struct sigaction sighnd; /*struktura pro signal handler*/
struct rpi_in data;
-
-uint8_t test;
-uint16_t pwm1, pwm2, pwm3;
+struct rpi_state{
+ uint8_t test;
+ uint16_t pwm1, pwm2, pwm3;
+ char commutate;
+ int simple_hall_duty;
+ uint16_t index_dist; /* distance to index position */
+ unsigned char index_ok;
+ uint32_t tf_count; /*number of transfer*/
+}rps;
/**
void sighnd_fnc(){
spi_disable();
clk_disable();
+ /*muzeme zavrit semafor*/
+ sem_destroy(&thd_par_sem);
printf("\nprogram bezpecne ukoncen\n");
exit(0);
}
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){
- 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));
+void printData(){
+ struct rpi_in data_p;
+ struct rpi_state s; /*state*/
+ float cur0, cur1, cur2;
+ int i;
+ /* copy the data */
+ sem_wait(&thd_par_sem);
+ data_p = data;
+ s=rps;
+ sem_post(&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("transfer count=%u\n",s.tf_count);
+ printf("raw_pozice=%d\n",(int32_t)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("distance to index=%u\n",s.index_dist);
+ 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("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.simple_hall_duty);
+ if (s.index_ok) printf("index ok\n");
+ if (s.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
*/
uint16_t tmp;
/* keep the cap*/
- if (pwm1>2047) pwm1=2047;
- if (pwm2>2047) pwm2=2047;
- if (pwm3>2047) pwm3=2047;
+ if (rps.pwm1>2047) rps.pwm1=2047;
+ if (rps.pwm2>2047) rps.pwm2=2047;
+ if (rps.pwm3>2047) rps.pwm3=2047;
- tx[0]=test; /*bit 94 - enable PWM1*/
+ tx[0]=rps.test; /*bit 94 - enable PWM1*/
/*pwm1*/
- tx[7]=(tx[7] & 0xF8) | (0x07 & ((uint8_t*)&pwm1)[1]); /*MSB*/
- tx[8]=((uint8_t*)&pwm1)[0]; /*LSB*/
+ tx[7]=(tx[7] & 0xF8) | (0x07 & ((uint8_t*)&rps.pwm1)[1]); /*MSB*/
+ tx[8]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
/*pwm2*/
- tmp=pwm2;
+ tmp=rps.pwm2;
tmp<<=5;
tx[9]=((uint8_t*)&tmp)[1]; /*MSB*/
tx[10]=(tx[10] & 0x1F) | (0xE0 & ((uint8_t*)&tmp)[0]); /*LSB*/
/*pwm3*/
- tx[10]=(tx[10] & 0xF8) | (0x07 & ((uint8_t*)&pwm3)[1]); /*MSB*/
- tx[11]=((uint8_t*)&pwm3)[0]; /*LSB*/
+ tx[10]=(tx[10] & 0xF8) | (0x07 & ((uint8_t*)&rps.pwm3)[1]); /*MSB*/
+ tx[11]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
}
void * pos_monitor(void* param){
set_priority(param); /*set priority*/
while(1){
- printData(data);
+ printData();
usleep(1000000); /*1 Hz*/
}
return (void*)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(struct rpi_in data, 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
*/
+inline void comIndDist(){
+ rps.index_dist=0x0FFF & (data.pozice_raw - data.index_position);
+ /*
+ * if distance is bigger than 2047, the distance underflown
+ * -> if 12th bit is set, substract 2096
+ */
+ rps.index_dist-=((rps.index_dist & 0x0800)>>11)*2096;
+}
void * read_data(void* param){
int i;
struct rpi_in pocatek;
uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
+ char first=1;
+ uint16_t last_index; /*we have index up-to date*/
set_priority(param); /*set priority*/
pocatek = spi_read(tx);
while(1){
- prepare_tx(tx);
- data = spi_read(tx);
+ prepare_tx(tx); /*save the data to send*/
+ sem_wait(&thd_par_sem); /*---take semaphore---*/
+ data = spi_read(tx); /*exchange data*/
+ /*subtract initiate postion */
+ rps.tf_count++;
substractOffset(&data,&pocatek);
+ comIndDist();
+ if (!rps.index_ok){
+ if (first){
+ last_index=data.index_position;
+ first=0;
+ }else if (last_index!=data.index_position){
+ rps.index_ok=1;
+ }
+ }
+ if (rps.index_ok && rps.commutate){
+ simple_hall_commutator(data,rps.simple_hall_duty);
+ }else if(!rps.index_ok && rps.commutate){
+ simple_hall_commutator(data,rps.simple_hall_duty);
+ }
+ sem_post(&thd_par_sem); /*--post semaphore---*/
usleep(1000); /*1kHz*/
}
}
*/
int main(){
- uint16_t tmp;
+ unsigned int tmp;
/*nastaveni priorit vlaken*/
struct thread_param tsp;
/*vypisovani lokalni pozice*//*nizka priorita*/
tsp.sch_prior = PRIOR_LOW;
+ sem_wait(&thd_par_sem);
pthread_create(&tid, &attr, pos_monitor, (void*)&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);
+ sem_wait(&thd_par_sem);
+ rps.pwm1=tmp&0xFFF;
+ sem_post(&thd_par_sem);
break;
case 2:
- scanf("%u",&pwm2);
+ scanf("%u",&tmp);
+ sem_wait(&thd_par_sem);
+ rps.pwm2=tmp&0xFFF;
+ sem_post(&thd_par_sem);
break;
case 3:
- scanf("%u",&pwm3);
+ scanf("%u",&tmp);
+ sem_wait(&thd_par_sem);
+ rps.pwm3=tmp&0xFFF;
+ sem_post(&thd_par_sem);
break;
case 4:
- scanf("%u",&test);
+ scanf("%u",&tmp);
+ sem_wait(&thd_par_sem);
+ rps.test=tmp&0xFF;
+ sem_post(&thd_par_sem);
+ break;
+ case 5:
+ sem_wait(&thd_par_sem);
+ rps.commutate=!rps.commutate;
+ /* switch off pwms at the end of commutation */
+ rps.pwm1&=rps.commutate*0xFFFF;
+ rps.pwm2&=rps.commutate*0xFFFF;
+ rps.pwm3&=rps.commutate*0xFFFF;
+ sem_post(&thd_par_sem);
+ break;
+ case 6:
+ scanf("%d",&tmp);
+ sem_wait(&thd_par_sem);
+ rps.simple_hall_duty=tmp;
+ sem_post(&thd_par_sem);
break;
default:
projects / fpga / rpi-motor-control.git / blobdiff