394 lines
9.7 KiB
C
394 lines
9.7 KiB
C
#include <libopencm3/stm32/rcc.h>
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#include <libopencm3/stm32/adc.h>
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#include <libopencm3/stm32/gpio.h>
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#include <libopencm3/stm32/dma.h>
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#include <libopencm3/stm32/timer.h>
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#include <libopencm3/cm3/nvic.h>
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#include <libopencm3/cm3/systick.h>
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#include <fxp.h>
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#include <fxp_basic.h>
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#include "lcd.h"
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#include "debug.h"
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#define CONV_PWM_MAX 960
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#define TIM_CH_CONV TIM_OC1
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#define TIM_CH_BOOTSTRAP TIM_OC2
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volatile int wait_frame = 1;
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#define ADC_NUM_CHANNELS 3
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volatile uint16_t adc_values[ADC_NUM_CHANNELS];
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static void init_gpio(void)
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{
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// Set up UART TX on PB6 for debugging
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gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO6);
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gpio_set_af(GPIOB, GPIO_AF0, GPIO6);
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// GPIO for converter switch
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// FIXME: AF
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gpio_mode_setup(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO8);
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gpio_clear(GPIOA, GPIO8);
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// GPIO for bootstrap pulse
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// FIXME: AF
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gpio_mode_setup(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO9);
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gpio_clear(GPIOA, GPIO9);
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// GPIO for load activation
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gpio_mode_setup(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO15);
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gpio_set(GPIOA, GPIO15);
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}
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static void init_clock(void)
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{
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/* Set STM32 to 48 MHz. */
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// Relevant for Timers
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//rcc_clock_setup_in_hse_8mhz_out_48mhz();
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rcc_clock_setup_in_hsi_out_48mhz();
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// enable GPIO clocks:
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// Port A is needed for the Display and more
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rcc_periph_clock_enable(RCC_GPIOA);
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// Port B is needed for debugging
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rcc_periph_clock_enable(RCC_GPIOB);
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// enable TIM3 for scheduling
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rcc_periph_clock_enable(RCC_TIM3);
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// enable TIM1 for PWM generation
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rcc_periph_clock_enable(RCC_TIM1);
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// enable ADC1 clock
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rcc_periph_clock_enable(RCC_ADC1);
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// enable DMA
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rcc_periph_clock_enable(RCC_DMA);
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}
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static void init_timer(void)
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{
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// *** TIM1 ***
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// Configure channels 1 and 2 for PWM (-> Pins PA8, PA9)
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// Ch1 = Buck converter switch, Ch2 = bootstrap pulse
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timer_reset(TIM1);
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timer_set_mode(TIM1, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
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// set up PWM channels
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timer_set_oc_mode(TIM1, TIM_CH_CONV, TIM_OCM_PWM1);
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timer_enable_oc_output(TIM1, TIM_CH_CONV);
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timer_enable_oc_preload(TIM1, TIM_CH_CONV);
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timer_set_oc_polarity_high(TIM1, TIM_CH_CONV);
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timer_set_oc_mode(TIM1, TIM_CH_BOOTSTRAP, TIM_OCM_PWM1);
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timer_enable_oc_output(TIM1, TIM_CH_BOOTSTRAP);
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timer_enable_oc_preload(TIM1, TIM_CH_BOOTSTRAP);
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timer_set_oc_polarity_low(TIM1, TIM_CH_BOOTSTRAP);
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timer_set_oc_value(TIM1, TIM_CH_CONV, 0); // no PWM by default
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timer_set_oc_value(TIM1, TIM_CH_BOOTSTRAP, 0); // no PWM by default
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// wanted: 50 kHz / 20 us period
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// system clock: 48 MHz
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// => 960 clock cycles / period = CONV_PWM_MAX
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// prescaler
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timer_set_prescaler(TIM1, 0); // Timer runs at system clock
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// auto-reload value
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timer_set_period(TIM1, CONV_PWM_MAX - 1);
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// enable update interrupt (triggered on timer restart)
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//timer_enable_irq(TIM1, TIM_DIER_UIE);
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// *** TIM3 ***
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// used for the 1-millisecond system tick
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timer_reset(TIM3);
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timer_set_mode(TIM3, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
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// prescaler
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timer_set_prescaler(TIM3, 47); // -> 1 us counting at 48 MHz
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// auto-reload value
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timer_set_period(TIM3, 999); // -> update interrupt every 1 ms
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// enable update interrupt (triggered on timer restart)
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timer_enable_irq(TIM3, TIM_DIER_UIE);
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nvic_enable_irq(NVIC_TIM3_IRQ);
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// Start all the timers!
