QITH FLAGS
Dependencies: FreescaleIAP mbed-rtos mbed
Fork of TF_conops_BAE1_3 by
ACS.cpp@1:7185136654ce, 2015-07-06 (annotated)
- Committer:
- sakthipriya
- Date:
- Mon Jul 06 07:34:00 2015 +0000
- Revision:
- 1:7185136654ce
- Parent:
- 0:246d1b5f11ae
- Child:
- 2:3c6c33509772
varun - to modify acs part of this code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sakthipriya | 0:246d1b5f11ae | 1 | #include "ACS.h" |
sakthipriya | 0:246d1b5f11ae | 2 | #include "pin_config.h" |
sakthipriya | 0:246d1b5f11ae | 3 | |
sakthipriya | 0:246d1b5f11ae | 4 | Serial pc1(USBTX, USBRX); |
sakthipriya | 0:246d1b5f11ae | 5 | //.....................................flags...................................................// |
sakthipriya | 0:246d1b5f11ae | 6 | extern uint32_t BAE_STATUS; |
sakthipriya | 0:246d1b5f11ae | 7 | extern uint32_t BAE_ENABLE; |
sakthipriya | 0:246d1b5f11ae | 8 | |
sakthipriya | 0:246d1b5f11ae | 9 | //....................................pwmgen...................................................// |
sakthipriya | 0:246d1b5f11ae | 10 | DigitalOut phase_TR_x(PIN27); // PHASE pin for x-torquerod |
sakthipriya | 0:246d1b5f11ae | 11 | DigitalOut phase_TR_y(PIN28); // PHASE pin for y-torquerod |
sakthipriya | 0:246d1b5f11ae | 12 | DigitalOut phase_TR_z(PIN86); // PHASE pin for z-torquerod |
sakthipriya | 0:246d1b5f11ae | 13 | |
sakthipriya | 0:246d1b5f11ae | 14 | PwmOut PWM1(PIN93); //Functions used to generate PWM signal |
sakthipriya | 0:246d1b5f11ae | 15 | PwmOut PWM2(PIN94); |
sakthipriya | 0:246d1b5f11ae | 16 | PwmOut PWM3(PIN95); //PWM output comes from pins p6 |
sakthipriya | 0:246d1b5f11ae | 17 | |
sakthipriya | 0:246d1b5f11ae | 18 | int g_err_flag_TR_x=0; // setting x-flag to zero |
sakthipriya | 0:246d1b5f11ae | 19 | int g_err_flag_TR_y=0; // setting y-flag to zero |
sakthipriya | 0:246d1b5f11ae | 20 | int g_err_flag_TR_z=0; // setting z-flag to zero |
sakthipriya | 0:246d1b5f11ae | 21 | |
sakthipriya | 0:246d1b5f11ae | 22 | //....................................ATS......................................................// |
sakthipriya | 0:246d1b5f11ae | 23 | |
sakthipriya | 0:246d1b5f11ae | 24 | DigitalOut g_enb1(PIN90);//switch for sensor 1 |
sakthipriya | 0:246d1b5f11ae | 25 | DigitalOut g_enb2(PIN70);//switch for sensor 2 |
sakthipriya | 0:246d1b5f11ae | 26 | Serial mnm(USBTX,USBRX); //for usb communication |
sakthipriya | 0:246d1b5f11ae | 27 | I2C i2c (PIN85,PIN84); //PTC2-sda,PTC1-scl |
sakthipriya | 0:246d1b5f11ae | 28 | |
sakthipriya | 0:246d1b5f11ae | 29 | Timeout g_to; //Timeout variable to |
sakthipriya | 0:246d1b5f11ae | 30 | int g_toflag; |
sakthipriya | 0:246d1b5f11ae | 31 | int ATS_reset_count=0; |
sakthipriya | 0:246d1b5f11ae | 32 | char g_cmd[2]; |
sakthipriya | 0:246d1b5f11ae | 33 | float g_gyro_error[3]= {0,0,0}, g_mag_error[3]= {0,0,0}; |
sakthipriya | 0:246d1b5f11ae | 34 | |
sakthipriya | 0:246d1b5f11ae | 35 | /*------------------------------------------------------------------------------------------------------------------------------------------------------ |
sakthipriya | 0:246d1b5f11ae | 36 | ------------------------------------------- ATS data acquisition------------------------------------------------------------------------------------------*/ |
sakthipriya | 0:246d1b5f11ae | 37 | void FCTN_T_OUT() |
sakthipriya | 0:246d1b5f11ae | 38 | { |
sakthipriya | 0:246d1b5f11ae | 39 | g_toflag=0; //as T_OUT function gets called the while loop gets terminated |
sakthipriya | 0:246d1b5f11ae | 40 | } |
sakthipriya | 0:246d1b5f11ae | 41 | |
sakthipriya | 0:246d1b5f11ae | 42 | void FCTN_ACS_INIT() |
sakthipriya | 0:246d1b5f11ae | 43 | { |
sakthipriya | 1:7185136654ce | 44 | BAE_STATUS |= 0x00000080; //set ACS_INIT_STATUS flag to 1 |
sakthipriya | 0:246d1b5f11ae | 45 | FCTN_ATS_SWITCH(1); |
sakthipriya | 0:246d1b5f11ae | 46 | char store; |
sakthipriya | 0:246d1b5f11ae | 47 | g_cmd[0]=RESETREQ; |
sakthipriya | 0:246d1b5f11ae | 48 | g_cmd[1]=BIT_RESREQ; |
sakthipriya | 0:246d1b5f11ae | 49 | i2c.write(SLAVE_ADDR,g_cmd,2); //When 0x01 is written in reset request register Emulates a hard power down/power up |
sakthipriya | 0:246d1b5f11ae | 50 | wait_ms(2000); //waiting for loading configuration file stored in EEPROM |
sakthipriya | 0:246d1b5f11ae | 51 | g_cmd[0]=SENTRALSTATUS; |
sakthipriya | 0:246d1b5f11ae | 52 | i2c.write(SLAVE_ADDR,g_cmd,1); |
sakthipriya | 0:246d1b5f11ae | 53 | i2c.read(SLAVE_ADDR_READ,&store,1); |
