118 lines
2.9 KiB
C++
118 lines
2.9 KiB
C++
/* Copyright 2023 (C) Peter McGoron
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* This file is a part of Upsilon, a free and open source software project.
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* For license terms, refer to the files in `doc/copying` in the Upsilon
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* source distribution.
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*/
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/* TODO: add ADC_TO_DAC multiplication and verify */
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#include <cstdio>
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#include <cstdint>
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#include "control_loop_math_implementation.h"
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#include "Vcontrol_loop_math.h"
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using ModType = Vcontrol_loop_math;
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uint32_t main_time = 0;
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double sc_time_stamp() {
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return main_time;
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}
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ModType *mod;
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static void run_clock() {
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for (int i = 0; i < 2; i++) {
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mod->clk = !mod->clk;
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mod->eval();
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main_time++;
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}
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}
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static void init(int argc, char **argv) {
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Verilated::commandArgs(argc, argv);
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Verilated::traceEverOn(true);
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mod = new ModType;
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mod->clk = 0;
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mod->rst_L = 1;
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}
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#define MASK(n) ((1 << (n)) - 1)
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using V = int64_t;
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constexpr V per100 = 0b010101011110011000;
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constexpr V adc_to_dac = 0b0101110111000000000000000000000000000000000;
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static void calculate() {
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/* Multiplication adds an extra CONSTS_FRAC bits to the end,
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* truncate them. */
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V err_cur = mulsat((V)mod->setpt - (V)mod->measured, adc_to_dac, 64, CONSTS_FRAC);
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V dt = mulsat(per100, (V)mod->cycles << CONSTS_FRAC, 64, CONSTS_FRAC);
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V idt = mulsat(dt, mod->cl_I, 64, CONSTS_FRAC);
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V epidt = mulsat(err_cur << CONSTS_FRAC, mod->cl_P + idt, 64, CONSTS_FRAC);
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V ep = mulsat((V)mod->e_prev << CONSTS_FRAC, mod->cl_P, 64, CONSTS_FRAC);
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V new_adjval = mod->adjval_prev + epidt - ep;
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mod->arm = 1;
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do {
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run_clock();
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} while (!mod->finished);
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mod->arm = 0;
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run_clock();
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run_clock();
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/* Stupid bug: verilator does not sign-extend signed ports */
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printf("err_cur %ld %ld\n", err_cur, sign_extend(mod->e_cur, E_WID));
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printf("dt %ld %ld\n", dt, mod->dt_reg);
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printf("idt %ld %ld\n", idt, mod->idt_reg);
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printf("epidt %ld %ld\n", epidt, mod->epidt_reg);
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printf("ep %ld %ld\n", ep, mod->ep_reg);
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printf("adj %ld %ld\n", new_adjval, mod->adj_val);
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}
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int main(int argc, char **argv) {
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init(argc, argv);
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mod->arm = 0;
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mod->rst_L = 1;
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run_clock();
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Transfer func = Transfer{150, 0, 2, 1.1, 10, -1};
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/* Initial conditions */
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mod->setpt = 10000;
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mod->cl_P = 0b11010111000010100011110101110000101000111; /* 0.21 */
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mod->cl_I = (V)12 << CONSTS_FRAC;
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mod->cycles = 20; /* dummy number for now */
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mod->e_prev = 0;
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mod->adjval_prev = 0;
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V setting = 100000;
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printf("running\n");
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for (int i = 0; i < 200; i++) {
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mod->measured = func.val(setting);
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mod->stored_dac_val = setting;
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calculate();
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mod->e_prev = mod->e_cur;
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mod->adjval_prev = mod->adj_val;
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/* C++ has no standard arithmetic right shift */
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V adj;
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if ((V)mod->adj_val > 0) {
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adj = mod->adj_val >> CONSTS_FRAC;
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} else {
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adj = -((-mod->adj_val) >> CONSTS_FRAC);
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}
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printf("#%d: setting: %ld, measured: %ld, setpt: %ld, adj: %ld\n", i, setting, mod->measured, mod->setpt, adj);
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setting += adj;
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printf("new_dac_val %ld %ld\n", setting, mod->new_dac_val);
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}
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mod->final();
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delete mod;
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return 0;
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}
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