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DeviceCounters.h@197:7a05523bf588, 2016-10-19 (annotated)

Committer:
Kovalev_D
Date:
Wed Oct 19 10:55:05 2016 +0000
Revision:
197:7a05523bf588
Parent:
183:c7a9c309086c 
modul

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Diletant 156:e68ee0bcdcda 1 #ifndef __DEVICE_COUNTERS_H__
Diletant 156:e68ee0bcdcda 2 #define __DEVICE_COUNTERS_H__
Diletant 156:e68ee0bcdcda 3
Diletant 174:0f86eedd511c 4 //Dither latched counters typedefs
Diletant 174:0f86eedd511c 5 typedef struct _DeviceCountersDitherLatchedSettings {
Diletant 174:0f86eedd511c 6 } DeviceCountersDitherLatchedSettings;
Diletant 174:0f86eedd511c 7
Diletant 177:672ef279c8e0 8 //Updates 32 times each measurement cycle
Diletant 174:0f86eedd511c 9 typedef struct _DeviceCountersDitherLatchedState {
Diletant 174:0f86eedd511c 10 int32_t delta[32]; //Cyclic buffer of QEI counts with (32 * oscillation frequency) update frequency
Diletant 177:672ef279c8e0 11 int32_t rate; //Sum of last 32 deltas from delta[] - angle accumulated for 1 vibro cycle till now - angular rate
Diletant 177:672ef279c8e0 12 int32_t angle; //Angle accumulated between user angle requests, or between periodic answers
Diletant 177:672ef279c8e0 13 int32_t amplitude; //Positive deltas minus negative deltas from last 32 deltas - dither amplitude - "output frequency"
Diletant 174:0f86eedd511c 14 int32_t displacement; //Sum of last 16 deltas minus sum of previous 16 deltas from delta buffer - displacement
Diletant 177:672ef279c8e0 15 //int32_t amp; //Positive displacements minus negative displacements from last 32 displacements - dither "amplitude"
Diletant 174:0f86eedd511c 16 } DeviceCountersDitherLatchedState;
Diletant 174:0f86eedd511c 17
Diletant 174:0f86eedd511c 18 typedef struct _DeviceCountersDitherLatched {
Diletant 174:0f86eedd511c 19 DeviceCountersDitherLatchedSettings settings;
Diletant 174:0f86eedd511c 20 DeviceCountersDitherLatchedState state;
Diletant 174:0f86eedd511c 21 } DeviceCountersDitherLatched;
Diletant 174:0f86eedd511c 22
Diletant 177:672ef279c8e0 23 //Reconstructed (virtual) meander latched counters typedefs
Diletant 174:0f86eedd511c 24 typedef struct _DeviceCountersMeanderLatchedSettings {
Diletant 174:0f86eedd511c 25 } DeviceCountersMeanderLatchedSettings;
Diletant 174:0f86eedd511c 26
Diletant 177:672ef279c8e0 27 //Updates once each measurement cycle
Diletant 174:0f86eedd511c 28 typedef struct _DeviceCountersMeanderLatchedState {
Diletant 174:0f86eedd511c 29 int32_t a; //Positive counts
Diletant 174:0f86eedd511c 30 int32_t b; //Negative counts
Diletant 177:672ef279c8e0 31 int32_t c; //Positive counts of previous cycle
Diletant 177:672ef279c8e0 32 int32_t rate[2]; //Angle accumulated for full vibro cycle - angular rate: a - b + (a - c)/2
Diletant 177:672ef279c8e0 33 int32_t angle[2]; //Accumulated angle: angle[0] += a - b; angle[1] += a - c; angle = angle[0] - angle[1]/2
Diletant 177:672ef279c8e0 34 int32_t amplitude; //Dither amplitude (output frequency): amplitude = a + b;
Diletant 174:0f86eedd511c 35 } DeviceCountersMeanderLatchedState;
Diletant 174:0f86eedd511c 36
Diletant 174:0f86eedd511c 37 typedef struct _DeviceCountersMeanderLatched {
Diletant 174:0f86eedd511c 38 DeviceCountersMeanderLatchedSettings settings;
Diletant 174:0f86eedd511c 39 DeviceCountersMeanderLatchedState state;
Diletant 174:0f86eedd511c 40 } DeviceCountersMeanderLatched;
Diletant 174:0f86eedd511c 41
Diletant 174:0f86eedd511c 42 //Virtual zero sensor latched counters typedefs
Diletant 174:0f86eedd511c 43 typedef struct _DeviceCountersZeroLatchedSettings {
Diletant 174:0f86eedd511c 44 } DeviceCountersZeroLatchedSettings;
Diletant 174:0f86eedd511c 45
Diletant 174:0f86eedd511c 46 typedef struct _DeviceCountersZeroLatchedState {
Diletant 174:0f86eedd511c 47 int32_t a; //Positive counts
Diletant 174:0f86eedd511c 48 int32_t b; //Negative counts
Diletant 174:0f86eedd511c 49 } DeviceCountersZeroLatchedState;
Diletant 174:0f86eedd511c 50
Diletant 174:0f86eedd511c 51 typedef struct _DeviceCountersZeroLatched {
Diletant 174:0f86eedd511c 52 DeviceCountersZeroLatchedSettings settings;
Diletant 174:0f86eedd511c 53 DeviceCountersZeroLatchedState state;
Diletant 174:0f86eedd511c 54 } DeviceCountersZeroLatched;
Diletant 174:0f86eedd511c 55
Diletant 177:672ef279c8e0 56 //External latch typedefs
Diletant 177:672ef279c8e0 57 typedef struct _DeviceCountersExternalLatchSettings {
Diletant 177:672ef279c8e0 58 uint16_t enabled;//Latch mode 0/1 - internal/external
Diletant 177:672ef279c8e0 59 uint16_t signal; //External latch signal 0/1 - RS422/Wire
Diletant 177:672ef279c8e0 60 uint16_t format; //Angle format: 0/1/2 - (Delta_PS 16.0)/(Delta_BINS 14.18)/(Delta_SF ?.?)