sakthipriya | 0:246d1b5f11ae | 54 | wait_ms(100); |
sakthipriya | 0:246d1b5f11ae | 55 | //to check whether EEPROM is uploaded |
sakthipriya | 0:246d1b5f11ae | 56 | switch((int)store) { |
sakthipriya | 0:246d1b5f11ae | 57 | case(3): { |
sakthipriya | 0:246d1b5f11ae | 58 | break; |
sakthipriya | 0:246d1b5f11ae | 59 | } |
sakthipriya | 0:246d1b5f11ae | 60 | case(11): { |
sakthipriya | 0:246d1b5f11ae | 61 | break; |
sakthipriya | 0:246d1b5f11ae | 62 | } |
sakthipriya | 0:246d1b5f11ae | 63 | default: { |
sakthipriya | 0:246d1b5f11ae | 64 | g_cmd[0]=RESETREQ; |
sakthipriya | 0:246d1b5f11ae | 65 | g_cmd[1]=BIT_RESREQ; |
sakthipriya | 0:246d1b5f11ae | 66 | i2c.write(SLAVE_ADDR,g_cmd,2); |
sakthipriya | 0:246d1b5f11ae | 67 | wait_ms(2000); |
sakthipriya | 0:246d1b5f11ae | 68 | } |
sakthipriya | 0:246d1b5f11ae | 69 | } |
sakthipriya | 0:246d1b5f11ae | 70 | //pc.printf("Sentral Status is %x\n",(int)store); |
sakthipriya | 0:246d1b5f11ae | 71 | g_cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors |
sakthipriya | 0:246d1b5f11ae | 72 | g_cmd[1]=BIT_RUN_ENB; |
sakthipriya | 0:246d1b5f11ae | 73 | i2c.write(SLAVE_ADDR,g_cmd,2); |
sakthipriya | 0:246d1b5f11ae | 74 | wait_ms(100); |
sakthipriya | 0:246d1b5f11ae | 75 | g_cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer |
sakthipriya | 0:246d1b5f11ae | 76 | g_cmd[1]=BIT_MAGODR; |
sakthipriya | 0:246d1b5f11ae | 77 | i2c.write(SLAVE_ADDR,g_cmd,2); |
sakthipriya | 0:246d1b5f11ae | 78 | wait_ms(100); |
sakthipriya | 0:246d1b5f11ae | 79 | g_cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope |
sakthipriya | 0:246d1b5f11ae | 80 | g_cmd[1]=BIT_GYROODR; |
sakthipriya | 0:246d1b5f11ae | 81 | i2c.write(SLAVE_ADDR,g_cmd,2); |
sakthipriya | 0:246d1b5f11ae | 82 | wait_ms(100); |
sakthipriya | 0:246d1b5f11ae | 83 | g_cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values |
sakthipriya | 0:246d1b5f11ae | 84 | g_cmd[1]=0x00; |
sakthipriya | 0:246d1b5f11ae | 85 | i2c.write(SLAVE_ADDR,g_cmd,2); |
sakthipriya | 0:246d1b5f11ae | 86 | wait_ms(100); |
sakthipriya | 0:246d1b5f11ae | 87 | g_cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values |
sakthipriya | 0:246d1b5f11ae | 88 | g_cmd[1]=BIT_EVT_ENB; |
sakthipriya | 0:246d1b5f11ae | 89 | i2c.write(SLAVE_ADDR,g_cmd,2); |
sakthipriya | 0:246d1b5f11ae | 90 | wait_ms(100); |
sakthipriya | 0:246d1b5f11ae | 91 | PWM1 = 0; // clear pwm pins |
sakthipriya | 0:246d1b5f11ae | 92 | PWM2 = 0; |
sakthipriya | 0:246d1b5f11ae | 93 | PWM3 = 0; |
sakthipriya | 1:7185136654ce | 94 | BAE_STATUS &= 0xFFFFFF7F; //clear ACS_INIT_STATUS flag |
sakthipriya | 0:246d1b5f11ae | 95 | printf("\n\r ACS_STATUS flag reads %x",&BAE_STATUS); |
sakthipriya | 0:246d1b5f11ae | 96 | } |
sakthipriya | 0:246d1b5f11ae | 97 | |
sakthipriya | 0:246d1b5f11ae | 98 | void FCTN_ACS_DATA_ACQ(float g_gyro_data[3],float g_mag_data[3]) |
sakthipriya | 0:246d1b5f11ae | 99 | { |
sakthipriya | 0:246d1b5f11ae | 100 | BAE_STATUS |= 0x00000020; //set ACS_DATA_ACQ_STATUS flag to 1 |
sakthipriya | 0:246d1b5f11ae | 101 | if(BAE_ENABLE & 0x00000010 == 0x00000010) // check ACS_ATS_ENABLE = 1? |
sakthipriya | 0:246d1b5f11ae | 102 | { |
sakthipriya | 0:246d1b5f11ae | 103 | char status; |
sakthipriya | 0:246d1b5f11ae | 104 | g_toflag=1; //toFlag is set to 1 so that it enters while loop |
sakthipriya | 0:246d1b5f11ae | 105 | g_to.attach(&FCTN_T_OUT,2); //after 2 seconds the while loop gets terminated |
sakthipriya | 0:246d1b5f11ae | 106 | g_cmd[0]=EVT_STATUS; |
sakthipriya | 0:246d1b5f11ae | 107 | i2c.write(SLAVE_ADDR,g_cmd,1); |
sakthipriya | 0:246d1b5f11ae | 108 | i2c.read(SLAVE_ADDR_READ,&status,1); |
sakthipriya | 0:246d1b5f11ae | 109 | wait_ms(100); |
sakthipriya | 0:246d1b5f11ae | 110 | //pc.printf("\nEvent Status is %x\n",(int)status); |
sakthipriya | 0:246d1b5f11ae | 111 | //if the 6th and 4th bit are 1 then it implies that gyro and magnetometer values are ready to take |
sakthipriya | 0:246d1b5f11ae | 112 | if(((int)status&40)==40) |
sakthipriya | 0:246d1b5f11ae | 113 | { |
sakthipriya | 0:246d1b5f11ae | 114 | FCTN_GET_DATA(g_gyro_data,g_mag_data); |
sakthipriya | 0:246d1b5f11ae | 115 | printf("\n\r data received \n"); |
sakthipriya | 0:246d1b5f11ae | 116 | for(int i=0; i<3; i++) |
sakthipriya | 0:246d1b5f11ae | 117 | { |
sakthipriya | 0:246d1b5f11ae | 118 | printf("%f\t",g_gyro_data[i]); |
sakthipriya | 0:246d1b5f11ae | 119 | } |
sakthipriya | 0:246d1b5f11ae | 120 | for(int i=0; i<3; i++) |
sakthipriya | 0:246d1b5f11ae | 121 | { |
