#include "rp_spi.h" /*spi*/
#include "misc.h" /*structure for priorities*/
#include "pxmc_sin_fixed.h" /*to test sin commutation */
+#include "pmsm_state.h"
+#include "cmd_proc.h"
-
-
-#define PRUM_PROUD 2061
-#define PRUM_SOUC 6183
#define MAX_DUTY 128
#define PID_P 0.1
#define INIT_VALUE 1 /*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
-
#define NSEC_PER_SEC (1000000000) /* The number of nsecs per sec. */
-
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 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;
-
+struct rpi_state rps={
+ .spi_dat=&data,
+ .thd_par_sem=NULL,
+ .test=0,
+ .pwm1=0,.pwm2=0, .pwm3=0,
+ .pwm1=0, .t_pwm2=0, .t_pwm3=0,
+ .commutate=0,
+ .duty=0, /* duty cycle of pwm */
+ .index_dist=0, /* distance to index position */
+ .index_ok=0,
+ .tf_count=0, /*number of transfer*/
+ .desired_pos=0 /* desired position */
+};
/**
* \brief Initilizes GPCLK.
spi_disable();
clk_disable();
/*muzeme zavrit semafor*/
- sem_destroy(&thd_par_sem);
+ sem_destroy(&rps.thd_par_sem);
printf("\nprogram bezpecne ukoncen\n");
}
data->pozice-=offset->pozice;
return;
}
-/*
- * pocita procentualni odchylku od prumerneho proudu
- */
-float diff_p(float value){
- return ((float)value-PRUM_PROUD)*100/PRUM_PROUD;
-}
-/*
- * pocita procentualni odchylku od prumerneho souctu proudu
- */
-float diff_s(float value){
- return ((float)value-PRUM_SOUC)*100/PRUM_SOUC;
-}
-/*
- * tiskne potrebna data
- */
-void printData(){
- struct rpi_in data_p;
- struct rpi_state s; /*state*/
- float cur0, cur1, cur2;
- int i;
- /* copy the data */
- sem_wait(&thd_par_sem);
- data_p = data;
- s=rps;
- sem_post(&thd_par_sem);
-
- if (data_p.adc_m_count){
- cur0=data_p.ch0/data_p.adc_m_count;
- cur1=data_p.ch1/data_p.adc_m_count;
- cur2=data_p.ch2/data_p.adc_m_count;
- }
- for (i = 0; i < 16; i++) {
- if (!(i % 6))
- puts("");
- printf("%.2X ", data_p.debug_rx[i]);
- }
- 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=%u\n",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("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.duty);
- if (s.index_ok) printf("index ok\n");
- if (s.commutate) printf("commutation in progress\n");
-}
+
+
void prepare_tx(uint8_t * tx){
/*Data format:
*/
void * pos_monitor(void* param){
while(1){
- printData();
+ printData(&rps);
usleep(1000000); /*1 Hz*/
}
return (void*)0;
/*
* \brief
* Multiplication of 11 bit
+ * Zaporne vysledky prvede na nulu.
