Diff: Library_Cntrl/GPA.h

Revision:

12:8ea956a5c1d8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Library_Cntrl/GPA.h	Wed Apr 28 13:10:16 2021 +0000
@@ -0,0 +1,111 @@
+#ifndef GPA_H_
+#define GPA_H_
+#include "uart_comm_thread.h"
+
+
+
+class GPA
+{
+public:
+
+    typedef struct GPADATA {
+        float   fexc;
+        float   absGyu;
+        float   angGyu;
+        float   absGyr;
+        float   angGyr;
+        float   Umag;
+        float   Ymag;
+        float   Rmag;
+        bool    MeasPointFinished;
+        bool    MeasFinished;
+        int     ind;
+    } gpadata_t;
+
+    GPA() {};
+    GPA(float fMin, float fMax, int NfexcDes, float Aexc0, float Aexc1, float Ts);
+    GPA(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep);
+    GPA(float f0, float f1, float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep);
+    GPA(float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep);
+    GPA(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep, bool doPrint);
+
+    float operator()(float inp, float out)
+    {
+        return update(inp, out);
+    }
+
+    virtual ~GPA();
+
+    void    setParameters(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep, bool doPrint);
+    void    reset();
+    float   update(float inp, float out);
+
+    void    printGPAfexcDes();
+    void    printGPAmeasPara();
+    void    printGPAmeasTime();
+    void    printNfexcDes();
+    void    printLine();
+    void    printLongLine();
+
+    void    getGPAdata(float *);
+    bool    new_data_available;
+    bool    meas_is_finished;
+    bool    start_now;
+
+private:
+
+    int     NfexcDes;
+    int     NperMin;
+    int     NmeasMin;
+    float   Ts;
+    float  *fexcDes;
+    float   aAexcDes;
+    float   bAexcDes;
+
+    float   fnyq;
+    double  pi2;
+    float   pi4;
+    double  pi2Ts;
+    float   piDiv2;
+    float   rad2deg;
+    float   div12pi;
+    float   div812pi;
+
+    int     Nmeas;
+    int     Nper;
+    double  dfexc;
+    double  fexc;
+    float   fexcPast;
+    float   dfexcj;
+    int     i;
+    int     j;
+    double  scaleG;
+    double  cr;
+    double  ci;
+    double *sU;
+    double *sY;
+    double  sinarg;
+    float   sinargR;
+    int     NmeasTotal;
+    float   Aexc;
+    float   AexcPast;
+    double  pi2Tsfexc;
+    int     Nstart;
+    int     Nsweep;
+    int     Nsweep_i;
+    float   AexcOut;
+
+    gpadata_t gpaData;
+    bool    doPrint;
+
+    void    assignParameters(int NfexcDes, int NperMin, int NmeasMin, float Ts, int Nstart, int Nsweep);
+    void    calculateDecreasingAmplitudeCoefficients(float Aexc0, float Aexc1);
+    void    initializeConstants(float Ts);
+    void    assignFilterStorage();
+    void    fexcDesLogspace(float fMin, float fMax, int NfexcDes);
+    void    calcGPAmeasPara(float fexcDes_i);
+    float   wrapAngle(float angle);
+
+};
+
+#endif
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