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CONTROL LOOP TELEMETRY PACKET FORMAT Rev 2.2: October 30, 2001 Changes (red text) made by KG. The HEFT control loop is managed by an AMP Tiny786 computer. It monitors data from a variety of sensors to determine attitude, and drives the control motors accordingly. The most critical data that can be used for reconstructing the gondola’s attitude during flight will be transmitted to the ground serially in the control loop telemetry packets. A single, fixed-size, control loop telemetry packet will be transmitted at the loop cycle rate (10 Hz nominal). Some of the contents of that packet will vary from packet to packet. The packet size, including framing bytes, is 60 bytes. A packet consists of two constant framing bytes (DLE and ETX), a single byte ID code, and two blocks of data. The data blocks are labeled “FAST” and “SLOW” as an indication of the frequency at which their constituent signals are transmitted. The packet structure looks like: [DLE] [ID code] [ - - - Fast data - - - ] [ - - - Slow data - - - ] [ETX] The framing bytes are: The ID code range is DLE = 0x10 ETX = 0x03 0xd0 0xff (48 total) The fast data block always contains 39 bytes. The constituent signals are transmitted in every packet (at the loop period, a.k.a. sample rate, which is the highest frequency at which meaningful data can be transmitted), so the fast data block contents are therefore independent of the ID code. The fast data block contents are listed in Table 1. The slow data block always contains 18 bytes. The constituent signals of the slow block vary from packet to packet. The ID code indicates the contents of the slow data block. The slow data block contents are listed in Tables 2a-c. Table 3a-g is a key to the contents’ labels. Since there are 48 different slow packets, the longest period for which a particular signal can be transmitted is 48 loop period = 4.8 seconds, nominally. The shortest period is the loop period, 0.1 seconds, nominally. REVISIONS: (1) (2) (3) (4) The 2-byte loop period has been added to 0xe6-7 of BYTES I. The number of samples per loop has been added to 0xe8 of BYTES I. Status bits regarding servo calculations have been added to 0xN8,9 of STATUS. PID gains have been added to the BYTES 3 channel. “BYTES 3” has been relabeled “GAINS”. Table 1. Fast data block contents. SIGNAL QNX Time Azimuth error BYTE(S) 1-4 5-6 Elevation error 7-8 Roll Gyro 1 X Gyro 1 Y Gyro 2 X Gyro 2 Y Accelerometer 1 X Accelerometer 1 Y Accelerometer 1 Z Accelerometer 2 X Accelerometer 2 Y Accelerometer 2 Z Magnetometer X 9-10 11-12 13-14 15-16 17-18 19-20 21-22 23-24 25-26 27-28 29-30 31-32 Magnetometer Y 33-34 Magnetometer Z 35-36 Encoder MSBs 37-38 Fast Status 39 Slow data block. 40-52 COMMENTS Fraction of current hour according to system clock; 0.84 s units (3600 sec / 232) 1" units if “slewing status” bit is 0 20" units (360/216) if “slewing status” bit is 1 1" units if “slewing status” bit is 0 20" units (360/216) if “slewing status” bit is 1 20" (360/216) units Voltage3276; 0.3 mV units (20 V / 216; 10V range) Voltage3276; 0.3 mV units (20 V / 216; 10V range) Voltage3276; 0.3 mV units (20 V / 216; 10V range) Voltage3276; 0.3 mV units (20 V / 216; 10V range) Voltage3276; 0.3 mV units (20 V / 216; 10V range) Voltage3276; 0.3 mV units (20 V / 216; 10V range) Voltage3276; 0.3 mV units (20 V / 216; 10V range) Voltage3276; 0.3 mV units (20 V / 216; 10V range) Voltage3276; 0.3 mV units (20 V / 216; 10V range) Voltage3276; 0.3 mV units (20 V / 216; 10V range) Voltage3276; 0.3 mV units (20 V / 216; 10V range) The transmitted signal is from whichever magnetometer is currently being used (1, 2, or 3); See status byte description. Voltage3276; 0.3 mV units (20 V / 216; 10V range) The transmitted signal is from whichever magnetometer is currently being used (1, 2, or 3); See status byte description. Voltage3276; 0.3 mV units (20 V / 216; 10V range) The transmitted signal is from whichever magnetometer is currently being used (1 or 3); See status byte description. Magnetometer 2 has no Z axis. 20" units (360 / 216). The transmitted MSBs from whichever encoder (1 or 2) is being used in the control loop. Bit Status value 0 LSb of remainder of (cycle count 48). 1 --- cycle count 48 2 --- cycle count 48 3 --- cycle count 48 4 --- cycle count 48 5 MSb of remainder of (cycle count 48). 6 Slewing status 7 Encoder LSb (10 arc sec) 13 bytes Table 2a. Slow data block contents. See Table 3 for the signal key and format. LABEL SLOW 1 GPS BYTE 40-41 42-43 0xd0 T1 AZ 0xd1 T2 Pitch 0xd2 T3 Roll MAGS 1 44-45 #1/2 X #1/2 Y SERVO 46-47 AZ I INCLIN/ ENC STATUS BYTES 1 48-49 AZ trq set INC1 INC2 MAGS 2 52-53 S1 Last Cmd #2/ 3 X S2 ENC1 OE #2/ 3 Y BYTES 2 54 --- --- #1 Z or NULL AZ tach ENC1/ 2 S3 ENC 2 OE #3 Z or NULL --- GAINS 55 BYTES 4 BYTES 5 56 57 EL P MSB ----- EL P LSB ----- EL I MSB ----- 50 51 0xd3 T4 packet & stat #2/ 3 X 0xd4 T5 Lat MSBs #2/ 3 Y 0xd6 T7 error code #1/ 2 X 0xd7 T8 packet & stat #1/ 2 Y R3 I INC1 Criss trq set INC2 S7 Servo reset #2/ 3 X S8 File time #2/ 3 Y --- 0xd5 T6 Long MSBs #3 Z or NULL R3 trq set ENC1/ 2 S6 Long LSB #1 Z or NULL --- El trq set INC1 El I INC2 S4 Latch Cmd #1/ 2 X S5 Lat LSB #1/ 2 Y --EL I LSB ----- 0xd8 T9 AZ 0xd9 T10 Pitch 0xda T11 Roll #1 Z or NULL Criss I #2/ 3 X #2/ 3 Y AZ trq set INC2 S10 Uplink time #1/2 X S11 Dnlink time #1/2 Y --- ENC1/ 2 S9 Update time #3 Z or NULL --- Criss tach INC1 --- --- EL D MSB ----- EL D LSB ----- AZ P MSB ----- AZ P LSB ----- AZ I MSB ----- AZ I LSB ----- 0xdb T12 packet & stat #3 Z or NULL AZ I 0xdc T13 Alt MSBs #1/2 X 0xdd T14 GPS week #1/2 Y El trq set INC2 S13 Alt LSB #2/3 X S14 File t max #2/3 Y --- ENC1/ 2 S12 TANS time #1 Z or NULL --- AZ tach INC1 --- --- AZ D MSB ----- AZ D LSB ----- AZ V MSB ----- AZ V LSB ----- 0xde T15 Sec MSBs #1 Z or NULL El I ENC1/ 2 S15 GPS sec #3 Z or NULL GPS sec lsB Roll P MSB ----- 0xdf T16 packet & stat #2/3 X R3 trq set INC1 S16 Time used #1/2 X --Roll P LSB ----- CYCLE PERIOD (sec) 4.8 Attitude: 0.8 lla/time: 1.6 Either mag: 0.6 1.0 0.3 1.6 4.8 0.6 Table 2b. Slow data block contents. See Table 3 for the signal key and format. LABEL SLOW 1 GPS BYTE 40-41 42-43 0xe0 T17 AZ 0xe1 T18 Pitch 0xe2 P1 Roll 0xe3 P2 packet & stat #1/2 Y 0xe4 P3 Lat MSBs #1 Z 0xe5 P4 Long MSBs #2/3 X 0xe6 P5 error code #2/3 Y 0xe7 P6 packet & stat #3 Z MAGS 1 44-45 #2/3 Y #3 Z #1/2 X SERVO 46-47 R3 I Criss I INCLIN/ ENC STATUS BYTES 1 48-49 INC2 50 51 MAGS 2 52-53 S1 Uplink t max #1/2 Y BYTES 2 GAINS 54 55 --Roll D MSB Criss trq set ENC1/ 2 S2 Dnlink t max #1 Z or NULL --Roll D LSB INC1 AZ tach INC2 S3 Update t max #2/ 3 X S4 TANS t