#include "rpin.h" /*gpclk*/
#include "rp_spi.h" /*spi*/
#include "misc.h" /*structure for priorities*/
+#include "pxmc_sin_fixed.h" /*to test sin commutation */
+
#define PRUM_PROUD 2061
#define PRUM_SOUC 6183
+#define MAX_DUTY 128
+#define PID_P 0.1
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
#define THREAD_SHARED 0
#define INIT_VALUE 0 /*init value for semaphor*/
+
+#define PXMC_SIN_FIX_TAB_BITS 9
+#define PXMC_SIN_FIX_IDX_SLR 23
+#define PXMC_SIN_FIX_XD_MASK 0x007fffff
+#define PXMC_SIN_FIX_XD_SLR 8
+#define PXMC_SIN_FIX_A_MASK 0xffffc000
+#define PXMC_SIN_FIX_B_SLL 19
+#define PXMC_SIN_FIX_B_SAR 16
+#define PXMC_SIN_FIX_B_XD_SAR 6
+#define PXMC_SIN_FIX_ZIC_MASK 0x00002000
+#define PXMC_SIN_FIX_ZIC_BIT 13
+
+#define PXMC_SIN_FIX_PI2 0x40000000
+#define PXMC_SIN_FIX_2PI3 0x55555555
+
struct sigaction sighnd; /*struktura pro signal handler*/
struct rpi_in data;
struct rpi_state{
uint8_t test;
uint16_t pwm1, pwm2, pwm3;
+ uint16_t t_pwm1, t_pwm2, t_pwm3;
char commutate;
- int simple_hall_duty;
+ int duty; /* duty cycle of pwm */
uint16_t index_dist; /* distance to index position */
unsigned char index_ok;
uint32_t tf_count; /*number of transfer*/
+ int desired_pos; /* desired position */
}rps;
}
puts("");
printf("\npozice=%d\n",(int32_t)data_p.pozice);
+ printf("chtena pozice=%d\n",s.desired_pos);
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("distance to index=%u\n",s.index_dist);
+ printf("T_PWM1=%u T_PWM2=%u T_PWM3=%u\n",s.t_pwm1,s.t_pwm2, s.t_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);
+ printf("duty=%d\n",s.duty);
if (s.index_ok) printf("index ok\n");
if (s.commutate) printf("commutation in progress\n");
}
* bit 89 - shutdown3
* .
* .
+ * Unused
* .
- * bits 66 .. 56 - match PWM1
- * bits 55 .. 45 - match PWM2
- * bit 11,12 - Unused
- * bits 42 .. 32 - match PWM3
+ * .
+ * bits 47 .. 32 - match PWM1
+ * bits 31 .. 16 - match PWM2
+ * bits 15 .. 0 - match PWM3
*/
uint16_t tmp;
- /* keep the cap*/
+ /* keep the 11-bit cap*/
+
if (rps.pwm1>2047) rps.pwm1=2047;
if (rps.pwm2>2047) rps.pwm2=2047;
if (rps.pwm3>2047) rps.pwm3=2047;
tx[0]=rps.test; /*bit 94 - enable PWM1*/
+ /*now we have to switch the bytes due to endianess */
+ /* ARMv6 & ARMv7 instructions are little endian */
/*pwm1*/
- tx[7]=(tx[7] & 0xF8) | (0x07 & ((uint8_t*)&rps.pwm1)[1]); /*MSB*/
- tx[8]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
+ tx[10]=((uint8_t*)&rps.pwm1)[1]; /*MSB*/
+ tx[11]=((uint8_t*)&rps.pwm1)[0]; /*LSB*/
/*pwm2*/
- tmp=rps.pwm2;
- tmp<<=5;
- tx[9]=((uint8_t*)&tmp)[1]; /*MSB*/
- tx[10]=(tx[10] & 0x1F) | (0xE0 & ((uint8_t*)&tmp)[0]); /*LSB*/
+ tx[12]=((uint8_t*)&rps.pwm2)[1]; /*MSB*/
+ tx[13]=((uint8_t*)&rps.pwm2)[0]; /*LSB*/
/*pwm3*/
- tx[10]=(tx[10] & 0xF8) | (0x07 & ((uint8_t*)&rps.pwm3)[1]); /*MSB*/
- tx[11]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
+ tx[14]=((uint8_t*)&rps.pwm3)[1]; /*MSB*/
+ tx[15]=((uint8_t*)&rps.pwm3)[0]; /*LSB*/
}
}
return (void*)0;
}
+
+inline
+int sin_commutator(int duty){
+ #define DEGREE_60 715827883
+ #define DEGREE_120 1431655765
+ #define DEGREE_180 2147483648
+ #define DEGREE_240 2863311531
+ #define DEGREE_300 3579139413
+ uint32_t j,pos;
+ int32_t sin;
+ uint16_t pwm;
+ pos=rps.index_dist*4294967;
+ if (duty>=0){ /*clockwise rotation*/
+ /* 1st phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
+ pwm=0;
+ for(j=0;j!=11;j++){
+ /* multiplicate as if maximum sinus value was unity */
+ pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
+ }
+ rps.pwm1=pwm;
+
+ /* 2nd phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
+ pwm=0;
+ for(j=0;j!=11;j++){
+ /* multiplicate as if maximum sinus value was unity */
+ pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
+ }
+ rps.pwm2=pwm;
+
+ /* 3rd phase */
+ sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
+ pwm=0;
+ for(j=0;j!=11;j++){
+ /* multiplicate as if maximum sinus value was unity */
+ pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
+ }
+ rps.pwm3=pwm;
+ }else{
+ duty=-duty;
+
+ /* 1st phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
+ pwm=0;
+ for(j=0;j!=11;j++){
+ /* multiplicate as if maximum sinus value was unity */
+ pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
+ }
+ rps.pwm1=pwm;
+
+ /* 2nd phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
+ pwm=0;
+ for(j=0;j!=11;j++){
+ /* multiplicate as if maximum sinus value was unity */
+ pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
+ }
+ rps.pwm2=pwm;
+
+ /* 3rd phase */
+ sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
+ pwm=0;
+ for(j=0;j!=11;j++){
+ /* multiplicate as if maximum sinus value was unity */
+ pwm+=(!(sin & 0x10000000))*(((1 << j) & sin)>>j)*(duty>>(10-j));
+ }
+ rps.pwm3=pwm;
+ }
+ return 0;
+}
+/*
+ * \brief
+ * Test function to be placed in controll loop.
