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 "pxmc_sin_fixed.h"     /*to test sin commutation */
  25 #include "pmsm_state.h"
  26 #include "cmd_proc.h"
  27 #include "controllers.h"
  28
  29
  30
  31
  32 #define PRIOR_KERN      50
  33 #define PRIOR_HIGH      49
  34 #define PRIOR_LOW       20
  35
  36 #define THREAD_SHARED   0
  37 #define INIT_VALUE      1       /*init value for semaphor*/
  38
  39
  40 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
  41
  42
  43 struct rpi_in data;
  44 struct rpi_state rps={
  45         //.MAX_DUTY=170,
  46         .spi_dat=&data,
  47         .test=0,
  48         .pwm1=0,.pwm2=0, .pwm3=0,
  49         .pwm1=0, .t_pwm2=0, .t_pwm3=0,
  50         .commutate=0,
  51         .duty=0,                        /* duty cycle of pwm */
  52         .index_dist=0,          /* distance to index position */
  53         .index_ok=0,
  54         .tf_count=0,            /*number of transfer*/
  55         .desired_pos=0,         /* desired position */
  56         .pos_reg_ena=0,
  57         .desired_spd=0,
  58         .spd_reg_ena=0,
  59         .old_pos={0},
  60         .spd_err_sum=0,
  61         .log_col_count=0,       /* pocet radku zaznamu */
  62         .log_col=0,
  63         .doLogs=0,
  64         .alpha_offset=960
  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  * \brief Terminates GPCLK.
  79  */
  80
  81 inline void clk_disable(){
  82         termClock(0);
  83 }
  84 /*
  85  * \brief
  86  * Count minimum value of three numbers.
  87  * Input values must be in range <-2^28;2^28>.
  88  */
  89 int32_t min(int32_t x, int32_t y, int32_t z){
  90         int32_t diff,sign;
  91
  92         diff=x-y; /*rozdil*/
  93         sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze y je vetsi*/
  94         x=y+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
  95
  96         diff=x-z; /*rozdil*/
  97         sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze z je vetsi*/
  98         x=z+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
  99
 100         return x;
 101 }
 102
 103 /*
 104  * \brief
 105  * Free logs
 106  */
 107 void freeLogs(){
 108         int r;
 109         if (rps.log_col_count){
 110                 for (r=0;r<LOG_ROWS;r++){
 111                         free(rps.logs[r]);
 112                 }
 113         }
 114         rps.log_col_count=0;
 115         rps.doLogs=0;
 116 }
 117
 118 /*
 119  * \brief
 120  * Makes log.
 121  */
 122 void makeLog(){
 123         int r;
 124         if (rps.log_col==MAX_LOGS-1){
 125                 rps.doLogs=0;
 126                 return;
 127         }
 128         rps.logs[0][rps.log_col]=(int)rps.tf_count;
 129         rps.logs[1][rps.log_col]=(int)rps.spi_dat->pozice;
 130
 131         rps.logs[2][rps.log_col]=(int)rps.pwm1;
 132         rps.logs[3][rps.log_col]=(int)rps.pwm2;
 133         rps.logs[4][rps.log_col]=(int)rps.pwm3;
 134         rps.logs[5][rps.log_col]=rps.duty;
 135
 136         rps.logs[6][rps.log_col]=rps.desired_spd;
 137         rps.logs[7][rps.log_col]=rps.speed;
 138
 139         rps.logs[8][rps.log_col]=(int)(rps.spi_dat->ch1/rps.spi_dat->adc_m_count);
 140         rps.logs[9][rps.log_col]=(int)(rps.spi_dat->ch2/rps.spi_dat->adc_m_count);
 141         rps.logs[10][rps.log_col]=(int)(rps.spi_dat->ch0/rps.spi_dat->adc_m_count);
 142
 143         rps.log_col++;
 144      /*
 145         if (rps.log_col==rps.log_col_count-1){
 146                 rps.log_col_count*=2;
 147                 rps.log_col_count%=MAX_LOGS;
 148                 for (r=0;r<LOG_ROWS;r++){
 149                         rps.logs[r]=realloc(rps.logs[r],rps.log_col_count*sizeof(int));
