#include <unistd.h> /*usleep*/
#include <pthread.h> /*threads*/
#include <time.h> /*nanosleep*/
+#include <string.h>
#include "rpin.h" /*gpclk*/
#include "rp_spi.h" /*spi*/
#include "pmsm_state.h"
#include "cmd_proc.h"
-#define MAX_DUTY 128
-#define PID_P 0.1
+
+#define PID_P 0.3
+#define PID_P_S 0.7
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
.index_dist=0, /* distance to index position */
.index_ok=0,
.tf_count=0, /*number of transfer*/
- .desired_pos=0 /* desired position */
+ .desired_pos=0, /* desired position */
+ .pos_reg_ena=0,
+ .desired_spd=0,
+ .spd_reg_ena=0,
+ .old_pos={0}
};
/**
inline void clk_disable(){
termClock(0);
}
-
-/**
- * \brief Signal handler pro Ctrl+C
- */
-void appl_stop(){
- spi_disable();
- clk_disable();
- /*muzeme zavrit semafor*/
- sem_destroy(&rps.thd_par_sem);
- printf("\nprogram bezpecne ukoncen\n");
-}
-
-void substractOffset(struct rpi_in* data, struct rpi_in* offset){
- data->pozice_raw=data->pozice;
- data->pozice-=offset->pozice;
- return;
-}
/*
* \brief
- * Transformace pro uhel pocitany po smeru hodinovych rucicek
+ * Count minimum value of three numbers.
+ * Input values must be in range <-2^28;2^28>.
*/
-void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int32_t cos){
- *alpha=cos*d+sin*q;
- *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 inv_trans_comm(int duty){
- uint32_t pos;
- int32_t sin, cos;
- int32_t alpha, beta;
- int32_t pwma,pwmb,pwmc;
- pos=rps.index_dist;
- /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
- pos+=717;
- /*use it as cyclic 32-bit logic*/
- 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);
+int32_t min(int32_t x, int32_t y, int32_t z){
+ int32_t diff,sign;
- if (pwma<0) pwma=0;
- if (pwmb<0) pwmb=0;
- if (pwmc<0) pwmc=0;
+ diff=x-y; /*rozdil*/
+ sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze y je vetsi*/
+ x=y+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
+ diff=x-z; /*rozdil*/
+ sign=(*((uint32_t*)&diff))>>31; /*znamenko -> detekuje, ze z je vetsi*/
+ x=z+sign*diff; /*ulozime mensi cislo, pokud sign>0, pak diff<0 */
- rps.pwm1=(uint16_t)pwma;
- rps.pwm3=(uint16_t)pwmb;
- rps.pwm2=(uint16_t)pwmc;
+ return x;
}
-
+/*
+ * \brief
+ * Pripravi psi buffer
+ */
void prepare_tx(uint8_t * tx){
/*Data format:
}
+
+
+/**
+ * \brief Signal handler pro Ctrl+C
+ */
+void appl_stop(){
+ uint8_t tx[16];
+ sem_wait(&rps.thd_par_sem);
+
+ memset(tx,0,16*sizeof(int));
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ prepare_tx(tx); /*save the data to send*/
+ data=spi_read(tx);
+
+ spi_disable();
+ clk_disable();
+ /*muzeme zavrit semafor*/
+ sem_destroy(&rps.thd_par_sem);
+ printf("\nprogram bezpecne ukoncen\n");
+}
+
+void substractOffset(struct rpi_in* data, struct rpi_in* offset){
+ data->pozice=data->pozice_raw-offset->pozice_raw;
+ return;
+}
+/*
+ * \brief
+ * Transformace pro uhel pocitany po smeru hodinovych rucicek
+ */
+void dq2alphabeta(int32_t *alpha, int32_t *beta, int d, int q, int32_t sin, int32_t cos){
+ *alpha=cos*d+sin*q;
+ *beta=-sin*d+cos*q;
+ return;
+}
+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
+ * Preocita napeti na jednotlivych civkach na napeti,
+ * ktera budou privedena na svorky motoru.
