RoCoN and TUMBL firmware for control of stepper motor with IRC sensor.

[fpga/lx-cpu1/lx-rocon.git] / hw / lx-rocon_firmware / firmware.c

diff --git a/hw/lx-rocon_firmware/firmware.c b/hw/lx-rocon_firmware/firmware.c
index 86a6076742cc22fe5355b082df01a6e266f3006f..0d8bfec9fa562d8e16609968bdebf4e30b70507b 100644 (file)
--- a/hw/lx-rocon_firmware/firmware.c
+++ b/hw/lx-rocon_firmware/firmware.c
@@ -87,6 +87,7 @@ void main(void)
   pxmcc_data.curadc[0].siroladc_offs = 0x0c17;
   pxmcc_data.curadc[1].siroladc_offs = 0x0c66;
   pxmcc_data.curadc[2].siroladc_offs = 0x0c66;
+  pxmcc_data.curadc[3].siroladc_offs = 0x0c66;
 
   pxmcc = pxmcc_data.axis;
   do {
@@ -162,7 +163,7 @@ void main(void)
         pwm_alp = pwm_d * pxmcc->ptcos - pwm_q * pxmcc->ptsin;
         pwm_bet = pwm_d * pxmcc->ptsin + pwm_q * pxmcc->ptcos;
 
-        if (pxmcc->mode == PXMCC_MODE_MODE_BLDC) {
+        if (pxmcc->mode == PXMCC_MODE_BLDC) {
           pwm_bet_div_2_k3 = RECI16_2_K3 * (pwm_bet >> 16);
 
          #ifndef SUPPRESS_CONDITIONALS
@@ -279,14 +280,14 @@ void main(void)
           *uptr = pwm1 | 0x4000;
          #endif
         } else {
-          uint32_t bet_sgn = pwm_bet >> 31;
           uint32_t alp_sgn = pwm_alp >> 31;
-          pwm1 = pwm2 = pwm_bet | 0x4000;
-          pwm3 = pwm4 = pwm_alp | 0x4000;
-          pwm1 &= ~bet_sgn;
-          pwm2 &= bet_sgn;
-          pwm3 &= ~alp_sgn;
-          pwm4 &= alp_sgn;
+          uint32_t bet_sgn = pwm_bet >> 31;
+          pwm_alp >>= 16;
+          pwm_bet >>= 16;
+          pwm1 = -pwm_alp & alp_sgn;
+          pwm2 = pwm_alp & ~alp_sgn;
+          pwm3 = -pwm_bet & bet_sgn;
+          pwm4 = pwm_bet & ~bet_sgn;
 
           pwmtx_info = pxmcc->pwmtx_info;
           uptr = FPGA_LX_MASTER_TX + ((pwmtx_info >>  0) & 0xff);
@@ -303,7 +304,7 @@ void main(void)
           *uptr = pwm4 | 0x4000;
         }
       } else {
-        if (pxmcc->mode == PXMCC_MODE_MODE_BLDC) {
+        if (pxmcc->mode == PXMCC_MODE_BLDC) {
           pwmtx_info = pxmcc->pwmtx_info;
           uptr = FPGA_LX_MASTER_TX + ((pwmtx_info >>  0) & 0xff);
           pxmcc->pwm_prew[1] = *uptr & 0x3fff;
@@ -392,7 +393,7 @@ void main(void)
      #endif /*COMPUTE_PHASE_SECTOR*/
 
       out_info = pxmcc->out_info;
-      if (pxmcc->mode == PXMCC_MODE_MODE_BLDC) {
+      if (pxmcc->mode == PXMCC_MODE_BLDC) {
 
         pwm1 = pxmcc->pwm_prew[0];
         pwm2 = pxmcc->pwm_prew[1];
@@ -534,14 +535,14 @@ void main(void)
         cur_bet *= CONST16_K3;
         cur_bet >>= 16;
       } else {
-        int32_t bet_pwm = pxmcc->pwm_prew[1];
+        int32_t bet_pwm = pxmcc->pwm_prew[2];
         uint32_t bet_sgn = (bet_pwm - 1) >> 31;
-        int32_t alp_pwm = pxmcc->pwm_prew[3];
+        int32_t alp_pwm = pxmcc->pwm_prew[0];
         uint32_t alp_sgn = (alp_pwm - 1) >> 31;
-        cur_bet = (pxmcc_data.curadc[out_info + 0].cur_val & ~bet_sgn) -
-                  (pxmcc_data.curadc[out_info + 1].cur_val & bet_sgn);
-        cur_alp = (pxmcc_data.curadc[out_info + 2].cur_val & ~alp_sgn) -
-                  (pxmcc_data.curadc[out_info + 3].cur_val & alp_sgn);
+        cur_bet = (pxmcc_data.curadc[out_info + 3].cur_val & ~bet_sgn) -
+                  (pxmcc_data.curadc[out_info + 2].cur_val & bet_sgn);
+        cur_alp = (pxmcc_data.curadc[out_info + 1].cur_val & ~alp_sgn) -
+                  (pxmcc_data.curadc[out_info + 0].cur_val & alp_sgn);
       }
 
       cur_d =  cur_alp * pxmcc->ptcos + cur_bet * pxmcc->ptsin;