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; publish terminal pointers for access from the C environment
.def _CNTL_2P2Z_Ref:n:
.def _CNTL_2P2Z_Fdbk:n:
.def _CNTL_2P2Z_Out:n:
.def _CNTL_2P2Z_Coef:n:
.def _CNTL_2P2Z_DBUFF:n:
; zero data buffer
MOVW DP, #_CNTL_2P2Z_DBUFF:n:
MOVL XAR2,#_CNTL_2P2Z_DBUFF:n:
RPT #9 ; 10 times
|| MOV *XAR2++, #0
.endm
;====================================
SOLAR_CNTL_2P2Z_RESET .macro n
;====================================
; zero data buffer
MOVW DP, #_CNTL_2P2Z_DBUFF:n:
MOVL XAR2,#_CNTL_2P2Z_DBUFF:n:
RPT #9 ; 10 times
|| MOV *XAR2++, #0
.endm
;----------------------------------------------------------------------------------
;=============================
SOLAR_CNTL_2P2Z .macro n
;=============================
; set up address pointers
MOVW DP, #_CNTL_2P2Z_Ref:n:
MOVL XAR0, @_CNTL_2P2Z_Ref:n: ; net pointer to Ref (XAR0)
MOVW DP,#_CNTL_2P2Z_Fdbk:n:
MOVL XAR1, @_CNTL_2P2Z_Fdbk:n: ; net pointer to Fdbk (XAR1)
MOVW DP,#_CNTL_2P2Z_DBUFF:n:
MOVL XAR4, #_CNTL_2P2Z_DBUFF:n: ; pointer to the DBUFF array (used internally by the module)
; scale u(n):Q24, saturate (max>u(n)>min0), and save history
MINL ACC, *XAR3++ ; saturate to < max (Q24)
MAXL ACC, *XAR3 ; saturate to > min (Q24)
; write controller result to output terminal (Q24)
MOVL *XAR2, ACC ; output control effort to terminal net
; Convert the u(n) to Q30 format and store in the data buffer
LSL ACC, #6 ; Logical left shift by 6, Q{24}<<6 -> Q{30}
MOVL *XAR4, ACC ; u(n-1) = u(n) = ACC
