Ruprecht Altenburger
/
mirror_actuator_V1
Mirror actuator for RT2 lab
Library_Cntrl/GPA.cpp@15:9f32f64eee5b, 2021-05-02 (annotated)
- Committer:
- altb2
- Date:
- Sun May 02 08:17:06 2021 +0000
- Revision:
- 15:9f32f64eee5b
commit for students, 2.5.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 15:9f32f64eee5b | 1 | /* |
altb2 | 15:9f32f64eee5b | 2 | GPA: Frequency point wise gain and phase analyser to measure a frequency respone function (FRF) of a dynamical system |
altb2 | 15:9f32f64eee5b | 3 | |
altb2 | 15:9f32f64eee5b | 4 | Hint: If the plant has a pole at zero, is unstable or weakly damped the measurement has to be perfomed |
altb2 | 15:9f32f64eee5b | 5 | in closed loop (this is NOT tfestimate, the algorithm is based on the one point DFT). |
altb2 | 15:9f32f64eee5b | 6 | Assumption: The system is and remains at the desired steady state when the measurment starts |
altb2 | 15:9f32f64eee5b | 7 | |
altb2 | 15:9f32f64eee5b | 8 | Note: The amplitude drops with 1/fexc, if you're using Axc1 = Aexc0/fMax then d/dt exc = const., |
altb2 | 15:9f32f64eee5b | 9 | this is recommended if your controller does not have a rolloff. If a desired frequency point |
altb2 | 15:9f32f64eee5b | 10 | is not measured (could not be reached) try to increase Nmeas. |
altb2 | 15:9f32f64eee5b | 11 | |
altb2 | 15:9f32f64eee5b | 12 | |
altb2 | 15:9f32f64eee5b | 13 | Instantiate option 0: ("Not a Jedi yet" users, for logarithmic equaly spaced frequency points) |
altb2 | 15:9f32f64eee5b | 14 | |
altb2 | 15:9f32f64eee5b | 15 | GPA(float fMin, float fMax, int NfexcDes, float Aexc0, float Aexc1, float Ts) |
altb2 | 15:9f32f64eee5b | 16 | |
altb2 | 15:9f32f64eee5b | 17 | fMin: Minimal desired frequency that should be measured in Hz |
altb2 | 15:9f32f64eee5b | 18 | fMax: Maximal desired frequency that should be measured in Hz |
altb2 | 15:9f32f64eee5b | 19 | NfexcDes: Number of logarithmic equaly spaced frequency points between fMin and fMax |
altb2 | 15:9f32f64eee5b | 20 | Aexc0: Excitation amplitude at fMin |
altb2 | 15:9f32f64eee5b | 21 | Aexc1: Excitation amplitude at fMax |
altb2 | 15:9f32f64eee5b | 22 | Ts: Sampling time in sec |
altb2 | 15:9f32f64eee5b | 23 | |
altb2 | 15:9f32f64eee5b | 24 | Default values are as follows: |
altb2 | 15:9f32f64eee5b | 25 | int NperMin = 3; |
altb2 | 15:9f32f64eee5b | 26 | int NmeasMin = (int)ceil(1.0f/Ts); |
altb2 | 15:9f32f64eee5b | 27 | int Nstart = (int)ceil(3.0f/Ts); |
altb2 | 15:9f32f64eee5b | 28 | int Nsweep = (int)ceil(0.0f/Ts); |
altb2 | 15:9f32f64eee5b | 29 | |
altb2 | 15:9f32f64eee5b | 30 | Instantiate option 1: ("Jedi or Sith Lord", for logarithmic equaly spaced frequency points) |
altb2 | 15:9f32f64eee5b | 31 | |
altb2 | 15:9f32f64eee5b | 32 | GPA(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep) |
altb2 | 15:9f32f64eee5b | 33 | |
altb2 | 15:9f32f64eee5b | 34 | fMin: Minimal desired frequency that should be measured in Hz |
altb2 | 15:9f32f64eee5b | 35 | fMax: Maximal desired frequency that should be measured in Hz |
altb2 | 15:9f32f64eee5b | 36 | NfexcDes: Number of logarithmic equaly spaced frequency points |
altb2 | 15:9f32f64eee5b | 37 | NperMin: Minimal number of periods that are used for each frequency point |
altb2 | 15:9f32f64eee5b | 38 | NmeasMin: Minimal number of samples that are used for each frequency point |
altb2 | 15:9f32f64eee5b | 39 | Ts: Sampling time in sec |
altb2 | 15:9f32f64eee5b | 40 | Aexc0: Excitation amplitude at fMin |
altb2 | 15:9f32f64eee5b | 41 | Aexc1: Excitation amplitude at fMax |
altb2 | 15:9f32f64eee5b | 42 | Nstart: Minimal number of samples to sweep to the first frequency point (can be equal 0) |
altb2 | 15:9f32f64eee5b | 43 | Nsweep: Minimal number of samples to sweep from freq. point to freq. point (can be equal 0) |
altb2 | 15:9f32f64eee5b | 44 | |
altb2 | 15:9f32f64eee5b | 45 | |
altb2 | 15:9f32f64eee5b | 46 | Instantiate option 2: (for a second, refined frequency grid measurement) |
altb2 | 15:9f32f64eee5b | 47 | |
altb2 | 15:9f32f64eee5b | 48 | 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 | 49 | |
altb2 | 15:9f32f64eee5b | 50 | f0: Frequency point for the calculation of Aexc0 in Hz (should be chosen like in the first measurement) |
altb2 | 15:9f32f64eee5b | 51 | f1: Frequency point for the calculation of Aexc1 in Hz (should be chosen like in the first measurement) |
