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
  45
  46 /**
  47  * \brief Initilizes GPCLK.
  48  */
  49 int clk_init()
  50 {
  51         initialise(); /*namapovani gpio*/
  52         initClock(PLLD_500_MHZ, 10, 0);
  53         gpioSetMode(4, FSEL_ALT0);
  54         return 0;
  55 }
  56 /*
  57  * \brief Terminates GPCLK.
  58  */
  59
  60 inline void clk_disable(){
  61         termClock(0);
  62 }
  63
  64 /**
  65  * \brief Signal handler pro Ctrl+C
  66  */
  67 void appl_stop(){
  68         spi_disable();
  69         clk_disable();
  70         /*muzeme zavrit semafor*/
  71         sem_destroy(&rps.thd_par_sem);
  72         printf("\nprogram bezpecne ukoncen\n");
  73 }
  74
  75 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
  76         data->pozice_raw=data->pozice;
  77         data->pozice-=offset->pozice;
  78         return;
  79 }
  80 /*
  81  * pocita procentualni odchylku od prumerneho proudu
  82  */
  83 float diff_p(float value){
  84         return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
  85 }
  86 /*
  87  * pocita procentualni odchylku od prumerneho souctu proudu
  88  */
  89 float diff_s(float value){
  90         return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
  91 }
  92 /*
  93  * tiskne potrebna data
  94  */
  95 void printData(){
  96         struct rpi_in data_p;
  97         struct rpi_state s;     /*state*/
  98         float cur0, cur1, cur2;
  99         int i;
 100         /* copy the data */
 101         sem_wait(&rps.thd_par_sem);
 102         data_p = data;
 103         s=rps;
 104         sem_post(&rps.thd_par_sem);
 105
 106         if (data_p.adc_m_count){
 107                 cur0=data_p.ch0/data_p.adc_m_count;
 108                 cur1=data_p.ch1/data_p.adc_m_count;
 109                 cur2=data_p.ch2/data_p.adc_m_count;
 110         }
 111         for (i = 0; i < 16; i++) {
 112                         if (!(i % 6))
 113                                 puts("");
 114                         printf("%.2X ", data_p.debug_rx[i]);
 115         }
 116         puts("");
 117         printf("\npozice=%d\n",(int32_t)data_p.pozice);
 118         printf("chtena pozice=%d\n",s.desired_pos);
 119         printf("transfer count=%u\n",s.tf_count);
 120         printf("raw_pozice=%u\n",data_p.pozice_raw);
 121         printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
 122         printf("index position=%u\n",data_p.index_position);
 123         printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
 124         printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
 125         printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
 126         printf("PWM1=%u(L.s.)\n",s.pwm1);
 127         printf("PWM2=%u(L.s.)\n",s.pwm2);
 128         printf("PWM3=%u(L.s.)\n",s.pwm3);
 129         printf("distance to index=%u\n",s.index_dist);
 130         printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
 131         printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
 132         printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
 133         printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
 134         printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
 135         printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
 136         printf("duty=%d\n",s.duty);
 137         if (s.index_ok) printf("index ok\n");
 138         if (s.commutate) printf("commutation in progress\n");
 139 }
 140 void prepare_tx(uint8_t * tx){
 141
 142         /*Data format:
 143          * tx[4] - bity 95 downto 88 - bits that are sent first
 144          * tx[5] - bity 87 downto 80
 145          * tx[6] - bity 79 downto 72
 146          * tx[7] - bity 71 downto 64
 147          * tx[8] - bity 63 downto 56
 148          * tx[9] - bity 55 downto 48
 149          * tx[10] - bity 47 downto 40
 150          * tx[11] - bity 39 downto 32
 151          * tx[12] - bity 31 downto 24
 152          * tx[13] - bity 23 downto 16
 153          * tx[14] - bity 15 downto 8
 154          * tx[15] - bity 7 downto 0
 155          *
 156          * bit 95 - ADC reset
 157          * bit 94 - enable PWM1
 158          * bit 93 - enable PWM2
 159          * bit 92 - enable PWM3
 160          * bit 91 - shutdown1
 161          * bit 90 - shutdown2
 162          * bit 89 - shutdown3
 163          *      .
 164          *      .
 165          *      Unused
 166          *      .
 167          *      .