+ * Tedy na A(yel)-pwm1, B(red)-pwm2, C(blk)-pwm3
+ */
+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=uc;
+ *u2=uc+ub;
+ *u3=0;
+
+ /*najde zaporne napeti*/
+ 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;
+ int32_t sin, cos;
+ int32_t alpha, beta;
+ int32_t pwma,pwmb,pwmc;
+ pos=rps.index_dist;
+ /*melo by byt urceno co nejpresneji, aby faze 'a' splyvala s osou 'alpha'*/
+ pos+=717;
+ /*use it as cyclic 32-bit logic*/
+ 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);
+
+ if (pwma<0) pwma=0;
+ if (pwmb<0) pwmb=0;
+ if (pwmc<0) pwmc=0;
+
+
+ rps.t_pwm1=(uint16_t)pwma;
+ rps.t_pwm3=(uint16_t)pwmb;
+ rps.t_pwm2=(uint16_t)pwmc;
+}
+
+void inv_trans_comm_2(int duty){
+ uint32_t pos;
+ int32_t sin, cos;
+ int32_t alpha, beta;
+ int32_t ua,ub,uc;
+ int32_t ia,ib,ic;
+ int32_t u1,u2,u3;
+ pos=rps.index_dist;
+
+ 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(&ia,&ib, &ic,alpha,beta);
+
+ ua=ia;
+ ub=ib;
+ uc=ic;
+
+ transDelta(&u1,&u2, &u3,ub,uc);
+
+ rps.pwm1=(uint16_t)u1;
+ rps.pwm2=(uint16_t)u2;
+ rps.pwm3=(uint16_t)u3;
+}
+
/**
* Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
*/
* Now only with P-part so that the error doesnt go to zero.
* TODO: add anti-wind up and I and D parts
*/
-inline void pid(){
+inline void pos_pid(){
int duty_tmp;
duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
if (duty_tmp>MAX_DUTY){
rps.duty = duty_tmp;
}
}
+/*
+ * \brief
+ * Very simple PID regulator.
+ * Now only with P-part so that the error doesnt go to zero.
+ * FIXME: make better
+ */
+inline void spd_pid(){
+ int duty_tmp;
+ duty_tmp = PID_P_S*(rps.desired_spd - rps.speed);
+ if (duty_tmp>MAX_DUTY){
+ rps.duty=MAX_DUTY;
+ }else if (duty_tmp<-MAX_DUTY){
+ rps.duty=-MAX_DUTY;
+ }else{
+ rps.duty = duty_tmp;
+ }
+}
+
+/*
+ * \brief
+ * Computate speed.
+ */
+void compSpeed(){
+ signed long int spd;
+ spd=rps.spi_dat->pozice-rps.old_pos[rps.tf_count%OLD_POS_NUM];
+ rps.speed=(int32_t)spd;
+}
+
/*
* \brief
* Feedback loop.
+ * TODO: replace bunch of 'IFs' with Object-like pattern
*/
void * read_data(void* param){
int i;
/* wait until next shot */
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
sem_wait(&rps.thd_par_sem); /*---take semaphore---*/
+
+ /*old positions*/
+ rps.old_pos[rps.tf_count%OLD_POS_NUM]=rps.spi_dat->pozice;
prepare_tx(tx); /*save the data to send*/
data = spi_read(tx); /*exchange data*/
/*subtract initiate postion */
rps.tf_count++;
substractOffset(&data,&pocatek);
- comIndDist();
+ compSpeed(); /*spocita rychlost*/
+
if (!rps.index_ok){
if (first){
last_index=data.index_position;
first=0;
}else if (last_index!=data.index_position){
rps.index_ok=1;
+ comIndDist(); /*vypocet vzdalenosti indexu*/
}
+ }else{ /*index je v poradku*/
+ comIndDist(); /*vypocet vzdalenosti indexu*/
}
- pid();
+
+ /* pocitame sirku plneni podle potreb rizeni*/
+ if (rps.pos_reg_ena){ /*pozicni rizeni*/
+ pos_pid();
+ }else if(rps.spd_reg_ena){ /*rizeni na rychlost*/
+ spd_pid();
+ }
+
+ /* sirka plneni prepoctena na jednotlive pwm */
if (rps.index_ok && rps.commutate){
/*simple_ind_dist_commutator(rps.duty);*/
/*sin_commutator(rps.duty);*/
inv_trans_comm(rps.duty);
+ inv_trans_comm_2(rps.duty);
}else if(!rps.index_ok && rps.commutate){
simple_hall_commutator(rps.duty);
}
}
-
/**
* \brief Main function.
*/
projects / fpga / rpi-motor-control.git / blobdiff