Space
/
DORA_lv
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Dependencies: mbed
Diff: main.cpp
- Revision:
- 1:00cee5df0f76
- Parent:
- 0:8f7c961a5966
- Child:
- 2:155d07b145c6
--- a/main.cpp Thu Jun 30 08:34:30 2022 +0000
+++ b/main.cpp Fri Jul 15 14:00:59 2022 +0000
@@ -1,652 +1,583 @@
+
+// in data 13/07/2022 abbiamo testato spacecraft-mima avendo come spacecraft
+// la seriale che parla su STM, mentre mima l'usb del pc
+
// Librerie
#include "mbed.h"
#include <math.h>
#include <string.h>
#include <stdlib.h>
-#include "tlc_tlm_list.h"
+#include <stdbool.h>
// Macros
-#define cmd_num 32
-#define buf_max_size 512
-#define tlc_to_tx 16
-#define tlm_size 16
-#define tlm_hsk_size 912
-#define tlm_hsk_sd_size 90608
-#define identifier_field 5
-#define max31865_buf_size 13
-#define channel_size 5
-#define size 1
+#define PACKETDIM 15 // temperature
+#define word 1
+#define packet 2 // 2 bytes
+#define hsk_buf 113
+#define hsk_rx 114 // 114 bytes - 57 telemetry words(housekeeping)
+#define hsk_sd_buf 11211
+#define hsk_sd 11212 // 11212 bytes - 5606 interferogram data words
+#define channel_size 10 // temeprature channel from sen30202
// Serial e periferiche
-Serial spacecraft(USBTX, USBRX);
+Serial spacecraft(USBTX, USBRX); // switchare questo e le print con mima
Serial mima(PC_4, PC_5);
-Serial max31865(PA_9, PA_10);
-
-// Buffer
-volatile int sizeBuffer;
-int CMD[cmd_num];
-char TLM[tlm_size];
-char TLM_HSK[tlm_hsk_size];
-char TLM_HSK_SD[tlm_hsk_sd_size];
-char tlc_rx[buf_max_size];
-char caRxPacket[max31865_buf_size];
-char tempCH1[channel_size];
-char tempCH2[channel_size];
-char CH1_to_string[2*channel_size];
-char CH2_to_string[2*channel_size];
-
-// L16 Actuonix - Relay (spare commands)
-PwmOut M1 (PA_6);
-PwmOut M2 (PA_8);
+Serial max31865(PA_0, PA_1);
+// L16 Actuonix:
+PwmOut actuonix (PB_3);
+float offset;
+// Relay: configurazione pull-up
DigitalOut Relay5V (PA_7);
DigitalOut Relay12V (PB_4);
DigitalOut Relay24V (PB_5);
DigitalOut Relay15_15_5V (PB_10);
-float offset = 0.0f;
+
+// Buffer: telecommand
+volatile int rxTlcPtr; // telecommand receiving buffer
+int rxTlcDataCounter = 0;
+char rx_TLC[word+1]; // buffer
+char data_TLC[word+1]; // telecommand
+
+// Buffer: standard telemetry
+volatile int rxTlmPtr;
+int rxTlmDataCounter = 0;
+char rx_TLM[word+1]; // buffer
+char data_TLM[word+1]; // standard telemetry
+
+// Buffer: TLMODE telemetry option 1
+volatile int rxTlmOpt1Ptr;
+int rxTlmOpt1DataCounter = 0;
+char rx_TLMOpt1[hsk_buf+1];
+char data_TLMOpt1[hsk_buf+1];
+
+// Buffer: TLMODE telemetry option 1
+volatile int rxTlmOpt2Ptr;
+int rxTlmOpt2DataCounter = 0;
+char rx_TLMOpt2[hsk_sd_buf+1];
+char data_TLMOpt2[hsk_sd_buf+1];
// Timer
-Timer timer;
-float TIMEOUT = 10, tTimeStart, tTimeStop, tTimeRead;
+Timer timer; // telecommand
+Timer rx; // rx window
+float rxWindow = 300 /* seconds */, rxTimeStart, rxTimeStop, rxTimeRead;
+float TIMEOUT = 10 /* seconds */, tTimeStart, tTimeStop, tTimeRead;
-// Vars definitions
-int temperature_flag;
-volatile int payload_to_dec;
-volatile int tlmode_option_1;
-volatile int tlmode_option_2;
-volatile int commandId;
-volatile int nRxCharCount;
-volatile int tlc_rx_length;
-volatile int checkZerosIndex, checkOnesIndex;
-volatile float CH1, CH2;
-volatile int increment_read;
-volatile int indexJ, indexT;
+// TLMODE
