void send2DebugPort(unsigned char* protData, unsigned char hilOn){
unsigned int bufLen,i;
// add the data to the circular buffer
for(i = 1; i <= protData[0]; i += 1 )
{
writeBack(logBuffer, protData[i] );
}
// get the Length of the logBuffer
bufLen = getLength(logBuffer);
// if the interrupt catched up with the circularBuffer
// then turn on the DMA
if(!(DMA0CONbits.CHEN) && bufLen> 0){
// Configure the bytes to send
DMA0CNT = bufLen<= (MAXSEND-1)? bufLen-1: MAXSEND-1;
// copy the buffer to the DMA channel outgoing buffer
copyBufferToDMA((unsigned char) DMA0CNT+1);
// Enable the DMA
DMA0CONbits.CHEN = 1;
// Init the transmission
DMA0REQbits.FORCE = 1;
}
}
void logData (unsigned char hilOn, unsigned char* data4SPI){
unsigned char rawSentence[35];
// sample period variable
static unsigned char samplePeriod = 1;
static unsigned char tmpBuf [37];
// temp var to store the assembled message
unsigned char i;
unsigned char len2SPI=0;
unsigned char bufLen = 0;
unsigned char aknSentence[6];
memset(tmpBuf, 0, sizeof(tmpBuf));
switch (samplePeriod){
case 1: //GPS
rawSentence[0] = gpsControlData.year ;
rawSentence[1] = gpsControlData.month ;
rawSentence[2] = gpsControlData.day ;
rawSentence[3] = gpsControlData.hour ;
rawSentence[4] = gpsControlData.min ;
rawSentence[5] = gpsControlData.sec ;
rawSentence[6] = gpsControlData.lat.chData[0];
rawSentence[7] = gpsControlData.lat.chData[1];
rawSentence[8] = gpsControlData.lat.chData[2];
rawSentence[9] = gpsControlData.lat.chData[3];
rawSentence[10] = gpsControlData.lon.chData[0];
rawSentence[11] = gpsControlData.lon.chData[1];
rawSentence[12] = gpsControlData.lon.chData[2];
rawSentence[13] = gpsControlData.lon.chData[3];
rawSentence[14] = gpsControlData.height.chData[0];
rawSentence[15] = gpsControlData.height.chData[1];
rawSentence[16] = gpsControlData.height.chData[2];
rawSentence[17] = gpsControlData.height.chData[3];
rawSentence[18] = gpsControlData.cog.chData[0];
rawSentence[19] = gpsControlData.cog.chData[1];
rawSentence[20] = gpsControlData.sog.chData[0];
rawSentence[21] = gpsControlData.sog.chData[1];
rawSentence[22] = gpsControlData.hdop.chData[0];
rawSentence[23] = gpsControlData.hdop.chData[1];
rawSentence[24] = gpsControlData.fix ;
rawSentence[25] = gpsControlData.sats ;
rawSentence[26] = gpsControlData.newValue ;
// assemble the GPS data for protocol sending
assembleMsg(&rawSentence[0], GPSMSG_LEN, GPSMSG_ID, tmpBuf);
// add it to the circular buffer and SPI queue
for( i = 0; i < GPSMSG_LEN+7; i += 1 ){
writeBack(logBuffer,tmpBuf[i]);
data4SPI[i+1] = tmpBuf[i];
}
// set the total data out for SPI
len2SPI = GPSMSG_LEN+7;
break;
case 2: // LOAD
rawSentence[0] = statusControlData.load ;
rawSentence[1] = statusControlData.vdetect ;
rawSentence[2] = statusControlData.bVolt.chData[0] ;
rawSentence[3] = statusControlData.bVolt.chData[1] ;
// assemble the CPU load data for protocol sending
assembleMsg(&rawSentence[0], LOADMSG_LEN, LOADMSG_ID, tmpBuf);
// add it to the circular buffer and SPI queue
for( i = 0; i < LOADMSG_LEN+7; i += 1 ){
writeBack(logBuffer,tmpBuf[i]);
data4SPI[i+1] = tmpBuf[i];
}
// set the total data out for SPI
