_t)EPS_BAT_TEMP_DEFAULT<<24) | ((uint32_t)EPS_BAT_TEMP_LOW<<16) | ((uint32_t)EPS_BAT_TEMP_LOW<<8);
lakshya 67:c0dd13285d80 745 FCTN_BAE_WR_FLASH(6,FLASH_DATA);
lakshya 67:c0dd13285d80 746 VALID_MID=1;
lakshya 67:c0dd13285d80 747 break;
lakshya 67:c0dd13285d80 748 }
lakshya 20:949d13045431 749 case 0x0106:
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_Z_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 753 ACS_MG_Z_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 754 FLASH_DATA = ((uint32_t)ACS_MM_Z_COMSN<<16) | (uint32_t)ACS_MG_Z_COMSN;
lakshya 20:949d13045431 755 FCTN_BAE_WR_FLASH(5,FLASH_DATA);
lakshya 20:949d13045431 756 VALID_MID=1;
lakshya 20:949d13045431 757 break;
lakshya 20:949d13045431 758 }
lakshya 20:949d13045431 759 case 0x0107:
lakshya 20:949d13045431 760 {
lakshya 20:949d13045431 761 //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 762 EPS_SOC_LEVEL_12 = tc[7];
lakshya 20:949d13045431 763 EPS_SOC_LEVEL_23 = tc[8];
lakshya 20:949d13045431 764 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(1);
lakshya 20:949d13045431 765 FLASH_DATA = (FLASH_DATA & 0x0000FFFF) | ((uint32_t)tc[7]<<24) | ((uint32_t)tc[8]<<16);
lakshya 20:949d13045431 766 FCTN_BAE_WR_FLASH(1,FLASH_DATA);
lakshya 19:79e69017c855 767 VALID_MID=1;
lakshya 19:79e69017c855 768 break;
lakshya 19:79e69017c855 769 }
lakshya 20:949d13045431 770 case 0x0108:
lakshya 19:79e69017c855 771 {
lakshya 20:949d13045431 772 //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 773 ACS_MM_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 774 ACS_MM_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 775 FLASH_DATA = ((uint32_t)ACS_MM_X_COMSN<<16) | (uint32_t)ACS_MM_Y_COMSN;
lakshya 20:949d13045431 776 FCTN_BAE_WR_FLASH(3,FLASH_DATA);
lakshya 19:79e69017c855 777 VALID_MID=1;
lakshya 19:79e69017c855 778 break;
lakshya 19:79e69017c855 779 }
lakshya 20:949d13045431 780 case 0x0109:
lakshya 19:79e69017c855 781 {
lakshya 20:949d13045431 782 //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 783 ACS_MG_X_COMSN = ((uint16_t)tc[5]<<8) | (uint16_t)tc[6];
lakshya 20:949d13045431 784 ACS_MG_Y_COMSN = ((uint16_t)tc[7]<<8) | (uint16_t)tc[8];
lakshya 20:949d13045431 785 FLASH_DATA = ((uint32_t)ACS_MG_X_COMSN<<16) | (uint32_t)ACS_MG_Y_COMSN;
lakshya 20:949d13045431 786 FCTN_BAE_WR_FLASH(4,FLASH_DATA);
lakshya 19:79e69017c855 787 VALID_MID=1;
lakshya 19:79e69017c855 788 break;
lakshya 19:79e69017c855 789 }
lakshya 19:79e69017c855 790
lakshya 19:79e69017c855 791 default:
lakshya 19:79e69017c855 792 {
lakshya 49:61c9f28332ba 793 gpc.printf("Invalid MMS case 0x05 invalid MID\r\n");
lakshya 19:79e69017c855 794 VALID_MID=0;
lakshya 19:79e69017c855 795 //ACK_L234_telemetry
lakshya 19:79e69017c855 796 break;
lakshya 19:79e69017c855 797
lakshya 19:79e69017c855 798 }
lakshya 19:79e69017c855 799 }
lakshya 19:79e69017c855 800
lakshya 19:79e69017c855 801 if(VALID_MID==1)//valid MID
lakshya 19:79e69017c855 802 {
lakshya 19:79e69017c855 803 telemetry[0]=0xB0;//or 0x60? check
lakshya 19:79e69017c855 804 telemetry[1]=tc[0];
lakshya 19:79e69017c855 805 telemetry[2]=0xA0;// when valid
lakshya 19:79e69017c855 806 }
lakshya 19:79e69017c855 807 else if(VALID_MID==0)//invalid MID
lakshya 19:79e69017c855 808 {
lakshya 19:79e69017c855 809 telemetry[0]=0xB0;
lakshya 19:79e69017c855 810 telemetry[1]=tc[0];
lakshya 19:79e69017c855 811 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 812 }
lakshya 19:79e69017c855 813
lakshya 19:79e69017c855 814 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 815 {
lakshya 19:79e69017c855 816 telemetry[i]=0x00;
lakshya 19:79e69017c855 817 }
lakshya 19:79e69017c855 818 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 819 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 820 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 821 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 822 {
lakshya 19:79e69017c855 823 telemetry[i]=0x00;
lakshya 19:79e69017c855 824 }
lakshya 19:79e69017c855 825
lakshya 49:61c9f28332ba 826 gpc.printf("\n\rWritten on Flash");
lakshya 19:79e69017c855 827 break;
lakshya 19:79e69017c855 828 }
lakshya 19:79e69017c855 829 default://when invalid service subtype
lakshya 19:79e69017c855 830 {
lakshya 49:61c9f28332ba 831 gpc.printf("\n\r MMS invalid Service Subtype");
lakshya 19:79e69017c855 832 //ACK_L234_telemetry
lakshya 19:79e69017c855 833 telemetry[0]=0xB0;
lakshya 19:79e69017c855 834 telemetry[1]=tc[0];
lakshya 19:79e69017c855 835 telemetry[2]=0x02;//for this case
lakshya 19:79e69017c855 836 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 837 {
lakshya 19:79e69017c855 838 telemetry[i]=0x00;
lakshya 19:79e69017c855 839 }
lakshya 19:79e69017c855 840 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 841 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 842 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 843 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 844 {
lakshya 19:79e69017c855 845 telemetry[i]=0x00;
lakshya 19:79e69017c855 846 }
lakshya 19:79e69017c855 847 break;
lakshya 19:79e69017c855 848 }
lakshya 19:79e69017c855 849 }
lakshya 19:79e69017c855 850 break;
lakshya 19:79e69017c855 851 }
lakshya 19:79e69017c855 852 case 0x80:
lakshya 19:79e69017c855 853 {
lakshya 66:a5d2b8dc6b9e 854 gpc.printf("Function Management Service\r\n");//changed
lakshya 19:79e69017c855 855 uint8_t service_subtype=(tc[2]&0x0F);
lakshya 19:79e69017c855 856 switch(service_subtype)
lakshya 19:79e69017c855 857 {
lakshya 19:79e69017c855 858 case 0x01:
lakshya 19:79e69017c855 859 {
lakshya 67:c0dd13285d80 860 gpc.printf("\n\rFMS Activated");
lakshya 19:79e69017c855 861 uint8_t fid=tc[3];//changed from pid to fid
lakshya 19:79e69017c855 862 switch(fid)
lakshya 19:79e69017c855 863 {
lakshya 19:79e69017c855 864 case 0xE0:
lakshya 19:79e69017c855 865 {
lakshya 58:c4203e162d12 866 //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 867 //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 868 float mag_data_comm[3] = {ACS_MM_X_COMSN,ACS_MM_Y_COMSN,ACS_MM_Z_COMSN};
lakshya 58:c4203e162d12 869 float gyro_data_comm[3] = {ACS_MG_X_COMSN,ACS_MG_Y_COMSN,ACS_MG_Z_COMSN};
lakshya 20:949d13045431 870 float moment_comm[3];
lakshya 49:61c9f28332ba 871 gpc.printf("ACS_COMSN SOFTWARE\r\n");
lakshya 19:79e69017c855 872 //ACK_L234_telemetry
lakshya 20:949d13045431 873 ACS_STATE = tc[4];
lakshya 49:61c9f28332ba 874 if(ACS_STATE == 2) // Nominal mode
lakshya 20:949d13045431 875 {
lakshya 49:61c9f28332ba 876 gpc.printf("\n\r Nominal mode \n");
lakshya 20:949d13045431 877 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x01,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 878 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 879 for(int i=0; i<3; i++)
lakshya 20:949d13045431 880 {
lakshya 49:61c9f28332ba 881 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 882 }
lakshya 20:949d13045431 883
lakshya 20:949d13045431 884 }
lakshya 49:61c9f28332ba 885 else if(ACS_STATE == 3) // Auto Control
lakshya 20:949d13045431 886 {
lakshya 49:61c9f28332ba 887 gpc.printf("\n\r Auto control mode \n");
lakshya 20:949d13045431 888 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 889 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 890 for(int i=0; i<3; i++)
lakshya 20:949d13045431 891 {
lakshya 49:61c9f28332ba 892 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 893 }
lakshya 20:949d13045431 894 }
lakshya 49:61c9f28332ba 895 else if(ACS_STATE == 4) // Detumbling
lakshya 20:949d13045431 896 {
lakshya 20:949d13045431 897 FCTN_ACS_CNTRLALGO(moment_comm,mag_data_comm,gyro_data_comm,0x00,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya 49:61c9f28332ba 898 gpc.printf("\n\r Moment values returned by control algo \n");
lakshya 20:949d13045431 899 for(int i=0; i<3; i++)
lakshya 20:949d13045431 900 {
lakshya 49:61c9f28332ba 901 gpc.printf("%f\t",moment_comm[i]);
lakshya 20:949d13045431 902 }
lakshya 20:949d13045431 903 }
lakshya 19:79e69017c855 904 else
lakshya 19:79e69017c855 905 {
lakshya 20:949d13045431 906 ACS_STATUS = 7;
lakshya 19:79e69017c855 907 }
lakshya 20:949d13045431 908
lakshya 20:949d13045431 909 // Control algo commissioning
lakshya 39:670133e7ffd8 910 uint16_t moment_ret;
lakshya 49:61c9f28332ba 911 telemetry[0] = 0x78;
lakshya 49:61c9f28332ba 912 telemetry[1] = tc[0];
lakshya 49:61c9f28332ba 913 telemetry[2] = ACK_CODE;
lakshya 39:670133e7ffd8 914 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 915 telemetry[4] = ACS_STATUS;
lakshya 39:670133e7ffd8 916 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 917 telemetry[5] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 918 telemetry[6] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 919 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[0]);
lakshya 39:670133e7ffd8 920 telemetry[7] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 921 telemetry[8] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 922 moment_ret = float_to_uint16(-2.2,2.2,moment_comm[2]);
lakshya 39:670133e7ffd8 923 telemetry[9] = (uint8_t)(moment_ret>>8);
lakshya 39:670133e7ffd8 924 telemetry[10] = (uint8_t)moment_ret;
lakshya 39:670133e7ffd8 925
lakshya 39:670133e7ffd8 926 //FCTN_CONVERT_FLOAT(moment_comm[0],&telemetry[4]); //telemetry[4] - telemetry[7]
lakshya 39:670133e7ffd8 927 //FCTN_CONVERT_FLOAT(moment_comm[1],&telemetry[8]); //telemetry[8] - telemetry[11]
lakshya 39:670133e7ffd8 928 //FCTN_CONVERT_FLOAT(moment_comm[2],&telemetry[12]); //telemetry[12] - telemetry[15]
lakshya 19:79e69017c855 929 // to include commission TR as well
lakshya 39:670133e7ffd8 930 for(uint8_t i=11;i<132;i++)
lakshya 19:79e69017c855 931 {
