Diff: host/Source/App/Dither_Regh.c

Revision:

23:12e6183f04d4

diff -r bc8c1cec3da6 -r 12e6183f04d4 host/Source/App/Dither_Regh.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/host/Source/App/Dither_Regh.c	Wed Feb 03 10:44:42 2016 +0300
@@ -0,0 +1,439 @@
+#include "lpc17xx.h"
+#include "mathDSP.h"
+#include "InputOutput.h"
+#include "CyclesSync.h"
+#include "CntrlGLD.h"
+#include "stdlib.h"
+#include "sip.h"
+
+//#define 	FREQ_NEW
+
+int out_freq_sum = 0;
+
+#define 	SHIFT_7680_12500		15	  //e. 14 digits for 7680 to 12500 clock converting and 1 division digit  
+#define		SHIFT_C_7680_12500		11	  //
+#define		DITH_VBN_SHIFT			2 //e. //r. îïðåäåëÿåò ñäâèã (äåëåíèå íà 4) êîýôôèöèåíòà äåëåíèÿ âèáðîïðèâîäà, ÷òîáû èìåòü çàïàñ íà ðåãóëèðîâàíèå
+#define		DITH_VB_TAU_SHIFT		2
+
+ int32_t RI_diff;		//e.input signal of "recovery" APS //r. âõîäíîé ñèãíàë "âîññòàíîâëåííîãî" ÄÓÏ
+ int32_t MaxDelay;
+ int32_t VB_tau_Ins;   //e. local value of the Tau regulator   //r.  âíóòðåííåå çíà÷åíèå êîíòóðà ðåãóëèðîâàíèÿ Òàó
+ int32_t VB_Nmin0;  				//e. minimum of the output value of a regulator of the period for the Device_blk.Str.TemperNormal temperature //r. ìèíèìóì  âûõîäíîãî çíà÷åíèÿ ðåãóëÿòîðà ïåðèîäà äëÿ òåìïåðàòóðû Device_blk.Str.TemperNormal
+ int32_t VB_Nmax0;  				//e. maximum of the output value of a regulator of the period for the Device_blk.Str.TemperNormal //r. ìàêñèìóì âûõîäíîãî çíà÷åíèÿ ðåãóëÿòîðà ïåðèîäà äëÿ òåìïåðàòóðû Device_blk.Str.TemperNormal
+
+uint32_t In_Flag;
+uint32_t SwitchCntInq = 0;
+
+ int32_t accum_error = 0;
+ int32_t ph_error = 0;
+ int32_t accum_error_old = 0;
+ int32_t PhaseShift;
+ int32_t meandr1;
+ int32_t temp2;
+ int32_t temp3;
+
+extern uint32_t  Vibro_2_CountIn;
+
+void clc_Noise_regulator(void);
+
+/******************************************************************************
+** Function name:		VibroDither_Set
+**
+** Descriptions:		Set period and pulse width for dither.
+**
+** parameters:			duration of vibro pulses, period of dither
+** Returned value:		None
+** 
+******************************************************************************/
+void VibroDither_Set()
+{
+  Device_blk.Str.VB_N = Output.Str.T_Vibro; 
+  LPC_MCPWM->LIM0 = (Output.Str.T_Vibro*MULT_7680_12500)>>SHIFT_7680_12500;
+  SwitchCntInq = 1;
+}
+/******************************************************************************
+** Function name:		VibroDither_SwitchOn
+**
+** Descriptions:		VibroDither switching on.
+**
+** parameters:			None
+** Returned value:		None
+** 
+******************************************************************************/
+void VibroDither_SwitchOn()
+{
+   LPC_MCPWM->CON_SET = 1<<8;	  //start vibro dither
+}
+/******************************************************************************
+** Function name:		VibroDither_SwitchOff
+**
+** Descriptions:		VibroDither switching off.