 168          * bits 47 .. 32 - match PWM1
 169          * bits 31 .. 16 - match PWM2
 170          * bits 15 .. 0  - match PWM3
 171          */
 172
 173
 174         uint16_t tmp;
 175
 176         /* keep the 11-bit cap*/
 177
 178         if (rps.pwm1>2047) rps.pwm1=2047;
 179         if (rps.pwm2>2047) rps.pwm2=2047;
 180         if (rps.pwm3>2047) rps.pwm3=2047;
 181
 182         tx[0]=rps.test; /*bit 94 - enable PWM1*/
 183
 184         /*now we have to switch the bytes due to endianess */
 185         /* ARMv6 & ARMv7 instructions are little endian */
 186         /*pwm1*/
 187         tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
 188         tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 189
 190         /*pwm2*/
 191         tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
 192         tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
 193
 194         /*pwm3*/
 195         tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
 196         tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 197
 198
 199 }
 200 /**
 201  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 202  */
 203 void * pos_monitor(void* param){
 204         while(1){
 205                 printData();
 206                 usleep(1000000);        /*1 Hz*/
 207         }
 208         return (void*)0;
 209 }
 210 /*
 211  * \brief
 212  * Multiplication of 11 bit
 213  * Zaporne vysledky prvede na nulu.
 214  */
 215 inline uint16_t mult_cap(int32_t s,int d){
 216         int j;
 217         int res=0;
 218         for(j=0;j!=11;j++){
 219                 /* multiplicate as if maximum sinus value was unity */
 220                 res+=(!(s & 0x10000000))*(((1 << j) & s)>>j)*(d>>(10-j));
 221         }
 222         return res;
 223 }
 224 inline
 225 int sin_commutator(int duty){
 226         #define DEGREE_60        715827883
 227         #define DEGREE_120      1431655765
 228         #define DEGREE_180      2147483648
 229         #define DEGREE_240      2863311531
 230         #define DEGREE_300      3579139413
 231         uint32_t j,pos;
 232         int32_t sin;
 233         pos=rps.index_dist;
 234         int32_t pwm;
 235         /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
 236         pos+=38;
 237         /*use it as cyclic 32-bit logic*/
 238         pos*=4294967;
 239         if (duty>=0){   /*clockwise rotation*/
 240                 /* 1st phase */
 241                 sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
 242                 pwm=sin*duty/1024;
 243                 if (pwm<0) pwm=0;
 244                 rps.pwm1=(uint16_t)pwm;
 245
 246                 /* 2nd phase */
 247                 sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
 248                 pwm=sin*duty/1024;
 249                 if (pwm<0) pwm=0;
 250                 rps.pwm2=(uint16_t)pwm;
 251
 252                 /* 3rd phase */
 253                 sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
 254                 pwm=sin*duty/1024;
 255                 if (pwm<0) pwm=0;
 256                 rps.pwm3=(uint16_t)pwm;
 257         }else{
 258                 duty=-duty;
 259
 260                 /* 1st phase */
 261                 sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
 262                 pwm=sin*duty/1024;
 263                 if (pwm<0) pwm=0;
 264                 rps.pwm1=(uint16_t)pwm;
 265
 266                 /* 2nd phase */
 267                 sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
 268                 pwm=sin*duty/1024;
 269                 if (pwm<0) pwm=0;
 270                 rps.pwm2=(uint16_t)pwm;
 271
 272                 /* 3rd phase */
 273                 sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
 274                 pwm=sin*duty/1024;
 275                 if (pwm<0) pwm=0;
 276                 rps.pwm3=(uint16_t)pwm;
 277         }
 278         return 0;
 279 }
 280 /*
 281  * \brief
 282  * Test function to be placed in controll loop.
 283  * Switches PWM's at point where they produce same force.
