latest BAE code 10 dec
Dependencies: FreescaleIAP mbed-rtos mbed
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ACS.h
00001 #include "mbed.h" 00002 #include "math.h" 00003 #include "pni.h" 00004 00005 //........................................... 00006 #define TIME_PERIOD 0.02 00007 #define TR_CONSTANT 0.3 00008 #define sampling_time 5 00009 #define kdetumble 2000000 00010 #define MmntMax 1.1 // Unit: Ampere*Meter^2 00011 #define OmegaMax 1*3.1415/180.0 // Unit: Radians/Second 00012 //#define ACS_DEMAG_TIME_DELAY 65 00013 //#define ACS_Z_FIXED_MOMENT 1.3 ka lvl assign kar de;;;;;;;; 00014 00015 #define senstivity_gyro 6.5536; //senstivity is obtained from 2^15/5000dps 00016 #define senstivity_mag 32.768; //senstivity is obtained from 2^15/1000microtesla 00017 #define senstivity_time 32; //senstivity is obtained from 2^16/2048dps 00018 00019 void FCTN_ACS_GENPWM_MAIN(float*); 00020 void FCTN_ACS_CNTRLALGO(float*,float*,float*,uint8_t,uint8_t,uint8_t); 00021 void controllermodes(float*,float*, float*, float*, uint8_t,uint8_t); 00022 void inverse(float mat[3][3],float inv[3][3]); 00023 extern void FLAG(); 00024 00025 void FCTN_ATS_SWITCH(bool); 00026 int FCTN_ACS_INIT(); //initialization of registers happens 00027 void FCTN_T_OUT(); //timeout function to stop infinite loop 00028 int FCTN_ATS_DATA_ACQ();
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