3 * \author Martin Prudek
4 * \brief Mainfile pro pmsm control.
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*/
20 #include "rpin.h" /*gpclk*/
21 #include "rp_spi.h" /*spi*/
22 #include "misc.h" /*structure for priorities*/
23 #include "pxmc_sin_fixed.h" /*to test sin commutation */
24 #include "pmsm_state.h"
34 #define THREAD_SHARED 0
35 #define INIT_VALUE 1 /*init value for semaphor*/
38 #define NSEC_PER_SEC (1000000000) /* The number of nsecs per sec. */
42 struct rpi_state rps={
45 .pwm1=0,.pwm2=0, .pwm3=0,
46 .pwm1=0, .t_pwm2=0, .t_pwm3=0,
48 .duty=0, /* duty cycle of pwm */
49 .index_dist=0, /* distance to index position */
51 .tf_count=0, /*number of transfer*/
52 .desired_pos=0, /* desired position */
59 * \brief Initilizes GPCLK.
63 initialise(); /*namapovani gpio*/
64 initClock(PLLD_500_MHZ, 10, 0);
65 gpioSetMode(4, FSEL_ALT0);
69 * \brief Terminates GPCLK.
72 inline void clk_disable(){
77 * Count minimum value of three numbers.
78 * Input values must be in range <-2^28;2^28>.
80 int32_t min(int32_t x, int32_t y, int32_t z){
84 sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze y je vetsi*/
85 x=y+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
88 sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze z je vetsi*/
89 x=z+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
95 * \brief Signal handler pro Ctrl+C
100 /*muzeme zavrit semafor*/
101 sem_destroy(&rps.thd_par_sem);
102 printf("\nprogram bezpecne ukoncen\n");
105 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
106 data->pozice_raw=data->pozice;
107 data->pozice-=offset->pozice;
112 * Transformace pro uhel pocitany po smeru hodinovych rucicek
114 void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int32_t cos){
119 void alphabeta2pwm3(int32_t * ia, int32_t * ib, int32_t *ic,int32_t alpha, int32_t beta){
121 *ib=-alpha/2+beta*887/1024;
122 *ic=-alpha/2-beta*887/1024;
126 * Preocita napeti na jednotlivych civkach na napeti,
127 * ktera budou privedena na svorky motoru.
128 * Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
130 void transDelta(int32_t * u1, int32_t * u2, int32_t *u3, int32_t ub , int32_t uc){
133 /*vypocte napeti tak, aby odpovidaly rozdily*/
138 /*najde zaporne napeti*/
141 /*dorovna zaporna napeti na nulu*/
146 void inv_trans_comm(int duty){
150 int32_t pwma,pwmb,pwmc;
152 /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
154 /*use it as cyclic 32-bit logic*/
156 pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
157 dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
160 alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);
167 rps.t_pwm1=(uint16_t)pwma;
168 rps.t_pwm3=(uint16_t)pwmb;
169 rps.t_pwm2=(uint16_t)pwmc;
172 void inv_trans_comm_2(int duty){
181 pos+=960; /*zarovnani faze 'a' s osou 'alpha'*/
183 /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
185 pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
187 dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
191 alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
197 transDelta(&u1,&u2, &u3,ub,uc);
199 rps.pwm1=(uint16_t)u1;
200 rps.pwm2=(uint16_t)u2;
201 rps.pwm3=(uint16_t)u3;
203 void prepare_tx(uint8_t * tx){
206 * tx[4] - bity 95 downto 88 - bits that are sent first
207 * tx[5] - bity 87 downto 80
208 * tx[6] - bity 79 downto 72
209 * tx[7] - bity 71 downto 64
210 * tx[8] - bity 63 downto 56
211 * tx[9] - bity 55 downto 48
212 * tx[10] - bity 47 downto 40
213 * tx[11] - bity 39 downto 32
214 * tx[12] - bity 31 downto 24
215 * tx[13] - bity 23 downto 16
216 * tx[14] - bity 15 downto 8
217 * tx[15] - bity 7 downto 0
220 * bit 94 - enable PWM1
221 * bit 93 - enable PWM2
222 * bit 92 - enable PWM3
231 * bits 47 .. 32 - match PWM1
232 * bits 31 .. 16 - match PWM2
233 * bits 15 .. 0 - match PWM3
239 /* keep the 11-bit cap*/
241 if (rps.pwm1>2047) rps.pwm1=2047;
242 if (rps.pwm2>2047) rps.pwm2=2047;
243 if (rps.pwm3>2047) rps.pwm3=2047;
245 tx[0]=rps.test; /*bit 94 - enable PWM1*/
247 /*now we have to switch the bytes due to endianess */
248 /* ARMv6 & ARMv7 instructions are little endian */
250 tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
251 tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
254 tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
255 tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
258 tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
259 tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
264 * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
266 void * pos_monitor(void* param){
269 usleep(1000000); /*1 Hz*/
275 * Multiplication of 11 bit
276 * Zaporne vysledky prvede na nulu.
