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https://github.com/cnlohr/lolra.git
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Update - getting closer
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cnlohr
@@ -1,7 +1,4 @@
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// XXX TODO: Play with high bits of ADC control to see if there's a gain cicuit.
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// XXX TODO: Try to see if there is a way to tightly control Q, right now it's kinda random.
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// XXX TODO: It looks like our loop can exit early - or more specifically we can "wrap around" our data because adc may not be == because it is skipping numbers
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// XXX TODO: Verify it's actually using the HSE.
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/**
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@@ -94,22 +91,27 @@ SOFTWARE.
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Calculated to use the 19.75th harmonic @ 27.08571429MHz, but ideal found at 27.08643MHz
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*/
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#define Q 80
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#define Q 1800
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#define PWM_PERIOD (31-1) //For 27.0857MHz
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#define QUADRATURE
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// For Quadrature - use 30
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// For nonquadrature use 40.
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#define PWM_PERIOD (40-1) //For 27MHz
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//#define QUADRATURE
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//#define TIGHT_OUT
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//#define DUMPBUFF
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#define PWM_OUTPUT 1
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//#define PWM_PERIOD (32-1)
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//#define QUADRATURE
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#define PWM_OUTPUT 3
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//#define PWM_OUTPUT 3
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#define ADC_BUFFSIZE 256
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volatile uint16_t adc_buffer[ADC_BUFFSIZE];
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void SetupADC()
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{
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// PD4 is analog input chl 7
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GPIOD->CFGLR &= ~(0xf<<(4*4)); // CNF = 00: Analog, MODE = 00: Input
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// Reset the ADC to init all regs
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RCC->APB2PRSTR |= RCC_APB2Periph_ADC1;
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@@ -126,6 +128,9 @@ void SetupADC()
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// Not using injection group.
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// PD4 is analog input chl 7
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GPIOD->CFGLR &= ~(0xf<<(4*4)); // CNF = 00: Analog, MODE = 00: Input
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// Sampling time for channels. Careful: This has PID tuning implications.
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// Note that with 3 and 3,the full loop (and injection) runs at 138kHz.
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ADC1->SAMPTR2 = (0<<(3*7));
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@@ -219,23 +224,31 @@ void InnerLoop()
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int tstart = 0;
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#ifdef DUMPBUFF
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uint16_t shadowbuff[Q+16];
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int shadowplace = 0;
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#define SHADOWSTORE(X) shadowbuff[frcnt+X] = t;
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#else
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#define SHADOWSTORE(X)
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#endif
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while( 1 )
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{
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tpl = ADC_BUFFSIZE - DMA1_Channel1->CNTR; // Warning, sometimes this is == to the base, or == 0 (i.e. might be 256, if top is 255)
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if( tpl == ADC_BUFFSIZE ) tpl = 0;
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adc_buffer_end = adc_buffer + ( ( tpl / 4) * 4 );
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//printf( "%3d %4d %d %04x\n", DMA1_Channel1->CNTR, TIM1->CNT, ADC1->RDATAR, ADC1->STATR );
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while( adc != adc_buffer_end )
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{
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#ifdef QUADRATURE
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int32_t t = adc[0];
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int32_t t = adc[0]; SHADOWSTORE(0);
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i += t; q += t;
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t = adc[1];
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t = adc[1]; SHADOWSTORE(1);
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i -= t; q += t;
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t = adc[2];
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t = adc[2]; SHADOWSTORE(2);
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i -= t; q -= t;
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t = adc[3];
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t = adc[3]; SHADOWSTORE(3);
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i += t; q -= t;
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adc += 4;
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frcnt += 4;
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@@ -246,37 +259,46 @@ void InnerLoop()
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#endif
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if( adc == adc_buffer_top ) adc = adc_buffer;
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if( frcnt >= Q ) break;
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}
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if( frcnt > Q )
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if( frcnt >= Q )
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{
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#ifdef QUADRATURE
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int ti = i>>1;
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int tq = q>>1;
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int s = (ti*ti + tq*tq)>>8;
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#else
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int s = i>>2;
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#ifdef DUMPBUFF
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int j;
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for( j = 0; j < Q; j++ )
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printf( "%d,%d\n", j, shadowbuff[j] );
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#endif
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#ifdef QUADRATURE
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int ti = i>>3;
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int tq = q>>3;
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int is = (ti*ti + tq*tq)>>8;
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#else
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int is = ((i<0)?-i:i)>>2;
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#endif
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int s = 1<<( ( 32 - __builtin_clz(is) )/2);
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s = (s + is/s)/2;
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#ifdef TIGHT_OUT
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printf( "%d\n", i );
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printf( "%d\n", s );
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#elif defined( PWM_OUTPUT )
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int tv = (s>>PWM_OUTPUT) + (PWM_PERIOD/2);
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if( tv < 0 ) tv = 0;
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if( tv >= PWM_PERIOD ) tv = PWM_PERIOD-1;
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TIM1->CH4CVR = tv;
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TIM1->CH3CVR = tv;
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#else
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int ti = i>>2;
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int tq = q>>2;
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int s = (ti*ti + tq*tq)>>8;
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//s = usqrt4(s);
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printf( "%8d I:%7d Q:%7d [%d %d %d %d] / %d\n",s, i ,q, adc_buffer[0], adc_buffer[1], adc_buffer[2], adc_buffer[3], SysTick->CNT - tstart );
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printf( "%8d I:%7d Q:%7d [%d %d %d %d] / %d\n",s, i ,q, adc_buffer[0], adc_buffer[1], adc_buffer[2], adc_buffer[3], (int)(SysTick->CNT - tstart) );
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#endif
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//printf( "%d\n", s );
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frcnt = 0;
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i = 0;
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q = 0;
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tpl = ADC_BUFFSIZE - DMA1_Channel1->CNTR;
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adc = adc_buffer + ( ( tpl / 4) * 4 );
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tstart = SysTick->CNT;
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}
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/*
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@@ -290,6 +312,7 @@ void InnerLoop()
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*/
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}
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}
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int main()
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@@ -299,6 +322,8 @@ int main()
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SystemInit();
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Delay_Ms(10);
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printf( "System On\n" );
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// Enable Peripherals
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@@ -308,6 +333,11 @@ int main()
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RCC->APB1PCENR = RCC_APB1Periph_TIM2;
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// Disable HSI
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RCC->CTLR &= ~(RCC_HSION);
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printf( "CTLR: %08x CFGR0: %08x\n", RCC->CTLR, RCC->CFGR0 );
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SetupADC();
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