len2SPI = LOADMSG_LEN+7;
break;
case 3: // RAW or XYZ depending if we are logging raw @ 100
#ifdef LOGRAW100 // If we need to log raw at 100 Hz
rawSentence[0] = xyzControlData.Xcoord.chData[0];
rawSentence[1] = xyzControlData.Xcoord.chData[1];
rawSentence[2] = xyzControlData.Xcoord.chData[2];
rawSentence[3] = xyzControlData.Xcoord.chData[3];
rawSentence[4] = xyzControlData.Ycoord.chData[0];
rawSentence[5] = xyzControlData.Ycoord.chData[1];
rawSentence[6] = xyzControlData.Ycoord.chData[2];
rawSentence[7] = xyzControlData.Ycoord.chData[3];
rawSentence[8] = xyzControlData.Zcoord.chData[0];
rawSentence[9] = xyzControlData.Zcoord.chData[1];
rawSentence[10]= xyzControlData.Zcoord.chData[2];
rawSentence[11]= xyzControlData.Zcoord.chData[3];
rawSentence[12]= xyzControlData.VX.chData[0] ;
rawSentence[13]= xyzControlData.VX.chData[1] ;
rawSentence[14]= xyzControlData.VX.chData[2] ;
rawSentence[15]= xyzControlData.VX.chData[3] ;
rawSentence[16]= xyzControlData.VY.chData[0] ;
rawSentence[17]= xyzControlData.VY.chData[1] ;
rawSentence[18]= xyzControlData.VY.chData[2] ;
rawSentence[19]= xyzControlData.VY.chData[3] ;
rawSentence[20]= xyzControlData.VZ.chData[0] ;
rawSentence[21]= xyzControlData.VZ.chData[1] ;
rawSentence[22]= xyzControlData.VZ.chData[2] ;
rawSentence[23]= xyzControlData.VZ.chData[3] ;
// assemble the XYZ data for protocol sending
assembleMsg(&rawSentence[0], XYZMSG_LEN, XYZMSG_ID, tmpBuf);
// add it to the circular buffer and SPI queue
for( i = 0; i < XYZMSG_LEN+7; i += 1 ){
writeBack(logBuffer,tmpBuf[i]);
data4SPI[i+1+len2SPI] = tmpBuf[i];
}
// set the total data out for SPI
len2SPI = XYZMSG_LEN+7;
#else
rawSentence[0] = rawControlData.gyroX.chData[0];
rawSentence[1] = rawControlData.gyroX.chData[1];
rawSentence[2] = rawControlData.gyroY.chData[0];
rawSentence[3] = rawControlData.gyroY.chData[1];
rawSentence[4] = rawControlData.gyroZ.chData[0];
rawSentence[5] = rawControlData.gyroZ.chData[1];
rawSentence[6] = rawControlData.accelX.chData[0];
rawSentence[7] = rawControlData.accelX.chData[1];
rawSentence[8] = rawControlData.accelY.chData[0];
rawSentence[9] = rawControlData.accelY.chData[1];
rawSentence[10] = rawControlData.accelZ.chData[0];
rawSentence[11] = rawControlData.accelZ.chData[1];
rawSentence[12] = rawControlData.magX.chData[0];
rawSentence[13] = rawControlData.magX.chData[1];
rawSentence[14] = rawControlData.magY.chData[0];
rawSentence[15] = rawControlData.magY.chData[1];
rawSentence[16] = rawControlData.magZ.chData[0];
rawSentence[17] = rawControlData.magZ.chData[1];
// included in SLUGS MKII
rawSentence[18] = rawControlData.baro.chData[0];
rawSentence[19] = rawControlData.baro.chData[1];
rawSentence[20] = rawControlData.pito.chData[0];
rawSentence[21] = rawControlData.pito.chData[1];
rawSentence[22] = rawControlData.powr.chData[0];
rawSentence[23] = rawControlData.powr.chData[1];
rawSentence[24] = rawControlData.ther.chData[0];
rawSentence[25] = rawControlData.ther.chData[1];
// assemble the Raw Sensor data for protocol sending
assembleMsg(&rawSentence[0], RAWMSG_LEN, RAWMSG_ID, tmpBuf);
// add it to the circular buffer and SPI queue
for( i = 0; i < RAWMSG_LEN+7; i += 1 ){
