Yuan Cao / pushtogo

Telescope Control Library

Dependents:   PushToGo-F429

StepOut.cpp@0:6cb2eaf8b133, 2018-08-19 (annotated)

Committer:
caoyuan9642
Date:
Sun Aug 19 05:21:20 2018 +0000
Revision:
0:6cb2eaf8b133
Child:
17:7e47bc1630c0
v0.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
caoyuan9642 0:6cb2eaf8b133 1 /*
caoyuan9642 0:6cb2eaf8b133 2 #include <StepOut.h>
caoyuan9642 0:6cb2eaf8b133 3 * ControllablePWMOut.cpp
caoyuan9642 0:6cb2eaf8b133 4 *
caoyuan9642 0:6cb2eaf8b133 5 * Created on: 2018Äê2ÔÂ9ÈÕ
caoyuan9642 0:6cb2eaf8b133 6 * Author: caoyuan9642
caoyuan9642 0:6cb2eaf8b133 7 */
caoyuan9642 0:6cb2eaf8b133 8
caoyuan9642 0:6cb2eaf8b133 9 #include "mbed.h"
caoyuan9642 0:6cb2eaf8b133 10 #include <StepOut.h>
caoyuan9642 0:6cb2eaf8b133 11
caoyuan9642 0:6cb2eaf8b133 12 void StepOut::start()
caoyuan9642 0:6cb2eaf8b133 13 {
caoyuan9642 0:6cb2eaf8b133 14 if (status == IDLE && freq > 0) // Start only when idle and frequency is not zero
caoyuan9642 0:6cb2eaf8b133 15 {
caoyuan9642 0:6cb2eaf8b133 16 core_util_critical_section_enter();
caoyuan9642 0:6cb2eaf8b133 17 status = STEPPING;
caoyuan9642 0:6cb2eaf8b133 18 this->write(0.5f);
caoyuan9642 0:6cb2eaf8b133 19 tim.reset();
caoyuan9642 0:6cb2eaf8b133 20 core_util_critical_section_exit();
caoyuan9642 0:6cb2eaf8b133 21 }
caoyuan9642 0:6cb2eaf8b133 22 }
caoyuan9642 0:6cb2eaf8b133 23
caoyuan9642 0:6cb2eaf8b133 24 void StepOut::stop()
caoyuan9642 0:6cb2eaf8b133 25 {
caoyuan9642 0:6cb2eaf8b133 26 if (status == STEPPING)
caoyuan9642 0:6cb2eaf8b133 27 {
caoyuan9642 0:6cb2eaf8b133 28 core_util_critical_section_enter();
caoyuan9642 0:6cb2eaf8b133 29 status = IDLE;
caoyuan9642 0:6cb2eaf8b133 30 this->write(0);
caoyuan9642 0:6cb2eaf8b133 31 stepCount += (int64_t) (freq * tim.read_high_resolution_us() / 1.0E6);
caoyuan9642 0:6cb2eaf8b133 32 core_util_critical_section_exit();
caoyuan9642 0:6cb2eaf8b133 33 }
caoyuan9642 0:6cb2eaf8b133 34 }
caoyuan9642 0:6cb2eaf8b133 35
caoyuan9642 0:6cb2eaf8b133 36 double StepOut::setFrequency(double frequency)
caoyuan9642 0:6cb2eaf8b133 37 {
caoyuan9642 0:6cb2eaf8b133 38 if (frequency > 0)
caoyuan9642 0:6cb2eaf8b133 39 {
caoyuan9642 0:6cb2eaf8b133 40 int64_t us_period = ceil(1.0E6 / frequency); /*Ceil to the next microsecond*/
caoyuan9642 0:6cb2eaf8b133 41 if (us_period > INT_MAX)
caoyuan9642 0:6cb2eaf8b133 42 {
caoyuan9642 0:6cb2eaf8b133 43 // Prevent overflow
caoyuan9642 0:6cb2eaf8b133 44 us_period = INT_MAX;
caoyuan9642 0:6cb2eaf8b133 45 }
caoyuan9642 0:6cb2eaf8b133 46 if (status == IDLE)
caoyuan9642 0:6cb2eaf8b133 47 this->period_us(us_period);
caoyuan9642 0:6cb2eaf8b133 48 else
caoyuan9642 0:6cb2eaf8b133 49 {
caoyuan9642 0:6cb2eaf8b133 50 core_util_critical_section_enter();
caoyuan9642 0:6cb2eaf8b133 51 stop(); /*Stop to correctly update the stepCount*/
caoyuan9642 0:6cb2eaf8b133 52 this->period_us(us_period);
caoyuan9642 0:6cb2eaf8b133 53 start();
caoyuan9642 0:6cb2eaf8b133 54 core_util_critical_section_exit();
caoyuan9642 0:6cb2eaf8b133 55 }
caoyuan9642 0:6cb2eaf8b133 56 freq = 1.0E6 / us_period; // get CORRECT frequency!
caoyuan9642 0:6cb2eaf8b133 57 }
caoyuan9642 0:6cb2eaf8b133 58 else
caoyuan9642 0:6cb2eaf8b133 59 {
caoyuan9642 0:6cb2eaf8b133 60 // frequency=0 effectively means stop
caoyuan9642 0:6cb2eaf8b133 61 freq = 0;
caoyuan9642 0:6cb2eaf8b133 62 if (status == STEPPING)
caoyuan9642 0:6cb2eaf8b133 63 {
caoyuan9642 0:6cb2eaf8b133 64 stop();
caoyuan9642 0:6cb2eaf8b133 65 }
caoyuan9642 0:6cb2eaf8b133 66 }
caoyuan9642 0:6cb2eaf8b133 67 return freq; // Return the accurate period
caoyuan9642 0:6cb2eaf8b133 68 }
caoyuan9642 0:6cb2eaf8b133 69
caoyuan9642 0:6cb2eaf8b133 70 void StepOut::resetCount()
caoyuan9642 0:6cb2eaf8b133 71 {
caoyuan9642 0:6cb2eaf8b133 72 core_util_critical_section_enter();
caoyuan9642 0:6cb2eaf8b133 73 stepCount = 0;
caoyuan9642 0:6cb2eaf8b133 74 if (status == STEPPING)
caoyuan9642 0:6cb2eaf8b133 75 tim.reset();
caoyuan9642 0:6cb2eaf8b133 76 core_util_critical_section_exit();
caoyuan9642 0:6cb2eaf8b133 77 }
caoyuan9642 0:6cb2eaf8b133 78
caoyuan9642 0:6cb2eaf8b133 79 int64_t StepOut::getCount()
caoyuan9642 0:6cb2eaf8b133 80 {
caoyuan9642 0:6cb2eaf8b133 81 if (status == IDLE)
caoyuan9642 0:6cb2eaf8b133 82 return stepCount;
caoyuan9642 0:6cb2eaf8b133 83 else
caoyuan9642 0:6cb2eaf8b133 84 {
caoyuan9642 0:6cb2eaf8b133 85 // Fixed: use read_high_resolution_us() to prevent overflow every ~30min
caoyuan9642 0:6cb2eaf8b133 86 return stepCount
caoyuan9642 0:6cb2eaf8b133 87 + (int64_t) (freq * tim.read_high_resolution_us() / 1.0E6); /*Calculate count at now*/
caoyuan9642 0:6cb2eaf8b133 88 }
caoyuan9642 0:6cb2eaf8b133 89 }
caoyuan9642 0:6cb2eaf8b133 90
caoyuan9642 0:6cb2eaf8b133 91