max #2/ 3 Y S6 Long LSB #1/ 2 X S7 Loop prd. I #1/ 2 Y --+AZ slew V MSB ----- --+AZ slew V LSB ----- AZ trq set ENC1/ 2 S5 Lat LSB #3 Z or NULL ---AZ slew V MSB ----- AZ I INC1 Criss tach INC2 ---AZ slew V LSB ----- --+EL slew V MSB ----- El trq set ENC1/ 2 S8 Loop prd. II #1 Z or NULL --+EL slew V LSB ----- BYTES 4 BYTES 5 56 57 ----- ----- 0xe8 Srv V AZ 0xe9 Srv I Pitch 0xea srv lg v Roll #1/2 X #1/2 Y #1 Z El I R3 trq set INC2 R3 I INC1 S9 Samp / loop #2/ 3 X S10 --#2/ 3 Y ---EL slew V MSB ----- ---EL slew V LSB ----- ENC1/ 2 S11 --#3 Z or NULL --EL trq lim MSB ----- 0xeb srv lg i packet & stat #2/3 X 0xec analg v Alt MSBs #2/3 Y 0xed Analg I GPS week #3 Z 0xee Dig V Sec MSBs #1/2 X 0xef Dig I packet & stat #1/2 Y Criss trq set INC1 Criss I AZ trq set INC1 AZ I INC2 0.3 S12 --- S15 GPS sec #2/3 X S16 Time used #2/ 3 Y 1.6 4.8 #1/2 X S13 Alt LSB #1/2 Y Criss tach ENC1/ 2 S14 --- CYCLE PERIOD (sec) 4.8 Attitude: 0.8 lla/time: 1.6 Either mag: 0.6 1.0 --EL trq lim LSB ----- --AZ trq lim MSB ----- --EL I lim MSB ----- --EL I lim LSB ----- INC2 #1 Z or NULL --AZ trq lim LSB ----- 0.6 Table 2c. Slow data block contents. See Table 3 for the signal key and format. LABEL SLOW 1 BYTE 40-41 42-43 0xf0 Bytes svd I AZ 0xf1 Bytes svd II Pitch 0xf2 Bytes svd III Roll GPS MAGS 1 44-45 #1 Z #2/3 X #2/3 Y SERVO 46-47 48-49 El trq set INC1 El I INCLIN/ ENC STATUS BYTES 1 INC2 50 51 AZ tach ENC1/ 2 S1 --- S2 --- S3 --- MAGS 2 52-53 #3 Z #1/ 2 X #1/ 2 Y BYTES 2 GAINS 54 55 BYTES 4 BYTES 5 56 57 --I AZ lim MSB ----- --I AZ lim LSB ----- --AZ slew lm MSB ----- 0xf3 Bytes svd IV packet & stat #3 Z 0xf4 Cycle cnt I Lat MSBs #1/2 X 0xf5 Cycle cnt II Long MSBs #1/2 Y 0xf6 Cycle cnt III error code #1 Z 0xf7 Cycle cnt IV packet & stat #2/3 X 0xf8 Desired RA msB AZ 0xf9 Desired msB Pitch 0xfa CCD focus Roll #2/3 Y #3 Z R3 trq set ENC1/ 2 S4 --- R3 I Criss I Criss tach INC1 AZ trq set AZ I INC1 Criss trq set INC2 INC2 S5 Lat LSB #2/ 3 X S6 Long LSB #2/ 3 Y S8 --- --EL slew lm MSB ----- --EL slew lm LSB ----- #1 Z or NULL --AZ slew lm LSB ----- ENC1/ 2 S7 --#3 Z or NULL ----- #1/2 X S9 Desired RA lsB #1/2 Y ----- ----- ENC1/ 2 S10 Desired lsB #1 Z or NULL ----- ----- ----- ----- ----- #1/2 X 0xfb CCD zoom packet & stat #1/2 Y 0xfc CCD iris Alt MSBs #1 Z 0xfd CCD gain GPS week #2/3 X 0xfe QNX hr/day GPS sec MSBs #2/3 Y 0xff QNX mo/yr packet & stat #3 Z AZ tach INC1 El trq set INC2 El I Criss I S11 --- S12 --- S14 --- #2/3 X #2/ 3 Y #1/ 2 X S15 GPS sec LSB #1/ 2 Y ----- ----- ENC1/ 2 S13 Alt LSB #3 Z or NULL ----- Criss trq set INC1 ----- ----- Criss tach ENC1/ 2 S16 Time used #1 Z or NULL ----- ----- ----- ----- ----- ----- ----- INC2 CYCLE PERIOD (sec) 4.8 Att: 0.8 lla/t 1.6 Either mag: 0.6 1.0 0.3 1.6 4.8 0.6 Table 3a. SLOW 1 channel contents. ID CODE 0xd00xe0 LABEL SIGNAL DESCRIPTION T1-T20 Temperature sensor outputs as 2-byte signed integers. Transmitted value = (C/10)3276. Sensitivity0.003 C. Sensor Location T1 TBD T2 TBD T3 TBD T4 TBD T5 TBD T6 TBD T7 TBD T8 TBD T9 TBD T10 TBD T11 TBD T12 TBD T13 TBD T14 TBD T15 TBD T16 TBD T17 TBD T18 TBD P1-P6 Barometers outputs as 2-byte signed integers. Transmitted value = (Torr/100)3276. Sensitivity0.03 Torr. Sensor Location P1 TBD P2 TBD P3 TBD P4 TBD P5 TBD P6 TBD 0xd0 0xd1 0xd2 0xd3 0xd4 0xd5 0xd6 0xd7 0xd8 0xd9 0xda 0xdb 0xdc 0xdd 0xde 0xdf 0xe0 