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use FR_math for fixed point arithmetic

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Alessandro Mauri 2026-05-10 12:08:56 +02:00
parent f0d961a65d
commit 204e750b74
6 changed files with 2635 additions and 63 deletions
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22
fw/main.c
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@ -3,6 +3,10 @@
#include <stdio.h>
#include <fsusb.h>
#define FR_LEAN
// #define FR_CORE_ONLY
#include <FR_math.h>
#include "funconfig.h"
#include "lib_i2c.h"
#include "display.h"
@ -10,6 +14,8 @@
#include "sc7a20.h"
#include "pd.h"
// Radix for fixed point operations
#define R 16
// constants
// LUT for converting NTC readings to degrees celsius
@ -483,7 +489,7 @@ __attribute__((noreturn)) int main(void)
static uint16_t vbus_mv, current_ma;
static int16_t temp_c, tip_temp_c;
static uint16_t power;
static fp24_8_t e;
static s32 e;
vbus_mv = U16_FP_EMA_K4(vbus_mv, ((u32)adc_buffer[0]*VCC_MV*11)/4096);
current_ma = U16_FP_EMA_K4(current_ma, get_current_ma(adc_buffer[1]));
temp_c = I16_FP_EMA_K4(temp_c, get_temp_c(adc_buffer[2]));
@ -567,13 +573,13 @@ __attribute__((noreturn)) int main(void)
err_d = delta - prev_delta;
prev_delta = delta;
const fp24_8_t kp = f32_to_fp24_8(0.8f);
const fp24_8_t ki = f32_to_fp24_8(0.15f);
const fp24_8_t kd = f32_to_fp24_8(0.0f);
e = fp24_8_mul(i16_to_fp24_8(err_p), kp) +
fp24_8_mul(i16_to_fp24_8(err_i), ki) +
fp24_8_mul(i16_to_fp24_8(err_d), kd);
uint16_t duty = MAX(0, MIN(I(e), pd_profile.max_duty));
const s32 kp = FR_NUM(0, 8, 1, R);
const s32 ki = FR_NUM(0, 15, 2, R);
const s32 kd = FR_NUM(0, 0, 1, R);
e = FR_FIxAddSat(e, FR_FixMulSat(I2FR(err_p, R), kp));
e = FR_FIxAddSat(e, FR_FixMulSat(I2FR(err_i, R), ki));
e = FR_FIxAddSat(e, FR_FixMulSat(I2FR(err_f, R), kd));
uint16_t duty = MAX(0, MIN(FR2I(e, R), pd_profile.max_duty));
pwm_set(((u32)duty*tim_max)/100);
u8g2_DrawBox(u8g2, x_off+92, y_off+12, 4, 4);