BAE_QM_MAR9

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Team Fox / Mbed 2 deprecated BAE_QM_MAR9

Dependencies: FreescaleIAP mbed-rtos mbed

Fork of workinQM_5thJan_azad by Team Fox

ACS.cpp@35:7193e581932f, 2016-07-04 (annotated)

Committer:: Bragadeesh153
Date:: Mon Jul 04 13:32:29 2016 +0000
Revision:: 35:7193e581932f
Parent:: 34:1b41c34b12ea

ACS_CONFIG

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"
Bragadeesh153	35:7193e581932f	8	#include "configuration.h"
sakthipriya	0:7b4c00e3912f	9	#include "ACS.h"
sakthipriya	6:036d08b62785	10	#include "EPS.h"
lakshya	20:949d13045431	11	/*variables will get get updated value from FLash
lakshya	20:949d13045431	12	in case flash cups while testing i.e initial defaul values are kept as of now
lakshya	20:949d13045431	13	*/
sakthipriya	0:7b4c00e3912f	14	//******************************flags****************************************//
sakthipriya	0:7b4c00e3912f	15	extern uint32_t BAE_STATUS;
sakthipriya	0:7b4c00e3912f	16	extern uint32_t BAE_ENABLE;
Bragadeesh153	13:fb7facaf308b	17	extern uint8_t ACS_INIT_STATUS;
Bragadeesh153	13:fb7facaf308b	18	extern uint8_t ACS_DATA_ACQ_STATUS;
Bragadeesh153	13:fb7facaf308b	19	extern uint8_t ACS_ATS_STATUS;
Bragadeesh153	13:fb7facaf308b	20	extern uint8_t ACS_MAIN_STATUS;
Bragadeesh153	13:fb7facaf308b	21	extern uint8_t ACS_STATUS;
lakshya	20:949d13045431	22	extern uint8_t ACS_DETUMBLING_ALGO_TYPE;//////
lakshya	20:949d13045431	23
lakshya	20:949d13045431	24	extern DigitalOut ATS1_SW_ENABLE; // enable of att sens2 switch
lakshya	20:949d13045431	25	extern DigitalOut ATS2_SW_ENABLE; // enable of att sens switch
sakthipriya	0:7b4c00e3912f	26
Bragadeesh153	13:fb7facaf308b	27	extern uint8_t ACS_ATS_ENABLE;
Bragadeesh153	13:fb7facaf308b	28	extern uint8_t ACS_DATA_ACQ_ENABLE;
Bragadeesh153	13:fb7facaf308b	29	extern uint8_t ACS_STATE;
sakthipriya	0:7b4c00e3912f	30
sakthipriya	0:7b4c00e3912f	31	DigitalOut phase_TR_x(PIN27); // PHASE pin for x-torquerod
sakthipriya	0:7b4c00e3912f	32	DigitalOut phase_TR_y(PIN28); // PHASE pin for y-torquerod
sakthipriya	0:7b4c00e3912f	33	DigitalOut phase_TR_z(PIN86); // PHASE pin for z-torquerod
sakthipriya	0:7b4c00e3912f	34
sakthipriya	0:7b4c00e3912f	35	extern PwmOut PWM1; //x //Functions used to generate PWM signal
sakthipriya	0:7b4c00e3912f	36	extern PwmOut PWM2; //y
sakthipriya	0:7b4c00e3912f	37	extern PwmOut PWM3; //z //PWM output comes from pins p6
sakthipriya	0:7b4c00e3912f	38
sakthipriya	0:7b4c00e3912f	39	int g_err_flag_TR_x=0; // setting x-flag to zero
sakthipriya	0:7b4c00e3912f	40	int g_err_flag_TR_y=0; // setting y-flag to zero
sakthipriya	0:7b4c00e3912f	41	int g_err_flag_TR_z=0; // setting z-flag to zero
sakthipriya	0:7b4c00e3912f	42
sakthipriya	0:7b4c00e3912f	43	extern float data[6];
sakthipriya	6:036d08b62785	44	extern BAE_HK_actual actual_data;
sakthipriya	0:7b4c00e3912f	45
lakshya	20:949d13045431	46	//global para
lakshya	20:949d13045431	47	//FUNCTION
lakshya	20:949d13045431	48	float max_invjm [9]= {1.0000,1.0000,1.0000,0.0471,4.6159,4.1582,4.4047,0.0755,4.1582};
lakshya	20:949d13045431	49	float min_invjm[9] = {-1.0000,-1.0000,-1.0000,-0.0471,-4.6159,-4.1582,-4.4047,-0.0755,-4.1582};
lakshya	20:949d13045431	50	float max_jm[9] = {0.3755,0.0176,0.2672,0.4895,0.2174,0.0452,1.0000,0.1209,0.0572};
lakshya	20:949d13045431	51	float min_jm[9] = {-0.2491,-0.0457,0.2271,0.1556,0.2222,0.0175,0.9998,0.0361,0.0922};
lakshya	20:949d13045431	52	//se some other better way
lakshya	20:949d13045431	53	/*
lakshya	20:949d13045431	54	float max_bb[3] = {0,1.0e-040.1633,1.0e-040.1528};
lakshya	20:949d13045431	55	float min_bb[3] = {0,1.0e-04(-0.1736),1.0e-04(-0.1419)};
lakshya	20:949d13045431	56	*/
lakshya	20:949d13045431	57	float max_bb[3] = {0,1.00.00010.1633,1.00.00010.1528};
lakshya	20:949d13045431	58	float min_bb[3] = {0,1.00.0001(-0.1736),1.00.0001(-0.1419)};
sakthipriya	0:7b4c00e3912f	59
lakshya	20:949d13045431	60	//ACS
lakshya	20:949d13045431	61	uint8_t controlmode_mms = 0;
lakshya	20:949d13045431	62	uint8_t ATS1_EVENT_STATUS_RGTR=0x00;
lakshya	20:949d13045431	63	uint8_t ATS1_SENTRAL_STATUS_RGTR=0x00;
lakshya	20:949d13045431	64	uint8_t ATS1_ERROR_RGTR=0x00;
lakshya	20:949d13045431	65	uint8_t ATS2_EVENT_STATUS_RGTR=0x00;
lakshya	20:949d13045431	66	uint8_t ATS2_SENTRAL_STATUS_RGTR=0x00;
lakshya	20:949d13045431	67	uint8_t ATS2_ERROR_RGTR=0x00;
lakshya	20:949d13045431	68	uint8_t invjm_mms[9];
lakshya	20:949d13045431	69	uint8_t jm_mms[9];
lakshya	20:949d13045431	70	uint8_t bb_mms[3];
lakshya	20:949d13045431	71	uint8_t singularity_flag=0;
Bragadeesh153	34:1b41c34b12ea	72	uint8_t B_SCZ_ANGLE = 0x00;
lakshya	20:949d13045431	73
lakshya	20:949d13045431	74	uint8_t ACS_MAG_TIME_DELAY;// = 65;
lakshya	20:949d13045431	75	uint8_t ACS_DEMAG_TIME_DELAY;// = 65;
lakshya	20:949d13045431	76	uint16_t ACS_Z_FIXED_MOMENT;// = 1.3;
lakshya	20:949d13045431	77	uint8_t ACS_TR_Z_SW_STATUS;//=1;
lakshya	20:949d13045431	78	uint8_t ACS_TR_XY_SW_STATUS;//=1;
lakshya	20:949d13045431	79	//GLOBAL PARA
lakshya	20:949d13045431	80	uint8_t ACS_TR_X_PWM; //*
lakshya	20:949d13045431	81	uint8_t ACS_TR_Y_PWM; //*
lakshya	20:949d13045431	82	uint8_t ACS_TR_Z_PWM; //*
lakshya	20:949d13045431	83	//change
lakshya	20:949d13045431	84	uint16_t ACS_MM_X_COMSN = 1;
lakshya	20:949d13045431	85	uint16_t ACS_MM_Y_COMSN = 1;
lakshya	20:949d13045431	86	uint16_t ACS_MG_X_COMSN = 1;
lakshya	20:949d13045431	87	uint16_t ACS_MG_Y_COMSN = 1;
lakshya	20:949d13045431	88	uint16_t ACS_MM_Z_COMSN = 1;
lakshya	20:949d13045431	89	uint16_t ACS_MG_Z_COMSN = 1;
lakshya	20:949d13045431	90
lakshya	20:949d13045431	91	uint8_t float_to_uint8(float min,float max,float val)
lakshya	20:949d13045431	92	{
lakshya	20:949d13045431	93	if(val>max)
lakshya	20:949d13045431	94	{return 0xff;
lakshya	20:949d13045431	95	}
lakshya	20:949d13045431	96	if(val<min)
lakshya	20:949d13045431	97	{return 0x00;
lakshya	20:949d13045431	98	}
lakshya	20:949d13045431	99	float div=max-min;div=(255.0/div);val=((val-min)*div);
lakshya	20:949d13045431	100	return (uint8_t)val;
lakshya	20:949d13045431	101	}
lakshya	20:949d13045431	102
lakshya	20:949d13045431	103
lakshya	20:949d13045431	104	void float_to_uint8_ARRAY(int d1,int d2, float arr,float max[], float min[], uint8_t valarr)
lakshya	20:949d13045431	105	{
lakshya	20:949d13045431	106	for(int i=0;i<d1;i++)
lakshya	20:949d13045431	107	for(int j=0;j<d2;j++)
lakshya	20:949d13045431	108	{
lakshya	20:949d13045431	109	printf("\n\r%f",((arr+(id1))+j));
lakshya	20:949d13045431	110	valarr[id1+j] = (uint8_t)float_to_uint8(min[id1+j],max[id1+j],((arr+(i*d1))+j));
lakshya	20:949d13045431	111	printf("\n\r%d",valarr[i*d1+j]);
lakshya	20:949d13045431	112	}
lakshya	20:949d13045431	113	}
lakshya	20:949d13045431	114
sakthipriya	0:7b4c00e3912f	115
sakthipriya	0:7b4c00e3912f	116
sakthipriya	0:7b4c00e3912f	117	Serial pc_acs(USBTX,USBRX); //for usb communication
lakshya	20:949d13045431	118
lakshya	10:f93407b97750	119	//CONTROL_ALGO
lakshya	20:949d13045431	120	float moment[3]; // Unit: AmpereMeter^2//
lakshya	10:f93407b97750	121	float b_old[3]={1.15e-5,-0.245e-5,1.98e-5}; // Unit: Tesla
lakshya	20:949d13045431	122	float db[3];//*
lakshya	20:949d13045431	123	uint8_t flag_firsttime=1, alarmmode=0;
lakshya	10:f93407b97750	124
lakshya	10:f93407b97750	125
lakshya	20:949d13045431	126	void controlmodes(float b[3], float db[3], float omega[3], uint8_t controlmode1); //*
lakshya	20:949d13045431	127	float max_array(float arr[3]);
sakthipriya	0:7b4c00e3912f	128	void inverse(float mat[3][3],float inv[3][3]);
lakshya	10:f93407b97750	129
lakshya	10:f93407b97750	130	//CONTROLALGO PARAMETERS
lakshya	20:949d13045431	131	void FCTN_ACS_CNTRLALGO (float moment[3],float b[3] ,float omega[3],uint8_t nominal,uint8_t detumbling,uint8_t ACS_DETUMBLING_ALGO_TYPE)
sakthipriya	0:7b4c00e3912f	132	{
lakshya	20:949d13045431	133
lakshya	10:f93407b97750	134	float normalising_fact;
lakshya	20:949d13045431	135	float b_copy[3], omega_copy[3], db_copy[3];
lakshya	10:f93407b97750	136	int i;
lakshya	10:f93407b97750	137	if(flag_firsttime==1)
lakshya	10:f93407b97750	138	{
lakshya	10:f93407b97750	139	for(i=0;i<3;i++)
lakshya	10:f93407b97750	140	{
lakshya	20:949d13045431	141	db[i]=0; // Unit: Tesla/Second
lakshya	10:f93407b97750	142	}
lakshya	10:f93407b97750	143	flag_firsttime=0;
lakshya	10:f93407b97750	144	}
sakthipriya	0:7b4c00e3912f	145	else
sakthipriya	0:7b4c00e3912f	146	{
sakthipriya	0:7b4c00e3912f	147	for(i=0;i<3;i++)
sakthipriya	0:7b4c00e3912f	148	{
lakshya	20:949d13045431	149	db[i]= (b[i]-b_old[i])/sampling_time; // Unit: Tesla/Second
sakthipriya	0:7b4c00e3912f	150	}
lakshya	10:f93407b97750	151	}
lakshya	10:f93407b97750	152
lakshya	20:949d13045431	153	if(nominal == 0)
lakshya	20:949d13045431	154
lakshya	20:949d13045431	155	{
lakshya	20:949d13045431	156
lakshya	20:949d13045431	157	if(max_array(omega)<(0.8*OmegaMax) && alarmmode==1)
lakshya	20:949d13045431	158	{
lakshya	20:949d13045431	159	alarmmode=0;
lakshya	20:949d13045431	160	}
lakshya	20:949d13045431	161	else if(max_array(omega)>OmegaMax&& alarmmode==0)
lakshya	20:949d13045431	162	{
lakshya	20:949d13045431	163	alarmmode=1;
lakshya	20:949d13045431	164	}
lakshya	20:949d13045431	165
lakshya	20:949d13045431	166	}
lakshya	20:949d13045431	167
lakshya	10:f93407b97750	168	for (i=0;i<3;i++)
sakthipriya	0:7b4c00e3912f	169	{
lakshya	20:949d13045431	170	b_copy[i]=b[i];
lakshya	20:949d13045431	171	db_copy[i]=db[i];
lakshya	20:949d13045431	172	omega_copy[i]=omega[i];
sakthipriya	0:7b4c00e3912f	173	}
lakshya	10:f93407b97750	174
lakshya	20:949d13045431	175	if(((alarmmode==0)\|\| (nominal == 1))&&(detumbling==0))
lakshya	10:f93407b97750	176	{
lakshya	20:949d13045431	177	controlmode_mms = 0;
lakshya	20:949d13045431	178	controlmodes(moment,b,db,omega,0x00,ACS_DETUMBLING_ALGO_TYPE);
lakshya	20:949d13045431	179	for (i=0;i<3;i++)
lakshya	20:949d13045431	180	{
lakshya	20:949d13045431	181	b[i]=b_copy[i];
lakshya	20:949d13045431	182	db[i]=db_copy[i];
lakshya	20:949d13045431	183	omega[i]=omega_copy[i];
lakshya	20:949d13045431	184	}
lakshya	10:f93407b97750	185	if(max_array(moment)>MmntMax)
lakshya	10:f93407b97750	186	{
lakshya	20:949d13045431	187	controlmode_mms = 1;
lakshya	20:949d13045431	188	controlmodes(moment,b,db,omega,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya	20:949d13045431	189	for (i=0;i<3;i++)
lakshya	20:949d13045431	190	{
lakshya	20:949d13045431	191	b[i]=b_copy[i];
lakshya	20:949d13045431	192	db[i]=db_copy[i];
lakshya	20:949d13045431	193	omega[i]=omega_copy[i];
lakshya	20:949d13045431	194	}
lakshya	10:f93407b97750	195	if(max_array(moment)>MmntMax)
lakshya	10:f93407b97750	196	{
lakshya	10:f93407b97750	197	normalising_fact=max_array(moment)/MmntMax;
lakshya	10:f93407b97750	198	for(i=0;i<3;i++)
lakshya	20:949d13045431	199	{
lakshya	10:f93407b97750	200	moment[i]/=normalising_fact; // Unit: Ampere*Meter^2
lakshya	20:949d13045431	201	}
