![](/media/cache/group/nine_tails_kurama_by_zubair43-d4zyf5s.jpg.50x50_q85.jpg)
ACS completed fully. All cases to be tested
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of ACS_Flowchart_BAE by
ACS.cpp@8:82250e41da81, 2016-03-12 (annotated)
- Committer:
- sakthipriya
- Date:
- Sat Mar 12 12:54:14 2016 +0000
- Revision:
- 8:82250e41da81
- Parent:
- 6:036d08b62785
- Child:
- 9:194afacf7449
modifying tctm
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sakthipriya | 0:7b4c00e3912f | 1 | /*------------------------------------------------------------------------------------------------------------------------------------------------------ |
sakthipriya | 0:7b4c00e3912f | 2 | -------------------------------------------CONTROL ALGORITHM------------------------------------------------------------------------------------------*/ |
sakthipriya | 0:7b4c00e3912f | 3 | #include <mbed.h> |
sakthipriya | 0:7b4c00e3912f | 4 | #include <math.h> |
sakthipriya | 0:7b4c00e3912f | 5 | |
sakthipriya | 0:7b4c00e3912f | 6 | #include "pni.h" //pni header file |
sakthipriya | 0:7b4c00e3912f | 7 | #include "pin_config.h" |
sakthipriya | 0:7b4c00e3912f | 8 | #include "ACS.h" |
sakthipriya | 6:036d08b62785 | 9 | #include "EPS.h" |
sakthipriya | 0:7b4c00e3912f | 10 | |
sakthipriya | 0:7b4c00e3912f | 11 | //********************************flags******************************************// |
sakthipriya | 0:7b4c00e3912f | 12 | extern uint32_t BAE_STATUS; |
sakthipriya | 0:7b4c00e3912f | 13 | extern uint32_t BAE_ENABLE; |
sakthipriya | 0:7b4c00e3912f | 14 | extern char ACS_INIT_STATUS; |
sakthipriya | 0:7b4c00e3912f | 15 | extern char ACS_DATA_ACQ_STATUS; |
sakthipriya | 0:7b4c00e3912f | 16 | extern char ACS_ATS_STATUS; |
sakthipriya | 0:7b4c00e3912f | 17 | extern char ACS_MAIN_STATUS; |
sakthipriya | 0:7b4c00e3912f | 18 | extern char ACS_STATUS; |
sakthipriya | 0:7b4c00e3912f | 19 | |
sakthipriya | 0:7b4c00e3912f | 20 | extern char ACS_ATS_ENABLE; |
sakthipriya | 0:7b4c00e3912f | 21 | extern char ACS_DATA_ACQ_ENABLE; |
sakthipriya | 0:7b4c00e3912f | 22 | extern char ACS_STATE; |
sakthipriya | 0:7b4c00e3912f | 23 | |
sakthipriya | 0:7b4c00e3912f | 24 | DigitalOut phase_TR_x(PIN27); // PHASE pin for x-torquerod |
sakthipriya | 0:7b4c00e3912f | 25 | DigitalOut phase_TR_y(PIN28); // PHASE pin for y-torquerod |
sakthipriya | 0:7b4c00e3912f | 26 | DigitalOut phase_TR_z(PIN86); // PHASE pin for z-torquerod |
sakthipriya | 0:7b4c00e3912f | 27 | |
sakthipriya | 0:7b4c00e3912f | 28 | extern PwmOut PWM1; //x //Functions used to generate PWM signal |
sakthipriya | 0:7b4c00e3912f | 29 | extern PwmOut PWM2; //y |
sakthipriya | 0:7b4c00e3912f | 30 | extern PwmOut PWM3; //z //PWM output comes from pins p6 |
sakthipriya | 0:7b4c00e3912f | 31 | |
sakthipriya | 0:7b4c00e3912f | 32 | int g_err_flag_TR_x=0; // setting x-flag to zero |
sakthipriya | 0:7b4c00e3912f | 33 | int g_err_flag_TR_y=0; // setting y-flag to zero |
sakthipriya | 0:7b4c00e3912f | 34 | int g_err_flag_TR_z=0; // setting z-flag to zero |
sakthipriya | 0:7b4c00e3912f | 35 | |
sakthipriya | 0:7b4c00e3912f | 36 | extern float data[6]; |
sakthipriya | 6:036d08b62785 | 37 | extern BAE_HK_actual actual_data; |
sakthipriya | 0:7b4c00e3912f | 38 | |
sakthipriya | 0:7b4c00e3912f | 39 | |
sakthipriya | 0:7b4c00e3912f | 40 | //DigitalOut gpo1(PTC0); // enable of att sens2 switch |
sakthipriya | 0:7b4c00e3912f | 41 | //DigitalOut gpo2(PTC16); // enable of att sens switch |
sakthipriya | 0:7b4c00e3912f | 42 | |
sakthipriya | 0:7b4c00e3912f | 43 | |
sakthipriya | 0:7b4c00e3912f | 44 | Serial pc_acs(USBTX,USBRX); //for usb communication |
sakthipriya | 0:7b4c00e3912f | 45 | void inverse(float mat[3][3],float inv[3][3]); |
sakthipriya | 0:7b4c00e3912f | 46 | |
sakthipriya | 0:7b4c00e3912f | 47 | int ctrl_count = 0; |
sakthipriya | 0:7b4c00e3912f | 48 | float bcopy[3]; |
sakthipriya | 0:7b4c00e3912f | 49 | float moment[3]; |
sakthipriya | 0:7b4c00e3912f | 50 | ///////algo working well |
sakthipriya | 0:7b4c00e3912f | 51 | void FCTN_ACS_CNTRLALGO(float b[3],float omega[3]) |
sakthipriya | 0:7b4c00e3912f | 52 | { |
sakthipriya | 0:7b4c00e3912f | 53 | float db[3]; |
sakthipriya | 0:7b4c00e3912f | 54 | float bb[3]={0,0,0}; |
sakthipriya | 0:7b4c00e3912f | 55 | float d[3]={0,0,0}; |
sakthipriya | 0:7b4c00e3912f | 56 | float Jm[3][3]={{0.2730,0,0},{0,0.3018,0},{0,0,0.3031}}; |
sakthipriya | 0:7b4c00e3912f | 57 | float den=0,den2; |
sakthipriya | 0:7b4c00e3912f | 58 | int i,j; //temporary variables |
sakthipriya | 0:7b4c00e3912f | 59 | float Mu[2],z[2],dv[2],v[2],u[2],tauc[3]={0,0,0}; //outputs |
