1 ; **********************************************************************************
2 ; SDK Version: PowerSmart™ Digital Control Library Designer v0.9.12.672
3 ; CGS Version: Code Generator Script v3.0.6 (02/03/2021)
5 ; Date/Time: 02/17/2021 10:08:26
6 ; **********************************************************************************
7 ; 4P4Z Control Library File (Dual Bitshift-Scaling Mode)
8 ; **********************************************************************************
10 ;------------------------------------------------------------------------------
12 .nolist ; (no external dependencies)
13 .list ; list of all external dependencies
15 ;------------------------------------------------------------------------------
17 .section .data ; place constant data in the data section
19 ;------------------------------------------------------------------------------
20 ; Define status flags bit positions
21 .equ NPNZ16_STATUS_ENABLED, 15 ; bit position of the ENABLE control bit
22 .equ NPNZ16_STATUS_INVERT_INPUT, 14 ; bit position of the INVERT_INPUT control bit
23 .equ NPNZ16_STATUS_SWAP_SOURCE, 13 ; bit position of the SWAP_SOURCE control bit
24 .equ NPNZ16_STATUS_SWAP_TARGET, 12 ; bit position of the SWAP_TARGET control bit
25 .equ NPNZ16_STATUS_AGC_ENABLED, 11 ; bit position of the AGC_ENABLED control bit
26 .equ NPNZ16_STATUS_USAT, 1 ; bit position of the UPPER_SATURATION_FLAG status bit
27 .equ NPNZ16_STATUS_LSAT, 0 ; bit position of the LOWER_SATURATION_FLAG status bit
29 ;------------------------------------------------------------------------------
30 ; NPNZ16b_s data structure address offset declarations for data structure addressing
31 .equ Status, 0 ; controller object status word at address-offset = 0
32 .equ ptrSourceRegister, 2 ; parameter group Ports.Source: pointer to source memory address
33 .equ SourceNormShift, 4 ; parameter group Ports.Source: bit-shift scaler of normalization factor
34 .equ SourceNormFactor, 6 ; parameter group Ports.Source: Q15 normalization factor
35 .equ SourceOffset, 8 ; parameter group Ports.Source: value of source input signal/value offset
36 .equ ptrAltSourceRegister, 10 ; parameter group Ports.AltSource: pointer to alternate source memory address
37 .equ AltSourceNormShift, 12 ; parameter group Ports.AltSource: bit-shift scaler of normalization factor
38 .equ AltSourceNormFactor, 14 ; parameter group Ports.AltSource: Q15 normalization factor
39 .equ AltSourceOffset, 16 ; parameter group Ports.AltSource: value of alternate source input signal/value offset
40 .equ ptrTargetRegister, 18 ; parameter group Ports.Target: pointer to target memory address
41 .equ TargetNormShift, 20 ; parameter group Ports.Target: bit-shift scaler of normalization factor
42 .equ TargetNormFactor, 22 ; parameter group Ports.Target: Q15 normalization factor
43 .equ TargetOffset, 24 ; parameter group Ports.Target: value of target output signal/value offset
44 .equ ptrAltTargetRegister, 26 ; parameter group Ports.AltTarget: pointer to alternate target memory address
45 .equ AltTargetNormShift, 28 ; parameter group Ports.AltTarget: bit-shift scaler of normalization factor
46 .equ AltTargetNormFactor, 30 ; parameter group Ports.AltTarget: Q15 normalization factor
47 .equ AltTargetOffset, 32 ; parameter group Ports.AltTarget: value of alternate target output signal/value offset
48 .equ ptrControlReference, 34 ; parameter group Ports.ConrolReference: pointer to control reference variable/register memory address
49 .equ ptrACoefficients, 36 ; parameter group Filter: pointer to A-coefficients array start address
50 .equ ptrBCoefficients, 38 ; parameter group Filter: pointer to B-coefficients array start address
51 .equ ptrControlHistory, 40 ; parameter group Filter: pointer to control history array start address
52 .equ ptrErrorHistory, 42 ; parameter group Filter: pointer to error history array start address
53 .equ ACoefficientsArraySize, 44 ; parameter group Filter: size of the A-coefficients array
54 .equ BCoefficientsArraySize, 46 ; parameter group Filter: size of the B-coefficients array
55 .equ ControlHistoryArraySize, 48 ; parameter group Filter: size of the control history array