sakthipriya | 0:246d1b5f11ae | 122 | printf("%f\t",g_mag_data[i]); |
sakthipriya | 0:246d1b5f11ae | 123 | } |
sakthipriya | 0:246d1b5f11ae | 124 | } |
sakthipriya | 0:246d1b5f11ae | 125 | //checking for the error |
sakthipriya | 0:246d1b5f11ae | 126 | else if (((int)status&2)==2) |
sakthipriya | 0:246d1b5f11ae | 127 | { |
sakthipriya | 0:246d1b5f11ae | 128 | if(ATS_reset_count!=2) |
sakthipriya | 0:246d1b5f11ae | 129 | { |
sakthipriya | 0:246d1b5f11ae | 130 | FCTN_ACS_INIT(); //when there is any error then Again inilization is done to remove error |
sakthipriya | 0:246d1b5f11ae | 131 | ATS_reset_count++; |
sakthipriya | 0:246d1b5f11ae | 132 | } |
sakthipriya | 0:246d1b5f11ae | 133 | else |
sakthipriya | 0:246d1b5f11ae | 134 | { |
sakthipriya | 0:246d1b5f11ae | 135 | FCTN_ATS_SWITCH(0); |
sakthipriya | 0:246d1b5f11ae | 136 | } |
sakthipriya | 0:246d1b5f11ae | 137 | } |
sakthipriya | 0:246d1b5f11ae | 138 | BAE_STATUS |= 0x00000100; //set ACS_ATS_STATUS = ACS_ATS_OPERATIONAL |
sakthipriya | 0:246d1b5f11ae | 139 | } |
sakthipriya | 0:246d1b5f11ae | 140 | else |
sakthipriya | 0:246d1b5f11ae | 141 | { |
sakthipriya | 0:246d1b5f11ae | 142 | BAE_STATUS |= 0x000000C0; //set ACS_DATA_ACQ_ATS = ACS_ATS_DISABLED // ACS_DATA_ACQ_STATUS = ACS_DATA_ACQ_FAILURE |
sakthipriya | 0:246d1b5f11ae | 143 | } |
sakthipriya | 0:246d1b5f11ae | 144 | |
sakthipriya | 0:246d1b5f11ae | 145 | BAE_STATUS &= 0xFFFFFFDF; //clear ACS_DATA_ACQ_STATUS flag to 1 |
sakthipriya | 0:246d1b5f11ae | 146 | } |
sakthipriya | 0:246d1b5f11ae | 147 | |
sakthipriya | 0:246d1b5f11ae | 148 | void FCTN_GET_DATA(float g_gyro_data[3],float g_mag_data[3]) |
sakthipriya | 0:246d1b5f11ae | 149 | { |
sakthipriya | 0:246d1b5f11ae | 150 | char raw_gyro[6]; |
sakthipriya | 0:246d1b5f11ae | 151 | char raw_mag[6]; |
sakthipriya | 0:246d1b5f11ae | 152 | int16_t bit_data; |
sakthipriya | 0:246d1b5f11ae | 153 | |
sakthipriya | 0:246d1b5f11ae | 154 | float senstivity_gyro =6.5536; //senstivity is obtained from 2^15/5000dps |
sakthipriya | 0:246d1b5f11ae | 155 | float senstivity_mag =32.768; //senstivity is obtained from 2^15/1000microtesla |
sakthipriya | 0:246d1b5f11ae | 156 | g_cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x |
sakthipriya | 0:246d1b5f11ae | 157 | i2c.write(SLAVE_ADDR,g_cmd,1); |
sakthipriya | 0:246d1b5f11ae | 158 | i2c.read(SLAVE_ADDR_READ,raw_gyro,6); |
sakthipriya | 0:246d1b5f11ae | 159 | g_cmd[0]=MAG_XOUT_H; //LSB of x |
sakthipriya | 0:246d1b5f11ae | 160 | i2c.write(SLAVE_ADDR,g_cmd,1); |
sakthipriya | 0:246d1b5f11ae | 161 | i2c.read(SLAVE_ADDR_READ,raw_mag,6); |
sakthipriya | 0:246d1b5f11ae | 162 | //pc.printf("\nGyro Values:\n"); |
sakthipriya | 0:246d1b5f11ae | 163 | for(int i=0; i<3; i++) { |
sakthipriya | 0:246d1b5f11ae | 164 | //concatenating gyro LSB and MSB to get 16 bit signed data values |
sakthipriya | 0:246d1b5f11ae | 165 | bit_data= ((int16_t)raw_gyro[2*i+1]<<8)|(int16_t)raw_gyro[2*i]; |
sakthipriya | 0:246d1b5f11ae | 166 | g_gyro_data[i]=(float)bit_data; |
sakthipriya | 0:246d1b5f11ae | 167 | g_gyro_data[i]=g_gyro_data[i]/senstivity_gyro; |
sakthipriya | 0:246d1b5f11ae | 168 | g_gyro_data[i]+=g_gyro_error[i]; |
sakthipriya | 0:246d1b5f11ae | 169 | //pc.printf("%f\t",gyro_data[i]); |
sakthipriya | 0:246d1b5f11ae | 170 | } |
sakthipriya | 0:246d1b5f11ae | 171 | for(int i=0; i<3; i++) { |
sakthipriya | 0:246d1b5f11ae | 172 | //concatenating mag LSB and MSB to get 16 bit signed data values |
sakthipriya | 0:246d1b5f11ae | 173 | bit_data= ((int16_t)raw_mag[2*i+1]<<8)|(int16_t)raw_mag[2*i]; |
sakthipriya | 0:246d1b5f11ae | 174 | g_mag_data[i]=(float)bit_data; |
sakthipriya | 0:246d1b5f11ae | 175 | g_mag_data[i]=g_mag_data[i]/senstivity_mag; |
sakthipriya | 0:246d1b5f11ae | 176 | g_mag_data[i]+=g_mag_error[i]; |
sakthipriya | 0:246d1b5f11ae | 177 | //pc.printf("%f\t",mag_data[i]); |
sakthipriya | 0:246d1b5f11ae | 178 | } |
sakthipriya | 0:246d1b5f11ae | 179 | |
sakthipriya | 0:246d1b5f11ae | 180 | } |
sakthipriya | 0:246d1b5f11ae | 181 | |
sakthipriya | 0:246d1b5f11ae | 182 | void FCTN_ATS_SWITCH(bool c) |
sakthipriya | 0:246d1b5f11ae | 183 | { |
sakthipriya | 0:246d1b5f11ae | 184 | if(c==0){ |
sakthipriya | 0:246d1b5f11ae | 185 | g_enb1 = 1;//enabling it high switches OFF the sensor 1 |
sakthipriya | 0:246d1b5f11ae | 186 | g_enb2 = 0;//swtiches ON the sensor 2 |
sakthipriya | 0:246d1b5f11ae | 187 | } |
sakthipriya | 0:246d1b5f11ae | 188 | else{ |
