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 #include "pxmc_sin_fixed.h"     /*to test sin commutation */
  23
  24
  25
  26 #define PRUM_PROUD      2061
  27 #define PRUM_SOUC       6183
  28 #define MAX_DUTY        128
  29 #define PID_P           0.1
  30
  31 #define PRIOR_KERN      50
  32 #define PRIOR_HIGH      49
  33 #define PRIOR_LOW       20
  34
  35 #define THREAD_SHARED   0
  36 #define INIT_VALUE      0       /*init value for semaphor*/
  37
  38
  39 #define PXMC_SIN_FIX_TAB_BITS 9
  40 #define PXMC_SIN_FIX_IDX_SLR  23
  41 #define PXMC_SIN_FIX_XD_MASK  0x007fffff
  42 #define PXMC_SIN_FIX_XD_SLR   8
  43 #define PXMC_SIN_FIX_A_MASK   0xffffc000
  44 #define PXMC_SIN_FIX_B_SLL    19
  45 #define PXMC_SIN_FIX_B_SAR    16
  46 #define PXMC_SIN_FIX_B_XD_SAR 6
  47 #define PXMC_SIN_FIX_ZIC_MASK 0x00002000
  48 #define PXMC_SIN_FIX_ZIC_BIT  13
  49
  50 #define PXMC_SIN_FIX_PI2      0x40000000
  51 #define PXMC_SIN_FIX_2PI3     0x55555555
  52
  53 struct sigaction sighnd; /*struktura pro signal handler*/
  54 struct rpi_in data;
  55 struct rpi_state{
  56         uint8_t test;
  57         uint16_t pwm1, pwm2, pwm3;
  58         uint16_t t_pwm1, t_pwm2, t_pwm3;
  59         char commutate;
  60         int duty;                       /* duty cycle of pwm */
  61         uint16_t index_dist;            /* distance to index position */
  62         unsigned char index_ok;
  63         uint32_t tf_count;              /*number of transfer*/
  64         int desired_pos;                /* desired position */
  65 }rps;
  66
  67
  68 /**
  69  * \brief Initilizes GPCLK.
  70  */
  71 int clk_init()
  72 {
  73         initialise(); /*namapovani gpio*/
  74         initClock(PLLD_500_MHZ, 10, 0);
  75         gpioSetMode(4, FSEL_ALT0);
  76         return 0;
  77 }
  78 /*
  79  * \brief Terminates GPCLK.
  80  */
  81
  82 inline void clk_disable(){
  83         termClock(0);
  84 }
  85
  86 /**
  87  * \brief Signal handler pro Ctrl+C
  88  */
  89 void sighnd_fnc(){
  90         spi_disable();
  91         clk_disable();
  92         /*muzeme zavrit semafor*/
  93         sem_destroy(&thd_par_sem);
  94         printf("\nprogram bezpecne ukoncen\n");
  95         exit(0);
  96 }
  97
  98 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
  99         data->pozice_raw=data->pozice;
 100         data->pozice-=offset->pozice;
 101         return;
 102 }
 103 /*
 104  * pocita procentualni odchylku od prumerneho proudu
 105  */
 106 float diff_p(float value){
 107         return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
 108 }
 109 /*
 110  * pocita procentualni odchylku od prumerneho souctu proudu
 111  */
 112 float diff_s(float value){
 113         return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
 114 }
 115 /*
 116  * tiskne potrebna data
 117  */
 118 void printData(){
 119         struct rpi_in data_p;
 120         struct rpi_state s;     /*state*/
 121         float cur0, cur1, cur2;
 122         int i;
 123         /* copy the data */
 124         sem_wait(&thd_par_sem);
 125         data_p = data;
 126         s=rps;
 127         sem_post(&thd_par_sem);
 128
 129         if (data_p.adc_m_count){
 130                 cur0=data_p.ch0/data_p.adc_m_count;
 131                 cur1=data_p.ch1/data_p.adc_m_count;
 132                 cur2=data_p.ch2/data_p.adc_m_count;
 133         }
 134         for (i = 0; i < 16; i++) {
 135                         if (!(i % 6))
 136                                 puts("");
 137                         printf("%.2X ", data_p.debug_rx[i]);
 138         }
 139         puts("");
 140         printf("\npozice=%d\n",(int32_t)data_p.pozice);
 141         printf("chtena pozice=%d\n",s.desired_pos);
 142         printf("transfer count=%u\n",s.tf_count);
 143         printf("raw_pozice=%d\n",(int32_t)data_p.pozice_raw);
 144         printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
 145         printf("index position=%u\n",data_p.index_position);
 146         printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
 147         printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
 148         printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
 149         printf("PWM1=%u(L.s.)\n",s.pwm1);
 150         printf("PWM2=%u(L.s.)\n",s.pwm2);
