Team Fox
To be debugged
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
TFR_BAE_vr1_1_Debug153
by 
Bragadeesh S
ACS.cpp@8:aad4f22221b1, 2016-01-25 (annotated)
- Committer:
- gkumar
- Date:
- Mon Jan 25 17:27:26 2016 +0000
- Revision:
- 8:aad4f22221b1
- Parent:
- 6:036d08b62785
- Child:
- 9:f66c57a01e05
Updated PWM and control algo codes
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| sakthipriya | 0:7b4c00e3912f | 1 | /*------------------------------------------------------------------------------------------------------------------------------------------------------ |
| sakthipriya | 0:7b4c00e3912f | 2 | -------------------------------------------CONTROL ALGORITHM------------------------------------------------------------------------------------------*/ |
| sakthipriya | 0:7b4c00e3912f | 3 | #include <mbed.h> |
| sakthipriya | 0:7b4c00e3912f | 4 | #include <math.h> |
| sakthipriya | 0:7b4c00e3912f | 5 | |
| sakthipriya | 0:7b4c00e3912f | 6 | #include "pni.h" //pni header file |
| sakthipriya | 0:7b4c00e3912f | 7 | #include "pin_config.h" |
| sakthipriya | 0:7b4c00e3912f | 8 | #include "ACS.h" |
| sakthipriya | 6:036d08b62785 | 9 | #include "EPS.h" |
| sakthipriya | 0:7b4c00e3912f | 10 | |
| sakthipriya | 0:7b4c00e3912f | 11 | //********************************flags******************************************// |
| sakthipriya | 0:7b4c00e3912f | 12 | extern uint32_t BAE_STATUS; |
| sakthipriya | 0:7b4c00e3912f | 13 | extern uint32_t BAE_ENABLE; |
| sakthipriya | 0:7b4c00e3912f | 14 | extern char ACS_INIT_STATUS; |
| sakthipriya | 0:7b4c00e3912f | 15 | extern char ACS_DATA_ACQ_STATUS; |
| sakthipriya | 0:7b4c00e3912f | 16 | extern char ACS_ATS_STATUS; |
| sakthipriya | 0:7b4c00e3912f | 17 | extern char ACS_MAIN_STATUS; |
| sakthipriya | 0:7b4c00e3912f | 18 | extern char ACS_STATUS; |
| sakthipriya | 0:7b4c00e3912f | 19 | |
| sakthipriya | 0:7b4c00e3912f | 20 | extern char ACS_ATS_ENABLE; |
| sakthipriya | 0:7b4c00e3912f | 21 | extern char ACS_DATA_ACQ_ENABLE; |
| sakthipriya | 0:7b4c00e3912f | 22 | extern char ACS_STATE; |
| sakthipriya | 0:7b4c00e3912f | 23 | |
| sakthipriya | 0:7b4c00e3912f | 24 | DigitalOut phase_TR_x(PIN27); // PHASE pin for x-torquerod |
| sakthipriya | 0:7b4c00e3912f | 25 | DigitalOut phase_TR_y(PIN28); // PHASE pin for y-torquerod |
| sakthipriya | 0:7b4c00e3912f | 26 | DigitalOut phase_TR_z(PIN86); // PHASE pin for z-torquerod |
| sakthipriya | 0:7b4c00e3912f | 27 | |
| sakthipriya | 0:7b4c00e3912f | 28 | extern PwmOut PWM1; //x //Functions used to generate PWM signal |
| sakthipriya | 0:7b4c00e3912f | 29 | extern PwmOut PWM2; //y |
| sakthipriya | 0:7b4c00e3912f | 30 | extern PwmOut PWM3; //z //PWM output comes from pins p6 |
| sakthipriya | 0:7b4c00e3912f | 31 | |
| sakthipriya | 0:7b4c00e3912f | 32 | int g_err_flag_TR_x=0; // setting x-flag to zero |
| sakthipriya | 0:7b4c00e3912f | 33 | int g_err_flag_TR_y=0; // setting y-flag to zero |
| sakthipriya | 0:7b4c00e3912f | 34 | int g_err_flag_TR_z=0; // setting z-flag to zero |
| sakthipriya | 0:7b4c00e3912f | 35 | |
| sakthipriya | 0:7b4c00e3912f | 36 | extern float data[6]; |
| sakthipriya | 6:036d08b62785 | 37 | extern BAE_HK_actual actual_data; |
| sakthipriya | 0:7b4c00e3912f | 38 | |
| sakthipriya | 0:7b4c00e3912f | 39 | |
| sakthipriya | 0:7b4c00e3912f | 40 | //DigitalOut gpo1(PTC0); // enable of att sens2 switch |
| sakthipriya | 0:7b4c00e3912f | 41 | //DigitalOut gpo2(PTC16); // enable of att sens switch |
| sakthipriya | 0:7b4c00e3912f | 42 | |
| sakthipriya | 0:7b4c00e3912f | 43 | |
| sakthipriya | 0:7b4c00e3912f | 44 | Serial pc_acs(USBTX,USBRX); //for usb communication |
| sakthipriya | 0:7b4c00e3912f | 45 | void inverse(float mat[3][3],float inv[3][3]); |
| sakthipriya | 0:7b4c00e3912f | 46 | |
| sakthipriya | 0:7b4c00e3912f | 47 | int ctrl_count = 0; |
| sakthipriya | 0:7b4c00e3912f | 48 | float bcopy[3]; |
| sakthipriya | 0:7b4c00e3912f | 49 | float moment[3]; |
| sakthipriya | 0:7b4c00e3912f | 50 | ///////algo working well |
| gkumar | 8:aad4f22221b1 | 51 | void FCTN_ACS_CNTRLALGO (float moment[3], float b1[3], float omega1[3], float b_old[3], int &alarmmode, int &flag_firsttime, int &controlmode) |
| sakthipriya | 0:7b4c00e3912f | 52 | { |
| gkumar | 8:aad4f22221b1 | 53 | float db1[3]; // Unit: Tesla/Second |
| gkumar | 8:aad4f22221b1 | 54 | float sampling_time=10; // Unit: Seconds. Digital Control law excuted once in 10 seconds |
| gkumar | 8:aad4f22221b1 | 55 | float MmntMax=1.1; // Unit: Ampere*Meter^2 |
| gkumar | 8:aad4f22221b1 | 56 | float OmegaMax=1*3.1415/180.0; // Unit: Radians/Second |
| gkumar | 8:aad4f22221b1 | 57 | float normalising_fact; |
| gkumar | 8:aad4f22221b1 | 58 | float b1_copy[3], omega1_copy[3], db1_copy[3]; |
| gkumar | 8:aad4f22221b1 | 59 | int i, j; |
| gkumar | 8:aad4f22221b1 | 60 | if(flag_firsttime==1) |
| gkumar | 8:aad4f22221b1 | 61 | { |
| gkumar | 8:aad4f22221b1 | 62 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 63 | { |
| gkumar | 8:aad4f22221b1 | 64 | db1[i]=0; // Unit: Tesla/Second |
| gkumar | 8:aad4f22221b1 | 65 | } |
| gkumar | 8:aad4f22221b1 | 66 | flag_firsttime=0; |
| gkumar | 8:aad4f22221b1 | 67 | } |
| sakthipriya | 0:7b4c00e3912f | 68 | else |
| sakthipriya | 0:7b4c00e3912f | 69 | { |
| sakthipriya | 0:7b4c00e3912f | 70 | for(i=0;i<3;i++) |
| sakthipriya | 0:7b4c00e3912f | 71 | { |
| gkumar | 8:aad4f22221b1 | 72 | db1[i]= (b1[i]-b_old[i])/sampling_time; // Unit: Tesla/Second |
| sakthipriya | 0:7b4c00e3912f | 73 | } |
| gkumar | 8:aad4f22221b1 | 74 | } |
| gkumar | 8:aad4f22221b1 | 75 | |
| gkumar | 8:aad4f22221b1 | 76 | if(max_array(omega1)<(0.8*OmegaMax) && alarmmode==1) |
| sakthipriya | 0:7b4c00e3912f | 77 | { |
| gkumar | 8:aad4f22221b1 | 78 | alarmmode=0; |
| sakthipriya | 0:7b4c00e3912f | 79 | } |
| gkumar | 8:aad4f22221b1 | 80 | else if(max_array(omega1)>OmegaMax && alarmmode==0) |
| sakthipriya | 0:7b4c00e3912f | 81 | { |
| gkumar | 8:aad4f22221b1 | 82 | alarmmode=1; |
| sakthipriya | 0:7b4c00e3912f | 83 | } |
