gotta check ctrl algo - it gives negative value
Fork of BAE_hw_test1_3 by
HK.cpp
- Committer:
- greenroshks
- Date:
- 2014-12-26
- Revision:
- 2:edd107ea4740
- Parent:
- 0:ebdf4f859dca
- Child:
- 3:20647ff68b3c
File content as of revision 2:edd107ea4740:
#include "HK.h" #include "pin_config.h" //GPIO pins used=> D2-D12, A0-A1 DigitalOut SelectLinesA[]={PIN43,PIN44,PIN45,PIN46};//to mux1=>voltage mux , PTA 13-16 , CHNGE TO PIN43 LATER DigitalOut SelectLinesB[]={PTD3,PTC4,PTC8,PIN59};//to mux2=>current mux(differential mux) , PTB 3,7,8,9 DigitalOut SelectLinesC[]={PIN64,PIN65,PIN66,PTC9};//to mux3=>temp mux PTB 18-21 //--------------------------------------------MSB is SelectLines[0],LSB is SelectLines[3]-------------------------------- AnalogIn CurrentInput(PIN53); // Input from Current Mux PTB0 AnalogIn VoltageInput(PIN54); // Input from Voltage Multiplexer PTB1 AnalogIn TemperatureInput(PIN55); /*PTB2 Input from Temperature Multiplexer,thermistor Multiplexer- same multiplexer for both(lines 1-4 for thermistor,line 0 for temperature sensor)*/ int quantiz(float start,float step,float x) // accepts min and measured values and step->quantises on a scale 0-15..(4 bit quantisation) { int y=(x-start)/step; if(y<=0)y=0; if(y>=15)y=15; return y; } void init_beacon(ShortBeacy* x,SensorDataQuantised y) { (*x).Voltage[0]=2;//quantised value (*x).Temp[0]=y.PanelTemperature[0];//quantised value (*x).Temp[1]=y.PanelTemperature[1];//quantised value (*x).AngularSpeed[0]=y.AngularSpeed[0]; (*x).AngularSpeed[1]=y.AngularSpeed[1]; (*x).SubsystemStatus[0]=145;//dummy values----------to be changed------------------- (*x).ErrorFlag[0]=3;//dummy values----------to be changed------------------- } SensorData Sensor; SensorDataQuantised SensorQuantised; ShortBeacy Shortbeacon; void FUNC_HK_MAIN() { //define structure variables //initialise all selectlines to zeroes->1st line of muxes selected SelectLinesA[0]=SelectLinesA[1]=SelectLinesA[2]=SelectLinesA[3]=0; SelectLinesB[0]=SelectLinesB[1]=SelectLinesB[2]=0; SelectLinesC[0]=SelectLinesC[1]=SelectLinesC[2]=SelectLinesC[3]=0; int LoopIterator; int SelectLineIterator; float resistance_thermistor,voltage_thermistor;//for thermistor //measurement from voltage sensor=> 16 sensors in place for(LoopIterator=0; LoopIterator<16; LoopIterator++) { //following lines read the sensor values and stores them in 'SensorData' structure's variable 'Sensor' Sensor.Voltage[LoopIterator]=(VoltageInput.read()*3.3*5.545454);//resistors in voltage divider=>15Mohm,3.3Mohm if(LoopIterator%2==0) SensorQuantised.Voltage[LoopIterator/2]=quantiz(vstart,vstep,Sensor.Voltage[LoopIterator]); else SensorQuantised.Voltage[(LoopIterator)/2]=SensorQuantised.Voltage[(LoopIterator)/2]<<4+quantiz(vstart,vstep,Sensor.Voltage[LoopIterator]); // The following lines are used to iterate the select lines from 0 to 15 //following is an algorithm similar to counting binary numbers of 4 bit for(SelectLineIterator=3;SelectLineIterator>=0;SelectLineIterator--) { if(SelectLinesA[SelectLineIterator]==0) { SelectLinesA[SelectLineIterator]=1; break; } else SelectLinesA[SelectLineIterator]=0; } wait_us(10.0); // A delay of 10 microseconds between each sensor output. Can be changed. } //measurement from current sensor=> 8 sensors in place for(LoopIterator=0; LoopIterator<8; LoopIterator++) { //following lines read the sensor values and stores them in 'SensorData' structure variable 'Sensor' Sensor.Current[LoopIterator]=(CurrentInput.read()*3.3/(50*rsens)); if(LoopIterator%2==0) SensorQuantised.Current[LoopIterator/2]=quantiz(cstart,cstep,Sensor.Current[LoopIterator]); else SensorQuantised.Current[(LoopIterator)/2]=SensorQuantised.Current[(LoopIterator)/2]<<4+quantiz(cstart,cstep,Sensor.Current[LoopIterator]); // The