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fix FR_math impl

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This commit is contained in:
Alessandro Mauri 2026-05-10 12:58:25 +02:00
parent c1cee6a15a
commit 3c50fcd695
4 changed files with 33 additions and 16 deletions
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2
fw/Makefile
View File

@ -44,7 +44,7 @@ $(BUILD_DIR)/%.o : %.c $(HEADER_FILES) | $(BUILD_DIR)
# link target, the rest of the build is specified in ch32fun.mk
$(TARGET).elf : $(FILES_TO_COMPILE) $(LINKER_SCRIPT) $(EXTRA_ELF_DEPENDENCIES) $(U8G2_OBJS) $(FRMATH_OBJS) $(TARGET_OBJS) ch32fun.o
$(PREFIX)-gcc -o $@ $(U8G2_OBJS) $(TARGET_OBJS) ch32fun.o $(CFLAGS) $(LDFLAGS)
$(PREFIX)-gcc -o $@ $(U8G2_OBJS) $(TARGET_OBJS) $(FRMATH_OBJS) ch32fun.o $(CFLAGS) $(LDFLAGS)
flash : cv_flash

5
fw/display.c
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@ -249,3 +249,8 @@ const char* i16toa(int16_t value)
return p;
}
static char str_buf[32];
uint8_t str_len;
int buf_putc(char c) { str_buf[str_len++] = c; return 0; }
const char* buf_get(void) { str_buf[str_len] = '\0'; str_len = 0; return str_buf; }

2
fw/display.h
View File

@ -10,6 +10,8 @@
u8g2_t* display_init(void);
const char* i16toa(int16_t value);
const char* u16toa(uint16_t value);
int buf_putc(char c);
const char* buf_get(void);
#endif // _DISPLAY_H

36
fw/main.c
View File

@ -1,3 +1,4 @@
#include "fr_math/FR_math.h"
#include <ch32fun.h>
#include <stdint.h>
#include <stdio.h>
@ -533,7 +534,8 @@ __attribute__((noreturn)) int main(void)
// Display power
//u8g2_DrawStr(u8g2, x_off+0, y_off+15, "W:");
//u8g2_DrawStr(u8g2, x_off+10, y_off+15, u8g2_u16toa(power, 3));
u8g2_DrawStr(u8g2, x_off+0, y_off+15, i16toa(delta));
FR_printNumF(buf_putc, e, R, 0, 3);
u8g2_DrawStr(u8g2, x_off+0, y_off+15, buf_get());
// Display current
u8g2_DrawStr(u8g2, x_off+45, y_off+15, "A:");
u8g2_DrawStr(u8g2, x_off+55, y_off+15, u16toa(current_ma));
@ -565,23 +567,30 @@ __attribute__((noreturn)) int main(void)
if (pwm) {
const uint16_t tim_max = FUNCONF_SYSTEM_CORE_CLOCK / PWM_FREQ_HZ - 1;
static int16_t err_p, err_i, err_d, prev_delta;
static s32 err_p, err_i, err_d, prev_err;
uint16_t duty;
// absolute temperature error
s32 err = I2FR(delta, R);
err_p = delta;
err_i = MAX(-1000, MIN(1000, err_i+delta));
err_d = delta - prev_delta;
prev_delta = delta;
err_p = err;
err_i = FR_CLAMP(FR_FixAddSat(err_i, err), I2FR(-1000, R), I2FR(1000, R));
err_d = FR_SUB(err, R, prev_err, R);
prev_err = err;
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));
const s32 kp = FR_numstr("0.00700", R);
const s32 ki = FR_numstr("0.00001", R);
const s32 kd = FR_numstr("0.00000", R);
e = FR_FixAddSat(e, FR_FixMulSat(err_p, kp));
e = FR_FixAddSat(e, FR_FixMulSat(err_i, ki));
e = FR_FixAddSat(e, FR_FixMulSat(err_d, kd));
e = FR_CLAMP(e, I2FR(0, R), I2FR(100, R));
duty = FR2I(FR_FixMulSat(FR_DIV(e, R, I2FR(100, R), R), I2FR(pd_profile.max_duty, R)), R);
if (duty <= 100) {
pwm_set(((u32)duty*tim_max)/100);
u8g2_DrawBox(u8g2, x_off+92, y_off+12, 4, 4);
}
} else {
pwm_set(0);
}
@ -602,6 +611,7 @@ __attribute__((noreturn)) int main(void)
if (enabled) {
pwm_on();
} else {
e = 0;
pwm_off();
}
}