56 .equ ErrorHistoryArraySize, 50 ; parameter group Filter: size of the error history array
57 .equ normPreShift, 52 ; parameter group Filter: value of input value normalization bit-shift scaler
58 .equ normPostShiftA, 54 ; parameter group Filter: value of A-term normalization bit-shift scaler
59 .equ normPostShiftB, 56 ; parameter group Filter: value of B-term normalization bit-shift scaler
60 .equ normPostScaler, 58 ; parameter group Filter: control loop output normalization factor
61 .equ PTermScaler, 60 ; parameter group Filter: P-Term coefficient scaler
62 .equ PTermFactor, 62 ; parameter group Filter: P-Term coefficient fractional factor
63 .equ AgcScaler, 64 ; parameter group GainControl: bit-shift scaler of Adaptive Gain Control Modulation factor
64 .equ AgcFactor, 66 ; parameter group GainControl: Q15 value of Adaptive Gain Control Modulation factor
65 .equ AgcMedian, 68 ; parameter group GainControl: Q15 value of Adaptive Gain Control Modulation nominal operating point
66 .equ ptrAgcObserverFunction, 70 ; parameter group GainControl: function pointer to observer function updating the AGC modulation factor
67 .equ MinOutput, 72 ; parameter group Limits: minimum clamping value of primary control output
68 .equ MaxOutput, 74 ; parameter group Limits: maximum clamping value of primary control output
69 .equ AltMinOutput, 76 ; parameter group Limits: minimum clamping value of alternate control output
70 .equ AltMaxOutput, 78 ; parameter group Limits: maximum clamping value of alternate control output
71 .equ ptrADCTriggerARegister, 80 ; parameter group ADCTriggerControl: pointer to ADC trigger A register memory address
72 .equ ADCTriggerAOffset, 82 ; parameter group ADCTriggerControl: value of ADC trigger A offset
73 .equ ptrADCTriggerBRegister, 84 ; parameter group ADCTriggerControl: pointer to ADC trigger B register memory address
74 .equ ADCTriggerBOffset, 86 ; parameter group ADCTriggerControl: value of ADC trigger B offset
75 .equ ptrDProvControlInput, 88 ; parameter group DataProviders: pointer to external variable/register the most recent, raw control input will be pushed to
76 .equ ptrDProvControlInputComp, 90 ; parameter group DataProviders: pointer to external variable/register the most recent, compensated control input will be pushed to
77 .equ ptrDProvControlError, 92 ; parameter group DataProviders: pointer to external variable/register the most recent control error will be pushed to
78 .equ ptrDProvControlOutput, 94 ; parameter group DataProviders: pointer to external variable/register the most recent control output will be pushed to
79 .equ ptrExtHookStartFunction, 96 ; parameter group ExtensionHooks: pointer to external extension function which will be called by this controller at the beginning after evaluating the enable flag. This function call will be bypassed when the controller is disabled.
80 .equ ExtHookStartFunctionParam, 98 ; parameter group ExtensionHooks: 16-bit wide function parameter variable or pointer to a parameter variable or data structure of extension function
81 .equ ptrExtHookSourceFunction, 100 ; parameter group ExtensionHooks: pointer to external extension function which will be called by this controller after the most recent controller input has been read and compensated but before the most recent error is calculated.
82 .equ ExtHookSourceFunctionParam, 102 ; parameter group ExtensionHooks: 16-bit wide function parameter variable or pointer to a parameter variable or data structure of extension function
83 .equ ptrExtHookPreAntiWindupFunction, 104 ; parameter group ExtensionHooks: pointer to external extension function which will be called by this controller after the most recent compensation filter result has been computed and before anti-windup clamping is applied
84 .equ ExtHookPreAntiWindupFunctionParam, 106 ; parameter group ExtensionHooks: 16-bit wide function parameter variable or pointer to a parameter variable or data structure of extension function
85 .equ ptrExtHookTargetFunction, 108 ; parameter group ExtensionHooks: pointer to external extension function which will be called by this controller before the most recent controller output is written to target, after the value has passed through anti-windup clamping.
