FINAL ACS TO BE USED FOR TESTING. COMMISSIONING, ACS MAIN, DATA ACQ ALL DONE.
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of ACS_FULL_Flowchart_BAE by
Diff: TCTM.cpp
- Revision:
- 10:f93407b97750
- Parent:
- 9:194afacf7449
- Child:
- 11:1fdb94ae6563
diff -r 194afacf7449 -r f93407b97750 TCTM.cpp --- a/TCTM.cpp Fri Apr 01 21:13:16 2016 +0000 +++ b/TCTM.cpp Mon Apr 11 17:26:46 2016 +0000 @@ -8,6 +8,9 @@ #include "iostream" #include "stdint.h" #include "cassert" +#include"math.h" + + extern DigitalOut ATS1_SW_ENABLE; // enable of att sens2 switch extern DigitalOut ATS2_SW_ENABLE; // enable of att sens switch @@ -16,23 +19,41 @@ extern DigitalOut TRZ_SW; //TR Z Switch extern DigitalOut CDMS_RESET; // CDMS RESET extern DigitalOut BCN_SW; //Beacon switch - +extern uint8_t BCN_TX_STATUS; +extern uint8_t BCN_FEN; 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 uint8_t ACS_STATE; +extern DigitalOut EN_BTRY_HT; +extern DigitalOut phase_TR_x; +extern DigitalOut phase_TR_y; +extern DigitalOut phase_TR_z; +extern BAE_HK_actual actual_data.power_mode; +extern BAE_HK_quant quant_data; extern void FCTN_ATS_DATA_ACQ(); extern void FCTN_ACS_CNTRLALGO(float*,float*); +float angle(float x,float y,float z) +{ + float mag_total=sqrt(x*x + y*y + z*z); + float cos_z = z/mag_total; + float theta_z = acosf(cos_z); + + return theta_z; + //printf("/n cos_zz= %f /t theta_z= %f /n",cos_z,theta_z); +} + uint8_t* FCTN_BAE_TM_TC (uint8_t* tc) { uint8_t service_type=(tc[2]&0xF0); uint8_t* tm; uint16_t crc16; - + switch(service_type) { @@ -49,27 +70,120 @@ } case 0x02: { + uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4]; + switch(MID) + { + + case 0x0001: + { printf("Read from RAM\r\n"); - uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4]; - switch(MID ) - { - case 0x0010: - { - printf("Read MUX DATA\r\n"); + /*taking some varible till we find some thing more useful*/ + //uint8_t ref_val=0x01; tm[0] = 0x60; tm[1] = tc[0]; tm[2] = ACK_CODE; - for(int i=0; i<3; i++) - FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[i],&tm[4+ (i*4)]); //tm[4] - tm[7] - for(int i=0; i<3; i++) - FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[i],&tm[35+(i*4)]); // + /*random or with bcn_tx_sw_enable assuming it is 1 bit in length + how to get that we dont know, now we just assume it to be so*/ + tm[3] = (BCN_SW); + tm[3] = tm[3]|(TRXY_SW_EN<<1); + tm[3] = tm[3]|(TRZ_SW_EN<<2); + tm[3] = tm[3]|(ATS1_SW_ENABLE<<3); + tm[3] = tm[3]|(ATS2_SW_ENABLE<<4); + + if(BCN_TX_STATUS==2) + tm[3] = tm[3]|0x20; + else + tm[3] = tm[3] & 0xDF; + + tm[3] = tm[3]|(BCN_FEN<<6); + tm[3] = tm[3]|(ACS_ACQ_DATA_ENABLE<<7); + + /*not included in the code yet*/ + tm[4] = BAE_RESET_COUNTER; + + tm[5] = ACS_STATE; + tm[5] = tm[5]|(EN_BTRY_HT<<3); + tm[5] = tm[5]|(phase_TR_x<<4); + tm[5] = tm[5]|(phase_TR_y<<5); + tm[5] = tm[5]|(phase_TR_z<<6); + /*spare to be fixed*/ + tm[5] = tm[5]|(Spare))<<7); + /**/ + uint8_t soc_powerlevel_2=50; + uint8_t soc_powerlevel_3=65; + + tm[6] = soc_powerlevel_2; + tm[7] = soc_powerlevel_3; + + /*to be fixed*/ + tm[8] = 0; + tm[9] = 0; + tm[10] = 0; + tm[11] = 0; + //tm[8] = Torque Rod X Offset; + //tm[9] = Torque Rod Y Offset; + //tm[10] = Torque Rod Z Offset; + //tm[11] = ACS_DEMAG_TIME_DELAY; + tm[12] = (BAE_STATUS>>24) & 