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
  19 #include "rpin.h"       /*gpclk*/
  20 #include "rp_spi.h"     /*spi*/
  21 #include "misc.h"       /*structure for priorities*/
  22
  23
  24 #define PRUM_PROUD      2061
  25 #define PRUM_SOUC       6183
  26
  27 #define PRIOR_KERN      50
  28 #define PRIOR_HIGH      49
  29 #define PRIOR_LOW       20
  30
  31 #define THREAD_SHARED   0
  32 #define INIT_VALUE      0       /*init value for semaphor*/
  33
  34 struct sigaction sighnd; /*struktura pro signal handler*/
  35 struct rpi_in data;
  36 struct rpi_state{
  37         uint8_t test;
  38         uint16_t pwm1, pwm2, pwm3;
  39         char commutate;
  40         int simple_hall_duty;
  41         uint16_t index_dist;            /* distance to index position */
  42         unsigned char index_ok;
  43         uint32_t tf_count;              /*number of transfer*/
  44 }rps;
  45
  46
  47 /**
  48  * \brief Initilizes GPCLK.
  49  */
  50 int clk_init()
  51 {
  52         initialise(); /*namapovani gpio*/
  53         initClock(PLLD_500_MHZ, 10, 0);
  54         gpioSetMode(4, FSEL_ALT0);
  55         return 0;
  56 }
  57 /*
  58  * \brief Terminates GPCLK.
  59  */
  60
  61 inline void clk_disable(){
  62         termClock(0);
  63 }
  64
  65 /**
  66  * \brief Signal handler pro Ctrl+C
  67  */
  68 void sighnd_fnc(){
  69         spi_disable();
  70         clk_disable();
  71         /*muzeme zavrit semafor*/
  72         sem_destroy(&thd_par_sem);
  73         printf("\nprogram bezpecne ukoncen\n");
  74         exit(0);
  75 }
  76
  77 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
  78         data->pozice_raw=data->pozice;
  79         data->pozice-=offset->pozice;
  80         return;
  81 }
  82 /*
  83  * pocita procentualni odchylku od prumerneho proudu
  84  */
  85 float diff_p(float value){
  86         return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
  87 }
  88 /*
  89  * pocita procentualni odchylku od prumerneho souctu proudu
  90  */
  91 float diff_s(float value){
  92         return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
  93 }
  94 /*
  95  * tiskne potrebna data
  96  */
  97 void printData(){
  98         struct rpi_in data_p;
  99         struct rpi_state s;     /*state*/
 100         float cur0, cur1, cur2;
 101         int i;
 102         /* copy the data */
 103         sem_wait(&thd_par_sem);
 104         data_p = data;
 105         s=rps;
 106         sem_post(&thd_par_sem);
 107
 108         if (data_p.adc_m_count){
 109                 cur0=data_p.ch0/data_p.adc_m_count;
 110                 cur1=data_p.ch1/data_p.adc_m_count;
 111                 cur2=data_p.ch2/data_p.adc_m_count;
 112         }
 113         for (i = 0; i < 16; i++) {
 114                         if (!(i % 6))
 115                                 puts("");
 116                         printf("%.2X ", data_p.debug_rx[i]);
 117         }
 118         puts("");
 119         printf("\npozice=%d\n",(int32_t)data_p.pozice);
 120         printf("transfer count=%u\n",s.tf_count);
 121         printf("raw_pozice=%d\n",(int32_t)data_p.pozice_raw);
 122         printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
 123         printf("index position=%u\n",data_p.index_position);
 124         printf("distance to index=%u\n",s.index_dist);
 125         printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
 126         printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
 127         printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
 128         printf("PWM1=%u(L.s.)\n",s.pwm1);
 129         printf("PWM2=%u(L.s.)\n",s.pwm2);
 130         printf("PWM3=%u(L.s.)\n",s.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.simple_hall_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          *      .
