/*
	Copyright 2017 - 2018 Danny Bokma	danny@diebie.nl
	Copyright 2019 - 2020 Kevin Dionne	kevin.dionne@ennoid.me

	This file is part of the DieBieMS/ENNOID-BMS firmware.

	The DieBieMS/ENNOID-BMS firmware is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    The DieBieMS/ENNOID-BMS firmware is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "modCommands.h"

// Private variables
static uint8_t modCommandsSendBuffer[PACKET_MAX_PL_LEN];
static void(*modCommandsSendFunction)(unsigned char *data, unsigned int len) = 0;
bool jumpBootloaderTrue;
modConfigGeneralConfigStructTypedef *modCommandsGeneralConfig;
modConfigGeneralConfigStructTypedef *modCommandsToBeSendConfig;
modConfigGeneralConfigStructTypedef  modCommandsConfigStorage;
modPowerElectronicsPackStateTypedef *modCommandsGeneralState;

void modCommandsInit(modPowerElectronicsPackStateTypedef   *generalState,modConfigGeneralConfigStructTypedef *configPointer) {
	modCommandsGeneralConfig = configPointer;
	modCommandsGeneralState  = generalState;
	jumpBootloaderTrue = false;
}

void modCommandsSetSendFunction(void(*func)(unsigned char *data, unsigned int len)) {
	modCommandsSendFunction = func;
}

void modCommandsSendPacket(unsigned char *data, unsigned int len) {
	if (modCommandsSendFunction) {
		modCommandsSendFunction(data, len);
	}
}

void modCommandsProcessPacket(unsigned char *data, unsigned int len) {
	if (!len) {
		return;
	}

	COMM_PACKET_ID packet_id;
	int32_t ind = 0;
	uint16_t flash_res;
	uint32_t new_app_offset;
	uint32_t delayTick;
	uint8_t cellPointer;
	uint8_t auxPointer;
	uint8_t expPointer;

	packet_id = (COMM_PACKET_ID) data[0];
	data++;
	len--;

	switch (packet_id) {
		case COMM_FW_VERSION:
			ind = 0;
			modCommandsSendBuffer[ind++] = COMM_FW_VERSION;
			modCommandsSendBuffer[ind++] = FW_VERSION_MAJOR;
			modCommandsSendBuffer[ind++] = FW_VERSION_MINOR;
			strcpy((char*)(modCommandsSendBuffer + ind), HW_NAME);
			ind += strlen(HW_NAME) + 1;
			memcpy(modCommandsSendBuffer + ind, STM32_UUID, 12);
			ind += 12;

			modCommandsSendPacket(modCommandsSendBuffer, ind);
			break;
		case COMM_JUMP_TO_BOOTLOADER:
			jumpBootloaderTrue = true;
			delayTick = HAL_GetTick();
			break;
		case COMM_ERASE_NEW_APP:
			ind = 0;
//ni			flash_res = modFlashEraseNewAppData(libBufferGet_uint32(data, &ind));

			ind = 0;
			modCommandsSendBuffer[ind++] = COMM_ERASE_NEW_APP;
			modCommandsSendBuffer[ind++] = flash_res == HAL_OK ? true : false;
			modCommandsSendPacket(modCommandsSendBuffer, ind);
			break;
		case COMM_WRITE_NEW_APP_DATA:
			ind = 0;
			new_app_offset = libBufferGet_uint32(data, &ind);
//ni			flash_res = modFlashWriteNewAppData(new_app_offset, data + ind, len - ind);

			ind = 0;
			modCommandsSendBuffer[ind++] = COMM_WRITE_NEW_APP_DATA;
			modCommandsSendBuffer[ind++] = flash_res == HAL_OK ? 1 : 0;
			modCommandsSendPacket(modCommandsSendBuffer, ind);
			break;
		case COMM_GET_VALUES:
			ind = 0;
			modCommandsSendBuffer[ind++] = COMM_GET_VALUES;
		
		  libBufferAppend_float32(modCommandsSendBuffer, modCommandsGeneralState->packVoltage, 1e3, &ind);
		  libBufferAppend_float32(modCommandsSendBuffer, modCommandsGeneralState->packCurrent, 1e3, &ind);
		
