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 #include <string.h>
  20
  21 #include "rpin.h"       /*gpclk*/
  22 #include "rp_spi.h"     /*spi*/
  23 #include "misc.h"       /*structure for priorities*/
  24 #include "pxmc_sin_fixed.h"     /*to test sin commutation */
  25 #include "pmsm_state.h"
  26 #include "cmd_proc.h"
  27
  28
  29 #define PID_P           0.3
  30
  31 /*      RL-tool results from first order system approx  */
  32 /*      P=0.16 I=13,4/freq=0.013                        */
  33 /*      Hodnoty upraveny podle skutecnych vysledku      */
  34 /*      P=0.8   I=0.01                                  */
  35
  36 #define PID_P_S         0.16            /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
  37 #define PID_I_S         0.0134
  38
  39 #define PRIOR_KERN      50
  40 #define PRIOR_HIGH      49
  41 #define PRIOR_LOW       20
  42
  43 #define THREAD_SHARED   0
  44 #define INIT_VALUE      1       /*init value for semaphor*/
  45
  46
  47 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
  48
  49
  50 struct rpi_in data;
  51 struct rpi_state rps={
  52         .spi_dat=&data,
  53         .test=0,
  54         .pwm1=0,.pwm2=0, .pwm3=0,
  55         .pwm1=0, .t_pwm2=0, .t_pwm3=0,
  56         .commutate=0,
  57         .duty=0,                        /* duty cycle of pwm */
  58         .index_dist=0,          /* distance to index position */
  59         .index_ok=0,
  60         .tf_count=0,            /*number of transfer*/
  61         .desired_pos=0,         /* desired position */
  62         .pos_reg_ena=0,
  63         .desired_spd=0,
  64         .spd_reg_ena=0,
  65         .old_pos={0},
  66         .spd_err_sum=0,
  67         .log_col_count=0,       /* pocet radku zaznamu */
  68         .log_col=0,
  69         .doLogs=0,
  70         .alpha_offset=960
  71 };
  72
  73 /**
  74  * \brief Initilizes GPCLK.
  75  */
  76 int clk_init()
  77 {
  78         initialise(); /*namapovani gpio*/
  79         initClock(PLLD_500_MHZ, 10, 0);
  80         gpioSetMode(4, FSEL_ALT0);
  81         return 0;
  82 }
  83 /*
  84  * \brief Terminates GPCLK.
  85  */
  86
  87 inline void clk_disable(){
  88         termClock(0);
  89 }
  90 /*
  91  * \brief
  92  * Count minimum value of three numbers.
  93  * Input values must be in range <-2^28;2^28>.
  94  */
  95 int32_t min(int32_t x, int32_t y, int32_t z){
  96         int32_t diff,sign;
  97
  98         diff=x-y; /*rozdil*/
  99         sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze y je vetsi*/
 100         x=y+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
 101
 102         diff=x-z; /*rozdil*/
 103         sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze z je vetsi*/
 104         x=z+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
 105
 106         return x;
 107 }
 108
 109 /*
 110  * \brief
 111  * Free logs
 112  */
 113 void freeLogs(){
 114         int r;
 115         if (rps.log_col_count){
 116                 for (r=0;r<LOG_ROWS;r++){
 117                         free(rps.logs[r]);
 118                 }
 119         }
 120         rps.log_col_count=0;
 121         rps.doLogs=0;
 122 }
 123
 124 /*
 125  * \brief
 126  * Makes log.
