Diff: ACS.cpp

Revision:

3:20647ff68b3c

Parent:

2:edd107ea4740

Child:

5:4199c0dfed33

diff -r edd107ea4740 -r 20647ff68b3c ACS.cpp
--- a/ACS.cpp	Fri Dec 26 06:12:09 2014 +0000
+++ b/ACS.cpp	Sat Jan 31 14:11:53 2015 +0000
@@ -25,7 +25,7 @@
  {
      
 
-     printf("\nEnterd PWMGEN function\n");
+     printf("\n\rEnterd PWMGEN function\n\r\r");
      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 ;  
@@ -57,7 +57,7 @@
          }
         else if(ix >= 0.0624&& ix < 0.555)
          {
-            printf("\nACS entered if\n");
+            printf("\n\rACS entered if\n\r");
             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 ;            
@@ -73,7 +73,7 @@
             // printf("!!!!!!!!!!Error!!!!!!!!!");
          } 
          
-    printf("\n moment :%f\n",DCx);
+    printf("\n\r moment :%f\n\r",DCx);
     float DCy = 0;         //Duty cycle of Moment in x, y, z directions
      float iy = 0;          //Current sent in x, y, z TR's
        
@@ -104,7 +104,7 @@
          }
         else if(iy >= 0.0624&& iy < 0.555)
          {
-            printf("\nACS entered if\n");
+            printf("\n\rACS entered if\n\r");
             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 ;            
@@ -149,7 +149,7 @@
          }
         else if(iz >= 0.0624&& iz < 0.555)
          {
-            printf("\nACS entered if\n");
+            printf("\n\rACS entered if\n\r");
             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 ;            
@@ -165,7 +165,7 @@
             // printf("!!!!!!!!!!Error!!!!!!!!!");
          }    
     
-printf("\nExited PWMGEN function\n");
+printf("\n\rExited PWMGEN function\n\r");
 }
 /*-------------------------------------------------------------------------------------------------------------------------------------------------------
 -------------------------------------------MAGNETOMETER-------------------------------------------------------------------------------------------------*/
@@ -181,7 +181,7 @@
   DRDY = 0;
   int a ;
   a=DRDY;
-  printf("\n DRDY is %d\n",a);
+  printf("\n\r DRDY is %d\n\r",a);
   SSN_MAG=1;                                    //pin is disabled
   spi_acs.format(8,0);                         //   8bits,Mode 0
   spi_acs.frequency(100000);                   //clock frequency
@@ -205,12 +205,12 @@
 
 float* FUNC_ACS_MAG_EXEC()
 {
-   //printf("\nEntered magnetometer function\n");
+   //printf("\n\rEntered magnetometer function\n\r");
    //DRDY.output();
    DRDY.write(0);
    int a;
    a = DRDY;
-   printf("\n DRDY is %d\n",a);
+   printf("\n\r DRDY is %d\n\r",a);
    SSN_MAG=0;                                //enabling slave to measure the values
    wait_ms(10);
    spi_acs.write(0x82);                     //initiates measurement
@@ -229,7 +229,7 @@
     wait_ms(5);
     if(DRDY==1)
     {
-        printf("\nwth\n");
+        printf("\n\rwth\n");
         SSN_MAG=0;
         spi_acs.write(0xc9);                  //command  byte for retrieving data
  
@@ -256,7 +256,7 @@
             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]);
+            printf("\t%lf\n\r",Bnewvalue[axis]);
 
         }
         SSN_MAG=1;
@@ -285,7 +285,7 @@
     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");
+    printf("Entered cntrl algo\n\r");
     //structure parameters
 
     void inverse (float mat[3][3], float inv[3][3]); 
@@ -320,7 +320,7 @@
         
         for(i=0;i<3;i++)
         {
-            printf("\nreached here\n");
+            printf("\n\rreached here\n\r");
             if(den!=0)
                 //b[i]=b[i]/den;                                      //there is a problem here. The code gets stuck here.  Maf value is required 
                 ;
@@ -384,7 +384,7 @@
 }
 /////////// Output to Matlab //////////////////
 /* for(i=0;i<3;i++) {
- printf("%f\n",tauc[i]*10000000);
+ printf("%f\n\r",tauc[i]*10000000);
  wait_ms(10);
  }
  }
@@ -423,7 +423,7 @@
  }
  sscanf (tempchar, "%8x", &n);
  memcpy(&flval, &n, sizeof(long));
- printf("%f\n", flval);
+ printf("%f\n\r", flval);
  x[j] = flval;
  }
 }*/
@@ -532,7 +532,7 @@
 
 float * FUNC_ACS_EXEC_GYR()
 {
-    printf("\nEntered gyro\n");
+    printf("\n\rEntered gyro\n\r");
     uint8_t response;
     uint8_t MSB,LSB;
     int16_t bit_data;
@@ -574,7 +574,7 @@
             {
                 printf("%f\t",data[i]); //printing the angular velocity values
             }
-            printf("\n");
+            printf("\n\r");
             break;
         }
             drFlag=0;
@@ -590,7 +590,7 @@
     response=spi_acs.write(response|BIT_SLEEP); //setting the gyroscope in sleep mode
     ssn_gyr=1;
     wait(0.1);
-    printf("\nExited gyro\n");
+    printf("\n\rExited gyro\n\r");
     return data;
 }