Team Fox
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 
Team Fox
Revision 15:e09aaaccf134, committed 2016-04-19
- Comitter:
- lakshya
- Date:
- Tue Apr 19 21:27:07 2016 +0000
- Parent:
- 14:a9588f443f1a
- Child:
- 16:cc77770d787f
- Commit message:
- checking
Changed in this revision
--- a/ACS.cpp Thu Apr 14 09:34:06 2016 +0000
+++ b/ACS.cpp Tue Apr 19 21:27:07 2016 +0000
@@ -421,7 +421,7 @@
gyro_data[i]=(float)bit_data;
gyro_data[i]=gyro_data[i]/senstivity_gyro;
gyro_data[i]+=gyro_error[i];
- // pc_acs.printf("%f\t",gyro_data[i]);
+ // pc_acs.printf("%f\t",gyro_data[i]);
}
// pc_acs.printf("\nMag Values:\n");
for(int i=0; i<3; i++) {
@@ -430,7 +430,7 @@
mag_data[i]=(float)bit_data;
mag_data[i]=mag_data[i]/senstivity_mag;
mag_data[i]+=mag_error[i];
- // pc_acs.printf("%f\t",mag_data[i]);
+ //pc_acs.printf("%f\t",mag_data[i]);
}
for(int i=0; i<3; i++) {
// data[i]=gyro_data[i];
--- a/EPS.cpp Thu Apr 14 09:34:06 2016 +0000
+++ b/EPS.cpp Tue Apr 19 21:27:07 2016 +0000
@@ -8,7 +8,7 @@
extern char BAE_chardata[74];
//m_I2C.frequency(10000)
-const char RCOMP0= 0x97;
+const char RCOMP0= 0x97;// don't know what it is now
BAE_HK_actual actual_data;
BAE_HK_quant quant_data;
BAE_HK_min_max bae_HK_minmax;
@@ -27,8 +27,8 @@
//AnalogIn Vbatt_ang(VBATT);
AnalogIn Batt_voltage(PIN20); //Battery voltage
-SPI spi_bt(PIN99,PIN100,PIN98); //MOSI,MISO,SLK
-DigitalOut ssn1(PIN19); //Slave select1
+SPI spi_bt(PIN99,PIN100,PIN98); //MOSI,MISO,SLK // battery temp something 3
+DigitalOut ssn1(PIN19); //Slave select1 // low line master talks
DigitalOut ssn2(PIN21);//Slave select2
//DigitalOut PS(PTB0);
//DigitalOut HS(PTB1);
@@ -37,6 +37,7 @@
AnalogIn VoltageInput(PIN53); // Input from Voltage Multiplexer //PIN53
AnalogIn BAE_temp_sensor(PIN55); //Input from BAE temp sensor
+/*mux for reading value one by one*/
DigitalOut SelectLinea3 (PIN46); // MSB of Select Lines
DigitalOut SelectLinea2 (PIN45);
DigitalOut SelectLinea1 (PIN44);
@@ -66,7 +67,7 @@
FCTN_BATTERYGAUGE_INIT();
FCTN_BATTTEMP_INIT();
EN3V3A = 1; //enable dc dc converter A
- char value=alertFlags();
+ char value=alertFlags(); // initialization part of battery gauge
unsigned short value_u= (short int )value;
value_u &=0x0001;
if(value_u ==0x0001) // battery gauge not initialised
@@ -77,7 +78,7 @@
else
{
actual_data.Batt_gauge_actual[1] = soc();
- actual_data.Batt_voltage_actual = Batt_voltage.read()*3.3;
+ actual_data.Batt_voltage_actual = Batt_voltage.read()*3.3; //1 corresponds to 3.3 scaling factor
FCTN_EPS_POWERMODE(actual_data.Batt_gauge_actual[1]);
EPS_BATTERY_GAUGE_STATUS = 's'; //set EPS_BATTERY_GAUGE_STATUS
}
@@ -87,6 +88,8 @@
}
//----------------------------------------------------Power algo code--------------------------------------------------------------------//
+/*update the power modes*/
+
void FCTN_EPS_POWERMODE(float soc) //dummy algo
{
if(soc >= 80)
@@ -100,7 +103,7 @@
}
//...................................................HK...........................................//
-
+/*reading values*/
void FCTN_HK_MAIN()
{
@@ -452,7 +455,7 @@
{
//Read the current 16-bit register value
unsigned short value = read(REG_MODE);
-
+
//Set the QuickStart bit
value |= (1 << 14);
--- a/TCTM.cpp Thu Apr 14 09:34:06 2016 +0000
+++ b/TCTM.cpp Tue Apr 19 21:27:07 2016 +0000
@@ -83,7 +83,8 @@
{
// tm1[0] = 1;