lakshya	10:f93407b97750	202	}
lakshya	10:f93407b97750	203	}
lakshya	20:949d13045431	204	ACS_STATUS = 5;//*is this changed now
lakshya	10:f93407b97750	205	}
lakshya	10:f93407b97750	206	else
lakshya	10:f93407b97750	207	{
lakshya	20:949d13045431	208	controlmode_mms = 1;
lakshya	20:949d13045431	209	controlmodes(moment,b,db,omega,0x01,ACS_DETUMBLING_ALGO_TYPE);
lakshya	20:949d13045431	210	for (i=0;i<3;i++)
lakshya	20:949d13045431	211	{
lakshya	20:949d13045431	212	b[i]=b_copy[i];
lakshya	20:949d13045431	213	db[i]=db_copy[i];
lakshya	20:949d13045431	214	omega[i]=omega_copy[i];
lakshya	20:949d13045431	215	}
lakshya	10:f93407b97750	216	if(max_array(moment)>MmntMax)
lakshya	10:f93407b97750	217	{
lakshya	10:f93407b97750	218	normalising_fact=max_array(moment)/MmntMax;
lakshya	10:f93407b97750	219	for(i=0;i<3;i++)
lakshya	20:949d13045431	220	{
lakshya	10:f93407b97750	221	moment[i]/=normalising_fact; // Unit: Ampere*Meter^2
lakshya	20:949d13045431	222	}
lakshya	10:f93407b97750	223	}
lakshya	10:f93407b97750	224
lakshya	10:f93407b97750	225	}
lakshya	10:f93407b97750	226	for (i=0;i<3;i++)
sakthipriya	0:7b4c00e3912f	227	{
lakshya	20:949d13045431	228	b_old[i]=b[i];
sakthipriya	0:7b4c00e3912f	229	}
sakthipriya	0:7b4c00e3912f	230	}
lakshya	10:f93407b97750	231
lakshya	20:949d13045431	232	void inverse(float mat[3][3],float inv[3][3],uint8_t &singularity_flag)
sakthipriya	0:7b4c00e3912f	233	{
sakthipriya	0:7b4c00e3912f	234	int i,j;
sakthipriya	0:7b4c00e3912f	235	float det=0;
sakthipriya	0:7b4c00e3912f	236	for(i=0;i<3;i++)
sakthipriya	0:7b4c00e3912f	237	{
sakthipriya	0:7b4c00e3912f	238	for(j=0;j<3;j++)
lakshya	10:f93407b97750	239	{
sakthipriya	0:7b4c00e3912f	240	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	241	}
sakthipriya	0:7b4c00e3912f	242	}
sakthipriya	0:7b4c00e3912f	243	det+=(mat[0][0]inv[0][0])+(mat[0][1]inv[1][0])+(mat[0][2]*inv[2][0]);
lakshya	20:949d13045431	244	if (det==0)
lakshya	20:949d13045431	245	{
lakshya	20:949d13045431	246	singularity_flag=1;
lakshya	20:949d13045431	247	}
lakshya	20:949d13045431	248	else
lakshya	10:f93407b97750	249	{
lakshya	20:949d13045431	250	singularity_flag=0;
lakshya	20:949d13045431	251	for(i=0;i<3;i++)
lakshya	10:f93407b97750	252	{
lakshya	20:949d13045431	253	for(j=0;j<3;j++)
lakshya	20:949d13045431	254	{
lakshya	20:949d13045431	255	inv[i][j]/=det;
lakshya	20:949d13045431	256	}
lakshya	10:f93407b97750	257	}
sakthipriya	0:7b4c00e3912f	258	}
sakthipriya	0:7b4c00e3912f	259	}
sakthipriya	0:7b4c00e3912f	260
lakshya	10:f93407b97750	261	float max_array(float arr[3])
lakshya	10:f93407b97750	262	{
lakshya	10:f93407b97750	263	int i;
lakshya	10:f93407b97750	264	float temp_max=fabs(arr[0]);
lakshya	10:f93407b97750	265	for(i=1;i<3;i++)
lakshya	10:f93407b97750	266	{
lakshya	10:f93407b97750	267	if(fabs(arr[i])>temp_max)
lakshya	10:f93407b97750	268	{
lakshya	10:f93407b97750	269	temp_max=fabs(arr[i]);
lakshya	10:f93407b97750	270	}
lakshya	10:f93407b97750	271	}
lakshya	10:f93407b97750	272	return temp_max;
lakshya	10:f93407b97750	273	}
lakshya	10:f93407b97750	274
lakshya	20:949d13045431	275	uint8_t singularity_flag_mms=0;
lakshya	10:f93407b97750	276
lakshya	20:949d13045431	277	void controlmodes(float moment[3],float b[3], float db[3], float omega[3], uint8_t controlmode1,uint8_t ACS_DETUMBLING_ALGO_TYPE)
lakshya	10:f93407b97750	278	{
lakshya	10:f93407b97750	279	float bb[3]={0,0,0};
lakshya	10:f93407b97750	280	float d[3]={0,0,0};
lakshya	10:f93407b97750	281	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	282	float den=0,den2;
lakshya	10:f93407b97750	283	float bcopy[3];
lakshya	10:f93407b97750	284	int i, j;//temporary variables
lakshya	10:f93407b97750	285	float Mu[2],z[2],dv[2],v[2],u[2],tauc[3]={0,0,0},Mmnt[3];//outputs
lakshya	10:f93407b97750	286	float invJm[3][3];
lakshya	20:949d13045431	287	float kmu2=0.07,gamma2=1.9e4,kz2=0.4e-2,kmu=0.003,gamma=5.6e4,kz=0.1e-4;
lakshya	20:949d13045431	288	//uint8_t singularity_flag=0;
lakshya	10:f93407b97750	289
lakshya	10:f93407b97750	290	if(controlmode1==0)
lakshya	10:f93407b97750	291	{
lakshya	10:f93407b97750	292	den=sqrt((b[0]b[0])+(b[1]b[1])+(b[2]*b[2]));
lakshya	10:f93407b97750	293	den2=(b[0]db[0])+(b[1]db[1])+(b[2]*db[2]);
lakshya	20:949d13045431	294	if (den==0)
lakshya	10:f93407b97750	295	{
lakshya	20:949d13045431	296	singularity_flag_mms=1;
lakshya	10:f93407b97750	297	}
lakshya	20:949d13045431	298	if (singularity_flag_mms==0)
lakshya	10:f93407b97750	299	{
lakshya	20:949d13045431	300	for(i=0;i<3;i++)
lakshya	20:949d13045431	301	{
lakshya	20:949d13045431	302	db[i]=((db[i]denden)-(b[i]*(den2)))/(pow(den,3)); // Normalized db. Hence the unit is Second^(-1)
lakshya	20:949d13045431	303	}
lakshya	20:949d13045431	304	for(i=0;i<3;i++)
lakshya	20:949d13045431	305	{
lakshya	20:949d13045431	306	b[i]/=den; // Mormalized b. Hence no unit.
lakshya	20:949d13045431	307	}
lakshya	20:949d13045431	308	if(b[2]>0.9 \|\| b[2]<-0.9)
lakshya	20:949d13045431	309	{
lakshya	20:949d13045431	310	kz=kz2;
lakshya	20:949d13045431	311	kmu=kmu2;
lakshya	20:949d13045431	312	gamma=gamma2;
lakshya	20:949d13045431	313	}
lakshya	20:949d13045431	314	for(i=0;i<2;i++)
lakshya	20:949d13045431	315	{
lakshya	20:949d13045431	316	Mu[i]=b[i];
lakshya	20:949d13045431	317	v[i]=-kmu*Mu[i];
lakshya	20:949d13045431	318	dv[i]=-kmu*db[i];
lakshya	20:949d13045431	319	z[i]=db[i]-v[i];
lakshya	20:949d13045431	320	u[i]=-kz*z[i]+dv[i]-(Mu[i]/gamma);
lakshya	20:949d13045431	321	}
lakshya	20:949d13045431	322	inverse(Jm,invJm,singularity_flag_mms);
lakshya	20:949d13045431	323	for(i=0;i<3;i++)
lakshya	20:949d13045431	324	{
lakshya	20:949d13045431	325	for(j=0;j<3;j++)
lakshya	20:949d13045431	326	{
lakshya	20:949d13045431	327	bb[i]+=omega[j](omega[(i+1)%3]Jm[(i+2)%3][j]-omega[(i+2)%3]*Jm[(i+1)%3][j]);
lakshya	20:949d13045431	328	}
lakshya	20:949d13045431	329	}
lakshya	20:949d13045431	330	for(i=0;i<3;i++)
lakshya	10:f93407b97750	331	{
lakshya	20:949d13045431	332	for(j=0;j<3;j++)
lakshya	20:949d13045431	333	{
lakshya	20:949d13045431	334	d[i]+=bb[j]*invJm[i][j];
lakshya	20:949d13045431	335	}
lakshya	20:949d13045431	336	}
lakshya	20:949d13045431	337	bb[1]=u[0]-(d[1]b[2])+(d[2]b[1])-(omega[1]db[2])+(omega[2]db[1]);
lakshya	20:949d13045431	338	bb[2]=u[1]-(d[2]b[0])+(d[0]b[2])-(omega[2]db[0])+(omega[0]db[2]);
lakshya	20:949d13045431	339	bb[0]=0;
lakshya	20:949d13045431	340	for(i=0;i<3;i++)
lakshya	20:949d13045431	341	{
lakshya	20:949d13045431	342	d[i]=invJm[2][i];
lakshya	20:949d13045431	343	invJm[1][i]=-b[2]invJm[1][i]+b[1]d[i];
lakshya	20:949d13045431	344	invJm[2][i]=b[2]invJm[0][i]-b[0]d[i];
lakshya	20:949d13045431	345	invJm[0][i]=b[i];
lakshya	10:f93407b97750	346	}
lakshya	20:949d13045431	347	inverse(invJm,Jm,singularity_flag_mms);
lakshya	20:949d13045431	348
lakshya	20:949d13045431	349	//00000
lakshya	20:949d13045431	350	float_to_uint8_ARRAY(3,3, (float*)invJm,max_invjm, min_invjm, invjm_mms);
lakshya	20:949d13045431	351	float_to_uint8_ARRAY(3,3, (float*)Jm,max_jm, min_jm, jm_mms);
lakshya	20:949d13045431	352	float_to_uint8_ARRAY(1,3, (float*)bb,max_bb, min_bb, bb_mms);
lakshya	20:949d13045431	353
lakshya	20:949d13045431	354	if (singularity_flag_mms==0)
lakshya	10:f93407b97750	355	{
lakshya	20:949d13045431	356	for(i=0;i<3;i++)
lakshya	20:949d13045431	357	{
lakshya	20:949d13045431	358	for(j=0;j<3;j++)
lakshya	20:949d13045431	359	{
lakshya	20:949d13045431	360	tauc[i]+=Jm[i][j]bb[j]; // Unit: NewtonMeter^2
lakshya	20:949d13045431	361	}
lakshya	20:949d13045431	362	}
lakshya	20:949d13045431	363	for(i=0;i<3;i++)
lakshya	20:949d13045431	364	{
lakshya	20:949d13045431	365	bcopy[i]=b[i]*den;
lakshya	20:949d13045431	366	}
lakshya	20:949d13045431	367	for(i=0;i<3;i++)
lakshya	20:949d13045431	368	{
lakshya	20:949d13045431	369	Mmnt[i]=bcopy[(i+1)%3]tauc[(i+2)%3]-bcopy[(i+2)%3]tauc[(i+1)%3];
lakshya	20:949d13045431	370	Mmnt[i]/=(denden); // Unit: AmpereMeter^2
lakshya	20:949d13045431	371	}
lakshya	10:f93407b97750	372	}
lakshya	10:f93407b97750	373	}
lakshya	20:949d13045431	374	if (singularity_flag_mms==1)
lakshya	10:f93407b97750	375	{
lakshya	20:949d13045431	376	for (i=0;i<3;i++)
lakshya	10:f93407b97750	377	{
lakshya	20:949d13045431	378	Mmnt[i]=2*MmntMax;
lakshya	10:f93407b97750	379	}
lakshya	10:f93407b97750	380	}
lakshya	20:949d13045431	381	ACS_STATUS = 5;
lakshya	10:f93407b97750	382	}
lakshya	10:f93407b97750	383	else if(controlmode1==1)
lakshya	10:f93407b97750	384	{
lakshya	20:949d13045431	385	if (ACS_DETUMBLING_ALGO_TYPE==0) // BOmega Algo
lakshya	10:f93407b97750	386	{
lakshya	20:949d13045431	387	for(i=0;i<3;i++)
lakshya	20:949d13045431	388	{
lakshya	20:949d13045431	389	Mmnt[i]=-kdetumble(b[(i+1)%3]omega[(i+2)%3]-b[(i+2)%3]omega[(i+1)%3]); // Unit: AmpereMeter^2
lakshya	20:949d13045431	390	}
lakshya	20:949d13045431	391	ACS_STATUS = 6;
lakshya	20:949d13045431	392	}
lakshya	20:949d13045431	393	else if(ACS_DETUMBLING_ALGO_TYPE==1) // BDot Algo
lakshya	20:949d13045431	394	{
lakshya	20:949d13045431	395	for(i=0;i<3;i++)
lakshya	20:949d13045431	396	{
lakshya	20:949d13045431	397	Mmnt[i]=-kdetumble*db[i];
lakshya	20:949d13045431	398	}
lakshya	20:949d13045431	399	ACS_STATUS = 4;
lakshya	10:f93407b97750	400	}
lakshya	10:f93407b97750	401	}
lakshya	10:f93407b97750	402	for(i=0;i<3;i++)
lakshya	10:f93407b97750	403	{
lakshya	10:f93407b97750	404	moment[i]=Mmnt[i]; // Unit: Ampere*Meter^2
lakshya	10:f93407b97750	405	}
lakshya	10:f93407b97750	406	}
sakthipriya	0:7b4c00e3912f	407
sakthipriya	0:7b4c00e3912f	408	I2C i2c (PTC9,PTC8); //PTC9-sda,PTC8-scl for the attitude sensors and battery gauge
sakthipriya	0:7b4c00e3912f	409
lakshya	20:949d13045431	410	int FCTN_ACS_INIT(); //initialization of registers happens
lakshya	20:949d13045431	411	int SENSOR_INIT();
lakshya	20:949d13045431	412	int FCTN_ATS_DATA_ACQ(); //data is obtained
lakshya	20:949d13045431	413	int SENSOR_DATA_ACQ();
lakshya	20:949d13045431	414	//void T_OUT(); //timeout function to stop infinite loop
lakshya	20:949d13045431	415
lakshya	20:949d13045431	416	int CONFIG_UPLOAD();
lakshya	20:949d13045431	417	//Timeout to; //Timeout variable to
sakthipriya	0:7b4c00e3912f	418	int toFlag;
sakthipriya	0:7b4c00e3912f	419
sakthipriya	0:7b4c00e3912f	420	int count =0; // Time for which the BAE uC is running (in seconds)
lakshya	20:949d13045431	421	//void T_OUT()
lakshya	20:949d13045431	422	//{
lakshya	20:949d13045431	423	// toFlag=0; //as T_OUT function gets called the while loop gets terminated
lakshya	20:949d13045431	424	//}
sakthipriya	0:7b4c00e3912f	425
sakthipriya	0:7b4c00e3912f	426
sakthipriya	0:7b4c00e3912f	427	//DEFINING VARIABLES
sakthipriya	0:7b4c00e3912f	428	char cmd[2];
sakthipriya	0:7b4c00e3912f	429	char raw_gyro[6];
sakthipriya	0:7b4c00e3912f	430	char raw_mag[6];
lakshya	20:949d13045431	431	char reg_data[24];
sakthipriya	0:7b4c00e3912f	432	char store,status;
lakshya	20:949d13045431	433	//int16_t bit_data done in actual_data structure itself;
