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integrate adding stored dac value into rtrunc

This commit is contained in:
Peter McGoron 2022-10-22 01:52:58 -04:00
parent f361cac01b
commit 91cbf56b02
1 changed files with 10 additions and 22 deletions
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32
firmware/rtl/control_loop/control_loop.v
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@ -95,10 +95,6 @@
* bits). * bits).
*/ */
/*
* 0x3214*78e-6 = 0.9996 + lower order (storable as 15 whole bits)
*/
`define ERR_WID (ADC_WID + 1) `define ERR_WID (ADC_WID + 1)
module control_loop module control_loop
@ -160,7 +156,10 @@ reg signed [CONSTS_WID-1:0] cl_p_reg_buffer = 0;
reg [DELAY_WID-1:0] dely = 0; reg [DELAY_WID-1:0] dely = 0;
reg [DELAY_WID-1:0] dely_buffer = 0; reg [DELAY_WID-1:0] dely_buffer = 0;
reg running = 0; reg running = 0;
reg signed[DAC_DATA_WID-1:0] stored_dac_val = 0;
/* Registers for PI calculations */ /* Registers for PI calculations */
reg signed [ERR_WID-1:0] err_prev = 0; reg signed [ERR_WID-1:0] err_prev = 0;
@ -220,8 +219,9 @@ reg [STATESIZ-1:0] state = INIT_READ_FROM_DAC;
* x ----------------------------| x----------------------------- * x ----------------------------| x-----------------------------
* αe: CONSTS_WHOLE+ERR_WID.CONSTS_FRAC - Pe_p: CONSTS_WHOLE+ERR_WID.CONSTS_FRAC * αe: CONSTS_WHOLE+ERR_WID.CONSTS_FRAC - Pe_p: CONSTS_WHOLE+ERR_WID.CONSTS_FRAC
* + A_p: CONSTS_WHOLE+ERR_WID.CONSTS_FRAC * + A_p: CONSTS_WHOLE+ERR_WID.CONSTS_FRAC
* + stored_dac_val << CONSTS_FRAC: DAC_DATA_WID.CONSTS_FRAC
* -------------------------------------------------------------- * --------------------------------------------------------------
* A_p + αe - Pe_p: CONSTS_WHOLE+ERR_WID+1.CONSTS_FRAC * A_p + αe - Pe_p + stored_dac_val: CONSTS_WHOLE+ERR_WID+1.CONSTS_FRAC
* --> discard fractional bits: CONSTS_WHOLE+ADC_WID+1.(DAC_DATA_WID - ADC_WID) * --> discard fractional bits: CONSTS_WHOLE+ADC_WID+1.(DAC_DATA_WID - ADC_WID)
* --> Saturate-truncate: ADC_WID.(DAC_DATA_WID-ADC_WID) * --> Saturate-truncate: ADC_WID.(DAC_DATA_WID-ADC_WID)
* --> reinterpret and write into DAC: DAC_DATA_WID.0 * --> reinterpret and write into DAC: DAC_DATA_WID.0
@ -291,7 +291,8 @@ localparam SUB_FRAC_WID = MUL_FRAC_WID;
localparam SUB_WID = SUB_WHOLE_WID + SUB_FRAC_WID; localparam SUB_WID = SUB_WHOLE_WID + SUB_FRAC_WID;
reg signed [SUB_WID-1:0] adj_old = 0; reg signed [SUB_WID-1:0] adj_old = 0;
wire signed [SUB_WID-1:0] newadj = adj_old + alpha_err - p_err_prev; wire signed [SUB_WID-1:0] newadj = adj_old + alpha_err - p_err_prev
+ (stored_dac_val << CONSTS_FRAC);
/**** Discard fractional bits **** /**** Discard fractional bits ****
* The truncation of the subtraction result first takes off the lower * The truncation of the subtraction result first takes off the lower
@ -322,23 +323,10 @@ intsat #(
.IN_LEN(RTRUNC_WID), .IN_LEN(RTRUNC_WID),
.LTRUNC(DAC_DATA_WID) .LTRUNC(DAC_DATA_WID)
) sat_newadj_rtrunc ( ) sat_newadj_rtrunc (
.inp(newadj_rtrunc), .inp(rtrunc),
.outp(dac_adj_val) .outp(dac_adj_val)
); );
reg signed[DAC_DATA_WID-1:0] stored_dac_val;
wire [DAC_DATA_WID:0] total_dac_val_add = stored_dac_val + dac_adj_val;
wire [DAC_DATA_WID-1:0] total_dac_val;
intsat #(
.IN_LEN(DAC_DATA_WID),
.LTRUNC(1)
) total_dac_trunc (
.inp(total_dac_val_add),
.outp(total_dac_val)
);
reg [DELAY_WID-1:0] timer = 0; reg [DELAY_WID-1:0] timer = 0;
/**** Read-Write control interface. ****/ /**** Read-Write control interface. ****/
@ -478,8 +466,8 @@ always @ (posedge clk) begin
arm_mul <= 0; arm_mul <= 0;
dac_arm <= 1; dac_arm <= 1;
dac_ss <= 1; dac_ss <= 1;
stored_dac_val <= total_dac_val; stored_dac_val <= dac_adj_val;
to_dac <= b'0001 << DAC_DATA_WID | total_dac_val; to_dac <= b'0001 << DAC_DATA_WID | dac_adj_val;
state <= WAIT_ON_DAC; state <= WAIT_ON_DAC;
end end
WAIT_ON_DAC: if (dac_finished) begin WAIT_ON_DAC: if (dac_finished) begin