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 #include <string.h>
  20
  21 #include "rpin.h"       /*gpclk*/
  22 #include "rp_spi.h"     /*spi*/
  23 #include "misc.h"       /*structure for priorities*/
  24 #include "pxmc_sin_fixed.h"     /*to test sin commutation */
  25 #include "pmsm_state.h"
  26 #include "cmd_proc.h"
  27
  28
  29 #define PID_P           0.3
  30 #define PID_P_S         0.8     /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
  31 #define PID_I_S         0.01
  32
  33 #define PRIOR_KERN      50
  34 #define PRIOR_HIGH      49
  35 #define PRIOR_LOW       20
  36
  37 #define THREAD_SHARED   0
  38 #define INIT_VALUE      1       /*init value for semaphor*/
  39
  40
  41 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
  42
  43
  44 struct rpi_in data;
  45 struct rpi_state rps={
  46         .spi_dat=&data,
  47         .test=0,
  48         .pwm1=0,.pwm2=0, .pwm3=0,
  49         .pwm1=0, .t_pwm2=0, .t_pwm3=0,
  50         .commutate=0,
  51         .duty=0,                        /* duty cycle of pwm */
  52         .index_dist=0,          /* distance to index position */
  53         .index_ok=0,
  54         .tf_count=0,            /*number of transfer*/
  55         .desired_pos=0,         /* desired position */
  56         .pos_reg_ena=0,
  57         .desired_spd=0,
  58         .spd_reg_ena=0,
  59         .old_pos={0},
  60         .spd_err_sum=0,
  61         .log_col_count=0,       /* pocet radku zaznamu */
  62         .log_col=0,
  63         .doLogs=0
  64 };
  65
  66 /**
  67  * \brief Initilizes GPCLK.
  68  */
  69 int clk_init()
  70 {
  71         initialise(); /*namapovani gpio*/
  72         initClock(PLLD_500_MHZ, 10, 0);
  73         gpioSetMode(4, FSEL_ALT0);
  74         return 0;
  75 }
  76 /*
  77  * \brief Terminates GPCLK.
  78  */
  79
  80 inline void clk_disable(){
  81         termClock(0);
  82 }
  83 /*
  84  * \brief
  85  * Count minimum value of three numbers.
  86  * Input values must be in range <-2^28;2^28>.
  87  */
  88 int32_t min(int32_t x, int32_t y, int32_t z){
  89         int32_t diff,sign;
  90
  91         diff=x-y; /*rozdil*/
  92         sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze y je vetsi*/
  93         x=y+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
  94
  95         diff=x-z; /*rozdil*/
  96         sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze z je vetsi*/
  97         x=z+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
  98
  99         return x;
 100 }
 101
 102 /*
 103  * \brief
 104  * Free logs
 105  */
 106 void freeLogs(){
 107         int r;
 108         if (rps.log_col_count){
 109                 for (r=0;r<LOG_ROWS;r++){
 110                         free(rps.logs[r]);
 111                 }
 112         }
 113         rps.log_col_count=0;
 114         rps.doLogs=0;
 115 }
 116
 117 /*
 118  * \brief
 119  * Makes log.