278 inline uint16_t mult_cap(int32_t s,int d){
282 /* multiplicate as if maximum sinus value was unity */
283 res+=(!(s & 0x10000000))*(((1 << j) & s)>>j)*(d>>(10-j));
288 int sin_commutator(int duty){
289 #define DEGREE_60 715827883
290 #define DEGREE_120 1431655765
291 #define DEGREE_180 2147483648
292 #define DEGREE_240 2863311531
293 #define DEGREE_300 3579139413
298 /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
300 /*use it as cyclic 32-bit logic*/
302 if (duty>=0){ /*clockwise rotation*/
304 sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
307 rps.pwm1=(uint16_t)pwm;
310 sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
313 rps.pwm2=(uint16_t)pwm;
316 sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
319 rps.pwm3=(uint16_t)pwm;
324 sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
327 rps.pwm1=(uint16_t)pwm;
330 sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
333 rps.pwm2=(uint16_t)pwm;
336 sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
339 rps.pwm3=(uint16_t)pwm;
345 * Test function to be placed in controll loop.
346 * Switches PWM's at point where they produce same force.
347 * This points are found thanks to IRC position,
350 void simple_ind_dist_commutator(int duty){
351 if (duty>=0){ /* clockwise - so that position increase */
353 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
354 (rps.index_dist>=1048 && rps.index_dist<=1377)){
359 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
360 (rps.index_dist>=1377 && rps.index_dist<=1711)){
365 }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
366 (rps.index_dist>=711 && rps.index_dist<=1048) ||
367 (rps.index_dist>=1711 && rps.index_dist<=1999)){
372 }else{ /*counter-clockwise - position decrease */
374 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
375 (rps.index_dist>=1544 && rps.index_dist<=1878)){
380 }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
381 (rps.index_dist>=881 && rps.index_dist<=1210) ||
382 (rps.index_dist>=1878 && rps.index_dist<=1999)){
387 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
388 (rps.index_dist>=1210 && rps.index_dist<=1544)){
397 * Test function to be placed in controll loop.
398 * Switches PWM's at point where they produce same force
400 inline void simple_hall_commutator(int duty){
401 if (duty>=0){ /* clockwise - so that position increase */
403 if (data.hal2 && !data.hal3){
408 }else if (data.hal1 && !data.hal2){
413 }else if (!data.hal1 && data.hal3){
418 }else{ /*counter-clockwise - position decrease */
420 if (!data.hal2 && data.hal3){
425 }else if (!data.hal1 && data.hal2){
430 }else if (data.hal1 && !data.hal3){
439 * Computation of distance to index.
