sakthi priya amirtharaj
acs bea hk together
Fork of
BAE_vr3honeycomb1_christmas
by 
green rosh
Diff: ACS.cpp
- Revision:
- 0:ebdf4f859dca
- Child:
- 2:edd107ea4740
diff -r 000000000000 -r ebdf4f859dca ACS.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ACS.cpp Fri Dec 19 06:47:25 2014 +0000
@@ -0,0 +1,587 @@
+#include "ACS.h"
+#include "MPU3300.h"
+#include "pin_config.h"
+
+//PwmOut PWM1(PTD4); //Functions used to generate PWM signal
+ //PWM output comes from pins p6
+Serial pc1(USBTX, USBRX);
+SPI spi_acs (PIN16, PIN17, PIN15); // mosi, miso, sclk PTE18,19,17
+DigitalOut SSN_MAG (PIN61); // ssn for magnetometer PTB11
+DigitalIn DRDY (PIN47); // drdy for magnetometer PTA17
+DigitalOut ssn_gyr (PIN62); //Slave Select pin of gyroscope PTB16
+InterruptIn dr(PIN81); //Interrupt pin for gyro PTC5
+PwmOut PWM1(A3); //Functions used to generate PWM signal
+PwmOut PWM2(A4);
+PwmOut PWM3(A5); //PWM output comes from pins p6
+Ticker tr; //Ticker function to give values for limited amount of time for gyro
+Timeout tr_mag;
+uint8_t trflag_mag;
+uint8_t trFlag; //ticker Flag for gyro
+uint8_t drFlag; //data-ready interrupt flag for gyro
+
+//--------------------------------TORQUE ROD--------------------------------------------------------------------------------------------------------------//
+
+void FUNC_ACS_GENPWM(float M[3])
+ {
+
+
+ printf("\nEnterd PWMGEN function\n");
+ float DCx = 0; //Duty cycle of Moment in x, y, z directions
+ float ix = 0; //Current sent in x, y, z TR's
+ float timep = 0.02 ;
+ float Mx=M[0]; //Time period is set to 0.02s
+ //Moment in x, y, z directions
+
+
+ ix = Mx * 0.3 ; //Moment and Current always have the linear relationship
+
+ if( ix>0&& ix < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100%
+ {
+ DCx = 6*1000000*pow(ix,4) - 377291*pow(ix,3) + 4689.6*pow(ix,2) + 149.19*ix - 0.0008;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else if( ix >= 0.006&& ix < 0.0116)
+ {
+ DCx = 1*100000000*pow(ix,4) - 5*1000000*pow(ix,3) + 62603*pow(ix,2) - 199.29*ix + 0.7648;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else if (ix >= 0.0116&& ix < 0.0624)
+ {
+
+ DCx = 212444*pow(ix,4) - 33244*pow(ix,3) + 1778.4*pow(ix,2) + 120.91*ix + 0.3878;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else if(ix >= 0.0624&& ix < 0.555)
+ {
+ printf("\nACS entered if\n");
+ DCx = 331.15*pow(ix,4) - 368.09*pow(ix,3) + 140.43*pow(ix,2) + 158.59*ix + 0.0338;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else if(ix==0)
+ {
+ DCx = 0;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else
+ {
+ // printf("!!!!!!!!!!Error!!!!!!!!!");
+ }
+ float DCy = 0; //Duty cycle of Moment in x, y, z directions
+ float iy = 0; //Current sent in x, y, z TR's
+
+ float My=M[1]; //Time period is set to 0.2s
+ //Moment in x, y, z directions
+
+
+ iy = My * 0.3 ; //Moment and Current always have the linear relationship
+
