#include <sched.h> /*sheduler*/
#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 "misc.h" /*structure for priorities*/
+#include "pxmc_sin_fixed.h" /*to test sin commutation */
+#include "pmsm_state.h"
+#include "cmd_proc.h"
+#include "controllers.h"
+
-#define PRUM_PROUD 2061
-#define PRUM_SOUC 6183
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
#define PRIOR_LOW 20
#define THREAD_SHARED 0
-#define INIT_VALUE 0 /*init value for semaphor*/
+#define INIT_VALUE 1 /*init value for semaphor*/
-struct sigaction sighnd; /*struktura pro signal handler*/
-struct rpi_in data;
-uint8_t test;
-uint16_t pwm1, pwm2, pwm3;
+#define NSEC_PER_SEC (1000000000) /* The number of nsecs per sec. */
+struct rpi_in data;
+struct rpi_state rps={
+ //.MAX_DUTY=170,
+ .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 */
+ .pos_reg_ena=0,
+ .desired_spd=0,
+ .spd_reg_ena=0,
+ .old_pos={0},
+ .spd_err_sum=0,
+ .log_col_count=0, /* pocet radku zaznamu */
+ .log_col=0,
+ .doLogs=0,
+ .alpha_offset=960
+};
+
/**
* \brief Initilizes GPCLK.
*/
inline void clk_disable(){
termClock(0);
}
-
-/**
- * \brief Signal handler pro Ctrl+C
+/*
+ * \brief
+ * Count minimum value of three numbers.
+ * Input values must be in range <-2^28;2^28>.
*/
-void sighnd_fnc(){
- spi_disable();
- clk_disable();
- printf("\nprogram bezpecne ukoncen\n");
- exit(0);
-}
+int32_t min(int32_t x, int32_t y, int32_t z){
+ int32_t diff,sign;
-void substractOffset(struct rpi_in* data, struct rpi_in* offset){
- data->pozice-=offset->pozice;
- return;
+ 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;
}
+
/*
- * pocita procentualni odchylku od prumerneho proudu
+ * \brief
+ * Free logs
*/
-float diff_p(int16_t value){
- return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
+void freeLogs(){
+ int r;
+ if (rps.log_col_count){
+ for (r=0;r<LOG_ROWS;r++){
+ free(rps.logs[r]);
+ }
+ }
+ rps.log_col_count=0;
+ rps.doLogs=0;
}
+
/*
- * pocita procentualni odchylku od prumerneho souctu proudu
+ * \brief
+ * Makes log.
*/
-float diff_s(int16_t value){
- return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
+void makeLog(){
+ int r;
+ if (rps.log_col==MAX_LOGS-1){
+ rps.doLogs=0;
+ return;
+ }
+ rps.logs[0][rps.log_col]=(int)rps.tf_count;
+ rps.logs[1][rps.log_col]=(int)rps.spi_dat->pozice;
+
+ rps.logs[2][rps.log_col]=(int)rps.pwm1;
+ rps.logs[3][rps.log_col]=(int)rps.pwm2;
+ rps.logs[4][rps.log_col]=(int)rps.pwm3;
+ rps.logs[5][rps.log_col]=rps.duty;
+
+ rps.logs[6][rps.log_col]=rps.desired_spd;
+ rps.logs[7][rps.log_col]=rps.speed;
+
+ rps.logs[8][rps.log_col]=(int)(rps.spi_dat->ch1/rps.spi_dat->adc_m_count);
+ rps.logs[9][rps.log_col]=(int)(rps.spi_dat->ch2/rps.spi_dat->adc_m_count);
+ rps.logs[10][rps.log_col]=(int)(rps.spi_dat->ch0/rps.spi_dat->adc_m_count);
+
+ rps.log_col++;
+ /*
+ if (rps.log_col==rps.log_col_count-1){
+ rps.log_col_count*=2;
+ rps.log_col_count%=MAX_LOGS;
+ for (r=0;r<LOG_ROWS;r++){
+ rps.logs[r]=realloc(rps.logs[r],rps.log_col_count*sizeof(int));
+ if (rps.logs[r]==NULL){
+ rps.doLogs=0;
+ rps.error=1;
+ }
+ }
+ }
+ */
}
+
/*
- * tiskne potrebna data
- */
-void printData(struct rpi_in data){
- printf("\npozice=%d\n",(int32_t)data.pozice);
- printf("hal1=%d, hal2=%d, hal3=%d\n",data.hal1,data.hal2,data.hal3);
- printf("en1=%d, en2=%d, en3=%d (Predchozi hodnoty)\n",data.en1,data.en2,data.en3);
- printf("shdn1=%d, shdn2=%d, shdn3=%d (P.h.)\n",data.shdn1,data.shdn2,data.shdn3);
- 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);
- 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);
- 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);
- printf("(pwm1)proud1 (ch1)=%d (%2.2f%%) %x\n",data.ch1,diff_p(data.ch1),(uint16_t)data.ch1);