0xe1 0xe20xe7 0xe2 0xe3 0xe4 0xe5 0xe6 0xe7 0xe8-0xef Srv V Srv I srv lg v srv lg I analg v analg I Dig V Dig I Houskeeping data outputs as 2-byte signed integers. Voltages: Transmitted value = (Volts/10)3276. Sensitivity3 mV. Currents: Transmitted value = (Amps/10 )3276. Sensitivity3 mA. Servo voltage monitor Servo current monitor Servo logic voltage monitor Servo logic current monitor Analog voltage monitor Analog current monitor Digital voltage monitor Digital current monitor Bytes saved I Bytes svd II Bytes svd III Bytes saved IV Number of bytes written to file as a long integer (8 byte) split up into pairs of bytes. All four pairs are associated with the number of bytes that had been written when the first pair was transmitted (i.e., the number is not incremented until transmission is complete.) MSBs: byte 8 and byte 7 of an 8 byte word, sent as a 2 byte integer. Byte 6 and byte 5 of an 8 byte word, sent as a 2 byte integer. Byte 4 and byte 3 of an 8 byte word, sent as a 2 byte integer. LSBs: Byte 2 and byte 1 of an 8 byte word, sent as a 2 byte integer 0xf4 0xf5 0xf6 0xf7 Cycle cnt I Cycle cnt II Cycle cnt III Cycle cnt IV Number of loop cycles since the program was initiated. It is transmittted as a long (8 byte) integer split up into 4 pairs of bytes. All 4 pairs are associated with the number of loops that had been completed as of the time when the first pair of bytes was transmitted. MSBs: byte 8 and byte 7 of an 8 byte word, sent as a 2 byte integer. Byte 6 and byte 5 of an 8 byte word, sent as a 2 byte integer. Byte 4 and byte 3 of an 8 byte word, sent as a 2 byte integer. LSBs: Byte 2 and byte 1 of an 8 byte word, sent as a 2 byte integer 0xf8 Desired RA msB Most significant 2 bytes of the desired RA sent as a 2 byte integer. Transmitted value = RA/36065536, rounded down to the nearest 20" unit. The RA value is in unsigned degrees, not 0xe8 0xe9 0xea 0xeb 0xec 0xed 0xee 0xef 0xf0-0xf3 0xf0 0xf1 0xf2 0xf3 0xf4-0xf7 0xf9 Desired msB 0xfa 0xfb 0xfc 0xfd 0xfe 0xff CCD focus CCD zoom CCD iris CCD gain QNX hr/day QNX mo/yr hours. Most significant 2 bytes of the desired declination sent as a 2 byte integer. Transmitted value = /9032678, rounded down to the nearest 10" unit. The value is in signed degrees. Output voltage (DAC) to a camera focusing motor. Sensitivity0.3 mV, error>5 mV. Output voltage (DAC) to a camera zoom motor. Sensitivity0.3 mV, error>5 mV. Output voltage (DAC) to a camera iris motor. Sensitivity0.3 mV, error>5 mV. Output voltage (DAC) to set the camera’s CCD gain value. Sensitivity0.3 mV, error>5 mV. Hour (MSB) and day (LSB) according to system clock. Month (MSB) and (year-2000; LSB) according to system clock. Table 3b. GPS channel contents. ID LABEL SIGNAL DESCRIPTION CODE(S) 0xN0,8 AZ Azimuth determined by the GPS and sent as a 16 bit word in units of 360/216 (0.33 arc min). 0xN1,9 Pitch Pitch determined by the GPS and sent as a 16 bit word in units of 360/216 (0.33 arc min). 0xN2,a Roll Roll determined by the GPS and sent as a 16 bit word in units of 360/216 (0.33 arc min). 0xN3,7,f packet & stat MSB is the last received packet from the TANS. Status contains TANS status values. 0xN4 Lat MSBs Contains the 2 GPS-determined latitude MSBs, sent as a signed integer number of 2/215 units. 