86 .equ ExtHookTargetFunctionParam, 110 ; parameter group ExtensionHooks: 16-bit wide function parameter variable or pointer to a parameter variable or data structure of extension function
87 .equ ptrExtHookStopFunction, 112 ; parameter group ExtensionHooks: pointer to external extension function which will be called by this controller after the compensation loop computation has been completed. This function call will be bypassed when the controller is disabled.
88 .equ ExtHookStopFunctionParam, 114 ; parameter group ExtensionHooks: 16-bit wide function parameter variable or pointer to a parameter variable or data structure of extension function
89 .equ ptrExtHookEndFunction, 116 ; parameter group ExtensionHooks: pointer to external extension function which will be called by this controller after the compensation loop computation has been completed, regardless of the loop execution being bypassed or not
90 .equ ExtHookEndFunctionParam, 118 ; parameter group ExtensionHooks: 16-bit wide function parameter variable or pointer to a parameter variable or data structure of extension function
91 .equ usrParam0, 120 ; parameter group Advanced: generic 16-bit wide, user-defined parameter #1 for user-defined, advanced control options
92 .equ usrParam1, 122 ; parameter group Advanced: generic 16-bit wide, user-defined parameter #2 for user-defined, advanced control options
93 .equ usrParam2, 124 ; parameter group Advanced: generic 16-bit wide, user-defined parameter #3 for user-defined, advanced control options
94 .equ usrParam3, 126 ; parameter group Advanced: generic 16-bit wide, user-defined parameter #4 for user-defined, advanced control options
95 .equ usrParam4, 128 ; parameter group Advanced: generic 16-bit wide, user-defined parameter #5 for user-defined, advanced control options
96 .equ usrParam5, 130 ; parameter group Advanced: generic 16-bit wide, user-defined parameter #6 for user-defined, advanced control options
97 .equ usrParam6, 132 ; parameter group Advanced: generic 16-bit wide, user-defined parameter #7 for user-defined, advanced control options
98 .equ usrParam7, 134 ; parameter group Advanced: generic 16-bit wide, user-defined parameter #8 for user-defined, advanced control options
100 ;------------------------------------------------------------------------------
101 ;source code section.
102 .section .text ; place code in the text section
104 ;------------------------------------------------------------------------------
105 ; Global function declaration
106 ; This function calls the z-domain controller processing the latest data point input
107 ;------------------------------------------------------------------------------
109 .global _v_loop_Update ; provide global scope to routine
110 _v_loop_Update: ; local function label
112 ;------------------------------------------------------------------------------
113 ; Check status word for Enable/Disable flag and bypass computation, if disabled
114 btss [w0], #NPNZ16_STATUS_ENABLED ; check ENABLED bit state, skip (do not execute) next instruction if set
115 bra V_LOOP_LOOP_BYPASS ; if ENABLED bit is cleared, jump to end of control code
117 ;------------------------------------------------------------------------------
118 ; Setup pointers to A-Term data arrays
119 mov [w0 + #ptrACoefficients], w8 ; load pointer to first index of A coefficients array
121 ;------------------------------------------------------------------------------
122 ; Load pointer to first element of control history array
123 mov [w0 + #ptrControlHistory], w10 ; load pointer address into working register
125 ;------------------------------------------------------------------------------
126 ; Compute compensation filter term
127 clr a, [w8]+=4, w4, [w10]+=2, w6 ; clear accumulator A and prefetch first operands
128 mac w4*w6, a, [w8]+=4, w4, [w10]+=2, w6 ; multiply control output (n-1) from the delay line with coefficient A1
129 mac w4*w6, a, [w8]+=4, w4, [w10]+=2, w6 ; multiply control output (n-2) from the delay line with coefficient A2
130 mac w4*w6, a, [w8]+=4, w4, [w10]+=2, w6 ; multiply control output (n-3) from the delay line with coefficient A3
