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@ -22,11 +22,6 @@ |
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#include "../../inc/MarlinConfig.h" |
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extern "C" { |
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//#include <lpc17xx_adc.h>
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//#include <lpc17xx_pinsel.h>
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} |
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HalSerial usb_serial; |
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// U8glib required functions
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@ -112,7 +107,6 @@ void HAL_adc_enable_channel(int ch) { |
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}; |
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} |
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uint8_t active_adc = 0; |
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void HAL_adc_start_conversion(const uint8_t ch) { |
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if (analogInputToDigitalPin(ch) == -1) { |
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SERIAL_PRINTF("HAL: HAL_adc_start_conversion: invalid channel %d\n", ch); |
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@ -122,7 +116,6 @@ void HAL_adc_start_conversion(const uint8_t ch) { |
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LPC_ADC->ADCR &= ~0xFF; // Reset
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SBI(LPC_ADC->ADCR, ch); // Select Channel
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SBI(LPC_ADC->ADCR, 24); // Start conversion
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active_adc = ch; |
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} |
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bool HAL_adc_finished(void) { |
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@ -130,44 +123,131 @@ bool HAL_adc_finished(void) { |
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} |
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// possible config options if something similar is extended to more platforms.
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#define ADC_USE_MEDIAN_FILTER // filter out erroneous readings
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#define ADC_USE_LOWPASS_FILTER // filter out high frequency noise
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#define ADC_LOWPASS_K_VALUE 4 // how much to smooth out noise (1:8)
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#define ADC_USE_MEDIAN_FILTER // Filter out erroneous readings
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#define ADC_MEDIAN_FILTER_SIZE (23) // Higher values increase step delay (phase shift),
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// (ADC_MEDIAN_FILTER_SIZE + 1) / 2 sample step delay (12 samples @ 500Hz: 24ms phase shift)
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// Memory usage per ADC channel (bytes): (6 * ADC_MEDIAN_FILTER_SIZE) + 16
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// 8 * ((6 * 23) + 16 ) = 1232 Bytes for 8 channels
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#define ADC_USE_LOWPASS_FILTER // Filter out high frequency noise
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#define ADC_LOWPASS_K_VALUE (6) // Higher values increase rise time
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// Rise time sample delays for 100% signal convergence on full range step
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// (1 : 13, 2 : 32, 3 : 67, 4 : 139, 5 : 281, 6 : 565, 7 : 1135, 8 : 2273)
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// K = 6, 565 samples, 500Hz sample rate, 1.13s convergence on full range step
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// Memory usage per ADC channel (bytes): 4 (32 Bytes for 8 channels)
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// Sourced from https://embeddedgurus.com/stack-overflow/tag/median-filter/
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struct MedianFilter { |
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uint16_t values[3]; |
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uint8_t next_val; |
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MedianFilter() { |
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next_val = 0; |
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values[0] = values[1] = values[2] = 0; |
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#define STOPPER 0 // Smaller than any datum
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struct Pair { |
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Pair *point; // Pointers forming list linked in sorted order
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uint16_t value; // Values to sort
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}; |
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Pair buffer[ADC_MEDIAN_FILTER_SIZE] = {}; // Buffer of nwidth pairs
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Pair *datpoint = buffer; // Pointer into circular buffer of data
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Pair small = {NULL, STOPPER}; // Chain stopper
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Pair big = {&small, 0}; // Pointer to head (largest) of linked list.
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uint16_t update(uint16_t datum) { |
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Pair *successor; // Pointer to successor of replaced data item
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Pair *scan; // Pointer used to scan down the sorted list
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Pair *scanold; // Previous value of scan
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Pair *median; // Pointer to median
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uint16_t i; |
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if (datum == STOPPER) { |
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datum = STOPPER + 1; // No stoppers allowed.
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} |
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if ( (++datpoint - buffer) >= ADC_MEDIAN_FILTER_SIZE) { |
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datpoint = buffer; // Increment and wrap data in pointer.
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} |
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datpoint->value = datum; // Copy in new datum
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successor = datpoint->point; // Save pointer to old value's successor
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median = &big; // Median initially to first in chain
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scanold = NULL; // Scanold initially null.
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scan = &big; // Points to pointer to first (largest) datum in chain
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// Handle chain-out of first item in chain as special case
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if (scan->point == datpoint) { |
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scan->point = successor; |
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} |
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scanold = scan; // Save this pointer and
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scan = scan->point ; // step down chain
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// Loop through the chain, normal loop exit via break.
