Revision 3:29602f4ade5c, committed 2021-02-25

Comitter:

altb2

Date:

Thu Feb 25 20:28:16 2021 +0000

Parent:

1:dd5d116ace8f

Commit message:

First commit of Mirror actuato, still under construction, pins should be ok, next: check path planner;

Changed in this revision

diff -r dd5d116ace8f -r 29602f4ade5c DiffCounter.cpp
--- a/DiffCounter.cpp	Thu Mar 07 09:16:03 2019 +0000
+++ b/DiffCounter.cpp	Thu Feb 25 20:28:16 2021 +0000
@@ -16,7 +16,7 @@
     a = -(2.0*(double)T - (double)Ts)/(2.0*(double)T + (double)Ts);
     incPast = 0;
     vel = 0.0;
-    inc2rad = 2.0*pi/(4.0*6400.0);   // incr encoder with 6400inc/rev
+    inc2rad = 2.0*pi/(4000.0);   // incr encoder with 6400inc/rev
 }
 
 DiffCounter::~DiffCounter() {}

diff -r dd5d116ace8f -r 29602f4ade5c EncoderCounterIndex.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderCounterIndex.cpp	Thu Feb 25 20:28:16 2021 +0000
@@ -0,0 +1,39 @@
+/*
+ * EncoderCounterIndex.cpp
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ *
+ *  Created on: 13.08.2018
+ *      Author: Marcel Honegger
+ */
+
+#include <stdint.h>
+#include "EncoderCounter.h"
+#include "EncoderCounterIndex.h"
+
+using namespace std;
+
+/**
+ * Creates an object with an interrupt service routine to catch
+ * the current encoder position when an index pulse is received.
+ */
+EncoderCounterIndex::EncoderCounterIndex(EncoderCounter& encoderCounter, InterruptIn& channelIndex) : encoderCounter(encoderCounter), channelIndex(channelIndex) {
+    
+    // attach interrupt
+    
+    channelIndex.rise(callback(this, &EncoderCounterIndex::rise));
+}
+
+EncoderCounterIndex::~EncoderCounterIndex() {}
+
+int32_t EncoderCounterIndex::getPositionAtIndexPulse() {
+    
+    return positionAtIndexPulse;
+}
+
+void EncoderCounterIndex::rise() {
+    
+    positionAtIndexPulse = encoderCounter;
+}
+
+

diff -r dd5d116ace8f -r 29602f4ade5c EncoderCounterIndex.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderCounterIndex.h	Thu Feb 25 20:28:16 2021 +0000
@@ -0,0 +1,42 @@
+/*
+ * EncoderCounterIndex.h
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ *
+ *  Created on: 13.08.2018
+ *      Author: Marcel Honegger
+ */
+
+#ifndef ENCODER_COUNTER_INDEX_H_
+#define ENCODER_COUNTER_INDEX_H_
+
+#include <cstdlib>
+#include <stdint.h>
+#include <mbed.h>
+
+class EncoderCounter;
+
+/**
+ * The <code>EncoderCounterIndex</code> class implements an interrupt service routine
+ * to catch the current encoder position when an index pulse is received.
+ */
+class EncoderCounterIndex {
+    
+    public:
+        
+                    EncoderCounterIndex(EncoderCounter& encoderCounter, InterruptIn& channelIndex);
+        virtual     ~EncoderCounterIndex();
+        int32_t     getPositionAtIndexPulse();
+        
+    private:
+        
+        EncoderCounter&    encoderCounter;
+        InterruptIn&            channelIndex;
+        int32_t                 positionAtIndexPulse;
+        
+        void                    rise();
+};
+
+#endif /* ENCODER_COUNTER_INDEX_H_ */
+
+

diff -r dd5d116ace8f -r 29602f4ade5c ThreadFlag.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ThreadFlag.cpp	Thu Feb 25 20:28:16 2021 +0000
@@ -0,0 +1,57 @@
+/*
+ * ThreadFlag.cpp
+ * Copyright (c) 2019, ZHAW
+ * All rights reserved.
+ *
+ *  Created on: 29.11.2019
+ *      Author: Marcel Honegger
+ */
+
+#include "ThreadFlag.h"
+
+using namespace std;
+
+uint32_t ThreadFlag::threadFlags = 0;
+
+/**
+ * Creates a signal object and assignes a unique flag.
+ */
+ThreadFlag::ThreadFlag() {
+    
+    mutex.lock();
+    
+    uint32_t n = 0;
+    while ((((1 << n) & threadFlags) > 0) && (n < 30)) n++;
+    threadFlag = (1 << n);
+    
+    mutex.unlock();
+}
+
+/**
+ * Deletes the signal object and releases the assigned flag.
+ */
+ThreadFlag::~ThreadFlag() {
+    
+    mutex.lock();
+    
+    threadFlags &= ~threadFlag;
+    
+    mutex.unlock();
+}
+
+/**
+ * Gets the assigned thread flag.
+ */
+uint32_t ThreadFlag::read() {
+    
+    return threadFlag;
+}
+
+/**
+ * The empty operator is a shorthand notation of the <code>read()</code> method.
+ */
+ThreadFlag::operator uint32_t() {
+    
+    return read();
+}
+

diff -r dd5d116ace8f -r 29602f4ade5c ThreadFlag.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ThreadFlag.h	Thu Feb 25 20:28:16 2021 +0000
@@ -0,0 +1,37 @@
+/*
+ * ThreadFlag.h
+ * Copyright (c) 2019, ZHAW
+ * All rights reserved.
+ *
+ *  Created on: 29.11.2019
+ *      Author: Marcel Honegger
+ */
+
+#ifndef THREAD_FLAG_H_
+#define THREAD_FLAG_H_
+
+#include <cstdlib>
+#include <stdint.h>
+#include <mbed.h>
+
+/**
+ * This class manages the handling of unique thread flags to trigger rtos threads.
+ */
+class ThreadFlag {
+    
+    public:
+        
+                            ThreadFlag();
+        virtual             ~ThreadFlag();
+        virtual uint32_t    read();
+                            operator uint32_t();
+        
+    private:
+        
+        static uint32_t threadFlags;    // variable that holds all assigned thread flags
+        uint32_t        threadFlag;     // thread flag of this object
+        Mutex           mutex;          // mutex to lock critical sections
+};
+
+#endif /* THREAD_FLAG_H_ */
+

diff -r dd5d116ace8f -r 29602f4ade5c Unwrapper_2pi.h
--- a/Unwrapper_2pi.h	Thu Mar 07 09:16:03 2019 +0000
+++ b/Unwrapper_2pi.h	Thu Feb 25 20:28:16 2021 +0000
@@ -1,5 +1,6 @@
-/*  
-*/
+#ifndef UNWRAPPER_2PI_H_
+#define UNWRAPPER_2PI_H_
+
 
 using namespace std;
 
@@ -24,3 +25,4 @@
     float last_value;
 
 };
+#endif