+**
+** parameters:			None
+** Returned value:		None
+** 
+******************************************************************************/
+void VibroDither_SwitchOff()
+{
+	LPC_MCPWM->CON_CLR = 1<<8;	  //stop vibro dither 
+}
+
+/******************************************************************************
+** Function name:		VB_MeanderDelay
+**
+** Descriptions:		Routine for addition of delay to meander
+**
+** parameters:			meander, delay magnitude, max delay
+** Returned value:		delayed meander
+** 
+******************************************************************************/
+int VB_MeanderDelay(int VB_Meander, int Delay100uS, int MaxDly)
+{
+	static int poz_counter = 0, neg_counter = 0, flg_delay;
+	
+	if (Delay100uS == 0)
+	{
+		return (VB_Meander);
+	}
+	
+	if (Delay100uS > 0)
+	{
+		if (Delay100uS > MaxDly) { Delay100uS = MaxDly; }
+		if (VB_Meander) //e. outgoing WP_flg flag, which delayed by the WP_ref //r. ôîðìèðîâàíèå çàäåðæàííîãî íà âåëè÷èíó WP_ref ôëàãà poz_sin_flag
+		{
+	  		neg_counter = 0;
+	  		poz_counter++;
+		}
+		else 
+		{
+	  		poz_counter = 0;
+	  		neg_counter++;
+		}
+		if (poz_counter == Delay100uS) { flg_delay = 1; }
+		if (neg_counter == Delay100uS) { flg_delay = 0; }
+	}
+	else
+	{
+		Delay100uS = -Delay100uS;
+		if (Delay100uS > MaxDly) { Delay100uS = MaxDly; }
+		if (VB_Meander) //e. outgoing WP_flg flag, which delayed by the WP_ref //r. ôîðìèðîâàíèå çàäåðæàííîãî íà âåëè÷èíó WP_ref ôëàãà poz_sin_flag
+		{
+	  		neg_counter = MaxDly + 1;
+	  		poz_counter--;
+		}
+		else 
+		{
+	  		poz_counter = MaxDly + 1;
+	  		neg_counter--;
+		}
+		if (poz_counter == Delay100uS) { flg_delay = 0; }
+		if (neg_counter == Delay100uS) { flg_delay = 1; }
+	}
+	return (flg_delay);
+} // VB_MeanderDelay
+/******************************************************************************
+** Function name:		VB_PhaseDetectorRate
+**
+** Descriptions:		Routine for accumulation of dither error
+**
+** parameters:			None
+** Returned value:		None
+** 
+******************************************************************************/
+int VB_PhaseDetectorRate(int PhaseDetInput, int IntegrateTime) 
+{
+	
+	static int SampleAndHoldOut = 0, VB_PhasDet_integr = 0;
+	
+	if (IntegrateTime == 0)
+	{
+		SampleAndHoldOut = VB_PhasDet_integr;
+		VB_PhasDet_integr = 0;
+	}
+	else
+	{	
+		VB_PhasDet_integr += PhaseDetInput;
+	}
+	return (SampleAndHoldOut);
+} // VB_PhaseDetectorRate
+
+/*r.
+
+	DelayedDithMeander - çàäåðæàííûé ìåàíäð (íà âåëè÷èíó VB_phs)
+Âûõîä
+	VB_N - êîýôôèöèåíò äåëåíèÿ
+*/
+
+void clc_Dith_regulator(void)
+{	