131 mac w4*w6, a ; multiply & accumulate last control output with coefficient of the delay line (no more prefetch)
133 ;------------------------------------------------------------------------------
134 ; Backward normalization of recent result
135 mov [w0 + #normPostShiftA], w6 ; load A-coefficients post bit-shift scaler value into working register
136 sftac a, w6 ; shift accumulator A by number of bits loaded in working register
138 ;------------------------------------------------------------------------------
139 ; Update error history (move error one tick down the delay line)
140 mov [w10 + #6], w6 ; move entry (n-4) into buffer
141 mov w6, [w10 + #8] ; move buffered value one tick down the delay line
142 mov [w10 + #4], w6 ; move entry (n-3) into buffer
143 mov w6, [w10 + #6] ; move buffered value one tick down the delay line
144 mov [w10 + #2], w6 ; move entry (n-2) into buffer
145 mov w6, [w10 + #4] ; move buffered value one tick down the delay line
146 mov [w10 + #0], w6 ; move entry (n-1) into buffer
147 mov w6, [w10 + #2] ; move buffered value one tick down the delay line
149 ;------------------------------------------------------------------------------
150 ; Read data from input source
151 mov [w0 + #ptrSourceRegister], w2 ; load pointer to input source register
152 mov [w2], w1 ; move value from input source into working register
153 mov [w0 + #ptrDProvControlInputComp], w2 ; load pointer address of target buffer of most recent, compensated controller input from data structure
154 mov w1, [w2] ; copy most recent controller input value to given data buffer target
156 ;------------------------------------------------------------------------------
157 ; Load reference and calculate error input to transfer function
158 mov [w0 + #ptrControlReference], w2 ; move pointer to control reference into working register
159 subr w1, [w2], w1 ; calculate error (=reference - input)
160 mov [w0 + #normPreShift], w2 ; move error input scaler into working register
161 sl w1, w2, w1 ; normalize error result to fractional number format
163 ;------------------------------------------------------------------------------
164 ; Setup pointers to B-Term data arrays
165 mov [w0 + #ptrBCoefficients], w8 ; load pointer to first index of B coefficients array
166 mov w1, [w10] ; add most recent error input to history array
168 ;------------------------------------------------------------------------------
169 ; Compute B-Term of the compensation filter
170 clr b, [w8]+=4, w4, [w10]+=2, w6 ; clear accumulator B and prefetch first operands
171 mac w4*w6, b, [w8]+=4, w4, [w10]+=2, w6 ; multiply & accumulate error input (n-0) from the delay line with coefficient B0 and prefetch next operands
172 mac w4*w6, b, [w8]+=4, w4, [w10]+=2, w6 ; multiply & accumulate error input (n-1) from the delay line with coefficient B1 and prefetch next operands
173 mac w4*w6, b, [w8]+=4, w4, [w10]+=2, w6 ; multiply & accumulate error input (n-2) from the delay line with coefficient B2 and prefetch next operands
174 mac w4*w6, b, [w8]+=4, w4, [w10]+=2, w6 ; multiply & accumulate error input (n-3) from the delay line with coefficient B3 and prefetch next operands
175 mac w4*w6, b ; multiply & accumulate last error input with coefficient of the delay line (no more prefetch)
177 ;------------------------------------------------------------------------------
178 ; Backward normalization of recent result
179 mov [w0 + #normPostShiftB], w6 ; load B-coefficients post bit-shift scaler value into working register
180 sftac b, w6 ; shift accumulator B by number of bits loaded in working register
182 ;------------------------------------------------------------------------------
183 ; Adaptive Loop Gain Modulation
184 mov #ACCBH, w2 ; capture address of accumulator B high word and store it in working register
185 fbcl [w2], w3 ; find first bit change from left in accumulator B and store position in working register
186 sftac b, w3 ; shift accumulator by 'n' bits to scale contents into ACCH window
187 sac.r b, w6 ; store result of accumulator B in working register
188 mov [w0 + ptrAgcObserverFunction], w1 ; load function pointer to observer function
189 call w1 ; call extern observer function to update gain modulation factor
