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 PRUM_PROUD      2061
  28 #define PRUM_SOUC       6183
  29 #define MAX_DUTY        128
  30 #define PID_P           0.1
  31
  32 #define PRIOR_KERN      50
  33 #define PRIOR_HIGH      49
  34 #define PRIOR_LOW       20
  35
  36 #define THREAD_SHARED   0
  37 #define INIT_VALUE      1       /*init value for semaphor*/
  38
  39
  40 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
  41
  42
  43 struct rpi_in data;
  44 struct rpi_state rps={
  45         .spi_dat=&data,
  46         .thd_par_sem=NULL,
  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 };
  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 /**
  77  * \brief Signal handler pro Ctrl+C
  78  */
  79 void appl_stop(){
  80         spi_disable();
  81         clk_disable();
  82         /*muzeme zavrit semafor*/
  83         sem_destroy(&rps.thd_par_sem);
  84         printf("\nprogram bezpecne ukoncen\n");
  85 }
  86
  87 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
  88         data->pozice_raw=data->pozice;
  89         data->pozice-=offset->pozice;
  90         return;
  91 }
  92 /*
  93  * pocita procentualni odchylku od prumerneho proudu
  94  */
  95 float diff_p(float value){
  96         return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
  97 }
  98 /*
  99  * pocita procentualni odchylku od prumerneho souctu proudu
 100  */
 101 float diff_s(float value){
 102         return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
 103 }
 104
 105 void prepare_tx(uint8_t * tx){
 106
 107         /*Data format:
 108          * tx[4] - bity 95 downto 88 - bits that are sent first
 109          * tx[5] - bity 87 downto 80
 110          * tx[6] - bity 79 downto 72
 111          * tx[7] - bity 71 downto 64
 112          * tx[8] - bity 63 downto 56
 113          * tx[9] - bity 55 downto 48
 114          * tx[10] - bity 47 downto 40
 115          * tx[11] - bity 39 downto 32
 116          * tx[12] - bity 31 downto 24
 117          * tx[13] - bity 23 downto 16
 118          * tx[14] - bity 15 downto 8
 119          * tx[15] - bity 7 downto 0
 120          *
 121          * bit 95 - ADC reset
 122          * bit 94 - enable PWM1
 123          * bit 93 - enable PWM2
 124          * bit 92 - enable PWM3
 125          * bit 91 - shutdown1
 126          * bit 90 - shutdown2
 127          * bit 89 - shutdown3
 128          *      .
 129          *      .
 130          *      Unused
 131          *      .
 132          *      .
 133          * bits 47 .. 32 - match PWM1
 134          * bits 31 .. 16 - match PWM2
 135          * bits 15 .. 0  - match PWM3
 136          */
 137
 138
 139         uint16_t tmp;
 140
 141         /* keep the 11-bit cap*/
 142
 143         if (rps.pwm1>2047) rps.pwm1=2047;
 144         if (rps.pwm2>2047) rps.pwm2=2047;
 145         if (rps.pwm3>2047) rps.pwm3=2047;
 146
 147         tx[0]=rps.test; /*bit 94 - enable PWM1*/
 148
 149         /*now we have to switch the bytes due to endianess */
 150         /* ARMv6 & ARMv7 instructions are little endian */
 151         /*pwm1*/
 152         tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
 153         tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 154
 155         /*pwm2*/
 156         tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
 157         tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
 158
 159         /*pwm3*/
 160         tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
 161         tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 162
 163
 164 }
 165 /**
 166  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 167  */
 168 void * pos_monitor(void* param){
 169         while(1){
 170                 printData(&rps);
 171                 usleep(1000000);        /*1 Hz*/
 172         }
 173         return (void*)0;
 174 }
 175 /*
 176  * \brief
 177  * Multiplication of 11 bit
 178  * Zaporne vysledky prvede na nulu.
 179  */
 180 inline uint16_t mult_cap(int32_t s,int d){
 181         int j;
 182         int res=0;
 183         for(j=0;j!=11;j++){
 184                 /* multiplicate as if maximum sinus value was unity */
 185                 res+=(!(s & 0x10000000))*(((1 << j) & s)>>j)*(d>>(10-j));
 186         }
 187         return res;
 188 }
 189 inline
 190 int sin_commutator(int duty){
 191         #define DEGREE_60        715827883
 192         #define DEGREE_120      1431655765
 193         #define DEGREE_180      2147483648
 194         #define DEGREE_240      2863311531
 195         #define DEGREE_300      3579139413
 196         uint32_t j,pos;
 197         int32_t sin;
 198         pos=rps.index_dist;
 199         int32_t pwm;
 200         /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
 201         pos+=38;
 202         /*use it as cyclic 32-bit logic*/
 203         pos*=4294967;
 204         if (duty>=0){   /*clockwise rotation*/
 205                 /* 1st phase */
 206                 sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
 207                 pwm=sin*duty/1024;
 208                 if (pwm<0) pwm=0;
 209                 rps.pwm1=(uint16_t)pwm;
 210
 211                 /* 2nd phase */
 212                 sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
 213                 pwm=sin*duty/1024;
 214                 if (pwm<0) pwm=0;
 215                 rps.pwm2=(uint16_t)pwm;
 216
 217                 /* 3rd phase */
 218                 sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
 219                 pwm=sin*duty/1024;
 220                 if (pwm<0) pwm=0;
 221                 rps.pwm3=(uint16_t)pwm;
 222         }else{
 223                 duty=-duty;
 224
 225                 /* 1st phase */
 226                 sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
 227                 pwm=sin*duty/1024;
 228                 if (pwm<0) pwm=0;
 229                 rps.pwm1=(uint16_t)pwm;
 230
 231                 /* 2nd phase */
 232                 sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
 233                 pwm=sin*duty/1024;
 234                 if (pwm<0) pwm=0;
 235                 rps.pwm2=(uint16_t)pwm;
 236
 237                 /* 3rd phase */
 238                 sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
 239                 pwm=sin*duty/1024;
 240                 if (pwm<0) pwm=0;
 241                 rps.pwm3=(uint16_t)pwm;
 242         }
 243         return 0;
 244 }
 245 /*
 246  * \brief
 247  * Test function to be placed in controll loop.
