#include "cmd_proc.h"
#include "controllers.h"
#include "commutators.h"
-
-
-
+#include "comp.h"
+#include "logs.h"
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
.alpha_offset=960
};
+
/**
* \brief Initilizes GPCLK.
*/
gpioSetMode(4, FSEL_ALT0);
return 0;
}
-/*
- * \brief Terminates GPCLK.
- */
-
-inline void clk_disable(){
- termClock(0);
-}
-
-
-/*
- * \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 Signal handler pro Ctrl+C
spi_read(&rps);
spi_disable();
- clk_disable();
- freeLogs();
+ termClock(0);
+ freeLogs(&rps);
/*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=data->pozice_raw-offset->pozice_raw;
- return;
-}
-
-
-
/**
* Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
*/
}
return (void*)0;
}
-/*
- * \brief
- * Multiplication of 11 bit
- * Zaporne vysledky prvede na nulu.
- */
-inline uint16_t mult_cap(int32_t s,int d){
- int j;
- int res=0;
- for(j=0;j!=11;j++){
- /* multiplicate as if maximum sinus value was unity */
- res+=(!(s & 0x10000000))*(((1 << j) & s)>>j)*(d>>(10-j));
- }
- return res;
-}
-
-
-/**
- * \brief
- * Computation of distance to index.
- *
- * K dispozici je 12-bit index, to umoznuje ulozit 4096 ruznych bodu
- * Je nutne vyjadrit 1999 bodu proti i posmeru h.r. od indexu -
- * to je 3999 bodu
- * =>12 bitu je dostacujicich, pokud nikdy nedojde ke ztrate
- * signalu indexu
- */
-void comIndDist(){
- uint16_t pos = 0x0FFF & data.pozice_raw;
- uint16_t dist;
- uint16_t index = data.index_position;
-
- if (index<1999){ /*index e<0,1998> */
- if (pos<index){ /*pozice e<0,index-1> */
- /*proti smeru h.r. od indexu*/
- dist=pos+2000-index;
- }else if (pos<=index+1999){ /*pozice e<index,index+1999> */
- /*po smeru h.r. od indexu*/
- dist=pos-index;
- }else if (pos<index+2096){ /*pozice e<index+2000,index+2095> */
- goto index_lost;
- }else{ /*pozice e<index+2096,4095> */
- /*proti smeru h.r. od indexu - podtecena pozice*/
- dist=pos-index-2096;
- }
- }else if (index<=2096){ /*index e<1999,2096>*/
- if (pos<index-1999){ /*pozice e<0,index-2000> */
- goto index_lost;
- }else if (pos<index){ /*pozice e<index-1999,index-1> */
- /*proti smeru h.r. od indexu*/
- dist=pos+2000-index;
- }else if (pos<=index+1999){ /*pozice e<index,index+1999> */
- /*po smeru h.r. od indexu*/
- dist=pos-index;
- }else { /*pozice e<index+2000,4095> */
- goto index_lost;
- }
- }else{ /*index e<2097,4095> */
- if (pos<=index-2097){ /*pozice e<0,index-2097> */
- /*po smeru h.r. od indexu - pretecena pozice*/
- dist=4096+pos-index;
- }else if (pos<index-1999){ /*pozice e<index-2096,index-2000> */
- goto index_lost;
- }else if (pos<index){ /*pozice e<index-1999,index-1> */
- /*proti smeru h.r. od indexu*/
- dist=pos+2000-index;
- }else{ /*pozice e<index,4095> */
- /*po smeru h.r. od indexu*/
- dist=pos-index;
- }
- }
-
- rps.index_dist = dist;
- return;
-
- index_lost:
- rps.index_ok=0;
- return;
-}
-
-
-/*
- * \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
/*subtract initiate postion */
rps.tf_count++;
substractOffset(&data,poc.spi_dat);
- compSpeed(); /*spocita rychlost*/
+ compSpeed(&rps); /*spocita rychlost*/
if (!rps.index_ok){
if (first){
first=0;
}else if (last_index!=data.index_position){
rps.index_ok=1;
- comIndDist(); /*vypocet vzdalenosti indexu*/
+ comIndDist(&rps); /*vypocet vzdalenosti indexu*/
}
}else{ /*index je v poradku*/
- comIndDist(); /*vypocet vzdalenosti indexu*/
+ comIndDist(&rps); /*vypocet vzdalenosti indexu*/
}
/* pocitame sirku plneni podle potreb rizeni*/
/*zalogujeme hodnoty*/
if (rps.doLogs && !(rps.tf_count%LOG_PERIOD)){
- makeLog();
+ makeLog(&rps);
}
sem_post(&rps.thd_par_sem); /*--post semaphore---*/
}
}
-
/**
* \brief Main function.
*/
-
int main(){
pthread_t base_thread_id;
clk_init(); /* inicializace gpio hodin */
projects / fpga / rpi-motor-control.git / blobdiff