190 mov [w0 + #AgcFactor], w4 ; load AGC modulation factor into working register
191 mov [w0 + #AgcScaler], w2 ; load AGC modulation factor scaler into working register
192 mpy w4*w6, b ; multiply accumulator B result with AGC modulation factor
193 neg w3, w3 ; negate previously stored accumulator shift value
194 add w3, w2, w2 ; add post scaler bit-shift scaler and accumulator scaler
195 sftac b, w2 ; shift result by AGC scaler with accumulator scaling
197 ;------------------------------------------------------------------------------
198 ; Add accumulators finalizing LDE computation
199 add a ; add accumulator b to accumulator a
200 sac.r a, w4 ; store most recent accumulator result in working register
202 ;------------------------------------------------------------------------------
203 ; Controller Anti-Windup (control output value clamping)
205 ; Check for lower limit violation
206 mov [w0 + #MinOutput], w6 ; load lower limit value
207 cpsgt w4, w6 ; compare values and skip next instruction if control output is within operating range (control output > lower limit)
208 mov w6, w4 ; override controller output
209 V_LOOP_CLAMP_MIN_EXIT:
211 ; Check for upper limit violation
212 mov [w0 + #MaxOutput], w6 ; load upper limit value
213 cpslt w4, w6 ; compare values and skip next instruction if control output is within operating range (control output < upper limit)
214 mov w6, w4 ; override controller output
215 V_LOOP_CLAMP_MAX_EXIT:
217 ;------------------------------------------------------------------------------
218 ; Write control output value to target
219 mov [w0 + #ptrTargetRegister], w8 ; capture pointer to target in working register
220 mov w4, [w8] ; move control output to target address
221 mov [w0 + #ptrAltTargetRegister], w8 ; capture pointer to alternate target in working register
222 mov w4, [w8] ; move control output to alternate target address
224 ;------------------------------------------------------------------------------
225 ; Update ADC trigger locations
226 asr w4, #1, w6 ; half control output by shifting value one bit to the right
227 ; Update ADC trigger A position
228 mov [w0 + #ADCTriggerAOffset], w8 ; load user-defined ADC trigger A offset value into working register
229 add w6, w8, w10 ; add user-defined ADC trigger A offset to half of control output
230 mov [w0 + #ptrADCTriggerARegister], w8 ; load pointer to ADC trigger A register into working register
231 mov w10, [w8] ; push new ADC trigger value to ADC trigger A register
233 ;------------------------------------------------------------------------------
234 ; Load pointer to first element of control history array
235 mov [w0 + #ptrControlHistory], w10 ; load pointer address into working register
237 ;------------------------------------------------------------------------------
238 ; Update control output history (move entries one tick down the delay line)
239 mov [w10 + #4], w6 ; move entry (n-3) one tick down the delay line
241 mov [w10 + #2], w6 ; move entry (n-2) one tick down the delay line
243 mov [w10 + #0], w6 ; move entry (n-1) one tick down the delay line
245 mov w4, [w10] ; add most recent control output to history
247 ;------------------------------------------------------------------------------
248 ; Enable/Disable bypass branch target with dummy read of source buffer
249 goto V_LOOP_LOOP_EXIT ; when enabled, step over dummy read and go straight to EXIT
250 V_LOOP_LOOP_BYPASS: ; Enable/Disable bypass branch target to perform dummy read of source to clear the source buffer
251 mov [w0 + #ptrSourceRegister], w2 ; load pointer to input source register
252 mov [w2], w1 ; move value from input source into working register
253 mov [w0 + #ptrDProvControlInputComp], w2 ; load pointer address of target buffer of most recent, compensated controller input from data structure
254 mov w1, [w2] ; copy most recent controller input value to given data buffer target
255 V_LOOP_LOOP_EXIT: ; Exit control loop branch target
257 ;------------------------------------------------------------------------------
259 return ; end of function; return to caller
261 ;------------------------------------------------------------------------------