sakthipriya	0:7b4c00e3912f	434
lakshya	20:949d13045431	435	uint16_t time_data;
lakshya	20:949d13045431	436	float gyro_data[3], mag_data[3];
lakshya	20:949d13045431	437	//float gyro_error[3]= {0,0,0}, mag_error[3]= {0,0,0};
lakshya	20:949d13045431	438
lakshya	20:949d13045431	439	int ack;
lakshya	20:949d13045431	440	int CONFIG_UPLOAD()
Bragadeesh153	35:7193e581932f	441	{
Bragadeesh153	35:7193e581932f	442	uint8_t value;
Bragadeesh153	35:7193e581932f	443
lakshya	20:949d13045431	444	cmd[0]=RESETREQ;
sakthipriya	0:7b4c00e3912f	445	cmd[1]=BIT_RESREQ;
sakthipriya	0:7b4c00e3912f	446	i2c.write(SLAVE_ADDR,cmd,2); //When 0x01 is written in reset request register Emulates a hard power down/power up
Bragadeesh153	35:7193e581932f	447	wait_ms(600);
lakshya	20:949d13045431	448
lakshya	20:949d13045431	449	//Verify magic number
lakshya	20:949d13045431	450
Bragadeesh153	35:7193e581932f	451	cmd[0]=SENTRALSTATUS;
Bragadeesh153	35:7193e581932f	452	i2c.write(SLAVE_ADDR,cmd,1);
Bragadeesh153	35:7193e581932f	453	i2c.read(SLAVE_ADDR_READ,&store,1);
Bragadeesh153	35:7193e581932f	454	value = (uint8_t)store;
Bragadeesh153	35:7193e581932f	455
Bragadeesh153	35:7193e581932f	456	if(value & 0x02)
Bragadeesh153	35:7193e581932f	457	{
Bragadeesh153	35:7193e581932f	458	printf("Sentral already has eeprom firmware loaded.\n");
Bragadeesh153	35:7193e581932f	459	}
Bragadeesh153	35:7193e581932f	460	/* Write value 0x01 to the ResetReq register, address 0x9B. This will result
Bragadeesh153	35:7193e581932f	461	in a hard reset of the Sentral. This is unnecessary if the prior event was
Bragadeesh153	35:7193e581932f	462	a Reset. */
Bragadeesh153	35:7193e581932f	463	if(!(value & 0x08))
Bragadeesh153	35:7193e581932f	464	{
Bragadeesh153	35:7193e581932f	465	printf("CPU is not in standby, issuing a shutdown request.\n");
Bragadeesh153	35:7193e581932f	466	//i2c_write(I2C_SLAVE_ADDR, 0x34, data, 1);
Bragadeesh153	35:7193e581932f	467	cmd[0]=HOST_CTRL; //0x00 is written in HOST CONTROL register to shut down
Bragadeesh153	35:7193e581932f	468	cmd[1]=0x00;
Bragadeesh153	35:7193e581932f	469	i2c.write(SLAVE_ADDR,cmd,2);
Bragadeesh153	35:7193e581932f	470
Bragadeesh153	35:7193e581932f	471	int cnt=0;
Bragadeesh153	35:7193e581932f	472	do {
Bragadeesh153	35:7193e581932f	473	cmd[0]=SENTRALSTATUS;
Bragadeesh153	35:7193e581932f	474	i2c.write(SLAVE_ADDR,cmd,1);
Bragadeesh153	35:7193e581932f	475	i2c.read(SLAVE_ADDR_READ,&store,1);
Bragadeesh153	35:7193e581932f	476	value = (uint8_t)store;
Bragadeesh153	35:7193e581932f	477	wait_ms(100);
Bragadeesh153	35:7193e581932f	478	cnt++;
Bragadeesh153	35:7193e581932f	479	} while((!(value & 0x08))&&(cnt<4));
Bragadeesh153	35:7193e581932f	480
Bragadeesh153	35:7193e581932f	481	if(cnt==4)
Bragadeesh153	35:7193e581932f	482	{
Bragadeesh153	35:7193e581932f	483	return 0;
Bragadeesh153	35:7193e581932f	484	}
Bragadeesh153	35:7193e581932f	485	}
Bragadeesh153	35:7193e581932f	486
lakshya	20:949d13045431	487	cmd[0]=HOST_CTRL; //0x02 is written in HOST CONTROL register to enable upload
lakshya	20:949d13045431	488	cmd[1]=BIT_HOST_UPLD_ENB;
lakshya	20:949d13045431	489	i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	490
Bragadeesh153	35:7193e581932f	491	cmd[0]=UPLOAD_ADDR; //0x0000 is written in RAM register to enable upload
lakshya	20:949d13045431	492	cmd[1]=0x0000;
lakshya	20:949d13045431	493	i2c.write(SLAVE_ADDR,cmd,3);
Bragadeesh153	35:7193e581932f	494	wait_ms(100);
Bragadeesh153	35:7193e581932f	495
Bragadeesh153	35:7193e581932f	496	printf("Uploading data...\n");
lakshya	20:949d13045431	497
Bragadeesh153	35:7193e581932f	498	#define TRASACTION_SIZE 3
Bragadeesh153	35:7193e581932f	499
Bragadeesh153	35:7193e581932f	500
Bragadeesh153	35:7193e581932f	501	for(int i = 0; i < EEPROMTextLength; i += TRASACTION_SIZE * 4)
Bragadeesh153	35:7193e581932f	502	{
Bragadeesh153	35:7193e581932f	503
Bragadeesh153	35:7193e581932f	504	char* data = new char[TRASACTION_SIZE * 4];
Bragadeesh153	35:7193e581932f	505	data[0]=0x96;
Bragadeesh153	35:7193e581932f	506	for(int j = 0; j < TRASACTION_SIZE; j++)
Bragadeesh153	35:7193e581932f	507	{
Bragadeesh153	35:7193e581932f	508	data[j * 4 + 1] = configdata[i + j * 4 + 3];
Bragadeesh153	35:7193e581932f	509	data[j * 4 + 2] = configdata[i + j * 4 + 2];
Bragadeesh153	35:7193e581932f	510	data[j * 4 + 3] = configdata[i + j * 4 + 1];
Bragadeesh153	35:7193e581932f	511	data[j * 4 + 4] = configdata[i + j * 4 + 0];
Bragadeesh153	35:7193e581932f	512	}
Bragadeesh153	35:7193e581932f	513
Bragadeesh153	35:7193e581932f	514	if(EEPROMTextLength < (i + (TRASACTION_SIZE * 4)))
Bragadeesh153	35:7193e581932f	515	{
Bragadeesh153	35:7193e581932f	516	uint32_t bytes = EEPROMTextLength - i;
Bragadeesh153	35:7193e581932f	517	i2c.write(SLAVE_ADDR,data,bytes+1);
Bragadeesh153	35:7193e581932f	518	}
Bragadeesh153	35:7193e581932f	519
Bragadeesh153	35:7193e581932f	520	else
Bragadeesh153	35:7193e581932f	521	{
Bragadeesh153	35:7193e581932f	522	/* Write the Configuration File to Sentral’s program RAM. The file is sent
Bragadeesh153	35:7193e581932f	523	one byte at a time, using the UploadData register, register address 0x96. */
Bragadeesh153	35:7193e581932f	524	i2c.write(SLAVE_ADDR,data,13);
Bragadeesh153	35:7193e581932f	525	}
Bragadeesh153	35:7193e581932f	526	delete data;
Bragadeesh153	35:7193e581932f	527	}
Bragadeesh153	35:7193e581932f	528
Bragadeesh153	35:7193e581932f	529	char crc[4];
Bragadeesh153	35:7193e581932f	530	cmd[0]=0x97;
Bragadeesh153	35:7193e581932f	531	i2c.write(SLAVE_ADDR,cmd,1);
Bragadeesh153	35:7193e581932f	532	i2c.read(SLAVE_ADDR_READ,crc,4);
Bragadeesh153	35:7193e581932f	533	value = (uint8_t)store;
Bragadeesh153	35:7193e581932f	534
Bragadeesh153	35:7193e581932f	535	uint32_t actualCRC = ((uint32_t)crc[0] << 0) \| ((uint32_t)crc[1] << 8) \| ((uint32_t)crc[2] << 16) \| ((uint32_t)crc[3] << 24);
Bragadeesh153	35:7193e581932f	536
Bragadeesh153	35:7193e581932f	537	if(actualCRC != EEPROMTextCRC)
Bragadeesh153	35:7193e581932f	538	{
Bragadeesh153	35:7193e581932f	539	pc_acs.printf("Program crc (0x%.8X) does not match CRC reported by Sentral (0x%0.8X)\n", EEPROMTextCRC, actualCRC);
Bragadeesh153	35:7193e581932f	540	return 0;
Bragadeesh153	35:7193e581932f	541	}
Bragadeesh153	35:7193e581932f	542	else
Bragadeesh153	35:7193e581932f	543	{
Bragadeesh153	35:7193e581932f	544	pc_acs.printf("Firmware Upload Complete.\n");
Bragadeesh153	35:7193e581932f	545	return 1;
Bragadeesh153	35:7193e581932f	546	}
Bragadeesh153	35:7193e581932f	547
Bragadeesh153	35:7193e581932f	548
Bragadeesh153	35:7193e581932f	549
Bragadeesh153	35:7193e581932f	550
lakshya	20:949d13045431	551	cmd[0]=HOST_CTRL; //0x00 is written in HOST CONTROL register to free upload
lakshya	20:949d13045431	552	cmd[1]=0x00;
lakshya	20:949d13045431	553	i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	554
lakshya	20:949d13045431	555	return 0;
Bragadeesh153	35:7193e581932f	556
lakshya	20:949d13045431	557	}
lakshya	20:949d13045431	558
lakshya	20:949d13045431	559	int SENSOR_INIT()
lakshya	20:949d13045431	560	{
lakshya	20:949d13045431	561	/// pc_acs.printf("Entered sensor init\n \r");
lakshya	20:949d13045431	562	cmd[0]=RESETREQ;
lakshya	20:949d13045431	563	cmd[1]=BIT_RESREQ;
lakshya	20:949d13045431	564	ack = i2c.write(SLAVE_ADDR,cmd,2); //When 0x01 is written in reset request register Emulates a hard power down/power up
lakshya	20:949d13045431	565	//wait_ms(575); //waiting for loading configuration file stored in EEPROM
lakshya	20:949d13045431	566
lakshya	20:949d13045431	567	/// pc_acs.printf("ACK for reset is %d\r\n",ack); //waiting for loading configuration file stored in EEPROM
lakshya	20:949d13045431	568
lakshya	20:949d13045431	569	if( ack!=0)
lakshya	20:949d13045431	570	{
lakshya	20:949d13045431	571	cmd[0]=RESETREQ;
lakshya	20:949d13045431	572	cmd[1]=BIT_RESREQ;
lakshya	20:949d13045431	573	ack = i2c.write(SLAVE_ADDR,cmd,2); //repeat
lakshya	20:949d13045431	574	if(ack !=0)
lakshya	20:949d13045431	575	return 0;
lakshya	20:949d13045431	576	}
lakshya	20:949d13045431	577
lakshya	20:949d13045431	578	wait_ms(575);
lakshya	20:949d13045431	579
sakthipriya	0:7b4c00e3912f	580	cmd[0]=SENTRALSTATUS;
lakshya	20:949d13045431	581	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	582
lakshya	20:949d13045431	583	if( ack!=0)
lakshya	20:949d13045431	584	{
lakshya	20:949d13045431	585	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	586	if(ack!=0)
lakshya	20:949d13045431	587	return 0;
lakshya	20:949d13045431	588	}
lakshya	20:949d13045431	589
lakshya	20:949d13045431	590	ack = i2c.read(SLAVE_ADDR_READ,&store,1);
lakshya	20:949d13045431	591
lakshya	20:949d13045431	592	if( ack!=0)
lakshya	20:949d13045431	593	{
lakshya	20:949d13045431	594	ack = i2c.read(SLAVE_ADDR_READ,&store,1);
lakshya	20:949d13045431	595	if(ack!=0)
lakshya	20:949d13045431	596	return 0;
lakshya	20:949d13045431	597	}
lakshya	20:949d13045431	598
lakshya	20:949d13045431	599	/// pc_acs.printf("Sentral Status is %x\n \r",(int)store);
lakshya	20:949d13045431	600
lakshya	20:949d13045431	601	//to check whether EEPROM is uploaded properly
sakthipriya	0:7b4c00e3912f	602	switch((int)store) {
lakshya	20:949d13045431	603	case(3): {
sakthipriya	0:7b4c00e3912f	604	break;
sakthipriya	0:7b4c00e3912f	605	}
sakthipriya	0:7b4c00e3912f	606	case(11): {
sakthipriya	0:7b4c00e3912f	607	break;
sakthipriya	0:7b4c00e3912f	608	}
sakthipriya	0:7b4c00e3912f	609	default: {
sakthipriya	0:7b4c00e3912f	610	cmd[0]=RESETREQ;
sakthipriya	0:7b4c00e3912f	611	cmd[1]=BIT_RESREQ;
lakshya	20:949d13045431	612	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	613	if( ack!=0)
lakshya	20:949d13045431	614	{
lakshya	20:949d13045431	615	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	616	if(ack!=0)
lakshya	20:949d13045431	617	return 0;
lakshya	20:949d13045431	618	}
lakshya	20:949d13045431	619	wait_ms(575);//should be 600
lakshya	20:949d13045431	620
lakshya	20:949d13045431	621	cmd[0]=SENTRALSTATUS;
lakshya	20:949d13045431	622	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	623	if( ack!=0)
lakshya	20:949d13045431	624	{
lakshya	20:949d13045431	625	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	626	if(ack!=0)
lakshya	20:949d13045431	627	return 0;
lakshya	20:949d13045431	628	}
lakshya	20:949d13045431	629	ack = i2c.read(SLAVE_ADDR_READ,&store,1);
lakshya	20:949d13045431	630	if( ack!=0)
lakshya	20:949d13045431	631	{
lakshya	20:949d13045431	632	ack = i2c.read(SLAVE_ADDR_READ,&store,1);
lakshya	20:949d13045431	633	if(ack!=0)
lakshya	20:949d13045431	634	return 0;
lakshya	20:949d13045431	635	}
lakshya	20:949d13045431	636	/// pc_acs.printf("Sentral Status is %x\n \r",(int)store);
lakshya	20:949d13045431	637
sakthipriya	0:7b4c00e3912f	638	}
sakthipriya	0:7b4c00e3912f	639	}
lakshya	20:949d13045431	640
lakshya	20:949d13045431	641	int manual=0;
lakshya	20:949d13045431	642	if( ((int)store != 11 )&&((int)store != 3))
lakshya	20:949d13045431	643	{
