sakthi priya amirtharaj / Mbed 2 deprecated BAE_hw_test1_4

gotta check ctrl algo - it gives negative value

Dependencies:   mbed-rtos mbed

Fork of BAE_hw_test1_3 by sakthi priya amirtharaj

HK.h@11:6b00f3b1be17, 2015-03-04 (annotated)

Committer:
sakthipriya
Date:
Wed Mar 04 17:15:15 2015 +0000
Revision:
11:6b00f3b1be17
Parent:
0:ebdf4f859dca 
control algo - torque converted to moment

Who changed what in which revision?

UserRevisionLine numberNew contents of line
raizel_varun 0:ebdf4f859dca 1 //to be saved as HK.h
raizel_varun 0:ebdf4f859dca 2
raizel_varun 0:ebdf4f859dca 3 #include "mbed.h"
raizel_varun 0:ebdf4f859dca 4 #define tstart -40
raizel_varun 0:ebdf4f859dca 5 #define tstep 8
raizel_varun 0:ebdf4f859dca 6 #define tstep_thermistor 8//verify!!
raizel_varun 0:ebdf4f859dca 7 #define tstart_thermistor -40
raizel_varun 0:ebdf4f859dca 8 #define vstart 3.3
raizel_varun 0:ebdf4f859dca 9 #define vstep 0.84667
raizel_varun 0:ebdf4f859dca 10 #define cstart 0.0691
raizel_varun 0:ebdf4f859dca 11 #define cstep 0.09133
raizel_varun 0:ebdf4f859dca 12 #define rsens 0.095
raizel_varun 0:ebdf4f859dca 13 #define Bnewvalue_start -100//in microTesla...max possible field is .0001 T
raizel_varun 0:ebdf4f859dca 14 #define Bnewvalue_step 13.333
raizel_varun 0:ebdf4f859dca 15 #define AngularSpeed_start -10//max possible ang. velocity in space is 10 deg/sec
raizel_varun 0:ebdf4f859dca 16 #define AngularSpeed_step 1.3333
raizel_varun 0:ebdf4f859dca 17
raizel_varun 0:ebdf4f859dca 18
raizel_varun 0:ebdf4f859dca 19
raizel_varun 0:ebdf4f859dca 20 typedef struct SensorData
raizel_varun 0:ebdf4f859dca 21 {
raizel_varun 0:ebdf4f859dca 22 float Voltage[16];
raizel_varun 0:ebdf4f859dca 23 float Current[8];
raizel_varun 0:ebdf4f859dca 24 float Temperature[1];
raizel_varun 0:ebdf4f859dca 25 float PanelTemperature[4];
raizel_varun 0:ebdf4f859dca 26 float BatteryTemperature; //to be populated
raizel_varun 0:ebdf4f859dca 27 char faultpoll; //polled faults
raizel_varun 0:ebdf4f859dca 28 char faultir; //interrupted faults
raizel_varun 0:ebdf4f859dca 29 char power_mode; //power modes
raizel_varun 0:ebdf4f859dca 30
raizel_varun 0:ebdf4f859dca 31 float AngularSpeed[3]; //in order x,y,z
raizel_varun 0:ebdf4f859dca 32 float Bnewvalue[3]; //in order Bx,By,Bz
raizel_varun 0:ebdf4f859dca 33
raizel_varun 0:ebdf4f859dca 34
raizel_varun 0:ebdf4f859dca 35 } SensorData;
raizel_varun 0:ebdf4f859dca 36
raizel_varun 0:ebdf4f859dca 37
raizel_varun 0:ebdf4f859dca 38 typedef struct SensorDataQuantised {
raizel_varun 0:ebdf4f859dca 39 char Voltage[8];
raizel_varun 0:ebdf4f859dca 40 char Current[4];
raizel_varun 0:ebdf4f859dca 41 char Temperature[1];
raizel_varun 0:ebdf4f859dca 42 char PanelTemperature[2];//read by the 4 thermistors on solar panels
raizel_varun 0:ebdf4f859dca 43 char BatteryTemperature; //to be populated
raizel_varun 0:ebdf4f859dca 44 char faultpoll; //polled faults
raizel_varun 0:ebdf4f859dca 45 char faultir; //interrupted faults
raizel_varun 0:ebdf4f859dca 46 char power_mode; //power modes
raizel_varun 0:ebdf4f859dca 47 char AngularSpeed[2];
raizel_varun 0:ebdf4f859dca 48 char Bnewvalue[2];
raizel_varun 0:ebdf4f859dca 49
raizel_varun 0:ebdf4f859dca 50 //float magnetometer,gyro=>to be addes
raizel_varun 0:ebdf4f859dca 51 } SensorDataQuantised;
raizel_varun 0:ebdf4f859dca 52
raizel_varun 0:ebdf4f859dca 53
raizel_varun 0:ebdf4f859dca 54 typedef struct ShortBeacon
raizel_varun 0:ebdf4f859dca 55 {
raizel_varun 0:ebdf4f859dca 56 char Voltage[1]; //battery voltage from gauge, needs to be quantised
raizel_varun 0:ebdf4f859dca 57 char AngularSpeed[2]; //all the 3 data
raizel_varun 0:ebdf4f859dca 58 char SubsystemStatus[1]; //power modes
raizel_varun 0:ebdf4f859dca 59 char Temp[2]; //temp of solar panel
raizel_varun 0:ebdf4f859dca 60 //Temp[0]'s LSB=> PanelTemperature[0], Temp[0]'s MSB=> PanelTemperature[1], Temp[1]'s LSB=> PanelTemperature[2], Temp[1]'s MSB=> PanelTemperature[3]
raizel_varun 0:ebdf4f859dca 61 char ErrorFlag[1]; //fault
raizel_varun 0:ebdf4f859dca 62 }ShortBeacy;
raizel_varun 0:ebdf4f859dca 63
raizel_varun 0:ebdf4f859dca 64
raizel_varun 0:ebdf4f859dca 65
raizel_varun 0:ebdf4f859dca 66 void FUNC_HK_MAIN();
raizel_varun 0:ebdf4f859dca 67
raizel_varun 0:ebdf4f859dca 68 int quantiz(float start,float step,float x);
raizel_varun 0:ebdf4f859dca 69 void init_beacon(ShortBeacy* x,SensorDataQuantised y);