- printf("(pwm2)proud2 (ch2)=%d (%2.2f%%) %x\n",data.ch2,diff_p(data.ch2),(uint16_t)data.ch2);
- printf("(pwm3)proud3 (ch0)=%d (%2.2f%%) %x\n",data.ch0,diff_p(data.ch0),(uint16_t)data.ch0);
- printf("soucet proudu=%d (%2.2f%%)\n",data.ch0+data.ch1+data.ch2,diff_s(data.ch0+data.ch1+data.ch2));
-}
+ * \brief
+ * Pripravi psi buffer
+ */
void prepare_tx(uint8_t * tx){
/*Data format:
- * tx[0] - bity 95 downto 88 - bits that are sent first
- * tx[1] - bity 87 downto 80
- * tx[2] - bity 79 downto 72
- * tx[3] - bity 71 downto 64
- * tx[4] - bity 63 downto 56
- * tx[5] - bity 55 downto 48
- * tx[6] - bity 47 downto 40
- * tx[7] - bity 39 downto 32
- * tx[8] - bity 31 downto 24
- * tx[9] - bity 23 downto 16
- * tx[10] - bity 15 downto 8
- * tx[11] - bity 7 downto 0
+ * 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 89 - shutdown3
* .
* .
+ * Unused
+ * .
* .
- * bits 34 .. 24 - match PWM1
- * bits 23 .. 13 - match PWM2
- * bit 11,12 - Unused
- * bits 10 .. 0 - match PWM3
+ * bits 47 .. 32 - match PWM1
+ * bits 31 .. 16 - match PWM2
+ * bits 15 .. 0 - match PWM3
*/
uint16_t tmp;
- /* keep the cap*/
- if (pwm1>2047) pwm1=2047;
- if (pwm2>2047) pwm2=2047;
- if (pwm3>2047) pwm3=2047;
+ /* keep the 11-bit cap*/
- tx[0]=test; /*bit 94 - enable PWM1*/
+ 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[7]=(tx[7] & 0xF8) | (0x07 & ((uint8_t*)&pwm1)[1]); /*MSB*/
- tx[8]=((uint8_t*)&pwm1)[0]; /*LSB*/
+ tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
+ tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
/*pwm2*/
- tmp=pwm2;
- tmp<<=5;
- tx[9]=((uint8_t*)&tmp)[1]; /*MSB*/
- tx[10]=(tx[10] & 0x1F) | (0xE0 & ((uint8_t*)&tmp)[0]); /*LSB*/
+ tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
+ tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
/*pwm3*/
- tx[10]=(tx[10] & 0xF8) | (0x07 & ((uint8_t*)&pwm3)[1]); /*MSB*/
- tx[11]=((uint8_t*)&pwm3)[0]; /*LSB*/
+ 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();
+ freeLogs();
+ /*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+=rps.alpha_offset; /*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
*/
void * pos_monitor(void* param){
- set_priority(param); /*set priority*/
while(1){
- printData(data);
+ printData(&rps);
usleep(1000000); /*1 Hz*/
}
return (void*)0;
}
+/*
+ * \brief
+ * Multiplication of 11 bit
+ * Zaporne vysledky prvede na nulu.
+ */
+inline uint16_t mult_cap(int32_t s,int d){
+ int j;
+ int res=0;
+ for(j=0;j!=11;j++){
+ /* multiplicate as if maximum sinus value was unity */
+ res+=(!(s & 0x10000000))*(((1 << j) & s)>>j)*(d>>(10-j));
+ }
+ return res;
+}
+inline
+int sin_commutator(int duty){
+ #define DEGREE_60 715827883
+ #define DEGREE_120 1431655765
+ #define DEGREE_180 2147483648
+ #define DEGREE_240 2863311531
+ #define DEGREE_300 3579139413
+ uint32_t j,pos;
+ int32_t sin;
+ pos=rps.index_dist;
+ int32_t pwm;
+ /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
+ pos+=38;
+ /*use it as cyclic 32-bit logic*/
+ pos*=4294967;
+ if (duty>=0){ /*clockwise rotation*/
+ /* 1st phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ rps.pwm1=(uint16_t)pwm;
+
+ /* 2nd phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ rps.pwm2=(uint16_t)pwm;
+
+ /* 3rd phase */
+ sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ rps.pwm3=(uint16_t)pwm;
+ }else{
+ duty=-duty;
+
+ /* 1st phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ rps.pwm1=(uint16_t)pwm;
+
+ /* 2nd phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ rps.pwm2=(uint16_t)pwm;
+
+ /* 3rd phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ rps.pwm3=(uint16_t)pwm;
+ }
+ return 0;
+}
+/*
+ * \brief
+ * Test function to be placed in controll loop.