sakthipriya | 0:246d1b5f11ae | 189 | g_enb1 = 0;//enabling it low switches the sensor ON |
sakthipriya | 0:246d1b5f11ae | 190 | g_enb2 = 1;//switches OFF the sensor 2 |
sakthipriya | 0:246d1b5f11ae | 191 | } |
sakthipriya | 0:246d1b5f11ae | 192 | } |
sakthipriya | 0:246d1b5f11ae | 193 | |
sakthipriya | 0:246d1b5f11ae | 194 | /*------------------------------------------------------------------------------------------------------------------------------------------------------ |
sakthipriya | 0:246d1b5f11ae | 195 | -------------------------------------------CONTROL ALGORITHM------------------------------------------------------------------------------------------*/ |
sakthipriya | 0:246d1b5f11ae | 196 | |
sakthipriya | 0:246d1b5f11ae | 197 | int ctrl_count = 0; |
sakthipriya | 0:246d1b5f11ae | 198 | float bcopy[3]; |
sakthipriya | 0:246d1b5f11ae | 199 | |
sakthipriya | 0:246d1b5f11ae | 200 | void FCTN_ACS_CNTRLALGO(float b[3],float omega[3],float moment[3]) |
sakthipriya | 0:246d1b5f11ae | 201 | { |
sakthipriya | 0:246d1b5f11ae | 202 | float db[3]; |
sakthipriya | 0:246d1b5f11ae | 203 | float bb[3]={0,0,0}; |
sakthipriya | 0:246d1b5f11ae | 204 | float d[3]={0,0,0}; |
sakthipriya | 0:246d1b5f11ae | 205 | float Jm[3][3]={{0.2730,0,0},{0,0.3018,0},{0,0,0.3031}}; |
sakthipriya | 0:246d1b5f11ae | 206 | float den=0,den2; |
sakthipriya | 0:246d1b5f11ae | 207 | int i,j; //temporary variables |
sakthipriya | 0:246d1b5f11ae | 208 | float Mu[2],z[2],dv[2],v[2],u[2],tauc[3]={0,0,0}; //outputs |
sakthipriya | 0:246d1b5f11ae | 209 | float invJm[3][3]; |
sakthipriya | 0:246d1b5f11ae | 210 | float kmu2=0.07,gamma2=1.9e4,kz2=0.4e-2,kmu=0.003,gamma=5.6e4,kz=0.1e-4; |
sakthipriya | 0:246d1b5f11ae | 211 | |
sakthipriya | 0:246d1b5f11ae | 212 | //................. calculating db values........................... |
sakthipriya | 0:246d1b5f11ae | 213 | if(ctrl_count!=0) |
sakthipriya | 0:246d1b5f11ae | 214 | { |
sakthipriya | 0:246d1b5f11ae | 215 | for(i=0;i<3;i++) |
sakthipriya | 0:246d1b5f11ae | 216 | db[i]= (b[i]-bcopy[i])/10; |
sakthipriya | 0:246d1b5f11ae | 217 | } |
sakthipriya | 0:246d1b5f11ae | 218 | else |
sakthipriya | 0:246d1b5f11ae | 219 | { |
sakthipriya | 0:246d1b5f11ae | 220 | for(i=0;i<3;i++) |
sakthipriya | 0:246d1b5f11ae | 221 | db[i]= 0; |
sakthipriya | 0:246d1b5f11ae | 222 | } |
sakthipriya | 0:246d1b5f11ae | 223 | ctrl_count++; |
sakthipriya | 0:246d1b5f11ae | 224 | //.................................................................. |
sakthipriya | 0:246d1b5f11ae | 225 | printf("\n\r Entered cntrl algo\n\r"); |
sakthipriya | 0:246d1b5f11ae | 226 | for(int i=0; i<3; i++) |
sakthipriya | 0:246d1b5f11ae | 227 | { |
sakthipriya | 0:246d1b5f11ae | 228 | printf("%f\t",omega[i]); |
sakthipriya | 0:246d1b5f11ae | 229 | } |
sakthipriya | 0:246d1b5f11ae | 230 | for(int i=0; i<3; i++) |
sakthipriya | 0:246d1b5f11ae | 231 | { |
sakthipriya | 0:246d1b5f11ae | 232 | printf("%f\t",b[i]); |
sakthipriya | 0:246d1b5f11ae | 233 | } |
sakthipriya | 0:246d1b5f11ae | 234 | |
sakthipriya | 0:246d1b5f11ae | 235 | //.........................algo...................................... |
sakthipriya | 0:246d1b5f11ae | 236 | den=sqrt((b[0]*b[0])+(b[1]*b[1])+(b[2]*b[2])); |
sakthipriya | 0:246d1b5f11ae | 237 | den2=(b[0]*db[0])+(b[1]*db[1])+(b[2]*db[2]); |
sakthipriya | 0:246d1b5f11ae | 238 | for(i=0;i<3;i++) |
sakthipriya | 0:246d1b5f11ae | 239 | { |
sakthipriya | 0:246d1b5f11ae | 240 | db[i]=((db[i]*den*den)-(b[i]*(den2)))/(pow(den,3)); |
sakthipriya | 0:246d1b5f11ae | 241 | //db[i]/=den*den*den; |
sakthipriya | 0:246d1b5f11ae | 242 | } |
sakthipriya | 0:246d1b5f11ae | 243 | for(i=0;i<3;i++) |
sakthipriya | 0:246d1b5f11ae | 244 | { |
sakthipriya | 0:246d1b5f11ae | 245 | b[i]/=den; |
sakthipriya | 0:246d1b5f11ae | 246 | } |
sakthipriya | 0:246d1b5f11ae | 247 | // select kz, kmu, gamma |
sakthipriya | 0:246d1b5f11ae | 248 | if(b[0]>0.9||b[0]<-0.9) |
sakthipriya | 0:246d1b5f11ae | 249 | { |
sakthipriya | 0:246d1b5f11ae | 250 | kz=kz2; |
sakthipriya | 0:246d1b5f11ae | 251 | kmu=kmu2; |
sakthipriya | 0:246d1b5f11ae | 252 | gamma=gamma2; |
sakthipriya | 0:246d1b5f11ae | 253 | } |
sakthipriya | 0:246d1b5f11ae | 254 | // calculate Mu, v, dv, z, u |
sakthipriya | 0:246d1b5f11ae | 255 | for(i=0;i<2;i++) |
sakthipriya | 0:246d1b5f11ae | 256 | { |
sakthipriya | 0:246d1b5f11ae | 257 | Mu[i]=b[i+1]; |
sakthipriya | 0:246d1b5f11ae | 258 | v[i]=-kmu*Mu[i]; |
sakthipriya | 0:246d1b5f11ae | 259 | dv[i]=-kmu*db[i+1]; |
