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ACS completed fully. All cases to be tested
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of ACS_Flowchart_BAE by
ACS.cpp@10:f93407b97750, 2016-04-11 (annotated)
- Committer:
- lakshya
- Date:
- Mon Apr 11 17:26:46 2016 +0000
- Revision:
- 10:f93407b97750
- Parent:
- 9:194afacf7449
- Child:
- 13:fb7facaf308b
11april
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; |
lakshya | 10:f93407b97750 | 14 | extern char ACS_INIT_STATUS; |
lakshya | 10:f93407b97750 | 15 | extern char ACS_DATA_ACQ_STATUS; |
lakshya | 10:f93407b97750 | 16 | extern char ACS_ATS_STATUS; |
lakshya | 10:f93407b97750 | 17 | extern char ACS_MAIN_STATUS; |
lakshya | 10:f93407b97750 | 18 | extern char ACS_STATUS; |
sakthipriya | 0:7b4c00e3912f | 19 | |
lakshya | 10:f93407b97750 | 20 | extern char ACS_ATS_ENABLE; |
lakshya | 10:f93407b97750 | 21 | extern char ACS_DATA_ACQ_ENABLE; |
lakshya | 10:f93407b97750 | 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 | |
lakshya | 10:f93407b97750 | 40 | //DigitalOut gpo1(PTC0); // enable of att sens2 switch |
lakshya | 10:f93407b97750 | 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 |
lakshya | 10:f93407b97750 | 45 | //CONTROL_ALGO |
lakshya | 10:f93407b97750 | 46 | |
lakshya | 10:f93407b97750 | 47 | float moment[3]; // Unit: Ampere*Meter^2 |
lakshya | 10:f93407b97750 | 48 | float b_old[3]={1.15e-5,-0.245e-5,1.98e-5}; // Unit: Tesla |
lakshya | 10:f93407b97750 | 49 | int flag_firsttime=1, controlmode, alarmmode=0; |
lakshya | 10:f93407b97750 | 50 | |
lakshya | 10:f93407b97750 | 51 | |
lakshya | 10:f93407b97750 | 52 | |
lakshya | 10:f93407b97750 | 53 | void controller (float moment[3], float b1[3], float omega1[3], float b_old[3], int &alarmmode, int &flag_firsttime, int &controlmode); |
lakshya | 10:f93407b97750 | 54 | void controlmodes(float moment[3], float b[3], float db[3], float omega[3], int controlmode1, float MmntMax); |
lakshya | 10:f93407b97750 | 55 | float max_array(float arr[3]); |
sakthipriya | 0:7b4c00e3912f | 56 | void inverse(float mat[3][3],float inv[3][3]); |
lakshya | 10:f93407b97750 | 57 | |
lakshya | 10:f93407b97750 | 58 | //CONTROLALGO PARAMETERS |
lakshya | 10:f93407b97750 | 59 | |
lakshya | 10:f93407b97750 | 60 | |
sakthipriya | 0:7b4c00e3912f | 61 | void FCTN_ACS_CNTRLALGO(float b[3],float omega[3]) |
sakthipriya | 0:7b4c00e3912f | 62 | { |
lakshya | 10:f93407b97750 | 63 | float b1[3]; |
lakshya | 10:f93407b97750 | 64 | float omega1[3]; |
lakshya | 10:f93407b97750 | 65 | b1[0] = b[0]/1000000.0; |
lakshya | 10:f93407b97750 | 66 | b1[1] = b[1]/1000000.0; |
lakshya | 10:f93407b97750 | 67 | b1[2] = b[2]/1000000.0; |
lakshya | 10:f93407b97750 | 68 | |
lakshya | 10:f93407b97750 | 69 | omega1[0] = omega[0]*3.14159/180; |
lakshya | 10:f93407b97750 | 70 | omega1[1] = omega[1]*3.14159/180; |
lakshya | 10:f93407b97750 | 71 | omega1[2] = omega[2]*3.14159/180; |
lakshya | 10:f93407b97750 | 72 | controller (moment, b1, omega1, b_old, alarmmode, flag_firsttime, controlmode); |
sakthipriya | 0:7b4c00e3912f | 73 | |
lakshya | 10:f93407b97750 | 74 | } |
lakshya | 10:f93407b97750 | 75 | void controller (float moment[3], float b1[3], float omega1[3], float b_old[3], int &alarmmode, int &flag_firsttime, int &controlmode) |
lakshya | 10:f93407b97750 | 76 | { |
lakshya | 10:f93407b97750 | 77 | float db1[3]; // Unit: Tesla/Second |
lakshya | 10:f93407b97750 | 78 | float sampling_time=10; // Unit: Seconds. Digital Control law excuted once in 10 seconds |
lakshya | 10:f93407b97750 | 79 | float MmntMax=1.1; // Unit: Ampere*Meter^2 |
lakshya | 10:f93407b97750 | 80 | float OmegaMax=1*3.1415/180.0; // Unit: Radians/Second |
lakshya | 10:f93407b97750 | 81 | float normalising_fact; |
lakshya | 10:f93407b97750 | 82 | float b1_copy[3], omega1_copy[3], db1_copy[3]; |
lakshya | 10:f93407b97750 | 83 | int i; |
lakshya | 10:f93407b97750 | 84 | if(flag_firsttime==1) |
lakshya | 10:f93407b97750 | 85 | { |
lakshya | 10:f93407b97750 | 86 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 87 | { |
lakshya | 10:f93407b97750 | 88 | db1[i]=0; // Unit: Tesla/Second |
lakshya | 10:f93407b97750 | 89 | } |
lakshya | 10:f93407b97750 | 90 | flag_firsttime=0; |
lakshya | 10:f93407b97750 | 91 | } |
sakthipriya | 0:7b4c00e3912f | 92 | else |
sakthipriya | 0:7b4c00e3912f | 93 | { |
sakthipriya | 0:7b4c00e3912f | 94 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 95 | { |
lakshya | 10:f93407b97750 | 96 | db1[i]= (b1[i]-b_old[i])/sampling_time; // Unit: Tesla/Second |
sakthipriya | 0:7b4c00e3912f | 97 | } |
lakshya | 10:f93407b97750 | 98 | } |
lakshya | 10:f93407b97750 | 99 | |
lakshya | 10:f93407b97750 | 100 | if(max_array(omega1)<(0.8*OmegaMax) && alarmmode==1) |
sakthipriya | 0:7b4c00e3912f | 101 | { |
lakshya | 10:f93407b97750 | 102 | alarmmode=0; |
sakthipriya | 0:7b4c00e3912f | 103 | } |
lakshya | 10:f93407b97750 | 104 | else if(max_array(omega1)>OmegaMax && alarmmode==0) |
sakthipriya | 0:7b4c00e3912f | 105 | { |
lakshya | 10:f93407b97750 | 106 | alarmmode=1; |
sakthipriya | 0:7b4c00e3912f | 107 | } |
lakshya | 10:f93407b97750 | 108 | |
lakshya | 10:f93407b97750 | 109 | for (i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 110 | { |
lakshya | 10:f93407b97750 | 111 | b1_copy[i]=b1[i]; |
lakshya | 10:f93407b97750 | 112 | db1_copy[i]=db1[i]; |
lakshya | 10:f93407b97750 | 113 | omega1_copy[i]=omega1[i]; |
sakthipriya | 0:7b4c00e3912f | 114 | } |
lakshya | 10:f93407b97750 | 115 | |
lakshya | 10:f93407b97750 | 116 | if(alarmmode==0) |
lakshya | 10:f93407b97750 | 117 | { |
lakshya | 10:f93407b97750 | 118 | controlmode=0; |
lakshya | 10:f93407b97750 | 119 | controlmodes(moment,b1,db1,omega1,controlmode,MmntMax); |
lakshya | 10:f93407b97750 | 120 | for (i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 121 | { |
lakshya | 10:f93407b97750 | 122 | b1[i]=b1_copy[i]; |
lakshya | 10:f93407b97750 | 123 | db1[i]=db1_copy[i]; |
lakshya | 10:f93407b97750 | 124 | omega1[i]=omega1_copy[i]; |
lakshya | 10:f93407b97750 | 125 | } |
lakshya | 10:f93407b97750 | 126 | if(max_array(moment)>MmntMax) |
lakshya | 10:f93407b97750 | 127 | { |
lakshya | 10:f93407b97750 | 128 | controlmode=1; |
lakshya | 10:f93407b97750 | 129 | controlmodes(moment,b1,db1,omega1,controlmode,MmntMax); |
lakshya | 10:f93407b97750 | 130 | for (i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 131 | { |
