Diff: main.cpp

Revision:

9:f66c57a01e05

Parent:

8:aad4f22221b1

--- a/main.cpp	Mon Jan 25 17:27:26 2016 +0000
+++ b/main.cpp	Wed Feb 03 18:41:17 2016 +0000
@@ -8,11 +8,13 @@
 
 #define tm_len 134
 #define tc_len 135
+
 #define batt_heat_low 20
 //***************************************************** flags *************************************************************//
 uint32_t BAE_STATUS = 0x00000000;
 uint32_t BAE_ENABLE = 0xFFFFFFFF;
 
+
 //i2c//
 char data_send_flag = 'h'; 
 
@@ -82,9 +84,9 @@
 DigitalOut batt_heat(PIN96);
 
 //gpo1 = 0;
-PwmOut PWM1(PIN93); //x                         //Functions used to generate PWM signal 
-PwmOut PWM2(PIN94); //y
-PwmOut PWM3(PIN95); //z                         //PWM output comes from pins p6
+//PwmOut PWM1(PIN93); //x                         //Functions used to generate PWM signal 
+//PwmOut PWM2(PIN94); //y
+//PwmOut PWM3(PIN95); //z                         //PWM output comes from pins p6
 
 //........faults
 //Polled Faults
@@ -108,6 +110,10 @@
 DigitalOut BCN_SW(PIN14);      //Beacon switch
 DigitalOut DRV_XY_SLP(PIN82);
 
+extern PwmOut PWM1; //x                         //Functions used to generate PWM signal 
+extern PwmOut PWM2; //y
+extern PwmOut PWM3; //z                         //PWM output comes from pins p6
+
 
 
 
@@ -195,9 +201,9 @@
         
     //Thread::signal_wait(0x1);  
     ACS_MAIN_STATUS = 's'; //set ACS_MAIN_STATUS flag 
-    PWM1 = 0;                     //clear pwm pins
-    PWM2 = 0;                     //clear pwm pins
-    PWM3 = 0;                     //clear pwm pins
+    //PWM1 = 0;                     //clear pwm pins
+    //PWM2 = 0;                     //clear pwm pins
+    //PWM3 = 0;                     //clear pwm pins
     pc.printf("\n\rEntered ACS   %f\n",t_start.read());
     
     if(ACS_DATA_ACQ_ENABLE == 'e')// check if ACS_DATA_ACQ_ENABLE = 1?
@@ -269,11 +275,17 @@
                             ACS_STATUS = '4';                    // set ACS_STATUS = ACS_NOMINAL_ONLY
                             FCTN_ACS_CNTRLALGO(moment,actual_data.Bvalue_actual,actual_data.AngularSpeed_actual,b_old,alarmmode, flag_firsttime, controlmode);
                             printf("\n\r moment values returned by control algo \n");
+                            moment[0] = moment[1] = moment[2] = 0.8 ;
+                            
                             for(int i=0; i<3; i++) 
                             {
                                 printf("%f\t",moment[i]);
+                                
                             }
-                            FCTN_ACS_GENPWM_MAIN(moment) ;   
+                           FCTN_ACS_GENPWM_MAIN(moment) ;  
+                            //PWM1 = 0.95; 
+                            //PWM3 = 0.95; 
+                            //PWM2 = 0.95; 
                         }
                         else
                         {
@@ -595,7 +607,7 @@
     
     if(schedcount%2==0)
     {
-        F_EPS();
+        //F_EPS();
     }
     if(schedcount%3==0)
     { 
@@ -723,7 +735,7 @@
     EPS_BATTERY_HEAT_ENABLE = 'e';
     //............................//
     FCTN_ACS_INIT();
-    FCTN_EPS_INIT();
+    //FCTN_EPS_INIT();
     //P_BCN_INIT();
 
     
@@ -748,6 +760,7 @@
     gpo1 = 0;
     FLAG();
     FCTN_BAE_INIT();
+    actual_data.power_mode = 2;
     
     
     //...i2c..