Space
/
DORA_lv
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Dependencies: mbed
Diff: main.cpp
- Revision:
- 2:155d07b145c6
- Parent:
- 1:00cee5df0f76
diff -r 00cee5df0f76 -r 155d07b145c6 main.cpp
--- a/main.cpp Fri Jul 15 14:00:59 2022 +0000
+++ b/main.cpp Mon Aug 01 17:31:30 2022 +0000
@@ -1,7 +1,3 @@
-
-// 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>
@@ -10,71 +6,101 @@
#include <stdbool.h>
// Macros
-#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 config 2 // 0: spacecraft, 1: mima, 2: no diagnostic
+#define PACKETDIM 15 // temperature
+#define word 1
+#define packet 2 // 2 bytes
#define channel_size 10 // temeprature channel from sen30202
+#define CMD05_1 40
+#define CMD05_2 41
+#define TLMODE_HSK 0
+#define TLMODE_HSKSD 127
+#define CMD00 0
+#define CMD02 16
+#define TEMP_QUERY 32
+#define CMD15_R 121
+#define CMD15 120
+#define ALL_RELAY_OFF 42
+#define ALL_RELAY_ON 85
+#define ENABLE_12V 1
+#define DISABLE_12V 0
+#define ENABLE_5V 3
+#define DISABLE_5V 2
+#define ENABLE_15V 7
+#define DISABLE_15V 6
+#define ENABLE_24V 15
+#define DISABLE_24V 8
+#define CMD31 241
+#define RESET_GLOBAL_VARS 127
-// Serial e periferiche
-Serial spacecraft(USBTX, USBRX); // switchare questo e le print con mima
+// Definizione periferiche
+Serial spacecraft(PC_1, PC_0);
+//Serial spacecraft(USBTX, USBRX); // se pc connesso direttamente all'stm32
Serial mima(PC_4, PC_5);
+/* se si desidera utilizzare il pc come mima
+Serial mima(PC_1, PC_0);
+Serial spacecraft(PC_4, PC_5);
+*/
Serial max31865(PA_0, PA_1);
// L16 Actuonix:
-PwmOut actuonix (PB_3);
+AnalogOut actuonix(PA_4);
+PwmOut actuonix_dig(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_dig;
+// Relay
+DigitalOut Relay5V(PA_7);
+DigitalOut Relay12V(PB_4);
+DigitalOut Relay24V(PB_5);
+DigitalOut Relay15_15_5V(PB_10);
// Buffer: telecommand
-volatile int rxTlcPtr; // telecommand receiving buffer
-int rxTlcDataCounter = 0;
-char rx_TLC[word+1]; // buffer
-char data_TLC[word+1]; // telecommand
+volatile int rxTlcPtr;
+int rxTlcDataCounter = 0;
+char rx_TLC[word+1];
+char data_TLC[word+1];
-// Buffer: standard telemetry
-volatile int rxTlmPtr;
+// Buffer: standard telemetry (1 frame da 16 bit o 2 frame da 16 bit ciascuno)
+volatile int rxTlmPtr;
int rxTlmDataCounter = 0;
-char rx_TLM[word+1]; // buffer
-char data_TLM[word+1]; // standard telemetry
+char rx_TLM[word+1];
+char data_TLM[word+1];
-// Buffer: TLMODE telemetry option 1
-volatile int rxTlmOpt1Ptr;
+// Buffer: TLMODE telemetry option 1 (tutte le housekeeping telemetries)
+volatile int rxTlmOpt1Ptr;
int rxTlmOpt1DataCounter = 0;
-char rx_TLMOpt1[hsk_buf+1];
-char data_TLMOpt1[hsk_buf+1];
+char rx_TLMOpt1[word+1];
+char data_TLMOpt1[word+1];
-// Buffer: TLMODE telemetry option 1
-volatile int rxTlmOpt2Ptr;
+// Buffer: TLMODE telemetry option 2 (housekeeping + data dall'interferometro)
+volatile int rxTlmOpt2Ptr;
int rxTlmOpt2DataCounter = 0;
-char rx_TLMOpt2[hsk_sd_buf+1];
-char data_TLMOpt2[hsk_sd_buf+1];
+char rx_TLMOpt2[word+1];
+char data_TLMOpt2[word+1];
-// Timer
-Timer timer; // telecommand
-Timer rx; // rx window