+ if( iy>0&& iy < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100%
+ {
+ DCy = 6*1000000*pow(iy,4) - 377291*pow(iy,3) + 4689.6*pow(iy,2) + 149.19*iy - 0.0008;
+ PWM2.period(timep);
+ PWM2 = DCy/100 ;
+ }
+ else if( iy >= 0.006&& iy < 0.0116)
+ {
+ DCy = 1*100000000*pow(iy,4) - 5*1000000*pow(iy,3) + 62603*pow(iy,2) - 199.29*iy + 0.7648;
+ PWM2.period(timep);
+ PWM2 = DCy/100 ;
+ }
+ else if (iy >= 0.0116&& iy < 0.0624)
+ {
+
+ DCy = 212444*pow(iy,4) - 33244*pow(iy,3) + 1778.4*pow(iy,2) + 120.91*iy + 0.3878;
+ PWM2.period(timep);
+ PWM2 = DCy/100 ;
+ }
+ else if(iy >= 0.0624&& iy < 0.555)
+ {
+ printf("\nACS entered if\n");
+ DCy = 331.15*pow(iy,4) - 368.09*pow(iy,3) + 140.43*pow(iy,2) + 158.59*iy + 0.0338;
+ PWM2.period(timep);
+ PWM2 = DCy/100 ;
+ }
+ else if(iy==0)
+ {
+ DCy = 0;
+ PWM2.period(timep);
+ PWM2 = DCy/100 ;
+ }
+ else
+ {
+ // printf("!!!!!!!!!!Error!!!!!!!!!");
+ }
+ float DCz = 0; //Duty cycle of Moment in x, y, z directions
+ float iz = 0; //Current sent in x, y, z TR's
+
+ float Mz=M[2]; //Time period is set to 0.2s
+ //Moment in x, y, z directions
+
+
+ iz = Mz * 0.3 ; //Moment and Current always have the linear relationship
+
+ if( iz>0&& iz < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100%
+ {
+ DCz = 6*1000000*pow(iz,4) - 377291*pow(iz,3) + 4689.6*pow(iz,2) + 149.19*iz - 0.0008;
+ PWM3.period(timep);
+ PWM3 = DCz/100 ;
+ }
+ else if( iz >= 0.006&& iz < 0.0116)
+ {
+ DCz = 1*100000000*pow(iz,4) - 5*1000000*pow(iz,3) + 62603*pow(iz,2) - 199.29*iz + 0.7648;
+ PWM3.period(timep);
+ PWM3 = DCz/100 ;
+ }
+ else if (iz >= 0.0116&& iz < 0.0624)
+ {
+
+ DCz = 212444*pow(iz,4) - 33244*pow(iz,3) + 1778.4*pow(iz,2) + 120.91*iz + 0.3878;
+ PWM3.period(timep);
+ PWM3 = DCz/100 ;
+ }
+ else if(iz >= 0.0624&& iz < 0.555)
+ {
+ printf("\nACS entered if\n");
+ DCz = 331.15*pow(iz,4) - 368.09*pow(iz,3) + 140.43*pow(iz,2) + 158.59*iz + 0.0338;
+ PWM3.period(timep);
+ PWM3 = DCz/100 ;
+ }
+ else if(iz==0)
+ {
+ DCz = 0;
+ PWM3.period(timep);
+ PWM3 = DCz/100 ;
+ }
+ else
+ {
+ // printf("!!!!!!!!!!Error!!!!!!!!!");
+ }
+
+printf("\nExited PWMGEN function\n");
+}
+/*-------------------------------------------------------------------------------------------------------------------------------------------------------
+-------------------------------------------MAGNETOMETER-------------------------------------------------------------------------------------------------*/
+
+void trsub_mag()
+{
+ trflag_mag=0;
+}
+
+void FUNC_ACS_MAG_INIT()
+ {
+
+ SSN_MAG=1; //pin is disabled
+ spi_acs.format(8,0); // 8bits,Mode 0
+ spi_acs.frequency(100000); //clock frequency
+
+ SSN_MAG=0; // Selecting pin
+ wait_ms(10); //accounts for delay.can be minimised.
+
+ spi_acs.write(0x83); //
+
+ wait_ms(10);
+
+ unsigned char i;
+ for(i=0;i<3;i++)//initialising values.
+ {
+ spi_acs.write(0x00); //MSB of X,y,Z
+ spi_acs.write(0xc8); //LSB of X,Y,z;pointer increases automatically.
