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Merge branch 'master' of github.com:mck1117/wideband

This commit is contained in:
Matthew Kennedy 2020-10-29 19:24:01 -07:00
parent 9a95617b26 e946b5ba71
commit 7ec17c0e3a
17 changed files with 304 additions and 30 deletions
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55
firmware/.cproject Normal file
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@ -0,0 +1,55 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<storageModule moduleId="org.eclipse.cdt.core.settings">
<cconfiguration id="com.atollic.truestudio.exe.debug.toolchain.2055441200">
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<externalSettings/>
<extensions>
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<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" id="com.atollic.truestudio.exe.debug.toolchain.2055441200" name="Debug" parent="org.eclipse.cdt.build.core.emptycfg">
<folderInfo id="com.atollic.truestudio.exe.debug.toolchain.2055441200.2146952780" name="/" resourcePath="">
<toolChain id="com.atollic.truestudio.exe.debug.toolchain.1377313721" name="Atollic ARM Tools" superClass="com.atollic.truestudio.exe.debug.toolchain">
<option id="com.atollic.truestudio.general.runtimelib.1166856318" superClass="com.atollic.truestudio.general.runtimelib" value="com.atollic.truestudio.ld.general.cclib.CCSmallCSmall" valueType="enumerated"/>
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<builder buildPath="${workspace_loc:/firmware_wb}/Debug" customBuilderProperties="toolChainpathString=C:\\Program Files (x86)\\Atollic\\TrueSTUDIO for STM32 9.3.0\\ARMTools\\bin|toolChainpathType=1|" id="com.atollic.truestudio.mbs.builder1.1668618559" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="CDT Internal Builder" superClass="com.atollic.truestudio.mbs.builder1"/>
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<inputType id="com.atollic.truestudio.ldcc.input.175958994" name="Input" superClass="com.atollic.truestudio.ldcc.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
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<tool id="com.atollic.truestudio.ar.base.831514717" name="Archiver" superClass="com.atollic.truestudio.ar.base"/>
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<project id="firmware_wb.null.615182266" name="firmware_wb"/>
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<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
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<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
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27
firmware/.project Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>firmware_wb</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<triggers>clean,full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
<triggers>full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
</buildSpec>
<natures>
<nature>org.eclipse.cdt.core.cnature</nature>
<nature>org.eclipse.cdt.core.ccnature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
</natures>
</projectDescription>

10
firmware/.settings/com.atollic.truestudio.debug.hardware_device.prefs Normal file
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@ -0,0 +1,10 @@
BOARD=None
CODE_LOCATION=FLASH
ENDIAN=Little-endian
MCU=STM32F042K6
MCU_VENDOR=STMicroelectronics
MODEL=Pro
PROJECT_FORMAT_VERSION=2
TARGET=STM32
VERSION=9.3.0
eclipse.preferences.version=1

11
firmware/.settings/org.eclipse.cdt.managedbuilder.core.prefs Normal file
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@ -0,0 +1,11 @@
eclipse.preferences.version=1
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.toolchain.2055441200/CPATH/delimiter=;
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.toolchain.2055441200/CPATH/operation=remove
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.toolchain.2055441200/C_INCLUDE_PATH/delimiter=;
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.toolchain.2055441200/C_INCLUDE_PATH/operation=remove
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.toolchain.2055441200/append=true
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.toolchain.2055441200/appendContributed=true
environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.toolchain.2055441200/LIBRARY_PATH/delimiter=;
environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.toolchain.2055441200/LIBRARY_PATH/operation=remove
environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.toolchain.2055441200/append=true
environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.toolchain.2055441200/appendContributed=true