lakshya | 10:f93407b97750 | 132 | b1[i]=b1_copy[i]; |
lakshya | 10:f93407b97750 | 133 | db1[i]=db1_copy[i]; |
lakshya | 10:f93407b97750 | 134 | omega1[i]=omega1_copy[i]; |
lakshya | 10:f93407b97750 | 135 | } |
lakshya | 10:f93407b97750 | 136 | if(max_array(moment)>MmntMax) |
lakshya | 10:f93407b97750 | 137 | { |
lakshya | 10:f93407b97750 | 138 | normalising_fact=max_array(moment)/MmntMax; |
lakshya | 10:f93407b97750 | 139 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 140 | { |
lakshya | 10:f93407b97750 | 141 | moment[i]/=normalising_fact; // Unit: Ampere*Meter^2 |
lakshya | 10:f93407b97750 | 142 | } |
lakshya | 10:f93407b97750 | 143 | } |
lakshya | 10:f93407b97750 | 144 | } |
lakshya | 10:f93407b97750 | 145 | } |
lakshya | 10:f93407b97750 | 146 | else |
lakshya | 10:f93407b97750 | 147 | { |
lakshya | 10:f93407b97750 | 148 | controlmode=1; |
lakshya | 10:f93407b97750 | 149 | controlmodes(moment,b1,db1,omega1,controlmode,MmntMax); |
lakshya | 10:f93407b97750 | 150 | for (i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 151 | { |
lakshya | 10:f93407b97750 | 152 | b1[i]=b1_copy[i]; |
lakshya | 10:f93407b97750 | 153 | db1[i]=db1_copy[i]; |
lakshya | 10:f93407b97750 | 154 | omega1[i]=omega1_copy[i]; |
lakshya | 10:f93407b97750 | 155 | } |
lakshya | 10:f93407b97750 | 156 | if(max_array(moment)>MmntMax) |
lakshya | 10:f93407b97750 | 157 | { |
lakshya | 10:f93407b97750 | 158 | normalising_fact=max_array(moment)/MmntMax; |
lakshya | 10:f93407b97750 | 159 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 160 | { |
lakshya | 10:f93407b97750 | 161 | moment[i]/=normalising_fact; // Unit: Ampere*Meter^2 |
lakshya | 10:f93407b97750 | 162 | } |
lakshya | 10:f93407b97750 | 163 | } |
lakshya | 10:f93407b97750 | 164 | |
lakshya | 10:f93407b97750 | 165 | } |
lakshya | 10:f93407b97750 | 166 | for (i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 167 | { |
lakshya | 10:f93407b97750 | 168 | b_old[i]=b1[i]; |
sakthipriya | 0:7b4c00e3912f | 169 | } |
sakthipriya | 0:7b4c00e3912f | 170 | } |
lakshya | 10:f93407b97750 | 171 | |
sakthipriya | 0:7b4c00e3912f | 172 | void inverse(float mat[3][3],float inv[3][3]) |
sakthipriya | 0:7b4c00e3912f | 173 | { |
sakthipriya | 0:7b4c00e3912f | 174 | int i,j; |
sakthipriya | 0:7b4c00e3912f | 175 | float det=0; |
sakthipriya | 0:7b4c00e3912f | 176 | for(i=0;i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 177 | { |
sakthipriya | 0:7b4c00e3912f | 178 | for(j=0;j<3;j++) |
lakshya | 10:f93407b97750 | 179 | { |
sakthipriya | 0:7b4c00e3912f | 180 | 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]); |
lakshya | 10:f93407b97750 | 181 | } |
sakthipriya | 0:7b4c00e3912f | 182 | } |
sakthipriya | 0:7b4c00e3912f | 183 | det+=(mat[0][0]*inv[0][0])+(mat[0][1]*inv[1][0])+(mat[0][2]*inv[2][0]); |
sakthipriya | 0:7b4c00e3912f | 184 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 185 | { |
sakthipriya | 0:7b4c00e3912f | 186 | for(j=0;j<3;j++) |
lakshya | 10:f93407b97750 | 187 | { |
sakthipriya | 0:7b4c00e3912f | 188 | inv[i][j]/=det; |
lakshya | 10:f93407b97750 | 189 | } |
sakthipriya | 0:7b4c00e3912f | 190 | } |
sakthipriya | 0:7b4c00e3912f | 191 | } |
sakthipriya | 0:7b4c00e3912f | 192 | |
lakshya | 10:f93407b97750 | 193 | float max_array(float arr[3]) |
lakshya | 10:f93407b97750 | 194 | { |
lakshya | 10:f93407b97750 | 195 | int i; |
lakshya | 10:f93407b97750 | 196 | float temp_max=fabs(arr[0]); |
lakshya | 10:f93407b97750 | 197 | for(i=1;i<3;i++) |
lakshya | 10:f93407b97750 | 198 | { |
lakshya | 10:f93407b97750 | 199 | if(fabs(arr[i])>temp_max) |
lakshya | 10:f93407b97750 | 200 | { |
lakshya | 10:f93407b97750 | 201 | temp_max=fabs(arr[i]); |
lakshya | 10:f93407b97750 | 202 | } |
lakshya | 10:f93407b97750 | 203 | } |
lakshya | 10:f93407b97750 | 204 | return temp_max; |
lakshya | 10:f93407b97750 | 205 | } |
lakshya | 10:f93407b97750 | 206 | |
lakshya | 10:f93407b97750 | 207 | |
lakshya | 10:f93407b97750 | 208 | void controlmodes(float moment[3], float b[3], float db[3], float omega[3], int controlmode1, float MmntMax) |
lakshya | 10:f93407b97750 | 209 | { |
lakshya | 10:f93407b97750 | 210 | float bb[3]={0,0,0}; |
lakshya | 10:f93407b97750 | 211 | float d[3]={0,0,0}; |
lakshya | 10:f93407b97750 | 212 | float Jm[3][3]={{0.2271,0.0014,-0.0026},{0.0014,0.2167,-0.004},{-0.0026,-0.004,0.2406}}; // Unit: Kilogram*Meter^2. Jm may change depending on the final satellite structure |
lakshya | 10:f93407b97750 | 213 | float den=0,den2; |
lakshya | 10:f93407b97750 | 214 | float bcopy[3]; |
lakshya | 10:f93407b97750 | 215 | int i, j;//temporary variables |
lakshya | 10:f93407b97750 | 216 | float Mu[2],z[2],dv[2],v[2],u[2],tauc[3]={0,0,0},Mmnt[3];//outputs |
lakshya | 10:f93407b97750 | 217 | float invJm[3][3]; |
lakshya | 10:f93407b97750 | 218 | float kmu2=0.07,gamma2=1.9e4,kz2=0.4e-2,kmu=0.003,gamma=5.6e4,kz=0.1e-4,kdetumble=2000000; |
lakshya | 10:f93407b97750 | 219 | int infflag; // Flag variable to check if the moment value is infinity or NaN |
lakshya | 10:f93407b97750 | 220 | |
lakshya | 10:f93407b97750 | 221 | if(controlmode1==0) |
lakshya | 10:f93407b97750 | 222 | { |
lakshya | 10:f93407b97750 | 223 | den=sqrt((b[0]*b[0])+(b[1]*b[1])+(b[2]*b[2])); |
lakshya | 10:f93407b97750 | 224 | den2=(b[0]*db[0])+(b[1]*db[1])+(b[2]*db[2]); |
lakshya | 10:f93407b97750 | 225 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 226 | { |
lakshya | 10:f93407b97750 | 227 | db[i]=((db[i]*den*den)-(b[i]*(den2)))/(pow(den,3)); // Normalized db. Hence the unit is Second^(-1) |
lakshya | 10:f93407b97750 | 228 | } |
lakshya | 10:f93407b97750 | 229 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 230 | { |
lakshya | 10:f93407b97750 | 231 | b[i]/=den; // Mormalized b. Hence no unit. |
lakshya | 10:f93407b97750 | 232 | } |
lakshya | 10:f93407b97750 | 233 | if(b[2]>0.9 || b[2]<-0.9) |
lakshya | 10:f93407b97750 | 234 | { |
lakshya | 10:f93407b97750 | 235 | kz=kz2; |
lakshya | 10:f93407b97750 | 236 | kmu=kmu2; |
lakshya | 10:f93407b97750 | 237 | gamma=gamma2; |
lakshya | 10:f93407b97750 | 238 | } |
lakshya | 10:f93407b97750 | 239 | for(i=0;i<2;i++) |
lakshya | 10:f93407b97750 | 240 | { |
lakshya | 10:f93407b97750 | 241 | Mu[i]=b[i]; |
lakshya | 10:f93407b97750 | 242 | v[i]=-kmu*Mu[i]; |
lakshya | 10:f93407b97750 | 243 | dv[i]=-kmu*db[i]; |
lakshya | 10:f93407b97750 | 244 | z[i]=db[i]-v[i]; |