-float rxWindow = 300 /* seconds */, rxTimeStart, rxTimeStop, rxTimeRead;
-float TIMEOUT = 10 /* seconds */, tTimeStart, tTimeStop, tTimeRead;
+// Timer: 3 contatori differenti a seconda del numero di bytes da ricevere
+Timer timer;
+Timer rx;
+Timer rx_wide;
+float rxWindow = 6 /*seconds, TBA */, rxTimeStart, rxTimeStop, rxTimeRead; // standard teleemtry + hsk
+float rx_wideWindow = 300 /*seconds, TBA */, rx_wideTimeStart, rx_wideTimeStop, rx_wideTimeRead; // full hsk+scientific data
+float TIMEOUT = 3 /*seconds */, tTimeStart, tTimeStop, tTimeRead; // telecommand
-// TLMODE
+// TLMODE: definizione dei vari flag, assegnazioni di variabili
volatile int tlmode_option_1, tlmode_option_2, tlmode_tlm;
+volatile char payload;
volatile bool TlcSend;
+volatile bool Spare;
+volatile char dataIn;
// SC-MIMA communication: TX/RX
-void RxTelecommand();
-void TxTelecommand();
-void RxTelemetry();
-void TxTelemetry();
+void RxTelecommand(void);
+void TxTelecommand(void);
+void RxTelemetry(void);
+void TxTelemetry(void);
// System utility
void clearBuffer(char *arr, int arrLen);
-// Temperature settings
+// Richiesta temperatura
char tempCH1[channel_size];
char tempCH2[channel_size];
volatile int j; // first channel index
@@ -85,15 +111,15 @@
// Routines dedicate alla ricezione di dati della temperatura (Pt100)
void SerialeRxInterrupt(void)
{
- char cReadChar;
- while((max31865.readable()))
+ char cReadChar;
+ while ((max31865.readable()))
{
- cReadChar = max31865.getc();
- nRxCharCount++;
+ cReadChar = max31865.getc();
+ nRxCharCount++;
caRxPacket[nRxCharCount] = cReadChar;
- }
-
- if (nRxCharCount == PACKETDIM) // if it reaches max -> reset
+ }
+
+ if (nRxCharCount == PACKETDIM)
{
nRxCharCount = 0;
}
@@ -102,111 +128,172 @@
// Main
int main()
{
+ // config 0: il mio pc come spacecraft
+ // config 1: il mio pc come mima
+
// Baudrate
- spacecraft.baud(115200);
- //spacecraft.baud(9600);
+ spacecraft.baud(9600);
mima.baud(9600);
- //mima.baud(115200);
max31865.baud(115200);
// Diagnostica
- spacecraft.printf(" Avvio Spacecraft... \n\r");
- //mima.printf(" Avvio MIMA... \n\r");
-
+ if (config == 0)
+ {
+ spacecraft.printf(" Avvio Spacecraft... \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.printf(" Avvio MIMA... \n\r");
+ }
+
// Setup per temperatura
int nIndex;
nRxCharCount = 0;
- for(nIndex = 0; nIndex < PACKETDIM; nIndex++)
+ for (nIndex = 0; nIndex < PACKETDIM; nIndex++)
{
caRxPacket[nIndex] = 0;
- }
-
- // Setup per Actuonix L16
- actuonix.period_us(1000);
+ }
+
+ // Setup per Actuonix L16->PWM
+ actuonix_dig.period_us(1000);
+ offset_dig = actuonix_dig.read();
offset = actuonix.read();
-
+
// Setup per Relay: 1 = OFF (1->OFF, 0->ON)
- Relay5V = 1;
- Relay12V = 1;
- Relay15_15_5V = 1;
- Relay24V = 1;
-
+ Relay5V = 1;
+ Relay12V = 1;
+ Relay15_15_5V = 1;
+ Relay24V = 1;
+
// Bool flags
TlcSend = false;
-
- // Interrupt routine
+
+ // Interrupts
max31865.attach(&SerialeRxInterrupt, Serial::RxIrq);
spacecraft.attach(&RxTelecommand, Serial::RxIrq);
mima.attach(&RxTelemetry, Serial::RxIrq);
+
+ // Diagnostica
+ if (config == 0)
+ {