 120  */
 121 void makeLog(){
 122         int r;
 123         if (rps.log_col==MAX_LOGS-1){
 124                 rps.doLogs=0;
 125                 return;
 126         }
 127         rps.logs[0][rps.log_col]=(int)rps.tf_count;
 128         rps.logs[1][rps.log_col]=(int)rps.spi_dat->pozice;
 129
 130         rps.logs[2][rps.log_col]=(int)rps.pwm1;
 131         rps.logs[3][rps.log_col]=(int)rps.pwm2;
 132         rps.logs[4][rps.log_col]=(int)rps.pwm3;
 133         rps.logs[5][rps.log_col]=rps.duty;
 134
 135         rps.logs[6][rps.log_col]=rps.desired_spd;
 136         rps.logs[7][rps.log_col]=rps.speed;
 137
 138         rps.logs[8][rps.log_col]=(int)(rps.spi_dat->ch1/rps.spi_dat->adc_m_count);
 139         rps.logs[9][rps.log_col]=(int)(rps.spi_dat->ch2/rps.spi_dat->adc_m_count);
 140         rps.logs[10][rps.log_col]=(int)(rps.spi_dat->ch0/rps.spi_dat->adc_m_count);
 141
 142         rps.log_col++;
 143      /*
 144         if (rps.log_col==rps.log_col_count-1){
 145                 rps.log_col_count*=2;
 146                 rps.log_col_count%=MAX_LOGS;
 147                 for (r=0;r<LOG_ROWS;r++){
 148                         rps.logs[r]=realloc(rps.logs[r],rps.log_col_count*sizeof(int));
 149                         if (rps.logs[r]==NULL){
 150                                 rps.doLogs=0;
 151                                 rps.error=1;
 152                         }
 153                 }
 154         }
 155      */
 156 }
 157
 158 /*
 159  * \brief
 160  * Pripravi psi buffer
 161  */
 162 void prepare_tx(uint8_t * tx){
 163
 164         /*Data format:
 165          * tx[4] - bity 95 downto 88 - bits that are sent first
 166          * tx[5] - bity 87 downto 80
 167          * tx[6] - bity 79 downto 72
 168          * tx[7] - bity 71 downto 64
 169          * tx[8] - bity 63 downto 56
 170          * tx[9] - bity 55 downto 48
 171          * tx[10] - bity 47 downto 40
 172          * tx[11] - bity 39 downto 32
 173          * tx[12] - bity 31 downto 24
 174          * tx[13] - bity 23 downto 16
 175          * tx[14] - bity 15 downto 8
 176          * tx[15] - bity 7 downto 0
 177          *
 178          * bit 95 - ADC reset
 179          * bit 94 - enable PWM1
 180          * bit 93 - enable PWM2
 181          * bit 92 - enable PWM3
 182          * bit 91 - shutdown1
 183          * bit 90 - shutdown2
 184          * bit 89 - shutdown3
 185          *      .
 186          *      .
 187          *      Unused
 188          *      .
 189          *      .
 190          * bits 47 .. 32 - match PWM1
 191          * bits 31 .. 16 - match PWM2
 192          * bits 15 .. 0  - match PWM3
 193          */
 194
 195
 196         uint16_t tmp;
 197
 198         /* keep the 11-bit cap*/
 199
 200         if (rps.pwm1>2047) rps.pwm1=2047;
 201         if (rps.pwm2>2047) rps.pwm2=2047;
 202         if (rps.pwm3>2047) rps.pwm3=2047;
 203
 204         tx[0]=rps.test; /*bit 94 - enable PWM1*/
 205
 206         /*now we have to switch the bytes due to endianess */
 207         /* ARMv6 & ARMv7 instructions are little endian */
 208         /*pwm1*/
 209         tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
 210         tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 211
 212         /*pwm2*/
 213         tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
 214         tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
 215
 216         /*pwm3*/
 217         tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
 218         tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 219
 220
 221 }
 222
 223
 224 /**
 225  * \brief Signal handler pro Ctrl+C
 226  */
 227 void appl_stop(){
 228         uint8_t tx[16];
 229         sem_wait(&rps.thd_par_sem);
 230
 231         memset(tx,0,16*sizeof(int));
 232         rps.pwm1=0;
 233         rps.pwm2=0;
 234         rps.pwm3=0;
 235         prepare_tx(tx);                 /*save the data to send*/
 236         data=spi_read(tx);
 237
 238         spi_disable();
 239         clk_disable();
 240         freeLogs();
 241         /*muzeme zavrit semafor*/
 242         sem_destroy(&rps.thd_par_sem);
 243         printf("\nprogram bezpecne ukoncen\n");
 244 }
 245
 246 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
 247         data->pozice=data->pozice_raw-offset->pozice_raw;
 248         return;
 249 }
 250 /*
 251  * \brief
 252  * Transformace pro uhel pocitany po smeru hodinovych rucicek
 253  */
 254 void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int32_t cos){
 255         *alpha=cos*d+sin*q;
 256         *beta=-sin*d+cos*q;
 257         return;
 258 }
 259 void alphabeta2pwm3(int32_t * ia, int32_t * ib, int32_t *ic,int32_t alpha, int32_t beta){
 260         *ia=alpha;
 261         *ib=-alpha/2+beta*887/1024;
 262         *ic=-alpha/2-beta*887/1024;
 263 }
 264 /*
 265  * \brief
 266  * Preocita napeti na jednotlivych civkach na napeti,
 267  *      ktera budou privedena na svorky motoru.
