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274
firmware/src/board.rs
Normal file
274
firmware/src/board.rs
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@ -0,0 +1,274 @@
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use cortex_m;
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use tm4c129x;
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const LED1: u8 = 0x10; // PF1
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const LED2: u8 = 0x40; // PF3
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const HV_PWM: u8 = 0x01; // PF0
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const FV_PWM: u8 = 0x04; // PF2
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const FBV_PWM: u8 = 0x01; // PD5
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const FD_ADC: u8 = 0x01; // PE0
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const FV_ADC: u8 = 0x02; // PE1
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const FBI_ADC: u8 = 0x04; // PE2
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const IC_ADC: u8 = 0x08; // PE3
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const FBV_ADC: u8 = 0x20; // PD5
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const AV_ADC: u8 = 0x40; // PD6
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const FV_ERRN: u8 = 0x01; // PL0
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const FBV_ERRN: u8 = 0x02; // PL1
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const FBI_ERRN: u8 = 0x04; // PL2
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const AV_ERRN: u8 = 0x08; // PL3
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const AI_ERRN: u8 = 0x10; // PL4
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const ERR_LATCHN: u8 = 0x20; // PL5
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const ERR_RESN: u8 = 0x01; // PQ0
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const PWM_LOAD: u16 = (/*pwmclk*/16_000_000u32 / /*freq*/100_000) as u16;
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const UART_DIV_16P6: u32 = /*altclk*/16_000_000 * (1 << /*len(divfrac)*/6) /
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(/*clkdiv*/16 * /*baud*/115200);
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pub const AV_ADC_GAIN: f32 = 6.792703150912105;
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pub fn set_led(nr: u8, state: bool) {
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let bit = match nr {
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1 => LED1,
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2 => LED2,
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_ => panic!("unknown LED")
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};
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cortex_m::interrupt::free(|cs| {
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let gpio_k = tm4c129x::GPIO_PORTK.borrow(cs);
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if state {
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gpio_k.data.modify(|r, w| w.data().bits(r.data().bits() | bit))
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} else {
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gpio_k.data.modify(|r, w| w.data().bits(r.data().bits() & !bit))
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}
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});
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}
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pub fn set_hv_pwm(duty: u16) {
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cortex_m::interrupt::free(|cs| {
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let pwm0 = tm4c129x::PWM0.borrow(cs);
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pwm0._0_cmpa.write(|w| w.compa().bits(duty));
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});
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}
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pub fn set_fv_pwm(duty: u16) {
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cortex_m::interrupt::free(|cs| {
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let pwm0 = tm4c129x::PWM0.borrow(cs);
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pwm0._1_cmpa.write(|w| w.compa().bits(duty));
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});
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}
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pub fn set_fbv_pwm(duty: u16) {
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cortex_m::interrupt::free(|cs| {
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let pwm0 = tm4c129x::PWM0.borrow(cs);
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pwm0._2_cmpa.write(|w| w.compa().bits(duty));
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});
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}
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#[allow(dead_code)]
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pub enum EmissionRange {
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Low, // 22K
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Med, // 22K//(200Ω + compensated diode)
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High // 22K//(39Ω + uncompensated diode)