uint8_t service_type=(tc[2]&0xF0);
-
+ /*chaged*/
+ uint8_t* tm; // without it some identifier error
uint16_t crc16;
@@ -99,17 +100,64 @@
case 0x01:
{
printf("Read from Flash\r\n");
+ uint16_t jj;
+ uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
+ switch(MID)
+ {case 0x1100:jj=0x00;// using uint16_t as jj typesimilarly used in FCTN_CDMS_WR_FLASH
+ break;
+ case 0x0100:jj=0x01;
+ break;
+ case 0x0101:jj=0x02;
+ break;
+ case 0x0102:jj=0x03;
+ break;
+ case 0x0107:jj=0x04;
+ break;
+ case 0x0103:jj=0x05;
+ break;
+ case 0x0104:jj=0x05;
+ break;
+ case 0x0105:jj=0x06;
+ break;
+ case 0x0106:jj=0x07;
+ break;
+ }
+ /*pointer....!!!!*/
+ uint32_t FLASH_TEMP = FCTN_CDMS_RD_FLASH(jj);
+
+ tm[0] = 0x60;
+ tm[1] = tc[0];
+ tm[2] = ACK_CODE;
+ for(int i=0; i<8*4; i+=4)
+ {
+ tm[4+i] =(uint8_t )(((FLASH_TEMP)>>24)&0xFF);
+ tm[5+i] =(uint8_t ) (((FLASH_TEMP)>>16)&0xFF);
+ tm[6+i] =(uint8_t ) (((FLASH_TEMP)>>8)&0xFF);
+ tm[7+i] =(uint8_t ) ((FLASH_TEMP) & 0xFF);
+
+ }
+
+
+ for (int i=4+8*4; 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);
+
break;
}
case 0x02:
{
+ printf("Read from RAM\r\n");
uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
switch(MID)
{
case 0x0001:
{
- printf("Read from RAM\r\n");
+ printf("\nRead from MID 0001 hk\n");
/*taking some varible till we find some thing more useful*/
//uint8_t ref_val=0x01;
@@ -182,10 +230,34 @@
telemetry[24] = P_EPS_MAIN_COUNTER>>8;
telemetry[25] = P_EPS_MAIN_COUNTER;
+ //actual_data.AngularSpeed_actual[0]=5.32498;
for(int i=0; i<3; i++)
- FCTN_CONVERT_FLOAT(actual_data.Bvalue_actual[i],&telemetry[26+ (i*4)]);
+ FCTN_CONVERT_FLOAT((float)actual_data.Bvalue_actual[i],&telemetry[26+ (i*4)]);
for(int i=0; i<3; i++)
- FCTN_CONVERT_FLOAT(actual_data.AngularSpeed_actual[i],&telemetry[38+(i*4)]);
+ FCTN_CONVERT_FLOAT((float)actual_data.AngularSpeed_actual[i],&telemetry[38+(i*4)]);
+
+ //printf("\n\rthe value is 38\t %x\n",telemetry[38]);
+ //printf("\n\rthe value is 39\t%x\n",telemetry[39]);
+ //printf("\n\rthe value is 40\t%x\n",telemetry[40]);
+ //printf("\n\rthe value is 41\t%x\n",telemetry[41]);
+ //printf("\n\rthe value true\t%f\n",actual_data.AngularSpeed_actual[0]);
+
+
+ //uint32_t input_stage1=0x00000000;
+ //uint8_t output1[4];
+ //output1[0]=(uint32_t)(telemetry[38]);
+ //output1[1]=(uint32_t)(telemetry[39]);
+ //output1[2]=(uint32_t)(telemetry[40]);
+ //output1[3]=(uint32_t)(telemetry[41]);
+
+ //input_stage1=output[3]+(output[2]*(0x100))+(output[1]*(0x10000))+(output[0]*(0x1000000));
+ //input_stage1=(output1[0]<<24) | (output1[1]<<16) | (output1[2]<<8) | (output1[3]);
+
+
+ //assert(sizeof(float) == sizeof(uint32_t));
+ //float* temp1 = reinterpret_cast<float*>(&input_stage1);
+
+ //printf("\n\r the value is: %f \n",*temp1);
//FAULT_FLAG();
telemetry[50] = actual_data.faultIr_status;
@@ -242,6 +314,7 @@
}
case 0x0002:
{
+ printf("\r\n");
telemetry[0] = 0x60;
telemetry[1] = tc[0];
telemetry[2] = ACK_CODE;
@@ -312,7 +385,87 @@
}
case 0x05:
{
- printf("Write on Flash\r\n");
+ printf("\nRead from MID 0001 min max\n");
+ /*changed*/
+ printf("\n\rwrite on flash\n");
+ uint32_t FLASH_DATA[8];
+
+ uint16_t MID = ((uint16_t)tc[3] << 8) | tc[4];
+ switch(MID )
+ {
+
+ case 0x0100:
+ {
+ FLASH_DATA[0] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
+ FCTN_CDMS_WR_FLASH(0x00,FLASH_DATA[0]);