 127  */
 128 void makeLog(){
 129         int r;
 130         if (rps.log_col==MAX_LOGS-1){
 131                 rps.doLogs=0;
 132                 return;
 133         }
 134         rps.logs[0][rps.log_col]=(int)rps.tf_count;
 135         rps.logs[1][rps.log_col]=(int)rps.spi_dat->pozice;
 136
 137         rps.logs[2][rps.log_col]=(int)rps.pwm1;
 138         rps.logs[3][rps.log_col]=(int)rps.pwm2;
 139         rps.logs[4][rps.log_col]=(int)rps.pwm3;
 140         rps.logs[5][rps.log_col]=rps.duty;
 141
 142         rps.logs[6][rps.log_col]=rps.desired_spd;
 143         rps.logs[7][rps.log_col]=rps.speed;
 144
 145         rps.logs[8][rps.log_col]=(int)(rps.spi_dat->ch1/rps.spi_dat->adc_m_count);
 146         rps.logs[9][rps.log_col]=(int)(rps.spi_dat->ch2/rps.spi_dat->adc_m_count);
 147         rps.logs[10][rps.log_col]=(int)(rps.spi_dat->ch0/rps.spi_dat->adc_m_count);
 148
 149         rps.log_col++;
 150      /*
 151         if (rps.log_col==rps.log_col_count-1){
 152                 rps.log_col_count*=2;
 153                 rps.log_col_count%=MAX_LOGS;
 154                 for (r=0;r<LOG_ROWS;r++){
 155                         rps.logs[r]=realloc(rps.logs[r],rps.log_col_count*sizeof(int));
 156                         if (rps.logs[r]==NULL){
 157                                 rps.doLogs=0;
 158                                 rps.error=1;
 159                         }
 160                 }
 161         }
 162      */
 163 }
 164
 165 /*
 166  * \brief
 167  * Pripravi psi buffer
 168  */
 169 void prepare_tx(uint8_t * tx){
 170
 171         /*Data format:
 172          * tx[4] - bity 95 downto 88 - bits that are sent first
 173          * tx[5] - bity 87 downto 80
 174          * tx[6] - bity 79 downto 72
 175          * tx[7] - bity 71 downto 64
 176          * tx[8] - bity 63 downto 56
 177          * tx[9] - bity 55 downto 48
 178          * tx[10] - bity 47 downto 40
 179          * tx[11] - bity 39 downto 32
 180          * tx[12] - bity 31 downto 24
 181          * tx[13] - bity 23 downto 16
 182          * tx[14] - bity 15 downto 8
 183          * tx[15] - bity 7 downto 0
 184          *
 185          * bit 95 - ADC reset
 186          * bit 94 - enable PWM1
 187          * bit 93 - enable PWM2
 188          * bit 92 - enable PWM3
 189          * bit 91 - shutdown1
 190          * bit 90 - shutdown2
 191          * bit 89 - shutdown3
 192          *      .
 193          *      .
 194          *      Unused
 195          *      .
 196          *      .
 197          * bits 47 .. 32 - match PWM1
 198          * bits 31 .. 16 - match PWM2
 199          * bits 15 .. 0  - match PWM3
 200          */
 201
 202
 203         uint16_t tmp;
 204
 205         /* keep the 11-bit cap*/
 206
 207         if (rps.pwm1>2047) rps.pwm1=2047;
 208         if (rps.pwm2>2047) rps.pwm2=2047;
 209         if (rps.pwm3>2047) rps.pwm3=2047;
 210
 211         tx[0]=rps.test; /*bit 94 - enable PWM1*/
 212
 213         /*now we have to switch the bytes due to endianess */
 214         /* ARMv6 & ARMv7 instructions are little endian */
 215         /*pwm1*/
 216         tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
 217         tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
 218
 219         /*pwm2*/
 220         tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
 221         tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
 222
 223         /*pwm3*/
 224         tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
 225         tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
 226
 227
 228 }
 229
 230
 231 /**
 232  * \brief Signal handler pro Ctrl+C
 233  */
 234 void appl_stop(){
 235         uint8_t tx[16];
 236         sem_wait(&rps.thd_par_sem);
 237
 238         memset(tx,0,16*sizeof(int));
 239         rps.pwm1=0;
 240         rps.pwm2=0;
 241         rps.pwm3=0;
 242         prepare_tx(tx);                 /*save the data to send*/
 243         data=spi_read(tx);
 244
 245         spi_disable();
 246         clk_disable();
 247         freeLogs();
 248         /*muzeme zavrit semafor*/
 249         sem_destroy(&rps.thd_par_sem);
 250         printf("\nprogram bezpecne ukoncen\n");
 251 }
 252
 253 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
 254         data->pozice=data->pozice_raw-offset->pozice_raw;
 255         return;
 256 }
 257 /*
 258  * \brief
 259  * Transformace pro uhel pocitany po smeru hodinovych rucicek
 260  */
 261 void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int32_t cos){
 262         *alpha=cos*d+sin*q;
 263         *beta=-sin*d+cos*q;
 264         return;
 265 }
 266 void alphabeta2pwm3(int32_t * ia, int32_t * ib, int32_t *ic,int32_t alpha, int32_t beta){
 267         *ia=alpha;
 268         *ib=-alpha/2+beta*887/1024;
 269         *ic=-alpha/2-beta*887/1024;
 270 }
 271 /*
 272  * \brief
 273  * Preocita napeti na jednotlivych civkach na napeti,
 274  *      ktera budou privedena na svorky motoru.
