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-rw-r--r--center_fw/src/main.c107
1 files changed, 74 insertions, 33 deletions
diff --git a/center_fw/src/main.c b/center_fw/src/main.c
index 0983333..4df1db5 100644
--- a/center_fw/src/main.c
+++ b/center_fw/src/main.c
@@ -17,8 +17,9 @@
#include "global.h"
-uint16_t adc_data[192];
-bool sync_running = false;
+uint16_t adc_data[192*2];
+
+const int nominal_period = 125*16*32/2;
static void quicksort(uint16_t *head, uint16_t *tail);
@@ -51,8 +52,9 @@ int main(void) {
RCC->APBENR2 |= RCC_APBENR2_TIM1EN | RCC_APBENR2_ADCEN;
RCC->IOPENR |= RCC_IOPENR_GPIOAEN | RCC_IOPENR_GPIOBEN | RCC_IOPENR_GPIOCEN;
- TIM1->PSC = 1;
- TIM1->ARR = 32767;
+ /*
+ TIM1->PSC = 0;
+ TIM1->ARR = nominal_period;
TIM1->DIER = TIM_DIER_UIE | TIM_DIER_CC1IE;
TIM1->CR1 = TIM_CR1_ARPE | TIM_CR1_CEN;
TIM1->CCR1 = 3000;
@@ -60,16 +62,21 @@ int main(void) {
NVIC_SetPriority(TIM1_BRK_UP_TRG_COM_IRQn, 0);
NVIC_EnableIRQ(TIM1_CC_IRQn);
NVIC_SetPriority(TIM1_CC_IRQn, 0);
+ */
+ TIM3->CR1 = TIM_CR1_ARPE;
TIM3->CR2 = (2<<TIM_CR2_MMS_Pos); /* Update event on TRGO */
TIM3->PSC = 0;
/* We sample 32 times per 1 kHz AC cycle, and use 32 times oversampling. */
- TIM3->ARR = 124; /* Output 64 MHz / 125 = 512 kHz signal */
- TIM3->CR1 = TIM_CR1_CEN;
+ TIM3->ARR = 125*32; /* Output 64 MHz / 125 = 512 kHz signal */
+ TIM3->CR1 |= TIM_CR1_CEN;
DMAMUX1[0].CCR = 5; /* ADC */
DMA1_Channel1->CPAR = (uint32_t)&ADC1->DR;
DMA1_Channel1->CMAR = (uint32_t)(void *)adc_data;
+ DMA1_Channel1->CNDTR = COUNT_OF(adc_data);
+ DMA1_Channel1->CCR = (1<<DMA_CCR_MSIZE_Pos) | (1<<DMA_CCR_PSIZE_Pos) | DMA_CCR_MINC | DMA_CCR_CIRC | DMA_CCR_HTIE | DMA_CCR_TCIE;
+ DMA1_Channel1->CCR |= DMA_CCR_EN;
NVIC_EnableIRQ(DMA1_Channel1_IRQn);
NVIC_SetPriority(DMA1_Channel1_IRQn, 64);
@@ -82,7 +89,7 @@ int main(void) {
/* wait. */
}
ADC1->CFGR1 = (1<<ADC_CFGR1_EXTEN_Pos) | (3<<ADC_CFGR1_EXTSEL_Pos) | ADC_CFGR1_DMAEN | ADC_CFGR1_DMACFG; /* TIM3 TRGO */
- ADC1->CFGR2 = (1<<ADC_CFGR2_CKMODE_Pos) | (4<<ADC_CFGR2_OVSR_Pos) | (1<<ADC_CFGR2_OVSS_Pos) | ADC_CFGR2_TOVS | ADC_CFGR2_OVSE; /* Oversample by 16 */
+ ADC1->CFGR2 = (1<<ADC_CFGR2_CKMODE_Pos) | (4<<ADC_CFGR2_OVSR_Pos) | (1<<ADC_CFGR2_OVSS_Pos) | ADC_CFGR2_OVSE;
ADC1->CHSELR = (1<<4); /* Enable input 4 -> PA4 (Vdiff)*/
while (!(ADC1->ISR & ADC_ISR_CCRDY)) {
/* wait. */
@@ -105,30 +112,23 @@ int main(void) {
}
}
+/*
void TIM1_BRK_UP_TRG_COM_IRQHandler(void) {
TIM1->SR &= ~TIM_SR_UIF;
- GPIOB->BSRR = (1<<7);
- if (!sync_running) {
- while(DMA1_Channel1->CCR != 0) {
- DMA1_Channel1->CCR = 0;
- }
- DMA1_Channel1->CCR = (1<<DMA_CCR_MSIZE_Pos) | (1<<DMA_CCR_PSIZE_Pos) | DMA_CCR_MINC | DMA_CCR_TCIE;
- DMA1_Channel1->CNDTR = COUNT_OF(adc_data);
- DMA1_Channel1->CCR |= DMA_CCR_EN;
- sync_running = true;
- }
}
void TIM1_CC_IRQHandler(void) {
TIM1->SR &= ~TIM_SR_CC1IF;
- GPIOB->BRR = (1<<7);
}
+*/
void DMA1_Channel1_IRQHandler(void) {
static int32_t bottom = -1;
static int32_t top = -1;
-
- DMA1->IFCR = DMA_IFCR_CTCIF1;
+ DMA1->IFCR = DMA_IFCR_CGIF1;
+ int phase_correction = 0;
+ GPIOB->BSRR = (1<<7);
+ uint16_t *data = DMA1->ISR & DMA_ISR_HTIF1 ? &adc_data[0] : &adc_data[192];
if (bottom >= 0) {
