Added speed computation.

[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 8b65c74d3e74254a67c2260d7ceffb41344455a9..48fcf1ec8d61b11e939748d1b1a4875de12b034e 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -54,7 +54,8 @@ struct rpi_state rps={
        .desired_pos=0,         /* desired position */
        .pos_reg_ena=0,
        .desired_spd=0,
-       .spd_reg_ena=0
+       .spd_reg_ena=0,
+       .old_pos={0}
 };
 
 /**
@@ -180,8 +181,7 @@ void appl_stop(){
 }
 
 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
-       data->pozice_raw=data->pozice;
-       data->pozice-=offset->pozice;
+       data->pozice=data->pozice_raw-offset->pozice_raw;
        return;
 }
 /*
@@ -539,7 +539,6 @@ inline void pos_pid(){
  */
 inline void spd_pid(){
        int duty_tmp;
-       signed long int speed=rps.spi_dat->pozice-rps.old_pos;
        duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
        if (duty_tmp>MAX_DUTY){
                rps.duty=MAX_DUTY;
@@ -549,6 +548,17 @@ inline void spd_pid(){
                rps.duty = duty_tmp;
        }
 }
+
+/*
+ * \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.
@@ -571,12 +581,14 @@ void * read_data(void* param){
                        clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
                        sem_wait(&rps.thd_par_sem);             /*---take semaphore---*/
 
-                       rps.old_pos=rps.spi_dat->pozice;        /*old position*/
+                       /*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);
+                       compSpeed();                    /*spocita rychlost*/
 
                        if (!rps.index_ok){
                                if (first){
@@ -616,7 +628,6 @@ void * read_data(void* param){
 }
 
 
-
 /**
  * \brief Main function.
  */