Data Structures
struct	_ANGLE_Obj_
	Defines the angle generator (ANGLE) object. More...

Typedefs
typedef struct _ANGLE_Obj_	ANGLE_Obj
	Defines the angle generator (ANGLE) object. More...

typedef struct _ANGLE_Obj_ *	ANGLE_Handle
	Defines the ANGLE handle. More...

Functions
static float_t	ANGLE_getAccelEst_rps2 (ANGLE_Handle handle)
	Gets the estimated acceleration value. More...

static float_t	ANGLE_getAngle_rad (ANGLE_Handle handle)
	Gets the predicted angle value. More...

static float_t	ANGLE_getAngleEst_rad (ANGLE_Handle handle)
	Gets the estimated angle value. More...

static float_t	ANGLE_getAngleWithDelay_rad (ANGLE_Handle handle)
	Gets the updated angle value considering system delay. More...

static float_t	ANGLE_getAngleDelayed_sf_sec (ANGLE_Handle handle)
	Gets the scale factor for computing the delayed angle. More...

static float_t	ANGLE_getSpeed_rps (ANGLE_Handle handle)
	Gets the predicted speed value. More...

static float_t	ANGLE_getSpeedEst_rps (ANGLE_Handle handle)
	Gets the estimated speed value. More...

static int_least32_t	ANGLE_getTimeStamp (ANGLE_Handle handle)
	Gets the time stamp value for the estimated data. More...

static float_t	ANGLE_getTimeStampPeriod_sec (ANGLE_Handle handle)
	Gets the time stamp period value. More...

ANGLE_Handle	ANGLE_init (void *pMemory, const size_t numBytes)
	Initializes the angle generator (ANGLE) module. More...

ANGLE_Handle	cla_ANGLE_init (void *pMemory, const size_t numBytes)

void	ANGLE_run (ANGLE_Handle handle, const int_least32_t timeStamp)
	Updates the angle value in the angle generator. More...

void	cla_ANGLE_run (ANGLE_Handle handle, const int_least32_t timeStamp)

static void	ANGLE_setAccelEst_rps2 (ANGLE_Handle handle, const float_t accel_rps2)
	Sets the estimated acceleration value. More...

static void	ANGLE_setAngle_rad (ANGLE_Handle handle, const float_t angle_rad)
	Sets the predicted angle value. More...

static void	ANGLE_setAngleEst_rad (ANGLE_Handle handle, const float_t angle_rad)
	Sets the estimated angle value. More...

static void	ANGLE_setAngleWithDelay_rad (ANGLE_Handle handle, const float_t angle_rad)
	Sets the angle value considering system delay. More...

static void	ANGLE_setAngleDelayed_sf_sec (ANGLE_Handle handle, const float_t angleDelayed_sf_sec)
	Sets the scale factor for computing the delayed angle. More...

void	ANGLE_setParams (ANGLE_Handle handle, const float_t timeStampPeriod_sec, const float_t angleDelayed_sf_sec)
	Sets the parameters. More...

void	cla_ANGLE_setParams (ANGLE_Handle handle, const float_t timeStampPeriod_sec, const float_t angleDelayed_sf_sec)

static void	ANGLE_setSpeed_rps (ANGLE_Handle handle, const float_t speed_rps)
	Sets the predicted speed value. More...

static void	ANGLE_setSpeedEst_rps (ANGLE_Handle handle, const float_t speed_rps)
	Sets the estimated speed value. More...

static void	ANGLE_setTimeStamp (ANGLE_Handle handle, const int_least32_t timeStamp)
	Sets the time stamp value for the estimated data. More...

static void	ANGLE_setTimeStampPeriod_sec (ANGLE_Handle handle, const float_t timeStampPeriod_sec)
	Sets the time stamp period value. More...

void	ANGLE_setup (ANGLE_Handle handle, const int_least32_t timeStamp, const float_t angle_rad, const float_t speed_rps, const float_t accel_rps2)
	Updates the angle generator with new data. More...

void	cla_ANGLE_setup (ANGLE_Handle handle, const int_least32_t timeStamp, const float_t angle_rad, const float_t speed_rps, const float_t accel_rps2)

Detailed Description

Data Structure Documentation

struct _ANGLE_Obj_

Defines the angle generator (ANGLE) object.

Definition at line 50 of file angle.h.

Data Fields
float_t	accelEst_rps2	the estimated angular acceleration value, rad/sec^2
float_t	angle_rad	the predicted angle value, rad
float_t	angleDelayed_sf_sec	the scale factor for computing angle value considering system delay, sec
float_t	angleEst_rad	the estimated angle value, rad
float_t	angleWithDelay_rad	the predicted angle value considering system delay, rad
float_t	speed_rps	the predicted angular speed value, rad/sec
float_t	speedEst_rps	the estimated angular speed value, rad/sec
int_least32_t	timeStamp	the time stamp for the estimated angle and speed values
float_t	timeStampPeriod_sec	the time stamp period, sec

Typedef Documentation

typedef struct _ANGLE_Obj_* ANGLE_Handle

Defines the ANGLE handle.

