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*/
19 #include "rpin.h" /*gpclk*/
20 #include "rp_spi.h" /*spi*/
21 #include "misc.h" /*structure for priorities*/
24 #define PRUM_PROUD 2061
25 #define PRUM_SOUC 6183
33 #define THREAD_SHARED 0
34 #define INIT_VALUE 0 /*init value for semaphor*/
36 struct sigaction sighnd; /*struktura pro signal handler*/
40 uint16_t pwm1, pwm2, pwm3;
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 */
51 * \brief Initilizes GPCLK.
55 initialise(); /*namapovani gpio*/
56 initClock(PLLD_500_MHZ, 10, 0);
57 gpioSetMode(4, FSEL_ALT0);
61 * \brief Terminates GPCLK.
64 inline void clk_disable(){
69 * \brief Signal handler pro Ctrl+C
74 /*muzeme zavrit semafor*/
75 sem_destroy(&thd_par_sem);
76 printf("\nprogram bezpecne ukoncen\n");
80 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
81 data->pozice_raw=data->pozice;
82 data->pozice-=offset->pozice;
86 * pocita procentualni odchylku od prumerneho proudu
88 float diff_p(float value){
89 return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
92 * pocita procentualni odchylku od prumerneho souctu proudu
94 float diff_s(float value){
95 return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
98 * tiskne potrebna data
101 struct rpi_in data_p;
102 struct rpi_state s; /*state*/
103 float cur0, cur1, cur2;
106 sem_wait(&thd_par_sem);
109 sem_post(&thd_par_sem);
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;
116 for (i = 0; i < 16; i++) {
119 printf("%.2X ", data_p.debug_rx[i]);
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");
144 void prepare_tx(uint8_t * tx){
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
161 * bit 94 - enable PWM1
162 * bit 93 - enable PWM2
163 * bit 92 - enable PWM3
170 * bits 66 .. 56 - match PWM1
171 * bits 55 .. 45 - match PWM2
173 * bits 42 .. 32 - match PWM3
180 if (rps.pwm1>2047) rps.pwm1=2047;
181 if (rps.pwm2>2047) rps.pwm2=2047;
182 if (rps.pwm3>2047) rps.pwm3=2047;
184 tx[0]=rps.test; /*bit 94 - enable PWM1*/
187 tx[7]=(tx[7] & 0xF8) | (0x07 & ((uint8_t*)&rps.pwm1)[1]); /*MSB*/
188 tx[8]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
193 tx[9]=((uint8_t*)&tmp)[1]; /*MSB*/
194 tx[10]=(tx[10] & 0x1F) | (0xE0 & ((uint8_t*)&tmp)[0]); /*LSB*/
197 tx[10]=(tx[10] & 0xF8) | (0x07 & ((uint8_t*)&rps.pwm3)[1]); /*MSB*/
198 tx[11]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
203 * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
205 void * pos_monitor(void* param){
206 set_priority(param); /*set priority*/
209 usleep(1000000); /*1 Hz*/
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,
219 inline void simple_ind_dist_commutator(int duty){
220 if (duty>=0){ /* clockwise - so that position increase */
222 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
223 (rps.index_dist>=1048 && rps.index_dist<=1377)){
228 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
229 (rps.index_dist>=1377 && rps.index_dist<=1711)){
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)){
241 }else{ /*counter-clockwise - position decrease */
243 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
244 (rps.index_dist>=1544 && rps.index_dist<=1878)){
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)){
256 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
257 (rps.index_dist>=1210 && rps.index_dist<=1544)){
266 * Test function to be placed in controll loop.
267 * Switches PWM's at point where they produce same force
269 inline void simple_hall_commutator(int duty){
270 if (duty>=0){ /* clockwise - so that position increase */
272 if (data.hal2 && !data.hal3){
277 }else if (data.hal1 && !data.hal2){
282 }else if (!data.hal1 && data.hal3){
287 }else{ /*counter-clockwise - position decrease */
289 if (!data.hal2 && data.hal3){
294 }else if (!data.hal1 && data.hal2){
299 }else if (data.hal1 && !data.hal3){
307 * Funkce pravidelne vycita data z motoru
309 inline void comIndDist(){
310 rps.index_dist=0x0FFF & (data.pozice_raw - data.index_position);
312 * if distance is bigger than 2047, the distance underflown
313 * -> if 12th bit is set, substract 2096
315 rps.index_dist-=((rps.index_dist & 0x0800)>>11)*2096;
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
325 duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
326 if (duty_tmp>MAX_DUTY){
328 }else if (duty_tmp<-MAX_DUTY){
337 * TODO: replace usleep with real-time wait
340 void * read_data(void* param){
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} ;
345 uint16_t last_index; /*we have index up-to date*/
346 set_priority(param); /*set priority*/
347 pocatek = spi_read(tx);
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 */
354 substractOffset(&data,&pocatek);
358 last_index=data.index_position;
360 }else if (last_index!=data.index_position){
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);
370 sem_post(&thd_par_sem); /*--post semaphore---*/
371 usleep(1000); /*1kHz*/
376 * \brief Main function.
382 /*nastaveni priorit vlaken*/
383 struct thread_param tsp;
384 tsp.sch_policy = SCHED_FIFO;
386 /*nastaveni signalu pro vypnuti pomoci Ctrl+C*/
387 sighnd.sa_handler=&sighnd_fnc;
388 sigaction(SIGINT, &sighnd, NULL );
390 clk_init(); /* inicializace gpio hodin */
391 spi_init(); /* iniicializace spi*/
393 /*semafor pro detekci zpracovani parametru vlaken*/
394 sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
397 pthread_t tid; /*identifikator vlakna*/
398 pthread_attr_t attr; /*atributy vlakna*/
399 pthread_attr_init(&attr); /*inicializuj implicitni atributy*/
403 /*ziskavani dat z motoru*//*vysoka priorita*/
404 tsp.sch_prior = PRIOR_HIGH;
405 pthread_create(&tid, &attr, read_data, (void*)&tsp);
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);
416 * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
417 * k preukladani hodnot na promenne test. Dost divne.
421 printf("volba=%u\n",tmp);
425 sem_wait(&thd_par_sem);
427 sem_post(&thd_par_sem);
431 sem_wait(&thd_par_sem);
433 sem_post(&thd_par_sem);
437 sem_wait(&thd_par_sem);
439 sem_post(&thd_par_sem);
443 sem_wait(&thd_par_sem);
445 sem_post(&thd_par_sem);
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);
458 sem_wait(&thd_par_sem);
460 sem_post(&thd_par_sem);
464 sem_wait(&thd_par_sem);
466 sem_post(&thd_par_sem);