2nd Library
Dependents: cuboid_balance_ros cuboid_balance mirror_actuator_V1
GPA.cpp@1:35e1cf78ea6f, 2019-03-08 (annotated)
- Committer:
- altb2
- Date:
- Fri Mar 08 13:34:52 2019 +0000
- Revision:
- 1:35e1cf78ea6f
- Parent:
- 0:a201a6cd4c0c
..
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 0:a201a6cd4c0c | 1 | /* |
altb2 | 0:a201a6cd4c0c | 2 | GPA: Frequency point wise gain and phase analyser to measure the frequency respone function (FRF) of a dynamical system, based on the one point DFT |
altb2 | 0:a201a6cd4c0c | 3 | |
altb2 | 0:a201a6cd4c0c | 4 | Hint: If the plant has a pole at zero, is unstable or weakly damped the measurement has to be perfomed |
altb2 | 0:a201a6cd4c0c | 5 | in closed loop (this is NOT tfestimate, the algorithm is based on the one point DFT). |
altb2 | 0:a201a6cd4c0c | 6 | Assumption: The system is and remains at the desired steady state of interest when the measurment starts |
altb2 | 0:a201a6cd4c0c | 7 | |
altb2 | 0:a201a6cd4c0c | 8 | Instantiate option 0: ("Not a Jedi yet" users, for logarithmic equaly spaced frequency points) |
altb2 | 0:a201a6cd4c0c | 9 | |
altb2 | 0:a201a6cd4c0c | 10 | GPA(float fMin, float fMax, int NfexcDes, float Aexc0, float Aexc1, float Ts) |
altb2 | 0:a201a6cd4c0c | 11 | |
altb2 | 0:a201a6cd4c0c | 12 | fMin: Minimal desired frequency that should be measured in Hz |
altb2 | 0:a201a6cd4c0c | 13 | fMax: Maximal desired frequency that should be measured in Hz |
altb2 | 0:a201a6cd4c0c | 14 | NfexcDes: Number of logarithmic equaly spaced frequency points between fMin and fMax |
altb2 | 0:a201a6cd4c0c | 15 | Aexc0: Excitation amplitude at fMin |
altb2 | 0:a201a6cd4c0c | 16 | Aexc1: Excitation amplitude at fMax |
altb2 | 0:a201a6cd4c0c | 17 | Ts: Sampling time in sec |
altb2 | 0:a201a6cd4c0c | 18 | |
altb2 | 0:a201a6cd4c0c | 19 | Default values are as follows: |
altb2 | 0:a201a6cd4c0c | 20 | int NperMin = 3; |
altb2 | 0:a201a6cd4c0c | 21 | int NmeasMin = (int)ceil(1.0f/Ts); |
altb2 | 0:a201a6cd4c0c | 22 | int NstartMin = (int)ceil(3.0f/Ts); |
altb2 | 0:a201a6cd4c0c | 23 | int NsweepMin = 0; |
altb2 | 0:a201a6cd4c0c | 24 | |
altb2 | 0:a201a6cd4c0c | 25 | Instantiate option 1: ("Jedi or Sith Lord", for logarithmic equaly spaced frequency points) |
altb2 | 0:a201a6cd4c0c | 26 | |
altb2 | 0:a201a6cd4c0c | 27 | GPA(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int NstartMin, int NsweepMin) |
altb2 | 0:a201a6cd4c0c | 28 | |
altb2 | 0:a201a6cd4c0c | 29 | fMin: Minimal desired frequency that should be measured in Hz |
altb2 | 0:a201a6cd4c0c | 30 | fMax: Maximal desired frequency that should be measured in Hz |
altb2 | 0:a201a6cd4c0c | 31 | NfexcDes: Number of logarithmic equaly spaced frequency points |
altb2 | 0:a201a6cd4c0c | 32 | NperMin: Minimal number of periods that are used for each frequency point |
altb2 | 0:a201a6cd4c0c | 33 | NmeasMin: Minimal number of samples that are used for each frequency point |
altb2 | 0:a201a6cd4c0c | 34 | Ts: Sampling time in sec |
altb2 | 0:a201a6cd4c0c | 35 | Aexc0: Excitation amplitude at fMin |
altb2 | 0:a201a6cd4c0c | 36 | Aexc1: Excitation amplitude at fMax |
altb2 | 0:a201a6cd4c0c | 37 | NstartMin: Minimal number of samples to sweep to the first frequency point (can be equal 0) |
altb2 | 0:a201a6cd4c0c | 38 | NsweepMin: Minimal number of samples to sweep from freq. point to freq. point (can be equal 0) |
altb2 | 0:a201a6cd4c0c | 39 | |
altb2 | 0:a201a6cd4c0c | 40 | |
altb2 | 0:a201a6cd4c0c | 41 | Instantiate option 2: (for a second, refined frequency grid measurement) |
altb2 | 0:a201a6cd4c0c | 42 | |
altb2 | 0:a201a6cd4c0c | 43 | GPA(float f0, float f1, float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int NstartMin, int NsweepMin) |
altb2 | 0:a201a6cd4c0c | 44 | |
altb2 | 0:a201a6cd4c0c | 45 | f0: Frequency point for the calculation of Aexc0 in Hz (should be chosen like in the first measurement) |
altb2 | 0:a201a6cd4c0c | 46 | f1: Frequency point for the calculation of Aexc1 in Hz (should be chosen like in the first measurement) |
altb2 | 0:a201a6cd4c0c | 47 | *fexcDes: Sorted frequency point array in Hz |
altb2 | 0:a201a6cd4c0c | 48 | NfexcDes: Length of fexcDes |
altb2 | 0:a201a6cd4c0c | 49 | |
altb2 | 0:a201a6cd4c0c | 50 | For the other parameters see above. |
altb2 | 0:a201a6cd4c0c | 51 | |