 150                         if (rps.logs[r]==NULL){
 151                                 rps.doLogs=0;
 152                                 rps.error=1;
 153                         }
 154                 }
 155         }
 156      */
 157 }
 158
 159 /*
 160  * \brief
 161  * Pripravi psi buffer
 162  */
 163 void prepare_tx(uint8_t * tx){
 164
 165         /*Data format:
 166          * tx[4] - bity 95 downto 88 - bits that are sent first
 167          * tx[5] - bity 87 downto 80
 168          * tx[6] - bity 79 downto 72
 169          * tx[7] - bity 71 downto 64
 170          * tx[8] - bity 63 downto 56
 171          * tx[9] - bity 55 downto 48
 172          * tx[10] - bity 47 downto 40
 173          * tx[11] - bity 39 downto 32
 174          * tx[12] - bity 31 downto 24
 175          * tx[13] - bity 23 downto 16
 176          * tx[14] - bity 15 downto 8
 177          * tx[15] - bity 7 downto 0
 178          *
 179          * bit 95 - ADC reset
 180          * bit 94 - enable PWM1
 181          * bit 93 - enable PWM2
 182          * bit 92 - enable PWM3
 183          * bit 91 - shutdown1
 184          * bit 90 - shutdown2
 185          * bit 89 - shutdown3
 186          *      .
 187          *      .
 188          *      Unused
 189          *      .
 190          *      .
 191          * bits 47 .. 32 - match PWM1
 192          * bits 31 .. 16 - match PWM2
 193          * bits 15 .. 0  - match PWM3
 194          */
 195
 196
 197         uint16_t tmp;
 198
 199         /* keep the 11-bit cap*/
 200
 201         if (rps.pwm1>2047) rps.pwm1=2047;
 202         if (rps.pwm2>2047) rps.pwm2=2047;
 203         if (rps.pwm3>2047) rps.pwm3=2047;
 204
 205         tx[0]=rps.test; /*bit 94 - enable PWM1*/
 206
 207         /*now we have to switch the bytes due to endianess */
 208         /* ARMv6 & ARMv7 instructions are little endian */
 209         /*pwm1*/
 210         tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
 211         tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 212
 213         /*pwm2*/
 214         tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
 215         tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
 216
 217         /*pwm3*/
 218         tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
 219         tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 220
 221
 222 }
 223
 224
 225 /**
 226  * \brief Signal handler pro Ctrl+C
 227  */
 228 void appl_stop(){
 229         uint8_t tx[16];
 230         sem_wait(&rps.thd_par_sem);
 231
 232         memset(tx,0,16*sizeof(int));
 233         rps.pwm1=0;
 234         rps.pwm2=0;
 235         rps.pwm3=0;
 236         prepare_tx(tx);                 /*save the data to send*/
 237         data=spi_read(tx);
 238
 239         spi_disable();
 240         clk_disable();
 241         freeLogs();
 242         /*muzeme zavrit semafor*/
 243         sem_destroy(&rps.thd_par_sem);
 244         printf("\nprogram bezpecne ukoncen\n");
 245 }
 246
 247 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
 248         data->pozice=data->pozice_raw-offset->pozice_raw;
 249         return;
 250 }
 251 /*
 252  * \brief
 253  * Transformace pro uhel pocitany po smeru hodinovych rucicek
 254  */
 255 void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int32_t cos){
 256         *alpha=cos*d+sin*q;
 257         *beta=-sin*d+cos*q;
 258         return;
 259 }
 260 void alphabeta2pwm3(int32_t * ia, int32_t * ib, int32_t *ic,int32_t alpha, int32_t beta){
 261         *ia=alpha;
 262         *ib=-alpha/2+beta*887/1024;
 263         *ic=-alpha/2-beta*887/1024;
 264 }
 265 /*
 266  * \brief
 267  * Preocita napeti na jednotlivych civkach na napeti,
 268  *      ktera budou privedena na svorky motoru.