 151         printf("PWM3=%u(L.s.)\n",s.pwm3);
 152         printf("distance to index=%u\n",s.index_dist);
 153         printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
 154         printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
 155         printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
 156         printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
 157         printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
 158         printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
 159         printf("duty=%d\n",s.duty);
 160         if (s.index_ok) printf("index ok\n");
 161         if (s.commutate) printf("commutation in progress\n");
 162 }
 163 void prepare_tx(uint8_t * tx){
 164
 165         /*Data format:
 166          * tx[4] - bity 95 downto 88 - bits that are sent first
 167          * tx[5] - bity 87 downto 80
 168          * tx[6] - bity 79 downto 72
 169          * tx[7] - bity 71 downto 64
 170          * tx[8] - bity 63 downto 56
 171          * tx[9] - bity 55 downto 48
 172          * tx[10] - bity 47 downto 40
 173          * tx[11] - bity 39 downto 32
 174          * tx[12] - bity 31 downto 24
 175          * tx[13] - bity 23 downto 16
 176          * tx[14] - bity 15 downto 8
 177          * tx[15] - bity 7 downto 0
 178          *
 179          * bit 95 - ADC reset
 180          * bit 94 - enable PWM1
 181          * bit 93 - enable PWM2
 182          * bit 92 - enable PWM3
 183          * bit 91 - shutdown1
 184          * bit 90 - shutdown2
 185          * bit 89 - shutdown3
 186          *      .
 187          *      .
 188          *      Unused
 189          *      .
 190          *      .
 191          * bits 47 .. 32 - match PWM1
 192          * bits 31 .. 16 - match PWM2
 193          * bits 15 .. 0  - match PWM3
 194          */
 195
 196
 197         uint16_t tmp;
 198
 199         /* keep the 11-bit cap*/
 200
 201         if (rps.pwm1>2047) rps.pwm1=2047;
 202         if (rps.pwm2>2047) rps.pwm2=2047;
 203         if (rps.pwm3>2047) rps.pwm3=2047;
 204
 205         tx[0]=rps.test; /*bit 94 - enable PWM1*/
 206
 207         /*now we have to switch the bytes due to endianess */
 208         /* ARMv6 & ARMv7 instructions are little endian */
 209         /*pwm1*/
 210         tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
 211         tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 212
 213         /*pwm2*/
 214         tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
 215         tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
 216
 217         /*pwm3*/
 218         tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
 219         tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 220
 221
 222 }
 223 /**
 224  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 225  */
 226 void * pos_monitor(void* param){
 227         set_priority(param);            /*set priority*/
 228         while(1){
 229                 printData();
 230                 usleep(1000000);        /*1 Hz*/
 231         }
 232         return (void*)0;
 233 }
 234
 235 inline
 236 int sin_commutator(int duty){
 237         #define DEGREE_60        715827883
 238         #define DEGREE_120      1431655765
 239         #define DEGREE_180      2147483648
 240         #define DEGREE_240      2863311531
 241         #define DEGREE_300      3579139413
 242         uint32_t j,pos;
 243         int32_t sin;
 244         uint16_t pwm;
 245         pos=rps.index_dist*4294967;
 246         if (duty>=0){   /*clockwise rotation*/
 247                 /* 1st phase */
 248                 sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
 249                 pwm=0;
 250                 for(j=0;j!=11;j++){
 251                         /* multiplicate as if maximum sinus value was unity */
 252                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 253                 }
 254                 rps.pwm1=pwm;
 255
 256                 /* 2nd phase */
 257                 sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
 258                 pwm=0;
 259                 for(j=0;j!=11;j++){
 260                         /* multiplicate as if maximum sinus value was unity */
 261                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 262                 }