 248  * Switches PWM's at point where they produce same force.
 249  * This points are found thanks to IRC position,
 250  */
 251 inline
 252 void simple_ind_dist_commutator(int duty){
 253         if (duty>=0){ /* clockwise - so that position increase */
 254                 /* pwm3 */
 255                 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
 256                 (rps.index_dist>=1048 && rps.index_dist<=1377)){
 257                         rps.pwm1=0;
 258                         rps.pwm2=0;
 259                         rps.pwm3=duty;
 260                         /* pwm1 */
 261                 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
 262                 (rps.index_dist>=1377 && rps.index_dist<=1711)){
 263                         rps.pwm1=duty;
 264                         rps.pwm2=0;
 265                         rps.pwm3=0;
 266                         /* pwm2 */
 267                 }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
 268                 (rps.index_dist>=711 && rps.index_dist<=1048) ||
 269                 (rps.index_dist>=1711 && rps.index_dist<=1999)){
 270                         rps.pwm1=0;
 271                         rps.pwm2=duty;
 272                         rps.pwm3=0;
 273                 }
 274         }else{  /*counter-clockwise - position decrease */
 275                 /* pwm3 */
 276                 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
 277                 (rps.index_dist>=1544 && rps.index_dist<=1878)){
 278                         rps.pwm1=0;
 279                         rps.pwm2=0;
 280                         rps.pwm3=-duty;
 281                         /* pwm1 */
 282                 }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
 283                 (rps.index_dist>=881 && rps.index_dist<=1210) ||
 284                 (rps.index_dist>=1878 && rps.index_dist<=1999)){
 285                         rps.pwm1=-duty;
 286                         rps.pwm2=0;
 287                         rps.pwm3=0;
 288                         /* pwm2 */
 289                 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
 290                 (rps.index_dist>=1210 && rps.index_dist<=1544)){
 291                         rps.pwm1=0;
 292                         rps.pwm2=-duty;
 293                         rps.pwm3=0;
 294                 }
 295         }
 296 }
 297 /*
 298  * \brief
 299  * Test function to be placed in controll loop.
 300  * Switches PWM's at point where they produce same force
 301  */
 302 inline void simple_hall_commutator(int duty){
 303         if (duty>=0){ /* clockwise - so that position increase */
 304                 /* pwm3 */
 305                 if (data.hal2 && !data.hal3){
 306                         rps.pwm1=0;
 307                         rps.pwm2=0;
 308                         rps.pwm3=duty;
 309                         /* pwm1 */
 310                 }else if (data.hal1 && !data.hal2){
 311                         rps.pwm1=duty;
 312                         rps.pwm2=0;
 313                         rps.pwm3=0;
 314                         /* pwm2 */
 315                 }else if (!data.hal1 && data.hal3){
 316                         rps.pwm1=0;
 317                         rps.pwm2=duty;
 318                         rps.pwm3=0;
 319                 }
 320         }else{  /*counter-clockwise - position decrease */
 321                 /* pwm3 */
 322                 if (!data.hal2 && data.hal3){
 323                         rps.pwm1=0;
 324                         rps.pwm2=0;
 325                         rps.pwm3=-duty;
 326                         /* pwm1 */
 327                 }else if (!data.hal1 && data.hal2){
 328                         rps.pwm1=-duty;
 329                         rps.pwm2=0;
 330                         rps.pwm3=0;
 331                         /* pwm2 */
 332                 }else if (data.hal1 && !data.hal3){
 333                         rps.pwm1=0;
 334                         rps.pwm2=-duty;
 335                         rps.pwm3=0;
 336                 }
 337         }
 338 }
 339 /**
 340  * \brief
 341  * Computation of distance to index.
