void FDTD2D::updateE(){
int ii,jj;
double CFL2 = CFL;///2.;
// Bulk update, Ex
for( jj=1; jj<Ny-1; jj++){
for( ii=0; ii<Nx-1; ii++){
Ex(ii,jj) += ExC(ii,jj)*(Hz(ii,jj) - Hz(ii,jj-1));
}
}
// Bulk update, Ey
for( jj=0; jj<Ny-1; jj++){
for( ii=1; ii<Nx-1; ii++){
Ey(ii,jj) -= EyC(ii,jj)*(Hz(ii,jj) - Hz(ii-1,jj));
}
}
// Boundary update, Ex
for( ii=0; ii<Nx-1; ii++){
Ex(ii,0) = (1.-CFL2)*Ex(ii,0) + CFL2*Ex(ii,1);
Ex(ii,Ny-1) = (1.-CFL2)*Ex(ii,Ny-1) + CFL2*Ex(ii,Ny-2);
}
// Boundary update, Ey
for( jj=0; jj<Ny-1; jj++){
Ey(0,jj) = (1.-CFL2)*Ey(0,jj) + CFL2*Ey(1,jj);
Ey(Nx-1,jj) = (1.-CFL2)*Ey(Nx-1,jj) + CFL2*Ey(Nx-2,jj);
}
return;
}
void FDTD2D::meshScatterer(){
// Define useful variables
int II;
double tan30, tan60;
switch(TYPE){
case NONE:
break;
case SQUARE:
for( int jj=Ny/2-s_size; jj<=Ny/2+s_size; jj++){
for( int ii=Nx/2-s_size; ii<=Nx/2+s_size; ii++){
ExC(ii,jj)=0.;
EyC(ii,jj)=0.;
}
}
break;
case CIRCLE:
for( int jj=Ny/2-s_size; jj<=Ny/2+s_size; jj++){
for( int ii=Nx/2-s_size; ii<=Nx/2+s_size; ii++){
if( (jj-Ny/2)*(jj-Ny/2)+(ii-Nx/2)*(ii-Nx/2) < s_size*s_size){
ExC(ii,jj)=0.;
EyC(ii,jj)=0.;
}
}
}
break;
case TRIANGLE:
tan60 = tan(60.*M_PI/180.);
tan30 = tan(30.*M_PI/180.);
II = Nx/2+s_size-ceil(s_size*tan60); // Leftmost point
for( int jj=Ny/2-s_size; jj<=Ny/2+s_size; jj++){
for( int ii=Nx/2-s_size; ii<=Nx/2+s_size; ii++){
if( ii >= II && abs(jj-Ny/2) < fabs((ii-II)*tan30)){
ExC(ii,jj) = 0.;
EyC(ii,jj) = 0.;
}
}
}
break;
default:
break;
}//switch
return;
}
void FDTD2D::correctFieldsE(){
static double eta = sqrt(mu/eps);
// Left partition at Lx+0.5. Right at Nx-Lx+0.5.
double l_source = (1./eta)*gauss_der_source(t-(Lx+0.5)*ds/c, sigma, mean);
double r_source = (1./eta)*gauss_der_source(t-(Nx-Lx+0.5)*ds/c, sigma, mean);
for( int jj=Ly; jj <= Ny-Ly; jj++){
Ey(Lx,jj) += EyC(Lx,jj) * l_source;
Ey(Nx-Lx+1,jj) -= EyC(Nx-Lx+1,jj) * r_source;
}
// Bottom partition at Ly+0.5. Top at Ny-Ly+0.5.
// Note: v.costly, need to evaluate source function at every point!
double source;
for( int ii=Lx; ii <= Nx-Lx; ii++){
if(ii<0) std::cerr << "ii = " << ii << std::endl;
source = (1./eta)*gauss_der_source(t-(ii+0.5)*ds/c, sigma, mean);
Ex(ii,Ly) -= ExC(ii,Ly) * source;
Ex(ii,Ny-Ly+1) += ExC(ii,Ny-Ly+1) * source;
}
return;
}
void FDTD2D::zeroICs(){
for(int jj=0; jj<Ny; jj++){
for(int ii=0; ii<Nx; ii++){
if(ii<Nx-1){
Ex(ii,jj) = 0.;
ExC(ii,jj) = dt / (eps*ds);
}
if(jj<Ny-1){
Ey(ii,jj) = 0.;
EyC(ii,jj) = dt / (eps*ds);
}
if(ii<Nx-1 && jj<Ny-1){
Hz(ii,jj) = 0.;
HzC(ii,jj) = dt / (mu*ds);
}
}
}
return;
}
void CANGetNewVelocityMeasurements()
{
CanRxMsg velocity_rx; //, version_rx;
int32_t tmp;
uint8_t i;
for(i = 0; i < NUM_MOTORS; ++i)
{
GetAvgVelocity(_motor[i].NodeID);
//GetActualVelocity(_motor[i].NodeID);//Strange
// Block on queue until new CanRxMsg struct arrived
xQueueReceive( _velocityQueue[i], &velocity_rx, portMAX_DELAY);
if(!(velocity_rx.Data[4] == 0xFF && velocity_rx.Data[5] == 0xFF && velocity_rx.Data[6] == 0xFF && velocity_rx.Data[7] == 0xFF))
{
tmp = (((int32_t) velocity_rx.Data[7]) << 24
| ((int32_t) velocity_rx.Data[6]) << 16
| ((int32_t) velocity_rx.Data[5]) << 8
| ((int32_t) velocity_rx.Data[4]));
EnC(); _motor[i].Velocity = ((float)tmp)*2.0*PI/60.0; ExC();
}
}
}