sakthipriya | 0:246d1b5f11ae | 260 | z[i]=db[i+1]-v[i]; |
sakthipriya | 0:246d1b5f11ae | 261 | u[i]=-kz*z[i]+dv[i]-(Mu[i]/gamma); |
sakthipriya | 0:246d1b5f11ae | 262 | } |
sakthipriya | 0:246d1b5f11ae | 263 | inverse(Jm,invJm); |
sakthipriya | 0:246d1b5f11ae | 264 | for(i=0;i<3;i++) |
sakthipriya | 0:246d1b5f11ae | 265 | { |
sakthipriya | 0:246d1b5f11ae | 266 | for(j=0;j<3;j++) |
sakthipriya | 0:246d1b5f11ae | 267 | bb[i]+=omega[j]*(omega[(i+1)%3]*Jm[(i+2)%3][j]-omega[(i+2)%3]*Jm[(i+1)%3][j]); |
sakthipriya | 0:246d1b5f11ae | 268 | } |
sakthipriya | 0:246d1b5f11ae | 269 | for(i=0;i<3;i++) |
sakthipriya | 0:246d1b5f11ae | 270 | { |
sakthipriya | 0:246d1b5f11ae | 271 | for(j=0;j<3;j++) |
sakthipriya | 0:246d1b5f11ae | 272 | d[i]+=bb[j]*invJm[i][j]; |
sakthipriya | 0:246d1b5f11ae | 273 | } |
sakthipriya | 0:246d1b5f11ae | 274 | bb[1]=u[0]+(d[0]*b[2])-(d[2]*b[0])-(omega[0]*db[2])+(omega[2]*db[0]); |
sakthipriya | 0:246d1b5f11ae | 275 | bb[2]=u[1]-(d[0]*b[1])+(d[1]*b[0])+(omega[0]*db[1])-(omega[1]*db[0]); |
sakthipriya | 0:246d1b5f11ae | 276 | bb[0]=0; |
sakthipriya | 0:246d1b5f11ae | 277 | for(i=0;i<3;i++) |
sakthipriya | 0:246d1b5f11ae | 278 | { |
sakthipriya | 0:246d1b5f11ae | 279 | d[i]=invJm[1][i]; |
sakthipriya | 0:246d1b5f11ae | 280 | invJm[1][i]=b[2]*invJm[0][i]-b[0]*invJm[2][i]; |
sakthipriya | 0:246d1b5f11ae | 281 | invJm[2][i]=-b[1]*invJm[0][i]+b[0]*d[i]; |
sakthipriya | 0:246d1b5f11ae | 282 | invJm[0][i]=b[i]; |
sakthipriya | 0:246d1b5f11ae | 283 | } |
sakthipriya | 0:246d1b5f11ae | 284 | inverse(invJm,Jm); |
sakthipriya | 0:246d1b5f11ae | 285 | printf("\n \r calculating tauc"); |
sakthipriya | 0:246d1b5f11ae | 286 | for(i=0;i<3;i++) |
sakthipriya | 0:246d1b5f11ae | 287 | { |
sakthipriya | 0:246d1b5f11ae | 288 | for(j=0;j<3;j++) |
sakthipriya | 0:246d1b5f11ae | 289 | tauc[i]+=Jm[i][j]*bb[j]; // calculating torque values |
sakthipriya | 0:246d1b5f11ae | 290 | printf(" %f \t",tauc[i]); |
sakthipriya | 0:246d1b5f11ae | 291 | } |
sakthipriya | 0:246d1b5f11ae | 292 | //..........................tauc to moment conversion.......................... |
sakthipriya | 0:246d1b5f11ae | 293 | printf("\n \r calculating moment"); |
sakthipriya | 0:246d1b5f11ae | 294 | for(i=0;i<3;i++) |
sakthipriya | 0:246d1b5f11ae | 295 | bcopy[i]=b[i]*den; |
sakthipriya | 0:246d1b5f11ae | 296 | for(i=0;i<3;i++) |
sakthipriya | 0:246d1b5f11ae | 297 | { |
sakthipriya | 0:246d1b5f11ae | 298 | moment[i]=bcopy[(i+1)%3]*tauc[(i+2)%3]-bcopy[(i+2)%3]*tauc[(i+1)%3]; |
sakthipriya | 0:246d1b5f11ae | 299 | moment[i]/=den; |
sakthipriya | 0:246d1b5f11ae | 300 | printf(" %f \t",moment[i]); |
sakthipriya | 0:246d1b5f11ae | 301 | } |
sakthipriya | 0:246d1b5f11ae | 302 | printf("\n\r exited control algo\n"); |
sakthipriya | 0:246d1b5f11ae | 303 | } |
sakthipriya | 0:246d1b5f11ae | 304 | //..........................function to find inverse.................. |
sakthipriya | 0:246d1b5f11ae | 305 | void inverse(float mat[3][3],float inv[3][3]) |
sakthipriya | 0:246d1b5f11ae | 306 | { |
sakthipriya | 0:246d1b5f11ae | 307 | int i,j; |
sakthipriya | 0:246d1b5f11ae | 308 | float det=0; |
sakthipriya | 0:246d1b5f11ae | 309 | for(i=0;i<3;i++) |
sakthipriya | 0:246d1b5f11ae | 310 | { |
sakthipriya | 0:246d1b5f11ae | 311 | for(j=0;j<3;j++) |
sakthipriya | 0:246d1b5f11ae | 312 | inv[j][i]=(mat[(i+1)%3][(j+1)%3]*mat[(i+2)%3][(j+2)%3])-(mat[(i+2)%3][(j+1)%3]*mat[(i+1)%3][(j+2)%3]); |
sakthipriya | 0:246d1b5f11ae | 313 | } |
sakthipriya | 0:246d1b5f11ae | 314 | det+=(mat[0][0]*inv[0][0])+(mat[0][1]*inv[1][0])+(mat[0][2]*inv[2][0]); |
sakthipriya | 0:246d1b5f11ae | 315 | for(i=0;i<3;i++) |
sakthipriya | 0:246d1b5f11ae | 316 | { |
sakthipriya | 0:246d1b5f11ae | 317 | for(j=0;j<3;j++) |
sakthipriya | 0:246d1b5f11ae | 318 | inv[i][j]/=det; |
sakthipriya | 0:246d1b5f11ae | 319 | } |
sakthipriya | 0:246d1b5f11ae | 320 | } |
sakthipriya | 0:246d1b5f11ae | 321 | |
sakthipriya | 0:246d1b5f11ae | 322 | /*------------------------------------------------------------------------------------------------------------------------------------------------------ |
sakthipriya | 0:246d1b5f11ae | 323 | ---------------------------------------------------PWM GENERATION-----------------------------------------------------------------------------------------*/ |
sakthipriya | 0:246d1b5f11ae | 324 | |
sakthipriya | 0:246d1b5f11ae | 325 | void FCTN_ACS_GENPWM_MAIN(float Moment[3]) |
sakthipriya | 0:246d1b5f11ae | 326 | { |
