pilot.h

/**
 * @file 	:	pilot.h
 * @author 	:	Srinidhi G, Pratik Aher
 * @brief 	:	This file contains the functions used to gather data in PiLOT
 * @version :	1
 * @date 	:	2023-01-24
 * 
 * @copyright Copyright (c) 2023
 * 
 */

#ifndef _PILOT_H_
#define _PILOT_H_
#include"peripherals.h"
#include "SD.h"
#include "packet_definitions.h"
#include "pslv_interface.h"
#include "ccsds.h"

//ADC Macros
#define ADC_I2C_ADDR 0x20
#define ADC_I2CU1_ADDR 0x24
#define ADC_I2CU2_ADDR 0x23
#define ADC_I2CU3_ADDR 0x24
#define ADC_I2CU4_ADDR 0x23

#define DATAHIGH_MAX_H 0x0F
#define DATAHIGH_MAX_L 0xFC
#define DATA_LOW_MIN_H 0x00
#define DATA_LOW_MIN_L 0x00

#define CONV_REG 0x00
#define AS_REG 0x01
#define CONFIG_REG 0x02
#define CYCLE_TIMER_REG 0x03
#define DATA_LOW_REG(x) ((x) * 3 + 0x4)
#define DATA_HIGH_REG(x) ((x) * 3 + 0x5)
#define HYST_REG(x) ((x) * 3 + 0x6)
#define ADC_CHX(x) (((x) + 0x8)<<4)

//IMU Macros
#define IMU_ADDR 0x6a
#define IMU_WHO_AM_I_REG 0x0F

//PERIOD Macros
#define DEFAULT_PAYLOAD_PERIOD	10000
#define DEFAULT_HK_PERIOD		2000
#define ONE_SPP_RATE			1000
#define TWO_SPP_RATE			2000
#define FIVE_SPP_RATE			5000
#define TEN_SPP_RATE			10000
#define PAYLOAD_PERIOD_L		0xFFFF
#define PAYLOAD_PERIOD_H		0xFFFF
#define HK_PERIOD_H				0xFFFF
#define HK_PERIOD_L				0xFFFF

//TASK IDs
#define THERMISTOR_TASK_ID	1
#define HK_TASK_ID			2
#define SD_HK_TASK_ID		3
#define ARIS_TASK_ID		4

//PSLV address
#define PSLV_TO_PILOT_ADDR			119

#define PILOT_REVERSE_BYTE_ORDER(var)	(((var) << 8) | ((var) >> 8))

//Packet rate options
typedef enum PACKET_RATES {
	RATE_ONE_SPP = 0u,
	RATE_TWO_SPP,
	RATE_FIVE_SPP,
	RATE_TEN_SPP
}PACKET_RATES_t;

/** Function to initialise ADC
 * @brief Initialises the ADC corresponding to the given address
 * 
 * @param i2c_chx: The i2c channel through which the ADC is connected
 * @param address: The address of the ADC
 * 
 */
uint8_t ADC_Init(i2c_instance_t *i2c_chx,uint8_t address);

/**
 * @brief Get the ADC value 
 * 
 * @param i2c_chx   : the i2c channel used
 * @param address   : the address of the ADC
 * @param chx       : the channel to convert  
 * @return double   : returns the value given by the ADC
 */
uint16_t get_ADC_value(i2c_instance_t *i2c_chx,uint8_t address,uint8_t chx,uint8_t *flag);

/**
 * @brief Initialises the I2Cs in Pilot
 *
 */
void I2C_Init();

/**
 * @brief Initialises the GPIOs in Pilot
 *
 */
void GPIO_Init();

/**
 * @brief Initialises the Uarts in Pilot
 *
 */
void Uart_Init();

/**
 * @brief Initialises the SPI interface in Pilot
 * 
 */
void SPI_Init();