 268  *      Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
 269  */
 270 void transDelta(int32_t * u1, int32_t * u2, int32_t *u3, int32_t ub , int32_t uc){
 271         int32_t t;
 272
 273         /*vypocte napeti tak, aby odpovidaly rozdily*/
 274         *u1=uc;
 275         *u2=uc+ub;
 276         *u3=0;
 277
 278         /*najde zaporne napeti*/
 279         t=min(*u1,*u2,*u3);
 280
 281         /*dorovna zaporna napeti na nulu*/
 282         *u1-=t;
 283         *u2-=t;
 284         *u3-=t;
 285 }
 286 void inv_trans_comm(int duty){
 287         uint32_t pos;
 288         int32_t sin, cos;
 289         int32_t alpha, beta;
 290         int32_t pwma,pwmb,pwmc;
 291         pos=rps.index_dist;
 292         /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
 293         pos+=717;
 294         /*use it as cyclic 32-bit logic*/
 295         pos*=4294967;
 296         pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
 297         dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
 298         alpha>>=16;
 299         beta>>=16;
 300         alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);
 301
 302         if (pwma<0) pwma=0;
 303         if (pwmb<0) pwmb=0;
 304         if (pwmc<0) pwmc=0;
 305
 306
 307         rps.t_pwm1=(uint16_t)pwma;
 308         rps.t_pwm3=(uint16_t)pwmb;
 309         rps.t_pwm2=(uint16_t)pwmc;
 310 }
 311
 312 void inv_trans_comm_2(int duty){
 313         uint32_t pos;
 314         int32_t sin, cos;
 315         int32_t alpha, beta;
 316         int32_t ua,ub,uc;
 317         int32_t ia,ib,ic;
 318         int32_t u1,u2,u3;
 319         pos=rps.index_dist;
 320
 321         pos+=960; /*zarovnani faze 'a' s osou 'alpha'*/
 322
 323         /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
 324         pos*=4294967;
 325         pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
 326
 327         dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
 328         alpha>>=16;
 329         beta>>=16;
 330
 331         alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
 332
 333         ua=ia;
 334         ub=ib;
 335         uc=ic;
 336
 337         transDelta(&u1,&u2, &u3,ub,uc);
 338
 339         rps.pwm1=(uint16_t)u1;
 340         rps.pwm2=(uint16_t)u2;
 341         rps.pwm3=(uint16_t)u3;
 342 }
 343
 344 /**
 345  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 346  */
 347 void * pos_monitor(void* param){
 348         while(1){
 349                 printData(&rps);
 350                 usleep(1000000);        /*1 Hz*/
 351         }
 352         return (void*)0;
 353 }
 354 /*
 355  * \brief
 356  * Multiplication of 11 bit
 357  * Zaporne vysledky prvede na nulu.