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}
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pub fn set_emission_range(range: EmissionRange) {
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cortex_m::interrupt::free(|cs| {
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let gpio_p = tm4c129x::GPIO_PORTP.borrow(cs);
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gpio_p.data.modify(|r, w| {
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let value = r.data().bits() & 0b100111;
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match range {
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EmissionRange::Low => w.data().bits(value | 0b000000),
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EmissionRange::Med => w.data().bits(value | 0b001000),
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EmissionRange::High => w.data().bits(value | 0b010000),
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}
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});
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});
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}
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fn reset_error() {
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cortex_m::interrupt::free(|cs| {
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let gpio_l = tm4c129x::GPIO_PORTL.borrow(cs);
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let gpio_q = tm4c129x::GPIO_PORTQ.borrow(cs);
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gpio_q.data.modify(|r, w| w.data().bits(r.data().bits() & !ERR_RESN));
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while gpio_l.data.read().bits() as u8 & ERR_LATCHN == 0 {}
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gpio_q.data.modify(|r, w| w.data().bits(r.data().bits() | ERR_RESN));
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});
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}
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pub fn process_errors() {
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cortex_m::interrupt::free(|cs| {
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let gpio_l = tm4c129x::GPIO_PORTL.borrow(cs);
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let errors_n = gpio_l.data.read().bits() as u8;
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if errors_n & FV_ERRN == 0 {
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hprintln!("Filament overvolt");
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}
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if errors_n & FBV_ERRN == 0 {
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hprintln!("Filament bias overvolt");
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}
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if errors_n & FBI_ERRN == 0 {
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hprintln!("Filament bias overcurrent");
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}
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if errors_n & AV_ERRN == 0 {
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hprintln!("Anode overvolt");
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}
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if errors_n & AI_ERRN == 0 {
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hprintln!("Anode overcurrent");
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}
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});
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}
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pub fn init() {
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cortex_m::interrupt::free(|cs| {
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let sysctl = tm4c129x::SYSCTL.borrow(cs);
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// Set up main oscillator
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sysctl.moscctl.write(|w| w.noxtal().bit(false));
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sysctl.moscctl.modify(|_, w| w.pwrdn().bit(false).oscrng().bit(true));
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// Set up PLL with fVCO=320 MHz
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sysctl.pllfreq1.write(|w| w.q().bits(0).n().bits(4));
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sysctl.pllfreq0.write(|w| w.mint().bits(64).pllpwr().bit(true));
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sysctl.rsclkcfg.modify(|_, w| w.pllsrc().mosc().newfreq().bit(true));
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while !sysctl.pllstat.read().lock().bit() {}
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// Bring up GPIO ports A, D, E, F, G, K, L, P, Q
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sysctl.rcgcgpio.modify(|_, w| {
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w.r0().bit(true)
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.r3().bit(true)
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.r4().bit(true)
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.r5().bit(true)
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.r6().bit(true)
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.r9().bit(true)
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.r10().bit(true)
