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
  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"
  25 #include "cmd_proc.h"
  26
  27 #define MAX_DUTY        128
  28 #define PID_P           0.1
  29
  30 #define PRIOR_KERN      50
  31 #define PRIOR_HIGH      49
  32 #define PRIOR_LOW       20
  33
  34 #define THREAD_SHARED   0
  35 #define INIT_VALUE      1       /*init value for semaphor*/
  36
  37
  38 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
  39
  40
  41 struct rpi_in data;
  42 struct rpi_state rps={
  43         .spi_dat=&data,
  44         .test=0,
  45         .pwm1=0,.pwm2=0, .pwm3=0,
  46         .pwm1=0, .t_pwm2=0, .t_pwm3=0,
  47         .commutate=0,
  48         .duty=0,                        /* duty cycle of pwm */
  49         .index_dist=0,          /* distance to index position */
  50         .index_ok=0,
  51         .tf_count=0,            /*number of transfer*/
  52         .desired_pos=0          /* desired position */
  53 };
  54
  55 /**
  56  * \brief Initilizes GPCLK.
  57  */
  58 int clk_init()
  59 {
  60         initialise(); /*namapovani gpio*/
  61         initClock(PLLD_500_MHZ, 10, 0);
  62         gpioSetMode(4, FSEL_ALT0);
  63         return 0;
  64 }
  65 /*
  66  * \brief Terminates GPCLK.
  67  */
  68
  69 inline void clk_disable(){
  70         termClock(0);
  71 }
  72 /*
  73  * \brief
  74  * Count minimum value of three numbers.
  75  * Input values must be in range <-2^28;2^28>.
  76  */
  77 int32_t min(int32_t x, int32_t y, int32_t z){
  78         int32_t diff,sign;
  79
  80         diff=x-y; /*rozdil*/
  81         sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze y je vetsi*/
  82         x=y+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
  83
  84         diff=x-z; /*rozdil*/
  85         sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze z je vetsi*/
  86         x=z+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
  87
  88         return x;
  89 }
  90
  91 /**
  92  * \brief Signal handler pro Ctrl+C
  93  */
  94 void appl_stop(){
  95         spi_disable();
  96         clk_disable();
  97         /*muzeme zavrit semafor*/
  98         sem_destroy(&rps.thd_par_sem);
  99         printf("\nprogram bezpecne ukoncen\n");
 100 }
 101
 102 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
 103         data->pozice_raw=data->pozice;
 104         data->pozice-=offset->pozice;
 105         return;
 106 }
 107 /*
 108  * \brief
 109  * Transformace pro uhel pocitany po smeru hodinovych rucicek
 110  */
 111 void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int32_t cos){
 112         *alpha=cos*d+sin*q;
 113         *beta=-sin*d+cos*q;
 114         return;
 115 }
 116 void alphabeta2pwm3(int32_t * pwma, int32_t * pwmb, int32_t *pwmc,int32_t alpha, int32_t beta){
 117         *pwma=alpha;
 118         *pwmb=-alpha/2+beta*887/1024;
 119         *pwmc=-alpha/2-beta*887/1024;
 120 }
 121 /*
 122  * \brief
 123  * Preocita napeti na jednotlivych civkach na napeti,
 124  *      ktera budou privedena na svorky motoru.
