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Separate out pdm from rate calc

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This commit is contained in:
Ed Clarke
2018-11-30 14:00:55 +00:00
parent abd3141b0d
commit a8fa274230
4 changed files with 42 additions and 29 deletions
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2
examples/xua_lite_example/plot_fill_level.sh
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@@ -1 +1 @@
grep f: dump.txt | grep -Eo "\-?\d+" > proc.txt&& gnuplot -p -e 'set term png; plot "proc.txt" with lines' > plot.png && open plot.png grep pid: dump.txt | grep -Eo "\-?\d+" > proc.txt && gnuplot -p -e 'set term png; plot "proc.txt" with lines' > plot.png && open plot.png

6
examples/xua_lite_example/src/rate_controller.h
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@@ -10,7 +10,11 @@ typedef struct pid_state_t{
//USB Adaptive mode helper //USB Adaptive mode helper
void do_rate_control(int fill_level, pid_state_t *pid_state, int *clock_nudge); xua_lite_fixed_point_t do_rate_control(int fill_level, pid_state_t *pid_state);
//PDM modulator for clock control
void do_clock_nudge_pdm(xua_lite_fixed_point_t controller_out, int *clock_nudge);
//USB Asynch mode helper //USB Asynch mode helper
void do_feedback_calculation(unsigned &sof_count, const unsigned mclk_hz, unsigned mclk_port_counter,unsigned &mclk_port_counter_old void do_feedback_calculation(unsigned &sof_count, const unsigned mclk_hz, unsigned mclk_port_counter,unsigned &mclk_port_counter_old

59
examples/xua_lite_example/src/rate_controller.xc
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@@ -11,7 +11,7 @@
#define XUA_LIGHT_FIXED_POINT_ONE (1 << XUA_LIGHT_FIXED_POINT_FRAC_BITS) #define XUA_LIGHT_FIXED_POINT_ONE (1 << XUA_LIGHT_FIXED_POINT_FRAC_BITS)
#define XUA_LIGHT_FIXED_POINT_MINUS_ONE (-XUA_LIGHT_FIXED_POINT_ONE) #define XUA_LIGHT_FIXED_POINT_MINUS_ONE (-XUA_LIGHT_FIXED_POINT_ONE)
#define FIFO_LEVEL_EMA_COEFF 0.949 //Proportion of signal from y[-1]. #define FIFO_LEVEL_EMA_COEFF 0.939 //Proportion of signal from y[-1].
//0.939 gives ~10Hz 3db cutoff low pass filter for filter rate of 1kHz //0.939 gives ~10Hz 3db cutoff low pass filter for filter rate of 1kHz
//dsp.stackexchange.com/questions/40462/exponential-moving-average-cut-off-frequency/40465 //dsp.stackexchange.com/questions/40462/exponential-moving-average-cut-off-frequency/40465
#define FIFO_LEVEL_A_COEFF ((int32_t)(INT_MAX * FIFO_LEVEL_EMA_COEFF)) //Scale to signed 1.31 format #define FIFO_LEVEL_A_COEFF ((int32_t)(INT_MAX * FIFO_LEVEL_EMA_COEFF)) //Scale to signed 1.31 format
@@ -20,7 +20,7 @@
#define RANDOMISATION_PERCENT 20 //How much radnom noise to inject in percent of existing signal amplitude #define RANDOMISATION_PERCENT 20 //How much radnom noise to inject in percent of existing signal amplitude
#define RANDOMISATION_COEFF_A ((INT_MAX / 100) * RANDOMISATION_PERCENT) #define RANDOMISATION_COEFF_A ((INT_MAX / 100) * RANDOMISATION_PERCENT)
#define PID_CALC_OVERHEAD_BITS 6 //Allow large P,I or D constants, up to 2^(this number) #define PID_CALC_OVERHEAD_BITS 2 //Allow large P,I or D constants, up to 2^(this number)
#define PID_CONTROL_P_TERM 10.0 #define PID_CONTROL_P_TERM 10.0
@@ -58,8 +58,33 @@ static inline xua_lite_fixed_point_t add_noise(xua_lite_fixed_point_t input){
return (xua_lite_fixed_point_t)( output_64 >> (64 - XUA_LIGHT_FIXED_POINT_TOTAL_BITS - 1)); return (xua_lite_fixed_point_t)( output_64 >> (64 - XUA_LIGHT_FIXED_POINT_TOTAL_BITS - 1));
} }
//Convert the control input into a pdm output (dither) with optional noise
void do_clock_nudge_pdm(xua_lite_fixed_point_t controller_out, int *clock_nudge){
//Randomise - add a proportion of rectangular probability distribution noise to spread the spectrum
