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
  25
  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      0       /*init value for semaphor*/
  38
  39
  40 #define PXMC_SIN_FIX_TAB_BITS 9
  41 #define PXMC_SIN_FIX_IDX_SLR  23
  42 #define PXMC_SIN_FIX_XD_MASK  0x007fffff
  43 #define PXMC_SIN_FIX_XD_SLR   8
  44 #define PXMC_SIN_FIX_A_MASK   0xffffc000
  45 #define PXMC_SIN_FIX_B_SLL    19
  46 #define PXMC_SIN_FIX_B_SAR    16
  47 #define PXMC_SIN_FIX_B_XD_SAR 6
  48 #define PXMC_SIN_FIX_ZIC_MASK 0x00002000
  49 #define PXMC_SIN_FIX_ZIC_BIT  13
  50
  51 #define PXMC_SIN_FIX_PI2      0x40000000
  52 #define PXMC_SIN_FIX_2PI3     0x55555555
  53
  54 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
  55
  56 struct sigaction sighnd; /*struktura pro signal handler*/
  57 struct rpi_in data;
  58 struct rpi_state{
  59         uint8_t test;
  60         uint16_t pwm1, pwm2, pwm3;
  61         uint16_t t_pwm1, t_pwm2, t_pwm3;
  62         char commutate;
  63         int duty;                       /* duty cycle of pwm */
  64         uint16_t index_dist;            /* distance to index position */
  65         unsigned char index_ok;
  66         uint32_t tf_count;              /*number of transfer*/
  67         int desired_pos;                /* desired position */
  68 }rps;
  69
  70
  71 /**
  72  * \brief Initilizes GPCLK.
  73  */
  74 int clk_init()
  75 {
  76         initialise(); /*namapovani gpio*/
  77         initClock(PLLD_500_MHZ, 10, 0);
  78         gpioSetMode(4, FSEL_ALT0);
  79         return 0;
  80 }
  81 /*
  82  * \brief Terminates GPCLK.
  83  */
  84
  85 inline void clk_disable(){
  86         termClock(0);
  87 }
  88
  89 /**
  90  * \brief Signal handler pro Ctrl+C
  91  */
  92 void sighnd_fnc(){
  93         spi_disable();
  94         clk_disable();
  95         /*muzeme zavrit semafor*/
  96         sem_destroy(&thd_par_sem);
  97         printf("\nprogram bezpecne ukoncen\n");
  98         exit(0);
  99 }
 100
 101 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
 102         data->pozice_raw=data->pozice;
 103         data->pozice-=offset->pozice;
 104         return;
 105 }
 106 /*
 107  * pocita procentualni odchylku od prumerneho proudu
 108  */
 109 float diff_p(float value){
 110         return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
 111 }
 112 /*
 113  * pocita procentualni odchylku od prumerneho souctu proudu
 114  */
 115 float diff_s(float value){
 116         return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
 117 }
 118 /*
 119  * tiskne potrebna data
 120  */
 121 void printData(){
 122         struct rpi_in data_p;
 123         struct rpi_state s;     /*state*/
 124         float cur0, cur1, cur2;
 125         int i;
 126         /* copy the data */
 127         sem_wait(&thd_par_sem);
 128         data_p = data;
 129         s=rps;
 130         sem_post(&thd_par_sem);
 131
 132         if (data_p.adc_m_count){
 133                 cur0=data_p.ch0/data_p.adc_m_count;
 134                 cur1=data_p.ch1/data_p.adc_m_count;
 135                 cur2=data_p.ch2/data_p.adc_m_count;
 136         }
 137         for (i = 0; i < 16; i++) {
 138                         if (!(i % 6))
 139                                 puts("");
 140                         printf("%.2X ", data_p.debug_rx[i]);
 141         }
 142         puts("");
 143         printf("\npozice=%d\n",(int32_t)data_p.pozice);
 144         printf("chtena pozice=%d\n",s.desired_pos);
 145         printf("transfer count=%u\n",s.tf_count);
 146         printf("raw_pozice=%d\n",(int32_t)data_p.pozice_raw);
 147         printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
 148         printf("index position=%u\n",data_p.index_position);
 149         printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
 150         printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
 151         printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
 152         printf("PWM1=%u(L.s.)\n",s.pwm1);
 153         printf("PWM2=%u(L.s.)\n",s.pwm2);
 154         printf("PWM3=%u(L.s.)\n",s.pwm3);
 155         printf("distance to index=%u\n",s.index_dist);
 156         printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
