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voltage packets are now just floats
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@markzakharyan
markzakharyan committed Sep 29, 2024
1 parent 1338eb9 commit 035a0a0
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Showing 7 changed files with 255 additions and 55 deletions.
236 changes: 225 additions & 11 deletions m4/src/Peripherals/God.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,8 @@ class God {
"DAC_LED_BUFFER_RAMP");
registerMemberFunction(dacChannelCalibration, "DAC_CH_CAL");
registerMemberFunctionVector(boxcarAverageRamp, "BOXCAR_AVERAGE_RAMP");
registerMemberFunctionVector(boxcarAverageRampDebug,
"BOXCAR_AVERAGE_RAMP_DEBUG");
}

// args:
Expand Down Expand Up @@ -123,12 +125,11 @@ class God {
ADCController::getVoltageDataNoTransaction(adcChannels[i]);
}
} else {
VoltagePacket* packets = new VoltagePacket[numAdcChannels];
float* packets = new float[numAdcChannels];
for (int i = 0; i < numAdcChannels; i++) {
float v =
ADCController::getVoltageDataNoTransaction(adcChannels[i]);
packets[i] = {static_cast<uint8_t>(adcChannels[i]),
static_cast<uint32_t>(x), v};
packets[i] = v;
}
m4SendVoltage(packets, numAdcChannels);
delete[] packets;
Expand Down Expand Up @@ -288,16 +289,15 @@ class God {
}
}
} else {
VoltagePacket* packets = new VoltagePacket[numAdcChannels];
float* packets = new float[numAdcChannels];
for (int i = 0; i < numAdcChannels; i++) {
float total = 0.0;
for (int j = 0; j < numAdcAverages; j++) {
total +=
ADCController::getVoltageDataNoTransaction(adcChannels[i]);
}
float v = total / numAdcAverages;
packets[i] = {static_cast<uint8_t>(adcChannels[i]),
static_cast<uint32_t>(x), v};
packets[i] = v;
}
m4SendVoltage(packets, numAdcChannels);
delete[] packets;
Expand Down Expand Up @@ -367,7 +367,8 @@ class God {
// numAdcMeasuresPerDacStep, numAdcAverages, numAdcConversionSkips,
// adcConversionTime_us, {for each dac channel: dac channel, v0_1, vf_1, v0_2,
// vf_2}, {for each adc channel: adc channel}
static OperationResult boxcarAverageRamp(const std::vector<float>& args) {
static OperationResult boxcarAverageRampDebug(
const std::vector<float>& args) {
size_t currentIndex = 0;

// Parse initial parameters
Expand Down Expand Up @@ -407,7 +408,7 @@ class God {
}

uint32_t dacPeriod_us = (numAdcMeasuresPerDacStep + numAdcConversionSkips) *
actualConversionTime_us + 500;
actualConversionTime_us;

setStopFlag(false);

Expand Down Expand Up @@ -455,12 +456,11 @@ class God {
}
} else {
if (adcGetsSinceLastDacSet >= numAdcConversionSkips) {
VoltagePacket* packets = new VoltagePacket[numAdcChannels];
float* packets = new float[numAdcChannels];
for (int i = 0; i < numAdcChannels; i++) {
float v =
ADCController::getVoltageDataNoTransaction(adcChannels[i]);
packets[i] = {static_cast<uint8_t>(adcChannels[i]),
static_cast<uint32_t>(x), v};
packets[i] = v;
}
// m4SendVoltage(packets, numAdcChannels);
delete[] packets;
Expand Down Expand Up @@ -500,6 +500,220 @@ class God {
ADCController::idleMode(adcChannels[i]);
}

delete[] dacChannels;
delete[] dacV0_1;
delete[] dacVf_1;
delete[] dacV0_2;
delete[] dacVf_2;
delete[] adcChannels;
for (int i = 0; i < numDacChannels; i++) {
delete[] voltSetpoints[i];
}
delete[] voltSetpoints;

if (getStopFlag()) {
setStopFlag(false);
return OperationResult::Failure("RAMPING_STOPPED");
}

return OperationResult::Success();
}

// args: numDacChannels, numAdcChannels, numDacSteps,
// numAdcMeasuresPerDacStep, numAdcAverages, numAdcConversionSkips,
// adcConversionTime_us, {for each dac channel: dac channel, v0_1, vf_1, v0_2,
// vf_2}, {for each adc channel: adc channel}
static OperationResult boxcarAverageRamp(std::vector<float> args) {
size_t currentIndex = 0;