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.r13().bit(true)
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.r14().bit(true)
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});
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while !sysctl.prgpio.read().r0().bit() {}
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while !sysctl.prgpio.read().r3().bit() {}
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while !sysctl.prgpio.read().r4().bit() {}
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while !sysctl.prgpio.read().r5().bit() {}
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while !sysctl.prgpio.read().r6().bit() {}
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while !sysctl.prgpio.read().r9().bit() {}
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while !sysctl.prgpio.read().r10().bit() {}
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while !sysctl.prgpio.read().r13().bit() {}
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while !sysctl.prgpio.read().r14().bit() {}
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// Set up UART0 at 115200
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let gpio_a = tm4c129x::GPIO_PORTA_AHB.borrow(cs);
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gpio_a.dir.write(|w| w.dir().bits(0b11));
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gpio_a.den.write(|w| w.den().bits(0b11));
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gpio_a.afsel.write(|w| w.afsel().bits(0b11));
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gpio_a.pctl.write(|w| unsafe { w.pmc0().bits(1).pmc1().bits(1) });
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sysctl.rcgcuart.modify(|_, w| w.r0().bit(true));
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while !sysctl.pruart.read().r0().bit() {}
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let uart_0 = tm4c129x::UART0.borrow(cs);
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uart_0.cc.write(|w| w.cs().altclk());
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uart_0.ibrd.write(|w| w.divint().bits((UART_DIV_16P6 >> 6) as u16));
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uart_0.fbrd.write(|w| w.divfrac().bits(UART_DIV_16P6 as u8));
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uart_0.lcrh.write(|w| w.wlen()._8().fen().bit(true));
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uart_0.ctl.write(|w| w.rxe().bit(true).txe().bit(true).uarten().bit(true));
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// Set up LEDs
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let gpio_k = tm4c129x::GPIO_PORTK.borrow(cs);
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gpio_k.dir.write(|w| w.dir().bits(LED1|LED2));
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gpio_k.den.write(|w| w.den().bits(LED1|LED2));
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// Set up gain and emission range control pins
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let gpio_p = tm4c129x::GPIO_PORTP.borrow(cs);
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gpio_p.dir.write(|w| w.dir().bits(0b111111));
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gpio_p.den.write(|w| w.den().bits(0b111111));
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// Set up error pins
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let gpio_l = tm4c129x::GPIO_PORTL.borrow(cs);
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let gpio_q = tm4c129x::GPIO_PORTQ.borrow(cs);
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gpio_l.pur.write(|w| w.pue().bits(FV_ERRN|FBV_ERRN|FBI_ERRN|AV_ERRN|AI_ERRN));
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gpio_l.den.write(|w| w.den().bits(FV_ERRN|FBV_ERRN|FBI_ERRN|AV_ERRN|AI_ERRN|ERR_LATCHN));
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gpio_q.dir.write(|w| w.dir().bits(ERR_RESN));
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gpio_q.den.write(|w| w.den().bits(ERR_RESN));
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reset_error();
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// Set up PWMs
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let gpio_f = tm4c129x::GPIO_PORTF_AHB.borrow(cs);
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gpio_f.dir.write(|w| w.dir().bits(HV_PWM|FV_PWM));
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gpio_f.den.write(|w| w.den().bits(HV_PWM|FV_PWM));
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gpio_f.afsel.write(|w| w.afsel().bits(HV_PWM|FV_PWM));
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gpio_f.pctl.write(|w| unsafe { w.pmc0().bits(6).pmc2().bits(6) });
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let gpio_g = tm4c129x::GPIO_PORTG_AHB.borrow(cs);
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gpio_g.dir.write(|w| w.dir().bits(FBV_PWM));
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gpio_g.den.write(|w| w.den().bits(FBV_PWM));
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gpio_g.afsel.write(|w| w.afsel().bits(FBV_PWM));
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gpio_g.pctl.write(|w| unsafe { w.pmc0().bits(6) });
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sysctl.rcgcpwm.modify(|_, w| w.r0().bit(true));
