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Siphon Regulator 1.0
Nanosattelite attitude determination and control system.
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Siphon Regulator 1.0
Nanosattelite attitude determination and control system.
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Process commands send to MCU through serial port. More...
Macros | |
| #define | ANGLE_TOL 5 |
| #define | STOP_CONST_LEFT (1000.0f/7.808f) |
| #define | STOP_CONST_RIGHT (1000.0f/11.7f) |
| #define | STOP_CONST_OFF_LEFT 1.552f |
| #define | STOP_CONST_OFF_RIGHT 0.047f |
| #define | GYR_TOL 1.0f |
| #define | PULSE_IGNORE 50 |
Functions | |
| void | autoread_fcn (uint32_t reg) |
| It handles the periodic transmission of the sensor data message. | |
| void | valve_fcn (uint32_t *p_reg, float *p_set_pos) |
| It handles the execution of motion commands. | |
| void | regul_fcn (uint32_t *p_reg, float set_pos) |
| It handles the regulation of the orientation. | |
| static void | valve_close (void) |
| Closes all valves. | |
| static void | regul_stop (uint32_t *p_reg, uint32_t *p_ticks) |
| It provides the stopping pulse. | |
| static void | regul_return (uint32_t *p_reg, uint32_t *p_ticks, float set_pos) |
| It initiates the return to the stable orientation. | |
Variables | |
| sensor_data_t | measured_data |
| Current sensor measured data. | |
| settings_t | set_data |
| Main system settings. | |
Process commands send to MCU through serial port.
It contains the functions executed within the main loop. It enables automatic sensor reading, motion commands performing, and attitude regulating.
Necessary definition and function declaration.
| #define ANGLE_TOL 5 |
Precision setting of position.
Definition at line 25 of file loop_fcn_def.h.
| #define GYR_TOL 1.0f |
Ignored motion, it accounts for sensor fluctuation.
Definition at line 40 of file loop_fcn_def.h.
| #define PULSE_IGNORE 50 |
Ignored pulse duration in milliseconds, too short pulse for performing
Definition at line 43 of file loop_fcn_def.h.
| #define STOP_CONST_LEFT (1000.0f/7.808f) |
Definition at line 28 of file loop_fcn_def.h.
| #define STOP_CONST_OFF_LEFT 1.552f |
Definition at line 34 of file loop_fcn_def.h.
| #define STOP_CONST_OFF_RIGHT 0.047f |
Definition at line 37 of file loop_fcn_def.h.
| #define STOP_CONST_RIGHT (1000.0f/11.7f) |
Definition at line 31 of file loop_fcn_def.h.
| void autoread_fcn | ( | uint32_t | reg | ) |
It handles the periodic transmission of the sensor data message.
| reg | command register, involves information about system state and switching time of valves |
The command register specifies the requested content of the autoread message. If autoread is enabled, the message is transmitted periodically, with the interval defined in the global variable set_data.
The AUTOREAD_BIT in the command register enables the automatic transmission of messages. The AUTOREAD_GYR_BIT, AUTOREAD_POS_BIT, and AUTOREAD_ACC_BIT flags allow the corresponding data to be included in the message.
Definition at line 27 of file loop_fcn.c.
| void regul_fcn | ( | uint32_t * | p_reg, |
| float | set_pos ) |
It handles the regulation of the orientation.
| p_reg | command register, involves information about system state and switching time of valves |
| set_pos | the orientation is maintained by the regulation loop. |
If no motion command or regulation method is active, the system checks whether the satellite is moving and whether its orientation remains stable.
If an angular velocity exceeding the allowed tolerance is detected, a stopping pulse is requested. This is handled by the regul_stop() function, which sets the REG_BIT flag. While this flag is set, further testing is blocked. After the pulse duration expires, the function closes the valves and clears the REG_BIT flag.
If the deviation between set_pos and the measured orientation exceeds ANGLE_TOL, a return motion operation is required. This operation is initiated by the regul_return() function, which triggers the start pulse. The remaining steps are handled by valve_fcn(), to which the execution flow seamlessly transitions.
The CMD0_BIT flag allows this entire regulation mechanism to be disabled.
Definition at line 183 of file loop_fcn.c.
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It initiates the return to the stable orientation.
| p_reg | command register, involves information about system state and switching time of valves |
| p_ticks | number of ticks until the pulse is stopped |
| set_pos | the orientation is maintained by the regulation loop. |
It triggers the first pulse of the RETURN method. It sets the REG_BIT and RETURN_BIT flags. The appropriate valve is selected so that the correction path is as short as possible. The DIR_BIT flag is also configured to ensure proper stopping behavior.The pulse duration is taken directly from the global variable set_data. The REG_BIT flag ensures that, once the pulse duration expires, the valves are closed.
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It provides the stopping pulse.
| p_reg | command register, involves information about system state and switching time of valves |
| p_ticks | number of ticks until the pulse is stopped |
Based on the sign of the polarization value, one of the valves is opened: the right valve for a positive value and the left valve for a negative value. The required pulse duration is then computed from the measured angular velocity. Pulses that are too short are ignored. By setting the REG_BIT flag, the system activates the condition that closes the valve once the computed time has elapsed.
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Closes all valves.
| void valve_fcn | ( | uint32_t * | p_reg, |
| float * | p_set_pos ) |
It handles the execution of motion commands.
| p_reg | command register, involves information about system state and switching time of valves |
| p_set_pos | the orientation is maintained by the regulation loop. |
It is a state machine that selects the appropriate function based on the configuration of the command register.
Available states:
| State | RUN_BIT | PULSE_BIT | TURN_BIT | HOME_BIT | RETURN_BIT |
|---|---|---|---|---|---|
| START | 1 | 1 | X | X | X |
| START | 1 | X | 1 | X | X |
| START | 1 | X | X | 1 | X |
| FLY | 1 | 0 | 0 | 0 | X |
| STOP PULSE | 0 | 1 | X | X | X |
| STOP TURN | 0 | 0 | 1 | X | X |
| STOP HOME | 0 | 0 | 0 | 1 | X |
| STOP RETURN | 0 | 0 | 0 | 0 | 1 |
The START state indicates that a start pulse is requested. In addition to the corresponding command flag, at least one of the PULSE_BIT, TURN_BIT, or HOME_BIT flags must be set, while the RUN_BIT flag must be cleared. The valve closing time is initialized, and — based on the value of DIR_BIT — the appropriate valve is opened. After each command is executed, the value of set_pos is updated.
The STOP states occur after a pulse has been triggered and its duration has elapsed. They are selected based on the command flag that is active at that moment.
STOP PULSE is activated by the PULSE_BIT flag. In this state, the valves are simply closed and the PULSE_BIT flag is cleared.
STOP TURN is activated by the TURN_BIT flag. The required orientation is computed using set_data.angle. The TURN_BIT flag is cleared, and by setting the RUN_BIT flag, the system transitions into the FLY state.
STOP HOME is activated by the HOME_BIT flag. The required orientation is set according to set_data.home. The HOME_BIT flag is cleared, and the system enters the FLY state by setting RUN_BIT.
STOP RETURN is activated by the RETURN_BIT flag. The required orientation is set to p_set_home. The RETURN_BIT flag is cleared, and the RUN_BIT flag is set, causing a transition to the FLY state.
The FLY state is active when only the RUN_BIT flag is set. The satellite is in free flight, and the system waits until the stop condition is satisfied. Once the condition is met, the DIR_BIT flag is inverted and the duration of the stopping pulse is computed. The system then transitions to the START state with the PULSE_BIT flag set.
Definition at line 69 of file loop_fcn.c.
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1.12.0