 263                 rps.pwm2=pwm;
 264
 265                 /* 3rd phase */
 266                 sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
 267                 pwm=0;
 268                 for(j=0;j!=11;j++){
 269                         /* multiplicate as if maximum sinus value was unity */
 270                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 271                 }
 272                 rps.pwm3=pwm;
 273         }else{
 274                 duty=-duty;
 275
 276                 /* 1st phase */
 277                 sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
 278                 pwm=0;
 279                 for(j=0;j!=11;j++){
 280                         /* multiplicate as if maximum sinus value was unity */
 281                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 282                 }
 283                 rps.pwm1=pwm;
 284
 285                 /* 2nd phase */
 286                 sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
 287                 pwm=0;
 288                 for(j=0;j!=11;j++){
 289                         /* multiplicate as if maximum sinus value was unity */
 290                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 291                 }
 292                 rps.pwm2=pwm;
 293
 294                 /* 3rd phase */
 295                 sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
 296                 pwm=0;
 297                 for(j=0;j!=11;j++){
 298                         /* multiplicate as if maximum sinus value was unity */
 299                         pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
 300                 }
 301                 rps.pwm3=pwm;
 302         }
 303         return 0;
 304 }
 305 /*
 306  * \brief
 307  * Test function to be placed in controll loop.
 308  * Switches PWM's at point where they produce same force.
 309  * This points are found thanks to IRC position,
 310  */
 311 inline
 312 void simple_ind_dist_commutator(int duty){
 313         if (duty>=0){ /* clockwise - so that position increase */
 314                 /* pwm3 */
 315                 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
 316                 (rps.index_dist>=1048 && rps.index_dist<=1377)){
 317                         rps.pwm1=0;
 318                         rps.pwm2=0;
 319                         rps.pwm3=duty;
 320                         /* pwm1 */
 321                 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
 322                 (rps.index_dist>=1377 && rps.index_dist<=1711)){
 323                         rps.pwm1=duty;
 324                         rps.pwm2=0;
 325                         rps.pwm3=0;
 326                         /* pwm2 */
 327                 }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
 328                 (rps.index_dist>=711 && rps.index_dist<=1048) ||
 329                 (rps.index_dist>=1711 && rps.index_dist<=1999)){
 330                         rps.pwm1=0;
 331                         rps.pwm2=duty;
 332                         rps.pwm3=0;
 333                 }
 334         }else{  /*counter-clockwise - position decrease */
 335                 /* pwm3 */
 336                 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
 337                 (rps.index_dist>=1544 && rps.index_dist<=1878)){
 338                         rps.pwm1=0;
 339                         rps.pwm2=0;
 340                         rps.pwm3=-duty;
 341                         /* pwm1 */
 342                 }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
 343                 (rps.index_dist>=881 && rps.index_dist<=1210) ||
 344                 (rps.index_dist>=1878 && rps.index_dist<=1999)){
 345                         rps.pwm1=-duty;
 346                         rps.pwm2=0;
 347                         rps.pwm3=0;
 348                         /* pwm2 */
 349                 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
 350                 (rps.index_dist>=1210 && rps.index_dist<=1544)){
 351                         rps.pwm1=0;
 352                         rps.pwm2=-duty;
 353                         rps.pwm3=0;
 354                 }
 355         }
 356 }
 357 /*
 358  * \brief
 359  * Test function to be placed in controll loop.
