File content as of revision 177:672ef279c8e0:

#include "Device.h"

extern Device device;

void InitISACSOutputDefaultSettings(void){
  device.isacs.regulator.settings.start.enabled = 1;
  device.isacs.regulator.settings.regular.enabled = 1;
  device.isacs.regulator.settings.reset.enabled = 1;
  
  device.isacs.regulator.settings.transfer.points = 16;
  device.isacs.regulator.settings.transfer.error[0] = -0x20000; //-2.0V
  device.isacs.regulator.settings.transfer.correction[0] = 0x10000; //1.0
  device.isacs.regulator.settings.transfer.error[1] = -0x1bbbb; //-1.7333333333333334V
  device.isacs.regulator.settings.transfer.correction[1] = 0xb473; //0.7048888888888889
  device.isacs.regulator.settings.transfer.error[2] = -0x17777; //-1.4666666666666668V
  device.isacs.regulator.settings.transfer.correction[2] = 0x7aa7; //0.47911111111111115
  device.isacs.regulator.settings.transfer.error[3] = -0x13333; //-1.2V
  device.isacs.regulator.settings.transfer.correction[3] = 0x4fdf; //0.31199999999999994
  device.isacs.regulator.settings.transfer.error[4] = -0xeeee; //-0.9333333333333333V
  device.isacs.regulator.settings.transfer.correction[4] = 0x3161; //0.1928888888888889
  device.isacs.regulator.settings.transfer.error[5] = -0xaaaa; //-0.6666666666666667V
  device.isacs.regulator.settings.transfer.correction[5] = 0x1c71; //0.11111111111111113
  device.isacs.regulator.settings.transfer.error[6] = -0x6666; //-0.3999999999999999V
  device.isacs.regulator.settings.transfer.correction[6] = 0xe56; //0.05599999999999999
  device.isacs.regulator.settings.transfer.error[7] = -0x2222; //-0.1333333333333333V
  device.isacs.regulator.settings.transfer.correction[7] = 0x452; //0.016888888888888884
  device.isacs.regulator.settings.transfer.error[8] = 0x2222; //0.1333333333333333V
  device.isacs.regulator.settings.transfer.correction[8] = -0x452; //-0.016888888888888884
  device.isacs.regulator.settings.transfer.error[9] = 0x6666; //0.3999999999999999V
  device.isacs.regulator.settings.transfer.correction[9] = -0xe56; //-0.05599999999999999
  device.isacs.regulator.settings.transfer.error[10] = 0xaaaa; //0.6666666666666665V
  device.isacs.regulator.settings.transfer.correction[10] = -0x1c71; //-0.11111111111111108
  device.isacs.regulator.settings.transfer.error[11] = 0xeeee; //0.9333333333333331V
  device.isacs.regulator.settings.transfer.correction[11] = -0x3161; //-0.1928888888888888
  device.isacs.regulator.settings.transfer.error[12] = 0x13333; //1.2000000000000002V
  device.isacs.regulator.settings.transfer.correction[12] = -0x4fdf; //-0.31200000000000006
  device.isacs.regulator.settings.transfer.error[13] = 0x17777; //1.4666666666666668V
  device.isacs.regulator.settings.transfer.correction[13] = -0x7aa7; //-0.47911111111111115
  device.isacs.regulator.settings.transfer.error[14] = 0x1bbbb; //1.7333333333333334V
  device.isacs.regulator.settings.transfer.correction[14] = -0xb473; //-0.7048888888888889
  device.isacs.regulator.settings.transfer.error[15] = 0x20000; //2.0V
  device.isacs.regulator.settings.transfer.correction[15] = -0x10000; //-1.0
  
  device.isacs.output.settings.transfer.points = 2;
  //Control point 1.5 volt - low output limit
  device.isacs.output.settings.transfer.voltage[0] = 0x00017fff;
  device.isacs.output.settings.transfer.code[0] = 800;
  //Control point 12.5 volt - high output limit
  device.isacs.output.settings.transfer.voltage[1] = 0x000c7fff;
  device.isacs.output.settings.transfer.code[1] = 2048;
  device.isacs.output.settings.start.voltage = 0x000c7fff; //+12.5V start
  device.isacs.output.settings.reset.voltage = 0x00077fff; //+7.5V if regulator disabled at reset time
}

void InitISACSOutputState(void){
}

void DeviceStartISACSOutput(void){
}

void InitISACSRegulatorDefaultSettings(void){
  //Startup settings
  device.isacs.regulator.settings.start.enabled = 1;
  device.isacs.regulator.settings.start.reference = 0x00020000; //Reference voltage 2V in 16.16 signed fixed point format
  device.isacs.regulator.settings.start.scale = 1; //Scale factor
  //Regular operation settings
  device.isacs.regulator.settings.regular.enabled = 1;
  device.isacs.regulator.settings.regular.reference = 0x00020000; //Reference voltage 2V in 16.16 signed fixed point format
  device.isacs.regulator.settings.regular.scale = 1; //Scale factor
  //Reset operation settings
  device.isacs.regulator.settings.reset.enabled = 1;
  device.isacs.regulator.settings.reset.reference = 0x00020000; //Reference voltage 2V in 16.16 signed fixed point format
  device.isacs.regulator.settings.reset.scale = 1; //Scale factor
}