+ spacecraft.printf(" ... Ready to send... \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.printf(" ... Ready to send... \n\r");
+ }
// Main loop
while (true)
- {
- // Telecommand
+ {
+ // Inizializza contatore caratteri in arrivo e flag di ricezione comando Spare
+ rxTlcPtr = 0;
+ Spare = false;
+
+ // Setup per RX (uno dei flag verrà attivato solo via invio di un telecomando)
+ // se tutti i flag sono su "1", dora non trasmetterà nulla verso spacecraft
+ tlmode_option_1 = 1;
+ tlmode_option_2 = 1;
+ tlmode_tlm = 1;
+
+ // Timer
timer.start();
- tTimeStart = timer.read(); // in secondi
+ tTimeStart = timer.read();
tTimeRead = tTimeStart;
-
+
+ // Finché non raggiungo la dimensione richiesta (16 bit, 2 byte),
+ // resto in attesa di dati da spacecraft, all'interno della finestra di ricezione
while ((rxTlcPtr < packet) && ((tTimeRead - tTimeStart) < TIMEOUT))
{
tTimeRead = timer.read();
}
-
+
timer.stop();
-
+
+ // Se ho ricevuto 2 byte nella finestra di ricezione, preparo un array di data
+ // per ricomporre il frame da 16 bit e inviarlo a mima tramite dora
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);
+ {
+ __disable_irq();
+ 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
+
+ // Legge il contenuto del payload ignorando il LSB
+ payload = data_TLC[1] >> 1;
+
+ // Diagnostica
+ if (config == 0)
+ {
+ spacecraft.printf("\n\r .... Telecomando ricevuto su DORA! \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.printf("\n\r .... Telecomando ricevuto su DORA! \n\r");
+ }
- spacecraft.printf("\n\r .... Telecomando ricevuto su DORA! \n\r");
-
- for (int i = 0; i < sizeof(data_TLC)/sizeof(char); i++)
+ // Visualizza i byte inviati
+ for (int i = 0; i < sizeof(data_TLC) / sizeof(char); i++)
{
- 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
-
+ if (config == 0)
+ {
+ spacecraft.printf("> Carattere: %i \n\r", (int) data_TLC[i]);
+ }
+ else if (config == 1)
+ {
+ mima.printf("> Carattere: %i \n\r", (int) data_TLC[i]);
+ }
+ }
+
+ // add a null just in case the received data didn't have one at the end
+ data_TLC[rxTlcDataCounter] = 0;
+
// hw control: set-point init
- offset = 0;
-
+ offset = actuonix.read(); // legge il valore attuale dell'attuatore
+ offset_dig = actuonix_dig.read();
+
// RX settings
- if (((float)data_TLC[0] != 40) || ((float)data_TLC[0] != 41))
+ // Si prepara alla ricezione di telemetrie standard in caso di invio di telecomandi
+ // differenti dal CMD05 (TLMODE)
+ if (((int) data_TLC[0] != CMD05_1) || ((int) data_TLC[0] != CMD05_2))
{
tlmode_option_1 = 1;
tlmode_option_2 = 1;
tlmode_tlm = 0;
}
-
- // L16 setpoint
- if ((float)data_TLC[0] == 0)
+
+ // Controllo dell'attuatore lineare L16 (comando Spare)
+ if ((int) data_TLC[0] == CMD00)
{
- offset = (float)data_TLC[1];
- offset = offset/100;
+ offset = (int) payload;
+ offset = offset / 100;
+
+ offset_dig = (int) payload;
+ offset_dig = offset_dig / 100;
+
+ actuonix_dig.write(offset_dig);
actuonix.write(offset);
+
+ Spare = true;
}
- // Temperature request
- else if (((float)data_TLC[0] == 16) && ((float)data_TLC[1] == 32))
+
+ // Richiesta delle temperature. Data: SXXX.XX;YYY.YYP > START/CH1;CH2/END