		  libBufferAppend_uint8(modCommandsSendBuffer, (uint8_t)round(modCommandsGeneralState->SoC), &ind);
		
		  libBufferAppend_float32(modCommandsSendBuffer, modCommandsGeneralState->cellVoltageHigh, 1e3, &ind);
		  libBufferAppend_float32(modCommandsSendBuffer, modCommandsGeneralState->cellVoltageAverage, 1e3, &ind);
		  libBufferAppend_float32(modCommandsSendBuffer, modCommandsGeneralState->cellVoltageLow, 1e3, &ind);
		  libBufferAppend_float32(modCommandsSendBuffer, modCommandsGeneralState->cellVoltageMisMatch, 1e3, &ind);
		
		  libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->loCurrentLoadVoltage, 1e1, &ind);
		  libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->loCurrentLoadCurrent, 1e1, &ind);
		
			libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->chargerVoltage, 1e1, &ind);
		
			libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->tempBatteryHigh, 1e1, &ind);
			libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->tempBatteryAverage, 1e1, &ind);
			libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->tempBatteryLow, 1e1, &ind);
			libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->tempBMSHigh, 1e1, &ind);
			libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->tempBMSAverage, 1e1, &ind);
			libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->tempBMSLow, 1e1, &ind);
			libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->humidity, 1e1, &ind);
			
			libBufferAppend_uint8(modCommandsSendBuffer, (uint8_t)modCommandsGeneralState->operationalState, &ind);
			libBufferAppend_uint8(modCommandsSendBuffer, (uint8_t)modCommandsGeneralState->chargeBalanceActive, &ind);  // Indicator for charging
			
			libBufferAppend_uint8(modCommandsSendBuffer, (uint8_t)modCommandsGeneralState->faultState, &ind);
		
			modCommandsSendBuffer[ind++] = modCommandsGeneralConfig->CANID;
			modCommandsSendPacket(modCommandsSendBuffer, ind);
		
			break;
    case COMM_GET_BMS_CELLS:
			ind = 0;
			modCommandsSendBuffer[ind++] = COMM_GET_BMS_CELLS;
		
		  libBufferAppend_uint8(modCommandsSendBuffer, modCommandsGeneralConfig->noOfCellsSeries*modCommandsGeneralConfig->noOfParallelModules, &ind);                // Cell count
		  for(cellPointer = 0; cellPointer < modCommandsGeneralConfig->noOfCellsSeries*modCommandsGeneralConfig->noOfParallelModules; cellPointer++){
				if(modCommandsGeneralState->cellVoltagesIndividual[cellPointer].cellBleedActive)
				  libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->cellVoltagesIndividual[cellPointer].cellVoltage*-1.0f, 1e3, &ind);    // Individual cells
				else
					libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->cellVoltagesIndividual[cellPointer].cellVoltage, 1e3, &ind);          // Individual cells
			}
		
			modCommandsSendBuffer[ind++] = modCommandsGeneralConfig->CANID;
			modCommandsSendPacket(modCommandsSendBuffer, ind);
			break;
		case COMM_GET_BMS_AUX:
			ind = 0;
			modCommandsSendBuffer[ind++] = COMM_GET_BMS_AUX;
		
		  libBufferAppend_uint8(modCommandsSendBuffer, modCommandsGeneralConfig->cellMonitorICCount*modCommandsGeneralConfig->noOfTempSensorPerModule, &ind);                // Total aux count
		  for(auxPointer = 0; auxPointer < modCommandsGeneralConfig->cellMonitorICCount*modCommandsGeneralConfig->noOfTempSensorPerModule; auxPointer++){
					libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->auxVoltagesIndividual[auxPointer].auxVoltage, 1e1, &ind);          // Individual aux
			}
		
			modCommandsSendBuffer[ind++] = modCommandsGeneralConfig->CANID;
			modCommandsSendPacket(modCommandsSendBuffer, ind);
			break;
		case COMM_GET_BMS_EXP_TEMP:
			ind = 0;
			modCommandsSendBuffer[ind++] = COMM_GET_BMS_EXP_TEMP;
		