altb2 | 15:9f32f64eee5b | 52 | *fexcDes: Sorted frequency point array in Hz |
altb2 | 15:9f32f64eee5b | 53 | NfexcDes: Length of fexcDes |
altb2 | 15:9f32f64eee5b | 54 | |
altb2 | 15:9f32f64eee5b | 55 | For the other parameters see above. |
altb2 | 15:9f32f64eee5b | 56 | |
altb2 | 15:9f32f64eee5b | 57 | Instantiate option 3: (for an arbitary but sorted frequency grid measurement) |
altb2 | 15:9f32f64eee5b | 58 | |
altb2 | 15:9f32f64eee5b | 59 | GPA(float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep) |
altb2 | 15:9f32f64eee5b | 60 | |
altb2 | 15:9f32f64eee5b | 61 | *fexcDes: Sorted frequency point array in Hz |
altb2 | 15:9f32f64eee5b | 62 | Aexc0: Excitation amplitude at fexcDes[0] |
altb2 | 15:9f32f64eee5b | 63 | Aexc1: Excitation amplitude at fexcDes[NfexcDes-1] |
altb2 | 15:9f32f64eee5b | 64 | NfexcDes: Length of fexcDes |
altb2 | 15:9f32f64eee5b | 65 | |
altb2 | 15:9f32f64eee5b | 66 | For the other parameters see above. |
altb2 | 15:9f32f64eee5b | 67 | |
altb2 | 15:9f32f64eee5b | 68 | |
altb2 | 15:9f32f64eee5b | 69 | Block diagram: |
altb2 | 15:9f32f64eee5b | 70 | |
altb2 | 15:9f32f64eee5b | 71 | w (const.) exc(2) C: controller |
altb2 | 15:9f32f64eee5b | 72 | | | P: plant |
altb2 | 15:9f32f64eee5b | 73 | v e v |
altb2 | 15:9f32f64eee5b | 74 | exc(1) --> o ->| C |--->o------->| P |----------> out (y) |
altb2 | 15:9f32f64eee5b | 75 | ^ - | | |
altb2 | 15:9f32f64eee5b | 76 | | --> inp (u) | exc (R): excitation signal |
altb2 | 15:9f32f64eee5b | 77 | | | inp (U): input plant |
altb2 | 15:9f32f64eee5b | 78 | -------------------------------- out (Y): output plant |
altb2 | 15:9f32f64eee5b | 79 | |
altb2 | 15:9f32f64eee5b | 80 | |
altb2 | 15:9f32f64eee5b | 81 | Pseudo code for an open loop measurement: |
altb2 | 15:9f32f64eee5b | 82 | |
altb2 | 15:9f32f64eee5b | 83 | - Measuring the plant P = Gyu = Gyr: |
altb2 | 15:9f32f64eee5b | 84 | |
altb2 | 15:9f32f64eee5b | 85 | u = w + exc; |
altb2 | 15:9f32f64eee5b | 86 | ... write output u here! it follows exc(k+1) ... |
altb2 | 15:9f32f64eee5b | 87 | exc = Wobble(exc, y); |
altb2 | 15:9f32f64eee5b | 88 | |
altb2 | 15:9f32f64eee5b | 89 | Closed loop FRF calculus with a stabilizing controller C: |
altb2 | 15:9f32f64eee5b | 90 | S = 1/(1 + C*P); % ( exc1 -> e , 1/(1 + C*P) ) sensitivity, contr. error rejection, robustness (1/max|S|) |
altb2 | 15:9f32f64eee5b | 91 | T = 1 - S; % ( w -> y , C*P/(1 + C*P) ) compl. sensitivity, tracking performance |
altb2 | 15:9f32f64eee5b | 92 | CS = C*S; % ( exc1 -> u , C/(1 + C*P) ) control effort, disturbance plant output on plant input |
altb2 | 15:9f32f64eee5b | 93 | PS = P*S; % ( exc2 -> y , P/(1 + C*P) ) compliance, disturbance plant input on plant output |
altb2 | 15:9f32f64eee5b | 94 | |
altb2 | 15:9f32f64eee5b | 95 | |
altb2 | 15:9f32f64eee5b | 96 | Pseudo code for a closed loop measurement with stabilizing controller C: |
altb2 | 15:9f32f64eee5b | 97 | |
altb2 | 15:9f32f64eee5b | 98 | Excitation at excitation input (1): |
altb2 | 15:9f32f64eee5b | 99 | |
altb2 | 15:9f32f64eee5b | 100 | - Measuring the plant P = Gyu and the closed loop tf T = PC/(1 + PC) = Gyr: |
altb2 | 15:9f32f64eee5b | 101 | |
altb2 | 15:9f32f64eee5b | 102 | u = C(w - y + exc); |
altb2 | 15:9f32f64eee5b | 103 | ... write output u here! it follows exc(k+1) ... |
altb2 | 15:9f32f64eee5b | 104 | exc = Wobble(u, y); |
altb2 | 15:9f32f64eee5b | 105 | |
altb2 | 15:9f32f64eee5b | 106 | Closed loop FRF calculus: |
altb2 | 15:9f32f64eee5b | 107 | S = 1 - T; |
altb2 | 15:9f32f64eee5b | 108 | PS = P*S; |
altb2 | 15:9f32f64eee5b | 109 | CS = T/P; |
altb2 | 15:9f32f64eee5b | 110 | C = C/S; |
altb2 | 15:9f32f64eee5b | 111 | |
altb2 | 15:9f32f64eee5b | 112 | Excitation at excitation input (2): |
altb2 | 15:9f32f64eee5b | 113 | |
altb2 | 15:9f32f64eee5b | 114 | - Measuring the plant P = Gyu and the closed loop tf PS = P/(1 + PC) = Gyr: |
altb2 | 15:9f32f64eee5b | 115 | |
altb2 | 15:9f32f64eee5b | 116 | u = C(w - y) + exc; |
altb2 | 15:9f32f64eee5b | 117 | ... write output u here! it follows exc(k+1) ... |
altb2 | 15:9f32f64eee5b | 118 | exc = Wobble(u, y); |
altb2 | 15:9f32f64eee5b | 119 | |
altb2 | 15:9f32f64eee5b | 120 | Closed loop FRF calculus: |
altb2 | 15:9f32f64eee5b | 121 | S = PS/P; |