+volatile int tlmode_option_1, tlmode_option_2, tlmode_tlm;
+volatile bool TlcSend;
-// Functions
+// SC-MIMA communication: TX/RX
void RxTelecommand();
void TxTelecommand();
void RxTelemetry();
void TxTelemetry();
-void TxTemperature();
-void RxTemperature();
-void SpareCommand(int command);
-void printMyArray(Telecommand *myArray);
+// System utility
void clearBuffer(char *arr, int arrLen);
-void checksum_tlc(Telecommand *toCheck_tlc);
-void checksum_tlm(Telemetry *toCheck_tlm);
-int BinToDec(int t, int dim, char *a);
+
+// Temperature settings
+char tempCH1[channel_size];
+char tempCH2[channel_size];
+volatile int j; // first channel index
+volatile int t; // second channel index
+volatile char caRxPacket[PACKETDIM]; // temperature buffer
+volatile char nRxCharCount; // temperature char counter
+
+// Routines dedicate alla ricezione di dati della temperatura (Pt100)
+void SerialeRxInterrupt(void)
+{
+ char cReadChar;
+ while((max31865.readable()))
+ {
+ cReadChar = max31865.getc();
+ nRxCharCount++;
+ caRxPacket[nRxCharCount] = cReadChar;
+ }
+
+ if (nRxCharCount == PACKETDIM) // if it reaches max -> reset
+ {
+ nRxCharCount = 0;
+ }
+}
// Main
int main()
{
// Baudrate
spacecraft.baud(115200);
+ //spacecraft.baud(9600);
mima.baud(9600);
+ //mima.baud(115200);
max31865.baud(115200);
- // Interrupts
- spacecraft.attach(&RxTelecommand, Serial::RxIrq);
- //max31865.attach(&RxTemperature, Serial::RxIrq);
+ // Diagnostica
+ spacecraft.printf(" Avvio Spacecraft... \n\r");
+ //mima.printf(" Avvio MIMA... \n\r");
- while (true)
+ // Setup per temperatura
+ int nIndex;
+ nRxCharCount = 0;
+ for(nIndex = 0; nIndex < PACKETDIM; nIndex++)
{
- /**********************************************************************
- RICEZIONE DEI DATI DI TEMPERATURA
- **********************************************************************/
-
- if ((commandId == 0) && (payload_to_dec == 32) && (temperature_flag == 1))
- {
- TxTemperature();
- increment_read++;
-
- if (increment_read == 40)
- {
- temperature_flag = 0;
- }
- }
-
- /**********************************************************************
- RICEZIONE DI TELEMETRIE DA MIMA
- **********************************************************************/
-
- // Scrittura del telecomando
- cmd00[(size-1)].PAYLOAD = "00000000";
- if (cmd00[(size-1)].PAYLOAD != '\0')
- {
- checksum_tlc(&cmd00[(size-1)]);
- printMyArray(&cmd00[(size-1)]);
- }
-
- // In arrivo da periferica mima
- sizeBuffer = 0; // reset
- clearBuffer(TLM, sizeof(TLM)/sizeof(TLM[0]));
- clearBuffer(TLM_HSK, sizeof(TLM_HSK)/sizeof(TLM_HSK[0]));
- clearBuffer(TLM_HSK_SD, sizeof(TLM_HSK_SD)/sizeof(TLM_HSK_SD[0]));
-
+ caRxPacket[nIndex] = 0;
+ }
+
+ // Setup per Actuonix L16
+ actuonix.period_us(1000);
+ offset = actuonix.read();
+
+ // Setup per Relay: 1 = OFF (1->OFF, 0->ON)
+ Relay5V = 1;
+ Relay12V = 1;
+ Relay15_15_5V = 1;
+ Relay24V = 1;
+
+ // Bool flags
+ TlcSend = false;
+
+ // Interrupt routine
+ max31865.attach(&SerialeRxInterrupt, Serial::RxIrq);
+ spacecraft.attach(&RxTelecommand, Serial::RxIrq);
+ mima.attach(&RxTelemetry, Serial::RxIrq);
+
+ // Main loop
+ while (true)
+ {
+ // Telecommand
timer.start();
- tTimeStart = timer.read();
+ tTimeStart = timer.read(); // in secondi
tTimeRead = tTimeStart;
- // Interrupt: entra nella routine quando riceve dalla seriale
- mima.attach(&RxTelemetry, Serial::RxIrq);