+ * Switches PWM's at point where they produce same force.
+ * This points are found thanks to IRC position,
+ */
+inline
+void simple_ind_dist_commutator(int duty){
+ if (duty>=0){ /* clockwise - so that position increase */
+ /* pwm3 */
+ if ((rps.index_dist>=45 && rps.index_dist<=373) ||
+ (rps.index_dist>=1048 && rps.index_dist<=1377)){
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=duty;
+ /* pwm1 */
+ }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
+ (rps.index_dist>=1377 && rps.index_dist<=1711)){
+ rps.pwm1=duty;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ /* pwm2 */
+ }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
+ (rps.index_dist>=711 && rps.index_dist<=1048) ||
+ (rps.index_dist>=1711 && rps.index_dist<=1999)){
+ rps.pwm1=0;
+ rps.pwm2=duty;
+ rps.pwm3=0;
+ }
+ }else{ /*counter-clockwise - position decrease */
+ /* pwm3 */
+ if ((rps.index_dist>=544 && rps.index_dist<=881) ||
+ (rps.index_dist>=1544 && rps.index_dist<=1878)){
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=-duty;
+ /* pwm1 */
+ }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
+ (rps.index_dist>=881 && rps.index_dist<=1210) ||
+ (rps.index_dist>=1878 && rps.index_dist<=1999)){
+ rps.pwm1=-duty;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ /* pwm2 */
+ }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
+ (rps.index_dist>=1210 && rps.index_dist<=1544)){
+ rps.pwm1=0;
+ rps.pwm2=-duty;
+ rps.pwm3=0;
+ }
+ }
+}
+/*
+ * \brief
+ * Test function to be placed in controll loop.
+ * Switches PWM's at point where they produce same force
+ */
+inline void simple_hall_commutator(int duty){
+ if (duty>=0){ /* clockwise - so that position increase */
+ /* pwm3 */
+ if (data.hal2 && !data.hal3){
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=duty;
+ /* pwm1 */
+ }else if (data.hal1 && !data.hal2){
+ rps.pwm1=duty;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ /* pwm2 */
+ }else if (!data.hal1 && data.hal3){
+ rps.pwm1=0;
+ rps.pwm2=duty;
+ rps.pwm3=0;
+ }
+ }else{ /*counter-clockwise - position decrease */
+ /* pwm3 */
+ if (!data.hal2 && data.hal3){
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=-duty;
+ /* pwm1 */
+ }else if (!data.hal1 && data.hal2){
+ rps.pwm1=-duty;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ /* pwm2 */
+ }else if (data.hal1 && !data.hal3){
+ rps.pwm1=0;
+ rps.pwm2=-duty;
+ rps.pwm3=0;
+ }
+ }
+}
/**
- * Funkce pravidelne vycita data z motoru
+ * \brief
+ * Computation of distance to index.