altb2 | 15:9f32f64eee5b | 122 | T = 1 - S; |
altb2 | 15:9f32f64eee5b | 123 | CS = T/P; |
altb2 | 15:9f32f64eee5b | 124 | C = C/S; |
altb2 | 15:9f32f64eee5b | 125 | |
altb2 | 15:9f32f64eee5b | 126 | |
altb2 | 15:9f32f64eee5b | 127 | Usage: |
altb2 | 15:9f32f64eee5b | 128 | exc(k+1) = myGPA(inp(k), out(k)) does update the internal states of the |
altb2 | 15:9f32f64eee5b | 129 | gpa at the timestep k and returns the excitation signal for the timestep |
altb2 | 15:9f32f64eee5b | 130 | k+1. The FRF data are plotted to a terminal (Putty) over a serial |
altb2 | 15:9f32f64eee5b | 131 | connection and look as follows: |
altb2 | 15:9f32f64eee5b | 132 | |
altb2 | 15:9f32f64eee5b | 133 | -------------------------------------------------------------------------------- |
altb2 | 15:9f32f64eee5b | 134 | fexc[Hz] |Gyu| deg(Gyu) |Gyr| deg(Gyr) |U| |Y| |R| |
altb2 | 15:9f32f64eee5b | 135 | -------------------------------------------------------------------------------- |
altb2 | 15:9f32f64eee5b | 136 | 5.0000e-02 1.001e+00 -0.309 1.001e+00 -0.309 4.000e-01 4.000e-01 4.005e-01 |
altb2 | 15:9f32f64eee5b | 137 | . . . . . . . . |
altb2 | 15:9f32f64eee5b | 138 | . . . . . . . . |
altb2 | 15:9f32f64eee5b | 139 | . . . . . . . . |
altb2 | 15:9f32f64eee5b | 140 | |
altb2 | 15:9f32f64eee5b | 141 | In Matlab you can use the editor as follows: |
altb2 | 15:9f32f64eee5b | 142 | data = [... insert measurement data here ...]; |
altb2 | 15:9f32f64eee5b | 143 | gyu = frd(data(:,2).*exp(1i*data(:,3)*pi/180), data(:,1), Ts, 'Units', 'Hz'); |
altb2 | 15:9f32f64eee5b | 144 | gyr = frd(data(:,4).*exp(1i*data(:,5)*pi/180), data(:,1), Ts, 'Units', 'Hz'); |
altb2 | 15:9f32f64eee5b | 145 | |
altb2 | 15:9f32f64eee5b | 146 | If you're evaluating more than one measurement which contain equal frequency points use: |
altb2 | 15:9f32f64eee5b | 147 | data = [data1; data2]; |
altb2 | 15:9f32f64eee5b | 148 | [~, ind] = unique(data(:,1), 'stable'); |
altb2 | 15:9f32f64eee5b | 149 | data = data(ind,:); |
altb2 | 15:9f32f64eee5b | 150 | |
altb2 | 15:9f32f64eee5b | 151 | |
altb2 | 15:9f32f64eee5b | 152 | Autor and Copyrigth: 2018 / 2019 / 2020 / M.E. Peter |
altb2 | 15:9f32f64eee5b | 153 | |
altb2 | 15:9f32f64eee5b | 154 | */ |
altb2 | 15:9f32f64eee5b | 155 | |
altb2 | 15:9f32f64eee5b | 156 | #include "GPA.h" |
altb2 | 15:9f32f64eee5b | 157 | #include "mbed.h" |
altb2 | 15:9f32f64eee5b | 158 | #include "math.h" |
altb2 | 15:9f32f64eee5b | 159 | #define pi 3.14159265358979323846 // M_PI |
altb2 | 15:9f32f64eee5b | 160 | |
altb2 | 15:9f32f64eee5b | 161 | using namespace std; |
altb2 | 15:9f32f64eee5b | 162 | |
altb2 | 15:9f32f64eee5b | 163 | // ----------------------------------------------------------------------------- |
altb2 | 15:9f32f64eee5b | 164 | // instantiate |
altb2 | 15:9f32f64eee5b | 165 | // ----------------------------------------------------------------------------- |
altb2 | 15:9f32f64eee5b | 166 | |
altb2 | 15:9f32f64eee5b | 167 | GPA::GPA(float fMin, float fMax, int NfexcDes, float Aexc0, float Aexc1, float Ts) |
altb2 | 15:9f32f64eee5b | 168 | { |
altb2 | 15:9f32f64eee5b | 169 | doPrint = true; |
altb2 | 15:9f32f64eee5b | 170 | int NperMin = 3; |
altb2 | 15:9f32f64eee5b | 171 | int NmeasMin = (int)ceil(1.0f/Ts); |
altb2 | 15:9f32f64eee5b | 172 | int Nstart = (int)ceil(3.0f/Ts); |
altb2 | 15:9f32f64eee5b | 173 | int Nsweep = (int)ceil(0.0f/Ts); |
altb2 | 15:9f32f64eee5b | 174 | new_data_available = false; |
altb2 | 15:9f32f64eee5b | 175 | meas_is_finished = false; |
altb2 | 15:9f32f64eee5b | 176 | start_now = false; |
altb2 | 15:9f32f64eee5b | 177 | |
altb2 | 15:9f32f64eee5b | 178 | setParameters(fMin, fMax, NfexcDes, NperMin, NmeasMin, Ts, Aexc0, Aexc1, Nstart, Nsweep, doPrint); |
altb2 | 15:9f32f64eee5b | 179 | } |
altb2 | 15:9f32f64eee5b | 180 | |
altb2 | 15:9f32f64eee5b | 181 | GPA::GPA(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep) |
altb2 | 15:9f32f64eee5b | 182 | { |
altb2 | 15:9f32f64eee5b | 183 | doPrint = true; |
altb2 | 15:9f32f64eee5b | 184 | new_data_available = false; |
altb2 | 15:9f32f64eee5b | 185 | meas_is_finished = false; |
altb2 | 15:9f32f64eee5b | 186 | start_now = false; |
altb2 | 15:9f32f64eee5b | 187 | setParameters(fMin, fMax, NfexcDes, NperMin, NmeasMin, Ts, Aexc0, Aexc1, Nstart, Nsweep, doPrint); |
altb2 | 15:9f32f64eee5b | 188 | } |