 358  */
 359 inline uint16_t mult_cap(int32_t s,int d){
 360         int j;
 361         int res=0;
 362         for(j=0;j!=11;j++){
 363                 /* multiplicate as if maximum sinus value was unity */
 364                 res+=(!(s & 0x10000000))*(((1 << j) & s)>>j)*(d>>(10-j));
 365         }
 366         return res;
 367 }
 368 inline
 369 int sin_commutator(int duty){
 370         #define DEGREE_60        715827883
 371         #define DEGREE_120      1431655765
 372         #define DEGREE_180      2147483648
 373         #define DEGREE_240      2863311531
 374         #define DEGREE_300      3579139413
 375         uint32_t j,pos;
 376         int32_t sin;
 377         pos=rps.index_dist;
 378         int32_t pwm;
 379         /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
 380         pos+=38;
 381         /*use it as cyclic 32-bit logic*/
 382         pos*=4294967;
 383         if (duty>=0){   /*clockwise rotation*/
 384                 /* 1st phase */
 385                 sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
 386                 pwm=sin*duty/1024;
 387                 if (pwm<0) pwm=0;
 388                 rps.pwm1=(uint16_t)pwm;
 389
 390                 /* 2nd phase */
 391                 sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
 392                 pwm=sin*duty/1024;
 393                 if (pwm<0) pwm=0;
 394                 rps.pwm2=(uint16_t)pwm;
 395
 396                 /* 3rd phase */
 397                 sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
 398                 pwm=sin*duty/1024;
 399                 if (pwm<0) pwm=0;
 400                 rps.pwm3=(uint16_t)pwm;
 401         }else{
 402                 duty=-duty;
 403
 404                 /* 1st phase */
 405                 sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
 406                 pwm=sin*duty/1024;
 407                 if (pwm<0) pwm=0;
 408                 rps.pwm1=(uint16_t)pwm;
 409
 410                 /* 2nd phase */
 411                 sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
 412                 pwm=sin*duty/1024;
 413                 if (pwm<0) pwm=0;
 414                 rps.pwm2=(uint16_t)pwm;
 415
 416                 /* 3rd phase */
 417                 sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
 418                 pwm=sin*duty/1024;
 419                 if (pwm<0) pwm=0;
 420                 rps.pwm3=(uint16_t)pwm;
 421         }
 422         return 0;
 423 }
 424 /*
 425  * \brief
 426  * Test function to be placed in controll loop.
 427  * Switches PWM's at point where they produce same force.
 428  * This points are found thanks to IRC position,
 429  */
 430 inline
 431 void simple_ind_dist_commutator(int duty){
 432         if (duty>=0){ /* clockwise - so that position increase */
 433                 /* pwm3 */
 434                 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
 435                 (rps.index_dist>=1048 && rps.index_dist<=1377)){
 436                         rps.pwm1=0;
 437                         rps.pwm2=0;
 438                         rps.pwm3=duty;
 439                         /* pwm1 */
 440                 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
 441                 (rps.index_dist>=1377 && rps.index_dist<=1711)){
 442                         rps.pwm1=duty;
 443                         rps.pwm2=0;
 444                         rps.pwm3=0;
 445                         /* pwm2 */
 446                 }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
 447                 (rps.index_dist>=711 && rps.index_dist<=1048) ||
 448                 (rps.index_dist>=1711 && rps.index_dist<=1999)){
 449                         rps.pwm1=0;
 450                         rps.pwm2=duty;
 451                         rps.pwm3=0;
 452                 }
 453         }else{  /*counter-clockwise - position decrease */
 454                 /* pwm3 */
 455                 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
 456                 (rps.index_dist>=1544 && rps.index_dist<=1878)){
 457                         rps.pwm1=0;
 458                         rps.pwm2=0;
 459                         rps.pwm3=-duty;
 460                         /* pwm1 */
 461                 }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
 462                 (rps.index_dist>=881 && rps.index_dist<=1210) ||
 463                 (rps.index_dist>=1878 && rps.index_dist<=1999)){
 464                         rps.pwm1=-duty;
 465                         rps.pwm2=0;
 466                         rps.pwm3=0;
 467                         /* pwm2 */
 468                 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
 469                 (rps.index_dist>=1210 && rps.index_dist<=1544)){
 470                         rps.pwm1=0;
 471                         rps.pwm2=-duty;
 472                         rps.pwm3=0;
 473                 }
 474         }
 475 }
 476 /*
 477  * \brief
 478  * Test function to be placed in controll loop.
 479  * Switches PWM's at point where they produce same force
 480  */
 481 inline void simple_hall_commutator(int duty){
 482         if (duty>=0){ /* clockwise - so that position increase */
 483                 /* pwm3 */
 484                 if (data.hal2 && !data.hal3){
 485                         rps.pwm1=0;
 486                         rps.pwm2=0;
 487                         rps.pwm3=duty;
 488                         /* pwm1 */
 489                 }else if (data.hal1 && !data.hal2){
 490                         rps.pwm1=duty;
 491                         rps.pwm2=0;
 492                         rps.pwm3=0;
 493                         /* pwm2 */
 494                 }else if (!data.hal1 && data.hal3){
 495                         rps.pwm1=0;
 496                         rps.pwm2=duty;
 497                         rps.pwm3=0;
 498                 }
 499         }else{  /*counter-clockwise - position decrease */
 500                 /* pwm3 */
 501                 if (!data.hal2 && data.hal3){
 502                         rps.pwm1=0;
 503                         rps.pwm2=0;
 504                         rps.pwm3=-duty;
 505                         /* pwm1 */
 506                 }else if (!data.hal1 && data.hal2){
 507                         rps.pwm1=-duty;
 508                         rps.pwm2=0;
 509                         rps.pwm3=0;
 510                         /* pwm2 */
 511                 }else if (data.hal1 && !data.hal3){
 512                         rps.pwm1=0;
 513                         rps.pwm2=-duty;
 514                         rps.pwm3=0;
 515                 }
 516         }
 517 }
 518 /**
 519  * \brief
 520  * Computation of distance to index.