sakthipriya | 0:246d1b5f11ae | 327 | printf("\n\rEntered executable PWMGEN function\n"); // entering the PWMGEN executable function |
sakthipriya | 0:246d1b5f11ae | 328 | |
sakthipriya | 0:246d1b5f11ae | 329 | float l_duty_cycle_x=0; //Duty cycle of Moment in x direction |
sakthipriya | 0:246d1b5f11ae | 330 | float l_current_x=0; //Current sent in x TR's |
sakthipriya | 0:246d1b5f11ae | 331 | float l_duty_cycle_y=0; //Duty cycle of Moment in y direction |
sakthipriya | 0:246d1b5f11ae | 332 | float l_current_y=0; //Current sent in y TR's |
sakthipriya | 0:246d1b5f11ae | 333 | float l_duty_cycle_z=0; //Duty cycle of Moment in z direction |
sakthipriya | 0:246d1b5f11ae | 334 | float l_current_z=0; //Current sent in z TR's |
sakthipriya | 0:246d1b5f11ae | 335 | |
sakthipriya | 0:246d1b5f11ae | 336 | |
sakthipriya | 0:246d1b5f11ae | 337 | for(int i = 0 ; i<3;i++) |
sakthipriya | 0:246d1b5f11ae | 338 | { |
sakthipriya | 0:246d1b5f11ae | 339 | printf(" %f \t ",Moment[i]); // taking the moment values from control algorithm as inputs |
sakthipriya | 0:246d1b5f11ae | 340 | } |
sakthipriya | 0:246d1b5f11ae | 341 | |
sakthipriya | 0:246d1b5f11ae | 342 | //----------------------------- x-direction TR --------------------------------------------// |
sakthipriya | 0:246d1b5f11ae | 343 | |
sakthipriya | 0:246d1b5f11ae | 344 | |
sakthipriya | 0:246d1b5f11ae | 345 | float l_moment_x = Moment[0]; //Moment in x direction |
sakthipriya | 0:246d1b5f11ae | 346 | |
sakthipriya | 0:246d1b5f11ae | 347 | phase_TR_x = 1; // setting the default current direction |
sakthipriya | 0:246d1b5f11ae | 348 | if (l_moment_x <0) |
sakthipriya | 0:246d1b5f11ae | 349 | { |
sakthipriya | 0:246d1b5f11ae | 350 | 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 |
sakthipriya | 0:246d1b5f11ae | 351 | l_moment_x = abs(l_moment_x); |
sakthipriya | 0:246d1b5f11ae | 352 | } |
sakthipriya | 0:246d1b5f11ae | 353 | |
sakthipriya | 0:246d1b5f11ae | 354 | l_current_x = l_moment_x * TR_CONSTANT ; //Moment and Current always have the linear relationship |
sakthipriya | 0:246d1b5f11ae | 355 | |
sakthipriya | 0:246d1b5f11ae | 356 | if( l_current_x>0 && l_current_x < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100% |
sakthipriya | 0:246d1b5f11ae | 357 | { |
sakthipriya | 0:246d1b5f11ae | 358 | l_duty_cycle_x = 6*1000000*pow(l_current_x,4) - 377291*pow(l_current_x,3) + 4689.6*pow(l_current_x,2) + 149.19*l_current_x - 0.0008; // calculating upto 0.1% dutycycle by polynomial interpolation |
sakthipriya | 0:246d1b5f11ae | 359 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 360 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:246d1b5f11ae | 361 | } |
sakthipriya | 0:246d1b5f11ae | 362 | else if( l_current_x >= 0.006 && l_current_x < 0.0116) |
sakthipriya | 0:246d1b5f11ae | 363 | { |
sakthipriya | 0:246d1b5f11ae | 364 | l_duty_cycle_x = 1*100000000*pow(l_current_x,4) - 5*1000000*pow(l_current_x,3) + 62603*pow(l_current_x,2) - 199.29*l_current_x + 0.7648;// calculating upto 1% dutycycle by polynomial interpolation |
sakthipriya | 0:246d1b5f11ae | 365 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 366 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:246d1b5f11ae | 367 | } |
sakthipriya | 0:246d1b5f11ae | 368 | else if (l_current_x >= 0.0116 && l_current_x < 0.0624) |
sakthipriya | 0:246d1b5f11ae | 369 | { |
sakthipriya | 0:246d1b5f11ae | 370 | l_duty_cycle_x = 212444*pow(l_current_x,4) - 33244*pow(l_current_x,3) + 1778.4*pow(l_current_x,2) + 120.91*l_current_x + 0.3878; // calculating upto 10% dutycycle by polynomial interpolation |
sakthipriya | 0:246d1b5f11ae | 371 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 372 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:246d1b5f11ae | 373 | } |
sakthipriya | 0:246d1b5f11ae | 374 | else if(l_current_x >= 0.0624 && l_current_x < 0.555) |
sakthipriya | 0:246d1b5f11ae | 375 | { |
sakthipriya | 0:246d1b5f11ae | 376 | l_duty_cycle_x = 331.15*pow(l_current_x,4) - 368.09*pow(l_current_x,3) + 140.43*pow(l_current_x,2) + 158.59*l_current_x + 0.0338; // calculating upto 100% dutycycle by polynomial interpolation |
sakthipriya | 0:246d1b5f11ae | 377 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 378 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:246d1b5f11ae | 379 | } |
sakthipriya | 0:246d1b5f11ae | 380 | else if(l_current_x==0) |
sakthipriya | 0:246d1b5f11ae | 381 | { |
sakthipriya | 0:246d1b5f11ae | 382 | printf("\n \r l_current_x====0"); |