0xN5 Long MSBs Contains the 2 GPS-determined longitude MSBs, sent as a signed integer number of 2/215 units. 0xN6 error code Error code returned by TANS packet 0x46. 0xNc Alt MSBs Contains the GPS-determined altitude, sent as an unsigned integer number of 256-meter units. 0xNd GPS week Number of weeks since Jan 6 1980. 0xNe Sec MSBs GPS seconds since Sunday morning at midnight, 2 MSBs (7243600/216 units). NOTE: N in an ID Code denotes either the digit d, e, or f. Table 3c. MAGS 1 and MAGS 2 channel contents. ID CODE(S) LABEL SIGNAL DESCRIPTION #1/2 X X-axis analog output of magnetometer 1 or 2 (0.3 mV sensitivity). #1/2 Y Y-axis analog output of magnetometer 1 or 2 (0.3 mV sensitivity). #1 Z Z-axis analog output of magnetometer 1 #2/3 X X-axis analog output of magnetometer 2 or 3 (0.3 mV sensitivity). #2/3 Y Y-axis analog output of magnetometer 2 or 3 (0.3 mV sensitivity). #2/3 Z Z-axis analog output of magnetometer 3 NOTE: #A/B refers to whichever magnetometer ISN”T being used, and therefore ISN”T already included in the fast data block. Table 3d. SERVO channel contents. ID CODE(S) LABEL SIGNAL DESCRIPTION AZ trq set AZ flywheel servo DAC torque set value. Transmitted value = Volts*3276. Sensitivity0.3 mV, error>5 mV. AZ flywheel current. Transmitted value = (Amps/10 )3276. Sensitivity3 mA. AZ flywheel tachometer reading. Elevation servo DAC torque set value. Transmitted value = Volts*3276. Sensitivity0.3 mV, error>5 mV. Elevation servo current. Transmitted value = (Amps/10 )3276. Sensitivity3 mA. R3 servo torque set value. Transmitted value = Volts*3276. Sensitivity0.3 mV, error>5 mV. R3 servo current. Transmitted value = (Amps/10 )3276. Sensitivity3 mA. Criss flywheel servo torque set value. Transmitted value = Volts*3276. Sensitivity0.3 mV, error>5 mV. Transmitted value = (Amps/10 )3276. Sensitivity3 mA. Criss flywheel tachometer reading. AZ I AZ tach El trq set El I R3 trq set R3 I Criss trq set Criss I Criss tach Table 3e. INCLIN/ENC channel contents. ID CODE(S) LABEL SIGNAL DESCRIPTION ENC 1/2 Encoder 1 or 2 LSB values. This is for whichever encoder hasn’t been reported already in the fast data block. The MSb is omitted, so 0<value<180. Inclinometer 1 output. Inclinometer 2 output. INC 1 INC 2 Table 3f. STATUS channel contents. ID CODE 0xN0 LABEL BIT INDICATOR S1 0xN1 S2 0xN2 S3 0xN3 S4 0xN4 S5 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 Using gyro 1 Using gyro 2 Using accelerometer 1 Using accelerometer 2 Using magnetometer 1 Using magnetometer 2 Using magnetometer 3 Using TANS Using encoder 1 Using encoder 2 Using inclinometer 1 Using inclinometer 2 Good gyro 1 Good gyro 2 Good magnetometer 1 Good magnetometer 2 Good magnetometer 3 Good encoder 1 Good encoder 2 Good TANS Good accelerometer 1 Good accelerometer 2 Good inclinometer 1 Good inclinometer 2 Latch open Latch closed Latch locked Latch unlocked Elevation enabled Big AZ enabled R3 enabled Criss enabled AZ slewing EL slewing Tracking Holding DIO mode: Board 1, port A DIO mode: Board 1, port B DIO mode: Board 1, port CH DIO mode: Board 1, port CL DIO mode: Board 2, port A DIO mode: Board 2, port B DIO mode: Board 2, port CH DIO mode: Board 2, port CL DIO mode: Board 3, port A DIO mode: Board 3, port B DIO mode: Board 3, port CH DIO mode: Board 3, port CL Awake TM on 0xN5 S6 0xN6 S7 (0: read; 1: write or idle) (0: read; 1: write or idle) (0: read; 