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Lowpass filter of voltage now in client

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This commit is contained in:
Hakan Bastedt
2025-03-13 23:40:22 +01:00
parent ca4248ce2d
commit fe24b8f4a3
8 changed files with 397 additions and 146 deletions
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21
Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp
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@@ -46,6 +46,7 @@ void ads1014_reset()
#define bitcheck(byte, nbit) ((byte) & (1 << (nbit)))
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
extern "C" uint32_t ESC_SYNC0cycletime(void);
void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
{
@@ -54,6 +55,9 @@ void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
digitalWrite(outputPin[i], bitcheck(Obj.Output4, i) ? HIGH : LOW);
}
float oldLowPassGain = 0;
uint32_t oldLowpassFilterPoleFrequency = 0;
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
static float validData0 = 0.0, validVoltage0 = 0.0;
@@ -113,7 +117,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
ads1014_reset();
old_I2Cdevice = ADS1014_TYPE;
}
data0 = ads1014->getValue();
data0 = ads1014->getValue();
stat = ads1014->isConnected() == 1 ? 0 : 1;
break;
default: // Not supported
@@ -141,6 +145,19 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
// mcp3221 has no reset, reset the I2C bus is the best we can do
}
Obj.Status = I2C_restarts + (stat << 28); // Put status as bits 28-31, the lower are number of restarts (restart attempts)
// Low pass filter. See lowpass in linuxcnc doc
float gain = oldLowPassGain;
if (oldLowpassFilterPoleFrequency != Obj.LowpassFilterPoleFrequency)
{
gain = 1 - expf(-2.0 * M_PI * Obj.LowpassFilterPoleFrequency * 1.0e-9 * ESC_SYNC0cycletime());
oldLowPassGain = gain;
oldLowpassFilterPoleFrequency = Obj.LowpassFilterPoleFrequency;
}
if (Obj.CalculatedVoltage < Obj.LowPassFilterThresholdVoltage)
Obj.LowpassFilteredVoltage = Obj.CalculatedVoltage; // Just forward
else
Obj.LowpassFilteredVoltage += (Obj.CalculatedVoltage - Obj.LowpassFilteredVoltage) * gain;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -320,8 +337,6 @@ void ESC_interrupt_disable(uint32_t mask)
}
}
extern "C" uint32_t ESC_SYNC0cycletime(void);
// Setup of DC
uint16_t dc_checker(void)
{