#include "pmsm_state.h"
#include "cmd_proc.h"
-#define PRUM_PROUD 2061
-#define PRUM_SOUC 6183
#define MAX_DUTY 128
#define PID_P 0.1
struct rpi_in data;
-
+struct rpi_state rps={
+ .spi_dat=&data,
+ .test=0,
+ .pwm1=0,.pwm2=0, .pwm3=0,
+ .pwm1=0, .t_pwm2=0, .t_pwm3=0,
+ .commutate=0,
+ .duty=0, /* duty cycle of pwm */
+ .index_dist=0, /* distance to index position */
+ .index_ok=0,
+ .tf_count=0, /*number of transfer*/
+ .desired_pos=0 /* desired position */
+};
/**
* \brief Initilizes GPCLK.
inline void clk_disable(){
termClock(0);
}
+/*
+ * \brief
+ * Count minimum value of three numbers.
+ * Input values must be in range <-2^28;2^28>.
+ */
+int32_t min(int32_t x, int32_t y, int32_t z){
+ int32_t diff,sign;
+
+ 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 */
+
+ return x;
+}
/**
* \brief Signal handler pro Ctrl+C
return;
}
/*
- * pocita procentualni odchylku od prumerneho proudu
+ * \brief
+ * Transformace pro uhel pocitany po smeru hodinovych rucicek
*/
-float diff_p(float value){
- return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
+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;
}
-/*
- * pocita procentualni odchylku od prumerneho souctu proudu
- */
-float diff_s(float value){
- return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
+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;
}
/*
- * tiskne potrebna data
+ * \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 printData(){
- struct rpi_in data_p;
- struct rpi_state s; /*state*/
- float cur0, cur1, cur2;
- int i;
- /* copy the data */
- sem_wait(&rps.thd_par_sem);
- data_p = data;
- s=rps;
- sem_post(&rps.thd_par_sem);
-
- if (data_p.adc_m_count){
- cur0=data_p.ch0/data_p.adc_m_count;
- cur1=data_p.ch1/data_p.adc_m_count;
- cur2=data_p.ch2/data_p.adc_m_count;
- }
- for (i = 0; i < 16; i++) {
- if (!(i % 6))
- puts("");
- printf("%.2X ", data_p.debug_rx[i]);
- }
- puts("");
- printf("\npozice=%d\n",(int32_t)data_p.pozice);
- printf("chtena pozice=%d\n",s.desired_pos);
- printf("transfer count=%u\n",s.tf_count);
- printf("raw_pozice=%u\n",data_p.pozice_raw);
- printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
- printf("index position=%u\n",data_p.index_position);
- printf("hal1=%d, hal2=%d, hal3=%d\n",data_p.hal1,data_p.hal2,data_p.hal3);
- printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&s.test),!!(0x20&s.test),!!(0x10&s.test));
- printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&s.test),!!(0x04&s.test),!!(0x02&s.test));
- printf("PWM1=%u(L.s.)\n",s.pwm1);
- printf("PWM2=%u(L.s.)\n",s.pwm2);
- printf("PWM3=%u(L.s.)\n",s.pwm3);
- printf("distance to index=%u\n",s.index_dist);
- printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_pwm3);
- printf("Pocet namerenych proudu=%u\n",data_p.adc_m_count);
- printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data_p.ch1,cur1,diff_p(cur1));
- printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch2,cur2,diff_p(cur2));
- printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data_p.ch0,cur0,diff_p(cur0));
- printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
- printf("duty=%d\n",s.duty);
- if (s.index_ok) printf("index ok\n");
- if (s.commutate) printf("commutation in progress\n");
+void compPhases(int32_t * pwm1, int32_t * pwm2, int32_t *pwm3, int32_t ua , int32_t ub){
+ int32_t u1,u2,u3;
+ int32_t t;
+
+ /*vypocte napeti tak, aby odpovidaly rozdily*/
+ u1=ua+ub;
+ u2=ua;
+ 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;
+
+}
+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 pwma,pwmb,pwmc;
+ int32_t pwm1,pwm2,pwm3;
+ 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*=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);
+
+ rps.pwm1=(uint16_t)pwm1;
+ rps.pwm2=(uint16_t)pwm2;
+ rps.pwm3=(uint16_t)pwm3;
}
void prepare_tx(uint8_t * tx){
*/
void * pos_monitor(void* param){
while(1){
- printData();
+ printData(&rps);
usleep(1000000); /*1 Hz*/
}
return (void*)0;
pid();
if (rps.index_ok && rps.commutate){
/*simple_ind_dist_commutator(rps.duty);*/
- sin_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);
}
projects / fpga / rpi-motor-control.git / blobdiff