 166          * bits 66 .. 56 - match PWM1
 167          * bits 55 .. 45 - match PWM2
 168          * bit 11,12 - Unused
 169          * bits 42 .. 32  - match PWM3
 170          */
 171
 172
 173         uint16_t tmp;
 174
 175         /* keep the cap*/
 176         if (rps.pwm1>2047) rps.pwm1=2047;
 177         if (rps.pwm2>2047) rps.pwm2=2047;
 178         if (rps.pwm3>2047) rps.pwm3=2047;
 179
 180         tx[0]=rps.test; /*bit 94 - enable PWM1*/
 181
 182         /*pwm1*/
 183         tx[7]=(tx[7] & 0xF8) | (0x07 & ((uint8_t*)&rps.pwm1)[1]); /*MSB*/
 184         tx[8]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 185
 186         /*pwm2*/
 187         tmp=rps.pwm2;
 188         tmp<<=5;
 189         tx[9]=((uint8_t*)&tmp)[1]; /*MSB*/
 190         tx[10]=(tx[10] & 0x1F) | (0xE0 & ((uint8_t*)&tmp)[0]); /*LSB*/
 191
 192         /*pwm3*/
 193         tx[10]=(tx[10] & 0xF8) | (0x07 & ((uint8_t*)&rps.pwm3)[1]); /*MSB*/
 194         tx[11]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 195
 196
 197 }
 198 /**
 199  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 200  */
 201 void * pos_monitor(void* param){
 202         set_priority(param);            /*set priority*/
 203         while(1){
 204                 printData();
 205                 usleep(1000000);        /*1 Hz*/
 206         }
 207         return (void*)0;
 208 }
 209 /*
 210  * \brief
 211  * Test function to be placed in controll loop.
 212  * Switches PWM's at point where they produce same force
 213  */
 214 inline void simple_hall_commutator(struct rpi_in data, int duty){
 215         if (duty>=0){ /* clockwise - so that position increase */
 216                 /* pwm3 */
 217                 if (data.hal2 && !data.hal3){
 218                         rps.pwm1=0;
 219                         rps.pwm2=0;
 220                         rps.pwm3=duty;
 221                         /* pwm1 */
 222                 }else if (data.hal1 && !data.hal2){
 223                         rps.pwm1=duty;
 224                         rps.pwm2=0;
 225                         rps.pwm3=0;
 226                         /* pwm2 */
 227                 }else if (!data.hal1 && data.hal3){
 228                         rps.pwm1=0;
 229                         rps.pwm2=duty;
 230                         rps.pwm3=0;
 231                 }
 232         }else{  /*counter-clockwise - position decrease */
 233                 /* pwm3 */
 234                 if (!data.hal2 && data.hal3){
 235                         rps.pwm1=0;
 236                         rps.pwm2=0;
 237                         rps.pwm3=-duty;
 238                         /* pwm1 */
 239                 }else if (!data.hal1 && data.hal2){
 240                         rps.pwm1=-duty;
 241                         rps.pwm2=0;
 242                         rps.pwm3=0;
 243                         /* pwm2 */
 244                 }else if (data.hal1 && !data.hal3){
 245                         rps.pwm1=0;
 246                         rps.pwm2=-duty;
 247                         rps.pwm3=0;
 248                 }
 249         }
 250 }
 251 /**
 252  * Funkce pravidelne vycita data z motoru
 253  */
 254 inline void comIndDist(){
 255         rps.index_dist=0x0FFF & (data.pozice_raw - data.index_position);
 256         /*
 257          * if distance is bigger than 2047, the distance underflown
 258          * -> if 12th bit is set, substract 2096
 259          */
 260         rps.index_dist-=((rps.index_dist & 0x0800)>>11)*2096;
 261 }
 262 void * read_data(void* param){
 263         int i;
 264         struct rpi_in pocatek;
 265         uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 266         char first=1;
 267         uint16_t last_index;                            /*we have index up-to date*/
 268         set_priority(param);                            /*set priority*/
 269         pocatek = spi_read(tx);
 270                 while(1){
 271                         prepare_tx(tx);                 /*save the data to send*/
 272                         sem_wait(&thd_par_sem);         /*---take semaphore---*/
 273                         data = spi_read(tx);            /*exchange data*/
 274                         /*subtract initiate postion */
 275                         rps.tf_count++;
 276                         substractOffset(&data,&pocatek);
 277                         comIndDist();
 278                         if (!rps.index_ok){
 279                                 if (first){
 280                                         last_index=data.index_position;
 281                                         first=0;
 282                                 }else if (last_index!=data.index_position){
 283                                         rps.index_ok=1;
 284                                 }
 285                         }
 286                         if (rps.index_ok && rps.commutate){
 287                                 simple_hall_commutator(data,rps.simple_hall_duty);
 288                         }else if(!rps.index_ok && rps.commutate){
 289                                 simple_hall_commutator(data,rps.simple_hall_duty);
 290                         }
 291                         sem_post(&thd_par_sem);         /*--post semaphore---*/
 292                         usleep(1000);                           /*1kHz*/
 293                 }
 294 }
 295
 296 /**
 297  * \brief Main function.