 157         printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
 158         printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
 159         printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
 160         printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
 161         printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
 162         printf("duty=%d\n",s.duty);
 163         if (s.index_ok) printf("index ok\n");
 164         if (s.commutate) printf("commutation in progress\n");
 165 }
 166 void prepare_tx(uint8_t * tx){
 167
 168         /*Data format:
 169          * tx[4] - bity 95 downto 88 - bits that are sent first
 170          * tx[5] - bity 87 downto 80
 171          * tx[6] - bity 79 downto 72
 172          * tx[7] - bity 71 downto 64
 173          * tx[8] - bity 63 downto 56
 174          * tx[9] - bity 55 downto 48
 175          * tx[10] - bity 47 downto 40
 176          * tx[11] - bity 39 downto 32
 177          * tx[12] - bity 31 downto 24
 178          * tx[13] - bity 23 downto 16
 179          * tx[14] - bity 15 downto 8
 180          * tx[15] - bity 7 downto 0
 181          *
 182          * bit 95 - ADC reset
 183          * bit 94 - enable PWM1
 184          * bit 93 - enable PWM2
 185          * bit 92 - enable PWM3
 186          * bit 91 - shutdown1
 187          * bit 90 - shutdown2
 188          * bit 89 - shutdown3
 189          *      .
 190          *      .
 191          *      Unused
 192          *      .
 193          *      .
 194          * bits 47 .. 32 - match PWM1
 195          * bits 31 .. 16 - match PWM2
 196          * bits 15 .. 0  - match PWM3
 197          */
 198
 199
 200         uint16_t tmp;
 201
 202         /* keep the 11-bit cap*/
 203
 204         if (rps.pwm1>2047) rps.pwm1=2047;
 205         if (rps.pwm2>2047) rps.pwm2=2047;
 206         if (rps.pwm3>2047) rps.pwm3=2047;
 207
 208         tx[0]=rps.test; /*bit 94 - enable PWM1*/
 209
 210         /*now we have to switch the bytes due to endianess */
 211         /* ARMv6 & ARMv7 instructions are little endian */
 212         /*pwm1*/
 213         tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
 214         tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 215
 216         /*pwm2*/
 217         tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
 218         tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
 219
 220         /*pwm3*/
 221         tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
 222         tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 223
 224
 225 }
 226 /**
 227  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 228  */
 229 void * pos_monitor(void* param){
 230         set_priority(param);            /*set priority*/
 231         while(1){
 232                 printData();
 233                 usleep(1000000);        /*1 Hz*/
 234         }
 235         return (void*)0;
 236 }
 237
 238 inline
 239 int sin_commutator(int duty){
 240         #define DEGREE_60        715827883
 241         #define DEGREE_120      1431655765
 242         #define DEGREE_180      2147483648
 243         #define DEGREE_240      2863311531
 244         #define DEGREE_300      3579139413
 245         uint32_t j,pos;
 246         int32_t sin;
 247         uint16_t pwm;
 248         pos=rps.index_dist*4294967;
 249         if (duty>=0){   /*clockwise rotation*/
 250                 /* 1st phase */
 251                 sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
 252                 pwm=0;
 253                 for(j=0;j!=11;j++){
 254                         /* multiplicate as if maximum sinus value was unity */
 255                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 256                 }
 257                 rps.pwm1=pwm;
 258
 259                 /* 2nd phase */
 260                 sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
 261                 pwm=0;
 262                 for(j=0;j!=11;j++){
 263                         /* multiplicate as if maximum sinus value was unity */
 264                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 265                 }
 266                 rps.pwm2=pwm;
 267