		  libBufferAppend_uint8(modCommandsSendBuffer, modCommandsGeneralConfig->noOfExpansionBoard*modCommandsGeneralConfig->noOfTempSensorPerExpansionBoard, &ind);                // Total aux count
		  for(expPointer = 0; expPointer < modCommandsGeneralConfig->noOfExpansionBoard*modCommandsGeneralConfig->noOfTempSensorPerExpansionBoard; expPointer++){
					libBufferAppend_float16(modCommandsSendBuffer, modCommandsGeneralState->expVoltagesIndividual[expPointer].expVoltage, 1e1, &ind);          // Individual aux
			}
		
			modCommandsSendBuffer[ind++] = modCommandsGeneralConfig->CANID;
			modCommandsSendPacket(modCommandsSendBuffer, ind);
			break;
		case COMM_SET_MCCONF:
			ind = 0;
		  modCommandsGeneralConfig->noOfCellsSeries                = libBufferGet_uint8(data,&ind);                  // 1
		  modCommandsGeneralConfig->noOfCellsParallel              = libBufferGet_uint8(data,&ind);		               // 1
			modCommandsGeneralConfig->noOfParallelModules          	 = libBufferGet_uint8(data,&ind);		               // 1
			modCommandsGeneralConfig->batteryCapacity                = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->cellHardUnderVoltage           = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->cellHardOverVoltage            = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->cellLCSoftUnderVoltage         = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->cellSoftOverVoltage            = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->cellBalanceDifferenceThreshold = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->cellBalanceStart               = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->cellBalanceAllTime             = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->cellThrottleUpperStart         = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->cellThrottleLowerStart         = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->cellThrottleUpperMargin        = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->cellThrottleLowerMargin        = libBufferGet_float32_auto(data,&ind);           // 4
		  modCommandsGeneralConfig->packVoltageDataSource          = libBufferGet_uint8(data,&ind);                  // 1
		  modCommandsGeneralConfig->packCurrentDataSource          = libBufferGet_uint8(data,&ind);                  // 1
		  modCommandsGeneralConfig->buzzerSignalSource             = libBufferGet_uint8(data,&ind);                  // 1
		  modCommandsGeneralConfig->buzzerSignalPersistant         = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->shuntLCFactor                  = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->voltageLCFactor	               = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->voltageLCOffset                = libBufferGet_int16(data,&ind);                  // 2
			modCommandsGeneralConfig->loadVoltageFactor	             = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->loadVoltageOffset              = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->chargerVoltageFactor	         = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->chargerVoltageOffset           = libBufferGet_float32_auto(data,&ind);           // 4
		  modCommandsGeneralConfig->throttleChargeIncreaseRate     = libBufferGet_uint8(data,&ind);                  // 1
		  modCommandsGeneralConfig->throttleDisChargeIncreaseRate  = libBufferGet_uint8(data,&ind);                  // 1
		  modCommandsGeneralConfig->cellBalanceUpdateInterval      = libBufferGet_uint32(data,&ind);                 // 4
		  modCommandsGeneralConfig->maxSimultaneousDischargingCells = libBufferGet_uint8(data,&ind);                 // 1
		  modCommandsGeneralConfig->timeoutDischargeRetry          = libBufferGet_uint32(data,&ind);                 // 4
			modCommandsGeneralConfig->hysteresisDischarge            = libBufferGet_float32_auto(data,&ind);           // 4
		  modCommandsGeneralConfig->timeoutChargeRetry             = libBufferGet_uint32(data,&ind);                 // 4
			modCommandsGeneralConfig->hysteresisCharge               = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->timeoutChargeCompleted         = libBufferGet_uint32(data,&ind);                 // 4
			modCommandsGeneralConfig->timeoutChargingCompletedMinimalMismatch = libBufferGet_uint32(data,&ind);        // 4
			modCommandsGeneralConfig->maxMismatchThreshold           = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->chargerEnabledThreshold        = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->timeoutChargerDisconnected     = libBufferGet_uint32(data,&ind);                 // 4
			modCommandsGeneralConfig->minimalPrechargePercentage     = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->timeoutLCPreCharge             = libBufferGet_uint32(data,&ind);                 // 4
			modCommandsGeneralConfig->maxAllowedCurrent              = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->allowedTempBattDischargingMax  = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->allowedTempBattDischargingMin  = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->allowedTempBattChargingMax     = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->allowedTempBattChargingMin     = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->allowedTempBattCoolingMax      = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->allowedTempBattCoolingMin      = libBufferGet_float32_auto(data,&ind); 					 // 4