| gkumar | 8:aad4f22221b1 | 84 | |
| gkumar | 8:aad4f22221b1 | 85 | for (i=0;i<3;i++) |
| sakthipriya | 0:7b4c00e3912f | 86 | { |
| gkumar | 8:aad4f22221b1 | 87 | b1_copy[i]=b1[i]; |
| gkumar | 8:aad4f22221b1 | 88 | db1_copy[i]=db1[i]; |
| gkumar | 8:aad4f22221b1 | 89 | omega1_copy[i]=omega1[i]; |
| sakthipriya | 0:7b4c00e3912f | 90 | } |
| gkumar | 8:aad4f22221b1 | 91 | |
| gkumar | 8:aad4f22221b1 | 92 | if(alarmmode==0) |
| gkumar | 8:aad4f22221b1 | 93 | { |
| gkumar | 8:aad4f22221b1 | 94 | controlmode=0; |
| gkumar | 8:aad4f22221b1 | 95 | controlmodes(moment,b1,db1,omega1,controlmode,MmntMax); |
| gkumar | 8:aad4f22221b1 | 96 | for (i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 97 | { |
| gkumar | 8:aad4f22221b1 | 98 | b1[i]=b1_copy[i]; |
| gkumar | 8:aad4f22221b1 | 99 | db1[i]=db1_copy[i]; |
| gkumar | 8:aad4f22221b1 | 100 | omega1[i]=omega1_copy[i]; |
| gkumar | 8:aad4f22221b1 | 101 | } |
| gkumar | 8:aad4f22221b1 | 102 | if(max_array(moment)>MmntMax) |
| gkumar | 8:aad4f22221b1 | 103 | { |
| gkumar | 8:aad4f22221b1 | 104 | controlmode=1; |
| gkumar | 8:aad4f22221b1 | 105 | controlmodes(moment,b1,db1,omega1,controlmode,MmntMax); |
| gkumar | 8:aad4f22221b1 | 106 | for (i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 107 | { |
| gkumar | 8:aad4f22221b1 | 108 | b1[i]=b1_copy[i]; |
| gkumar | 8:aad4f22221b1 | 109 | db1[i]=db1_copy[i]; |
| gkumar | 8:aad4f22221b1 | 110 | omega1[i]=omega1_copy[i]; |
| gkumar | 8:aad4f22221b1 | 111 | } |
| gkumar | 8:aad4f22221b1 | 112 | if(max_array(moment)>MmntMax) |
| gkumar | 8:aad4f22221b1 | 113 | { |
| gkumar | 8:aad4f22221b1 | 114 | normalising_fact=max_array(moment)/MmntMax; |
| gkumar | 8:aad4f22221b1 | 115 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 116 | { |
| gkumar | 8:aad4f22221b1 | 117 | moment[i]/=normalising_fact; // Unit: Ampere*Meter^2 |
| gkumar | 8:aad4f22221b1 | 118 | } |
| gkumar | 8:aad4f22221b1 | 119 | } |
| gkumar | 8:aad4f22221b1 | 120 | } |
| gkumar | 8:aad4f22221b1 | 121 | } |
| gkumar | 8:aad4f22221b1 | 122 | else |
| gkumar | 8:aad4f22221b1 | 123 | { |
| gkumar | 8:aad4f22221b1 | 124 | controlmode=1; |
| gkumar | 8:aad4f22221b1 | 125 | controlmodes(moment,b1,db1,omega1,controlmode,MmntMax); |
| gkumar | 8:aad4f22221b1 | 126 | for (i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 127 | { |
| gkumar | 8:aad4f22221b1 | 128 | b1[i]=b1_copy[i]; |
| gkumar | 8:aad4f22221b1 | 129 | db1[i]=db1_copy[i]; |
| gkumar | 8:aad4f22221b1 | 130 | omega1[i]=omega1_copy[i]; |
| gkumar | 8:aad4f22221b1 | 131 | } |
| gkumar | 8:aad4f22221b1 | 132 | if(max_array(moment)>MmntMax) |
| gkumar | 8:aad4f22221b1 | 133 | { |
| gkumar | 8:aad4f22221b1 | 134 | normalising_fact=max_array(moment)/MmntMax; |
| gkumar | 8:aad4f22221b1 | 135 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 136 | { |
| gkumar | 8:aad4f22221b1 | 137 | moment[i]/=normalising_fact; // Unit: Ampere*Meter^2 |
| gkumar | 8:aad4f22221b1 | 138 | } |
| gkumar | 8:aad4f22221b1 | 139 | } |
| gkumar | 8:aad4f22221b1 | 140 | |
| gkumar | 8:aad4f22221b1 | 141 | } |
| gkumar | 8:aad4f22221b1 | 142 | for (i=0;i<3;i++) |
| sakthipriya | 0:7b4c00e3912f | 143 | { |
| gkumar | 8:aad4f22221b1 | 144 | b_old[i]=b1[i]; |
| sakthipriya | 0:7b4c00e3912f | 145 | } |
| sakthipriya | 0:7b4c00e3912f | 146 | } |
| gkumar | 8:aad4f22221b1 | 147 | |
| gkumar | 8:aad4f22221b1 | 148 | void inverse(float mat[3][3],float inv[3][3],int &singularity_flag) |
| sakthipriya | 0:7b4c00e3912f | 149 | { |
| sakthipriya | 0:7b4c00e3912f | 150 | int i,j; |
| sakthipriya | 0:7b4c00e3912f | 151 | float det=0; |
| sakthipriya | 0:7b4c00e3912f | 152 | for(i=0;i<3;i++) |
| sakthipriya | 0:7b4c00e3912f | 153 | { |
| sakthipriya | 0:7b4c00e3912f | 154 | for(j=0;j<3;j++) |
| gkumar | 8:aad4f22221b1 | 155 | { |
| sakthipriya | 0:7b4c00e3912f | 156 | 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]); |
| gkumar | 8:aad4f22221b1 | 157 | } |
| sakthipriya | 0:7b4c00e3912f | 158 | } |
| sakthipriya | 0:7b4c00e3912f | 159 | det+=(mat[0][0]*inv[0][0])+(mat[0][1]*inv[1][0])+(mat[0][2]*inv[2][0]); |
| gkumar | 8:aad4f22221b1 | 160 | if (det==0) |
| gkumar | 8:aad4f22221b1 | 161 | { |
| gkumar | 8:aad4f22221b1 | 162 | singularity_flag=1; |
| gkumar | 8:aad4f22221b1 | 163 | } |
| gkumar | 8:aad4f22221b1 | 164 | else |
| gkumar | 8:aad4f22221b1 | 165 | { |
| gkumar | 8:aad4f22221b1 | 166 | singularity_flag=0; |
| gkumar | 8:aad4f22221b1 | 167 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 168 | { |
| gkumar | 8:aad4f22221b1 | 169 | for(j=0;j<3;j++) |
| gkumar | 8:aad4f22221b1 | 170 | { |
| gkumar | 8:aad4f22221b1 | 171 | inv[i][j]/=det; |
| gkumar | 8:aad4f22221b1 | 172 | } |
| gkumar | 8:aad4f22221b1 | 173 | } |
| sakthipriya | 0:7b4c00e3912f | 174 | } |
| sakthipriya | 0:7b4c00e3912f | 175 | } |
| sakthipriya | 0:7b4c00e3912f | 176 | |
| gkumar | 8:aad4f22221b1 | 177 | float max_array(float arr[3]) |
| gkumar | 8:aad4f22221b1 | 178 | { |
| gkumar | 8:aad4f22221b1 | 179 | int i; |
| gkumar | 8:aad4f22221b1 | 180 | float temp_max=fabs(arr[0]); |
| gkumar | 8:aad4f22221b1 | 181 | for(i=1;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 182 | { |
| gkumar | 8:aad4f22221b1 | 183 | if(fabs(arr[i])>temp_max) |
| gkumar | 8:aad4f22221b1 | 184 | { |
| gkumar | 8:aad4f22221b1 | 185 | temp_max=fabs(arr[i]); |
| gkumar | 8:aad4f22221b1 | 186 | } |
| gkumar | 8:aad4f22221b1 | 187 | } |
| gkumar | 8:aad4f22221b1 | 188 | return temp_max; |
| gkumar | 8:aad4f22221b1 | 189 | } |
| gkumar | 8:aad4f22221b1 | 190 | |
| gkumar | 8:aad4f22221b1 | 191 | |
| gkumar | 8:aad4f22221b1 | 192 | void controlmodes(float moment[3], float b[3], float db[3], float omega[3], int controlmode1, float MmntMax) |
| gkumar | 8:aad4f22221b1 | 193 | { |
| gkumar | 8:aad4f22221b1 | 194 | float bb[3]={0,0,0}; |
| gkumar | 8:aad4f22221b1 | 195 | float d[3]={0,0,0}; |
| gkumar | 8:aad4f22221b1 | 196 | 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 |
| gkumar | 8:aad4f22221b1 | 197 | float den=0,den2; |
