Team Fox
ACS data acq changed completely. Tested and working. Deals all faults.
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
QM_BAE_review_1
by 
Team Fox
Diff: TCTM.cpp
- Revision:
- 5:bb592f3185cc
- Parent:
- 4:39a4ae8c7ecd
- Child:
- 6:036d08b62785
--- a/TCTM.cpp Wed Dec 30 04:57:46 2015 +0000
+++ b/TCTM.cpp Thu Dec 31 17:12:52 2015 +0000
@@ -2,12 +2,25 @@
#include "TCTM.h"
#include "crc.h"
#include "EPS.h"
+#include "pin_config.h"
+#include "FreescaleIAP.h"
-#include "FreescaleIAP.h"
+extern DigitalOut gpo1; // enable of att sens2 switch
+extern DigitalOut gpo2; // enable of att sens switch
+
+extern DigitalOut TRXY_SW; //TR XY Switch
+extern DigitalOut TRZ_SW; //TR Z Switch
+extern DigitalOut CDMS_RESET; // CDMS RESET
+extern DigitalOut BCN_SW; //Beacon switch
extern BAE_HK_actual actual_data;
extern BAE_HK_min_max bae_HK_minmax;
extern uint32_t BAE_STATUS;
+extern float data[6];
+extern float moment[3];
+
+extern void FCTN_ATS_DATA_ACQ();
+extern void FCTN_ACS_CNTRLALGO(float*,float*);
uint8_t* FCTN_BAE_TM_TC (uint8_t* tc)
@@ -35,29 +48,124 @@
printf("Read from RAM\r\n");
switch(tc[3])
{
- case 0x00:
+ case 0x01:
+ {
+ printf("Read MUX DATA\r\n");
+ tm[0] = 0x60;
+ tm[1] = tc[0];
+ tm[2] = ACK_CODE;
+ for(int i=0; i<16; i++) //16*4 = 64 bytes //tm[4] to tm[67] filled
+ FCTN_CONVERT_FLOAT(actual_data.voltage_actual[i], &tm[4+(i*4)]);
+ for(int i=0; i<12; i++) //12*4 = 48 //tm[68] to tm[115] filled
+ FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&tm[68 + (i*4)]);
+ for (int i=116; i<132;i++)
+ {
+ tm[i] = 0x00;
+ }
+ crc16 = CRC::crc16_gen(tm,132);
+ tm[132] = (uint8_t)((crc16&0xFF00)>>8);
+ tm[133] = (uint8_t)(crc16&0x00FF);
+ return tm;
+ }
+ case 0x02:
{
printf("Read HK\r\n");
tm[0] = 0x60;
tm[1] = tc[0];
tm[2] = ACK_CODE;
- for (int i=4; i<132;i++)
+ FCTN_CONVERT_FLOAT(actual_data.Batt_temp_actual[0],&tm[4]); //tm[4]-tm[7]
+ FCTN_CONVERT_FLOAT(actual_data.Batt_temp_actual[1],&tm[8]); //tm[8]- tm[11]
+ for(int i=0; i<4; i++)
+ FCTN_CONVERT_FLOAT(actual_data.Batt_gauge_actual[i],&tm[12+(i*4)]); //tm[12] - tm[27]
+ FCTN_CONVERT_FLOAT(actual_data.BAE_temp_actual,&tm[28]); //tm[28] - tm[31]
+ tm[32] = (uint8_t)actual_data.power_mode;
+ tm[33] = actual_data.faultPoll_status;
+ tm[34] = actual_data.faultIr_status;
+ for(int i=0; i<3; i++)
+ FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[i],&tm[35+(i*4)]); //35 -46
+ for(int i=0; i<3; i++)
+ FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[i],&tm[47+(i*4)]); //47 -58
+ FCTN_CONVERT_FLOAT(actual_data.Batt_voltage_actual,&tm[59]); //59 - 62
+ for (int i=63; i<132;i++)
{
-
+ tm[i] = 0x00;
}
crc16 = CRC::crc16_gen(tm,132);
tm[132] = (uint8_t)((crc16&0xFF00)>>8);
tm[133] = (uint8_t)(crc16&0x00FF);
-
+ return tm;
- }
- case 0x01:
+ }
+ case 0x03:
{
printf("Read min max data");
+ tm[0] = 0x60;
+ tm[1] = tc[0];