1: write or idle) (0: read; 1: write or idle) (0: read; 1: write or idle) (0: read; 1: write or idle) (0: read; 1: write or idle) (0: read; 1: write or idle) (0: read; 1: write or idle) (0: read; 1: write or idle) (0: read; 1: write or idle) (0: read; 1: write or idle) 0xN7 S8 0xN8 S9 0xN9 S10 0xNa S11 0xNb S12 0xNc S13 0xNd S14 0xNe S15 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 New command Writing to file DAC mode: Board 1, channel 0 DAC mode: Board 1, channel 1 DAC mode: Board 1, channel 2 DAC mode: Board 1, channel 3 DAC mode: Board 2, channel 0 DAC mode: Board 2, channel 1 DAC mode: Board 2, channel 2 DAC mode: Board 2, channel 3 DAC mode: Board 3, channel 0 DAC mode: Board 3, channel 1 DAC mode: Board 3, channel 2 DAC mode: Board 3, channel 3 Bad update period Bad filewrite period Bad TANS period Bad downlink period Bad uplink period AZ servo calculation enabled EL servo calculation enabled Criss servo calculation enabled R3 servo calculation enabled 4 5 6 7 0xNf S16 0 1 2 3 4 5 6 7 NOTE: N in an ID Code denotes either the digit d, e, or f. Table 3g. BYTES 1 channel contents. ID CODE(S) 0xd0 0xd1 0xd2 0xd3 0xd4 0xd5 0xd6 0xd7 LABEL SIGNAL DESCRIPTION Last Cmd ENC 1 OE ENC 2 OE Latch Cmd Lat LSB Long LSB Servo reset File time 0xd8 0xd9 0xda 0xdb 0xdc 0xdd 0xde 0xdf Update time Uplink time Dnlink time TANS time Alt LSB File t max GPS sec Time used 0xe0 0xe1 0xe2 0xe3 0xe4 0xe5 0xe6 0xe7 0xe8 0xe9 0xea 0xeb 0xec 0xed 0xee 0xef Uplink t max Dnlink t max Update t max TANS t max Lat LSB Long LSB Loop prd. I Loop prd. II Samp / loop Last uplink command received by gondola Encoder 1 output enable byte. Also contains the interrogate bit. Encoder 2 output enable byte. Also contains the interrogate bit. Value of the Latch Command byte on the digital output port. LSB (byte 0) of GPS latitude (2/223 units). Bytes 1-2 (MSBs) are in GPS 0xd4. LSB (byte 0) of GPS longitude (2/223 units). Bytes 1-2 (MSBs) are in GPS 0xd5. Value of the Servo Reset byte on the digital output port. CPU time used by the file writing process during its last iteration. (0.5 msec units) If the code implements a non-threaded file write procedure, t=0. CPU time used by the IO process during its last iteration. (0.5 msec units) CPU time used by the uplink-receiving process during its last iteration. (0.5 msec units) CPU time used by the downlink process during its last iteration. (0.5 msec units) CPU time used by the TANS process during its last iteration. (0.5 msec units) LSB of the GPS-determined altitude, sent in 1-meter units. Maximum value so far of CPU time used by the file writing process (2 msec units) Byte 1 of GPS seconds. (Byte 0 is LSB, Byte 3 is MSB) Sum of time used during all processes iterations: Update, TANS, downlink, uplink, filewriting, etc. Date is reported in units of 0.5 msec Maximum value so far of CPU time used by the uplink-receiving process (2 msec units) Maximum value so far of CPU time used by the downlink process (2 msec units) Maximum value so far of CPU time used by the IO process (2 msec units) Maximum value so far of CPU time used by the TANS process (2 msec units) LSB (byte 0) of GPS latitude (2/223 units). Bytes 1-2 (MSBs) are in GPS 0xd4. LSB (byte 0) of GPS longitude (2/223 units). Bytes 1-2 (MSBs) are in GPS 0xd5. MSB (byte 0) of 2-byte software loop