altb2 | 0:a201a6cd4c0c | 52 | Instantiate option 3: (for an arbitary but sorted frequency grid measurement) |
altb2 | 0:a201a6cd4c0c | 53 | |
altb2 | 0:a201a6cd4c0c | 54 | GPA(float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int NstartMin, int NsweepMin) |
altb2 | 0:a201a6cd4c0c | 55 | |
altb2 | 0:a201a6cd4c0c | 56 | *fexcDes: Sorted frequency point array in Hz |
altb2 | 0:a201a6cd4c0c | 57 | Aexc0: Excitation amplitude at fexcDes[0] |
altb2 | 0:a201a6cd4c0c | 58 | Aexc1: Excitation amplitude at fexcDes[NfexcDes-1] |
altb2 | 0:a201a6cd4c0c | 59 | NfexcDes: Length of fexcDes |
altb2 | 0:a201a6cd4c0c | 60 | |
altb2 | 0:a201a6cd4c0c | 61 | For the other parameters see above. |
altb2 | 0:a201a6cd4c0c | 62 | |
altb2 | 0:a201a6cd4c0c | 63 | Note: The amplitude drops with 1/fexc, if you're using Axc1 = Aexc0/fMax then d/dt exc = const., |
altb2 | 0:a201a6cd4c0c | 64 | this is recommended if your controller does not have a rolloff. If a desired frequency point |
altb2 | 0:a201a6cd4c0c | 65 | is not measured (could not be reached) try to increase Nmeas. |
altb2 | 0:a201a6cd4c0c | 66 | |
altb2 | 0:a201a6cd4c0c | 67 | |
altb2 | 0:a201a6cd4c0c | 68 | Block diagram: |
altb2 | 0:a201a6cd4c0c | 69 | |
altb2 | 0:a201a6cd4c0c | 70 | w (const.) exc(2) C: controller |
altb2 | 0:a201a6cd4c0c | 71 | | | P: plant |
altb2 | 0:a201a6cd4c0c | 72 | v e v |
altb2 | 0:a201a6cd4c0c | 73 | exc(1) --> o ->| C |--->o------->| P |----------> out (y) |
altb2 | 0:a201a6cd4c0c | 74 | ^ - | | |
altb2 | 0:a201a6cd4c0c | 75 | | --> inp (u) | exc (R): excitation signal |
altb2 | 0:a201a6cd4c0c | 76 | | | inp (U): input plant |
altb2 | 0:a201a6cd4c0c | 77 | -------------------------------- out (Y): output plant |
altb2 | 0:a201a6cd4c0c | 78 | |
altb2 | 0:a201a6cd4c0c | 79 | |
altb2 | 0:a201a6cd4c0c | 80 | Pseudo code for an open loop measurement: |
altb2 | 0:a201a6cd4c0c | 81 | |
altb2 | 0:a201a6cd4c0c | 82 | - Measuring the plant P = Gyu = Gyr: |
altb2 | 0:a201a6cd4c0c | 83 | |
altb2 | 0:a201a6cd4c0c | 84 | u = w + exc; |
altb2 | 0:a201a6cd4c0c | 85 | ... write output u here! it follows exc(k+1) ... |
altb2 | 0:a201a6cd4c0c | 86 | exc = Wobble(exc, y); |
altb2 | 0:a201a6cd4c0c | 87 | |
altb2 | 0:a201a6cd4c0c | 88 | Closed loop FRF calculus with a stabilizing controller C: |
altb2 | 0:a201a6cd4c0c | 89 | S = 1/(1 + C*P); % ( exc1 -> e , 1/(1 + C*P) ) contr. error rejection, robustness (1/max|S|) |
altb2 | 0:a201a6cd4c0c | 90 | T = 1 - S; % ( w -> y , C*P/(1 + C*P) ) tracking |
altb2 | 0:a201a6cd4c0c | 91 | CS = C*S; % ( exc1 -> u , C/(1 + C*P) ) disturbance plant output |
altb2 | 0:a201a6cd4c0c | 92 | PS = P*S; % ( exc2 -> y , P/(1 + C*P) ) disturbance plant input |
altb2 | 0:a201a6cd4c0c | 93 | |
altb2 | 0:a201a6cd4c0c | 94 | |
altb2 | 0:a201a6cd4c0c | 95 | Pseudo code for a closed loop measurement with stabilizing controller C: |
altb2 | 0:a201a6cd4c0c | 96 | |
altb2 | 0:a201a6cd4c0c | 97 | Excitation at excitation input (1): |
altb2 | 0:a201a6cd4c0c | 98 | |
altb2 | 0:a201a6cd4c0c | 99 | - Measuring the plant P = Gyu and the closed loop tf T = PC/(1 + PC) = Gyr: |
altb2 | 0:a201a6cd4c0c | 100 | |
altb2 | 0:a201a6cd4c0c | 101 | u = C(w - y + exc); |
altb2 | 0:a201a6cd4c0c | 102 | ... write output u here! it follows exc(k+1) ... |
altb2 | 0:a201a6cd4c0c | 103 | exc = Wobble(u, y); |
altb2 | 0:a201a6cd4c0c | 104 | |
altb2 | 0:a201a6cd4c0c | 105 | Closed loop FRF calculus: |
altb2 | 0:a201a6cd4c0c | 106 | S = 1 - T; |
altb2 | 0:a201a6cd4c0c | 107 | PS = P*S; |
altb2 | 0:a201a6cd4c0c | 108 | CS = T/P; |
altb2 | 0:a201a6cd4c0c | 109 | C = C/S; |
altb2 | 0:a201a6cd4c0c | 110 | |
altb2 | 0:a201a6cd4c0c | 111 | Excitation at excitation input (2): |
altb2 | 0:a201a6cd4c0c | 112 | |
altb2 | 0:a201a6cd4c0c | 113 | - Measuring the plant P = Gyu and the closed loop tf PS = P/(1 + PC) = Gyr: |
altb2 | 0:a201a6cd4c0c | 114 | |
altb2 | 0:a201a6cd4c0c | 115 | u = C(w - y) + exc; |
altb2 | 0:a201a6cd4c0c | 116 | ... write output u here! it follows exc(k+1) ... |
altb2 | 0:a201a6cd4c0c | 117 | exc = Wobble(u, y); |
altb2 | 0:a201a6cd4c0c | 118 | |
altb2 | 0:a201a6cd4c0c | 119 | Closed loop FRF calculus: |
altb2 | 0:a201a6cd4c0c | 120 | S = PS/P; |
altb2 | 0:a201a6cd4c0c | 121 | T = 1 - S; |
altb2 | 0:a201a6cd4c0c | 122 | CS = T/P; |
altb2 | 0:a201a6cd4c0c | 123 | C = C/S; |
altb2 | 0:a201a6cd4c0c | 124 | |