altb2 | 15:9f32f64eee5b | 189 | |
altb2 | 15:9f32f64eee5b | 190 | GPA::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 | 191 | { |
altb2 | 15:9f32f64eee5b | 192 | doPrint = true; |
altb2 | 15:9f32f64eee5b | 193 | new_data_available = false; |
altb2 | 15:9f32f64eee5b | 194 | meas_is_finished = false; |
altb2 | 15:9f32f64eee5b | 195 | |
altb2 | 15:9f32f64eee5b | 196 | assignParameters(NfexcDes, NperMin, NmeasMin, Ts, Nstart, Nsweep); |
altb2 | 15:9f32f64eee5b | 197 | |
altb2 | 15:9f32f64eee5b | 198 | // convert fexcDes from float to float, it is assumed that it is sorted |
altb2 | 15:9f32f64eee5b | 199 | this->fexcDes = (float*)malloc(NfexcDes*sizeof(float)); |
altb2 | 15:9f32f64eee5b | 200 | for(int i = 0; i < NfexcDes; i++) { |
altb2 | 15:9f32f64eee5b | 201 | this->fexcDes[i] = (float)fexcDes[i]; |
altb2 | 15:9f32f64eee5b | 202 | } |
altb2 | 15:9f32f64eee5b | 203 | |
altb2 | 15:9f32f64eee5b | 204 | calculateDecreasingAmplitudeCoefficients(Aexc0, Aexc1); |
altb2 | 15:9f32f64eee5b | 205 | initializeConstants(Ts); |
altb2 | 15:9f32f64eee5b | 206 | assignFilterStorage(); |
altb2 | 15:9f32f64eee5b | 207 | reset(); |
altb2 | 15:9f32f64eee5b | 208 | } |
altb2 | 15:9f32f64eee5b | 209 | |
altb2 | 15:9f32f64eee5b | 210 | GPA::GPA(float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep) |
altb2 | 15:9f32f64eee5b | 211 | { |
altb2 | 15:9f32f64eee5b | 212 | doPrint = true; |
altb2 | 15:9f32f64eee5b | 213 | assignParameters(NfexcDes, NperMin, NmeasMin, Ts, Nstart, Nsweep); |
altb2 | 15:9f32f64eee5b | 214 | |
altb2 | 15:9f32f64eee5b | 215 | // convert fexcDes from float to float, it is assumed that it is sorted |
altb2 | 15:9f32f64eee5b | 216 | this->fexcDes = (float*)malloc(NfexcDes*sizeof(float)); |
altb2 | 15:9f32f64eee5b | 217 | for(int i = 0; i < NfexcDes; i++) { |
altb2 | 15:9f32f64eee5b | 218 | this->fexcDes[i] = fexcDes[i]; |
altb2 | 15:9f32f64eee5b | 219 | } |
altb2 | 15:9f32f64eee5b | 220 | |
altb2 | 15:9f32f64eee5b | 221 | calculateDecreasingAmplitudeCoefficients(Aexc0, Aexc1); |
altb2 | 15:9f32f64eee5b | 222 | initializeConstants(Ts); |
altb2 | 15:9f32f64eee5b | 223 | assignFilterStorage(); |
altb2 | 15:9f32f64eee5b | 224 | reset(); |
altb2 | 15:9f32f64eee5b | 225 | } |
altb2 | 15:9f32f64eee5b | 226 | |
altb2 | 15:9f32f64eee5b | 227 | GPA::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 | 228 | { |
altb2 | 15:9f32f64eee5b | 229 | setParameters(fMin, fMax, NfexcDes, NperMin, NmeasMin, Ts, Aexc0, Aexc1, Nstart, Nsweep, doPrint); |
altb2 | 15:9f32f64eee5b | 230 | } |
altb2 | 15:9f32f64eee5b | 231 | |
altb2 | 15:9f32f64eee5b | 232 | // ----------------------------------------------------------------------------- |
altb2 | 15:9f32f64eee5b | 233 | // virtual, reset and set |
altb2 | 15:9f32f64eee5b | 234 | // ----------------------------------------------------------------------------- |
altb2 | 15:9f32f64eee5b | 235 | |
altb2 | 15:9f32f64eee5b | 236 | GPA::~GPA() {} |
altb2 | 15:9f32f64eee5b | 237 | |
altb2 | 15:9f32f64eee5b | 238 | void GPA::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 | 239 | { |
altb2 | 15:9f32f64eee5b | 240 | this->doPrint = doPrint; |
altb2 | 15:9f32f64eee5b | 241 | assignParameters(NfexcDes, NperMin, NmeasMin, Ts, Nstart, Nsweep); |
altb2 | 15:9f32f64eee5b | 242 | |
altb2 | 15:9f32f64eee5b | 243 | // calculate logarithmic spaced frequency points |
altb2 | 15:9f32f64eee5b | 244 | fexcDes = (float*)malloc(NfexcDes*sizeof(float)); |
altb2 | 15:9f32f64eee5b | 245 | fexcDesLogspace(fMin, fMax, NfexcDes); |
altb2 | 15:9f32f64eee5b | 246 | |
altb2 | 15:9f32f64eee5b | 247 | calculateDecreasingAmplitudeCoefficients(Aexc0, Aexc1); |
altb2 | 15:9f32f64eee5b | 248 | initializeConstants(Ts); |
altb2 | 15:9f32f64eee5b | 249 | assignFilterStorage(); |
altb2 | 15:9f32f64eee5b | 250 | reset(); |
altb2 | 15:9f32f64eee5b | 251 | |
altb2 | 15:9f32f64eee5b | 252 | } |
altb2 | 15:9f32f64eee5b | 253 | |
altb2 | 15:9f32f64eee5b | 254 | void GPA::reset() |
altb2 | 15:9f32f64eee5b | 255 | { |
altb2 | 15:9f32f64eee5b | 256 | Nmeas = 0; |
altb2 | 15:9f32f64eee5b | 257 | Nper = 0; |
altb2 | 15:9f32f64eee5b | 258 | dfexc = 0.0; |
altb2 | 15:9f32f64eee5b | 259 | fexc = 0.0; |
altb2 | 15:9f32f64eee5b | 260 | fexcPast = 0.0f; |
altb2 | 15:9f32f64eee5b | 261 | dfexcj = 0.0f; |