lakshya 19:79e69017c855 932 telemetry[i]=0x00;
lakshya 19:79e69017c855 933 }
lakshya 19:79e69017c855 934 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 935 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 936 telemetry[133] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 937 break;
lakshya 19:79e69017c855 938 }
lakshya 19:79e69017c855 939 case 0xE1:
lakshya 19:79e69017c855 940 {
lakshya 49:61c9f28332ba 941 gpc.printf("HARDWARE_COMSN\r\n");
lakshya 19:79e69017c855 942 //ACK_L234_telemetry
lakshya 39:670133e7ffd8 943 uint8_t SENSOR_NO;
lakshya 20:949d13045431 944
lakshya 20:949d13045431 945 int init1=0;
lakshya 20:949d13045431 946 int init2=0;
lakshya 20:949d13045431 947 int data1=0;
lakshya 20:949d13045431 948 int data2=0;
lakshya 39:670133e7ffd8 949
lakshya 39:670133e7ffd8 950 uint16_t assign_val;
lakshya 19:79e69017c855 951
lakshya 20:949d13045431 952 float PWM_tc[3];
Bragadeesh153 54:d6a45982ace1 953 PWM_tc[0]=(float(tc[4]))/256;
Bragadeesh153 54:d6a45982ace1 954 PWM_tc[1]=(float(tc[5]))/256;
Bragadeesh153 54:d6a45982ace1 955 PWM_tc[2]=(float(tc[6]))/256;
lakshya 20:949d13045431 956
lakshya 20:949d13045431 957 DRV_Z_EN = 1;
lakshya 20:949d13045431 958 DRV_XY_EN = 1;
lakshya 49:61c9f28332ba 959 telemetry[0]=0x78;
lakshya 19:79e69017c855 960 telemetry[1]=tc[0];
lakshya 19:79e69017c855 961 telemetry[2]=ACK_CODE;
lakshya 39:670133e7ffd8 962 telemetry[3] = 0x00;
lakshya 39:670133e7ffd8 963
lakshya 39:670133e7ffd8 964 SENSOR_NO = 0;
lakshya 19:79e69017c855 965
lakshya 20:949d13045431 966 PWM1 = 0;
lakshya 20:949d13045431 967 PWM2 = 0;
lakshya 20:949d13045431 968 PWM3 = 0;
lakshya 20:949d13045431 969
lakshya 20:949d13045431 970 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 971 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 972 wait_ms(5);
Bragadeesh153 52:daa685b0e390 973 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 974 wait_ms(5);
lakshya 20:949d13045431 975 //will it lead to causing delay in i2c interrupt
lakshya 20:949d13045431 976 init1 = SENSOR_INIT();
lakshya 20:949d13045431 977 if( init1 == 1)
lakshya 20:949d13045431 978 {
lakshya 20:949d13045431 979 data1 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 980 }
Bragadeesh153 52:daa685b0e390 981 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 982 wait_ms(5);
lakshya 20:949d13045431 983 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 984 wait_ms(5);
lakshya 20:949d13045431 985
lakshya 20:949d13045431 986 if(data1 == 0)
lakshya 20:949d13045431 987 {
lakshya 20:949d13045431 988 ATS2_SW_ENABLE = 0;
lakshya 20:949d13045431 989 wait_ms(5);
lakshya 20:949d13045431 990 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
lakshya 20:949d13045431 991 }
lakshya 20:949d13045431 992 else if(data1==1)
lakshya 20:949d13045431 993 {
lakshya 20:949d13045431 994 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x10;
lakshya 20:949d13045431 995 }
lakshya 20:949d13045431 996 else if(data1==2)
lakshya 20:949d13045431 997 {
lakshya 20:949d13045431 998 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x20;
lakshya 20:949d13045431 999 }
lakshya 20:949d13045431 1000 else if(data1==3)
lakshya 20:949d13045431 1001 {
lakshya 20:949d13045431 1002 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x30;
lakshya 20:949d13045431 1003 }
lakshya 39:670133e7ffd8 1004
lakshya 39:670133e7ffd8 1005 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1006 telemetry[5] = (assign_val>>8);
lakshya 39:670133e7ffd8 1007 telemetry[6] = assign_val;
lakshya 39:670133e7ffd8 1008
lakshya 39:670133e7ffd8 1009 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1010 telemetry[7] = (assign_val>>8);
lakshya 39:670133e7ffd8 1011 telemetry[8] = assign_val;
lakshya 39:670133e7ffd8 1012
lakshya 39:670133e7ffd8 1013 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1014 telemetry[9] = (assign_val>>8);
lakshya 39:670133e7ffd8 1015 telemetry[10] = assign_val;
lakshya 39:670133e7ffd8 1016
lakshya 39:670133e7ffd8 1017 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 1018 telemetry[11] = (assign_val>>8);
lakshya 39:670133e7ffd8 1019 telemetry[12] = assign_val;
lakshya 39:670133e7ffd8 1020
lakshya 39:670133e7ffd8 1021 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 1022 telemetry[13] = (assign_val>>8);
lakshya 39:670133e7ffd8 1023 telemetry[14] = assign_val;
lakshya 39:670133e7ffd8 1024
lakshya 39:670133e7ffd8 1025 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 1026 telemetry[15] = (assign_val>>8);
lakshya 39:670133e7ffd8 1027 telemetry[16] = assign_val;
lakshya 39:670133e7ffd8 1028
lakshya 20:949d13045431 1029 init2 = SENSOR_INIT();
lakshya 20:949d13045431 1030 if( init2 == 1)
lakshya 20:949d13045431 1031 {
lakshya 20:949d13045431 1032 data2 = SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1033 }
lakshya 39:670133e7ffd8 1034 //uint8_t ats_data=1;
lakshya 19:79e69017c855 1035
lakshya 20:949d13045431 1036 if(data2 == 0)
lakshya 20:949d13045431 1037 {
lakshya 20:949d13045431 1038 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1039 wait_ms(5);
lakshya 20:949d13045431 1040 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x0C;
lakshya 39:670133e7ffd8 1041 SENSOR_NO = 0;
lakshya 20:949d13045431 1042 if(data1 == 2)
lakshya 20:949d13045431 1043 {
Bragadeesh153 52:daa685b0e390 1044 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1045 wait_ms(5);
lakshya 20:949d13045431 1046 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1047 SENSOR_NO = 1;
lakshya 20:949d13045431 1048 }
lakshya 20:949d13045431 1049 else if(data1 == 3)
lakshya 20:949d13045431 1050 {
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)|0x07;
lakshya 39:670133e7ffd8 1054 SENSOR_NO = 1;
lakshya 20:949d13045431 1055 }
lakshya 20:949d13045431 1056 else if(data1 == 1)
lakshya 20:949d13045431 1057 {
Bragadeesh153 52:daa685b0e390 1058 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1059 wait_ms(5);
lakshya 20:949d13045431 1060 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1061 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1062
lakshya 20:949d13045431 1063 }
lakshya 20:949d13045431 1064
lakshya 20:949d13045431 1065 }
lakshya 20:949d13045431 1066 else if(data2==1)
lakshya 20:949d13045431 1067 {
lakshya 20:949d13045431 1068 if(data1 == 2)
lakshya 20:949d13045431 1069 {
lakshya 20:949d13045431 1070 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1071 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1072 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1073 wait_ms(5);
lakshya 20:949d13045431 1074 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1075 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
lakshya 39:670133e7ffd8 1076 SENSOR_NO = 1;
lakshya 20:949d13045431 1077 }
lakshya 20:949d13045431 1078 else if(data1 == 3)
lakshya 20:949d13045431 1079 {
lakshya 20:949d13045431 1080 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1081 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1082 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1083 wait_ms(5);
lakshya 20:949d13045431 1084 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x01;
lakshya 20:949d13045431 1085 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1086 SENSOR_NO = 1;
lakshya 20:949d13045431 1087 }
lakshya 20:949d13045431 1088 else
lakshya 20:949d13045431 1089 {
lakshya 20:949d13045431 1090 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x05;
lakshya 39:670133e7ffd8 1091 SENSOR_NO = 0;
lakshya 39:670133e7ffd8 1092 //ats_data = 0;
lakshya 20:949d13045431 1093 }
lakshya 20:949d13045431 1094 }
lakshya 20:949d13045431 1095
lakshya 20:949d13045431 1096 else if(data2==2)
lakshya 20:949d13045431 1097 {
lakshya 20:949d13045431 1098 if(data1 == 3)
lakshya 20:949d13045431 1099 {
lakshya 20:949d13045431 1100 ATS2_SW_ENABLE = 1;
lakshya 20:949d13045431 1101 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1102 ATS1_SW_ENABLE = 1;
lakshya 20:949d13045431 1103 wait_ms(5);
lakshya 20:949d13045431 1104 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x02;
lakshya 20:949d13045431 1105 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
lakshya 39:670133e7ffd8 1106 SENSOR_NO = 1;
lakshya 20:949d13045431 1107 }
lakshya 20:949d13045431 1108 else
lakshya 20:949d13045431 1109 {
lakshya 20:949d13045431 1110 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x06;
lakshya 39:670133e7ffd8 1111 SENSOR_NO = 2;
lakshya 20:949d13045431 1112 }
lakshya 20:949d13045431 1113 }
lakshya 20:949d13045431 1114 else if(data2==3)
lakshya 20:949d13045431 1115 {
lakshya 20:949d13045431 1116 ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)|0x07;
lakshya 39:670133e7ffd8 1117 SENSOR_NO = 2;
lakshya 20:949d13045431 1118 }
Bragadeesh153 54:d6a45982ace1 1119
Bragadeesh153 54:d6a45982ace1 1120 SENSOR_NO = 1;
lakshya 39:670133e7ffd8 1121 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1122 telemetry[17] = (assign_val>>8);
lakshya 39:670133e7ffd8 1123 telemetry[18] = assign_val;
lakshya 39:670133e7ffd8 1124
lakshya 39:670133e7ffd8 1125 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1126 telemetry[19] = (assign_val>>8);
lakshya 39:670133e7ffd8 1127 telemetry[20] = assign_val;
lakshya 39:670133e7ffd8 1128
lakshya 39:670133e7ffd8 1129 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1130 telemetry[21] = (assign_val>>8);
lakshya 39:670133e7ffd8 1131 telemetry[22] = assign_val;
lakshya 39:670133e7ffd8 1132
lakshya 39:670133e7ffd8 1133 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[0]);
lakshya 39:670133e7ffd8 1134 telemetry[23] = (assign_val>>8);
lakshya 39:670133e7ffd8 1135 telemetry[24] = assign_val;
lakshya 39:670133e7ffd8 1136
lakshya 39:670133e7ffd8 1137 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[1]);
