pmsm-control/test_sw/main_pmsm.c

   1 /**
   2  * \file main_pmsm.c
   3  * \author Martin Prudek
   4  * \brief Mainfile pro pmsm control.
   5  */
   6
   7 #ifndef NULL
   8 #define NULL (void*) 0
   9 #endif /*NULL*/
  10
  11
  12 #include <stdlib.h>     /*exit*/
  13 #include <signal.h>     /*signal handler Ctrl+C*/
  14 #include <stdio.h>      /*printf*/
  15 #include <sched.h>      /*sheduler*/
  16 #include <unistd.h>     /*usleep*/
  17 #include <pthread.h>    /*threads*/
  18 #include <time.h>       /*nanosleep*/
  19 #include <string.h>
  20
  21 #include "rpin.h"       /*gpclk*/
  22 #include "rp_spi.h"     /*spi*/
  23 #include "misc.h"       /*structure for priorities*/
  24 #include "pmsm_state.h"
  25 #include "cmd_proc.h"
  26 #include "controllers.h"
  27 #include "commutators.h"
  28 #include "comp.h"
  29 #include "logs.h"
  30
  31 #define PRIOR_KERN      50
  32 #define PRIOR_HIGH      49
  33 #define PRIOR_LOW       20
  34
  35 #define THREAD_SHARED   0
  36 #define INIT_VALUE      1       /*init value for semaphor*/
  37
  38
  39 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
  40
  41
  42 struct rpi_in data;
  43 struct rpi_state rps={
  44         //.MAX_DUTY=170,
  45         .spi_dat=&data,
  46         .test=0,
  47         .pwm1=0,.pwm2=0, .pwm3=0,
  48         .pwm1=0, .t_pwm2=0, .t_pwm3=0,
  49         .commutate=0,
  50         .duty=0,                        /* duty cycle of pwm */
  51         .index_dist=0,          /* distance to index position */
  52         .index_ok=0,
  53         .tf_count=0,            /*number of transfer*/
  54         .desired_pos=0,         /* desired position */
  55         .pos_reg_ena=0,
  56         .desired_spd=0,
  57         .spd_reg_ena=0,
  58         .old_pos={0},
  59         .spd_err_sum=0,
  60         .log_col_count=0,       /* pocet radku zaznamu */
  61         .log_col=0,
  62         .doLogs=0,
  63         .alpha_offset=960,
  64         .main_commutator=zero_commutator,       /* komutace vypnuta */
  65         .main_controller=zero_controller        /* rizeni vypnuto */
  66 };
  67
  68
  69 /**
  70  * \brief Initilizes GPCLK.
  71  */
  72 int clk_init()
  73 {
  74         initialise(); /*namapovani gpio*/
  75         initClock(PLLD_500_MHZ, 10, 0);
  76         gpioSetMode(4, FSEL_ALT0);
  77         return 0;
  78 }
  79
  80 /**
  81  * \brief Signal handler pro Ctrl+C
  82  */
  83 void appl_stop(){
  84         uint8_t tx[16];
  85         sem_wait(&rps.thd_par_sem);
  86
  87         memset(tx,0,16*sizeof(int));
  88         rps.pwm1=0;
  89         rps.pwm2=0;
  90         rps.pwm3=0;
  91         spi_read(&rps);
  92
  93         spi_disable();
  94         termClock(0);
  95         freeLogs(&rps);
  96         /*muzeme zavrit semafor*/
  97         sem_destroy(&rps.thd_par_sem);
  98         printf("\nprogram bezpecne ukoncen\n");
  99 }
 100
 101 /**
 102  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 103  */
 104 void * pos_monitor(void* param){
 105         while(1){
 106                 printData(&rps);
 107                 usleep(1000000);        /*1 Hz*/
 108         }
 109         return (void*)0;
 110 }
 111
 112 /*
 113  * \brief
 114  * Feedback loop.
 115  * TODO: replace bunch of 'IFs' with Object-like pattern
 116  */
 117 void * control_loop(void* param){
 118         int i;
 119         struct rpi_in pocatek;
 120         struct rpi_state poc={
 121                 .spi_dat=&pocatek,
 122                 .test=0,
 123                 .pwm1=0, .pwm1=0, .pwm3=0
 124         };
 125         struct timespec t;
 126         int interval = 1000000; /* 1ms ~ 1kHz*/
 127         char first=1;
 128         uint16_t last_index;                            /*we have index up-to date*/
 129         spi_read(&poc);         /*pocatecni informace*/
 130         clock_gettime(CLOCK_MONOTONIC ,&t);
 131         /* start after one second */
 132         t.tv_sec++;
 133                 while(1){
 134                         /* wait until next shot */
 135                         clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 136                         sem_wait(&rps.thd_par_sem);             /*---take semaphore---*/
 137
 138                         /*old positions*/
 139                         rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
 140                         spi_read(&rps);                         /*exchange data*/
 141                         rps.tf_count++;
 142                         substractOffset(&data,poc.spi_dat);     /*subtract initiate postion */
 143                         compSpeed(&rps);                        /*spocita rychlost*/
 144
 145                         if (!rps.index_ok){
 146                                 if (first){
 147                                         last_index=data.index_position;
 148                                         first=0;
 149                                 }else if (last_index!=data.index_position){
 150                                         setIndexOK(&rps);
 151                                         comIndDist(&rps);       /*vypocet vzdalenosti indexu*/
 152                                 }
 153                         }else{ /*index je v poradku*/
 154                                 comIndDist(&rps);               /*vypocet vzdalenosti indexu*/
 155                         }
 156
 157                         /* pocitame sirku plneni podle potreb rizeni*/
 158                         rps.main_controller(&rps);
 159
 160                         /* sirku plneni prepocteme na jednotlive pwm */
 161                         rps.main_commutator(&rps);
 162
 163                         /*zalogujeme hodnoty*/
 164                         if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
 165                                 makeLog(&rps);
 166                         }
 167
 168                         sem_post(&rps.thd_par_sem);             /*--post semaphore---*/
 169
 170                         /* calculate next shot */
 171                         t.tv_nsec += interval;
 172
 173                         while (t.tv_nsec >= NSEC_PER_SEC) {
 174                                 t.tv_nsec -= NSEC_PER_SEC;
 175                                 t.tv_sec++;
 176                         }
 177
 178                 }
 179 }
 180
 181 /**
 182  * \brief Main function.
 183  */
 184 int main(){
 185         pthread_t base_thread_id;
 186         clk_init();             /* inicializace gpio hodin */
 187         spi_init();             /* iniicializace spi*/
 188
 189         /*semafor pro detekci zpracovani parametru vlaken*/
 190         sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
 191         setup_environment();
 192
 193         base_thread_id=pthread_self();
 194
 195         /*main control loop*/
 196         create_rt_task(&base_thread_id,PRIOR_HIGH,control_loop,NULL);
 197
 198         /*monitor of current state*/
 199         create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 200
 201         /*wait for commands*/
 202         poll_cmd(&rps);
 203
 204         return 0;
 205 }