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        170
  28 #define PID_P           0.3
  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         .pos_reg_ena=0,
  54         .desired_spd=0,
  55         .spd_reg_ena=0
  56 };
  57
  58 /**
  59  * \brief Initilizes GPCLK.
  60  */
  61 int clk_init()
  62 {
  63         initialise(); /*namapovani gpio*/
  64         initClock(PLLD_500_MHZ, 10, 0);
  65         gpioSetMode(4, FSEL_ALT0);
  66         return 0;
  67 }
  68 /*
  69  * \brief Terminates GPCLK.
  70  */
  71
  72 inline void clk_disable(){
  73         termClock(0);
  74 }
  75 /*
  76  * \brief
  77  * Count minimum value of three numbers.
  78  * Input values must be in range <-2^28;2^28>.
  79  */
  80 int32_t min(int32_t x, int32_t y, int32_t z){
  81         int32_t diff,sign;
  82
  83         diff=x-y; /*rozdil*/
  84         sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze y je vetsi*/
  85         x=y+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
  86
  87         diff=x-z; /*rozdil*/
  88         sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze z je vetsi*/
  89         x=z+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
  90
  91         return x;
  92 }
  93
  94 /**
  95  * \brief Signal handler pro Ctrl+C
  96  */
  97 void appl_stop(){
  98         spi_disable();
  99         clk_disable();
 100         /*muzeme zavrit semafor*/
 101         sem_destroy(&rps.thd_par_sem);
 102         printf("\nprogram bezpecne ukoncen\n");
 103 }
 104
 105 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
 106         data->pozice_raw=data->pozice;
 107         data->pozice-=offset->pozice;
 108         return;
 109 }
 110 /*
 111  * \brief
 112  * Transformace pro uhel pocitany po smeru hodinovych rucicek
 113  */
 114 void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int32_t cos){
 115         *alpha=cos*d+sin*q;
 116         *beta=-sin*d+cos*q;
 117         return;
 118 }
 119 void alphabeta2pwm3(int32_t * ia, int32_t * ib, int32_t *ic,int32_t alpha, int32_t beta){
 120         *ia=alpha;
 121         *ib=-alpha/2+beta*887/1024;
 122         *ic=-alpha/2-beta*887/1024;
 123 }
 124 /*
 125  * \brief
 126  * Preocita napeti na jednotlivych civkach na napeti,
 127  *      ktera budou privedena na svorky motoru.
 128  *      Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
 129  */
 130 void transDelta(int32_t * u1, int32_t * u2, int32_t *u3, int32_t ub , int32_t uc){
 131         int32_t t;
 132
 133         /*vypocte napeti tak, aby odpovidaly rozdily*/
 134         *u1=uc;
 135         *u2=uc+ub;
 136         *u3=0;
 137
 138         /*najde zaporne napeti*/
 139         t=min(*u1,*u2,*u3);
 140
 141         /*dorovna zaporna napeti na nulu*/
 142         *u1-=t;
 143         *u2-=t;
 144         *u3-=t;
 145 }
 146 void inv_trans_comm(int duty){
 147         uint32_t pos;
 148         int32_t sin, cos;
 149         int32_t alpha, beta;
 150         int32_t pwma,pwmb,pwmc;
 151         pos=rps.index_dist;
 152         /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
 153         pos+=717;
 154         /*use it as cyclic 32-bit logic*/
 155         pos*=4294967;
 156         pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
 157         dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
 158         alpha>>=16;
 159         beta>>=16;
 160         alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);
 161
 162         if (pwma<0) pwma=0;
 163         if (pwmb<0) pwmb=0;