 125  *      Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
 126  */
 127 void transDelta(int32_t * u1, int32_t * u2, int32_t *u3, int32_t ub , int32_t uc){
 128         int32_t t;
 129
 130         /*vypocte napeti tak, aby odpovidaly rozdily*/
 131         *u1=uc;
 132         *u2=uc+ub;
 133         *u3=0;
 134
 135         /*najde zaporne napeti*/
 136         t=min(*u1,*u2,*u3);
 137
 138         /*dorovna zaporna napeti na nulu*/
 139         *u1-=t;
 140         *u2-=t;
 141         *u3-=t;
 142 }
 143 void inv_trans_comm(int duty){
 144         uint32_t pos;
 145         int32_t sin, cos;
 146         int32_t alpha, beta;
 147         int32_t pwma,pwmb,pwmc;
 148         pos=rps.index_dist;
 149         /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
 150         pos+=717;
 151         /*use it as cyclic 32-bit logic*/
 152         pos*=4294967;
 153         pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
 154         dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
 155         alpha>>=16;
 156         beta>>=16;
 157         alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);
 158
 159         if (pwma<0) pwma=0;
 160         if (pwmb<0) pwmb=0;
 161         if (pwmc<0) pwmc=0;
 162
 163
 164         rps.t_pwm1=(uint16_t)pwma;
 165         rps.t_pwm3=(uint16_t)pwmb;
 166         rps.t_pwm2=(uint16_t)pwmc;
 167 }
 168
 169 void inv_trans_comm_2(int duty){
 170         uint32_t pos;
 171         int32_t sin, cos;
 172         int32_t alpha, beta;
 173         int32_t ua,ub,uc;
 174         int32_t ia,ib,ic;
 175         int32_t u1,u2,u3;
 176         pos=rps.index_dist;
 177
 178         pos+=960; /*zarovnani faze 'a' s osou 'alpha'*/
 179
 180         /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
 181         pos*=4294967;
 182         pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
 183
 184         dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
 185         alpha>>=16;
 186         beta>>=16;
 187
 188         alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
 189
 190         ua=ia;
 191         ub=ib;
 192         uc=ic;
 193
 194         transDelta(&u1,&u2, &u3,ub,uc);
 195
 196         rps.pwm1=(uint16_t)u1;
 197         rps.pwm2=(uint16_t)u2;
 198         rps.pwm3=(uint16_t)u3;
 199 }
 200 void prepare_tx(uint8_t * tx){
 201
 202         /*Data format:
 203          * tx[4] - bity 95 downto 88 - bits that are sent first
 204          * tx[5] - bity 87 downto 80
 205          * tx[6] - bity 79 downto 72
 206          * tx[7] - bity 71 downto 64
 207          * tx[8] - bity 63 downto 56
 208          * tx[9] - bity 55 downto 48
 209          * tx[10] - bity 47 downto 40
 210          * tx[11] - bity 39 downto 32
 211          * tx[12] - bity 31 downto 24
 212          * tx[13] - bity 23 downto 16
 213          * tx[14] - bity 15 downto 8
 214          * tx[15] - bity 7 downto 0
 215          *
 216          * bit 95 - ADC reset
 217          * bit 94 - enable PWM1
 218          * bit 93 - enable PWM2
 219          * bit 92 - enable PWM3
 220          * bit 91 - shutdown1
 221          * bit 90 - shutdown2
 222          * bit 89 - shutdown3
 223          *      .
 224          *      .
 225          *      Unused
 226          *      .
 227          *      .
 228          * bits 47 .. 32 - match PWM1
 229          * bits 31 .. 16 - match PWM2
 230          * bits 15 .. 0  - match PWM3
 231          */
 232
 233
 234         uint16_t tmp;
 235
 236         /* keep the 11-bit cap*/
 237
 238         if (rps.pwm1>2047) rps.pwm1=2047;
 239         if (rps.pwm2>2047) rps.pwm2=2047;
 240         if (rps.pwm3>2047) rps.pwm3=2047;
 241
 242         tx[0]=rps.test; /*bit 94 - enable PWM1*/
 243
 244         /*now we have to switch the bytes due to endianess */
 245         /* ARMv6 & ARMv7 instructions are little endian */
 246         /*pwm1*/
 247         tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
 248         tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 249
 250         /*pwm2*/
 251         tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
 252         tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
 253
 254         /*pwm3*/
 255         tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
 256         tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 257
 258
 259 }
 260 /**
 261  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 262  */
 263 void * pos_monitor(void* param){
 264         while(1){
 265                 printData(&rps);
 266                 usleep(1000000);        /*1 Hz*/
 267         }
 268         return (void*)0;
 269 }
 270 /*
 271  * \brief
 272  * Multiplication of 11 bit
 273  * Zaporne vysledky prvede na nulu.
