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
  19 #include "rpin.h"       /*gpclk*/
  20 #include "rp_spi.h"     /*spi*/
  21 #include "misc.h"       /*structure for priorities*/
  22
  23
  24 #define PRUM_PROUD      2061
  25 #define PRUM_SOUC       6183
  26 #define MAX_DUTY        128
  27 #define PID_P           0.1
  28
  29 #define PRIOR_KERN      50
  30 #define PRIOR_HIGH      49
  31 #define PRIOR_LOW       20
  32
  33 #define THREAD_SHARED   0
  34 #define INIT_VALUE      0       /*init value for semaphor*/
  35
  36 struct sigaction sighnd; /*struktura pro signal handler*/
  37 struct rpi_in data;
  38 struct rpi_state{
  39         uint8_t test;
  40         uint16_t pwm1, pwm2, pwm3;
  41         char commutate;
  42         int duty;                       /* duty cycle of pwm */
  43         uint16_t index_dist;            /* distance to index position */
  44         unsigned char index_ok;
  45         uint32_t tf_count;              /*number of transfer*/
  46         int desired_pos;                /* desired position */
  47 }rps;
  48
  49
  50 /**
  51  * \brief Initilizes GPCLK.
  52  */
  53 int clk_init()
  54 {
  55         initialise(); /*namapovani gpio*/
  56         initClock(PLLD_500_MHZ, 10, 0);
  57         gpioSetMode(4, FSEL_ALT0);
  58         return 0;
  59 }
  60 /*
  61  * \brief Terminates GPCLK.
  62  */
  63
  64 inline void clk_disable(){
  65         termClock(0);
  66 }
  67
  68 /**
  69  * \brief Signal handler pro Ctrl+C
  70  */
  71 void sighnd_fnc(){
  72         spi_disable();
  73         clk_disable();
  74         /*muzeme zavrit semafor*/
  75         sem_destroy(&thd_par_sem);
  76         printf("\nprogram bezpecne ukoncen\n");
  77         exit(0);
  78 }
  79
  80 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
  81         data->pozice_raw=data->pozice;
  82         data->pozice-=offset->pozice;
  83         return;
  84 }
  85 /*
  86  * pocita procentualni odchylku od prumerneho proudu
  87  */
  88 float diff_p(float value){
  89         return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
  90 }
  91 /*
  92  * pocita procentualni odchylku od prumerneho souctu proudu
  93  */
  94 float diff_s(float value){
  95         return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
  96 }
  97 /*
  98  * tiskne potrebna data
  99  */
 100 void printData(){
 101         struct rpi_in data_p;
 102         struct rpi_state s;     /*state*/
 103         float cur0, cur1, cur2;
 104         int i;
 105         /* copy the data */
 106         sem_wait(&thd_par_sem);
 107         data_p = data;
 108         s=rps;
 109         sem_post(&thd_par_sem);
 110
 111         if (data_p.adc_m_count){
 112                 cur0=data_p.ch0/data_p.adc_m_count;
 113                 cur1=data_p.ch1/data_p.adc_m_count;
 114                 cur2=data_p.ch2/data_p.adc_m_count;
 115         }
 116         for (i = 0; i < 16; i++) {
 117                         if (!(i % 6))
 118                                 puts("");
 119                         printf("%.2X ", data_p.debug_rx[i]);
 120         }
 121         puts("");
 122         printf("\npozice=%d\n",(int32_t)data_p.pozice);
 123         printf("chtena pozice=%d\n",s.desired_pos);
 124         printf("transfer count=%u\n",s.tf_count);
 125         printf("raw_pozice=%d\n",(int32_t)data_p.pozice_raw);
 126         printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
 127         printf("index position=%u\n",data_p.index_position);
 128         printf("distance to index=%u\n",s.index_dist);
 129         printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
 130         printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
 131         printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
 132         printf("PWM1=%u(L.s.)\n",s.pwm1);
 133         printf("PWM2=%u(L.s.)\n",s.pwm2);
 134         printf("PWM3=%u(L.s.)\n",s.pwm3);
 135         printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
 136         printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
 137         printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
 138         printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
 139         printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
 140         printf("duty=%d\n",s.duty);
 141         if (s.index_ok) printf("index ok\n");
 142         if (s.commutate) printf("commutation in progress\n");
 143 }
 144 void prepare_tx(uint8_t * tx){
 145
 146         /*Data format:
 147          * tx[4] - bity 95 downto 88 - bits that are sent first
 148          * tx[5] - bity 87 downto 80
 149          * tx[6] - bity 79 downto 72
 150          * tx[7] - bity 71 downto 64
 151          * tx[8] - bity 63 downto 56
 152          * tx[9] - bity 55 downto 48
 153          * tx[10] - bity 47 downto 40
 154          * tx[11] - bity 39 downto 32
 155          * tx[12] - bity 31 downto 24
 156          * tx[13] - bity 23 downto 16
 157          * tx[14] - bity 15 downto 8
 158          * tx[15] - bity 7 downto 0
 159          *
 160          * bit 95 - ADC reset
 161          * bit 94 - enable PWM1
 162          * bit 93 - enable PWM2
 163          * bit 92 - enable PWM3
 164          * bit 91 - shutdown1
 165          * bit 90 - shutdown2
 166          * bit 89 - shutdown3
 167          *      .