6
firmware/Makefile
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@ -108,6 +108,7 @@ include $(CHIBIOS)/os/common/ports/ARMv6-M/compilers/GCC/mk/port.mk
# Auto-build files in ./source recursively.
include $(CHIBIOS)/tools/mk/autobuild.mk
# Other files (optional).
include $(CHIBIOS)/os/hal/lib/streams/streams.mk
# Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32F042x6.ld
@ -124,6 +125,8 @@ CPPSRC = $(ALLCPPSRC) \
can_helper.cpp \
lambda_lookup.cpp \
pwm.cpp \
pump_dac.cpp \
sampling.cpp \
main.cpp
# List ASM source files here.
@ -150,7 +153,8 @@ CPPWARN = -Wall -Wextra -Wundef
#
# List all user C define here, like -D_DEBUG=1
UDEFS =
UDEFS = -DCHPRINTF_USE_FLOAT=1
# Define ASM defines here
UADEFS =

20
firmware/analog_input.cpp
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@ -2,14 +2,18 @@
#include "hal.h"
#define ADC_OVERSAMPLE 8
#define ADC_CHANNEL_COUNT 3
#define ADC_OVERSAMPLE 16
static adcsample_t adcBuffer[3 * ADC_OVERSAMPLE];
static adcsample_t adcBuffer[ADC_CHANNEL_COUNT * ADC_OVERSAMPLE];
ADCConversionGroup convGroup =
{
false, 3, nullptr, nullptr,
0, // CFGR1
false,
ADC_CHANNEL_COUNT,
nullptr,
nullptr,
ADC_CFGR1_CONT | ADC_CFGR1_RES_12BIT, // CFGR1
ADC_TR(0, 0), // TR
ADC_SMPR_SMP_28P5, // SMPR
ADC_CHSELR_CHSEL0 | ADC_CHSELR_CHSEL1 | ADC_CHSELR_CHSEL2
@ -22,10 +26,10 @@ static float AverageSamples(adcsample_t* buffer, size_t idx)
for (size_t i = 0; i < ADC_OVERSAMPLE; i++)
{
sum += buffer[idx];
idx += ADC_OVERSAMPLE;
idx += ADC_CHANNEL_COUNT;
}
constexpr float scale = 3.3f / (2048 * ADC_OVERSAMPLE);
constexpr float scale = 3.3f / (4095 * ADC_OVERSAMPLE);
return (float)sum * scale;
}
@ -34,9 +38,11 @@ AnalogResult AnalogSample()
{
adcConvert(&ADCD1, &convGroup, adcBuffer, ADC_OVERSAMPLE);
constexpr float nernstInputGain = 1 / 2.7f;
return
{
.NernstVoltage = AverageSamples(adcBuffer, 0),
.NernstVoltage = AverageSamples(adcBuffer, 0) * nernstInputGain,
.VirtualGroundVoltage = AverageSamples(adcBuffer, 1),
.PumpCurrentVoltage = AverageSamples(adcBuffer, 2),
};

4
firmware/can.cpp
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@ -5,8 +5,8 @@
static const CANConfig canConfig500 =
{
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_SJW(0) | CAN_BTR_BRP(5) | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP | CAN_MCR_NART,
CAN_BTR_SJW(0) | CAN_BTR_BRP(5) | CAN_BTR_TS1(12) | CAN_BTR_TS2(1) | CAN_BTR_LBKM,
};
void InitCan()

6
firmware/cfg/board.h
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@ -282,6 +282,8 @@
* PB3 - SPI SCK LED_GREEN (alternate 0).
* PB4 - SPI MISO (alternate 0).
* PB5 - SPI MOSI (alternate 0).
* PB6 - Debug UART TX (alternate 0).
* PB7 - Debug UART RX (alternate 0).
* PB8 - Nernst ESR driver (GPIO) (output pushpull).
*/
#define VAL_GPIOB_MODER (PIN_MODE_INPUT(GPIOB_PIN0) | \
@ -290,8 +292,8 @@
PIN_MODE_ALTERNATE(GPIOB_PIN3) | \
PIN_MODE_ALTERNATE(GPIOB_PIN4) | \
PIN_MODE_ALTERNATE(GPIOB_PIN5) | \
PIN_MODE_INPUT(GPIOB_PIN6) | \
PIN_MODE_INPUT(GPIOB_PIN7) | \
PIN_MODE_ALTERNATE(GPIOB_PIN6) | \
PIN_MODE_ALTERNATE(GPIOB_PIN7) | \
PIN_MODE_OUTPUT(GPIOB_PIN8) | \
PIN_MODE_INPUT(GPIOB_PIN9) | \
PIN_MODE_INPUT(GPIOB_PIN10) | \