 521  *
 522  * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
 523  * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
 524  *      to je 3999 bodu
 525  *      =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
 526  *              signalu indexu
 527  */
 528 void comIndDist(){
 529         uint16_t pos = 0x0FFF & data.pozice_raw;
 530         uint16_t dist;
 531         uint16_t index = data.index_position;
 532
 533         if (index<1999){                /*index e<0,1998> */
 534                 if (pos<index){                 /*pozice e<0,index-1> */
 535                         /*proti smeru h.r. od indexu*/
 536                         dist=pos+2000-index;
 537                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 538                         /*po smeru h.r. od indexu*/
 539                         dist=pos-index;
 540                 }else if (pos<index+2096){      /*pozice e<index+2000,index+2095> */
 541                         goto index_lost;
 542                 }else{                          /*pozice e<index+2096,4095> */
 543                         /*proti smeru h.r. od indexu - podtecena pozice*/
 544                         dist=pos-index-2096;
 545                 }
 546         }else if (index<=2096){         /*index e<1999,2096>*/
 547                 if (pos<index-1999){            /*pozice e<0,index-2000> */
 548                         goto index_lost;
 549                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 550                         /*proti smeru h.r. od indexu*/
 551                         dist=pos+2000-index;
 552                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 553                         /*po smeru h.r. od indexu*/
 554                         dist=pos-index;
 555                 }else {                         /*pozice e<index+2000,4095> */
 556                         goto index_lost;
 557                 }
 558         }else{                          /*index e<2097,4095> */
 559                 if (pos<=index-2097){           /*pozice e<0,index-2097> */
 560                         /*po smeru h.r. od indexu - pretecena pozice*/
 561                         dist=4096+pos-index;
 562                 }else if (pos<index-1999){      /*pozice e<index-2096,index-2000> */
 563                         goto index_lost;
 564                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 565                         /*proti smeru h.r. od indexu*/
 566                         dist=pos+2000-index;
 567                 }else{                          /*pozice e<index,4095> */
 568                         /*po smeru h.r. od indexu*/
 569                         dist=pos-index;
 570                 }
 571         }
 572
 573         rps.index_dist = dist;
 574         return;
 575
 576         index_lost:
 577                 rps.index_ok=0;
 578                 return;
 579 }
 580 /*
 581  * \brief
 582  * Very simple PID regulator.
 583  * Now only with P-part so that the error doesnt go to zero.
 584  * TODO: add anti-wind up and I and D parts
 585  */
 586 inline void pos_pid(){
 587         int duty_tmp;
 588         duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
 589         if (duty_tmp>MAX_DUTY){
 590                 rps.duty=MAX_DUTY;
 591         }else if (duty_tmp<-MAX_DUTY){
 592                 rps.duty=-MAX_DUTY;
 593         }else{
 594                 rps.duty = duty_tmp;
 595         }
 596 }
 597 /*
 598  * \brief
 599  * Very simple PID regulator.
 600  * Now only with P-part so that the error doesnt go to zero.
 601  * FIXME: make better
 602  */
 603 inline void spd_pid(){
 604         int duty_tmp;
 605         int error;
 606         error=rps.desired_spd - rps.speed;
 607         rps.spd_err_sum+=error;
 608         duty_tmp = PID_P_S*error+PID_I_S*rps.spd_err_sum;
 609         if (duty_tmp>MAX_DUTY){
 610                 rps.duty=MAX_DUTY;
 611         }else if (duty_tmp<-MAX_DUTY){
 612                 rps.duty=-MAX_DUTY;
 613         }else{
 614                 rps.duty = duty_tmp;
 615         }
 616 }
 617
 618 /*
 619  * \brief
 620  * Computate speed.
