Team Fox / Mbed 2 deprecated ACS_FULL_Flowchart_BAE

ACS completed fully. All cases to be tested

Dependencies:   FreescaleIAP mbed-rtos mbed

Fork of ACS_Flowchart_BAE by Team Fox

ACS.h@18:21740620c65e, 2016-06-13 (annotated)

Committer:
Bragadeesh153
Date:
Mon Jun 13 13:44:31 2016 +0000
Revision:
18:21740620c65e
Parent:
17:1e1955f3db75 
ACS algo commissioning done, Hardware comissioning yet to be finalised

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakthipriya 0:7b4c00e3912f 1 #include "mbed.h"
sakthipriya 0:7b4c00e3912f 2 #include "math.h"
sakthipriya 0:7b4c00e3912f 3 #include "pni.h"
sakthipriya 0:7b4c00e3912f 4
sakthipriya 0:7b4c00e3912f 5 //...........................................
sakthipriya 0:7b4c00e3912f 6 #define TIME_PERIOD 0.02
sakthipriya 0:7b4c00e3912f 7 #define TR_CONSTANT 0.3
Bragadeesh153 17:1e1955f3db75 8 #define sampling_time 10
Bragadeesh153 17:1e1955f3db75 9 #define kdetumble 2000000
Bragadeesh153 17:1e1955f3db75 10 #define MmntMax 1.1 // Unit: Ampere*Meter^2
Bragadeesh153 17:1e1955f3db75 11 #define OmegaMax 1*3.1415/180.0 // Unit: Radians/Second
Bragadeesh153 18:21740620c65e 12 #define ACS_DEMAG_TIME_DELAY 20
Bragadeesh153 17:1e1955f3db75 13
Bragadeesh153 17:1e1955f3db75 14 #define senstivity_gyro 6.5536; //senstivity is obtained from 2^15/5000dps
Bragadeesh153 17:1e1955f3db75 15 #define senstivity_mag 32.768; //senstivity is obtained from 2^15/1000microtesla
Bragadeesh153 17:1e1955f3db75 16 #define senstivity_time 32; //senstivity is obtained from 2^16/2048dps
sakthipriya 0:7b4c00e3912f 17
sakthipriya 0:7b4c00e3912f 18 void FCTN_ACS_GENPWM_MAIN(float*);
Bragadeesh153 18:21740620c65e 19 void FCTN_ACS_CNTRLALGO(float*,float*,int);
Bragadeesh153 17:1e1955f3db75 20 void controlmodes(float*, float*, float*, uint8_t);
sakthipriya 0:7b4c00e3912f 21 void inverse(float mat[3][3],float inv[3][3]);
sakthipriya 0:7b4c00e3912f 22 extern void FLAG();
sakthipriya 0:7b4c00e3912f 23
sakthipriya 0:7b4c00e3912f 24 void FCTN_ATS_SWITCH(bool);
Bragadeesh153 16:cc77770d787f 25 int FCTN_ACS_INIT(); //initialization of registers happens
sakthipriya 0:7b4c00e3912f 26 //void FCTN_ATS_DATA_ACQ(float*,float*); // main function: checks errors, gets data, switches on/off the sensor
sakthipriya 0:7b4c00e3912f 27 //void FCTN_GET_DATA(float*,float*); //data is obtained
sakthipriya 0:7b4c00e3912f 28 void FCTN_T_OUT(); //timeout function to stop infinite loop
Bragadeesh153 16:cc77770d787f 29 int FCTN_ATS_DATA_ACQ();