 269  *      Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
 270  */
 271 void transDelta(int32_t * u1, int32_t * u2, int32_t *u3, int32_t ub , int32_t uc){
 272         int32_t t;
 273
 274         /*vypocte napeti tak, aby odpovidaly rozdily*/
 275         *u1=uc;
 276         *u2=uc+ub;
 277         *u3=0;
 278
 279         /*najde zaporne napeti*/
 280         t=min(*u1,*u2,*u3);
 281
 282         /*dorovna zaporna napeti na nulu*/
 283         *u1-=t;
 284         *u2-=t;
 285         *u3-=t;
 286 }
 287 void inv_trans_comm(int duty){
 288         uint32_t pos;
 289         int32_t sin, cos;
 290         int32_t alpha, beta;
 291         int32_t pwma,pwmb,pwmc;
 292         pos=rps.index_dist;
 293         /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
 294         pos+=717;
 295         /*use it as cyclic 32-bit logic*/
 296         pos*=4294967;
 297         pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
 298         dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
 299         alpha>>=16;
 300         beta>>=16;
 301         alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);
 302
 303         if (pwma<0) pwma=0;
 304         if (pwmb<0) pwmb=0;
 305         if (pwmc<0) pwmc=0;
 306
 307
 308         rps.t_pwm1=(uint16_t)pwma;
 309         rps.t_pwm3=(uint16_t)pwmb;
 310         rps.t_pwm2=(uint16_t)pwmc;
 311 }
 312
 313 void inv_trans_comm_2(int duty){
 314         uint32_t pos;
 315         int32_t sin, cos;
 316         int32_t alpha, beta;
 317         int32_t ua,ub,uc;
 318         int32_t ia,ib,ic;
 319         int32_t u1,u2,u3;
 320         pos=rps.index_dist;
 321
 322         pos+=rps.alpha_offset; /*zarovnani faze 'a' s osou 'alpha'*/
 323
 324         /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
 325         pos*=4294967;
 326         pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
 327
 328         dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
 329         alpha>>=16;
 330         beta>>=16;
 331
 332         alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
 333
 334         ua=ia;
 335         ub=ib;
 336         uc=ic;
 337
 338         transDelta(&u1,&u2, &u3,ub,uc);
 339
 340         rps.pwm1=(uint16_t)u1;
 341         rps.pwm2=(uint16_t)u2;
 342         rps.pwm3=(uint16_t)u3;
 343 }
 344
 345 /**
 346  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 347  */
 348 void * pos_monitor(void* param){
 349         while(1){
 350                 printData(&rps);
 351                 usleep(1000000);        /*1 Hz*/
 352         }
 353         return (void*)0;
 354 }
 355 /*
 356  * \brief
 357  * Multiplication of 11 bit
 358  * Zaporne vysledky prvede na nulu.