 268                 /* 3rd phase */
 269                 sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
 270                 pwm=0;
 271                 for(j=0;j!=11;j++){
 272                         /* multiplicate as if maximum sinus value was unity */
 273                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 274                 }
 275                 rps.pwm3=pwm;
 276         }else{
 277                 duty=-duty;
 278
 279                 /* 1st phase */
 280                 sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
 281                 pwm=0;
 282                 for(j=0;j!=11;j++){
 283                         /* multiplicate as if maximum sinus value was unity */
 284                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 285                 }
 286                 rps.pwm1=pwm;
 287
 288                 /* 2nd phase */
 289                 sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
 290                 pwm=0;
 291                 for(j=0;j!=11;j++){
 292                         /* multiplicate as if maximum sinus value was unity */
 293                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 294                 }
 295                 rps.pwm2=pwm;
 296
 297                 /* 3rd phase */
 298                 sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
 299                 pwm=0;
 300                 for(j=0;j!=11;j++){
 301                         /* multiplicate as if maximum sinus value was unity */
 302                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 303                 }
 304                 rps.pwm3=pwm;
 305         }
 306         return 0;
 307 }
 308 /*
 309  * \brief
 310  * Test function to be placed in controll loop.
 311  * Switches PWM's at point where they produce same force.
 312  * This points are found thanks to IRC position,
 313  */
 314 inline
 315 void simple_ind_dist_commutator(int duty){
 316         if (duty>=0){ /* clockwise - so that position increase */
 317                 /* pwm3 */
 318                 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
 319                 (rps.index_dist>=1048 && rps.index_dist<=1377)){
 320                         rps.pwm1=0;
 321                         rps.pwm2=0;
 322                         rps.pwm3=duty;
 323                         /* pwm1 */
 324                 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
 325                 (rps.index_dist>=1377 && rps.index_dist<=1711)){
 326                         rps.pwm1=duty;
 327                         rps.pwm2=0;
 328                         rps.pwm3=0;
 329                         /* pwm2 */
 330                 }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
 331                 (rps.index_dist>=711 && rps.index_dist<=1048) ||
 332                 (rps.index_dist>=1711 && rps.index_dist<=1999)){
 333                         rps.pwm1=0;
 334                         rps.pwm2=duty;
 335                         rps.pwm3=0;
 336                 }
 337         }else{  /*counter-clockwise - position decrease */
 338                 /* pwm3 */
 339                 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
 340                 (rps.index_dist>=1544 && rps.index_dist<=1878)){
 341                         rps.pwm1=0;
 342                         rps.pwm2=0;
 343                         rps.pwm3=-duty;
 344                         /* pwm1 */
 345                 }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
 346                 (rps.index_dist>=881 && rps.index_dist<=1210) ||
 347                 (rps.index_dist>=1878 && rps.index_dist<=1999)){
 348                         rps.pwm1=-duty;
 349                         rps.pwm2=0;
 350                         rps.pwm3=0;
 351                         /* pwm2 */
 352                 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
 353                 (rps.index_dist>=1210 && rps.index_dist<=1544)){
 354                         rps.pwm1=0;
 355                         rps.pwm2=-duty;
 356                         rps.pwm3=0;
 357                 }
 358         }
 359 }
 360 /*
 361  * \brief
 362  * Test function to be placed in controll loop.