controller_out = add_noise(controller_out);
//Convert to pulse density modulation (sigma-delta)
static xua_lite_fixed_point_t nudge_accumulator = 0;
nudge_accumulator += controller_out; //Note no overflow check as if we reach XUA_LIGHT_FIXED_POINT_Q_BITS
//something is very wrong
//printf("co: %d ratio: %f \n", controller_out, (float)controller_out/XUA_LIGHT_FIXED_POINT_ONE);
if (nudge_accumulator >= XUA_LIGHT_FIXED_POINT_ONE){
*clock_nudge = 1;
nudge_accumulator -= XUA_LIGHT_FIXED_POINT_ONE;
}
else if (nudge_accumulator <= XUA_LIGHT_FIXED_POINT_MINUS_ONE){
nudge_accumulator -= XUA_LIGHT_FIXED_POINT_MINUS_ONE;
*clock_nudge = -1;
}
else{
*clock_nudge = 0;
}
}
//Do PI control and modulation for adaptive USB audio //Do PI control and modulation for adaptive USB audio
void do_rate_control(int fill_level, pid_state_t *pid_state, int *clock_nudge){ xua_lite_fixed_point_t do_rate_control(int fill_level, pid_state_t *pid_state){
//We always check the FIFO level after USB has produced a block, and total FIFO size is 2x max, so half full is at 3/4 //We always check the FIFO level after USB has produced a block, and total FIFO size is 2x max, so half full is at 3/4
const int half_full = ((MAX_OUT_SAMPLES_PER_SOF_PERIOD * 2) * 3) / 4; const int half_full = ((MAX_OUT_SAMPLES_PER_SOF_PERIOD * 2) * 3) / 4;
@@ -97,42 +122,26 @@ void do_rate_control(int fill_level, pid_state_t *pid_state, int *clock_nudge){
//which is already scaled to fit within the fixed point representation //which is already scaled to fit within the fixed point representation
xua_lite_fixed_point_t fifo_level_delta = fifo_level_filtered - pid_state->fifo_level_filtered_old; xua_lite_fixed_point_t fifo_level_delta = fifo_level_filtered - pid_state->fifo_level_filtered_old;
//Save to struct for next iteration
pid_state->fifo_level_filtered_old = fifo_level_filtered;
//Do PID calculation. Note there is an implicit cast back to xua_lite_fixed_point_t before assignment //Do PID calculation. Note there is an implicit cast back to xua_lite_fixed_point_t before assignment
xua_lite_fixed_point_t p_term = (((int64_t) fifo_level_filtered * (int64_t)PID_CONTROL_P_TERM_COEFF)) >> XUA_LIGHT_FIXED_POINT_FRAC_BITS; xua_lite_fixed_point_t p_term = (((int64_t) fifo_level_filtered * (int64_t)PID_CONTROL_P_TERM_COEFF)) >> XUA_LIGHT_FIXED_POINT_FRAC_BITS;
xua_lite_fixed_point_t i_term = (((int64_t) pid_state->fifo_level_accum * (int64_t)PID_CONTROL_I_TERM_COEFF)) >> XUA_LIGHT_FIXED_POINT_FRAC_BITS; xua_lite_fixed_point_t i_term = (((int64_t) pid_state->fifo_level_accum * (int64_t)PID_CONTROL_I_TERM_COEFF)) >> XUA_LIGHT_FIXED_POINT_FRAC_BITS;
xua_lite_fixed_point_t d_term = (((int64_t) fifo_level_delta * (int64_t)PID_CONTROL_D_TERM_COEFF)) >> XUA_LIGHT_FIXED_POINT_FRAC_BITS; xua_lite_fixed_point_t d_term = (((int64_t) fifo_level_delta * (int64_t)PID_CONTROL_D_TERM_COEFF)) >> XUA_LIGHT_FIXED_POINT_FRAC_BITS;
//debug_printf("p: %d i: %d f: %d\n", p_term >> XUA_LIGHT_FIXED_POINT_Q_BITS, i_term >> XUA_LIGHT_FIXED_POINT_Q_BITS, fill_level_wrt_half); //debug_printf("p: %d i: %d f: %d\n", p_term >> XUA_LIGHT_FIXED_POINT_Q_BITS, i_term >> XUA_LIGHT_FIXED_POINT_Q_BITS, fifo_level_filtered >> (XUA_LIGHT_FIXED_POINT_FRAC_BITS - 10));
//printf("p: %f i: %f d: %f filtered: %f integrated: %f\n", (float)p_term / (1<<(XUA_LIGHT_FIXED_POINT_FRAC_BITS-PID_CALC_OVERHEAD_BITS)), (float)i_term / (1<<(XUA_LIGHT_FIXED_POINT_FRAC_BITS-PID_CALC_OVERHEAD_BITS)), (float)d_term / (1<<(XUA_LIGHT_FIXED_POINT_FRAC_BITS-PID_CALC_OVERHEAD_BITS)), (float)fifo_level_filtered/(1<<XUA_LIGHT_FIXED_POINT_FRAC_BITS), (float)pid_state->fifo_level_accum/(1<<XUA_LIGHT_FIXED_POINT_FRAC_BITS)); //printf("p: %f i: %f d: %f filtered: %f integrated: %f\n", (float)p_term / (1<<(XUA_LIGHT_FIXED_POINT_FRAC_BITS-PID_CALC_OVERHEAD_BITS)), (float)i_term / (1<<(XUA_LIGHT_FIXED_POINT_FRAC_BITS-PID_CALC_OVERHEAD_BITS)), (float)d_term / (1<<(XUA_LIGHT_FIXED_POINT_FRAC_BITS-PID_CALC_OVERHEAD_BITS)), (float)fifo_level_filtered/(1<<XUA_LIGHT_FIXED_POINT_FRAC_BITS), (float)pid_state->fifo_level_accum/(1<<XUA_LIGHT_FIXED_POINT_FRAC_BITS));
