int sc_main(int argc, char* argv[]){
sc_signal<double> angle, cos, sin;
int steps;
cout << "Number of Cordic-iterations: "; cin >> steps;
cordic cordic_inst("cordic_inst",steps);
source src("src");
drain drn ("drn");
src.out(angle);
cordic_inst.angle(angle);
cordic_inst.cos_out(cos);
cordic_inst.sin_out(sin);
drn.in_x(angle);
drn.in_cos(cos);
drn.in_sin(sin);
sc_start(40,SC_US);
return 0;
};
/**
* Main that creates the deltaRobotNode and starts the statemachine
**/
int main(int argc, char **argv){
rexos_stewart_gough::SixAxisCalculations sc(100.00, 300.00,
50, 50,
20, 20,
0.46);
{
rexos_stewart_gough::StewartGoughLocation location(Vector3(0, 0, -360), rexos_utilities::degreesToRadians(45), 0, 0.0);
rexos_stewart_gough::SixAxisCalculations::EffectorMove movement = sc.getMotorAngles(location);
REXOS_INFO_STREAM("----------");
REXOS_INFO_STREAM(movement.validMove);
REXOS_INFO_STREAM(movement.angles[0] / (2 * 3.14159263) * 360);
REXOS_INFO_STREAM(movement.angles[1] / (2 * 3.14159263) * 360);
REXOS_INFO_STREAM(movement.angles[2] / (2 * 3.14159263) * 360);
REXOS_INFO_STREAM(movement.angles[3] / (2 * 3.14159263) * 360);
REXOS_INFO_STREAM(movement.angles[4] / (2 * 3.14159263) * 360);
REXOS_INFO_STREAM(movement.angles[5] / (2 * 3.14159263) * 360);
}
{
rexos_stewart_gough::StewartGoughLocation location(Vector3(0, 0, -360), rexos_utilities::degreesToRadians(45), 0, 0.0);
rexos_stewart_gough::SixAxisCalculations::EffectorMove movement = sc.getMotorAngles(location);
REXOS_INFO_STREAM("----------");
REXOS_INFO_STREAM(movement.validMove);
REXOS_INFO_STREAM(movement.angles[0] / (2 * 3.14159263) * 360);
REXOS_INFO_STREAM(movement.angles[1] / (2 * 3.14159263) * 360);
REXOS_INFO_STREAM(movement.angles[2] / (2 * 3.14159263) * 360);
REXOS_INFO_STREAM(movement.angles[3] / (2 * 3.14159263) * 360);
REXOS_INFO_STREAM(movement.angles[4] / (2 * 3.14159263) * 360);
REXOS_INFO_STREAM(movement.angles[5] / (2 * 3.14159263) * 360);
}
ros::init(argc, argv, NODE_NAME);
if(argc < 5){
REXOS_ERROR("Usage: stewart_gough_node equipletName manufacturer typeNumber serialNumber");
return -1;
}
std::string equipletName = argv[1];
rexos_datatypes::ModuleIdentifier moduleIdentifier(argv[2], argv[3], argv[4]);
REXOS_INFO("Creating StewartGoughNode");
stewartGoughNodeNamespace::StewartGoughNode drn(equipletName, moduleIdentifier);
ros::spin();
return 0;
}
int sc_main(int argc, char* argv[])
{
sc_signal<int> mux_sel;
Top top("top");
drain drn("drn");
// Inputs
sca_tdf::sca_signal<double> AD3;
sca_tdf::sca_signal<double> AD5;
sca_tdf::sca_signal<double> AD7;
sca_tdf::sca_signal<int> ADTRG; // external trigger
sca_tdf::sca_signal<int> ADVREF; // ref voltages
sca_tdf::sca_signal<int> GND;
sca_tdf::sca_signal<double> offset_to_pga;
// sca_tdf::sca_signal<double> multiplexed_input;
sca_tdf::sca_signal<double> pga_to_adc;
sca_tdf::sca_signal<sc_bv<16>> adc_to_reg;
sca_tdf::sca_signal<double> freq_val_tdf;
drn.out(freq_val_tdf);
// Sine wave with 2V amplitude
sine Sine("Sine", 0, 2, 0.0, 0.0, false, true, 1); // (amp_c and freq_c are false)
Sine.set_timestep(10, sc_core::SC_US); // Time step (sampling rate) of port "out" = 10 us
Sine.freq_con(&freq_val_tdf); // need this as port to vary the frequency through tlm interface
Sine.out(AD3);
// Cos -- sin phase shifted with 2.5V amplitude
sine Cos("Cos", 0, 2.5, 3.14, 0.0, false, true, 1); // (amp_c and freq_c are false)
Cos.set_timestep(10, sc_core::SC_US); // Time step (sampling rate) of port "out" = 10 us
Cos.freq_con(&freq_val_tdf); // need this as port to vary the frequency through tlm interface
Cos.out(AD5);
// Saw tooth with 2.5V amplitude - saw_gen(sc_core::sc_module_name n, double freq,double _amp, double _ofs=0.0, int d_rate=1);
saw_gen Saw("Saw", 0, 2.5, 0.0, 1); // (amp_c and freq_c are false)
Saw.set_timestep(10, sc_core::SC_US);
Saw.out(AD7);
// OFFSET
add_offset<double> offset("offset",4);// instance the offset
// Mux based on ADC_CHSR - channel status register
switch (mux_sel){
case 3: offset.in(AD3); break;
case 5: offset.in(AD5); break;
case 7: offset.in(AD7); break;
default: offset.in(AD3); break;
}
//offset.in(multiplexed_input);
offset.out(offset_to_pga);
// PGA
amp<double> ampl("ampl",10); // instance the amplifer
ampl.in(offset_to_pga);
ampl.out(pga_to_adc);
//#include <ref_src.h>
// 12 bit adc converter
// adc(sc_core::sc_module_name n, double uref=1.0, double gain_e=0.0, double offset_e=0.0, int nl_m=0)
adc<16> i_adc("adc", 2, 0.0, 0.0); //use default parameters
i_adc.in(pga_to_adc);
i_adc.out(adc_to_reg);
// This is only a module used to consume tokens as we can not let a
// systemc-ams scheduling loop open.
drn.in(adc_to_reg);
// Trace analog inputs and resulting digital values for each channel
sca_util::sca_trace_file* atf = sca_util::sca_create_vcd_trace_file("tr");
sca_util::sca_trace(atf, AD3, "AD3");
sca_util::sca_trace(atf, AD5, "AD5");
sca_util::sca_trace(atf, AD7, "AD7");
sca_util::sca_trace_file* tfp_tab = sca_util::sca_create_tabular_trace_file("signals");
sca_util::sca_trace(tfp_tab, AD3, "AD3");
sca_util::sca_trace(tfp_tab, AD5, "AD5");
sca_util::sca_trace(tfp_tab, AD7, "AD7");
//debug
cout << "Start generating signal.vcd and signal.dat file" << endl;
sc_start(10, SC_MS);
sca_util::sca_close_vcd_trace_file(atf);
sca_util::sca_close_vcd_trace_file(tfp_tab);
cout << "Finished generating signal.vcd and signal.dat file" << endl;
return 0;
}
