latest BAE code 10 dec

Dependencies:   FreescaleIAP mbed-rtos mbed

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Show/hide line numbers ACS.h Source File

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();