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while !sysctl.prpwm.read().r0().bit() {}
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let pwm0 = tm4c129x::PWM0.borrow(cs);
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// HV_PWM
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pwm0._0_gena.write(|w| w.actload().zero().actcmpad().one());
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pwm0._0_load.write(|w| w.load().bits(PWM_LOAD));
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pwm0._0_cmpa.write(|w| w.compa().bits(0));
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pwm0._0_ctl.write(|w| w.enable().bit(true));
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// FV_PWM
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pwm0._1_gena.write(|w| w.actload().zero().actcmpad().one());
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pwm0._1_load.write(|w| w.load().bits(PWM_LOAD));
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pwm0._1_cmpa.write(|w| w.compa().bits(0));
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pwm0._1_ctl.write(|w| w.enable().bit(true));
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// FBV_PWM
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pwm0._2_gena.write(|w| w.actload().zero().actcmpad().one());
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pwm0._2_load.write(|w| w.load().bits(PWM_LOAD));
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pwm0._2_cmpa.write(|w| w.compa().bits(0));
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pwm0._2_ctl.write(|w| w.enable().bit(true));
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// Enable all at once
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pwm0.enable.write(|w| {
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w.pwm0en().bit(true)
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.pwm2en().bit(true)
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.pwm4en().bit(true)
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});
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// Set up ADC
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let gpio_d = tm4c129x::GPIO_PORTD_AHB.borrow(cs);
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let gpio_e = tm4c129x::GPIO_PORTE_AHB.borrow(cs);
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gpio_d.afsel.write(|w| w.afsel().bits(FBV_ADC|AV_ADC));
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gpio_d.amsel.write(|w| w.amsel().bits(FBV_ADC|AV_ADC));
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gpio_e.afsel.write(|w| w.afsel().bits(FD_ADC|FV_ADC|FBI_ADC|IC_ADC));
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gpio_e.amsel.write(|w| w.amsel().bits(FD_ADC|FV_ADC|FBI_ADC|IC_ADC));
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sysctl.rcgcadc.modify(|_, w| w.r0().bit(true));
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while !sysctl.pradc.read().r0().bit() {}
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let adc0 = tm4c129x::ADC0.borrow(cs);
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// Due to silicon erratum, this HAS to use PLL. PIOSC is not a suitable source.
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// fADC=32 MHz
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adc0.cc.write(|w| w.cs().syspll().clkdiv().bits(10));
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adc0.im.write(|w| w.mask0().bit(true));
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adc0.emux.write(|w| w.em0().always());
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adc0.ssmux0.write(|w| {
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w.mux0().bits(0) // IC_ADC
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.mux1().bits(1) // FBI_ADC
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.mux2().bits(2) // FV_ADC
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.mux3().bits(3) // FD_ADC
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.mux4().bits(5) // AV_ADC
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.mux5().bits(6) // FBV_ADC
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});
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adc0.ssctl0.write(|w| w.ie5().bit(true).end5().bit(true));
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adc0.sstsh0.write(|w| {
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w.tsh0()._4()
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.tsh1()._4()
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.tsh2()._4()
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.tsh3()._4()
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.tsh4()._4()
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.tsh5()._4()
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});
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adc0.sac.write(|w| w.avg()._64x());
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adc0.ctl.write(|w| w.vref().bit(true));
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adc0.actss.write(|w| w.asen0().bit(true));
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});
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}
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39
firmware/src/loop_anode.rs
Normal file
39