sakthipriya | 0:7b4c00e3912f | 60 | float invJm[3][3]; |
sakthipriya | 0:7b4c00e3912f | 61 | float kmu2=0.07,gamma2=1.9e4,kz2=0.4e-2,kmu=0.003,gamma=5.6e4,kz=0.1e-4; |
sakthipriya | 0:7b4c00e3912f | 62 | |
sakthipriya | 0:7b4c00e3912f | 63 | //................. calculating db values........................... |
sakthipriya | 0:7b4c00e3912f | 64 | if(ctrl_count!=0) |
sakthipriya | 0:7b4c00e3912f | 65 | { |
sakthipriya | 0:7b4c00e3912f | 66 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 67 | db[i]= (b[i]-bcopy[i])/10; |
sakthipriya | 0:7b4c00e3912f | 68 | } |
sakthipriya | 0:7b4c00e3912f | 69 | else |
sakthipriya | 0:7b4c00e3912f | 70 | { |
sakthipriya | 0:7b4c00e3912f | 71 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 72 | db[i]= 0; |
sakthipriya | 0:7b4c00e3912f | 73 | } |
sakthipriya | 0:7b4c00e3912f | 74 | ctrl_count++; |
sakthipriya | 0:7b4c00e3912f | 75 | //.................................................................. |
sakthipriya | 0:7b4c00e3912f | 76 | printf("\n\r Entered cntrl algo\n\r"); |
sakthipriya | 0:7b4c00e3912f | 77 | for(int i=0; i<3; i++) |
sakthipriya | 0:7b4c00e3912f | 78 | { |
sakthipriya | 0:7b4c00e3912f | 79 | printf("%f\t",omega[i]); |
sakthipriya | 0:7b4c00e3912f | 80 | } |
sakthipriya | 0:7b4c00e3912f | 81 | for(int i=0; i<3; i++) |
sakthipriya | 0:7b4c00e3912f | 82 | { |
sakthipriya | 0:7b4c00e3912f | 83 | printf("%f\t",b[i]); |
sakthipriya | 0:7b4c00e3912f | 84 | } |
sakthipriya | 0:7b4c00e3912f | 85 | |
sakthipriya | 0:7b4c00e3912f | 86 | //.........................algo...................................... |
sakthipriya | 0:7b4c00e3912f | 87 | den=sqrt((b[0]*b[0])+(b[1]*b[1])+(b[2]*b[2])); |
sakthipriya | 0:7b4c00e3912f | 88 | den2=(b[0]*db[0])+(b[1]*db[1])+(b[2]*db[2]); |
sakthipriya | 0:7b4c00e3912f | 89 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 90 | { |
sakthipriya | 0:7b4c00e3912f | 91 | db[i]=((db[i]*den*den)-(b[i]*(den2)))/(pow(den,3)); |
sakthipriya | 0:7b4c00e3912f | 92 | //db[i]/=den*den*den; |
sakthipriya | 0:7b4c00e3912f | 93 | } |
sakthipriya | 0:7b4c00e3912f | 94 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 95 | { |
sakthipriya | 0:7b4c00e3912f | 96 | b[i]/=den; |
sakthipriya | 0:7b4c00e3912f | 97 | } |
sakthipriya | 0:7b4c00e3912f | 98 | // select kz, kmu, gamma |
sakthipriya | 0:7b4c00e3912f | 99 | if(b[0]>0.9||b[0]<-0.9) |
sakthipriya | 0:7b4c00e3912f | 100 | { |
sakthipriya | 0:7b4c00e3912f | 101 | kz=kz2; |
sakthipriya | 0:7b4c00e3912f | 102 | kmu=kmu2; |
sakthipriya | 0:7b4c00e3912f | 103 | gamma=gamma2; |
sakthipriya | 0:7b4c00e3912f | 104 | } |
sakthipriya | 0:7b4c00e3912f | 105 | // calculate Mu, v, dv, z, u |
sakthipriya | 0:7b4c00e3912f | 106 | for(i=0;i<2;i++) |
sakthipriya | 0:7b4c00e3912f | 107 | { |
sakthipriya | 0:7b4c00e3912f | 108 | Mu[i]=b[i+1]; |
sakthipriya | 0:7b4c00e3912f | 109 | v[i]=-kmu*Mu[i]; |
sakthipriya | 0:7b4c00e3912f | 110 | dv[i]=-kmu*db[i+1]; |
sakthipriya | 0:7b4c00e3912f | 111 | z[i]=db[i+1]-v[i]; |
sakthipriya | 0:7b4c00e3912f | 112 | u[i]=-kz*z[i]+dv[i]-(Mu[i]/gamma); |
sakthipriya | 0:7b4c00e3912f | 113 | } |
sakthipriya | 0:7b4c00e3912f | 114 | inverse(Jm,invJm); |
sakthipriya | 0:7b4c00e3912f | 115 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 116 | { |
sakthipriya | 0:7b4c00e3912f | 117 | for(j=0;j<3;j++) |
sakthipriya | 0:7b4c00e3912f | 118 | bb[i]+=omega[j]*(omega[(i+1)%3]*Jm[(i+2)%3][j]-omega[(i+2)%3]*Jm[(i+1)%3][j]); |
sakthipriya | 0:7b4c00e3912f | 119 | } |
sakthipriya | 0:7b4c00e3912f | 120 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 121 | { |
sakthipriya | 0:7b4c00e3912f | 122 | for(j=0;j<3;j++) |
sakthipriya | 0:7b4c00e3912f | 123 | d[i]+=bb[j]*invJm[i][j]; |
sakthipriya | 0:7b4c00e3912f | 124 | } |
sakthipriya | 0:7b4c00e3912f | 125 | bb[1]=u[0]+(d[0]*b[2])-(d[2]*b[0])-(omega[0]*db[2])+(omega[2]*db[0]); |
sakthipriya | 0:7b4c00e3912f | 126 | bb[2]=u[1]-(d[0]*b[1])+(d[1]*b[0])+(omega[0]*db[1])-(omega[1]*db[0]); |
sakthipriya | 0:7b4c00e3912f | 127 | bb[0]=0; |
sakthipriya | 0:7b4c00e3912f | 128 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 129 | { |
sakthipriya | 0:7b4c00e3912f | 130 | d[i]=invJm[1][i]; |
sakthipriya | 0:7b4c00e3912f | 131 | invJm[1][i]=b[2]*invJm[0][i]-b[0]*invJm[2][i]; |
sakthipriya | 0:7b4c00e3912f | 132 | invJm[2][i]=-b[1]*invJm[0][i]+b[0]*d[i]; |
sakthipriya | 0:7b4c00e3912f | 133 | invJm[0][i]=b[i]; |
sakthipriya | 0:7b4c00e3912f | 134 | } |
sakthipriya | 0:7b4c00e3912f | 135 | inverse(invJm,Jm); |
sakthipriya | 0:7b4c00e3912f | 136 | printf("\n \r calculating tauc"); |