			modCommandsGeneralConfig->allowedTempBMSMax              = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->allowedTempBMSMin              = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->displayTimeoutBatteryDead      = libBufferGet_uint32(data,&ind);                 // 4
			modCommandsGeneralConfig->displayTimeoutBatteryError     = libBufferGet_uint32(data,&ind);                 // 4
			modCommandsGeneralConfig->displayTimeoutBatteryErrorPreCharge = libBufferGet_uint32(data,&ind);            // 4
			modCommandsGeneralConfig->displayTimeoutSplashScreen     = libBufferGet_uint32(data,&ind);                 // 4
		  modCommandsGeneralConfig->displayStyle				           = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->maxUnderAndOverVoltageErrorCount = libBufferGet_uint8(data,&ind);                // 1
			modCommandsGeneralConfig->maxUnderAndOverTemperatureErrorCount = libBufferGet_uint8(data,&ind);            // 1
			modCommandsGeneralConfig->notUsedCurrentThreshold        = libBufferGet_float32_auto(data,&ind);           // 4
			modCommandsGeneralConfig->notUsedTimeout                 = libBufferGet_uint32(data,&ind);                 // 4
			modCommandsGeneralConfig->stateOfChargeStoreInterval     = libBufferGet_uint32(data,&ind);                 // 4
			modCommandsGeneralConfig->stateOfChargeMethod            = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->CANID                          = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->CANIDStyle                     = libBufferGet_uint8(data,&ind);                  // 1
      modCommandsGeneralConfig->canBusSpeed                    = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->emitStatusOverCAN              = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->emitStatusProtocol             = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->tempEnableMaskBMS              = libBufferGet_uint32(data,&ind);                 // 4
			modCommandsGeneralConfig->tempEnableMaskBattery          = libBufferGet_uint32(data,&ind);                 // 4
			modCommandsGeneralConfig->tempEnableMaskExpansion        = libBufferGet_uint32(data,&ind);                 // 4
			modCommandsGeneralConfig->noOfTempSensorPerModule        = libBufferGet_uint8(data,&ind);		               // 1
			modCommandsGeneralConfig->noOfExpansionBoard						 = libBufferGet_uint8(data,&ind);		               // 1
			modCommandsGeneralConfig->noOfTempSensorPerExpansionBoard= libBufferGet_uint8(data,&ind);		               // 1
		  modCommandsGeneralConfig->LCUseDischarge                 = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->LCUsePrecharge                 = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->allowChargingDuringDischarge   = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->allowForceOn                   = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->pulseToggleButton              = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->useCANSafetyInput              = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->useCANDelayedPowerDown         = libBufferGet_uint8(data,&ind);                  // 1
			modCommandsGeneralConfig->NTCTopResistor[modConfigNTCGroupLTCExt]         = libBufferGet_uint32(data,&ind);// 4
			modCommandsGeneralConfig->NTC25DegResistance[modConfigNTCGroupLTCExt]     = libBufferGet_uint32(data,&ind);// 4
			modCommandsGeneralConfig->NTCBetaFactor[modConfigNTCGroupLTCExt]          = libBufferGet_uint16(data,&ind);// 2
			modCommandsGeneralConfig->NTCTopResistor[modConfigNTCGroupMasterPCB]      = libBufferGet_uint32(data,&ind);// 4
			modCommandsGeneralConfig->NTC25DegResistance[modConfigNTCGroupMasterPCB]  = libBufferGet_uint32(data,&ind);// 4
			modCommandsGeneralConfig->NTCBetaFactor[modConfigNTCGroupMasterPCB]       = libBufferGet_uint16(data,&ind);// 2
			modCommandsGeneralConfig->NTCTopResistor[modConfigNTCGroupExp]     				= libBufferGet_uint32(data,&ind);// 4
			modCommandsGeneralConfig->NTC25DegResistance[modConfigNTCGroupExp]  			= libBufferGet_uint32(data,&ind);// 4
			modCommandsGeneralConfig->NTCBetaFactor[modConfigNTCGroupExp]       			= libBufferGet_uint16(data,&ind);// 2
			modCommandsGeneralConfig->cellMonitorType                                 = libBufferGet_uint8(data,&ind); // 1
			modCommandsGeneralConfig->cellMonitorICCount                              = libBufferGet_uint8(data,&ind); // 1
			modCommandsGeneralConfig->externalEnableOperationalState                  = libBufferGet_uint8(data,&ind); // 1
			modCommandsGeneralConfig->chargeEnableOperationalState                    = libBufferGet_uint8(data,&ind); // 1
			modCommandsGeneralConfig->powerDownDelay                                  = libBufferGet_uint32(data,&ind);// 4
			modCommandsGeneralConfig->humidityICType                                  = libBufferGet_uint8(data,&ind); // 1

