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 };
  65
  66
  67 /**
  68  * \brief Initilizes GPCLK.
  69  */
  70 int clk_init()
  71 {
  72         initialise(); /*namapovani gpio*/
  73         initClock(PLLD_500_MHZ, 10, 0);
  74         gpioSetMode(4, FSEL_ALT0);
  75         return 0;
  76 }
  77
  78 /**
  79  * \brief Signal handler pro Ctrl+C
  80  */
  81 void appl_stop(){
  82         uint8_t tx[16];
  83         sem_wait(&rps.thd_par_sem);
  84
  85         memset(tx,0,16*sizeof(int));
  86         rps.pwm1=0;
  87         rps.pwm2=0;
  88         rps.pwm3=0;
  89         spi_read(&rps);
  90
  91         spi_disable();
  92         termClock(0);
  93         freeLogs(&rps);
  94         /*muzeme zavrit semafor*/
  95         sem_destroy(&rps.thd_par_sem);
  96         printf("\nprogram bezpecne ukoncen\n");
  97 }
  98
  99 /**
 100  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 101  */
 102 void * pos_monitor(void* param){
 103         while(1){
 104                 printData(&rps);
 105                 usleep(1000000);        /*1 Hz*/
 106         }
 107         return (void*)0;
 108 }
 109
 110 /*
 111  * \brief
 112  * Feedback loop.
 113  * TODO: replace bunch of 'IFs' with Object-like pattern
 114  */
 115 void * read_data(void* param){
 116         int i;
 117         struct rpi_in pocatek;
 118         struct rpi_state poc={
 119                 .spi_dat=&pocatek,
 120                 .test=0,
 121                 .pwm1=0, .pwm1=0, .pwm3=0
 122         };
 123         struct timespec t;
 124         int interval = 1000000; /* 1ms ~ 1kHz*/
 125         char first=1;
 126         uint16_t last_index;                            /*we have index up-to date*/
 127         spi_read(&poc);         /*pocatecni informace*/
 128         clock_gettime(CLOCK_MONOTONIC ,&t);
 129         /* start after one second */
 130         t.tv_sec++;
 131                 while(1){
 132                         /* wait until next shot */
 133                         clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 134                         sem_wait(&rps.thd_par_sem);             /*---take semaphore---*/
 135
 136                         /*old positions*/
 137                         rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
 138                         spi_read(&rps);         /*exchange data*/
 139                         /*subtract initiate postion */
 140                         rps.tf_count++;
 141                         substractOffset(&data,poc.spi_dat);
 142                         compSpeed(&rps);                        /*spocita rychlost*/
 143
 144                         if (!rps.index_ok){
 145                                 if (first){
 146                                         last_index=data.index_position;
 147                                         first=0;
 148                                 }else if (last_index!=data.index_position){
 149                                         rps.index_ok=1;
 150                                         comIndDist(&rps);       /*vypocet vzdalenosti indexu*/
 151                                 }
 152                         }else{ /*index je v poradku*/
 153                                 comIndDist(&rps);               /*vypocet vzdalenosti indexu*/
 154                         }
 155
 156                         /* pocitame sirku plneni podle potreb rizeni*/
 157                         if (rps.pos_reg_ena){           /*pozicni rizeni*/
 158                                 pos_pid(&rps);
 159                         }else if(rps.spd_reg_ena){      /*rizeni na rychlost*/
 160                                 spd_pid(&rps);
 161                         }
 162
 163                         /* sirka plneni prepoctena na jednotlive pwm */
 164                         if (rps.index_ok && rps.commutate){
 165                                 /*simple_ind_dist_commutator(rps.duty);*/
 166                                 /*sin_commutator(rps.duty);*/
 167                                 inv_trans_comm(&rps);
 168                                 inv_trans_comm_2(&rps);
 169                         }else if(!rps.index_ok && rps.commutate){
 170                                 simple_hall_commutator(&rps);
 171                         }
 172
 173                         /*zalogujeme hodnoty*/
 174                         if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
 175                                 makeLog(&rps);
 176                         }
 177
 178                         sem_post(&rps.thd_par_sem);             /*--post semaphore---*/
 179
 180                         /* calculate next shot */
 181                         t.tv_nsec += interval;
 182
 183                         while (t.tv_nsec >= NSEC_PER_SEC) {
 184                                 t.tv_nsec -= NSEC_PER_SEC;
 185                                 t.tv_sec++;
 186                         }
 187
 188                 }
 189 }
 190
 191 /**
 192  * \brief Main function.
 193  */
 194 int main(){
 195         pthread_t base_thread_id;
 196         clk_init();             /* inicializace gpio hodin */
 197         spi_init();             /* iniicializace spi*/
 198
 199         /*semafor pro detekci zpracovani parametru vlaken*/
 200         sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
 201         setup_environment();
 202
 203         base_thread_id=pthread_self();
 204
 205         /*main control loop*/
 206         create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
 207
 208         /*monitor of current state*/
 209         create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 210
 211         /*wait for commands*/
 212         poll_cmd(&rps);
 213
 214         return 0;
 215 }