lakshya	20:949d13045431	644
lakshya	20:949d13045431	645	cmd[0]=RESETREQ;
lakshya	20:949d13045431	646	cmd[1]=BIT_RESREQ;
lakshya	20:949d13045431	647	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	648	if( ack!=0)
lakshya	20:949d13045431	649	{
lakshya	20:949d13045431	650	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	651	if(ack!=0)
lakshya	20:949d13045431	652	return 0;
lakshya	20:949d13045431	653	}
lakshya	20:949d13045431	654	wait_ms(575);
lakshya	20:949d13045431	655
lakshya	20:949d13045431	656	manual = CONFIG_UPLOAD();
lakshya	20:949d13045431	657
lakshya	20:949d13045431	658	if(manual == 0)
lakshya	20:949d13045431	659	{
lakshya	20:949d13045431	660	//MANUAL CONFIGURATION FAILED
lakshya	20:949d13045431	661	return 0;
lakshya	20:949d13045431	662	}
lakshya	20:949d13045431	663
lakshya	20:949d13045431	664	}
lakshya	20:949d13045431	665	cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors
lakshya	20:949d13045431	666	cmd[1]=BIT_RUN_ENB;
lakshya	20:949d13045431	667	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	668	if( ack!=0)
lakshya	20:949d13045431	669	{
lakshya	20:949d13045431	670	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	671	if(ack!=0)
lakshya	20:949d13045431	672	return 0;
lakshya	20:949d13045431	673	}
lakshya	20:949d13045431	674
lakshya	20:949d13045431	675	cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer
lakshya	20:949d13045431	676	cmd[1]=BIT_MAGODR;
lakshya	20:949d13045431	677	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	678	if( ack!=0)
lakshya	20:949d13045431	679	{
lakshya	20:949d13045431	680	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	681	if(ack!=0)
lakshya	20:949d13045431	682	return 0;
lakshya	20:949d13045431	683	}
lakshya	20:949d13045431	684
lakshya	20:949d13045431	685	cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope
lakshya	20:949d13045431	686	cmd[1]=BIT_GYROODR;
lakshya	20:949d13045431	687	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	688	if( ack!=0)
lakshya	20:949d13045431	689	{
lakshya	20:949d13045431	690	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	691	if(ack!=0)
lakshya	20:949d13045431	692	return 0;
lakshya	20:949d13045431	693	}
lakshya	20:949d13045431	694
lakshya	20:949d13045431	695	cmd[0]=ACCERATE; //Output data rate of 0 Hz is used to disable accelerometer
lakshya	20:949d13045431	696	cmd[1]=0x00;
lakshya	20:949d13045431	697	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	698	if( ack!=0)
lakshya	20:949d13045431	699	{
lakshya	20:949d13045431	700	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	701	if(ack!=0)
lakshya	20:949d13045431	702	return 0;
lakshya	20:949d13045431	703	}
lakshya	20:949d13045431	704	//wait_ms(20);
lakshya	20:949d13045431	705	cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register , to scaled sensor values
lakshya	20:949d13045431	706	cmd[1]=0x00;
lakshya	20:949d13045431	707	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	708	if( ack!=0)
lakshya	20:949d13045431	709	{
lakshya	20:949d13045431	710	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	711	if(ack!=0)
lakshya	20:949d13045431	712	return 0;
lakshya	20:949d13045431	713	}
lakshya	20:949d13045431	714
lakshya	20:949d13045431	715	cmd[0]=ENB_EVT; //Enabling the CPU reset , error,gyro values and magnetometer values
lakshya	20:949d13045431	716	cmd[1]=BIT_EVT_ENB;
lakshya	20:949d13045431	717	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	718	if( ack!=0)
lakshya	20:949d13045431	719	{
lakshya	20:949d13045431	720	ack = i2c.write(SLAVE_ADDR,cmd,2);
lakshya	20:949d13045431	721	if(ack!=0)
lakshya	20:949d13045431	722	return 0;
lakshya	20:949d13045431	723	}
lakshya	20:949d13045431	724
lakshya	20:949d13045431	725	cmd[0]=SENTRALSTATUS;
lakshya	20:949d13045431	726	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	727	if( ack!=0)
lakshya	20:949d13045431	728	{
lakshya	20:949d13045431	729	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	730	if(ack!=0)
lakshya	20:949d13045431	731	return 0;
lakshya	20:949d13045431	732	}
lakshya	20:949d13045431	733
lakshya	20:949d13045431	734	ack = i2c.read(SLAVE_ADDR_READ,&store,1);
lakshya	20:949d13045431	735	if( ack!=0)
lakshya	20:949d13045431	736	{
lakshya	20:949d13045431	737	ack= i2c.read(SLAVE_ADDR_READ,&store,1);
lakshya	20:949d13045431	738	if(ack!=0)
lakshya	20:949d13045431	739	return 0;
lakshya	20:949d13045431	740	}
lakshya	20:949d13045431	741
lakshya	20:949d13045431	742	/// pc_acs.printf("Sentral Status after initialising is %x\n \r",(int)store);
lakshya	20:949d13045431	743
lakshya	20:949d13045431	744	if( (int)store == 3) //Check if initialised properly and not in idle state
lakshya	20:949d13045431	745	{
lakshya	20:949d13045431	746	/// pc_acs.printf("Exited sensor init successfully\n \r");
lakshya	20:949d13045431	747	return 1;
lakshya	20:949d13045431	748	}
lakshya	20:949d13045431	749
lakshya	20:949d13045431	750
lakshya	20:949d13045431	751	//// pc_acs.printf("Sensor init failed \n \r") ;
lakshya	20:949d13045431	752	return 0;
lakshya	20:949d13045431	753	}
lakshya	20:949d13045431	754
lakshya	20:949d13045431	755	int FCTN_ACS_INIT()
lakshya	20:949d13045431	756	{
lakshya	20:949d13045431	757	ACS_INIT_STATUS = 1; //set ACS_INIT_STATUS flag
lakshya	20:949d13045431	758
lakshya	17:fc782f7548c6	759
lakshya	20:949d13045431	760	int working=0;
lakshya	20:949d13045431	761
lakshya	20:949d13045431	762	/// pc_acs.printf("Attitude sensor init called \n \r");
lakshya	20:949d13045431	763	/// pc_acs.printf("ATS Status is %x\n\n \r",(int)ACS_ATS_STATUS);
lakshya	17:fc782f7548c6	764
lakshya	17:fc782f7548c6	765
lakshya	20:949d13045431	766	if(((ACS_ATS_STATUS & 0xC0) != 0xC0)&&( (ACS_ATS_STATUS & 0xC0) != 0x80)) //Sensor1 status is not 10 or 11
lakshya	20:949d13045431	767	{
lakshya	20:949d13045431	768
lakshya	20:949d13045431	769	/// pc_acs.printf("Sensor 1 marked working \n \r");
lakshya	20:949d13045431	770	working = SENSOR_INIT();
lakshya	20:949d13045431	771	if(working ==1)
lakshya	20:949d13045431	772	{
lakshya	20:949d13045431	773	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x70;
lakshya	20:949d13045431	774	/// pc_acs.printf("ATS Status is %x\n\n \r",(int)ACS_ATS_STATUS); //Sensor 1 INIT successful
lakshya	20:949d13045431	775	/// pc_acs.printf("Attitude sensor init exitting. Init successful. Ideal case.Sensor 1\n \r");
lakshya	20:949d13045431	776	ACS_INIT_STATUS = 0;
lakshya	20:949d13045431	777	return 1;
lakshya	20:949d13045431	778	}
lakshya	20:949d13045431	779
lakshya	20:949d13045431	780
lakshya	20:949d13045431	781
lakshya	20:949d13045431	782	/// pc_acs.printf("Sensor 1 not working.Powering off.\n \r"); //Sensor 1 INIT failure and power off
lakshya	20:949d13045431	783	ATS1_SW_ENABLE = 1;
lakshya	20:949d13045431	784	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0xC0;
lakshya	20:949d13045431	785
lakshya	20:949d13045431	786	}
lakshya	17:fc782f7548c6	787
lakshya	20:949d13045431	788	/// pc_acs.printf("Sensor 1 not working. Trying Sensor 2\n \r");
lakshya	17:fc782f7548c6	789
lakshya	20:949d13045431	790	if(( (ACS_ATS_STATUS & 0x0C) != 0x0C)&&( (ACS_ATS_STATUS & 0x0C) != 0x08)) //Sensor1 status is not 10 or 11
lakshya	20:949d13045431	791	{
lakshya	20:949d13045431	792
lakshya	20:949d13045431	793
lakshya	20:949d13045431	794	ATS2_SW_ENABLE = 0;
lakshya	20:949d13045431	795	wait_ms(5);
lakshya	20:949d13045431	796	working = SENSOR_INIT();
lakshya	20:949d13045431	797	if(working ==1)
lakshya	20:949d13045431	798	{
lakshya	20:949d13045431	799	/// pc_acs.printf("ATS Status is %x\n\n \r",(int)ACS_ATS_STATUS);
lakshya	20:949d13045431	800	/// pc_acs.printf("Attitude sensor init exitting. Init successful. Ideal case.Sensor 2\n \r"); //Sensor2 INIT successful
lakshya	20:949d13045431	801	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x07;
lakshya	20:949d13045431	802	ACS_INIT_STATUS = 0;
lakshya	20:949d13045431	803	return 2;
lakshya	20:949d13045431	804	}
lakshya	20:949d13045431	805
lakshya	20:949d13045431	806	ATS2_SW_ENABLE = 1;
lakshya	20:949d13045431	807	wait_ms(5);
lakshya	20:949d13045431	808
lakshya	20:949d13045431	809	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x0C;
lakshya	20:949d13045431	810
lakshya	20:949d13045431	811
lakshya	20:949d13045431	812	}
lakshya	17:fc782f7548c6	813
lakshya	20:949d13045431	814	/// pc_acs.printf("ATS Status is %x\n\n \r",(int)ACS_ATS_STATUS);
lakshya	20:949d13045431	815	/// pc_acs.printf("Sensor 2 also not working.Exit init.\n \r");
lakshya	17:fc782f7548c6	816
lakshya	20:949d13045431	817	ACS_INIT_STATUS = 0; //set ACS_INIT_STATUS flag //Sensor 2 also not working
lakshya	20:949d13045431	818	return 0;
sakthipriya	0:7b4c00e3912f	819	}
sakthipriya	0:7b4c00e3912f	820
lakshya	20:949d13045431	821
lakshya	20:949d13045431	822	int SENSOR_DATA_ACQ()
sakthipriya	0:7b4c00e3912f	823	{
lakshya	20:949d13045431	824	//int mag_only=0;
lakshya	20:949d13045431	825	/// pc_acs.printf("Entering Sensor data acq.\n \r");
lakshya	20:949d13045431	826	char status;
lakshya	20:949d13045431	827	int sentral;
lakshya	20:949d13045431	828	int event;
lakshya	20:949d13045431	829	int sensor;
lakshya	20:949d13045431	830	int error;
lakshya	20:949d13045431	831	int init;
lakshya	20:949d13045431	832
lakshya	20:949d13045431	833	uint8_t gyro_error=0;
lakshya	20:949d13045431	834	uint8_t mag_error=0;
lakshya	20:949d13045431	835
lakshya	20:949d13045431	836	//int ack1;
lakshya	20:949d13045431	837	//int ack2;
lakshya	20:949d13045431	838
sakthipriya	0:7b4c00e3912f	839	cmd[0]=EVT_STATUS;
lakshya	20:949d13045431	840	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	841	if(ack!=0)
lakshya	20:949d13045431	842	{
lakshya	20:949d13045431	843	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	844	if(ack!=0)
lakshya	20:949d13045431	845	return 0;
lakshya	20:949d13045431	846	}
lakshya	20:949d13045431	847
lakshya	20:949d13045431	848	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	849	if(ack!=0)
lakshya	20:949d13045431	850	{
lakshya	20:949d13045431	851	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	852	if(ack!=0)
lakshya	20:949d13045431	853	return 0;
lakshya	20:949d13045431	854	}
lakshya	17:fc782f7548c6	855
lakshya	20:949d13045431	856	event = (int)status;
lakshya	20:949d13045431	857
lakshya	20:949d13045431	858	if(ACS_ATS_STATUS&0xC0 == 0x40)
lakshya	20:949d13045431	859	{
lakshya	20:949d13045431	860	ATS1_EVENT_STATUS_RGTR = (uint8_t)event;
lakshya	20:949d13045431	861	}
lakshya	20:949d13045431	862	else if(ACS_ATS_STATUS&0x0C == 0x04)
lakshya	20:949d13045431	863	{
lakshya	20:949d13045431	864	ATS2_EVENT_STATUS_RGTR = (uint8_t)event;
lakshya	20:949d13045431	865	}
lakshya	20:949d13045431	866
lakshya	20:949d13045431	867	cmd[0]=SENTRALSTATUS;
lakshya	20:949d13045431	868	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	869	if(ack!=0)
lakshya	20:949d13045431	870	{
lakshya	20:949d13045431	871	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	872	if(ack!=0)
