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 "pmsm_state.h"
  25 #include "cmd_proc.h"
  26 #include "controllers.h"
  27 #include "commutators.h"
  28 #include "comp.h"
  29 #include "logs.h"
  30
  31 #define PRIOR_KERN      50
  32 #define PRIOR_HIGH      49
  33 #define PRIOR_LOW       20
  34
  35 #define THREAD_SHARED   0
  36 #define INIT_VALUE      1       /*init value for semaphor*/
  37
  38
  39 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
  40
  41
  42 struct rpi_in data;
  43 struct rpi_state rps={
  44         //.MAX_DUTY=170,
  45         .spi_dat=&data,
  46         .test=0,
  47         .pwm1=0,.pwm2=0, .pwm3=0,
  48         .pwm1=0, .t_pwm2=0, .t_pwm3=0,
  49         .commutate=0,
  50         .duty=0,                        /* duty cycle of pwm */
  51         .index_dist=0,          /* distance to index position */
  52         .index_ok=0,
  53         .tf_count=0,            /*number of transfer*/
  54         .desired_pos=0,         /* desired position */
  55         .pos_reg_ena=0,
  56         .desired_spd=0,
  57         .spd_reg_ena=0,
  58         .old_pos={0},
  59         .spd_err_sum=0,
  60         .log_col_count=0,       /* pocet radku zaznamu */
  61         .log_col=0,
  62         .doLogs=0,
  63         .alpha_offset=960,
  64         .main_commutator=zero_commutator        /*komutace vypnuta*/
  65 };
  66
  67
  68 /**
  69  * \brief Initilizes GPCLK.
  70  */
  71 int clk_init()
  72 {
  73         initialise(); /*namapovani gpio*/
  74         initClock(PLLD_500_MHZ, 10, 0);
  75         gpioSetMode(4, FSEL_ALT0);
  76         return 0;
  77 }
  78
  79 /**
  80  * \brief Signal handler pro Ctrl+C
  81  */
  82 void appl_stop(){
  83         uint8_t tx[16];
  84         sem_wait(&rps.thd_par_sem);
  85
  86         memset(tx,0,16*sizeof(int));
  87         rps.pwm1=0;
  88         rps.pwm2=0;
  89         rps.pwm3=0;
  90         spi_read(&rps);
  91
  92         spi_disable();
  93         termClock(0);
  94         freeLogs(&rps);
  95         /*muzeme zavrit semafor*/
  96         sem_destroy(&rps.thd_par_sem);
  97         printf("\nprogram bezpecne ukoncen\n");
  98 }
  99
 100 /**
 101  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 102  */
 103 void * pos_monitor(void* param){
 104         while(1){
 105                 printData(&rps);
 106                 usleep(1000000);        /*1 Hz*/
 107         }
 108         return (void*)0;
 109 }
 110
 111 /*
 112  * \brief
 113  * Feedback loop.
 114  * TODO: replace bunch of 'IFs' with Object-like pattern
 115  */
 116 void * control_loop(void* param){
 117         int i;
 118         struct rpi_in pocatek;
 119         struct rpi_state poc={
 120                 .spi_dat=&pocatek,
 121                 .test=0,
 122                 .pwm1=0, .pwm1=0, .pwm3=0
 123         };
 124         struct timespec t;
 125         int interval = 1000000; /* 1ms ~ 1kHz*/
 126         char first=1;
 127         uint16_t last_index;                            /*we have index up-to date*/
 128         spi_read(&poc);         /*pocatecni informace*/
 129         clock_gettime(CLOCK_MONOTONIC ,&t);
 130         /* start after one second */
 131         t.tv_sec++;
 132                 while(1){
 133                         /* wait until next shot */
 134                         clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 135                         sem_wait(&rps.thd_par_sem);             /*---take semaphore---*/
 136
 137                         /*old positions*/
 138                         rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
 139                         spi_read(&rps);                         /*exchange data*/
 140                         rps.tf_count++;
 141                         substractOffset(&data,poc.spi_dat);     /*subtract initiate postion */
 142                         compSpeed(&rps);                        /*spocita rychlost*/
 143
 144                         if (!rps.index_ok){
 145                                 if (first){
 146                                         last_index=data.index_position;
 147                                         first=0;
 148                                 }else if (last_index!=data.index_position){
 149                                         setIndexOK(&rps);
 150                                         comIndDist(&rps);       /*vypocet vzdalenosti indexu*/
 151                                 }
 152                         }else{ /*index je v poradku*/
 153                                 comIndDist(&rps);               /*vypocet vzdalenosti indexu*/
 154                         }
 155
 156                         /* pocitame sirku plneni podle potreb rizeni*/
 157                         if (rps.pos_reg_ena){           /*pozicni rizeni*/
 158                                 pos_pid(&rps);
 159                         }else if(rps.spd_reg_ena){      /*rizeni na rychlost*/
 160                                 spd_pid(&rps);
 161                         }
 162
 163                         /* sirku plneni prepocteme na jednotlive pwm */
 164                         rps.main_commutator(&rps);
 165
 166                         /*zalogujeme hodnoty*/
 167                         if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
 168                                 makeLog(&rps);
 169                         }
 170
 171                         sem_post(&rps.thd_par_sem);             /*--post semaphore---*/
 172
 173                         /* calculate next shot */
 174                         t.tv_nsec += interval;
 175
 176                         while (t.tv_nsec >= NSEC_PER_SEC) {
 177                                 t.tv_nsec -= NSEC_PER_SEC;
 178                                 t.tv_sec++;
 179                         }
 180
 181                 }
 182 }
 183
 184 /**
 185  * \brief Main function.
 186  */
 187 int main(){
 188         pthread_t base_thread_id;
 189         clk_init();             /* inicializace gpio hodin */
 190         spi_init();             /* iniicializace spi*/
 191
 192         /*semafor pro detekci zpracovani parametru vlaken*/
 193         sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
 194         setup_environment();
 195
 196         base_thread_id=pthread_self();
 197
 198         /*main control loop*/
 199         create_rt_task(&base_thread_id,PRIOR_HIGH,control_loop,NULL);
 200
 201         /*monitor of current state*/
 202         create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 203
 204         /*wait for commands*/
 205         poll_cmd(&rps);
 206
 207         return 0;
 208 }