altb2 | 15:9f32f64eee5b | 262 | i = 1; // iterating through desired frequency points |
altb2 | 15:9f32f64eee5b | 263 | j = 1; // iterating through measurement points w.r.t. reachable frequency |
altb2 | 15:9f32f64eee5b | 264 | scaleG = 0.0; |
altb2 | 15:9f32f64eee5b | 265 | cr = 0.0; |
altb2 | 15:9f32f64eee5b | 266 | ci = 0.0; |
altb2 | 15:9f32f64eee5b | 267 | for(int i = 0; i < 3; i++) { |
altb2 | 15:9f32f64eee5b | 268 | sU[i] = 0.0; |
altb2 | 15:9f32f64eee5b | 269 | sY[i] = 0.0; |
altb2 | 15:9f32f64eee5b | 270 | } |
altb2 | 15:9f32f64eee5b | 271 | sinarg = 0.0; |
altb2 | 15:9f32f64eee5b | 272 | sinargR = 0.0f; |
altb2 | 15:9f32f64eee5b | 273 | NmeasTotal = 0; |
altb2 | 15:9f32f64eee5b | 274 | Aexc = 0.0f; |
altb2 | 15:9f32f64eee5b | 275 | pi2Tsfexc = 0.0; |
altb2 | 15:9f32f64eee5b | 276 | Nsweep_i = Nstart; |
altb2 | 15:9f32f64eee5b | 277 | AexcOut = 0.0f; |
altb2 | 15:9f32f64eee5b | 278 | gpaData.fexc = 0.0f; |
altb2 | 15:9f32f64eee5b | 279 | gpaData.absGyu = 0.0f; |
altb2 | 15:9f32f64eee5b | 280 | gpaData.angGyu = 0.0f; |
altb2 | 15:9f32f64eee5b | 281 | gpaData.absGyr = 0.0f; |
altb2 | 15:9f32f64eee5b | 282 | gpaData.angGyr = 0.0f; |
altb2 | 15:9f32f64eee5b | 283 | gpaData.Umag = 0.0f; |
altb2 | 15:9f32f64eee5b | 284 | gpaData.Ymag = 0.0f; |
altb2 | 15:9f32f64eee5b | 285 | gpaData.Rmag = 0.0f; |
altb2 | 15:9f32f64eee5b | 286 | gpaData.MeasPointFinished = false; |
altb2 | 15:9f32f64eee5b | 287 | gpaData.MeasFinished = false; |
altb2 | 15:9f32f64eee5b | 288 | gpaData.ind = -1; |
altb2 | 15:9f32f64eee5b | 289 | |
altb2 | 15:9f32f64eee5b | 290 | } |
altb2 | 15:9f32f64eee5b | 291 | |
altb2 | 15:9f32f64eee5b | 292 | // ----------------------------------------------------------------------------- |
altb2 | 15:9f32f64eee5b | 293 | // update (operator) |
altb2 | 15:9f32f64eee5b | 294 | // ----------------------------------------------------------------------------- |
altb2 | 15:9f32f64eee5b | 295 | |
altb2 | 15:9f32f64eee5b | 296 | float GPA::update(float inp, float out) |
altb2 | 15:9f32f64eee5b | 297 | { |
altb2 | 15:9f32f64eee5b | 298 | // a new frequency point has been reached |
altb2 | 15:9f32f64eee5b | 299 | if(j == 1) { |
altb2 | 15:9f32f64eee5b | 300 | // user info |
altb2 | 15:9f32f64eee5b | 301 | if(i == 1 && doPrint) { |
altb2 | 15:9f32f64eee5b | 302 | printLine(); |
altb2 | 15:9f32f64eee5b | 303 | //printf(" fexc[Hz] |Gyu| deg(Gyu) |Gyr| deg(Gyr) |U| |Y| |R|\r\n"); |
altb2 | 15:9f32f64eee5b | 304 | printLine(); |
altb2 | 15:9f32f64eee5b | 305 | start_now = true; |
altb2 | 15:9f32f64eee5b | 306 | //uart_com.send_char_data(250,2,0); |
altb2 | 15:9f32f64eee5b | 307 | } |
altb2 | 15:9f32f64eee5b | 308 | |
altb2 | 15:9f32f64eee5b | 309 | // get a new unique frequency point |
altb2 | 15:9f32f64eee5b | 310 | while(fexc == fexcPast) { |
altb2 | 15:9f32f64eee5b | 311 | // measurement finished |
altb2 | 15:9f32f64eee5b | 312 | if(i > NfexcDes) { |
altb2 | 15:9f32f64eee5b | 313 | gpaData.MeasPointFinished = false; |
altb2 | 15:9f32f64eee5b | 314 | gpaData.MeasFinished = true; |
altb2 | 15:9f32f64eee5b | 315 | meas_is_finished = true; |
altb2 | 15:9f32f64eee5b | 316 | return 0.0f; |
altb2 | 15:9f32f64eee5b | 317 | } |
altb2 | 15:9f32f64eee5b | 318 | calcGPAmeasPara(fexcDes[i - 1]); |
altb2 | 15:9f32f64eee5b | 319 | // secure fexc is not higher or equal to nyquist frequency |
altb2 | 15:9f32f64eee5b | 320 | if(fexc >= fnyq) { |
altb2 | 15:9f32f64eee5b | 321 | fexc = fexcPast; |
altb2 | 15:9f32f64eee5b | 322 | } |
altb2 | 15:9f32f64eee5b | 323 | // no frequency found |
altb2 | 15:9f32f64eee5b | 324 | if(fexc == fexcPast) { |
altb2 | 15:9f32f64eee5b | 325 | i += 1; |
altb2 | 15:9f32f64eee5b | 326 | } else { |
altb2 | 15:9f32f64eee5b | 327 | Aexc = aAexcDes/fexc + bAexcDes; |
altb2 | 15:9f32f64eee5b | 328 | pi2Tsfexc = pi2Ts*fexc; |
altb2 | 15:9f32f64eee5b | 329 | } |
altb2 | 15:9f32f64eee5b | 330 | } |
altb2 | 15:9f32f64eee5b | 331 | // filter scaling |
altb2 | 15:9f32f64eee5b | 332 | scaleG = 1.0/sqrt((double)Nmeas); |
altb2 | 15:9f32f64eee5b | 333 | // filter coefficients |
altb2 | 15:9f32f64eee5b | 334 | cr = cos(pi2Tsfexc); |
altb2 | 15:9f32f64eee5b | 335 | ci = sin(pi2Tsfexc); |
altb2 | 15:9f32f64eee5b | 336 | // set filter storage zero |
altb2 | 15:9f32f64eee5b | 337 | for(int i = 0; i < 3; i++) { |