+ tm[2] = ACK_CODE;
+ for(int i=4; i<20; i++)
+ tm[i] = (uint8_t)bae_HK_minmax.voltage_max[i-4];
+ for(int i=20; i<32; i++)
+ tm[i] = (uint8_t)bae_HK_minmax.current_max[i-20];
+ tm[32] = (uint8_t)bae_HK_minmax.Batt_temp_max[0];
+ tm[33] = (uint8_t)bae_HK_minmax.Batt_temp_max[1];
+ tm[34] = (uint8_t)bae_HK_minmax.Batt_gauge_max[0];
+ tm[35] = (uint8_t)bae_HK_minmax.Batt_gauge_max[1];
+ tm[36] = (uint8_t)bae_HK_minmax.Batt_gauge_max[2];
+ tm[37] = (uint8_t)bae_HK_minmax.BAE_temp_max;
+ FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[0],&tm[38]); //tm[38] - tm[41]
+ FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[1],&tm[42]); //tm[42] - tm[45]
+ FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_max[2],&tm[46]); //tm[46] - tm[49]
+ FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[0],&tm[50]); //tm[50] - tm[53]
+ FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[1],&tm[54]); //tm[54] - tm[57]
+ FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_max[2],&tm[58]); //tm[58] - tm[61]
+ tm[62] = (uint8_t)bae_HK_minmax.Bvalue_max[0];
+ tm[63] = (uint8_t)bae_HK_minmax.Bvalue_max[1];
+ tm[64] = (uint8_t)bae_HK_minmax.Bvalue_max[2];
+ tm[65] = (uint8_t)bae_HK_minmax.Batt_voltage_max;
+ for(int i=66; i<82; i++)
+ tm[i] = (uint8_t)bae_HK_minmax.voltage_min[i-66];
+ for(int i=82; i<94; i++)
+ tm[i] = (uint8_t)bae_HK_minmax.current_min[i-82];
+ tm[94] = (uint8_t)bae_HK_minmax.Batt_temp_min[0];
+ tm[95] = (uint8_t)bae_HK_minmax.Batt_temp_min[1];
+ tm[96] = (uint8_t)bae_HK_minmax.Batt_gauge_min[0];
+ tm[97] = (uint8_t)bae_HK_minmax.Batt_gauge_min[1];
+ tm[98] = (uint8_t)bae_HK_minmax.Batt_gauge_min[2];
+ tm[99] = (uint8_t)bae_HK_minmax.BAE_temp_min;
+ FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[0],&tm[100]); //tm[100] - tm[103]
+ FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[1],&tm[104]); //tm[104] - tm[107]
+ FCTN_CONVERT_FLOAT(bae_HK_minmax.AngularSpeed_min[2],&tm[108]); //tm[108] - tm[111]
+ FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[0],&tm[112]); //tm[112] - tm[115]
+ FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[1],&tm[116]); //tm[116] - tm[119]
+ FCTN_CONVERT_FLOAT(bae_HK_minmax.Bvalue_min[2],&tm[120]); //tm[120] - tm[123]
+ tm[124] = (uint8_t)bae_HK_minmax.Batt_voltage_min;
+ for (int i=125; i<132;i++)
+ {
+ tm[i] = 0x00;
+ }
+ crc16 = CRC::crc16_gen(tm,132);
+ tm[132] = (uint8_t)((crc16&0xFF00)>>8);
+ tm[133] = (uint8_t)(crc16&0x00FF);
+ return tm;
}
- case 0x02:
+ case 0x04:
{
printf("Read status");
+ tm[0] = 0x60;
+ tm[1] = tc[0];
+ tm[2] = ACK_CODE;
+ tm[4] = (BAE_STATUS>>24) & 0xFF;
+ tm[5] = (BAE_STATUS>>16) & 0xFF;
+ tm[6] = (BAE_STATUS>>8) & 0xFF;
+ tm[7] = BAE_STATUS & 0xFF;
+ for (int i=8; i<132;i++)
+ {
+ tm[i] = 0x00;
+ }
+ crc16 = CRC::crc16_gen(tm,132);
+ tm[132] = (uint8_t)((crc16&0xFF00)>>8);
+ tm[133] = (uint8_t)(crc16&0x00FF);
