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 MAX_DUTY        128
  28 #define PID_P           0.1
  29
  30 #define PRIOR_KERN      50
  31 #define PRIOR_HIGH      49
  32 #define PRIOR_LOW       20
  33
  34 #define THREAD_SHARED   0
  35 #define INIT_VALUE      1       /*init value for semaphor*/
  36
  37
  38 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
  39
  40
  41 struct rpi_in data;
  42 struct rpi_state rps={
  43         .spi_dat=&data,
  44         .test=0,
  45         .pwm1=0,.pwm2=0, .pwm3=0,
  46         .pwm1=0, .t_pwm2=0, .t_pwm3=0,
  47         .commutate=0,
  48         .duty=0,                        /* duty cycle of pwm */
  49         .index_dist=0,          /* distance to index position */
  50         .index_ok=0,
  51         .tf_count=0,            /*number of transfer*/
  52         .desired_pos=0          /* desired position */
  53 };
  54
  55 /**
  56  * \brief Initilizes GPCLK.
  57  */
  58 int clk_init()
  59 {
  60         initialise(); /*namapovani gpio*/
  61         initClock(PLLD_500_MHZ, 10, 0);
  62         gpioSetMode(4, FSEL_ALT0);
  63         return 0;
  64 }
  65 /*
  66  * \brief Terminates GPCLK.
  67  */
  68
  69 inline void clk_disable(){
  70         termClock(0);
  71 }
  72 /*
  73  * \brief
  74  * Count minimum value of three numbers.
  75  * Input values must be in range <-2^28;2^28>.
  76  */
  77 int32_t min(int32_t x, int32_t y, int32_t z){
  78         int32_t diff,sign;
  79
  80         diff=x-y; /*rozdil*/
  81         sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze y je vetsi*/
  82         x=y+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
  83
  84         diff=x-z; /*rozdil*/
  85         sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze z je vetsi*/
  86         x=z+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
  87
  88         return x;
  89 }
  90
  91 /**
  92  * \brief Signal handler pro Ctrl+C
  93  */
  94 void appl_stop(){
  95         spi_disable();
  96         clk_disable();
  97         /*muzeme zavrit semafor*/
  98         sem_destroy(&rps.thd_par_sem);
  99         printf("\nprogram bezpecne ukoncen\n");
 100 }
 101
 102 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
 103         data->pozice_raw=data->pozice;
 104         data->pozice-=offset->pozice;
 105         return;
 106 }
 107 /*
 108  * \brief
 109  * Transformace pro uhel pocitany po smeru hodinovych rucicek
 110  */
 111 void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int32_t cos){
 112         *alpha=cos*d+sin*q;
 113         *beta=-sin*d+cos*q;
 114         return;
 115 }
 116 void alphabeta2pwm3(int32_t * pwma, int32_t * pwmb, int32_t *pwmc,int32_t alpha, int32_t beta){
 117         *pwma=alpha;
 118         *pwmb=-alpha/2+beta*887/1024;
 119         *pwmc=-alpha/2-beta*887/1024;
 120 }
 121 /*
 122  * \brief
 123  * Preocita napeti na jednotlivych civkach na napeti,
 124  *      ktera budou privedena na svorky motoru.