firmware/src/loop_anode.rs
Normal file
@ -0,0 +1,39 @@
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use board;
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use pid;
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const PID_PARAMETERS: pid::Parameters = pid::Parameters {
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kp: 0.004,
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ki: 0.002,
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kd: 0.0,
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output_min: 0.0,
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output_max: 30.0,
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integral_min: -5000.0,
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integral_max: 5000.0
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};
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pub struct Controller {
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pid: pid::Controller
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}
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impl Controller {
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pub const fn new() -> Controller {
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Controller {
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pid: pid::Controller::new(PID_PARAMETERS)
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}
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}
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pub fn adc_input(&mut self, av_sample: u16) {
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let pid_out = self.pid.update(av_sample as f32);
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board::set_hv_pwm(pid_out as u16)
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}
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pub fn set_target(&mut self, volts: f32) {
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self.pid.set_target(volts*board::AV_ADC_GAIN)
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}
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pub fn ready(&mut self) -> bool {
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self.pid.is_within(1.0*board::AV_ADC_GAIN)
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}
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}
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28
firmware/src/loop_cathode.rs
Normal file
28
firmware/src/loop_cathode.rs
Normal file
@ -0,0 +1,28 @@
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use board;
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use pid;
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const PID_PARAMETERS: pid::Parameters = pid::Parameters {
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kp: 0.004,
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ki: 0.002,
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kd: 0.0,
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output_min: 0.0,
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output_max: 30.0,
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integral_min: -5000.0,
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integral_max: 5000.0
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};
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pub struct Controller {
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pid: pid::Controller
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}
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impl Controller {
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pub const fn new() -> Controller {
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Controller {
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pid: pid::Controller::new(PID_PARAMETERS)
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}
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}
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pub fn adc_input(&mut self, _fbi_sample: u16, _fd_sample: u16, _fv_sample: u16, _fbv_sample: u16) {
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}
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}
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@ -1,4 +1,4 @@
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#![feature(used, const_fn)]
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#![feature(used, const_fn, core_float)]
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#![no_std]
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#[macro_use]
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@ -14,49 +14,17 @@ use cortex_m::interrupt::Mutex;
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use tm4c129x::interrupt::Interrupt;
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use tm4c129x::interrupt::Handlers as InterruptHandlers;
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mod board;
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mod pid;
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mod loop_anode;
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mod loop_cathode;
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const HV_PID_PARAMETERS: pid::Parameters = pid::Parameters {
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kp: 0.004,