writeBack(logBuffer,tmpBuf[i]);
data4SPI[i+1] = tmpBuf[i];
}
// set the total data out for SPI
len2SPI = RAWMSG_LEN+7;
#endif
break;
case 4: // Dynamic and Reboot (if required)
rawSentence[0] = dynTempControlData.dynamic.chData[0];
rawSentence[1] = dynTempControlData.dynamic.chData[1];
rawSentence[2] = dynTempControlData.dynamic.chData[2];
rawSentence[3] = dynTempControlData.dynamic.chData[3];
rawSentence[4] = dynTempControlData.stat.chData[0] ;
rawSentence[5] = dynTempControlData.stat.chData[1] ;
rawSentence[6] = dynTempControlData.stat.chData[2] ;
rawSentence[7] = dynTempControlData.stat.chData[3] ;
rawSentence[8] = dynTempControlData.temp.chData[0] ;
rawSentence[9] = dynTempControlData.temp.chData[1] ;
// assemble the Raw Sensor data for protocol sending
assembleMsg(&rawSentence[0], DYNMSG_LEN, DYNMSG_ID, tmpBuf);
// add it to the circular buffer and SPI queue
for( i = 0; i < DYNMSG_LEN+7; i += 1 ){
writeBack(logBuffer,tmpBuf[i]);
data4SPI[i+1] = tmpBuf[i];
}
// set the total data out for SPI
len2SPI = DYNMSG_LEN+7;
// it there has been a reboot
if(aknControlData.sensorReboot >0){
// clear tmpBuf
memset(tmpBuf, 0, sizeof(tmpBuf));
// configure the akn sentence
memset(aknSentence,0, 6);
aknSentence[3] = aknControlData.sensorReboot;
// assemble the message
assembleMsg(&aknSentence[0], AKNMSG_LEN, AKNMSG_ID, tmpBuf);
// add it to the SPI QUEUE
for( i = 0; i < AKNMSG_LEN+7; i += 1 ){
data4SPI[i+1+len2SPI] = tmpBuf[i];
}
// clear the flag
aknControlData.sensorReboot = 0;
// set the total data out for SPI
len2SPI += AKNMSG_LEN+7;
}
break;
case 5: // Bias
rawSentence[0] = biasControlData.axb.chData[0] ;
rawSentence[1] = biasControlData.axb.chData[1] ;
rawSentence[2] = biasControlData.axb.chData[2] ;
rawSentence[3] = biasControlData.axb.chData[3] ;
rawSentence[4] = biasControlData.ayb.chData[0] ;
rawSentence[5] = biasControlData.ayb.chData[1] ;
rawSentence[6] = biasControlData.ayb.chData[2] ;
rawSentence[7] = biasControlData.ayb.chData[3] ;
rawSentence[8] = biasControlData.azb.chData[0] ;
rawSentence[9] = biasControlData.azb.chData[1] ;
rawSentence[10]= biasControlData.azb.chData[2];
rawSentence[11]= biasControlData.azb.chData[3];
rawSentence[12]= biasControlData.gxb.chData[0];
rawSentence[13]= biasControlData.gxb.chData[1];
rawSentence[14]= biasControlData.gxb.chData[2];
rawSentence[15]= biasControlData.gxb.chData[3];
rawSentence[16]= biasControlData.gyb.chData[0];
rawSentence[17]= biasControlData.gyb.chData[1];
rawSentence[18]= biasControlData.gyb.chData[2];
rawSentence[19]= biasControlData.gyb.chData[3];
rawSentence[20]= biasControlData.gzb.chData[0];
rawSentence[21]= biasControlData.gzb.chData[1];
rawSentence[22]= biasControlData.gzb.chData[2];
rawSentence[23]= biasControlData.gzb.chData[3];
// assemble the Raw Sensor data for protocol sending
assembleMsg(&rawSentence[0], BIAMSG_LEN, BIAMSG_ID, tmpBuf);
// add it to the circular buffer and SPI queue
for( i = 0; i < BIAMSG_LEN+7; i += 1 ){
writeBack(logBuffer,tmpBuf[i]);
data4SPI[i+1] = tmpBuf[i];
}
// set the total data out for SPI
len2SPI = BIAMSG_LEN+7;
break;
case 6: // Diagnostic
rawSentence[0] = diagControlData.fl1.chData[0];
