magnetorquer.h File Reference

#include "ch.h"
#include "hal.h"
#include "chprintf.h"

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Data Structures
struct	MTQR
	MTQR structure for keeping state. More...

Macros
#define	MTQR_PWM_TIMER_FREQ   2e6
#define	MTQR_PWM_FREQ   2e3
#define	FORWARD   0
#define	REVERSE   1
#define	MTQR_PWM_PERIOD   MTQR_PWM_TIMER_FREQ/MTQR_PWM_FREQ
#define	PWM_CH_MTQR   0
#define	MTQR_STARTING_DC   5000u
#define	PH   9u
#define	ENABLE   GPIOB_EN_MAG
#define	EXIT_SUCCESS   0
#define	EXIT_FAILURE   1

Functions
void	mtqrInit (MTQR *mtqr)
	Magnetorquer initialization function. More...
void	mtqrStart (MTQR *mtqr)
	Magnetorquer start function. More...
void	mtqrStop (MTQR *mtqr)
	Magnetorquer stop function. More...
void	mtqrSetDC (uint16_t dc)
	Magnetorquer set duty cycle function. More...
void	mtqrSetDir (uint8_t dc)
	Magnetorquer set direction function. More...
void	mtqrExit (MTQR *mtqr)
	Magnetorquer exit function. More...

Variables
static const PWMConfig	pwm_MTQRcfg
	PWMConfig structure for the magnetorquer. More...

Macro Definition Documentation

ENABLE

#define ENABLE   GPIOB_EN_MAG

EXIT_FAILURE

#define EXIT_FAILURE   1

EXIT_SUCCESS

#define EXIT_SUCCESS   0

FORWARD

#define FORWARD   0

MTQR_PWM_FREQ

#define MTQR_PWM_FREQ   2e3

MTQR_PWM_PERIOD

#define MTQR_PWM_PERIOD   MTQR_PWM_TIMER_FREQ/MTQR_PWM_FREQ

MTQR_PWM_TIMER_FREQ

#define MTQR_PWM_TIMER_FREQ   2e6

MTQR_STARTING_DC

#define MTQR_STARTING_DC   5000u

PH

#define PH   9u

PWM_CH_MTQR

#define PWM_CH_MTQR   0

REVERSE

#define REVERSE   1

Function Documentation

mtqrExit()

void mtqrExit

(

MTQR *

mtqr

)

Magnetorquer exit function.

Function to initialize shutdown of driver.

                                {
    if(!mtqr->started){     // Checking if magnetorquer state is off.   
        return;
    }
    mtqrStop(mtqr);         // If the state isn't already off, shut down the driver.
}

mtqrInit()

void mtqrInit

(

MTQR *

mtqr

)

Magnetorquer initialization function.

This function will initialize the driver state to off.

                                {
    (void)mtqr;
    mtqr->started = FALSE;          // Initializing state of magnetorquer driver.
    palClearPad(GPIOB,ENABLE);      // Initializing motor driver state to off.
}

mtqrSetDC()

void mtqrSetDC

(

uint16_t

dc

)

Magnetorquer set duty cycle function.

This function takes a 16 bit value as parameter and sets the duty cycle of the magnetorquer driver using the paramater.

                                  {
    pwmEnableChannel(                       // Setting duty cycle output using paramater.
        &PWMD1,
        PWM_CH_MTQR,
        PWM_PERCENTAGE_TO_WIDTH(&PWMD1,dc)
    );
}

mtqrSetDir()

void mtqrSetDir

(

uint8_t

dc

)

Magnetorquer set direction function.

This function sets the phase pin for the STSPIN250 motor driver. The phase is set based on the value of the paramater given to the function.

                                  {
    if(dc==FORWARD){                // Set phase selection pin based on requested direction.    
        palClearPad(GPIOA,PH); 
    }else if(dc==REVERSE){
        palSetPad(GPIOA,PH);  
    }
}

mtqrStart()

void mtqrStart

(

MTQR *

mtqr

)

Magnetorquer start function.

This function will start the PWM driver and enable the STSPIN250 motor driver while providing a starting duty cycle. At this point, the state of the magnetorquer will be set to true to indicate on state.

                                 {
    if(mtqr->started){              // Checking if state is already on.
        return;
    }
    pwmStart(&PWMD1,&pwm_MTQRcfg);  // Starting pwm driver.
    mtqrSetDC(MTQR_STARTING_DC);    // Setting duty cycle of output.
    palSetPad(GPIOB,ENABLE);        // Turning on motor driver.
    mtqr->started   = TRUE;             // Setting to on state.
}

mtqrStop()

void mtqrStop

(

MTQR *

mtqr

)

Magnetorquer stop function.

This function will disable the active PWM driver and disable the STSPIN250 motor driver.

                                {
    if(!mtqr->started){     // Checking if state is already off.
        return;
    }
    pwmDisableChannel(&PWMD1,PWM_CH_MTQR);  // Disabling channel output.
    palClearPad(GPIOB,ENABLE);              // Shutting off STSPIN250 driver.
    pwmStop(&PWMD1);                        // Stopping PWM driver.
    mtqr->started   = FALSE;                    // Changing state to off.
}

Variable Documentation

pwm_MTQRcfg

const PWMConfig pwm_MTQRcfg

static

Initial value:

= {
    MTQR_PWM_TIMER_FREQ,    
    MTQR_PWM_PERIOD,        
    NULL,                       
    { 
        {PWM_OUTPUT_ACTIVE_HIGH,NULL},
        {PWM_OUTPUT_DISABLED,NULL},
        {PWM_OUTPUT_DISABLED,NULL},
        {PWM_OUTPUT_DISABLED,NULL}
    },
    0,
    0,
    0
}

PWMConfig structure for the magnetorquer.