Diletant 177:672ef279c8e0 61 uint16_t reset; //Reset mode 0/1 - keep/reset device.counters.dither.state.angle on latch
Diletant 177:672ef279c8e0 62 } DeviceCountersExternalLatchSettings;
Diletant 177:672ef279c8e0 63
Diletant 177:672ef279c8e0 64 typedef struct _DeviceCountersExternalLatchState {
Diletant 177:672ef279c8e0 65 uint16_t enabled;//Latch mode 0/1 - internal/external
Diletant 177:672ef279c8e0 66 uint16_t signal; //External latch signal 0/1 - RS422/Wire
Diletant 177:672ef279c8e0 67 uint16_t format; //Angle format: 0/1/2 - (Delta_PS 16.0)/(Delta_BINS 14.18)/(Delta_SF ?.?)
Diletant 177:672ef279c8e0 68 uint16_t reset; //Reset mode 0/1 - keep/reset device.counters.dither.state.angle on latch
Diletant 177:672ef279c8e0 69 uint16_t clock; //Interpolator ratio
Diletant 177:672ef279c8e0 70 uint32_t angle; //Latched angle = device.counters.dither.state.angle + clock/period * device.counters.dither.state.delta[device.measurement.counter]
Diletant 177:672ef279c8e0 71 } DeviceCountersExternalLatchState;
Diletant 177:672ef279c8e0 72
Diletant 177:672ef279c8e0 73 typedef struct _DeviceCountersExternalLatch {
Diletant 177:672ef279c8e0 74 DeviceCountersExternalLatchSettings settings;
Diletant 177:672ef279c8e0 75 DeviceCountersExternalLatchState state;
Diletant 177:672ef279c8e0 76 } DeviceCountersExternalLatch;
Diletant 177:672ef279c8e0 77
Diletant 177:672ef279c8e0 78 //Maintenance rate output typedefs
Diletant 177:672ef279c8e0 79 typedef struct _DeviceCountersRateSettings {
Diletant 177:672ef279c8e0 80 uint16_t source; //0/1 - output meander/dither latched counters in rate commands
Diletant 177:672ef279c8e0 81 } DeviceCountersRateSettings;
Diletant 177:672ef279c8e0 82
Diletant 177:672ef279c8e0 83 typedef struct _DeviceCountersRateState {
Diletant 177:672ef279c8e0 84 uint16_t source; //0/1 - output meander/dither latched counters in rate commands
Diletant 177:672ef279c8e0 85 } DeviceCountersRateState;
Diletant 177:672ef279c8e0 86
Diletant 177:672ef279c8e0 87 typedef struct _DeviceCountersRate {
Diletant 177:672ef279c8e0 88 DeviceCountersRateSettings settings;
Diletant 177:672ef279c8e0 89 DeviceCountersRateState state;
Diletant 177:672ef279c8e0 90 } DeviceCountersRate;
Diletant 177:672ef279c8e0 91
Diletant 174:0f86eedd511c 92 //Counters typedefs
Diletant 174:0f86eedd511c 93 typedef struct _DeviceCounters {
Diletant 177:672ef279c8e0 94 DeviceCountersDitherLatched dither; //Counters latched by dither (measurement) cycle
Diletant 177:672ef279c8e0 95 DeviceCountersMeanderLatched meander; //Counters latched by restored meander (angular velocity reverse latched)
Diletant 177:672ef279c8e0 96 DeviceCountersZeroLatched zero; //Counters latched by virtual zero position sensor
Diletant 177:672ef279c8e0 97 DeviceCountersExternalLatch latch; //External latch mode variables
Diletant 177:672ef279c8e0 98 DeviceCountersRate rate; //Rate mode variables
Diletant 174:0f86eedd511c 99 } DeviceCounters;
Diletant 174:0f86eedd511c 100
Diletant 167:bedc0a9d559a 101 void InitCountersDefaultSettings(void);
Diletant 167:bedc0a9d559a 102 void InitCountersState(void);
Diletant 167:bedc0a9d559a 103 void DeviceStartCounters(void);
Diletant 167:bedc0a9d559a 104
Diletant 173:7f938afb0447 105 void countersProcess(void);
Diletant 156:e68ee0bcdcda 106
Diletant 182:2bd8ec44998f 107 //Compatibility functions section
Diletant 183:c7a9c309086c 108 //Cnt_Dif
Diletant 183:c7a9c309086c 109 int16_t var_Cnt_Dif(void);
Diletant 183:c7a9c309086c 110 //PSdiff
Diletant 182:2bd8ec44998f 111 int16_t var_PSdiff(void);
Diletant 182:2bd8ec44998f 112 int16_t var_Device_Mode(void);
Diletant 183:c7a9c309086c 113 //void set_var_Device_Mode(int16_t);
Diletant 182:2bd8ec44998f 114
Diletant 156:e68ee0bcdcda 115 #endif /* __DEVICE_COUNTERS_H__ */