 360  * Switches PWM's at point where they produce same force
 361  */
 362 inline void simple_hall_commutator(int duty){
 363         if (duty>=0){ /* clockwise - so that position increase */
 364                 /* pwm3 */
 365                 if (data.hal2 && !data.hal3){
 366                         rps.pwm1=0;
 367                         rps.pwm2=0;
 368                         rps.pwm3=duty;
 369                         /* pwm1 */
 370                 }else if (data.hal1 && !data.hal2){
 371                         rps.pwm1=duty;
 372                         rps.pwm2=0;
 373                         rps.pwm3=0;
 374                         /* pwm2 */
 375                 }else if (!data.hal1 && data.hal3){
 376                         rps.pwm1=0;
 377                         rps.pwm2=duty;
 378                         rps.pwm3=0;
 379                 }
 380         }else{  /*counter-clockwise - position decrease */
 381                 /* pwm3 */
 382                 if (!data.hal2 && data.hal3){
 383                         rps.pwm1=0;
 384                         rps.pwm2=0;
 385                         rps.pwm3=-duty;
 386                         /* pwm1 */
 387                 }else if (!data.hal1 && data.hal2){
 388                         rps.pwm1=-duty;
 389                         rps.pwm2=0;
 390                         rps.pwm3=0;
 391                         /* pwm2 */
 392                 }else if (data.hal1 && !data.hal3){
 393                         rps.pwm1=0;
 394                         rps.pwm2=-duty;
 395                         rps.pwm3=0;
 396                 }
 397         }
 398 }
 399 /**
 400  * Funkce pravidelne vycita data z motoru
 401  */
 402 inline void comIndDist(){
 403         rps.index_dist=0x0FFF & (data.pozice_raw - data.index_position);
 404         /*
 405          * if distance is bigger than 2047, the distance underflown
 406          * -> if 12th bit is set, substract 2096
 407          */
 408         rps.index_dist-=((rps.index_dist & 0x0800)>>11)*2096;
 409 }
 410 /*
 411  * \brief
 412  * Very simple PID regulator.
 413  * Now only with P-part so that the error doesnt go to zero.
 414  * TODO: add anti-wind up and I and D parts
 415  */
 416 inline void pid(){
 417         int duty_tmp;
 418         duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
 419         if (duty_tmp>MAX_DUTY){
 420                 rps.duty=MAX_DUTY;
 421         }else if (duty_tmp<-MAX_DUTY){
 422                 rps.duty=-MAX_DUTY;
 423         }else{
 424                 rps.duty = duty_tmp;
 425         }
 426 }
 427 /*
 428  * \brief
 429  * Feedback loop.
 430  * TODO: replace usleep with real-time wait
 431  *      measure times
 432  */
 433 void * read_data(void* param){
 434         int i;
 435         struct rpi_in pocatek;
 436         uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 437         char first=1;
 438         uint16_t last_index;                            /*we have index up-to date*/
 439         set_priority(param);                            /*set priority*/
 440         pocatek = spi_read(tx);
 441                 while(1){
 442                         prepare_tx(tx);                 /*save the data to send*/
 443                         sem_wait(&thd_par_sem);         /*---take semaphore---*/
 444                         data = spi_read(tx);            /*exchange data*/
 445                         /*subtract initiate postion */
 446                         rps.tf_count++;
 447                         substractOffset(&data,&pocatek);
 448                         comIndDist();
 449                         if (!rps.index_ok){
 450                                 if (first){
 451                                         last_index=data.index_position;
 452                                         first=0;
 453                                 }else if (last_index!=data.index_position){
 454                                         rps.index_ok=1;
 455                                 }
 456                         }
 457                         pid();
 458                         if (rps.index_ok && rps.commutate){
 459                                 /*simple_ind_dist_commutator(rps.duty);*/
 460                                 sin_commutator(rps.duty);
 461                         }else if(!rps.index_ok && rps.commutate){
 462                                 simple_hall_commutator(rps.duty);
 463                         }
 464                         sem_post(&thd_par_sem);         /*--post semaphore---*/
 465                         usleep(1000);                           /*1kHz*/
 466                 }
 467 }
 468
 469 /**
 470  * \brief Main function.