+ * Switches PWM's at point where they produce same force.
+ * This points are found thanks to IRC position,
+ */
+inline
+void simple_ind_dist_commutator(int duty){
+ if (duty>=0){ /* clockwise - so that position increase */
+ /* pwm3 */
+ if ((rps.index_dist>=45 && rps.index_dist<=373) ||
+ (rps.index_dist>=1048 && rps.index_dist<=1377)){
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=duty;
+ /* pwm1 */
+ }else if ((rps.index_dist>=373 && rps.index_dist<=711) ||
+ (rps.index_dist>=1377 && rps.index_dist<=1711)){
+ rps.pwm1=duty;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ /* pwm2 */
+ }else if ((rps.index_dist>=0 && rps.index_dist<=45) ||
+ (rps.index_dist>=711 && rps.index_dist<=1048) ||
+ (rps.index_dist>=1711 && rps.index_dist<=1999)){
+ rps.pwm1=0;
+ rps.pwm2=duty;
+ rps.pwm3=0;
+ }
+ }else{ /*counter-clockwise - position decrease */
+ /* pwm3 */
+ if ((rps.index_dist>=544 && rps.index_dist<=881) ||
+ (rps.index_dist>=1544 && rps.index_dist<=1878)){
+ rps.pwm1=0;
+ rps.pwm2=0;
+ rps.pwm3=-duty;
+ /* pwm1 */
+ }else if ((rps.index_dist>=0 && rps.index_dist<=211) ||
+ (rps.index_dist>=881 && rps.index_dist<=1210) ||
+ (rps.index_dist>=1878 && rps.index_dist<=1999)){
+ rps.pwm1=-duty;
+ rps.pwm2=0;
+ rps.pwm3=0;
+ /* pwm2 */
+ }else if ((rps.index_dist>=211 && rps.index_dist<=544) ||
+ (rps.index_dist>=1210 && rps.index_dist<=1544)){
+ rps.pwm1=0;
+ rps.pwm2=-duty;
+ rps.pwm3=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){
+inline void simple_hall_commutator(int duty){
if (duty>=0){ /* clockwise - so that position increase */
/* pwm3 */
if (data.hal2 && !data.hal3){
*/
rps.index_dist-=((rps.index_dist & 0x0800)>>11)*2096;
}
+/*
+ * \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 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
+ * Feedback loop.
+ * TODO: replace usleep with real-time wait
+ * measure times
+ */
void * read_data(void* param){
int i;
struct rpi_in pocatek;
set_priority(param); /*set priority*/
pocatek = spi_read(tx);
while(1){
- prepare_tx(tx); /*save the data to send*/
sem_wait(&thd_par_sem); /*---take semaphore---*/
+ prepare_tx(tx); /*save the data to send*/
data = spi_read(tx); /*exchange data*/
/*subtract initiate postion */
rps.tf_count++;
rps.index_ok=1;
}
}
+ pid();
if (rps.index_ok && rps.commutate){
- simple_hall_commutator(data,rps.simple_hall_duty);
+ /*simple_ind_dist_commutator(rps.duty);*/
+ sin_commutator(rps.duty);
}else if(!rps.index_ok && rps.commutate){
- simple_hall_commutator(data,rps.simple_hall_duty);
+ simple_hall_commutator(rps.duty);
}
sem_post(&thd_par_sem); /*--post semaphore---*/
- usleep(1000); /*1kHz*/
+ usleep(500); /*1kHz*/
}
}
case 6:
scanf("%d",&tmp);
sem_wait(&thd_par_sem);
- rps.simple_hall_duty=tmp;
+ rps.duty=tmp;
+ sem_post(&thd_par_sem);
+ break;
+ case 7:
+ scanf("%d",&tmp);
+ sem_wait(&thd_par_sem);
+ rps.desired_pos=tmp;
sem_post(&thd_par_sem);
break;
}
return 0;
}
+