#include "sfra_f32.h" #include "sfra_test.h" #include "libsfra.h" #include "lowpass.h" #include "sfra_gui_scicomms_driverlib.h" #include #include "libsfra_ti_hal.h" #define TI_SFRA 0 #define LIBSFRA 1 #define LIBSFRA_HAL_TI 2 #define SFRA_TYPE LIBSFRA_HAL_TI // sfra变量定义 SFRA_F32 ti_sfra; #define CONTROL_ISR_FREQUENCY ((float32_t)100 * 1000) // 100KHz #define SFRA_ISR_FREQ CONTROL_ISR_FREQUENCY #define SFRA_FREQ_START 10 // // SFRA step Multiply = 10^(1/No of steps per decade(40)) // #define SFRA_FREQ_STEP_MULTIPLY (float32_t)1.105 #define SFRA_AMPLITUDE (float32_t)0.1 #define SFRA_FREQ_LENGTH 100 float32_t plantMagVect[SFRA_FREQ_LENGTH]; float32_t plantPhaseVect[SFRA_FREQ_LENGTH]; float32_t olMagVect[SFRA_FREQ_LENGTH]; float32_t olPhaseVect[SFRA_FREQ_LENGTH]; float32_t clMagVect[SFRA_FREQ_LENGTH]; float32_t clPhaseVect[SFRA_FREQ_LENGTH]; float32_t freqVect[SFRA_FREQ_LENGTH]; // //extern to access tables in ROM // extern long FPUsinTable[]; // libsfra变量定义 // Size of each SFRA result buffer field #define SFRA_BUF_SIZE 100 typedef struct { float freq[SFRA_BUF_SIZE]; // In Hz, log-spaced float mag[SFRA_BUF_SIZE]; // In dB float phase[SFRA_BUF_SIZE]; // In degrees } sfra_results_t; // Holds measured bode plot sfra_results_t libsfra_results; // Declare the SFRA instance sfra_t libsfra = { .config.isrFreq = CONTROL_ISR_FREQUENCY, // Sampling frequency .config.freqStart = 10, // Start frequency .config.freqStep = 1.584893192461113, // Frequency step (log-spaced) .config.vecLength = SFRA_BUF_SIZE, // Number of sweeps .results.freqVect = libsfra_results.freq, // Points to the frequency vector .results.magnitudeVect = libsfra_results.mag, // Points to the magnitude vector .results.phaseVect = libsfra_results.phase // Points to the phase vector }; // hal层变量 sfra_t hal_sfra; // lowpass filter LowPassFilter_t lowPass_test; #define FS CONTROL_ISR_FREQUENCY #define FC 10.0f * 1000 // 通信串口，LED #define SFRA_GUI_SCI_BASE SCIA_BASE #define SFRA_GUI_VBUS_CLK DEVICE_LSPCLK_FREQ #define SFRA_GUI_SCI_BAUDRATE 115200 #define SFRA_GUI_SCIRX_GPIO 43 #define SFRA_GUI_SCITX_GPIO 42 #define SFRA_GUI_SCIRX_GPIO_PIN_CONFIG GPIO_43_SCIRXDA #define SFRA_GUI_SCITX_GPIO_PIN_CONFIG GPIO_42_SCITXDA #define SFRA_GUI_LED_INDICATOR 1 #define SFRA_GUI_LED_GPIO 31 #define SFRA_GUI_LED_GPIO_PIN_CONFIG GPIO_31_GPIO31 void sfra_init() { CPUTimer_setPeriod(CPUTIMER0_BASE, (DEVICE_SYSCLK_FREQ / CONTROL_ISR_FREQUENCY) - 1); CPUTimer_startTimer(CPUTIMER0_BASE); LowPassFilter_Init(&lowPass_test, FS, FC); #if SFRA_TYPE == TI_SFRA SFRA_F32_reset(&ti_sfra); SFRA_F32_config(&ti_sfra, SFRA_ISR_FREQ, SFRA_AMPLITUDE, SFRA_FREQ_LENGTH, SFRA_FREQ_START, SFRA_FREQ_STEP_MULTIPLY, plantMagVect, plantPhaseVect, olMagVect, olPhaseVect, clMagVect, clPhaseVect, freqVect, 