-
- // Diagnostica del pacchetto ricevuto
- if (commandId == 5)
+ while ((rxTlcPtr < packet) && ((tTimeRead - tTimeStart) < TIMEOUT))
{
- /* Ricezione di tutte le telemetrie. 57 parole da 16 bit contenenti
- tutte le telemetrie di tipo HOUSEKEEPING. */
- if (tlmode_option_1 == 0)
+ tTimeRead = timer.read();
+ }
+
+ timer.stop();
+
+ if ((rxTlcPtr == packet) && ((tTimeRead - tTimeStart) < TIMEOUT))
+ {
+ __disable_irq(); // disable interrupts so data doesn't arrive while we are doing this
+ memcpy(data_TLC, rx_TLC, rxTlcPtr);
+ rxTlcDataCounter = rxTlcPtr;
+ rxTlcPtr = 0;
+ //__enable_irq(); // re-enable interrupts
+
+ data_TLC[1] = data_TLC[1] >> 1; // read payload data ignoring the LSB
+
+ spacecraft.printf("\n\r .... Telecomando ricevuto su DORA! \n\r");
+
+ for (int i = 0; i < sizeof(data_TLC)/sizeof(char); i++)
{
- while ((sizeBuffer < tlm_hsk_size) && ((tTimeRead - tTimeStart) < TIMEOUT))
+ spacecraft.printf("> Carattere: %f \n\r", (float)data_TLC[i]);
+ }
+
+ data_TLC[rxTlcDataCounter] = 0; // add a null just in case the received data didn't have one at the end
+
+ // hw control: set-point init
+ offset = 0;
+
+ // RX settings
+ if (((float)data_TLC[0] != 40) || ((float)data_TLC[0] != 41))
+ {
+ tlmode_option_1 = 1;
+ tlmode_option_2 = 1;
+ tlmode_tlm = 0;
+ }
+
+ // L16 setpoint
+ if ((float)data_TLC[0] == 0)
+ {
+ offset = (float)data_TLC[1];
+ offset = offset/100;
+ actuonix.write(offset);
+ }
+ // Temperature request
+ else if (((float)data_TLC[0] == 16) && ((float)data_TLC[1] == 32))
+ {
+ // Cleaning buffers
+ clearBuffer(tempCH1, sizeof(tempCH1)/sizeof(char));
+ clearBuffer(tempCH2, sizeof(tempCH2)/sizeof(char));
+
+ // Index setup
+ nRxCharCount = 0;
+ int y = 0, u = 0;
+ t = 0; j = 0;
+
+ for (int i = 0; i < PACKETDIM; i++)
{
- tTimeRead = timer.read();
- }
+ if (caRxPacket[i] == 'S')
+ {
+ j = i + 1;
+
+ while (j < PACKETDIM)
+ {
+ if (caRxPacket[j] == ';')
+ {
+ break;
+ }
+ else
+ {
+ tempCH1[y++] = caRxPacket[j];
+ }
+
+ j++;
+ }
+
+ t = j + 1;
- timer.stop();
-
- if ((tTimeRead - tTimeStart) >= TIMEOUT)
+ while (t < PACKETDIM)
+ {
+ if (caRxPacket[t] == 'P')
+ {
+ break;
+ }
+ else
+ {
+ tempCH2[u++] = caRxPacket[t];
+ }
+ t++;
+ }
+ break;
+ }
+ }
+ // Send
+ spacecraft.puts(tempCH1);
+ spacecraft.puts(";");
+ spacecraft.puts(tempCH2);
+ }
+ else if (((float)data_TLC[0] == 121) && ((float)data_TLC[1] == 42))
+ {
+ Relay5V = 1;
+ Relay12V = 1;
+ Relay15_15_5V = 1;
+ Relay24V = 1;
+ }
+ else if (((float)data_TLC[0] == 120) && ((float)data_TLC[1] == 85))
+ {
+ Relay5V = 0;
+ Relay12V = 0;
+ Relay15_15_5V = 0;
+ Relay24V = 0;
+ }
+ else if (((float)data_TLC[0] == 120)) // Relay
+ {
+ if (((float)data_TLC[1] == 0))
{
- sizeBuffer = 0;
- clearBuffer(TLM_HSK, tlm_hsk_size);
+ Relay12V = 1;
+ }
+ else if (((float)data_TLC[1] == 1))
+ {
+ Relay12V = 0;
+ // since the linear actuator is driven by 12V power
+ offset = actuonix.read();
+ actuonix.write(offset);
+ }
+ else if (((float)data_TLC[1] == 2))
+ {
+ Relay5V = 1;
}
- else
+ else if (((float)data_TLC[1] == 3))
+ {
+ Relay5V = 0;
+ }
+ else if (((float)data_TLC[1] == 6))
+ {
+ Relay15_15_5V = 1;
+ }
+ else if (((float)data_TLC[1] == 7))
{
- TxTelemetry();
+ Relay15_15_5V = 0;
+ }
+ else if (((float)data_TLC[1] == 8))
+ {
+ Relay24V = 1;
+ }
+ else if (((float)data_TLC[1] == 15))
+ {
+ Relay24V = 0;
}
}
