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WRPLL: remove anti-windup

This commit is contained in:
morgan 2024-05-08 16:17:49 +08:00 committed by sb10q
parent 53cb592d19
commit 285b02c4b1
1 changed files with 2 additions and 4 deletions
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6
src/libboard_artiq/src/si549.rs
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@ -337,8 +337,6 @@ pub mod wrpll {
const KP: i32 = 6;
const KI: i32 = 2;
// 4 ppm capture range
const ADPLL_LIM: i32 = (4.0 / 0.0001164) as i32;
static mut BASE_ADPLL: i32 = 0;
static mut H_LAST_ADPLL: i32 = 0;
@ -520,7 +518,7 @@ pub mod wrpll {
let period_err = tag_collector::get_period_error();
unsafe {
// Based on https://hackmd.io/IACbwcOTSt6Adj3_F9bKuw?view#Integral-wind-up-and-output-limiting
let adpll = (H_LAST_ADPLL + (KP + KI) * period_err - KP * LAST_PERIOD_ERR).clamp(-ADPLL_LIM, ADPLL_LIM);
let adpll = H_LAST_ADPLL + (KP + KI) * period_err - KP * LAST_PERIOD_ERR;
set_adpll(i2c::DCXO::Helper, BASE_ADPLL + adpll)?;
H_LAST_ADPLL = adpll;
LAST_PERIOD_ERR = period_err;
@ -532,7 +530,7 @@ pub mod wrpll {
let phase_err = tag_collector::get_phase_error();
unsafe {
// Based on https://hackmd.io/IACbwcOTSt6Adj3_F9bKuw?view#Integral-wind-up-and-output-limiting
let adpll = (M_LAST_ADPLL + (KP + KI) * phase_err - KP * LAST_PHASE_ERR).clamp(-ADPLL_LIM, ADPLL_LIM);
let adpll = M_LAST_ADPLL + (KP + KI) * phase_err - KP * LAST_PHASE_ERR;
set_adpll(i2c::DCXO::Main, BASE_ADPLL + adpll)?;
M_LAST_ADPLL = adpll;
LAST_PHASE_ERR = phase_err;