+ *
+ * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
+ * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
+ * to je 3999 bodu
+ * =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
+ * signalu indexu
+ */
+void comIndDist(){
+ uint16_t pos = 0x0FFF & data.pozice_raw;
+ uint16_t dist;
+ uint16_t index = data.index_position;
+
+ if (index<1999){ /*index e<0,1998> */
+ if (pos<index){ /*pozice e<0,index-1> */
+ /*proti smeru h.r. od indexu*/
+ dist=pos+2000-index;
+ }else if (pos<=index+1999){ /*pozice e<index,index+1999> */
+ /*po smeru h.r. od indexu*/
+ dist=pos-index;
+ }else if (pos<index+2096){ /*pozice e<index+2000,index+2095> */
+ goto index_lost;
+ }else{ /*pozice e<index+2096,4095> */
+ /*proti smeru h.r. od indexu - podtecena pozice*/
+ dist=pos-index-2096;
+ }
+ }else if (index<=2096){ /*index e<1999,2096>*/
+ if (pos<index-1999){ /*pozice e<0,index-2000> */
+ goto index_lost;
+ }else if (pos<index){ /*pozice e<index-1999,index-1> */
+ /*proti smeru h.r. od indexu*/
+ dist=pos+2000-index;
+ }else if (pos<=index+1999){ /*pozice e<index,index+1999> */
+ /*po smeru h.r. od indexu*/
+ dist=pos-index;
+ }else { /*pozice e<index+2000,4095> */
+ goto index_lost;
+ }
+ }else{ /*index e<2097,4095> */
+ if (pos<=index-2097){ /*pozice e<0,index-2097> */
+ /*po smeru h.r. od indexu - pretecena pozice*/
+ dist=4096+pos-index;
+ }else if (pos<index-1999){ /*pozice e<index-2096,index-2000> */
+ goto index_lost;
+ }else if (pos<index){ /*pozice e<index-1999,index-1> */
+ /*proti smeru h.r. od indexu*/
+ dist=pos+2000-index;
+ }else{ /*pozice e<index,4095> */
+ /*po smeru h.r. od indexu*/
+ dist=pos-index;
+ }
+ }
+
+ rps.index_dist = dist;
+ return;
+
+ index_lost:
+ rps.index_ok=0;
+ return;
+}
+
+
+/*
+ * \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;
struct rpi_in pocatek;
+ struct timespec t;
+ int interval = 1000000; /* 1ms ~ 1kHz*/
uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
- set_priority(param); /*set priority*/
+ char first=1;
+ uint16_t last_index; /*we have index up-to date*/
pocatek = spi_read(tx);
+ clock_gettime(CLOCK_MONOTONIC ,&t);
+ /* start after one second */
+ t.tv_sec++;
while(1){
- prepare_tx(tx);
- data = spi_read(tx);
+ /* 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);
- usleep(1000); /*1kHz*/
+ 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*/
+ }
+
+ /* pocitame sirku plneni podle potreb rizeni*/
+ if (rps.pos_reg_ena){ /*pozicni rizeni*/
+ pos_pid(&rps);
+ }else if(rps.spd_reg_ena){ /*rizeni na rychlost*/
+ spd_pid(&rps);
+ }
+
+ /* 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);
+ }
+
+ /*zalogujeme hodnoty*/
+ if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
+ makeLog();
+ }
+
+ sem_post(&rps.thd_par_sem); /*--post semaphore---*/
+
+ /* calculate next shot */
+ t.tv_nsec += interval;
+
+ while (t.tv_nsec >= NSEC_PER_SEC) {
+ t.tv_nsec -= NSEC_PER_SEC;
+ t.tv_sec++;
+ }
+
}
}
+
/**
* \brief Main function.
*/
int main(){
- uint16_t tmp;
-
- /*nastaveni priorit vlaken*/
- struct thread_param tsp;
- tsp.sch_policy = SCHED_FIFO;
-
- /*nastaveni signalu pro vypnuti pomoci Ctrl+C*/
- sighnd.sa_handler=&sighnd_fnc;
- sigaction(SIGINT, &sighnd, NULL );
-
+ pthread_t base_thread_id;
clk_init(); /* inicializace gpio hodin */
spi_init(); /* iniicializace spi*/
/*semafor pro detekci zpracovani parametru vlaken*/
- sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
+ sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
+ setup_environment();
- /*vlakna*/
- pthread_t tid; /*identifikator vlakna*/
- pthread_attr_t attr; /*atributy vlakna*/
- pthread_attr_init(&attr); /*inicializuj implicitni atributy*/
+ base_thread_id=pthread_self();
+ /*main control loop*/
+ create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
+ /*monitor of current state*/
+ create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
- /*ziskavani dat z motoru*//*vysoka priorita*/
- tsp.sch_prior = PRIOR_HIGH;
- pthread_create(&tid, &attr, read_data, (void*)&tsp);
+ /*wait for commands*/
+ poll_cmd(&rps);
- /*vypisovani lokalni pozice*//*nizka priorita*/
- tsp.sch_prior = PRIOR_LOW;
- pthread_create(&tid, &attr, pos_monitor, (void*)&tsp);
-
-
- /*muzeme zavrit semafor*/
- sem_destroy(&thd_par_sem);
-
- while (1){
- scanf("%u",&tmp);
- printf("volba=%x\n",tmp);
- switch (tmp){
- case 1:
- scanf("%u",&pwm1);
- break;
- case 2:
- scanf("%u",&pwm2);
- break;
- case 3:
- scanf("%u",&pwm3);
- break;
- case 4:
- scanf("%u",&test);
- break;
-
- default:
- break;
- }
-
- }
return 0;
}