 275  *      Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
 276  */
 277 void transDelta(int32_t * u1, int32_t * u2, int32_t *u3, int32_t ub , int32_t uc){
 278         int32_t t;
 279
 280         /*vypocte napeti tak, aby odpovidaly rozdily*/
 281         *u1=uc;
 282         *u2=uc+ub;
 283         *u3=0;
 284
 285         /*najde zaporne napeti*/
 286         t=min(*u1,*u2,*u3);
 287
 288         /*dorovna zaporna napeti na nulu*/
 289         *u1-=t;
 290         *u2-=t;
 291         *u3-=t;
 292 }
 293 void inv_trans_comm(int duty){
 294         uint32_t pos;
 295         int32_t sin, cos;
 296         int32_t alpha, beta;
 297         int32_t pwma,pwmb,pwmc;
 298         pos=rps.index_dist;
 299         /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
 300         pos+=717;
 301         /*use it as cyclic 32-bit logic*/
 302         pos*=4294967;
 303         pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
 304         dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
 305         alpha>>=16;
 306         beta>>=16;
 307         alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);
 308
 309         if (pwma<0) pwma=0;
 310         if (pwmb<0) pwmb=0;
 311         if (pwmc<0) pwmc=0;
 312
 313
 314         rps.t_pwm1=(uint16_t)pwma;
 315         rps.t_pwm3=(uint16_t)pwmb;
 316         rps.t_pwm2=(uint16_t)pwmc;
 317 }
 318
 319 void inv_trans_comm_2(int duty){
 320         uint32_t pos;
 321         int32_t sin, cos;
 322         int32_t alpha, beta;
 323         int32_t ua,ub,uc;
 324         int32_t ia,ib,ic;
 325         int32_t u1,u2,u3;
 326         pos=rps.index_dist;
 327
 328         pos+=rps.alpha_offset; /*zarovnani faze 'a' s osou 'alpha'*/
 329
 330         /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
 331         pos*=4294967;
 332         pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
 333
 334         dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
 335         alpha>>=16;
 336         beta>>=16;
 337
 338         alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
 339
 340         ua=ia;
 341         ub=ib;
 342         uc=ic;
 343
 344         transDelta(&u1,&u2, &u3,ub,uc);
 345
 346         rps.pwm1=(uint16_t)u1;
 347         rps.pwm2=(uint16_t)u2;
 348         rps.pwm3=(uint16_t)u3;
 349 }
 350
 351 /**
 352  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
 353  */
 354 void * pos_monitor(void* param){
 355         while(1){
 356                 printData(&rps);
 357                 usleep(1000000);        /*1 Hz*/
 358         }
 359         return (void*)0;
 360 }
 361 /*
 362  * \brief
 363  * Multiplication of 11 bit
 364  * Zaporne vysledky prvede na nulu.