 471  */
 472
 473 int main(){
 474         unsigned int tmp;
 475
 476         /*nastaveni priorit vlaken*/
 477         struct thread_param tsp;
 478         tsp.sch_policy = SCHED_FIFO;
 479
 480         /*nastaveni signalu pro vypnuti pomoci Ctrl+C*/
 481         sighnd.sa_handler=&sighnd_fnc;
 482         sigaction(SIGINT, &sighnd, NULL );
 483
 484         clk_init();             /* inicializace gpio hodin */
 485         spi_init();             /* iniicializace spi*/
 486
 487         /*semafor pro detekci zpracovani parametru vlaken*/
 488         sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
 489
 490         /*vlakna*/
 491         pthread_t tid;                  /*identifikator vlakna*/
 492         pthread_attr_t attr;            /*atributy vlakna*/
 493         pthread_attr_init(&attr);       /*inicializuj implicitni atributy*/
 494
 495
 496
 497         /*ziskavani dat z motoru*//*vysoka priorita*/
 498         tsp.sch_prior = PRIOR_HIGH;
 499         pthread_create(&tid, &attr, read_data, (void*)&tsp);
 500
 501         /*vypisovani lokalni pozice*//*nizka priorita*/
 502         tsp.sch_prior = PRIOR_LOW;
 503         sem_wait(&thd_par_sem);
 504         pthread_create(&tid, &attr, pos_monitor, (void*)&tsp);
 505
 506
 507
 508         /*
 509          * Note:
 510          * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
 511          * k preukladani hodnot na promenne test. Dost divne.
 512          */
 513         while (1){
 514                 scanf("%u",&tmp);
 515                 printf("volba=%u\n",tmp);
 516                 switch (tmp){
 517                 case 1:
 518                         scanf("%u",&tmp);
 519                         sem_wait(&thd_par_sem);
 520                         rps.pwm1=tmp&0xFFF;
 521                         sem_post(&thd_par_sem);
 522                         break;
 523                 case 2:
 524                         scanf("%u",&tmp);
 525                         sem_wait(&thd_par_sem);
 526                         rps.pwm2=tmp&0xFFF;
 527                         sem_post(&thd_par_sem);
 528                         break;
 529                 case 3:
 530                         scanf("%u",&tmp);
 531                         sem_wait(&thd_par_sem);
 532                         rps.pwm3=tmp&0xFFF;
 533                         sem_post(&thd_par_sem);
 534                         break;
 535                 case 4:
 536                         scanf("%u",&tmp);
 537                         sem_wait(&thd_par_sem);
 538                         rps.test=tmp&0xFF;
 539                         sem_post(&thd_par_sem);
 540                         break;
 541                 case 5:
 542                         sem_wait(&thd_par_sem);
 543                         rps.commutate=!rps.commutate;
 544                         /* switch off pwms at the end of commutation */
 545                         rps.pwm1&=rps.commutate*0xFFFF;
 546                         rps.pwm2&=rps.commutate*0xFFFF;
 547                         rps.pwm3&=rps.commutate*0xFFFF;
 548                         sem_post(&thd_par_sem);
 549                         break;
 550                 case 6:
 551                         scanf("%d",&tmp);
 552                         sem_wait(&thd_par_sem);
 553                         rps.duty=tmp;
 554                         sem_post(&thd_par_sem);
 555                         break;
 556                 case 7:
 557                         scanf("%d",&tmp);
 558                         sem_wait(&thd_par_sem);
 559                         rps.desired_pos=tmp;
 560                         sem_post(&thd_par_sem);
 561                         break;
 562
 563                 default:
 564                         break;
 565                 }
 566
 567         }
 568         return 0;
 569 }
 570