 168          *      .
 169          *      .
 170          * bits 66 .. 56 - match PWM1
 171          * bits 55 .. 45 - match PWM2
 172          * bit 11,12 - Unused
 173          * bits 42 .. 32  - match PWM3
 174          */
 175
 176
 177         uint16_t tmp;
 178
 179         /* keep the cap*/
 180         if (rps.pwm1>2047) rps.pwm1=2047;
 181         if (rps.pwm2>2047) rps.pwm2=2047;
 182         if (rps.pwm3>2047) rps.pwm3=2047;
 183
 184         tx[0]=rps.test; /*bit 94 - enable PWM1*/
 185
 186         /*pwm1*/
 187         tx[7]=(tx[7] & 0xF8) | (0x07 & ((uint8_t*)&rps.pwm1)[1]); /*MSB*/
 188         tx[8]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 189
 190         /*pwm2*/
 191         tmp=rps.pwm2;
 192         tmp<<=5;
 193         tx[9]=((uint8_t*)&tmp)[1]; /*MSB*/
 194         tx[10]=(tx[10] & 0x1F) | (0xE0 & ((uint8_t*)&tmp)[0]); /*LSB*/
 195
 196         /*pwm3*/
 197         tx[10]=(tx[10] & 0xF8) | (0x07 & ((uint8_t*)&rps.pwm3)[1]); /*MSB*/
 198         tx[11]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 199
 200
 201 }
 202 /**
 203  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 204  */
 205 void * pos_monitor(void* param){
 206         set_priority(param);            /*set priority*/
 207         while(1){
 208                 printData();
 209                 usleep(1000000);        /*1 Hz*/
 210         }
 211         return (void*)0;
 212 }
 213 /*
 214  * \brief
 215  * Test function to be placed in controll loop.
 216  * Switches PWM's at point where they produce same force.
 217  * This points are found thanks to IRC position,
 218  */
 219 inline void simple_ind_dist_commutator(int duty){
 220         if (duty>=0){ /* clockwise - so that position increase */
 221                 /* pwm3 */
 222                 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
 223                 (rps.index_dist>=1048 && rps.index_dist<=1377)){
 224                         rps.pwm1=0;
 225                         rps.pwm2=0;
 226                         rps.pwm3=duty;
 227                         /* pwm1 */
 228                 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
 229                 (rps.index_dist>=1377 && rps.index_dist<=1711)){
 230                         rps.pwm1=duty;
 231                         rps.pwm2=0;
 232                         rps.pwm3=0;
 233                         /* pwm2 */
 234                 }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
 235                 (rps.index_dist>=711 && rps.index_dist<=1048) ||
 236                 (rps.index_dist>=1711 && rps.index_dist<=1999)){
 237                         rps.pwm1=0;
 238                         rps.pwm2=duty;
 239                         rps.pwm3=0;
 240                 }
 241         }else{  /*counter-clockwise - position decrease */
 242                 /* pwm3 */
 243                 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
 244                 (rps.index_dist>=1544 && rps.index_dist<=1878)){
 245                         rps.pwm1=0;
 246                         rps.pwm2=0;
 247                         rps.pwm3=-duty;
 248                         /* pwm1 */
 249                 }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
 250                 (rps.index_dist>=881 && rps.index_dist<=1210) ||
 251                 (rps.index_dist>=1878 && rps.index_dist<=1999)){
 252                         rps.pwm1=-duty;
 253                         rps.pwm2=0;
 254                         rps.pwm3=0;
 255                         /* pwm2 */
 256                 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
 257                 (rps.index_dist>=1210 && rps.index_dist<=1544)){
 258                         rps.pwm1=0;
 259                         rps.pwm2=-duty;
 260                         rps.pwm3=0;
 261                 }
 262         }
 263 }
 264 /*
 265  * \brief
 266  * Test function to be placed in controll loop.