- /* Ricezione di tutte le telemetrie e dati scientifici
- 5663 parole da 16 bit così strutturate: 57 HSKP data packets,
- 5606 di scientific data dell'interferometro su MIMA, */
- else if (tlmode_option_2 == 0)
+ else if (((float)data_TLC[0] == 40) && ((float)data_TLC[1] == 24))
+ {
+ tlmode_option_1 = 0;
+ tlmode_option_2 = 1;
+ tlmode_tlm = 1;
+ rxTlmPtr = 0;
+ rxTlmOpt1Ptr = 0;
+ rxTlmOpt2Ptr = 0;
+ spacecraft.printf("> Sono entrato in TLMODE 1 \n\r");
+ }
+ else if (((float)data_TLC[0] == 41) && ((float)data_TLC[1] == 127))
+ {
+ tlmode_option_2 = 0;
+ tlmode_option_1 = 1;
+ tlmode_tlm = 1;
+ rxTlmPtr = 0;
+ rxTlmOpt1Ptr = 0;
+ rxTlmOpt2Ptr = 0;
+ spacecraft.printf("> Sono entrato in TLMODE 2 \n\r");
+ }
+ // Reset global vars
+ else if (((float)data_TLC[0] == 241) && ((float)data_TLC[1] == 127))
{
- while ((sizeBuffer < tlm_hsk_sd_size) && ((tTimeRead - tTimeStart) < TIMEOUT))
+ nRxCharCount = 0;
+ rxTlcPtr = 0;
+ rxTlmOpt1Ptr = 0;
+ rxTlmOpt2Ptr = 0;
+ rxTlcDataCounter = 0;
+ rxTlmOpt1DataCounter = 0;
+ rxTlmOpt2DataCounter = 0;
+ tlmode_tlm = 1;
+ tlmode_option_1 = 1;
+ tlmode_option_2 = 1;
+
+ for(nIndex = 0; nIndex < PACKETDIM; nIndex++)
{
- tTimeRead = timer.read();
- }
+ caRxPacket[nIndex] = 0;
+ }
+
+ clearBuffer(data_TLC, sizeof(data_TLC)/sizeof(char));
+ clearBuffer(data_TLM, sizeof(data_TLM)/sizeof(char));
+ clearBuffer(data_TLMOpt1, sizeof(data_TLMOpt1)/sizeof(char));
+ clearBuffer(data_TLMOpt2, sizeof(data_TLMOpt2)/sizeof(char));
+
+ spacecraft.printf(".... Reset variabili effettuato! \n\r");
+ }
+
+ // Send after setting flags and clear
+ TxTelecommand();
+ spacecraft.printf(".... Telecomando inviato a MIMA ....");
+ __enable_irq(); // *********************************************************************
+ clearBuffer(rx_TLC, sizeof(rx_TLC)/sizeof(char));
+ clearBuffer(data_TLC, sizeof(data_TLC)/sizeof(char));
+
+ spacecraft.printf(".... Ho ripulito i buffer di ricezione TLC .... \n\r");
+
+ /* *********************************************************** */
+
+ //__disable_irq(); // da lavorare su queste chiamate perché se da un lato prevengono
+ // blocco del telecomando durante ricezione, dall'altro impediscono al comando di telemetria di ricevere
+
+ if ((TlcSend) && (tlmode_option_1 == 1) && (tlmode_option_2 == 1) && (tlmode_tlm == 0))
+ {
+ clearBuffer(data_TLM, sizeof(data_TLM)/sizeof(char));
- timer.stop();
-
- if ((tTimeRead - tTimeStart) >= TIMEOUT)
+ // Standard telemetry frame
+ rx.start();
+ rxTimeStart = rx.read();
+ rxTimeRead = rxTimeStart;
+
+ while ((rxTlmPtr < packet) && ((rxTimeRead - rxTimeStart) < rxWindow))
{
- sizeBuffer = 0;
- clearBuffer(TLM_HSK_SD, tlm_hsk_sd_size);
+ rxTimeRead = rx.read();
+ }
+
+ rx.stop();
+
+ if ((rxTlmPtr == packet) && ((rxTimeRead - rxTimeStart) < rxWindow))
+ {
+ __disable_irq();
+ memcpy(data_TLM, rx_TLM, rxTlmPtr);
+ rxTlmDataCounter = rxTlmPtr;
+ rxTlmPtr = 0;
+ //__enable_irq();
+
+ data_TLM[rxTlmDataCounter] = 0;
+
+ TxTelemetry();
+ __enable_irq(); // ***************************************************
+ spacecraft.printf("\n\r Ricevuto Telemetry Standard \n\r");
+
}
- else
+ else if ((rxTimeRead - rxTimeStart) >= rxWindow)
{
- TxTelemetry();
+ spacecraft.printf("\n\r !!! Scattato il timeout in Telemetry !!! \n\r");
+ rxTlmPtr = 0;
+ for (int i = 0; i < packet; i++)
+ {
+ rx_TLM[i] = '\0';
+ data_TLM[i] = '\0';
+ }