sakthipriya | 0:7b4c00e3912f | 137 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 138 | { |
sakthipriya | 0:7b4c00e3912f | 139 | for(j=0;j<3;j++) |
sakthipriya | 0:7b4c00e3912f | 140 | tauc[i]+=Jm[i][j]*bb[j]; // calculating torque values |
sakthipriya | 0:7b4c00e3912f | 141 | printf(" %f \t",tauc[i]); |
sakthipriya | 0:7b4c00e3912f | 142 | } |
sakthipriya | 0:7b4c00e3912f | 143 | //..........................tauc to moment conversion.......................... |
sakthipriya | 0:7b4c00e3912f | 144 | printf("\n \r calculating moment"); |
sakthipriya | 0:7b4c00e3912f | 145 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 146 | bcopy[i]=b[i]*den; |
sakthipriya | 0:7b4c00e3912f | 147 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 148 | { |
sakthipriya | 0:7b4c00e3912f | 149 | moment[i]=bcopy[(i+1)%3]*tauc[(i+2)%3]-bcopy[(i+2)%3]*tauc[(i+1)%3]; |
sakthipriya | 0:7b4c00e3912f | 150 | moment[i]/=den; |
sakthipriya | 0:7b4c00e3912f | 151 | printf(" %f \t",moment[i]); |
sakthipriya | 0:7b4c00e3912f | 152 | } |
sakthipriya | 0:7b4c00e3912f | 153 | printf("\n\r exited control algo\n"); |
sakthipriya | 0:7b4c00e3912f | 154 | } |
sakthipriya | 0:7b4c00e3912f | 155 | //..........................function to find inverse.................. |
sakthipriya | 0:7b4c00e3912f | 156 | void inverse(float mat[3][3],float inv[3][3]) |
sakthipriya | 0:7b4c00e3912f | 157 | { |
sakthipriya | 0:7b4c00e3912f | 158 | int i,j; |
sakthipriya | 0:7b4c00e3912f | 159 | float det=0; |
sakthipriya | 0:7b4c00e3912f | 160 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 161 | { |
sakthipriya | 0:7b4c00e3912f | 162 | for(j=0;j<3;j++) |
sakthipriya | 0:7b4c00e3912f | 163 | inv[j][i]=(mat[(i+1)%3][(j+1)%3]*mat[(i+2)%3][(j+2)%3])-(mat[(i+2)%3][(j+1)%3]*mat[(i+1)%3][(j+2)%3]); |
sakthipriya | 0:7b4c00e3912f | 164 | } |
sakthipriya | 0:7b4c00e3912f | 165 | det+=(mat[0][0]*inv[0][0])+(mat[0][1]*inv[1][0])+(mat[0][2]*inv[2][0]); |
sakthipriya | 0:7b4c00e3912f | 166 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 167 | { |
sakthipriya | 0:7b4c00e3912f | 168 | for(j=0;j<3;j++) |
sakthipriya | 0:7b4c00e3912f | 169 | inv[i][j]/=det; |
sakthipriya | 0:7b4c00e3912f | 170 | } |
sakthipriya | 0:7b4c00e3912f | 171 | } |
sakthipriya | 0:7b4c00e3912f | 172 | |
sakthipriya | 0:7b4c00e3912f | 173 | |
sakthipriya | 0:7b4c00e3912f | 174 | I2C i2c (PTC9,PTC8); //PTC9-sda,PTC8-scl for the attitude sensors and battery gauge |
sakthipriya | 0:7b4c00e3912f | 175 | |
sakthipriya | 0:7b4c00e3912f | 176 | void FCTN_ACS_INIT(void); //initialization of registers happens |
sakthipriya | 0:7b4c00e3912f | 177 | void FCTN_ATS_DATA_ACQ(); //data is obtained |
sakthipriya | 0:7b4c00e3912f | 178 | void T_OUT(); //timeout function to stop infinite loop |
sakthipriya | 0:7b4c00e3912f | 179 | Timeout to; //Timeout variable to |
sakthipriya | 0:7b4c00e3912f | 180 | int toFlag; |
sakthipriya | 0:7b4c00e3912f | 181 | |
sakthipriya | 0:7b4c00e3912f | 182 | int count =0; // Time for which the BAE uC is running (in seconds) |
sakthipriya | 0:7b4c00e3912f | 183 | void T_OUT() |
sakthipriya | 0:7b4c00e3912f | 184 | { |
sakthipriya | 0:7b4c00e3912f | 185 | toFlag=0; //as T_OUT function gets called the while loop gets terminated |
sakthipriya | 0:7b4c00e3912f | 186 | } |
sakthipriya | 0:7b4c00e3912f | 187 | |
sakthipriya | 0:7b4c00e3912f | 188 | |
sakthipriya | 0:7b4c00e3912f | 189 | //DEFINING VARIABLES |
sakthipriya | 0:7b4c00e3912f | 190 | char cmd[2]; |
sakthipriya | 0:7b4c00e3912f | 191 | char raw_gyro[6]; |
sakthipriya | 0:7b4c00e3912f | 192 | char raw_mag[6]; |
sakthipriya | 0:7b4c00e3912f | 193 | char store,status; |
sakthipriya | 0:7b4c00e3912f | 194 | int16_t bit_data; |
sakthipriya | 0:7b4c00e3912f | 195 | float gyro_data[3], mag_data[3],combined_values[6]; |
sakthipriya | 0:7b4c00e3912f | 196 | float senstivity_gyro =6.5536; //senstivity is obtained from 2^15/5000dps |
sakthipriya | 0:7b4c00e3912f | 197 | float senstivity_mag =32.768; //senstivity is obtained from 2^15/1000microtesla |
sakthipriya | 0:7b4c00e3912f | 198 | float gyro_error[3]= {0,0,0}, mag_error[3]= {0,0,0}; |
sakthipriya | 0:7b4c00e3912f | 199 | |
sakthipriya | 0:7b4c00e3912f | 200 | void FCTN_ACS_INIT() |
sakthipriya | 0:7b4c00e3912f | 201 | { |
sakthipriya | 0:7b4c00e3912f | 202 | ACS_INIT_STATUS = 's'; //set ACS_INIT_STATUS flag |
sakthipriya | 3:07e15677a75c | 203 | //FLAG(); |
sakthipriya | 0:7b4c00e3912f | 204 | pc_acs.printf("Attitude sensor init called \n \r"); |
sakthipriya | 0:7b4c00e3912f | 205 | //FLAG(); |