// Parse initial parameters
int numDacChannels = static_cast<int>(args[currentIndex++]);
int numAdcChannels = static_cast<int>(args[currentIndex++]);
int numDacSteps = static_cast<int>(args[currentIndex++]);
int numAdcMeasuresPerDacStep = static_cast<int>(args[currentIndex++]);
int numAdcAverages = static_cast<int>(args[currentIndex++]);
int numAdcConversionSkips = static_cast<int>(args[currentIndex++]);
uint32_t adcConversionTime_us = static_cast<uint32_t>(args[currentIndex++]);

int* dacChannels = new int[numDacChannels];
float* dacV0_1 = new float[numDacChannels];
float* dacVf_1 = new float[numDacChannels];
float* dacV0_2 = new float[numDacChannels];
float* dacVf_2 = new float[numDacChannels];

for (int i = 0; i < numDacChannels; ++i) {
dacChannels[i] = static_cast<int>(args[currentIndex++]);
dacV0_1[i] = args[currentIndex++];
dacVf_1[i] = args[currentIndex++];
dacV0_2[i] = args[currentIndex++];
dacVf_2[i] = args[currentIndex++];
}

int* adcChannels = new int[numAdcChannels];

for (int i = 0; i < numAdcChannels; ++i) {
adcChannels[i] = static_cast<int>(args[currentIndex++]);
}

uint32_t actualConversionTime_us = ADCController::presetConversionTime(
adcChannels[0], adcConversionTime_us, numAdcChannels > 1);
for (int i = 1; i < numAdcChannels; ++i) {
ADCController::presetConversionTime(adcChannels[i], adcConversionTime_us,
numAdcChannels > 1);
}

uint32_t dacPeriod_us = (numAdcMeasuresPerDacStep + numAdcConversionSkips) *
actualConversionTime_us +
500;

setStopFlag(false);

// Calculate voltages
float** voltSetpoints = new float*[numDacChannels];

for (int i = 0; i < numDacChannels; i++) {
voltSetpoints[i] = new float[numDacSteps * numAdcAverages];
int l = 0;
for (int j = 0; j < numDacSteps; j++) {
for (int k = 0; k < numAdcAverages; k++) {
float* dacV0 = l % 2 ? dacV0_1 : dacV0_2;
float* dacVf = l % 2 ? dacVf_1 : dacVf_2;
voltSetpoints[i][l++] =
dacV0[i] + (dacVf[i] - dacV0[i]) * j / (numDacSteps - 1);
}
}
}

int steps = 0;
int totalSteps = numDacSteps * numAdcAverages + 1;
int x = 0;
int total_data_size =
numDacSteps * numAdcAverages * numAdcMeasuresPerDacStep;
int adcGetsSinceLastDacSet = 0;

// For averaging
float* adcSums = new float[numAdcChannels]();
float* adcAverageHigh = new float[numAdcChannels]();
float* adcAverageLow = new float[numAdcChannels]();
bool haveHighAverage = false;
bool haveLowAverage = false;
int numReadingsCollected = 0;
bool isHighSet = false;

// For debugging:
float dacPeriodFloat = static_cast<float>(dacPeriod_us);
m4SendFloat(&dacPeriodFloat, 1);
float adcPeriodFloat = static_cast<float>(actualConversionTime_us);
m4SendFloat(&adcPeriodFloat, 1);

for (int i = 0; i < numAdcChannels; ++i) {
ADCController::startContinuousConversion(adcChannels[i]);
}

TimingUtil::setupTimersTimeSeries(dacPeriod_us, actualConversionTime_us);

while (x < total_data_size && !getStopFlag()) {
if (TimingUtil::adcFlag && x < steps * numAdcMeasuresPerDacStep) {
ADCBoard::commsController.beginTransaction();
if (steps <= 1) {
for (int i = 0; i < numAdcChannels; i++) {
ADCController::getVoltageDataNoTransaction(adcChannels[i]);
}
} else {
if (adcGetsSinceLastDacSet >= numAdcConversionSkips) {
// Collect ADC readings
for (int i = 0; i < numAdcChannels; i++) {
float v =
ADCController::getVoltageDataNoTransaction(adcChannels[i]);
adcSums[i] += v;
}
numReadingsCollected++;
x++;
if (numReadingsCollected == numAdcMeasuresPerDacStep) {
// We have collected all readings for the current DAC setpoint
// Compute average
for (int i = 0; i < numAdcChannels; i++) {
float avg = adcSums[i] / numAdcMeasuresPerDacStep;
if (isHighSet) {
adcAverageHigh[i] = avg;
haveHighAverage = true;
} else {
adcAverageLow[i] = avg;
haveLowAverage = true;
}
adcSums[i] = 0; // Reset sums for next set
}
numReadingsCollected = 0;

// If we have both high and low averages, compute difference and
// send
if (haveHighAverage && haveLowAverage) {
float* packets = new float[numAdcChannels];
for (int i = 0; i < numAdcChannels; i++) {
float diff = adcAverageHigh[i] - adcAverageLow[i];
packets[i] = diff; //{diff};
}
// m4SendVoltage(packets, numAdcChannels);
m4SendFloat(packets, numAdcChannels);
delete[] packets;

haveHighAverage = false;
haveLowAverage = false;
}
}
}
adcGetsSinceLastDacSet++;
}
ADCBoard::commsController.endTransaction();
TimingUtil::adcFlag = false;
}
if (TimingUtil::dacFlag && steps < totalSteps) {
DACChannel::commsController.beginTransaction();
if (steps == 0) {
for (int i = 0; i < numDacChannels; i++) {
DACController::setVoltageNoTransactionNoLdac(dacChannels[i],
voltSetpoints[i][0]);
}
} else {
for (int i = 0; i < numDacChannels; i++) {
DACController::setVoltageNoTransactionNoLdac(
dacChannels[i], voltSetpoints[i][steps - 1]);
}
}
DACController::toggleLdac();
steps++;
isHighSet = ((steps - 1) % 2 == 1); // Update high/low set indicator