+ return tm;
}
}
@@ -103,28 +211,60 @@
uint8_t pid=tc[3];
switch(pid)
{
- case 0x01:
+ case 0xE0:
{
- printf("Run P_EPS_INIT\r\n");
+ printf("ACS_COMSN\r\n");
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
tm[2]=ACK_CODE;
- for(uint8_t i=3;i<11;i++)
+ FCTN_ATS_DATA_ACQ(); //get data
+ printf("gyro values\n\r");
+ for(int i=0; i<3; i++)
+ printf("%f\n\r",data[i]);
+ printf("mag values\n\r");
+ for(int i=3; i<6; i++)
+ printf("%f\n\r",data[i]);
+ FCTN_CONVERT_FLOAT(data[0],&tm[4]); //tm[4] - tm[7]
+ FCTN_CONVERT_FLOAT(data[1],&tm[8]); //tm[8] - tm[11]
+ FCTN_CONVERT_FLOAT(data[2],&tm[12]); //tm[12] - tm[15]
+ FCTN_CONVERT_FLOAT(data[0],&tm[16]); //tm[16] - tm[19]
+ FCTN_CONVERT_FLOAT(data[1],&tm[20]); //tm[20] - tm[23]
+ FCTN_CONVERT_FLOAT(data[2],&tm[24]); //tm[24] - tm[27]
+ if((data[0]<8) && (data[1]<8) && (data[2] <8))
+ tm[28] = 1; // gyro values in correct range
+ else
+ tm[28] = 0;
+ if ((data[3] > 20 ) && (data[4] >20) && (data[5]>20)&& (data[3] < 50 ) && (data[4] <50) && (data[5]<50))
+ tm[29] = 1; // mag values in correct range
+ else
+ tm[29] = 0;
+
+ float B[3],W[3];
+ B[0] = B0;
+ B[1] = B1;
+ B[2] = B2;
+ W[0] = W0;
+ W[1] = W1;
+ W[2] = W2;
+ // Control algo commissioning
+ FCTN_ACS_CNTRLALGO(B,W);
+ FCTN_CONVERT_FLOAT(moment[0],&tm[30]); //tm[30] - tm[33]
+ FCTN_CONVERT_FLOAT(moment[1],&tm[34]); //tm[34] - tm[37]
+ FCTN_CONVERT_FLOAT(moment[2],&tm[38]); //tm[38] - tm[41]
+ // to include commission TR as well
+ for(uint8_t i=42;i<132;i++)
{
tm[i]=0x00;
}
- crc16 = CRC::crc16_gen(tm,11);
- tm[11] = (uint8_t)((crc16&0xFF00)>>8);
- tm[12] = (uint8_t)(crc16&0x00FF);
- for(uint8_t i=13;i<134;i++)
- {
- tm[i]=0x00;
- }
+
+ crc16 = CRC::crc16_gen(tm,132);
+ tm[133] = (uint8_t)((crc16&0xFF00)>>8);
+ tm[134] = (uint8_t)(crc16&0x00FF);
return tm;
}
- case 0x02:
+ /* case 0x02:
{
printf("Run P_EPS_MAIN\r\n");
//ACK_L234_TM
@@ -243,14 +383,15 @@
tm[i]=0x00;
}
return tm;
- }
+ }*/
case 0x11:
{
printf("SW_ON_ACS_ATS1_SW_ENABLE\r\n");
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ tm[2]=1;
+ gpo1 = 0;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -270,7 +411,8 @@
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ gpo2 = 0;
+ tm[2]=1;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -290,7 +432,8 @@
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ TRXY_SW = 1;
+ tm[2]=1;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -310,7 +453,8 @@
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ tm[2]=1;
+ TRZ_SW = 1;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -330,7 +474,8 @@
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ tm[2]=1;
+ BCN_SW = 0;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -350,7 +495,8 @@
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ tm[2]=1;
+ gpo1 = 1;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -370,7 +516,8 @@