sakthipriya | 0:7b4c00e3912f | 206 | cmd[0]=RESETREQ; |
sakthipriya | 0:7b4c00e3912f | 207 | cmd[1]=BIT_RESREQ; |
sakthipriya | 0:7b4c00e3912f | 208 | i2c.write(SLAVE_ADDR,cmd,2); //When 0x01 is written in reset request register Emulates a hard power down/power up |
sakthipriya | 0:7b4c00e3912f | 209 | wait_ms(2000); //waiting for loading configuration file stored in EEPROM |
sakthipriya | 0:7b4c00e3912f | 210 | cmd[0]=SENTRALSTATUS; |
sakthipriya | 0:7b4c00e3912f | 211 | i2c.write(SLAVE_ADDR,cmd,1); |
sakthipriya | 0:7b4c00e3912f | 212 | i2c.read(SLAVE_ADDR_READ,&store,1); |
sakthipriya | 0:7b4c00e3912f | 213 | wait_ms(100); |
sakthipriya | 0:7b4c00e3912f | 214 | //to check whether EEPROM is uploaded |
sakthipriya | 0:7b4c00e3912f | 215 | switch((int)store) { |
sakthipriya | 0:7b4c00e3912f | 216 | case(3): { |
sakthipriya | 0:7b4c00e3912f | 217 | break; |
sakthipriya | 0:7b4c00e3912f | 218 | } |
sakthipriya | 0:7b4c00e3912f | 219 | case(11): { |
sakthipriya | 0:7b4c00e3912f | 220 | break; |
sakthipriya | 0:7b4c00e3912f | 221 | } |
sakthipriya | 0:7b4c00e3912f | 222 | default: { |
sakthipriya | 0:7b4c00e3912f | 223 | cmd[0]=RESETREQ; |
sakthipriya | 0:7b4c00e3912f | 224 | cmd[1]=BIT_RESREQ; |
sakthipriya | 0:7b4c00e3912f | 225 | i2c.write(SLAVE_ADDR,cmd,2); |
sakthipriya | 0:7b4c00e3912f | 226 | wait_ms(2000); |
sakthipriya | 0:7b4c00e3912f | 227 | } |
sakthipriya | 0:7b4c00e3912f | 228 | } |
sakthipriya | 0:7b4c00e3912f | 229 | pc_acs.printf("Sentral Status is %x\n \r",(int)store); |
sakthipriya | 0:7b4c00e3912f | 230 | cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors |
sakthipriya | 0:7b4c00e3912f | 231 | cmd[1]=BIT_RUN_ENB; |
sakthipriya | 0:7b4c00e3912f | 232 | i2c.write(SLAVE_ADDR,cmd,2); |
sakthipriya | 0:7b4c00e3912f | 233 | wait_ms(100); |
sakthipriya | 0:7b4c00e3912f | 234 | cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer |
sakthipriya | 0:7b4c00e3912f | 235 | cmd[1]=BIT_MAGODR; |
sakthipriya | 0:7b4c00e3912f | 236 | i2c.write(SLAVE_ADDR,cmd,2); |
sakthipriya | 0:7b4c00e3912f | 237 | wait_ms(100); |
sakthipriya | 0:7b4c00e3912f | 238 | cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope |
sakthipriya | 0:7b4c00e3912f | 239 | cmd[1]=BIT_GYROODR; |
sakthipriya | 0:7b4c00e3912f | 240 | i2c.write(SLAVE_ADDR,cmd,2); |
sakthipriya | 0:7b4c00e3912f | 241 | wait_ms(100); |
sakthipriya | 0:7b4c00e3912f | 242 | cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values |
sakthipriya | 0:7b4c00e3912f | 243 | cmd[1]=0x00; |
sakthipriya | 0:7b4c00e3912f | 244 | i2c.write(SLAVE_ADDR,cmd,2); |
sakthipriya | 0:7b4c00e3912f | 245 | wait_ms(100); |
sakthipriya | 0:7b4c00e3912f | 246 | cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values |
sakthipriya | 0:7b4c00e3912f | 247 | cmd[1]=BIT_EVT_ENB; |
sakthipriya | 0:7b4c00e3912f | 248 | i2c.write(SLAVE_ADDR,cmd,2); |
sakthipriya | 0:7b4c00e3912f | 249 | wait_ms(100); |
sakthipriya | 0:7b4c00e3912f | 250 | ACS_INIT_STATUS = 'c'; //set ACS_INIT_STATUS flag |
sakthipriya | 0:7b4c00e3912f | 251 | } |
sakthipriya | 0:7b4c00e3912f | 252 | |
sakthipriya | 0:7b4c00e3912f | 253 | void FCTN_ATS_DATA_ACQ() |
sakthipriya | 0:7b4c00e3912f | 254 | { |
sakthipriya | 0:7b4c00e3912f | 255 | ACS_DATA_ACQ_STATUS = 's'; //set ACS_DATA_ACQ_STATUS flag for att sens 2 |
sakthipriya | 0:7b4c00e3912f | 256 | if( ACS_ATS_ENABLE == 'e') |
sakthipriya | 0:7b4c00e3912f | 257 | { |
sakthipriya | 0:7b4c00e3912f | 258 | FLAG(); |
sakthipriya | 0:7b4c00e3912f | 259 | pc_acs.printf("attitude sensor execution called \n \r"); |
sakthipriya | 0:7b4c00e3912f | 260 | toFlag=1; //toFlag is set to 1 so that it enters while loop |
sakthipriya | 0:7b4c00e3912f | 261 | to.attach(&T_OUT,2); //after 2 seconds the while loop gets terminated |
sakthipriya | 0:7b4c00e3912f | 262 | while(toFlag) { |
sakthipriya | 0:7b4c00e3912f | 263 | cmd[0]=EVT_STATUS; |
sakthipriya | 0:7b4c00e3912f | 264 | i2c.write(SLAVE_ADDR,cmd,1); |
sakthipriya | 0:7b4c00e3912f | 265 | i2c.read(SLAVE_ADDR_READ,&status,1); |
sakthipriya | 0:7b4c00e3912f | 266 | wait_ms(100); |
sakthipriya | 0:7b4c00e3912f | 267 | pc_acs.printf("Event Status is %x\n \r",(int)status); |
sakthipriya | 0:7b4c00e3912f | 268 | //if the 6th and 4th bit are 1 then it implies that gyro and magnetometer values are ready to take |
sakthipriya | 0:7b4c00e3912f | 269 | if(((int)status&40)==40) { |
sakthipriya | 0:7b4c00e3912f | 270 | cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x |
sakthipriya | 0:7b4c00e3912f | 271 | i2c.write(SLAVE_ADDR,cmd,1); |
sakthipriya | 0:7b4c00e3912f | 272 | i2c.read(SLAVE_ADDR_READ,raw_gyro,6); |