 267  * Switches PWM's at point where they produce same force
 268  */
 269 inline void simple_hall_commutator(int duty){
 270         if (duty>=0){ /* clockwise - so that position increase */
 271                 /* pwm3 */
 272                 if (data.hal2 && !data.hal3){
 273                         rps.pwm1=0;
 274                         rps.pwm2=0;
 275                         rps.pwm3=duty;
 276                         /* pwm1 */
 277                 }else if (data.hal1 && !data.hal2){
 278                         rps.pwm1=duty;
 279                         rps.pwm2=0;
 280                         rps.pwm3=0;
 281                         /* pwm2 */
 282                 }else if (!data.hal1 && data.hal3){
 283                         rps.pwm1=0;
 284                         rps.pwm2=duty;
 285                         rps.pwm3=0;
 286                 }
 287         }else{  /*counter-clockwise - position decrease */
 288                 /* pwm3 */
 289                 if (!data.hal2 && data.hal3){
 290                         rps.pwm1=0;
 291                         rps.pwm2=0;
 292                         rps.pwm3=-duty;
 293                         /* pwm1 */
 294                 }else if (!data.hal1 && data.hal2){
 295                         rps.pwm1=-duty;
 296                         rps.pwm2=0;
 297                         rps.pwm3=0;
 298                         /* pwm2 */
 299                 }else if (data.hal1 && !data.hal3){
 300                         rps.pwm1=0;
 301                         rps.pwm2=-duty;
 302                         rps.pwm3=0;
 303                 }
 304         }
 305 }
 306 /**
 307  * Funkce pravidelne vycita data z motoru
 308  */
 309 inline void comIndDist(){
 310         rps.index_dist=0x0FFF & (data.pozice_raw - data.index_position);
 311         /*
 312          * if distance is bigger than 2047, the distance underflown
 313          * -> if 12th bit is set, substract 2096
 314          */
 315         rps.index_dist-=((rps.index_dist & 0x0800)>>11)*2096;
 316 }
 317 /*
 318  * \brief
 319  * Very simple PID regulator.
 320  * Now only with P-part so that the error doesnt go to zero.
 321  * TODO: add anti-wind up and I and D parts
 322  */
 323 inline void pid(){
 324         int duty_tmp;
 325         duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
 326         if (duty_tmp>MAX_DUTY){
 327                 rps.duty=MAX_DUTY;
 328         }else if (duty_tmp<-MAX_DUTY){
 329                 rps.duty=-MAX_DUTY;
 330         }else{
 331                 rps.duty = duty_tmp;
 332         }
 333 }
 334 /*
 335  * \brief
 336  * Feedback loop.
 337  * TODO: replace usleep with real-time wait
 338  *      measure times
 339  */
 340 void * read_data(void* param){
 341         int i;
 342         struct rpi_in pocatek;
 343         uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 344         char first=1;
 345         uint16_t last_index;                            /*we have index up-to date*/
 346         set_priority(param);                            /*set priority*/
 347         pocatek = spi_read(tx);
 348                 while(1){
 349                         prepare_tx(tx);                 /*save the data to send*/
 350                         sem_wait(&thd_par_sem);         /*---take semaphore---*/
 351                         data = spi_read(tx);            /*exchange data*/
 352                         /*subtract initiate postion */
 353                         rps.tf_count++;
 354                         substractOffset(&data,&pocatek);
 355                         comIndDist();
 356                         if (!rps.index_ok){
 357                                 if (first){
 358                                         last_index=data.index_position;
 359                                         first=0;
 360                                 }else if (last_index!=data.index_position){
 361                                         rps.index_ok=1;
 362                                 }
 363                         }
 364                         pid();
 365                         if (rps.index_ok && rps.commutate){
 366                                 simple_ind_dist_commutator(rps.duty);
 367                         }else if(!rps.index_ok && rps.commutate){
 368                                 simple_hall_commutator(rps.duty);
 369                         }
 370                         sem_post(&thd_par_sem);         /*--post semaphore---*/
 371                         usleep(1000);                           /*1kHz*/
 372                 }
 373 }
 374
 375 /**
 376  * \brief Main function.