 363  * Switches PWM's at point where they produce same force
 364  */
 365 inline void simple_hall_commutator(int duty){
 366         if (duty>=0){ /* clockwise - so that position increase */
 367                 /* pwm3 */
 368                 if (data.hal2 && !data.hal3){
 369                         rps.pwm1=0;
 370                         rps.pwm2=0;
 371                         rps.pwm3=duty;
 372                         /* pwm1 */
 373                 }else if (data.hal1 && !data.hal2){
 374                         rps.pwm1=duty;
 375                         rps.pwm2=0;
 376                         rps.pwm3=0;
 377                         /* pwm2 */
 378                 }else if (!data.hal1 && data.hal3){
 379                         rps.pwm1=0;
 380                         rps.pwm2=duty;
 381                         rps.pwm3=0;
 382                 }
 383         }else{  /*counter-clockwise - position decrease */
 384                 /* pwm3 */
 385                 if (!data.hal2 && data.hal3){
 386                         rps.pwm1=0;
 387                         rps.pwm2=0;
 388                         rps.pwm3=-duty;
 389                         /* pwm1 */
 390                 }else if (!data.hal1 && data.hal2){
 391                         rps.pwm1=-duty;
 392                         rps.pwm2=0;
 393                         rps.pwm3=0;
 394                         /* pwm2 */
 395                 }else if (data.hal1 && !data.hal3){
 396                         rps.pwm1=0;
 397                         rps.pwm2=-duty;
 398                         rps.pwm3=0;
 399                 }
 400         }
 401 }
 402 /**
 403  * Funkce pravidelne vycita data z motoru
 404  */
 405 inline void comIndDist(){
 406         rps.index_dist=0x0FFF & (data.pozice_raw - data.index_position);
 407         /*
 408          * if distance is bigger than 2047, the distance underflown
 409          * -> if 12th bit is set, substract 2096
 410          */
 411         rps.index_dist-=((rps.index_dist & 0x0800)>>11)*2096;
 412 }
 413 /*
 414  * \brief
 415  * Very simple PID regulator.
 416  * Now only with P-part so that the error doesnt go to zero.
 417  * TODO: add anti-wind up and I and D parts
 418  */
 419 inline void pid(){
 420         int duty_tmp;
 421         duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
 422         if (duty_tmp>MAX_DUTY){
 423                 rps.duty=MAX_DUTY;
 424         }else if (duty_tmp<-MAX_DUTY){
 425                 rps.duty=-MAX_DUTY;
 426         }else{
 427                 rps.duty = duty_tmp;
 428         }
 429 }
 430 /*
 431  * \brief
 432  * Feedback loop.
 433  */
 434 void * read_data(void* param){
 435         int i;
 436         struct rpi_in pocatek;
 437         struct timespec t;
 438         int interval = 1000000; /* 1ms ~ 1kHz*/
 439         uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 440         char first=1;
 441         uint16_t last_index;                            /*we have index up-to date*/
 442         set_priority(param);                            /*set priority*/
 443         pocatek = spi_read(tx);
 444         clock_gettime(CLOCK_MONOTONIC ,&t);
 445         /* start after one second */
 446         t.tv_sec++;
 447                 while(1){
 448                         /* wait until next shot */
 449                         clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 450                         sem_wait(&thd_par_sem);         /*---take semaphore---*/
 451                         prepare_tx(tx);                 /*save the data to send*/
 452                         data = spi_read(tx);            /*exchange data*/
 453                         /*subtract initiate postion */
 454                         rps.tf_count++;
 455                         substractOffset(&data,&pocatek);
 456                         comIndDist();
 457                         if (!rps.index_ok){
 458                                 if (first){
 459                                         last_index=data.index_position;
 460                                         first=0;
 461                                 }else if (last_index!=data.index_position){
 462                                         rps.index_ok=1;
 463                                 }
 464                         }
 465                         pid();
 466                         if (rps.index_ok && rps.commutate){
 467                                 /*simple_ind_dist_commutator(rps.duty);*/
 468                                 sin_commutator(rps.duty);
 469                         }else if(!rps.index_ok && rps.commutate){
 470                                 simple_hall_commutator(rps.duty);
 471                         }
 472                         sem_post(&thd_par_sem);         /*--post semaphore---*/
 473
 474                         /* calculate next shot */
 475                         t.tv_nsec += interval;
 476
 477                         while (t.tv_nsec >= NSEC_PER_SEC) {
 478                                 t.tv_nsec -= NSEC_PER_SEC;
 479                                 t.tv_sec++;
 480                         }
 481
 482                 }
 483 }
 484
 485 /**
 486  * \brief Main function.