+ break;
+ }
+ case 0x0101:
+ {
+ FLASH_DATA[1] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
+ FCTN_CDMS_WR_FLASH(0x01,FLASH_DATA[1]);
+ break;
+ }
+
+ case 0x0102:
+ {
+ FLASH_DATA[2] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
+ FCTN_CDMS_WR_FLASH(0x02,FLASH_DATA[2]);
+ break;
+ }
+
+ case 0x0103:
+ {
+ FLASH_DATA[3] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
+ FCTN_CDMS_WR_FLASH(0x03,FLASH_DATA[3]);
+ break;
+ }
+ case 0x0104:
+ {
+ FLASH_DATA[4] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
+ FCTN_CDMS_WR_FLASH(0x04,FLASH_DATA[4]);
+ break;
+ }
+
+ case 0x0105:
+ {
+ FLASH_DATA[5] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
+ FCTN_CDMS_WR_FLASH(0x05,FLASH_DATA[5]);
+ break;
+ }
+ case 0x0106:
+ {
+ FLASH_DATA[6] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
+ FCTN_CDMS_WR_FLASH(0x06,FLASH_DATA[6]);
+ break;
+ }
+
+ case 0x0107:
+ {
+ FLASH_DATA[7] = (((uint32_t)tc[5] << 24) | ((uint32_t)tc[6] << 16) | ((uint32_t)tc[7] << 8) | (uint32_t)tc[6]);
+ FCTN_CDMS_WR_FLASH(0x07,FLASH_DATA[7]);
+ break;
+ }
+
+ default:
+ {
+ printf("Invalid MMS\r\n");
+ }
+ }
+
+
+ for (int i=4; 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);
+ tm[0] = 0x60;
+ tm[1] = tc[0];
+ tm[2] = ACK_CODE;
+
+ printf("Written on Flash\r\n");
break;
}
default:
@@ -1070,6 +1223,7 @@
// Convert float to 4 uint8_t
+
void FCTN_CONVERT_FLOAT(float input, uint8_t output[4])
{
assert(sizeof(float) == sizeof(uint32_t));
@@ -1077,13 +1231,21 @@
//float* output1 = reinterpret_cast<float*>(temp);
- printf("\n\r %f ", input);
- std::cout << "\n\r uint32"<<*temp << std::endl;
+ //printf("\n\r %f ", input);
+ //std::cout << "\n\r uint32"<<*temp << std::endl;
output[0] =(uint8_t )(((*temp)>>24)&0xFF);
- output[2] =(uint8_t ) (((*temp)>>16)&0xFF);
- output[1] =(uint8_t ) (((*temp)>>8)&0xFF);
- output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic
+ output[1] =(uint8_t ) (((*temp)>>16)&0xFF);
+ output[2] =(uint8_t ) (((*temp)>>8)&0xFF);
+ output[3] =(uint8_t ) ((*temp) & 0xFF); // verify the logic
+
+ printf("\n\rthe values generated are\n");
+ /*printf("\n\r%x\n",output[0]);
+ printf("\n\r%x\n",output[1]);
+ printf("\n\r%x\n",output[2]);
+ printf("\n\r%x\n",output[3]);
+ to check the values generated
+ */
//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/main.cpp Thu Apr 14 09:34:06 2016 +0000
+++ b/main.cpp Tue Apr 19 21:27:07 2016 +0000
@@ -238,7 +238,7 @@
pc.printf("gyro values\n\r"); //printing the angular velocity and magnetic field values
for(int i=0; i<3; i++)
{
- pc.printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
+ printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
}
pc.printf("mag values\n\r");
for(int i=0; i<3; i++)
@@ -429,9 +429,12 @@
while(1)
{
Thread::signal_wait(0x4);
- wait_us(200); // can be between 38 to 15700
+ wait_us(200);
+ //printf("\n\rreached\n"); // can be between 38 to 15700
if( slave.receive() == 0)
- slave.stop();
+ {slave.stop();
+ //printf("\n\rnot send\n");
+ }
else if( slave.receive() == 1) // slave writes to master
{
if(data_send_flag == 'h')
@@ -440,7 +443,9 @@
// pc.printf("\n\r here");
write_ack=slave.write(BAE_chardata,74);
if(write_ack==0)
- irpt_2_mstr = 0;
+ {irpt_2_mstr = 0;
+ printf("\n\rgot interrupt\n");
+ }
}
else if(data_send_flag == 't')
{