altb2 | 15:9f32f64eee5b | 338 | sU[i] = 0.0; |
altb2 | 15:9f32f64eee5b | 339 | sY[i] = 0.0; |
altb2 | 15:9f32f64eee5b | 340 | } |
altb2 | 15:9f32f64eee5b | 341 | gpaData.MeasPointFinished = false; |
altb2 | 15:9f32f64eee5b | 342 | } |
altb2 | 15:9f32f64eee5b | 343 | // perfomre the sweep or measure |
altb2 | 15:9f32f64eee5b | 344 | if(j <= Nsweep_i) { |
altb2 | 15:9f32f64eee5b | 345 | dfexcj = ((float)j - 1.0f)/((float)Nsweep_i - 1.0f); |
altb2 | 15:9f32f64eee5b | 346 | dfexcj = div12pi*sinf(pi4*dfexcj) - div812pi*sinf((float)pi2*dfexcj) + dfexcj; |
altb2 | 15:9f32f64eee5b | 347 | dfexc = fexcPast + (fexc - fexcPast)*dfexcj; |
altb2 | 15:9f32f64eee5b | 348 | AexcOut = AexcPast + (Aexc - AexcPast)*dfexcj; |
altb2 | 15:9f32f64eee5b | 349 | } else { |
altb2 | 15:9f32f64eee5b | 350 | dfexc = fexc; |
altb2 | 15:9f32f64eee5b | 351 | AexcOut = Aexc; |
altb2 | 15:9f32f64eee5b | 352 | // one point DFT filter step for signal su |
altb2 | 15:9f32f64eee5b | 353 | sU[0] = scaleG*inp + 2.0*cr*sU[1] - sU[2]; |
altb2 | 15:9f32f64eee5b | 354 | sU[2] = sU[1]; |
altb2 | 15:9f32f64eee5b | 355 | sU[1] = sU[0]; |
altb2 | 15:9f32f64eee5b | 356 | // one point DFT filter step for signal sy |
altb2 | 15:9f32f64eee5b | 357 | sY[0] = scaleG*out + 2.0*cr*sY[1] - sY[2]; |
altb2 | 15:9f32f64eee5b | 358 | sY[2] = sY[1]; |
altb2 | 15:9f32f64eee5b | 359 | sY[1] = sY[0]; |
altb2 | 15:9f32f64eee5b | 360 | } |
altb2 | 15:9f32f64eee5b | 361 | // copy starting value for ang(R) |
altb2 | 15:9f32f64eee5b | 362 | if(j == 1 || j == Nsweep_i + 1) sinargR = sinarg; |
altb2 | 15:9f32f64eee5b | 363 | // measurement of frequencypoint is finished |
altb2 | 15:9f32f64eee5b | 364 | if(j == Nmeas + Nsweep_i) { |
altb2 | 15:9f32f64eee5b | 365 | fexcPast = fexc; |
altb2 | 15:9f32f64eee5b | 366 | AexcPast = Aexc; |
altb2 | 15:9f32f64eee5b | 367 | Nsweep_i = Nsweep; |
altb2 | 15:9f32f64eee5b | 368 | // calculate the one point dft |
altb2 | 15:9f32f64eee5b | 369 | float Ureal = (float)(2.0*scaleG*(cr*sU[1] - sU[2])); |
altb2 | 15:9f32f64eee5b | 370 | float Uimag = (float)(2.0*scaleG*ci*sU[1]); |
altb2 | 15:9f32f64eee5b | 371 | float Yreal = (float)(2.0*scaleG*(cr*sY[1] - sY[2])); |
altb2 | 15:9f32f64eee5b | 372 | float Yimag = (float)(2.0*scaleG*ci*sY[1]); |
altb2 | 15:9f32f64eee5b | 373 | // calculate magnitude and angle |
altb2 | 15:9f32f64eee5b | 374 | float Umag = sqrtf(Ureal*Ureal + Uimag*Uimag); |
altb2 | 15:9f32f64eee5b | 375 | float Ymag = sqrtf(Yreal*Yreal + Yimag*Yimag); |
altb2 | 15:9f32f64eee5b | 376 | gpaData.fexc = (float)fexc; |
altb2 | 15:9f32f64eee5b | 377 | gpaData.absGyu = Ymag/Umag; |
altb2 | 15:9f32f64eee5b | 378 | gpaData.angGyu = wrapAngle(atan2f(Yimag, Yreal) - atan2f(Uimag, Ureal))*rad2deg; |
altb2 | 15:9f32f64eee5b | 379 | gpaData.absGyr = Ymag/Aexc; |
altb2 | 15:9f32f64eee5b | 380 | gpaData.angGyr = wrapAngle(atan2f(Yimag, Yreal) + fmod(piDiv2 - sinargR, (float)pi2))*rad2deg; |
altb2 | 15:9f32f64eee5b | 381 | gpaData.Umag = Umag; |
altb2 | 15:9f32f64eee5b | 382 | gpaData.Ymag = Ymag; |
altb2 | 15:9f32f64eee5b | 383 | gpaData.Rmag = Aexc; |
altb2 | 15:9f32f64eee5b | 384 | gpaData.MeasPointFinished = true; |
altb2 | 15:9f32f64eee5b | 385 | gpaData.ind++; |
altb2 | 15:9f32f64eee5b | 386 | // user info |
altb2 | 15:9f32f64eee5b | 387 | if(doPrint) { |
altb2 | 15:9f32f64eee5b | 388 | //printf("%11.4e %9.3e %8.3f %9.3e %8.3f %9.3e %9.3e %9.3e\r\n", gpaData.fexc, gpaData.absGyu, gpaData.angGyu, gpaData.absGyr, gpaData.angGyr, gpaData.Umag, gpaData.Ymag, gpaData.Rmag); |
altb2 | 15:9f32f64eee5b | 389 | new_data_available = true; |
altb2 | 15:9f32f64eee5b | 390 | } |
altb2 | 15:9f32f64eee5b | 391 | i += 1; |
altb2 | 15:9f32f64eee5b | 392 | j = 1; |
altb2 | 15:9f32f64eee5b | 393 | } else { |
altb2 | 15:9f32f64eee5b | 394 | j += 1; |
altb2 | 15:9f32f64eee5b | 395 | } |
altb2 | 15:9f32f64eee5b | 396 | // calculate the excitation |
altb2 | 15:9f32f64eee5b | 397 | sinarg = fmod(sinarg + pi2Ts*dfexc, pi2); |
altb2 | 15:9f32f64eee5b | 398 | NmeasTotal += 1; |
altb2 | 15:9f32f64eee5b | 399 | return AexcOut*sinf(sinarg); |
altb2 | 15:9f32f64eee5b | 400 | } |
altb2 | 15:9f32f64eee5b | 401 | |
altb2 | 15:9f32f64eee5b | 402 | // ----------------------------------------------------------------------------- |
altb2 | 15:9f32f64eee5b | 403 | // private functions |
