Command Neumonic Command Value range

c note, subtext
h none
m none
s none
e* 1,2,3
i note, subtext
s 1 through 10
t 3 through 10
k 0 through 10
d 1 to 60
power command section all have a leading "p"
ADCS command section all have a leading "a"
Experiment command section all lead with 1,2,or 3

Data Neumonic type

TelemDelay int
CmdTimeOut int
Exp1 byte
Exp2 byte
Exp3 byte
T DH float
Sp float
Exp float
Amb float

*note that there are no longer commands to "attach" either EPS or ADCS--they default to that, also use the term "activate" not a
 Comment
Clock module setting
set hours (no longer allows 24)
set minutes (no longer allows 60)
set seconds
activate experiment 1, 2 or3 (powers them and adds tlm)
native C&DH settings
call sign number
command timeout in seconds
command retries (0 means its off)
telemetry delay
refer to power command section
Refer to ADCS command section
See experiment board section

Variable name notes

TelemDelay
cmdTimeout
e1Attached,
e2Attached
e3Attached
N/A
Temperatures
Solar panel temp
Thermistor on connector
Thermistor on Atmega

er EPS or ADCS--they default to that, also use the term "activate" not attach.
Command Neumonic Command Value range
T none
t none
R none
r none
S, or s 0 or 1
the above commands are standard to all boards except C&DH
1,2,…8 0 or 1
% 0, or 1
m floating point number
n floating point number
x floating point number
y floating point number
! N/A

Data Neumonic type

P Sep 0,1
V_Batt float
I_Batt float
V_SA float
I_SA float
I_MB float
T_Batt float
V_5v float
I_5v float
V_3v float
I_3v float
T_TopA float
T_TopB float
T_Base float

T_wht float
T_Blk float
S int
 Comment
SPI request for tlm
UART0 request for tlm
Reset from SPI
Reset from UART0
Tlm scaling off or on
xcept C&DH
turn on/off power swx 1 through 8
coefficient programming (0=no, 1=yes)
intercept in Vout = m + n*ADC_value of V_5v
slope in Vout = m + n*ADC_value of V_5v
intercept in temp = x + y*ADC_value of thermistor
slope in Vout = x + y*ADC_value of thermistor
resets m,n, x, and y to the default values

Variable name notes

Sep Separation status
V_Bat Batery voltage
I_Bat Bater current (plus or minus)
V_SA Solar Array Voltage
I_SA Solar Array Current
I_MB Main bus current
T_Batt Batery Temperature
V_5v Voltage on 5v regulator
I_5v Current on 5v regulator
V_3v voltage on 3v regulator
I_3v current on 3v regulator
T_TopA top temperature of copper rod
T_TopB top temperature on heat pipe
T_Base botom temp (shared by copper rod and heat
pipe
T_wht temp of white thermal panel
T_Blk temp of black thermal panel
PINC
80000
Command Neumonic Command Value range Comment
T none SPI request for tlm
t none UART0 request for tlm
R none Reset from SPI
r none Reset from UART0
S, or s 0 or 1 Tlm scaling off or on
m 0,1,2 telemetry 'm'ode
the above commands are standard to all boards (same as Rev C)
x 0, 1,2 x torquer is off, + or -
y 0, 1,2 y torquer is off, + or -
w -50 to 50 this sets 'W'heel RPS value.
h 1 to 10 this is the 'H'ysterisis setting or deadband on the
RPS commanded value
c 0,1,2 closed loop 'c'ontrol algorithm, 0 is none, 1 is RPS
PID control, 2 is "suntrack" control
o +-179 sets the 'o'ffset angle for suntrack mode (i.e. angle
from the sun)
p floating point number the value for 'p'roportional control in PID loop for
RPS control
i floating point number the value for 'I'ntegral control in PID loop for RPS
control
d floating point number the value for ''d'ifferential control in PID loop for RPS
control
l integer seconds loop control de'l'taT time constant for PID
b integer angle in degrees dead'b'and for sunpoint control, typically 1 to 5
degrees
a floating point number the is the intercept in the equations PWM_out0= a +
g*(RPScmd) to create a PWM output proportional to
the desired RPS

g floating point number the is the gain in the equations PWM_out0= a +

g*(RPScmd) to create a PWM output proportional to
the desired RPS
e integer an 'e'xtra % boost in PWM used to control motion in
sunpoint….larger is faster but more overshoot
Data Neumonic type Variable name
x int Xrod
y int Yrod
sunT int sunT
sunB int sunB
p1 int pos1

p2 int pos2
p3 int pos3
p4 int pos4
ya float yaw_angle

sa int set_angle

rate4x float zout4x

rate1x float zout1x
rps_out float WheelRPSsigned
rps_cmd int RPScmd,
PWM int PWM_out0
alg int currentAlg
P float Kp
I float Ki
D float Kd
deltaT int deltaT
deadband float deadBandSun
slope float slope
offset float offset
extra float extra
notes
plus or minus to indicate direction
plus or minus to indicate direction
ADC value on Top sun sensor
ADC value of Botom sun sensor
these are the four position sensors, raw
output

the angle of the sun in S/C coordinates

(degrees)

the offset angle set with the command 'o'

4x output of the gyro
1x ouput of the gyro
actual value of wheel speed in RPS
commanded value
internal loop commands to the PWM
the control algorithm 0,1,or 2
proportional control const.
integral control const
differential control const
integration time in PID control loo
deadband for sunpoint algorithm
slope for converting RPS to PWM_out
offset from sun point
kick value to overcome wheel friction