// Reset sums and counters for next DAC setpoint
for (int i = 0; i < numAdcChannels; i++) {
adcSums[i] = 0;
}
numReadingsCollected = 0;

DACChannel::commsController.endTransaction();
TimingUtil::dacFlag = false;
adcGetsSinceLastDacSet = 0;
TIM8->CNT = 0;
}
}

TimingUtil::disableDacInterrupt();
TimingUtil::disableAdcInterrupt();

for (int i = 0; i < numAdcChannels; i++) {
ADCController::idleMode(adcChannels[i]);
}

// Clean up
delete[] adcSums;
delete[] adcAverageHigh;
delete[] adcAverageLow;
delete[] dacChannels;
delete[] dacV0_1;
delete[] dacVf_1;
delete[] dacV0_2;
delete[] dacVf_2;
delete[] adcChannels;
for (int i = 0; i < numDacChannels; i++) {
delete[] voltSetpoints[i];
}
Expand Down
10 changes: 4 additions & 6 deletions m4/src/Peripherals/God2D.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -298,13 +298,12 @@ class God2D
}
else
{
VoltagePacket *packets = new VoltagePacket[numAdcChannels];
float *packets = new float[numAdcChannels];
for (int i = 0; i < numAdcChannels; i++)
{
float v =
ADCController::getVoltageDataNoTransaction(adcChannels[i]);
packets[i] = {static_cast<uint8_t>(adcChannels[i]),
static_cast<uint32_t>(x), v};
packets[i] = v;
}
m4SendVoltage(packets, numAdcChannels);
delete[] packets;
Expand Down Expand Up @@ -647,7 +646,7 @@ class God2D
}
else
{
VoltagePacket *packets = new VoltagePacket[numAdcChannels];
float *packets = new float[numAdcChannels];
for (int i = 0; i < numAdcChannels; i++)
{
float total = 0.0;
Expand All @@ -657,8 +656,7 @@ class God2D
ADCController::getVoltageDataNoTransaction(adcChannels[i]);
}
float v = total / numAdcAverages;
packets[i] = {static_cast<uint8_t>(adcChannels[i]),
static_cast<uint32_t>(x), v};
packets[i] = v;
}
m4SendVoltage(packets, numAdcChannels);
delete[] packets;
Expand Down
12 changes: 6 additions & 6 deletions m4/src/Utils/shared_memory.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -141,7 +141,7 @@ static bool floatBufferHasMessage(FloatCircularBuffer* buffer) {

// Voltage buffer operations
static bool voltageBufferSend(VoltageCircularBuffer* buffer,
const VoltagePacket* data, size_t length) {
const float* data, size_t length) {
if (length > MAX_MESSAGE_SIZE) return false;

uint32_t available_space =
Expand All @@ -158,7 +158,7 @@ static bool voltageBufferSend(VoltageCircularBuffer* buffer,
}

static bool voltageBufferReceive(VoltageCircularBuffer* buffer,
VoltagePacket* data, size_t& length) {
float* data, size_t& length) {
if (buffer->read_index == buffer->write_index) {
length = 0;
return false;
Expand Down Expand Up @@ -210,12 +210,12 @@ bool m4HasFloatMessage() {
}

// M4 voltage functions
bool m4SendVoltage(const VoltagePacket* data, size_t length) {
bool m4SendVoltage(const float* data, size_t length) {
return voltageBufferSend(&shared_memory->m4_to_m7_voltage_buffer, data,
length);
}

bool m4ReceiveVoltage(VoltagePacket* data, size_t& length) {
bool m4ReceiveVoltage(float* data, size_t& length) {
return voltageBufferReceive(&shared_memory->m7_to_m4_voltage_buffer, data,
length);
}
Expand Down Expand Up @@ -252,12 +252,12 @@ bool m7HasFloatMessage() {
}

// M7 voltage functions
bool m7SendVoltage(const VoltagePacket* data, size_t length) {
bool m7SendVoltage(const float* data, size_t length) {
return voltageBufferSend(&shared_memory->m7_to_m4_voltage_buffer, data,
length);
}

bool m7ReceiveVoltage(VoltagePacket* data, size_t& length) {
bool m7ReceiveVoltage(float* data, size_t& length) {
return voltageBufferReceive(&shared_memory->m4_to_m7_voltage_buffer, data,
length);
}
Expand Down
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