 487  */
 488
 489 int main(){
 490         unsigned int tmp;
 491
 492         /*nastaveni priorit vlaken*/
 493         struct thread_param tsp;
 494         tsp.sch_policy = SCHED_FIFO;
 495
 496         /*nastaveni signalu pro vypnuti pomoci Ctrl+C*/
 497         sighnd.sa_handler=&sighnd_fnc;
 498         sigaction(SIGINT, &sighnd, NULL );
 499
 500         clk_init();             /* inicializace gpio hodin */
 501         spi_init();             /* iniicializace spi*/
 502
 503         /*semafor pro detekci zpracovani parametru vlaken*/
 504         sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
 505
 506         /*vlakna*/
 507         pthread_t tid;                  /*identifikator vlakna*/
 508         pthread_attr_t attr;            /*atributy vlakna*/
 509         pthread_attr_init(&attr);       /*inicializuj implicitni atributy*/
 510
 511
 512
 513         /*ziskavani dat z motoru*//*vysoka priorita*/
 514         tsp.sch_prior = PRIOR_HIGH;
 515         pthread_create(&tid, &attr, read_data, (void*)&tsp);
 516
 517         /*vypisovani lokalni pozice*//*nizka priorita*/
 518         tsp.sch_prior = PRIOR_LOW;
 519         sem_wait(&thd_par_sem);
 520         pthread_create(&tid, &attr, pos_monitor, (void*)&tsp);
 521
 522
 523
 524         /*
 525          * Note:
 526          * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
 527          * k preukladani hodnot na promenne test. Dost divne.
 528          */
 529         while (1){
 530                 scanf("%u",&tmp);
 531                 printf("volba=%u\n",tmp);
 532                 switch (tmp){
 533                 case 1:
 534                         scanf("%u",&tmp);
 535                         sem_wait(&thd_par_sem);
 536                         rps.pwm1=tmp&0xFFF;
 537                         sem_post(&thd_par_sem);
 538                         break;
 539                 case 2:
 540                         scanf("%u",&tmp);
 541                         sem_wait(&thd_par_sem);
 542                         rps.pwm2=tmp&0xFFF;
 543                         sem_post(&thd_par_sem);
 544                         break;
 545                 case 3:
 546                         scanf("%u",&tmp);
 547                         sem_wait(&thd_par_sem);
 548                         rps.pwm3=tmp&0xFFF;
 549                         sem_post(&thd_par_sem);
 550                         break;
 551                 case 4:
 552                         scanf("%u",&tmp);
 553                         sem_wait(&thd_par_sem);
 554                         rps.test=tmp&0xFF;
 555                         sem_post(&thd_par_sem);
 556                         break;
 557                 case 5:
 558                         sem_wait(&thd_par_sem);
 559                         rps.commutate=!rps.commutate;
 560                         /* switch off pwms at the end of commutation */
 561                         rps.pwm1&=rps.commutate*0xFFFF;
 562                         rps.pwm2&=rps.commutate*0xFFFF;
 563                         rps.pwm3&=rps.commutate*0xFFFF;
 564                         sem_post(&thd_par_sem);
 565                         break;
 566                 case 6:
 567                         scanf("%d",&tmp);
 568                         sem_wait(&thd_par_sem);
 569                         rps.duty=tmp;
 570                         sem_post(&thd_par_sem);
 571                         break;
 572                 case 7:
 573                         scanf("%d",&tmp);
 574                         sem_wait(&thd_par_sem);
 575                         rps.desired_pos=tmp;
 576                         sem_post(&thd_par_sem);
 577                         break;
 578
 579                 default:
 580                         break;
 581                 }
 582
 583         }
 584         return 0;
 585 }
 586