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for (i = 0 ; i < ADC_MEDIAN_FILTER_SIZE; ++i) { |
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// Handle odd-numbered item in chain
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if (scan->point == datpoint) { |
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scan->point = successor; // Chain out the old datum
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} |
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if (scan->value < datum) { // If datum is larger than scanned value
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datpoint->point = scanold->point; // Chain it in here
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scanold->point = datpoint; // Mark it chained in
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datum = STOPPER; |
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} |
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// Step median pointer down chain after doing odd-numbered element
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median = median->point; // Step median pointer
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if (scan == &small) { |
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break; // Break at end of chain
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} |
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scanold = scan; // Save this pointer and
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scan = scan->point; // step down chain
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// Handle even-numbered item in chain.
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if (scan->point == datpoint) { |
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scan->point = successor; |
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} |
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if (scan->value < datum) { |
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datpoint->point = scanold->point; |
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scanold->point = datpoint; |
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datum = STOPPER; |
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} |
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if (scan == &small) { |
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break; |
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} |
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scanold = scan; |
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scan = scan->point; |
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} |
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return median->value; |
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} |
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}; |
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struct LowpassFilter { |
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uint32_t data_delay = 0; |
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uint16_t update(uint16_t value) { |
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values[next_val++] = value; |
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next_val = next_val % 3; |
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return max(min(values[0], values[1]), min(max(values[0], values[1]), values[2])); //median
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data_delay = data_delay - (data_delay >> ADC_LOWPASS_K_VALUE) + value; |
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return (uint16_t)(data_delay >> ADC_LOWPASS_K_VALUE); |
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} |
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}; |
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uint16_t lowpass_filter(uint16_t value) { |
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const uint8_t k_data_shift = ADC_LOWPASS_K_VALUE; |
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static uint32_t data_delay[NUM_ANALOG_INPUTS] = { 0 }; |
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uint32_t &active_filter = data_delay[active_adc]; |
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active_filter = active_filter - (active_filter >> k_data_shift) + value; |
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return (uint16_t)(active_filter >> k_data_shift); |
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} |
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uint16_t HAL_adc_get_result(void) { |
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uint32_t data = LPC_ADC->ADGDR; |
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CBI(LPC_ADC->ADCR, 24); // Stop conversion
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if (data & ADC_OVERRUN) return 0; |
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uint32_t adgdr = LPC_ADC->ADGDR; |
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CBI(LPC_ADC->ADCR, 24); // Stop conversion
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if (adgdr & ADC_OVERRUN) return 0; |
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uint16_t data = (adgdr >> 4) & 0xFFF; // copy the 12bit data value
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uint8_t adc_channel = (adgdr >> 24) & 0x7; // copy the 3bit used channel
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#ifdef ADC_USE_MEDIAN_FILTER |
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static MedianFilter median_filter[NUM_ANALOG_INPUTS]; |
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data = median_filter[active_adc].update((uint16_t)data); |
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data = median_filter[adc_channel].update(data); |
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#endif |
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#ifdef ADC_USE_LOWPASS_FILTER |
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data = lowpass_filter((uint16_t)data); |
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static LowpassFilter lowpass_filter[NUM_ANALOG_INPUTS]; |
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data = lowpass_filter[adc_channel].update(data); |
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#endif |
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return ((data >> 6) & 0x3ff); // 10bit
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return ((data >> 2) & 0x3ff); // return 10bit value as Marlin expects
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} |
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#define SBIT_CNTEN 0 |
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@ -187,8 +267,8 @@ void HAL_pwm_init(void) { |
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LPC_PWM1->TCR = _BV(SBIT_CNTEN) | _BV(SBIT_PWMEN); |
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LPC_PWM1->PR = 0x0; // No prescalar
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LPC_PWM1->MCR = _BV(SBIT_PWMMR0R); // Reset on PWMMR0, reset TC if it matches MR0
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LPC_PWM1->MR0 = 255; /* set PWM cycle(Ton+Toff)=255) */ |
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LPC_PWM1->MR5 = 0; /* Set 50% Duty Cycle for the channels */ |
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LPC_PWM1->MR0 = 255; // set PWM cycle(Ton+Toff)=255)
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LPC_PWM1->MR5 = 0; // Set 50% Duty Cycle for the channels
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LPC_PWM1->MR6 = 0; |
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// Trigger the latch Enable Bits to load the new Match Values MR0, MR5, MR6
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