Team Fox
/
TFR_BAE_vr1_1_Debug153
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Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
TFR_BAE_vr1_1_Debug153
by 
Bragadeesh S
Revision 9:f66c57a01e05, committed 2016-02-03
- Comitter:
- Bragadeesh153
- Date:
- Wed Feb 03 18:41:17 2016 +0000
- Parent:
- 8:aad4f22221b1
- Commit message:
- To be debugged
Changed in this revision
| ACS.cpp | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/ACS.cpp Mon Jan 25 17:27:26 2016 +0000
+++ b/ACS.cpp Wed Feb 03 18:41:17 2016 +0000
@@ -24,10 +24,15 @@
DigitalOut phase_TR_x(PIN27); // PHASE pin for x-torquerod
DigitalOut phase_TR_y(PIN28); // PHASE pin for y-torquerod
DigitalOut phase_TR_z(PIN86); // PHASE pin for z-torquerod
+DigitalOut TRZ_EN(PIN88);
-extern PwmOut PWM1; //x //Functions used to generate PWM signal
-extern PwmOut PWM2; //y
-extern PwmOut PWM3; //z //PWM output comes from pins p6
+//extern PwmOut PWM1; //x //Functions used to generate PWM signal
+//extern PwmOut PWM2; //y
+//extern PwmOut PWM3; //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
int g_err_flag_TR_x=0; // setting x-flag to zero
int g_err_flag_TR_y=0; // setting y-flag to zero
@@ -451,6 +456,8 @@
void FCTN_ACS_INIT()
{
+
+ TRZ_EN = 1;
ACS_INIT_STATUS = 's'; //set ACS_INIT_STATUS flag
//FLAG();
pc_acs.printf("Attitude sensor init called \n \r");
@@ -599,7 +606,9 @@
l_moment_x = abs(l_moment_x);
}
- l_current_x = l_moment_x * TR_CONSTANT ; //Moment and Current always have the linear relationship
+ // l_current_x = l_moment_x * TR_CONSTANT ;
+
+ l_current_x = 0.153; //Moment and Current always have the linear relationship
pc_acs.printf("current in trx is %f \r \n",l_current_x);
if( l_current_x>0 && l_current_x < 0.0016 ) //Current and Duty cycle have the linear relationship between 1% and 100%
{
@@ -642,6 +651,8 @@
float l_moment_y = Moment[1]; //Moment in y direction
phase_TR_y = 1; // setting the default current direction
+
+
if (l_moment_y <0)
{
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
@@ -649,7 +660,9 @@
}
- l_current_y = l_moment_y * TR_CONSTANT ; //Moment and Current always have the linear relationship
+ //l_current_y = l_moment_y * TR_CONSTANT ; //Moment and Current always have the linear relationship
+
+ l_current_y = 0.153;
pc_acs.printf("current in try is %f \r \n",l_current_y);
if( l_current_y>0 && l_current_y < 0.0016 ) //Current and Duty cycle have the linear relationship between 1% and 100%
{
@@ -697,7 +710,9 @@
}
- l_current_z = l_moment_z * TR_CONSTANT ; //Moment and Current always have the linear relationship
+ // l_current_z = l_moment_z * TR_CONSTANT ; //Moment and Current always have the linear relationship
+
+ l_current_z = 0.153;
pc_acs.printf("current in trz is %f \r \n",l_current_z);
if( l_current_z>0 && l_current_z < 0.0016 ) //Current and Duty cycle have the linear relationship between 1% and 100%
{
@@ -737,6 +752,10 @@
printf("\n\rExited executable PWMGEN function\n\r"); // stating the successful exit of TR function
+ //PWM1 = 0.95;
+ //PWM2 = 0.95;
+ //PWM3 = 0.95;
+
}
--- 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..