uint32_t amplitude = top - bottom;
@@ -137,16 +137,15 @@ void DMA1_Channel1_IRQHandler(void) {
const uint32_t lower_thr = bottom + amplitude / 4;
const uint32_t upper_thr = top - amplitude / 4;
const uint32_t adc_clockdiv = 125 * 32;
- //const uint32_t adc_clockdiv = 1; /* FIXME DEBUG */
- size_t num_edges = 0;
- ssize_t edge_indices[24];
+ int num_edges = 0;
+ int edge_indices[24];
int state = 0;
ssize_t run_start = -1;
int last_v = -1;
- for (ssize_t i=0; i<COUNT_OF(adc_data)-1; i++) {
- uint32_t a = adc_data[i], b = adc_data[i+1];
+ for (ssize_t i=0; i<192-1; i++) {
+ uint32_t a = data[i], b = data[i+1];
if (state == 0) {
if (a < lower_thr && b > lower_thr) {
@@ -162,7 +161,7 @@ void DMA1_Channel1_IRQHandler(void) {
state = 0;
} else if (a < upper_thr && b > upper_thr) {
/* run from run_start (incl.) to i (incl.) */
- uint32_t v0 = adc_data[run_start];
+ uint32_t v0 = data[run_start];
int d = a - v0;
int c = i - run_start;
size_t intercept = run_start * adc_clockdiv + (middle - v0) * adc_clockdiv * c / d;
@@ -177,8 +176,7 @@ void DMA1_Channel1_IRQHandler(void) {
if (b > a) {
state = 0;
} else if (a > lower_thr && b < lower_thr) {
- /* run from run_start (incl.) to i (incl.) */
- uint32_t v0 = adc_data[run_start];
+ uint32_t v0 = data[run_start];
int d = a - v0;
int c = i - run_start;
size_t intercept = run_start * adc_clockdiv + (middle - v0) * adc_clockdiv * c / d;
@@ -191,21 +189,64 @@ void DMA1_Channel1_IRQHandler(void) {
}
}
- asm volatile ("bkpt");
+ if (num_edges > 1) {
+ const int approx_cycle = 32*16*125/2;
+ int delta_avg = 0;
+ for (size_t i=0; i<num_edges-1; i++) {
+ int delta = edge_indices[i+1] - edge_indices[i];
+ if (delta > approx_cycle/2 * 50) {
+ asm volatile ("bkpt");
+ }
+ while (delta > approx_cycle/2) {
+ delta -= approx_cycle;
+ }
+ delta_avg += delta;
+ }
+ delta_avg /= num_edges-1;
+
+ int cycle = approx_cycle + delta_avg;
+ int offset = 0;
+ int phase_avg = 0;
+ for (size_t i=0; i<num_edges; i++) {
+ int remainder = edge_indices[i] - offset;
+ while (remainder > cycle/2) {
+ remainder -= cycle;
+ offset += cycle;
+ }
+ phase_avg += remainder;
+ }
+ phase_avg /= num_edges;
+ phase_correction = phase_avg >= 0 ? cycle/2 - phase_avg : cycle/2 + phase_avg;
+ phase_correction /= 125 * 4;
+
+ const int deadzone = 3;
+ const int max_correction = 40;
+ if (phase_correction < -deadzone || phase_correction > deadzone) {
+ if (phase_correction < -max_correction) {
+ phase_correction = -max_correction;
+ } else if (phase_correction > max_correction) {
+ phase_correction = max_correction;
+ }
+ }
+ }
}
const int discard = 5;
const int keep = 32;
- quicksort(adc_data, &adc_data[COUNT_OF(adc_data)-1]);
+ bottom = 0;
+ top = 0;
+ quicksort(data, &data[192-1]);
for (size_t i=0; i<keep; i++) {
- bottom += adc_data[discard + i];
- top += adc_data[COUNT_OF(adc_data) - 1 - discard - i];
+ bottom += data[discard + i];
+ top += data[COUNT_OF(data)/2 - 1 - discard - i];
}
bottom /= keep;
top /= keep;
- sync_running = false;
+
+ TIM3->ARR = 125*32 + phase_correction;
+ GPIOB->BRR = (1<<7);
}
void delay_us(int duration_us) {
generated by cgit (git 2.34.1) at 2024-11-21 22:01:40 +0000