 164         if (pwmc<0) pwmc=0;
 165
 166
 167         rps.t_pwm1=(uint16_t)pwma;
 168         rps.t_pwm3=(uint16_t)pwmb;
 169         rps.t_pwm2=(uint16_t)pwmc;
 170 }
 171
 172 void inv_trans_comm_2(int duty){
 173         uint32_t pos;
 174         int32_t sin, cos;
 175         int32_t alpha, beta;
 176         int32_t ua,ub,uc;
 177         int32_t ia,ib,ic;
 178         int32_t u1,u2,u3;
 179         pos=rps.index_dist;
 180
 181         pos+=960; /*zarovnani faze 'a' s osou 'alpha'*/
 182
 183         /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
 184         pos*=4294967;
 185         pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
 186
 187         dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
 188         alpha>>=16;
 189         beta>>=16;
 190
 191         alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
 192
 193         ua=ia;
 194         ub=ib;
 195         uc=ic;
 196
 197         transDelta(&u1,&u2, &u3,ub,uc);
 198
 199         rps.pwm1=(uint16_t)u1;
 200         rps.pwm2=(uint16_t)u2;
 201         rps.pwm3=(uint16_t)u3;
 202 }
 203 void prepare_tx(uint8_t * tx){
 204
 205         /*Data format:
 206          * tx[4] - bity 95 downto 88 - bits that are sent first
 207          * tx[5] - bity 87 downto 80
 208          * tx[6] - bity 79 downto 72
 209          * tx[7] - bity 71 downto 64
 210          * tx[8] - bity 63 downto 56
 211          * tx[9] - bity 55 downto 48
 212          * tx[10] - bity 47 downto 40
 213          * tx[11] - bity 39 downto 32
 214          * tx[12] - bity 31 downto 24
 215          * tx[13] - bity 23 downto 16
 216          * tx[14] - bity 15 downto 8
 217          * tx[15] - bity 7 downto 0
 218          *
 219          * bit 95 - ADC reset
 220          * bit 94 - enable PWM1
 221          * bit 93 - enable PWM2
 222          * bit 92 - enable PWM3
 223          * bit 91 - shutdown1
 224          * bit 90 - shutdown2
 225          * bit 89 - shutdown3
 226          *      .
 227          *      .
 228          *      Unused
 229          *      .
 230          *      .
 231          * bits 47 .. 32 - match PWM1
 232          * bits 31 .. 16 - match PWM2
 233          * bits 15 .. 0  - match PWM3
 234          */
 235
 236
 237         uint16_t tmp;
 238
 239         /* keep the 11-bit cap*/
 240
 241         if (rps.pwm1>2047) rps.pwm1=2047;
 242         if (rps.pwm2>2047) rps.pwm2=2047;
 243         if (rps.pwm3>2047) rps.pwm3=2047;
 244
 245         tx[0]=rps.test; /*bit 94 - enable PWM1*/
 246
 247         /*now we have to switch the bytes due to endianess */
 248         /* ARMv6 & ARMv7 instructions are little endian */
 249         /*pwm1*/
 250         tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
 251         tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 252
 253         /*pwm2*/
 254         tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
 255         tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
 256
 257         /*pwm3*/
 258         tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
 259         tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 260
 261
 262 }
 263 /**
 264  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 265  */
 266 void * pos_monitor(void* param){
 267         while(1){
 268                 printData(&rps);
 269                 usleep(1000000);        /*1 Hz*/
 270         }
 271         return (void*)0;
 272 }
 273 /*
 274  * \brief
 275  * Multiplication of 11 bit
 276  * Zaporne vysledky prvede na nulu.