| gkumar | 8:aad4f22221b1 | 198 | float bcopy[3]; |
| gkumar | 8:aad4f22221b1 | 199 | int i, j;//temporary variables |
| gkumar | 8:aad4f22221b1 | 200 | float Mu[2],z[2],dv[2],v[2],u[2],tauc[3]={0,0,0},Mmnt[3];//outputs |
| gkumar | 8:aad4f22221b1 | 201 | float invJm[3][3]; |
| gkumar | 8:aad4f22221b1 | 202 | float kmu2=0.07,gamma2=1.9e4,kz2=0.4e-2,kmu=0.003,gamma=5.6e4,kz=0.1e-4,kdetumble=2000000; |
| gkumar | 8:aad4f22221b1 | 203 | int singularity_flag=0; |
| gkumar | 8:aad4f22221b1 | 204 | |
| gkumar | 8:aad4f22221b1 | 205 | if(controlmode1==0) |
| gkumar | 8:aad4f22221b1 | 206 | { |
| gkumar | 8:aad4f22221b1 | 207 | den=sqrt((b[0]*b[0])+(b[1]*b[1])+(b[2]*b[2])); |
| gkumar | 8:aad4f22221b1 | 208 | den2=(b[0]*db[0])+(b[1]*db[1])+(b[2]*db[2]); |
| gkumar | 8:aad4f22221b1 | 209 | if (den==0) |
| gkumar | 8:aad4f22221b1 | 210 | { |
| gkumar | 8:aad4f22221b1 | 211 | singularity_flag=1; |
| gkumar | 8:aad4f22221b1 | 212 | } |
| gkumar | 8:aad4f22221b1 | 213 | if (singularity_flag==0) |
| gkumar | 8:aad4f22221b1 | 214 | { |
| gkumar | 8:aad4f22221b1 | 215 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 216 | { |
| gkumar | 8:aad4f22221b1 | 217 | db[i]=((db[i]*den*den)-(b[i]*(den2)))/(pow(den,3)); // Normalized db. Hence the unit is Second^(-1) |
| gkumar | 8:aad4f22221b1 | 218 | } |
| gkumar | 8:aad4f22221b1 | 219 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 220 | { |
| gkumar | 8:aad4f22221b1 | 221 | b[i]/=den; // Mormalized b. Hence no unit. |
| gkumar | 8:aad4f22221b1 | 222 | } |
| gkumar | 8:aad4f22221b1 | 223 | if(b[2]>0.9 || b[2]<-0.9) |
| gkumar | 8:aad4f22221b1 | 224 | { |
| gkumar | 8:aad4f22221b1 | 225 | kz=kz2; |
| gkumar | 8:aad4f22221b1 | 226 | kmu=kmu2; |
| gkumar | 8:aad4f22221b1 | 227 | gamma=gamma2; |
| gkumar | 8:aad4f22221b1 | 228 | } |
| gkumar | 8:aad4f22221b1 | 229 | for(i=0;i<2;i++) |
| gkumar | 8:aad4f22221b1 | 230 | { |
| gkumar | 8:aad4f22221b1 | 231 | Mu[i]=b[i]; |
| gkumar | 8:aad4f22221b1 | 232 | v[i]=-kmu*Mu[i]; |
| gkumar | 8:aad4f22221b1 | 233 | dv[i]=-kmu*db[i]; |
| gkumar | 8:aad4f22221b1 | 234 | z[i]=db[i]-v[i]; |
| gkumar | 8:aad4f22221b1 | 235 | u[i]=-kz*z[i]+dv[i]-(Mu[i]/gamma); |
| gkumar | 8:aad4f22221b1 | 236 | } |
| gkumar | 8:aad4f22221b1 | 237 | inverse(Jm,invJm,singularity_flag); |
| gkumar | 8:aad4f22221b1 | 238 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 239 | { |
| gkumar | 8:aad4f22221b1 | 240 | for(j=0;j<3;j++) |
| gkumar | 8:aad4f22221b1 | 241 | { |
| gkumar | 8:aad4f22221b1 | 242 | bb[i]+=omega[j]*(omega[(i+1)%3]*Jm[(i+2)%3][j]-omega[(i+2)%3]*Jm[(i+1)%3][j]); |
| gkumar | 8:aad4f22221b1 | 243 | } |
| gkumar | 8:aad4f22221b1 | 244 | } |
| gkumar | 8:aad4f22221b1 | 245 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 246 | { |
| gkumar | 8:aad4f22221b1 | 247 | for(j=0;j<3;j++) |
| gkumar | 8:aad4f22221b1 | 248 | { |
| gkumar | 8:aad4f22221b1 | 249 | d[i]+=bb[j]*invJm[i][j]; |
| gkumar | 8:aad4f22221b1 | 250 | } |
| gkumar | 8:aad4f22221b1 | 251 | } |
| gkumar | 8:aad4f22221b1 | 252 | bb[1]=u[0]-(d[1]*b[2])+(d[2]*b[1])-(omega[1]*db[2])+(omega[2]*db[1]); |
| gkumar | 8:aad4f22221b1 | 253 | bb[2]=u[1]-(d[2]*b[0])+(d[0]*b[2])-(omega[2]*db[0])+(omega[0]*db[2]); |
| gkumar | 8:aad4f22221b1 | 254 | bb[0]=0; |
| gkumar | 8:aad4f22221b1 | 255 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 256 | { |
| gkumar | 8:aad4f22221b1 | 257 | d[i]=invJm[2][i]; |
| gkumar | 8:aad4f22221b1 | 258 | invJm[1][i]=-b[2]*invJm[1][i]+b[1]*d[i]; |
| gkumar | 8:aad4f22221b1 | 259 | invJm[2][i]=b[2]*invJm[0][i]-b[0]*d[i]; |
| gkumar | 8:aad4f22221b1 | 260 | invJm[0][i]=b[i]; |
| gkumar | 8:aad4f22221b1 | 261 | } |
| gkumar | 8:aad4f22221b1 | 262 | inverse(invJm,Jm,singularity_flag); |
| gkumar | 8:aad4f22221b1 | 263 | if (singularity_flag==0) |
| gkumar | 8:aad4f22221b1 | 264 | { |
| gkumar | 8:aad4f22221b1 | 265 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 266 | { |
| gkumar | 8:aad4f22221b1 | 267 | for(j=0;j<3;j++) |
| gkumar | 8:aad4f22221b1 | 268 | { |
| gkumar | 8:aad4f22221b1 | 269 | tauc[i]+=Jm[i][j]*bb[j]; // Unit: Newton*Meter^2 |
| gkumar | 8:aad4f22221b1 | 270 | } |
| gkumar | 8:aad4f22221b1 | 271 | } |
| gkumar | 8:aad4f22221b1 | 272 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 273 | { |
| gkumar | 8:aad4f22221b1 | 274 | bcopy[i]=b[i]*den; |
| gkumar | 8:aad4f22221b1 | 275 | } |
| gkumar | 8:aad4f22221b1 | 276 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 277 | { |
| gkumar | 8:aad4f22221b1 | 278 | Mmnt[i]=bcopy[(i+1)%3]*tauc[(i+2)%3]-bcopy[(i+2)%3]*tauc[(i+1)%3]; |
| gkumar | 8:aad4f22221b1 | 279 | Mmnt[i]/=(den*den); // Unit: Ampere*Meter^2 |
| gkumar | 8:aad4f22221b1 | 280 | } |
| gkumar | 8:aad4f22221b1 | 281 | } |
| gkumar | 8:aad4f22221b1 | 282 | } |
| gkumar | 8:aad4f22221b1 | 283 | if (singularity_flag==1) |
| gkumar | 8:aad4f22221b1 | 284 | { |
| gkumar | 8:aad4f22221b1 | 285 | for (i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 286 | { |
| gkumar | 8:aad4f22221b1 | 287 | Mmnt[i]=2*MmntMax; |
| gkumar | 8:aad4f22221b1 | 288 | } |
| gkumar | 8:aad4f22221b1 | 289 | } |
| gkumar | 8:aad4f22221b1 | 290 | } |
| gkumar | 8:aad4f22221b1 | 291 | else if(controlmode1==1) |
| gkumar | 8:aad4f22221b1 | 292 | { |
| gkumar | 8:aad4f22221b1 | 293 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 294 | { |
| gkumar | 8:aad4f22221b1 | 295 | Mmnt[i]=-kdetumble*(b[(i+1)%3]*omega[(i+2)%3]-b[(i+2)%3]*omega[(i+1)%3]); // Unit: Ampere*Meter^2 |
| gkumar | 8:aad4f22221b1 | 296 | } |
| gkumar | 8:aad4f22221b1 | 297 | } |
| gkumar | 8:aad4f22221b1 | 298 | for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 299 | { |
| gkumar | 8:aad4f22221b1 | 300 | moment[i]=Mmnt[i]; // Unit: Ampere*Meter^2 |
| gkumar | 8:aad4f22221b1 | 301 | } |
| gkumar | 8:aad4f22221b1 | 302 | } |
| gkumar | 8:aad4f22221b1 | 303 | //void FCTN_ACS_CNTRLALGO(float b[3],float omega[3]) |
| gkumar | 8:aad4f22221b1 | 304 | //{ |
| gkumar | 8:aad4f22221b1 | 305 | // float db[3]; |