0xFF; + tm[13] = (BAE_STATUS>>16) & 0xFF; + tm[14] = (BAE_STATUS>>8) & 0xFF; + tm[15] = BAE_STATUS & 0xFF; - 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++) + /*to be fixed*/ + tm[16] = BCN_FAIL_COUNT; + tm[17] = actual_data.power_mode; + /*to be fixed*/ + uint16_t P_BAE_I2CRX_COUNTER=0; + uint16_t P_ACS_MAIN_COUNTER=0; + uint16_t P_BCN_TX_MAIN_COUNTER=0; + uint16_t P_EPS_MAIN_COUNTER=0; + + tm[18] = P_BAE_I2CRX_COUNTER>>8 + tm[19] = P_BAE_I2CRX_COUNTER; + tm[20] = P_ACS_MAIN_COUNTER>>8; + tm[21] = P_ACS_MAIN_COUNTER; + tm[22] = P_BCN_TX_MAIN_COUNTER>>8; + tm[23] = P_BCN_TX_MAIN_COUNTER; + tm[24] = P_EPS_MAIN_COUNTER>>8; + tm[25] = P_EPS_MAIN_COUNTER; + + for(int i=0; i<3; i++) + FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[i],&tm[26+ (i*4)]); + for(int i=0; i<3; i++) + FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[i],&tm[38+(i*4)]); + + //FAULT_FLAG(); + tm[50] = actual_data.faultIr_status; + tm[51] = actual_data.faultPoll_status; + //Bdot Rotation Speed of Command tm[52-53] + //Bdot Output Current tm[54] + float l_pmw1 = PWM1; + float l_pmw2 = PWM2; + float l_pmw3 = PWM3; + FCTN_CONVERT_FLOAT(l_pwm1, &tm[55]); + FCTN_CONVERT_FLOAT(l_pwm2, &tm[59]); + FCTN_CONVERT_FLOAT(l_pwm3, &tm[63]); + float attitude_ang = angle(actual_data.Bvalue_actual[0],actual_data.Bvalue_actual[1],actual_data.Bvalue_actual[2]); + FCTN_CONVERT_FLOAT(attitude_ang, &tm[67]); + + for (int i=0; i<16; i++) + tm[68+i] = quant_data.voltage_quant[i]; + for (int i=0; i<12; i++) + tm[84+i] = quant_data.current_quant[i]; + //tm[96] + //tm[97] + //tm[98] + //tm[99] + tm[100] = quant_data.Batt_voltage_quant; + tm[101] = quant_data.BAE_temp_quant; + tm[102] = quant_data.Batt_gauge_quant[1]; + tm[103] = quant_data.Batt_temp_quant[0]; + tm[104] = quant_data.Batt_temp_quant[1]; + + //tm[105] = beacon temperature; + + for (int i=105; i<132;i++) { tm[i] = 0x00; } @@ -77,9 +191,84 @@ tm[132] = (uint8_t)((crc16&0xFF00)>>8); tm[133] = (uint8_t)(crc16&0x00FF); return tm; - } - //......................... - /* case 0x0010: + + } + case 0x0002: + { + tm[0] = 0x60; + tm[1] = tc[0]; + tm[2] = ACK_CODE; + + for(int i;i<16;i++) + tm[i+3] = BAE_HK_min_max bae_HK_minmax.voltage_max[i]; + + for(int i;i<12;i++) + tm[i+18] = BAE_HK_min_max bae_HK_minmax.current_max[i]; + + tm[29] = BAE_HK_min_max bae_HK_minmax.Batt_voltage_max;; + tm[30] = BAE_HK_min_max bae_HK_minmax.BAE_temp_max; + + /*battery soc*/ + //tm[31] = BAE_HK_min_max bae_HK_minmax.voltage_max; + + tm[32] = BAE_HK_min_max bae_HK_minmax.Batt_temp_max[1]; + tm[33] = BAE_HK_min_max bae_HK_minmax.Batt_temp_max[2]; + + /*BCN temp not there*/ + //tm[34] = BAE_HK_min_max bae_HK_minmax.; + + for(int i=0; i<3; i++) + FCTN_CONVERT_FLOAT(BAE_HK_min_max bae_HK_minmax.Bvalue_max[i],&tm[35+(i*4)]); + + for(int i=0; i<3; i++) + FCTN_CONVERT_FLOAT(BAE_HK_min_max bae_HK_minmax.AngularSpeed_max[i],&tm[47+(i*4)]); + + /*min data*/ + + for(int i;i<16;i++) + tm[i+59] = BAE_HK_min_max bae_HK_minmax.voltage_min[i]; + + for(int i;i<12;i++) + tm[i+74] = BAE_HK_min_max bae_HK_minmax.current_min[i]; + + tm[86] = BAE_HK_min_max bae_HK_minmax.Batt_voltage_min; + tm[87] = BAE_HK_min_max bae_HK_minmax.BAE_temp_min; + + /*battery soc*/ + //tm[88] = BAE_HK_min_max