 277  */
 278 inline uint16_t mult_cap(int32_t s,int d){
 279         int j;
 280         int res=0;
 281         for(j=0;j!=11;j++){
 282                 /* multiplicate as if maximum sinus value was unity */
 283                 res+=(!(s & 0x10000000))*(((1 << j) & s)>>j)*(d>>(10-j));
 284         }
 285         return res;
 286 }
 287 inline
 288 int sin_commutator(int duty){
 289         #define DEGREE_60        715827883
 290         #define DEGREE_120      1431655765
 291         #define DEGREE_180      2147483648
 292         #define DEGREE_240      2863311531
 293         #define DEGREE_300      3579139413
 294         uint32_t j,pos;
 295         int32_t sin;
 296         pos=rps.index_dist;
 297         int32_t pwm;
 298         /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
 299         pos+=38;
 300         /*use it as cyclic 32-bit logic*/
 301         pos*=4294967;
 302         if (duty>=0){   /*clockwise rotation*/
 303                 /* 1st phase */
 304                 sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
 305                 pwm=sin*duty/1024;
 306                 if (pwm<0) pwm=0;
 307                 rps.pwm1=(uint16_t)pwm;
 308
 309                 /* 2nd phase */
 310                 sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
 311                 pwm=sin*duty/1024;
 312                 if (pwm<0) pwm=0;
 313                 rps.pwm2=(uint16_t)pwm;
 314
 315                 /* 3rd phase */
 316                 sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
 317                 pwm=sin*duty/1024;
 318                 if (pwm<0) pwm=0;
 319                 rps.pwm3=(uint16_t)pwm;
 320         }else{
 321                 duty=-duty;
 322
 323                 /* 1st phase */
 324                 sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
 325                 pwm=sin*duty/1024;
 326                 if (pwm<0) pwm=0;
 327                 rps.pwm1=(uint16_t)pwm;
 328
 329                 /* 2nd phase */
 330                 sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
 331                 pwm=sin*duty/1024;
 332                 if (pwm<0) pwm=0;
 333                 rps.pwm2=(uint16_t)pwm;
 334
 335                 /* 3rd phase */
 336                 sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
 337                 pwm=sin*duty/1024;
 338                 if (pwm<0) pwm=0;
 339                 rps.pwm3=(uint16_t)pwm;
 340         }
 341         return 0;
 342 }
 343 /*
 344  * \brief
 345  * Test function to be placed in controll loop.
 346  * Switches PWM's at point where they produce same force.
 347  * This points are found thanks to IRC position,
 348  */
 349 inline
 350 void simple_ind_dist_commutator(int duty){
 351         if (duty>=0){ /* clockwise - so that position increase */
 352                 /* pwm3 */
 353                 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
 354                 (rps.index_dist>=1048 && rps.index_dist<=1377)){
 355                         rps.pwm1=0;
 356                         rps.pwm2=0;
 357                         rps.pwm3=duty;
 358                         /* pwm1 */
 359                 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
 360                 (rps.index_dist>=1377 && rps.index_dist<=1711)){
 361                         rps.pwm1=duty;
 362                         rps.pwm2=0;
 363                         rps.pwm3=0;
 364                         /* pwm2 */
 365                 }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
 366                 (rps.index_dist>=711 && rps.index_dist<=1048) ||
 367                 (rps.index_dist>=1711 && rps.index_dist<=1999)){
 368                         rps.pwm1=0;
 369                         rps.pwm2=duty;
 370                         rps.pwm3=0;
 371                 }
 372         }else{  /*counter-clockwise - position decrease */
 373                 /* pwm3 */
 374                 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
 375                 (rps.index_dist>=1544 && rps.index_dist<=1878)){
 376                         rps.pwm1=0;
 377                         rps.pwm2=0;
 378                         rps.pwm3=-duty;
 379                         /* pwm1 */
 380                 }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
 381                 (rps.index_dist>=881 && rps.index_dist<=1210) ||
 382                 (rps.index_dist>=1878 && rps.index_dist<=1999)){
 383                         rps.pwm1=-duty;
 384                         rps.pwm2=0;
 385                         rps.pwm3=0;
 386                         /* pwm2 */
 387                 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
 388                 (rps.index_dist>=1210 && rps.index_dist<=1544)){
 389                         rps.pwm1=0;
 390                         rps.pwm2=-duty;
 391                         rps.pwm3=0;
 392                 }
 393         }
 394 }
 395 /*
 396  * \brief
 397  * Test function to be placed in controll loop.
