File content as of revision 1:c5f613785c7b:

#include "mbed.h"
#include "math.h"
#include "stdlib.h"
#include "pin_config.h"

//...........................................
#define TIME_PERIOD  0.02
#define TR_CONSTANT  0.15254

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

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
int g_err_flag_TR_z=0;       // setting z-flag to zero

void FCTN_ACS_GENPWM_MAIN(float Moment[3])
{
    printf("\n\rEntered executable PWMGEN function\n"); // entering the PWMGEN executable function
    
    float l_duty_cycle_x=0;    //Duty cycle of Moment in x direction
    float l_current_x=0;       //Current sent in x TR's
    float l_duty_cycle_y=0;    //Duty cycle of Moment in y direction
    float l_current_y=0;       //Current sent in y TR's
    float l_duty_cycle_z=0;    //Duty cycle of Moment in z direction
    float l_current_z=0;       //Current sent in z TR's
 
    
    for(int i = 0 ; i<3;i++)
    {
     //   printf(" %f \t ",Moment[i]);  // taking the moment values from control algorithm as inputs
    }
    
    //-----------------------------  x-direction TR  --------------------------------------------//
    
    
    float l_moment_x = Moment[0];         //Moment in x direction
    
    phase_TR_x = 1;  // setting the default current direction
    if (l_moment_x <0)
    {
        phase_TR_x = 0;    // if the moment value is negative, we send the abs value of corresponding current in opposite direction by setting the phase pin high 
        l_moment_x = abs(l_moment_x);
    }
    
    l_current_x = l_moment_x * TR_CONSTANT ;        //Moment and Current always have the linear relationship
    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%
    {
        l_duty_cycle_x =  3*10000000*pow(l_current_x,3)- 90216*pow(l_current_x,2) + 697.78*l_current_x - 0.0048; // calculating upto 0.1% dutycycle by polynomial interpolation 
        printf("DC for trx is %f \r \n",l_duty_cycle_x);
        PWM1.period(TIME_PERIOD);
        PWM1 = l_duty_cycle_x/100 ;
    }
    else if (l_current_x >= 0.0016 && l_current_x < 0.0171)
    {
        l_duty_cycle_x = - 76880*pow(l_current_x,3) + 1280.8*pow(l_current_x,2) + 583.78*l_current_x + 0.0281; // calculating upto 10% dutycycle by polynomial interpolation
        printf("DC for trx is %f \r \n",l_duty_cycle_x);
        PWM1.period(TIME_PERIOD);
        PWM1 = l_duty_cycle_x/100 ;            
    }
    else if(l_current_x >= 0.0171 && l_current_x < 0.1678)
    {
        l_duty_cycle_x =  275.92*pow(l_current_x,2) + 546.13*l_current_x + 0.5316; // calculating upto 100% dutycycle by polynomial interpolation
        printf("DC for trx is %f \r \n",l_duty_cycle_x);
        PWM1.period(TIME_PERIOD);
        PWM1 = l_duty_cycle_x/100 ;            
    }
    else if(l_current_x==0)
    {
        printf("\n \r l_current_x====0");
        l_duty_cycle_x = 0;      // default value of duty cycle
        printf("DC for trx is %f \r \n",l_duty_cycle_x);
        PWM1.period(TIME_PERIOD);
        PWM1 = l_duty_cycle_x/100 ;            
    }
    else                                           //not necessary
    {
        g_err_flag_TR_x = 1;
    } 
         
    //------------------------------------- y-direction TR--------------------------------------//
    