+ }
+ SSN_MAG=1;
+
+}
+
+float* FUNC_ACS_MAG_EXEC()
+{
+ printf("\nEntered magnetometer function\n");
+ SSN_MAG=0; //enabling slave to measure the values
+ wait_ms(10);
+ spi_acs.write(0x82); //initiates measurement
+ wait_ms(10);
+ spi_acs.write(0x01); //selecting x,y and z axes, measurement starts now
+ SSN_MAG=1;
+ wait_ms(10);
+
+ trflag_mag=1;
+ tr_mag.attach(&trsub_mag,1); //runs in background,makes trflag_mag=0 after 1s
+
+ while(trflag_mag) /*initially flag is 1,so loop is executed,if DRDY is high,then data is retrieved and programme ends,else
+ loop runs for at the max 1s and if still DRDY is zero,the flag becomes 0 and loop is not executed and
+ programme is terminated*/
+ {
+ wait_ms(5);
+ if(DRDY==1)
+ {
+ SSN_MAG=0;
+ spi_acs.write(0xc9); //command byte for retrieving data
+
+ unsigned char axis;
+ float Bnewvalue[3]={0.0,0.0,0.0};
+ int32_t Bvalue[3]={0,0,0};
+ int32_t a= pow(2.0,24.0);
+ int32_t b= pow(2.0,23.0);
+
+ for(axis=0;axis<3;axis++)
+ {
+ Bvalue[axis]=spi_acs.write(0x00)<<16; //MSB 1 is send first
+ wait_ms(10);
+ Bvalue[axis]|=spi_acs.write(0x00)<<8; //MSB 2 is send next
+ wait_ms(10);
+ Bvalue[axis]|=spi_acs.write(0x00); //LSB is send.....total length is 24 bits(3*8bits)...which are appended to get actual bit configuration
+
+
+ if((Bvalue[axis]&b)==b)
+ {
+ Bvalue[axis]=Bvalue[axis]-a; //converting 2s complement to signed decimal
+
+ }
+ Bnewvalue[axis]=(float)Bvalue[axis]*22.0*pow(10.0,-3.0); //1 LSB=(22nT)...final value of field obtained in micro tesla
+
+ wait_ms(10);
+ printf("\t%lf\n",Bnewvalue[axis]);
+
+ }
+ SSN_MAG=1;
+
+ return Bnewvalue; //return here? doubt..
+ break;
+ }
+
+ }
+
+}
+/*------------------------------------------------------------------------------------------------------------------------------------------------------
+-------------------------------------------CONTROL ALGORITHM------------------------------------------------------------------------------------------*/
+
+float * FUNC_ACS_CNTRLALGO(float b[3],float omega[3])
+{
+ float db[3]; /// inputs
+//initialization
+ float bb[3] = {0, 0, 0};
+ float d[3] = {0, 0, 0};
+ float Jm[3][3] = {{0.2730, 0, 0}, {0, 0.3018, 0}, {0, 0, 0.3031}};
+ float den = 0;
+ float den2;
+ int i, j; //temporary variables
+ float Mu[2], z[2], dv[2], v[2], u[2], tauc[3] = {0, 0, 0}; //outputs
+ float invJm[3][3];
+ float kmu2 = 0.07, gamma2 = 1.9e4, kz2 = 0.4e-2, kmu = 0.003, gamma = 5.6e4, kz = 0.1e-4;
+ printf("Entered cntrl algo\n");
+ //structure parameters
+
+ void inverse (float mat[3][3], float inv[3][3]);
+ void getInput (float x[9]);
+ //functions
+
+////////// Input from Matlab //////////////
+ while(1)
+ {
+
+ /*getInput(inputs);
+//while(1)
+ b[0] = inputs[0];
+ b[1] = inputs[1];
+ b[2] = inputs[2];
+ db[0] = inputs[3];
+ db[1] = inputs[4];
+ db[2] = inputs[5];
+ omega[0] = inputs[6];
+ omega[1] = inputs[7];
+ omega[2] = inputs[8];*/
+/////////// Control Algorithm //////////////////////
+// calculate norm b, norm db
+ den = sqrt((b[0]*b[0]) + (b[1]*b[1]) + (b[2]*b[2]));
+ den2 = (b[0]*db[0]) + (b[1]*db[1]) + (b[2]*db[2]);
+
+ for(i=0;i<3;i++)
+ {
+ db[i] = (db[i]*den*den-b[i]*den2) / (pow(den,3));
+//db[i]/=den*den*den;
+ }
+
+ for(i=0;i<3;i++)
+ {
+ printf("\nreached here\n");
+ if(den!=0)
+ //b[i]=b[i]/den; //there is a problem here. The code gets stuck here. Maf value is required
+ ;
+ }
+
+// select kz, kmu, gamma
+ if(b[0]>0.9 || b[0]<-0.9)
+ {
+ kz = kz2;
+ kmu = kmu2;
+ gamma = gamma2;
+ }
+// calculate Mu, v, dv, z, u
+ for(i=0;i<2;i++)
+ {
+ Mu[i] = b[i+1];
+ v[i] = -kmu*Mu[i];
+ dv[i] = -kmu*db[i+1];