 398  * Switches PWM's at point where they produce same force
 399  */
 400 inline void simple_hall_commutator(int duty){
 401         if (duty>=0){ /* clockwise - so that position increase */
 402                 /* pwm3 */
 403                 if (data.hal2 && !data.hal3){
 404                         rps.pwm1=0;
 405                         rps.pwm2=0;
 406                         rps.pwm3=duty;
 407                         /* pwm1 */
 408                 }else if (data.hal1 && !data.hal2){
 409                         rps.pwm1=duty;
 410                         rps.pwm2=0;
 411                         rps.pwm3=0;
 412                         /* pwm2 */
 413                 }else if (!data.hal1 && data.hal3){
 414                         rps.pwm1=0;
 415                         rps.pwm2=duty;
 416                         rps.pwm3=0;
 417                 }
 418         }else{  /*counter-clockwise - position decrease */
 419                 /* pwm3 */
 420                 if (!data.hal2 && data.hal3){
 421                         rps.pwm1=0;
 422                         rps.pwm2=0;
 423                         rps.pwm3=-duty;
 424                         /* pwm1 */
 425                 }else if (!data.hal1 && data.hal2){
 426                         rps.pwm1=-duty;
 427                         rps.pwm2=0;
 428                         rps.pwm3=0;
 429                         /* pwm2 */
 430                 }else if (data.hal1 && !data.hal3){
 431                         rps.pwm1=0;
 432                         rps.pwm2=-duty;
 433                         rps.pwm3=0;
 434                 }
 435         }
 436 }
 437 /**
 438  * \brief
 439  * Computation of distance to index.
 440  *
 441  * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
 442  * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
 443  *      to je 3999 bodu
 444  *      =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
 445  *              signalu indexu
 446  */
 447 void comIndDist(){
 448         uint16_t pos = 0x0FFF & data.pozice_raw;
 449         uint16_t dist;
 450         uint16_t index = data.index_position;
 451
 452         if (index<1999){                /*index e<0,1998> */
 453                 if (pos<index){                 /*pozice e<0,index-1> */
 454                         /*proti smeru h.r. od indexu*/
 455                         dist=pos+2000-index;
 456                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 457                         /*po smeru h.r. od indexu*/
 458                         dist=pos-index;
 459                 }else if (pos<index+2096){      /*pozice e<index+2000,index+2095> */
 460                         goto index_lost;
 461                 }else{                          /*pozice e<index+2096,4095> */
 462                         /*proti smeru h.r. od indexu - podtecena pozice*/
 463                         dist=pos-index-2096;
 464                 }
 465         }else if (index<=2096){         /*index e<1999,2096>*/
 466                 if (pos<index-1999){            /*pozice e<0,index-2000> */
 467                         goto index_lost;
 468                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 469                         /*proti smeru h.r. od indexu*/
 470                         dist=pos+2000-index;
 471                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 472                         /*po smeru h.r. od indexu*/
 473                         dist=pos-index;
 474                 }else {                         /*pozice e<index+2000,4095> */
 475                         goto index_lost;
 476                 }
 477         }else{                          /*index e<2097,4095> */
 478                 if (pos<=index-2097){           /*pozice e<0,index-2097> */
 479                         /*po smeru h.r. od indexu - pretecena pozice*/
 480                         dist=4096+pos-index;
 481                 }else if (pos<index-1999){      /*pozice e<index-2096,index-2000> */
 482                         goto index_lost;
 483                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 484                         /*proti smeru h.r. od indexu*/
 485                         dist=pos+2000-index;
 486                 }else{                          /*pozice e<index,4095> */
 487                         /*po smeru h.r. od indexu*/
 488                         dist=pos-index;
 489                 }
 490         }
 491
 492         rps.index_dist = dist;
 493         return;
 494
 495         index_lost:
 496                 rps.index_ok=0;
 497                 return;
 498 }
 499 /*
 500  * \brief
 501  * Very simple PID regulator.