altb2 | 0:a201a6cd4c0c | 125 | |
altb2 | 0:a201a6cd4c0c | 126 | Usage: |
altb2 | 0:a201a6cd4c0c | 127 | exc(k+1) = myGPA(inp(k), out(k)) does update the internal states of the |
altb2 | 0:a201a6cd4c0c | 128 | gpa at the timestep k and returns the excitation signal for the timestep |
altb2 | 0:a201a6cd4c0c | 129 | k+1. The FRF data are plotted to a terminal (Putty) over a serial |
altb2 | 0:a201a6cd4c0c | 130 | connection and look as follows: |
altb2 | 0:a201a6cd4c0c | 131 | |
altb2 | 0:a201a6cd4c0c | 132 | -------------------------------------------------------------------------------- |
altb2 | 0:a201a6cd4c0c | 133 | fexc[Hz] |Gyu| deg(Gyu) |Gyr| deg(Gyr) |U| |Y| |R| |
altb2 | 0:a201a6cd4c0c | 134 | -------------------------------------------------------------------------------- |
altb2 | 0:a201a6cd4c0c | 135 | 5.0000e-02 1.001e+00 -0.309 1.001e+00 -0.309 4.000e-01 4.000e-01 4.005e-01 |
altb2 | 0:a201a6cd4c0c | 136 | . . . . . . . . |
altb2 | 0:a201a6cd4c0c | 137 | . . . . . . . . |
altb2 | 0:a201a6cd4c0c | 138 | . . . . . . . . |
altb2 | 0:a201a6cd4c0c | 139 | |
altb2 | 0:a201a6cd4c0c | 140 | In Matlab you can use the editor as follows: |
altb2 | 0:a201a6cd4c0c | 141 | data = [... insert measurement data here ...]; |
altb2 | 0:a201a6cd4c0c | 142 | gyu = frd(data(:,2).*exp(1i*data(:,3)*pi/180), data(:,1), Ts, 'Units', 'Hz'); |
altb2 | 0:a201a6cd4c0c | 143 | gyr = frd(data(:,4).*exp(1i*data(:,5)*pi/180), data(:,1), Ts, 'Units', 'Hz'); |
altb2 | 0:a201a6cd4c0c | 144 | |
altb2 | 0:a201a6cd4c0c | 145 | If you're evaluating more than one measurement which contain equal frequency points use: |
altb2 | 0:a201a6cd4c0c | 146 | data = [data1; data2]; |
altb2 | 0:a201a6cd4c0c | 147 | [~, ind] = unique(data(:,1), 'stable'); |
altb2 | 0:a201a6cd4c0c | 148 | data = data(ind,:); |
altb2 | 0:a201a6cd4c0c | 149 | |
altb2 | 0:a201a6cd4c0c | 150 | |
altb2 | 0:a201a6cd4c0c | 151 | Autor and Copyrigth: 2018 / 2019 / M.E. Peter |
altb2 | 0:a201a6cd4c0c | 152 | |
altb2 | 0:a201a6cd4c0c | 153 | */ |
altb2 | 0:a201a6cd4c0c | 154 | |
altb2 | 0:a201a6cd4c0c | 155 | #include "GPA.h" |
altb2 | 1:35e1cf78ea6f | 156 | #include <mbed.h> |
altb2 | 0:a201a6cd4c0c | 157 | #include "math.h" |
altb2 | 0:a201a6cd4c0c | 158 | #define pi 3.141592653589793 |
altb2 | 0:a201a6cd4c0c | 159 | |
altb2 | 0:a201a6cd4c0c | 160 | using namespace std; |
altb2 | 0:a201a6cd4c0c | 161 | |
altb2 | 0:a201a6cd4c0c | 162 | // ----------------------------------------------------------------------------- |
altb2 | 0:a201a6cd4c0c | 163 | // instantiate |
altb2 | 0:a201a6cd4c0c | 164 | // ----------------------------------------------------------------------------- |
altb2 | 0:a201a6cd4c0c | 165 | |
altb2 | 0:a201a6cd4c0c | 166 | GPA::GPA(float fMin, float fMax, int NfexcDes, float Aexc0, float Aexc1, float Ts) |
altb2 | 0:a201a6cd4c0c | 167 | { |
altb2 | 0:a201a6cd4c0c | 168 | int NperMin = 3; |
altb2 | 0:a201a6cd4c0c | 169 | int NmeasMin = (int)ceil(1.0f/Ts); |
altb2 | 0:a201a6cd4c0c | 170 | int NstartMin = (int)ceil(3.0f/Ts); |
altb2 | 0:a201a6cd4c0c | 171 | int NsweepMin = 0; |
altb2 | 0:a201a6cd4c0c | 172 | |
altb2 | 0:a201a6cd4c0c | 173 | assignParameters(NfexcDes, NperMin, NmeasMin, (double)Ts, NstartMin, NsweepMin); |
altb2 | 0:a201a6cd4c0c | 174 | |
altb2 | 0:a201a6cd4c0c | 175 | // calculate logarithmic spaced frequency points |
altb2 | 0:a201a6cd4c0c | 176 | fexcDes = (double*)malloc(NfexcDes*sizeof(double)); |
altb2 | 0:a201a6cd4c0c | 177 | fexcDesLogspace((double)fMin, (double)fMax, NfexcDes); |
altb2 | 0:a201a6cd4c0c | 178 | |
altb2 | 0:a201a6cd4c0c | 179 | calculateDecreasingAmplitudeCoefficients((double)Aexc0, (double)Aexc1); |
altb2 | 0:a201a6cd4c0c | 180 | initializeConstants((double)Ts); |
altb2 | 0:a201a6cd4c0c | 181 | assignFilterStorage(); |
altb2 | 0:a201a6cd4c0c | 182 | reset(); |
altb2 | 0:a201a6cd4c0c | 183 | } |
altb2 | 0:a201a6cd4c0c | 184 | |
altb2 | 0:a201a6cd4c0c | 185 | GPA::GPA(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int NstartMin, int NsweepMin) |
altb2 | 0:a201a6cd4c0c | 186 | { |
altb2 | 0:a201a6cd4c0c | 187 | assignParameters(NfexcDes, NperMin, NmeasMin, (double)Ts, NstartMin, NsweepMin); |
altb2 | 0:a201a6cd4c0c | 188 | |
altb2 | 0:a201a6cd4c0c | 189 | // calculate logarithmic spaced frequency points |
altb2 | 0:a201a6cd4c0c | 190 | fexcDes = (double*)malloc(NfexcDes*sizeof(double)); |
