#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 170
+
#define PID_P 0.3
+#define PID_P_S 0.9 /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
+#define PID_I_S 0.01
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
.desired_pos=0, /* desired position */
.pos_reg_ena=0,
.desired_spd=0,
- .spd_reg_ena=0
+ .spd_reg_ena=0,
+ .old_pos={0},
+ .spd_err_sum=0
};
/**
return x;
}
+/*
+ * \brief
+ * Pripravi psi buffer
+ */
+void prepare_tx(uint8_t * tx){
+
+ /*Data format:
+ * tx[4] - bity 95 downto 88 - bits that are sent first
+ * tx[5] - bity 87 downto 80
+ * tx[6] - bity 79 downto 72
+ * tx[7] - bity 71 downto 64
+ * tx[8] - bity 63 downto 56
+ * tx[9] - bity 55 downto 48
+ * tx[10] - bity 47 downto 40
+ * tx[11] - bity 39 downto 32
+ * tx[12] - bity 31 downto 24
+ * tx[13] - bity 23 downto 16
+ * tx[14] - bity 15 downto 8
+ * tx[15] - bity 7 downto 0
+ *
+ * bit 95 - ADC reset
+ * bit 94 - enable PWM1
+ * bit 93 - enable PWM2
+ * bit 92 - enable PWM3
+ * bit 91 - shutdown1
+ * bit 90 - shutdown2
+ * bit 89 - shutdown3
+ * .
+ * .
+ * Unused
+ * .
+ * .
+ * bits 47 .. 32 - match PWM1
+ * bits 31 .. 16 - match PWM2
+ * bits 15 .. 0 - match PWM3
+ */
+
+
+ uint16_t tmp;
+
+ /* keep the 11-bit cap*/
+
+ if (rps.pwm1>2047) rps.pwm1=2047;
+ if (rps.pwm2>2047) rps.pwm2=2047;
+ if (rps.pwm3>2047) rps.pwm3=2047;
+
+ tx[0]=rps.test; /*bit 94 - enable PWM1*/
+
+ /*now we have to switch the bytes due to endianess */
+ /* ARMv6 & ARMv7 instructions are little endian */
+ /*pwm1*/
+ tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
+ tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
+
+ /*pwm2*/
+ tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
+ tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
+
+ /*pwm3*/
+ tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
+ tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
+
+
+}
+
/**
* \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*/
}
void substractOffset(struct rpi_in* data, struct rpi_in* offset){
- data->pozice_raw=data->pozice;
- data->pozice-=offset->pozice;
+ data->pozice=data->pozice_raw-offset->pozice_raw;
return;
}
/*
rps.pwm2=(uint16_t)u2;
rps.pwm3=(uint16_t)u3;
}
-void prepare_tx(uint8_t * tx){
-
- /*Data format:
- * tx[4] - bity 95 downto 88 - bits that are sent first
- * tx[5] - bity 87 downto 80
- * tx[6] - bity 79 downto 72
- * tx[7] - bity 71 downto 64
- * tx[8] - bity 63 downto 56
- * tx[9] - bity 55 downto 48
- * tx[10] - bity 47 downto 40
- * tx[11] - bity 39 downto 32
- * tx[12] - bity 31 downto 24
- * tx[13] - bity 23 downto 16
- * tx[14] - bity 15 downto 8
- * tx[15] - bity 7 downto 0
- *
- * bit 95 - ADC reset
- * bit 94 - enable PWM1
- * bit 93 - enable PWM2
- * bit 92 - enable PWM3
- * bit 91 - shutdown1
- * bit 90 - shutdown2
- * bit 89 - shutdown3
- * .
- * .
- * Unused
- * .
- * .
- * bits 47 .. 32 - match PWM1
- * bits 31 .. 16 - match PWM2
- * bits 15 .. 0 - match PWM3
- */
-
-
- uint16_t tmp;
-
- /* keep the 11-bit cap*/
- if (rps.pwm1>2047) rps.pwm1=2047;
- if (rps.pwm2>2047) rps.pwm2=2047;
- if (rps.pwm3>2047) rps.pwm3=2047;
-
- tx[0]=rps.test; /*bit 94 - enable PWM1*/
-
- /*now we have to switch the bytes due to endianess */
- /* ARMv6 & ARMv7 instructions are little endian */
- /*pwm1*/
- tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
- tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
-
- /*pwm2*/
- tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
- tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
-
- /*pwm3*/
- tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
- tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
-
-
-}
/**
* Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
*/
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;
+ int error;
+ error=rps.desired_spd - rps.speed;
+ rps.spd_err_sum+=error;
+ duty_tmp = PID_P_S*error+PID_I_S*rps.spd_err_sum;
+ 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.
/* 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);
+ compSpeed(); /*spocita rychlost*/
if (!rps.index_ok){
if (first){
}else{ /*index je v poradku*/
comIndDist(); /*vypocet vzdalenosti indexu*/
}
+
/* pocitame sirku plneni podle potreb rizeni*/
- if (rps.pos_reg_ena){
+ 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);*/
}
-
/**
* \brief Main function.
*/
projects / fpga / rpi-motor-control.git / blobdiff