lakshya | 10:f93407b97750 | 245 | u[i]=-kz*z[i]+dv[i]-(Mu[i]/gamma); |
lakshya | 10:f93407b97750 | 246 | } |
lakshya | 10:f93407b97750 | 247 | inverse(Jm,invJm); |
lakshya | 10:f93407b97750 | 248 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 249 | { |
lakshya | 10:f93407b97750 | 250 | for(j=0;j<3;j++) |
lakshya | 10:f93407b97750 | 251 | { |
lakshya | 10:f93407b97750 | 252 | bb[i]+=omega[j]*(omega[(i+1)%3]*Jm[(i+2)%3][j]-omega[(i+2)%3]*Jm[(i+1)%3][j]); |
lakshya | 10:f93407b97750 | 253 | } |
lakshya | 10:f93407b97750 | 254 | } |
lakshya | 10:f93407b97750 | 255 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 256 | { |
lakshya | 10:f93407b97750 | 257 | for(j=0;j<3;j++) |
lakshya | 10:f93407b97750 | 258 | { |
lakshya | 10:f93407b97750 | 259 | d[i]+=bb[j]*invJm[i][j]; |
lakshya | 10:f93407b97750 | 260 | } |
lakshya | 10:f93407b97750 | 261 | } |
lakshya | 10:f93407b97750 | 262 | bb[1]=u[0]-(d[1]*b[2])+(d[2]*b[1])-(omega[1]*db[2])+(omega[2]*db[1]); |
lakshya | 10:f93407b97750 | 263 | bb[2]=u[1]-(d[2]*b[0])+(d[0]*b[2])-(omega[2]*db[0])+(omega[0]*db[2]); |
lakshya | 10:f93407b97750 | 264 | bb[0]=0; |
lakshya | 10:f93407b97750 | 265 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 266 | { |
lakshya | 10:f93407b97750 | 267 | d[i]=invJm[2][i]; |
lakshya | 10:f93407b97750 | 268 | invJm[1][i]=-b[2]*invJm[1][i]+b[1]*d[i]; |
lakshya | 10:f93407b97750 | 269 | invJm[2][i]=b[2]*invJm[0][i]-b[0]*d[i]; |
lakshya | 10:f93407b97750 | 270 | invJm[0][i]=b[i]; |
lakshya | 10:f93407b97750 | 271 | } |
lakshya | 10:f93407b97750 | 272 | inverse(invJm,Jm); |
lakshya | 10:f93407b97750 | 273 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 274 | { |
lakshya | 10:f93407b97750 | 275 | for(j=0;j<3;j++) |
lakshya | 10:f93407b97750 | 276 | { |
lakshya | 10:f93407b97750 | 277 | tauc[i]+=Jm[i][j]*bb[j]; // Unit: Newton*Meter^2 |
lakshya | 10:f93407b97750 | 278 | } |
lakshya | 10:f93407b97750 | 279 | } |
lakshya | 10:f93407b97750 | 280 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 281 | { |
lakshya | 10:f93407b97750 | 282 | bcopy[i]=b[i]*den; |
lakshya | 10:f93407b97750 | 283 | } |
lakshya | 10:f93407b97750 | 284 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 285 | { |
lakshya | 10:f93407b97750 | 286 | Mmnt[i]=bcopy[(i+1)%3]*tauc[(i+2)%3]-bcopy[(i+2)%3]*tauc[(i+1)%3]; |
lakshya | 10:f93407b97750 | 287 | Mmnt[i]/=(den*den); // Unit: Ampere*Meter^2 |
lakshya | 10:f93407b97750 | 288 | } |
lakshya | 10:f93407b97750 | 289 | infflag=0; |
lakshya | 10:f93407b97750 | 290 | for (i=0; i<3 && infflag==0; i++) |
lakshya | 10:f93407b97750 | 291 | { |
lakshya | 10:f93407b97750 | 292 | if (isinf(Mmnt[i])==1 || isnan(Mmnt[i])==1) |
lakshya | 10:f93407b97750 | 293 | infflag=1; |
lakshya | 10:f93407b97750 | 294 | } |
lakshya | 10:f93407b97750 | 295 | if (infflag==1) |
lakshya | 10:f93407b97750 | 296 | { |
lakshya | 10:f93407b97750 | 297 | for (i=0; i<3; i++) |
lakshya | 10:f93407b97750 | 298 | Mmnt[i]=2*MmntMax; |
lakshya | 10:f93407b97750 | 299 | } |
lakshya | 10:f93407b97750 | 300 | |
lakshya | 10:f93407b97750 | 301 | } |
lakshya | 10:f93407b97750 | 302 | else if(controlmode1==1) |
lakshya | 10:f93407b97750 | 303 | { |
lakshya | 10:f93407b97750 | 304 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 305 | { |
lakshya | 10:f93407b97750 | 306 | Mmnt[i]=-kdetumble*(b[(i+1)%3]*omega[(i+2)%3]-b[(i+2)%3]*omega[(i+1)%3]); // Unit: Ampere*Meter^2 |
lakshya | 10:f93407b97750 | 307 | } |
lakshya | 10:f93407b97750 | 308 | } |
lakshya | 10:f93407b97750 | 309 | for(i=0;i<3;i++) |
lakshya | 10:f93407b97750 | 310 | { |
lakshya | 10:f93407b97750 | 311 | moment[i]=Mmnt[i]; // Unit: Ampere*Meter^2 |
lakshya | 10:f93407b97750 | 312 | } |
lakshya | 10:f93407b97750 | 313 | } |
sakthipriya | 0:7b4c00e3912f | 314 | |
sakthipriya | 0:7b4c00e3912f | 315 | I2C i2c (PTC9,PTC8); //PTC9-sda,PTC8-scl for the attitude sensors and battery gauge |
sakthipriya | 0:7b4c00e3912f | 316 | |
sakthipriya | 0:7b4c00e3912f | 317 | void FCTN_ACS_INIT(void); //initialization of registers happens |
sakthipriya | 0:7b4c00e3912f | 318 | void FCTN_ATS_DATA_ACQ(); //data is obtained |
sakthipriya | 0:7b4c00e3912f | 319 | void T_OUT(); //timeout function to stop infinite loop |
sakthipriya | 0:7b4c00e3912f | 320 | Timeout to; //Timeout variable to |
sakthipriya | 0:7b4c00e3912f | 321 | int toFlag; |
sakthipriya | 0:7b4c00e3912f | 322 | |
sakthipriya | 0:7b4c00e3912f | 323 | int count =0; // Time for which the BAE uC is running (in seconds) |
sakthipriya | 0:7b4c00e3912f | 324 | void T_OUT() |
sakthipriya | 0:7b4c00e3912f | 325 | { |
sakthipriya | 0:7b4c00e3912f | 326 | toFlag=0; //as T_OUT function gets called the while loop gets terminated |
sakthipriya | 0:7b4c00e3912f | 327 | } |
sakthipriya | 0:7b4c00e3912f | 328 | |
sakthipriya | 0:7b4c00e3912f | 329 | |
sakthipriya | 0:7b4c00e3912f | 330 | //DEFINING VARIABLES |
sakthipriya | 0:7b4c00e3912f | 331 | char cmd[2]; |
sakthipriya | 0:7b4c00e3912f | 332 | char raw_gyro[6]; |
sakthipriya | 0:7b4c00e3912f | 333 | char raw_mag[6]; |
sakthipriya | 0:7b4c00e3912f | 334 | char store,status; |
sakthipriya | 0:7b4c00e3912f | 335 | int16_t bit_data; |
sakthipriya | 0:7b4c00e3912f | 336 | float gyro_data[3], mag_data[3],combined_values[6]; |
sakthipriya | 0:7b4c00e3912f | 337 | float senstivity_gyro =6.5536; //senstivity is obtained from 2^15/5000dps |
sakthipriya | 0:7b4c00e3912f | 338 | float senstivity_mag =32.768; //senstivity is obtained from 2^15/1000microtesla |
sakthipriya | 0:7b4c00e3912f | 339 | float gyro_error[3]= {0,0,0}, mag_error[3]= {0,0,0}; |
sakthipriya | 0:7b4c00e3912f | 340 | |
sakthipriya | 0:7b4c00e3912f | 341 | void FCTN_ACS_INIT() |
sakthipriya | 0:7b4c00e3912f | 342 | { |
lakshya | 10:f93407b97750 | 343 | ACS_INIT_STATUS = 's'; //set ACS_INIT_STATUS flag |
sakthipriya | 3:07e15677a75c | 344 | //FLAG(); |
sakthipriya | 0:7b4c00e3912f | 345 | pc_acs.printf("Attitude sensor init called \n \r"); |
sakthipriya | 0:7b4c00e3912f | 346 | //FLAG(); |
sakthipriya | 0:7b4c00e3912f | 347 | cmd[0]=RESETREQ; |
sakthipriya | 0:7b4c00e3912f | 348 | cmd[1]=BIT_RESREQ; |
sakthipriya | 0:7b4c00e3912f | 349 | i2c.write(SLAVE_ADDR,cmd,2); //When 0x01 is written in reset request register Emulates a hard power down/power up |
sakthipriya | 0:7b4c00e3912f | 350 | wait_ms(2000); //waiting for loading configuration file stored in EEPROM |
sakthipriya | 0:7b4c00e3912f | 351 | cmd[0]=SENTRALSTATUS; |