+ z[i] = db[i+1] - v[i];
+ u[i] = -kz*z[i] + dv[i]-(Mu[i] / gamma);
+ }
+ inverse(Jm, invJm);
+// calculate cross(omega,J*omega)for(i=0;i<3;i++)
+
+ for(j=0;j<3;j++)
+ bb[i] += omega[j]*(omega[(i+1)%3]*Jm[(i+2)%3][j] - omega[(i+2)%3]*Jm[(i+1)%3][j]);
+
+// calculate invJm*cross(omega,J*omega) store in d
+ for(i=0;i<3;i++)
+ {
+ for(j=0;j<3;j++)
+ d[i] += bb[j]*invJm[i][j];
+ }
+// calculate d = cross(invJm*cross(omega,J*omega),b) -cross(omega,db)
+// bb =[0;u-d(2:3)]
+// store in bb
+ bb[1] = u[0] + (d[0]*b[2])-(d[2]*b[0])-(omega[0]*db[2]) + (omega[2]*db[0]);
+ bb[2] = u[1]-(d[0]*b[1]) + (d[1]*b[0]) + (omega[0]*db[1])-(omega[1]*db[0]);
+ bb[0] = 0;
+// calculate N
+// reusing invJm as N
+
+ for(i=0;i<3;i++)
+ {
+ d[i] = invJm[1][i];
+ invJm[ 1][i] = b[2]*invJm[0][i] - b[0]*invJm[2][i];
+ invJm[2][i] = -b[1]*invJm[0][i] + b[0]*d[i];
+ invJm[0][i] = b[i];
+ }
+// calculate inv(N) store in Jm
+ inverse(invJm, Jm);
+// calculate tauc
+ for(i=0;i<3;i++)
+ {
+ for(j=0;j<3;j++)
+ tauc[i] += Jm[i][j]*bb[j];
+ }
+
+ return(tauc);
+ }
+}
+/////////// Output to Matlab //////////////////
+/* for(i=0;i<3;i++) {
+ printf("%f\n",tauc[i]*10000000);
+ wait_ms(10);
+ }
+ }
+
+}*/
+ void inverse(float mat[3][3], float inv[3][3])
+{
+int i, j;
+float det = 0;
+for(i=0;i<3;i++)
+{ for(j=0;j<3;j++)
+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]);
+}
+det += (mat[0][0]*inv[0][0]) + (mat[0][1]*inv[1][0]) + (mat[0][2]*inv[2][0]);
+for(i=0;i<3;i++)
+{ for(j=0;j<3;j++)
+inv[i][j] /= det;
+}
+}/*
+void getInput (float x[9]) {
+ //Functions used to generate PWM signal
+ //PWM output comes from pins p6
+Serial pc1(USBTX, USBRX);
+ char c[10];
+ char tempchar[8];
+ int i, j;
+ //float f[9];
+ long n = 0;
+ float flval = 0;
+ for(j=0;j<9;j++) {
+ for(i=0;i<9;i++) {
+ c[i] = pc1.getc(); if(i<8) {
+ tempchar[i] = c[i];
+ }
+ }
+ sscanf (tempchar, "%8x", &n);
+ memcpy(&flval, &n, sizeof(long));
+ printf("%f\n", flval);
+ x[j] = flval;
+ }
+}*/
+
+void trSub();
+void drSub();
+void init_gyro();
+float * FUNC_ACS_EXEC_GYR();
+
+void drSub() //In this function we setting data-ready flag to 1
+{
+ drFlag=1;
+}
+void trSub() //In this function we are setting ticker flag to 0
+{
+ trFlag=0;
+}
+void FUNC_ACS_INIT_GYR()
+{
+ uint8_t response;
+ ssn_gyr=1; //Deselecting the chip
+ spi_acs.format(8,3); // Spi format is 8 bits, and clock mode 3
+ spi_acs.frequency(1000000); //frequency to be set as 1MHz
+ drFlag=0; //Intially defining data-ready flag to be 0
+ dr.mode(PullDown);
+ dr.rise(&drSub);
+ __disable_irq();
+
+/*Following the above mentioned algorithm for initializing the register and changing its configuration*/
+ ssn_gyr=0; //Selecting chip(Mpu-3300)
+ spi_acs.write(USER_CTRL|READFLAG); //sending USER_CTRL address with read bit
+ response=spi_acs.write(DUMMYBIT); //sending dummy bit to get default values of the register
+
+ ssn_gyr=1; //Deselecting the chip
+ wait(0.1); //waiting according the product specifications
+
+ ssn_gyr=0; //again selecting the chip
+ spi_acs.write(USER_CTRL); //sending USER_CTRL address without read bit
+ spi_acs.write(response|BIT_I2C_IF_DIS); //disabling the I2C mode in the register
+ ssn_gyr=1; //deselecting the chip
+ wait(0.1); // waiting for 100ms before going for another register
+
+ ssn_gyr=0;
+ spi_acs.write(PWR_MGMT_1|READFLAG); //Power Management register-1
+ response=spi_acs.write(DUMMYBIT);
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(PWR_MGMT_1);
+ response=spi_acs.write(response|BIT_CLKSEL_X); //Selecting the X axis gyroscope as clock as mentioned above