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ki: 0.002,
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kd: 0.0,
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output_min: 0.0,
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output_max: 30.0,
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integral_min: -5000.0,
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integral_max: 5000.0
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};
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static LOOP_ANODE: Mutex<RefCell<loop_anode::Controller>> = Mutex::new(RefCell::new(
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loop_anode::Controller::new()));
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static HV_PID: Mutex<RefCell<pid::Controller>> = Mutex::new(RefCell::new(
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pid::Controller::new(HV_PID_PARAMETERS)));
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const LED1: u8 = 0x10; // PF1
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const LED2: u8 = 0x40; // PF3
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const HV_PWM: u8 = 0x01; // PF0
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const FV_PWM: u8 = 0x04; // PF2
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const FBV_PWM: u8 = 0x01; // PD5
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const FD_ADC: u8 = 0x01; // PE0
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const FV_ADC: u8 = 0x02; // PE1
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const FBI_ADC: u8 = 0x04; // PE2
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const IC_ADC: u8 = 0x08; // PE3
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const FBV_ADC: u8 = 0x20; // PD5
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const AV_ADC: u8 = 0x40; // PD6
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const FV_ERRN: u8 = 0x01; // PL0
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const FBV_ERRN: u8 = 0x02; // PL1
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const FBI_ERRN: u8 = 0x04; // PL2
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const AV_ERRN: u8 = 0x08; // PL3
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const AI_ERRN: u8 = 0x10; // PL4
|
||||
const ERR_LATCHN: u8 = 0x20; // PL5
|
||||
const ERR_RESN: u8 = 0x01; // PQ0
|
||||
|
||||
const PWM_LOAD: u16 = (/*pwmclk*/16_000_000u32 / /*freq*/100_000) as u16;
|
||||
|
||||
const UART_DIV_16P6: u32 = /*altclk*/16_000_000 * (1 << /*len(divfrac)*/6) /
|
||||
(/*clkdiv*/16 * /*baud*/115200);
|
||||
static LOOP_CATHODE: Mutex<RefCell<loop_cathode::Controller>> = Mutex::new(RefCell::new(
|
||||
loop_cathode::Controller::new()));
|
||||
|
||||
|
||||
pub struct UART0;
|
||||
@ -89,283 +57,35 @@ macro_rules! println {
|
||||
}
|
||||
|
||||
|
||||
fn set_led(nr: u8, state: bool) {
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
let gpio_k = tm4c129x::GPIO_PORTK.borrow(cs);
|
||||
if state {
|
||||
gpio_k.data.modify(|r, w| w.data().bits(r.data().bits() | nr))
|
||||
} else {
|
||||
gpio_k.data.modify(|r, w| w.data().bits(r.data().bits() & !nr))
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
fn set_hv_pwm(duty: u16) {
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
let pwm0 = tm4c129x::PWM0.borrow(cs);
|
||||
pwm0._0_cmpa.write(|w| w.compa().bits(duty));
|
||||
});
|
||||
}
|
||||
|
||||
fn set_fv_pwm(duty: u16) {
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
let pwm0 = tm4c129x::PWM0.borrow(cs);
|
||||
pwm0._1_cmpa.write(|w| w.compa().bits(duty));
|
||||
});
|
||||
}
|
||||
|
||||
fn set_fbv_pwm(duty: u16) {
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
let pwm0 = tm4c129x::PWM0.borrow(cs);
|
||||
pwm0._2_cmpa.write(|w| w.compa().bits(duty));
|
||||
});
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
enum EmissionRange {
|
||||
Low, // 22K
|
||||
Med, // 22K//(200Ω + compensated diode)
|
||||
High // 22K//(39Ω + uncompensated diode)
|
||||
}
|
||||
|
||||
fn set_emission_range(range: EmissionRange) {
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
let gpio_p = tm4c129x::GPIO_PORTP.borrow(cs);
|
||||
gpio_p.data.modify(|r, w| {
|
||||
let value = r.data().bits() & 0b100111;
|
||||
match range {
|
||||
EmissionRange::Low => w.data().bits(value | 0b000000),
|
||||
EmissionRange::Med => w.data().bits(value | 0b001000),
|
||||
EmissionRange::High => w.data().bits(value | 0b010000),
|
||||
}
|
||||
});
|
||||
});
|
||||
}
|
||||
|
||||
fn error_reset() {
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
let gpio_l = tm4c129x::GPIO_PORTL.borrow(cs);
|
||||
let gpio_q = tm4c129x::GPIO_PORTQ.borrow(cs);
|
||||
gpio_q.data.modify(|r, w| w.data().bits(r.data().bits() & !ERR_RESN));
|
||||
while gpio_l.data.read().bits() as u8 & ERR_LATCHN == 0 {}
|
||||
gpio_q.data.modify(|r, w| w.data().bits(r.data().bits() | ERR_RESN));
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
fn main() {
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
let sysctl = tm4c129x::SYSCTL.borrow(cs);
|
||||
let nvic = tm4c129x::NVIC.borrow(cs);
|
||||
board::init();
|
||||
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
// Enable FPU
|
||||
let scb = tm4c129x::SCB.borrow(cs);
|
||||
scb.enable_fpu();
|
||||
|
||||
// Set up main oscillator
