Changed naming convetions, pid modified

[fpga/rpi-motor-control.git] / pmsm-control / test_sw / main_pmsm.c

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 7f666621db489e1e7e7812289c701685c4b01718..56b926a11073d6f5a576be48533a6769d61eefca 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -24,8 +24,8 @@
 #include "pmsm_state.h"
 #include "cmd_proc.h"
 
-#define MAX_DUTY       128
-#define PID_P          0.1
+#define MAX_DUTY       170
+#define PID_P          0.3
 
 #define PRIOR_KERN     50
 #define PRIOR_HIGH     49
@@ -113,10 +113,10 @@ void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int3
        *beta=-sin*d+cos*q;
        return;
 }
-void alphabeta2pwm3(int32_t * pwma, int32_t * pwmb, int32_t *pwmc,int32_t alpha, int32_t beta){
-       *pwma=alpha;
-       *pwmb=-alpha/2+beta*887/1024;
-       *pwmc=-alpha/2-beta*887/1024;
+void alphabeta2pwm3(int32_t * ia, int32_t * ib, int32_t *ic,int32_t alpha, int32_t beta){
+       *ia=alpha;
+       *ib=-alpha/2+beta*887/1024;
+       *ic=-alpha/2-beta*887/1024;
 }
 /*
  * \brief
@@ -124,27 +124,21 @@ void alphabeta2pwm3(int32_t * pwma, int32_t * pwmb, int32_t *pwmc,int32_t alpha,
  *     ktera budou privedena na svorky motoru.
  *     Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
  */
-void compPhases(int32_t * pwm1, int32_t * pwm2, int32_t *pwm3, int32_t ua , int32_t ub){
-       int32_t u1,u2,u3;
+void transDelta(int32_t * u1, int32_t * u2, int32_t *u3, int32_t ub , int32_t uc){
        int32_t t;
 
        /*vypocte napeti tak, aby odpovidaly rozdily*/
-       u1=ua+ub;
-       u2=ua;
-       u3=0;
+       *u1=uc;
+       *u2=uc+ub;
+       *u3=0;
 
        /*najde zaporne napeti*/
-       t=min(u1,u2,u3);
-
-       /*dorovna zaporna napeti napeti na nulu*/
-       u1-=t;
-       u2-=t;
-       u3-=t;
-
-       *pwm1=u1;
-       *pwm2=u2;
-       *pwm3=u3;
+       t=min(*u1,*u2,*u3);
 
+       /*dorovna zaporna napeti na nulu*/
+       *u1-=t;
+       *u2-=t;
+       *u3-=t;
 }
 void inv_trans_comm(int duty){
        uint32_t pos;
@@ -176,24 +170,32 @@ void inv_trans_comm_2(int duty){
        uint32_t pos;
        int32_t sin, cos;
        int32_t alpha, beta;
-       int32_t pwma,pwmb,pwmc;
-       int32_t pwm1,pwm2,pwm3;
+       int32_t ua,ub,uc;
+       int32_t ia,ib,ic;
+       int32_t u1,u2,u3;
        pos=rps.index_dist;
-       /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
-       pos+=460;
-       /*use it as cyclic 32-bit logic*/
+
+       pos+=960; /*zarovnani faze 'a' s osou 'alpha'*/
+
+       /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
        pos*=4294967;
        pxmc_sincos_fixed_inline(&sin, &cos, pos, 16);
+
        dq2alphabeta(&alpha, &beta,0,duty, sin, cos);
        alpha>>=16;
        beta>>=16;
-       alphabeta2pwm3(&pwma,&pwmb, &pwmc,alpha,beta);
 
-       compPhases(&pwm1,&pwm2, &pwm3,pwma,pwmb);
+       alphabeta2pwm3(&ia,&ib, &ic,alpha,beta);
+
+       ua=ia;
+       ub=ib;
+       uc=ic;
+
+       transDelta(&u1,&u2, &u3,ub,uc);
 
-       rps.pwm1=(uint16_t)pwm1;
-       rps.pwm2=(uint16_t)pwm2;
-       rps.pwm3=(uint16_t)pwm3;
+       rps.pwm1=(uint16_t)u1;
+       rps.pwm2=(uint16_t)u2;
+       rps.pwm3=(uint16_t)u3;
 }
 void prepare_tx(uint8_t * tx){