 274  */
 275 inline uint16_t mult_cap(int32_t s,int d){
 276         int j;
 277         int res=0;
 278         for(j=0;j!=11;j++){
 279                 /* multiplicate as if maximum sinus value was unity */
 280                 res+=(!(s & 0x10000000))*(((1 << j) & s)>>j)*(d>>(10-j));
 281         }
 282         return res;
 283 }
 284 inline
 285 int sin_commutator(int duty){
 286         #define DEGREE_60        715827883
 287         #define DEGREE_120      1431655765
 288         #define DEGREE_180      2147483648
 289         #define DEGREE_240      2863311531
 290         #define DEGREE_300      3579139413
 291         uint32_t j,pos;
 292         int32_t sin;
 293         pos=rps.index_dist;
 294         int32_t pwm;
 295         /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
 296         pos+=38;
 297         /*use it as cyclic 32-bit logic*/
 298         pos*=4294967;
 299         if (duty>=0){   /*clockwise rotation*/
 300                 /* 1st phase */
 301                 sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
 302                 pwm=sin*duty/1024;
 303                 if (pwm<0) pwm=0;
 304                 rps.pwm1=(uint16_t)pwm;
 305
 306                 /* 2nd phase */
 307                 sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
 308                 pwm=sin*duty/1024;
 309                 if (pwm<0) pwm=0;
 310                 rps.pwm2=(uint16_t)pwm;
 311
 312                 /* 3rd phase */
 313                 sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
 314                 pwm=sin*duty/1024;
 315                 if (pwm<0) pwm=0;
 316                 rps.pwm3=(uint16_t)pwm;
 317         }else{
 318                 duty=-duty;
 319
 320                 /* 1st phase */
 321                 sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
 322                 pwm=sin*duty/1024;
 323                 if (pwm<0) pwm=0;
 324                 rps.pwm1=(uint16_t)pwm;
 325
 326                 /* 2nd phase */
 327                 sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
 328                 pwm=sin*duty/1024;
 329                 if (pwm<0) pwm=0;
 330                 rps.pwm2=(uint16_t)pwm;
 331
 332                 /* 3rd phase */
 333                 sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
 334                 pwm=sin*duty/1024;
 335                 if (pwm<0) pwm=0;
 336                 rps.pwm3=(uint16_t)pwm;
 337         }
 338         return 0;
 339 }
 340 /*
 341  * \brief
 342  * Test function to be placed in controll loop.
 343  * Switches PWM's at point where they produce same force.
 344  * This points are found thanks to IRC position,
 345  */
 346 inline
 347 void simple_ind_dist_commutator(int duty){
 348         if (duty>=0){ /* clockwise - so that position increase */
 349                 /* pwm3 */
 350                 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
 351                 (rps.index_dist>=1048 && rps.index_dist<=1377)){
 352                         rps.pwm1=0;
 353                         rps.pwm2=0;
 354                         rps.pwm3=duty;
 355                         /* pwm1 */
 356                 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
 357                 (rps.index_dist>=1377 && rps.index_dist<=1711)){
 358                         rps.pwm1=duty;
 359                         rps.pwm2=0;
 360                         rps.pwm3=0;
 361                         /* pwm2 */
 362                 }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
 363                 (rps.index_dist>=711 && rps.index_dist<=1048) ||
 364                 (rps.index_dist>=1711 && rps.index_dist<=1999)){
 365                         rps.pwm1=0;
 366                         rps.pwm2=duty;
 367                         rps.pwm3=0;
 368                 }
 369         }else{  /*counter-clockwise - position decrease */
 370                 /* pwm3 */
 371                 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
 372                 (rps.index_dist>=1544 && rps.index_dist<=1878)){
 373                         rps.pwm1=0;
 374                         rps.pwm2=0;
 375                         rps.pwm3=-duty;
 376                         /* pwm1 */
 377                 }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
 378                 (rps.index_dist>=881 && rps.index_dist<=1210) ||
 379                 (rps.index_dist>=1878 && rps.index_dist<=1999)){
 380                         rps.pwm1=-duty;
 381                         rps.pwm2=0;
 382                         rps.pwm3=0;
 383                         /* pwm2 */
 384                 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
 385                 (rps.index_dist>=1210 && rps.index_dist<=1544)){
 386                         rps.pwm1=0;
 387                         rps.pwm2=-duty;
 388                         rps.pwm3=0;
 389                 }
 390         }
 391 }
 392 /*
 393  * \brief
 394  * Test function to be placed in controll loop.