+ // Controllo del flusso di dati proveniente dalla Seriale
+ else if (((int) data_TLC[0] == CMD02) && ((int) payload == TEMP_QUERY))
{
// Cleaning buffers
- clearBuffer(tempCH1, sizeof(tempCH1)/sizeof(char));
- clearBuffer(tempCH2, sizeof(tempCH2)/sizeof(char));
+ 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;
+ t = 0; j = 0; // global
for (int i = 0; i < PACKETDIM; i++)
{
if (caRxPacket[i] == 'S')
{
+ // Indice sul quale cade la prima cifra del canale 1
j = i + 1;
while (j < PACKETDIM)
@@ -223,6 +310,7 @@
j++;
}
+ // Indice sul quale cade la prima cifra del canale 2
t = j + 1;
while (t < PACKETDIM)
@@ -235,69 +323,90 @@
{
tempCH2[u++] = caRxPacket[t];
}
+
t++;
}
+
break;
}
}
- // Send
+
+ // Invia i dati a Spacecraft
spacecraft.puts(tempCH1);
- spacecraft.puts(";");
+ spacecraft.puts(";"); // split ch1-ch2 data
spacecraft.puts(tempCH2);
+
+ Spare = true;
}
- else if (((float)data_TLC[0] == 121) && ((float)data_TLC[1] == 42))
+ else if (((int) data_TLC[0] == CMD15_R) && ((int) payload == ALL_RELAY_OFF))
{
Relay5V = 1;
Relay12V = 1;
Relay15_15_5V = 1;
Relay24V = 1;
+
+ Spare = true;
}
- else if (((float)data_TLC[0] == 120) && ((float)data_TLC[1] == 85))
+ else if (((int) data_TLC[0] == CMD15) && ((int) payload == ALL_RELAY_ON))
{
Relay5V = 0;
Relay12V = 0;
Relay15_15_5V = 0;
- Relay24V = 0;
+ Relay24V = 0;
+
+ Spare = true;
}
- else if (((float)data_TLC[0] == 120)) // Relay
+ else if (((int) data_TLC[0] == CMD15))
{
- if (((float)data_TLC[1] == 0))
+ if (((int) payload == DISABLE_12V))
{
Relay12V = 1;
+ Spare = true;
}
- else if (((float)data_TLC[1] == 1))
+ else if (((int) payload == ENABLE_12V))
{
Relay12V = 0;
// since the linear actuator is driven by 12V power
offset = actuonix.read();
+ offset_dig = actuonix_dig.read();
+
actuonix.write(offset);
- }
- else if (((float)data_TLC[1] == 2))
- {
- Relay5V = 1;
+ actuonix.write(offset_dig);
+
+ Spare = true;
}
- else if (((float)data_TLC[1] == 3))
+ else if (((int) payload == DISABLE_5V))
{
- Relay5V = 0;
+ Relay5V = 1;
+ Spare = true;
}
- else if (((float)data_TLC[1] == 6))
+ else if (((int) payload == ENABLE_5V))
+ {
+ Relay5V = 0;
+ Spare = true;
+ }
+ else if (((int) payload == DISABLE_15V))
{
Relay15_15_5V = 1;
+ Spare = true;
}
- else if (((float)data_TLC[1] == 7))
+ else if (((int) payload == ENABLE_15V))
{
Relay15_15_5V = 0;
+ Spare = true;
}
- else if (((float)data_TLC[1] == 8))
+ else if (((int) payload == DISABLE_24V))
{
Relay24V = 1;
+ Spare = true;
}
- else if (((float)data_TLC[1] == 15))
+ else if (((int) payload == ENABLE_24V))
{
Relay24V = 0;
+ Spare = true;
}
}
- else if (((float)data_TLC[0] == 40) && ((float)data_TLC[1] == 24))
+ else if (((int) data_TLC[0] == CMD05_1) && ((int) payload == TLMODE_HSK))
{
tlmode_option_1 = 0;
tlmode_option_2 = 1;
@@ -305,9 +414,17 @@
rxTlmPtr = 0;
rxTlmOpt1Ptr = 0;
rxTlmOpt2Ptr = 0;
- spacecraft.printf("> Sono entrato in TLMODE 1 \n\r");
+
+ if (config == 0)
+ {
+ spacecraft.printf("\n\r ... Sono entrato in TLMODE 1 ... \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.printf("\n\r ... Sono entrato in TLMODE 1 ... \n\r");