lakshya 39:670133e7ffd8 1138 telemetry[25] = (assign_val>>8);
lakshya 39:670133e7ffd8 1139 telemetry[26] = assign_val;
lakshya 39:670133e7ffd8 1140
lakshya 39:670133e7ffd8 1141 assign_val = float_to_uint16(-5000,5000,actual_data.AngularSpeed_actual[2]);
lakshya 39:670133e7ffd8 1142 telemetry[27] = (assign_val>>8);
lakshya 39:670133e7ffd8 1143 telemetry[28] = assign_val;
lakshya 39:670133e7ffd8 1144
lakshya 39:670133e7ffd8 1145 telemetry[4] = ACS_ATS_STATUS;
lakshya 39:670133e7ffd8 1146
lakshya 19:79e69017c855 1147
lakshya 20:949d13045431 1148 SelectLineb3 =0;
lakshya 20:949d13045431 1149 SelectLineb2 =1;
lakshya 20:949d13045431 1150 SelectLineb1 =0;
lakshya 20:949d13045431 1151 SelectLineb0 =1;
lakshya 20:949d13045431 1152 int resistance;
lakshya 20:949d13045431 1153 PWM1 = PWM_tc[0];
lakshya 20:949d13045431 1154 PWM2 = 0;
lakshya 20:949d13045431 1155 PWM3 = 0;
lakshya 20:949d13045431 1156
lakshya 20:949d13045431 1157 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 39:670133e7ffd8 1158 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1159 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1160 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1161 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1162
lakshya 20:949d13045431 1163 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1164 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1165 {
lakshya 20:949d13045431 1166 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1167 }
lakshya 20:949d13045431 1168 else
lakshya 20:949d13045431 1169 {
lakshya 20:949d13045431 1170 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1171 }
lakshya 20:949d13045431 1172
lakshya 20:949d13045431 1173 //to be edited final tele
lakshya 39:670133e7ffd8 1174 //uint16_t assign_val;
lakshya 20:949d13045431 1175 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 20:949d13045431 1176 telemetry[29] = (assign_val>>8);
lakshya 20:949d13045431 1177 telemetry[30] = assign_val;
lakshya 20:949d13045431 1178
lakshya 20:949d13045431 1179 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 20:949d13045431 1180 telemetry[31] = (assign_val>>8);
lakshya 20:949d13045431 1181 telemetry[32] = assign_val;
lakshya 20:949d13045431 1182
lakshya 20:949d13045431 1183 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 20:949d13045431 1184 telemetry[33] = (assign_val>>8);
lakshya 20:949d13045431 1185 telemetry[34] = assign_val;
lakshya 20:949d13045431 1186
lakshya 20:949d13045431 1187 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 20:949d13045431 1188 telemetry[35] = (assign_val>>8);
lakshya 20:949d13045431 1189 telemetry[36] = assign_val;
lakshya 20:949d13045431 1190
lakshya 20:949d13045431 1191 PWM1 = 0;
lakshya 20:949d13045431 1192 PWM2 = PWM_tc[1];
lakshya 20:949d13045431 1193 PWM3 = 0;
lakshya 20:949d13045431 1194
lakshya 20:949d13045431 1195 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1196
lakshya 39:670133e7ffd8 1197 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1198 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1199 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1200 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1201
lakshya 20:949d13045431 1202
lakshya 20:949d13045431 1203 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1204 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1205 {
lakshya 20:949d13045431 1206 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1207 }
lakshya 20:949d13045431 1208 else
lakshya 20:949d13045431 1209 {
lakshya 20:949d13045431 1210 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1211 }
lakshya 39:670133e7ffd8 1212
lakshya 39:670133e7ffd8 1213 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1214 telemetry[37] = (assign_val>>8);
lakshya 39:670133e7ffd8 1215 telemetry[38] = assign_val;
lakshya 39:670133e7ffd8 1216
lakshya 39:670133e7ffd8 1217 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1218 telemetry[39] = (assign_val>>8);
lakshya 39:670133e7ffd8 1219 telemetry[40] = assign_val;
lakshya 39:670133e7ffd8 1220
lakshya 39:670133e7ffd8 1221 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1222 telemetry[41] = (assign_val>>8);
lakshya 39:670133e7ffd8 1223 telemetry[42] = assign_val;
lakshya 39:670133e7ffd8 1224
lakshya 39:670133e7ffd8 1225 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1226 telemetry[43] = (assign_val>>8);
lakshya 39:670133e7ffd8 1227 telemetry[44] = assign_val;
lakshya 20:949d13045431 1228
lakshya 20:949d13045431 1229 PWM1 = 0;
lakshya 20:949d13045431 1230 PWM2 = 0;
lakshya 20:949d13045431 1231 PWM3 = PWM_tc[2];
lakshya 20:949d13045431 1232
lakshya 20:949d13045431 1233 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1234
lakshya 39:670133e7ffd8 1235 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1236 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1237 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1238 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1239
lakshya 20:949d13045431 1240 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1241 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1242 {
lakshya 20:949d13045431 1243 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1244 }
lakshya 20:949d13045431 1245 else
lakshya 20:949d13045431 1246 {
lakshya 20:949d13045431 1247 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1248 }
lakshya 39:670133e7ffd8 1249 assign_val = float_to_uint16(-100,100,actual_data.current_actual[5]);//assuming max min values for current to be diss
lakshya 39:670133e7ffd8 1250 telemetry[45] = (assign_val>>8);
lakshya 39:670133e7ffd8 1251 telemetry[46] = assign_val;
lakshya 39:670133e7ffd8 1252
lakshya 39:670133e7ffd8 1253 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1254 telemetry[47] = (assign_val>>8);
lakshya 39:670133e7ffd8 1255 telemetry[48] = assign_val;
lakshya 20:949d13045431 1256
lakshya 39:670133e7ffd8 1257 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1258 telemetry[49] = (assign_val>>8);
lakshya 39:670133e7ffd8 1259 telemetry[50] = assign_val;
lakshya 39:670133e7ffd8 1260
lakshya 39:670133e7ffd8 1261 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1262 telemetry[51] = (assign_val>>8);
lakshya 39:670133e7ffd8 1263 telemetry[52] = assign_val;
lakshya 39:670133e7ffd8 1264
lakshya 20:949d13045431 1265 PWM1 = 0;
lakshya 20:949d13045431 1266 PWM2 = 0;
lakshya 20:949d13045431 1267 PWM3 = 0;
lakshya 20:949d13045431 1268
lakshya 20:949d13045431 1269 wait_ms(ACS_DEMAG_TIME_DELAY);
lakshya 20:949d13045431 1270
lakshya 39:670133e7ffd8 1271 if(SENSOR_NO != 0)
lakshya 20:949d13045431 1272 SENSOR_DATA_ACQ();
lakshya 20:949d13045431 1273 actual_data.current_actual[5]=CurrentInput.read();
lakshya 20:949d13045431 1274 actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
lakshya 20:949d13045431 1275
lakshya 20:949d13045431 1276 resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
lakshya 20:949d13045431 1277 if(actual_data.current_actual[5]>1.47)
lakshya 20:949d13045431 1278 {
lakshya 20:949d13045431 1279 actual_data.current_actual[5]=3694/log(24.032242*resistance);
lakshya 20:949d13045431 1280 }
lakshya 20:949d13045431 1281 else
lakshya 20:949d13045431 1282 {
lakshya 20:949d13045431 1283 actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
lakshya 20:949d13045431 1284 }
lakshya 39:670133e7ffd8 1285
lakshya 39:670133e7ffd8 1286 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[0]);
lakshya 39:670133e7ffd8 1287 telemetry[53] = (assign_val>>8);
lakshya 39:670133e7ffd8 1288 telemetry[54] = assign_val;
lakshya 39:670133e7ffd8 1289
lakshya 39:670133e7ffd8 1290 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[1]);
lakshya 39:670133e7ffd8 1291 telemetry[55] = (assign_val>>8);
lakshya 39:670133e7ffd8 1292 telemetry[56] = assign_val;
lakshya 39:670133e7ffd8 1293
lakshya 39:670133e7ffd8 1294 assign_val = float_to_uint16(-1000,1000,actual_data.Bvalue_actual[2]);
lakshya 39:670133e7ffd8 1295 telemetry[57] = (assign_val>>8);
lakshya 39:670133e7ffd8 1296 telemetry[58] = assign_val;
lakshya 20:949d13045431 1297
lakshya 20:949d13045431 1298 // for(int i=0; i<12; i++)
lakshya 20:949d13045431 1299 // FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&telemetry[16 + (i*4)]);
lakshya 20:949d13045431 1300
lakshya 20:949d13045431 1301 // FCTN_ATS_DATA_ACQ(); //get data
lakshya 19:79e69017c855 1302
lakshya 20:949d13045431 1303 // to include commission TR as well
lakshya 39:670133e7ffd8 1304
lakshya 49:61c9f28332ba 1305 telemetry[59] = SENSOR_NO;
lakshya 39:670133e7ffd8 1306
lakshya 39:670133e7ffd8 1307 for(uint8_t i=60;i<132;i++)
lakshya 19:79e69017c855 1308 {
lakshya 20:949d13045431 1309 telemetry[i]=0x00;
lakshya 19:79e69017c855 1310 }
lakshya 19:79e69017c855 1311
lakshya 19:79e69017c855 1312 crc16 = CRC::crc16_gen(telemetry,132);
lakshya 49:61c9f28332ba 1313 telemetry[132] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 49:61c9f28332ba 1314 telemetry[133] = (uint8_t)(crc16&0x00FF);
Bragadeesh153 56:32b1fb074138 1315
Bragadeesh153 56:32b1fb074138 1316 if(data1 == 0)
Bragadeesh153 56:32b1fb074138 1317 {
Bragadeesh153 56:32b1fb074138 1318 ATS1_SW_ENABLE = 0;
Bragadeesh153 56:32b1fb074138 1319 //wait_ms(5);
Bragadeesh153 56:32b1fb074138 1320 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0xC0;
Bragadeesh153 56:32b1fb074138 1321 }
Bragadeesh153 56:32b1fb074138 1322 else if(data1==1)
Bragadeesh153 56:32b1fb074138 1323 {
Bragadeesh153 56:32b1fb074138 1324 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1325 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x40;
Bragadeesh153 56:32b1fb074138 1326 }
Bragadeesh153 56:32b1fb074138 1327 else if(data1==2)