altb2 | 0:a201a6cd4c0c | 191 | fexcDesLogspace((double)fMin, (double)fMax, NfexcDes); |
altb2 | 0:a201a6cd4c0c | 192 | |
altb2 | 0:a201a6cd4c0c | 193 | calculateDecreasingAmplitudeCoefficients((double)Aexc0, (double)Aexc1); |
altb2 | 0:a201a6cd4c0c | 194 | initializeConstants((double)Ts); |
altb2 | 0:a201a6cd4c0c | 195 | assignFilterStorage(); |
altb2 | 0:a201a6cd4c0c | 196 | reset(); |
altb2 | 0:a201a6cd4c0c | 197 | } |
altb2 | 0:a201a6cd4c0c | 198 | |
altb2 | 0:a201a6cd4c0c | 199 | GPA::GPA(float f0, float f1, float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int NstartMin, int NsweepMin) |
altb2 | 0:a201a6cd4c0c | 200 | { |
altb2 | 0:a201a6cd4c0c | 201 | assignParameters(NfexcDes, NperMin, NmeasMin, (double)Ts, NstartMin, NsweepMin); |
altb2 | 0:a201a6cd4c0c | 202 | |
altb2 | 0:a201a6cd4c0c | 203 | // convert fexcDes from float to double, it is assumed that it is sorted |
altb2 | 0:a201a6cd4c0c | 204 | this->fexcDes = (double*)malloc(NfexcDes*sizeof(double)); |
altb2 | 0:a201a6cd4c0c | 205 | for(int i = 0; i < NfexcDes; i++) { |
altb2 | 0:a201a6cd4c0c | 206 | this->fexcDes[i] = (double)fexcDes[i]; |
altb2 | 0:a201a6cd4c0c | 207 | } |
altb2 | 0:a201a6cd4c0c | 208 | |
altb2 | 0:a201a6cd4c0c | 209 | calculateDecreasingAmplitudeCoefficients((double)Aexc0, (double)Aexc1); |
altb2 | 0:a201a6cd4c0c | 210 | initializeConstants((double)Ts); |
altb2 | 0:a201a6cd4c0c | 211 | assignFilterStorage(); |
altb2 | 0:a201a6cd4c0c | 212 | reset(); |
altb2 | 0:a201a6cd4c0c | 213 | } |
altb2 | 0:a201a6cd4c0c | 214 | |
altb2 | 0:a201a6cd4c0c | 215 | GPA::GPA(float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int NstartMin, int NsweepMin) |
altb2 | 0:a201a6cd4c0c | 216 | { |
altb2 | 0:a201a6cd4c0c | 217 | assignParameters(NfexcDes, NperMin, NmeasMin, (double)Ts, NstartMin, NsweepMin); |
altb2 | 0:a201a6cd4c0c | 218 | |
altb2 | 0:a201a6cd4c0c | 219 | // convert fexcDes from float to double, it is assumed that it is sorted |
altb2 | 0:a201a6cd4c0c | 220 | this->fexcDes = (double*)malloc(NfexcDes*sizeof(double)); |
altb2 | 0:a201a6cd4c0c | 221 | for(int i = 0; i < NfexcDes; i++) { |
altb2 | 0:a201a6cd4c0c | 222 | this->fexcDes[i] = (double)fexcDes[i]; |
altb2 | 0:a201a6cd4c0c | 223 | } |
altb2 | 0:a201a6cd4c0c | 224 | |
altb2 | 0:a201a6cd4c0c | 225 | calculateDecreasingAmplitudeCoefficients((double)Aexc0, (double)Aexc1); |
altb2 | 0:a201a6cd4c0c | 226 | initializeConstants((double)Ts); |
altb2 | 0:a201a6cd4c0c | 227 | assignFilterStorage(); |
altb2 | 0:a201a6cd4c0c | 228 | reset(); |
altb2 | 0:a201a6cd4c0c | 229 | } |
altb2 | 0:a201a6cd4c0c | 230 | |
altb2 | 0:a201a6cd4c0c | 231 | // ----------------------------------------------------------------------------- |
altb2 | 0:a201a6cd4c0c | 232 | // virtual and reset |
altb2 | 0:a201a6cd4c0c | 233 | // ----------------------------------------------------------------------------- |
altb2 | 0:a201a6cd4c0c | 234 | |
altb2 | 0:a201a6cd4c0c | 235 | GPA::~GPA() {} |
altb2 | 0:a201a6cd4c0c | 236 | |
altb2 | 0:a201a6cd4c0c | 237 | void GPA::reset() |
altb2 | 0:a201a6cd4c0c | 238 | { |
altb2 | 0:a201a6cd4c0c | 239 | Nmeas = 0; |
altb2 | 0:a201a6cd4c0c | 240 | Nper = 0; |
altb2 | 0:a201a6cd4c0c | 241 | dfexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 242 | fexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 243 | fexcPast = 0.0; |
altb2 | 0:a201a6cd4c0c | 244 | i = 1; // iterating through desired frequency points |
altb2 | 0:a201a6cd4c0c | 245 | j = 1; // iterating through measurement points w.r.t. reachable frequency |
altb2 | 0:a201a6cd4c0c | 246 | scaleG = 0.0; |
altb2 | 0:a201a6cd4c0c | 247 | cr = 0.0; |
altb2 | 0:a201a6cd4c0c | 248 | ci = 0.0; |
altb2 | 0:a201a6cd4c0c | 249 | for(int i = 0; i < 3; i++) { |
altb2 | 0:a201a6cd4c0c | 250 | sU[i] = 0.0; |
altb2 | 0:a201a6cd4c0c | 251 | sY[i] = 0.0; |
altb2 | 0:a201a6cd4c0c | 252 | } |
altb2 | 0:a201a6cd4c0c | 253 | sinarg = 0.0; |
altb2 | 0:a201a6cd4c0c | 254 | NmeasTotal = 0; |
altb2 | 0:a201a6cd4c0c | 255 | Aexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 256 | pi2Tsfexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 257 | Nsweep = NstartMin; |
