*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
@@ -0,0 +1,31 @@
+#ifndef __OSCILLOSCOPE_HPP
+#define __OSCILLOSCOPE_HPP
+
+#include <autogen/interfaces.hpp>
+
+// if you use the oscilloscope feature you can bump up this value
+#define OSCILLOSCOPE_SIZE 4096
+
+class Oscilloscope : public ODriveIntf::OscilloscopeIntf {
+public:
+    Oscilloscope(float* trigger_src, float trigger_threshold, float** data_src)
+        : trigger_src_(trigger_src), trigger_threshold_(trigger_threshold), data_src_(data_src) {}
+
+    float get_val(uint32_t index) override {
+        return index < OSCILLOSCOPE_SIZE ? data_[index] : NAN;
+    }
+
+    void update();
+
+    const uint32_t size_ = OSCILLOSCOPE_SIZE;
+    const float* trigger_src_;
+    const float trigger_threshold_;
+    float* const * data_src_;
+
+    float data_[OSCILLOSCOPE_SIZE] = {0};
+    size_t pos_ = 0;
+    bool ready_ = false;
+    bool capturing_ = false;
+};
+
+#endif // __OSCILLOSCOPE_HPP