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Initial PID implementation

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This commit is contained in:
Ed Clarke
2018-11-20 14:07:33 +00:00
parent 8e7e1bfc51
commit 19e6dca445
4 changed files with 126 additions and 12 deletions
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10
examples/xua_lite_example/src/audio_hub.xc
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@@ -58,19 +58,23 @@ void AudioHub(server i2s_frame_callback_if i2s,
restart = I2S_NO_RESTART; // Keep on looping
timer tmr; int t0, t1; tmr :> t0;
//Transfer samples
//Transfer samples. Takes about 25 ticks
for (int i = 0; i < NUM_USB_CHAN_OUT; i++) c_audio :> samples_out[i];
if (XUA_ADAPTIVE) c_audio :> clock_nudge;
for (int i = 0; i < NUM_USB_CHAN_IN; i++) c_audio <: raw_mics[i];
//Grab mics
//Grab mics. Takes about 200 ticks currently
current = mic_array_get_next_time_domain_frame(c_ds_output, decimatorCount, buffer, mic_audio_frame, dc);
//50 ticks
unsafe {
for (int i = 0; i < XUA_NUM_PDM_MICS; i++) raw_mics[i] = current->data[i][0];
}
//Taking about 160 ticks when adjusting, 100 when not
tmr :> t0;
pll_nudge(clock_nudge);
//tmr :> t1; if (t1-t0 > 500) debug_printf("*%d\n", t1 - t0);
tmr :> t1;
if (t1-t0 > 500) debug_printf("*%d\n", t1 - t0);
//delay_microseconds(10); //Test backpressure tolerance
break;
}