 284  * This points are found thanks to IRC position,
 285  */
 286 inline
 287 void simple_ind_dist_commutator(int duty){
 288         if (duty>=0){ /* clockwise - so that position increase */
 289                 /* pwm3 */
 290                 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
 291                 (rps.index_dist>=1048 && rps.index_dist<=1377)){
 292                         rps.pwm1=0;
 293                         rps.pwm2=0;
 294                         rps.pwm3=duty;
 295                         /* pwm1 */
 296                 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
 297                 (rps.index_dist>=1377 && rps.index_dist<=1711)){
 298                         rps.pwm1=duty;
 299                         rps.pwm2=0;
 300                         rps.pwm3=0;
 301                         /* pwm2 */
 302                 }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
 303                 (rps.index_dist>=711 && rps.index_dist<=1048) ||
 304                 (rps.index_dist>=1711 && rps.index_dist<=1999)){
 305                         rps.pwm1=0;
 306                         rps.pwm2=duty;
 307                         rps.pwm3=0;
 308                 }
 309         }else{  /*counter-clockwise - position decrease */
 310                 /* pwm3 */
 311                 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
 312                 (rps.index_dist>=1544 && rps.index_dist<=1878)){
 313                         rps.pwm1=0;
 314                         rps.pwm2=0;
 315                         rps.pwm3=-duty;
 316                         /* pwm1 */
 317                 }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
 318                 (rps.index_dist>=881 && rps.index_dist<=1210) ||
 319                 (rps.index_dist>=1878 && rps.index_dist<=1999)){
 320                         rps.pwm1=-duty;
 321                         rps.pwm2=0;
 322                         rps.pwm3=0;
 323                         /* pwm2 */
 324                 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
 325                 (rps.index_dist>=1210 && rps.index_dist<=1544)){
 326                         rps.pwm1=0;
 327                         rps.pwm2=-duty;
 328                         rps.pwm3=0;
 329                 }
 330         }
 331 }
 332 /*
 333  * \brief
 334  * Test function to be placed in controll loop.
 335  * Switches PWM's at point where they produce same force
 336  */
 337 inline void simple_hall_commutator(int duty){
 338         if (duty>=0){ /* clockwise - so that position increase */
 339                 /* pwm3 */
 340                 if (data.hal2 && !data.hal3){
 341                         rps.pwm1=0;
 342                         rps.pwm2=0;
 343                         rps.pwm3=duty;
 344                         /* pwm1 */
 345                 }else if (data.hal1 && !data.hal2){
 346                         rps.pwm1=duty;
 347                         rps.pwm2=0;
 348                         rps.pwm3=0;
 349                         /* pwm2 */
 350                 }else if (!data.hal1 && data.hal3){
 351                         rps.pwm1=0;
 352                         rps.pwm2=duty;
 353                         rps.pwm3=0;
 354                 }
 355         }else{  /*counter-clockwise - position decrease */
 356                 /* pwm3 */
 357                 if (!data.hal2 && data.hal3){
 358                         rps.pwm1=0;
 359                         rps.pwm2=0;
 360                         rps.pwm3=-duty;
 361                         /* pwm1 */
 362                 }else if (!data.hal1 && data.hal2){
 363                         rps.pwm1=-duty;
 364                         rps.pwm2=0;
 365                         rps.pwm3=0;
 366                         /* pwm2 */
 367                 }else if (data.hal1 && !data.hal3){
 368                         rps.pwm1=0;
 369                         rps.pwm2=-duty;
 370                         rps.pwm3=0;
 371                 }
 372         }
 373 }
 374 /**
 375  * \brief
 376  * Computation of distance to index.
 377  *
 378  * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
 379  * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
 380  *      to je 3999 bodu
 381  *      =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
 382  *              signalu indexu
 383  */
 384 void comIndDist(){
 385         uint16_t pos = 0x0FFF & data.pozice_raw;
 386         uint16_t dist;
 387         uint16_t index = data.index_position;
 388
 389         if (index<1999){                /*index e<0,1998> */
 390                 if (pos<index){                 /*pozice e<0,index-1> */
 391                         /*proti smeru h.r. od indexu*/
 392                         dist=pos+2000-index;
 393                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 394                         /*po smeru h.r. od indexu*/
 395                         dist=pos-index;
 396                 }else if (pos<index+2096){      /*pozice e<index+2000,index+2095> */
 397                         goto index_lost;
 398                 }else{                          /*pozice e<index+2096,4095> */
 399                         /*proti smeru h.r. od indexu - podtecena pozice*/
 400                         dist=pos-index-2096;
 401                 }
 402         }else if (index<=2096){         /*index e<1999,2096>*/
 403                 if (pos<index-1999){            /*pozice e<0,index-2000> */
 404                         goto index_lost;
 405                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 406                         /*proti smeru h.r. od indexu*/
 407                         dist=pos+2000-index;
 408                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 409                         /*po smeru h.r. od indexu*/
 410                         dist=pos-index;
 411                 }else {                         /*pozice e<index+2000,4095> */
 412                         goto index_lost;
 413                 }
 414         }else{                          /*index e<2097,4095> */
 415                 if (pos<=index-2097){           /*pozice e<0,index-2097> */
 416                         /*po smeru h.r. od indexu - pretecena pozice*/
 417                         dist=4096+pos-index;
 418                 }else if (pos<index-1999){      /*pozice e<index-2096,index-2000> */
 419                         goto index_lost;
 420                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 421                         /*proti smeru h.r. od indexu*/
 422                         dist=pos+2000-index;
 423                 }else{                          /*pozice e<index,4095> */
 424                         /*po smeru h.r. od indexu*/
 425                         dist=pos-index;
 426                 }
 427         }
 428
 429         rps.index_dist = dist;
 430         return;
 431
 432         index_lost:
 433                 rps.index_ok=0;
 434                 return;
 435 }
 436 /*
 437  * \brief
 438  * Very simple PID regulator.