 365  */
 366 inline uint16_t mult_cap(int32_t s,int d){
 367         int j;
 368         int res=0;
 369         for(j=0;j!=11;j++){
 370                 /* multiplicate as if maximum sinus value was unity */
 371                 res+=(!(s & 0x10000000))*(((1 << j) & s)>>j)*(d>>(10-j));
 372         }
 373         return res;
 374 }
 375 inline
 376 int sin_commutator(int duty){
 377         #define DEGREE_60        715827883
 378         #define DEGREE_120      1431655765
 379         #define DEGREE_180      2147483648
 380         #define DEGREE_240      2863311531
 381         #define DEGREE_300      3579139413
 382         uint32_t j,pos;
 383         int32_t sin;
 384         pos=rps.index_dist;
 385         int32_t pwm;
 386         /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
 387         pos+=38;
 388         /*use it as cyclic 32-bit logic*/
 389         pos*=4294967;
 390         if (duty>=0){   /*clockwise rotation*/
 391                 /* 1st phase */
 392                 sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
 393                 pwm=sin*duty/1024;
 394                 if (pwm<0) pwm=0;
 395                 rps.pwm1=(uint16_t)pwm;
 396
 397                 /* 2nd phase */
 398                 sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
 399                 pwm=sin*duty/1024;
 400                 if (pwm<0) pwm=0;
 401                 rps.pwm2=(uint16_t)pwm;
 402
 403                 /* 3rd phase */
 404                 sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
 405                 pwm=sin*duty/1024;
 406                 if (pwm<0) pwm=0;
 407                 rps.pwm3=(uint16_t)pwm;
 408         }else{
 409                 duty=-duty;
 410
 411                 /* 1st phase */
 412                 sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
 413                 pwm=sin*duty/1024;
 414                 if (pwm<0) pwm=0;
 415                 rps.pwm1=(uint16_t)pwm;
 416
 417                 /* 2nd phase */
 418                 sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
 419                 pwm=sin*duty/1024;
 420                 if (pwm<0) pwm=0;
 421                 rps.pwm2=(uint16_t)pwm;
 422
 423                 /* 3rd phase */
 424                 sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
 425                 pwm=sin*duty/1024;
 426                 if (pwm<0) pwm=0;
 427                 rps.pwm3=(uint16_t)pwm;
 428         }
 429         return 0;
 430 }
 431 /*
 432  * \brief
 433  * Test function to be placed in controll loop.
 434  * Switches PWM's at point where they produce same force.
 435  * This points are found thanks to IRC position,
 436  */
 437 inline
 438 void simple_ind_dist_commutator(int duty){
 439         if (duty>=0){ /* clockwise - so that position increase */
 440                 /* pwm3 */
 441                 if ((rps.index_dist>=45 && rps.index_dist<=373) ||
 442                 (rps.index_dist>=1048 && rps.index_dist<=1377)){
 443                         rps.pwm1=0;
 444                         rps.pwm2=0;
 445                         rps.pwm3=duty;
 446                         /* pwm1 */
 447                 }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
 448                 (rps.index_dist>=1377 && rps.index_dist<=1711)){
 449                         rps.pwm1=duty;
 450                         rps.pwm2=0;
 451                         rps.pwm3=0;
 452                         /* pwm2 */
 453                 }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
 454                 (rps.index_dist>=711 && rps.index_dist<=1048) ||
 455                 (rps.index_dist>=1711 && rps.index_dist<=1999)){
 456                         rps.pwm1=0;
 457                         rps.pwm2=duty;
 458                         rps.pwm3=0;
 459                 }
 460         }else{  /*counter-clockwise - position decrease */
 461                 /* pwm3 */
 462                 if ((rps.index_dist>=544 && rps.index_dist<=881) ||
 463                 (rps.index_dist>=1544 && rps.index_dist<=1878)){
 464                         rps.pwm1=0;
 465                         rps.pwm2=0;
 466                         rps.pwm3=-duty;
 467                         /* pwm1 */
 468                 }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
 469                 (rps.index_dist>=881 && rps.index_dist<=1210) ||
 470                 (rps.index_dist>=1878 && rps.index_dist<=1999)){
 471                         rps.pwm1=-duty;
 472                         rps.pwm2=0;
 473                         rps.pwm3=0;
 474                         /* pwm2 */
 475                 }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
 476                 (rps.index_dist>=1210 && rps.index_dist<=1544)){
 477                         rps.pwm1=0;
 478                         rps.pwm2=-duty;
 479                         rps.pwm3=0;
 480                 }
 481         }
 482 }
 483 /*
 484  * \brief
 485  * Test function to be placed in controll loop.