 395  * Switches PWM's at point where they produce same force
 396  */
 397 inline void simple_hall_commutator(int duty){
 398         if (duty>=0){ /* clockwise - so that position increase */
 399                 /* pwm3 */
 400                 if (data.hal2 && !data.hal3){
 401                         rps.pwm1=0;
 402                         rps.pwm2=0;
 403                         rps.pwm3=duty;
 404                         /* pwm1 */
 405                 }else if (data.hal1 && !data.hal2){
 406                         rps.pwm1=duty;
 407                         rps.pwm2=0;
 408                         rps.pwm3=0;
 409                         /* pwm2 */
 410                 }else if (!data.hal1 && data.hal3){
 411                         rps.pwm1=0;
 412                         rps.pwm2=duty;
 413                         rps.pwm3=0;
 414                 }
 415         }else{  /*counter-clockwise - position decrease */
 416                 /* pwm3 */
 417                 if (!data.hal2 && data.hal3){
 418                         rps.pwm1=0;
 419                         rps.pwm2=0;
 420                         rps.pwm3=-duty;
 421                         /* pwm1 */
 422                 }else if (!data.hal1 && data.hal2){
 423                         rps.pwm1=-duty;
 424                         rps.pwm2=0;
 425                         rps.pwm3=0;
 426                         /* pwm2 */
 427                 }else if (data.hal1 && !data.hal3){
 428                         rps.pwm1=0;
 429                         rps.pwm2=-duty;
 430                         rps.pwm3=0;
 431                 }
 432         }
 433 }
 434 /**
 435  * \brief
 436  * Computation of distance to index.
 437  *
 438  * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
 439  * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
 440  *      to je 3999 bodu
 441  *      =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
 442  *              signalu indexu
 443  */
 444 void comIndDist(){
 445         uint16_t pos = 0x0FFF & data.pozice_raw;
 446         uint16_t dist;
 447         uint16_t index = data.index_position;
 448
 449         if (index<1999){                /*index e<0,1998> */
 450                 if (pos<index){                 /*pozice e<0,index-1> */
 451                         /*proti smeru h.r. od indexu*/
 452                         dist=pos+2000-index;
 453                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 454                         /*po smeru h.r. od indexu*/
 455                         dist=pos-index;
 456                 }else if (pos<index+2096){      /*pozice e<index+2000,index+2095> */
 457                         goto index_lost;
 458                 }else{                          /*pozice e<index+2096,4095> */
 459                         /*proti smeru h.r. od indexu - podtecena pozice*/
 460                         dist=pos-index-2096;
 461                 }
 462         }else if (index<=2096){         /*index e<1999,2096>*/
 463                 if (pos<index-1999){            /*pozice e<0,index-2000> */
 464                         goto index_lost;
 465                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 466                         /*proti smeru h.r. od indexu*/
 467                         dist=pos+2000-index;
 468                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 469                         /*po smeru h.r. od indexu*/
 470                         dist=pos-index;
 471                 }else {                         /*pozice e<index+2000,4095> */
 472                         goto index_lost;
 473                 }
 474         }else{                          /*index e<2097,4095> */
 475                 if (pos<=index-2097){           /*pozice e<0,index-2097> */
 476                         /*po smeru h.r. od indexu - pretecena pozice*/
 477                         dist=4096+pos-index;
 478                 }else if (pos<index-1999){      /*pozice e<index-2096,index-2000> */
 479                         goto index_lost;
 480                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 481                         /*proti smeru h.r. od indexu*/
 482                         dist=pos+2000-index;
 483                 }else{                          /*pozice e<index,4095> */
 484                         /*po smeru h.r. od indexu*/
 485                         dist=pos-index;
 486                 }
 487         }
 488
 489         rps.index_dist = dist;
 490         return;
 491
 492         index_lost:
 493                 rps.index_ok=0;
 494                 return;
 495 }
 496 /*
 497  * \brief
 498  * Very simple PID regulator.
