3 * \author Martin Prudek
4 * \brief Mainfile pro pmsm control.
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*/
19 #include "rpin.h" /*gpclk*/
20 #include "rp_spi.h" /*spi*/
21 #include "misc.h" /*structure for priorities*/
24 #define PRUM_PROUD 2061
25 #define PRUM_SOUC 6183
31 #define THREAD_SHARED 0
32 #define INIT_VALUE 0 /*init value for semaphor*/
34 struct sigaction sighnd; /*struktura pro signal handler*/
38 uint16_t pwm1, pwm2, pwm3;
40 uint16_t simple_hall_duty;
44 * \brief Initilizes GPCLK.
48 initialise(); /*namapovani gpio*/
49 initClock(PLLD_500_MHZ, 10, 0);
50 gpioSetMode(4, FSEL_ALT0);
54 * \brief Terminates GPCLK.
57 inline void clk_disable(){
62 * \brief Signal handler pro Ctrl+C
67 printf("\nprogram bezpecne ukoncen\n");
71 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
72 data->pozice_raw=data->pozice;
73 data->pozice-=offset->pozice;
77 * pocita procentualni odchylku od prumerneho proudu
79 float diff_p(float value){
80 return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
83 * pocita procentualni odchylku od prumerneho souctu proudu
85 float diff_s(float value){
86 return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
89 * tiskne potrebna data
91 void printData(struct rpi_in data){
92 float cur0, cur1, cur2;
94 if (data.adc_m_count){
95 cur0=data.ch0/data.adc_m_count;
96 cur1=data.ch1/data.adc_m_count;
97 cur2=data.ch2/data.adc_m_count;
99 for (i = 0; i < 16; i++) {
102 printf("%.2X ", data.debug_rx[i]);
105 printf("\npozice=%d\n",(int32_t)data.pozice);
106 printf("raw_pozice=%d\n",(int32_t)data.pozice_raw);
107 printf("raw_pozice last11=%u\n",(data.pozice_raw&0x7FF));
108 printf("index position=%d\n",(int16_t)data.index_position);
109 printf("hal1=%d, hal2=%d, hal3=%d\n",data.hal1,data.hal2,data.hal3);
110 printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&test),!!(0x20&test),!!(0x10&test));
111 printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&test),!!(0x04&test),!!(0x02&test));
112 printf("PWM1=%u(L.s.)\n",pwm1);
113 printf("PWM2=%u(L.s.)\n",pwm2);
114 printf("PWM3=%u(L.s.)\n",pwm3);
115 printf("Pocet namerenych proudu=%u\n",data.adc_m_count);
116 printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data.ch1,cur1,diff_p(cur1));
117 printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch2,cur2,diff_p(cur2));
118 printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch0,cur0,diff_p(cur0));
119 printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
120 printf("duty=%u\n",simple_hall_duty);
121 if (commutate) printf("commutation in progress\n");
123 void prepare_tx(uint8_t * tx){
126 * tx[4] - bity 95 downto 88 - bits that are sent first
127 * tx[5] - bity 87 downto 80
128 * tx[6] - bity 79 downto 72
129 * tx[7] - bity 71 downto 64
130 * tx[8] - bity 63 downto 56
131 * tx[9] - bity 55 downto 48
132 * tx[10] - bity 47 downto 40
133 * tx[11] - bity 39 downto 32
134 * tx[12] - bity 31 downto 24
135 * tx[13] - bity 23 downto 16
136 * tx[14] - bity 15 downto 8
137 * tx[15] - bity 7 downto 0
140 * bit 94 - enable PWM1
141 * bit 93 - enable PWM2
142 * bit 92 - enable PWM3
149 * bits 66 .. 56 - match PWM1
150 * bits 55 .. 45 - match PWM2
152 * bits 42 .. 32 - match PWM3
159 if (pwm1>2047) pwm1=2047;
160 if (pwm2>2047) pwm2=2047;
161 if (pwm3>2047) pwm3=2047;
163 tx[0]=test; /*bit 94 - enable PWM1*/
166 tx[7]=(tx[7] & 0xF8) | (0x07 & ((uint8_t*)&pwm1)[1]); /*MSB*/
167 tx[8]=((uint8_t*)&pwm1)[0]; /*LSB*/
172 tx[9]=((uint8_t*)&tmp)[1]; /*MSB*/
173 tx[10]=(tx[10] & 0x1F) | (0xE0 & ((uint8_t*)&tmp)[0]); /*LSB*/
176 tx[10]=(tx[10] & 0xF8) | (0x07 & ((uint8_t*)&pwm3)[1]); /*MSB*/
177 tx[11]=((uint8_t*)&pwm3)[0]; /*LSB*/
182 * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
184 void * pos_monitor(void* param){
185 set_priority(param); /*set priority*/
188 usleep(1000000); /*1 Hz*/
194 * Test function to be placed in controll loop.
195 * Clockwise rotation with PWM with 64 out of 2048 duty cycle.
197 inline void simple_hall_commutator(struct rpi_in data){
199 if (data.hal2 && !data.hal3){
202 pwm3=simple_hall_duty;
204 }else if (data.hal1 && !data.hal2){
205 pwm1=simple_hall_duty;
209 }else if (!data.hal1 && data.hal3){
211 pwm2=simple_hall_duty;
216 * Funkce pravidelne vycita data z motoru
218 void * read_data(void* param){
220 struct rpi_in pocatek;
221 uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
222 set_priority(param); /*set priority*/
223 pocatek = spi_read(tx);
227 substractOffset(&data,&pocatek);
229 simple_hall_commutator(data);
231 usleep(1000); /*1kHz*/
236 * \brief Main function.
242 /*nastaveni priorit vlaken*/
243 struct thread_param tsp;
244 tsp.sch_policy = SCHED_FIFO;
246 /*nastaveni signalu pro vypnuti pomoci Ctrl+C*/
247 sighnd.sa_handler=&sighnd_fnc;
248 sigaction(SIGINT, &sighnd, NULL );
250 clk_init(); /* inicializace gpio hodin */
251 spi_init(); /* iniicializace spi*/
253 /*semafor pro detekci zpracovani parametru vlaken*/
254 sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
257 pthread_t tid; /*identifikator vlakna*/
258 pthread_attr_t attr; /*atributy vlakna*/
259 pthread_attr_init(&attr); /*inicializuj implicitni atributy*/
263 /*ziskavani dat z motoru*//*vysoka priorita*/
264 tsp.sch_prior = PRIOR_HIGH;
265 pthread_create(&tid, &attr, read_data, (void*)&tsp);
267 /*vypisovani lokalni pozice*//*nizka priorita*/
268 tsp.sch_prior = PRIOR_LOW;
269 pthread_create(&tid, &attr, pos_monitor, (void*)&tsp);
272 /*muzeme zavrit semafor*/
273 sem_destroy(&thd_par_sem);
276 * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
277 * k preukladani hodnot na promenne test. Dost divne.
281 printf("volba=%u\n",tmp);
300 commutate=!commutate;
301 /* switch off pwms at the end of commutation */
302 pwm1&=commutate*0xFFFF;
303 pwm2&=commutate*0xFFFF;
304 pwm3&=commutate*0xFFFF;
308 simple_hall_duty=tmp&0xFFF;