rawSentence[1] = diagControlData.fl1.chData[1];
rawSentence[2] = diagControlData.fl1.chData[2];
rawSentence[3] = diagControlData.fl1.chData[3];
rawSentence[4] = diagControlData.fl2.chData[0];
rawSentence[5] = diagControlData.fl2.chData[1];
rawSentence[6] = diagControlData.fl2.chData[2];
rawSentence[7] = diagControlData.fl2.chData[3];
rawSentence[8] = diagControlData.fl3.chData[0];
rawSentence[9] = diagControlData.fl3.chData[1];
rawSentence[10]= diagControlData.fl3.chData[2];
rawSentence[11]= diagControlData.fl3.chData[3];
rawSentence[12]= diagControlData.sh1.chData[0];
rawSentence[13]= diagControlData.sh1.chData[1];
rawSentence[14]= diagControlData.sh2.chData[0];
rawSentence[15]= diagControlData.sh2.chData[1];
rawSentence[16]= diagControlData.sh3.chData[0];
rawSentence[17]= diagControlData.sh3.chData[1];
// assemble the Diagnostic data for protocol sending
assembleMsg(&rawSentence[0], DIAMSG_LEN, DIAMSG_ID, tmpBuf);
// add it to the circular buffer and SPI queue
for( i = 0; i < DIAMSG_LEN+7; i += 1 ){
writeBack(logBuffer,tmpBuf[i]);
data4SPI[i+1] = tmpBuf[i];
}
// set the total data out for SPI
len2SPI = (DIAMSG_LEN+7);
break;
case 7: // Pilot Console Data
rawSentence[0] = pilControlData.dt.chData[0] ;
rawSentence[1] = pilControlData.dt.chData[1] ;
rawSentence[2] = pilControlData.dla.chData[0];
rawSentence[3] = pilControlData.dla.chData[1];
rawSentence[4] = pilControlData.dra.chData[0];
rawSentence[5] = pilControlData.dra.chData[1];
rawSentence[6] = pilControlData.dr.chData[0] ;
rawSentence[7] = pilControlData.dr.chData[1] ;
rawSentence[8] = pilControlData.de.chData[0] ;
rawSentence[9] = pilControlData.de.chData[1] ;
// assemble the Pilot Console data for protocol sending
assembleMsg(&rawSentence[0], PILMSG_LEN, PILMSG_ID, tmpBuf);
// add it to the circular buffer and SPI queue
for( i = 0; i < PILMSG_LEN+7; i += 1 ){
writeBack(logBuffer,tmpBuf[i]);
data4SPI[i+1] = tmpBuf[i];
}
// set the total data out for SPI
len2SPI = (PILMSG_LEN+7);
break;
case 8: // Sensor Data in meaningful units
rawSentence[0] = senControlData.Ax.chData[0];
rawSentence[1] = senControlData.Ax.chData[1];
rawSentence[2] = senControlData.Ax.chData[2];
rawSentence[3] = senControlData.Ax.chData[3];
rawSentence[4] = senControlData.Ay.chData[0];
rawSentence[5] = senControlData.Ay.chData[1];
rawSentence[6] = senControlData.Ay.chData[2];
rawSentence[7] = senControlData.Ay.chData[3];
rawSentence[8] = senControlData.Az.chData[0];
rawSentence[9] = senControlData.Az.chData[1];
rawSentence[10]= senControlData.Az.chData[2];
rawSentence[11]= senControlData.Az.chData[3];
rawSentence[12]= senControlData.Mx.chData[0];
rawSentence[13]= senControlData.Mx.chData[1];
rawSentence[14]= senControlData.Mx.chData[2];
rawSentence[15]= senControlData.Mx.chData[3];
rawSentence[16]= senControlData.My.chData[0];
rawSentence[17]= senControlData.My.chData[1];
rawSentence[18]= senControlData.My.chData[2];
rawSentence[19]= senControlData.My.chData[3];
rawSentence[20]= senControlData.Mz.chData[0];
rawSentence[21]= senControlData.Mz.chData[1];
rawSentence[22]= senControlData.Mz.chData[2];
rawSentence[23]= senControlData.Mz.chData[3];