+//	static int smooth=0, buf[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}, i = 0;
+//	int ph_error;
+	static int dith_period = 0;//, accum_error = 0;
+#if defined FREQ_NEW
+	static int RI_diff_old = 0;
+	static int PhaseShift_Old = 0, accum_on = 0;
+#endif
+   RI_diff = DUP_Filt(Dif_Curr_Vib<<2);
+
+	if (RI_diff >= 0)
+	{
+	 meandr1 = 1;
+#if defined 	FREQ_NEW	
+	  if (RI_diff_old < 0)
+	  if (ph_error !=1) 					   
+		ph_error++;		  
+#else
+	   ph_error = 1;
+#endif	   			
+	}
+	else
+	{
+	meandr1 = 0;
+#if !defined 	FREQ_NEW		
+		ph_error = 0;
+#endif			
+	} 
+
+    if (LPC_MCPWM->INTF & 0x0001) 
+	{	 
+	  LPC_MCPWM->INTF_CLR |= 0x0001;
+
+	  if (LPC_MCPWM->MAT2 > LPC_MCPWM->MAT1)
+	  {
+//	  LPC_GPIO2->FIOSET = 0x000000FF;		// turn on the LED 
+		if (SwitchCntInq) 
+	 	 {
+	  	 	LPC_PWM1->MR0 = (Output.Str.T_Vibro*Vibro_2_CountIn)>>SHIFT_C_7680_12500; 		
+ 		 	LPC_PWM1->LER = LER0_EN ;  //e. enable updating of register
+		 	SwitchCntInq = 0;
+	 	 }
+	   LPC_MCPWM->MAT1 = (Output.Str.T_Vibro*MULT_7680_12500)>>SHIFT_7680_12500;
+	   LPC_MCPWM->MAT2 = ((Output.Str.T_Vibro - Output.Str.L_Vibro)*MULT_7680_12500)>>SHIFT_7680_12500;  
+	   In_Flag = 1;
+#if defined 	FREQ_NEW
+		 if (ph_error > (-1))
+		 ph_error--;
+#endif
+	  } 
+	  else
+	  {
+//	  LPC_GPIO2->FIOCLR = 0x000000FF;		// turn off the LED 
+	  	 LPC_MCPWM->MAT2 = (Output.Str.T_Vibro*MULT_7680_12500)>>SHIFT_7680_12500;
+		 LPC_MCPWM->MAT1 = ((Output.Str.T_Vibro - Output.Str.L_Vibro)*MULT_7680_12500)>>SHIFT_7680_12500;
+	  	 In_Flag = 0;
+		 dith_period++; 
+		 
+	  }
+	}
+#if !defined 	FREQ_NEW
+	temp3 = VB_MeanderDelay(In_Flag, Device_blk.Str.VB_phs, MaxDelay); //e. outgoing of the delayed menader signal //r. ôîðìèðîâàíèå çàäåðæàííîãî ñèãíàëà ìåàíäð
+	temp2 = ( ( temp3 ^ ph_error ) << 1 ) - 1; //e. the PD XOR analog out (-1..+1, since const=1) //r. àíàëîãîâûé âûõîä XOR ÔÄ(-1..+1, ò.ê. const=1)
+		accum_error += temp2; 
+#else
+	if ((ph_error !=0) && (accum_on == 0)) //
+	{
+	  accum_on = 1;
+	    PhaseShift += ph_error;
+	}
+	else if ((ph_error == 0) && (accum_on == 1))
+	{
+	      accum_on = 0;
+		  accum_error += (PhaseShift - PhaseShift_Old);
+	      PhaseShift_Old = PhaseShift;
+		  PhaseShift = 0;
+	}
+	else 
+		 PhaseShift += ph_error;
+#endif
+	Output.Str.T_VB_pll = VB_PhaseDetectorRate(temp2, time_1_Sec); //e. outgoing of the integrated for 1 Sec analog signal of the PD of the dither drive //r. ôîðìèðîâàíèå ïðîèíòåãðèðîâàííîãî çà 1 ñåê àíàëîãîâîãî ñèãíàëà ÔÄ âèáðîïðèâîäà
+		if ( dith_period > DITHER_REG_PERIOD ) //e. checking status of the dith_period counter  //r. ïðîâåðêà ñîñòîÿíèÿ ñ÷åò÷èêà dith_period
