#include "pxmc_sin_fixed.h" /*to test sin commutation */
#include "pmsm_state.h"
#include "cmd_proc.h"
+#include "controllers.h"
+
+
-#define MAX_DUTY 170
-#define PID_P 0.3
-#define PID_P_S 0.3
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
struct rpi_in data;
struct rpi_state rps={
+ //.MAX_DUTY=170,
.spi_dat=&data,
.test=0,
.pwm1=0,.pwm2=0, .pwm3=0,
.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
};
/**
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
spi_disable();
clk_disable();
+ freeLogs();
/*muzeme zavrit semafor*/
sem_destroy(&rps.thd_par_sem);
printf("\nprogram bezpecne ukoncen\n");
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;
}
return res;
}
+
inline
int sin_commutator(int duty){
#define DEGREE_60 715827883
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*(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
}else{ /*index je v poradku*/
comIndDist(); /*vypocet vzdalenosti indexu*/
}
+
/* pocitame sirku plneni podle potreb rizeni*/
- if (rps.pos_reg_ena){
- pos_pid();
+ 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);*/
}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 */