Controllers moved to separate file.

[fpga/rpi-motor-control.git] / pmsm-control / test_sw / main_pmsm.c

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index dd2372da992774bf707e2cbbf52f432539c2370e..84b1cdde31fc44fb73dee0859a3fbcde02606636 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -24,10 +24,10 @@
 #include "pxmc_sin_fixed.h"    /*to test sin commutation */
 #include "pmsm_state.h"
 #include "cmd_proc.h"
+#include "controllers.h"
+
 
 
-#define PID_P          0.3
-#define PID_P_S                0.7
 
 #define PRIOR_KERN     50
 #define PRIOR_HIGH     49
@@ -42,6 +42,7 @@
 
 struct rpi_in data;
 struct rpi_state rps={
+       //.MAX_DUTY=170,
        .spi_dat=&data,
        .test=0,
        .pwm1=0,.pwm2=0, .pwm3=0,
@@ -55,7 +56,12 @@ struct rpi_state rps={
        .pos_reg_ena=0,
        .desired_spd=0,
        .spd_reg_ena=0,
-       .old_pos={0}
+       .old_pos={0},
+       .spd_err_sum=0,
+       .log_col_count=0,       /* pocet radku zaznamu */
+       .log_col=0,
+       .doLogs=0,
+       .alpha_offset=960
 };
 
 /**
@@ -93,6 +99,63 @@ int32_t min(int32_t x, int32_t y, int32_t z){
 
         return x;
 }
+
+/*
+ * \brief
+ * Free logs
+ */
+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;
+}
+
+/*
+ * \brief
+ * Makes log.
+ */
+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;
+                       }
+               }
+        }
+     */
+}
+
 /*
  * \brief
  * Pripravi psi buffer
@@ -175,6 +238,7 @@ void appl_stop(){
 
        spi_disable();
        clk_disable();
+       freeLogs();
        /*muzeme zavrit semafor*/
        sem_destroy(&rps.thd_par_sem);
         printf("\nprogram bezpecne ukoncen\n");
@@ -255,7 +319,7 @@ void inv_trans_comm_2(int duty){
        int32_t u1,u2,u3;
        pos=rps.index_dist;
 
-       pos+=960; /*zarovnani faze 'a' s osou 'alpha'*/
+       pos+=rps.alpha_offset; /*zarovnani faze 'a' s osou 'alpha'*/
 
        /*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
        pos*=4294967;
@@ -302,6 +366,7 @@ inline uint16_t mult_cap(int32_t s,int d){
        }
        return res;
 }
+
 inline
 int sin_commutator(int duty){
        #define DEGREE_60        715827883
@@ -514,40 +579,7 @@ void comIndDist(){
                rps.index_ok=0;
                return;
 }
-/*
- * \brief
- * Very simple PID regulator.
- * Now only with P-part so that the error doesnt go to zero.
- * TODO: add anti-wind up and I and D parts
- */
-inline void pos_pid(){
-       int duty_tmp;
-       duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
-       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
- * 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;
-       duty_tmp = PID_P_S*(rps.desired_spd - rps.speed);
-       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
@@ -604,9 +636,9 @@ void * read_data(void* param){
 
                        /* pocitame sirku plneni podle potreb rizeni*/
                        if (rps.pos_reg_ena){           /*pozicni rizeni*/
-                               pos_pid();
+                               pos_pid(&rps);
                        }else if(rps.spd_reg_ena){      /*rizeni na rychlost*/
-                               spd_pid();
+                               spd_pid(&rps);
                        }
 
                        /* sirka plneni prepoctena na jednotlive pwm */
@@ -618,6 +650,12 @@ void * read_data(void* param){
                        }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 */