altb2 | 0:a201a6cd4c0c | 258 | bfexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 259 | afexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 260 | aAexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 261 | bAexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 262 | AexcOut = 0.0; |
altb2 | 0:a201a6cd4c0c | 263 | } |
altb2 | 0:a201a6cd4c0c | 264 | |
altb2 | 0:a201a6cd4c0c | 265 | // ----------------------------------------------------------------------------- |
altb2 | 0:a201a6cd4c0c | 266 | // update (operator) |
altb2 | 0:a201a6cd4c0c | 267 | // ----------------------------------------------------------------------------- |
altb2 | 0:a201a6cd4c0c | 268 | |
altb2 | 0:a201a6cd4c0c | 269 | float GPA::update(double inp, double out) |
altb2 | 0:a201a6cd4c0c | 270 | { |
altb2 | 0:a201a6cd4c0c | 271 | // a new frequency point has been reached |
altb2 | 0:a201a6cd4c0c | 272 | if(j == 1) { |
altb2 | 0:a201a6cd4c0c | 273 | // user info |
altb2 | 0:a201a6cd4c0c | 274 | if(i == 1) { |
altb2 | 0:a201a6cd4c0c | 275 | printLine(); |
altb2 | 0:a201a6cd4c0c | 276 | printf(" fexc[Hz] |Gyu| deg(Gyu) |Gyr| deg(Gyr) |U| |Y| |R|\r\n"); |
altb2 | 0:a201a6cd4c0c | 277 | printLine(); |
altb2 | 0:a201a6cd4c0c | 278 | } |
altb2 | 0:a201a6cd4c0c | 279 | // get a new unique frequency point |
altb2 | 0:a201a6cd4c0c | 280 | while(fexc == fexcPast) { |
altb2 | 0:a201a6cd4c0c | 281 | // measurement finished |
altb2 | 0:a201a6cd4c0c | 282 | if(i > NfexcDes) { |
altb2 | 0:a201a6cd4c0c | 283 | return 0.0f; |
altb2 | 0:a201a6cd4c0c | 284 | } |
altb2 | 0:a201a6cd4c0c | 285 | calcGPAmeasPara(fexcDes[i - 1]); |
altb2 | 0:a201a6cd4c0c | 286 | // secure fexc is not higher or equal to nyquist frequency |
altb2 | 0:a201a6cd4c0c | 287 | if(fexc >= fnyq) { |
altb2 | 0:a201a6cd4c0c | 288 | fexc = fexcPast; |
altb2 | 0:a201a6cd4c0c | 289 | } |
altb2 | 0:a201a6cd4c0c | 290 | // no frequency found |
altb2 | 0:a201a6cd4c0c | 291 | if(fexc == fexcPast) { |
altb2 | 0:a201a6cd4c0c | 292 | i += 1; |
altb2 | 0:a201a6cd4c0c | 293 | } else { |
altb2 | 0:a201a6cd4c0c | 294 | Aexc = aAexcDes/fexc + bAexcDes; |
altb2 | 0:a201a6cd4c0c | 295 | pi2Tsfexc = pi2Ts*fexc; |
altb2 | 0:a201a6cd4c0c | 296 | } |
altb2 | 0:a201a6cd4c0c | 297 | } |
altb2 | 0:a201a6cd4c0c | 298 | // filter scaling |
altb2 | 0:a201a6cd4c0c | 299 | scaleG = 1.0/sqrt((double)Nmeas); |
altb2 | 0:a201a6cd4c0c | 300 | // filter coefficients |
altb2 | 0:a201a6cd4c0c | 301 | cr = cos(pi2Tsfexc); |
altb2 | 0:a201a6cd4c0c | 302 | ci = sin(pi2Tsfexc); |
altb2 | 0:a201a6cd4c0c | 303 | // set filter storage zero |
altb2 | 0:a201a6cd4c0c | 304 | for(int i = 0; i < 3; i++) { |
altb2 | 0:a201a6cd4c0c | 305 | sU[i] = 0.0; |
altb2 | 0:a201a6cd4c0c | 306 | sY[i] = 0.0; |
altb2 | 0:a201a6cd4c0c | 307 | } |
altb2 | 0:a201a6cd4c0c | 308 | // calculate the parameters for the frequency sweep from fexcPast to fexc |
altb2 | 0:a201a6cd4c0c | 309 | if(Nsweep > 0) calcGPAsweepPara(); |
altb2 | 0:a201a6cd4c0c | 310 | } |
altb2 | 0:a201a6cd4c0c | 311 | // perfomre the sweep or measure |
altb2 | 0:a201a6cd4c0c | 312 | if(j <= Nsweep) { |
altb2 | 0:a201a6cd4c0c | 313 | dfexc = afexc*(double)j + bfexc; |
altb2 | 0:a201a6cd4c0c | 314 | AexcOut = aAexc*(double)j + bAexc; |
altb2 | 0:a201a6cd4c0c | 315 | } else { |
altb2 | 0:a201a6cd4c0c | 316 | dfexc = fexc; |
altb2 | 0:a201a6cd4c0c | 317 | AexcOut = Aexc; |
altb2 | 0:a201a6cd4c0c | 318 | // one point DFT filter step for signal su |
altb2 | 0:a201a6cd4c0c | 319 | sU[0] = scaleG*inp + 2.0*cr*sU[1] - sU[2]; |
altb2 | 0:a201a6cd4c0c | 320 | sU[2] = sU[1]; |
altb2 | 0:a201a6cd4c0c | 321 | sU[1] = sU[0]; |
altb2 | 0:a201a6cd4c0c | 322 | // one point DFT filter step for signal sy |
altb2 | 0:a201a6cd4c0c | 323 | sY[0] = scaleG*out + 2.0*cr*sY[1] - sY[2]; |
altb2 | 0:a201a6cd4c0c | 324 | sY[2] = sY[1]; |
altb2 | 0:a201a6cd4c0c | 325 | sY[1] = sY[0]; |
altb2 | 0:a201a6cd4c0c | 326 | } |
altb2 | 0:a201a6cd4c0c | 327 | // secure sinarg starts at 0 (numerically maybe not given) |
altb2 | 0:a201a6cd4c0c | 328 | if(j == 1 || j == Nsweep + 1) sinarg = 0.0; |
altb2 | 0:a201a6cd4c0c | 329 | // measurement of frequencypoint is finished |
altb2 | 0:a201a6cd4c0c | 330 | if(j == Nmeas + Nsweep) { |
altb2 | 0:a201a6cd4c0c | 331 | fexcPast = fexc; |
altb2 | 0:a201a6cd4c0c | 332 | AexcPast = Aexc; |
altb2 | 0:a201a6cd4c0c | 333 | Nsweep = NsweepMin; |
altb2 | 0:a201a6cd4c0c | 334 | // calculate the one point dft |