			ind = 0;
			modCommandsSendBuffer[ind++] = packet_id;
			modCommandsSendPacket(modCommandsSendBuffer, ind);

			modconfigHardwareLimitsApply(modCommandsGeneralConfig);
		
			break;
		case COMM_GET_MCCONF:
		case COMM_GET_MCCONF_DEFAULT:
      if(packet_id == COMM_GET_MCCONF_DEFAULT){
				modConfigLoadDefaultConfig(&modCommandsConfigStorage);
				modCommandsToBeSendConfig = &modCommandsConfigStorage;
			}else{
				modCommandsToBeSendConfig = modCommandsGeneralConfig;
			}
		
      ind = 0;
		  modCommandsSendBuffer[ind++] = packet_id;
		  
		  libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->noOfCellsSeries                 ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->noOfCellsParallel               ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->noOfParallelModules             ,&ind); // 1
		  libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->batteryCapacity                 ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->cellHardUnderVoltage            ,&ind); // 4
		  libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->cellHardOverVoltage             ,&ind); // 4
		  libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->cellLCSoftUnderVoltage          ,&ind); // 4
		  libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->cellSoftOverVoltage             ,&ind); // 4
		  libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->cellBalanceDifferenceThreshold  ,&ind); // 4
		  libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->cellBalanceStart                ,&ind); // 4
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->cellBalanceAllTime              ,&ind); // 1
		  libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->cellThrottleUpperStart          ,&ind); // 4
		  libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->cellThrottleLowerStart          ,&ind); // 4
		  libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->cellThrottleUpperMargin         ,&ind); // 4
		  libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->cellThrottleLowerMargin         ,&ind); // 4
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->packVoltageDataSource           ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->packCurrentDataSource           ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->buzzerSignalSource              ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->buzzerSignalPersistant          ,&ind); // 1
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->shuntLCFactor                   ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->voltageLCFactor                 ,&ind); // 4
			libBufferAppend_int16(        modCommandsSendBuffer,modCommandsToBeSendConfig->voltageLCOffset                 ,&ind); // 2
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->loadVoltageFactor               ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->loadVoltageOffset               ,&ind); // 4
		  libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->chargerVoltageFactor            ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->chargerVoltageOffset            ,&ind); // 4
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->throttleChargeIncreaseRate      ,&ind); // 1
		  libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->throttleDisChargeIncreaseRate   ,&ind); // 1
		  libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->cellBalanceUpdateInterval       ,&ind); // 4
		  libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->maxSimultaneousDischargingCells ,&ind); // 1
		  libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->timeoutDischargeRetry           ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->hysteresisDischarge             ,&ind); // 4
		  libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->timeoutChargeRetry              ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->hysteresisCharge                ,&ind); // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->timeoutChargeCompleted          ,&ind); // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->timeoutChargingCompletedMinimalMismatch,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->maxMismatchThreshold            ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->chargerEnabledThreshold         ,&ind); // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->timeoutChargerDisconnected      ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->minimalPrechargePercentage      ,&ind); // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->timeoutLCPreCharge              ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->maxAllowedCurrent               ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->allowedTempBattDischargingMax   ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->allowedTempBattDischargingMin   ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->allowedTempBattChargingMax      ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->allowedTempBattChargingMin      ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->allowedTempBattCoolingMax       ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->allowedTempBattCoolingMin       ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->allowedTempBMSMax               ,&ind); // 4