+ } // end-else-if:telecommand-send+timeout
+
+ TlcSend = false;
+ } // end-if-send-telecommand
+ else if ((TlcSend) && (tlmode_option_1 == 0) && (tlmode_option_2 == 1) && (tlmode_tlm == 1))
+ {
+ spacecraft.printf("\n\r > Sono entrato in TLMODE 1 - TX Telemetry \n\r");
+ clearBuffer(data_TLMOpt1, sizeof(data_TLMOpt1)/sizeof(char));
+
+ rx.start();
+ rxTimeStart = rx.read();
+ rxTimeRead = rxTimeStart;
+
+ while ((rxTlmOpt1Ptr < hsk_rx) && ((rxTimeRead - rxTimeStart) < rxWindow))
+ {
+ rxTimeRead = rx.read();
}
- }
- }
- /* Ricezione di un dato di telemetria da 16 bit. */
- else
- {
- while ((sizeBuffer < tlm_size) && ((tTimeRead - tTimeStart) < TIMEOUT))
- {
- tTimeRead = timer.read();
- }
+
+ rx.stop();
+
+ if ((rxTlmOpt1Ptr == hsk_rx) && ((rxTimeRead - rxTimeStart) < rxWindow))
+ {
+ __disable_irq();
+ memcpy(data_TLMOpt1, rx_TLMOpt1, rxTlmOpt1Ptr);
+ rxTlmOpt1DataCounter = rxTlmOpt1Ptr;
+ rxTlmOpt1Ptr = 0;
+ //__enable_irq();
+
+ data_TLMOpt1[rxTlmOpt1DataCounter] = 0;
+
+ TxTelemetry();
+ __enable_irq(); // ***************************************************
+ spacecraft.printf("\n\r > Ricevuto Telemetry Opt 1 \n\r");
+
+ }
+ else if ((rxTimeRead - rxTimeStart) >= rxWindow)
+ {
+ mima.printf("\n\r !!! Scattato il timeout in Telemetry Opt 1 !!! \n\r");
+ rxTlmOpt1Ptr = 0;
+ for (int i = 0; i < packet; i++)
+ {
+ rx_TLMOpt1[i] = '\0';
+ data_TLMOpt1[i] = '\0';
+ }
+ }
+ TlcSend = false;
+ } // end-else-if-send-telecommand
+ else if ((TlcSend) && (tlmode_option_1 == 1) && (tlmode_option_2 == 0) && (tlmode_tlm == 1))
+ {
+ spacecraft.printf("\n\r > Sono entrato in TLMODE 2 - TX Telemetry \n\r");
+ clearBuffer(data_TLMOpt2, sizeof(data_TLMOpt2)/sizeof(char));
+
+ rx.start();
+ rxTimeStart = rx.read();
+ rxTimeRead = rxTimeStart;
+
+ while ((rxTlmOpt2Ptr < hsk_sd) && ((rxTimeRead - rxTimeStart) < rxWindow))
+ {
+ rxTimeRead = rx.read();
+ }
+
+ rx.stop();
+
+ if ((rxTlmOpt2Ptr == hsk_sd) && ((rxTimeRead - rxTimeStart) < rxWindow))
+ {
+ __disable_irq();
+ memcpy(data_TLMOpt2, rx_TLMOpt2, rxTlmOpt2Ptr);
+ rxTlmOpt2DataCounter = rxTlmOpt2Ptr;
+ rxTlmOpt2Ptr = 0;
+ //__enable_irq();
+
+ data_TLMOpt2[rxTlmOpt2DataCounter] = 0;
+
+ TxTelemetry();
+ __enable_irq(); // ***************************************************
+ spacecraft.printf("\n\r Ricevuto Telemetry Opt 2 \n\r");
- timer.stop();
-
- if ((tTimeRead - tTimeStart) >= TIMEOUT)
+ }
+ else if ((rxTimeRead - rxTimeStart) >= rxWindow)
+ {
+ spacecraft.printf("\n\r !!! Scattato il timeout in Telemetry Opt 2 !!! \n\r");
+ rxTlmOpt2Ptr = 0;
+ for (int i = 0; i < packet; i++)
+ {
+ rx_TLMOpt2[i] = '\0';
+ data_TLMOpt2[i] = '\0';
+ }
+ }
+ TlcSend = false;
+ } // end-2nd-else-if-send-telecommand
+
+ spacecraft.printf("\n\r .... Ho inviato il telecomando entro la finestra di timeout .... \n\r");
+ spacecraft.printf(" *************************************** \n\r");
+
+ //__enable_irq();
+
+ } // end-if:telecommand
+ else if ((tTimeRead - tTimeStart) >= TIMEOUT)
+ {
+ rxTlcPtr = 0;
+ for (int i = 0; i < packet; i++)
{
- sizeBuffer = 0;
- clearBuffer(TLM, tlm_size);
+ rx_TLC[i] = '\0';
+ data_TLC[i] = '\0';
}
- else
- {
- TxTelemetry();
- }
+
+ spacecraft.printf(" .... Telecomando non inviato: timeout, riprovare! \n\r");
+ } // end-else-if:telecommand+timeout
+ } // end-while:true
+} // end-Main
+
+
+/* ************************************************************* */