sakthipriya | 0:7b4c00e3912f | 273 | cmd[0]=MAG_XOUT_H; //LSB of x |
sakthipriya | 0:7b4c00e3912f | 274 | i2c.write(SLAVE_ADDR,cmd,1); |
sakthipriya | 0:7b4c00e3912f | 275 | i2c.read(SLAVE_ADDR_READ,raw_mag,6); |
sakthipriya | 0:7b4c00e3912f | 276 | // pc_acs.printf("\nGyro Values:\n"); |
sakthipriya | 0:7b4c00e3912f | 277 | for(int i=0; i<3; i++) { |
sakthipriya | 0:7b4c00e3912f | 278 | //concatenating gyro LSB and MSB to get 16 bit signed data values |
sakthipriya | 0:7b4c00e3912f | 279 | bit_data= ((int16_t)raw_gyro[2*i+1]<<8)|(int16_t)raw_gyro[2*i]; |
sakthipriya | 0:7b4c00e3912f | 280 | gyro_data[i]=(float)bit_data; |
sakthipriya | 0:7b4c00e3912f | 281 | gyro_data[i]=gyro_data[i]/senstivity_gyro; |
sakthipriya | 0:7b4c00e3912f | 282 | gyro_data[i]+=gyro_error[i]; |
sakthipriya | 0:7b4c00e3912f | 283 | // pc_acs.printf("%f\t",gyro_data[i]); |
sakthipriya | 0:7b4c00e3912f | 284 | } |
sakthipriya | 0:7b4c00e3912f | 285 | // pc_acs.printf("\nMag Values:\n"); |
sakthipriya | 0:7b4c00e3912f | 286 | for(int i=0; i<3; i++) { |
sakthipriya | 0:7b4c00e3912f | 287 | //concatenating mag LSB and MSB to get 16 bit signed data values |
sakthipriya | 0:7b4c00e3912f | 288 | bit_data= ((int16_t)raw_mag[2*i+1]<<8)|(int16_t)raw_mag[2*i]; |
sakthipriya | 0:7b4c00e3912f | 289 | mag_data[i]=(float)bit_data; |
sakthipriya | 0:7b4c00e3912f | 290 | mag_data[i]=mag_data[i]/senstivity_mag; |
sakthipriya | 0:7b4c00e3912f | 291 | mag_data[i]+=mag_error[i]; |
sakthipriya | 0:7b4c00e3912f | 292 | // pc_acs.printf("%f\t",mag_data[i]); |
sakthipriya | 0:7b4c00e3912f | 293 | } |
sakthipriya | 0:7b4c00e3912f | 294 | for(int i=0; i<3; i++) { |
sakthipriya | 6:036d08b62785 | 295 | // data[i]=gyro_data[i]; |
sakthipriya | 6:036d08b62785 | 296 | actual_data.AngularSpeed_actual[i] = gyro_data[i]; |
sakthipriya | 6:036d08b62785 | 297 | actual_data.Bvalue_actual[i] = mag_data[i]; |
sakthipriya | 6:036d08b62785 | 298 | //data[i+3]=mag_data[i]; |
sakthipriya | 0:7b4c00e3912f | 299 | } |
sakthipriya | 0:7b4c00e3912f | 300 | // return(combined_values); //returning poiter combined values |
sakthipriya | 0:7b4c00e3912f | 301 | } |
sakthipriya | 0:7b4c00e3912f | 302 | //checking for the error |
sakthipriya | 0:7b4c00e3912f | 303 | else if (((int)status&2)==2) { |
sakthipriya | 0:7b4c00e3912f | 304 | FCTN_ACS_INIT(); //when there is any error then Again inilization is done to remove error |
sakthipriya | 0:7b4c00e3912f | 305 | } |
sakthipriya | 0:7b4c00e3912f | 306 | } |
sakthipriya | 0:7b4c00e3912f | 307 | } |
sakthipriya | 0:7b4c00e3912f | 308 | else //ACS_DATA_ACQ_STATUS = ACS_DATA_ACQ_FAILURE |
sakthipriya | 0:7b4c00e3912f | 309 | { |
sakthipriya | 0:7b4c00e3912f | 310 | ACS_DATA_ACQ_STATUS = 'f'; |
sakthipriya | 0:7b4c00e3912f | 311 | } |
sakthipriya | 0:7b4c00e3912f | 312 | ACS_DATA_ACQ_STATUS = 'c'; //clear ACS_DATA_ACQ_STATUS flag for att sens 2 |
sakthipriya | 0:7b4c00e3912f | 313 | } |
sakthipriya | 0:7b4c00e3912f | 314 | |
sakthipriya | 0:7b4c00e3912f | 315 | void FCTN_ACS_GENPWM_MAIN(float Moment[3]) |
sakthipriya | 0:7b4c00e3912f | 316 | { |
sakthipriya | 0:7b4c00e3912f | 317 | printf("\n\rEntered executable PWMGEN function\n"); // entering the PWMGEN executable function |
sakthipriya | 0:7b4c00e3912f | 318 | |
sakthipriya | 0:7b4c00e3912f | 319 | float l_duty_cycle_x=0; //Duty cycle of Moment in x direction |
sakthipriya | 0:7b4c00e3912f | 320 | float l_current_x=0; //Current sent in x TR's |
sakthipriya | 0:7b4c00e3912f | 321 | float l_duty_cycle_y=0; //Duty cycle of Moment in y direction |
sakthipriya | 0:7b4c00e3912f | 322 | float l_current_y=0; //Current sent in y TR's |
sakthipriya | 0:7b4c00e3912f | 323 | float l_duty_cycle_z=0; //Duty cycle of Moment in z direction |
sakthipriya | 0:7b4c00e3912f | 324 | float l_current_z=0; //Current sent in z TR's |
sakthipriya | 0:7b4c00e3912f | 325 | |
sakthipriya | 0:7b4c00e3912f | 326 | |
sakthipriya | 0:7b4c00e3912f | 327 | for(int i = 0 ; i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 328 | { |
sakthipriya | 0:7b4c00e3912f | 329 | // printf(" %f \t ",Moment[i]); // taking the moment values from control algorithm as inputs |
sakthipriya | 0:7b4c00e3912f | 330 | } |
sakthipriya | 0:7b4c00e3912f | 331 | |
sakthipriya | 0:7b4c00e3912f | 332 | //----------------------------- x-direction TR --------------------------------------------// |
sakthipriya | 0:7b4c00e3912f | 333 | |
sakthipriya | 0:7b4c00e3912f | 334 | |
sakthipriya | 0:7b4c00e3912f | 335 | float l_moment_x = Moment[0]; //Moment in x direction |