lakshya	20:949d13045431	873	return 0;
lakshya	20:949d13045431	874	}
lakshya	20:949d13045431	875
lakshya	20:949d13045431	876	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	877	if(ack!=0)
lakshya	20:949d13045431	878	{
lakshya	20:949d13045431	879	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	880	if(ack!=0)
lakshya	20:949d13045431	881	return 0;
lakshya	20:949d13045431	882	}
lakshya	20:949d13045431	883
lakshya	17:fc782f7548c6	884
lakshya	20:949d13045431	885	sentral = (int) status;
lakshya	20:949d13045431	886
lakshya	20:949d13045431	887	if(ACS_ATS_STATUS&0xC0 == 0x40)
lakshya	20:949d13045431	888	{
lakshya	20:949d13045431	889	ATS1_SENTRAL_STATUS_RGTR = (uint8_t)sentral;
lakshya	20:949d13045431	890	}
lakshya	20:949d13045431	891	else if(ACS_ATS_STATUS&0x0C == 0x04)
lakshya	20:949d13045431	892	{
lakshya	20:949d13045431	893	ATS2_SENTRAL_STATUS_RGTR = (uint8_t)sentral;
lakshya	20:949d13045431	894	}
lakshya	20:949d13045431	895
lakshya	20:949d13045431	896	/// pc_acs.printf("Event Status is %x\n \r",event);
lakshya	20:949d13045431	897	/// pc_acs.printf("Sentral Status is %x\n \r",sentral);
lakshya	20:949d13045431	898
lakshya	17:fc782f7548c6	899
lakshya	17:fc782f7548c6	900
lakshya	20:949d13045431	901	if ( (event & 0x40 != 0x40 ) \|\| (event & 0x08 != 0x08 ) \|\| (event & 0x01 == 0x01 )\|\| (event & 0x02 == 0x02 )\|\| (sentral!= 3)) //check for any error in event status register
lakshya	20:949d13045431	902	{
lakshya	20:949d13045431	903
lakshya	20:949d13045431	904
lakshya	20:949d13045431	905	init = SENSOR_INIT();
lakshya	20:949d13045431	906
lakshya	20:949d13045431	907	cmd[0]=EVT_STATUS;
lakshya	20:949d13045431	908	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	909	if(ack!=0)
lakshya	20:949d13045431	910	{
lakshya	20:949d13045431	911	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	912	if(ack!=0)
lakshya	20:949d13045431	913	return 0;
lakshya	20:949d13045431	914	}
lakshya	20:949d13045431	915
lakshya	20:949d13045431	916	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	917	if(ack!=0)
lakshya	20:949d13045431	918	{
lakshya	20:949d13045431	919	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	920	if(ack!=0)
lakshya	20:949d13045431	921	return 0;
lakshya	20:949d13045431	922	}
lakshya	20:949d13045431	923
lakshya	20:949d13045431	924	event = (int)status;
lakshya	20:949d13045431	925
lakshya	20:949d13045431	926	cmd[0]=SENTRALSTATUS;
lakshya	20:949d13045431	927	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	928	if(ack!=0)
lakshya	20:949d13045431	929	{
lakshya	20:949d13045431	930	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	931	if(ack!=0)
lakshya	20:949d13045431	932	return 0;
lakshya	20:949d13045431	933	}
lakshya	20:949d13045431	934
lakshya	20:949d13045431	935	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	936	if(ack!=0)
lakshya	20:949d13045431	937	{
lakshya	20:949d13045431	938	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	939	if(ack!=0)
lakshya	20:949d13045431	940	return 0;
lakshya	20:949d13045431	941	}
lakshya	20:949d13045431	942
lakshya	20:949d13045431	943	sentral = (int)status;
lakshya	20:949d13045431	944
lakshya	20:949d13045431	945	/// pc_acs.printf("Event Status after resetting and init is %x\n \r",event);
lakshya	20:949d13045431	946
lakshya	20:949d13045431	947	if ( (event & 0x40 != 0x40 ) \|\| (event & 0x08 != 0x08) \|\| (event & 0x01 == 0x01 )\|\| (event & 0x02 == 0x02 ) \|\| (init == 0)\|\|(sentral != 3)) //check for any error in event status
lakshya	20:949d13045431	948	{
lakshya	20:949d13045431	949
lakshya	20:949d13045431	950	cmd[0]=ERROR;
lakshya	20:949d13045431	951	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	952	if(ack!=0)
lakshya	20:949d13045431	953	{
lakshya	20:949d13045431	954	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	955	if(ack!=0)
lakshya	20:949d13045431	956	return 0;
lakshya	20:949d13045431	957	}
lakshya	20:949d13045431	958
lakshya	20:949d13045431	959	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	960	if(ack!=0)
lakshya	20:949d13045431	961	{
lakshya	20:949d13045431	962
lakshya	20:949d13045431	963	if(ACS_ATS_STATUS&0xC0 == 0x40)
lakshya	20:949d13045431	964	{
lakshya	20:949d13045431	965	ATS1_ERROR_RGTR = 0x01;
lakshya	20:949d13045431	966	}
lakshya	20:949d13045431	967	else if(ACS_ATS_STATUS&0x0C == 0x04)
lakshya	20:949d13045431	968	{
lakshya	20:949d13045431	969	ATS2_ERROR_RGTR = 0x01;
lakshya	20:949d13045431	970	}
lakshya	20:949d13045431	971	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	972	if(ack!=0)
lakshya	20:949d13045431	973	return 0;
lakshya	20:949d13045431	974	}
lakshya	20:949d13045431	975
lakshya	20:949d13045431	976	error = (int)status;
lakshya	20:949d13045431	977
lakshya	20:949d13045431	978	if(ACS_ATS_STATUS&0xC0 == 0x40)
lakshya	20:949d13045431	979	{
lakshya	20:949d13045431	980	ATS1_ERROR_RGTR = (uint8_t)error;
lakshya	20:949d13045431	981	}
lakshya	20:949d13045431	982	else if(ACS_ATS_STATUS&0x0C == 0x04)
lakshya	20:949d13045431	983	{
lakshya	20:949d13045431	984	ATS2_ERROR_RGTR = (uint8_t)error;
lakshya	20:949d13045431	985	}
lakshya	20:949d13045431	986
lakshya	20:949d13045431	987	cmd[0]=SENSORSTATUS;
lakshya	20:949d13045431	988	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	989	if(ack!=0)
lakshya	20:949d13045431	990	{
lakshya	20:949d13045431	991	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	992	if(ack!=0)
lakshya	20:949d13045431	993	return 0;
lakshya	20:949d13045431	994	}
lakshya	20:949d13045431	995
lakshya	20:949d13045431	996	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	997	if(ack!=0)
lakshya	20:949d13045431	998	{
lakshya	20:949d13045431	999	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	1000	if(ack!=0)
lakshya	20:949d13045431	1001	return 0;
lakshya	20:949d13045431	1002	}
lakshya	20:949d13045431	1003
lakshya	20:949d13045431	1004	sensor = (int)status;
lakshya	20:949d13045431	1005
lakshya	20:949d13045431	1006
lakshya	20:949d13045431	1007	if((error!=0) \|\| (sensor!=0))
lakshya	20:949d13045431	1008	{
lakshya	20:949d13045431	1009	if( (error&1 == 1) \|\| (sensor&1 == 1) \|\| (sensor&16 == 16) )
lakshya	20:949d13045431	1010	{
lakshya	20:949d13045431	1011	pc_acs.printf("error in gyro alone..\n \r");
lakshya	20:949d13045431	1012	gyro_error = 1;
lakshya	20:949d13045431	1013	}
lakshya	20:949d13045431	1014
lakshya	20:949d13045431	1015	if( (error&4 == 4) \|\| (sensor&4 == 4) \|\| (sensor&64 == 64) )
lakshya	20:949d13045431	1016	{
lakshya	20:949d13045431	1017
lakshya	20:949d13045431	1018	pc_acs.printf("error in mag alone.Exiting.\n \r");
lakshya	20:949d13045431	1019	mag_error = 1;
lakshya	20:949d13045431	1020	}
lakshya	20:949d13045431	1021	if( (gyro_error!=1)&&(mag_error!=1))
lakshya	20:949d13045431	1022	{
lakshya	20:949d13045431	1023	pc_acs.printf("error in something else.Exiting.\n \r");
lakshya	20:949d13045431	1024	return 0;
lakshya	20:949d13045431	1025
lakshya	20:949d13045431	1026	}
lakshya	20:949d13045431	1027	}
lakshya	20:949d13045431	1028
lakshya	20:949d13045431	1029
lakshya	20:949d13045431	1030	if((event & 1 == 1 ))
lakshya	20:949d13045431	1031	{
lakshya	20:949d13045431	1032	/// pc_acs.printf("error in CPU Reset.\n \r");
lakshya	20:949d13045431	1033	return 0;
lakshya	20:949d13045431	1034
lakshya	20:949d13045431	1035	}
lakshya	20:949d13045431	1036
lakshya	20:949d13045431	1037	if((event & 8 != 8 )\|\|(event & 32 != 32 ))
lakshya	20:949d13045431	1038	{
lakshya	20:949d13045431	1039	pc_acs.printf("Data not ready waiting...\n \r");
lakshya	20:949d13045431	1040	//POLL
lakshya	20:949d13045431	1041	wait_ms(200);
lakshya	20:949d13045431	1042
lakshya	20:949d13045431	1043	cmd[0]=EVT_STATUS;
lakshya	20:949d13045431	1044
lakshya	20:949d13045431	1045	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	1046	if(ack!=0)
lakshya	20:949d13045431	1047	{
lakshya	20:949d13045431	1048	ack = i2c.write(SLAVE_ADDR,cmd,1);
lakshya	20:949d13045431	1049	if(ack!=0)
lakshya	20:949d13045431	1050	return 0;
lakshya	20:949d13045431	1051	}
lakshya	20:949d13045431	1052
lakshya	20:949d13045431	1053	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	1054	if(ack!=0)
lakshya	20:949d13045431	1055	{
lakshya	20:949d13045431	1056	ack = i2c.read(SLAVE_ADDR_READ,&status,1);
lakshya	20:949d13045431	1057	if(ack!=0)
lakshya	20:949d13045431	1058	return 0;
lakshya	20:949d13045431	1059	}
lakshya	20:949d13045431	1060
lakshya	20:949d13045431	1061	event = (int)status;
lakshya	20:949d13045431	1062	if(event & 32 != 32 )
lakshya	20:949d13045431	1063	{
lakshya	20:949d13045431	1064
lakshya	20:949d13045431	1065	pc_acs.printf("Mag data only ready.Read..\n \r");
lakshya	20:949d13045431	1066	gyro_error = 1;
lakshya	20:949d13045431	1067
lakshya	20:949d13045431	1068	}
lakshya	20:949d13045431	1069
lakshya	20:949d13045431	1070	if(event & 8 != 8 )
lakshya	20:949d13045431	1071	{
lakshya	20:949d13045431	1072	pc_acs.printf("Both data still not ready.Exiting..\n \r");
lakshya	20:949d13045431	1073	mag_error=1;
lakshya	20:949d13045431	1074	}
lakshya	20:949d13045431	1075
lakshya	20:949d13045431	1076
lakshya	20:949d13045431	1077	}
lakshya	20:949d13045431	1078
lakshya	20:949d13045431	1079
lakshya	20:949d13045431	1080	}
lakshya	20:949d13045431	1081
lakshya	20:949d13045431	1082	if((mag_error !=1)&&(gyro_error!=1))
lakshya	20:949d13045431	1083	{
lakshya	20:949d13045431	1084	pc_acs.printf("Error in something else.Exiting.\n \r");
lakshya	20:949d13045431	1085	return 0;
lakshya	20:949d13045431	1086	}
lakshya	20:949d13045431	1087
lakshya	20:949d13045431	1088	if((mag_error ==1)&&(gyro_error==1))
lakshya	20:949d13045431	1089	{
lakshya	20:949d13045431	1090	pc_acs.printf("Error in both gyro and mag.Exiting.\n \r");
lakshya	20:949d13045431	1091	return 0;
lakshya	20:949d13045431	1092	}
lakshya	20:949d13045431	1093
lakshya	20:949d13045431	1094	}
lakshya	20:949d13045431	1095
lakshya	20:949d13045431	1096
lakshya	20:949d13045431	1097	cmd[0]=MAG_XOUT_H; //LSB of x
lakshya	20:949d13045431	1098	i2c.write(SLAVE_ADDR,cmd,1); //Read gryo and mag registers together
lakshya	20:949d13045431	1099	ack = i2c.read(SLAVE_ADDR_READ,reg_data,24);
lakshya	20:949d13045431	1100	if(ack != 0)
lakshya	20:949d13045431	1101	{
lakshya	20:949d13045431	1102	cmd[0]=MAG_XOUT_H; //LSB of x
lakshya	20:949d13045431	1103	i2c.write(SLAVE_ADDR,cmd,1); //Read gryo and mag registers together
lakshya	20:949d13045431	1104	ack = i2c.read(SLAVE_ADDR_READ,reg_data,24);
lakshya	20:949d13045431	1105	if(ack !=1)
lakshya	20:949d13045431	1106	return 0;
lakshya	20:949d13045431	1107
lakshya	20:949d13045431	1108	}
lakshya	20:949d13045431	1109
lakshya	20:949d13045431	1110
lakshya	20:949d13045431	1111	// pc_acs.printf("\nGyro Values:\n");
lakshya	20:949d13045431	1112	if (gyro_error!=1)
lakshya	20:949d13045431	1113	{
lakshya	20:949d13045431	1114	for(int i=0; i<3; i++) {
lakshya	20:949d13045431	1115	//concatenating gyro LSB and MSB to get 16 bit signed data values