 439  * Now only with P-part so that the error doesnt go to zero.
 440  * TODO: add anti-wind up and I and D parts
 441  */
 442 inline void pid(){
 443         int duty_tmp;
 444         duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
 445         if (duty_tmp>MAX_DUTY){
 446                 rps.duty=MAX_DUTY;
 447         }else if (duty_tmp<-MAX_DUTY){
 448                 rps.duty=-MAX_DUTY;
 449         }else{
 450                 rps.duty = duty_tmp;
 451         }
 452 }
 453 /*
 454  * \brief
 455  * Feedback loop.
 456  */
 457 void * read_data(void* param){
 458         int i;
 459         struct rpi_in pocatek;
 460         struct timespec t;
 461         int interval = 1000000; /* 1ms ~ 1kHz*/
 462         uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 463         char first=1;
 464         uint16_t last_index;                            /*we have index up-to date*/
 465         pocatek = spi_read(tx);
 466         clock_gettime(CLOCK_MONOTONIC ,&t);
 467         /* start after one second */
 468         t.tv_sec++;
 469                 while(1){
 470                         /* wait until next shot */
 471                         clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 472                         sem_wait(&rps.thd_par_sem);             /*---take semaphore---*/
 473                         prepare_tx(tx);                 /*save the data to send*/
 474                         data = spi_read(tx);            /*exchange data*/
 475                         /*subtract initiate postion */
 476                         rps.tf_count++;
 477                         substractOffset(&data,&pocatek);
 478                         comIndDist();
 479                         if (!rps.index_ok){
 480                                 if (first){
 481                                         last_index=data.index_position;
 482                                         first=0;
 483                                 }else if (last_index!=data.index_position){
 484                                         rps.index_ok=1;
 485                                 }
 486                         }
 487                         pid();
 488                         if (rps.index_ok && rps.commutate){
 489                                 /*simple_ind_dist_commutator(rps.duty);*/
 490                                 sin_commutator(rps.duty);
 491                         }else if(!rps.index_ok && rps.commutate){
 492                                 simple_hall_commutator(rps.duty);
 493                         }
 494                         sem_post(&rps.thd_par_sem);             /*--post semaphore---*/
 495
 496                         /* calculate next shot */
 497                         t.tv_nsec += interval;
 498
 499                         while (t.tv_nsec >= NSEC_PER_SEC) {
 500                                 t.tv_nsec -= NSEC_PER_SEC;
 501                                 t.tv_sec++;
 502                         }
 503
 504                 }
 505 }
 506
 507
 508
 509 /**
 510  * \brief Main function.
 511  */
 512
 513 int main(){
 514         pthread_t base_thread_id;
 515         clk_init();             /* inicializace gpio hodin */
 516         spi_init();             /* iniicializace spi*/
 517
 518         /*semafor pro detekci zpracovani parametru vlaken*/
 519         sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
 520         setup_environment();
 521
 522         base_thread_id=pthread_self();
 523
 524         /*main control loop*/
 525         create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
 526
 527         /*monitor of current state*/
 528         create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 529
 530         /*wait for commands*/
 531         poll_cmd(&rps);
 532
 533         return 0;
 534 }