sakthipriya | 0:7b4c00e3912f | 336 | |
sakthipriya | 0:7b4c00e3912f | 337 | phase_TR_x = 1; // setting the default current direction |
sakthipriya | 0:7b4c00e3912f | 338 | if (l_moment_x <0) |
sakthipriya | 0:7b4c00e3912f | 339 | { |
sakthipriya | 0:7b4c00e3912f | 340 | phase_TR_x = 0; // if the moment value is negative, we send the abs value of corresponding current in opposite direction by setting the phase pin high |
sakthipriya | 0:7b4c00e3912f | 341 | l_moment_x = abs(l_moment_x); |
sakthipriya | 0:7b4c00e3912f | 342 | } |
sakthipriya | 0:7b4c00e3912f | 343 | |
sakthipriya | 0:7b4c00e3912f | 344 | l_current_x = l_moment_x * TR_CONSTANT ; //Moment and Current always have the linear relationship |
sakthipriya | 0:7b4c00e3912f | 345 | pc_acs.printf("current in trx is %f \r \n",l_current_x); |
sakthipriya | 0:7b4c00e3912f | 346 | if( l_current_x>0 && l_current_x < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100% |
sakthipriya | 0:7b4c00e3912f | 347 | { |
sakthipriya | 0:7b4c00e3912f | 348 | l_duty_cycle_x = 6*1000000*pow(l_current_x,4) - 377291*pow(l_current_x,3) + 4689.6*pow(l_current_x,2) + 149.19*l_current_x - 0.0008; // calculating upto 0.1% dutycycle by polynomial interpolation |
sakthipriya | 0:7b4c00e3912f | 349 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
sakthipriya | 0:7b4c00e3912f | 350 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 351 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 8:82250e41da81 | 352 | |
sakthipriya | 0:7b4c00e3912f | 353 | } |
sakthipriya | 0:7b4c00e3912f | 354 | else if( l_current_x >= 0.006 && l_current_x < 0.0116) |
sakthipriya | 0:7b4c00e3912f | 355 | { |
sakthipriya | 0:7b4c00e3912f | 356 | l_duty_cycle_x = 1*100000000*pow(l_current_x,4) - 5*1000000*pow(l_current_x,3) + 62603*pow(l_current_x,2) - 199.29*l_current_x + 0.7648;// calculating upto 1% dutycycle by polynomial interpolation |
sakthipriya | 0:7b4c00e3912f | 357 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
sakthipriya | 0:7b4c00e3912f | 358 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 359 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:7b4c00e3912f | 360 | } |
sakthipriya | 0:7b4c00e3912f | 361 | else if (l_current_x >= 0.0116 && l_current_x < 0.0624) |
sakthipriya | 0:7b4c00e3912f | 362 | { |
sakthipriya | 0:7b4c00e3912f | 363 | l_duty_cycle_x = 212444*pow(l_current_x,4) - 33244*pow(l_current_x,3) + 1778.4*pow(l_current_x,2) + 120.91*l_current_x + 0.3878; // calculating upto 10% dutycycle by polynomial interpolation |
sakthipriya | 0:7b4c00e3912f | 364 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
sakthipriya | 0:7b4c00e3912f | 365 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 366 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:7b4c00e3912f | 367 | } |
sakthipriya | 0:7b4c00e3912f | 368 | else if(l_current_x >= 0.0624 && l_current_x < 0.555) |
sakthipriya | 0:7b4c00e3912f | 369 | { |
sakthipriya | 0:7b4c00e3912f | 370 | l_duty_cycle_x = 331.15*pow(l_current_x,4) - 368.09*pow(l_current_x,3) + 140.43*pow(l_current_x,2) + 158.59*l_current_x + 0.0338; // calculating upto 100% dutycycle by polynomial interpolation |
sakthipriya | 0:7b4c00e3912f | 371 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
sakthipriya | 0:7b4c00e3912f | 372 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 373 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:7b4c00e3912f | 374 | } |
sakthipriya | 0:7b4c00e3912f | 375 | else if(l_current_x==0) |
sakthipriya | 0:7b4c00e3912f | 376 | { |
sakthipriya | 0:7b4c00e3912f | 377 | printf("\n \r l_current_x====0"); |
sakthipriya | 0:7b4c00e3912f | 378 | l_duty_cycle_x = 0; // default value of duty cycle |
sakthipriya | 0:7b4c00e3912f | 379 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
sakthipriya | 0:7b4c00e3912f | 380 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 381 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:7b4c00e3912f | 382 | } |
sakthipriya | 0:7b4c00e3912f | 383 | else //not necessary |
sakthipriya | 0:7b4c00e3912f | 384 | { |
sakthipriya | 0:7b4c00e3912f | 385 | g_err_flag_TR_x = 1; |
sakthipriya | 0:7b4c00e3912f | 386 | } |
sakthipriya | 0:7b4c00e3912f | 387 | |
sakthipriya | 0:7b4c00e3912f | 388 | //------------------------------------- y-direction TR--------------------------------------// |
sakthipriya | 0:7b4c00e3912f | 389 | |
sakthipriya | 0:7b4c00e3912f | 390 | |
sakthipriya | 0:7b4c00e3912f | 391 | float l_moment_y = Moment[1]; //Moment in y direction |
sakthipriya | 0:7b4c00e3912f | 392 | |
sakthipriya | 0:7b4c00e3912f | 393 | phase_TR_y = 1; // setting the default current direction |