sakthipriya | 0:7b4c00e3912f | 352 | i2c.write(SLAVE_ADDR,cmd,1); |
sakthipriya | 0:7b4c00e3912f | 353 | i2c.read(SLAVE_ADDR_READ,&store,1); |
sakthipriya | 0:7b4c00e3912f | 354 | wait_ms(100); |
sakthipriya | 0:7b4c00e3912f | 355 | //to check whether EEPROM is uploaded |
sakthipriya | 0:7b4c00e3912f | 356 | switch((int)store) { |
sakthipriya | 0:7b4c00e3912f | 357 | case(3): { |
sakthipriya | 0:7b4c00e3912f | 358 | break; |
sakthipriya | 0:7b4c00e3912f | 359 | } |
sakthipriya | 0:7b4c00e3912f | 360 | case(11): { |
sakthipriya | 0:7b4c00e3912f | 361 | break; |
sakthipriya | 0:7b4c00e3912f | 362 | } |
sakthipriya | 0:7b4c00e3912f | 363 | default: { |
sakthipriya | 0:7b4c00e3912f | 364 | cmd[0]=RESETREQ; |
sakthipriya | 0:7b4c00e3912f | 365 | cmd[1]=BIT_RESREQ; |
sakthipriya | 0:7b4c00e3912f | 366 | i2c.write(SLAVE_ADDR,cmd,2); |
sakthipriya | 0:7b4c00e3912f | 367 | wait_ms(2000); |
sakthipriya | 0:7b4c00e3912f | 368 | } |
sakthipriya | 0:7b4c00e3912f | 369 | } |
sakthipriya | 0:7b4c00e3912f | 370 | pc_acs.printf("Sentral Status is %x\n \r",(int)store); |
sakthipriya | 0:7b4c00e3912f | 371 | cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors |
sakthipriya | 0:7b4c00e3912f | 372 | cmd[1]=BIT_RUN_ENB; |
sakthipriya | 0:7b4c00e3912f | 373 | i2c.write(SLAVE_ADDR,cmd,2); |
sakthipriya | 0:7b4c00e3912f | 374 | wait_ms(100); |
sakthipriya | 0:7b4c00e3912f | 375 | cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer |
sakthipriya | 0:7b4c00e3912f | 376 | cmd[1]=BIT_MAGODR; |
sakthipriya | 0:7b4c00e3912f | 377 | i2c.write(SLAVE_ADDR,cmd,2); |
sakthipriya | 0:7b4c00e3912f | 378 | wait_ms(100); |
sakthipriya | 0:7b4c00e3912f | 379 | cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope |
sakthipriya | 0:7b4c00e3912f | 380 | cmd[1]=BIT_GYROODR; |
sakthipriya | 0:7b4c00e3912f | 381 | i2c.write(SLAVE_ADDR,cmd,2); |
sakthipriya | 0:7b4c00e3912f | 382 | wait_ms(100); |
sakthipriya | 0:7b4c00e3912f | 383 | cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values |
sakthipriya | 0:7b4c00e3912f | 384 | cmd[1]=0x00; |
sakthipriya | 0:7b4c00e3912f | 385 | i2c.write(SLAVE_ADDR,cmd,2); |
sakthipriya | 0:7b4c00e3912f | 386 | wait_ms(100); |
sakthipriya | 0:7b4c00e3912f | 387 | cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values |
sakthipriya | 0:7b4c00e3912f | 388 | cmd[1]=BIT_EVT_ENB; |
sakthipriya | 0:7b4c00e3912f | 389 | i2c.write(SLAVE_ADDR,cmd,2); |
sakthipriya | 0:7b4c00e3912f | 390 | wait_ms(100); |
lakshya | 10:f93407b97750 | 391 | ACS_INIT_STATUS = 'c'; //set ACS_INIT_STATUS flag |
sakthipriya | 0:7b4c00e3912f | 392 | } |
sakthipriya | 0:7b4c00e3912f | 393 | |
sakthipriya | 0:7b4c00e3912f | 394 | void FCTN_ATS_DATA_ACQ() |
sakthipriya | 0:7b4c00e3912f | 395 | { |
lakshya | 10:f93407b97750 | 396 | ACS_DATA_ACQ_STATUS = 's'; //set ACS_DATA_ACQ_STATUS flag for att sens 2 |
lakshya | 10:f93407b97750 | 397 | if( ACS_ATS_ENABLE == 'e') |
sakthipriya | 0:7b4c00e3912f | 398 | { |
sakthipriya | 0:7b4c00e3912f | 399 | FLAG(); |
sakthipriya | 0:7b4c00e3912f | 400 | pc_acs.printf("attitude sensor execution called \n \r"); |
sakthipriya | 0:7b4c00e3912f | 401 | toFlag=1; //toFlag is set to 1 so that it enters while loop |
sakthipriya | 0:7b4c00e3912f | 402 | to.attach(&T_OUT,2); //after 2 seconds the while loop gets terminated |
sakthipriya | 0:7b4c00e3912f | 403 | while(toFlag) { |
sakthipriya | 0:7b4c00e3912f | 404 | cmd[0]=EVT_STATUS; |
sakthipriya | 0:7b4c00e3912f | 405 | i2c.write(SLAVE_ADDR,cmd,1); |
sakthipriya | 0:7b4c00e3912f | 406 | i2c.read(SLAVE_ADDR_READ,&status,1); |
sakthipriya | 0:7b4c00e3912f | 407 | wait_ms(100); |
sakthipriya | 0:7b4c00e3912f | 408 | pc_acs.printf("Event Status is %x\n \r",(int)status); |
sakthipriya | 0:7b4c00e3912f | 409 | //if the 6th and 4th bit are 1 then it implies that gyro and magnetometer values are ready to take |
sakthipriya | 0:7b4c00e3912f | 410 | if(((int)status&40)==40) { |
sakthipriya | 0:7b4c00e3912f | 411 | cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x |
sakthipriya | 0:7b4c00e3912f | 412 | i2c.write(SLAVE_ADDR,cmd,1); |
sakthipriya | 0:7b4c00e3912f | 413 | i2c.read(SLAVE_ADDR_READ,raw_gyro,6); |
sakthipriya | 0:7b4c00e3912f | 414 | cmd[0]=MAG_XOUT_H; //LSB of x |
sakthipriya | 0:7b4c00e3912f | 415 | i2c.write(SLAVE_ADDR,cmd,1); |
sakthipriya | 0:7b4c00e3912f | 416 | i2c.read(SLAVE_ADDR_READ,raw_mag,6); |
sakthipriya | 0:7b4c00e3912f | 417 | // pc_acs.printf("\nGyro Values:\n"); |
sakthipriya | 0:7b4c00e3912f | 418 | for(int i=0; i<3; i++) { |
sakthipriya | 0:7b4c00e3912f | 419 | //concatenating gyro LSB and MSB to get 16 bit signed data values |
sakthipriya | 0:7b4c00e3912f | 420 | bit_data= ((int16_t)raw_gyro[2*i+1]<<8)|(int16_t)raw_gyro[2*i]; |
sakthipriya | 0:7b4c00e3912f | 421 | gyro_data[i]=(float)bit_data; |
sakthipriya | 0:7b4c00e3912f | 422 | gyro_data[i]=gyro_data[i]/senstivity_gyro; |
sakthipriya | 0:7b4c00e3912f | 423 | gyro_data[i]+=gyro_error[i]; |
sakthipriya | 0:7b4c00e3912f | 424 | // pc_acs.printf("%f\t",gyro_data[i]); |
sakthipriya | 0:7b4c00e3912f | 425 | } |
sakthipriya | 0:7b4c00e3912f | 426 | // pc_acs.printf("\nMag Values:\n"); |
sakthipriya | 0:7b4c00e3912f | 427 | for(int i=0; i<3; i++) { |
sakthipriya | 0:7b4c00e3912f | 428 | //concatenating mag LSB and MSB to get 16 bit signed data values |
sakthipriya | 0:7b4c00e3912f | 429 | bit_data= ((int16_t)raw_mag[2*i+1]<<8)|(int16_t)raw_mag[2*i]; |
sakthipriya | 0:7b4c00e3912f | 430 | mag_data[i]=(float)bit_data; |
sakthipriya | 0:7b4c00e3912f | 431 | mag_data[i]=mag_data[i]/senstivity_mag; |
sakthipriya | 0:7b4c00e3912f | 432 | mag_data[i]+=mag_error[i]; |
sakthipriya | 0:7b4c00e3912f | 433 | // pc_acs.printf("%f\t",mag_data[i]); |
sakthipriya | 0:7b4c00e3912f | 434 | } |
sakthipriya | 0:7b4c00e3912f | 435 | for(int i=0; i<3; i++) { |
sakthipriya | 6:036d08b62785 | 436 | // data[i]=gyro_data[i]; |
sakthipriya | 6:036d08b62785 | 437 | actual_data.AngularSpeed_actual[i] = gyro_data[i]; |
sakthipriya | 6:036d08b62785 | 438 | actual_data.Bvalue_actual[i] = mag_data[i]; |
sakthipriya | 6:036d08b62785 | 439 | //data[i+3]=mag_data[i]; |
sakthipriya | 0:7b4c00e3912f | 440 | } |
sakthipriya | 0:7b4c00e3912f | 441 | // return(combined_values); //returning poiter combined values |
sakthipriya | 0:7b4c00e3912f | 442 | } |
sakthipriya | 0:7b4c00e3912f | 443 | //checking for the error |