 125  *      Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
 126  */
 127 void compPhases(int32_t * pwm1, int32_t * pwm2, int32_t *pwm3, int32_t ua , int32_t ub){
 128         int32_t u1,u2,u3;
 129         int32_t t;
 130
 131         /*vypocte napeti tak, aby odpovidaly rozdily*/
 132         u1=ua+ub;
 133         u2=ua;
 134         u3=0;
 135
 136         /*najde zaporne napeti*/
 137         t=min(u1,u2,u3);
 138
 139         /*dorovna zaporna napeti napeti na nulu*/
 140         u1-=t;
 141         u2-=t;
 142         u3-=t;
 143
 144         *pwm1=u1;
 145         *pwm2=u2;
 146         *pwm3=u3;
 147
 148 }
 149 void inv_trans_comm(int duty){
 150         uint32_t pos;
 151         int32_t sin, cos;
 152         int32_t alpha, beta;
 153         int32_t pwma,pwmb,pwmc;
 154         pos=rps.index_dist;
 155         /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
 156         pos+=717;
 157         /*use it as cyclic 32-bit logic*/
 158         pos*=4294967;
 159         pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
 160         dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
 161         alpha>>=16;
 162         beta>>=16;
 163         alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);
 164
 165         if (pwma<0) pwma=0;
 166         if (pwmb<0) pwmb=0;
 167         if (pwmc<0) pwmc=0;
 168
 169
 170         rps.t_pwm1=(uint16_t)pwma;
 171         rps.t_pwm3=(uint16_t)pwmb;
 172         rps.t_pwm2=(uint16_t)pwmc;
 173 }
 174
 175 void inv_trans_comm_2(int duty){
 176         uint32_t pos;
 177         int32_t sin, cos;
 178         int32_t alpha, beta;
 179         int32_t pwma,pwmb,pwmc;
 180         int32_t pwm1,pwm2,pwm3;
 181         pos=rps.index_dist;
 182         /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
 183         pos+=460;
 184         /*use it as cyclic 32-bit logic*/
 185         pos*=4294967;
 186         pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
 187         dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
 188         alpha>>=16;
 189         beta>>=16;
 190         alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);
 191
 192         compPhases(&pwm1,&pwm2, &pwm3,pwma,pwmb);
 193
 194         rps.pwm1=(uint16_t)pwm1;
 195         rps.pwm2=(uint16_t)pwm2;
 196         rps.pwm3=(uint16_t)pwm3;
 197 }
 198 void prepare_tx(uint8_t * tx){
 199
 200         /*Data format:
 201          * tx[4] - bity 95 downto 88 - bits that are sent first
 202          * tx[5] - bity 87 downto 80
 203          * tx[6] - bity 79 downto 72
 204          * tx[7] - bity 71 downto 64
 205          * tx[8] - bity 63 downto 56
 206          * tx[9] - bity 55 downto 48
 207          * tx[10] - bity 47 downto 40
 208          * tx[11] - bity 39 downto 32
 209          * tx[12] - bity 31 downto 24
 210          * tx[13] - bity 23 downto 16
 211          * tx[14] - bity 15 downto 8
 212          * tx[15] - bity 7 downto 0
 213          *
 214          * bit 95 - ADC reset
 215          * bit 94 - enable PWM1
 216          * bit 93 - enable PWM2
 217          * bit 92 - enable PWM3
 218          * bit 91 - shutdown1
 219          * bit 90 - shutdown2
 220          * bit 89 - shutdown3
 221          *      .
 222          *      .
 223          *      Unused
 224          *      .
 225          *      .
 226          * bits 47 .. 32 - match PWM1
 227          * bits 31 .. 16 - match PWM2
 228          * bits 15 .. 0  - match PWM3
 229          */
 230
 231
 232         uint16_t tmp;
 233
 234         /* keep the 11-bit cap*/
 235
 236         if (rps.pwm1>2047) rps.pwm1=2047;
 237         if (rps.pwm2>2047) rps.pwm2=2047;
 238         if (rps.pwm3>2047) rps.pwm3=2047;
 239
 240         tx[0]=rps.test; /*bit 94 - enable PWM1*/
 241
 242         /*now we have to switch the bytes due to endianess */
 243         /* ARMv6 & ARMv7 instructions are little endian */
 244         /*pwm1*/
 245         tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
 246         tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 247
 248         /*pwm2*/
 249         tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
 250         tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
 251
 252         /*pwm3*/
 253         tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
 254         tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 255
 256
 257 }
 258 /**
 259  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 260  */
 261 void * pos_monitor(void* param){
 262         while(1){
 263                 printData(&rps);
 264                 usleep(1000000);        /*1 Hz*/
 265         }
 266         return (void*)0;
 267 }
 268 /*
 269  * \brief
 270  * Multiplication of 11 bit
 271  * Zaporne vysledky prvede na nulu.