2
firmware/cfg/halconf.h
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@ -100,7 +100,7 @@
* @brief Enables the UART subsystem.
*/
#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
#define HAL_USE_UART FALSE
#define HAL_USE_UART TRUE
#endif
/**

4
firmware/cfg/mcuconf.h
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@ -112,7 +112,7 @@
/*
* PWM driver system settings.
*/
#define STM32_PWM_USE_ADVANCED FALSE
#define STM32_PWM_USE_ADVANCED TRUE
#define STM32_PWM_USE_TIM1 TRUE
#define STM32_PWM_USE_TIM2 FALSE
#define STM32_PWM_USE_TIM3 TRUE
@ -145,7 +145,7 @@
/*
* UART driver system settings.
*/
#define STM32_UART_USE_USART1 FALSE
#define STM32_UART_USE_USART1 TRUE
#define STM32_UART_USE_USART2 FALSE
#define STM32_UART_USART1_DMA_PRIORITY 0
#define STM32_UART_USART2_DMA_PRIORITY 0

54
firmware/main.cpp
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@ -1,16 +1,33 @@
#include "ch.h"
#include "hal.h"
#include "chprintf.h"
#include "analog_input.h"
#include "can.h"
#include "pwm.h"
#include "pump_dac.h"
#include "sampling.h"
// 400khz / 1024 = 390hz PWM
// TODO: this is wired to an inverted output, what do?
Pwm heaterPwm(PWMD1, 1, 400000, 1024);
Pwm heaterPwm(PWMD1, 0, 400'000, 1024);
// 48MHz / 1024 = 46.8khz PWM
Pwm pumpDac(PWMD3, 1, 48000000, 1024);
static const UARTConfig uartCfg =
{
.txend1_cb = nullptr,
.txend2_cb = nullptr,
.rxend_cb = nullptr,
.rxchar_cb = nullptr,
.rxerr_cb = nullptr,
.timeout_cb = nullptr,
.timeout = 0,
.speed = 500000,
.cr1 = 0,
.cr2 = 0,
.cr3 = 0,
};
char strBuffer[200];
/*
* Application entry point.
@ -19,19 +36,36 @@ int main() {
halInit();
chSysInit();
StartSampling();
InitPumpDac();
InitCan();
uartStart(&UARTD1, &uartCfg);
heaterPwm.Start();
pumpDac.Start();
heaterPwm.SetDuty(0.2f);
pumpDac.SetDuty(0.4f);
while (true) {
/*for (int i = 0; i < 500; i++) {
SetPumpCurrentTarget(current);
chThdSleepMilliseconds(50);
auto result = AnalogSample();
// dummy data
SendCanData(0.5f, 300);
chThdSleepMilliseconds(10);
//size_t writeCount = chsnprintf(strBuffer, 200, "I: %d\t\tVM: %.3f\tIp: %.3f\n", current, result.VirtualGroundVoltage, result.PumpCurrentVoltage);
size_t writeCount = chsnprintf(strBuffer, 200, "%d\t%.4f\n", current, result.PumpCurrentVoltage);
uartStartSend(&UARTD1, writeCount, strBuffer);
//current += 10;
}*/
while(1) {
size_t writeCount = chsnprintf(strBuffer, 200, "%.4f\t%.2f\n", GetNernstDc() * 1000, GetSensorInternalResistance());
uartStartSend(&UARTD1, writeCount, strBuffer);
chThdSleepMilliseconds(5);
}
}