sakthipriya | 0:7b4c00e3912f | 444 | else if (((int)status&2)==2) { |
sakthipriya | 0:7b4c00e3912f | 445 | FCTN_ACS_INIT(); //when there is any error then Again inilization is done to remove error |
sakthipriya | 0:7b4c00e3912f | 446 | } |
sakthipriya | 0:7b4c00e3912f | 447 | } |
sakthipriya | 0:7b4c00e3912f | 448 | } |
sakthipriya | 0:7b4c00e3912f | 449 | else //ACS_DATA_ACQ_STATUS = ACS_DATA_ACQ_FAILURE |
sakthipriya | 0:7b4c00e3912f | 450 | { |
lakshya | 10:f93407b97750 | 451 | ACS_DATA_ACQ_STATUS = 'f'; |
sakthipriya | 0:7b4c00e3912f | 452 | } |
lakshya | 10:f93407b97750 | 453 | ACS_DATA_ACQ_STATUS = 'c'; //clear ACS_DATA_ACQ_STATUS flag for att sens 2 |
sakthipriya | 0:7b4c00e3912f | 454 | } |
sakthipriya | 0:7b4c00e3912f | 455 | |
sakthipriya | 0:7b4c00e3912f | 456 | void FCTN_ACS_GENPWM_MAIN(float Moment[3]) |
sakthipriya | 0:7b4c00e3912f | 457 | { |
sakthipriya | 0:7b4c00e3912f | 458 | printf("\n\rEntered executable PWMGEN function\n"); // entering the PWMGEN executable function |
sakthipriya | 0:7b4c00e3912f | 459 | |
sakthipriya | 0:7b4c00e3912f | 460 | float l_duty_cycle_x=0; //Duty cycle of Moment in x direction |
sakthipriya | 0:7b4c00e3912f | 461 | float l_current_x=0; //Current sent in x TR's |
sakthipriya | 0:7b4c00e3912f | 462 | float l_duty_cycle_y=0; //Duty cycle of Moment in y direction |
sakthipriya | 0:7b4c00e3912f | 463 | float l_current_y=0; //Current sent in y TR's |
sakthipriya | 0:7b4c00e3912f | 464 | float l_duty_cycle_z=0; //Duty cycle of Moment in z direction |
sakthipriya | 0:7b4c00e3912f | 465 | float l_current_z=0; //Current sent in z TR's |
sakthipriya | 0:7b4c00e3912f | 466 | |
sakthipriya | 0:7b4c00e3912f | 467 | |
sakthipriya | 0:7b4c00e3912f | 468 | for(int i = 0 ; i<3;i++) |
sakthipriya | 0:7b4c00e3912f | 469 | { |
sakthipriya | 0:7b4c00e3912f | 470 | // printf(" %f \t ",Moment[i]); // taking the moment values from control algorithm as inputs |
sakthipriya | 0:7b4c00e3912f | 471 | } |
sakthipriya | 0:7b4c00e3912f | 472 | |
sakthipriya | 0:7b4c00e3912f | 473 | //----------------------------- x-direction TR --------------------------------------------// |
sakthipriya | 0:7b4c00e3912f | 474 | |
sakthipriya | 0:7b4c00e3912f | 475 | |
sakthipriya | 0:7b4c00e3912f | 476 | float l_moment_x = Moment[0]; //Moment in x direction |
sakthipriya | 0:7b4c00e3912f | 477 | |
sakthipriya | 0:7b4c00e3912f | 478 | phase_TR_x = 1; // setting the default current direction |
sakthipriya | 0:7b4c00e3912f | 479 | if (l_moment_x <0) |
sakthipriya | 0:7b4c00e3912f | 480 | { |
sakthipriya | 0:7b4c00e3912f | 481 | 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 | 482 | l_moment_x = abs(l_moment_x); |
sakthipriya | 0:7b4c00e3912f | 483 | } |
sakthipriya | 0:7b4c00e3912f | 484 | |
sakthipriya | 0:7b4c00e3912f | 485 | l_current_x = l_moment_x * TR_CONSTANT ; //Moment and Current always have the linear relationship |
lakshya | 10:f93407b97750 | 486 | printf("current in trx is %f \r \n",l_current_x); |
lakshya | 10:f93407b97750 | 487 | if( l_current_x>0 && l_current_x < 0.0016 ) //Current and Duty cycle have the linear relationship between 1% and 100% |
lakshya | 10:f93407b97750 | 488 | { |
lakshya | 10:f93407b97750 | 489 | l_duty_cycle_x = 3*10000000*pow(l_current_x,3)- 90216*pow(l_current_x,2) + 697.78*l_current_x - 0.0048; // calculating upto 0.1% dutycycle by polynomial interpolation |
lakshya | 10:f93407b97750 | 490 | printf("DC for trx is %f \r \n",l_duty_cycle_x); |
lakshya | 10:f93407b97750 | 491 | PWM1.period(TIME_PERIOD); |
lakshya | 10:f93407b97750 | 492 | PWM1 = l_duty_cycle_x/100 ; |
lakshya | 10:f93407b97750 | 493 | } |
lakshya | 10:f93407b97750 | 494 | else if (l_current_x >= 0.0016 && l_current_x < 0.0171) |
lakshya | 10:f93407b97750 | 495 | { |
lakshya | 10:f93407b97750 | 496 | l_duty_cycle_x = - 76880*pow(l_current_x,3) + 1280.8*pow(l_current_x,2) + 583.78*l_current_x + 0.0281; // calculating upto 10% dutycycle by polynomial interpolation |
lakshya | 10:f93407b97750 | 497 | printf("DC for trx is %f \r \n",l_duty_cycle_x); |
lakshya | 10:f93407b97750 | 498 | PWM1.period(TIME_PERIOD); |
lakshya | 10:f93407b97750 | 499 | PWM1 = l_duty_cycle_x/100 ; |
lakshya | 10:f93407b97750 | 500 | } |
lakshya | 10:f93407b97750 | 501 | else if(l_current_x >= 0.0171 && l_current_x < 0.1678) |
lakshya | 10:f93407b97750 | 502 | { |
lakshya | 10:f93407b97750 | 503 | l_duty_cycle_x = 275.92*pow(l_current_x,2) + 546.13*l_current_x + 0.5316; // calculating upto 100% dutycycle by polynomial interpolation |
lakshya | 10:f93407b97750 | 504 | printf("DC for trx is %f \r \n",l_duty_cycle_x); |
lakshya | 10:f93407b97750 | 505 | PWM1.period(TIME_PERIOD); |
lakshya | 10:f93407b97750 | 506 | PWM1 = l_duty_cycle_x/100 ; |
lakshya | 10:f93407b97750 | 507 | } |
lakshya | 10:f93407b97750 | 508 | else if(l_current_x==0) |
lakshya | 10:f93407b97750 | 509 | { |
lakshya | 10:f93407b97750 | 510 | printf("\n \r l_current_x====0"); |
lakshya | 10:f93407b97750 | 511 | l_duty_cycle_x = 0; // default value of duty cycle |
lakshya | 10:f93407b97750 | 512 | printf("DC for trx is %f \r \n",l_duty_cycle_x); |
lakshya | 10:f93407b97750 | 513 | PWM1.period(TIME_PERIOD); |
lakshya | 10:f93407b97750 | 514 | PWM1 = l_duty_cycle_x/100 ; |
lakshya | 10:f93407b97750 | 515 | } |
lakshya | 10:f93407b97750 | 516 | else //not necessary |
lakshya | 10:f93407b97750 | 517 | { |
lakshya | 10:f93407b97750 | 518 | g_err_flag_TR_x = 1; |
lakshya | 10:f93407b97750 | 519 | } |
lakshya | 10:f93407b97750 | 520 | |
lakshya | 10:f93407b97750 | 521 | //------------------------------------- y-direction TR--------------------------------------// |
lakshya | 10:f93407b97750 | 522 | |
lakshya | 10:f93407b97750 | 523 | |
lakshya | 10:f93407b97750 | 524 | float l_moment_y = Moment[1]; //Moment in y direction |
lakshya | 10:f93407b97750 | 525 | |
lakshya | 10:f93407b97750 | 526 | phase_TR_y = 1; // setting the default current direction |
lakshya | 10:f93407b97750 | 527 | if (l_moment_y <0) |
lakshya | 10:f93407b97750 | 528 | { |
lakshya | 10:f93407b97750 | 529 | 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 |
lakshya | 10:f93407b97750 | 530 | l_moment_y = abs(l_moment_y); |
lakshya | 10:f93407b97750 | 531 | } |
lakshya | 10:f93407b97750 | 532 | |
lakshya | 10:f93407b97750 | 533 | |
lakshya | 10:f93407b97750 | 534 | l_current_y = l_moment_y * TR_CONSTANT ; //Moment and Current always have the linear relationship |