//Sum and scale to +- 1.0 (important it does not exceed these values for following step) //Sum and scale to +- 1.0 (important it does not exceed these values for following step)
xua_lite_fixed_point_t controller_out = (p_term + i_term + d_term) >> (XUA_LIGHT_FIXED_POINT_Q_BITS - 1 - PID_CALC_OVERHEAD_BITS); xua_lite_fixed_point_t controller_out = (p_term + i_term + d_term) >> (XUA_LIGHT_FIXED_POINT_Q_BITS - 1 - PID_CALC_OVERHEAD_BITS);
//Randomise - add a proportion of rectangular probability distribution noise to spread the spectrum
controller_out = add_noise(controller_out);
//Convert to pulse density modulation (sigma-delta)
static xua_lite_fixed_point_t nudge_accumulator = 0;
nudge_accumulator += controller_out; //Note no overflow check as if we reach XUA_LIGHT_FIXED_POINT_Q_BITS
//something is very wrong
//printf("co: %d ratio: %f \n", controller_out, (float)controller_out/XUA_LIGHT_FIXED_POINT_ONE);
if (nudge_accumulator >= XUA_LIGHT_FIXED_POINT_ONE){
*clock_nudge = 1;
nudge_accumulator -= XUA_LIGHT_FIXED_POINT_ONE;
}
else if (nudge_accumulator <= XUA_LIGHT_FIXED_POINT_MINUS_ONE){
nudge_accumulator -= XUA_LIGHT_FIXED_POINT_MINUS_ONE;
*clock_nudge = -1;
}
else{
*clock_nudge = 0;
}
pid_state->fifo_level_filtered_old = fifo_level_filtered;
//debug_printf("filtered: %d raw: %d\n", fifo_level_filtered >> 22, fill_level_wrt_half); //debug_printf("filtered: %d raw: %d\n", fifo_level_filtered >> 22, fill_level_wrt_half);
static unsigned counter; counter++; if (counter>100){counter = 0; debug_printf("f: %d\n",fifo_level_filtered >> (XUA_LIGHT_FIXED_POINT_FRAC_BITS - 10));} //static unsigned counter; counter++; if (counter>100){counter = 0; debug_printf("pid: %d\n",i_term >> (XUA_LIGHT_FIXED_POINT_FRAC_BITS - 10));}
debug_printf("co: %d\n", controller_out >> XUA_LIGHT_FIXED_POINT_FRAC_BITS);
return controller_out;
} }

4
examples/xua_lite_example/src/xua_buffer_lite.xc
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@@ -141,7 +141,7 @@ unsafe void XUA_Buffer_lite(chanend c_ep0_out, chanend c_ep0_in, chanend c_aud_o
num_samples_to_send_to_host = num_samples_received_from_host; num_samples_to_send_to_host = num_samples_received_from_host;
int fill_level = fifo_get_fill_short(host_to_device_fifo_ptr); int fill_level = fifo_get_fill_short(host_to_device_fifo_ptr);
if (isnull(c_feedback)) do_rate_control(fill_level, &pid_state, &clock_nudge); if (isnull(c_feedback)) do_clock_nudge_pdm(do_rate_control(fill_level, &pid_state), &clock_nudge);
//Mark EP as ready for next frame from host //Mark EP as ready for next frame from host
XUD_SetReady_OutPtr(ep_aud_out, (unsigned)buffer_aud_out.long_words); XUD_SetReady_OutPtr(ep_aud_out, (unsigned)buffer_aud_out.long_words);
@@ -315,7 +315,7 @@ unsafe void XUA_Buffer_lite2(server ep0_control_if i_ep0_ctl, chanend c_aud_out,
num_samples_to_send_to_host = num_samples_received_from_host; num_samples_to_send_to_host = num_samples_received_from_host;
int fill_level = fifo_get_fill_short(host_to_device_fifo_ptr); int fill_level = fifo_get_fill_short(host_to_device_fifo_ptr);
if (isnull(c_feedback)) do_rate_control(fill_level, &pid_state, &clock_nudge); if (isnull(c_feedback)) do_clock_nudge_pdm(do_rate_control(fill_level, &pid_state), &clock_nudge);
//Mark EP as ready for next frame from host //Mark EP as ready for next frame from host
XUD_SetReady_OutPtr(ep_aud_out, (unsigned)buffer_aud_out.long_words); XUD_SetReady_OutPtr(ep_aud_out, (unsigned)buffer_aud_out.long_words);