lakshya	20:949d13045431	1116	actual_data.bit_data_acs_mg[i]= ((int16_t)reg_data[16+2i+1]<<8)\|(int16_t)reg_data[16+2i];
lakshya	20:949d13045431	1117	gyro_data[i]=(float)actual_data.bit_data_acs_mg[i];
lakshya	20:949d13045431	1118	gyro_data[i]=gyro_data[i]/senstivity_gyro;
lakshya	20:949d13045431	1119	actual_data.AngularSpeed_actual[i] = gyro_data[i];
lakshya	20:949d13045431	1120	}
lakshya	20:949d13045431	1121	}
lakshya	20:949d13045431	1122
lakshya	20:949d13045431	1123	if(mag_error!=1)
lakshya	20:949d13045431	1124	{
lakshya	20:949d13045431	1125	for(int i=0; i<3; i++) {
lakshya	20:949d13045431	1126	//concatenating mag LSB and MSB to get 16 bit signed data values Extract data
lakshya	20:949d13045431	1127	actual_data.bit_data_acs_mm[i]= ((int16_t)reg_data[2i+1]<<8)\|(int16_t)reg_data[2i];
lakshya	20:949d13045431	1128
lakshya	20:949d13045431	1129	mag_data[i]=(float)actual_data.bit_data_acs_mm[i];
lakshya	20:949d13045431	1130	mag_data[i]=mag_data[i]/senstivity_mag;
lakshya	20:949d13045431	1131	actual_data.Bvalue_actual[i] = mag_data[i];
lakshya	20:949d13045431	1132	}
lakshya	20:949d13045431	1133	}
lakshya	20:949d13045431	1134
lakshya	20:949d13045431	1135
lakshya	20:949d13045431	1136	if(mag_error == 1)
lakshya	20:949d13045431	1137	{
lakshya	20:949d13045431	1138
lakshya	20:949d13045431	1139	pc_acs.printf("Gyro only successful.\n \r");
lakshya	20:949d13045431	1140	return 1;
lakshya	20:949d13045431	1141	}
lakshya	20:949d13045431	1142	if(gyro_error == 1)
lakshya	20:949d13045431	1143	{
lakshya	20:949d13045431	1144	pc_acs.printf("Mag only successful.\n \r");
lakshya	20:949d13045431	1145	return 2;
lakshya	20:949d13045431	1146	}
lakshya	17:fc782f7548c6	1147
lakshya	20:949d13045431	1148	pc_acs.printf("Reading data success.\n \r");
lakshya	20:949d13045431	1149	return 3;
lakshya	20:949d13045431	1150	}
lakshya	20:949d13045431	1151
lakshya	20:949d13045431	1152
lakshya	20:949d13045431	1153	int FCTN_ATS_DATA_ACQ()
lakshya	20:949d13045431	1154	{
lakshya	20:949d13045431	1155	for(int i=0; i<3; i++) {
lakshya	20:949d13045431	1156	actual_data.AngularSpeed_actual[i] = 0;
lakshya	20:949d13045431	1157	actual_data.Bvalue_actual[i] = 0;
lakshya	20:949d13045431	1158	}
lakshya	20:949d13045431	1159
lakshya	20:949d13045431	1160	int acq;
lakshya	20:949d13045431	1161	int init;
lakshya	20:949d13045431	1162
lakshya	20:949d13045431	1163	//// pc_acs.printf("DATA_ACQ called \n \r");
lakshya	20:949d13045431	1164	//// pc_acs.printf("ATS Status is %x\n\n \r",(int)ACS_ATS_STATUS);
lakshya	20:949d13045431	1165
lakshya	20:949d13045431	1166
lakshya	20:949d13045431	1167	if(( (ACS_ATS_STATUS & 0xC0) == 0x40))
lakshya	20:949d13045431	1168	{
lakshya	20:949d13045431	1169
lakshya	20:949d13045431	1170	acq = SENSOR_DATA_ACQ();
lakshya	20:949d13045431	1171	if(acq == 3)
lakshya	20:949d13045431	1172	{
lakshya	20:949d13045431	1173
lakshya	20:949d13045431	1174	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x70;
lakshya	20:949d13045431	1175
lakshya	20:949d13045431	1176	//??ACS_DATA_ACQ_STATUS = 0; //clear ACS_DATA_ACQ_STATUS flag for att sens 2
lakshya	20:949d13045431	1177	//// pc_acs.printf("ATS Status is %x\n\n \r",(int)ACS_ATS_STATUS);
lakshya	20:949d13045431	1178	//// pc_acs.printf(" Sensor 1 data acq successful.Exit Data ACQ\n \r");
lakshya	20:949d13045431	1179	return 3;
lakshya	20:949d13045431	1180	}
lakshya	20:949d13045431	1181	else if((acq == 2)\|\|(acq==1))
lakshya	20:949d13045431	1182	{
lakshya	20:949d13045431	1183	pc_acs.printf(" Sensor 1 data partial success.Try other sensor.\n \r");
lakshya	20:949d13045431	1184	if( (ACS_ATS_STATUS & 0x0F == 0x03) \|\|((ACS_ATS_STATUS & 0x0F == 0x02)&&(acq==1))\|\|((ACS_ATS_STATUS & 0x0F == 0x01)&&(acq==2)) )
lakshya	20:949d13045431	1185	{
lakshya	20:949d13045431	1186	//other sensor both working, off or
lakshya	20:949d13045431	1187	//other sensor gyro working, this sensor not working , off
lakshya	20:949d13045431	1188	//other sensor mag working, this sensor not working,off
lakshya	20:949d13045431	1189
lakshya	20:949d13045431	1190	ATS1_SW_ENABLE = 1; //switch off sensor 1
lakshya	20:949d13045431	1191	wait_ms(5);
lakshya	20:949d13045431	1192	if(acq == 1)
lakshya	20:949d13045431	1193	{
lakshya	20:949d13045431	1194	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x10; //Update sensor 1 status
lakshya	20:949d13045431	1195	}
lakshya	20:949d13045431	1196	if(acq==2)
lakshya	20:949d13045431	1197	{
lakshya	20:949d13045431	1198	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x20;
lakshya	20:949d13045431	1199	}
lakshya	20:949d13045431	1200
lakshya	20:949d13045431	1201	ATS2_SW_ENABLE = 0; //switch on sensor 2
lakshya	20:949d13045431	1202	wait_ms(5);
lakshya	20:949d13045431	1203
lakshya	20:949d13045431	1204	init = SENSOR_INIT(); //sensor 2 init
lakshya	20:949d13045431	1205	if( init == 0)
lakshya	20:949d13045431	1206	{
lakshya	20:949d13045431	1207	pc_acs.printf(" Sensor 2 data acq failure.Go to sensor 1 again.\n \r");
lakshya	20:949d13045431	1208	ATS2_SW_ENABLE = 1;
lakshya	20:949d13045431	1209	wait_ms(5);
lakshya	20:949d13045431	1210	ATS1_SW_ENABLE = 0;
lakshya	20:949d13045431	1211	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x0C; //Update not working and switch back to 1
lakshya	20:949d13045431	1212	if(acq == 1)
lakshya	20:949d13045431	1213	{
lakshya	20:949d13045431	1214	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x50; //Update sensor 1 status
lakshya	20:949d13045431	1215	}
lakshya	20:949d13045431	1216	if(acq==2)
lakshya	20:949d13045431	1217	{
lakshya	20:949d13045431	1218	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x60;
lakshya	20:949d13045431	1219	}
lakshya	20:949d13045431	1220	return acq;
lakshya	20:949d13045431	1221	}
lakshya	20:949d13045431	1222
lakshya	20:949d13045431	1223	int acq2;
lakshya	20:949d13045431	1224	acq2 = SENSOR_DATA_ACQ();
lakshya	20:949d13045431	1225	if(acq2 == 3)
lakshya	20:949d13045431	1226	{
lakshya	20:949d13045431	1227	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x07;
lakshya	20:949d13045431	1228	pc_acs.printf(" Sensor 2 data acq success.Exiting.\n \r"); //Sensor 2 working, exit
lakshya	20:949d13045431	1229	return 3;
lakshya	20:949d13045431	1230	}
lakshya	20:949d13045431	1231	else if(acq2 == 1)
lakshya	20:949d13045431	1232	{
lakshya	20:949d13045431	1233	if(acq==2)
lakshya	20:949d13045431	1234	{
lakshya	20:949d13045431	1235	ATS2_SW_ENABLE = 1;
lakshya	20:949d13045431	1236	wait_ms(5);
lakshya	20:949d13045431	1237	ATS1_SW_ENABLE = 0; //Sensor 2 gyro only,sensor 1 mag only
lakshya	20:949d13045431	1238	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x01;
lakshya	20:949d13045431	1239	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x60;
lakshya	20:949d13045431	1240	return 3;
lakshya	20:949d13045431	1241	}
lakshya	20:949d13045431	1242	else
lakshya	20:949d13045431	1243	{
lakshya	20:949d13045431	1244	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x05; //Sensor 2 gyro only,sensor 1 gyro only
lakshya	20:949d13045431	1245	return 1;
lakshya	20:949d13045431	1246	}
lakshya	20:949d13045431	1247	}
lakshya	20:949d13045431	1248
lakshya	20:949d13045431	1249	else if(acq2==2) //Sensor 2 mag only, exit in both cases
lakshya	20:949d13045431	1250	{
lakshya	20:949d13045431	1251	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x06;
lakshya	20:949d13045431	1252	return 2;
lakshya	20:949d13045431	1253	}
lakshya	20:949d13045431	1254	else if(acq2 == 0) //Sensor 2 not working, switch back to sensor 1
lakshya	20:949d13045431	1255	{
lakshya	20:949d13045431	1256	pc_acs.printf(" Sensor 2 data acq failure.Go to sensor 1 again.\n \r");
lakshya	20:949d13045431	1257	ATS2_SW_ENABLE = 1;
lakshya	20:949d13045431	1258	wait_ms(5); //In status change 00 to 01 for sensor 1, other two bits are same
lakshya	20:949d13045431	1259	ATS1_SW_ENABLE = 0;
lakshya	20:949d13045431	1260	wait_ms(5);
lakshya	20:949d13045431	1261	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x3F)\|0x40;
lakshya	20:949d13045431	1262	return acq;
lakshya	20:949d13045431	1263	}
lakshya	20:949d13045431	1264
lakshya	20:949d13045431	1265	}
lakshya	20:949d13045431	1266	else //Sensor 2 not working or both sensors gyro/mag ONLY
lakshya	20:949d13045431	1267	{
lakshya	20:949d13045431	1268	if(acq == 1)
lakshya	20:949d13045431	1269	{
lakshya	20:949d13045431	1270	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x50; //return Sensor 2 status and update acq
lakshya	20:949d13045431	1271	return 1;
lakshya	20:949d13045431	1272	}
lakshya	20:949d13045431	1273	if(acq==2)
lakshya	20:949d13045431	1274	{
lakshya	20:949d13045431	1275	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x60;
lakshya	20:949d13045431	1276	return 2;
lakshya	20:949d13045431	1277	}
lakshya	20:949d13045431	1278	pc_acs.printf(" Sensor 1 data partial success.Sensor 2 marked not working.Exiting.\n \r");
lakshya	20:949d13045431	1279	return acq;
lakshya	20:949d13045431	1280
lakshya	20:949d13045431	1281	}
sakthipriya	0:7b4c00e3912f	1282	}
lakshya	20:949d13045431	1283
lakshya	20:949d13045431	1284	else if(acq == 0)
lakshya	20:949d13045431	1285	{
lakshya	20:949d13045431	1286	pc_acs.printf(" Sensor 1 data acq failure.Try sensor 2.\n \r"); //Sensor 1 not working at all
lakshya	20:949d13045431	1287	ATS1_SW_ENABLE = 1;
lakshya	20:949d13045431	1288	wait_ms(5); //Switch ON sensor 2
lakshya	20:949d13045431	1289	ATS2_SW_ENABLE = 0;
lakshya	20:949d13045431	1290	wait_ms(5);
lakshya	20:949d13045431	1291	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0xC0;
lakshya	20:949d13045431	1292	if( (ACS_ATS_STATUS & 0x0C) == 0x00) //Sensor 2 is 00XX
lakshya	20:949d13045431	1293	{
lakshya	20:949d13045431	1294	init = SENSOR_INIT();
lakshya	20:949d13045431	1295	if( init == 0)
lakshya	20:949d13045431	1296	{
lakshya	20:949d13045431	1297	pc_acs.printf(" Sensor 2 also data acq failure.\n \r");
lakshya	20:949d13045431	1298	ATS2_SW_ENABLE = 1;
lakshya	20:949d13045431	1299	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x0C; //Sensor 2 also not working exit
lakshya	20:949d13045431	1300	return 0;
lakshya	20:949d13045431	1301	}
lakshya	20:949d13045431	1302
lakshya	20:949d13045431	1303	int acq2;
lakshya	20:949d13045431	1304	acq2 = SENSOR_DATA_ACQ();
lakshya	20:949d13045431	1305	if(acq2 == 3)
lakshya	20:949d13045431	1306	{
lakshya	20:949d13045431	1307	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x07;
lakshya	20:949d13045431	1308	pc_acs.printf(" Sensor 2 data acq success.Exiting.\n \r"); //Sensor 2 working
lakshya	20:949d13045431	1309	return 3;
lakshya	20:949d13045431	1310	}
lakshya	20:949d13045431	1311	else if(acq2 == 1)
lakshya	20:949d13045431	1312	{
lakshya	20:949d13045431	1313	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x05;
lakshya	20:949d13045431	1314	return 1;
lakshya	20:949d13045431	1315	}
lakshya	20:949d13045431	1316	else if(acq2 == 2)
lakshya	20:949d13045431	1317	{
lakshya	20:949d13045431	1318	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x06;