 272  */
 273 inline uint16_t mult_cap(int32_t s,int d){
 274         int j;
 275         int res=0;
 276         for(j=0;j!=11;j++){
 277                 /* multiplicate as if maximum sinus value was unity */
 278                 res+=(!(s & 0x10000000))*(((1 << j) & s)>>j)*(d>>(10-j));
 279         }
 280         return res;
 281 }
 282 inline
 283 int sin_commutator(int duty){
 284         #define DEGREE_60        715827883
 285         #define DEGREE_120      1431655765
 286         #define DEGREE_180      2147483648
 287         #define DEGREE_240      2863311531
 288         #define DEGREE_300      3579139413
 289         uint32_t j,pos;
 290         int32_t sin;
 291         pos=rps.index_dist;
 292         int32_t pwm;
 293         /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
 294         pos+=38;
 295         /*use it as cyclic 32-bit logic*/
 296         pos*=4294967;
 297         if (duty>=0){   /*clockwise rotation*/
 298                 /* 1st phase */
 299                 sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
 300                 pwm=sin*duty/1024;
 301                 if (pwm<0) pwm=0;
 302                 rps.pwm1=(uint16_t)pwm;
 303
 304                 /* 2nd phase */
 305                 sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
 306                 pwm=sin*duty/1024;
 307                 if (pwm<0) pwm=0;
 308                 rps.pwm2=(uint16_t)pwm;
 309
 310                 /* 3rd phase */
 311                 sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
 312                 pwm=sin*duty/1024;
 313                 if (pwm<0) pwm=0;
 314                 rps.pwm3=(uint16_t)pwm;
 315         }else{
 316                 duty=-duty;
 317
 318                 /* 1st phase */
 319                 sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
 320                 pwm=sin*duty/1024;
 321                 if (pwm<0) pwm=0;
 322                 rps.pwm1=(uint16_t)pwm;
 323
 324                 /* 2nd phase */
 325                 sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
 326                 pwm=sin*duty/1024;
 327                 if (pwm<0) pwm=0;
 328                 rps.pwm2=(uint16_t)pwm;
 329
 330                 /* 3rd phase */
 331                 sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
 332                 pwm=sin*duty/1024;
 333                 if (pwm<0) pwm=0;
 334                 rps.pwm3=(uint16_t)pwm;
 335         }
 336         return 0;
 337 }
 338 /*
 339  * \brief
 340  * Test function to be placed in controll loop.
 341  * Switches PWM's at point where they produce same force.
 342  * This points are found thanks to IRC position,
 343  */
 344 inline
 345 void simple_ind_dist_commutator(int duty){
 346         if (duty>=0){ /* clockwise - so that position increase */
 347                 /* pwm3 */
 348                 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
 349                 (rps.index_dist>=1048 && rps.index_dist<=1377)){
 350                         rps.pwm1=0;
 351                         rps.pwm2=0;
 352                         rps.pwm3=duty;
 353                         /* pwm1 */
 354                 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
 355                 (rps.index_dist>=1377 && rps.index_dist<=1711)){
 356                         rps.pwm1=duty;
 357                         rps.pwm2=0;
 358                         rps.pwm3=0;
 359                         /* pwm2 */
 360                 }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
 361                 (rps.index_dist>=711 && rps.index_dist<=1048) ||
 362                 (rps.index_dist>=1711 && rps.index_dist<=1999)){
 363                         rps.pwm1=0;
 364                         rps.pwm2=duty;
 365                         rps.pwm3=0;
 366                 }
 367         }else{  /*counter-clockwise - position decrease */
 368                 /* pwm3 */
 369                 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
 370                 (rps.index_dist>=1544 && rps.index_dist<=1878)){
 371                         rps.pwm1=0;
 372                         rps.pwm2=0;
 373                         rps.pwm3=-duty;
 374                         /* pwm1 */
 375                 }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
 376                 (rps.index_dist>=881 && rps.index_dist<=1210) ||
 377                 (rps.index_dist>=1878 && rps.index_dist<=1999)){
 378                         rps.pwm1=-duty;
 379                         rps.pwm2=0;
 380                         rps.pwm3=0;
 381                         /* pwm2 */
 382                 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
 383                 (rps.index_dist>=1210 && rps.index_dist<=1544)){
 384                         rps.pwm1=0;
 385                         rps.pwm2=-duty;
 386                         rps.pwm3=0;
 387                 }
 388         }
 389 }
 390 /*
 391  * \brief
 392  * Test function to be placed in controll loop.