| gkumar | 8:aad4f22221b1 | 306 | // float bb[3]={0,0,0}; |
| gkumar | 8:aad4f22221b1 | 307 | // float d[3]={0,0,0}; |
| gkumar | 8:aad4f22221b1 | 308 | // float Jm[3][3]={{0.2730,0,0},{0,0.3018,0},{0,0,0.3031}}; |
| gkumar | 8:aad4f22221b1 | 309 | // float den=0,den2; |
| gkumar | 8:aad4f22221b1 | 310 | // int i,j; //temporary variables |
| gkumar | 8:aad4f22221b1 | 311 | // float Mu[2],z[2],dv[2],v[2],u[2],tauc[3]={0,0,0}; //outputs |
| gkumar | 8:aad4f22221b1 | 312 | // float invJm[3][3]; |
| gkumar | 8:aad4f22221b1 | 313 | // float kmu2=0.07,gamma2=1.9e4,kz2=0.4e-2,kmu=0.003,gamma=5.6e4,kz=0.1e-4; |
| gkumar | 8:aad4f22221b1 | 314 | // |
| gkumar | 8:aad4f22221b1 | 315 | // //................. calculating db values........................... |
| gkumar | 8:aad4f22221b1 | 316 | // if(ctrl_count!=0) |
| gkumar | 8:aad4f22221b1 | 317 | // { |
| gkumar | 8:aad4f22221b1 | 318 | // for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 319 | // db[i]= (b[i]-bcopy[i])/10; |
| gkumar | 8:aad4f22221b1 | 320 | // } |
| gkumar | 8:aad4f22221b1 | 321 | // else |
| gkumar | 8:aad4f22221b1 | 322 | // { |
| gkumar | 8:aad4f22221b1 | 323 | // for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 324 | // db[i]= 0; |
| gkumar | 8:aad4f22221b1 | 325 | // } |
| gkumar | 8:aad4f22221b1 | 326 | // ctrl_count++; |
| gkumar | 8:aad4f22221b1 | 327 | // //.................................................................. |
| gkumar | 8:aad4f22221b1 | 328 | // printf("\n\r Entered cntrl algo\n\r"); |
| gkumar | 8:aad4f22221b1 | 329 | // for(int i=0; i<3; i++) |
| gkumar | 8:aad4f22221b1 | 330 | // { |
| gkumar | 8:aad4f22221b1 | 331 | // printf("%f\t",omega[i]); |
| gkumar | 8:aad4f22221b1 | 332 | // } |
| gkumar | 8:aad4f22221b1 | 333 | // for(int i=0; i<3; i++) |
| gkumar | 8:aad4f22221b1 | 334 | // { |
| gkumar | 8:aad4f22221b1 | 335 | // printf("%f\t",b[i]); |
| gkumar | 8:aad4f22221b1 | 336 | // } |
| gkumar | 8:aad4f22221b1 | 337 | // |
| gkumar | 8:aad4f22221b1 | 338 | // //.........................algo...................................... |
| gkumar | 8:aad4f22221b1 | 339 | // den=sqrt((b[0]*b[0])+(b[1]*b[1])+(b[2]*b[2])); |
| gkumar | 8:aad4f22221b1 | 340 | // den2=(b[0]*db[0])+(b[1]*db[1])+(b[2]*db[2]); |
| gkumar | 8:aad4f22221b1 | 341 | // for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 342 | // { |
| gkumar | 8:aad4f22221b1 | 343 | // db[i]=((db[i]*den*den)-(b[i]*(den2)))/(pow(den,3)); |
| gkumar | 8:aad4f22221b1 | 344 | // //db[i]/=den*den*den; |
| gkumar | 8:aad4f22221b1 | 345 | // } |
| gkumar | 8:aad4f22221b1 | 346 | // for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 347 | // { |
| gkumar | 8:aad4f22221b1 | 348 | // b[i]/=den; |
| gkumar | 8:aad4f22221b1 | 349 | // } |
| gkumar | 8:aad4f22221b1 | 350 | // // select kz, kmu, gamma |
| gkumar | 8:aad4f22221b1 | 351 | // if(b[0]>0.9||b[0]<-0.9) |
| gkumar | 8:aad4f22221b1 | 352 | // { |
| gkumar | 8:aad4f22221b1 | 353 | // kz=kz2; |
| gkumar | 8:aad4f22221b1 | 354 | // kmu=kmu2; |
| gkumar | 8:aad4f22221b1 | 355 | // gamma=gamma2; |
| gkumar | 8:aad4f22221b1 | 356 | // } |
| gkumar | 8:aad4f22221b1 | 357 | // // calculate Mu, v, dv, z, u |
| gkumar | 8:aad4f22221b1 | 358 | // for(i=0;i<2;i++) |
| gkumar | 8:aad4f22221b1 | 359 | // { |
| gkumar | 8:aad4f22221b1 | 360 | // Mu[i]=b[i+1]; |
| gkumar | 8:aad4f22221b1 | 361 | // v[i]=-kmu*Mu[i]; |
| gkumar | 8:aad4f22221b1 | 362 | // dv[i]=-kmu*db[i+1]; |
| gkumar | 8:aad4f22221b1 | 363 | // z[i]=db[i+1]-v[i]; |
| gkumar | 8:aad4f22221b1 | 364 | // u[i]=-kz*z[i]+dv[i]-(Mu[i]/gamma); |
| gkumar | 8:aad4f22221b1 | 365 | // } |
| gkumar | 8:aad4f22221b1 | 366 | // inverse(Jm,invJm); |
| gkumar | 8:aad4f22221b1 | 367 | // for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 368 | // { |
| gkumar | 8:aad4f22221b1 | 369 | // for(j=0;j<3;j++) |
| gkumar | 8:aad4f22221b1 | 370 | // bb[i]+=omega[j]*(omega[(i+1)%3]*Jm[(i+2)%3][j]-omega[(i+2)%3]*Jm[(i+1)%3][j]); |
| gkumar | 8:aad4f22221b1 | 371 | // } |
| gkumar | 8:aad4f22221b1 | 372 | // for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 373 | // { |
| gkumar | 8:aad4f22221b1 | 374 | // for(j=0;j<3;j++) |
| gkumar | 8:aad4f22221b1 | 375 | // d[i]+=bb[j]*invJm[i][j]; |
| gkumar | 8:aad4f22221b1 | 376 | // } |
| gkumar | 8:aad4f22221b1 | 377 | // bb[1]=u[0]+(d[0]*b[2])-(d[2]*b[0])-(omega[0]*db[2])+(omega[2]*db[0]); |
| gkumar | 8:aad4f22221b1 | 378 | // bb[2]=u[1]-(d[0]*b[1])+(d[1]*b[0])+(omega[0]*db[1])-(omega[1]*db[0]); |
| gkumar | 8:aad4f22221b1 | 379 | // bb[0]=0; |
| gkumar | 8:aad4f22221b1 | 380 | // for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 381 | // { |
| gkumar | 8:aad4f22221b1 | 382 | // d[i]=invJm[1][i]; |
| gkumar | 8:aad4f22221b1 | 383 | // invJm[1][i]=b[2]*invJm[0][i]-b[0]*invJm[2][i]; |
| gkumar | 8:aad4f22221b1 | 384 | // invJm[2][i]=-b[1]*invJm[0][i]+b[0]*d[i]; |
| gkumar | 8:aad4f22221b1 | 385 | // invJm[0][i]=b[i]; |
| gkumar | 8:aad4f22221b1 | 386 | // } |
| gkumar | 8:aad4f22221b1 | 387 | // inverse(invJm,Jm); |
| gkumar | 8:aad4f22221b1 | 388 | // printf("\n \r calculating tauc"); |
| gkumar | 8:aad4f22221b1 | 389 | // for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 390 | // { |
| gkumar | 8:aad4f22221b1 | 391 | // for(j=0;j<3;j++) |
| gkumar | 8:aad4f22221b1 | 392 | // tauc[i]+=Jm[i][j]*bb[j]; // calculating torque values |
| gkumar | 8:aad4f22221b1 | 393 | // printf(" %f \t",tauc[i]); |
| gkumar | 8:aad4f22221b1 | 394 | // } |
| gkumar | 8:aad4f22221b1 | 395 | // //..........................tauc to moment conversion.......................... |
| gkumar | 8:aad4f22221b1 | 396 | // printf("\n \r calculating moment"); |
| gkumar | 8:aad4f22221b1 | 397 | // for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 398 | // bcopy[i]=b[i]*den; |
| gkumar | 8:aad4f22221b1 | 399 | // for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 400 | // { |
| gkumar | 8:aad4f22221b1 | 401 | // moment[i]=bcopy[(i+1)%3]*tauc[(i+2)%3]-bcopy[(i+2)%3]*tauc[(i+1)%3]; |