lakshya | 10:f93407b97750 | 535 | printf("current in try is %f \r \n",l_current_y); |
lakshya | 10:f93407b97750 | 536 | if( l_current_y>0 && l_current_y < 0.0016 ) //Current and Duty cycle have the linear relationship between 1% and 100% |
lakshya | 10:f93407b97750 | 537 | { |
lakshya | 10:f93407b97750 | 538 | l_duty_cycle_y = 3*10000000*pow(l_current_y,3)- 90216*pow(l_current_y,2) + 697.78*l_current_y - 0.0048; // calculating upto 0.1% dutycycle by polynomial interpolation |
lakshya | 10:f93407b97750 | 539 | printf("DC for try is %f \r \n",l_duty_cycle_y); |
lakshya | 10:f93407b97750 | 540 | PWM2.period(TIME_PERIOD); |
lakshya | 10:f93407b97750 | 541 | PWM2 = l_duty_cycle_y/100 ; |
lakshya | 10:f93407b97750 | 542 | } |
lakshya | 10:f93407b97750 | 543 | else if (l_current_y >= 0.0016 && l_current_y < 0.0171) |
lakshya | 10:f93407b97750 | 544 | { |
lakshya | 10:f93407b97750 | 545 | l_duty_cycle_y = - 76880*pow(l_current_y,3) + 1280.8*pow(l_current_y,2) + 583.78*l_current_y + 0.0281; // calculating upto 10% dutycycle by polynomial interpolation |
lakshya | 10:f93407b97750 | 546 | printf("DC for try is %f \r \n",l_duty_cycle_y); |
lakshya | 10:f93407b97750 | 547 | PWM2.period(TIME_PERIOD); |
lakshya | 10:f93407b97750 | 548 | PWM2 = l_duty_cycle_y/100 ; |
lakshya | 10:f93407b97750 | 549 | } |
lakshya | 10:f93407b97750 | 550 | else if(l_current_y >= 0.0171 && l_current_y < 0.1678) |
lakshya | 10:f93407b97750 | 551 | { |
lakshya | 10:f93407b97750 | 552 | l_duty_cycle_y = 275.92*pow(l_current_y,2) + 546.13*l_current_y + 0.5316; // calculating upto 100% dutycycle by polynomial interpolation |
lakshya | 10:f93407b97750 | 553 | printf("DC for try is %f \r \n",l_duty_cycle_y); |
lakshya | 10:f93407b97750 | 554 | PWM2.period(TIME_PERIOD); |
lakshya | 10:f93407b97750 | 555 | PWM2 = l_duty_cycle_y/100 ; |
lakshya | 10:f93407b97750 | 556 | } |
lakshya | 10:f93407b97750 | 557 | else if(l_current_y==0) |
lakshya | 10:f93407b97750 | 558 | { |
lakshya | 10:f93407b97750 | 559 | printf("\n \r l_current_y====0"); |
lakshya | 10:f93407b97750 | 560 | l_duty_cycle_y = 0; // default value of duty cycle |
lakshya | 10:f93407b97750 | 561 | printf("DC for try is %f \r \n",l_duty_cycle_y); |
lakshya | 10:f93407b97750 | 562 | PWM2.period(TIME_PERIOD); |
lakshya | 10:f93407b97750 | 563 | PWM2 = l_duty_cycle_y/100 ; |
lakshya | 10:f93407b97750 | 564 | } |
lakshya | 10:f93407b97750 | 565 | else // not necessary |
lakshya | 10:f93407b97750 | 566 | { |
lakshya | 10:f93407b97750 | 567 | g_err_flag_TR_y = 1; |
lakshya | 10:f93407b97750 | 568 | } |
lakshya | 10:f93407b97750 | 569 | |
lakshya | 10:f93407b97750 | 570 | //----------------------------------------------- z-direction TR -------------------------// |
lakshya | 10:f93407b97750 | 571 | |
lakshya | 10:f93407b97750 | 572 | |
lakshya | 10:f93407b97750 | 573 | float l_moment_z = Moment[2]; //Moment in z direction |
lakshya | 10:f93407b97750 | 574 | |
lakshya | 10:f93407b97750 | 575 | phase_TR_z = 1; // setting the default current direction |
lakshya | 10:f93407b97750 | 576 | if (l_moment_z <0) |
lakshya | 10:f93407b97750 | 577 | { |
lakshya | 10:f93407b97750 | 578 | 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 |
lakshya | 10:f93407b97750 | 579 | l_moment_z = abs(l_moment_z); |
lakshya | 10:f93407b97750 | 580 | } |
lakshya | 10:f93407b97750 | 581 | |
lakshya | 10:f93407b97750 | 582 | |
lakshya | 10:f93407b97750 | 583 | l_current_z = l_moment_z * TR_CONSTANT ; //Moment and Current always have the linear relationship |
lakshya | 10:f93407b97750 | 584 | printf("current in trz is %f \r \n",l_current_z); |
lakshya | 10:f93407b97750 | 585 | if( l_current_z>0 && l_current_z < 0.0016 ) //Current and Duty cycle have the linear relationship between 1% and 100% |
lakshya | 10:f93407b97750 | 586 | { |
lakshya | 10:f93407b97750 | 587 | l_duty_cycle_z = 3*10000000*pow(l_current_z,3)- 90216*pow(l_current_z,2) + 697.78*l_current_z - 0.0048; // calculating upto 0.1% dutycycle by polynomial interpolation |
lakshya | 10:f93407b97750 | 588 | printf("DC for trz is %f \r \n",l_duty_cycle_z); |
lakshya | 10:f93407b97750 | 589 | PWM3.period(TIME_PERIOD); |
lakshya | 10:f93407b97750 | 590 | PWM3 = l_duty_cycle_z/100 ; |
lakshya | 10:f93407b97750 | 591 | } |
lakshya | 10:f93407b97750 | 592 | else if (l_current_z >= 0.0016 && l_current_z < 0.0171) |
lakshya | 10:f93407b97750 | 593 | { |
lakshya | 10:f93407b97750 | 594 | l_duty_cycle_z = - 76880*pow(l_current_z,3) + 1280.8*pow(l_current_z,2) + 583.78*l_current_z + 0.0281; // calculating upto 10% dutycycle by polynomial interpolation |
lakshya | 10:f93407b97750 | 595 | printf("DC for trz is %f \r \n",l_duty_cycle_z); |
lakshya | 10:f93407b97750 | 596 | PWM3.period(TIME_PERIOD); |
lakshya | 10:f93407b97750 | 597 | PWM3 = l_duty_cycle_z/100 ; |
lakshya | 10:f93407b97750 | 598 | } |
lakshya | 10:f93407b97750 | 599 | else if(l_current_z >= 0.0171 && l_current_z < 0.1678) |
lakshya | 10:f93407b97750 | 600 | { |
lakshya | 10:f93407b97750 | 601 | l_duty_cycle_z = 275.92*pow(l_current_z,2) + 546.13*l_current_z + 0.5316; // calculating upto 100% dutycycle by polynomial interpolation |
lakshya | 10:f93407b97750 | 602 | printf("DC for trz is %f \r \n",l_duty_cycle_z); |
lakshya | 10:f93407b97750 | 603 | PWM3.period(TIME_PERIOD); |
lakshya | 10:f93407b97750 | 604 | PWM3 = l_duty_cycle_z/100 ; |
lakshya | 10:f93407b97750 | 605 | } |
lakshya | 10:f93407b97750 | 606 | else if(l_current_z==0) |
lakshya | 10:f93407b97750 | 607 | { |
lakshya | 10:f93407b97750 | 608 | printf("\n \r l_current_z====0"); |
lakshya | 10:f93407b97750 | 609 | l_duty_cycle_z = 0; // default value of duty cycle |
lakshya | 10:f93407b97750 | 610 | printf("DC for trz is %f \r \n",l_duty_cycle_z); |
lakshya | 10:f93407b97750 | 611 | PWM3.period(TIME_PERIOD); |
lakshya | 10:f93407b97750 | 612 | PWM3 = l_duty_cycle_z/100 ; |
lakshya | 10:f93407b97750 | 613 | } |
lakshya | 10:f93407b97750 | 614 | else // not necessary |
lakshya | 10:f93407b97750 | 615 | { |
lakshya | 10:f93407b97750 | 616 | g_err_flag_TR_z = 1; |
lakshya | 10:f93407b97750 | 617 | } |
lakshya | 10:f93407b97750 | 618 | |
lakshya | 10:f93407b97750 | 619 | //-----------------------------------------exiting the function-----------------------------------// |
lakshya | 10:f93407b97750 | 620 | |