 393  * Switches PWM's at point where they produce same force
 394  */
 395 inline void simple_hall_commutator(int duty){
 396         if (duty>=0){ /* clockwise - so that position increase */
 397                 /* pwm3 */
 398                 if (data.hal2 && !data.hal3){
 399                         rps.pwm1=0;
 400                         rps.pwm2=0;
 401                         rps.pwm3=duty;
 402                         /* pwm1 */
 403                 }else if (data.hal1 && !data.hal2){
 404                         rps.pwm1=duty;
 405                         rps.pwm2=0;
 406                         rps.pwm3=0;
 407                         /* pwm2 */
 408                 }else if (!data.hal1 && data.hal3){
 409                         rps.pwm1=0;
 410                         rps.pwm2=duty;
 411                         rps.pwm3=0;
 412                 }
 413         }else{  /*counter-clockwise - position decrease */
 414                 /* pwm3 */
 415                 if (!data.hal2 && data.hal3){
 416                         rps.pwm1=0;
 417                         rps.pwm2=0;
 418                         rps.pwm3=-duty;
 419                         /* pwm1 */
 420                 }else if (!data.hal1 && data.hal2){
 421                         rps.pwm1=-duty;
 422                         rps.pwm2=0;
 423                         rps.pwm3=0;
 424                         /* pwm2 */
 425                 }else if (data.hal1 && !data.hal3){
 426                         rps.pwm1=0;
 427                         rps.pwm2=-duty;
 428                         rps.pwm3=0;
 429                 }
 430         }
 431 }
 432 /**
 433  * \brief
 434  * Computation of distance to index.
 435  *
 436  * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
 437  * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
 438  *      to je 3999 bodu
 439  *      =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
 440  *              signalu indexu
 441  */
 442 void comIndDist(){
 443         uint16_t pos = 0x0FFF & data.pozice_raw;
 444         uint16_t dist;
 445         uint16_t index = data.index_position;
 446
 447         if (index<1999){                /*index e<0,1998> */
 448                 if (pos<index){                 /*pozice e<0,index-1> */
 449                         /*proti smeru h.r. od indexu*/
 450                         dist=pos+2000-index;
 451                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 452                         /*po smeru h.r. od indexu*/
 453                         dist=pos-index;
 454                 }else if (pos<index+2096){      /*pozice e<index+2000,index+2095> */
 455                         goto index_lost;
 456                 }else{                          /*pozice e<index+2096,4095> */
 457                         /*proti smeru h.r. od indexu - podtecena pozice*/
 458                         dist=pos-index-2096;
 459                 }
 460         }else if (index<=2096){         /*index e<1999,2096>*/
 461                 if (pos<index-1999){            /*pozice e<0,index-2000> */
 462                         goto index_lost;
 463                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 464                         /*proti smeru h.r. od indexu*/
 465                         dist=pos+2000-index;
 466                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 467                         /*po smeru h.r. od indexu*/
 468                         dist=pos-index;
 469                 }else {                         /*pozice e<index+2000,4095> */
 470                         goto index_lost;
 471                 }
 472         }else{                          /*index e<2097,4095> */
 473                 if (pos<=index-2097){           /*pozice e<0,index-2097> */
 474                         /*po smeru h.r. od indexu - pretecena pozice*/
 475                         dist=4096+pos-index;
 476                 }else if (pos<index-1999){      /*pozice e<index-2096,index-2000> */
 477                         goto index_lost;
 478                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 479                         /*proti smeru h.r. od indexu*/
 480                         dist=pos+2000-index;
 481                 }else{                          /*pozice e<index,4095> */
 482                         /*po smeru h.r. od indexu*/
 483                         dist=pos-index;
 484                 }
 485         }
 486
 487         rps.index_dist = dist;
 488         return;
 489
 490         index_lost:
 491                 rps.index_ok=0;
 492                 return;
 493 }
 494 /*
 495  * \brief
 496  * Very simple PID regulator.