| gkumar | 8:aad4f22221b1 | 402 | // moment[i]/=den; |
| gkumar | 8:aad4f22221b1 | 403 | // printf(" %f \t",moment[i]); |
| gkumar | 8:aad4f22221b1 | 404 | // } |
| gkumar | 8:aad4f22221b1 | 405 | // printf("\n\r exited control algo\n"); |
| gkumar | 8:aad4f22221b1 | 406 | //} |
| gkumar | 8:aad4f22221b1 | 407 | //..........................function to find inverse.................. |
| gkumar | 8:aad4f22221b1 | 408 | //void inverse(float mat[3][3],float inv[3][3]) |
| gkumar | 8:aad4f22221b1 | 409 | //{ |
| gkumar | 8:aad4f22221b1 | 410 | // int i,j; |
| gkumar | 8:aad4f22221b1 | 411 | // float det=0; |
| gkumar | 8:aad4f22221b1 | 412 | // for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 413 | // { |
| gkumar | 8:aad4f22221b1 | 414 | // for(j=0;j<3;j++) |
| gkumar | 8:aad4f22221b1 | 415 | // 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]); |
| gkumar | 8:aad4f22221b1 | 416 | // } |
| gkumar | 8:aad4f22221b1 | 417 | // det+=(mat[0][0]*inv[0][0])+(mat[0][1]*inv[1][0])+(mat[0][2]*inv[2][0]); |
| gkumar | 8:aad4f22221b1 | 418 | // for(i=0;i<3;i++) |
| gkumar | 8:aad4f22221b1 | 419 | // { |
| gkumar | 8:aad4f22221b1 | 420 | // for(j=0;j<3;j++) |
| gkumar | 8:aad4f22221b1 | 421 | // inv[i][j]/=det; |
| gkumar | 8:aad4f22221b1 | 422 | // } |
| gkumar | 8:aad4f22221b1 | 423 | //} |
| gkumar | 8:aad4f22221b1 | 424 | |
| sakthipriya | 0:7b4c00e3912f | 425 | |
| sakthipriya | 0:7b4c00e3912f | 426 | I2C i2c (PTC9,PTC8); //PTC9-sda,PTC8-scl for the attitude sensors and battery gauge |
| sakthipriya | 0:7b4c00e3912f | 427 | |
| sakthipriya | 0:7b4c00e3912f | 428 | void FCTN_ACS_INIT(void); //initialization of registers happens |
| sakthipriya | 0:7b4c00e3912f | 429 | void FCTN_ATS_DATA_ACQ(); //data is obtained |
| sakthipriya | 0:7b4c00e3912f | 430 | void T_OUT(); //timeout function to stop infinite loop |
| sakthipriya | 0:7b4c00e3912f | 431 | Timeout to; //Timeout variable to |
| sakthipriya | 0:7b4c00e3912f | 432 | int toFlag; |
| sakthipriya | 0:7b4c00e3912f | 433 | |
| sakthipriya | 0:7b4c00e3912f | 434 | int count =0; // Time for which the BAE uC is running (in seconds) |
| sakthipriya | 0:7b4c00e3912f | 435 | void T_OUT() |
| sakthipriya | 0:7b4c00e3912f | 436 | { |
| sakthipriya | 0:7b4c00e3912f | 437 | toFlag=0; //as T_OUT function gets called the while loop gets terminated |
| sakthipriya | 0:7b4c00e3912f | 438 | } |
| sakthipriya | 0:7b4c00e3912f | 439 | |
| sakthipriya | 0:7b4c00e3912f | 440 | |
| sakthipriya | 0:7b4c00e3912f | 441 | //DEFINING VARIABLES |
| sakthipriya | 0:7b4c00e3912f | 442 | char cmd[2]; |
| sakthipriya | 0:7b4c00e3912f | 443 | char raw_gyro[6]; |
| sakthipriya | 0:7b4c00e3912f | 444 | char raw_mag[6]; |
| sakthipriya | 0:7b4c00e3912f | 445 | char store,status; |
| sakthipriya | 0:7b4c00e3912f | 446 | int16_t bit_data; |
| sakthipriya | 0:7b4c00e3912f | 447 | float gyro_data[3], mag_data[3],combined_values[6]; |
| sakthipriya | 0:7b4c00e3912f | 448 | float senstivity_gyro =6.5536; //senstivity is obtained from 2^15/5000dps |
| sakthipriya | 0:7b4c00e3912f | 449 | float senstivity_mag =32.768; //senstivity is obtained from 2^15/1000microtesla |
| sakthipriya | 0:7b4c00e3912f | 450 | float gyro_error[3]= {0,0,0}, mag_error[3]= {0,0,0}; |
| sakthipriya | 0:7b4c00e3912f | 451 | |
| sakthipriya | 0:7b4c00e3912f | 452 | void FCTN_ACS_INIT() |
| sakthipriya | 0:7b4c00e3912f | 453 | { |
| sakthipriya | 0:7b4c00e3912f | 454 | ACS_INIT_STATUS = 's'; //set ACS_INIT_STATUS flag |
| sakthipriya | 3:07e15677a75c | 455 | //FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 456 | pc_acs.printf("Attitude sensor init called \n \r"); |
| sakthipriya | 0:7b4c00e3912f | 457 | //FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 458 | cmd[0]=RESETREQ; |
| sakthipriya | 0:7b4c00e3912f | 459 | cmd[1]=BIT_RESREQ; |
| sakthipriya | 0:7b4c00e3912f | 460 | i2c.write(SLAVE_ADDR,cmd,2); //When 0x01 is written in reset request register Emulates a hard power down/power up |
| sakthipriya | 0:7b4c00e3912f | 461 | wait_ms(2000); //waiting for loading configuration file stored in EEPROM |
| sakthipriya | 0:7b4c00e3912f | 462 | cmd[0]=SENTRALSTATUS; |
| sakthipriya | 0:7b4c00e3912f | 463 | i2c.write(SLAVE_ADDR,cmd,1); |
| sakthipriya | 0:7b4c00e3912f | 464 | i2c.read(SLAVE_ADDR_READ,&store,1); |
| sakthipriya | 0:7b4c00e3912f | 465 | wait_ms(100); |
| sakthipriya | 0:7b4c00e3912f | 466 | //to check whether EEPROM is uploaded |
| sakthipriya | 0:7b4c00e3912f | 467 | switch((int)store) { |
| sakthipriya | 0:7b4c00e3912f | 468 | case(3): { |
| sakthipriya | 0:7b4c00e3912f | 469 | break; |
| sakthipriya | 0:7b4c00e3912f | 470 | } |
| sakthipriya | 0:7b4c00e3912f | 471 | case(11): { |
| sakthipriya | 0:7b4c00e3912f | 472 | break; |
| sakthipriya | 0:7b4c00e3912f | 473 | } |
| sakthipriya | 0:7b4c00e3912f | 474 | default: { |
| sakthipriya | 0:7b4c00e3912f | 475 | cmd[0]=RESETREQ; |
| sakthipriya | 0:7b4c00e3912f | 476 | cmd[1]=BIT_RESREQ; |
| sakthipriya | 0:7b4c00e3912f | 477 | i2c.write(SLAVE_ADDR,cmd,2); |
| sakthipriya | 0:7b4c00e3912f | 478 | wait_ms(2000); |
| sakthipriya | 0:7b4c00e3912f | 479 | } |
| sakthipriya | 0:7b4c00e3912f | 480 | } |
| sakthipriya | 0:7b4c00e3912f | 481 | pc_acs.printf("Sentral Status is %x\n \r",(int)store); |
| sakthipriya | 0:7b4c00e3912f | 482 | cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors |
| sakthipriya | 0:7b4c00e3912f | 483 | cmd[1]=BIT_RUN_ENB; |
| sakthipriya | 0:7b4c00e3912f | 484 | i2c.write(SLAVE_ADDR,cmd,2); |
| sakthipriya | 0:7b4c00e3912f | 485 | wait_ms(100); |
| sakthipriya | 0:7b4c00e3912f | 486 | cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer |
| sakthipriya | 0:7b4c00e3912f | 487 | cmd[1]=BIT_MAGODR; |
| sakthipriya | 0:7b4c00e3912f | 488 | i2c.write(SLAVE_ADDR,cmd,2); |
| sakthipriya | 0:7b4c00e3912f | 489 | wait_ms(100); |
| sakthipriya | 0:7b4c00e3912f | 490 | cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope |
| sakthipriya | 0:7b4c00e3912f | 491 | cmd[1]=BIT_GYROODR; |