period in (0.1 ms)256 units. LSB (byte 1) of 2-byte software loop period in 0.1 ms units. Number of ADC samples taken per update loop. Alt LSB LSB of the GPS-determined altitude, sent in 1-meter units. GPS sec Time used Byte 1 of GPS seconds. (Byte 0 is LSB, Byte 3 is MSB) Sum of time used during all processes iterations: Update, TANS, downlink, uplink, filewriting, etc. Date is reported in units of 0.5 msec Lat LSB Long LSB LSB (byte 0) of GPS latitude (2/223 units). Bytes 1-2 (MSBs) are in GPS 0xd4. LSB (byte 0) of GPS longitude (2/223 units). Bytes 1-2 (MSBs) are in GPS 0xd5. Desired RA lsB Least significant byte of the desired RA. Transmitted value = (RA/360224)%256 0xf0 0xf1 0xf2 0xf3 0xf4 0xf5 0xf6 0xf7 0xf8 0xf9 0xfa 0xfb 0xfc 0xfd 0xfe 0xff Desired lsB Least significant byte of the desired . Transmitted value = (/90224)%256 (signed) Alt LSB Contains the GPS-determined altitude, sent as an unsigned integer number of 1-meter units. GPS sec LSB Time used Byte 0 of GPS sec. Sum of time used during all processes iterations: Update, TANS, downlink, uplink, filewriting, etc. Date is reported in units of 0.5 msec Table 3g. BYTES 2 channel contents. ID CODE(S) 0xd0 0xd1 0xd2 0xd3 0xd4 0xd5 0xd6 0xd7 0xd8 0xd9 0xda 0xdb 0xdc 0xdd 0xde 0xdf 0xe0 0xe1 0xe2 0xe3 0xe4 0xe5 0xe6 0xe7 0xe8 0xe9 0xea 0xeb 0xec 0xed 0xee 0xef 0xf0 0xf1 0xf2 0xf3 0xf4 0xf5 0xf6 0xf7 0xf8 0xf9 0xfa 0xfb 0xfc 0xfd 0xfe 0xff LABEL SIGNAL DESCRIPTION GPS sec lsB LSB of GPS time. MSBs are in cells BYTES 1 0xde and GPS 0xde. Table 3g. GAINS channel contents. ID CODE(S) 0xd0 LABEL SIGNAL DESCRIPTION EL P MSB 0xd1 EL P LSB 0xd2 0xd3 0xd4 EL I MSB EL I LSB EL D MSB 0xd5 EL D LSB 0xd6 AZ P MSB 0xd7 AZ P LSB 0xd8 0xd9 0xda AZ I MSB AZ I LSB AZ D MSB 0xdb AZ D LSB 0xdc 0xdd 0xde 0xdf 0xe0 0xe1 0xe2 AZ V MSB AZ V LSB Roll P MSB Roll P LSB Roll D MSB Roll D LSB +AZ slew V MSB +AZ slew V LSB -AZ slew V MSB -AZ slew V LSB +EL slew V MSB +EL slew V LSB -EL slew V MSB -EL slew V LSB EL trq lim MSB EL trq lim LSB AZ trq lim MSB AZ trq lim LSB I EL lim MSB I EL lim LSB I AZ lim MSB I AZ lim LSB AZ slew lm MSB AZ slew lm LSB Gain MSB of the elevation proportional term (signed) in units of 40/2 8 (20 range; 0-20.0, 6563520.0) Gain LSB of the elevation proportional term (signed) in units of 40/216 (20 range; 0-20.0, 6563520.0) Gain MSB of the elevation integral term (signed) in units of 40/2 8 (20 range; 0-20.0, 6563520.0) Gain LSB of the elevation integral term (signed) in units of 40/2 16 (20 range; 0-20.0, 6563520.0) Gain MSB of the elevation differential term (signed) in units of 40/2 8 (20 range; 0-20.0, 6563520.0) Gain LSB of the elevation differential term (signed) in units of 40/2 16 (20 range; 0-20.0, 6563520.0) Gain MSB of the azimuth proportional term (signed) in units of 40/2 8 (20 range; 0-20.0, 6563520.0) Gain LSB of the azimuth proportional term (signed) in units of 40/2 16 (20 range; 0-20.0, 6563520.0) Gain MSB of the azimuth integral term (signed) in units of 40/2 8 (20 range; 0-20.0, 6563520.0) Gain LSB of the azimuth integral term (signed) in units of 40/2 16 (20 range; 0-20.0, 6563520.0) Gain MSB of the azimuth differential term (signed) in units of 40/28 (20 range; 0-20.0, 6563520.0) Gain LSB of the azimuth differential term (signed) in units of 40/2 16 (20 range; 0-20.0, 6563520.0) Gain MSB