441 * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
442 * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
444 * =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
448 uint16_t pos = 0x0FFF & data.pozice_raw;
450 uint16_t index = data.index_position;
452 if (index<1999){ /*index e<0,1998> */
453 if (pos<index){ /*pozice e<0,index-1> */
454 /*proti smeru h.r. od indexu*/
456 }else if (pos<=index+1999){ /*pozice e<index,index+1999> */
457 /*po smeru h.r. od indexu*/
459 }else if (pos<index+2096){ /*pozice e<index+2000,index+2095> */
461 }else{ /*pozice e<index+2096,4095> */
462 /*proti smeru h.r. od indexu - podtecena pozice*/
465 }else if (index<=2096){ /*index e<1999,2096>*/
466 if (pos<index-1999){ /*pozice e<0,index-2000> */
468 }else if (pos<index){ /*pozice e<index-1999,index-1> */
469 /*proti smeru h.r. od indexu*/
471 }else if (pos<=index+1999){ /*pozice e<index,index+1999> */
472 /*po smeru h.r. od indexu*/
474 }else { /*pozice e<index+2000,4095> */
477 }else{ /*index e<2097,4095> */
478 if (pos<=index-2097){ /*pozice e<0,index-2097> */
479 /*po smeru h.r. od indexu - pretecena pozice*/
481 }else if (pos<index-1999){ /*pozice e<index-2096,index-2000> */
483 }else if (pos<index){ /*pozice e<index-1999,index-1> */
484 /*proti smeru h.r. od indexu*/
486 }else{ /*pozice e<index,4095> */
487 /*po smeru h.r. od indexu*/
492 rps.index_dist = dist;
501 * Very simple PID regulator.
502 * Now only with P-part so that the error doesnt go to zero.
503 * TODO: add anti-wind up and I and D parts
505 inline void pos_pid(){
507 duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
508 if (duty_tmp>MAX_DUTY){
510 }else if (duty_tmp<-MAX_DUTY){
519 * TODO: replace bunch of 'IFs' with Object-like pattern
521 void * read_data(void* param){
523 struct rpi_in pocatek;
525 int interval = 1000000; /* 1ms ~ 1kHz*/
526 uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
528 uint16_t last_index; /*we have index up-to date*/
529 pocatek = spi_read(tx);
530 clock_gettime(CLOCK_MONOTONIC ,&t);
531 /* start after one second */
534 /* wait until next shot */
535 clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
536 sem_wait(&rps.thd_par_sem); /*---take semaphore---*/
537 prepare_tx(tx); /*save the data to send*/
538 data = spi_read(tx); /*exchange data*/
539 /*subtract initiate postion */
541 substractOffset(&data,&pocatek);
545 last_index=data.index_position;
547 }else if (last_index!=data.index_position){
549 comIndDist(); /*vypocet vzdalenosti indexu*/
551 }else{ /*index je v poradku*/
552 comIndDist(); /*vypocet vzdalenosti indexu*/
554 /* pocitame sirku plneni podle potreb rizeni*/
555 if (rps.pos_reg_ena){
558 /* sirka plneni prepoctena na jednotlive pwm */
559 if (rps.index_ok && rps.commutate){
560 /*simple_ind_dist_commutator(rps.duty);*/
561 /*sin_commutator(rps.duty);*/
562 inv_trans_comm(rps.duty);
563 inv_trans_comm_2(rps.duty);
564 }else if(!rps.index_ok && rps.commutate){
565 simple_hall_commutator(rps.duty);
567 sem_post(&rps.thd_par_sem); /*--post semaphore---*/
569 /* calculate next shot */
570 t.tv_nsec += interval;
572 while (t.tv_nsec >= NSEC_PER_SEC) {
573 t.tv_nsec -= NSEC_PER_SEC;
583 * \brief Main function.
587 pthread_t base_thread_id;
588 clk_init(); /* inicializace gpio hodin */
589 spi_init(); /* iniicializace spi*/
591 /*semafor pro detekci zpracovani parametru vlaken*/
592 sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
595 base_thread_id=pthread_self();
597 /*main control loop*/
598 create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
600 /*monitor of current state*/
601 create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
603 /*wait for commands*/