Ruprecht Altenburger / Mbed OS mirror_actuator_stud

template for students for mirror actuator

Dependencies:   FastPWM

Lib_Cntrl/GPA.h@3:d672a96eeecc, 2022-03-06 (annotated)

Committer:
altb2
Date:
Sun Mar 06 08:57:28 2022 +0000
Revision:
3:d672a96eeecc
Parent:
0:d2e117716219 
MirrorActuator Stud FS21

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 0:d2e117716219 1 #ifndef GPA_H_
altb2 0:d2e117716219 2 #define GPA_H_
altb2 0:d2e117716219 3 #include "uart_comm_thread.h"
altb2 0:d2e117716219 4
altb2 0:d2e117716219 5
altb2 0:d2e117716219 6
altb2 0:d2e117716219 7 class GPA
altb2 0:d2e117716219 8 {
altb2 0:d2e117716219 9 public:
altb2 0:d2e117716219 10
altb2 0:d2e117716219 11 typedef struct GPADATA {
altb2 0:d2e117716219 12 float fexc;
altb2 0:d2e117716219 13 float absGyu;
altb2 0:d2e117716219 14 float angGyu;
altb2 0:d2e117716219 15 float absGyr;
altb2 0:d2e117716219 16 float angGyr;
altb2 0:d2e117716219 17 float Umag;
altb2 0:d2e117716219 18 float Ymag;
altb2 0:d2e117716219 19 float Rmag;
altb2 0:d2e117716219 20 bool MeasPointFinished;
altb2 0:d2e117716219 21 bool MeasFinished;
altb2 0:d2e117716219 22 int ind;
altb2 0:d2e117716219 23 } gpadata_t;
altb2 0:d2e117716219 24
altb2 0:d2e117716219 25 GPA() {};
altb2 0:d2e117716219 26 GPA(float fMin, float fMax, int NfexcDes, float Aexc0, float Aexc1, float Ts);
altb2 0:d2e117716219 27 GPA(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep);
altb2 0:d2e117716219 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 0:d2e117716219 29 GPA(float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1, int Nstart, int Nsweep);
altb2 0:d2e117716219 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 0:d2e117716219 31
altb2 0:d2e117716219 32 float operator()(float inp, float out)
altb2 0:d2e117716219 33 {
altb2 0:d2e117716219 34 return update(inp, out);
altb2 0:d2e117716219 35 }
altb2 0:d2e117716219 36
altb2 0:d2e117716219 37 virtual ~GPA();
altb2 0:d2e117716219 38
altb2 0:d2e117716219 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 0:d2e117716219 40 void reset();
altb2 0:d2e117716219 41 float update(float inp, float out);
altb2 0:d2e117716219 42
altb2 0:d2e117716219 43 void printGPAfexcDes();
altb2 0:d2e117716219 44 void printGPAmeasPara();
altb2 0:d2e117716219 45 void printGPAmeasTime();
altb2 0:d2e117716219 46 void printNfexcDes();
altb2 0:d2e117716219 47 void printLine();
altb2 0:d2e117716219 48 void printLongLine();
altb2 0:d2e117716219 49
altb2 0:d2e117716219 50 void getGPAdata(float *);
altb2 0:d2e117716219 51 bool new_data_available;
altb2 0:d2e117716219 52 bool meas_is_finished;
altb2 0:d2e117716219 53 bool start_now;
altb2 0:d2e117716219 54
altb2 0:d2e117716219 55 private:
altb2 0:d2e117716219 56
altb2 0:d2e117716219 57 int NfexcDes;
altb2 0:d2e117716219 58 int NperMin;
altb2 0:d2e117716219 59 int NmeasMin;
altb2 0:d2e117716219 60 float Ts;
altb2 0:d2e117716219 61 float *fexcDes;
altb2 0:d2e117716219 62 float aAexcDes;
altb2 0:d2e117716219 63 float bAexcDes;
altb2 0:d2e117716219 64
altb2 0:d2e117716219 65 float fnyq;
altb2 0:d2e117716219 66 double pi2;
altb2 0:d2e117716219 67 float pi4;
altb2 0:d2e117716219 68 double pi2Ts;
altb2 0:d2e117716219 69 float piDiv2;
altb2 0:d2e117716219 70 float rad2deg;
altb2 0:d2e117716219 71 float div12pi;
altb2 0:d2e117716219 72 float div812pi;
altb2 0:d2e117716219 73
altb2 0:d2e117716219 74 int Nmeas;
altb2 0:d2e117716219 75 int Nper;
altb2 0:d2e117716219 76 double dfexc;
altb2 0:d2e117716219 77 double fexc;
altb2 0:d2e117716219 78 float fexcPast;
altb2 0:d2e117716219 79 float dfexcj;
altb2 0:d2e117716219 80 int i;
altb2 0:d2e117716219 81 int j;
altb2 0:d2e117716219 82 double scaleG;
altb2 0:d2e117716219 83 double cr;
altb2 0:d2e117716219 84 double ci;
altb2 0:d2e117716219 85 double *sU;
altb2 0:d2e117716219 86 double *sY;
altb2 0:d2e117716219 87 double sinarg;
altb2 0:d2e117716219 88 float sinargR;
altb2 0:d2e117716219 89 int NmeasTotal;
altb2 0:d2e117716219 90 float Aexc;
altb2 0:d2e117716219 91 float AexcPast;
altb2 0:d2e117716219 92 double pi2Tsfexc;
altb2 0:d2e117716219 93 int Nstart;
altb2 0:d2e117716219 94 int Nsweep;
altb2 0:d2e117716219 95 int Nsweep_i;
altb2 0:d2e117716219 96 float AexcOut;
altb2 0:d2e117716219 97
altb2 0:d2e117716219 98 gpadata_t gpaData;
altb2 0:d2e117716219 99 bool doPrint;
altb2 0:d2e117716219 100
altb2 0:d2e117716219 101 void assignParameters(int NfexcDes, int NperMin, int NmeasMin, float Ts, int Nstart, int Nsweep);
altb2 0:d2e117716219 102 void calculateDecreasingAmplitudeCoefficients(float Aexc0, float Aexc1);
altb2 0:d2e117716219 103 void initializeConstants(float Ts);
altb2 0:d2e117716219 104 void assignFilterStorage();
altb2 0:d2e117716219 105 void fexcDesLogspace(float fMin, float fMax, int NfexcDes);
altb2 0:d2e117716219 106 void calcGPAmeasPara(float fexcDes_i);
altb2 0:d2e117716219 107 float wrapAngle(float angle);
altb2 0:d2e117716219 108
altb2 0:d2e117716219 109 };
altb2 0:d2e117716219 110
altb2 0:d2e117716219 111 #endif