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Multichannel (#134)

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* Multichannel AFR

* heater: fixes for multi channel mode

* f1_dual: fix configuration names

* pump_dac: fixes for multi-channel mode

* pwm: fixes for multichannel mode

* pump_control: reference instead of pointer

* sampling: reference instead of pointer

* heater_control: reference instead of pointer

* sampling: comment about heater/battery voltage

* f0_module: fixes for multi-channel update

* f1_rev2: fix for multichannel AFR

* hello rev 3

Co-authored-by: rusefillc <sdfsdfqsf2334234234>
This commit is contained in:
Andrey G
2022-08-30 03:19:30 +03:00
committed by GitHub
parent 2cc460adba
commit cddcd0d88c
23 changed files with 371 additions and 249 deletions
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95
firmware/sampling.cpp
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@@ -12,10 +12,14 @@
#include <rusefi/interpolation.h>
// Stored results
static float nernstAc = 0;
static float nernstDc = 0;
static float pumpCurrentSenseVoltage = 0;
static float internalBatteryVoltage = 0;
struct measure_results {
float nernstAc;
float nernstDc;
float pumpCurrentSenseVoltage;
float internalBatteryVoltage;
};
static struct measure_results results[AFR_CHANNELS];
// Last point is approximated by the greatest measurable sensor resistance
static const float lsu49TempBins[] = { 80, 150, 200, 250, 300, 350, 400, 450, 550, 650, 800, 1000, 1200, 2500, 5000 };
@@ -30,51 +34,51 @@ static THD_WORKING_AREA(waSamplingThread, 256);
static void SamplingThread(void*)
{
float r_2 = 0;
float r_3 = 0;
float r_2[AFR_CHANNELS] = {0};
float r_3[AFR_CHANNELS] = {0};
/* GD32: Insert 20us delay after ADC enable */
chThdSleepMilliseconds(1);
while(true)
{
/* TODO: run for all channels */
int ch = 0;
auto result = AnalogSample();
// Toggle the pin after sampling so that any switching noise occurs while we're doing our math instead of when sampling
palTogglePad(NERNST_ESR_DRIVER_PORT, NERNST_ESR_DRIVER_PIN);
float r_1 = result.ch[ch].NernstVoltage;
for (int ch = 0; ch < AFR_CHANNELS; ch++) {
measure_results &res = results[ch];
float r_1 = result.ch[ch].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;
// 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[ch]) / 2;
// Compute AC (difference) and DC (average) components
float nernstAcLocal = f_abs(r2_opposite_phase - r_2);
nernstDc = (r2_opposite_phase + r_2) / 2;
// Compute AC (difference) and DC (average) components
float nernstAcLocal = f_abs(r2_opposite_phase - r_2[ch]);
res.nernstDc = (r2_opposite_phase + r_2[ch]) / 2;
nernstAc =
(1 - ESR_SENSE_ALPHA) * nernstAc +
ESR_SENSE_ALPHA * nernstAcLocal;
res.nernstAc =
(1 - ESR_SENSE_ALPHA) * res.nernstAc +
ESR_SENSE_ALPHA * nernstAcLocal;
// Exponential moving average (aka first order lpf)
pumpCurrentSenseVoltage =
(1 - PUMP_FILTER_ALPHA) * pumpCurrentSenseVoltage +
PUMP_FILTER_ALPHA * (result.ch[ch].PumpCurrentVoltage - result.VirtualGroundVoltageInt);
// Exponential moving average (aka first order lpf)
res.pumpCurrentSenseVoltage =
(1 - PUMP_FILTER_ALPHA) * res.pumpCurrentSenseVoltage +
PUMP_FILTER_ALPHA * (result.ch[ch].PumpCurrentVoltage - result.VirtualGroundVoltageInt);
#ifdef BATTERY_INPUT_DIVIDER
internalBatteryVoltage = result.ch[ch].BatteryVoltage;
#endif
#ifdef BATTERY_INPUT_DIVIDER
res.internalBatteryVoltage = result.ch[ch].BatteryVoltage;
#endif
// Shift history over by one
r_3 = r_2;
r_2 = r_1;
// Shift history over by one
r_3[ch] = r_2[ch];
r_2[ch] = r_1;
}
#if defined(TS_ENABLED)
/* tunerstudio */
@@ -89,24 +93,24 @@ void StartSampling()
chThdCreateStatic(waSamplingThread, sizeof(waSamplingThread), NORMALPRIO + 5, SamplingThread, nullptr);
}
float GetNernstAc()
float GetNernstAc(int ch)
{
return nernstAc;
return results[ch].nernstAc;
}
float GetSensorInternalResistance()
float GetSensorInternalResistance(int ch)
{
// Sensor is the lowside of a divider, top side is 22k, and 3.3v AC pk-pk is injected
float totalEsr = ESR_SUPPLY_R / (VCC_VOLTS / GetNernstAc() - 1);
float totalEsr = ESR_SUPPLY_R / (VCC_VOLTS / GetNernstAc(ch) - 1);
// There is a resistor between the opamp and Vm sensor pin. Remove the effect of that
// resistor so that the remainder is only the ESR of the sensor itself
return totalEsr - VM_RESISTOR_VALUE;
}
float GetSensorTemperature()
float GetSensorTemperature(int ch)
{
float esr = GetSensorInternalResistance();
float esr = GetSensorInternalResistance(ch);
if (esr > 5000)
{
@@ -116,21 +120,24 @@ float GetSensorTemperature()
return interpolate2d(esr, lsu49TempBins, lsu49TempValues);
}
float GetNernstDc()
float GetNernstDc(int ch)
{
return nernstDc;
return results[ch].nernstDc;
}
float GetPumpNominalCurrent()
float GetPumpNominalCurrent(int ch)
{
// 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 / (PUMP_CURRENT_SENSE_GAIN * LSU_SENSE_R);
return pumpCurrentSenseVoltage * ratio;
return results[ch].pumpCurrentSenseVoltage * ratio;
}
float GetInternalBatteryVoltage()
float GetInternalBatteryVoltage(int ch)
{
return internalBatteryVoltage;
// Dual HW can measure heater voltage for each channel
// by measuring voltage on Heater- while FET is off
// TODO: rename function?
return results[ch].internalBatteryVoltage;
}