 486  * Switches PWM's at point where they produce same force
 487  */
 488 inline void simple_hall_commutator(int duty){
 489         if (duty>=0){ /* clockwise - so that position increase */
 490                 /* pwm3 */
 491                 if (data.hal2 && !data.hal3){
 492                         rps.pwm1=0;
 493                         rps.pwm2=0;
 494                         rps.pwm3=duty;
 495                         /* pwm1 */
 496                 }else if (data.hal1 && !data.hal2){
 497                         rps.pwm1=duty;
 498                         rps.pwm2=0;
 499                         rps.pwm3=0;
 500                         /* pwm2 */
 501                 }else if (!data.hal1 && data.hal3){
 502                         rps.pwm1=0;
 503                         rps.pwm2=duty;
 504                         rps.pwm3=0;
 505                 }
 506         }else{  /*counter-clockwise - position decrease */
 507                 /* pwm3 */
 508                 if (!data.hal2 && data.hal3){
 509                         rps.pwm1=0;
 510                         rps.pwm2=0;
 511                         rps.pwm3=-duty;
 512                         /* pwm1 */
 513                 }else if (!data.hal1 && data.hal2){
 514                         rps.pwm1=-duty;
 515                         rps.pwm2=0;
 516                         rps.pwm3=0;
 517                         /* pwm2 */
 518                 }else if (data.hal1 && !data.hal3){
 519                         rps.pwm1=0;
 520                         rps.pwm2=-duty;
 521                         rps.pwm3=0;
 522                 }
 523         }
 524 }
 525 /**
 526  * \brief
 527  * Computation of distance to index.
 528  *
 529  * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
 530  * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
 531  *      to je 3999 bodu
 532  *      =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
 533  *              signalu indexu
 534  */
 535 void comIndDist(){
 536         uint16_t pos = 0x0FFF & data.pozice_raw;
 537         uint16_t dist;
 538         uint16_t index = data.index_position;
 539
 540         if (index<1999){                /*index e<0,1998> */
 541                 if (pos<index){                 /*pozice e<0,index-1> */
 542                         /*proti smeru h.r. od indexu*/
 543                         dist=pos+2000-index;
 544                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 545                         /*po smeru h.r. od indexu*/
 546                         dist=pos-index;
 547                 }else if (pos<index+2096){      /*pozice e<index+2000,index+2095> */
 548                         goto index_lost;
 549                 }else{                          /*pozice e<index+2096,4095> */
 550                         /*proti smeru h.r. od indexu - podtecena pozice*/
 551                         dist=pos-index-2096;
 552                 }
 553         }else if (index<=2096){         /*index e<1999,2096>*/
 554                 if (pos<index-1999){            /*pozice e<0,index-2000> */
 555                         goto index_lost;
 556                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 557                         /*proti smeru h.r. od indexu*/
 558                         dist=pos+2000-index;
 559                 }else if (pos<=index+1999){     /*pozice e<index,index+1999> */
 560                         /*po smeru h.r. od indexu*/
 561                         dist=pos-index;
 562                 }else {                         /*pozice e<index+2000,4095> */
 563                         goto index_lost;
 564                 }
 565         }else{                          /*index e<2097,4095> */
 566                 if (pos<=index-2097){           /*pozice e<0,index-2097> */
 567                         /*po smeru h.r. od indexu - pretecena pozice*/
 568                         dist=4096+pos-index;
 569                 }else if (pos<index-1999){      /*pozice e<index-2096,index-2000> */
 570                         goto index_lost;
 571                 }else if (pos<index){           /*pozice e<index-1999,index-1> */
 572                         /*proti smeru h.r. od indexu*/
 573                         dist=pos+2000-index;
 574                 }else{                          /*pozice e<index,4095> */
 575                         /*po smeru h.r. od indexu*/
 576                         dist=pos-index;
 577                 }
 578         }
 579
 580         rps.index_dist = dist;
 581         return;
 582
 583         index_lost:
 584                 rps.index_ok=0;
 585                 return;
 586 }
 587 /*
 588  * \brief
 589  * Very simple PID regulator.
 590  * Now only with P-part so that the error doesnt go to zero.
 591  * TODO: add anti-wind up and I and D parts
 592  */
 593 inline void pos_pid(){
 594         int duty_tmp;
 595         duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
 596         if (duty_tmp>MAX_DUTY){
 597                 rps.duty=MAX_DUTY;
 598         }else if (duty_tmp<-MAX_DUTY){
 599                 rps.duty=-MAX_DUTY;
 600         }else{
 601                 rps.duty = duty_tmp;
 602         }
 603 }
 604 /*
 605  * \brief
 606  * Very simple PID regulator.
 607  * Now only with P-part so that the error doesnt go to zero.