 342  *
 343  * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
 344  * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
 345  *      to je 3999 bodu
 346  *      =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
 347  *              signalu indexu
 348  */
 349 void comIndDist(){
 350         uint16_t pos = 0x0FFF & data.pozice_raw;
 351         uint16_t dist;
 352         uint16_t index = data.index_position;
 353
 354         if (index<1999){                /*index e<0,1998> */
 355                 if (pos<index){                 /*pozice e<0,index-1> */
 356                         /*proti smeru h.r. od indexu*/
 357                         dist=pos+2000-index;
 358                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 359                         /*po smeru h.r. od indexu*/
 360                         dist=pos-index;
 361                 }else if (pos<index+2096){      /*pozice e<index+2000,index+2095> */
 362                         goto index_lost;
 363                 }else{                          /*pozice e<index+2096,4095> */
 364                         /*proti smeru h.r. od indexu - podtecena pozice*/
 365                         dist=pos-index-2096;
 366                 }
 367         }else if (index<=2096){         /*index e<1999,2096>*/
 368                 if (pos<index-1999){            /*pozice e<0,index-2000> */
 369                         goto index_lost;
 370                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 371                         /*proti smeru h.r. od indexu*/
 372                         dist=pos+2000-index;
 373                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 374                         /*po smeru h.r. od indexu*/
 375                         dist=pos-index;
 376                 }else {                         /*pozice e<index+2000,4095> */
 377                         goto index_lost;
 378                 }
 379         }else{                          /*index e<2097,4095> */
 380                 if (pos<=index-2097){           /*pozice e<0,index-2097> */
 381                         /*po smeru h.r. od indexu - pretecena pozice*/
 382                         dist=4096+pos-index;
 383                 }else if (pos<index-1999){      /*pozice e<index-2096,index-2000> */
 384                         goto index_lost;
 385                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 386                         /*proti smeru h.r. od indexu*/
 387                         dist=pos+2000-index;
 388                 }else{                          /*pozice e<index,4095> */
 389                         /*po smeru h.r. od indexu*/
 390                         dist=pos-index;
 391                 }
 392         }
 393
 394         rps.index_dist = dist;
 395         return;
 396
 397         index_lost:
 398                 rps.index_ok=0;
 399                 return;
 400 }
 401 /*
 402  * \brief
 403  * Very simple PID regulator.
 404  * Now only with P-part so that the error doesnt go to zero.
 405  * TODO: add anti-wind up and I and D parts
 406  */
 407 inline void pid(){
 408         int duty_tmp;
 409         duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
 410         if (duty_tmp>MAX_DUTY){
 411                 rps.duty=MAX_DUTY;
 412         }else if (duty_tmp<-MAX_DUTY){
 413                 rps.duty=-MAX_DUTY;
 414         }else{
 415                 rps.duty = duty_tmp;
 416         }
 417 }
 418 /*
 419  * \brief
 420  * Feedback loop.
 421  */
 422 void * read_data(void* param){
 423         int i;
 424         struct rpi_in pocatek;
 425         struct timespec t;
 426         int interval = 1000000; /* 1ms ~ 1kHz*/
 427         uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 428         char first=1;
 429         uint16_t last_index;                            /*we have index up-to date*/
 430         pocatek = spi_read(tx);
 431         clock_gettime(CLOCK_MONOTONIC ,&t);
 432         /* start after one second */
 433         t.tv_sec++;
 434                 while(1){
 435                         /* wait until next shot */
 436                         clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 437                         sem_wait(&rps.thd_par_sem);             /*---take semaphore---*/
 438                         prepare_tx(tx);                 /*save the data to send*/
 439                         data = spi_read(tx);            /*exchange data*/
 440                         /*subtract initiate postion */
 441                         rps.tf_count++;
 442                         substractOffset(&data,&pocatek);
 443                         comIndDist();
 444                         if (!rps.index_ok){
 445                                 if (first){
 446                                         last_index=data.index_position;
 447                                         first=0;
 448                                 }else if (last_index!=data.index_position){
 449                                         rps.index_ok=1;
 450                                 }
 451                         }
 452                         pid();
 453                         if (rps.index_ok && rps.commutate){
 454                                 /*simple_ind_dist_commutator(rps.duty);*/
 455                                 sin_commutator(rps.duty);
 456                         }else if(!rps.index_ok && rps.commutate){
 457                                 simple_hall_commutator(rps.duty);
 458                         }
 459                         sem_post(&rps.thd_par_sem);             /*--post semaphore---*/
 460
 461                         /* calculate next shot */
 462                         t.tv_nsec += interval;
 463
 464                         while (t.tv_nsec >= NSEC_PER_SEC) {
 465                                 t.tv_nsec -= NSEC_PER_SEC;
 466                                 t.tv_sec++;
 467                         }
 468
 469                 }
 470 }
 471
 472
 473
 474 /**
 475  * \brief Main function.
 476  */
 477
 478 int main(){
 479         pthread_t base_thread_id;
 480         clk_init();             /* inicializace gpio hodin */
 481         spi_init();             /* iniicializace spi*/
 482
 483         /*semafor pro detekci zpracovani parametru vlaken*/
 484         sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
 485         setup_environment();
 486
 487         base_thread_id=pthread_self();
 488
 489         /*main control loop*/
 490         create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
 491
 492         /*monitor of current state*/
 493         create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 494
 495         /*wait for commands*/
 496         poll_cmd(&rps);
 497
 498         return 0;
 499 }