bae_HK_minmax.voltage_max; + + tm[89] = BAE_HK_min_max bae_HK_minmax.Batt_temp_min[1]; + tm[90] = BAE_HK_min_max bae_HK_minmax.Batt_temp_min[2]; + + /*BCN temp not there*/ + //tm[91] = BAE_HK_min_max bae_HK_minmax.; + + for(int i=0; i<3; i++) + FCTN_CONVERT_FLOAT(BAE_HK_min_max bae_HK_minmax.Bvalue_min[i],&tm[91+(i*4)]); + + for(int i=0; i<3; i++) + FCTN_CONVERT_FLOAT(BAE_HK_min_max bae_HK_minmax.AngularSpeed_min[i],&tm[103+(i*4)]); + + + for (int i=115; 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; + + } + + + } + } + + /* + switch(tc[3]) + { + case 0x01: { printf("Read MUX DATA\r\n"); tm[0] = 0x60; @@ -97,19 +286,13 @@ tm[132] = (uint8_t)((crc16&0xFF00)>>8); tm[133] = (uint8_t)(crc16&0x00FF); return tm; - }*/ - //.......................................... - case 0x2: + } + case 0x02: { printf("Read HK\r\n"); tm[0] = 0x60; tm[1] = tc[0]; tm[2] = ACK_CODE; - for(int i=0; i<3; i++) - FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[i],&tm[4+ (i*4)]); //tm[4] - tm[7] - for(int i=0; i<3; i++) - FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[i],&tm[35+(i*4)]); // - 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++) @@ -118,6 +301,10 @@ 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++) { @@ -129,7 +316,7 @@ return tm; } - case 0x3: + case 0x03: { printf("Read min max data"); tm[0] = 0x60; @@ -181,7 +368,7 @@ tm[133] = (uint8_t)(crc16&0x00FF); return tm; } - case 0x4: + case 0x04: { printf("Read status"); tm[0] = 0x60; @@ -202,7 +389,8 @@ } } - } + */ + case 0x05: { printf("Write on Flash\r\n"); @@ -246,19 +434,50 @@ { case 0xE0: { + float B[3],W[3]; printf("ACS_COMSN\r\n"); //ACK_L234_TM + + uint8_t B_x[2]; + uint8_t B_y[2]; + uint8_t B_z[2]; + uint8_t W_x[2]; + uint8_t W_y[2]; + uint8_t W_z[2]; + + B_x[0]=tc[3]; + B_x[1]=tc[4]; + B_y[0]=tc[5]; + B_y[1]=tc[6]; + B_z[0]=tc[7]; + B_z[1]=tc[8]; + + W_x[0]=tc[9]; + W_x[1]=tc[10]; + W_y[0]=tc[11]; + W_y[1]=tc[12]; + W_z[0]=tc[13]; + W_z[1]=tc[14]; + + FCTN_CONVERT_UINT (B_x, &B[0]); + FCTN_CONVERT_UINT (B_y, &B[1]); + FCTN_CONVERT_UINT (B_z, &B[2]); + + FCTN_CONVERT_UINT (W_x, &W[0]); + FCTN_CONVERT_UINT (W_y, &W[1]); + FCTN_CONVERT_UINT (W_z, &W[2]); + tm[0]=0xB0; tm[1]=tc[0]; tm[2]=ACK_CODE; - FCTN_ATS_DATA_ACQ(); //get data + //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("%f\n\r",W[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] + for(int i=0; i<3; i++) + printf("%f\n\r",B[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] @@ -272,16 +491,16 @@ 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; + */ + // 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_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] @@ -295,31 +514,115 @@ tm[133] = (uint8_t)((crc16&0xFF00)>>8); tm[134] = (uint8_t)(crc16&0x00FF); return tm; + */ + + // Control algo commissioning + FCTN_ACS_CNTRLALGO(B,W); + FCTN_CONVERT_FLOAT(moment[0],&tm[4]); //tm[4] - tm[7] + FCTN_CONVERT_FLOAT(moment[1],&tm[8]); //tm[8] - tm[11] + FCTN_CONVERT_FLOAT(moment[2],&tm[12]); //tm[12] - tm[15] + // to include commission TR as well + for(uint8_t i=16;i<132;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 0xE1: { - printf("Run P_EPS_MAIN\r\n"); + float moment_tc[3]; + printf("HARDWARE_COMSN\r\n"); + //ACK_L234_TM + uint8_t M0[2]; + uint8_t M1[2]; + uint8_t