altb2 | 0:a201a6cd4c0c | 335 | double Ureal = 2.0*scaleG*(cr*sU[1] - sU[2]); |
altb2 | 0:a201a6cd4c0c | 336 | double Uimag = 2.0*scaleG*ci*sU[1]; |
altb2 | 0:a201a6cd4c0c | 337 | double Yreal = 2.0*scaleG*(cr*sY[1] - sY[2]); |
altb2 | 0:a201a6cd4c0c | 338 | double Yimag = 2.0*scaleG*ci*sY[1]; |
altb2 | 0:a201a6cd4c0c | 339 | // calculate magnitude and angle |
altb2 | 0:a201a6cd4c0c | 340 | float Umag = (float)(sqrt(Ureal*Ureal + Uimag*Uimag)); |
altb2 | 0:a201a6cd4c0c | 341 | float Ymag = (float)(sqrt(Yreal*Yreal + Yimag*Yimag)); |
altb2 | 0:a201a6cd4c0c | 342 | float absGyu = (float)(Ymag/Umag); |
altb2 | 0:a201a6cd4c0c | 343 | float angGyu = (float)wrapAngle(atan2(Yimag, Yreal) - atan2(Uimag, Ureal)); |
altb2 | 0:a201a6cd4c0c | 344 | float absGyr = (float)(Ymag/Aexc); |
altb2 | 0:a201a6cd4c0c | 345 | float angGyr = (float)wrapAngle(atan2(Yimag, Yreal) + piDiv2); |
altb2 | 0:a201a6cd4c0c | 346 | // user info |
altb2 | 0:a201a6cd4c0c | 347 | printf("%11.4e %9.3e %8.3f %9.3e %8.3f %9.3e %9.3e %9.3e\r\n", (float)fexc, absGyu, angGyu*rad2deg, absGyr, angGyr*rad2deg, Umag, Ymag, (float)Aexc); |
altb2 | 0:a201a6cd4c0c | 348 | i += 1; |
altb2 | 0:a201a6cd4c0c | 349 | j = 1; |
altb2 | 0:a201a6cd4c0c | 350 | } else { |
altb2 | 0:a201a6cd4c0c | 351 | j += 1; |
altb2 | 0:a201a6cd4c0c | 352 | } |
altb2 | 0:a201a6cd4c0c | 353 | // calculate the excitation |
altb2 | 0:a201a6cd4c0c | 354 | sinarg = fmod(sinarg + pi2Ts*dfexc, pi2); |
altb2 | 0:a201a6cd4c0c | 355 | NmeasTotal += 1; |
altb2 | 0:a201a6cd4c0c | 356 | return (float)(AexcOut*sin(sinarg)); |
altb2 | 0:a201a6cd4c0c | 357 | } |
altb2 | 0:a201a6cd4c0c | 358 | |
altb2 | 0:a201a6cd4c0c | 359 | // ----------------------------------------------------------------------------- |
altb2 | 0:a201a6cd4c0c | 360 | // private functions |
altb2 | 0:a201a6cd4c0c | 361 | // ----------------------------------------------------------------------------- |
altb2 | 0:a201a6cd4c0c | 362 | |
altb2 | 0:a201a6cd4c0c | 363 | void GPA::assignParameters(int NfexcDes, int NperMin, int NmeasMin, double Ts, int NstartMin, int NsweepMin) |
altb2 | 0:a201a6cd4c0c | 364 | { |
altb2 | 0:a201a6cd4c0c | 365 | this->NfexcDes = NfexcDes; |
altb2 | 0:a201a6cd4c0c | 366 | this->NperMin = NperMin; |
altb2 | 0:a201a6cd4c0c | 367 | this->NmeasMin = NmeasMin; |
altb2 | 0:a201a6cd4c0c | 368 | this->Ts = Ts; |
altb2 | 0:a201a6cd4c0c | 369 | this->NstartMin = NstartMin; |
altb2 | 0:a201a6cd4c0c | 370 | this->NsweepMin = NsweepMin; |
altb2 | 0:a201a6cd4c0c | 371 | } |
altb2 | 0:a201a6cd4c0c | 372 | |
altb2 | 0:a201a6cd4c0c | 373 | void GPA::calculateDecreasingAmplitudeCoefficients(double Aexc0, double Aexc1) |
altb2 | 0:a201a6cd4c0c | 374 | { |
altb2 | 0:a201a6cd4c0c | 375 | // calculate coefficients for decreasing amplitude (1/fexc) |
altb2 | 0:a201a6cd4c0c | 376 | this->aAexcDes = (Aexc1 - Aexc0)/(1.0/fexcDes[NfexcDes-1] - 1.0/fexcDes[0]); |
altb2 | 0:a201a6cd4c0c | 377 | this->bAexcDes = Aexc0 - aAexcDes/fexcDes[0]; |
altb2 | 0:a201a6cd4c0c | 378 | } |
altb2 | 0:a201a6cd4c0c | 379 | |
altb2 | 0:a201a6cd4c0c | 380 | void GPA::initializeConstants(double Ts) |
altb2 | 0:a201a6cd4c0c | 381 | { |
altb2 | 0:a201a6cd4c0c | 382 | fnyq = 1.0/2.0/Ts; |
altb2 | 0:a201a6cd4c0c | 383 | pi2 = 2.0*pi; |
altb2 | 0:a201a6cd4c0c | 384 | pi2Ts = pi2*Ts; |
altb2 | 0:a201a6cd4c0c | 385 | piDiv2 = pi/2.0; |
altb2 | 0:a201a6cd4c0c | 386 | rad2deg = 180.0f/(float)pi; |
altb2 | 0:a201a6cd4c0c | 387 | } |
altb2 | 0:a201a6cd4c0c | 388 | |
altb2 | 0:a201a6cd4c0c | 389 | void GPA::assignFilterStorage() |
altb2 | 0:a201a6cd4c0c | 390 | { |
altb2 | 0:a201a6cd4c0c | 391 | sU = (double*)malloc(3*sizeof(double)); |
altb2 | 0:a201a6cd4c0c | 392 | sY = (double*)malloc(3*sizeof(double)); |
altb2 | 0:a201a6cd4c0c | 393 | } |
altb2 | 0:a201a6cd4c0c | 394 | |
altb2 | 0:a201a6cd4c0c | 395 | void GPA::fexcDesLogspace(double fMin, double fMax, int NfexcDes) |
altb2 | 0:a201a6cd4c0c | 396 | { |
altb2 | 0:a201a6cd4c0c | 397 | // calculate logarithmic spaced frequency points |
altb2 | 0:a201a6cd4c0c | 398 | double Gain = log10(fMax/fMin)/((double)NfexcDes - 1.0); |
altb2 | 0:a201a6cd4c0c | 399 | double expon = 0.0; |
altb2 | 0:a201a6cd4c0c | 400 | for(int i = 0; i < NfexcDes; i++) { |
altb2 | 0:a201a6cd4c0c | 401 | fexcDes[i] = fMin*pow(10.0, expon); |
altb2 | 0:a201a6cd4c0c | 402 | expon += Gain; |