+/* ******** SYSTEM INTERRPUTS MANAGEMENT AND FUNCTIONS ********* */
+/* ************************************************************* */
+
+// Interrupt: DORA receives a byte from Spacecraft
+void RxTelecommand()
+{
+ char txChar;
+ while (spacecraft.readable())
+ {
+ txChar = spacecraft.getc();
+ rx_TLC[rxTlcPtr++] = txChar;
+ }
+}
+
+// Interrupt: DORA receives a byte from MIMA
+void RxTelemetry()
+{
+ char rxChar;
+ while (mima.readable())
+ {
+ rxChar = mima.getc();
+
+ if (tlmode_tlm == 0) // Standard telemetry message
+ {
+ rx_TLM[rxTlmPtr++] = rxChar;
+ }
+ else if (tlmode_option_1 == 0) // TLMODE 1 (all housekeeping telemetries)
+ {
+ rx_TLMOpt1[rxTlmOpt1Ptr++] = rxChar;
+ }
+ else if (tlmode_option_2 == 0) // TLMODE 2 (hsk+scientific data)
+ {
+ rx_TLMOpt2[rxTlmOpt2Ptr++] = rxChar;
}
}
}
-
-/* Gestione delle routine di ricezione e trasmissione del driver */
-
-// DORA riceve telecomando da Space/craft
-void RxTelecommand()
+// Once received a full telecommand frame, send it to MIMA
+void TxTelecommand()
{
- while (spacecraft.readable())
- {
- clearBuffer(tlc_rx, sizeof(tlc_rx) / sizeof(tlc_rx[0]));
- spacecraft.gets(tlc_rx, sizeof(tlc_rx));
- tlc_rx_length = strlen(tlc_rx) - 2; // rimozione tag di NR
-
- if (tlc_rx_length == tlc_to_tx)
- {
- int bit_B0 = 0, bit_B7 = 7, k = 0;
- commandId = 0; // init
- payload_to_dec = 0; // init
-
- commandId = BinToDec(bit_B0, identifier_field, tlc_rx);
- payload_to_dec = BinToDec(bit_B7, (tlc_to_tx - 1), tlc_rx);
-
- k = commandId;
-
- if (k == 2 || k == 15 || k == 30)
- {
- // Spare
- break;
- }
-
- /* Gestiione della lettura della temperatura */
- else if ((k == 0) && (tlc_rx[5] == '0') && (tlc_rx[6] == '0') && (payload_to_dec == 32))
- {
- temperature_flag = 1;
- break;
- }
-
- /* Gestione delle perifieriche HW: relay, attuatori, alimentazione */
- else if ((k == 0) && (tlc_rx[5] == '0') && (tlc_rx[6] == '0'))
- {
- //SpareCommand(payload_to_dec);
- break;
- }
- else if (k == 5)
- {
- /* Istruzione che serve a scorrere il Payload e a settare un determinato flag
- per consentire a DORA di aprire o meno determinati canali di comunicazione
- (buffer da riempire). */
- checkZerosIndex = bit_B7;
-
- while (checkZerosIndex < tlc_to_tx)
- {
- if (tlc_rx[checkZerosIndex] == '0')
- {
- tlmode_option_1 = 0;
- checkZerosIndex++;
- }
- else
- {
- tlmode_option_1 = 1;
- break;
- }
- }
-
- checkOnesIndex = bit_B7;
- while (checkOnesIndex < tlc_to_tx)
- {
- if (tlc_rx[checkOnesIndex] == '1')
- {
- tlmode_option_2 = 0;
- checkOnesIndex++;
- }
- else
- {
- tlmode_option_2 = 1;
- break;
- }
- }
- }
- }
- TxTelecommand();
- }
+ mima.puts(data_TLC);
+ TlcSend = true;
}
-// Trasmetti il pacchetto
-void TxTelecommand()
-{
- for (int i = 0; i < tlc_to_tx + 1; i++)
- {
- mima.putc(tlc_rx[i]);
- }
-}
-
-// Riceve dalla seriale mima
-void RxTelemetry()
-{
- char data;
-
- while((mima.readable()))
- {
- data = mima.getc();
-
- if (tlmode_option_1 == 0)
- {
- TLM_HSK[sizeBuffer++] = data;
- }
- else if (tlmode_option_2 == 0)
- {
- TLM_HSK_SD[sizeBuffer++] = data;
- }
- else
- {
- TLM[sizeBuffer++] = data;
- }
-
- }
-}
-
-// Dora trasmette il pacchetto allo space/craft
+// Once received a full telemetry frame, send it to Spacecraft
void TxTelemetry()
{
- if (tlmode_option_1 == 0)
- {
- for (int i = 0; i < tlm_hsk_size; i++)
- {
- spacecraft.putc(TLM_HSK[i]);
