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Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of RAJANGAM_REVIEW_BAE_CODE by Team Fox

ACS.h@20:949d13045431, 2016-07-01 (annotated)

Committer:
lakshya
Date:
Fri Jul 01 17:55:30 2016 +0000
Revision:
20:949d13045431
Parent:
0:7b4c00e3912f
Child:
41:5df2bed2157d
Child:
49:61c9f28332ba
BAE final 1.0 (1st july); ; BCN and EPS  code to be upgraded; +; testing and troubleshooting to be done ; +; watchdog to be implemented; ; comparing with flowcharts.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakthipriya 0:7b4c00e3912f 1 #include "mbed.h"
sakthipriya 0:7b4c00e3912f 2 #include "math.h"
sakthipriya 0:7b4c00e3912f 3 #include "pni.h"
sakthipriya 0:7b4c00e3912f 4
sakthipriya 0:7b4c00e3912f 5 //...........................................
sakthipriya 0:7b4c00e3912f 6 #define TIME_PERIOD 0.02
sakthipriya 0:7b4c00e3912f 7 #define TR_CONSTANT 0.3
lakshya 20:949d13045431 8 #define sampling_time 10
lakshya 20:949d13045431 9 #define kdetumble 2000000
lakshya 20:949d13045431 10 #define MmntMax 1.1 // Unit: Ampere*Meter^2
lakshya 20:949d13045431 11 #define OmegaMax 1*3.1415/180.0 // Unit: Radians/Second
lakshya 20:949d13045431 12 //#define ACS_DEMAG_TIME_DELAY 65
lakshya 20:949d13045431 13 //#define ACS_Z_FIXED_MOMENT 1.3 ka lvl assign kar de;;;;;;;;
lakshya 20:949d13045431 14
lakshya 20:949d13045431 15 #define senstivity_gyro 6.5536; //senstivity is obtained from 2^15/5000dps
lakshya 20:949d13045431 16 #define senstivity_mag 32.768; //senstivity is obtained from 2^15/1000microtesla
lakshya 20:949d13045431 17 #define senstivity_time 32; //senstivity is obtained from 2^16/2048dps
sakthipriya 0:7b4c00e3912f 18
sakthipriya 0:7b4c00e3912f 19 void FCTN_ACS_GENPWM_MAIN(float*);
lakshya 20:949d13045431 20 void FCTN_ACS_CNTRLALGO(float*,float*,float*,uint8_t,uint8_t,uint8_t);
lakshya 20:949d13045431 21 void controlmodes(float*,float*, float*, float*, uint8_t,uint8_t);
sakthipriya 0:7b4c00e3912f 22 void inverse(float mat[3][3],float inv[3][3]);
sakthipriya 0:7b4c00e3912f 23 extern void FLAG();
sakthipriya 0:7b4c00e3912f 24
sakthipriya 0:7b4c00e3912f 25 void FCTN_ATS_SWITCH(bool);
lakshya 20:949d13045431 26 int FCTN_ACS_INIT(); //initialization of registers happens
sakthipriya 0:7b4c00e3912f 27 void FCTN_T_OUT(); //timeout function to stop infinite loop
lakshya 20:949d13045431 28 int FCTN_ATS_DATA_ACQ();