 359  */
 360 inline uint16_t mult_cap(int32_t s,int d){
 361         int j;
 362         int res=0;
 363         for(j=0;j!=11;j++){
 364                 /* multiplicate as if maximum sinus value was unity */
 365                 res+=(!(s & 0x10000000))*(((1 << j) & s)>>j)*(d>>(10-j));
 366         }
 367         return res;
 368 }
 369
 370 inline
 371 int sin_commutator(int duty){
 372         #define DEGREE_60        715827883
 373         #define DEGREE_120      1431655765
 374         #define DEGREE_180      2147483648
 375         #define DEGREE_240      2863311531
 376         #define DEGREE_300      3579139413
 377         uint32_t j,pos;
 378         int32_t sin;
 379         pos=rps.index_dist;
 380         int32_t pwm;
 381         /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
 382         pos+=38;
 383         /*use it as cyclic 32-bit logic*/
 384         pos*=4294967;
 385         if (duty>=0){   /*clockwise rotation*/
 386                 /* 1st phase */
 387                 sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
 388                 pwm=sin*duty/1024;
 389                 if (pwm<0) pwm=0;
 390                 rps.pwm1=(uint16_t)pwm;
 391
 392                 /* 2nd phase */
 393                 sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
 394                 pwm=sin*duty/1024;
 395                 if (pwm<0) pwm=0;
 396                 rps.pwm2=(uint16_t)pwm;
 397
 398                 /* 3rd phase */
 399                 sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
 400                 pwm=sin*duty/1024;
 401                 if (pwm<0) pwm=0;
 402                 rps.pwm3=(uint16_t)pwm;
 403         }else{
 404                 duty=-duty;
 405
 406                 /* 1st phase */
 407                 sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
 408                 pwm=sin*duty/1024;
 409                 if (pwm<0) pwm=0;
 410                 rps.pwm1=(uint16_t)pwm;
 411
 412                 /* 2nd phase */
 413                 sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
 414                 pwm=sin*duty/1024;
 415                 if (pwm<0) pwm=0;
 416                 rps.pwm2=(uint16_t)pwm;
 417
 418                 /* 3rd phase */
 419                 sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
 420                 pwm=sin*duty/1024;
 421                 if (pwm<0) pwm=0;
 422                 rps.pwm3=(uint16_t)pwm;
 423         }
 424         return 0;
 425 }
 426 /*
 427  * \brief
 428  * Test function to be placed in controll loop.
 429  * Switches PWM's at point where they produce same force.
 430  * This points are found thanks to IRC position,
 431  */
 432 inline
 433 void simple_ind_dist_commutator(int duty){
 434         if (duty>=0){ /* clockwise - so that position increase */
 435                 /* pwm3 */
 436                 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
 437                 (rps.index_dist>=1048 && rps.index_dist<=1377)){
 438                         rps.pwm1=0;
 439                         rps.pwm2=0;
 440                         rps.pwm3=duty;
 441                         /* pwm1 */
 442                 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
 443                 (rps.index_dist>=1377 && rps.index_dist<=1711)){
 444                         rps.pwm1=duty;
 445                         rps.pwm2=0;
 446                         rps.pwm3=0;
 447                         /* pwm2 */
 448                 }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
 449                 (rps.index_dist>=711 && rps.index_dist<=1048) ||
 450                 (rps.index_dist>=1711 && rps.index_dist<=1999)){
 451                         rps.pwm1=0;
 452                         rps.pwm2=duty;
 453                         rps.pwm3=0;
 454                 }
 455         }else{  /*counter-clockwise - position decrease */
 456                 /* pwm3 */
 457                 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
 458                 (rps.index_dist>=1544 && rps.index_dist<=1878)){
 459                         rps.pwm1=0;
 460                         rps.pwm2=0;
 461                         rps.pwm3=-duty;
 462                         /* pwm1 */
 463                 }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
 464                 (rps.index_dist>=881 && rps.index_dist<=1210) ||
 465                 (rps.index_dist>=1878 && rps.index_dist<=1999)){
 466                         rps.pwm1=-duty;
 467                         rps.pwm2=0;
 468                         rps.pwm3=0;
 469                         /* pwm2 */
 470                 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
 471                 (rps.index_dist>=1210 && rps.index_dist<=1544)){
 472                         rps.pwm1=0;
 473                         rps.pwm2=-duty;
 474                         rps.pwm3=0;
 475                 }
 476         }
 477 }
 478 /*
 479  * \brief
 480  * Test function to be placed in controll loop.