+		{  
+		    dith_period = 0; //e. 40 periods - resetting the counter of dither drive periods //r. 40 ïåðèîäîâ - îáíóëåíèå ñ÷åò÷èêà ïåðèîäîâ âèáðîïðèâîäà                       
+			//e. scaling and summing with rounding and saturation //r. ìàñøòàáèðîâàíèå è ñóììèðîâàíèå ñ îêðóãëåíèåì è íàñûùåíèåì
+			Device_blk.Str.VB_N = mac_r(Device_blk.Str.VB_N << (16 - DITH_VBN_SHIFT),
+												-accum_error, 
+												Device_blk.Str.VB_scl) << DITH_VBN_SHIFT;
+												
+		//	Saturation(Device_blk.Str.VB_N, Device_blk.Str.VB_Nmax, Device_blk.Str.VB_Nmin);	//e. checking upper and lower levels of control range //r. ïðîâåðêà âåðõíåãî äèàïàçîíà ðåãóëèðîâàíèÿ                
+			accum_error = 0;               //e. resetting the _VB_Uab40 sum //r. îáíóëåíèå ñóììû _VB_Uab40
+		
+	   }
+	   if ( loop_is_closed(VB_FREQ_ON) ) //e. it was, check the activation of the stabilization regulator //r. ôðîíò áûë, ïðîâåðèòü âêëþ÷åí ëè êîíòóð ñòàáèëèçàöèè
+        {
+		    Output.Str.T_Vibro = Device_blk.Str.VB_N;          
+			LPC_MCPWM->LIM0 = (Output.Str.T_Vibro*MULT_7680_12500)>>SHIFT_7680_12500;  //e. has switched on, load calculated values of period //r. âêëþ÷åí, çàãðóçèòü âû÷èñëåííûå çíà÷åíèÿ ïåðèîäà
+			SwitchCntInq = 1;  //e. enable loading counter inquiry timer at the next vibro halfperiod
+	    }
+	// cyclic built-in test
+	if ((Output.Str.T_Vibro > Device_blk.Str.VB_Nmax) || (Output.Str.T_Vibro < Device_blk.Str.VB_Nmin))
+	{
+		Valid_Data |= DITH_FREQ_ERROR;
+	}
+} // clc_Dith_regulator
+
+//e. dither drive output frequency stabilization //r. ñòàáèëèçàöèÿ ÷àñòîòû ðàñùåïëåíèÿ âèáðîïðèâîäà				
+void clc_OutFreq_regulator(void)
+{
+//	static int out_freq_sum = 0;
+	static int temp;
+ 
+ /* 	if (Dif_Curr_Vib > 0) //e. angular speed > 0 //r.ñêîðîñòü ïîëîæèòåëüíà
+  	{
+      if (RI_diff > 0)
+        out_freq_sum += (Dif_Curr_Vib - (int)(Dif_Curr_32 >> SHIFT_TO_FRACT));
+      else
+        out_freq_sum -= (Dif_Curr_Vib - (int)(Dif_Curr_32 >> SHIFT_TO_FRACT));
+  	}
+  	else //e. angular speed < 0 //r.ñêîðîñòü îòðèöàòåëüíà
+  	{
+  	 if (RI_diff < 0)
+        out_freq_sum += (Dif_Curr_Vib + (int)(Dif_Curr_32 >> SHIFT_TO_FRACT));
+      else
+        out_freq_sum -= (Dif_Curr_Vib + (int)(Dif_Curr_32 >> SHIFT_TO_FRACT));	
+  	}
+ */
+  if(Dif_Curr_Vib>0)
+	 out_freq_sum += Dif_Curr_Vib;
+   else
+	  out_freq_sum -= Dif_Curr_Vib;
+	if (time_1_Sec == 0) //e. second has elapsed, fix the output frequency value //r. ñåêóíäà ïðîøëà, çàôèêñèðîâàòü çíà÷åíèå ÷àñòîòû ðàñùåïëåíèÿ
+	{
+		if (loop_is_closed(VB_TAU_ON)) //e. the regulator loop is closed //r. êîíòóð çàìêíóò