*/
-inline int16_t mult_cap(int32_t s,int d){
+inline uint16_t mult_cap(int32_t s,int d){
int j;
int res=0;
for(j=0;j!=11;j++){
#define DEGREE_300 3579139413
uint32_t j,pos;
int32_t sin;
- pos=rps.index_dist*4294967;
+ pos=rps.index_dist;
+ int32_t pwm;
+ /*aby prictene uhly mohla byt kulata cisla, musime index posunout*/
+ pos+=38;
+ /*use it as cyclic 32-bit logic*/
+ pos*=4294967;
if (duty>=0){ /*clockwise rotation*/
/* 1st phase */
sin = pxmc_sin_fixed_inline(pos+DEGREE_240,10); /*10+1 bity*/ /*-120*/
- rps.pwm1=mult_cap(sin, duty);
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ rps.pwm1=(uint16_t)pwm;
/* 2nd phase */
sin = pxmc_sin_fixed_inline(pos+DEGREE_120,10); /*10+1 bity*/ /*-240*/
- rps.pwm2=mult_cap(sin, duty);;
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ rps.pwm2=(uint16_t)pwm;
/* 3rd phase */
sin = pxmc_sin_fixed_inline(pos,10); /*10+1 bity*/
- rps.pwm3=mult_cap(sin, duty);;
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ rps.pwm3=(uint16_t)pwm;
}else{
duty=-duty;
/* 1st phase */
sin = pxmc_sin_fixed_inline(pos+DEGREE_60,10); /*10+1 bity*/ /*-300*/
- rps.pwm1=mult_cap(sin, duty);
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ rps.pwm1=(uint16_t)pwm;
/* 2nd phase */
sin = pxmc_sin_fixed_inline(pos+DEGREE_300,10); /*10+1 bity*/ /*-60-*/
- rps.pwm2=mult_cap(sin, duty);
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ rps.pwm2=(uint16_t)pwm;
/* 3rd phase */
sin = pxmc_sin_fixed_inline(pos+DEGREE_180,10); /*10+1 bity*/ /*-180*/
- rps.pwm3=mult_cap(sin, duty);
+ pwm=sin*duty/1024;
+ if (pwm<0) pwm=0;
+ rps.pwm3=(uint16_t)pwm;
}
return 0;
}
while(1){
/* wait until next shot */
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
- sem_wait(&thd_par_sem); /*---take semaphore---*/
+ sem_wait(&rps.thd_par_sem); /*---take semaphore---*/
prepare_tx(tx); /*save the data to send*/
data = spi_read(tx); /*exchange data*/
/*subtract initiate postion */
}else if(!rps.index_ok && rps.commutate){
simple_hall_commutator(rps.duty);
}
- sem_post(&thd_par_sem); /*--post semaphore---*/
+ sem_post(&rps.thd_par_sem); /*--post semaphore---*/
/* calculate next shot */
t.tv_nsec += interval;
}
-/**
- * \brief
- * Commands detection.
- */
-void poll_cmd(){
- unsigned int tmp;
- /*
- * Note:
- * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
- * k preukladani hodnot na promenne test. Dost divne.
- */
- while (1){
- scanf("%u",&tmp);
- printf("volba=%u\n",tmp);
- switch (tmp){
- case 1:
- scanf("%u",&tmp);
- sem_wait(&thd_par_sem);
- rps.pwm1=tmp&0xFFF;
- sem_post(&thd_par_sem);
- break;
- case 2:
- scanf("%u",&tmp);
- sem_wait(&thd_par_sem);
- rps.pwm2=tmp&0xFFF;
- sem_post(&thd_par_sem);
- break;
- case 3:
- scanf("%u",&tmp);
- sem_wait(&thd_par_sem);
- rps.pwm3=tmp&0xFFF;
- sem_post(&thd_par_sem);
- break;
- case 4:
- scanf("%u",&tmp);
- sem_wait(&thd_par_sem);
- rps.test=tmp&0xFF;
- sem_post(&thd_par_sem);
- break;
- case 5:
- sem_wait(&thd_par_sem);
- rps.commutate=!rps.commutate;
- /* switch off pwms at the end of commutation */
- rps.pwm1&=rps.commutate*0xFFFF;
- rps.pwm2&=rps.commutate*0xFFFF;
- rps.pwm3&=rps.commutate*0xFFFF;
- sem_post(&thd_par_sem);
- break;
- case 6:
- scanf("%d",&tmp);
- sem_wait(&thd_par_sem);
- 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;
-
- default:
- break;
- }
- }
- return ;
-}
/**
* \brief Main function.
*/
spi_init(); /* iniicializace spi*/
/*semafor pro detekci zpracovani parametru vlaken*/
- sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
+ sem_init(&rps.thd_par_sem,THREAD_SHARED,INIT_VALUE);
setup_environment();
base_thread_id=pthread_self();
create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
/*wait for commands*/
- poll_cmd();
+ poll_cmd(&rps);
return 0;
}
projects / fpga / rpi-motor-control.git / blobdiff