altb2 | 15:9f32f64eee5b | 404 | // ----------------------------------------------------------------------------- |
altb2 | 15:9f32f64eee5b | 405 | |
altb2 | 15:9f32f64eee5b | 406 | void GPA::assignParameters(int NfexcDes, int NperMin, int NmeasMin, float Ts, int Nstart, int Nsweep) |
altb2 | 15:9f32f64eee5b | 407 | { |
altb2 | 15:9f32f64eee5b | 408 | this->NfexcDes = NfexcDes; |
altb2 | 15:9f32f64eee5b | 409 | this->NperMin = NperMin; |
altb2 | 15:9f32f64eee5b | 410 | this->NmeasMin = NmeasMin; |
altb2 | 15:9f32f64eee5b | 411 | this->Ts = Ts; |
altb2 | 15:9f32f64eee5b | 412 | this->Nstart = Nstart; |
altb2 | 15:9f32f64eee5b | 413 | this->Nsweep = Nsweep; |
altb2 | 15:9f32f64eee5b | 414 | } |
altb2 | 15:9f32f64eee5b | 415 | |
altb2 | 15:9f32f64eee5b | 416 | void GPA::calculateDecreasingAmplitudeCoefficients(float Aexc0, float Aexc1) |
altb2 | 15:9f32f64eee5b | 417 | { |
altb2 | 15:9f32f64eee5b | 418 | // calculate coefficients for decreasing amplitude (1/fexc) |
altb2 | 15:9f32f64eee5b | 419 | this->aAexcDes = (Aexc1 - Aexc0)/(1.0f/fexcDes[NfexcDes-1] - 1.0f/fexcDes[0]); |
altb2 | 15:9f32f64eee5b | 420 | this->bAexcDes = Aexc0 - aAexcDes/fexcDes[0]; |
altb2 | 15:9f32f64eee5b | 421 | } |
altb2 | 15:9f32f64eee5b | 422 | |
altb2 | 15:9f32f64eee5b | 423 | void GPA::initializeConstants(float Ts) |
altb2 | 15:9f32f64eee5b | 424 | { |
altb2 | 15:9f32f64eee5b | 425 | fnyq = 1.0f/2.0f/Ts; |
altb2 | 15:9f32f64eee5b | 426 | pi2 = 2.0*pi; |
altb2 | 15:9f32f64eee5b | 427 | pi4 = 4.0f*(float)pi; |
altb2 | 15:9f32f64eee5b | 428 | pi2Ts = 2.0*pi*(double)Ts;// 2.0*pi*Ts; |
altb2 | 15:9f32f64eee5b | 429 | piDiv2 = (float)pi/2.0f; |
altb2 | 15:9f32f64eee5b | 430 | rad2deg = 180.0f/(float)pi; |
altb2 | 15:9f32f64eee5b | 431 | div12pi = 1.0f/(12.0f*(float)pi); |
altb2 | 15:9f32f64eee5b | 432 | div812pi = 8.0f/(12.0f*(float)pi); |
altb2 | 15:9f32f64eee5b | 433 | } |
altb2 | 15:9f32f64eee5b | 434 | |
altb2 | 15:9f32f64eee5b | 435 | void GPA::assignFilterStorage() |
altb2 | 15:9f32f64eee5b | 436 | { |
altb2 | 15:9f32f64eee5b | 437 | sU = (double*)malloc(3*sizeof(double)); |
altb2 | 15:9f32f64eee5b | 438 | sY = (double*)malloc(3*sizeof(double)); |
altb2 | 15:9f32f64eee5b | 439 | } |
altb2 | 15:9f32f64eee5b | 440 | |
altb2 | 15:9f32f64eee5b | 441 | void GPA::fexcDesLogspace(float fMin, float fMax, int NfexcDes) |
altb2 | 15:9f32f64eee5b | 442 | { |
altb2 | 15:9f32f64eee5b | 443 | // calculate logarithmic spaced frequency points |
altb2 | 15:9f32f64eee5b | 444 | float Gain = log10f(fMax/fMin)/((float)NfexcDes - 1.0f); |
altb2 | 15:9f32f64eee5b | 445 | float expon = 0.0; |
altb2 | 15:9f32f64eee5b | 446 | for(int i = 0; i < NfexcDes; i++) { |
altb2 | 15:9f32f64eee5b | 447 | fexcDes[i] = fMin*powf(10.0f, expon); |
altb2 | 15:9f32f64eee5b | 448 | expon += Gain; |
altb2 | 15:9f32f64eee5b | 449 | } |
altb2 | 15:9f32f64eee5b | 450 | } |
altb2 | 15:9f32f64eee5b | 451 | |
altb2 | 15:9f32f64eee5b | 452 | void GPA::calcGPAmeasPara(float fexcDes_i) |
altb2 | 15:9f32f64eee5b | 453 | { |
altb2 | 15:9f32f64eee5b | 454 | // Nmeas has to be an integer |
altb2 | 15:9f32f64eee5b | 455 | Nper = NperMin; |
altb2 | 15:9f32f64eee5b | 456 | Nmeas = (int)floor((float)Nper/fexcDes_i/Ts + 0.5f); |
altb2 | 15:9f32f64eee5b | 457 | // secure that the minimal number of measurements is fullfilled |
altb2 | 15:9f32f64eee5b | 458 | int Ndelta = NmeasMin - Nmeas; |
altb2 | 15:9f32f64eee5b | 459 | if(Ndelta > 0) { |
altb2 | 15:9f32f64eee5b | 460 | Nper = (int)ceil((float)NmeasMin*fexcDes_i*Ts); |
altb2 | 15:9f32f64eee5b | 461 | Nmeas = (int)floor((float)Nper/fexcDes_i/Ts + 0.5f); |
altb2 | 15:9f32f64eee5b | 462 | } |
altb2 | 15:9f32f64eee5b | 463 | // evaluating reachable frequency |
altb2 | 15:9f32f64eee5b | 464 | fexc = (float)((double)Nper/(double)Nmeas/(double)Ts); |
altb2 | 15:9f32f64eee5b | 465 | } |
altb2 | 15:9f32f64eee5b | 466 | |
altb2 | 15:9f32f64eee5b | 467 | float GPA::wrapAngle(float angle) |
altb2 | 15:9f32f64eee5b | 468 | { |
altb2 | 15:9f32f64eee5b | 469 | // wrap angle from (-2pi,2pi) into (-pi,pi) |
altb2 | 15:9f32f64eee5b | 470 | if(abs(angle) > (float)pi) angle -= copysignf(-(float)pi2, angle); // -1*sign(angle)*2*pi + angle; |
altb2 | 15:9f32f64eee5b | 471 | return angle; |
altb2 | 15:9f32f64eee5b | 472 | } |
altb2 | 15:9f32f64eee5b | 473 | |