 481  * Switches PWM's at point where they produce same force
 482  */
 483 inline void simple_hall_commutator(int duty){
 484         if (duty>=0){ /* clockwise - so that position increase */
 485                 /* pwm3 */
 486                 if (data.hal2 && !data.hal3){
 487                         rps.pwm1=0;
 488                         rps.pwm2=0;
 489                         rps.pwm3=duty;
 490                         /* pwm1 */
 491                 }else if (data.hal1 && !data.hal2){
 492                         rps.pwm1=duty;
 493                         rps.pwm2=0;
 494                         rps.pwm3=0;
 495                         /* pwm2 */
 496                 }else if (!data.hal1 && data.hal3){
 497                         rps.pwm1=0;
 498                         rps.pwm2=duty;
 499                         rps.pwm3=0;
 500                 }
 501         }else{  /*counter-clockwise - position decrease */
 502                 /* pwm3 */
 503                 if (!data.hal2 && data.hal3){
 504                         rps.pwm1=0;
 505                         rps.pwm2=0;
 506                         rps.pwm3=-duty;
 507                         /* pwm1 */
 508                 }else if (!data.hal1 && data.hal2){
 509                         rps.pwm1=-duty;
 510                         rps.pwm2=0;
 511                         rps.pwm3=0;
 512                         /* pwm2 */
 513                 }else if (data.hal1 && !data.hal3){
 514                         rps.pwm1=0;
 515                         rps.pwm2=-duty;
 516                         rps.pwm3=0;
 517                 }
 518         }
 519 }
 520 /**
 521  * \brief
 522  * Computation of distance to index.
 523  *
 524  * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
 525  * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
 526  *      to je 3999 bodu
 527  *      =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
 528  *              signalu indexu
 529  */
 530 void comIndDist(){
 531         uint16_t pos = 0x0FFF & data.pozice_raw;
 532         uint16_t dist;
 533         uint16_t index = data.index_position;
 534
 535         if (index<1999){                /*index e<0,1998> */
 536                 if (pos<index){                 /*pozice e<0,index-1> */
 537                         /*proti smeru h.r. od indexu*/
 538                         dist=pos+2000-index;
 539                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 540                         /*po smeru h.r. od indexu*/
 541                         dist=pos-index;
 542                 }else if (pos<index+2096){      /*pozice e<index+2000,index+2095> */
 543                         goto index_lost;
 544                 }else{                          /*pozice e<index+2096,4095> */
 545                         /*proti smeru h.r. od indexu - podtecena pozice*/
 546                         dist=pos-index-2096;
 547                 }
 548         }else if (index<=2096){         /*index e<1999,2096>*/
 549                 if (pos<index-1999){            /*pozice e<0,index-2000> */
 550                         goto index_lost;
 551                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 552                         /*proti smeru h.r. od indexu*/
 553                         dist=pos+2000-index;
 554                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 555                         /*po smeru h.r. od indexu*/
 556                         dist=pos-index;
 557                 }else {                         /*pozice e<index+2000,4095> */
 558                         goto index_lost;
 559                 }
 560         }else{                          /*index e<2097,4095> */
 561                 if (pos<=index-2097){           /*pozice e<0,index-2097> */
 562                         /*po smeru h.r. od indexu - pretecena pozice*/
 563                         dist=4096+pos-index;
 564                 }else if (pos<index-1999){      /*pozice e<index-2096,index-2000> */
 565                         goto index_lost;
 566                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 567                         /*proti smeru h.r. od indexu*/
 568                         dist=pos+2000-index;
 569                 }else{                          /*pozice e<index,4095> */
 570                         /*po smeru h.r. od indexu*/
 571                         dist=pos-index;
 572                 }
 573         }
 574
 575         rps.index_dist = dist;
 576         return;
 577
 578         index_lost:
 579                 rps.index_ok=0;
 580                 return;
 581 }
 582
 583
 584 /*
 585  * \brief
 586  * Computate speed.