1); SFRA_F32_resetFreqRespArray(&ti_sfra); SFRA_F32_initFreqArrayWithLogSteps(&ti_sfra, SFRA_FREQ_START, SFRA_FREQ_STEP_MULTIPLY); SFRA_GUI_config(SFRA_GUI_SCI_BASE, SFRA_GUI_VBUS_CLK, SFRA_GUI_SCI_BAUDRATE, SFRA_GUI_SCIRX_GPIO, SFRA_GUI_SCIRX_GPIO_PIN_CONFIG, SFRA_GUI_SCITX_GPIO, SFRA_GUI_SCITX_GPIO_PIN_CONFIG, SFRA_GUI_LED_INDICATOR, SFRA_GUI_LED_GPIO, SFRA_GUI_LED_GPIO_PIN_CONFIG, &ti_sfra, SFRA_GUI_PLOT_GH_CL); #elif SFRA_TYPE == LIBSFRA // libsfra sfra_init_all(); sfra_start(&libsfra); #elif SFRA_TYPE == LIBSFRA_HAL_TI // 初始化 HAL 适配层 libsfra_ti_hal_init(&hal_sfra, SFRA_ISR_FREQ, SFRA_AMPLITUDE, SFRA_FREQ_LENGTH, SFRA_FREQ_START, SFRA_FREQ_STEP_MULTIPLY, plantMagVect, plantPhaseVect, olMagVect, olPhaseVect, clMagVect, clPhaseVect, freqVect); SFRA_GUI_config(SFRA_GUI_SCI_BASE, SFRA_GUI_VBUS_CLK, SFRA_GUI_SCI_BAUDRATE, SFRA_GUI_SCIRX_GPIO, SFRA_GUI_SCIRX_GPIO_PIN_CONFIG, SFRA_GUI_SCITX_GPIO, SFRA_GUI_SCITX_GPIO_PIN_CONFIG, SFRA_GUI_LED_INDICATOR, SFRA_GUI_LED_GPIO, SFRA_GUI_LED_GPIO_PIN_CONFIG, libsfra_ti_hal_get_adapter(), SFRA_GUI_PLOT_GH_H); #endif } // ==================== 打印 LIBSFRA 结果（CSV 格式）==================== /** * 将 SFRA 测量结果通过串口输出为 CSV 格式 * @param res 指向 sfra_results_t 结构体的指针 * @param num_points 结果点数（即 SFRA_FREQ_LENGTH） */ void sfra_print_results_csv(sfra_results_t *res, int num_points) { char lineBuf[64]; int i; UARTprintf("Frequency(Hz),Magnitude(dB),Phase(deg)\n"); for (i = 0; i < num_points; i++) { int pos = 0; // 频率 pos += floatToStr5(res->freq[i], lineBuf + pos); lineBuf[pos++] = ','; // 增益 (dB) pos += floatToStr5(res->mag[i], lineBuf + pos); lineBuf[pos++] = ','; // 相位 (度) pos += floatToStr5(res->phase[i], lineBuf + pos); lineBuf[pos++] = '\n'; lineBuf[pos] = '\0'; UARTprintf(lineBuf); } } void sfra_task_run() { DEVICE_DELAY_US(1.0f *1000); #if SFRA_TYPE == TI_SFRA SFRA_F32_runBackgroundTask(&ti_sfra); SFRA_GUI_runSerialHostComms(&ti_sfra); #elif SFRA_TYPE == LIBSFRA sfra_background_task(&libsfra); if(sfra_is_done(&libsfra)) { sfra_print_results_csv(&libsfra_results, SFRA_BUF_SIZE); sfra_clear_done(&libsfra); } #elif SFRA_TYPE == LIBSFRA_HAL_TI SFRA_F32_runBackgroundTask(libsfra_ti_hal_get_adapter()); SFRA_GUI_runSerialHostComms(libsfra_ti_hal_get_adapter()); #endif } __interrupt void TIMER0_ISR() { static float32_t input_dc = 0.8f; float32_t plant_input; float32_t plant_output; #if (SFRA_TYPE == TI_SFRA) || (SFRA_TYPE == LIBSFRA_HAL_TI) plant_input = SFRA_F32_inject(input_dc); #elif SFRA_TYPE == LIBSFRA plant_input = input_dc + 0.1f * sfra_inject(&libsfra); #endif // 直通，用于测试SFRA，plant扫描结果应为0°，0db // plant_output = plant_input; // 注入扫描lowpass plant_output = LowPassFilter_Run(&lowPass_test, plant_input); #if (SFRA_TYPE == TI_SFRA) || (SFRA_TYPE == LIBSFRA_HAL_TI) SFRA_F32_collect(&plant_input, &plant_output); #elif SFRA_TYPE == LIBSFRA sfra_monitor(&libsfra, plant_input, plant_output); #endif Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP1); }