void InitISACSRegulatorState(void){
  device.isacs.regulator.state.enabled = device.isacs.regulator.settings.start.enabled;
  device.isacs.regulator.state.reference = device.isacs.regulator.settings.start.reference;
  device.isacs.regulator.state.scale = device.isacs.regulator.settings.start.scale;
  device.isacs.regulator.state.error = 0;
  device.isacs.regulator.state.correction = 0;
}

void DeviceStartISACSRegulator(void){
}

void InitISACSDefaultSettings(void){
  InitISACSPotentiometersDefaultSettings();
  InitISACSRegulatorDefaultSettings();
  InitISACSOutputDefaultSettings();
}

void InitISACSState(void){
  InitISACSPotentiometersState();
  InitISACSRegulatorState();
  InitISACSOutputState();
}

void DeviceStartISACS(void){
  DeviceStartISACSPotentiometers();
  DeviceStartISACSRegulator();
  DeviceStartISACSOutput();
}

/*
//Count leading zeroes
static uint8_t clz(uint32_t x) {
  uint8_t result = 0;
  if (x == 0) return 32;
  while (!(x & 0xF0000000)) { result += 4; x <<= 4; }
  while (!(x & 0x80000000)) { result += 1; x <<= 1; }
  return result;
}
//Count trailing zeroes
static uint8_t ctz(uint32_t x) {
  uint8_t result = 0;
  if (x == 0) return 32;
  while (!(x & 0xF0000000)) { result += 4; x <<= 4; }
  while (!(x & 0x80000000)) { result += 1; x <<= 1; }
  return result;
}
*/

int32_t isacsInterpolate(int32_t a,int32_t a1,int32_t a2,int32_t b1,int32_t b2) {
  int32_t ma, mb;
  while (1) {
    if (a1 == a) return b1;
    if (a2 == a) return b2;
                
    ma = (a1 + a2) >> 1;
    mb = (b1 + b2) >> 1;
      
    if (a < ma) {
      if (a2 == ma) return mb;
      if (b1 == mb) return mb;
      a2 = ma; b2 = mb;
    } else if (a > ma) {
      if (a1 == ma) return mb;
      if (b2 == mb) return mb;
      a1 = ma; b1 = mb;
    } else return mb;
  }
}

int32_t isacsInput(uint32_t raw) {
  int32_t r1, r2;
  for (uint8_t i = 1; i < device.isacs.input.settings.transfer.points; i++) {
    r1 = device.isacs.input.settings.transfer.raw[i - 1];
    if (raw < r1) {
      return device.isacs.input.settings.transfer.V[i - 1];
    }

    r2 = device.isacs.input.settings.transfer.raw[i];
    if (raw < r2) {
      int32_t v1 = device.isacs.input.settings.transfer.V[i - 1];
      int32_t v2 = device.isacs.input.settings.transfer.V[i];
      return isacsInterpolate(raw, r1, r2, v1, v2);
    }
  }
  return device.isacs.input.settings.transfer.V[device.isacs.input.settings.transfer.points - 1];  
}

uint32_t isacsCorrection(int32_t error) {
  int32_t e1, e2;
  for (uint8_t i = 1; i < device.isacs.regulator.settings.transfer.points; i++) {
    e1 = device.isacs.regulator.settings.transfer.error[i - 1];
    if (error < e1) {
      return device.isacs.regulator.settings.transfer.correction[i - 1];
    }

    e2 = device.isacs.regulator.settings.transfer.error[i];
    if (error < e2) {
      int32_t c1 = device.isacs.regulator.settings.transfer.correction[i - 1];
      int32_t c2 = device.isacs.regulator.settings.transfer.correction[i];
      return isacsInterpolate(error, e1, e2, c1, c2);
    }
  }
  return device.isacs.regulator.settings.transfer.correction[device.isacs.regulator.settings.transfer.points - 1];
}

int32_t isacsOutput(uint32_t voltage) {
  int32_t v1, v2;
  for (uint8_t i = 1; i < device.isacs.output.settings.transfer.points; i++) {
    v1 = device.isacs.output.settings.transfer.voltage[i - 1];
    if (voltage < v1) {
      return device.isacs.output.settings.transfer.code[i - 1];
    }

    v2 = device.isacs.output.settings.transfer.voltage[i];
    if (voltage < v2) {
      int32_t c1 = device.isacs.output.settings.transfer.code[i - 1];
      int32_t c2 = device.isacs.output.settings.transfer.code[i];
      return isacsInterpolate(voltage, v1, v2, c1, c2);
    }
  }
  return device.isacs.output.settings.transfer.code[device.isacs.output.settings.transfer.points - 1];
}

void isacsProcess(void) {
  device.isacs.input.state.sum += device.controller.SSP.in[4];
  if (device.measurement.counter == 31) {
    device.isacs.input.state.raw = device.isacs.input.state.sum >> 5;
    device.isacs.input.state.sum = 0;
    device.isacs.input.state.V = isacsInput(device.isacs.input.state.raw);
    
    if (device.isacs.regulator.state.enabled) {
      device.isacs.regulator.state.error = device.isacs.regulator.state.reference - device.isacs.input.state.V;
      device.isacs.regulator.state.correction = (device.isacs.regulator.state.scale * isacsCorrection(device.isacs.regulator.state.error)) >> 16;
      device.isacs.output.state.voltage += device.isacs.regulator.state.correction;
      device.controller.SSP.out[0] = isacsOutput(device.isacs.output.state.voltage);
    }
  }
}