following lines are used to iterate the select lines from 0 to 7 //following is an algorithm similar to counting binary numbers of 3 bits for(SelectLineIterator=2;SelectLineIterator>=0;SelectLineIterator--) { if(SelectLinesB[SelectLineIterator]==0) { SelectLinesB[SelectLineIterator]=1; break; } else SelectLinesB[SelectLineIterator]=0; } wait_us(10.0); // A delay of 10 microseconds between each sensor output. Can be changed. } //measurement of temperature //temperature measurement=> 4 thermistors, 1 temperature sensor //mux line 1=>temp sensor, mux lines 2 to 5 =>thermistors for(LoopIterator=0; LoopIterator<5; LoopIterator++) { //following lines read the sensor values and stores them in 'SensorData' structure variable 'Sensor' Sensor.Temperature[LoopIterator]=(-90.7*3.3*TemperatureInput.read()+190.1543); voltage_thermistor=TemperatureInput.read()*3.3;//voltage across thermistor resistance_thermistor=24000*voltage_thermistor/(3.3-voltage_thermistor);//resistance of thermistor if (LoopIterator==0) { printf(" Temp =%f",-90.7*3.3*TemperatureInput.read()+190.1543); } if(LoopIterator%2==0) { if(LoopIterator<1) //->corresponding to temperature sensor SensorQuantised.Temperature[(LoopIterator)/2]=quantiz(tstart,tstep,Sensor.Temperature[LoopIterator]); else //->corresponding to thermistor { if(voltage_thermistor<1.378) //Temperature>12 degC Sensor.PanelTemperature[(LoopIterator-1)]=(3694/log(24.032242*resistance_thermistor)); else Sensor.PanelTemperature[(LoopIterator-1)]=(3365.4792/log(7.60404*resistance_thermistor)); SensorQuantised.PanelTemperature[(LoopIterator-1)/2]=quantiz(tstart_thermistor,tstep_thermistor,Sensor.PanelTemperature[(LoopIterator-1)]); } } else { if(LoopIterator<1) SensorQuantised.Temperature[(LoopIterator)/2]=SensorQuantised.Temperature[(LoopIterator)/2]<<4+quantiz(tstart,tstep,Sensor.Temperature[LoopIterator]); else { if(voltage_thermistor<1.378) //Temperature>12 degC Sensor.PanelTemperature[LoopIterator-1]=(3694/log(24.032242*resistance_thermistor)); else Sensor.PanelTemperature[LoopIterator-1]=(3365.4792/log(7.60404*resistance_thermistor)); SensorQuantised.PanelTemperature[(LoopIterator-1)/2]=SensorQuantised.PanelTemperature[(LoopIterator-1)/2]<<4+quantiz(tstart_thermistor,tstep_thermistor,Sensor.PanelTemperature[LoopIterator-1]); } } strcpy(SensorQuantised.Voltage,"green"); // The following lines are used to iterate the select lines from 0 to 4 //following is an algorithm similar to counting binary numbers of 4 bit for(SelectLineIterator=3;SelectLineIterator>=0;SelectLineIterator--) { if(SelectLinesC[SelectLineIterator]==0) { SelectLinesC[SelectLineIterator]=1; break; } else SelectLinesC[SelectLineIterator]=0; } wait_us(10.0); // A delay of 10 microseconds between each sensor output. Can be changed. } //update magnetometer data-> //populate values in structure variable 'Sensor' from data to be given by Green SensorQuantised.AngularSpeed[0]=quantiz(AngularSpeed_start,AngularSpeed_step,Sensor.AngularSpeed[1]); SensorQuantised.AngularSpeed[0]=SensorQuantised.AngularSpeed[0]<<4+quantiz(AngularSpeed_start,AngularSpeed_step,Sensor.AngularSpeed[0]); SensorQuantised.AngularSpeed[1]=quantiz(AngularSpeed_start,AngularSpeed_step,Sensor.AngularSpeed[2]); //update gyro data-> //populate values in structure variable 'Sensor' from data to be given by Green SensorQuantised.Bnewvalue[0]=quantiz(Bnewvalue_start,Bnewvalue_step,Sensor.Bnewvalue[1]); SensorQuantised.Bnewvalue[0]=SensorQuantised.Bnewvalue[0]<<4+quantiz(Bnewvalue_start,Bnewvalue_step,Sensor.Bnewvalue[0]); SensorQuantised.Bnewvalue[1]=quantiz(Bnewvalue_start,Bnewvalue_step,Sensor.Bnewvalue[2]); //update beacon structure init_beacon(&Shortbeacon,SensorQuantised);//Shortbeacon is passed }