lakshya	20:949d13045431	1319	return 2;
lakshya	20:949d13045431	1320	}
lakshya	20:949d13045431	1321	else if(acq2 == 0)
lakshya	20:949d13045431	1322	{
lakshya	20:949d13045431	1323	pc_acs.printf(" Sensor 2 data acq failure..\n \r");
lakshya	20:949d13045431	1324	ATS2_SW_ENABLE = 1;
lakshya	20:949d13045431	1325
lakshya	20:949d13045431	1326	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x0C;
lakshya	20:949d13045431	1327	return 0;
lakshya	20:949d13045431	1328	}
lakshya	20:949d13045431	1329
lakshya	20:949d13045431	1330	}
lakshya	20:949d13045431	1331
sakthipriya	0:7b4c00e3912f	1332	}
lakshya	20:949d13045431	1333
lakshya	20:949d13045431	1334
sakthipriya	0:7b4c00e3912f	1335	}
lakshya	20:949d13045431	1336
lakshya	20:949d13045431	1337	if(( (ACS_ATS_STATUS & 0x0C) == 0x04))
lakshya	20:949d13045431	1338	{
lakshya	20:949d13045431	1339	acq = SENSOR_DATA_ACQ(); //ATS2 should already be on //acquire data 3 full success, 0 full failure , 1 gyro only , 2 mag only
lakshya	20:949d13045431	1340	if(acq == 3) //Both available read and exit
lakshya	20:949d13045431	1341	{
lakshya	20:949d13045431	1342	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x07;
lakshya	20:949d13045431	1343	pc_acs.printf("ATS Status is %x\n\n \r",(int)ACS_ATS_STATUS);
lakshya	20:949d13045431	1344	pc_acs.printf(" Sensor 2 data acq successful.Exit Data ACQ\n \r");
lakshya	20:949d13045431	1345	return 3;
lakshya	20:949d13045431	1346	}
lakshya	20:949d13045431	1347	else if((acq == 2)\|\|(acq==1)) //Only mag or only gyro
lakshya	20:949d13045431	1348	{
lakshya	20:949d13045431	1349	pc_acs.printf(" Sensor 2 data partial success.Try other sensor.\n \r");
lakshya	20:949d13045431	1350	if((ACS_ATS_STATUS & 0xF0 == 0x30) \|\|((ACS_ATS_STATUS & 0xF0 == 0x20)&&(acq==1))\|\|((ACS_ATS_STATUS & 0xF0 == 0x10)&&(acq==2)) )
lakshya	20:949d13045431	1351	{
lakshya	20:949d13045431	1352	//other sensor both working, off or
lakshya	20:949d13045431	1353	//other sensor gyro working, this sensor not working , off
lakshya	20:949d13045431	1354	//other sensor mag working, this sensor not working,off
lakshya	20:949d13045431	1355	ATS2_SW_ENABLE = 1; //switch off sensor 2
lakshya	20:949d13045431	1356	wait_ms(5);
lakshya	20:949d13045431	1357	if(acq == 1)
lakshya	20:949d13045431	1358	{
lakshya	20:949d13045431	1359	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x01; //Update sensor 2 status
lakshya	20:949d13045431	1360	}
lakshya	20:949d13045431	1361	if(acq==2)
lakshya	20:949d13045431	1362	{
lakshya	20:949d13045431	1363	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x02;
lakshya	20:949d13045431	1364	}
lakshya	20:949d13045431	1365
lakshya	20:949d13045431	1366	ATS1_SW_ENABLE = 0; //switch on sensor 1
lakshya	20:949d13045431	1367	wait_ms(5);
lakshya	20:949d13045431	1368	init = SENSOR_INIT(); //sensor 2 init
lakshya	20:949d13045431	1369
lakshya	20:949d13045431	1370	if( init == 0)
lakshya	20:949d13045431	1371	{
lakshya	20:949d13045431	1372	pc_acs.printf(" Sensor 1 data acq failure.Go to sensor 2 again.\n \r");
lakshya	20:949d13045431	1373	ATS1_SW_ENABLE = 1;
lakshya	20:949d13045431	1374	wait_ms(5);
lakshya	20:949d13045431	1375	ATS2_SW_ENABLE = 0;
lakshya	20:949d13045431	1376	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0xC0; //Update not working and switch back to 2
lakshya	20:949d13045431	1377	if(acq == 1)
lakshya	20:949d13045431	1378	{
lakshya	20:949d13045431	1379	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x05; //Update sensor 1 status
lakshya	20:949d13045431	1380	}
lakshya	20:949d13045431	1381	if(acq==2)
lakshya	20:949d13045431	1382	{
lakshya	20:949d13045431	1383	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x06;
lakshya	20:949d13045431	1384	}
lakshya	20:949d13045431	1385	return acq;
lakshya	20:949d13045431	1386	}
lakshya	20:949d13045431	1387
lakshya	20:949d13045431	1388	int acq2;
lakshya	20:949d13045431	1389	acq2 = SENSOR_DATA_ACQ();
lakshya	20:949d13045431	1390
lakshya	20:949d13045431	1391	if(acq2 == 3)
lakshya	20:949d13045431	1392	{
lakshya	20:949d13045431	1393	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x70;
lakshya	20:949d13045431	1394	pc_acs.printf(" Sensor 1 data acq success.Exiting.\n \r"); //Sensor 1 working, exit
lakshya	20:949d13045431	1395	return 3;
lakshya	20:949d13045431	1396	}
lakshya	20:949d13045431	1397
lakshya	20:949d13045431	1398	else if(acq2 == 1)
lakshya	20:949d13045431	1399	{
lakshya	20:949d13045431	1400	if(acq==2)
lakshya	20:949d13045431	1401	{
lakshya	20:949d13045431	1402	ATS1_SW_ENABLE = 1;
lakshya	20:949d13045431	1403	wait_ms(5);
lakshya	20:949d13045431	1404	ATS2_SW_ENABLE = 0; //Sensor 1 gyro only,sensor 2 mag only
lakshya	20:949d13045431	1405	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x10;
lakshya	20:949d13045431	1406	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x06;
lakshya	20:949d13045431	1407	return 3;
lakshya	20:949d13045431	1408	}
lakshya	20:949d13045431	1409	else
lakshya	20:949d13045431	1410	{
lakshya	20:949d13045431	1411	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x50; //Sensor 1 gyro only,sensor 2 gyro only
lakshya	20:949d13045431	1412	return 1;
lakshya	20:949d13045431	1413	}
lakshya	20:949d13045431	1414	}
lakshya	20:949d13045431	1415
lakshya	20:949d13045431	1416	else if(acq2==2) //Sensor 1 mag only, exit in both cases
lakshya	20:949d13045431	1417	{
lakshya	20:949d13045431	1418	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x60;
lakshya	20:949d13045431	1419	return 2;
lakshya	20:949d13045431	1420	}
lakshya	20:949d13045431	1421	else if(acq2 == 0) //Sensor 1 not working, switch back to sensor 2
lakshya	20:949d13045431	1422	{
lakshya	20:949d13045431	1423	pc_acs.printf(" Sensor 1 data acq failure.Go to sensor 2 again.\n \r");
lakshya	20:949d13045431	1424	ATS1_SW_ENABLE = 1;
lakshya	20:949d13045431	1425	wait_ms(5); //In status change 00 to 01 for sensor 2, other two bits are same
lakshya	20:949d13045431	1426	ATS2_SW_ENABLE = 0;
lakshya	20:949d13045431	1427	wait_ms(5);
lakshya	20:949d13045431	1428	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF3)\|0x04;
lakshya	20:949d13045431	1429	return acq;
lakshya	20:949d13045431	1430	}
lakshya	20:949d13045431	1431
lakshya	20:949d13045431	1432	}
lakshya	20:949d13045431	1433	else //Sensor 1 not working or both sensors gyro/mag ONLY
lakshya	20:949d13045431	1434	{
lakshya	20:949d13045431	1435	if(acq == 1)
lakshya	20:949d13045431	1436	{
lakshya	20:949d13045431	1437	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x05; //return Sensor 1 status and update acq
lakshya	20:949d13045431	1438	return 1;
lakshya	20:949d13045431	1439	}
lakshya	20:949d13045431	1440	if(acq==2)
lakshya	20:949d13045431	1441	{
lakshya	20:949d13045431	1442	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x06;
lakshya	20:949d13045431	1443	return 2;
lakshya	20:949d13045431	1444	}
lakshya	20:949d13045431	1445	pc_acs.printf(" Sensor 2 data partial success.Sensor 1 marked not working.Exiting.\n \r");
lakshya	20:949d13045431	1446	return acq;
lakshya	20:949d13045431	1447
lakshya	20:949d13045431	1448	}
lakshya	20:949d13045431	1449	}
lakshya	20:949d13045431	1450	else if(acq == 0)
lakshya	20:949d13045431	1451	{
lakshya	20:949d13045431	1452	pc_acs.printf(" Sensor 2 data acq failure.Try sensor 1.\n \r"); //Sensor 2 not working at all
lakshya	20:949d13045431	1453	ATS2_SW_ENABLE = 1;
lakshya	20:949d13045431	1454	wait_ms(5); //Switch ON sensor 1
lakshya	20:949d13045431	1455	ATS1_SW_ENABLE = 0;
lakshya	20:949d13045431	1456	wait_ms(5);
lakshya	20:949d13045431	1457	ACS_ATS_STATUS = (ACS_ATS_STATUS&0xF0)\|0x0C;
lakshya	20:949d13045431	1458	if((ACS_ATS_STATUS & 0xC0) == 0x00) //Sensor 1 is 00XX
lakshya	20:949d13045431	1459	{
lakshya	20:949d13045431	1460	init = SENSOR_INIT();
lakshya	20:949d13045431	1461	if( init == 0)
lakshya	20:949d13045431	1462	{
lakshya	20:949d13045431	1463	pc_acs.printf(" Sensor 1 also data acq failure.\n \r");
lakshya	20:949d13045431	1464	ATS2_SW_ENABLE = 1;
lakshya	20:949d13045431	1465	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0xC0; //Sensor 1 also not working exit
lakshya	20:949d13045431	1466	return 0;
lakshya	20:949d13045431	1467	}
lakshya	20:949d13045431	1468
lakshya	20:949d13045431	1469	int acq2;
lakshya	20:949d13045431	1470	acq2 = SENSOR_DATA_ACQ();
lakshya	20:949d13045431	1471	if(acq2 == 3)
lakshya	20:949d13045431	1472	{
lakshya	20:949d13045431	1473	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x70;
lakshya	20:949d13045431	1474	pc_acs.printf(" Sensor 1 data acq success.Exiting.\n \r"); //Sensor 1 working
lakshya	20:949d13045431	1475	return 3;
lakshya	20:949d13045431	1476	}
lakshya	20:949d13045431	1477	else if(acq2 == 1)
lakshya	20:949d13045431	1478	{
lakshya	20:949d13045431	1479	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x50;
lakshya	20:949d13045431	1480	return 1;
lakshya	20:949d13045431	1481	}
lakshya	20:949d13045431	1482	else if(acq2 == 2)
lakshya	20:949d13045431	1483	{
lakshya	20:949d13045431	1484	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0x60;
lakshya	20:949d13045431	1485	return 2;
lakshya	20:949d13045431	1486	}
lakshya	20:949d13045431	1487	else if(acq2 == 0)
lakshya	20:949d13045431	1488	{
lakshya	20:949d13045431	1489	pc_acs.printf(" Sensor 1 data acq failure..\n \r");
lakshya	20:949d13045431	1490	ATS1_SW_ENABLE = 1;
lakshya	20:949d13045431	1491	ACS_ATS_STATUS = (ACS_ATS_STATUS&0x0F)\|0xC0;
lakshya	20:949d13045431	1492	return 0;
lakshya	20:949d13045431	1493	}
lakshya	20:949d13045431	1494	}
lakshya	20:949d13045431	1495	}
lakshya	20:949d13045431	1496	}
lakshya	20:949d13045431	1497	pc_acs.printf("ATS Status is %x\n\n \r",(int)ACS_ATS_STATUS);
lakshya	20:949d13045431	1498	pc_acs.printf(" Both sensors data acq failure.Exiting.\n \r");
lakshya	20:949d13045431	1499	return 0;
sakthipriya	0:7b4c00e3912f	1500	}
sakthipriya	0:7b4c00e3912f	1501
sakthipriya	0:7b4c00e3912f	1502	void FCTN_ACS_GENPWM_MAIN(float Moment[3])
sakthipriya	0:7b4c00e3912f	1503	{
lakshya	20:949d13045431	1504	//// printf("\n\rEntered executable PWMGEN function\n"); // entering the PWMGEN executable function
sakthipriya	0:7b4c00e3912f	1505
sakthipriya	0:7b4c00e3912f	1506	float l_duty_cycle_x=0; //Duty cycle of Moment in x direction
sakthipriya	0:7b4c00e3912f	1507	float l_current_x=0; //Current sent in x TR's
sakthipriya	0:7b4c00e3912f	1508	float l_duty_cycle_y=0; //Duty cycle of Moment in y direction
sakthipriya	0:7b4c00e3912f	1509	float l_current_y=0; //Current sent in y TR's
sakthipriya	0:7b4c00e3912f	1510	float l_duty_cycle_z=0; //Duty cycle of Moment in z direction
sakthipriya	0:7b4c00e3912f	1511	float l_current_z=0; //Current sent in z TR's
sakthipriya	0:7b4c00e3912f	1512
sakthipriya	0:7b4c00e3912f	1513
lakshya	20:949d13045431	1514	//// printf("\r\r");
sakthipriya	0:7b4c00e3912f	1515
sakthipriya	0:7b4c00e3912f	1516	//----------------------------- x-direction TR --------------------------------------------//