+		{
+			temp = Device_blk.Str.VB_Fdf_Hi << 16;
+			temp |= Device_blk.Str.VB_Fdf_Lo;	
+			temp = L_sub(out_freq_sum, temp) >> 3; // (out_freq_sum - temp) with saturation, then >> 3
+			Saturation(temp, 32767, -32768); // error saturation if error is out of range		
+			//e. scaling and summing with rounding and saturation //r. ìàñøòàáèðîâàíèå è ñóììèðîâàíèå ñ îêðóãëåíèåì è íàñûùåíèåì
+			VB_tau_Ins = mac_r( VB_tau_Ins << (16 - DITH_VB_TAU_SHIFT), 
+												temp,
+											Device_blk.Str.VB_Fsc ); // << DITH_VB_TAU_SHIFT; 
+			//e. reduction the VB_Err value to 16 digits (arithmetic right shift to 3 digits) //r. ñâåäåíèå âåëè÷èíû VB_Err ê 16 ðàçðÿäàì (àðèôìåòè÷åñêèé ñäâèã âïðàâî íà 3 ðàçðÿäà)
+	
+			Saturation(VB_tau_Ins, \
+						(int)Device_blk.Str.VB_Tmax >> DITH_VB_TAU_SHIFT, \
+						(int)Device_blk.Str.VB_Tmin >> DITH_VB_TAU_SHIFT);	//e. checking upper and lower levels in sign range
+			VB_tau_Ins <<= DITH_VB_TAU_SHIFT;
+		}
+		
+		Output.Str.F_ras = out_freq_sum >> 5; //e. once more divide output frequency by 2, in order to coincide with frequency meter //r. ïîäåëèòü ÷àñòîòó ðàñùåïëåíèÿ åùå íà 2, ÷òîáû ñîâïàëî ñ ÷àñòîòîìåðîì
+		out_freq_sum = 0;	//e. reset accumulated values for next cycle of measurement //r. ñáðîñèòü íàêîïëåííûå çíà÷åíèÿ äëÿ ñëåäóþùåãî öèêëà èçìåðåíèÿ
+
+		// cyclic built-in test
+ 		// if output frequency is less than 3/4 of nominal then data is invalid
+ 		if (Output.Str.F_ras < ((temp >> 7)*3)) 
+		{
+			Valid_Data |= OUT_FREQ_ERROR;
+		}
+		else
+		{
+			Valid_Data &= ~OUT_FREQ_ERROR;
+		} 
+	}
+
+	clc_Noise_regulator();
+	
+	if ( loop_is_closed(VB_TAU_ON) ) //e.  is stabilization regulator switched on?  //r. êîíòóð ñòàáèëèçàöèè âêëþ÷åí?
+	{
+		Output.Str.L_Vibro = Device_blk.Str.VB_tau; //e. otherwise, load new value of //r. èíà÷å çàãðóçèòü íîâîå çíà÷åíèå
+        						//e. pulse width of the dither drive //r. äëèòåëüíîñòè èìïóëüñîâ âèáðîïðèâîäà
+	}
+	
+} // clc_OutFreq_regulator
+
+//e. noise regulator //r. ñèñòåìà ýëåêòðîííîãî îøóìëåíèÿ âèáðîïðèâîäà
+/*r.
+PeriodCount (VBN_Cnt) - ñ÷åò÷èê ïåðèîäîâ ñèãíàëà Meander.
+Tnoise (VBN_Per)- òåêóùèé ïåðèîä îøóìëåíèÿ.
+PeriodNoise (VBN_Tzd) - ñðåäíèé ïåðèîä îøóìëåíèÿ, çàäàííûé ïîëüçîâàòåëåì.
+AmpNoise(VBN_Ran) - ìàêñèìàëüíàÿ àìïëèòóäà ïåðèîäà îøóìëåíèÿ (çàäàåòñÿ ïîëüçîâàòåëåì).
+Delta (VBN_k) - ãëóáèíà îøóìëåíèÿ (çàäàåòñÿ ïîëüçîâàòåëåì).
+Flag(VBN_Mod) - ôëàã çíàêà èçìåíåíèÿ àìïëèòóäû.
+Tu(VBN_Tau) - äëèòåëüíîñòü èìïóëüñà îäíîâèáðàòîðà.
+Tp(VBN_tau_Ins) - äëèòåëüíîñòü èìïóëüñà îäíîâèáðàòîðà, çàäàâàåìàÿ ñèñòåìîé ðåãóëèðîâêè ÷àñòîòû ðàñùåïëåíèÿ.