altb2 | 0:a201a6cd4c0c | 403 | } |
altb2 | 0:a201a6cd4c0c | 404 | } |
altb2 | 0:a201a6cd4c0c | 405 | |
altb2 | 0:a201a6cd4c0c | 406 | void GPA::calcGPAmeasPara(double fexcDes_i) |
altb2 | 0:a201a6cd4c0c | 407 | { |
altb2 | 0:a201a6cd4c0c | 408 | // Nmeas has to be an integer |
altb2 | 0:a201a6cd4c0c | 409 | Nper = NperMin; |
altb2 | 0:a201a6cd4c0c | 410 | Nmeas = (int)floor((double)Nper/fexcDes_i/Ts + 0.5); |
altb2 | 0:a201a6cd4c0c | 411 | // secure that the minimal number of measurements is fullfilled |
altb2 | 0:a201a6cd4c0c | 412 | int Ndelta = NmeasMin - Nmeas; |
altb2 | 0:a201a6cd4c0c | 413 | if(Ndelta > 0) { |
altb2 | 0:a201a6cd4c0c | 414 | Nper = (int)ceil((double)NmeasMin*fexcDes_i*Ts); |
altb2 | 0:a201a6cd4c0c | 415 | Nmeas = (int)floor((double)Nper/fexcDes_i/Ts + 0.5); |
altb2 | 0:a201a6cd4c0c | 416 | } |
altb2 | 0:a201a6cd4c0c | 417 | // evaluating reachable frequency |
altb2 | 0:a201a6cd4c0c | 418 | fexc = (double)Nper/(double)Nmeas/Ts; |
altb2 | 0:a201a6cd4c0c | 419 | } |
altb2 | 0:a201a6cd4c0c | 420 | |
altb2 | 0:a201a6cd4c0c | 421 | void GPA::calcGPAsweepPara() |
altb2 | 0:a201a6cd4c0c | 422 | { |
altb2 | 0:a201a6cd4c0c | 423 | // calculate linear frequency sweep parameters |
altb2 | 0:a201a6cd4c0c | 424 | double ksta = ceil(Ts*(double)Nsweep/2.0*(fexc + fexcPast)); |
altb2 | 0:a201a6cd4c0c | 425 | Nsweep = (int)floor(2.0*ksta/Ts/(fexc + fexcPast) + 0.5); |
altb2 | 0:a201a6cd4c0c | 426 | bfexc = 2.0*ksta/Ts/(double)Nsweep - fexc; |
altb2 | 0:a201a6cd4c0c | 427 | afexc = (fexc - bfexc)/((double)Nsweep + 1.0); |
altb2 | 0:a201a6cd4c0c | 428 | aAexc = (Aexc - AexcPast)/((double)Nsweep + 1.0); |
altb2 | 0:a201a6cd4c0c | 429 | bAexc = AexcPast; |
altb2 | 0:a201a6cd4c0c | 430 | } |
altb2 | 0:a201a6cd4c0c | 431 | |
altb2 | 0:a201a6cd4c0c | 432 | double GPA::wrapAngle(double angle) |
altb2 | 0:a201a6cd4c0c | 433 | { |
altb2 | 0:a201a6cd4c0c | 434 | // wrap angle from (-2pi,2pi) into (-pi,pi) |
altb2 | 0:a201a6cd4c0c | 435 | if(abs(angle) > pi) angle -= copysign(-pi2, angle); // -1*sign(angle)*2*pi + angle; |
altb2 | 0:a201a6cd4c0c | 436 | return angle; |
altb2 | 0:a201a6cd4c0c | 437 | } |
altb2 | 0:a201a6cd4c0c | 438 | |
altb2 | 0:a201a6cd4c0c | 439 | void GPA::printLine() |
altb2 | 0:a201a6cd4c0c | 440 | { |
altb2 | 0:a201a6cd4c0c | 441 | printf("--------------------------------------------------------------------------------\r\n"); |
altb2 | 0:a201a6cd4c0c | 442 | } |
altb2 | 0:a201a6cd4c0c | 443 | |
altb2 | 0:a201a6cd4c0c | 444 | void GPA::printLongLine() |
altb2 | 0:a201a6cd4c0c | 445 | { |
altb2 | 0:a201a6cd4c0c | 446 | printf("-------------------------------------------------------------------------------------------------------\r\n"); |
altb2 | 0:a201a6cd4c0c | 447 | } |
altb2 | 0:a201a6cd4c0c | 448 | |
altb2 | 0:a201a6cd4c0c | 449 | // ----------------------------------------------------------------------------- |
altb2 | 0:a201a6cd4c0c | 450 | // public functions |
altb2 | 0:a201a6cd4c0c | 451 | // ----------------------------------------------------------------------------- |
altb2 | 0:a201a6cd4c0c | 452 | |
altb2 | 0:a201a6cd4c0c | 453 | void GPA::printGPAfexcDes() |
altb2 | 0:a201a6cd4c0c | 454 | { |
altb2 | 0:a201a6cd4c0c | 455 | printLine(); |
altb2 | 0:a201a6cd4c0c | 456 | for(int i = 0; i < NfexcDes; i++) { |
altb2 | 0:a201a6cd4c0c | 457 | printf("%9.4f\r\n", (float)fexcDes[i]); |
altb2 | 0:a201a6cd4c0c | 458 | } |
altb2 | 0:a201a6cd4c0c | 459 | } |
altb2 | 0:a201a6cd4c0c | 460 | |
altb2 | 0:a201a6cd4c0c | 461 | void GPA::printGPAmeasPara() |
altb2 | 0:a201a6cd4c0c | 462 | { |
altb2 | 0:a201a6cd4c0c | 463 | printLine(); |
altb2 | 0:a201a6cd4c0c | 464 | printf(" fexcDes[Hz] fexc[Hz] Aexc Nmeas Nper Nsweep\r\n"); |
altb2 | 0:a201a6cd4c0c | 465 | printLine(); |
altb2 | 0:a201a6cd4c0c | 466 | for(int i = 0; i < NfexcDes; i++) { |
altb2 | 0:a201a6cd4c0c | 467 | calcGPAmeasPara(fexcDes[i]); |
altb2 | 0:a201a6cd4c0c | 468 | if(fexc == fexcPast || fexc >= fnyq) { |
altb2 | 0:a201a6cd4c0c | 469 | fexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 470 | Aexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 471 | Nmeas = 0; |
altb2 | 0:a201a6cd4c0c | 472 | Nper = 0; |
altb2 | 0:a201a6cd4c0c | 473 | Nsweep = 0; |