264 ;------------------------------------------------------------------------------
265 ; Global function declaration v_loop_Reset
266 ; This function clears control and error histories enforcing a reset
267 ;------------------------------------------------------------------------------
269 .global _v_loop_Reset ; provide global scope to routine
270 _v_loop_Reset: ; local function label
272 ;------------------------------------------------------------------------------
273 ; Clear control history array
274 push w0 ; save contents of working register WREG0
275 mov [w0 + #ptrControlHistory], w0 ; set pointer to the base address of control history array
276 clr [w0++] ; clear next address of control history array
277 clr [w0++] ; clear next address of control history array
278 clr [w0++] ; clear next address of control history array
279 clr [w0] ; clear last address of control history array
280 pop w0 ; restore contents of working register WREG0
282 ;------------------------------------------------------------------------------
283 ; Clear error history array
284 push w0 ; save contents of working register WREG0
285 mov [w0 + #ptrErrorHistory], w0 ; set pointer to the base address of error history array
286 clr [w0++] ; Clear next address of error history array
287 clr [w0++] ; Clear next address of error history array
288 clr [w0++] ; Clear next address of error history array
289 clr [w0++] ; Clear next address of error history array
290 clr [w0] ; clear last address of error history array
291 pop w0 ; restore contents of working register WREG0
293 ;------------------------------------------------------------------------------
295 return ; end of function; return to caller
297 ;------------------------------------------------------------------------------
300 ;------------------------------------------------------------------------------
301 ; Global function declaration v_loop_Precharge
302 ; This function loads user-defined default values into control and error histories
303 ;------------------------------------------------------------------------------
305 .global _v_loop_Precharge ; provide global scope to routine
306 _v_loop_Precharge: ; local function label
308 ;------------------------------------------------------------------------------
309 ; Charge error history array with defined value
310 push w0 ; save contents of working register WREG0
311 push w1 ; save contents of working register WREG1
312 mov [w0 + #ptrErrorHistory], w0 ; set pointer to the base address of error history array
313 mov w1, [w0++] ; Load user value into next address of error history array
314 mov w1, [w0++] ; Load user value into next address of error history array
315 mov w1, [w0++] ; Load user value into next address of error history array
316 mov w1, [w0++] ; Load user value into next address of error history array
317 mov w1, [w0] ; load user value into last address of error history array
318 pop w1 ; restore contents of working register WREG1
319 pop w0 ; restore contents of working register WREG0
321 ;------------------------------------------------------------------------------
322 ; Charge control history array with defined value
323 push w0 ; save contents of working register WREG0
324 push w2 ; save contents of working register WREG2
325 mov [w0 + #ptrControlHistory], w0 ; set pointer to the base address of control history array
326 mov w2, [w0++] ; Load user value into next address of control history array
327 mov w2, [w0++] ; Load user value into next address of control history array
328 mov w2, [w0++] ; Load user value into next address of control history array
329 mov w2, [w0] ; Load user value into last address of control history array
330 pop w2 ; restore contents of working register WREG2
331 pop w0 ; restore contents of working register WREG0
333 ;------------------------------------------------------------------------------
335 return ; end of function; return to caller
337 ;------------------------------------------------------------------------------
340 ;------------------------------------------------------------------------------
341 ; Global function declaration v_loop_PTermUpdate
342 ; This function executes a P-Term based control loop used for plant measurements only.