Bragadeesh153 56:32b1fb074138 1328 {
Bragadeesh153 56:32b1fb074138 1329 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1330 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x60;
Bragadeesh153 56:32b1fb074138 1331 }
Bragadeesh153 56:32b1fb074138 1332 else if(data1==3)
Bragadeesh153 56:32b1fb074138 1333 {
Bragadeesh153 56:32b1fb074138 1334 ATS1_SW_ENABLE = 1;
Bragadeesh153 56:32b1fb074138 1335 ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)|0x70;
Bragadeesh153 56:32b1fb074138 1336 }
Bragadeesh153 56:32b1fb074138 1337 printf("Exited HW\r\n");
lakshya 19:79e69017c855 1338 break;
lakshya 19:79e69017c855 1339 }
lakshya 19:79e69017c855 1340 case 0xE2:
azaddevarm 81:bc0837c54fbf 1341 { //BCN_SW active high - samp
lakshya 20:949d13045431 1342 uint8_t BCN_SPND_STATE;
lakshya 20:949d13045431 1343 BCN_SPND_STATE=tc[4];
lakshya 74:2c82080db98b 1344 if(BCN_SPND_STATE==0x00)// to switch on bcn
lakshya 19:79e69017c855 1345 {
lakshya 20:949d13045431 1346 BCN_SPND_TX=0;
azaddevarm 81:bc0837c54fbf 1347 if( BCN_TX_SW_STATUS == 3 )
azaddevarm 81:bc0837c54fbf 1348 {
azaddevarm 81:bc0837c54fbf 1349 BCN_SW = 1;
azaddevarm 81:bc0837c54fbf 1350 BCN_TX_SW_STATUS = 1;
azaddevarm 81:bc0837c54fbf 1351 }
lakshya 19:79e69017c855 1352 //stop BCN_STANDBY_TIMER.stop();//create
lakshya 19:79e69017c855 1353 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1354 }
lakshya 20:949d13045431 1355 else if(BCN_SPND_STATE==0x01)
lakshya 19:79e69017c855 1356 {
lakshya 73:d2bca4d2cc64 1357 FCTN_BCN_SPND_TX();//direct implementation of function
lakshya 73:d2bca4d2cc64 1358 /*{
lakshya 73:d2bca4d2cc64 1359 //printf("BCN_SPND\n\r");
lakshya 73:d2bca4d2cc64 1360 BCN_SPND_TX = 1;
lakshya 73:d2bca4d2cc64 1361 if( BCN_TX_MAIN_STATUS == 1 && BCN_TX_SW_STATUS == 1 )
lakshya 73:d2bca4d2cc64 1362 {
lakshya 73:d2bca4d2cc64 1363 writereg(RF22_REG_07_OPERATING_MODE1,0x00); //standby mode
lakshya 73:d2bca4d2cc64 1364 if( readreg(RF22_REG_07_OPERATING_MODE1) & 0x08 == 0x08 )
lakshya 73:d2bca4d2cc64 1365 {
lakshya 73:d2bca4d2cc64 1366 BCN_SW = 0;
lakshya 73:d2bca4d2cc64 1367 BCN_TX_SW_STATUS = 3;
lakshya 73:d2bca4d2cc64 1368 uint32_t FLASH_DATA;
lakshya 73:d2bca4d2cc64 1369 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0); //updated in flash
lakshya 73:d2bca4d2cc64 1370 FLASH_DATA = (FLASH_DATA | 0x00006000);
lakshya 73:d2bca4d2cc64 1371 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 73:d2bca4d2cc64 1372 }
lakshya 73:d2bca4d2cc64 1373 }*/
lakshya 73:d2bca4d2cc64 1374 //}
lakshya 66:a5d2b8dc6b9e 1375 //BCN_SW =1;
lakshya 19:79e69017c855 1376 //stop BCN_STANDBY_TIMER.start();//create
lakshya 19:79e69017c855 1377 if(BCN_TX_MAIN_STATUS==0)
lakshya 19:79e69017c855 1378 {
lakshya 19:79e69017c855 1379 telemetry[2]=0xA0;
lakshya 19:79e69017c855 1380 }
lakshya 19:79e69017c855 1381 else if(BCN_TX_MAIN_STATUS==1)
lakshya 19:79e69017c855 1382 {
lakshya 73:d2bca4d2cc64 1383 telemetry[2]=0xA0; //changed
lakshya 19:79e69017c855 1384 }
lakshya 19:79e69017c855 1385 }
lakshya 19:79e69017c855 1386 else
lakshya 19:79e69017c855 1387 {
lakshya 19:79e69017c855 1388 telemetry[2]=0x02;
lakshya 19:79e69017c855 1389 }
lakshya 19:79e69017c855 1390 //ACK_L234_telemetry
lakshya 19:79e69017c855 1391 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1392 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1393 //ack_code taken care above
lakshya 19:79e69017c855 1394 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1395 {
lakshya 19:79e69017c855 1396 telemetry[i]=0x00;
lakshya 19:79e69017c855 1397 }
lakshya 19:79e69017c855 1398 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1399 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1400 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1401 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1402 {
lakshya 19:79e69017c855 1403 telemetry[i]=0x00;
lakshya 19:79e69017c855 1404 }
lakshya 19:79e69017c855 1405 break;
lakshya 19:79e69017c855 1406 }
lakshya 20:949d13045431 1407 case 0xE3:
lakshya 20:949d13045431 1408 {
lakshya 67:c0dd13285d80 1409 gpc.printf("\n\n\rE3 batter heater\n");
lakshya 67:c0dd13285d80 1410
lakshya 20:949d13045431 1411 if(EPS_BTRY_HTR_AUTO != 0)
lakshya 20:949d13045431 1412 telemetry[2]=0x87;
lakshya 20:949d13045431 1413 else
lakshya 20:949d13045431 1414 {
lakshya 20:949d13045431 1415 HTR_CYCLE_COUNTS = tc[4];
lakshya 20:949d13045431 1416 if(HTR_CYCLE_COUNTS==0x00)
lakshya 20:949d13045431 1417 {
lakshya 33:76f2b8735501 1418 BTRY_HTR_ENABLE = 0;
lakshya 20:949d13045431 1419 HTR_CYCLE->stop();
lakshya 20:949d13045431 1420 //clear EPS_BTRY_HTR is it
lakshya 20:949d13045431 1421 EPS_BTRY_HTR_AUTO = 0;
lakshya 67:c0dd13285d80 1422 gpc.printf("\n\n\rheater OFF\n");
lakshya 20:949d13045431 1423
lakshya 20:949d13045431 1424 }
lakshya 20:949d13045431 1425 else
lakshya 20:949d13045431 1426 {
lakshya 67:c0dd13285d80 1427 gpc.printf("\n\n\rheater ON\n");
lakshya 67:c0dd13285d80 1428
lakshya 20:949d13045431 1429 if(HTR_CYCLE_COUNTS != 0xFF)
lakshya 20:949d13045431 1430 {
lakshya 20:949d13045431 1431 HTR_CYCLE_COUNTER = 0;
lakshya 20:949d13045431 1432 }
lakshya 20:949d13045431 1433 //uint8_t HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1434 HTR_CYCLE_START_DLY = tc[5];
lakshya 20:949d13045431 1435 HTR_ON_DURATION = tc[6];
lakshya 20:949d13045431 1436
lakshya 20:949d13045431 1437 //make it uint16_t
lakshya 20:949d13045431 1438 HTR_CYCLE_PERIOD = (tc[7]<<8) | tc[8];
lakshya 20:949d13045431 1439 //start BTRY_HTR_DLY_TIMER;
lakshya 20:949d13045431 1440 }
lakshya 20:949d13045431 1441 telemetry[2]=0xA0;
lakshya 20:949d13045431 1442 }
lakshya 20:949d13045431 1443 //ACK_L234_telemetry
lakshya 20:949d13045431 1444 telemetry[0]=0xB0;
lakshya 20:949d13045431 1445 telemetry[1]=tc[0];
lakshya 20:949d13045431 1446 //ACK code taken care of
lakshya 20:949d13045431 1447 for(uint8_t i=3;i<11;i++)
lakshya 20:949d13045431 1448 {
lakshya 20:949d13045431 1449 telemetry[i]=0x00;
lakshya 20:949d13045431 1450 }
lakshya 20:949d13045431 1451 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 20:949d13045431 1452 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 20:949d13045431 1453 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 20:949d13045431 1454 for(uint8_t i=13;i<134;i++)
lakshya 20:949d13045431 1455 {
lakshya 20:949d13045431 1456 telemetry[i]=0x00;
lakshya 20:949d13045431 1457 }
lakshya 20:949d13045431 1458
lakshya 20:949d13045431 1459 break;
lakshya 20:949d13045431 1460 }
lakshya 19:79e69017c855 1461 case 0x01:
lakshya 67:c0dd13285d80 1462 { if(BAE_STANDBY==0x00)
lakshya 19:79e69017c855 1463 {
lakshya 67:c0dd13285d80 1464 gpc.printf("\n\n\rRun P_EPS_INIT\n");
lakshya 19:79e69017c855 1465 FCTN_EPS_INIT();
lakshya 19:79e69017c855 1466 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1467 }
lakshya 19:79e69017c855 1468 else
lakshya 19:79e69017c855 1469 {
lakshya 67:c0dd13285d80 1470 gpc.printf("\n\runable to Run P_EPS_INIT as BAE_STATUS not 000 ");;
lakshya 19:79e69017c855 1471 telemetry[2]=0x87;
lakshya 19:79e69017c855 1472 }
lakshya 19:79e69017c855 1473
lakshya 19:79e69017c855 1474 //ACK_L234_telemetry
lakshya 19:79e69017c855 1475 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1476 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1477 //ACK code taken care of
lakshya 19:79e69017c855 1478 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1479 {
lakshya 19:79e69017c855 1480 telemetry[i]=0x00;
lakshya 19:79e69017c855 1481 }
lakshya 19:79e69017c855 1482 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1483 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1484 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1485 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1486 {
lakshya 19:79e69017c855 1487 telemetry[i]=0x00;
lakshya 19:79e69017c855 1488 }
lakshya 19:79e69017c855 1489
lakshya 19:79e69017c855 1490 break;
lakshya 19:79e69017c855 1491 }
lakshya 19:79e69017c855 1492 case 0x02:
lakshya 19:79e69017c855 1493 {
lakshya 67:c0dd13285d80 1494 if(BAE_STANDBY==0x00)
lakshya 19:79e69017c855 1495 {
lakshya 67:c0dd13285d80 1496 gpc.printf("\n\n\rRun P_EPS_MAIN\n");
lakshya 19:79e69017c855 1497 F_EPS();
lakshya 19:79e69017c855 1498 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1499 }
lakshya 19:79e69017c855 1500 else
lakshya 19:79e69017c855 1501 {
lakshya 67:c0dd13285d80 1502 gpc.printf("\n\runable to Run P_EPS_MAIN as BAE_STATUS not 000 ");;
lakshya 19:79e69017c855 1503 telemetry[2]=0x87;
lakshya 19:79e69017c855 1504 }
lakshya 19:79e69017c855 1505
lakshya 19:79e69017c855 1506 //ACK_L234_telemetry
lakshya 19:79e69017c855 1507 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1508 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1509 //ACK code taken care of
lakshya 19:79e69017c855 1510 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1511 {
lakshya 19:79e69017c855 1512 telemetry[i]=0x00;
lakshya 19:79e69017c855 1513 }
lakshya 19:79e69017c855 1514 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1515 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1516 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1517 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1518 {
lakshya 19:79e69017c855 1519 telemetry[i]=0x00;
lakshya 19:79e69017c855 1520 }
lakshya 19:79e69017c855 1521 break;
lakshya 19:79e69017c855 1522 }
lakshya 19:79e69017c855 1523 case 0x03:
lakshya 19:79e69017c855 1524 {
lakshya 67:c0dd13285d80 1525 if(BAE_STANDBY==0x00)
lakshya 19:79e69017c855 1526 {
lakshya 67:c0dd13285d80 1527 gpc.printf("\n\n\rRun P_ACS_INIT\n");
lakshya 19:79e69017c855 1528 FCTN_ACS_INIT();
lakshya 19:79e69017c855 1529 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1530 }