/**
 * @brief Calls the GPIO, UART, I2C and SPI initialisation functions. Initialises the SD card and starts the 64 bit timer
 * 
 * @return uint8_t: returns 0 on successful initialisation, 1 otherwise
 */
uint8_t Pilot_Peripherals_Init();

/**
 * @brief Initialises the sensor board ADCs and pslv interface board vc sensors
 *
 */
uint8_t Pilot_Init();

/**
 * @brief Get the thermistor packet
 * 
 * @param pkt       : thermistor packet pointer
 * @param seq_no    : sequence number of packet
 * @return uint8_t  : Returns 0 if successful, 1 otherwise
 */
uint8_t get_thermistor_vals(thermistor_pkt_t *pkt,uint16_t seq_no);

/**
 * @brief Function to obtain CDH peripheral health
 * 
 * @return uint8_t 
 * Bit 1(LSB)   : i2c_3
 * Bit 2        : i2c_5
 * Bit 3        : IMU
 * Bit 4        : VC Sensor I2C
 * Bit 5        : SD working
 * Bit 6		: SD card can be written to
 * Bit 7		: SD card can be read from
 * Bit 8		: The SD card is off
 */
uint8_t test_peripherals(uint8_t *sd);

/**
 * @brief Get the three axis acceleration values from the IMU
 * 
 * @param a_x 			: pointer to store the value of x axis acceleration
 * @param a_y 			: pointer to store the value of y axis acceleration
 * @param a_z 			: pointer to store the value of z axis acceleration
 * @return uint8_t 		: returns zero if successful, non zero otherwise
 */
uint8_t get_IMU_acc(uint16_t *a_x,uint16_t *a_y,uint16_t *a_z);

/**
 * @brief Get the gyroscope values from the IMU
 * 
 * @param roll_rate 	: pointer to store the roll rate 
 * @param pitch_rate 	: pointer to store the pitch rate
 * @param yaw_rate 		: pointer to store the yaw rate
 * @return uint8_t 		: returns zero if successful, non zero otherwise
 */
uint8_t get_IMU_gyro(uint16_t *roll_rate, uint16_t *pitch_rate,uint16_t *yaw_rate);

/**
 * @brief This function converts time in milli seconds to a 64 bit count value
 * 
 * @param ms 			: The time required in milliseconds
 * @param upper_count 	: pointer to store the upper 32 bits of counter
 * @param lower_count 	: pointer to store the lower 32 bits of counter
 */
void time_to_count(uint32_t ms,uint32_t *upper_count,uint32_t *lower_count);

/**
 * @brief Function to get the health of Pilot
 * 
 * @param hk_pkt 	: pointer to the hk packet structure where the data is stored
 * @param seq_no 	: the sequence number of the packet
 * @param sd_s 		: the state of the sd card needed to decide if or not to operate the sd card
 * @return uint8_t 	: returns 0 if successful, non-zero otherwise
 */
uint8_t get_hk(hk_pkt_t *hk_pkt, uint16_t seq_no,uint8_t *sd_s);

//uint8_t get_aris_vals(aris_pkt_t *pkt, uint16_t seq_no);

/**
 * @brief Get a sample of aris data
 * 
 * @param pkt 		: pointer to aris packet structure to store the data
 * @param time 		: the time of collecting the data
 * @param sample_no : the sample number of the sample
 * @return uint8_t 	: returns 0 if successful, non-zero otherwise
 */
uint8_t get_aris_sample(aris_pkt_t *pkt,uint32_t time,uint8_t sample_no);

/**
 * @brief Obtain the status of the SD card
 * 
 * @param sd 		: Pointer to the current state of the SD card. On the completion of this function, the state of the SD card is as follows:
 * Bit 1 (LSb)		: Initialised properly
 * Bit 2			: Write function working
 * Bit 3			: Read function working
 * Bit 4			: SD card is off
 * @param data 		: Testing data to be written to the SD card
 * @return uint8_t 	: returns 0
 * 0x7				: SD card can be initialised,
 */
uint8_t sd_status(uint8_t *sd,uint8_t *data);
#endif