343 ; THIS LOOP IS NOT SUITED FOR STABLE OPERATION
344 ;------------------------------------------------------------------------------
346 .global _v_loop_PTermUpdate ; provide global scope to routine
347 _v_loop_PTermUpdate: ; local function label
349 ;------------------------------------------------------------------------------
350 ; Check status word for Enable/Disable flag and bypass computation when disabled
351 btss [w0], #NPNZ16_STATUS_ENABLED ; check ENABLED bit state, skip (do not execute) next instruction if set
352 bra V_LOOP_PTERM_LOOP_BYPASS ; if ENABLED bit is cleared, jump to end of control code
354 ;------------------------------------------------------------------------------
355 ; Read data from input source
356 mov [w0 + #ptrSourceRegister], w2 ; load pointer to input source register
357 mov [w2], w1 ; move value from input source into working register
358 mov [w0 + #ptrDProvControlInputComp], w2 ; load pointer address of target buffer of most recent, compensated controller input from data structure
359 mov w1, [w2] ; copy most recent controller input value to given data buffer target
361 ;------------------------------------------------------------------------------
362 ; Load reference and calculate error input to transfer function
363 mov [w0 + #ptrControlReference], w2 ; move pointer to control reference into working register
364 subr w1, [w2], w1 ; calculate error (=reference - input)
365 mov [w0 + #normPreShift], w2 ; move error input scaler into working register
366 sl w1, w2, w1 ; normalize error result to fractional number format
368 ;------------------------------------------------------------------------------
369 ; Load P-gain factor from data structure
370 mov [w0 + #PTermFactor], w6 ; move P-coefficient fractional into working register
371 mov [w0 + #PTermScaler], w2 ; move P-coefficient scaler into working register
372 mov w1, w4 ; move error to MPY working register
373 ; calculate P-control result
374 mpy w4*w6, a ; multiply most recent error with P-coefficient
375 sftac a, w2 ; shift accumulator to post-scale floating number
376 sac.r a, w4 ; store accumulator result to working register
378 ;------------------------------------------------------------------------------
379 ; Controller Anti-Windup (control output value clamping)
381 ; Check for lower limit violation
382 mov [w0 + #MinOutput], w6 ; load lower limit value
383 cpsgt w4, w6 ; compare values and skip next instruction if control output is within operating range (control output > lower limit)
384 mov w6, w4 ; override controller output
385 V_LOOP_PTERM_CLAMP_MIN_EXIT:
387 ; Check for upper limit violation
388 mov [w0 + #MaxOutput], w6 ; load upper limit value
389 cpslt w4, w6 ; compare values and skip next instruction if control output is within operating range (control output < upper limit)
390 mov w6, w4 ; override controller output
391 V_LOOP_PTERM_CLAMP_MAX_EXIT:
393 ;------------------------------------------------------------------------------
394 ; Write control output value to target
395 mov [w0 + #ptrTargetRegister], w8 ; capture pointer to target in working register
396 mov w4, [w8] ; move control output to target address
397 mov [w0 + #ptrAltTargetRegister], w8 ; capture pointer to alternate target in working register
398 mov w4, [w8] ; move control output to alternate target address
400 ;------------------------------------------------------------------------------
401 ; Update ADC trigger locations
402 asr w4, #1, w6 ; half control output by shifting value one bit to the right
403 ; Update ADC trigger A position
404 mov [w0 + #ADCTriggerAOffset], w8 ; load user-defined ADC trigger A offset value into working register
405 add w6, w8, w10 ; add user-defined ADC trigger A offset to half of control output
406 mov [w0 + #ptrADCTriggerARegister], w8 ; load pointer to ADC trigger A register into working register
407 mov w10, [w8] ; push new ADC trigger value to ADC trigger A register
409 ;------------------------------------------------------------------------------
410 ; Enable/Disable bypass branch target with dummy read of source buffer
411 goto V_LOOP_PTERM_LOOP_EXIT ; when enabled, step over dummy read and go straight to EXIT
412 V_LOOP_PTERM_LOOP_BYPASS: ; Enable/Disable bypass branch target to perform dummy read of source to clear the source buffer
413 mov [w0 + #ptrSourceRegister], w2 ; load pointer to input source register
414 mov [w2], w1 ; move value from input source into working register
415 mov [w0 + #ptrDProvControlInputComp], w2 ; load pointer address of target buffer of most recent, compensated controller input from data structure
416 mov w1, [w2] ; copy most recent controller input value to given data buffer target
417 V_LOOP_PTERM_LOOP_EXIT: ; Exit P-Term control loop branch target
419 ;------------------------------------------------------------------------------
421 return ; end of function; return to caller
423 ;------------------------------------------------------------------------------
426 ;------------------------------------------------------------------------------
428 .end ; end of file v_loop_asm.s
430 ;------------------------------------------------------------------------------
433 ; **********************************************************************************
434 ; Download latest version of this tool here: https://areiter128.github.io/DCLD
435 ; **********************************************************************************