Definition at line 68 of file angle.h.

typedef struct _ANGLE_Obj_ ANGLE_Obj

Defines the angle generator (ANGLE) object.

Function Documentation

static float_t ANGLE_getAccelEst_rps2 ( ANGLE_Handle handle )

inlinestatic

Gets the estimated acceleration value.

Parameters

[in] handle The estimator (EST) handle

Returns: The estimated acceleration value, rad/sec^2

Definition at line 81 of file angle.h.

References _ANGLE_Obj_::accelEst_rps2.

static float_t ANGLE_getAngle_rad ( ANGLE_Handle handle )

inlinestatic

Gets the predicted angle value.

Parameters

[in] handle The angle generator (ANGLE) handle

Returns: The predicted angle value, rad

Definition at line 92 of file angle.h.

References _ANGLE_Obj_::angle_rad.

static float_t ANGLE_getAngleDelayed_sf_sec ( ANGLE_Handle handle )

inlinestatic

Gets the scale factor for computing the delayed angle.

Parameters

[in] handle The angle generator (ANGLE) handle

Returns: The scale factor, sec

Definition at line 125 of file angle.h.

References _ANGLE_Obj_::angleDelayed_sf_sec.

static float_t ANGLE_getAngleEst_rad ( ANGLE_Handle handle )

inlinestatic

Gets the estimated angle value.

Parameters

[in] handle The angle generator (ANGLE) handle

Returns: The estimated angle value, rad

Definition at line 103 of file angle.h.

References _ANGLE_Obj_::angleEst_rad.

static float_t ANGLE_getAngleWithDelay_rad ( ANGLE_Handle handle )

inlinestatic

Gets the updated angle value considering system delay.

Parameters

[in] handle The angle generator (ANGLE) handle

Returns: The updated angle value considering delay, rad

Definition at line 114 of file angle.h.

References _ANGLE_Obj_::angleWithDelay_rad.

static float_t ANGLE_getSpeed_rps ( ANGLE_Handle handle )

inlinestatic

Gets the predicted speed value.

Parameters

[in] handle The estimator (EST) handle

Returns: The predicted speed value, rad/sec

Definition at line 136 of file angle.h.

References _ANGLE_Obj_::speed_rps.

static float_t ANGLE_getSpeedEst_rps ( ANGLE_Handle handle )

inlinestatic

Gets the estimated speed value.

Parameters

[in] handle The estimator (EST) handle

Returns: The estimated speed value, rad/sec

Definition at line 147 of file angle.h.

References _ANGLE_Obj_::speedEst_rps.

static int_least32_t ANGLE_getTimeStamp ( ANGLE_Handle handle )

inlinestatic

Gets the time stamp value for the estimated data.

Parameters

[in] handle The angle generator (ANGLE) handle

Returns: The time stamp value

Definition at line 158 of file angle.h.

References _ANGLE_Obj_::timeStamp.

static float_t ANGLE_getTimeStampPeriod_sec ( ANGLE_Handle handle )

inlinestatic

Gets the time stamp period value.

Parameters

[in] handle The estimator (EST) handle

Returns: The time stamp period, sec

Definition at line 169 of file angle.h.

References _ANGLE_Obj_::timeStampPeriod_sec.

ANGLE_Handle ANGLE_init	(	void *	pMemory,
		const size_t	numBytes
	)

Initializes the angle generator (ANGLE) module.

Parameters

[in]	pMemory	A pointer to the memory for the object
[in]	numBytes	The number of bytes allocated for the object, bytes

Returns: The angle generator (ANGLE) object handle

void ANGLE_run	(	ANGLE_Handle	handle,
		const int_least32_t	timeStamp
	)

Updates the angle value in the angle generator.

Parameters

[in]	handle	The angle generator (ANGLE) handle
[in]	timeStamp	The time stamp for execution

static void ANGLE_setAccelEst_rps2	(	ANGLE_Handle	handle,
		const float_t	accel_rps2
	)

inlinestatic

Sets the estimated acceleration value.

Parameters

[in]	handle	The angle generator (ANGLE) handle
[in]	accel_rps2	The estimated acceleration value, rad/sec2

Definition at line 195 of file angle.h.

References _ANGLE_Obj_::accelEst_rps2.

static void ANGLE_setAngle_rad	(	ANGLE_Handle	handle,
		const float_t	angle_rad
	)

inlinestatic

Sets the predicted angle value.

Parameters

[in]	handle	The angle generator (ANGLE) handle
[in]	angle_rad	The angle value, rad

Definition at line 208 of file angle.h.

