Revision 15:3239c6391ffa, committed 2016-04-20

Comitter:

Bragadeesh153

Date:

Wed Apr 20 17:47:05 2016 +0000

Parent:

14:a9588f443f1a

Commit message:

Upated commissioning.. Changes to be made in ACS_MAIN logic and checking the faults of ATS

Changed in this revision

--- a/TCTM.cpp	Thu Apr 14 09:34:06 2016 +0000
+++ b/TCTM.cpp	Wed Apr 20 17:47:05 2016 +0000
@@ -19,8 +19,11 @@
 extern DigitalOut TRZ_SW;  //TR Z Switch
 extern DigitalOut CDMS_RESET; // CDMS RESET
 extern DigitalOut BCN_SW;      //Beacon switch
+extern uint8_t ACS_ATS_STATUS;
 extern uint8_t BCN_TX_STATUS;
 extern uint8_t BCN_FEN;
+extern AnalogIn CurrentInput; 
+
 extern BAE_HK_actual actual_data;
 extern BAE_HK_min_max bae_HK_minmax;
 extern uint32_t BAE_STATUS;
@@ -356,34 +359,14 @@
                             printf("ACS_COMSN\r\n");
                             //ACK_L234_telemetry
 
-                            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]);
+                            B[0]=(float)tc[4];
+                            B[1]=(float)tc[5];
+                            B[2] = 300;  //constant value
+                            
+                            W[0]=(float)tc[6];
+                            W[1]=(float)tc[7];
+                            W[2] = 300; //constant value
 
                             telemetry[0]=0xB0;
                             telemetry[1]=tc[0];
@@ -452,63 +435,188 @@
                         }
                         case 0xE1:
                         {
-                            float moment_tc[3];
+
                             printf("HARDWARE_COMSN\r\n");
                             //ACK_L234_telemetry
-                            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];
-
+                            
+                            TRXY_SW = 1;
+                            TRZ_SW = 1;
+                            
+                            PWM1 = 0;
+                            PWM2 = 0;
+                            PWM3 = 0;
+                            
+                            wait_ms(60); //Demagnetising time delay for torquerod
 
                             telemetry[0]=0xB0;
                             telemetry[1]=tc[0];
                             telemetry[2]=ACK_CODE;
                             
-                            float PWM_measured[3];
+                            float PWM_tc[3];
+                            
+                            PWM_tc[0] = (float) tc[4];
+                            PWM_tc[1] = (float) tc[5];
+                            PWM_tc[2] = (float) tc[6];
+                            
+                            ATS2_SW_ENABLE = 1;
+                            ATS1_SW_ENABLE = 0;  // making sure we switch off the other
+                            
+                            
+                            FCTN_ATS_DATA_ACQ();
+                            
+                            
+                            FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[0], &telemetry[6]);
+                            FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[1], &telemetry[10]);
+                            FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[2], &telemetry[14]);
+                            
+                            FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[0], &telemetry[18]);
+                            FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[0], &telemetry[22]);
+                            FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[0], &telemetry[26]);
+                            
+                            ACS_ATS_STATUS = ACS_ATS_STATUS & 0xF0;
+                            ACS_ATS_STATUS = ACS_ATS_STATUS | 0x00;
+                            
+                            
+                            ATS1_SW_ENABLE = 1;
+                            ATS2_SW_ENABLE = 0;  // making sure we switch off the other
+                            
+                            
+                            FCTN_ATS_DATA_ACQ();
+                            
+                            
+                            FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[0], &telemetry[30]);
+                            FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[1], &telemetry[34]);
+                            FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[2], &telemetry[38]);
+                            
+                            FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[0], &telemetry[42]);
+                            FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[0], &telemetry[46]);
+                            FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[0], &telemetry[50]);
+                            
+                            ACS_ATS_STATUS = ACS_ATS_STATUS & 0x0F;
+                            ACS_ATS_STATUS = ACS_ATS_STATUS | 0x00;
+                            
+                            ACS_ATS_STATUS = telemetry[4];
+                            
+                            PWM1 = PWM_tc[0];
+                            wait_ms(60);
+                            FCTN_ATS_DATA_ACQ();
+                            
+                            actual_data.current_actual[5]=CurrentInput.read();
+                            actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);
+                            int resistance;       
+             
+                            resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
+                            if(actual_data.current_actual[5]>1.47) 
+                            {
+                                actual_data.current_actual[5]=3694/log(24.032242*resistance);
+                            }
+                            else{
+                                
+                                actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
+                            }
+                            
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.current_actual[5], &telemetry[54]);
+                            
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.Bvalue_actual[0], &telemetry[56]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.Bvalue_actual[1], &telemetry[58]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.Bvalue_actual[2], &telemetry[60]);
+                            
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.AngularSpeed_actual[0], &telemetry[62]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.AngularSpeed_actual[0], &telemetry[64]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.AngularSpeed_actual[0], &telemetry[66]);
+                            
+                            
+                            
+                            PWM1 = 0;
                             
