#include "pmsm_state.h"
#include "cmd_proc.h"
-#define MAX_DUTY 170
+
#define PID_P 0.3
-#define PID_P_S 0.3
+#define PID_P_S 0.7
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
.desired_pos=0, /* desired position */
.pos_reg_ena=0,
.desired_spd=0,
- .spd_reg_ena=0
+ .spd_reg_ena=0,
+ .old_pos={0}
};
/**
}
void substractOffset(struct rpi_in* data, struct rpi_in* offset){
- data->pozice_raw=data->pozice;
- data->pozice-=offset->pozice;
+ data->pozice=data->pozice_raw-offset->pozice_raw;
return;
}
/*
*/
inline void spd_pid(){
int duty_tmp;
- signed long int speed=rps.spi_dat->pozice-rps.old_pos;
- duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
+ duty_tmp = PID_P_S*(rps.desired_spd - rps.speed);
if (duty_tmp>MAX_DUTY){
rps.duty=MAX_DUTY;
}else if (duty_tmp<-MAX_DUTY){
rps.duty = duty_tmp;
}
}
+
+/*
+ * \brief
+ * Computate speed.
+ */
+void compSpeed(){
+ signed long int spd;
+ spd=rps.spi_dat->pozice-rps.old_pos[rps.tf_count%OLD_POS_NUM];
+ rps.speed=(int32_t)spd;
+}
+
/*
* \brief
* Feedback loop.
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
sem_wait(&rps.thd_par_sem); /*---take semaphore---*/
- rps.old_pos=rps.spi_dat->pozice; /*old position*/
+ /*old positions*/
+ rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
prepare_tx(tx); /*save the data to send*/
data = spi_read(tx); /*exchange data*/
/*subtract initiate postion */
rps.tf_count++;
substractOffset(&data,&pocatek);
+ compSpeed(); /*spocita rychlost*/
if (!rps.index_ok){
if (first){
}else{ /*index je v poradku*/
comIndDist(); /*vypocet vzdalenosti indexu*/
}
+
/* pocitame sirku plneni podle potreb rizeni*/
- if (rps.pos_reg_ena){
+ if (rps.pos_reg_ena){ /*pozicni rizeni*/
pos_pid();
+ }else if(rps.spd_reg_ena){ /*rizeni na rychlost*/
+ spd_pid();
}
+
/* sirka plneni prepoctena na jednotlive pwm */
if (rps.index_ok && rps.commutate){
/*simple_ind_dist_commutator(rps.duty);*/
}
-
/**
* \brief Main function.
*/