sakthipriya | 0:246d1b5f11ae | 383 | l_duty_cycle_x = 0; // default value of duty cycle |
sakthipriya | 0:246d1b5f11ae | 384 | PWM1.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 385 | PWM1 = l_duty_cycle_x/100 ; |
sakthipriya | 0:246d1b5f11ae | 386 | } |
sakthipriya | 0:246d1b5f11ae | 387 | else //not necessary |
sakthipriya | 0:246d1b5f11ae | 388 | { |
sakthipriya | 0:246d1b5f11ae | 389 | g_err_flag_TR_x = 1; |
sakthipriya | 0:246d1b5f11ae | 390 | } |
sakthipriya | 0:246d1b5f11ae | 391 | |
sakthipriya | 0:246d1b5f11ae | 392 | //------------------------------------- y-direction TR--------------------------------------// |
sakthipriya | 0:246d1b5f11ae | 393 | |
sakthipriya | 0:246d1b5f11ae | 394 | |
sakthipriya | 0:246d1b5f11ae | 395 | float l_moment_y = Moment[1]; //Moment in y direction |
sakthipriya | 0:246d1b5f11ae | 396 | |
sakthipriya | 0:246d1b5f11ae | 397 | phase_TR_y = 1; // setting the default current direction |
sakthipriya | 0:246d1b5f11ae | 398 | if (l_moment_y <0) |
sakthipriya | 0:246d1b5f11ae | 399 | { |
sakthipriya | 0:246d1b5f11ae | 400 | 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 |
sakthipriya | 0:246d1b5f11ae | 401 | l_moment_y = abs(l_moment_y); |
sakthipriya | 0:246d1b5f11ae | 402 | } |
sakthipriya | 0:246d1b5f11ae | 403 | |
sakthipriya | 0:246d1b5f11ae | 404 | |
sakthipriya | 0:246d1b5f11ae | 405 | l_current_y = l_moment_y * TR_CONSTANT ; //Moment and Current always have the linear relationship |
sakthipriya | 0:246d1b5f11ae | 406 | |
sakthipriya | 0:246d1b5f11ae | 407 | if( l_current_y>0 && l_current_y < 0.006 )//Current and Duty cycle have the linear relationship between 1% and 100% |
sakthipriya | 0:246d1b5f11ae | 408 | { |
sakthipriya | 0:246d1b5f11ae | 409 | l_duty_cycle_y = 6*1000000*pow(l_current_y,4) - 377291*pow(l_current_y,3) + 4689.6*pow(l_current_y,2) + 149.19*l_current_y - 0.0008; // calculating upto 0.1% dutycycle by polynomial interpolation |
sakthipriya | 0:246d1b5f11ae | 410 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 411 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:246d1b5f11ae | 412 | } |
sakthipriya | 0:246d1b5f11ae | 413 | else if( l_current_y >= 0.006 && l_current_y < 0.0116) |
sakthipriya | 0:246d1b5f11ae | 414 | { |
sakthipriya | 0:246d1b5f11ae | 415 | l_duty_cycle_y = 1*100000000*pow(l_current_y,4) - 5*1000000*pow(l_current_y,3) + 62603*pow(l_current_y,2) - 199.29*l_current_y + 0.7648;// calculating upto 1% dutycycle by polynomial interpolation |
sakthipriya | 0:246d1b5f11ae | 416 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 417 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:246d1b5f11ae | 418 | } |
sakthipriya | 0:246d1b5f11ae | 419 | else if (l_current_y >= 0.0116&& l_current_y < 0.0624) |
sakthipriya | 0:246d1b5f11ae | 420 | { |
sakthipriya | 0:246d1b5f11ae | 421 | l_duty_cycle_y = 212444*pow(l_current_y,4) - 33244*pow(l_current_y,3) + 1778.4*pow(l_current_y,2) + 120.91*l_current_y + 0.3878;// calculating upto 10% dutycycle by polynomial interpolation |
sakthipriya | 0:246d1b5f11ae | 422 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 423 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:246d1b5f11ae | 424 | } |
sakthipriya | 0:246d1b5f11ae | 425 | else if(l_current_y >= 0.0624 && l_current_y < 0.555) |
sakthipriya | 0:246d1b5f11ae | 426 | { |
sakthipriya | 0:246d1b5f11ae | 427 | l_duty_cycle_y = 331.15*pow(l_current_y,4) - 368.09*pow(l_current_y,3) + 140.43*pow(l_current_y,2) + 158.59*l_current_y + 0.0338;// calculating upto 100% dutycycle by polynomial interpolation |
sakthipriya | 0:246d1b5f11ae | 428 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 429 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:246d1b5f11ae | 430 | } |
sakthipriya | 0:246d1b5f11ae | 431 | else if(l_current_y==0) |
sakthipriya | 0:246d1b5f11ae | 432 | { |
sakthipriya | 0:246d1b5f11ae | 433 | printf("\n \r l_current_y====0"); |
sakthipriya | 0:246d1b5f11ae | 434 | l_duty_cycle_y = 0; // default value of duty cycle |
sakthipriya | 0:246d1b5f11ae | 435 | PWM2.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 436 | PWM2 = l_duty_cycle_y/100 ; |
sakthipriya | 0:246d1b5f11ae | 437 | } |
sakthipriya | 0:246d1b5f11ae | 438 | else // not necessary |
sakthipriya | 0:246d1b5f11ae | 439 | { |
sakthipriya | 0:246d1b5f11ae | 440 | g_err_flag_TR_y = 1; |
sakthipriya | 0:246d1b5f11ae | 441 | } |
sakthipriya | 0:246d1b5f11ae | 442 | |