+*/
+
+void clc_Noise_regulator(void)
+{
+	int temp;
+	static uint32_t Flag = 0;
+	static int PeriodCount = 0, Tnoise = 0;
+
+	if ( PeriodCount >= Tnoise )
+	{
+		PeriodCount = 0;
+		srand(Device_blk.Str.VB_N);
+		Tnoise = add( Device_blk.Str.VBN_Tzd, mult_r(Device_blk.Str.VBN_Ran, rand())); // Tnoise = Device_blk.Str.VBN_Tzd + MULT_RND_SAT( Device_blk.Str.VBN_Ran, rand() );
+		if ( Flag ) //e. calculation +dF/-dF //r. ðàñ÷åò +dF/-dF
+		{
+			temp = Device_blk.Str.VBN_k;
+		}
+		else
+		{
+			temp = -Device_blk.Str.VBN_k;
+		}
+
+		Device_blk.Str.VB_tau = add(VB_tau_Ins, (mult_r( VB_tau_Ins, temp ) << 1)); // VB_tau = VB_tau_Ins + VB_tau_Ins * temp; with saturation
+		Saturation(Device_blk.Str.VB_tau, Device_blk.Str.VB_Tmax, Device_blk.Str.VB_Tmin);	//e. checking upper and lower levels of control range //r. ïðîâåðêà âåðõíåãî äèàïàçîíà ðåãóëèðîâàíèÿ                       	
+		Flag = !Flag;                
+	}
+	else
+	{
+		PeriodCount++;
+	}
+	
+} // clc_Noise_regulator
+/******************************************************************************
+** Function name:		VibroDither_Init
+**
+** Descriptions:		VibroDither initialization.
+**
+** parameters:			None
+** Returned value:		None
+** 
+******************************************************************************/
+void VibroDither_Init()
+{
+  LPC_SC->PCONP |= 0x00020000;		   /* Turn On MCPWM PCLK */
+  LPC_SC->PCLKSEL1 |= 0xC0000000;	   //CLK=12.5MHz
+  /* P1.25,1.26 as PhA_vibro; P1.28,1.29 as PhB_vibro*/
+  LPC_PINCON->PINSEL3 &= ~(0x3CF<<18); 											  
+  LPC_PINCON->PINSEL3 |= (0x145 << 18) |(1<<6)|(1<<12);
+
+  LPC_MCPWM->CON_SET |= 1<<30; //e. set AC mode (Pha, PhB periods are set by LIM0 )
+
+  LPC_MCPWM->TC0 = 0;	//e. initial time counter of channel 0
+  LPC_MCPWM->LIM0 = (Device_blk.Str.VB_N*MULT_7680_12500)>>SHIFT_7680_12500; //e. period of the dither drive 
+  LPC_MCPWM->MAT0 = (Device_blk.Str.VB_N*MULT_7680_12500)>>SHIFT_7680_12500;	//e. set LPC_MCPWM->MAT0  for defineteness  						
+  LPC_MCPWM->MAT2 = (Device_blk.Str.VB_tau*MULT_7680_12500)>>SHIFT_7680_12500;	//e. pulse width of the PhA dither drive 
+  LPC_MCPWM->MAT1 = ((Device_blk.Str.VB_N - Device_blk.Str.VB_tau)*MULT_7680_12500)>>SHIFT_7680_12500;	//e. pulse width of the PhB dither drive  at first time
+
+  LPC_MCPWM->DT &= ~0x3FF; //e. reset dead timer register
+  LPC_MCPWM->INTEN_SET = 1;	//e. enable lim0 interrupt
+
+  LPC_MCPWM->CON_SET |= (1<<8) |1 |(1<<16);	  //start PWM channel 0,1,2
+
+  VB_tau_Ins = Device_blk.Str.VB_tau;
+  return;
+}
+/******************************************************************************
+** Function name:		init_Dither_reg
+**
+** Descriptions:		Initialization of dither regulator.
+**
+** parameters:			None
+** Returned value:		None
+** 
+******************************************************************************/
+void init_Dither_reg()
+{
+  init_VibroReduce();
+  VibroDither_Init();
+  VibroDither_SwitchOn();
+  init_BandPass(1.0/(float)Vibro_Filter_Aperture, 100.0/(float)DEVICE_SAMPLE_RATE_HZ, DUP);	
+  MaxDelay = Vibro_Filter_Aperture >> 1; //e. maximal delay of the meander of the dither drive //r. ìàêñ. çàäåðæêà ìåàíäðà âèáðîïðèâîäà
+  CounterIquiryCycle_Init((Device_blk.Str.VB_N*Vibro_2_CountIn)>>SHIFT_C_7680_12500);  
+}
+/******************************************************************************
+**                            End Of File
+******************************************************************************/