PI reg. constants modified according rltool results. Added possibility to interactive...

[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..e4ec9acf6623716c9f3dd840b4d12a94710c1f66 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -25,9 +25,16 @@
 #include "pmsm_state.h"
 #include "cmd_proc.h"
 
-#define MAX_DUTY       170
+
 #define PID_P          0.3
-#define PID_P_S                0.3
+
+/*     RL-tool results from first order system approx  */
+/*     P=0.16 I=13,4/freq=0.013                        */
+/*     Hodnoty upraveny podle skutecnych vysledku      */
+/*     P=0.8   I=0.01                                  */
+
+#define PID_P_S                0.16            /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
+#define PID_I_S                0.0134
 
 #define PRIOR_KERN     50
 #define PRIOR_HIGH     49
@@ -54,7 +61,13 @@ 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},
+       .spd_err_sum=0,
+       .log_col_count=0,       /* pocet radku zaznamu */
+       .log_col=0,
+       .doLogs=0,
+       .alpha_offset=960
 };
 
 /**
@@ -92,6 +105,63 @@ 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
@@ -174,14 +244,14 @@ void appl_stop(){
 
        spi_disable();
        clk_disable();
+       freeLogs();
        /*muzeme zavrit semafor*/
        sem_destroy(&rps.thd_par_sem);
         printf("\nprogram bezpecne ukoncen\n");
 }
 
 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;
 }
 /*
@@ -255,7 +325,7 @@ 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;
@@ -539,8 +609,10 @@ 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);
+       int error;
+       error=rps.desired_spd - rps.speed;
+       rps.spd_err_sum+=error;
+       duty_tmp = PID_P_S*error+PID_I_S*rps.spd_err_sum;
        if (duty_tmp>MAX_DUTY){
                rps.duty=MAX_DUTY;
        }else if (duty_tmp<-MAX_DUTY){
@@ -549,6 +621,17 @@ 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 +654,14 @@ 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){
@@ -589,10 +674,14 @@ void * read_data(void* param){
                        }else{ /*index je v poradku*/
                                comIndDist();           /*vypocet vzdalenosti indexu*/
                        }
+
                        /* pocitame sirku plneni podle potreb rizeni*/
-                       if (rps.pos_reg_ena){
+                       if (rps.pos_reg_ena){           /*pozicni rizeni*/
                                pos_pid();
+                       }else if(rps.spd_reg_ena){      /*rizeni na rychlost*/
+                               spd_pid();
                        }
+
                        /* sirka plneni prepoctena na jednotlive pwm */
                        if (rps.index_ok && rps.commutate){
                                /*simple_ind_dist_commutator(rps.duty);*/
@@ -602,6 +691,12 @@ 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 */
@@ -616,7 +711,6 @@ void * read_data(void* param){
 }
 
 
-
 /**
  * \brief Main function.
  */