|
||||
sysctl.moscctl.write(|w| w.noxtal().bit(false));
|
||||
sysctl.moscctl.modify(|_, w| w.pwrdn().bit(false).oscrng().bit(true));
|
||||
|
||||
// Set up PLL with fVCO=320 MHz
|
||||
sysctl.pllfreq1.write(|w| w.q().bits(0).n().bits(4));
|
||||
sysctl.pllfreq0.write(|w| w.mint().bits(64).pllpwr().bit(true));
|
||||
sysctl.rsclkcfg.modify(|_, w| w.pllsrc().mosc().newfreq().bit(true));
|
||||
while !sysctl.pllstat.read().lock().bit() {}
|
||||
|
||||
// Set up system timer
|
||||
let systick = tm4c129x::SYST.borrow(cs);
|
||||
systick.set_reload(systick.get_ticks_per_10ms());
|
||||
systick.enable_counter();
|
||||
systick.enable_interrupt();
|
||||
|
||||
// Bring up GPIO ports A, D, E, F, G, K, L, P, Q
|
||||
sysctl.rcgcgpio.modify(|_, w| {
|
||||
w.r0().bit(true)
|
||||
.r3().bit(true)
|
||||
.r4().bit(true)
|
||||
.r5().bit(true)
|
||||
.r6().bit(true)
|
||||
.r9().bit(true)
|
||||
.r10().bit(true)
|
||||
.r13().bit(true)
|
||||
.r14().bit(true)
|
||||
});
|
||||
while !sysctl.prgpio.read().r0().bit() {}
|
||||
while !sysctl.prgpio.read().r3().bit() {}
|
||||
while !sysctl.prgpio.read().r4().bit() {}
|
||||
while !sysctl.prgpio.read().r5().bit() {}
|
||||
while !sysctl.prgpio.read().r6().bit() {}
|
||||
while !sysctl.prgpio.read().r9().bit() {}
|
||||
while !sysctl.prgpio.read().r10().bit() {}
|
||||
while !sysctl.prgpio.read().r13().bit() {}
|
||||
while !sysctl.prgpio.read().r14().bit() {}
|
||||
|
||||
// Set up UART0 at 115200
|
||||
let gpio_a = tm4c129x::GPIO_PORTA_AHB.borrow(cs);
|
||||
gpio_a.dir.write(|w| w.dir().bits(0b11));
|
||||
gpio_a.den.write(|w| w.den().bits(0b11));
|
||||
gpio_a.afsel.write(|w| w.afsel().bits(0b11));
|
||||
gpio_a.pctl.write(|w| unsafe { w.pmc0().bits(1).pmc1().bits(1) });
|
||||
|
||||
sysctl.rcgcuart.modify(|_, w| w.r0().bit(true));
|
||||
while !sysctl.pruart.read().r0().bit() {}
|
||||
|
||||
let uart_0 = tm4c129x::UART0.borrow(cs);
|
||||
uart_0.cc.write(|w| w.cs().altclk());
|
||||
uart_0.ibrd.write(|w| w.divint().bits((UART_DIV_16P6 >> 6) as u16));
|
||||
uart_0.fbrd.write(|w| w.divfrac().bits(UART_DIV_16P6 as u8));
|
||||
uart_0.lcrh.write(|w| w.wlen()._8().fen().bit(true));
|
||||
uart_0.ctl.write(|w| w.rxe().bit(true).txe().bit(true).uarten().bit(true));
|
||||
|
||||
// Set up LEDs
|
||||
let gpio_k = tm4c129x::GPIO_PORTK.borrow(cs);
|
||||
gpio_k.dir.write(|w| w.dir().bits(LED1|LED2));
|
||||
gpio_k.den.write(|w| w.den().bits(LED1|LED2));
|
||||
|
||||
// Set up gain and emission range control pins
|
||||
let gpio_p = tm4c129x::GPIO_PORTP.borrow(cs);
|
||||
gpio_p.dir.write(|w| w.dir().bits(0b111111));
|
||||
gpio_p.den.write(|w| w.den().bits(0b111111));
|
||||
|
||||
// Set up error pins
|
||||
let gpio_l = tm4c129x::GPIO_PORTL.borrow(cs);
|
||||
let gpio_q = tm4c129x::GPIO_PORTQ.borrow(cs);
|
||||
gpio_l.pur.write(|w| w.pue().bits(FV_ERRN|FBV_ERRN|FBI_ERRN|AV_ERRN|AI_ERRN));
|
||||
gpio_l.den.write(|w| w.den().bits(FV_ERRN|FBV_ERRN|FBI_ERRN|AV_ERRN|AI_ERRN|ERR_LATCHN));
|
||||
gpio_q.dir.write(|w| w.dir().bits(ERR_RESN));
|
||||
gpio_q.den.write(|w| w.den().bits(ERR_RESN));
|
||||
error_reset();
|
||||
|
||||
// Set up PWMs
|
||||
let gpio_f = tm4c129x::GPIO_PORTF_AHB.borrow(cs);
|
||||
gpio_f.dir.write(|w| w.dir().bits(HV_PWM|FV_PWM));
|
||||
gpio_f.den.write(|w| w.den().bits(HV_PWM|FV_PWM));
|
||||
gpio_f.afsel.write(|w| w.afsel().bits(HV_PWM|FV_PWM));
|
||||
gpio_f.pctl.write(|w| unsafe { w.pmc0().bits(6).pmc2().bits(6) });
|
||||
|
||||
let gpio_g = tm4c129x::GPIO_PORTG_AHB.borrow(cs);
|
||||
gpio_g.dir.write(|w| w.dir().bits(FBV_PWM));
|
||||
gpio_g.den.write(|w| w.den().bits(FBV_PWM));
|
||||
gpio_g.afsel.write(|w| w.afsel().bits(FBV_PWM));
|
||||
gpio_g.pctl.write(|w| unsafe { w.pmc0().bits(6) });
|
||||
|
||||
sysctl.rcgcpwm.modify(|_, w| w.r0().bit(true));
|
||||
while !sysctl.prpwm.read().r0().bit() {}
|
||||
|
||||
let pwm0 = tm4c129x::PWM0.borrow(cs);
|
||||
// HV_PWM
|
||||
pwm0._0_gena.write(|w| w.actload().zero().actcmpad().one());
|
||||
pwm0._0_load.write(|w| w.load().bits(PWM_LOAD));
|
||||
pwm0._0_cmpa.write(|w| w.compa().bits(0));
|
||||
pwm0._0_ctl.write(|w| w.enable().bit(true));
|
||||
// FV_PWM
|
||||
pwm0._1_gena.write(|w| w.actload().zero().actcmpad().one());
|
||||
pwm0._1_load.write(|w| w.load().bits(PWM_LOAD));
|
||||
pwm0._1_cmpa.write(|w| w.compa().bits(0));
|
||||
pwm0._1_ctl.write(|w| w.enable().bit(true));
|
||||
// FBV_PWM
|
||||
pwm0._2_gena.write(|w| w.actload().zero().actcmpad().one());
|
||||
pwm0._2_load.write(|w| w.load().bits(PWM_LOAD));
|
||||
pwm0._2_cmpa.write(|w| w.compa().bits(0));
|
||||
pwm0._2_ctl.write(|w| w.enable().bit(true));
|
||||
// Enable all at once
|
||||
pwm0.enable.write(|w| {
|
||||
w.pwm0en().bit(true)
|
||||
.pwm2en().bit(true)
|
||||
.pwm4en().bit(true)
|
||||
});
|
||||
|
||||
// Set up ADC
|
||||
let gpio_d = tm4c129x::GPIO_PORTD_AHB.borrow(cs);
|
||||
let gpio_e = tm4c129x::GPIO_PORTE_AHB.borrow(cs);
|
||||
gpio_d.afsel.write(|w| w.afsel().bits(FBV_ADC|AV_ADC));
|
||||
gpio_d.amsel.write(|w| w.amsel().bits(FBV_ADC|AV_ADC));
|
||||
gpio_e.afsel.write(|w| w.afsel().bits(FD_ADC|FV_ADC|FBI_ADC|IC_ADC));
|
||||
gpio_e.amsel.write(|w| w.amsel().bits(FD_ADC|FV_ADC|FBI_ADC|IC_ADC));
|
||||
|
||||
sysctl.rcgcadc.modify(|_, w| w.r0().bit(true));
|
||||
while !sysctl.pradc.read().r0().bit() {}