// assemble the Pilot Console data for protocol sending
assembleMsg(&rawSentence[0], SENMSG_LEN, SENMSG_ID, tmpBuf);
// add it to the circular buffer and SPI queue
for( i = 0; i < SENMSG_LEN+7; i += 1 ){
writeBack(logBuffer,tmpBuf[i]);
data4SPI[i+1] = tmpBuf[i];
}
// set the total data out for SPI
len2SPI = (SENMSG_LEN+7);
break;
default:
data4SPI[0] = 0;
break;
}
memset(tmpBuf, 0, sizeof(tmpBuf));
// Attitude data. Gets included every sample time
// ==============================================
rawSentence[0] = attitudeControlData.roll.chData[0] ;
rawSentence[1] = attitudeControlData.roll.chData[1] ;
rawSentence[2] = attitudeControlData.roll.chData[2] ;
rawSentence[3] = attitudeControlData.roll.chData[3] ;
rawSentence[4] = attitudeControlData.pitch.chData[0] ;
rawSentence[5] = attitudeControlData.pitch.chData[1] ;
rawSentence[6] = attitudeControlData.pitch.chData[2] ;
rawSentence[7] = attitudeControlData.pitch.chData[3] ;
rawSentence[8] = attitudeControlData.yaw.chData[0] ;
rawSentence[9] = attitudeControlData.yaw.chData[1] ;
rawSentence[10] =attitudeControlData.yaw.chData[2] ;
rawSentence[11] =attitudeControlData.yaw.chData[3] ;
rawSentence[12] =attitudeControlData.p.chData[0] ;
rawSentence[13] =attitudeControlData.p.chData[1] ;
rawSentence[14] =attitudeControlData.p.chData[2] ;
rawSentence[15] =attitudeControlData.p.chData[3] ;
rawSentence[16] =attitudeControlData.q.chData[0] ;
rawSentence[17] =attitudeControlData.q.chData[1] ;
rawSentence[18] =attitudeControlData.q.chData[2] ;
rawSentence[19] =attitudeControlData.q.chData[3] ;
rawSentence[20] =attitudeControlData.r.chData[0] ;
rawSentence[21] =attitudeControlData.r.chData[1] ;
rawSentence[22] =attitudeControlData.r.chData[2] ;
rawSentence[23] =attitudeControlData.r.chData[3] ;
rawSentence[24] =attitudeControlData.timeStamp.chData[0];
rawSentence[25] =attitudeControlData.timeStamp.chData[1];
// assemble the Attitude data for protocol sending
assembleMsg(&rawSentence[0], ATTMSG_LEN, ATTMSG_ID, tmpBuf);
// add it to the circular buffer and SPI queue
for( i = 0; i < ATTMSG_LEN+7; i += 1 ){
writeBack(logBuffer,tmpBuf[i]);
data4SPI[i+1+len2SPI] = tmpBuf[i];
}
// increment the data counter for SPI
len2SPI += ATTMSG_LEN+7;
memset(tmpBuf, 0, sizeof(tmpBuf));
// XYZ data. Gets included every sample time
// ==============================================
#ifdef LOGRAW100
rawSentence[0] = rawControlData.gyroX.chData[0];
rawSentence[1] = rawControlData.gyroX.chData[1];
rawSentence[2] = rawControlData.gyroY.chData[0];
rawSentence[3] = rawControlData.gyroY.chData[1];
rawSentence[4] = rawControlData.gyroZ.chData[0];
rawSentence[5] = rawControlData.gyroZ.chData[1];
rawSentence[6] = rawControlData.accelX.chData[0];
rawSentence[7] = rawControlData.accelX.chData[1];
rawSentence[8] = rawControlData.accelY.chData[0];
rawSentence[9] = rawControlData.accelY.chData[1];
rawSentence[10] = rawControlData.accelZ.chData[0];
rawSentence[11] = rawControlData.accelZ.chData[1];
rawSentence[12] = rawControlData.magX.chData[0];
rawSentence[13] = rawControlData.magX.chData[1];
rawSentence[14] = rawControlData.magY.chData[0];
rawSentence[15] = rawControlData.magY.chData[1];