- }
+ if (tlmode_tlm == 0)
+ {
+ spacecraft.puts(data_TLM);
+ }
+ else if (tlmode_option_1 == 0)
+ {
+ spacecraft.puts(data_TLMOpt1);
}
else if (tlmode_option_2 == 0)
{
- for (int i = 0; i < tlm_hsk_sd_size; i++)
- {
- spacecraft.putc(TLM_HSK_SD[i]);
- }
- }
- else
- {
- for (int i = 0; i < tlm_size; i++)
- {
- spacecraft.putc(TLM[i]);
- }
- }
-
-}
-
-/* Routines dedicate alla ricezione di dati della temperatura (Pt100) */
-
-void RxTemperature()
-{
- char cReadChar;
-
- while((max31865.readable()))
- {
- cReadChar = max31865.getc();
- nRxCharCount++;
- caRxPacket[nRxCharCount] = cReadChar;
- }
-}
-
-void TxTemperature(void)
-{
- nRxCharCount = 0; // reset dell'indice del buffer
-
- int y = 0, u = 0; // indici dei buffer temporanei per i due canali
-
- for (int i = 0; i < max31865_buf_size; i++)
- {
- if (caRxPacket[i] == 'S')
- {
- indexJ = i + 1;
-
- while (indexJ < max31865_buf_size)
- {
- if (caRxPacket[indexJ] == ';')
- {
- break;
- }
- else
- {
- tempCH1[y++] = caRxPacket[indexJ];
- }
-
- indexJ++;
- } // se trova ; esce dall'istruzione e salva il valore di uscita dell'indice
-
- indexT = indexJ + 1;
-
- while (indexT < max31865_buf_size)
- {
- if (caRxPacket[indexT] == 'P')
- {
- break;
- }
- else
- {
- tempCH2[u++] = caRxPacket[indexT];
- }
-
- indexT++;
- }
-
- // trasforma il dato da sequenza di caratteri a numero float utile per analisi
-
- strcpy(CH1_to_string, tempCH1);
- CH1 = atof(CH1_to_string);
-
- strcpy(CH2_to_string, tempCH2);
- CH2 = atof(CH2_to_string);
-
- spacecraft.printf("> TEMPERATURE - CH1: %4.8f[Celsius], CH2: %4.8f[Celsius]\n\r", CH1, CH2);
-
- break;
- }
- }
-
- wait_ms(150); // pausa per garantire sincronizzazione tra riempimento buffer e svuotamento
-}
-
-/* Comandi spare/not used */
-
-void SpareCommand(int command) // Spare command (Relay, L16)
-{
- if((command == 128) && (offset < 1.0f))
- {
- offset += 0.2f;
- M1.write(offset);
- M2.write(offset);
- spacecraft.printf("> Duty Cycle %.2f / estensione \n\r", offset);
- }
- else if((command == 64) && (offset > 0.0f))
- {
- offset -= 0.2f;
- M1.write(offset);
- M2.write(offset);
- spacecraft.printf("> Duty Cycle %.2f / estensione \n\r", offset);
- }
- else if (command == 1)
- {
- Relay5V = 0;
- spacecraft.printf("\r\nRelay 5V ON\r\n");
- }
- else if (command == 0)
- {
- Relay5V = 1;
- spacecraft.printf("\r\nRelay 5V OFF\r\n");
- }
- else if (command == 3)
- {
- Relay12V = 0;
- spacecraft.printf("\r\nRelay 12V ON\r\n");
- }
- else if (command == 2)
- {
- Relay12V = 1;
- spacecraft.printf("\r\nRelay 12V OFF\r\n");
- }
- else if (command == 7)
- {
- Relay15_15_5V = 0;
- spacecraft.printf("\r\nRelay +15V, -15V, -5V ON\r\n");
- }
- else if (command == 6)
- {
- Relay15_15_5V = 1;
- spacecraft.printf("\r\nRelay +15V, -15V, -5V OFF\r\n");
- }
- else if (command == 15)
- {
- Relay24V = 0;
- spacecraft.printf("\r\nRelay 24V ON\r\n");
- }
- else if (command == 8)
- {
- Relay24V = 1;
- spacecraft.printf("\r\nRelay 24V OFF\r\n");
- }
- else if (command == 255)
- {
- Relay5V = 1;
- Relay12V = 1;
- Relay15_15_5V = 1; // +15, -15, -5
- Relay24V = 1;
- offset = 0.0f;
-
- spacecraft.printf("**** SHUTTING DOWN ALL RELAYS... ****\n\r");
- M1.write(offset);
- M2.write(offset);
- spacecraft.printf("> Duty Cycle %.2f / extension \n\r", offset);
- }
- else if ((command == 128) || (command == 64) && (Relay12V == 1))