lakshya 19:79e69017c855 1531 else
lakshya 19:79e69017c855 1532 {
lakshya 67:c0dd13285d80 1533 gpc.printf("\n\runable to Run P_ACS_INIT as BAE_STATUS not 000 ");;
lakshya 19:79e69017c855 1534 telemetry[2]=0x87;
lakshya 19:79e69017c855 1535 }
lakshya 19:79e69017c855 1536
lakshya 19:79e69017c855 1537 //ACK_L234_telemetry
lakshya 19:79e69017c855 1538 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1539 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1540 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1541 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1542 {
lakshya 19:79e69017c855 1543 telemetry[i]=0x00;
lakshya 19:79e69017c855 1544 }
lakshya 19:79e69017c855 1545 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1546 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1547 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1548 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1549 {
lakshya 19:79e69017c855 1550 telemetry[i]=0x00;
lakshya 19:79e69017c855 1551 }
lakshya 19:79e69017c855 1552 break;
lakshya 19:79e69017c855 1553 }
lakshya 19:79e69017c855 1554 case 0x05:
lakshya 19:79e69017c855 1555 {
lakshya 67:c0dd13285d80 1556 if(BAE_STANDBY==0x00)
lakshya 19:79e69017c855 1557 {
lakshya 67:c0dd13285d80 1558 gpc.printf("\n\n\rRun P_ACS_MAIN\n");
lakshya 19:79e69017c855 1559 F_ACS();
lakshya 19:79e69017c855 1560 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1561 }
lakshya 19:79e69017c855 1562 else
lakshya 19:79e69017c855 1563 {
lakshya 67:c0dd13285d80 1564 gpc.printf("\n\runable to Run P_ACS_MAIN as BAE_STATUS not 000 ");;
lakshya 19:79e69017c855 1565 telemetry[2]=0x87;
lakshya 19:79e69017c855 1566 }
lakshya 19:79e69017c855 1567
lakshya 19:79e69017c855 1568 //ACK_L234_TM
lakshya 19:79e69017c855 1569 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1570 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1571 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1572 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1573 {
lakshya 19:79e69017c855 1574 telemetry[i]=0x00;
lakshya 19:79e69017c855 1575 }
lakshya 19:79e69017c855 1576
lakshya 19:79e69017c855 1577 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1578 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1579 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1580 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1581 {
lakshya 19:79e69017c855 1582 telemetry[i]=0x00;
lakshya 19:79e69017c855 1583 }
lakshya 19:79e69017c855 1584 break;
lakshya 19:79e69017c855 1585 }
lakshya 19:79e69017c855 1586 case 0x06:
lakshya 19:79e69017c855 1587 {
lakshya 67:c0dd13285d80 1588 if(BAE_STANDBY==0x00)
lakshya 19:79e69017c855 1589 {
lakshya 67:c0dd13285d80 1590 gpc.printf("\n\n\rRun P_BCN_INIT\n");
lakshya 67:c0dd13285d80 1591 // F_BCN(); why was this written?
lakshya 67:c0dd13285d80 1592
lakshya 67:c0dd13285d80 1593 FCTN_BCN_INIT(); // does this makes sense??
lakshya 19:79e69017c855 1594 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1595 }
lakshya 19:79e69017c855 1596 else
lakshya 19:79e69017c855 1597 {
lakshya 67:c0dd13285d80 1598 gpc.printf("\n\runable to Run P_BCN_INIT as BAE_STATUS not 000 ");;
lakshya 19:79e69017c855 1599 telemetry[2]=0x87;
lakshya 19:79e69017c855 1600 }
lakshya 19:79e69017c855 1601
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 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1606 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1607 {
lakshya 19:79e69017c855 1608 telemetry[i]=0x00;
lakshya 19:79e69017c855 1609 }
lakshya 19:79e69017c855 1610 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1611 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1612 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1613 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1614 {
lakshya 19:79e69017c855 1615 telemetry[i]=0x00;
lakshya 19:79e69017c855 1616 }
lakshya 19:79e69017c855 1617 break;
lakshya 19:79e69017c855 1618 }
lakshya 19:79e69017c855 1619 case 0x07:
lakshya 19:79e69017c855 1620 {
lakshya 67:c0dd13285d80 1621 if(BAE_STANDBY==0x00)
lakshya 19:79e69017c855 1622 {
lakshya 67:c0dd13285d80 1623 gpc.printf("\n\n\rRun P_BCN_TX_MAIN\n");
lakshya 19:79e69017c855 1624 FCTN_BCN_TX_MAIN();//correct function check once
lakshya 19:79e69017c855 1625 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1626 }
lakshya 19:79e69017c855 1627 else
lakshya 19:79e69017c855 1628 {
lakshya 67:c0dd13285d80 1629 gpc.printf("\n\runable to Run P_BCN_TX_MAIN as BAE_STATUS not 000 ");;
lakshya 19:79e69017c855 1630 telemetry[2]=0x87;
lakshya 19:79e69017c855 1631 }
lakshya 19:79e69017c855 1632
lakshya 19:79e69017c855 1633 //ACK_L234_TM
lakshya 19:79e69017c855 1634 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1635 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1636 //ACK CODE TAKEN CARE OF
lakshya 19:79e69017c855 1637 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1638 {
lakshya 19:79e69017c855 1639 telemetry[i]=0x00;
lakshya 19:79e69017c855 1640 }
lakshya 19:79e69017c855 1641 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1642 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1643 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1644 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1645 {
lakshya 19:79e69017c855 1646 telemetry[i]=0x00;
lakshya 19:79e69017c855 1647 }
lakshya 19:79e69017c855 1648 break;
lakshya 19:79e69017c855 1649 }
lakshya 19:79e69017c855 1650 case 0x11:
lakshya 19:79e69017c855 1651 {
lakshya 67:c0dd13285d80 1652 gpc.printf("\n\n\rSW_ON_ACS_ATS1_SW_ENABLE\n");
lakshya 19:79e69017c855 1653 //ACK_L234_TM
lakshya 19:79e69017c855 1654 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1655 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1656 //____________________________________________************************************
lakshya 19:79e69017c855 1657 /*
lakshya 19:79e69017c855 1658 ATS PIN OR STATUS YET TO BE DECIDED. DECIDED THAT IT IS PIN TC CAN SWITCH ON/OFF THE SENSOR
lakshya 19:79e69017c855 1659 */
lakshya 73:d2bca4d2cc64 1660 ATS2_SW_ENABLE = 0; // making sure we switch off the other
lakshya 39:670133e7ffd8 1661 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 39:670133e7ffd8 1662 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0) | 0x0C ;
lakshya 67:c0dd13285d80 1663 ATS1_SW_ENABLE = 1; // what should the signal be for unabling 0 or 1
lakshya 39:670133e7ffd8 1664 //ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F);
lakshya 67:c0dd13285d80 1665 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F);// state now 00|0x40; //changed device status
lakshya 19:79e69017c855 1666 telemetry[2]=ACK_CODE;
lakshya 67:c0dd13285d80 1667
lakshya 67:c0dd13285d80 1668 /*update in flash here*/
lakshya 67:c0dd13285d80 1669 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1670 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1671 FLASH_DATA = (FLASH_DATA & 0x3FFFFFFF);
lakshya 67:c0dd13285d80 1672 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1673
lakshya 67:c0dd13285d80 1674
lakshya 19:79e69017c855 1675 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1676 {
lakshya 19:79e69017c855 1677 telemetry[i]=0x00;
lakshya 19:79e69017c855 1678 }
lakshya 19:79e69017c855 1679 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1680 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1681 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1682 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1683 {
lakshya 19:79e69017c855 1684 telemetry[i]=0x00;
lakshya 19:79e69017c855 1685 }
lakshya 19:79e69017c855 1686 break;
lakshya 19:79e69017c855 1687 }
lakshya 19:79e69017c855 1688 case 0x12:
lakshya 19:79e69017c855 1689 {
lakshya 49:61c9f28332ba 1690 gpc.printf("\n\rSW_ON_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1691 //ACK_L234_TM
lakshya 19:79e69017c855 1692 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1693 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1694 ATS1_SW_ENABLE = 0; //make sure u switch off the other
lakshya 39:670133e7ffd8 1695 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x0F) | 0xC0 ;
lakshya 73:d2bca4d2cc64 1696 ATS2_SW_ENABLE = 1;
lakshya 67:c0dd13285d80 1697 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF0);//|0x04; changed here
lakshya 67:c0dd13285d80 1698
lakshya 67:c0dd13285d80 1699 /*update in flash here*/
lakshya 67:c0dd13285d80 1700 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1701 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1702 FLASH_DATA = (FLASH_DATA & 0xF3FFFFFF);
lakshya 67:c0dd13285d80 1703 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1704
lakshya 67:c0dd13285d80 1705
lakshya 19:79e69017c855 1706 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1707 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1708 {
lakshya 19:79e69017c855 1709 telemetry[i]=0x00;
lakshya 19:79e69017c855 1710 }
lakshya 19:79e69017c855 1711 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1712 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1713 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1714 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1715 {
lakshya 19:79e69017c855 1716 telemetry[i]=0x00;
lakshya 19:79e69017c855 1717 }
lakshya 19:79e69017c855 1718 break;
lakshya 19:79e69017c855 1719 }
lakshya 19:79e69017c855 1720 case 0x13:
lakshya 19:79e69017c855 1721 {
lakshya 67:c0dd13285d80 1722 gpc.printf("\n\n\rSW_ON_ACS_TR_XY_ENABLE\n");
lakshya 19:79e69017c855 1723 //ACK_L234_TM
lakshya 19:79e69017c855 1724 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1725 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1726 DRV_XY_EN = 1;//1 SWITCH enable here