|
||||
|
||||
let adc0 = tm4c129x::ADC0.borrow(cs);
|
||||
// Due to silicon erratum, this HAS to use PLL. PIOSC is not a suitable source.
|
||||
// fADC=32 MHz
|
||||
adc0.cc.write(|w| w.cs().syspll().clkdiv().bits(10));
|
||||
adc0.im.write(|w| w.mask0().bit(true));
|
||||
adc0.emux.write(|w| w.em0().always());
|
||||
adc0.ssmux0.write(|w| {
|
||||
w.mux0().bits(0) // IC_ADC
|
||||
.mux1().bits(1) // FBI_ADC
|
||||
.mux2().bits(2) // FV_ADC
|
||||
.mux3().bits(3) // FD_ADC
|
||||
.mux4().bits(5) // AV_ADC
|
||||
.mux5().bits(6) // FBV_ADC
|
||||
});
|
||||
adc0.ssctl0.write(|w| w.ie5().bit(true).end5().bit(true));
|
||||
adc0.sstsh0.write(|w| {
|
||||
w.tsh0()._4()
|
||||
.tsh1()._4()
|
||||
.tsh2()._4()
|
||||
.tsh3()._4()
|
||||
.tsh4()._4()
|
||||
.tsh5()._4()
|
||||
});
|
||||
adc0.sac.write(|w| w.avg()._64x());
|
||||
adc0.ctl.write(|w| w.vref().bit(true));
|
||||
adc0.actss.write(|w| w.asen0().bit(true));
|
||||
|
||||
let nvic = tm4c129x::NVIC.borrow(cs);
|
||||
nvic.enable(Interrupt::ADC0SS0);
|
||||
|
||||
|
||||
set_emission_range(EmissionRange::Med);
|
||||
HV_PID.borrow(cs).borrow_mut().set_target(200.0);
|
||||
set_fv_pwm(PWM_LOAD/16);
|
||||
set_fbv_pwm(PWM_LOAD/8);
|
||||
board::set_emission_range(board::EmissionRange::High);
|
||||
LOOP_ANODE.borrow(cs).borrow_mut().set_target(30.0+12.0);
|
||||
//set_fv_pwm(10);
|
||||
board::set_fbv_pwm(20);
|
||||
});
|
||||
|
||||
println!("ready");
|
||||
|
||||
loop {
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
let gpio_l = tm4c129x::GPIO_PORTL.borrow(cs);
|
||||
let errors_n = gpio_l.data.read().bits() as u8;
|
||||
if errors_n & FV_ERRN == 0 {
|
||||
hprintln!("Filament overvolt");
|
||||
}
|
||||
if errors_n & FBV_ERRN == 0 {
|
||||
hprintln!("Filament bias overvolt");
|
||||
}
|
||||
if errors_n & FBI_ERRN == 0 {
|
||||
hprintln!("Filament bias overcurrent");
|
||||
}
|
||||
if errors_n & AV_ERRN == 0 {
|
||||
hprintln!("Anode overvolt");
|
||||
}
|
||||
if errors_n & AI_ERRN == 0 {
|
||||
hprintln!("Anode overcurrent");
|
||||
}
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
use cortex_m::exception::SysTick;
|
||||
extern fn sys_tick(ctxt: SysTick) {
|
||||
static ELAPSED: Local<Cell<u32>, SysTick> = Local::new(Cell::new(0));
|
||||
let elapsed = ELAPSED.borrow(&ctxt);
|
||||
|
||||
elapsed.set(elapsed.get() + 1);
|
||||
if elapsed.get() % 100 == 0 {
|
||||
set_led(LED1, true);
|
||||
set_led(LED2, false);
|
||||
}
|
||||
if elapsed.get() % 100 == 50 {
|
||||
set_led(LED1, false);
|
||||
set_led(LED2, true);
|
||||
board::process_errors();
|
||||
}
|
||||
}
|
||||
|
||||
use tm4c129x::interrupt::ADC0SS0;
|
||||
extern fn adc0_ss0(_ctxt: ADC0SS0) {
|
||||
extern fn adc0_ss0(ctxt: ADC0SS0) {
|
||||
static ELAPSED: Local<Cell<u32>, ADC0SS0> = Local::new(Cell::new(0));
|
||||
let elapsed = ELAPSED.borrow(&ctxt);
|
||||
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
let adc0 = tm4c129x::ADC0.borrow(cs);
|
||||
if adc0.ostat.read().ov0().bit() {
|
||||
@ -373,22 +93,32 @@ extern fn adc0_ss0(_ctxt: ADC0SS0) {
|
||||
}
|
||||
adc0.isc.write(|w| w.in0().bit(true));
|
||||
|
||||
let _ic_sample = adc0.ssfifo0.read().data().bits();
|
||||
let _fbi_sample = adc0.ssfifo0.read().data().bits();
|
||||
let _fv_sample = adc0.ssfifo0.read().data().bits();
|
||||
let _fd_sample = adc0.ssfifo0.read().data().bits();
|
||||
let av_sample = adc0.ssfifo0.read().data().bits();
|
||||
let _fbv_sample = adc0.ssfifo0.read().data().bits();
|
||||
let _ic_sample = adc0.ssfifo0.read().data().bits();
|
||||
let fbi_sample = adc0.ssfifo0.read().data().bits();
|
||||
let fv_sample = adc0.ssfifo0.read().data().bits();
|
||||
let fd_sample = adc0.ssfifo0.read().data().bits();
|
||||
let av_sample = adc0.ssfifo0.read().data().bits();
|
||||
let fbv_sample = adc0.ssfifo0.read().data().bits();
|
||||
|
||||
let mut hv_pid = HV_PID.borrow(cs).borrow_mut();
|
||||
set_hv_pwm(hv_pid.update(av_sample as f32) as u16);
|
||||
let mut loop_anode = LOOP_ANODE.borrow(cs).borrow_mut();
|
||||
let mut loop_cathode = LOOP_CATHODE.borrow(cs).borrow_mut();
|
||||
loop_anode.adc_input(av_sample);
|
||||
loop_cathode.adc_input(fbi_sample, fd_sample, fv_sample, fbv_sample);
|
||||
|
||||
if elapsed.get() % 100 == 0 {
|
||||
board::set_led(1, true);
|
||||
board::set_led(2, false);
|
||||
}
|
||||
if elapsed.get() % 100 == 50 {
|
||||
board::set_led(1, false);
|
||||
board::set_led(2, true);
|
||||
}
|
||||
})
|
||||
}
|
||||
|
||||
#[used]
|
||||
#[link_section = ".rodata.exceptions"]
|
||||
pub static EXCEPTIONS: ExceptionHandlers = ExceptionHandlers {
|
||||
sys_tick: sys_tick,
|
||||
..cortex_m::exception::DEFAULT_HANDLERS
|
||||
};
|
||||
|
||||
|
||||
@ -1,3 +1,5 @@
|
||||
use core::num::Float;
|
||||
|
||||
#[derive(Clone, Copy)]
|
||||
pub struct Parameters {
|
||||
pub kp: f32,
|
||||
@ -60,6 +62,14 @@ impl Controller {
|
||||
self.target = target
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
pub fn is_within(&mut self, tolerance: f32) -> bool {
|
||||
match self.last_input {
|
||||
None => false,
|
||||
Some(last_input) => (last_input - self.target).abs() < tolerance
|
||||
}
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
pub fn reset(&mut self) {
|
||||
self.integral = 0.0;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user