 377  */
 378
 379 int main(){
 380         unsigned int tmp;
 381
 382         /*nastaveni priorit vlaken*/
 383         struct thread_param tsp;
 384         tsp.sch_policy = SCHED_FIFO;
 385
 386         /*nastaveni signalu pro vypnuti pomoci Ctrl+C*/
 387         sighnd.sa_handler=&sighnd_fnc;
 388         sigaction(SIGINT, &sighnd, NULL );
 389
 390         clk_init();             /* inicializace gpio hodin */
 391         spi_init();             /* iniicializace spi*/
 392
 393         /*semafor pro detekci zpracovani parametru vlaken*/
 394         sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
 395
 396         /*vlakna*/
 397         pthread_t tid;                  /*identifikator vlakna*/
 398         pthread_attr_t attr;            /*atributy vlakna*/
 399         pthread_attr_init(&attr);       /*inicializuj implicitni atributy*/
 400
 401
 402
 403         /*ziskavani dat z motoru*//*vysoka priorita*/
 404         tsp.sch_prior = PRIOR_HIGH;
 405         pthread_create(&tid, &attr, read_data, (void*)&tsp);
 406
 407         /*vypisovani lokalni pozice*//*nizka priorita*/
 408         tsp.sch_prior = PRIOR_LOW;
 409         sem_wait(&thd_par_sem);
 410         pthread_create(&tid, &attr, pos_monitor, (void*)&tsp);
 411
 412
 413
 414         /*
 415          * Note:
 416          * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
 417          * k preukladani hodnot na promenne test. Dost divne.
 418          */
 419         while (1){
 420                 scanf("%u",&tmp);
 421                 printf("volba=%u\n",tmp);
 422                 switch (tmp){
 423                 case 1:
 424                         scanf("%u",&tmp);
 425                         sem_wait(&thd_par_sem);
 426                         rps.pwm1=tmp&0xFFF;
 427                         sem_post(&thd_par_sem);
 428                         break;
 429                 case 2:
 430                         scanf("%u",&tmp);
 431                         sem_wait(&thd_par_sem);
 432                         rps.pwm2=tmp&0xFFF;
 433                         sem_post(&thd_par_sem);
 434                         break;
 435                 case 3:
 436                         scanf("%u",&tmp);
 437                         sem_wait(&thd_par_sem);
 438                         rps.pwm3=tmp&0xFFF;
 439                         sem_post(&thd_par_sem);
 440                         break;
 441                 case 4:
 442                         scanf("%u",&tmp);
 443                         sem_wait(&thd_par_sem);
 444                         rps.test=tmp&0xFF;
 445                         sem_post(&thd_par_sem);
 446                         break;
 447                 case 5:
 448                         sem_wait(&thd_par_sem);
 449                         rps.commutate=!rps.commutate;
 450                         /* switch off pwms at the end of commutation */
 451                         rps.pwm1&=rps.commutate*0xFFFF;
 452                         rps.pwm2&=rps.commutate*0xFFFF;
 453                         rps.pwm3&=rps.commutate*0xFFFF;
 454                         sem_post(&thd_par_sem);
 455                         break;
 456                 case 6:
 457                         scanf("%d",&tmp);
 458                         sem_wait(&thd_par_sem);
 459                         rps.duty=tmp;
 460                         sem_post(&thd_par_sem);
 461                         break;
 462                 case 7:
 463                         scanf("%d",&tmp);
 464                         sem_wait(&thd_par_sem);
 465                         rps.desired_pos=tmp;
 466                         sem_post(&thd_par_sem);
 467                         break;
 468
 469                 default:
 470                         break;
 471                 }
 472
 473         }
 474         return 0;
 475 }
 476