 499  * Now only with P-part so that the error doesnt go to zero.
 500  * TODO: add anti-wind up and I and D parts
 501  */
 502 inline void pid(){
 503         int duty_tmp;
 504         duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
 505         if (duty_tmp>MAX_DUTY){
 506                 rps.duty=MAX_DUTY;
 507         }else if (duty_tmp<-MAX_DUTY){
 508                 rps.duty=-MAX_DUTY;
 509         }else{
 510                 rps.duty = duty_tmp;
 511         }
 512 }
 513 /*
 514  * \brief
 515  * Feedback loop.
 516  */
 517 void * read_data(void* param){
 518         int i;
 519         struct rpi_in pocatek;
 520         struct timespec t;
 521         int interval = 1000000; /* 1ms ~ 1kHz*/
 522         uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 523         char first=1;
 524         uint16_t last_index;                            /*we have index up-to date*/
 525         pocatek = spi_read(tx);
 526         clock_gettime(CLOCK_MONOTONIC ,&t);
 527         /* start after one second */
 528         t.tv_sec++;
 529                 while(1){
 530                         /* wait until next shot */
 531                         clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 532                         sem_wait(&rps.thd_par_sem);             /*---take semaphore---*/
 533                         prepare_tx(tx);                 /*save the data to send*/
 534                         data = spi_read(tx);            /*exchange data*/
 535                         /*subtract initiate postion */
 536                         rps.tf_count++;
 537                         substractOffset(&data,&pocatek);
 538                         comIndDist();
 539                         if (!rps.index_ok){
 540                                 if (first){
 541                                         last_index=data.index_position;
 542                                         first=0;
 543                                 }else if (last_index!=data.index_position){
 544                                         rps.index_ok=1;
 545                                 }
 546                         }
 547                         pid();
 548                         if (rps.index_ok && rps.commutate){
 549                                 /*simple_ind_dist_commutator(rps.duty);*/
 550                                 /*sin_commutator(rps.duty);*/
 551                                 inv_trans_comm(rps.duty);
 552                                 inv_trans_comm_2(rps.duty);
 553                         }else if(!rps.index_ok && rps.commutate){
 554                                 simple_hall_commutator(rps.duty);
 555                         }
 556                         sem_post(&rps.thd_par_sem);             /*--post semaphore---*/
 557
 558                         /* calculate next shot */
 559                         t.tv_nsec += interval;
 560
 561                         while (t.tv_nsec >= NSEC_PER_SEC) {
 562                                 t.tv_nsec -= NSEC_PER_SEC;
 563                                 t.tv_sec++;
 564                         }
 565
 566                 }
 567 }
 568
 569
 570
 571 /**
 572  * \brief Main function.
 573  */
 574
 575 int main(){
 576         pthread_t base_thread_id;
 577         clk_init();             /* inicializace gpio hodin */
 578         spi_init();             /* iniicializace spi*/
 579
 580         /*semafor pro detekci zpracovani parametru vlaken*/
 581         sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
 582         setup_environment();
 583
 584         base_thread_id=pthread_self();
 585
 586         /*main control loop*/
 587         create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
 588
 589         /*monitor of current state*/
 590         create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 591
 592         /*wait for commands*/
 593         poll_cmd(&rps);
 594
 595         return 0;
 596 }