+ }
}
- else if (((float)data_TLC[0] == 41) && ((float)data_TLC[1] == 127))
+ else if (((int) data_TLC[0] == CMD05_2) && ((int) payload == TLMODE_HSKSD))
{
tlmode_option_2 = 0;
tlmode_option_1 = 1;
@@ -315,10 +432,19 @@
rxTlmPtr = 0;
rxTlmOpt1Ptr = 0;
rxTlmOpt2Ptr = 0;
- spacecraft.printf("> Sono entrato in TLMODE 2 \n\r");
+
+ if (config == 0)
+ {
+ spacecraft.printf("\n\r ... Sono entrato in TLMODE 2 ... \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.printf("\n\r ... Sono entrato in TLMODE 2 ... \n\r");
+ }
}
+
// Reset global vars
- else if (((float)data_TLC[0] == 241) && ((float)data_TLC[1] == 127))
+ else if (((int) data_TLC[0] == CMD31) && ((int) payload == RESET_GLOBAL_VARS))
{
nRxCharCount = 0;
rxTlcPtr = 0;
@@ -330,203 +456,294 @@
tlmode_tlm = 1;
tlmode_option_1 = 1;
tlmode_option_2 = 1;
-
- for(nIndex = 0; nIndex < PACKETDIM; nIndex++)
+
+ for (nIndex = 0; nIndex < PACKETDIM; nIndex++)
{
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));
- 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");
+ Spare = true;
+
+ if (config == 0)
+ {
+ spacecraft.printf("\n\r ... Reset variabili effettuato! ... \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.printf("\n\r ... Reset variabili effettuato! ... \n\r");
+ }
+ }
+
+ // Invia il telecomando a MIMA se non è Spare
+ if (!Spare)
+ {
+ TxTelecommand();
+ }
+ // Telecommand sent, flags set
+
+ if (config == 0)
+ {
+ spacecraft.printf("\n\r ... Telecomando inviato a MIMA ... \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.printf("\n\r ... Telecomando inviato a MIMA ... \n\r");
+ }
+
+ // Ripulisci il buffer di ricezione telecomando
+ clearBuffer(rx_TLC, sizeof(rx_TLC) / sizeof(char));
+ clearBuffer(data_TLC, sizeof(data_TLC) / sizeof(char));
+
+ if (config == 0)
+ {
+ spacecraft.printf("\n\r ... Ho ripulito i buffer di ricezione TLC .... \n\r");
+ }
+ else
+ {
+ mima.printf("\n\r ... Ho ripulito i buffer di ricezione TLC .... \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));
+
+ __enable_irq(); // now he's ready to receive new data
+
+ } // end-if:telecommand
+ else if ((tTimeRead - tTimeStart) >= TIMEOUT)
+ {
+ rxTlcPtr = 0;
+ for (int i = 0; i < packet; i++)
+ {
+ rx_TLC[i] = '\0';
+ data_TLC[i] = '\0';
+ }
+
+ if (config == 0)
+ {
+ spacecraft.printf(" n\r ... Telecommand RX timeout ... \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.printf("\n\r ... Telecommand RX timeout ... \n\r");
+ }
+ } // end-else-if:telecommand+timeout
- // Standard telemetry frame
+ // Telemetry
+ /* DORA si predispone a ricevere lato mima solo se un comando che non sia
+ Spare è stato inviato, onde evitare ritardi (sul prossimo telecomando)
+ dovuti a Timeout indesiderati. Sostanzialmente attende due byte
+ (ricompone il frame) e li invia a spacecraft all'interno della finestra
+ di trasmissione. */
+ if ((!Spare) && (TlcSend))
+ {
+ if ((tlmode_option_1 == 1) && (tlmode_option_2 == 1) && (tlmode_tlm == 0)) // standard telemetry
+ {
+ clearBuffer(data_TLM, sizeof(data_TLM) / sizeof(char));
+
rx.start();
- rxTimeStart = rx.read();
+ rxTimeStart = rx.read();