 298  */
 299
 300 int main(){
 301         unsigned int tmp;
 302
 303         /*nastaveni priorit vlaken*/
 304         struct thread_param tsp;
 305         tsp.sch_policy = SCHED_FIFO;
 306
 307         /*nastaveni signalu pro vypnuti pomoci Ctrl+C*/
 308         sighnd.sa_handler=&sighnd_fnc;
 309         sigaction(SIGINT, &sighnd, NULL );
 310
 311         clk_init();             /* inicializace gpio hodin */
 312         spi_init();             /* iniicializace spi*/
 313
 314         /*semafor pro detekci zpracovani parametru vlaken*/
 315         sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
 316
 317         /*vlakna*/
 318         pthread_t tid;                  /*identifikator vlakna*/
 319         pthread_attr_t attr;            /*atributy vlakna*/
 320         pthread_attr_init(&attr);       /*inicializuj implicitni atributy*/
 321
 322
 323
 324         /*ziskavani dat z motoru*//*vysoka priorita*/
 325         tsp.sch_prior = PRIOR_HIGH;
 326         pthread_create(&tid, &attr, read_data, (void*)&tsp);
 327
 328         /*vypisovani lokalni pozice*//*nizka priorita*/
 329         tsp.sch_prior = PRIOR_LOW;
 330         sem_wait(&thd_par_sem);
 331         pthread_create(&tid, &attr, pos_monitor, (void*)&tsp);
 332
 333
 334
 335         /*
 336          * Note:
 337          * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
 338          * k preukladani hodnot na promenne test. Dost divne.
 339          */
 340         while (1){
 341                 scanf("%u",&tmp);
 342                 printf("volba=%u\n",tmp);
 343                 switch (tmp){
 344                 case 1:
 345                         scanf("%u",&tmp);
 346                         sem_wait(&thd_par_sem);
 347                         rps.pwm1=tmp&0xFFF;
 348                         sem_post(&thd_par_sem);
 349                         break;
 350                 case 2:
 351                         scanf("%u",&tmp);
 352                         sem_wait(&thd_par_sem);
 353                         rps.pwm2=tmp&0xFFF;
 354                         sem_post(&thd_par_sem);
 355                         break;
 356                 case 3:
 357                         scanf("%u",&tmp);
 358                         sem_wait(&thd_par_sem);
 359                         rps.pwm3=tmp&0xFFF;
 360                         sem_post(&thd_par_sem);
 361                         break;
 362                 case 4:
 363                         scanf("%u",&tmp);
 364                         sem_wait(&thd_par_sem);
 365                         rps.test=tmp&0xFF;
 366                         sem_post(&thd_par_sem);
 367                         break;
 368                 case 5:
 369                         sem_wait(&thd_par_sem);
 370                         rps.commutate=!rps.commutate;
 371                         /* switch off pwms at the end of commutation */
 372                         rps.pwm1&=rps.commutate*0xFFFF;
 373                         rps.pwm2&=rps.commutate*0xFFFF;
 374                         rps.pwm3&=rps.commutate*0xFFFF;
 375                         sem_post(&thd_par_sem);
 376                         break;
 377                 case 6:
 378                         scanf("%d",&tmp);
 379                         sem_wait(&thd_par_sem);
 380                         rps.simple_hall_duty=tmp;
 381                         sem_post(&thd_par_sem);
 382                         break;
 383
 384                 default:
 385                         break;
 386                 }
 387
 388         }
 389         return 0;
 390 }