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*/
18 #include <time.h> /*nanosleep*/
21 #include "rpin.h" /*gpclk*/
22 #include "rp_spi.h" /*spi*/
23 #include "misc.h" /*structure for priorities*/
24 #include "pmsm_state.h"
26 #include "controllers.h"
27 #include "commutators.h"
35 #define THREAD_SHARED 0
36 #define INIT_VALUE 1 /*init value for semaphor*/
39 #define NSEC_PER_SEC (1000000000) /* The number of nsecs per sec. */
43 struct rpi_state rps={
47 .pwm1=0,.pwm2=0, .pwm3=0,
48 .pwm1=0, .t_pwm2=0, .t_pwm3=0,
50 .duty=0, /* duty cycle of pwm */
51 .index_dist=0, /* distance to index position */
53 .tf_count=0, /*number of transfer*/
54 .desired_pos=0, /* desired position */
60 .log_col_count=0, /* pocet radku zaznamu */
64 .main_commutator=zero_commutator, /* komutace vypnuta */
65 .main_controller=zero_controller /*rizeni vypnuto */
70 * \brief Initilizes GPCLK.
73 initialise(); /*namapovani gpio*/
74 initClock(PLLD_500_MHZ, 10, 0);
75 gpioSetMode(4, FSEL_ALT0);
80 * \brief Signal handler pro Ctrl+C
84 sem_wait(&rps.thd_par_sem);
86 memset(tx,0,16*sizeof(int));
95 /*muzeme zavrit semafor*/
96 sem_destroy(&rps.thd_par_sem);
97 printf("\nprogram bezpecne ukoncen\n");
101 * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
103 void * pos_monitor(void* param){
106 usleep(1000000); /*1 Hz*/
115 void * control_loop(void* param){
117 struct rpi_in pocatek;
118 struct rpi_state poc={
121 .pwm1=0, .pwm1=0, .pwm3=0
124 int interval = 1000000; /* 1ms ~ 1kHz*/
126 uint16_t last_index; /*we have index up-to date*/
127 spi_read(&poc); /*pocatecni informace*/
128 clock_gettime(CLOCK_MONOTONIC ,&t);
130 /* wait until next shot */
131 clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
132 sem_wait(&rps.thd_par_sem); /*---take semaphore---*/
135 rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
136 spi_read(&rps); /*exchange data*/
138 substractOffset(&data,poc.spi_dat); /*subtract initiate postion */
139 compSpeed(&rps); /*spocita rychlost*/
143 last_index=data.index_position;
145 }else if (last_index!=data.index_position){
147 comIndDist(&rps); /*vypocet vzdalenosti indexu*/
149 }else{ /*index je v poradku*/
150 comIndDist(&rps); /*vypocet vzdalenosti indexu*/
153 /* pocitame sirku plneni podle potreb rizeni*/
154 rps.main_controller(&rps);
156 /* sirku plneni prepocteme na jednotlive pwm */
157 rps.main_commutator(&rps);
159 /*zalogujeme hodnoty*/
160 if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
164 sem_post(&rps.thd_par_sem); /*--post semaphore---*/
166 /* calculate next shot */
167 t.tv_nsec += interval;
169 while (t.tv_nsec >= NSEC_PER_SEC) {
170 t.tv_nsec -= NSEC_PER_SEC;
178 * \brief Main function.
181 pthread_t base_thread_id;
182 clk_init(); /* inicializace gpio hodin */
183 spi_init(); /* iniicializace spi*/
185 /*semafor pro detekci zpracovani parametru vlaken*/
186 sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
189 base_thread_id=pthread_self();
191 /*main control loop*/
192 create_rt_task(&base_thread_id,PRIOR_HIGH,control_loop,NULL);
194 /*monitor of current state*/
195 create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
197 /*wait for commands*/