References _ANGLE_Obj_::angle_rad.

static void ANGLE_setAngleDelayed_sf_sec	(	ANGLE_Handle	handle,
		const float_t	angleDelayed_sf_sec
	)

inlinestatic

Sets the scale factor for computing the delayed angle.

Parameters

[in]	handle	The angle generator (ANGLE) handle
[in]	angleDelayed_sf_sec	The scale factor

Definition at line 247 of file angle.h.

References _ANGLE_Obj_::angleDelayed_sf_sec.

static void ANGLE_setAngleEst_rad	(	ANGLE_Handle	handle,
		const float_t	angle_rad
	)

inlinestatic

Sets the estimated angle value.

Parameters

[in]	handle	The angle generator (ANGLE) handle
[in]	angle_rad	The estimated angle value, rad

Definition at line 221 of file angle.h.

References _ANGLE_Obj_::angle_rad, and _ANGLE_Obj_::angleEst_rad.

static void ANGLE_setAngleWithDelay_rad	(	ANGLE_Handle	handle,
		const float_t	angle_rad
	)

inlinestatic

Sets the angle value considering system delay.

Parameters

[in]	handle	The angle generator (ANGLE) handle
[in]	angle_rad	The angle value with system delay, rad

Definition at line 234 of file angle.h.

References _ANGLE_Obj_::angle_rad, and _ANGLE_Obj_::angleWithDelay_rad.

void ANGLE_setParams	(	ANGLE_Handle	handle,
		const float_t	timeStampPeriod_sec,
		const float_t	angleDelayed_sf_sec
	)

Sets the parameters.

Parameters

[in]	handle	The angle generator (ANGLE) handle
[in]	timeStampPeriod_sec	The time difference between two consecutive time stamp values
[in]	angleDelayed_sf_sec	The scale factor for computing the delayed angle

static void ANGLE_setSpeed_rps	(	ANGLE_Handle	handle,
		const float_t	speed_rps
	)

inlinestatic

Sets the predicted speed value.

Parameters

[in]	handle	The angle generator (ANGLE) handle
[in]	speed_rps	The speed value, rad/sec

Definition at line 272 of file angle.h.

References _ANGLE_Obj_::speed_rps.

static void ANGLE_setSpeedEst_rps	(	ANGLE_Handle	handle,
		const float_t	speed_rps
	)

inlinestatic

Sets the estimated speed value.

Parameters

[in]	handle	The angle generator (ANGLE) handle
[in]	speed_rps	The speed value, rad/sec

Definition at line 285 of file angle.h.

References _ANGLE_Obj_::speed_rps, and _ANGLE_Obj_::speedEst_rps.

static void ANGLE_setTimeStamp	(	ANGLE_Handle	handle,
		const int_least32_t	timeStamp
	)

inlinestatic

Sets the time stamp value for the estimated data.

Parameters

[in]	handle	The angle generator (ANGLE) handle
[in]	timeStamp	The time stamp value

Definition at line 298 of file angle.h.

References _ANGLE_Obj_::timeStamp.

static void ANGLE_setTimeStampPeriod_sec	(	ANGLE_Handle	handle,
		const float_t	timeStampPeriod_sec
	)

inlinestatic

Sets the time stamp period value.

Parameters

[in]	handle	The angle generator (ANGLE) handle
[in]	timeStampPeriod_sec	The time stamp period, sec

Definition at line 311 of file angle.h.

References _ANGLE_Obj_::timeStampPeriod_sec.

void ANGLE_setup	(	ANGLE_Handle	handle,
		const int_least32_t	timeStamp,
		const float_t	angle_rad,
		const float_t	speed_rps,
		const float_t	accel_rps2
	)

Updates the angle generator with new data.

Parameters

[in]	handle	The angle generator (ANGLE) handle
[in]	timeStamp	The time stamp for the angle and speed estimates
[in]	angle_rad	The estimated angle value, rad
[in]	speed_rps	The estimated speed value, rad/sec
[in]	accel_rps2	The estimated acceleration value, rad/sec^2

ANGLE_Handle cla_ANGLE_init	(	void *	pMemory,
		const size_t	numBytes
	)

void cla_ANGLE_run	(	ANGLE_Handle	handle,
		const int_least32_t	timeStamp
	)

void cla_ANGLE_setParams	(	ANGLE_Handle	handle,
		const float_t	timeStampPeriod_sec,
		const float_t	angleDelayed_sf_sec
	)

void cla_ANGLE_setup	(	ANGLE_Handle	handle,
		const int_least32_t	timeStamp,
		const float_t	angle_rad,
		const float_t	speed_rps,
		const float_t	accel_rps2
	)

Data Structures

Typedefs

Functions

Detailed Description

Data Structure Documentation

Typedef Documentation

Function Documentation