Ruprecht Altenburger / Mbed OS mirror_actuator_V1

Mirror actuator for RT2 lab

Dependencies:   FastPWM

Library_Cntrl/GPA.h@16:28b6bb8a4b7f, 2021-05-02 (annotated)

Committer:
altb2
Date:
Sun May 02 08:55:44 2021 +0000
Revision:
16:28b6bb8a4b7f
Parent:
15:9f32f64eee5b 
Final commit 4 students

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 15:9f32f64eee5b 1 #ifndef GPA_H_
altb2 15:9f32f64eee5b 2 #define GPA_H_
altb2 15:9f32f64eee5b 3 #include "uart_comm_thread.h"
altb2 15:9f32f64eee5b 4
altb2 15:9f32f64eee5b 5
altb2 15:9f32f64eee5b 6
altb2 15:9f32f64eee5b 7 class GPA
altb2 15:9f32f64eee5b 8 {
altb2 15:9f32f64eee5b 9 public:
altb2 15:9f32f64eee5b 10
altb2 15:9f32f64eee5b 11 typedef struct GPADATA {
altb2 15:9f32f64eee5b 12 float fexc;
altb2 15:9f32f64eee5b 13 float absGyu;
altb2 15:9f32f64eee5b 14 float angGyu;
altb2 15:9f32f64eee5b 15 float absGyr;
altb2 15:9f32f64eee5b 16 float angGyr;
altb2 15:9f32f64eee5b 17 float Umag;
altb2 15:9f32f64eee5b 18 float Ymag;
altb2 15:9f32f64eee5b 19 float Rmag;
altb2 15:9f32f64eee5b 20 bool MeasPointFinished;
altb2 15:9f32f64eee5b 21 bool MeasFinished;
altb2 15:9f32f64eee5b 22 int ind;
altb2 15:9f32f64eee5b 23 } gpadata_t;
altb2 15:9f32f64eee5b 24
altb2 15:9f32f64eee5b 25 GPA() {};
altb2 15:9f32f64eee5b 26 GPA(float fMin, float fMax, int NfexcDes, float Aexc0, float Aexc1, float Ts);
altb2 15:9f32f64eee5b 27 GPA(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep);
altb2 15:9f32f64eee5b 28 GPA(float f0, float f1, float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep);
altb2 15:9f32f64eee5b 29 GPA(float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep);
altb2 15:9f32f64eee5b 30 GPA(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep, bool doPrint);
altb2 15:9f32f64eee5b 31
altb2 15:9f32f64eee5b 32 float operator()(float inp, float out)
altb2 15:9f32f64eee5b 33 {
altb2 15:9f32f64eee5b 34 return update(inp, out);
altb2 15:9f32f64eee5b 35 }
altb2 15:9f32f64eee5b 36
altb2 15:9f32f64eee5b 37 virtual ~GPA();
altb2 15:9f32f64eee5b 38
altb2 15:9f32f64eee5b 39 void setParameters(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep, bool doPrint);
altb2 15:9f32f64eee5b 40 void reset();
altb2 15:9f32f64eee5b 41 float update(float inp, float out);
altb2 15:9f32f64eee5b 42
altb2 15:9f32f64eee5b 43 void printGPAfexcDes();
altb2 15:9f32f64eee5b 44 void printGPAmeasPara();
altb2 15:9f32f64eee5b 45 void printGPAmeasTime();
altb2 15:9f32f64eee5b 46 void printNfexcDes();
altb2 15:9f32f64eee5b 47 void printLine();
altb2 15:9f32f64eee5b 48 void printLongLine();
altb2 15:9f32f64eee5b 49
altb2 15:9f32f64eee5b 50 void getGPAdata(float *);
altb2 15:9f32f64eee5b 51 bool new_data_available;
altb2 15:9f32f64eee5b 52 bool meas_is_finished;
altb2 15:9f32f64eee5b 53 bool start_now;
altb2 15:9f32f64eee5b 54
altb2 15:9f32f64eee5b 55 private:
altb2 15:9f32f64eee5b 56
altb2 15:9f32f64eee5b 57 int NfexcDes;
altb2 15:9f32f64eee5b 58 int NperMin;
altb2 15:9f32f64eee5b 59 int NmeasMin;
altb2 15:9f32f64eee5b 60 float Ts;
altb2 15:9f32f64eee5b 61 float *fexcDes;
altb2 15:9f32f64eee5b 62 float aAexcDes;
altb2 15:9f32f64eee5b 63 float bAexcDes;
altb2 15:9f32f64eee5b 64
altb2 15:9f32f64eee5b 65 float fnyq;
altb2 15:9f32f64eee5b 66 double pi2;
altb2 15:9f32f64eee5b 67 float pi4;
altb2 15:9f32f64eee5b 68 double pi2Ts;
altb2 15:9f32f64eee5b 69 float piDiv2;
altb2 15:9f32f64eee5b 70 float rad2deg;
altb2 15:9f32f64eee5b 71 float div12pi;
altb2 15:9f32f64eee5b 72 float div812pi;
altb2 15:9f32f64eee5b 73
altb2 15:9f32f64eee5b 74 int Nmeas;
altb2 15:9f32f64eee5b 75 int Nper;
altb2 15:9f32f64eee5b 76 double dfexc;
altb2 15:9f32f64eee5b 77 double fexc;
altb2 15:9f32f64eee5b 78 float fexcPast;
altb2 15:9f32f64eee5b 79 float dfexcj;
altb2 15:9f32f64eee5b 80 int i;
altb2 15:9f32f64eee5b 81 int j;
altb2 15:9f32f64eee5b 82 double scaleG;
altb2 15:9f32f64eee5b 83 double cr;
altb2 15:9f32f64eee5b 84 double ci;
altb2 15:9f32f64eee5b 85 double *sU;
altb2 15:9f32f64eee5b 86 double *sY;
altb2 15:9f32f64eee5b 87 double sinarg;
altb2 15:9f32f64eee5b 88 float sinargR;
altb2 15:9f32f64eee5b 89 int NmeasTotal;
altb2 15:9f32f64eee5b 90 float Aexc;
altb2 15:9f32f64eee5b 91 float AexcPast;
altb2 15:9f32f64eee5b 92 double pi2Tsfexc;
altb2 15:9f32f64eee5b 93 int Nstart;
altb2 15:9f32f64eee5b 94 int Nsweep;
altb2 15:9f32f64eee5b 95 int Nsweep_i;
altb2 15:9f32f64eee5b 96 float AexcOut;
altb2 15:9f32f64eee5b 97
altb2 15:9f32f64eee5b 98 gpadata_t gpaData;
altb2 15:9f32f64eee5b 99 bool doPrint;
altb2 15:9f32f64eee5b 100
altb2 15:9f32f64eee5b 101 void assignParameters(int NfexcDes, int NperMin, int NmeasMin, float Ts, int Nstart, int Nsweep);
altb2 15:9f32f64eee5b 102 void calculateDecreasingAmplitudeCoefficients(float Aexc0, float Aexc1);
altb2 15:9f32f64eee5b 103 void initializeConstants(float Ts);
altb2 15:9f32f64eee5b 104 void assignFilterStorage();
altb2 15:9f32f64eee5b 105 void fexcDesLogspace(float fMin, float fMax, int NfexcDes);
altb2 15:9f32f64eee5b 106 void calcGPAmeasPara(float fexcDes_i);
altb2 15:9f32f64eee5b 107 float wrapAngle(float angle);
altb2 15:9f32f64eee5b 108
altb2 15:9f32f64eee5b 109 };
altb2 15:9f32f64eee5b 110
altb2 15:9f32f64eee5b 111 #endif