uint8_t test;
uint16_t pwm1, pwm2, pwm3;
+char commutate;
+uint16_t simple_hall_duty;
/**
}
void substractOffset(struct rpi_in* data, struct rpi_in* offset){
+ data->pozice_raw=data->pozice;
data->pozice-=offset->pozice;
return;
}
/*
* pocita procentualni odchylku od prumerneho proudu
*/
-float diff_p(int16_t value){
+float diff_p(float value){
return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
}
/*
* pocita procentualni odchylku od prumerneho souctu proudu
*/
-float diff_s(int16_t value){
+float diff_s(float value){
return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
}
/*
* tiskne potrebna data
*/
void printData(struct rpi_in data){
+ float cur0, cur1, cur2;
+ int i;
+ if (data.adc_m_count){
+ cur0=data.ch0/data.adc_m_count;
+ cur1=data.ch1/data.adc_m_count;
+ cur2=data.ch2/data.adc_m_count;
+ }
+ for (i = 0; i < 16; i++) {
+ if (!(i % 6))
+ puts("");
+ printf("%.2X ", data.debug_rx[i]);
+ }
+ puts("");
printf("\npozice=%d\n",(int32_t)data.pozice);
+ printf("raw_pozice=%d\n",(int32_t)data.pozice_raw);
+ printf("raw_pozice last11=%u\n",(data.pozice_raw&0x7FF));
+ printf("index position=%d\n",(int16_t)data.index_position);
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));
+ printf("en1=%d, en2=%d, en3=%d (Last sent)\n",!!(0x40&test),!!(0x20&test),!!(0x10&test));
+ printf("shdn1=%d, shdn2=%d, shdn3=%d (L.s.)\n",!!(0x08&test),!!(0x04&test),!!(0x02&test));
+ printf("PWM1=%u(L.s.)\n",pwm1);
+ printf("PWM2=%u(L.s.)\n",pwm2);
+ printf("PWM3=%u(L.s.)\n",pwm3);
+ printf("Pocet namerenych proudu=%u\n",data.adc_m_count);
+ printf("(pwm1) (ch1)=%d (avg=%4.0f) (%2.2f%%)\n",data.ch1,cur1,diff_p(cur1));
+ printf("(pwm2) (ch2)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch2,cur2,diff_p(cur2));
+ printf("(pwm3) (ch0)=%d (avg=%4.0f)(%2.2f%%)\n",data.ch0,cur0,diff_p(cur0));
+ printf("soucet prumeru=%5.0f (%2.2f%%)\n",cur0+cur1+cur2,diff_s(cur0+cur1+cur2));
+ printf("duty=%u\n",simple_hall_duty);
+ if (commutate) printf("commutation in progress\n");
}
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
* .
* .
* .
- * bits 34 .. 24 - match PWM1
- * bits 23 .. 13 - match PWM2
+ * bits 66 .. 56 - match PWM1
+ * bits 55 .. 45 - match PWM2
* bit 11,12 - Unused
- * bits 10 .. 0 - match PWM3
+ * bits 42 .. 32 - match PWM3
*/
}
return (void*)0;
}
-
+/*
+ * \brief
+ * Test function to be placed in controll loop.
+ * Clockwise rotation with PWM with 64 out of 2048 duty cycle.
+ */
+inline void simple_hall_commutator(struct rpi_in data){
+ /* pwm3 */
+ if (data.hal2 && !data.hal3){
+ pwm1=0;
+ pwm2=0;
+ pwm3=simple_hall_duty;
+ /* pwm1 */
+ }else if (data.hal1 && !data.hal2){
+ pwm1=simple_hall_duty;
+ pwm2=0;
+ pwm3=0;
+ /* pwm2 */
+ }else if (!data.hal1 && data.hal3){
+ pwm1=0;
+ pwm2=simple_hall_duty;
+ pwm3=0;
+ }
+}
/**
* Funkce pravidelne vycita data z motoru
*/
prepare_tx(tx);
data = spi_read(tx);
substractOffset(&data,&pocatek);
+ if (commutate){
+ simple_hall_commutator(data);
+ }
usleep(1000); /*1kHz*/
}
}
*/
int main(){
- uint16_t tmp;
+ unsigned int tmp;
/*nastaveni priorit vlaken*/
struct thread_param tsp;
/*muzeme zavrit semafor*/
sem_destroy(&thd_par_sem);
-
+ /*
+ * Note:
+ * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
+ * k preukladani hodnot na promenne test. Dost divne.
+ */
while (1){
scanf("%u",&tmp);
- printf("volba=%x\n",tmp);
+ printf("volba=%u\n",tmp);
switch (tmp){
case 1:
- scanf("%u",&pwm1);
+ scanf("%u",&tmp);
+ pwm1=tmp&0xFFF;
break;
case 2:
- scanf("%u",&pwm2);
+ scanf("%u",&tmp);
+ pwm2=tmp&0xFFF;
break;
case 3:
- scanf("%u",&pwm3);
+ scanf("%u",&tmp);
+ pwm3=tmp&0xFFF;
break;
case 4:
- scanf("%u",&test);
+ scanf("%u",&tmp);
+ test=tmp&0xFF;
+ break;
+ case 5:
+ commutate=!commutate;
+ /* switch off pwms at the end of commutation */
+ pwm1&=commutate*0xFFFF;
+ pwm2&=commutate*0xFFFF;
+ pwm3&=commutate*0xFFFF;
+ break;
+ case 6:
+ scanf("%u",&tmp);
+ simple_hall_duty=tmp&0xFFF;
break;
default:
projects / fpga / rpi-motor-control.git / blobdiff