Bragadeesh153 52:daa685b0e390 1727 ACS_TR_XY_ENABLE = 1;
lakshya 19:79e69017c855 1728 ACS_TR_XY_SW_STATUS=0x01;
lakshya 67:c0dd13285d80 1729
lakshya 67:c0dd13285d80 1730 /*update in flash here*/
lakshya 67:c0dd13285d80 1731 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1732 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1733 FLASH_DATA = ((FLASH_DATA & 0xFF3FFFFF) | 0x00400000 ) ;
lakshya 67:c0dd13285d80 1734 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1735
lakshya 67:c0dd13285d80 1736
lakshya 19:79e69017c855 1737 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1738 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1739 {
lakshya 19:79e69017c855 1740 telemetry[i]=0x00;
lakshya 19:79e69017c855 1741 }
lakshya 19:79e69017c855 1742 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1743 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1744 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1745 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1746 {
lakshya 19:79e69017c855 1747 telemetry[i]=0x00;
lakshya 19:79e69017c855 1748 }
lakshya 19:79e69017c855 1749 break;
lakshya 19:79e69017c855 1750 }
lakshya 19:79e69017c855 1751 case 0x14:
lakshya 19:79e69017c855 1752 {
lakshya 67:c0dd13285d80 1753 gpc.printf("\n\n\rSW_ON_ACS_TR_Z_ENABLE\n");
lakshya 19:79e69017c855 1754 //ACK_L234_TM
lakshya 19:79e69017c855 1755 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1756 telemetry[1]=tc[0];
lakshya 49:61c9f28332ba 1757 DRV_Z_EN = 1;
Bragadeesh153 52:daa685b0e390 1758 ACS_TR_Z_ENABLE = 1;
lakshya 19:79e69017c855 1759 ACS_TR_Z_SW_STATUS=0x01;
lakshya 67:c0dd13285d80 1760
lakshya 67:c0dd13285d80 1761 /*update in flash here*/
lakshya 67:c0dd13285d80 1762 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1763 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1764 FLASH_DATA = ((FLASH_DATA & 0xFFCFFFFF) | 0x00100000 ) ;
lakshya 67:c0dd13285d80 1765 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1766
lakshya 67:c0dd13285d80 1767
lakshya 19:79e69017c855 1768 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1769 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1770 {
lakshya 19:79e69017c855 1771 telemetry[i]=0x00;
lakshya 19:79e69017c855 1772 }
lakshya 19:79e69017c855 1773 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1774 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1775 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1776 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1777 {
lakshya 19:79e69017c855 1778 telemetry[i]=0x00;
lakshya 19:79e69017c855 1779 }
lakshya 19:79e69017c855 1780 break;
lakshya 19:79e69017c855 1781 }
lakshya 19:79e69017c855 1782 case 0x15:
lakshya 19:79e69017c855 1783 {
lakshya 67:c0dd13285d80 1784 gpc.printf("\n\n\rSW_ON_BCN_TX_SW_ENABLE\n");
lakshya 19:79e69017c855 1785 //ACK_L234_TM
lakshya 19:79e69017c855 1786 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1787 telemetry[1]=tc[0];
azaddevarm 80:da657c390c27 1788 BCN_SW = 1;//here 1 is switch enable 5th dec
lakshya 67:c0dd13285d80 1789 BCN_TX_SW_STATUS=0x01;//BCN_TX_SW_ENABLE CHANGED TO BCN_TX_SW_STATUS
lakshya 67:c0dd13285d80 1790
lakshya 67:c0dd13285d80 1791 /*update in flash here*/
lakshya 67:c0dd13285d80 1792 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1793 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1794 FLASH_DATA = ((FLASH_DATA & 0xFFFF9FFF) | 0x00002000 ) ;
lakshya 67:c0dd13285d80 1795 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1796
lakshya 67:c0dd13285d80 1797
lakshya 19:79e69017c855 1798 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1799 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1800 {
lakshya 19:79e69017c855 1801 telemetry[i]=0x00;
lakshya 19:79e69017c855 1802 }
lakshya 19:79e69017c855 1803 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1804 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1805 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1806 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1807 {
lakshya 19:79e69017c855 1808 telemetry[i]=0x00;
lakshya 19:79e69017c855 1809 }
lakshya 19:79e69017c855 1810 break;
lakshya 19:79e69017c855 1811 }
lakshya 19:79e69017c855 1812 case 0x21:
lakshya 19:79e69017c855 1813 {
lakshya 67:c0dd13285d80 1814 gpc.printf("\n\n\rSW_OFF_ACS_ATS1_SW_ENABLE\n");
lakshya 19:79e69017c855 1815 //ACK_L234_TM
lakshya 19:79e69017c855 1816 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1817 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1818 ATS1_SW_ENABLE = 0;
lakshya 20:949d13045431 1819 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0x3F) | 0xC0 ;
lakshya 19:79e69017c855 1820 telemetry[2]=ACK_CODE;
lakshya 49:61c9f28332ba 1821
lakshya 67:c0dd13285d80 1822 /*update in flaash here*/
lakshya 49:61c9f28332ba 1823 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1824 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1825 FLASH_DATA = (FLASH_DATA | 0xC0000000 ) ;
lakshya 49:61c9f28332ba 1826 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1827
lakshya 67:c0dd13285d80 1828
lakshya 19:79e69017c855 1829 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1830 {
lakshya 19:79e69017c855 1831 telemetry[i]=0x00;
lakshya 19:79e69017c855 1832 }
lakshya 19:79e69017c855 1833 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1834 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1835 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1836 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1837 {
lakshya 19:79e69017c855 1838 telemetry[i]=0x00;
lakshya 19:79e69017c855 1839 }
lakshya 19:79e69017c855 1840 break;
lakshya 19:79e69017c855 1841 }
lakshya 19:79e69017c855 1842 case 0x22:
lakshya 19:79e69017c855 1843 {
lakshya 49:61c9f28332ba 1844 gpc.printf("\n\rSW_OFF_ACS_ATS2_SW_ENABLE");
lakshya 19:79e69017c855 1845 //ACK_L234_TM
lakshya 19:79e69017c855 1846 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1847 telemetry[1]=tc[0];
lakshya 73:d2bca4d2cc64 1848 ATS2_SW_ENABLE = 0;
lakshya 49:61c9f28332ba 1849
lakshya 49:61c9f28332ba 1850 uint32_t FLASH_DATA;
lakshya 49:61c9f28332ba 1851 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 49:61c9f28332ba 1852 FLASH_DATA = (FLASH_DATA | 0x0C000000);
lakshya 49:61c9f28332ba 1853 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 49:61c9f28332ba 1854
lakshya 20:949d13045431 1855 ACS_ATS_STATUS = (ACS_ATS_STATUS & 0xF3) | 0x0C ;
lakshya 19:79e69017c855 1856 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1857 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1858 {
lakshya 19:79e69017c855 1859 telemetry[i]=0x00;
lakshya 19:79e69017c855 1860 }
lakshya 19:79e69017c855 1861 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1862 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1863 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1864 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1865 {
lakshya 19:79e69017c855 1866 telemetry[i]=0x00;
lakshya 19:79e69017c855 1867 }
lakshya 19:79e69017c855 1868 break;
lakshya 19:79e69017c855 1869 }
lakshya 19:79e69017c855 1870 case 0x23:
lakshya 19:79e69017c855 1871 {
lakshya 67:c0dd13285d80 1872 gpc.printf("\n\n\rSW_OFF_ACS_TR_XY_ENABLE\n");
lakshya 19:79e69017c855 1873 //ACK_L234_TM
lakshya 19:79e69017c855 1874 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1875 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1876 ACS_TR_XY_ENABLE = 0;
lakshya 19:79e69017c855 1877 ACS_TR_XY_SW_STATUS=0x03;
lakshya 67:c0dd13285d80 1878
lakshya 67:c0dd13285d80 1879 /*update in flash here*/
lakshya 67:c0dd13285d80 1880 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1881 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1882 FLASH_DATA = (FLASH_DATA | 0x00C00000 ) ;
lakshya 67:c0dd13285d80 1883 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1884
lakshya 67:c0dd13285d80 1885
lakshya 19:79e69017c855 1886 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1887 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1888 {
lakshya 19:79e69017c855 1889 telemetry[i]=0x00;
lakshya 19:79e69017c855 1890 }
lakshya 19:79e69017c855 1891 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1892 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1893 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1894 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1895 {
lakshya 19:79e69017c855 1896 telemetry[i]=0x00;
lakshya 19:79e69017c855 1897 }
lakshya 19:79e69017c855 1898 break;
lakshya 19:79e69017c855 1899 }
lakshya 19:79e69017c855 1900 case 0x24:
lakshya 19:79e69017c855 1901 {
lakshya 67:c0dd13285d80 1902 gpc.printf("\n\n\rSW_OFF_ACS_TR_Z_ENABLE\n");
lakshya 19:79e69017c855 1903 //ACK_L234_TM
lakshya 19:79e69017c855 1904 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1905 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1906 ACS_TR_Z_ENABLE = 0;
lakshya 19:79e69017c855 1907 ACS_TR_Z_SW_STATUS=0x03;
lakshya 67:c0dd13285d80 1908
lakshya 67:c0dd13285d80 1909 /*update in flash here*/
lakshya 67:c0dd13285d80 1910 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1911 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1912 FLASH_DATA = (FLASH_DATA | 0x00300000 ) ;
lakshya 67:c0dd13285d80 1913 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1914
lakshya 67:c0dd13285d80 1915
lakshya 19:79e69017c855 1916 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1917 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1918 {
lakshya 19:79e69017c855 1919 telemetry[i]=0x00;
lakshya 19:79e69017c855 1920 }
lakshya 19:79e69017c855 1921 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1922 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1923 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1924 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1925 {