M2[2]; + + M0[0]=tc[3]; + M0[1]=tc[4]; + M1[0]=tc[5]; + M1[1]=tc[6]; + M2[0]=tc[7]; + M2[1]=tc[8]; + + + tm[0]=0xB0; + tm[1]=tc[0]; + tm[2]=ACK_CODE; + FCTN_CONVERT_UINT (M0, &moment_tc[0]); + FCTN_CONVERT_UINT (M1, &moment_tc[1]); + FCTN_CONVERT_UINT (M2, &moment_tc[2]); + + + + FCTN_ACS_GENPWM_MAIN(moment_tc); + + float PWM_measured[3]; + + PWM_measured[0] = PWM1.read(); + PWM_measured[1] = PWM2.read(); + PWM_measured[2] = PWM3.read(); + + + FCTN_CONVERT_FLOAT(PWM_measured[0],&tm[4]); //4-7 + FCTN_CONVERT_FLOAT(PWM_measured[1],&tm[8]); //8-11 + FCTN_CONVERT_FLOAT(PWM_measured[2],&tm[12]); //12-15 + for(int i=0; i<12; i++) + FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&tm[16 + (i*4)]); + + + FCTN_ATS_DATA_ACQ(); //get data + + + // to include commission TR as well + for(uint8_t i=64;i<132;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: + { + F_EPS(); + /* printf("Run P_EPS_MAIN\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=ACK_CODE; - for(uint8_t i=3;i<11;i++) + */ + for(uint8_t i=0;i<133;i++) { tm[i]=0x00; } - crc16 = CRC::crc16_gen(tm,11); - tm[11] = (uint8_t)((crc16&0xFF00)>>8); - tm[12] = (uint8_t)(crc16&0x00FF); + crc16 = CRC::crc16_gen(tm,132); + tm[132] = (uint8_t)((crc16&0xFF00)>>8); + tm[133] = (uint8_t)(crc16&0x00FF); + /* for(uint8_t i=13;i<134;i++) { tm[i]=0x00; } + */ + return tm; } - case 0x03: + + /* case 0x03: { - printf("Run P_ACS_INIT\r\n"); + + /* printf("Run P_ACS_INIT\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; @@ -357,9 +660,53 @@ } return tm; } + */ case 0x05: { printf("Run P_ACS_MAIN\r\n"); + F_ACS(); + + + for(int i=0; i<3; i++) + FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[i],&tm[(i*4)]); + for(int i=0; i<3; i++) + FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[i],&tm[12+(i*4)]); + + tm[24] = ACS_STATE; + tm[24] = tm[5]|(EN_BTRY_HT<<3); + tm[24] = tm[5]|(phase_TR_x<<4); + tm[24] = tm[5]|(phase_TR_y<<5); + tm[24] = tm[5]|(phase_TR_z<<6); + + FCTN_CONVERT_FLOAT(l_pwm_1,&tm[25]); + FCTN_CONVERT_FLOAT(l_pwm_2,&tm[29]); + FCTN_CONVERT_FLOAT(l_pwm_3,&tm[33]); + + //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,37); + tm[37] = (uint8_t)((crc16&0xFF00)>>8); + tm[38] = (uint8_t)(crc16&0x00FF); + for(uint8_t i=39;i<134;i++) + { + tm[i]=0x00; + } + return tm; + } + + + + case 0x06: + { + F_BCN(); + /* printf("Run P_BCN_INIT\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; @@ -368,35 +715,17 @@ { 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++) + */ + crc16 = CRC::crc16_gen(tm,0); + tm[0] = (uint8_t)((crc16&0xFF00)>>8); + tm[1] = (uint8_t)(crc16&0x00FF); + for(uint8_t i=2;i<134;i++) { tm[i]=0x00; } return tm; } - case 0x06: - { - printf("Run P_BCN_INIT\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; - } + /* case 0x07: { printf("Run P_BCN_TX_MAIN\r\n"); @@ -417,13 +746,14 @@ } return tm; }*/ - case 0x11: + case 0x11: { printf("SW_ON_ACS_ATS1_SW_ENABLE\r\n"); //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; tm[2]=1; + ATS1_SW_ENABLE = 1; // making sure we switch off the other ATS1_SW_ENABLE = 0; for(uint8_t i=3;i<11;i++) { @@ -444,6 +774,7 @@ //ACK_L234_TM tm[0]=0xB0; tm[1]=tc[0]; + ATS1_SW_ENABLE = 1; //make sure u switch off the other ATS2_SW_ENABLE = 0; tm[2]=1; for(uint8_t i=3;i<11;i++)