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ tm[2]=1;
+ gpo2 = 1;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -390,7 +537,8 @@
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ tm[2]=1;
+ TRXY_SW = 0;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -410,7 +558,8 @@
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ tm[2]=1;
+ TRZ_SW = 0;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -430,7 +579,8 @@
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ tm[2]=1;
+ BCN_SW = 1;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -446,11 +596,14 @@
}
case 0x31:
{
- printf("ACS_ATS_SW_RESET\r\n");
+ printf("ACS_ATS1_SW_RESET\r\n");
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ tm[2]=1;
+ gpo1 = 1;
+ wait_us(1);
+ gpo1 = 0;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -470,7 +623,10 @@
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ tm[2]=1;
+ BCN_SW = 1;
+ wait_us(1);
+ BCN_SW = 0;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -486,11 +642,14 @@
}
case 0x33:
{
- printf("BAE_RESET\r\n");
+ printf("ACS_ATS2_SW_RESET\r\n");
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ tm[2]=1;
+ gpo1 = 1;
+ wait_us(1);
+ gpo1 = 0;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -510,7 +669,10 @@
//ACK_L234_TM
tm[0]=0xB0;
tm[1]=tc[0];
- tm[2]=ACK_CODE;
+ tm[2]=1;
+ CDMS_RESET = 0;
+ wait_us(1);
+ CDMS_RESET = 1;
for(uint8_t i=3;i<11;i++)
{
tm[i]=0x00;
@@ -524,58 +686,8 @@
}
return tm;
}
- case 0xE0:
- {
- printf("CMSN_ACS_ALGO\r\n");
- //FMS_TM
- tm[0]=0xF0;
- tm[1]=tc[0];
- tm[2]=ACK_CODE;
- for(uint8_t i=3;i<132;i++)
- {
- tm[i]=0x00;
- }
- crc16 = CRC::crc16_gen(tm,132);
- tm[132] = (uint8_t)((crc16&0xFF00)>>8);
- tm[133] = (uint8_t)(crc16&0x00FF);
- return tm;
- }
- case 0xE1:
- {
- printf("CMSN_ACS_HW\r\n");
- //FMS_TM
- tm[0]=0xF0;
- tm[1]=tc[0];
- tm[2]=ACK_CODE;
- for(uint8_t i=3;i<132;i++)
- {
- tm[i]=0x00;
- }
- crc16 = CRC::crc16_gen(tm,132);
- tm[132] = (uint8_t)((crc16&0xFF00)>>8);
- tm[133] = (uint8_t)(crc16&0x00FF);
- return tm;
- }
- case 0xC1:
- {
- printf("Reset HK_Counter\r\n");
- //ACK_L234_TM
- tm[0]=0xB0;
- tm[1]=tc[0];
- tm[2]=ACK_CODE;
- for(uint8_t i=3;i<11;i++)
- {
- tm[i]=0x00;
- }
- crc16 = CRC::crc16_gen(tm,11);
- tm[11] = (uint8_t)((crc16&0xFF00)>>8);
- tm[12] = (uint8_t)(crc16&0x00FF);
- for(uint8_t i=13;i<134;i++)
- {
- tm[i]=0x00;
- }
- return tm;
- }
+
+
default:
{
printf("Invalid TC\r\n");
@@ -653,4 +765,16 @@
}
return flasharray[j];
}
-/*End*/
\ No newline at end of file
+/*End*/
+
+// Convert float to 4 uint8_t
+
+void FCTN_CONVERT_FLOAT(float input, uint8_t* output)
+{
+ uint32_t temp;
+ temp = (uint32_t)input;
+ output[0] = (temp>>24)&0xFF;
+ output[2] = (temp>>16)&0xFF;
+ output[1] = (temp>>8)&0xFF;
+ output[3] = temp & 0xFF; // verify the logic
+}
\ No newline at end of file