                             
-                            FCTN_CONVERT_UINT(M0,&moment_tc[0]);
-                            moment_tc[1] = 0;
-                            moment_tc[2] = 0;
-                            FCTN_ACS_GENPWM_MAIN(moment_tc);
-                            PWM_measured[0] = PWM1.read();
-                            FCTN_CONVERT_FLOAT(actual_data.current_actual[5],&telemetry[16 + (0*4)]);
-                            
-                            FCTN_CONVERT_UINT(M1, &moment_tc[1]);
-                            moment_tc[0] = 0;
-                            moment_tc[2] = 0;
-                            FCTN_ACS_GENPWM_MAIN(moment_tc);
-                            PWM_measured[1] = PWM2.read();
-                            FCTN_CONVERT_FLOAT(actual_data.current_actual[5],&telemetry[16 + (1*4)]);
-                            
-                            FCTN_CONVERT_UINT(M2, &moment_tc[2]);
-                            moment_tc[0] = 0;
-                            moment_tc[1] = 0;
-                            FCTN_ACS_GENPWM_MAIN(moment_tc);
-                            PWM_measured[2] = PWM3.read();
-                            FCTN_CONVERT_FLOAT(actual_data.current_actual[5],&telemetry[16 + (2*4)]);
-
-                            FCTN_CONVERT_FLOAT(PWM_measured[0],&telemetry[4]);    //4-7
-                            FCTN_CONVERT_FLOAT(PWM_measured[1],&telemetry[8]);    //8-11
-                            FCTN_CONVERT_FLOAT(PWM_measured[2],&telemetry[12]);  //12-15
+                            PWM2 = PWM_tc[1];
+                            wait_ms(60);
+                            FCTN_ATS_DATA_ACQ();
                             