lakshya 19:79e69017c855 1926 telemetry[i]=0x00;
lakshya 19:79e69017c855 1927 }
lakshya 19:79e69017c855 1928 break;
lakshya 19:79e69017c855 1929 }
lakshya 19:79e69017c855 1930 case 0x25:
lakshya 19:79e69017c855 1931 {
lakshya 67:c0dd13285d80 1932 gpc.printf("\n\n\rSW_OFF_BCN_TX_SW_ENABLE\n");
lakshya 19:79e69017c855 1933 //ACK_L234_TM
lakshya 19:79e69017c855 1934 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1935 telemetry[1]=tc[0];
azaddevarm 80:da657c390c27 1936 BCN_SW = 0;// same convention active high 5th dec
lakshya 19:79e69017c855 1937 BCN_TX_SW_ENABLE=0x03;
lakshya 67:c0dd13285d80 1938
lakshya 67:c0dd13285d80 1939 /*update in the flash*/
lakshya 67:c0dd13285d80 1940 uint32_t FLASH_DATA;
lakshya 67:c0dd13285d80 1941 FLASH_DATA = FCTN_BAE_RD_FLASH_ENTITY(0);
lakshya 67:c0dd13285d80 1942 FLASH_DATA = (FLASH_DATA | 0x00006000 ) ;
lakshya 67:c0dd13285d80 1943 FCTN_BAE_WR_FLASH(0,FLASH_DATA);
lakshya 67:c0dd13285d80 1944
lakshya 67:c0dd13285d80 1945
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 0x31:
lakshya 19:79e69017c855 1961 {
lakshya 67:c0dd13285d80 1962 gpc.printf("\n\n\rACS_ATS1_SW_RESET\n");
lakshya 19:79e69017c855 1963 //ACK_L234_TM
lakshya 19:79e69017c855 1964 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1965 telemetry[1]=tc[0];
lakshya 19:79e69017c855 1966 ATS2_SW_ENABLE = 1;//as ats switched off
Bragadeesh153 52:daa685b0e390 1967 ATS1_SW_ENABLE = 0;
lakshya 19:79e69017c855 1968 wait_ms(5);
Bragadeesh153 52:daa685b0e390 1969 ATS1_SW_ENABLE = 1;
lakshya 19:79e69017c855 1970 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1971 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1972 {
lakshya 19:79e69017c855 1973 telemetry[i]=0x00;
lakshya 19:79e69017c855 1974 }
lakshya 19:79e69017c855 1975 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 1976 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 1977 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 1978 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 1979 {
lakshya 19:79e69017c855 1980 telemetry[i]=0x00;
lakshya 19:79e69017c855 1981 }
lakshya 19:79e69017c855 1982 break;
lakshya 19:79e69017c855 1983 }
lakshya 19:79e69017c855 1984 case 0x32:
lakshya 19:79e69017c855 1985 {
lakshya 67:c0dd13285d80 1986 gpc.printf("\n\n\rACS_ATS2_SW_RESET\n");
lakshya 19:79e69017c855 1987 //ACK_L234_TM
lakshya 19:79e69017c855 1988 telemetry[0]=0xB0;
lakshya 19:79e69017c855 1989 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 1990 ATS1_SW_ENABLE = 0;//as ats1 switched off
lakshya 19:79e69017c855 1991 ATS2_SW_ENABLE = 1;
lakshya 19:79e69017c855 1992 wait_ms(5);
lakshya 19:79e69017c855 1993 ATS2_SW_ENABLE = 0;
lakshya 19:79e69017c855 1994 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 1995 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 1996 {
lakshya 19:79e69017c855 1997 telemetry[i]=0x00;
lakshya 19:79e69017c855 1998 }
lakshya 19:79e69017c855 1999 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2000 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2001 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2002 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2003 {
lakshya 19:79e69017c855 2004 telemetry[i]=0x00;
lakshya 19:79e69017c855 2005 }
lakshya 19:79e69017c855 2006 break;
lakshya 19:79e69017c855 2007 }
lakshya 19:79e69017c855 2008 case 0x33:
lakshya 19:79e69017c855 2009 {
lakshya 67:c0dd13285d80 2010 gpc.printf("\n\n\rACS_TR_XY_SW_RESET\n");
lakshya 19:79e69017c855 2011 //ACK_L234_TM
lakshya 19:79e69017c855 2012 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2013 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 2014 ACS_TR_XY_ENABLE= 0;
lakshya 19:79e69017c855 2015 wait_ms(5);
Bragadeesh153 52:daa685b0e390 2016 ACS_TR_XY_ENABLE= 1;
lakshya 19:79e69017c855 2017 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2018 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2019 {
lakshya 19:79e69017c855 2020 telemetry[i]=0x00;
lakshya 19:79e69017c855 2021 }
lakshya 19:79e69017c855 2022 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2023 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2024 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2025 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2026 {
lakshya 19:79e69017c855 2027 telemetry[i]=0x00;
lakshya 19:79e69017c855 2028 }
lakshya 19:79e69017c855 2029 break;
lakshya 19:79e69017c855 2030 }
lakshya 19:79e69017c855 2031 case 0x34:
lakshya 19:79e69017c855 2032 {
lakshya 67:c0dd13285d80 2033 gpc.printf("\n\n\rACS_TR_Z_SW_RESET\n");
lakshya 19:79e69017c855 2034 //ACK_L234_TM
lakshya 19:79e69017c855 2035 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2036 telemetry[1]=tc[0];
Bragadeesh153 52:daa685b0e390 2037 ACS_TR_Z_ENABLE= 0;
lakshya 19:79e69017c855 2038 wait_ms(5);
Bragadeesh153 52:daa685b0e390 2039 ACS_TR_Z_ENABLE= 1;
lakshya 19:79e69017c855 2040 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2041 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2042 {
lakshya 19:79e69017c855 2043 telemetry[i]=0x00;
lakshya 19:79e69017c855 2044 }
lakshya 19:79e69017c855 2045 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2046 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2047 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2048 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2049 {
lakshya 19:79e69017c855 2050 telemetry[i]=0x00;
lakshya 19:79e69017c855 2051 }
lakshya 19:79e69017c855 2052 break;
lakshya 19:79e69017c855 2053 }
lakshya 19:79e69017c855 2054 case 0x35:
lakshya 19:79e69017c855 2055 {
lakshya 67:c0dd13285d80 2056 gpc.printf("\n\n\rBCN_TX_SW_RESET\n");
lakshya 19:79e69017c855 2057 //ACK_L234_TM
lakshya 19:79e69017c855 2058 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2059 telemetry[1]=tc[0];
azaddevarm 80:da657c390c27 2060 BCN_SW = 0; //active high
lakshya 19:79e69017c855 2061 wait_ms(5);
azaddevarm 80:da657c390c27 2062 BCN_SW = 1;
lakshya 19:79e69017c855 2063 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2064 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2065 {
lakshya 19:79e69017c855 2066 telemetry[i]=0x00;
lakshya 19:79e69017c855 2067 }
lakshya 19:79e69017c855 2068 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2069 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2070 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2071 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2072 {
lakshya 19:79e69017c855 2073 telemetry[i]=0x00;
lakshya 19:79e69017c855 2074 }
lakshya 19:79e69017c855 2075 break;
lakshya 19:79e69017c855 2076 }
lakshya 19:79e69017c855 2077 case 0x36:
lakshya 19:79e69017c855 2078 {
lakshya 67:c0dd13285d80 2079 gpc.printf("\n\n\rBAE_INTERNAL_RESET TO be done \n");
lakshya 20:949d13045431 2080 NVIC_SystemReset();
lakshya 19:79e69017c855 2081 break;
lakshya 19:79e69017c855 2082 }
lakshya 19:79e69017c855 2083 case 0x37:
lakshya 19:79e69017c855 2084 {
lakshya 67:c0dd13285d80 2085 gpc.printf("\n\n\rCDMS_RESET\n");
lakshya 19:79e69017c855 2086 //ACK_L234_TM
lakshya 19:79e69017c855 2087 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2088 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2089 CDMS_RESET = 0;
lakshya 19:79e69017c855 2090 wait_ms(5);
lakshya 19:79e69017c855 2091 CDMS_RESET = 1;
lakshya 19:79e69017c855 2092 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2093 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2094 {
lakshya 19:79e69017c855 2095 telemetry[i]=0x00;
lakshya 19:79e69017c855 2096 }
lakshya 19:79e69017c855 2097 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2098 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2099 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2100 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2101 {
lakshya 19:79e69017c855 2102 telemetry[i]=0x00;
lakshya 19:79e69017c855 2103 }
lakshya 19:79e69017c855 2104 break;
lakshya 19:79e69017c855 2105 }
lakshya 49:61c9f28332ba 2106 case 0x38://not in IF present in SBC
lakshya 19:79e69017c855 2107 {
lakshya 49:61c9f28332ba 2108 gpc.printf("\n\rCDMS_SW_RESET pin yet to be decided");
lakshya 19:79e69017c855 2109 //ACK_L234_TM
lakshya 19:79e69017c855 2110 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2111 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2112 /*
lakshya 19:79e69017c855 2113 PIN to be DECIDED***************************************************************8
lakshya 19:79e69017c855 2114 */
lakshya 19:79e69017c855 2115 telemetry[2]=ACK_CODE;
lakshya 19:79e69017c855 2116 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2117 {
lakshya 19:79e69017c855 2118 telemetry[i]=0x00;
lakshya 19:79e69017c855 2119 }
lakshya 19:79e69017c855 2120 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2121 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2122 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2123 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2124 {
lakshya 19:79e69017c855 2125 telemetry[i]=0x00;
lakshya 19:79e69017c855 2126 }
lakshya 19:79e69017c855 2127 break;
lakshya 19:79e69017c855 2128 }
lakshya 49:61c9f28332ba 2129 case 0x40://condition changed by AK47 now 00 means off in TC
lakshya 19:79e69017c855 2130 {
lakshya 67:c0dd13285d80 2131 printf("\n\n\r EN_PRCS\n");
lakshya 19:79e69017c855 2132 uint8_t STANDBY_DATA_TC;
lakshya 66:a5d2b8dc6b9e 2133 BAE_STANDBY=0x07;
lakshya 19:79e69017c855 2134 STANDBY_DATA_TC=tc[4];
lakshya 49:61c9f28332ba 2135 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2136 {
lakshya 67:c0dd13285d80 2137 BAE_STANDBY &=0x03;