lakshya | 10:f93407b97750 | 621 | printf("\n\rExited executable PWMGEN function\n\r"); // stating the successful exit of TR function |
lakshya | 10:f93407b97750 | 622 | |
lakshya | 10:f93407b97750 | 623 | } |
lakshya | 10:f93407b97750 | 624 | |
lakshya | 10:f93407b97750 | 625 | |
lakshya | 10:f93407b97750 | 626 | /*void FCTN_ACS_GENPWM_MAIN(float Moment[3]) |
lakshya | 10:f93407b97750 | 627 | { |
lakshya | 10:f93407b97750 | 628 | printf("\n\rEntered executable PWMGEN function\n"); // entering the PWMGEN executable function |
lakshya | 10:f93407b97750 | 629 | |
lakshya | 10:f93407b97750 | 630 | float l_duty_cycle_x=0; //Duty cycle of Moment in x direction |
lakshya | 10:f93407b97750 | 631 | float l_current_x=0; //Current sent in x TR's |
lakshya | 10:f93407b97750 | 632 | float l_duty_cycle_y=0; //Duty cycle of Moment in y direction |
lakshya | 10:f93407b97750 | 633 | float l_current_y=0; //Current sent in y TR's |
lakshya | 10:f93407b97750 | 634 | float l_duty_cycle_z=0; //Duty cycle of Moment in z direction |
lakshya | 10:f93407b97750 | 635 | float l_current_z=0; //Current sent in z TR's |
lakshya | 10:f93407b97750 | 636 | |
lakshya | 10:f93407b97750 | 637 | |
lakshya | 10:f93407b97750 | 638 | for(int i = 0 ; i<3;i++) |
lakshya | 10:f93407b97750 | 639 | { |
lakshya | 10:f93407b97750 | 640 | printf("pwm %f \t ",Moment[i]); // taking the moment values from control algorithm as inputs |
lakshya | 10:f93407b97750 | 641 | } |
lakshya | 10:f93407b97750 | 642 | |
lakshya | 10:f93407b97750 | 643 | //----------------------------- x-direction TR --------------------------------------------// |
lakshya | 10:f93407b97750 | 644 | |
lakshya | 10:f93407b97750 | 645 | |
lakshya | 10:f93407b97750 | 646 | float l_moment_x = Moment[0]; //Moment in x direction |
lakshya | 10:f93407b97750 | 647 | |
lakshya | 10:f93407b97750 | 648 | phase_TR_x = 1; // setting the default current direction |
lakshya | 10:f93407b97750 | 649 | if (l_moment_x <0) |
lakshya | 10:f93407b97750 | 650 | { |
lakshya | 10:f93407b97750 | 651 | 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 |
lakshya | 10:f93407b97750 | 652 | l_moment_x = abs(l_moment_x); |
lakshya | 10:f93407b97750 | 653 | } |
lakshya | 10:f93407b97750 | 654 | |
lakshya | 10:f93407b97750 | 655 | l_current_x = l_moment_x * TR_CONSTANT ; //Moment and Current always have the linear relationship |
sakthipriya | 0:7b4c00e3912f | 656 | pc_acs.printf("current in trx is %f \r \n",l_current_x); |
sakthipriya | 0:7b4c00e3912f | 657 | 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 | 658 | { |
sakthipriya | 0:7b4c00e3912f | 659 | 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 | 660 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
sakthipriya | 0:7b4c00e3912f | 661 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 662 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:7b4c00e3912f | 663 | } |
sakthipriya | 0:7b4c00e3912f | 664 | else if( l_current_x >= 0.006 && l_current_x < 0.0116) |
sakthipriya | 0:7b4c00e3912f | 665 | { |
sakthipriya | 0:7b4c00e3912f | 666 | 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 | 667 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
sakthipriya | 0:7b4c00e3912f | 668 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 669 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:7b4c00e3912f | 670 | } |
sakthipriya | 0:7b4c00e3912f | 671 | else if (l_current_x >= 0.0116 && l_current_x < 0.0624) |
sakthipriya | 0:7b4c00e3912f | 672 | { |
sakthipriya | 0:7b4c00e3912f | 673 | 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 | 674 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
sakthipriya | 0:7b4c00e3912f | 675 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 676 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:7b4c00e3912f | 677 | } |
sakthipriya | 0:7b4c00e3912f | 678 | else if(l_current_x >= 0.0624 && l_current_x < 0.555) |
sakthipriya | 0:7b4c00e3912f | 679 | { |
sakthipriya | 0:7b4c00e3912f | 680 | 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 | 681 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
sakthipriya | 0:7b4c00e3912f | 682 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 683 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:7b4c00e3912f | 684 | } |
sakthipriya | 0:7b4c00e3912f | 685 | else if(l_current_x==0) |
sakthipriya | 0:7b4c00e3912f | 686 | { |
sakthipriya | 0:7b4c00e3912f | 687 | printf("\n \r l_current_x====0"); |
sakthipriya | 0:7b4c00e3912f | 688 | l_duty_cycle_x = 0; // default value of duty cycle |
sakthipriya | 0:7b4c00e3912f | 689 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
sakthipriya | 0:7b4c00e3912f | 690 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 691 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:7b4c00e3912f | 692 | } |
sakthipriya | 0:7b4c00e3912f | 693 | else //not necessary |
sakthipriya | 0:7b4c00e3912f | 694 | { |
sakthipriya | 0:7b4c00e3912f | 695 | g_err_flag_TR_x = 1; |
sakthipriya | 0:7b4c00e3912f | 696 | } |
sakthipriya | 0:7b4c00e3912f | 697 | |
sakthipriya | 0:7b4c00e3912f | 698 | //------------------------------------- y-direction TR--------------------------------------// |
sakthipriya | 0:7b4c00e3912f | 699 | |
sakthipriya | 0:7b4c00e3912f | 700 | |
sakthipriya | 0:7b4c00e3912f | 701 | float l_moment_y = Moment[1]; //Moment in y direction |
sakthipriya | 0:7b4c00e3912f | 702 | |
sakthipriya | 0:7b4c00e3912f | 703 | phase_TR_y = 1; // setting the default current direction |
sakthipriya | 0:7b4c00e3912f | 704 | if (l_moment_y <0) |
sakthipriya | 0:7b4c00e3912f | 705 | { |
sakthipriya | 0:7b4c00e3912f | 706 | 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 | 707 | l_moment_y = abs(l_moment_y); |
sakthipriya | 0:7b4c00e3912f | 708 | } |
sakthipriya | 0:7b4c00e3912f | 709 | |
sakthipriya | 0:7b4c00e3912f | 710 | |
sakthipriya | 0:7b4c00e3912f | 711 | l_current_y = l_moment_y * TR_CONSTANT ; //Moment and Current always have the linear relationship |
sakthipriya | 0:7b4c00e3912f | 712 | pc_acs.printf("current in try is %f \r \n",l_current_y); |
sakthipriya | 0:7b4c00e3912f | 713 | 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 | 714 | { |
sakthipriya | 0:7b4c00e3912f | 715 | 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 | 716 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