sakthipriya | 0:7b4c00e3912f | 394 | if (l_moment_y <0) |
sakthipriya | 0:7b4c00e3912f | 395 | { |
sakthipriya | 0:7b4c00e3912f | 396 | phase_TR_y = 0; //if the moment value is negative, we send the abs value of corresponding current in opposite direction by setting the phase pin high |
sakthipriya | 0:7b4c00e3912f | 397 | l_moment_y = abs(l_moment_y); |
sakthipriya | 0:7b4c00e3912f | 398 | } |
sakthipriya | 0:7b4c00e3912f | 399 | |
sakthipriya | 0:7b4c00e3912f | 400 | |
sakthipriya | 0:7b4c00e3912f | 401 | l_current_y = l_moment_y * TR_CONSTANT ; //Moment and Current always have the linear relationship |
sakthipriya | 0:7b4c00e3912f | 402 | pc_acs.printf("current in try is %f \r \n",l_current_y); |
sakthipriya | 0:7b4c00e3912f | 403 | if( l_current_y>0 && l_current_y < 0.006 )//Current and Duty cycle have the linear relationship between 1% and 100% |
sakthipriya | 0:7b4c00e3912f | 404 | { |
sakthipriya | 0:7b4c00e3912f | 405 | l_duty_cycle_y = 6*1000000*pow(l_current_y,4) - 377291*pow(l_current_y,3) + 4689.6*pow(l_current_y,2) + 149.19*l_current_y - 0.0008; // calculating upto 0.1% dutycycle by polynomial interpolation |
sakthipriya | 0:7b4c00e3912f | 406 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
sakthipriya | 0:7b4c00e3912f | 407 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 408 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:7b4c00e3912f | 409 | } |
sakthipriya | 0:7b4c00e3912f | 410 | else if( l_current_y >= 0.006 && l_current_y < 0.0116) |
sakthipriya | 0:7b4c00e3912f | 411 | { |
sakthipriya | 0:7b4c00e3912f | 412 | l_duty_cycle_y = 1*100000000*pow(l_current_y,4) - 5*1000000*pow(l_current_y,3) + 62603*pow(l_current_y,2) - 199.29*l_current_y + 0.7648;// calculating upto 1% dutycycle by polynomial interpolation |
sakthipriya | 0:7b4c00e3912f | 413 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
sakthipriya | 0:7b4c00e3912f | 414 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 415 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:7b4c00e3912f | 416 | } |
sakthipriya | 0:7b4c00e3912f | 417 | else if (l_current_y >= 0.0116&& l_current_y < 0.0624) |
sakthipriya | 0:7b4c00e3912f | 418 | { |
sakthipriya | 0:7b4c00e3912f | 419 | l_duty_cycle_y = 212444*pow(l_current_y,4) - 33244*pow(l_current_y,3) + 1778.4*pow(l_current_y,2) + 120.91*l_current_y + 0.3878;// calculating upto 10% dutycycle by polynomial interpolation |
sakthipriya | 0:7b4c00e3912f | 420 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
sakthipriya | 0:7b4c00e3912f | 421 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 422 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:7b4c00e3912f | 423 | } |
sakthipriya | 0:7b4c00e3912f | 424 | else if(l_current_y >= 0.0624 && l_current_y < 0.555) |
sakthipriya | 0:7b4c00e3912f | 425 | { |
sakthipriya | 0:7b4c00e3912f | 426 | l_duty_cycle_y = 331.15*pow(l_current_y,4) - 368.09*pow(l_current_y,3) + 140.43*pow(l_current_y,2) + 158.59*l_current_y + 0.0338;// calculating upto 100% dutycycle by polynomial interpolation |
sakthipriya | 0:7b4c00e3912f | 427 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
sakthipriya | 0:7b4c00e3912f | 428 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 429 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:7b4c00e3912f | 430 | } |
sakthipriya | 0:7b4c00e3912f | 431 | else if(l_current_y==0) |
sakthipriya | 0:7b4c00e3912f | 432 | { |
sakthipriya | 0:7b4c00e3912f | 433 | printf("\n \r l_current_y====0"); |
sakthipriya | 0:7b4c00e3912f | 434 | l_duty_cycle_y = 0; // default value of duty cycle |
sakthipriya | 0:7b4c00e3912f | 435 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
sakthipriya | 0:7b4c00e3912f | 436 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 437 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:7b4c00e3912f | 438 | } |
sakthipriya | 0:7b4c00e3912f | 439 | else // not necessary |
sakthipriya | 0:7b4c00e3912f | 440 | { |
sakthipriya | 0:7b4c00e3912f | 441 | g_err_flag_TR_y = 1; |
sakthipriya | 0:7b4c00e3912f | 442 | } |
sakthipriya | 0:7b4c00e3912f | 443 | |
sakthipriya | 0:7b4c00e3912f | 444 | //----------------------------------------------- z-direction TR -------------------------// |
sakthipriya | 0:7b4c00e3912f | 445 | |
sakthipriya | 0:7b4c00e3912f | 446 | |
sakthipriya | 0:7b4c00e3912f | 447 | float l_moment_z = Moment[2]; //Moment in z direction |
sakthipriya | 0:7b4c00e3912f | 448 | |
sakthipriya | 0:7b4c00e3912f | 449 | phase_TR_z = 1; // setting the default current direction |