| sakthipriya | 0:7b4c00e3912f | 492 | i2c.write(SLAVE_ADDR,cmd,2); |
| sakthipriya | 0:7b4c00e3912f | 493 | wait_ms(100); |
| sakthipriya | 0:7b4c00e3912f | 494 | cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values |
| sakthipriya | 0:7b4c00e3912f | 495 | cmd[1]=0x00; |
| sakthipriya | 0:7b4c00e3912f | 496 | i2c.write(SLAVE_ADDR,cmd,2); |
| sakthipriya | 0:7b4c00e3912f | 497 | wait_ms(100); |
| sakthipriya | 0:7b4c00e3912f | 498 | cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values |
| sakthipriya | 0:7b4c00e3912f | 499 | cmd[1]=BIT_EVT_ENB; |
| sakthipriya | 0:7b4c00e3912f | 500 | i2c.write(SLAVE_ADDR,cmd,2); |
| sakthipriya | 0:7b4c00e3912f | 501 | wait_ms(100); |
| sakthipriya | 0:7b4c00e3912f | 502 | ACS_INIT_STATUS = 'c'; //set ACS_INIT_STATUS flag |
| sakthipriya | 0:7b4c00e3912f | 503 | } |
| sakthipriya | 0:7b4c00e3912f | 504 | |
| sakthipriya | 0:7b4c00e3912f | 505 | void FCTN_ATS_DATA_ACQ() |
| sakthipriya | 0:7b4c00e3912f | 506 | { |
| sakthipriya | 0:7b4c00e3912f | 507 | ACS_DATA_ACQ_STATUS = 's'; //set ACS_DATA_ACQ_STATUS flag for att sens 2 |
| sakthipriya | 0:7b4c00e3912f | 508 | if( ACS_ATS_ENABLE == 'e') |
| sakthipriya | 0:7b4c00e3912f | 509 | { |
| sakthipriya | 0:7b4c00e3912f | 510 | FLAG(); |
| sakthipriya | 0:7b4c00e3912f | 511 | pc_acs.printf("attitude sensor execution called \n \r"); |
| sakthipriya | 0:7b4c00e3912f | 512 | toFlag=1; //toFlag is set to 1 so that it enters while loop |
| sakthipriya | 0:7b4c00e3912f | 513 | to.attach(&T_OUT,2); //after 2 seconds the while loop gets terminated |
| sakthipriya | 0:7b4c00e3912f | 514 | while(toFlag) { |
| sakthipriya | 0:7b4c00e3912f | 515 | cmd[0]=EVT_STATUS; |
| sakthipriya | 0:7b4c00e3912f | 516 | i2c.write(SLAVE_ADDR,cmd,1); |
| sakthipriya | 0:7b4c00e3912f | 517 | i2c.read(SLAVE_ADDR_READ,&status,1); |
| sakthipriya | 0:7b4c00e3912f | 518 | wait_ms(100); |
| sakthipriya | 0:7b4c00e3912f | 519 | pc_acs.printf("Event Status is %x\n \r",(int)status); |
| sakthipriya | 0:7b4c00e3912f | 520 | //if the 6th and 4th bit are 1 then it implies that gyro and magnetometer values are ready to take |
| sakthipriya | 0:7b4c00e3912f | 521 | if(((int)status&40)==40) { |
| sakthipriya | 0:7b4c00e3912f | 522 | cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x |
| sakthipriya | 0:7b4c00e3912f | 523 | i2c.write(SLAVE_ADDR,cmd,1); |
| sakthipriya | 0:7b4c00e3912f | 524 | i2c.read(SLAVE_ADDR_READ,raw_gyro,6); |
| sakthipriya | 0:7b4c00e3912f | 525 | cmd[0]=MAG_XOUT_H; //LSB of x |
| sakthipriya | 0:7b4c00e3912f | 526 | i2c.write(SLAVE_ADDR,cmd,1); |
| sakthipriya | 0:7b4c00e3912f | 527 | i2c.read(SLAVE_ADDR_READ,raw_mag,6); |
| sakthipriya | 0:7b4c00e3912f | 528 | // pc_acs.printf("\nGyro Values:\n"); |
| sakthipriya | 0:7b4c00e3912f | 529 | for(int i=0; i<3; i++) { |
| sakthipriya | 0:7b4c00e3912f | 530 | //concatenating gyro LSB and MSB to get 16 bit signed data values |
| sakthipriya | 0:7b4c00e3912f | 531 | bit_data= ((int16_t)raw_gyro[2*i+1]<<8)|(int16_t)raw_gyro[2*i]; |
| sakthipriya | 0:7b4c00e3912f | 532 | gyro_data[i]=(float)bit_data; |
| sakthipriya | 0:7b4c00e3912f | 533 | gyro_data[i]=gyro_data[i]/senstivity_gyro; |
| sakthipriya | 0:7b4c00e3912f | 534 | gyro_data[i]+=gyro_error[i]; |
| sakthipriya | 0:7b4c00e3912f | 535 | // pc_acs.printf("%f\t",gyro_data[i]); |
| sakthipriya | 0:7b4c00e3912f | 536 | } |
| gkumar | 8:aad4f22221b1 | 537 | gyro_data[0] = (gyro_data[0] + 1.52) * (3.1415/180); |
| gkumar | 8:aad4f22221b1 | 538 | gyro_data[1] = (gyro_data[1] - 2.44) * (3.1415/180); |
| gkumar | 8:aad4f22221b1 | 539 | gyro_data[2] = (gyro_data[2] - 1.06) * (3.1415/180); // in radians |
| sakthipriya | 0:7b4c00e3912f | 540 | // pc_acs.printf("\nMag Values:\n"); |
| sakthipriya | 0:7b4c00e3912f | 541 | for(int i=0; i<3; i++) { |
| sakthipriya | 0:7b4c00e3912f | 542 | //concatenating mag LSB and MSB to get 16 bit signed data values |
| sakthipriya | 0:7b4c00e3912f | 543 | bit_data= ((int16_t)raw_mag[2*i+1]<<8)|(int16_t)raw_mag[2*i]; |
| sakthipriya | 0:7b4c00e3912f | 544 | mag_data[i]=(float)bit_data; |
| sakthipriya | 0:7b4c00e3912f | 545 | mag_data[i]=mag_data[i]/senstivity_mag; |
| sakthipriya | 0:7b4c00e3912f | 546 | mag_data[i]+=mag_error[i]; |
| sakthipriya | 0:7b4c00e3912f | 547 | // pc_acs.printf("%f\t",mag_data[i]); |
| sakthipriya | 0:7b4c00e3912f | 548 | } |
| gkumar | 8:aad4f22221b1 | 549 | mag_data[0] = ((mag_data[0] - 0.8089)/0.9566)/1000000; |
| gkumar | 8:aad4f22221b1 | 550 | mag_data[1] = ((mag_data[1] + 1.6722)/1.095)/1000000; |
| gkumar | 8:aad4f22221b1 | 551 | mag_data[2] = ((mag_data[2] + 4.7846 )/1.03)/1000000; // in Tesla |
| sakthipriya | 0:7b4c00e3912f | 552 | for(int i=0; i<3; i++) { |
| sakthipriya | 6:036d08b62785 | 553 | // data[i]=gyro_data[i]; |
| sakthipriya | 6:036d08b62785 | 554 | actual_data.AngularSpeed_actual[i] = gyro_data[i]; |
| sakthipriya | 6:036d08b62785 | 555 | actual_data.Bvalue_actual[i] = mag_data[i]; |
| sakthipriya | 6:036d08b62785 | 556 | //data[i+3]=mag_data[i]; |
| sakthipriya | 0:7b4c00e3912f | 557 | } |
| sakthipriya | 0:7b4c00e3912f | 558 | // return(combined_values); //returning poiter combined values |
| sakthipriya | 0:7b4c00e3912f | 559 | } |
| sakthipriya | 0:7b4c00e3912f | 560 | //checking for the error |
| sakthipriya | 0:7b4c00e3912f | 561 | else if (((int)status&2)==2) { |
| sakthipriya | 0:7b4c00e3912f | 562 | FCTN_ACS_INIT(); //when there is any error then Again inilization is done to remove error |
| sakthipriya | 0:7b4c00e3912f | 563 | } |
| sakthipriya | 0:7b4c00e3912f | 564 | } |
| sakthipriya | 0:7b4c00e3912f | 565 | } |
| sakthipriya | 0:7b4c00e3912f | 566 | else //ACS_DATA_ACQ_STATUS = ACS_DATA_ACQ_FAILURE |
| sakthipriya | 0:7b4c00e3912f | 567 | { |
| sakthipriya | 0:7b4c00e3912f | 568 | ACS_DATA_ACQ_STATUS = 'f'; |
| sakthipriya | 0:7b4c00e3912f | 569 | } |
| sakthipriya | 0:7b4c00e3912f | 570 | ACS_DATA_ACQ_STATUS = 'c'; //clear ACS_DATA_ACQ_STATUS flag for att sens 2 |
| sakthipriya | 0:7b4c00e3912f | 571 | } |