rxTimeRead = rxTimeStart;
-
- while ((rxTlmPtr < packet) && ((rxTimeRead - rxTimeStart) < rxWindow))
+
+ while (((rxTimeRead - rxTimeStart) < rxWindow))
{
+ if (rxTlmPtr == packet)
+ {
+ __disable_irq();
+ memcpy(data_TLM, rx_TLM, rxTlmPtr);
+ rxTlmDataCounter = rxTlmPtr;
+ rxTlmPtr = 0;
+
+ data_TLM[rxTlmDataCounter] = 0;
+
+ TxTelemetry();
+ __enable_irq();
+
+ // Diagnostic
+ if (config == 0)
+ {
+ spacecraft.printf("\n\r ... Ricevuto Telemetry Standard ... \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.printf("\n\r ... Ricevuto Telemetry Standard ... \n\r");
+ }
+ }
+ // update
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 if ((rxTimeRead - rxTimeStart) >= rxWindow)
+ if ((rxTimeRead - rxTimeStart) >= rxWindow)
{
- spacecraft.printf("\n\r !!! Scattato il timeout in Telemetry !!! \n\r");
+ if (config == 0)
+ {
+ spacecraft.printf("\n\r ... Scattato il timeout in Telemetry ... \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.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
-
+ } // 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));
-
+ } // end-if-send-telecommand
+ else if ((tlmode_option_1 == 0) && (tlmode_option_2 == 1) && (tlmode_tlm == 1)) // all housekeeping teemetries
+ {
+ clearBuffer(data_TLMOpt1, sizeof(data_TLMOpt1)/sizeof(char));
+
rx.start();
- rxTimeStart = rx.read();
+ rxTimeStart = rx.read();
rxTimeRead = rxTimeStart;
-
- while ((rxTlmOpt1Ptr < hsk_rx) && ((rxTimeRead - rxTimeStart) < rxWindow))
+
+ while (((rxTimeRead - rxTimeStart) < rxWindow))
{
+ if (rxTlmOpt1Ptr == packet)
+ {
+ __disable_irq();
+ memcpy(data_TLMOpt1, rx_TLMOpt1, rxTlmOpt1Ptr);
+ rxTlmOpt1DataCounter = rxTlmOpt1Ptr;
+ rxTlmOpt1Ptr = 0;
+
+ data_TLMOpt1[rxTlmOpt1DataCounter] = 0;
+
+ TxTelemetry();
+ __enable_irq();
+
+ // Diagnostic
+ if (config == 0)
+ {
+ spacecraft.printf("\n\r ... Ricevuto Telemetry Opt 1 ... \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.printf("\n\r ... Ricevuto Telemetry Opt 1 ... \n\r");
+ }
+
+ }
+ // update
rxTimeRead = rx.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;
+
+ if ((rxTimeRead - rxTimeStart) >= rxWindow)
+ {
+ if (config == 0)
+ {
+ spacecraft.printf("\n\r ... Scattato il timeout in Telemetry Opt 1 ... \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.printf("\n\r ... Scattato il timeout in Telemetry Opt 1 ... \n\r");
+ }
- 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';
}
- }
+ } // end-else-if:telecommand-send+timeout
+
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))
+ } // end-else-if-send-telecommand
+ else if ((tlmode_option_1 == 1) && (tlmode_option_2 == 0) && (tlmode_tlm == 1)) // all hsk + inteferogram data
+ {
+ clearBuffer(data_TLMOpt2, sizeof(data_TLMOpt2)/sizeof(char));
+
+ rx_wide.start();
+ rx_wideTimeStart = rx_wide.read();
+ rx_wideTimeRead = rx_wideTimeStart;
+
+ while (((rx_wideTimeRead - rx_wideTimeStart) < rx_wideWindow))
{
- rxTimeRead = rx.read();
+ if (rxTlmOpt2Ptr == packet)
+ {
+ __disable_irq();
+ memcpy(data_TLMOpt2, rx_TLMOpt2, rxTlmOpt2Ptr);
+ rxTlmOpt2DataCounter = rxTlmOpt2Ptr;
+ rxTlmOpt2Ptr = 0;
+
