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