| sakthipriya | 0:7b4c00e3912f | 572 | |
| sakthipriya | 0:7b4c00e3912f | 573 | void FCTN_ACS_GENPWM_MAIN(float Moment[3]) |
| sakthipriya | 0:7b4c00e3912f | 574 | { |
| gkumar | 8:aad4f22221b1 | 575 | printf("\n\rEntered executable PWMGEN function\n"); // entering the PWMGEN executable function |
| sakthipriya | 0:7b4c00e3912f | 576 | |
| sakthipriya | 0:7b4c00e3912f | 577 | float l_duty_cycle_x=0; //Duty cycle of Moment in x direction |
| sakthipriya | 0:7b4c00e3912f | 578 | float l_current_x=0; //Current sent in x TR's |
| sakthipriya | 0:7b4c00e3912f | 579 | float l_duty_cycle_y=0; //Duty cycle of Moment in y direction |
| sakthipriya | 0:7b4c00e3912f | 580 | float l_current_y=0; //Current sent in y TR's |
| sakthipriya | 0:7b4c00e3912f | 581 | float l_duty_cycle_z=0; //Duty cycle of Moment in z direction |
| sakthipriya | 0:7b4c00e3912f | 582 | float l_current_z=0; //Current sent in z TR's |
| sakthipriya | 0:7b4c00e3912f | 583 | |
| sakthipriya | 0:7b4c00e3912f | 584 | |
| gkumar | 8:aad4f22221b1 | 585 | //for(int i = 0 ; i<3;i++) |
| sakthipriya | 0:7b4c00e3912f | 586 | { |
| sakthipriya | 0:7b4c00e3912f | 587 | // printf(" %f \t ",Moment[i]); // taking the moment values from control algorithm as inputs |
| sakthipriya | 0:7b4c00e3912f | 588 | } |
| sakthipriya | 0:7b4c00e3912f | 589 | |
| sakthipriya | 0:7b4c00e3912f | 590 | //----------------------------- x-direction TR --------------------------------------------// |
| sakthipriya | 0:7b4c00e3912f | 591 | |
| sakthipriya | 0:7b4c00e3912f | 592 | |
| sakthipriya | 0:7b4c00e3912f | 593 | float l_moment_x = Moment[0]; //Moment in x direction |
| sakthipriya | 0:7b4c00e3912f | 594 | |
| sakthipriya | 0:7b4c00e3912f | 595 | phase_TR_x = 1; // setting the default current direction |
| sakthipriya | 0:7b4c00e3912f | 596 | if (l_moment_x <0) |
| sakthipriya | 0:7b4c00e3912f | 597 | { |
| sakthipriya | 0:7b4c00e3912f | 598 | 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 | 599 | l_moment_x = abs(l_moment_x); |
| sakthipriya | 0:7b4c00e3912f | 600 | } |
| sakthipriya | 0:7b4c00e3912f | 601 | |
| sakthipriya | 0:7b4c00e3912f | 602 | l_current_x = l_moment_x * TR_CONSTANT ; //Moment and Current always have the linear relationship |
| sakthipriya | 0:7b4c00e3912f | 603 | pc_acs.printf("current in trx is %f \r \n",l_current_x); |
| gkumar | 8:aad4f22221b1 | 604 | if( l_current_x>0 && l_current_x < 0.0016 ) //Current and Duty cycle have the linear relationship between 1% and 100% |
| sakthipriya | 0:7b4c00e3912f | 605 | { |
| gkumar | 8:aad4f22221b1 | 606 | 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 |
| sakthipriya | 0:7b4c00e3912f | 607 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
| sakthipriya | 0:7b4c00e3912f | 608 | PWM1.period(TIME_PERIOD); |
| sakthipriya | 0:7b4c00e3912f | 609 | PWM1 = l_duty_cycle_x/100 ; |
| sakthipriya | 0:7b4c00e3912f | 610 | } |
| gkumar | 8:aad4f22221b1 | 611 | else if (l_current_x >= 0.0016 && l_current_x < 0.0171) |
| sakthipriya | 0:7b4c00e3912f | 612 | { |
| gkumar | 8:aad4f22221b1 | 613 | 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 |
| sakthipriya | 0:7b4c00e3912f | 614 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
| sakthipriya | 0:7b4c00e3912f | 615 | PWM1.period(TIME_PERIOD); |
| sakthipriya | 0:7b4c00e3912f | 616 | PWM1 = l_duty_cycle_x/100 ; |
| sakthipriya | 0:7b4c00e3912f | 617 | } |
| gkumar | 8:aad4f22221b1 | 618 | else if(l_current_x >= 0.0171 && l_current_x < 0.1678) |
| sakthipriya | 0:7b4c00e3912f | 619 | { |
| gkumar | 8:aad4f22221b1 | 620 | 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 |
| sakthipriya | 0:7b4c00e3912f | 621 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
| sakthipriya | 0:7b4c00e3912f | 622 | PWM1.period(TIME_PERIOD); |
| sakthipriya | 0:7b4c00e3912f | 623 | PWM1 = l_duty_cycle_x/100 ; |
| sakthipriya | 0:7b4c00e3912f | 624 | } |
| sakthipriya | 0:7b4c00e3912f | 625 | else if(l_current_x==0) |
| sakthipriya | 0:7b4c00e3912f | 626 | { |
| sakthipriya | 0:7b4c00e3912f | 627 | printf("\n \r l_current_x====0"); |
| sakthipriya | 0:7b4c00e3912f | 628 | l_duty_cycle_x = 0; // default value of duty cycle |
| sakthipriya | 0:7b4c00e3912f | 629 | pc_acs.printf("DC for trx is %f \r \n",l_duty_cycle_x); |
| sakthipriya | 0:7b4c00e3912f | 630 | PWM1.period(TIME_PERIOD); |
| sakthipriya | 0:7b4c00e3912f | 631 | PWM1 = l_duty_cycle_x/100 ; |
| sakthipriya | 0:7b4c00e3912f | 632 | } |
| sakthipriya | 0:7b4c00e3912f | 633 | else //not necessary |
| sakthipriya | 0:7b4c00e3912f | 634 | { |
| sakthipriya | 0:7b4c00e3912f | 635 | g_err_flag_TR_x = 1; |
| sakthipriya | 0:7b4c00e3912f | 636 | } |
| gkumar | 8:aad4f22221b1 | 637 | |
| sakthipriya | 0:7b4c00e3912f | 638 | |
| sakthipriya | 0:7b4c00e3912f | 639 | //------------------------------------- y-direction TR--------------------------------------// |
| sakthipriya | 0:7b4c00e3912f | 640 | |
| sakthipriya | 0:7b4c00e3912f | 641 | |
| gkumar | 8:aad4f22221b1 | 642 | float l_moment_y = Moment[1]; //Moment in y direction |
| sakthipriya | 0:7b4c00e3912f | 643 | |
| sakthipriya | 0:7b4c00e3912f | 644 | phase_TR_y = 1; // setting the default current direction |
| sakthipriya | 0:7b4c00e3912f | 645 | if (l_moment_y <0) |
| sakthipriya | 0:7b4c00e3912f | 646 | { |
| sakthipriya | 0:7b4c00e3912f | 647 | 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 | 648 | l_moment_y = abs(l_moment_y); |
| sakthipriya | 0:7b4c00e3912f | 649 | } |
| sakthipriya | 0:7b4c00e3912f | 650 | |
| sakthipriya | 0:7b4c00e3912f | 651 | |
| sakthipriya | 0:7b4c00e3912f | 652 | l_current_y = l_moment_y * TR_CONSTANT ; //Moment and Current always have the linear relationship |
| sakthipriya | 0:7b4c00e3912f | 653 | pc_acs.printf("current in try is %f \r \n",l_current_y); |
| gkumar | 8:aad4f22221b1 | 654 | if( l_current_y>0 && l_current_y < 0.0016 ) //Current and Duty cycle have the linear relationship between 1% and 100% |
| sakthipriya | 0:7b4c00e3912f | 655 | { |
