wn/TeensyPwm
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tune interrupt stuff

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hg 2015-02-11 18:06:42 +01:00
parent 5dc7bb9379
commit 9672fab717
3 changed files with 66 additions and 46 deletions
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108
TeensyPwm.cpp
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@ -7,15 +7,19 @@
const uint8_t PWM_PIN = 23; const uint8_t PWM_PIN = 23;
const uint8_t PWM_LOOPBACK = 22;
const uint32_t PWM_FREQ = 23437; const uint32_t PWM_FREQ = 23437;
// const uint32_t PWM_FREQ = 46875;
const uint32_t PWM_RES = 10; const uint32_t PWM_RES = 10;
const uint32_t PWM_MIN = 0; const uint32_t PWM_MIN = 1;
const uint32_t PWM_MAX = 1023; const uint32_t PWM_MAX = 1023;
const uint8_t ADC_IN = 22; const uint8_t ADC_IN = 21;
const uint8_t ADC_RES = 10; const uint8_t ADC_RES = 10;
const uint32_t ADC_MIN = 0; const uint32_t ADC_MIN = 0;
const uint32_t ADC_MAX = 1023; const uint32_t ADC_MAX = 1023;
const uint8_t ADC_AVG = 32;
const float R_top = 100000.0; const float R_top = 100000.0;
const float R_bottom = 6200.0; const float R_bottom = 6200.0;
const float U_ref = 3.3; const float U_ref = 3.3;
@ -29,38 +33,23 @@ const uint8_t LCD_D7 = 7;
const uint8_t LCD_ROWS = 2; const uint8_t LCD_ROWS = 2;
const uint8_t LCD_COLS = 16; const uint8_t LCD_COLS = 16;
const uint32_t CYCLE_TIME = 250; // microseconds
const uint32_t DISPLAY_UPDATE_TIME = 5e5; // microseconds
const uint32_t CYCLE_DIV = 5;
const float Ctrl_P = 5.0; const float Ctrl_P = 10.0;
const float Ctrl_I = 2.0; const float Ctrl_I = 5.0;
const float Ctrl_D = 0.0; const float Ctrl_D = 0.0;
volatile float U_des = 12.0; volatile Control ctrl((float)PWM_MIN, (float)PWM_MAX, Ctrl_P, Ctrl_I, Ctrl_D);
volatile float U_des = 14.0;
LiquidCrystal lcd(LCD_RS, LCD_E, LCD_D4, LCD_D5, LCD_D6, LCD_D7); LiquidCrystal lcd(LCD_RS, LCD_E, LCD_D4, LCD_D5, LCD_D6, LCD_D7);
volatile Control ctrl((float)PWM_MIN, (float)PWM_MAX, Ctrl_P, Ctrl_I, Ctrl_D); const uint32_t DISPLAY_UPDATE_TIME = 5e5; // microseconds
void setup() {
lcd.begin(LCD_COLS, LCD_ROWS);
lcd.print("Teensy SMPS");
pinMode(PWM_PIN, OUTPUT);
analogWrite(PWM_PIN, 0);
analogWriteFrequency(PWM_PIN, PWM_FREQ);
analogWriteResolution(PWM_RES);
attachInterrupt(PWM_PIN, cycle, RISING);
analogReadResolution(ADC_RES);
analogReference(DEFAULT);
// analogReadAveraging(16);
pinMode(ADC_IN, INPUT);
}
volatile uint32_t lastCycle = 0; volatile uint32_t lastCycle = 0;
volatile float u_curr = 0; volatile float u_curr = 0;
@ -69,46 +58,77 @@ volatile uint32_t cycleDelay = 0;
volatile uint32_t maxCycleDelay = 0; volatile uint32_t maxCycleDelay = 0;
void cycle() { void cycle() {
uint32_t currentTime = micros(); static uint32_t cycles = 0;
cycleDelay = currentTime - lastCycle; if (cycles >= CYCLE_DIV) {
if (cycleDelay > maxCycleDelay) { cycles = 0;
maxCycleDelay = cycleDelay; uint32_t currentTime = micros();
cycleDelay = currentTime - lastCycle;
if (cycleDelay > maxCycleDelay) {
maxCycleDelay = cycleDelay;
}
lastCycle = currentTime;