altb2 | 0:a201a6cd4c0c | 474 | afexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 475 | bfexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 476 | aAexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 477 | bAexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 478 | |
altb2 | 0:a201a6cd4c0c | 479 | } else { |
altb2 | 0:a201a6cd4c0c | 480 | Aexc = aAexcDes/fexc + bAexcDes; |
altb2 | 0:a201a6cd4c0c | 481 | if(Nsweep > 0) calcGPAsweepPara(); |
altb2 | 0:a201a6cd4c0c | 482 | else{ |
altb2 | 0:a201a6cd4c0c | 483 | afexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 484 | bfexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 485 | aAexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 486 | bAexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 487 | } |
altb2 | 0:a201a6cd4c0c | 488 | fexcPast = fexc; |
altb2 | 0:a201a6cd4c0c | 489 | AexcPast = Aexc; |
altb2 | 0:a201a6cd4c0c | 490 | } |
altb2 | 0:a201a6cd4c0c | 491 | NmeasTotal += Nmeas; |
altb2 | 0:a201a6cd4c0c | 492 | NmeasTotal += Nsweep; |
altb2 | 0:a201a6cd4c0c | 493 | printf("%11.4e %12.4e %10.3e %7i %6i %7i\r\n", (float)fexcDes[i], (float)fexc, (float)Aexc, Nmeas, Nper, Nsweep); |
altb2 | 0:a201a6cd4c0c | 494 | Nsweep = NsweepMin; |
altb2 | 0:a201a6cd4c0c | 495 | } |
altb2 | 0:a201a6cd4c0c | 496 | printGPAmeasTime(); |
altb2 | 0:a201a6cd4c0c | 497 | reset(); |
altb2 | 0:a201a6cd4c0c | 498 | } |
altb2 | 0:a201a6cd4c0c | 499 | |
altb2 | 0:a201a6cd4c0c | 500 | void GPA::printFullGPAmeasPara() |
altb2 | 0:a201a6cd4c0c | 501 | { |
altb2 | 0:a201a6cd4c0c | 502 | printLongLine(); |
altb2 | 0:a201a6cd4c0c | 503 | printf(" fexcDes[Hz] fexc[Hz] Aexc Nmeas Nper Nsweep afexc bfexc aAexc bAexc\r\n"); |
altb2 | 0:a201a6cd4c0c | 504 | printLongLine(); |
altb2 | 0:a201a6cd4c0c | 505 | for(int i = 0; i < NfexcDes; i++) { |
altb2 | 0:a201a6cd4c0c | 506 | calcGPAmeasPara(fexcDes[i]); |
altb2 | 0:a201a6cd4c0c | 507 | if(fexc == fexcPast || fexc >= fnyq) { |
altb2 | 0:a201a6cd4c0c | 508 | fexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 509 | Aexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 510 | Nmeas = 0; |
altb2 | 0:a201a6cd4c0c | 511 | Nper = 0; |
altb2 | 0:a201a6cd4c0c | 512 | Nsweep = 0; |
altb2 | 0:a201a6cd4c0c | 513 | afexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 514 | bfexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 515 | aAexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 516 | bAexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 517 | |
altb2 | 0:a201a6cd4c0c | 518 | } else { |
altb2 | 0:a201a6cd4c0c | 519 | Aexc = aAexcDes/fexc + bAexcDes; |
altb2 | 0:a201a6cd4c0c | 520 | if(Nsweep > 0) calcGPAsweepPara(); |
altb2 | 0:a201a6cd4c0c | 521 | else{ |
altb2 | 0:a201a6cd4c0c | 522 | afexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 523 | bfexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 524 | aAexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 525 | bAexc = 0.0; |
altb2 | 0:a201a6cd4c0c | 526 | } |
altb2 | 0:a201a6cd4c0c | 527 | fexcPast = fexc; |
altb2 | 0:a201a6cd4c0c | 528 | AexcPast = Aexc; |
altb2 | 0:a201a6cd4c0c | 529 | } |
altb2 | 0:a201a6cd4c0c | 530 | NmeasTotal += Nmeas; |
altb2 | 0:a201a6cd4c0c | 531 | NmeasTotal += Nsweep; |
altb2 | 0:a201a6cd4c0c | 532 | printf("%11.4e %12.4e %10.3e %7i %6i %7i %10.3e %10.3e %10.3e %10.3e\r\n", (float)fexcDes[i], (float)fexc, (float)Aexc, Nmeas, Nper, Nsweep, (float)afexc, (float)bfexc, (float)aAexc, (float)bAexc); |
altb2 | 0:a201a6cd4c0c | 533 | Nsweep = NsweepMin; |
altb2 | 0:a201a6cd4c0c | 534 | } |
altb2 | 0:a201a6cd4c0c | 535 | printGPAmeasTime(); |
altb2 | 0:a201a6cd4c0c | 536 | reset(); |
altb2 | 0:a201a6cd4c0c | 537 | } |
altb2 | 0:a201a6cd4c0c | 538 | |
altb2 | 0:a201a6cd4c0c | 539 | void GPA::printGPAmeasTime() |
altb2 | 0:a201a6cd4c0c | 540 | { |
altb2 | 0:a201a6cd4c0c | 541 | printLine(); |
altb2 | 0:a201a6cd4c0c | 542 | printf(" Number of data points : %11i\r\n", NmeasTotal); |
altb2 | 0:a201a6cd4c0c | 543 | printf(" Measurment time in sec: %12.2f\r\n", (float)((double)NmeasTotal*Ts)); |
altb2 | 0:a201a6cd4c0c | 544 | } |
altb2 | 0:a201a6cd4c0c | 545 | |
altb2 | 0:a201a6cd4c0c | 546 | void GPA::printNfexcDes() |
altb2 | 0:a201a6cd4c0c | 547 | { |
altb2 | 0:a201a6cd4c0c | 548 | printLine(); |
altb2 | 0:a201a6cd4c0c | 549 | printf(" Number of frequancy points: %3i\r\n", NfexcDes); |
altb2 | 0:a201a6cd4c0c | 550 | } |
altb2 | 0:a201a6cd4c0c | 551 |