 608  * FIXME: make better
 609  */
 610 inline void spd_pid(){
 611         int duty_tmp;
 612         int error;
 613         error=rps.desired_spd - rps.speed;
 614         rps.spd_err_sum+=error;
 615         duty_tmp = PID_P_S*error+PID_I_S*rps.spd_err_sum;
 616         if (duty_tmp>MAX_DUTY){
 617                 rps.duty=MAX_DUTY;
 618         }else if (duty_tmp<-MAX_DUTY){
 619                 rps.duty=-MAX_DUTY;
 620         }else{
 621                 rps.duty = duty_tmp;
 622         }
 623 }
 624
 625 /*
 626  * \brief
 627  * Computate speed.
 628  */
 629 void compSpeed(){
 630         signed long int spd;
 631         spd=rps.spi_dat->pozice-rps.old_pos[rps.tf_count%OLD_POS_NUM];
 632         rps.speed=(int32_t)spd;
 633 }
 634
 635 /*
 636  * \brief
 637  * Feedback loop.
 638  * TODO: replace bunch of 'IFs' with Object-like pattern
 639  */
 640 void * read_data(void* param){
 641         int i;
 642         struct rpi_in pocatek;
 643         struct timespec t;
 644         int interval = 1000000; /* 1ms ~ 1kHz*/
 645         uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
 646         char first=1;
 647         uint16_t last_index;                            /*we have index up-to date*/
 648         pocatek = spi_read(tx);
 649         clock_gettime(CLOCK_MONOTONIC ,&t);
 650         /* start after one second */
 651         t.tv_sec++;
 652                 while(1){
 653                         /* wait until next shot */
 654                         clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
 655                         sem_wait(&rps.thd_par_sem);             /*---take semaphore---*/
 656
 657                         /*old positions*/
 658                         rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
 659                         prepare_tx(tx);                 /*save the data to send*/
 660                         data = spi_read(tx);            /*exchange data*/
 661                         /*subtract initiate postion */
 662                         rps.tf_count++;
 663                         substractOffset(&data,&pocatek);
 664                         compSpeed();                    /*spocita rychlost*/
 665
 666                         if (!rps.index_ok){
 667                                 if (first){
 668                                         last_index=data.index_position;
 669                                         first=0;
 670                                 }else if (last_index!=data.index_position){
 671                                         rps.index_ok=1;
 672                                         comIndDist();   /*vypocet vzdalenosti indexu*/
 673                                 }
 674                         }else{ /*index je v poradku*/
 675                                 comIndDist();           /*vypocet vzdalenosti indexu*/
 676                         }
 677
 678                         /* pocitame sirku plneni podle potreb rizeni*/
 679                         if (rps.pos_reg_ena){           /*pozicni rizeni*/
 680                                 pos_pid();
 681                         }else if(rps.spd_reg_ena){      /*rizeni na rychlost*/
 682                                 spd_pid();
 683                         }
 684
 685                         /* sirka plneni prepoctena na jednotlive pwm */
 686                         if (rps.index_ok && rps.commutate){
 687                                 /*simple_ind_dist_commutator(rps.duty);*/
 688                                 /*sin_commutator(rps.duty);*/
 689                                 inv_trans_comm(rps.duty);
 690                                 inv_trans_comm_2(rps.duty);
 691                         }else if(!rps.index_ok && rps.commutate){
 692                                 simple_hall_commutator(rps.duty);
 693                         }
 694
 695                         /*zalogujeme hodnoty*/
 696                         if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
 697                                 makeLog();
 698                         }
 699
 700                         sem_post(&rps.thd_par_sem);             /*--post semaphore---*/
 701
 702                         /* calculate next shot */
 703                         t.tv_nsec += interval;
 704
 705                         while (t.tv_nsec >= NSEC_PER_SEC) {
 706                                 t.tv_nsec -= NSEC_PER_SEC;
 707                                 t.tv_sec++;
 708                         }
 709
 710                 }
 711 }
 712
 713
 714 /**
 715  * \brief Main function.
 716  */
 717
 718 int main(){
 719         pthread_t base_thread_id;
 720         clk_init();             /* inicializace gpio hodin */
 721         spi_init();             /* iniicializace spi*/
 722
 723         /*semafor pro detekci zpracovani parametru vlaken*/
 724         sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
 725         setup_environment();
 726
 727         base_thread_id=pthread_self();
 728
 729         /*main control loop*/
 730         create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
 731
 732         /*monitor of current state*/
 733         create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
 734
 735         /*wait for commands*/
 736         poll_cmd(&rps);
 737
 738         return 0;
 739 }