- {
- offset = 0.0f;
- M1.write(offset);
- M2.write(offset);
- }
-}
-
-/* Funzionalità di sistema */
-
-// Funzione che serve a ripulire un buffer di caratteri
-void clearBuffer(char *arr, int arrLen)
-{
- int nIndex;
-
- for (nIndex = 0; nIndex < arrLen; nIndex++)
- {
- arr[nIndex] = '\0';
+ spacecraft.puts(data_TLMOpt2);
}
}
-// Inizializzazione del set di identificativi dello Spacecraft
-void CMD_REF()
-{
- int id = 0;
-
- for (int i = 0; i < cmd_num; i++)
- {
- CMD[id++] = i;
- }
-}
-
-// Trasformazione da binario a decimale per una sequenza di bit in un array
-int BinToDec(int t, int dim, char *a)
+// Reset
+void clearBuffer(char *arr, int arrLen)
{
- volatile int result = 0;
-
- while (t < dim)
- {
- if (a[t] == '1')
- {
- int raise = dim - 1 - t;
- result += pow((float) 2, (float) raise);
- }
- else
- {
- result += 0;
- }
- t++;
- }
- return result;
-}
-
-// Print
-void printMyArray(Telecommand *myArray)
-{
- for (int i = 0; i < sizeof(myArray)/sizeof(myArray[0]); i++)
- {
- mima.puts(myArray[i].ID);
- mima.puts(myArray[i].TAG);
- mima.puts(myArray[i].PAYLOAD);
- mima.putc(myArray[i].LSB);
-
- spacecraft.printf("\n\r");
- }
-}
-
-
-// Checksum per telecomandi
-void checksum_tlc(Telecommand *toCheck_tlc)
-{
- int ones_tlc = 0;
-
- for (int i = 0; i < sizeof(toCheck_tlc)/sizeof(toCheck_tlc[0]); i++)
+ int myIndex;
+ for (myIndex = 0; myIndex < arrLen; myIndex++)
{
- // contatore degli "1" nel campo "identifier"
- for (int j = 0; i < sizeof(toCheck_tlc[i].ID)/sizeof(toCheck_tlc[i].ID[0]); j++)
- {
- if (toCheck_tlc[i].ID[j] == '1')
- {
- ones_tlc++;
- }
- }
-
- // contatore degli "1" nel campo "tag"
- for (int k = 0; i < sizeof(toCheck_tlc[i].TAG)/sizeof(toCheck_tlc[i].TAG[0]); k++)
- {
- if (toCheck_tlc[i].TAG[k] == '1')
- {
- ones_tlc++;
- }
- }
-
- // contatore degli "1" nel campo "payload" (da assegnare nel file main)
- for (int l = 0; i < sizeof(toCheck_tlc[i].TAG)/sizeof(toCheck_tlc[i].TAG[0]); l++)
- {
- if (toCheck_tlc[i].PAYLOAD[l] == '1')
- {
- ones_tlc++;
- }
- }
-
- // Scrivi LSB
- if (ones_tlc % 2 == 0)
- {
- toCheck_tlc[i].LSB = '0'; // If the number of ones in[B0÷B14] bits is even
- }
- else
- {
- toCheck_tlc[i].LSB = '1'; // If the number of ones in[B0÷B14] bits is odd
- }
-
-
- }
-}
-
-// Checksum per telemetrie housekeeping
-void checksum_tlm(Telemetry *toCheck_tlm)
-{
- int ones_tlm = 0;
-
- for (int i = 0; i < sizeof(toCheck_tlm)/sizeof(toCheck_tlm[0]); i++)
- {
- // contatore degli "1" nel campo "identifier"
- for (int j = 0; i < sizeof(toCheck_tlm[i].ID)/sizeof(toCheck_tlm[i].ID[0]); j++)
- {
- if (toCheck_tlm[i].ID[j] == '1')
- {
- ones_tlm++;
- }
- }
-
- // contatore degli "1" nel campo "tag"
- for (int k = 0; i < sizeof(toCheck_tlm[i].TAG)/sizeof(toCheck_tlm[i].TAG[0]); k++)
- {
- if (toCheck_tlm[i].TAG[k] == '1')
- {
- ones_tlm++;
- }
- }
-
- // contatore degli "1" nel campo "payload" (da assegnare nel file main)
- for (int l = 0; i < sizeof(toCheck_tlm[i].TAG)/sizeof(toCheck_tlm[i].TAG[0]); l++)
- {
- if (toCheck_tlm[i].PAYLOAD[l] == '1')
- {
- ones_tlm++;
- }
- }
-
- // Scrivi LSB
- if (ones_tlm % 2 == 0)
- {
- toCheck_tlm[i].LSB = '0'; // If the number of ones in[B0÷B14] bits is even
- }
- else
- {
- toCheck_tlm[i].LSB = '1'; // If the number of ones in[B0÷B14] bits is odd
- }
-
-
+ arr[myIndex] = '\0'; // terminatore
}
}
\ No newline at end of file