sakthipriya	0:7b4c00e3912f	1517
sakthipriya	0:7b4c00e3912f	1518
sakthipriya	0:7b4c00e3912f	1519	float l_moment_x = Moment[0]; //Moment in x direction
sakthipriya	0:7b4c00e3912f	1520
sakthipriya	0:7b4c00e3912f	1521	phase_TR_x = 1; // setting the default current direction
sakthipriya	0:7b4c00e3912f	1522	if (l_moment_x <0)
sakthipriya	0:7b4c00e3912f	1523	{
sakthipriya	0:7b4c00e3912f	1524	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	1525	l_moment_x = abs(l_moment_x);
sakthipriya	0:7b4c00e3912f	1526	}
sakthipriya	0:7b4c00e3912f	1527
sakthipriya	0:7b4c00e3912f	1528	l_current_x = l_moment_x * TR_CONSTANT ; //Moment and Current always have the linear relationship
lakshya	20:949d13045431	1529	//// printf("current in trx is %f \r \n",l_current_x);
lakshya	10:f93407b97750	1530	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	1531	{
lakshya	10:f93407b97750	1532	l_duty_cycle_x = 310000000pow(l_current_x,3)- 90216pow(l_current_x,2) + 697.78l_current_x - 0.0048; // calculating upto 0.1% dutycycle by polynomial interpolation
lakshya	20:949d13045431	1533	//// printf("DC for trx is %f \r \n",l_duty_cycle_x);
lakshya	10:f93407b97750	1534	PWM1.period(TIME_PERIOD);
lakshya	10:f93407b97750	1535	PWM1 = l_duty_cycle_x/100 ;
lakshya	10:f93407b97750	1536	}
lakshya	10:f93407b97750	1537	else if (l_current_x >= 0.0016 && l_current_x < 0.0171)
lakshya	10:f93407b97750	1538	{
lakshya	10:f93407b97750	1539	l_duty_cycle_x = - 76880pow(l_current_x,3) + 1280.8pow(l_current_x,2) + 583.78*l_current_x + 0.0281; // calculating upto 10% dutycycle by polynomial interpolation
lakshya	20:949d13045431	1540	//// printf("DC for trx is %f \r \n",l_duty_cycle_x);
lakshya	10:f93407b97750	1541	PWM1.period(TIME_PERIOD);
lakshya	10:f93407b97750	1542	PWM1 = l_duty_cycle_x/100 ;
lakshya	10:f93407b97750	1543	}
lakshya	10:f93407b97750	1544	else if(l_current_x >= 0.0171 && l_current_x < 0.1678)
lakshya	10:f93407b97750	1545	{
lakshya	10:f93407b97750	1546	l_duty_cycle_x = 275.92pow(l_current_x,2) + 546.13l_current_x + 0.5316; // calculating upto 100% dutycycle by polynomial interpolation
lakshya	20:949d13045431	1547	//// printf("DC for trx is %f \r \n",l_duty_cycle_x);
lakshya	10:f93407b97750	1548	PWM1.period(TIME_PERIOD);
lakshya	10:f93407b97750	1549	PWM1 = l_duty_cycle_x/100 ;
lakshya	10:f93407b97750	1550	}
lakshya	10:f93407b97750	1551	else if(l_current_x==0)
lakshya	10:f93407b97750	1552	{
lakshya	20:949d13045431	1553	//// printf("\n \r l_current_x====0");
lakshya	10:f93407b97750	1554	l_duty_cycle_x = 0; // default value of duty cycle
lakshya	20:949d13045431	1555	//// printf("DC for trx is %f \r \n",l_duty_cycle_x);
lakshya	10:f93407b97750	1556	PWM1.period(TIME_PERIOD);
lakshya	10:f93407b97750	1557	PWM1 = l_duty_cycle_x/100 ;
lakshya	10:f93407b97750	1558	}
lakshya	10:f93407b97750	1559	else //not necessary
lakshya	10:f93407b97750	1560	{
lakshya	10:f93407b97750	1561	g_err_flag_TR_x = 1;
lakshya	20:949d13045431	1562	}
lakshya	20:949d13045431	1563	pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x);
lakshya	10:f93407b97750	1564
lakshya	10:f93407b97750	1565	//------------------------------------- y-direction TR--------------------------------------//
lakshya	10:f93407b97750	1566
lakshya	10:f93407b97750	1567
lakshya	10:f93407b97750	1568	float l_moment_y = Moment[1]; //Moment in y direction
lakshya	10:f93407b97750	1569
lakshya	10:f93407b97750	1570	phase_TR_y = 1; // setting the default current direction
lakshya	10:f93407b97750	1571	if (l_moment_y <0)
lakshya	10:f93407b97750	1572	{
lakshya	10:f93407b97750	1573	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	1574	l_moment_y = abs(l_moment_y);
lakshya	10:f93407b97750	1575	}
lakshya	10:f93407b97750	1576
lakshya	10:f93407b97750	1577
lakshya	10:f93407b97750	1578	l_current_y = l_moment_y * TR_CONSTANT ; //Moment and Current always have the linear relationship
lakshya	20:949d13045431	1579	//// printf("current in try is %f \r \n",l_current_y);
lakshya	10:f93407b97750	1580	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	1581	{
lakshya	10:f93407b97750	1582	l_duty_cycle_y = 310000000pow(l_current_y,3)- 90216pow(l_current_y,2) + 697.78l_current_y - 0.0048; // calculating upto 0.1% dutycycle by polynomial interpolation
lakshya	20:949d13045431	1583	//// printf("DC for try is %f \r \n",l_duty_cycle_y);
lakshya	10:f93407b97750	1584	PWM2.period(TIME_PERIOD);
lakshya	10:f93407b97750	1585	PWM2 = l_duty_cycle_y/100 ;
lakshya	10:f93407b97750	1586	}
lakshya	10:f93407b97750	1587	else if (l_current_y >= 0.0016 && l_current_y < 0.0171)
lakshya	10:f93407b97750	1588	{
lakshya	10:f93407b97750	1589	l_duty_cycle_y = - 76880pow(l_current_y,3) + 1280.8pow(l_current_y,2) + 583.78*l_current_y + 0.0281; // calculating upto 10% dutycycle by polynomial interpolation
lakshya	20:949d13045431	1590	//// printf("DC for try is %f \r \n",l_duty_cycle_y);
lakshya	10:f93407b97750	1591	PWM2.period(TIME_PERIOD);
lakshya	10:f93407b97750	1592	PWM2 = l_duty_cycle_y/100 ;
lakshya	10:f93407b97750	1593	}
lakshya	10:f93407b97750	1594	else if(l_current_y >= 0.0171 && l_current_y < 0.1678)
lakshya	10:f93407b97750	1595	{
lakshya	10:f93407b97750	1596	l_duty_cycle_y = 275.92pow(l_current_y,2) + 546.13l_current_y + 0.5316; // calculating upto 100% dutycycle by polynomial interpolation
lakshya	20:949d13045431	1597	//// printf("DC for try is %f \r \n",l_duty_cycle_y);
lakshya	10:f93407b97750	1598	PWM2.period(TIME_PERIOD);
lakshya	10:f93407b97750	1599	PWM2 = l_duty_cycle_y/100 ;
lakshya	10:f93407b97750	1600	}
lakshya	10:f93407b97750	1601	else if(l_current_y==0)
lakshya	10:f93407b97750	1602	{
lakshya	20:949d13045431	1603	//// printf("\n \r l_current_y====0");
lakshya	10:f93407b97750	1604	l_duty_cycle_y = 0; // default value of duty cycle
lakshya	20:949d13045431	1605	//// printf("DC for try is %f \r \n",l_duty_cycle_y);
lakshya	10:f93407b97750	1606	PWM2.period(TIME_PERIOD);
lakshya	10:f93407b97750	1607	PWM2 = l_duty_cycle_y/100 ;
lakshya	10:f93407b97750	1608	}
lakshya	10:f93407b97750	1609	else // not necessary
lakshya	10:f93407b97750	1610	{
lakshya	10:f93407b97750	1611	g_err_flag_TR_y = 1;
lakshya	10:f93407b97750	1612	}
lakshya	20:949d13045431	1613	pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y);
lakshya	10:f93407b97750	1614	//----------------------------------------------- z-direction TR -------------------------//
lakshya	10:f93407b97750	1615
lakshya	20:949d13045431	1616
lakshya	20:949d13045431	1617
lakshya	10:f93407b97750	1618	float l_moment_z = Moment[2]; //Moment in z direction
lakshya	10:f93407b97750	1619
lakshya	20:949d13045431	1620	phase_TR_z = 1; // setting the default current direction
lakshya	10:f93407b97750	1621	if (l_moment_z <0)
lakshya	10:f93407b97750	1622	{
lakshya	20:949d13045431	1623	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	1624	l_moment_z = abs(l_moment_z);
lakshya	10:f93407b97750	1625	}
lakshya	10:f93407b97750	1626
lakshya	10:f93407b97750	1627
lakshya	10:f93407b97750	1628	l_current_z = l_moment_z * TR_CONSTANT ; //Moment and Current always have the linear relationship
lakshya	20:949d13045431	1629	//// printf("current in trz is %f \r \n",l_current_z);
lakshya	20:949d13045431	1630	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	1631	{
lakshya	10:f93407b97750	1632	l_duty_cycle_z = 310000000pow(l_current_z,3)- 90216pow(l_current_z,2) + 697.78l_current_z - 0.0048; // calculating upto 0.1% dutycycle by polynomial interpolation
lakshya	20:949d13045431	1633	//// printf("DC for trz is %f \r \n",l_duty_cycle_z);
lakshya	10:f93407b97750	1634	PWM3.period(TIME_PERIOD);
lakshya	10:f93407b97750	1635	PWM3 = l_duty_cycle_z/100 ;
lakshya	10:f93407b97750	1636	}
lakshya	10:f93407b97750	1637	else if (l_current_z >= 0.0016 && l_current_z < 0.0171)
lakshya	10:f93407b97750	1638	{
lakshya	10:f93407b97750	1639	l_duty_cycle_z = - 76880pow(l_current_z,3) + 1280.8pow(l_current_z,2) + 583.78*l_current_z + 0.0281; // calculating upto 10% dutycycle by polynomial interpolation
lakshya	20:949d13045431	1640	//// printf("DC for trz is %f \r \n",l_duty_cycle_z);
lakshya	10:f93407b97750	1641	PWM3.period(TIME_PERIOD);
lakshya	10:f93407b97750	1642	PWM3 = l_duty_cycle_z/100 ;
lakshya	10:f93407b97750	1643	}
lakshya	10:f93407b97750	1644	else if(l_current_z >= 0.0171 && l_current_z < 0.1678)
lakshya	10:f93407b97750	1645	{
lakshya	10:f93407b97750	1646	l_duty_cycle_z = 275.92pow(l_current_z,2) + 546.13l_current_z + 0.5316; // calculating upto 100% dutycycle by polynomial interpolation
lakshya	20:949d13045431	1647	//// printf("DC for trz is %f \r \n",l_duty_cycle_z);
lakshya	10:f93407b97750	1648	PWM3.period(TIME_PERIOD);
lakshya	10:f93407b97750	1649	PWM3 = l_duty_cycle_z/100 ;
lakshya	20:949d13045431	1650	}
lakshya	10:f93407b97750	1651	else if(l_current_z==0)
lakshya	10:f93407b97750	1652	{
lakshya	20:949d13045431	1653	//// printf("\n \r l_current_z====0");
lakshya	10:f93407b97750	1654	l_duty_cycle_z = 0; // default value of duty cycle
lakshya	20:949d13045431	1655	//// printf("DC for trz is %f \r \n",l_duty_cycle_z);
lakshya	10:f93407b97750	1656	PWM3.period(TIME_PERIOD);
lakshya	10:f93407b97750	1657	PWM3 = l_duty_cycle_z/100 ;
lakshya	10:f93407b97750	1658	}
lakshya	10:f93407b97750	1659	else // not necessary
lakshya	10:f93407b97750	1660	{
lakshya	20:949d13045431	1661	g_err_flag_TR_z = 1;
lakshya	20:949d13045431	1662	}
lakshya	20:949d13045431	1663	pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z);
lakshya	10:f93407b97750	1664
lakshya	20:949d13045431	1665	//changed
lakshya	20:949d13045431	1666	if(phase_TR_x)
lakshya	20:949d13045431	1667	ACS_TR_X_PWM = float_to_uint8(-1,1,PWM1);
lakshya	20:949d13045431	1668	else
lakshya	20:949d13045431	1669	ACS_TR_X_PWM = float_to_uint8(-1,1,-PWM1);
lakshya	20:949d13045431	1670	if(phase_TR_y)
lakshya	20:949d13045431	1671	ACS_TR_Y_PWM = float_to_uint8(-1,1,PWM2);
lakshya	20:949d13045431	1672	else
lakshya	20:949d13045431	1673	ACS_TR_Y_PWM = float_to_uint8(-1,1,-PWM2);
lakshya	20:949d13045431	1674	if(phase_TR_z)
lakshya	20:949d13045431	1675	ACS_TR_Z_PWM = float_to_uint8(-1,1,PWM3);
lakshya	20:949d13045431	1676	else
lakshya	20:949d13045431	1677	ACS_TR_Z_PWM = float_to_uint8(-1,1,-PWM2);
lakshya	20:949d13045431	1678
lakshya	10:f93407b97750	1679	//-----------------------------------------exiting the function-----------------------------------//
lakshya	10:f93407b97750	1680
lakshya	20:949d13045431	1681	//// printf("\n\rExited executable PWMGEN function\n\r"); // stating the successful exit of TR function
lakshya	10:f93407b97750	1682
lakshya	10:f93407b97750	1683	}
lakshya	20:949d13045431	1684

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	09 Mar 2017
Imports:	0
Forks:	0
Commits:	102
Dependents:	0
Dependencies:	3
Followers:	39

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ACS.cpp@35:7193e581932f, 2016-07-04 (annotated)

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