lakshya 66:a5d2b8dc6b9e 2138 //$ L BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2139 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2140 }
lakshya 67:c0dd13285d80 2141 STANDBY_DATA_TC=tc[5];
lakshya 49:61c9f28332ba 2142 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2143 {
lakshya 66:a5d2b8dc6b9e 2144 BAE_STANDBY &=0x05;
lakshya 66:a5d2b8dc6b9e 2145 //$ L BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2146 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2147 }
lakshya 67:c0dd13285d80 2148 STANDBY_DATA_TC=tc[6];
lakshya 49:61c9f28332ba 2149 if(STANDBY_DATA_TC==0x00)
lakshya 19:79e69017c855 2150 {
lakshya 66:a5d2b8dc6b9e 2151 BAE_STANDBY &=0x06;
lakshya 66:a5d2b8dc6b9e 2152 //$ L BAE_STANDBY_TIMER_RESET();
lakshya 19:79e69017c855 2153 //BAE_STANDBY_TIMER();//to be created to make all sensor on after 20 minutes
lakshya 19:79e69017c855 2154 }
lakshya 19:79e69017c855 2155 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2156 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2157 telemetry[2]=0xC0;//ack_code for this case
lakshya 19:79e69017c855 2158 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2159 {
lakshya 19:79e69017c855 2160 telemetry[i]=0x00;
lakshya 19:79e69017c855 2161 }
lakshya 19:79e69017c855 2162 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2163 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2164 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2165 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2166 {
lakshya 19:79e69017c855 2167 telemetry[i]=0x00;
lakshya 19:79e69017c855 2168 }
lakshya 19:79e69017c855 2169 break;
lakshya 19:79e69017c855 2170 }
lakshya 19:79e69017c855 2171 case 0x41:
lakshya 19:79e69017c855 2172 {
lakshya 67:c0dd13285d80 2173 gpc.printf("\n\n\rexecutng BAE reset HK counter\n");
lakshya 20:949d13045431 2174 firstCount=true;
lakshya 20:949d13045431 2175 void minMaxHkData();
lakshya 49:61c9f28332ba 2176
lakshya 19:79e69017c855 2177 //ACK_L234_TM
lakshya 19:79e69017c855 2178 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2179 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2180 telemetry[2]=0x02;
lakshya 19:79e69017c855 2181 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2182 {
lakshya 19:79e69017c855 2183 telemetry[i]=0x00;
lakshya 19:79e69017c855 2184 }
lakshya 19:79e69017c855 2185 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2186 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2187 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2188 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2189 {
lakshya 19:79e69017c855 2190 telemetry[i]=0x00;
lakshya 19:79e69017c855 2191 }
lakshya 19:79e69017c855 2192 break;
lakshya 19:79e69017c855 2193 }
lakshya 19:79e69017c855 2194 default:
lakshya 19:79e69017c855 2195 {
lakshya 49:61c9f28332ba 2196 gpc.printf("\n\rInvalid TC for FMS no matching FID");
lakshya 19:79e69017c855 2197 //ACK_L234_TM
lakshya 19:79e69017c855 2198 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2199 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2200 telemetry[2]=0x02;
lakshya 19:79e69017c855 2201 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2202 {
lakshya 19:79e69017c855 2203 telemetry[i]=0x00;
lakshya 19:79e69017c855 2204 }
lakshya 19:79e69017c855 2205 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2206 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2207 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2208 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2209 {
lakshya 19:79e69017c855 2210 telemetry[i]=0x00;
lakshya 19:79e69017c855 2211 }
lakshya 19:79e69017c855 2212 break;
lakshya 19:79e69017c855 2213 }
lakshya 19:79e69017c855 2214 }
lakshya 19:79e69017c855 2215 break;
lakshya 19:79e69017c855 2216 }
lakshya 19:79e69017c855 2217 default:
lakshya 19:79e69017c855 2218 {
lakshya 49:61c9f28332ba 2219 gpc.printf("\n\rInvalid TC, FMS service subtype mismacth");
lakshya 19:79e69017c855 2220 //ACK_L234_TM
lakshya 19:79e69017c855 2221 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2222 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2223 telemetry[2]=0x02;
lakshya 19:79e69017c855 2224 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2225 {
lakshya 19:79e69017c855 2226 telemetry[i]=0x00;
lakshya 19:79e69017c855 2227 }
lakshya 19:79e69017c855 2228 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2229 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2230 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2231 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2232 {
lakshya 19:79e69017c855 2233 telemetry[i]=0x00;
lakshya 19:79e69017c855 2234 }
lakshya 19:79e69017c855 2235 break;
lakshya 19:79e69017c855 2236 }
lakshya 19:79e69017c855 2237 }
lakshya 19:79e69017c855 2238 break;
lakshya 19:79e69017c855 2239 }
lakshya 19:79e69017c855 2240 default:
lakshya 19:79e69017c855 2241 {
lakshya 49:61c9f28332ba 2242 gpc.printf("\n\rInvalid TC neither FMS nor MMS");
lakshya 19:79e69017c855 2243 //ACK_L234_TM
lakshya 19:79e69017c855 2244 telemetry[0]=0xB0;
lakshya 19:79e69017c855 2245 telemetry[1]=tc[0];
lakshya 19:79e69017c855 2246 telemetry[2]=0x02;
lakshya 19:79e69017c855 2247 for(uint8_t i=3;i<11;i++)
lakshya 19:79e69017c855 2248 {
lakshya 19:79e69017c855 2249 telemetry[i]=0x00;
lakshya 19:79e69017c855 2250 }
lakshya 19:79e69017c855 2251 crc16 = CRC::crc16_gen(telemetry,11);
lakshya 19:79e69017c855 2252 telemetry[11] = (uint8_t)((crc16&0xFF00)>>8);
lakshya 19:79e69017c855 2253 telemetry[12] = (uint8_t)(crc16&0x00FF);
lakshya 19:79e69017c855 2254 for(uint8_t i=13;i<134;i++)
lakshya 19:79e69017c855 2255 {
lakshya 19:79e69017c855 2256 telemetry[i]=0x00;
lakshya 19:79e69017c855 2257 }
lakshya 19:79e69017c855 2258 break;
lakshya 19:79e69017c855 2259 }
lakshya 19:79e69017c855 2260 }
lakshya 19:79e69017c855 2261 }
Bragadeesh153 13:fb7facaf308b 2262 }
Bragadeesh153 13:fb7facaf308b 2263 }
sakthipriya 4:39a4ae8c7ecd 2264
sakthipriya 4:39a4ae8c7ecd 2265
lakshya 67:c0dd13285d80 2266
Bragadeesh153 13:fb7facaf308b 2267 int strt_add = flash_size() - (2*SECTOR_SIZE);
sakthipriya 4:39a4ae8c7ecd 2268 uint32_t flasharray[8]; //256+(3*1024)
lakshya 19:79e69017c855 2269 /*corrected*/
lakshya 19:79e69017c855 2270 int *nativeflash = (int*)strt_add;
sakthipriya 4:39a4ae8c7ecd 2271
sakthipriya 4:39a4ae8c7ecd 2272 /*Writing to the Flash*/
lakshya 19:79e69017c855 2273 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 2274 {
Bragadeesh153 13:fb7facaf308b 2275 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2276 {
sakthipriya 4:39a4ae8c7ecd 2277 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2278 }
sakthipriya 4:39a4ae8c7ecd 2279 flasharray[j]=fdata;
sakthipriya 4:39a4ae8c7ecd 2280 erase_sector(strt_add);
lakshya 20:949d13045431 2281 program_flash(strt_add, (char*)flasharray,32);
sakthipriya 4:39a4ae8c7ecd 2282 }
lakshya 19:79e69017c855 2283
sakthipriya 4:39a4ae8c7ecd 2284 /*End*/
sakthipriya 4:39a4ae8c7ecd 2285
sakthipriya 4:39a4ae8c7ecd 2286 /*Reading from Flash*/
lakshya 19:79e69017c855 2287 /*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 2288 uint32_t FCTN_BAE_RD_FLASH_ENTITY(uint16_t entity)
sakthipriya 4:39a4ae8c7ecd 2289 {
sakthipriya 4:39a4ae8c7ecd 2290 for(int i=0;i<8;i++)
sakthipriya 4:39a4ae8c7ecd 2291 {
sakthipriya 4:39a4ae8c7ecd 2292 flasharray[i]=nativeflash[i];
sakthipriya 4:39a4ae8c7ecd 2293 }
lakshya 19:79e69017c855 2294 return flasharray[entity];
sakthipriya 4:39a4ae8c7ecd 2295 }
lakshya 19:79e69017c855 2296
lakshya 19:79e69017c855 2297 uint32_t* FCTN_BAE_RD_FLASH()
lakshya 19:79e69017c855 2298 {
lakshya 19:79e69017c855 2299 for(int i=0;i<8;i++)
lakshya 19:79e69017c855 2300 {
lakshya 19:79e69017c855 2301 flasharray[i]=nativeflash[i];
lakshya 19:79e69017c855 2302 }
lakshya 19:79e69017c855 2303 return flasharray;
lakshya 19:79e69017c855 2304 }
lakshya 19:79e69017c855 2305
sakthipriya 5:bb592f3185cc 2306 /*End*/
sakthipriya 5:bb592f3185cc 2307
sakthipriya 5:bb592f3185cc 2308 // Convert float to 4 uint8_t
sakthipriya 5:bb592f3185cc 2309
lakshya 15:e09aaaccf134 2310
sakthipriya 6:036d08b62785 2311 void FCTN_CONVERT_FLOAT(float input, uint8_t output[4])
sakthipriya 5:bb592f3185cc 2312 {
sakthipriya 6:036d08b62785 2313 assert(sizeof(float) == sizeof(uint32_t));
sakthipriya 6:036d08b62785 2314 uint32_t* temp = reinterpret_cast<uint32_t*>(&input);
sakthipriya 6:036d08b62785 2315
sakthipriya 6:036d08b62785 2316 //float* output1 = reinterpret_cast<float*>(temp);
Bragadeesh153 13:fb7facaf308b 2317
lakshya 49:61c9f28332ba 2318 //gpc.printf("\n\r %f ", input);
lakshya 15:e09aaaccf134 2319 //std::cout << "\n\r uint32"<<*temp << std::endl;
sakthipriya 6:036d08b62785 2320
sakthipriya 6:036d08b62785 2321 output[0] =(uint8_t )(((*temp)>>24)&0xFF);
lakshya 15:e09aaaccf134 2322 output[1] =(uint8_t ) (((*temp)>>16)&0xFF);
lakshya 15:e09aaaccf134 2323 output[2] =(uint8_t ) (((*temp)>>8)&0xFF);
lakshya 15:e09aaaccf134 2324 output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic
lakshya 15:e09aaaccf134 2325
lakshya 49:61c9f28332ba 2326 // gpc.printf("\n\rthe values generated are\n");
lakshya 49:61c9f28332ba 2327 /*gpc.printf("\n\r%x\n",output[0]);
lakshya 49:61c9f28332ba 2328 gpc.printf("\n\r%x\n",output[1]);
lakshya 49:61c9f28332ba 2329 gpc.printf("\n\r%x\n",output[2]);
lakshya 49:61c9f28332ba 2330 gpc.printf("\n\r%x\n",output[3]);
lakshya 15:e09aaaccf134 2331 to check the values generated
lakshya 15:e09aaaccf134 2332 */
lakshya 49:61c9f28332ba 2333 //gpc.printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]);
Bragadeesh153 13:fb7facaf308b 2334 //std:: cout << "\n\r uint8 inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl;
Bragadeesh153 13:fb7facaf308b 2335 }