3 * \author Martin Prudek
4 * \brief Mainfile pro pmsm control.
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*/
19 #include "rpin.h" /*gpclk*/
20 #include "rp_spi.h" /*spi*/
21 #include "misc.h" /*structure for priorities*/
24 #define PRUM_PROUD 2061
25 #define PRUM_SOUC 6183
31 #define THREAD_SHARED 0
32 #define INIT_VALUE 0 /*init value for semaphor*/
34 struct sigaction sighnd; /*struktura pro signal handler*/
38 uint16_t pwm1, pwm2, pwm3;
42 * \brief Initilizes GPCLK.
46 initialise(); /*namapovani gpio*/
47 initClock(PLLD_500_MHZ, 10, 0);
48 gpioSetMode(4, FSEL_ALT0);
52 * \brief Terminates GPCLK.
55 inline void clk_disable(){
60 * \brief Signal handler pro Ctrl+C
65 printf("\nprogram bezpecne ukoncen\n");
69 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
70 data->pozice-=offset->pozice;
74 * pocita procentualni odchylku od prumerneho proudu
76 float diff_p(int16_t value){
77 return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
80 * pocita procentualni odchylku od prumerneho souctu proudu
82 float diff_s(int16_t value){
83 return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
86 * tiskne potrebna data
88 void printData(struct rpi_in data){
89 printf("\npozice=%d\n",(int32_t)data.pozice);
90 printf("hal1=%d, hal2=%d, hal3=%d\n",data.hal1,data.hal2,data.hal3);
91 printf("en1=%d, en2=%d, en3=%d (Predchozi hodnoty)\n",data.en1,data.en2,data.en3);
92 printf("shdn1=%d, shdn2=%d, shdn3=%d (P.h.)\n",data.shdn1,data.shdn2,data.shdn3);
93 printf("PWM1(10d5)b54=%d %d %d %d %d %d=b49(P.h.)\n",data.b54,data.b53,data.b52,data.b51,data.b50,data.b49);
94 printf("PWM2(10d4)b48=%d %d %d %d %d %d %d=b42(P.h.)\n",data.b48,data.b47,data.b46,data.b45,data.b44,data.b43,data.b42);
95 printf("PWM3(10d5)b41=%d %d %d %d %d %d=b36(P.h.)\n",data.b41,data.b40,data.b39,data.b38,data.b37,data.b36);
96 printf("(pwm1)proud1 (ch1)=%d (%2.2f%%) %x\n",data.ch1,diff_p(data.ch1),(uint16_t)data.ch1);
97 printf("(pwm2)proud2 (ch2)=%d (%2.2f%%) %x\n",data.ch2,diff_p(data.ch2),(uint16_t)data.ch2);
98 printf("(pwm3)proud3 (ch0)=%d (%2.2f%%) %x\n",data.ch0,diff_p(data.ch0),(uint16_t)data.ch0);
99 printf("soucet proudu=%d (%2.2f%%)\n",data.ch0+data.ch1+data.ch2,diff_s(data.ch0+data.ch1+data.ch2));
101 void prepare_tx(uint8_t * tx){
104 * tx[0] - bity 95 downto 88 - bits that are sent first
105 * tx[1] - bity 87 downto 80
106 * tx[2] - bity 79 downto 72
107 * tx[3] - bity 71 downto 64
108 * tx[4] - bity 63 downto 56
109 * tx[5] - bity 55 downto 48
110 * tx[6] - bity 47 downto 40
111 * tx[7] - bity 39 downto 32
112 * tx[8] - bity 31 downto 24
113 * tx[9] - bity 23 downto 16
114 * tx[10] - bity 15 downto 8
115 * tx[11] - bity 7 downto 0
118 * bit 94 - enable PWM1
119 * bit 93 - enable PWM2
120 * bit 92 - enable PWM3
127 * bits 34 .. 24 - match PWM1
128 * bits 23 .. 13 - match PWM2
130 * bits 10 .. 0 - match PWM3
137 if (pwm1>2047) pwm1=2047;
138 if (pwm2>2047) pwm2=2047;
139 if (pwm3>2047) pwm3=2047;
141 tx[0]=test; /*bit 94 - enable PWM1*/
144 tx[7]=(tx[7] & 0xF8) | (0x07 & ((uint8_t*)&pwm1)[1]); /*MSB*/
145 tx[8]=((uint8_t*)&pwm1)[0]; /*LSB*/
150 tx[9]=((uint8_t*)&tmp)[1]; /*MSB*/
151 tx[10]=(tx[10] & 0x1F) | (0xE0 & ((uint8_t*)&tmp)[0]); /*LSB*/
154 tx[10]=(tx[10] & 0xF8) | (0x07 & ((uint8_t*)&pwm3)[1]); /*MSB*/
155 tx[11]=((uint8_t*)&pwm3)[0]; /*LSB*/
160 * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
162 void * pos_monitor(void* param){
163 set_priority(param); /*set priority*/
166 usleep(1000000); /*1 Hz*/
172 * Funkce pravidelne vycita data z motoru
174 void * read_data(void* param){
176 struct rpi_in pocatek;
177 uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
178 set_priority(param); /*set priority*/
179 pocatek = spi_read(tx);
183 substractOffset(&data,&pocatek);
184 usleep(1000); /*1kHz*/
189 * \brief Main function.
195 /*nastaveni priorit vlaken*/
196 struct thread_param tsp;
197 tsp.sch_policy = SCHED_FIFO;
199 /*nastaveni signalu pro vypnuti pomoci Ctrl+C*/
200 sighnd.sa_handler=&sighnd_fnc;
201 sigaction(SIGINT, &sighnd, NULL );
203 clk_init(); /* inicializace gpio hodin */
204 spi_init(); /* iniicializace spi*/
206 /*semafor pro detekci zpracovani parametru vlaken*/
207 sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
210 pthread_t tid; /*identifikator vlakna*/
211 pthread_attr_t attr; /*atributy vlakna*/
212 pthread_attr_init(&attr); /*inicializuj implicitni atributy*/
216 /*ziskavani dat z motoru*//*vysoka priorita*/
217 tsp.sch_prior = PRIOR_HIGH;
218 pthread_create(&tid, &attr, read_data, (void*)&tsp);
220 /*vypisovani lokalni pozice*//*nizka priorita*/
221 tsp.sch_prior = PRIOR_LOW;
222 pthread_create(&tid, &attr, pos_monitor, (void*)&tsp);
225 /*muzeme zavrit semafor*/
226 sem_destroy(&thd_par_sem);
230 printf("volba=%x\n",tmp);