sakthipriya | 0:246d1b5f11ae | 443 | //----------------------------------------------- z-direction TR -------------------------// |
sakthipriya | 0:246d1b5f11ae | 444 | |
sakthipriya | 0:246d1b5f11ae | 445 | |
sakthipriya | 0:246d1b5f11ae | 446 | float l_moment_z = Moment[2]; //Moment in z direction |
sakthipriya | 0:246d1b5f11ae | 447 | |
sakthipriya | 0:246d1b5f11ae | 448 | phase_TR_z = 1; // setting the default current direction |
sakthipriya | 0:246d1b5f11ae | 449 | if (l_moment_z <0) |
sakthipriya | 0:246d1b5f11ae | 450 | { |
sakthipriya | 0:246d1b5f11ae | 451 | 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 |
sakthipriya | 0:246d1b5f11ae | 452 | l_moment_z = abs(l_moment_z); |
sakthipriya | 0:246d1b5f11ae | 453 | } |
sakthipriya | 0:246d1b5f11ae | 454 | |
sakthipriya | 0:246d1b5f11ae | 455 | |
sakthipriya | 0:246d1b5f11ae | 456 | l_current_z = l_moment_z * TR_CONSTANT ; //Moment and Current always have the linear relationship |
sakthipriya | 0:246d1b5f11ae | 457 | |
sakthipriya | 0:246d1b5f11ae | 458 | if( l_current_z>0 && l_current_z < 0.006 )//Current and Duty cycle have the linear relationship between 1% and 100% |
sakthipriya | 0:246d1b5f11ae | 459 | { |
sakthipriya | 0:246d1b5f11ae | 460 | l_duty_cycle_z = 6*1000000*pow(l_current_z,4) - 377291*pow(l_current_z,3) + 4689.6*pow(l_current_z,2) + 149.19*l_current_z - 0.0008;// calculating upto 0.1% dutycycle by polynomial interpolation |
sakthipriya | 0:246d1b5f11ae | 461 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 462 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:246d1b5f11ae | 463 | } |
sakthipriya | 0:246d1b5f11ae | 464 | else if( l_current_z >= 0.006 && l_current_z < 0.0116) |
sakthipriya | 0:246d1b5f11ae | 465 | { |
sakthipriya | 0:246d1b5f11ae | 466 | l_duty_cycle_z = 1*100000000*pow(l_current_z,4) - 5*1000000*pow(l_current_z,3) + 62603*pow(l_current_z,2) - 199.29*l_current_z + 0.7648;// calculating upto 1% dutycycle by polynomial interpolation |
sakthipriya | 0:246d1b5f11ae | 467 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 468 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:246d1b5f11ae | 469 | } |
sakthipriya | 0:246d1b5f11ae | 470 | else if (l_current_z >= 0.0116 && l_current_z < 0.0624) |
sakthipriya | 0:246d1b5f11ae | 471 | { |
sakthipriya | 0:246d1b5f11ae | 472 | l_duty_cycle_z = 212444*pow(l_current_z,4) - 33244*pow(l_current_z,3) + 1778.4*pow(l_current_z,2) + 120.91*l_current_z + 0.3878;// calculating upto 10% dutycycle by polynomial interpolation |
sakthipriya | 0:246d1b5f11ae | 473 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 474 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:246d1b5f11ae | 475 | } |
sakthipriya | 0:246d1b5f11ae | 476 | else if(l_current_z >= 0.0624 && l_current_z < 0.555) |
sakthipriya | 0:246d1b5f11ae | 477 | { |
sakthipriya | 0:246d1b5f11ae | 478 | l_duty_cycle_z = 331.15*pow(l_current_z,4) - 368.09*pow(l_current_z,3) + 140.43*pow(l_current_z,2) + 158.59*l_current_z + 0.0338;// calculating upto 100% dutycycle by polynomial interpolation |
sakthipriya | 0:246d1b5f11ae | 479 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 480 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:246d1b5f11ae | 481 | } |
sakthipriya | 0:246d1b5f11ae | 482 | else if(l_current_z==0) |
sakthipriya | 0:246d1b5f11ae | 483 | { |
sakthipriya | 0:246d1b5f11ae | 484 | printf("\n \r l_current_z====0"); |
sakthipriya | 0:246d1b5f11ae | 485 | l_duty_cycle_z = 0; // default value of duty cycle |
sakthipriya | 0:246d1b5f11ae | 486 | PWM3.period(TIME_PERIOD); |
sakthipriya | 0:246d1b5f11ae | 487 | PWM3 = l_duty_cycle_z/100 ; |
sakthipriya | 0:246d1b5f11ae | 488 | } |
sakthipriya | 0:246d1b5f11ae | 489 | else // not necessary |
sakthipriya | 0:246d1b5f11ae | 490 | { |
sakthipriya | 0:246d1b5f11ae | 491 | g_err_flag_TR_z = 1; |
sakthipriya | 0:246d1b5f11ae | 492 | } |
sakthipriya | 0:246d1b5f11ae | 493 | |
sakthipriya | 0:246d1b5f11ae | 494 | //-----------------------------------------exiting the function-----------------------------------// |
sakthipriya | 0:246d1b5f11ae | 495 | |
sakthipriya | 0:246d1b5f11ae | 496 | printf("\n\rExited executable PWMGEN function\n\r"); // stating the successful exit of TR function |
sakthipriya | 0:246d1b5f11ae | 497 | |
sakthipriya | 0:246d1b5f11ae | 498 | } |
sakthipriya | 0:246d1b5f11ae | 499 | |
sakthipriya | 0:246d1b5f11ae | 500 | |
sakthipriya | 0:246d1b5f11ae | 501 | |
sakthipriya | 0:246d1b5f11ae | 502 |