                             
-                            // for(int i=0; i<12; i++)
-                             //   FCTN_CONVERT_FLOAT(actual_data.current_actual[i],&telemetry[16 + (i*4)]);
-
-
-                           // FCTN_ATS_DATA_ACQ();  //get data
-
-
-                            // to include commission TR as well
-                            for(uint8_t i=28;i<132;i++)
+                            actual_data.current_actual[5]=CurrentInput.read();
+                            actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);     
+             
+                            resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
+                            if(actual_data.current_actual[5]>1.47) 
+                            {
+                                actual_data.current_actual[5]=3694/log(24.032242*resistance);
+                            }
+                            else{
+                                
+                                actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
+                            }
+                            
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.current_actual[5], &telemetry[68]);
+                            
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.Bvalue_actual[0], &telemetry[70]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.Bvalue_actual[1], &telemetry[72]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.Bvalue_actual[2], &telemetry[74]);
+                            
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.AngularSpeed_actual[0], &telemetry[76]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.AngularSpeed_actual[0], &telemetry[78]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.AngularSpeed_actual[0], &telemetry[80]);
+                            
+                            PWM2 = 0;
+                            
+                            PWM3 = PWM_tc[2];
+                            
+                            wait_ms(60);
+                            FCTN_ATS_DATA_ACQ();
+                            
+                             resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
+                            if(actual_data.current_actual[5]>1.47) 
+                            {
+                                actual_data.current_actual[5]=3694/log(24.032242*resistance);
+                            }
+                            else{
+                                
+                                actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
+                            }
+                            
+                            
+                            
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.current_actual[5], &telemetry[82]);
+                            
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.Bvalue_actual[0], &telemetry[84]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.Bvalue_actual[1], &telemetry[86]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.Bvalue_actual[2], &telemetry[88]);
+                            
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.AngularSpeed_actual[0], &telemetry[90]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.AngularSpeed_actual[0], &telemetry[92]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.AngularSpeed_actual[0], &telemetry[94]);
+                            
+                            PWM3 = 0;
+                            
+                            wait_ms(60);
+                            
+                            FCTN_ATS_DATA_ACQ();
+                                                        actual_data.current_actual[5]=CurrentInput.read();
+                            actual_data.current_actual[5]= actual_data.current_actual[5]*3.3/(50*rsens);     
+             
+                            resistance=24000*actual_data.current_actual[5]/(3.3-actual_data.current_actual[5]);
+                            if(actual_data.current_actual[5]>1.47) 
+                            {
+                                actual_data.current_actual[5]=3694/log(24.032242*resistance);
+                            }
+                            else{
+                                
+                                actual_data.current_actual[5]=3365.4/log(7.60573*resistance);
+                            }
+                            
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.Bvalue_actual[0], &telemetry[96]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.Bvalue_actual[1], &telemetry[98]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.Bvalue_actual[2], &telemetry[100]);
+                            
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.AngularSpeed_actual[0], &telemetry[102]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.AngularSpeed_actual[0], &telemetry[104]);
+                            FCTN_CONVERT_FLOAT_COMPRESS(actual_data.AngularSpeed_actual[0], &telemetry[106]);
+                            
+                            
+                           
+                            for(uint8_t i=108;i<132;i++)
                             {
                                 telemetry[i]=0x00;
                             }
@@ -671,7 +779,7 @@
                             telemetry[0]=0xB0;
                             telemetry[1]=tc[0];
                             telemetry[2]=1;
-                            ATS1_SW_ENABLE = 1;  // making sure we switch off the other
+                            ATS2_SW_ENABLE = 1;  // making sure we switch off the other
                             ATS1_SW_ENABLE = 0;
                             for(uint8_t i=3;i<11;i++)
                             {
@@ -692,6 +800,7 @@
                             //ACK_L234_TM
                             telemetry[0]=0xB0;
                             telemetry[1]=tc[0];
+                            
                             ATS1_SW_ENABLE = 1; //make sure u switch off the other
                             ATS2_SW_ENABLE = 0;
                             telemetry[2]=1;
@@ -1086,4 +1195,22 @@
     output[3] =(uint8_t ) ((*temp) & 0xFF);           // verify the logic
     //printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]);
     //std:: cout << "\n\r uint8  inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl;
+}
+
+
+void FCTN_CONVERT_FLOAT_COMPRESS(float input, uint8_t output[2])
+{
+    int integer = (int)input;
+    assert(sizeof(int) == sizeof(uint16_t));
+    uint16_t* temp = reinterpret_cast<uint16_t*>(&integer);
+
+    //float* output1 = reinterpret_cast<float*>(temp);
+
+    printf("\n\r %d  ", integer);
+    std::cout << "\n\r uint16"<<*temp << std::endl;
+    
+    output[0] =(uint8_t ) (((*temp)>>8)&0xFF);
+    output[1] =(uint8_t ) ((*temp) & 0xFF);           // verify the logic
+    //printf("\n\r inside %d %d %d %d", output[3],output[2],output[1],output[0]);
+    //std:: cout << "\n\r uint8  inside " << output[3] << '\t' << output[2] << '\t' << output[1] << '\t' << output[0] <<std::endl;
 }
\ No newline at end of file

--- a/TCTM.h	Thu Apr 14 09:34:06 2016 +0000
+++ b/TCTM.h	Wed Apr 20 17:47:05 2016 +0000
@@ -1,9 +1,12 @@
 #define ACK_CODE 0x02;
 
+#define rsens 0.095
+
 void FCTN_BAE_TM_TC(uint8_t*);
 void FCTN_CDMS_WR_FLASH(uint16_t ,uint32_t);
 uint32_t FCTN_CDMS_RD_FLASH(uint16_t );
 void FCTN_CONVERT_FLOAT(float input, uint8_t* output);
+void FCTN_CONVERT_FLOAT_COMPRESS(float input, uint8_t* output);
  
 #define B0 -23
 #define B1 -2