Diff: ACS.h

Revision:

20:949d13045431

Parent:

0:7b4c00e3912f

Child:

41:5df2bed2157d

Child:

49:61c9f28332ba

--- a/ACS.h	Sat Jun 04 11:29:13 2016 +0000
+++ b/ACS.h	Fri Jul 01 17:55:30 2016 +0000
@@ -5,15 +5,24 @@
 //...........................................
 #define TIME_PERIOD  0.02
 #define TR_CONSTANT  0.3
+#define sampling_time 10
+#define kdetumble 2000000
+#define MmntMax 1.1  // Unit: Ampere*Meter^2
+#define OmegaMax 1*3.1415/180.0 // Unit: Radians/Second
+//#define ACS_DEMAG_TIME_DELAY 65
+//#define ACS_Z_FIXED_MOMENT 1.3 ka lvl assign kar de;;;;;;;;
+
+#define senstivity_gyro 6.5536; //senstivity is obtained from 2^15/5000dps
+#define senstivity_mag  32.768; //senstivity is obtained from 2^15/1000microtesla
+#define senstivity_time 32; //senstivity is obtained from 2^16/2048dps
 
 void FCTN_ACS_GENPWM_MAIN(float*);
-void FCTN_ACS_CNTRLALGO(float*,float*);
+void FCTN_ACS_CNTRLALGO(float*,float*,float*,uint8_t,uint8_t,uint8_t);
+void controlmodes(float*,float*, float*, float*, uint8_t,uint8_t);
 void inverse(float mat[3][3],float inv[3][3]);
 extern void FLAG();
 
 void FCTN_ATS_SWITCH(bool);
-void FCTN_ACS_INIT(); //initialization of registers happens
-//void FCTN_ATS_DATA_ACQ(float*,float*); // main function: checks errors, gets data, switches on/off the sensor
-//void FCTN_GET_DATA(float*,float*); //data is obtained
+int FCTN_ACS_INIT(); //initialization of registers happens
 void FCTN_T_OUT(); //timeout function to stop infinite loop
-void FCTN_ATS_DATA_ACQ();
+int FCTN_ATS_DATA_ACQ();