 587  */
 588 void compSpeed(){
 589         signed long int spd;
 590         spd=rps.spi_dat->pozice-rps.old_pos[rps.tf_count%OLD_POS_NUM];
 591         rps.speed=(int32_t)spd;
 592 }
 593
 594 /*
 595  * \brief
 596  * Feedback loop.
 597  * TODO: replace bunch of 'IFs' with Object-like pattern
 598  */
 599 void * read_data(void* param){
 600         int i;
 601         struct rpi_in pocatek;
 602         struct timespec t;
 603         int interval = 1000000; /* 1ms ~ 1kHz*/
 604         uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 605         char first=1;
 606         uint16_t last_index;                            /*we have index up-to date*/
 607         pocatek = spi_read(tx);
 608         clock_gettime(CLOCK_MONOTONIC ,&t);
 609         /* start after one second */
 610         t.tv_sec++;
 611                 while(1){
 612                         /* wait until next shot */
 613                         clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 614                         sem_wait(&rps.thd_par_sem);             /*---take semaphore---*/
 615
 616                         /*old positions*/
 617                         rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
 618                         prepare_tx(tx);                 /*save the data to send*/
 619                         data = spi_read(tx);            /*exchange data*/
 620                         /*subtract initiate postion */
 621                         rps.tf_count++;
 622                         substractOffset(&data,&pocatek);
 623                         compSpeed();                    /*spocita rychlost*/
 624
 625                         if (!rps.index_ok){
 626                                 if (first){
 627                                         last_index=data.index_position;
 628                                         first=0;
 629                                 }else if (last_index!=data.index_position){
 630                                         rps.index_ok=1;
 631                                         comIndDist();   /*vypocet vzdalenosti indexu*/
 632                                 }
 633                         }else{ /*index je v poradku*/
 634                                 comIndDist();           /*vypocet vzdalenosti indexu*/
 635                         }
 636
 637                         /* pocitame sirku plneni podle potreb rizeni*/
 638                         if (rps.pos_reg_ena){           /*pozicni rizeni*/
 639                                 pos_pid(&rps);
 640                         }else if(rps.spd_reg_ena){      /*rizeni na rychlost*/
 641                                 spd_pid(&rps);
 642                         }
 643
 644                         /* sirka plneni prepoctena na jednotlive pwm */
 645                         if (rps.index_ok && rps.commutate){
 646                                 /*simple_ind_dist_commutator(rps.duty);*/
 647                                 /*sin_commutator(rps.duty);*/
 648                                 inv_trans_comm(rps.duty);
 649                                 inv_trans_comm_2(rps.duty);
 650                         }else if(!rps.index_ok && rps.commutate){
 651                                 simple_hall_commutator(rps.duty);
 652                         }
 653
 654                         /*zalogujeme hodnoty*/
 655                         if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
 656                                 makeLog();
 657                         }
 658
 659                         sem_post(&rps.thd_par_sem);             /*--post semaphore---*/
 660
 661                         /* calculate next shot */
 662                         t.tv_nsec += interval;
 663
 664                         while (t.tv_nsec >= NSEC_PER_SEC) {
 665                                 t.tv_nsec -= NSEC_PER_SEC;
 666                                 t.tv_sec++;
 667                         }
 668
 669                 }
 670 }
 671
 672
 673 /**
 674  * \brief Main function.
 675  */
 676
 677 int main(){
 678         pthread_t base_thread_id;
 679         clk_init();             /* inicializace gpio hodin */
 680         spi_init();             /* iniicializace spi*/
 681
 682         /*semafor pro detekci zpracovani parametru vlaken*/
 683         sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
 684         setup_environment();
 685
 686         base_thread_id=pthread_self();
 687
 688         /*main control loop*/
 689         create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
 690
 691         /*monitor of current state*/
 692         create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 693
 694         /*wait for commands*/
 695         poll_cmd(&rps);
 696
 697         return 0;
 698 }