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(GYRO_CONFIG|READFLAG); //sending GYRO_CONFIG address with read bit
+ response=spi_acs.write(DUMMYBIT);
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(GYRO_CONFIG); //sending GYRO_CONFIG address to write to register
+ spi_acs.write(response&(~(BITS_FS_SEL_3|BITS_FS_SEL_4))); //selecting a full scale mode of +/=225 deg/sec
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(CONFIG|READFLAG); //sending CONFIG address with read bit
+ response=spi_acs.write(DUMMYBIT);
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(CONFIG); //sending CONFIG address to write to register
+ spi_acs.write(response|BITS_DLPF_CFG); //selecting a bandwidth of 42 hz and delay of 4.8ms
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(SMPLRT_DIV|READFLAG); //sending SMPLRT_DIV address with read bit
+ response=spi_acs.write(DUMMYBIT);
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(SMPLRT_DIV); //sending SMPLRT_DIV address to write to register
+ spi_acs.write(response&BITS_SMPLRT_DIV); //setting the sampling rate division to be 0 to make sample rate = gyroscopic output rate
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(INT_ENABLE|READFLAG); //sending address of INT_ENABLE with readflag
+ response=spi_acs.write(DUMMYBIT); //sending dummy byte to get the default values of the
+ // regiser
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(INT_ENABLE); //sending INT_ENABLE address to write to register
+ spi_acs.write(response|BIT_DATA_RDY_ENABLE); //Enbling data ready interrupt
+ ssn_gyr=1;
+ wait(0.1);
+
+ __enable_irq();
+}
+
+float * FUNC_ACS_EXEC_GYR()
+{
+ printf("\nEntered gyro\n");
+ uint8_t response;
+ uint8_t MSB,LSB;
+ int16_t bit_data;
+ float data[3],error[3]={0,0,0}; //declaring error array to add to the values when required
+ float senstivity = 145.6; //senstivity is 145.6 for full scale mode of +/-225 deg/sec
+ ssn_gyr=0;
+ spi_acs.write(PWR_MGMT_1|READFLAG); //sending address of INT_ENABLE with readflag
+ response=spi_acs.write(DUMMYBIT); //
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(PWR_MGMT_1); //sending PWR_MGMT_1 address to write to register
+ response=spi_acs.write(response&(~(BIT_SLEEP))); //waking up the gyroscope from sleep
+ ssn_gyr=1;
+ wait(0.1);
+
+ trFlag=1;
+ tr.attach(&trSub,1); //executes the function trSub afer 1sec
+
+ while(trFlag)
+ {
+ wait_ms(5); //This is required for this while loop to exit. I don't know why.
+ if(drFlag==1)
+ {
+ ssn_gyr=0;
+ spi_acs.write(GYRO_XOUT_H|READFLAG); //sending address of PWR_MGMT_1 with readflag
+ for(int i=0;i<3;i++)
+ {
+ MSB = spi_acs.write(DUMMYBIT); //reading the MSB values of x,y and z respectively
+ LSB = spi_acs.write(DUMMYBIT); //reading the LSB values of x,y and z respectively
+ bit_data= ((int16_t)MSB<<8)|LSB; //concatenating to get 16 bit 2's complement of the required gyroscope values
+ data[i]=(float)bit_data;
+ data[i]=data[i]/senstivity; //dividing with senstivity to get the readings in deg/sec
+ data[i]+=error[i]; //adding with error to remove offset errors
+ }
+ ssn_gyr=1;
+ for (int i=0;i<3;i++)
+ {
+ printf("%f\t",data[i]); //printing the angular velocity values
+ }
+ printf("\n");
+ break;
+ }
+ drFlag=0;
+ }
+ ssn_gyr=0;
+ spi_acs.write(PWR_MGMT_1|READFLAG); //sending address of PWR_MGMT_1 with readflag
+ response=spi_acs.write(DUMMYBIT);
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(PWR_MGMT_1); //sending PWR_MGMT_1 address to write to register
+ response=spi_acs.write(response|BIT_SLEEP); //setting the gyroscope in sleep mode
+ ssn_gyr=1;
+ wait(0.1);
+ printf("\nExited gyro\n");
+ return data;
+}
+
+
+
+
+
+