 497  * Now only with P-part so that the error doesnt go to zero.
 498  * TODO: add anti-wind up and I and D parts
 499  */
 500 inline void pid(){
 501         int duty_tmp;
 502         duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
 503         if (duty_tmp>MAX_DUTY){
 504                 rps.duty=MAX_DUTY;
 505         }else if (duty_tmp<-MAX_DUTY){
 506                 rps.duty=-MAX_DUTY;
 507         }else{
 508                 rps.duty = duty_tmp;
 509         }
 510 }
 511 /*
 512  * \brief
 513  * Feedback loop.
 514  */
 515 void * read_data(void* param){
 516         int i;
 517         struct rpi_in pocatek;
 518         struct timespec t;
 519         int interval = 1000000; /* 1ms ~ 1kHz*/
 520         uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 521         char first=1;
 522         uint16_t last_index;                            /*we have index up-to date*/
 523         pocatek = spi_read(tx);
 524         clock_gettime(CLOCK_MONOTONIC ,&t);
 525         /* start after one second */
 526         t.tv_sec++;
 527                 while(1){
 528                         /* wait until next shot */
 529                         clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 530                         sem_wait(&rps.thd_par_sem);             /*---take semaphore---*/
 531                         prepare_tx(tx);                 /*save the data to send*/
 532                         data = spi_read(tx);            /*exchange data*/
 533                         /*subtract initiate postion */
 534                         rps.tf_count++;
 535                         substractOffset(&data,&pocatek);
 536                         comIndDist();
 537                         if (!rps.index_ok){
 538                                 if (first){
 539                                         last_index=data.index_position;
 540                                         first=0;
 541                                 }else if (last_index!=data.index_position){
 542                                         rps.index_ok=1;
 543                                 }
 544                         }
 545                         pid();
 546                         if (rps.index_ok && rps.commutate){
 547                                 /*simple_ind_dist_commutator(rps.duty);*/
 548                                 /*sin_commutator(rps.duty);*/
 549                                 inv_trans_comm(rps.duty);
 550                                 inv_trans_comm_2(rps.duty);
 551                         }else if(!rps.index_ok && rps.commutate){
 552                                 simple_hall_commutator(rps.duty);
 553                         }
 554                         sem_post(&rps.thd_par_sem);             /*--post semaphore---*/
 555
 556                         /* calculate next shot */
 557                         t.tv_nsec += interval;
 558
 559                         while (t.tv_nsec >= NSEC_PER_SEC) {
 560                                 t.tv_nsec -= NSEC_PER_SEC;
 561                                 t.tv_sec++;
 562                         }
 563
 564                 }
 565 }
 566
 567
 568
 569 /**
 570  * \brief Main function.
 571  */
 572
 573 int main(){
 574         pthread_t base_thread_id;
 575         clk_init();             /* inicializace gpio hodin */
 576         spi_init();             /* iniicializace spi*/
 577
 578         /*semafor pro detekci zpracovani parametru vlaken*/
 579         sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
 580         setup_environment();
 581
 582         base_thread_id=pthread_self();
 583
 584         /*main control loop*/
 585         create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
 586
 587         /*monitor of current state*/
 588         create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 589
 590         /*wait for commands*/
 591         poll_cmd(&rps);
 592
 593         return 0;
 594 }