altb2 | 15:9f32f64eee5b | 474 | void GPA::printLongLine() |
altb2 | 15:9f32f64eee5b | 475 | { |
altb2 | 15:9f32f64eee5b | 476 | //printf("-------------------------------------------------------------------------------------------------------------------------------\r\n"); |
altb2 | 15:9f32f64eee5b | 477 | } |
altb2 | 15:9f32f64eee5b | 478 | |
altb2 | 15:9f32f64eee5b | 479 | // ----------------------------------------------------------------------------- |
altb2 | 15:9f32f64eee5b | 480 | // public functions (mainly for debugging) |
altb2 | 15:9f32f64eee5b | 481 | // ----------------------------------------------------------------------------- |
altb2 | 15:9f32f64eee5b | 482 | |
altb2 | 15:9f32f64eee5b | 483 | void GPA::printGPAfexcDes() |
altb2 | 15:9f32f64eee5b | 484 | { |
altb2 | 15:9f32f64eee5b | 485 | printLine(); |
altb2 | 15:9f32f64eee5b | 486 | for(int i = 0; i < NfexcDes; i++) { |
altb2 | 15:9f32f64eee5b | 487 | printf("%9.4f\r\n", fexcDes[i]); |
altb2 | 15:9f32f64eee5b | 488 | } |
altb2 | 15:9f32f64eee5b | 489 | } |
altb2 | 15:9f32f64eee5b | 490 | |
altb2 | 15:9f32f64eee5b | 491 | void GPA::printGPAmeasPara() |
altb2 | 15:9f32f64eee5b | 492 | { |
altb2 | 15:9f32f64eee5b | 493 | printLine(); |
altb2 | 15:9f32f64eee5b | 494 | printf(" fexcDes[Hz] fexc[Hz] Aexc Nmeas Nper Nsweep_i\r\n"); |
altb2 | 15:9f32f64eee5b | 495 | printLine(); |
altb2 | 15:9f32f64eee5b | 496 | for(int i = 0; i < NfexcDes; i++) { |
altb2 | 15:9f32f64eee5b | 497 | calcGPAmeasPara(fexcDes[i]); |
altb2 | 15:9f32f64eee5b | 498 | if(fexc == fexcPast || fexc >= fnyq) { |
altb2 | 15:9f32f64eee5b | 499 | fexc = 0.0; |
altb2 | 15:9f32f64eee5b | 500 | Aexc = 0.0f; |
altb2 | 15:9f32f64eee5b | 501 | Nmeas = 0; |
altb2 | 15:9f32f64eee5b | 502 | Nper = 0; |
altb2 | 15:9f32f64eee5b | 503 | Nsweep_i = 0; |
altb2 | 15:9f32f64eee5b | 504 | } else { |
altb2 | 15:9f32f64eee5b | 505 | Aexc = aAexcDes/fexc + bAexcDes; |
altb2 | 15:9f32f64eee5b | 506 | fexcPast = fexc; |
altb2 | 15:9f32f64eee5b | 507 | AexcPast = Aexc; |
altb2 | 15:9f32f64eee5b | 508 | } |
altb2 | 15:9f32f64eee5b | 509 | NmeasTotal += Nmeas; |
altb2 | 15:9f32f64eee5b | 510 | NmeasTotal += Nsweep_i; |
altb2 | 15:9f32f64eee5b | 511 | printf("%11.4e %12.4e %10.3e %7i %6i %7i\r\n", fexcDes[i], (float)fexc, Aexc, Nmeas, Nper, Nsweep_i); |
altb2 | 15:9f32f64eee5b | 512 | // wait(0.01); |
altb2 | 15:9f32f64eee5b | 513 | Nsweep_i = Nsweep; |
altb2 | 15:9f32f64eee5b | 514 | } |
altb2 | 15:9f32f64eee5b | 515 | printGPAmeasTime(); |
altb2 | 15:9f32f64eee5b | 516 | reset(); |
altb2 | 15:9f32f64eee5b | 517 | } |
altb2 | 15:9f32f64eee5b | 518 | |
altb2 | 15:9f32f64eee5b | 519 | void GPA::printGPAmeasTime() |
altb2 | 15:9f32f64eee5b | 520 | { |
altb2 | 15:9f32f64eee5b | 521 | printLine(); |
altb2 | 15:9f32f64eee5b | 522 | printf(" Number of data points : %11i\r\n", NmeasTotal); |
altb2 | 15:9f32f64eee5b | 523 | printf(" Measurment time in sec: %12.2f\r\n", (float)NmeasTotal*Ts); |
altb2 | 15:9f32f64eee5b | 524 | } |
altb2 | 15:9f32f64eee5b | 525 | |
altb2 | 15:9f32f64eee5b | 526 | void GPA::printNfexcDes() |
altb2 | 15:9f32f64eee5b | 527 | { |
altb2 | 15:9f32f64eee5b | 528 | printLine(); |
altb2 | 15:9f32f64eee5b | 529 | printf(" Number of frequancy points: %3i\r\n", NfexcDes); |
altb2 | 15:9f32f64eee5b | 530 | } |
altb2 | 15:9f32f64eee5b | 531 | |
altb2 | 15:9f32f64eee5b | 532 | void GPA::printLine() |
altb2 | 15:9f32f64eee5b | 533 | { |
altb2 | 15:9f32f64eee5b | 534 | printf("--------------------------------------------------------------------------------\r\n"); |
altb2 | 15:9f32f64eee5b | 535 | } |
altb2 | 15:9f32f64eee5b | 536 | |
altb2 | 15:9f32f64eee5b | 537 | void GPA::getGPAdata(float *val) |
altb2 | 15:9f32f64eee5b | 538 | { |
altb2 | 15:9f32f64eee5b | 539 | val[0] = gpaData.fexc; |
altb2 | 15:9f32f64eee5b | 540 | val[1] = gpaData.absGyu; |
altb2 | 15:9f32f64eee5b | 541 | val[2] = gpaData.angGyu; |
altb2 | 15:9f32f64eee5b | 542 | val[3] = gpaData.absGyr; |
altb2 | 15:9f32f64eee5b | 543 | val[4] = gpaData.angGyr; |
altb2 | 15:9f32f64eee5b | 544 | val[5] = gpaData.Umag; |
altb2 | 15:9f32f64eee5b | 545 | val[6] = gpaData.Ymag; |
altb2 | 15:9f32f64eee5b | 546 | val[7] = gpaData.Rmag; |
altb2 | 15:9f32f64eee5b | 547 | new_data_available = false; |
altb2 | 15:9f32f64eee5b | 548 | } |