rawSentence[16] = rawControlData.magZ.chData[0];
rawSentence[17] = rawControlData.magZ.chData[1];
// included in SLUGS MKII
rawSentence[18] = rawControlData.baro.chData[0];
rawSentence[19] = rawControlData.baro.chData[1];
rawSentence[20] = rawControlData.pito.chData[0];
rawSentence[21] = rawControlData.pito.chData[1];
rawSentence[22] = rawControlData.powr.chData[0];
rawSentence[23] = rawControlData.powr.chData[1];
rawSentence[24] = rawControlData.ther.chData[0];
rawSentence[25] = rawControlData.ther.chData[1];
// assemble the Raw Sensor data for protocol sending
assembleMsg(&rawSentence[0], RAWMSG_LEN, RAWMSG_ID, tmpBuf);
// add it to the circular buffer and SPI queue
for( i = 0; i < RAWMSG_LEN+7; i += 1 ){
writeBack(logBuffer,tmpBuf[i]);
data4SPI[i+1+len2SPI] = tmpBuf[i];
}
// set the total data out for SPI
data4SPI[0] = len2SPI + RAWMSG_LEN+7;
#else
rawSentence[0] = xyzControlData.Xcoord.chData[0];
rawSentence[1] = xyzControlData.Xcoord.chData[1];
rawSentence[2] = xyzControlData.Xcoord.chData[2];
rawSentence[3] = xyzControlData.Xcoord.chData[3];
rawSentence[4] = xyzControlData.Ycoord.chData[0];
rawSentence[5] = xyzControlData.Ycoord.chData[1];
rawSentence[6] = xyzControlData.Ycoord.chData[2];
rawSentence[7] = xyzControlData.Ycoord.chData[3];
rawSentence[8] = xyzControlData.Zcoord.chData[0];
rawSentence[9] = xyzControlData.Zcoord.chData[1];
rawSentence[10]= xyzControlData.Zcoord.chData[2];
rawSentence[11]= xyzControlData.Zcoord.chData[3];
rawSentence[12]= xyzControlData.VX.chData[0] ;
rawSentence[13]= xyzControlData.VX.chData[1] ;
rawSentence[14]= xyzControlData.VX.chData[2] ;
rawSentence[15]= xyzControlData.VX.chData[3] ;
rawSentence[16]= xyzControlData.VY.chData[0] ;
rawSentence[17]= xyzControlData.VY.chData[1] ;
rawSentence[18]= xyzControlData.VY.chData[2] ;
rawSentence[19]= xyzControlData.VY.chData[3] ;
rawSentence[20]= xyzControlData.VZ.chData[0] ;
rawSentence[21]= xyzControlData.VZ.chData[1] ;
rawSentence[22]= xyzControlData.VZ.chData[2] ;
rawSentence[23]= xyzControlData.VZ.chData[3] ;
// assemble the XYZ data for protocol sending
assembleMsg(&rawSentence[0], XYZMSG_LEN, XYZMSG_ID, tmpBuf);
// add it to the circular buffer and SPI queue
for( i = 0; i < XYZMSG_LEN+7; i += 1 ){
writeBack(logBuffer,tmpBuf[i]);
data4SPI[i+1+len2SPI] = tmpBuf[i];
}
// set the total data out for SPI
data4SPI[0] = len2SPI + XYZMSG_LEN+7;
#endif
// increment/overflow the samplePeriod counter
// configured for 10 Hz in non vital messages
samplePeriod = (samplePeriod >= 8)? 1: samplePeriod + 1;
// get the Length of the logBuffer
bufLen = getLength(logBuffer);
// if HIL is ON do not transmit diagnostic data in the diagnostic port
// let the circular buffer overwrite itself
hilOn =1;
if (hilOn!= 1){
// if the interrupt catched up with the circularBuffer
// then turn on the DMA
if(!(DMA0CONbits.CHEN) && bufLen> 0){
// Configure the bytes to send
DMA0CNT = bufLen<= (MAXSEND-1)? bufLen-1: MAXSEND-1;
// copy the buffer to the DMA channel outgoing buffer
copyBufferToDMA((unsigned char) DMA0CNT+1);
// Enable the DMA
DMA0CONbits.CHEN = 1;
// Init the transmission
DMA0REQbits.FORCE = 1;
}
}
}