 621  */
 622 void compSpeed(){
 623         signed long int spd;
 624         spd=rps.spi_dat->pozice-rps.old_pos[rps.tf_count%OLD_POS_NUM];
 625         rps.speed=(int32_t)spd;
 626 }
 627
 628 /*
 629  * \brief
 630  * Feedback loop.
 631  * TODO: replace bunch of 'IFs' with Object-like pattern
 632  */
 633 void * read_data(void* param){
 634         int i;
 635         struct rpi_in pocatek;
 636         struct timespec t;
 637         int interval = 1000000; /* 1ms ~ 1kHz*/
 638         uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 639         char first=1;
 640         uint16_t last_index;                            /*we have index up-to date*/
 641         pocatek = spi_read(tx);
 642         clock_gettime(CLOCK_MONOTONIC ,&t);
 643         /* start after one second */
 644         t.tv_sec++;
 645                 while(1){
 646                         /* wait until next shot */
 647                         clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 648                         sem_wait(&rps.thd_par_sem);             /*---take semaphore---*/
 649
 650                         /*old positions*/
 651                         rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
 652                         prepare_tx(tx);                 /*save the data to send*/
 653                         data = spi_read(tx);            /*exchange data*/
 654                         /*subtract initiate postion */
 655                         rps.tf_count++;
 656                         substractOffset(&data,&pocatek);
 657                         compSpeed();                    /*spocita rychlost*/
 658
 659                         if (!rps.index_ok){
 660                                 if (first){
 661                                         last_index=data.index_position;
 662                                         first=0;
 663                                 }else if (last_index!=data.index_position){
 664                                         rps.index_ok=1;
 665                                         comIndDist();   /*vypocet vzdalenosti indexu*/
 666                                 }
 667                         }else{ /*index je v poradku*/
 668                                 comIndDist();           /*vypocet vzdalenosti indexu*/
 669                         }
 670
 671                         /* pocitame sirku plneni podle potreb rizeni*/
 672                         if (rps.pos_reg_ena){           /*pozicni rizeni*/
 673                                 pos_pid();
 674                         }else if(rps.spd_reg_ena){      /*rizeni na rychlost*/
 675                                 spd_pid();
 676                         }
 677
 678                         /* sirka plneni prepoctena na jednotlive pwm */
 679                         if (rps.index_ok && rps.commutate){
 680                                 /*simple_ind_dist_commutator(rps.duty);*/
 681                                 /*sin_commutator(rps.duty);*/
 682                                 inv_trans_comm(rps.duty);
 683                                 inv_trans_comm_2(rps.duty);
 684                         }else if(!rps.index_ok && rps.commutate){
 685                                 simple_hall_commutator(rps.duty);
 686                         }
 687
 688                         /*zalogujeme hodnoty*/
 689                         if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
 690                                 makeLog();
 691                         }
 692
 693                         sem_post(&rps.thd_par_sem);             /*--post semaphore---*/
 694
 695                         /* calculate next shot */
 696                         t.tv_nsec += interval;
 697
 698                         while (t.tv_nsec >= NSEC_PER_SEC) {
 699                                 t.tv_nsec -= NSEC_PER_SEC;
 700                                 t.tv_sec++;
 701                         }
 702
 703                 }
 704 }
 705
 706
 707 /**
 708  * \brief Main function.
 709  */
 710
 711 int main(){
 712         pthread_t base_thread_id;
 713         clk_init();             /* inicializace gpio hodin */
 714         spi_init();             /* iniicializace spi*/
 715
 716         /*semafor pro detekci zpracovani parametru vlaken*/
 717         sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
 718         setup_environment();
 719
 720         base_thread_id=pthread_self();
 721
 722         /*main control loop*/
 723         create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
 724
 725         /*monitor of current state*/
 726         create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 727
 728         /*wait for commands*/
 729         poll_cmd(&rps);
 730
 731         return 0;
 732 }