of the azimuth historic term (signed) in units of 40/28 (20 range; 0-20.0, 6563520.0) Gain LSB of the azimuth historic term (signed) in units of 40/2 16 (20 range; 0-20.0, 6563520.0) Gain MSB of the roll proportional term (signed) in units of 40/28 (20 range; 0-20.0, 6563520.0) Gain LSB of the roll proportional term (signed) in units of 40/2 16 (20 range; 0-20.0, 6563520.0) Gain MSB of the roll differential term (signed) in units of 40/2 8 (20 range; 0-20.0, 6563520.0) Gain LSB of the roll differential term (signed) in units of 40/2 16 (20 range; 0-20.0, 6563520.0) Positive AZ slew voltage MSB in units of 20/28=78.13 mV. (10 V range, 0-10 V, 6563510.0) 0xe3 0xe4 0xe5 0xe6 0xe7 0xe8 0xe9 0xea 0xeb 0xec 0xed 0xee 0xef 0xf0 0xf1 0xf2 0xf3 Positive AZ slew voltage LSB in units of 20/216=0.31 mV. (10 V range, 0-10 V, 6563510.0) Negative AZ slew voltage MSB in units of 20/28=78.13 mV. (10 V range, 0-10 V, 6563510.0) Negative AZ slew voltage LSB in units of 20/216=0.31 mV. (10 V range, 0-10 V, 6563510.0) Positive EL slew voltage MSB in units of 20/28=78.13 mV. (10 V range, 0-10 V, 6563510.0) Positive EL slew voltage LSB in units of 20/216=0.31 mV. (10 V range, 0-10 V, 6563510.0) Negative EL slew voltage MSB in units of 20/28=78.13 mV. (10 V range, 0-10 V, 6563510.0) Negative EL slew voltage LSB in units of 20/216=0.31 mV. (10 V range, 0-10 V, 6563510.0) EL torque limit MSB in units of 20/28=78.13 mV. (10 V range, 0-10 V, 6563510.0) EL torque limit LSB in units of 20/216=0.31 mV. (10 V range, 0-10 V, 6563510.0) AZ torque limit MSB in units of 20/28=78.13 mV. (10 V range, 0-10 V, 6563510.0) AZ torque limit LSB in units of 20/216=0.31 mV. (10 V range, 0-10 V, 65635à10.0) EL PID loop’s integral term voltage limit MSB in units of 20/28=78.13 mV. (10 V range, 0-10 V, 6563510.0) EL PID loop’s integral term voltage limit LSB in units of 20/2 16=0.31 mV. (10 V range, 0-10 V, 6563510.0) AZ PID loop’s integral term voltage limit MSB in units of 20/28=78.13 mV. (10 V range, 0-10 V, 6563510.0) AZ PID loop’s integral term voltage limit LSB in units of 20/2 16=0.31 mV. (10 V range, 0-10 V, 6563510.0) MSB of the AZ angle limit that separates the “slew zone” from the “tracking zone.” In units of 45/28=632.813”. LSB of the AZ angle limit that separates the “slew zone” from the “tracking zone.” In units of 45/216=2.472”. 0xf4 0xf5 EL slew lm MSB EL slew lm LSB MSB of the EL angle limit that separates the “slew zone” from the “tracking zone.” In units of 45/28=632.813”. LSB of the EL angle limit that separates the “slew zone” from the “tracking zone.” In units of 45/216=2.472”. 0xf6 0xf7 0xf8 0xf9 0xfa 0xfb 0xfc 0xfd 0xfe 0xff Table 3g. BYTES 4 channel contents. ID CODE(S) 0xd0 0xd1 0xd2 0xd3 0xd4 0xd5 0xd6 0xd7 0xd8 0xd9 0xda 0xdb 0xdc 0xdd 0xde 0xdf 0xe0 0xe1 0xe2 0xe3 0xe4 0xe5 0xe6 0xe7 0xe8 0xe9 0xea 0xeb 0xec 0xed 0xee 0xef 0xf0 0xf1 0xf2 0xf3 0xf4 0xf5 0xf6 0xf7 0xf8 0xf9 0xfa 0xfb 0xfc LABEL SIGNAL DESCRIPTION 0xfd 0xfe 0xff Table 3g. BYTES 5 channel contents. ID CODE(S) 0xd0 0xd1 0xd2 0xd3 0xd4 0xd5 0xd6 0xd7 0xd8 0xd9 0xda 0xdb 0xdc 0xdd 0xde 0xdf 0xe0 0xe1 0xe2 0xe3 0xe4 0xe5 0xe6 0xe7 0xe8 0xe9 0xea 0xeb 0xec 0xed 0xee 0xef 0xf0 0xf1 0xf2 0xf3 0xf4 0xf5 0xf6 0xf7 0xf8 0xf9 0xfa 0xfb 0xfc 0xfd 0xfe 0xff LABEL SIGNAL DESCRIPTION
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