29
firmware/pump_dac.cpp Normal file
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@ -0,0 +1,29 @@
#include "pump_dac.h"
#include "pwm.h"
#include "hal.h"
// 48MHz / 1024 = 46.8khz PWM
static Pwm pumpDac(PWMD3, 0, 48'000'000, 1024);
void InitPumpDac()
{
pumpDac.Start();
// Set zero current to start - sensor can be damaged if current flowing
// while warming up
SetPumpCurrentTarget(0);
}
void SetPumpCurrentTarget(int32_t microampere)
{
// 47 ohm resistor
// 0.147 gain
// effective resistance of 317 ohms
float volts = 0.000321162f * microampere;
// offset by
volts += 1.65f;
pumpDac.SetDuty(volts / 3.3f);
}

6
firmware/pump_dac.h Normal file
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@ -0,0 +1,6 @@
#pragma once
#include <cstdint>
void InitPumpDac();
void SetPumpCurrentTarget(int32_t microamperes);

10
firmware/pwm.cpp
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@ -5,7 +5,7 @@
Pwm::Pwm(PWMDriver& driver, uint8_t channel, uint32_t counterFrequency, uint32_t counterPeriod)
: m_driver(&driver)
, m_channel(channel)
, m_counterFrequency(m_counterFrequency)
, m_counterFrequency(counterFrequency)
, m_counterPeriod(counterPeriod)
{
}
@ -17,10 +17,10 @@ void Pwm::Start()
m_counterPeriod,
nullptr,
{
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr}
{PWM_OUTPUT_ACTIVE_HIGH | PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH | PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH | PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH | PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW, nullptr}
},
0,
0

81
firmware/sampling.cpp Normal file
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@ -0,0 +1,81 @@
#include "sampling.h"
#include "ch.h"
#include "hal.h"
#include "analog_input.h"
// Stored results
float nernstAc = 0;
float nernstDc = 0;
volatile float pumpCurrentSenseVoltage = 0;
constexpr float f_abs(float x)
{
return x > 0 ? x : -x;
}
static THD_WORKING_AREA(waSamplingThread, 256);
static void SamplingThread(void*)
{
float r_2 = 0;
float r_3 = 0;
while(true)
{
// First toggle the pin
palTogglePad(GPIOB, 8);
auto result = AnalogSample();
float r_1 = result.NernstVoltage;
// r2_opposite_phase estimates where the previous sample would be had we not been toggling
// AKA the absolute value of the difference between r2_opposite_phase and r2 is the amplitude
// of the AC component on the nernst voltage. We have to pull this trick so as to use the past 3
// samples to cancel out any slope in the DC (aka actual nernst cell output) from the AC measurement
// See firmware/sampling.png for a drawing of what's going on here
float r2_opposite_phase = (r_1 + r_3) / 2;
// Compute AC (difference) and DC (average) components
nernstAc = f_abs(r2_opposite_phase - r_2);
nernstDc = (r2_opposite_phase + r_2) / 2;
pumpCurrentSenseVoltage = 0.8f * pumpCurrentSenseVoltage + 0.2f * (result.PumpCurrentVoltage - 1.65f);
// Shift history over by one
r_3 = r_2;
r_2 = r_1;
}
}
void StartSampling()
{
adcStart(&ADCD1, nullptr);
chThdCreateStatic(waSamplingThread, sizeof(waSamplingThread), NORMALPRIO + 5, SamplingThread, nullptr);
}
float GetNernstAc()
{
return nernstAc;
}
float GetSensorInternalResistance()
{
// Sensor is the lowside of a divider, top side is 22k, and 3.3v AC pk-pk is injected
return 22000 / (3.3f / GetNernstAc() - 1);
}
float GetNernstDc()
{
return nernstDc;
}
float GetPumpNominalCurrent()
{
// Gain is 10x, then a 61.9 ohm resistor
// Effective resistance with the gain is 619 ohms
// 1000 is to convert to milliamperes
constexpr float ratio = 1000 / 619.0f;
return pumpCurrentSenseVoltage * ratio;
}

9
firmware/sampling.h Normal file
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@ -0,0 +1,9 @@
#pragma once
void StartSampling();
float GetNernstAc();
float GetSensorInternalResistance();
float GetNernstDc();
float GetPumpNominalCurrent();

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