| gkumar | 8:aad4f22221b1 | 656 | 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 |
| sakthipriya | 0:7b4c00e3912f | 657 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
| sakthipriya | 0:7b4c00e3912f | 658 | PWM2.period(TIME_PERIOD); |
| sakthipriya | 0:7b4c00e3912f | 659 | PWM2 = l_duty_cycle_y/100 ; |
| sakthipriya | 0:7b4c00e3912f | 660 | } |
| gkumar | 8:aad4f22221b1 | 661 | else if (l_current_y >= 0.0016 && l_current_y < 0.0171) |
| sakthipriya | 0:7b4c00e3912f | 662 | { |
| gkumar | 8:aad4f22221b1 | 663 | 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 |
| sakthipriya | 0:7b4c00e3912f | 664 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
| sakthipriya | 0:7b4c00e3912f | 665 | PWM2.period(TIME_PERIOD); |
| sakthipriya | 0:7b4c00e3912f | 666 | PWM2 = l_duty_cycle_y/100 ; |
| sakthipriya | 0:7b4c00e3912f | 667 | } |
| gkumar | 8:aad4f22221b1 | 668 | else if(l_current_y >= 0.0171 && l_current_y < 0.1678) |
| sakthipriya | 0:7b4c00e3912f | 669 | { |
| gkumar | 8:aad4f22221b1 | 670 | 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 |
| sakthipriya | 0:7b4c00e3912f | 671 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
| sakthipriya | 0:7b4c00e3912f | 672 | PWM2.period(TIME_PERIOD); |
| sakthipriya | 0:7b4c00e3912f | 673 | PWM2 = l_duty_cycle_y/100 ; |
| gkumar | 8:aad4f22221b1 | 674 | } |
| sakthipriya | 0:7b4c00e3912f | 675 | else if(l_current_y==0) |
| sakthipriya | 0:7b4c00e3912f | 676 | { |
| sakthipriya | 0:7b4c00e3912f | 677 | printf("\n \r l_current_y====0"); |
| sakthipriya | 0:7b4c00e3912f | 678 | l_duty_cycle_y = 0; // default value of duty cycle |
| sakthipriya | 0:7b4c00e3912f | 679 | pc_acs.printf("DC for try is %f \r \n",l_duty_cycle_y); |
| sakthipriya | 0:7b4c00e3912f | 680 | PWM2.period(TIME_PERIOD); |
| sakthipriya | 0:7b4c00e3912f | 681 | PWM2 = l_duty_cycle_y/100 ; |
| sakthipriya | 0:7b4c00e3912f | 682 | } |
| sakthipriya | 0:7b4c00e3912f | 683 | else // not necessary |
| sakthipriya | 0:7b4c00e3912f | 684 | { |
| sakthipriya | 0:7b4c00e3912f | 685 | g_err_flag_TR_y = 1; |
| sakthipriya | 0:7b4c00e3912f | 686 | } |
| gkumar | 8:aad4f22221b1 | 687 | |
| sakthipriya | 0:7b4c00e3912f | 688 | //----------------------------------------------- z-direction TR -------------------------// |
| sakthipriya | 0:7b4c00e3912f | 689 | |
| sakthipriya | 0:7b4c00e3912f | 690 | float l_moment_z = Moment[2]; //Moment in z direction |
| sakthipriya | 0:7b4c00e3912f | 691 | |
| sakthipriya | 0:7b4c00e3912f | 692 | phase_TR_z = 1; // setting the default current direction |
| sakthipriya | 0:7b4c00e3912f | 693 | if (l_moment_z <0) |
| sakthipriya | 0:7b4c00e3912f | 694 | { |
| sakthipriya | 0:7b4c00e3912f | 695 | 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 | 696 | l_moment_z = abs(l_moment_z); |
| sakthipriya | 0:7b4c00e3912f | 697 | } |
| sakthipriya | 0:7b4c00e3912f | 698 | |
| sakthipriya | 0:7b4c00e3912f | 699 | |
| sakthipriya | 0:7b4c00e3912f | 700 | l_current_z = l_moment_z * TR_CONSTANT ; //Moment and Current always have the linear relationship |
| sakthipriya | 0:7b4c00e3912f | 701 | pc_acs.printf("current in trz is %f \r \n",l_current_z); |
| gkumar | 8:aad4f22221b1 | 702 | if( l_current_z>0 && l_current_z < 0.0016 ) //Current and Duty cycle have the linear relationship between 1% and 100% |
| sakthipriya | 0:7b4c00e3912f | 703 | { |
| gkumar | 8:aad4f22221b1 | 704 | 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 |
| sakthipriya | 0:7b4c00e3912f | 705 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
| sakthipriya | 0:7b4c00e3912f | 706 | PWM3.period(TIME_PERIOD); |
| sakthipriya | 0:7b4c00e3912f | 707 | PWM3 = l_duty_cycle_z/100 ; |
| sakthipriya | 0:7b4c00e3912f | 708 | } |
| gkumar | 8:aad4f22221b1 | 709 | else if (l_current_z >= 0.0016 && l_current_z < 0.0171) |
| sakthipriya | 0:7b4c00e3912f | 710 | { |
| gkumar | 8:aad4f22221b1 | 711 | 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 |
| sakthipriya | 0:7b4c00e3912f | 712 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
| sakthipriya | 0:7b4c00e3912f | 713 | PWM3.period(TIME_PERIOD); |
| sakthipriya | 0:7b4c00e3912f | 714 | PWM3 = l_duty_cycle_z/100 ; |
| sakthipriya | 0:7b4c00e3912f | 715 | } |
| gkumar | 8:aad4f22221b1 | 716 | else if(l_current_z >= 0.0171 && l_current_z < 0.1678) |
| sakthipriya | 0:7b4c00e3912f | 717 | { |
| gkumar | 8:aad4f22221b1 | 718 | 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 |
| sakthipriya | 0:7b4c00e3912f | 719 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
| sakthipriya | 0:7b4c00e3912f | 720 | PWM3.period(TIME_PERIOD); |
| sakthipriya | 0:7b4c00e3912f | 721 | PWM3 = l_duty_cycle_z/100 ; |
| sakthipriya | 0:7b4c00e3912f | 722 | } |
| sakthipriya | 0:7b4c00e3912f | 723 | else if(l_current_z==0) |
| sakthipriya | 0:7b4c00e3912f | 724 | { |
| sakthipriya | 0:7b4c00e3912f | 725 | printf("\n \r l_current_z====0"); |
| sakthipriya | 0:7b4c00e3912f | 726 | l_duty_cycle_z = 0; // default value of duty cycle |
| sakthipriya | 0:7b4c00e3912f | 727 | pc_acs.printf("DC for trz is %f \r \n",l_duty_cycle_z); |
| sakthipriya | 0:7b4c00e3912f | 728 | PWM3.period(TIME_PERIOD); |
| sakthipriya | 0:7b4c00e3912f | 729 | PWM3 = l_duty_cycle_z/100 ; |
| sakthipriya | 0:7b4c00e3912f | 730 | } |
| sakthipriya | 0:7b4c00e3912f | 731 | else // not necessary |
| sakthipriya | 0:7b4c00e3912f | 732 | { |
| sakthipriya | 0:7b4c00e3912f | 733 | g_err_flag_TR_z = 1; |
| sakthipriya | 0:7b4c00e3912f | 734 | } |
| sakthipriya | 0:7b4c00e3912f | 735 | |
| sakthipriya | 0:7b4c00e3912f | 736 | //-----------------------------------------exiting the function-----------------------------------// |
| sakthipriya | 0:7b4c00e3912f | 737 | |
| sakthipriya | 0:7b4c00e3912f | 738 | printf("\n\rExited executable PWMGEN function\n\r"); // stating the successful exit of TR function |
| gkumar | 8:aad4f22221b1 | 739 | |
| sakthipriya | 0:7b4c00e3912f | 740 | |
| sakthipriya | 0:7b4c00e3912f | 741 | } |
| sakthipriya | 0:7b4c00e3912f | 742 | |
| sakthipriya | 0:7b4c00e3912f | 743 |