sakthipriya | 0:7b4c00e3912f | 450 | if (l_moment_z <0) |
sakthipriya | 0:7b4c00e3912f | 451 | { |
sakthipriya | 0:7b4c00e3912f | 452 | phase_TR_z = 0; //if the moment value is negative, we send the abs value of corresponding current in opposite direction by setting the phase pin high |
sakthipriya | 0:7b4c00e3912f | 453 | l_moment_z = abs(l_moment_z); |
sakthipriya | 0:7b4c00e3912f | 454 | } |
sakthipriya | 0:7b4c00e3912f | 455 | |
sakthipriya | 0:7b4c00e3912f | 456 | |
sakthipriya | 0:7b4c00e3912f | 457 | l_current_z = l_moment_z * TR_CONSTANT ; //Moment and Current always have the linear relationship |
sakthipriya | 0:7b4c00e3912f | 458 | pc_acs.printf("current in trz is %f \r \n",l_current_z); |
sakthipriya | 0:7b4c00e3912f | 459 | if( l_current_z>0 && l_current_z < 0.006 )//Current and Duty cycle have the linear relationship between 1% and 100% |
sakthipriya | 0:7b4c00e3912f | 460 | { |
sakthipriya | 0:7b4c00e3912f | 461 | l_duty_cycle_z = 6*1000000*pow(l_current_z,4) - 377291*pow(l_current_z,3) + 4689.6*pow(l_current_z,2) + 149.19*l_current_z - 0.0008;// calculating upto 0.1% dutycycle by polynomial interpolation |
sakthipriya | 0:7b4c00e3912f | 462 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
sakthipriya | 0:7b4c00e3912f | 463 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 464 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:7b4c00e3912f | 465 | } |
sakthipriya | 0:7b4c00e3912f | 466 | else if( l_current_z >= 0.006 && l_current_z < 0.0116) |
sakthipriya | 0:7b4c00e3912f | 467 | { |
sakthipriya | 0:7b4c00e3912f | 468 | l_duty_cycle_z = 1*100000000*pow(l_current_z,4) - 5*1000000*pow(l_current_z,3) + 62603*pow(l_current_z,2) - 199.29*l_current_z + 0.7648;// calculating upto 1% dutycycle by polynomial interpolation |
sakthipriya | 0:7b4c00e3912f | 469 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
sakthipriya | 0:7b4c00e3912f | 470 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 471 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:7b4c00e3912f | 472 | } |
sakthipriya | 0:7b4c00e3912f | 473 | else if (l_current_z >= 0.0116 && l_current_z < 0.0624) |
sakthipriya | 0:7b4c00e3912f | 474 | { |
sakthipriya | 0:7b4c00e3912f | 475 | l_duty_cycle_z = 212444*pow(l_current_z,4) - 33244*pow(l_current_z,3) + 1778.4*pow(l_current_z,2) + 120.91*l_current_z + 0.3878;// calculating upto 10% dutycycle by polynomial interpolation |
sakthipriya | 0:7b4c00e3912f | 476 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
sakthipriya | 0:7b4c00e3912f | 477 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 478 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:7b4c00e3912f | 479 | } |
sakthipriya | 0:7b4c00e3912f | 480 | else if(l_current_z >= 0.0624 && l_current_z < 0.555) |
sakthipriya | 0:7b4c00e3912f | 481 | { |
sakthipriya | 0:7b4c00e3912f | 482 | l_duty_cycle_z = 331.15*pow(l_current_z,4) - 368.09*pow(l_current_z,3) + 140.43*pow(l_current_z,2) + 158.59*l_current_z + 0.0338;// calculating upto 100% dutycycle by polynomial interpolation |
sakthipriya | 0:7b4c00e3912f | 483 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
sakthipriya | 0:7b4c00e3912f | 484 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 485 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:7b4c00e3912f | 486 | } |
sakthipriya | 0:7b4c00e3912f | 487 | else if(l_current_z==0) |
sakthipriya | 0:7b4c00e3912f | 488 | { |
sakthipriya | 0:7b4c00e3912f | 489 | printf("\n \r l_current_z====0"); |
sakthipriya | 0:7b4c00e3912f | 490 | l_duty_cycle_z = 0; // default value of duty cycle |
sakthipriya | 0:7b4c00e3912f | 491 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
sakthipriya | 0:7b4c00e3912f | 492 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 493 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:7b4c00e3912f | 494 | } |
sakthipriya | 0:7b4c00e3912f | 495 | else // not necessary |
sakthipriya | 0:7b4c00e3912f | 496 | { |
sakthipriya | 0:7b4c00e3912f | 497 | g_err_flag_TR_z = 1; |
sakthipriya | 0:7b4c00e3912f | 498 | } |
sakthipriya | 0:7b4c00e3912f | 499 | |
sakthipriya | 0:7b4c00e3912f | 500 | //-----------------------------------------exiting the function-----------------------------------// |
sakthipriya | 0:7b4c00e3912f | 501 | |
sakthipriya | 0:7b4c00e3912f | 502 | printf("\n\rExited executable PWMGEN function\n\r"); // stating the successful exit of TR function |
sakthipriya | 0:7b4c00e3912f | 503 | |
sakthipriya | 0:7b4c00e3912f | 504 | } |
sakthipriya | 0:7b4c00e3912f | 505 | |
sakthipriya | 0:7b4c00e3912f | 506 | |
sakthipriya | 0:7b4c00e3912f | 507 |