     
    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  
        l_moment_y = abs(l_moment_y);
    }
    
    
    l_current_y = l_moment_y * TR_CONSTANT ;        //Moment and Current always have the linear relationship
    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%
    {
        l_duty_cycle_y =  3*10000000*pow(l_current_y,3)- 90216*pow(l_current_y,2) + 697.78*l_current_y - 0.0048; // calculating upto 0.1% dutycycle by polynomial interpolation 
        printf("DC for try is %f \r \n",l_duty_cycle_y);
        PWM2.period(TIME_PERIOD);
        PWM2 = l_duty_cycle_y/100 ;
    }
    else if (l_current_y >= 0.0016 && l_current_y < 0.0171)
    {
        l_duty_cycle_y = - 76880*pow(l_current_y,3) + 1280.8*pow(l_current_y,2) + 583.78*l_current_y + 0.0281; // calculating upto 10% dutycycle by polynomial interpolation
        printf("DC for try is %f \r \n",l_duty_cycle_y);
        PWM2.period(TIME_PERIOD);
        PWM2 = l_duty_cycle_y/100 ;            
    }
    else if(l_current_y >= 0.0171 && l_current_y < 0.1678)
    {
        l_duty_cycle_y =  275.92*pow(l_current_y,2) + 546.13*l_current_y + 0.5316; // calculating upto 100% dutycycle by polynomial interpolation
        printf("DC for try is %f \r \n",l_duty_cycle_y);
        PWM2.period(TIME_PERIOD);
        PWM2 = l_duty_cycle_y/100 ;            
    }        
    else if(l_current_y==0)
    {
        printf("\n \r l_current_y====0");
        l_duty_cycle_y = 0; // default value of duty cycle
        printf("DC for try is %f \r \n",l_duty_cycle_y);
        PWM2.period(TIME_PERIOD);
        PWM2 = l_duty_cycle_y/100 ;            
    }
    else                               // not necessary
    {
      g_err_flag_TR_y = 1;
    } 
             
    //----------------------------------------------- z-direction TR -------------------------//  
    
      
    float l_moment_z = Moment[2];         //Moment in z direction
    
    phase_TR_z = 1;   // setting the default current direction
    if (l_moment_z <0)
    {
        phase_TR_z = 0; //if the moment value is negative, we send the abs value of corresponding current in opposite direction by setting the phase pin high 
        l_moment_z = abs(l_moment_z);
    }
    
    
    l_current_z = l_moment_z * TR_CONSTANT ;        //Moment and Current always have the linear relationship
     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%
    {
        l_duty_cycle_z =  3*10000000*pow(l_current_z,3)- 90216*pow(l_current_z,2) + 697.78*l_current_z - 0.0048; // calculating upto 0.1% dutycycle by polynomial interpolation 
        printf("DC for trz is %f \r \n",l_duty_cycle_z);
        PWM3.period(TIME_PERIOD);
        PWM3 = l_duty_cycle_z/100 ;
    }
    else if (l_current_z >= 0.0016 && l_current_z < 0.0171)
    {
        l_duty_cycle_z = - 76880*pow(l_current_z,3) + 1280.8*pow(l_current_z,2) + 583.78*l_current_z + 0.0281; // calculating upto 10% dutycycle by polynomial interpolation
        printf("DC for trz is %f \r \n",l_duty_cycle_z);
        PWM3.period(TIME_PERIOD);
        PWM3 = l_duty_cycle_z/100 ;            
    }
    else if(l_current_z >= 0.0171 && l_current_z < 0.1678)
    {
        l_duty_cycle_z =  275.92*pow(l_current_z,2) + 546.13*l_current_z + 0.5316; // calculating upto 100% dutycycle by polynomial interpolation
        printf("DC for trz is %f \r \n",l_duty_cycle_z);
        PWM3.period(TIME_PERIOD);
        PWM3 = l_duty_cycle_z/100 ;            
    }
    else if(l_current_z==0)
    {
        printf("\n \r l_current_z====0");
        l_duty_cycle_z = 0; // default value of duty cycle
        printf("DC for trz is %f \r \n",l_duty_cycle_z);
        PWM3.period(TIME_PERIOD);
        PWM3 = l_duty_cycle_z/100 ;            
    }
    else                               // not necessary
    {
        g_err_flag_TR_z = 1;
    }   
    
    //-----------------------------------------exiting the function-----------------------------------//
    
    printf("\n\rExited executable PWMGEN function\n\r"); // stating the successful exit of TR function
 
}

void main(){
    float mmt[3]={1,0.5,1.1}; // Unit: Ampere*Meter^2
    FCTN_ACS_GENPWM_MAIN(mmt);
    }