 502  * Now only with P-part so that the error doesnt go to zero.
 503  * TODO: add anti-wind up and I and D parts
 504  */
 505 inline void pos_pid(){
 506         int duty_tmp;
 507         duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
 508         if (duty_tmp>MAX_DUTY){
 509                 rps.duty=MAX_DUTY;
 510         }else if (duty_tmp<-MAX_DUTY){
 511                 rps.duty=-MAX_DUTY;
 512         }else{
 513                 rps.duty = duty_tmp;
 514         }
 515 }
 516 /*
 517  * \brief
 518  * Feedback loop.
 519  * TODO: replace bunch of 'IFs' with Object-like pattern
 520  */
 521 void * read_data(void* param){
 522         int i;
 523         struct rpi_in pocatek;
 524         struct timespec t;
 525         int interval = 1000000; /* 1ms ~ 1kHz*/
 526         uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 527         char first=1;
 528         uint16_t last_index;                            /*we have index up-to date*/
 529         pocatek = spi_read(tx);
 530         clock_gettime(CLOCK_MONOTONIC ,&t);
 531         /* start after one second */
 532         t.tv_sec++;
 533                 while(1){
 534                         /* wait until next shot */
 535                         clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 536                         sem_wait(&rps.thd_par_sem);             /*---take semaphore---*/
 537                         prepare_tx(tx);                 /*save the data to send*/
 538                         data = spi_read(tx);            /*exchange data*/
 539                         /*subtract initiate postion */
 540                         rps.tf_count++;
 541                         substractOffset(&data,&pocatek);
 542
 543                         if (!rps.index_ok){
 544                                 if (first){
 545                                         last_index=data.index_position;
 546                                         first=0;
 547                                 }else if (last_index!=data.index_position){
 548                                         rps.index_ok=1;
 549                                         comIndDist();   /*vypocet vzdalenosti indexu*/
 550                                 }
 551                         }else{ /*index je v poradku*/
 552                                 comIndDist();           /*vypocet vzdalenosti indexu*/
 553                         }
 554                         /* pocitame sirku plneni podle potreb rizeni*/
 555                         if (rps.pos_reg_ena){
 556                                 pos_pid();
 557                         }
 558                         /* sirka plneni prepoctena na jednotlive pwm */
 559                         if (rps.index_ok && rps.commutate){
 560                                 /*simple_ind_dist_commutator(rps.duty);*/
 561                                 /*sin_commutator(rps.duty);*/
 562                                 inv_trans_comm(rps.duty);
 563                                 inv_trans_comm_2(rps.duty);
 564                         }else if(!rps.index_ok && rps.commutate){
 565                                 simple_hall_commutator(rps.duty);
 566                         }
 567                         sem_post(&rps.thd_par_sem);             /*--post semaphore---*/
 568
 569                         /* calculate next shot */
 570                         t.tv_nsec += interval;
 571
 572                         while (t.tv_nsec >= NSEC_PER_SEC) {
 573                                 t.tv_nsec -= NSEC_PER_SEC;
 574                                 t.tv_sec++;
 575                         }
 576
 577                 }
 578 }
 579
 580
 581
 582 /**
 583  * \brief Main function.
 584  */
 585
 586 int main(){
 587         pthread_t base_thread_id;
 588         clk_init();             /* inicializace gpio hodin */
 589         spi_init();             /* iniicializace spi*/
 590
 591         /*semafor pro detekci zpracovani parametru vlaken*/
 592         sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
 593         setup_environment();
 594
 595         base_thread_id=pthread_self();
 596
 597         /*main control loop*/
 598         create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
 599
 600         /*monitor of current state*/
 601         create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 602
 603         /*wait for commands*/
 604         poll_cmd(&rps);
 605
 606         return 0;
 607 }