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timer_enable_counter(TIM3);
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timer_enable_counter(TIM1);
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}
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static void init_adc(void)
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{
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uint8_t channels[ADC_NUM_CHANNELS] = {
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ADC_CHANNEL0, // VInSense
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ADC_CHANNEL1, // VOutSense
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ADC_CHANNEL2 // CurrentSense
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};
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adc_power_off(ADC1);
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// configure ADC
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//adc_enable_scan_mode(ADC1);
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adc_set_single_conversion_mode(ADC1);
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adc_set_resolution(ADC1, ADC_RESOLUTION_12BIT);
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adc_set_sample_time_on_all_channels(ADC1, ADC_SMPR_SMP_071DOT5);
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adc_disable_external_trigger_regular(ADC1);
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adc_set_right_aligned(ADC1);
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adc_set_regular_sequence(ADC1, ADC_NUM_CHANNELS, channels);
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// configure DMA for ADC
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//nvic_enable_irq(NVIC_DMA1_STREAM5_IRQ);
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dma_channel_reset(DMA1, DMA_CHANNEL1);
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dma_set_priority(DMA1, DMA_CHANNEL1, DMA_CCR_PL_LOW);
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dma_set_memory_size(DMA1, DMA_CHANNEL1, DMA_CCR_MSIZE_16BIT);
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dma_set_peripheral_size(DMA1, DMA_CHANNEL1, DMA_CCR_PSIZE_16BIT);
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dma_enable_memory_increment_mode(DMA1, DMA_CHANNEL1);
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dma_enable_circular_mode(DMA1, DMA_CHANNEL1);
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dma_set_read_from_peripheral(DMA1, DMA_CHANNEL1);
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dma_set_peripheral_address(DMA1, DMA_CHANNEL1, (uint32_t) &ADC1_DR);
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/* The array adc_values[] is filled with the waveform data to be output */
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dma_set_memory_address(DMA1, DMA_CHANNEL1, (uint32_t) adc_values);
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dma_set_number_of_data(DMA1, DMA_CHANNEL1, ADC_NUM_CHANNELS);
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//dma_enable_transfer_complete_interrupt(DMA1, DMA_CHANNEL1);
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dma_enable_channel(DMA1, DMA_CHANNEL1);
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adc_enable_dma(ADC1);
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// GO!
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adc_power_on(ADC1);
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}
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#if 0
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/* Set up timer to fire freq times per second */
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static void init_systick(int freq)
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{
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systick_set_clocksource(STK_CSR_CLKSOURCE_AHB);
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/* clear counter so it starts right away */
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STK_CVR = 0;
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systick_set_reload(rcc_ahb_frequency / freq);
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systick_counter_enable();
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systick_interrupt_enable();
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}
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#endif
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int main(void)
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{
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uint16_t cpuload = 0;
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uint64_t timebase_ms = 0;
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char msg[128];
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char number[FXP_STR_MAXLEN];
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uint8_t sentSomething = 0;
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// Calculated values
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//fxp_t VIN_SCALE = fxp_from_float(3.3f * (100 + 12.4f) / 12.4f / 4095.0f);
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//fxp_t VOUT_SCALE = fxp_from_float(3.3f * (100 + 12.0f) / 12.0f / 4095.0f);
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//fxp_t CURRENT_SCALE = fxp_from_float(9.7f / 4095.0f);
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// Calibrated from measurements
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fxp_t VIN_SCALE = fxp_from_float(12.11f / 1600.0f);
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fxp_t VOUT_SCALE = fxp_from_float(12.6f / 1620.0f);
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fxp_t CURRENT_SCALE = fxp_from_float(9.01f / 4095.0f);
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init_clock();
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init_gpio();
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init_adc();
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init_timer();
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lcd_init();
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debug_init();
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debug_send_string("Init complete\r\n");
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// boost converter PWM initial value
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//timer_set_oc_value(TIM3, TIM_OC1, 0);
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//init_systick(1000);
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// triggered every 1 ms
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while (1) {
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// let the ADC+DMA do its work
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adc_start_conversion_regular(ADC1);
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/*
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// *** Do some calculations while ADC converts ***
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// Ramp up target voltage
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if((targetVoltage < TARGET_VOLTAGE) && (voltRampUpCountdown-- == 0)) {
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targetVoltage += 2.0f;
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voltRampUpCountdown = VOLTAGE_UP_INTERVAL;
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if(targetVoltage > TARGET_VOLTAGE) {
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targetVoltage = TARGET_VOLTAGE;
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}
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}
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// read ADC value
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while(!adc_eoc(ADC1));
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adcval = adc_read_regular(ADC1);
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// scale current measurement
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curVoltage = VOLTAGE_MEAS_MAX * adcval / 4096.0f;
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// calculate error values
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pErr = targetVoltage - curVoltage;
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iErr += pErr;
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// limit integral error range
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if (iErr > IERR_LIMIT) iErr = IERR_LIMIT;
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else if(iErr < -IERR_LIMIT) iErr = -IERR_LIMIT;
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// calculate the controller output ("action")
