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