uint16_t adcIn = analogRead(ADC_IN);
float u_adc = ((float)adcIn) * U_ref / ((float)ADC_MAX);
u_curr = u_adc * (R_top + R_bottom) / R_bottom;
float newPwm_f = ctrl.cycle(U_des, u_curr);
newPwm = (uint16_t) newPwm_f;
analogWrite(PWM_PIN, newPwm);
} }
lastCycle = currentTime; cycles++;
uint16_t adcIn = analogRead(ADC_IN); }
float u_adc = ((float)adcIn) * U_ref / ((float)ADC_MAX);
u_curr = u_adc * (R_top + R_bottom) / R_bottom;
float newPwm_f = ctrl.cycle(U_des, u_curr); void setup() {
newPwm = (uint16_t) newPwm_f; lcd.begin(LCD_COLS, LCD_ROWS);
lcd.print("Teensy SMPS");
pinMode(PWM_PIN, OUTPUT);
analogWrite(PWM_PIN, PWM_MIN);
analogWriteFrequency(PWM_PIN, PWM_FREQ);
analogWriteResolution(PWM_RES);
pinMode(PWM_LOOPBACK, INPUT);
attachInterrupt(PWM_LOOPBACK, cycle, RISING);
analogReadResolution(ADC_RES);
analogReference(DEFAULT);
if (ADC_AVG != 0) {
analogReadAveraging(ADC_AVG);
}
pinMode(ADC_IN, INPUT);
analogWrite(PWM_PIN, newPwm);
} }
void loop() { void loop() {
static uint32_t lastDisplayCycle = 0; static uint32_t lastDisplayCycle = 0;
static uint32_t cycleCnt = 0; static uint32_t cycleCnt = 0;
currentTime = micros(); uint32_t currentTime = micros();
if ((lastDisplayCycle + DISPLAY_UPDATE_TIME <= currentTime) || (lastDisplayCycle > currentTime)) { if ((lastDisplayCycle + DISPLAY_UPDATE_TIME <= currentTime) || (lastDisplayCycle > currentTime)) {
lastDisplayCycle = currentTime; lastDisplayCycle = currentTime;
cycleCnt++; cycleCnt++;
if (cycleCnt == 60) { if (cycleCnt == 60) {
maxCycleDelay = 0; maxCycleDelay = 0;
} }
noInterrupts();
float my_u_curr = u_curr;
uint16_t my_newPwm = newPwm;
uint32_t my_cycleDelay = cycleDelay;
interrupts();
lcd.clear(); lcd.clear();
lcd.setCursor(0, 0); lcd.setCursor(0, 0);
lcd.print(U_des); lcd.print(U_des);
lcd.setCursor(8, 0); lcd.setCursor(8, 0);
lcd.print(u_curr); lcd.print(my_u_curr);
lcd.setCursor(0, 1); lcd.setCursor(0, 1);
lcd.print(maxCycleDelay); lcd.print(maxCycleDelay);
float dutyCycle = ((float)newPwm) / ((float)PWM_MAX) * 100.0; float dutyCycle = ((float)my_newPwm) / ((float)PWM_MAX) * 100.0;
lcd.setCursor(8, 1); lcd.print(" ");
// lcd.print(dutyCycle); lcd.print(my_cycleDelay);
// lcd.print("%"); lcd.print(" ");
lcd.print(cycleDelay); lcd.print(dutyCycle);
lcd.print("%");
} }
} }

2
control.cpp
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@ -37,7 +37,7 @@ Control::Control(float p_rMin, float p_rMax, float p_kP, float p_kI, float p_kD)
} }
float Control::cycle(float vDes, float vCur) { float Control::cycle(float vDes, float vCur) volatile {
float e = vDes - vCur; float e = vDes - vCur;
float rMot = m_rOld + float rMot = m_rOld +

2
control.h
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@ -15,7 +15,7 @@
class Control { class Control {
public: public:
Control(float p_rMin, float p_rMax, float p_kP, float p_kI, float p_kD); Control(float p_rMin, float p_rMax, float p_kP, float p_kI, float p_kD);
float cycle(float vDes, float vCur); float cycle(float vDes, float vCur) volatile;
private: private:
float m_rOld; float m_rOld;
float m_eOld; float m_eOld;