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controlAction = pErr * PGAIN + iErr * IGAIN;
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// calculate resulting PWM value
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if(controlAction > MAX_DUTY_CYCLE) {
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pwm_value = (int)(PWM_PERIOD * MAX_DUTY_CYCLE);
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} else if(controlAction > 0) {
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pwm_value = (int)(controlAction * PWM_PERIOD);
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} else {
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pwm_value = 0;
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}
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*/
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//timer_set_oc_value(TIM3, TIM_OC1, pwm_value);
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/*
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if((timebase_ms % 500) == 10) {
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sprintf(msg, "Audio PWM: %lu",
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dbg_audio_pwm_value);
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debug_send_string(msg);
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sentSomething = 1;
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}
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*/
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// wait for DMA transfer to complete
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while(!dma_get_interrupt_flag(DMA1, DMA_CHANNEL1, DMA_TCIF) && wait_frame);
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dma_clear_interrupt_flags(DMA1, DMA_CHANNEL1, DMA_TCIF);
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if((timebase_ms % 500) == 0) {
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debug_send_string("ADC:");
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for(uint8_t i = 0; i < ADC_NUM_CHANNELS; i++) {
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fxp_format_int(adc_values[i], msg);
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debug_send_string(" ");
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debug_send_string(msg);
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}
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fxp_t scaled_val;
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scaled_val = fxp_mult(fxp_from_int(adc_values[0]), VIN_SCALE);
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fxp_format(scaled_val, msg, 3);
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debug_send_string("\r\nInput[V]: ");
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debug_send_string(msg);
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scaled_val = fxp_mult(fxp_from_int(adc_values[1]), VOUT_SCALE);
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fxp_format(scaled_val, msg, 3);
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debug_send_string("\r\nOutput[V]: ");
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debug_send_string(msg);
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scaled_val = fxp_mult(fxp_from_int(adc_values[2]), CURRENT_SCALE);
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fxp_format(scaled_val, msg, 3);
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debug_send_string("\r\nCurrent[A]: ");
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debug_send_string(msg);
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sentSomething = 1;
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}
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if(sentSomething) {
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debug_send_string("\r\n");
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sentSomething = 0;
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}
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if(lcd_setup()) {
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lcd_process();
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if((timebase_ms % 500) == 0) {
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fxp_t scaled_val;
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lcd_set_cursor_pos(1, 0);
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scaled_val = fxp_mult(fxp_from_int(adc_values[0]), VIN_SCALE);
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fxp_format(scaled_val, number, 1);
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fxp_right_align(number, msg, 4, ' ');
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lcd_send_string("I:");
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lcd_send_string(msg);
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lcd_send_string("V ");
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scaled_val = fxp_mult(fxp_from_int(adc_values[1]), VOUT_SCALE);
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fxp_format(scaled_val, number, 1);
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fxp_right_align(number, msg, 4, ' ');
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lcd_send_string("O:");
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lcd_send_string(msg);
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lcd_send_string("V ");
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lcd_set_cursor_pos(0, 8);
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scaled_val = fxp_mult(fxp_from_int(adc_values[2]), CURRENT_SCALE);
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scaled_val = fxp_mult(scaled_val, fxp_from_int(1000)); // A -> mA
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fxp_format(scaled_val, number, 0);
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fxp_right_align(number, msg, 4, ' ');
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lcd_send_string(msg);
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lcd_send_string("mA");
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}
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if((timebase_ms % 1000) == 10) {
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cpuload /= 1000;
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lcd_set_cursor_pos(0, 0);
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fxp_format_int((int32_t)cpuload, number);
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fxp_right_align(number, msg, 3, '0');
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lcd_send_string("L:0.");
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lcd_send_string(msg);
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}
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}
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// cpu load = timer1 value after main loop operations
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cpuload += timer_get_counter(TIM3);
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timebase_ms++;
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while(wait_frame);
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wait_frame = 1;
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}
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return 0;
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}
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/* Called when systick fires */
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void sys_tick_handler(void)
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{
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wait_frame = 0;
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}
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void tim3_isr(void)
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{
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// check for update interrupt
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if(timer_interrupt_source(TIM3, TIM_SR_UIF)) {
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wait_frame = 0;
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timer_clear_flag(TIM3, TIM_SR_UIF);
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}
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}
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void hard_fault_handler(void)
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{
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while (1);
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}
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