sakthipriya | 0:7b4c00e3912f | 717 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 718 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:7b4c00e3912f | 719 | } |
sakthipriya | 0:7b4c00e3912f | 720 | else if( l_current_y >= 0.006 && l_current_y < 0.0116) |
sakthipriya | 0:7b4c00e3912f | 721 | { |
sakthipriya | 0:7b4c00e3912f | 722 | 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 | 723 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
sakthipriya | 0:7b4c00e3912f | 724 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 725 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:7b4c00e3912f | 726 | } |
sakthipriya | 0:7b4c00e3912f | 727 | else if (l_current_y >= 0.0116&& l_current_y < 0.0624) |
sakthipriya | 0:7b4c00e3912f | 728 | { |
sakthipriya | 0:7b4c00e3912f | 729 | 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 | 730 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
sakthipriya | 0:7b4c00e3912f | 731 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 732 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:7b4c00e3912f | 733 | } |
sakthipriya | 0:7b4c00e3912f | 734 | else if(l_current_y >= 0.0624 && l_current_y < 0.555) |
sakthipriya | 0:7b4c00e3912f | 735 | { |
sakthipriya | 0:7b4c00e3912f | 736 | 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 | 737 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
sakthipriya | 0:7b4c00e3912f | 738 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 739 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:7b4c00e3912f | 740 | } |
sakthipriya | 0:7b4c00e3912f | 741 | else if(l_current_y==0) |
sakthipriya | 0:7b4c00e3912f | 742 | { |
sakthipriya | 0:7b4c00e3912f | 743 | printf("\n \r l_current_y====0"); |
sakthipriya | 0:7b4c00e3912f | 744 | l_duty_cycle_y = 0; // default value of duty cycle |
sakthipriya | 0:7b4c00e3912f | 745 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
sakthipriya | 0:7b4c00e3912f | 746 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 747 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:7b4c00e3912f | 748 | } |
sakthipriya | 0:7b4c00e3912f | 749 | else // not necessary |
sakthipriya | 0:7b4c00e3912f | 750 | { |
sakthipriya | 0:7b4c00e3912f | 751 | g_err_flag_TR_y = 1; |
sakthipriya | 0:7b4c00e3912f | 752 | } |
sakthipriya | 0:7b4c00e3912f | 753 | |
sakthipriya | 0:7b4c00e3912f | 754 | //----------------------------------------------- z-direction TR -------------------------// |
sakthipriya | 0:7b4c00e3912f | 755 | |
sakthipriya | 0:7b4c00e3912f | 756 | |
sakthipriya | 0:7b4c00e3912f | 757 | float l_moment_z = Moment[2]; //Moment in z direction |
sakthipriya | 0:7b4c00e3912f | 758 | |
sakthipriya | 0:7b4c00e3912f | 759 | phase_TR_z = 1; // setting the default current direction |
sakthipriya | 0:7b4c00e3912f | 760 | if (l_moment_z <0) |
sakthipriya | 0:7b4c00e3912f | 761 | { |
sakthipriya | 0:7b4c00e3912f | 762 | 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 | 763 | l_moment_z = abs(l_moment_z); |
sakthipriya | 0:7b4c00e3912f | 764 | } |
sakthipriya | 0:7b4c00e3912f | 765 | |
sakthipriya | 0:7b4c00e3912f | 766 | |
sakthipriya | 0:7b4c00e3912f | 767 | l_current_z = l_moment_z * TR_CONSTANT ; //Moment and Current always have the linear relationship |
sakthipriya | 0:7b4c00e3912f | 768 | pc_acs.printf("current in trz is %f \r \n",l_current_z); |
sakthipriya | 0:7b4c00e3912f | 769 | 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 | 770 | { |
sakthipriya | 0:7b4c00e3912f | 771 | 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 | 772 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
sakthipriya | 0:7b4c00e3912f | 773 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 774 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:7b4c00e3912f | 775 | } |
sakthipriya | 0:7b4c00e3912f | 776 | else if( l_current_z >= 0.006 && l_current_z < 0.0116) |
sakthipriya | 0:7b4c00e3912f | 777 | { |
sakthipriya | 0:7b4c00e3912f | 778 | 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 | 779 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
sakthipriya | 0:7b4c00e3912f | 780 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 781 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:7b4c00e3912f | 782 | } |
sakthipriya | 0:7b4c00e3912f | 783 | else if (l_current_z >= 0.0116 && l_current_z < 0.0624) |
sakthipriya | 0:7b4c00e3912f | 784 | { |
sakthipriya | 0:7b4c00e3912f | 785 | 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 | 786 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
sakthipriya | 0:7b4c00e3912f | 787 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 788 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:7b4c00e3912f | 789 | } |
sakthipriya | 0:7b4c00e3912f | 790 | else if(l_current_z >= 0.0624 && l_current_z < 0.555) |
sakthipriya | 0:7b4c00e3912f | 791 | { |
sakthipriya | 0:7b4c00e3912f | 792 | 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 | 793 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
sakthipriya | 0:7b4c00e3912f | 794 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 795 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:7b4c00e3912f | 796 | } |
sakthipriya | 0:7b4c00e3912f | 797 | else if(l_current_z==0) |
sakthipriya | 0:7b4c00e3912f | 798 | { |
sakthipriya | 0:7b4c00e3912f | 799 | printf("\n \r l_current_z====0"); |
sakthipriya | 0:7b4c00e3912f | 800 | l_duty_cycle_z = 0; // default value of duty cycle |
sakthipriya | 0:7b4c00e3912f | 801 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
sakthipriya | 0:7b4c00e3912f | 802 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:7b4c00e3912f | 803 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:7b4c00e3912f | 804 | } |
sakthipriya | 0:7b4c00e3912f | 805 | else // not necessary |
sakthipriya | 0:7b4c00e3912f | 806 | { |
sakthipriya | 0:7b4c00e3912f | 807 | g_err_flag_TR_z = 1; |
sakthipriya | 0:7b4c00e3912f | 808 | } |
sakthipriya | 0:7b4c00e3912f | 809 | |
sakthipriya | 0:7b4c00e3912f | 810 | //-----------------------------------------exiting the function-----------------------------------// |
sakthipriya | 0:7b4c00e3912f | 811 | |
sakthipriya | 0:7b4c00e3912f | 812 | printf("\n\rExited executable PWMGEN function\n\r"); // stating the successful exit of TR function |
sakthipriya | 0:7b4c00e3912f | 813 | |
lakshya | 10:f93407b97750 | 814 | }*/ |
sakthipriya | 0:7b4c00e3912f | 815 | |
sakthipriya | 0:7b4c00e3912f | 816 | |
sakthipriya | 0:7b4c00e3912f | 817 |