+ data_TLMOpt2[rxTlmOpt2DataCounter] = 0;
+
+ TxTelemetry();
+ __enable_irq();
+
+ // Diagnostic
+ if (config == 0)
+ {
+ spacecraft.printf("\n\r ... Ricevuto Telemetry Opt 2 ... \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.printf("\n\r ... Ricevuto Telemetry Opt 2 ... \n\r");
+ }
+
+ }
+ // update
+ rx_wideTimeRead = rx_wide.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;
+
+ if ((rx_wideTimeRead - rx_wideTimeStart) >= rx_wideWindow)
+ {
+ if (config == 0)
+ {
+ spacecraft.printf("\n\r ... Scattato il timeout in Telemetry Opt 2 ... \n\r");
+ }
+ else if (config == 1)
+ {
+ mima.printf("\n\r ... Scattato il timeout in Telemetry Opt 2 ... \n\r");
+ }
- TxTelemetry();
- __enable_irq(); // ***************************************************
- spacecraft.printf("\n\r Ricevuto Telemetry Opt 2 \n\r");
-
- }
- 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';
}
- }
+ } // end-else-if:telecommand-send+timeout
+
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++)
- {
- rx_TLC[i] = '\0';
- data_TLC[i] = '\0';
- }
-
- spacecraft.printf(" .... Telecomando non inviato: timeout, riprovare! \n\r");
- } // end-else-if:telecommand+timeout
- } // end-while:true
-} // end-Main
+ } // end-2nd-else-if-send-telecommand
+ }
+ } // end-while:true
+} // end-Main
-/* ************************************************************* */
-/* ******** SYSTEM INTERRPUTS MANAGEMENT AND FUNCTIONS ********* */
-/* ************************************************************* */
+/* ************************************************************ */
+/* ******* SYSTEM INTERRPUTS MANAGEMENT AND FUNCTIONS ********* */
+/* ************************************************************ */
// Interrupt: DORA receives a byte from Spacecraft
-void RxTelecommand()
+void RxTelecommand(void)
{
char txChar;
- while (spacecraft.readable())
- {
+ while (spacecraft.readable())
+ {
txChar = spacecraft.getc();
- rx_TLC[rxTlcPtr++] = txChar;
+
+ if (rxTlcPtr < packet)
+ {
+ rx_TLC[rxTlcPtr++] = txChar;
+ }
}
}
// Interrupt: DORA receives a byte from MIMA
-void RxTelemetry()
+void RxTelemetry(void)
{
char rxChar;
while (mima.readable())
@@ -549,26 +766,39 @@
}
// Once received a full telecommand frame, send it to MIMA
-void TxTelecommand()
+void TxTelecommand(void)
{
- mima.puts(data_TLC);
+ for (int i = 0; i < packet; i++)
+ {
+ mima.putc(data_TLC[i]);
+ }
+
TlcSend = true;
}
// Once received a full telemetry frame, send it to Spacecraft
-void TxTelemetry()
+void TxTelemetry(void)
{
if (tlmode_tlm == 0)
{
- spacecraft.puts(data_TLM);
+ for (int i = 0; i < packet; i++)
+ {
+ spacecraft.putc(data_TLM[i]);
+ }
}
else if (tlmode_option_1 == 0)
{
- spacecraft.puts(data_TLMOpt1);
+ for (int i = 0; i < packet; i++)
+ {
+ spacecraft.putc(data_TLMOpt1[i]);
+ }
}
else if (tlmode_option_2 == 0)
{
- spacecraft.puts(data_TLMOpt2);
+ for (int i = 0; i < packet; i++)
+ {
+ spacecraft.putc(data_TLMOpt2[i]);
+ }
}
}
@@ -578,6 +808,6 @@
int myIndex;
for (myIndex = 0; myIndex < arrLen; myIndex++)
{
- arr[myIndex] = '\0'; // terminatore
+ arr[myIndex] = '\0'; // terminatore
}
}
\ No newline at end of file