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->allowedTempBMSMin               ,&ind); // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->displayTimeoutBatteryDead       ,&ind); // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->displayTimeoutBatteryError      ,&ind); // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->displayTimeoutBatteryErrorPreCharge,&ind);//4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->displayTimeoutSplashScreen      ,&ind); // 4
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->displayStyle				           ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->maxUnderAndOverVoltageErrorCount,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->maxUnderAndOverTemperatureErrorCount,&ind); // 1
			libBufferAppend_float32_auto( modCommandsSendBuffer,modCommandsToBeSendConfig->notUsedCurrentThreshold         ,&ind); // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->notUsedTimeout                  ,&ind); // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->stateOfChargeStoreInterval      ,&ind); // 4
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->stateOfChargeMethod             ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->CANID                           ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->CANIDStyle                      ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->canBusSpeed                     ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->emitStatusOverCAN               ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->emitStatusProtocol              ,&ind); // 1
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->tempEnableMaskBMS               ,&ind); // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->tempEnableMaskBattery           ,&ind); // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->tempEnableMaskExpansion         ,&ind); // 4
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->noOfTempSensorPerModule         ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->noOfExpansionBoard 						 ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->noOfTempSensorPerExpansionBoard ,&ind); // 1
		  libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->LCUseDischarge                  ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->LCUsePrecharge                  ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->allowChargingDuringDischarge    ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->allowForceOn                    ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->pulseToggleButton               ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->useCANSafetyInput               ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->useCANDelayedPowerDown          ,&ind); // 1
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->NTCTopResistor[modConfigNTCGroupLTCExt],&ind);        // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->NTC25DegResistance[modConfigNTCGroupLTCExt],&ind);    // 4
			libBufferAppend_uint16(       modCommandsSendBuffer,modCommandsToBeSendConfig->NTCBetaFactor[modConfigNTCGroupLTCExt],&ind);         // 2
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->NTCTopResistor[modConfigNTCGroupMasterPCB],&ind);     // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->NTC25DegResistance[modConfigNTCGroupMasterPCB],&ind); // 4
			libBufferAppend_uint16(       modCommandsSendBuffer,modCommandsToBeSendConfig->NTCBetaFactor[modConfigNTCGroupMasterPCB],&ind);      // 2
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->NTCTopResistor[modConfigNTCGroupExp],&ind);     // 4
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->NTC25DegResistance[modConfigNTCGroupExp],&ind); // 4
			libBufferAppend_uint16(       modCommandsSendBuffer,modCommandsToBeSendConfig->NTCBetaFactor[modConfigNTCGroupExp],&ind);      // 2
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->cellMonitorType                 ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->cellMonitorICCount              ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->externalEnableOperationalState  ,&ind); // 1
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->chargeEnableOperationalState    ,&ind); // 1	
			libBufferAppend_uint32(       modCommandsSendBuffer,modCommandsToBeSendConfig->powerDownDelay                  ,&ind); // 4
			libBufferAppend_uint8(        modCommandsSendBuffer,modCommandsToBeSendConfig->humidityICType		               ,&ind); // 1
			
		  modCommandsSendPacket(modCommandsSendBuffer, ind);
			break;
		case COMM_TERMINAL_CMD:
		  data[len] = '\0';
		  modTerminalProcessString((char*)data);
			break;
		case COMM_REBOOT:
			modCommandsJumpToMainApplication();
			break;
		case COMM_ALIVE:
			break;
		case COMM_FORWARD_CAN:
//ni			modCANSendBuffer(data[0], data + 1, len - 1, false);
			break;
		case COMM_STORE_BMS_CONF:
			modConfigStoreConfig();
		
			ind = 0;
			modCommandsSendBuffer[ind++] = packet_id;
			modCommandsSendPacket(modCommandsSendBuffer, ind);
			break;
		default:
			break;
	}
	
	if(modDelayTick1ms(&delayTick,1000) && jumpBootloaderTrue);
//ni		modFlashJumpToBootloader();
}

void modCommandsPrintf(const char* format, ...) {
	va_list arg;
	va_start (arg, format);
	int len;
	static char print_buffer[255];

	print_buffer[0] = COMM_PRINT;
	len = vsnprintf(print_buffer+1, 254, format, arg);
	va_end (arg);

	if(len > 0) {
		modCommandsSendPacket((unsigned char*)print_buffer, (len<254)? len+1: 255);
	}
}


void modCommandsJumpToMainApplication(void) {
	NVIC_SystemReset();
}
